+ python -m lidar_slam --no-model /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 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 0.005099893 Adjusted end_distance from 9.223372036854776e+18 to 590.465099893 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005099893 meters 0.21712325154100715 Centerline is valid? [0, False] SLAMing on 0.06509989299999999 meters 0.22101305542633826 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.01 [[ 0.99993276 0.01153268 0.00121618 0.05266693] [-0.01153575 0.9999302 0.00255194 -0.01101347] [-0.00118666 -0.00256579 0.999996 -0.00672777] [ 0. 0. 0. 1. ]] SLAMing on 0.125099893 meters 0.22268597907229296 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.02 [[ 0.99998787 0.00152798 -0.00468338 0.07323957] [-0.00149244 0.99997013 0.00758386 -0.01525723] [ 0.00469483 -0.00757678 0.99996027 -0.01578175] [ 0. 0. 0. 1. ]] SLAMing on 0.18509989299999996 meters 0.22746487572003152 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.02 [[ 0.99983107 -0.0180683 -0.00337133 0.09439215] [ 0.01806432 0.9998361 -0.00120898 -0.02970125] [ 0.00339262 0.00114787 0.99999359 -0.01934031] [ 0. 0. 0. 1. ]] SLAMing on 0.24509989299999996 meters 0.22821186632181986 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.02 [[ 0.99998289 0.00549354 -0.00200873 0.14044609] [-0.00550766 0.99995966 -0.00709477 -0.01613581] [ 0.00196968 0.00710571 0.99997281 -0.02387377] [ 0. 0. 0. 1. ]] SLAMing on 0.30509989299999996 meters 0.23438251260682666 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.03 [[ 9.99985049e-01 -5.41868059e-03 7.34141969e-04 1.49524775e-01] [ 5.41741338e-03 9.99983851e-01 1.71724139e-03 -2.25129895e-02] [-7.43435296e-04 -1.71323856e-03 9.99998256e-01 -3.38697667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36509989299999995 meters 0.23869632549816272 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.04 [[ 9.99988620e-01 -4.71618403e-03 -7.19298858e-04 1.72325578e-01] [ 4.71085341e-03 9.99962689e-01 -7.24075676e-03 -2.36632143e-02] [ 7.53420762e-04 7.23728585e-03 9.99973527e-01 -4.06712367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42509989299999995 meters 0.26085672633818896 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.05 [[ 0.99999386 -0.00284209 -0.00204858 0.18207991] [ 0.00282852 0.99997425 -0.0065954 -0.03018803] [ 0.00206727 0.00658957 0.99997615 -0.04771285] [ 0. 0. 0. 1. ]] SLAMing on 0.48509989299999995 meters 0.2619118548760254 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:-0.06 [[ 9.99987031e-01 -4.17873186e-03 -2.91130390e-03 1.92795781e-01] [ 4.17930711e-03 9.99991248e-01 1.91536295e-04 -5.77424424e-02] [ 2.91047804e-03 -2.03701044e-04 9.99995744e-01 -6.29079958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.545099893 meters 0.2710940713704345 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:-0.07 [[ 0.99995793 -0.00898765 -0.00183428 0.19508665] [ 0.00898318 0.9999567 -0.00243096 -0.07100438] [ 0.00185605 0.00241438 0.99999536 -0.06829474] [ 0. 0. 0. 1. ]] SLAMing on 0.6050998929999999 meters 0.2829821391009856 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:-0.07 [[ 9.99921658e-01 -1.25032839e-02 -5.88297118e-04 1.94285795e-01] [ 1.24998946e-02 9.99907023e-01 -5.44958537e-03 -7.52711162e-02] [ 6.56380133e-04 5.44180479e-03 9.99984978e-01 -6.99917173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6650998929999999 meters 0.2848239689247482 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:-0.09 [[ 0.99996896 -0.00430975 -0.00659629 0.21077896] [ 0.00435506 0.99996691 0.00687078 -0.07923614] [ 0.00656646 -0.00689929 0.99995464 -0.0879038 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7250998929999999 meters 0.27769045135634707 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:-0.10 [[ 0.99989371 -0.005273 -0.0135926 0.20513215] [ 0.00529588 0.99998462 0.00164763 -0.08449193] [ 0.01358371 -0.00171944 0.99990626 -0.09786271] [ 0. 0. 0. 1. ]] SLAMing on 0.7850998929999999 meters 0.25727684001060797 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:-0.10 [[ 0.99984308 -0.01205564 -0.01297979 0.20864066] [ 0.01204161 0.99992683 -0.00115896 -0.09919774] [ 0.01299282 0.00100248 0.99991509 -0.10478375] [ 0. 0. 0. 1. ]] SLAMing on 0.8450998929999999 meters 0.23821919584573562 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.12, Z:-0.12 [[ 9.99859611e-01 -1.41526504e-02 -8.97000230e-03 2.10707553e-01] [ 1.41551708e-02 9.99899787e-01 2.17551147e-04 -1.24991908e-01] [ 8.96602446e-03 -3.44492520e-04 9.99959745e-01 -1.18350122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9050998929999999 meters 0.18738801666578161 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:-0.13 [[ 9.99775985e-01 -1.31232374e-02 -1.66060413e-02 2.08199612e-01] [ 1.31253928e-02 9.99913858e-01 2.08134316e-05 -1.41498552e-01] [ 1.66043377e-02 -2.38769585e-04 9.99862110e-01 -1.29292855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9650998929999999 meters 0.180529258322572 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:-0.14 [[ 0.99962852 -0.0211633 -0.0171736 0.21451336] [ 0.02105383 0.99975701 -0.00653065 -0.14630809] [ 0.01730764 0.00616665 0.99983119 -0.13589202] [ 0. 0. 0. 1. ]] SLAMing on 1.0250998929999997 meters 0.17182655070462113 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:-0.14 [[ 0.99953785 -0.02544702 -0.01662957 0.21943132] [ 0.02528044 0.99962886 -0.01015116 -0.15061649] [ 0.01688171 0.00972607 0.99981019 -0.14264031] [ 0. 0. 0. 1. ]] SLAMing on 1.0850998929999998 meters 0.1655858794194433 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.16, Z:-0.16 [[ 0.99941451 -0.02788054 -0.01983218 0.23116552] [ 0.02775596 0.9995934 -0.00652984 -0.16178776] [ 0.02000617 0.00597556 0.999782 -0.15604591] [ 0. 0. 0. 1. ]] SLAMing on 1.1450998929999998 meters 0.16241271168841814 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.16, Z:-0.17 [[ 0.99945911 -0.02488414 -0.02150032 0.24099088] [ 0.02482516 0.99968729 -0.00300562 -0.16238352] [ 0.02156839 0.00247024 0.99976432 -0.16583948] [ 0. 0. 0. 1. ]] SLAMing on 1.2050998929999996 meters 0.15454397082073254 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:-0.17 [[ 0.99915368 -0.03390427 -0.02328981 0.24826987] [ 0.03362675 0.99935992 -0.01220622 -0.1583244 ] [ 0.02368874 0.01141273 0.99965424 -0.17135084] [ 0. 0. 0. 1. ]] SLAMing on 1.2650998929999997 meters 0.15118044415559756 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.17, Z:-0.17 [[ 0.99860197 -0.04419018 -0.0290056 0.26879572] [ 0.04342579 0.99870582 -0.02647437 -0.17121933] [ 0.03013797 0.02517777 0.99922859 -0.17368704] [ 0. 0. 0. 1. ]] SLAMing on 1.3250998929999998 meters 0.1405922118768918 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.18 [[ 0.99868668 -0.03661992 -0.03583164 0.26075122] [ 0.03579096 0.99908274 -0.02350924 -0.19505034] [ 0.03665968 0.02219591 0.99908128 -0.18020282] [ 0. 0. 0. 1. ]] SLAMing on 1.3850998929999998 meters 0.13656881575749463 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:-0.19 [[ 0.99894007 -0.02897727 -0.03576388 0.28223938] [ 0.02880328 0.99957067 -0.00537066 -0.21175913] [ 0.03590415 0.00433485 0.99934584 -0.18697235] [ 0. 0. 0. 1. ]] SLAMing on 1.4450998929999996 meters 0.1281084291689994 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:-0.19 [[ 0.99903135 -0.02413426 -0.03679547 0.2883962 ] [ 0.02419454 0.99970656 0.00119372 -0.21979547] [ 0.03675586 -0.00208281 0.9993221 -0.19407277] [ 0. 0. 0. 1. ]] SLAMing on 1.5050998929999997 meters 0.11743082524754689 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:-0.19 [[ 0.99908059 -0.02080952 -0.03748246 0.2898492 ] [ 0.02089979 0.99977954 0.00201825 -0.21160248] [ 0.03743219 -0.00279977 0.99929525 -0.19402584] [ 0. 0. 0. 1. ]] SLAMing on 1.5650998929999997 meters 0.11282849807931095 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:-0.20 [[ 0.99911738 -0.01604999 -0.03881825 0.29401303] [ 0.01627302 0.99985281 0.00543622 -0.20550371] [ 0.03872529 -0.00606312 0.9992315 -0.19716639] [ 0. 0. 0. 1. ]] SLAMing on 1.6250998929999996 meters 0.1060937803656103 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:-0.20 [[ 0.99909248 -0.01709252 -0.03901355 0.29490687] [ 0.0172128 0.99984807 0.00274924 -0.19910164] [ 0.03896064 -0.00341827 0.9992349 -0.19807078] [ 0. 0. 0. 1. ]] SLAMing on 1.6850998929999996 meters 0.09701202290996641 Centerline is valid? [False, True] Translation: X:0.29, Y:-0.19, Z:-0.20 [[ 9.99078006e-01 -1.90825492e-02 -3.84576905e-02 2.93451330e-01] [ 1.90409297e-02 9.99817656e-01 -1.44823031e-03 -1.90153456e-01] [ 3.84783139e-02 7.14624874e-04 9.99259180e-01 -1.97426094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7450998929999997 meters 0.09307071945756104 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.22, Z:-0.22 [[ 9.97442894e-01 -5.08621718e-02 -5.02067029e-02 3.56409693e-01] [ 5.07771981e-02 9.98705598e-01 -2.96733834e-03 -2.18497875e-01] [ 5.02926405e-02 4.10394843e-04 9.98734440e-01 -2.17545690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8050998929999997 meters 0.09159525968125601 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.24, Z:-0.22 [[ 9.96317173e-01 -6.93824558e-02 -5.03802157e-02 4.16363684e-01] [ 6.93204010e-02 9.97589996e-01 -2.98009737e-03 -2.35964074e-01] [ 5.04655657e-02 -5.23254572e-04 9.98725664e-01 -2.17632435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8650998929999996 meters 0.09284569683627193 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.22, Z:-0.22 [[ 9.96428727e-01 -6.75833974e-02 -5.06189315e-02 4.73396224e-01] [ 6.75180315e-02 9.97713537e-01 -3.00212363e-03 -2.22567038e-01] [ 5.07060869e-02 -4.26288384e-04 9.98713528e-01 -2.15899622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9250998929999996 meters 0.0809559833172679 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.22, Z:-0.21 [[ 9.96595774e-01 -6.76425240e-02 -4.71312185e-02 5.30782509e-01] [ 6.75857854e-02 9.97709543e-01 -2.79822128e-03 -2.18335667e-01] [ 4.72125452e-02 -3.96704914e-04 9.98884787e-01 -2.11379192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9850998929999997 meters 0.07573008785070601 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.22, Z:-0.22 [[ 9.95888553e-01 -7.43443331e-02 -5.17581950e-02 5.90943392e-01] [ 7.42847911e-02 9.97232325e-01 -3.07582230e-03 -2.20640760e-01] [ 5.18436151e-02 -7.81670484e-04 9.98654910e-01 -2.16792507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0450998929999997 meters 0.06526719936758109 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.20, Z:-0.20 [[ 9.97053236e-01 -6.14240864e-02 -4.59556894e-02 6.49287590e-01] [ 6.13633932e-02 9.98111753e-01 -2.73160460e-03 -1.95258163e-01] [ 4.60367000e-02 -9.64418325e-05 9.98939744e-01 -2.03180830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1050998929999998 meters 0.060251296330824225 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.15, Z:-0.19 [[ 9.98768568e-01 -3.65210353e-02 -3.35791864e-02 7.05138338e-01] [ 3.64745439e-02 9.99332589e-01 -1.99625770e-03 -1.48624695e-01] [ 3.36296807e-02 7.69013936e-04 9.99434066e-01 -1.86138561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.165099893 meters 0.05146002759721252 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.16, Z:-0.19 [[ 9.98695728e-01 -4.04570866e-02 -3.11459094e-02 7.65380081e-01] [ 4.04190332e-02 9.99181103e-01 -1.85066346e-03 -1.62955734e-01] [ 3.11952766e-02 5.89362144e-04 9.99513135e-01 -1.89874371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.225099893 meters 0.0463478280813199 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.17, Z:-0.18 [[ 9.98633512e-01 -4.57303200e-02 -2.52951815e-02 8.23027543e-01] [ 4.57067566e-02 9.98953760e-01 -1.50922709e-03 -1.66896445e-01] [ 2.53377341e-02 3.51004049e-04 9.99678886e-01 -1.79568712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.285099893 meters 0.0427629108188477 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.17, Z:-0.19 [[ 9.99066367e-01 -3.25864812e-02 -2.83639944e-02 8.84510586e-01] [ 3.25514582e-02 9.99468622e-01 -1.69575568e-03 -1.73942451e-01] [ 2.84041811e-02 7.70883088e-04 9.99596223e-01 -1.87617234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345099893 meters 0.05609869867641312 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.14, Z:-0.17 [[ 9.99477059e-01 -2.04935947e-02 -2.50124093e-02 9.41404401e-01] [ 2.04625742e-02 9.99789501e-01 -1.49554920e-03 -1.44393504e-01] [ 2.50377934e-02 9.82948838e-04 9.99686022e-01 -1.72153402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4050998929999996 meters 0.042823576665904646 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.17, Z:-0.19 [[ 9.98981174e-01 -3.18313674e-02 -3.19902871e-02 1.00458246e+00] [ 3.17864070e-02 9.99492854e-01 -1.91314641e-03 -1.71254430e-01] [ 3.20349614e-02 8.94340957e-04 9.99486349e-01 -1.87514599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4650998929999997 meters 0.035017242004427324 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.20, Z:-0.19 [[ 9.98540862e-01 -4.32330268e-02 -3.23582030e-02 1.06649184e+00] [ 4.31930173e-02 9.99064873e-01 -1.93476925e-03 -1.98065251e-01] [ 3.24115899e-02 5.34297734e-04 9.99474464e-01 -1.88953292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5250998929999997 meters 0.03227507309050957 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.19, Z:-0.18 [[ 9.99141803e-01 -3.34546732e-02 -2.44221835e-02 1.12663389e+00] [ 3.34289634e-02 9.99440029e-01 -1.46034375e-03 -1.90623711e-01] [ 2.44573631e-02 6.42682208e-04 9.99700667e-01 -1.80234361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5850998929999998 meters 0.028409923744757995 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.18, Z:-0.18 [[ 9.99094760e-01 -3.34916199e-02 -2.62292029e-02 1.18512487e+00] [ 3.34620409e-02 9.99438762e-01 -1.56593982e-03 -1.81980923e-01] [ 2.62669279e-02 6.86839609e-04 9.99654729e-01 -1.80814021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.645099893 meters 0.027253560212412885 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.20, Z:-0.19 [[ 9.97284889e-01 -6.57905268e-02 -3.30825657e-02 1.24775159e+00] [ 6.57608450e-02 9.97833437e-01 -1.98565418e-03 -2.04236431e-01] [ 3.31415275e-02 -1.95274570e-04 9.99450650e-01 -1.86958974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.705099893 meters 0.028975204406774886 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.22, Z:-0.18 [[ 9.95597258e-01 -8.92644778e-02 -2.85998804e-02 1.30766921e+00] [ 8.92519606e-02 9.96007601e-01 -1.71648272e-03 -2.24518004e-01] [ 2.86389192e-02 -8.43669908e-04 9.99589466e-01 -1.79218414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.765099893 meters 0.025351321810290806 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.20, Z:-0.17 [[ 9.96892128e-01 -7.42860696e-02 -2.62233623e-02 1.36581052e+00] [ 7.42703664e-02 9.97236901e-01 -1.57364364e-03 -2.04285549e-01] [ 2.62678044e-02 -3.78865772e-04 9.99654870e-01 -1.74870686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8250998929999995 meters 0.02218511997759356 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.17, Z:-0.17 [[ 9.98282286e-01 -5.24175893e-02 -2.61700804e-02 1.42380524e+00] [ 5.23944139e-02 9.98625234e-01 -1.57095739e-03 -1.73777267e-01] [ 2.62164485e-02 1.97092907e-04 9.99656270e-01 -1.73055086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8850998929999996 meters 0.025962936599488774 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.14, Z:-0.17 [[ 9.99063797e-01 -3.36499766e-02 -2.71883960e-02 1.48185802e+00] [ 3.36179798e-02 9.99433422e-01 -1.63322396e-03 -1.37273162e-01] [ 2.72279496e-02 7.17675988e-04 9.99628993e-01 -1.71683124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9450998929999996 meters 0.02105034326912445 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.13, Z:-0.17 [[ 9.98708413e-01 -4.38262987e-02 -2.57052874e-02 1.54154118e+00] [ 4.38010712e-02 9.99039080e-01 -1.54391618e-03 -1.34585768e-01] [ 2.57482508e-02 4.16002955e-04 9.99668372e-01 -1.74300608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0050998929999997 meters 0.020974206019986792 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.12, Z:-0.18 [[ 9.98596059e-01 -4.21264280e-02 -3.21134754e-02 1.59918963e+00] [ 4.20861586e-02 9.99112123e-01 -1.92918170e-03 -1.18104000e-01] [ 3.21662321e-02 5.74940420e-04 9.99482368e-01 -1.77834381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0650998929999997 meters 0.022868111853141547 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.10, Z:-0.17 [[ 9.99185508e-01 -3.21269683e-02 -2.44167566e-02 1.65747078e+00] [ 3.21005499e-02 9.99483559e-01 -1.47326407e-03 -1.00063185e-01] [ 2.44514783e-02 6.88272800e-04 9.99700781e-01 -1.66097423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.125099893 meters 0.02355572040449175 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.10, Z:-0.17 [[ 9.98871381e-01 -3.42665392e-02 -3.28902411e-02 1.71645990e+00] [ 3.42197303e-02 9.99412362e-01 -1.98519601e-03 -9.73315889e-02] [ 3.29389393e-02 8.57460301e-04 9.99456998e-01 -1.71982540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.185099893 meters 0.019087545544600244 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.11, Z:-0.17 [[ 9.98212991e-01 -5.02790091e-02 -3.22931294e-02 1.77654869e+00] [ 5.02422109e-02 9.98735158e-01 -1.95045875e-03 -1.10189354e-01] [ 3.23503508e-02 3.24495043e-04 9.99476538e-01 -1.67299321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2450998929999995 meters 0.0187894241974473 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.12, Z:-0.16 [[ 9.97230234e-01 -6.75976137e-02 -3.10229446e-02 1.83538346e+00] [ 6.75720176e-02 9.97712639e-01 -1.87392452e-03 -1.24134612e-01] [ 3.10786567e-02 -2.27548772e-04 9.99516916e-01 -1.63105356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3050998929999995 meters 0.02329032920492984 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.14, Z:-0.17 [[ 9.96051943e-01 -8.20603648e-02 -3.38618258e-02 1.89535207e+00] [ 8.20381073e-02 9.96627088e-01 -2.04851048e-03 -1.35874396e-01] [ 3.39157144e-02 -7.37537249e-04 9.99424425e-01 -1.65209530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3650998929999996 meters 0.027007501645111318 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.13, Z:-0.16 [[ 9.95418272e-01 -8.87207464e-02 -3.56523801e-02 1.95446098e+00] [ 8.87003150e-02 9.96056022e-01 -2.15748167e-03 -1.26214844e-01] [ 3.57031813e-02 -1.01478067e-03 9.99361923e-01 -1.63085770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4250998929999996 meters 0.024462330965190796 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.10, Z:-0.17 [[ 9.95644687e-01 -8.45210555e-02 -3.93426930e-02 2.01353969e+00] [ 8.44928725e-02 9.96421238e-01 -2.38151167e-03 -1.01890072e-01] [ 3.94031827e-02 -9.53037702e-04 9.99222939e-01 -1.65315909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4850998929999997 meters 0.023791548467137907 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.08, Z:-0.16 [[ 9.95577407e-01 -8.44031499e-02 -4.12520983e-02 2.07037764e+00] [ 8.43719821e-02 9.96431193e-01 -2.49907813e-03 -7.92008067e-02] [ 4.13158076e-02 -9.92495574e-04 9.99145645e-01 -1.61240984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5450998929999997 meters 0.0324002048770199 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.07, Z:-0.17 [[ 9.94053172e-01 -9.69311044e-02 -4.96251141e-02 2.13025618e+00] [ 9.69014042e-02 9.95289435e-01 -3.00968357e-03 -6.94145437e-02] [ 4.96830837e-02 -1.81695774e-03 9.98763380e-01 -1.67582974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6050998929999998 meters 0.039221043446573615 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.06, Z:-0.17 [[ 0.99295444 -0.10632331 -0.05231474 2.18963739] [ 0.10630329 0.99432869 -0.00317301 -0.05907133] [ 0.05235541 -0.00241058 0.99862561 -0.16608982] [ 0. 0. 0. 1. ]] SLAMing on 3.6650998929999994 meters 0.04151437136665746 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.04, Z:-0.16 [[ 0.99285778 -0.10883831 -0.04886364 2.24829338] [ 0.10882384 0.99405663 -0.00296425 -0.04444122] [ 0.04889585 -0.00237445 0.99880106 -0.15673537] [ 0. 0. 0. 1. ]] SLAMing on 3.7250998929999994 meters 0.04213622280427251 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.03, Z:-0.15 [[ 9.93092872e-01 -1.07605342e-01 -4.67721930e-02 2.30592801e+00] [ 1.07590645e-01 9.94191226e-01 -2.83895430e-03 -3.17347133e-02] [ 4.68059905e-02 -2.21290513e-03 9.98901548e-01 -1.51989494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7850998929999995 meters 0.04329529647460657 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.02, Z:-0.15 [[ 9.93080085e-01 -1.07379539e-01 -4.75560626e-02 2.36535844e+00] [ 1.07363972e-01 9.94215586e-01 -2.88898916e-03 -2.41105360e-02] [ 4.75911969e-02 -2.23681018e-03 9.98864393e-01 -1.50410296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8450998929999995 meters 0.03751336689012356 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.01, Z:-0.15 [[ 9.93832281e-01 -9.98799393e-02 -4.81808663e-02 2.42447989e+00] [ 9.98550999e-02 9.94997681e-01 -2.92826422e-03 -1.00911631e-02] [ 4.82323250e-02 -1.90090171e-03 9.98834335e-01 -1.48678581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9050998929999996 meters 0.028850789481591234 Centerline is valid? [True, True] Translation: X:2.48, Y:0.01, Z:-0.15 [[ 9.94765443e-01 -8.88150513e-02 -5.05331483e-02 2.48426219e+00] [ 8.87734238e-02 9.96047108e-01 -3.07205745e-03 8.30262423e-03] [ 5.06062412e-02 -1.43002400e-03 9.98717659e-01 -1.50645188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9650998929999997 meters 0.01941949445824761 Centerline is valid? [True, True] Translation: X:2.54, Y:0.03, Z:-0.14 [[ 9.95122547e-01 -8.43796471e-02 -5.10998285e-02 2.54330749e+00] [ 8.43312515e-02 9.96432934e-01 -3.10626540e-03 2.98596951e-02] [ 5.11796576e-02 -1.21819775e-03 9.98688720e-01 -1.41616026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025099892999999 meters 0.02428473905856077 Centerline is valid? [True, True] Translation: X:2.60, Y:0.03, Z:-0.15 [[ 9.94221124e-01 -9.09304598e-02 -5.70614425e-02 2.60470905e+00] [ 9.08808817e-02 9.95855729e-01 -3.46866446e-03 2.57442415e-02] [ 5.71403717e-02 -1.73717473e-03 9.98364643e-01 -1.48484502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085099892999999 meters 0.029317206830869365 Centerline is valid? [True, True] Translation: X:2.66, Y:0.02, Z:-0.15 [[ 9.93359518e-01 -1.00077538e-01 -5.67569842e-02 2.66483809e+00] [ 1.00043356e-01 9.94977096e-01 -3.45046277e-03 1.88234548e-02] [ 5.68172131e-02 -2.25060916e-03 9.98382061e-01 -1.45859461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145099892999999 meters 0.03132840755561282 Centerline is valid? [True, True] Translation: X:2.72, Y:0.02, Z:-0.14 [[ 9.93371888e-01 -1.01981453e-01 -5.30290106e-02 2.72263669e+00] [ 1.01954218e-01 9.94783862e-01 -3.22559131e-03 1.72264672e-02] [ 5.30813545e-02 -2.20231958e-03 9.98587763e-01 -1.40585116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205099892999999 meters 0.029435344178925623 Centerline is valid? [True, True] Translation: X:2.78, Y:0.03, Z:-0.13 [[ 9.94169950e-01 -9.64181527e-02 -4.82664442e-02 2.78167196e+00] [ 9.63888969e-02 9.95339412e-01 -2.93873957e-03 2.56591211e-02] [ 4.83248420e-02 -1.73074274e-03 9.98830173e-01 -1.31530193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2650998929999995 meters 0.031691647704495715 Centerline is valid? [True, True] Translation: X:2.84, Y:0.02, Z:-0.14 [[ 9.93697676e-01 -9.81602085e-02 -5.41248703e-02 2.84191477e+00] [ 9.81259542e-02 9.95168544e-01 -3.29643454e-03 1.98835218e-02] [ 5.41869471e-02 -2.03539521e-03 9.98528734e-01 -1.39699117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325099892999999 meters 0.03132812645429246 Centerline is valid? [True, True] Translation: X:2.90, Y:0.03, Z:-0.14 [[ 9.93774812e-01 -9.57582224e-02 -5.69384445e-02 2.89921579e+00] [ 9.57162286e-02 9.95402611e-01 -3.47054715e-03 2.57664410e-02] [ 5.70090098e-02 -2.00099083e-03 9.98371659e-01 -1.40328772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385099892999999 meters 0.031184242624261442 Centerline is valid? [True, True] Translation: X:2.96, Y:0.03, Z:-0.13 [[ 9.94054254e-01 -9.53673492e-02 -5.25472081e-02 2.95659714e+00] [ 9.53307736e-02 9.95440482e-01 -3.20776349e-03 2.62626004e-02] [ 5.26135340e-02 -1.82067506e-03 9.98613289e-01 -1.34087779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445099892999999 meters 0.020906411148210558 Centerline is valid? [True, True] Translation: X:3.02, Y:0.05, Z:-0.13 [[ 9.93962554e-01 -9.34072182e-02 -5.75632925e-02 3.01651464e+00] [ 9.33599284e-02 9.95626215e-01 -3.51616796e-03 4.66352607e-02] [ 5.76399585e-02 -1.87916558e-03 9.98335667e-01 -1.30271575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505099892999999 meters 0.018177813532535485 Centerline is valid? [True, True] Translation: X:3.08, Y:0.06, Z:-0.12 [[ 9.94817967e-01 -8.75579248e-02 -5.16800007e-02 3.07615334e+00] [ 8.75119728e-02 9.96158469e-01 -3.15567971e-03 5.74333902e-02] [ 5.17577752e-02 -1.38329194e-03 9.98658710e-01 -1.16968913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.565099892999999 meters 0.018252805453855804 Centerline is valid? [True, True] Translation: X:3.14, Y:0.07, Z:-0.12 [[ 9.95355834e-01 -8.03985182e-02 -5.29418720e-02 3.13648011e+00] [ 8.03401617e-02 9.96762262e-01 -3.23298276e-03 6.53874396e-02] [ 5.30303871e-02 -1.03539031e-03 9.98592362e-01 -1.18353692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625099892999999 meters 0.01657291383151549 Centerline is valid? [True, True] Translation: X:3.20, Y:0.08, Z:-0.11 [[ 9.96183626e-01 -7.14773928e-02 -5.00915681e-02 3.19584910e+00] [ 7.14138751e-02 9.97442079e-01 -3.05892425e-03 8.05461091e-02] [ 5.01820818e-02 -5.29982735e-04 9.98739945e-01 -1.13225695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685099892999999 meters 0.01559739509247863 Centerline is valid? [True, True] Translation: X:3.26, Y:0.10, Z:-0.11 [[ 9.97031048e-01 -5.88713201e-02 -4.96312178e-02 3.25523272e+00] [ 5.87933326e-02 9.98265574e-01 -3.03103974e-03 9.67997420e-02] [ 4.97235774e-02 1.04056034e-04 9.98763012e-01 -1.13024872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745099892999999 meters 0.016242777577569638 Centerline is valid? [True, True] Translation: X:3.31, Y:0.11, Z:-0.11 [[ 9.97211638e-01 -5.71491973e-02 -4.79887205e-02 3.31254997e+00] [ 5.70742178e-02 9.98365632e-01 -2.93236081e-03 1.06369282e-01] [ 4.80778714e-02 1.85265636e-04 9.98843573e-01 -1.11135401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805099892999999 meters 0.015733752870522574 Centerline is valid? [True, True] Translation: X:3.37, Y:0.11, Z:-0.11 [[ 9.96461149e-01 -6.86637112e-02 -4.84816850e-02 3.37171049e+00] [ 6.86004891e-02 9.97639795e-01 -2.96871940e-03 1.06811024e-01] [ 4.85711015e-02 -3.67653765e-04 9.98819660e-01 -1.11030708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865099892999999 meters 0.01600884687027597 Centerline is valid? [True, True] Translation: X:3.43, Y:0.10, Z:-0.10 [[ 9.95590176e-01 -8.17828381e-02 -4.59539964e-02 3.43197077e+00] [ 8.17395711e-02 9.96649724e-01 -2.82302040e-03 1.03123285e-01] [ 4.60309124e-02 -9.45688576e-04 9.98939568e-01 -1.03212917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925099892999999 meters 0.015132652258263225 Centerline is valid? [True, True] Translation: X:3.49, Y:0.11, Z:-0.10 [[ 9.96205689e-01 -7.77061994e-02 -3.91914753e-02 3.49339696e+00] [ 7.76715581e-02 9.96976093e-01 -2.40805129e-03 1.05935487e-01] [ 3.92600845e-02 -6.45148555e-04 9.99228817e-01 -9.69947923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985099892999999 meters 0.016853218358210187 Centerline is valid? [True, True] Translation: X:3.55, Y:0.11, Z:-0.10 [[ 9.95975847e-01 -7.82641356e-02 -4.36673493e-02 3.55440823e+00] [ 7.82217786e-02 9.96932379e-01 -2.68046205e-03 1.09695292e-01] [ 4.37431784e-02 -7.46062262e-04 9.99042530e-01 -1.00345386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045099892999999 meters 0.019395704754033325 Centerline is valid? [True, True] Translation: X:3.62, Y:0.11, Z:-0.11 [[ 9.94456146e-01 -8.80938567e-02 -5.74146878e-02 3.61612065e+00] [ 8.80371670e-02 9.96110968e-01 -3.52096531e-03 1.06346348e-01] [ 5.75015757e-02 -1.55318087e-03 9.98344207e-01 -1.10210170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105099892999999 meters 0.020009430971687184 Centerline is valid? [True, True] Translation: X:3.68, Y:0.10, Z:-0.11 [[ 9.94221485e-01 -9.01143753e-02 -5.83355690e-02 3.67596227e+00] [ 9.00593616e-02 9.95929976e-01 -3.57681338e-03 1.01186816e-01] [ 5.84204641e-02 -1.69751939e-03 9.98290623e-01 -1.07981002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165099892999999 meters 0.022266243401363604 Centerline is valid? [True, True] Translation: X:3.73, Y:0.10, Z:-0.10 [[ 9.93073282e-01 -9.96494338e-02 -6.22530918e-02 3.73477780e+00] [ 9.96053765e-02 9.95019692e-01 -3.81845942e-03 1.02148947e-01] [ 6.23235596e-02 -2.40873262e-03 9.98053091e-01 -1.03453747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2250998929999986 meters 0.022799606647457026 Centerline is valid? [True, True] Translation: X:3.79, Y:0.10, Z:-0.10 [[ 9.93055280e-01 -1.00305855e-01 -6.14812617e-02 3.79480876e+00] [ 1.00264108e-01 9.94953709e-01 -3.77155895e-03 1.02746821e-01] [ 6.15493188e-02 -2.41899734e-03 9.98101112e-01 -1.01207437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285099892999999 meters 0.022313890917256184 Centerline is valid? [True, True] Translation: X:3.85, Y:0.11, Z:-0.09 [[ 9.94174179e-01 -9.44980653e-02 -5.18441639e-02 3.85437482e+00] [ 9.44604420e-02 9.95523534e-01 -3.18098541e-03 1.05464865e-01] [ 5.19126823e-02 -1.73476909e-03 9.98650121e-01 -9.07517410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345099892999999 meters 0.021829010468411358 Centerline is valid? [True, True] Translation: X:3.92, Y:0.10, Z:-0.09 [[ 9.93847688e-01 -9.79706837e-02 -5.16577105e-02 3.91593760e+00] [ 9.79380320e-02 9.95187469e-01 -3.16913255e-03 1.03628714e-01] [ 5.17195883e-02 -1.90961945e-03 9.98659821e-01 -8.79848584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405099892999999 meters 0.028560761584975308 Centerline is valid? [True, True] Translation: X:3.98, Y:0.09, Z:-0.08 [[ 9.92890516e-01 -1.08537047e-01 -4.88685281e-02 3.97629651e+00] [ 1.08520672e-01 9.94089678e-01 -2.99603784e-03 9.08279193e-02] [ 4.89048805e-02 -2.32850794e-03 9.98800726e-01 -8.29277007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465099892999999 meters 0.025708872086860953 Centerline is valid? [True, True] Translation: X:4.04, Y:0.09, Z:-0.07 [[ 9.93817976e-01 -1.02737276e-01 -4.20818543e-02 4.03643572e+00] [ 1.02720014e-01 9.94706968e-01 -2.57801630e-03 9.40694957e-02] [ 4.21239721e-02 -1.76056972e-03 9.99110840e-01 -7.49303364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.525099892999999 meters 0.018834174669976528 Centerline is valid? [True, True] Translation: X:4.10, Y:0.11, Z:-0.07 [[ 9.96073056e-01 -8.20582226e-02 -3.32402618e-02 4.09646779e+00] [ 8.20359242e-02 9.96627293e-01 -2.03640142e-03 1.09158931e-01] [ 3.32952556e-02 -6.98491008e-04 9.99445315e-01 -6.81821796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585099892999999 meters 0.018646451322686552 Centerline is valid? [True, True] Translation: X:4.16, Y:0.10, Z:-0.07 [[ 9.95712969e-01 -8.57104267e-02 -3.47765140e-02 4.15896226e+00] [ 8.56882446e-02 9.96319721e-01 -2.13051493e-03 1.00365939e-01] [ 3.48311341e-02 -8.58557092e-04 9.99392843e-01 -7.31608919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6450998929999985 meters 0.02356632774196459 Centerline is valid? [True, True] Translation: X:4.22, Y:0.09, Z:-0.08 [[ 9.93999916e-01 -1.00199486e-01 -4.38660432e-02 4.21963613e+00] [ 1.00178504e-01 9.94965866e-01 -2.68189196e-03 8.56166173e-02] [ 4.39139398e-02 -1.72863418e-03 9.99033822e-01 -8.01734809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705099892999999 meters 0.02786443948253758 Centerline is valid? [True, True] Translation: X:4.28, Y:0.08, Z:-0.09 [[ 9.92749013e-01 -1.07105841e-01 -5.45686293e-02 4.28102677e+00] [ 1.07083864e-01 9.94244399e-01 -3.33492232e-03 7.93737788e-02] [ 5.46117437e-02 -2.53267886e-03 9.98504453e-01 -8.61322599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765099892999999 meters 0.02198878705650992 Centerline is valid? [True, True] Translation: X:4.34, Y:0.09, Z:-0.08 [[ 9.93888026e-01 -9.48894186e-02 -5.64144558e-02 4.34096397e+00] [ 9.48462987e-02 9.95485959e-01 -3.44740207e-03 8.95805873e-02] [ 5.64869206e-02 -1.92437069e-03 9.98401485e-01 -8.05602641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825099892999999 meters 0.016275139271699577 Centerline is valid? [True, True] Translation: X:4.40, Y:0.11, Z:-0.07 [[ 9.96642165e-01 -6.44256433e-02 -5.05344577e-02 4.40041134e+00] [ 6.43518456e-02 9.97922495e-01 -3.08771576e-03 1.12171236e-01] [ 5.06284002e-02 -1.74637899e-04 9.98717545e-01 -7.30936868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885099892999999 meters 0.018246828424333138 Centerline is valid? [True, True] Translation: X:4.46, Y:0.14, Z:-0.06 [[ 9.98518607e-01 -3.32718796e-02 -4.30531471e-02 4.45876147e+00] [ 3.31893418e-02 9.99445620e-01 -2.63067787e-03 1.35614406e-01] [ 4.31168069e-02 1.19787519e-03 9.99069320e-01 -6.24254017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945099892999999 meters 0.016826109311039162 Centerline is valid? [True, True] Translation: X:4.52, Y:0.13, Z:-0.06 [[ 9.98126099e-01 -4.44987446e-02 -4.20018098e-02 4.51974668e+00] [ 4.44300886e-02 9.99009198e-01 -2.56713181e-03 1.29112073e-01] [ 4.20744284e-02 6.96177132e-04 9.99114237e-01 -6.27544813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005099892999999 meters 0.01761368421168315 Centerline is valid? [True, True] Translation: X:4.58, Y:0.11, Z:-0.07 [[ 9.96046200e-01 -7.32918016e-02 -5.02023930e-02 4.57994579e+00] [ 7.32301162e-02 9.97310347e-01 -3.06943838e-03 1.08152632e-01] [ 5.02923307e-02 -6.19024646e-04 9.98734348e-01 -6.73571562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.065099892999998 meters 0.016521026986723985 Centerline is valid? [True, True] Translation: X:4.64, Y:0.12, Z:-0.06 [[ 9.96875482e-01 -6.37150543e-02 -4.66868907e-02 4.63797665e+00] [ 6.36510581e-02 9.97968124e-01 -2.85763345e-03 1.20527078e-01] [ 4.67741030e-02 -1.22965277e-04 9.98905485e-01 -5.68576989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125099892999999 meters 0.02011577421291698 Centerline is valid? [True, True] Translation: X:4.70, Y:0.16, Z:-0.05 [[ 9.98710496e-01 -2.68799483e-02 -4.30675509e-02 4.69614872e+00] [ 2.67911153e-02 9.99637571e-01 -2.63860405e-03 1.59893019e-01] [ 4.31228676e-02 1.48137384e-03 9.99068678e-01 -5.31445379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1850998929999985 meters 0.018656103042583343 Centerline is valid? [True, True] Translation: X:4.76, Y:0.17, Z:-0.05 [[ 9.98807241e-01 -3.04949690e-02 -3.81333444e-02 4.75550655e+00] [ 3.04279607e-02 9.99534232e-01 -2.33648477e-03 1.72972432e-01] [ 3.81868342e-02 1.17337800e-03 9.99269928e-01 -4.62123301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245099892999999 meters 0.01554062096211359 Centerline is valid? [True, True] Translation: X:4.82, Y:0.17, Z:-0.05 [[ 9.97117134e-01 -6.08518252e-02 -4.53263409e-02 4.81669722e+00] [ 6.07883793e-02 9.98146810e-01 -2.77809087e-03 1.65549199e-01] [ 4.54113945e-02 1.47672056e-05 9.98968370e-01 -5.17192489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305099892999999 meters 0.018273093474583446 Centerline is valid? [True, True] Translation: X:4.88, Y:0.16, Z:-0.05 [[ 9.95772614e-01 -7.49056440e-02 -5.31605592e-02 4.87615059e+00] [ 7.48382870e-02 9.97190357e-01 -3.25935640e-03 1.64640954e-01] [ 5.32553412e-02 -7.32867339e-04 9.98580659e-01 -5.48863231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365099892999999 meters 0.017257990210989615 Centerline is valid? [True, True] Translation: X:4.93, Y:0.20, Z:-0.05 [[ 9.96649920e-01 -5.81387072e-02 -5.75224053e-02 4.93367805e+00] [ 5.80317818e-02 9.98308499e-01 -3.52896928e-03 1.97286620e-01] [ 5.76302758e-02 1.79019284e-04 9.98337978e-01 -4.81898088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425099892999999 meters 0.017530860265024747 Centerline is valid? [True, True] Translation: X:4.99, Y:0.21, Z:-0.04 [[ 9.95933556e-01 -7.54878136e-02 -4.91725667e-02 4.99124519e+00] [ 7.54307038e-02 9.97146477e-01 -3.01872029e-03 2.08284582e-01] [ 4.92601282e-02 -7.02676477e-04 9.98785736e-01 -4.47799039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485099892999998 meters 0.015537769235773102 Centerline is valid? [True, True] Translation: X:5.05, Y:0.20, Z:-0.05 [[ 9.96011522e-01 -7.30498017e-02 -5.12325541e-02 5.05253040e+00] [ 7.29844656e-02 9.97328111e-01 -3.14745359e-03 2.04528039e-01] [ 5.13255873e-02 -6.04280543e-04 9.98681791e-01 -4.55721803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545099892999999 meters 0.016469458978440602 Centerline is valid? [True, True] Translation: X:5.11, Y:0.21, Z:-0.04 [[ 9.96293514e-01 -7.06830418e-02 -4.90218519e-02 5.11254836e+00] [ 7.06204231e-02 9.97498719e-01 -3.01037626e-03 2.14593990e-01] [ 4.91120170e-02 -4.62725577e-04 9.98793170e-01 -3.81186205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6050998929999984 meters 0.01603017229816355 Centerline is valid? [True, True] Translation: X:5.17, Y:0.22, Z:-0.03 [[ 9.96169850e-01 -7.29985410e-02 -4.81335970e-02 5.17271211e+00] [ 7.29408724e-02 9.97331887e-01 -2.95582954e-03 2.17292046e-01] [ 4.82209424e-02 -5.66398290e-04 9.98836533e-01 -3.40179969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665099892999999 meters 0.017674246611734345 Centerline is valid? [True, True] Translation: X:5.23, Y:0.22, Z:-0.03 [[ 9.95947088e-01 -7.49620388e-02 -4.96999966e-02 5.23446834e+00] [ 7.49030189e-02 9.97186154e-01 -3.05158000e-03 2.19036712e-01] [ 4.97889012e-02 -6.83467569e-04 9.98759530e-01 -3.36957527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7250998929999986 meters 0.01868372245843692 Centerline is valid? [True, True] Translation: X:5.30, Y:0.22, Z:-0.03 [[ 9.95479161e-01 -8.05641411e-02 -5.03056602e-02 5.29505795e+00] [ 8.05109114e-02 9.96748947e-01 -3.08689614e-03 2.16486080e-01] [ 5.03908070e-02 -9.77213766e-04 9.98729098e-01 -3.47327818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785099892999999 meters 0.018404226383051867 Centerline is valid? [True, True] Translation: X:5.36, Y:0.22, Z:-0.03 [[ 9.95413963e-01 -8.18304619e-02 -4.95461195e-02 5.35651800e+00] [ 8.17804906e-02 9.96645734e-01 -3.03835133e-03 2.21334720e-01] [ 4.96285584e-02 -1.02748862e-03 9.98767215e-01 -3.07418620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845099892999999 meters 0.01562077826660249 Centerline is valid? [True, True] Translation: X:5.42, Y:0.23, Z:-0.03 [[ 9.96597088e-01 -6.57514025e-02 -4.97091247e-02 5.41667579e+00] [ 6.56811682e-02 9.97836009e-01 -3.04684626e-03 2.34107783e-01] [ 4.98018890e-02 -2.28475267e-04 9.98759090e-01 -2.80614338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905099892999998 meters 0.014062334389160207 Centerline is valid? [True, True] Translation: X:5.48, Y:0.24, Z:-0.02 [[ 9.97043632e-01 -6.14880770e-02 -4.60783217e-02 5.47567070e+00] [ 6.14231948e-02 9.98107818e-01 -2.82399877e-03 2.44199050e-01] [ 4.61647754e-02 -1.46277446e-05 9.98933838e-01 -2.11670538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965099892999999 meters 0.015729917403743625 Centerline is valid? [True, True] Translation: X:5.54, Y:0.25, Z:-0.02 [[ 9.97025507e-01 -6.20050829e-02 -4.57767193e-02 5.53545083e+00] [ 6.19415182e-02 9.98075833e-01 -2.80712828e-03 2.49122450e-01] [ 4.58626934e-02 -3.67009964e-05 9.98947752e-01 -2.00397358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025099892999998 meters 0.015341639538574937 Centerline is valid? [True, True] Translation: X:5.60, Y:0.25, Z:-0.01 [[ 9.96968553e-01 -6.43410085e-02 -4.37485923e-02 5.59542683e+00] [ 6.42851462e-02 9.97927961e-01 -2.68402226e-03 2.53277055e-01] [ 4.38306362e-02 -1.36498865e-04 9.99038967e-01 -1.49402114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085099892999999 meters 0.016465146564024275 Centerline is valid? [True, True] Translation: X:5.66, Y:0.26, Z:-0.01 [[ 9.96677363e-01 -6.85382792e-02 -4.40083871e-02 5.65682433e+00] [ 6.84858503e-02 9.97648435e-01 -2.69972040e-03 2.55033505e-01] [ 4.40899327e-02 -3.23201604e-04 9.99027514e-01 -1.31151517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1450998929999985 meters 0.017386512223120022 Centerline is valid? [True, True] Translation: X:5.72, Y:0.25, Z:-0.02 [[ 9.95557178e-01 -7.94864034e-02 -5.04759018e-02 5.71851763e+00] [ 7.94315614e-02 9.96835518e-01 -3.09472310e-03 2.49371215e-01] [ 5.05621602e-02 -9.28405898e-04 9.98720484e-01 -1.83034264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205099892999999 meters 0.017406388446732982 Centerline is valid? [True, True] Translation: X:5.78, Y:0.26, Z:-0.01 [[ 9.95979610e-01 -7.66480299e-02 -4.63648141e-02 5.77891502e+00] [ 7.65987279e-02 9.97057952e-01 -2.84173699e-03 2.59065911e-01] [ 4.64462201e-02 -7.21173680e-04 9.98920532e-01 -9.30639404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.265099892999999 meters 0.018363965404106238 Centerline is valid? [True, True] Translation: X:5.84, Y:0.25, Z:-0.01 [[ 9.95158985e-01 -8.48885884e-02 -4.95229534e-02 5.84076729e+00] [ 8.48426078e-02 9.96389747e-01 -3.03366019e-03 2.48222529e-01] [ 4.96016862e-02 -1.18268232e-03 9.98768379e-01 -1.37900648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325099892999998 meters 0.01935932609993459 Centerline is valid? [True, True] Translation: X:5.90, Y:0.25, Z:-0.01 [[ 9.94680969e-01 -8.97928149e-02 -5.04680173e-02 5.90235671e+00] [ 8.97514218e-02 9.95959403e-01 -3.09041323e-03 2.46181491e-01] [ 5.05415933e-02 -1.45560109e-03 9.98720896e-01 -1.34781593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385099892999999 meters 0.021696757866805822 Centerline is valid? [True, True] Translation: X:5.96, Y:0.25, Z:-0.01 [[ 9.94568268e-01 -9.15650553e-02 -4.94954587e-02 5.96391045e+00] [ 9.15275300e-02 9.95797940e-01 -3.02889406e-03 2.48274652e-01] [ 4.95648167e-02 -1.51775516e-03 9.98769756e-01 -9.91578940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445099892999998 meters 0.017399425410072143 Centerline is valid? [True, True] Translation: X:6.02, Y:0.27, Z:-0.01 [[ 9.95805803e-01 -7.69825861e-02 -4.94417230e-02 6.02376983e+00] [ 7.69272770e-02 9.97032122e-01 -3.02340554e-03 2.67549577e-01] [ 4.95277356e-02 -7.92692336e-04 9.98772434e-01 -6.59739571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505099892999999 meters 0.014397787090982491 Centerline is valid? [True, True] Translation: X:6.09, Y:0.28, Z:-0.00 [[ 9.96471793e-01 -6.63715264e-02 -5.13691237e-02 6.08502287e+00] [ 6.62977947e-02 9.97794941e-01 -3.13984069e-03 2.79186229e-01] [ 5.14642478e-02 -2.76896941e-04 9.98674799e-01 -3.74642303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.565099892999998 meters 0.01384651186737841 Centerline is valid? [True, True] Translation: X:6.14, Y:0.28, Z:0.00 [[ 9.96612391e-01 -6.54475162e-02 -4.98032614e-02 6.14320722e+00] [ 6.53771241e-02 9.97855988e-01 -3.04285349e-03 2.83757692e-01] [ 4.98956298e-02 -2.23448505e-04 9.98754412e-01 3.82371558e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625099892999999 meters 0.014837069425812062 Centerline is valid? [True, True] Translation: X:6.20, Y:0.29, Z:0.00 [[ 9.96462011e-01 -6.75918385e-02 -4.99480070e-02 6.20285321e+00] [ 6.75236070e-02 9.97713002e-01 -3.05411222e-03 2.87696466e-01] [ 5.00402090e-02 -3.29362790e-04 9.98747150e-01 3.06517882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6850998929999985 meters 0.015993090186652115 Centerline is valid? [True, True] Translation: X:6.26, Y:0.29, Z:0.01 [[ 9.96230224e-01 -7.10594692e-02 -4.97583409e-02 6.26283748e+00] [ 7.09960099e-02 9.97471955e-01 -3.04384718e-03 2.90252665e-01] [ 4.98488437e-02 -5.00271107e-04 9.98756648e-01 5.53564325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745099892999998 meters 0.016904349306339085 Centerline is valid? [True, True] Translation: X:6.32, Y:0.29, Z:0.01 [[ 9.95791770e-01 -7.64211732e-02 -5.05821705e-02 6.32293090e+00] [ 7.63625032e-02 9.97075320e-01 -3.09424298e-03 2.88828249e-01] [ 5.06706995e-02 -7.81359464e-04 9.98715109e-01 7.18410925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805099892999999 meters 0.016384597041997906 Centerline is valid? [True, True] Translation: X:6.38, Y:0.30, Z:0.01 [[ 9.95932557e-01 -7.33932231e-02 -5.22664081e-02 6.38443389e+00] [ 7.33264420e-02 9.97302870e-01 -3.19672188e-03 2.95421249e-01] [ 5.23600565e-02 -6.48790346e-04 9.98628061e-01 6.65683159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865099892999998 meters 0.015483510755449643 Centerline is valid? [True, True] Translation: X:6.44, Y:0.31, Z:0.01 [[ 9.96520316e-01 -6.83263118e-02 -4.77365101e-02 6.44310863e+00] [ 6.82648467e-02 9.97662965e-01 -2.91860805e-03 3.05163399e-01] [ 4.78243659e-02 -3.50273322e-04 9.98855699e-01 1.46270194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925099892999999 meters 0.015098351582176442 Centerline is valid? [True, True] Translation: X:6.50, Y:0.31, Z:0.02 [[ 9.96370824e-01 -7.03387919e-02 -4.79336510e-02 6.50454782e+00] [ 7.02791309e-02 9.97523059e-01 -2.93095269e-03 3.06925642e-01] [ 4.80210819e-02 -4.48419590e-04 9.98846222e-01 1.69082338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985099892999998 meters 0.013628139321235104 Centerline is valid? [True, True] Translation: X:6.57, Y:0.31, Z:0.02 [[ 9.97006162e-01 -6.32576587e-02 -4.44655049e-02 6.56567698e+00] [ 6.31993456e-02 9.97997224e-01 -2.71740400e-03 3.13390866e-01] [ 4.45483471e-02 -1.00922279e-04 9.99007224e-01 2.19780865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045099893 meters 0.01639916105376125 Centerline is valid? [True, True] Translation: X:6.63, Y:0.32, Z:0.02 [[ 9.96807359e-01 -6.14980963e-02 -5.09222213e-02 6.62733774e+00] [ 6.14194152e-02 9.98107200e-01 -3.10999012e-03 3.15776791e-01] [ 5.10170942e-02 -2.75520158e-05 9.98697780e-01 2.01095622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105099893 meters 0.015977901595837635 Centerline is valid? [True, True] Translation: X:6.69, Y:0.31, Z:0.02 [[ 9.96280868e-01 -7.24668686e-02 -4.66152803e-02 6.68582625e+00] [ 7.24128786e-02 9.97370675e-01 -2.84807989e-03 3.13586679e-01] [ 4.66991051e-02 -5.38059127e-04 9.98908857e-01 2.35666689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165099892999999 meters 0.018710381797962222 Centerline is valid? [True, True] Translation: X:6.75, Y:0.33, Z:0.02 [[ 9.97784563e-01 -4.55007224e-02 -4.85350324e-02 6.74612594e+00] [ 4.54098084e-02 9.98964014e-01 -2.97472597e-03 3.31378827e-01] [ 4.86201029e-02 7.64169138e-04 9.98817051e-01 2.33268760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225099893 meters 0.018766031517788134 Centerline is valid? [True, True] Translation: X:6.81, Y:0.34, Z:0.03 [[ 9.98352670e-01 -2.53970666e-02 -5.14483836e-02 6.80587927e+00] [ 2.52682932e-02 9.99675737e-01 -3.15196155e-03 3.42326455e-01] [ 5.15117514e-02 1.84675639e-03 9.98670681e-01 3.16044215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285099893 meters 0.021045924193790023 Centerline is valid? [True, True] Translation: X:6.86, Y:0.35, Z:0.04 [[ 9.98875286e-01 -1.94930837e-02 -4.32224712e-02 6.86461992e+00] [ 1.93966887e-02 9.99808359e-01 -2.64850687e-03 3.46620650e-01] [ 4.32658155e-02 1.80715524e-03 9.99061962e-01 3.73757230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345099892999999 meters 0.01780781880470681 Centerline is valid? [True, True] Translation: X:6.93, Y:0.30, Z:0.03 [[ 9.95861297e-01 -7.88149173e-02 -4.52602078e-02 6.92740802e+00] [ 7.87701027e-02 9.96888944e-01 -2.77557565e-03 3.01653027e-01] [ 4.53381575e-02 -8.01062848e-04 9.98971376e-01 3.27031915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405099893 meters 0.015394060294507676 Centerline is valid? [True, True] Translation: X:6.99, Y:0.33, Z:0.04 [[ 9.96571286e-01 -7.15514065e-02 -4.15459809e-02 6.98725647e+00] [ 7.15073208e-02 9.97436820e-01 -2.54813465e-03 3.27803103e-01] [ 4.16218137e-02 -4.31443966e-04 9.99133344e-01 3.96036832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465099893 meters 0.016730478882528182 Centerline is valid? [True, True] Translation: X:7.05, Y:0.34, Z:0.03 [[ 9.96419275e-01 -6.76188299e-02 -5.07574852e-02 7.04887438e+00] [ 6.75480398e-02 9.97711173e-01 -3.11073980e-03 3.36549581e-01] [ 5.08516547e-02 -3.28967533e-04 9.98706163e-01 3.37447789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525099893 meters 0.015493650360595251 Centerline is valid? [True, True] Translation: X:7.11, Y:0.35, Z:0.05 [[ 9.97316298e-01 -5.86951837e-02 -4.37615981e-02 7.10808254e+00] [ 5.86340540e-02 9.98275946e-01 -2.68025841e-03 3.50440549e-01] [ 4.38434690e-02 1.07145490e-04 9.99038407e-01 4.64266761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585099892999999 meters 0.015197300417547643 Centerline is valid? [True, True] Translation: X:7.17, Y:0.35, Z:0.05 [[ 9.97534274e-01 -5.46175138e-02 -4.40715335e-02 7.16841156e+00] [ 5.45515361e-02 9.98507308e-01 -2.69924097e-03 3.52274624e-01] [ 4.41531741e-02 2.88415525e-04 9.99024731e-01 4.51772584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645099893 meters 0.01712332175137058 Centerline is valid? [True, True] Translation: X:7.23, Y:0.35, Z:0.05 [[ 9.97689466e-01 -5.07078613e-02 -4.52155010e-02 7.22827490e+00] [ 5.06343854e-02 9.98713417e-01 -2.76959219e-03 3.54786433e-01] [ 4.52977676e-02 4.73733855e-04 9.98973417e-01 4.64494888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705099893 meters 0.016656826474291363 Centerline is valid? [True, True] Translation: X:7.29, Y:0.35, Z:0.05 [[ 9.96451070e-01 -7.11013705e-02 -4.50539805e-02 7.28788760e+00] [ 7.10491404e-02 9.97468994e-01 -2.76158993e-03 3.46554192e-01] [ 4.51363015e-02 -4.49257346e-04 9.98980737e-01 4.72694048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765099892999999 meters 0.018234338158765396 Centerline is valid? [True, True] Translation: X:7.35, Y:0.34, Z:0.05 [[ 9.95960122e-01 -7.78586703e-02 -4.47377227e-02 7.34865241e+00] [ 7.78138677e-02 9.96964126e-01 -2.74470988e-03 3.44492610e-01] [ 4.48156040e-02 -7.47593648e-04 9.98994996e-01 4.92481465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825099892999999 meters 0.0177421421347526 Centerline is valid? [True, True] Translation: X:7.41, Y:0.35, Z:0.05 [[ 9.95975614e-01 -7.73298238e-02 -4.53064474e-02 7.41130195e+00] [ 7.72833843e-02 9.97005295e-01 -2.77836276e-03 3.47149984e-01] [ 4.53856183e-02 -7.34254032e-04 9.98969272e-01 4.97230316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885099893 meters 0.018612266136108623 Centerline is valid? [True, True] Translation: X:7.47, Y:0.35, Z:0.05 [[ 9.95913854e-01 -7.95032810e-02 -4.28348424e-02 7.47369951e+00] [ 7.94639040e-02 9.96834291e-01 -2.62388858e-03 3.48698770e-01] [ 4.29078475e-02 -7.90656814e-04 9.99078721e-01 5.39198547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945099893 meters 0.02034952816566804 Centerline is valid? [True, True] Translation: X:7.54, Y:0.35, Z:0.05 [[ 9.95050942e-01 -8.41713337e-02 -5.28091744e-02 7.53570267e+00] [ 8.41182462e-02 9.96450541e-01 -3.23108406e-03 3.47381340e-01] [ 5.28936950e-02 -1.22712189e-03 9.98599395e-01 4.70744847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005099892999999 meters 0.014821500816232572 Centerline is valid? [True, True] Translation: X:7.60, Y:0.36, Z:0.05 [[ 9.96431171e-01 -6.91179161e-02 -4.84524030e-02 7.59556708e+00] [ 6.90554828e-02 9.97608420e-01 -2.96330998e-03 3.60728609e-01] [ 4.85413430e-02 -3.93169647e-04 9.98821097e-01 5.40006164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065099893 meters 0.016083737075952054 Centerline is valid? [True, True] Translation: X:7.65, Y:0.38, Z:0.06 [[ 9.97372964e-01 -5.52633533e-02 -4.68308826e-02 7.65399635e+00] [ 5.51897604e-02 9.98471776e-01 -2.86399851e-03 3.76272664e-01] [ 4.69175886e-02 2.71889491e-04 9.98898727e-01 6.11103542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125099893 meters 0.015463187885894623 Centerline is valid? [True, True] Translation: X:7.71, Y:0.38, Z:0.06 [[ 9.97466246e-01 -5.16590465e-02 -4.89124782e-02 7.71211902e+00] [ 5.15743978e-02 9.98664673e-01 -2.99195212e-03 3.80742696e-01] [ 4.90017254e-02 4.61739644e-04 9.98798587e-01 6.33533636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185099892999999 meters 0.015324444509002291 Centerline is valid? [True, True] Translation: X:7.77, Y:0.38, Z:0.07 [[ 9.97373014e-01 -5.39429575e-02 -4.83448947e-02 7.77063350e+00] [ 5.38626499e-02 9.98543957e-01 -2.96330772e-03 3.81031553e-01] [ 4.84343520e-02 3.51539014e-04 9.98826306e-01 6.60179401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245099892999999 meters 0.01338305310331774 Centerline is valid? [True, True] Translation: X:7.83, Y:0.38, Z:0.07 [[ 9.96514088e-01 -7.33925099e-02 -3.96637374e-02 7.82999562e+00] [ 7.33535340e-02 9.97303018e-01 -2.43904407e-03 3.76435611e-01] [ 3.97357726e-02 -4.78933537e-04 9.99210108e-01 7.42537783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305099893 meters 0.018352304848450136 Centerline is valid? [True, True] Translation: X:7.89, Y:0.37, Z:0.06 [[ 9.95063813e-01 -8.57569573e-02 -4.99374793e-02 7.89028918e+00] [ 8.57105430e-02 9.96315338e-01 -3.07408623e-03 3.72328273e-01] [ 5.00171008e-02 -1.22125650e-03 9.98747615e-01 6.48341045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365099893 meters 0.017899338257731774 Centerline is valid? [True, True] Translation: X:7.95, Y:0.38, Z:0.07 [[ 9.95575666e-01 -8.08814681e-02 -4.78255245e-02 7.95169579e+00] [ 8.08333198e-02 9.96723288e-01 -2.94312777e-03 3.77987469e-01] [ 4.79068585e-02 -9.35789525e-04 9.98851369e-01 6.92408408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425099892999999 meters 0.017002005809140828 Centerline is valid? [True, True] Translation: X:8.01, Y:0.38, Z:0.07 [[ 9.95502899e-01 -8.25747677e-02 -4.64261270e-02 8.01309774e+00] [ 8.25313481e-02 9.96584381e-01 -2.85458624e-03 3.83787125e-01] [ 4.65032699e-02 -9.89861973e-04 9.98917647e-01 7.14562431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485099893 meters 0.019105108384450526 Centerline is valid? [True, True] Translation: X:8.07, Y:0.38, Z:0.07 [[ 9.94833523e-01 -8.81105185e-02 -5.04261669e-02 8.07449998e+00] [ 8.80665148e-02 9.96109778e-01 -3.09815009e-03 3.79228381e-01] [ 5.05029776e-02 -1.35871321e-03 9.98722986e-01 7.04362505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545099893 meters 0.019002556876955463 Centerline is valid? [True, True] Translation: X:8.14, Y:0.39, Z:0.07 [[ 9.94691617e-01 -8.74878402e-02 -5.41707045e-02 8.13597278e+00] [ 8.74362282e-02 9.96164565e-01 -3.32657750e-03 3.85062624e-01] [ 5.42539714e-02 -1.42756333e-03 9.98526148e-01 6.98759328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605099892999998 meters 0.018428968624363773 Centerline is valid? [True, True] Translation: X:8.20, Y:0.39, Z:0.08 [[ 9.95156344e-01 -8.45008432e-02 -5.02340338e-02 8.19698141e+00] [ 8.44527740e-02 9.96422715e-01 -3.08248710e-03 3.92716304e-01] [ 5.03148051e-02 -1.17484691e-03 9.98732717e-01 7.52970039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665099892999999 meters 0.01888123354153872 Centerline is valid? [True, True] Translation: X:8.26, Y:0.39, Z:0.08 [[ 9.95125464e-01 -8.49774919e-02 -5.00413595e-02 8.25967275e+00] [ 8.49305057e-02 9.96382153e-01 -3.06841097e-03 3.92055084e-01] [ 5.01210634e-02 -1.19658408e-03 9.98742433e-01 7.77013723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725099893 meters 0.018354852189382563 Centerline is valid? [True, True] Translation: X:8.32, Y:0.40, Z:0.08 [[ 9.94914747e-01 -8.74761169e-02 -4.99256927e-02 8.32060330e+00] [ 8.74326441e-02 9.96165739e-01 -3.05821760e-03 3.96857532e-01] [ 5.00017856e-02 -1.32246954e-03 9.98748253e-01 8.03704092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785099893 meters 0.019118468258750406 Centerline is valid? [True, True] Translation: X:8.38, Y:0.41, Z:0.09 [[ 9.95428670e-01 -8.16817742e-02 -4.94959753e-02 8.38127260e+00] [ 8.16319752e-02 9.96657935e-01 -3.03014432e-03 4.07651137e-01] [ 4.95780641e-02 -1.02416170e-03 9.98769727e-01 8.56088634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845099892999999 meters 0.016589855216746024 Centerline is valid? [True, True] Translation: X:8.44, Y:0.41, Z:0.09 [[ 9.95783733e-01 -7.83099960e-02 -4.77734389e-02 8.44294551e+00] [ 7.82598050e-02 9.96928713e-01 -2.92302056e-03 4.09156283e-01] [ 4.78556147e-02 -8.28043690e-04 9.98853920e-01 8.52820488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905099893 meters 0.01648365263669682 Centerline is valid? [True, True] Translation: X:8.50, Y:0.41, Z:0.08 [[ 9.95352650e-01 -8.25543404e-02 -4.95770339e-02 8.50446968e+00] [ 8.25056360e-02 9.96585987e-01 -3.03155042e-03 4.09065864e-01] [ 4.96580449e-02 -1.07292296e-03 9.98765702e-01 8.48330779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965099893 meters 0.020113260080854515 Centerline is valid? [True, True] Translation: X:8.57, Y:0.41, Z:0.09 [[ 9.94583125e-01 -9.06814169e-02 -5.08063709e-02 8.56556928e+00] [ 9.06409315e-02 9.95878798e-01 -3.10511232e-03 4.08701287e-01] [ 5.08785636e-02 -1.51684448e-03 9.98703695e-01 8.83879416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025099892999998 meters 0.019594855136825906 Centerline is valid? [True, True] Translation: X:8.63, Y:0.42, Z:0.09 [[ 9.95210253e-01 -8.43263795e-02 -4.94531442e-02 8.62645028e+00] [ 8.42802231e-02 9.96437511e-01 -3.02155927e-03 4.15622115e-01] [ 4.95317651e-02 -1.16083526e-03 9.98771874e-01 9.03406607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085099892999999 meters 0.019112618528942974 Centerline is valid? [True, True] Translation: X:8.69, Y:0.42, Z:0.09 [[ 9.95128904e-01 -8.40195188e-02 -5.15672932e-02 8.68849048e+00] [ 8.39690093e-02 9.96463391e-01 -3.14901970e-03 4.21560491e-01] [ 5.16494990e-02 -1.19637400e-03 9.98664557e-01 9.05856705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145099893 meters 0.019115370361928757 Centerline is valid? [True, True] Translation: X:8.75, Y:0.42, Z:0.10 [[ 9.94873205e-01 -8.73693042e-02 -5.09304497e-02 8.74966332e+00] [ 8.73245756e-02 9.96175067e-01 -3.10702363e-03 4.23125692e-01] [ 5.10071026e-02 -1.35638535e-03 9.98697369e-01 9.60650152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205099893 meters 0.0167621592104565 Centerline is valid? [True, True] Translation: X:8.81, Y:0.44, Z:0.10 [[ 9.95864856e-01 -7.67440877e-02 -4.86161855e-02 8.80936569e+00] [ 7.66907364e-02 9.97050522e-01 -2.96451709e-03 4.35912469e-01] [ 4.87003023e-02 -7.76152680e-04 9.98813135e-01 1.00220008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265099892999999 meters 0.015837471859245313 Centerline is valid? [True, True] Translation: X:8.87, Y:0.44, Z:0.10 [[ 9.96081301e-01 -7.44500503e-02 -4.77413084e-02 8.87068652e+00] [ 7.43959962e-02 9.97224530e-01 -2.91059995e-03 4.41104340e-01] [ 4.78254982e-02 -6.52568012e-04 9.98855493e-01 1.03077445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325099892999999 meters 0.017416689385068594 Centerline is valid? [True, True] Translation: X:8.93, Y:0.44, Z:0.10 [[ 9.96043150e-01 -7.48957819e-02 -4.78399907e-02 8.93147165e+00] [ 7.48420907e-02 9.97191137e-01 -2.91509552e-03 4.43413098e-01] [ 4.79239431e-02 -6.76884002e-04 9.98850758e-01 1.04913660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385099893 meters 0.017799490949296587 Centerline is valid? [True, True] Translation: X:8.99, Y:0.44, Z:0.11 [[ 9.95867819e-01 -7.64649671e-02 -4.89938342e-02 8.99143800e+00] [ 7.64105848e-02 9.97071970e-01 -2.98472034e-03 4.44075273e-01] [ 4.90786054e-02 -7.71260589e-04 9.98794621e-01 1.05992222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445099892999998 meters 0.017562089536235795 Centerline is valid? [True, True] Translation: X:9.05, Y:0.45, Z:0.11 [[ 9.95748383e-01 -7.75584350e-02 -4.96975629e-02 9.05282121e+00] [ 7.75038617e-02 9.96987456e-01 -3.02714752e-03 4.46955116e-01] [ 4.97826276e-02 -8.37475791e-04 9.98759725e-01 1.08756583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505099892999999 meters 0.018615968606844707 Centerline is valid? [True, True] Translation: X:9.11, Y:0.45, Z:0.11 [[ 9.95490160e-01 -7.98207035e-02 -5.12639921e-02 9.11320595e+00] [ 7.97657144e-02 9.96808753e-01 -3.12094591e-03 4.48900702e-01] [ 5.13495122e-02 -9.82238014e-04 9.98680261e-01 1.10143837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565099893 meters 0.016657675468194973 Centerline is valid? [True, True] Translation: X:9.17, Y:0.46, Z:0.11 [[ 9.96189260e-01 -7.24511705e-02 -4.85570362e-02 9.17298433e+00] [ 7.23931138e-02 9.97371797e-01 -2.95552816e-03 4.62361077e-01] [ 4.86435499e-02 -5.70929638e-04 9.98816039e-01 1.14431981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625099893 meters 0.01632736930275045 Centerline is valid? [True, True] Translation: X:9.23, Y:0.47, Z:0.12 [[ 9.96331723e-01 -7.06558338e-02 -4.82788764e-02 9.23411881e+00] [ 7.05963531e-02 9.97500638e-01 -2.93820319e-03 4.67906978e-01] [ 4.83658112e-02 -4.80887560e-04 9.98829574e-01 1.17030370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685099892999999 meters 0.01683174308329359 Centerline is valid? [True, True] Translation: X:9.30, Y:0.47, Z:0.12 [[ 9.96313371e-01 -7.05500786e-02 -4.88093644e-02 9.29519729e+00] [ 7.04892424e-02 9.97508122e-01 -2.96872805e-03 4.73421452e-01] [ 4.88971814e-02 -4.82751671e-04 9.98803701e-01 1.19982233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745099892999999 meters 0.0160738728061099 Centerline is valid? [True, True] Translation: X:9.36, Y:0.48, Z:0.12 [[ 9.96273421e-01 -7.11053312e-02 -4.88190703e-02 9.35612380e+00] [ 7.10452228e-02 9.97468681e-01 -2.96756339e-03 4.77926924e-01] [ 4.89065033e-02 -5.11857195e-04 9.98803230e-01 1.23334929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805099893 meters 0.015426876707040993 Centerline is valid? [True, True] Translation: X:9.42, Y:0.48, Z:0.13 [[ 9.96087074e-01 -7.34737249e-02 -4.91136808e-02 9.41612385e+00] [ 7.34158413e-02 9.97296952e-01 -2.98392078e-03 4.80127339e-01] [ 4.92001639e-02 -6.33477280e-04 9.98788738e-01 1.26080380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865099892999998 meters 0.016861210841965575 Centerline is valid? [True, True] Translation: X:9.48, Y:0.48, Z:0.13 [[ 9.95817316e-01 -7.62386845e-02 -5.03541040e-02 9.47730266e+00] [ 7.61814281e-02 9.97089283e-01 -3.05814038e-03 4.81692815e-01] [ 5.04406861e-02 -7.90698416e-04 9.98726745e-01 1.25997608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925099892999999 meters 0.016204966473304116 Centerline is valid? [True, True] Translation: X:9.54, Y:0.48, Z:0.13 [[ 9.95694753e-01 -7.82221375e-02 -4.97318429e-02 9.53826976e+00] [ 7.81688360e-02 9.96935565e-01 -3.01880990e-03 4.81215045e-01] [ 4.98155807e-02 -8.81667099e-04 9.98758044e-01 1.26779097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985099893 meters 0.01646927769703379 Centerline is valid? [True, True] Translation: X:9.60, Y:0.49, Z:0.13 [[ 9.96314339e-01 -7.11534389e-02 -4.79053802e-02 9.59884781e+00] [ 7.10958515e-02 9.97465252e-01 -2.90711741e-03 4.89254837e-01] [ 4.79908036e-02 -5.09471042e-04 9.98847648e-01 1.29513539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045099893 meters 0.014593240605657472 Centerline is valid? [True, True] Translation: X:9.66, Y:0.49, Z:0.13 [[ 9.96286414e-01 -7.17916494e-02 -4.75325178e-02 9.65969769e+00] [ 7.17357298e-02 9.97419506e-01 -2.88346921e-03 4.94631413e-01] [ 4.76168694e-02 -5.37018655e-04 9.98865529e-01 1.34802405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105099892999998 meters 0.014196005093914594 Centerline is valid? [True, True] Translation: X:9.72, Y:0.50, Z:0.14 [[ 9.96960796e-01 -6.21754783e-02 -4.69401928e-02 9.71956310e+00] [ 6.21103548e-02 9.98065230e-01 -2.84605474e-03 5.03038416e-01] [ 4.70263292e-02 -7.80670333e-05 9.98893647e-01 1.39314105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165099892999999 meters 0.015655772554463345 Centerline is valid? [True, True] Translation: X:9.78, Y:0.50, Z:0.14 [[ 9.96727855e-01 -6.30120395e-02 -5.06267287e-02 9.78066018e+00] [ 6.29373928e-02 9.98012759e-01 -3.06886964e-03 5.02513302e-01] [ 5.07194969e-02 -1.27486456e-04 9.98712930e-01 1.37120924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225099893 meters 0.014539790253192048 Centerline is valid? [True, True] Translation: X:9.84, Y:0.51, Z:0.14 [[ 9.96956075e-01 -6.33041493e-02 -4.55100991e-02 9.83883935e+00] [ 6.32440449e-02 9.97994273e-01 -2.76078685e-03 5.06371450e-01] [ 4.55935876e-02 -1.25859525e-04 9.98960064e-01 1.44609778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285099892999998 meters 0.015389509869223236 Centerline is valid? [True, True] Translation: X:9.90, Y:0.51, Z:0.15 [[ 9.96877445e-01 -6.56656877e-02 -4.38563324e-02 9.89899386e+00] [ 6.56117621e-02 9.97841656e-01 -2.66946356e-03 5.07417086e-01] [ 4.39369675e-02 -2.16363234e-04 9.99034282e-01 1.47601050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345099892999999 meters 0.01586120497430458 Centerline is valid? [True, True] Translation: X:9.96, Y:0.51, Z:0.15 [[ 9.96159290e-01 -7.48406950e-02 -4.54482020e-02 9.96000159e+00] [ 7.47923254e-02 9.97195295e-01 -2.76620816e-03 5.06288817e-01] [ 4.55277581e-02 -6.43592757e-04 9.98962867e-01 1.47517756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405099893 meters 0.018781759609241014 Centerline is valid? [True, True] Translation: X:10.02, Y:0.51, Z:0.15 [[ 9.95343207e-01 -8.34642733e-02 -4.82246386e-02 1.00210570e+01] [ 8.34199616e-02 9.96510161e-01 -2.93427315e-03 5.06648812e-01] [ 4.83012493e-02 -1.10228866e-03 9.98832205e-01 1.46167858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465099893 meters 0.0157997742906499 Centerline is valid? [True, True] Translation: X:10.08, Y:0.52, Z:0.15 [[ 9.96440516e-01 -7.15529162e-02 -4.45699290e-02 1.00808640e+01] [ 7.15031854e-02 9.97436687e-01 -2.71108082e-03 5.20975500e-01] [ 4.46496681e-02 -4.85461125e-04 9.99002588e-01 1.52837115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525099892999998 meters 0.017278685047675095 Centerline is valid? [True, True] Translation: X:10.14, Y:0.52, Z:0.15 [[ 9.96116541e-01 -7.44895553e-02 -4.69376518e-02 1.01436711e+01] [ 7.44377358e-02 9.97221581e-01 -2.85340548e-03 5.19745629e-01] [ 4.70197882e-02 -6.51608131e-04 9.98893746e-01 1.51203624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585099892999999 meters 0.017340861199724295 Centerline is valid? [True, True] Translation: X:10.21, Y:0.52, Z:0.15 [[ 9.95782740e-01 -7.80699087e-02 -4.81853152e-02 1.02055398e+01] [ 7.80196462e-02 9.96947528e-01 -2.92590236e-03 5.20212728e-01] [ 4.82666558e-02 -8.45838172e-04 9.98834128e-01 1.52950711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645099893 meters 0.016099528215803204 Centerline is valid? [True, True] Translation: X:10.27, Y:0.52, Z:0.16 [[ 9.95566184e-01 -8.05019840e-02 -4.86559658e-02 1.02673263e+01] [ 8.04537736e-02 9.96753971e-01 -2.95165815e-03 5.22477630e-01] [ 4.87356415e-02 -9.75985021e-04 9.98811236e-01 1.55965715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705099892999998 meters 0.01779092135689959 Centerline is valid? [True, True] Translation: X:10.33, Y:0.52, Z:0.16 [[ 9.95387028e-01 -8.21168891e-02 -4.96133234e-02 1.03296011e+01] [ 8.20689444e-02 9.96622121e-01 -3.00615895e-03 5.24873489e-01] [ 4.96925920e-02 -1.07942146e-03 9.98763977e-01 1.55247017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765099892999999 meters 0.015468997202004656 Centerline is valid? [True, True] Translation: X:10.39, Y:0.53, Z:0.16 [[ 9.96138211e-01 -7.52355663e-02 -4.52578596e-02 1.03894526e+01] [ 7.51886795e-02 9.97165561e-01 -2.73983439e-03 5.34918739e-01] [ 4.53357119e-02 -6.73624970e-04 9.98971581e-01 1.63187594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825099892999999 meters 0.014260075641237135 Centerline is valid? [True, True] Translation: X:10.45, Y:0.54, Z:0.17 [[ 9.96439122e-01 -7.34503596e-02 -4.14019485e-02 1.04516915e+01] [ 7.34095952e-02 9.97298727e-01 -2.50610172e-03 5.38107097e-01] [ 4.14741846e-02 -5.42122480e-04 9.99139429e-01 1.69325936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885099893 meters 0.016498976575131268 Centerline is valid? [True, True] Translation: X:10.51, Y:0.54, Z:0.16 [[ 9.95867777e-01 -7.77517526e-02 -4.69258508e-02 1.05140919e+01] [ 7.77043291e-02 9.96972412e-01 -2.83670648e-03 5.38152800e-01] [ 4.70043376e-02 -8.21357183e-04 9.98894348e-01 1.63564533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945099892999998 meters 0.016195337068516166 Centerline is valid? [True, True] Translation: X:10.58, Y:0.54, Z:0.16 [[ 9.95843697e-01 -7.56047147e-02 -5.07863903e-02 1.05762987e+01] [ 7.55465748e-02 9.97137560e-01 -3.06618358e-03 5.43361472e-01] [ 5.08728352e-02 -7.83298232e-04 9.98704832e-01 1.64757684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005099892999999 meters 0.01544414781874727 Centerline is valid? [True, True] Translation: X:10.64, Y:0.55, Z:0.17 [[ 9.96381283e-01 -7.04712841e-02 -4.75198499e-02 1.06362588e+01] [ 7.04146781e-02 9.97513688e-01 -2.86623660e-03 5.49614225e-01] [ 4.76036881e-02 -4.90230427e-04 9.98866182e-01 1.68499686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065099893 meters 0.015765204621277232 Centerline is valid? [True, True] Translation: X:10.70, Y:0.56, Z:0.18 [[ 9.97410394e-01 -5.93429359e-02 -4.06315367e-02 1.06965160e+01] [ 5.92923471e-02 9.98237654e-01 -2.45006392e-03 5.60477347e-01] [ 4.07053239e-02 3.45800371e-05 9.99171194e-01 1.76242978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125099892999998 meters 0.015658878717081007 Centerline is valid? [True, True] Translation: X:10.76, Y:0.56, Z:0.17 [[ 9.97035126e-01 -6.02626637e-02 -4.78473593e-02 1.07579761e+01] [ 6.01936518e-02 9.98182554e-01 -2.88321691e-03 5.61782615e-01] [ 4.79341496e-02 -5.43875565e-06 9.98850498e-01 1.72106920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185099892999999 meters 0.015554442690664635 Centerline is valid? [True, True] Translation: X:10.82, Y:0.57, Z:0.18 [[ 9.97146210e-01 -5.79164891e-02 -4.84263943e-02 1.08167299e+01] [ 5.78430671e-02 9.98321426e-01 -2.91735193e-03 5.65003087e-01] [ 4.85140697e-02 1.07895248e-04 9.98822493e-01 1.75437854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245099892999999 meters 0.015978386150210622 Centerline is valid? [True, True] Translation: X:10.88, Y:0.57, Z:0.18 [[ 9.97539238e-01 -5.34169007e-02 -4.54103923e-02 1.08751962e+01] [ 5.33475071e-02 9.98572250e-01 -2.73953017e-03 5.71210962e-01] [ 4.54918948e-02 3.10257616e-04 9.98964660e-01 1.80180591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305099893 meters 0.01564587720726686 Centerline is valid? [True, True] Translation: X:10.93, Y:0.57, Z:0.18 [[ 9.97097857e-01 -6.17734532e-02 -4.44961091e-02 1.09339480e+01] [ 6.17146544e-02 9.98090195e-01 -2.69525366e-03 5.69268351e-01] [ 4.45776254e-02 -5.86303447e-05 9.99005922e-01 1.82804728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365099892999998 meters 0.01665317048089254 Centerline is valid? [True, True] Translation: X:10.99, Y:0.57, Z:0.18 [[ 9.96515033e-01 -6.88296991e-02 -4.71196455e-02 1.09946673e+01] [ 6.87711636e-02 9.97628349e-01 -2.86421313e-03 5.66476777e-01] [ 4.72050371e-02 -3.86241406e-04 9.98885146e-01 1.80607397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425099892999999 meters 0.01834854723270465 Centerline is valid? [True, True] Translation: X:11.06, Y:0.56, Z:0.18 [[ 9.95054294e-01 -8.57170507e-02 -5.01950088e-02 1.10551940e+01] [ 8.56720482e-02 9.96318719e-01 -3.05135196e-03 5.60334645e-01] [ 5.02717797e-02 -1.26404834e-03 9.98734775e-01 1.81586878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485099893 meters 0.018598970125417516 Centerline is valid? [True, True] Translation: X:11.12, Y:0.56, Z:0.18 [[ 9.95058106e-01 -8.65692335e-02 -4.86326317e-02 1.11177898e+01] [ 8.65280175e-02 9.96245032e-01 -2.95611422e-03 5.61921662e-01] [ 4.87059263e-02 -1.26657979e-03 9.98812359e-01 1.83613342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545099892999998 meters 0.016759248861746436 Centerline is valid? [True, True] Translation: X:11.18, Y:0.58, Z:0.19 [[ 9.95896048e-01 -7.79114388e-02 -4.60528892e-02 1.11774312e+01] [ 7.78653410e-02 9.96959962e-01 -2.79677701e-03 5.75263265e-01] [ 4.61307876e-02 -8.00624751e-04 9.98935088e-01 1.89091726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605099892999998 meters 0.016063002036063853 Centerline is valid? [True, True] Translation: X:11.24, Y:0.58, Z:0.19 [[ 9.95994073e-01 -7.60073075e-02 -4.71030246e-02 1.12397883e+01] [ 7.59569891e-02 9.97106994e-01 -2.85983561e-03 5.77375439e-01] [ 4.71841236e-02 -7.29424609e-04 9.98885943e-01 1.90599115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665099892999999 meters 0.01803325077966481 Centerline is valid? [True, True] Translation: X:11.30, Y:0.58, Z:0.19 [[ 9.95375140e-01 -8.25754486e-02 -4.90879396e-02 1.13015126e+01] [ 8.25289343e-02 9.96584222e-01 -2.97710047e-03 5.75528730e-01] [ 4.91661015e-02 -1.08784354e-03 9.98790024e-01 1.91834350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725099893 meters 0.01799314370390857 Centerline is valid? [True, True] Translation: X:11.36, Y:0.58, Z:0.19 [[ 9.95052607e-01 -8.63707910e-02 -4.90957722e-02 1.13626532e+01] [ 8.63289626e-02 9.96262242e-01 -2.97578531e-03 5.77067159e-01] [ 4.91692850e-02 -1.27732415e-03 9.98789642e-01 1.94108015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785099892999998 meters 0.0196637134106595 Centerline is valid? [True, True] Translation: X:11.42, Y:0.58, Z:0.20 [[ 9.94969123e-01 -8.76184284e-02 -4.85742230e-02 1.14241309e+01] [ 8.75790733e-02 9.96153226e-01 -2.94202037e-03 5.83189279e-01] [ 4.86451441e-02 -1.32686600e-03 9.98815243e-01 1.97989312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845099892999999 meters 0.01952348584468128 Centerline is valid? [True, True] Translation: X:11.48, Y:0.59, Z:0.20 [[ 9.94944462e-01 -8.71835574e-02 -4.98452041e-02 1.14849964e+01] [ 8.71417436e-02 9.96191359e-01 -3.01556295e-03 5.85724960e-01] [ 4.99182691e-02 -1.34328033e-03 9.98752403e-01 1.97618374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905099893 meters 0.018866787419096667 Centerline is valid? [True, True] Translation: X:11.55, Y:0.59, Z:0.20 [[ 9.95008068e-01 -8.71951924e-02 -4.85380515e-02 1.15474257e+01] [ 8.71556995e-02 9.96190383e-01 -2.93353019e-03 5.90208478e-01] [ 4.86089298e-02 -1.31148162e-03 9.98817026e-01 2.02088803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965099892999998 meters 0.01859379959087205 Centerline is valid? [True, True] Translation: X:11.61, Y:0.59, Z:0.21 [[ 9.94803509e-01 -8.96704428e-02 -4.82202213e-02 1.16098416e+01] [ 8.96345676e-02 9.95970469e-01 -2.91020148e-03 5.92217380e-01] [ 4.82868755e-02 -1.42712004e-03 9.98832489e-01 2.05577556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025099892999998 meters 0.020140118333177144 Centerline is valid? [True, True] Translation: X:11.67, Y:0.59, Z:0.21 [[ 9.94669063e-01 -9.12058452e-02 -4.81139246e-02 1.16707240e+01] [ 9.11720813e-02 9.95830929e-01 -2.90046730e-03 5.94278621e-01] [ 4.81778738e-02 -1.50164156e-03 9.98837643e-01 2.06736450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085099892999999 meters 0.020589971838525623 Centerline is valid? [True, True] Translation: X:11.73, Y:0.60, Z:0.21 [[ 9.94727118e-01 -9.11582461e-02 -4.69908004e-02 1.17328473e+01] [ 9.11261121e-02 9.95835339e-01 -2.83008771e-03 5.97008423e-01] [ 4.70530854e-02 -1.46692395e-03 9.98891313e-01 2.08030525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145099893 meters 0.021068539685257338 Centerline is valid? [True, True] Translation: X:11.79, Y:0.60, Z:0.21 [[ 9.94488780e-01 -9.31282388e-02 -4.81580425e-02 1.17946827e+01] [ 9.30969655e-02 9.95652833e-01 -2.89685838e-03 5.99567312e-01] [ 4.82184707e-02 -1.60247446e-03 9.98835528e-01 2.09978916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205099892999998 meters 0.020232499294768454 Centerline is valid? [True, True] Translation: X:11.86, Y:0.60, Z:0.21 [[ 9.94414997e-01 -9.29770506e-02 -4.99407773e-02 1.18563054e+01] [ 9.29434052e-02 9.95666872e-01 -3.00061596e-03 6.03306151e-01] [ 5.00033659e-02 -1.65780838e-03 9.98747673e-01 2.09867026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265099892999999 meters 0.021083942587465845 Centerline is valid? [True, True] Translation: X:11.92, Y:0.61, Z:0.21 [[ 9.94871187e-01 -8.97483960e-02 -4.66534673e-02 1.19165829e+01] [ 8.97156201e-02 9.95963486e-01 -2.80021858e-03 6.05536447e-01] [ 4.67164650e-02 -1.39968796e-03 9.98907209e-01 2.12894060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325099892999999 meters 0.01876067286392851 Centerline is valid? [True, True] Translation: X:11.98, Y:0.62, Z:0.22 [[ 9.95097621e-01 -8.79043930e-02 -4.53160351e-02 1.19778357e+01] [ 8.78717548e-02 9.96128094e-01 -2.71562469e-03 6.15477054e-01] [ 4.53792910e-02 -1.27968785e-03 9.98969010e-01 2.20723487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385099892999998 meters 0.02002262567741042 Centerline is valid? [True, True] Translation: X:12.04, Y:0.62, Z:0.21 [[ 9.94805836e-01 -8.83582955e-02 -5.05387043e-02 1.20399552e+01] [ 8.83184771e-02 9.96087695e-01 -3.02489941e-03 6.16374663e-01] [ 5.06082565e-02 -1.45431382e-03 9.98717522e-01 2.13737749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445099892999998 meters 0.01979952972904905 Centerline is valid? [True, True] Translation: X:12.10, Y:0.62, Z:0.22 [[ 9.94707289e-01 -9.01844499e-02 -4.92359092e-02 1.21012241e+01] [ 9.01490544e-02 9.95923934e-01 -2.94359749e-03 6.21972273e-01] [ 4.93006872e-02 -1.51055278e-03 9.98782839e-01 2.20872037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505099892999999 meters 0.01988081499604336 Centerline is valid? [True, True] Translation: X:12.16, Y:0.63, Z:0.22 [[ 9.95078627e-01 -8.66056960e-02 -4.81453953e-02 1.21619960e+01] [ 8.65678849e-02 9.96241809e-01 -2.87386215e-03 6.27734307e-01] [ 4.82133485e-02 -1.30812623e-03 9.98836204e-01 2.23679856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565099893 meters 0.01770003809961478 Centerline is valid? [True, True] Translation: X:12.22, Y:0.63, Z:0.23 [[ 9.95441924e-01 -8.37838977e-02 -4.55591212e-02 1.22231659e+01] [ 8.37471581e-02 9.96483330e-01 -2.71790149e-03 6.33120333e-01] [ 4.56266212e-02 -1.10993384e-03 9.98957947e-01 2.26617102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625099892999998 meters 0.017202217501790896 Centerline is valid? [True, True] Translation: X:12.28, Y:0.64, Z:0.23 [[ 9.95644142e-01 -8.12563502e-02 -4.57181325e-02 1.22846515e+01] [ 8.12167832e-02 9.96692734e-01 -2.72538108e-03 6.40218283e-01] [ 4.57883850e-02 -9.99569942e-04 9.98950662e-01 2.29809660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685099892999999 meters 0.018145458749708097 Centerline is valid? [True, True] Translation: X:12.35, Y:0.64, Z:0.23 [[ 9.95531760e-01 -8.07393161e-02 -4.89660813e-02 1.23467092e+01] [ 8.06934900e-02 9.96734700e-01 -2.91519961e-03 6.42348167e-01] [ 4.90415636e-02 -1.04907020e-03 9.98796188e-01 2.28559342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745099892999999 meters 0.017051636695563827 Centerline is valid? [True, True] Translation: X:12.41, Y:0.65, Z:0.23 [[ 9.95502434e-01 -8.11037797e-02 -4.89599962e-02 1.24073736e+01] [ 8.10585705e-02 9.96705088e-01 -2.91147178e-03 6.46077180e-01] [ 4.90348087e-02 -1.07025006e-03 9.98796497e-01 2.31327798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805099892999998 meters 0.016691262650984823 Centerline is valid? [True, True] Translation: X:12.47, Y:0.65, Z:0.24 [[ 9.95920581e-01 -7.69902866e-02 -4.70605226e-02 1.24680902e+01] [ 7.69440357e-02 9.97031492e-01 -2.79622046e-03 6.54255537e-01] [ 4.71361049e-02 -8.36213021e-04 9.98888126e-01 2.35886042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865099892999998 meters 0.01667469423836597 Centerline is valid? [True, True] Translation: X:12.53, Y:0.66, Z:0.24 [[ 9.96055550e-01 -7.67523851e-02 -4.45242937e-02 1.25302934e+01] [ 7.67108347e-02 9.97049878e-01 -2.64358091e-03 6.61561403e-01] [ 4.45958427e-02 -7.82342295e-04 9.99004804e-01 2.40874968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925099892999999 meters 0.016813868290082905 Centerline is valid? [True, True] Translation: X:12.59, Y:0.66, Z:0.24 [[ 9.95573860e-01 -8.21865737e-02 -4.55856931e-02 1.25916561e+01] [ 8.21488793e-02 9.96616404e-01 -2.70283340e-03 6.60330213e-01] [ 4.56535862e-02 -1.05394332e-03 9.98956775e-01 2.40144577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985099893 meters 0.018156750495934338 Centerline is valid? [True, True] Translation: X:12.65, Y:0.66, Z:0.24 [[ 9.95275817e-01 -8.45648821e-02 -4.76951725e-02 1.26532132e+01] [ 8.45264417e-02 9.96417229e-01 -2.82590952e-03 6.62326495e-01] [ 4.77632643e-02 -1.21894381e-03 9.98857940e-01 2.41486126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045099892999998 meters 0.01732556043103759 Centerline is valid? [True, True] Translation: X:12.71, Y:0.66, Z:0.25 [[ 9.95733439e-01 -8.09602190e-02 -4.42759690e-02 1.27149702e+01] [ 8.09236325e-02 9.96716858e-01 -2.62102254e-03 6.64264614e-01] [ 4.43428033e-02 -9.73132455e-04 9.99015900e-01 2.47586147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105099892999998 meters 0.014213129225145244 Centerline is valid? [True, True] Translation: X:12.77, Y:0.68, Z:0.25 [[ 9.96307072e-01 -7.30134177e-02 -4.51802971e-02 1.27742685e+01] [ 7.29672611e-02 9.97330757e-01 -2.67215752e-03 6.79345009e-01] [ 4.52548032e-02 -6.34393102e-04 9.98975275e-01 2.53530192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165099892999999 meters 0.014934146723819862 Centerline is valid? [True, True] Translation: X:12.84, Y:0.68, Z:0.25 [[ 9.97323611e-01 -5.98688488e-02 -4.19682617e-02 1.28354445e+01] [ 5.98174110e-02 9.98206251e-01 -2.48146571e-03 6.77187486e-01] [ 4.20415437e-02 -3.56084132e-05 9.99115863e-01 2.54524150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225099892999998 meters 0.013231290577979293 Centerline is valid? [True, True] Translation: X:12.90, Y:0.68, Z:0.26 [[ 9.97499238e-01 -5.67117088e-02 -4.21788231e-02 1.28955787e+01] [ 5.66569602e-02 9.98390591e-01 -2.49323903e-03 6.79752644e-01] [ 4.22523359e-02 9.72801294e-05 9.99106967e-01 2.57158382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285099892999998 meters 0.013231290577979293 Centerline is valid? [True, True] Translation: X:12.96, Y:0.68, Z:0.26 [[ 9.97499238e-01 -5.67117088e-02 -4.21788231e-02 1.29554334e+01] [ 5.66569602e-02 9.98390591e-01 -2.49323903e-03 6.83290722e-01] [ 4.22523359e-02 9.72801294e-05 9.99106967e-01 2.59396800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345099892999999 meters 0.015095341099097067 Centerline is valid? [True, True] Translation: X:13.02, Y:0.69, Z:0.26 [[ 9.97555076e-01 -5.47575087e-02 -4.34221769e-02 1.30155759e+01] [ 5.46976325e-02 9.98499665e-01 -2.56673511e-03 6.88167008e-01] [ 4.34975771e-02 1.85369368e-04 9.99053515e-01 2.60574266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405099893 meters 0.014267713587990461 Centerline is valid? [True, True] Translation: X:13.08, Y:0.69, Z:0.26 [[ 9.97587218e-01 -5.44640210e-02 -4.30512789e-02 1.30753563e+01] [ 5.44048816e-02 9.98515714e-01 -2.54501946e-03 6.92234408e-01] [ 4.31259905e-02 1.96679149e-04 9.99069622e-01 2.63448495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465099892999998 meters 0.014892380999147529 Centerline is valid? [True, True] Translation: X:13.13, Y:0.70, Z:0.26 [[ 9.97570886e-01 -5.38079802e-02 -4.42383224e-02 1.31346290e+01] [ 5.37448159e-02 9.98551274e-01 -2.61681585e-03 6.96153557e-01] [ 4.43150388e-02 2.32878806e-04 9.99017579e-01 2.64708800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525099892999998 meters 0.01546683046725612 Centerline is valid? [True, True] Translation: X:13.19, Y:0.70, Z:0.27 [[ 9.97525198e-01 -5.39572491e-02 -4.50787664e-02 1.31932595e+01] [ 5.38916633e-02 9.98543219e-01 -2.66984133e-03 6.99773428e-01] [ 4.51571538e-02 2.33864300e-04 9.98979868e-01 2.65674623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585099892999999 meters 0.015092632834862257 Centerline is valid? [True, True] Translation: X:13.25, Y:0.70, Z:0.27 [[ 9.97485678e-01 -5.41018988e-02 -4.57745190e-02 1.32506900e+01] [ 5.40338767e-02 9.98535390e-01 -2.72296715e-03 7.03069133e-01] [ 4.58547949e-02 2.42746018e-04 9.98948086e-01 2.67515718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645099892999998 meters 0.01496591719883739 Centerline is valid? [True, True] Translation: X:13.31, Y:0.71, Z:0.27 [[ 9.97437000e-01 -5.45816689e-02 -4.62630739e-02 1.33080811e+01] [ 5.45120740e-02 9.98509282e-01 -2.76556397e-03 7.06009927e-01] [ 4.63450578e-02 2.36579724e-04 9.98925463e-01 2.68842992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705099892999998 meters 0.014040975232640859 Centerline is valid? [True, True] Translation: X:13.37, Y:0.71, Z:0.27 [[ 9.97398062e-01 -5.53666458e-02 -4.61696927e-02 1.33661434e+01] [ 5.52975517e-02 9.98466068e-01 -2.77338199e-03 7.08457024e-01] [ 4.62524244e-02 2.13094847e-04 9.98929761e-01 2.70701737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765099892999999 meters 0.014000081483575637 Centerline is valid? [True, True] Translation: X:13.42, Y:0.71, Z:0.27 [[ 9.97351456e-01 -5.64768682e-02 -4.58305139e-02 1.34242325e+01] [ 5.64093452e-02 9.98403893e-01 -2.76633349e-03 7.11214525e-01] [ 4.59135973e-02 1.73737457e-04 9.98945400e-01 2.72256935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825099892999999 meters 0.018266001197209652 Centerline is valid? [True, True] Translation: X:13.48, Y:0.71, Z:0.27 [[ 9.95810491e-01 -7.97537203e-02 -4.47304267e-02 1.34848465e+01] [ 7.97123582e-02 9.96814222e-01 -2.71046245e-03 7.14252618e-01] [ 4.48040950e-02 -8.66460854e-04 9.98995417e-01 2.73022414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885099892999998 meters 0.01729867182046245 Centerline is valid? [True, True] Translation: X:13.55, Y:0.72, Z:0.28 [[ 9.95998426e-01 -7.75453769e-02 -4.44280272e-02 1.35468975e+01] [ 7.75024002e-02 9.96988532e-01 -2.69160896e-03 7.20576293e-01] [ 4.45029555e-02 -7.62440461e-04 9.99008962e-01 2.75853016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945099892999998 meters 0.01672948265045467 Centerline is valid? [True, True] Translation: X:13.61, Y:0.72, Z:0.28 [[ 9.96049175e-01 -7.72204790e-02 -4.38524578e-02 1.36079059e+01] [ 7.71784289e-02 9.97013765e-01 -2.65367231e-03 7.24242574e-01] [ 4.39264220e-02 -7.41275684e-04 9.99034494e-01 2.79118239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005099892999999 meters 0.017787134028843785 Centerline is valid? [True, True] Translation: X:13.67, Y:0.73, Z:0.28 [[ 9.96056398e-01 -7.71302789e-02 -4.38471332e-02 1.36699153e+01] [ 7.70882618e-02 9.97020748e-01 -2.65084613e-03 7.28524108e-01] [ 4.39209621e-02 -7.39707033e-04 9.99034735e-01 2.80837735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065099892999998 meters 0.018387284189571963 Centerline is valid? [True, True] Translation: X:13.73, Y:0.73, Z:0.28 [[ 9.96007085e-01 -7.75593006e-02 -4.42090722e-02 1.37318404e+01] [ 7.75171517e-02 9.96987445e-01 -2.66951251e-03 7.33206401e-01] [ 4.42829355e-02 -7.68107989e-04 9.99018734e-01 2.82586922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125099892999998 meters 0.01702331329576402 Centerline is valid? [True, True] Translation: X:13.79, Y:0.74, Z:0.29 [[ 9.95978119e-01 -7.82087171e-02 -4.37148011e-02 1.37935113e+01] [ 7.81682704e-02 9.96936693e-01 -2.63647313e-03 7.35945663e-01] [ 4.37870844e-02 -7.91240850e-04 9.99040572e-01 2.85165236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185099892999999 meters 0.01647369256884575 Centerline is valid? [True, True] Translation: X:13.86, Y:0.74, Z:0.29 [[ 9.95906991e-01 -7.89486988e-02 -4.40041837e-02 1.38552552e+01] [ 7.89085791e-02 9.96878333e-01 -2.65069575e-03 7.38564367e-01] [ 4.40760862e-02 -8.32461178e-04 9.99027830e-01 2.87245011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245099892999999 meters 0.018699509249136912 Centerline is valid? [True, True] Translation: X:13.92, Y:0.74, Z:0.29 [[ 9.95839312e-01 -7.93687792e-02 -4.47734506e-02 1.39165146e+01] [ 7.93278116e-02 9.96844944e-01 -2.69384894e-03 7.39345177e-01] [ 4.48459954e-02 -8.69139183e-04 9.98993534e-01 2.86243999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305099892999998 meters 0.01898014567212327 Centerline is valid? [True, True] Translation: X:13.98, Y:0.74, Z:0.29 [[ 9.95763251e-01 -8.03884298e-02 -4.46458121e-02 1.39774422e+01] [ 8.03488266e-02 9.96763193e-01 -2.68377331e-03 7.41319122e-01] [ 4.47170465e-02 -9.14835778e-04 9.98999274e-01 2.90582486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365099892999998 meters 0.018570005777083006 Centerline is valid? [True, True] Translation: X:14.04, Y:0.74, Z:0.30 [[ 9.95439810e-01 -8.54480097e-02 -4.24054580e-02 1.40393738e+01] [ 8.54169605e-02 9.96342038e-01 -2.54687012e-03 7.41739163e-01] [ 4.24679654e-02 -1.08688942e-03 9.99097238e-01 2.95752165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425099892999999 meters 0.018465447866077674 Centerline is valid? [True, True] Translation: X:14.10, Y:0.75, Z:0.30 [[ 9.95496897e-01 -8.36689048e-02 -4.45583061e-02 1.41004553e+01] [ 8.36329886e-02 9.96493040e-01 -2.67291758e-03 7.47857758e-01] [ 4.46256820e-02 -1.06566315e-03 9.99003210e-01 2.97184762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485099892999997 meters 0.018505116303205837 Centerline is valid? [True, True] Translation: X:14.16, Y:0.75, Z:0.30 [[ 9.95713287e-01 -8.03370315e-02 -4.58367893e-02 1.41624426e+01] [ 8.02956204e-02 9.96767309e-01 -2.74693252e-03 7.53560961e-01] [ 4.59092936e-02 -9.45336227e-04 9.98945165e-01 2.96309093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545099892999998 meters 0.017430764261176047 Centerline is valid? [True, True] Translation: X:14.22, Y:0.76, Z:0.30 [[ 9.95731617e-01 -7.99830296e-02 -4.60571641e-02 1.42245887e+01] [ 7.99409925e-02 9.96795785e-01 -2.75685822e-03 7.56982647e-01] [ 4.61300889e-02 -9.36764512e-04 9.98935002e-01 2.98039123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605099892999998 meters 0.018491572274737893 Centerline is valid? [True, True] Translation: X:14.29, Y:0.76, Z:0.30 [[ 9.95690431e-01 -8.02001486e-02 -4.65671803e-02 1.42854584e+01] [ 8.01575638e-02 9.96778317e-01 -2.78414750e-03 7.57008063e-01] [ 4.66404447e-02 -9.60562705e-04 9.98911280e-01 2.98256373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665099892999999 meters 0.01522650722467551 Centerline is valid? [True, True] Translation: X:14.35, Y:0.77, Z:0.31 [[ 9.96247728e-01 -7.58578242e-02 -4.16659909e-02 1.43459346e+01] [ 7.58200172e-02 9.97118413e-01 -2.48916119e-03 7.67953966e-01] [ 4.17347491e-02 -6.79294972e-04 9.99128495e-01 3.08860155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725099892999998 meters 0.0160545643817746 Centerline is valid? [True, True] Translation: X:14.41, Y:0.77, Z:0.31 [[ 9.96079141e-01 -7.65930150e-02 -4.42702560e-02 1.44069950e+01] [ 7.65511411e-02 9.97062153e-01 -2.64289431e-03 7.69530096e-01] [ 4.43426240e-02 -7.56406720e-04 9.99016096e-01 3.07872133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785099892999998 meters 0.016863880177413793 Centerline is valid? [True, True] Translation: X:14.47, Y:0.77, Z:0.31 [[ 9.95711392e-01 -7.97844121e-02 -4.68323745e-02 1.44694858e+01] [ 7.97412099e-02 9.96811687e-01 -2.79301040e-03 7.69674191e-01] [ 4.69058969e-02 -9.53437936e-04 9.98898858e-01 3.06462627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845099892999999 meters 0.018071920677140977 Centerline is valid? [True, True] Translation: X:14.53, Y:0.77, Z:0.31 [[ 9.95518164e-01 -8.17142921e-02 -4.76062946e-02 1.45303395e+01] [ 8.16720033e-02 9.96655227e-01 -2.83604346e-03 7.70593448e-01] [ 4.76788076e-02 -1.06476866e-03 9.98862151e-01 3.07176799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905099892999997 meters 0.01859598321202324 Centerline is valid? [True, True] Translation: X:14.59, Y:0.77, Z:0.31 [[ 9.95369804e-01 -8.33945307e-02 -4.77944029e-02 1.45922133e+01] [ 8.33539428e-02 9.96515943e-01 -2.84513777e-03 7.73830394e-01] [ 4.78651535e-02 -1.15188770e-03 9.98853142e-01 3.09726118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965099892999998 meters 0.01989039098310895 Centerline is valid? [True, True] Translation: X:14.65, Y:0.77, Z:0.31 [[ 9.95209262e-01 -8.73994109e-02 -4.38162905e-02 1.46541690e+01] [ 8.73692924e-02 9.96172584e-01 -2.60560766e-03 7.69743757e-01] [ 4.38763160e-02 -1.23507343e-03 9.99036207e-01 3.12626021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025099892999997 meters 0.020285702666702387 Centerline is valid? [True, True] Translation: X:14.71, Y:0.77, Z:0.31 [[ 9.94756592e-01 -9.09694147e-02 -4.67320996e-02 1.47149783e+01] [ 9.09391792e-02 9.95852576e-01 -2.77706395e-03 7.70336989e-01] [ 4.67909096e-02 -1.48727611e-03 9.98903598e-01 3.13502009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085099893 meters 0.022068184436979926 Centerline is valid? [True, True] Translation: X:14.78, Y:0.77, Z:0.31 [[ 9.94591486e-01 -9.24574832e-02 -4.73221965e-02 1.47762300e+01] [ 9.24282831e-02 9.95715380e-01 -2.80956171e-03 7.69613930e-01] [ 4.73792038e-02 -1.57954321e-03 9.98875726e-01 3.14315018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145099892999998 meters 0.021638279384320672 Centerline is valid? [True, True] Translation: X:14.84, Y:0.77, Z:0.32 [[ 9.94554471e-01 -9.31490782e-02 -4.67402737e-02 1.48387072e+01] [ 9.31214795e-02 9.95650895e-01 -2.77232440e-03 7.72282758e-01] [ 4.67952348e-02 -1.59529582e-03 9.98903229e-01 3.17402886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205099893 meters 0.021638279384320672 Centerline is valid? [True, True] Translation: X:14.90, Y:0.78, Z:0.32 [[ 9.94561101e-01 -9.30781617e-02 -4.67404709e-02 1.49002944e+01] [ 9.30506411e-02 9.95657527e-01 -2.76899665e-03 7.75869991e-01] [ 4.67952348e-02 -1.59529442e-03 9.98903229e-01 3.19705055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265099893 meters 0.022676661125601297 Centerline is valid? [True, True] Translation: X:14.96, Y:0.78, Z:0.32 [[ 9.94307793e-01 -9.50166448e-02 -4.82063351e-02 1.49624242e+01] [ 9.49898166e-02 9.95474158e-01 -2.85231383e-03 7.79476948e-01] [ 4.82591781e-02 -1.74303306e-03 9.98833326e-01 3.20400065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325099892999997 meters 0.018878375983338636 Centerline is valid? [True, True] Translation: X:15.02, Y:0.79, Z:0.32 [[ 9.95066591e-01 -8.69242197e-02 -4.78190329e-02 1.50219238e+01] [ 8.68886035e-02 9.96214023e-01 -2.82691150e-03 7.91348568e-01] [ 4.78837182e-02 -1.34196380e-03 9.98852015e-01 3.22312454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385099893 meters 0.019298328426476604 Centerline is valid? [True, True] Translation: X:15.08, Y:0.80, Z:0.33 [[ 9.95143633e-01 -8.65880489e-02 -4.68151675e-02 1.50839311e+01] [ 8.65535506e-02 9.96243356e-01 -2.76734409e-03 7.99148306e-01] [ 4.68789186e-02 -1.29811412e-03 9.98899736e-01 3.30217285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445099893 meters 0.021568489201542217 Centerline is valid? [True, True] Translation: X:15.14, Y:0.79, Z:0.33 [[ 9.94251287e-01 -9.45901311e-02 -5.01705630e-02 1.51447672e+01] [ 9.45608225e-02 9.95514677e-01 -2.96278107e-03 7.93487090e-01] [ 5.02257817e-02 -1.79842081e-03 9.98736270e-01 3.25409595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505099892999997 meters 0.022194679674323675 Centerline is valid? [True, True] Translation: X:15.21, Y:0.80, Z:0.33 [[ 9.94173149e-01 -9.60506473e-02 -4.89287525e-02 1.52070727e+01] [ 9.60245821e-02 9.95374772e-01 -2.88848473e-03 7.95441377e-01] [ 4.89798866e-02 -1.82670905e-03 9.98798095e-01 3.29049796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565099893 meters 0.021609776178615148 Centerline is valid? [True, True] Translation: X:15.27, Y:0.80, Z:0.33 [[ 9.94701620e-01 -9.11461588e-02 -4.75506495e-02 1.52677759e+01] [ 9.11160772e-02 9.95836330e-01 -2.80430667e-03 8.02005400e-01] [ 4.76082661e-02 -1.54318026e-03 9.98864892e-01 3.31354446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625099892999998 meters 0.02245782927924732 Centerline is valid? [True, True] Translation: X:15.33, Y:0.80, Z:0.34 [[ 9.94491689e-01 -9.42868955e-02 -4.57849495e-02 1.53289096e+01] [ 9.42623925e-02 9.95543730e-01 -2.69874118e-03 8.02532802e-01] [ 4.58353754e-02 -1.63192321e-03 9.98947674e-01 3.35704053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685099892999997 meters 0.022109615344939357 Centerline is valid? [True, True] Translation: X:15.39, Y:0.81, Z:0.34 [[ 9.94233738e-01 -9.38663243e-02 -5.18496689e-02 1.53912226e+01] [ 9.38345934e-02 9.95583125e-01 -3.05132028e-03 8.10098944e-01] [ 5.19070716e-02 -1.83156703e-03 9.98650240e-01 3.35068531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745099893 meters 0.021346881989295748 Centerline is valid? [True, True] Translation: X:15.45, Y:0.81, Z:0.34 [[ 9.94418127e-01 -9.39724285e-02 -4.79767896e-02 1.54526519e+01] [ 9.39455151e-02 9.95573345e-01 -2.82056887e-03 8.10705186e-01] [ 4.80294686e-02 -1.70237939e-03 9.98844468e-01 3.37168639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805099892999998 meters 0.021060893098477626 Centerline is valid? [True, True] Translation: X:15.51, Y:0.82, Z:0.34 [[ 9.94514998e-01 -9.25788531e-02 -4.86731417e-02 1.55145770e+01] [ 9.25495961e-02 9.95703970e-01 -2.85928141e-03 8.17570151e-01] [ 4.87287495e-02 -1.66108136e-03 9.98810668e-01 3.39480076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865099892999996 meters 0.02295226898178314 Centerline is valid? [True, True] Translation: X:15.58, Y:0.82, Z:0.34 [[ 9.94243080e-01 -9.36057281e-02 -5.21408225e-02 1.55755732e+01] [ 9.35737502e-02 9.95607650e-01 -3.05950939e-03 8.17046452e-01] [ 5.21981894e-02 -1.83711626e-03 9.98635055e-01 3.35477307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925099893 meters 0.021499986103315837 Centerline is valid? [True, True] Translation: X:15.64, Y:0.83, Z:0.34 [[ 9.94604655e-01 -9.04927022e-02 -5.07213010e-02 1.56363307e+01] [ 9.04584895e-02 9.95895785e-01 -2.97440954e-03 8.26377605e-01] [ 5.07822923e-02 -1.62981070e-03 9.98708417e-01 3.42435389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985099892999997 meters 0.019317627175131767 Centerline is valid? [True, True] Translation: X:15.70, Y:0.83, Z:0.35 [[ 9.94790080e-01 -8.94285894e-02 -4.89410261e-02 1.56975764e+01] [ 8.93955334e-02 9.95992074e-01 -2.86827794e-03 8.28814639e-01] [ 4.90013801e-02 -1.52177468e-03 9.98797552e-01 3.45657185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045099893 meters 0.02179769474751779 Centerline is valid? [True, True] Translation: X:15.76, Y:0.84, Z:0.35 [[ 9.94971293e-01 -8.84835518e-02 -4.69338594e-02 1.57583781e+01] [ 8.84521864e-02 9.96076631e-01 -2.74880147e-03 8.37733483e-01] [ 4.69929443e-02 -1.41642393e-03 9.98894217e-01 3.52116644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105099893 meters 0.020644388505869027 Centerline is valid? [True, True] Translation: X:15.82, Y:0.84, Z:0.35 [[ 9.95019855e-01 -8.68243906e-02 -4.89593095e-02 1.58215528e+01] [ 8.67884148e-02 9.96222650e-01 -2.86418548e-03 8.35613540e-01] [ 4.90230542e-02 -1.39917944e-03 9.98796667e-01 3.46531945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165099892999997 meters 0.02161877045702372 Centerline is valid? [True, True] Translation: X:15.88, Y:0.84, Z:0.35 [[ 9.94060868e-01 -9.32571946e-02 -5.60899842e-02 1.58812850e+01] [ 9.32204397e-02 9.95640101e-01 -3.27708189e-03 8.41377621e-01] [ 5.61510490e-02 -1.97111412e-03 9.98420340e-01 3.49037943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225099893 meters 0.023368244635772032 Centerline is valid? [True, True] Translation: X:15.94, Y:0.84, Z:0.35 [[ 9.93587287e-01 -9.74601711e-02 -5.73220535e-02 1.59424503e+01] [ 9.74287823e-02 9.95236865e-01 -3.34872292e-03 8.37238101e-01] [ 5.73753879e-02 -2.25756935e-03 9.98350123e-01 3.45282471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285099892999998 meters 0.02047467964617406 Centerline is valid? [True, True] Translation: X:16.00, Y:0.85, Z:0.36 [[ 9.94656153e-01 -8.88846819e-02 -5.25228612e-02 1.60008511e+01] [ 8.88463603e-02 9.96040615e-01 -3.06865185e-03 8.48219241e-01] [ 5.25876591e-02 -1.61421160e-03 9.98615007e-01 3.55332003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345099892999997 meters 0.018582884182340807 Centerline is valid? [True, True] Translation: X:16.06, Y:0.86, Z:0.36 [[ 9.95556038e-01 -8.13710798e-02 -4.74017158e-02 1.60608577e+01] [ 8.13313218e-02 9.96683271e-01 -2.77005764e-03 8.58806312e-01] [ 4.74698997e-02 -1.09749659e-03 9.98872066e-01 3.61291992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405099893 meters 0.016416838184966392 Centerline is valid? [True, True] Translation: X:16.12, Y:0.86, Z:0.37 [[ 9.95556854e-01 -8.26058412e-02 -4.51976205e-02 1.61227779e+01] [ 8.25709976e-02 9.96581687e-01 -2.64053522e-03 8.63000099e-01] [ 4.52612445e-02 -1.10320968e-03 9.98974576e-01 3.67610199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465099892999998 meters 0.0202833126035001 Centerline is valid? [True, True] Translation: X:16.18, Y:0.86, Z:0.36 [[ 9.94817388e-01 -8.74220517e-02 -5.19206022e-02 1.61836193e+01] [ 8.73828118e-02 9.96170199e-01 -3.02966657e-03 8.61152416e-01] [ 5.19866163e-02 -1.52300323e-03 9.98646620e-01 3.62389963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525099892999997 meters 0.01662424479133877 Centerline is valid? [True, True] Translation: X:16.24, Y:0.89, Z:0.37 [[ 9.96320398e-01 -6.84124959e-02 -5.16274562e-02 1.62421988e+01] [ 6.83482409e-02 9.97656981e-01 -3.01114184e-03 8.86915696e-01] [ 5.17124918e-02 -5.28583775e-04 9.98661874e-01 3.70794429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585099893 meters 0.015511855664414868 Centerline is valid? [True, True] Translation: X:16.30, Y:0.89, Z:0.37 [[ 9.96692522e-01 -6.41728475e-02 -4.98584301e-02 1.63017765e+01] [ 6.41076108e-02 9.97938754e-01 -2.90813829e-03 8.90705202e-01] [ 4.99422831e-02 -2.97785143e-04 9.98752061e-01 3.73481082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645099892999998 meters 0.015219109992781215 Centerline is valid? [True, True] Translation: X:16.36, Y:0.89, Z:0.38 [[ 9.96941991e-01 -6.12487246e-02 -4.85310203e-02 1.63610403e+01] [ 6.11833693e-02 9.98122524e-01 -2.83244749e-03 8.94288214e-01] [ 4.86133882e-02 -1.45505492e-04 9.98817660e-01 3.76388954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705099892999996 meters 0.015550333578063834 Centerline is valid? [True, True] Translation: X:16.42, Y:0.90, Z:0.38 [[ 9.97026978e-01 -6.03739950e-02 -4.78767750e-02 1.64193547e+01] [ 6.03092900e-02 9.98175822e-01 -2.79619718e-03 8.97948471e-01] [ 4.79582568e-02 -9.95302804e-05 9.98849336e-01 3.78192208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765099893 meters 0.01519957260646986 Centerline is valid? [True, True] Translation: X:16.48, Y:0.90, Z:0.38 [[ 9.97105621e-01 -5.94285344e-02 -4.74197116e-02 1.64791874e+01] [ 5.93638780e-02 9.98232561e-01 -2.77187791e-03 9.02132845e-01] [ 4.75006288e-02 -5.11629321e-05 9.98871207e-01 3.81438728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825099892999997 meters 0.016091012571133687 Centerline is valid? [True, True] Translation: X:16.54, Y:0.91, Z:0.38 [[ 9.97234676e-01 -5.68981017e-02 -4.78080183e-02 1.65387100e+01] [ 5.68293913e-02 9.98379988e-01 -2.79631941e-03 9.06858092e-01] [ 4.78896740e-02 7.16860987e-05 9.98852629e-01 3.82634028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885099893 meters 0.015115790258806968 Centerline is valid? [True, True] Translation: X:16.60, Y:0.91, Z:0.39 [[ 9.97317242e-01 -5.54758647e-02 -4.77571774e-02 1.65960088e+01] [ 5.54055615e-02 9.98460018e-01 -2.79562324e-03 9.11064567e-01] [ 4.78387218e-02 1.42110032e-04 9.98855063e-01 3.85061271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945099893 meters 0.01666505365308287 Centerline is valid? [True, True] Translation: X:16.65, Y:0.91, Z:0.39 [[ 9.97654041e-01 -4.95874108e-02 -4.71964347e-02 1.66546685e+01] [ 4.95118885e-02 9.98769697e-01 -2.76859100e-03 9.14664498e-01] [ 4.72756561e-02 4.25311378e-04 9.98881791e-01 3.86976801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005099892999997 meters 0.016956117623149698 Centerline is valid? [True, True] Translation: X:16.72, Y:0.88, Z:0.40 [[ 9.98037071e-01 -4.29440513e-02 -4.55830425e-02 1.67153712e+01] [ 4.28661667e-02 9.99077215e-01 -2.68520300e-03 8.78142868e-01] [ 4.56562927e-02 7.25961841e-04 9.98956944e-01 3.95415712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065099893 meters 0.016825957655399074 Centerline is valid? [True, True] Translation: X:16.77, Y:0.88, Z:0.40 [[ 9.98051915e-01 -4.35562970e-02 -4.46679206e-02 1.67728240e+01] [ 4.34816750e-02 9.99050733e-01 -2.64130165e-03 8.80449597e-01] [ 4.47405642e-02 6.93920168e-04 9.98998399e-01 3.98113380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125099892999998 meters 0.017018308867634026 Centerline is valid? [True, True] Translation: X:16.83, Y:0.88, Z:0.40 [[ 9.98106870e-01 -4.48875134e-02 -4.20450523e-02 1.68320286e+01] [ 4.48224011e-02 9.98991867e-01 -2.49052836e-03 8.75189308e-01] [ 4.21144589e-02 6.01253275e-04 9.99112612e-01 4.02147264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185099892999997 meters 0.016864159821696843 Centerline is valid? [True, True] Translation: X:16.89, Y:0.83, Z:0.40 [[ 9.97997839e-01 -4.36770225e-02 -4.57452802e-02 1.68937353e+01] [ 4.35981086e-02 9.99045443e-01 -2.72185624e-03 8.34155837e-01] [ 4.58204963e-02 7.21998947e-04 9.98949429e-01 4.02974989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245099893 meters 0.016925107058504044 Centerline is valid? [True, True] Translation: X:16.95, Y:0.83, Z:0.41 [[ 9.97971370e-01 -4.27225743e-02 -4.72009099e-02 1.69522404e+01] [ 4.26369003e-02 9.99086652e-01 -2.82087517e-03 8.34383414e-01] [ 4.72783141e-02 8.02652169e-04 9.98881433e-01 4.05929415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305099892999998 meters 0.0172024554192244 Centerline is valid? [True, True] Translation: X:17.01, Y:0.84, Z:0.41 [[ 9.97940100e-01 -4.20865429e-02 -4.84177668e-02 1.70096780e+01] [ 4.19951133e-02 9.99113594e-01 -2.90450208e-03 8.35706958e-01] [ 4.84970895e-02 8.65209488e-04 9.98822949e-01 4.06693207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365099892999996 meters 0.018778596839768912 Centerline is valid? [True, True] Translation: X:17.07, Y:0.84, Z:0.41 [[ 9.97890211e-01 -4.17124986e-02 -4.97513264e-02 1.70690263e+01] [ 4.16151632e-02 9.99129237e-01 -2.99113409e-03 8.35190923e-01] [ 4.98327724e-02 9.14413860e-04 9.98757157e-01 4.06069797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425099893 meters 0.01882103859956466 Centerline is valid? [True, True] Translation: X:17.13, Y:0.83, Z:0.41 [[ 9.97891816e-01 -4.19225103e-02 -4.95421783e-02 1.71276047e+01] [ 4.18256073e-02 9.99120448e-01 -2.99151396e-03 8.28256992e-01] [ 4.96240151e-02 9.13075601e-04 9.98767552e-01 4.06892933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485099892999997 meters 0.017888662751900104 Centerline is valid? [True, True] Translation: X:17.19, Y:0.82, Z:0.41 [[ 9.97745284e-01 -4.62737556e-02 -4.86116060e-02 1.71869286e+01] [ 4.61850603e-02 9.98928554e-01 -2.94681973e-03 8.22783252e-01] [ 4.86958817e-02 6.95045530e-04 9.98813410e-01 4.11769352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545099892999996 meters 0.01816757947762308 Centerline is valid? [True, True] Translation: X:17.25, Y:0.82, Z:0.41 [[ 9.97438341e-01 -5.15654351e-02 -4.95758167e-02 1.72452970e+01] [ 5.14795179e-02 9.98669517e-01 -3.00919347e-03 8.15695543e-01] [ 4.96650273e-02 4.49345802e-04 9.98765830e-01 4.12443568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605099893 meters 0.016103436856147773 Centerline is valid? [True, True] Translation: X:17.30, Y:0.81, Z:0.41 [[ 9.97216426e-01 -5.58891918e-02 -4.93538102e-02 1.73048385e+01] [ 5.58090129e-02 9.98436949e-01 -3.00219559e-03 8.07032370e-01] [ 4.94444580e-02 2.39451330e-04 9.98776846e-01 4.14814242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665099892999997 meters 0.01664569933105909 Centerline is valid? [True, True] Translation: X:17.36, Y:0.80, Z:0.42 [[ 9.96877258e-01 -6.25429650e-02 -4.82090142e-02 1.73642574e+01] [ 6.24736490e-02 9.98042270e-01 -2.94473540e-03 8.03272574e-01] [ 4.82988064e-02 -7.62532780e-05 9.98832929e-01 4.18622653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725099893 meters 0.016637640255323896 Centerline is valid? [True, True] Translation: X:17.42, Y:0.80, Z:0.42 [[ 9.96730968e-01 -6.66889744e-02 -4.56065490e-02 1.74223297e+01] [ 6.66308289e-02 9.97773780e-01 -2.79563796e-03 8.01446171e-01] [ 4.56914570e-02 -2.52303231e-04 9.98955568e-01 4.22306411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785099892999998 meters 0.015717938400395013 Centerline is valid? [True, True] Translation: X:17.48, Y:0.79, Z:0.42 [[ 9.96087153e-01 -7.60889918e-02 -4.49538457e-02 1.74827424e+01] [ 7.60418968e-02 9.97100806e-01 -2.75924115e-03 7.87985925e-01] [ 4.50334636e-02 -6.69931033e-04 9.98985254e-01 4.24632950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845099892999997 meters 0.019242050022642915 Centerline is valid? [True, True] Translation: X:17.54, Y:0.79, Z:0.42 [[ 9.95412829e-01 -8.14079602e-02 -5.02597665e-02 1.75423985e+01] [ 8.13557604e-02 9.96680346e-01 -3.08688852e-03 7.89381455e-01] [ 5.03442187e-02 -1.01619309e-03 9.98731409e-01 4.22842582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905099893 meters 0.018302531858387757 Centerline is valid? [True, True] Translation: X:17.60, Y:0.79, Z:0.43 [[ 9.95207597e-01 -8.44376345e-02 -4.93165807e-02 1.76010339e+01] [ 8.43908732e-02 9.96428110e-01 -3.03334993e-03 7.90287232e-01] [ 4.93965562e-02 -1.14305641e-03 9.98778591e-01 4.25855076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965099892999998 meters 0.019155730392485738 Centerline is valid? [True, True] Translation: X:17.66, Y:0.80, Z:0.43 [[ 9.94920893e-01 -8.70550492e-02 -5.05354753e-02 1.76592632e+01] [ 8.70086509e-02 9.96202666e-01 -3.12151784e-03 7.98616549e-01] [ 5.06153190e-02 -1.29136021e-03 9.98717388e-01 4.26348223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025099892999997 meters 0.0204719925081092 Centerline is valid? [True, True] Translation: X:17.72, Y:0.81, Z:0.43 [[ 9.94862677e-01 -8.85612469e-02 -4.90424172e-02 1.77176725e+01] [ 8.85187631e-02 9.96069865e-01 -3.04176555e-03 8.08752568e-01] [ 4.91190564e-02 -1.31503509e-03 9.98792065e-01 4.30853813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085099893 meters 0.01976616928848679 Centerline is valid? [True, True] Translation: X:17.77, Y:0.82, Z:0.44 [[ 9.94680732e-01 -9.11121083e-02 -4.80502355e-02 1.77744104e+01] [ 9.10737925e-02 9.95839656e-01 -2.99070372e-03 8.21385188e-01] [ 4.81228193e-02 -1.40132181e-03 9.98840443e-01 4.35836121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145099892999998 meters 0.0224227985626929 Centerline is valid? [True, True] Translation: X:17.83, Y:0.83, Z:0.43 [[ 9.94111999e-01 -9.65029184e-02 -4.92800206e-02 1.78339790e+01] [ 9.64690435e-02 9.95331248e-01 -3.07095229e-03 8.28767401e-01] [ 4.93463003e-02 -1.70112593e-03 9.98780281e-01 4.33354342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205099892999996 meters 0.02213084265852414 Centerline is valid? [True, True] Translation: X:17.89, Y:0.85, Z:0.44 [[ 9.93933289e-01 -9.80517626e-02 -4.98243813e-02 1.78909483e+01] [ 9.80189872e-02 9.95179696e-01 -3.10669174e-03 8.50115699e-01] [ 4.98888292e-02 -1.79589105e-03 9.98753162e-01 4.38779583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265099893 meters 0.020878891197060455 Centerline is valid? [True, True] Translation: X:17.95, Y:0.87, Z:0.44 [[ 9.94125168e-01 -9.65138567e-02 -4.89921014e-02 1.79482793e+01] [ 9.64799902e-02 9.95330217e-01 -3.06113593e-03 8.72076637e-01] [ 4.90587610e-02 -1.68360520e-03 9.98794475e-01 4.41349451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325099892999997 meters 0.021885076756889294 Centerline is valid? [True, True] Translation: X:18.01, Y:0.88, Z:0.44 [[ 9.94228716e-01 -9.45439837e-02 -5.07020202e-02 1.80067558e+01] [ 9.45046252e-02 9.95519349e-01 -3.17843081e-03 8.84925812e-01] [ 5.07753436e-02 -1.63148823e-03 9.98708768e-01 4.40388923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385099892999996 meters 0.017034516573904798 Centerline is valid? [True, True] Translation: X:18.07, Y:0.91, Z:0.45 [[ 9.94654772e-01 -8.94556413e-02 -5.15710402e-02 1.80653041e+01] [ 8.94079808e-02 9.95989833e-01 -3.23504208e-03 9.07067632e-01] [ 5.16536245e-02 -1.39311253e-03 9.98664089e-01 4.46476391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445099893 meters 0.017854745805997108 Centerline is valid? [True, True] Translation: X:18.12, Y:0.93, Z:0.45 [[ 9.95469635e-01 -8.02322897e-02 -5.10194582e-02 1.81243344e+01] [ 8.01734214e-02 9.96775785e-01 -3.20264021e-03 9.29521044e-01] [ 5.11119156e-02 -9.02273441e-04 9.98692524e-01 4.49861926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505099892999997 meters 0.015914723868717184 Centerline is valid? [True, True] Translation: X:18.18, Y:0.95, Z:0.45 [[ 9.96316770e-01 -6.88987620e-02 -5.10475711e-02 1.81833616e+01] [ 6.88249054e-02 9.97623606e-01 -3.20532097e-03 9.49528306e-01] [ 5.11471046e-02 -3.19829220e-04 9.98691079e-01 4.51216804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565099893 meters 0.016680241063965026 Centerline is valid? [True, True] Translation: X:18.24, Y:0.98, Z:0.46 [[ 9.97620012e-01 -4.99733086e-02 -4.75076810e-02 1.82397519e+01] [ 4.98877222e-02 9.98750368e-01 -2.98626214e-03 9.79577798e-01] [ 4.75975473e-02 6.09104884e-04 9.98866409e-01 4.56893217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625099892999998 meters 0.018933399021386493 Centerline is valid? [True, True] Translation: X:18.30, Y:1.00, Z:0.46 [[ 9.97897356e-01 -4.27240697e-02 -4.87393129e-02 1.82981660e+01] [ 4.26248510e-02 9.99086420e-01 -3.07373449e-03 9.98480473e-01] [ 4.88261081e-02 9.89765565e-04 9.98806804e-01 4.58533605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685099892999997 meters 0.016946320747231063 Centerline is valid? [True, True] Translation: X:18.36, Y:1.01, Z:0.46 [[ 9.97760774e-01 -4.45869427e-02 -4.98542023e-02 1.83568147e+01] [ 4.44852275e-02 9.99005081e-01 -3.14852628e-03 1.00616851e+00] [ 4.99449846e-02 9.23700481e-04 9.98751543e-01 4.59713884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745099893 meters 0.017146795751094474 Centerline is valid? [True, True] Translation: X:18.42, Y:1.01, Z:0.46 [[ 9.97346427e-01 -5.09143282e-02 -5.20368607e-02 1.84155692e+01] [ 5.08114027e-02 9.98702815e-01 -3.29981330e-03 1.01272047e+00] [ 5.21373671e-02 6.46991124e-04 9.98639713e-01 4.59346390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805099892999998 meters 0.015370765928723029 Centerline is valid? [True, True] Translation: X:18.47, Y:1.02, Z:0.46 [[ 9.97117357e-01 -5.71263301e-02 -4.99355383e-02 1.84742635e+01] [ 5.70387311e-02 9.98366906e-01 -3.17867003e-03 1.02074441e+00] [ 5.00355747e-02 3.21247312e-04 9.98747385e-01 4.64274881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865099892999996 meters 0.016163406442665795 Centerline is valid? [True, True] Translation: X:18.53, Y:1.03, Z:0.47 [[ 9.97019755e-01 -6.09100072e-02 -4.73453215e-02 1.85319848e+01] [ 6.08350159e-02 9.98143253e-01 -3.02458768e-03 1.02866990e+00] [ 4.74416408e-02 1.35320280e-04 9.98874002e-01 4.67740086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925099893 meters 0.015097999533388782 Centerline is valid? [True, True] Translation: X:18.59, Y:1.03, Z:0.47 [[ 9.96779023e-01 -6.45345917e-02 -4.76116067e-02 1.85919429e+01] [ 6.44624230e-02 9.97915470e-01 -3.05128141e-03 1.03131100e+00] [ 4.77092721e-02 -2.77062298e-05 9.98861264e-01 4.69978610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985099892999997 meters 0.01645353723103238 Centerline is valid? [True, True] Translation: X:18.65, Y:1.03, Z:0.47 [[ 9.96419391e-01 -6.72559372e-02 -5.12351077e-02 1.86514828e+01] [ 6.71758672e-02 9.97735742e-01 -3.28516346e-03 1.03164716e+00] [ 5.13400450e-02 -1.68362225e-04 9.98681216e-01 4.67213792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045099892999996 meters 0.016084164342260763 Centerline is valid? [True, True] Translation: X:18.71, Y:1.03, Z:0.47 [[ 9.96046536e-01 -7.08991603e-02 -5.35220278e-02 1.87101701e+01] [ 7.08167774e-02 9.97483420e-01 -3.43654996e-03 1.03039581e+00] [ 5.36309838e-02 -3.67293845e-04 9.98560756e-01 4.67254692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105099893 meters 0.015416228695256298 Centerline is valid? [True, True] Translation: X:18.77, Y:1.04, Z:0.47 [[ 9.96688721e-01 -6.33793015e-02 -5.09377834e-02 1.87689507e+01] [ 6.32942513e-02 9.97989510e-01 -3.28266458e-03 1.03689632e+00] [ 5.10434265e-02 4.77259025e-05 9.98696434e-01 4.72164173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165099892999997 meters 0.01614259013042305 Centerline is valid? [True, True] Translation: X:18.83, Y:1.04, Z:0.48 [[ 9.97453450e-01 -5.15371543e-02 -4.93004762e-02 1.88268138e+01] [ 5.14425541e-02 9.98670871e-01 -3.18661694e-03 1.04438076e+00] [ 4.93991787e-02 6.42359646e-04 9.98778909e-01 4.77070511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225099892999996 meters 0.018142725528304475 Centerline is valid? [True, True] Translation: X:18.89, Y:1.05, Z:0.48 [[ 9.97695543e-01 -4.50431348e-02 -5.07416888e-02 1.88860164e+01] [ 4.49343244e-02 9.98984546e-01 -3.28369651e-03 1.05094776e+00] [ 5.08380709e-02 9.96085864e-04 9.98706412e-01 4.80727989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285099892999998 meters 0.019573101173834456 Centerline is valid? [True, True] Translation: X:18.94, Y:1.05, Z:0.48 [[ 9.97721266e-01 -4.10217985e-02 -5.35675947e-02 1.89449311e+01] [ 4.08946042e-02 9.99157444e-01 -3.46887133e-03 1.05493018e+00] [ 5.36647603e-02 1.27034111e-03 9.98558200e-01 4.78823351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345099892999997 meters 0.019745186118808048 Centerline is valid? [True, True] Translation: X:19.00, Y:1.06, Z:0.48 [[ 9.97864882e-01 -4.01947786e-02 -5.14787045e-02 1.90020545e+01] [ 4.00760270e-02 9.99191060e-01 -3.33737108e-03 1.05941428e+00] [ 5.15712062e-02 1.26718345e-03 9.98668516e-01 4.82845003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405099893 meters 0.016519329301727118 Centerline is valid? [True, True] Translation: X:19.06, Y:1.06, Z:0.49 [[ 9.97657868e-01 -4.64996873e-02 -5.01653014e-02 1.90613491e+01] [ 4.63946225e-02 9.98917879e-01 -3.25740806e-03 1.05941304e+00] [ 5.02624849e-02 9.22378565e-04 9.98735617e-01 4.90136254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465099892999998 meters 0.014955297291441414 Centerline is valid? [True, True] Translation: X:19.12, Y:1.06, Z:0.49 [[ 9.97379078e-01 -5.21152177e-02 -5.01894372e-02 1.91204363e+01] [ 5.20169318e-02 9.98640871e-01 -3.26337350e-03 1.06042998e+00] [ 5.02912947e-02 6.44119921e-04 9.98734385e-01 4.93100922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525099892999997 meters 0.015548866245657865 Centerline is valid? [True, True] Translation: X:19.18, Y:1.06, Z:0.49 [[ 9.96796270e-01 -6.19526602e-02 -5.05871897e-02 1.91798301e+01] [ 6.18648371e-02 9.98079076e-01 -3.30152525e-03 1.05875188e+00] [ 5.06945539e-02 1.61379804e-04 9.98714191e-01 4.90898909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585099893 meters 0.015737791741127553 Centerline is valid? [True, True] Translation: X:19.24, Y:1.06, Z:0.50 [[ 9.96548317e-01 -6.74771185e-02 -4.83558632e-02 1.92388380e+01] [ 6.74028615e-02 9.97720817e-01 -3.16647488e-03 1.06227724e+00] [ 4.84593159e-02 -1.03778329e-04 9.98825152e-01 4.95917644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645099892999998 meters 0.015904790644103075 Centerline is valid? [True, True] Translation: X:19.30, Y:1.06, Z:0.50 [[ 9.96036293e-01 -7.44585251e-02 -4.86583064e-02 1.92992014e+01] [ 7.43914063e-02 9.97224014e-01 -3.19141075e-03 1.06400639e+00] [ 4.87608594e-02 -4.40998914e-04 9.98810384e-01 4.99537707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705099892999996 meters 0.016563755243193857 Centerline is valid? [True, True] Translation: X:19.36, Y:1.06, Z:0.50 [[ 9.95444464e-01 -8.06567464e-02 -5.08410063e-02 1.93604377e+01] [ 8.05915546e-02 9.96741633e-01 -3.33432138e-03 1.06359037e+00] [ 5.09442832e-02 -7.78223976e-04 9.98701194e-01 4.99275650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765099893 meters 0.017054665329509035 Centerline is valid? [True, True] Translation: X:19.42, Y:1.07, Z:0.50 [[ 9.95273657e-01 -8.17267735e-02 -5.24507607e-02 1.94217148e+01] [ 8.16589372e-02 9.96654400e-01 -3.43864072e-03 1.07187559e+00] [ 5.25563104e-02 -8.60684854e-04 9.98617591e-01 5.00642175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825099892999997 meters 0.01518921652359131 Centerline is valid? [True, True] Translation: X:19.48, Y:1.08, Z:0.50 [[ 9.95733786e-01 -7.73172913e-02 -5.03613293e-02 1.94828936e+01] [ 7.72492181e-02 9.97006354e-01 -3.29964268e-03 1.08143600e+00] [ 5.04656848e-02 -6.04807611e-04 9.98725612e-01 5.04373113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885099892999996 meters 0.01587484670101364 Centerline is valid? [True, True] Translation: X:19.54, Y:1.10, Z:0.51 [[ 9.96377776e-01 -6.75896923e-02 -5.16038774e-02 1.95429957e+01] [ 6.75053064e-02 9.97713195e-01 -3.37844463e-03 1.09656108e+00] [ 5.17142174e-02 -1.17328398e-04 9.98661918e-01 5.06050072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945099893 meters 0.01591133959177081 Centerline is valid? [True, True] Translation: X:19.60, Y:1.09, Z:0.51 [[ 9.95993882e-01 -7.44586187e-02 -4.95186847e-02 1.96025973e+01] [ 7.43894403e-02 9.97224000e-01 -3.24108230e-03 1.09220347e+00] [ 4.96225473e-02 -4.55569092e-04 9.98767939e-01 5.10710697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005099892999997 meters 0.015320543244851543 Centerline is valid? [True, True] Translation: X:19.66, Y:1.09, Z:0.52 [[ 9.95962651e-01 -7.60257975e-02 -4.77333903e-02 1.96642959e+01] [ 7.59632740e-02 9.97105719e-01 -3.12514335e-03 1.09375173e+00] [ 4.78328279e-02 -5.13458553e-04 9.98855223e-01 5.15520039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065099892999996 meters 0.01729291767035084 Centerline is valid? [True, True] Translation: X:19.73, Y:1.09, Z:0.52 [[ 9.95936552e-01 -7.66909708e-02 -4.72110033e-02 1.97267033e+01] [ 7.66306516e-02 9.97054764e-01 -3.08891459e-03 1.09451385e+00] [ 4.73088476e-02 -5.41447001e-04 9.98880163e-01 5.17565545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125099892999998 meters 0.015958410377000472 Centerline is valid? [True, True] Translation: X:19.79, Y:1.09, Z:0.52 [[ 9.96262120e-01 -7.26520026e-02 -4.67276575e-02 1.97886898e+01] [ 7.25886190e-02 9.97357290e-01 -3.05414459e-03 1.09299342e+00] [ 4.68260596e-02 -3.49167561e-04 9.98902997e-01 5.19515626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185099892999997 meters 0.015791283636123015 Centerline is valid? [True, True] Translation: X:19.85, Y:1.10, Z:0.52 [[ 9.97456257e-01 -5.43466712e-02 -4.61243445e-02 1.98485145e+01] [ 5.42654336e-02 9.98522001e-01 -3.01252240e-03 1.10164863e+00] [ 4.62198934e-02 5.01901762e-04 9.98931164e-01 5.19774936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245099893 meters 0.016350105098208965 Centerline is valid? [True, True] Translation: X:19.91, Y:1.11, Z:0.52 [[ 9.97406977e-01 -5.52594029e-02 -4.61055334e-02 1.99066517e+01] [ 5.51791176e-02 9.98471925e-01 -3.01320689e-03 1.10536615e+00] [ 4.62015887e-02 4.61330924e-04 9.98932030e-01 5.23198839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305099892999998 meters 0.014298251755718609 Centerline is valid? [True, True] Translation: X:19.96, Y:1.11, Z:0.53 [[ 9.97379440e-01 -5.56531819e-02 -4.62274304e-02 1.99642384e+01] [ 5.55723523e-02 9.98450057e-01 -3.03285078e-03 1.10866441e+00] [ 4.63245683e-02 4.55935965e-04 9.98926337e-01 5.25872744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365099892999996 meters 0.014071458457349093 Centerline is valid? [True, True] Translation: X:20.02, Y:1.11, Z:0.53 [[ 9.97285951e-01 -5.66291648e-02 -4.70517867e-02 2.00220287e+01] [ 5.65462175e-02 9.98395191e-01 -3.09313417e-03 1.11127986e+00] [ 4.71514392e-02 4.24138683e-04 9.98887662e-01 5.26939539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425099893 meters 0.01578215290238923 Centerline is valid? [True, True] Translation: X:20.08, Y:1.11, Z:0.53 [[ 9.97059589e-01 -5.93058675e-02 -4.85282477e-02 2.00798113e+01] [ 5.92201017e-02 9.98239806e-01 -3.20447289e-03 1.11314025e+00] [ 4.86328727e-02 3.21202661e-04 9.98816670e-01 5.26102273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485099892999997 meters 0.015239138721486207 Centerline is valid? [True, True] Translation: X:20.14, Y:1.12, Z:0.53 [[ 9.96597784e-01 -6.52128787e-02 -5.03997803e-02 2.01364847e+01] [ 6.51272106e-02 9.97871374e-01 -3.34190210e-03 1.11524376e+00] [ 5.05104330e-02 4.81351194e-05 9.98723532e-01 5.27355975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545099892999996 meters 0.015759171200874184 Centerline is valid? [True, True] Translation: X:20.20, Y:1.12, Z:0.53 [[ 9.96523343e-01 -6.60053839e-02 -5.08381393e-02 2.01955398e+01] [ 6.59186957e-02 9.97819267e-01 -3.38180552e-03 1.11759464e+00] [ 5.09504922e-02 1.88643100e-05 9.98701180e-01 5.28700976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605099893 meters 0.0160449080321989 Centerline is valid? [True, True] Translation: X:20.25, Y:1.12, Z:0.53 [[ 9.96499257e-01 -6.47396758e-02 -5.28961825e-02 2.02544642e+01] [ 6.46433187e-02 9.97902182e-01 -3.53229119e-03 1.12167294e+00] [ 5.30138953e-02 1.00540765e-04 9.98593770e-01 5.28853659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665099892999997 meters 0.014411260903942947 Centerline is valid? [True, True] Translation: X:20.31, Y:1.14, Z:0.54 [[ 9.97188366e-01 -5.70364322e-02 -4.86025474e-02 2.03118740e+01] [ 5.69453859e-02 9.98371982e-01 -3.25701994e-03 1.13508420e+00] [ 4.87091904e-02 4.80171574e-04 9.98812887e-01 5.39575055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725099892999996 meters 0.0157974415833702 Centerline is valid? [True, True] Translation: X:20.37, Y:1.14, Z:0.54 [[ 9.97439915e-01 -5.36136709e-02 -4.73200903e-02 2.03701230e+01] [ 5.35229598e-02 9.98561546e-01 -3.18286936e-03 1.14192627e+00] [ 4.74226679e-02 6.42009653e-04 9.98874706e-01 5.41222075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785099892999998 meters 0.01428310172819947 Centerline is valid? [True, True] Translation: X:20.43, Y:1.15, Z:0.54 [[ 9.97068219e-01 -6.04857559e-02 -4.68661979e-02 2.04277445e+01] [ 6.04038751e-02 9.98169008e-01 -3.16268112e-03 1.14634410e+00] [ 4.69716835e-02 3.22508862e-04 9.98896169e-01 5.44898179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845099892999997 meters 0.015520685181634944 Centerline is valid? [True, True] Translation: X:20.49, Y:1.15, Z:0.54 [[ 9.96676204e-01 -6.49903729e-02 -4.91202265e-02 2.04874171e+01] [ 6.49056917e-02 9.97885884e-01 -3.31874058e-03 1.14770044e+00] [ 4.92320668e-02 1.19527486e-04 9.98787359e-01 5.43788771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905099892999996 meters 0.016331824529630015 Centerline is valid? [True, True] Translation: X:20.55, Y:1.15, Z:0.54 [[ 9.96256917e-01 -7.02836578e-02 -5.03225804e-02 2.05466544e+01] [ 7.02014291e-02 9.97527036e-01 -3.40184126e-03 1.15022374e+00] [ 5.04372283e-02 -1.43609176e-04 9.98727223e-01 5.44674345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965099892999998 meters 0.01580927420072847 Centerline is valid? [True, True] Translation: X:20.61, Y:1.15, Z:0.55 [[ 9.95647926e-01 -8.01755955e-02 -4.75087491e-02 2.06066847e+01] [ 8.01134952e-02 9.96780570e-01 -3.21289137e-03 1.15119589e+00] [ 4.76133935e-02 -6.07183307e-04 9.98865655e-01 5.50629361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025099892999997 meters 0.0174123419661233 Centerline is valid? [True, True] Translation: X:20.67, Y:1.15, Z:0.55 [[ 9.94987983e-01 -8.83141414e-02 -4.68990988e-02 2.06671685e+01] [ 8.82626602e-02 9.96092187e-01 -3.17148878e-03 1.14990102e+00] [ 4.69959132e-02 -9.83846001e-04 9.98894597e-01 5.52288707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085099893 meters 0.019117165755614857 Centerline is valid? [True, True] Translation: X:20.73, Y:1.15, Z:0.55 [[ 9.94429148e-01 -9.42946928e-02 -4.71081886e-02 2.07280287e+01] [ 9.42494908e-02 9.95543515e-01 -3.18477868e-03 1.15450044e+00] [ 4.71985594e-02 -1.27288604e-03 9.98884716e-01 5.53879884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145099892999998 meters 0.019736563196589483 Centerline is valid? [True, True] Translation: X:20.79, Y:1.16, Z:0.56 [[ 9.93720447e-01 -1.01466309e-01 -4.71620726e-02 2.07890866e+01] [ 1.01429112e-01 9.94837663e-01 -3.18738674e-03 1.15733226e+00] [ 4.72420185e-02 -1.61623575e-03 9.98882165e-01 5.55320427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205099892999996 meters 0.02110583324936199 Centerline is valid? [True, True] Translation: X:20.85, Y:1.16, Z:0.56 [[ 9.93439111e-01 -1.02860892e-01 -4.99837023e-02 2.08505673e+01] [ 1.02820981e-01 9.94694148e-01 -3.37596197e-03 1.16366801e+00] [ 5.00657506e-02 -1.78556066e-03 9.98744328e-01 5.56380981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265099893 meters 0.020229635463446225 Centerline is valid? [True, True] Translation: X:20.91, Y:1.17, Z:0.56 [[ 9.94079458e-01 -9.57996606e-02 -5.12684778e-02 2.09112514e+01] [ 9.57484120e-02 9.95399552e-01 -3.46040530e-03 1.17294468e+00] [ 5.13641254e-02 -1.46895751e-03 9.98678912e-01 5.55102298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325099892999997 meters 0.018095060974157383 Centerline is valid? [True, True] Translation: X:20.97, Y:1.18, Z:0.56 [[ 9.94666528e-01 -9.12673966e-02 -4.80495705e-02 2.09723456e+01] [ 9.12171455e-02 9.95825748e-01 -3.24211456e-03 1.17835479e+00] [ 4.81448988e-02 -1.15812183e-03 9.98839691e-01 5.59774401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385099892999996 meters 0.018397192276422374 Centerline is valid? [True, True] Translation: X:21.03, Y:1.19, Z:0.57 [[ 9.95189196e-01 -8.67868910e-02 -4.54587771e-02 2.10331627e+01] [ 8.67373195e-02 9.96226500e-01 -3.06557843e-03 1.19059734e+00] [ 4.55532904e-02 -8.92141941e-04 9.98961512e-01 5.68611247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445099893 meters 0.015186653619638089 Centerline is valid? [True, True] Translation: X:21.09, Y:1.20, Z:0.57 [[ 9.95640454e-01 -8.05140395e-02 -4.70911476e-02 2.10942853e+01] [ 8.04539452e-02 9.96753276e-01 -3.17321092e-03 1.19721813e+00] [ 4.71937437e-02 -6.29291447e-04 9.98885556e-01 5.68502645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505099892999997 meters 0.015256596995092127 Centerline is valid? [True, True] Translation: X:21.15, Y:1.20, Z:0.57 [[ 9.95960719e-01 -7.60679231e-02 -4.77065679e-02 2.11549913e+01] [ 7.60012407e-02 9.97102547e-01 -3.21275566e-03 1.20204258e+00] [ 4.78127280e-02 -4.25979910e-04 9.98856227e-01 5.69047445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565099892999996 meters 0.016503068652054757 Centerline is valid? [True, True] Translation: X:21.22, Y:1.22, Z:0.57 [[ 9.96621507e-01 -6.59722942e-02 -4.89206342e-02 2.12158855e+01] [ 6.58901409e-02 9.97821454e-01 -3.29184074e-03 1.21635459e+00] [ 4.90312286e-02 5.73318036e-05 9.98797244e-01 5.74516703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625099892999998 meters 0.015642046925400034 Centerline is valid? [True, True] Translation: X:21.28, Y:1.22, Z:0.57 [[ 9.96962531e-01 -6.08429195e-02 -4.86194518e-02 2.12769444e+01] [ 6.07557762e-02 9.98147307e-01 -3.26955164e-03 1.21799119e+00] [ 4.87283039e-02 3.05707951e-04 9.98812024e-01 5.73527558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685099892999997 meters 0.014905139201719885 Centerline is valid? [True, True] Translation: X:21.33, Y:1.22, Z:0.58 [[ 9.97523417e-01 -5.48670584e-02 -4.40072644e-02 2.13346550e+01] [ 5.47898430e-02 9.98493522e-01 -2.95976057e-03 1.22417137e+00] [ 4.41033617e-02 5.41279368e-04 9.99026827e-01 5.79532696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745099892999995 meters 0.018248703264911854 Centerline is valid? [True, True] Translation: X:21.39, Y:1.23, Z:0.58 [[ 9.97722816e-01 -4.96457023e-02 -4.56561804e-02 2.13937303e+01] [ 4.95570076e-02 9.98766569e-01 -3.07320007e-03 1.22862892e+00] [ 4.57524378e-02 8.03618151e-04 9.98952486e-01 5.79704940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805099892999998 meters 0.016500917058535795 Centerline is valid? [True, True] Translation: X:21.45, Y:1.22, Z:0.58 [[ 9.97616777e-01 -5.34688763e-02 -4.36101608e-02 2.14535033e+01] [ 5.33914884e-02 9.98569335e-01 -2.93820529e-03 1.22369341e+00] [ 4.37048718e-02 6.02791491e-04 9.99044304e-01 5.82601265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865099892999996 meters 0.01658482958691817 Centerline is valid? [True, True] Translation: X:21.51, Y:1.22, Z:0.58 [[ 9.97434290e-01 -5.69281801e-02 -4.34052875e-02 2.15136859e+01] [ 5.68545642e-02 9.98378173e-01 -2.92961056e-03 1.22147714e+00] [ 4.35016690e-02 4.54305329e-04 9.99053251e-01 5.84845963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925099893 meters 0.016207755284317657 Centerline is valid? [True, True] Translation: X:21.57, Y:1.22, Z:0.59 [[ 9.97146628e-01 -6.11315036e-02 -4.42893035e-02 2.15745477e+01] [ 6.10589370e-02 9.98129682e-01 -2.99067942e-03 1.22074157e+00] [ 4.43892932e-02 2.77888106e-04 9.99014271e-01 5.88019970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985099892999997 meters 0.015113975341689245 Centerline is valid? [True, True] Translation: X:21.64, Y:1.22, Z:0.59 [[ 9.96861488e-01 -6.54964559e-02 -4.44678215e-02 2.16353969e+01] [ 6.54276481e-02 9.97852798e-01 -3.00260174e-03 1.21867674e+00] [ 4.45689999e-02 8.37530632e-05 9.99006305e-01 5.89140465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045099892999996 meters 0.01608142858374009 Centerline is valid? [True, True] Translation: X:21.70, Y:1.21, Z:0.59 [[ 9.96392917e-01 -7.06048280e-02 -4.70756147e-02 2.16965818e+01] [ 7.05334384e-02 9.97504353e-01 -3.17796857e-03 1.21310867e+00] [ 4.71825106e-02 -1.53899594e-04 9.98886273e-01 5.86580943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105099893 meters 0.01662385359593059 Centerline is valid? [True, True] Translation: X:21.76, Y:1.22, Z:0.59 [[ 9.96338020e-01 -7.09481049e-02 -4.77170473e-02 2.17569545e+01] [ 7.08751490e-02 9.97479993e-01 -3.22127024e-03 1.21511093e+00] [ 4.78253431e-02 -1.72478827e-04 9.98855699e-01 5.89355985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165099892999997 meters 0.01597034542132798 Centerline is valid? [True, True] Translation: X:21.82, Y:1.22, Z:0.59 [[ 9.96581494e-01 -6.85898385e-02 -4.60517001e-02 2.18171445e+01] [ 6.85193717e-02 9.97644942e-01 -3.10884641e-03 1.22011871e+00] [ 4.61564810e-02 -5.72147587e-05 9.98934220e-01 5.94141694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225099892999996 meters 0.014779901153211854 Centerline is valid? [True, True] Translation: X:21.88, Y:1.23, Z:0.60 [[ 9.97095603e-01 -6.02305933e-02 -4.66115258e-02 2.18778008e+01] [ 6.01492844e-02 9.98184434e-01 -3.14629890e-03 1.23189857e+00] [ 4.67164029e-02 3.33510879e-04 9.98908137e-01 6.00227790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285099892999998 meters 0.015365866202324897 Centerline is valid? [True, True] Translation: X:21.94, Y:1.24, Z:0.60 [[ 9.97299756e-01 -5.58743841e-02 -4.76576288e-02 2.19376721e+01] [ 5.57844577e-02 9.98437656e-01 -3.21591631e-03 1.23519224e+00] [ 4.77628585e-02 5.48677573e-04 9.98858553e-01 6.00864181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345099892999997 meters 0.017292154851788234 Centerline is valid? [True, True] Translation: X:22.00, Y:1.25, Z:0.60 [[ 9.97720520e-01 -4.80862296e-02 -4.73442537e-02 2.19959977e+01] [ 4.79886275e-02 9.98842767e-01 -3.19667661e-03 1.24648941e+00] [ 4.74431815e-02 9.17404091e-04 9.98873517e-01 6.04430998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405099892999996 meters 0.017193139287553658 Centerline is valid? [True, True] Translation: X:22.05, Y:1.25, Z:0.61 [[ 9.97857389e-01 -4.78622693e-02 -4.46075598e-02 2.20549100e+01] [ 4.77752405e-02 9.98853559e-01 -3.01566178e-03 1.25109586e+00] [ 4.47007563e-02 8.78063489e-04 9.99000036e-01 6.07276863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465099892999998 meters 0.016001153697271578 Centerline is valid? [True, True] Translation: X:22.11, Y:1.25, Z:0.61 [[ 9.97459677e-01 -5.49259955e-02 -4.53577843e-02 2.21144490e+01] [ 5.48427855e-02 9.98490258e-01 -3.07784851e-03 1.25031671e+00] [ 4.54583597e-02 5.82482539e-04 9.98966065e-01 6.08362153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525099892999997 meters 0.015566651351647132 Centerline is valid? [True, True] Translation: X:22.17, Y:1.25, Z:0.61 [[ 9.96498233e-01 -6.97919290e-02 -4.60473585e-02 2.21737771e+01] [ 6.97215707e-02 9.97561567e-01 -3.13425343e-03 1.24552171e+00] [ 4.61538207e-02 -8.72161555e-05 9.98934341e-01 6.08913649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585099892999995 meters 0.018062132114364183 Centerline is valid? [True, True] Translation: X:22.24, Y:1.24, Z:0.61 [[ 9.95159412e-01 -8.56241968e-02 -4.82311227e-02 2.22352281e+01] [ 8.55654324e-02 9.96327136e-01 -3.28554159e-03 1.23965514e+00] [ 4.83352982e-02 -8.57279233e-04 9.98830798e-01 6.07654437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645099892999998 meters 0.020675678328271472 Centerline is valid? [True, True] Translation: X:22.30, Y:1.24, Z:0.61 [[ 9.94113334e-01 -9.80428573e-02 -4.61115661e-02 2.22959390e+01] [ 9.80025052e-02 9.95181213e-01 -3.14047944e-03 1.24070225e+00] [ 4.61972658e-02 -1.39705651e-03 9.98931359e-01 6.13048682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705099892999996 meters 0.02080089200134371 Centerline is valid? [True, True] Translation: X:22.36, Y:1.24, Z:0.61 [[ 9.93571628e-01 -1.03122615e-01 -4.67027408e-02 2.23569444e+01] [ 1.03086836e-01 9.94667276e-01 -3.18043856e-03 1.24434971e+00] [ 4.67816631e-02 -1.65444427e-03 9.98903769e-01 6.13219566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765099893 meters 0.021627196591477375 Centerline is valid? [True, True] Translation: X:22.42, Y:1.25, Z:0.61 [[ 9.93292239e-01 -1.05223116e-01 -4.79439681e-02 2.24186746e+01] [ 1.05187924e-01 9.94447007e-01 -3.26348158e-03 1.24971222e+00] [ 4.80211293e-02 -1.80153552e-03 9.98844695e-01 6.14252270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825099892999997 meters 0.021627196591477375 Centerline is valid? [True, True] Translation: X:22.48, Y:1.25, Z:0.62 [[ 9.93303791e-01 -1.05113885e-01 -4.79442326e-02 2.24810853e+01] [ 1.05078753e-01 9.94458562e-01 -3.25959042e-03 1.25386742e+00] [ 4.80211808e-02 -1.80015666e-03 9.98844695e-01 6.16586428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885099892999996 meters 0.022848589351158757 Centerline is valid? [True, True] Translation: X:22.54, Y:1.26, Z:0.62 [[ 9.93179959e-01 -1.06130819e-01 -4.82681967e-02 2.25415639e+01] [ 1.06096639e-01 9.94350424e-01 -3.27688018e-03 1.26359334e+00] [ 4.83432798e-02 -1.86656173e-03 9.98829036e-01 6.20322435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945099893 meters 0.019445362866067035 Centerline is valid? [True, True] Translation: X:22.60, Y:1.28, Z:0.62 [[ 9.94220712e-01 -9.50337864e-02 -4.99375194e-02 2.26018171e+01] [ 9.49833307e-02 9.95473098e-01 -3.38789598e-03 1.27837692e+00] [ 5.00334218e-02 -1.37491558e-03 9.98746598e-01 6.16585853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005099892999997 meters 0.01847651286522572 Centerline is valid? [True, True] Translation: X:22.66, Y:1.29, Z:0.62 [[ 9.94649781e-01 -9.16093566e-02 -4.77445260e-02 2.26623624e+01] [ 9.15593415e-02 9.95794357e-01 -3.23809850e-03 1.29131849e+00] [ 4.78403697e-02 -1.15068339e-03 9.98854331e-01 6.23871708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065099892999996 meters 0.01684432622526193 Centerline is valid? [True, True] Translation: X:22.72, Y:1.30, Z:0.63 [[ 9.94946234e-01 -8.86339483e-02 -4.71806667e-02 2.27245080e+01] [ 8.85818715e-02 9.96063767e-01 -3.19760041e-03 1.29973522e+00] [ 4.72783685e-02 -9.97911268e-04 9.98881254e-01 6.28535390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125099892999998 meters 0.015758274281448735 Centerline is valid? [True, True] Translation: X:22.78, Y:1.31, Z:0.63 [[ 9.95918173e-01 -7.70933030e-02 -4.69426738e-02 2.27846781e+01] [ 7.70290958e-02 9.97023781e-01 -3.17791942e-03 1.30926624e+00] [ 4.70479584e-02 -4.51004018e-04 9.98892530e-01 6.29766645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185099892999997 meters 0.014972426290921931 Centerline is valid? [True, True] Translation: X:22.85, Y:1.32, Z:0.63 [[ 9.96229038e-01 -7.29824813e-02 -4.69175995e-02 2.28463416e+01] [ 7.29138550e-02 9.97333189e-01 -3.17474032e-03 1.31590553e+00] [ 4.70241796e-02 -2.58174557e-04 9.98893718e-01 6.32834107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245099892999995 meters 0.01572333707245971 Centerline is valid? [True, True] Translation: X:22.91, Y:1.32, Z:0.63 [[ 9.96271628e-01 -7.20583487e-02 -4.74387791e-02 2.29070657e+01] [ 7.19872991e-02 9.97400394e-01 -3.20669600e-03 1.32066027e+00] [ 4.75465262e-02 -2.20249342e-04 9.98869000e-01 6.34338783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305099892999998 meters 0.015246530190063964 Centerline is valid? [True, True] Translation: X:22.97, Y:1.33, Z:0.64 [[ 9.97065456e-01 -6.12983984e-02 -4.58582945e-02 2.29682044e+01] [ 6.12207275e-02 9.98119445e-01 -3.09760450e-03 1.32929319e+00] [ 4.59619337e-02 2.81036288e-04 9.98943152e-01 6.37985953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365099892999996 meters 0.016431498791938077 Centerline is valid? [True, True] Translation: X:23.03, Y:1.34, Z:0.64 [[ 9.97633111e-01 -5.32212586e-02 -4.35393335e-02 2.30287479e+01] [ 5.31436179e-02 9.98582553e-01 -2.93958234e-03 1.33583150e+00] [ 4.36340670e-02 6.18786972e-04 9.99047389e-01 6.40475314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425099892999995 meters 0.018109566958282735 Centerline is valid? [True, True] Translation: X:23.09, Y:1.34, Z:0.64 [[ 9.97819046e-01 -4.88290067e-02 -4.44171151e-02 2.30869465e+01] [ 4.87438658e-02 9.98806810e-01 -2.99854585e-03 1.34209840e+00] [ 4.45105331e-02 8.26944262e-04 9.99008573e-01 6.41432308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485099892999997 meters 0.01763170786795644 Centerline is valid? [True, True] Translation: X:23.14, Y:1.35, Z:0.64 [[ 9.97819217e-01 -4.69565953e-02 -4.63884488e-02 2.31449545e+01] [ 4.68615685e-02 9.98896475e-01 -3.13448633e-03 1.34757904e+00] [ 4.64844428e-02 9.53815229e-04 9.98918559e-01 6.43239258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545099892999996 meters 0.01938617012362412 Centerline is valid? [True, True] Translation: X:23.20, Y:1.35, Z:0.64 [[ 9.97888299e-01 -4.38627173e-02 -4.79062000e-02 2.32040750e+01] [ 4.37576142e-02 9.99036920e-01 -3.24097439e-03 1.34801729e+00] [ 4.80022204e-02 1.13786941e-03 9.98846581e-01 6.44468354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605099893 meters 0.01843346666952662 Centerline is valid? [True, True] Translation: X:23.26, Y:1.35, Z:0.65 [[ 9.98304054e-01 -3.85338309e-02 -4.36366787e-02 2.32636457e+01] [ 3.84414655e-02 9.99256487e-01 -2.95415740e-03 1.34683616e+00] [ 4.37180693e-02 1.27168943e-03 9.99043099e-01 6.50283992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665099892999997 meters 0.01888048863529634 Centerline is valid? [True, True] Translation: X:23.32, Y:1.34, Z:0.65 [[ 9.98362686e-01 -3.80268808e-02 -4.27305902e-02 2.33221752e+01] [ 3.79377343e-02 9.99275910e-01 -2.89552850e-03 1.34473847e+00] [ 4.28097574e-02 1.26968583e-03 9.99082435e-01 6.51762852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725099892999996 meters 0.01703859407511753 Centerline is valid? [True, True] Translation: X:23.38, Y:1.34, Z:0.65 [[ 9.98032227e-01 -4.38792598e-02 -4.47915629e-02 2.33822108e+01] [ 4.37867293e-02 9.99036260e-01 -3.04532040e-03 1.33751163e+00] [ 4.48820219e-02 1.07805186e-03 9.98991713e-01 6.51971011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785099892999998 meters 0.018235224590376714 Centerline is valid? [True, True] Translation: X:23.44, Y:1.33, Z:0.65 [[ 9.97671017e-01 -4.90653667e-02 -4.73828167e-02 2.34419415e+01] [ 4.89675509e-02 9.98795168e-01 -3.22363206e-03 1.33068575e+00] [ 4.74838970e-02 8.95903791e-04 9.98871602e-01 6.48486378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845099892999997 meters 0.015834581130545512 Centerline is valid? [True, True] Translation: X:23.50, Y:1.32, Z:0.66 [[ 9.96899439e-01 -6.60822411e-02 -4.27158680e-02 2.35026310e+01] [ 6.60182455e-02 9.97814177e-01 -2.90863958e-03 1.31728717e+00] [ 4.28147081e-02 7.95945065e-05 9.99083027e-01 6.56108272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905099892999996 meters 0.017617130593531895 Centerline is valid? [True, True] Translation: X:23.56, Y:1.31, Z:0.66 [[ 9.95695897e-01 -8.18319171e-02 -4.35111336e-02 2.35628813e+01] [ 8.17804920e-02 9.96645959e-01 -2.96359106e-03 1.30855013e+00] [ 4.36077118e-02 -6.07526456e-04 9.99048547e-01 6.56948125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965099892999998 meters 0.02017571337283336 Centerline is valid? [True, True] Translation: X:23.62, Y:1.30, Z:0.66 [[ 9.93966213e-01 -9.91412357e-02 -4.69274269e-02 2.36247699e+01] [ 9.91006350e-02 9.95072281e-01 -3.19669580e-03 1.30087621e+00] [ 4.70131061e-02 -1.47313019e-03 9.98893186e-01 6.56664377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025099892999997 meters 0.021285584758851447 Centerline is valid? [True, True] Translation: X:23.69, Y:1.30, Z:0.66 [[ 9.93470206e-01 -1.03969234e-01 -4.69824271e-02 2.36861358e+01] [ 1.03933997e-01 9.94579052e-01 -3.19893468e-03 1.30397310e+00] [ 4.70603286e-02 -1.70502512e-03 9.98890594e-01 6.58052853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085099892999995 meters 0.021681165466392094 Centerline is valid? [True, True] Translation: X:23.75, Y:1.31, Z:0.66 [[ 9.93505918e-01 -1.03729460e-01 -4.67567148e-02 2.37477641e+01] [ 1.03694391e-01 9.94604118e-01 -3.18151481e-03 1.30978962e+00] [ 4.68344379e-02 -1.68755527e-03 9.98901240e-01 6.59669626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145099892999998 meters 0.021677517016459626 Centerline is valid? [True, True] Translation: X:23.81, Y:1.32, Z:0.66 [[ 9.93684133e-01 -1.02747340e-01 -4.51090598e-02 2.38085869e+01] [ 1.02713826e-01 9.94706222e-01 -3.06631316e-03 1.31630589e+00] [ 4.51853179e-02 -1.58637740e-03 9.98977362e-01 6.64282699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205099892999996 meters 0.02122620694510417 Centerline is valid? [True, True] Translation: X:23.87, Y:1.33, Z:0.67 [[ 9.93855760e-01 -1.00934396e-01 -4.54199846e-02 2.38702990e+01] [ 1.00898650e-01 9.94891927e-01 -3.08480051e-03 1.32824454e+00] [ 4.54993385e-02 -1.51696837e-03 9.98963217e-01 6.68307049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265099892999995 meters 0.02173594551557049 Centerline is valid? [True, True] Translation: X:23.93, Y:1.34, Z:0.67 [[ 9.93873484e-01 -1.00219668e-01 -4.65995237e-02 2.39322520e+01] [ 1.00181419e-01 9.94964164e-01 -3.16144148e-03 1.33917774e+00] [ 4.66816948e-02 -1.52633357e-03 9.98908649e-01 6.69029804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325099892999997 meters 0.02245150964211893 Centerline is valid? [True, True] Translation: X:23.99, Y:1.34, Z:0.67 [[ 9.93127097e-01 -1.07336199e-01 -4.66637963e-02 2.39922761e+01] [ 1.07305809e-01 9.94221031e-01 -3.16305649e-03 1.34346555e+00] [ 4.67336381e-02 -1.86597931e-03 9.98905644e-01 6.69218203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385099892999996 meters 0.02367429200207315 Centerline is valid? [True, True] Translation: X:24.05, Y:1.35, Z:0.67 [[ 9.92537083e-01 -1.11147086e-01 -5.01643752e-02 2.40524785e+01] [ 1.11116844e-01 9.93801533e-01 -3.39995613e-03 1.35213986e+00] [ 5.02313282e-02 -2.19952450e-03 9.98735188e-01 6.69031308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445099893 meters 0.02308966269531757 Centerline is valid? [True, True] Translation: X:24.11, Y:1.36, Z:0.67 [[ 9.92710078e-01 -1.09001383e-01 -5.14334567e-02 2.41134688e+01] [ 1.08966797e-01 9.94039283e-01 -3.48449164e-03 1.36172904e+00] [ 5.15066908e-02 -2.14544907e-03 9.98670345e-01 6.69624591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505099892999997 meters 0.021662006963595454 Centerline is valid? [True, True] Translation: X:24.17, Y:1.38, Z:0.67 [[ 9.93741681e-01 -1.00122024e-01 -4.95282956e-02 2.41734140e+01] [ 1.00079033e-01 9.94973840e-01 -3.35339456e-03 1.37877341e+00] [ 4.96151071e-02 -1.62433599e-03 9.98767091e-01 6.73974772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565099892999996 meters 0.015583685294968622 Centerline is valid? [True, True] Translation: X:24.23, Y:1.40, Z:0.68 [[ 9.95208985e-01 -8.56005049e-02 -4.72401324e-02 2.42323673e+01] [ 8.55450401e-02 9.96329171e-01 -3.19828805e-03 1.40238856e+00] [ 4.73404970e-02 -8.58194016e-04 9.98878441e-01 6.81177037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625099892999998 meters 0.01773789048414424 Centerline is valid? [True, True] Translation: X:24.29, Y:1.40, Z:0.68 [[ 9.95232684e-01 -8.28440278e-02 -5.14662237e-02 2.42941623e+01] [ 8.27745950e-02 9.96562209e-01 -3.48277022e-03 1.40199256e+00] [ 5.15778203e-02 -7.93929071e-04 9.98668663e-01 6.76139719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685099892999997 meters 0.016337028820782876 Centerline is valid? [True, True] Translation: X:24.35, Y:1.41, Z:0.68 [[ 9.95228884e-01 -8.32067556e-02 -5.09519763e-02 2.43549371e+01] [ 8.31394273e-02 9.96531977e-01 -3.44310764e-03 1.40520906e+00] [ 5.10617635e-02 -8.09437958e-04 9.98695169e-01 6.80218324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745099892999995 meters 0.015635771055189266 Centerline is valid? [True, True] Translation: X:24.42, Y:1.41, Z:0.68 [[ 9.95417008e-01 -8.13338175e-02 -5.02970136e-02 2.44158267e+01] [ 8.12659100e-02 9.96686667e-01 -3.39707007e-03 1.40965341e+00] [ 5.04066595e-02 -7.05931252e-04 9.98728527e-01 6.84608422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805099892999998 meters 0.016113613218962777 Centerline is valid? [True, True] Translation: X:24.48, Y:1.42, Z:0.69 [[ 9.96275539e-01 -7.17216285e-02 -4.78650027e-02 2.44761700e+01] [ 7.16491182e-02 9.97424666e-01 -3.23111763e-03 1.42074269e+00] [ 4.79734753e-02 -2.10401779e-04 9.98848588e-01 6.89118379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865099892999996 meters 0.015072083879572033 Centerline is valid? [True, True] Translation: X:24.54, Y:1.43, Z:0.69 [[ 9.96640045e-01 -6.61213007e-02 -4.83383325e-02 2.45358423e+01] [ 6.60408411e-02 9.97811591e-01 -3.26145593e-03 1.42699004e+00] [ 4.84482001e-02 5.81934524e-05 9.98825695e-01 6.89157890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925099892999995 meters 0.01621467845462999 Centerline is valid? [True, True] Translation: X:24.60, Y:1.43, Z:0.69 [[ 9.95591406e-01 -8.13360013e-02 -4.67140941e-02 2.45959946e+01] [ 8.12776022e-02 9.96686521e-01 -3.15137897e-03 1.42607079e+00] [ 4.68156285e-02 -6.59323736e-04 9.98903330e-01 6.92918333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985099892999997 meters 0.01918548249926698 Centerline is valid? [True, True] Translation: X:24.66, Y:1.42, Z:0.69 [[ 9.94066132e-01 -9.55670960e-02 -5.19562809e-02 2.46575524e+01] [ 9.55142093e-02 9.95421894e-01 -3.50562025e-03 1.41671277e+00] [ 5.20534415e-02 -1.47774473e-03 9.98643207e-01 6.87913974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045099892999996 meters 0.01610763638199557 Centerline is valid? [True, True] Translation: X:24.72, Y:1.44, Z:0.70 [[ 9.97321588e-01 -5.58960225e-02 -4.71729259e-02 2.47160972e+01] [ 5.58079772e-02 9.98436448e-01 -3.18245499e-03 1.44321599e+00] [ 4.72770551e-02 5.41305497e-04 9.98881668e-01 6.97638643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105099892999995 meters 0.015267882710971953 Centerline is valid? [True, True] Translation: X:24.78, Y:1.42, Z:0.70 [[ 9.96461393e-01 -7.03853040e-02 -4.59412784e-02 2.47768119e+01] [ 7.03170882e-02 9.97519869e-01 -3.10125458e-03 1.41970068e+00] [ 4.60456208e-02 -1.40176465e-04 9.98939328e-01 6.95957292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165099892999997 meters 0.014792020243325347 Centerline is valid? [True, True] Translation: X:24.84, Y:1.42, Z:0.70 [[ 9.96155591e-01 -7.59123630e-02 -4.37189988e-02 2.48375999e+01] [ 7.58555123e-02 9.97114426e-01 -2.96026007e-03 1.42031223e+00] [ 4.38175647e-02 -3.67447430e-04 9.99039482e-01 7.02366975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225099892999996 meters 0.016957484635951703 Centerline is valid? [True, True] Translation: X:24.90, Y:1.42, Z:0.70 [[ 9.95366989e-01 -8.32054881e-02 -4.81809578e-02 2.48987297e+01] [ 8.31449896e-02 9.96532122e-01 -3.26194562e-03 1.41834461e+00] [ 4.82852839e-02 -7.59172245e-04 9.98833297e-01 6.99414507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285099892999998 meters 0.01900247020396306 Centerline is valid? [True, True] Translation: X:24.96, Y:1.42, Z:0.70 [[ 9.94468227e-01 -9.12350345e-02 -5.20491488e-02 2.49601937e+01] [ 9.11755051e-02 9.95828611e-01 -3.52195481e-03 1.41862738e+00] [ 5.21533573e-02 -1.24313527e-03 9.98638314e-01 6.98557443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345099892999997 meters 0.018490871456493748 Centerline is valid? [True, True] Translation: X:25.02, Y:1.43, Z:0.70 [[ 9.94877199e-01 -8.71952283e-02 -5.11502719e-02 2.50209259e+01] [ 8.71324619e-02 9.96190726e-01 -3.45996329e-03 1.43070725e+00] [ 5.12571188e-02 -1.01461054e-03 9.98684975e-01 7.02237067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405099892999996 meters 0.01707956209788868 Centerline is valid? [True, True] Translation: X:25.08, Y:1.44, Z:0.71 [[ 9.95478255e-01 -8.22796539e-02 -4.74668648e-02 2.50807986e+01] [ 8.22200950e-02 9.96609029e-01 -3.20917242e-03 1.44096920e+00] [ 4.75699557e-02 -7.08068781e-04 9.98867658e-01 7.08652050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465099892999998 meters 0.01712294192626729 Centerline is valid? [True, True] Translation: X:25.14, Y:1.45, Z:0.71 [[ 9.95801729e-01 -7.91968887e-02 -4.58995505e-02 2.51412288e+01] [ 7.91379995e-02 9.96858845e-01 -3.10160427e-03 1.45207259e+00] [ 4.60010103e-02 -5.43815707e-04 9.98941245e-01 7.14878045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525099892999997 meters 0.015778807352297235 Centerline is valid? [True, True] Translation: X:25.20, Y:1.46, Z:0.72 [[ 9.95922494e-01 -7.69050486e-02 -4.71592998e-02 2.52027716e+01] [ 7.68404124e-02 9.97038319e-01 -3.18463509e-03 1.46064274e+00] [ 4.72645435e-02 -4.52090323e-04 9.98882305e-01 7.17971483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585099892999995 meters 0.0160085106798776 Centerline is valid? [True, True] Translation: X:25.26, Y:1.46, Z:0.72 [[ 9.95945719e-01 -7.59369485e-02 -4.82255615e-02 2.52634446e+01] [ 7.58684214e-02 9.97112533e-01 -3.25249808e-03 1.46454368e+00] [ 4.83332965e-02 -4.19485687e-04 9.98831175e-01 7.17769945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645099892999998 meters 0.0144172979991645 Centerline is valid? [True, True] Translation: X:25.33, Y:1.48, Z:0.72 [[ 9.96247053e-01 -7.15213063e-02 -4.87494758e-02 2.53251899e+01] [ 7.14462599e-02 9.97439049e-01 -3.28245373e-03 1.47638950e+00] [ 4.88593962e-02 -2.12832865e-04 9.98805644e-01 7.20127640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705099892999996 meters 0.013833033082183603 Centerline is valid? [True, True] Translation: X:25.39, Y:1.48, Z:0.72 [[ 9.96350906e-01 -6.96219864e-02 -4.93725750e-02 2.53860832e+01] [ 6.95428344e-02 9.97573438e-01 -3.32124056e-03 1.48371165e+00] [ 4.94840007e-02 -1.24387766e-04 9.98774909e-01 7.22527571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765099892999995 meters 0.015368673011864183 Centerline is valid? [True, True] Translation: X:25.45, Y:1.49, Z:0.72 [[ 9.95907777e-01 -7.51039776e-02 -5.02701983e-02 2.54464380e+01] [ 7.50289659e-02 9.97175626e-01 -3.38023835e-03 1.48700505e+00] [ 5.03820858e-02 -4.05315330e-04 9.98729934e-01 7.23589426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825099892999997 meters 0.01764461132690608 Centerline is valid? [True, True] Translation: X:25.51, Y:1.48, Z:0.73 [[ 9.95338760e-01 -8.35956317e-02 -4.80886983e-02 2.55076089e+01] [ 8.35368977e-02 9.96499439e-01 -3.23335611e-03 1.48199511e+00] [ 4.81906553e-02 -7.98896009e-04 9.98837836e-01 7.26945370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885099892999996 meters 0.016605341966609212 Centerline is valid? [True, True] Translation: X:25.57, Y:1.49, Z:0.73 [[ 9.95156583e-01 -8.58370310e-02 -4.79101161e-02 2.55698218e+01] [ 8.57813969e-02 9.96308780e-01 -3.21989935e-03 1.48515730e+00] [ 4.80096559e-02 -9.05492643e-04 9.98846461e-01 7.30899453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945099892999995 meters 0.017628175223885417 Centerline is valid? [True, True] Translation: X:25.63, Y:1.49, Z:0.73 [[ 9.94962792e-01 -8.73927319e-02 -4.91075610e-02 2.56311270e+01] [ 8.73363439e-02 9.96173425e-01 -3.29693669e-03 1.48691406e+00] [ 4.92077755e-02 -1.00854550e-03 9.98788054e-01 7.31807794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005099892999997 meters 0.0172933717018385 Centerline is valid? [True, True] Translation: X:25.69, Y:1.49, Z:0.73 [[ 9.94905967e-01 -8.75802169e-02 -4.99181586e-02 2.56927228e+01] [ 8.75223640e-02 9.96156929e-01 -3.34783570e-03 1.49021681e+00] [ 5.00195238e-02 -1.03817353e-03 9.98747701e-01 7.33492602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065099892999996 meters 0.017025438411522487 Centerline is valid? [True, True] Translation: X:25.75, Y:1.50, Z:0.73 [[ 9.95220103e-01 -8.28781128e-02 -5.16542926e-02 2.57545877e+01] [ 8.28101234e-02 9.96559341e-01 -3.45872551e-03 1.49696610e+00] [ 5.17632205e-02 -8.35305190e-04 9.98659037e-01 7.33848394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125099892999998 meters 0.016000412694856286 Centerline is valid? [True, True] Translation: X:25.81, Y:1.51, Z:0.74 [[ 9.96216065e-01 -7.10455694e-02 -5.00607491e-02 2.58142281e+01] [ 7.09669158e-02 9.97473047e-01 -3.34911274e-03 1.50982408e+00] [ 5.01721876e-02 -2.16217049e-04 9.98740559e-01 7.37621621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185099892999997 meters 0.01661113877113392 Centerline is valid? [True, True] Translation: X:25.87, Y:1.52, Z:0.74 [[ 9.97334771e-01 -5.48255197e-02 -4.81405891e-02 2.58740617e+01] [ 5.47339163e-02 9.98495784e-01 -3.21999319e-03 1.52249871e+00] [ 4.82447130e-02 5.76488194e-04 9.98835379e-01 7.41570087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245099892999995 meters 0.014426063967614493 Centerline is valid? [True, True] Translation: X:25.93, Y:1.52, Z:0.74 [[ 9.97272442e-01 -5.39860397e-02 -5.03307454e-02 2.59326767e+01] [ 5.38846715e-02 9.98541480e-01 -3.36975157e-03 1.52251535e+00] [ 5.04392565e-02 6.48504700e-04 9.98726920e-01 7.42806348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305099892999998 meters 0.016608627186223607 Centerline is valid? [True, True] Translation: X:25.99, Y:1.52, Z:0.74 [[ 9.97058731e-01 -5.58725792e-02 -5.24608690e-02 2.59913193e+01] [ 5.57643393e-02 9.98437733e-01 -3.52586407e-03 1.52330455e+00] [ 5.25759102e-02 5.90047851e-04 9.98616756e-01 7.41917614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365099892999996 meters 0.01580588545675127 Centerline is valid? [True, True] Translation: X:26.05, Y:1.52, Z:0.75 [[ 9.96933035e-01 -5.86973202e-02 -5.17604807e-02 2.60503779e+01] [ 5.85950839e-02 9.98275725e-01 -3.49175816e-03 1.52303938e+00] [ 5.18761882e-02 4.48139356e-04 9.98653423e-01 7.46078949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425099892999995 meters 0.015451633505862141 Centerline is valid? [True, True] Translation: X:26.11, Y:1.52, Z:0.75 [[ 9.96636281e-01 -6.35090305e-02 -5.17950513e-02 2.61083603e+01] [ 6.34125845e-02 9.97981242e-01 -3.50494397e-03 1.52385598e+00] [ 5.19130852e-02 2.08696257e-04 9.98651585e-01 7.46746206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485099892999997 meters 0.015861882956239137 Centerline is valid? [True, True] Translation: X:26.17, Y:1.53, Z:0.75 [[ 9.96398716e-01 -6.83411897e-02 -5.01904406e-02 2.61672474e+01] [ 6.82564291e-02 9.97662007e-01 -3.40284242e-03 1.52572290e+00] [ 5.03056500e-02 -3.52324288e-05 9.98733869e-01 7.49631610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545099892999996 meters 0.016440747880159128 Centerline is valid? [True, True] Translation: X:26.23, Y:1.52, Z:0.75 [[ 9.95659844e-01 -8.03102328e-02 -4.70291624e-02 2.62267463e+01] [ 8.02487228e-02 9.96769742e-01 -3.19757424e-03 1.52406599e+00] [ 4.71340439e-02 -5.90333946e-04 9.98888399e-01 7.54782707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605099892999995 meters 0.019539281586234844 Centerline is valid? [True, True] Translation: X:26.29, Y:1.52, Z:0.76 [[ 9.94314491e-01 -9.46223640e-02 -4.88395461e-02 2.62875647e+01] [ 9.45731847e-02 9.95512369e-01 -3.32201615e-03 1.52087281e+00] [ 4.89347093e-02 -1.31578262e-03 9.98801113e-01 7.56381542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665099892999997 meters 0.01980734324768375 Centerline is valid? [True, True] Translation: X:26.35, Y:1.53, Z:0.76 [[ 9.94200948e-01 -9.56797195e-02 -4.90903915e-02 2.63492427e+01] [ 9.56313685e-02 9.95411221e-01 -3.33811118e-03 1.53041519e+00] [ 4.91845161e-02 -1.37582802e-03 9.98788762e-01 7.60151037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725099892999996 meters 0.019154493057204 Centerline is valid? [True, True] Translation: X:26.41, Y:1.54, Z:0.76 [[ 9.94362100e-01 -9.42647576e-02 -4.85609864e-02 2.64111424e+01] [ 9.42159284e-02 9.95546321e-01 -3.29862022e-03 1.53818671e+00] [ 4.86556550e-02 -1.29519549e-03 9.98814772e-01 7.64069816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785099892999995 meters 0.018781883768257058 Centerline is valid? [True, True] Translation: X:26.47, Y:1.57, Z:0.77 [[ 9.97865369e-01 -4.32054517e-02 -4.89693298e-02 2.64711795e+01] [ 4.30943520e-02 9.99065481e-01 -3.32277200e-03 1.57224490e+00] [ 4.90671289e-02 1.20537757e-03 9.98794756e-01 7.68309940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845099892999997 meters 0.01783199981229777 Centerline is valid? [True, True] Translation: X:26.53, Y:1.57, Z:0.77 [[ 9.97752458e-01 -4.62833121e-02 -4.84550040e-02 2.65305983e+01] [ 4.61781502e-02 9.98927809e-01 -3.28809581e-03 1.56820100e+00] [ 4.85552349e-02 1.04314323e-03 9.98819954e-01 7.70332479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905099892999996 meters 0.016609557650139516 Centerline is valid? [True, True] Translation: X:26.59, Y:1.56, Z:0.77 [[ 9.97064409e-01 -5.71198508e-02 -5.09890818e-02 2.65910933e+01] [ 5.70170100e-02 9.98367175e-01 -3.47040438e-03 1.56229361e+00] [ 5.11040545e-02 5.52971704e-04 9.98693181e-01 7.70830453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965099892999998 meters 0.016467266205263367 Centerline is valid? [True, True] Translation: X:26.65, Y:1.55, Z:0.77 [[ 9.95886798e-01 -7.47869139e-02 -5.11507780e-02 2.66493518e+01] [ 7.47065785e-02 9.97199475e-01 -3.48334877e-03 1.55304761e+00] [ 5.12680379e-02 -3.52278555e-04 9.98684867e-01 7.72310830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025099892999997 meters 0.017416712781612394 Centerline is valid? [True, True] Translation: X:26.71, Y:1.56, Z:0.78 [[ 9.95429943e-01 -8.06126753e-02 -5.11939915e-02 2.67097418e+01] [ 8.05397265e-02 9.96745291e-01 -3.48965018e-03 1.55540443e+00] [ 5.13086800e-02 -6.49447798e-04 9.98682631e-01 7.75584810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085099892999995 meters 0.016020373051610876 Centerline is valid? [True, True] Translation: X:26.77, Y:1.59, Z:0.78 [[ 9.96918972e-01 -5.82107561e-02 -5.25744308e-02 2.67687283e+01] [ 5.81026728e-02 9.98304182e-01 -3.58319492e-03 1.59036063e+00] [ 5.26938546e-02 5.17440043e-04 9.98610580e-01 7.79867377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145099892999998 meters 0.016348065919745674 Centerline is valid? [True, True] Translation: X:26.83, Y:1.59, Z:0.78 [[ 9.96728528e-01 -6.30303079e-02 -5.05907204e-02 2.68281793e+01] [ 6.29364102e-02 9.98011581e-01 -3.44849284e-03 1.58861787e+00] [ 5.07074844e-02 2.53212858e-04 9.98713516e-01 7.80529682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205099892999996 meters 0.016756541894664134 Centerline is valid? [True, True] Translation: X:26.89, Y:1.58, Z:0.78 [[ 9.95354707e-01 -7.94821250e-02 -5.43286226e-02 2.68869402e+01] [ 7.93979162e-02 9.96836098e-01 -3.71004669e-03 1.58265848e+00] [ 5.44516145e-02 -6.20766981e-04 9.98516217e-01 7.80855796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265099892999995 meters 0.015978042609735833 Centerline is valid? [True, True] Translation: X:26.95, Y:1.59, Z:0.78 [[ 9.95451138e-01 -7.89524384e-02 -5.33248963e-02 2.69479131e+01] [ 7.88704232e-02 9.96878216e-01 -3.64395195e-03 1.58789143e+00] [ 5.34461264e-02 -5.78381030e-04 9.98570567e-01 7.83511219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325099892999997 meters 0.016317098816906933 Centerline is valid? [True, True] Translation: X:27.01, Y:1.59, Z:0.79 [[ 9.95575324e-01 -7.77642149e-02 -5.27494235e-02 2.70086193e+01] [ 7.76823951e-02 9.96971647e-01 -3.60272578e-03 1.59461691e+00] [ 5.28698428e-02 -5.10916672e-04 9.98601281e-01 7.86552337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385099892999996 meters 0.016137682415541928 Centerline is valid? [True, True] Translation: X:27.07, Y:1.60, Z:0.79 [[ 9.95865981e-01 -7.34115484e-02 -5.34947935e-02 2.70682489e+01] [ 7.33212114e-02 9.97301691e-01 -3.65196754e-03 1.60333123e+00] [ 5.36185446e-02 -2.85432819e-04 9.98561450e-01 7.87649117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445099892999995 meters 0.01682618310221255 Centerline is valid? [True, True] Translation: X:27.13, Y:1.61, Z:0.79 [[ 9.97078906e-01 -5.32766584e-02 -5.47288978e-02 2.71273476e+01] [ 5.31517620e-02 9.98579457e-01 -3.73615907e-03 1.61460073e+00] [ 5.48502031e-02 8.16308049e-04 9.98494261e-01 7.91550910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505099892999997 meters 0.01631565141686167 Centerline is valid? [True, True] Translation: X:27.19, Y:1.62, Z:0.80 [[ 9.97193534e-01 -5.46265260e-02 -5.11956920e-02 2.71861516e+01] [ 5.45187963e-02 9.98506612e-01 -3.49944020e-03 1.61802492e+00] [ 5.13103992e-02 6.98491635e-04 9.98682510e-01 7.97597893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565099892999996 meters 0.013134524155693605 Centerline is valid? [True, True] Translation: X:27.25, Y:1.60, Z:0.81 [[ 9.95859153e-01 -7.87945402e-02 -4.53427866e-02 2.72458608e+01] [ 7.87346707e-02 9.96890764e-01 -3.10759256e-03 1.60024122e+00] [ 4.54466665e-02 -4.75324880e-04 9.98966653e-01 8.06328516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625099892999994 meters 0.014573170868956646 Centerline is valid? [True, True] Translation: X:27.31, Y:1.61, Z:0.80 [[ 9.96608232e-01 -6.57969044e-02 -4.94246861e-02 2.73079821e+01] [ 6.57096772e-02 9.97833027e-01 -3.38938124e-03 1.60927611e+00] [ 4.95405950e-02 1.30205074e-04 9.98772102e-01 7.99890849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685099892999997 meters 0.015262351090004808 Centerline is valid? [True, True] Translation: X:27.37, Y:1.62, Z:0.80 [[ 9.97075368e-01 -5.82376149e-02 -4.94882937e-02 2.73673690e+01] [ 5.81409652e-02 9.98302622e-01 -3.39149573e-03 1.61851984e+00] [ 4.96018060e-02 5.04279682e-04 9.98768946e-01 8.02436321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745099892999995 meters 0.01783430661930826 Centerline is valid? [True, True] Translation: X:27.43, Y:1.63, Z:0.80 [[ 9.97589114e-01 -4.72369589e-02 -5.08392405e-02 2.74270445e+01] [ 4.71205939e-02 9.98883126e-01 -3.48568603e-03 1.62971772e+00] [ 5.09471127e-02 1.08170723e-03 9.98700767e-01 8.04861140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805099892999998 meters 0.018251114330699612 Centerline is valid? [True, True] Translation: X:27.49, Y:1.63, Z:0.81 [[ 9.97684969e-01 -4.43341152e-02 -5.15673218e-02 2.74852462e+01] [ 4.42104133e-02 9.99015978e-01 -3.53760171e-03 1.63337747e+00] [ 5.16734149e-02 1.24959945e-03 9.98663255e-01 8.06708411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865099892999996 meters 0.018113256848558475 Centerline is valid? [True, True] Translation: X:27.54, Y:1.64, Z:0.81 [[ 9.97687987e-01 -4.33510364e-02 -5.23389667e-02 2.75435696e+01] [ 4.32218637e-02 9.99059020e-01 -3.59788706e-03 1.63637643e+00] [ 5.24456890e-02 1.32738101e-03 9.98622896e-01 8.08104213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925099892999995 meters 0.019569385467275387 Centerline is valid? [True, True] Translation: X:27.60, Y:1.64, Z:0.81 [[ 9.97741464e-01 -4.30692299e-02 -5.15462206e-02 2.75999437e+01] [ 4.29429884e-02 9.99071201e-01 -3.55461820e-03 1.64002616e+00] [ 5.16514392e-02 1.33304121e-03 9.98664284e-01 8.09269064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985099892999997 meters 0.017565770650515344 Centerline is valid? [True, True] Translation: X:27.66, Y:1.64, Z:0.81 [[ 9.97771115e-01 -4.36655636e-02 -5.04591028e-02 2.76586243e+01] [ 4.35449549e-02 9.99045381e-01 -3.48760554e-03 1.64249197e+00] [ 5.05632218e-02 1.28259271e-03 9.98720039e-01 8.13928607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045099892999996 meters 0.018797996135836555 Centerline is valid? [True, True] Translation: X:27.72, Y:1.65, Z:0.82 [[ 9.97751000e-01 -4.39184516e-02 -5.06370524e-02 2.77152469e+01] [ 4.37967492e-02 9.99034292e-01 -3.51104284e-03 1.64649487e+00] [ 5.07423514e-02 1.28540822e-03 9.98710950e-01 8.15679682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105099892999995 meters 0.017713660581185103 Centerline is valid? [True, True] Translation: X:27.77, Y:1.65, Z:0.82 [[ 9.97664353e-01 -4.56336522e-02 -5.08272497e-02 2.77742522e+01] [ 4.55128448e-02 9.98957509e-01 -3.53229170e-03 1.64813830e+00] [ 5.09354541e-02 1.21074878e-03 9.98701213e-01 8.19159026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165099892999997 meters 0.018508694956117223 Centerline is valid? [True, True] Translation: X:27.83, Y:1.65, Z:0.82 [[ 9.97617465e-01 -4.66201062e-02 -5.08523343e-02 2.78334702e+01] [ 4.64998223e-02 9.98912002e-01 -3.54652026e-03 1.65038285e+00] [ 5.09623462e-02 1.17344604e-03 9.98699886e-01 8.20373503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225099892999996 meters 0.01811192733223915 Centerline is valid? [True, True] Translation: X:27.89, Y:1.65, Z:0.82 [[ 9.97510697e-01 -5.00199805e-02 -4.97032307e-02 2.78929607e+01] [ 4.99087274e-02 9.98747728e-01 -3.47769159e-03 1.64986395e+00] [ 4.98149429e-02 9.88409567e-04 9.98757976e-01 8.22784884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285099892999995 meters 0.017016385041285043 Centerline is valid? [True, True] Translation: X:27.95, Y:1.65, Z:0.83 [[ 9.97333209e-01 -5.43620619e-02 -4.86953358e-02 2.79524026e+01] [ 5.42599072e-02 9.98520995e-01 -3.41824912e-03 1.64954058e+00] [ 4.88091383e-02 7.66928966e-04 9.98807829e-01 8.25624701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345099892999997 meters 0.016517847969576803 Centerline is valid? [True, True] Translation: X:28.01, Y:1.62, Z:0.83 [[ 9.95259495e-01 -8.53682609e-02 -4.65918089e-02 2.80135014e+01] [ 8.53082068e-02 9.96349213e-01 -3.27947497e-03 1.61895922e+00] [ 4.67016752e-02 -7.10735069e-04 9.98908629e-01 8.27578580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405099892999996 meters 0.017082689386120387 Centerline is valid? [True, True] Translation: X:28.08, Y:1.62, Z:0.83 [[ 9.95116669e-01 -8.71971615e-02 -4.62544095e-02 2.80752179e+01] [ 8.71398456e-02 9.96190761e-01 -3.25793510e-03 1.61888959e+00] [ 4.63622981e-02 -7.88576582e-04 9.98924379e-01 8.30231856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465099892999994 meters 0.016933620050954203 Centerline is valid? [True, True] Translation: X:28.14, Y:1.62, Z:0.83 [[ 9.95159428e-01 -8.51146901e-02 -4.91243511e-02 2.81372521e+01] [ 8.50476525e-02 9.96370888e-01 -3.45706621e-03 1.62423867e+00] [ 4.92403204e-02 -7.37578706e-04 9.98786687e-01 8.31143286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525099892999997 meters 0.01679123643433846 Centerline is valid? [True, True] Translation: X:28.20, Y:1.63, Z:0.83 [[ 9.95256529e-01 -8.39291380e-02 -4.91969669e-02 2.81983973e+01] [ 8.38606091e-02 9.96471491e-01 -3.45904615e-03 1.63020894e+00] [ 4.93136898e-02 -6.83049350e-04 9.98783106e-01 8.33799622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585099892999995 meters 0.016842751994054446 Centerline is valid? [True, True] Translation: X:28.26, Y:1.64, Z:0.83 [[ 9.95561346e-01 -7.89775333e-02 -5.11874529e-02 2.82597301e+01] [ 7.88969013e-02 9.96876291e-01 -3.59707701e-03 1.63827717e+00] [ 5.13116465e-02 -4.57420591e-04 9.98682585e-01 8.34110729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645099892999998 meters 0.015002006816342547 Centerline is valid? [True, True] Translation: X:28.32, Y:1.65, Z:0.84 [[ 9.96210948e-01 -6.99574106e-02 -5.16692222e-02 2.83194863e+01] [ 6.98631912e-02 9.97549979e-01 -3.62957887e-03 1.65455199e+00] [ 5.17965475e-02 6.04945703e-06 9.98657658e-01 8.37798676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705099892999996 meters 0.013390102111962838 Centerline is valid? [True, True] Translation: X:28.38, Y:1.66, Z:0.84 [[ 9.96279902e-01 -7.05846459e-02 -4.94384964e-02 2.83780576e+01] [ 7.04991307e-02 9.97505793e-01 -3.47353130e-03 1.66082057e+00] [ 4.95603645e-02 -2.47615955e-05 9.98771130e-01 8.42150362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765099892999995 meters 0.014841256192396162 Centerline is valid? [True, True] Translation: X:28.44, Y:1.67, Z:0.85 [[ 9.96282000e-01 -7.08748150e-02 -4.89789387e-02 2.84374415e+01] [ 7.07911164e-02 9.97485218e-01 -3.44362661e-03 1.66997334e+00] [ 4.90998337e-02 -3.64505411e-05 9.98793875e-01 8.45714147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825099892999997 meters 0.015639078999984284 Centerline is valid? [True, True] Translation: X:28.50, Y:1.68, Z:0.85 [[ 9.96175316e-01 -7.19853709e-02 -4.95262221e-02 2.84970085e+01] [ 7.19010740e-02 9.97405684e-01 -3.48387145e-03 1.67566419e+00] [ 4.96485232e-02 -9.04418203e-05 9.98766748e-01 8.47908990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885099892999996 meters 0.01610888215504742 Centerline is valid? [True, True] Translation: X:28.56, Y:1.69, Z:0.85 [[ 9.95736852e-01 -7.96979781e-02 -4.64365594e-02 2.85578357e+01] [ 7.96322104e-02 9.96818958e-01 -3.26744645e-03 1.68653192e+00] [ 4.65492516e-02 -4.44329021e-04 9.98915897e-01 8.53576785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945099892999995 meters 0.015426997436856027 Centerline is valid? [True, True] Translation: X:28.62, Y:1.70, Z:0.86 [[ 9.96001918e-01 -7.69764592e-02 -4.53299462e-02 2.86192199e+01] [ 7.69110586e-02 9.97032862e-01 -3.18768324e-03 1.70062886e+00] [ 4.54408226e-02 -3.11435527e-04 9.98966984e-01 8.56427029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005099892999997 meters 0.015294501396857724 Centerline is valid? [True, True] Translation: X:28.68, Y:1.73, Z:0.85 [[ 9.96962095e-01 -5.94528928e-02 -5.03183320e-02 2.86794710e+01] [ 5.93501673e-02 9.98230968e-01 -3.53452913e-03 1.72906816e+00] [ 5.04394552e-02 5.37390151e-04 9.98726976e-01 8.54055892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065099892999996 meters 0.017189982521566508 Centerline is valid? [True, True] Translation: X:28.74, Y:1.73, Z:0.85 [[ 9.96959928e-01 -5.90316968e-02 -5.08543084e-02 2.87385346e+01] [ 5.89261852e-02 9.98255949e-01 -3.57289497e-03 1.73245846e+00] [ 5.09765299e-02 5.65382717e-04 9.98699691e-01 8.54670741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125099892999994 meters 0.016792215602210867 Centerline is valid? [True, True] Translation: X:28.80, Y:1.74, Z:0.86 [[ 9.97012038e-01 -5.91453322e-02 -4.96872861e-02 2.87968624e+01] [ 5.90441416e-02 9.98249226e-01 -3.50315286e-03 1.73514919e+00] [ 4.98074900e-02 5.58942412e-04 9.98758680e-01 8.57878339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185099892999997 meters 0.015844499123286768 Centerline is valid? [True, True] Translation: X:28.86, Y:1.74, Z:0.86 [[ 9.97049900e-01 -5.92954242e-02 -4.87396142e-02 2.88562173e+01] [ 5.91977659e-02 9.98240327e-01 -3.44600604e-03 1.73933148e+00] [ 4.88581808e-02 5.50563708e-04 9.98805574e-01 8.62344837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245099892999995 meters 0.016530426106229627 Centerline is valid? [True, True] Translation: X:28.92, Y:1.74, Z:0.86 [[ 9.97072919e-01 -5.90862375e-02 -4.85222683e-02 2.89158182e+01] [ 5.89891251e-02 9.98252725e-01 -3.43220664e-03 1.74497457e+00] [ 4.86402827e-02 5.59874135e-04 9.98816204e-01 8.64987709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305099892999994 meters 0.017103730198033337 Centerline is valid? [True, True] Translation: X:28.98, Y:1.75, Z:0.86 [[ 9.97180727e-01 -5.54535961e-02 -5.05519224e-02 2.89753109e+01] [ 5.53434576e-02 9.98460969e-01 -3.57695757e-03 1.74864359e+00] [ 5.06724765e-02 7.69154974e-04 9.98715029e-01 8.64952516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365099892999996 meters 0.01718317138682807 Centerline is valid? [True, True] Translation: X:29.03, Y:1.76, Z:0.87 [[ 9.97697459e-01 -4.90252210e-02 -4.68647829e-02 2.90323216e+01] [ 4.89233797e-02 9.98797022e-01 -3.31833770e-03 1.75500488e+00] [ 4.69710878e-02 1.01791352e-03 9.98895731e-01 8.69526117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425099892999995 meters 0.01693618772438201 Centerline is valid? [True, True] Translation: X:29.09, Y:1.75, Z:0.87 [[ 9.97370516e-01 -5.30218417e-02 -4.94038188e-02 2.90919370e+01] [ 5.29131917e-02 9.98592963e-01 -3.50541035e-03 1.74586299e+00] [ 4.95201691e-02 8.82079192e-04 9.98772734e-01 8.68734831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485099892999997 meters 0.017839160317974855 Centerline is valid? [True, True] Translation: X:29.15, Y:1.75, Z:0.87 [[ 9.97465642e-01 -5.25496799e-02 -4.79668970e-02 2.91494018e+01] [ 5.24462280e-02 9.98617915e-01 -3.41362977e-03 1.75188473e+00] [ 4.80799879e-02 8.89295589e-04 9.98843093e-01 8.72251855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545099892999996 meters 0.017356333002908717 Centerline is valid? [True, True] Translation: X:29.21, Y:1.75, Z:0.88 [[ 9.97476110e-01 -5.22068927e-02 -4.81232921e-02 2.92076627e+01] [ 5.21020714e-02 9.98635871e-01 -3.43086113e-03 1.75434878e+00] [ 4.82367604e-02 9.14878805e-04 9.98835511e-01 8.75725848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605099892999995 meters 0.017275648853032316 Centerline is valid? [True, True] Translation: X:29.27, Y:1.76, Z:0.88 [[ 9.97502542e-01 -5.15899269e-02 -4.82406375e-02 2.92662827e+01] [ 5.14832809e-02 9.98667892e-01 -3.45144654e-03 1.75792172e+00] [ 4.83544356e-02 9.59240402e-04 9.98829779e-01 8.77697676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665099892999997 meters 0.018836871292059576 Centerline is valid? [True, True] Translation: X:29.32, Y:1.76, Z:0.88 [[ 9.97719207e-01 -4.67157210e-02 -4.87239772e-02 2.93249254e+01] [ 4.66006078e-02 9.98907482e-01 -3.49646751e-03 1.76157661e+00] [ 4.88340854e-02 1.21792584e-03 9.98806162e-01 8.78024819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725099892999996 meters 0.018670993623648033 Centerline is valid? [True, True] Translation: X:29.38, Y:1.76, Z:0.88 [[ 9.97972576e-01 -4.25878922e-02 -4.72970217e-02 2.93839951e+01] [ 4.24746387e-02 9.99091769e-01 -3.39742232e-03 1.76184919e+00] [ 4.73987541e-02 1.38161040e-03 9.98875092e-01 8.83655417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785099892999995 meters 0.01693625839602846 Centerline is valid? [True, True] Translation: X:29.44, Y:1.75, Z:0.88 [[ 9.97558346e-01 -4.99311638e-02 -4.88285361e-02 2.94447649e+01] [ 4.98191189e-02 9.98752090e-01 -3.50975781e-03 1.75438872e+00] [ 4.89428488e-02 1.06859355e-03 9.98801009e-01 8.84830317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845099892999997 meters 0.014309861641813122 Centerline is valid? [True, True] Translation: X:29.51, Y:1.74, Z:0.89 [[ 9.96672965e-01 -6.54700783e-02 -4.85455522e-02 2.95059647e+01] [ 6.53776867e-02 9.97854486e-01 -3.49029885e-03 1.74065760e+00] [ 4.86699072e-02 3.04890596e-04 9.98814871e-01 8.86781976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905099892999996 meters 0.013146764403655576 Centerline is valid? [True, True] Translation: X:29.57, Y:1.73, Z:0.89 [[ 9.95771239e-01 -7.88606669e-02 -4.71236128e-02 2.95653036e+01] [ 7.87884294e-02 9.96885591e-01 -3.39130698e-03 1.73087826e+00] [ 4.72442914e-02 -3.35829492e-04 9.98883309e-01 8.87373898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965099892999994 meters 0.01576652187554464 Centerline is valid? [True, True] Translation: X:29.63, Y:1.74, Z:0.89 [[ 9.96109138e-01 -7.40987533e-02 -4.77070279e-02 2.96263626e+01] [ 7.40188051e-02 9.97250903e-01 -3.44269174e-03 1.73779266e+00] [ 4.78309759e-02 -1.01920498e-04 9.98855439e-01 8.89691199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025099892999997 meters 0.01634190878716197 Centerline is valid? [True, True] Translation: X:29.69, Y:1.75, Z:0.89 [[ 9.96827837e-01 -6.28161773e-02 -4.88711712e-02 2.96857056e+01] [ 6.27187744e-02 9.98025013e-01 -3.52551387e-03 1.74819093e+00] [ 4.89961106e-02 4.49190407e-04 9.98798868e-01 8.91198518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085099892999995 meters 0.01820035317929306 Centerline is valid? [True, True] Translation: X:29.74, Y:1.76, Z:0.89 [[ 9.97088508e-01 -5.67228891e-02 -5.09609673e-02 2.97446969e+01] [ 5.66089545e-02 9.98389655e-01 -3.67747492e-03 1.75747734e+00] [ 5.10874995e-02 7.81920905e-04 9.98693875e-01 8.92574636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145099892999998 meters 0.01594199922439216 Centerline is valid? [True, True] Translation: X:29.80, Y:1.75, Z:0.89 [[ 9.96022133e-01 -7.30786492e-02 -5.09845266e-02 2.98031024e+01] [ 7.29858648e-02 9.97326179e-01 -3.68176981e-03 1.75415707e+00] [ 5.11172619e-02 -5.40255506e-05 9.98692657e-01 8.93543216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205099892999996 meters 0.015391759779587028 Centerline is valid? [True, True] Translation: X:29.86, Y:1.76, Z:0.90 [[ 9.96589461e-01 -6.88157821e-02 -4.55393676e-02 2.98616456e+01] [ 6.87371684e-02 9.97629373e-01 -3.29183234e-03 1.76328164e+00] [ 4.56579407e-02 1.50358237e-04 9.98957121e-01 9.01564222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265099892999995 meters 0.014870703535881652 Centerline is valid? [True, True] Translation: X:29.92, Y:1.77, Z:0.91 [[ 9.97006992e-01 -6.44831205e-02 -4.26495551e-02 2.99224504e+01] [ 6.44101630e-02 9.97918744e-01 -3.08401358e-03 1.77098660e+00] [ 4.27596573e-02 3.27718307e-04 9.99085334e-01 9.06934822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325099892999997 meters 0.015958131840064716 Centerline is valid? [True, True] Translation: X:29.98, Y:1.77, Z:0.90 [[ 9.96199676e-01 -7.24947924e-02 -4.82774314e-02 2.99838525e+01] [ 7.24107869e-02 9.97368791e-01 -3.48902137e-03 1.77041589e+00] [ 4.84033393e-02 -2.00448432e-05 9.98827871e-01 9.04669517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385099892999996 meters 0.014762789994360544 Centerline is valid? [True, True] Translation: X:30.04, Y:1.77, Z:0.90 [[ 9.95544448e-01 -7.87196014e-02 -5.19083516e-02 3.00445288e+01] [ 7.86310044e-02 9.96896736e-01 -3.74995346e-03 1.77391854e+00] [ 5.20424611e-02 -3.48360471e-04 9.98644812e-01 9.03670884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445099892999995 meters 0.015670240271198187 Centerline is valid? [True, True] Translation: X:30.10, Y:1.78, Z:0.90 [[ 9.95519300e-01 -7.91749793e-02 -5.16976307e-02 3.01046818e+01] [ 7.90877141e-02 9.96860665e-01 -3.73473061e-03 1.77988369e+00] [ 5.18310317e-02 -3.70651037e-04 9.98655800e-01 9.04867443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505099892999997 meters 0.016726755537425045 Centerline is valid? [True, True] Translation: X:30.16, Y:1.79, Z:0.91 [[ 9.95829663e-01 -7.80405987e-02 -4.72540759e-02 3.01633757e+01] [ 7.79664276e-02 9.96950141e-01 -3.41355958e-03 1.78757261e+00] [ 4.73763539e-02 -2.84907609e-04 9.98877069e-01 9.08310514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565099892999996 meters 0.014462446625761832 Centerline is valid? [True, True] Translation: X:30.22, Y:1.80, Z:0.91 [[ 9.96072398e-01 -7.47218657e-02 -4.75017928e-02 3.02238411e+01] [ 7.46431879e-02 9.97204405e-01 -3.43049226e-03 1.79766668e+00] [ 4.76253298e-02 -1.28666591e-04 9.98865262e-01 9.10522829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625099892999994 meters 0.015296150176651346 Centerline is valid? [True, True] Translation: X:30.28, Y:1.80, Z:0.91 [[ 9.96031060e-01 -7.54060494e-02 -4.72869455e-02 3.02847447e+01] [ 7.53289318e-02 9.97152898e-01 -3.41330899e-03 1.80441523e+00] [ 4.74096989e-02 -1.62313323e-04 9.98875515e-01 9.12256015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685099892999997 meters 0.015739833160179784 Centerline is valid? [True, True] Translation: X:30.35, Y:1.81, Z:0.91 [[ 9.96090959e-01 -7.38070082e-02 -4.85317020e-02 3.03453434e+01] [ 7.37239641e-02 9.97272539e-01 -3.50138990e-03 1.81357702e+00] [ 4.86577607e-02 -9.02466301e-05 9.98815506e-01 9.14897319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745099892999995 meters 0.015715889281214614 Centerline is valid? [True, True] Translation: X:30.41, Y:1.82, Z:0.92 [[ 9.96484507e-01 -6.87792030e-02 -4.78335607e-02 3.04056956e+01] [ 6.86928244e-02 9.97631895e-01 -3.44928246e-03 1.82484476e+00] [ 4.79575247e-02 1.51334149e-04 9.98849364e-01 9.17246288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805099892999994 meters 0.01479332459141488 Centerline is valid? [True, True] Translation: X:30.47, Y:1.83, Z:0.92 [[ 9.96616424e-01 -6.82226272e-02 -4.58407773e-02 3.04662782e+01] [ 6.81427864e-02 9.97670108e-01 -3.30395369e-03 1.83151341e+00] [ 4.59593777e-02 1.69056217e-04 9.98943295e-01 9.21541800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865099892999996 meters 0.012491779889879142 Centerline is valid? [True, True] Translation: X:30.53, Y:1.84, Z:0.93 [[ 9.96331358e-01 -7.31483191e-02 -4.44201304e-02 3.05277318e+01] [ 7.30783154e-02 9.97321072e-01 -3.19996265e-03 1.83585351e+00] [ 4.45352039e-02 -5.79251617e-05 9.99007814e-01 9.26993184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925099892999995 meters 0.015439608551352657 Centerline is valid? [True, True] Translation: X:30.59, Y:1.84, Z:0.93 [[ 9.96387011e-01 -7.18793950e-02 -4.52357879e-02 3.05886867e+01] [ 7.18055719e-02 9.97413331e-01 -3.25688153e-03 1.84236395e+00] [ 4.53528806e-02 -3.06717493e-06 9.98971029e-01 9.27181139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985099892999997 meters 0.016028312481850486 Centerline is valid? [True, True] Translation: X:30.65, Y:1.85, Z:0.93 [[ 9.96586832e-01 -6.74789246e-02 -4.75529270e-02 3.06501444e+01] [ 6.73924704e-02 9.97720679e-01 -3.42081550e-03 1.85234685e+00] [ 4.76753715e-02 2.04430460e-04 9.98862862e-01 9.27049303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04509989299999 meters 0.01647245152608007 Centerline is valid? [True, True] Translation: X:30.71, Y:1.86, Z:0.93 [[ 9.96717364e-01 -6.51489617e-02 -4.80635884e-02 3.07110860e+01] [ 6.50580823e-02 9.97875500e-01 -3.45443029e-03 1.86030952e+00] [ 4.81865299e-02 3.16165757e-04 9.98838304e-01 9.27982115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105099892999995 meters 0.01604951647288372 Centerline is valid? [True, True] Translation: X:30.77, Y:1.87, Z:0.93 [[ 9.96686223e-01 -6.48139141e-02 -4.91500729e-02 3.07714546e+01] [ 6.47185365e-02 9.97897310e-01 -3.53116068e-03 1.86770045e+00] [ 4.92755939e-02 3.38538409e-04 9.98785163e-01 9.30361911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165099893 meters 0.016015560226335303 Centerline is valid? [True, True] Translation: X:30.83, Y:1.87, Z:0.93 [[ 9.96622882e-01 -6.73429654e-02 -4.69867641e-02 3.08321381e+01] [ 6.72586130e-02 9.97729865e-01 -3.37573892e-03 1.87120133e+00] [ 4.71074301e-02 2.04074063e-04 9.98889808e-01 9.33562847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22509989299999 meters 0.01537847265290918 Centerline is valid? [True, True] Translation: X:30.89, Y:1.87, Z:0.94 [[ 9.96368101e-01 -7.25989083e-02 -4.44972655e-02 3.08927867e+01] [ 7.25285110e-02 9.97361217e-01 -3.19661853e-03 1.87373841e+00] [ 4.46119179e-02 -4.23116807e-05 9.99004392e-01 9.37714302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285099892999995 meters 0.015691070107655886 Centerline is valid? [True, True] Translation: X:30.95, Y:1.87, Z:0.94 [[ 9.95593538e-01 -8.27251034e-02 -4.41595371e-02 3.09544619e+01] [ 8.26657942e-02 9.96572282e-01 -3.17065293e-03 1.87469203e+00] [ 4.42704633e-02 -4.93801642e-04 9.99019460e-01 9.41812836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345099893 meters 0.016847841655108928 Centerline is valid? [True, True] Translation: X:31.02, Y:1.88, Z:0.94 [[ 9.94986355e-01 -8.91614865e-02 -4.53032385e-02 3.10165938e+01] [ 8.91058456e-02 9.96016860e-01 -3.25016999e-03 1.87521484e+00] [ 4.54125793e-02 -8.02908587e-04 9.98967994e-01 9.42923710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405099893 meters 0.016312438817291063 Centerline is valid? [True, True] Translation: X:31.08, Y:1.88, Z:0.95 [[ 9.94453912e-01 -9.43264421e-02 -4.65181538e-02 3.10786959e+01] [ 9.42735783e-02 9.95540746e-01 -3.33392069e-03 1.87764557e+00] [ 4.66251945e-02 -1.07000235e-03 9.98911881e-01 9.46320620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465099892999994 meters 0.01895723740241919 Centerline is valid? [True, True] Translation: X:31.14, Y:1.89, Z:0.95 [[ 9.94587208e-01 -9.25538946e-02 -4.72235426e-02 3.11401850e+01] [ 9.24975806e-02 9.95707169e-01 -3.38106681e-03 1.88621583e+00] [ 4.73337508e-02 -1.00529764e-03 9.98878624e-01 9.46053375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525099893 meters 0.015659258662617147 Centerline is valid? [True, True] Translation: X:31.20, Y:1.90, Z:0.95 [[ 9.95428235e-01 -8.37215701e-02 -4.59709391e-02 3.12005879e+01] [ 8.36589276e-02 9.96489022e-01 -3.28831266e-03 1.90374322e+00] [ 4.60848388e-02 -5.72600193e-04 9.98937365e-01 9.52813234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585099893 meters 0.014935401598012437 Centerline is valid? [True, True] Translation: X:31.26, Y:1.91, Z:0.95 [[ 9.95978887e-01 -7.71052607e-02 -4.56161752e-02 3.12611670e+01] [ 7.70367577e-02 9.97022922e-01 -3.26042719e-03 1.91181450e+00] [ 4.57317684e-02 -2.66805593e-04 9.98953720e-01 9.54222915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645099892999994 meters 0.01566626483437333 Centerline is valid? [True, True] Translation: X:31.32, Y:1.92, Z:0.96 [[ 9.96177823e-01 -7.38246322e-02 -4.66869111e-02 3.13235491e+01] [ 7.37494023e-02 9.97271231e-01 -3.33418495e-03 1.91709949e+00] [ 4.68056583e-02 -1.21690683e-04 9.98904007e-01 9.55451182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705099892999996 meters 0.0162362271962317 Centerline is valid? [True, True] Translation: X:31.38, Y:1.93, Z:0.96 [[ 9.96700949e-01 -6.57401566e-02 -4.75967482e-02 3.13847879e+01] [ 6.56529059e-02 9.97836742e-01 -3.39582262e-03 1.92511505e+00] [ 4.77170260e-02 2.59754799e-04 9.98860860e-01 9.57274533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765099893 meters 0.017346830571578507 Centerline is valid? [True, True] Translation: X:31.44, Y:1.94, Z:0.96 [[ 9.97607453e-01 -5.05762075e-02 -4.71319119e-02 3.14444912e+01] [ 5.04738326e-02 9.98719730e-01 -3.36045648e-03 1.93606163e+00] [ 4.72415295e-02 9.73488202e-04 9.98883021e-01 9.60251391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825099892999994 meters 0.018161382232031707 Centerline is valid? [True, True] Translation: X:31.50, Y:1.94, Z:0.96 [[ 9.97924554e-01 -4.44152548e-02 -4.66247811e-02 3.15036248e+01] [ 4.43083609e-02 9.99012372e-01 -3.32415042e-03 1.93897832e+00] [ 4.67263762e-02 1.25138370e-03 9.98906943e-01 9.63109785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885099892999996 meters 0.01817684241015402 Centerline is valid? [True, True] Translation: X:31.56, Y:1.94, Z:0.97 [[ 9.97962254e-01 -4.48920844e-02 -4.53435913e-02 3.15609539e+01] [ 4.47913583e-02 9.98991124e-01 -3.23549442e-03 1.94021718e+00] [ 4.54430934e-02 1.19790025e-03 9.98966211e-01 9.66658523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945099893 meters 0.01589585433709635 Centerline is valid? [True, True] Translation: X:31.62, Y:1.93, Z:0.97 [[ 9.97066570e-01 -6.08294534e-02 -4.64546219e-02 3.16228457e+01] [ 6.07408343e-02 9.98148055e-01 -3.31819116e-03 1.92821907e+00] [ 4.65704342e-02 4.86764989e-04 9.98914890e-01 9.67103905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00509989299999 meters 0.015869235855084315 Centerline is valid? [True, True] Translation: X:31.68, Y:1.92, Z:0.97 [[ 9.96016997e-01 -7.45532636e-02 -4.89075891e-02 3.16840729e+01] [ 7.44715230e-02 9.97217020e-01 -3.49394847e-03 1.91581505e+00] [ 4.90319655e-02 -1.62190588e-04 9.98797197e-01 9.65584841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065099892999996 meters 0.016354439062431766 Centerline is valid? [True, True] Translation: X:31.75, Y:1.91, Z:0.97 [[ 9.95613960e-01 -8.03626544e-02 -4.79028827e-02 3.17457206e+01] [ 8.02909116e-02 9.96765595e-01 -3.42310577e-03 1.91282341e+00] [ 4.80230353e-02 -4.38074227e-04 9.98846132e-01 9.68319984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125099893 meters 0.015686059618401048 Centerline is valid? [True, True] Translation: X:31.81, Y:1.91, Z:0.97 [[ 9.95762482e-01 -8.05967181e-02 -4.42859853e-02 3.18072075e+01] [ 8.05357087e-02 9.96746706e-01 -3.16298677e-03 1.91263760e+00] [ 4.43968363e-02 -4.17019654e-04 9.99013887e-01 9.72600745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18509989299999 meters 0.014599867184610678 Centerline is valid? [True, True] Translation: X:31.87, Y:1.92, Z:0.98 [[ 9.96202799e-01 -7.56871557e-02 -4.30283263e-02 3.18696112e+01] [ 7.56250955e-02 9.97131594e-01 -3.07059111e-03 1.91791543e+00] [ 4.31373080e-02 -1.95089830e-04 9.99069134e-01 9.76367619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245099892999995 meters 0.014760020345069845 Centerline is valid? [True, True] Translation: X:31.93, Y:1.92, Z:0.98 [[ 9.96242066e-01 -7.37712989e-02 -4.53821798e-02 3.19319654e+01] [ 7.37004807e-02 9.97275178e-01 -3.23400332e-03 1.92151750e+00] [ 4.54970981e-02 -1.22838322e-04 9.98964463e-01 9.77500380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305099893 meters 0.015612058725728909 Centerline is valid? [True, True] Translation: X:31.99, Y:1.92, Z:0.98 [[ 9.96049056e-01 -7.39986540e-02 -4.90966204e-02 3.19930645e+01] [ 7.39162018e-02 9.97258330e-01 -3.49537696e-03 1.92425098e+00] [ 4.92206668e-02 -1.47468779e-04 9.98787918e-01 9.76792121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36509989299999 meters 0.015927332209265028 Centerline is valid? [True, True] Translation: X:32.05, Y:1.92, Z:0.97 [[ 9.95648056e-01 -7.68374564e-02 -5.27347586e-02 3.20533181e+01] [ 7.67464539e-02 9.97043584e-01 -3.75151481e-03 1.92228669e+00] [ 5.28671096e-02 -3.12017291e-04 9.98601508e-01 9.74891871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425099892999995 meters 0.016727332096171693 Centerline is valid? [True, True] Translation: X:32.11, Y:1.93, Z:0.98 [[ 9.95879520e-01 -7.60106048e-02 -4.94607952e-02 3.21122034e+01] [ 7.59296717e-02 9.97106977e-01 -3.51590190e-03 1.92744873e+00] [ 4.95849498e-02 -2.54127248e-04 9.98769877e-01 9.79967758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485099893 meters 0.015773813814852204 Centerline is valid? [True, True] Translation: X:32.17, Y:1.93, Z:0.98 [[ 9.96018027e-01 -7.65441876e-02 -4.57064194e-02 3.21720583e+01] [ 7.64756098e-02 9.97066157e-01 -3.24971817e-03 1.92971088e+00] [ 4.58210709e-02 -2.58648411e-04 9.98949630e-01 9.84102259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54509989299999 meters 0.013246058761849448 Centerline is valid? [True, True] Translation: X:32.23, Y:1.94, Z:0.99 [[ 9.96241334e-01 -7.50782542e-02 -4.32025439e-02 3.22334256e+01] [ 7.50157309e-02 9.97177628e-01 -3.06888525e-03 1.93692909e+00] [ 4.33110168e-02 -1.83520071e-04 9.99061621e-01 9.91539162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605099892999995 meters 0.015358668623248082 Centerline is valid? [True, True] Translation: X:32.30, Y:1.94, Z:0.99 [[ 9.96540864e-01 -7.02834035e-02 -4.43457856e-02 3.22950411e+01] [ 7.02129240e-02 9.97527064e-01 -3.14684081e-03 1.94227804e+00] [ 4.44572920e-02 2.23081857e-05 9.99011286e-01 9.91168075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665099893 meters 0.0162455164655627 Centerline is valid? [True, True] Translation: X:32.36, Y:1.95, Z:0.99 [[ 9.96820924e-01 -6.60421815e-02 -4.45698867e-02 3.23563867e+01] [ 6.59668841e-02 9.97816810e-01 -3.15972261e-03 1.94778138e+00] [ 4.46812572e-02 2.09541056e-04 9.99001272e-01 9.92594918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72509989299999 meters 0.01554765110403713 Centerline is valid? [True, True] Translation: X:32.42, Y:1.95, Z:0.99 [[ 9.96730169e-01 -6.65627293e-02 -4.58080068e-02 3.24164682e+01] [ 6.64837944e-02 9.97782224e-01 -3.24625521e-03 1.94888794e+00] [ 4.59224946e-02 1.90150399e-04 9.98944988e-01 9.91822703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785099892999995 meters 0.015313997424176967 Centerline is valid? [True, True] Translation: X:32.48, Y:1.95, Z:0.99 [[ 9.96566818e-01 -6.85947580e-02 -4.63609411e-02 3.24766009e+01] [ 6.85160707e-02 9.97644601e-01 -3.28611545e-03 1.95117303e+00] [ 4.64771528e-02 9.83640967e-05 9.98919348e-01 9.93646983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845099893 meters 0.015979727074529236 Centerline is valid? [True, True] Translation: X:32.54, Y:1.95, Z:0.99 [[ 9.96306281e-01 -7.19465479e-02 -4.68773862e-02 3.25358214e+01] [ 7.18697957e-02 9.97408487e-01 -3.32289563e-03 1.95312303e+00] [ 4.69949737e-02 -5.84463830e-05 9.98895124e-01 9.94210295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90509989299999 meters 0.016867009178639793 Centerline is valid? [True, True] Translation: X:32.60, Y:1.96, Z:1.00 [[ 9.97353338e-01 -5.80853154e-02 -4.37311619e-02 3.25953107e+01] [ 5.80051680e-02 9.98311468e-01 -3.10050083e-03 1.96392831e+00] [ 4.38374140e-02 5.55661466e-04 9.99038524e-01 1.00068162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965099892999994 meters 0.016708251187179304 Centerline is valid? [True, True] Translation: X:32.65, Y:1.97, Z:1.00 [[ 9.97805902e-01 -5.03845355e-02 -4.29509176e-02 3.26546210e+01] [ 5.03000833e-02 9.98729507e-01 -3.04538924e-03 1.96829226e+00] [ 4.30497893e-02 8.78272619e-04 9.99072542e-01 1.00265057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025099893 meters 0.01606276965022121 Centerline is valid? [True, True] Translation: X:32.71, Y:1.97, Z:1.01 [[ 9.97811668e-01 -5.05549939e-02 -4.26153549e-02 3.27123082e+01] [ 5.04718870e-02 9.98720902e-01 -3.02452847e-03 1.97039377e+00] [ 4.27137507e-02 8.67032418e-04 9.99086975e-01 1.00571007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085099893 meters 0.01825965958755567 Centerline is valid? [True, True] Translation: X:32.77, Y:1.97, Z:1.01 [[ 9.97685091e-01 -5.18502435e-02 -4.40001203e-02 3.27699324e+01] [ 5.17623729e-02 9.98654510e-01 -3.13480267e-03 1.97482619e+00] [ 4.41034589e-02 8.49995249e-04 9.99026607e-01 1.00599914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145099892999994 meters 0.014488783925631183 Centerline is valid? [True, True] Translation: X:32.83, Y:1.97, Z:1.01 [[ 9.97269458e-01 -5.87997243e-02 -4.46790912e-02 3.28289993e+01] [ 5.87159071e-02 9.98269645e-01 -3.18715345e-03 1.96871859e+00] [ 4.47891842e-02 5.55077425e-04 9.98996307e-01 1.00856127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205099892999996 meters 0.015175347320654857 Centerline is valid? [True, True] Translation: X:32.89, Y:1.96, Z:1.01 [[ 9.96368201e-01 -7.18368004e-02 -4.57152265e-02 3.28888400e+01] [ 7.17625703e-02 9.97416399e-01 -3.26498949e-03 1.96270207e+00] [ 4.58316630e-02 -2.75104505e-05 9.98949177e-01 1.01052038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265099893 meters 0.016987103757467627 Centerline is valid? [True, True] Translation: X:32.95, Y:1.95, Z:1.01 [[ 9.95430800e-01 -8.33825762e-02 -4.65281557e-02 3.29493281e+01] [ 8.33180223e-02 9.96517450e-01 -3.32845107e-03 1.95433876e+00] [ 4.66436539e-02 -5.63391204e-04 9.98911434e-01 1.00988928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325099892999994 meters 0.017100156479468 Centerline is valid? [True, True] Translation: X:33.01, Y:1.95, Z:1.01 [[ 9.94908713e-01 -9.11758608e-02 -4.29373315e-02 3.30100697e+01] [ 9.11280868e-02 9.95834439e-01 -3.07272486e-03 1.95267577e+00] [ 4.30386317e-02 -8.55716132e-04 9.99073042e-01 1.01465971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385099892999996 meters 0.020463878739683267 Centerline is valid? [True, True] Translation: X:33.07, Y:1.95, Z:1.02 [[ 9.94200596e-01 -9.85910308e-02 -4.29532610e-02 3.30708273e+01] [ 9.85501629e-02 9.95127339e-01 -3.07309464e-03 1.95225380e+00] [ 4.30469439e-02 -1.17777835e-03 9.99072356e-01 1.01604110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445099893 meters 0.021297145522071237 Centerline is valid? [True, True] Translation: X:33.13, Y:1.96, Z:1.02 [[ 9.93802050e-01 -1.01389267e-01 -4.55818155e-02 3.31324669e+01] [ 1.01346236e-01 9.94845874e-01 -3.26001862e-03 1.95674272e+00] [ 4.56774120e-02 -1.37973224e-03 9.98955289e-01 1.01645064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50509989299999 meters 0.0198693512401405 Centerline is valid? [True, True] Translation: X:33.19, Y:1.97, Z:1.02 [[ 9.93933948e-01 -9.99367723e-02 -4.59124055e-02 3.31941825e+01] [ 9.98916862e-02 9.94992907e-01 -3.28106395e-03 1.96627180e+00] [ 4.60104168e-02 -1.32510676e-03 9.98940081e-01 1.01911569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565099892999996 meters 0.0173372071943234 Centerline is valid? [True, True] Translation: X:33.26, Y:1.98, Z:1.02 [[ 9.94567360e-01 -9.33203835e-02 -4.61201973e-02 3.32553039e+01] [ 9.32679317e-02 9.95635602e-01 -3.29260564e-03 1.97986648e+00] [ 4.62261776e-02 -1.02681731e-03 9.98930471e-01 1.02312806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625099893 meters 0.015751169076842046 Centerline is valid? [True, True] Translation: X:33.31, Y:2.00, Z:1.03 [[ 9.96096779e-01 -7.44131991e-02 -4.74750639e-02 3.33148970e+01] [ 7.43362669e-02 9.97227482e-01 -3.38643492e-03 2.00337135e+00] [ 4.75954339e-02 -1.55902102e-04 9.98866683e-01 1.02703990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68509989299999 meters 0.01687223032914186 Centerline is valid? [True, True] Translation: X:33.38, Y:2.01, Z:1.03 [[ 9.96541891e-01 -6.82704644e-02 -4.73645817e-02 3.33751402e+01] [ 6.81870143e-02 9.97666841e-01 -3.37725738e-03 2.01326689e+00] [ 4.74846395e-02 1.35929044e-04 9.98871959e-01 1.02991816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745099892999995 meters 0.01651926657175633 Centerline is valid? [True, True] Translation: X:33.44, Y:2.03, Z:1.03 [[ 9.97078325e-01 -5.86684932e-02 -4.89164790e-02 3.34351206e+01] [ 5.85679969e-02 9.98277333e-01 -3.48648658e-03 2.02577232e+00] [ 4.90367591e-02 6.11360007e-04 9.98796787e-01 1.03068624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805099893 meters 0.015955862703078073 Centerline is valid? [True, True] Translation: X:33.49, Y:2.03, Z:1.03 [[ 9.97106672e-01 -5.81163749e-02 -4.89976683e-02 3.34932772e+01] [ 5.80147304e-02 9.98309608e-01 -3.49528310e-03 2.03429141e+00] [ 4.91179762e-02 6.42583590e-04 9.98792777e-01 1.03300957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86509989299999 meters 0.01650668418274873 Centerline is valid? [True, True] Translation: X:33.55, Y:2.03, Z:1.03 [[ 9.96557915e-01 -6.79443757e-02 -4.74961387e-02 3.35513785e+01] [ 6.78595144e-02 9.97689097e-01 -3.39873098e-03 2.03378544e+00] [ 4.76173044e-02 1.63967356e-04 9.98865639e-01 1.03418205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925099892999995 meters 0.016748848720364088 Centerline is valid? [True, True] Translation: X:33.61, Y:2.03, Z:1.04 [[ 9.95569775e-01 -8.24653923e-02 -4.51694756e-02 3.36114867e+01] [ 8.24033429e-02 9.96593804e-01 -3.23717398e-03 2.02991306e+00] [ 4.52825743e-02 -4.99283213e-04 9.98974093e-01 1.03771410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985099893 meters 0.017547160751046054 Centerline is valid? [True, True] Translation: X:33.67, Y:2.03, Z:1.04 [[ 9.94922648e-01 -9.06084695e-02 -4.38067299e-02 3.36725253e+01] [ 9.05579390e-02 9.95886236e-01 -3.14068577e-03 2.02956000e+00] [ 4.39110921e-02 -8.42307766e-04 9.99035088e-01 1.04194370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04509989299999 meters 0.018614963629056885 Centerline is valid? [True, True] Translation: X:33.73, Y:2.03, Z:1.04 [[ 9.94106214e-01 -9.88540047e-02 -4.45052969e-02 3.37338332e+01] [ 9.88101402e-02 9.95101191e-01 -3.18981160e-03 2.03068450e+00] [ 4.46025997e-02 -1.22656310e-03 9.99004056e-01 1.04433791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105099892999995 meters 0.021624911792290476 Centerline is valid? [True, True] Translation: X:33.79, Y:2.03, Z:1.04 [[ 9.93343692e-01 -1.05964018e-01 -4.51656447e-02 3.37944483e+01] [ 1.05926245e-01 9.94368725e-01 -3.23560602e-03 2.02979116e+00] [ 4.52541623e-02 -1.57015832e-03 9.98974272e-01 1.04416241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165099893 meters 0.021244353498351062 Centerline is valid? [True, True] Translation: X:33.86, Y:2.04, Z:1.04 [[ 9.92780844e-01 -1.09750279e-01 -4.83846174e-02 3.38553407e+01] [ 1.09711463e-01 9.93957437e-01 -3.46529634e-03 2.03533407e+00] [ 4.84725676e-02 -1.86806733e-03 9.98822767e-01 1.04377108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22509989299999 meters 0.02204185103979789 Centerline is valid? [True, True] Translation: X:33.92, Y:2.04, Z:1.05 [[ 9.92711177e-01 -1.10398858e-01 -4.83385034e-02 3.39163281e+01] [ 1.10360945e-01 9.93885549e-01 -3.46070479e-03 2.03937578e+00] [ 4.84249979e-02 -1.89920260e-03 9.98825016e-01 1.04514218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285099892999995 meters 0.023658283543829116 Centerline is valid? [True, True] Translation: X:33.98, Y:2.05, Z:1.05 [[ 9.92670783e-01 -1.10881505e-01 -4.80625507e-02 3.39777262e+01] [ 1.10844723e-01 9.93831790e-01 -3.43815977e-03 2.04896142e+00] [ 4.81473192e-02 -1.91451936e-03 9.98838410e-01 1.04658622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345099893 meters 0.022980798115661394 Centerline is valid? [True, True] Translation: X:34.04, Y:2.06, Z:1.05 [[ 9.92617691e-01 -1.11411472e-01 -4.79333165e-02 3.40393524e+01] [ 1.11375668e-01 9.93772472e-01 -3.42549407e-03 2.06107093e+00] [ 4.80164498e-02 -1.93839913e-03 9.98844664e-01 1.05050478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40509989299999 meters 0.02281399863261324 Centerline is valid? [True, True] Translation: X:34.10, Y:2.08, Z:1.05 [[ 9.92832283e-01 -1.09584485e-01 -4.77000787e-02 3.41009933e+01] [ 1.09547098e-01 9.93975773e-01 -3.40519235e-03 2.07591098e+00] [ 4.77858788e-02 -1.84462029e-03 9.98855899e-01 1.05409718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465099892999994 meters 0.019619671364455533 Centerline is valid? [True, True] Translation: X:34.16, Y:2.09, Z:1.06 [[ 9.93823517e-01 -1.00141561e-01 -4.78172117e-02 3.41607380e+01] [ 1.00093232e-01 9.94972219e-01 -3.41013561e-03 2.09300671e+00] [ 4.79182935e-02 -1.39710631e-03 9.98850282e-01 1.05665410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525099893 meters 0.018470442941730184 Centerline is valid? [True, True] Translation: X:34.22, Y:2.10, Z:1.06 [[ 9.94082645e-01 -9.73432796e-02 -4.82076751e-02 3.42225162e+01] [ 9.72909197e-02 9.95250051e-01 -3.43698761e-03 2.10047589e+00] [ 4.83132588e-02 -1.27351932e-03 9.98831421e-01 1.05887276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58509989299999 meters 0.017373947848609586 Centerline is valid? [True, True] Translation: X:34.28, Y:2.11, Z:1.06 [[ 9.94378562e-01 -9.46403769e-02 -4.74813122e-02 3.42842603e+01] [ 9.45866649e-02 9.95510887e-01 -3.38183115e-03 2.10626711e+00] [ 4.75882209e-02 -1.12827857e-03 9.98866402e-01 1.06042017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645099892999994 meters 0.016548800318120293 Centerline is valid? [True, True] Translation: X:34.35, Y:2.11, Z:1.06 [[ 9.94697590e-01 -9.14912597e-02 -4.69686496e-02 3.43463941e+01] [ 9.14353512e-02 9.95805407e-01 -3.34196591e-03 2.11133427e+00] [ 4.70773959e-02 -9.70349530e-04 9.98890773e-01 1.06309519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705099892999996 meters 0.01697079303888265 Centerline is valid? [True, True] Translation: X:34.41, Y:2.12, Z:1.06 [[ 9.95195769e-01 -8.55082702e-02 -4.76835140e-02 3.44079022e+01] [ 8.54439384e-02 9.96337214e-01 -3.38955156e-03 2.11982850e+00] [ 4.77986942e-02 -7.00999862e-04 9.98856743e-01 1.06450732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765099893 meters 0.015101423951889112 Centerline is valid? [True, True] Translation: X:34.47, Y:2.13, Z:1.07 [[ 9.95715866e-01 -7.84773062e-02 -4.89001679e-02 3.44697046e+01] [ 7.84013142e-02 9.96915830e-01 -3.47312262e-03 2.12885331e+00] [ 4.90219128e-02 -3.75594131e-04 9.98797633e-01 1.06704894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825099892999994 meters 0.015921486876416216 Centerline is valid? [True, True] Translation: X:34.53, Y:2.14, Z:1.07 [[ 9.96564250e-01 -6.80218772e-02 -4.72516732e-02 3.45303599e+01] [ 6.79393218e-02 9.97683821e-01 -3.35283541e-03 2.13945252e+00] [ 4.73702961e-02 1.31069269e-04 9.98877389e-01 1.07119719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885099892999996 meters 0.015912264579211355 Centerline is valid? [True, True] Translation: X:34.59, Y:2.14, Z:1.07 [[ 9.96825083e-01 -6.52172882e-02 -4.56777773e-02 3.45913857e+01] [ 6.51373040e-02 9.97871054e-01 -3.23889705e-03 2.14297089e+00] [ 4.57917639e-02 2.53286554e-04 9.98950975e-01 1.07446699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945099893 meters 0.013972134733819818 Centerline is valid? [True, True] Translation: X:34.65, Y:2.14, Z:1.07 [[ 9.96361126e-01 -7.08027096e-02 -4.74497994e-02 3.46521162e+01] [ 7.07227885e-02 9.97490339e-01 -3.36316648e-03 2.13972623e+00] [ 4.75688378e-02 -4.85379263e-06 9.98867962e-01 1.07370733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00509989299999 meters 0.015258260801589714 Centerline is valid? [True, True] Translation: X:34.71, Y:2.14, Z:1.07 [[ 9.95783693e-01 -7.69721236e-02 -4.99011919e-02 3.47137295e+01] [ 7.68914870e-02 9.97033195e-01 -3.53645897e-03 2.13935181e+00] [ 5.00253536e-02 -3.15428679e-04 9.98747898e-01 1.07345893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.065099892999996 meters 0.01656171737261623 Centerline is valid? [True, True] Translation: X:34.77, Y:2.14, Z:1.07 [[ 9.95139439e-01 -8.49165242e-02 -4.98666284e-02 3.47741490e+01] [ 8.48460812e-02 9.96387811e-01 -3.53158106e-03 2.13597023e+00] [ 4.99863903e-02 -7.16572406e-04 9.98749642e-01 1.07404318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125099893 meters 0.019065294763738774 Centerline is valid? [True, True] Translation: X:34.84, Y:2.14, Z:1.08 [[ 9.94675724e-01 -9.24160407e-02 -4.56013098e-02 3.48363111e+01] [ 9.23651663e-02 9.95719975e-01 -3.22598430e-03 2.13520065e+00] [ 4.57042677e-02 -1.00316429e-03 9.98954510e-01 1.07932327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18509989299999 meters 0.01802305953822318 Centerline is valid? [True, True] Translation: X:34.90, Y:2.14, Z:1.08 [[ 9.94657270e-01 -9.47706374e-02 -4.09321587e-02 3.48980549e+01] [ 9.47317498e-02 9.95498632e-01 -2.89298709e-03 2.13605123e+00] [ 4.10220783e-02 -1.00004438e-03 9.99157740e-01 1.08473447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245099892999995 meters 0.019913787618995312 Centerline is valid? [True, True] Translation: X:34.96, Y:2.13, Z:1.08 [[ 9.94144652e-01 -9.82978548e-02 -4.48769717e-02 3.49599197e+01] [ 9.82548526e-02 9.95156242e-01 -3.16838572e-03 2.13439089e+00] [ 4.49710440e-02 -1.25954652e-03 9.98987497e-01 1.08279219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305099893 meters 0.019721424534205792 Centerline is valid? [True, True] Translation: X:35.02, Y:2.14, Z:1.08 [[ 9.93803606e-01 -9.81121333e-02 -5.22340991e-02 3.50219757e+01] [ 9.80538022e-02 9.95174295e-01 -3.68438943e-03 2.13902666e+00] [ 5.23435161e-02 -1.46019252e-03 9.98628071e-01 1.07927626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36509989299999 meters 0.01674902488549114 Centerline is valid? [True, True] Translation: X:35.08, Y:2.15, Z:1.08 [[ 9.94690876e-01 -8.80791150e-02 -5.32177730e-02 3.50815011e+01] [ 8.80043594e-02 9.96113027e-01 -3.75101297e-03 2.15283288e+00] [ 5.33413028e-02 -9.52297642e-04 9.98575885e-01 1.08298072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425099892999995 meters 0.017407239007141955 Centerline is valid? [True, True] Translation: X:35.14, Y:2.17, Z:1.09 [[ 9.96461472e-01 -6.71146166e-02 -5.05980520e-02 3.51410987e+01] [ 6.70200039e-02 9.97745259e-01 -3.56611996e-03 2.17454238e+00] [ 5.07233053e-02 1.62419496e-04 9.98712731e-01 1.08762453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485099893 meters 0.01599475576923384 Centerline is valid? [True, True] Translation: X:35.20, Y:2.19, Z:1.10 [[ 9.97761969e-01 -4.97239251e-02 -4.47055259e-02 3.51996915e+01] [ 4.96326364e-02 9.98762573e-01 -3.15035632e-03 2.19056455e+00] [ 4.48068542e-02 9.24452619e-04 9.98995241e-01 1.09612200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54509989299999 meters 0.018408950770906048 Centerline is valid? [True, True] Translation: X:35.26, Y:2.19, Z:1.10 [[ 9.97880169e-01 -4.59180021e-02 -4.61162224e-02 3.52577074e+01] [ 4.58167337e-02 9.98944572e-01 -3.25111084e-03 2.19466001e+00] [ 4.62168346e-02 1.13132435e-03 9.98930791e-01 1.09711123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605099892999995 meters 0.01751523295832164 Centerline is valid? [True, True] Translation: X:35.32, Y:2.19, Z:1.10 [[ 9.97397851e-01 -5.29517453e-02 -4.89248324e-02 3.53172818e+01] [ 5.28459324e-02 9.98596702e-01 -3.45466181e-03 2.19148114e+00] [ 4.90391067e-02 8.60193879e-04 9.98796489e-01 1.09652661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665099893 meters 0.016970775867562786 Centerline is valid? [True, True] Translation: X:35.38, Y:2.18, Z:1.10 [[ 9.96814164e-01 -6.17788165e-02 -5.04470127e-02 3.53773074e+01] [ 6.16769954e-02 9.98089763e-01 -3.57408156e-03 2.18431435e+00] [ 5.05714495e-02 4.51274951e-04 9.98720344e-01 1.09569289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72509989299999 meters 0.016208387962374036 Centerline is valid? [True, True] Translation: X:35.44, Y:2.18, Z:1.10 [[ 9.96266389e-01 -7.13115145e-02 -4.86615831e-02 3.54362566e+01] [ 7.12275857e-02 9.97454093e-01 -3.45883397e-03 2.17954116e+00] [ 4.87843499e-02 -2.01270512e-05 9.98809335e-01 1.10023894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785099892999995 meters 0.016448975337446672 Centerline is valid? [True, True] Translation: X:35.50, Y:2.17, Z:1.10 [[ 9.95698122e-01 -8.06203086e-02 -4.56685487e-02 3.54969775e+01] [ 8.05557658e-02 9.96744789e-01 -3.25492663e-03 2.17245699e+00] [ 4.57823012e-02 -4.37940585e-04 9.98951345e-01 1.10240788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845099893 meters 0.017020810846050102 Centerline is valid? [True, True] Translation: X:35.56, Y:2.17, Z:1.11 [[ 9.94715712e-01 -9.32399382e-02 -4.29763369e-02 3.55579892e+01] [ 9.31945712e-02 9.95643206e-01 -3.06230705e-03 2.16603200e+00] [ 4.30746272e-02 -9.59036353e-04 9.99071397e-01 1.10817413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90509989299999 meters 0.020273191428539578 Centerline is valid? [True, True] Translation: X:35.62, Y:2.16, Z:1.11 [[ 9.93340029e-01 -1.07035607e-01 -4.26493347e-02 3.56193133e+01] [ 1.07003640e-01 9.94253987e-01 -3.03827117e-03 2.15677339e+00] [ 4.27294743e-02 -1.54559767e-03 9.99085483e-01 1.11181926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965099892999994 meters 0.02413122005587645 Centerline is valid? [True, True] Translation: X:35.68, Y:2.15, Z:1.11 [[ 9.92064608e-01 -1.16340101e-01 -4.76738424e-02 3.56807121e+01] [ 1.16310913e-01 9.93207050e-01 -3.39532613e-03 2.15273813e+00] [ 4.77450089e-02 -2.17660524e-03 9.98857185e-01 1.10927097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025099893 meters 0.02484592358458493 Centerline is valid? [True, True] Translation: X:35.74, Y:2.16, Z:1.11 [[ 9.91853472e-01 -1.16777012e-01 -5.08902740e-02 3.57431252e+01] [ 1.16744461e-01 9.93155382e-01 -3.62188158e-03 2.15695723e+00] [ 5.09649020e-02 -2.34878179e-03 9.98697683e-01 1.10926861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08509989299999 meters 0.024080299350530444 Centerline is valid? [True, True] Translation: X:35.80, Y:2.17, Z:1.11 [[ 9.92397932e-01 -1.12484002e-01 -4.99369000e-02 3.58035721e+01] [ 1.12447378e-01 9.93651335e-01 -3.55114870e-03 2.16659328e+00] [ 5.00193148e-02 -2.09112086e-03 9.98746061e-01 1.11248426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145099892999994 meters 0.020312532238027578 Centerline is valid? [True, True] Translation: X:35.86, Y:2.18, Z:1.12 [[ 9.92881691e-01 -1.08839503e-01 -4.83726145e-02 3.58646160e+01] [ 1.08800878e-01 9.94057616e-01 -3.43864848e-03 2.17722644e+00] [ 4.84594266e-02 -1.84881183e-03 9.98823441e-01 1.11771149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205099892999996 meters 0.020931555053533193 Centerline is valid? [True, True] Translation: X:35.93, Y:2.19, Z:1.12 [[ 9.93497390e-01 -1.02968937e-01 -4.85832698e-02 3.59252792e+01] [ 1.02923075e-01 9.94683331e-01 -3.45137045e-03 2.18750916e+00] [ 4.86803525e-02 -1.57141195e-03 9.98813173e-01 1.11814059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26509989299999 meters 0.018526237193177558 Centerline is valid? [True, True] Translation: X:35.98, Y:2.21, Z:1.12 [[ 9.94931365e-01 -8.86256371e-02 -4.75086809e-02 3.59844354e+01] [ 8.85654568e-02 9.96064643e-01 -3.37438685e-03 2.20651564e+00] [ 4.76207744e-02 -8.50344708e-04 9.98865125e-01 1.12080240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325099892999994 meters 0.01611848676955659 Centerline is valid? [True, True] Translation: X:36.04, Y:2.23, Z:1.13 [[ 9.96028137e-01 -7.56128701e-02 -4.70174853e-02 3.60449648e+01] [ 7.55394526e-02 9.97137224e-01 -3.33890748e-03 2.22566167e+00] [ 4.71353491e-02 -2.26029308e-04 9.98888486e-01 1.12548450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385099892999996 meters 0.016028157191305233 Centerline is valid? [True, True] Translation: X:36.11, Y:2.24, Z:1.13 [[ 9.96324385e-01 -6.98584392e-02 -4.95733655e-02 3.61065925e+01] [ 6.97698691e-02 9.97556914e-01 -3.51694994e-03 2.23811700e+00] [ 4.96979421e-02 4.52957684e-05 9.98764293e-01 1.12664154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445099893 meters 0.014760015283315104 Centerline is valid? [True, True] Translation: X:36.17, Y:2.24, Z:1.13 [[ 9.96015875e-01 -7.32415320e-02 -5.08729358e-02 3.61668285e+01] [ 7.31528063e-02 9.97314224e-01 -3.60634387e-03 2.24105756e+00] [ 5.10004366e-02 -1.29522273e-04 9.98698623e-01 1.12689595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50509989299999 meters 0.01629299773560046 Centerline is valid? [True, True] Translation: X:36.23, Y:2.24, Z:1.13 [[ 9.95454015e-01 -8.12624535e-02 -4.96761230e-02 3.62264068e+01] [ 8.11878273e-02 9.96692598e-01 -3.52155541e-03 2.23967539e+00] [ 4.97979943e-02 -5.27550020e-04 9.98759171e-01 1.12867841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.565099892999996 meters 0.016176061263624506 Centerline is valid? [True, True] Translation: X:36.29, Y:2.24, Z:1.13 [[ 9.94730218e-01 -9.04435979e-02 -4.82881853e-02 3.62876158e+01] [ 9.03838874e-02 9.95901117e-01 -3.42311808e-03 2.23733451e+00] [ 4.83998568e-02 -9.59394907e-04 9.98827579e-01 1.13231752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625099893 meters 0.019432974465793184 Centerline is valid? [True, True] Translation: X:36.35, Y:2.24, Z:1.14 [[ 9.93857092e-01 -1.00257457e-01 -4.68670764e-02 3.63488876e+01] [ 1.00212136e-01 9.94960549e-01 -3.32155558e-03 2.23626723e+00] [ 4.69639028e-02 -1.39549828e-03 9.98895612e-01 1.13544370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68509989299999 meters 0.020250163809534153 Centerline is valid? [True, True] Translation: X:36.41, Y:2.24, Z:1.14 [[ 9.93696511e-01 -1.01539915e-01 -4.75067427e-02 3.64116964e+01] [ 1.01494881e-01 9.94830369e-01 -3.36546635e-03 2.23532524e+00] [ 4.76028795e-02 -1.47743903e-03 9.98865248e-01 1.13602663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745099892999995 meters 0.019489869641315945 Centerline is valid? [True, True] Translation: X:36.47, Y:2.24, Z:1.14 [[ 9.93779311e-01 -1.01033896e-01 -4.68490393e-02 3.64736081e+01] [ 1.00989698e-01 9.94881947e-01 -3.31548543e-03 2.24273292e+00] [ 4.69442398e-02 -1.43640949e-03 9.98896479e-01 1.14111165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805099893 meters 0.019391796503455627 Centerline is valid? [True, True] Translation: X:36.54, Y:2.25, Z:1.14 [[ 9.93766154e-01 -1.00896538e-01 -4.74206768e-02 3.65358591e+01] [ 1.00851277e-01 9.94895865e-01 -3.35220256e-03 2.24558790e+00] [ 4.75168609e-02 -1.45113035e-03 9.98869382e-01 1.14251954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86509989299999 meters 0.020084021262566296 Centerline is valid? [True, True] Translation: X:36.60, Y:2.25, Z:1.14 [[ 9.93752596e-01 -9.98902618e-02 -4.97766387e-02 3.65981086e+01] [ 9.98393562e-02 9.94997363e-01 -3.51425492e-03 2.25221706e+00] [ 4.98786641e-02 -1.47736761e-03 9.98754192e-01 1.14353036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925099892999995 meters 0.019010294257824797 Centerline is valid? [True, True] Translation: X:36.66, Y:2.26, Z:1.15 [[ 9.94139559e-01 -9.54170564e-02 -5.08145953e-02 3.66590040e+01] [ 9.53583332e-02 9.95436558e-01 -3.58430214e-03 2.26232309e+00] [ 5.09247094e-02 -1.28229856e-03 9.98701672e-01 1.14595329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985099893 meters 0.01682950793607411 Centerline is valid? [True, True] Translation: X:36.72, Y:2.27, Z:1.15 [[ 9.94730005e-01 -8.87686559e-02 -5.13063554e-02 3.67199595e+01] [ 8.87000491e-02 9.96051815e-01 -3.61710630e-03 2.27216975e+00] [ 5.14248741e-02 -9.52832073e-04 9.98676411e-01 1.14837445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04509989299999 meters 0.016112824976392673 Centerline is valid? [True, True] Translation: X:36.78, Y:2.28, Z:1.15 [[ 9.95769746e-01 -7.60833969e-02 -5.15163079e-02 3.67797543e+01] [ 7.59973461e-02 9.97101412e-01 -3.63000622e-03 2.28452410e+00] [ 5.16431666e-02 -3.00452311e-04 9.98665556e-01 1.15041514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105099892999995 meters 0.015124031542480805 Centerline is valid? [True, True] Translation: X:36.84, Y:2.29, Z:1.16 [[ 9.96528778e-01 -6.67288009e-02 -4.97761217e-02 3.68402217e+01] [ 6.66368749e-02 9.97771134e-01 -3.50585441e-03 2.29246999e+00] [ 4.98991188e-02 1.76759617e-04 9.98754247e-01 1.15564410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165099893 meters 0.016213461683716582 Centerline is valid? [True, True] Translation: X:36.90, Y:2.30, Z:1.16 [[ 9.96835297e-01 -6.14938803e-02 -5.03775180e-02 3.68996601e+01] [ 6.13931290e-02 9.98107362e-01 -3.54635817e-03 2.29955919e+00] [ 5.05002510e-02 4.42301536e-04 9.98723950e-01 1.15812639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22509989299999 meters 0.01789135981730488 Centerline is valid? [True, True] Translation: X:36.96, Y:2.30, Z:1.16 [[ 9.96892594e-01 -6.07572943e-02 -5.01368775e-02 3.69579934e+01] [ 6.06565739e-02 9.98152455e-01 -3.52940124e-03 2.30003601e+00] [ 5.02586842e-02 4.77302743e-04 9.98736120e-01 1.15956838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285099892999995 meters 0.016369468167416194 Centerline is valid? [True, True] Translation: X:37.02, Y:2.29, Z:1.16 [[ 9.96584168e-01 -6.67826224e-02 -4.85806285e-02 3.70168346e+01] [ 6.66946248e-02 9.97767532e-01 -3.43192858e-03 2.29426316e+00] [ 4.87013671e-02 1.80138895e-04 9.98813368e-01 1.16261982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345099893 meters 0.01265561000498428 Centerline is valid? [True, True] Translation: X:37.08, Y:2.29, Z:1.17 [[ 9.96098510e-01 -7.50843773e-02 -4.63691110e-02 3.70766779e+01] [ 7.50127642e-02 9.97177163e-01 -3.28502465e-03 2.29001193e+00] [ 4.64848726e-02 -2.06067028e-04 9.98918973e-01 1.16801743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40509989299999 meters 0.01571486846177375 Centerline is valid? [True, True] Translation: X:37.14, Y:2.28, Z:1.17 [[ 9.95152652e-01 -8.68323669e-02 -4.61664360e-02 3.71381258e+01] [ 8.67739762e-02 9.96222654e-01 -3.27117609e-03 2.28267892e+00] [ 4.62760933e-02 -7.50725659e-04 9.98928406e-01 1.16830194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465099892999994 meters 0.019004320937620833 Centerline is valid? [True, True] Translation: X:37.20, Y:2.28, Z:1.17 [[ 9.94395462e-01 -9.46389158e-02 -4.71289713e-02 3.71998281e+01] [ 9.45868579e-02 9.95511015e-01 -3.33851574e-03 2.27870501e+00] [ 4.72333635e-02 -1.13797641e-03 9.98883234e-01 1.16737852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525099893 meters 0.02107760098870483 Centerline is valid? [True, True] Translation: X:37.26, Y:2.27, Z:1.17 [[ 9.93429478e-01 -1.04982245e-01 -4.55697334e-02 3.72609940e+01] [ 1.04944461e-01 9.94472847e-01 -3.22739557e-03 2.27398978e+00] [ 4.56566818e-02 -1.57610121e-03 9.98955947e-01 1.17050044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58509989299999 meters 0.022616423494811203 Centerline is valid? [True, True] Translation: X:37.32, Y:2.27, Z:1.17 [[ 9.92943871e-01 -1.09571275e-01 -4.53497945e-02 3.73224398e+01] [ 1.09538647e-01 9.93977350e-01 -3.21141711e-03 2.27399350e+00] [ 4.54285476e-02 -1.77879818e-03 9.98966007e-01 1.17220476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645099892999994 meters 0.02396604669059899 Centerline is valid? [True, True] Translation: X:37.38, Y:2.28, Z:1.17 [[ 9.92722438e-01 -1.10562151e-01 -4.77302037e-02 3.73843837e+01] [ 1.10527257e-01 9.93867353e-01 -3.37782317e-03 2.27901467e+00] [ 4.78109507e-02 -1.92224764e-03 9.98854553e-01 1.17310814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705099892999996 meters 0.022745720402130833 Centerline is valid? [True, True] Translation: X:37.45, Y:2.29, Z:1.17 [[ 9.92699397e-01 -1.08871835e-01 -5.19117519e-02 3.74465892e+01] [ 1.08828466e-01 9.94053770e-01 -3.66979775e-03 2.28578077e+00] [ 5.20026103e-02 -2.00647031e-03 9.98644933e-01 1.17216643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76509989299999 meters 0.021494789420322083 Centerline is valid? [True, True] Translation: X:37.51, Y:2.30, Z:1.18 [[ 9.93231776e-01 -1.04016618e-01 -5.16834870e-02 3.75060169e+01] [ 1.03967203e-01 9.94574025e-01 -3.65101142e-03 2.29783317e+00] [ 5.17828195e-02 -1.74708703e-03 9.98656842e-01 1.17574089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825099892999994 meters 0.017832595114910057 Centerline is valid? [True, True] Translation: X:37.57, Y:2.32, Z:1.18 [[ 9.94459194e-01 -9.46178928e-02 -4.58079176e-02 3.75650964e+01] [ 9.45691028e-02 9.95513040e-01 -3.23595518e-03 2.31875893e+00] [ 4.59085586e-02 -1.11398829e-03 9.98945025e-01 1.18392939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885099892999996 meters 0.017870640675150325 Centerline is valid? [True, True] Translation: X:37.63, Y:2.33, Z:1.18 [[ 9.94666686e-01 -9.24117233e-02 -4.58067286e-02 3.76256246e+01] [ 9.23606191e-02 9.95720366e-01 -3.23542181e-03 2.32674306e+00] [ 4.59096835e-02 -1.01257152e-03 9.98945081e-01 1.18497330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94509989299999 meters 0.01811830762171992 Centerline is valid? [True, True] Translation: X:37.69, Y:2.33, Z:1.19 [[ 9.94478375e-01 -9.35543014e-02 -4.75431799e-02 3.76870224e+01] [ 9.35006891e-02 9.95613561e-01 -3.35521964e-03 2.33491697e+00] [ 4.76485299e-02 -1.10862671e-03 9.98863549e-01 1.18654184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00509989299999 meters 0.018590195905316752 Centerline is valid? [True, True] Translation: X:37.75, Y:2.34, Z:1.19 [[ 9.94325286e-01 -9.39855846e-02 -4.98390975e-02 3.77492661e+01] [ 9.39273984e-02 9.95572850e-01 -3.51348671e-03 2.34213529e+00] [ 4.99486694e-02 -1.18770809e-03 9.98751080e-01 1.18657983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.065099892999996 meters 0.01800319590008355 Centerline is valid? [True, True] Translation: X:37.81, Y:2.35, Z:1.19 [[ 9.94452647e-01 -9.28697155e-02 -4.93877437e-02 3.78102183e+01] [ 9.28114159e-02 9.95677633e-01 -3.47738724e-03 2.34814417e+00] [ 4.94972157e-02 -1.12564947e-03 9.98773627e-01 1.18888743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125099893 meters 0.016688355636730656 Centerline is valid? [True, True] Translation: X:37.87, Y:2.36, Z:1.19 [[ 9.95023881e-01 -8.71384516e-02 -4.83152787e-02 3.78715220e+01] [ 8.70761704e-02 9.96195867e-01 -3.39636461e-03 2.35922332e+00] [ 4.84274349e-02 -8.27645547e-04 9.98826361e-01 1.19299816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18509989299999 meters 0.01347744578554474 Centerline is valid? [True, True] Translation: X:37.93, Y:2.37, Z:1.20 [[ 9.96277710e-01 -7.38058306e-02 -4.45356416e-02 3.79305269e+01] [ 7.37397002e-02 9.97272616e-01 -3.12814857e-03 2.37083825e+00] [ 4.46450515e-02 -1.67540171e-04 9.99002899e-01 1.19923067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245099892999995 meters 0.01541910560081531 Centerline is valid? [True, True] Translation: X:37.99, Y:2.38, Z:1.20 [[ 9.96657229e-01 -6.79172767e-02 -4.54049785e-02 3.79920325e+01] [ 6.78424554e-02 9.97690951e-01 -3.18860991e-03 2.37913940e+00] [ 4.55166979e-02 9.75658807e-05 9.98963573e-01 1.20094217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305099893 meters 0.015885081500393163 Centerline is valid? [True, True] Translation: X:38.05, Y:2.38, Z:1.20 [[ 9.96855307e-01 -6.37973521e-02 -4.70042063e-02 3.80535356e+01] [ 6.37127355e-02 9.97962831e-01 -3.29774056e-03 2.38030280e+00] [ 4.71188379e-02 2.92603613e-04 9.98889248e-01 1.20054044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36509989299999 meters 0.017398615728551475 Centerline is valid? [True, True] Translation: X:38.11, Y:2.39, Z:1.20 [[ 9.97304779e-01 -5.64624249e-02 -4.68526695e-02 3.81130573e+01] [ 5.63703319e-02 9.98404522e-01 -3.28559639e-03 2.38787677e+00] [ 4.69634299e-02 6.35640449e-04 9.98896407e-01 1.20408814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425099892999995 meters 0.01726122948930686 Centerline is valid? [True, True] Translation: X:38.17, Y:2.39, Z:1.21 [[ 9.97865810e-01 -4.74572110e-02 -4.48512849e-02 3.81720949e+01] [ 4.73637403e-02 9.98872757e-01 -3.14502007e-03 2.39257975e+00] [ 4.49499805e-02 1.01398339e-03 9.98988724e-01 1.20717566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485099893 meters 0.017716183231643406 Centerline is valid? [True, True] Translation: X:38.23, Y:2.39, Z:1.21 [[ 9.98025188e-01 -4.44370703e-02 -4.43967334e-02 3.82311884e+01] [ 4.43423321e-02 9.99011533e-01 -3.11692637e-03 2.39337918e+00] [ 4.44913558e-02 1.14211633e-03 9.99009116e-01 1.20937885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54509989299999 meters 0.016961407825938093 Centerline is valid? [True, True] Translation: X:38.29, Y:2.39, Z:1.21 [[ 9.97743550e-01 -4.86865485e-02 -4.62323238e-02 3.82909339e+01] [ 4.85878115e-02 9.98813602e-01 -3.25770551e-03 2.38908108e+00] [ 4.63360803e-02 1.00402723e-03 9.98925402e-01 1.20808330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605099892999995 meters 0.017295528937969172 Centerline is valid? [True, True] Translation: X:38.35, Y:2.38, Z:1.21 [[ 9.97242290e-01 -5.66943781e-02 -4.78911431e-02 3.83517291e+01] [ 5.65971892e-02 9.98391359e-01 -3.38406353e-03 2.38278577e+00] [ 4.80059608e-02 6.64227176e-04 9.98846828e-01 1.20895626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665099893 meters 0.015656277519870004 Centerline is valid? [True, True] Translation: X:38.41, Y:2.38, Z:1.21 [[ 9.96815195e-01 -6.44001411e-02 -4.70328438e-02 3.84109239e+01] [ 6.43148516e-02 9.97924114e-01 -3.32602379e-03 2.37834802e+00] [ 4.71494054e-02 2.90520685e-04 9.98887806e-01 1.21217681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72509989299999 meters 0.01541041830260399 Centerline is valid? [True, True] Translation: X:38.47, Y:2.38, Z:1.22 [[ 9.96608132e-01 -6.94308237e-02 -4.41768200e-02 3.84702857e+01] [ 6.93603343e-02 9.97586767e-01 -3.12828609e-03 2.37671232e+00] [ 4.42874105e-02 5.35563521e-05 9.99018830e-01 1.21660613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785099892999995 meters 0.01619874788896772 Centerline is valid? [True, True] Translation: X:38.53, Y:2.37, Z:1.22 [[ 9.96044458e-01 -7.83905317e-02 -4.18373403e-02 3.85317124e+01] [ 7.83348589e-02 9.96922677e-01 -2.97094976e-03 2.37139407e+00] [ 4.19414876e-02 -3.18124107e-04 9.99120018e-01 1.21962221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845099893 meters 0.017217814750978565 Centerline is valid? [True, True] Translation: X:38.59, Y:2.36, Z:1.22 [[ 9.95111182e-01 -8.85448770e-02 -4.37440245e-02 3.85939057e+01] [ 8.84938815e-02 9.96071882e-01 -3.10468128e-03 2.36441396e+00] [ 4.38470964e-02 -7.81575453e-04 9.99037948e-01 1.21879857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90509989299999 meters 0.01961972280956313 Centerline is valid? [True, True] Translation: X:38.66, Y:2.36, Z:1.22 [[ 9.94272928e-01 -9.69998540e-02 -4.48594791e-02 3.86551990e+01] [ 9.69548830e-02 9.95283690e-01 -3.18231932e-03 2.36133091e+00] [ 4.49565924e-02 -1.18525160e-03 9.98988238e-01 1.21953658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965099892999994 meters 0.019450438804952033 Centerline is valid? [True, True] Translation: X:38.72, Y:2.36, Z:1.22 [[ 9.93935852e-01 -1.00006308e-01 -4.57193558e-02 3.87176415e+01] [ 9.99628330e-02 9.94985890e-01 -3.24199682e-03 2.36224650e+00] [ 4.58143340e-02 -1.34789945e-03 9.98949063e-01 1.22072626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025099893 meters 0.019812780859894123 Centerline is valid? [True, True] Translation: X:38.78, Y:2.36, Z:1.22 [[ 9.93715763e-01 -1.01302646e-01 -4.76104641e-02 3.87790588e+01] [ 1.01257149e-01 9.94854570e-01 -3.37270035e-03 2.36289700e+00] [ 4.77071512e-02 -1.46939434e-03 9.98860285e-01 1.21995848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08509989299999 meters 0.019239035376096204 Centerline is valid? [True, True] Translation: X:38.84, Y:2.37, Z:1.22 [[ 9.94029618e-01 -9.84495069e-02 -4.70405524e-02 3.88397765e+01] [ 9.84020113e-02 9.95141174e-01 -3.32998065e-03 2.37016374e+00] [ 4.71398255e-02 -1.31878558e-03 9.98887430e-01 1.22281416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145099892999994 meters 0.018830551060739997 Centerline is valid? [True, True] Translation: X:38.90, Y:2.38, Z:1.23 [[ 9.94401733e-01 -9.52494294e-02 -4.57464702e-02 3.89002812e+01] [ 9.52012027e-02 9.95452789e-01 -3.23673370e-03 2.37786777e+00] [ 4.58467484e-02 -1.13650539e-03 9.98947838e-01 1.22653319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205099892999996 meters 0.018703965553788345 Centerline is valid? [True, True] Translation: X:38.96, Y:2.39, Z:1.23 [[ 9.94730467e-01 -9.19267672e-02 -4.53956803e-02 3.89609144e+01] [ 9.18759027e-02 9.95765291e-01 -3.21009495e-03 2.38566930e+00] [ 4.54985365e-02 -9.77589860e-04 9.98963927e-01 1.22953003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26509989299999 meters 0.018288757473005197 Centerline is valid? [True, True] Translation: X:39.02, Y:2.39, Z:1.23 [[ 9.94941565e-01 -8.98436005e-02 -4.49378337e-02 3.90230779e+01] [ 8.97917560e-02 9.95955501e-01 -3.17500569e-03 2.39354799e+00] [ 4.50413366e-02 -8.76101860e-04 9.98984740e-01 1.23262122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325099892999994 meters 0.017209202666505684 Centerline is valid? [True, True] Translation: X:39.08, Y:2.40, Z:1.23 [[ 9.95164079e-01 -8.68249694e-02 -4.59334468e-02 3.90847238e+01] [ 8.67677770e-02 9.96223292e-01 -3.24125542e-03 2.40321195e+00] [ 4.60413915e-02 -7.59962106e-04 9.98939244e-01 1.23492418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385099892999996 meters 0.016057699152978125 Centerline is valid? [True, True] Translation: X:39.15, Y:2.42, Z:1.24 [[ 9.95715454e-01 -8.05447376e-02 -4.54233312e-02 3.91452206e+01] [ 8.04824095e-02 9.96750885e-01 -3.20231089e-03 2.41732097e+00] [ 4.55336749e-02 -4.67188698e-04 9.98962695e-01 1.23900151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44509989299999 meters 0.016039153862598236 Centerline is valid? [True, True] Translation: X:39.21, Y:2.43, Z:1.24 [[ 9.95993119e-01 -7.64622272e-02 -4.63813978e-02 3.92072303e+01] [ 7.63929227e-02 9.97072437e-01 -3.26755568e-03 2.42893679e+00] [ 4.64954580e-02 -2.88747565e-04 9.98918460e-01 1.24068441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50509989299999 meters 0.015992445166761248 Centerline is valid? [True, True] Translation: X:39.27, Y:2.43, Z:1.24 [[ 9.95895425e-01 -7.80937863e-02 -4.57565613e-02 3.92671907e+01] [ 7.80282374e-02 9.96945950e-01 -3.21963290e-03 2.43463295e+00] [ 4.58682518e-02 -3.63886148e-04 9.98947432e-01 1.24156388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.565099892999996 meters 0.015693022767895592 Centerline is valid? [True, True] Translation: X:39.33, Y:2.44, Z:1.24 [[ 9.95605210e-01 -8.13947007e-02 -4.63159575e-02 3.93293043e+01] [ 8.13311700e-02 9.96681809e-01 -3.25764468e-03 2.43892173e+00] [ 4.64274274e-02 -5.23602996e-04 9.98921528e-01 1.24424676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62509989299999 meters 0.016980174563439702 Centerline is valid? [True, True] Translation: X:39.39, Y:2.44, Z:1.24 [[ 9.95483604e-01 -8.19012096e-02 -4.80061124e-02 3.93898425e+01] [ 8.18337464e-02 9.96640289e-01 -3.37232948e-03 2.44405888e+00] [ 4.81210236e-02 -5.71421328e-04 9.98841349e-01 1.24462676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68509989299999 meters 0.014651486675718202 Centerline is valid? [True, True] Translation: X:39.45, Y:2.46, Z:1.25 [[ 9.96134762e-01 -7.35170128e-02 -4.80706266e-02 3.94501661e+01] [ 7.34398515e-02 9.97293948e-01 -3.37176843e-03 2.45832455e+00] [ 4.81884273e-02 -1.71563935e-04 9.98838248e-01 1.24736077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745099892999995 meters 0.01501757801935031 Centerline is valid? [True, True] Translation: X:39.51, Y:2.47, Z:1.25 [[ 9.96655061e-01 -6.64698538e-02 -4.75441649e-02 3.95105978e+01] [ 6.63864372e-02 9.97788420e-01 -3.33314722e-03 2.47025811e+00] [ 4.76605709e-02 1.65710331e-04 9.98863576e-01 1.25086331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805099893 meters 0.016207217743107256 Centerline is valid? [True, True] Translation: X:39.57, Y:2.48, Z:1.26 [[ 9.97322754e-01 -5.77198808e-02 -4.48969924e-02 3.95698853e+01] [ 5.76366913e-02 9.98332666e-01 -3.14628665e-03 2.48323135e+00] [ 4.50037374e-02 5.50149179e-04 9.98986667e-01 1.25584788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86509989299999 meters 0.01693370082622508 Centerline is valid? [True, True] Translation: X:39.63, Y:2.49, Z:1.26 [[ 9.97346628e-01 -5.71674453e-02 -4.50731284e-02 3.96297222e+01] [ 5.70830247e-02 9.98364437e-01 -3.15891457e-03 2.48766437e+00] [ 4.51799956e-02 5.77622290e-04 9.98978696e-01 1.25669662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925099892999995 meters 0.015174033863343156 Centerline is valid? [True, True] Translation: X:39.69, Y:2.49, Z:1.26 [[ 9.97106413e-01 -6.06817824e-02 -4.57878050e-02 3.96889659e+01] [ 6.05982073e-02 9.98157071e-01 -3.21240607e-03 2.48873943e+00] [ 4.58983559e-02 4.28451794e-04 9.98946023e-01 1.25842824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985099893 meters 0.016240899224440657 Centerline is valid? [True, True] Translation: X:39.75, Y:2.48, Z:1.26 [[ 9.95848931e-01 -7.60351075e-02 -5.00356785e-02 3.97487198e+01] [ 7.59539901e-02 9.97105098e-01 -3.52335531e-03 2.48197427e+00] [ 5.01587288e-02 -2.91679806e-04 9.98741216e-01 1.25625594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04509989299999 meters 0.017091366392122564 Centerline is valid? [True, True] Translation: X:39.81, Y:2.48, Z:1.26 [[ 9.94652360e-01 -9.02664445e-02 -5.01861695e-02 3.98097798e+01] [ 9.02024481e-02 9.95917147e-01 -3.54324616e-03 2.47752345e+00] [ 5.03011030e-02 -1.00261720e-03 9.98733595e-01 1.25882496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105099892999995 meters 0.018509922605330166 Centerline is valid? [True, True] Translation: X:39.87, Y:2.48, Z:1.26 [[ 9.94044180e-01 -9.69177779e-02 -4.98308460e-02 3.98699115e+01] [ 9.68630604e-02 9.95291502e-01 -3.51748583e-03 2.47817256e+00] [ 4.99371245e-02 -1.33023193e-03 9.98751478e-01 1.26084341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165099893 meters 0.0197664992873824 Centerline is valid? [True, True] Translation: X:39.93, Y:2.48, Z:1.26 [[ 9.93693120e-01 -1.00191379e-01 -5.03554410e-02 3.99315102e+01] [ 1.00139736e-01 9.94967037e-01 -3.55379377e-03 2.48077165e+00] [ 5.04580634e-02 -1.51120015e-03 9.98725037e-01 1.26144791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22509989299999 meters 0.019327939008727812 Centerline is valid? [True, True] Translation: X:39.99, Y:2.48, Z:1.27 [[ 9.93765231e-01 -1.01518201e-01 -4.60946963e-02 3.99935806e+01] [ 1.01476467e-01 9.94832629e-01 -3.25057534e-03 2.48318825e+00] [ 4.61865005e-02 -1.44721819e-03 9.98931786e-01 1.26876362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285099892999995 meters 0.019622818541305414 Centerline is valid? [True, True] Translation: X:40.06, Y:2.49, Z:1.27 [[ 9.93688145e-01 -1.02464946e-01 -4.56596723e-02 4.00559287e+01] [ 1.02425145e-01 9.94735514e-01 -3.21659781e-03 2.48580602e+00] [ 4.57488862e-02 -1.48040343e-03 9.98951875e-01 1.27232133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345099893 meters 0.01932483012143354 Centerline is valid? [True, True] Translation: X:40.12, Y:2.49, Z:1.27 [[ 9.93631936e-01 -1.00706222e-01 -5.05354494e-02 4.01190960e+01] [ 1.00655425e-01 9.94914993e-01 -3.55563980e-03 2.49095521e+00] [ 5.06365513e-02 -1.55366985e-03 9.98715938e-01 1.26978370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40509989299999 meters 0.017477001375243606 Centerline is valid? [True, True] Translation: X:40.18, Y:2.50, Z:1.27 [[ 9.94133901e-01 -9.46666470e-02 -5.23069046e-02 4.01802628e+01] [ 9.46041397e-02 9.95508187e-01 -3.67522315e-03 2.50339300e+00] [ 5.24198728e-02 -1.29478578e-03 9.98624294e-01 1.27328220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465099892999994 meters 0.01625419273837908 Centerline is valid? [True, True] Translation: X:40.24, Y:2.52, Z:1.27 [[ 9.95194240e-01 -8.29296208e-02 -5.20682568e-02 4.02405273e+01] [ 8.28517389e-02 9.96555178e-01 -3.65615716e-03 2.51558285e+00] [ 5.21920947e-02 -6.75359076e-04 9.98636835e-01 1.27498038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525099893 meters 0.015752344334456218 Centerline is valid? [True, True] Translation: X:40.30, Y:2.53, Z:1.28 [[ 9.96194910e-01 -7.15503803e-02 -4.97618837e-02 4.03011400e+01] [ 7.14651030e-02 9.97436984e-01 -3.49310816e-03 2.52720126e+00] [ 4.98842765e-02 -7.64215822e-05 9.98755002e-01 1.27932526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58509989299999 meters 0.015458345123166522 Centerline is valid? [True, True] Translation: X:40.36, Y:2.54, Z:1.28 [[ 9.96841091e-01 -6.39308875e-02 -4.71240938e-02 4.03621646e+01] [ 6.38459806e-02 9.97954287e-01 -3.30629722e-03 2.53518968e+00] [ 4.72390660e-02 2.87168945e-04 9.98883571e-01 1.28449662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645099892999994 meters 0.013521078987903638 Centerline is valid? [True, True] Translation: X:40.42, Y:2.54, Z:1.29 [[ 9.97371881e-01 -5.71084054e-02 -4.45865517e-02 4.04222196e+01] [ 5.70256430e-02 9.98367817e-01 -3.12697861e-03 2.54022038e+00] [ 4.46923550e-02 5.76183758e-04 9.99000631e-01 1.29134685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705099892999996 meters 0.01620042314271322 Centerline is valid? [True, True] Translation: X:40.48, Y:2.54, Z:1.29 [[ 9.97344384e-01 -5.34545086e-02 -4.94650889e-02 4.04806851e+01] [ 5.33481045e-02 9.98569948e-01 -3.46978976e-03 2.54332387e+00] [ 4.95798271e-02 8.21706599e-04 9.98769826e-01 1.28862265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76509989299999 meters 0.016686741755597465 Centerline is valid? [True, True] Translation: X:40.54, Y:2.54, Z:1.29 [[ 9.97187897e-01 -5.48411530e-02 -5.10758794e-02 4.05376584e+01] [ 5.47292632e-02 9.98494785e-01 -3.58772762e-03 2.54219347e+00] [ 5.11957544e-02 7.82293313e-04 9.98688331e-01 1.28704433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825099892999994 meters 0.01465769197589997 Centerline is valid? [True, True] Translation: X:40.60, Y:2.54, Z:1.29 [[ 9.97091569e-01 -6.04812031e-02 -4.63726995e-02 4.05974444e+01] [ 6.03947388e-02 9.98169233e-01 -3.26466291e-03 2.53836540e+00] [ 4.64852526e-02 4.54500791e-04 9.98918873e-01 1.29306828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885099892999996 meters 0.015215567957655593 Centerline is valid? [True, True] Translation: X:40.66, Y:2.53, Z:1.30 [[ 9.96707729e-01 -6.92446313e-02 -4.21768100e-02 4.06562244e+01] [ 6.91808446e-02 9.97599709e-01 -2.97180895e-03 2.53288071e+00] [ 4.22813552e-02 4.41976133e-05 9.99105743e-01 1.29689948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94509989299999 meters 0.016528255602836533 Centerline is valid? [True, True] Translation: X:40.72, Y:2.53, Z:1.30 [[ 9.95818458e-01 -8.14454374e-02 -4.13792146e-02 4.07174325e+01] [ 8.13941701e-02 9.96677698e-01 -2.92499665e-03 2.52697384e+00] [ 4.14799680e-02 -4.55261180e-04 9.99139232e-01 1.29958722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00509989299999 meters 0.016229652174400366 Centerline is valid? [True, True] Translation: X:40.78, Y:2.52, Z:1.30 [[ 9.95167033e-01 -8.80980074e-02 -4.33741569e-02 4.07802611e+01] [ 8.80480894e-02 9.96111514e-01 -3.06365782e-03 2.52478939e+00] [ 4.34753993e-02 -7.70160381e-04 9.99054201e-01 1.30098859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.065099892999996 meters 0.017722845189725094 Centerline is valid? [True, True] Translation: X:40.84, Y:2.53, Z:1.30 [[ 9.95026753e-01 -8.85900859e-02 -4.55363369e-02 4.08426682e+01] [ 8.85357388e-02 9.96067819e-01 -3.21292795e-03 2.52926959e+00] [ 4.56419133e-02 -8.34643962e-04 9.98957516e-01 1.30261850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12509989299999 meters 0.015218935588370343 Centerline is valid? [True, True] Translation: X:40.90, Y:2.54, Z:1.31 [[ 9.95904825e-01 -7.82915574e-02 -4.52107476e-02 4.09036631e+01] [ 7.82275089e-02 9.96930439e-01 -3.18692119e-03 2.53788097e+00] [ 4.53214795e-02 -3.62853976e-04 9.98972388e-01 1.30595180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18509989299999 meters 0.01364624211777679 Centerline is valid? [True, True] Translation: X:40.96, Y:2.55, Z:1.31 [[ 9.97070787e-01 -6.20717050e-02 -4.46872373e-02 4.09634991e+01] [ 6.19928986e-02 9.98071624e-01 -3.14853297e-03 2.55132976e+00] [ 4.47964984e-02 3.69018878e-04 9.98996065e-01 1.30961144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.245099892999995 meters 0.017776478113159334 Centerline is valid? [True, True] Translation: X:41.02, Y:2.56, Z:1.31 [[ 9.97578030e-01 -5.08949445e-02 -4.74107351e-02 4.10239084e+01] [ 5.07936459e-02 9.98703586e-01 -3.33971549e-03 2.55553911e+00] [ 4.75192457e-02 9.23462719e-04 9.98869896e-01 1.30732067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30509989299999 meters 0.017946349956481814 Centerline is valid? [True, True] Translation: X:41.08, Y:2.56, Z:1.31 [[ 9.97554203e-01 -5.05693467e-02 -4.82530143e-02 4.10826548e+01] [ 5.04638979e-02 9.98720092e-01 -3.40184233e-03 2.55539993e+00] [ 4.83632838e-02 9.58486933e-04 9.98829352e-01 1.31008516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36509989299999 meters 0.016569221899452705 Centerline is valid? [True, True] Translation: X:41.14, Y:2.55, Z:1.32 [[ 9.97459431e-01 -5.54998531e-02 -4.46592621e-02 4.11417685e+01] [ 5.54140589e-02 9.98458467e-01 -3.15774547e-03 2.54887748e+00] [ 4.47656728e-02 6.74972023e-04 9.98997287e-01 1.31507046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425099892999995 meters 0.01485892054162167 Centerline is valid? [True, True] Translation: X:41.20, Y:2.54, Z:1.32 [[ 9.97209008e-01 -6.24858214e-02 -4.08621747e-02 4.12015025e+01] [ 6.24197246e-02 9.98045796e-01 -2.89264251e-03 2.54380328e+00] [ 4.09630708e-02 3.33963471e-04 9.99160605e-01 1.31997754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485099893 meters 0.01593589404680905 Centerline is valid? [True, True] Translation: X:41.26, Y:2.54, Z:1.32 [[ 9.96785196e-01 -6.88603253e-02 -4.09576534e-02 4.12613507e+01] [ 6.87989245e-02 9.97626307e-01 -2.90843223e-03 2.54134939e+00] [ 4.10607081e-02 8.12396778e-05 9.99156650e-01 1.32115784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54509989299999 meters 0.01781542688868268 Centerline is valid? [True, True] Translation: X:41.32, Y:2.52, Z:1.32 [[ 9.95013464e-01 -9.00058181e-02 -4.29785940e-02 4.13220586e+01] [ 8.99578927e-02 9.95940894e-01 -3.05176306e-03 2.52210971e+00] [ 4.30788157e-02 -8.29718415e-04 9.99071332e-01 1.31870378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605099892999995 meters 0.01913107971930113 Centerline is valid? [True, True] Translation: X:41.38, Y:2.52, Z:1.32 [[ 9.93911033e-01 -1.01683224e-01 -4.24426654e-02 4.13834084e+01] [ 1.01647055e-01 9.94815956e-01 -3.01500332e-03 2.51597672e+00] [ 4.25292160e-02 -1.31752687e-03 9.99094355e-01 1.32193602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665099893 meters 0.01997370239695611 Centerline is valid? [True, True] Translation: X:41.45, Y:2.51, Z:1.32 [[ 9.93377614e-01 -1.05724062e-01 -4.49815395e-02 4.14451670e+01] [ 1.05687594e-01 9.94394250e-01 -3.19486362e-03 2.51437675e+00] [ 4.50671582e-02 -1.58028468e-03 9.98982710e-01 1.32073794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72509989299999 meters 0.018860045574348186 Centerline is valid? [True, True] Translation: X:41.51, Y:2.53, Z:1.33 [[ 9.93962542e-01 -1.00830113e-01 -4.32637680e-02 4.15050104e+01] [ 1.00791806e-01 9.94902798e-01 -3.07142658e-03 2.53042960e+00] [ 4.33529362e-02 -1.30775035e-03 9.99058964e-01 1.32576621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785099892999995 meters 0.02042740487783349 Centerline is valid? [True, True] Translation: X:41.57, Y:2.54, Z:1.33 [[ 9.93989675e-01 -1.00506748e-01 -4.33926130e-02 4.15663334e+01] [ 1.00467950e-01 9.94935529e-01 -3.07954496e-03 2.53592998e+00] [ 4.34823675e-02 -1.29853097e-03 9.99053351e-01 1.32709585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845099893 meters 0.01752887315560473 Centerline is valid? [True, True] Translation: X:41.63, Y:2.54, Z:1.33 [[ 9.94098251e-01 -9.94828536e-02 -4.32646379e-02 4.16285119e+01] [ 9.94434279e-02 9.95038488e-01 -3.06787470e-03 2.54365471e+00] [ 4.33551808e-02 -1.25261502e-03 9.99058937e-01 1.33151433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90509989299999 meters 0.01843350202570217 Centerline is valid? [True, True] Translation: X:41.69, Y:2.55, Z:1.33 [[ 9.94191585e-01 -9.80342326e-02 -4.44114949e-02 4.16906253e+01] [ 9.79914252e-02 9.95182289e-01 -3.14516903e-03 2.55082556e+00] [ 4.45058674e-02 -1.22504510e-03 9.99008372e-01 1.33241348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965099892999994 meters 0.017953797600937845 Centerline is valid? [True, True] Translation: X:41.75, Y:2.56, Z:1.33 [[ 9.94640843e-01 -9.31067344e-02 -4.49525231e-02 4.17510563e+01] [ 9.30579867e-02 9.95655611e-01 -3.18042801e-03 2.56136847e+00] [ 4.50533512e-02 -1.01980770e-03 9.98984062e-01 1.33428879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025099893 meters 0.015698278968901122 Centerline is valid? [True, True] Translation: X:41.81, Y:2.58, Z:1.34 [[ 9.96003596e-01 -7.79239445e-02 -4.36428201e-02 4.18107125e+01] [ 7.78634755e-02 9.96959254e-01 -3.08632503e-03 2.58007292e+00] [ 4.37506120e-02 -3.24190822e-04 9.99042431e-01 1.33626029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08509989299999 meters 0.015107019724043156 Centerline is valid? [True, True] Translation: X:41.87, Y:2.60, Z:1.34 [[ 9.96876877e-01 -6.63913937e-02 -4.27630137e-02 4.18699807e+01] [ 6.63227698e-02 9.97793642e-01 -3.02305530e-03 2.59552604e+00] [ 4.28693680e-02 1.77452408e-04 9.99080670e-01 1.33847667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145099892999994 meters 0.014141430608354265 Centerline is valid? [True, True] Translation: X:41.93, Y:2.60, Z:1.34 [[ 9.96854557e-01 -6.60512914e-02 -4.37974860e-02 4.19289062e+01] [ 6.59790814e-02 9.97816210e-01 -3.09381336e-03 2.60100981e+00] [ 4.39061919e-02 1.94364047e-04 9.99035639e-01 1.33987036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205099892999996 meters 0.014697943706300013 Centerline is valid? [True, True] Translation: X:41.99, Y:2.60, Z:1.34 [[ 9.96445731e-01 -7.23158410e-02 -4.32009750e-02 4.19886672e+01] [ 7.22514008e-02 9.97381779e-01 -3.05322335e-03 2.60277047e+00] [ 4.33086617e-02 -7.89595854e-05 9.99061737e-01 1.34165679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26509989299999 meters 0.016072996527246558 Centerline is valid? [True, True] Translation: X:42.05, Y:2.60, Z:1.35 [[ 9.95388536e-01 -8.65725538e-02 -4.13141152e-02 4.20497325e+01] [ 8.65258309e-02 9.96245325e-01 -2.92108322e-03 2.59993659e+00] [ 4.14118797e-02 -6.67125392e-04 9.99141937e-01 1.34601241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325099892999994 meters 0.024243740033747123 Centerline is valid? [True, True] Translation: X:42.11, Y:2.59, Z:1.35 [[ 9.92296189e-01 -1.16873583e-01 -4.10954856e-02 4.21108869e+01] [ 1.16853243e-01 9.93144945e-01 -2.90496024e-03 2.58749759e+00] [ 4.11532869e-02 -1.91955979e-03 9.99151001e-01 1.34712222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385099892999996 meters 0.028460554015872667 Centerline is valid? [True, True] Translation: X:42.17, Y:2.59, Z:1.35 [[ 9.91965917e-01 -1.19683925e-01 -4.09802021e-02 4.21714946e+01] [ 1.19666091e-01 9.92809969e-01 -2.89676582e-03 2.58628285e+00] [ 4.10322495e-02 -2.03044765e-03 9.99155760e-01 1.34854188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44509989299999 meters 0.02510082976377818 Centerline is valid? [True, True] Translation: X:42.23, Y:2.59, Z:1.35 [[ 9.91519292e-01 -1.23528386e-01 -4.03761155e-02 4.22321006e+01] [ 1.23514282e-01 9.92338693e-01 -2.85327920e-03 2.59407503e+00] [ 4.04192426e-02 -2.15794552e-03 9.99180478e-01 1.35219264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50509989299999 meters 0.02693232727438396 Centerline is valid? [True, True] Translation: X:42.29, Y:2.60, Z:1.35 [[ 9.91759114e-01 -1.21349619e-01 -4.10868609e-02 4.22925444e+01] [ 1.21333219e-01 9.92607591e-01 -2.90183959e-03 2.60159185e+00] [ 4.11352671e-02 -2.10727524e-03 9.99151365e-01 1.35219728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.565099892999996 meters 0.023211644441355952 Centerline is valid? [True, True] Translation: X:42.35, Y:2.61, Z:1.35 [[ 9.92738453e-01 -1.12791252e-01 -4.18150298e-02 4.23521582e+01] [ 1.12766745e-01 9.93617103e-01 -2.95188257e-03 2.61484064e+00] [ 4.18810753e-02 -1.78489748e-03 9.99121009e-01 1.35433205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62509989299999 meters 0.020148760008607436 Centerline is valid? [True, True] Translation: X:42.41, Y:2.64, Z:1.35 [[ 9.94140267e-01 -9.92559565e-02 -4.28180389e-02 4.24120413e+01] [ 9.92177121e-02 9.95061158e-01 -3.02265914e-03 2.63556983e+00] [ 4.29065843e-02 -1.24336069e-03 9.99078315e-01 1.35499197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68509989299999 meters 0.016443686483977475 Centerline is valid? [True, True] Translation: X:42.47, Y:2.66, Z:1.35 [[ 9.95630680e-01 -8.02727534e-02 -4.77057122e-02 4.24704653e+01] [ 8.02035075e-02 9.96772823e-01 -3.36702557e-03 2.66164649e+00] [ 4.78220379e-02 -4.73851498e-04 9.98855759e-01 1.35338303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.745099892999995 meters 0.0157494104650893 Centerline is valid? [True, True] Translation: X:42.53, Y:2.69, Z:1.36 [[ 9.96767400e-01 -6.45363214e-02 -4.78520018e-02 4.25300356e+01] [ 6.44485249e-02 9.97915319e-01 -3.37697775e-03 2.68590703e+00] [ 4.79701834e-02 2.82070399e-04 9.98848728e-01 1.35780169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80509989299999 meters 0.01792988068104471 Centerline is valid? [True, True] Translation: X:42.59, Y:2.70, Z:1.36 [[ 9.97562806e-01 -5.32808357e-02 -4.50510986e-02 4.25887466e+01] [ 5.31915961e-02 9.98579267e-01 -3.17817040e-03 2.70188782e+00] [ 4.51564286e-02 7.74084743e-04 9.98979628e-01 1.35948421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86509989299999 meters 0.01624930522288836 Centerline is valid? [True, True] Translation: X:42.65, Y:2.71, Z:1.37 [[ 9.97635847e-01 -5.40342841e-02 -4.24619081e-02 4.26468214e+01] [ 5.39556140e-02 9.98538836e-01 -2.99742766e-03 2.70790980e+00] [ 4.25618281e-02 6.99282954e-04 9.99093590e-01 1.36587699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925099892999995 meters 0.015824644939538002 Centerline is valid? [True, True] Translation: X:42.71, Y:2.71, Z:1.37 [[ 9.97338740e-01 -5.85222623e-02 -4.34808233e-02 4.27060999e+01] [ 5.84436138e-02 9.98285963e-01 -3.07889327e-03 2.70966975e+00] [ 4.35864794e-02 5.29523092e-04 9.99049518e-01 1.36793617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98509989299999 meters 0.016011182679625015 Centerline is valid? [True, True] Translation: X:42.77, Y:2.71, Z:1.37 [[ 9.96949867e-01 -6.40423183e-02 -4.46043018e-02 4.27667282e+01] [ 6.39650024e-02 9.97947139e-01 -3.15995813e-03 2.70636986e+00] [ 4.47151065e-02 2.97205563e-04 9.98999735e-01 1.36687545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04509989299999 meters 0.014961622759594905 Centerline is valid? [True, True] Translation: X:42.83, Y:2.70, Z:1.37 [[ 9.96490270e-01 -7.12117534e-02 -4.40003153e-02 4.28272631e+01] [ 7.11434710e-02 9.97461220e-01 -3.11783690e-03 2.70391032e+00] [ 4.41106349e-02 -2.34410205e-05 9.99026652e-01 1.36993069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105099892999995 meters 0.015278441445501632 Centerline is valid? [True, True] Translation: X:42.89, Y:2.70, Z:1.37 [[ 9.96505047e-01 -7.22373410e-02 -4.19458978e-02 4.28882789e+01] [ 7.21762040e-02 9.97387468e-01 -2.97209450e-03 2.70288460e+00] [ 4.20510090e-02 -6.57885016e-05 9.99115463e-01 1.37243109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165099893 meters 0.014781767727757494 Centerline is valid? [True, True] Translation: X:42.95, Y:2.71, Z:1.38 [[ 9.96792750e-01 -6.82616082e-02 -4.17680165e-02 4.29498814e+01] [ 6.81975678e-02 9.97667451e-01 -2.95785088e-03 2.70753637e+00] [ 4.18724982e-02 9.98871803e-05 9.99122957e-01 1.37520964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22509989299999 meters 0.015604883009680758 Centerline is valid? [True, True] Translation: X:43.01, Y:2.71, Z:1.38 [[ 9.96992441e-01 -6.43519485e-02 -4.31844851e-02 4.30111023e+01] [ 6.42799512e-02 9.97927229e-01 -3.05517591e-03 2.71305389e+00] [ 4.32915801e-02 2.70090689e-04 9.99062444e-01 1.37614238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285099892999995 meters 0.014798521054184716 Centerline is valid? [True, True] Translation: X:43.07, Y:2.72, Z:1.38 [[ 9.96847502e-01 -6.45354636e-02 -4.61544342e-02 4.30717792e+01] [ 6.44534787e-02 9.97915375e-01 -3.26387118e-03 2.71557026e+00] [ 4.62688550e-02 2.78767987e-04 9.98928984e-01 1.37634785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345099893 meters 0.014779345562443985 Centerline is valid? [True, True] Translation: X:43.13, Y:2.72, Z:1.38 [[ 9.96775175e-01 -6.53942537e-02 -4.65063652e-02 4.31321553e+01] [ 6.53119471e-02 9.97859476e-01 -3.28875844e-03 2.71997739e+00] [ 4.66218832e-02 2.40731503e-04 9.98912580e-01 1.37860239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40509989299999 meters 0.01486267606585674 Centerline is valid? [True, True] Translation: X:43.19, Y:2.72, Z:1.38 [[ 9.96667829e-01 -6.71523109e-02 -4.63012604e-02 4.31923368e+01] [ 6.70726250e-02 9.97742723e-01 -3.27425419e-03 2.72267751e+00] [ 4.64166194e-02 1.57796733e-04 9.98922155e-01 1.38062230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465099892999994 meters 0.012757099031102295 Centerline is valid? [True, True] Translation: X:43.25, Y:2.73, Z:1.39 [[ 9.96589163e-01 -6.93019299e-02 -4.48027174e-02 4.32511066e+01] [ 6.92294860e-02 9.97595729e-01 -3.16841987e-03 2.72791706e+00] [ 4.49145772e-02 5.59438074e-05 9.98990830e-01 1.38705741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525099893 meters 0.014967393542003386 Centerline is valid? [True, True] Translation: X:43.31, Y:2.73, Z:1.39 [[ 9.96284957e-01 -7.30169414e-02 -4.56597297e-02 4.33129597e+01] [ 7.29455791e-02 9.97330694e-01 -3.22940501e-03 2.73040726e+00] [ 4.57736512e-02 -1.13267796e-04 9.98951831e-01 1.38547704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58509989299999 meters 0.015544502535830451 Centerline is valid? [True, True] Translation: X:43.37, Y:2.73, Z:1.39 [[ 9.95707246e-01 -8.10438552e-02 -4.47098930e-02 4.33745434e+01] [ 8.09835864e-02 9.96710424e-01 -3.16063147e-03 2.73265583e+00] [ 4.48189662e-02 -4.73703828e-04 9.98995013e-01 1.38878897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645099892999994 meters 0.014968100864524245 Centerline is valid? [True, True] Translation: X:43.44, Y:2.73, Z:1.39 [[ 9.95110352e-01 -8.77583633e-02 -4.53194919e-02 4.34364694e+01] [ 8.77034816e-02 9.96141480e-01 -3.20178670e-03 2.73472760e+00] [ 4.54256092e-02 -7.88546128e-04 9.98967413e-01 1.39069937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705099892999996 meters 0.016893452165487887 Centerline is valid? [True, True] Translation: X:43.50, Y:2.74, Z:1.39 [[ 9.95007184e-01 -8.92595337e-02 -4.46479467e-02 4.34986362e+01] [ 8.92079201e-02 9.96008041e-01 -3.15113872e-03 2.73900509e+00] [ 4.47509831e-02 -8.47544800e-04 9.98997813e-01 1.39164088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76509989299999 meters 0.017773271364460518 Centerline is valid? [True, True] Translation: X:43.56, Y:2.75, Z:1.39 [[ 9.94975575e-01 -8.96620179e-02 -4.45457963e-02 4.35600100e+01] [ 8.96111824e-02 9.95971873e-01 -3.14081719e-03 2.74514444e+00] [ 4.46479722e-02 -8.66765088e-04 9.99002406e-01 1.39395730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825099892999994 meters 0.017003325185775985 Centerline is valid? [True, True] Translation: X:43.62, Y:2.75, Z:1.39 [[ 9.94887063e-01 -8.85752273e-02 -4.85197051e-02 4.36215470e+01] [ 8.85137742e-02 9.96069089e-01 -3.41793449e-03 2.75176862e+00] [ 4.86317227e-02 -8.94203410e-04 9.98816377e-01 1.39303136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885099892999996 meters 0.016119364067804703 Centerline is valid? [True, True] Translation: X:43.68, Y:2.76, Z:1.40 [[ 9.95210889e-01 -8.50988103e-02 -4.80986290e-02 4.36832965e+01] [ 8.50345313e-02 9.96372256e-01 -3.38475487e-03 2.75850353e+00] [ 4.82121780e-02 -7.21499470e-04 9.98836856e-01 1.39599617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94509989299999 meters 0.016067890804167657 Centerline is valid? [True, True] Translation: X:43.74, Y:2.77, Z:1.40 [[ 9.95852893e-01 -7.84467748e-02 -4.60773095e-02 4.37438879e+01] [ 7.83808032e-02 9.96918229e-01 -3.23955919e-03 2.76547290e+00] [ 4.61894427e-02 -3.85452127e-04 9.98932624e-01 1.40197260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00509989299999 meters 0.014946787731032763 Centerline is valid? [True, True] Translation: X:43.81, Y:2.77, Z:1.40 [[ 9.96224061e-01 -7.31086878e-02 -4.68267103e-02 4.38059913e+01] [ 7.30347549e-02 9.97323969e-01 -3.29014350e-03 2.77093315e+00] [ 4.69419386e-02 -1.42257196e-04 9.98897609e-01 1.40439707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.065099892999996 meters 0.014820168671045368 Centerline is valid? [True, True] Translation: X:43.87, Y:2.78, Z:1.41 [[ 9.96595836e-01 -6.70100916e-02 -4.80248534e-02 4.38656226e+01] [ 6.69253895e-02 9.97752287e-01 -3.37133011e-03 2.77867756e+00] [ 4.81428205e-02 1.45771534e-04 9.98840452e-01 1.40587100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12509989299999 meters 0.01650174151328476 Centerline is valid? [True, True] Translation: X:43.93, Y:2.79, Z:1.41 [[ 9.97086276e-01 -5.87541667e-02 -4.86508545e-02 4.39259820e+01] [ 5.86574475e-02 9.98272330e-01 -3.41459718e-03 2.78643926e+00] [ 4.87674237e-02 5.50913048e-04 9.98810009e-01 1.40685696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18509989299999 meters 0.017277730372109227 Centerline is valid? [True, True] Translation: X:43.98, Y:2.79, Z:1.41 [[ 9.97598737e-01 -5.09588605e-02 -4.69036745e-02 4.39845992e+01] [ 5.08603308e-02 9.98700349e-01 -3.29249135e-03 2.79443155e+00] [ 4.70104977e-02 8.99048815e-04 9.98893991e-01 1.41141101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.245099892999995 meters 0.016700153953521903 Centerline is valid? [True, True] Translation: X:44.04, Y:2.80, Z:1.41 [[ 9.97581905e-01 -5.16680619e-02 -4.64839058e-02 4.40432521e+01] [ 5.15718560e-02 9.98663941e-01 -3.26736857e-03 2.79524475e+00] [ 4.65906192e-02 8.62206468e-04 9.98913695e-01 1.41309188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30509989299999 meters 0.016623844210545902 Centerline is valid? [True, True] Translation: X:44.10, Y:2.79, Z:1.41 [[ 9.97078273e-01 -6.07044309e-02 -4.63668981e-02 4.41030292e+01] [ 6.06180123e-02 9.98155685e-01 -3.26892119e-03 2.79161469e+00] [ 4.64798209e-02 4.48701094e-04 9.98919128e-01 1.41447706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36509989299999 meters 0.014871928172897932 Centerline is valid? [True, True] Translation: X:44.16, Y:2.79, Z:1.42 [[ 9.96375323e-01 -7.10406243e-02 -4.67915043e-02 4.41621327e+01] [ 7.09638185e-02 9.97473423e-01 -3.30267464e-03 2.78844117e+00] [ 4.69079060e-02 -2.98002970e-05 9.98899218e-01 1.41789465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425099892999995 meters 0.016789793041327727 Centerline is valid? [True, True] Translation: X:44.22, Y:2.78, Z:1.42 [[ 9.94924245e-01 -8.83118818e-02 -4.82364872e-02 4.42236644e+01] [ 8.82500333e-02 9.96092502e-01 -3.41454337e-03 2.77863371e+00] [ 4.83495480e-02 -8.59659612e-04 9.98830107e-01 1.41633323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48509989299999 meters 0.018252856288617263 Centerline is valid? [True, True] Translation: X:44.28, Y:2.77, Z:1.42 [[ 9.93927046e-01 -9.92153815e-02 -4.75955369e-02 4.42838448e+01] [ 9.91676331e-02 9.95065037e-01 -3.36932094e-03 2.77384311e+00] [ 4.76949432e-02 -1.37107754e-03 9.98861008e-01 1.41965028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54509989299999 meters 0.021844900781867883 Centerline is valid? [True, True] Translation: X:44.34, Y:2.77, Z:1.42 [[ 9.93018767e-01 -1.07890972e-01 -4.76787760e-02 4.43441898e+01] [ 1.07853007e-01 9.94161120e-01 -3.37571219e-03 2.77341498e+00] [ 4.77645943e-02 -1.79015380e-03 9.98857016e-01 1.42158438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605099892999995 meters 0.022233230271159053 Centerline is valid? [True, True] Translation: X:44.40, Y:2.78, Z:1.43 [[ 9.92656370e-01 -1.11374324e-01 -4.72132603e-02 4.44049441e+01] [ 1.11341041e-01 9.93776635e-01 -3.34244393e-03 2.77820790e+00] [ 4.72916974e-02 -1.93887528e-03 9.98879240e-01 1.42561605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66509989299999 meters 0.022067990178709595 Centerline is valid? [True, True] Translation: X:44.47, Y:2.78, Z:1.43 [[ 9.92624329e-01 -1.11095964e-01 -4.85245099e-02 4.44666948e+01] [ 1.11060551e-01 9.93807709e-01 -3.43373368e-03 2.78426399e+00] [ 4.86055060e-02 -1.98075124e-03 9.98816090e-01 1.42642192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72509989299999 meters 0.02039815424272623 Centerline is valid? [True, True] Translation: X:44.53, Y:2.79, Z:1.43 [[ 9.93234144e-01 -1.04469475e-01 -5.07155127e-02 4.45271386e+01] [ 1.04422328e-01 9.94526581e-01 -3.58564850e-03 2.79445831e+00] [ 5.08125163e-02 -1.73444338e-03 9.98706704e-01 1.42685590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785099892999995 meters 0.017891512129850597 Centerline is valid? [True, True] Translation: X:44.59, Y:2.80, Z:1.43 [[ 9.93787832e-01 -9.90476779e-02 -5.07474300e-02 4.45871165e+01] [ 9.89934453e-02 9.95081620e-01 -3.58722286e-03 2.80450778e+00] [ 5.08531409e-02 -1.45872451e-03 9.98705077e-01 1.43026783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845099893 meters 0.017052036061824063 Centerline is valid? [True, True] Translation: X:44.65, Y:2.82, Z:1.43 [[ 9.95103703e-01 -8.40419914e-02 -5.20150329e-02 4.46459988e+01] [ 8.39644991e-02 9.96461962e-01 -3.67708498e-03 2.82130430e+00] [ 5.21400312e-02 -7.08335299e-04 9.98639532e-01 1.42992017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90509989299999 meters 0.015958501169900826 Centerline is valid? [True, True] Translation: X:44.71, Y:2.84, Z:1.44 [[ 9.96135896e-01 -7.19948588e-02 -5.02992713e-02 4.47057415e+01] [ 7.19070148e-02 9.97405000e-01 -3.55618533e-03 2.83755466e+00] [ 5.04247717e-02 -7.44265826e-05 9.98727859e-01 1.43527390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965099892999994 meters 0.017227317922318918 Centerline is valid? [True, True] Translation: X:44.76, Y:2.86, Z:1.44 [[ 9.97387903e-01 -5.27107493e-02 -4.93857089e-02 4.47648505e+01] [ 5.26024516e-02 9.98609431e-01 -3.49093997e-03 2.85600380e+00] [ 4.95010447e-02 8.84011936e-04 9.98773681e-01 1.43891623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025099893 meters 0.01710041962219312 Centerline is valid? [True, True] Translation: X:44.82, Y:2.86, Z:1.44 [[ 9.97645094e-01 -4.73502752e-02 -4.96207306e-02 4.48246865e+01] [ 4.72342958e-02 9.98877678e-01 -3.50799926e-03 2.85850680e+00] [ 4.97311449e-02 1.15593799e-03 9.98761972e-01 1.44173271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08509989299999 meters 0.018296678757504528 Centerline is valid? [True, True] Translation: X:44.88, Y:2.85, Z:1.44 [[ 9.97520588e-01 -5.07325110e-02 -4.87738537e-02 4.48839990e+01] [ 5.06243931e-02 9.98711803e-01 -3.45027435e-03 2.85449554e+00] [ 4.88860645e-02 9.72572955e-04 9.98803888e-01 1.44224128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145099892999994 meters 0.016195975125383837 Centerline is valid? [True, True] Translation: X:44.94, Y:2.85, Z:1.45 [[ 9.97258959e-01 -5.55749397e-02 -4.88466486e-02 4.49434806e+01] [ 5.54720327e-02 9.98454243e-01 -3.46088766e-03 2.85130239e+00] [ 4.89634822e-02 7.41778342e-04 9.98800294e-01 1.44507337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205099892999996 meters 0.01592299009043967 Centerline is valid? [True, True] Translation: X:45.00, Y:2.85, Z:1.45 [[ 9.96946250e-01 -6.03561119e-02 -4.95511208e-02 4.50027388e+01] [ 6.02555055e-02 9.98176769e-01 -3.52299720e-03 2.85012832e+00] [ 4.96734121e-02 5.26511017e-04 9.98765375e-01 1.44643526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26509989299999 meters 0.015523250254966266 Centerline is valid? [True, True] Translation: X:45.06, Y:2.85, Z:1.45 [[ 9.96552830e-01 -6.62650566e-02 -4.99139175e-02 4.50614595e+01] [ 6.61697324e-02 9.97802025e-01 -3.56160334e-03 2.84755054e+00] [ 5.00402178e-02 2.46535325e-04 9.98747173e-01 1.44976946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325099892999994 meters 0.015307320838841365 Centerline is valid? [True, True] Translation: X:45.12, Y:2.84, Z:1.45 [[ 9.96226265e-01 -7.11065256e-02 -4.97703751e-02 4.51211059e+01] [ 7.10171548e-02 9.97468727e-01 -3.56398024e-03 2.84140477e+00] [ 4.98978150e-02 1.59802888e-05 9.98754328e-01 1.45049838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385099892999996 meters 0.01515562535231647 Centerline is valid? [True, True] Translation: X:45.18, Y:2.84, Z:1.45 [[ 9.96331261e-01 -7.10963748e-02 -4.76374214e-02 4.51800830e+01] [ 7.10139301e-02 9.97469451e-01 -3.42301007e-03 2.84006766e+00] [ 4.77602361e-02 2.75314280e-05 9.98858828e-01 1.45426990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44509989299999 meters 0.015644952709681446 Centerline is valid? [True, True] Translation: X:45.24, Y:2.84, Z:1.46 [[ 9.96426888e-01 -6.96860756e-02 -4.77211411e-02 4.52393494e+01] [ 6.96012556e-02 9.97568965e-01 -3.43880558e-03 2.84138060e+00] [ 4.78447662e-02 1.05067005e-04 9.98854778e-01 1.45538757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50509989299999 meters 0.015379942166226046 Centerline is valid? [True, True] Translation: X:45.30, Y:2.84, Z:1.46 [[ 9.96355019e-01 -7.07304181e-02 -4.76852506e-02 4.52981945e+01] [ 7.06467325e-02 9.97495466e-01 -3.44015900e-03 2.84302908e+00] [ 4.78091451e-02 5.88125499e-05 9.98856487e-01 1.45760543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.565099892999996 meters 0.015464941210461533 Centerline is valid? [True, True] Translation: X:45.36, Y:2.84, Z:1.46 [[ 9.95883437e-01 -7.55925089e-02 -5.00195220e-02 4.53571739e+01] [ 7.55058978e-02 9.97138779e-01 -3.62156435e-03 2.83956179e+00] [ 5.01501683e-02 -1.70112965e-04 9.98741674e-01 1.45803238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62509989299999 meters 0.01617878089050155 Centerline is valid? [True, True] Translation: X:45.42, Y:2.84, Z:1.46 [[ 9.95618099e-01 -7.86645557e-02 -5.05617227e-02 4.54155447e+01] [ 7.85793585e-02 9.96901092e-01 -3.67372616e-03 2.84114353e+00] [ 5.06940286e-02 -3.15479479e-04 9.98714181e-01 1.46122013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68509989299999 meters 0.01579833325272369 Centerline is valid? [True, True] Translation: X:45.47, Y:2.84, Z:1.46 [[ 9.95456807e-01 -7.99200619e-02 -5.17545103e-02 4.54745628e+01] [ 7.98319337e-02 9.96801204e-01 -3.77111333e-03 2.84407161e+00] [ 5.18903458e-02 -3.77682198e-04 9.98652717e-01 1.46365819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.745099892999995 meters 0.015751914278736526 Centerline is valid? [True, True] Translation: X:45.53, Y:2.84, Z:1.47 [[ 9.95267366e-01 -8.18499279e-02 -5.23780385e-02 4.55332676e+01] [ 8.17619842e-02 9.96644551e-01 -3.82316806e-03 2.84386886e+00] [ 5.25152127e-02 -4.77457951e-04 9.98620010e-01 1.46544177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80509989299999 meters 0.016340289612413916 Centerline is valid? [True, True] Translation: X:45.59, Y:2.85, Z:1.47 [[ 9.95342397e-01 -8.18579369e-02 -5.09194541e-02 4.55907297e+01] [ 8.17742722e-02 9.96643905e-01 -3.72772668e-03 2.84546935e+00] [ 5.10537076e-02 -4.53536892e-04 9.98695806e-01 1.46747812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86509989299999 meters 0.014431239579056001 Centerline is valid? [True, True] Translation: X:45.65, Y:2.85, Z:1.47 [[ 9.95921300e-01 -7.59491329e-02 -4.87082552e-02 4.56488531e+01] [ 7.58651444e-02 9.97111684e-01 -3.57340996e-03 2.85331049e+00] [ 4.88389678e-02 -1.36423720e-04 9.98806656e-01 1.47322574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925099892999995 meters 0.01570315248598087 Centerline is valid? [True, True] Translation: X:45.71, Y:2.86, Z:1.48 [[ 9.96727828e-01 -6.59323353e-02 -4.67607177e-02 4.57081000e+01] [ 6.58434745e-02 9.97824035e-01 -3.43975881e-03 2.86437964e+00] [ 4.68857594e-02 3.49615203e-04 9.98900197e-01 1.47842187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98509989299999 meters 0.01641390705451364 Centerline is valid? [True, True] Translation: X:45.77, Y:2.87, Z:1.48 [[ 9.96967686e-01 -6.11532846e-02 -4.81218099e-02 4.57660505e+01] [ 6.10534025e-02 9.98128209e-01 -3.54411063e-03 2.87189657e+00] [ 4.82484700e-02 5.95363546e-04 9.98835187e-01 1.48028277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04509989299999 meters 0.015702584018567525 Centerline is valid? [True, True] Translation: X:45.82, Y:2.88, Z:1.48 [[ 9.96700286e-01 -6.23610023e-02 -5.19581075e-02 4.58242819e+01] [ 6.22454467e-02 9.98053482e-01 -3.84080618e-03 2.87658758e+00] [ 5.20964867e-02 5.93977010e-04 9.98641879e-01 1.47983822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105099892999995 meters 0.01494357230166167 Centerline is valid? [True, True] Translation: X:45.88, Y:2.88, Z:1.48 [[ 9.96267462e-01 -6.79398826e-02 -5.32476889e-02 4.58831584e+01] [ 6.78257308e-02 9.97689364e-01 -3.95002232e-03 2.87785046e+00] [ 5.33930169e-02 3.23715301e-04 9.98573523e-01 1.48095655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16509989299999 meters 0.014589368143279876 Centerline is valid? [True, True] Translation: X:45.94, Y:2.88, Z:1.48 [[ 9.95859605e-01 -7.38391520e-02 -5.30228871e-02 4.59416947e+01] [ 7.37335925e-02 9.97270164e-01 -3.94691668e-03 2.87943912e+00] [ 5.31695803e-02 2.10069446e-05 9.98585497e-01 1.48368569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22509989299999 meters 0.015951397425994888 Centerline is valid? [True, True] Translation: X:46.00, Y:2.88, Z:1.49 [[ 9.95010635e-01 -8.57209311e-02 -5.10466333e-02 4.60003979e+01] [ 8.56380606e-02 9.96319019e-01 -3.81245552e-03 2.87573126e+00] [ 5.11855389e-02 -5.78100893e-04 9.98688994e-01 1.48623237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285099892999995 meters 0.01781022697742303 Centerline is valid? [True, True] Translation: X:46.06, Y:2.88, Z:1.49 [[ 9.94275840e-01 -9.49552199e-02 -4.89801971e-02 4.60602687e+01] [ 9.48896519e-02 9.95481041e-01 -3.66745786e-03 2.87568005e+00] [ 4.91071019e-02 -1.00124911e-03 9.98793017e-01 1.49049390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345099893 meters 0.019736777585073553 Centerline is valid? [True, True] Translation: X:46.12, Y:2.87, Z:1.49 [[ 9.93144255e-01 -1.05531775e-01 -5.02745781e-02 4.61199784e+01] [ 1.05476169e-01 9.94414702e-01 -3.76527937e-03 2.87274906e+00] [ 5.03911362e-02 -1.56330430e-03 9.98728336e-01 1.49214940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40509989299999 meters 0.019864670993835713 Centerline is valid? [True, True] Translation: X:46.18, Y:2.88, Z:1.49 [[ 9.92377674e-01 -1.11341170e-01 -5.28175660e-02 4.61810532e+01] [ 1.11287989e-01 9.93780324e-01 -3.95603766e-03 2.87736909e+00] [ 5.29295278e-02 -1.95207725e-03 9.98596342e-01 1.49322916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465099892999994 meters 0.021523948771112876 Centerline is valid? [True, True] Translation: X:46.24, Y:2.88, Z:1.49 [[ 9.92448538e-01 -1.10595234e-01 -5.30527459e-02 4.62419829e+01] [ 1.10540598e-01 9.93863672e-01 -3.97208998e-03 2.88470707e+00] [ 5.31664911e-02 -1.92238736e-03 9.98583812e-01 1.49464584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525099893 meters 0.020541417977441592 Centerline is valid? [True, True] Translation: X:46.30, Y:2.89, Z:1.50 [[ 9.92605816e-01 -1.09018963e-01 -5.33719008e-02 4.63025775e+01] [ 1.08961537e-01 9.94037945e-01 -3.99331201e-03 2.89382829e+00] [ 5.34890414e-02 -1.85169963e-03 9.98566720e-01 1.49725614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58509989299999 meters 0.02018348178978454 Centerline is valid? [True, True] Translation: X:46.36, Y:2.91, Z:1.50 [[ 9.92553728e-01 -1.08333377e-01 -5.56864067e-02 4.63644484e+01] [ 1.08269943e-01 9.94112812e-01 -4.16370133e-03 2.90514311e+00] [ 5.58096381e-02 -1.89646682e-03 9.98439626e-01 1.49861203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645099892999994 meters 0.020586010263017734 Centerline is valid? [True, True] Translation: X:46.42, Y:2.92, Z:1.50 [[ 9.92688512e-01 -1.06756417e-01 -5.63257019e-02 4.64242432e+01] [ 1.06689162e-01 9.94283517e-01 -4.20838951e-03 2.91544863e+00] [ 5.64529896e-02 -1.83172200e-03 9.98403578e-01 1.50054434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705099892999996 meters 0.019146430125413633 Centerline is valid? [True, True] Translation: X:46.48, Y:2.93, Z:1.50 [[ 9.93389222e-01 -1.00646310e-01 -5.52102711e-02 4.64833787e+01] [ 1.00572300e-01 9.94921204e-01 -4.12439246e-03 2.92944412e+00] [ 5.53449743e-02 -1.45549695e-03 9.98466231e-01 1.50203211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76509989299999 meters 0.017327918393076205 Centerline is valid? [True, True] Translation: X:46.54, Y:2.95, Z:1.51 [[ 9.94038788e-01 -9.40433217e-02 -5.51610554e-02 4.65426137e+01] [ 9.39592841e-02 9.95567513e-01 -4.12071588e-03 2.94622962e+00] [ 5.53040805e-02 -1.08674185e-03 9.98468967e-01 1.50509132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825099892999994 meters 0.016179023780640407 Centerline is valid? [True, True] Translation: X:46.60, Y:2.96, Z:1.51 [[ 9.94746096e-01 -8.61858408e-02 -5.52467709e-02 4.66023425e+01] [ 8.60894451e-02 9.96278865e-01 -4.12679859e-03 2.96499131e+00] [ 5.53968618e-02 -6.51047065e-04 9.98464203e-01 1.50754521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885099892999996 meters 0.015382120830865377 Centerline is valid? [True, True] Translation: X:46.66, Y:2.98, Z:1.51 [[ 9.94866629e-01 -8.60319561e-02 -5.32812656e-02 4.66629789e+01] [ 8.59421448e-02 9.96292185e-01 -3.97876594e-03 2.97665533e+00] [ 5.34260095e-02 -6.20764778e-04 9.98571618e-01 1.51207408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94509989299999 meters 0.015935532052685476 Centerline is valid? [True, True] Translation: X:46.72, Y:2.99, Z:1.52 [[ 9.94694041e-01 -8.88218069e-02 -5.19081124e-02 4.67239808e+01] [ 8.87404719e-02 9.96047248e-01 -3.87411028e-03 2.98603823e+00] [ 5.20470380e-02 -7.52795984e-04 9.98644351e-01 1.51788921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00509989299999 meters 0.01798077290292343 Centerline is valid? [True, True] Translation: X:46.78, Y:2.99, Z:1.52 [[ 9.94133855e-01 -9.44485824e-02 -5.27005052e-02 4.67847063e+01] [ 9.43728526e-02 9.95529169e-01 -3.92920253e-03 2.98693126e+00] [ 5.28359978e-02 -1.06734376e-03 9.98602633e-01 1.51832365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.065099892999996 meters 0.019436430087904327 Centerline is valid? [True, True] Translation: X:46.85, Y:2.98, Z:1.52 [[ 9.93308465e-01 -1.01312748e-01 -5.54438508e-02 4.68456922e+01] [ 1.01239891e-01 9.94853477e-01 -4.12847567e-03 2.98420698e+00] [ 5.55767749e-02 -1.51227958e-03 9.98453271e-01 1.51696063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12509989299999 meters 0.019956284923623762 Centerline is valid? [True, True] Translation: X:46.91, Y:2.99, Z:1.52 [[ 9.93031603e-01 -1.02739665e-01 -5.77303783e-02 4.69077629e+01] [ 1.02663209e-01 9.94706894e-01 -4.29656091e-03 2.98553945e+00] [ 5.78662325e-02 -1.66016514e-03 9.98322965e-01 1.51660009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18509989299999 meters 0.01842273574182425 Centerline is valid? [True, True] Translation: X:46.97, Y:2.99, Z:1.52 [[ 9.93371097e-01 -9.98757093e-02 -5.69096331e-02 4.69686982e+01] [ 9.97969084e-02 9.94998827e-01 -4.23213358e-03 2.99235661e+00] [ 5.70477055e-02 -1.47532626e-03 9.98370363e-01 1.52067295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.245099892999995 meters 0.014528556782891125 Centerline is valid? [True, True] Translation: X:47.03, Y:3.00, Z:1.53 [[ 9.94564632e-01 -9.04283047e-02 -5.16131221e-02 4.70282933e+01] [ 9.03508343e-02 9.95902608e-01 -3.83701311e-03 3.00307811e+00] [ 5.17486174e-02 -8.47131107e-04 9.98659783e-01 1.52833540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30509989299999 meters 0.0131491720037079 Centerline is valid? [True, True] Translation: X:47.09, Y:3.01, Z:1.53 [[ 9.95338641e-01 -8.23131587e-02 -5.02546947e-02 4.70884152e+01] [ 8.22293974e-02 9.96606428e-01 -3.73550164e-03 3.01225597e+00] [ 5.03916328e-02 -4.14324137e-04 9.98729449e-01 1.53209898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36509989299999 meters 0.015735119515640373 Centerline is valid? [True, True] Translation: X:47.15, Y:3.02, Z:1.53 [[ 9.95522720e-01 -7.79115295e-02 -5.35192279e-02 4.71491201e+01] [ 7.78102759e-02 9.96960256e-01 -3.97615878e-03 3.01867126e+00] [ 5.36663317e-02 -2.05989479e-04 9.98558903e-01 1.53067068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425099892999995 meters 0.015144238555354756 Centerline is valid? [True, True] Translation: X:47.21, Y:3.02, Z:1.53 [[ 9.95267343e-01 -8.00474049e-02 -5.50938230e-02 4.72091911e+01] [ 7.99434402e-02 9.96791003e-01 -4.09188743e-03 3.01995721e+00] [ 5.52445720e-02 -3.31867807e-04 9.98472797e-01 1.53050593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48509989299999 meters 0.01596414968847326 Centerline is valid? [True, True] Translation: X:47.27, Y:3.02, Z:1.53 [[ 9.94704117e-01 -8.63279133e-02 -5.57782277e-02 4.72690303e+01] [ 8.62311752e-02 9.96266539e-01 -4.14330810e-03 3.02248965e+00] [ 5.59276651e-02 -6.88456507e-04 9.98434586e-01 1.53303661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54509989299999 meters 0.01464875154699419 Centerline is valid? [True, True] Translation: X:47.33, Y:3.03, Z:1.54 [[ 9.94544379e-01 -8.85925182e-02 -5.50712576e-02 4.73301148e+01] [ 8.85016845e-02 9.96067627e-01 -4.09081786e-03 3.02537346e+00] [ 5.52171127e-02 -8.05399159e-04 9.98474047e-01 1.53588846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605099892999995 meters 0.017460347744644562 Centerline is valid? [True, True] Translation: X:47.39, Y:3.03, Z:1.54 [[ 9.93957497e-01 -9.55483990e-02 -5.40277510e-02 4.73908474e+01] [ 9.54713222e-02 9.95424097e-01 -4.01168503e-03 3.02519345e+00] [ 5.41638353e-02 -1.17065641e-03 9.98531376e-01 1.53732743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66509989299999 meters 0.019582104662184244 Centerline is valid? [True, True] Translation: X:47.45, Y:3.03, Z:1.54 [[ 9.93098231e-01 -1.05625729e-01 -5.09814604e-02 4.74515621e+01] [ 1.05570391e-01 9.94404630e-01 -3.78461535e-03 3.02765287e+00] [ 5.10959531e-02 -1.62363792e-03 9.98692429e-01 1.54455544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72509989299999 meters 0.020898380571641815 Centerline is valid? [True, True] Translation: X:47.51, Y:3.03, Z:1.55 [[ 9.92457084e-01 -1.11266549e-01 -5.14654393e-02 4.75128190e+01] [ 1.11217770e-01 9.93788719e-01 -3.81959984e-03 3.02765575e+00] [ 5.15707667e-02 -1.93308247e-03 9.98667472e-01 1.54553029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785099892999995 meters 0.02203276226939369 Centerline is valid? [True, True] Translation: X:47.58, Y:3.03, Z:1.55 [[ 9.92352842e-01 -1.11619931e-01 -5.26956167e-02 4.75753711e+01] [ 1.11569387e-01 9.93748958e-01 -3.90907816e-03 3.02877669e+00] [ 5.28025452e-02 -2.00003284e-03 9.98602970e-01 1.54646254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84509989299999 meters 0.01983332142369704 Centerline is valid? [True, True] Translation: X:47.64, Y:3.03, Z:1.55 [[ 9.92438643e-01 -1.10462168e-01 -5.35130823e-02 4.76378782e+01] [ 1.10408593e-01 9.93878372e-01 -3.96547335e-03 3.03319601e+00] [ 5.36235299e-02 -1.97281516e-03 9.98559275e-01 1.54898152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90509989299999 meters 0.020986443407331523 Centerline is valid? [True, True] Translation: X:47.70, Y:3.04, Z:1.55 [[ 9.92584126e-01 -1.09391417e-01 -5.30119946e-02 4.76990794e+01] [ 1.09337544e-01 9.93996933e-01 -3.92407940e-03 3.03634252e+00] [ 5.31230207e-02 -1.90122235e-03 9.98586166e-01 1.55111817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965099892999994 meters 0.018882256781530896 Centerline is valid? [True, True] Translation: X:47.76, Y:3.05, Z:1.55 [[ 9.93784056e-01 -9.68949368e-02 -5.48144223e-02 4.77587827e+01] [ 9.68184582e-02 9.95293796e-01 -4.05530876e-03 3.05096481e+00] [ 5.49493934e-02 -1.27694667e-03 9.98488324e-01 1.55236745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025099893 meters 0.015565632139747253 Centerline is valid? [True, True] Translation: X:47.82, Y:3.07, Z:1.56 [[ 9.94973716e-01 -8.49358901e-02 -5.30396034e-02 4.78183177e+01] [ 8.48473171e-02 9.96386240e-01 -3.92351628e-03 3.06552484e+00] [ 5.31811783e-02 -5.96472473e-04 9.98584702e-01 1.55808000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08509989299999 meters 0.014767029845081197 Centerline is valid? [True, True] Translation: X:47.88, Y:3.08, Z:1.56 [[ 9.95937118e-01 -7.29917517e-02 -5.27395584e-02 4.78787365e+01] [ 7.28874936e-02 9.97332544e-01 -3.90009048e-03 3.07676403e+00] [ 5.28835524e-02 4.01906447e-05 9.98600685e-01 1.56074839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145099892999994 meters 0.01547638064209167 Centerline is valid? [True, True] Translation: X:47.94, Y:3.09, Z:1.56 [[ 9.96883477e-01 -5.94140767e-02 -5.18970300e-02 4.79389154e+01] [ 5.92947938e-02 9.98233144e-01 -3.83645199e-03 3.08708255e+00] [ 5.20332746e-02 7.47271904e-04 9.98645072e-01 1.56317681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205099892999996 meters 0.016251896564292694 Centerline is valid? [True, True] Translation: X:48.00, Y:3.08, Z:1.56 [[ 9.96414733e-01 -6.50001182e-02 -5.41540847e-02 4.79982901e+01] [ 6.48782347e-02 9.97885141e-01 -4.00751228e-03 3.08316418e+00] [ 5.43000452e-02 4.79722853e-04 9.98524549e-01 1.56280114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26509989299999 meters 0.013998475521454003 Centerline is valid? [True, True] Translation: X:48.06, Y:3.08, Z:1.57 [[ 9.95851627e-01 -7.33354460e-02 -5.38650985e-02 4.80572688e+01] [ 7.32263134e-02 9.97307330e-01 -3.99951790e-03 3.07974239e+00] [ 5.40133640e-02 3.85838251e-05 9.98540212e-01 1.56654548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325099892999994 meters 0.01477449806772875 Centerline is valid? [True, True] Translation: X:48.12, Y:3.08, Z:1.57 [[ 9.95366481e-01 -8.15129473e-02 -5.10020435e-02 4.81165107e+01] [ 8.14252016e-02 9.96672214e-01 -3.79932427e-03 3.07717783e+00] [ 5.11420137e-02 -3.71131645e-04 9.98691322e-01 1.57059511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385099892999996 meters 0.0161186187102116 Centerline is valid? [True, True] Translation: X:48.18, Y:3.08, Z:1.57 [[ 9.94886869e-01 -8.76581828e-02 -5.01613387e-02 4.81774018e+01] [ 8.75806529e-02 9.96150390e-01 -3.74574080e-03 3.07647633e+00] [ 5.02965819e-02 -6.66574457e-04 9.98734104e-01 1.57456519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44509989299999 meters 0.017078086250932482 Centerline is valid? [True, True] Translation: X:48.24, Y:3.08, Z:1.58 [[ 9.94595006e-01 -9.09532839e-02 -5.00826736e-02 4.82387605e+01] [ 9.08802399e-02 9.95854812e-01 -3.73847217e-03 3.07569238e+00] [ 5.02150978e-02 -8.33259638e-04 9.98738079e-01 1.57642090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50509989299999 meters 0.015671552251434986 Centerline is valid? [True, True] Translation: X:48.30, Y:3.09, Z:1.58 [[ 9.96740921e-01 -5.88707498e-02 -5.51522550e-02 4.82990551e+01] [ 5.87331437e-02 9.98265242e-01 -4.11398517e-03 3.09439896e+00] [ 5.52987726e-02 8.61312053e-04 9.98469481e-01 1.57746427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.565099892999996 meters 0.017103279436547447 Centerline is valid? [True, True] Translation: X:48.36, Y:3.10, Z:1.58 [[ 9.96889494e-01 -5.48808572e-02 -5.65634812e-02 4.83585813e+01] [ 5.47297344e-02 9.98492293e-01 -4.21854838e-03 3.10007988e+00] [ 5.67097176e-02 1.10972226e-03 9.98390092e-01 1.57786517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62509989299999 meters 0.017128162240155766 Centerline is valid? [True, True] Translation: X:48.42, Y:3.10, Z:1.58 [[ 9.96903379e-01 -5.35061242e-02 -5.76259220e-02 4.84171550e+01] [ 5.33465906e-02 9.98566780e-01 -4.30434272e-03 3.10335974e+00] [ 5.77736400e-02 1.21686734e-03 9.98328967e-01 1.57912353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68509989299999 meters 0.016452480521528725 Centerline is valid? [True, True] Translation: X:48.48, Y:3.11, Z:1.58 [[ 9.96866753e-01 -5.66110837e-02 -5.52436613e-02 4.84762829e+01] [ 5.64685098e-02 9.98395799e-01 -4.13962756e-03 3.10648097e+00] [ 5.53893881e-02 1.00712986e-03 9.98464322e-01 1.58406530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.745099892999995 meters 0.014675395358820306 Centerline is valid? [True, True] Translation: X:48.54, Y:3.09, Z:1.59 [[ 9.95186930e-01 -8.23538926e-02 -5.31113143e-02 4.85378622e+01] [ 8.22582265e-02 9.96603069e-01 -3.98841952e-03 3.08768595e+00] [ 5.32593607e-02 -3.99619549e-04 9.98580633e-01 1.58799746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80509989299999 meters 0.015761383595507054 Centerline is valid? [True, True] Translation: X:48.60, Y:3.09, Z:1.59 [[ 9.95097993e-01 -8.33116661e-02 -5.32836792e-02 4.85971767e+01] [ 8.32166818e-02 9.96523438e-01 -4.00263204e-03 3.09107926e+00] [ 5.34319011e-02 -4.51079860e-04 9.98571394e-01 1.59029872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86509989299999 meters 0.014946903331442305 Centerline is valid? [True, True] Translation: X:48.66, Y:3.10, Z:1.60 [[ 9.95311094e-01 -8.19275975e-02 -5.14168792e-02 4.86560127e+01] [ 8.18372283e-02 9.96638218e-01 -3.86397585e-03 3.09752480e+00] [ 5.15605931e-02 -3.61956856e-04 9.98669802e-01 1.59507399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925099892999995 meters 0.015855215230346387 Centerline is valid? [True, True] Translation: X:48.72, Y:3.10, Z:1.60 [[ 9.95423045e-01 -8.02866678e-02 -5.18363973e-02 4.87166858e+01] [ 8.01925582e-02 9.96771776e-01 -3.89618112e-03 3.10233989e+00] [ 5.19818692e-02 -2.78544834e-04 9.98647990e-01 1.59644531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98509989299999 meters 0.016434911958146503 Centerline is valid? [True, True] Translation: X:48.78, Y:3.09, Z:1.60 [[ 9.94754506e-01 -8.89155933e-02 -5.05716274e-02 4.87774761e+01] [ 8.88371322e-02 9.96038911e-01 -3.80160086e-03 3.09253418e+00] [ 5.07093303e-02 -7.10978756e-04 9.98713201e-01 1.60051564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04509989299999 meters 0.018052685577573058 Centerline is valid? [True, True] Translation: X:48.84, Y:3.09, Z:1.60 [[ 9.93637764e-01 -1.00509908e-01 -5.08109420e-02 4.88389352e+01] [ 1.00445764e-01 9.94935199e-01 -3.82085842e-03 3.08564214e+00] [ 5.09376288e-02 -1.30719466e-03 9.98700981e-01 1.60078193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105099892999995 meters 0.022261669974527363 Centerline is valid? [True, True] Translation: X:48.90, Y:3.08, Z:1.60 [[ 9.92345425e-01 -1.12802979e-01 -5.02597814e-02 4.89006681e+01] [ 1.12755968e-01 9.93615525e-01 -3.77880479e-03 3.07843137e+00] [ 5.03651595e-02 -1.91721067e-03 9.98729030e-01 1.60414258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16509989299999 meters 0.023316460823328167 Centerline is valid? [True, True] Translation: X:48.96, Y:3.08, Z:1.61 [[ 9.92029090e-01 -1.14968632e-01 -5.15800137e-02 4.89612957e+01] [ 1.14922112e-01 9.93366941e-01 -3.87669767e-03 3.08024104e+00] [ 5.16835791e-02 -2.08188725e-03 9.98661341e-01 1.60536500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22509989299999 meters 0.0216497845693888 Centerline is valid? [True, True] Translation: X:49.02, Y:3.09, Z:1.61 [[ 9.91571955e-01 -1.18070964e-01 -5.33320366e-02 4.90218864e+01] [ 1.18025761e-01 9.93002447e-01 -4.00738893e-03 3.08619551e+00] [ 5.34319992e-02 -2.32093972e-03 9.98568793e-01 1.60724905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285099892999995 meters 0.02541358183220383 Centerline is valid? [True, True] Translation: X:49.08, Y:3.09, Z:1.61 [[ 9.91256270e-01 -1.20728519e-01 -5.32506574e-02 4.90817517e+01] [ 1.20687387e-01 9.92682508e-01 -3.99919647e-03 3.08641525e+00] [ 5.33438132e-02 -2.46245411e-03 9.98573169e-01 1.60789788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34509989299999 meters 0.023947749475330644 Centerline is valid? [True, True] Translation: X:49.14, Y:3.09, Z:1.61 [[ 9.91187393e-01 -1.21789841e-01 -5.21036199e-02 4.91434520e+01] [ 1.21752143e-01 9.92552838e-01 -3.90881601e-03 3.09261312e+00] [ 5.21916499e-02 -2.46935824e-03 9.98634034e-01 1.61193678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40509989299999 meters 0.023537740419904963 Centerline is valid? [True, True] Translation: X:49.21, Y:3.10, Z:1.62 [[ 9.91135766e-01 -1.22544669e-01 -5.13098272e-02 4.92053353e+01] [ 1.22509309e-01 9.92459914e-01 -3.84552928e-03 3.09926539e+00] [ 5.13941958e-02 -2.47448986e-03 9.98675379e-01 1.61504243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465099892999994 meters 0.024975581964493142 Centerline is valid? [True, True] Translation: X:49.27, Y:3.10, Z:1.62 [[ 9.91143854e-01 -1.22480961e-01 -5.13056908e-02 4.92663465e+01] [ 1.22445705e-01 9.92467778e-01 -3.84168191e-03 3.10255674e+00] [ 5.13897779e-02 -2.47450204e-03 9.98675607e-01 1.61681450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52509989299999 meters 0.02462904997704338 Centerline is valid? [True, True] Translation: X:49.33, Y:3.11, Z:1.62 [[ 9.91425933e-01 -1.20620136e-01 -5.02533849e-02 4.93271934e+01] [ 1.20584049e-01 9.92695999e-01 -3.76041282e-03 3.11188673e+00] [ 5.03399157e-02 -2.33158585e-03 9.98729421e-01 1.61998651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58509989299999 meters 0.023496655183474095 Centerline is valid? [True, True] Translation: X:49.39, Y:3.12, Z:1.62 [[ 9.91613187e-01 -1.19399830e-01 -4.94668412e-02 4.93886521e+01] [ 1.19363458e-01 9.92843734e-01 -3.69931903e-03 3.12308386e+00] [ 4.95545413e-02 -2.23623969e-03 9.98768916e-01 1.62324842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645099892999994 meters 0.021194048961174973 Centerline is valid? [True, True] Translation: X:49.45, Y:3.13, Z:1.63 [[ 9.91585052e-01 -1.19636059e-01 -4.94600744e-02 4.94503297e+01] [ 1.19600172e-01 9.92815262e-01 -3.69515678e-03 3.13021135e+00] [ 4.95467908e-02 -2.25137118e-03 9.98769266e-01 1.62841084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705099892999996 meters 0.024253862686559952 Centerline is valid? [True, True] Translation: X:49.51, Y:3.14, Z:1.63 [[ 9.91621839e-01 -1.18976775e-01 -5.03056267e-02 4.95110320e+01] [ 1.18938983e-01 9.92894466e-01 -3.75482157e-03 3.13536208e+00] [ 5.03949149e-02 -2.25993701e-03 9.98726812e-01 1.62700607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76509989299999 meters 0.025219225955002738 Centerline is valid? [True, True] Translation: X:49.57, Y:3.14, Z:1.63 [[ 9.91671009e-01 -1.18899350e-01 -4.95131727e-02 4.95720386e+01] [ 1.18862813e-01 9.92903822e-01 -3.69222289e-03 3.13977156e+00] [ 4.96008213e-02 -2.22380457e-03 9.98766646e-01 1.62983507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825099892999994 meters 0.024540422586411 Centerline is valid? [True, True] Translation: X:49.63, Y:3.15, Z:1.63 [[ 9.91672649e-01 -1.18860091e-01 -4.95745594e-02 4.96341186e+01] [ 1.18823677e-01 9.92908509e-01 -3.69151348e-03 3.14783576e+00] [ 4.96617754e-02 -2.22985848e-03 9.98763604e-01 1.63287014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885099892999996 meters 0.024320454570404416 Centerline is valid? [True, True] Translation: X:49.70, Y:3.15, Z:1.64 [[ 9.91586982e-01 -1.19425763e-01 -4.99273879e-02 4.96954930e+01] [ 1.19389714e-01 9.92840521e-01 -3.71439891e-03 3.15468923e+00] [ 5.00135287e-02 -2.27766697e-03 9.98745943e-01 1.63516623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94509989299999 meters 0.02427403510398116 Centerline is valid? [True, True] Translation: X:49.76, Y:3.16, Z:1.64 [[ 9.91310877e-01 -1.20814132e-01 -5.20258735e-02 4.97570661e+01] [ 1.20777068e-01 9.92672123e-01 -3.86729233e-03 3.16200181e+00] [ 5.21118579e-02 -2.44984353e-03 9.98638249e-01 1.63555476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00509989299999 meters 0.026905018780685918 Centerline is valid? [True, True] Translation: X:49.82, Y:3.16, Z:1.64 [[ 9.90963853e-01 -1.23277840e-01 -5.28508871e-02 4.98170536e+01] [ 1.23243309e-01 9.92368725e-01 -3.92440288e-03 3.16278607e+00] [ 5.29313593e-02 -2.62457681e-03 9.98594704e-01 1.63600596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.065099892999996 meters 0.025600918175931416 Centerline is valid? [True, True] Translation: X:49.88, Y:3.17, Z:1.64 [[ 9.90723792e-01 -1.25380865e-01 -5.24023539e-02 4.98781713e+01] [ 1.25350082e-01 9.92104960e-01 -3.88666262e-03 3.17485600e+00] [ 5.24759484e-02 -2.71803021e-03 9.98618489e-01 1.64070423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12509989299999 meters 0.025574566939439724 Centerline is valid? [True, True] Translation: X:49.94, Y:3.18, Z:1.65 [[ 9.90946058e-01 -1.24271008e-01 -5.08195469e-02 4.99397104e+01] [ 1.24240783e-01 9.92244954e-01 -3.76560970e-03 3.18264850e+00] [ 5.08933951e-02 -2.58234419e-03 9.98700753e-01 1.64525597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18509989299999 meters 0.023462440237022163 Centerline is valid? [True, True] Translation: X:50.00, Y:3.20, Z:1.65 [[ 9.91339749e-01 -1.21814320e-01 -4.90588784e-02 5.00006203e+01] [ 1.21783310e-01 9.92550067e-01 -3.63186796e-03 3.19527931e+00] [ 4.91358066e-02 -2.37413753e-03 9.98789285e-01 1.64900284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.245099892999995 meters 0.02377850720926479 Centerline is valid? [True, True] Translation: X:50.06, Y:3.20, Z:1.65 [[ 9.91491188e-01 -1.20796518e-01 -4.85121238e-02 5.00618745e+01] [ 1.20765110e-01 9.92674624e-01 -3.58869714e-03 3.20023101e+00] [ 4.85902563e-02 -2.30041039e-03 9.98816147e-01 1.65168464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30509989299999 meters 0.023608739012888735 Centerline is valid? [True, True] Translation: X:50.12, Y:3.21, Z:1.65 [[ 9.91881816e-01 -1.17764096e-01 -4.79800052e-02 5.01227225e+01] [ 1.17729949e-01 9.93039314e-01 -3.54690974e-03 3.20933439e+00] [ 4.80637301e-02 -2.13056831e-03 9.98841999e-01 1.65476403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36509989299999 meters 0.022523098157906683 Centerline is valid? [True, True] Translation: X:50.18, Y:3.22, Z:1.66 [[ 9.92118951e-01 -1.16044106e-01 -4.72625896e-02 5.01845782e+01] [ 1.16009122e-01 9.93242010e-01 -3.49182555e-03 3.21643831e+00] [ 4.73483952e-02 -2.01858522e-03 9.98876396e-01 1.65838125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.425099892999995 meters 0.022411490704241338 Centerline is valid? [True, True] Translation: X:50.25, Y:3.22, Z:1.66 [[ 9.92370741e-01 -1.13548064e-01 -4.80327898e-02 5.02458510e+01] [ 1.13509183e-01 9.93530622e-01 -3.54521281e-03 3.22496548e+00] [ 4.81245996e-02 -1.93399727e-03 9.98839468e-01 1.65918177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48509989299999 meters 0.02166729066592478 Centerline is valid? [True, True] Translation: X:50.31, Y:3.23, Z:1.66 [[ 9.92765302e-01 -1.10034248e-01 -4.80574599e-02 5.03056775e+01] [ 1.09991359e-01 9.93926225e-01 -3.54408785e-03 3.23290248e+00] [ 4.81555408e-02 -1.76745787e-03 9.98838285e-01 1.66119765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54509989299999 meters 0.020834868466862597 Centerline is valid? [True, True] Translation: X:50.37, Y:3.24, Z:1.66 [[ 9.93109772e-01 -1.07048194e-01 -4.76829718e-02 5.03666448e+01] [ 1.07002594e-01 9.94252527e-01 -3.51522863e-03 3.24399152e+00] [ 4.77852141e-02 -1.61119376e-03 9.98856335e-01 1.66316367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605099892999995 meters 0.019271230629890525 Centerline is valid? [True, True] Translation: X:50.43, Y:3.25, Z:1.67 [[ 9.93249620e-01 -1.05748198e-01 -4.76708600e-02 5.04287279e+01] [ 1.05701259e-01 9.94391730e-01 -3.51153904e-03 3.25238606e+00] [ 4.77748479e-02 -1.55103509e-03 9.98856926e-01 1.66635098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66509989299999 meters 0.01941183280412929 Centerline is valid? [True, True] Translation: X:50.49, Y:3.26, Z:1.67 [[ 9.93394636e-01 -1.03321529e-01 -4.99175111e-02 5.04905638e+01] [ 1.03267194e-01 9.94646869e-01 -3.67323605e-03 3.26064596e+00] [ 5.00298205e-02 -1.50586831e-03 9.98746589e-01 1.66608559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72509989299999 meters 0.017573599259079305 Centerline is valid? [True, True] Translation: X:50.55, Y:3.27, Z:1.67 [[ 9.93687900e-01 -1.00224334e-01 -5.03928653e-02 5.05519699e+01] [ 1.00165169e-01 9.94963927e-01 -3.70449528e-03 3.27002071e+00] [ 5.05103637e-02 -1.36649775e-03 9.98722602e-01 1.66808976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785099892999995 meters 0.01707081956683118 Centerline is valid? [True, True] Translation: X:50.61, Y:3.28, Z:1.67 [[ 9.94307003e-01 -9.51740476e-02 -4.79112076e-02 5.06131538e+01] [ 9.51148732e-02 9.95460085e-01 -3.51861236e-03 3.28100432e+00] [ 4.80285754e-02 -1.05848753e-03 9.98845401e-01 1.67357331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84509989299999 meters 0.017557561957899828 Centerline is valid? [True, True] Translation: X:50.67, Y:3.29, Z:1.68 [[ 9.94492726e-01 -9.31863925e-02 -4.79636676e-02 5.06742853e+01] [ 9.31249477e-02 9.95648212e-01 -3.51895136e-03 3.28660137e+00] [ 4.80828582e-02 -9.67042503e-04 9.98842882e-01 1.67521047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90509989299999 meters 0.016476650082919347 Centerline is valid? [True, True] Translation: X:50.74, Y:3.29, Z:1.68 [[ 9.94611160e-01 -9.26916350e-02 -4.64424565e-02 5.07360674e+01] [ 9.26336105e-02 9.95694442e-01 -3.40471022e-03 3.29099480e+00] [ 4.65580840e-02 -9.15769641e-04 9.98915165e-01 1.67891448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965099892999994 meters 0.016976247970351074 Centerline is valid? [True, True] Translation: X:50.80, Y:3.30, Z:1.68 [[ 9.94576807e-01 -9.32077361e-02 -4.61442543e-02 5.07977684e+01] [ 9.31511619e-02 9.95646242e-01 -3.37955396e-03 3.29507895e+00] [ 4.62583539e-02 -9.37164912e-04 9.98929070e-01 1.68203393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02509989299999 meters 0.017067333572176754 Centerline is valid? [True, True] Translation: X:50.86, Y:3.30, Z:1.68 [[ 9.94142255e-01 -9.69027012e-02 -4.78648373e-02 5.08600877e+01] [ 9.68462778e-02 9.95293190e-01 -3.50197868e-03 3.29605654e+00] [ 4.79788978e-02 -1.15406635e-03 9.98847683e-01 1.68329753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08509989299999 meters 0.018888376400765263 Centerline is valid? [True, True] Translation: X:50.92, Y:3.30, Z:1.69 [[ 9.93817389e-01 -1.00443420e-01 -4.73087425e-02 5.09222980e+01] [ 1.00392469e-01 9.94941906e-01 -3.45783667e-03 3.29721358e+00] [ 4.74167673e-02 -1.31298326e-03 9.98874330e-01 1.68572378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145099892999994 meters 0.019176154754331105 Centerline is valid? [True, True] Translation: X:50.98, Y:3.30, Z:1.69 [[ 9.93611986e-01 -1.03095857e-01 -4.58962413e-02 5.09832812e+01] [ 1.03050872e-01 9.94670441e-01 -3.35145798e-03 3.29613879e+00] [ 4.59971560e-02 -1.39959887e-03 9.98940590e-01 1.69088598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20509989299999 meters 0.01983753898845078 Centerline is valid? [True, True] Translation: X:51.05, Y:3.30, Z:1.69 [[ 9.93387311e-01 -1.04366137e-01 -4.78472607e-02 5.10451871e+01] [ 1.04318857e-01 9.94537776e-01 -3.49104408e-03 3.29825950e+00] [ 4.79502551e-02 -1.52341268e-03 9.98848563e-01 1.69088192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26509989299999 meters 0.02139026623270377 Centerline is valid? [True, True] Translation: X:51.11, Y:3.30, Z:1.69 [[ 9.93200636e-01 -1.06028294e-01 -4.80676342e-02 5.11071181e+01] [ 1.05982688e-01 9.94361802e-01 -3.50365968e-03 3.30125292e+00] [ 4.81681064e-02 -1.61450005e-03 9.98837938e-01 1.69325197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325099892999994 meters 0.021197391069855253 Centerline is valid? [True, True] Translation: X:51.17, Y:3.30, Z:1.70 [[ 9.92937328e-01 -1.08005252e-01 -4.90950854e-02 5.11689582e+01] [ 1.07960255e-01 9.94148782e-01 -3.57516333e-03 3.30208125e+00] [ 4.91939558e-02 -1.75040479e-03 9.98787711e-01 1.69512455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385099892999996 meters 0.01861314754077443 Centerline is valid? [True, True] Translation: X:51.23, Y:3.31, Z:1.70 [[ 9.92970929e-01 -1.07842522e-01 -4.87721653e-02 5.12308942e+01] [ 1.07798057e-01 9.94166477e-01 -3.54880763e-03 3.30758228e+00] [ 4.88703642e-02 -1.73368187e-03 9.98803625e-01 1.69991819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44509989299999 meters 0.020230544249280516 Centerline is valid? [True, True] Translation: X:51.29, Y:3.31, Z:1.70 [[ 9.93123023e-01 -1.06480121e-01 -4.86687283e-02 5.12926998e+01] [ 1.06434387e-01 9.94313434e-01 -3.53770388e-03 3.31199966e+00] [ 4.87686656e-02 -1.66665108e-03 9.98808710e-01 1.69954476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50509989299999 meters 0.01967626717373127 Centerline is valid? [True, True] Translation: X:51.35, Y:3.32, Z:1.70 [[ 9.93258007e-01 -1.05190217e-01 -4.87190925e-02 5.13542504e+01] [ 1.05143012e-01 9.94450819e-01 -3.53780760e-03 3.31712858e+00] [ 4.88208842e-02 -1.60851640e-03 9.98806254e-01 1.70120959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.565099892999996 meters 0.02084606773169541 Centerline is valid? [True, True] Translation: X:51.42, Y:3.32, Z:1.70 [[ 9.93271019e-01 -1.05148471e-01 -4.85436089e-02 5.14169655e+01] [ 1.05101746e-01 9.94455240e-01 -3.52115382e-03 3.32127766e+00] [ 4.86446901e-02 -1.60455803e-03 9.98814857e-01 1.70337482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62509989299999 meters 0.020684096238650116 Centerline is valid? [True, True] Translation: X:51.48, Y:3.32, Z:1.70 [[ 9.92994874e-01 -1.07227643e-01 -4.96327849e-02 5.14791168e+01] [ 1.07181641e-01 9.94232956e-01 -3.59512635e-03 3.32403129e+00] [ 4.97320474e-02 -1.74978130e-03 9.98761063e-01 1.70479132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68509989299999 meters 0.020565614290795547 Centerline is valid? [True, True] Translation: X:51.54, Y:3.33, Z:1.71 [[ 9.93153200e-01 -1.05845067e-01 -4.94322045e-02 5.15406233e+01] [ 1.05797906e-01 9.94381219e-01 -3.57697021e-03 3.32818215e+00] [ 4.95330604e-02 -1.67734433e-03 9.98771076e-01 1.70735391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.745099892999995 meters 0.016937253774309362 Centerline is valid? [True, True] Translation: X:51.60, Y:3.34, Z:1.72 [[ 9.93816736e-01 -1.01033566e-01 -4.60490281e-02 5.16007891e+01] [ 1.00987601e-01 9.94882113e-01 -3.32947702e-03 3.33794246e+00] [ 4.61497433e-02 -1.34149091e-03 9.98933632e-01 1.71639033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80509989299999 meters 0.017544696515570505 Centerline is valid? [True, True] Translation: X:51.66, Y:3.35, Z:1.72 [[ 9.94395244e-01 -9.55015394e-02 -4.53602745e-02 5.16615564e+01] [ 9.54512312e-02 9.95428708e-01 -3.27871929e-03 3.34617162e+00] [ 4.54660422e-02 -1.06935118e-03 9.98965312e-01 1.71769443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86509989299999 meters 0.014453977216622477 Centerline is valid? [True, True] Translation: X:51.72, Y:3.36, Z:1.72 [[ 9.95051403e-01 -8.77427262e-02 -4.66253138e-02 5.17224772e+01] [ 8.76811462e-02 9.96142897e-01 -3.36825404e-03 3.35898303e+00] [ 4.67410149e-02 -7.36575049e-04 9.98906770e-01 1.72212968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925099892999995 meters 0.015733983443773185 Centerline is valid? [True, True] Translation: X:51.78, Y:3.37, Z:1.72 [[ 9.95397612e-01 -8.24775297e-02 -4.87960072e-02 5.17847662e+01] [ 8.24039135e-02 9.96592791e-01 -3.52186189e-03 3.36759613e+00] [ 4.89202234e-02 -5.15329039e-04 9.98802556e-01 1.72163633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98509989299999 meters 0.013997385122179547 Centerline is valid? [True, True] Translation: X:51.85, Y:3.37, Z:1.72 [[ 9.95843761e-01 -7.68572567e-02 -4.88688532e-02 5.18451993e+01] [ 7.67768541e-02 9.97042077e-01 -3.52305489e-03 3.37432980e+00] [ 4.89950752e-02 -2.43584584e-04 9.98798990e-01 1.72333782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04509989299999 meters 0.015278375969559244 Centerline is valid? [True, True] Translation: X:51.91, Y:3.38, Z:1.73 [[ 9.96415273e-01 -6.97983752e-02 -4.77994862e-02 5.19070899e+01] [ 6.97134649e-02 9.97561114e-01 -3.44321161e-03 3.38336951e+00] [ 4.79232393e-02 9.86008335e-05 9.98851017e-01 1.72561784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105099892999995 meters 0.015690935225689765 Centerline is valid? [True, True] Translation: X:51.97, Y:3.39, Z:1.73 [[ 9.96587175e-01 -6.76947790e-02 -4.72379120e-02 5.19684697e+01] [ 6.76096443e-02 9.97706059e-01 -3.39953206e-03 3.38722135e+00] [ 4.73596816e-02 1.94191623e-04 9.98877882e-01 1.72541652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16509989299999 meters 0.014869343288529452 Centerline is valid? [True, True] Translation: X:52.03, Y:3.39, Z:1.73 [[ 9.96440437e-01 -7.09163478e-02 -4.55776960e-02 5.20304075e+01] [ 7.08405722e-02 9.97482266e-01 -3.27766691e-03 3.38677381e+00] [ 4.56953836e-02 3.72497870e-05 9.98955420e-01 1.72938160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22509989299999 meters 0.014420825107726446 Centerline is valid? [True, True] Translation: X:52.09, Y:3.39, Z:1.73 [[ 9.95959995e-01 -7.68075100e-02 -4.65219904e-02 5.20924233e+01] [ 7.67351080e-02 9.97045911e-01 -3.34285103e-03 3.38593376e+00] [ 4.66413164e-02 -2.40524061e-04 9.98911673e-01 1.73142401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285099892999995 meters 0.016859999372347282 Centerline is valid? [True, True] Translation: X:52.16, Y:3.38, Z:1.73 [[ 9.95227077e-01 -8.58666625e-02 -4.63678828e-02 5.21553423e+01] [ 8.58047142e-02 9.96306415e-01 -3.32841883e-03 3.38138102e+00] [ 4.64824193e-02 -6.66050391e-04 9.98918886e-01 1.73203609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34509989299999 meters 0.01664602047505881 Centerline is valid? [True, True] Translation: X:52.22, Y:3.39, Z:1.73 [[ 9.96628222e-01 -6.77736896e-02 -4.62483910e-02 5.22164730e+01] [ 6.76927042e-02 9.97700705e-01 -3.31683732e-03 3.38903631e+00] [ 4.63668466e-02 1.74975022e-04 9.98924464e-01 1.73394396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40509989299999 meters 0.015102593918557047 Centerline is valid? [True, True] Translation: X:52.28, Y:3.40, Z:1.74 [[ 9.97092053e-01 -6.13186846e-02 -4.52488287e-02 5.22772168e+01] [ 6.12345920e-02 9.98118131e-01 -3.24352662e-03 3.39769472e+00] [ 4.53625651e-02 4.63301056e-04 9.98970482e-01 1.73913110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465099892999994 meters 0.01649338787059167 Centerline is valid? [True, True] Translation: X:52.34, Y:3.40, Z:1.74 [[ 9.97151452e-01 -5.94118065e-02 -4.64674054e-02 5.23373892e+01] [ 5.93211156e-02 9.98233399e-01 -3.32949464e-03 3.40101687e+00] [ 4.65831273e-02 5.63512091e-04 9.98914258e-01 1.73983442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52509989299999 meters 0.015253064802591799 Centerline is valid? [True, True] Translation: X:52.40, Y:3.40, Z:1.74 [[ 9.96823219e-01 -6.53911441e-02 -4.54694249e-02 5.23966477e+01] [ 6.53105103e-02 9.97859670e-01 -3.25828414e-03 3.40145573e+00] [ 4.55851683e-02 2.78301938e-04 9.98960417e-01 1.74427496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58509989299999 meters 0.015349248677053116 Centerline is valid? [True, True] Translation: X:52.46, Y:3.40, Z:1.75 [[ 9.96432403e-01 -7.07326172e-02 -4.60365337e-02 5.24575429e+01] [ 7.06555913e-02 9.97495311e-01 -3.30027734e-03 3.40185691e+00] [ 4.61546637e-02 3.57647707e-05 9.98934305e-01 1.74611233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645099892999994 meters 0.01540148997942301 Centerline is valid? [True, True] Translation: X:52.52, Y:3.40, Z:1.75 [[ 9.95916706e-01 -7.73642453e-02 -4.65262161e-02 5.25194257e+01] [ 7.72928162e-02 9.97002858e-01 -3.33503822e-03 3.40038429e+00] [ 4.66447831e-02 -2.74721989e-04 9.98911502e-01 1.74725280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70509989299999 meters 0.014652101768482017 Centerline is valid? [True, True] Translation: X:52.58, Y:3.40, Z:1.75 [[ 9.95263344e-01 -8.59345641e-02 -4.54546574e-02 5.25821348e+01] [ 8.58754036e-02 9.96300563e-01 -3.25628155e-03 3.39737652e+00] [ 4.55663279e-02 -6.62579385e-04 9.98961096e-01 1.74992794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76509989299999 meters 0.018476462147544583 Centerline is valid? [True, True] Translation: X:52.64, Y:3.39, Z:1.75 [[ 9.94380938e-01 -9.57055796e-02 -4.52437013e-02 5.26438703e+01] [ 9.56571996e-02 9.95409069e-01 -3.23815321e-03 3.39474508e+00] [ 4.53458999e-02 -1.10792794e-03 9.98970731e-01 1.75012153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825099892999994 meters 0.018335107229130326 Centerline is valid? [True, True] Translation: X:52.70, Y:3.41, Z:1.75 [[ 9.94344176e-01 -9.50456838e-02 -4.73917510e-02 5.27041505e+01] [ 9.49919465e-02 9.95472269e-01 -3.38991153e-03 3.41489376e+00] [ 4.74993704e-02 -1.13109589e-03 9.98870627e-01 1.74963343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88509989299999 meters 0.01812112293163069 Centerline is valid? [True, True] Translation: X:52.77, Y:3.42, Z:1.75 [[ 9.94694311e-01 -9.08696004e-02 -4.82280377e-02 5.27654763e+01] [ 9.08091816e-02 9.95862346e-01 -3.44689851e-03 3.42409316e+00] [ 4.83417050e-02 -9.50938290e-04 9.98830404e-01 1.74991605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94509989299999 meters 0.017740760405652388 Centerline is valid? [True, True] Translation: X:52.83, Y:3.43, Z:1.75 [[ 9.94800460e-01 -8.98807043e-02 -4.78905414e-02 5.28276173e+01] [ 8.98201544e-02 9.95952132e-01 -3.41921743e-03 3.43326297e+00] [ 4.80040085e-02 -9.00096755e-04 9.98846737e-01 1.75323642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00509989299999 meters 0.016003031183101063 Centerline is valid? [True, True] Translation: X:52.89, Y:3.44, Z:1.76 [[ 9.94801238e-01 -9.05731377e-02 -4.65510939e-02 5.28900240e+01] [ 9.05168864e-02 9.95889389e-01 -3.31928146e-03 3.44001761e+00] [ 4.66603782e-02 -9.11634775e-04 9.98910395e-01 1.75872432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.065099892999996 meters 0.017025079733097383 Centerline is valid? [True, True] Translation: X:52.95, Y:3.44, Z:1.76 [[ 9.94756879e-01 -9.10530791e-02 -4.65627436e-02 5.29520684e+01] [ 9.09975452e-02 9.95845598e-01 -3.31539717e-03 3.44477761e+00] [ 4.66711803e-02 -9.39081225e-04 9.98909865e-01 1.76038231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12509989299999 meters 0.01890486514950549 Centerline is valid? [True, True] Translation: X:53.01, Y:3.44, Z:1.76 [[ 9.94169269e-01 -9.58432570e-02 -4.94118933e-02 5.30130515e+01] [ 9.57867761e-02 9.95395668e-01 -3.51522196e-03 3.44385689e+00] [ 4.95212949e-02 -1.23828031e-03 9.98772300e-01 1.75956025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18509989299999 meters 0.017439214425317037 Centerline is valid? [True, True] Translation: X:53.08, Y:3.45, Z:1.76 [[ 9.94103361e-01 -9.67130518e-02 -4.90417441e-02 5.30754119e+01] [ 9.66585468e-02 9.95311491e-01 -3.48734573e-03 3.44676209e+00] [ 4.91490833e-02 -1.27352160e-03 9.98790642e-01 1.76349271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.245099892999995 meters 0.019545590770758514 Centerline is valid? [True, True] Translation: X:53.14, Y:3.45, Z:1.76 [[ 9.93999776e-01 -9.75562013e-02 -4.94695060e-02 5.31374464e+01] [ 9.75019654e-02 9.95229128e-01 -3.51411088e-03 3.45001056e+00] [ 4.95763167e-02 -1.33034864e-03 9.98769452e-01 1.76401982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30509989299999 meters 0.018822488056048886 Centerline is valid? [True, True] Translation: X:53.20, Y:3.45, Z:1.77 [[ 9.94042657e-01 -9.81992874e-02 -4.72873748e-02 5.31998070e+01] [ 9.81506142e-02 9.95165914e-01 -3.35578441e-03 3.45452672e+00] [ 4.73883192e-02 -1.30549203e-03 9.98875689e-01 1.76796067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36509989299999 meters 0.01945604734281829 Centerline is valid? [True, True] Translation: X:53.26, Y:3.46, Z:1.77 [[ 9.94159748e-01 -9.76806808e-02 -4.58789716e-02 5.32624703e+01] [ 9.76344770e-02 9.95217027e-01 -3.25224609e-03 3.45737491e+00] [ 4.59772154e-02 -1.24611725e-03 9.98941711e-01 1.77024463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.425099892999995 meters 0.018676834129254808 Centerline is valid? [True, True] Translation: X:53.32, Y:3.46, Z:1.77 [[ 9.94282019e-01 -9.72356624e-02 -4.41417269e-02 5.33247321e+01] [ 9.71926476e-02 9.95260682e-01 -3.12470269e-03 3.46185595e+00] [ 4.42363578e-02 -1.18341560e-03 9.99020392e-01 1.77480057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48509989299999 meters 0.01861024563796593 Centerline is valid? [True, True] Translation: X:53.39, Y:3.47, Z:1.78 [[ 9.94126675e-01 -9.83459273e-02 -4.51689252e-02 5.33867866e+01] [ 9.83021838e-02 9.95151485e-01 -3.19406427e-03 3.46561116e+00] [ 4.52640462e-02 -1.26489949e-03 9.98974257e-01 1.77623853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54509989299999 meters 0.01923438202890998 Centerline is valid? [True, True] Translation: X:53.45, Y:3.47, Z:1.78 [[ 9.93689217e-01 -1.00983130e-01 -4.88277258e-02 5.34486471e+01] [ 1.00935378e-01 9.94887006e-01 -3.44899301e-03 3.47139933e+00] [ 4.89263600e-02 -1.50121781e-03 9.98801260e-01 1.77660056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605099892999995 meters 0.019267469508368662 Centerline is valid? [True, True] Translation: X:53.51, Y:3.48, Z:1.78 [[ 9.93764676e-01 -9.98714750e-02 -4.95727432e-02 5.35104165e+01] [ 9.98210587e-02 9.94999257e-01 -3.49791670e-03 3.47803445e+00] [ 4.96741847e-02 -1.47229765e-03 9.98764390e-01 1.77797751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66509989299999 meters 0.018182262861390346 Centerline is valid? [True, True] Translation: X:53.57, Y:3.48, Z:1.78 [[ 9.94309710e-01 -9.49225535e-02 -4.83519365e-02 5.35712674e+01] [ 9.48688935e-02 9.95483940e-01 -3.40866493e-03 3.48246301e+00] [ 4.84571354e-02 -1.19782607e-03 9.98824545e-01 1.78028690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72509989299999 meters 0.016744460887619377 Centerline is valid? [True, True] Translation: X:53.63, Y:3.49, Z:1.79 [[ 9.94922706e-01 -8.89865444e-02 -4.70128151e-02 5.36322592e+01] [ 8.89292797e-02 9.96032435e-01 -3.31239347e-03 3.49420148e+00] [ 4.71210472e-02 -8.85240308e-04 9.98888794e-01 1.78557731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785099892999995 meters 0.01705840028469362 Centerline is valid? [True, True] Translation: X:53.69, Y:3.50, Z:1.79 [[ 9.94832076e-01 -8.97760071e-02 -4.74279350e-02 5.36941763e+01] [ 8.97187560e-02 9.95961544e-01 -3.33884154e-03 3.49769715e+00] [ 4.75361472e-02 -9.33588670e-04 9.98869082e-01 1.78857348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84509989299999 meters 0.018289752434721987 Centerline is valid? [True, True] Translation: X:53.76, Y:3.50, Z:1.79 [[ 9.94652594e-01 -9.13608616e-02 -4.81602521e-02 5.37559092e+01] [ 9.13038791e-02 9.95817320e-01 -3.38636182e-03 3.50016745e+00] [ 4.82681941e-02 -1.02896427e-03 9.98833881e-01 1.78968549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90509989299999 meters 0.01637607152708483 Centerline is valid? [True, True] Translation: X:53.82, Y:3.50, Z:1.79 [[ 9.94678025e-01 -9.19145335e-02 -4.65547511e-02 5.38185830e+01] [ 9.18621408e-02 9.95766371e-01 -3.26816868e-03 3.50293487e+00] [ 4.66580478e-02 -1.02584353e-03 9.98910393e-01 1.79414701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965099892999994 meters 0.018798630100826424 Centerline is valid? [True, True] Translation: X:53.88, Y:3.51, Z:1.79 [[ 9.94589267e-01 -9.21338113e-02 -4.79953203e-02 5.38807919e+01] [ 9.20786222e-02 9.95746056e-01 -3.36428453e-03 3.50747044e+00] [ 4.81011153e-02 -1.07326168e-03 9.98841895e-01 1.79405457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02509989299999 meters 0.02165424489761331 Centerline is valid? [True, True] Translation: X:53.94, Y:3.50, Z:1.80 [[ 9.93612843e-01 -1.02966990e-01 -4.61661829e-02 5.39408414e+01] [ 1.02927709e-01 9.94683583e-01 -3.23355637e-03 3.49929942e+00] [ 4.62536938e-02 -1.53887631e-03 9.98928540e-01 1.79650922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08509989299999 meters 0.02037639390444309 Centerline is valid? [True, True] Translation: X:54.00, Y:3.50, Z:1.80 [[ 9.93469420e-01 -1.04155531e-01 -4.65847365e-02 5.40026405e+01] [ 1.04116836e-01 9.94559721e-01 -3.26292959e-03 3.49904925e+00] [ 4.66711547e-02 -1.60863461e-03 9.98909013e-01 1.79793748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145099892999994 meters 0.021193665589251225 Centerline is valid? [True, True] Translation: X:54.06, Y:3.50, Z:1.80 [[ 9.93556730e-01 -1.03046039e-01 -4.71862135e-02 5.40642134e+01] [ 1.03005220e-01 9.94675334e-01 -3.30230345e-03 3.50444895e+00] [ 4.72752519e-02 -1.57940049e-03 9.98880652e-01 1.79915604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20509989299999 meters 0.019170819578888647 Centerline is valid? [True, True] Translation: X:54.13, Y:3.51, Z:1.81 [[ 9.93623750e-01 -1.03206797e-01 -4.53894244e-02 5.41261680e+01] [ 1.03169338e-01 9.94658744e-01 -3.17340291e-03 3.50805173e+00] [ 4.54745046e-02 -1.52962835e-03 9.98964329e-01 1.80506161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26509989299999 meters 0.021809690740571253 Centerline is valid? [True, True] Translation: X:54.19, Y:3.51, Z:1.81 [[ 9.93610446e-01 -1.03295712e-01 -4.54783239e-02 5.41876380e+01] [ 1.03258340e-01 9.94649499e-01 -3.17650470e-03 3.50988692e+00] [ 4.55631114e-02 -1.53980801e-03 9.98960275e-01 1.80507794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325099892999994 meters 0.020681896651460526 Centerline is valid? [True, True] Translation: X:54.25, Y:3.52, Z:1.81 [[ 9.93526894e-01 -1.03544976e-01 -4.67199026e-02 5.42493816e+01] [ 1.03505940e-01 9.94623491e-01 -3.26050873e-03 3.51642577e+00] [ 4.68063219e-02 -1.59638433e-03 9.98902708e-01 1.80758191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38509989299999 meters 0.02031524670315182 Centerline is valid? [True, True] Translation: X:54.31, Y:3.52, Z:1.81 [[ 9.93442075e-01 -1.03503491e-01 -4.85785065e-02 5.43115681e+01] [ 1.03461416e-01 9.94627702e-01 -3.38659124e-03 3.52276878e+00] [ 4.86680523e-02 -1.66161883e-03 9.98813626e-01 1.80927313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44509989299999 meters 0.019048751003563846 Centerline is valid? [True, True] Translation: X:54.37, Y:3.53, Z:1.82 [[ 9.93785132e-01 -1.01245288e-01 -4.62655672e-02 5.43713868e+01] [ 1.01204844e-01 9.94860392e-01 -3.22178623e-03 3.52849765e+00] [ 4.63539710e-02 -1.48053625e-03 9.98923980e-01 1.81551093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50509989299999 meters 0.019617214355271192 Centerline is valid? [True, True] Translation: X:54.43, Y:3.53, Z:1.82 [[ 9.93918276e-01 -9.99749185e-02 -4.61679045e-02 5.44332232e+01] [ 9.99334909e-02 9.94988940e-01 -3.21035262e-03 3.53426272e+00] [ 4.62575091e-02 -1.42289172e-03 9.98928535e-01 1.81550410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56509989299999 meters 0.018727509682728714 Centerline is valid? [True, True] Translation: X:54.49, Y:3.54, Z:1.82 [[ 9.94033087e-01 -9.91444304e-02 -4.54819028e-02 5.44941510e+01] [ 9.91035013e-02 9.95072115e-01 -3.15947018e-03 3.53753494e+00] [ 4.55710171e-02 -1.36679792e-03 9.98960167e-01 1.81925753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62509989299999 meters 0.018601482119813193 Centerline is valid? [True, True] Translation: X:54.56, Y:3.54, Z:1.82 [[ 9.94123813e-01 -9.83435765e-02 -4.52369982e-02 5.45559891e+01] [ 9.83023773e-02 9.95151639e-01 -3.13984738e-03 3.54109195e+00] [ 4.53264567e-02 -1.32550742e-03 9.98971349e-01 1.82155031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68509989299999 meters 0.01799361869104067 Centerline is valid? [True, True] Translation: X:54.62, Y:3.54, Z:1.82 [[ 9.94162067e-01 -9.73809029e-02 -4.64622790e-02 5.46182785e+01] [ 9.73365516e-02 9.95246310e-01 -3.22147179e-03 3.54452069e+00] [ 4.65551216e-02 -1.31981296e-03 9.98914851e-01 1.82252862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.745099892999995 meters 0.015483623913452139 Centerline is valid? [True, True] Translation: X:54.68, Y:3.55, Z:1.83 [[ 9.94658403e-01 -9.12125016e-02 -4.83212261e-02 5.46795133e+01] [ 9.11574227e-02 9.95830870e-01 -3.34694217e-03 3.55078219e+00] [ 4.84250516e-02 -1.07577428e-03 9.98826240e-01 1.82649130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80509989299999 meters 0.017275996724642438 Centerline is valid? [True, True] Translation: X:54.74, Y:3.55, Z:1.83 [[ 9.94871648e-01 -8.86031911e-02 -4.87839908e-02 5.47418238e+01] [ 8.85440595e-02 9.96066540e-01 -3.37609806e-03 3.55443789e+00] [ 4.88912340e-02 -9.60748349e-04 9.98803646e-01 1.82583116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86509989299999 meters 0.01644673323405853 Centerline is valid? [True, True] Translation: X:54.80, Y:3.56, Z:1.83 [[ 9.95196300e-01 -8.59530041e-02 -4.68658300e-02 5.48039463e+01] [ 8.58956497e-02 9.96298871e-01 -3.24006131e-03 3.55925018e+00] [ 4.69708665e-02 -8.01073894e-04 9.98895939e-01 1.82991044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.925099892999995 meters 0.015810904229701432 Centerline is valid? [True, True] Translation: X:54.87, Y:3.56, Z:1.83 [[ 9.95502813e-01 -8.36423177e-02 -4.44759814e-02 5.48652698e+01] [ 8.35884989e-02 9.96495623e-01 -3.07171874e-03 3.56336518e+00] [ 4.45770465e-02 -6.59775873e-04 9.99005732e-01 1.83471534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98509989299999 meters 0.017785731235066483 Centerline is valid? [True, True] Translation: X:54.93, Y:3.56, Z:1.83 [[ 9.95094774e-01 -8.78474635e-02 -4.54886223e-02 5.49276701e+01] [ 8.77957007e-02 9.96133558e-01 -3.13844276e-03 3.55550653e+00] [ 4.55884475e-02 -8.70657490e-04 9.98959927e-01 1.83467457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04509989299999 meters 0.01910988585787023 Centerline is valid? [True, True] Translation: X:54.99, Y:3.55, Z:1.84 [[ 9.94572312e-01 -9.32401162e-02 -4.61757156e-02 5.49886425e+01] [ 9.31926862e-02 9.95643002e-01 -3.18357464e-03 3.55075234e+00] [ 4.62713650e-02 -1.13694378e-03 9.98928260e-01 1.83565069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105099892999995 meters 0.019024591307156953 Centerline is valid? [True, True] Translation: X:55.05, Y:3.55, Z:1.84 [[ 9.94293230e-01 -9.56240610e-02 -4.72970575e-02 5.50513933e+01] [ 9.55770606e-02 9.95416697e-01 -3.25945625e-03 3.55025088e+00] [ 4.73919632e-02 -1.27965845e-03 9.98875550e-01 1.83696289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16509989299999 meters 0.018309755937517328 Centerline is valid? [True, True] Translation: X:55.11, Y:3.55, Z:1.84 [[ 9.94208661e-01 -9.66088979e-02 -4.70729122e-02 5.51132281e+01] [ 9.65636055e-02 9.95321540e-01 -3.24059124e-03 3.55315658e+00] [ 4.71657534e-02 -1.32370624e-03 9.98886199e-01 1.84006401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22509989299999 meters 0.01942886307900565 Centerline is valid? [True, True] Translation: X:55.18, Y:3.55, Z:1.84 [[ 9.94149131e-01 -9.76148105e-02 -4.62477464e-02 5.51753246e+01] [ 9.75723337e-02 9.95223354e-01 -3.18044388e-03 3.55481561e+00] [ 4.63372957e-02 -1.35066503e-03 9.98924937e-01 1.84326873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285099892999995 meters 0.019107975956091875 Centerline is valid? [True, True] Translation: X:55.24, Y:3.56, Z:1.85 [[ 9.94552591e-01 -9.38832838e-02 -4.52887689e-02 5.52367294e+01] [ 9.38388184e-02 9.95582540e-01 -3.11154693e-03 3.55506741e+00] [ 4.53808299e-02 -1.15524750e-03 9.98969091e-01 1.84715280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34509989299999 meters 0.019107975956091875 Centerline is valid? [True, True] Translation: X:55.30, Y:3.56, Z:1.85 [[ 9.94559383e-01 -9.38112463e-02 -4.52889019e-02 5.52982625e+01] [ 9.37667944e-02 9.95589332e-01 -3.10961119e-03 3.55923337e+00] [ 4.53808641e-02 -1.15390217e-03 9.98969091e-01 1.84945478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40509989299999 meters 0.018357839268630858 Centerline is valid? [True, True] Translation: X:55.36, Y:3.56, Z:1.85 [[ 9.94671457e-01 -9.23986160e-02 -4.57295043e-02 5.53604084e+01] [ 9.23519576e-02 9.95721486e-01 -3.13650915e-03 3.56393826e+00] [ 4.58236590e-02 -1.10341311e-03 9.98948935e-01 1.85134420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465099892999994 meters 0.017662945961795216 Centerline is valid? [True, True] Translation: X:55.42, Y:3.57, Z:1.85 [[ 9.94787963e-01 -9.09928469e-02 -4.60131612e-02 5.54224162e+01] [ 9.09442610e-02 9.95850994e-01 -3.15259682e-03 3.56839664e+00] [ 4.61091161e-02 -1.04846757e-03 9.98935859e-01 1.85351873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52509989299999 meters 0.017942686314913872 Centerline is valid? [True, True] Translation: X:55.48, Y:3.57, Z:1.86 [[ 9.94897979e-01 -8.94418695e-02 -4.66707963e-02 5.54849024e+01] [ 8.93903478e-02 9.95991548e-01 -3.19406742e-03 3.57311592e+00] [ 4.67694020e-02 -9.94147492e-04 9.98905218e-01 1.85500561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58509989299999 meters 0.017082097929107004 Centerline is valid? [True, True] Translation: X:55.55, Y:3.58, Z:1.86 [[ 9.95534476e-01 -8.25506206e-02 -4.57875754e-02 5.55456008e+01] [ 8.24939094e-02 9.96586653e-01 -3.13001631e-03 3.58200514e+00] [ 4.58896714e-02 -6.61156953e-04 9.98946295e-01 1.85818676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645099892999994 meters 0.01752340378154489 Centerline is valid? [True, True] Translation: X:55.61, Y:3.59, Z:1.86 [[ 9.95525090e-01 -8.28677954e-02 -4.54172244e-02 5.56075517e+01] [ 8.28124169e-02 9.96560323e-01 -3.10274767e-03 3.58680231e+00] [ 4.55181217e-02 -6.72246963e-04 9.98963287e-01 1.86101442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70509989299999 meters 0.017052521378968035 Centerline is valid? [True, True] Translation: X:55.67, Y:3.59, Z:1.86 [[ 9.95377861e-01 -8.49340251e-02 -4.48232744e-02 5.56690682e+01] [ 8.48823198e-02 9.96386288e-01 -3.05903664e-03 3.58842426e+00] [ 4.49211122e-02 -7.59806164e-04 9.98990248e-01 1.86333823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76509989299999 meters 0.017528517777281687 Centerline is valid? [True, True] Translation: X:55.73, Y:3.59, Z:1.87 [[ 9.95147276e-01 -8.80499712e-02 -4.39215445e-02 5.57312729e+01] [ 8.80034664e-02 9.96115666e-01 -2.99502007e-03 3.59075204e+00] [ 4.40146499e-02 -8.84762096e-04 9.99030494e-01 1.86676021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825099892999994 meters 0.018501762598663672 Centerline is valid? [True, True] Translation: X:55.79, Y:3.59, Z:1.87 [[ 9.94995047e-01 -8.98220025e-02 -4.37820097e-02 5.57928996e+01] [ 8.97776392e-02 9.95957369e-01 -2.98248118e-03 3.59399044e+00] [ 4.38729076e-02 -9.63091461e-04 9.99036656e-01 1.86901732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88509989299999 meters 0.017480256091217016 Centerline is valid? [True, True] Translation: X:55.85, Y:3.60, Z:1.87 [[ 9.94842640e-01 -9.15358606e-02 -4.36956241e-02 5.58543504e+01] [ 9.14934267e-02 9.95801239e-01 -2.97423701e-03 3.59782235e+00] [ 4.37844060e-02 -1.03896458e-03 9.99040463e-01 1.87255622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94509989299999 meters 0.019246928704265594 Centerline is valid? [True, True] Translation: X:55.92, Y:3.60, Z:1.87 [[ 9.94431179e-01 -9.49735653e-02 -4.56798966e-02 5.59163802e+01] [ 9.49309368e-02 9.95479014e-01 -3.10656971e-03 3.60094748e+00] [ 4.57684204e-02 -1.24716560e-03 9.98951298e-01 1.87299519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00509989299999 meters 0.01587009992557523 Centerline is valid? [True, True] Translation: X:55.97, Y:3.65, Z:1.88 [[ 9.95374978e-01 -8.39859188e-02 -4.66371039e-02 5.59738094e+01] [ 8.39295628e-02 9.96466652e-01 -3.16873418e-03 3.65380862e+00] [ 4.67384479e-02 -7.60153031e-04 9.98906872e-01 1.87831786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06509989299999 meters 0.016001475533936885 Centerline is valid? [True, True] Translation: X:56.04, Y:3.66, Z:1.88 [[ 9.95355709e-01 -8.38295986e-02 -4.73245254e-02 5.60357664e+01] [ 8.37714587e-02 9.96479810e-01 -3.21403956e-03 3.66114130e+00] [ 4.74273658e-02 -7.65331896e-04 9.98874396e-01 1.88087618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12509989299999 meters 0.01614490050454444 Centerline is valid? [True, True] Translation: X:56.10, Y:3.67, Z:1.88 [[ 9.95323915e-01 -8.38772223e-02 -4.79052814e-02 5.60975625e+01] [ 8.38178681e-02 9.96475791e-01 -3.25001390e-03 3.66958046e+00] [ 4.80090553e-02 -7.80501999e-04 9.98846596e-01 1.88362956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18509989299999 meters 0.01510734518045003 Centerline is valid? [True, True] Translation: X:56.16, Y:3.68, Z:1.89 [[ 9.95530079e-01 -8.25114065e-02 -4.59535578e-02 5.61588362e+01] [ 8.24554876e-02 9.96589882e-01 -3.11433693e-03 3.67687189e+00] [ 4.60538190e-02 -6.88706916e-04 9.98938723e-01 1.88848230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24509989299999 meters 0.01686249899427448 Centerline is valid? [True, True] Translation: X:56.22, Y:3.68, Z:1.89 [[ 9.95559427e-01 -8.13158774e-02 -4.74252678e-02 5.62212185e+01] [ 8.12551497e-02 9.96688164e-01 -3.21015047e-03 3.68258422e+00] [ 4.75292393e-02 -6.57651679e-04 9.98869631e-01 1.88862539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30509989299999 meters 0.016350203210480127 Centerline is valid? [True, True] Translation: X:56.28, Y:3.69, Z:1.89 [[ 9.95495841e-01 -8.03674471e-02 -5.02901904e-02 5.62827422e+01] [ 8.02982014e-02 9.96765090e-01 -3.39907347e-03 3.68862094e+00] [ 5.04006811e-02 -6.54448334e-04 9.98728864e-01 1.88826848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36509989299999 meters 0.016537057991629776 Centerline is valid? [True, True] Translation: X:56.34, Y:3.69, Z:1.89 [[ 9.95386880e-01 -8.10344901e-02 -5.13650758e-02 5.63442641e+01] [ 8.09632843e-02 9.96711048e-01 -3.46890623e-03 3.69246136e+00] [ 5.14772396e-02 -7.05781486e-04 9.98673919e-01 1.89050838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425099892999995 meters 0.013705585326358004 Centerline is valid? [True, True] Translation: X:56.41, Y:3.70, Z:1.90 [[ 9.95446994e-01 -8.09715085e-02 -5.02881418e-02 5.64064475e+01] [ 8.09033274e-02 9.96716177e-01 -3.39321300e-03 3.69523380e+00] [ 5.03977580e-02 -6.90714317e-04 9.98728987e-01 1.89543556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48509989299999 meters 0.012824707146402227 Centerline is valid? [True, True] Translation: X:56.47, Y:3.71, Z:1.90 [[ 9.96323669e-01 -7.16596994e-02 -4.69471434e-02 5.64673806e+01] [ 7.15900855e-02 9.97429117e-01 -3.16470934e-03 3.70551819e+00] [ 4.70532300e-02 -2.07875190e-04 9.98892362e-01 1.90214257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54509989299999 meters 0.015241034096052826 Centerline is valid? [True, True] Translation: X:56.53, Y:3.71, Z:1.90 [[ 9.96863305e-01 -6.24340429e-02 -4.86368354e-02 5.65285981e+01] [ 6.23485109e-02 9.98049065e-01 -3.27520318e-03 3.71302187e+00] [ 4.87464323e-02 2.32495599e-04 9.98811159e-01 1.89939493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605099892999995 meters 0.016007590778665627 Centerline is valid? [True, True] Translation: X:56.59, Y:3.72, Z:1.90 [[ 9.97100269e-01 -5.71384361e-02 -5.02618383e-02 5.65883470e+01] [ 5.70405745e-02 9.98366138e-01 -3.38045048e-03 3.71854913e+00] [ 5.03728711e-02 5.03683954e-04 9.98730354e-01 1.90031174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66509989299999 meters 0.01513882224711451 Centerline is valid? [True, True] Translation: X:56.65, Y:3.72, Z:1.90 [[ 9.97095048e-01 -5.52303933e-02 -5.24506331e-02 5.66474913e+01] [ 5.51209356e-02 9.98473438e-01 -3.53224836e-03 3.71868610e+00] [ 5.25656514e-02 6.30859380e-04 9.98617271e-01 1.90297585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72509989299999 meters 0.014512410995710183 Centerline is valid? [True, True] Translation: X:56.71, Y:3.72, Z:1.91 [[ 9.97070640e-01 -5.88423293e-02 -4.88643004e-02 5.67056505e+01] [ 5.87511865e-02 9.98267201e-01 -3.30065418e-03 3.71709080e+00] [ 4.89738465e-02 4.20149744e-04 9.98799973e-01 1.90711115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785099892999995 meters 0.015661532193593408 Centerline is valid? [True, True] Translation: X:56.76, Y:3.71, Z:1.91 [[ 9.96014195e-01 -7.57446871e-02 -4.71005992e-02 5.67648239e+01] [ 7.56786884e-02 9.97127168e-01 -3.18546952e-03 3.70596483e+00] [ 4.72065695e-02 -3.91738712e-04 9.98885072e-01 1.90981176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84509989299999 meters 0.016675438820915496 Centerline is valid? [True, True] Translation: X:56.82, Y:3.69, Z:1.91 [[ 9.94429735e-01 -9.53019464e-02 -4.50226837e-02 5.68249772e+01] [ 9.52615130e-02 9.95447616e-01 -3.04766993e-03 3.69285043e+00] [ 4.51081720e-02 -1.25823537e-03 9.98981316e-01 1.91423674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90509989299999 meters 0.020496863237023735 Centerline is valid? [True, True] Translation: X:56.89, Y:3.69, Z:1.92 [[ 9.93036677e-01 -1.08564385e-01 -4.57376529e-02 5.68857329e+01] [ 1.08536654e-01 9.94087625e-01 -3.09664714e-03 3.68582988e+00] [ 4.58034203e-02 -1.88912760e-03 9.98948686e-01 1.91638777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965099892999994 meters 0.025335582289324945 Centerline is valid? [True, True] Translation: X:56.95, Y:3.68, Z:1.92 [[ 9.91910678e-01 -1.18177606e-01 -4.63385331e-02 5.69473955e+01] [ 1.18159597e-01 9.92989661e-01 -3.13724116e-03 3.67990287e+00] [ 4.63844359e-02 -2.36347939e-03 9.98920867e-01 1.91535909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02509989299999 meters 0.021709851127059 Centerline is valid? [True, True] Translation: X:57.01, Y:3.69, Z:1.92 [[ 9.93133189e-01 -1.07427689e-01 -4.63223495e-02 5.70072254e+01] [ 1.07398044e-01 9.94211159e-01 -3.13553126e-03 3.69486167e+00] [ 4.63910397e-02 -1.86092957e-03 9.98921623e-01 1.91826111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08509989299999 meters 0.02106839580489702 Centerline is valid? [True, True] Translation: X:57.07, Y:3.70, Z:1.92 [[ 9.93250365e-01 -1.06204226e-01 -4.66301873e-02 5.70693597e+01] [ 1.06172900e-01 9.94342678e-01 -3.15509178e-03 3.70095671e+00] [ 4.67014694e-02 -1.81706616e-03 9.98907238e-01 1.92046753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145099892999994 meters 0.02222725626139494 Centerline is valid? [True, True] Translation: X:57.13, Y:3.71, Z:1.92 [[ 9.93388045e-01 -1.04319261e-01 -4.79341517e-02 5.71310400e+01] [ 1.04284140e-01 9.94542268e-01 -3.23979279e-03 3.70957862e+00] [ 4.80105127e-02 -1.78040034e-03 9.98845244e-01 1.91886481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20509989299999 meters 0.02071860411539533 Centerline is valid? [True, True] Translation: X:57.19, Y:3.72, Z:1.92 [[ 9.93509620e-01 -1.03193422e-01 -4.78513629e-02 5.71929012e+01] [ 1.03157283e-01 9.94659810e-01 -3.23075039e-03 3.71750480e+00] [ 4.79292197e-02 -1.72643501e-03 9.98849243e-01 1.92151306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26509989299999 meters 0.021809908297292957 Centerline is valid? [True, True] Translation: X:57.26, Y:3.73, Z:1.92 [[ 9.93501376e-01 -1.02793700e-01 -4.88719931e-02 5.72550681e+01] [ 1.02755719e-01 9.94701162e-01 -3.29565515e-03 3.72604348e+00] [ 4.89518009e-02 -1.74763884e-03 9.98799613e-01 1.92218686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325099892999994 meters 0.0200715970367617 Centerline is valid? [True, True] Translation: X:57.32, Y:3.74, Z:1.93 [[ 9.93271308e-01 -1.05288485e-01 -4.82332279e-02 5.73162146e+01] [ 1.05254655e-01 9.94439998e-01 -3.24780730e-03 3.73688548e+00] [ 4.83070078e-02 -1.85081797e-03 9.98830820e-01 1.92970663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38509989299999 meters 0.02059910661029798 Centerline is valid? [True, True] Translation: X:57.38, Y:3.75, Z:1.93 [[ 9.93803403e-01 -9.90362382e-02 -5.04640524e-02 5.73761673e+01] [ 9.89913025e-02 9.95082507e-01 -3.39518732e-03 3.75009283e+00] [ 5.05521423e-02 -1.62135356e-03 9.98720107e-01 1.92734619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44509989299999 meters 0.019539468148889846 Centerline is valid? [True, True] Translation: X:57.44, Y:3.76, Z:1.93 [[ 9.94131046e-01 -9.63205245e-02 -4.92526157e-02 5.74373444e+01] [ 9.62744121e-02 9.95349316e-01 -3.31324788e-03 3.75661291e+00] [ 4.93426911e-02 -1.44796403e-03 9.98780858e-01 1.93150410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50509989299999 meters 0.01834582939028718 Centerline is valid? [True, True] Translation: X:57.50, Y:3.76, Z:1.94 [[ 9.94149684e-01 -9.65665255e-02 -4.83871087e-02 5.75004161e+01] [ 9.65224331e-02 9.95325495e-01 -3.25248617e-03 3.76111202e+00] [ 4.84750042e-02 -1.43698337e-03 9.98823362e-01 1.93640303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56509989299999 meters 0.019477130867488913 Centerline is valid? [True, True] Translation: X:57.56, Y:3.76, Z:1.94 [[ 9.93997297e-01 -9.75115767e-02 -4.96071215e-02 5.75624768e+01] [ 9.74666611e-02 9.95233221e-01 -3.32941914e-03 3.76490883e+00] [ 4.96953123e-02 -1.52560687e-03 9.98763259e-01 1.93670914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62509989299999 meters 0.018938861506109985 Centerline is valid? [True, True] Translation: X:57.62, Y:3.77, Z:1.94 [[ 9.94453655e-01 -9.53133543e-02 -4.44667676e-02 5.76230636e+01] [ 9.52751884e-02 9.95446507e-01 -2.98169516e-03 3.76868205e+00] [ 4.45484839e-02 -1.27142201e-03 9.99006414e-01 1.94362129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68509989299999 meters 0.014123142665380464 Centerline is valid? [True, True] Translation: X:57.68, Y:3.79, Z:1.95 [[ 9.96702935e-01 -6.74833001e-02 -4.50473499e-02 5.76827658e+01] [ 6.74157359e-02 9.97720403e-01 -3.01912490e-03 3.78775500e+00] [ 4.51484007e-02 -2.77295964e-05 9.98980291e-01 1.94637170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74509989299999 meters 0.01548002636169447 Centerline is valid? [True, True] Translation: X:57.74, Y:3.79, Z:1.95 [[ 9.96948963e-01 -6.38197467e-02 -4.49422399e-02 5.77441985e+01] [ 6.37488287e-02 9.97961433e-01 -3.01091316e-03 3.79350475e+00] [ 4.50427778e-02 1.36711601e-04 9.98985050e-01 1.94829145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80509989299999 meters 0.01611497133966225 Centerline is valid? [True, True] Translation: X:57.81, Y:3.79, Z:1.95 [[ 9.96827027e-01 -6.56855909e-02 -4.49586684e-02 5.78063656e+01] [ 6.56166638e-02 9.97840368e-01 -3.00877055e-03 3.79177231e+00] [ 4.50592071e-02 4.91859671e-05 9.98984317e-01 1.94888660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86509989299999 meters 0.016786313880044763 Centerline is valid? [True, True] Translation: X:57.87, Y:3.77, Z:1.95 [[ 9.94803318e-01 -9.14558090e-02 -4.47458845e-02 5.78682314e+01] [ 9.14136498e-02 9.95808513e-01 -2.99180650e-03 3.76977529e+00] [ 4.48319508e-02 -1.11412559e-03 9.98993921e-01 1.95119183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92509989299999 meters 0.01951246392090133 Centerline is valid? [True, True] Translation: X:57.93, Y:3.77, Z:1.95 [[ 9.94277328e-01 -9.66566892e-02 -4.54981305e-02 5.79285453e+01] [ 9.66185425e-02 9.95316836e-01 -3.04196777e-03 3.76735119e+00] [ 4.55790818e-02 -1.37140346e-03 9.98959792e-01 1.95132465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98509989299999 meters 0.020625547598964088 Centerline is valid? [True, True] Translation: X:57.99, Y:3.76, Z:1.95 [[ 9.93673957e-01 -1.03033113e-01 -4.46793481e-02 5.79895904e+01] [ 1.03002764e-01 9.94676585e-01 -2.98709017e-03 3.76424788e+00] [ 4.47492706e-02 -1.63390264e-03 9.98996913e-01 1.95437803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04509989299999 meters 0.021116355534869447 Centerline is valid? [True, True] Translation: X:58.05, Y:3.77, Z:1.96 [[ 9.93354098e-01 -1.05579142e-01 -4.58331776e-02 5.80515080e+01] [ 1.05549971e-01 9.94409283e-01 -3.06289771e-03 3.76712515e+00] [ 4.59003154e-02 -1.79514857e-03 9.98944412e-01 1.95653474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.105099892999995 meters 0.019310650199328278 Centerline is valid? [True, True] Translation: X:58.11, Y:3.77, Z:1.96 [[ 9.93895537e-01 -1.00412984e-01 -4.57044219e-02 5.81107181e+01] [ 1.00378642e-01 9.94944629e-01 -3.05167137e-03 3.77091434e+00] [ 4.57797965e-02 -1.55470525e-03 9.98950346e-01 1.95881579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16509989299999 meters 0.01639056128933081 Centerline is valid? [True, True] Translation: X:58.17, Y:3.78, Z:1.96 [[ 9.94598248e-01 -9.24517289e-02 -4.71911237e-02 5.81707820e+01] [ 9.24061377e-02 9.95716412e-01 -3.15146442e-03 3.78208490e+00] [ 4.72803347e-02 -1.22630848e-03 9.98880907e-01 1.96042396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22509989299999 meters 0.01613736435989016 Centerline is valid? [True, True] Translation: X:58.23, Y:3.80, Z:1.96 [[ 9.95418391e-01 -8.13460696e-02 -5.02498151e-02 5.82305471e+01] [ 8.12802769e-02 9.96685639e-01 -3.35477674e-03 3.79739831e+00] [ 5.03561669e-02 -7.44912412e-04 9.98731046e-01 1.96043165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285099892999995 meters 0.012900959043119456 Centerline is valid? [True, True] Translation: X:58.29, Y:3.82, Z:1.97 [[ 9.96465405e-01 -6.90932407e-02 -4.77788691e-02 5.82903094e+01] [ 6.90197219e-02 9.97610199e-01 -3.18878415e-03 3.81514917e+00] [ 4.78850106e-02 -1.20171165e-04 9.98852848e-01 1.96872020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34509989299999 meters 0.014121945367360346 Centerline is valid? [True, True] Translation: X:58.35, Y:3.83, Z:1.97 [[ 9.96923140e-01 -6.48453522e-02 -4.40378570e-02 5.83518864e+01] [ 6.47788348e-02 9.97895322e-01 -2.93734199e-03 3.82553866e+00] [ 4.41356445e-02 7.55831403e-05 9.99025545e-01 1.97182717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40509989299999 meters 0.015620711973368267 Centerline is valid? [True, True] Translation: X:58.41, Y:3.83, Z:1.97 [[ 9.96835046e-01 -6.45966109e-02 -4.63375540e-02 5.84129697e+01] [ 6.45228736e-02 9.97911454e-01 -3.08683205e-03 3.83348133e+00] [ 4.64401748e-02 8.72302289e-05 9.98921069e-01 1.97012238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465099892999994 meters 0.013048900021091513 Centerline is valid? [True, True] Translation: X:58.47, Y:3.84, Z:1.97 [[ 9.96771347e-01 -6.47032258e-02 -4.75434043e-02 5.84733782e+01] [ 6.46259390e-02 9.97904548e-01 -3.16256383e-03 3.84069784e+00] [ 4.76484074e-02 7.98158678e-05 9.98864166e-01 1.97448109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52509989299999 meters 0.015129553253476214 Centerline is valid? [True, True] Translation: X:58.53, Y:3.85, Z:1.98 [[ 9.96888361e-01 -6.54897907e-02 -4.38712052e-02 5.85342150e+01] [ 6.54248132e-02 9.97853239e-01 -2.91683136e-03 3.84734739e+00] [ 4.39680468e-02 3.74898294e-05 9.99032937e-01 1.97703747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58509989299999 meters 0.01921565232654581 Centerline is valid? [True, True] Translation: X:58.60, Y:3.82, Z:1.98 [[ 9.93912608e-01 -9.93255183e-02 -4.76672784e-02 5.85971567e+01] [ 9.92876333e-02 9.95053733e-01 -3.16773185e-03 3.82125057e+00] [ 4.77461399e-02 -1.58432264e-03 9.98858246e-01 1.97530740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645099892999994 meters 0.02123340650652714 Centerline is valid? [True, True] Translation: X:58.66, Y:3.82, Z:1.98 [[ 9.93485509e-01 -1.02728475e-01 -4.93295334e-02 5.86587722e+01] [ 1.02692118e-01 9.94707789e-01 -3.27761460e-03 3.82176557e+00] [ 4.94051755e-02 -1.80949166e-03 9.98777180e-01 1.97570256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70509989299999 meters 0.02252245321174285 Centerline is valid? [True, True] Translation: X:58.72, Y:3.82, Z:1.98 [[ 9.93381948e-01 -1.03392847e-01 -5.00222476e-02 5.87207560e+01] [ 1.03356417e-01 9.94638839e-01 -3.32136840e-03 3.82411656e+00] [ 5.00974760e-02 -1.87073286e-03 9.98742581e-01 1.97654058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76509989299999 meters 0.020451331724785873 Centerline is valid? [True, True] Translation: X:58.78, Y:3.83, Z:1.98 [[ 9.94027784e-01 -9.88695530e-02 -4.61906493e-02 5.87804293e+01] [ 9.88337222e-02 9.95099243e-01 -3.06450644e-03 3.83341056e+00] [ 4.62672666e-02 -1.51898925e-03 9.98927942e-01 1.98211609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825099892999994 meters 0.01684383125157938 Centerline is valid? [True, True] Translation: X:58.84, Y:3.85, Z:1.99 [[ 9.95141199e-01 -8.90932414e-02 -4.19092792e-02 5.88399190e+01] [ 8.90550758e-02 9.96022822e-01 -2.78045453e-03 3.84633826e+00] [ 4.19903182e-02 -9.65289181e-04 9.99117551e-01 1.98901690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88509989299999 meters 0.013707216249408008 Centerline is valid? [True, True] Translation: X:58.90, Y:3.86, Z:1.99 [[ 9.96357575e-01 -7.33418901e-02 -4.35034561e-02 5.89001036e+01] [ 7.32857506e-02 9.97306808e-01 -2.88606034e-03 3.86226287e+00] [ 4.35979621e-02 -3.12635355e-04 9.99049108e-01 1.99088424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94509989299999 meters 0.015447325101424237 Centerline is valid? [True, True] Translation: X:58.96, Y:3.86, Z:1.99 [[ 9.95975402e-01 -7.55515378e-02 -4.82178728e-02 5.89624797e+01] [ 7.54852270e-02 9.97141794e-01 -3.19729063e-03 3.86314676e+00] [ 4.83216164e-02 -4.55314246e-04 9.98831725e-01 1.98748553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00509989299999 meters 0.015227738530552603 Centerline is valid? [True, True] Translation: X:59.02, Y:3.87, Z:1.99 [[ 9.95884294e-01 -7.62834218e-02 -4.89419281e-02 5.90243101e+01] [ 7.62161602e-02 9.97086048e-01 -3.24177530e-03 3.86765438e+00] [ 4.90466074e-02 -5.01732723e-04 9.98796365e-01 1.99017880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06509989299999 meters 0.015829206062612428 Centerline is valid? [True, True] Translation: X:59.09, Y:3.87, Z:1.99 [[ 9.95916741e-01 -7.66627424e-02 -4.76725210e-02 5.90866458e+01] [ 7.65995200e-02 9.97056951e-01 -3.15435181e-03 3.87253658e+00] [ 4.77740397e-02 -5.10220449e-04 9.98858038e-01 1.99358871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12509989299999 meters 0.014566303185508776 Centerline is valid? [True, True] Translation: X:59.15, Y:3.88, Z:2.00 [[ 9.95938281e-01 -7.78286831e-02 -4.52729196e-02 5.91489032e+01] [ 7.77730130e-02 9.96966601e-01 -2.99244726e-03 3.87682378e+00] [ 4.53684870e-02 -5.40718584e-04 9.98970174e-01 1.99880562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18509989299999 meters 0.01501216367246318 Centerline is valid? [True, True] Translation: X:59.21, Y:3.88, Z:2.00 [[ 9.95309999e-01 -8.63374047e-02 -4.36332227e-02 5.92097882e+01] [ 8.62939792e-02 9.96265550e-01 -2.88132791e-03 3.87621190e+00] [ 4.37190430e-02 -8.97469935e-04 9.99043462e-01 2.00250190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24509989299999 meters 0.018643173913772966 Centerline is valid? [True, True] Translation: X:59.27, Y:3.87, Z:2.00 [[ 9.94692838e-01 -9.22265667e-02 -4.56116112e-02 5.92703058e+01] [ 9.21853276e-02 9.95737314e-01 -3.01126463e-03 3.87079457e+00] [ 4.56949018e-02 -1.20943796e-03 9.98954710e-01 1.99946319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30509989299999 meters 0.016966823658140288 Centerline is valid? [True, True] Translation: X:59.33, Y:3.87, Z:2.00 [[ 9.94457484e-01 -9.41647486e-02 -4.67687202e-02 5.93319271e+01] [ 9.41235558e-02 9.95555737e-01 -3.08713452e-03 3.87205723e+00] [ 4.68515670e-02 -1.33201422e-03 9.98900974e-01 2.00389324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36509989299999 meters 0.019691146544278587 Centerline is valid? [True, True] Translation: X:59.39, Y:3.88, Z:2.00 [[ 9.94196159e-01 -9.57724207e-02 -4.90065363e-02 5.93941448e+01] [ 9.57292891e-02 9.95402159e-01 -3.23187113e-03 3.87557928e+00] [ 4.90907362e-02 -1.47824702e-03 9.98793229e-01 2.00321881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42509989299999 meters 0.016313234696600492 Centerline is valid? [True, True] Translation: X:59.45, Y:3.89, Z:2.01 [[ 9.95953558e-01 -7.69188790e-02 -4.64757711e-02 5.94539176e+01] [ 7.68596710e-02 9.97037218e-01 -3.06229175e-03 3.89390101e+00] [ 4.65736216e-02 -5.22212112e-04 9.98914724e-01 2.01029291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48509989299999 meters 0.012854462816687687 Centerline is valid? [True, True] Translation: X:59.52, Y:3.90, Z:2.02 [[ 9.96581597e-01 -6.95732522e-02 -4.45497765e-02 5.95155779e+01] [ 6.95115614e-02 9.97576831e-01 -2.93427976e-03 3.90211673e+00] [ 4.46459723e-02 -1.72475316e-04 9.99002857e-01 2.01629304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54509989299999 meters 0.016525870640474147 Centerline is valid? [True, True] Translation: X:59.58, Y:3.92, Z:2.02 [[ 9.97772162e-01 -4.94973824e-02 -4.47294264e-02 5.95765109e+01] [ 4.94151420e-02 9.98773989e-01 -2.94314212e-03 3.91523020e+00] [ 4.48202654e-02 7.26274319e-04 9.98994803e-01 2.01527780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60509989299999 meters 0.0174531169649752 Centerline is valid? [True, True] Translation: X:59.64, Y:3.92, Z:2.02 [[ 9.98232783e-01 -4.32852372e-02 -4.07148543e-02 5.96356209e+01] [ 4.32119849e-02 9.99062337e-01 -2.67789804e-03 3.92031754e+00] [ 4.07925910e-02 9.13795946e-04 9.99167218e-01 2.02037391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66509989299999 meters 0.017126832208142994 Centerline is valid? [True, True] Translation: X:59.70, Y:3.87, Z:2.01 [[ 9.95599891e-01 -8.27405756e-02 -4.39869844e-02 5.96986078e+01] [ 8.26933665e-02 9.96570834e-01 -2.89489537e-03 3.87136154e+00] [ 4.40756710e-02 -7.55274309e-04 9.99027910e-01 2.01224378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72509989299999 meters 0.01717977593216336 Centerline is valid? [True, True] Translation: X:59.76, Y:3.87, Z:2.02 [[ 9.95295932e-01 -8.79469802e-02 -4.06366470e-02 5.97604010e+01] [ 8.79109564e-02 9.96124742e-01 -2.67605161e-03 3.86753968e+00] [ 4.07145202e-02 -9.08943221e-04 9.99170407e-01 2.01791739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785099892999995 meters 0.0187283811974863 Centerline is valid? [True, True] Translation: X:59.82, Y:3.87, Z:2.02 [[ 9.95190249e-01 -8.97455834e-02 -3.92695605e-02 5.98225754e+01] [ 8.97134238e-02 9.95964269e-01 -2.58392863e-03 3.86690556e+00] [ 3.93429753e-02 -9.51506150e-04 9.99225312e-01 2.02231789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84509989299999 meters 0.01563662983920958 Centerline is valid? [True, True] Translation: X:59.88, Y:3.87, Z:2.03 [[ 9.95136471e-01 -9.11321344e-02 -3.73943598e-02 5.98846421e+01] [ 9.11040474e-02 9.95838346e-01 -2.45795877e-03 3.86670186e+00] [ 3.74627365e-02 -9.60773113e-04 9.99297563e-01 2.02896357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90509989299999 meters 0.018077755128779186 Centerline is valid? [True, True] Translation: X:59.95, Y:3.87, Z:2.03 [[ 9.95101207e-01 -9.11586585e-02 -3.82581542e-02 5.99473090e+01] [ 9.11293902e-02 9.95835893e-01 -2.51182720e-03 3.86665243e+00] [ 3.83278179e-02 -9.86919987e-04 9.99264732e-01 2.02812901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965099892999994 meters 0.018306706200843455 Centerline is valid? [True, True] Translation: X:60.01, Y:3.87, Z:2.03 [[ 9.95008719e-01 -9.16521963e-02 -3.94654884e-02 6.00091927e+01] [ 9.16215849e-02 9.95790535e-01 -2.58742106e-03 3.86820236e+00] [ 3.95365026e-02 -1.04138408e-03 9.99217584e-01 2.02988505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02509989299999 meters 0.0169964902662773 Centerline is valid? [True, True] Translation: X:60.07, Y:3.87, Z:2.03 [[ 9.95035720e-01 -9.10477703e-02 -4.01773528e-02 6.00716120e+01] [ 9.10156727e-02 9.95845984e-01 -2.63110962e-03 3.87039380e+00] [ 4.02500121e-02 -1.03872074e-03 9.99189100e-01 2.03287585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08509989299999 meters 0.016601580849760503 Centerline is valid? [True, True] Translation: X:60.13, Y:3.87, Z:2.03 [[ 9.95622181e-01 -8.35727585e-02 -4.18576989e-02 6.01331754e+01] [ 8.35314417e-02 9.96501380e-01 -2.73815742e-03 3.86995292e+00] [ 4.19400901e-02 -7.70263679e-04 9.99119830e-01 2.03118136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145099892999994 meters 0.014389899705748497 Centerline is valid? [True, True] Translation: X:60.20, Y:3.88, Z:2.04 [[ 9.95963694e-01 -7.99704838e-02 -4.07558868e-02 6.01951646e+01] [ 7.99283625e-02 9.96797049e-01 -2.66452505e-03 3.87633024e+00] [ 4.08384310e-02 -6.03781083e-04 9.99165581e-01 2.03615478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20509989299999 meters 0.015116126600890675 Centerline is valid? [True, True] Translation: X:60.26, Y:3.88, Z:2.04 [[ 9.96136992e-01 -7.79107246e-02 -4.05094095e-02 6.02568873e+01] [ 7.78675255e-02 9.96960205e-01 -2.64554021e-03 3.88108564e+00] [ 4.05923852e-02 -5.19047010e-04 9.99175655e-01 2.03766822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26509989299999 meters 0.01478723488824896 Centerline is valid? [True, True] Translation: X:60.32, Y:3.89, Z:2.04 [[ 9.96466018e-01 -7.42913754e-02 -3.91952349e-02 6.03188066e+01] [ 7.42482452e-02 9.97236512e-01 -2.55691154e-03 3.88600413e+00] [ 3.92768758e-02 -3.62301958e-04 9.99228300e-01 2.04078751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325099892999994 meters 0.012853953199174028 Centerline is valid? [True, True] Translation: X:60.38, Y:3.89, Z:2.05 [[ 9.96623756e-01 -7.29065358e-02 -3.77587867e-02 6.03800983e+01] [ 7.28656186e-02 9.97338733e-01 -2.46049979e-03 3.88998464e+00] [ 3.78376870e-02 -2.99124806e-04 9.99283854e-01 2.04603911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38509989299999 meters 0.015172368385005618 Centerline is valid? [True, True] Translation: X:60.44, Y:3.90, Z:2.05 [[ 9.96922591e-01 -6.89246183e-02 -3.73462681e-02 6.04424833e+01] [ 6.88818730e-02 9.97621860e-01 -2.43158390e-03 3.89567122e+00] [ 3.74250494e-02 -1.48379976e-04 9.99299426e-01 2.04801515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44509989299999 meters 0.012625081955890119 Centerline is valid? [True, True] Translation: X:60.50, Y:3.90, Z:2.05 [[ 9.97159787e-01 -6.50768029e-02 -3.79126436e-02 6.05046536e+01] [ 6.50301024e-02 9.97880258e-01 -2.46497670e-03 3.90003004e+00] [ 3.79926914e-02 -7.48745550e-06 9.99278017e-01 2.05257452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50509989299999 meters 0.01576526507444104 Centerline is valid? [True, True] Translation: X:60.57, Y:3.90, Z:2.05 [[ 9.97350173e-01 -6.03486262e-02 -4.06285069e-02 6.05664750e+01] [ 6.02911935e-02 9.98177344e-01 -2.63851875e-03 3.90374592e+00] [ 4.07136860e-02 1.81985964e-04 9.99170838e-01 2.04961028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56509989299999 meters 0.01284600517896805 Centerline is valid? [True, True] Translation: X:60.63, Y:3.91, Z:2.05 [[ 9.97464987e-01 -5.81445071e-02 -4.10221404e-02 6.06264042e+01] [ 5.80841494e-02 9.98308140e-01 -2.66269494e-03 3.90725653e+00] [ 4.11075578e-02 2.73208842e-04 9.99154690e-01 2.05358543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62509989299999 meters 0.01402081103447108 Centerline is valid? [True, True] Translation: X:60.69, Y:3.91, Z:2.05 [[ 9.97479612e-01 -5.73616473e-02 -4.17619999e-02 6.06861650e+01] [ 5.72983988e-02 9.98353417e-01 -2.71088479e-03 3.91087180e+00] [ 4.18487361e-02 3.11156582e-04 9.99123909e-01 2.05353167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68509989299999 meters 0.012864718537498591 Centerline is valid? [True, True] Translation: X:60.75, Y:3.91, Z:2.06 [[ 9.97512153e-01 -5.73886829e-02 -4.09395007e-02 6.07451483e+01] [ 5.73278309e-02 9.98351864e-01 -2.65979088e-03 3.91428557e+00] [ 4.10246688e-02 3.06200951e-04 9.99158087e-01 2.05761552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74509989299999 meters 0.014692149911388137 Centerline is valid? [True, True] Translation: X:60.80, Y:3.92, Z:2.06 [[ 9.97521148e-01 -5.74508654e-02 -4.06319810e-02 6.08037009e+01] [ 5.73905520e-02 9.98348286e-01 -2.65022139e-03 3.91738497e+00] [ 4.07171261e-02 3.11760070e-04 9.99170665e-01 2.05771967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80509989299999 meters 0.015678795050471553 Centerline is valid? [True, True] Translation: X:60.86, Y:3.92, Z:2.06 [[ 9.97518370e-01 -5.75941347e-02 -4.04971224e-02 6.08619344e+01] [ 5.75339120e-02 9.98340030e-01 -2.65194109e-03 3.92056454e+00] [ 4.05826347e-02 3.15402076e-04 9.99176136e-01 2.05911423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86509989299999 meters 0.014241071339833688 Centerline is valid? [True, True] Translation: X:60.92, Y:3.92, Z:2.06 [[ 9.97488846e-01 -5.85756437e-02 -3.98107432e-02 6.09215590e+01] [ 5.85178463e-02 9.98282934e-01 -2.61654238e-03 3.92352118e+00] [ 3.98956512e-02 2.80332883e-04 9.99203812e-01 2.06248983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92509989299999 meters 0.014900719003624162 Centerline is valid? [True, True] Translation: X:60.98, Y:3.93, Z:2.06 [[ 9.97426177e-01 -5.94909157e-02 -4.00231600e-02 6.09810832e+01] [ 5.94331770e-02 9.98228817e-01 -2.63197271e-03 3.92603824e+00] [ 4.01088501e-02 2.46494927e-04 9.99195286e-01 2.06376316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98509989299999 meters 0.013606909706843383 Centerline is valid? [True, True] Translation: X:61.04, Y:3.93, Z:2.07 [[ 9.97218010e-01 -6.34320701e-02 -3.91485900e-02 6.10408068e+01] [ 6.33798091e-02 9.97986155e-01 -2.57584152e-03 3.92572035e+00] [ 3.92331417e-02 8.74453933e-05 9.99230080e-01 2.06617300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04509989299999 meters 0.01432250122412763 Centerline is valid? [True, True] Translation: X:61.10, Y:3.93, Z:2.07 [[ 9.97034373e-01 -6.64011697e-02 -3.89017214e-02 6.11014964e+01] [ 6.63517726e-02 9.97793007e-01 -2.56093441e-03 3.92674512e+00] [ 3.89859146e-02 -2.78585399e-05 9.99239760e-01 2.06791235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10509989299999 meters 0.021190990699555164 Centerline is valid? [True, True] Translation: X:61.16, Y:3.90, Z:2.07 [[ 9.93494299e-01 -1.06875893e-01 -3.93271118e-02 6.11644030e+01] [ 1.06856969e-01 9.94271032e-01 -2.58894401e-03 3.89750225e+00] [ 3.93785038e-02 -1.63027484e-03 9.99223036e-01 2.06856011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16509989299999 meters 0.02147786618565224 Centerline is valid? [True, True] Translation: X:61.23, Y:3.90, Z:2.07 [[ 9.93302226e-01 -1.08895237e-01 -3.86330857e-02 6.12260470e+01] [ 1.08878497e-01 9.94051812e-01 -2.54327755e-03 3.90058360e+00] [ 3.86802397e-02 -1.68006905e-03 9.99250227e-01 2.07201278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22509989299999 meters 0.02246765990196725 Centerline is valid? [True, True] Translation: X:61.29, Y:3.90, Z:2.07 [[ 9.93181281e-01 -1.09817833e-01 -3.91278151e-02 6.12878684e+01] [ 1.09801463e-01 9.93950208e-01 -2.57360119e-03 3.90450694e+00] [ 3.91737272e-02 -1.74023883e-03 9.99230900e-01 2.07307558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285099892999995 meters 0.02070470027579103 Centerline is valid? [True, True] Translation: X:61.35, Y:3.91, Z:2.08 [[ 9.92893261e-01 -1.12516356e-01 -3.87690728e-02 6.13489047e+01] [ 1.12502446e-01 9.93648183e-01 -2.54720669e-03 3.90961997e+00] [ 3.88094212e-02 -1.83251115e-03 9.99244950e-01 2.07775455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34509989299999 meters 0.02503448548205945 Centerline is valid? [True, True] Translation: X:61.41, Y:3.91, Z:2.08 [[ 9.92719878e-01 -1.13466232e-01 -4.04061521e-02 6.14097571e+01] [ 1.13451973e-01 9.93539939e-01 -2.65318129e-03 3.91034581e+00] [ 4.04461724e-02 -1.95029187e-03 9.99179815e-01 2.07622321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40509989299999 meters 0.02390637155381079 Centerline is valid? [True, True] Translation: X:61.47, Y:3.92, Z:2.08 [[ 9.92489124e-01 -1.15391910e-01 -4.06207617e-02 6.14713701e+01] [ 1.15379175e-01 9.93317945e-01 -2.66561905e-03 3.91681752e+00] [ 4.06569224e-02 -2.04119203e-03 9.99171081e-01 2.07942882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465099892999994 meters 0.026263382586491486 Centerline is valid? [True, True] Translation: X:61.53, Y:3.92, Z:2.08 [[ 9.92379699e-01 -1.16127656e-01 -4.11934496e-02 6.15323442e+01] [ 1.16115316e-01 9.93232069e-01 -2.70017752e-03 3.92019061e+00] [ 4.12282204e-02 -2.10358906e-03 9.99147541e-01 2.08067531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52509989299999 meters 0.026329009682028337 Centerline is valid? [True, True] Translation: X:61.59, Y:3.93, Z:2.08 [[ 9.92396205e-01 -1.15868428e-01 -4.15244415e-02 6.15939415e+01] [ 1.15855762e-01 9.93262325e-01 -2.71949646e-03 3.92675450e+00] [ 4.15597671e-02 -2.11202785e-03 9.99133787e-01 2.08202516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58509989299999 meters 0.02529968024000086 Centerline is valid? [True, True] Translation: X:61.66, Y:3.93, Z:2.08 [[ 9.92424182e-01 -1.15510448e-01 -4.18518701e-02 6.16562708e+01] [ 1.15497400e-01 9.93304010e-01 -2.73772583e-03 3.93372419e+00] [ 4.18878664e-02 -2.11679685e-03 9.99120076e-01 2.08468264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645099892999994 meters 0.023732274630861656 Centerline is valid? [True, True] Translation: X:61.72, Y:3.94, Z:2.09 [[ 9.92604784e-01 -1.14020322e-01 -4.16546317e-02 6.17178013e+01] [ 1.14006256e-01 9.93476306e-01 -2.72078971e-03 3.94272075e+00] [ 4.16931149e-02 -2.04821972e-03 9.99128365e-01 2.08758285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70509989299999 meters 0.025062042638005082 Centerline is valid? [True, True] Translation: X:61.78, Y:3.95, Z:2.09 [[ 9.92731085e-01 -1.12873137e-01 -4.17689849e-02 6.17789757e+01] [ 1.12858109e-01 9.93607377e-01 -2.72520371e-03 3.94694112e+00] [ 4.18095738e-02 -2.00857421e-03 9.99123579e-01 2.08965594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76509989299999 meters 0.021919696407656414 Centerline is valid? [True, True] Translation: X:61.84, Y:3.96, Z:2.10 [[ 9.92927796e-01 -1.11626840e-01 -4.04207936e-02 6.18409618e+01] [ 1.11611824e-01 9.93748387e-01 -2.63500795e-03 3.95529812e+00] [ 4.04622361e-02 -1.89506587e-03 9.99179271e-01 2.09508262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825099892999994 meters 0.0172329379507653 Centerline is valid? [True, True] Translation: X:61.90, Y:3.99, Z:2.10 [[ 9.94755567e-01 -9.48257093e-02 -3.83333597e-02 6.18991094e+01] [ 9.47998306e-02 9.95493225e-01 -2.49630908e-03 3.99095373e+00] [ 3.83973142e-02 -1.15077866e-03 9.99261889e-01 2.09836506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88509989299999 meters 0.017761720050931615 Centerline is valid? [True, True] Translation: X:61.96, Y:4.00, Z:2.10 [[ 9.94954257e-01 -9.22200540e-02 -3.95156645e-02 6.19608437e+01] [ 9.21905187e-02 9.95738062e-01 -2.57287378e-03 3.99745167e+00] [ 3.95845218e-02 -1.08307788e-03 9.99215639e-01 2.09740827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94509989299999 meters 0.017400922955670344 Centerline is valid? [True, True] Translation: X:62.02, Y:4.01, Z:2.10 [[ 9.95128981e-01 -8.98278442e-02 -4.06112034e-02 6.20225218e+01] [ 8.97947815e-02 9.95956787e-01 -2.64118649e-03 4.00528887e+00] [ 4.06842558e-02 -1.01835292e-03 9.99171534e-01 2.09830636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00509989299999 meters 0.016553608974304027 Centerline is valid? [True, True] Translation: X:62.08, Y:4.01, Z:2.10 [[ 9.95304612e-01 -8.77823525e-02 -4.07797468e-02 6.20842439e+01] [ 8.77474241e-02 9.96139233e-01 -2.64909591e-03 4.01095870e+00] [ 4.08548495e-02 -9.41660352e-04 9.99164648e-01 2.10040043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06509989299999 meters 0.014095551660271096 Centerline is valid? [True, True] Translation: X:62.14, Y:4.02, Z:2.10 [[ 9.95686870e-01 -8.28106207e-02 -4.18336951e-02 6.21449868e+01] [ 8.27696026e-02 9.96565012e-01 -2.71457612e-03 4.02097034e+00] [ 4.19147926e-02 -7.59690522e-04 9.99120900e-01 2.10323274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12509989299999 meters 0.0140146988439826 Centerline is valid? [True, True] Translation: X:62.21, Y:4.03, Z:2.10 [[ 9.95933099e-01 -7.97386627e-02 -4.19405208e-02 6.22064690e+01] [ 7.96947844e-02 9.96815602e-01 -2.71979032e-03 4.03088962e+00] [ 4.20238380e-02 -6.33711566e-04 9.99116407e-01 2.10469470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18509989299999 meters 0.016045882527453408 Centerline is valid? [True, True] Translation: X:62.27, Y:4.04, Z:2.11 [[ 9.96013903e-01 -7.86942844e-02 -4.19942244e-02 6.22675586e+01] [ 7.86494946e-02 9.96898619e-01 -2.72021724e-03 4.03618209e+00] [ 4.20780498e-02 -5.93450331e-04 9.99114150e-01 2.10504701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24509989299999 meters 0.01504268264320777 Centerline is valid? [True, True] Translation: X:62.33, Y:4.04, Z:2.11 [[ 9.95935938e-01 -8.12324961e-02 -3.88958664e-02 6.23292819e+01] [ 8.11960859e-02 9.96694967e-01 -2.51749321e-03 4.04035658e+00] [ 3.89718165e-02 -6.50930143e-04 9.99240098e-01 2.11072192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30509989299999 meters 0.018180857947864927 Centerline is valid? [True, True] Translation: X:62.39, Y:4.04, Z:2.11 [[ 9.95138774e-01 -9.02060150e-02 -3.95182935e-02 6.23904471e+01] [ 9.01756048e-02 9.95922604e-01 -2.55498189e-03 4.03934122e+00] [ 3.95876365e-02 -1.02102447e-03 9.99215581e-01 2.11101449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36509989299999 meters 0.02452548540227321 Centerline is valid? [True, True] Translation: X:62.45, Y:4.03, Z:2.11 [[ 9.93174320e-01 -1.09269725e-01 -4.08031618e-02 6.24505840e+01] [ 1.09253363e-01 9.94010436e-01 -2.63735015e-03 4.03150703e+00] [ 4.08469512e-02 -1.83853422e-03 9.99163724e-01 2.11191631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42509989299999 meters 0.02122148139569076 Centerline is valid? [True, True] Translation: X:62.51, Y:4.04, Z:2.12 [[ 9.93734147e-01 -1.04754748e-01 -3.89729032e-02 6.25108586e+01] [ 1.04736352e-01 9.94496833e-01 -2.51905581e-03 4.04486755e+00] [ 3.90223119e-02 -1.57860794e-03 9.99237093e-01 2.11796730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48509989299999 meters 0.018867481969407962 Centerline is valid? [True, True] Translation: X:62.57, Y:4.05, Z:2.12 [[ 9.94151494e-01 -1.00553169e-01 -3.93937341e-02 6.25714872e+01] [ 1.00531110e-01 9.94930659e-01 -2.54550319e-03 4.05454267e+00] [ 3.94499922e-02 -1.42968003e-03 9.99220523e-01 2.11876664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54509989299999 meters 0.01940440511789745 Centerline is valid? [True, True] Translation: X:62.63, Y:4.06, Z:2.12 [[ 9.94381414e-01 -9.81439983e-02 -3.96655937e-02 6.26325613e+01] [ 9.81197892e-02 9.95171315e-01 -2.56134149e-03 4.05964160e+00] [ 3.97254413e-02 -1.34502932e-03 9.99209728e-01 2.12062054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60509989299999 meters 0.01912227950847672 Centerline is valid? [True, True] Translation: X:62.69, Y:4.07, Z:2.12 [[ 9.94601079e-01 -9.55644234e-02 -4.04491671e-02 6.26947826e+01] [ 9.55373517e-02 9.95422434e-01 -2.60618270e-03 4.06691323e+00] [ 4.05130667e-02 -1.27229418e-03 9.99178199e-01 2.12122634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66509989299999 meters 0.016956444961416902 Centerline is valid? [True, True] Translation: X:62.76, Y:4.08, Z:2.13 [[ 9.94872431e-01 -9.24816200e-02 -4.09389354e-02 6.27554845e+01] [ 9.24514232e-02 9.95713711e-01 -2.63428897e-03 4.07597338e+00] [ 4.10070826e-02 -1.16408138e-03 9.99158178e-01 2.12510719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72509989299999 meters 0.01675774819135152 Centerline is valid? [True, True] Translation: X:62.82, Y:4.09, Z:2.13 [[ 9.95265421e-01 -8.75537059e-02 -4.22029769e-02 6.28170086e+01] [ 8.75172589e-02 9.96159306e-01 -2.71396465e-03 4.08540091e+00] [ 4.22785059e-02 -9.92373691e-04 9.99105371e-01 2.12570411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78509989299999 meters 0.014036114304716856 Centerline is valid? [True, True] Translation: X:62.88, Y:4.10, Z:2.13 [[ 9.95693145e-01 -8.19192867e-02 -4.34095787e-02 6.28775670e+01] [ 8.18754744e-02 9.96638664e-01 -2.78924456e-03 4.09604740e+00] [ 4.34921575e-02 -7.76948167e-04 9.99053466e-01 2.12997569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84509989299999 meters 0.012675779472477776 Centerline is valid? [True, True] Translation: X:62.94, Y:4.11, Z:2.13 [[ 9.97203517e-01 -6.15074803e-02 -4.24496829e-02 6.29372328e+01] [ 6.14471403e-02 9.98106616e-01 -2.72601980e-03 4.11325093e+00] [ 4.25369800e-02 1.09984910e-04 9.99094887e-01 2.13065008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90509989299999 meters 0.01374415472691202 Centerline is valid? [True, True] Translation: X:63.00, Y:4.12, Z:2.13 [[ 9.97342991e-01 -5.91628012e-02 -4.25055489e-02 6.29988745e+01] [ 5.91002389e-02 9.98248326e-01 -2.72807214e-03 4.11701544e+00] [ 4.25924934e-02 2.08735529e-04 9.99092506e-01 2.13176670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965099892999994 meters 0.014074200677858901 Centerline is valid? [True, True] Translation: X:63.06, Y:4.12, Z:2.13 [[ 9.97308341e-01 -5.95757260e-02 -4.27411561e-02 6.30591944e+01] [ 5.95129035e-02 9.98223771e-01 -2.74187276e-03 4.11989489e+00] [ 4.28285871e-02 1.90842276e-04 9.99082417e-01 2.13416938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02509989299999 meters 0.013035203379210481 Centerline is valid? [True, True] Translation: X:63.12, Y:4.11, Z:2.13 [[ 9.96892700e-01 -6.60685597e-02 -4.28939349e-02 6.31197182e+01] [ 6.60112964e-02 9.97815082e-01 -2.75157103e-03 4.11347254e+00] [ 4.29820075e-02 -8.84631781e-05 9.99075843e-01 2.13499566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08509989299998 meters 0.01586359919858293 Centerline is valid? [True, True] Translation: X:63.18, Y:4.10, Z:2.14 [[ 9.96189219e-01 -7.66199378e-02 -4.16704419e-02 6.31820734e+01] [ 7.65751495e-02 9.97060232e-01 -2.67226976e-03 4.10387896e+00] [ 4.17526896e-02 -5.28833996e-04 9.99127836e-01 2.13620568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14509989299998 meters 0.015679026902720397 Centerline is valid? [True, True] Translation: X:63.24, Y:4.10, Z:2.14 [[ 9.95224267e-01 -8.90078152e-02 -4.00782590e-02 6.32428782e+01] [ 8.89764654e-02 9.96030416e-01 -2.56881353e-03 4.09717146e+00] [ 4.01478095e-02 -1.00947626e-03 9.99193242e-01 2.14381788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20509989299998 meters 0.021787285267953524 Centerline is valid? [True, True] Translation: X:63.30, Y:4.08, Z:2.15 [[ 9.93770625e-01 -1.04995099e-01 -3.73627407e-02 6.33034777e+01] [ 1.04979141e-01 9.94471542e-01 -2.39414548e-03 4.07889578e+00] [ 3.74075559e-02 -1.54307698e-03 9.99298901e-01 2.14532492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26509989299998 meters 0.020735834470332056 Centerline is valid? [True, True] Translation: X:63.37, Y:4.08, Z:2.15 [[ 9.93581007e-01 -1.06764980e-01 -3.73901270e-02 6.33656664e+01] [ 1.06750228e-01 9.94282981e-01 -2.39645735e-03 4.08297897e+00] [ 3.74322246e-02 -1.61033006e-03 9.99297871e-01 2.14709855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32509989299999 meters 0.0225724074327352 Centerline is valid? [True, True] Translation: X:63.43, Y:4.08, Z:2.15 [[ 9.93508724e-01 -1.06962326e-01 -3.87230626e-02 6.34274228e+01] [ 1.06946768e-01 9.94261658e-01 -2.47894769e-03 4.08259647e+00] [ 3.87660104e-02 -1.67845022e-03 9.99246906e-01 2.14640553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38509989299999 meters 0.020564651903508115 Centerline is valid? [True, True] Translation: X:63.49, Y:4.09, Z:2.15 [[ 9.93561836e-01 -1.05666186e-01 -4.08599539e-02 6.34899241e+01] [ 1.05647874e-01 9.94400170e-01 -2.61325920e-03 4.08704668e+00] [ 4.09072782e-02 -1.72033266e-03 9.99161466e-01 2.14630251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44509989299998 meters 0.01611508960655857 Centerline is valid? [True, True] Translation: X:63.55, Y:4.10, Z:2.15 [[ 9.95155681e-01 -8.86187452e-02 -4.25662873e-02 6.35497564e+01] [ 8.85834327e-02 9.96065050e-01 -2.71878439e-03 4.10394823e+00] [ 4.26397263e-02 -1.06505412e-03 9.99089946e-01 2.14808853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50509989299998 meters 0.01578444484052319 Centerline is valid? [True, True] Translation: X:63.61, Y:4.12, Z:2.15 [[ 9.96126879e-01 -7.69080356e-02 -4.26191776e-02 6.36100187e+01] [ 7.68619307e-02 9.97038031e-01 -2.72180817e-03 4.11780064e+00] [ 4.27022698e-02 -5.64525991e-04 9.99087683e-01 2.14915463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56509989299998 meters 0.014214946453394522 Centerline is valid? [True, True] Translation: X:63.67, Y:4.13, Z:2.15 [[ 9.97050224e-01 -6.45432927e-02 -4.15332970e-02 6.36707627e+01] [ 6.44888195e-02 9.97914907e-01 -2.65141440e-03 4.13129813e+00] [ 4.16178272e-02 -3.48399729e-05 9.99133602e-01 2.15315570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62509989299998 meters 0.016405805354647134 Centerline is valid? [True, True] Translation: X:63.73, Y:4.14, Z:2.15 [[ 9.97747757e-01 -5.34455551e-02 -4.05337572e-02 6.37307235e+01] [ 5.33845685e-02 9.98570678e-01 -2.58625542e-03 4.14245068e+00] [ 4.06140452e-02 4.16553404e-04 9.99174822e-01 2.15428334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68509989299999 meters 0.014768337585333958 Centerline is valid? [True, True] Translation: X:63.79, Y:4.15, Z:2.16 [[ 9.98035658e-01 -4.85604533e-02 -3.95816599e-02 6.37902479e+01] [ 4.84984556e-02 9.98820064e-01 -2.52559097e-03 4.14918011e+00] [ 3.96575999e-02 6.00980470e-04 9.99213147e-01 2.15814149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74509989299999 meters 0.015284640444541012 Centerline is valid? [True, True] Translation: X:63.85, Y:4.15, Z:2.16 [[ 9.98046103e-01 -4.77925013e-02 -4.02474062e-02 6.38489354e+01] [ 4.77276895e-02 9.98857078e-01 -2.57019532e-03 4.15290780e+00] [ 4.03242427e-02 6.44257719e-04 9.99186439e-01 2.15960176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80509989299999 meters 0.013439753990751757 Centerline is valid? [True, True] Translation: X:63.91, Y:4.15, Z:2.16 [[ 9.97843602e-01 -5.05901970e-02 -4.18183828e-02 6.39074480e+01] [ 5.05222146e-02 9.98719337e-01 -2.68158149e-03 4.15434314e+00] [ 4.19004893e-02 5.63041623e-04 9.99121630e-01 2.16231104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86509989299998 meters 0.014105500682767459 Centerline is valid? [True, True] Translation: X:63.97, Y:4.15, Z:2.16 [[ 9.97526812e-01 -5.74422438e-02 -4.05049107e-02 6.39662194e+01] [ 5.73837006e-02 9.98348793e-01 -2.60745726e-03 4.15219048e+00] [ 4.05878069e-02 2.76686857e-04 9.99175937e-01 2.16217764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92509989299998 meters 0.012469556597439846 Centerline is valid? [True, True] Translation: X:64.03, Y:4.15, Z:2.17 [[ 9.97106675e-01 -6.54808372e-02 -3.86074839e-02 6.40256148e+01] [ 6.54333192e-02 9.97853826e-01 -2.49445412e-03 4.15103963e+00] [ 3.86879645e-02 -3.89789580e-05 9.99251340e-01 2.16801898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98509989299998 meters 0.015826601312787587 Centerline is valid? [True, True] Translation: X:64.09, Y:4.15, Z:2.17 [[ 9.96571647e-01 -7.30884904e-02 -3.87688724e-02 6.40877226e+01] [ 7.30462794e-02 9.97325404e-01 -2.50606240e-03 4.14851033e+00] [ 3.88483457e-02 -3.34451157e-04 9.99245062e-01 2.16708659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04509989299999 meters 0.016958148742152193 Centerline is valid? [True, True] Translation: X:64.15, Y:4.14, Z:2.17 [[ 9.95542090e-01 -8.53461632e-02 -4.01494746e-02 6.41494266e+01] [ 8.53110228e-02 9.96351001e-01 -2.59084824e-03 4.13920356e+00] [ 4.02240881e-02 -8.45894270e-04 9.99190326e-01 2.16645470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10509989299999 meters 0.017279553513842676 Centerline is valid? [True, True] Translation: X:64.21, Y:4.14, Z:2.17 [[ 9.95092127e-01 -9.02116042e-02 -4.06635611e-02 6.42116766e+01] [ 9.01796524e-02 9.95922060e-01 -2.62309896e-03 4.13880877e+00] [ 4.07343715e-02 -1.05680067e-03 9.99169452e-01 2.16850954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16509989299999 meters 0.018376297421234627 Centerline is valid? [True, True] Translation: X:64.27, Y:4.14, Z:2.17 [[ 9.94875722e-01 -9.26420009e-02 -4.04939229e-02 6.42725315e+01] [ 9.26124485e-02 9.95698813e-01 -2.60912785e-03 4.14030429e+00] [ 4.05614658e-02 -1.15448339e-03 9.99176378e-01 2.17044980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22509989299998 meters 0.0176576733124891 Centerline is valid? [True, True] Translation: X:64.33, Y:4.15, Z:2.17 [[ 9.94757523e-01 -9.43151517e-02 -3.95237079e-02 6.43339260e+01] [ 9.42885012e-02 9.95541670e-01 -2.54196169e-03 4.14806095e+00] [ 3.95872437e-02 -1.19799567e-03 9.99215400e-01 2.17431319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28509989299998 meters 0.017851852092827004 Centerline is valid? [True, True] Translation: X:64.40, Y:4.15, Z:2.18 [[ 9.94613033e-01 -9.54039101e-02 -4.05340483e-02 6.43958091e+01] [ 9.53769065e-02 9.95437826e-01 -2.60389909e-03 4.15461771e+00] [ 4.05975471e-02 -1.27614017e-03 9.99174765e-01 2.17750002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34509989299998 meters 0.017805538461870066 Centerline is valid? [True, True] Translation: X:64.46, Y:4.16, Z:2.18 [[ 9.94551767e-01 -9.52682293e-02 -4.23172305e-02 6.44579054e+01] [ 9.52388110e-02 9.95450750e-01 -2.71526692e-03 4.16169376e+00] [ 4.23833975e-02 -1.32976920e-03 9.99100535e-01 2.17782793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40509989299998 meters 0.01978816564676171 Centerline is valid? [True, True] Translation: X:64.52, Y:4.17, Z:2.18 [[ 9.94481302e-01 -9.49411279e-02 -4.46443940e-02 6.45196899e+01] [ 9.49082083e-02 9.95481916e-01 -2.86121713e-03 4.16850573e+00] [ 4.47143341e-02 -1.39169251e-03 9.98998845e-01 2.17578408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46509989299999 meters 0.017195292056362062 Centerline is valid? [True, True] Translation: X:64.58, Y:4.18, Z:2.18 [[ 9.94848084e-01 -9.04945813e-02 -4.56948543e-02 6.45801886e+01] [ 9.04555482e-02 9.95896197e-01 -2.92550571e-03 4.18292277e+00] [ 4.57720740e-02 -1.22291934e-03 9.98951161e-01 2.17883712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52509989299999 meters 0.014746476034378647 Centerline is valid? [True, True] Translation: X:64.64, Y:4.20, Z:2.19 [[ 9.95686138e-01 -8.30298151e-02 -4.14145442e-02 6.46402689e+01] [ 8.29913500e-02 9.96546744e-01 -2.65015700e-03 4.19713557e+00] [ 4.14915712e-02 -7.98324351e-04 9.99138535e-01 2.18585273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58509989299998 meters 0.013294136075489791 Centerline is valid? [True, True] Translation: X:64.70, Y:4.21, Z:2.19 [[ 9.96392145e-01 -7.50102885e-02 -3.97007436e-02 6.47012194e+01] [ 7.49686062e-02 9.97182660e-01 -2.53971617e-03 4.21097689e+00] [ 3.97793979e-02 -4.45756173e-04 9.99208387e-01 2.18996225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64509989299998 meters 0.012602282936998659 Centerline is valid? [True, True] Translation: X:64.76, Y:4.22, Z:2.19 [[ 9.97130740e-01 -6.43718637e-02 -3.98315350e-02 6.47625954e+01] [ 6.43215047e-02 9.97925981e-01 -2.54586508e-03 4.22390531e+00] [ 3.99128057e-02 -2.34639319e-05 9.99203166e-01 2.19239635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70509989299998 meters 0.012529217135911876 Centerline is valid? [True, True] Translation: X:64.82, Y:4.23, Z:2.19 [[ 9.97173974e-01 -6.31694755e-02 -4.06655126e-02 6.48239394e+01] [ 6.31161079e-02 9.98002814e-01 -2.59616131e-03 4.22546040e+00] [ 4.07482942e-02 2.21756055e-05 9.99169443e-01 2.19285612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76509989299998 meters 0.014313318522260506 Centerline is valid? [True, True] Translation: X:64.89, Y:4.23, Z:2.19 [[ 9.97049003e-01 -6.34078763e-02 -4.32750108e-02 6.48852839e+01] [ 6.33477641e-02 9.97987696e-01 -2.76037734e-03 4.22594795e+00] [ 4.33629580e-02 1.08562954e-05 9.99059384e-01 2.19117681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82509989299999 meters 0.014160586468409859 Centerline is valid? [True, True] Translation: X:64.95, Y:4.23, Z:2.19 [[ 9.96969037e-01 -6.50306511e-02 -4.27054391e-02 6.49454368e+01] [ 6.49736551e-02 9.97883265e-01 -2.72274787e-03 4.22510919e+00] [ 4.27921051e-02 -6.02331495e-05 9.99083997e-01 2.19358519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88509989299999 meters 0.0131929842407921 Centerline is valid? [True, True] Translation: X:65.01, Y:4.22, Z:2.20 [[ 9.96467091e-01 -7.27904613e-02 -4.18913625e-02 6.50073602e+01] [ 7.27424758e-02 9.97347181e-01 -2.67067280e-03 4.21709286e+00] [ 4.19746318e-02 -3.86043867e-04 9.99118602e-01 2.19750724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94509989299998 meters 0.014289590600917402 Centerline is valid? [True, True] Translation: X:65.07, Y:4.21, Z:2.20 [[ 9.95795487e-01 -8.15971170e-02 -4.16324194e-02 6.50674969e+01] [ 8.15574829e-02 9.96665110e-01 -2.65240791e-03 4.21350934e+00] [ 4.17100087e-02 -7.54179500e-04 9.99129474e-01 2.20118799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00509989299998 meters 0.019066576384112254 Centerline is valid? [True, True] Translation: X:65.13, Y:4.21, Z:2.20 [[ 9.94751106e-01 -9.24183033e-02 -4.39214452e-02 6.51280939e+01] [ 9.23848654e-02 9.95719451e-01 -2.79487866e-03 4.20691553e+00] [ 4.39917352e-02 -1.27746816e-03 9.99031078e-01 2.19927035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06509989299998 meters 0.022620194441497116 Centerline is valid? [True, True] Translation: X:65.19, Y:4.20, Z:2.20 [[ 9.93378612e-01 -1.05763423e-01 -4.48668277e-02 6.51891173e+01] [ 1.05742077e-01 9.94389491e-01 -2.85554283e-03 4.20048145e+00] [ 4.49171140e-02 -1.90767636e-03 9.98988896e-01 2.19999164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12509989299998 meters 0.02349226528690504 Centerline is valid? [True, True] Translation: X:65.25, Y:4.20, Z:2.20 [[ 9.92990933e-01 -1.09994840e-01 -4.32451460e-02 6.52500330e+01] [ 1.09979029e-01 9.93930098e-01 -2.75183975e-03 4.20016105e+00] [ 4.32853404e-02 -2.02350724e-03 9.99060701e-01 2.20417894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18509989299999 meters 0.02246888276812434 Centerline is valid? [True, True] Translation: X:65.31, Y:4.21, Z:2.21 [[ 9.93403446e-01 -1.07447950e-01 -4.00565998e-02 6.53113532e+01] [ 1.07432378e-01 9.94209131e-01 -2.54734519e-03 4.20609252e+00] [ 4.00983443e-02 -1.77283428e-03 9.99194165e-01 2.20936364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24509989299999 meters 0.023106417940013686 Centerline is valid? [True, True] Translation: X:65.37, Y:4.21, Z:2.21 [[ 9.93291220e-01 -1.07461930e-01 -4.27139948e-02 6.53738918e+01] [ 1.07444350e-01 9.94207396e-01 -2.71377948e-03 4.21046201e+00] [ 4.27581976e-02 -1.89380406e-03 9.99083655e-01 2.20734737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30509989299998 meters 0.024131043514627092 Centerline is valid? [True, True] Translation: X:65.43, Y:4.21, Z:2.21 [[ 9.92574194e-01 -1.11857252e-01 -4.77956521e-02 6.54341981e+01] [ 1.11840476e-01 9.93721543e-01 -3.03354727e-03 4.21251450e+00] [ 4.78348934e-02 -2.33446775e-03 9.98852528e-01 2.20751423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36509989299998 meters 0.024006421295661048 Centerline is valid? [True, True] Translation: X:65.50, Y:4.22, Z:2.21 [[ 9.92378443e-01 -1.13315821e-01 -4.84205523e-02 6.54958698e+01] [ 1.13300385e-01 9.93556030e-01 -3.07221756e-03 4.21714089e+00] [ 4.84566626e-02 -2.43726472e-03 9.98822312e-01 2.21100490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42509989299998 meters 0.02246937405346969 Centerline is valid? [True, True] Translation: X:65.56, Y:4.22, Z:2.21 [[ 9.93162740e-01 -1.07448891e-01 -4.56345039e-02 6.55560282e+01] [ 1.07429110e-01 9.94208538e-01 -2.89288139e-03 4.22320323e+00] [ 4.56810503e-02 -2.02937215e-03 9.98954015e-01 2.21265367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48509989299998 meters 0.01873063798382947 Centerline is valid? [True, True] Translation: X:65.62, Y:4.24, Z:2.22 [[ 9.93922206e-01 -1.00217431e-01 -4.55534315e-02 6.56160641e+01] [ 1.00190138e-01 9.94964119e-01 -2.88770967e-03 4.23703150e+00] [ 4.56134287e-02 -1.69384583e-03 9.98957730e-01 2.21578027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54509989299999 meters 0.01891284562653085 Centerline is valid? [True, True] Translation: X:65.68, Y:4.24, Z:2.21 [[ 9.94159075e-01 -9.64718825e-02 -4.83829401e-02 6.56774288e+01] [ 9.64366917e-02 9.95334396e-01 -3.06658957e-03 4.24439978e+00] [ 4.84530441e-02 -1.61721283e-03 9.98824152e-01 2.21439446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60509989299999 meters 0.01659511620752863 Centerline is valid? [True, True] Translation: X:65.74, Y:4.25, Z:2.22 [[ 9.94527164e-01 -9.25733988e-02 -4.84343515e-02 6.57383103e+01] [ 9.25336032e-02 9.95704835e-01 -3.06804688e-03 4.25394123e+00] [ 4.85103375e-02 -1.43054911e-03 9.98821656e-01 2.21919532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66509989299999 meters 0.01338113372207849 Centerline is valid? [True, True] Translation: X:65.80, Y:4.27, Z:2.22 [[ 9.95956111e-01 -7.60575626e-02 -4.78191548e-02 6.57972470e+01] [ 7.59997936e-02 9.97103237e-01 -3.02771868e-03 4.27295757e+00] [ 4.79109149e-02 -6.18770972e-04 9.98851421e-01 2.22259671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72509989299998 meters 0.012656646421174983 Centerline is valid? [True, True] Translation: X:65.86, Y:4.28, Z:2.23 [[ 9.96679569e-01 -6.75936590e-02 -4.53975031e-02 6.58567529e+01] [ 6.75328133e-02 9.97712913e-01 -2.87441391e-03 4.27887811e+00] [ 4.54879673e-02 -2.00951486e-04 9.98964866e-01 2.22590267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78509989299998 meters 0.012425384332936325 Centerline is valid? [True, True] Translation: X:65.92, Y:4.28, Z:2.23 [[ 9.96882130e-01 -6.45697024e-02 -4.53516551e-02 6.59172823e+01] [ 6.45058512e-02 9.97913197e-01 -2.87151097e-03 4.28391080e+00] [ 4.54424278e-02 -6.28891480e-05 9.98966957e-01 2.22939824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84509989299998 meters 0.012352654700855432 Centerline is valid? [True, True] Translation: X:65.98, Y:4.29, Z:2.23 [[ 9.96906805e-01 -6.45798744e-02 -4.47913074e-02 6.59773122e+01] [ 6.45175902e-02 9.97912539e-01 -2.83630257e-03 4.28591666e+00] [ 4.48809754e-02 -6.22978840e-05 9.98992339e-01 2.23173666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90509989299998 meters 0.012425413689042706 Centerline is valid? [True, True] Translation: X:66.04, Y:4.29, Z:2.23 [[ 9.96761446e-01 -6.65465788e-02 -4.51461188e-02 6.60377365e+01] [ 6.64852585e-02 9.97783308e-01 -2.86011464e-03 4.28590444e+00] [ 4.52363746e-02 -1.50699369e-04 9.98976300e-01 2.23371109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96509989299999 meters 0.0148700119294205 Centerline is valid? [True, True] Translation: X:66.10, Y:4.28, Z:2.23 [[ 9.95868047e-01 -7.55513692e-02 -5.03867337e-02 6.60974286e+01] [ 7.54864521e-02 9.97141716e-01 -3.19282894e-03 4.28005225e+00] [ 5.04839367e-02 -6.23879443e-04 9.98724678e-01 2.22992601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02509989299999 meters 0.014425372937444707 Centerline is valid? [True, True] Translation: X:66.16, Y:4.28, Z:2.24 [[ 9.95354148e-01 -8.29429386e-02 -4.88936449e-02 6.61567805e+01] [ 8.28906015e-02 9.96553829e-01 -3.10058702e-03 4.28032078e+00] [ 4.89823208e-02 -9.66641481e-04 9.98799178e-01 2.23572094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08509989299998 meters 0.015897215021116014 Centerline is valid? [True, True] Translation: X:66.22, Y:4.28, Z:2.24 [[ 9.95078675e-01 -8.81242503e-02 -4.53050474e-02 6.62183229e+01] [ 8.80846328e-02 9.96108848e-01 -2.87398034e-03 4.27924732e+00] [ 4.53820259e-02 -1.13084191e-03 9.98969065e-01 2.23919520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14509989299998 meters 0.017397340397975462 Centerline is valid? [True, True] Translation: X:66.28, Y:4.28, Z:2.24 [[ 9.94768868e-01 -9.23104266e-02 -4.37456822e-02 6.62796267e+01] [ 9.22776021e-02 9.95729457e-01 -2.77342089e-03 4.28425429e+00] [ 4.38148801e-02 -1.27783390e-03 9.99038850e-01 2.24445754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20509989299998 meters 0.016664223673602856 Centerline is valid? [True, True] Translation: X:66.34, Y:4.29, Z:2.24 [[ 9.95061357e-01 -8.62365506e-02 -4.91543707e-02 6.63410237e+01] [ 8.61878481e-02 9.96274039e-01 -3.11344541e-03 4.29243328e+00] [ 4.92397162e-02 -1.13844022e-03 9.98786341e-01 2.24214614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26509989299998 meters 0.013055966355218053 Centerline is valid? [True, True] Translation: X:66.40, Y:4.31, Z:2.25 [[ 9.96151404e-01 -7.07220974e-02 -5.17760975e-02 6.64011591e+01] [ 7.06472217e-02 9.97495980e-01 -3.27716356e-03 4.31058134e+00] [ 5.18782170e-02 -3.93286355e-04 9.98653341e-01 2.24596463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32509989299999 meters 0.013127254558933094 Centerline is valid? [True, True] Translation: X:66.46, Y:4.32, Z:2.25 [[ 9.97156703e-01 -5.60975643e-02 -5.03147359e-02 6.64589030e+01] [ 5.60082257e-02 9.98425228e-01 -3.18486732e-03 4.32486174e+00] [ 5.04141649e-02 3.57772709e-04 9.98728333e-01 2.24856655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38509989299999 meters 0.013088188688040523 Centerline is valid? [True, True] Translation: X:66.52, Y:4.32, Z:2.25 [[ 9.97366794e-01 -5.31288730e-02 -4.93639655e-02 6.65179679e+01] [ 5.30389749e-02 9.98587537e-01 -3.13017995e-03 4.32481479e+00] [ 4.94605436e-02 5.03723421e-04 9.98775951e-01 2.25280123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44509989299998 meters 0.012513562816956118 Centerline is valid? [True, True] Translation: X:66.58, Y:4.32, Z:2.26 [[ 9.96950568e-01 -6.13192987e-02 -4.82649867e-02 6.65764651e+01] [ 6.12424278e-02 9.98118196e-01 -3.07126588e-03 4.31825986e+00] [ 4.83624893e-02 1.06035294e-04 9.98829845e-01 2.25537639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50509989299998 meters 0.012476157355499907 Centerline is valid? [True, True] Translation: X:66.63, Y:4.31, Z:2.26 [[ 9.96519895e-01 -6.97931613e-02 -4.55742725e-02 6.66344638e+01] [ 6.97331588e-02 9.97561445e-01 -2.90705197e-03 4.31388469e+00] [ 4.56660294e-02 -2.81102852e-04 9.98956723e-01 2.25980871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56509989299998 meters 0.021002556743406328 Centerline is valid? [True, True] Translation: X:66.70, Y:4.29, Z:2.26 [[ 9.93142495e-01 -1.07263751e-01 -4.65023986e-02 6.66967734e+01] [ 1.07241636e-01 9.94228528e-01 -2.97738395e-03 4.28750610e+00] [ 4.65533767e-02 -2.03002676e-03 9.98913741e-01 2.26065376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62509989299998 meters 0.022160488070799466 Centerline is valid? [True, True] Translation: X:66.76, Y:4.29, Z:2.26 [[ 9.92482851e-01 -1.13286659e-01 -4.63025200e-02 6.67577539e+01] [ 1.13271271e-01 9.93559677e-01 -2.96447100e-03 4.28807276e+00] [ 4.63401518e-02 -2.30255865e-03 9.98923064e-01 2.26303373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68509989299999 meters 0.0277328197167698 Centerline is valid? [True, True] Translation: X:66.82, Y:4.28, Z:2.26 [[ 9.91973349e-01 -1.18076823e-01 -4.52408982e-02 6.68180509e+01] [ 1.18067112e-01 9.93001395e-01 -2.89609470e-03 4.28380867e+00] [ 4.52662367e-02 -2.46861343e-03 9.98971908e-01 2.26493829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74509989299999 meters 0.02295019896792927 Centerline is valid? [True, True] Translation: X:66.88, Y:4.30, Z:2.27 [[ 9.92254027e-01 -1.16560095e-01 -4.29615070e-02 6.68791824e+01] [ 1.16549980e-01 9.93181024e-01 -2.74866355e-03 4.29672013e+00] [ 4.29889380e-02 -2.27979032e-03 9.99072947e-01 2.27024534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80509989299998 meters 0.022387641163434245 Centerline is valid? [True, True] Translation: X:66.94, Y:4.31, Z:2.27 [[ 9.92469167e-01 -1.12246941e-01 -4.90466802e-02 6.69400644e+01] [ 1.12228662e-01 9.93677462e-01 -3.13515110e-03 4.30641735e+00] [ 4.90884918e-02 -2.39290250e-03 9.98791567e-01 2.26663352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86509989299998 meters 0.02328377989547708 Centerline is valid? [True, True] Translation: X:67.00, Y:4.32, Z:2.26 [[ 9.92165497e-01 -1.13354450e-01 -5.25204221e-02 6.70017684e+01] [ 1.13335184e-01 9.93551148e-01 -3.35459610e-03 4.31747374e+00] [ 5.25619840e-02 -2.62409717e-03 9.98614216e-01 2.26380469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92509989299998 meters 0.023135427568086356 Centerline is valid? [True, True] Translation: X:67.06, Y:4.33, Z:2.27 [[ 9.93095231e-01 -1.06554353e-01 -4.90717010e-02 6.70607852e+01] [ 1.06529366e-01 9.94304624e-01 -3.13175026e-03 4.32917502e+00] [ 4.91259209e-02 -2.11745097e-03 9.98790349e-01 2.26896623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98509989299998 meters 0.020558335317695513 Centerline is valid? [True, True] Translation: X:67.12, Y:4.34, Z:2.27 [[ 9.93727249e-01 -1.01284520e-01 -4.74088692e-02 6.71208308e+01] [ 1.01255215e-01 9.94855883e-01 -3.02548379e-03 4.34020010e+00] [ 4.74714271e-02 -1.79388955e-03 9.98870985e-01 2.27346321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04509989299999 meters 0.019242572100241617 Centerline is valid? [True, True] Translation: X:67.18, Y:4.35, Z:2.28 [[ 9.93925978e-01 -9.92436486e-02 -4.75588941e-02 6.71824832e+01] [ 9.92118928e-02 9.95061705e-01 -3.03364136e-03 4.34875251e+00] [ 4.76251039e-02 -1.70319294e-03 9.98863829e-01 2.27544494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10509989299999 meters 0.018587903952904168 Centerline is valid? [True, True] Translation: X:67.24, Y:4.35, Z:2.28 [[ 9.93886274e-01 -1.00256578e-01 -4.62460089e-02 6.72447865e+01] [ 1.00227798e-01 9.94960153e-01 -2.94658103e-03 4.35345090e+00] [ 4.63083503e-02 -1.70656919e-03 9.98925735e-01 2.28057596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16509989299999 meters 0.020553641466609002 Centerline is valid? [True, True] Translation: X:67.31, Y:4.36, Z:2.28 [[ 9.93717078e-01 -1.01490935e-01 -4.71800759e-02 6.73058129e+01] [ 1.01462553e-01 9.94834829e-01 -3.00221247e-03 4.35512862e+00] [ 4.72410801e-02 -1.80366116e-03 9.98881888e-01 2.28186725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22509989299998 meters 0.02049523086773714 Centerline is valid? [True, True] Translation: X:67.37, Y:4.36, Z:2.28 [[ 9.93761469e-01 -1.00877414e-01 -4.75593324e-02 6.73681439e+01] [ 1.00848102e-01 9.94897246e-01 -3.02154993e-03 4.35982874e+00] [ 4.76214550e-02 -1.79356853e-03 9.98863845e-01 2.28340674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28509989299998 meters 0.0187367071860296 Centerline is valid? [True, True] Translation: X:67.43, Y:4.37, Z:2.29 [[ 9.93875475e-01 -9.97941821e-02 -4.74622118e-02 6.74295956e+01] [ 9.97639188e-02 9.95006577e-01 -3.01198199e-03 4.36727766e+00] [ 4.75257911e-02 -1.74148121e-03 9.98868493e-01 2.28631188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34509989299998 meters 0.018997071630226493 Centerline is valid? [True, True] Translation: X:67.49, Y:4.37, Z:2.28 [[ 9.93858379e-01 -9.94790818e-02 -4.84709694e-02 6.74924453e+01] [ 9.94473215e-02 9.95038085e-01 -3.07238186e-03 4.36519769e+00] [ 4.85360983e-02 -1.76679562e-03 9.98819866e-01 2.28437362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40509989299998 meters 0.018498724733453032 Centerline is valid? [True, True] Translation: X:67.55, Y:4.37, Z:2.29 [[ 9.94022621e-01 -9.77629381e-02 -4.85946111e-02 6.75540874e+01] [ 9.77291413e-02 9.95208294e-01 -3.07667110e-03 4.37065237e+00] [ 4.86625445e-02 -1.69082895e-03 9.98813845e-01 2.28791456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46509989299999 meters 0.01785049077531852 Centerline is valid? [True, True] Translation: X:67.61, Y:4.38, Z:2.29 [[ 9.94529785e-01 -9.31150399e-02 -4.73296537e-02 6.76132982e+01] [ 9.30778380e-02 9.95654333e-01 -2.99412125e-03 4.37719961e+00] [ 4.74027726e-02 -1.42759908e-03 9.98874837e-01 2.29192663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52509989299999 meters 0.016275849903094653 Centerline is valid? [True, True] Translation: X:67.68, Y:4.38, Z:2.30 [[ 9.94726396e-01 -9.12397520e-02 -4.68476664e-02 6.76756277e+01] [ 9.12012369e-02 9.95828074e-01 -2.96340722e-03 4.38458151e+00] [ 4.69226019e-02 -1.32478574e-03 9.98897650e-01 2.29539397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58509989299998 meters 0.015118934409261027 Centerline is valid? [True, True] Translation: X:67.74, Y:4.39, Z:2.30 [[ 9.95220442e-01 -8.54425975e-02 -4.72846030e-02 6.77370238e+01] [ 8.53970118e-02 9.96342525e-01 -2.98705029e-03 4.39274739e+00] [ 4.73668821e-02 -1.06519028e-03 9.98876991e-01 2.29664719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64509989299998 meters 0.014427871743768014 Centerline is valid? [True, True] Translation: X:67.80, Y:4.40, Z:2.30 [[ 9.95539589e-01 -8.07182967e-02 -4.88414120e-02 6.77971825e+01] [ 8.06641254e-02 9.96736574e-01 -3.08239101e-03 4.40049145e+00] [ 4.89308270e-02 -8.71107501e-04 9.98801790e-01 2.29621744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70509989299998 meters 0.015015241843849192 Centerline is valid? [True, True] Translation: X:67.86, Y:4.40, Z:2.30 [[ 9.95341179e-01 -8.60112353e-02 -4.35660931e-02 6.78583336e+01] [ 8.59733213e-02 9.96293653e-01 -2.74665054e-03 4.40469659e+00] [ 4.36408648e-02 -1.01166733e-03 9.99046771e-01 2.30389593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76509989299998 meters 0.013178057733900276 Centerline is valid? [True, True] Translation: X:67.92, Y:4.41, Z:2.30 [[ 9.96044791e-01 -7.41484630e-02 -4.89569094e-02 6.79190029e+01] [ 7.40863533e-02 9.97247060e-01 -3.08455862e-03 4.41203675e+00] [ 4.90508492e-02 -5.54680338e-04 9.98796129e-01 2.30301745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82509989299999 meters 0.014646816027976194 Centerline is valid? [True, True] Translation: X:67.98, Y:4.42, Z:2.30 [[ 9.96622189e-01 -6.47346051e-02 -5.05335869e-02 6.79791413e+01] [ 6.46563988e-02 9.97902511e-01 -3.18250248e-03 4.42130931e+00] [ 5.06336113e-02 -9.55671542e-05 9.98717291e-01 2.30190725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88509989299999 meters 0.012280808692507411 Centerline is valid? [True, True] Translation: X:68.04, Y:4.40, Z:2.31 [[ 9.97156437e-01 -5.80441959e-02 -4.80615356e-02 6.80388061e+01] [ 5.79655540e-02 9.98313987e-01 -3.02960001e-03 4.40096353e+00] [ 4.81563539e-02 2.35071619e-04 9.98839782e-01 2.30835184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94509989299998 meters 0.012938734636809565 Centerline is valid? [True, True] Translation: X:68.10, Y:4.41, Z:2.31 [[ 9.97369075e-01 -5.25269059e-02 -4.99584974e-02 6.80976702e+01] [ 5.24343491e-02 9.98619366e-01 -3.16236884e-03 4.40630842e+00] [ 5.00556325e-02 5.34507587e-04 9.98746288e-01 2.30852372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00509989299998 meters 0.013230402321770108 Centerline is valid? [True, True] Translation: X:68.15, Y:4.41, Z:2.31 [[ 9.97465515e-01 -5.12981307e-02 -4.93056686e-02 6.81548878e+01] [ 5.12059611e-02 9.98683205e-01 -3.13151019e-03 4.41033129e+00] [ 4.94013837e-02 5.98829279e-04 9.98778827e-01 2.31074348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06509989299998 meters 0.013400113520518312 Centerline is valid? [True, True] Translation: X:68.21, Y:4.41, Z:2.31 [[ 9.97593697e-01 -4.91018827e-02 -4.89471212e-02 6.82130087e+01] [ 4.90081935e-02 9.98793525e-01 -3.11310468e-03 4.41375362e+00] [ 4.90409270e-02 7.06803618e-04 9.98796520e-01 2.31382033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12509989299998 meters 0.013395169435878741 Centerline is valid? [True, True] Translation: X:68.27, Y:4.42, Z:2.32 [[ 9.97626782e-01 -4.83586053e-02 -4.90127362e-02 6.82715049e+01] [ 4.82634539e-02 9.98829756e-01 -3.12367208e-03 4.41728606e+00] [ 4.91064358e-02 7.50734994e-04 9.98793269e-01 2.31652858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18509989299999 meters 0.013981582037450174 Centerline is valid? [True, True] Translation: X:68.33, Y:4.42, Z:2.32 [[ 9.97651671e-01 -4.72000654e-02 -4.96316062e-02 6.83287007e+01] [ 4.71005231e-02 9.98885112e-01 -3.17392537e-03 4.42190400e+00] [ 4.97260820e-02 8.28797329e-04 9.98762549e-01 2.31834083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24509989299999 meters 0.01299680747487326 Centerline is valid? [True, True] Translation: X:68.39, Y:4.42, Z:2.33 [[ 9.97694803e-01 -5.16726872e-02 -4.39887870e-02 6.83880714e+01] [ 5.15986858e-02 9.98663928e-01 -2.81681030e-03 4.41731885e+00] [ 4.40755670e-02 5.40553392e-04 9.99028054e-01 2.32581424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30509989299998 meters 0.012078871317250491 Centerline is valid? [True, True] Translation: X:68.45, Y:4.41, Z:2.33 [[ 9.97393494e-01 -5.78803051e-02 -4.30823379e-02 6.84470837e+01] [ 5.78148658e-02 9.98323494e-01 -2.76441369e-03 4.41324622e+00] [ 4.31701153e-02 2.66408642e-04 9.99067700e-01 2.32868103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36509989299998 meters 0.01189261337015537 Centerline is valid? [True, True] Translation: X:68.51, Y:4.41, Z:2.33 [[ 9.97150738e-01 -6.19912644e-02 -4.29824200e-02 6.85054702e+01] [ 6.19294689e-02 9.98076687e-01 -2.76904282e-03 4.41289982e+00] [ 4.30714078e-02 9.92746486e-05 9.99071991e-01 2.33081017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42509989299998 meters 0.01183764031566125 Centerline is valid? [True, True] Translation: X:68.56, Y:4.41, Z:2.33 [[ 9.96883356e-01 -6.62385621e-02 -4.28488996e-02 6.85637534e+01] [ 6.61806360e-02 9.97803812e-01 -2.77055667e-03 4.41224217e+00] [ 4.29383130e-02 -7.38455968e-05 9.99077723e-01 2.33253868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48509989299998 meters 0.014652680890093129 Centerline is valid? [True, True] Translation: X:68.63, Y:4.39, Z:2.33 [[ 9.95141096e-01 -8.69577491e-02 -4.61795249e-02 6.86256422e+01] [ 8.69125480e-02 9.96211459e-01 -2.98958893e-03 4.39338706e+00] [ 4.62645399e-02 -1.03851738e-03 9.98928683e-01 2.33284348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54509989299999 meters 0.013721155282896925 Centerline is valid? [True, True] Translation: X:68.69, Y:4.40, Z:2.33 [[ 9.95204495e-01 -8.50769912e-02 -4.82692290e-02 6.86864795e+01] [ 8.50254105e-02 9.96373884e-01 -3.12458629e-03 4.40056338e+00] [ 4.83600295e-02 -9.94508687e-04 9.98829474e-01 2.33343201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60509989299999 meters 0.013581000205444834 Centerline is valid? [True, True] Translation: X:68.75, Y:4.41, Z:2.33 [[ 9.95306091e-01 -8.29767276e-02 -4.98060993e-02 6.87455775e+01] [ 8.29192311e-02 9.96551059e-01 -3.22309915e-03 4.40591329e+00] [ 4.99017632e-02 -9.21913234e-04 9.98753705e-01 2.33374098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66509989299998 meters 0.01237433629671497 Centerline is valid? [True, True] Translation: X:68.80, Y:4.42, Z:2.34 [[ 9.95996017e-01 -7.49317100e-02 -4.87562522e-02 6.88047694e+01] [ 7.48668777e-02 9.97188539e-01 -3.15714279e-03 4.42123776e+00] [ 4.88557461e-02 -5.05726721e-04 9.98805717e-01 2.33823637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72509989299998 meters 0.012585645777395054 Centerline is valid? [True, True] Translation: X:68.86, Y:4.43, Z:2.34 [[ 9.96016723e-01 -7.59567139e-02 -4.67040111e-02 6.88634934e+01] [ 7.58981465e-02 9.97110976e-01 -3.02864719e-03 4.42739447e+00] [ 4.67991282e-02 -5.28164629e-04 9.98904181e-01 2.34202634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78509989299998 meters 0.012537600634974236 Centerline is valid? [True, True] Translation: X:68.92, Y:4.43, Z:2.35 [[ 9.95979694e-01 -7.69057982e-02 -4.59341561e-02 6.89230820e+01] [ 7.68497102e-02 9.97038210e-01 -2.98837539e-03 4.43229055e+00] [ 4.60279321e-02 -5.53665374e-04 9.98940000e-01 2.34501158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84509989299998 meters 0.012556263374595625 Centerline is valid? [True, True] Translation: X:68.98, Y:4.44, Z:2.35 [[ 9.96038137e-01 -7.67622390e-02 -4.48953138e-02 6.89828774e+01] [ 7.67084539e-02 9.97049284e-01 -2.92212899e-03 4.43883135e+00] [ 4.49871496e-02 -5.33298195e-04 9.98987423e-01 2.34870331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90509989299998 meters 0.01305161118886762 Centerline is valid? [True, True] Translation: X:69.04, Y:4.45, Z:2.35 [[ 9.96134943e-01 -7.34865602e-02 -4.81134182e-02 6.90433815e+01] [ 7.34209857e-02 9.97296122e-01 -3.13118792e-03 4.44859169e+00] [ 4.82134257e-02 -4.13448889e-04 9.98836971e-01 2.34801866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96509989299999 meters 0.012346242413982154 Centerline is valid? [True, True] Translation: X:69.10, Y:4.45, Z:2.35 [[ 9.96110892e-01 -7.30590585e-02 -4.92490040e-02 6.91029603e+01] [ 7.29898760e-02 9.97327535e-01 -3.20412915e-03 4.45390564e+00] [ 4.93514784e-02 -4.03010755e-04 9.98781392e-01 2.34906382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02509989299999 meters 0.012636310350612726 Centerline is valid? [True, True] Translation: X:69.16, Y:4.46, Z:2.35 [[ 9.96076335e-01 -7.37217374e-02 -4.89595684e-02 6.91608524e+01] [ 7.36540586e-02 9.97278757e-01 -3.18748390e-03 4.45934217e+00] [ 4.90613244e-02 -4.31093636e-04 9.98795675e-01 2.35052469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08509989299998 meters 0.013707510732319114 Centerline is valid? [True, True] Translation: X:69.22, Y:4.47, Z:2.35 [[ 9.96022740e-01 -7.43757011e-02 -4.90607377e-02 6.92197449e+01] [ 7.43083827e-02 9.97230185e-01 -3.19716388e-03 4.46688926e+00] [ 4.91626399e-02 -4.61176148e-04 9.98790680e-01 2.35156905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14509989299998 meters 0.01575621152518963 Centerline is valid? [True, True] Translation: X:69.28, Y:4.47, Z:2.35 [[ 9.95721987e-01 -7.72556675e-02 -5.06881381e-02 6.92781148e+01] [ 7.71874286e-02 9.97011121e-01 -3.30531004e-03 4.47210236e+00] [ 5.07919914e-02 -6.21317162e-04 9.98709061e-01 2.35034175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20509989299998 meters 0.014108137382369594 Centerline is valid? [True, True] Translation: X:69.34, Y:4.48, Z:2.36 [[ 9.95176862e-01 -8.48754924e-02 -4.91850056e-02 6.93372198e+01] [ 8.48204183e-02 9.96391085e-01 -3.20964177e-03 4.47898393e+00] [ 4.92799211e-02 -9.77731533e-04 9.98784528e-01 2.35763155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26509989299998 meters 0.015666282907327068 Centerline is valid? [True, True] Translation: X:69.40, Y:4.49, Z:2.36 [[ 9.94856218e-01 -9.01471358e-02 -4.62017243e-02 6.93968581e+01] [ 9.01041950e-02 9.95927779e-01 -3.01543171e-03 4.48513504e+00] [ 4.62854132e-02 -1.16304818e-03 9.98927579e-01 2.36190094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32509989299999 meters 0.018227366244863454 Centerline is valid? [True, True] Translation: X:69.46, Y:4.49, Z:2.36 [[ 9.94903591e-01 -8.95574889e-02 -4.63281810e-02 6.94582670e+01] [ 8.95138608e-02 9.95980999e-01 -3.01966591e-03 4.49418796e+00] [ 4.64124217e-02 -1.14273789e-03 9.98921709e-01 2.36217774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38509989299999 meters 0.015527986849567875 Centerline is valid? [True, True] Translation: X:69.52, Y:4.50, Z:2.37 [[ 9.94935274e-01 -8.94995993e-02 -4.57561176e-02 6.95196822e+01] [ 8.94571329e-02 9.95986218e-01 -2.97906488e-03 4.50149534e+00] [ 4.58390876e-02 -1.12923436e-03 9.98948198e-01 2.36813102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44509989299998 meters 0.016392953187835606 Centerline is valid? [True, True] Translation: X:69.58, Y:4.51, Z:2.37 [[ 9.94403766e-01 -9.31675607e-02 -4.98091928e-02 6.95806739e+01] [ 9.31220021e-02 9.95649435e-01 -3.23955571e-03 4.50950096e+00] [ 4.98943162e-02 -1.41690536e-03 9.98753498e-01 2.36677504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50509989299998 meters 0.017786145495086277 Centerline is valid? [True, True] Translation: X:69.64, Y:4.52, Z:2.37 [[ 9.94077461e-01 -9.60503449e-02 -5.08363238e-02 6.96423562e+01] [ 9.60067706e-02 9.95375197e-01 -3.30401975e-03 4.51712379e+00] [ 5.09185681e-02 -1.59617971e-03 9.98701533e-01 2.36946164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56509989299998 meters 0.017722037567857035 Centerline is valid? [True, True] Translation: X:69.70, Y:4.52, Z:2.38 [[ 9.94489974e-01 -9.35169471e-02 -4.73737557e-02 6.97019485e+01] [ 9.34763956e-02 9.95616746e-01 -3.07555016e-03 4.52439624e+00] [ 4.74537206e-02 -1.36972413e-03 9.98872499e-01 2.37590049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62509989299998 meters 0.015578900539848397 Centerline is valid? [True, True] Translation: X:69.76, Y:4.53, Z:2.38 [[ 9.95041448e-01 -8.83922676e-02 -4.55995982e-02 6.97631241e+01] [ 8.83494982e-02 9.96085150e-01 -2.95644113e-03 4.53225073e+00] [ 4.56824092e-02 -1.08692016e-03 9.98955422e-01 2.38042977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68509989299999 meters 0.014239482708536765 Centerline is valid? [True, True] Translation: X:69.82, Y:4.54, Z:2.38 [[ 9.95597676e-01 -8.22777943e-02 -4.48957828e-02 6.98238845e+01] [ 8.22302225e-02 9.96609116e-01 -2.90854561e-03 4.54019380e+00] [ 4.49828551e-02 -7.96048954e-04 9.98987442e-01 2.38360925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74509989299999 meters 0.013163374011578811 Centerline is valid? [True, True] Translation: X:69.89, Y:4.55, Z:2.38 [[ 9.95968357e-01 -7.56429312e-02 -4.82200999e-02 6.98855139e+01] [ 7.55803873e-02 9.97134826e-01 -3.12166228e-03 4.54654600e+00] [ 4.83180726e-02 -5.35416973e-04 9.98831856e-01 2.38406716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80509989299998 meters 0.012839646944267164 Centerline is valid? [True, True] Translation: X:69.95, Y:4.55, Z:2.39 [[ 9.96168776e-01 -7.27655325e-02 -4.85071942e-02 6.99463258e+01] [ 7.26989846e-02 9.97348994e-01 -3.13710405e-03 4.55181489e+00] [ 4.86068744e-02 -4.01338664e-04 9.98817907e-01 2.38843087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86509989299998 meters 0.012805645243487842 Centerline is valid? [True, True] Translation: X:70.01, Y:4.55, Z:2.39 [[ 9.96306254e-01 -7.18040984e-02 -4.70958657e-02 7.00062744e+01] [ 7.17403660e-02 9.97418694e-01 -3.04431726e-03 4.55256342e+00] [ 4.71928913e-02 -3.45602317e-04 9.98885735e-01 2.39220087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92509989299998 meters 0.01366545386243815 Centerline is valid? [True, True] Translation: X:70.07, Y:4.55, Z:2.40 [[ 9.95768422e-01 -8.01873952e-02 -4.48913305e-02 7.00679614e+01] [ 8.01380416e-02 9.96779554e-01 -2.90089018e-03 4.54624518e+00] [ 4.49793752e-02 -7.08888475e-04 9.98987664e-01 2.39637179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98509989299998 meters 0.015487030812314317 Centerline is valid? [True, True] Translation: X:70.13, Y:4.54, Z:2.40 [[ 9.95212441e-01 -8.71185400e-02 -4.43007637e-02 7.01280911e+01] [ 8.70773932e-02 9.96197440e-01 -2.86138600e-03 4.54203577e+00] [ 4.43815872e-02 -1.00990807e-03 9.99014141e-01 2.39914701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04509989299999 meters 0.019456947447788364 Centerline is valid? [True, True] Translation: X:70.19, Y:4.53, Z:2.40 [[ 9.94016851e-01 -9.94221087e-02 -4.52299116e-02 7.01903229e+01] [ 9.93919322e-02 9.95044075e-01 -2.92117984e-03 4.53086474e+00] [ 4.52961854e-02 -1.59178633e-03 9.98972333e-01 2.39925256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10509989299999 meters 0.025071122418035587 Centerline is valid? [True, True] Translation: X:70.25, Y:4.52, Z:2.40 [[ 9.92723489e-01 -1.11690562e-01 -4.50032610e-02 7.02512768e+01] [ 1.11673295e-01 9.93740727e-01 -2.90550805e-03 4.52055187e+00] [ 4.50460912e-02 -2.14129635e-03 9.98982615e-01 2.39952819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16509989299998 meters 0.02196218730999054 Centerline is valid? [True, True] Translation: X:70.31, Y:4.52, Z:2.40 [[ 9.93105790e-01 -1.08155153e-01 -4.52034673e-02 7.03128865e+01] [ 1.08134110e-01 9.94132034e-01 -2.91774476e-03 4.52350340e+00] [ 4.52537840e-02 -1.99040748e-03 9.98973540e-01 2.40484493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22509989299998 meters 0.01741748329041529 Centerline is valid? [True, True] Translation: X:70.37, Y:4.53, Z:2.41 [[ 9.94273736e-01 -9.67935948e-02 -4.52850690e-02 7.03724844e+01] [ 9.67608300e-02 9.95303378e-01 -2.92016538e-03 4.53480666e+00] [ 4.53550354e-02 -1.47837712e-03 9.98969837e-01 2.40786636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28509989299998 meters 0.014029345871246072 Centerline is valid? [True, True] Translation: X:70.43, Y:4.55, Z:2.41 [[ 9.95583557e-01 -8.17006387e-02 -4.62426881e-02 7.04328099e+01] [ 8.16501910e-02 9.96656588e-01 -2.98192490e-03 4.54535695e+00] [ 4.63317049e-02 -8.06968915e-04 9.98925784e-01 2.40960270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34509989299998 meters 0.01300101650459578 Centerline is valid? [True, True] Translation: X:70.49, Y:4.55, Z:2.41 [[ 9.96158417e-01 -7.38211719e-02 -4.71045954e-02 7.04943451e+01] [ 7.37600549e-02 9.97271394e-01 -3.03671860e-03 4.55290139e+00] [ 4.72002396e-02 -4.49384754e-04 9.98885346e-01 2.41109347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40509989299998 meters 0.012490142116006414 Centerline is valid? [True, True] Translation: X:70.55, Y:4.56, Z:2.41 [[ 9.96682724e-01 -6.57379235e-02 -4.79799137e-02 7.05541282e+01] [ 6.56652465e-02 9.97836921e-01 -3.09109329e-03 4.56177274e+00] [ 4.80793314e-02 -6.97735743e-05 9.98843518e-01 2.41390273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46509989299999 meters 0.01279289342337743 Centerline is valid? [True, True] Translation: X:70.61, Y:4.57, Z:2.42 [[ 9.97106507e-01 -5.84111489e-02 -4.86492708e-02 7.06119362e+01] [ 5.83276688e-02 9.98292570e-01 -3.13504721e-03 4.56922625e+00] [ 4.87493273e-02 2.88377413e-04 9.98811003e-01 2.41528118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52509989299999 meters 0.01605888437822282 Centerline is valid? [True, True] Translation: X:70.67, Y:4.58, Z:2.42 [[ 9.98236504e-01 -3.92500034e-02 -4.45344732e-02 7.06704230e+01] [ 3.91608667e-02 9.99228790e-01 -2.87253265e-03 4.58014311e+00] [ 4.46128747e-02 1.12345838e-03 9.99003718e-01 2.42136414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58509989299998 meters 0.016209311919184323 Centerline is valid? [True, True] Translation: X:70.73, Y:4.58, Z:2.43 [[ 9.98490042e-01 -3.44421388e-02 -4.27945749e-02 7.07302386e+01] [ 3.43553798e-02 9.99405865e-01 -2.76135134e-03 4.58007723e+00] [ 4.28642560e-02 1.28695794e-03 9.99080077e-01 2.42558528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64509989299998 meters 0.01682779607951 Centerline is valid? [True, True] Translation: X:70.79, Y:4.58, Z:2.43 [[ 9.98481330e-01 -3.53110731e-02 -4.22866584e-02 7.07881753e+01] [ 3.52270652e-02 9.99375605e-01 -2.73036620e-03 4.57984444e+00] [ 4.23566670e-02 1.23658481e-03 9.99101788e-01 2.42684683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70509989299998 meters 0.017969809298846798 Centerline is valid? [True, True] Translation: X:70.85, Y:4.57, Z:2.42 [[ 9.98267608e-01 -3.96305734e-02 -4.34879243e-02 7.08473516e+01] [ 3.95456457e-02 9.99213809e-01 -2.81179160e-03 4.57490691e+00] [ 4.35651674e-02 1.08716243e-03 9.99049996e-01 2.42468344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76509989299998 meters 0.012673651348142833 Centerline is valid? [True, True] Translation: X:70.91, Y:4.56, Z:2.43 [[ 9.97479662e-01 -5.64766833e-02 -4.29500633e-02 7.09086074e+01] [ 5.64093231e-02 9.98403857e-01 -2.77964305e-03 4.55619622e+00] [ 4.30384939e-02 3.49853415e-04 9.99073353e-01 2.42875969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82509989299999 meters 0.01371778397659056 Centerline is valid? [True, True] Translation: X:70.97, Y:4.53, Z:2.43 [[ 9.96288130e-01 -7.48502610e-02 -4.25135398e-02 7.09675853e+01] [ 7.48009377e-02 9.97194688e-01 -2.75197845e-03 4.53390093e+00] [ 4.26002624e-02 -4.38289181e-04 9.99092101e-01 2.42798272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88509989299999 meters 0.013840447880196853 Centerline is valid? [True, True] Translation: X:71.03, Y:4.53, Z:2.43 [[ 9.95763802e-01 -8.18417691e-02 -4.19091439e-02 7.10275506e+01] [ 8.17998802e-02 9.96645073e-01 -2.71626300e-03 4.52708187e+00] [ 4.19908456e-02 -7.23406579e-04 9.99117734e-01 2.43045974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94509989299998 meters 0.01438881370569154 Centerline is valid? [True, True] Translation: X:71.09, Y:4.53, Z:2.43 [[ 9.95555448e-01 -8.49749912e-02 -4.06029622e-02 7.10874039e+01] [ 8.49382182e-02 9.96382741e-01 -2.63302958e-03 4.52583735e+00] [ 4.06798324e-02 -8.27416318e-04 9.99171890e-01 2.43336932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00509989299998 meters 0.016407188924480162 Centerline is valid? [True, True] Translation: X:71.15, Y:4.52, Z:2.44 [[ 9.94777659e-01 -9.50484235e-02 -3.71914841e-02 7.11484526e+01] [ 9.50245507e-02 9.95472005e-01 -2.41304344e-03 4.51862640e+00] [ 3.72524372e-02 -1.13366235e-03 9.99305244e-01 2.43746160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06509989299998 meters 0.01966686197783634 Centerline is valid? [True, True] Translation: X:71.21, Y:4.51, Z:2.43 [[ 9.93695694e-01 -1.04877082e-01 -3.96190018e-02 7.12096452e+01] [ 1.04857781e-01 9.94483905e-01 -2.57060049e-03 4.51222630e+00] [ 3.96700567e-02 -1.59996597e-03 9.99211553e-01 2.43448299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12509989299998 meters 0.02220218525664047 Centerline is valid? [True, True] Translation: X:71.27, Y:4.51, Z:2.44 [[ 9.92568045e-01 -1.14057313e-01 -4.24217674e-02 7.12707566e+01] [ 1.14043543e-01 9.93471939e-01 -2.75242818e-03 4.50780811e+00] [ 4.24587701e-02 -2.10595641e-03 9.99096000e-01 2.43574441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18509989299999 meters 0.024843820385495406 Centerline is valid? [True, True] Translation: X:71.33, Y:4.51, Z:2.44 [[ 9.92475485e-01 -1.14431078e-01 -4.35653598e-02 7.13312966e+01] [ 1.14416943e-01 9.93428798e-01 -2.82603867e-03 4.50936590e+00] [ 4.36024697e-02 -2.17984119e-03 9.99046582e-01 2.43729769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24509989299999 meters 0.020737393985157615 Centerline is valid? [True, True] Translation: X:71.39, Y:4.52, Z:2.44 [[ 9.93152513e-01 -1.07795364e-01 -4.50360370e-02 7.13910843e+01] [ 1.07773485e-01 9.94171185e-01 -2.92072404e-03 4.52334021e+00] [ 4.50883708e-02 -1.95296622e-03 9.98981093e-01 2.43919099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30509989299998 meters 0.017705340009272198 Centerline is valid? [True, True] Translation: X:71.45, Y:4.54, Z:2.44 [[ 9.94042946e-01 -9.94684887e-02 -4.45493234e-02 7.14512340e+01] [ 9.94387283e-02 9.95039493e-01 -2.88911408e-03 4.53559202e+00] [ 4.46157120e-02 -1.55802461e-03 9.99003008e-01 2.44216729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36509989299998 meters 0.012860804441869642 Centerline is valid? [True, True] Translation: X:71.51, Y:4.56, Z:2.45 [[ 9.96536668e-01 -7.27904009e-02 -4.02023172e-02 7.15102815e+01] [ 7.27444257e-02 9.97347207e-01 -2.60719858e-03 4.56331142e+00] [ 4.02854478e-02 -3.26325486e-04 9.99188159e-01 2.44803197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42509989299998 meters 0.012485802905725606 Centerline is valid? [True, True] Translation: X:71.57, Y:4.57, Z:2.45 [[ 9.97091428e-01 -6.55248259e-02 -3.89253431e-02 7.15697535e+01] [ 6.54761880e-02 9.97850939e-01 -2.52440528e-03 4.57433457e+00] [ 3.90071014e-02 -3.16202213e-05 9.99238933e-01 2.45092552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48509989299998 meters 0.012466505636790803 Centerline is valid? [True, True] Translation: X:71.63, Y:4.58, Z:2.45 [[ 9.97082007e-01 -6.54143615e-02 -3.93501168e-02 7.16292719e+01] [ 6.53645397e-02 9.97858187e-01 -2.55271643e-03 4.57983234e+00] [ 3.94328205e-02 -2.68346483e-05 9.99222224e-01 2.45327416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54509989299999 meters 0.012594331794077328 Centerline is valid? [True, True] Translation: X:71.69, Y:4.58, Z:2.45 [[ 9.96784286e-01 -6.90335907e-02 -4.06872406e-02 7.16885072e+01] [ 6.89832735e-02 9.97614321e-01 -2.64101561e-03 4.58251820e+00] [ 4.07724926e-02 -1.74216187e-04 9.99168441e-01 2.45475307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60509989299999 meters 0.013355416641736235 Centerline is valid? [True, True] Translation: X:71.75, Y:4.58, Z:2.46 [[ 9.96072732e-01 -7.84312735e-02 -4.10809939e-02 7.17477812e+01] [ 7.83878943e-02 9.96919364e-01 -2.66817479e-03 4.58160891e+00] [ 4.11637067e-02 -5.62556456e-04 9.99152257e-01 2.45637377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66509989299998 meters 0.015100531386374098 Centerline is valid? [True, True] Translation: X:71.81, Y:4.58, Z:2.46 [[ 9.95404979e-01 -8.66753008e-02 -4.06979174e-02 7.18075245e+01] [ 8.66395204e-02 9.96236215e-01 -2.64543140e-03 4.57961516e+00] [ 4.07740328e-02 -8.92772460e-04 9.99167994e-01 2.45708775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72509989299998 meters 0.016992864911361382 Centerline is valid? [True, True] Translation: X:71.87, Y:4.58, Z:2.46 [[ 9.94737557e-01 -9.54189319e-02 -3.73151542e-02 7.18682650e+01] [ 9.53949646e-02 9.95436544e-01 -2.42630138e-03 4.57735136e+00] [ 3.73763832e-02 -1.14614471e-03 9.99300602e-01 2.46001253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78509989299998 meters 0.019775507857360656 Centerline is valid? [True, True] Translation: X:71.93, Y:4.58, Z:2.46 [[ 9.93822460e-01 -1.04721628e-01 -3.67464150e-02 7.19292757e+01] [ 1.04704751e-01 9.94500482e-01 -2.38870609e-03 4.57520824e+00] [ 3.67944767e-02 -1.47357446e-03 9.99321768e-01 2.46208936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84509989299998 meters 0.021946752568201566 Centerline is valid? [True, True] Translation: X:71.99, Y:4.58, Z:2.46 [[ 9.93052566e-01 -1.11139932e-01 -3.86589746e-02 7.19900340e+01] [ 1.11126108e-01 9.93803136e-01 -2.51291016e-03 4.57606049e+00] [ 3.86986948e-02 -1.80056950e-03 9.99249303e-01 2.46312261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90509989299998 meters 0.027134383739175552 Centerline is valid? [True, True] Translation: X:72.05, Y:4.57, Z:2.46 [[ 9.91771254e-01 -1.21345607e-01 -4.08046875e-02 7.20501729e+01] [ 1.21338817e-01 9.92607605e-01 -2.65218348e-03 4.57468722e+00] [ 4.08248740e-02 -2.32083319e-03 9.99163622e-01 2.46296627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96509989299999 meters 0.029032092240057573 Centerline is valid? [True, True] Translation: X:72.11, Y:4.58, Z:2.46 [[ 9.91337980e-01 -1.24028713e-01 -4.31959188e-02 7.21114417e+01] [ 1.24023691e-01 9.92275288e-01 -2.80654426e-03 4.58112394e+00] [ 4.32103349e-02 -2.57508339e-03 9.99062679e-01 2.46372228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02509989299998 meters 0.029358271185615716 Centerline is valid? [True, True] Translation: X:72.17, Y:4.59, Z:2.47 [[ 9.91789466e-01 -1.19932438e-01 -4.43831599e-02 7.21705261e+01] [ 1.19923112e-01 9.92778998e-01 -2.88231287e-03 4.59318125e+00] [ 4.44083518e-02 -2.46391910e-03 9.99010424e-01 2.46542405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08509989299998 meters 0.026626355949286366 Centerline is valid? [True, True] Translation: X:72.23, Y:4.61, Z:2.47 [[ 9.92359250e-01 -1.15767325e-01 -4.26737153e-02 7.22308252e+01] [ 1.15754864e-01 9.93273946e-01 -2.77120249e-03 4.60902570e+00] [ 4.27075042e-02 -2.18966170e-03 9.99085219e-01 2.46816130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14509989299998 meters 0.021707902954516245 Centerline is valid? [True, True] Translation: X:72.29, Y:4.63, Z:2.48 [[ 9.92858928e-01 -1.12541843e-01 -3.95661730e-02 7.22905647e+01] [ 1.12528598e-01 9.93645166e-01 -2.56874011e-03 4.62556127e+00] [ 3.96038273e-02 -1.90192943e-03 9.99213651e-01 2.47602096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20509989299998 meters 0.020314341067572336 Centerline is valid? [True, True] Translation: X:72.35, Y:4.64, Z:2.48 [[ 9.93217080e-01 -1.08775729e-01 -4.10813072e-02 7.23512752e+01] [ 1.08758276e-01 9.94064650e-01 -2.66616737e-03 4.64156463e+00] [ 4.11274896e-02 -1.81984918e-03 9.99152250e-01 2.47901733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26509989299998 meters 0.018242855876258793 Centerline is valid? [True, True] Translation: X:72.41, Y:4.66, Z:2.48 [[ 9.93961644e-01 -1.00735674e-01 -4.35037306e-02 7.24112220e+01] [ 1.00708511e-01 9.94911974e-01 -2.82117998e-03 4.66054723e+00] [ 4.35665759e-02 -1.57705122e-03 9.99049281e-01 2.47978341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32509989299999 meters 0.018310180459095313 Centerline is valid? [True, True] Translation: X:72.47, Y:4.67, Z:2.48 [[ 9.94192464e-01 -9.84415214e-02 -4.34811522e-02 7.24723805e+01] [ 9.84122078e-02 9.95141743e-01 -2.81942395e-03 4.66719251e+00] [ 4.35474580e-02 -1.47602614e-03 9.99050269e-01 2.48203196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38509989299999 meters 0.015489291350981317 Centerline is valid? [True, True] Translation: X:72.53, Y:4.69, Z:2.49 [[ 9.95314717e-01 -8.68615408e-02 -4.24698361e-02 7.25314731e+01] [ 8.68231210e-02 9.96219942e-01 -2.75181296e-03 4.68684695e+00] [ 4.25483244e-02 -9.48443786e-04 9.99093960e-01 2.48547538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44509989299998 meters 0.01475881759085723 Centerline is valid? [True, True] Translation: X:72.59, Y:4.71, Z:2.48 [[ 9.95549848e-01 -8.29501661e-02 -4.47187905e-02 7.25923066e+01] [ 8.29036609e-02 9.96553356e-01 -2.89675739e-03 4.70698102e+00] [ 4.48049473e-02 -8.23485060e-04 9.98995415e-01 2.48406206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50509989299998 meters 0.015337487169371281 Centerline is valid? [True, True] Translation: X:72.65, Y:4.71, Z:2.49 [[ 9.95126414e-01 -8.75682810e-02 -4.53344990e-02 7.26537355e+01] [ 8.75254160e-02 9.96157968e-01 -2.93347171e-03 4.71121933e+00] [ 4.54172014e-02 -1.04874570e-03 9.98967556e-01 2.48705494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56509989299998 meters 0.015757136438841017 Centerline is valid? [True, True] Translation: X:72.72, Y:4.71, Z:2.49 [[ 9.94934690e-01 -8.96174743e-02 -4.55375775e-02 7.27159263e+01] [ 8.95764907e-02 9.95975595e-01 -2.94392569e-03 4.71496597e+00] [ 4.56181430e-02 -1.15008259e-03 9.98958289e-01 2.48946401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62509989299998 meters 0.01686303643542044 Centerline is valid? [True, True] Translation: X:72.78, Y:4.72, Z:2.49 [[ 9.94540867e-01 -9.39579618e-02 -4.53912502e-02 7.27782495e+01] [ 9.39219064e-02 9.95575253e-01 -2.93112202e-03 4.71706320e+00] [ 4.54658077e-02 -1.34811213e-03 9.98964986e-01 2.49147233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68509989299999 meters 0.01736588347082062 Centerline is valid? [True, True] Translation: X:72.84, Y:4.72, Z:2.49 [[ 9.94353945e-01 -9.58931106e-02 -4.54394478e-02 7.28407052e+01] [ 9.58591480e-02 9.95390593e-01 -2.93089638e-03 4.71999419e+00] [ 4.55110517e-02 -1.44143838e-03 9.98962795e-01 2.49362262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74509989299999 meters 0.01861579153343816 Centerline is valid? [True, True] Translation: X:72.90, Y:4.72, Z:2.49 [[ 9.94230304e-01 -9.72481622e-02 -4.52647475e-02 7.29024369e+01] [ 9.72160283e-02 9.95259032e-01 -2.91596485e-03 4.72257790e+00] [ 4.53337211e-02 -1.50131836e-03 9.98970770e-01 2.49470984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80509989299998 meters 0.017341899875812722 Centerline is valid? [True, True] Translation: X:72.96, Y:4.73, Z:2.50 [[ 9.94747673e-01 -9.27195132e-02 -4.33607917e-02 7.29631689e+01] [ 9.26859124e-02 9.95691490e-01 -2.78902930e-03 4.72766609e+00] [ 4.34325687e-02 -1.24455413e-03 9.99055586e-01 2.49962170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86509989299998 meters 0.017354980047638215 Centerline is valid? [True, True] Translation: X:73.02, Y:4.73, Z:2.50 [[ 9.94645455e-01 -9.34202615e-02 -4.41935997e-02 7.30246872e+01] [ 9.33861263e-02 9.95625914e-01 -2.84084597e-03 4.73212384e+00] [ 4.42656856e-02 -1.30143455e-03 9.99018946e-01 2.50187124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92509989299998 meters 0.01801912820094359 Centerline is valid? [True, True] Translation: X:73.09, Y:4.74, Z:2.50 [[ 9.94489389e-01 -9.42854049e-02 -4.58379506e-02 7.30864431e+01] [ 9.42497257e-02 9.95544235e-01 -2.94383133e-03 4.73573723e+00] [ 4.59112678e-02 -1.39260525e-03 9.98944551e-01 2.50262800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98509989299998 meters 0.016680736924813647 Centerline is valid? [True, True] Translation: X:73.15, Y:4.74, Z:2.51 [[ 9.94648169e-01 -9.20900020e-02 -4.68449803e-02 7.31479677e+01] [ 9.20504677e-02 9.95749808e-01 -3.00507520e-03 4.74362307e+00] [ 4.69226176e-02 -1.32310980e-03 9.98897651e-01 2.50540634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04509989299999 meters 0.014751396395218313 Centerline is valid? [True, True] Translation: X:73.21, Y:4.75, Z:2.51 [[ 9.95351069e-01 -8.42296533e-02 -4.67077573e-02 7.32081302e+01] [ 8.41818355e-02 9.96445913e-01 -2.99337540e-03 4.75373078e+00] [ 4.67938848e-02 -9.52485333e-04 9.98904112e-01 2.50830912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10509989299999 meters 0.012793883714641132 Centerline is valid? [True, True] Translation: X:73.27, Y:4.76, Z:2.51 [[ 9.96630659e-01 -6.88585394e-02 -4.45626727e-02 7.32683189e+01] [ 6.87996754e-02 9.97626410e-01 -2.85511594e-03 4.76396987e+00] [ 4.46534982e-02 -2.20401339e-04 9.99002511e-01 2.50971217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16509989299998 meters 0.012779332504080932 Centerline is valid? [True, True] Translation: X:73.33, Y:4.77, Z:2.51 [[ 9.96974083e-01 -6.23020825e-02 -4.64879470e-02 7.33282161e+01] [ 6.22309515e-02 9.98057335e-01 -2.97721810e-03 4.76853953e+00] [ 4.65831234e-02 7.52201096e-05 9.98914414e-01 2.50923703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22509989299998 meters 0.012656386007814466 Centerline is valid? [True, True] Translation: X:73.39, Y:4.77, Z:2.51 [[ 9.96750226e-01 -6.51834391e-02 -4.73297690e-02 7.33878454e+01] [ 6.51130404e-02 9.97873296e-01 -3.02928697e-03 4.76735644e+00] [ 4.74265720e-02 -6.23426995e-05 9.98874725e-01 2.51263917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28509989299998 meters 0.01286237928245805 Centerline is valid? [True, True] Translation: X:73.45, Y:4.76, Z:2.52 [[ 9.96347342e-01 -7.21230767e-02 -4.57191034e-02 7.34476712e+01] [ 7.20646139e-02 9.97395668e-01 -2.92783228e-03 4.76276148e+00] [ 4.58112000e-02 -3.77591621e-04 9.98950044e-01 2.51687321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34509989299998 meters 0.014139030569812163 Centerline is valid? [True, True] Translation: X:73.51, Y:4.76, Z:2.52 [[ 9.95720702e-01 -8.07149183e-02 -4.50042899e-02 7.35079818e+01] [ 8.06669733e-02 9.96736939e-01 -2.88340017e-03 4.75763168e+00] [ 4.50901715e-02 -7.59298604e-04 9.98982632e-01 2.51985636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40509989299998 meters 0.01634992476944468 Centerline is valid? [True, True] Translation: X:73.57, Y:4.75, Z:2.52 [[ 9.94924092e-01 -9.03522724e-02 -4.43003255e-02 7.35693201e+01] [ 9.03153575e-02 9.95909173e-01 -2.83817038e-03 4.75260873e+00] [ 4.43755357e-02 -1.17723565e-03 9.99014227e-01 2.52167163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46509989299999 meters 0.02326149953494835 Centerline is valid? [True, True] Translation: X:73.63, Y:4.74, Z:2.52 [[ 9.93352938e-01 -1.05797285e-01 -4.53527818e-02 7.36303889e+01] [ 1.05774678e-01 9.94385881e-01 -2.90477548e-03 4.73848131e+00] [ 4.54054833e-02 -1.91170862e-03 9.98966810e-01 2.52122056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52509989299998 meters 0.02269727314219494 Centerline is valid? [True, True] Translation: X:73.69, Y:4.74, Z:2.52 [[ 9.92535209e-01 -1.13068079e-01 -4.57106993e-02 7.36910934e+01] [ 1.13052828e-01 9.93584667e-01 -2.92704320e-03 4.74095617e+00] [ 4.57484051e-02 -2.26253040e-03 9.98950431e-01 2.52369715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58509989299998 meters 0.026896327689861728 Centerline is valid? [True, True] Translation: X:73.75, Y:4.74, Z:2.53 [[ 9.92083385e-01 -1.17515164e-01 -4.42802823e-02 7.37514120e+01] [ 1.17505268e-01 9.93068212e-01 -2.83534073e-03 4.73671863e+00] [ 4.43065363e-02 -2.39027201e-03 9.99015124e-01 2.52616482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64509989299998 meters 0.02605127823670584 Centerline is valid? [True, True] Translation: X:73.81, Y:4.74, Z:2.53 [[ 9.92119434e-01 -1.17445496e-01 -4.36529933e-02 7.38128582e+01] [ 1.17435830e-01 9.93076541e-01 -2.79470989e-03 4.74244931e+00] [ 4.36789896e-02 -2.35373949e-03 9.99042845e-01 2.52929205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70509989299998 meters 0.025994320173147803 Centerline is valid? [True, True] Translation: X:73.87, Y:4.75, Z:2.53 [[ 9.92444797e-01 -1.14132349e-01 -4.50236902e-02 7.38725006e+01] [ 1.14118795e-01 9.93462937e-01 -2.87968698e-03 4.74870003e+00] [ 4.50580330e-02 -2.28011891e-03 9.98981769e-01 2.53118515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76509989299998 meters 0.024534309129671625 Centerline is valid? [True, True] Translation: X:73.93, Y:4.76, Z:2.53 [[ 9.92509362e-01 -1.12298879e-01 -4.81053959e-02 7.39347177e+01] [ 1.12281313e-01 9.93671699e-01 -3.07581642e-03 4.75792175e+00] [ 4.81463812e-02 -2.34856042e-03 9.98837529e-01 2.53228341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82509989299999 meters 0.025104833594072094 Centerline is valid? [True, True] Translation: X:74.00, Y:4.76, Z:2.53 [[ 9.92145885e-01 -1.13907002e-01 -5.16888615e-02 7.39959629e+01] [ 1.13889120e-01 9.93487983e-01 -3.30083921e-03 4.76306617e+00] [ 5.17282514e-02 -2.61188489e-03 9.98657782e-01 2.53047402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88509989299999 meters 0.025095694227010336 Centerline is valid? [True, True] Translation: X:74.06, Y:4.77, Z:2.53 [[ 9.91840340e-01 -1.15574661e-01 -5.38074106e-02 7.40568456e+01] [ 1.15557842e-01 9.93294816e-01 -3.43414438e-03 4.77013607e+00] [ 5.38435221e-02 -2.81174533e-03 9.98545427e-01 2.53107868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94509989299998 meters 0.0228563839167905 Centerline is valid? [True, True] Translation: X:74.12, Y:4.78, Z:2.53 [[ 9.92423246e-01 -1.11348017e-01 -5.19395832e-02 7.41174555e+01] [ 1.11326648e-01 9.93778345e-01 -3.31336992e-03 4.78256347e+00] [ 5.19853702e-02 -2.49399437e-03 9.98644732e-01 2.53384280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00509989299998 meters 0.020179333494188198 Centerline is valid? [True, True] Translation: X:74.18, Y:4.80, Z:2.54 [[ 9.93523810e-01 -1.02613758e-01 -4.87940138e-02 7.41770979e+01] [ 1.02584411e-01 9.94719435e-01 -3.11195101e-03 4.79638940e+00] [ 4.88556828e-02 -1.91370774e-03 9.98804015e-01 2.53798752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06509989299998 meters 0.019061688233240757 Centerline is valid? [True, True] Translation: X:74.24, Y:4.81, Z:2.54 [[ 9.93678891e-01 -9.95907285e-02 -5.18068421e-02 7.42386100e+01] [ 9.95536269e-02 9.95026717e-01 -3.30261742e-03 4.80719875e+00] [ 5.18781021e-02 -1.87581781e-03 9.98651663e-01 2.53823625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12509989299998 meters 0.02036830246569053 Centerline is valid? [True, True] Translation: X:74.30, Y:4.81, Z:2.54 [[ 9.93251814e-01 -1.01555444e-01 -5.60118398e-02 7.42995009e+01] [ 1.01515383e-01 9.94827573e-01 -3.56740968e-03 4.80967508e+00] [ 5.60844125e-02 -2.14272724e-03 9.98423731e-01 2.53695188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18509989299999 meters 0.02011644019703681 Centerline is valid? [True, True] Translation: X:74.36, Y:4.81, Z:2.54 [[ 9.93382104e-01 -1.01736371e-01 -5.33076540e-02 7.43612205e+01] [ 1.01700414e-01 9.94809282e-01 -3.39380415e-03 4.81041792e+00] [ 5.33762224e-02 -2.05006615e-03 9.98572369e-01 2.54186656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24509989299999 meters 0.020885853500114893 Centerline is valid? [True, True] Translation: X:74.42, Y:4.81, Z:2.54 [[ 9.93430993e-01 -1.01924713e-01 -5.20212913e-02 7.44235461e+01] [ 1.01890867e-01 9.94790079e-01 -3.30918150e-03 4.81239926e+00] [ 5.20875519e-02 -2.01305103e-03 9.98640493e-01 2.54450422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30509989299998 meters 0.01984703800726335 Centerline is valid? [True, True] Translation: X:74.49, Y:4.82, Z:2.55 [[ 9.93436349e-01 -1.02836403e-01 -5.00888681e-02 7.44858595e+01] [ 1.02806354e-01 9.94696297e-01 -3.18275705e-03 4.81692718e+00] [ 5.01505149e-02 -1.98758735e-03 9.98739693e-01 2.54947078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36509989299998 meters 0.0221458712423573 Centerline is valid? [True, True] Translation: X:74.55, Y:4.82, Z:2.55 [[ 9.93580500e-01 -1.01990287e-01 -4.89466174e-02 7.45476095e+01] [ 1.01960739e-01 9.94783573e-01 -3.10665405e-03 4.81695440e+00] [ 4.90081394e-02 -1.90392237e-03 9.98796565e-01 2.55109329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42509989299998 meters 0.021805030279913793 Centerline is valid? [True, True] Translation: X:74.61, Y:4.82, Z:2.55 [[ 9.92979144e-01 -1.06989843e-01 -5.04538775e-02 7.46082814e+01] [ 1.06965037e-01 9.94257635e-01 -3.19930736e-03 4.81673051e+00] [ 5.05064463e-02 -2.21995537e-03 9.98721268e-01 2.55396098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48509989299998 meters 0.012618609762779434 Centerline is valid? [True, True] Translation: X:74.67, Y:4.85, Z:2.56 [[ 9.97071193e-01 -6.13276256e-02 -4.56941774e-02 7.46672981e+01] [ 6.12592384e-02 9.98117686e-01 -2.89677611e-03 4.84736372e+00] [ 4.57858190e-02 8.91015034e-05 9.98951276e-01 2.56215158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54509989299999 meters 0.01282577344199612 Centerline is valid? [True, True] Translation: X:74.73, Y:4.85, Z:2.56 [[ 9.97368165e-01 -5.61458893e-02 -4.58735522e-02 7.47269707e+01] [ 5.60714942e-02 9.98422522e-01 -2.90792996e-03 4.85189568e+00] [ 4.59644559e-02 3.28078151e-04 9.98943022e-01 2.56442692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60509989299999 meters 0.013623240694588215 Centerline is valid? [True, True] Translation: X:74.79, Y:4.86, Z:2.57 [[ 9.97695552e-01 -4.99551781e-02 -4.59136766e-02 7.47855180e+01] [ 4.98739350e-02 9.98751270e-01 -2.91404403e-03 4.85597610e+00] [ 4.60019144e-02 6.17433051e-04 9.98941161e-01 2.56561555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66509989299998 meters 0.014333582957026983 Centerline is valid? [True, True] Translation: X:74.84, Y:4.86, Z:2.57 [[ 9.97859951e-01 -4.64320458e-02 -4.60389385e-02 7.48439445e+01] [ 4.63460719e-02 9.98921136e-01 -2.93366674e-03 4.85929286e+00] [ 4.61254849e-02 7.93664590e-04 9.98935338e-01 2.56751276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72509989299998 meters 0.014623916017770699 Centerline is valid? [True, True] Translation: X:74.90, Y:4.86, Z:2.57 [[ 9.97867486e-01 -4.61244173e-02 -4.61846103e-02 7.49026554e+01] [ 4.60370328e-02 9.98935364e-01 -2.95452130e-03 4.86284452e+00] [ 4.62717161e-02 8.22018322e-04 9.98928552e-01 2.56944796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78509989299998 meters 0.01498067196964049 Centerline is valid? [True, True] Translation: X:74.96, Y:4.87, Z:2.57 [[ 9.97823894e-01 -4.62388802e-02 -4.70046994e-02 7.49600365e+01] [ 4.61480060e-02 9.98930057e-01 -3.01723318e-03 4.86505978e+00] [ 4.70939205e-02 8.41494215e-04 9.98890111e-01 2.57130241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84509989299998 meters 0.014868366549873793 Centerline is valid? [True, True] Translation: X:75.02, Y:4.87, Z:2.57 [[ 9.97799613e-01 -4.70588080e-02 -4.67054667e-02 7.50187143e+01] [ 4.69697265e-02 9.98891798e-01 -3.00355464e-03 4.86691777e+00] [ 4.67950513e-02 8.03202664e-04 9.98904189e-01 2.57372314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90509989299998 meters 0.014113818518664395 Centerline is valid? [True, True] Translation: X:75.08, Y:4.87, Z:2.58 [[ 9.97750507e-01 -4.85251211e-02 -4.62519119e-02 7.50774491e+01] [ 4.84388149e-02 9.98821689e-01 -2.98563530e-03 4.86694229e+00] [ 4.63422911e-02 7.38531334e-04 9.98925346e-01 2.57717707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96509989299999 meters 0.01349439083167973 Centerline is valid? [True, True] Translation: X:75.14, Y:4.86, Z:2.58 [[ 9.97603535e-01 -5.38163708e-02 -4.34854636e-02 7.51363031e+01] [ 5.37447053e-02 9.98550737e-01 -2.81631523e-03 4.86042887e+00] [ 4.35740057e-02 4.72452603e-04 9.99050090e-01 2.58125171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02509989299998 meters 0.01323201688225135 Centerline is valid? [True, True] Translation: X:75.20, Y:4.82, Z:2.59 [[ 9.96550757e-01 -7.02212456e-02 -4.42217861e-02 7.51978565e+01] [ 7.01631160e-02 9.97531411e-01 -2.86717998e-03 4.82156077e+00] [ 4.43139577e-02 -2.45447930e-04 9.99017624e-01 2.58582309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08509989299998 meters 0.013425276419568267 Centerline is valid? [True, True] Translation: X:75.26, Y:4.81, Z:2.59 [[ 9.96332952e-01 -7.20868476e-02 -4.60883462e-02 7.52574183e+01] [ 7.20254643e-02 9.97398302e-01 -2.99329210e-03 4.81335349e+00] [ 4.61842152e-02 -3.37218985e-04 9.98932883e-01 2.58644780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14509989299998 meters 0.013479866511628748 Centerline is valid? [True, True] Translation: X:75.32, Y:4.81, Z:2.59 [[ 9.96311291e-01 -7.20496279e-02 -4.66118207e-02 7.53155970e+01] [ 7.19862109e-02 9.97400995e-01 -3.03991073e-03 4.81411099e+00] [ 4.67097008e-02 -3.26710977e-04 9.98908453e-01 2.58829835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20509989299998 meters 0.013464354224453861 Centerline is valid? [True, True] Translation: X:75.37, Y:4.82, Z:2.59 [[ 9.96357005e-01 -7.15791248e-02 -4.63589063e-02 7.53730725e+01] [ 7.15152438e-02 9.97434883e-01 -3.03721299e-03 4.81514310e+00] [ 4.64573914e-02 -2.89220056e-04 9.98920231e-01 2.59032216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26509989299998 meters 0.013486808042959724 Centerline is valid? [True, True] Translation: X:75.43, Y:4.81, Z:2.59 [[ 9.96518247e-01 -6.96035692e-02 -4.58990915e-02 7.54314269e+01] [ 6.95383111e-02 9.97574714e-01 -3.01889986e-03 4.81376741e+00] [ 4.59978993e-02 -1.83356510e-04 9.98941520e-01 2.59217346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32509989299999 meters 0.013397764385941313 Centerline is valid? [True, True] Translation: X:75.49, Y:4.79, Z:2.60 [[ 9.96865604e-01 -6.57149136e-02 -4.40512973e-02 7.54919141e+01] [ 6.56507898e-02 9.97838439e-01 -2.90235623e-03 4.79387137e+00] [ 4.41468059e-02 1.25663598e-06 9.99025055e-01 2.59575913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38509989299997 meters 0.013314608048517406 Centerline is valid? [True, True] Translation: X:75.55, Y:4.79, Z:2.60 [[ 9.96629556e-01 -6.94488706e-02 -4.36621459e-02 7.55501319e+01] [ 6.93889676e-02 9.97585501e-01 -2.88786524e-03 4.78926737e+00] [ 4.37572827e-02 -1.51539375e-04 9.99042180e-01 2.59828162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44509989299998 meters 0.013440389292786802 Centerline is valid? [True, True] Translation: X:75.61, Y:4.79, Z:2.60 [[ 9.96488888e-01 -7.17962534e-02 -4.30719606e-02 7.56082316e+01] [ 7.17396669e-02 9.97419290e-01 -2.86003171e-03 4.78836563e+00] [ 4.31661439e-02 -2.39978291e-04 9.99067879e-01 2.60022133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50509989299998 meters 0.013730112564400123 Centerline is valid? [True, True] Translation: X:75.67, Y:4.78, Z:2.60 [[ 9.96144466e-01 -7.71597875e-02 -4.17441091e-02 7.56673135e+01] [ 7.71111589e-02 9.97018637e-01 -2.77624722e-03 4.78407584e+00] [ 4.18338694e-02 -4.53393329e-04 9.99124478e-01 2.60424106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56509989299998 meters 0.019393847063775595 Centerline is valid? [True, True] Translation: X:75.73, Y:4.75, Z:2.60 [[ 9.94013786e-01 -9.88211130e-02 -4.65937764e-02 7.57290919e+01] [ 9.87837461e-02 9.95104066e-01 -3.10955565e-03 4.75391450e+00] [ 4.66729461e-02 -1.51176659e-03 9.98909080e-01 2.60141659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62509989299998 meters 0.01881741418201745 Centerline is valid? [True, True] Translation: X:75.79, Y:4.76, Z:2.60 [[ 9.93618183e-01 -1.02229053e-01 -4.76668305e-02 7.57889037e+01] [ 1.02193825e-01 9.94759417e-01 -3.18186748e-03 4.75617892e+00] [ 4.77423078e-02 -1.70969437e-03 9.98858223e-01 2.60291981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68509989299999 meters 0.02011121212774351 Centerline is valid? [True, True] Translation: X:75.85, Y:4.76, Z:2.60 [[ 9.93410961e-01 -1.03980217e-01 -4.81952076e-02 7.58470338e+01] [ 1.03946146e-01 9.94577716e-01 -3.21951535e-03 4.75672974e+00] [ 4.82686454e-02 -1.81140428e-03 9.98832747e-01 2.60452662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74509989299999 meters 0.02004844123958209 Centerline is valid? [True, True] Translation: X:75.91, Y:4.76, Z:2.61 [[ 9.93164583e-01 -1.06601968e-01 -4.75408495e-02 7.59060829e+01] [ 1.06571527e-01 9.94299948e-01 -3.18178777e-03 4.75895983e+00] [ 4.76090490e-02 -1.90646200e-03 9.98864227e-01 2.60728316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80509989299998 meters 0.0207279668157542 Centerline is valid? [True, True] Translation: X:75.96, Y:4.76, Z:2.61 [[ 9.93086046e-01 -1.07798100e-01 -4.64723111e-02 7.59645791e+01] [ 1.07769770e-01 9.94170976e-01 -3.12201879e-03 4.76145762e+00] [ 4.65379705e-02 -1.90787697e-03 9.98914700e-01 2.61034821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86509989299998 meters 0.022931430784847728 Centerline is valid? [True, True] Translation: X:76.02, Y:4.76, Z:2.61 [[ 9.92502075e-01 -1.13456168e-01 -4.54678962e-02 7.60246279e+01] [ 1.13434534e-01 9.93540748e-01 -3.06405773e-03 4.76389465e+00] [ 4.55218438e-02 -2.11654594e-03 9.98961101e-01 2.61408561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92509989299998 meters 0.02271752860011989 Centerline is valid? [True, True] Translation: X:76.08, Y:4.77, Z:2.62 [[ 9.92177986e-01 -1.17104100e-01 -4.32374073e-02 7.60836902e+01] [ 1.17087936e-01 9.93117273e-01 -2.91487280e-03 4.77098873e+00] [ 4.32811596e-02 -2.17050616e-03 9.99060574e-01 2.61899047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98509989299998 meters 0.025476834476558345 Centerline is valid? [True, True] Translation: X:76.14, Y:4.77, Z:2.62 [[ 9.92014498e-01 -1.18586816e-01 -4.29464997e-02 7.61408784e+01] [ 1.18572167e-01 9.92941210e-01 -2.89726869e-03 4.77242877e+00] [ 4.29869273e-02 -2.21812701e-03 9.99073172e-01 2.62131481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04509989299999 meters 0.02420020250760659 Centerline is valid? [True, True] Translation: X:76.20, Y:4.78, Z:2.62 [[ 9.91834728e-01 -1.20059801e-01 -4.30059943e-02 7.61994220e+01] [ 1.20046251e-01 9.92764044e-01 -2.90688070e-03 4.77978482e+00] [ 4.30438044e-02 -2.27956314e-03 9.99070585e-01 2.62412764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10509989299999 meters 0.02472805620641033 Centerline is valid? [True, True] Translation: X:76.26, Y:4.79, Z:2.63 [[ 9.91458244e-01 -1.22947661e-01 -4.35249634e-02 7.62585814e+01] [ 1.22936114e-01 9.92410196e-01 -2.95206563e-03 4.78604759e+00] [ 4.35575670e-02 -2.42394006e-03 9.99047978e-01 2.62600625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16509989299998 meters 0.025400135393510267 Centerline is valid? [True, True] Translation: X:76.32, Y:4.79, Z:2.63 [[ 9.91310693e-01 -1.23996989e-01 -4.39073594e-02 7.63176917e+01] [ 1.23986162e-01 9.92279471e-01 -2.98034368e-03 4.79085544e+00] [ 4.39379251e-02 -2.48945841e-03 9.99031161e-01 2.62782923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22509989299998 meters 0.023538733496765638 Centerline is valid? [True, True] Translation: X:76.38, Y:4.82, Z:2.63 [[ 9.91653826e-01 -1.20852123e-01 -4.49160695e-02 7.63768413e+01] [ 1.20837517e-01 9.92667613e-01 -3.05017829e-03 4.81953018e+00] [ 4.49553481e-02 -2.40282536e-03 9.98986108e-01 2.62837805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28509989299998 meters 0.023500221676869024 Centerline is valid? [True, True] Translation: X:76.44, Y:4.83, Z:2.63 [[ 9.92077554e-01 -1.17342628e-01 -4.48646147e-02 7.64357596e+01] [ 1.17324481e-01 9.93088961e-01 -3.04660380e-03 4.82936656e+00] [ 4.49120501e-02 -2.24125037e-03 9.98988431e-01 2.63029590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34509989299998 meters 0.024504616496241607 Centerline is valid? [True, True] Translation: X:76.50, Y:4.83, Z:2.63 [[ 9.92362884e-01 -1.14985107e-01 -4.46579402e-02 7.64951603e+01] [ 1.14964709e-01 9.93364945e-01 -3.03338455e-03 4.83476192e+00] [ 4.47104264e-02 -2.12386885e-03 9.98997731e-01 2.63235485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40509989299998 meters 0.021088822473610287 Centerline is valid? [True, True] Translation: X:76.56, Y:4.85, Z:2.64 [[ 9.92985858e-01 -1.10012042e-01 -4.33178567e-02 7.65552550e+01] [ 1.09988099e-01 9.93928547e-01 -2.94296261e-03 4.84977645e+00] [ 4.33786157e-02 -1.84212844e-03 9.99057007e-01 2.63554028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46509989299999 meters 0.021110410670030205 Centerline is valid? [True, True] Translation: X:76.61, Y:4.86, Z:2.64 [[ 9.93273054e-01 -1.07430809e-01 -4.32118118e-02 7.66149060e+01] [ 1.07404557e-01 9.94211066e-01 -2.93547348e-03 4.85611457e+00] [ 4.32770218e-02 -1.72541879e-03 9.99061621e-01 2.63745468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52509989299998 meters 0.014315342224155838 Centerline is valid? [True, True] Translation: X:76.67, Y:4.89, Z:2.64 [[ 9.95196003e-01 -8.78201311e-02 -4.32728485e-02 7.66732721e+01] [ 8.77752588e-02 9.96135966e-01 -2.93958755e-03 4.89122186e+00] [ 4.33637957e-02 -8.72819688e-04 9.99058967e-01 2.63968719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58509989299998 meters 0.013769129912818177 Centerline is valid? [True, True] Translation: X:76.73, Y:4.90, Z:2.64 [[ 9.95543615e-01 -8.37196602e-02 -4.34042599e-02 7.67323876e+01] [ 8.36706234e-02 9.96489104e-01 -2.94842857e-03 4.89885444e+00] [ 4.34987135e-02 -6.96372246e-04 9.99053240e-01 2.64153314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64509989299998 meters 0.013501919345794727 Centerline is valid? [True, True] Translation: X:76.79, Y:4.90, Z:2.64 [[ 9.95705190e-01 -8.19353802e-02 -4.31018363e-02 7.67927570e+01] [ 8.18853243e-02 9.96637455e-01 -2.92856143e-03 4.90490751e+00] [ 4.31968572e-02 -6.13424032e-04 9.99066392e-01 2.64422204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70509989299998 meters 0.012870072746680328 Centerline is valid? [True, True] Translation: X:76.85, Y:4.91, Z:2.65 [[ 9.96049569e-01 -7.82496403e-02 -4.19791574e-02 7.68526093e+01] [ 7.81988862e-02 9.96933698e-01 -2.85228082e-03 4.91456068e+00] [ 4.20736266e-02 -4.41710269e-04 9.99114415e-01 2.64837030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76509989299998 meters 0.01268754862939474 Centerline is valid? [True, True] Translation: X:76.91, Y:4.92, Z:2.65 [[ 9.96198687e-01 -7.66083503e-02 -4.14648769e-02 7.69124112e+01] [ 7.65574114e-02 9.97061194e-01 -2.81733795e-03 4.92123624e+00] [ 4.15588513e-02 -3.67815272e-04 9.99135990e-01 2.65155790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82509989299999 meters 0.012576348156776027 Centerline is valid? [True, True] Translation: X:76.97, Y:4.93, Z:2.65 [[ 9.96324646e-01 -7.50749074e-02 -4.12426768e-02 7.69726370e+01] [ 7.50231998e-02 9.97177851e-01 -2.80224053e-03 4.92763150e+00] [ 4.13366618e-02 -3.02216282e-04 9.99145229e-01 2.65454199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88509989299997 meters 0.01451371243254832 Centerline is valid? [True, True] Translation: X:77.03, Y:4.92, Z:2.65 [[ 9.95097021e-01 -8.97655557e-02 -4.15218498e-02 7.70329862e+01] [ 8.97259064e-02 9.95962500e-01 -2.82128825e-03 4.92328509e+00] [ 4.16074599e-02 -9.18130077e-04 9.99133613e-01 2.65402895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94509989299998 meters 0.016907613012746472 Centerline is valid? [True, True] Translation: X:77.09, Y:4.92, Z:2.65 [[ 9.94227309e-01 -9.81683212e-02 -4.33017071e-02 7.70939376e+01] [ 9.81331268e-02 9.95168945e-01 -2.94283973e-03 4.91986531e+00] [ 4.33814078e-02 -1.32348029e-03 9.99057707e-01 2.65410952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00509989299998 meters 0.01814671136005347 Centerline is valid? [True, True] Translation: X:77.16, Y:4.92, Z:2.65 [[ 9.93740224e-01 -1.02407511e-01 -4.46438095e-02 7.71552847e+01] [ 1.02374412e-01 9.94741313e-01 -3.03314985e-03 4.92087342e+00] [ 4.47196590e-02 -1.55622072e-03 9.98998363e-01 2.65497383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06509989299998 meters 0.021287310662380824 Centerline is valid? [True, True] Translation: X:77.22, Y:4.92, Z:2.66 [[ 9.92843885e-01 -1.09833530e-01 -4.68787327e-02 7.72165517e+01] [ 1.09805358e-01 9.93948011e-01 -3.18353584e-03 4.91949160e+00] [ 4.69446821e-02 -1.98678194e-03 9.98895515e-01 2.65528647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12509989299998 meters 0.02181536091126689 Centerline is valid? [True, True] Translation: X:77.28, Y:4.92, Z:2.66 [[ 9.92468876e-01 -1.13033056e-01 -4.72128947e-02 7.72774934e+01] [ 1.13008107e-01 9.93588894e-01 -3.20592214e-03 4.92332665e+00] [ 4.72725830e-02 -2.15366189e-03 9.98879705e-01 2.65797562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18509989299999 meters 0.026410612656570836 Centerline is valid? [True, True] Translation: X:77.34, Y:4.93, Z:2.67 [[ 9.91267186e-01 -1.24227281e-01 -4.42374218e-02 7.73376379e+01] [ 1.24216499e-01 9.92250594e-01 -3.00320009e-03 4.92737738e+00] [ 4.42676875e-02 -2.51804399e-03 9.99016532e-01 2.66525073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24509989299999 meters 0.025420155197771032 Centerline is valid? [True, True] Translation: X:77.40, Y:4.93, Z:2.67 [[ 9.91290432e-01 -1.23867085e-01 -4.47238626e-02 7.73998255e+01] [ 1.23855736e-01 9.92295592e-01 -3.03545003e-03 4.93377245e+00] [ 4.47552841e-02 -2.53029433e-03 9.98994776e-01 2.66736165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30509989299998 meters 0.024040668159290624 Centerline is valid? [True, True] Translation: X:77.46, Y:4.94, Z:2.67 [[ 9.91350989e-01 -1.23045824e-01 -4.56392679e-02 7.74612821e+01] [ 1.23033297e-01 9.92397720e-01 -3.09414331e-03 4.94062186e+00] [ 4.56730268e-02 -2.54776757e-03 9.98953194e-01 2.66803906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36509989299998 meters 0.02803601148991101 Centerline is valid? [True, True] Translation: X:77.52, Y:4.94, Z:2.67 [[ 9.91386341e-01 -1.22629205e-01 -4.59913073e-02 7.75223959e+01] [ 1.22616191e-01 9.92449277e-01 -3.11470697e-03 4.93939860e+00] [ 4.60259938e-02 -2.55140096e-03 9.98936984e-01 2.66877467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42509989299998 meters 0.012202653902634447 Centerline is valid? [True, True] Translation: X:77.58, Y:5.01, Z:2.68 [[ 9.97136955e-01 -6.15342702e-02 -4.39479974e-02 7.75778027e+01] [ 6.14629153e-02 9.98104936e-01 -2.97430253e-03 5.01467285e+00] [ 4.40477347e-02 2.64614922e-04 9.99029392e-01 2.67572617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48509989299998 meters 0.011962652507922585 Centerline is valid? [True, True] Translation: X:77.64, Y:5.01, Z:2.68 [[ 9.96865786e-01 -6.62030535e-02 -4.33100447e-02 7.76372420e+01] [ 6.61381075e-02 9.97806170e-01 -2.93231714e-03 5.01341901e+00] [ 4.34091581e-02 5.86822467e-05 9.99057377e-01 2.67792554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54509989299999 meters 0.011938371695592262 Centerline is valid? [True, True] Translation: X:77.70, Y:5.02, Z:2.68 [[ 9.96841131e-01 -6.67048664e-02 -4.31070695e-02 7.76979555e+01] [ 6.66406126e-02 9.97772749e-01 -2.92746120e-03 5.01638786e+00] [ 4.32063352e-02 4.55322083e-05 9.99066169e-01 2.68076132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60509989299999 meters 0.011976687895966445 Centerline is valid? [True, True] Translation: X:77.76, Y:5.02, Z:2.68 [[ 9.96805109e-01 -6.68429939e-02 -4.37217179e-02 7.77574151e+01] [ 6.67770215e-02 9.97763505e-01 -2.96932034e-03 5.01974899e+00] [ 4.38224128e-02 4.02275945e-05 9.99039336e-01 2.68202217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66509989299998 meters 0.011958500927671327 Centerline is valid? [True, True] Translation: X:77.82, Y:5.02, Z:2.68 [[ 9.96805428e-01 -6.67456857e-02 -4.38628736e-02 7.78173102e+01] [ 6.66791520e-02 9.97770019e-01 -2.97981816e-03 5.02254867e+00] [ 4.39639503e-02 4.55596945e-05 9.99033117e-01 2.68397210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72509989299998 meters 0.011936106159983712 Centerline is valid? [True, True] Translation: X:77.88, Y:5.03, Z:2.69 [[ 9.96794584e-01 -6.66752314e-02 -4.42150499e-02 7.78781839e+01] [ 6.66074960e-02 9.97774730e-01 -3.00507860e-03 5.02544933e+00] [ 4.43170238e-02 5.03923090e-05 9.99017517e-01 2.68603035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78509989299998 meters 0.011980613625241233 Centerline is valid? [True, True] Translation: X:77.94, Y:5.03, Z:2.69 [[ 9.96767797e-01 -6.67329945e-02 -4.47288103e-02 7.79382014e+01] [ 6.66637209e-02 9.97770868e-01 -3.04027040e-03 5.02802395e+00] [ 4.48319902e-02 4.86547033e-05 9.98994540e-01 2.68720419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84509989299998 meters 0.011973411582261279 Centerline is valid? [True, True] Translation: X:78.00, Y:5.03, Z:2.69 [[ 9.96716778e-01 -6.70153648e-02 -4.54379344e-02 7.79965425e+01] [ 6.69440862e-02 9.97751943e-01 -3.09029277e-03 5.02958616e+00] [ 4.55428844e-02 3.83456511e-05 9.98962384e-01 2.68783561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90509989299998 meters 0.0120832839589236 Centerline is valid? [True, True] Translation: X:78.06, Y:5.03, Z:2.69 [[ 9.97034272e-01 -6.43366551e-02 -4.22309700e-02 7.80551064e+01] [ 6.42725520e-02 9.97928240e-01 -2.87532848e-03 5.02640857e+00] [ 4.23284666e-02 1.52508825e-04 9.99103737e-01 2.69181287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96509989299999 meters 0.012126401133203077 Centerline is valid? [True, True] Translation: X:78.11, Y:5.03, Z:2.69 [[ 9.97137567e-01 -6.29659021e-02 -4.18565079e-02 7.81147755e+01] [ 6.29013205e-02 9.98015655e-01 -2.85944511e-03 5.02760068e+00] [ 4.19534977e-02 2.18430522e-04 9.99119541e-01 2.69371223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02509989299998 meters 0.012202155057130128 Centerline is valid? [True, True] Translation: X:78.17, Y:5.03, Z:2.70 [[ 9.97127644e-01 -6.28871782e-02 -4.22097709e-02 7.81734413e+01] [ 6.28213614e-02 9.98020617e-01 -2.88521782e-03 5.02992059e+00] [ 4.23076648e-02 2.25255176e-04 9.99104605e-01 2.69530363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08509989299998 meters 0.012202155057130128 Centerline is valid? [True, True] Translation: X:78.23, Y:5.03, Z:2.70 [[ 9.97111979e-01 -6.31352124e-02 -4.22095493e-02 7.82315045e+01] [ 6.30694806e-02 9.98004959e-01 -2.88845553e-03 5.03393192e+00] [ 4.23077027e-02 2.17979254e-04 9.99104605e-01 2.69747705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14509989299998 meters 0.012096556852875825 Centerline is valid? [True, True] Translation: X:78.29, Y:5.03, Z:2.70 [[ 9.97011132e-01 -6.48851946e-02 -4.19370315e-02 7.82905379e+01] [ 6.48214177e-02 9.97892724e-01 -2.88023570e-03 5.03366518e+00] [ 4.20355433e-02 1.53209214e-04 9.99116104e-01 2.69993121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20509989299998 meters 0.01304833195406448 Centerline is valid? [True, True] Translation: X:78.35, Y:5.01, Z:2.70 [[ 9.95632869e-01 -8.23971830e-02 -4.38850200e-02 7.83514083e+01] [ 8.23438731e-02 9.96599388e-01 -3.02416521e-03 5.01231881e+00] [ 4.39849668e-02 -6.02704239e-04 9.99032011e-01 2.70193131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26509989299998 meters 0.013464063512340481 Centerline is valid? [True, True] Translation: X:78.41, Y:5.01, Z:2.70 [[ 9.95233914e-01 -8.65019058e-02 -4.50208449e-02 7.84114812e+01] [ 8.64498963e-02 9.96251362e-01 -3.10462558e-03 5.01113414e+00] [ 4.51206340e-02 -8.02218695e-04 9.98981223e-01 2.70418557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32509989299999 meters 0.014016554564721711 Centerline is valid? [True, True] Translation: X:78.47, Y:5.01, Z:2.71 [[ 9.95078791e-01 -8.80611169e-02 -4.54250919e-02 7.84706171e+01] [ 8.80097468e-02 9.96114685e-01 -3.13349500e-03 5.00984905e+00] [ 4.55245402e-02 -8.79776421e-04 9.98962833e-01 2.70625532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38509989299997 meters 0.012530598382594212 Centerline is valid? [True, True] Translation: X:78.53, Y:5.01, Z:2.71 [[ 9.95972147e-01 -7.80032827e-02 -4.42150471e-02 7.85292339e+01] [ 7.79446258e-02 9.96953019e-01 -3.05171889e-03 5.00891987e+00] [ 4.43183688e-02 -4.06898286e-04 9.99017376e-01 2.70871465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44509989299998 meters 0.012337991234997589 Centerline is valid? [True, True] Translation: X:78.59, Y:5.01, Z:2.71 [[ 9.96097133e-01 -7.69543503e-02 -4.32265002e-02 7.85873736e+01] [ 7.68971512e-02 9.97034556e-01 -2.98693444e-03 5.01241532e+00] [ 4.33281720e-02 -3.48717888e-04 9.99060833e-01 2.71132619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50509989299998 meters 0.01209985204048664 Centerline is valid? [True, True] Translation: X:78.65, Y:5.02, Z:2.71 [[ 9.96216339e-01 -7.58911807e-02 -4.23501521e-02 7.86457305e+01] [ 7.58348767e-02 9.97116065e-01 -2.93676132e-03 5.01650325e+00] [ 4.24508913e-02 -2.85968958e-04 9.99098514e-01 2.71467230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56509989299998 meters 0.01201703131701122 Centerline is valid? [True, True] Translation: X:78.70, Y:5.02, Z:2.72 [[ 9.96427878e-01 -7.35201289e-02 -4.15484684e-02 7.87045333e+01] [ 7.34634380e-02 9.97293719e-01 -2.89168598e-03 5.01993872e+00] [ 4.16486237e-02 -1.70936810e-04 9.99132305e-01 2.71829383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62509989299998 meters 0.011984560566396641 Centerline is valid? [True, True] Translation: X:78.76, Y:5.02, Z:2.72 [[ 9.96588527e-01 -6.99033306e-02 -4.38729009e-02 7.87635403e+01] [ 6.98360925e-02 9.97553770e-01 -3.06527275e-03 5.01581234e+00] [ 4.39798505e-02 -9.09630601e-06 9.99032418e-01 2.71884299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68509989299999 meters 0.012038060970801082 Centerline is valid? [True, True] Translation: X:78.82, Y:5.02, Z:2.72 [[ 9.96500137e-01 -7.07226451e-02 -4.45621518e-02 7.88212428e+01] [ 7.06535639e-02 9.97496018e-01 -3.12531743e-03 5.01719203e+00] [ 4.46715997e-02 -3.40955899e-05 9.99001725e-01 2.72022796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74509989299999 meters 0.012105794193498127 Centerline is valid? [True, True] Translation: X:78.88, Y:5.02, Z:2.72 [[ 9.96376285e-01 -7.25238033e-02 -4.44364423e-02 7.88792395e+01] [ 7.24563236e-02 9.97366677e-01 -3.12946167e-03 5.01787131e+00] [ 4.45463872e-02 -1.01579852e-04 9.99007312e-01 2.72286160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80509989299998 meters 0.012214831543106222 Centerline is valid? [True, True] Translation: X:78.94, Y:5.02, Z:2.72 [[ 9.96160064e-01 -7.51020470e-02 -4.49978725e-02 7.89368377e+01] [ 7.50349240e-02 9.97175832e-01 -3.18129319e-03 5.01718324e+00] [ 4.51097126e-02 -2.07334712e-04 9.98982017e-01 2.72392153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86509989299998 meters 0.01436645027726363 Centerline is valid? [True, True] Translation: X:79.00, Y:5.00, Z:2.73 [[ 9.94861336e-01 -9.09143896e-02 -4.45589116e-02 7.89977648e+01] [ 9.08641648e-02 9.95858296e-01 -3.15547923e-03 5.00345937e+00] [ 4.46612403e-02 -9.09544010e-04 9.99001775e-01 2.72560602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92509989299998 meters 0.01598016090438591 Centerline is valid? [True, True] Translation: X:79.06, Y:5.00, Z:2.73 [[ 9.94224876e-01 -9.86574045e-02 -4.22328391e-02 7.90584598e+01] [ 9.86192328e-02 9.95120746e-01 -2.99140142e-03 5.00054575e+00] [ 4.23218983e-02 -1.19084449e-03 9.99103317e-01 2.73008976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98509989299998 meters 0.017917264568317163 Centerline is valid? [True, True] Translation: X:79.12, Y:5.00, Z:2.73 [[ 9.93497274e-01 -1.05547615e-01 -4.26950639e-02 7.91184861e+01] [ 1.05514946e-01 9.94413118e-01 -3.02427889e-03 4.99794113e+00] [ 4.27757371e-02 -1.50035454e-03 9.99083573e-01 2.73193980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04509989299999 meters 0.02699622296718874 Centerline is valid? [True, True] Translation: X:79.18, Y:4.98, Z:2.74 [[ 9.90277655e-01 -1.32528484e-01 -4.22654436e-02 7.91801412e+01] [ 1.32520847e-01 9.91175694e-01 -2.99483578e-03 4.97969352e+00] [ 4.22893814e-02 -2.63533344e-03 9.99101928e-01 2.73672333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10509989299999 meters 0.028920033693652446 Centerline is valid? [True, True] Translation: X:79.24, Y:4.98, Z:2.74 [[ 9.89954211e-01 -1.34750829e-01 -4.28120704e-02 7.92392654e+01] [ 1.34745029e-01 9.90875658e-01 -3.03436031e-03 4.98020497e+00] [ 4.28303210e-02 -2.76483589e-03 9.99078535e-01 2.73830676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16509989299998 meters 0.03148007663191287 Centerline is valid? [True, True] Translation: X:79.30, Y:4.98, Z:2.74 [[ 9.89589762e-01 -1.37354516e-01 -4.29632319e-02 7.92987873e+01] [ 1.37351023e-01 9.90517749e-01 -3.04725430e-03 4.98111417e+00] [ 4.29743979e-02 -2.88551221e-03 9.99072007e-01 2.74052515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22509989299998 meters 0.026608035379766574 Centerline is valid? [True, True] Translation: X:79.36, Y:4.99, Z:2.75 [[ 9.90703247e-01 -1.29954424e-01 -4.02358652e-02 7.93581401e+01] [ 1.29945242e-01 9.91517063e-01 -2.85454344e-03 4.99454802e+00] [ 4.02655074e-02 -2.40045380e-03 9.99186132e-01 2.74529546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28509989299998 meters 0.02510211552910823 Centerline is valid? [True, True] Translation: X:79.42, Y:5.00, Z:2.75 [[ 9.91253153e-01 -1.26145709e-01 -3.87872034e-02 7.94178881e+01] [ 1.26134250e-01 9.92009363e-01 -2.75221500e-03 5.00335646e+00] [ 3.88244490e-02 -2.16425301e-03 9.99243703e-01 2.74900437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34509989299998 meters 0.024185651872753827 Centerline is valid? [True, True] Translation: X:79.48, Y:5.01, Z:2.75 [[ 9.92082405e-01 -1.19760140e-01 -3.78154764e-02 7.94771012e+01] [ 1.19744605e-01 9.92801102e-01 -2.68362124e-03 5.01367844e+00] [ 3.78646374e-02 -1.86582588e-03 9.99281136e-01 2.75196653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40509989299998 meters 0.021857532017164494 Centerline is valid? [True, True] Translation: X:79.54, Y:5.02, Z:2.75 [[ 9.92582795e-01 -1.15561069e-01 -3.77496187e-02 7.95372076e+01] [ 1.15542554e-01 9.93298918e-01 -2.67904597e-03 5.02460176e+00] [ 3.78062488e-02 -1.70251243e-03 9.99283638e-01 2.75350280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46509989299999 meters 0.020843227396021926 Centerline is valid? [True, True] Translation: X:79.60, Y:5.04, Z:2.76 [[ 9.92936465e-01 -1.12437950e-01 -3.78798600e-02 7.95974635e+01] [ 1.12417054e-01 9.93657477e-01 -2.68790787e-03 5.03641194e+00] [ 3.79418290e-02 -1.58942055e-03 9.99278686e-01 2.75582651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52509989299998 meters 0.01959762412827581 Centerline is valid? [True, True] Translation: X:79.66, Y:5.05, Z:2.76 [[ 9.93135315e-01 -1.10154333e-01 -3.93480514e-02 7.96583696e+01] [ 1.10130006e-01 9.93913269e-01 -2.79188202e-03 5.05024256e+00] [ 3.94160883e-02 -1.56068450e-03 9.99221665e-01 2.75722995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58509989299998 meters 0.02032916114186314 Centerline is valid? [True, True] Translation: X:79.72, Y:5.06, Z:2.76 [[ 9.93292459e-01 -1.08383097e-01 -4.02889039e-02 7.97186594e+01] [ 1.08356229e-01 9.94108027e-01 -2.85639964e-03 5.05888507e+00] [ 4.03611082e-02 -1.52831348e-03 9.99183990e-01 2.75878872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64509989299998 meters 0.01827998241674187 Centerline is valid? [True, True] Translation: X:79.78, Y:5.07, Z:2.76 [[ 9.93434100e-01 -1.06634977e-01 -4.14447940e-02 7.97797911e+01] [ 1.06605096e-01 9.94297103e-01 -2.93671837e-03 5.07029024e+00] [ 4.15215955e-02 -1.50079007e-03 9.99136480e-01 2.76043651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70509989299998 meters 0.017594542536996258 Centerline is valid? [True, True] Translation: X:79.84, Y:5.08, Z:2.76 [[ 9.93744188e-01 -1.03403090e-01 -4.21934754e-02 7.98404992e+01] [ 1.03369308e-01 9.94638558e-01 -2.98745622e-03 5.07926834e+00] [ 4.22761697e-02 -1.39274309e-03 9.99104992e-01 2.76151873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76509989299998 meters 0.016728942868720002 Centerline is valid? [True, True] Translation: X:79.90, Y:5.09, Z:2.76 [[ 9.94266633e-01 -9.82971573e-02 -4.20895606e-02 7.99006365e+01] [ 9.82590328e-02 9.95156415e-01 -2.97862439e-03 5.08994453e+00] [ 4.21784865e-02 -1.17413266e-03 9.99109402e-01 2.76307723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82509989299999 meters 0.015769695091119227 Centerline is valid? [True, True] Translation: X:79.96, Y:5.10, Z:2.76 [[ 9.94517633e-01 -9.51308895e-02 -4.34141910e-02 7.99610606e+01] [ 9.50873491e-02 9.95464194e-01 -3.07155235e-03 5.10060603e+00] [ 4.35094721e-02 -1.07342736e-03 9.99052438e-01 2.76492835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88509989299997 meters 0.015706691840427656 Centerline is valid? [True, True] Translation: X:80.02, Y:5.11, Z:2.77 [[ 9.94652263e-01 -9.26526640e-02 -4.56328758e-02 8.00204972e+01] [ 9.26019868e-02 9.95697973e-01 -3.22780489e-03 5.11173554e+00] [ 4.57356266e-02 -1.01515152e-03 9.98953063e-01 2.76574836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94509989299998 meters 0.01539316985580814 Centerline is valid? [True, True] Translation: X:80.08, Y:5.12, Z:2.77 [[ 9.94817409e-01 -9.24335453e-02 -4.23599146e-02 8.00805952e+01] [ 9.23896787e-02 9.95718419e-01 -2.99629460e-03 5.12205048e+00] [ 4.24555053e-02 -9.32852867e-04 9.99097923e-01 2.77204516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00509989299998 meters 0.014360905905504527 Centerline is valid? [True, True] Translation: X:80.14, Y:5.13, Z:2.78 [[ 9.95353288e-01 -8.66110384e-02 -4.20756458e-02 8.01410007e+01] [ 8.65625578e-02 9.96241972e-01 -2.97619102e-03 5.13188800e+00] [ 4.21752953e-02 -6.79814002e-04 9.99109995e-01 2.77530551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06509989299998 meters 0.013540682177223505 Centerline is valid? [True, True] Translation: X:80.20, Y:5.14, Z:2.78 [[ 9.95768463e-01 -8.15153886e-02 -4.24312388e-02 8.02014126e+01] [ 8.14614584e-02 9.96671973e-01 -3.00137409e-03 5.13908657e+00] [ 4.25346847e-02 -4.67836930e-04 9.99094881e-01 2.77660449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12509989299998 meters 0.01295495395822477 Centerline is valid? [True, True] Translation: X:80.26, Y:5.15, Z:2.78 [[ 9.96265486e-01 -7.47857739e-02 -4.31528653e-02 8.02612606e+01] [ 7.47236803e-02 9.97199606e-01 -3.05241834e-03 5.14670848e+00] [ 4.32602977e-02 -1.83521865e-04 9.99063818e-01 2.77823557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18509989299999 meters 0.012882062157732823 Centerline is valid? [True, True] Translation: X:80.32, Y:5.15, Z:2.78 [[ 9.96405814e-01 -7.25178991e-02 -4.37790848e-02 8.03204405e+01] [ 7.24517906e-02 9.97367107e-01 -3.09695441e-03 5.15231224e+00] [ 4.38884038e-02 -8.60497074e-05 9.99036436e-01 2.77990541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24509989299997 meters 0.012822823990951613 Centerline is valid? [True, True] Translation: X:80.38, Y:5.16, Z:2.78 [[ 9.96464184e-01 -7.13854747e-02 -4.43085171e-02 8.03794673e+01] [ 7.13164954e-02 9.97448802e-01 -3.13760956e-03 5.15634677e+00] [ 4.44194571e-02 -3.34126064e-05 9.99012968e-01 2.78144076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30509989299998 meters 0.012848192976317946 Centerline is valid? [True, True] Translation: X:80.44, Y:5.16, Z:2.78 [[ 9.96462650e-01 -7.14589400e-02 -4.42245036e-02 8.04371505e+01] [ 7.13897796e-02 9.97443542e-01 -3.14326310e-03 5.15974582e+00] [ 4.43360598e-02 -2.50332884e-05 9.99016673e-01 2.78344637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36509989299998 meters 0.01282453024024777 Centerline is valid? [True, True] Translation: X:80.49, Y:5.16, Z:2.79 [[ 9.96424722e-01 -7.23131840e-02 -4.36872539e-02 8.04947061e+01] [ 7.22460171e-02 9.97381973e-01 -3.11643897e-03 5.16250190e+00] [ 4.37982392e-02 -5.09332533e-05 9.99040395e-01 2.78553048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42509989299998 meters 0.01318802628744223 Centerline is valid? [True, True] Translation: X:80.55, Y:5.16, Z:2.79 [[ 9.96003753e-01 -8.00022130e-02 -3.97010033e-02 8.05540793e+01] [ 7.99527046e-02 9.96794625e-01 -2.83574726e-03 5.15815533e+00] [ 3.98006128e-02 -3.49787680e-04 9.99207580e-01 2.79034750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48509989299998 meters 0.015667425964969603 Centerline is valid? [True, True] Translation: X:80.61, Y:5.15, Z:2.79 [[ 9.94852558e-01 -9.33815561e-02 -3.93481077e-02 8.06147737e+01] [ 9.33429997e-02 9.95630018e-01 -2.81991583e-03 5.14768375e+00] [ 3.94394853e-02 -8.67469935e-04 9.99221584e-01 2.79271386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54509989299999 meters 0.02042190780204281 Centerline is valid? [True, True] Translation: X:80.68, Y:5.14, Z:2.79 [[ 9.92669807e-01 -1.13573154e-01 -4.13254580e-02 8.06758130e+01] [ 1.13548026e-01 9.93528092e-01 -2.96238103e-03 5.13568757e+00] [ 4.13944504e-02 -1.75175798e-03 9.99141347e-01 2.79311131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60509989299999 meters 0.025773872955423965 Centerline is valid? [True, True] Translation: X:80.74, Y:5.13, Z:2.80 [[ 9.91556537e-01 -1.23106673e-01 -4.07477624e-02 8.07358657e+01] [ 1.23090238e-01 9.92391182e-01 -2.92154154e-03 5.13102724e+00] [ 4.07973814e-02 -2.11877816e-03 9.99165194e-01 2.79561743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66509989299998 meters 0.02539706836226517 Centerline is valid? [True, True] Translation: X:80.80, Y:5.14, Z:2.80 [[ 9.91385567e-01 -1.24411358e-01 -4.09447330e-02 8.07968727e+01] [ 1.24395855e-01 9.92228326e-01 -2.93610708e-03 5.13613440e+00] [ 4.09918090e-02 -2.18254088e-03 9.99157099e-01 2.79768325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72509989299998 meters 0.024969727594318588 Centerline is valid? [True, True] Translation: X:80.86, Y:5.14, Z:2.80 [[ 9.91230341e-01 -1.25421798e-01 -4.16146944e-02 8.08578847e+01] [ 1.25406737e-01 9.92100930e-01 -2.98261049e-03 5.14149207e+00] [ 4.16600614e-02 -2.26230900e-03 9.99129282e-01 2.79943513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78509989299998 meters 0.02628824818489028 Centerline is valid? [True, True] Translation: X:80.92, Y:5.15, Z:2.80 [[ 9.91189428e-01 -1.25538779e-01 -4.22318919e-02 8.09184857e+01] [ 1.25523437e-01 9.92086042e-01 -3.02536341e-03 5.14586686e+00] [ 4.22774709e-02 -2.30238398e-03 9.99103255e-01 2.79976852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84509989299998 meters 0.026638162373250705 Centerline is valid? [True, True] Translation: X:80.98, Y:5.15, Z:2.80 [[ 9.91635658e-01 -1.21982622e-01 -4.21777484e-02 8.09778645e+01] [ 1.21964140e-01 9.92529911e-01 -3.02081040e-03 5.15460538e+00] [ 4.22311633e-02 -2.14862949e-03 9.99105556e-01 2.80144924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90509989299998 meters 0.022341166514967013 Centerline is valid? [True, True] Translation: X:81.04, Y:5.17, Z:2.81 [[ 9.92212253e-01 -1.17383699e-01 -4.16642829e-02 8.10379320e+01] [ 1.17361622e-01 9.93084763e-01 -2.98395389e-03 5.17197218e+00] [ 4.17264320e-02 -1.92907219e-03 9.99127211e-01 2.80582085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96509989299999 meters 0.021037182719918217 Centerline is valid? [True, True] Translation: X:81.10, Y:5.18, Z:2.81 [[ 9.92710579e-01 -1.12885397e-01 -4.22207622e-02 8.10983552e+01] [ 1.12858699e-01 9.93606449e-01 -3.02302614e-03 5.18259352e+00] [ 4.22920771e-02 -1.76399026e-03 9.99103733e-01 2.80824077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02509989299998 meters 0.018134915950725996 Centerline is valid? [True, True] Translation: X:81.16, Y:5.20, Z:2.81 [[ 9.93633616e-01 -1.04362364e-01 -4.24350678e-02 8.11578353e+01] [ 1.04327659e-01 9.94538341e-01 -3.03766023e-03 5.19792629e+00] [ 4.25203193e-02 -1.40882996e-03 9.99094609e-01 2.81072202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08509989299998 meters 0.015896299950776932 Centerline is valid? [True, True] Translation: X:81.22, Y:5.21, Z:2.81 [[ 9.94525037e-01 -9.52799557e-02 -4.29148030e-02 8.12175562e+01] [ 9.52360202e-02 9.95449981e-01 -3.07174975e-03 5.21364673e+00] [ 4.30122160e-02 -1.03210301e-03 9.99074013e-01 2.81335987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14509989299998 meters 0.013748109747653312 Centerline is valid? [True, True] Translation: X:81.28, Y:5.23, Z:2.81 [[ 9.95482227e-01 -8.40844826e-02 -4.41014299e-02 8.12765038e+01] [ 8.40271078e-02 9.96458470e-01 -3.15641726e-03 5.23105526e+00] [ 4.42106491e-02 -5.63558324e-04 9.99022072e-01 2.81360121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20509989299998 meters 0.012889322025364702 Centerline is valid? [True, True] Translation: X:81.34, Y:5.24, Z:2.82 [[ 9.96040910e-01 -7.75545648e-02 -4.34487542e-02 8.13366161e+01] [ 7.74926737e-02 9.96988072e-01 -3.10947419e-03 5.24437879e+00] [ 4.35590437e-02 -2.69796638e-04 9.99050818e-01 2.81684785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26509989299998 meters 0.012702857409148111 Centerline is valid? [True, True] Translation: X:81.40, Y:5.25, Z:2.82 [[ 9.96363763e-01 -7.36643966e-02 -4.28113012e-02 8.13970255e+01] [ 7.36007855e-02 9.97283083e-01 -3.06229754e-03 5.25485842e+00] [ 4.29205688e-02 -9.97830948e-05 9.99078483e-01 2.81979050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32509989299999 meters 0.012779760729017983 Centerline is valid? [True, True] Translation: X:81.46, Y:5.26, Z:2.82 [[ 9.96266487e-01 -7.32810069e-02 -4.56396944e-02 8.14573530e+01] [ 7.32083731e-02 9.97311328e-01 -3.26316022e-03 5.26329102e+00] [ 4.57561119e-02 -9.02306093e-05 9.98952637e-01 2.81927851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38509989299997 meters 0.012792938845014193 Centerline is valid? [True, True] Translation: X:81.52, Y:5.27, Z:2.82 [[ 9.96235218e-01 -7.52479001e-02 -4.30481537e-02 8.15153727e+01] [ 7.51851023e-02 9.97164843e-01 -3.07826696e-03 5.26861221e+00] [ 4.31577386e-02 -1.69901885e-04 9.99068256e-01 2.82355088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44509989299998 meters 0.013005686601442098 Centerline is valid? [True, True] Translation: X:81.58, Y:5.27, Z:2.83 [[ 9.95901102e-01 -7.88409417e-02 -4.43294652e-02 8.15757687e+01] [ 7.87777889e-02 9.96887153e-01 -3.17249942e-03 5.27146388e+00] [ 4.44415972e-02 -3.32681586e-04 9.99011929e-01 2.82601370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50509989299998 meters 0.013438585956127383 Centerline is valid? [True, True] Translation: X:81.64, Y:5.27, Z:2.83 [[ 9.95462144e-01 -8.39475779e-02 -4.48098715e-02 8.16359224e+01] [ 8.38882166e-02 9.96470011e-01 -3.20688035e-03 5.27310497e+00] [ 4.49209029e-02 -5.66692212e-04 9.98990386e-01 2.82855444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56509989299998 meters 0.014259458165415939 Centerline is valid? [True, True] Translation: X:81.70, Y:5.27, Z:2.83 [[ 9.95054110e-01 -8.79833385e-02 -4.61112805e-02 8.16970787e+01] [ 8.79248262e-02 9.96121648e-01 -3.29959265e-03 5.27323519e+00] [ 4.62227539e-02 -7.71053091e-04 9.98930860e-01 2.82939022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62509989299998 meters 0.014326883028739912 Centerline is valid? [True, True] Translation: X:81.76, Y:5.28, Z:2.83 [[ 9.95121095e-01 -8.80181391e-02 -4.45736920e-02 8.17579551e+01] [ 8.79635881e-02 9.96118591e-01 -3.18758811e-03 5.27720762e+00] [ 4.46812489e-02 -7.48825719e-04 9.99001014e-01 2.83298250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68509989299999 meters 0.013296194403001218 Centerline is valid? [True, True] Translation: X:81.82, Y:5.28, Z:2.84 [[ 9.95598260e-01 -8.29833520e-02 -4.35645353e-02 8.18185608e+01] [ 8.29264917e-02 9.96550802e-01 -3.11389005e-03 5.28483970e+00] [ 4.36726736e-02 -5.12470559e-04 9.99045762e-01 2.83624973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74509989299997 meters 0.012698857284132272 Centerline is valid? [True, True] Translation: X:81.88, Y:5.29, Z:2.84 [[ 9.96268245e-01 -7.47896212e-02 -4.30824400e-02 8.18796195e+01] [ 7.47264184e-02 9.97199323e-01 -3.07786254e-03 5.29346856e+00] [ 4.31919721e-02 -1.53019727e-04 9.99066780e-01 2.83893970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80509989299998 meters 0.01274890119812594 Centerline is valid? [True, True] Translation: X:81.94, Y:5.30, Z:2.84 [[ 9.96454191e-01 -7.18562390e-02 -4.37690025e-02 8.19396582e+01] [ 7.17882410e-02 9.97414999e-01 -3.12543013e-03 5.29691785e+00] [ 4.38804413e-02 -2.77517499e-05 9.99036789e-01 2.83995603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86509989299998 meters 0.012784660540419001 Centerline is valid? [True, True] Translation: X:82.00, Y:5.30, Z:2.84 [[ 9.96407283e-01 -7.22591279e-02 -4.41717674e-02 8.19989684e+01] [ 7.21902861e-02 9.97385891e-01 -3.15377482e-03 5.29956985e+00] [ 4.42841866e-02 -4.63283268e-05 9.99018973e-01 2.84219774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92509989299998 meters 0.013195341801635835 Centerline is valid? [True, True] Translation: X:82.06, Y:5.30, Z:2.84 [[ 9.95875357e-01 -7.74798978e-02 -4.72137573e-02 8.20592661e+01] [ 7.74070188e-02 9.96993871e-01 -3.37276164e-03 5.29851036e+00] [ 4.73331479e-02 -2.95825991e-04 9.98879115e-01 2.84175552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98509989299998 meters 0.014860398746131162 Centerline is valid? [True, True] Translation: X:82.12, Y:5.29, Z:2.85 [[ 9.94818739e-01 -9.18995229e-02 -4.34758993e-02 8.21192756e+01] [ 9.18514109e-02 9.95767876e-01 -3.10719318e-03 5.29440190e+00] [ 4.35774535e-02 -9.02228683e-04 9.99049644e-01 2.84825856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04509989299999 meters 0.015191029527051423 Centerline is valid? [True, True] Translation: X:82.18, Y:5.30, Z:2.85 [[ 9.94598874e-01 -9.43761551e-02 -4.31997785e-02 8.21816691e+01] [ 9.43309474e-02 9.95536104e-01 -3.08834356e-03 5.29807896e+00] [ 4.32984051e-02 -1.00341300e-03 9.99061680e-01 2.85082970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10509989299999 meters 0.0165166910339962 Centerline is valid? [True, True] Translation: X:82.24, Y:5.30, Z:2.85 [[ 9.94019383e-01 -1.00002342e-01 -4.38747858e-02 8.22429040e+01] [ 9.99613118e-02 9.94986390e-01 -3.13364871e-03 5.29837969e+00] [ 4.39681869e-02 -1.27087358e-03 9.99032123e-01 2.85193547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16509989299998 meters 0.01819202868788173 Centerline is valid? [True, True] Translation: X:82.30, Y:5.30, Z:2.85 [[ 9.93633872e-01 -1.03608453e-01 -4.42381810e-02 8.23029139e+01] [ 1.03570367e-01 9.94617114e-01 -3.15826589e-03 5.29887229e+00] [ 4.43272750e-02 -1.44360469e-03 9.99016020e-01 2.85320800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22509989299998 meters 0.02170328712456914 Centerline is valid? [True, True] Translation: X:82.36, Y:5.30, Z:2.85 [[ 9.92231575e-01 -1.15704712e-01 -4.57047262e-02 8.23639000e+01] [ 1.15677007e-01 9.93281534e-01 -3.25949783e-03 5.29655356e+00] [ 4.57747998e-02 -2.05280929e-03 9.98949675e-01 2.85400758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28509989299998 meters 0.0261019292521956 Centerline is valid? [True, True] Translation: X:82.42, Y:5.29, Z:2.85 [[ 9.90979455e-01 -1.25581379e-01 -4.67871480e-02 8.24243750e+01] [ 1.25563301e-01 9.92079998e-01 -3.33685893e-03 5.29471564e+00] [ 4.68356411e-02 -2.56799011e-03 9.98899308e-01 2.85467979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34509989299998 meters 0.028581865903980902 Centerline is valid? [True, True] Translation: X:82.48, Y:5.30, Z:2.86 [[ 9.90475142e-01 -1.29083168e-01 -4.79221078e-02 8.24849593e+01] [ 1.29068307e-01 9.91629817e-01 -3.41738148e-03 5.29721185e+00] [ 4.79621174e-02 -2.80039391e-03 9.98845230e-01 2.85547897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40509989299998 meters 0.027957107443006723 Centerline is valid? [True, True] Translation: X:82.54, Y:5.31, Z:2.86 [[ 9.91135245e-01 -1.24343107e-01 -4.67944223e-02 8.25437051e+01] [ 1.24323720e-01 9.92236103e-01 -3.33586037e-03 5.30841588e+00] [ 4.68459065e-02 -2.51136785e-03 9.98898971e-01 2.85944947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46509989299999 meters 0.022012438939759054 Centerline is valid? [True, True] Translation: X:82.60, Y:5.33, Z:2.87 [[ 9.92540400e-01 -1.13710961e-01 -4.39701303e-02 8.26024279e+01] [ 1.13683398e-01 9.93512082e-01 -3.13506083e-03 5.32974495e+00] [ 4.40413465e-02 -1.88699927e-03 9.99027927e-01 2.86613709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52509989299998 meters 0.020354464599976516 Centerline is valid? [True, True] Translation: X:82.66, Y:5.34, Z:2.87 [[ 9.93482069e-01 -1.05441616e-01 -4.33063878e-02 8.26610516e+01] [ 1.05407032e-01 9.94424368e-01 -3.08768743e-03 5.34266458e+00] [ 4.33904981e-02 -1.49723569e-03 9.99057067e-01 2.86895382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58509989299998 meters 0.0158401237924061 Centerline is valid? [True, True] Translation: X:82.72, Y:5.36, Z:2.87 [[ 9.94529149e-01 -9.42902897e-02 -4.49567945e-02 8.27205588e+01] [ 9.42415979e-02 9.95544194e-01 -3.20606194e-03 5.36377633e+00] [ 4.50587763e-02 -1.04827810e-03 9.98983788e-01 2.87090545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64509989299998 meters 0.013827013921234836 Centerline is valid? [True, True] Translation: X:82.78, Y:5.38, Z:2.87 [[ 9.95239508e-01 -8.54940578e-02 -4.67876842e-02 8.27811903e+01] [ 8.54316262e-02 9.96338450e-01 -3.33607955e-03 5.37911964e+00] [ 4.69015837e-02 -6.76949773e-04 9.98899286e-01 2.87219939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70509989299998 meters 0.013017043371081987 Centerline is valid? [True, True] Translation: X:82.84, Y:5.40, Z:2.87 [[ 9.95903671e-01 -7.65504040e-02 -4.81239498e-02 8.28415689e+01] [ 7.64740335e-02 9.97065677e-01 -3.42884754e-03 5.39588158e+00] [ 4.82452182e-02 -2.65430700e-04 9.98835486e-01 2.87332298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76509989299998 meters 0.012988840999422964 Centerline is valid? [True, True] Translation: X:82.90, Y:5.41, Z:2.87 [[ 9.96061898e-01 -7.41282898e-02 -4.86383708e-02 8.29027914e+01] [ 7.40474774e-02 9.97248702e-01 -3.46372338e-03 5.40582693e+00] [ 4.87613121e-02 -1.51465776e-04 9.98810448e-01 2.87426342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82509989299999 meters 0.013082506489388785 Centerline is valid? [True, True] Translation: X:82.96, Y:5.41, Z:2.88 [[ 9.95936226e-01 -7.77562375e-02 -4.54422945e-02 8.29630364e+01] [ 7.76895320e-02 9.96972353e-01 -3.23486892e-03 5.41380428e+00] [ 4.55562425e-02 -3.08667449e-04 9.98961728e-01 2.87908171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88509989299997 meters 0.013990826021051764 Centerline is valid? [True, True] Translation: X:83.02, Y:5.42, Z:2.88 [[ 9.95310896e-01 -8.62188632e-02 -4.38466323e-02 8.30247261e+01] [ 8.61649785e-02 9.96275994e-01 -3.12091543e-03 5.41721986e+00] [ 4.39524290e-02 -6.71763003e-04 9.99033399e-01 2.88238524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94509989299998 meters 0.016851552912365942 Centerline is valid? [True, True] Translation: X:83.09, Y:5.42, Z:2.89 [[ 9.94112793e-01 -9.93862386e-02 -4.31524194e-02 8.30850537e+01] [ 9.93465126e-02 9.95048164e-01 -3.06947372e-03 5.41621587e+00] [ 4.32437992e-02 -1.23563929e-03 9.99063785e-01 2.88587360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00509989299998 meters 0.02181938927980488 Centerline is valid? [True, True] Translation: X:83.15, Y:5.41, Z:2.89 [[ 9.92418131e-01 -1.13980403e-01 -4.59861014e-02 8.31458965e+01] [ 1.13950911e-01 9.93480997e-01 -3.27085588e-03 5.41264094e+00] [ 4.60591313e-02 -1.99410149e-03 9.98936725e-01 2.88591884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06509989299998 meters 0.02539187854340911 Centerline is valid? [True, True] Translation: X:83.21, Y:5.41, Z:2.89 [[ 9.91751654e-01 -1.18875556e-01 -4.79297273e-02 8.32053387e+01] [ 1.18849224e-01 9.92906461e-01 -3.40900853e-03 5.41128438e+00] [ 4.79949837e-02 -2.31552106e-03 9.98844893e-01 2.88521047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12509989299998 meters 0.023697432036235543 Centerline is valid? [True, True] Translation: X:83.26, Y:5.42, Z:2.89 [[ 9.92617995e-01 -1.12431578e-01 -4.54824849e-02 8.32644101e+01] [ 1.12401081e-01 9.93657651e-01 -3.23558024e-03 5.42137840e+00] [ 4.55578005e-02 -1.90058530e-03 9.98959896e-01 2.89041296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18509989299999 meters 0.02038486541573511 Centerline is valid? [True, True] Translation: X:83.32, Y:5.43, Z:2.90 [[ 9.93350356e-01 -1.06669805e-01 -4.33199946e-02 8.33243450e+01] [ 1.06636644e-01 9.94293280e-01 -3.08223171e-03 5.43485385e+00] [ 4.34015606e-02 -1.55776288e-03 9.99056494e-01 2.89545241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24509989299997 meters 0.018968689372751743 Centerline is valid? [True, True] Translation: X:83.39, Y:5.44, Z:2.90 [[ 9.93626409e-01 -1.04099082e-01 -4.32427982e-02 8.33859735e+01] [ 1.04063662e-01 9.94565883e-01 -3.07546478e-03 5.44111265e+00] [ 4.33279648e-02 -1.44414092e-03 9.99059859e-01 2.89596311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30509989299998 meters 0.017567110461061897 Centerline is valid? [True, True] Translation: X:83.45, Y:5.45, Z:2.90 [[ 9.94042687e-01 -9.92383757e-02 -4.50652988e-02 8.34466309e+01] [ 9.91950617e-02 9.95062856e-01 -3.20192961e-03 5.45105507e+00] [ 4.51605592e-02 -1.28740038e-03 9.98978912e-01 2.89825405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36509989299998 meters 0.016252792065248236 Centerline is valid? [True, True] Translation: X:83.51, Y:5.46, Z:2.90 [[ 9.94481278e-01 -9.41349229e-02 -4.63206569e-02 8.35079762e+01] [ 9.40837173e-02 9.95558856e-01 -3.28925811e-03 5.45799028e+00] [ 4.64245742e-02 -1.08691398e-03 9.98921207e-01 2.89948322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42509989299998 meters 0.013925083471352817 Centerline is valid? [True, True] Translation: X:83.57, Y:5.47, Z:2.90 [[ 9.95427081e-01 -8.39425962e-02 -4.55913028e-02 8.35678520e+01] [ 8.38823968e-02 9.96470409e-01 -3.23534875e-03 5.47080763e+00] [ 4.57019677e-02 -6.03753990e-04 9.98954937e-01 2.90367754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48509989299998 meters 0.013001832664268208 Centerline is valid? [True, True] Translation: X:83.63, Y:5.48, Z:2.91 [[ 9.96424065e-01 -7.22102395e-02 -4.38721388e-02 8.36280607e+01] [ 7.21431588e-02 9.97389431e-01 -3.11245838e-03 5.48346549e+00] [ 4.39823589e-02 -6.37462423e-05 9.99032306e-01 2.90778674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54509989299999 meters 0.013231701141418285 Centerline is valid? [True, True] Translation: X:83.69, Y:5.49, Z:2.91 [[ 9.97178298e-01 -6.27995418e-02 -4.11297861e-02 8.36897268e+01] [ 6.27326454e-02 9.98026107e-01 -2.91636775e-03 5.48965734e+00] [ 4.12317468e-02 3.27958348e-04 9.99149556e-01 2.91207231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60509989299997 meters 0.013160298920510068 Centerline is valid? [True, True] Translation: X:83.75, Y:5.49, Z:2.91 [[ 9.97082916e-01 -6.34333724e-02 -4.24483854e-02 8.37510987e+01] [ 6.33628153e-02 9.97986028e-01 -3.00691471e-03 5.48918927e+00] [ 4.25536343e-02 3.08494078e-04 9.99094136e-01 2.91404970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66509989299998 meters 0.012866940777981707 Centerline is valid? [True, True] Translation: X:83.81, Y:5.49, Z:2.91 [[ 9.96742480e-01 -6.73312347e-02 -4.43952056e-02 8.38125917e+01] [ 6.72579896e-02 9.97730667e-01 -3.14318395e-03 5.48524476e+00] [ 4.45060925e-02 1.47012689e-04 9.99009102e-01 2.91345654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72509989299998 meters 0.012701180430717463 Centerline is valid? [True, True] Translation: X:83.87, Y:5.48, Z:2.92 [[ 9.96555478e-01 -7.02834007e-02 -4.40161632e-02 8.38746154e+01] [ 7.02143479e-02 9.97527064e-01 -3.11479414e-03 5.48248778e+00] [ 4.41262324e-02 1.34989637e-05 9.99025963e-01 2.91635940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78509989299998 meters 0.012608369903991891 Centerline is valid? [True, True] Translation: X:83.94, Y:5.48, Z:2.92 [[ 9.96498032e-01 -7.16164117e-02 -4.31597257e-02 8.39355429e+01] [ 7.15513370e-02 9.97432247e-01 -3.05265967e-03 5.48344048e+00] [ 4.32675228e-02 -4.61667299e-05 9.99063521e-01 2.92058743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84509989299998 meters 0.012501205990840257 Centerline is valid? [True, True] Translation: X:84.00, Y:5.48, Z:2.93 [[ 9.96457882e-01 -7.36286056e-02 -4.06265551e-02 8.39966435e+01] [ 7.35726772e-02 9.97285722e-01 -2.87208681e-03 5.48213979e+00] [ 4.07277512e-02 -1.27090893e-04 9.99170273e-01 2.92509985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90509989299998 meters 0.012447371229759776 Centerline is valid? [True, True] Translation: X:84.06, Y:5.48, Z:2.93 [[ 9.96412907e-01 -7.39308765e-02 -4.11769891e-02 8.40583128e+01] [ 7.38737450e-02 9.97263358e-01 -2.90942043e-03 5.47773342e+00] [ 4.12793984e-02 -1.42914324e-04 9.99147632e-01 2.92658147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96509989299999 meters 0.012248814481595668 Centerline is valid? [True, True] Translation: X:84.12, Y:5.48, Z:2.93 [[ 9.96609253e-01 -7.07762777e-02 -4.19608880e-02 8.41202394e+01] [ 7.07142543e-02 9.97492215e-01 -2.96242064e-03 5.47838502e+00] [ 4.20653283e-02 -1.48570863e-05 9.99114862e-01 2.92894591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02509989299998 meters 0.012536303545711487 Centerline is valid? [True, True] Translation: X:84.18, Y:5.48, Z:2.93 [[ 9.96877392e-01 -6.52921489e-02 -4.44117265e-02 8.41804389e+01] [ 6.52173710e-02 9.97866165e-01 -3.13213575e-03 5.47762385e+00] [ 4.45214631e-02 2.25939274e-04 9.99008403e-01 2.92934257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08509989299998 meters 0.012796877024875095 Centerline is valid? [True, True] Translation: X:84.24, Y:5.47, Z:2.93 [[ 9.96870680e-01 -6.36155676e-02 -4.69244838e-02 8.42399623e+01] [ 6.35302962e-02 9.97974428e-01 -3.30787157e-03 5.47444115e+00] [ 4.70398671e-02 3.16393824e-04 9.98892963e-01 2.92958235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14509989299998 meters 0.012400620917222925 Centerline is valid? [True, True] Translation: X:84.30, Y:5.47, Z:2.93 [[ 9.96642893e-01 -6.60518846e-02 -4.83745034e-02 8.42985451e+01] [ 6.59638323e-02 9.97816167e-01 -3.41613049e-03 5.47029265e+00] [ 4.84945034e-02 2.13694538e-04 9.98823427e-01 2.93055475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20509989299998 meters 0.012322940337247075 Centerline is valid? [True, True] Translation: X:84.36, Y:5.46, Z:2.93 [[ 9.96301443e-01 -7.08059734e-02 -4.86821107e-02 8.43570750e+01] [ 7.07217676e-02 9.97490107e-01 -3.45216765e-03 5.46478878e+00] [ 4.88043579e-02 -3.48530199e-06 9.98808357e-01 2.93200004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26509989299998 meters 0.012775811591364889 Centerline is valid? [True, True] Translation: X:84.42, Y:5.46, Z:2.94 [[ 9.95726873e-01 -7.96195047e-02 -4.67838508e-02 8.44154756e+01] [ 7.95509295e-02 9.96825245e-01 -3.32879606e-03 5.45693979e+00] [ 4.69003606e-02 -4.07127122e-04 9.98899490e-01 2.93622583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32509989299999 meters 0.01377384513280109 Centerline is valid? [True, True] Translation: X:84.48, Y:5.45, Z:2.94 [[ 9.95084611e-01 -8.82868202e-02 -4.48559220e-02 8.44758203e+01] [ 8.82324200e-02 9.96094790e-01 -3.19508117e-03 5.45051439e+00] [ 4.49628338e-02 -7.78370448e-04 9.98988357e-01 2.94148992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38509989299997 meters 0.015956960521929117 Centerline is valid? [True, True] Translation: X:84.54, Y:5.44, Z:2.95 [[ 9.94377559e-01 -9.63664552e-02 -4.38950696e-02 8.45353384e+01] [ 9.63221505e-02 9.95345296e-01 -3.12820994e-03 5.44307502e+00] [ 4.39922055e-02 -1.11744574e-03 9.99031249e-01 2.94524331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44509989299998 meters 0.01642151104728409 Centerline is valid? [True, True] Translation: X:84.60, Y:5.44, Z:2.95 [[ 9.94056964e-01 -9.95862702e-02 -4.39696182e-02 8.45966240e+01] [ 9.95449113e-02 9.95028133e-01 -3.13462196e-03 5.44289976e+00] [ 4.40631724e-02 -1.26095896e-03 9.99027951e-01 2.94690665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50509989299998 meters 0.0193297616073458 Centerline is valid? [True, True] Translation: X:84.66, Y:5.44, Z:2.95 [[ 9.93513930e-01 -1.04782054e-01 -4.41677820e-02 8.46567622e+01] [ 1.04745506e-01 9.94494079e-01 -3.14738746e-03 5.43905104e+00] [ 4.42543874e-02 -1.49940340e-03 9.99019169e-01 2.94668052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56509989299998 meters 0.01983115321159789 Centerline is valid? [True, True] Translation: X:84.72, Y:5.44, Z:2.95 [[ 9.92881386e-01 -1.09821375e-01 -4.61066017e-02 8.47177142e+01] [ 1.09786977e-01 9.93949710e-01 -3.28538602e-03 5.44284726e+00] [ 4.61884490e-02 -1.79990580e-03 9.98931123e-01 2.94753759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62509989299998 meters 0.02397015910803192 Centerline is valid? [True, True] Translation: X:84.78, Y:5.44, Z:2.95 [[ 9.92331452e-01 -1.13767816e-01 -4.83236392e-02 8.47781338e+01] [ 1.13734734e-01 9.93505188e-01 -3.44265658e-03 5.44091472e+00] [ 4.84014498e-02 -2.07981985e-03 9.98825798e-01 2.94596292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68509989299999 meters 0.022127974612747667 Centerline is valid? [True, True] Translation: X:84.84, Y:5.45, Z:2.95 [[ 9.92149553e-01 -1.15907373e-01 -4.69547107e-02 8.48389625e+01] [ 1.15878543e-01 9.93257759e-01 -3.34477826e-03 5.45085963e+00] [ 4.70258152e-02 -2.12252320e-03 9.98891419e-01 2.95159679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74509989299997 meters 0.020523994026869247 Centerline is valid? [True, True] Translation: X:84.90, Y:5.46, Z:2.96 [[ 9.92641210e-01 -1.12087626e-01 -4.58234864e-02 8.48990772e+01] [ 1.12056172e-01 9.93696517e-01 -3.26272173e-03 5.46144439e+00] [ 4.59003496e-02 -1.89609245e-03 9.98944224e-01 2.95566022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80509989299998 meters 0.01740729855374855 Centerline is valid? [True, True] Translation: X:84.96, Y:5.48, Z:2.96 [[ 9.93978163e-01 -1.00922449e-01 -4.26857323e-02 8.49590791e+01] [ 1.00884893e-01 9.94893464e-01 -3.03858559e-03 5.47581084e+00] [ 4.27744176e-02 -1.28605782e-03 9.99083928e-01 2.96130613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86509989299998 meters 0.013999304592806816 Centerline is valid? [True, True] Translation: X:85.02, Y:5.49, Z:2.96 [[ 9.95081237e-01 -8.95795902e-02 -4.22945418e-02 8.50181128e+01] [ 8.95324998e-02 9.95979353e-01 -3.01011740e-03 5.49166558e+00] [ 4.23941354e-02 -7.91424707e-04 9.99100651e-01 2.96480992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92509989299998 meters 0.012541433391493112 Centerline is valid? [True, True] Translation: X:85.08, Y:5.51, Z:2.97 [[ 9.96139828e-01 -7.66725139e-02 -4.27407044e-02 8.50774397e+01] [ 7.66125493e-02 9.97056300e-01 -3.04162748e-03 5.50549203e+00] [ 4.28480979e-02 -2.44588053e-04 9.99081569e-01 2.96555193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98509989299998 meters 0.012668001026839069 Centerline is valid? [True, True] Translation: X:85.14, Y:5.52, Z:2.97 [[ 9.97116896e-01 -6.22106008e-02 -4.34481041e-02 8.51367391e+01] [ 6.21349284e-02 9.98062971e-01 -3.09127853e-03 5.51940644e+00] [ 4.35562541e-02 3.82721216e-04 9.99050903e-01 2.96681874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04509989299999 meters 0.013249970151606453 Centerline is valid? [True, True] Translation: X:85.20, Y:5.53, Z:2.97 [[ 9.97459751e-01 -5.70798479e-02 -4.26138064e-02 8.51952069e+01] [ 5.70023155e-02 9.98369438e-01 -3.03329570e-03 5.52599593e+00] [ 4.27174620e-02 5.96504740e-04 9.99087015e-01 2.96886465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10509989299997 meters 0.013069607800261226 Centerline is valid? [True, True] Translation: X:85.25, Y:5.53, Z:2.97 [[ 9.97412427e-01 -5.88419679e-02 -4.13046302e-02 8.52539125e+01] [ 5.87702152e-02 9.98267177e-01 -2.95032802e-03 5.52799091e+00] [ 4.14066597e-02 5.15211831e-04 9.99142244e-01 2.97196587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16509989299998 meters 0.012051493474039027 Centerline is valid? [True, True] Translation: X:85.31, Y:5.52, Z:2.97 [[ 9.96633637e-01 -7.09838982e-02 -4.10204922e-02 8.53130831e+01] [ 7.09230068e-02 9.97477461e-01 -2.93961141e-03 5.52039924e+00] [ 4.11256815e-02 2.04189635e-05 9.99153981e-01 2.97422650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22509989299998 meters 0.01316224736167333 Centerline is valid? [True, True] Translation: X:85.37, Y:5.51, Z:2.98 [[ 9.95428739e-01 -8.60972743e-02 -4.13386571e-02 8.53731935e+01] [ 8.60483246e-02 9.96286552e-01 -2.96529559e-03 5.51078779e+00] [ 4.14404520e-02 -6.05381729e-04 9.99140792e-01 2.97531718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28509989299998 meters 0.016436308537763414 Centerline is valid? [True, True] Translation: X:85.43, Y:5.50, Z:2.98 [[ 9.94080576e-01 -1.00670970e-01 -4.08554105e-02 8.54341478e+01] [ 1.00635357e-01 9.94919054e-01 -2.93260695e-03 5.50142373e+00] [ 4.09430548e-02 -1.19625120e-03 9.99160765e-01 2.97701485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34509989299998 meters 0.01999174359010835 Centerline is valid? [True, True] Translation: X:85.50, Y:5.49, Z:2.98 [[ 9.92962273e-01 -1.11179914e-01 -4.08038186e-02 8.54958271e+01] [ 1.11153255e-01 9.93798962e-01 -2.92850344e-03 5.49491477e+00] [ 4.08763834e-02 -1.62758382e-03 9.99162886e-01 2.97903397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40509989299998 meters 0.023225741170512276 Centerline is valid? [True, True] Translation: X:85.56, Y:5.49, Z:2.98 [[ 9.92341522e-01 -1.16718235e-01 -4.04370678e-02 8.55562676e+01] [ 1.16696679e-01 9.93163364e-01 -2.90115312e-03 5.49180848e+00] [ 4.04992317e-02 -1.83993683e-03 9.99177875e-01 2.98095948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46509989299999 meters 0.021953929992331436 Centerline is valid? [True, True] Translation: X:85.62, Y:5.50, Z:2.98 [[ 9.92135446e-01 -1.18628185e-01 -3.99325853e-02 8.56184483e+01] [ 1.18608723e-01 9.92936939e-01 -2.86454938e-03 5.49765122e+00] [ 3.99903553e-02 -1.89433195e-03 9.99198270e-01 2.98400540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52509989299998 meters 0.025782211999294945 Centerline is valid? [True, True] Translation: X:85.68, Y:5.50, Z:2.99 [[ 9.92058713e-01 -1.19223525e-01 -4.00657181e-02 8.56799266e+01] [ 1.19204540e-01 9.92865567e-01 -2.87102128e-03 5.49628913e+00] [ 4.01221652e-02 -1.92779384e-03 9.99192922e-01 2.98583989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58509989299998 meters 0.023004581486668493 Centerline is valid? [True, True] Translation: X:85.74, Y:5.50, Z:2.99 [[ 9.91804535e-01 -1.20762620e-01 -4.17151530e-02 8.57413884e+01] [ 1.20743594e-01 9.92679242e-01 -2.98455305e-03 5.50462892e+00] [ 4.17701889e-02 -2.07674426e-03 9.99125086e-01 2.98729876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64509989299998 meters 0.025229193155545372 Centerline is valid? [True, True] Translation: X:85.80, Y:5.51, Z:2.99 [[ 9.91532077e-01 -1.22101392e-01 -4.42198035e-02 8.58021036e+01] [ 1.22081485e-01 9.92515049e-01 -3.16059187e-03 5.50650988e+00] [ 4.42747331e-02 -2.26459104e-03 9.99016827e-01 2.98761530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70509989299998 meters 0.024380621592335023 Centerline is valid? [True, True] Translation: X:85.86, Y:5.51, Z:2.99 [[ 9.91163867e-01 -1.23947279e-01 -4.72362267e-02 8.58633716e+01] [ 1.23926745e-01 9.92285632e-01 -3.37437711e-03 5.51320187e+00] [ 4.72900740e-02 -2.50927115e-03 9.98878047e-01 2.98709065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76509989299998 meters 0.02303690547284024 Centerline is valid? [True, True] Translation: X:85.92, Y:5.52, Z:2.99 [[ 9.91086130e-01 -1.24357517e-01 -4.77858838e-02 8.59243969e+01] [ 1.24337063e-01 9.92234173e-01 -3.41186913e-03 5.52352318e+00] [ 4.78390784e-02 -2.56010028e-03 9.98851775e-01 2.98991760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82509989299999 meters 0.026210994178581457 Centerline is valid? [True, True] Translation: X:85.98, Y:5.53, Z:2.99 [[ 9.91364024e-01 -1.23013341e-01 -4.54432537e-02 8.59848318e+01] [ 1.22993505e-01 9.92402177e-01 -3.24297587e-03 5.52951898e+00] [ 4.54969132e-02 -2.37425543e-03 9.98961658e-01 2.99387739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88509989299997 meters 0.025589235381308584 Centerline is valid? [True, True] Translation: X:86.04, Y:5.54, Z:3.00 [[ 9.91902589e-01 -1.19694236e-01 -4.24563649e-02 8.60446660e+01] [ 1.19673939e-01 9.92808630e-01 -3.02853141e-03 5.54009638e+00] [ 4.25135433e-02 -2.07691227e-03 9.99093732e-01 2.99779473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94509989299998 meters 0.022010397614311495 Centerline is valid? [True, True] Translation: X:86.11, Y:5.56, Z:3.00 [[ 9.92063196e-01 -1.18917388e-01 -4.08566924e-02 8.61054865e+01] [ 1.18897944e-01 9.92902204e-01 -2.91415200e-03 5.55558345e+00] [ 4.09132433e-02 -1.96675378e-03 9.99160767e-01 3.00165314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00509989299998 meters 0.02646918713952717 Centerline is valid? [True, True] Translation: X:86.17, Y:5.56, Z:3.00 [[ 9.91775806e-01 -1.21407693e-01 -4.05083024e-02 8.61651536e+01] [ 1.21390760e-01 9.92600600e-01 -2.88656708e-03 5.55919798e+00] [ 4.05590167e-02 -2.05450622e-03 9.99175032e-01 3.00489802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06509989299998 meters 0.02698916063267525 Centerline is valid? [True, True] Translation: X:86.23, Y:5.57, Z:3.01 [[ 9.91091227e-01 -1.26237995e-01 -4.24517255e-02 8.62256944e+01] [ 1.26223816e-01 9.91997176e-01 -3.02503593e-03 5.56686861e+00] [ 4.24938663e-02 -2.36033221e-03 9.99093940e-01 3.00577565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12509989299998 meters 0.02841803563026052 Centerline is valid? [True, True] Translation: X:86.29, Y:5.58, Z:3.01 [[ 9.90387915e-01 -1.31099176e-01 -4.40997096e-02 8.62853374e+01] [ 1.31088682e-01 9.91365666e-01 -3.14232291e-03 5.57651192e+00] [ 4.41308939e-02 -2.66885416e-03 9.99022193e-01 3.00745274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18509989299999 meters 0.02861605575768932 Centerline is valid? [True, True] Translation: X:86.35, Y:5.59, Z:3.01 [[ 9.90252984e-01 -1.32075740e-01 -4.42156812e-02 8.63465722e+01] [ 1.32066182e-01 9.91235895e-01 -3.15009006e-03 5.58618167e+00] [ 4.42442208e-02 -2.72001012e-03 9.99017042e-01 3.00907303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24509989299997 meters 0.028557779159255954 Centerline is valid? [True, True] Translation: X:86.41, Y:5.60, Z:3.01 [[ 9.90378303e-01 -1.31075243e-01 -4.43857724e-02 8.64079786e+01] [ 1.31064725e-01 9.91368778e-01 -3.15964759e-03 5.59615477e+00] [ 4.44168205e-02 -2.68816262e-03 9.99009469e-01 3.01048311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30509989299998 meters 0.02836230563621243 Centerline is valid? [True, True] Translation: X:86.47, Y:5.61, Z:3.01 [[ 9.90631126e-01 -1.29980459e-01 -4.18933524e-02 8.64695116e+01] [ 1.29970229e-01 9.91513420e-01 -2.97933937e-03 5.60645874e+00] [ 4.19250770e-02 -2.49346231e-03 9.99117646e-01 3.01454581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36509989299998 meters 0.029626405889731443 Centerline is valid? [True, True] Translation: X:86.53, Y:5.61, Z:3.01 [[ 9.90649089e-01 -1.29442847e-01 -4.31153350e-02 8.65303670e+01] [ 1.29431641e-01 9.91583616e-01 -3.06315691e-03 5.61294571e+00] [ 4.31489635e-02 -2.54597495e-03 9.99065406e-01 3.01479712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42509989299998 meters 0.027054495032110836 Centerline is valid? [True, True] Translation: X:86.59, Y:5.63, Z:3.02 [[ 9.90788087e-01 -1.28341311e-01 -4.32142792e-02 8.65914315e+01] [ 1.28329115e-01 9.91726891e-01 -3.06775252e-03 5.62641076e+00] [ 4.32504821e-02 -2.50615755e-03 9.99061117e-01 3.01757213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48509989299998 meters 0.02648433928426437 Centerline is valid? [True, True] Translation: X:86.65, Y:5.64, Z:3.02 [[ 9.91366448e-01 -1.23875568e-01 -4.29814998e-02 8.66505267e+01] [ 1.23859432e-01 9.92295091e-01 -3.04858678e-03 5.63849324e+00] [ 4.30279766e-02 -2.30139751e-03 9.99071217e-01 3.02061878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54509989299999 meters 0.02155318490411237 Centerline is valid? [True, True] Translation: X:86.71, Y:5.66, Z:3.02 [[ 9.92425348e-01 -1.15619997e-01 -4.15204087e-02 8.67096292e+01] [ 1.15597710e-01 9.93291747e-01 -2.94532730e-03 5.65646658e+00] [ 4.15824180e-02 -1.87664671e-03 9.99133315e-01 3.02476250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60509989299997 meters 0.019767414259059642 Centerline is valid? [True, True] Translation: X:86.77, Y:5.67, Z:3.03 [[ 9.93233856e-01 -1.08462459e-01 -4.15018312e-02 8.67697793e+01] [ 1.08433950e-01 9.94099296e-01 -2.94405846e-03 5.66903314e+00] [ 4.15762610e-02 -1.57606895e-03 9.99134090e-01 3.02736644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66509989299998 meters 0.016891441058990313 Centerline is valid? [True, True] Translation: X:86.83, Y:5.68, Z:3.03 [[ 9.93863161e-01 -1.02068887e-01 -4.26375334e-02 8.68294002e+01] [ 1.02032922e-01 9.94776425e-01 -3.02458567e-03 5.68133662e+00] [ 4.27235291e-02 -1.34440783e-03 9.99086029e-01 3.02836147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72509989299998 meters 0.015283719095842847 Centerline is valid? [True, True] Translation: X:86.89, Y:5.69, Z:3.03 [[ 9.94476093e-01 -9.55504656e-02 -4.34443186e-02 8.68896490e+01] [ 9.55069151e-02 9.95423996e-01 -3.08170300e-03 5.69192055e+00] [ 4.35399754e-02 -1.08455289e-03 9.99051097e-01 3.03008740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78509989299998 meters 0.014669396011795907 Centerline is valid? [True, True] Translation: X:86.95, Y:5.70, Z:3.03 [[ 9.94895316e-01 -9.06648571e-02 -4.43079481e-02 8.69493329e+01] [ 9.06147521e-02 9.95881064e-01 -3.14214429e-03 5.69891671e+00] [ 4.44103285e-02 -8.88849096e-04 9.99012979e-01 3.03139525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84509989299998 meters 0.014186592465095904 Centerline is valid? [True, True] Translation: X:87.01, Y:5.70, Z:3.03 [[ 9.95025745e-01 -8.88903128e-02 -4.49697623e-02 8.70112697e+01] [ 8.88369443e-02 9.96041081e-01 -3.18784463e-03 5.70417996e+00] [ 4.50750991e-02 -8.22988789e-04 9.98983262e-01 3.03290816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90509989299998 meters 0.01376677875404541 Centerline is valid? [True, True] Translation: X:87.07, Y:5.71, Z:3.04 [[ 9.95224049e-01 -8.69783697e-02 -4.43154001e-02 8.70728946e+01] [ 8.69247883e-02 9.96209934e-01 -3.13832377e-03 5.71030922e+00] [ 4.44204081e-02 -7.28771485e-04 9.99012661e-01 3.03647257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96509989299997 meters 0.013587755511372326 Centerline is valid? [True, True] Translation: X:87.14, Y:5.71, Z:3.04 [[ 9.95447049e-01 -8.57934901e-02 -4.15288932e-02 8.71353943e+01] [ 8.57455262e-02 9.96312738e-01 -2.93810004e-03 5.71414509e+00] [ 4.16278352e-02 -6.36193791e-04 9.99132983e-01 3.04097147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02509989299998 meters 0.013848267689997446 Centerline is valid? [True, True] Translation: X:87.20, Y:5.72, Z:3.04 [[ 9.95448584e-01 -8.70313157e-02 -3.88286756e-02 8.71970002e+01] [ 8.69904524e-02 9.96205367e-01 -2.74387506e-03 5.71598188e+00] [ 3.89201380e-02 -6.46337509e-04 9.99242115e-01 3.04492983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08509989299998 meters 0.015875959709227977 Centerline is valid? [True, True] Translation: X:87.26, Y:5.71, Z:3.05 [[ 9.94770495e-01 -9.39449521e-02 -4.00750237e-02 8.72574810e+01] [ 9.39071182e-02 9.95576941e-01 -2.82963220e-03 5.71124101e+00] [ 4.01635992e-02 -9.48495359e-04 9.99192667e-01 3.04513038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14509989299998 meters 0.016325846179818807 Centerline is valid? [True, True] Translation: X:87.32, Y:5.71, Z:3.05 [[ 9.94288556e-01 -9.84167431e-02 -4.12845311e-02 8.73188904e+01] [ 9.83805803e-02 9.95144604e-01 -2.91164100e-03 5.71201729e+00] [ 4.13706325e-02 -1.16658480e-03 9.99143188e-01 3.04612432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20509989299998 meters 0.01839294859071448 Centerline is valid? [True, True] Translation: X:87.38, Y:5.71, Z:3.05 [[ 9.93809405e-01 -1.02342749e-01 -4.32299541e-02 8.73795581e+01] [ 1.02306872e-01 9.94748218e-01 -3.04731964e-03 5.70979785e+00] [ 4.33147909e-02 -1.39426648e-03 9.99060501e-01 3.04682011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26509989299998 meters 0.020201069533144683 Centerline is valid? [True, True] Translation: X:87.44, Y:5.71, Z:3.05 [[ 9.93309110e-01 -1.06255272e-01 -4.52419023e-02 8.74413933e+01] [ 1.06220074e-01 9.94337534e-01 -3.18816290e-03 5.70709681e+00] [ 4.53244807e-02 -1.63876694e-03 9.98970973e-01 3.04631288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32509989299999 meters 0.020117801204557643 Centerline is valid? [True, True] Translation: X:87.50, Y:5.71, Z:3.05 [[ 9.93446268e-01 -1.04694732e-01 -4.58642188e-02 8.75033412e+01] [ 1.04656988e-01 9.94503133e-01 -3.23008215e-03 5.71097674e+00] [ 4.59502818e-02 -1.59109791e-03 9.98942461e-01 3.04787272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38509989299997 meters 0.017023570517724428 Centerline is valid? [True, True] Translation: X:87.56, Y:5.72, Z:3.05 [[ 9.94078189e-01 -9.91617550e-02 -4.44466005e-02 8.75635631e+01] [ 9.91208997e-02 9.95070483e-01 -3.12759466e-03 5.72035890e+00] [ 4.45376380e-02 -1.29651339e-03 9.99006866e-01 3.05142027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44509989299998 meters 0.015160594071037835 Centerline is valid? [True, True] Translation: X:87.62, Y:5.73, Z:3.06 [[ 9.94925428e-01 -9.12314461e-02 -4.24289500e-02 8.76236906e+01] [ 9.11870377e-02 9.95829310e-01 -2.98488573e-03 5.72935509e+00] [ 4.25243075e-02 -8.99231555e-04 9.99095028e-01 3.05575107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50509989299998 meters 0.013706549163726453 Centerline is valid? [True, True] Translation: X:87.68, Y:5.74, Z:3.06 [[ 9.95585864e-01 -8.39787048e-02 -4.19090015e-02 8.76844770e+01] [ 8.39289876e-02 9.96467379e-01 -2.94748823e-03 5.73878871e+00] [ 4.20084791e-02 -5.82902449e-04 9.99117084e-01 3.05918596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56509989299998 meters 0.0134434792756793 Centerline is valid? [True, True] Translation: X:87.75, Y:5.74, Z:3.06 [[ 9.95738470e-01 -8.19880079e-02 -4.22239996e-02 8.77468428e+01] [ 8.19358222e-02 9.96633188e-01 -2.96796686e-03 5.74419468e+00] [ 4.23251770e-02 -5.04339350e-04 9.99103761e-01 3.06122022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62509989299998 meters 0.012691798333887967 Centerline is valid? [True, True] Translation: X:87.81, Y:5.75, Z:3.06 [[ 9.95980581e-01 -7.81582760e-02 -4.37489007e-02 8.78086880e+01] [ 7.80986980e-02 9.96940899e-01 -3.07197166e-03 5.75069141e+00] [ 4.38551684e-02 -3.57108064e-04 9.99037835e-01 3.06361100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68509989299999 meters 0.012599333898981123 Centerline is valid? [True, True] Translation: X:87.87, Y:5.76, Z:3.07 [[ 9.96197695e-01 -7.52410728e-02 -4.39196282e-02 8.78694208e+01] [ 7.51783320e-02 9.97165346e-01 -3.08083927e-03 5.75600797e+00] [ 4.40269369e-02 -2.32679403e-04 9.99030317e-01 3.06576190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74509989299997 meters 0.01242119044308577 Centerline is valid? [True, True] Translation: X:87.93, Y:5.76, Z:3.07 [[ 9.96361139e-01 -7.40386079e-02 -4.22228140e-02 8.79315722e+01] [ 7.39796417e-02 9.97255360e-01 -2.95950345e-03 5.76029494e+00] [ 4.23260451e-02 -1.74894426e-04 9.99103836e-01 3.06800498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80509989299998 meters 0.012564644440133466 Centerline is valid? [True, True] Translation: X:87.99, Y:5.76, Z:3.07 [[ 9.96188715e-01 -7.60683463e-02 -4.26808130e-02 8.79936583e+01] [ 7.60100877e-02 9.97102570e-01 -2.98851042e-03 5.76242592e+00] [ 4.27844794e-02 -2.67051986e-04 9.99084289e-01 3.06909468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86509989299998 meters 0.013417776427818306 Centerline is valid? [True, True] Translation: X:88.06, Y:5.76, Z:3.07 [[ 9.95761511e-01 -8.18443035e-02 -4.19585893e-02 8.80563248e+01] [ 8.17932471e-02 9.96644997e-01 -2.93499687e-03 5.76314670e+00] [ 4.20580309e-02 -5.09372344e-04 9.99115040e-01 3.07078596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92509989299998 meters 0.014725097773655549 Centerline is valid? [True, True] Translation: X:88.12, Y:5.76, Z:3.07 [[ 9.94921802e-01 -9.11591644e-02 -4.26686616e-02 8.81175169e+01] [ 9.11150430e-02 9.95835909e-01 -2.98173307e-03 5.76210355e+00] [ 4.27627978e-02 -9.21165702e-04 9.99084829e-01 3.07153330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98509989299998 meters 0.018037977477576937 Centerline is valid? [True, True] Translation: X:88.18, Y:5.76, Z:3.07 [[ 9.94146148e-01 -9.95903505e-02 -4.18950847e-02 8.81777505e+01] [ 9.95553690e-02 9.95027723e-01 -2.92571549e-03 5.75873985e+00] [ 4.19781438e-02 -1.26229184e-03 9.99117732e-01 3.07319096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04509989299999 meters 0.02397660333499853 Centerline is valid? [True, True] Translation: X:88.24, Y:5.75, Z:3.08 [[ 9.92359683e-01 -1.16893416e-01 -3.94739089e-02 8.82386533e+01] [ 1.16876085e-01 9.93142686e-01 -2.75438680e-03 5.75271241e+00] [ 3.95251936e-02 -1.88021354e-03 9.99216805e-01 3.07898807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10509989299997 meters 0.025864624713983906 Centerline is valid? [True, True] Translation: X:88.30, Y:5.75, Z:3.08 [[ 9.91687201e-01 -1.22400736e-01 -3.96806653e-02 8.82988883e+01] [ 1.22387624e-01 9.92478516e-01 -2.76862210e-03 5.75412468e+00] [ 3.97210892e-02 -2.11081524e-03 9.99208577e-01 3.08179796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16509989299998 meters 0.030190035560241406 Centerline is valid? [True, True] Translation: X:88.36, Y:5.75, Z:3.08 [[ 9.91144664e-01 -1.26860027e-01 -3.92273882e-02 8.83587777e+01] [ 1.26850694e-01 9.91918046e-01 -2.73690133e-03 5.75170580e+00] [ 3.92575577e-02 -2.26335629e-03 9.99226562e-01 3.08364460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22509989299998 meters 0.028713970923927565 Centerline is valid? [True, True] Translation: X:88.42, Y:5.76, Z:3.08 [[ 9.91110396e-01 -1.26481487e-01 -4.12627714e-02 8.84208684e+01] [ 1.26470827e-01 9.91966149e-01 -2.87917883e-03 5.75877517e+00] [ 4.12954352e-02 -2.36495274e-03 9.99144181e-01 3.08377278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28509989299998 meters 0.025225088927557187 Centerline is valid? [True, True] Translation: X:88.48, Y:5.77, Z:3.09 [[ 9.91394685e-01 -1.23944613e-01 -4.21225833e-02 8.84814048e+01] [ 1.23931345e-01 9.92286451e-01 -2.93627840e-03 5.76963409e+00] [ 4.21616045e-02 -2.30929760e-03 9.99108135e-01 3.08508447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34509989299998 meters 0.02184287487113771 Centerline is valid? [True, True] Translation: X:88.54, Y:5.79, Z:3.09 [[ 9.92753246e-01 -1.13108959e-01 -4.05876356e-02 8.85405245e+01] [ 1.13087651e-01 9.93580991e-01 -2.82793196e-03 5.78517927e+00] [ 4.06469676e-02 -1.78252175e-03 9.99171981e-01 3.08901653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40509989299998 meters 0.01828037076770359 Centerline is valid? [True, True] Translation: X:88.60, Y:5.80, Z:3.09 [[ 9.93699499e-01 -1.04804599e-01 -3.97152504e-02 8.86003333e+01] [ 1.04777578e-01 9.94491832e-01 -2.76697974e-03 5.79889213e+00] [ 3.97864843e-02 -1.41172134e-03 9.99207207e-01 3.09258067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46509989299997 meters 0.013757175832376423 Centerline is valid? [True, True] Translation: X:88.66, Y:5.82, Z:3.10 [[ 9.95620042e-01 -8.47758048e-02 -3.94181959e-02 8.86581329e+01] [ 8.47334738e-02 9.96399868e-01 -2.74634517e-03 5.82116327e+00] [ 3.95091088e-02 -6.05724375e-04 9.99219027e-01 3.09602045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52509989299998 meters 0.012406970318544482 Centerline is valid? [True, True] Translation: X:88.72, Y:5.83, Z:3.10 [[ 9.96362657e-01 -7.50665524e-02 -4.03295107e-02 8.87185488e+01] [ 7.50142492e-02 9.97178501e-01 -2.81073563e-03 5.83387969e+00] [ 4.04267132e-02 -2.24775948e-04 9.99182481e-01 3.09806067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58509989299998 meters 0.012572285016366954 Centerline is valid? [True, True] Translation: X:88.78, Y:5.85, Z:3.10 [[ 9.97275731e-01 -6.08412821e-02 -4.17067603e-02 8.87793948e+01] [ 6.07729691e-02 9.98147387e-01 -2.90503453e-03 5.85015973e+00] [ 4.18062399e-02 3.62476775e-04 9.99125671e-01 3.10006191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64509989299998 meters 0.01341576355290186 Centerline is valid? [True, True] Translation: X:88.84, Y:5.86, Z:3.10 [[ 9.97545307e-01 -5.65263892e-02 -4.13294916e-02 8.88397707e+01] [ 5.64557236e-02 9.98400962e-01 -2.87589347e-03 5.85749067e+00] [ 4.14259680e-02 5.35547690e-04 9.99141433e-01 3.10196304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70509989299998 meters 0.013101530433772436 Centerline is valid? [True, True] Translation: X:88.90, Y:5.86, Z:3.10 [[ 9.97577879e-01 -5.65183548e-02 -4.05468880e-02 8.89006008e+01] [ 5.64504103e-02 9.98401423e-01 -2.81958190e-03 5.85844520e+00] [ 4.06414288e-02 5.23864065e-04 9.99173658e-01 3.10418297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76509989299998 meters 0.012347919823443337 Centerline is valid? [True, True] Translation: X:88.96, Y:5.86, Z:3.11 [[ 9.97365182e-01 -6.09199705e-02 -3.93884527e-02 8.89616214e+01] [ 6.08592848e-02 9.98142598e-01 -2.73902569e-03 5.85714224e+00] [ 3.94821538e-02 3.34655804e-04 9.99220220e-01 3.10797006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82509989299999 meters 0.011752530132711719 Centerline is valid? [True, True] Translation: X:89.02, Y:5.85, Z:3.11 [[ 9.96825250e-01 -6.91061818e-02 -3.95443593e-02 8.90236996e+01] [ 6.90514530e-02 9.97609310e-01 -2.74978606e-03 5.85227681e+00] [ 3.96398482e-02 1.04607063e-05 9.99214032e-01 3.10931170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88509989299997 meters 0.012010201750633474 Centerline is valid? [True, True] Translation: X:89.09, Y:5.85, Z:3.11 [[ 9.96275440e-01 -7.62193416e-02 -4.03219402e-02 8.90860850e+01] [ 7.61683211e-02 9.97091036e-01 -2.80231262e-03 5.84853774e+00] [ 4.04182356e-02 -2.79379253e-04 9.99182810e-01 3.11109911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94509989299998 meters 0.012880391252440898 Centerline is valid? [True, True] Translation: X:89.15, Y:5.85, Z:3.11 [[ 9.95638750e-01 -8.32491945e-02 -4.21076141e-02 8.91487416e+01] [ 8.31999645e-02 9.96528585e-01 -2.92330496e-03 5.84569744e+00] [ 4.22048039e-02 -5.92796299e-04 9.99108804e-01 3.11260719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00509989299998 meters 0.014772289014352317 Centerline is valid? [True, True] Translation: X:89.21, Y:5.84, Z:3.11 [[ 9.94856111e-01 -9.20098682e-02 -4.23733776e-02 8.92100568e+01] [ 9.19680723e-02 9.95757620e-01 -2.93884150e-03 5.83773299e+00] [ 4.24640160e-02 -9.73273429e-04 9.99097523e-01 3.11338565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06509989299998 meters 0.014767017996520344 Centerline is valid? [True, True] Translation: X:89.27, Y:5.84, Z:3.12 [[ 9.94819265e-01 -9.32447136e-02 -4.04975660e-02 8.92721637e+01] [ 9.32076301e-02 9.95642736e-01 -2.80697537e-03 5.83891835e+00] [ 4.05828430e-02 -9.82248979e-04 9.99175694e-01 3.11731636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12509989299998 meters 0.015160838779720713 Centerline is valid? [True, True] Translation: X:89.33, Y:5.84, Z:3.12 [[ 9.94931878e-01 -9.31093503e-02 -3.79632294e-02 8.93337753e+01] [ 9.30767629e-02 9.95655466e-01 -2.62872719e-03 5.83816158e+00] [ 3.80430559e-02 -9.18090024e-04 9.99275679e-01 3.12226824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18509989299999 meters 0.014570355169405472 Centerline is valid? [True, True] Translation: X:89.40, Y:5.84, Z:3.12 [[ 9.94747931e-01 -9.44275610e-02 -3.94966998e-02 8.93958424e+01] [ 9.43934153e-02 9.95531223e-01 -2.73265047e-03 5.83991014e+00] [ 3.95782353e-02 -1.00992999e-03 9.99215964e-01 3.12290741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24509989299997 meters 0.015749411158281885 Centerline is valid? [True, True] Translation: X:89.46, Y:5.84, Z:3.12 [[ 9.94422280e-01 -9.64230976e-02 -4.27424410e-02 8.94568439e+01] [ 9.63851095e-02 9.95339735e-01 -2.95350822e-03 5.83854071e+00] [ 4.28280363e-02 -1.18270048e-03 9.99081759e-01 3.12191413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30509989299998 meters 0.01588511226559681 Centerline is valid? [True, True] Translation: X:89.52, Y:5.84, Z:3.12 [[ 9.94202321e-01 -9.66387386e-02 -4.71455005e-02 8.95190841e+01] [ 9.65930467e-02 9.95318647e-01 -3.25179121e-03 5.84096681e+00] [ 4.72390448e-02 -1.32098917e-03 9.98882740e-01 3.12068486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36509989299998 meters 0.015238680685584165 Centerline is valid? [True, True] Translation: X:89.58, Y:5.85, Z:3.12 [[ 9.94448653e-01 -9.41363265e-02 -4.70130787e-02 8.95806247e+01] [ 9.40882486e-02 9.95558591e-01 -3.23944921e-03 5.84657938e+00] [ 4.71092243e-02 -1.20191234e-03 9.98889021e-01 3.12383859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42509989299998 meters 0.013427003133037548 Centerline is valid? [True, True] Translation: X:89.64, Y:5.86, Z:3.13 [[ 9.95152809e-01 -8.83771275e-02 -4.31320082e-02 8.96417714e+01] [ 8.83313460e-02 9.96086720e-01 -2.96985700e-03 5.85548605e+00] [ 4.32256880e-02 -8.54446812e-04 9.99064968e-01 3.13064167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48509989299998 meters 0.012648642222488314 Centerline is valid? [True, True] Translation: X:89.70, Y:5.86, Z:3.13 [[ 9.95409450e-01 -8.56004159e-02 -4.28088201e-02 8.97039968e+01] [ 8.55528598e-02 9.96329280e-01 -2.94508455e-03 5.86213140e+00] [ 4.29037814e-02 -7.30851991e-04 9.99078942e-01 3.13353382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54509989299999 meters 0.011493001858099747 Centerline is valid? [True, True] Translation: X:89.76, Y:5.87, Z:3.14 [[ 9.96109570e-01 -7.78565359e-02 -4.12805504e-02 8.97635960e+01] [ 7.78058046e-02 9.96964498e-01 -2.83658223e-03 5.87014641e+00] [ 4.13760896e-02 -3.86319732e-04 9.99143568e-01 3.13681141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60509989299997 meters 0.010787586053370699 Centerline is valid? [True, True] Translation: X:89.83, Y:5.88, Z:3.14 [[ 9.96498298e-01 -7.29946824e-02 -4.07789080e-02 8.98251663e+01] [ 7.29411419e-02 9.97332313e-01 -2.80124531e-03 5.87518747e+00] [ 4.08745986e-02 -1.83023928e-04 9.99164268e-01 3.13911733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66509989299998 meters 0.010745187942884244 Centerline is valid? [True, True] Translation: X:89.89, Y:5.88, Z:3.14 [[ 9.96476081e-01 -7.25506912e-02 -4.20929698e-02 8.98867800e+01] [ 7.24933442e-02 9.97364711e-01 -2.88921790e-03 5.87638045e+00] [ 4.21916574e-02 -1.72423621e-04 9.99109521e-01 3.14033801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72509989299998 meters 0.010852196033114594 Centerline is valid? [True, True] Translation: X:89.95, Y:5.88, Z:3.14 [[ 9.96315987e-01 -7.36923820e-02 -4.38621415e-02 8.99472345e+01] [ 7.36312843e-02 9.97280993e-01 -3.00911486e-03 5.87670837e+00] [ 4.39646288e-02 -2.31596563e-04 9.99033061e-01 3.14097065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78509989299998 meters 0.010739932721436954 Centerline is valid? [True, True] Translation: X:90.01, Y:5.88, Z:3.14 [[ 9.96316755e-01 -7.37841469e-02 -4.36900825e-02 9.00083542e+01] [ 7.37236557e-02 9.97274207e-01 -2.99640605e-03 5.87874297e+00] [ 4.37920797e-02 -2.35623049e-04 9.99040639e-01 3.14278630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84509989299998 meters 0.01081759240070359 Centerline is valid? [True, True] Translation: X:90.07, Y:5.88, Z:3.15 [[ 9.96345242e-01 -7.39915926e-02 -4.26778925e-02 9.00688948e+01] [ 7.39341245e-02 9.97258836e-01 -2.92555111e-03 5.88037477e+00] [ 4.27773716e-02 -2.40493690e-04 9.99084600e-01 3.14552956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90509989299998 meters 0.011040593944137691 Centerline is valid? [True, True] Translation: X:90.13, Y:5.88, Z:3.15 [[ 9.96188329e-01 -7.67428427e-02 -4.14650256e-02 9.01301862e+01] [ 7.66910109e-02 9.97050858e-01 -2.84160328e-03 5.88066852e+00] [ 4.15608121e-02 -3.49222708e-04 9.99135915e-01 3.14767611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96509989299997 meters 0.011896371729115259 Centerline is valid? [True, True] Translation: X:90.19, Y:5.88, Z:3.15 [[ 9.95719779e-01 -8.30132043e-02 -4.06316224e-02 9.01916013e+01] [ 8.29687089e-02 9.96548267e-01 -2.78306154e-03 5.87833141e+00] [ 4.07224037e-02 -6.00003835e-04 9.99170319e-01 3.15005889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02509989299998 meters 0.01358380928941909 Centerline is valid? [True, True] Translation: X:90.25, Y:5.87, Z:3.15 [[ 9.95076332e-01 -9.03487232e-02 -4.07455655e-02 9.02528115e+01] [ 9.03101765e-02 9.95909781e-01 -2.78945370e-03 5.87463103e+00] [ 4.08309308e-02 -9.04019860e-04 9.99165661e-01 3.15162071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08509989299998 meters 0.015099043133059566 Centerline is valid? [True, True] Translation: X:90.31, Y:5.87, Z:3.15 [[ 9.94730571e-01 -9.44690013e-02 -3.98333858e-02 9.03145707e+01] [ 9.44354961e-02 9.95527250e-01 -2.72610901e-03 5.87324566e+00] [ 3.99127538e-02 -1.04994158e-03 9.99202617e-01 3.15447268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14509989299998 meters 0.017008588760280798 Centerline is valid? [True, True] Translation: X:90.38, Y:5.87, Z:3.16 [[ 9.94482993e-01 -9.75841034e-02 -3.84827187e-02 9.03757619e+01] [ 9.75552894e-02 9.95226631e-01 -2.63032954e-03 5.87095065e+00] [ 3.85557048e-02 -1.13837476e-03 9.99255804e-01 3.15772396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20509989299998 meters 0.01500310659974859 Centerline is valid? [True, True] Translation: X:90.44, Y:5.88, Z:3.16 [[ 9.94737079e-01 -9.37341815e-02 -4.13768917e-02 9.04366021e+01] [ 9.36976381e-02 9.95596689e-01 -2.82587473e-03 5.87745839e+00] [ 4.14595774e-02 -1.06591465e-03 9.99139614e-01 3.15740106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26509989299998 meters 0.012620935797869222 Centerline is valid? [True, True] Translation: X:90.50, Y:5.89, Z:3.16 [[ 9.95521858e-01 -8.52078010e-02 -4.09372696e-02 9.04967985e+01] [ 8.51648790e-02 9.96362953e-01 -2.79446031e-03 5.88787946e+00] [ 4.10264887e-02 -7.04471291e-04 9.99157811e-01 3.16077423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32509989299997 meters 0.010572224258160986 Centerline is valid? [True, True] Translation: X:90.56, Y:5.90, Z:3.16 [[ 9.96523353e-01 -7.20940482e-02 -4.17571084e-02 9.05576421e+01] [ 7.20379104e-02 9.97397824e-01 -2.84949698e-03 5.90181042e+00] [ 4.18538808e-02 -1.68504550e-04 9.99123728e-01 3.16359178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38509989299997 meters 0.010607670450206828 Centerline is valid? [True, True] Translation: X:90.62, Y:5.91, Z:3.17 [[ 9.97012171e-01 -6.41263714e-02 -4.30643708e-02 9.06182510e+01] [ 6.40593290e-02 9.97941772e-01 -2.93639673e-03 5.91122602e+00] [ 4.31640350e-02 1.68948578e-04 9.99067984e-01 3.16538688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44509989299998 meters 0.010897862351736511 Centerline is valid? [True, True] Translation: X:90.68, Y:5.92, Z:3.17 [[ 9.97237390e-01 -6.06765457e-02 -4.28479303e-02 9.06780416e+01] [ 6.06070411e-02 9.98157431e-01 -2.92050283e-03 5.91648034e+00] [ 4.29461860e-02 3.15548346e-04 9.99077337e-01 3.16739116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50509989299998 meters 0.011182799976172388 Centerline is valid? [True, True] Translation: X:90.74, Y:5.92, Z:3.17 [[ 9.97355267e-01 -5.88533726e-02 -4.26468222e-02 9.07361892e+01] [ 5.87827662e-02 9.98266560e-01 -2.90882979e-03 5.92008145e+00] [ 4.27440910e-02 3.94238532e-04 9.99085976e-01 3.16925119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56509989299998 meters 0.010728325377774454 Centerline is valid? [True, True] Translation: X:90.80, Y:5.92, Z:3.17 [[ 9.97179679e-01 -6.26423896e-02 -4.13354532e-02 9.07954255e+01] [ 6.25790799e-02 9.98036010e-01 -2.82502714e-03 5.92014159e+00] [ 4.14312373e-02 2.30325030e-04 9.99141331e-01 3.17256287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62509989299998 meters 0.010457111725395905 Centerline is valid? [True, True] Translation: X:90.85, Y:5.91, Z:3.17 [[ 9.96627192e-01 -7.12523110e-02 -4.07105400e-02 9.08538384e+01] [ 7.11977211e-02 9.97458317e-01 -2.79105480e-03 5.91489731e+00] [ 4.08059358e-02 -1.16856560e-04 9.99167084e-01 3.17440270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68509989299999 meters 0.011076699062988834 Centerline is valid? [True, True] Translation: X:90.91, Y:5.91, Z:3.18 [[ 9.96016036e-01 -7.92256152e-02 -4.09311473e-02 9.09149253e+01] [ 7.91770234e-02 9.96856613e-01 -2.80943622e-03 5.91203959e+00] [ 4.10250641e-02 -4.42562878e-04 9.99158020e-01 3.17630009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74509989299997 meters 0.015625596391988246 Centerline is valid? [True, True] Translation: X:90.98, Y:5.90, Z:3.18 [[ 9.94582869e-01 -9.56132654e-02 -4.07801478e-02 9.09755324e+01] [ 9.55787750e-02 9.95417934e-01 -2.79907773e-03 5.89997468e+00] [ 4.08609194e-02 -1.11380181e-03 9.99164223e-01 3.17724772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80509989299998 meters 0.017289680298038262 Centerline is valid? [True, True] Translation: X:91.04, Y:5.90, Z:3.18 [[ 9.93921365e-01 -1.02339895e-01 -4.05816069e-02 9.10364587e+01] [ 1.02311336e-01 9.94748527e-01 -2.78545013e-03 5.89871989e+00] [ 4.06535564e-02 -1.38344001e-03 9.99172345e-01 3.17970557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86509989299998 meters 0.018935453955238084 Centerline is valid? [True, True] Translation: X:91.10, Y:5.90, Z:3.18 [[ 9.93647201e-01 -1.05082313e-01 -4.02858113e-02 9.10982179e+01] [ 1.05056450e-01 9.94462418e-01 -2.76431620e-03 5.89920257e+00] [ 4.03532061e-02 -1.48552929e-03 9.99184373e-01 3.18263053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92509989299998 meters 0.019052600466868495 Centerline is valid? [True, True] Translation: X:91.16, Y:5.90, Z:3.19 [[ 9.93529740e-01 -1.06506975e-01 -3.94324739e-02 9.11604604e+01] [ 1.06483400e-01 9.94310804e-01 -2.70364784e-03 5.90221038e+00] [ 3.94960922e-02 -1.51274935e-03 9.99218580e-01 3.18531724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98509989299998 meters 0.01998073236077782 Centerline is valid? [True, True] Translation: X:91.22, Y:5.90, Z:3.19 [[ 9.93295916e-01 -1.08856460e-01 -3.89036546e-02 9.12223910e+01] [ 1.08835419e-01 9.94056211e-01 -2.66461743e-03 5.90455437e+00] [ 3.89624803e-02 -1.58734194e-03 9.99239413e-01 3.18719761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04509989299999 meters 0.02403590286675356 Centerline is valid? [True, True] Translation: X:91.28, Y:5.90, Z:3.19 [[ 9.92363402e-01 -1.15993599e-01 -4.19566951e-02 9.12819177e+01] [ 1.15975606e-01 9.93247913e-01 -2.87089769e-03 5.90329825e+00] [ 4.20064056e-02 -2.01697932e-03 9.99115306e-01 3.18651257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10509989299997 meters 0.025063275905360203 Centerline is valid? [True, True] Translation: X:91.34, Y:5.91, Z:3.19 [[ 9.91730287e-01 -1.20693761e-01 -4.36354761e-02 9.13420145e+01] [ 1.20678811e-01 9.92687114e-01 -2.98631853e-03 5.90607079e+00] [ 4.36768049e-02 -2.30425485e-03 9.99043056e-01 3.18782948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16509989299998 meters 0.02498293594646709 Centerline is valid? [True, True] Translation: X:91.40, Y:5.91, Z:3.19 [[ 9.90929148e-01 -1.26304653e-01 -4.58972679e-02 9.14020015e+01] [ 1.26294119e-01 9.91987868e-01 -3.14092780e-03 5.91098707e+00] [ 4.59262467e-02 -2.68411808e-03 9.98941227e-01 3.18948828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22509989299998 meters 0.029286631415448502 Centerline is valid? [True, True] Translation: X:91.46, Y:5.91, Z:3.19 [[ 9.90561403e-01 -1.28637668e-01 -4.73334706e-02 9.14618687e+01] [ 1.28629163e-01 9.91687477e-01 -3.23832297e-03 5.91272097e+00] [ 4.73565803e-02 -2.88070694e-03 9.98873894e-01 3.19017397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28509989299998 meters 0.029185077674026158 Centerline is valid? [True, True] Translation: X:91.52, Y:5.92, Z:3.19 [[ 9.90941251e-01 -1.26063377e-01 -4.62975364e-02 9.15220498e+01] [ 1.26052573e-01 9.92018515e-01 -3.16453815e-03 5.92155934e+00] [ 4.63269457e-02 -2.70005218e-03 9.98922682e-01 3.19320497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34509989299998 meters 0.023923677794266962 Centerline is valid? [True, True] Translation: X:91.58, Y:5.94, Z:3.20 [[ 9.91442941e-01 -1.22849179e-01 -4.41471965e-02 9.15821721e+01] [ 1.22836207e-01 9.92422372e-01 -3.01679014e-03 5.93758136e+00] [ 4.41832757e-02 -2.43189889e-03 9.99020482e-01 3.19874178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40509989299998 meters 0.023255473071467154 Centerline is valid? [True, True] Translation: X:91.64, Y:5.95, Z:3.20 [[ 9.91953660e-01 -1.19313971e-01 -4.23333435e-02 9.16422962e+01] [ 1.19298869e-01 9.92854177e-01 -2.89192175e-03 5.94678125e+00] [ 4.23758836e-02 -2.18166763e-03 9.99099357e-01 3.20307356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46509989299997 meters 0.02274859457031248 Centerline is valid? [True, True] Translation: X:91.70, Y:5.96, Z:3.21 [[ 9.92325264e-01 -1.16868664e-01 -4.04015486e-02 9.17032061e+01] [ 1.16852916e-01 9.93145399e-01 -2.75918884e-03 5.95584914e+00] [ 4.04470748e-02 -1.98302596e-03 9.99179714e-01 3.20691156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52509989299998 meters 0.022837792161573087 Centerline is valid? [True, True] Translation: X:91.77, Y:5.96, Z:3.21 [[ 9.92294890e-01 -1.16939401e-01 -4.09393274e-02 9.17652508e+01] [ 1.16923359e-01 9.93137010e-01 -2.79426313e-03 5.96263283e+00] [ 4.09851207e-02 -2.01403065e-03 9.99157727e-01 3.20843427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58509989299998 meters 0.023403009544155477 Centerline is valid? [True, True] Translation: X:91.83, Y:5.97, Z:3.21 [[ 9.92222363e-01 -1.17023284e-01 -4.24303387e-02 9.18273651e+01] [ 1.17006267e-01 9.93126963e-01 -2.89283960e-03 5.96848680e+00] [ 4.24772430e-02 -2.09427540e-03 9.99095240e-01 3.20956571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64509989299998 meters 0.020978829863797406 Centerline is valid? [True, True] Translation: X:91.89, Y:5.98, Z:3.21 [[ 9.92337246e-01 -1.15041472e-01 -4.50804778e-02 9.18888422e+01] [ 1.15020383e-01 9.93358388e-01 -3.07007855e-03 5.98044653e+00] [ 4.51342571e-02 -2.13862053e-03 9.98978641e-01 3.21021164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70509989299998 meters 0.01784667086325868 Centerline is valid? [True, True] Translation: X:91.95, Y:6.00, Z:3.21 [[ 9.93399242e-01 -1.04067700e-01 -4.82478906e-02 9.19490780e+01] [ 1.04030775e-01 9.94568661e-01 -3.28264225e-03 5.99709380e+00] [ 4.83274570e-02 -1.75829111e-03 9.98829998e-01 3.21006724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76509989299998 meters 0.016041215578455833 Centerline is valid? [True, True] Translation: X:92.01, Y:6.01, Z:3.21 [[ 9.94200047e-01 -9.60153733e-02 -4.84491011e-02 9.20085743e+01] [ 9.59686214e-02 9.95378904e-01 -3.29560523e-03 6.01000186e+00] [ 4.85416420e-02 -1.37310258e-03 9.98820216e-01 3.21283314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82509989299997 meters 0.012769523510351271 Centerline is valid? [True, True] Translation: X:92.07, Y:6.03, Z:3.22 [[ 9.95519608e-01 -8.33162821e-02 -4.47113807e-02 9.20674973e+01] [ 8.32636694e-02 9.96522912e-01 -3.04102639e-03 6.02760451e+00] [ 4.48092823e-02 -6.95432229e-04 9.98995318e-01 3.21798158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88509989299997 meters 0.011081781042941939 Centerline is valid? [True, True] Translation: X:92.13, Y:6.04, Z:3.22 [[ 9.96475948e-01 -7.31951041e-02 -4.09653738e-02 9.21277238e+01] [ 7.31423903e-02 9.97317617e-01 -2.78611094e-03 6.04201262e+00] [ 4.10594186e-02 -2.20012819e-04 9.99156682e-01 3.22235441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94509989299998 meters 0.010831171325658072 Centerline is valid? [True, True] Translation: X:92.19, Y:6.05, Z:3.22 [[ 9.96827586e-01 -6.86919092e-02 -4.02018023e-02 9.21894629e+01] [ 6.86375424e-02 9.97637920e-01 -2.73265800e-03 6.05148819e+00] [ 4.02945540e-02 -3.53640303e-05 9.99187844e-01 3.22457960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00509989299998 meters 0.010791393573480117 Centerline is valid? [True, True] Translation: X:92.25, Y:6.06, Z:3.23 [[ 9.96663682e-01 -7.03023694e-02 -4.14618232e-02 9.22502959e+01] [ 7.02460540e-02 9.97525722e-01 -2.81538561e-03 6.05531895e+00] [ 4.15571634e-02 -1.06536888e-04 9.99136122e-01 3.22511105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06509989299998 meters 0.011303031220871769 Centerline is valid? [True, True] Translation: X:92.31, Y:6.05, Z:3.22 [[ 9.96113392e-01 -7.63592828e-02 -4.39018207e-02 9.23116773e+01] [ 7.63020902e-02 9.97080295e-01 -2.97942786e-03 6.05474722e+00] [ 4.40011473e-02 -3.81952691e-04 9.99031407e-01 3.22482360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12509989299998 meters 0.012818163149539936 Centerline is valid? [True, True] Translation: X:92.37, Y:6.05, Z:3.23 [[ 9.95510465e-01 -8.39169006e-02 -4.37820559e-02 9.23731636e+01] [ 8.38673874e-02 9.96472499e-01 -2.96975310e-03 6.05266380e+00] [ 4.38768271e-02 -7.15466351e-04 9.99036692e-01 3.22617556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18509989299999 meters 0.014913503452589582 Centerline is valid? [True, True] Translation: X:92.43, Y:6.05, Z:3.23 [[ 9.94894928e-01 -9.22676421e-02 -4.08749942e-02 9.24345377e+01] [ 9.22315785e-02 9.95733728e-01 -2.77122004e-03 6.05176842e+00] [ 4.09563043e-02 -1.01289247e-03 9.99160425e-01 3.23037534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24509989299997 meters 0.0170965335006948 Centerline is valid? [True, True] Translation: X:92.50, Y:6.05, Z:3.23 [[ 9.94414677e-01 -9.83384142e-02 -3.83276207e-02 9.24961387e+01] [ 9.83112557e-02 9.95152326e-01 -2.59723866e-03 6.04999845e+00] [ 3.83972292e-02 -1.18530428e-03 9.99261851e-01 3.23389575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30509989299998 meters 0.01848826717301836 Centerline is valid? [True, True] Translation: X:92.56, Y:6.05, Z:3.24 [[ 9.93943614e-01 -1.03144203e-01 -3.79126014e-02 9.25570786e+01] [ 1.03121168e-01 9.94665487e-01 -2.56779776e-03 6.04976123e+00] [ 3.79752096e-02 -1.35734556e-03 9.99277760e-01 3.23601683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36509989299998 meters 0.020141366199340927 Centerline is valid? [True, True] Translation: X:92.62, Y:6.05, Z:3.24 [[ 9.93301480e-01 -1.08044884e-01 -4.09691613e-02 9.26183185e+01] [ 1.08022179e-01 9.94144614e-01 -2.77402900e-03 6.04849713e+00] [ 4.10289907e-02 -1.67013094e-03 9.99156561e-01 3.23557200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42509989299998 meters 0.020475293869769023 Centerline is valid? [True, True] Translation: X:92.68, Y:6.05, Z:3.23 [[ 9.93305601e-01 -1.06884425e-01 -4.38144190e-02 9.26807012e+01] [ 1.06857385e-01 9.94269936e-01 -2.96550058e-03 6.05102940e+00] [ 4.38803254e-02 -1.73624591e-03 9.99035286e-01 3.23477964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48509989299998 meters 0.01655183926976411 Centerline is valid? [True, True] Translation: X:92.74, Y:6.06, Z:3.24 [[ 9.93966284e-01 -1.00018472e-01 -4.50259061e-02 9.27403558e+01] [ 9.99830023e-02 9.94984487e-01 -3.04478799e-03 6.06293589e+00] [ 4.51046131e-02 -1.47540868e-03 9.98981180e-01 3.23762247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54509989299999 meters 0.01431894156219827 Centerline is valid? [True, True] Translation: X:92.80, Y:6.07, Z:3.24 [[ 9.94966298e-01 -8.91870792e-02 -4.56917025e-02 9.27997504e+01] [ 8.91391355e-02 9.96014391e-01 -3.08981174e-03 6.07435805e+00] [ 4.57851645e-02 -9.98660319e-04 9.98950810e-01 3.23876232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60509989299997 meters 0.011166835883803189 Centerline is valid? [True, True] Translation: X:92.86, Y:6.09, Z:3.24 [[ 9.96099112e-01 -7.62041565e-02 -4.44914072e-02 9.28595113e+01] [ 7.61457518e-02 9.97092159e-01 -3.00847095e-03 6.09134144e+00] [ 4.45912913e-02 -3.91096417e-04 9.99005237e-01 3.24238645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66509989299998 meters 0.010787649514945546 Centerline is valid? [True, True] Translation: X:92.92, Y:6.10, Z:3.24 [[ 9.96338483e-01 -7.29393542e-02 -4.46035693e-02 9.29209217e+01] [ 7.28774258e-02 9.97336347e-01 -3.01512168e-03 6.09870653e+00] [ 4.47046819e-02 -2.46511555e-04 9.99000216e-01 3.24424131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72509989299998 meters 0.010874906537256252 Centerline is valid? [True, True] Translation: X:92.98, Y:6.10, Z:3.25 [[ 9.96368580e-01 -7.36243839e-02 -4.27680012e-02 9.29822093e+01] [ 7.35681444e-02 9.97286006e-01 -2.88954725e-03 6.10340809e+00] [ 4.28646703e-02 -2.67308405e-04 9.99080852e-01 3.24764606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78509989299998 meters 0.011436537989777602 Centerline is valid? [True, True] Translation: X:93.04, Y:6.10, Z:3.25 [[ 9.95930666e-01 -7.85926247e-02 -4.41056433e-02 9.30439969e+01] [ 7.85377561e-02 9.96906691e-01 -2.97816128e-03 6.10477966e+00] [ 4.42032725e-02 -4.97916112e-04 9.99022434e-01 3.24900960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84509989299998 meters 0.012801960372012063 Centerline is valid? [True, True] Translation: X:93.10, Y:6.11, Z:3.25 [[ 9.95259869e-01 -8.63781763e-02 -4.46833790e-02 9.31049285e+01] [ 8.63298040e-02 9.96262052e-01 -3.01476376e-03 6.10505175e+00] [ 4.47767646e-02 -8.57033958e-04 9.98996650e-01 3.25118105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90509989299998 meters 0.015552543887839266 Centerline is valid? [True, True] Translation: X:93.16, Y:6.10, Z:3.25 [[ 9.94546113e-01 -9.45936874e-02 -4.39324982e-02 9.31646242e+01] [ 9.45550054e-02 9.95515231e-01 -2.96235359e-03 6.10436408e+00] [ 4.40156910e-02 -1.20784036e-03 9.99030110e-01 3.25472267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96509989299997 meters 0.017411551372477765 Centerline is valid? [True, True] Translation: X:93.23, Y:6.11, Z:3.26 [[ 9.93821092e-01 -1.01779654e-01 -4.42779799e-02 9.32251567e+01] [ 1.01747483e-01 9.94805778e-01 -2.98552440e-03 6.10705009e+00] [ 4.43518559e-02 -1.53809587e-03 9.99014788e-01 3.25745347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02509989299998 meters 0.018896929442574626 Centerline is valid? [True, True] Translation: X:93.29, Y:6.11, Z:3.26 [[ 9.93399192e-01 -1.06011199e-01 -4.38140590e-02 9.32861606e+01] [ 1.05983844e-01 9.94363466e-01 -2.95335179e-03 6.11190169e+00] [ 4.38801879e-02 -1.70972514e-03 9.99035338e-01 3.26041420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08509989299998 meters 0.018216453285247118 Centerline is valid? [True, True] Translation: X:93.35, Y:6.12, Z:3.26 [[ 9.93856128e-01 -1.01910003e-01 -4.31781022e-02 9.33466563e+01] [ 1.01879638e-01 9.94792480e-01 -2.90893315e-03 6.11909551e+00] [ 4.32497008e-02 -1.50790840e-03 9.99063156e-01 3.26323284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14509989299998 meters 0.018148530409948835 Centerline is valid? [True, True] Translation: X:93.41, Y:6.12, Z:3.27 [[ 9.93949762e-01 -1.01067046e-01 -4.30037433e-02 9.34084811e+01] [ 1.01036214e-01 9.94878535e-01 -2.89543387e-03 6.12383976e+00] [ 4.30761341e-02 -1.46701959e-03 9.99070715e-01 3.26582489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20509989299998 meters 0.01710548548427744 Centerline is valid? [True, True] Translation: X:93.47, Y:6.13, Z:3.27 [[ 9.93879091e-01 -1.01045193e-01 -4.46567175e-02 9.34699008e+01] [ 1.01012065e-01 9.94880667e-01 -3.00356569e-03 6.12988670e+00] [ 4.47316008e-02 -1.52568612e-03 9.98997876e-01 3.26726959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26509989299998 meters 0.01884733666134382 Centerline is valid? [True, True] Translation: X:93.53, Y:6.13, Z:3.27 [[ 9.93873352e-01 -1.01051414e-01 -4.47702073e-02 9.35316922e+01] [ 1.01018248e-01 9.94880024e-01 -3.00845579e-03 6.13139124e+00] [ 4.48449937e-02 -1.53258385e-03 9.98992782e-01 3.26884395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32509989299997 meters 0.01695626355419726 Centerline is valid? [True, True] Translation: X:93.59, Y:6.14, Z:3.27 [[ 9.93897737e-01 -1.00598810e-01 -4.52456400e-02 9.35938118e+01] [ 1.00564649e-01 9.94925893e-01 -3.03639272e-03 6.13945421e+00] [ 4.53215163e-02 -1.53224807e-03 9.98971277e-01 3.27220102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38509989299997 meters 0.017266826952641232 Centerline is valid? [True, True] Translation: X:93.66, Y:6.14, Z:3.28 [[ 9.94019997e-01 -9.96747111e-02 -4.46004309e-02 9.36560069e+01] [ 9.96407327e-02 9.95018987e-01 -2.98986576e-03 6.14383968e+00] [ 4.46762896e-02 -1.47203326e-03 9.99000432e-01 3.27533546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44509989299998 meters 0.017309894453274 Centerline is valid? [True, True] Translation: X:93.72, Y:6.15, Z:3.28 [[ 9.94120501e-01 -9.92741625e-02 -4.32327463e-02 9.37179163e+01] [ 9.92419881e-02 9.95059117e-01 -2.89515661e-03 6.14727730e+00] [ 4.33065526e-02 -1.41236916e-03 9.99060833e-01 3.27974743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50509989299998 meters 0.0176882495531494 Centerline is valid? [True, True] Translation: X:93.78, Y:6.15, Z:3.28 [[ 9.94067641e-01 -1.00086051e-01 -4.25712080e-02 9.37805101e+01] [ 1.00055725e-01 9.94977759e-01 -2.84785325e-03 6.14860705e+00] [ 4.26424356e-02 -1.42853430e-03 9.99089376e-01 3.28377125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56509989299998 meters 0.01765696815928544 Centerline is valid? [True, True] Translation: X:93.84, Y:6.15, Z:3.29 [[ 9.94077638e-01 -9.93284743e-02 -4.40851900e-02 9.38424624e+01] [ 9.92953531e-02 9.95053644e-01 -2.94589294e-03 6.15049395e+00] [ 4.41597400e-02 -1.44900821e-03 9.99023432e-01 3.28561570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62509989299998 meters 0.016879958994475128 Centerline is valid? [True, True] Translation: X:93.90, Y:6.15, Z:3.29 [[ 9.94249992e-01 -9.70665613e-02 -4.52220709e-02 9.39046087e+01] [ 9.70295223e-02 9.95276926e-01 -3.01859230e-03 6.15456368e+00] [ 4.53014881e-02 -1.38664057e-03 9.98972398e-01 3.28677495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68509989299999 meters 0.01356725127886593 Centerline is valid? [True, True] Translation: X:93.97, Y:6.16, Z:3.29 [[ 9.94853942e-01 -8.98131456e-02 -4.68959825e-02 9.39650354e+01] [ 8.97653980e-02 9.95958028e-01 -3.12741752e-03 6.16347770e+00] [ 4.69873134e-02 -1.09831289e-03 9.98894882e-01 3.28856593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74509989299997 meters 0.011994145356252461 Centerline is valid? [True, True] Translation: X:94.03, Y:6.17, Z:3.29 [[ 9.95522338e-01 -8.21595372e-02 -4.67448906e-02 9.40258756e+01] [ 8.21037097e-02 9.96618919e-01 -3.11632164e-03 6.17187760e+00] [ 4.68428779e-02 -7.35561119e-04 9.98901999e-01 3.29097361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80509989299998 meters 0.010353423187039837 Centerline is valid? [True, True] Translation: X:94.09, Y:6.19, Z:3.29 [[ 9.96704397e-01 -6.55909463e-02 -4.77302012e-02 9.40854080e+01] [ 6.55138065e-02 9.97846594e-01 -3.18044640e-03 6.18650623e+00] [ 4.78360272e-02 4.29777457e-05 9.98855201e-01 3.29215475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86509989299998 meters 0.010707658325661363 Centerline is valid? [True, True] Translation: X:94.14, Y:6.20, Z:3.30 [[ 9.97313680e-01 -5.70732305e-02 -4.59137347e-02 9.41448027e+01] [ 5.69928425e-02 9.98369900e-01 -3.05908317e-03 6.19546215e+00] [ 4.60134825e-02 4.34111241e-04 9.98940724e-01 3.29659439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92509989299998 meters 0.01120223772212032 Centerline is valid? [True, True] Translation: X:94.20, Y:6.20, Z:3.30 [[ 9.97572477e-01 -5.40226735e-02 -4.39397829e-02 9.42034365e+01] [ 5.39459637e-02 9.98539556e-01 -2.93055237e-03 6.20134962e+00] [ 4.40339276e-02 5.53064452e-04 9.99029883e-01 3.30074050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98509989299998 meters 0.010573305044954498 Centerline is valid? [True, True] Translation: X:94.26, Y:6.20, Z:3.30 [[ 9.97362749e-01 -5.82123455e-02 -4.33459367e-02 9.42627796e+01] [ 5.81411856e-02 9.98304154e-01 -2.90162529e-03 6.20067771e+00] [ 4.34413391e-02 3.73788822e-04 9.99055910e-01 3.30311602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04509989299999 meters 0.009982780210744354 Centerline is valid? [True, True] Translation: X:94.32, Y:6.19, Z:3.31 [[ 9.96657371e-01 -6.95333110e-02 -4.28859363e-02 9.43225239e+01] [ 6.94736985e-02 9.97579624e-01 -2.88067947e-03 6.19361036e+00] [ 4.29824394e-02 -1.08394183e-04 9.99075822e-01 3.30527367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10509989299997 meters 0.01101960481752476 Centerline is valid? [True, True] Translation: X:94.38, Y:6.19, Z:3.31 [[ 9.95990758e-01 -7.89080802e-02 -4.21417222e-02 9.43841307e+01] [ 7.88585497e-02 9.96881773e-01 -2.83899565e-03 6.18783766e+00] [ 4.22343344e-02 -4.95621663e-04 9.99107609e-01 3.30777070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16509989299998 meters 0.015180119196563674 Centerline is valid? [True, True] Translation: X:94.45, Y:6.17, Z:3.31 [[ 9.94539081e-01 -9.51006478e-02 -4.29870142e-02 9.44460729e+01] [ 9.50642587e-02 9.95466930e-01 -2.89458253e-03 6.17337293e+00] [ 4.30674277e-02 -1.20775319e-03 9.99071438e-01 3.30937405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22509989299998 meters 0.018198674177031266 Centerline is valid? [True, True] Translation: X:94.51, Y:6.17, Z:3.31 [[ 9.93772366e-01 -1.02715232e-01 -4.31979793e-02 9.45071382e+01] [ 1.02685668e-01 9.94709603e-01 -2.90865736e-03 6.16661659e+00] [ 4.32682083e-02 -1.54527005e-03 9.99062298e-01 3.31135743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28509989299998 meters 0.017999698838206603 Centerline is valid? [True, True] Translation: X:94.57, Y:6.17, Z:3.31 [[ 9.93558340e-01 -1.04684388e-01 -4.33935943e-02 9.45690603e+01] [ 1.04656452e-01 9.94504144e-01 -2.92133372e-03 6.16565882e+00] [ 4.34609274e-02 -1.63890413e-03 9.99053783e-01 3.31293724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34509989299998 meters 0.017689794978491137 Centerline is valid? [True, True] Translation: X:94.63, Y:6.17, Z:3.31 [[ 9.93901340e-01 -1.00920476e-01 -4.44430315e-02 9.46296669e+01] [ 1.00887515e-01 9.94893346e-01 -2.98976116e-03 6.16695724e+00] [ 4.45178045e-02 -1.51221938e-03 9.99007447e-01 3.31373238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40509989299998 meters 0.014910925638600928 Centerline is valid? [True, True] Translation: X:94.69, Y:6.17, Z:3.31 [[ 9.94722980e-01 -9.19438979e-02 -4.55248584e-02 9.46895206e+01] [ 9.18999510e-02 9.95763538e-01 -3.06180028e-03 6.17498830e+00] [ 4.56135079e-02 -1.13808915e-03 9.98958514e-01 3.31498848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46509989299997 meters 0.011324605997633456 Centerline is valid? [True, True] Translation: X:94.75, Y:6.19, Z:3.32 [[ 9.95646373e-01 -8.07519659e-02 -4.65555483e-02 9.47500414e+01] [ 8.06937888e-02 9.96734022e-01 -3.13074627e-03 6.18718866e+00] [ 4.66563129e-02 -6.39627416e-04 9.98910796e-01 3.31642397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52509989299998 meters 0.010219427821669324 Centerline is valid? [True, True] Translation: X:94.81, Y:6.20, Z:3.32 [[ 9.96457517e-01 -7.05311157e-02 -4.58015223e-02 9.48101146e+01] [ 7.04640405e-02 9.97509567e-01 -3.07937231e-03 6.19658569e+00] [ 4.59046482e-02 -1.58896635e-04 9.98945813e-01 3.31862566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58509989299998 meters 0.010394963682964475 Centerline is valid? [True, True] Translation: X:94.87, Y:6.20, Z:3.32 [[ 9.96863314e-01 -6.43732446e-02 -4.60393081e-02 9.48680434e+01] [ 6.42988821e-02 9.97925884e-01 -3.09583967e-03 6.20416192e+00] [ 4.61431065e-02 1.25852954e-04 9.98934832e-01 3.31947647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64509989299998 meters 0.010364238190751385 Centerline is valid? [True, True] Translation: X:94.93, Y:6.21, Z:3.32 [[ 9.96833821e-01 -6.52561293e-02 -4.54309456e-02 9.49255721e+01] [ 6.51844388e-02 9.97868543e-01 -3.05926827e-03 6.20725869e+00] [ 4.55337475e-02 8.81913896e-05 9.98962797e-01 3.32158681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70509989299998 meters 0.010266203305125293 Centerline is valid? [True, True] Translation: X:94.98, Y:6.21, Z:3.33 [[ 9.96422691e-01 -7.25148354e-02 -4.33983829e-02 9.49845693e+01] [ 7.24557879e-02 9.97367309e-01 -2.93409799e-03 6.20631262e+00] [ 4.34968940e-02 -2.20862209e-04 9.99053538e-01 3.32606240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76509989299998 meters 0.011680224101629152 Centerline is valid? [True, True] Translation: X:95.05, Y:6.20, Z:3.33 [[ 9.95672777e-01 -8.33734175e-02 -4.10438081e-02 9.50452704e+01] [ 8.33294474e-02 9.96518165e-01 -2.78392093e-03 6.20291117e+00] [ 4.11330053e-02 -6.48283559e-04 9.99153469e-01 3.32984171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82509989299997 meters 0.014695282388998561 Centerline is valid? [True, True] Translation: X:95.11, Y:6.20, Z:3.33 [[ 9.94661071e-01 -9.50437363e-02 -4.02000260e-02 9.51061317e+01] [ 9.50110689e-02 9.95472482e-01 -2.72667640e-03 6.19778221e+00] [ 4.02771732e-02 -1.10732857e-03 9.99187932e-01 3.33154039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88509989299997 meters 0.019207515311146974 Centerline is valid? [True, True] Translation: X:95.17, Y:6.19, Z:3.33 [[ 9.93551040e-01 -1.05723131e-01 -4.09749961e-02 9.51662841e+01] [ 1.05698255e-01 9.94394366e-01 -2.77911903e-03 6.19236327e+00] [ 4.10391225e-02 -1.56978898e-03 9.99156307e-01 3.33223621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94509989299998 meters 0.020609947750894635 Centerline is valid? [True, True] Translation: X:95.23, Y:6.19, Z:3.33 [[ 9.92682182e-01 -1.13657970e-01 -4.07915672e-02 9.52268737e+01] [ 1.13639981e-01 9.93518142e-01 -2.76702845e-03 6.19390688e+00] [ 4.08416569e-02 -1.88877308e-03 9.99163846e-01 3.33487723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00509989299998 meters 0.022364099251786326 Centerline is valid? [True, True] Translation: X:95.29, Y:6.20, Z:3.34 [[ 9.92156367e-01 -1.18237911e-01 -4.05652454e-02 9.52880998e+01] [ 1.18223945e-01 9.92983146e-01 -2.75143185e-03 6.19722530e+00] [ 4.06059286e-02 -2.06593274e-03 9.99173103e-01 3.33732364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06509989299998 meters 0.026582044117783966 Centerline is valid? [True, True] Translation: X:95.35, Y:6.20, Z:3.34 [[ 9.91980813e-01 -1.19821019e-01 -4.02118106e-02 9.53496539e+01] [ 1.19808653e-01 9.92793259e-01 -2.72593782e-03 6.19660731e+00] [ 4.02486391e-02 -2.11364486e-03 9.99187460e-01 3.33945844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12509989299998 meters 0.022702810073978986 Centerline is valid? [True, True] Translation: X:95.41, Y:6.21, Z:3.34 [[ 9.92134673e-01 -1.19058945e-01 -3.86491823e-02 9.54111447e+01] [ 1.19047022e-01 9.92885166e-01 -2.61794870e-03 6.20953052e+00] [ 3.86858900e-02 -2.00371238e-03 9.99249412e-01 3.34222433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18509989299997 meters 0.02371701153895677 Centerline is valid? [True, True] Translation: X:95.47, Y:6.21, Z:3.34 [[ 9.92245376e-01 -1.18141028e-01 -3.86239622e-02 9.54719616e+01] [ 1.18128538e-01 9.92994873e-01 -2.61340563e-03 6.21344883e+00] [ 3.86621469e-02 -1.96945252e-03 9.99250399e-01 3.34446719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24509989299997 meters 0.022666924780278378 Centerline is valid? [True, True] Translation: X:95.53, Y:6.22, Z:3.35 [[ 9.92551205e-01 -1.15188726e-01 -3.96694286e-02 9.55331497e+01] [ 1.15173290e-01 9.93341795e-01 -2.68185962e-03 6.22255885e+00] [ 3.97142214e-02 -1.90697561e-03 9.99209259e-01 3.34618002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30509989299998 meters 0.019450547803492105 Centerline is valid? [True, True] Translation: X:95.59, Y:6.23, Z:3.35 [[ 9.92927388e-01 -1.11368646e-01 -4.11366809e-02 9.55936016e+01] [ 1.11348904e-01 9.93777492e-01 -2.77799597e-03 6.23492141e+00] [ 4.11900892e-02 -1.82217603e-03 9.99149667e-01 3.34766864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36509989299998 meters 0.017646902523214016 Centerline is valid? [True, True] Translation: X:95.65, Y:6.25, Z:3.35 [[ 9.93552795e-01 -1.05047386e-01 -4.26367203e-02 9.56537417e+01] [ 1.05020403e-01 9.94465902e-01 -2.87847102e-03 6.24653872e+00] [ 4.27031403e-02 -1.61781260e-03 9.99086495e-01 3.34909942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42509989299998 meters 0.015087154018055614 Centerline is valid? [True, True] Translation: X:95.71, Y:6.26, Z:3.35 [[ 9.94562550e-01 -9.51469010e-02 -4.23367659e-02 9.57123697e+01] [ 9.51113463e-02 9.95462538e-01 -2.85785751e-03 6.26099513e+00] [ 4.24165807e-02 -1.18438874e-03 9.99099310e-01 3.35161118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48509989299998 meters 0.011201731125443624 Centerline is valid? [True, True] Translation: X:95.77, Y:6.28, Z:3.36 [[ 9.95880916e-01 -8.08624942e-02 -4.10177692e-02 9.57721959e+01] [ 8.08169754e-02 9.96725111e-01 -2.76940871e-03 6.27945298e+00] [ 4.11073819e-02 -5.56930764e-04 9.99154579e-01 3.35529425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54509989299999 meters 0.01009690910503448 Centerline is valid? [True, True] Translation: X:95.83, Y:6.30, Z:3.36 [[ 9.97024087e-01 -6.64777534e-02 -3.90343115e-02 9.58312305e+01] [ 6.64255298e-02 9.97787907e-01 -2.63473933e-03 6.29620234e+00] [ 3.91231155e-02 3.40237564e-05 9.99234397e-01 3.35951700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60509989299997 meters 0.011116310448809336 Centerline is valid? [True, True] Translation: X:95.89, Y:6.31, Z:3.36 [[ 9.97660880e-01 -5.48805780e-02 -4.07540144e-02 9.58911795e+01] [ 5.48140030e-02 9.98492795e-01 -2.75004238e-03 6.31015660e+00] [ 4.08435137e-02 5.09719036e-04 9.99165426e-01 3.36036715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66509989299998 meters 0.011605054260922716 Centerline is valid? [True, True] Translation: X:95.95, Y:6.32, Z:3.36 [[ 9.97709597e-01 -5.37944202e-02 -4.10087799e-02 9.59507796e+01] [ 5.37261178e-02 9.98551876e-01 -2.76662394e-03 6.31578464e+00] [ 4.10982230e-02 5.57044716e-04 9.99154956e-01 3.36147523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72509989299998 meters 0.010893611990188226 Centerline is valid? [True, True] Translation: X:96.01, Y:6.32, Z:3.36 [[ 9.97585511e-01 -5.62116506e-02 -4.07847918e-02 9.60100812e+01] [ 5.61460793e-02 9.98418771e-01 -2.75229953e-03 6.31780187e+00] [ 4.08750130e-02 4.55747983e-04 9.99164163e-01 3.36368162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78509989299998 meters 0.010259064058070063 Centerline is valid? [True, True] Translation: X:96.07, Y:6.32, Z:3.37 [[ 9.97321461e-01 -6.17334451e-02 -3.92286378e-02 9.60694589e+01] [ 6.16769989e-02 9.98092647e-01 -2.64865288e-03 6.31879095e+00] [ 3.93173254e-02 2.22053713e-04 9.99226750e-01 3.36662692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84509989299998 meters 0.010099216752829938 Centerline is valid? [True, True] Translation: X:96.13, Y:6.32, Z:3.37 [[ 9.96866160e-01 -6.90557919e-02 -3.85896007e-02 9.61298729e+01] [ 6.90066017e-02 9.97612797e-01 -2.60680997e-03 6.31875603e+00] [ 3.86774948e-02 -6.42965586e-05 9.99251744e-01 3.36955473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90509989299998 meters 0.010838021875339603 Centerline is valid? [True, True] Translation: X:96.19, Y:6.32, Z:3.37 [[ 9.96319359e-01 -7.67308658e-02 -3.82113737e-02 9.61921416e+01] [ 7.66883026e-02 9.97051777e-01 -2.58052918e-03 6.31766615e+00] [ 3.82967242e-02 -3.59334209e-04 9.99266347e-01 3.37183001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96509989299997 meters 0.012314872811092961 Centerline is valid? [True, True] Translation: X:96.25, Y:6.31, Z:3.37 [[ 9.95829505e-01 -8.35598148e-02 -3.66245072e-02 9.62544798e+01] [ 8.35254199e-02 9.96502584e-01 -2.47085419e-03 6.31462084e+00] [ 3.67028802e-02 -5.98527839e-04 9.99326043e-01 3.37400917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02509989299998 meters 0.013699102651153091 Centerline is valid? [True, True] Translation: X:96.32, Y:6.31, Z:3.38 [[ 9.95380002e-01 -8.93606371e-02 -3.51187823e-02 9.63162138e+01] [ 8.93327040e-02 9.95999029e-01 -2.36684754e-03 6.31289130e+00] [ 3.51897761e-02 -7.81343071e-04 9.99380343e-01 3.37627837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08509989299998 meters 0.014568571450269926 Centerline is valid? [True, True] Translation: X:96.38, Y:6.31, Z:3.38 [[ 9.94806929e-01 -9.48125465e-02 -3.70102119e-02 9.63773460e+01] [ 9.47853688e-02 9.95494612e-01 -2.49222108e-03 6.31143601e+00] [ 3.70797604e-02 -1.02874779e-03 9.99311780e-01 3.37534372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14509989299998 meters 0.014794556253381646 Centerline is valid? [True, True] Translation: X:96.44, Y:6.31, Z:3.38 [[ 9.94762831e-01 -9.49946282e-02 -3.77217583e-02 9.64392151e+01] [ 9.49665542e-02 9.95477225e-01 -2.53939999e-03 6.31299957e+00] [ 3.77923806e-02 -1.05620468e-03 9.99285055e-01 3.37648665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20509989299998 meters 0.013407663398052596 Centerline is valid? [True, True] Translation: X:96.50, Y:6.32, Z:3.38 [[ 9.95253406e-01 -8.94363046e-02 -3.83641240e-02 9.65003388e+01] [ 8.94032477e-02 9.95992171e-01 -2.57981726e-03 6.31980229e+00] [ 3.84410965e-02 -8.62305367e-04 9.99260496e-01 3.37805417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26509989299998 meters 0.0119000679145426 Centerline is valid? [True, True] Translation: X:96.56, Y:6.33, Z:3.38 [[ 9.95759690e-01 -8.33686565e-02 -3.88883944e-02 9.65610273e+01] [ 8.33301204e-02 9.96518570e-01 -2.61362051e-03 6.32819503e+00] [ 3.89709012e-02 -6.38036632e-04 9.99240142e-01 3.38029958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32509989299997 meters 0.010901465873213624 Centerline is valid? [True, True] Translation: X:96.62, Y:6.34, Z:3.38 [[ 9.96273722e-01 -7.67951151e-02 -3.92578886e-02 9.66222681e+01] [ 7.67508001e-02 9.97046820e-01 -2.63692442e-03 6.33716573e+00] [ 3.93444559e-02 -3.85975854e-04 9.99225633e-01 3.38252688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38509989299997 meters 0.01020279450081645 Centerline is valid? [True, True] Translation: X:96.68, Y:6.35, Z:3.38 [[ 9.96819352e-01 -6.83562041e-02 -4.09708253e-02 9.66841707e+01] [ 6.83009291e-02 9.97660977e-01 -2.74901831e-03 6.34593248e+00] [ 4.10629061e-02 -5.80707833e-05 9.99156561e-01 3.38347704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44509989299998 meters 0.010371247237481715 Centerline is valid? [True, True] Translation: X:96.74, Y:6.35, Z:3.38 [[ 9.97066997e-01 -6.38640951e-02 -4.21755914e-02 9.67442487e+01] [ 6.38016239e-02 9.97958597e-01 -2.82697002e-03 6.35173559e+00] [ 4.22700359e-02 1.27807281e-04 9.99106214e-01 3.38482545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50509989299998 meters 0.010342816781189663 Centerline is valid? [True, True] Translation: X:96.80, Y:6.35, Z:3.39 [[ 9.97002545e-01 -6.45613120e-02 -4.26352325e-02 9.68038037e+01] [ 6.44981289e-02 9.97913737e-01 -2.85729685e-03 6.35370907e+00] [ 4.27307551e-02 9.88395093e-05 9.99086619e-01 3.38702484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56509989299998 meters 0.010312522472482509 Centerline is valid? [True, True] Translation: X:96.86, Y:6.35, Z:3.39 [[ 9.96793134e-01 -6.74297675e-02 -4.30891437e-02 9.68636641e+01] [ 6.73678477e-02 9.97724023e-01 -2.88914722e-03 6.35486601e+00] [ 4.31858883e-02 -2.29407554e-05 9.99067054e-01 3.38837679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62509989299998 meters 0.010424753562908473 Centerline is valid? [True, True] Translation: X:96.92, Y:6.36, Z:3.39 [[ 9.96463450e-01 -7.23360569e-02 -4.27561341e-02 9.69244351e+01] [ 7.22795761e-02 9.97380289e-01 -2.86746037e-03 6.35523506e+00] [ 4.28515462e-02 -2.33075796e-04 9.99081423e-01 3.39062905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68509989299997 meters 0.012415013969715248 Centerline is valid? [True, True] Translation: X:96.98, Y:6.35, Z:3.39 [[ 9.95841754e-01 -8.15329559e-02 -4.06396159e-02 9.69840850e+01] [ 8.14895767e-02 9.96670467e-01 -2.72557502e-03 6.35095259e+00] [ 4.07265292e-02 -5.97463689e-04 9.99170152e-01 3.39374812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74509989299997 meters 0.014495547923566667 Centerline is valid? [True, True] Translation: X:97.05, Y:6.35, Z:3.40 [[ 9.94765505e-01 -9.39802976e-02 -4.01159917e-02 9.70451727e+01] [ 9.39481050e-02 9.95573459e-01 -2.69109040e-03 6.34883950e+00] [ 4.01913261e-02 -1.09181750e-03 9.99191406e-01 3.39689396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80509989299998 meters 0.017945984161192037 Centerline is valid? [True, True] Translation: X:97.11, Y:6.35, Z:3.40 [[ 9.93493888e-01 -1.06447030e-01 -4.04836405e-02 9.71062845e+01] [ 1.06424576e-01 9.94317070e-01 -2.71547704e-03 6.34593286e+00] [ 4.05426292e-02 -1.61064444e-03 9.99176511e-01 3.39876129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86509989299998 meters 0.020936147654113228 Centerline is valid? [True, True] Translation: X:97.17, Y:6.34, Z:3.40 [[ 9.92907776e-01 -1.11080976e-01 -4.23693861e-02 9.71663754e+01] [ 1.11060672e-01 9.93809570e-01 -2.84006194e-03 6.34345538e+00] [ 4.24225782e-02 -1.88565291e-03 9.99097978e-01 3.39907371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92509989299998 meters 0.02392300859706506 Centerline is valid? [True, True] Translation: X:97.23, Y:6.34, Z:3.40 [[ 9.92816240e-01 -1.12003177e-01 -4.20856406e-02 9.72276903e+01] [ 1.11984099e-01 9.93706003e-01 -2.81800510e-03 6.34340664e+00] [ 4.21363793e-02 -1.91516131e-03 9.99110033e-01 3.40164279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98509989299998 meters 0.02119304780349801 Centerline is valid? [True, True] Translation: X:97.29, Y:6.35, Z:3.40 [[ 9.92737361e-01 -1.12725056e-01 -4.20189723e-02 9.72896600e+01] [ 1.12706856e-01 9.93624311e-01 -2.80943100e-03 6.35137710e+00] [ 4.20677657e-02 -1.94679914e-03 9.99112863e-01 3.40478699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04509989299999 meters 0.0223987303171492 Centerline is valid? [True, True] Translation: X:97.35, Y:6.35, Z:3.40 [[ 9.92574446e-01 -1.13303593e-01 -4.42522797e-02 9.73508159e+01] [ 1.13284128e-01 9.93558238e-01 -2.95549478e-03 6.35245916e+00] [ 4.43020852e-02 -2.07953232e-03 9.99016016e-01 3.40410852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10509989299997 meters 0.02138733241507157 Centerline is valid? [True, True] Translation: X:97.41, Y:6.36, Z:3.41 [[ 9.92601383e-01 -1.12693292e-01 -4.51964096e-02 9.74129058e+01] [ 1.12672478e-01 9.93627605e-01 -3.01590705e-03 6.35821332e+00] [ 4.52482727e-02 -2.09879795e-03 9.98973568e-01 3.40547001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16509989299998 meters 0.022482302633767045 Centerline is valid? [True, True] Translation: X:97.47, Y:6.36, Z:3.41 [[ 9.92845883e-01 -1.10470778e-01 -4.53129160e-02 9.74732953e+01] [ 1.10447678e-01 9.93877349e-01 -3.02081228e-03 6.36299671e+00] [ 4.53691923e-02 -2.00550532e-03 9.98968275e-01 3.40772772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22509989299998 meters 0.017993481516135834 Centerline is valid? [True, True] Translation: X:97.53, Y:6.38, Z:3.41 [[ 9.93370436e-01 -1.05836297e-01 -4.48760034e-02 9.75335707e+01] [ 1.05808955e-01 9.94381979e-01 -2.99088339e-03 6.37735924e+00] [ 4.49404331e-02 -1.77722787e-03 9.98988087e-01 3.41190690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28509989299998 meters 0.018936793116528308 Centerline is valid? [True, True] Translation: X:97.59, Y:6.38, Z:3.41 [[ 9.93855344e-01 -1.01512877e-01 -4.41213266e-02 9.75926169e+01] [ 1.01482216e-01 9.94833009e-01 -2.94003328e-03 6.38300255e+00] [ 4.41918033e-02 -1.55556220e-03 9.99021854e-01 3.41420971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34509989299998 meters 0.01667696713609956 Centerline is valid? [True, True] Translation: X:97.65, Y:6.39, Z:3.42 [[ 9.94230537e-01 -9.75355404e-02 -4.46369446e-02 9.76534951e+01] [ 9.75001367e-02 9.95231066e-01 -2.97481073e-03 6.39318608e+00] [ 4.47142237e-02 -1.39446053e-03 9.98998846e-01 3.41717154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40509989299998 meters 0.014267915688234224 Centerline is valid? [True, True] Translation: X:97.71, Y:6.40, Z:3.42 [[ 9.94764702e-01 -9.15363015e-02 -4.54344863e-02 9.77142106e+01] [ 9.14934448e-02 9.95801080e-01 -3.02630369e-03 6.40444347e+00] [ 4.55207272e-02 -1.14649758e-03 9.98962737e-01 3.42003451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46509989299997 meters 0.012836928169437366 Centerline is valid? [True, True] Translation: X:97.78, Y:6.41, Z:3.42 [[ 9.95213353e-01 -8.65285620e-02 -4.54223503e-02 9.77751884e+01] [ 8.64805899e-02 9.96248947e-01 -3.02386157e-03 6.41357374e+00] [ 4.55136191e-02 -9.18764238e-04 9.98963296e-01 3.42291174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52509989299998 meters 0.011385498091258257 Centerline is valid? [True, True] Translation: X:97.84, Y:6.42, Z:3.43 [[ 9.95825626e-01 -7.92361854e-02 -4.53094820e-02 9.78363959e+01] [ 7.91809865e-02 9.96855699e-01 -3.01454566e-03 6.42333197e+00] [ 4.54058764e-02 -5.85687658e-04 9.98968450e-01 3.42518006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58509989299998 meters 0.010729378412992313 Centerline is valid? [True, True] Translation: X:97.90, Y:6.43, Z:3.43 [[ 9.96304044e-01 -7.38588258e-02 -4.38534475e-02 9.78968279e+01] [ 7.38020075e-02 9.97268652e-01 -2.91546129e-03 6.43096510e+00] [ 4.39490010e-02 -3.31786578e-04 9.99033721e-01 3.42721358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64509989299998 meters 0.010790402652353826 Centerline is valid? [True, True] Translation: X:97.96, Y:6.43, Z:3.43 [[ 9.96296761e-01 -7.37583852e-02 -4.41867002e-02 9.79580931e+01] [ 7.37006717e-02 9.97276086e-01 -2.93602291e-03 6.43477555e+00] [ 4.42828957e-02 -3.31439365e-04 9.99018976e-01 3.42873108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70509989299998 meters 0.011705385352951642 Centerline is valid? [True, True] Translation: X:98.02, Y:6.43, Z:3.43 [[ 9.96021392e-01 -7.81942907e-02 -4.27438913e-02 9.80186701e+01] [ 7.81444352e-02 9.96938007e-01 -2.83856434e-03 6.43345672e+00] [ 4.28349694e-02 -5.12926442e-04 9.99082030e-01 3.43097500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76509989299998 meters 0.012385157414153558 Centerline is valid? [True, True] Translation: X:98.08, Y:6.43, Z:3.43 [[ 9.95657413e-01 -8.24426483e-02 -4.32380173e-02 9.80812045e+01] [ 8.23957407e-02 9.96595560e-01 -2.86893883e-03 6.43386663e+00] [ 4.33273390e-02 -7.06148253e-04 9.99060680e-01 3.43307177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82509989299997 meters 0.014691218658676926 Centerline is valid? [True, True] Translation: X:98.14, Y:6.43, Z:3.44 [[ 9.95050073e-01 -8.96634437e-02 -4.28464536e-02 9.81422225e+01] [ 8.96241838e-02 9.95971605e-01 -2.84021903e-03 6.42927570e+00] [ 4.29285150e-02 -1.01391828e-03 9.99077632e-01 3.43503934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88509989299997 meters 0.014992367928441986 Centerline is valid? [True, True] Translation: X:98.20, Y:6.43, Z:3.44 [[ 9.94873964e-01 -9.22900202e-02 -4.13321727e-02 9.82045142e+01] [ 9.22557883e-02 9.95731574e-01 -2.73891379e-03 6.43065504e+00] [ 4.14085238e-02 -1.08825816e-03 9.99141707e-01 3.43822799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94509989299998 meters 0.015253599713350642 Centerline is valid? [True, True] Translation: X:98.27, Y:6.43, Z:3.44 [[ 9.94843132e-01 -9.34275410e-02 -3.94770537e-02 9.82662937e+01] [ 9.33973149e-02 9.95625488e-01 -2.61326125e-03 6.43211539e+00] [ 3.95485114e-02 -1.08726581e-03 9.99217060e-01 3.44103542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00509989299998 meters 0.01461425189129655 Centerline is valid? [True, True] Translation: X:98.33, Y:6.44, Z:3.44 [[ 9.95138797e-01 -9.09759320e-02 -3.77114613e-02 9.83286346e+01] [ 9.09466885e-02 9.95852640e-01 -2.49377624e-03 6.43621100e+00] [ 3.77819319e-02 -9.48079034e-04 9.99285558e-01 3.44417312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06509989299998 meters 0.013465752584868066 Centerline is valid? [True, True] Translation: X:98.39, Y:6.44, Z:3.45 [[ 9.95496450e-01 -8.72119366e-02 -3.71604009e-02 9.83898252e+01] [ 8.71810193e-02 9.96189462e-01 -2.45468304e-03 6.44212671e+00] [ 3.72328775e-02 -7.96053371e-04 9.99306299e-01 3.44702703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12509989299998 meters 0.012899425244078626 Centerline is valid? [True, True] Translation: X:98.45, Y:6.45, Z:3.45 [[ 9.95547125e-01 -8.56834333e-02 -3.92972065e-02 9.84515829e+01] [ 8.56477306e-02 9.96322105e-01 -2.59424407e-03 6.44502272e+00] [ 3.93749592e-02 -7.83024336e-04 9.99224199e-01 3.44708290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18509989299997 meters 0.012990685224862523 Centerline is valid? [True, True] Translation: X:98.51, Y:6.44, Z:3.45 [[ 9.95477916e-01 -8.60504544e-02 -4.02372793e-02 9.85141466e+01] [ 8.60134443e-02 9.96290443e-01 -2.65328848e-03 6.44492590e+00] [ 4.03163335e-02 -8.19656892e-04 9.99186630e-01 3.44745227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24509989299997 meters 0.013441088314461266 Centerline is valid? [True, True] Translation: X:98.58, Y:6.44, Z:3.45 [[ 9.95550801e-01 -8.51339106e-02 -4.03834198e-02 9.85755731e+01] [ 8.50959953e-02 9.96369207e-01 -2.66002089e-03 6.44381662e+00] [ 4.04632540e-02 -7.88281373e-04 9.99180716e-01 3.44956550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30509989299998 meters 0.01245643916866839 Centerline is valid? [True, True] Translation: X:98.64, Y:6.45, Z:3.45 [[ 9.95782380e-01 -8.20823222e-02 -4.09871155e-02 9.86364920e+01] [ 8.20407705e-02 9.96625323e-01 -2.69760889e-03 6.44744623e+00] [ 4.10702232e-02 -6.76383136e-04 9.99156033e-01 3.45277798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36509989299998 meters 0.011670891977876253 Centerline is valid? [True, True] Translation: X:98.70, Y:6.45, Z:3.45 [[ 9.96048596e-01 -7.89099765e-02 -4.07481380e-02 9.86975396e+01] [ 7.88663134e-02 9.96881598e-01 -2.68043489e-03 6.45012448e+00] [ 4.08325819e-02 -5.43812005e-04 9.99165854e-01 3.45486824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42509989299998 meters 0.011223628916593781 Centerline is valid? [True, True] Translation: X:98.76, Y:6.45, Z:3.46 [[ 9.96264970e-01 -7.64684313e-02 -4.01084601e-02 9.87584385e+01] [ 7.64242085e-02 9.97071907e-01 -2.63692101e-03 6.45180592e+00] [ 4.01926600e-02 -4.38185286e-04 9.99191852e-01 3.45758259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48509989299998 meters 0.010723253649369244 Centerline is valid? [True, True] Translation: X:98.82, Y:6.46, Z:3.46 [[ 9.96641262e-01 -7.24593600e-02 -3.81554097e-02 9.88197343e+01] [ 7.24164530e-02 9.97371331e-01 -2.50719880e-03 6.45582238e+00] [ 3.82367818e-02 -2.64301656e-04 9.99268672e-01 3.46187515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54509989299997 meters 0.010410445084274496 Centerline is valid? [True, True] Translation: X:98.88, Y:6.46, Z:3.47 [[ 9.96976934e-01 -6.81629600e-02 -3.72934855e-02 9.88809899e+01] [ 6.81190141e-02 9.97674196e-01 -2.44923587e-03 6.45961064e+00] [ 3.73736954e-02 -9.85638016e-05 9.99301355e-01 3.46521262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60509989299997 meters 0.01034108934510754 Centerline is valid? [True, True] Translation: X:98.94, Y:6.46, Z:3.47 [[ 9.97069225e-01 -6.62165862e-02 -3.83187315e-02 9.89420962e+01] [ 6.61688088e-02 9.97805273e-01 -2.51511440e-03 6.46198646e+00] [ 3.84011747e-02 -2.77616513e-05 9.99262402e-01 3.46674142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66509989299998 meters 0.010339883996575622 Centerline is valid? [True, True] Translation: X:99.00, Y:6.46, Z:3.47 [[ 9.96932100e-01 -6.65073383e-02 -4.12693901e-02 9.90030113e+01] [ 6.64522263e-02 9.97785935e-01 -2.70731558e-03 6.46080736e+00] [ 4.13580734e-02 -4.34330456e-05 9.99144388e-01 3.46577265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72509989299998 meters 0.010479293153842098 Centerline is valid? [True, True] Translation: X:99.06, Y:6.46, Z:3.47 [[ 9.96656717e-01 -6.92539124e-02 -4.33507141e-02 9.90616231e+01] [ 6.91956809e-02 9.97599052e-01 -2.84418030e-03 6.45816624e+00] [ 4.34436019e-02 -1.65010782e-04 9.99055867e-01 3.46620860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78509989299998 meters 0.010579281747163582 Centerline is valid? [True, True] Translation: X:99.12, Y:6.46, Z:3.47 [[ 9.96452225e-01 -7.18192754e-02 -4.38742984e-02 9.91206764e+01] [ 7.17619506e-02 9.97417623e-01 -2.88222319e-03 6.45802504e+00] [ 4.39679976e-02 -2.76507517e-04 9.99032902e-01 3.46866856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84509989299998 meters 0.011006658170066009 Centerline is valid? [True, True] Translation: X:99.18, Y:6.45, Z:3.47 [[ 9.96189561e-01 -7.60906194e-02 -4.26213010e-02 9.91795676e+01] [ 7.60399820e-02 9.97100809e-01 -2.81037439e-03 6.45487041e+00] [ 4.27115768e-02 -4.41257326e-04 9.99087347e-01 3.47249695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90509989299998 meters 0.011661047687106121 Centerline is valid? [True, True] Translation: X:99.24, Y:6.45, Z:3.48 [[ 9.95772421e-01 -8.19844266e-02 -4.14226891e-02 9.92390297e+01] [ 8.19413064e-02 9.96633389e-01 -2.74061943e-03 6.45209317e+00] [ 4.15079232e-02 -6.65196022e-04 9.99137953e-01 3.47683078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96509989299997 meters 0.014280456633847647 Centerline is valid? [True, True] Translation: X:99.30, Y:6.45, Z:3.48 [[ 9.95125709e-01 -8.98911126e-02 -4.05513456e-02 9.92983914e+01] [ 8.98562604e-02 9.95951125e-01 -2.68499084e-03 6.44555981e+00] [ 4.06285151e-02 -9.71888856e-04 9.99173848e-01 3.47931898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02509989299998 meters 0.014686809725273925 Centerline is valid? [True, True] Translation: X:99.36, Y:6.45, Z:3.48 [[ 9.94835040e-01 -9.30600511e-02 -4.05347907e-02 9.93596194e+01] [ 9.30278515e-02 9.95659889e-01 -2.68396196e-03 6.44673780e+00] [ 4.06086349e-02 -1.10076509e-03 9.99174523e-01 3.48101431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08509989299998 meters 0.019109553618293806 Centerline is valid? [True, True] Translation: X:99.42, Y:6.44, Z:3.48 [[ 9.93852104e-01 -1.02833886e-01 -4.10266698e-02 9.94196221e+01] [ 1.02809263e-01 9.94697383e-01 -2.71517907e-03 6.43881457e+00] [ 4.10883335e-02 -1.51943527e-03 9.99154363e-01 3.48180822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14509989299998 meters 0.022611239416973017 Centerline is valid? [True, True] Translation: X:99.48, Y:6.43, Z:3.48 [[ 9.92997443e-01 -1.10559838e-01 -4.16245259e-02 9.94805816e+01] [ 1.10541256e-01 9.93867718e-01 -2.75486530e-03 6.43460169e+00] [ 4.16738501e-02 -1.86565317e-03 9.99129526e-01 3.48225537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20509989299998 meters 0.0236336997498804 Centerline is valid? [True, True] Translation: X:99.54, Y:6.44, Z:3.48 [[ 9.92516511e-01 -1.14819568e-01 -4.15625131e-02 9.95416239e+01] [ 1.14804769e-01 9.93384266e-01 -2.75063922e-03 6.43535827e+00] [ 4.16033738e-02 -2.04151986e-03 9.99132119e-01 3.48405799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26509989299998 meters 0.02232696101573341 Centerline is valid? [True, True] Translation: X:99.60, Y:6.44, Z:3.49 [[ 9.92349001e-01 -1.16380657e-01 -4.12189507e-02 9.96029082e+01] [ 1.16367477e-01 9.93202484e-01 -2.72709306e-03 6.44086838e+00] [ 4.12561451e-02 -2.09031722e-03 9.99146416e-01 3.48564452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32509989299997 meters 0.023701224321372196 Centerline is valid? [True, True] Translation: X:99.66, Y:6.45, Z:3.49 [[ 9.92607637e-01 -1.14277341e-01 -4.08750353e-02 9.96627404e+01] [ 1.14262659e-01 9.93446898e-01 -2.70290998e-03 6.44609679e+00] [ 4.09160584e-02 -1.98756115e-03 9.99160611e-01 3.48837266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38509989299997 meters 0.01996446560778711 Centerline is valid? [True, True] Translation: X:99.72, Y:6.46, Z:3.49 [[ 9.93357900e-01 -1.07545275e-01 -4.09157155e-02 9.97221448e+01] [ 1.07524892e-01 9.94198713e-01 -2.70491933e-03 6.46053000e+00] [ 4.09692530e-02 -1.71250490e-03 9.99158940e-01 3.49139569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44509989299998 meters 0.017726860526891125 Centerline is valid? [True, True] Translation: X:99.78, Y:6.47, Z:3.49 [[ 9.94024284e-01 -1.01636547e-01 -3.98212863e-02 9.97819493e+01] [ 1.01612504e-01 9.94820571e-01 -2.63253867e-03 6.47172884e+00] [ 3.98825969e-02 -1.42953323e-03 9.99203350e-01 3.49492269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50509989299998 meters 0.014375888799232952 Centerline is valid? [True, True] Translation: X:99.84, Y:6.49, Z:3.50 [[ 9.95086128e-01 -9.13675090e-02 -3.81520053e-02 9.98415602e+01] [ 9.13378934e-02 9.95816764e-01 -2.52218411e-03 6.48729078e+00] [ 3.82228521e-02 -9.74933376e-04 9.99268764e-01 3.49917832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56509989299998 meters 0.012149363555992611 Centerline is valid? [True, True] Translation: X:99.90, Y:6.50, Z:3.50 [[ 9.96058549e-01 -7.99393845e-02 -3.84325640e-02 9.99010363e+01] [ 7.99008238e-02 9.96799580e-01 -2.54071729e-03 6.50184320e+00] [ 3.85126670e-02 -5.40090351e-04 9.99257966e-01 3.50039640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62509989299998 meters 0.010993024189315193 Centerline is valid? [True, True] Translation: X:99.96, Y:6.51, Z:3.50 [[ 9.96612555e-01 -7.21188000e-02 -3.95258749e-02 9.99613980e+01] [ 7.20718659e-02 9.97396019e-01 -2.61291140e-03 6.51335305e+00] [ 3.96113904e-02 -2.44643254e-04 9.99215131e-01 3.50121615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68509989299997 meters 0.01096261346133266 Centerline is valid? [True, True] Translation: X:100.02, Y:6.53, Z:3.50 [[ 9.97385327e-01 -6.03408265e-02 -3.97679999e-02 1.00021214e+02] [ 6.02840038e-02 9.98177807e-01 -2.62756673e-03 6.52711415e+00] [ 3.98540845e-02 2.23322250e-04 9.99205485e-01 3.50236995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74509989299997 meters 0.012206919144650248 Centerline is valid? [True, True] Translation: X:100.08, Y:6.54, Z:3.50 [[ 9.97908381e-01 -5.09381367e-02 -3.98016131e-02 1.00079676e+02] [ 5.08737333e-02 9.98701630e-01 -2.62992802e-03 6.53898985e+00] [ 3.98838996e-02 5.99570565e-04 9.99204141e-01 3.50432373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80509989299998 meters 0.013021453156754143 Centerline is valid? [True, True] Translation: X:100.14, Y:6.55, Z:3.51 [[ 9.98101431e-01 -4.74821152e-02 -3.92298635e-02 1.00138040e+02] [ 4.74167831e-02 9.98871822e-01 -2.59465286e-03 6.54601357e+00] [ 3.93088048e-02 7.29572806e-04 9.99226844e-01 3.50617994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86509989299998 meters 0.01235095352395031 Centerline is valid? [True, True] Translation: X:100.20, Y:6.55, Z:3.51 [[ 9.98063609e-01 -4.98519483e-02 -3.71996717e-02 1.00196915e+02] [ 4.97945201e-02 9.98756431e-01 -2.46925721e-03 6.54707567e+00] [ 3.72765086e-02 6.12135968e-04 9.99304802e-01 3.50904952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92509989299998 meters 0.011827931062913192 Centerline is valid? [True, True] Translation: X:100.25, Y:6.55, Z:3.51 [[ 9.97820128e-01 -5.53889090e-02 -3.58756250e-02 1.00254364e+02] [ 5.53387467e-02 9.98464776e-01 -2.39046339e-03 6.54745682e+00] [ 3.59529530e-02 3.99940370e-04 9.99353404e-01 3.51166194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98509989299998 meters 0.011102392604051995 Centerline is valid? [True, True] Translation: X:100.31, Y:6.54, Z:3.51 [[ 9.96992896e-01 -6.87848628e-02 -3.56904368e-02 1.00313665e+02] [ 6.87436346e-02 9.97631513e-01 -2.38247008e-03 6.54249819e+00] [ 3.57697824e-02 -7.81846001e-05 9.99360054e-01 3.51430605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04509989299997 meters 0.013561050296119004 Centerline is valid? [True, True] Translation: X:100.37, Y:6.53, Z:3.52 [[ 9.95696469e-01 -8.52894281e-02 -3.62526433e-02 1.00374092e+02] [ 8.52574632e-02 9.96355992e-01 -2.42955226e-03 6.53242090e+00] [ 3.63277535e-02 -6.71711793e-04 9.99339704e-01 3.51538691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10509989299997 meters 0.01866983155546308 Centerline is valid? [True, True] Translation: X:100.44, Y:6.52, Z:3.52 [[ 9.94279449e-01 -1.00713840e-01 -3.55682272e-02 1.00435602e+02] [ 1.00692913e-01 9.94914697e-01 -2.38373993e-03 6.52379089e+00] [ 3.56274276e-02 -1.21136479e-03 9.99364408e-01 3.51734064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16509989299998 meters 0.023374278569958617 Centerline is valid? [True, True] Translation: X:100.50, Y:6.52, Z:3.52 [[ 9.93462925e-01 -1.08641682e-01 -3.50485647e-02 1.00495348e+02] [ 1.08626327e-01 9.94079881e-01 -2.34765398e-03 6.51898828e+00] [ 3.50961261e-02 -1.47488964e-03 9.99382853e-01 3.51938164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22509989299998 meters 0.023732647772812542 Centerline is valid? [True, True] Translation: X:100.56, Y:6.52, Z:3.52 [[ 9.92586595e-01 -1.16248619e-01 -3.54698457e-02 1.00555566e+02] [ 1.16237716e-01 9.93218579e-01 -2.37639483e-03 6.52071930e+00] [ 3.55055624e-02 -1.76415618e-03 9.99367922e-01 3.51962920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28509989299998 meters 0.024764039595854485 Centerline is valid? [True, True] Translation: X:100.62, Y:6.53, Z:3.52 [[ 9.92440044e-01 -1.17705453e-01 -3.47589613e-02 1.00617110e+02] [ 1.17695849e-01 9.93046958e-01 -2.32945028e-03 6.52547442e+00] [ 3.47914698e-02 -1.77914570e-03 9.99393010e-01 3.52217258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34509989299998 meters 0.022943245208340964 Centerline is valid? [True, True] Translation: X:100.68, Y:6.53, Z:3.52 [[ 9.92646978e-01 -1.15846749e-01 -3.50928467e-02 1.00678058e+02] [ 1.15835870e-01 9.93265589e-01 -2.34986436e-03 6.53420154e+00] [ 3.51287412e-02 -1.73242468e-03 9.99381294e-01 3.52323132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40509989299998 meters 0.024380540436062137 Centerline is valid? [True, True] Translation: X:100.74, Y:6.54, Z:3.52 [[ 9.92802260e-01 -1.14400199e-01 -3.54438682e-02 1.00739566e+02] [ 1.14388226e-01 9.93433293e-01 -2.37211140e-03 6.53796605e+00] [ 3.54824887e-02 -1.69932364e-03 9.99368853e-01 3.52427018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46509989299997 meters 0.023283645293022858 Centerline is valid? [True, True] Translation: X:100.80, Y:6.55, Z:3.52 [[ 9.93101616e-01 -1.11039572e-01 -3.76748332e-02 1.00801177e+02] [ 1.11023743e-01 9.93814563e-01 -2.51852671e-03 6.54712269e+00] [ 3.77214540e-02 -1.68164805e-03 9.99286878e-01 3.52375465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52509989299998 meters 0.018358504739769473 Centerline is valid? [True, True] Translation: X:100.86, Y:6.56, Z:3.52 [[ 9.93644486e-01 -1.05226089e-01 -3.99763132e-02 1.00861458e+02] [ 1.05203686e-01 9.94447112e-01 -2.66952160e-03 6.56384846e+00] [ 4.00352325e-02 -1.55310009e-03 9.99197062e-01 3.52419643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58509989299998 meters 0.01711013251356806 Centerline is valid? [True, True] Translation: X:100.92, Y:6.57, Z:3.53 [[ 9.94158501e-01 -9.97960938e-02 -4.11049164e-02 1.00921291e+02] [ 9.97678025e-02 9.95006962e-01 -2.74417748e-03 6.57413514e+00] [ 4.11735362e-02 -1.37279981e-03 9.99151067e-01 3.52614937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64509989299998 meters 0.014185394454697286 Centerline is valid? [True, True] Translation: X:100.98, Y:6.59, Z:3.53 [[ 9.95227118e-01 -8.89543319e-02 -4.01261926e-02 1.00981158e+02] [ 8.89185606e-02 9.96035297e-01 -2.67884041e-03 6.59184748e+00] [ 4.02053986e-02 -9.01908671e-04 9.99191029e-01 3.52952629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70509989299998 meters 0.011671079336406879 Centerline is valid? [True, True] Translation: X:101.04, Y:6.61, Z:3.53 [[ 9.96351461e-01 -7.58411860e-02 -3.91392479e-02 1.01040287e+02] [ 7.57970296e-02 9.97119844e-01 -2.61298712e-03 6.61150793e+00] [ 3.92246928e-02 -3.63185191e-04 9.99230350e-01 3.53295756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76509989299998 meters 0.011285683671899137 Centerline is valid? [True, True] Translation: X:101.10, Y:6.63, Z:3.54 [[ 9.97163453e-01 -6.48926080e-02 -3.81313145e-02 1.01099333e+02] [ 6.48426899e-02 9.97892251e-01 -2.54567980e-03 6.62937875e+00] [ 3.82161391e-02 6.59218621e-05 9.99269494e-01 3.53556835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82509989299997 meters 0.011663578217804166 Centerline is valid? [True, True] Translation: X:101.16, Y:6.64, Z:3.54 [[ 9.97514910e-01 -5.97017720e-02 -3.74125940e-02 1.01160281e+02] [ 5.96500928e-02 9.98216225e-01 -2.49703193e-03 6.64233550e+00] [ 3.74949355e-02 2.59161879e-04 9.99296784e-01 3.53818940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88509989299997 meters 0.011615636495707444 Centerline is valid? [True, True] Translation: X:101.22, Y:6.65, Z:3.54 [[ 9.97542779e-01 -5.91957874e-02 -3.74734999e-02 1.01220736e+02] [ 5.91436335e-02 9.98246353e-01 -2.49975201e-03 6.64816164e+00] [ 3.75557594e-02 2.77290622e-04 9.99294495e-01 3.54058174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94509989299998 meters 0.011626683180936128 Centerline is valid? [True, True] Translation: X:101.28, Y:6.66, Z:3.54 [[ 9.97468021e-01 -6.08747514e-02 -3.67670058e-02 1.01281113e+02] [ 6.08256863e-02 9.98145390e-01 -2.45262377e-03 6.65647749e+00] [ 3.68481203e-02 2.10035417e-04 9.99320855e-01 3.54311965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00509989299998 meters 0.011512203286861731 Centerline is valid? [True, True] Translation: X:101.34, Y:6.66, Z:3.54 [[ 9.97231721e-01 -6.43212597e-02 -3.73050841e-02 1.01342684e+02] [ 6.42731576e-02 9.97929240e-01 -2.48851450e-03 6.66108279e+00] [ 3.73878986e-02 8.39100518e-05 9.99300825e-01 3.54438393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06509989299998 meters 0.011889972458240078 Centerline is valid? [True, True] Translation: X:101.40, Y:6.66, Z:3.54 [[ 9.96566003e-01 -7.27748909e-02 -3.94970496e-02 1.01404047e+02] [ 7.27276673e-02 9.97348361e-01 -2.63304241e-03 6.66272778e+00] [ 3.95839370e-02 -2.48527733e-04 9.99216218e-01 3.54422078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12509989299998 meters 0.012592614437866953 Centerline is valid? [True, True] Translation: X:101.47, Y:6.66, Z:3.55 [[ 9.96096412e-01 -7.89871322e-02 -3.94077586e-02 1.01466461e+02] [ 7.89451549e-02 9.96875511e-01 -2.62263667e-03 6.66434946e+00] [ 3.94917840e-02 -4.98652626e-04 9.99219771e-01 3.54622917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18509989299997 meters 0.014444507627325688 Centerline is valid? [True, True] Translation: X:101.53, Y:6.67, Z:3.55 [[ 9.95508063e-01 -8.66041895e-02 -3.82545470e-02 1.01527877e+02] [ 8.65703526e-02 9.96242494e-01 -2.54321825e-03 6.66548675e+00] [ 3.83310587e-02 -7.79915351e-04 9.99264791e-01 3.54921503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24509989299997 meters 0.015162356999386097 Centerline is valid? [True, True] Translation: X:101.59, Y:6.67, Z:3.55 [[ 9.95279978e-01 -8.97601361e-02 -3.68901475e-02 1.01590019e+02] [ 8.97308820e-02 9.95963032e-01 -2.45125068e-03 6.66884944e+00] [ 3.69612477e-02 -8.70504748e-04 9.99316320e-01 3.55244885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30509989299998 meters 0.015741742283128378 Centerline is valid? [True, True] Translation: X:101.65, Y:6.67, Z:3.56 [[ 9.95112285e-01 -9.19750952e-02 -3.59461117e-02 1.01651727e+02] [ 9.19488537e-02 9.95760873e-01 -2.38599267e-03 6.67358530e+00] [ 3.60131835e-02 -9.30873150e-04 9.99350881e-01 3.55521247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36509989299998 meters 0.01645473380087397 Centerline is valid? [True, True] Translation: X:101.71, Y:6.68, Z:3.56 [[ 9.94990818e-01 -9.31385802e-02 -3.63108276e-02 1.01713624e+02] [ 9.31126746e-02 9.95652667e-01 -2.40753360e-03 6.67775768e+00] [ 3.63772066e-02 -9.85524448e-04 9.99337644e-01 3.55718479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42509989299998 meters 0.016752243165575643 Centerline is valid? [True, True] Translation: X:101.78, Y:6.68, Z:3.56 [[ 9.94810640e-01 -9.46547553e-02 -3.73131180e-02 1.01775335e+02] [ 9.46285682e-02 9.95509582e-01 -2.47123254e-03 6.68197088e+00] [ 3.73794804e-02 -1.07247851e-03 9.99300568e-01 3.55834098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48509989299998 meters 0.01737676467979792 Centerline is valid? [True, True] Translation: X:101.84, Y:6.69, Z:3.56 [[ 9.94710927e-01 -9.53153715e-02 -3.82773002e-02 1.01836880e+02] [ 9.52884100e-02 9.95446486e-01 -2.53228164e-03 6.68573892e+00] [ 3.83443693e-02 -1.12849486e-03 9.99263947e-01 3.55989438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54509989299997 meters 0.01796331763323003 Centerline is valid? [True, True] Translation: X:101.90, Y:6.69, Z:3.56 [[ 9.94631726e-01 -9.55341440e-02 -3.97612498e-02 1.01897844e+02] [ 9.55053145e-02 9.95425450e-01 -2.62825043e-03 6.69038499e+00] [ 3.98304476e-02 -1.18326941e-03 9.99205752e-01 3.56044912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60509989299997 meters 0.017687028823429894 Centerline is valid? [True, True] Translation: X:101.96, Y:6.70, Z:3.56 [[ 9.94572365e-01 -9.55497920e-02 -4.11831129e-02 1.01959294e+02] [ 9.55189802e-02 9.95423893e-01 -2.71975552e-03 6.69627215e+00] [ 4.12545267e-02 -1.22877527e-03 9.99147914e-01 3.56192330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66509989299998 meters 0.017680809370591317 Centerline is valid? [True, True] Translation: X:102.02, Y:6.70, Z:3.56 [[ 9.94538458e-01 -9.51911775e-02 -4.28006427e-02 1.02021365e+02] [ 9.51577721e-02 9.95458204e-01 -2.82179374e-03 6.70143897e+00] [ 4.28748608e-02 -1.26643141e-03 9.99079648e-01 3.56253646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72509989299998 meters 0.015586933333838503 Centerline is valid? [True, True] Translation: X:102.08, Y:6.71, Z:3.57 [[ 9.94856686e-01 -9.19843598e-02 -4.24152294e-02 1.02081843e+02] [ 9.19487605e-02 9.95759821e-01 -2.79358304e-03 6.71080244e+00] [ 4.24923471e-02 -1.12081300e-03 9.99096164e-01 3.56651681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78509989299998 meters 0.016260251778869035 Centerline is valid? [True, True] Translation: X:102.14, Y:6.72, Z:3.57 [[ 9.95155063e-01 -8.88159121e-02 -4.21679293e-02 1.02142788e+02] [ 8.87779721e-02 9.96047574e-01 -2.77522102e-03 6.71546439e+00] [ 4.22477475e-02 -9.81808000e-04 9.99106683e-01 3.56965201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84509989299998 meters 0.014468933030209429 Centerline is valid? [True, True] Translation: X:102.20, Y:6.72, Z:3.57 [[ 9.95449840e-01 -8.55561664e-02 -4.19494815e-02 1.02204272e+02] [ 8.55159631e-02 9.96332991e-01 -2.75520456e-03 6.72457172e+00] [ 4.20313771e-02 -8.44682368e-04 9.99115934e-01 3.57383328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90509989299997 meters 0.013847365328776735 Centerline is valid? [True, True] Translation: X:102.27, Y:6.73, Z:3.58 [[ 9.95584676e-01 -8.35453991e-02 -4.27939208e-02 1.02266487e+02] [ 8.35018398e-02 9.96503668e-01 -2.80751442e-03 6.73023323e+00] [ 4.28788540e-02 -7.78252792e-04 9.99079976e-01 3.57632934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96509989299997 meters 0.01346133544069269 Centerline is valid? [True, True] Translation: X:102.33, Y:6.74, Z:3.58 [[ 9.95745235e-01 -8.12371872e-02 -4.34965107e-02 1.02328846e+02] [ 8.11901334e-02 9.96694556e-01 -2.85020141e-03 6.73556591e+00] [ 4.35842778e-02 -6.93413027e-04 9.99049513e-01 3.57948825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02509989299998 meters 0.012749639142556318 Centerline is valid? [True, True] Translation: X:102.39, Y:6.74, Z:3.58 [[ 9.96157451e-01 -7.60587720e-02 -4.34211556e-02 1.02389385e+02] [ 7.60071381e-02 9.97103226e-01 -2.84124121e-03 6.74309192e+00] [ 4.35114756e-02 -4.69994161e-04 9.99052817e-01 3.58367917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08509989299998 meters 0.012366160265850098 Centerline is valid? [True, True] Translation: X:102.45, Y:6.75, Z:3.59 [[ 9.96448097e-01 -7.23996115e-02 -4.30056525e-02 1.02449910e+02] [ 7.23456205e-02 9.97375657e-01 -2.81251768e-03 6.74943498e+00] [ 4.30964161e-02 -3.08742724e-04 9.99070870e-01 3.58761145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14509989299998 meters 0.012325839729720548 Centerline is valid? [True, True] Translation: X:102.51, Y:6.75, Z:3.59 [[ 9.96691317e-01 -6.95341461e-02 -4.20882533e-02 1.02512292e+02] [ 6.94799510e-02 9.97579555e-01 -2.75085290e-03 6.75253528e+00] [ 4.21776592e-02 -1.82538583e-04 9.99110110e-01 3.59104797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20509989299998 meters 0.012329491509695117 Centerline is valid? [True, True] Translation: X:102.57, Y:6.75, Z:3.59 [[ 9.96730336e-01 -6.89775530e-02 -4.20800939e-02 1.02573979e+02] [ 6.89230036e-02 9.97618199e-01 -2.74746608e-03 6.75424351e+00] [ 4.21693810e-02 -1.61803683e-04 9.99110463e-01 3.59368621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26509989299998 meters 0.012453070972300142 Centerline is valid? [True, True] Translation: X:102.64, Y:6.75, Z:3.60 [[ 9.96662930e-01 -6.99539649e-02 -4.20647935e-02 1.02635447e+02] [ 6.99003888e-02 9.97550200e-01 -2.74493864e-03 6.75301139e+00] [ 4.21537625e-02 -2.04566834e-04 9.99111114e-01 3.59679034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32509989299997 meters 0.012571418929096703 Centerline is valid? [True, True] Translation: X:102.70, Y:6.75, Z:3.60 [[ 9.96536584e-01 -7.15962733e-02 -4.22943422e-02 1.02696091e+02] [ 7.15436497e-02 9.97433655e-01 -2.75848426e-03 6.75217241e+00] [ 4.23832976e-02 -2.76961124e-04 9.99101386e-01 3.59948173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38509989299997 meters 0.013051161502854418 Centerline is valid? [True, True] Translation: X:102.76, Y:6.75, Z:3.60 [[ 9.96285432e-01 -7.48450961e-02 -4.25857874e-02 1.02757823e+02] [ 7.47947466e-02 9.97195084e-01 -2.77664075e-03 6.74764757e+00] [ 4.26741558e-02 -4.18866455e-04 9.99088955e-01 3.60143447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44509989299998 meters 0.013614928783638501 Centerline is valid? [True, True] Translation: X:102.82, Y:6.74, Z:3.60 [[ 9.95964240e-01 -7.90539312e-02 -4.24936271e-02 1.02819344e+02] [ 7.90076908e-02 9.96870160e-01 -2.76913020e-03 6.74330538e+00] [ 4.25795395e-02 -5.99368699e-04 9.99092900e-01 3.60473573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50509989299998 meters 0.014326236917722869 Centerline is valid? [True, True] Translation: X:102.88, Y:6.74, Z:3.61 [[ 9.95660947e-01 -8.28190713e-02 -4.24297025e-02 1.02881360e+02] [ 8.27764542e-02 9.96564309e-01 -2.76334334e-03 6.74120940e+00] [ 4.25127847e-02 -7.60827275e-04 9.99095633e-01 3.60737755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56509989299998 meters 0.01529927756753873 Centerline is valid? [True, True] Translation: X:102.94, Y:6.73, Z:3.61 [[ 9.95161244e-01 -8.90985596e-02 -4.14191455e-02 1.02942986e+02] [ 8.90634656e-02 9.96022306e-01 -2.69545791e-03 6.73476168e+00] [ 4.14945543e-02 -1.00651740e-03 9.99138223e-01 3.60879837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62509989299998 meters 0.018430625045332445 Centerline is valid? [True, True] Translation: X:103.00, Y:6.73, Z:3.61 [[ 9.94616903e-01 -9.52802531e-02 -4.07294600e-02 1.03003723e+02] [ 9.52515195e-02 9.95449710e-01 -2.64989964e-03 6.72591921e+00] [ 4.07966123e-02 -1.24390798e-03 9.99166697e-01 3.61015611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68509989299997 meters 0.01817718640481958 Centerline is valid? [True, True] Translation: X:103.07, Y:6.73, Z:3.61 [[ 9.94306996e-01 -9.82995256e-02 -4.11193545e-02 1.03066319e+02] [ 9.82728284e-02 9.95155915e-01 -2.67498223e-03 6.72589339e+00] [ 4.11831184e-02 -1.38116173e-03 9.99150661e-01 3.61187132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74509989299997 meters 0.020517732776397384 Centerline is valid? [True, True] Translation: X:103.13, Y:6.72, Z:3.61 [[ 9.93900116e-01 -1.02693244e-01 -4.02076674e-02 1.03127378e+02] [ 1.02671414e-01 9.94711895e-01 -2.61296047e-03 6.71952905e+00] [ 4.02633784e-02 -1.53115634e-03 9.99187928e-01 3.61301464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80509989299998 meters 0.019824129903761888 Centerline is valid? [True, True] Translation: X:103.19, Y:6.72, Z:3.61 [[ 9.93763216e-01 -1.04109063e-01 -3.99496429e-02 1.03189101e+02] [ 1.04088686e-01 9.94564633e-01 -2.59537840e-03 6.72212894e+00] [ 4.00027044e-02 -1.57911425e-03 9.99198324e-01 3.61495985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86509989299998 meters 0.023949648865971264 Centerline is valid? [True, True] Translation: X:103.25, Y:6.71, Z:3.62 [[ 9.93206744e-01 -1.09207581e-01 -4.01754611e-02 1.03249409e+02] [ 1.09191216e-01 9.94017342e-01 -2.60797676e-03 6.71363347e+00] [ 4.02199159e-02 -1.79654736e-03 9.99189237e-01 3.61552805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92509989299998 meters 0.023457223106932823 Centerline is valid? [True, True] Translation: X:103.31, Y:6.71, Z:3.61 [[ 9.92930635e-01 -1.10650050e-01 -4.29572017e-02 1.03311751e+02] [ 1.10632709e-01 9.93857450e-01 -2.78814066e-03 6.71475137e+00] [ 4.30018429e-02 -1.98404130e-03 9.99073023e-01 3.61415121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98509989299998 meters 0.024511138085686758 Centerline is valid? [True, True] Translation: X:103.37, Y:6.72, Z:3.62 [[ 9.93060085e-01 -1.09998229e-01 -4.16179808e-02 1.03372974e+02] [ 1.09981498e-01 9.93929972e-01 -2.69839248e-03 6.71590341e+00] [ 4.16621769e-02 -1.89754199e-03 9.99129953e-01 3.61615527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04509989299997 meters 0.022062722292700735 Centerline is valid? [True, True] Translation: X:103.43, Y:6.72, Z:3.62 [[ 9.93234176e-01 -1.08652149e-01 -4.09948934e-02 1.03434344e+02] [ 1.08634862e-01 9.94078173e-01 -2.65576760e-03 6.72406236e+00] [ 4.10406836e-02 -1.81567543e-03 9.99155826e-01 3.61991506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10509989299997 meters 0.021719148107121725 Centerline is valid? [True, True] Translation: X:103.50, Y:6.73, Z:3.62 [[ 9.93590615e-01 -1.05853150e-01 -3.96585611e-02 1.03495942e+02] [ 1.05834853e-01 9.94380409e-01 -2.56643235e-03 6.72838922e+00] [ 3.97073611e-02 -1.64727491e-03 9.99209994e-01 3.62182495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16509989299998 meters 0.021933017730288006 Centerline is valid? [True, True] Translation: X:103.56, Y:6.73, Z:3.62 [[ 9.93818063e-01 -1.03986002e-01 -3.88917693e-02 1.03557197e+02] [ 1.03967059e-01 9.94577562e-01 -2.51474557e-03 6.73267941e+00] [ 3.89423794e-02 -1.54426329e-03 9.99240265e-01 3.62431759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22509989299998 meters 0.02085367242660884 Centerline is valid? [True, True] Translation: X:103.62, Y:6.74, Z:3.63 [[ 9.93944427e-01 -1.02478142e-01 -3.96573533e-02 1.03618656e+02] [ 1.02457335e-01 9.94734100e-01 -2.56209684e-03 6.73983585e+00] [ 3.97110805e-02 -1.51660483e-03 9.99210053e-01 3.62651604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28509989299998 meters 0.020293130034457547 Centerline is valid? [True, True] Translation: X:103.68, Y:6.75, Z:3.63 [[ 9.94071935e-01 -1.01011380e-01 -4.02205135e-02 1.03680753e+02] [ 1.00988896e-01 9.94884167e-01 -2.59556571e-03 6.74627867e+00] [ 4.02769338e-02 -1.48164624e-03 9.99187457e-01 3.62704342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34509989299998 meters 0.01967769182378614 Centerline is valid? [True, True] Translation: X:103.74, Y:6.75, Z:3.63 [[ 9.94148846e-01 -1.00415439e-01 -3.98096923e-02 1.03742629e+02] [ 1.00393048e-01 9.94944546e-01 -2.56623065e-03 6.75363422e+00] [ 3.98661255e-02 -1.44540113e-03 9.99203985e-01 3.63003614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40509989299997 meters 0.020759342003839713 Centerline is valid? [True, True] Translation: X:103.80, Y:6.76, Z:3.63 [[ 9.94075901e-01 -1.01002240e-01 -4.01453575e-02 1.03804012e+02] [ 1.00980063e-01 9.94885091e-01 -2.58499506e-03 6.75757666e+00] [ 4.02011080e-02 -1.48419942e-03 9.99190506e-01 3.63178453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46509989299997 meters 0.02204340221540695 Centerline is valid? [True, True] Translation: X:103.87, Y:6.76, Z:3.63 [[ 9.93799619e-01 -1.03433861e-01 -4.07891331e-02 1.03866157e+02] [ 1.03413104e-01 9.94635030e-01 -2.62417223e-03 6.76118550e+00] [ 4.08417289e-02 -1.61022951e-03 9.99164331e-01 3.63257994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52509989299998 meters 0.022301708497537154 Centerline is valid? [True, True] Translation: X:103.93, Y:6.77, Z:3.63 [[ 9.93554518e-01 -1.05586598e-01 -4.12418581e-02 1.03928351e+02] [ 1.05567350e-01 9.94408623e-01 -2.65036080e-03 6.76556700e+00] [ 4.12911019e-02 -1.72051573e-03 9.99145677e-01 3.63424380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58509989299998 meters 0.022349332040108975 Centerline is valid? [True, True] Translation: X:103.99, Y:6.77, Z:3.64 [[ 9.93260850e-01 -1.08376952e-01 -4.10770111e-02 1.03989593e+02] [ 1.08360352e-01 9.94108183e-01 -2.63698400e-03 6.77145524e+00] [ 4.11207812e-02 -1.83190640e-03 9.99152504e-01 3.63705502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64509989299998 meters 0.022603486963064686 Centerline is valid? [True, True] Translation: X:104.05, Y:6.78, Z:3.64 [[ 9.93033796e-01 -1.10019209e-01 -4.21859338e-02 1.04051286e+02] [ 1.10003254e-01 9.93927542e-01 -2.70642456e-03 6.77654357e+00] [ 4.22275202e-02 -1.95301893e-03 9.99106112e-01 3.63866450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70509989299998 meters 0.02523407053346522 Centerline is valid? [True, True] Translation: X:104.11, Y:6.78, Z:3.64 [[ 9.92862907e-01 -1.11214875e-01 -4.30638941e-02 1.04111869e+02] [ 1.11199523e-01 9.93794271e-01 -2.75923390e-03 6.77996994e+00] [ 4.31035190e-02 -2.04914350e-03 9.99068510e-01 3.64038646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76509989299998 meters 0.023806700771210453 Centerline is valid? [True, True] Translation: X:104.17, Y:6.79, Z:3.64 [[ 9.92961614e-01 -1.10526776e-01 -4.25566153e-02 1.04173559e+02] [ 1.10511367e-01 9.93871134e-01 -2.72171403e-03 6.79031223e+00] [ 4.25966138e-02 -2.00043216e-03 9.99090350e-01 3.64389834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82509989299997 meters 0.024234488249643943 Centerline is valid? [True, True] Translation: X:104.23, Y:6.80, Z:3.65 [[ 9.93465670e-01 -1.07255644e-01 -3.90152564e-02 1.04232427e+02] [ 1.07240266e-01 9.94230009e-01 -2.49279853e-03 6.79743395e+00] [ 3.90575054e-02 -1.70749673e-03 9.99235506e-01 3.64856882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88509989299997 meters 0.02117271099588325 Centerline is valid? [True, True] Translation: X:104.29, Y:6.81, Z:3.65 [[ 9.93841645e-01 -1.04218061e-01 -3.76481204e-02 1.04292854e+02] [ 1.04201542e-01 9.94553291e-01 -2.40606857e-03 6.81157702e+00] [ 3.76938178e-02 -1.53174106e-03 9.99288162e-01 3.65308648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94509989299998 meters 0.020407854757687333 Centerline is valid? [True, True] Translation: X:104.36, Y:6.82, Z:3.65 [[ 9.93883462e-01 -1.03236854e-01 -3.92150061e-02 1.04355195e+02] [ 1.03218233e-01 9.94655580e-01 -2.50461367e-03 6.81911543e+00] [ 3.92639931e-02 -1.55840954e-03 9.99227657e-01 3.65397715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00509989299998 meters 0.02249696875710918 Centerline is valid? [True, True] Translation: X:104.42, Y:6.82, Z:3.65 [[ 9.93757966e-01 -1.03727551e-01 -4.10572801e-02 1.04416055e+02] [ 1.03707714e-01 9.94604370e-01 -2.61851212e-03 6.82099079e+00] [ 4.11073621e-02 -1.65578939e-03 9.99153363e-01 3.65396599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06509989299998 meters 0.022281185078520057 Centerline is valid? [True, True] Translation: X:104.48, Y:6.83, Z:3.65 [[ 9.93380384e-01 -1.06318483e-01 -4.34947552e-02 1.04476765e+02] [ 1.06298807e-01 9.94330369e-01 -2.77151110e-03 6.82714901e+00] [ 4.35428188e-02 -1.87027584e-03 9.99049811e-01 3.65316614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12509989299998 meters 0.021468193659664136 Centerline is valid? [True, True] Translation: X:104.54, Y:6.84, Z:3.65 [[ 9.93210647e-01 -1.07400191e-01 -4.46968686e-02 1.04538689e+02] [ 1.07380621e-01 9.94213913e-01 -2.84557470e-03 6.83595757e+00] [ 4.47438639e-02 -1.97332243e-03 9.98996543e-01 3.65498622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18509989299997 meters 0.020606149406581967 Centerline is valid? [True, True] Translation: X:104.60, Y:6.85, Z:3.66 [[ 9.93413755e-01 -1.05417957e-01 -4.49017278e-02 1.04600470e+02] [ 1.05396337e-01 9.94426196e-01 -2.85528857e-03 6.84602898e+00] [ 4.49524530e-02 -1.89599468e-03 9.98987328e-01 3.65775477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24509989299997 meters 0.01911953661587198 Centerline is valid? [True, True] Translation: X:104.66, Y:6.86, Z:3.66 [[ 9.94117365e-01 -9.91476211e-02 -4.35937273e-02 1.04660672e+02] [ 9.91213393e-02 9.95071500e-01 -2.76937332e-03 6.85850583e+00] [ 4.36534524e-02 -1.56798653e-03 9.99045503e-01 3.66215705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30509989299998 meters 0.017460951651145844 Centerline is valid? [True, True] Translation: X:104.72, Y:6.87, Z:3.67 [[ 9.94869285e-01 -9.21491870e-02 -4.17568430e-02 1.04721344e+02] [ 9.21189304e-02 9.95744479e-01 -2.65225566e-03 6.86904954e+00] [ 4.18235491e-02 -1.20794802e-03 9.99124282e-01 3.66582611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36509989299998 meters 0.016422967726403448 Centerline is valid? [True, True] Translation: X:104.78, Y:6.88, Z:3.67 [[ 9.95206116e-01 -8.82994386e-02 -4.20475511e-02 1.04782108e+02] [ 8.82653616e-02 9.96093418e-01 -2.66988186e-03 6.87618570e+00] [ 4.21190379e-02 -1.05425954e-03 9.99112043e-01 3.66836273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42509989299998 meters 0.01670131269577385 Centerline is valid? [True, True] Translation: X:104.84, Y:6.88, Z:3.67 [[ 9.95163626e-01 -8.86590311e-02 -4.22957897e-02 1.04843823e+02] [ 8.86249475e-02 9.96061452e-01 -2.68393194e-03 6.88048888e+00] [ 4.23671605e-02 -1.07751070e-03 9.99101528e-01 3.67131099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48509989299998 meters 0.017287181434897464 Centerline is valid? [True, True] Translation: X:104.91, Y:6.88, Z:3.67 [[ 9.94968140e-01 -9.09193405e-02 -4.20960137e-02 1.04906122e+02] [ 9.08877247e-02 9.95857571e-01 -2.66826133e-03 6.88254894e+00] [ 4.21642305e-02 -1.17117589e-03 9.99110007e-01 3.67365328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54509989299997 meters 0.01799111336827127 Centerline is valid? [True, True] Translation: X:104.97, Y:6.88, Z:3.68 [[ 9.94487855e-01 -9.56379323e-02 -4.29801299e-02 1.04967530e+02] [ 9.56095003e-02 9.95415199e-01 -2.72136099e-03 6.88201968e+00] [ 4.30433399e-02 -1.40294829e-03 9.99072221e-01 3.67552446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60509989299997 meters 0.01923236128050318 Centerline is valid? [True, True] Translation: X:105.03, Y:6.88, Z:3.68 [[ 9.94334160e-01 -9.69068037e-02 -4.36880849e-02 1.05028899e+02] [ 9.68787394e-02 9.95292354e-01 -2.76415565e-03 6.88278610e+00] [ 4.37502824e-02 -1.48395221e-03 9.99041396e-01 3.67725834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66509989299998 meters 0.01857625823354808 Centerline is valid? [True, True] Translation: X:105.09, Y:6.89, Z:3.68 [[ 9.94242338e-01 -9.76061587e-02 -4.42177754e-02 1.05090633e+02] [ 9.75782920e-02 9.95223932e-01 -2.79335354e-03 6.88721156e+00] [ 4.42792367e-02 -1.53742464e-03 9.99018011e-01 3.67949483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72509989299998 meters 0.018506966473120303 Centerline is valid? [True, True] Translation: X:105.15, Y:6.89, Z:3.68 [[ 9.94288599e-01 -9.71709879e-02 -4.41359386e-02 1.05152728e+02] [ 9.71429393e-02 9.95266544e-01 -2.78494773e-03 6.89098787e+00] [ 4.41976392e-02 -1.51845303e-03 9.99021653e-01 3.68218781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78509989299998 meters 0.018652098050258362 Centerline is valid? [True, True] Translation: X:105.21, Y:6.89, Z:3.68 [[ 9.94377231e-01 -9.59509528e-02 -4.48033109e-02 1.05214765e+02] [ 9.59209628e-02 9.95384948e-01 -2.82373923e-03 6.89408391e+00] [ 4.48674818e-02 -1.48971473e-03 9.98991837e-01 3.68346722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84509989299998 meters 0.018001755877740572 Centerline is valid? [True, True] Translation: X:105.28, Y:6.90, Z:3.69 [[ 9.94355989e-01 -9.64436346e-02 -4.42130297e-02 1.05276573e+02] [ 9.64150557e-02 9.95337325e-01 -2.78336963e-03 6.89835758e+00] [ 4.42753169e-02 -1.49514145e-03 9.99018249e-01 3.68713890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90509989299997 meters 0.01923692782200912 Centerline is valid? [True, True] Translation: X:105.34, Y:6.90, Z:3.69 [[ 9.94254404e-01 -9.77941982e-02 -4.35255707e-02 1.05338016e+02] [ 9.77679387e-02 9.95205476e-01 -2.73673533e-03 6.89842893e+00] [ 4.35845232e-02 -1.53439417e-03 9.99048565e-01 3.69022362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96509989299997 meters 0.0193452452680296 Centerline is valid? [True, True] Translation: X:105.40, Y:6.90, Z:3.69 [[ 9.94168758e-01 -9.85739881e-02 -4.37224251e-02 1.05400047e+02] [ 9.85484333e-02 9.95128470e-01 -2.74478077e-03 6.90125621e+00] [ 4.37799940e-02 -1.58000121e-03 9.99039947e-01 3.69279775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02509989299998 meters 0.020038628323740766 Centerline is valid? [True, True] Translation: X:105.46, Y:6.90, Z:3.70 [[ 9.94088498e-01 -9.91278544e-02 -4.42913815e-02 1.05462373e+02] [ 9.91023238e-02 9.95073372e-01 -2.77724836e-03 6.90365284e+00] [ 4.43484770e-02 -1.62854817e-03 9.99014795e-01 3.69564264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08509989299998 meters 0.0208045768505641 Centerline is valid? [True, True] Translation: X:105.52, Y:6.90, Z:3.70 [[ 9.93929661e-01 -9.96721252e-02 -4.65757008e-02 1.05524744e+02] [ 9.96446544e-02 9.95018811e-01 -2.91701262e-03 6.90438134e+00] [ 4.66344432e-02 -1.74171424e-03 9.98910504e-01 3.69561068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14509989299998 meters 0.020116349590539567 Centerline is valid? [True, True] Translation: X:105.59, Y:6.91, Z:3.70 [[ 9.93979281e-01 -9.88745442e-02 -4.72124322e-02 1.05587182e+02] [ 9.88455800e-02 9.95098401e-01 -2.95350957e-03 6.90884587e+00] [ 4.72730428e-02 -1.73101293e-03 9.98880505e-01 3.69789398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20509989299998 meters 0.018041550623246437 Centerline is valid? [True, True] Translation: X:105.65, Y:6.92, Z:3.70 [[ 9.94326665e-01 -9.53241466e-02 -4.71994645e-02 1.05647818e+02] [ 9.52913470e-02 9.95445056e-01 -2.94967499e-03 6.91692981e+00] [ 4.72656489e-02 -1.56476006e-03 9.98881129e-01 3.70094718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26509989299997 meters 0.016603847524103817 Centerline is valid? [True, True] Translation: X:105.71, Y:6.93, Z:3.70 [[ 9.94915885e-01 -8.89432461e-02 -4.72385570e-02 1.05708147e+02] [ 8.89032794e-02 9.96035893e-01 -2.95057200e-03 6.92535070e+00] [ 4.73137318e-02 -1.26409168e-03 9.98879278e-01 3.70412341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32509989299997 meters 0.016109466397559453 Centerline is valid? [True, True] Translation: X:105.77, Y:6.93, Z:3.71 [[ 9.95222207e-01 -8.58828399e-02 -4.64424094e-02 1.05769179e+02] [ 8.58409254e-02 9.96304635e-01 -2.89985704e-03 6.93126343e+00] [ 4.65198357e-02 -1.10065727e-03 9.98916760e-01 3.70686221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38509989299997 meters 0.01534144323419516 Centerline is valid? [True, True] Translation: X:105.83, Y:6.94, Z:3.71 [[ 9.95343397e-01 -8.52164002e-02 -4.50520479e-02 1.05830731e+02] [ 8.51763596e-02 9.96361925e-01 -2.81118044e-03 6.93683236e+00] [ 4.51277038e-02 -1.03927954e-03 9.98980686e-01 3.71120570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44509989299998 meters 0.016664339595713094 Centerline is valid? [True, True] Translation: X:105.89, Y:6.94, Z:3.71 [[ 9.95034529e-01 -8.86083704e-02 -4.53303784e-02 1.05891109e+02] [ 8.85714797e-02 9.96065815e-01 -2.82565932e-03 6.93614845e+00] [ 4.54024174e-02 -1.20335010e-03 9.98968054e-01 3.71333997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50509989299998 meters 0.018252523375258217 Centerline is valid? [True, True] Translation: X:105.95, Y:6.94, Z:3.72 [[ 9.94364650e-01 -9.46565524e-02 -4.77397199e-02 1.05952422e+02] [ 9.46226361e-02 9.95508768e-01 -2.97495293e-03 6.93570134e+00] [ 4.78069085e-02 -1.55907012e-03 9.98855379e-01 3.71571152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56509989299998 meters 0.02331900922408343 Centerline is valid? [True, True] Translation: X:106.01, Y:6.93, Z:3.71 [[ 9.93448234e-01 -1.02426778e-01 -5.06888778e-02 1.06012309e+02] [ 1.02398672e-01 9.94738428e-01 -3.15794022e-03 6.92846591e+00] [ 5.07456323e-02 -2.05322364e-03 9.98709500e-01 3.71447947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62509989299998 meters 0.023353272672857826 Centerline is valid? [True, True] Translation: X:106.07, Y:6.93, Z:3.72 [[ 9.92697397e-01 -1.09030418e-01 -5.16163316e-02 1.06072922e+02] [ 1.09010187e-01 9.94035432e-01 -3.21545120e-03 6.92967193e+00] [ 5.16590445e-02 -2.43473592e-03 9.98661812e-01 3.71823541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68509989299997 meters 0.02381572758321787 Centerline is valid? [True, True] Translation: X:106.13, Y:6.93, Z:3.72 [[ 9.92530676e-01 -1.11166372e-01 -5.02483399e-02 1.06134257e+02] [ 1.11149953e-01 9.93798719e-01 -3.12967146e-03 6.93252425e+00] [ 5.02846500e-02 -2.47880567e-03 9.98731851e-01 3.72242471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74509989299997 meters 0.024342024916944004 Centerline is valid? [True, True] Translation: X:106.20, Y:6.93, Z:3.72 [[ 9.92640057e-01 -1.10785363e-01 -4.89113584e-02 1.06196397e+02] [ 1.10769446e-01 9.93841467e-01 -3.04424981e-03 6.93450080e+00] [ 4.89473945e-02 -2.39603978e-03 9.98798484e-01 3.72480540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80509989299998 meters 0.023462141509117528 Centerline is valid? [True, True] Translation: X:106.26, Y:6.94, Z:3.73 [[ 9.92654905e-01 -1.10627722e-01 -4.89667933e-02 1.06258637e+02] [ 1.10611751e-01 9.93859031e-01 -3.04416844e-03 6.93831423e+00] [ 4.90028592e-02 -2.39449402e-03 9.98795768e-01 3.72707806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86509989299998 meters 0.02339221671657769 Centerline is valid? [True, True] Translation: X:106.32, Y:6.94, Z:3.73 [[ 9.92644996e-01 -1.10672062e-01 -4.90673688e-02 1.06320574e+02] [ 1.10656256e-01 9.93854069e-01 -3.04684658e-03 6.94245827e+00] [ 4.91030049e-02 -2.40517431e-03 9.98790824e-01 3.72993889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92509989299998 meters 0.025804187414798497 Centerline is valid? [True, True] Translation: X:106.38, Y:6.94, Z:3.73 [[ 9.92403967e-01 -1.11672702e-01 -5.16098296e-02 1.06381674e+02] [ 1.11656745e-01 9.93741678e-01 -3.20135316e-03 6.94068200e+00] [ 5.16443424e-02 -2.58555002e-03 9.98662194e-01 3.72942873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98509989299998 meters 0.023505458011374554 Centerline is valid? [True, True] Translation: X:106.44, Y:6.95, Z:3.73 [[ 9.92343723e-01 -1.11157623e-01 -5.38323089e-02 1.06443770e+02] [ 1.11139655e-01 9.93799197e-01 -3.33660279e-03 6.94757401e+00] [ 5.38693942e-02 -2.67184742e-03 9.98544415e-01 3.73133292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04509989299997 meters 0.024257139844424493 Centerline is valid? [True, True] Translation: X:106.50, Y:6.95, Z:3.73 [[ 9.92485222e-01 -1.09508212e-01 -5.45988525e-02 1.06503835e+02] [ 1.09487411e-01 9.93982432e-01 -3.38104485e-03 6.95194909e+00] [ 5.46405524e-02 -2.62224998e-03 9.98502646e-01 3.73325631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10509989299997 meters 0.021813632898181633 Centerline is valid? [True, True] Translation: X:106.56, Y:6.96, Z:3.74 [[ 9.92797200e-01 -1.06753648e-01 -5.43817761e-02 1.06564311e+02] [ 1.06728943e-01 9.94282454e-01 -3.36662741e-03 6.96008667e+00] [ 5.44302456e-02 -2.46173122e-03 9.98514541e-01 3.73732896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16509989299998 meters 0.02011857961002793 Centerline is valid? [True, True] Translation: X:106.62, Y:6.97, Z:3.74 [[ 9.93482960e-01 -1.01111772e-01 -5.26119616e-02 1.06624822e+02] [ 1.01080786e-01 9.94872892e-01 -3.25635148e-03 6.96772634e+00] [ 5.26714699e-02 -2.08292870e-03 9.98609722e-01 3.74128616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22509989299998 meters 0.01972791836756222 Centerline is valid? [True, True] Translation: X:106.68, Y:6.97, Z:3.74 [[ 9.93941585e-01 -9.67956973e-02 -5.20645557e-02 1.06683835e+02] [ 9.67594333e-02 9.95302581e-01 -3.22259211e-03 6.97396035e+00] [ 5.21319197e-02 -1.83466860e-03 9.98638522e-01 3.74364284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28509989299998 meters 0.015738840693974354 Centerline is valid? [True, True] Translation: X:106.74, Y:6.99, Z:3.75 [[ 9.94559512e-01 -9.02308024e-02 -5.20555372e-02 1.06743436e+02] [ 9.01855341e-02 9.95919768e-01 -3.22269200e-03 6.98583445e+00] [ 5.21339246e-02 -1.48949744e-03 9.98638991e-01 3.74790897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34509989299998 meters 0.014778091058552342 Centerline is valid? [True, True] Translation: X:106.80, Y:6.99, Z:3.75 [[ 9.94935280e-01 -8.56261819e-02 -5.26492604e-02 1.06803348e+02] [ 8.55734349e-02 9.96326534e-01 -3.25944865e-03 6.99164491e+00] [ 5.27349493e-02 -1.26243761e-03 9.98607747e-01 3.74992822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40509989299997 meters 0.014445431533558664 Centerline is valid? [True, True] Translation: X:106.86, Y:7.00, Z:3.75 [[ 9.95126050e-01 -8.29255973e-02 -5.33618793e-02 1.06862217e+02] [ 8.28675188e-02 9.96555096e-01 -3.30385452e-03 6.99726618e+00] [ 5.34520268e-02 -1.13421484e-03 9.98569774e-01 3.75261000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46509989299997 meters 0.014259042281180809 Centerline is valid? [True, True] Translation: X:106.92, Y:7.00, Z:3.76 [[ 9.95061568e-01 -8.37784597e-02 -5.32320047e-02 1.06920617e+02] [ 8.37216329e-02 9.96483715e-01 -3.30048613e-03 7.00157578e+00] [ 5.33213355e-02 -1.17248345e-03 9.98576717e-01 3.75637323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52509989299998 meters 0.015057313650008172 Centerline is valid? [True, True] Translation: X:106.98, Y:7.00, Z:3.76 [[ 9.94644668e-01 -8.67646544e-02 -5.61594059e-02 1.06979894e+02] [ 8.67055179e-02 9.96227860e-01 -3.49335858e-03 7.00295908e+00] [ 5.62506648e-02 -1.39467988e-03 9.98415704e-01 3.75634884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58509989299998 meters 0.015564029776946245 Centerline is valid? [True, True] Translation: X:107.04, Y:7.01, Z:3.76 [[ 9.94437566e-01 -8.93022255e-02 -5.58483674e-02 1.07038604e+02] [ 8.92473082e-02 9.96003412e-01 -3.48166669e-03 7.00543897e+00] [ 5.59360851e-02 -1.52201631e-03 9.98433191e-01 3.75901195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64509989299998 meters 0.015593515369518229 Centerline is valid? [True, True] Translation: X:107.10, Y:7.01, Z:3.76 [[ 9.94332440e-01 -9.09922949e-02 -5.49854589e-02 1.07097672e+02] [ 9.09410984e-02 9.95850340e-01 -3.43769919e-03 7.00944224e+00] [ 5.50700921e-02 -1.58222221e-03 9.98481237e-01 3.76269205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70509989299998 meters 0.016536706721528193 Centerline is valid? [True, True] Translation: X:107.16, Y:7.01, Z:3.77 [[ 9.94061828e-01 -9.49952438e-02 -5.30752837e-02 1.07157380e+02] [ 9.49531503e-02 9.95476207e-01 -3.31986611e-03 7.01173795e+00] [ 5.31505536e-02 -1.73951321e-03 9.98584995e-01 3.76777643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76509989299997 meters 0.020636281778597287 Centerline is valid? [True, True] Translation: X:107.22, Y:7.01, Z:3.77 [[ 9.93478418e-01 -1.00708060e-01 -5.34651250e-02 1.07217573e+02] [ 1.00673601e-01 9.94913887e-01 -3.34419251e-03 7.00825139e+00] [ 5.35299825e-02 -2.06014358e-03 9.98564118e-01 3.76798257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82509989299997 meters 0.02247051837366291 Centerline is valid? [True, True] Translation: X:107.28, Y:7.01, Z:3.77 [[ 9.92696490e-01 -1.08302924e-01 -5.31427870e-02 1.07278641e+02] [ 1.08279818e-01 9.94114905e-01 -3.32228985e-03 7.00773163e+00] [ 5.31898504e-02 -2.45626585e-03 9.98581397e-01 3.77046546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88509989299997 meters 0.024034536847919997 Centerline is valid? [True, True] Translation: X:107.34, Y:7.01, Z:3.77 [[ 9.91989736e-01 -1.14712182e-01 -5.28911997e-02 1.07338808e+02] [ 1.14698382e-01 9.93394861e-01 -3.30629581e-03 7.00717324e+00] [ 5.29211183e-02 -2.78672354e-03 9.98594807e-01 3.77323371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94509989299998 meters 0.025888617827006435 Centerline is valid? [True, True] Translation: X:107.40, Y:7.01, Z:3.78 [[ 9.91670248e-01 -1.17444919e-01 -5.28848735e-02 1.07400456e+02] [ 1.17435042e-01 9.93075067e-01 -3.30499011e-03 7.00707640e+00] [ 5.29068036e-02 -2.93307696e-03 9.98595147e-01 3.77519386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00509989299998 meters 0.02498364471846575 Centerline is valid? [True, True] Translation: X:107.46, Y:7.01, Z:3.78 [[ 9.91541722e-01 -1.18192248e-01 -5.36246726e-02 1.07461855e+02] [ 1.18183353e-01 9.92986146e-01 -3.34807022e-03 7.01187591e+00] [ 5.36442729e-02 -3.01779231e-03 9.98555549e-01 3.77821162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06509989299998 meters 0.026449576184281204 Centerline is valid? [True, True] Translation: X:107.52, Y:7.02, Z:3.78 [[ 9.91794629e-01 -1.15475277e-01 -5.48532161e-02 1.07521893e+02] [ 1.15462081e-01 9.93306000e-01 -3.42028509e-03 7.01551000e+00] [ 5.48809870e-02 -2.94124609e-03 9.98488571e-01 3.77934122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12509989299998 meters 0.023687743774758723 Centerline is valid? [True, True] Translation: X:107.58, Y:7.03, Z:3.78 [[ 9.92411816e-01 -1.10597213e-01 -5.37312218e-02 1.07582055e+02] [ 1.10577459e-01 9.93861865e-01 -3.34955125e-03 7.02658199e+00] [ 5.37718633e-02 -2.61732774e-03 9.98549817e-01 3.78390382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18509989299997 meters 0.019919205292647905 Centerline is valid? [True, True] Translation: X:107.64, Y:7.04, Z:3.79 [[ 9.93123844e-01 -1.04756131e-01 -5.22607208e-02 1.07642407e+02] [ 1.04729397e-01 9.94495421e-01 -3.25734755e-03 7.03845280e+00] [ 5.23142747e-02 -2.23828425e-03 9.98628162e-01 3.78697281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24509989299997 meters 0.017878079547445566 Centerline is valid? [True, True] Translation: X:107.70, Y:7.05, Z:3.79 [[ 9.93698850e-01 -9.96048687e-02 -5.13951973e-02 1.07703146e+02] [ 9.95721878e-02 9.95025188e-01 -3.20233594e-03 7.04736150e+00] [ 5.14584841e-02 -1.93537469e-03 9.98673259e-01 3.78926402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30509989299998 meters 0.019623702890512965 Centerline is valid? [True, True] Translation: X:107.76, Y:7.05, Z:3.79 [[ 9.94149951e-01 -9.55337629e-02 -5.03902332e-02 1.07763527e+02] [ 9.54971909e-02 9.95424752e-01 -3.13839728e-03 7.05212454e+00] [ 5.04595083e-02 -1.69208822e-03 9.98724674e-01 3.79070153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36509989299998 meters 0.018087654543635045 Centerline is valid? [True, True] Translation: X:107.82, Y:7.06, Z:3.79 [[ 9.94223846e-01 -9.52188464e-02 -4.95208538e-02 1.07824121e+02] [ 9.51832197e-02 9.95454998e-01 -3.08253567e-03 7.05850256e+00] [ 4.95892969e-02 -1.64882384e-03 9.98768333e-01 3.79424491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42509989299998 meters 0.019094235456587907 Centerline is valid? [True, True] Translation: X:107.89, Y:7.06, Z:3.80 [[ 9.93905597e-01 -9.96123294e-02 -4.72128035e-02 1.07885471e+02] [ 9.95849655e-02 9.95024727e-01 -2.93726010e-03 7.06044009e+00] [ 4.72704943e-02 -1.78232615e-03 9.98880535e-01 3.79961468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48509989299998 meters 0.018146477917047082 Centerline is valid? [True, True] Translation: X:107.95, Y:7.07, Z:3.80 [[ 9.93724882e-01 -1.01343711e-01 -4.73319268e-02 1.07947627e+02] [ 1.01318268e-01 9.94849712e-01 -2.94258524e-03 7.06591494e+00] [ 4.73863662e-02 -1.87146867e-03 9.98874882e-01 3.80290980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54509989299997 meters 0.02129761916035302 Centerline is valid? [True, True] Translation: X:108.01, Y:7.07, Z:3.80 [[ 9.93298464e-01 -1.04750236e-01 -4.88420908e-02 1.08007566e+02] [ 1.04727392e-01 9.94496340e-01 -3.03361381e-03 7.06503631e+00] [ 4.88910523e-02 -2.10182087e-03 9.98801906e-01 3.80382371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60509989299997 meters 0.023114822512628856 Centerline is valid? [True, True] Translation: X:108.07, Y:7.07, Z:3.80 [[ 9.93028908e-01 -1.06702314e-01 -5.00819811e-02 1.08068881e+02] [ 1.06680831e-01 9.94288455e-01 -3.10951158e-03 7.06550757e+00] [ 5.01277277e-02 -2.25495245e-03 9.98740270e-01 3.80393026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66509989299998 meters 0.02266726535600688 Centerline is valid? [True, True] Translation: X:108.13, Y:7.07, Z:3.81 [[ 9.93102485e-01 -1.06595135e-01 -4.88357526e-02 1.08130515e+02] [ 1.06574769e-01 9.94300080e-01 -3.02816821e-03 7.06968149e+00] [ 4.88801807e-02 -2.19737769e-03 9.98802232e-01 3.80675526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72509989299998 meters 0.021082787212627234 Centerline is valid? [True, True] Translation: X:108.19, Y:7.08, Z:3.81 [[ 9.93206987e-01 -1.06165208e-01 -4.76322235e-02 1.08191981e+02] [ 1.06145497e-01 9.94346232e-01 -2.95020658e-03 7.07506659e+00] [ 4.76761313e-02 -2.12578025e-03 9.98860585e-01 3.81034676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78509989299998 meters 0.020877470407650617 Centerline is valid? [True, True] Translation: X:108.25, Y:7.08, Z:3.81 [[ 9.93523739e-01 -1.05020783e-01 -4.33729759e-02 1.08254073e+02] [ 1.05003471e-01 9.94468235e-01 -2.68349350e-03 7.07732844e+00] [ 4.34148694e-02 -1.88819853e-03 9.99055346e-01 3.81454736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84509989299998 meters 0.02105460091706972 Centerline is valid? [True, True] Translation: X:108.32, Y:7.08, Z:3.82 [[ 9.93795663e-01 -1.03577068e-01 -4.05212507e-02 1.08316638e+02] [ 1.03560870e-01 9.94619965e-01 -2.50425936e-03 7.07975813e+00] [ 4.05626288e-02 -1.70769390e-03 9.99175539e-01 3.81860234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90509989299997 meters 0.01964296651699528 Centerline is valid? [True, True] Translation: X:108.38, Y:7.08, Z:3.82 [[ 9.94076307e-01 -1.01397336e-01 -3.91264065e-02 1.08378125e+02] [ 1.01380679e-01 9.94844775e-01 -2.41472643e-03 7.08472556e+00] [ 3.91695479e-02 -1.56623932e-03 9.99231351e-01 3.82191663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96509989299997 meters 0.019417833308701976 Centerline is valid? [True, True] Translation: X:108.44, Y:7.09, Z:3.82 [[ 9.94404590e-01 -9.84693552e-02 -3.82530797e-02 1.08439333e+02] [ 9.84513470e-02 9.95139070e-01 -2.35879560e-03 7.08755384e+00] [ 3.82994032e-02 -1.42047005e-03 9.99265299e-01 3.82456222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02509989299998 meters 0.018049244063425254 Centerline is valid? [True, True] Translation: X:108.50, Y:7.09, Z:3.83 [[ 9.94577531e-01 -9.60278473e-02 -3.99272648e-02 1.08501407e+02] [ 9.60063291e-02 9.95377683e-01 -2.46043036e-03 7.09174651e+00] [ 3.99789781e-02 -1.38618137e-03 9.99199560e-01 3.82580364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08509989299998 meters 0.017183513415586882 Centerline is valid? [True, True] Translation: X:108.56, Y:7.09, Z:3.83 [[ 9.94727407e-01 -9.39405282e-02 -4.11407690e-02 1.08563604e+02] [ 9.39160270e-02 9.95576902e-01 -2.53213742e-03 7.09377051e+00] [ 4.11966697e-02 -1.34499108e-03 9.99150152e-01 3.82684825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14509989299998 meters 0.01621986636551731 Centerline is valid? [True, True] Translation: X:108.63, Y:7.10, Z:3.83 [[ 9.95016152e-01 -9.04123358e-02 -4.20531517e-02 1.08625254e+02] [ 9.03837135e-02 9.95903660e-01 -2.58533193e-03 7.09549237e+00] [ 4.21146336e-02 -1.22847299e-03 9.99112030e-01 3.82757575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20509989299998 meters 0.01500106436695012 Centerline is valid? [True, True] Translation: X:108.69, Y:7.10, Z:3.83 [[ 9.95523361e-01 -8.54545458e-02 -4.03826564e-02 1.08686425e+02] [ 8.54241331e-02 9.96341589e-01 -2.48120890e-03 7.09880321e+00] [ 4.04469506e-02 -9.79551998e-04 9.99181207e-01 3.83068901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26509989299997 meters 0.013323709185032229 Centerline is valid? [True, True] Translation: X:108.75, Y:7.10, Z:3.83 [[ 9.96152082e-01 -7.89212925e-02 -3.81111352e-02 1.08748068e+02] [ 7.88894753e-02 9.96880622e-01 -2.34031423e-03 7.10273516e+00] [ 3.81769528e-02 -6.75258568e-04 9.99270766e-01 3.83494056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32509989299997 meters 0.013290979697344756 Centerline is valid? [True, True] Translation: X:108.81, Y:7.10, Z:3.84 [[ 9.96212613e-01 -7.81679162e-02 -3.80815804e-02 1.08810145e+02] [ 7.81356786e-02 9.96939997e-01 -2.33639515e-03 7.10271041e+00] [ 3.81476818e-02 -6.47983807e-04 9.99271902e-01 3.83700737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38509989299997 meters 0.015961995111937886 Centerline is valid? [True, True] Translation: X:108.87, Y:7.09, Z:3.84 [[ 9.95559714e-01 -8.63740163e-02 -3.74217260e-02 1.08871306e+02] [ 8.63487746e-02 9.96262330e-01 -2.29325107e-03 7.09077729e+00] [ 3.74799333e-02 -9.48251811e-04 9.99296931e-01 3.83859178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44509989299998 meters 0.015820619504888445 Centerline is valid? [True, True] Translation: X:108.93, Y:7.09, Z:3.84 [[ 9.95282509e-01 -8.93996740e-02 -3.76885413e-02 1.08933915e+02] [ 8.93762639e-02 9.95995257e-01 -2.30890044e-03 7.09129139e+00] [ 3.77440233e-02 -1.07045279e-03 9.99286867e-01 3.84021442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50509989299998 meters 0.017051324755349442 Centerline is valid? [True, True] Translation: X:108.99, Y:7.09, Z:3.84 [[ 9.95151621e-01 -9.08502206e-02 -3.76761067e-02 1.08994720e+02] [ 9.08279687e-02 9.95863929e-01 -2.30536889e-03 7.09089346e+00] [ 3.77297190e-02 -1.12785265e-03 9.99287344e-01 3.84218230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56509989299998 meters 0.0175244406319247 Centerline is valid? [True, True] Translation: X:109.06, Y:7.09, Z:3.84 [[ 9.95054379e-01 -9.19320979e-02 -3.76200994e-02 1.09056864e+02] [ 9.19107366e-02 9.95764593e-01 -2.30055459e-03 7.09217765e+00] [ 3.76722577e-02 -1.16851412e-03 9.99289465e-01 3.84446141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62509989299998 meters 0.01818436219557801 Centerline is valid? [True, True] Translation: X:109.12, Y:7.09, Z:3.85 [[ 9.94997557e-01 -9.26587222e-02 -3.73392919e-02 1.09118678e+02] [ 9.26382889e-02 9.95697216e-01 -2.28072081e-03 7.09318729e+00] [ 3.73899577e-02 -1.18973648e-03 9.99300043e-01 3.84672564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68509989299997 meters 0.017421375703161532 Centerline is valid? [True, True] Translation: X:109.18, Y:7.09, Z:3.85 [[ 9.94980989e-01 -9.30460223e-02 -3.68139772e-02 1.09180758e+02] [ 9.30265197e-02 9.95661098e-01 -2.24605237e-03 7.09439692e+00] [ 3.68632312e-02 -1.18989677e-03 9.99319612e-01 3.84874806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74509989299997 meters 0.017480349907090933 Centerline is valid? [True, True] Translation: X:109.24, Y:7.10, Z:3.85 [[ 9.95126821e-01 -9.14807833e-02 -3.67950569e-02 1.09243419e+02] [ 9.14603310e-02 9.95806196e-01 -2.24221653e-03 7.09520326e+00] [ 3.68458653e-02 -1.13399827e-03 9.99320317e-01 3.85035464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80509989299998 meters 0.01677850936767164 Centerline is valid? [True, True] Translation: X:109.31, Y:7.10, Z:3.85 [[ 9.95264404e-01 -9.01695615e-02 -3.63072421e-02 1.09305958e+02] [ 9.01488942e-02 9.95925849e-01 -2.20924455e-03 7.09715379e+00] [ 3.63585275e-02 -1.07427527e-03 9.99338233e-01 3.85217536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86509989299998 meters 0.01694863803454429 Centerline is valid? [True, True] Translation: X:109.37, Y:7.10, Z:3.85 [[ 9.95242054e-01 -9.04084617e-02 -3.63257921e-02 1.09367912e+02] [ 9.03880290e-02 9.95904177e-01 -2.20771490e-03 7.09751744e+00] [ 3.63766042e-02 -1.08620604e-03 9.99337562e-01 3.85406974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92509989299998 meters 0.017278069269604606 Centerline is valid? [True, True] Translation: X:109.43, Y:7.10, Z:3.86 [[ 9.95152483e-01 -9.11400012e-02 -3.69463791e-02 1.09430006e+02] [ 9.11194698e-02 9.95837443e-01 -2.24268625e-03 7.09863144e+00] [ 3.69969861e-02 -1.13471968e-03 9.99314733e-01 3.85598088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98509989299998 meters 0.018054224475638293 Centerline is valid? [True, True] Translation: X:109.49, Y:7.10, Z:3.86 [[ 9.95154246e-01 -9.04327721e-02 -3.85997473e-02 1.09491840e+02] [ 9.04099473e-02 9.95901886e-01 -2.34004984e-03 7.09721742e+00] [ 3.86531783e-02 -1.16109058e-03 9.99252012e-01 3.85607718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04509989299997 meters 0.016650006035132354 Centerline is valid? [True, True] Translation: X:109.55, Y:7.10, Z:3.86 [[ 9.95298540e-01 -8.94619026e-02 -3.71131376e-02 1.09553341e+02] [ 8.94402923e-02 9.95989655e-01 -2.24548795e-03 7.10236318e+00] [ 3.71651867e-02 -1.08447900e-03 9.99308547e-01 3.85932900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10509989299997 meters 0.018991945935745182 Centerline is valid? [True, True] Translation: X:109.61, Y:7.10, Z:3.86 [[ 9.95248737e-01 -8.98797712e-02 -3.74376499e-02 1.09614325e+02] [ 8.98581805e-02 9.95952001e-01 -2.26235874e-03 7.10210284e+00] [ 3.74894426e-02 -1.11246942e-03 9.99296405e-01 3.86202044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16509989299998 meters 0.02070631626304164 Centerline is valid? [True, True] Translation: X:109.68, Y:7.10, Z:3.86 [[ 9.94922162e-01 -9.35125880e-02 -3.72194599e-02 1.09675886e+02] [ 9.34938606e-02 9.95617320e-01 -2.24716838e-03 7.10276476e+00] [ 3.72664775e-02 -1.24403337e-03 9.99304589e-01 3.86392547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22509989299998 meters 0.019888864165390464 Centerline is valid? [True, True] Translation: X:109.74, Y:7.11, Z:3.87 [[ 9.94566365e-01 -9.71613422e-02 -3.73820797e-02 1.09736829e+02] [ 9.71450712e-02 9.95267676e-01 -2.25570573e-03 7.10779802e+00] [ 3.74243430e-02 -1.38803575e-03 9.99298500e-01 3.86613344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28509989299998 meters 0.02270045440765706 Centerline is valid? [True, True] Translation: X:109.80, Y:7.11, Z:3.87 [[ 9.93989560e-01 -1.02986101e-01 -3.71297475e-02 1.09798135e+02] [ 1.02974152e-01 9.94681512e-01 -2.23915377e-03 7.10745177e+00] [ 3.71628751e-02 -1.59770879e-03 9.99307945e-01 3.86848935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34509989299998 meters 0.023999516199730626 Centerline is valid? [True, True] Translation: X:109.86, Y:7.11, Z:3.87 [[ 9.93539382e-01 -1.07376247e-01 -3.67401428e-02 1.09859357e+02] [ 1.07367572e-01 9.94216928e-01 -2.21477379e-03 7.10929517e+00] [ 3.67654860e-02 -1.74423495e-03 9.99322399e-01 3.87117387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40509989299997 meters 0.022943147579325973 Centerline is valid? [True, True] Translation: X:109.92, Y:7.12, Z:3.87 [[ 9.93250700e-01 -1.09883580e-01 -3.71301173e-02 1.09920242e+02] [ 1.09876517e-01 9.93942728e-01 -2.23693836e-03 7.11577527e+00] [ 3.71510129e-02 -1.85788738e-03 9.99307936e-01 3.87273884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46509989299997 meters 0.024005101971727276 Centerline is valid? [True, True] Translation: X:109.98, Y:7.12, Z:3.87 [[ 9.93065634e-01 -1.11075604e-01 -3.85078920e-02 1.09981920e+02] [ 1.11068960e-01 9.93809997e-01 -2.31844050e-03 7.11963027e+00] [ 3.85270503e-02 -1.97466794e-03 9.99255606e-01 3.87347881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52509989299998 meters 0.024776428577880927 Centerline is valid? [True, True] Translation: X:110.04, Y:7.12, Z:3.88 [[ 9.93065340e-01 -1.11164231e-01 -3.82589066e-02 1.10043719e+02] [ 1.11157820e-01 9.93800102e-01 -2.30132497e-03 7.12385808e+00] [ 3.82775303e-02 -1.96741059e-03 9.99265210e-01 3.87526690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58509989299998 meters 0.02373227323858698 Centerline is valid? [True, True] Translation: X:110.10, Y:7.14, Z:3.88 [[ 9.93319774e-01 -1.09199001e-01 -3.73015483e-02 1.10104124e+02] [ 1.09191623e-01 9.94018193e-01 -2.24109311e-03 7.13630593e+00] [ 3.73231427e-02 -1.84689448e-03 9.99301542e-01 3.87860282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64509989299998 meters 0.0238906173362959 Centerline is valid? [True, True] Translation: X:110.17, Y:7.15, Z:3.88 [[ 9.93585281e-01 -1.07120029e-01 -3.62434738e-02 1.10165334e+02] [ 1.07111728e-01 9.94244609e-01 -2.17624630e-03 7.14554400e+00] [ 3.62679980e-02 -1.71981483e-03 9.99340620e-01 3.88170631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70509989299998 meters 0.023593850993212352 Centerline is valid? [True, True] Translation: X:110.23, Y:7.15, Z:3.88 [[ 9.93821340e-01 -1.05242696e-01 -3.52578982e-02 1.10226255e+02] [ 1.05233728e-01 9.94445267e-01 -2.11517381e-03 7.15300861e+00] [ 3.52846566e-02 -1.60821518e-03 9.99376009e-01 3.88428341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76509989299997 meters 0.021807715135858177 Centerline is valid? [True, True] Translation: X:110.29, Y:7.16, Z:3.89 [[ 9.94182911e-01 -1.02019728e-01 -3.45299214e-02 1.10286813e+02] [ 1.02009228e-01 9.94781298e-01 -2.07028539e-03 7.16491957e+00] [ 3.45609300e-02 -1.46412827e-03 9.99401520e-01 3.88703537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82509989299997 meters 0.02272254013553401 Centerline is valid? [True, True] Translation: X:110.35, Y:7.17, Z:3.89 [[ 9.94241729e-01 -1.01763199e-01 -3.35802962e-02 1.10347335e+02] [ 1.01753160e-01 9.94807642e-01 -2.01222372e-03 7.17205270e+00] [ 3.36107056e-02 -1.41626445e-03 9.99433997e-01 3.89071861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88509989299997 meters 0.024294523431900736 Centerline is valid? [True, True] Translation: X:110.41, Y:7.18, Z:3.89 [[ 9.93735464e-01 -1.04597345e-01 -3.93601616e-02 1.10408193e+02] [ 1.04585868e-01 9.94513069e-01 -2.35618948e-03 7.17679238e+00] [ 3.93906463e-02 -1.77508764e-03 9.99222311e-01 3.88779163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94509989299998 meters 0.02381230693125244 Centerline is valid? [True, True] Translation: X:110.47, Y:7.18, Z:3.89 [[ 9.93463909e-01 -1.05981575e-01 -4.23953780e-02 1.10470507e+02] [ 1.05969567e-01 9.94366138e-01 -2.53681035e-03 7.18313842e+00] [ 4.24253834e-02 -1.97239031e-03 9.99097691e-01 3.88662274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00509989299998 meters 0.02427424808128405 Centerline is valid? [True, True] Translation: X:110.53, Y:7.19, Z:3.89 [[ 9.93449576e-01 -1.06717275e-01 -4.08578353e-02 1.10532565e+02] [ 1.06706856e-01 9.94287526e-01 -2.44197585e-03 7.18962499e+00] [ 4.08850369e-02 -1.93383128e-03 9.99161986e-01 3.89009953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06509989299998 meters 0.0235091304251802 Centerline is valid? [True, True] Translation: X:110.59, Y:7.20, Z:3.89 [[ 9.93840309e-01 -1.03515246e-01 -3.95731549e-02 1.10593991e+02] [ 1.03503045e-01 9.94626331e-01 -2.36248510e-03 7.19964312e+00] [ 3.96050551e-02 -1.74800913e-03 9.99213883e-01 3.89394124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12509989299997 meters 0.022975540034150907 Centerline is valid? [True, True] Translation: X:110.66, Y:7.21, Z:3.90 [[ 9.93990419e-01 -1.02540133e-01 -3.83219093e-02 1.10655491e+02] [ 1.02528043e-01 9.94727488e-01 -2.28578385e-03 7.20851578e+00] [ 3.83542411e-02 -1.65702313e-03 9.99262832e-01 3.89849630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18509989299997 meters 0.021499400353237635 Centerline is valid? [True, True] Translation: X:110.72, Y:7.22, Z:3.90 [[ 9.94041635e-01 -1.02252325e-01 -3.77583054e-02 1.10717145e+02] [ 1.02240482e-01 9.94757168e-01 -2.24951060e-03 7.21616453e+00] [ 3.77903627e-02 -1.62432013e-03 9.99284369e-01 3.90164325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24509989299997 meters 0.022350999955913404 Centerline is valid? [True, True] Translation: X:110.78, Y:7.22, Z:3.90 [[ 9.93876866e-01 -1.03465425e-01 -3.87773206e-02 1.10779008e+02] [ 1.03453969e-01 9.94631566e-01 -2.30730856e-03 7.21930470e+00] [ 3.88078738e-02 -1.71848712e-03 9.99245213e-01 3.90284316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30509989299998 meters 0.02297020689218716 Centerline is valid? [True, True] Translation: X:110.84, Y:7.22, Z:3.91 [[ 9.93612005e-01 -1.06133480e-01 -3.83519000e-02 1.10839817e+02] [ 1.06124359e-01 9.94350253e-01 -2.27930106e-03 7.22312467e+00] [ 3.83771316e-02 -1.80532990e-03 9.99261696e-01 3.90550578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36509989299998 meters 0.025024354249232827 Centerline is valid? [True, True] Translation: X:110.90, Y:7.22, Z:3.91 [[ 9.93352594e-01 -1.08491547e-01 -3.84734819e-02 1.10900932e+02] [ 1.08484161e-01 9.94095550e-01 -2.28577910e-03 7.22444582e+00] [ 3.84943049e-02 -1.90317879e-03 9.99257007e-01 3.90801366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42509989299998 meters 0.024983039733396845 Centerline is valid? [True, True] Translation: X:110.96, Y:7.23, Z:3.91 [[ 9.93304010e-01 -1.09228528e-01 -3.76333849e-02 1.10963186e+02] [ 1.09222061e-01 9.94014865e-01 -2.23389353e-03 7.22853194e+00] [ 3.76521489e-02 -1.89146048e-03 9.99289116e-01 3.90992890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48509989299998 meters 0.025821039641807233 Centerline is valid? [True, True] Translation: X:111.03, Y:7.23, Z:3.91 [[ 9.93284527e-01 -1.09762285e-01 -3.65799130e-02 1.11025712e+02] [ 1.09756629e-01 9.93956125e-01 -2.16879038e-03 7.23086376e+00] [ 3.65968800e-02 -1.86066202e-03 9.99328378e-01 3.91262416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54509989299997 meters 0.027153225558097734 Centerline is valid? [True, True] Translation: X:111.09, Y:7.23, Z:3.91 [[ 9.93374802e-01 -1.09246753e-01 -3.56602102e-02 1.11086597e+02] [ 1.09241136e-01 9.94013036e-01 -2.11174036e-03 7.23168822e+00] [ 3.56774146e-02 -1.79781220e-03 9.99361741e-01 3.91444940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60509989299997 meters 0.024167898650465727 Centerline is valid? [True, True] Translation: X:111.15, Y:7.24, Z:3.91 [[ 9.93537722e-01 -1.06825592e-01 -3.83547770e-02 1.11148221e+02] [ 1.06817381e-01 9.94276067e-01 -2.26912266e-03 7.23876124e+00] [ 3.83776372e-02 -1.84249788e-03 9.99261608e-01 3.91263197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66509989299998 meters 0.02328178756289914 Centerline is valid? [True, True] Translation: X:111.21, Y:7.25, Z:3.91 [[ 9.94431091e-01 -9.82784797e-02 -3.80544988e-02 1.11207658e+02] [ 9.82642240e-02 9.95157818e-01 -2.24935210e-03 7.24619753e+00] [ 3.80912949e-02 -1.50257013e-03 9.99273134e-01 3.91402458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72509989299998 meters 0.02328178756289914 Centerline is valid? [True, True] Translation: X:111.27, Y:7.25, Z:3.92 [[ 9.94437849e-01 -9.82100806e-02 -3.80544996e-02 1.11269253e+02] [ 9.81957753e-02 9.95164574e-01 -2.24933865e-03 7.24977422e+00] [ 3.80913976e-02 -1.49996360e-03 9.99273134e-01 3.91632794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78509989299998 meters 0.020210929565342282 Centerline is valid? [True, True] Translation: X:111.33, Y:7.26, Z:3.92 [[ 9.94597057e-01 -9.67353946e-02 -3.76690432e-02 1.11330852e+02] [ 9.67204188e-02 9.95309105e-01 -2.22397749e-03 7.25869487e+00] [ 3.77074790e-02 -1.43140417e-03 9.99287795e-01 3.91918797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84509989299998 meters 0.02031839993778187 Centerline is valid? [True, True] Translation: X:111.39, Y:7.26, Z:3.92 [[ 9.94729441e-01 -9.53875155e-02 -3.76106493e-02 1.11393333e+02] [ 9.53717279e-02 9.95439257e-01 -2.21777606e-03 7.26288132e+00] [ 3.76506650e-02 -1.38090548e-03 9.99290008e-01 3.92139520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90509989299997 meters 0.019450672155947764 Centerline is valid? [True, True] Translation: X:111.46, Y:7.27, Z:3.92 [[ 9.94841028e-01 -9.39656552e-02 -3.82332992e-02 1.11455375e+02] [ 9.39484263e-02 9.95574521e-01 -2.25100176e-03 7.26860112e+00] [ 3.82756154e-02 -1.35256939e-03 9.99266305e-01 3.92313594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96509989299997 meters 0.018967693781797444 Centerline is valid? [True, True] Translation: X:111.52, Y:7.27, Z:3.92 [[ 9.95052298e-01 -9.14072455e-02 -3.89312218e-02 1.11516948e+02] [ 9.13875381e-02 9.95812772e-01 -2.28923497e-03 7.27422463e+00] [ 3.89774606e-02 -1.27992001e-03 9.99239270e-01 3.92401108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02509989299998 meters 0.018115080365104192 Centerline is valid? [True, True] Translation: X:111.58, Y:7.28, Z:3.93 [[ 9.95204191e-01 -8.94453974e-02 -3.95997440e-02 1.11578972e+02] [ 8.94235451e-02 9.95990973e-01 -2.32631791e-03 7.28114285e+00] [ 3.96490660e-02 -1.22598815e-03 9.99212915e-01 3.92526167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08509989299998 meters 0.018387759397511593 Centerline is valid? [True, True] Translation: X:111.64, Y:7.29, Z:3.93 [[ 9.95252909e-01 -8.90006466e-02 -3.93767830e-02 1.11640959e+02] [ 8.89788042e-02 9.96030840e-01 -2.31037293e-03 7.28511492e+00] [ 3.94261149e-02 -1.20429368e-03 9.99221763e-01 3.92740721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14509989299998 meters 0.018810208031318842 Centerline is valid? [True, True] Translation: X:111.70, Y:7.29, Z:3.93 [[ 9.95231566e-01 -8.91638036e-02 -3.95467688e-02 1.11703307e+02] [ 8.91420142e-02 9.96016230e-01 -2.31748824e-03 7.28851398e+00] [ 3.95958596e-02 -1.21884117e-03 9.99215033e-01 3.92935131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20509989299998 meters 0.017610805727332573 Centerline is valid? [True, True] Translation: X:111.77, Y:7.30, Z:3.93 [[ 9.95378729e-01 -8.73468874e-02 -3.98961930e-02 1.11765619e+02] [ 8.73233722e-02 9.96177282e-01 -2.33499988e-03 7.29532649e+00] [ 3.99476360e-02 -1.15966089e-03 9.99201102e-01 3.93173336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26509989299997 meters 0.017414259103179324 Centerline is valid? [True, True] Translation: X:111.83, Y:7.30, Z:3.93 [[ 9.95659583e-01 -8.40137294e-02 -4.00460633e-02 1.11825764e+02] [ 8.39875050e-02 9.96464061e-01 -2.33974848e-03 7.30092752e+00] [ 4.01010338e-02 -1.03377594e-03 9.99195095e-01 3.93392521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32509989299997 meters 0.016703359725925217 Centerline is valid? [True, True] Translation: X:111.89, Y:7.31, Z:3.94 [[ 9.95889068e-01 -8.12937741e-02 -3.99535610e-02 1.11887349e+02] [ 8.12655158e-02 9.96689756e-01 -2.33353728e-03 7.30713410e+00] [ 4.00110071e-02 -9.22902481e-04 9.99198813e-01 3.93621427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38509989299997 meters 0.016733528782537924 Centerline is valid? [True, True] Translation: X:111.95, Y:7.31, Z:3.94 [[ 9.95858171e-01 -8.21437447e-02 -3.89731806e-02 1.11949726e+02] [ 8.21175866e-02 9.96620053e-01 -2.27422105e-03 7.31069846e+00] [ 3.90282663e-02 -9.35581922e-04 9.99237669e-01 3.93947793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44509989299998 meters 0.01806742109976167 Centerline is valid? [True, True] Translation: X:112.01, Y:7.31, Z:3.94 [[ 9.95509441e-01 -8.62734249e-02 -3.89595891e-02 1.12011829e+02] [ 8.62505520e-02 9.96270890e-01 -2.27063529e-03 7.31036570e+00] [ 3.90102000e-02 -1.09984720e-03 9.99238207e-01 3.94177471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50509989299998 meters 0.020476061520521126 Centerline is valid? [True, True] Translation: X:112.07, Y:7.31, Z:3.94 [[ 9.95055160e-01 -9.06241122e-02 -4.06509453e-02 1.12072576e+02] [ 9.06029506e-02 9.95884283e-01 -2.36638010e-03 7.30882633e+00] [ 4.06980886e-02 -1.32841686e-03 9.99170606e-01 3.94326566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56509989299998 meters 0.02067645590746796 Centerline is valid? [True, True] Translation: X:112.13, Y:7.31, Z:3.95 [[ 9.94584544e-01 -9.48536836e-02 -4.24777932e-02 1.12133450e+02] [ 9.48344611e-02 9.95489987e-01 -2.47195021e-03 7.31039568e+00] [ 4.25206914e-02 -1.56979515e-03 9.99094353e-01 3.94518890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62509989299997 meters 0.021007182797947194 Centerline is valid? [True, True] Translation: X:112.19, Y:7.31, Z:3.95 [[ 9.94261631e-01 -9.81911716e-02 -4.24535362e-02 1.12194726e+02] [ 9.81750428e-02 9.95166098e-01 -2.46968395e-03 7.31090235e+00] [ 4.24908211e-02 -1.71236574e-03 9.99095390e-01 3.94770666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68509989299997 meters 0.023113852923962005 Centerline is valid? [True, True] Translation: X:112.26, Y:7.31, Z:3.95 [[ 9.94063297e-01 -1.00264723e-01 -4.22510019e-02 1.12256179e+02] [ 1.00250693e-01 9.94959178e-01 -2.45607768e-03 7.30968846e+00] [ 4.22842801e-02 -1.79419555e-03 9.99104009e-01 3.95007554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74509989299997 meters 0.020871413703871307 Centerline is valid? [True, True] Translation: X:112.32, Y:7.32, Z:3.95 [[ 9.94046738e-01 -1.00486058e-01 -4.21145540e-02 1.12318037e+02] [ 1.00472481e-01 9.94936835e-01 -2.44427132e-03 7.31641653e+00] [ 4.21469362e-02 -1.80163377e-03 9.99109799e-01 3.95297513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80509989299998 meters 0.021648871003438545 Centerline is valid? [True, True] Translation: X:112.38, Y:7.32, Z:3.95 [[ 9.93903474e-01 -1.01739738e-01 -4.24842433e-02 1.12380661e+02] [ 1.01727200e-01 9.94809285e-01 -2.46253239e-03 7.31684645e+00] [ 4.25142571e-02 -1.87428360e-03 9.99094102e-01 3.95473021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86509989299998 meters 0.02392827770712361 Centerline is valid? [True, True] Translation: X:112.44, Y:7.32, Z:3.96 [[ 9.93791499e-01 -1.03050149e-01 -4.19419019e-02 1.12442246e+02] [ 1.03039228e-01 9.94674330e-01 -2.42786668e-03 7.31549607e+00] [ 4.19687252e-02 -1.90886791e-03 9.99117101e-01 3.95715606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92509989299998 meters 0.024865239845931104 Centerline is valid? [True, True] Translation: X:112.50, Y:7.32, Z:3.96 [[ 9.93510315e-01 -1.05677640e-01 -4.20653219e-02 1.12503220e+02] [ 1.05669177e-01 9.94398369e-01 -2.43089362e-03 7.31686458e+00] [ 4.20865786e-02 -2.02989004e-03 9.99111905e-01 3.96026376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98509989299998 meters 0.024485082249413627 Centerline is valid? [True, True] Translation: X:112.56, Y:7.32, Z:3.96 [[ 9.93154544e-01 -1.08026689e-01 -4.44329365e-02 1.12563796e+02] [ 1.08019631e-01 9.94145447e-01 -2.56687830e-03 7.32029389e+00] [ 4.44500929e-02 -2.25032256e-03 9.99009072e-01 3.96152997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04509989299997 meters 0.025729706782100147 Centerline is valid? [True, True] Translation: X:112.63, Y:7.32, Z:3.96 [[ 9.92902160e-01 -1.09782454e-01 -4.57505605e-02 1.12626029e+02] [ 1.09776892e-01 9.93952743e-01 -2.64168042e-03 7.32076590e+00] [ 4.57639053e-02 -2.39942413e-03 9.98949402e-01 3.96251891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10509989299997 meters 0.025300418275588266 Centerline is valid? [True, True] Translation: X:112.69, Y:7.32, Z:3.97 [[ 9.92800575e-01 -1.11067885e-01 -4.48435462e-02 1.12688195e+02] [ 1.11063990e-01 9.93809892e-01 -2.58609986e-03 7.32333498e+00] [ 4.48531924e-02 -2.41302174e-03 9.98990675e-01 3.96579253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16509989299998 meters 0.024381258002655764 Centerline is valid? [True, True] Translation: X:112.75, Y:7.33, Z:3.97 [[ 9.93052161e-01 -1.09359565e-01 -4.34498627e-02 1.12749700e+02] [ 1.09354406e-01 9.93999673e-01 -2.50272072e-03 7.32845669e+00] [ 4.34628458e-02 -2.26610170e-03 9.99052474e-01 3.96892516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22509989299998 meters 0.0235509854764487 Centerline is valid? [True, True] Translation: X:112.81, Y:7.33, Z:3.97 [[ 9.93360830e-01 -1.06619168e-01 -4.32043353e-02 1.12811271e+02] [ 1.06611585e-01 9.94297636e-01 -2.48618363e-03 7.33241964e+00] [ 4.32230433e-02 -2.13640522e-03 9.99063163e-01 3.97031799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28509989299998 meters 0.026017534077900414 Centerline is valid? [True, True] Translation: X:112.87, Y:7.33, Z:3.97 [[ 9.93597841e-01 -1.04241194e-01 -4.35557490e-02 1.12871649e+02] [ 1.04231306e-01 9.94549930e-01 -2.50419855e-03 7.33162040e+00] [ 4.35794078e-02 -2.05170631e-03 9.99047860e-01 3.97207230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34509989299998 meters 0.022613789356634124 Centerline is valid? [True, True] Translation: X:112.93, Y:7.34, Z:3.98 [[ 9.93761354e-01 -1.02780953e-01 -4.32948772e-02 1.12933543e+02] [ 1.02769849e-01 9.94702050e-01 -2.48807027e-03 7.34090981e+00] [ 4.33212294e-02 -1.97685991e-03 9.99059239e-01 3.97589483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40509989299997 meters 0.02211424364083126 Centerline is valid? [True, True] Translation: X:113.00, Y:7.35, Z:3.98 [[ 9.93870837e-01 -1.01623641e-01 -4.35131562e-02 1.12995748e+02] [ 1.01611459e-01 9.94821026e-01 -2.49739339e-03 7.34550209e+00] [ 4.35415969e-02 -1.93934880e-03 9.99049733e-01 3.97847065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46509989299997 meters 0.02096967916628709 Centerline is valid? [True, True] Translation: X:113.06, Y:7.35, Z:3.98 [[ 9.94373815e-01 -9.65637865e-02 -4.35448209e-02 1.13056202e+02] [ 9.65468701e-02 9.95325309e-01 -2.49630484e-03 7.35157636e+00] [ 4.35823149e-02 -1.72185599e-03 9.99048356e-01 3.98074548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52509989299998 meters 0.020387979597867742 Centerline is valid? [True, True] Translation: X:113.12, Y:7.36, Z:3.98 [[ 9.94878521e-01 -9.14703439e-02 -4.30105224e-02 1.13115299e+02] [ 9.14491193e-02 9.95806700e-01 -2.46490240e-03 7.35613373e+00] [ 4.30556318e-02 -1.48099594e-03 9.99071579e-01 3.98310958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58509989299998 meters 0.017324095989317154 Centerline is valid? [True, True] Translation: X:113.18, Y:7.37, Z:3.99 [[ 9.95577761e-01 -8.40027308e-02 -4.20530918e-02 1.13175119e+02] [ 8.39757553e-02 9.96464882e-01 -2.41068407e-03 7.36624197e+00] [ 4.21069332e-02 -1.13141670e-03 9.99112469e-01 3.98773341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64509989299998 meters 0.016238274322918696 Centerline is valid? [True, True] Translation: X:113.24, Y:7.37, Z:3.99 [[ 9.95978026e-01 -7.96795088e-02 -4.09749624e-02 1.13236201e+02] [ 7.96502479e-02 9.96820105e-01 -2.34874332e-03 7.37134589e+00] [ 4.10318130e-02 -9.24369173e-04 9.99157413e-01 3.99079733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70509989299998 meters 0.015347516997695806 Centerline is valid? [True, True] Translation: X:113.30, Y:7.38, Z:3.99 [[ 9.96217523e-01 -7.59530152e-02 -4.22112172e-02 1.13297431e+02] [ 7.59186864e-02 9.97111080e-01 -2.41801364e-03 7.37552663e+00] [ 4.22729278e-02 -7.95752601e-04 9.99105783e-01 3.99235521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76509989299997 meters 0.01502709985198758 Centerline is valid? [True, True] Translation: X:113.36, Y:7.38, Z:3.99 [[ 9.96437751e-01 -7.28396684e-02 -4.24993125e-02 1.13357419e+02] [ 7.28021018e-02 9.97343438e-01 -2.43304644e-03 7.37908304e+00] [ 4.25636328e-02 -6.69659954e-04 9.99093534e-01 3.99499966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82509989299997 meters 0.014860138520626988 Centerline is valid? [True, True] Translation: X:113.42, Y:7.38, Z:4.00 [[ 9.96537963e-01 -7.12575453e-02 -4.28304815e-02 1.13418153e+02] [ 7.12179594e-02 9.97457765e-01 -2.45132909e-03 7.38117211e+00] [ 4.28962721e-02 -6.07456997e-04 9.99079347e-01 3.99752723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88509989299997 meters 0.014826550921530898 Centerline is valid? [True, True] Translation: X:113.48, Y:7.38, Z:4.00 [[ 9.96577661e-01 -7.09645506e-02 -4.23910250e-02 1.13478312e+02] [ 7.09255082e-02 9.97478664e-01 -2.42617755e-03 7.38342495e+00] [ 4.24563156e-02 -5.88730644e-04 9.99098151e-01 4.00039542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94509989299998 meters 0.015262692561592333 Centerline is valid? [True, True] Translation: X:113.54, Y:7.38, Z:4.00 [[ 9.96469906e-01 -7.29893181e-02 -4.14763337e-02 1.13537903e+02] [ 7.29536921e-02 9.97332504e-01 -2.37390044e-03 7.38340071e+00] [ 4.15389651e-02 -6.60331328e-04 9.99136666e-01 4.00378377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00509989299998 meters 0.015621214677711815 Centerline is valid? [True, True] Translation: X:113.60, Y:7.38, Z:4.01 [[ 9.96090773e-01 -7.84814372e-02 -4.05442374e-02 1.13598928e+02] [ 7.84519155e-02 9.96915197e-01 -2.32112508e-03 7.37955509e+00] [ 4.06013316e-02 -8.68721801e-04 9.99175048e-01 4.00627034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06509989299998 meters 0.016765706124553 Centerline is valid? [True, True] Translation: X:113.66, Y:7.38, Z:4.01 [[ 9.95564754e-01 -8.46854411e-02 -4.09780102e-02 1.13659907e+02] [ 8.46605629e-02 9.96407090e-01 -2.34519655e-03 7.37539006e+00] [ 4.10293839e-02 -1.13442639e-03 9.99157296e-01 4.00799347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12509989299997 meters 0.01812871649805719 Centerline is valid? [True, True] Translation: X:113.72, Y:7.37, Z:4.01 [[ 9.95209505e-01 -8.79607233e-02 -4.26726158e-02 1.13720608e+02] [ 8.79367867e-02 9.96123065e-01 -2.44136326e-03 7.37346999e+00] [ 4.27219209e-02 -1.32282479e-03 9.99086126e-01 4.00883910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18509989299997 meters 0.019541926565826005 Centerline is valid? [True, True] Translation: X:113.78, Y:7.37, Z:4.01 [[ 9.94849313e-01 -9.13646527e-02 -4.39015427e-02 1.13781927e+02] [ 9.13426626e-02 9.95816355e-01 -2.51085435e-03 7.37059226e+00] [ 4.39472776e-02 -1.51216208e-03 9.99032707e-01 4.00922341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24509989299997 meters 0.018925989279042838 Centerline is valid? [True, True] Translation: X:113.84, Y:7.37, Z:4.01 [[ 9.94755118e-01 -9.24421425e-02 -4.37802059e-02 1.13843388e+02] [ 9.24213551e-02 9.95716841e-01 -2.50300740e-03 7.37211545e+00] [ 4.38240717e-02 -1.55634655e-03 9.99038052e-01 4.01187014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30509989299998 meters 0.019132482941183845 Centerline is valid? [True, True] Translation: X:113.90, Y:7.37, Z:4.01 [[ 9.94833916e-01 -9.14556228e-02 -4.40607452e-02 1.13904430e+02] [ 9.14336744e-02 9.95807986e-01 -2.51741777e-03 7.37407083e+00] [ 4.41062740e-02 -1.52422325e-03 9.99025682e-01 4.01356103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36509989299998 meters 0.020877611904967962 Centerline is valid? [True, True] Translation: X:113.96, Y:7.37, Z:4.02 [[ 9.94879108e-01 -9.10931963e-02 -4.37902896e-02 1.13964377e+02] [ 9.10712298e-02 9.95841242e-01 -2.50050332e-03 7.37416193e+00] [ 4.38359552e-02 -1.50033701e-03 9.99037616e-01 4.01505865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42509989299998 meters 0.019714943728603787 Centerline is valid? [True, True] Translation: X:114.02, Y:7.38, Z:4.02 [[ 9.94920213e-01 -9.06045032e-02 -4.38701811e-02 1.14024219e+02] [ 9.05820116e-02 9.95885850e-01 -2.50439830e-03 7.37853574e+00] [ 4.39166024e-02 -1.48217276e-03 9.99034101e-01 4.01760778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48509989299997 meters 0.020114821127146316 Centerline is valid? [True, True] Translation: X:114.09, Y:7.38, Z:4.02 [[ 9.94850798e-01 -9.08401401e-02 -4.49439509e-02 1.14085384e+02] [ 9.08167873e-02 9.95864313e-01 -2.56542573e-03 7.38035037e+00] [ 4.49911204e-02 -1.52944939e-03 9.98986216e-01 4.01895645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54509989299997 meters 0.020366526301994998 Centerline is valid? [True, True] Translation: X:114.15, Y:7.38, Z:4.02 [[ 9.94705283e-01 -9.24853172e-02 -4.48092168e-02 1.14146050e+02] [ 9.24638348e-02 9.95712762e-01 -2.55629684e-03 7.38291094e+00] [ 4.48535289e-02 -1.60047005e-03 9.98992292e-01 4.02190265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60509989299997 meters 0.020172231061183536 Centerline is valid? [True, True] Translation: X:114.21, Y:7.39, Z:4.03 [[ 9.94389555e-01 -9.56735639e-02 -4.51218482e-02 1.14206972e+02] [ 9.56550992e-02 9.95411212e-01 -2.57317904e-03 7.38783761e+00] [ 4.51609788e-02 -1.75739251e-03 9.98978177e-01 4.02509758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66509989299998 meters 0.021190527895974656 Centerline is valid? [True, True] Translation: X:114.27, Y:7.39, Z:4.03 [[ 9.94119382e-01 -9.86116529e-02 -4.47481363e-02 1.14268404e+02] [ 9.85965345e-02 9.95124223e-01 -2.55024263e-03 7.39088872e+00] [ 4.47814380e-02 -1.87676554e-03 9.98995045e-01 4.02838771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72509989299998 meters 0.022372786151972086 Centerline is valid? [True, True] Translation: X:114.33, Y:7.39, Z:4.03 [[ 9.93854681e-01 -1.01981994e-01 -4.30412042e-02 1.14329359e+02] [ 1.01971218e-01 9.94784329e-01 -2.45154905e-03 7.39363204e+00] [ 4.30667292e-02 -1.95248050e-03 9.99070290e-01 4.03174803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78509989299998 meters 0.022835136531754213 Centerline is valid? [True, True] Translation: X:114.39, Y:7.40, Z:4.04 [[ 9.93609818e-01 -1.04738073e-01 -4.20650117e-02 1.14390427e+02] [ 1.04730277e-01 9.94497779e-01 -2.39510630e-03 7.39881373e+00] [ 4.20844195e-02 -2.02567918e-03 9.99112005e-01 4.03519238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84509989299998 meters 0.02549171956048276 Centerline is valid? [True, True] Translation: X:114.45, Y:7.40, Z:4.04 [[ 9.93306180e-01 -1.07516152e-01 -4.22268944e-02 1.14450769e+02] [ 1.07510860e-01 9.94201006e-01 -2.40285788e-03 7.40163380e+00] [ 4.22403669e-02 -2.15307615e-03 9.99105157e-01 4.03675695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90509989299997 meters 0.02732783790291783 Centerline is valid? [True, True] Translation: X:114.51, Y:7.40, Z:4.04 [[ 9.92893881e-01 -1.10842697e-01 -4.33086394e-02 1.14512093e+02] [ 1.10840325e-01 9.93835174e-01 -2.46350537e-03 7.40494867e+00] [ 4.33147108e-02 -2.35434427e-03 9.99058703e-01 4.03868044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96509989299997 meters 0.026759836764244056 Centerline is valid? [True, True] Translation: X:114.57, Y:7.41, Z:4.04 [[ 9.92445382e-01 -1.14422189e-01 -4.42688031e-02 1.14572690e+02] [ 1.14423325e-01 9.93428895e-01 -2.51663648e-03 7.41155007e+00] [ 4.42658672e-02 -2.56775937e-03 9.99016486e-01 4.04058917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02509989299998 meters 0.029739961824516072 Centerline is valid? [True, True] Translation: X:114.63, Y:7.41, Z:4.04 [[ 9.92231248e-01 -1.16448715e-01 -4.37818173e-02 1.14632460e+02] [ 1.16451845e-01 9.93193224e-01 -2.48768299e-03 7.41358440e+00] [ 4.37734917e-02 -2.63011661e-03 9.99038019e-01 4.04322558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08509989299998 meters 0.029980650544545767 Centerline is valid? [True, True] Translation: X:114.69, Y:7.42, Z:4.05 [[ 9.92134071e-01 -1.17427456e-01 -4.33679273e-02 1.14693954e+02] [ 1.17431630e-01 9.93077922e-01 -2.46017223e-03 7.41793821e+00] [ 4.33566229e-02 -2.65194571e-03 9.99056140e-01 4.04617534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14509989299998 meters 0.030691234062553915 Centerline is valid? [True, True] Translation: X:114.76, Y:7.42, Z:4.05 [[ 9.92253539e-01 -1.16365970e-01 -4.34956939e-02 1.14755872e+02] [ 1.16369346e-01 9.93202955e-01 -2.46300073e-03 7.42220035e+00] [ 4.34866612e-02 -2.61764427e-03 9.99050578e-01 4.04745635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20509989299998 meters 0.02817882447189368 Centerline is valid? [True, True] Translation: X:114.82, Y:7.43, Z:4.05 [[ 9.92355448e-01 -1.15265652e-01 -4.40964307e-02 1.14817918e+02] [ 1.15268187e-01 9.93331277e-01 -2.49371830e-03 7.43325752e+00] [ 4.40898039e-02 -2.60826069e-03 9.99024167e-01 4.05035755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26509989299997 meters 0.02863425330618929 Centerline is valid? [True, True] Translation: X:114.88, Y:7.44, Z:4.05 [[ 9.92363854e-01 -1.15156609e-01 -4.41920387e-02 1.14880026e+02] [ 1.15159220e-01 9.93343912e-01 -2.49523041e-03 7.43827061e+00] [ 4.41852348e-02 -2.61294423e-03 9.99019939e-01 4.05275056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32509989299997 meters 0.02940290060872038 Centerline is valid? [True, True] Translation: X:114.94, Y:7.44, Z:4.05 [[ 9.92269378e-01 -1.15362578e-01 -4.57488415e-02 1.14941551e+02] [ 1.15365747e-01 9.93319731e-01 -2.57988392e-03 7.44316465e+00] [ 4.57408490e-02 -2.71790946e-03 9.98949642e-01 4.05378259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38509989299997 meters 0.03181973431788006 Centerline is valid? [True, True] Translation: X:115.00, Y:7.45, Z:4.06 [[ 9.92157276e-01 -1.15842187e-01 -4.69523926e-02 1.15002241e+02] [ 1.15846185e-01 9.93263643e-01 -2.64517923e-03 7.44658145e+00] [ 4.69425279e-02 -2.81482174e-03 9.98893626e-01 4.05545741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44509989299998 meters 0.027277247390657063 Centerline is valid? [True, True] Translation: X:115.06, Y:7.46, Z:4.06 [[ 9.92197671e-01 -1.15382702e-01 -4.72293680e-02 1.15063906e+02] [ 1.15386359e-01 9.93317131e-01 -2.65805935e-03 7.45702378e+00] [ 4.72204344e-02 -2.81230450e-03 9.98880534e-01 4.05872591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50509989299998 meters 0.028429627184776676 Centerline is valid? [True, True] Translation: X:115.13, Y:7.46, Z:4.06 [[ 9.92359433e-01 -1.14268073e-01 -4.65356061e-02 1.15125143e+02] [ 1.14270549e-01 9.93446224e-01 -2.61580332e-03 7.46070044e+00] [ 4.65295249e-02 -2.72183215e-03 9.98913207e-01 4.06174141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56509989299998 meters 0.028537804491971876 Centerline is valid? [True, True] Translation: X:115.19, Y:7.47, Z:4.07 [[ 9.92504871e-01 -1.13602121e-01 -4.50404060e-02 1.15187032e+02] [ 1.13603867e-01 9.93522906e-01 -2.52923461e-03 7.46556001e+00] [ 4.50360015e-02 -2.60648664e-03 9.98981964e-01 4.06639337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62509989299997 meters 0.028838843050801827 Centerline is valid? [True, True] Translation: X:115.25, Y:7.47, Z:4.07 [[ 9.92509048e-01 -1.13464026e-01 -4.52957468e-02 1.15249561e+02] [ 1.13465797e-01 9.93538655e-01 -2.54030436e-03 7.46879114e+00] [ 4.52913085e-02 -2.61824296e-03 9.98970391e-01 4.06856184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68509989299997 meters 0.02832668409446871 Centerline is valid? [True, True] Translation: X:115.31, Y:7.47, Z:4.07 [[ 9.92199913e-01 -1.15252111e-01 -4.75003433e-02 1.15311113e+02] [ 1.15256257e-01 9.93332228e-01 -2.66077503e-03 7.47193102e+00] [ 4.74902818e-02 -2.83469103e-03 9.98867678e-01 4.06934339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74509989299997 meters 0.029493363137897927 Centerline is valid? [True, True] Translation: X:115.37, Y:7.47, Z:4.07 [[ 9.91792528e-01 -1.17340519e-01 -5.07817214e-02 1.15372555e+02] [ 1.17348094e-01 9.93086776e-01 -2.84265171e-03 7.47316890e+00] [ 5.07642142e-02 -3.13981747e-03 9.98705730e-01 4.06927085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80509989299998 meters 0.030639002169214988 Centerline is valid? [True, True] Translation: X:115.43, Y:7.48, Z:4.07 [[ 9.92071587e-01 -1.15040062e-01 -5.05939747e-02 1.15432563e+02] [ 1.15044681e-01 9.93356285e-01 -2.83055868e-03 7.47606426e+00] [ 5.05834704e-02 -3.01245084e-03 9.98715294e-01 4.07104832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86509989299998 meters 0.025717376696513795 Centerline is valid? [True, True] Translation: X:115.49, Y:7.49, Z:4.08 [[ 9.92679623e-01 -1.10328125e-01 -4.91413353e-02 1.15492798e+02] [ 1.10326756e-01 9.93891570e-01 -2.74860458e-03 7.48779009e+00] [ 4.91444073e-02 -2.69312036e-03 9.98788053e-01 4.07555272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92509989299998 meters 0.021844927496414653 Centerline is valid? [True, True] Translation: X:115.55, Y:7.50, Z:4.08 [[ 9.93661139e-01 -1.02200067e-01 -4.68261486e-02 1.15552623e+02] [ 1.02189816e-01 9.94761470e-01 -2.61904000e-03 7.49985813e+00] [ 4.68485145e-02 -2.18271724e-03 9.98899621e-01 4.08081528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98509989299997 meters 0.021771650345300382 Centerline is valid? [True, True] Translation: X:115.61, Y:7.50, Z:4.08 [[ 9.94251655e-01 -9.69276858e-02 -4.54826284e-02 1.15612319e+02] [ 9.69125031e-02 9.95289654e-01 -2.54396504e-03 7.50454401e+00] [ 4.55149702e-02 -1.87849392e-03 9.98961891e-01 4.08420761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04509989299997 meters 0.02174720107223788 Centerline is valid? [True, True] Translation: X:115.67, Y:7.51, Z:4.09 [[ 9.94395437e-01 -9.51488700e-02 -4.60912914e-02 1.15674405e+02] [ 9.51314003e-02 9.95461387e-01 -2.57740157e-03 7.50678429e+00] [ 4.61273377e-02 -1.82177273e-03 9.98933907e-01 4.08670604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10509989299997 meters 0.02052611914410705 Centerline is valid? [True, True] Translation: X:115.74, Y:7.51, Z:4.09 [[ 9.94319130e-01 -9.54776631e-02 -4.70476735e-02 1.15736919e+02] [ 9.54599914e-02 9.95429800e-01 -2.62745266e-03 7.50970261e+00] [ 4.70835193e-02 -1.87864407e-03 9.98889190e-01 4.08952478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16509989299998 meters 0.021530310550007852 Centerline is valid? [True, True] Translation: X:115.80, Y:7.51, Z:4.09 [[ 9.94139702e-01 -9.58556022e-02 -4.99795526e-02 1.15797798e+02] [ 9.58363103e-02 9.95393204e-01 -2.78781747e-03 7.50786219e+00] [ 5.00165349e-02 -2.01837588e-03 9.98746350e-01 4.08939596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22509989299998 meters 0.021426028819595676 Centerline is valid? [True, True] Translation: X:115.86, Y:7.51, Z:4.09 [[ 9.94035182e-01 -9.54315477e-02 -5.27908783e-02 1.15859107e+02] [ 9.54095397e-02 9.95433755e-01 -2.94264418e-03 7.50826055e+00] [ 5.28306433e-02 -2.11166155e-03 9.98601254e-01 4.08846170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28509989299998 meters 0.02162281517478891 Centerline is valid? [True, True] Translation: X:115.92, Y:7.51, Z:4.09 [[ 9.94187031e-01 -9.38155237e-02 -5.28279735e-02 1.15920052e+02] [ 9.37912932e-02 9.95587531e-01 -2.94310464e-03 7.50917111e+00] [ 5.28709806e-02 -2.02880748e-03 9.98599291e-01 4.09014378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34509989299998 meters 0.019603227826405507 Centerline is valid? [True, True] Translation: X:115.98, Y:7.52, Z:4.09 [[ 9.94513194e-01 -9.14246592e-02 -5.08432843e-02 1.15980111e+02] [ 9.13991245e-02 9.95810313e-01 -2.83190479e-03 7.51542304e+00] [ 5.08891728e-02 -1.83066500e-03 9.98702629e-01 4.09463017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40509989299997 meters 0.018724358286028128 Centerline is valid? [True, True] Translation: X:116.04, Y:7.52, Z:4.10 [[ 9.95094153e-01 -8.67908628e-02 -4.74865517e-02 1.16040262e+02] [ 8.67633142e-02 9.96225442e-01 -2.64493915e-03 7.51958080e+00] [ 4.75368675e-02 -1.48812712e-03 9.98868376e-01 4.10039948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46509989299997 meters 0.01903434862817863 Centerline is valid? [True, True] Translation: X:116.10, Y:7.52, Z:4.10 [[ 9.95182233e-01 -8.60556174e-02 -4.69760976e-02 1.16101010e+02] [ 8.60278394e-02 9.96289298e-01 -2.61650752e-03 7.52162567e+00] [ 4.70269484e-02 -1.43735038e-03 9.98892587e-01 4.10366579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52509989299998 meters 0.018172807835523143 Centerline is valid? [True, True] Translation: X:116.16, Y:7.52, Z:4.11 [[ 9.95030386e-01 -8.72379474e-02 -4.80007368e-02 1.16162060e+02] [ 8.72103377e-02 9.96186334e-01 -2.67318686e-03 7.52421482e+00] [ 4.80508813e-02 -1.52625831e-03 9.98843723e-01 4.10633620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58509989299998 meters 0.020959750412560513 Centerline is valid? [True, True] Translation: X:116.22, Y:7.52, Z:4.11 [[ 9.94553488e-01 -9.14631127e-02 -4.99785746e-02 1.16221290e+02] [ 9.14385545e-02 9.95806833e-01 -2.78237797e-03 7.51891723e+00] [ 5.00234911e-02 -1.80274490e-03 9.98746414e-01 4.10512677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64509989299998 meters 0.021513098637939647 Centerline is valid? [True, True] Translation: X:116.28, Y:7.52, Z:4.11 [[ 9.94046502e-01 -9.58610446e-02 -5.17900717e-02 1.16281475e+02] [ 9.58405455e-02 9.95392519e-01 -2.88487166e-03 7.51975289e+00] [ 5.18279968e-02 -2.09589214e-03 9.98653827e-01 4.10614800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70509989299998 meters 0.023003530025166644 Centerline is valid? [True, True] Translation: X:116.34, Y:7.52, Z:4.11 [[ 9.93369433e-01 -1.02129880e-01 -5.27887995e-02 1.16341786e+02] [ 1.02117371e-01 9.94768009e-01 -2.94120792e-03 7.51845904e+00] [ 5.28129942e-02 -2.46894738e-03 9.98601368e-01 4.10763729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76509989299997 meters 0.024608247061248707 Centerline is valid? [True, True] Translation: X:116.40, Y:7.52, Z:4.11 [[ 9.93054841e-01 -1.05593820e-01 -5.18847625e-02 1.16402271e+02] [ 1.05586441e-01 9.94405926e-01 -2.89089583e-03 7.51853259e+00] [ 5.18997760e-02 -2.60750934e-03 9.98648894e-01 4.10968817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82509989299997 meters 0.025046797505411972 Centerline is valid? [True, True] Translation: X:116.46, Y:7.52, Z:4.12 [[ 9.92928501e-01 -1.08346787e-01 -4.85176906e-02 1.16463275e+02] [ 1.08343620e-01 9.94109830e-01 -2.70287900e-03 7.52221264e+00] [ 4.85247614e-02 -2.57281666e-03 9.98818666e-01 4.11505527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88509989299997 meters 0.028326632983764206 Centerline is valid? [True, True] Translation: X:116.52, Y:7.52, Z:4.12 [[ 9.93025457e-01 -1.08664748e-01 -4.57429113e-02 1.16524287e+02] [ 1.08662342e-01 9.94075455e-01 -2.54655611e-03 7.52253118e+00] [ 4.57486263e-02 -2.44173683e-03 9.98949999e-01 4.11974840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94509989299998 meters 0.027651516910512458 Centerline is valid? [True, True] Translation: X:116.59, Y:7.53, Z:4.12 [[ 9.92877341e-01 -1.10252029e-01 -4.51561212e-02 1.16585583e+02] [ 1.10251428e-01 9.93900556e-01 -2.51147288e-03 7.52744425e+00] [ 4.51575890e-02 -2.48494233e-03 9.98976785e-01 4.12384759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00509989299998 meters 0.02670355254235181 Centerline is valid? [True, True] Translation: X:116.65, Y:7.53, Z:4.13 [[ 9.92435039e-01 -1.13558742e-01 -4.66594664e-02 1.16646737e+02] [ 1.13561856e-01 9.93527545e-01 -2.59267219e-03 7.53123273e+00] [ 4.66518857e-02 -2.72567689e-03 9.98907489e-01 4.12558082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06509989299998 meters 0.029502094326314975 Centerline is valid? [True, True] Translation: X:116.71, Y:7.53, Z:4.13 [[ 9.92121849e-01 -1.15825649e-01 -4.77352677e-02 1.16706828e+02] [ 1.15831592e-01 9.93265329e-01 -2.65104902e-03 7.52991367e+00] [ 4.77208459e-02 -2.89908839e-03 9.98856504e-01 4.12640611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12509989299997 meters 0.029664726632269083 Centerline is valid? [True, True] Translation: X:116.77, Y:7.53, Z:4.13 [[ 9.92108323e-01 -1.15711490e-01 -4.82900184e-02 1.16768446e+02] [ 1.15717500e-01 9.93278548e-01 -2.68058156e-03 7.53298241e+00] [ 4.82756134e-02 -2.92857294e-03 9.98829760e-01 4.12820994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18509989299997 meters 0.027547122285219973 Centerline is valid? [True, True] Translation: X:116.83, Y:7.54, Z:4.13 [[ 9.92215490e-01 -1.14554661e-01 -4.88431233e-02 1.16829947e+02] [ 1.14559670e-01 9.93412683e-01 -2.70607747e-03 7.54049838e+00] [ 4.88313720e-02 -2.91044012e-03 9.98802797e-01 4.13018058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24509989299997 meters 0.02844545566419869 Centerline is valid? [True, True] Translation: X:116.89, Y:7.54, Z:4.13 [[ 9.92483043e-01 -1.12595494e-01 -4.79548221e-02 1.16890730e+02] [ 1.12598190e-01 9.93637059e-01 -2.65378526e-03 7.54342945e+00] [ 4.79484927e-02 -2.76578929e-03 9.98845980e-01 4.13123413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30509989299998 meters 0.02898817169452063 Centerline is valid? [True, True] Translation: X:116.95, Y:7.55, Z:4.13 [[ 9.92560539e-01 -1.12208620e-01 -4.72525448e-02 1.16952576e+02] [ 1.12210895e-01 9.93680979e-01 -2.61288092e-03 7.54698617e+00] [ 4.72471427e-02 -2.70880784e-03 9.98879557e-01 4.13383298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36509989299998 meters 0.030265334038951364 Centerline is valid? [True, True] Translation: X:117.01, Y:7.55, Z:4.14 [[ 9.92700247e-01 -1.11399532e-01 -4.62208133e-02 1.17012709e+02] [ 1.11400958e-01 9.93772262e-01 -2.55308284e-03 7.55113490e+00] [ 4.62173744e-02 -2.61459693e-03 9.98927984e-01 4.13609201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42509989299998 meters 0.027404858020174123 Centerline is valid? [True, True] Translation: X:117.07, Y:7.56, Z:4.14 [[ 9.92573085e-01 -1.12641517e-01 -4.59408298e-02 1.17074107e+02] [ 1.12644303e-01 9.93632139e-01 -2.53649575e-03 7.55945380e+00] [ 4.59339997e-02 -2.65731532e-03 9.98940942e-01 4.13924417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48509989299997 meters 0.02776166739154545 Centerline is valid? [True, True] Translation: X:117.14, Y:7.56, Z:4.14 [[ 9.92376378e-01 -1.14297098e-01 -4.61009620e-02 1.17135459e+02] [ 1.14301799e-01 9.93442818e-01 -2.54279972e-03 7.56395868e+00] [ 4.60893042e-02 -2.74600852e-03 9.98933549e-01 4.14204666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54509989299997 meters 0.029009111262877696 Centerline is valid? [True, True] Translation: X:117.20, Y:7.57, Z:4.14 [[ 9.92445456e-01 -1.13779788e-01 -4.58930940e-02 1.17196240e+02] [ 1.13784011e-01 9.93502292e-01 -2.52882740e-03 7.56848841e+00] [ 4.58826235e-02 -2.71217703e-03 9.98943156e-01 4.14427189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60509989299997 meters 0.027525727989040693 Centerline is valid? [True, True] Translation: X:117.26, Y:7.58, Z:4.15 [[ 9.92658053e-01 -1.12392738e-01 -4.46974605e-02 1.17256969e+02] [ 1.12395439e-01 9.93660510e-01 -2.46071212e-03 7.57575605e+00] [ 4.46906676e-02 -2.58114501e-03 9.98997538e-01 4.14794099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66509989299998 meters 0.026050994980480774 Centerline is valid? [True, True] Translation: X:117.32, Y:7.58, Z:4.15 [[ 9.92931545e-01 -1.10317524e-01 -4.37834474e-02 1.17317927e+02] [ 1.10318172e-01 9.93893404e-01 -2.40882010e-03 7.58403737e+00] [ 4.37818147e-02 -2.43831640e-03 9.99038141e-01 4.14996890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72509989299998 meters 0.02634837010710757 Centerline is valid? [True, True] Translation: X:117.38, Y:7.59, Z:4.15 [[ 9.92862239e-01 -1.11366936e-01 -4.26846598e-02 1.17379730e+02] [ 1.11368590e-01 9.93776399e-01 -2.34663065e-03 7.58827421e+00] [ 4.26803446e-02 -2.42384941e-03 9.99085839e-01 4.15278640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78509989299998 meters 0.02723715323330921 Centerline is valid? [True, True] Translation: X:117.44, Y:7.59, Z:4.16 [[ 9.92533076e-01 -1.14239002e-01 -4.27497746e-02 1.17440566e+02] [ 1.14243436e-01 9.93450012e-01 -2.34736335e-03 7.59075681e+00] [ 4.27379245e-02 -2.55404538e-03 9.99083053e-01 4.15512672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84509989299997 meters 0.030954487159717027 Centerline is valid? [True, True] Translation: X:117.50, Y:7.59, Z:4.15 [[ 9.92193334e-01 -1.16350202e-01 -4.48889602e-02 1.17501124e+02] [ 1.16357286e-01 9.93204365e-01 -2.46396713e-03 7.58817868e+00] [ 4.48705943e-02 -2.77842581e-03 9.98988944e-01 4.15415744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90509989299997 meters 0.03167665722475794 Centerline is valid? [True, True] Translation: X:117.56, Y:7.59, Z:4.16 [[ 9.92227083e-01 -1.15884614e-01 -4.53450398e-02 1.17563697e+02] [ 1.15891424e-01 9.93258773e-01 -2.48760837e-03 7.59177494e+00] [ 4.53276341e-02 -2.78682881e-03 9.98968287e-01 4.15596825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96509989299997 meters 0.02919005251194919 Centerline is valid? [True, True] Translation: X:117.63, Y:7.60, Z:4.16 [[ 9.92379539e-01 -1.14623258e-01 -4.52145823e-02 1.17625406e+02] [ 1.14628897e-01 9.93405296e-01 -2.47660586e-03 7.59959197e+00] [ 4.52002822e-02 -2.72516473e-03 9.98974228e-01 4.15921296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02509989299998 meters 0.028577191258819485 Centerline is valid? [True, True] Translation: X:117.69, Y:7.60, Z:4.16 [[ 9.92631615e-01 -1.13084819e-01 -4.35235566e-02 1.17686483e+02] [ 1.13088689e-01 9.93582044e-01 -2.38116605e-03 7.60498439e+00] [ 4.35134980e-02 -2.55840127e-03 9.99049563e-01 4.16264065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08509989299998 meters 0.026638827415447326 Centerline is valid? [True, True] Translation: X:117.75, Y:7.61, Z:4.17 [[ 9.92929316e-01 -1.11324878e-01 -4.12085445e-02 1.17748104e+02] [ 1.11326895e-01 9.93781287e-01 -2.25301649e-03 7.61096910e+00] [ 4.12030972e-02 -2.35053317e-03 9.99148027e-01 4.16508362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14509989299998 meters 0.030244199429663658 Centerline is valid? [True, True] Translation: X:117.81, Y:7.61, Z:4.17 [[ 9.92776084e-01 -1.12562213e-01 -4.15378817e-02 1.17809269e+02] [ 1.12565437e-01 9.93641724e-01 -2.26871827e-03 7.60829750e+00] [ 4.15291444e-02 -2.42340057e-03 9.99134354e-01 4.16546147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20509989299998 meters 0.03118107593237749 Centerline is valid? [True, True] Translation: X:117.87, Y:7.61, Z:4.17 [[ 9.92504216e-01 -1.15098066e-01 -4.10830492e-02 1.17870770e+02] [ 1.15103470e-01 9.93350978e-01 -2.24174039e-03 7.60913282e+00] [ 4.10679070e-02 -2.50386471e-03 9.99153220e-01 4.16788605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26509989299997 meters 0.028321461885860905 Centerline is valid? [True, True] Translation: X:117.93, Y:7.61, Z:4.17 [[ 9.92498015e-01 -1.15331585e-01 -4.05748186e-02 1.17932526e+02] [ 1.15337112e-01 9.93323943e-01 -2.21246419e-03 7.61482062e+00] [ 4.05591058e-02 -2.48391607e-03 9.99174053e-01 4.17082516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32509989299997 meters 0.030725781023329988 Centerline is valid? [True, True] Translation: X:117.99, Y:7.61, Z:4.18 [[ 9.92684079e-01 -1.14353374e-01 -3.87508129e-02 1.17994023e+02] [ 1.14357773e-01 9.93437389e-01 -2.11030211e-03 7.61397708e+00] [ 3.87378266e-02 -2.33659338e-03 9.99246677e-01 4.17505221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38509989299997 meters 0.0266096028979972 Centerline is valid? [True, True] Translation: X:118.05, Y:7.62, Z:4.18 [[ 9.93098295e-01 -1.10537803e-01 -3.92067721e-02 1.18053961e+02] [ 1.10539425e-01 9.93869451e-01 -2.13307904e-03 7.62482508e+00] [ 3.92021989e-02 -2.21553688e-03 9.99228842e-01 4.17771907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44509989299998 meters 0.026956337586943498 Centerline is valid? [True, True] Translation: X:118.11, Y:7.63, Z:4.18 [[ 9.93312474e-01 -1.08471636e-01 -3.95503836e-02 1.18114088e+02] [ 1.08471656e-01 9.94097213e-01 -2.15173147e-03 7.62701281e+00] [ 3.95503280e-02 -2.15275390e-03 9.99215261e-01 4.17854320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50509989299998 meters 0.027556539423379805 Centerline is valid? [True, True] Translation: X:118.17, Y:7.63, Z:4.18 [[ 9.93639270e-01 -1.05561534e-01 -3.92143352e-02 1.18174489e+02] [ 1.05559321e-01 9.94410721e-01 -2.13273815e-03 7.62896373e+00] [ 3.92202905e-02 -2.02026625e-03 9.99228546e-01 4.18009215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56509989299998 meters 0.024320904596447538 Centerline is valid? [True, True] Translation: X:118.24, Y:7.64, Z:4.18 [[ 9.93970508e-01 -1.02645064e-01 -3.85567126e-02 1.18235426e+02] [ 1.02640763e-01 9.94716281e-01 -2.09626795e-03 7.63691655e+00] [ 3.85681613e-02 -1.87386188e-03 9.99254215e-01 4.18190646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62509989299997 meters 0.026149688232990992 Centerline is valid? [True, True] Translation: X:118.30, Y:7.64, Z:4.18 [[ 9.93979388e-01 -1.02630467e-01 -3.83661656e-02 1.18297810e+02] [ 1.02626253e-01 9.94717803e-01 -2.08445073e-03 7.63682555e+00] [ 3.83774361e-02 -1.86547474e-03 9.99261574e-01 4.18404236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68509989299997 meters 0.025486770409816298 Centerline is valid? [True, True] Translation: X:118.36, Y:7.64, Z:4.19 [[ 9.93876945e-01 -1.04113071e-01 -3.70011758e-02 1.18360077e+02] [ 1.04110294e-01 9.94563733e-01 -2.00707680e-03 7.63885184e+00] [ 3.70089904e-02 -1.85741592e-03 9.99313206e-01 4.18744171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74509989299997 meters 0.027459697896133912 Centerline is valid? [True, True] Translation: X:118.42, Y:7.64, Z:4.19 [[ 9.93675455e-01 -1.06257368e-01 -3.63106320e-02 1.18421915e+02] [ 1.06256214e-01 9.94336838e-01 -1.96703023e-03 7.63780114e+00] [ 3.63140105e-02 -1.90364062e-03 9.99338616e-01 4.19061335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80509989299998 meters 0.025378273580848654 Centerline is valid? [True, True] Translation: X:118.48, Y:7.64, Z:4.19 [[ 9.93533720e-01 -1.07918689e-01 -3.52747022e-02 1.18483391e+02] [ 1.07918706e-01 9.94157889e-01 -1.90910910e-03 7.64207003e+00] [ 3.52746521e-02 -1.91003595e-03 9.99375831e-01 4.19332999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86509989299998 meters 0.028089230539214048 Centerline is valid? [True, True] Translation: X:118.54, Y:7.64, Z:4.20 [[ 9.93452562e-01 -1.08533986e-01 -3.56704536e-02 1.18544350e+02] [ 1.08534466e-01 9.94090816e-01 -1.92863206e-03 7.63970124e+00] [ 3.56689925e-02 -1.95546919e-03 9.99361746e-01 4.19579607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92509989299998 meters 0.030899738055635503 Centerline is valid? [True, True] Translation: X:118.61, Y:7.64, Z:4.20 [[ 9.93293196e-01 -1.09661498e-01 -3.66467333e-02 1.18605195e+02] [ 1.09662949e-01 9.93966866e-01 -1.97655713e-03 7.63678455e+00] [ 3.66423909e-02 -2.05548811e-03 9.99326328e-01 4.19731718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98509989299997 meters 0.027761214467728317 Centerline is valid? [True, True] Translation: X:118.67, Y:7.64, Z:4.20 [[ 9.93195320e-01 -1.10627693e-01 -3.63946496e-02 1.18666877e+02] [ 1.10629816e-01 9.93859746e-01 -1.96171515e-03 7.64155005e+00] [ 3.63881973e-02 -2.07796709e-03 9.99335570e-01 4.19869056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04509989299997 meters 0.029041190342276136 Centerline is valid? [True, True] Translation: X:118.73, Y:7.64, Z:4.20 [[ 9.92979847e-01 -1.12251402e-01 -3.72913713e-02 1.18728590e+02] [ 1.12254876e-01 9.93677419e-01 -2.00726941e-03 7.64067376e+00] [ 3.72809124e-02 -2.19296020e-03 9.99302419e-01 4.19966592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10509989299997 meters 0.02881952303380053 Centerline is valid? [True, True] Translation: X:118.79, Y:7.64, Z:4.20 [[ 9.92814037e-01 -1.13297567e-01 -3.85220505e-02 1.18790968e+02] [ 1.13302145e-01 9.93558420e-01 -2.07133513e-03 7.64138931e+00] [ 3.85085848e-02 -2.30818035e-03 9.99255604e-01 4.20031321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16509989299998 meters 0.029255663744400376 Centerline is valid? [True, True] Translation: X:118.85, Y:7.64, Z:4.20 [[ 9.92665458e-01 -1.14603637e-01 -3.84875900e-02 1.18853233e+02] [ 1.14609292e-01 9.93408496e-01 -2.06668674e-03 7.64189181e+00] [ 3.84707487e-02 -2.35950689e-03 9.99256941e-01 4.20221800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22509989299998 meters 0.03162605161592395 Centerline is valid? [True, True] Translation: X:118.91, Y:7.64, Z:4.20 [[ 9.92510919e-01 -1.15790711e-01 -3.89177065e-02 1.18914636e+02] [ 1.15797512e-01 9.93270648e-01 -2.08694351e-03 7.63984744e+00] [ 3.88974642e-02 -2.43525937e-03 9.99240240e-01 4.20413507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28509989299998 meters 0.030298859226295032 Centerline is valid? [True, True] Translation: X:118.98, Y:7.64, Z:4.21 [[ 9.92496227e-01 -1.15602447e-01 -3.98410979e-02 1.18977226e+02] [ 1.15609515e-01 9.93292447e-01 -2.13421002e-03 7.64214388e+00] [ 3.98205815e-02 -2.48781462e-03 9.99203749e-01 4.20556593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34509989299997 meters 0.0277847457638151 Centerline is valid? [True, True] Translation: X:119.04, Y:7.65, Z:4.21 [[ 9.93048306e-01 -1.11007783e-01 -3.91450330e-02 1.19037724e+02] [ 1.11011152e-01 9.93816954e-01 -2.09425720e-03 7.64680443e+00] [ 3.91354763e-02 -2.26583665e-03 9.99231345e-01 4.20897443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40509989299997 meters 0.029127682286116053 Centerline is valid? [True, True] Translation: X:119.10, Y:7.65, Z:4.21 [[ 9.93451174e-01 -1.07289234e-01 -3.92910424e-02 1.19097929e+02] [ 1.07289734e-01 9.94225575e-01 -2.10195799e-03 7.64816469e+00] [ 3.92896767e-02 -2.12733285e-03 9.99225598e-01 4.21168906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46509989299997 meters 0.022151552038865374 Centerline is valid? [True, True] Translation: X:119.16, Y:7.66, Z:4.21 [[ 9.94109102e-01 -1.00836520e-01 -3.97377684e-02 1.19158052e+02] [ 1.00831890e-01 9.94901207e-01 -2.12584426e-03 7.66132186e+00] [ 3.97495165e-02 -1.89351315e-03 9.99207882e-01 4.21456467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52509989299998 meters 0.023516080702889963 Centerline is valid? [True, True] Translation: X:119.22, Y:7.66, Z:4.22 [[ 9.94620920e-01 -9.56061273e-02 -3.98584247e-02 1.19217446e+02] [ 9.55972825e-02 9.95417808e-01 -2.13216205e-03 7.66267106e+00] [ 3.98796335e-02 -1.68966410e-03 9.99203062e-01 4.21672688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58509989299998 meters 0.021368964483780176 Centerline is valid? [True, True] Translation: X:119.28, Y:7.67, Z:4.22 [[ 9.95085550e-01 -9.06930807e-02 -3.97430928e-02 1.19277979e+02] [ 9.06803490e-02 9.95877780e-01 -2.12663000e-03 7.66988686e+00] [ 3.97721336e-02 -1.48773874e-03 9.99207668e-01 4.21968930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64509989299998 meters 0.018901039689160574 Centerline is valid? [True, True] Translation: X:119.34, Y:7.68, Z:4.22 [[ 9.95470308e-01 -8.54087377e-02 -4.17637886e-02 1.19338906e+02] [ 8.53900681e-02 9.96345094e-01 -2.23397826e-03 7.67714530e+00] [ 4.18019472e-02 -1.34235373e-03 9.99125015e-01 4.22136147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70509989299998 meters 0.018245237313879198 Centerline is valid? [True, True] Translation: X:119.40, Y:7.68, Z:4.22 [[ 9.95706379e-01 -8.16217581e-02 -4.36657214e-02 1.19399254e+02] [ 8.15977515e-02 9.96662609e-01 -2.33484394e-03 7.68076882e+00] [ 4.37105659e-02 -1.23820568e-03 9.99043469e-01 4.22126000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76509989299997 meters 0.01796134217141686 Centerline is valid? [True, True] Translation: X:119.46, Y:7.68, Z:4.22 [[ 9.95868474e-01 -8.02167293e-02 -4.25588843e-02 1.19459473e+02] [ 8.01926697e-02 9.96776785e-01 -2.27501179e-03 7.68427286e+00] [ 4.26042019e-02 -1.14729803e-03 9.99091370e-01 4.22375124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82509989299997 meters 0.01756038231848001 Centerline is valid? [True, True] Translation: X:119.52, Y:7.69, Z:4.23 [[ 9.95817714e-01 -8.14473939e-02 -4.13932734e-02 1.19519443e+02] [ 8.14256954e-02 9.96676959e-01 -2.21270333e-03 7.68762153e+00] [ 4.14359408e-02 -1.16702690e-03 9.99140481e-01 4.22742428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88509989299997 meters 0.02129849639745835 Centerline is valid? [True, True] Translation: X:119.58, Y:7.68, Z:4.23 [[ 9.94785917e-01 -9.36448945e-02 -4.03932186e-02 1.19580325e+02] [ 9.36342585e-02 9.95604321e-01 -2.15926956e-03 7.68100002e+00] [ 4.04178675e-02 -1.63417812e-03 9.99181528e-01 4.23182600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94509989299998 meters 0.024117798795999724 Centerline is valid? [True, True] Translation: X:119.64, Y:7.68, Z:4.23 [[ 9.94270491e-01 -9.86400343e-02 -4.11865793e-02 1.19640076e+02] [ 9.86332467e-02 9.95121417e-01 -2.20178564e-03 7.67854279e+00] [ 4.12028314e-02 -1.87319555e-03 9.99149047e-01 4.23298183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00509989299998 meters 0.026805262295354553 Centerline is valid? [True, True] Translation: X:119.70, Y:7.68, Z:4.23 [[ 9.93583654e-01 -1.05204787e-01 -4.15147671e-02 1.19700311e+02] [ 1.05203679e-01 9.94448223e-01 -2.21745294e-03 7.67557756e+00] [ 4.15175731e-02 -2.16428126e-03 9.99135430e-01 4.23450055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06509989299998 meters 0.025987609492074813 Centerline is valid? [True, True] Translation: X:119.76, Y:7.68, Z:4.24 [[ 9.93243274e-01 -1.08100194e-01 -4.22154879e-02 1.19761027e+02] [ 1.08101675e-01 9.94137287e-01 -2.25441730e-03 7.67913077e+00] [ 4.22116935e-02 -2.32438014e-03 9.99105985e-01 4.23660924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12509989299997 meters 0.026884959903647723 Centerline is valid? [True, True] Translation: X:119.82, Y:7.68, Z:4.24 [[ 9.92992996e-01 -1.10006021e-01 -4.31692579e-02 1.19822152e+02] [ 1.10009450e-01 9.93927872e-01 -2.30343569e-03 7.68024790e+00] [ 4.31605204e-02 -2.46173079e-03 9.99065118e-01 4.23858574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18509989299997 meters 0.02669976616580991 Centerline is valid? [True, True] Translation: X:119.88, Y:7.68, Z:4.24 [[ 9.93062665e-01 -1.08905190e-01 -4.43418887e-02 1.19883887e+02] [ 1.08907802e-01 9.94049044e-01 -2.36409439e-03 7.68399087e+00] [ 4.43354742e-02 -2.48148375e-03 9.99013618e-01 4.23973865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24509989299997 meters 0.02795402718050486 Centerline is valid? [True, True] Translation: X:119.94, Y:7.69, Z:4.24 [[ 9.93261712e-01 -1.06970241e-01 -4.45930405e-02 1.19944347e+02] [ 1.06971067e-01 9.94259298e-01 -2.37462344e-03 7.68611516e+00] [ 4.45910592e-02 -2.41154258e-03 9.99002413e-01 4.24187813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30509989299998 meters 0.02749087631975407 Centerline is valid? [True, True] Translation: X:120.01, Y:7.69, Z:4.25 [[ 9.93556888e-01 -1.04357900e-01 -4.42056398e-02 1.20005203e+02] [ 1.04356167e-01 9.94537205e-01 -2.35321373e-03 7.69187010e+00] [ 4.42097299e-02 -2.27507942e-03 9.99019681e-01 4.24534311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36509989299998 meters 0.02638221632102186 Centerline is valid? [True, True] Translation: X:120.07, Y:7.70, Z:4.25 [[ 9.93732612e-01 -1.03022351e-01 -4.33807642e-02 1.20066159e+02] [ 1.03019449e-01 9.94676663e-01 -2.30844877e-03 7.69797737e+00] [ 4.33876556e-02 -2.17508160e-03 9.99055945e-01 4.24911574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42509989299998 meters 0.0274303661692272 Centerline is valid? [True, True] Translation: X:120.13, Y:7.70, Z:4.25 [[ 9.93717930e-01 -1.02905590e-01 -4.39899400e-02 1.20127340e+02] [ 1.02902567e-01 9.94688690e-01 -2.33918200e-03 7.69998593e+00] [ 4.39970107e-02 -2.20219066e-03 9.99029236e-01 4.25065951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48509989299997 meters 0.025066689070065297 Centerline is valid? [True, True] Translation: X:120.19, Y:7.71, Z:4.25 [[ 9.93596230e-01 -1.03594046e-01 -4.51088243e-02 1.20188644e+02] [ 1.03591680e-01 9.94617022e-01 -2.39639703e-03 7.70783032e+00] [ 4.51142570e-02 -2.29184786e-03 9.98979205e-01 4.25327937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54509989299997 meters 0.023717405852544667 Centerline is valid? [True, True] Translation: X:120.25, Y:7.72, Z:4.26 [[ 9.93500914e-01 -1.04546943e-01 -4.50096722e-02 1.20249451e+02] [ 1.04545635e-01 9.94517220e-01 -2.38950062e-03 7.71540673e+00] [ 4.50127090e-02 -2.33159372e-03 9.98983693e-01 4.25664331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60509989299997 meters 0.027423099190974798 Centerline is valid? [True, True] Translation: X:120.31, Y:7.71, Z:4.26 [[ 9.93412064e-01 -1.05309853e-01 -4.51918734e-02 1.20309718e+02] [ 1.05309391e-01 9.94436616e-01 -2.39764424e-03 7.71408213e+00] [ 4.51929492e-02 -2.37727997e-03 9.98975448e-01 4.25830591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66509989299998 meters 0.025813671934356564 Centerline is valid? [True, True] Translation: X:120.37, Y:7.72, Z:4.26 [[ 9.93313694e-01 -1.06080601e-01 -4.55501039e-02 1.20370727e+02] [ 1.06080985e-01 9.94354559e-01 -2.41566615e-03 7.72031467e+00] [ 4.55492088e-02 -2.43248565e-03 9.98959135e-01 4.26034584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72509989299998 meters 0.02937563856548195 Centerline is valid? [True, True] Translation: X:120.43, Y:7.72, Z:4.26 [[ 9.93232202e-01 -1.07034963e-01 -4.50922328e-02 1.20431511e+02] [ 1.07036391e-01 9.94252232e-01 -2.38976918e-03 7.71975787e+00] [ 4.50888419e-02 -2.45291415e-03 9.98979970e-01 4.26194308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78509989299998 meters 0.028498438120532616 Centerline is valid? [True, True] Translation: X:120.49, Y:7.73, Z:4.27 [[ 9.93295841e-01 -1.06770314e-01 -4.43110951e-02 1.20492545e+02] [ 1.06771498e-01 9.94280815e-01 -2.34681224e-03 7.72687466e+00] [ 4.43082416e-02 -2.40008315e-03 9.99015025e-01 4.26625111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84509989299997 meters 0.026682536439106022 Centerline is valid? [True, True] Translation: X:120.55, Y:7.73, Z:4.27 [[ 9.93301893e-01 -1.06672810e-01 -4.44101487e-02 1.20554310e+02] [ 1.06673983e-01 9.94291274e-01 -2.35023450e-03 7.73368143e+00] [ 4.44073295e-02 -2.40291509e-03 9.99010618e-01 4.26965698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90509989299997 meters 0.026238504191887543 Centerline is valid? [True, True] Translation: X:120.62, Y:7.74, Z:4.27 [[ 9.93185175e-01 -1.07169464e-01 -4.58029861e-02 1.20616528e+02] [ 1.07171397e-01 9.94237614e-01 -2.42055499e-03 7.73814909e+00] [ 4.57984611e-02 -2.50471069e-03 9.98947560e-01 4.27181875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96509989299997 meters 0.024969273859320074 Centerline is valid? [True, True] Translation: X:120.68, Y:7.74, Z:4.27 [[ 9.93205991e-01 -1.06661439e-01 -4.65316663e-02 1.20678698e+02] [ 1.06663042e-01 9.94292193e-01 -2.45562280e-03 7.74355364e+00] [ 4.65279928e-02 -2.52426978e-03 9.98913797e-01 4.27428514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02509989299998 meters 0.024812481789197746 Centerline is valid? [True, True] Translation: X:120.74, Y:7.75, Z:4.28 [[ 9.93455112e-01 -1.03840385e-01 -4.75827164e-02 1.20740390e+02] [ 1.03838999e-01 9.94590958e-01 -2.50770044e-03 7.74864828e+00] [ 4.75857400e-02 -2.44965382e-03 9.98864153e-01 4.27661805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08509989299998 meters 0.022343639155386216 Centerline is valid? [True, True] Translation: X:120.80, Y:7.76, Z:4.28 [[ 9.93991378e-01 -9.83890256e-02 -4.79660406e-02 1.20800137e+02] [ 9.83813896e-02 9.95145579e-01 -2.52576287e-03 7.75761907e+00] [ 4.79817006e-02 -2.20837922e-03 9.98845774e-01 4.28004177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14509989299998 meters 0.023326065746264005 Centerline is valid? [True, True] Translation: X:120.86, Y:7.76, Z:4.28 [[ 9.94373810e-01 -9.46071277e-02 -4.76468081e-02 1.20859527e+02] [ 9.45952642e-02 9.95512653e-01 -2.50886542e-03 7.76001991e+00] [ 4.76703569e-02 -2.01241234e-03 9.98861095e-01 4.28180769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20509989299997 meters 0.019652488458460533 Centerline is valid? [True, True] Translation: X:120.92, Y:7.77, Z:4.29 [[ 9.94678626e-01 -9.12296836e-02 -4.78704059e-02 1.20920828e+02] [ 9.12138009e-02 9.95828142e-01 -2.52072639e-03 7.76921458e+00] [ 4.79006625e-02 -1.85912901e-03 9.98850374e-01 4.28580978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26509989299997 meters 0.019351715333846803 Centerline is valid? [True, True] Translation: X:120.98, Y:7.77, Z:4.29 [[ 9.94798765e-01 -8.90740348e-02 -4.94088346e-02 1.20981829e+02] [ 8.90545916e-02 9.96023355e-01 -2.59915586e-03 7.77180881e+00] [ 4.94438705e-02 -1.81444655e-03 9.98775256e-01 4.28752435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32509989299997 meters 0.019359839414142457 Centerline is valid? [True, True] Translation: X:121.04, Y:7.78, Z:4.29 [[ 9.95029558e-01 -8.62082003e-02 -4.98430111e-02 1.21041308e+02] [ 8.61849071e-02 9.96275713e-01 -2.62035152e-03 7.77510722e+00] [ 4.98832772e-02 -1.68838806e-03 9.98753627e-01 4.29043747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38509989299997 meters 0.01817781602031087 Centerline is valid? [True, True] Translation: X:121.10, Y:7.78, Z:4.29 [[ 9.95220230e-01 -8.41695659e-02 -4.95194616e-02 1.21101351e+02] [ 8.41440934e-02 9.96450199e-01 -2.60254645e-03 7.78052854e+00] [ 4.95627326e-02 -1.57666332e-03 9.98769768e-01 4.29412342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44509989299998 meters 0.0173207368404827 Centerline is valid? [True, True] Translation: X:121.16, Y:7.78, Z:4.30 [[ 9.95274343e-01 -8.27927550e-02 -5.07379817e-02 1.21161093e+02] [ 8.27642035e-02 9.96565589e-01 -2.66708172e-03 7.78457135e+00] [ 5.07845416e-02 -1.54481064e-03 9.98708438e-01 4.29656622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50509989299998 meters 0.018713681838362896 Centerline is valid? [True, True] Translation: X:121.22, Y:7.78, Z:4.30 [[ 9.95147262e-01 -8.38753425e-02 -5.14475782e-02 1.21219766e+02] [ 8.38473052e-02 9.96474938e-01 -2.70684301e-03 7.78289330e+00] [ 5.14932597e-02 -1.62003338e-03 9.98672028e-01 4.29715679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56509989299998 meters 0.02001334451206006 Centerline is valid? [True, True] Translation: X:121.28, Y:7.78, Z:4.30 [[ 9.94991028e-01 -8.62186856e-02 -5.05884708e-02 1.21277068e+02] [ 8.61943548e-02 9.96274773e-01 -2.66645330e-03 7.78132707e+00] [ 5.06299153e-02 -1.70734349e-03 9.98716024e-01 4.29984824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62509989299997 meters 0.02010992959641393 Centerline is valid? [True, True] Translation: X:121.34, Y:7.78, Z:4.30 [[ 9.94696142e-01 -8.94423414e-02 -5.07902833e-02 1.21336822e+02] [ 8.94216944e-02 9.95990241e-01 -2.68328395e-03 7.78155682e+00] [ 5.08266257e-02 -1.87270100e-03 9.98705736e-01 4.30367672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68509989299997 meters 0.020811320090742456 Centerline is valid? [True, True] Translation: X:121.40, Y:7.78, Z:4.31 [[ 9.93916402e-01 -9.65673541e-02 -5.29616100e-02 1.21397833e+02] [ 9.65549196e-02 9.95323722e-01 -2.79938637e-03 7.77972756e+00] [ 5.29842761e-02 -2.33134796e-03 9.98592625e-01 4.30690049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74509989299997 meters 0.023132981636009988 Centerline is valid? [True, True] Translation: X:121.46, Y:7.78, Z:4.31 [[ 9.93447112e-01 -1.01036000e-01 -5.34281086e-02 1.21458423e+02] [ 1.01029765e-01 9.94879394e-01 -2.82448361e-03 7.77666238e+00] [ 5.34398988e-02 -2.59185416e-03 9.98567704e-01 4.30852026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80509989299998 meters 0.023597467605612266 Centerline is valid? [True, True] Translation: X:121.52, Y:7.78, Z:4.31 [[ 9.93542341e-01 -1.01767779e-01 -5.01690718e-02 1.21517571e+02] [ 1.01763131e-01 9.94805118e-01 -2.65358219e-03 7.77721654e+00] [ 5.01784986e-02 -2.46891558e-03 9.98737214e-01 4.31420806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86509989299998 meters 0.025595691651852923 Centerline is valid? [True, True] Translation: X:121.58, Y:7.78, Z:4.31 [[ 9.93545740e-01 -1.00590417e-01 -5.24254706e-02 1.21577633e+02] [ 1.00583641e-01 9.94924738e-01 -2.77434226e-03 7.77719802e+00] [ 5.24384698e-02 -2.51670877e-03 9.98620986e-01 4.31474256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92509989299998 meters 0.02478367384372486 Centerline is valid? [True, True] Translation: X:121.64, Y:7.78, Z:4.32 [[ 9.93601723e-01 -9.95377366e-02 -5.33652923e-02 1.21636994e+02] [ 9.95291746e-02 9.95030635e-01 -2.82464279e-03 7.78079991e+00] [ 5.33812592e-02 -2.50483355e-03 9.98571063e-01 4.31667896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98509989299997 meters 0.021891872308590705 Centerline is valid? [True, True] Translation: X:121.70, Y:7.79, Z:4.32 [[ 9.93664402e-01 -9.89262753e-02 -5.33352384e-02 1.21696208e+02] [ 9.89167432e-02 9.95091703e-01 -2.82494799e-03 7.78766606e+00] [ 5.33529148e-02 -2.46869782e-03 9.98572667e-01 4.31980508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04509989299997 meters 0.02080879132808984 Centerline is valid? [True, True] Translation: X:121.76, Y:7.79, Z:4.32 [[ 9.94009508e-01 -9.58074901e-02 -5.25929945e-02 1.21755560e+02] [ 9.57937635e-02 9.95397300e-01 -2.78754393e-03 7.79143554e+00] [ 5.26179923e-02 -2.26723571e-03 9.98612140e-01 4.32190198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10509989299997 meters 0.019611761076788397 Centerline is valid? [True, True] Translation: X:121.81, Y:7.80, Z:4.32 [[ 9.94721994e-01 -8.89318030e-02 -5.11789928e-02 1.21814363e+02] [ 8.89096315e-02 9.96035999e-01 -2.71422394e-03 7.79777815e+00] [ 5.12175000e-02 -1.85040713e-03 9.98685808e-01 4.32378585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16509989299998 meters 0.018178173021366106 Centerline is valid? [True, True] Translation: X:121.87, Y:7.80, Z:4.33 [[ 9.94925934e-01 -8.69140970e-02 -5.06786567e-02 1.21872704e+02] [ 8.68896534e-02 9.96214312e-01 -2.68945107e-03 7.80346035e+00] [ 5.07205543e-02 -1.72764630e-03 9.98711390e-01 4.32696773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22509989299998 meters 0.019373083917992324 Centerline is valid? [True, True] Translation: X:121.93, Y:7.80, Z:4.33 [[ 9.95085402e-01 -8.58201584e-02 -4.93957883e-02 1.21930108e+02] [ 8.57954044e-02 9.96309318e-01 -2.62510248e-03 7.80477093e+00] [ 4.94387709e-02 -1.62573047e-03 9.98775833e-01 4.32898324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28509989299998 meters 0.019076774811900937 Centerline is valid? [True, True] Translation: X:121.99, Y:7.81, Z:4.33 [[ 9.95230062e-01 -8.40849768e-02 -4.94655447e-02 1.21988643e+02] [ 8.40577007e-02 9.96457405e-01 -2.63510885e-03 7.80817940e+00] [ 4.95118813e-02 -1.53542040e-03 9.98772354e-01 4.33035153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34509989299997 meters 0.018040017284249088 Centerline is valid? [True, True] Translation: X:122.05, Y:7.81, Z:4.33 [[ 9.95634898e-01 -7.97921908e-02 -4.84185599e-02 1.22048037e+02] [ 7.97605379e-02 9.96810692e-01 -2.58855093e-03 7.81352117e+00] [ 4.84706844e-02 -1.28463875e-03 9.98823779e-01 4.33263976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40509989299997 meters 0.01433984973250613 Centerline is valid? [True, True] Translation: X:122.11, Y:7.83, Z:4.33 [[ 9.96298757e-01 -6.98325945e-02 -5.01218030e-02 1.22107730e+02] [ 6.97859847e-02 9.97558382e-01 -2.68147105e-03 7.82674275e+00] [ 5.01866788e-02 -8.26253104e-04 9.98739513e-01 4.33425501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46509989299997 meters 0.012992607599169708 Centerline is valid? [True, True] Translation: X:122.17, Y:7.84, Z:4.34 [[ 9.97346840e-01 -5.48696793e-02 -4.78393068e-02 1.22167227e+02] [ 5.48099196e-02 9.98493522e-01 -2.56105790e-03 7.83737755e+00] [ 4.79077624e-02 -6.78055608e-05 9.98851762e-01 4.33714839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52509989299998 meters 0.012951662377387348 Centerline is valid? [True, True] Translation: X:122.22, Y:7.84, Z:4.34 [[ 9.97448927e-01 -5.38228494e-02 -4.68907104e-02 1.22224625e+02] [ 5.37641219e-02 9.98550500e-01 -2.51366241e-03 7.84108029e+00] [ 4.69580348e-02 -1.37879981e-05 9.98896863e-01 4.33996196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58509989299998 meters 0.012973242717482455 Centerline is valid? [True, True] Translation: X:122.28, Y:7.84, Z:4.34 [[ 9.97500606e-01 -5.33190642e-02 -4.63639879e-02 1.22282301e+02] [ 5.32604992e-02 9.98577527e-01 -2.49847008e-03 7.84444761e+00] [ 4.64312525e-02 2.28562749e-05 9.98921488e-01 4.34251397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64509989299998 meters 0.012951229426612447 Centerline is valid? [True, True] Translation: X:122.34, Y:7.85, Z:4.35 [[ 9.97582421e-01 -5.29310350e-02 -4.50290912e-02 1.22339776e+02] [ 5.28748339e-02 9.98598169e-01 -2.43908568e-03 7.84708102e+00] [ 4.50950713e-02 5.22832851e-05 9.98982698e-01 4.34643320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70509989299997 meters 0.012943519828766828 Centerline is valid? [True, True] Translation: X:122.40, Y:7.85, Z:4.35 [[ 9.97596906e-01 -5.31946520e-02 -4.43930415e-02 1.22396498e+02] [ 5.31397698e-02 9.98584161e-01 -2.41630350e-03 7.84987688e+00] [ 4.44587225e-02 5.14608950e-05 9.99011221e-01 4.34842041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76509989299997 meters 0.013054088346043642 Centerline is valid? [True, True] Translation: X:122.45, Y:7.85, Z:4.35 [[ 9.97437241e-01 -5.68529659e-02 -4.34360473e-02 1.22453953e+02] [ 5.68036600e-02 9.98382557e-01 -2.36954252e-03 7.84958255e+00] [ 4.35005075e-02 -1.03856515e-04 9.99053400e-01 4.35134812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82509989299997 meters 0.013687465008505574 Centerline is valid? [True, True] Translation: X:122.51, Y:7.84, Z:4.35 [[ 9.96976665e-01 -6.51773669e-02 -4.23017663e-02 1.22512609e+02] [ 6.51378495e-02 9.97873594e-01 -2.31331803e-03 7.84476849e+00] [ 4.23625915e-02 -4.49121988e-04 9.99102202e-01 4.35378896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88509989299997 meters 0.014380128619393591 Centerline is valid? [True, True] Translation: X:122.57, Y:7.84, Z:4.36 [[ 9.96752658e-01 -6.87207854e-02 -4.19713350e-02 1.22570693e+02] [ 6.86846173e-02 9.97635761e-01 -2.30486393e-03 7.84387404e+00] [ 4.20304968e-02 -5.85405837e-04 9.99116157e-01 4.35565832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94509989299998 meters 0.016293714319915872 Centerline is valid? [True, True] Translation: X:122.63, Y:7.84, Z:4.36 [[ 9.95954751e-01 -7.93898592e-02 -4.20878106e-02 1.22631109e+02] [ 7.93628591e-02 9.96843107e-01 -2.31462019e-03 7.83795597e+00] [ 4.21387013e-02 -1.03495201e-03 9.99111234e-01 4.35728429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00509989299998 meters 0.0245446135414505 Centerline is valid? [True, True] Translation: X:122.69, Y:7.82, Z:4.36 [[ 9.94271926e-01 -9.84635622e-02 -4.15723895e-02 1.22691493e+02] [ 9.84538107e-02 9.95138994e-01 -2.28685998e-03 7.81908266e+00] [ 4.15954783e-02 -1.81919949e-03 9.99132877e-01 4.35768592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06509989299998 meters 0.02702220189698674 Centerline is valid? [True, True] Translation: X:122.75, Y:7.81, Z:4.36 [[ 9.92686613e-01 -1.13835791e-01 -4.01833438e-02 1.22752843e+02] [ 1.13839241e-01 9.93496726e-01 -2.20975337e-03 7.81430701e+00] [ 4.01735695e-02 -2.38084877e-03 9.99189880e-01 4.36152313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12509989299997 meters 0.02825255171097942 Centerline is valid? [True, True] Translation: X:122.81, Y:7.82, Z:4.36 [[ 9.92429231e-01 -1.16042665e-01 -4.02283702e-02 1.22813760e+02] [ 1.16047963e-01 9.93241149e-01 -2.21135791e-03 7.81544706e+00] [ 4.02130846e-02 -2.47380421e-03 9.99188064e-01 4.36397251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18509989299997 meters 0.029361837534508863 Centerline is valid? [True, True] Translation: X:122.87, Y:7.82, Z:4.37 [[ 9.92171001e-01 -1.18365410e-01 -3.98288072e-02 1.22874488e+02] [ 1.18372542e-01 9.92966846e-01 -2.18747256e-03 7.81661845e+00] [ 3.98076062e-02 -2.54429031e-03 9.99204124e-01 4.36631083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24509989299997 meters 0.030606375474961527 Centerline is valid? [True, True] Translation: X:122.94, Y:7.82, Z:4.37 [[ 9.91889522e-01 -1.20588556e-01 -4.01693355e-02 1.22935322e+02] [ 1.20597700e-01 9.92699016e-01 -2.20431052e-03 7.81753400e+00] [ 4.01418744e-02 -2.65789697e-03 9.99190455e-01 4.36823970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30509989299998 meters 0.03349565826774822 Centerline is valid? [True, True] Translation: X:123.00, Y:7.82, Z:4.37 [[ 9.91406097e-01 -1.23694651e-01 -4.25861935e-02 1.22995791e+02] [ 1.23707861e-01 9.92315934e-01 -2.33514567e-03 7.81648583e+00] [ 4.25478034e-02 -2.95316927e-03 9.99090068e-01 4.36870298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36509989299998 meters 0.03409787028217322 Centerline is valid? [True, True] Translation: X:123.06, Y:7.82, Z:4.37 [[ 9.91580353e-01 -1.22442812e-01 -4.21445349e-02 1.23056566e+02] [ 1.22454630e-01 9.92471422e-01 -2.31076349e-03 7.82126842e+00] [ 4.21101829e-02 -2.86948577e-03 9.99108852e-01 4.37253743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42509989299998 meters 0.03435254248656568 Centerline is valid? [True, True] Translation: X:123.12, Y:7.83, Z:4.38 [[ 9.92134082e-01 -1.18219566e-01 -4.11594278e-02 1.23115864e+02] [ 1.18227268e-01 9.92984001e-01 -2.25551674e-03 7.82724146e+00] [ 4.11372995e-02 -2.62839167e-03 9.99150046e-01 4.37682952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48509989299997 meters 0.02528643543889069 Centerline is valid? [True, True] Translation: X:123.18, Y:7.85, Z:4.38 [[ 9.93167002e-01 -1.09002162e-01 -4.16873489e-02 1.23175602e+02] [ 1.09001943e-01 9.94038910e-01 -2.28504699e-03 7.84711883e+00] [ 4.16879219e-02 -2.27456873e-03 9.99128092e-01 4.38003937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54509989299997 meters 0.02015917731040687 Centerline is valid? [True, True] Translation: X:123.24, Y:7.86, Z:4.38 [[ 9.94569965e-01 -9.53490633e-02 -4.17030178e-02 1.23235756e+02] [ 9.53368690e-02 9.95442443e-01 -2.28563811e-03 7.86341237e+00] [ 4.17308874e-02 -1.70260814e-03 9.99127436e-01 4.38393122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60509989299997 meters 0.017619700822999282 Centerline is valid? [True, True] Translation: X:123.30, Y:7.87, Z:4.39 [[ 9.95159270e-01 -8.86348813e-02 -4.24486199e-02 1.23295926e+02] [ 8.86161798e-02 9.96063132e-01 -2.32574601e-03 7.87317509e+00] [ 4.24876475e-02 -1.44714683e-03 9.99095944e-01 4.38649200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66509989299998 meters 0.01539661427984053 Centerline is valid? [True, True] Translation: X:123.36, Y:7.88, Z:4.39 [[ 9.95933726e-01 -7.87069719e-02 -4.38317889e-02 1.23355891e+02] [ 7.86774553e-02 9.96897234e-01 -2.40079912e-03 7.88331613e+00] [ 4.38847487e-02 -1.05753679e-03 9.99036041e-01 4.38904365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72509989299998 meters 0.013691169182150716 Centerline is valid? [True, True] Translation: X:123.42, Y:7.89, Z:4.39 [[ 9.96639337e-01 -6.79827149e-02 -4.56988298e-02 1.23415081e+02] [ 6.79393551e-02 9.97686313e-01 -2.50313410e-03 7.89312312e+00] [ 4.57632669e-02 -6.10027124e-04 9.98952127e-01 4.39010740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78509989299998 meters 0.012840646330255084 Centerline is valid? [True, True] Translation: X:123.47, Y:7.90, Z:4.39 [[ 9.97306444e-01 -5.72066004e-02 -4.59049262e-02 1.23472431e+02] [ 5.71513527e-02 9.98362355e-01 -2.51615684e-03 7.90360456e+00] [ 4.59736910e-02 -1.14149199e-04 9.98942644e-01 4.39206148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84509989299997 meters 0.012742397982884417 Centerline is valid? [True, True] Translation: X:123.53, Y:7.91, Z:4.39 [[ 9.97631402e-01 -5.13599813e-02 -4.57573778e-02 1.23530198e+02] [ 5.12986742e-02 9.98680192e-01 -2.51386160e-03 7.90918777e+00] [ 4.58260988e-02 1.60614456e-04 9.98949420e-01 4.39437466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90509989299997 meters 0.012865929305458481 Centerline is valid? [True, True] Translation: X:123.59, Y:7.91, Z:4.40 [[ 9.97697482e-01 -5.01908951e-02 -4.56136934e-02 1.23587693e+02] [ 5.01282207e-02 9.98739617e-01 -2.51757371e-03 7.91010250e+00] [ 4.56825619e-02 2.25243664e-04 9.98955981e-01 4.39514056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96509989299997 meters 0.012590887320414993 Centerline is valid? [True, True] Translation: X:123.65, Y:7.91, Z:4.40 [[ 9.97597314e-01 -5.35562293e-02 -4.39468905e-02 1.23646395e+02] [ 5.35011015e-02 9.98564833e-01 -2.43047827e-03 7.90614708e+00] [ 4.40139866e-02 7.34315391e-05 9.99030912e-01 4.39861238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02509989299998 meters 0.013039721430811039 Centerline is valid? [True, True] Translation: X:123.71, Y:7.89, Z:4.40 [[ 9.97015626e-01 -6.50292823e-02 -4.16056887e-02 1.23705848e+02] [ 6.49894370e-02 9.97883276e-01 -2.31095830e-03 7.89117547e+00] [ 4.16679009e-02 -3.99868746e-04 9.99131436e-01 4.40120875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08509989299998 meters 0.015088340290467394 Centerline is valid? [True, True] Translation: X:123.77, Y:7.88, Z:4.40 [[ 9.96118041e-01 -7.71461509e-02 -4.23948020e-02 1.23766763e+02] [ 7.71153317e-02 9.97019376e-01 -2.36429857e-03 7.87628872e+00] [ 4.24508356e-02 -9.14168764e-04 9.99098139e-01 4.40298263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14509989299998 meters 0.015753797365343006 Centerline is valid? [True, True] Translation: X:123.83, Y:7.87, Z:4.40 [[ 9.95845456e-01 -8.00576569e-02 -4.33889198e-02 1.23825704e+02] [ 8.00280385e-02 9.96789670e-01 -2.42197556e-03 7.87335960e+00] [ 4.34435248e-02 -1.06041679e-03 9.99055322e-01 4.40422653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20509989299997 meters 0.015745483882449677 Centerline is valid? [True, True] Translation: X:123.88, Y:7.87, Z:4.41 [[ 9.95726553e-01 -8.13385653e-02 -4.37340840e-02 1.23884525e+02] [ 8.13092196e-02 9.96685907e-01 -2.45238383e-03 7.87435492e+00] [ 4.37886185e-02 -1.11408055e-03 9.99040197e-01 4.40621883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26509989299997 meters 0.01594022020500879 Centerline is valid? [True, True] Translation: X:123.94, Y:7.88, Z:4.41 [[ 9.95672989e-01 -8.18891442e-02 -4.39257044e-02 1.23943480e+02] [ 8.18595798e-02 9.96640801e-01 -2.47440178e-03 7.87532364e+00] [ 4.39807759e-02 -1.13204469e-03 9.99031736e-01 4.40846240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32509989299997 meters 0.016619031697827667 Centerline is valid? [True, True] Translation: X:124.00, Y:7.87, Z:4.41 [[ 9.95655067e-01 -8.20520229e-02 -4.40278785e-02 1.24001482e+02] [ 8.20220333e-02 9.96627405e-01 -2.49027740e-03 7.87449797e+00] [ 4.40837226e-02 -1.13179881e-03 9.99027199e-01 4.41044083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38509989299997 meters 0.016527359089409745 Centerline is valid? [True, True] Translation: X:124.06, Y:7.87, Z:4.41 [[ 9.95686849e-01 -8.10416960e-02 -4.51657159e-02 1.24060346e+02] [ 8.10088560e-02 9.96710094e-01 -2.55999097e-03 7.87370405e+00] [ 4.52245910e-02 -1.10987363e-03 9.98976228e-01 4.41128577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44509989299998 meters 0.015351148373843788 Centerline is valid? [True, True] Translation: X:124.12, Y:7.88, Z:4.41 [[ 9.95761193e-01 -7.97932010e-02 -4.57459556e-02 1.24118889e+02] [ 7.97576730e-02 9.96810880e-01 -2.60428294e-03 7.87700874e+00] [ 4.58078704e-02 -1.05534708e-03 9.98949711e-01 4.41341432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50509989299998 meters 0.016095924499419236 Centerline is valid? [True, True] Translation: X:124.18, Y:7.88, Z:4.42 [[ 9.95906990e-01 -7.87844159e-02 -4.42976662e-02 1.24177056e+02] [ 7.87496694e-02 9.96891208e-01 -2.53163188e-03 7.87748732e+00] [ 4.43594071e-02 -9.67156686e-04 9.99015169e-01 4.41632026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56509989299998 meters 0.014848983625664483 Centerline is valid? [True, True] Translation: X:124.24, Y:7.88, Z:4.42 [[ 9.96004335e-01 -7.79412813e-02 -4.35949614e-02 1.24235987e+02] [ 7.79066080e-02 9.96957536e-01 -2.49635413e-03 7.88046257e+00] [ 4.36568944e-02 -9.09956034e-04 9.99046169e-01 4.41814897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62509989299997 meters 0.015059571348666975 Centerline is valid? [True, True] Translation: X:124.29, Y:7.88, Z:4.42 [[ 9.95943313e-01 -7.87895625e-02 -4.34640338e-02 1.24294422e+02] [ 7.87554242e-02 9.96890833e-01 -2.49987172e-03 7.88190736e+00] [ 4.35258607e-02 -9.33297890e-04 9.99051865e-01 4.42061648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68509989299997 meters 0.015892646012979978 Centerline is valid? [True, True] Translation: X:124.35, Y:7.88, Z:4.42 [[ 9.95842703e-01 -8.02691112e-02 -4.30601949e-02 1.24352598e+02] [ 8.02365603e-02 9.96772748e-01 -2.48650572e-03 7.88282365e+00] [ 4.31208184e-02 -9.78833352e-04 9.99069385e-01 4.42359326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74509989299997 meters 0.015620346090600682 Centerline is valid? [True, True] Translation: X:124.41, Y:7.89, Z:4.43 [[ 9.95731666e-01 -8.15800416e-02 -4.31641706e-02 1.24411203e+02] [ 8.15483551e-02 9.96666258e-01 -2.49733223e-03 7.88558163e+00] [ 4.32240049e-02 -1.03329433e-03 9.99064872e-01 4.42607646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80509989299998 meters 0.015915508197754686 Centerline is valid? [True, True] Translation: X:124.47, Y:7.89, Z:4.43 [[ 9.95689273e-01 -8.23265939e-02 -4.27224114e-02 1.24469445e+02] [ 8.22958175e-02 9.96604857e-01 -2.48161604e-03 7.88729467e+00] [ 4.27816657e-02 -1.04495731e-03 9.99083899e-01 4.42900518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86509989299998 meters 0.016089091127700777 Centerline is valid? [True, True] Translation: X:124.53, Y:7.89, Z:4.43 [[ 9.95654547e-01 -8.27914447e-02 -4.26333217e-02 1.24527219e+02] [ 8.27610125e-02 9.96566334e-01 -2.48134912e-03 7.88982039e+00] [ 4.26923676e-02 -1.05781034e-03 9.99087705e-01 4.43155445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92509989299998 meters 0.016018590635864086 Centerline is valid? [True, True] Translation: X:124.59, Y:7.89, Z:4.43 [[ 9.95577128e-01 -8.35161400e-02 -4.30259966e-02 1.24585654e+02] [ 8.34852902e-02 9.96505832e-01 -2.51650406e-03 7.89145506e+00] [ 4.30858253e-02 -1.08666393e-03 9.99070784e-01 4.43346489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98509989299997 meters 0.015797268275690016 Centerline is valid? [True, True] Translation: X:124.64, Y:7.89, Z:4.44 [[ 9.95494675e-01 -8.49899161e-02 -4.20364909e-02 1.24643934e+02] [ 8.49613387e-02 9.96381189e-01 -2.46912844e-03 7.89328811e+00] [ 4.20942198e-02 -1.11347233e-03 9.99113025e-01 4.43661755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04509989299997 meters 0.016078274157101866 Centerline is valid? [True, True] Translation: X:124.70, Y:7.89, Z:4.44 [[ 9.95375251e-01 -8.62370432e-02 -4.23235341e-02 1.24703059e+02] [ 8.62087289e-02 9.96273968e-01 -2.49709901e-03 7.89488643e+00] [ 4.23811777e-02 -1.16310752e-03 9.99100837e-01 4.43890728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10509989299997 meters 0.016758399485900806 Centerline is valid? [True, True] Translation: X:124.76, Y:7.90, Z:4.44 [[ 9.95177039e-01 -8.78219553e-02 -4.37031510e-02 1.24761443e+02] [ 8.77928144e-02 9.96135391e-01 -2.58939370e-03 7.89595069e+00] [ 4.37616610e-02 -1.25991747e-03 9.99041205e-01 4.43981126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16509989299998 meters 0.018299457384032432 Centerline is valid? [True, True] Translation: X:124.82, Y:7.90, Z:4.44 [[ 9.94906266e-01 -9.01384330e-02 -4.51285454e-02 1.24819015e+02] [ 9.01094606e-02 9.95928262e-01 -2.68003333e-03 7.89522894e+00] [ 4.51863678e-02 -1.40012693e-03 9.98977593e-01 4.44027099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22509989299998 meters 0.01885704814046963 Centerline is valid? [True, True] Translation: X:124.88, Y:7.90, Z:4.44 [[ 9.94806774e-01 -9.17002987e-02 -4.41648850e-02 1.24877437e+02] [ 9.16738349e-02 9.95785619e-01 -2.62848469e-03 7.89769326e+00] [ 4.42197902e-02 -1.43393000e-03 9.99020798e-01 4.44324288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28509989299998 meters 0.018578140328275056 Centerline is valid? [True, True] Translation: X:124.94, Y:7.90, Z:4.45 [[ 9.94680923e-01 -9.38114078e-02 -4.25356522e-02 1.24935516e+02] [ 9.37883848e-02 9.95588912e-01 -2.54093431e-03 7.90197671e+00] [ 4.25863923e-02 -1.46193123e-03 9.99091718e-01 4.44703541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34509989299997 meters 0.019450841857877876 Centerline is valid? [True, True] Translation: X:124.99, Y:7.90, Z:4.45 [[ 9.94481766e-01 -9.54946034e-02 -4.34372944e-02 1.24994201e+02] [ 9.54719783e-02 9.95428723e-01 -2.59983028e-03 7.90435338e+00] [ 4.34870002e-02 -1.56156062e-03 9.99052773e-01 4.44770654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40509989299997 meters 0.02056028534910332 Centerline is valid? [True, True] Translation: X:125.05, Y:7.91, Z:4.45 [[ 9.94210354e-01 -9.83276392e-02 -4.33295164e-02 1.25053428e+02] [ 9.83073936e-02 9.95152692e-01 -2.60298802e-03 7.90830226e+00] [ 4.33754306e-02 -1.67169419e-03 9.99057445e-01 4.44972183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46509989299997 meters 0.022430173001623095 Centerline is valid? [True, True] Translation: X:125.11, Y:7.91, Z:4.45 [[ 9.93702828e-01 -1.03540176e-01 -4.28266539e-02 1.25113229e+02] [ 1.03525164e-01 9.94623504e-01 -2.57420047e-03 7.90956886e+00] [ 4.28629297e-02 -1.87564608e-03 9.99079202e-01 4.45146021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52509989299998 meters 0.026075088554247602 Centerline is valid? [True, True] Translation: X:125.17, Y:7.91, Z:4.45 [[ 9.92979248e-01 -1.09639504e-01 -4.44003643e-02 1.25172679e+02] [ 1.09629411e-01 9.93968946e-01 -2.66962063e-03 7.90982809e+00] [ 4.44252792e-02 -2.21670791e-03 9.99010251e-01 4.45160328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58509989299998 meters 0.028654123827968177 Centerline is valid? [True, True] Translation: X:125.23, Y:7.91, Z:4.45 [[ 9.92527884e-01 -1.13852636e-01 -4.38859607e-02 1.25232183e+02] [ 1.13846843e-01 9.93494806e-01 -2.63949922e-03 7.91343201e+00] [ 4.39009879e-02 -2.37650149e-03 9.99033060e-01 4.45440852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64509989299998 meters 0.030311367381379427 Centerline is valid? [True, True] Translation: X:125.29, Y:7.92, Z:4.46 [[ 9.92504185e-01 -1.14362600e-01 -4.30887323e-02 1.25289960e+02] [ 1.14357443e-01 9.93436285e-01 -2.59269152e-03 7.91681516e+00] [ 4.31024171e-02 -2.35426009e-03 9.99067885e-01 4.45685998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70509989299997 meters 0.026430256965643287 Centerline is valid? [True, True] Translation: X:125.35, Y:7.93, Z:4.46 [[ 9.92989041e-01 -1.10664498e-01 -4.15467537e-02 1.25349164e+02] [ 1.10656342e-01 9.93855577e-01 -2.50307039e-03 7.93075763e+00] [ 4.15684739e-02 -2.11189030e-03 9.99133425e-01 4.46159956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76509989299997 meters 0.022434035509944727 Centerline is valid? [True, True] Translation: X:125.41, Y:7.95, Z:4.47 [[ 9.94234977e-01 -9.93925645e-02 -4.02234753e-02 1.25408474e+02] [ 9.93756773e-02 9.95047034e-01 -2.42401087e-03 7.94974664e+00] [ 4.02651784e-02 -1.58719870e-03 9.99187768e-01 4.46507486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82509989299997 meters 0.01713279074761935 Centerline is valid? [True, True] Translation: X:125.47, Y:7.97, Z:4.47 [[ 9.94986746e-01 -9.18464154e-02 -3.95678118e-02 1.25467895e+02] [ 9.18241005e-02 9.95772387e-01 -2.38480371e-03 7.96755373e+00] [ 3.96195701e-02 -1.26043065e-03 9.99214042e-01 4.46778080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88509989299997 meters 0.017770683480883107 Centerline is valid? [True, True] Translation: X:125.53, Y:7.97, Z:4.47 [[ 9.95252082e-01 -8.87874555e-02 -3.98758270e-02 1.25527666e+02] [ 8.87623499e-02 9.96049934e-01 -2.40310294e-03 7.97479740e+00] [ 3.99316802e-02 -1.14777890e-03 9.99201753e-01 4.46962138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94509989299998 meters 0.016640752219597276 Centerline is valid? [True, True] Translation: X:125.59, Y:7.98, Z:4.47 [[ 9.95070442e-01 -8.92670817e-02 -4.31995815e-02 1.25588776e+02] [ 8.92381108e-02 9.96006921e-01 -2.60245037e-03 7.98443700e+00] [ 4.32593954e-02 -1.26542760e-03 9.99063073e-01 4.46895014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00509989299998 meters 0.01749498772704701 Centerline is valid? [True, True] Translation: X:125.65, Y:7.99, Z:4.47 [[ 9.94863778e-01 -9.10320100e-02 -4.42632567e-02 1.25648872e+02] [ 9.10034022e-02 9.95847015e-01 -2.66511999e-03 7.98972709e+00] [ 4.43220433e-02 -1.37667562e-03 9.99016347e-01 4.46954385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06509989299997 meters 0.01688328769149871 Centerline is valid? [True, True] Translation: X:125.71, Y:8.00, Z:4.47 [[ 9.95076901e-01 -9.01449701e-02 -4.11806390e-02 1.25708491e+02] [ 9.01194477e-02 9.95927877e-01 -2.47951353e-03 7.99756655e+00] [ 4.12364621e-02 -1.24386980e-03 9.99148641e-01 4.47436024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12509989299997 meters 0.016491046087690933 Centerline is valid? [True, True] Translation: X:125.77, Y:8.00, Z:4.48 [[ 9.95389968e-01 -8.73804111e-02 -3.95408005e-02 1.25769659e+02] [ 8.73547044e-02 9.96174426e-01 -2.38069295e-03 8.00492521e+00] [ 3.95975602e-02 -1.08435706e-03 9.99215121e-01 4.47828880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18509989299997 meters 0.015897869135555135 Centerline is valid? [True, True] Translation: X:125.83, Y:8.01, Z:4.48 [[ 9.95660124e-01 -8.45705048e-02 -3.88425838e-02 1.25831040e+02] [ 8.45436170e-02 9.96417038e-01 -2.33722166e-03 8.01222885e+00] [ 3.89010723e-02 -9.56814121e-04 9.99242609e-01 4.48132470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24509989299997 meters 0.015029926632648712 Centerline is valid? [True, True] Translation: X:125.89, Y:8.02, Z:4.48 [[ 9.95877633e-01 -8.17776109e-02 -3.92448980e-02 1.25892052e+02] [ 8.17480774e-02 9.96650232e-01 -2.35936424e-03 8.01949423e+00] [ 3.93063799e-02 -8.58556892e-04 9.99226837e-01 4.48293329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30509989299998 meters 0.014487051784090665 Centerline is valid? [True, True] Translation: X:125.95, Y:8.02, Z:4.49 [[ 9.96143530e-01 -7.88798214e-02 -3.84192852e-02 1.25952772e+02] [ 7.88494158e-02 9.96883865e-01 -2.30836712e-03 8.02448857e+00] [ 3.84816492e-02 -7.29873222e-04 9.99259040e-01 4.48545757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36509989299998 meters 0.013908618920584752 Centerline is valid? [True, True] Translation: X:126.01, Y:8.03, Z:4.49 [[ 9.96417400e-01 -7.40179391e-02 -4.09109991e-02 1.26013074e+02] [ 7.39793975e-02 9.97256743e-01 -2.45728342e-03 8.02949145e+00] [ 4.09806528e-02 -5.78091114e-04 9.99159773e-01 4.48576499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42509989299998 meters 0.012940623634180914 Centerline is valid? [True, True] Translation: X:126.07, Y:8.04, Z:4.49 [[ 9.96886209e-01 -6.71528723e-02 -4.13325390e-02 1.26073488e+02] [ 6.71076600e-02 9.97742653e-01 -2.48192242e-03 8.03760367e+00] [ 4.14059054e-02 -2.99535749e-04 9.99142363e-01 4.48731495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48509989299997 meters 0.012740020931240343 Centerline is valid? [True, True] Translation: X:126.13, Y:8.04, Z:4.49 [[ 9.97292235e-01 -6.13532071e-02 -4.05460571e-02 1.26131078e+02] [ 6.13048945e-02 9.98116116e-01 -2.43499776e-03 8.04224932e+00] [ 4.06190679e-02 -5.72673893e-05 9.99174703e-01 4.48875027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54509989299997 meters 0.012816147022048472 Centerline is valid? [True, True] Translation: X:126.19, Y:8.05, Z:4.49 [[ 9.97333609e-01 -6.02567253e-02 -4.11679311e-02 1.26189100e+02] [ 6.02057961e-02 9.98182913e-01 -2.47691976e-03 8.04599814e+00] [ 4.12423765e-02 -8.23274104e-06 9.99149171e-01 4.49008042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60509989299997 meters 0.013120169988870523 Centerline is valid? [True, True] Translation: X:126.25, Y:8.04, Z:4.49 [[ 9.96852645e-01 -6.78780953e-02 -4.09556869e-02 1.26248280e+02] [ 6.78336425e-02 9.97693574e-01 -2.47568989e-03 8.04182764e+00] [ 4.10292708e-02 -3.10275413e-04 9.99157897e-01 4.49109768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66509989299998 meters 0.013554863450137997 Centerline is valid? [True, True] Translation: X:126.31, Y:8.04, Z:4.49 [[ 9.96591569e-01 -7.16015537e-02 -4.09690449e-02 1.26306746e+02] [ 7.15597952e-02 9.97433212e-01 -2.48673246e-03 8.04157809e+00] [ 4.10419399e-02 -4.53479860e-04 9.99157322e-01 4.49260492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72509989299998 meters 0.016605955857979526 Centerline is valid? [True, True] Translation: X:126.37, Y:8.03, Z:4.50 [[ 9.95354795e-01 -8.72292398e-02 -4.07417660e-02 1.26368090e+02] [ 8.72006301e-02 9.96187678e-01 -2.48218326e-03 8.03255597e+00] [ 4.08029642e-02 -1.08205466e-03 9.99166626e-01 4.49508621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78509989299998 meters 0.018930407045262245 Centerline is valid? [True, True] Translation: X:126.43, Y:8.03, Z:4.50 [[ 9.94793337e-01 -9.38178888e-02 -3.98047745e-02 1.26428741e+02] [ 9.37958418e-02 9.95588499e-01 -2.42515062e-03 8.03067960e+00] [ 3.98566982e-02 -1.32099865e-03 9.99204533e-01 4.49813096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84509989299997 meters 0.021004886119944277 Centerline is valid? [True, True] Translation: X:126.49, Y:8.03, Z:4.50 [[ 9.94250524e-01 -9.97731690e-02 -3.88742771e-02 1.26489705e+02] [ 9.97566826e-02 9.95009043e-01 -2.36844003e-03 8.02894422e+00] [ 3.89165640e-02 -1.52314618e-03 9.99241303e-01 4.50144744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90509989299997 meters 0.022102963425495004 Centerline is valid? [True, True] Translation: X:126.55, Y:8.03, Z:4.50 [[ 9.93517664e-01 -1.06886393e-01 -3.87033579e-02 1.26550078e+02] [ 1.06875450e-01 9.94269621e-01 -2.35759202e-03 8.02802153e+00] [ 3.87335676e-02 -1.79412946e-03 9.99247963e-01 4.50322000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96509989299997 meters 0.02807470827121717 Centerline is valid? [True, True] Translation: X:126.61, Y:8.02, Z:4.51 [[ 9.92999040e-01 -1.11697002e-01 -3.84276728e-02 1.26610157e+02] [ 1.11689808e-01 9.93740362e-01 -2.34069188e-03 8.02314788e+00] [ 3.84485777e-02 -1.96767460e-03 9.99258643e-01 4.50577056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02509989299998 meters 0.025083130210773453 Centerline is valid? [True, True] Translation: X:126.67, Y:8.03, Z:4.51 [[ 9.92913475e-01 -1.12312383e-01 -3.88427584e-02 1.26671539e+02] [ 1.12305492e-01 9.93670910e-01 -2.36623693e-03 8.03197210e+00] [ 3.88626768e-02 -2.01278656e-03 9.99242534e-01 4.50739563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08509989299998 meters 0.022661593881559274 Centerline is valid? [True, True] Translation: X:126.73, Y:8.04, Z:4.51 [[ 9.93149058e-01 -1.08877442e-01 -4.24340765e-02 1.26733158e+02] [ 1.08866236e-01 9.94053056e-01 -2.58175295e-03 8.04233452e+00] [ 4.24628181e-02 -2.05557269e-03 9.99095933e-01 4.50678881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14509989299998 meters 0.021674504508228495 Centerline is valid? [True, True] Translation: X:126.79, Y:8.05, Z:4.51 [[ 9.93569172e-01 -1.05303551e-01 -4.16108389e-02 1.26793273e+02] [ 1.05289731e-01 9.94438371e-01 -2.52962926e-03 8.05095092e+00] [ 4.16457938e-02 -1.86783239e-03 9.99130692e-01 4.50994179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20509989299997 meters 0.021578729379180678 Centerline is valid? [True, True] Translation: X:126.85, Y:8.06, Z:4.51 [[ 9.93807157e-01 -1.02801701e-01 -4.21799143e-02 1.26854865e+02] [ 1.02785265e-01 9.94700264e-01 -2.56395435e-03 8.05724552e+00] [ 4.22199508e-02 -1.78739750e-03 9.99106742e-01 4.51267055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26509989299997 meters 0.01919291158146057 Centerline is valid? [True, True] Translation: X:126.91, Y:8.07, Z:4.52 [[ 9.94290646e-01 -9.76375813e-02 -4.30466442e-02 1.26914587e+02] [ 9.76157212e-02 9.95220747e-01 -2.61456014e-03 8.06990436e+00] [ 4.30961927e-02 -1.60239652e-03 9.99069642e-01 4.51556359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32509989299997 meters 0.018980152442911024 Centerline is valid? [True, True] Translation: X:126.97, Y:8.08, Z:4.52 [[ 9.95001600e-01 -9.03198512e-02 -4.25927181e-02 1.26973399e+02] [ 9.02917495e-02 9.95911998e-01 -2.58702105e-03 8.07928130e+00] [ 4.26522583e-02 -1.27168094e-03 9.99089169e-01 4.51862596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38509989299997 meters 0.015761182950559033 Centerline is valid? [True, True] Translation: X:127.03, Y:8.09, Z:4.52 [[ 9.95670634e-01 -8.27401453e-02 -4.23563097e-02 1.27033465e+02] [ 8.27054924e-02 9.96570711e-01 -2.57282471e-03 8.09290589e+00] [ 4.24239336e-02 -9.41413442e-04 9.99099256e-01 4.52105376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44509989299998 meters 0.014331821251645177 Centerline is valid? [True, True] Translation: X:127.09, Y:8.11, Z:4.52 [[ 9.96347104e-01 -7.47688387e-02 -4.12561510e-02 1.27092193e+02] [ 7.47291522e-02 9.97200720e-01 -2.50545540e-03 8.10538415e+00] [ 4.13279935e-02 -5.86733958e-04 9.99145461e-01 4.52384116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50509989299998 meters 0.01376587723787722 Centerline is valid? [True, True] Translation: X:127.15, Y:8.11, Z:4.53 [[ 9.96572006e-01 -7.18461251e-02 -4.10167201e-02 1.27151989e+02] [ 7.18044834e-02 9.97415620e-01 -2.48945814e-03 8.11171494e+00] [ 4.10895752e-02 -4.64260102e-04 9.99155359e-01 4.52636057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56509989299997 meters 0.0135232974889169 Centerline is valid? [True, True] Translation: X:127.21, Y:8.12, Z:4.53 [[ 9.96726535e-01 -6.94032282e-02 -4.14657366e-02 1.27211742e+02] [ 6.93585500e-02 9.97588621e-01 -2.51686120e-03 8.11796054e+00] [ 4.15404253e-02 -3.67381025e-04 9.99136756e-01 4.52835662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62509989299997 meters 0.013569122384559566 Centerline is valid? [True, True] Translation: X:127.27, Y:8.12, Z:4.53 [[ 9.96761951e-01 -6.83496021e-02 -4.23549925e-02 1.27270123e+02] [ 6.83019668e-02 9.97661377e-01 -2.57245996e-03 8.12434009e+00] [ 4.24317668e-02 -3.28799083e-04 9.99099313e-01 4.52980586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68509989299997 meters 0.013767431204678167 Centerline is valid? [True, True] Translation: X:127.33, Y:8.13, Z:4.53 [[ 9.96625425e-01 -7.11691698e-02 -4.08988030e-02 1.27329433e+02] [ 7.11270442e-02 9.97464166e-01 -2.48603907e-03 8.12654440e+00] [ 4.09720198e-02 -4.31361227e-04 9.99160201e-01 4.53312752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74509989299997 meters 0.014975098507673429 Centerline is valid? [True, True] Translation: X:127.39, Y:8.13, Z:4.54 [[ 9.96074255e-01 -7.90361491e-02 -3.98668381e-02 1.27390234e+02] [ 7.90023639e-02 9.96871480e-01 -2.42462704e-03 8.12556491e+00] [ 3.99337471e-02 -7.34465878e-04 9.99202060e-01 4.53729139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80509989299998 meters 0.016299437669535923 Centerline is valid? [True, True] Translation: X:127.45, Y:8.12, Z:4.54 [[ 9.95451792e-01 -8.64336774e-02 -4.00618271e-02 1.27451980e+02] [ 8.64055465e-02 9.96257068e-01 -2.43638213e-03 8.12390323e+00] [ 4.01224639e-02 -1.03626311e-03 9.99194232e-01 4.53887516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86509989299998 meters 0.017773933854995025 Centerline is valid? [True, True] Translation: X:127.51, Y:8.13, Z:4.54 [[ 9.94968650e-01 -9.10861718e-02 -4.17216272e-02 1.27512936e+02] [ 9.10598123e-02 9.95842197e-01 -2.53573265e-03 8.12504398e+00] [ 4.17791271e-02 -1.27618905e-03 9.99126056e-01 4.53950276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92509989299998 meters 0.018653540490433846 Centerline is valid? [True, True] Translation: X:127.58, Y:8.13, Z:4.54 [[ 9.94869370e-01 -9.23749955e-02 -4.12528319e-02 1.27575343e+02] [ 9.23503995e-02 9.95723418e-01 -2.50558464e-03 8.12801801e+00] [ 4.13078642e-02 -1.31698609e-03 9.99145598e-01 4.54218914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98509989299997 meters 0.018343931811739093 Centerline is valid? [True, True] Translation: X:127.64, Y:8.13, Z:4.54 [[ 9.94673147e-01 -9.37792725e-02 -4.27876015e-02 1.27636844e+02] [ 9.37542389e-02 9.95591987e-01 -2.59580890e-03 8.13317981e+00] [ 4.28424262e-02 -1.42953760e-03 9.99080819e-01 4.54357423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04509989299999 meters 0.019999541727385797 Centerline is valid? [True, True] Translation: X:127.70, Y:8.14, Z:4.54 [[ 9.94532769e-01 -9.42826214e-02 -4.48927479e-02 1.27697956e+02] [ 9.42556612e-02 9.95544305e-01 -2.72166613e-03 8.13523584e+00] [ 4.49493253e-02 -1.52460948e-03 9.98988105e-01 4.54333323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105099893 meters 0.019319439765247776 Centerline is valid? [True, True] Translation: X:127.76, Y:8.14, Z:4.55 [[ 9.94588411e-01 -9.37905212e-02 -4.46903981e-02 1.27758974e+02] [ 9.37634099e-02 9.95590827e-01 -2.70710888e-03 8.14360435e+00] [ 4.47472516e-02 -1.49786500e-03 9.98997217e-01 4.54679955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16509989299996 meters 0.019243793469718527 Centerline is valid? [True, True] Translation: X:127.82, Y:8.15, Z:4.55 [[ 9.94701897e-01 -9.33182573e-02 -4.31258530e-02 1.27820250e+02] [ 9.32926312e-02 9.95635309e-01 -2.61083854e-03 8.14982989e+00] [ 4.31812608e-02 -1.42631825e-03 9.99066236e-01 4.55101491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22509989299996 meters 0.0203293394685108 Centerline is valid? [True, True] Translation: X:127.88, Y:8.15, Z:4.55 [[ 9.94504364e-01 -9.49383402e-02 -4.41336770e-02 1.27881689e+02] [ 9.49131668e-02 9.95481974e-01 -2.67024509e-03 8.15477950e+00] [ 4.41877885e-02 -1.53329665e-03 9.99022066e-01 4.55322937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28509989299997 meters 0.0202369769238045 Centerline is valid? [True, True] Translation: X:127.94, Y:8.16, Z:4.56 [[ 9.94119032e-01 -9.86655121e-02 -4.46370580e-02 1.27942785e+02] [ 9.86435819e-02 9.95119168e-01 -2.69910567e-03 8.16062112e+00] [ 4.46855006e-02 -1.71992697e-03 9.98999624e-01 4.55625229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34509989299997 meters 0.024789946743630425 Centerline is valid? [True, True] Translation: X:128.00, Y:8.16, Z:4.56 [[ 9.93712040e-01 -1.03471850e-01 -4.27780096e-02 1.28003293e+02] [ 1.03456209e-01 9.94630650e-01 -2.58529361e-03 8.15681399e+00] [ 4.28158245e-02 -1.85661329e-03 9.99081257e-01 4.55972149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40509989299997 meters 0.02280665027766117 Centerline is valid? [True, True] Translation: X:128.06, Y:8.16, Z:4.56 [[ 9.93433822e-01 -1.06352401e-01 -4.21711654e-02 1.28064025e+02] [ 1.06339823e-01 9.94326582e-01 -2.54778017e-03 8.16441547e+00] [ 4.22028733e-02 -1.95342327e-03 9.99107152e-01 4.56405315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46509989299997 meters 0.021152149504699017 Centerline is valid? [True, True] Translation: X:128.13, Y:8.17, Z:4.57 [[ 9.93916989e-01 -1.03026624e-01 -3.89170083e-02 1.28125051e+02] [ 1.03013416e-01 9.94677191e-01 -2.34986343e-03 8.17177080e+00] [ 3.89519590e-02 -1.67340476e-03 9.99239683e-01 4.56927433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52509989299998 meters 0.019967200930002118 Centerline is valid? [True, True] Translation: X:128.18, Y:8.18, Z:4.57 [[ 9.94621962e-01 -9.61644550e-02 -3.84649240e-02 1.28184328e+02] [ 9.61464778e-02 9.95364489e-01 -2.32121309e-03 8.17875801e+00] [ 3.85098376e-02 -1.38953744e-03 9.99257255e-01 4.57169875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58509989299998 meters 0.018385350559340468 Centerline is valid? [True, True] Translation: X:128.24, Y:8.19, Z:4.57 [[ 9.95175061e-01 -9.01709859e-02 -3.86754721e-02 1.28244196e+02] [ 9.01482683e-02 9.95925620e-01 -2.33446928e-03 8.18733954e+00] [ 3.87283950e-02 -1.16332123e-03 9.99249097e-01 4.57397016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64509989299998 meters 0.014535703199197246 Centerline is valid? [True, True] Translation: X:128.30, Y:8.20, Z:4.58 [[ 9.96301982e-01 -7.65241286e-02 -3.90694133e-02 1.28304293e+02] [ 7.64904516e-02 9.97067525e-01 -2.35823890e-03 8.20080879e+00] [ 3.91353054e-02 -6.38918975e-04 9.99233716e-01 4.57531353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70509989299998 meters 0.013069402376240368 Centerline is valid? [True, True] Translation: X:128.36, Y:8.21, Z:4.57 [[ 9.97323164e-01 -6.03747131e-02 -4.12480265e-02 1.28364480e+02] [ 6.03233662e-02 9.98175783e-01 -2.48947701e-03 8.20975820e+00] [ 4.13230826e-02 -5.40671952e-06 9.99145837e-01 4.57448313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76509989299998 meters 0.013150427036541833 Centerline is valid? [True, True] Translation: X:128.42, Y:8.21, Z:4.58 [[ 9.97073534e-01 -6.47899136e-02 -4.05787399e-02 1.28423700e+02] [ 6.47438670e-02 9.97898909e-01 -2.44925791e-03 8.20656749e+00] [ 4.06521675e-02 -1.85134305e-04 9.99173342e-01 4.57666610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825099893 meters 0.013249305641835801 Centerline is valid? [True, True] Translation: X:128.48, Y:8.21, Z:4.58 [[ 9.96911095e-01 -6.72451277e-02 -4.05753721e-02 1.28484365e+02] [ 6.72007377e-02 9.97736447e-01 -2.45848046e-03 8.20785223e+00] [ 4.06488484e-02 -2.75808486e-04 9.99173456e-01 4.57883959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88509989299996 meters 0.013593779908228066 Centerline is valid? [True, True] Translation: X:128.54, Y:8.21, Z:4.58 [[ 9.96690061e-01 -7.02781562e-02 -4.08644356e-02 1.28544241e+02] [ 7.02356761e-02 9.97527352e-01 -2.47606056e-03 8.20780721e+00] [ 4.09374052e-02 -4.02276306e-04 9.99161632e-01 4.58076475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94509989299996 meters 0.014562300097701571 Centerline is valid? [True, True] Translation: X:128.60, Y:8.20, Z:4.58 [[ 9.96151789e-01 -7.76754421e-02 -4.05972885e-02 1.28604675e+02] [ 7.76396218e-02 9.96978452e-01 -2.46060393e-03 8.20362161e+00] [ 4.06657503e-02 -7.00823116e-04 9.99172560e-01 4.58238765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00509989299997 meters 0.014562300097701571 Centerline is valid? [True, True] Translation: X:128.67, Y:8.21, Z:4.58 [[ 9.96154601e-01 -7.76393770e-02 -4.05972549e-02 1.28665379e+02] [ 7.76035043e-02 9.96981263e-01 -2.46115731e-03 8.20727327e+00] [ 4.06657852e-02 -6.98796070e-04 9.99172560e-01 4.58465815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06509989299997 meters 0.018475288423737316 Centerline is valid? [True, True] Translation: X:128.73, Y:8.20, Z:4.59 [[ 9.95222974e-01 -8.94254811e-02 -3.91703414e-02 1.28725776e+02] [ 8.94012472e-02 9.95992863e-01 -2.37337327e-03 8.19608377e+00] [ 3.92256205e-02 -1.13984177e-03 9.99229729e-01 4.58712251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12509989299997 meters 0.02084068181232982 Centerline is valid? [True, True] Translation: X:128.79, Y:8.19, Z:4.59 [[ 9.93980244e-01 -1.01024911e-01 -4.23938901e-02 1.28787278e+02] [ 1.01007024e-01 9.94882395e-01 -2.56921042e-03 8.18834089e+00] [ 4.24364892e-02 -1.72833630e-03 9.99097672e-01 4.58535447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18509989299997 meters 0.02105226155924483 Centerline is valid? [True, True] Translation: X:128.85, Y:8.19, Z:4.59 [[ 9.93887578e-01 -1.01824863e-01 -4.26518430e-02 1.28848957e+02] [ 1.01807521e-01 9.94800759e-01 -2.58417370e-03 8.18920161e+00] [ 4.26932190e-02 -1.77390029e-03 9.99086654e-01 4.58570819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24509989299997 meters 0.0198207051533468 Centerline is valid? [True, True] Translation: X:128.91, Y:8.19, Z:4.59 [[ 9.94627288e-01 -9.62345928e-02 -3.81505050e-02 1.28909676e+02] [ 9.62166546e-02 9.95357734e-01 -2.31021839e-03 8.19468652e+00] [ 3.81957231e-02 -1.37290771e-03 9.99269334e-01 4.59188427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30509989299998 meters 0.018497680785082148 Centerline is valid? [True, True] Translation: X:128.97, Y:8.20, Z:4.59 [[ 9.94759419e-01 -9.52763802e-02 -3.70959607e-02 1.28971536e+02] [ 9.52587779e-02 9.95450010e-01 -2.24571835e-03 8.20068563e+00] [ 3.71411383e-02 -1.29976640e-03 9.99309185e-01 4.59458953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36509989299998 meters 0.019239155377906138 Centerline is valid? [True, True] Translation: X:129.03, Y:8.20, Z:4.60 [[ 9.94742143e-01 -9.59593579e-02 -3.57752735e-02 1.29033249e+02] [ 9.59435185e-02 9.95384429e-01 -2.16320980e-03 8.20305539e+00] [ 3.58177305e-02 -1.28056966e-03 9.99357519e-01 4.59844569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42509989299998 meters 0.02219098401557184 Centerline is valid? [True, True] Translation: X:129.09, Y:8.20, Z:4.60 [[ 9.94181313e-01 -9.96176539e-02 -4.09858581e-02 1.29093343e+02] [ 9.96000990e-02 9.95024469e-01 -2.47514868e-03 8.19974932e+00] [ 4.10285002e-02 -1.62144896e-03 9.99156661e-01 4.59601385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48509989299998 meters 0.02036373286693515 Centerline is valid? [True, True] Translation: X:129.16, Y:8.21, Z:4.60 [[ 9.94198190e-01 -9.92817890e-02 -4.13894353e-02 1.29155378e+02] [ 9.92636091e-02 9.95058033e-01 -2.49921729e-03 8.20722334e+00] [ 4.14330168e-02 -1.62374741e-03 9.99139964e-01 4.59868029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54509989299999 meters 0.018749043902255236 Centerline is valid? [True, True] Translation: X:129.22, Y:8.22, Z:4.60 [[ 9.94734085e-01 -9.45356384e-02 -3.95867822e-02 1.29215446e+02] [ 9.45153558e-02 9.95520540e-01 -2.38776369e-03 8.21589917e+00] [ 3.96351836e-02 -1.36636887e-03 9.99213283e-01 4.60331666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605099893 meters 0.016143197713760098 Centerline is valid? [True, True] Translation: X:129.28, Y:8.23, Z:4.61 [[ 9.95542700e-01 -8.60714455e-02 -3.85543725e-02 1.29275762e+02] [ 8.60458630e-02 9.96288463e-01 -2.32547836e-03 8.22732627e+00] [ 3.86114339e-02 -1.00233126e-03 9.99253798e-01 4.60558283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66509989299996 meters 0.013683263028088463 Centerline is valid? [True, True] Translation: X:129.34, Y:8.24, Z:4.61 [[ 9.96818572e-01 -7.20949606e-02 -3.39860322e-02 1.29335241e+02] [ 7.20669642e-02 9.97397690e-01 -2.04962763e-03 8.24107436e+00] [ 3.40453578e-02 -4.06163277e-04 9.99420206e-01 4.61018111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72509989299996 meters 0.012985779372619088 Centerline is valid? [True, True] Translation: X:129.40, Y:8.25, Z:4.61 [[ 9.97584248e-01 -6.06134992e-02 -3.39362813e-02 1.29396316e+02] [ 6.05789456e-02 9.98161311e-01 -2.04642210e-03 8.25182873e+00] [ 3.39979239e-02 -1.43456829e-05 9.99421903e-01 4.61264990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78509989299997 meters 0.013126176867946154 Centerline is valid? [True, True] Translation: X:129.46, Y:8.25, Z:4.61 [[ 9.97128848e-01 -6.46093395e-02 -3.94929492e-02 1.29456580e+02] [ 6.45657322e-02 9.97910618e-01 -2.37996284e-03 8.24505990e+00] [ 3.95642012e-02 -1.76761576e-04 9.99217015e-01 4.60713548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84509989299997 meters 0.013211691347301076 Centerline is valid? [True, True] Translation: X:129.52, Y:8.25, Z:4.61 [[ 9.97045522e-01 -6.64341698e-02 -3.85581044e-02 1.29515017e+02] [ 6.63939289e-02 9.97790781e-01 -2.32461133e-03 8.24698397e+00] [ 3.86273548e-02 -2.42280727e-04 9.99253656e-01 4.60995740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90509989299997 meters 0.013266877971764736 Centerline is valid? [True, True] Translation: X:129.57, Y:8.25, Z:4.61 [[ 9.96941258e-01 -6.85420330e-02 -3.75515325e-02 1.29574398e+02] [ 6.85050130e-02 9.97648182e-01 -2.27316292e-03 8.24859073e+00] [ 3.76190254e-02 -3.06258322e-04 9.99292107e-01 4.61269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96509989299997 meters 0.013579444611787771 Centerline is valid? [True, True] Translation: X:129.63, Y:8.25, Z:4.62 [[ 9.96789174e-01 -7.09297155e-02 -3.71526296e-02 1.29634559e+02] [ 7.08950856e-02 9.97481239e-01 -2.25035703e-03 8.25019836e+00] [ 3.72186682e-02 -3.90807330e-04 9.99307069e-01 4.61540759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02509989299998 meters 0.013816731178539376 Centerline is valid? [True, True] Translation: X:129.70, Y:8.25, Z:4.62 [[ 9.96610672e-01 -7.33593470e-02 -3.72233111e-02 1.29695286e+02] [ 7.33262787e-02 9.97305456e-01 -2.25463825e-03 8.25170662e+00] [ 3.72884101e-02 -4.82450345e-04 9.99304429e-01 4.61807925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08509989299998 meters 0.015325705094309309 Centerline is valid? [True, True] Translation: X:129.76, Y:8.25, Z:4.62 [[ 9.95929904e-01 -8.23228049e-02 -3.66958062e-02 1.29756221e+02] [ 8.22967435e-02 9.96605391e-01 -2.22268697e-03 8.24943986e+00] [ 3.67542162e-02 -8.06304938e-04 9.99324010e-01 4.62068332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14509989299998 meters 0.027061694826278546 Centerline is valid? [True, True] Translation: X:129.82, Y:8.23, Z:4.62 [[ 9.92808962e-01 -1.13830045e-01 -3.70551780e-02 1.29817271e+02] [ 1.13825304e-01 9.93498245e-01 -2.24445558e-03 8.22693101e+00] [ 3.70697408e-02 -1.98950128e-03 9.99310701e-01 4.62288650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20509989299998 meters 0.029258063241846786 Centerline is valid? [True, True] Translation: X:129.88, Y:8.23, Z:4.62 [[ 9.91971329e-01 -1.20524472e-01 -3.82979608e-02 1.29877965e+02] [ 1.20524387e-01 9.92707657e-01 -2.31945722e-03 8.22741988e+00] [ 3.82982303e-02 -2.31500317e-03 9.99263672e-01 4.62389418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26509989299998 meters 0.031364870652053886 Centerline is valid? [True, True] Translation: X:129.94, Y:8.23, Z:4.63 [[ 9.91716917e-01 -1.22572792e-01 -3.83857639e-02 1.29939130e+02] [ 1.22574252e-01 9.92456624e-01 -2.32432211e-03 8.22822310e+00] [ 3.83811043e-02 -2.40003672e-03 9.99260292e-01 4.62555619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325099893 meters 0.03278934460796551 Centerline is valid? [True, True] Translation: X:130.00, Y:8.23, Z:4.63 [[ 9.91454788e-01 -1.24696675e-01 -3.83163380e-02 1.29999837e+02] [ 1.24699776e-01 9.92191812e-01 -2.31834027e-03 8.23081947e+00] [ 3.83062461e-02 -2.47950920e-03 9.99262970e-01 4.62739065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38509989299996 meters 0.02910928728482752 Centerline is valid? [True, True] Translation: X:130.06, Y:8.24, Z:4.63 [[ 9.91476343e-01 -1.24446718e-01 -3.85704016e-02 1.30061256e+02] [ 1.24449702e-01 9.92223175e-01 -2.33295080e-03 8.24077803e+00] [ 3.85607744e-02 -2.48700944e-03 9.99253162e-01 4.62980130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44509989299996 meters 0.029638323556418697 Centerline is valid? [True, True] Translation: X:130.12, Y:8.25, Z:4.63 [[ 9.91986578e-01 -1.20401018e-01 -3.82913016e-02 1.30120145e+02] [ 1.20401060e-01 9.92722637e-01 -2.31334525e-03 8.24966538e+00] [ 3.82911710e-02 -2.31550584e-03 9.99263941e-01 4.63216703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50509989299997 meters 0.025632324146033517 Centerline is valid? [True, True] Translation: X:130.18, Y:8.26, Z:4.63 [[ 9.92230679e-01 -1.18260909e-01 -3.86346518e-02 1.30180626e+02] [ 1.18259324e-01 9.92980001e-01 -2.33441048e-03 8.26079455e+00] [ 3.86395061e-02 -2.25263408e-03 9.99250676e-01 4.63429277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56509989299997 meters 0.020858292236477668 Centerline is valid? [True, True] Translation: X:130.24, Y:8.29, Z:4.64 [[ 9.94121751e-01 -1.00604168e-01 -4.00093131e-02 1.30238670e+02] [ 1.00588241e-01 9.94925207e-01 -2.41606797e-03 8.28649485e+00] [ 4.00493407e-02 -1.62260069e-03 9.99196386e-01 4.63592530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62509989299997 meters 0.015668137331038518 Centerline is valid? [True, True] Translation: X:130.30, Y:8.31, Z:4.64 [[ 9.95799227e-01 -8.24966313e-02 -3.97266269e-02 1.30297984e+02] [ 8.24664897e-02 9.96590949e-01 -2.39963286e-03 8.31324665e+00] [ 3.97891584e-02 -8.86562921e-04 9.99207705e-01 4.63776414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68509989299997 meters 0.01418898784895057 Centerline is valid? [True, True] Translation: X:130.36, Y:8.33, Z:4.64 [[ 9.96276124e-01 -7.64943768e-02 -3.97805984e-02 1.30358690e+02] [ 7.64593823e-02 9.97069802e-01 -2.40258203e-03 8.32501230e+00] [ 3.98478174e-02 -6.47964874e-04 9.99205550e-01 4.63962245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74509989299997 meters 0.013455848158284935 Centerline is valid? [True, True] Translation: X:130.42, Y:8.34, Z:4.64 [[ 9.96784367e-01 -6.94385068e-02 -3.99902375e-02 1.30418839e+02] [ 6.93975236e-02 9.97586165e-01 -2.41376513e-03 8.33858940e+00] [ 4.00613160e-02 -3.69220107e-04 9.99197155e-01 4.64176174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80509989299998 meters 0.013022265051981506 Centerline is valid? [True, True] Translation: X:130.48, Y:8.35, Z:4.64 [[ 9.97037294e-01 -6.52439596e-02 -4.07413824e-02 1.30479709e+02] [ 6.51979821e-02 9.97869322e-01 -2.45760223e-03 8.34849891e+00] [ 4.08149193e-02 -2.05934842e-04 9.99166703e-01 4.64354183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86509989299998 meters 0.012993314627465556 Centerline is valid? [True, True] Translation: X:130.54, Y:8.35, Z:4.65 [[ 9.97137887e-01 -6.33601436e-02 -4.12495606e-02 1.30538602e+02] [ 6.33114546e-02 9.97990719e-01 -2.48694162e-03 8.35440890e+00] [ 4.13242516e-02 -1.31745968e-04 9.99145780e-01 4.64544815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92509989299998 meters 0.012961125004197204 Centerline is valid? [True, True] Translation: X:130.60, Y:8.36, Z:4.65 [[ 9.97302525e-01 -6.03279070e-02 -4.18116949e-02 1.30598314e+02] [ 6.02751818e-02 9.98178613e-01 -2.52167587e-03 8.36290492e+00] [ 4.18876671e-02 -5.33380174e-06 9.99122327e-01 4.64673605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98509989299998 meters 0.012980035218664818 Centerline is valid? [True, True] Translation: X:130.66, Y:8.37, Z:4.65 [[ 9.97389231e-01 -5.99513900e-02 -4.02560849e-02 1.30657896e+02] [ 5.99021550e-02 9.98201298e-01 -2.42922082e-03 8.37115333e+00] [ 4.03293114e-02 1.14524476e-05 9.99186442e-01 4.64958893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04509989299999 meters 0.013085209908256575 Centerline is valid? [True, True] Translation: X:130.72, Y:8.37, Z:4.65 [[ 9.97119778e-01 -6.44402308e-02 -3.99950545e-02 1.30717949e+02] [ 6.43951880e-02 9.97921554e-01 -2.41478938e-03 8.37398301e+00] [ 4.00675366e-02 -1.67654811e-04 9.99196960e-01 4.65112471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10509989299996 meters 0.01336148892011273 Centerline is valid? [True, True] Translation: X:130.78, Y:8.38, Z:4.65 [[ 9.96710400e-01 -6.99324812e-02 -4.09612921e-02 1.30779040e+02] [ 6.98898747e-02 9.97551648e-01 -2.47299092e-03 8.37607797e+00] [ 4.10339468e-02 -3.97923798e-04 9.99157674e-01 4.65288832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16509989299996 meters 0.015021015640076433 Centerline is valid? [True, True] Translation: X:130.84, Y:8.37, Z:4.66 [[ 9.96105703e-01 -7.87154382e-02 -3.97153510e-02 1.30839288e+02] [ 7.86824117e-02 9.96896853e-01 -2.39639361e-03 8.37463981e+00] [ 3.97807416e-02 -7.37838267e-04 9.99208161e-01 4.65570569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22509989299996 meters 0.016459035125516885 Centerline is valid? [True, True] Translation: X:130.90, Y:8.37, Z:4.66 [[ 9.95513102e-01 -8.60495574e-02 -3.93590955e-02 1.30900704e+02] [ 8.60228737e-02 9.96290333e-01 -2.37415150e-03 8.37309317e+00] [ 3.94173810e-02 -1.02228357e-03 9.99222310e-01 4.65783682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28509989299997 meters 0.01817568980825341 Centerline is valid? [True, True] Translation: X:130.96, Y:8.37, Z:4.66 [[ 9.95267273e-01 -8.87392708e-02 -3.96030037e-02 1.30961328e+02] [ 8.87144391e-02 9.96054240e-01 -2.38742024e-03 8.37354723e+00] [ 3.96585977e-02 -1.13723704e-03 9.99212641e-01 4.66018770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34509989299997 meters 0.017216965644310578 Centerline is valid? [True, True] Translation: X:131.02, Y:8.38, Z:4.66 [[ 9.95378846e-01 -8.73799388e-02 -3.98208432e-02 1.31023517e+02] [ 8.73538079e-02 9.96174461e-01 -2.39901780e-03 8.37942316e+00] [ 3.98781330e-02 -1.09057072e-03 9.99203956e-01 4.66213551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40509989299997 meters 0.016250051936051495 Centerline is valid? [True, True] Translation: X:131.08, Y:8.39, Z:4.66 [[ 9.95780074e-01 -8.28567018e-02 -3.94564438e-02 1.31084267e+02] [ 8.28276067e-02 9.96561062e-01 -2.37432570e-03 8.38571586e+00] [ 3.95174843e-02 -9.03776580e-04 9.99218470e-01 4.66427478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46509989299997 meters 0.014336610691218488 Centerline is valid? [True, True] Translation: X:131.15, Y:8.40, Z:4.67 [[ 9.96280239e-01 -7.62247022e-02 -4.01930383e-02 1.31145621e+02] [ 7.61891764e-02 9.97090451e-01 -2.41712940e-03 8.39697162e+00] [ 4.02603397e-02 -6.54136226e-04 9.99189010e-01 4.66630026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52509989299998 meters 0.013417142612999816 Centerline is valid? [True, True] Translation: X:131.21, Y:8.41, Z:4.67 [[ 9.96718230e-01 -6.86504861e-02 -4.28938311e-02 1.31206170e+02] [ 6.86031146e-02 9.97640702e-01 -2.57715868e-03 8.40861364e+00] [ 4.29695550e-02 -3.73949375e-04 9.99076312e-01 4.66643550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58509989299998 meters 0.013483841710692243 Centerline is valid? [True, True] Translation: X:131.27, Y:8.41, Z:4.67 [[ 9.96611882e-01 -6.91522316e-02 -4.45277961e-02 1.31266400e+02] [ 6.91017440e-02 9.97606034e-01 -2.67393281e-03 8.41284450e+00] [ 4.46061065e-02 -4.12075158e-04 9.99004567e-01 4.66652593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64509989299998 meters 0.01381563655955292 Centerline is valid? [True, True] Translation: X:131.33, Y:8.42, Z:4.67 [[ 9.96388180e-01 -7.20771065e-02 -4.48941662e-02 1.31326489e+02] [ 7.20287509e-02 9.97398913e-01 -2.69593365e-03 8.41650405e+00] [ 4.49717077e-02 -5.47474290e-04 9.98988111e-01 4.66802257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70509989299998 meters 0.014218975304809511 Centerline is valid? [True, True] Translation: X:131.39, Y:8.42, Z:4.67 [[ 9.96226633e-01 -7.45049143e-02 -4.45141904e-02 1.31387227e+02] [ 7.44597954e-02 9.97220434e-01 -2.67311578e-03 8.41937254e+00] [ 4.45896205e-02 -6.51488384e-04 9.99005176e-01 4.67056011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76509989299998 meters 0.014750344805859418 Centerline is valid? [True, True] Translation: X:131.45, Y:8.42, Z:4.67 [[ 9.95852820e-01 -7.92942357e-02 -4.46047621e-02 1.31448738e+02] [ 7.92537437e-02 9.96850877e-01 -2.67828394e-03 8.42307268e+00] [ 4.46766687e-02 -8.67917773e-04 9.99001122e-01 4.67248047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825099893 meters 0.016695476599482326 Centerline is valid? [True, True] Translation: X:131.51, Y:8.43, Z:4.68 [[ 9.95469045e-01 -8.45593084e-02 -4.34868338e-02 1.31509341e+02] [ 8.45259052e-02 9.96417865e-01 -2.60960451e-03 8.42562481e+00] [ 4.35517244e-02 -1.07798348e-03 9.99050592e-01 4.67603712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88509989299996 meters 0.017716695408907527 Centerline is valid? [True, True] Translation: X:131.57, Y:8.43, Z:4.68 [[ 9.95030548e-01 -8.93727959e-02 -4.38943267e-02 1.31570625e+02] [ 8.93435083e-02 9.95997393e-01 -2.63249799e-03 8.43017172e+00] [ 4.39539087e-02 -1.30225723e-03 9.99032711e-01 4.67804929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94509989299996 meters 0.02015024978583254 Centerline is valid? [True, True] Translation: X:131.63, Y:8.43, Z:4.68 [[ 9.94622053e-01 -9.46014355e-02 -4.21608843e-02 1.31630990e+02] [ 9.45791660e-02 9.95514136e-01 -2.52703449e-03 8.43316514e+00] [ 4.22108174e-02 -1.47409705e-03 9.99107639e-01 4.68110773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00509989299997 meters 0.018782709196790582 Centerline is valid? [True, True] Translation: X:131.69, Y:8.44, Z:4.68 [[ 9.94753302e-01 -9.28717812e-02 -4.29033945e-02 1.31692459e+02] [ 9.28472026e-02 9.95677053e-01 -2.56949859e-03 8.44028910e+00] [ 4.29565593e-02 -1.42744295e-03 9.99075921e-01 4.68326845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06509989299997 meters 0.01786316304979164 Centerline is valid? [True, True] Translation: X:131.75, Y:8.45, Z:4.69 [[ 9.94971858e-01 -9.06871337e-02 -4.25070035e-02 1.31754493e+02] [ 9.06611459e-02 9.95878552e-01 -2.54270293e-03 8.44676741e+00] [ 4.25624036e-02 -1.32381579e-03 9.99092933e-01 4.68557279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12509989299997 meters 0.018618349034875678 Centerline is valid? [True, True] Translation: X:131.82, Y:8.45, Z:4.69 [[ 9.95074426e-01 -8.91502118e-02 -4.33488971e-02 1.31815740e+02] [ 8.91218632e-02 9.96017362e-01 -2.58996147e-03 8.44980088e+00] [ 4.34071498e-02 -1.28613006e-03 9.99056638e-01 4.68738007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18509989299997 meters 0.018239448157647296 Centerline is valid? [True, True] Translation: X:131.88, Y:8.45, Z:4.69 [[ 9.94900832e-01 -8.99231313e-02 -4.56745454e-02 1.31878054e+02] [ 8.98925988e-02 9.95947734e-01 -2.72618962e-03 8.45315294e+00] [ 4.57346075e-02 -1.39351526e-03 9.98952653e-01 4.68819597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24509989299997 meters 0.01795486757327799 Centerline is valid? [True, True] Translation: X:131.94, Y:8.46, Z:4.69 [[ 9.95043582e-01 -8.81263281e-02 -4.60653865e-02 1.31940437e+02] [ 8.80935015e-02 9.96108425e-01 -2.74619587e-03 8.45779456e+00] [ 4.61281317e-02 -1.32547661e-03 9.98934652e-01 4.69053506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30509989299998 meters 0.016645688357335445 Centerline is valid? [True, True] Translation: X:132.00, Y:8.47, Z:4.70 [[ 9.95689810e-01 -8.18557416e-02 -4.36055107e-02 1.31999314e+02] [ 8.18204209e-02 9.96643704e-01 -2.59715401e-03 8.46560196e+00] [ 4.36717497e-02 -9.81861458e-04 9.99045452e-01 4.69598427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36509989299998 meters 0.015954423851366802 Centerline is valid? [True, True] Translation: X:132.06, Y:8.47, Z:4.70 [[ 9.95951719e-01 -7.91054381e-02 -4.26907743e-02 1.32060264e+02] [ 7.90690394e-02 9.96865898e-01 -2.54312182e-03 8.47112842e+00] [ 4.27581518e-02 -8.42691962e-04 9.99085097e-01 4.69898270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42509989299998 meters 0.014014845535633499 Centerline is valid? [True, True] Translation: X:132.12, Y:8.48, Z:4.70 [[ 9.96605255e-01 -7.08124880e-02 -4.19947401e-02 1.32121371e+02] [ 7.07699698e-02 9.97489529e-01 -2.50011264e-03 8.48088906e+00] [ 4.20663527e-02 -4.80341096e-04 9.99114704e-01 4.70136967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48509989299998 meters 0.01321240835652803 Centerline is valid? [True, True] Translation: X:132.18, Y:8.49, Z:4.70 [[ 9.97266830e-01 -6.17464591e-02 -4.05739321e-02 1.32181223e+02] [ 6.16993630e-02 9.98091862e-01 -2.41312974e-03 8.49008042e+00] [ 4.06455137e-02 -9.68515210e-05 9.99173625e-01 4.70377278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54509989299999 meters 0.013425835007365487 Centerline is valid? [True, True] Translation: X:132.24, Y:8.50, Z:4.71 [[ 9.97674718e-01 -5.41311585e-02 -4.14122582e-02 1.32242300e+02] [ 5.40756648e-02 9.98533811e-01 -2.45985865e-03 8.49683492e+00] [ 4.14846950e-02 2.14743391e-04 9.99139116e-01 4.70547250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60509989299996 meters 0.013825580696091834 Centerline is valid? [True, True] Translation: X:132.30, Y:8.50, Z:4.71 [[ 9.97875166e-01 -5.05331606e-02 -4.11284886e-02 1.32301595e+02] [ 5.04754180e-02 9.98722319e-01 -2.44183966e-03 8.49996365e+00] [ 4.11993334e-02 3.60673504e-04 9.99150882e-01 4.70795287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66509989299996 meters 0.0136180422097489 Centerline is valid? [True, True] Translation: X:132.36, Y:8.50, Z:4.71 [[ 9.97824785e-01 -5.11477887e-02 -4.15884844e-02 1.32360645e+02] [ 5.10891801e-02 9.98691037e-01 -2.47154988e-03 8.49896528e+00] [ 4.16604609e-02 3.41452164e-04 9.99131768e-01 4.71007206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72509989299996 meters 0.013238014310275931 Centerline is valid? [True, True] Translation: X:132.42, Y:8.49, Z:4.71 [[ 9.97522837e-01 -5.69955562e-02 -4.12273708e-02 1.32418822e+02] [ 5.69425534e-02 9.98374426e-01 -2.45973486e-03 8.49242506e+00] [ 4.13005466e-02 1.06049939e-04 9.99146763e-01 4.71165025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78509989299997 meters 0.013625785572277244 Centerline is valid? [True, True] Translation: X:132.48, Y:8.48, Z:4.72 [[ 9.96739708e-01 -6.98299654e-02 -4.04194271e-02 1.32478507e+02] [ 6.97893959e-02 9.97558823e-01 -2.41557199e-03 8.48145372e+00] [ 4.04894354e-02 -4.13150872e-04 9.99179881e-01 4.71505366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84509989299997 meters 0.014400872953346248 Centerline is valid? [True, True] Translation: X:132.54, Y:8.48, Z:4.72 [[ 9.96466266e-01 -7.33981145e-02 -4.08374621e-02 1.32539033e+02] [ 7.33593032e-02 9.97302567e-01 -2.45012865e-03 8.47982220e+00] [ 4.09071406e-02 -5.54337219e-04 9.99162799e-01 4.71685633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90509989299997 meters 0.015987196613503136 Centerline is valid? [True, True] Translation: X:132.60, Y:8.47, Z:4.72 [[ 9.95894683e-01 -8.06778859e-02 -4.10470409e-02 1.32600124e+02] [ 8.06448810e-02 9.96739857e-01 -2.46196160e-03 8.47412389e+00] [ 4.11118476e-02 -8.58379264e-04 9.99154182e-01 4.71869350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96509989299997 meters 0.018309724328711554 Centerline is valid? [True, True] Translation: X:132.66, Y:8.46, Z:4.72 [[ 9.95058209e-01 -9.03465161e-02 -4.11906269e-02 1.32661155e+02] [ 9.03215762e-02 9.95909591e-01 -2.46988187e-03 8.46499718e+00] [ 4.12452856e-02 -1.26272612e-03 9.99148253e-01 4.72098939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02509989299998 meters 0.02020994203743888 Centerline is valid? [True, True] Translation: X:132.72, Y:8.46, Z:4.72 [[ 9.94564561e-01 -9.52463574e-02 -4.20650234e-02 1.32722486e+02] [ 9.52247444e-02 9.95452605e-01 -2.52177313e-03 8.45873353e+00] [ 4.21139268e-02 -1.49756492e-03 9.99111693e-01 4.72240045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08509989299998 meters 0.019323946245806137 Centerline is valid? [True, True] Translation: X:132.78, Y:8.46, Z:4.73 [[ 9.94526569e-01 -9.61499283e-02 -4.08912445e-02 1.32784557e+02] [ 9.61303331e-02 9.95365741e-01 -2.44976982e-03 8.45931969e+00] [ 4.09372891e-02 -1.49452779e-03 9.99160600e-01 4.72544613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14509989299998 meters 0.02070379432438434 Centerline is valid? [True, True] Translation: X:132.84, Y:8.46, Z:4.73 [[ 9.94754259e-01 -9.36139338e-02 -4.12358492e-02 1.32844775e+02] [ 9.35919483e-02 9.95607582e-01 -2.46758904e-03 8.45778602e+00] [ 4.12857249e-02 -1.40469876e-03 9.99146394e-01 4.72692236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20509989299998 meters 0.021014034179817707 Centerline is valid? [True, True] Translation: X:132.91, Y:8.46, Z:4.73 [[ 9.94746560e-01 -9.32252654e-02 -4.22886638e-02 1.32906571e+02] [ 9.32018369e-02 9.95644022e-01 -2.52955688e-03 8.45986201e+00] [ 4.23402739e-02 -1.42511314e-03 9.99102232e-01 4.72789501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26509989299998 meters 0.02080460865572683 Centerline is valid? [True, True] Translation: X:132.97, Y:8.46, Z:4.73 [[ 9.94343240e-01 -9.66023835e-02 -4.41531603e-02 1.32967494e+02] [ 9.65802914e-02 9.95321700e-01 -2.63828828e-03 8.46245339e+00] [ 4.42014635e-02 -1.64096098e-03 9.99021290e-01 4.72855219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325099893 meters 0.019957240729706022 Centerline is valid? [True, True] Translation: X:133.03, Y:8.47, Z:4.73 [[ 9.94099623e-01 -9.88932429e-02 -4.45652915e-02 1.33028308e+02] [ 9.88730755e-02 9.95096492e-01 -2.66198057e-03 8.46797807e+00] [ 4.46100172e-02 -1.76003356e-03 9.99002927e-01 4.73127214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38509989299996 meters 0.022991265216272257 Centerline is valid? [True, True] Translation: X:133.09, Y:8.47, Z:4.73 [[ 9.93832479e-01 -1.00972443e-01 -4.58428769e-02 1.33089011e+02] [ 1.00953383e-01 9.94887393e-01 -2.73673137e-03 8.46789614e+00] [ 4.58848348e-02 -1.90814099e-03 9.98944914e-01 4.73255806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44509989299996 meters 0.02188245350277433 Centerline is valid? [True, True] Translation: X:133.15, Y:8.47, Z:4.74 [[ 9.93878902e-01 -1.00311133e-01 -4.62861139e-02 1.33150011e+02] [ 1.00291034e-01 9.94954310e-01 -2.76218939e-03 8.47445135e+00] [ 4.63296469e-02 -1.89680047e-03 9.98924405e-01 4.73549138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50509989299997 meters 0.019034641776247488 Centerline is valid? [True, True] Translation: X:133.21, Y:8.49, Z:4.74 [[ 9.94472978e-01 -9.47708282e-02 -4.51883500e-02 1.33210205e+02] [ 9.47460236e-02 9.95497829e-01 -2.69523960e-03 8.48615454e+00] [ 4.52403344e-02 -1.60107353e-03 9.98974849e-01 4.73943071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56509989299997 meters 0.016282239933788578 Centerline is valid? [True, True] Translation: X:133.27, Y:8.50, Z:4.74 [[ 9.95498214e-01 -8.51154837e-02 -4.16972498e-02 1.33269478e+02] [ 8.50859215e-02 9.96370515e-01 -2.48638763e-03 8.49967022e+00] [ 4.17575403e-02 -1.07265447e-03 9.99127198e-01 4.74480096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62509989299997 meters 0.01418103118793002 Centerline is valid? [True, True] Translation: X:133.33, Y:8.51, Z:4.75 [[ 9.96354481e-01 -7.42433157e-02 -4.20199724e-02 1.33329213e+02] [ 7.42036258e-02 9.97239963e-01 -2.50562551e-03 8.51179662e+00] [ 4.20900216e-02 -6.21543096e-04 9.99113629e-01 4.74631508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68509989299997 meters 0.01308136508927044 Centerline is valid? [True, True] Translation: X:133.39, Y:8.52, Z:4.75 [[ 9.96933717e-01 -6.55492769e-02 -4.27370696e-02 1.33390237e+02] [ 6.55002404e-02 9.97849300e-01 -2.54818490e-03 8.52366493e+00] [ 4.28121866e-02 -2.58916887e-04 9.99083104e-01 4.74858193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74509989299997 meters 0.012861669240677893 Centerline is valid? [True, True] Translation: X:133.45, Y:8.53, Z:4.75 [[ 9.97197516e-01 -6.10423925e-02 -4.32543657e-02 1.33448565e+02] [ 6.09879681e-02 9.98135172e-01 -2.57797393e-03 8.53040410e+00] [ 4.33310695e-02 -6.72466742e-05 9.99060766e-01 4.75026870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80509989299998 meters 0.013028483527342953 Centerline is valid? [True, True] Translation: X:133.51, Y:8.54, Z:4.75 [[ 9.97415555e-01 -5.60794145e-02 -4.49144641e-02 1.33506799e+02] [ 5.60155207e-02 9.98426299e-01 -2.68088671e-03 8.53746057e+00] [ 4.49941247e-02 1.58051010e-04 9.98987239e-01 4.75056609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86509989299998 meters 0.013175748530436012 Centerline is valid? [True, True] Translation: X:133.57, Y:8.54, Z:4.75 [[ 9.97581027e-01 -5.29757052e-02 -4.50074315e-02 1.33565489e+02] [ 5.29078821e-02 9.98595753e-01 -2.69766257e-03 8.54309296e+00] [ 4.50871405e-02 3.09889114e-04 9.98983010e-01 4.75230297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92509989299998 meters 0.01328048709057055 Centerline is valid? [True, True] Translation: X:133.62, Y:8.55, Z:4.75 [[ 9.97601853e-01 -5.25911396e-02 -4.49968353e-02 1.33622749e+02] [ 5.25225019e-02 9.98616072e-01 -2.70712481e-03 8.54633027e+00] [ 4.50769336e-02 3.37286361e-04 9.98983461e-01 4.75368459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98509989299998 meters 0.012730604626377554 Centerline is valid? [True, True] Translation: X:133.68, Y:8.54, Z:4.76 [[ 9.97186224e-01 -6.13641422e-02 -4.30589824e-02 1.33681441e+02] [ 6.13092639e-02 9.98115444e-01 -2.59515273e-03 8.54280659e+00] [ 4.31370847e-02 -5.20639705e-05 9.99069161e-01 4.75765864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04509989299999 meters 0.0132015654162045 Centerline is valid? [True, True] Translation: X:133.74, Y:8.54, Z:4.76 [[ 9.96624682e-01 -7.02166480e-02 -4.25307496e-02 1.33740788e+02] [ 7.01707094e-02 9.97531677e-01 -2.57389540e-03 8.53833357e+00] [ 4.26065003e-02 -4.19205190e-04 9.99091843e-01 4.76013205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10509989299996 meters 0.01402885072020108 Centerline is valid? [True, True] Translation: X:133.80, Y:8.53, Z:4.76 [[ 9.96224108e-01 -7.59127415e-02 -4.21281541e-02 1.33801466e+02] [ 7.58723614e-02 9.97114255e-01 -2.55888545e-03 8.53469230e+00] [ 4.22008350e-02 -6.47139157e-04 9.99108938e-01 4.76178834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16509989299996 meters 0.014178300536565344 Centerline is valid? [True, True] Translation: X:133.86, Y:8.53, Z:4.76 [[ 9.96211476e-01 -7.63668382e-02 -4.16028981e-02 1.33863362e+02] [ 7.63278611e-02 9.97079572e-01 -2.52682411e-03 8.53434995e+00] [ 4.16743654e-02 -6.58209048e-04 9.99131029e-01 4.76404878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22509989299996 meters 0.013710586129346376 Centerline is valid? [True, True] Translation: X:133.92, Y:8.54, Z:4.77 [[ 9.96383505e-01 -7.47391547e-02 -4.04223837e-02 1.33924858e+02] [ 7.47010771e-02 9.97202952e-01 -2.45370588e-03 8.53776804e+00] [ 4.04927082e-02 -5.74763531e-04 9.99179669e-01 4.76694867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28509989299997 meters 0.013783357513295062 Centerline is valid? [True, True] Translation: X:133.98, Y:8.54, Z:4.77 [[ 9.96437918e-01 -7.36634763e-02 -4.10507839e-02 1.33984934e+02] [ 7.36233527e-02 9.97283009e-01 -2.49040081e-03 8.54054037e+00] [ 4.11227009e-02 -5.40766546e-04 9.99153958e-01 4.76835536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34509989299997 meters 0.013077915071114816 Centerline is valid? [True, True] Translation: X:134.05, Y:8.55, Z:4.77 [[ 9.96844557e-01 -6.77747010e-02 -4.13221408e-02 1.34045773e+02] [ 6.77290172e-02 9.97700606e-01 -2.50611577e-03 8.54527897e+00] [ 4.13969762e-02 -3.00500120e-04 9.99142733e-01 4.76989381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40509989299997 meters 0.012947245952647327 Centerline is valid? [True, True] Translation: X:134.10, Y:8.55, Z:4.77 [[ 9.97508537e-01 -5.73874648e-02 -4.10292225e-02 1.34104994e+02] [ 5.73336629e-02 9.98351973e-01 -2.48775136e-03 8.55106574e+00] [ 4.11043709e-02 1.29197611e-04 9.99154850e-01 4.77210816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46509989299997 meters 0.01329256994632513 Centerline is valid? [True, True] Translation: X:134.16, Y:8.55, Z:4.77 [[ 9.97682943e-01 -5.27547686e-02 -4.29613773e-02 1.34163381e+02] [ 5.26913908e-02 9.98607441e-01 -2.60705381e-03 8.55329060e+00] [ 4.30390855e-02 3.37318396e-04 9.99073332e-01 4.77250492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52509989299998 meters 0.013334858652422479 Centerline is valid? [True, True] Translation: X:134.22, Y:8.55, Z:4.77 [[ 9.97653959e-01 -5.21093248e-02 -4.43981662e-02 1.34222280e+02] [ 5.20404774e-02 9.98641310e-01 -2.70587866e-03 8.55384038e+00] [ 4.44788444e-02 3.89028792e-04 9.99010251e-01 4.77294336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58509989299998 meters 0.013326528428891957 Centerline is valid? [True, True] Translation: X:134.28, Y:8.55, Z:4.77 [[ 9.97534632e-01 -5.41500474e-02 -4.46366486e-02 1.34279742e+02] [ 5.40820400e-02 9.98532762e-01 -2.73068153e-03 8.55357255e+00] [ 4.47190226e-02 3.09908374e-04 9.98999556e-01 4.77444206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64509989299998 meters 0.012926890320992297 Centerline is valid? [True, True] Translation: X:134.34, Y:8.55, Z:4.78 [[ 9.97312951e-01 -5.98684987e-02 -4.22213304e-02 1.34338581e+02] [ 5.98125899e-02 9.98206271e-01 -2.58732539e-03 8.54934762e+00] [ 4.23004961e-02 5.50059982e-05 9.99104932e-01 4.77744843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70509989299998 meters 0.013759005723662785 Centerline is valid? [True, True] Translation: X:134.40, Y:8.54, Z:4.78 [[ 9.96411590e-01 -7.41441129e-02 -4.08239267e-02 1.34397692e+02] [ 7.41034310e-02 9.97247400e-01 -2.51093700e-03 8.53706248e+00] [ 4.08977259e-02 -5.23266302e-04 9.99163201e-01 4.78133020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76509989299998 meters 0.01550937173893772 Centerline is valid? [True, True] Translation: X:134.46, Y:8.53, Z:4.78 [[ 9.95666008e-01 -8.39304087e-02 -4.00610406e-02 1.34458162e+02] [ 8.38990091e-02 9.96471208e-01 -2.46734291e-03 8.52993846e+00] [ 4.01267586e-02 -9.04432140e-04 9.99194188e-01 4.78379330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825099893 meters 0.017338185807416306 Centerline is valid? [True, True] Translation: X:134.52, Y:8.53, Z:4.79 [[ 9.95128404e-01 -8.98554090e-02 -4.05643368e-02 1.34519209e+02] [ 8.98281024e-02 9.95954149e-01 -2.49902539e-03 8.52641179e+00] [ 4.06247704e-02 -1.15696625e-03 9.99173803e-01 4.78609099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88509989299996 meters 0.017812913201135153 Centerline is valid? [True, True] Translation: X:134.58, Y:8.53, Z:4.79 [[ 9.94971493e-01 -9.19052598e-02 -3.98139648e-02 1.34580364e+02] [ 9.18805962e-02 9.95767011e-01 -2.45270454e-03 8.52804888e+00] [ 3.98708492e-02 -1.21775973e-03 9.99204099e-01 4.78951407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94509989299996 meters 0.01833275771840496 Centerline is valid? [True, True] Translation: X:134.64, Y:8.53, Z:4.79 [[ 9.94903656e-01 -9.24810273e-02 -4.01743095e-02 1.34641614e+02] [ 9.24564430e-02 9.95713658e-01 -2.47344200e-03 8.52998804e+00] [ 4.02308551e-02 -1.25353726e-03 9.99189625e-01 4.79226948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00509989299997 meters 0.01726412017729014 Centerline is valid? [True, True] Translation: X:134.70, Y:8.54, Z:4.79 [[ 9.94866684e-01 -9.24705104e-02 -4.11033529e-02 1.34703218e+02] [ 9.24448294e-02 9.95714596e-01 -2.52913859e-03 8.53514225e+00] [ 4.11610792e-02 -1.28363672e-03 9.99151699e-01 4.79359869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06509989299997 meters 0.01868456645224975 Centerline is valid? [True, True] Translation: X:134.76, Y:8.54, Z:4.79 [[ 9.94622235e-01 -9.40307040e-02 -4.34147098e-02 1.34763705e+02] [ 9.40036068e-02 9.95568277e-01 -2.66979663e-03 8.53694925e+00] [ 4.34733506e-02 -1.42570022e-03 9.99053570e-01 4.79311412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12509989299997 meters 0.0202014920508168 Centerline is valid? [True, True] Translation: X:134.82, Y:8.54, Z:4.79 [[ 9.93975015e-01 -9.94385410e-02 -4.61047288e-02 1.34823760e+02] [ 9.94138139e-02 9.95042139e-01 -2.83466218e-03 8.53933396e+00] [ 4.61580226e-02 -1.76586354e-03 9.98932590e-01 4.79320903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18509989299997 meters 0.022186738740839988 Centerline is valid? [True, True] Translation: X:134.88, Y:8.54, Z:4.80 [[ 9.93568098e-01 -1.03011828e-01 -4.70212395e-02 1.34882876e+02] [ 1.02990044e-01 9.94678182e-01 -2.89221793e-03 8.54176584e+00] [ 4.70689336e-02 -1.96910405e-03 9.98889703e-01 4.79504985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24509989299997 meters 0.02212471680898395 Centerline is valid? [True, True] Translation: X:134.94, Y:8.55, Z:4.80 [[ 9.93219398e-01 -1.06616116e-01 -4.63490059e-02 1.34942515e+02] [ 1.06598764e-01 9.94298026e-01 -2.85299227e-03 8.54779275e+00] [ 4.63889000e-02 -2.10709948e-03 9.98921233e-01 4.79853589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30509989299998 meters 0.022702274650558775 Centerline is valid? [True, True] Translation: X:135.00, Y:8.55, Z:4.80 [[ 9.92848872e-01 -1.10625477e-01 -4.48678146e-02 1.35002791e+02] [ 1.10613265e-01 9.93859685e-01 -2.76247694e-03 8.55464125e+00] [ 4.48979124e-02 -2.22025333e-03 9.98989113e-01 4.80299768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36509989299998 meters 0.02634695113225246 Centerline is valid? [True, True] Translation: X:135.06, Y:8.56, Z:4.81 [[ 9.92638056e-01 -1.13283587e-01 -4.28546154e-02 1.35062359e+02] [ 1.13274929e-01 9.93560180e-01 -2.63811200e-03 8.55765469e+00] [ 4.28774942e-02 -2.23566315e-03 9.99077836e-01 4.80665264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42509989299998 meters 0.026059301972536714 Centerline is valid? [True, True] Translation: X:135.12, Y:8.57, Z:4.81 [[ 9.92498912e-01 -1.14773697e-01 -4.21059145e-02 1.35123831e+02] [ 1.14766803e-01 9.93389087e-01 -2.58897511e-03 8.56729947e+00] [ 4.21247022e-02 -2.26280620e-03 9.99109798e-01 4.81022997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48509989299998 meters 0.02676928632129605 Centerline is valid? [True, True] Translation: X:135.19, Y:8.57, Z:4.81 [[ 9.92347004e-01 -1.15675724e-01 -4.32036042e-02 1.35185123e+02] [ 1.15669454e-01 9.93284218e-01 -2.65337506e-03 8.57487029e+00] [ 4.32203893e-02 -2.36426852e-03 9.99062765e-01 4.81125708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54509989299999 meters 0.028269280222201064 Centerline is valid? [True, True] Translation: X:135.25, Y:8.58, Z:4.81 [[ 9.92112081e-01 -1.17367610e-01 -4.40279845e-02 1.35246995e+02] [ 1.17362872e-01 9.93085424e-01 -2.70146503e-03 8.58087692e+00] [ 4.40406141e-02 -2.48709461e-03 9.99026646e-01 4.81190977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60509989299996 meters 0.028433023841941598 Centerline is valid? [True, True] Translation: X:135.31, Y:8.59, Z:4.81 [[ 9.91864567e-01 -1.18811306e-01 -4.57007103e-02 1.35308629e+02] [ 1.18807886e-01 9.92913311e-01 -2.80073206e-03 8.58888740e+00] [ 4.57096022e-02 -2.65165786e-03 9.98951251e-01 4.81282015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66509989299996 meters 0.026282450230582573 Centerline is valid? [True, True] Translation: X:135.37, Y:8.60, Z:4.81 [[ 9.92005070e-01 -1.16847061e-01 -4.76728960e-02 1.35369596e+02] [ 1.16841237e-01 9.93146318e-01 -2.91840844e-03 8.60138598e+00] [ 4.76871685e-02 -2.67508416e-03 9.98858738e-01 4.81368450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72509989299996 meters 0.0241144223111742 Centerline is valid? [True, True] Translation: X:135.43, Y:8.62, Z:4.82 [[ 9.92556972e-01 -1.12856316e-01 -4.57614451e-02 1.35429709e+02] [ 1.12846783e-01 9.93608456e-01 -2.79991769e-03 8.61568272e+00] [ 4.57849472e-02 -2.38495406e-03 9.98948472e-01 4.81749474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78509989299997 meters 0.02374148123193617 Centerline is valid? [True, True] Translation: X:135.49, Y:8.63, Z:4.82 [[ 9.93224430e-01 -1.07172081e-01 -4.49374757e-02 1.35488514e+02] [ 1.07157107e-01 9.94238300e-01 -2.74895447e-03 8.62719353e+00] [ 4.49731706e-02 -2.08504116e-03 9.98986019e-01 4.82007031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84509989299997 meters 0.02186677055031403 Centerline is valid? [True, True] Translation: X:135.55, Y:8.64, Z:4.82 [[ 9.93899557e-01 -1.01385566e-01 -4.34124189e-02 1.35548626e+02] [ 1.01366054e-01 9.94845650e-01 -2.65622053e-03 8.64224505e+00] [ 4.34579585e-02 -1.76052921e-03 9.99053705e-01 4.82347155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90509989299997 meters 0.02157968589236028 Centerline is valid? [True, True] Translation: X:135.61, Y:8.65, Z:4.83 [[ 9.94257470e-01 -9.81270456e-02 -4.26985532e-02 1.35608525e+02] [ 9.81051815e-02 9.95172623e-01 -2.61226020e-03 8.65151979e+00] [ 4.27487645e-02 -1.59169009e-03 9.99084586e-01 4.82602038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96509989299997 meters 0.019625227134897023 Centerline is valid? [True, True] Translation: X:135.67, Y:8.66, Z:4.83 [[ 9.94532837e-01 -9.49794935e-02 -4.33973709e-02 1.35669776e+02] [ 9.49539600e-02 9.95478127e-01 -2.65401155e-03 8.66420615e+00] [ 4.34532102e-02 -1.48125058e-03 9.99054365e-01 4.82692472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02509989299998 meters 0.01931097877378083 Centerline is valid? [True, True] Translation: X:135.73, Y:8.67, Z:4.83 [[ 9.94384369e-01 -9.55372956e-02 -4.55230970e-02 1.35731782e+02] [ 9.55099078e-02 9.95424594e-01 -2.78132095e-03 8.67443948e+00] [ 4.55805302e-02 -1.58220471e-03 9.98959415e-01 4.82774039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08509989299998 meters 0.019412319423977063 Centerline is valid? [True, True] Translation: X:135.79, Y:8.68, Z:4.83 [[ 9.94402663e-01 -9.57343876e-02 -4.47020338e-02 1.35793149e+02] [ 9.57083193e-02 9.95405684e-01 -2.72797577e-03 8.68286198e+00] [ 4.47578197e-02 -1.56565016e-03 9.98996640e-01 4.82963173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14509989299998 meters 0.01789487964328194 Centerline is valid? [True, True] Translation: X:135.85, Y:8.69, Z:4.83 [[ 9.94843710e-01 -9.11552094e-02 -4.44603255e-02 1.35854834e+02] [ 9.11249911e-02 9.95835775e-01 -2.71015605e-03 8.69060282e+00] [ 4.45222276e-02 -1.35526507e-03 9.99007475e-01 4.83144123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20509989299998 meters 0.017985047378082524 Centerline is valid? [True, True] Translation: X:135.92, Y:8.69, Z:4.83 [[ 9.95059520e-01 -8.89991392e-02 -4.39966366e-02 1.35915487e+02] [ 8.89675470e-02 9.96030921e-01 -2.67952055e-03 8.69478749e+00] [ 4.40604855e-02 -1.24799040e-03 9.99028086e-01 4.83341133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26509989299998 meters 0.017372696410885857 Centerline is valid? [True, True] Translation: X:135.98, Y:8.70, Z:4.84 [[ 9.95067370e-01 -8.92876378e-02 -4.32278554e-02 1.35977134e+02] [ 8.92575156e-02 9.96005109e-01 -2.63029976e-03 8.70053668e+00] [ 4.32900181e-02 -1.24108551e-03 9.99061777e-01 4.83742994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325099893 meters 0.01779153929617772 Centerline is valid? [True, True] Translation: X:136.04, Y:8.70, Z:4.84 [[ 9.94868667e-01 -9.10436056e-02 -4.41293242e-02 1.36038856e+02] [ 9.10140787e-02 9.95845994e-01 -2.68199896e-03 8.70297690e+00] [ 4.41901895e-02 -1.34815305e-03 9.99022227e-01 4.83892663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38509989299996 meters 0.018740940647403306 Centerline is valid? [True, True] Translation: X:136.10, Y:8.70, Z:4.84 [[ 9.94492534e-01 -9.52621788e-02 -4.37003053e-02 1.36100287e+02] [ 9.52373869e-02 9.95451053e-01 -2.65366221e-03 8.70338173e+00] [ 4.37543086e-02 -1.52285563e-03 9.99041161e-01 4.84100296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44509989299996 meters 0.019465061360691493 Centerline is valid? [True, True] Translation: X:136.16, Y:8.70, Z:4.84 [[ 9.94362413e-01 -9.64101792e-02 -4.41414570e-02 1.36162472e+02] [ 9.63860971e-02 9.95340417e-01 -2.67856837e-03 8.70385822e+00] [ 4.41940175e-02 -1.59115505e-03 9.99021700e-01 4.84192190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50509989299997 meters 0.020551385936843594 Centerline is valid? [True, True] Translation: X:136.22, Y:8.70, Z:4.84 [[ 9.94498383e-01 -9.53226933e-02 -4.34344374e-02 1.36223829e+02] [ 9.52984709e-02 9.95445262e-01 -2.63266201e-03 8.70420744e+00] [ 4.34875574e-02 -1.52105736e-03 9.99052811e-01 4.84463068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56509989299997 meters 0.01989552977819936 Centerline is valid? [True, True] Translation: X:136.29, Y:8.71, Z:4.85 [[ 9.94466173e-01 -9.66218863e-02 -4.12461235e-02 1.36286255e+02] [ 9.66012474e-02 9.95320029e-01 -2.49783219e-03 8.70743068e+00] [ 4.12944381e-02 -1.50041736e-03 9.99145894e-01 4.84831917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62509989299997 meters 0.0231286212637119 Centerline is valid? [True, True] Translation: X:136.35, Y:8.70, Z:4.85 [[ 9.94068435e-01 -1.00186057e-01 -4.23166735e-02 1.36346309e+02] [ 1.00167673e-01 9.94967278e-01 -2.55990155e-03 8.70458349e+00] [ 4.23601718e-02 -1.69404539e-03 9.99100969e-01 4.84963959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68509989299997 meters 0.022218617855347397 Centerline is valid? [True, True] Translation: X:136.41, Y:8.71, Z:4.85 [[ 9.93761861e-01 -1.02279238e-01 -4.44558263e-02 1.36408308e+02] [ 1.02261063e-01 9.94753962e-01 -2.68878799e-03 8.70793404e+00] [ 4.44976166e-02 -1.87408511e-03 9.99007733e-01 4.85047222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74509989299997 meters 0.022645790135637747 Centerline is valid? [True, True] Translation: X:136.47, Y:8.71, Z:4.85 [[ 9.93401668e-01 -1.04687949e-01 -4.68354517e-02 1.36470053e+02] [ 1.04670599e-01 9.94502921e-01 -2.82954461e-03 8.70784092e+00] [ 4.68742127e-02 -2.09142044e-03 9.98898611e-01 4.85106759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80509989299998 meters 0.023801771710818553 Centerline is valid? [True, True] Translation: X:136.53, Y:8.71, Z:4.85 [[ 9.93341348e-01 -1.05201761e-01 -4.69633378e-02 1.36531834e+02] [ 1.05185000e-01 9.94448631e-01 -2.83491992e-03 8.70843020e+00] [ 4.70008656e-02 -2.12379551e-03 9.98892591e-01 4.85298378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86509989299998 meters 0.023477342794657418 Centerline is valid? [True, True] Translation: X:136.59, Y:8.71, Z:4.86 [[ 9.93472323e-01 -1.04409352e-01 -4.59503032e-02 1.36593636e+02] [ 1.04392660e-01 9.94532304e-01 -2.76938743e-03 8.71318397e+00] [ 4.59882108e-02 -2.04556462e-03 9.98939888e-01 4.85658430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92509989299998 meters 0.023276299349592387 Centerline is valid? [True, True] Translation: X:136.65, Y:8.72, Z:4.86 [[ 9.93896249e-01 -1.00969193e-01 -4.44462311e-02 1.36653448e+02] [ 1.00950256e-01 9.94887875e-01 -2.67616940e-03 8.71862059e+00] [ 4.44892271e-02 -1.82702367e-03 9.99008193e-01 4.86049109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98509989299998 meters 0.020176910337234365 Centerline is valid? [True, True] Translation: X:136.71, Y:8.73, Z:4.86 [[ 9.94267576e-01 -9.70809388e-02 -4.48026744e-02 1.36714507e+02] [ 9.70577681e-02 9.95275095e-01 -2.69735559e-03 8.72764252e+00] [ 4.48528478e-02 -1.66655438e-03 9.98992215e-01 4.86235028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04509989299999 meters 0.019350165956002002 Centerline is valid? [True, True] Translation: X:136.78, Y:8.73, Z:4.86 [[ 9.94645778e-01 -9.33484749e-02 -4.43377772e-02 1.36775522e+02] [ 9.33221500e-02 9.95632392e-01 -2.66776792e-03 8.73314040e+00] [ 4.43931592e-02 -1.48421260e-03 9.99013035e-01 4.86488085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10509989299996 meters 0.01879983889148649 Centerline is valid? [True, True] Translation: X:136.84, Y:8.74, Z:4.87 [[ 9.94808257e-01 -9.17887313e-02 -4.39472552e-02 1.36837192e+02] [ 9.17614274e-02 9.95777514e-01 -2.64246277e-03 8.73755566e+00] [ 4.40042368e-02 -1.40391909e-03 9.99030358e-01 4.86749137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16509989299996 meters 0.019551653606326463 Centerline is valid? [True, True] Translation: X:136.90, Y:8.74, Z:4.87 [[ 9.94812385e-01 -9.08157476e-02 -4.58346840e-02 1.36898860e+02] [ 9.07851675e-02 9.95866696e-01 -2.75270771e-03 8.73921870e+00] [ 4.58952246e-02 -1.42268175e-03 9.98945246e-01 4.86802774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22509989299996 meters 0.01844604220009588 Centerline is valid? [True, True] Translation: X:136.96, Y:8.74, Z:4.87 [[ 9.94881171e-01 -9.01512068e-02 -4.56532099e-02 1.36960496e+02] [ 9.01202871e-02 9.95927121e-01 -2.73923927e-03 8.74431536e+00] [ 4.57142157e-02 -1.38906282e-03 9.98953593e-01 4.87083225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28509989299997 meters 0.01858667041638822 Centerline is valid? [True, True] Translation: X:137.02, Y:8.75, Z:4.87 [[ 9.94891853e-01 -8.98710716e-02 -4.59716279e-02 1.37023100e+02] [ 8.98395726e-02 9.95952439e-01 -2.75504833e-03 8.74671240e+00] [ 4.60331541e-02 -1.38909626e-03 9.98938947e-01 4.87300787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34509989299997 meters 0.018690875234835033 Centerline is valid? [True, True] Translation: X:137.09, Y:8.75, Z:4.88 [[ 9.94821819e-01 -9.02510754e-02 -4.67364039e-02 1.37085369e+02] [ 9.02190964e-02 9.95918013e-01 -2.79752049e-03 8.75021361e+00] [ 4.67981058e-02 -1.43348171e-03 9.98903340e-01 4.87526447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40509989299997 meters 0.018824200944844736 Centerline is valid? [True, True] Translation: X:137.15, Y:8.75, Z:4.88 [[ 9.94466635e-01 -9.42489849e-02 -4.64030191e-02 1.37146427e+02] [ 9.42219416e-02 9.95547351e-01 -2.77460275e-03 8.75407549e+00] [ 4.64579063e-02 -1.61293270e-03 9.98918946e-01 4.87868424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46509989299997 meters 0.020334057463636812 Centerline is valid? [True, True] Translation: X:137.21, Y:8.75, Z:4.88 [[ 9.94233712e-01 -9.68276630e-02 -4.60839412e-02 1.37207949e+02] [ 9.68038391e-02 9.95299670e-01 -2.75368707e-03 8.75487418e+00] [ 4.61339645e-02 -1.72329391e-03 9.98933775e-01 4.88104238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52509989299998 meters 0.0225584126407418 Centerline is valid? [True, True] Translation: X:137.27, Y:8.75, Z:4.88 [[ 9.93863679e-01 -1.01373808e-01 -4.42531099e-02 1.37268906e+02] [ 1.01356425e-01 9.94846669e-01 -2.64221626e-03 8.75382260e+00] [ 4.42929105e-02 -1.85933423e-03 9.99016857e-01 4.88433637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58509989299998 meters 0.02333590778351659 Centerline is valid? [True, True] Translation: X:137.33, Y:8.76, Z:4.89 [[ 9.93439907e-01 -1.06035877e-01 -4.28199062e-02 1.37330143e+02] [ 1.06023954e-01 9.94360291e-01 -2.55580093e-03 8.75603755e+00] [ 4.28494210e-02 -2.00090111e-03 9.99079538e-01 4.88889246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64509989299998 meters 0.025290759840564354 Centerline is valid? [True, True] Translation: X:137.39, Y:8.76, Z:4.89 [[ 9.93026053e-01 -1.08903992e-01 -4.51572666e-02 1.37391158e+02] [ 1.08893763e-01 9.94049743e-01 -2.69374528e-03 8.75705044e+00] [ 4.51819288e-02 -2.24238543e-03 9.98976258e-01 4.88957977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70509989299998 meters 0.02453527246383702 Centerline is valid? [True, True] Translation: X:137.45, Y:8.76, Z:4.89 [[ 9.93071555e-01 -1.07984135e-01 -4.63498918e-02 1.37453080e+02] [ 1.07972424e-01 9.94150048e-01 -2.76354534e-03 8.76220932e+00] [ 4.63771662e-02 -2.26011192e-03 9.98921444e-01 4.89093930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76509989299998 meters 0.0237828732840628 Centerline is valid? [True, True] Translation: X:137.52, Y:8.77, Z:4.89 [[ 9.93263360e-01 -1.06230693e-01 -4.62918747e-02 1.37515507e+02] [ 1.06217280e-01 9.94339123e-01 -2.75645006e-03 8.76792089e+00] [ 4.63226417e-02 -2.17911619e-03 9.98924153e-01 4.89440633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82509989299996 meters 0.02300881058522195 Centerline is valid? [True, True] Translation: X:137.58, Y:8.78, Z:4.90 [[ 9.93522118e-01 -1.04252026e-01 -4.52251613e-02 1.37576752e+02] [ 1.04237369e-01 9.94548813e-01 -2.68870410e-03 8.77505841e+00] [ 4.52589333e-02 -2.04286482e-03 9.98973201e-01 4.89904819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88509989299996 meters 0.024028123001677046 Centerline is valid? [True, True] Translation: X:137.64, Y:8.78, Z:4.90 [[ 9.93837382e-01 -1.01682690e-01 -4.41348947e-02 1.37637374e+02] [ 1.01666300e-01 9.94815104e-01 -2.62165122e-03 8.77907819e+00] [ 4.41726364e-02 -1.88153645e-03 9.99022141e-01 4.90225695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94509989299996 meters 0.021437317568042194 Centerline is valid? [True, True] Translation: X:137.70, Y:8.79, Z:4.90 [[ 9.93991821e-01 -9.95871777e-02 -4.54164421e-02 1.37699274e+02] [ 9.95677308e-02 9.95027135e-01 -2.69580768e-03 8.78699944e+00] [ 4.54590602e-02 -1.84240130e-03 9.98964504e-01 4.90408211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00509989299997 meters 0.021422754996263716 Centerline is valid? [True, True] Translation: X:137.76, Y:8.79, Z:4.91 [[ 9.93989196e-01 -9.89620893e-02 -4.68186187e-02 1.37761543e+02] [ 9.89408964e-02 9.95089441e-01 -2.77556129e-03 8.79082822e+00] [ 4.68633884e-02 -1.87339817e-03 9.98899551e-01 4.90590880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06509989299997 meters 0.020952911065856457 Centerline is valid? [True, True] Translation: X:137.82, Y:8.79, Z:4.91 [[ 9.93889278e-01 -9.99690667e-02 -4.68005168e-02 1.37823496e+02] [ 9.99491634e-02 9.94988686e-01 -2.77109088e-03 8.79433766e+00] [ 4.68430081e-02 -1.92351499e-03 9.98900412e-01 4.90859531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12509989299997 meters 0.022862708534000485 Centerline is valid? [True, True] Translation: X:137.88, Y:8.79, Z:4.91 [[ 9.93702295e-01 -1.01765003e-01 -4.69002428e-02 1.37884319e+02] [ 1.01747156e-01 9.94806424e-01 -2.77389272e-03 8.79349697e+00] [ 4.69389481e-02 -2.01554275e-03 9.98895727e-01 4.91059569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18509989299997 meters 0.021674188161675895 Centerline is valid? [True, True] Translation: X:137.95, Y:8.80, Z:4.91 [[ 9.93610994e-01 -1.02481729e-01 -4.72724929e-02 1.37946086e+02] [ 1.02464508e-01 9.94732738e-01 -2.79379977e-03 8.79762790e+00] [ 4.73098097e-02 -2.06780255e-03 9.98878124e-01 4.91361133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24509989299997 meters 0.021582933365284832 Centerline is valid? [True, True] Translation: X:138.01, Y:8.80, Z:4.92 [[ 9.93704325e-01 -1.01391107e-01 -4.76608707e-02 1.38008576e+02] [ 1.01372532e-01 9.94844559e-01 -2.81294219e-03 8.80185773e+00] [ 4.77003652e-02 -2.03627034e-03 9.98859614e-01 4.91661474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30509989299998 meters 0.021893448024919066 Centerline is valid? [True, True] Translation: X:138.07, Y:8.81, Z:4.92 [[ 9.93751768e-01 -1.01080783e-01 -4.73296838e-02 1.38070220e+02] [ 1.01062324e-01 9.94876187e-01 -2.78897944e-03 8.80559536e+00] [ 4.73690876e-02 -2.01169458e-03 9.98875429e-01 4.91999912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36509989299998 meters 0.023224092780225466 Centerline is valid? [True, True] Translation: X:138.13, Y:8.81, Z:4.92 [[ 9.93649057e-01 -1.02270429e-01 -4.69287760e-02 1.38130883e+02] [ 1.02253746e-01 9.94754513e-01 -2.76232318e-03 8.80621643e+00] [ 4.69651157e-02 -2.05386332e-03 9.98894419e-01 4.92288369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42509989299998 meters 0.024051346205165015 Centerline is valid? [True, True] Translation: X:138.19, Y:8.81, Z:4.93 [[ 9.93505754e-01 -1.03399663e-01 -4.74850164e-02 1.38192606e+02] [ 1.03383960e-01 9.94637600e-01 -2.79316522e-03 8.80778312e+00] [ 4.75191951e-02 -2.13416331e-03 9.98868045e-01 4.92520633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48509989299998 meters 0.023211289438869357 Centerline is valid? [True, True] Translation: X:138.25, Y:8.81, Z:4.93 [[ 9.93542503e-01 -1.03058234e-01 -4.74583535e-02 1.38254491e+02] [ 1.03042290e-01 9.94673066e-01 -2.78888208e-03 8.81076024e+00] [ 4.74929632e-02 -2.11934452e-03 9.98869324e-01 4.92794178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54509989299999 meters 0.02378876364053811 Centerline is valid? [True, True] Translation: X:138.32, Y:8.81, Z:4.93 [[ 9.93597953e-01 -1.03249802e-01 -4.58539750e-02 1.38316220e+02] [ 1.03235264e-01 9.94653325e-01 -2.69140738e-03 8.81165983e+00] [ 4.58866960e-02 -2.05957037e-03 9.98944528e-01 4.93023304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60509989299996 meters 0.024490529269896606 Centerline is valid? [True, True] Translation: X:138.38, Y:8.81, Z:4.93 [[ 9.93679609e-01 -1.03046453e-01 -4.45226162e-02 1.38378500e+02] [ 1.03032679e-01 9.94674547e-01 -2.61017904e-03 8.81398763e+00] [ 4.45544828e-02 -1.99360273e-03 9.99004967e-01 4.93332166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66509989299996 meters 0.02324526287680013 Centerline is valid? [True, True] Translation: X:138.44, Y:8.82, Z:4.94 [[ 9.93706391e-01 -1.03006453e-01 -4.40145299e-02 1.38440298e+02] [ 1.02993087e-01 9.94678733e-01 -2.57731453e-03 8.81879734e+00] [ 4.40457969e-02 -1.97209838e-03 9.99027566e-01 4.93695795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72509989299996 meters 0.022804203654351547 Centerline is valid? [True, True] Translation: X:138.50, Y:8.82, Z:4.94 [[ 9.93581297e-01 -1.03652117e-01 -4.53039250e-02 1.38502653e+02] [ 1.03638780e-01 9.94611474e-01 -2.64946999e-03 8.82106992e+00] [ 4.53344268e-02 -2.06277968e-03 9.98969737e-01 4.93780810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78509989299997 meters 0.02447534147475027 Centerline is valid? [True, True] Translation: X:138.56, Y:8.82, Z:4.94 [[ 9.93524066e-01 -1.04207485e-01 -4.52849821e-02 1.38563497e+02] [ 1.04194878e-01 9.94553382e-01 -2.64521414e-03 8.82125222e+00] [ 4.53139833e-02 -2.09037926e-03 9.98970607e-01 4.93962334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84509989299997 meters 0.022541842463093424 Centerline is valid? [True, True] Translation: X:138.63, Y:8.83, Z:4.94 [[ 9.93792614e-01 -1.01061596e-01 -4.65058448e-02 1.38625102e+02] [ 1.01044989e-01 9.94878156e-01 -2.71386480e-03 8.82682785e+00] [ 4.65419167e-02 -2.00216378e-03 9.98914331e-01 4.94155323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90509989299997 meters 0.023042043833199837 Centerline is valid? [True, True] Translation: X:138.69, Y:8.83, Z:4.94 [[ 9.94154263e-01 -9.75406070e-02 -4.62939656e-02 1.38685238e+02] [ 9.75204597e-02 9.95229861e-01 -2.69892601e-03 8.82917725e+00] [ 4.63363918e-02 -1.83146001e-03 9.98924214e-01 4.94284457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96509989299997 meters 0.020141328158935587 Centerline is valid? [True, True] Translation: X:138.75, Y:8.84, Z:4.95 [[ 9.94705718e-01 -9.25662266e-02 -4.46321521e-02 1.38745852e+02] [ 9.25425317e-02 9.95705335e-01 -2.60126793e-03 8.83718115e+00] [ 4.46812615e-02 -1.54287627e-03 9.99000102e-01 4.94658361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02509989299998 meters 0.01773518153195622 Centerline is valid? [True, True] Translation: X:138.81, Y:8.84, Z:4.95 [[ 9.95275543e-01 -8.66567421e-02 -4.37858645e-02 1.38805877e+02] [ 8.66282516e-02 9.96237440e-01 -2.55129689e-03 8.84482372e+00] [ 4.38422046e-02 -1.25384949e-03 9.99037681e-01 4.94883365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08509989299998 meters 0.015929389542369273 Centerline is valid? [True, True] Translation: X:138.87, Y:8.85, Z:4.95 [[ 9.95900299e-01 -7.94574387e-02 -4.32331947e-02 1.38866508e+02] [ 7.94228870e-02 9.96837830e-01 -2.51898552e-03 8.85309764e+00] [ 4.32966362e-02 -9.25046705e-04 9.99061833e-01 4.95121667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14509989299998 meters 0.01539539297714654 Centerline is valid? [True, True] Translation: X:138.93, Y:8.86, Z:4.95 [[ 9.96056260e-01 -7.72979073e-02 -4.35541120e-02 1.38927840e+02] [ 7.72608175e-02 9.97007688e-01 -2.53677318e-03 8.85810911e+00] [ 4.36198718e-02 -8.38257497e-04 9.99047849e-01 4.95295700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20509989299998 meters 0.015653067867377947 Centerline is valid? [True, True] Translation: X:138.99, Y:8.86, Z:4.96 [[ 9.96180806e-01 -7.64153823e-02 -4.22432444e-02 1.38988381e+02] [ 7.63797583e-02 9.97075767e-01 -2.45901515e-03 8.85989676e+00] [ 4.23076219e-02 -7.76905110e-04 9.99104330e-01 4.95502136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26509989299998 meters 0.015552662640432004 Centerline is valid? [True, True] Translation: X:139.05, Y:8.86, Z:4.96 [[ 9.96153393e-01 -7.69866696e-02 -4.18505654e-02 1.39049725e+02] [ 7.69522433e-02 9.97031806e-01 -2.43532878e-03 8.86344571e+00] [ 4.19138327e-02 -7.94533861e-04 9.99120913e-01 4.95771295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32509989299996 meters 0.016416164650301473 Centerline is valid? [True, True] Translation: X:139.11, Y:8.86, Z:4.96 [[ 9.95902401e-01 -8.02912797e-02 -4.16139151e-02 1.39111003e+02] [ 8.02601856e-02 9.96771010e-01 -2.42006610e-03 8.86311564e+00] [ 4.16738544e-02 -9.29790913e-04 9.99130835e-01 4.95965735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38509989299996 meters 0.01718771990510757 Centerline is valid? [True, True] Translation: X:139.17, Y:8.86, Z:4.96 [[ 9.95690529e-01 -8.32961377e-02 -4.07691527e-02 1.39172453e+02] [ 8.32688671e-02 9.96524300e-01 -2.36951156e-03 8.86367522e+00] [ 4.08248225e-02 -1.03550094e-03 9.99165783e-01 4.96196882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44509989299996 meters 0.018282761139924886 Centerline is valid? [True, True] Translation: X:139.23, Y:8.86, Z:4.96 [[ 9.95394126e-01 -8.66492616e-02 -4.10175561e-02 1.39234995e+02] [ 8.66245666e-02 9.96238179e-01 -2.38234092e-03 8.86357468e+00] [ 4.10696834e-02 -1.18175986e-03 9.99155586e-01 4.96433073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50509989299997 meters 0.020534522715965134 Centerline is valid? [True, True] Translation: X:139.30, Y:8.86, Z:4.97 [[ 9.94637941e-01 -9.55475943e-02 -3.95730069e-02 1.39296016e+02] [ 9.55317357e-02 9.95423737e-01 -2.29586897e-03 8.85972248e+00] [ 3.96112751e-02 -1.49691965e-03 9.99214044e-01 4.96634543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56509989299997 meters 0.022944071575878158 Centerline is valid? [True, True] Translation: X:139.36, Y:8.86, Z:4.97 [[ 9.94106992e-01 -1.00918108e-01 -3.95831213e-02 1.39356818e+02] [ 1.00906494e-01 9.94893264e-01 -2.29628542e-03 8.85744728e+00] [ 3.96127175e-02 -1.71144061e-03 9.99213643e-01 4.96823729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62509989299997 meters 0.025555287716076344 Centerline is valid? [True, True] Translation: X:139.42, Y:8.85, Z:4.97 [[ 9.93296225e-01 -1.08847296e-01 -3.89214078e-02 1.39418510e+02] [ 1.08842160e-01 9.94056482e-01 -2.25719701e-03 8.85425582e+00] [ 3.89357675e-02 -1.99422483e-03 9.99239726e-01 4.97097086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68509989299997 meters 0.028747455196459056 Centerline is valid? [True, True] Translation: X:139.48, Y:8.85, Z:4.97 [[ 9.92586239e-01 -1.14445948e-01 -4.09228882e-02 1.39479340e+02] [ 1.14445058e-01 9.93426747e-01 -2.37216320e-03 8.85085273e+00] [ 4.09253761e-02 -2.32884577e-03 9.99159492e-01 4.97086646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74509989299997 meters 0.027893903054476397 Centerline is valid? [True, True] Translation: X:139.54, Y:8.86, Z:4.97 [[ 9.92596889e-01 -1.14780407e-01 -3.97098748e-02 1.39541258e+02] [ 1.14779845e-01 9.93388288e-01 -2.30155604e-03 8.85610206e+00] [ 3.97114980e-02 -2.27337591e-03 9.99208601e-01 4.97484234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80509989299998 meters 0.026326363009959653 Centerline is valid? [True, True] Translation: X:139.60, Y:8.86, Z:4.98 [[ 9.92955811e-01 -1.11584810e-01 -3.98445343e-02 1.39601889e+02] [ 1.11581790e-01 9.93752577e-01 -2.30658488e-03 8.86332526e+00] [ 3.98529885e-02 -2.15558762e-03 9.99203229e-01 4.97700688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86509989299998 meters 0.027876532327904425 Centerline is valid? [True, True] Translation: X:139.66, Y:8.87, Z:4.98 [[ 9.93225242e-01 -1.08800805e-01 -4.08166956e-02 1.39662183e+02] [ 1.08795326e-01 9.94061365e-01 -2.36210321e-03 8.86585914e+00] [ 4.08312989e-02 -2.09456516e-03 9.99163859e-01 4.97803711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92509989299998 meters 0.02358795191759649 Centerline is valid? [True, True] Translation: X:139.72, Y:8.88, Z:4.98 [[ 9.93574195e-01 -1.05364959e-01 -4.13345468e-02 1.39722789e+02] [ 1.05356407e-01 9.94431651e-01 -2.39130956e-03 8.87807399e+00] [ 4.13563419e-02 -1.97891585e-03 9.99142501e-01 4.98026750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98509989299998 meters 0.02443766955408576 Centerline is valid? [True, True] Translation: X:139.78, Y:8.88, Z:4.98 [[ 9.93835961e-01 -1.02702402e-01 -4.17408534e-02 1.39783550e+02] [ 1.02691375e-01 9.94710337e-01 -2.41392298e-03 8.88252466e+00] [ 4.17679740e-02 -1.88738216e-03 9.99125555e-01 4.98192605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04509989299999 meters 0.02332058139693085 Centerline is valid? [True, True] Translation: X:139.84, Y:8.89, Z:4.98 [[ 9.94052593e-01 -1.00479447e-01 -4.19919332e-02 1.39844268e+02] [ 1.00466372e-01 9.94937495e-01 -2.42691923e-03 8.88993484e+00] [ 4.20232043e-02 -1.80629184e-03 9.99115002e-01 4.98395381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10509989299996 meters 0.023215062310303076 Centerline is valid? [True, True] Translation: X:139.91, Y:8.90, Z:4.99 [[ 9.94182437e-01 -9.87309884e-02 -4.30519999e-02 1.39906102e+02] [ 9.87156876e-02 9.95112572e-01 -2.48641211e-03 8.89744676e+00] [ 4.30870723e-02 -1.77796052e-03 9.99069739e-01 4.98572064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16509989299996 meters 0.024737251544297807 Centerline is valid? [True, True] Translation: X:139.97, Y:8.90, Z:4.99 [[ 9.94181050e-01 -9.83316220e-02 -4.39878653e-02 1.39967261e+02] [ 9.83153933e-02 9.95152071e-01 -2.53743425e-03 8.90150690e+00] [ 4.40241253e-02 -1.80201523e-03 9.99028843e-01 4.98704116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22509989299996 meters 0.02252099172675986 Centerline is valid? [True, True] Translation: X:140.03, Y:8.91, Z:4.99 [[ 9.94204002e-01 -9.82866102e-02 -4.35676915e-02 1.40029371e+02] [ 9.82707498e-02 9.95156548e-01 -2.51082760e-03 8.91189658e+00] [ 4.36034543e-02 -1.78515487e-03 9.99047322e-01 4.99048528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28509989299997 meters 0.02112261950734094 Centerline is valid? [True, True] Translation: X:140.09, Y:8.92, Z:4.99 [[ 9.94347140e-01 -9.71838623e-02 -4.27675364e-02 1.40091028e+02] [ 9.71676890e-02 9.95264980e-01 -2.46170531e-03 8.92193272e+00] [ 4.28042693e-02 -1.70783305e-03 9.99082018e-01 4.99488844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34509989299997 meters 0.021020952107816626 Centerline is valid? [True, True] Translation: X:140.15, Y:8.93, Z:5.00 [[ 9.94419095e-01 -9.67017145e-02 -4.21834287e-02 1.40152772e+02] [ 9.66856745e-02 9.95312011e-01 -2.42505085e-03 8.92857253e+00] [ 4.22201799e-02 -1.66701639e-03 9.99106940e-01 4.99836271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40509989299997 meters 0.024844333896618165 Centerline is valid? [True, True] Translation: X:140.21, Y:8.93, Z:5.00 [[ 9.94533292e-01 -9.54143681e-02 -4.24220396e-02 1.40214182e+02] [ 9.53971051e-02 9.95436316e-01 -2.43576516e-03 8.92917508e+00] [ 4.24608458e-02 -1.62449023e-03 9.99096811e-01 4.99955489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46509989299997 meters 0.01979062993768007 Centerline is valid? [True, True] Translation: X:140.27, Y:8.94, Z:5.00 [[ 9.94783774e-01 -9.21589897e-02 -4.37260055e-02 1.40274918e+02] [ 9.21376114e-02 9.95743124e-01 -2.50833684e-03 8.94354195e+00] [ 4.37710351e-02 -1.53355691e-03 9.99040412e-01 5.00071820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52509989299998 meters 0.01809028526373111 Centerline is valid? [True, True] Translation: X:140.34, Y:8.95, Z:5.00 [[ 9.95397297e-01 -8.58793461e-02 -4.25318573e-02 1.40335484e+02] [ 8.58534513e-02 9.96304792e-01 -2.43842379e-03 8.95360504e+00] [ 4.25841035e-02 -1.22430629e-03 9.99092135e-01 5.00397134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58509989299998 meters 0.016319563425893722 Centerline is valid? [True, True] Translation: X:140.40, Y:8.96, Z:5.01 [[ 9.95962638e-01 -7.96903571e-02 -4.13263924e-02 1.40395520e+02] [ 7.96606108e-02 9.96819230e-01 -2.36866312e-03 8.96313674e+00] [ 4.13837022e-02 -9.32985692e-04 9.99142892e-01 5.00725991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64509989299998 meters 0.016249743443173894 Centerline is valid? [True, True] Translation: X:140.46, Y:8.97, Z:5.01 [[ 9.96137212e-01 -7.75791721e-02 -4.11354614e-02 1.40456405e+02] [ 7.75479098e-02 9.96985839e-01 -2.35751146e-03 8.96754725e+00] [ 4.11943663e-02 -8.41564153e-04 9.99150797e-01 5.00929504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70509989299998 meters 0.015176743732506607 Centerline is valid? [True, True] Translation: X:140.52, Y:8.97, Z:5.01 [[ 9.96423734e-01 -7.37984085e-02 -4.11525984e-02 1.40517926e+02] [ 7.37639911e-02 9.97272943e-01 -2.35621878e-03 8.97484632e+00] [ 4.12142581e-02 -6.87787588e-04 9.99150095e-01 5.01136799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76509989299998 meters 0.014624343461636675 Centerline is valid? [True, True] Translation: X:140.58, Y:8.98, Z:5.01 [[ 9.96692302e-01 -6.93261218e-02 -4.24068868e-02 1.40578937e+02] [ 6.92856564e-02 9.97593914e-01 -2.42500306e-03 8.98180287e+00] [ 4.24729682e-02 -5.21207108e-04 9.99097480e-01 5.01319192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82509989299996 meters 0.014175051237736677 Centerline is valid? [True, True] Translation: X:140.64, Y:8.99, Z:5.01 [[ 9.96871743e-01 -6.58409083e-02 -4.37230280e-02 1.40640674e+02] [ 6.57946458e-02 9.97830058e-01 -2.49786221e-03 8.98578851e+00] [ 4.37926131e-02 -3.86692883e-04 9.99040568e-01 5.01372312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88509989299996 meters 0.013913627506413801 Centerline is valid? [True, True] Translation: X:140.70, Y:8.99, Z:5.02 [[ 9.96991527e-01 -6.40449037e-02 -4.36594358e-02 1.40701355e+02] [ 6.39971414e-02 9.97946970e-01 -2.49224323e-03 8.98903570e+00] [ 4.37294171e-02 -3.09333704e-04 9.99043364e-01 5.01627404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94509989299996 meters 0.01388793619396761 Centerline is valid? [True, True] Translation: X:140.76, Y:8.99, Z:5.02 [[ 9.97089117e-01 -6.35934764e-02 -4.20614234e-02 1.40761727e+02] [ 6.35487461e-02 9.97975847e-01 -2.40102273e-03 8.99170303e+00] [ 4.21289740e-02 -2.78917083e-04 9.99112142e-01 5.02102449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00509989299997 meters 0.013949496211351777 Centerline is valid? [True, True] Translation: X:140.82, Y:8.99, Z:5.02 [[ 9.97057873e-01 -6.42383022e-02 -4.18215115e-02 1.40822570e+02] [ 6.41946477e-02 9.97934541e-01 -2.38732767e-03 8.99263985e+00] [ 4.18884888e-02 -3.04413357e-04 9.99122246e-01 5.02340560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06509989299997 meters 0.014110145745059373 Centerline is valid? [True, True] Translation: X:140.88, Y:8.99, Z:5.02 [[ 9.96946306e-01 -6.57184855e-02 -4.21798870e-02 1.40882629e+02] [ 6.56754072e-02 9.97838135e-01 -2.40769658e-03 8.99120430e+00] [ 4.22469299e-02 -3.69837040e-04 9.99107131e-01 5.02492676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12509989299997 meters 0.014335447094415537 Centerline is valid? [True, True] Translation: X:140.94, Y:8.99, Z:5.03 [[ 9.96783191e-01 -6.79825997e-02 -4.24456791e-02 1.40943055e+02] [ 6.79410566e-02 9.97686397e-01 -2.42219637e-03 8.99053816e+00] [ 4.25121438e-02 -4.69399659e-04 9.99095840e-01 5.02738215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18509989299997 meters 0.014675382862719149 Centerline is valid? [True, True] Translation: X:141.00, Y:8.99, Z:5.03 [[ 9.96494075e-01 -7.09443086e-02 -4.43448155e-02 1.41003544e+02] [ 7.09018938e-02 9.97480084e-01 -2.53057210e-03 8.98698923e+00] [ 4.44126000e-02 -6.22431299e-04 9.99013080e-01 5.02783907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24509989299997 meters 0.015104705308314034 Centerline is valid? [True, True] Translation: X:141.06, Y:8.99, Z:5.03 [[ 9.96341611e-01 -7.32429987e-02 -4.40324501e-02 1.41063321e+02] [ 7.32034169e-02 9.97313865e-01 -2.51286746e-03 8.98539145e+00] [ 4.40982230e-02 -7.19651388e-04 9.99026941e-01 5.02929719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30509989299998 meters 0.015343281288756741 Centerline is valid? [True, True] Translation: X:141.12, Y:8.99, Z:5.03 [[ 9.96292688e-01 -7.39039974e-02 -4.40349802e-02 1.41123523e+02] [ 7.38650270e-02 9.97265080e-01 -2.51367443e-03 8.98716906e+00] [ 4.41003186e-02 -7.48289548e-04 9.99026827e-01 5.03109822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36509989299998 meters 0.015715457205339435 Centerline is valid? [True, True] Translation: X:141.18, Y:8.99, Z:5.03 [[ 9.96075203e-01 -7.74942895e-02 -4.27647583e-02 1.41184241e+02] [ 7.74608404e-02 9.96992407e-01 -2.44116561e-03 8.98592605e+00] [ 4.28253157e-02 -8.81009585e-04 9.99082187e-01 5.03481924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42509989299998 meters 0.016103152611598684 Centerline is valid? [True, True] Translation: X:141.25, Y:8.99, Z:5.04 [[ 9.95882083e-01 -7.96272665e-02 -4.33402192e-02 1.41245838e+02] [ 7.95949383e-02 9.96824220e-01 -2.47379443e-03 8.98641404e+00] [ 4.33995617e-02 -9.86054526e-04 9.99057309e-01 5.03692472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48509989299998 meters 0.016868178261924962 Centerline is valid? [True, True] Translation: X:141.31, Y:8.99, Z:5.04 [[ 9.95467521e-01 -8.37903732e-02 -4.49843192e-02 1.41306591e+02] [ 8.37598601e-02 9.96482665e-01 -2.56609627e-03 8.98652224e+00] [ 4.50411084e-02 -1.21341479e-03 9.98984397e-01 5.03936316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54509989299999 meters 0.01761341321292934 Centerline is valid? [True, True] Translation: X:141.37, Y:8.99, Z:5.04 [[ 9.95191354e-01 -8.65764613e-02 -4.58114080e-02 1.41367614e+02] [ 8.65478099e-02 9.96244274e-01 -2.61226651e-03 8.98754292e+00] [ 4.58655137e-02 -1.36517198e-03 9.98946691e-01 5.04185444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60509989299996 meters 0.019136688087302442 Centerline is valid? [True, True] Translation: X:141.43, Y:8.99, Z:5.04 [[ 9.94812669e-01 -9.00559748e-02 -4.73040660e-02 1.41428335e+02] [ 9.00294393e-02 9.95935457e-01 -2.69557267e-03 8.98603735e+00] [ 4.73545490e-02 -1.57716870e-03 9.98876899e-01 5.04326863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66509989299996 meters 0.01991985738341841 Centerline is valid? [True, True] Translation: X:141.49, Y:8.99, Z:5.05 [[ 9.94748475e-01 -9.12267595e-02 -4.64020420e-02 1.41489914e+02] [ 9.12025795e-02 9.95828854e-01 -2.64239410e-03 8.98756072e+00] [ 4.64495494e-02 -1.60346843e-03 9.98919350e-01 5.04649955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72509989299996 meters 0.01961862690990933 Centerline is valid? [True, True] Translation: X:141.55, Y:8.99, Z:5.05 [[ 9.94545194e-01 -9.31466959e-02 -4.69419927e-02 1.41551257e+02] [ 9.31241647e-02 9.95650919e-01 -2.67144468e-03 8.99167961e+00] [ 4.69866744e-02 -1.71456139e-03 9.98894045e-01 5.04878291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78509989299997 meters 0.023459172788394 Centerline is valid? [True, True] Translation: X:141.61, Y:8.99, Z:5.05 [[ 9.94239768e-01 -9.67441624e-02 -4.61286367e-02 1.41612084e+02] [ 9.67263447e-02 9.95307556e-01 -2.62347755e-03 8.98941453e+00] [ 4.61659868e-02 -1.85348869e-03 9.98932063e-01 5.04938155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84509989299997 meters 0.024718554665367605 Centerline is valid? [True, True] Translation: X:141.67, Y:8.99, Z:5.05 [[ 9.93875418e-01 -1.02073947e-01 -4.23386650e-02 1.41673138e+02] [ 1.02063814e-01 9.94774943e-01 -2.40652334e-03 8.99214493e+00] [ 4.23630863e-02 -1.92946122e-03 9.99100418e-01 5.05428922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90509989299997 meters 0.02539908664323858 Centerline is valid? [True, True] Translation: X:141.74, Y:8.99, Z:5.06 [[ 9.93828415e-01 -1.02595061e-01 -4.21821619e-02 1.41735344e+02] [ 1.02585513e-01 9.94721302e-01 -2.39662825e-03 8.99499863e+00] [ 4.22053772e-02 -1.94544146e-03 9.99107062e-01 5.05669129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96509989299997 meters 0.024460128658743658 Centerline is valid? [True, True] Translation: X:141.80, Y:9.00, Z:5.06 [[ 9.93765814e-01 -1.03164438e-01 -4.22682620e-02 1.41796879e+02] [ 1.03155491e-01 9.94662351e-01 -2.39854265e-03 9.00010312e+00] [ 4.22900932e-02 -1.97661363e-03 9.99103419e-01 5.05925779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02509989299998 meters 0.02429014592667409 Centerline is valid? [True, True] Translation: X:141.86, Y:9.01, Z:5.06 [[ 9.93608807e-01 -1.04110739e-01 -4.36175730e-02 1.41859033e+02] [ 1.04102263e-01 9.94563527e-01 -2.47189960e-03 9.00527911e+00] [ 4.36377985e-02 -2.08458682e-03 9.99045243e-01 5.06023757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08509989299998 meters 0.025293253014325376 Centerline is valid? [True, True] Translation: X:141.92, Y:9.01, Z:5.06 [[ 9.93478935e-01 -1.04817644e-01 -4.48649986e-02 1.41921426e+02] [ 1.04809547e-01 9.94489070e-01 -2.53928063e-03 9.00776128e+00] [ 4.48839122e-02 -2.17955836e-03 9.98989832e-01 5.06177105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14509989299998 meters 0.02439989098692383 Centerline is valid? [True, True] Translation: X:141.98, Y:9.01, Z:5.06 [[ 9.93270367e-01 -1.06393899e-01 -4.57637073e-02 1.41982881e+02] [ 1.06387290e-01 9.94321403e-01 -2.58696431e-03 9.01277791e+00] [ 4.57790709e-02 -2.29912180e-03 9.98948943e-01 5.06495966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20509989299998 meters 0.028090407594639277 Centerline is valid? [True, True] Translation: X:142.04, Y:9.01, Z:5.07 [[ 9.93111882e-01 -1.08152808e-01 -4.50750459e-02 1.42044298e+02] [ 1.08148310e-01 9.94131512e-01 -2.54559380e-03 9.01132841e+00] [ 4.50858367e-02 -2.34673060e-03 9.98980360e-01 5.06764486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26509989299998 meters 0.026316901097071254 Centerline is valid? [True, True] Translation: X:142.11, Y:9.02, Z:5.07 [[ 9.93046431e-01 -1.09005005e-01 -4.44600254e-02 1.42106060e+02] [ 1.09001591e-01 9.94038410e-01 -2.50834923e-03 9.01804628e+00] [ 4.44683956e-02 -2.35530626e-03 9.99008015e-01 5.07119621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32509989299996 meters 0.027877480972064956 Centerline is valid? [True, True] Translation: X:142.17, Y:9.02, Z:5.07 [[ 9.93000890e-01 -1.09926276e-01 -4.31908022e-02 1.42167964e+02] [ 1.09924051e-01 9.93937010e-01 -2.43370060e-03 9.02043434e+00] [ 4.31964644e-02 -2.33104109e-03 9.99063878e-01 5.07471427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38509989299996 meters 0.02700454771427658 Centerline is valid? [True, True] Translation: X:142.23, Y:9.03, Z:5.08 [[ 9.93039334e-01 -1.09371471e-01 -4.37122701e-02 1.42229703e+02] [ 1.09368796e-01 9.93998197e-01 -2.45993706e-03 9.02626163e+00] [ 4.37189646e-02 -2.33794407e-03 9.99041133e-01 5.07690894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44509989299996 meters 0.029060129809085816 Centerline is valid? [True, True] Translation: X:142.29, Y:9.03, Z:5.08 [[ 9.92972670e-01 -1.09781483e-01 -4.41961750e-02 1.42290862e+02] [ 1.09779289e-01 9.93952885e-01 -2.48409455e-03 9.02803949e+00] [ 4.42016232e-02 -2.38518667e-03 9.99019783e-01 5.07897983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50509989299997 meters 0.027119785088453904 Centerline is valid? [True, True] Translation: X:142.35, Y:9.04, Z:5.08 [[ 9.93172605e-01 -1.08115728e-01 -4.38082856e-02 1.42351404e+02] [ 1.08112053e-01 9.94135671e-01 -2.46009729e-03 9.03690256e+00] [ 4.38173546e-02 -2.29290245e-03 9.99036927e-01 5.08260071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56509989299997 meters 0.027102150335228142 Centerline is valid? [True, True] Translation: X:142.41, Y:9.04, Z:5.09 [[ 9.93414287e-01 -1.06412134e-01 -4.24795442e-02 1.42412613e+02] [ 1.06407185e-01 9.94319781e-01 -2.38400279e-03 9.04113814e+00] [ 4.24919379e-02 -2.15182630e-03 9.99094492e-01 5.08588372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62509989299997 meters 0.02562374289028104 Centerline is valid? [True, True] Translation: X:142.47, Y:9.05, Z:5.09 [[ 9.93855866e-01 -1.03049945e-01 -4.03884357e-02 1.42473305e+02] [ 1.03042752e-01 9.94674349e-01 -2.26533641e-03 9.04739482e+00] [ 4.04067838e-02 -1.91031767e-03 9.99181486e-01 5.08977976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68509989299997 meters 0.023815993983036046 Centerline is valid? [True, True] Translation: X:142.53, Y:9.05, Z:5.09 [[ 9.94081808e-01 -1.00970233e-01 -4.00795509e-02 1.42534835e+02] [ 1.00961495e-01 9.94887796e-01 -2.24720796e-03 9.05382601e+00] [ 4.01015572e-02 -1.81258284e-03 9.99193965e-01 5.09256069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74509989299997 meters 0.02423428786700964 Centerline is valid? [True, True] Translation: X:142.60, Y:9.06, Z:5.09 [[ 9.94023135e-01 -1.01314271e-01 -4.06623444e-02 1.42596534e+02] [ 1.01305658e-01 9.94852741e-01 -2.27760118e-03 9.05686768e+00] [ 4.06837983e-02 -1.85533729e-03 9.99170349e-01 5.09473925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80509989299998 meters 0.024517017548016544 Centerline is valid? [True, True] Translation: X:142.66, Y:9.06, Z:5.09 [[ 9.93909060e-01 -1.01461856e-01 -4.30147937e-02 1.42658844e+02] [ 1.01452498e-01 9.94837475e-01 -2.40614188e-03 9.05869971e+00] [ 4.30368604e-02 -1.97247207e-03 9.99071538e-01 5.09459233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86509989299998 meters 0.02432107683144328 Centerline is valid? [True, True] Translation: X:142.72, Y:9.06, Z:5.10 [[ 9.93913103e-01 -1.00879665e-01 -4.42723020e-02 1.42721323e+02] [ 1.00869321e-01 9.94896609e-01 -2.47326259e-03 9.06096304e+00] [ 4.42958651e-02 -2.00750896e-03 9.99016439e-01 5.09575284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92509989299998 meters 0.022206710249817924 Centerline is valid? [True, True] Translation: X:142.78, Y:9.07, Z:5.10 [[ 9.94200906e-01 -9.71271683e-02 -4.61613648e-02 1.42782651e+02] [ 9.71120395e-02 9.95270123e-01 -2.57555320e-03 9.06806262e+00] [ 4.61931834e-02 -1.92220696e-03 9.98930676e-01 5.09757249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98509989299998 meters 0.020274049282397948 Centerline is valid? [True, True] Translation: X:142.84, Y:9.07, Z:5.10 [[ 9.94603839e-01 -9.30127349e-02 -4.59547015e-02 1.42843275e+02] [ 9.29934571e-02 9.95663424e-01 -2.56184277e-03 9.07498490e+00] [ 4.59936994e-02 -1.72546791e-03 9.98940240e-01 5.09999414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04509989299999 meters 0.017472806224480292 Centerline is valid? [True, True] Translation: X:142.90, Y:9.09, Z:5.10 [[ 9.95750950e-01 -8.12273601e-02 -4.33838887e-02 1.42902021e+02] [ 8.11990209e-02 9.96694975e-01 -2.41793476e-03 9.08553217e+00] [ 4.34369063e-02 -1.11506846e-03 9.99055550e-01 5.10473325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10509989299996 meters 0.015047314682757083 Centerline is valid? [True, True] Translation: X:142.96, Y:9.09, Z:5.11 [[ 9.96406522e-01 -7.40285493e-02 -4.11560122e-02 1.42962075e+02] [ 7.39968784e-02 9.97255834e-01 -2.29445158e-03 9.09483230e+00] [ 4.12129282e-02 -7.59209911e-04 9.99150098e-01 5.10969556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16509989299996 meters 0.014889621900535612 Centerline is valid? [True, True] Translation: X:143.02, Y:9.10, Z:5.11 [[ 9.96608762e-01 -7.13207348e-02 -4.10405595e-02 1.43022402e+02] [ 7.12869574e-02 9.97453225e-01 -2.28775056e-03 9.09696221e+00] [ 4.10992024e-02 -6.45664359e-04 9.99154862e-01 5.11155033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22509989299996 meters 0.015050408369276463 Centerline is valid? [True, True] Translation: X:143.08, Y:9.10, Z:5.11 [[ 9.96359253e-01 -7.37635450e-02 -4.27455061e-02 1.43083642e+02] [ 7.37292730e-02 9.97275454e-01 -2.37988496e-03 9.09660587e+00] [ 4.28045927e-02 -7.80374686e-04 9.99083159e-01 5.11179648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28509989299997 meters 0.015808217945667318 Centerline is valid? [True, True] Translation: X:143.14, Y:9.10, Z:5.11 [[ 9.96068308e-01 -7.61499998e-02 -4.52670318e-02 1.43143939e+02] [ 7.61140985e-02 9.97095933e-01 -2.51869614e-03 9.09577382e+00] [ 4.53273720e-02 -9.36665913e-04 9.98971747e-01 5.11198093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34509989299997 meters 0.01754071205658312 Centerline is valid? [True, True] Translation: X:143.20, Y:9.09, Z:5.11 [[ 9.95541551e-01 -8.09966861e-02 -4.83379499e-02 1.43203803e+02] [ 8.09614879e-02 9.96713604e-01 -2.68885282e-03 9.09327158e+00] [ 4.83968804e-02 -1.23664764e-03 9.98827419e-01 5.11267689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40509989299997 meters 0.016660194434824548 Centerline is valid? [True, True] Translation: X:143.26, Y:9.10, Z:5.12 [[ 9.95576443e-01 -8.09677115e-02 -4.76631578e-02 1.43263744e+02] [ 8.09334556e-02 9.96715981e-01 -2.65131675e-03 9.09735664e+00] [ 4.77213021e-02 -1.21795557e-03 9.98859947e-01 5.11592620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46509989299997 meters 0.01591650207954253 Centerline is valid? [True, True] Translation: X:143.32, Y:9.10, Z:5.12 [[ 9.95836428e-01 -7.82667150e-02 -4.67346702e-02 1.43323973e+02] [ 7.82308086e-02 9.96931884e-01 -2.59966859e-03 9.10220585e+00] [ 4.67947504e-02 -1.06724636e-03 9.98903956e-01 5.11919557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52509989299998 meters 0.01432059273592387 Centerline is valid? [True, True] Translation: X:143.38, Y:9.11, Z:5.13 [[ 9.96684913e-01 -6.90684864e-02 -4.29968396e-02 1.43383851e+02] [ 6.90295348e-02 9.97611750e-01 -2.39174756e-03 9.11024110e+00] [ 4.30593468e-02 -5.84233134e-04 9.99072345e-01 5.12502513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58509989299998 meters 0.013604880572760653 Centerline is valid? [True, True] Translation: X:143.44, Y:9.11, Z:5.13 [[ 9.97030769e-01 -6.41653442e-02 -4.25729390e-02 1.43443765e+02] [ 6.41226883e-02 9.97939213e-01 -2.36816761e-03 9.11488230e+00] [ 4.26371596e-02 -3.68755330e-04 9.99090555e-01 5.12764491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64509989299998 meters 0.01321063291878738 Centerline is valid? [True, True] Translation: X:143.50, Y:9.12, Z:5.13 [[ 9.97364688e-01 -5.75658167e-02 -4.41571760e-02 1.43502505e+02] [ 5.75134424e-02 9.98341709e-01 -2.45666478e-03 9.11738901e+00] [ 4.42253705e-02 -8.94404970e-05 9.99021576e-01 5.12868969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70509989299998 meters 0.013265854078957105 Centerline is valid? [True, True] Translation: X:143.56, Y:9.12, Z:5.13 [[ 9.97346025e-01 -5.59886310e-02 -4.65422447e-02 1.43561288e+02] [ 5.59285197e-02 9.98431406e-01 -2.59378966e-03 9.11764113e+00] [ 4.66144616e-02 -1.61330456e-05 9.98912955e-01 5.12899638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76509989299998 meters 0.013125794264954449 Centerline is valid? [True, True] Translation: X:143.62, Y:9.11, Z:5.13 [[ 9.97155746e-01 -5.75984310e-02 -4.86090432e-02 1.43620325e+02] [ 5.75341592e-02 9.98339829e-01 -2.72151689e-03 9.11344633e+00] [ 4.86850989e-02 -8.29042228e-05 9.98814174e-01 5.12961702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82509989299996 meters 0.013159213106731675 Centerline is valid? [True, True] Translation: X:143.68, Y:9.11, Z:5.13 [[ 9.97112883e-01 -5.86221129e-02 -4.82633062e-02 1.43678062e+02] [ 5.85593482e-02 9.98280238e-01 -2.71461489e-03 9.11480948e+00] [ 4.83394413e-02 -1.19490275e-04 9.98830959e-01 5.13255571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88509989299996 meters 0.013160606237788435 Centerline is valid? [True, True] Translation: X:143.74, Y:9.11, Z:5.14 [[ 9.97055486e-01 -6.20746430e-02 -4.50232902e-02 1.43737102e+02] [ 6.20229993e-02 9.98071477e-01 -2.54443604e-03 9.11223291e+00] [ 4.50944067e-02 -2.55535583e-04 9.98982697e-01 5.13743871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94509989299996 meters 0.013555073004531923 Centerline is valid? [True, True] Translation: X:143.80, Y:9.11, Z:5.14 [[ 9.96822513e-01 -6.80507198e-02 -4.14002176e-02 1.43795749e+02] [ 6.80118001e-02 9.97681750e-01 -2.34945113e-03 9.10728079e+00] [ 4.14641234e-02 -4.73717547e-04 9.99139881e-01 5.14240082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00509989299997 meters 0.01424030642110866 Centerline is valid? [True, True] Translation: X:143.86, Y:9.10, Z:5.14 [[ 9.96398073e-01 -7.41203561e-02 -4.11953062e-02 1.43855994e+02] [ 7.40866105e-02 9.97249048e-01 -2.34732307e-03 9.10319249e+00] [ 4.12559643e-02 -7.13152421e-04 9.99148356e-01 5.14487548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06509989299997 meters 0.018619743061192375 Centerline is valid? [True, True] Translation: X:143.92, Y:9.09, Z:5.15 [[ 9.95417946e-01 -8.62269103e-02 -4.13283627e-02 1.43915965e+02] [ 8.62033037e-02 9.96274781e-01 -2.35626764e-03 9.09040299e+00] [ 4.13775792e-02 -1.21717031e-03 9.99142840e-01 5.14617332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12509989299997 meters 0.01907795753112762 Centerline is valid? [True, True] Translation: X:143.98, Y:9.09, Z:5.15 [[ 9.94543080e-01 -9.50343012e-02 -4.30411833e-02 1.43976968e+02] [ 9.50169272e-02 9.95472632e-01 -2.45389604e-03 9.08768210e+00] [ 4.30795243e-02 -1.64913566e-03 9.99070285e-01 5.14767593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18509989299997 meters 0.023661968846008907 Centerline is valid? [True, True] Translation: X:144.04, Y:9.08, Z:5.15 [[ 9.93260690e-01 -1.06752697e-01 -4.51338352e-02 1.44038755e+02] [ 1.06745655e-01 9.94283030e-01 -2.57304726e-03 9.07656715e+00] [ 4.51504862e-02 -2.26213410e-03 9.98977636e-01 5.14718582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24509989299997 meters 0.027316478317244965 Centerline is valid? [True, True] Translation: X:144.10, Y:9.07, Z:5.15 [[ 9.92367186e-01 -1.13845370e-01 -4.73983084e-02 1.44099431e+02] [ 1.13845666e-01 9.93494772e-01 -2.70213688e-03 9.06998821e+00] [ 4.73975974e-02 -2.71458000e-03 9.98872414e-01 5.14763307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30509989299998 meters 0.02552479182863864 Centerline is valid? [True, True] Translation: X:144.16, Y:9.07, Z:5.15 [[ 9.92240929e-01 -1.15224841e-01 -4.67030397e-02 1.44159969e+02] [ 1.15226633e-01 9.93335659e-01 -2.66281891e-03 9.07463915e+00] [ 4.66986176e-02 -2.73927611e-03 9.98905269e-01 5.15116067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36509989299998 meters 0.02898177461132285 Centerline is valid? [True, True] Translation: X:144.22, Y:9.07, Z:5.15 [[ 9.92444678e-01 -1.13847890e-01 -4.57407823e-02 1.44220223e+02] [ 1.13848188e-01 9.93494737e-01 -2.60711944e-03 9.07347914e+00] [ 4.57400416e-02 -2.62008337e-03 9.98949941e-01 5.15390579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42509989299998 meters 0.02409679733283447 Centerline is valid? [True, True] Translation: X:144.28, Y:9.09, Z:5.16 [[ 9.92700542e-01 -1.11829415e-01 -4.51643273e-02 1.44280518e+02] [ 1.11827665e-01 9.93724283e-01 -2.57329060e-03 9.08629848e+00] [ 4.51686584e-02 -2.49611430e-03 9.98976257e-01 5.15760785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48509989299998 meters 0.026734030294854858 Centerline is valid? [True, True] Translation: X:144.34, Y:9.09, Z:5.16 [[ 9.92602291e-01 -1.12228642e-01 -4.63187110e-02 1.44340679e+02] [ 1.12227313e-01 9.93679060e-01 -2.63745694e-03 9.08771072e+00] [ 4.63219314e-02 -2.58027866e-03 9.98923231e-01 5.15857380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54509989299999 meters 0.026364854998877772 Centerline is valid? [True, True] Translation: X:144.40, Y:9.09, Z:5.16 [[ 9.92453417e-01 -1.13169563e-01 -4.72108555e-02 1.44400617e+02] [ 1.13169278e-01 9.93572087e-01 -2.68755848e-03 9.09277433e+00] [ 4.72115380e-02 -2.67554182e-03 9.98881330e-01 5.15999922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60509989299996 meters 0.025843220887833165 Centerline is valid? [True, True] Translation: X:144.46, Y:9.10, Z:5.16 [[ 9.92484537e-01 -1.12857100e-01 -4.73045308e-02 1.44461472e+02] [ 1.12856478e-01 9.93607652e-01 -2.69252205e-03 9.09978443e+00] [ 4.73060140e-02 -2.66633626e-03 9.98876885e-01 5.16237625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66509989299996 meters 0.025298857589229416 Centerline is valid? [True, True] Translation: X:144.52, Y:9.11, Z:5.17 [[ 9.92814426e-01 -1.10437194e-01 -4.60775597e-02 1.44521754e+02] [ 1.10434072e-01 9.93879995e-01 -2.62119213e-03 9.10769825e+00] [ 4.60850419e-02 -2.48617520e-03 9.98934426e-01 5.16558943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72509989299996 meters 0.02631186421594812 Centerline is valid? [True, True] Translation: X:144.58, Y:9.11, Z:5.17 [[ 9.93413654e-01 -1.05190239e-01 -4.54348509e-02 1.44581060e+02] [ 1.05181753e-01 9.94449658e-01 -2.58408395e-03 9.11434109e+00] [ 4.54544923e-02 -2.21185298e-03 9.98963962e-01 5.16775542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78509989299997 meters 0.019697802846374877 Centerline is valid? [True, True] Translation: X:144.64, Y:9.13, Z:5.17 [[ 9.94406677e-01 -9.58318004e-02 -4.44030038e-02 1.44640945e+02] [ 9.58143570e-02 9.95396016e-01 -2.52586471e-03 9.13431895e+00] [ 4.44406312e-02 -1.74270852e-03 9.99010507e-01 5.17210427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84509989299997 meters 0.01767214151688772 Centerline is valid? [True, True] Translation: X:144.70, Y:9.15, Z:5.18 [[ 9.95428994e-01 -8.50522607e-02 -4.34422784e-02 1.44699950e+02] [ 8.50253175e-02 9.96375727e-01 -2.47090751e-03 9.14631816e+00] [ 4.34949880e-02 -1.23408054e-03 9.99052883e-01 5.17538456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90509989299997 meters 0.014947360474083836 Centerline is valid? [True, True] Translation: X:144.76, Y:9.16, Z:5.18 [[ 9.96139138e-01 -7.59386486e-02 -4.40470096e-02 1.44760390e+02] [ 7.59020176e-02 9.97112132e-01 -2.50590076e-03 9.15920670e+00] [ 4.41101024e-02 -8.47031077e-04 9.99026317e-01 5.17745236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96509989299997 meters 0.014145901251861845 Centerline is valid? [True, True] Translation: X:144.82, Y:9.17, Z:5.18 [[ 9.96478280e-01 -7.16423856e-02 -4.35707081e-02 1.44820583e+02] [ 7.16024664e-02 9.97430171e-01 -2.47813987e-03 9.16637215e+00] [ 4.36362787e-02 -6.50357606e-04 9.99047272e-01 5.17959751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02509989299998 meters 0.013332535155864265 Centerline is valid? [True, True] Translation: X:144.88, Y:9.17, Z:5.18 [[ 9.96911192e-01 -6.60729516e-02 -4.24551474e-02 1.44879767e+02] [ 6.60299934e-02 9.97814716e-01 -2.41487813e-03 9.17227959e+00] [ 4.25219290e-02 -3.95894067e-04 9.99095455e-01 5.18083176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08509989299998 meters 0.013277233336612421 Centerline is valid? [True, True] Translation: X:144.94, Y:9.18, Z:5.18 [[ 9.96895266e-01 -6.59811182e-02 -4.29688257e-02 1.44939522e+02] [ 6.59369615e-02 9.97820793e-01 -2.44565707e-03 9.17563061e+00] [ 4.30365550e-02 -3.95169849e-04 9.99073420e-01 5.18229295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14509989299998 meters 0.014185875036591904 Centerline is valid? [True, True] Translation: X:145.00, Y:9.18, Z:5.19 [[ 9.96519173e-01 -7.20126339e-02 -4.19966461e-02 1.44998121e+02] [ 7.19756987e-02 9.97403516e-01 -2.39282069e-03 9.17509524e+00] [ 4.20599158e-02 -6.38246250e-04 9.99114886e-01 5.18513428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20509989299998 meters 0.01594798145803156 Centerline is valid? [True, True] Translation: X:145.06, Y:9.17, Z:5.19 [[ 9.96017909e-01 -7.88946145e-02 -4.15206611e-02 1.45057944e+02] [ 7.88640948e-02 9.96882548e-01 -2.37504860e-03 9.17243328e+00] [ 4.15786010e-02 -9.08898411e-04 9.99134823e-01 5.18701180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26509989299998 meters 0.018930262365484025 Centerline is valid? [True, True] Translation: X:145.12, Y:9.17, Z:5.19 [[ 9.94972586e-01 -9.10401820e-02 -4.17281575e-02 1.45119130e+02] [ 9.10199586e-02 9.95846205e-01 -2.38822402e-03 9.16773137e+00] [ 4.17722516e-02 -1.42187774e-03 9.99126147e-01 5.18849982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32509989299996 meters 0.022618999085601117 Centerline is valid? [True, True] Translation: X:145.18, Y:9.16, Z:5.19 [[ 9.93856824e-01 -1.02421016e-01 -4.19350546e-02 1.45180024e+02] [ 1.02410695e-01 9.94739307e-01 -2.39996297e-03 9.16264319e+00] [ 4.19602538e-02 -1.90937852e-03 9.99117456e-01 5.19036065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38509989299996 meters 0.023483302514333247 Centerline is valid? [True, True] Translation: X:145.24, Y:9.16, Z:5.19 [[ 9.93573847e-01 -1.05358884e-01 -4.13583975e-02 1.45240691e+02] [ 1.05351399e-01 9.94432241e-01 -2.36654515e-03 9.16385512e+00] [ 4.13774605e-02 -2.00582766e-03 9.99141573e-01 5.19265626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44509989299996 meters 0.02413184028695848 Centerline is valid? [True, True] Translation: X:145.30, Y:9.16, Z:5.20 [[ 9.92930125e-01 -1.11853436e-01 -3.97312950e-02 1.45301152e+02] [ 1.11851770e-01 9.93722305e-01 -2.27181668e-03 9.16339286e+00] [ 3.97359845e-02 -2.18826045e-03 9.99207818e-01 5.19552715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50509989299997 meters 0.029735513593428485 Centerline is valid? [True, True] Translation: X:145.36, Y:9.16, Z:5.20 [[ 9.92803787e-01 -1.13159585e-01 -3.91860867e-02 1.45362687e+02] [ 1.13158986e-01 9.93574368e-01 -2.24040646e-03 9.15822461e+00] [ 3.91878147e-02 -2.20997382e-03 9.99229419e-01 5.19810471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56509989299997 meters 0.025871234355980616 Centerline is valid? [True, True] Translation: X:145.42, Y:9.17, Z:5.20 [[ 9.92841605e-01 -1.12727157e-01 -3.94732185e-02 1.45424972e+02] [ 1.12726300e-01 9.93623519e-01 -2.25453451e-03 9.16647485e+00] [ 3.94756655e-02 -2.21127419e-03 9.99218085e-01 5.19979686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62509989299997 meters 0.027214419355788787 Centerline is valid? [True, True] Translation: X:145.49, Y:9.17, Z:5.20 [[ 9.93026358e-01 -1.10654567e-01 -4.06720965e-02 1.45485507e+02] [ 1.10652073e-01 9.93856498e-01 -2.31941786e-03 9.16743215e+00] [ 4.06788816e-02 -2.19720873e-03 9.99169856e-01 5.20059373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68509989299997 meters 0.024271272213194254 Centerline is valid? [True, True] Translation: X:145.55, Y:9.18, Z:5.20 [[ 9.93268923e-01 -1.07341557e-01 -4.35274307e-02 1.45547125e+02] [ 1.07335581e-01 9.94219753e-01 -2.48117480e-03 9.17626805e+00] [ 4.35421646e-02 -2.20756824e-03 9.99049151e-01 5.20068822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74509989299997 meters 0.025657041006540784 Centerline is valid? [True, True] Translation: X:145.61, Y:9.18, Z:5.20 [[ 9.93422252e-01 -1.05659050e-01 -4.41406293e-02 1.45607872e+02] [ 1.05651352e-01 9.94400057e-01 -2.51380122e-03 9.17861756e+00] [ 4.41590502e-02 -2.16625111e-03 9.99022165e-01 5.20219651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80509989299998 meters 0.021678739915543296 Centerline is valid? [True, True] Translation: X:145.67, Y:9.19, Z:5.21 [[ 9.93873564e-01 -1.01312867e-01 -4.41706060e-02 1.45667668e+02] [ 1.01300936e-01 9.94852652e-01 -2.51416213e-03 9.19055005e+00] [ 4.41979615e-02 -1.97576444e-03 9.99020839e-01 5.20548241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86509989299998 meters 0.020959288266917297 Centerline is valid? [True, True] Translation: X:145.73, Y:9.20, Z:5.21 [[ 9.94454060e-01 -9.56319904e-02 -4.37680708e-02 1.45727071e+02] [ 9.56147824e-02 9.95415294e-01 -2.49125009e-03 9.19831166e+00] [ 4.38056503e-02 -1.70744080e-03 9.99038613e-01 5.20790934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92509989299998 meters 0.01768365092386058 Centerline is valid? [True, True] Translation: X:145.79, Y:9.21, Z:5.21 [[ 9.95372792e-01 -8.57804537e-02 -4.32980230e-02 1.45786391e+02] [ 8.57542992e-02 9.96313267e-01 -2.46449821e-03 9.21242962e+00] [ 4.33498006e-02 -1.25989716e-03 9.99059161e-01 5.21122398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98509989299998 meters 0.015666136755716206 Centerline is valid? [True, True] Translation: X:145.85, Y:9.22, Z:5.21 [[ 9.96066938e-01 -7.73901429e-02 -4.31441899e-02 1.45846751e+02] [ 7.73563101e-02 9.97000487e-01 -2.45565582e-03 9.22480727e+00] [ 4.32048219e-02 -8.91477757e-04 9.99065838e-01 5.21363041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04509989299996 meters 0.014089501295483508 Centerline is valid? [True, True] Translation: X:145.91, Y:9.24, Z:5.22 [[ 9.96546644e-01 -7.19545081e-02 -4.14407394e-02 1.45907136e+02] [ 7.19186253e-02 9.97407716e-01 -2.35799045e-03 9.23629362e+00] [ 4.15029813e-02 -6.30513539e-04 9.99138181e-01 5.21745718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10509989299996 meters 0.013937247619631568 Centerline is valid? [True, True] Translation: X:145.97, Y:9.24, Z:5.22 [[ 9.96650127e-01 -7.03356193e-02 -4.17303786e-02 1.45967849e+02] [ 7.02978504e-02 9.97523222e-01 -2.37361892e-03 9.24198835e+00] [ 4.17939716e-02 -5.67888312e-04 9.99126089e-01 5.21961800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16509989299996 meters 0.013896995932161682 Centerline is valid? [True, True] Translation: X:146.03, Y:9.25, Z:5.22 [[ 9.96746528e-01 -6.86595337e-02 -4.22164358e-02 1.46028142e+02] [ 6.86194486e-02 9.97640022e-01 -2.39957689e-03 9.24790382e+00] [ 4.22815598e-02 -5.05098608e-04 9.99105607e-01 5.22116050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22509989299996 meters 0.013793285023757542 Centerline is valid? [True, True] Translation: X:146.09, Y:9.25, Z:5.22 [[ 9.96799476e-01 -6.77236960e-02 -4.24771296e-02 1.46087725e+02] [ 6.76823580e-02 9.97704004e-01 -2.41220816e-03 9.25335506e+00] [ 4.25429659e-02 -4.70464457e-04 9.99094527e-01 5.22303295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28509989299997 meters 0.013602353896652777 Centerline is valid? [True, True] Translation: X:146.15, Y:9.26, Z:5.23 [[ 9.96908089e-01 -6.61420048e-02 -4.24204925e-02 1.46146906e+02] [ 6.60992815e-02 9.97810139e-01 -2.41050307e-03 9.25833366e+00] [ 4.24870330e-02 -4.00914062e-04 9.99096938e-01 5.22581933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34509989299997 meters 0.01339931687584179 Centerline is valid? [True, True] Translation: X:146.21, Y:9.26, Z:5.23 [[ 9.97039718e-01 -6.40593086e-02 -4.25230033e-02 1.46206295e+02] [ 6.40144207e-02 9.97946045e-01 -2.41783858e-03 9.26389227e+00] [ 4.25905480e-02 -3.11404323e-04 9.99092562e-01 5.22813217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40509989299997 meters 0.013184388954278618 Centerline is valid? [True, True] Translation: X:146.27, Y:9.27, Z:5.23 [[ 9.97225526e-01 -6.08429739e-02 -4.28880347e-02 1.46265368e+02] [ 6.07942719e-02 9.98147335e-01 -2.44013250e-03 9.26981765e+00] [ 4.29570425e-02 -1.73984426e-04 9.99076905e-01 5.22942893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46509989299997 meters 0.013119493682717509 Centerline is valid? [True, True] Translation: X:146.32, Y:9.28, Z:5.23 [[ 9.97536799e-01 -5.58333361e-02 -4.24614210e-02 1.46324174e+02] [ 5.57809479e-02 9.98440102e-01 -2.41851359e-03 9.27607483e+00] [ 4.25302192e-02 4.40179874e-05 9.99095180e-01 5.23192120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52509989299998 meters 0.013173192911661283 Centerline is valid? [True, True] Translation: X:146.38, Y:9.28, Z:5.23 [[ 9.97655904e-01 -5.39742484e-02 -4.20651720e-02 1.46382230e+02] [ 5.39207263e-02 9.98542319e-01 -2.40674652e-03 9.28023396e+00] [ 4.21337567e-02 1.32920243e-04 9.99111970e-01 5.23446108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58509989299998 meters 0.013171989044735093 Centerline is valid? [True, True] Translation: X:146.44, Y:9.28, Z:5.24 [[ 9.97664368e-01 -5.39873370e-02 -4.18470464e-02 1.46439824e+02] [ 5.39338710e-02 9.98541610e-01 -2.40640882e-03 9.28285661e+00] [ 4.19159327e-02 1.43815132e-04 9.99121131e-01 5.23687420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64509989299998 meters 0.01316602637320433 Centerline is valid? [True, True] Translation: X:146.50, Y:9.28, Z:5.24 [[ 9.97503981e-01 -5.74541866e-02 -4.10466121e-02 1.46497474e+02] [ 5.74052221e-02 9.98348144e-01 -2.37152271e-03 9.28140164e+00] [ 4.11150629e-02 9.31346734e-06 9.99154418e-01 5.23851376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70509989299998 meters 0.01317375348480617 Centerline is valid? [True, True] Translation: X:146.56, Y:9.28, Z:5.24 [[ 9.97312313e-01 -6.16171520e-02 -3.96418586e-02 1.46556394e+02] [ 6.15745519e-02 9.98099847e-01 -2.29583316e-03 9.27984181e+00] [ 3.97079957e-02 -1.51267004e-04 9.99211315e-01 5.24148065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76509989299998 meters 0.013606141206800126 Centerline is valid? [True, True] Translation: X:146.62, Y:9.28, Z:5.24 [[ 9.97035047e-01 -6.63778445e-02 -3.89242405e-02 1.46615781e+02] [ 6.63400379e-02 9.97794506e-01 -2.26351945e-03 9.27787272e+00] [ 3.89886409e-02 -3.25427364e-04 9.99239601e-01 5.24445460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82509989299996 meters 0.014237463438478473 Centerline is valid? [True, True] Translation: X:146.68, Y:9.28, Z:5.25 [[ 9.96673516e-01 -7.21078820e-02 -3.79783527e-02 1.46676058e+02] [ 7.20759983e-02 9.97396695e-01 -2.20980017e-03 9.27610848e+00] [ 3.80388275e-02 -5.34878380e-04 9.99276119e-01 5.24722753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88509989299996 meters 0.016722278674524752 Centerline is valid? [True, True] Translation: X:146.74, Y:9.27, Z:5.25 [[ 9.95915864e-01 -8.18007307e-02 -3.82129880e-02 1.46736962e+02] [ 8.17755768e-02 9.96648289e-01 -2.22343528e-03 9.26811046e+00] [ 3.82667877e-02 -9.10534662e-04 9.99267143e-01 5.24926745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94509989299996 meters 0.019385883947877977 Centerline is valid? [True, True] Translation: X:146.80, Y:9.26, Z:5.25 [[ 9.95288037e-01 -8.86123158e-02 -3.93647090e-02 1.46797047e+02] [ 8.85909684e-02 9.96065458e-01 -2.28976332e-03 9.26290191e+00] [ 3.94127282e-02 -1.20838365e-03 9.99222286e-01 5.24959820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00509989299997 meters 0.020385542425011186 Centerline is valid? [True, True] Translation: X:146.86, Y:9.26, Z:5.25 [[ 9.94667407e-01 -9.51847880e-02 -3.97065001e-02 1.46857783e+02] [ 9.51682957e-02 9.95458518e-01 -2.30960155e-03 9.26157003e+00] [ 3.97460127e-02 -1.48151455e-03 9.99208717e-01 5.25092596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06509989299997 meters 0.02278798836902882 Centerline is valid? [True, True] Translation: X:146.92, Y:9.26, Z:5.25 [[ 9.93705578e-01 -1.04774284e-01 -3.96430735e-02 1.46918955e+02] [ 1.04765480e-01 9.94494284e-01 -2.30516877e-03 9.25696494e+00] [ 3.96663324e-02 -1.86256657e-03 9.99211245e-01 5.25234713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12509989299997 meters 0.026251972932859958 Centerline is valid? [True, True] Translation: X:146.98, Y:9.25, Z:5.25 [[ 9.93203562e-01 -1.09265497e-01 -4.00965752e-02 1.46979538e+02] [ 1.09260205e-01 9.94010452e-01 -2.32990392e-03 9.25329487e+00] [ 4.01109930e-02 -2.06689115e-03 9.99193093e-01 5.25337420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18509989299997 meters 0.029634591811028187 Centerline is valid? [True, True] Translation: X:147.04, Y:9.25, Z:5.26 [[ 9.92795160e-01 -1.13243992e-01 -3.91608141e-02 1.47040162e+02] [ 1.13242110e-01 9.93564822e-01 -2.27340563e-03 9.25016891e+00] [ 3.91662568e-02 -2.17762711e-03 9.99230335e-01 5.25549010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24509989299997 meters 0.030281623931565277 Centerline is valid? [True, True] Translation: X:147.10, Y:9.25, Z:5.26 [[ 9.92759498e-01 -1.13918944e-01 -3.80926866e-02 1.47102009e+02] [ 1.13917683e-01 9.93487732e-01 -2.21070155e-03 9.25252892e+00] [ 3.80964576e-02 -2.14473562e-03 9.99271765e-01 5.25864130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30509989299998 meters 0.0267915858324785 Centerline is valid? [True, True] Translation: X:147.16, Y:9.26, Z:5.26 [[ 9.92898534e-01 -1.12868609e-01 -3.75922603e-02 1.47164205e+02] [ 1.12866728e-01 9.93607746e-01 -2.17905931e-03 9.26084624e+00] [ 3.75979084e-02 -2.07933061e-03 9.99290785e-01 5.26208636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36509989299998 meters 0.0266248448907129 Centerline is valid? [True, True] Translation: X:147.23, Y:9.27, Z:5.26 [[ 9.93082170e-01 -1.11270798e-01 -3.75048381e-02 1.47226747e+02] [ 1.11267917e-01 9.93788076e-01 -2.17058802e-03 9.26518295e+00] [ 3.75133839e-02 -2.01751296e-03 9.99294089e-01 5.26427152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42509989299998 meters 0.025867287584394754 Centerline is valid? [True, True] Translation: X:147.29, Y:9.27, Z:5.27 [[ 9.93406949e-01 -1.08085990e-01 -3.82106455e-02 1.47287664e+02] [ 1.08080782e-01 9.94139663e-01 -2.20800908e-03 9.27183953e+00] [ 3.82253731e-02 -1.93638490e-03 9.99267267e-01 5.26570714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48509989299998 meters 0.025380877119526284 Centerline is valid? [True, True] Translation: X:147.35, Y:9.28, Z:5.27 [[ 9.93665529e-01 -1.05120008e-01 -3.97315932e-02 1.47349271e+02] [ 1.05112048e-01 9.94457737e-01 -2.29507109e-03 9.27830019e+00] [ 3.97526481e-02 -1.89573607e-03 9.99207753e-01 5.26715239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54509989299996 meters 0.025418807796270287 Centerline is valid? [True, True] Translation: X:147.41, Y:9.28, Z:5.27 [[ 9.94017365e-01 -1.01980042e-01 -3.91094559e-02 1.47409056e+02] [ 1.01969980e-01 9.94784916e-01 -2.25714704e-03 9.28448860e+00] [ 3.91356808e-02 -1.74434711e-03 9.99232383e-01 5.26925396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60509989299996 meters 0.025133221067126198 Centerline is valid? [True, True] Translation: X:147.47, Y:9.29, Z:5.27 [[ 9.94235078e-01 -9.98552955e-02 -3.90580183e-02 1.47470401e+02] [ 9.98436527e-02 9.95000586e-01 -2.25345950e-03 9.29004829e+00] [ 3.90877710e-02 -1.65922673e-03 9.99234403e-01 5.27180643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66509989299996 meters 0.019924596937985456 Centerline is valid? [True, True] Translation: X:147.53, Y:9.30, Z:5.27 [[ 9.94755462e-01 -9.49672077e-02 -3.79842056e-02 1.47530005e+02] [ 9.49526845e-02 9.95479377e-01 -2.19025942e-03 9.30432802e+00] [ 3.80204961e-02 -1.42792976e-03 9.99275939e-01 5.27466632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72509989299996 meters 0.020888394182015345 Centerline is valid? [True, True] Translation: X:147.59, Y:9.31, Z:5.28 [[ 9.95230808e-01 -9.02401494e-02 -3.70453083e-02 1.47589206e+02] [ 9.02230637e-02 9.95919292e-01 -2.13611681e-03 9.30901501e+00] [ 3.70869008e-02 -1.21641196e-03 9.99311304e-01 5.27756966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78509989299997 meters 0.017100275259474645 Centerline is valid? [True, True] Translation: X:147.65, Y:9.32, Z:5.28 [[ 9.95705127e-01 -8.48913002e-02 -3.69427645e-02 1.47650430e+02] [ 8.48706050e-02 9.96389703e-01 -2.13088751e-03 9.32208933e+00] [ 3.69902839e-02 -1.01361915e-03 9.99315111e-01 5.27966131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84509989299997 meters 0.016638697738426352 Centerline is valid? [True, True] Translation: X:147.71, Y:9.33, Z:5.28 [[ 9.95954023e-01 -8.18368771e-02 -3.71255904e-02 1.47711425e+02] [ 8.18139325e-02 9.96645325e-01 -2.13938145e-03 9.32742209e+00] [ 3.71761264e-02 -9.06664981e-04 9.99308318e-01 5.28055534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90509989299997 meters 0.016242946502669924 Centerline is valid? [True, True] Translation: X:147.77, Y:9.33, Z:5.28 [[ 9.96108848e-01 -7.92311859e-02 -3.85951100e-02 1.47772332e+02] [ 7.92044908e-02 9.96855912e-01 -2.22261095e-03 9.33244568e+00] [ 3.86498637e-02 -8.42943609e-04 9.99252459e-01 5.28196905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96509989299997 meters 0.014747750339511638 Centerline is valid? [True, True] Translation: X:147.83, Y:9.34, Z:5.28 [[ 9.96500119e-01 -7.33953314e-02 -4.00079794e-02 1.47832994e+02] [ 7.33620033e-02 9.97302720e-01 -2.30250624e-03 9.34148166e+00] [ 4.00690598e-02 -6.40617767e-04 9.99196707e-01 5.28464159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02509989299998 meters 0.014105274404057256 Centerline is valid? [True, True] Translation: X:147.89, Y:9.35, Z:5.29 [[ 9.96825857e-01 -6.91102063e-02 -3.95220230e-02 1.47892860e+02] [ 6.90743691e-02 9.97608923e-01 -2.27319690e-03 9.34760227e+00] [ 3.95846239e-02 -4.63977355e-04 9.99216114e-01 5.28759868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08509989299998 meters 0.01348201000302699 Centerline is valid? [True, True] Translation: X:147.95, Y:9.35, Z:5.29 [[ 9.97291058e-01 -6.18850419e-02 -3.97591046e-02 1.47952816e+02] [ 6.18430316e-02 9.98083268e-01 -2.28683317e-03 9.35475621e+00] [ 3.98244178e-02 -1.78185284e-04 9.99206677e-01 5.29029823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14509989299998 meters 0.013355139806135934 Centerline is valid? [True, True] Translation: X:148.01, Y:9.36, Z:5.29 [[ 9.97416106e-01 -5.98397419e-02 -3.97531976e-02 1.48012258e+02] [ 5.97961164e-02 9.98207992e-01 -2.28658341e-03 9.35946596e+00] [ 3.98187881e-02 -9.64117155e-05 9.99206913e-01 5.29291129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20509989299998 meters 0.013455947440959268 Centerline is valid? [True, True] Translation: X:148.07, Y:9.37, Z:5.29 [[ 9.97642635e-01 -5.52512207e-02 -4.06998113e-02 1.48070237e+02] [ 5.52016061e-02 9.98472481e-01 -2.34270457e-03 9.36530730e+00] [ 4.07670789e-02 9.04870066e-05 9.99168673e-01 5.29407899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26509989299998 meters 0.01344190526091968 Centerline is valid? [True, True] Translation: X:148.13, Y:9.37, Z:5.30 [[ 9.97618361e-01 -5.57800777e-02 -4.05732432e-02 1.48128231e+02] [ 5.57310363e-02 9.98443077e-01 -2.33965238e-03 9.36782473e+00] [ 4.06405798e-02 7.28912836e-05 9.99173828e-01 5.29625149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32509989299996 meters 0.01342421648593368 Centerline is valid? [True, True] Translation: X:148.19, Y:9.37, Z:5.30 [[ 9.97322996e-01 -6.10894540e-02 -4.01860752e-02 1.48186659e+02] [ 6.10451892e-02 9.98132287e-01 -2.32880219e-03 9.36555649e+00] [ 4.02532844e-02 -1.30598591e-04 9.99189500e-01 5.29796609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38509989299996 meters 0.01379876690455013 Centerline is valid? [True, True] Translation: X:148.25, Y:9.36, Z:5.30 [[ 9.96925525e-01 -6.77161587e-02 -3.94210530e-02 1.48245645e+02] [ 6.76783000e-02 9.97704554e-01 -2.29560705e-03 9.36327779e+00] [ 3.94860139e-02 -3.79400586e-04 9.99220051e-01 5.30016047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44509989299996 meters 0.015266704953019268 Centerline is valid? [True, True] Translation: X:148.31, Y:9.36, Z:5.30 [[ 9.96383528e-01 -7.59709155e-02 -3.80563452e-02 1.48305162e+02] [ 7.59412946e-02 9.97109807e-01 -2.22538064e-03 9.35826140e+00] [ 3.81154192e-02 -6.72715510e-04 9.99273117e-01 5.30294299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50509989299997 meters 0.017606550692377373 Centerline is valid? [True, True] Translation: X:148.37, Y:9.35, Z:5.30 [[ 9.95322691e-01 -8.86849424e-02 -3.83108632e-02 1.48366475e+02] [ 8.86642712e-02 9.96059046e-01 -2.24161127e-03 9.34999744e+00] [ 3.83586790e-02 -1.16567820e-03 9.99263355e-01 5.30344519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56509989299997 meters 0.02197794266058368 Centerline is valid? [True, True] Translation: X:148.43, Y:9.34, Z:5.31 [[ 9.94254731e-01 -9.98564955e-02 -3.85513986e-02 1.48426963e+02] [ 9.98439466e-02 9.95000552e-01 -2.25547888e-03 9.34137398e+00] [ 3.85838871e-02 -1.60660323e-03 9.99254073e-01 5.30504163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62509989299997 meters 0.025007613528174398 Centerline is valid? [True, True] Translation: X:148.49, Y:9.34, Z:5.31 [[ 9.93569237e-01 -1.06190613e-01 -3.92902714e-02 1.48487994e+02] [ 1.06182629e-01 9.94343994e-01 -2.29584791e-03 9.33879320e+00] [ 3.93118429e-02 -1.89086047e-03 9.99225202e-01 5.30783506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68509989299997 meters 0.02476594212142694 Centerline is valid? [True, True] Translation: X:148.55, Y:9.34, Z:5.31 [[ 9.92949718e-01 -1.11564566e-01 -4.00525406e-02 1.48548381e+02] [ 1.11560632e-01 9.93754873e-01 -2.34025625e-03 9.34081869e+00] [ 4.00634971e-02 -2.14452997e-03 9.99194834e-01 5.30966294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74509989299997 meters 0.02650627983293477 Centerline is valid? [True, True] Translation: X:148.61, Y:9.34, Z:5.31 [[ 9.92442155e-01 -1.15681284e-01 -4.09439917e-02 1.48609545e+02] [ 1.15680676e-01 9.93283574e-01 -2.39203076e-03 9.34010451e+00] [ 4.09457076e-02 -2.36247649e-03 9.99158580e-01 5.31077204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80509989299998 meters 0.032359152186938654 Centerline is valid? [True, True] Translation: X:148.67, Y:9.33, Z:5.31 [[ 9.92045801e-01 -1.18817260e-01 -4.15642578e-02 1.48669895e+02] [ 1.18819404e-01 9.92912915e-01 -2.42759419e-03 9.33432397e+00] [ 4.15581285e-02 -2.53035571e-03 9.99132884e-01 5.31215602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86509989299998 meters 0.028991819550317533 Centerline is valid? [True, True] Translation: X:148.73, Y:9.34, Z:5.32 [[ 9.91936602e-01 -1.19712117e-01 -4.16027228e-02 1.48732015e+02] [ 1.19715062e-01 9.92805319e-01 -2.42952104e-03 9.34240709e+00] [ 4.15942475e-02 -2.57054169e-03 9.99131278e-01 5.31548235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92509989299998 meters 0.028824756340156046 Centerline is valid? [True, True] Translation: X:148.79, Y:9.35, Z:5.32 [[ 9.92188527e-01 -1.17285910e-01 -4.24963785e-02 1.48793595e+02] [ 1.17286899e-01 9.93094980e-01 -2.47863347e-03 9.34704901e+00] [ 4.24936489e-02 -2.52499677e-03 9.99093546e-01 5.31712419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98509989299998 meters 0.025528352343196108 Centerline is valid? [True, True] Translation: X:148.85, Y:9.36, Z:5.32 [[ 9.92582588e-01 -1.14024131e-01 -4.21699365e-02 1.48853442e+02] [ 1.14022256e-01 9.93475156e-01 -2.45758203e-03 9.35614514e+00] [ 4.21750079e-02 -2.36895816e-03 9.99107430e-01 5.31988955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04509989299996 meters 0.026131884828030832 Centerline is valid? [True, True] Translation: X:148.91, Y:9.36, Z:5.32 [[ 9.93213573e-01 -1.08761694e-01 -4.12030628e-02 1.48912940e+02] [ 1.08755383e-01 9.94065642e-01 -2.40129847e-03 9.36144395e+00] [ 4.12197184e-02 -2.09605265e-03 9.99147908e-01 5.32325227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10509989299996 meters 0.02525436879882118 Centerline is valid? [True, True] Translation: X:148.97, Y:9.37, Z:5.33 [[ 9.93602786e-01 -1.04879004e-01 -4.18795726e-02 1.48972878e+02] [ 1.04869019e-01 9.94483046e-01 -2.44133660e-03 9.36869878e+00] [ 4.19045699e-02 -1.96615084e-03 9.99119683e-01 5.32553945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16509989299996 meters 0.02429305066040639 Centerline is valid? [True, True] Translation: X:149.03, Y:9.38, Z:5.33 [[ 9.94039065e-01 -1.00443357e-01 -4.23965787e-02 1.49033349e+02] [ 1.00429102e-01 9.94941148e-01 -2.47138583e-03 9.37658622e+00] [ 4.24303350e-02 -1.80119629e-03 9.99097804e-01 5.32729235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22509989299996 meters 0.019408854363366392 Centerline is valid? [True, True] Translation: X:149.09, Y:9.39, Z:5.33 [[ 9.94787105e-01 -9.29504219e-02 -4.19384716e-02 1.49092668e+02] [ 9.29298493e-02 9.95669659e-01 -2.44403559e-03 9.39289318e+00] [ 4.19840378e-02 -1.46604075e-03 9.99117206e-01 5.33063967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28509989299997 meters 0.018037916002287182 Centerline is valid? [True, True] Translation: X:149.15, Y:9.40, Z:5.33 [[ 9.95327144e-01 -8.70040976e-02 -4.18827382e-02 1.49153199e+02] [ 8.69783254e-02 9.96207214e-01 -2.44065965e-03 9.40237301e+00] [ 4.19362334e-02 -1.21363563e-03 9.99119552e-01 5.33271677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34509989299997 meters 0.01626663959832884 Centerline is valid? [True, True] Translation: X:149.21, Y:9.41, Z:5.34 [[ 9.95851527e-01 -8.08431087e-02 -4.17627463e-02 1.49212945e+02] [ 8.08120902e-02 9.96726385e-01 -2.43317457e-03 9.41333119e+00] [ 4.18227365e-02 -9.51854210e-04 9.99124593e-01 5.33502720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40509989299997 meters 0.01477181636380764 Centerline is valid? [True, True] Translation: X:149.27, Y:9.42, Z:5.34 [[ 9.96341692e-01 -7.48833643e-02 -4.11790437e-02 1.49273555e+02] [ 7.48481243e-02 9.97192059e-01 -2.39901985e-03 9.42385997e+00] [ 4.12430621e-02 -6.91930681e-04 9.99148903e-01 5.33811938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46509989299997 meters 0.013888127852276902 Centerline is valid? [True, True] Translation: X:149.33, Y:9.43, Z:5.34 [[ 9.96926250e-01 -6.65387618e-02 -4.13599555e-02 1.49333209e+02] [ 6.64960881e-02 9.97783780e-01 -2.40816139e-03 9.43420250e+00] [ 4.14285288e-02 -3.49515947e-04 9.99141409e-01 5.34034695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52509989299998 meters 0.013591012066385971 Centerline is valid? [True, True] Translation: X:149.39, Y:9.44, Z:5.34 [[ 9.97094868e-01 -6.39395575e-02 -4.13951293e-02 1.49392848e+02] [ 6.38945657e-02 9.97953744e-01 -2.41036101e-03 9.43995999e+00] [ 4.14645417e-02 -2.41565221e-04 9.99139947e-01 5.34304320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58509989299998 meters 0.013525606853886003 Centerline is valid? [True, True] Translation: X:149.45, Y:9.45, Z:5.34 [[ 9.97348943e-01 -5.89320471e-02 -4.26860682e-02 1.49450918e+02] [ 5.88795461e-02 9.98261996e-01 -2.48722563e-03 9.44773569e+00] [ 4.27584569e-02 -3.27044687e-05 9.99085438e-01 5.34496665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64509989299998 meters 0.013628495216060339 Centerline is valid? [True, True] Translation: X:149.51, Y:9.45, Z:5.35 [[ 9.97507564e-01 -5.49946819e-02 -4.42068455e-02 1.49509824e+02] [ 5.49343359e-02 9.98486637e-01 -2.57967656e-03 9.45421503e+00] [ 4.42818130e-02 1.44773175e-04 9.99019069e-01 5.34628882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70509989299998 meters 0.013731111640004835 Centerline is valid? [True, True] Translation: X:149.57, Y:9.46, Z:5.35 [[ 9.97625745e-01 -5.37960568e-02 -4.29983473e-02 1.49566981e+02] [ 5.37373881e-02 9.98551923e-01 -2.51996185e-03 9.45871465e+00] [ 4.30716464e-02 2.03359940e-04 9.99071965e-01 5.34919900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76509989299998 meters 0.013617407532333165 Centerline is valid? [True, True] Translation: X:149.62, Y:9.46, Z:5.35 [[ 9.97594515e-01 -5.45645660e-02 -4.27538452e-02 1.49623733e+02] [ 5.45067683e-02 9.98510228e-01 -2.51729847e-03 9.46167017e+00] [ 4.28275071e-02 1.80869211e-04 9.99082465e-01 5.35166505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82509989299996 meters 0.013488829912629329 Centerline is valid? [True, True] Translation: X:149.68, Y:9.46, Z:5.35 [[ 9.97266316e-01 -6.07494214e-02 -4.20642788e-02 1.49683016e+02] [ 6.06986223e-02 9.98153045e-01 -2.48497284e-03 9.45979665e+00] [ 4.21375486e-02 -7.50640625e-05 9.99111816e-01 5.35420389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88509989299996 meters 0.01413433297420218 Centerline is valid? [True, True] Translation: X:149.74, Y:9.46, Z:5.36 [[ 9.96585370e-01 -7.03904464e-02 -4.31599988e-02 1.49742391e+02] [ 7.03455269e-02 9.97519399e-01 -2.56053797e-03 9.45607722e+00] [ 4.32331735e-02 -4.84318172e-04 9.99064892e-01 5.35561483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94509989299996 meters 0.014954412291881457 Centerline is valid? [True, True] Translation: X:149.80, Y:9.45, Z:5.36 [[ 9.96123304e-01 -7.67098614e-02 -4.30576460e-02 1.49801945e+02] [ 7.66706373e-02 9.97053178e-01 -2.56406267e-03 9.45407411e+00] [ 4.31274516e-02 -7.47134584e-04 9.99069299e-01 5.35780355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00509989299997 meters 0.01661792870472642 Centerline is valid? [True, True] Translation: X:149.86, Y:9.45, Z:5.36 [[ 9.95615332e-01 -8.38242917e-02 -4.15162579e-02 1.49862498e+02] [ 8.37939443e-02 9.96480033e-01 -2.47366410e-03 9.44957126e+00] [ 4.15774751e-02 -1.01599309e-03 9.99134766e-01 5.36190282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06509989299997 meters 0.017300806871481996 Centerline is valid? [True, True] Translation: X:149.92, Y:9.45, Z:5.36 [[ 9.95357996e-01 -8.70657391e-02 -4.10123900e-02 1.49923865e+02] [ 8.70388499e-02 9.96201920e-01 -2.44416820e-03 9.45005536e+00] [ 4.10694249e-02 -1.13684890e-03 9.99155648e-01 5.36489747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12509989299997 meters 0.01792460536536756 Centerline is valid? [True, True] Translation: X:149.99, Y:9.45, Z:5.37 [[ 9.95129513e-01 -8.95381297e-02 -4.12331956e-02 1.49985332e+02] [ 8.95131318e-02 9.95982614e-01 -2.45582066e-03 9.45032926e+00] [ 4.12874355e-02 -1.24705285e-03 9.99146532e-01 5.36723596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18509989299997 meters 0.01908408879886221 Centerline is valid? [True, True] Translation: X:150.05, Y:9.45, Z:5.37 [[ 9.95002507e-01 -9.06380530e-02 -4.18897932e-02 1.50046147e+02] [ 9.06132911e-02 9.95883033e-01 -2.49338257e-03 9.45053823e+00] [ 4.19433296e-02 -1.31485012e-03 9.99119126e-01 5.36861974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24509989299997 meters 0.019742046961290755 Centerline is valid? [True, True] Translation: X:150.11, Y:9.45, Z:5.37 [[ 9.94526168e-01 -9.52323595e-02 -4.29941690e-02 1.50107107e+02] [ 9.52106265e-02 9.95453864e-01 -2.55757208e-03 9.44893794e+00] [ 4.30422753e-02 -1.54992941e-03 9.99072050e-01 5.36927974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30509989299998 meters 0.02173383434007321 Centerline is valid? [True, True] Translation: X:150.17, Y:9.45, Z:5.37 [[ 9.93888644e-01 -1.00451876e-01 -4.57688046e-02 1.50167873e+02] [ 1.00432830e-01 9.94940119e-01 -2.72133717e-03 9.44747144e+00] [ 4.58105833e-02 -1.89198447e-03 9.98948352e-01 5.36965155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36509989299998 meters 0.02307941824843558 Centerline is valid? [True, True] Translation: X:150.23, Y:9.45, Z:5.37 [[ 9.93490523e-01 -1.03643782e-01 -4.72710042e-02 1.50228511e+02] [ 1.03627102e-01 9.94612250e-01 -2.81000327e-03 9.44862689e+00] [ 4.73075592e-02 -2.10684554e-03 9.98878149e-01 5.37123974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42509989299998 meters 0.02259042223342095 Centerline is valid? [True, True] Translation: X:150.29, Y:9.45, Z:5.37 [[ 9.93172486e-01 -1.06433496e-01 -4.77527323e-02 1.50289921e+02] [ 1.06419709e-01 9.94317248e-01 -2.83825155e-03 9.45261987e+00] [ 4.77834504e-02 -2.26295851e-03 9.98855155e-01 5.37364612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48509989299998 meters 0.024701050150702574 Centerline is valid? [True, True] Translation: X:150.35, Y:9.45, Z:5.38 [[ 9.92859382e-01 -1.09531086e-01 -4.72566362e-02 1.50351129e+02] [ 1.09521153e-01 9.93980501e-01 -2.80722405e-03 9.45257318e+00] [ 4.72796532e-02 -2.38842255e-03 9.98878836e-01 5.37601450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54509989299996 meters 0.024852867140437915 Centerline is valid? [True, True] Translation: X:150.41, Y:9.46, Z:5.38 [[ 9.92742144e-01 -1.11045032e-01 -4.61739865e-02 1.50411951e+02] [ 1.11037224e-01 9.93812466e-01 -2.74192240e-03 9.45611825e+00] [ 4.61927602e-02 -2.40500935e-03 9.98929650e-01 5.37945807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60509989299996 meters 0.0266000284186172 Centerline is valid? [True, True] Translation: X:150.47, Y:9.46, Z:5.38 [[ 9.92667530e-01 -1.11992579e-01 -4.54844799e-02 1.50471910e+02] [ 1.11986060e-01 9.93706111e-01 -2.69948747e-03 9.45781718e+00] [ 4.55005282e-02 -2.41393412e-03 9.98961398e-01 5.38176481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66509989299996 meters 0.028204110282129817 Centerline is valid? [True, True] Translation: X:150.53, Y:9.46, Z:5.39 [[ 9.92651503e-01 -1.13056504e-01 -4.31418646e-02 1.50532854e+02] [ 1.13051672e-01 9.93585813e-01 -2.55960962e-03 9.46061276e+00] [ 4.31545251e-02 -2.33645958e-03 9.99065677e-01 5.38662182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72509989299996 meters 0.026897736886245107 Centerline is valid? [True, True] Translation: X:150.59, Y:9.47, Z:5.39 [[ 9.92621512e-01 -1.13571357e-01 -4.24744733e-02 1.50594199e+02] [ 1.13567209e-01 9.93527124e-01 -2.51843339e-03 9.46668780e+00] [ 4.24855632e-02 -2.32385621e-03 9.99094378e-01 5.39025637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78509989299997 meters 0.02740672498437439 Centerline is valid? [True, True] Translation: X:150.66, Y:9.47, Z:5.39 [[ 9.92608799e-01 -1.13855832e-01 -4.20073985e-02 1.50656335e+02] [ 1.13852127e-01 9.93494590e-01 -2.48838621e-03 9.47076791e+00] [ 4.20174404e-02 -2.31263761e-03 9.99114201e-01 5.39315261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84509989299997 meters 0.027708905885672014 Centerline is valid? [True, True] Translation: X:150.72, Y:9.47, Z:5.39 [[ 9.92570904e-01 -1.14048757e-01 -4.23778336e-02 1.50718466e+02] [ 1.14045293e-01 9.93472388e-01 -2.50724952e-03 9.47463968e+00] [ 4.23871562e-02 -2.34436951e-03 9.99098510e-01 5.39491938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90509989299997 meters 0.026406045269654344 Centerline is valid? [True, True] Translation: X:150.78, Y:9.48, Z:5.40 [[ 9.92476632e-01 -1.14334804e-01 -4.37914085e-02 1.50780583e+02] [ 1.14331527e-01 9.93439281e-01 -2.58763783e-03 9.48185664e+00] [ 4.37999624e-02 -2.43856853e-03 9.99037345e-01 5.39560831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96509989299997 meters 0.029079098636166426 Centerline is valid? [True, True] Translation: X:150.84, Y:9.48, Z:5.40 [[ 9.92438378e-01 -1.14431156e-01 -4.44024251e-02 1.50841837e+02] [ 1.14428025e-01 9.93428085e-01 -2.62058678e-03 9.48226234e+00] [ 4.44104929e-02 -2.48011093e-03 9.99010289e-01 5.39620964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02509989299998 meters 0.028858514044802788 Centerline is valid? [True, True] Translation: X:150.90, Y:9.49, Z:5.40 [[ 9.92351982e-01 -1.14430828e-01 -4.62939402e-02 1.50904160e+02] [ 1.14427556e-01 9.93427846e-01 -2.72947641e-03 9.48723519e+00] [ 4.63020255e-02 -2.58870112e-03 9.98924132e-01 5.39673998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08509989299998 meters 0.029733774882679854 Centerline is valid? [True, True] Translation: X:150.97, Y:9.49, Z:5.40 [[ 9.92403429e-01 -1.13786081e-01 -4.67777974e-02 1.50965163e+02] [ 1.13782169e-01 9.93501901e-01 -2.75500300e-03 9.49132890e+00] [ 4.67873117e-02 -2.58840484e-03 9.98901520e-01 5.39833890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14509989299998 meters 0.02953558854420032 Centerline is valid? [True, True] Translation: X:151.03, Y:9.50, Z:5.40 [[ 9.92435789e-01 -1.13558238e-01 -4.66447394e-02 1.51026641e+02] [ 1.13554173e-01 9.93528013e-01 -2.74554459e-03 9.49612877e+00] [ 4.66546345e-02 -2.57192810e-03 9.98907769e-01 5.40092846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20509989299998 meters 0.02968756223474947 Centerline is valid? [True, True] Translation: X:151.09, Y:9.50, Z:5.40 [[ 9.92474667e-01 -1.13782101e-01 -4.52511798e-02 1.51088017e+02] [ 1.13778573e-01 9.93502567e-01 -2.66197966e-03 9.50106867e+00] [ 4.52600489e-02 -2.50666730e-03 9.98972094e-01 5.40433731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26509989299998 meters 0.0266748546546127 Centerline is valid? [True, True] Translation: X:151.15, Y:9.51, Z:5.41 [[ 9.92513187e-01 -1.13601695e-01 -4.48578603e-02 1.51149538e+02] [ 1.13598127e-01 9.93523282e-01 -2.63699841e-03 9.51020571e+00] [ 4.48668961e-02 -2.47851320e-03 9.98989899e-01 5.40813320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32509989299996 meters 0.028752588491475196 Centerline is valid? [True, True] Translation: X:151.21, Y:9.51, Z:5.41 [[ 9.92518437e-01 -1.13871478e-01 -4.40504154e-02 1.51210843e+02] [ 1.13868433e-01 9.93492471e-01 -2.58649818e-03 9.51283547e+00] [ 4.40582844e-02 -2.44880464e-03 9.99025961e-01 5.41117160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38509989299996 meters 0.026599719522016594 Centerline is valid? [True, True] Translation: X:151.27, Y:9.52, Z:5.41 [[ 9.92461782e-01 -1.14496290e-01 -4.37059570e-02 1.51272101e+02] [ 1.14493999e-01 9.93420631e-01 -2.56392319e-03 9.52181985e+00] [ 4.37119591e-02 -2.45947400e-03 9.99041148e-01 5.41454158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44509989299996 meters 0.02756946454662777 Centerline is valid? [True, True] Translation: X:151.33, Y:9.52, Z:5.42 [[ 9.92404171e-01 -1.14982981e-01 -4.37364253e-02 1.51334050e+02] [ 1.14981269e-01 9.93364353e-01 -2.56317373e-03 9.52432493e+00] [ 4.37409272e-02 -2.48516539e-03 9.99039817e-01 5.41649481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50509989299997 meters 0.02879236250391174 Centerline is valid? [True, True] Translation: X:151.40, Y:9.53, Z:5.42 [[ 9.92213776e-01 -1.16222237e-01 -4.47684646e-02 1.51396192e+02] [ 1.16221850e-01 9.93219822e-01 -2.62033350e-03 9.52717500e+00] [ 4.47694675e-02 -2.60314280e-03 9.98993953e-01 5.41772572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56509989299997 meters 0.029636630585148576 Centerline is valid? [True, True] Translation: X:151.46, Y:9.53, Z:5.42 [[ 9.91981998e-01 -1.18231319e-01 -4.46438168e-02 1.51457698e+02] [ 1.18233092e-01 9.92982439e-01 -2.61009264e-03 9.52988761e+00] [ 4.46391207e-02 -2.68921157e-03 9.98999558e-01 5.41961202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62509989299997 meters 0.033356414026784874 Centerline is valid? [True, True] Translation: X:151.52, Y:9.53, Z:5.42 [[ 9.91564878e-01 -1.21719581e-01 -4.45357964e-02 1.51518095e+02] [ 1.21724907e-01 9.92560464e-01 -2.60244021e-03 9.52892185e+00] [ 4.45212387e-02 -2.84062736e-03 9.99004399e-01 5.42231572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68509989299997 meters 0.029072705789931375 Centerline is valid? [True, True] Translation: X:151.58, Y:9.54, Z:5.43 [[ 9.91445696e-01 -1.22801193e-01 -4.42187640e-02 1.51579855e+02] [ 1.22807536e-01 9.92427144e-01 -2.58339958e-03 9.53854693e+00] [ 4.42011462e-02 -2.86909705e-03 9.99018532e-01 5.42555168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74509989299997 meters 0.031511849819836554 Centerline is valid? [True, True] Translation: X:151.64, Y:9.54, Z:5.43 [[ 9.91669916e-01 -1.21217066e-01 -4.35568666e-02 1.51640415e+02] [ 1.21221846e-01 9.92622187e-01 -2.54131940e-03 9.54007721e+00] [ 4.35435635e-02 -2.75989377e-03 9.99047717e-01 5.42826478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80509989299998 meters 0.031352866851370856 Centerline is valid? [True, True] Translation: X:151.70, Y:9.54, Z:5.43 [[ 9.91962925e-01 -1.19064105e-01 -4.28169889e-02 1.51702087e+02] [ 1.19066908e-01 9.92883101e-01 -2.49387706e-03 9.54488438e+00] [ 4.28091959e-02 -2.62425287e-03 9.99079820e-01 5.43163554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86509989299998 meters 0.029856881389240312 Centerline is valid? [True, True] Translation: X:151.76, Y:9.55, Z:5.44 [[ 9.92269759e-01 -1.16741759e-01 -4.20961694e-02 1.51762870e+02] [ 1.16742473e-01 9.93159198e-01 -2.44976645e-03 9.55111372e+00] [ 4.20941879e-02 -2.48358178e-03 9.99110560e-01 5.43538740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92509989299998 meters 0.025980944377851676 Centerline is valid? [True, True] Translation: X:151.82, Y:9.56, Z:5.44 [[ 9.92701295e-01 -1.12791975e-01 -4.26861662e-02 1.51823392e+02] [ 1.12789134e-01 9.93615845e-01 -2.48264745e-03 9.55996233e+00] [ 4.26936738e-02 -2.35000837e-03 9.99085446e-01 5.43698004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98509989299998 meters 0.02586749125340167 Centerline is valid? [True, True] Translation: X:151.89, Y:9.56, Z:5.44 [[ 9.92953055e-01 -1.09912452e-01 -4.43112211e-02 1.51885353e+02] [ 1.09906584e-01 9.93938583e-01 -2.57606584e-03 9.56364891e+00] [ 4.43257740e-02 -2.31218250e-03 9.99014454e-01 5.43743027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04509989299996 meters 0.025927754720663124 Centerline is valid? [True, True] Translation: X:151.95, Y:9.57, Z:5.44 [[ 9.93126768e-01 -1.07898161e-01 -4.53564815e-02 1.51945985e+02] [ 1.07890028e-01 9.94159344e-01 -2.63445666e-03 9.56706606e+00] [ 4.53758229e-02 -2.27716264e-03 9.98967391e-01 5.43881631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10509989299996 meters 0.02308913528285421 Centerline is valid? [True, True] Translation: X:152.01, Y:9.58, Z:5.44 [[ 9.93542211e-01 -1.03344288e-01 -4.68383816e-02 1.52006369e+02] [ 1.03330644e-01 9.94643346e-01 -2.71896843e-03 9.57530905e+00] [ 4.68684745e-02 -2.13843021e-03 9.98898780e-01 5.44090504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16509989299996 meters 0.02026133352786844 Centerline is valid? [True, True] Translation: X:152.07, Y:9.58, Z:5.45 [[ 9.94671494e-01 -9.30377891e-02 -4.44138372e-02 1.52066449e+02] [ 9.30152877e-02 9.95661345e-01 -2.57746409e-03 9.58483117e+00] [ 4.44609424e-02 -1.56743579e-03 9.99009894e-01 5.44563124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22509989299996 meters 0.01766028709266813 Centerline is valid? [True, True] Translation: X:152.13, Y:9.59, Z:5.45 [[ 9.95455192e-01 -8.51406066e-02 -4.26619100e-02 1.52126914e+02] [ 8.51126232e-02 9.96368263e-01 -2.47517362e-03 9.59402231e+00] [ 4.27177110e-02 -1.16714264e-03 9.99086500e-01 5.45002341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28509989299997 meters 0.015863431479027294 Centerline is valid? [True, True] Translation: X:152.19, Y:9.60, Z:5.45 [[ 9.96120203e-01 -7.73604683e-02 -4.19511400e-02 1.52187671e+02] [ 7.73265259e-02 9.97002852e-01 -2.43361255e-03 9.60184548e+00] [ 4.20136716e-02 -8.19765277e-04 9.99116700e-01 5.45349940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34509989299997 meters 0.01450495365182604 Centerline is valid? [True, True] Translation: X:152.25, Y:9.61, Z:5.46 [[ 9.96635100e-01 -7.03294069e-02 -4.20981285e-02 1.52249306e+02] [ 7.02889946e-02 9.97523683e-01 -2.44119769e-03 9.60855735e+00] [ 4.21655681e-02 -5.26051821e-04 9.99110498e-01 5.45583310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40509989299997 meters 0.01413068543266361 Centerline is valid? [True, True] Translation: X:152.31, Y:9.61, Z:5.46 [[ 9.96921199e-01 -6.57902941e-02 -4.26586407e-02 1.52310063e+02] [ 6.57447305e-02 9.97833414e-01 -2.47167217e-03 9.61280472e+00] [ 4.27288291e-02 -3.40518451e-04 9.99086649e-01 5.45795897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46509989299997 meters 0.014030453275622797 Centerline is valid? [True, True] Translation: X:152.37, Y:9.61, Z:5.46 [[ 9.96983483e-01 -6.42665194e-02 -4.35172278e-02 1.52369526e+02] [ 6.42176236e-02 9.97932731e-01 -2.52206276e-03 9.61498968e+00] [ 4.35893502e-02 -2.80118041e-04 9.99049493e-01 5.45937183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52509989299998 meters 0.013902899883884387 Centerline is valid? [True, True] Translation: X:152.43, Y:9.61, Z:5.46 [[ 9.96927697e-01 -6.40903052e-02 -4.50288710e-02 1.52427922e+02] [ 6.40376783e-02 9.97944064e-01 -2.61175622e-03 9.61492657e+00] [ 4.51036828e-02 -2.79812241e-04 9.98982272e-01 5.46076952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58509989299998 meters 0.01384282858715793 Centerline is valid? [True, True] Translation: X:152.49, Y:9.61, Z:5.46 [[ 9.96837846e-01 -6.53659231e-02 -4.51841212e-02 1.52486086e+02] [ 6.53139837e-02 9.97861306e-01 -2.62646466e-03 9.61450484e+00] [ 4.52591675e-02 -3.32995579e-04 9.98975223e-01 5.46281887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64509989299998 meters 0.01413528708785843 Centerline is valid? [True, True] Translation: X:152.54, Y:9.61, Z:5.47 [[ 9.96691041e-01 -6.86719101e-02 -4.34872121e-02 1.52544577e+02] [ 6.86264640e-02 9.97639195e-01 -2.53884401e-03 9.61175333e+00] [ 4.35588945e-02 -4.53930511e-04 9.99050758e-01 5.46667146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70509989299998 meters 0.014561916810471897 Centerline is valid? [True, True] Translation: X:152.60, Y:9.61, Z:5.47 [[ 9.96386558e-01 -7.37072707e-02 -4.22026772e-02 1.52603919e+02] [ 7.36688335e-02 9.97279708e-01 -2.46737706e-03 9.60780143e+00] [ 4.22697372e-02 -6.50560665e-04 9.99106023e-01 5.46950280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76509989299996 meters 0.016102882819596247 Centerline is valid? [True, True] Translation: X:152.66, Y:9.60, Z:5.47 [[ 9.95895907e-01 -8.06013069e-02 -4.11676147e-02 1.52664276e+02] [ 8.05705273e-02 9.96745999e-01 -2.40897783e-03 9.60163267e+00] [ 4.12278220e-02 -9.17805263e-04 9.99149350e-01 5.47163460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82509989299996 meters 0.017383880914669345 Centerline is valid? [True, True] Translation: X:152.72, Y:9.60, Z:5.47 [[ 9.95390452e-01 -8.61587468e-02 -4.21250248e-02 1.52724296e+02] [ 8.61314268e-02 9.96280730e-01 -2.46645045e-03 9.59922707e+00] [ 4.21808568e-02 -1.17320726e-03 9.99109303e-01 5.47329851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88509989299996 meters 0.018420469599407886 Centerline is valid? [True, True] Translation: X:152.79, Y:9.60, Z:5.48 [[ 9.95145806e-01 -8.89104326e-02 -4.21872091e-02 1.52785127e+02] [ 8.88854762e-02 9.96038788e-01 -2.47067240e-03 9.59903606e+00] [ 4.22397651e-02 -1.29115089e-03 9.99106669e-01 5.47516707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94509989299996 meters 0.020857600425638983 Centerline is valid? [True, True] Translation: X:152.85, Y:9.59, Z:5.48 [[ 9.94413170e-01 -9.60709024e-02 -4.37358933e-02 1.52845964e+02] [ 9.60510205e-02 9.95373118e-01 -2.56068522e-03 9.59471360e+00] [ 4.37795398e-02 -1.65449808e-03 9.99039846e-01 5.47565705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00509989299997 meters 0.027138985651851084 Centerline is valid? [True, True] Translation: X:152.91, Y:9.58, Z:5.47 [[ 9.93267570e-01 -1.06255266e-01 -4.61449195e-02 1.52905605e+02] [ 1.06244075e-01 9.94336410e-01 -2.70205081e-03 9.58407683e+00] [ 4.61706807e-02 -2.21876485e-03 9.98931101e-01 5.47488657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06509989299997 meters 0.026897310085099994 Centerline is valid? [True, True] Translation: X:152.97, Y:9.59, Z:5.48 [[ 9.92715202e-01 -1.11466991e-01 -4.57344240e-02 1.52966092e+02] [ 1.11461450e-01 9.93765147e-01 -2.67927929e-03 9.58603726e+00] [ 4.57479278e-02 -2.43786393e-03 9.98950041e-01 5.47864020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12509989299997 meters 0.024155844684745298 Centerline is valid? [True, True] Translation: X:153.03, Y:9.59, Z:5.48 [[ 9.92792084e-01 -1.11382464e-01 -4.42473168e-02 1.53026814e+02] [ 1.11377194e-01 9.93774825e-01 -2.59208449e-03 9.59396245e+00] [ 4.42605823e-02 -2.35474101e-03 9.99017245e-01 5.48240750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18509989299997 meters 0.025091662754956404 Centerline is valid? [True, True] Translation: X:153.09, Y:9.60, Z:5.49 [[ 9.93145913e-01 -1.08958360e-01 -4.22997786e-02 1.53086707e+02] [ 1.08951407e-01 9.94043992e-01 -2.47658157e-03 9.59855583e+00] [ 4.23176850e-02 -2.14901353e-03 9.99101894e-01 5.48535029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24509989299997 meters 0.02385278455431778 Centerline is valid? [True, True] Translation: X:153.15, Y:9.61, Z:5.49 [[ 9.93364531e-01 -1.06960610e-01 -4.22650734e-02 1.53147406e+02] [ 1.06951901e-01 9.94261118e-01 -2.47367710e-03 9.60578263e+00] [ 4.22871052e-02 -2.06306687e-03 9.99103370e-01 5.48715069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30509989299998 meters 0.022655673295080427 Centerline is valid? [True, True] Translation: X:153.21, Y:9.61, Z:5.49 [[ 9.93424225e-01 -1.06417908e-01 -4.22319458e-02 1.53209436e+02] [ 1.06408798e-01 9.94319399e-01 -2.47000503e-03 9.61210105e+00] [ 4.22548957e-02 -2.04008774e-03 9.99104780e-01 5.48923713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36509989299998 meters 0.024633360678208677 Centerline is valid? [True, True] Translation: X:153.27, Y:9.61, Z:5.49 [[ 9.93492240e-01 -1.05891938e-01 -4.19531569e-02 1.53270220e+02] [ 1.05882601e-01 9.94375617e-01 -2.45078499e-03 9.61357574e+00] [ 4.19767147e-02 -2.00727351e-03 9.99116573e-01 5.49125684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42509989299998 meters 0.024727309268151518 Centerline is valid? [True, True] Translation: X:153.33, Y:9.62, Z:5.49 [[ 9.93637340e-01 -1.04452878e-01 -4.21240294e-02 1.53331052e+02] [ 1.04442240e-01 9.94527913e-01 -2.45923552e-03 9.61902875e+00] [ 4.21503973e-02 -1.95593976e-03 9.99109363e-01 5.49306401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48509989299998 meters 0.023549953802858965 Centerline is valid? [True, True] Translation: X:153.39, Y:9.63, Z:5.49 [[ 9.93822457e-01 -1.02621898e-01 -4.22571874e-02 1.53391921e+02] [ 1.02609606e-01 9.94718649e-01 -2.46551439e-03 9.62712930e+00] [ 4.22870281e-02 -1.88570977e-03 9.99103724e-01 5.49490467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54509989299996 meters 0.02045495976788312 Centerline is valid? [True, True] Translation: X:153.45, Y:9.64, Z:5.50 [[ 9.94151204e-01 -9.99111306e-02 -4.10018262e-02 1.53453233e+02] [ 9.98973174e-02 9.94994880e-01 -2.39074736e-03 9.63878642e+00] [ 4.10354694e-02 -1.71920808e-03 9.99156211e-01 5.49837617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60509989299996 meters 0.020165132725710348 Centerline is valid? [True, True] Translation: X:153.51, Y:9.65, Z:5.50 [[ 9.94496785e-01 -9.67977567e-02 -4.00791613e-02 1.53513849e+02] [ 9.67821271e-02 9.95302853e-01 -2.33460741e-03 9.64675567e+00] [ 4.01168883e-02 -1.55718692e-03 9.99193780e-01 5.50129141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66509989299996 meters 0.01939167053826267 Centerline is valid? [True, True] Translation: X:153.57, Y:9.66, Z:5.50 [[ 9.94991481e-01 -9.09790364e-02 -4.14097467e-02 1.53573209e+02] [ 9.09573786e-02 9.95851868e-01 -2.41070104e-03 9.65712766e+00] [ 4.14572969e-02 -1.36789501e-03 9.99139340e-01 5.50323517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72509989299996 meters 0.0174596992617751 Centerline is valid? [True, True] Translation: X:153.63, Y:9.67, Z:5.51 [[ 9.95383708e-01 -8.66100594e-02 -4.13518074e-02 1.53633930e+02] [ 8.65847019e-02 9.96241585e-01 -2.40717899e-03 9.66716337e+00] [ 4.14048760e-02 -1.18436716e-03 9.99141748e-01 5.50566658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78509989299997 meters 0.015621107545999428 Centerline is valid? [True, True] Translation: X:153.69, Y:9.68, Z:5.51 [[ 9.96030960e-01 -7.93635348e-02 -4.02958497e-02 1.53694206e+02] [ 7.93335831e-02 9.96845367e-01 -2.34433816e-03 9.67990967e+00] [ 4.03547861e-02 -8.61780757e-04 9.99185042e-01 5.50934204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84509989299997 meters 0.01415176989235367 Centerline is valid? [True, True] Translation: X:153.76, Y:9.69, Z:5.51 [[ 9.96578363e-01 -7.21664570e-02 -4.02935249e-02 1.53755320e+02] [ 7.21306607e-02 9.97392439e-01 -2.34337068e-03 9.69097923e+00] [ 4.03575698e-02 -5.71046054e-04 9.99185138e-01 5.51130464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90509989299997 meters 0.013675952090514589 Centerline is valid? [True, True] Translation: X:153.82, Y:9.70, Z:5.51 [[ 9.96876409e-01 -6.81658375e-02 -3.98853832e-02 1.53815536e+02] [ 6.81276431e-02 9.97673921e-01 -2.31759507e-03 9.69743946e+00] [ 3.99505875e-02 -4.06941300e-04 9.99201574e-01 5.51277909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96509989299997 meters 0.013262670411632076 Centerline is valid? [True, True] Translation: X:153.88, Y:9.70, Z:5.51 [[ 9.97101024e-01 -6.48187572e-02 -3.98506851e-02 1.53875643e+02] [ 6.47779829e-02 9.97897016e-01 -2.31492294e-03 9.70362818e+00] [ 3.99169302e-02 -2.73234970e-04 9.99202964e-01 5.51437951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02509989299998 meters 0.012834359314331583 Centerline is valid? [True, True] Translation: X:153.94, Y:9.71, Z:5.52 [[ 9.97400454e-01 -6.04792986e-02 -3.91738344e-02 1.53935302e+02] [ 6.04365515e-02 9.98169447e-01 -2.27560474e-03 9.71155294e+00] [ 3.92397516e-02 -9.78422644e-05 9.99229820e-01 5.51688707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08509989299998 meters 0.012790007200202316 Centerline is valid? [True, True] Translation: X:153.99, Y:9.72, Z:5.52 [[ 9.97476867e-01 -5.93267594e-02 -3.89902012e-02 1.53994657e+02] [ 5.92835296e-02 9.98238615e-01 -2.26499966e-03 9.71570782e+00] [ 3.90558996e-02 -5.21919880e-05 9.99237026e-01 5.51921498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14509989299998 meters 0.012822282902591055 Centerline is valid? [True, True] Translation: X:154.05, Y:9.72, Z:5.52 [[ 9.97556420e-01 -5.78735191e-02 -3.91387921e-02 1.54054739e+02] [ 5.78287860e-02 9.98323923e-01 -2.27502837e-03 9.71782398e+00] [ 3.92048564e-02 6.12031722e-06 9.99231194e-01 5.52114903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20509989299998 meters 0.01287872017652892 Centerline is valid? [True, True] Translation: X:154.11, Y:9.72, Z:5.52 [[ 9.97438248e-01 -5.91001781e-02 -4.03002557e-02 1.54114380e+02] [ 5.90536914e-02 9.98252056e-01 -2.34400113e-03 9.71866057e+00] [ 4.03683440e-02 -4.18824838e-05 9.99184865e-01 5.52295533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26509989299996 meters 0.012968917865150855 Centerline is valid? [True, True] Translation: X:154.17, Y:9.72, Z:5.52 [[ 9.97183165e-01 -6.25591399e-02 -4.13774123e-02 1.54173423e+02] [ 6.25130098e-02 9.98041242e-01 -2.40906338e-03 9.71870380e+00] [ 4.14470729e-02 -1.84349131e-04 9.99140684e-01 5.52434026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32509989299996 meters 0.013992232205102564 Centerline is valid? [True, True] Translation: X:154.23, Y:9.71, Z:5.53 [[ 9.96671846e-01 -6.99248395e-02 -4.19016498e-02 1.54231860e+02] [ 6.98836142e-02 9.97552144e-01 -2.44961175e-03 9.71287656e+00] [ 4.19703693e-02 -4.86779658e-04 9.99118737e-01 5.52645212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38509989299996 meters 0.014468702152312291 Centerline is valid? [True, True] Translation: X:154.29, Y:9.71, Z:5.53 [[ 9.96289378e-01 -7.57071186e-02 -4.09378375e-02 1.54292040e+02] [ 7.56724432e-02 9.97129846e-01 -2.39817747e-03 9.71083853e+00] [ 4.10018987e-02 -7.08587435e-04 9.99158817e-01 5.52959332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44509989299996 meters 0.015771092560693874 Centerline is valid? [True, True] Translation: X:154.35, Y:9.71, Z:5.53 [[ 9.95861104e-01 -8.15815353e-02 -4.00638863e-02 1.54352808e+02] [ 8.15530566e-02 9.96666237e-01 -2.34737186e-03 9.70831153e+00] [ 4.01218250e-02 -9.29676052e-04 9.99194363e-01 5.53283999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50509989299997 meters 0.017925225350812226 Centerline is valid? [True, True] Translation: X:154.41, Y:9.70, Z:5.54 [[ 9.95239101e-01 -8.89390635e-02 -3.98619403e-02 1.54413804e+02] [ 8.89167641e-02 9.96036322e-01 -2.33549267e-03 9.70398827e+00] [ 3.99116570e-02 -1.22002112e-03 9.99202468e-01 5.53578055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56509989299997 meters 0.020314834756248328 Centerline is valid? [True, True] Translation: X:154.47, Y:9.70, Z:5.54 [[ 9.94871852e-01 -9.26808629e-02 -4.05000707e-02 1.54474275e+02] [ 9.26609690e-02 9.95694892e-01 -2.37214357e-03 9.70013836e+00] [ 4.05455658e-02 -1.39279693e-03 9.99176720e-01 5.53660006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62509989299997 meters 0.021128339319182794 Centerline is valid? [True, True] Translation: X:154.54, Y:9.70, Z:5.54 [[ 9.94324987e-01 -9.81007921e-02 -4.11588995e-02 1.54535695e+02] [ 9.80849092e-02 9.95175132e-01 -2.40999245e-03 9.69830030e+00] [ 4.11967354e-02 -1.64075121e-03 9.99149707e-01 5.53764442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68509989299997 meters 0.020994131863485782 Centerline is valid? [True, True] Translation: X:154.60, Y:9.70, Z:5.54 [[ 9.94133861e-01 -1.00012862e-01 -4.11739352e-02 1.54596597e+02] [ 9.99986372e-02 9.94984655e-01 -2.41006114e-03 9.70147434e+00] [ 4.12084708e-02 -1.72141402e-03 9.99149087e-01 5.54021279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74509989299997 meters 0.022711046369494215 Centerline is valid? [True, True] Translation: X:154.66, Y:9.70, Z:5.54 [[ 9.93698814e-01 -1.03850287e-01 -4.21637893e-02 1.54658082e+02] [ 1.03838883e-01 9.94591073e-01 -2.46643023e-03 9.70058075e+00] [ 4.21918679e-02 -1.92735198e-03 9.99107668e-01 5.54144869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80509989299998 meters 0.021695088444247387 Centerline is valid? [True, True] Translation: X:154.72, Y:9.71, Z:5.54 [[ 9.93557902e-01 -1.04926305e-01 -4.28154843e-02 1.54719252e+02] [ 1.04915610e-01 9.94477979e-01 -2.50297339e-03 9.70532524e+00] [ 4.28416840e-02 -2.00516366e-03 9.99079861e-01 5.54390256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86509989299998 meters 0.02166800741333379 Centerline is valid? [True, True] Translation: X:154.78, Y:9.71, Z:5.55 [[ 9.93665811e-01 -1.03869987e-01 -4.28868398e-02 1.54780421e+02] [ 1.03858344e-01 9.94588944e-01 -2.50554649e-03 9.70953643e+00] [ 4.29150278e-02 -1.96448029e-03 9.99076794e-01 5.54643040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92509989299998 meters 0.02284866083565378 Centerline is valid? [True, True] Translation: X:154.84, Y:9.71, Z:5.55 [[ 9.93754438e-01 -1.03086961e-01 -4.27223039e-02 1.54840718e+02] [ 1.03074748e-01 9.94670485e-01 -2.49446139e-03 9.71180549e+00] [ 4.27517612e-02 -1.92470862e-03 9.99083872e-01 5.54901487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98509989299998 meters 0.02209147652994798 Centerline is valid? [True, True] Translation: X:154.90, Y:9.72, Z:5.55 [[ 9.94107701e-01 -9.97924271e-02 -4.23243360e-02 1.54901869e+02] [ 9.97774964e-02 9.95006708e-01 -2.47037081e-03 9.71869629e+00] [ 4.23595225e-02 -1.76720163e-03 9.99100870e-01 5.55234312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04509989299996 meters 0.019394655156678597 Centerline is valid? [True, True] Translation: X:154.96, Y:9.73, Z:5.55 [[ 9.94276142e-01 -9.75647613e-02 -4.35438867e-02 1.54962841e+02] [ 9.75468975e-02 9.95227688e-01 -2.53993968e-03 9.72905549e+00] [ 4.35838903e-02 -1.72216963e-03 9.99048286e-01 5.55456239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10509989299996 meters 0.02079511608283476 Centerline is valid? [True, True] Translation: X:155.02, Y:9.73, Z:5.56 [[ 9.94420469e-01 -9.60270894e-02 -4.36661043e-02 1.55023410e+02] [ 9.60077120e-02 9.95377335e-01 -2.54555270e-03 9.73226533e+00] [ 4.37086926e-02 -1.66093306e-03 9.99042938e-01 5.55660593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16509989299996 meters 0.019465839650278535 Centerline is valid? [True, True] Translation: X:155.08, Y:9.74, Z:5.56 [[ 9.94570693e-01 -9.40746205e-02 -4.44871110e-02 1.55084481e+02] [ 9.40526013e-02 9.95563854e-01 -2.59245823e-03 9.73985866e+00] [ 4.45336443e-02 -1.60574554e-03 9.99006595e-01 5.55866328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22509989299996 meters 0.01942694453402167 Centerline is valid? [True, True] Translation: X:155.14, Y:9.74, Z:5.56 [[ 9.94745443e-01 -9.17891051e-02 -4.53460461e-02 1.55144721e+02] [ 9.17639497e-02 9.95777287e-01 -2.64047742e-03 9.74496398e+00] [ 4.53969299e-02 -1.53452942e-03 9.98967849e-01 5.56048058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28509989299997 meters 0.018280495249425877 Centerline is valid? [True, True] Translation: X:155.21, Y:9.75, Z:5.56 [[ 9.94987278e-01 -8.93703316e-02 -4.48693627e-02 1.55205263e+02] [ 8.93433806e-02 9.95997465e-01 -2.60972271e-03 9.75206952e+00] [ 4.49230032e-02 -1.41213965e-03 9.98989454e-01 5.56322655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34509989299997 meters 0.017200111215522385 Centerline is valid? [True, True] Translation: X:155.27, Y:9.76, Z:5.57 [[ 9.95237461e-01 -8.63530783e-02 -4.52276749e-02 1.55266366e+02] [ 8.63225961e-02 9.96263766e-01 -2.63028407e-03 9.75906032e+00] [ 4.52858269e-02 -1.28641308e-03 9.98973242e-01 5.56553392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40509989299997 meters 0.015999596455735298 Centerline is valid? [True, True] Translation: X:155.33, Y:9.77, Z:5.57 [[ 9.95720308e-01 -8.00068384e-02 -4.62598511e-02 1.55325935e+02] [ 7.99681696e-02 9.96793791e-01 -2.68892368e-03 9.76728287e+00] [ 4.63266646e-02 -1.02189970e-03 9.98925821e-01 5.56627110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46509989299997 meters 0.014759335529167833 Centerline is valid? [True, True] Translation: X:155.39, Y:9.77, Z:5.57 [[ 9.95912231e-01 -7.72207934e-02 -4.68591105e-02 1.55385590e+02] [ 7.71780183e-02 9.97013607e-01 -2.72410874e-03 9.77435929e+00] [ 4.69295286e-02 -9.03520078e-04 9.98897794e-01 5.56908888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52509989299998 meters 0.013356046155384663 Centerline is valid? [True, True] Translation: X:155.44, Y:9.78, Z:5.57 [[ 9.96663196e-01 -6.68333897e-02 -4.68590674e-02 1.55443486e+02] [ 6.67790458e-02 9.97764064e-01 -2.72598966e-03 9.78467112e+00] [ 4.69364807e-02 -4.12310238e-04 9.98897791e-01 5.57116601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58509989299998 meters 0.01293749327645201 Centerline is valid? [True, True] Translation: X:155.50, Y:9.79, Z:5.57 [[ 9.97087274e-01 -5.98830316e-02 -4.72333725e-02 1.55502163e+02] [ 5.98198041e-02 9.98205398e-01 -2.75229189e-03 9.79317447e+00] [ 4.73134229e-02 -8.12158691e-05 9.98880090e-01 5.57345618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64509989299998 meters 0.013131062573170479 Centerline is valid? [True, True] Translation: X:155.56, Y:9.80, Z:5.58 [[ 9.97441623e-01 -5.40521599e-02 -4.67821943e-02 1.55560023e+02] [ 5.39831640e-02 9.98538092e-01 -2.73792015e-03 9.80090342e+00] [ 4.68617936e-02 2.05464651e-04 9.98901362e-01 5.57573283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70509989299998 meters 0.013825267610605893 Centerline is valid? [True, True] Translation: X:155.62, Y:9.81, Z:5.58 [[ 9.97727404e-01 -4.87609705e-02 -4.65015608e-02 1.55616999e+02] [ 4.86865233e-02 9.98810369e-01 -2.73290725e-03 9.80675964e+00] [ 4.65795003e-02 4.62697131e-04 9.98914479e-01 5.57772789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76509989299996 meters 0.01387944997517233 Centerline is valid? [True, True] Translation: X:155.68, Y:9.81, Z:5.58 [[ 9.97720539e-01 -4.87440595e-02 -4.66662964e-02 1.55675211e+02] [ 4.86687616e-02 9.98811190e-01 -2.74907298e-03 9.80871755e+00] [ 4.67448201e-02 4.71615713e-04 9.98906752e-01 5.57961026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82509989299996 meters 0.013322316756484322 Centerline is valid? [True, True] Translation: X:155.73, Y:9.81, Z:5.58 [[ 9.97657043e-01 -5.09311246e-02 -4.56776196e-02 1.55733560e+02] [ 5.08607177e-02 9.98702098e-01 -2.70302536e-03 9.80769837e+00] [ 4.57560027e-02 3.73495775e-04 9.98952576e-01 5.58321588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88509989299996 meters 0.01294186842095309 Centerline is valid? [True, True] Translation: X:155.79, Y:9.81, Z:5.58 [[ 9.97409682e-01 -5.54284489e-02 -4.58433543e-02 1.55792729e+02] [ 5.53617435e-02 9.98462646e-01 -2.72442353e-03 9.80558639e+00] [ 4.59238874e-02 1.79398386e-04 9.98944926e-01 5.58495753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94509989299996 meters 0.012828640024261245 Centerline is valid? [True, True] Translation: X:155.85, Y:9.80, Z:5.59 [[ 9.96966887e-01 -6.41472981e-02 -4.40698333e-02 1.55850948e+02] [ 6.40937255e-02 9.97940420e-01 -2.62900319e-03 9.79909977e+00] [ 4.41477114e-02 -2.03570672e-04 9.99024994e-01 5.58840688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00509989299997 meters 0.013405305970989684 Centerline is valid? [True, True] Translation: X:155.91, Y:9.80, Z:5.59 [[ 9.96547160e-01 -7.00068425e-02 -4.46407936e-02 1.55909580e+02] [ 6.99574988e-02 9.97546403e-01 -2.66857316e-03 9.79519058e+00] [ 4.47180815e-02 -4.63599262e-04 9.98999539e-01 5.59039836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06509989299997 meters 0.014503852430394069 Centerline is valid? [True, True] Translation: X:155.97, Y:9.79, Z:5.59 [[ 9.95887291e-01 -7.83223713e-02 -4.55424049e-02 1.55970000e+02] [ 7.82795302e-02 9.96927722e-01 -2.72611867e-03 9.78838727e+00] [ 4.56160021e-02 -8.50131129e-04 9.98958687e-01 5.59203786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12509989299997 meters 0.015652735866747054 Centerline is valid? [True, True] Translation: X:156.03, Y:9.79, Z:5.59 [[ 9.95526094e-01 -8.27648348e-02 -4.55826643e-02 1.56029335e+02] [ 8.27264862e-02 9.96568549e-01 -2.73033054e-03 9.78534770e+00] [ 4.56522250e-02 -1.05277836e-03 9.98956839e-01 5.59428272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18509989299997 meters 0.017509118771673736 Centerline is valid? [True, True] Translation: X:156.09, Y:9.78, Z:5.60 [[ 9.95203012e-01 -8.64983654e-02 -4.57055559e-02 1.56088308e+02] [ 8.64636287e-02 9.96251240e-01 -2.74014850e-03 9.78094275e+00] [ 4.57712351e-02 -1.22486417e-03 9.98951197e-01 5.59666982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24509989299997 meters 0.01671529876332021 Centerline is valid? [True, True] Translation: X:156.15, Y:9.78, Z:5.60 [[ 9.95128583e-01 -8.73911066e-02 -4.56278088e-02 1.56146808e+02] [ 8.73572382e-02 9.96173282e-01 -2.73957536e-03 9.78337239e+00] [ 4.56926186e-02 -1.25968962e-03 9.98954753e-01 5.59934021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30509989299998 meters 0.016142761228640876 Centerline is valid? [True, True] Translation: X:156.21, Y:9.79, Z:5.60 [[ 9.95157464e-01 -8.71907217e-02 -4.53806078e-02 1.56205043e+02] [ 8.71564903e-02 9.96190875e-01 -2.73617980e-03 9.78553501e+00] [ 4.54463169e-02 -1.23228475e-03 9.98966022e-01 5.60198829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36509989299998 meters 0.01711014384666516 Centerline is valid? [True, True] Translation: X:156.26, Y:9.79, Z:5.60 [[ 9.95145343e-01 -8.68675859e-02 -4.62576265e-02 1.56263133e+02] [ 8.68311806e-02 9.96219107e-01 -2.79961874e-03 9.78659937e+00] [ 4.63259274e-02 -1.23057677e-03 9.98925620e-01 5.60266578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42509989299998 meters 0.01648136574427815 Centerline is valid? [True, True] Translation: X:156.32, Y:9.79, Z:5.60 [[ 9.95155895e-01 -8.64899250e-02 -4.67358168e-02 1.56322040e+02] [ 8.64520772e-02 9.96251979e-01 -2.83432793e-03 9.79111745e+00] [ 4.68057908e-02 -1.21981029e-03 9.98903264e-01 5.60458372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48509989299998 meters 0.01668839956854677 Centerline is valid? [True, True] Translation: X:156.38, Y:9.80, Z:5.61 [[ 9.95151158e-01 -8.63361363e-02 -4.71194723e-02 1.56380088e+02] [ 8.62969168e-02 9.96265329e-01 -2.86978268e-03 9.79509865e+00] [ 4.71912626e-02 -1.21039762e-03 9.98885138e-01 5.60622637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54509989299996 meters 0.01595784390179081 Centerline is valid? [True, True] Translation: X:156.44, Y:9.80, Z:5.61 [[ 9.95221844e-01 -8.51030574e-02 -4.78638716e-02 1.56438671e+02] [ 8.50605243e-02 9.96371483e-01 -2.92846334e-03 9.80288761e+00] [ 4.79394179e-02 -1.15685533e-03 9.98849575e-01 5.60821690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60509989299996 meters 0.015281378241965675 Centerline is valid? [True, True] Translation: X:156.50, Y:9.81, Z:5.61 [[ 9.95353223e-01 -8.36120632e-02 -4.77596446e-02 1.56496797e+02] [ 8.35674272e-02 9.96497806e-01 -2.93405494e-03 9.81019380e+00] [ 4.78377034e-02 -1.07072958e-03 9.98854548e-01 5.61128492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66509989299996 meters 0.014551535994442578 Centerline is valid? [True, True] Translation: X:156.56, Y:9.82, Z:5.61 [[ 9.95595730e-01 -8.12889390e-02 -4.67038547e-02 1.56555219e+02] [ 8.12431548e-02 9.96690148e-01 -2.88084568e-03 9.81785830e+00] [ 4.67834528e-02 -9.26210844e-04 9.98904625e-01 5.61470796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72509989299996 meters 0.013806051494150665 Centerline is valid? [True, True] Translation: X:156.61, Y:9.83, Z:5.62 [[ 9.96050473e-01 -7.63491744e-02 -4.53239384e-02 1.56612526e+02] [ 7.63004762e-02 9.97080921e-01 -2.80601911e-03 9.82801863e+00] [ 4.54058715e-02 -6.63301420e-04 9.98968401e-01 5.61804941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78509989299997 meters 0.013333855713581711 Centerline is valid? [True, True] Translation: X:156.67, Y:9.84, Z:5.62 [[ 9.96321508e-01 -7.31965446e-02 -4.45613946e-02 1.56671048e+02] [ 7.31460238e-02 9.97317408e-01 -2.76542888e-03 9.83563882e+00] [ 4.46442743e-02 -5.04232552e-04 9.99002820e-01 5.62098686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84509989299997 meters 0.012687418587841464 Centerline is valid? [True, True] Translation: X:156.73, Y:9.84, Z:5.62 [[ 9.96641408e-01 -6.94950334e-02 -4.33167928e-02 1.56729874e+02] [ 6.94433497e-02 9.97582247e-01 -2.69857800e-03 9.84299231e+00] [ 4.33996013e-02 -3.18548613e-04 9.99057743e-01 5.62457087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90509989299997 meters 0.012562436298534317 Centerline is valid? [True, True] Translation: X:156.79, Y:9.85, Z:5.63 [[ 9.96692565e-01 -6.85838095e-02 -4.35911841e-02 1.56788642e+02] [ 6.85301411e-02 9.97645322e-01 -2.72611570e-03 9.84850142e+00] [ 4.36755083e-02 -2.70210741e-04 9.99045733e-01 5.62730793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96509989299997 meters 0.012523539459888083 Centerline is valid? [True, True] Translation: X:156.85, Y:9.85, Z:5.63 [[ 9.96586458e-01 -7.01757895e-02 -4.34832115e-02 1.56847775e+02] [ 7.01234251e-02 9.97534586e-01 -2.73027851e-03 9.85109030e+00] [ 4.35676068e-02 -3.28233128e-04 9.99050427e-01 5.62949478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02509989299998 meters 0.012882021993343176 Centerline is valid? [True, True] Translation: X:156.91, Y:9.85, Z:5.63 [[ 9.96396853e-01 -7.27832279e-02 -4.35420920e-02 1.56906037e+02] [ 7.27327500e-02 9.97347690e-01 -2.74449287e-03 9.85084436e+00] [ 4.36263580e-02 -4.32332043e-04 9.99047824e-01 5.63000295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08509989299998 meters 0.013210191174638085 Centerline is valid? [True, True] Translation: X:156.97, Y:9.85, Z:5.63 [[ 9.96118603e-01 -7.62966359e-02 -4.38924998e-02 1.56965116e+02] [ 7.62484405e-02 9.97084993e-01 -2.77360692e-03 9.85190524e+00] [ 4.39761698e-02 -5.83893209e-04 9.99032410e-01 5.63202321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14509989299998 meters 0.013521762115768901 Centerline is valid? [True, True] Translation: X:157.02, Y:9.85, Z:5.63 [[ 9.95973444e-01 -7.82827484e-02 -4.36887843e-02 1.57024879e+02] [ 7.82364841e-02 9.96930979e-01 -2.77042533e-03 9.85395022e+00] [ 4.37715790e-02 -6.58786816e-04 9.99041348e-01 5.63423454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20509989299998 meters 0.014675735666819121 Centerline is valid? [True, True] Translation: X:157.09, Y:9.85, Z:5.64 [[ 9.95502964e-01 -8.45414204e-02 -4.27387102e-02 1.57085096e+02] [ 8.45028414e-02 9.96419548e-01 -2.71170679e-03 9.85096595e+00] [ 4.28149378e-02 -9.12030302e-04 9.99082604e-01 5.63658101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26509989299996 meters 0.017212837240754605 Centerline is valid? [True, True] Translation: X:157.14, Y:9.85, Z:5.64 [[ 9.95075382e-01 -8.99840307e-02 -4.15675151e-02 1.57144310e+02] [ 8.99522117e-02 9.95942586e-01 -2.63900566e-03 9.84712928e+00] [ 4.16363268e-02 -1.11308035e-03 9.99132212e-01 5.63832541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32509989299996 meters 0.018334234832534234 Centerline is valid? [True, True] Translation: X:157.20, Y:9.85, Z:5.64 [[ 9.94618571e-01 -9.50608362e-02 -4.11987258e-02 1.57204887e+02] [ 9.50338227e-02 9.95470601e-01 -2.61811035e-03 9.84662019e+00] [ 4.12610001e-02 -1.31125123e-03 9.99147542e-01 5.64086358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38509989299996 meters 0.01857055876031555 Centerline is valid? [True, True] Translation: X:157.27, Y:9.85, Z:5.64 [[ 9.94200083e-01 -1.00000700e-01 -3.95734133e-02 1.57266255e+02] [ 9.99796840e-02 9.94986301e-01 -2.51473832e-03 9.84863679e+00] [ 3.96264797e-02 -1.45638431e-03 9.99213501e-01 5.64426606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44509989299996 meters 0.020842136364214378 Centerline is valid? [True, True] Translation: X:157.33, Y:9.85, Z:5.65 [[ 9.93616385e-01 -1.05920998e-01 -3.88229418e-02 1.57327425e+02] [ 1.05905331e-01 9.94373160e-01 -2.46568444e-03 9.84535404e+00] [ 3.88656591e-02 -1.66161204e-03 9.99243063e-01 5.64648381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50509989299997 meters 0.023007501315054017 Centerline is valid? [True, True] Translation: X:157.39, Y:9.84, Z:5.65 [[ 9.93344456e-01 -1.08437531e-01 -3.88341874e-02 1.57387866e+02] [ 1.08423794e-01 9.94101705e-01 -2.46586711e-03 9.84401613e+00] [ 3.88725245e-02 -1.76109453e-03 9.99242626e-01 5.64814894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56509989299997 meters 0.022076108272069024 Centerline is valid? [True, True] Translation: X:157.45, Y:9.85, Z:5.65 [[ 9.93093220e-01 -1.10683555e-01 -3.89230934e-02 1.57448818e+02] [ 1.10671504e-01 9.93853970e-01 -2.47077791e-03 9.84789453e+00] [ 3.89573454e-02 -1.85396451e-03 9.99239155e-01 5.65021346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62509989299997 meters 0.025987738368198315 Centerline is valid? [True, True] Translation: X:157.51, Y:9.84, Z:5.65 [[ 9.92774652e-01 -1.13346834e-01 -3.93825458e-02 1.57508951e+02] [ 1.13336647e-01 9.93553503e-01 -2.49840007e-03 9.84443893e+00] [ 3.94118520e-02 -1.98313742e-03 9.99221083e-01 5.65079841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68509989299997 meters 0.027254282251928698 Centerline is valid? [True, True] Translation: X:157.57, Y:9.85, Z:5.65 [[ 9.92589452e-01 -1.14556769e-01 -4.05330319e-02 1.57569935e+02] [ 1.14547103e-01 9.93414498e-01 -2.56847995e-03 9.84558756e+00] [ 4.05603383e-02 -2.09349528e-03 9.99174898e-01 5.65180496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74509989299997 meters 0.02442387091587162 Centerline is valid? [True, True] Translation: X:157.63, Y:9.85, Z:5.65 [[ 9.92276774e-01 -1.16902126e-01 -4.14812867e-02 1.57630847e+02] [ 1.16894129e-01 9.93140908e-01 -2.62660117e-03 9.85264758e+00] [ 4.15038180e-02 -2.24260354e-03 9.99135829e-01 5.65315999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80509989299998 meters 0.02843874102914288 Centerline is valid? [True, True] Translation: X:157.69, Y:9.85, Z:5.65 [[ 9.92132196e-01 -1.17947254e-01 -4.19779802e-02 1.57691355e+02] [ 1.17940059e-01 9.93017163e-01 -2.65657798e-03 9.85170969e+00] [ 4.19981909e-02 -2.31520893e-03 9.99115004e-01 5.65485603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86509989299998 meters 0.027777895668082683 Centerline is valid? [True, True] Translation: X:157.75, Y:9.86, Z:5.66 [[ 9.92012329e-01 -1.18878279e-01 -4.21840354e-02 1.57752316e+02] [ 1.18871889e-01 9.92906014e-01 -2.66876349e-03 9.85708572e+00] [ 4.22020404e-02 -2.36704967e-03 9.99106293e-01 5.65684254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92509989299998 meters 0.027958904182838078 Centerline is valid? [True, True] Translation: X:157.81, Y:9.86, Z:5.66 [[ 9.92027424e-01 -1.19036734e-01 -4.13744730e-02 1.57813449e+02] [ 1.19030782e-01 9.92887118e-01 -2.61610031e-03 9.86269294e+00] [ 4.13915933e-02 -2.32959262e-03 9.99140285e-01 5.66009458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98509989299998 meters 0.026232677940702536 Centerline is valid? [True, True] Translation: X:157.88, Y:9.87, Z:5.66 [[ 9.92132408e-01 -1.18487211e-01 -4.04235888e-02 1.57875362e+02] [ 1.18481135e-01 9.92953018e-01 -2.55444926e-03 9.87078029e+00] [ 4.04413941e-02 -2.25508080e-03 9.99179367e-01 5.66345657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04509989299996 meters 0.02821219721364873 Centerline is valid? [True, True] Translation: X:157.94, Y:9.87, Z:5.67 [[ 9.92228362e-01 -1.17787119e-01 -4.01132498e-02 1.57936919e+02] [ 1.17780682e-01 9.93036404e-01 -2.53193690e-03 9.87393854e+00] [ 4.01321469e-02 -2.21230632e-03 9.99191932e-01 5.66643895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10509989299996 meters 0.026718607528315196 Centerline is valid? [True, True] Translation: X:158.00, Y:9.88, Z:5.67 [[ 9.92163112e-01 -1.18534360e-01 -3.95216968e-02 1.57999003e+02] [ 1.18528812e-01 9.92947487e-01 -2.49180106e-03 9.88194725e+00] [ 3.95383335e-02 -2.21218666e-03 9.99215606e-01 5.66944911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16509989299996 meters 0.02910318895473625 Centerline is valid? [True, True] Translation: X:158.06, Y:9.88, Z:5.67 [[ 9.91714983e-01 -1.21262319e-01 -4.23891718e-02 1.58058920e+02] [ 1.21258546e-01 9.92617367e-01 -2.66970136e-03 9.88393321e+00] [ 4.23999623e-02 -2.49246650e-03 9.99097608e-01 5.66873279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22509989299996 meters 0.025740218431370143 Centerline is valid? [True, True] Translation: X:158.12, Y:9.89, Z:5.67 [[ 9.91395796e-01 -1.23607349e-01 -4.30766670e-02 1.58119838e+02] [ 1.23605668e-01 9.92327708e-01 -2.71278156e-03 9.89343090e+00] [ 4.30814900e-02 -2.63507998e-03 9.99068087e-01 5.67063133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28509989299997 meters 0.026757535473669266 Centerline is valid? [True, True] Translation: X:158.18, Y:9.90, Z:5.67 [[ 9.91145529e-01 -1.25646879e-01 -4.29348597e-02 1.58180762e+02] [ 1.25647182e-01 9.92071310e-01 -2.70224949e-03 9.89853951e+00] [ 4.29339717e-02 -2.71632166e-03 9.99074219e-01 5.67254678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34509989299997 meters 0.02693390128597194 Centerline is valid? [True, True] Translation: X:158.24, Y:9.90, Z:5.68 [[ 9.91237003e-01 -1.25131257e-01 -4.23246130e-02 1.58242466e+02] [ 1.25131156e-01 9.92136637e-01 -2.66209199e-03 9.90467001e+00] [ 4.23249102e-02 -2.65736369e-03 9.99100366e-01 5.67506018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40509989299997 meters 0.02692200628952432 Centerline is valid? [True, True] Translation: X:158.30, Y:9.91, Z:5.68 [[ 9.91469961e-01 -1.23421451e-01 -4.18862866e-02 1.58303394e+02] [ 1.23419954e-01 9.92351041e-01 -2.63160141e-03 9.91159187e+00] [ 4.18906962e-02 -2.56044984e-03 9.99118919e-01 5.67766418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46509989299997 meters 0.026666122202147535 Centerline is valid? [True, True] Translation: X:158.36, Y:9.92, Z:5.68 [[ 9.91823778e-01 -1.20910052e-01 -4.08209960e-02 1.58364138e+02] [ 1.20906570e-01 9.92660582e-01 -2.56319251e-03 9.91978050e+00] [ 4.08313094e-02 -2.39329131e-03 9.99163188e-01 5.68052088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52509989299998 meters 0.02695026668687699 Centerline is valid? [True, True] Translation: X:158.43, Y:9.93, Z:5.68 [[ 9.91939362e-01 -1.19844427e-01 -4.11535713e-02 1.58426377e+02] [ 1.19840043e-01 9.92789855e-01 -2.58240887e-03 9.92669148e+00] [ 4.11663353e-02 -2.37025273e-03 9.99149496e-01 5.68174602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58509989299998 meters 0.02614824178344038 Centerline is valid? [True, True] Translation: X:158.49, Y:9.93, Z:5.68 [[ 9.91897851e-01 -1.19985161e-01 -4.17398374e-02 1.58487675e+02] [ 1.19980914e-01 9.92772752e-01 -2.61591240e-03 9.93462258e+00] [ 4.17520439e-02 -2.41326597e-03 9.99125089e-01 5.68353002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64509989299998 meters 0.029813222028521397 Centerline is valid? [True, True] Translation: X:158.55, Y:9.94, Z:5.69 [[ 9.91749908e-01 -1.21144045e-01 -4.19075273e-02 1.58548525e+02] [ 1.21141004e-01 9.92631848e-01 -2.62144371e-03 9.93761906e+00] [ 4.19163186e-02 -2.47690338e-03 9.99118055e-01 5.68561884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70509989299998 meters 0.027703973328999487 Centerline is valid? [True, True] Translation: X:158.61, Y:9.95, Z:5.69 [[ 9.91576479e-01 -1.22371309e-01 -4.24422960e-02 1.58610425e+02] [ 1.22369494e-01 9.92481074e-01 -2.65055787e-03 9.94645314e+00] [ 4.24475277e-02 -2.56541145e-03 9.99095404e-01 5.68715505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76509989299996 meters 0.027009261585381396 Centerline is valid? [True, True] Translation: X:158.67, Y:9.96, Z:5.69 [[ 9.91315071e-01 -1.24648633e-01 -4.19183502e-02 1.58671546e+02] [ 1.24649009e-01 9.92197453e-01 -2.61497500e-03 9.95530484e+00] [ 4.19172334e-02 -2.63281667e-03 9.99117618e-01 5.68987972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82509989299996 meters 0.031242335969554523 Centerline is valid? [True, True] Translation: X:158.73, Y:9.96, Z:5.69 [[ 9.91491546e-01 -1.23782650e-01 -4.02786496e-02 1.58733000e+02] [ 1.23782352e-01 9.92306215e-01 -2.51096413e-03 9.95798143e+00] [ 4.02795682e-02 -2.49618627e-03 9.99185331e-01 5.69306642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88509989299996 meters 0.02664004081008924 Centerline is valid? [True, True] Translation: X:158.79, Y:9.97, Z:5.70 [[ 9.91849224e-01 -1.21043467e-01 -3.97944107e-02 1.58792618e+02] [ 1.21041167e-01 9.92644400e-01 -2.47603443e-03 9.97155982e+00] [ 3.98014068e-02 -2.36090908e-03 9.99204821e-01 5.69515301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94509989299996 meters 0.026890746053154373 Centerline is valid? [True, True] Translation: X:158.86, Y:9.98, Z:5.70 [[ 9.92019293e-01 -1.19497669e-01 -4.02247471e-02 1.58855013e+02] [ 1.19494064e-01 9.92831761e-01 -2.50254020e-03 9.97771061e+00] [ 4.02354543e-02 -2.32405036e-03 9.99187523e-01 5.69691808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00509989299997 meters 0.02606263392021086 Centerline is valid? [True, True] Translation: X:158.92, Y:9.99, Z:5.70 [[ 9.92142655e-01 -1.17732226e-01 -4.23329055e-02 1.58916091e+02] [ 1.17726795e-01 9.93042539e-01 -2.62997227e-03 9.98523718e+00] [ 4.23480085e-02 -2.37440961e-03 9.99100099e-01 5.69683665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06509989299997 meters 0.028440360698461408 Centerline is valid? [True, True] Translation: X:158.98, Y:9.99, Z:5.70 [[ 9.92165126e-01 -1.17353310e-01 -4.28551554e-02 1.58977350e+02] [ 1.17347480e-01 9.93087353e-01 -2.66035446e-03 9.98636824e+00] [ 4.28711142e-02 -2.38943359e-03 9.99077754e-01 5.69814424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12509989299997 meters 0.025464118017348 Centerline is valid? [True, True] Translation: X:159.04, Y:10.00, Z:5.70 [[ 9.92477464e-01 -1.14768388e-01 -4.26227707e-02 1.59038040e+02] [ 1.14760445e-01 9.93389684e-01 -2.64123778e-03 9.99544663e+00] [ 4.26441513e-02 -2.27003916e-03 9.99087746e-01 5.70046616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18509989299997 meters 0.02500827328991473 Centerline is valid? [True, True] Translation: X:159.10, Y:10.00, Z:5.70 [[ 9.93112937e-01 -1.09386005e-01 -4.19689955e-02 1.59097015e+02] [ 1.09373561e-01 9.93997317e-01 -2.59946453e-03 1.00026534e+01] [ 4.20014140e-02 -2.00873664e-03 9.99115532e-01 5.70371538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24509989299997 meters 0.02117845709690741 Centerline is valid? [True, True] Translation: X:159.16, Y:10.01, Z:5.71 [[ 9.93661242e-01 -1.04330609e-01 -4.18623977e-02 1.59157655e+02] [ 1.04313730e-01 9.94541060e-01 -2.59335050e-03 1.00135056e+01] [ 4.19044392e-02 -1.78991095e-03 9.99120020e-01 5.70604962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30509989299998 meters 0.019180754969045696 Centerline is valid? [True, True] Translation: X:159.22, Y:10.02, Z:5.71 [[ 9.94190368e-01 -9.89678128e-02 -4.23188453e-02 1.59218280e+02] [ 9.89457460e-02 9.95089378e-01 -2.62085773e-03 1.00214757e+01] [ 4.23704140e-02 -1.58163820e-03 9.99100719e-01 5.70742948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36509989299998 meters 0.01614037526644485 Centerline is valid? [True, True] Translation: X:159.28, Y:10.03, Z:5.71 [[ 9.95054735e-01 -8.97322410e-02 -4.25934219e-02 1.59278056e+02] [ 8.97014608e-02 9.95965207e-01 -2.63718309e-03 1.00327739e+01] [ 4.26582066e-02 -1.19655065e-03 9.99089008e-01 5.70845278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42509989299998 meters 0.013833171963560058 Centerline is valid? [True, True] Translation: X:159.34, Y:10.04, Z:5.71 [[ 9.95820005e-01 -8.07736030e-02 -4.26396872e-02 1.59337980e+02] [ 8.07345469e-02 9.96732142e-01 -2.64001558e-03 1.00435065e+01] [ 4.27135903e-02 -8.13515503e-04 9.99087027e-01 5.71034009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48509989299998 meters 0.012604981017521086 Centerline is valid? [True, True] Translation: X:159.40, Y:10.05, Z:5.71 [[ 9.96202006e-01 -7.59005474e-02 -4.26693146e-02 1.59399511e+02] [ 7.58569811e-02 9.97115209e-01 -2.64155857e-03 1.00512765e+01] [ 4.27467183e-02 -6.05239447e-04 9.99085758e-01 5.71266955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54509989299996 meters 0.011697365322387705 Centerline is valid? [True, True] Translation: X:159.46, Y:10.06, Z:5.71 [[ 9.96627269e-01 -6.99323881e-02 -4.29365476e-02 1.59460495e+02] [ 6.98828317e-02 9.97551671e-01 -2.65589346e-03 1.00586203e+01] [ 4.30171578e-02 -3.53591685e-04 9.99074271e-01 5.71392805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60509989299996 meters 0.011309756843217727 Centerline is valid? [True, True] Translation: X:159.52, Y:10.07, Z:5.72 [[ 9.96987441e-01 -6.46150542e-02 -4.29061370e-02 1.59520410e+02] [ 6.45607009e-02 9.97910256e-01 -2.65270545e-03 1.00661603e+01] [ 4.29878789e-02 -1.25336260e-04 9.99075586e-01 5.71662930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66509989299996 meters 0.01122612816521503 Centerline is valid? [True, True] Translation: X:159.58, Y:10.07, Z:5.72 [[ 9.97161741e-01 -6.20965179e-02 -4.25732944e-02 1.59579843e+02] [ 6.20407018e-02 9.98070149e-01 -2.63232271e-03 1.00713131e+01] [ 4.26545924e-02 -1.64255741e-05 9.99089879e-01 5.71957029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72509989299996 meters 0.011173641641219825 Centerline is valid? [True, True] Translation: X:159.64, Y:10.07, Z:5.72 [[ 9.97233237e-01 -6.07533640e-02 -4.28357364e-02 1.59639653e+02] [ 6.06955509e-02 9.98152807e-01 -2.65012570e-03 1.00745248e+01] [ 4.29176146e-02 4.28548076e-05 9.99078614e-01 5.72164993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78509989299997 meters 0.011049389876716326 Centerline is valid? [True, True] Translation: X:159.70, Y:10.08, Z:5.72 [[ 9.97105424e-01 -6.27463851e-02 -4.29379124e-02 1.59698720e+02] [ 6.26900219e-02 9.98029503e-01 -2.65925056e-03 1.00763128e+01] [ 4.30201617e-02 -4.02255072e-05 9.99074203e-01 5.72363684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84509989299997 meters 0.011210484331947896 Centerline is valid? [True, True] Translation: X:159.76, Y:10.07, Z:5.73 [[ 9.96477450e-01 -7.13585120e-02 -4.40528564e-02 1.59758112e+02] [ 7.13070844e-02 9.97450647e-01 -2.73971645e-03 1.00730186e+01] [ 4.41360522e-02 -4.11215089e-04 9.99025445e-01 5.72534063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90509989299997 meters 0.012066458571889356 Centerline is valid? [True, True] Translation: X:159.82, Y:10.07, Z:5.73 [[ 9.96041441e-01 -7.72187200e-02 -4.40308674e-02 1.59818850e+02] [ 7.71726420e-02 9.97013958e-01 -2.74789420e-03 1.00706846e+01] [ 4.41115783e-02 -6.60961870e-04 9.99026392e-01 5.72704091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96509989299997 meters 0.014796002072549429 Centerline is valid? [True, True] Translation: X:159.88, Y:10.06, Z:5.73 [[ 9.95073447e-01 -8.92319449e-02 -4.32029521e-02 1.59879920e+02] [ 8.91988836e-02 9.96010185e-01 -2.69623808e-03 1.00635351e+01] [ 4.32711709e-02 -1.17070018e-03 9.99062678e-01 5.72905730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02509989299998 meters 0.016597245809285965 Centerline is valid? [True, True] Translation: X:159.94, Y:10.06, Z:5.73 [[ 9.94536735e-01 -9.48020328e-02 -4.36950548e-02 1.59941364e+02] [ 9.47735867e-02 9.95495119e-01 -2.72679552e-03 1.00623186e+01] [ 4.37567195e-02 -1.42923875e-03 9.99041194e-01 5.73100334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08509989299998 meters 0.018565690171987788 Centerline is valid? [True, True] Translation: X:160.00, Y:10.06, Z:5.73 [[ 9.94007933e-01 -9.99531640e-02 -4.42447137e-02 1.60003035e+02] [ 9.99291613e-02 9.94990728e-01 -2.75947780e-03 1.00608888e+01] [ 4.42988984e-02 -1.67839431e-03 9.99016912e-01 5.73276771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14509989299998 meters 0.020051826699187928 Centerline is valid? [True, True] Translation: X:160.06, Y:10.06, Z:5.73 [[ 9.93570151e-01 -1.04123646e-01 -4.44592026e-02 1.60064306e+02] [ 1.04103641e-01 9.94562593e-01 -2.77137490e-03 1.00604067e+01] [ 4.45060255e-02 -1.87480951e-03 9.99007357e-01 5.73484252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20509989299998 meters 0.021326302124769384 Centerline is valid? [True, True] Translation: X:160.13, Y:10.06, Z:5.74 [[ 9.92964418e-01 -1.08834615e-01 -4.66550280e-02 1.60125041e+02] [ 1.08817820e-01 9.94057458e-01 -2.90723154e-03 1.00603301e+01] [ 4.66941859e-02 -2.19012097e-03 9.98906831e-01 5.73590585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26509989299996 meters 0.02030878097922461 Centerline is valid? [True, True] Translation: X:160.19, Y:10.07, Z:5.74 [[ 9.92924798e-01 -1.08447595e-01 -4.83680062e-02 1.60186734e+02] [ 1.08429193e-01 9.94099612e-01 -3.01185960e-03 1.00653270e+01] [ 4.84092452e-02 -2.25395381e-03 9.98825042e-01 5.73687166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32509989299996 meters 0.022397268678889175 Centerline is valid? [True, True] Translation: X:160.25, Y:10.07, Z:5.74 [[ 9.93100610e-01 -1.06376887e-01 -4.93471038e-02 1.60247261e+02] [ 1.06355335e-01 9.94323448e-01 -3.06978777e-03 1.00677424e+01] [ 4.93935369e-02 -2.19971964e-03 9.98776972e-01 5.73849238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38509989299996 meters 0.02117440728895104 Centerline is valid? [True, True] Translation: X:160.31, Y:10.07, Z:5.74 [[ 9.93254897e-01 -1.04672341e-01 -4.98839766e-02 1.60308796e+02] [ 1.04648239e-01 9.94504462e-01 -3.10189297e-03 1.00742829e+01] [ 4.99345197e-02 -2.13929992e-03 9.98750203e-01 5.74092504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44509989299996 meters 0.018506965033964737 Centerline is valid? [True, True] Translation: X:160.37, Y:10.08, Z:5.74 [[ 9.93583221e-01 -1.01406360e-01 -5.00912437e-02 1.60368696e+02] [ 1.01378005e-01 9.94843108e-01 -3.11298480e-03 1.00831676e+01] [ 5.01486050e-02 -1.98514089e-03 9.98739794e-01 5.74327801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50509989299997 meters 0.0166363085739362 Centerline is valid? [True, True] Translation: X:160.43, Y:10.09, Z:5.75 [[ 9.93879531e-01 -9.84606257e-02 -5.00897446e-02 1.60429310e+02] [ 9.84285624e-02 9.95139252e-01 -3.11241239e-03 1.00910430e+01] [ 5.01527210e-02 -1.83689859e-03 9.98739871e-01 5.74605696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56509989299997 meters 0.015477159437068743 Centerline is valid? [True, True] Translation: X:160.49, Y:10.10, Z:5.75 [[ 9.94490146e-01 -9.22554525e-02 -4.97823341e-02 1.60489035e+02] [ 9.22160845e-02 9.95734218e-01 -3.09193180e-03 1.01004373e+01] [ 4.98552211e-02 -1.51583623e-03 9.98755305e-01 5.74833735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62509989299997 meters 0.013183548106483645 Centerline is valid? [True, True] Translation: X:160.55, Y:10.11, Z:5.75 [[ 9.95239849e-01 -8.37813832e-02 -4.97827479e-02 1.60549610e+02] [ 8.37314322e-02 9.96483562e-01 -3.09169757e-03 1.01117601e+01] [ 4.98667166e-02 -1.09140015e-03 9.98755285e-01 5.75131331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68509989299997 meters 0.011772237766090344 Centerline is valid? [True, True] Translation: X:160.61, Y:10.12, Z:5.75 [[ 9.95723405e-01 -7.77906465e-02 -4.98348943e-02 1.60609323e+02] [ 7.77331187e-02 9.96969401e-01 -3.09439168e-03 1.01216320e+01] [ 4.99245795e-02 -7.92663536e-04 9.98752676e-01 5.75405969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74509989299997 meters 0.011035333434263245 Centerline is valid? [True, True] Translation: X:160.67, Y:10.13, Z:5.76 [[ 9.96154440e-01 -7.24430436e-02 -4.92781529e-02 1.60668082e+02] [ 7.23800831e-02 9.97372418e-01 -3.06327037e-03 1.01302161e+01] [ 4.93705831e-02 -5.15266423e-04 9.98780396e-01 5.75632669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80509989299998 meters 0.010523904518961397 Centerline is valid? [True, True] Translation: X:160.73, Y:10.14, Z:5.76 [[ 9.96757097e-01 -6.36685284e-02 -4.92098351e-02 1.60726712e+02] [ 6.35944845e-02 9.97971099e-01 -3.07047149e-03 1.01417105e+01] [ 4.93054856e-02 -6.89598485e-05 9.98783743e-01 5.75855971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86509989299998 meters 0.011394113469651647 Centerline is valid? [True, True] Translation: X:160.78, Y:10.15, Z:5.76 [[ 9.97372266e-01 -5.48598699e-02 -4.73176213e-02 1.60783987e+02] [ 5.47810312e-02 9.98493998e-01 -2.96231341e-03 1.01533650e+01] [ 4.74088729e-02 3.62421157e-04 9.98875501e-01 5.76028762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92509989299998 meters 0.012113234194947054 Centerline is valid? [True, True] Translation: X:160.84, Y:10.16, Z:5.76 [[ 9.97682973e-01 -4.95731773e-02 -4.65959780e-02 1.60842560e+02] [ 4.94906184e-02 9.98770307e-01 -2.92450390e-03 1.01595697e+01] [ 4.66836562e-02 6.11663978e-04 9.98909537e-01 5.76282964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98509989299995 meters 0.012549542040958293 Centerline is valid? [True, True] Translation: X:160.90, Y:10.16, Z:5.76 [[ 9.97719527e-01 -4.91484092e-02 -4.62620793e-02 1.60900352e+02] [ 4.90661016e-02 9.98791283e-01 -2.91372562e-03 1.01639941e+01] [ 4.63493665e-02 6.37181063e-04 9.98925087e-01 5.76413678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04509989299996 meters 0.011915848306983967 Centerline is valid? [True, True] Translation: X:160.96, Y:10.16, Z:5.77 [[ 9.97608920e-01 -5.27102149e-02 -4.46998414e-02 1.60959274e+02] [ 5.26367213e-02 9.98609744e-01 -2.82040216e-03 1.01631169e+01] [ 4.47863612e-02 4.60805257e-04 9.98996481e-01 5.76551905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10509989299996 meters 0.01145612366194969 Centerline is valid? [True, True] Translation: X:161.02, Y:10.16, Z:5.77 [[ 9.97133603e-01 -6.13539892e-02 -4.42748918e-02 1.61017936e+02] [ 6.12899100e-02 9.98116066e-01 -2.80460478e-03 1.01592926e+01] [ 4.43635545e-02 8.29615360e-05 9.99015449e-01 5.76699624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16509989299996 meters 0.011712312999369782 Centerline is valid? [True, True] Translation: X:161.08, Y:10.16, Z:5.77 [[ 9.96653216e-01 -6.90434680e-02 -4.37649104e-02 1.61077127e+02] [ 6.89877837e-02 9.97613622e-01 -2.78322863e-03 1.01562861e+01] [ 4.38526346e-02 -2.45330413e-04 9.99037980e-01 5.76890090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22509989299996 meters 0.01341567013259156 Centerline is valid? [True, True] Translation: X:161.14, Y:10.15, Z:5.77 [[ 9.95903162e-01 -8.03208457e-02 -4.15385805e-02 1.61137372e+02] [ 8.02800976e-02 9.96768819e-01 -2.65082396e-03 1.01501764e+01] [ 4.16172783e-02 -6.94757334e-04 9.99133384e-01 5.77243121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28509989299997 meters 0.014625505091328296 Centerline is valid? [True, True] Translation: X:161.20, Y:10.15, Z:5.78 [[ 9.95479889e-01 -8.60281550e-02 -4.02361545e-02 1.61198345e+02] [ 8.59945308e-02 9.96292297e-01 -2.56888920e-03 1.01492435e+01] [ 4.03079675e-02 -9.02811690e-04 9.99186896e-01 5.77609745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34509989299997 meters 0.017442970294041744 Centerline is valid? [True, True] Translation: X:161.26, Y:10.15, Z:5.78 [[ 9.95115321e-01 -9.02017893e-02 -4.01140325e-02 1.61259754e+02] [ 9.01718218e-02 9.95922935e-01 -2.55943764e-03 1.01455212e+01] [ 4.01813509e-02 -1.07021978e-03 9.99191830e-01 5.77824259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40509989299997 meters 0.01754929062998234 Centerline is valid? [True, True] Translation: X:161.32, Y:10.15, Z:5.78 [[ 9.94899724e-01 -9.29723220e-02 -3.91239983e-02 1.61321860e+02] [ 9.29460370e-02 9.95668024e-01 -2.49416304e-03 1.01471641e+01] [ 3.91864022e-02 -1.15497847e-03 9.99231250e-01 5.78092313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46509989299997 meters 0.017353826553539772 Centerline is valid? [True, True] Translation: X:161.38, Y:10.15, Z:5.78 [[ 9.94877379e-01 -9.35877986e-02 -3.82142064e-02 1.61383777e+02] [ 9.35632772e-02 9.95610361e-01 -2.43349281e-03 1.01490591e+01] [ 3.82742051e-02 -1.15441944e-03 9.99266607e-01 5.78414160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52509989299998 meters 0.017269450735305458 Centerline is valid? [True, True] Translation: X:161.44, Y:10.15, Z:5.79 [[ 9.95177957e-01 -9.06363701e-02 -3.74950863e-02 1.61444023e+02] [ 9.06107706e-02 9.95883527e-01 -2.38501433e-03 1.01518317e+01] [ 3.75569079e-02 -1.02394497e-03 9.99293966e-01 5.78645628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58509989299998 meters 0.015764539151341843 Centerline is valid? [True, True] Translation: X:161.50, Y:10.16, Z:5.79 [[ 9.95533589e-01 -8.65637305e-02 -3.76774849e-02 1.61504816e+02] [ 8.65351142e-02 9.96245928e-01 -2.39270607e-03 1.01578815e+01] [ 3.77431624e-02 -8.78406192e-04 9.99287087e-01 5.78850268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64509989299998 meters 0.015288625165683608 Centerline is valid? [True, True] Translation: X:161.57, Y:10.16, Z:5.79 [[ 9.95724755e-01 -8.35968929e-02 -3.92908740e-02 1.61566370e+02] [ 8.35635240e-02 9.96499332e-01 -2.49367069e-03 1.01610456e+01] [ 3.93617928e-02 -8.00274254e-04 9.99224704e-01 5.78892810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70509989299998 meters 0.014775693926280994 Centerline is valid? [True, True] Translation: X:161.63, Y:10.16, Z:5.79 [[ 9.95785943e-01 -8.13461301e-02 -4.23457495e-02 1.61628025e+02] [ 8.13054053e-02 9.96685616e-01 -2.68593723e-03 1.01646073e+01] [ 4.24238900e-02 -7.68319789e-04 9.99099406e-01 5.78849269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76509989299996 meters 0.014339994088112484 Centerline is valid? [True, True] Translation: X:161.69, Y:10.17, Z:5.79 [[ 9.95879515e-01 -8.01153331e-02 -4.24914720e-02 1.61689461e+02] [ 8.00732730e-02 9.96785341e-01 -2.69365507e-03 1.01693164e+01] [ 4.25706794e-02 -7.19875329e-04 9.99093198e-01 5.79078954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82509989299996 meters 0.014179208054852694 Centerline is valid? [True, True] Translation: X:161.75, Y:10.17, Z:5.79 [[ 9.96027674e-01 -7.83825416e-02 -4.22498447e-02 1.61749473e+02] [ 7.83394615e-02 9.96923148e-01 -2.67689660e-03 1.01729295e+01] [ 4.23296701e-02 -6.43566991e-04 9.99103491e-01 5.79349561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88509989299996 meters 0.013786021788491757 Centerline is valid? [True, True] Translation: X:161.81, Y:10.18, Z:5.80 [[ 9.96121503e-01 -7.75674972e-02 -4.15359321e-02 1.61809786e+02] [ 7.75251802e-02 9.96986923e-01 -2.63100691e-03 1.01775658e+01] [ 4.16148617e-02 -5.99278060e-04 9.99133547e-01 5.79654090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94509989299996 meters 0.013430785800336034 Centerline is valid? [True, True] Translation: X:161.87, Y:10.18, Z:5.80 [[ 9.96371286e-01 -7.53475874e-02 -3.95853631e-02 1.61870639e+02] [ 7.53074043e-02 9.97157213e-01 -2.50736637e-03 1.01820825e+01] [ 3.96617544e-02 -4.82803092e-04 9.99213046e-01 5.80130623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00509989299997 meters 0.01303069470314895 Centerline is valid? [True, True] Translation: X:161.93, Y:10.19, Z:5.80 [[ 9.96595304e-01 -7.26774944e-02 -3.89330318e-02 1.61932176e+02] [ 7.26366438e-02 9.97355425e-01 -2.46461909e-03 1.01870160e+01] [ 3.90091928e-02 -3.71736954e-04 9.99238783e-01 5.80490790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06509989299997 meters 0.012872784411613264 Centerline is valid? [True, True] Translation: X:161.99, Y:10.19, Z:5.81 [[ 9.96652513e-01 -7.18940653e-02 -3.89231472e-02 1.61993822e+02] [ 7.18527202e-02 9.97412215e-01 -2.46189474e-03 1.01908249e+01] [ 3.89994181e-02 -3.43080432e-04 9.99239174e-01 5.80746102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12509989299997 meters 0.013223593721619922 Centerline is valid? [True, True] Translation: X:162.05, Y:10.19, Z:5.81 [[ 9.96405924e-01 -7.43666210e-02 -4.05566390e-02 1.62054702e+02] [ 7.43238360e-02 9.97230863e-01 -2.56380337e-03 1.01919789e+01] [ 4.06349935e-02 -4.59736119e-04 9.99173952e-01 5.80910411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18509989299997 meters 0.01433835188044155 Centerline is valid? [True, True] Translation: X:162.11, Y:10.19, Z:5.81 [[ 9.96055475e-01 -7.78172356e-02 -4.26376422e-02 1.62114330e+02] [ 7.77731005e-02 9.96967441e-01 -2.69545150e-03 1.01903971e+01] [ 4.27180936e-02 -6.31242406e-04 9.99086966e-01 5.80916312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24509989299997 meters 0.014753118498572653 Centerline is valid? [True, True] Translation: X:162.18, Y:10.19, Z:5.81 [[ 9.95473090e-01 -8.38595350e-02 -4.47314923e-02 1.62175142e+02] [ 8.38170185e-02 9.96477148e-01 -2.82851854e-03 1.01910621e+01] [ 4.48111081e-02 -9.33546232e-04 9.98995042e-01 5.81047675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30509989299998 meters 0.01571388535874554 Centerline is valid? [True, True] Translation: X:162.23, Y:10.19, Z:5.81 [[ 9.95111200e-01 -8.75640239e-02 -4.56754013e-02 1.62234760e+02] [ 8.75235771e-02 9.96158260e-01 -2.88851119e-03 1.01917760e+01] [ 4.57528580e-02 -1.12328467e-03 9.98952158e-01 5.81187998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36509989299998 meters 0.01767031080230747 Centerline is valid? [True, True] Translation: X:162.30, Y:10.19, Z:5.82 [[ 9.94641826e-01 -9.31663339e-02 -4.48070616e-02 1.62295064e+02] [ 9.31330191e-02 9.95649639e-01 -2.83505736e-03 1.01908492e+01] [ 4.48762666e-02 -1.35315030e-03 9.98991636e-01 5.81519204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42509989299998 meters 0.019868276318980364 Centerline is valid? [True, True] Translation: X:162.36, Y:10.19, Z:5.82 [[ 9.94136123e-01 -9.84271414e-02 -4.47824295e-02 1.62355506e+02] [ 9.83991535e-02 9.95142991e-01 -2.83430331e-03 1.01902102e+01] [ 4.48438933e-02 -1.58886985e-03 9.98992743e-01 5.81793077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48509989299995 meters 0.021675420276752136 Centerline is valid? [True, True] Translation: X:162.42, Y:10.19, Z:5.82 [[ 9.93912400e-01 -1.01215195e-01 -4.35158005e-02 1.62415859e+02] [ 1.01191405e-01 9.94863162e-01 -2.75479831e-03 1.01915014e+01] [ 4.35710943e-02 -1.66539677e-03 9.99048941e-01 5.82144061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54509989299996 meters 0.022354489323475037 Centerline is valid? [True, True] Translation: X:162.48, Y:10.20, Z:5.82 [[ 9.93454319e-01 -1.05067915e-01 -4.48246448e-02 1.62476367e+02] [ 1.05046596e-01 9.94463253e-01 -2.83741118e-03 1.01957503e+01] [ 4.48745830e-02 -1.88983794e-03 9.98990841e-01 5.82423103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60509989299996 meters 0.021794837328362085 Centerline is valid? [True, True] Translation: X:162.54, Y:10.20, Z:5.83 [[ 9.93208655e-01 -1.06790105e-01 -4.61783554e-02 1.62536994e+02] [ 1.06769412e-01 9.94279517e-01 -2.92147853e-03 1.02012006e+01] [ 4.62261779e-02 -2.02879811e-03 9.98928939e-01 5.82619697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66509989299996 meters 0.020864994451162477 Centerline is valid? [True, True] Translation: X:162.60, Y:10.21, Z:5.83 [[ 9.92954676e-01 -1.08721202e-01 -4.71244347e-02 1.62598184e+02] [ 1.08701919e-01 9.94069925e-01 -2.97931459e-03 1.02081175e+01] [ 4.71688980e-02 -2.16419213e-03 9.98884584e-01 5.82913887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72509989299996 meters 0.021654592825095978 Centerline is valid? [True, True] Translation: X:162.66, Y:10.21, Z:5.83 [[ 9.92957242e-01 -1.08267398e-01 -4.81049464e-02 1.62659615e+02] [ 1.08246872e-01 9.94119398e-01 -3.03928651e-03 1.02133541e+01] [ 4.81511160e-02 -2.18932843e-03 9.98837663e-01 5.83101927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78509989299997 meters 0.02097003197773514 Centerline is valid? [True, True] Translation: X:162.72, Y:10.22, Z:5.83 [[ 9.93454408e-01 -1.03611842e-01 -4.80928833e-02 1.62718977e+02] [ 1.03585981e-01 9.94615868e-01 -3.03646645e-03 1.02218417e+01] [ 4.81485588e-02 -1.96515751e-03 9.98838252e-01 5.83266253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84509989299997 meters 0.022299379387139183 Centerline is valid? [True, True] Translation: X:162.78, Y:10.23, Z:5.83 [[ 9.93673156e-01 -1.01263386e-01 -4.85734999e-02 1.62779859e+02] [ 1.01234226e-01 9.94857894e-01 -3.06640782e-03 1.02252609e+01] [ 4.86342447e-02 -1.87029352e-03 9.98814904e-01 5.83366535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90509989299997 meters 0.017302806338666002 Centerline is valid? [True, True] Translation: X:162.84, Y:10.24, Z:5.84 [[ 9.94505089e-01 -9.22811111e-02 -4.94350520e-02 1.62839428e+02] [ 9.22398890e-02 9.95731928e-01 -3.11943851e-03 1.02419697e+01] [ 4.95119249e-02 -1.45758623e-03 9.98772469e-01 5.83566366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96509989299997 meters 0.01578158781522966 Centerline is valid? [True, True] Translation: X:162.90, Y:10.25, Z:5.84 [[ 9.95014658e-01 -8.67566633e-02 -4.91844736e-02 1.62899253e+02] [ 8.67091158e-02 9.96228838e-01 -3.10359488e-03 1.02513779e+01] [ 4.92682485e-02 -1.17661982e-03 9.98784889e-01 5.83808515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02509989299998 meters 0.01440421186274608 Centerline is valid? [True, True] Translation: X:162.96, Y:10.26, Z:5.84 [[ 9.95577961e-01 -8.05942735e-02 -4.82606041e-02 1.62958371e+02] [ 8.05412397e-02 9.96746624e-01 -3.04568897e-03 1.02623206e+01] [ 4.83490593e-02 -8.54748069e-04 9.98830135e-01 5.84087195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08509989299998 meters 0.013690915730966896 Centerline is valid? [True, True] Translation: X:163.02, Y:10.27, Z:5.84 [[ 9.95837245e-01 -7.67633453e-02 -4.91484486e-02 1.63017668e+02] [ 7.67035918e-02 9.97049110e-01 -3.10348519e-03 1.02726414e+01] [ 4.92416509e-02 -6.79296404e-04 9.98786663e-01 5.84259340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14509989299998 meters 0.013045359347928978 Centerline is valid? [True, True] Translation: X:163.08, Y:10.28, Z:5.85 [[ 9.96077696e-01 -7.32673142e-02 -4.96097175e-02 1.63075706e+02] [ 7.32018797e-02 9.97312210e-01 -3.13703366e-03 1.02823621e+01] [ 4.97062190e-02 -5.06795317e-04 9.98763753e-01 5.84529693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20509989299998 meters 0.012904437092122592 Centerline is valid? [True, True] Translation: X:163.13, Y:10.29, Z:5.85 [[ 9.96242513e-01 -7.15956720e-02 -4.87331058e-02 1.63133740e+02] [ 7.15299450e-02 9.97433655e-01 -3.09360014e-03 1.02889630e+01] [ 4.88295282e-02 -4.03900397e-04 9.98807045e-01 5.84857560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26509989299996 meters 0.012530022832427724 Centerline is valid? [True, True] Translation: X:163.19, Y:10.30, Z:5.85 [[ 9.96589736e-01 -6.85724867e-02 -4.58989317e-02 1.63191545e+02] [ 6.85104810e-02 9.97646110e-01 -2.92452208e-03 1.02980344e+01] [ 4.59914324e-02 -2.30009200e-04 9.98941808e-01 5.85410921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32509989299996 meters 0.012454199540282948 Centerline is valid? [True, True] Translation: X:163.25, Y:10.30, Z:5.86 [[ 9.96644548e-01 -6.82613709e-02 -4.51666921e-02 1.63251494e+02] [ 6.82005854e-02 9.97667452e-01 -2.88722378e-03 1.03023655e+01] [ 4.52584244e-02 -2.02859006e-04 9.98975292e-01 5.85606049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38509989299996 meters 0.012546542276458465 Centerline is valid? [True, True] Translation: X:163.31, Y:10.31, Z:5.86 [[ 9.96548490e-01 -6.98127954e-02 -4.49141578e-02 1.63311486e+02] [ 6.97541913e-02 9.97560074e-01 -2.87266487e-03 1.03051891e+01] [ 4.50051193e-02 -2.70200920e-04 9.98986720e-01 5.85813456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44509989299996 meters 0.013506802340256712 Centerline is valid? [True, True] Translation: X:163.37, Y:10.30, Z:5.86 [[ 9.95995032e-01 -7.71636469e-02 -4.51626772e-02 1.63370719e+02] [ 7.71118656e-02 9.97018258e-01 -2.89021268e-03 1.03021008e+01] [ 4.52510331e-02 -6.03940818e-04 9.98975465e-01 5.85936004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50509989299997 meters 0.014223163337541572 Centerline is valid? [True, True] Translation: X:163.43, Y:10.30, Z:5.86 [[ 9.95653337e-01 -8.10263404e-02 -4.59256386e-02 1.63431616e+02] [ 8.09768364e-02 9.96711646e-01 -2.94040033e-03 1.03023096e+01] [ 4.60128688e-02 -7.91293520e-04 9.98940534e-01 5.86127721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56509989299997 meters 0.014789732380163671 Centerline is valid? [True, True] Translation: X:163.49, Y:10.30, Z:5.86 [[ 9.95149773e-01 -8.61630124e-02 -4.74643502e-02 1.63492587e+02] [ 8.61159873e-02 9.96280485e-01 -3.03854464e-03 1.03025455e+01] [ 4.75496160e-02 -1.06363237e-03 9.98868311e-01 5.86223193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62509989299997 meters 0.01636467245941386 Centerline is valid? [True, True] Translation: X:163.55, Y:10.30, Z:5.86 [[ 9.94844763e-01 -8.95336750e-02 -4.76195202e-02 1.63552574e+02] [ 8.94902626e-02 9.95983036e-01 -3.04712061e-03 1.03015870e+01] [ 4.77010542e-02 -1.23007139e-03 9.98860899e-01 5.86294541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68509989299997 meters 0.017107418692750943 Centerline is valid? [True, True] Translation: X:163.61, Y:10.30, Z:5.87 [[ 9.94504799e-01 -9.33067555e-02 -4.74768861e-02 1.63614089e+02] [ 9.32679125e-02 9.95636414e-01 -3.03762363e-03 1.03019028e+01] [ 4.75531475e-02 -1.40713878e-03 9.98867718e-01 5.86586130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74509989299997 meters 0.01823693981407575 Centerline is valid? [True, True] Translation: X:163.68, Y:10.30, Z:5.87 [[ 9.94317137e-01 -9.55493737e-02 -4.69440956e-02 1.63675006e+02] [ 9.55139631e-02 9.95423563e-01 -3.00203289e-03 1.03032034e+01] [ 4.70161013e-02 -1.49884386e-03 9.98893007e-01 5.86859877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80509989299998 meters 0.018785852843100612 Centerline is valid? [True, True] Translation: X:163.74, Y:10.30, Z:5.87 [[ 9.93840162e-01 -1.00850661e-01 -4.59442760e-02 1.63736506e+02] [ 1.00822438e-01 9.94900100e-01 -2.93712483e-03 1.03049418e+01] [ 4.60061757e-02 -1.71318132e-03 9.98939686e-01 5.87233102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86509989299998 meters 0.02118948676671843 Centerline is valid? [True, True] Translation: X:163.80, Y:10.30, Z:5.87 [[ 9.93381937e-01 -1.05176988e-01 -4.61533157e-02 1.63797100e+02] [ 1.05153245e-01 9.94451658e-01 -2.94877592e-03 1.03042332e+01] [ 4.62073847e-02 -1.92391019e-03 9.98930016e-01 5.87471101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92509989299998 meters 0.025039884030664518 Centerline is valid? [True, True] Translation: X:163.86, Y:10.30, Z:5.88 [[ 9.92605356e-01 -1.11752507e-01 -4.73918178e-02 1.63856458e+02] [ 1.11734998e-01 9.93733429e-01 -3.02678858e-03 1.03005754e+01] [ 4.74330849e-02 -2.29091811e-03 9.98871791e-01 5.87577330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98509989299995 meters 0.024999621686855343 Centerline is valid? [True, True] Translation: X:163.92, Y:10.30, Z:5.88 [[ 9.91985012e-01 -1.16488901e-01 -4.89496815e-02 1.63916785e+02] [ 1.16475911e-01 9.93188593e-01 -3.12750573e-03 1.03035487e+01] [ 4.89805850e-02 -2.59901992e-03 9.98796349e-01 5.87808198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04509989299996 meters 0.027821160144045214 Centerline is valid? [True, True] Translation: X:163.98, Y:10.30, Z:5.88 [[ 9.91226495e-01 -1.21934311e-01 -5.10103818e-02 1.63977689e+02] [ 1.21927398e-01 9.92533671e-01 -3.25898168e-03 1.03018584e+01] [ 5.10269032e-02 -2.98917415e-03 9.98692806e-01 5.87848010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10509989299996 meters 0.0296930400255743 Centerline is valid? [True, True] Translation: X:164.04, Y:10.30, Z:5.88 [[ 9.91009506e-01 -1.23356209e-01 -5.18015948e-02 1.64038465e+02] [ 1.23351066e-01 9.92357581e-01 -3.30858437e-03 1.03045048e+01] [ 5.18138397e-02 -3.11094340e-03 9.98651915e-01 5.88068786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16509989299996 meters 0.029571883472119333 Centerline is valid? [True, True] Translation: X:164.10, Y:10.31, Z:5.88 [[ 9.91207888e-01 -1.21989007e-01 -5.12406611e-02 1.64099993e+02] [ 1.21982299e-01 9.92526890e-01 -3.26992138e-03 1.03116398e+01] [ 5.12566284e-02 -3.00928176e-03 9.98680981e-01 5.88456802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22509989299996 meters 0.027367188561329688 Centerline is valid? [True, True] Translation: X:164.16, Y:10.32, Z:5.89 [[ 9.91939765e-01 -1.16799088e-01 -4.91271304e-02 1.64159985e+02] [ 1.16786663e-01 9.93152082e-01 -3.13314430e-03 1.03223942e+01] [ 4.91566603e-02 -2.62950320e-03 9.98787619e-01 5.88800052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28509989299997 meters 0.02267383789860803 Centerline is valid? [True, True] Translation: X:164.22, Y:10.34, Z:5.89 [[ 9.92745824e-01 -1.10521194e-01 -4.73370265e-02 1.64219496e+02] [ 1.10502533e-01 9.93871257e-01 -3.01898605e-03 1.03365654e+01] [ 4.73805720e-02 -2.23377555e-03 9.98874412e-01 5.89209042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34509989299997 meters 0.02286332624646729 Centerline is valid? [True, True] Translation: X:164.28, Y:10.34, Z:5.89 [[ 9.93293392e-01 -1.05576005e-01 -4.71375057e-02 1.64279008e+02] [ 1.05551944e-01 9.94409247e-01 -3.00626715e-03 1.03435742e+01] [ 4.71913612e-02 -1.98935004e-03 9.98883886e-01 5.89367415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40509989299997 meters 0.02017051679802948 Centerline is valid? [True, True] Translation: X:164.34, Y:10.35, Z:5.90 [[ 9.93447599e-01 -1.03750905e-01 -4.79334712e-02 1.64340255e+02] [ 1.03723943e-01 9.94601429e-01 -3.05624232e-03 1.03538559e+01] [ 4.79917869e-02 -1.93563205e-03 9.98845855e-01 5.89617650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46509989299997 meters 0.020035669362396123 Centerline is valid? [True, True] Translation: X:164.40, Y:10.36, Z:5.90 [[ 9.93527687e-01 -1.02447222e-01 -4.90642710e-02 1.64402333e+02] [ 1.02417569e-01 9.94736587e-01 -3.12467005e-03 1.03595151e+01] [ 4.91261392e-02 -1.92059716e-03 9.98790736e-01 5.89776338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52509989299998 meters 0.02059888303967681 Centerline is valid? [True, True] Translation: X:164.46, Y:10.36, Z:5.90 [[ 9.93630397e-01 -1.01643142e-01 -4.86549769e-02 1.64463449e+02] [ 1.01613181e-01 9.94819170e-01 -3.09529180e-03 1.03637180e+01] [ 4.87175189e-02 -1.86841094e-03 9.98810849e-01 5.89972453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58509989299998 meters 0.01932606084525939 Centerline is valid? [True, True] Translation: X:164.53, Y:10.37, Z:5.90 [[ 9.93777722e-01 -1.00897003e-01 -4.71766308e-02 1.64525330e+02] [ 1.00868120e-01 9.94895286e-01 -2.99856499e-03 1.03707209e+01] [ 4.72383539e-02 -1.77871096e-03 9.98882062e-01 5.90406670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64509989299998 meters 0.019741226831336098 Centerline is valid? [True, True] Translation: X:164.59, Y:10.38, Z:5.91 [[ 9.93927152e-01 -1.00276070e-01 -4.53158579e-02 1.64586945e+02] [ 1.00248920e-01 9.94958228e-01 -2.87707285e-03 1.03754100e+01] [ 4.53758873e-02 -1.68326500e-03 9.98968566e-01 5.90768461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70509989299998 meters 0.02061174425054193 Centerline is valid? [True, True] Translation: X:164.65, Y:10.38, Z:5.91 [[ 9.93903708e-01 -1.00697351e-01 -4.48939063e-02 1.64647701e+02] [ 1.00671272e-01 9.94915669e-01 -2.84719453e-03 1.03786795e+01] [ 4.49523558e-02 -1.68968946e-03 9.98987703e-01 5.90994264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76509989299996 meters 0.02187284448595264 Centerline is valid? [True, True] Translation: X:164.71, Y:10.38, Z:5.91 [[ 9.93710139e-01 -1.02389774e-01 -4.53485789e-02 1.64710153e+02] [ 1.02365041e-01 9.94742752e-01 -2.87344060e-03 1.03812117e+01] [ 4.54043811e-02 -1.78674208e-03 9.98967091e-01 5.91115201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82509989299996 meters 0.02403970747527306 Centerline is valid? [True, True] Translation: X:164.77, Y:10.38, Z:5.91 [[ 9.93215732e-01 -1.06984039e-01 -4.55732882e-02 1.64771111e+02] [ 1.06964018e-01 9.94258707e-01 -2.88473742e-03 1.03815105e+01] [ 4.56202595e-02 -2.00953543e-03 9.98956833e-01 5.91187902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88509989299996 meters 0.023093594216672526 Centerline is valid? [True, True] Translation: X:164.83, Y:10.39, Z:5.91 [[ 9.92887803e-01 -1.10212066e-01 -4.50234497e-02 1.64832275e+02] [ 1.10195907e-01 9.93905805e-01 -2.84829310e-03 1.03859153e+01] [ 4.50629843e-02 -2.13336438e-03 9.98981870e-01 5.91428078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94509989299996 meters 0.022694544155310418 Centerline is valid? [True, True] Translation: X:164.89, Y:10.39, Z:5.92 [[ 9.92831812e-01 -1.11077658e-01 -4.41219507e-02 1.64894562e+02] [ 1.11063072e-01 9.93809445e-01 -2.78942677e-03 1.03893970e+01] [ 4.41586543e-02 -2.13088774e-03 9.99022258e-01 5.91669398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00509989299997 meters 0.023974522634750566 Centerline is valid? [True, True] Translation: X:164.96, Y:10.39, Z:5.92 [[ 9.92892061e-01 -1.11154950e-01 -4.25432953e-02 1.64956393e+02] [ 1.11141591e-01 9.93800951e-01 -2.68648419e-03 1.03907148e+01] [ 4.25781833e-02 -2.06094070e-03 9.99091012e-01 5.91918908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06509989299997 meters 0.02646839451795507 Centerline is valid? [True, True] Translation: X:165.02, Y:10.39, Z:5.92 [[ 9.92825545e-01 -1.12156591e-01 -4.14528312e-02 1.65018179e+02] [ 1.12144923e-01 9.93688423e-01 -2.61408651e-03 1.03889626e+01] [ 4.14843855e-02 -2.05339272e-03 9.99137042e-01 5.92148294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12509989299997 meters 0.02596160683823632 Centerline is valid? [True, True] Translation: X:165.08, Y:10.39, Z:5.92 [[ 9.92625361e-01 -1.14061283e-01 -4.10477290e-02 1.65080584e+02] [ 1.14051558e-01 9.93471466e-01 -2.58629007e-03 1.03904193e+01] [ 4.10747430e-02 -2.11434032e-03 9.99153840e-01 5.92393723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18509989299997 meters 0.02755397792241464 Centerline is valid? [True, True] Translation: X:165.14, Y:10.39, Z:5.93 [[ 9.92433764e-01 -1.15491375e-01 -4.16769208e-02 1.65142485e+02] [ 1.15482730e-01 9.93306025e-01 -2.62298634e-03 1.03904994e+01] [ 4.17008688e-02 -2.20982440e-03 9.99127697e-01 5.92511696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24509989299997 meters 0.027356799059589113 Centerline is valid? [True, True] Translation: X:165.20, Y:10.39, Z:5.93 [[ 9.92178684e-01 -1.16927778e-01 -4.36961642e-02 1.65204504e+02] [ 1.16919778e-01 9.93137562e-01 -2.74753034e-03 1.03914420e+01] [ 4.37175646e-02 -2.38290479e-03 9.99041088e-01 5.92504633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30509989299998 meters 0.02653905889473724 Centerline is valid? [True, True] Translation: X:165.27, Y:10.40, Z:5.93 [[ 9.92215672e-01 -1.16347421e-01 -4.43997487e-02 1.65266979e+02] [ 1.16338733e-01 9.93205681e-01 -2.78842322e-03 1.03958223e+01] [ 4.44225085e-02 -2.39869328e-03 9.99009953e-01 5.92766871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36509989299998 meters 0.027550215128391495 Centerline is valid? [True, True] Translation: X:165.33, Y:10.40, Z:5.93 [[ 9.92353709e-01 -1.15101153e-01 -4.45627686e-02 1.65328641e+02] [ 1.15091322e-01 9.93350984e-01 -2.79478418e-03 1.03982895e+01] [ 4.45881529e-02 -2.35537349e-03 9.99002677e-01 5.93025397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42509989299998 meters 0.025542468294226014 Centerline is valid? [True, True] Translation: X:165.39, Y:10.40, Z:5.93 [[ 9.92775356e-01 -1.11574756e-01 -4.41380438e-02 1.65389334e+02] [ 1.11561756e-01 9.93753655e-01 -2.76541505e-03 1.04040449e+01] [ 4.41708929e-02 -2.17868176e-03 9.99021614e-01 5.93275488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48509989299995 meters 0.022950572903186573 Centerline is valid? [True, True] Translation: X:165.45, Y:10.41, Z:5.94 [[ 9.93252319e-01 -1.07415324e-01 -4.37238986e-02 1.65449395e+02] [ 1.07398573e-01 9.94212274e-01 -2.73881403e-03 1.04117634e+01] [ 4.37650273e-02 -1.97555095e-03 9.99039899e-01 5.93572446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54509989299996 meters 0.021978168401784126 Centerline is valid? [True, True] Translation: X:165.51, Y:10.42, Z:5.94 [[ 9.93769900e-01 -1.02488963e-01 -4.37880978e-02 1.65509332e+02] [ 1.02467389e-01 9.94732583e-01 -2.74283540e-03 1.04169082e+01] [ 4.38385580e-02 -1.76110480e-03 9.99037076e-01 5.93757598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60509989299996 meters 0.021293585017656165 Centerline is valid? [True, True] Translation: X:165.57, Y:10.42, Z:5.94 [[ 9.94067878e-01 -9.91984977e-02 -4.45949687e-02 1.65571014e+02] [ 9.91728360e-02 9.95066303e-01 -2.79295448e-03 1.04210798e+01] [ 4.46520075e-02 -1.64622318e-03 9.99001245e-01 5.93921966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66509989299996 meters 0.017903600637145016 Centerline is valid? [True, True] Translation: X:165.63, Y:10.43, Z:5.94 [[ 9.94414829e-01 -9.49468834e-02 -4.60894521e-02 1.65632363e+02] [ 9.49150387e-02 9.95481200e-01 -2.88385707e-03 1.04293376e+01] [ 4.61549963e-02 -1.50683190e-03 9.98933154e-01 5.94160962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72509989299996 meters 0.01739691196591786 Centerline is valid? [True, True] Translation: X:165.69, Y:10.43, Z:5.94 [[ 9.94653451e-01 -9.18435631e-02 -4.72151730e-02 1.65693269e+02] [ 9.18067697e-02 9.95772466e-01 -2.95182699e-03 1.04331952e+01] [ 4.72866756e-02 -1.39862762e-03 9.98880380e-01 5.94404068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78509989299997 meters 0.016253365233788702 Centerline is valid? [True, True] Translation: X:165.75, Y:10.44, Z:5.95 [[ 9.95069201e-01 -8.68693624e-02 -4.78643838e-02 1.65753592e+02] [ 8.68258671e-02 9.96219013e-01 -2.99104104e-03 1.04377430e+01] [ 4.79432390e-02 -1.17957380e-03 9.98849365e-01 5.94645350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84509989299997 meters 0.014803078270035047 Centerline is valid? [True, True] Translation: X:165.81, Y:10.44, Z:5.95 [[ 9.95537557e-01 -8.16322745e-02 -4.73407293e-02 1.65813856e+02] [ 8.15838079e-02 9.96662095e-01 -2.95831793e-03 1.04434524e+01] [ 4.74242047e-02 -9.17120366e-04 9.98874418e-01 5.95048846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90509989299997 meters 0.014188838773366689 Centerline is valid? [True, True] Translation: X:165.87, Y:10.45, Z:5.95 [[ 9.95842975e-01 -7.81571629e-02 -4.67784871e-02 1.65874602e+02] [ 7.81060055e-02 9.96940774e-01 -2.92325724e-03 1.04487172e+01] [ 4.68638546e-02 -7.42575585e-04 9.98901010e-01 5.95385003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96509989299997 meters 0.01366668027678614 Centerline is valid? [True, True] Translation: X:165.93, Y:10.45, Z:5.96 [[ 9.96137359e-01 -7.47820631e-02 -4.60217865e-02 1.65934829e+02] [ 7.47289343e-02 9.97199736e-01 -2.87625297e-03 1.04523915e+01] [ 4.61080055e-02 -5.74016023e-04 9.98936295e-01 5.95745659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02509989299998 meters 0.013604773035473056 Centerline is valid? [True, True] Translation: X:165.99, Y:10.45, Z:5.96 [[ 9.96218464e-01 -7.39619883e-02 -4.55894345e-02 1.65994662e+02] [ 7.39089813e-02 9.97260920e-01 -2.84953524e-03 1.04531899e+01] [ 4.56753186e-02 -5.30709040e-04 9.98956197e-01 5.96011644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08509989299998 meters 0.013760197220365682 Centerline is valid? [True, True] Translation: X:166.05, Y:10.45, Z:5.96 [[ 9.96151612e-01 -7.51549591e-02 -4.50965328e-02 1.66054175e+02] [ 7.51042406e-02 9.97171700e-01 -2.82034795e-03 1.04540498e+01] [ 4.51809494e-02 -5.77446685e-04 9.98978653e-01 5.96302911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14509989299998 meters 0.014527420023170335 Centerline is valid? [True, True] Translation: X:166.11, Y:10.45, Z:5.97 [[ 9.95868881e-01 -7.92186541e-02 -4.43799033e-02 1.66114194e+02] [ 7.91734957e-02 9.96856983e-01 -2.77711282e-03 1.04508436e+01] [ 4.44604156e-02 -7.48071840e-04 9.99010867e-01 5.96539720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20509989299998 meters 0.015325175263890427 Centerline is valid? [True, True] Translation: X:166.17, Y:10.45, Z:5.97 [[ 9.95606587e-01 -8.26990803e-02 -4.39133818e-02 1.66174352e+02] [ 8.26581795e-02 9.96574165e-01 -2.74947791e-03 1.04490565e+01] [ 4.39903211e-02 -8.92401873e-04 9.99031559e-01 5.96748354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26509989299996 meters 0.016328976218267285 Centerline is valid? [True, True] Translation: X:166.23, Y:10.44, Z:5.97 [[ 9.95075940e-01 -8.89272804e-02 -4.37700006e-02 1.66234965e+02] [ 8.88925986e-02 9.96037443e-01 -2.74194360e-03 1.04449566e+01] [ 4.38403931e-02 -1.16238699e-03 9.99037872e-01 5.96983488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32509989299996 meters 0.018805938631886156 Centerline is valid? [True, True] Translation: X:166.30, Y:10.44, Z:5.97 [[ 9.94395532e-01 -9.56977414e-02 -4.49384864e-02 1.66295106e+02] [ 9.56680499e-02 9.95409310e-01 -2.81587923e-03 1.04385752e+01] [ 4.50016610e-02 -1.49907963e-03 9.98985787e-01 5.97066189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38509989299996 meters 0.01967632614781434 Centerline is valid? [True, True] Translation: X:166.36, Y:10.44, Z:5.97 [[ 9.93954047e-01 -1.00086953e-01 -4.51437044e-02 1.66355764e+02] [ 1.00061499e-01 9.94977233e-01 -2.82892039e-03 1.04372796e+01] [ 4.52000961e-02 -1.70532985e-03 9.98976498e-01 5.97279759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44509989299996 meters 0.022948286100826876 Centerline is valid? [True, True] Translation: X:166.42, Y:10.43, Z:5.97 [[ 9.93348974e-01 -1.05843894e-01 -4.53308469e-02 1.66415990e+02] [ 1.05824202e-01 9.94380797e-01 -2.84074635e-03 1.04311634e+01] [ 4.53767993e-02 -1.97524821e-03 9.98967990e-01 5.97381737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50509989299997 meters 0.024351131218534623 Centerline is valid? [True, True] Translation: X:166.48, Y:10.43, Z:5.98 [[ 9.93037105e-01 -1.08947190e-01 -4.48086913e-02 1.66477112e+02] [ 1.08931089e-01 9.94045337e-01 -2.80821336e-03 1.04294935e+01] [ 4.48478176e-02 -2.09239949e-03 9.98991639e-01 5.97650410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56509989299997 meters 0.022991617054731604 Centerline is valid? [True, True] Translation: X:166.54, Y:10.43, Z:5.98 [[ 9.93030164e-01 -1.09415871e-01 -4.38093631e-02 1.66538669e+02] [ 1.09401000e-01 9.93993909e-01 -2.74409767e-03 1.04331144e+01] [ 4.38464879e-02 -2.06781636e-03 9.99036140e-01 5.98046375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62509989299997 meters 0.024902211635542525 Centerline is valid? [True, True] Translation: X:166.60, Y:10.43, Z:5.98 [[ 9.93192871e-01 -1.08188655e-01 -4.31640546e-02 1.66599119e+02] [ 1.08173123e-01 9.94128399e-01 -2.70223807e-03 1.04330341e+01] [ 4.32029640e-02 -1.98534701e-03 9.99064343e-01 5.98269001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68509989299997 meters 0.02252791913470713 Centerline is valid? [True, True] Translation: X:166.66, Y:10.44, Z:5.99 [[ 9.93289082e-01 -1.07516407e-01 -4.26265470e-02 1.66659908e+02] [ 1.07500677e-01 9.94201432e-01 -2.66773448e-03 1.04398617e+01] [ 4.26661993e-02 -1.93255114e-03 9.99087514e-01 5.98559863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74509989299997 meters 0.023924082829559115 Centerline is valid? [True, True] Translation: X:166.72, Y:10.44, Z:5.99 [[ 9.93516957e-01 -1.05755509e-01 -4.17112462e-02 1.66720734e+02] [ 1.05738960e-01 9.94390500e-01 -2.60896778e-03 1.04410989e+01] [ 4.17531796e-02 -1.81845008e-03 9.99126301e-01 5.98891694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80509989299998 meters 0.022119149158102768 Centerline is valid? [True, True] Translation: X:166.78, Y:10.45, Z:5.99 [[ 9.93501814e-01 -1.05686047e-01 -4.22445745e-02 1.66783023e+02] [ 1.05669083e-01 9.94397844e-01 -2.64060883e-03 1.04466818e+01] [ 4.22869893e-02 -1.84049580e-03 9.99103810e-01 5.99038182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86509989299998 meters 0.02149688337185733 Centerline is valid? [True, True] Translation: X:166.84, Y:10.45, Z:5.99 [[ 9.93243336e-01 -1.07839956e-01 -4.28744632e-02 1.66844365e+02] [ 1.07824611e-01 9.94166327e-01 -2.67703339e-03 1.04500391e+01] [ 4.29130388e-02 -1.96397676e-03 9.99076881e-01 5.99269759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92509989299998 meters 0.025865542623120557 Centerline is valid? [True, True] Translation: X:166.90, Y:10.45, Z:5.99 [[ 9.92830722e-01 -1.10717784e-01 -4.50414215e-02 1.66904423e+02] [ 1.10703870e-01 9.93849461e-01 -2.81088632e-03 1.04471405e+01] [ 4.50756076e-02 -2.19552539e-03 9.98981166e-01 5.99358896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98509989299995 meters 0.02521699630956495 Centerline is valid? [True, True] Translation: X:166.97, Y:10.45, Z:6.00 [[ 9.92603988e-01 -1.12702078e-01 -4.51172252e-02 1.66965115e+02] [ 1.12690167e-01 9.93626187e-01 -2.81547532e-03 1.04524516e+01] [ 4.51469664e-02 -2.28961563e-03 9.98977732e-01 5.99717827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04509989299996 meters 0.025873122210473942 Centerline is valid? [True, True] Translation: X:167.03, Y:10.46, Z:6.00 [[ 9.92561326e-01 -1.13350960e-01 -4.44249338e-02 1.67025725e+02] [ 1.13340094e-01 9.93552385e-01 -2.77148670e-03 1.04563762e+01] [ 4.44526496e-02 -2.28425564e-03 9.99008881e-01 6.00127825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10509989299996 meters 0.023771871537753786 Centerline is valid? [True, True] Translation: X:167.09, Y:10.47, Z:6.01 [[ 9.92899277e-01 -1.10741319e-01 -4.34440487e-02 1.67086960e+02] [ 1.10728477e-01 9.93847002e-01 -2.70930308e-03 1.04657154e+01] [ 4.34767694e-02 -2.12042829e-03 9.99052188e-01 6.00511407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16509989299996 meters 0.0219193191966715 Centerline is valid? [True, True] Translation: X:167.15, Y:10.47, Z:6.01 [[ 9.93185048e-01 -1.08192488e-01 -4.33341108e-02 1.67147746e+02] [ 1.08177389e-01 9.94127940e-01 -2.70018752e-03 1.04736800e+01] [ 4.33717903e-02 -2.00598509e-03 9.99056987e-01 6.00756752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22509989299996 meters 0.022434138171614805 Centerline is valid? [True, True] Translation: X:167.21, Y:10.48, Z:6.01 [[ 9.93447216e-01 -1.05446072e-01 -4.40880400e-02 1.67208067e+02] [ 1.05427814e-01 9.94423168e-01 -2.74563012e-03 1.04785992e+01] [ 4.41316844e-02 -1.92046706e-03 9.99023877e-01 6.00942231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28509989299997 meters 0.02067629562855881 Centerline is valid? [True, True] Translation: X:167.27, Y:10.49, Z:6.01 [[ 9.93478286e-01 -1.04845408e-01 -4.48144475e-02 1.67269997e+02] [ 1.04825991e-01 9.94486666e-01 -2.78960904e-03 1.04863120e+01] [ 4.48598482e-02 -1.92630287e-03 9.98991433e-01 6.01134488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34509989299997 meters 0.024275003088932382 Centerline is valid? [True, True] Translation: X:167.33, Y:10.49, Z:6.01 [[ 9.93374824e-01 -1.05472870e-01 -4.56281930e-02 1.67330684e+02] [ 1.05453538e-01 9.94420183e-01 -2.83729765e-03 1.04859151e+01] [ 4.56728540e-02 -1.99315435e-03 9.98954462e-01 6.01134298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40509989299997 meters 0.021203928487435922 Centerline is valid? [True, True] Translation: X:167.39, Y:10.50, Z:6.01 [[ 9.93271829e-01 -1.05962923e-01 -4.67218735e-02 1.67391953e+02] [ 1.05943245e-01 9.94367937e-01 -2.90426219e-03 1.04952536e+01] [ 4.67664771e-02 -2.06514508e-03 9.98903715e-01 6.01379650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46509989299997 meters 0.021197017648753504 Centerline is valid? [True, True] Translation: X:167.45, Y:10.50, Z:6.02 [[ 9.93251046e-01 -1.06447073e-01 -4.60584438e-02 1.67452622e+02] [ 1.06428545e-01 9.94316236e-01 -2.86134242e-03 1.05021428e+01] [ 4.61012400e-02 -2.05990182e-03 9.98934649e-01 6.01646293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52509989299998 meters 0.024696638154618564 Centerline is valid? [True, True] Translation: X:167.51, Y:10.50, Z:6.02 [[ 9.93296301e-01 -1.06326816e-01 -4.53548893e-02 1.67512572e+02] [ 1.06308793e-01 9.94329176e-01 -2.81612878e-03 1.05027372e+01] [ 4.53971197e-02 -2.02437323e-03 9.98966968e-01 6.01826078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58509989299998 meters 0.021961405386950142 Centerline is valid? [True, True] Translation: X:167.57, Y:10.51, Z:6.02 [[ 9.93349002e-01 -1.06836558e-01 -4.29384492e-02 1.67574055e+02] [ 1.06820921e-01 9.94274705e-01 -2.66502763e-03 1.05140333e+01] [ 4.29773363e-02 -1.93942214e-03 9.99074165e-01 6.02341567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64509989299998 meters 0.024786574851842914 Centerline is valid? [True, True] Translation: X:167.63, Y:10.52, Z:6.03 [[ 9.93075737e-01 -1.09232107e-01 -4.32310964e-02 1.67633824e+02] [ 1.09218663e-01 9.94014136e-01 -2.67989268e-03 1.05170104e+01] [ 4.32650513e-02 -2.06030615e-03 9.99061505e-01 6.02528761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70509989299995 meters 0.024671937407783513 Centerline is valid? [True, True] Translation: X:167.69, Y:10.52, Z:6.03 [[ 9.92595089e-01 -1.13226951e-01 -4.39846312e-02 1.67694844e+02] [ 1.13217105e-01 9.93566542e-01 -2.72294391e-03 1.05231322e+01] [ 4.40099686e-02 -2.27703187e-03 9.99028497e-01 6.02720347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76509989299996 meters 0.026538378010803394 Centerline is valid? [True, True] Translation: X:167.76, Y:10.53, Z:6.03 [[ 9.92127050e-01 -1.16520178e-01 -4.59016787e-02 1.67755787e+02] [ 1.16513043e-01 9.93185101e-01 -2.84004842e-03 1.05267991e+01] [ 4.59197864e-02 -2.53045541e-03 9.98941925e-01 6.02769086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82509989299996 meters 0.02698657121301252 Centerline is valid? [True, True] Translation: X:167.82, Y:10.53, Z:6.03 [[ 9.92000444e-01 -1.17714315e-01 -4.55901230e-02 1.67818044e+02] [ 1.17708591e-01 9.93044177e-01 -2.81949188e-03 1.05325407e+01] [ 4.56049008e-02 -2.56941195e-03 9.98956251e-01 6.03055179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88509989299996 meters 0.02756717527808861 Centerline is valid? [True, True] Translation: X:167.88, Y:10.54, Z:6.03 [[ 9.91964398e-01 -1.18058455e-01 -4.54844435e-02 1.67880097e+02] [ 1.18053268e-01 9.93003289e-01 -2.80964775e-03 1.05378716e+01] [ 4.54979047e-02 -2.58251668e-03 9.98961096e-01 6.03273498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94509989299996 meters 0.028623172997292185 Centerline is valid? [True, True] Translation: X:167.94, Y:10.54, Z:6.04 [[ 9.92103539e-01 -1.17148475e-01 -4.47973559e-02 1.67941418e+02] [ 1.17142661e-01 9.93111251e-01 -2.76400694e-03 1.05433049e+01] [ 4.48125574e-02 -2.50550042e-03 9.98992271e-01 6.03509310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00509989299997 meters 0.026825250396848545 Centerline is valid? [True, True] Translation: X:168.00, Y:10.55, Z:6.04 [[ 9.92197777e-01 -1.16545514e-01 -4.42799653e-02 1.68003537e+02] [ 1.16539373e-01 9.93182323e-01 -2.72894967e-03 1.05519600e+01] [ 4.42961257e-02 -2.45270159e-03 9.99015434e-01 6.03804547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06509989299997 meters 0.028956041824055232 Centerline is valid? [True, True] Translation: X:168.06, Y:10.55, Z:6.04 [[ 9.92172422e-01 -1.16845466e-01 -4.40570265e-02 1.68064663e+02] [ 1.16839815e-01 9.93147070e-01 -2.71215157e-03 1.05549932e+01] [ 4.40720094e-02 -2.45669284e-03 9.99025336e-01 6.04016984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12509989299997 meters 0.02827527429194281 Centerline is valid? [True, True] Translation: X:168.13, Y:10.56, Z:6.04 [[ 9.92047460e-01 -1.17659302e-01 -4.47004041e-02 1.68126354e+02] [ 1.17654425e-01 9.93050793e-01 -2.74919584e-03 1.05606062e+01] [ 4.47132402e-02 -2.53186758e-03 9.98996655e-01 6.04208439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18509989299997 meters 0.028989563040768142 Centerline is valid? [True, True] Translation: X:168.19, Y:10.56, Z:6.04 [[ 9.91754155e-01 -1.19587963e-01 -4.60696825e-02 1.68187743e+02] [ 1.19584999e-01 9.92819932e-01 -2.83033747e-03 1.05643107e+01] [ 4.60773733e-02 -2.70224402e-03 9.98934219e-01 6.04291970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24509989299997 meters 0.030411299308747308 Centerline is valid? [True, True] Translation: X:168.25, Y:10.57, Z:6.04 [[ 9.91593314e-01 -1.20564451e-01 -4.69777826e-02 1.68250276e+02] [ 1.20562560e-01 9.92701542e-01 -2.88407347e-03 1.05662919e+01] [ 4.69826339e-02 -2.80393377e-03 9.98891771e-01 6.04440222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30509989299998 meters 0.02776203217434119 Centerline is valid? [True, True] Translation: X:168.31, Y:10.57, Z:6.05 [[ 9.91661567e-01 -1.19586455e-01 -4.80251555e-02 1.68312403e+02] [ 1.19583508e-01 9.92819778e-01 -2.94487447e-03 1.05748004e+01] [ 4.80324913e-02 -2.82269774e-03 9.98841785e-01 6.04681476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36509989299998 meters 0.027732912547297237 Centerline is valid? [True, True] Translation: X:168.37, Y:10.58, Z:6.05 [[ 9.92066167e-01 -1.16764578e-01 -4.65913369e-02 1.68371800e+02] [ 1.16758823e-01 9.93156196e-01 -2.85430400e-03 1.05805561e+01] [ 4.66057566e-02 -2.60829124e-03 9.98909956e-01 6.04995342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42509989299998 meters 0.02719684476110685 Centerline is valid? [True, True] Translation: X:168.43, Y:10.59, Z:6.05 [[ 9.92461104e-01 -1.13858173e-01 -4.53571860e-02 1.68432184e+02] [ 1.13849696e-01 9.93494100e-01 -2.77855204e-03 1.05863210e+01] [ 4.53784576e-02 -2.40629704e-03 9.98966969e-01 6.05282583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48509989299995 meters 0.024491980589553933 Centerline is valid? [True, True] Translation: X:168.49, Y:10.59, Z:6.05 [[ 9.93028760e-01 -1.08980826e-01 -4.49117075e-02 1.68492373e+02] [ 1.08967572e-01 9.94041500e-01 -2.75052797e-03 1.05945200e+01] [ 4.49438559e-02 -2.16256634e-03 9.98987174e-01 6.05479280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54509989299996 meters 0.026113691999962992 Centerline is valid? [True, True] Translation: X:168.55, Y:10.60, Z:6.06 [[ 9.93158414e-01 -1.07510427e-01 -4.55836971e-02 1.68553576e+02] [ 1.07495267e-01 9.94201679e-01 -2.79085683e-03 1.05958595e+01] [ 4.56194344e-02 -2.12826876e-03 9.98956625e-01 6.05574682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60509989299996 meters 0.02613781635600049 Centerline is valid? [True, True] Translation: X:168.62, Y:10.60, Z:6.06 [[ 9.93144649e-01 -1.07467864e-01 -4.59822119e-02 1.68616076e+02] [ 1.07452514e-01 9.94206239e-01 -2.81264616e-03 1.05996153e+01] [ 4.60180711e-02 -2.14753977e-03 9.98938299e-01 6.05730434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66509989299996 meters 0.02652517360414238 Centerline is valid? [True, True] Translation: X:168.68, Y:10.60, Z:6.06 [[ 9.92764768e-01 -1.10607605e-01 -4.67340655e-02 1.68677476e+02] [ 1.10595357e-01 9.93861415e-01 -2.85567284e-03 1.06017369e+01] [ 4.67630436e-02 -2.33355928e-03 9.98903285e-01 6.05877760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72509989299996 meters 0.030424785731636723 Centerline is valid? [True, True] Translation: X:168.74, Y:10.60, Z:6.06 [[ 9.92386837e-01 -1.13789986e-01 -4.71190574e-02 1.68737429e+02] [ 1.13781172e-01 9.93501667e-01 -2.87787574e-03 1.05988057e+01] [ 4.71403355e-02 -2.50529560e-03 9.98885135e-01 6.06005487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78509989299997 meters 0.03021807888718753 Centerline is valid? [True, True] Translation: X:168.80, Y:10.60, Z:6.06 [[ 9.92152682e-01 -1.16300709e-01 -4.59042553e-02 1.68798097e+02] [ 1.16295025e-01 9.93210757e-01 -2.80352953e-03 1.06020660e+01] [ 4.59186526e-02 -2.55690718e-03 9.98941910e-01 6.06451653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84509989299997 meters 0.030287155722503154 Centerline is valid? [True, True] Translation: X:168.86, Y:10.60, Z:6.07 [[ 9.91936810e-01 -1.18839452e-01 -4.40289619e-02 1.68859057e+02] [ 1.18836743e-01 9.92910168e-01 -2.68826104e-03 1.06036822e+01] [ 4.40362754e-02 -2.56567333e-03 9.99026638e-01 6.06844980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90509989299997 meters 0.028395961920946844 Centerline is valid? [True, True] Translation: X:168.92, Y:10.61, Z:6.07 [[ 9.91877021e-01 -1.19424143e-01 -4.37932625e-02 1.68920970e+02] [ 1.19422078e-01 9.92839979e-01 -2.67274276e-03 1.06091181e+01] [ 4.37988918e-02 -2.57885029e-03 9.99037040e-01 6.07114458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96509989299997 meters 0.02823634727799135 Centerline is valid? [True, True] Translation: X:168.98, Y:10.61, Z:6.07 [[ 9.91736938e-01 -1.20659164e-01 -4.35799415e-02 1.68982991e+02] [ 1.20658444e-01 9.92690527e-01 -2.65656777e-03 1.06095035e+01] [ 4.35819344e-02 -2.62367153e-03 9.99046411e-01 6.07289412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02509989299998 meters 0.030388258992202224 Centerline is valid? [True, True] Translation: X:169.04, Y:10.61, Z:6.07 [[ 9.91559143e-01 -1.21972038e-01 -4.39691624e-02 1.69044530e+02] [ 1.21972729e-01 9.92529841e-01 -2.67717493e-03 1.06073425e+01] [ 4.39672463e-02 -2.70846144e-03 9.99029302e-01 6.07346369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08509989299998 meters 0.03409759850549835 Centerline is valid? [True, True] Translation: X:169.11, Y:10.60, Z:6.07 [[ 9.91384478e-01 -1.23118639e-01 -4.47058976e-02 1.69105827e+02] [ 1.23120626e-01 9.92387986e-01 -2.71958377e-03 1.06031038e+01] [ 4.47004271e-02 -2.80806495e-03 9.98996490e-01 6.07357576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14509989299998 meters 0.03384237191183629 Centerline is valid? [True, True] Translation: X:169.17, Y:10.60, Z:6.08 [[ 9.91023569e-01 -1.25813525e-01 -4.52022327e-02 1.69167033e+02] [ 1.25818444e-01 9.92049479e-01 -2.74763162e-03 1.06030944e+01] [ 4.51885406e-02 -2.96430687e-03 9.98974078e-01 6.07506572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20509989299995 meters 0.03206603201977659 Centerline is valid? [True, True] Translation: X:169.23, Y:10.61, Z:6.08 [[ 9.90891991e-01 -1.26876471e-01 -4.51156581e-02 1.69228451e+02] [ 1.26882532e-01 9.91913963e-01 -2.74091409e-03 1.06070932e+01] [ 4.50986088e-02 -3.00843911e-03 9.98978010e-01 6.07795541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26509989299996 meters 0.03303740218247621 Centerline is valid? [True, True] Translation: X:169.29, Y:10.61, Z:6.08 [[ 9.91172063e-01 -1.24731965e-01 -4.49430662e-02 1.69289558e+02] [ 1.24735967e-01 9.92186225e-01 -2.72638712e-03 1.06072475e+01] [ 4.49319588e-02 -2.90369806e-03 9.98985830e-01 6.08024329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32509989299996 meters 0.03239480972238363 Centerline is valid? [True, True] Translation: X:169.35, Y:10.61, Z:6.08 [[ 9.91544292e-01 -1.22118431e-01 -4.38976765e-02 1.69350224e+02] [ 1.22119758e-01 9.92511804e-01 -2.66155352e-03 1.06100467e+01] [ 4.38939868e-02 -2.72172542e-03 9.99032487e-01 6.08288194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38509989299996 meters 0.02649789297632202 Centerline is valid? [True, True] Translation: X:169.41, Y:10.62, Z:6.09 [[ 9.92212165e-01 -1.17584061e-01 -4.10975514e-02 1.69409966e+02] [ 1.17581367e-01 9.93060127e-01 -2.49115772e-03 1.06194562e+01] [ 4.11052600e-02 -2.36054926e-03 9.99152033e-01 6.08735758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44509989299996 meters 0.02596938529923826 Centerline is valid? [True, True] Translation: X:169.47, Y:10.62, Z:6.09 [[ 9.92808142e-01 -1.12916610e-01 -3.97722436e-02 1.69469135e+02] [ 1.12910352e-01 9.93602255e-01 -2.41076308e-03 1.06213136e+01] [ 3.97900062e-02 -2.09727283e-03 9.99205863e-01 6.08950146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50509989299997 meters 0.02437965824455919 Centerline is valid? [True, True] Translation: X:169.53, Y:10.62, Z:6.09 [[ 9.93022571e-01 -1.10791812e-01 -4.03899430e-02 1.69530952e+02] [ 1.10783595e-01 9.93841537e-01 -2.44848696e-03 1.06245782e+01] [ 4.04124754e-02 -2.04314026e-03 9.99180993e-01 6.09055008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56509989299997 meters 0.0259093040608682 Centerline is valid? [True, True] Translation: X:169.59, Y:10.62, Z:6.09 [[ 9.93247347e-01 -1.08258851e-01 -4.17100631e-02 1.69591672e+02] [ 1.08247955e-01 9.94120716e-01 -2.52631262e-03 1.06232874e+01] [ 4.17383335e-02 -2.00577571e-03 9.99126563e-01 6.09075121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62509989299997 meters 0.025119529890610667 Centerline is valid? [True, True] Translation: X:169.65, Y:10.63, Z:6.09 [[ 9.93602342e-01 -1.04832248e-01 -4.20069725e-02 1.69652191e+02] [ 1.04818174e-01 9.94488150e-01 -2.54352831e-03 1.06271556e+01] [ 4.20420802e-02 -1.87583845e-03 9.99114080e-01 6.09294444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68509989299997 meters 0.018430159799468614 Centerline is valid? [True, True] Translation: X:169.71, Y:10.64, Z:6.10 [[ 9.94625694e-01 -9.47802437e-02 -4.16705548e-02 1.69711955e+02] [ 9.47576085e-02 9.95497179e-01 -2.52247824e-03 1.06402822e+01] [ 4.17220008e-02 -1.43968045e-03 9.99128221e-01 6.09598693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74509989299997 meters 0.015249214699816032 Centerline is valid? [True, True] Translation: X:169.77, Y:10.65, Z:6.10 [[ 9.95997821e-01 -7.97397455e-02 -4.03721825e-02 1.69772358e+02] [ 7.97061552e-02 9.96815408e-01 -2.44351628e-03 1.06510741e+01] [ 4.04384589e-02 -7.84174551e-04 9.99181723e-01 6.09992196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80509989299998 meters 0.01436993364734387 Centerline is valid? [True, True] Translation: X:169.83, Y:10.66, Z:6.10 [[ 9.96429504e-01 -7.43742812e-02 -3.99588633e-02 1.69832310e+02] [ 7.43370870e-02 9.97230240e-01 -2.41787685e-03 1.06574950e+01] [ 4.00280147e-02 -5.61181669e-04 9.99198400e-01 6.10275592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86509989299998 meters 0.013440263521357175 Centerline is valid? [True, True] Translation: X:169.89, Y:10.67, Z:6.11 [[ 9.97471546e-01 -5.89767385e-02 -3.96517215e-02 1.69892061e+02] [ 5.89279398e-02 9.98259356e-01 -2.39933571e-03 1.06669778e+01] [ 3.97242069e-02 5.66748459e-05 9.99210681e-01 6.10514664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92509989299998 meters 0.014728745889863597 Centerline is valid? [True, True] Translation: X:169.95, Y:10.67, Z:6.11 [[ 9.98185678e-01 -4.60748650e-02 -3.87615740e-02 1.69950520e+02] [ 4.60184739e-02 9.98937833e-01 -2.34624743e-03 1.06740290e+01] [ 3.88285058e-02 5.58242097e-04 9.99245733e-01 6.10711162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98509989299995 meters 0.016274520718799545 Centerline is valid? [True, True] Translation: X:170.01, Y:10.68, Z:6.11 [[ 9.98477671e-01 -3.93091513e-02 -3.86927806e-02 1.70009602e+02] [ 3.92477707e-02 9.99226758e-01 -2.34496369e-03 1.06771000e+01] [ 3.87550402e-02 8.22788509e-04 9.99248402e-01 6.10929218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04509989299996 meters 0.01584011907323527 Centerline is valid? [True, True] Translation: X:170.07, Y:10.68, Z:6.11 [[ 9.98428527e-01 -3.91600778e-02 -4.00869613e-02 1.70068152e+02] [ 3.90939803e-02 9.99232579e-01 -2.43172277e-03 1.06750093e+01] [ 4.01514241e-02 8.60742511e-04 9.99193236e-01 6.10999775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10509989299996 meters 0.014466634302094434 Centerline is valid? [True, True] Translation: X:170.13, Y:10.67, Z:6.11 [[ 9.98130279e-01 -4.59195424e-02 -4.03403294e-02 1.70128635e+02] [ 4.58579812e-02 9.98944964e-01 -2.45055302e-03 1.06662503e+01] [ 4.04102972e-02 5.96045105e-04 9.99182993e-01 6.11187800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16509989299996 meters 0.01376901352587175 Centerline is valid? [True, True] Translation: X:170.19, Y:10.66, Z:6.11 [[ 9.97749689e-01 -5.39818763e-02 -3.97682608e-02 1.70186938e+02] [ 5.39283813e-02 9.98541880e-01 -2.41746935e-03 1.06612942e+01] [ 3.98407735e-02 2.67391355e-04 9.99206005e-01 6.11455736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22509989299996 meters 0.013731237074174927 Centerline is valid? [True, True] Translation: X:170.25, Y:10.65, Z:6.12 [[ 9.96926099e-01 -6.81998738e-02 -3.85633402e-02 1.70245205e+02] [ 6.81600052e-02 9.97671637e-01 -2.34916454e-03 1.06491006e+01] [ 3.86337634e-02 -2.86534028e-04 9.99253396e-01 6.11819126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28509989299997 meters 0.01624918483970374 Centerline is valid? [True, True] Translation: X:170.31, Y:10.63, Z:6.12 [[ 9.95921766e-01 -8.20546748e-02 -3.75082265e-02 1.70305923e+02] [ 8.20263805e-02 9.96627516e-01 -2.29520246e-03 1.06345366e+01] [ 3.75700627e-02 -7.90821978e-04 9.99293683e-01 6.12127753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34509989299997 meters 0.01743761510614194 Centerline is valid? [True, True] Translation: X:170.37, Y:10.63, Z:6.12 [[ 9.95194910e-01 -9.06232398e-02 -3.70745238e-02 1.70366736e+02] [ 9.06015076e-02 9.95884640e-01 -2.26930580e-03 1.06295384e+01] [ 3.71276006e-02 -1.10060617e-03 9.99309927e-01 6.12368727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40509989299997 meters 0.019935513450750317 Centerline is valid? [True, True] Translation: X:170.43, Y:10.62, Z:6.13 [[ 9.94478910e-01 -9.80303099e-02 -3.74400251e-02 1.70427593e+02] [ 9.80133590e-02 9.95182459e-01 -2.29237198e-03 1.06234216e+01] [ 3.74843782e-02 -1.38990703e-03 9.99296247e-01 6.12581272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46509989299997 meters 0.022452074796141697 Centerline is valid? [True, True] Translation: X:170.49, Y:10.62, Z:6.13 [[ 9.93873251e-01 -1.03722956e-01 -3.81773459e-02 1.70487949e+02] [ 1.03709498e-01 9.94604883e-01 -2.33810309e-03 1.06179285e+01] [ 3.82138897e-02 -1.63557525e-03 9.99268244e-01 6.12776136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52509989299998 meters 0.022726615249343222 Centerline is valid? [True, True] Translation: X:170.55, Y:10.62, Z:6.13 [[ 9.93393414e-01 -1.08226009e-01 -3.81661608e-02 1.70548414e+02] [ 1.08215846e-01 9.94124672e-01 -2.33810559e-03 1.06162189e+01] [ 3.81949660e-02 -1.80752469e-03 9.99268671e-01 6.12980146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58509989299998 meters 0.0230588200839507 Centerline is valid? [True, True] Translation: X:170.61, Y:10.62, Z:6.13 [[ 9.93179339e-01 -1.08852411e-01 -4.17845984e-02 1.70608555e+02] [ 1.08840750e-01 9.94055901e-01 -2.56069580e-03 1.06151375e+01] [ 4.18149645e-02 -2.00463684e-03 9.99123361e-01 6.12894055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64509989299998 meters 0.02313164735378595 Centerline is valid? [True, True] Translation: X:170.67, Y:10.62, Z:6.13 [[ 9.93725510e-01 -1.03461069e-01 -4.24902180e-02 1.70667768e+02] [ 1.03444028e-01 9.94631864e-01 -2.60546240e-03 1.06184148e+01] [ 4.25316886e-02 -1.80624484e-03 9.99093486e-01 6.13060442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70509989299995 meters 0.019385638529655157 Centerline is valid? [True, True] Translation: X:170.73, Y:10.63, Z:6.13 [[ 9.94425305e-01 -9.62092226e-02 -4.31520286e-02 1.70727176e+02] [ 9.61847867e-02 9.95359975e-01 -2.64700228e-03 1.06284638e+01] [ 4.32064682e-02 -1.51832262e-03 9.99065011e-01 6.13288428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76509989299996 meters 0.01776051901895515 Centerline is valid? [True, True] Translation: X:170.79, Y:10.64, Z:6.14 [[ 9.94947949e-01 -9.08357523e-02 -4.27486198e-02 1.70786418e+02] [ 9.08067983e-02 9.95865075e-01 -2.62266958e-03 1.06372363e+01] [ 4.28100896e-02 -1.27244558e-03 9.99082418e-01 6.13646966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82509989299996 meters 0.017736063588366265 Centerline is valid? [True, True] Translation: X:170.85, Y:10.64, Z:6.14 [[ 9.95024290e-01 -9.00211560e-02 -4.26948902e-02 1.70845321e+02] [ 8.99914082e-02 9.95939090e-01 -2.62211945e-03 1.06417427e+01] [ 4.27575564e-02 -1.23310075e-03 9.99084717e-01 6.13931868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88509989299996 meters 0.017585441126519906 Centerline is valid? [True, True] Translation: X:170.90, Y:10.65, Z:6.14 [[ 9.95106976e-01 -8.86365304e-02 -4.36539974e-02 1.70904398e+02] [ 8.86036125e-02 9.96063327e-01 -2.69218252e-03 1.06467049e+01] [ 4.37207716e-02 -1.18889226e-03 9.99043082e-01 6.14077206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94509989299996 meters 0.017454655165879587 Centerline is valid? [True, True] Translation: X:170.96, Y:10.65, Z:6.14 [[ 9.95063344e-01 -8.87910081e-02 -4.43294271e-02 1.70961941e+02] [ 8.87567359e-02 9.96049551e-01 -2.74466285e-03 1.06509218e+01] [ 4.43980074e-02 -1.20342186e-03 9.99013197e-01 6.14260010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00509989299997 meters 0.018536205492280525 Centerline is valid? [True, True] Translation: X:171.02, Y:10.66, Z:6.15 [[ 9.94963986e-01 -8.96459808e-02 -4.48359809e-02 1.71019394e+02] [ 8.96112710e-02 9.95972916e-01 -2.78752797e-03 1.06551645e+01] [ 4.49053133e-02 -1.24431929e-03 9.98990473e-01 6.14522340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06509989299997 meters 0.018059962225080228 Centerline is valid? [True, True] Translation: X:171.08, Y:10.66, Z:6.15 [[ 9.94713108e-01 -9.19914960e-02 -4.56442402e-02 1.71077268e+02] [ 9.19578015e-02 9.95758850e-01 -2.84188542e-03 1.06615118e+01] [ 4.57120854e-02 -1.37048330e-03 9.98953716e-01 6.14779366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12509989299997 meters 0.01854783275980446 Centerline is valid? [True, True] Translation: X:171.14, Y:10.67, Z:6.15 [[ 9.94535928e-01 -9.41519839e-02 -4.50964653e-02 1.71135903e+02] [ 9.41210692e-02 9.95556784e-01 -2.81311085e-03 1.06658248e+01] [ 4.51609520e-02 -1.44678773e-03 9.98978676e-01 6.15062450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18509989299997 meters 0.020262642699315412 Centerline is valid? [True, True] Translation: X:171.19, Y:10.67, Z:6.15 [[ 9.94491230e-01 -9.50161048e-02 -4.42620957e-02 1.71193072e+02] [ 9.49867372e-02 9.95474681e-01 -2.77098420e-03 1.06692795e+01] [ 4.43250838e-02 -1.44859257e-03 9.99016110e-01 6.15367809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24509989299997 meters 0.019174594521839377 Centerline is valid? [True, True] Translation: X:171.25, Y:10.68, Z:6.16 [[ 9.94751537e-01 -9.29165400e-02 -4.28473489e-02 1.71251636e+02] [ 9.28869183e-02 9.95673042e-01 -2.68602770e-03 1.06775660e+01] [ 4.29115266e-02 -1.30802801e-03 9.99078020e-01 6.15807636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30509989299998 meters 0.016354307531719035 Centerline is valid? [True, True] Translation: X:171.31, Y:10.69, Z:6.16 [[ 9.95274178e-01 -8.71287948e-02 -4.28705423e-02 1.71310488e+02] [ 8.70936543e-02 9.96196496e-01 -2.69030421e-03 1.06902917e+01] [ 4.29418870e-02 -1.05616188e-03 9.99077013e-01 6.16207499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36509989299998 meters 0.015645800429155025 Centerline is valid? [True, True] Translation: X:171.37, Y:10.70, Z:6.16 [[ 9.95499931e-01 -8.40063937e-02 -4.38498999e-02 1.71369443e+02] [ 8.39664721e-02 9.96464773e-01 -2.75473287e-03 1.06978552e+01] [ 4.39262957e-02 -9.39585017e-04 9.99034333e-01 6.16457849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42509989299998 meters 0.015196026448256255 Centerline is valid? [True, True] Translation: X:171.43, Y:10.70, Z:6.17 [[ 9.95617337e-01 -8.19798856e-02 -4.50046400e-02 1.71428359e+02] [ 8.19352713e-02 9.96633612e-01 -2.83821698e-03 1.07044082e+01] [ 4.50858136e-02 -8.61689357e-04 9.98982746e-01 6.16737069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48509989299995 meters 0.015766306676222423 Centerline is valid? [True, True] Translation: X:171.49, Y:10.71, Z:6.17 [[ 9.95504973e-01 -8.28722089e-02 -4.58480777e-02 1.71485776e+02] [ 8.28263821e-02 9.96559768e-01 -2.90162652e-03 1.07065127e+01] [ 4.59308139e-02 -9.08846772e-04 9.98944210e-01 6.16896857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54509989299996 meters 0.01583612675855774 Centerline is valid? [True, True] Translation: X:171.54, Y:10.71, Z:6.17 [[ 9.95273085e-01 -8.52255422e-02 -4.65627861e-02 1.71544012e+02] [ 8.51804964e-02 9.96361157e-01 -2.95438405e-03 1.07106025e+01] [ 4.66451404e-02 -1.02582230e-03 9.98910996e-01 6.17219727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60509989299996 meters 0.016106438925998705 Centerline is valid? [True, True] Translation: X:171.60, Y:10.71, Z:6.17 [[ 9.95171411e-01 -8.62316809e-02 -4.68824148e-02 1.71602373e+02] [ 8.61865688e-02 9.96274538e-01 -2.98659545e-03 1.07141534e+01] [ 4.69652953e-02 -1.06846006e-03 9.98895950e-01 6.17458997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66509989299996 meters 0.0169994969894133 Centerline is valid? [True, True] Translation: X:171.66, Y:10.72, Z:6.18 [[ 9.94964635e-01 -8.87520858e-02 -4.65665474e-02 1.71659872e+02] [ 8.87098423e-02 9.96053061e-01 -2.97705033e-03 1.07167523e+01] [ 4.66469715e-02 -1.16885128e-03 9.98910754e-01 6.17709491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72509989299996 meters 0.018783109141046556 Centerline is valid? [True, True] Translation: X:171.72, Y:10.72, Z:6.18 [[ 9.94489900e-01 -9.47104098e-02 -4.49419338e-02 1.71719578e+02] [ 9.46769039e-02 9.95503892e-01 -2.87831320e-03 1.07170182e+01] [ 4.50124762e-02 -1.39250974e-03 9.98985454e-01 6.18071229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78509989299997 meters 0.018425240085803957 Centerline is valid? [True, True] Translation: X:171.78, Y:10.72, Z:6.18 [[ 9.94097136e-01 -9.90905127e-02 -4.41809238e-02 1.71779184e+02] [ 9.90623797e-02 9.95077198e-01 -2.83112628e-03 1.07210745e+01] [ 4.42439676e-02 -1.56225292e-03 9.99019535e-01 6.18390801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84509989299997 meters 0.020487357046005763 Centerline is valid? [True, True] Translation: X:171.84, Y:10.72, Z:6.19 [[ 9.93368872e-01 -1.05854762e-01 -4.48670563e-02 1.71839545e+02] [ 1.05832565e-01 9.94379804e-01 -2.87654215e-03 1.07228651e+01] [ 4.49193903e-02 -1.89092821e-03 9.98988825e-01 6.18613905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90509989299997 meters 0.02290027411054521 Centerline is valid? [True, True] Translation: X:171.90, Y:10.72, Z:6.19 [[ 9.92700418e-01 -1.11353806e-01 -4.63272129e-02 1.71899721e+02] [ 1.11336098e-01 9.93778370e-01 -2.97046184e-03 1.07247075e+01] [ 4.63697544e-02 -2.20911241e-03 9.98921902e-01 6.18776684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96509989299997 meters 0.025690982294452398 Centerline is valid? [True, True] Translation: X:171.96, Y:10.73, Z:6.19 [[ 9.92319520e-01 -1.14183301e-01 -4.75830158e-02 1.71958724e+02] [ 1.14167823e-01 9.93456790e-01 -3.05184398e-03 1.07254432e+01] [ 4.76201397e-02 -2.40404497e-03 9.98862625e-01 6.18816190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02509989299998 meters 0.025077011073033426 Centerline is valid? [True, True] Translation: X:172.02, Y:10.73, Z:6.19 [[ 9.91991096e-01 -1.16987778e-01 -4.76185493e-02 1.72018001e+02] [ 1.16975382e-01 9.93130111e-01 -3.05651867e-03 1.07310103e+01] [ 4.76489905e-02 -2.53815871e-03 9.98860917e-01 6.19027443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08509989299998 meters 0.028924585927526274 Centerline is valid? [True, True] Translation: X:172.08, Y:10.73, Z:6.19 [[ 9.91491756e-01 -1.20962415e-01 -4.80852531e-02 1.72077006e+02] [ 1.20954347e-01 9.92653267e-01 -3.08823883e-03 1.07316401e+01] [ 4.81055444e-02 -2.75415703e-03 9.98838461e-01 6.19147597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14509989299998 meters 0.03052772817252214 Centerline is valid? [True, True] Translation: X:172.14, Y:10.74, Z:6.19 [[ 9.91205076e-01 -1.23161698e-01 -4.84117005e-02 1.72136550e+02] [ 1.23156048e-01 9.92382441e-01 -3.11094621e-03 1.07350568e+01] [ 4.84260709e-02 -2.87860803e-03 9.98822622e-01 6.19261656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20509989299995 meters 0.028321178927468212 Centerline is valid? [True, True] Translation: X:172.20, Y:10.75, Z:6.20 [[ 9.90868138e-01 -1.25463395e-01 -4.93889636e-02 1.72195706e+02] [ 1.25460277e-01 9.92093562e-01 -3.17552735e-03 1.07461252e+01] [ 4.93968853e-02 -3.04982417e-03 9.98774572e-01 6.19559745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26509989299996 meters 0.029185406375056278 Centerline is valid? [True, True] Translation: X:172.26, Y:10.75, Z:6.20 [[ 9.90787980e-01 -1.26317765e-01 -4.88159966e-02 1.72255159e+02] [ 1.26315662e-01 9.91985126e-01 -3.14045741e-03 1.07521677e+01] [ 4.88214381e-02 -3.05469746e-03 9.98802851e-01 6.19865733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32509989299996 meters 0.02999150348671459 Centerline is valid? [True, True] Translation: X:172.31, Y:10.76, Z:6.20 [[ 9.90816757e-01 -1.26238856e-01 -4.84345432e-02 1.72314362e+02] [ 1.26236606e-01 9.91995262e-01 -3.11766610e-03 1.07608211e+01] [ 4.84404080e-02 -3.02517652e-03 9.98821493e-01 6.20114625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38509989299996 meters 0.03045800751527961 Centerline is valid? [True, True] Translation: X:172.37, Y:10.77, Z:6.20 [[ 9.90881255e-01 -1.25830038e-01 -4.81782043e-02 1.72373401e+02] [ 1.25827246e-01 9.92047316e-01 -3.10289022e-03 1.07661661e+01] [ 4.81854951e-02 -2.98753501e-03 9.98833936e-01 6.20358352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44509989299996 meters 0.029554082164560905 Centerline is valid? [True, True] Translation: X:172.43, Y:10.78, Z:6.21 [[ 9.91328997e-01 -1.22834667e-01 -4.66740265e-02 1.72433815e+02] [ 1.22828683e-01 9.92423333e-01 -3.00713012e-03 1.07772862e+01] [ 4.66897728e-02 -2.75185391e-03 9.98905647e-01 6.20683640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50509989299997 meters 0.02471942807289153 Centerline is valid? [True, True] Translation: X:172.49, Y:10.79, Z:6.21 [[ 9.91726404e-01 -1.19579576e-01 -4.66847285e-02 1.72493275e+02] [ 1.19570026e-01 9.92821215e-01 -3.00714393e-03 1.07938594e+01] [ 4.67091818e-02 -2.59983017e-03 9.98905147e-01 6.21022277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56509989299997 meters 0.027488260652740664 Centerline is valid? [True, True] Translation: X:172.55, Y:10.80, Z:6.21 [[ 9.91914111e-01 -1.18021161e-01 -4.66626381e-02 1.72553453e+02] [ 1.18009910e-01 9.93007869e-01 -3.00554805e-03 1.07972553e+01] [ 4.66910851e-02 -2.52540818e-03 9.98906184e-01 6.21164154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62509989299997 meters 0.024698767891425666 Centerline is valid? [True, True] Translation: X:172.61, Y:10.81, Z:6.21 [[ 9.92057561e-01 -1.16856873e-01 -4.65431712e-02 1.72614562e+02] [ 1.16844458e-01 9.93145706e-01 -2.99665634e-03 1.08083229e+01] [ 4.65743305e-02 -2.46545601e-03 9.98911785e-01 6.21435402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68509989299997 meters 0.027896493509284543 Centerline is valid? [True, True] Translation: X:172.67, Y:10.81, Z:6.21 [[ 9.92112140e-01 -1.16060303e-01 -4.73656842e-02 1.72674531e+02] [ 1.16046651e-01 9.93239089e-01 -3.04733063e-03 1.08109972e+01] [ 4.73991232e-02 -2.47333531e-03 9.98872968e-01 6.21499686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74509989299997 meters 0.02441686767026565 Centerline is valid? [True, True] Translation: X:172.74, Y:10.82, Z:6.22 [[ 9.92114762e-01 -1.16192255e-01 -4.69857335e-02 1.72736482e+02] [ 1.16179033e-01 9.93223692e-01 -3.02149667e-03 1.08219434e+01] [ 4.70184183e-02 -2.46108565e-03 9.98890991e-01 6.21848690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80509989299998 meters 0.026206913908146928 Centerline is valid? [True, True] Translation: X:172.80, Y:10.83, Z:6.22 [[ 9.91968350e-01 -1.17445862e-01 -4.69602172e-02 1.72796435e+02] [ 1.17434191e-01 9.93076084e-01 -3.01693109e-03 1.08260624e+01] [ 4.69893947e-02 -2.52203496e-03 9.98892204e-01 6.22037870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86509989299998 meters 0.026165644354536357 Centerline is valid? [True, True] Translation: X:172.86, Y:10.83, Z:6.22 [[ 9.91830146e-01 -1.18305722e-01 -4.77149554e-02 1.72858376e+02] [ 1.18294736e-01 9.92973800e-01 -3.06397083e-03 1.08332752e+01] [ 4.77421858e-02 -2.60548942e-03 9.98856294e-01 6.22262632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92509989299998 meters 0.02590966213412251 Centerline is valid? [True, True] Translation: X:172.92, Y:10.84, Z:6.23 [[ 9.91761824e-01 -1.18781081e-01 -4.79535028e-02 1.72920010e+02] [ 1.18770707e-01 9.92916944e-01 -3.07578170e-03 1.08398044e+01] [ 4.79791901e-02 -2.64502858e-03 9.98844833e-01 6.22524999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98509989299995 meters 0.02696795513699624 Centerline is valid? [True, True] Translation: X:172.98, Y:10.85, Z:6.23 [[ 9.91719527e-01 -1.19943930e-01 -4.58893572e-02 1.72981790e+02] [ 1.19935814e-01 9.92777294e-01 -2.94014690e-03 1.08455980e+01] [ 4.59105647e-02 -2.58797632e-03 9.98942202e-01 6.22908960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04509989299996 meters 0.02719605481995798 Centerline is valid? [True, True] Translation: X:173.04, Y:10.85, Z:6.23 [[ 9.91641820e-01 -1.20944995e-01 -4.49311483e-02 1.73043535e+02] [ 1.20938380e-01 9.92655851e-01 -2.87554410e-03 1.08507917e+01] [ 4.49489499e-02 -2.58239052e-03 9.98985947e-01 6.23207030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10509989299996 meters 0.031041245050712447 Centerline is valid? [True, True] Translation: X:173.10, Y:10.85, Z:6.23 [[ 9.91281588e-01 -1.23844329e-01 -4.49821685e-02 1.73103492e+02] [ 1.23840793e-01 9.92297932e-01 -2.87609325e-03 1.08508923e+01] [ 4.49919007e-02 -2.71960915e-03 9.98983650e-01 6.23326742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16509989299996 meters 0.028579899762433757 Centerline is valid? [True, True] Translation: X:173.16, Y:10.86, Z:6.24 [[ 9.90965916e-01 -1.26213510e-01 -4.53508969e-02 1.73163855e+02] [ 1.26212394e-01 9.91999004e-01 -2.89951984e-03 1.08597130e+01] [ 4.53540031e-02 -2.85051991e-03 9.98966911e-01 6.23581998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22509989299996 meters 0.031224079567421816 Centerline is valid? [True, True] Translation: X:173.23, Y:10.86, Z:6.24 [[ 9.90882966e-01 -1.26814817e-01 -4.54856997e-02 1.73225104e+02] [ 1.26814377e-01 9.91922206e-01 -2.90700119e-03 1.08614651e+01] [ 4.54869264e-02 -2.88774271e-03 9.98960760e-01 6.23787685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28509989299997 meters 0.0297276032372173 Centerline is valid? [True, True] Translation: X:173.29, Y:10.87, Z:6.24 [[ 9.90972723e-01 -1.26038745e-01 -4.56869504e-02 1.73287435e+02] [ 1.26037609e-01 9.92021175e-01 -2.91705388e-03 1.08685298e+01] [ 4.56900841e-02 -2.86755319e-03 9.98951547e-01 6.24014628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34509989299997 meters 0.028215719113512023 Centerline is valid? [True, True] Translation: X:173.35, Y:10.88, Z:6.24 [[ 9.91154941e-01 -1.24177881e-01 -4.68159858e-02 1.73348556e+02] [ 1.24174803e-01 9.92255867e-01 -2.98532332e-03 1.08773477e+01] [ 4.68241477e-02 -2.85444786e-03 9.98899070e-01 6.24237441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40509989299997 meters 0.027814743728230708 Centerline is valid? [True, True] Translation: X:173.41, Y:10.88, Z:6.24 [[ 9.91679443e-01 -1.19462762e-01 -4.79638402e-02 1.73407820e+02] [ 1.19454099e-01 9.92835017e-01 -3.05726458e-03 1.08842971e+01] [ 4.79854094e-02 -2.69765090e-03 9.98844394e-01 6.24327652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46509989299997 meters 0.02689878031226256 Centerline is valid? [True, True] Translation: X:173.47, Y:10.89, Z:6.25 [[ 9.92181298e-01 -1.15456891e-01 -4.73917596e-02 1.73468554e+02] [ 1.15443864e-01 9.93309412e-01 -3.02106748e-03 1.08922654e+01] [ 4.74234839e-02 -2.47364123e-03 9.98871811e-01 6.24606403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52509989299998 meters 0.022927140367079785 Centerline is valid? [True, True] Translation: X:173.53, Y:10.91, Z:6.25 [[ 9.92851913e-01 -1.09776394e-01 -4.68425316e-02 1.73528686e+02] [ 1.09757401e-01 9.93953923e-01 -2.98513898e-03 1.09062322e+01] [ 4.68870159e-02 -2.17751360e-03 9.98897826e-01 6.25012265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58509989299998 meters 0.02163872726234478 Centerline is valid? [True, True] Translation: X:173.59, Y:10.91, Z:6.25 [[ 9.93154072e-01 -1.07001824e-01 -4.68572262e-02 1.73589741e+02] [ 1.06979759e-01 9.94256716e-01 -2.98564445e-03 1.09144202e+01] [ 4.69075812e-02 -2.04756984e-03 9.98897135e-01 6.25273555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64509989299998 meters 0.021382560293805128 Centerline is valid? [True, True] Translation: X:173.65, Y:10.92, Z:6.25 [[ 9.93475606e-01 -1.03706367e-01 -4.74469162e-02 1.73649610e+02] [ 1.03680068e-01 9.94606110e-01 -3.02164259e-03 1.09210963e+01] [ 4.75043564e-02 -1.91737130e-03 9.98869191e-01 6.25454976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70509989299995 meters 0.020052796918244967 Centerline is valid? [True, True] Translation: X:173.71, Y:10.93, Z:6.26 [[ 9.93649174e-01 -1.02162193e-01 -4.71614904e-02 1.73711645e+02] [ 1.02134539e-01 9.94766065e-01 -3.00206336e-03 1.09289463e+01] [ 4.72213476e-02 -1.83381932e-03 9.98882767e-01 6.25756642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76509989299996 meters 0.02004734540225923 Centerline is valid? [True, True] Translation: X:173.77, Y:10.93, Z:6.26 [[ 9.93625072e-01 -1.02413212e-01 -4.71248422e-02 1.73773449e+02] [ 1.02386046e-01 9.94740227e-01 -2.99627645e-03 1.09346801e+01] [ 4.71838345e-02 -1.84775086e-03 9.98884514e-01 6.25982383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82509989299996 meters 0.02151968788355134 Centerline is valid? [True, True] Translation: X:173.83, Y:10.94, Z:6.26 [[ 9.93447250e-01 -1.03919839e-01 -4.75733938e-02 1.73834551e+02] [ 1.03894036e-01 9.94583782e-01 -3.02146682e-03 1.09375077e+01] [ 4.76297163e-02 -1.94092399e-03 9.98863175e-01 6.26181993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88509989299996 meters 0.02424058470554019 Centerline is valid? [True, True] Translation: X:173.90, Y:10.94, Z:6.26 [[ 9.92982854e-01 -1.08058778e-01 -4.80453114e-02 1.73895074e+02] [ 1.08037401e-01 9.94142154e-01 -3.04919761e-03 1.09379770e+01] [ 4.80933619e-02 -2.16288963e-03 9.98840503e-01 6.26285058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94509989299996 meters 0.02708464820828248 Centerline is valid? [True, True] Translation: X:173.96, Y:10.94, Z:6.26 [[ 9.92357081e-01 -1.13689508e-01 -4.79804172e-02 1.73955347e+02] [ 1.13674780e-01 9.93513350e-01 -3.04438566e-03 1.09370712e+01] [ 4.80152997e-02 -2.43304569e-03 9.98843637e-01 6.26452881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00509989299997 meters 0.02578406088861002 Centerline is valid? [True, True] Translation: X:174.02, Y:10.94, Z:6.27 [[ 9.91845298e-01 -1.18492248e-01 -4.69307076e-02 1.74015944e+02] [ 1.18483518e-01 9.92951555e-01 -2.97762287e-03 1.09423916e+01] [ 4.69527443e-02 -2.60717410e-03 9.98893709e-01 6.26839480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06509989299997 meters 0.0280566248161789 Centerline is valid? [True, True] Translation: X:174.08, Y:10.94, Z:6.27 [[ 9.91665127e-01 -1.20106876e-01 -4.66327644e-02 1.74076809e+02] [ 1.20100059e-01 9.92757385e-01 -2.95818686e-03 1.09425754e+01] [ 4.66503198e-02 -2.66706699e-03 9.98907721e-01 6.27011481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12509989299997 meters 0.025769806219265577 Centerline is valid? [True, True] Translation: X:174.14, Y:10.95, Z:6.27 [[ 9.91731103e-01 -1.19781949e-01 -4.60619675e-02 1.74138536e+02] [ 1.19775039e-01 9.92796764e-01 -2.91998041e-03 1.09493913e+01] [ 4.60799332e-02 -2.62123856e-03 9.98934317e-01 6.27257761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18509989299997 meters 0.02728359928158188 Centerline is valid? [True, True] Translation: X:174.20, Y:10.95, Z:6.28 [[ 9.91988786e-01 -1.18065107e-01 -4.49319311e-02 1.74198556e+02] [ 1.18056933e-01 9.93002753e-01 -2.84481000e-03 1.09511461e+01] [ 4.49534041e-02 -2.48250637e-03 9.98986000e-01 6.27534225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24509989299997 meters 0.028612340161501958 Centerline is valid? [True, True] Translation: X:174.26, Y:10.95, Z:6.28 [[ 9.92438641e-01 -1.14595824e-01 -4.39697647e-02 1.74258399e+02] [ 1.14584774e-01 9.93409584e-01 -2.77993137e-03 1.09546126e+01] [ 4.39985542e-02 -2.27935423e-03 9.99028994e-01 6.27790342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30509989299998 meters 0.02594375555601971 Centerline is valid? [True, True] Translation: X:174.32, Y:10.96, Z:6.28 [[ 9.92591713e-01 -1.13380849e-01 -4.36631937e-02 1.74320337e+02] [ 1.13368800e-01 9.93549142e-01 -2.76008840e-03 1.09627434e+01] [ 4.36944698e-02 -2.21040300e-03 9.99042495e-01 6.28051855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36509989299998 meters 0.024817328292610956 Centerline is valid? [True, True] Translation: X:174.38, Y:10.97, Z:6.28 [[ 9.92890547e-01 -1.10352375e-01 -4.46174356e-02 1.74381190e+02] [ 1.10336879e-01 9.93890253e-01 -2.81742060e-03 1.09686019e+01] [ 4.46557434e-02 -2.12555831e-03 9.99000173e-01 6.28127517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42509989299998 meters 0.024686449184033885 Centerline is valid? [True, True] Translation: X:174.44, Y:10.97, Z:6.28 [[ 9.93154510e-01 -1.07678248e-01 -4.52715711e-02 1.74441164e+02] [ 1.07659591e-01 9.94183710e-01 -2.85722667e-03 1.09731270e+01] [ 4.53159197e-02 -2.03625130e-03 9.98970631e-01 6.28223212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48509989299995 meters 0.02096506640938993 Centerline is valid? [True, True] Translation: X:174.50, Y:10.98, Z:6.28 [[ 9.93623076e-01 -1.03165160e-01 -4.54987059e-02 1.74501788e+02] [ 1.03141632e-01 9.94662537e-01 -2.87072194e-03 1.09835841e+01] [ 4.55520168e-02 -1.84039521e-03 9.98960273e-01 6.28464352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54509989299996 meters 0.021585138219511985 Centerline is valid? [True, True] Translation: X:174.56, Y:10.99, Z:6.29 [[ 9.94143992e-01 -9.88699994e-02 -4.36170466e-02 1.74560992e+02] [ 9.88442748e-02 9.95099110e-01 -2.75136677e-03 1.09862762e+01] [ 4.36753119e-02 -1.57604060e-03 9.99044535e-01 6.28749457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60509989299996 meters 0.019250692053033674 Centerline is valid? [True, True] Translation: X:174.62, Y:10.99, Z:6.29 [[ 9.94508673e-01 -9.56917881e-02 -4.23742883e-02 1.74621590e+02] [ 9.56646066e-02 9.95410034e-01 -2.67343814e-03 1.09938559e+01] [ 4.24356179e-02 -1.39496221e-03 9.99098230e-01 6.29113788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66509989299996 meters 0.017776135929934097 Centerline is valid? [True, True] Translation: X:174.68, Y:11.00, Z:6.29 [[ 9.94843131e-01 -9.26039353e-02 -4.13721558e-02 1.74682683e+02] [ 9.25754172e-02 9.95702258e-01 -2.60874799e-03 1.09995341e+01] [ 4.14359293e-02 -1.23474957e-03 9.99140400e-01 6.29404135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72509989299996 meters 0.01784761010546932 Centerline is valid? [True, True] Translation: X:174.74, Y:11.00, Z:6.30 [[ 9.94971034e-01 -9.15727449e-02 -4.05841700e-02 1.74744655e+02] [ 9.15445101e-02 9.95797701e-01 -2.55747563e-03 1.10018779e+01] [ 4.06478183e-02 -1.17064379e-03 9.99172850e-01 6.29674364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78509989299997 meters 0.018883632200881274 Centerline is valid? [True, True] Translation: X:174.81, Y:11.00, Z:6.30 [[ 9.94881066e-01 -9.29660034e-02 -3.96104363e-02 1.74806196e+02] [ 9.29403192e-02 9.95668559e-01 -2.49335399e-03 1.10009235e+01] [ 3.96706632e-02 -1.20081591e-03 9.99212088e-01 6.29907069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84509989299997 meters 0.018917884701699916 Centerline is valid? [True, True] Translation: X:174.87, Y:11.00, Z:6.30 [[ 9.94515151e-01 -9.65948097e-02 -4.01130465e-02 1.74867717e+02] [ 9.65715037e-02 9.95322852e-01 -2.52281675e-03 1.10024946e+01] [ 4.01691229e-02 -1.36479774e-03 9.99191963e-01 6.30068990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90509989299997 meters 0.02057134586069032 Centerline is valid? [True, True] Translation: X:174.93, Y:11.00, Z:6.30 [[ 9.94184170e-01 -9.94363443e-02 -4.13551638e-02 1.74929272e+02] [ 9.94141226e-02 9.95042753e-01 -2.59863006e-03 1.10020944e+01] [ 4.14085543e-02 -1.52777046e-03 9.99141130e-01 6.30168633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96509989299997 meters 0.021302422375930254 Centerline is valid? [True, True] Translation: X:174.99, Y:11.00, Z:6.30 [[ 9.93860855e-01 -1.02882710e-01 -4.06908923e-02 1.74990422e+02] [ 1.02864162e-01 9.94692132e-01 -2.55483581e-03 1.10026045e+01] [ 4.07377589e-02 -1.64648322e-03 9.99168516e-01 6.30339802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02509989299998 meters 0.022457381975979344 Centerline is valid? [True, True] Translation: X:175.05, Y:11.00, Z:6.31 [[ 9.93682762e-01 -1.05079333e-01 -3.94068933e-02 1.75052807e+02] [ 1.05063691e-01 9.94462419e-01 -2.47340802e-03 1.10044811e+01] [ 3.94485785e-02 -1.68245074e-03 9.99220185e-01 6.30718001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08509989299998 meters 0.02232733518777278 Centerline is valid? [True, True] Translation: X:175.12, Y:11.01, Z:6.31 [[ 9.93634021e-01 -1.05919464e-01 -3.83731549e-02 1.75115134e+02] [ 1.05905360e-01 9.94373304e-01 -2.40582140e-03 1.10091861e+01] [ 3.84120642e-02 -1.67341678e-03 9.99260583e-01 6.31017873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14509989299998 meters 0.02367705991854439 Centerline is valid? [True, True] Translation: X:175.18, Y:11.01, Z:6.31 [[ 9.93453135e-01 -1.07625463e-01 -3.83096265e-02 1.75177074e+02] [ 1.07612778e-01 9.94189989e-01 -2.39904889e-03 1.10108513e+01] [ 3.83452459e-02 -1.73926267e-03 9.99263037e-01 6.31278613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20509989299995 meters 0.02551426890710662 Centerline is valid? [True, True] Translation: X:175.24, Y:11.01, Z:6.31 [[ 9.93169855e-01 -1.09920907e-01 -3.91284138e-02 1.75238507e+02] [ 1.09909562e-01 9.93938579e-01 -2.44748782e-03 1.10110531e+01] [ 3.91602700e-02 -1.86981569e-03 9.99231193e-01 6.31424213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26509989299996 meters 0.028664395332771226 Centerline is valid? [True, True] Translation: X:175.30, Y:11.01, Z:6.32 [[ 9.92524800e-01 -1.15255109e-01 -4.01345370e-02 1.75299272e+02] [ 1.15247601e-01 9.93333629e-01 -2.50838848e-03 1.10088033e+01] [ 4.01560899e-02 -2.13577134e-03 9.99191136e-01 6.31554777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32509989299996 meters 0.02996640379465735 Centerline is valid? [True, True] Translation: X:175.36, Y:11.01, Z:6.32 [[ 9.92013233e-01 -1.19264928e-01 -4.10563290e-02 1.75360205e+02] [ 1.19260501e-01 9.92859683e-01 -2.56583332e-03 1.10095436e+01] [ 4.10691877e-02 -2.35105775e-03 9.99153539e-01 6.31731232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38509989299996 meters 0.029150563873285004 Centerline is valid? [True, True] Translation: X:175.42, Y:11.01, Z:6.32 [[ 9.91634672e-01 -1.21916863e-01 -4.23905260e-02 1.75420785e+02] [ 1.21914581e-01 9.92537062e-01 -2.64868592e-03 1.10129480e+01] [ 4.23970876e-02 -2.54149443e-03 9.99097607e-01 6.31866637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44509989299996 meters 0.0283774949945448 Centerline is valid? [True, True] Translation: X:175.48, Y:11.02, Z:6.32 [[ 9.91368132e-01 -1.23349566e-01 -4.44309762e-02 1.75482183e+02] [ 1.23348546e-01 9.92359529e-01 -2.77507730e-03 1.10176609e+01] [ 4.44338072e-02 -2.72937312e-03 9.99008602e-01 6.31966169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50509989299997 meters 0.02934526918280639 Centerline is valid? [True, True] Translation: X:175.54, Y:11.02, Z:6.32 [[ 9.91375370e-01 -1.22986886e-01 -4.52670133e-02 1.75543813e+02] [ 1.22985575e-01 9.92404439e-01 -2.82461223e-03 1.10209267e+01] [ 4.52705752e-02 -2.76693868e-03 9.98970930e-01 6.32131727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56509989299997 meters 0.03115707793896252 Centerline is valid? [True, True] Translation: X:175.60, Y:11.02, Z:6.32 [[ 9.91734978e-01 -1.20100353e-01 -4.51402170e-02 1.75603524e+02] [ 1.20096192e-01 9.92758272e-01 -2.81400406e-03 1.10236663e+01] [ 4.51512867e-02 -2.63042190e-03 9.98976698e-01 6.32333866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62509989299997 meters 0.02907156015649667 Centerline is valid? [True, True] Translation: X:175.66, Y:11.03, Z:6.33 [[ 9.92164117e-01 -1.17214794e-01 -4.32557145e-02 1.75663606e+02] [ 1.17208240e-01 9.93103699e-01 -2.69641982e-03 1.10325690e+01] [ 4.32734704e-02 -2.39463520e-03 9.99060395e-01 6.32777000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68509989299997 meters 0.027689767551929464 Centerline is valid? [True, True] Translation: X:175.73, Y:11.04, Z:6.33 [[ 9.92353848e-01 -1.15670549e-01 -4.30600010e-02 1.75725777e+02] [ 1.15662655e-01 9.93284930e-01 -2.68305207e-03 1.10397273e+01] [ 4.30812001e-02 -2.31789698e-03 9.99068885e-01 6.33081284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74509989299997 meters 0.026080185117836743 Centerline is valid? [True, True] Translation: X:175.79, Y:11.05, Z:6.33 [[ 9.92431340e-01 -1.14852076e-01 -4.34630527e-02 1.75787927e+02] [ 1.14843417e-01 9.93379925e-01 -2.70438491e-03 1.10473417e+01] [ 4.34859283e-02 -2.30752915e-03 9.99051375e-01 6.33394951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80509989299998 meters 0.028760210909359575 Centerline is valid? [True, True] Translation: X:175.85, Y:11.05, Z:6.34 [[ 9.92490029e-01 -1.14240251e-01 -4.37345140e-02 1.75849117e+02] [ 1.14231027e-01 9.93450494e-01 -2.71819541e-03 1.10474320e+01] [ 4.37586019e-02 -2.29805660e-03 9.99039491e-01 6.33598699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86509989299998 meters 0.026335211518018074 Centerline is valid? [True, True] Translation: X:175.91, Y:11.06, Z:6.34 [[ 9.92704807e-01 -1.12526422e-01 -4.33009366e-02 1.75909811e+02] [ 1.12515849e-01 9.93646292e-01 -2.68904081e-03 1.10562604e+01] [ 4.33284032e-02 -2.20261789e-03 9.99058456e-01 6.33941801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92509989299995 meters 0.02563216890418174 Centerline is valid? [True, True] Translation: X:175.97, Y:11.06, Z:6.34 [[ 9.92744172e-01 -1.11772889e-01 -4.43376866e-02 1.75972114e+02] [ 1.11761145e-01 9.93731290e-01 -2.75142174e-03 1.10628536e+01] [ 4.43672808e-02 -2.22377271e-03 9.99012812e-01 6.34215874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98509989299995 meters 0.02527184231226902 Centerline is valid? [True, True] Translation: X:176.03, Y:11.07, Z:6.34 [[ 9.93067372e-01 -1.08315465e-01 -4.56613099e-02 1.76032375e+02] [ 1.08299565e-01 9.94114279e-01 -2.82923018e-03 1.10672909e+01] [ 4.56990095e-02 -2.13548380e-03 9.98952972e-01 6.34251000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04509989299996 meters 0.02168088048336902 Centerline is valid? [True, True] Translation: X:176.09, Y:11.08, Z:6.35 [[ 9.93956316e-01 -9.99958856e-02 -4.52953130e-02 1.76092568e+02] [ 9.99717963e-02 9.94986324e-01 -2.80250547e-03 1.10784169e+01] [ 4.53484561e-02 -1.74268580e-03 9.98969710e-01 6.34539112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10509989299996 meters 0.02017549710943207 Centerline is valid? [True, True] Translation: X:176.15, Y:11.09, Z:6.35 [[ 9.94551114e-01 -9.41503042e-02 -4.47638498e-02 1.76153377e+02] [ 9.41208959e-02 9.95556925e-01 -2.76887328e-03 1.10861941e+01] [ 4.48256509e-02 -1.45942764e-03 9.98993759e-01 6.34856533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16509989299996 meters 0.01775678951489938 Centerline is valid? [True, True] Translation: X:176.21, Y:11.09, Z:6.35 [[ 9.95377889e-01 -8.52426593e-02 -4.42328692e-02 1.76212272e+02] [ 8.52051778e-02 9.96359671e-01 -2.73547649e-03 1.10947893e+01] [ 4.43050263e-02 -1.04603667e-03 9.99017503e-01 6.35165201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22509989299996 meters 0.01705521002433158 Centerline is valid? [True, True] Translation: X:176.27, Y:11.10, Z:6.35 [[ 9.95610163e-01 -8.27833704e-02 -4.36728311e-02 1.76273155e+02] [ 8.27444565e-02 9.96567137e-01 -2.70109994e-03 1.10997219e+01] [ 4.37465144e-02 -9.24442117e-04 9.99042235e-01 6.35445086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28509989299997 meters 0.014952621671694075 Centerline is valid? [True, True] Translation: X:176.33, Y:11.11, Z:6.36 [[ 9.96211656e-01 -7.61402789e-02 -4.20118440e-02 1.76334061e+02] [ 7.60984219e-02 9.97096929e-01 -2.59696692e-03 1.11085286e+01] [ 4.20876145e-02 -6.09906322e-04 9.99113738e-01 6.35908250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34509989299997 meters 0.014201160487186153 Centerline is valid? [True, True] Translation: X:176.40, Y:11.11, Z:6.36 [[ 9.96740650e-01 -6.97157890e-02 -4.05929302e-02 1.76395280e+02] [ 6.96714430e-02 9.97566840e-01 -2.50782426e-03 1.11139331e+01] [ 4.06689961e-02 -3.28517638e-04 9.99172620e-01 6.36173544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40509989299997 meters 0.014029778766136229 Centerline is valid? [True, True] Translation: X:176.46, Y:11.12, Z:6.36 [[ 9.96872980e-01 -6.79669244e-02 -4.03083094e-02 1.76456923e+02] [ 6.79218283e-02 9.97687542e-01 -2.48877536e-03 1.11162961e+01] [ 4.03842525e-02 -2.56821159e-04 9.99184190e-01 6.36405315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46509989299997 meters 0.014222836551355797 Centerline is valid? [True, True] Translation: X:176.52, Y:11.12, Z:6.37 [[ 9.96765636e-01 -6.91799174e-02 -4.08950593e-02 1.76518623e+02] [ 6.91345807e-02 9.97604151e-01 -2.52349470e-03 1.11170967e+01] [ 4.09716560e-02 -3.11929975e-04 9.99160260e-01 6.36578592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52509989299998 meters 0.014655112555035835 Centerline is valid? [True, True] Translation: X:176.58, Y:11.11, Z:6.37 [[ 9.96363601e-01 -7.36318006e-02 -4.28711152e-02 1.76579784e+02] [ 7.35861573e-02 9.97285359e-01 -2.64392457e-03 1.11140027e+01] [ 4.29494125e-02 -5.20410424e-04 9.99077113e-01 6.36574008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58509989299998 meters 0.015627217529733617 Centerline is valid? [True, True] Translation: X:176.64, Y:11.11, Z:6.37 [[ 9.95926976e-01 -7.92695225e-02 -4.29627805e-02 1.76640290e+02] [ 7.92289482e-02 9.96852926e-01 -2.64900683e-03 1.11087103e+01] [ 4.30375590e-02 -7.65678544e-04 9.99073162e-01 6.36720042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64509989299998 meters 0.016867683280356 Centerline is valid? [True, True] Translation: X:176.70, Y:11.11, Z:6.37 [[ 9.95652651e-01 -8.27774314e-02 -4.27047552e-02 1.76700652e+02] [ 8.27405418e-02 9.96567643e-01 -2.63366360e-03 1.11057785e+01] [ 4.27761852e-02 -9.11200438e-04 9.99084265e-01 6.36879246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70509989299995 meters 0.016874634770451608 Centerline is valid? [True, True] Translation: X:176.76, Y:11.10, Z:6.37 [[ 9.95421847e-01 -8.63437746e-02 -4.09890139e-02 1.76761640e+02] [ 8.63128380e-02 9.96264878e-01 -2.52715269e-03 1.11039225e+01] [ 4.10541188e-02 -1.02229512e-03 9.99156401e-01 6.37231223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76509989299996 meters 0.017586151534899258 Centerline is valid? [True, True] Translation: X:176.82, Y:11.10, Z:6.38 [[ 9.95269101e-01 -8.82181881e-02 -4.07058774e-02 1.76824262e+02] [ 8.81892808e-02 9.96100576e-01 -2.50877139e-03 1.11016102e+01] [ 4.07684672e-02 -1.09291941e-03 9.99168023e-01 6.37554034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82509989299996 meters 0.017336057020581976 Centerline is valid? [True, True] Translation: X:176.89, Y:11.10, Z:6.38 [[ 9.95232408e-01 -8.83923528e-02 -4.12219004e-02 1.76886125e+02] [ 8.83629821e-02 9.96085109e-01 -2.53755676e-03 1.11024340e+01] [ 4.12848218e-02 -1.11703133e-03 9.99146794e-01 6.37736285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88509989299996 meters 0.017750240478348746 Centerline is valid? [True, True] Translation: X:176.95, Y:11.10, Z:6.38 [[ 9.95133016e-01 -8.85077745e-02 -4.33203685e-02 1.76947602e+02] [ 8.84755864e-02 9.96074784e-01 -2.66353440e-03 1.10982750e+01] [ 4.33860702e-02 -1.18222399e-03 9.99057682e-01 6.37806531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94509989299996 meters 0.017123178963312807 Centerline is valid? [True, True] Translation: X:177.01, Y:11.10, Z:6.38 [[ 9.95102198e-01 -8.75572874e-02 -4.58839471e-02 1.77009124e+02] [ 8.75202819e-02 9.96158750e-01 -2.81869881e-03 1.10998074e+01] [ 4.59544930e-02 -1.21088260e-03 9.98942800e-01 6.37918264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00509989299997 meters 0.016817569241763333 Centerline is valid? [True, True] Translation: X:177.07, Y:11.10, Z:6.38 [[ 9.95172307e-01 -8.60463106e-02 -4.72028700e-02 1.77068674e+02] [ 8.60054987e-02 9.96290445e-01 -2.89869000e-03 1.11020562e+01] [ 4.72771899e-02 -1.17501036e-03 9.98881117e-01 6.38030810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06509989299997 meters 0.016573935113722973 Centerline is valid? [True, True] Translation: X:177.13, Y:11.11, Z:6.38 [[ 9.95236285e-01 -8.51388350e-02 -4.74985977e-02 1.77127769e+02] [ 8.50962984e-02 9.96368451e-01 -2.92061783e-03 1.11056822e+01] [ 4.75747622e-02 -1.13525001e-03 9.98867035e-01 6.38263549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12509989299997 meters 0.016934018737850533 Centerline is valid? [True, True] Translation: X:177.19, Y:11.11, Z:6.38 [[ 9.95364736e-01 -8.35197195e-02 -4.76812111e-02 1.77185539e+02] [ 8.34745342e-02 9.96505569e-01 -2.94157540e-03 1.11068542e+01] [ 4.77602720e-02 -1.05222646e-03 9.98858273e-01 6.38343460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18509989299997 meters 0.015239350376355425 Centerline is valid? [True, True] Translation: X:177.24, Y:11.11, Z:6.39 [[ 9.95546132e-01 -8.25251210e-02 -4.55796450e-02 1.77243526e+02] [ 8.24825449e-02 9.96588527e-01 -2.81727261e-03 1.11116480e+01] [ 4.56566470e-02 -9.54800268e-04 9.98956735e-01 6.38933268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24509989299997 meters 0.01583443262445808 Centerline is valid? [True, True] Translation: X:177.30, Y:11.11, Z:6.39 [[ 9.95609320e-01 -8.27232074e-02 -4.38058620e-02 1.77302303e+02] [ 8.26836461e-02 9.96572140e-01 -2.71733481e-03 1.11110770e+01] [ 4.38804883e-02 -9.16624525e-04 9.99036367e-01 6.39271138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30509989299998 meters 0.015687510691281513 Centerline is valid? [True, True] Translation: X:177.36, Y:11.11, Z:6.40 [[ 9.95602913e-01 -8.40899023e-02 -4.12762283e-02 1.77362081e+02] [ 8.40558657e-02 9.96457749e-01 -2.56249292e-03 1.11129572e+01] [ 4.13454973e-02 -9.18283682e-04 9.99144487e-01 6.39699135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36509989299998 meters 0.01713184569109186 Centerline is valid? [True, True] Translation: X:177.42, Y:11.11, Z:6.40 [[ 9.95418329e-01 -8.67060956e-02 -4.03038861e-02 1.77421641e+02] [ 8.66757308e-02 9.96233432e-01 -2.50348310e-03 1.11109194e+01] [ 4.03691460e-02 -1.00135582e-03 9.99184332e-01 6.39927231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42509989299995 meters 0.019558249689953424 Centerline is valid? [True, True] Translation: X:177.48, Y:11.11, Z:6.40 [[ 9.94833379e-01 -9.25013477e-02 -4.18335872e-02 1.77481652e+02] [ 9.24737308e-02 9.95711733e-01 -2.59894280e-03 1.11062235e+01] [ 4.18945993e-02 -1.28299283e-03 9.99121212e-01 6.40027341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48509989299995 meters 0.019838219065740192 Centerline is valid? [True, True] Translation: X:177.54, Y:11.11, Z:6.40 [[ 9.94328164e-01 -9.75161939e-02 -4.24510731e-02 1.77541647e+02] [ 9.74922843e-02 9.95232784e-01 -2.63807443e-03 1.11069044e+01] [ 4.25059546e-02 -1.51554038e-03 9.99095064e-01 6.40231020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54509989299996 meters 0.022922531834389578 Centerline is valid? [True, True] Translation: X:177.60, Y:11.10, Z:6.40 [[ 9.93582642e-01 -1.04415248e-01 -4.34855177e-02 1.77602113e+02] [ 1.04396711e-01 9.94532060e-01 -2.70325207e-03 1.11018831e+01] [ 4.35300022e-02 -1.85384069e-03 9.99050400e-01 6.40358006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60509989299996 meters 0.025084823286611442 Centerline is valid? [True, True] Translation: X:177.66, Y:11.10, Z:6.40 [[ 9.93148727e-01 -1.07554562e-01 -4.56905080e-02 1.77662484e+02] [ 1.07537394e-01 9.94196982e-01 -2.84074800e-03 1.11005056e+01] [ 4.57309006e-02 -2.09215288e-03 9.98951604e-01 6.40345982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66509989299996 meters 0.024352573894646484 Centerline is valid? [True, True] Translation: X:177.72, Y:11.10, Z:6.40 [[ 9.92670946e-01 -1.11242847e-01 -4.72167636e-02 1.77722956e+02] [ 1.11228630e-01 9.93790505e-01 -2.93656762e-03 1.11024572e+01] [ 4.72502435e-02 -2.33681057e-03 9.98880350e-01 6.40448954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72509989299996 meters 0.0241756377067335 Centerline is valid? [True, True] Translation: X:177.78, Y:11.11, Z:6.41 [[ 9.92657999e-01 -1.11993404e-01 -4.56899761e-02 1.77783669e+02] [ 1.11980881e-01 9.93706298e-01 -2.84161163e-03 1.11058783e+01] [ 4.57206588e-02 -2.29565528e-03 9.98951626e-01 6.40793880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78509989299997 meters 0.02428405201621366 Centerline is valid? [True, True] Translation: X:177.84, Y:11.11, Z:6.41 [[ 9.92655909e-01 -1.12456030e-01 -4.45857306e-02 1.77844295e+02] [ 1.12444568e-01 9.93654130e-01 -2.77293493e-03 1.11096542e+01] [ 4.46146286e-02 -2.26085297e-03 9.99001713e-01 6.41097422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84509989299997 meters 0.02646305160537597 Centerline is valid? [True, True] Translation: X:177.90, Y:11.11, Z:6.41 [[ 9.92682480e-01 -1.13051093e-01 -4.24375417e-02 1.77903701e+02] [ 1.13041244e-01 9.93586791e-01 -2.63942512e-03 1.11110684e+01] [ 4.24637707e-02 -2.17708142e-03 9.99095635e-01 6.41433602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90509989299997 meters 0.0236135091838205 Centerline is valid? [True, True] Translation: X:177.96, Y:11.12, Z:6.42 [[ 9.92634096e-01 -1.13899119e-01 -4.12860943e-02 1.77964885e+02] [ 1.13890505e-01 9.93489988e-01 -2.56830869e-03 1.11196210e+01] [ 4.13098495e-02 -2.15270337e-03 9.99144065e-01 6.41782372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96509989299997 meters 0.024568464573962164 Centerline is valid? [True, True] Translation: X:178.03, Y:11.12, Z:6.42 [[ 9.92517848e-01 -1.15187191e-01 -4.04997839e-02 1.78026213e+02] [ 1.15180030e-01 9.93341442e-01 -2.51791848e-03 1.11225263e+01] [ 4.05201457e-02 -2.16568728e-03 9.99176375e-01 6.42045110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02509989299998 meters 0.024949020102814856 Centerline is valid? [True, True] Translation: X:178.09, Y:11.13, Z:6.42 [[ 9.92482207e-01 -1.15519349e-01 -4.04270873e-02 1.78087991e+02] [ 1.15512553e-01 9.93302845e-01 -2.51179384e-03 1.11272121e+01] [ 4.04465016e-02 -2.17692538e-03 9.99179334e-01 6.42288559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08509989299998 meters 0.025597925308338564 Centerline is valid? [True, True] Translation: X:178.15, Y:11.13, Z:6.42 [[ 9.92516667e-01 -1.15043554e-01 -4.09346671e-02 1.78149067e+02] [ 1.15036304e-01 9.93358040e-01 -2.54041450e-03 1.11308102e+01] [ 4.09550390e-02 -2.18756906e-03 9.99158596e-01 6.42476503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14509989299998 meters 0.025659445665002417 Centerline is valid? [True, True] Translation: X:178.21, Y:11.14, Z:6.43 [[ 9.92701235e-01 -1.12631621e-01 -4.31088776e-02 1.78209005e+02] [ 1.12621383e-01 9.93634377e-01 -2.67381455e-03 1.11371160e+01] [ 4.31356188e-02 -2.20068239e-03 9.99066802e-01 6.42506953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20509989299995 meters 0.02219445959303962 Centerline is valid? [True, True] Translation: X:178.27, Y:11.15, Z:6.43 [[ 9.93191109e-01 -1.08025862e-01 -4.36100230e-02 1.78269341e+02] [ 1.08010990e-01 9.94146022e-01 -2.70409784e-03 1.11490854e+01] [ 4.36468434e-02 -2.02467582e-03 9.99044971e-01 6.42754318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26509989299996 meters 0.022713000397105026 Centerline is valid? [True, True] Translation: X:178.33, Y:11.16, Z:6.43 [[ 9.93836469e-01 -1.02414548e-01 -4.24303325e-02 1.78328383e+02] [ 1.02395389e-01 9.94740301e-01 -2.63033422e-03 1.11556292e+01] [ 4.24765462e-02 -1.73054833e-03 9.99095965e-01 6.43050105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32509989299996 meters 0.01962135963801904 Centerline is valid? [True, True] Translation: X:178.39, Y:11.17, Z:6.43 [[ 9.94267730e-01 -9.79358854e-02 -4.28980686e-02 1.78388153e+02] [ 9.79121250e-02 9.95191510e-01 -2.65968685e-03 1.11670476e+01] [ 4.29522725e-02 -1.55580025e-03 9.99075914e-01 6.43266035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38509989299996 meters 0.020337213960525045 Centerline is valid? [True, True] Translation: X:178.45, Y:11.17, Z:6.43 [[ 9.94357003e-01 -9.71017676e-02 -4.27246604e-02 1.78448060e+02] [ 9.70774301e-02 9.95273307e-01 -2.64893552e-03 1.11704743e+01] [ 4.27799304e-02 -1.51361265e-03 9.99083373e-01 6.43465498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44509989299996 meters 0.018089037740875398 Centerline is valid? [True, True] Translation: X:178.51, Y:11.18, Z:6.44 [[ 9.94511717e-01 -9.53053434e-02 -4.31663733e-02 1.78508632e+02] [ 9.52788202e-02 9.95447028e-01 -2.67610572e-03 1.11793519e+01] [ 4.32248852e-02 -1.45142262e-03 9.99064314e-01 6.43681905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50509989299997 meters 0.018315371809361308 Centerline is valid? [True, True] Translation: X:178.57, Y:11.19, Z:6.44 [[ 9.94609111e-01 -9.43531950e-02 -4.30138353e-02 1.78569749e+02] [ 9.43260369e-02 9.95537792e-01 -2.66508991e-03 1.11854669e+01] [ 4.30733584e-02 -1.40660191e-03 9.99070922e-01 6.43972790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56509989299997 meters 0.018024762002810186 Centerline is valid? [True, True] Translation: X:178.63, Y:11.19, Z:6.44 [[ 9.94635562e-01 -9.39998362e-02 -4.31755719e-02 1.78630809e+02] [ 9.39722086e-02 9.95571231e-01 -2.67355151e-03 1.11910077e+01] [ 4.32356707e-02 -1.39809445e-03 9.99063923e-01 6.44249549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62509989299997 meters 0.01760121644896557 Centerline is valid? [True, True] Translation: X:178.69, Y:11.20, Z:6.45 [[ 9.94786555e-01 -9.22288289e-02 -4.35149836e-02 1.78691720e+02] [ 9.21991424e-02 9.95736946e-01 -2.69298422e-03 1.11980622e+01] [ 4.35778477e-02 -1.33309968e-03 9.99049145e-01 6.44630062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68509989299997 meters 0.0169120214877171 Centerline is valid? [True, True] Translation: X:178.75, Y:11.21, Z:6.45 [[ 9.94978515e-01 -8.99440538e-02 -4.39069734e-02 1.78752252e+02] [ 8.99116733e-02 9.95946041e-01 -2.71576741e-03 1.12056465e+01] [ 4.39732435e-02 -1.24561923e-03 9.99031933e-01 6.44981860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74509989299997 meters 0.016933956441218423 Centerline is valid? [True, True] Translation: X:178.81, Y:11.21, Z:6.45 [[ 9.95287250e-01 -8.59690840e-02 -4.48620928e-02 1.78812160e+02] [ 8.59312824e-02 9.96297204e-01 -2.77402160e-03 1.12129723e+01] [ 4.49344578e-02 -1.09410883e-03 9.98989338e-01 6.45249488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80509989299998 meters 0.01660281462019304 Centerline is valid? [True, True] Translation: X:178.87, Y:11.22, Z:6.45 [[ 9.95410892e-01 -8.39745735e-02 -4.58849350e-02 1.78872065e+02] [ 8.39329360e-02 9.96467368e-01 -2.83673883e-03 1.12188413e+01] [ 4.59610544e-02 -1.02753659e-03 9.98942704e-01 6.45490999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86509989299998 meters 0.01528450732339357 Centerline is valid? [True, True] Translation: X:178.93, Y:11.23, Z:6.46 [[ 9.95396428e-01 -8.32851627e-02 -4.74292455e-02 1.78931003e+02] [ 8.32398451e-02 9.96525225e-01 -2.93323492e-03 1.12272094e+01] [ 4.75087345e-02 -1.02827148e-03 9.98870293e-01 6.45849480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92509989299995 meters 0.015364924691136416 Centerline is valid? [True, True] Translation: X:178.99, Y:11.23, Z:6.46 [[ 9.95282982e-01 -8.39076581e-02 -4.86959026e-02 1.78990569e+02] [ 8.38605443e-02 9.96472944e-01 -3.01336479e-03 1.12312625e+01] [ 4.87769939e-02 -1.08451421e-03 9.98809105e-01 6.46010980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98509989299995 meters 0.016774093005227902 Centerline is valid? [True, True] Translation: X:179.05, Y:11.23, Z:6.46 [[ 9.95178264e-01 -8.51728955e-02 -4.86394888e-02 1.79048447e+02] [ 8.51272848e-02 9.96365531e-01 -3.01223941e-03 1.12327381e+01] [ 4.87192713e-02 -1.14283243e-03 9.98811857e-01 6.46153587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04509989299996 meters 0.01654559395001031 Centerline is valid? [True, True] Translation: X:179.11, Y:11.24, Z:6.46 [[ 9.95062314e-01 -8.63832586e-02 -4.88766178e-02 1.79107435e+02] [ 8.63383554e-02 9.96261255e-01 -3.03314512e-03 1.12366728e+01] [ 4.89558935e-02 -1.20175840e-03 9.98800218e-01 6.46405189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10509989299996 meters 0.015624542158342459 Centerline is valid? [True, True] Translation: X:179.17, Y:11.24, Z:6.47 [[ 9.95065795e-01 -8.63935644e-02 -4.87874552e-02 1.79166639e+02] [ 8.63483663e-02 9.96260375e-01 -3.03723901e-03 1.12419927e+01] [ 4.88674063e-02 -1.19046440e-03 9.98804565e-01 6.46746497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16509989299996 meters 0.016012825802940372 Centerline is valid? [True, True] Translation: X:179.23, Y:11.24, Z:6.47 [[ 9.95031589e-01 -8.67491529e-02 -4.88540814e-02 1.79225729e+02] [ 8.67041607e-02 9.96229455e-01 -3.04339843e-03 1.12445769e+01] [ 4.89338871e-02 -1.20757455e-03 9.98801290e-01 6.46881902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22509989299996 meters 0.016990111527179247 Centerline is valid? [True, True] Translation: X:179.28, Y:11.25, Z:6.47 [[ 9.94913629e-01 -8.84050095e-02 -4.82848326e-02 1.79283958e+02] [ 8.83628708e-02 9.96083801e-01 -3.01074769e-03 1.12457627e+01] [ 4.83619048e-02 -1.27115252e-03 9.98829070e-01 6.46971180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28509989299997 meters 0.017099163269996432 Centerline is valid? [True, True] Translation: X:179.34, Y:11.25, Z:6.47 [[ 9.94818991e-01 -8.96392140e-02 -4.79581731e-02 1.79343612e+02] [ 8.95989289e-02 9.95973429e-01 -2.99342660e-03 1.12485969e+01] [ 4.80333945e-02 -1.31908331e-03 9.98844859e-01 6.47202733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34509989299997 meters 0.01720116447265681 Centerline is valid? [True, True] Translation: X:179.40, Y:11.25, Z:6.48 [[ 9.94673250e-01 -9.18758509e-02 -4.67327944e-02 1.79402841e+02] [ 9.18399845e-02 9.95769501e-01 -2.91859965e-03 1.12515399e+01] [ 4.68032402e-02 -1.38888612e-03 9.98903162e-01 6.47529824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40509989299997 meters 0.017806112743137127 Centerline is valid? [True, True] Translation: X:179.46, Y:11.25, Z:6.48 [[ 9.94519336e-01 -9.39712141e-02 -4.58334141e-02 1.79463229e+02] [ 9.39388741e-02 9.95573848e-01 -2.86377362e-03 1.12532840e+01] [ 4.58996607e-02 -1.45746107e-03 9.98944992e-01 6.47814187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46509989299997 meters 0.019924619974684293 Centerline is valid? [True, True] Translation: X:179.52, Y:11.25, Z:6.48 [[ 9.94249461e-01 -9.68314584e-02 -4.57348628e-02 1.79523537e+02] [ 9.68022948e-02 9.95299529e-01 -2.85724085e-03 1.12522129e+01] [ 4.57965581e-02 -1.58642949e-03 9.98949528e-01 6.48081007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52509989299998 meters 0.020133442708059453 Centerline is valid? [True, True] Translation: X:179.58, Y:11.26, Z:6.48 [[ 9.93970844e-01 -9.88649968e-02 -4.74096420e-02 1.79583777e+02] [ 9.88360494e-02 9.95099328e-01 -2.96016855e-03 1.12552320e+01] [ 4.74699600e-02 -1.74346048e-03 9.98871144e-01 6.48217630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58509989299998 meters 0.022446913295412978 Centerline is valid? [True, True] Translation: X:179.64, Y:11.26, Z:6.48 [[ 9.93852687e-01 -9.95674725e-02 -4.84061419e-02 1.79643413e+02] [ 9.95381186e-02 9.95029159e-01 -3.02258667e-03 1.12550425e+01] [ 4.84664740e-02 -1.81425041e-03 9.98823162e-01 6.48308653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64509989299998 meters 0.021606560445956897 Centerline is valid? [True, True] Translation: X:179.70, Y:11.26, Z:6.49 [[ 9.93802462e-01 -9.94527256e-02 -4.96570372e-02 1.79703407e+02] [ 9.94216602e-02 9.95040559e-01 -3.10137392e-03 1.12605774e+01] [ 4.97192061e-02 -1.85483204e-03 9.98761513e-01 6.48575416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70509989299995 meters 0.02056625615999529 Centerline is valid? [True, True] Translation: X:179.76, Y:11.27, Z:6.49 [[ 9.93755006e-01 -9.93554833e-02 -5.07885369e-02 1.79763175e+02] [ 9.93228611e-02 9.95050203e-01 -3.17204273e-03 1.12671862e+01] [ 5.08523038e-02 -1.89222945e-03 9.98704392e-01 6.48916300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76509989299996 meters 0.02079818020855476 Centerline is valid? [True, True] Translation: X:179.82, Y:11.27, Z:6.49 [[ 9.93771019e-01 -9.91342447e-02 -5.09074085e-02 1.79823785e+02] [ 9.91011801e-02 9.95072282e-01 -3.17946696e-03 1.12722124e+01] [ 5.09717452e-02 -1.88532214e-03 9.98698316e-01 6.49234717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82509989299996 meters 0.02060151590437525 Centerline is valid? [True, True] Translation: X:179.88, Y:11.28, Z:6.50 [[ 9.93799840e-01 -9.91844934e-02 -5.02425497e-02 1.79883606e+02] [ 9.91523499e-02 9.95067317e-01 -3.13794262e-03 1.12773857e+01] [ 5.03059544e-02 -1.86317999e-03 9.98732116e-01 6.49527358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88509989299996 meters 0.019716926350816354 Centerline is valid? [True, True] Translation: X:179.94, Y:11.28, Z:6.50 [[ 9.93713502e-01 -1.00314134e-01 -4.97046356e-02 1.79944399e+02] [ 1.00284107e-01 9.94954001e-01 -3.10388946e-03 1.12845913e+01] [ 4.97651901e-02 -1.90020815e-03 9.98759138e-01 6.49932214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94509989299996 meters 0.02098377317909464 Centerline is valid? [True, True] Translation: X:180.00, Y:11.29, Z:6.50 [[ 9.93591586e-01 -1.01595990e-01 -4.95380238e-02 1.80003473e+02] [ 1.01567810e-01 9.94823812e-01 -3.09234700e-03 1.12875497e+01] [ 4.95957757e-02 -1.95893862e-03 9.98767451e-01 6.50194909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00509989299997 meters 0.02237146050633893 Centerline is valid? [True, True] Translation: X:180.06, Y:11.29, Z:6.50 [[ 9.93372994e-01 -1.03434761e-01 -5.01133204e-02 1.80063934e+02] [ 1.03408224e-01 9.94634078e-01 -3.12893876e-03 1.12902858e+01] [ 5.01680573e-02 -2.07392620e-03 9.98738637e-01 6.50404853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06509989299997 meters 0.022482985531228836 Centerline is valid? [True, True] Translation: X:180.12, Y:11.29, Z:6.51 [[ 9.93072296e-01 -1.05634729e-01 -5.14657005e-02 1.80124363e+02] [ 1.05609689e-01 9.94402468e-01 -3.21337768e-03 1.12942973e+01] [ 5.15170639e-02 -2.24416030e-03 9.98669593e-01 6.50593547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12509989299997 meters 0.02252742795876218 Centerline is valid? [True, True] Translation: X:180.18, Y:11.30, Z:6.51 [[ 9.92679104e-01 -1.08272282e-01 -5.35285869e-02 1.80184771e+02] [ 1.08249039e-01 9.94118191e-01 -3.34188104e-03 1.12996586e+01] [ 5.35755751e-02 -2.47700261e-03 9.98560725e-01 6.50824839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18509989299997 meters 0.02276921935008762 Centerline is valid? [True, True] Translation: X:180.25, Y:11.30, Z:6.51 [[ 9.92631843e-01 -1.08635362e-01 -5.36691908e-02 1.80245376e+02] [ 1.08612563e-01 9.94078512e-01 -3.34997764e-03 1.13044992e+01] [ 5.37153153e-02 -2.50385390e-03 9.98553151e-01 6.51121714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24509989299997 meters 0.021757564523263568 Centerline is valid? [True, True] Translation: X:180.31, Y:11.31, Z:6.52 [[ 9.92821458e-01 -1.06848068e-01 -5.37498127e-02 1.80305041e+02] [ 1.06822588e-01 9.94272437e-01 -3.35500998e-03 1.13121208e+01] [ 5.38004336e-02 -2.41076821e-03 9.98548798e-01 6.51505861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30509989299998 meters 0.02107991272710545 Centerline is valid? [True, True] Translation: X:180.36, Y:11.32, Z:6.52 [[ 9.93533774e-01 -1.00619902e-01 -5.25953901e-02 1.80364048e+02] [ 1.00586778e-01 9.94922872e-01 -3.28319319e-03 1.13211864e+01] [ 5.26587111e-02 -2.02843752e-03 9.98610507e-01 6.51891450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36509989299998 meters 0.017971196911496772 Centerline is valid? [True, True] Translation: X:180.42, Y:11.33, Z:6.52 [[ 9.94093326e-01 -9.53514142e-02 -5.18321047e-02 1.80423629e+02] [ 9.53120621e-02 9.95442182e-01 -3.23612188e-03 1.13328764e+01] [ 5.19044322e-02 -1.72321762e-03 9.98650570e-01 6.52348649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42509989299995 meters 0.01596388170850919 Centerline is valid? [True, True] Translation: X:180.48, Y:11.34, Z:6.53 [[ 9.94794565e-01 -8.82344633e-02 -5.09750164e-02 1.80483454e+02] [ 8.81870655e-02 9.96098847e-01 -3.18260983e-03 1.13441155e+01] [ 5.10569709e-02 -1.32929415e-03 9.98694858e-01 6.52682184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48509989299995 meters 0.014240457863181438 Centerline is valid? [True, True] Translation: X:180.54, Y:11.35, Z:6.53 [[ 9.95412087e-01 -8.09366626e-02 -5.10297289e-02 1.80543404e+02] [ 8.08795787e-02 9.96718788e-01 -3.18602579e-03 1.13549572e+01] [ 5.11201558e-02 -9.55854392e-04 9.98692053e-01 6.52950490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54509989299996 meters 0.013694918286358335 Centerline is valid? [True, True] Translation: X:180.60, Y:11.36, Z:6.53 [[ 9.95805675e-01 -7.56980685e-02 -5.13892975e-02 1.80602504e+02] [ 7.56331921e-02 9.97130545e-01 -3.20872945e-03 1.13622149e+01] [ 5.14847328e-02 -6.91465611e-04 9.98673542e-01 6.53019444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60509989299996 meters 0.01260772581671791 Centerline is valid? [True, True] Translation: X:180.66, Y:11.37, Z:6.53 [[ 9.96331297e-01 -6.77176232e-02 -5.23284919e-02 1.80661014e+02] [ 6.76391151e-02 9.97704488e-01 -3.27181733e-03 1.13727473e+01] [ 5.24299309e-02 -2.79638881e-04 9.98624566e-01 6.53250774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66509989299996 meters 0.012425637554939693 Centerline is valid? [True, True] Translation: X:180.72, Y:11.38, Z:6.54 [[ 9.96600113e-01 -6.37921279e-02 -5.21419211e-02 1.80719063e+02] [ 6.37081304e-02 9.97963206e-01 -3.27311598e-03 1.13790193e+01] [ 5.22445178e-02 -5.98765523e-05 9.98634321e-01 6.53512677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72509989299996 meters 0.012147800867545116 Centerline is valid? [True, True] Translation: X:180.78, Y:11.38, Z:6.54 [[ 9.96817940e-01 -6.13036580e-02 -5.09495421e-02 1.80778008e+02] [ 6.12195707e-02 9.98119159e-01 -3.21080915e-03 1.13835888e+01] [ 5.10505485e-02 8.14830670e-05 9.98696067e-01 6.53835281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78509989299997 meters 0.011832063563401392 Centerline is valid? [True, True] Translation: X:180.84, Y:11.38, Z:6.54 [[ 9.96711198e-01 -6.46110247e-02 -4.89101586e-02 1.80836707e+02] [ 6.45369287e-02 9.97910522e-01 -3.09428210e-03 1.13824655e+01] [ 4.90078866e-02 -7.24057989e-05 9.98798389e-01 6.54069849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84509989299997 meters 0.011876710388401312 Centerline is valid? [True, True] Translation: X:180.89, Y:11.38, Z:6.54 [[ 9.96403092e-01 -7.04331597e-02 -4.71173815e-02 1.80894301e+02] [ 7.03703415e-02 9.97516445e-01 -2.99272192e-03 1.13805332e+01] [ 4.72111498e-02 -3.33708853e-04 9.98884876e-01 6.54411308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90509989299997 meters 0.012610546090672286 Centerline is valid? [True, True] Translation: X:180.95, Y:11.38, Z:6.55 [[ 9.95854027e-01 -7.83229924e-02 -4.62630041e-02 1.80953032e+02] [ 7.82703359e-02 9.96927803e-01 -2.95137544e-03 1.13769372e+01] [ 4.63520356e-02 -6.81881755e-04 9.98924934e-01 6.54623014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96509989299997 meters 0.015442937812628257 Centerline is valid? [True, True] Translation: X:181.01, Y:11.37, Z:6.55 [[ 9.94642001e-01 -9.23998597e-02 -4.63633111e-02 1.81013992e+02] [ 9.23617900e-02 9.95721093e-01 -2.96729542e-03 1.13679963e+01] [ 4.64391045e-02 -1.33080176e-03 9.98920236e-01 6.54792274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02509989299998 meters 0.01946317770806507 Centerline is valid? [True, True] Translation: X:181.07, Y:11.36, Z:6.55 [[ 9.93788258e-01 -1.01563735e-01 -4.54940161e-02 1.81073780e+02] [ 1.01536660e-01 9.94827538e-01 -2.91158499e-03 1.13611214e+01] [ 4.55544115e-02 -1.72581146e-03 9.98960368e-01 6.55000476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08509989299998 meters 0.024461664072411505 Centerline is valid? [True, True] Translation: X:181.14, Y:11.35, Z:6.55 [[ 9.92596741e-01 -1.12997411e-01 -4.45341898e-02 1.81135158e+02] [ 1.12982954e-01 9.93592840e-01 -2.84964925e-03 1.13518937e+01] [ 4.45708551e-02 -2.20305176e-03 9.99003797e-01 6.55191750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14509989299998 meters 0.028301262424944577 Centerline is valid? [True, True] Translation: X:181.20, Y:11.35, Z:6.55 [[ 9.92026961e-01 -1.18084224e-01 -4.40298187e-02 1.81195094e+02] [ 1.18075092e-01 9.93000673e-01 -2.81717088e-03 1.13478014e+01] [ 4.40543030e-02 -2.40411542e-03 9.99026245e-01 6.55387298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20509989299995 meters 0.030354515582844552 Centerline is valid? [True, True] Translation: X:181.26, Y:11.35, Z:6.56 [[ 9.91567990e-01 -1.22629107e-01 -4.18930092e-02 1.81255852e+02] [ 1.22624855e-01 9.92449474e-01 -2.68093136e-03 1.13456207e+01] [ 4.19054552e-02 -2.47879846e-03 9.99118506e-01 6.55649160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26509989299996 meters 0.027660969189933778 Centerline is valid? [True, True] Translation: X:181.32, Y:11.35, Z:6.56 [[ 9.91515386e-01 -1.23412909e-01 -4.08227098e-02 1.81317590e+02] [ 1.23409546e-01 9.92352388e-01 -2.61204321e-03 1.13513153e+01] [ 4.08328733e-02 -2.44803106e-03 9.99162992e-01 6.55907218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32509989299996 meters 0.027751568989171534 Centerline is valid? [True, True] Translation: X:181.38, Y:11.35, Z:6.56 [[ 9.91601239e-01 -1.22751711e-01 -4.07308278e-02 1.81379808e+02] [ 1.22747928e-01 9.92434466e-01 -2.60321256e-03 1.13533330e+01] [ 4.07422261e-02 -2.41827594e-03 9.99166764e-01 6.55958113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38509989299996 meters 0.026147689604360595 Centerline is valid? [True, True] Translation: X:181.44, Y:11.36, Z:6.56 [[ 9.91678509e-01 -1.22094823e-01 -4.08238727e-02 1.81441557e+02] [ 1.22090590e-01 9.92515539e-01 -2.60619623e-03 1.13586985e+01] [ 4.08365310e-02 -2.39970191e-03 9.99162959e-01 6.56076818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44509989299996 meters 0.025455345147906278 Centerline is valid? [True, True] Translation: X:181.50, Y:11.36, Z:6.56 [[ 9.91651983e-01 -1.21696153e-01 -4.26191360e-02 1.81504097e+02] [ 1.21691315e-01 9.92564274e-01 -2.71755310e-03 1.13633175e+01] [ 4.26329475e-02 -2.49151177e-03 9.99087696e-01 6.55997661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50509989299997 meters 0.026726047183924212 Centerline is valid? [True, True] Translation: X:181.56, Y:11.37, Z:6.56 [[ 9.91679539e-01 -1.21303214e-01 -4.30954937e-02 1.81564854e+02] [ 1.21298033e-01 9.92612338e-01 -2.74482588e-03 1.13665323e+01] [ 4.31100749e-02 -2.50541094e-03 9.99067187e-01 6.56124919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56509989299997 meters 0.027844058339043014 Centerline is valid? [True, True] Translation: X:181.63, Y:11.37, Z:6.56 [[ 9.91916477e-01 -1.20158917e-01 -4.07864795e-02 1.81626179e+02] [ 1.20153396e-01 9.92751945e-01 -2.59558478e-03 1.13724754e+01] [ 4.08027395e-02 -2.32603071e-03 9.99164514e-01 6.56453463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62509989299997 meters 0.026232128477771847 Centerline is valid? [True, True] Translation: X:181.69, Y:11.38, Z:6.57 [[ 9.92303569e-01 -1.17850826e-01 -3.80106552e-02 1.81686652e+02] [ 1.17844435e-01 9.93029129e-01 -2.41643084e-03 1.13826189e+01] [ 3.80304662e-02 -2.08151123e-03 9.99274412e-01 6.56876556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68509989299997 meters 0.02339985519940414 Centerline is valid? [True, True] Translation: X:181.75, Y:11.39, Z:6.57 [[ 9.92676697e-01 -1.15646757e-01 -3.49113536e-02 1.81747330e+02] [ 1.15640043e-01 9.93288709e-01 -2.21825330e-03 1.13929376e+01] [ 3.49335872e-02 -1.83514206e-03 9.99387951e-01 6.57212415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74509989299997 meters 0.02178339577317107 Centerline is valid? [True, True] Translation: X:181.81, Y:11.40, Z:6.58 [[ 9.93068602e-01 -1.13081938e-01 -3.20503945e-02 1.81808633e+02] [ 1.13074976e-01 9.93584373e-01 -2.03549309e-03 1.14027144e+01] [ 3.20749486e-02 -1.60271331e-03 9.99484181e-01 6.57506785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80509989299998 meters 0.022577658753930658 Centerline is valid? [True, True] Translation: X:181.87, Y:11.41, Z:6.57 [[ 9.93187140e-01 -1.11673754e-01 -3.32908001e-02 1.81869756e+02] [ 1.11665519e-01 9.93743604e-01 -2.11231587e-03 1.14072379e+01] [ 3.33184099e-02 -1.61950952e-03 9.99443476e-01 6.57470600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86509989299998 meters 0.02127554585438733 Centerline is valid? [True, True] Translation: X:181.93, Y:11.41, Z:6.58 [[ 9.93291790e-01 -1.10510486e-01 -3.40419093e-02 1.81931625e+02] [ 1.10501259e-01 9.93873641e-01 -2.15810888e-03 1.14149937e+01] [ 3.40718500e-02 -1.61804200e-03 9.99418076e-01 6.57541482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92509989299995 meters 0.021724105622392544 Centerline is valid? [True, True] Translation: X:181.99, Y:11.42, Z:6.58 [[ 9.93393331e-01 -1.09436188e-01 -3.45457693e-02 1.81993222e+02] [ 1.09426128e-01 9.93992524e-01 -2.18744187e-03 1.14193022e+01] [ 3.45776217e-02 -1.60721962e-03 9.99400723e-01 6.57719819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98509989299995 meters 0.019298167824547 Centerline is valid? [True, True] Translation: X:182.05, Y:11.43, Z:6.58 [[ 9.94082127e-01 -1.02939196e-01 -3.47022584e-02 1.82052860e+02] [ 1.02925187e-01 9.94686679e-01 -2.19462176e-03 1.14300074e+01] [ 3.47437867e-02 -1.39010216e-03 9.99395286e-01 6.57744317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04509989299996 meters 0.017755619531759675 Centerline is valid? [True, True] Translation: X:182.11, Y:11.44, Z:6.58 [[ 9.94762536e-01 -9.63792711e-02 -3.40372275e-02 1.82113093e+02] [ 9.63619590e-02 9.95344031e-01 -2.15251156e-03 1.14381221e+01] [ 3.40862087e-02 -1.13865606e-03 9.99418248e-01 6.57841269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10509989299996 meters 0.016179482477183326 Centerline is valid? [True, True] Translation: X:182.17, Y:11.45, Z:6.58 [[ 9.95403423e-01 -8.97812934e-02 -3.33368504e-02 1.82172938e+02] [ 8.97610097e-02 9.95961103e-01 -2.10756845e-03 1.14473754e+01] [ 3.33914265e-02 -8.94468510e-04 9.99441951e-01 6.58045283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16509989299996 meters 0.013472567429978204 Centerline is valid? [True, True] Translation: X:182.23, Y:11.46, Z:6.58 [[ 9.96254990e-01 -8.04843461e-02 -3.15953307e-02 1.82233310e+02] [ 8.04614474e-02 9.96755720e-01 -1.99757004e-03 1.14616890e+01] [ 3.16535997e-02 -5.52116918e-04 9.99498747e-01 6.58307304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22509989299996 meters 0.012573440581099014 Centerline is valid? [True, True] Translation: X:182.30, Y:11.47, Z:6.59 [[ 9.96749078e-01 -7.48693907e-02 -2.97632223e-02 1.82295514e+02] [ 7.48465625e-02 9.97193286e-01 -1.88190815e-03 1.14716886e+01] [ 2.98205828e-02 -3.51884660e-04 9.99555206e-01 6.58587492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28509989299997 meters 0.012799352652416066 Centerline is valid? [True, True] Translation: X:182.36, Y:11.48, Z:6.59 [[ 9.96801204e-01 -7.43570857e-02 -2.92981972e-02 1.82357421e+02] [ 7.43348387e-02 9.97231624e-01 -1.84928439e-03 1.14758145e+01] [ 2.93545961e-02 -3.34507852e-04 9.99569005e-01 6.58788944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34509989299997 meters 0.012922183303680909 Centerline is valid? [True, True] Translation: X:182.42, Y:11.48, Z:6.59 [[ 9.96639338e-01 -7.66518928e-02 -2.88880225e-02 1.82419285e+02] [ 7.66313046e-02 9.97057836e-01 -1.82074314e-03 1.14792576e+01] [ 2.89425926e-02 -3.99102614e-04 9.99580996e-01 6.58864474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40509989299997 meters 0.014360484672889473 Centerline is valid? [True, True] Translation: X:182.48, Y:11.48, Z:6.59 [[ 9.96137988e-01 -8.28101621e-02 -2.91819335e-02 1.82481563e+02] [ 8.27918563e-02 9.96565168e-01 -1.83709098e-03 1.14789400e+01] [ 2.92338283e-02 -5.86030330e-04 9.99572429e-01 6.58902119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46509989299997 meters 0.016683732392124125 Centerline is valid? [True, True] Translation: X:182.54, Y:11.48, Z:6.59 [[ 9.95467481e-01 -9.05429684e-02 -2.90940702e-02 1.82543212e+02] [ 9.05281412e-02 9.95892218e-01 -1.82913113e-03 1.14760756e+01] [ 2.91401731e-02 -8.12991542e-04 9.99575004e-01 6.58991122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52509989299998 meters 0.018851467600190536 Centerline is valid? [True, True] Translation: X:182.60, Y:11.47, Z:6.59 [[ 9.94958050e-01 -9.60689188e-02 -2.87965531e-02 1.82604356e+02] [ 9.60567381e-02 9.95374216e-01 -1.80924250e-03 1.14747754e+01] [ 2.88371585e-02 -9.65982576e-04 9.99583656e-01 6.59229724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58509989299998 meters 0.02269170943159129 Centerline is valid? [True, True] Translation: X:182.66, Y:11.47, Z:6.60 [[ 9.94462554e-01 -1.01206576e-01 -2.83100233e-02 1.82664277e+02] [ 1.01196899e-01 9.94864828e-01 -1.77801629e-03 1.14709616e+01] [ 2.83445934e-02 -1.09671595e-03 9.99597610e-01 6.59528771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64509989299995 meters 0.02513856376172493 Centerline is valid? [True, True] Translation: X:182.72, Y:11.47, Z:6.60 [[ 9.93851813e-01 -1.06792199e-01 -2.92232809e-02 1.82724974e+02] [ 1.06784295e-01 9.94280517e-01 -1.83544043e-03 1.14692631e+01] [ 2.92521496e-02 -1.29643164e-03 9.99571224e-01 6.59599955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70509989299995 meters 0.026593728839756827 Centerline is valid? [True, True] Translation: X:182.79, Y:11.47, Z:6.60 [[ 9.93788337e-01 -1.07171319e-01 -2.99841519e-02 1.82786577e+02] [ 1.07163169e-01 9.94239663e-01 -1.88328332e-03 1.14700098e+01] [ 3.00132670e-02 -1.34161174e-03 9.99548600e-01 6.59661473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76509989299996 meters 0.020894474332470495 Centerline is valid? [True, True] Translation: X:182.85, Y:11.48, Z:6.60 [[ 9.94001284e-01 -1.05071702e-01 -3.03543337e-02 1.82847140e+02] [ 1.05062424e-01 9.94463805e-01 -1.90485007e-03 1.14821456e+01] [ 3.03864320e-02 -1.29567644e-03 9.99537386e-01 6.59734307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82509989299996 meters 0.02061735953261722 Centerline is valid? [True, True] Translation: X:182.91, Y:11.49, Z:6.60 [[ 9.94379748e-01 -1.01168645e-01 -3.12061326e-02 1.82907041e+02] [ 1.01156962e-01 9.94868554e-01 -1.95697911e-03 1.14875110e+01] [ 3.12439849e-02 -1.21073717e-03 9.99511054e-01 6.59970866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88509989299996 meters 0.017306333866888596 Centerline is valid? [True, True] Translation: X:182.97, Y:11.50, Z:6.60 [[ 9.95222092e-01 -9.23833446e-02 -3.15959700e-02 1.82967321e+02] [ 9.23669637e-02 9.95723064e-01 -1.98076296e-03 1.14994615e+01] [ 3.16438256e-02 -9.47124761e-04 9.99498760e-01 6.60209772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94509989299996 meters 0.015896742365481605 Centerline is valid? [True, True] Translation: X:183.03, Y:11.51, Z:6.60 [[ 9.95805306e-01 -8.58635739e-02 -3.16107541e-02 1.83027469e+02] [ 8.58438953e-02 9.96306629e-01 -1.98165177e-03 1.15076939e+01] [ 3.16641556e-02 -7.40250918e-04 9.99498291e-01 6.60415308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00509989299997 meters 0.014026912839891027 Centerline is valid? [True, True] Translation: X:183.09, Y:11.52, Z:6.61 [[ 9.96578096e-01 -7.64466136e-02 -3.14327001e-02 1.83087850e+02] [ 7.64224679e-02 9.97073580e-01 -1.97059567e-03 1.15176203e+01] [ 3.14913601e-02 -4.38312029e-04 9.99503928e-01 6.60595458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06509989299997 meters 0.013400409358170376 Centerline is valid? [True, True] Translation: X:183.15, Y:11.52, Z:6.61 [[ 9.96950523e-01 -7.09705985e-02 -3.24473247e-02 1.83149604e+02] [ 7.09419797e-02 9.97478370e-01 -2.03385542e-03 1.15241563e+01] [ 3.25098485e-02 -2.74224226e-04 9.99471378e-01 6.60720485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12509989299997 meters 0.013474999238015133 Centerline is valid? [True, True] Translation: X:183.21, Y:11.53, Z:6.61 [[ 9.96883878e-01 -7.05836314e-02 -3.52205266e-02 1.83210650e+02] [ 7.05497703e-02 9.97505824e-01 -2.20481629e-03 1.15256064e+01] [ 3.52883044e-02 -2.86854251e-04 9.99377133e-01 6.60792717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18509989299997 meters 0.013959273661728796 Centerline is valid? [True, True] Translation: X:183.27, Y:11.52, Z:6.61 [[ 9.96480343e-01 -7.52905616e-02 -3.68545539e-02 1.83272468e+02] [ 7.52567791e-02 9.97161524e-01 -2.30501034e-03 1.15247084e+01] [ 3.69234887e-02 -4.76657532e-04 9.99317982e-01 6.60960090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24509989299997 meters 0.014945680723666897 Centerline is valid? [True, True] Translation: X:183.33, Y:11.52, Z:6.61 [[ 9.96132960e-01 -7.96182834e-02 -3.71490880e-02 1.83333750e+02] [ 7.95870420e-02 9.96825217e-01 -2.32137203e-03 1.15231301e+01] [ 3.72159713e-02 -6.44190837e-04 9.99307038e-01 6.61212459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30509989299998 meters 0.017022303664908672 Centerline is valid? [True, True] Translation: X:183.39, Y:11.52, Z:6.62 [[ 9.95505069e-01 -8.72332322e-02 -3.68784590e-02 1.83394996e+02] [ 8.72077999e-02 9.96187486e-01 -2.30073182e-03 1.15185429e+01] [ 3.69385597e-02 -9.25699090e-04 9.99317110e-01 6.61524910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36509989299998 meters 0.019367427412090046 Centerline is valid? [True, True] Translation: X:183.45, Y:11.52, Z:6.62 [[ 9.95056205e-01 -9.22308264e-02 -3.68323597e-02 1.83454988e+02] [ 9.22089003e-02 9.95737034e-01 -2.29719668e-03 1.15153215e+01] [ 3.68872170e-02 -1.11043157e-03 9.99318818e-01 6.61757583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42509989299995 meters 0.019550583514798214 Centerline is valid? [True, True] Translation: X:183.52, Y:11.52, Z:6.62 [[ 9.94222366e-01 -1.00346346e-01 -3.81116358e-02 1.83516084e+02] [ 1.00328820e-01 9.94951495e-01 -2.37697783e-03 1.15151182e+01] [ 3.81577501e-02 -1.46045093e-03 9.99270661e-01 6.61933203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48509989299995 meters 0.022308126802937926 Centerline is valid? [True, True] Translation: X:183.58, Y:11.51, Z:6.62 [[ 9.93617251e-01 -1.05818998e-01 -3.90781105e-02 1.83576226e+02] [ 1.05804804e-01 9.94383932e-01 -2.43699461e-03 1.15120945e+01] [ 3.91165256e-02 -1.71321195e-03 9.99233187e-01 6.62105500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54509989299996 meters 0.02489192726064544 Centerline is valid? [True, True] Translation: X:183.64, Y:11.51, Z:6.62 [[ 9.92847793e-01 -1.12878257e-01 -3.88813330e-02 1.83637175e+02] [ 1.12869600e-01 9.93606851e-01 -2.42471839e-03 1.15083832e+01] [ 3.89064568e-02 -1.98114420e-03 9.99240893e-01 6.62442839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60509989299996 meters 0.025355182965616535 Centerline is valid? [True, True] Translation: X:183.70, Y:11.51, Z:6.63 [[ 9.92512415e-01 -1.15465759e-01 -3.98342089e-02 1.83698699e+02] [ 1.15458758e-01 9.93309169e-01 -2.48393688e-03 1.15098038e+01] [ 3.98544946e-02 -2.13387010e-03 9.99203215e-01 6.62596826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66509989299996 meters 0.025245477800684736 Centerline is valid? [True, True] Translation: X:183.76, Y:11.51, Z:6.63 [[ 9.92391979e-01 -1.15962643e-01 -4.13621254e-02 1.83760849e+02] [ 1.15955599e-01 9.93251054e-01 -2.57749806e-03 1.15133517e+01] [ 4.13818681e-02 -2.23828163e-03 9.99140897e-01 6.62815784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72509989299996 meters 0.0239109845846985 Centerline is valid? [True, True] Translation: X:183.82, Y:11.52, Z:6.63 [[ 9.92551892e-01 -1.14256801e-01 -4.22625661e-02 1.83823075e+02] [ 1.14248041e-01 9.93448774e-01 -2.63043753e-03 1.15192206e+01] [ 4.22862398e-02 -2.21756965e-03 9.99103076e-01 6.63012273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78509989299997 meters 0.023281017923783495 Centerline is valid? [True, True] Translation: X:183.88, Y:11.52, Z:6.63 [[ 9.93068913e-01 -1.09197901e-01 -4.34735919e-02 1.83882302e+02] [ 1.09183922e-01 9.94017890e-01 -2.70297770e-03 1.15242194e+01] [ 4.35086876e-02 -2.06237415e-03 9.99050920e-01 6.63213310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84509989299997 meters 0.022188282622466905 Centerline is valid? [True, True] Translation: X:183.94, Y:11.53, Z:6.63 [[ 9.93287201e-01 -1.06909217e-01 -4.41696145e-02 1.83943658e+02] [ 1.06892544e-01 9.94266787e-01 -2.74595975e-03 1.15302634e+01] [ 4.42099491e-02 -1.99387579e-03 9.99020272e-01 6.63466367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90509989299997 meters 0.0207605524860421 Centerline is valid? [True, True] Translation: X:184.00, Y:11.54, Z:6.64 [[ 9.93857000e-01 -1.01236701e-01 -4.47145778e-02 1.84004249e+02] [ 1.01213984e-01 9.94860802e-01 -2.77759040e-03 1.15381596e+01] [ 4.47659748e-02 -1.76521292e-03 9.98995942e-01 6.63671623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96509989299997 meters 0.01776198701288547 Centerline is valid? [True, True] Translation: X:184.06, Y:11.55, Z:6.64 [[ 9.94898468e-01 -9.00953894e-02 -4.53856816e-02 1.84063353e+02] [ 9.00604418e-02 9.95932314e-01 -2.81838121e-03 1.15504781e+01] [ 4.54549900e-02 -1.28345138e-03 9.98965563e-01 6.63897243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02509989299998 meters 0.01505677567119677 Centerline is valid? [True, True] Translation: X:184.12, Y:11.56, Z:6.64 [[ 9.95599836e-01 -8.19057935e-02 -4.55237132e-02 1.84123658e+02] [ 8.18620800e-02 9.96639658e-01 -2.82684956e-03 1.15622578e+01] [ 4.56022733e-02 -9.12254887e-04 9.98959259e-01 6.64167751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08509989299998 meters 0.012972618432581014 Centerline is valid? [True, True] Translation: X:184.18, Y:11.58, Z:6.64 [[ 9.96558229e-01 -6.96072069e-02 -4.50170291e-02 1.84183011e+02] [ 6.95519341e-02 9.97574417e-01 -2.79486650e-03 1.15761630e+01] [ 4.51023794e-02 -3.45774226e-04 9.98982310e-01 6.64453154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14509989299995 meters 0.012577259371336974 Centerline is valid? [True, True] Translation: X:184.24, Y:11.59, Z:6.65 [[ 9.97025020e-01 -6.25009108e-02 -4.51081552e-02 1.84239992e+02] [ 6.24380800e-02 9.98044907e-01 -2.80188147e-03 1.15853800e+01] [ 4.51950847e-02 -2.29206760e-05 9.98978180e-01 6.64617664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20509989299995 meters 0.012825491805961165 Centerline is valid? [True, True] Translation: X:184.30, Y:11.59, Z:6.65 [[ 9.97336848e-01 -5.68701556e-02 -4.56617751e-02 1.84298266e+02] [ 5.67996268e-02 9.98381554e-01 -2.84162522e-03 1.15930980e+01] [ 4.57494777e-02 2.40485755e-04 9.98952916e-01 6.64748926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26509989299996 meters 0.013760395903265539 Centerline is valid? [True, True] Translation: X:184.36, Y:11.60, Z:6.65 [[ 9.97641540e-01 -5.07737980e-02 -4.61885265e-02 1.84355882e+02] [ 5.06946404e-02 9.98710035e-01 -2.88431887e-03 1.16010817e+01] [ 4.62753928e-02 5.36005571e-04 9.98928576e-01 6.64931853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32509989299996 meters 0.014423466411182273 Centerline is valid? [True, True] Translation: X:184.41, Y:11.61, Z:6.65 [[ 9.97889641e-01 -4.71019396e-02 -4.46953163e-02 1.84414133e+02] [ 4.70239226e-02 9.98889851e-01 -2.79591283e-03 1.16054060e+01] [ 4.47773907e-02 6.88263356e-04 9.98996753e-01 6.65372435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38509989299996 meters 0.014683928593313723 Centerline is valid? [True, True] Translation: X:184.47, Y:11.61, Z:6.66 [[ 9.97929949e-01 -4.67504363e-02 -4.41612338e-02 1.84472102e+02] [ 4.66734608e-02 9.98906351e-01 -2.77309648e-03 1.16072185e+01] [ 4.42425803e-02 7.06198419e-04 9.99020568e-01 6.65610282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44509989299996 meters 0.013499618105572793 Centerline is valid? [True, True] Translation: X:184.53, Y:11.60, Z:6.66 [[ 9.97790807e-01 -4.91311731e-02 -4.47172553e-02 1.84531062e+02] [ 4.90540978e-02 9.98792142e-01 -2.81998069e-03 1.16032652e+01] [ 4.48017921e-02 6.20186192e-04 9.98995703e-01 6.65831787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50509989299997 meters 0.012799663802836567 Centerline is valid? [True, True] Translation: X:184.59, Y:11.60, Z:6.66 [[ 9.97571944e-01 -5.20254278e-02 -4.62987126e-02 1.84589661e+02] [ 5.19453643e-02 9.98645625e-01 -2.93156849e-03 1.16002668e+01] [ 4.63885229e-02 5.19446988e-04 9.98923338e-01 6.65921901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56509989299997 meters 0.012294253982776749 Centerline is valid? [True, True] Translation: X:184.65, Y:11.59, Z:6.66 [[ 9.97211390e-01 -5.74262777e-02 -4.76620103e-02 1.84647476e+02] [ 5.73470566e-02 9.98349708e-01 -3.02902935e-03 1.15947867e+01] [ 4.77573000e-02 2.87306569e-04 9.98858928e-01 6.66015760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62509989299997 meters 0.01205208191890595 Centerline is valid? [True, True] Translation: X:184.71, Y:11.59, Z:6.66 [[ 9.97001003e-01 -6.16207267e-02 -4.68175725e-02 1.84706656e+02] [ 6.15485665e-02 9.98099633e-01 -2.98268605e-03 1.15920775e+01] [ 4.69123972e-02 9.21865063e-05 9.98899003e-01 6.66321115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68509989299997 meters 0.011900509144387419 Centerline is valid? [True, True] Translation: X:184.77, Y:11.59, Z:6.67 [[ 9.96626589e-01 -6.77778564e-02 -4.62774803e-02 1.84765294e+02] [ 6.77134358e-02 9.97700420e-01 -2.96008580e-03 1.15851198e+01] [ 4.63716898e-02 -1.83506981e-04 9.98924238e-01 6.66505302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74509989299997 meters 0.012308769169143863 Centerline is valid? [True, True] Translation: X:184.82, Y:11.58, Z:6.67 [[ 9.96274847e-01 -7.24685737e-02 -4.67411455e-02 1.84824773e+02] [ 7.24074034e-02 9.97370619e-01 -3.00273952e-03 1.15812242e+01] [ 4.68358495e-02 -3.92851117e-04 9.98902522e-01 6.66584494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80509989299998 meters 0.01297790043743197 Centerline is valid? [True, True] Translation: X:184.88, Y:11.58, Z:6.67 [[ 9.95867528e-01 -7.76013474e-02 -4.71794109e-02 1.84883555e+02] [ 7.75442258e-02 9.96984271e-01 -3.04256161e-03 1.15771704e+01] [ 4.72732375e-02 -6.28502582e-04 9.98881798e-01 6.66708125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86509989299998 meters 0.014988421639626003 Centerline is valid? [True, True] Translation: X:184.94, Y:11.57, Z:6.67 [[ 9.95279068e-01 -8.53144489e-02 -4.62711660e-02 1.84944026e+02] [ 8.52673995e-02 9.96353607e-01 -2.99324639e-03 1.15702126e+01] [ 4.63578103e-02 -9.66306518e-04 9.98924431e-01 6.66918297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92509989299995 meters 0.016896250134999218 Centerline is valid? [True, True] Translation: X:185.00, Y:11.57, Z:6.67 [[ 9.94542339e-01 -9.35220833e-02 -4.62510159e-02 1.85004650e+02] [ 9.34838660e-02 9.95616295e-01 -2.99339162e-03 1.15655512e+01] [ 4.63282133e-02 -1.34666907e-03 9.98925364e-01 6.67183330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98509989299995 meters 0.01740777507105307 Centerline is valid? [True, True] Translation: X:185.06, Y:11.57, Z:6.67 [[ 9.94054395e-01 -9.84891361e-02 -4.64300590e-02 1.85063935e+02] [ 9.84559751e-02 9.95136867e-01 -3.00614907e-03 1.15659752e+01] [ 4.65003365e-02 -1.58304104e-03 9.98917020e-01 6.67450010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04509989299996 meters 0.01879016946824891 Centerline is valid? [True, True] Translation: X:185.12, Y:11.56, Z:6.68 [[ 9.93574091e-01 -1.02956503e-01 -4.70157934e-02 1.85124009e+02] [ 1.02927384e-01 9.94684208e-01 -3.04632279e-03 1.15649552e+01] [ 4.70795060e-02 -1.81246523e-03 9.98889501e-01 6.67583507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10509989299996 meters 0.019458741526635834 Centerline is valid? [True, True] Translation: X:185.18, Y:11.57, Z:6.68 [[ 9.93438904e-01 -1.04025229e-01 -4.75173243e-02 1.85182270e+02] [ 1.03996629e-01 9.94572879e-01 -3.08044613e-03 1.15670589e+01] [ 4.75798861e-02 -1.88140650e-03 9.98865664e-01 6.67743438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16509989299996 meters 0.01843818735690793 Centerline is valid? [True, True] Translation: X:185.24, Y:11.57, Z:6.68 [[ 9.93475218e-01 -1.03456426e-01 -4.79974931e-02 1.85240587e+02] [ 1.03426284e-01 9.94632235e-01 -3.11780269e-03 1.15736624e+01] [ 4.80624106e-02 -1.86674263e-03 9.98842590e-01 6.67931361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22509989299996 meters 0.018417296567341937 Centerline is valid? [True, True] Translation: X:185.30, Y:11.58, Z:6.68 [[ 9.93616936e-01 -1.01549951e-01 -4.91222212e-02 1.85299169e+02] [ 1.01515417e-01 9.94828807e-01 -3.20382389e-03 1.15806889e+01] [ 4.91935489e-02 -1.80328912e-03 9.98787637e-01 6.68058312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28509989299997 meters 0.01780804990800148 Centerline is valid? [True, True] Translation: X:185.36, Y:11.59, Z:6.68 [[ 9.93675032e-01 -1.00949191e-01 -4.91852752e-02 1.85358085e+02] [ 1.00913220e-01 9.94890020e-01 -3.22037439e-03 1.15870713e+01] [ 4.92590336e-02 -1.76343889e-03 9.98784480e-01 6.68251979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34509989299997 meters 0.019557594240626364 Centerline is valid? [True, True] Translation: X:185.42, Y:11.59, Z:6.68 [[ 9.93751039e-01 -1.00368270e-01 -4.88373098e-02 1.85416183e+02] [ 1.00331526e-01 9.94948885e-01 -3.20942528e-03 1.15907865e+01] [ 4.89127514e-02 -1.71055212e-03 9.98801590e-01 6.68404937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40509989299997 meters 0.018291024973391405 Centerline is valid? [True, True] Translation: X:185.47, Y:11.60, Z:6.69 [[ 9.93835138e-01 -9.97165706e-02 -4.84595174e-02 1.85474952e+02] [ 9.96790355e-02 9.95014508e-01 -3.19661550e-03 1.15991030e+01] [ 4.85366785e-02 -1.65348916e-03 9.98820032e-01 6.68738669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46509989299997 meters 0.017250479609886713 Centerline is valid? [True, True] Translation: X:185.53, Y:11.61, Z:6.69 [[ 9.93980679e-01 -9.82048648e-02 -4.85614536e-02 1.85533404e+02] [ 9.81648047e-02 9.95164979e-01 -3.21495670e-03 1.16091675e+01] [ 4.86423824e-02 -1.57142076e-03 9.98815023e-01 6.69075688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52509989299998 meters 0.017357195415087397 Centerline is valid? [True, True] Translation: X:185.59, Y:11.62, Z:6.69 [[ 9.94113884e-01 -9.72475875e-02 -4.77545033e-02 1.85591747e+02] [ 9.72071709e-02 9.95259109e-01 -3.17350288e-03 1.16160994e+01] [ 4.78367199e-02 -1.48725690e-03 9.98854062e-01 6.69348622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58509989299998 meters 0.016025816567374233 Centerline is valid? [True, True] Translation: X:185.65, Y:11.63, Z:6.70 [[ 9.94413062e-01 -9.46789679e-02 -4.66749880e-02 1.85651188e+02] [ 9.46370961e-02 9.95506977e-01 -3.11105847e-03 1.16277348e+01] [ 4.67598280e-02 -1.32350814e-03 9.98905284e-01 6.69804050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64509989299995 meters 0.015274725307555135 Centerline is valid? [True, True] Translation: X:185.71, Y:11.64, Z:6.70 [[ 9.94720623e-01 -9.17904689e-02 -4.58845574e-02 1.85710833e+02] [ 9.17469022e-02 9.95777660e-01 -3.05903862e-03 1.16372919e+01] [ 4.59716078e-02 -1.16687719e-03 9.98942065e-01 6.70144327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70509989299995 meters 0.015751534639013805 Centerline is valid? [True, True] Translation: X:185.77, Y:11.64, Z:6.70 [[ 9.94892627e-01 -9.02224467e-02 -4.52611335e-02 1.85770073e+02] [ 9.01784281e-02 9.95921054e-01 -3.01761981e-03 1.16421861e+01] [ 4.53487728e-02 -1.07937018e-03 9.98970632e-01 6.70332642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76509989299996 meters 0.01388301636816275 Centerline is valid? [True, True] Translation: X:185.83, Y:11.65, Z:6.71 [[ 9.95312110e-01 -8.62020293e-02 -4.38521713e-02 1.85829646e+02] [ 8.61567803e-02 9.96277300e-01 -2.92432706e-03 1.16546112e+01] [ 4.39410057e-02 -8.67543752e-04 9.99033751e-01 6.70625988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82509989299996 meters 0.013630706374079376 Centerline is valid? [True, True] Translation: X:185.89, Y:11.66, Z:6.71 [[ 9.95495630e-01 -8.41379044e-02 -4.36951165e-02 1.85889597e+02] [ 8.40909920e-02 9.96453820e-01 -2.91385370e-03 1.16621381e+01] [ 4.37853312e-02 -7.73637065e-04 9.99040663e-01 6.70771306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88509989299996 meters 0.012773220761911308 Centerline is valid? [True, True] Translation: X:185.95, Y:11.67, Z:6.71 [[ 9.95697672e-01 -8.17707984e-02 -4.35853448e-02 1.85949395e+02] [ 8.17218549e-02 9.96650937e-01 -2.90653346e-03 1.16715553e+01] [ 4.36770443e-02 -6.67846620e-04 9.99045479e-01 6.70928363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94509989299996 meters 0.012965948427719027 Centerline is valid? [True, True] Translation: X:186.01, Y:11.68, Z:6.71 [[ 9.95810824e-01 -8.13030108e-02 -4.18404404e-02 1.86008839e+02] [ 8.12574921e-02 9.96689237e-01 -2.79025601e-03 1.16771230e+01] [ 4.19287728e-02 -6.21282120e-04 9.99120409e-01 6.71183307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00509989299997 meters 0.012859457116447023 Centerline is valid? [True, True] Translation: X:186.07, Y:11.68, Z:6.71 [[ 9.95962969e-01 -7.98983073e-02 -4.09148484e-02 1.86069916e+02] [ 7.98535745e-02 9.96802869e-01 -2.72905426e-03 1.16838377e+01] [ 4.10020851e-02 -5.49159909e-04 9.99158910e-01 6.71360897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06509989299997 meters 0.012863353266587343 Centerline is valid? [True, True] Translation: X:186.13, Y:11.69, Z:6.72 [[ 9.96036755e-01 -7.97937400e-02 -3.92904724e-02 1.86130980e+02] [ 7.97524614e-02 9.96811258e-01 -2.61934968e-03 1.16899915e+01] [ 3.93741929e-02 -5.24543333e-04 9.99224398e-01 6.71733945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12509989299997 meters 0.013601463400855943 Centerline is valid? [True, True] Translation: X:186.19, Y:11.69, Z:6.72 [[ 9.95765981e-01 -8.33179497e-02 -3.88359332e-02 1.86192414e+02] [ 8.32803533e-02 9.96522798e-01 -2.58764555e-03 1.16919920e+01] [ 3.89164901e-02 -6.57580829e-04 9.99242250e-01 6.71924652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18509989299997 meters 0.015337035996629762 Centerline is valid? [True, True] Translation: X:186.25, Y:11.69, Z:6.72 [[ 9.95517623e-01 -8.66535703e-02 -3.78922266e-02 1.86253780e+02] [ 8.66202453e-02 9.96238207e-01 -2.52338838e-03 1.16908932e+01] [ 3.79683445e-02 -7.70156363e-04 9.99278646e-01 6.72152849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24509989299997 meters 0.014943949998006432 Centerline is valid? [True, True] Translation: X:186.32, Y:11.69, Z:6.72 [[ 9.95272223e-01 -8.97503351e-02 -3.71224896e-02 1.86315795e+02] [ 8.97206328e-02 9.95963912e-01 -2.46861843e-03 1.16939959e+01] [ 3.71942193e-02 -8.73705906e-04 9.99307674e-01 6.72442977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30509989299998 meters 0.015039677931967806 Centerline is valid? [True, True] Translation: X:186.38, Y:11.70, Z:6.73 [[ 9.95256163e-01 -8.99044893e-02 -3.71800081e-02 1.86377683e+02] [ 8.98749044e-02 9.95950000e-01 -2.46970257e-03 1.16963524e+01] [ 3.72514664e-02 -8.83562977e-04 9.99305533e-01 6.72673163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36509989299998 meters 0.014573473558724615 Centerline is valid? [True, True] Translation: X:186.44, Y:11.70, Z:6.73 [[ 9.95471940e-01 -8.77673584e-02 -3.65035391e-02 1.86440141e+02] [ 8.77375009e-02 9.96140685e-01 -2.42213099e-03 1.16985459e+01] [ 3.65752444e-02 -7.91565856e-04 9.99330588e-01 6.72837412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42509989299995 meters 0.014039337847431521 Centerline is valid? [True, True] Translation: X:186.50, Y:11.70, Z:6.73 [[ 9.95680945e-01 -8.54359278e-02 -3.63339870e-02 1.86502480e+02] [ 8.54048927e-02 9.96343417e-01 -2.40821189e-03 1.17018887e+01] [ 3.64068765e-02 -7.05289569e-04 9.99336801e-01 6.73078440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48509989299995 meters 0.013471324501799742 Centerline is valid? [True, True] Translation: X:186.56, Y:11.70, Z:6.73 [[ 9.95889496e-01 -8.28905146e-02 -3.65140230e-02 1.86564819e+02] [ 8.28575606e-02 9.96558468e-01 -2.41742750e-03 1.17046054e+01] [ 3.65887407e-02 -6.17972220e-04 9.99330217e-01 6.73136742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54509989299996 meters 0.014276577841228837 Centerline is valid? [True, True] Translation: X:186.63, Y:11.70, Z:6.73 [[ 9.95922965e-01 -8.22245715e-02 -3.71021326e-02 1.86626121e+02] [ 8.21901905e-02 9.96613643e-01 -2.45353987e-03 1.17048676e+01] [ 3.71782328e-02 -6.05894649e-04 9.99308467e-01 6.73314625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60509989299996 meters 0.014018804909179517 Centerline is valid? [True, True] Translation: X:186.69, Y:11.71, Z:6.73 [[ 9.95710432e-01 -8.47419899e-02 -3.71420385e-02 1.86687231e+02] [ 8.47093613e-02 9.96402680e-01 -2.45412272e-03 1.17067215e+01] [ 3.72163940e-02 -7.02682766e-04 9.99306983e-01 6.73450532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66509989299996 meters 0.014847646905141357 Centerline is valid? [True, True] Translation: X:186.75, Y:11.71, Z:6.74 [[ 9.95419037e-01 -8.81353823e-02 -3.70552916e-02 1.86748816e+02] [ 8.81053053e-02 9.96108160e-01 -2.44702688e-03 1.17065866e+01] [ 3.71267480e-02 -8.28950633e-04 9.99310221e-01 6.73608025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72509989299996 meters 0.017108056237147087 Centerline is valid? [True, True] Translation: X:186.81, Y:11.70, Z:6.74 [[ 9.94751604e-01 -9.53506615e-02 -3.71146688e-02 1.86808841e+02] [ 9.53255527e-02 9.95443137e-01 -2.44957607e-03 1.17026033e+01] [ 3.71791110e-02 -1.10125659e-03 9.99308011e-01 6.73748857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78509989299997 meters 0.019213689336633394 Centerline is valid? [True, True] Translation: X:186.87, Y:11.70, Z:6.74 [[ 9.94258758e-01 -1.00483521e-01 -3.67774923e-02 1.86870071e+02] [ 1.00462371e-01 9.94937898e-01 -2.42733037e-03 1.17010956e+01] [ 3.68352276e-02 -1.28135960e-03 9.99320531e-01 6.73986139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84509989299997 meters 0.021068214384885302 Centerline is valid? [True, True] Translation: X:186.93, Y:11.70, Z:6.74 [[ 9.93659373e-01 -1.06785455e-01 -3.51840586e-02 1.86930742e+02] [ 1.06770060e-01 9.94281029e-01 -2.32153480e-03 1.16987862e+01] [ 3.52307481e-02 -1.44978923e-03 9.99378153e-01 6.74268996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90509989299997 meters 0.022218134972065692 Centerline is valid? [True, True] Translation: X:186.99, Y:11.70, Z:6.75 [[ 9.93152809e-01 -1.11593117e-01 -3.45611700e-02 1.86991693e+02] [ 1.11581170e-01 9.93752707e-01 -2.28029749e-03 1.16979149e+01] [ 3.45997218e-02 -1.59169194e-03 9.99399983e-01 6.74549607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96509989299997 meters 0.022462984891741204 Centerline is valid? [True, True] Translation: X:187.05, Y:11.70, Z:6.75 [[ 9.92768198e-01 -1.15017599e-01 -3.43839757e-02 1.87052550e+02] [ 1.15007843e-01 9.93361995e-01 -2.26797992e-03 1.16982179e+01] [ 3.44165922e-02 -1.70284854e-03 9.99406123e-01 6.74737931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02509989299998 meters 0.024184556041416363 Centerline is valid? [True, True] Translation: X:187.11, Y:11.70, Z:6.75 [[ 9.92446922e-01 -1.17421155e-01 -3.55159137e-02 1.87114199e+02] [ 1.17412305e-01 9.93080493e-01 -2.34198733e-03 1.16964339e+01] [ 3.55451599e-02 -1.84570718e-03 9.99366367e-01 6.74879037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08509989299998 meters 0.02364151077852022 Centerline is valid? [True, True] Translation: X:187.18, Y:11.70, Z:6.75 [[ 9.92330664e-01 -1.18034514e-01 -3.67111304e-02 1.87176342e+02] [ 1.18025529e-01 9.93007614e-01 -2.41942234e-03 1.16997753e+01] [ 3.67400073e-02 -1.93198361e-03 9.99322990e-01 6.75027095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14509989299995 meters 0.024204432513799126 Centerline is valid? [True, True] Translation: X:187.24, Y:11.70, Z:6.75 [[ 9.92436478e-01 -1.16448696e-01 -3.88527784e-02 1.87236542e+02] [ 1.16437539e-01 9.93194723e-01 -2.55758310e-03 1.17021959e+01] [ 3.88862017e-02 -1.98568312e-03 9.99241673e-01 6.75137344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20509989299995 meters 0.023519247791528565 Centerline is valid? [True, True] Translation: X:187.30, Y:11.71, Z:6.75 [[ 9.92575205e-01 -1.15348461e-01 -3.85900912e-02 1.87297778e+02] [ 1.15336654e-01 9.93323214e-01 -2.53956135e-03 1.17071525e+01] [ 3.86253679e-02 -1.93014635e-03 9.99251898e-01 6.75375230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26509989299996 meters 0.023964277955964133 Centerline is valid? [True, True] Translation: X:187.36, Y:11.71, Z:6.76 [[ 9.93175917e-01 -1.10504968e-01 -3.72860672e-02 1.87357701e+02] [ 1.10490586e-01 9.93874145e-01 -2.45242132e-03 1.17113085e+01] [ 3.73286629e-02 -1.68407363e-03 9.99301624e-01 6.75804346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32509989299996 meters 0.020373279408402164 Centerline is valid? [True, True] Translation: X:187.42, Y:11.72, Z:6.76 [[ 9.93760726e-01 -1.05538672e-01 -3.60722772e-02 1.87417372e+02] [ 1.05521944e-01 9.94414144e-01 -2.37258656e-03 1.17217882e+01] [ 3.61211823e-02 -1.44863347e-03 9.99346367e-01 6.76191892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38509989299996 meters 0.017198855097488603 Centerline is valid? [True, True] Translation: X:187.48, Y:11.73, Z:6.76 [[ 9.94804562e-01 -9.54036709e-02 -3.55249494e-02 1.87477091e+02] [ 9.53809876e-02 9.95438098e-01 -2.33658603e-03 1.17325779e+01] [ 3.55858069e-02 -1.06395831e-03 9.99366058e-01 6.76488531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44509989299996 meters 0.01569248312794861 Centerline is valid? [True, True] Translation: X:187.54, Y:11.74, Z:6.77 [[ 9.95532287e-01 -8.76112625e-02 -3.52098399e-02 1.87536303e+02] [ 8.75841066e-02 9.96154436e-01 -2.31588333e-03 1.17410679e+01] [ 3.52773356e-02 -7.78285745e-04 9.99377258e-01 6.76785322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50509989299997 meters 0.01357738432058654 Centerline is valid? [True, True] Translation: X:187.60, Y:11.75, Z:6.77 [[ 9.96360509e-01 -7.68633901e-02 -3.68477325e-02 1.87596931e+02] [ 7.68262971e-02 9.97041547e-01 -2.42362044e-03 1.17514513e+01] [ 3.69250079e-02 -4.16075147e-04 9.99317953e-01 6.76931574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56509989299997 meters 0.013095047685685852 Centerline is valid? [True, True] Translation: X:187.66, Y:11.76, Z:6.77 [[ 9.96614667e-01 -7.27647993e-02 -3.82686489e-02 1.87657453e+02] [ 7.27217952e-02 9.97349090e-01 -2.51638721e-03 1.17573642e+01] [ 3.83503066e-02 -2.75096443e-04 9.99264319e-01 6.77046364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62509989299997 meters 0.012983612124831047 Centerline is valid? [True, True] Translation: X:187.72, Y:11.76, Z:6.77 [[ 9.96654170e-01 -7.19725876e-02 -3.87351446e-02 1.87717084e+02] [ 7.19279281e-02 9.97406580e-01 -2.54711688e-03 1.17611030e+01] [ 3.88180107e-02 -2.47544040e-04 9.99246266e-01 6.77230557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68509989299997 meters 0.013131203627889358 Centerline is valid? [True, True] Translation: X:187.78, Y:11.76, Z:6.77 [[ 9.96517754e-01 -7.29542976e-02 -4.03737032e-02 1.87776308e+02] [ 7.29065200e-02 9.97335241e-01 -2.65644222e-03 1.17613453e+01] [ 4.04599159e-02 -2.96314359e-04 9.99181118e-01 6.77247076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74509989299997 meters 0.013488383731422913 Centerline is valid? [True, True] Translation: X:187.83, Y:11.76, Z:6.77 [[ 9.96225134e-01 -7.64051814e-02 -4.12035211e-02 1.87834835e+02] [ 7.63582435e-02 9.97076754e-01 -2.71406070e-03 1.17613392e+01] [ 4.12904413e-02 -4.42413014e-04 9.99147088e-01 6.77339669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80509989299998 meters 0.014975465015902294 Centerline is valid? [True, True] Translation: X:187.89, Y:11.76, Z:6.77 [[ 9.95601787e-01 -8.37487581e-02 -4.19907992e-02 1.87894400e+02] [ 8.37061258e-02 9.96486618e-01 -2.77556715e-03 1.17590212e+01] [ 4.20757198e-02 -7.51527506e-04 9.99114142e-01 6.77449237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86509989299998 meters 0.016079135549939304 Centerline is valid? [True, True] Translation: X:187.95, Y:11.76, Z:6.78 [[ 9.95044770e-01 -9.00625961e-02 -4.21264032e-02 1.87953665e+02] [ 9.00252435e-02 9.95935585e-01 -2.78677045e-03 1.17592291e+01] [ 4.22061678e-02 -1.01947834e-03 9.99108403e-01 6.77662279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92509989299995 meters 0.01880566052047132 Centerline is valid? [True, True] Translation: X:188.01, Y:11.76, Z:6.78 [[ 9.94101689e-01 -9.98898963e-02 -4.22355433e-02 1.88014508e+02] [ 9.98611133e-02 9.94997457e-01 -2.79601984e-03 1.17562505e+01] [ 4.23035523e-02 -1.43816033e-03 9.99103769e-01 6.77840372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98509989299995 meters 0.021228281181480083 Centerline is valid? [True, True] Translation: X:188.07, Y:11.76, Z:6.78 [[ 9.93426173e-01 -1.06414106e-01 -4.21956956e-02 1.88074913e+02] [ 1.06391241e-01 9.94320421e-01 -2.79353307e-03 1.17550512e+01] [ 4.22533132e-02 -1.71408356e-03 9.99105460e-01 6.78052501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04509989299996 meters 0.024637772452758975 Centerline is valid? [True, True] Translation: X:188.14, Y:11.75, Z:6.78 [[ 9.92551062e-01 -1.14608735e-01 -4.13185959e-02 1.88135943e+02] [ 1.14593862e-01 9.93408657e-01 -2.73606355e-03 1.17530777e+01] [ 4.13598277e-02 -2.01917470e-03 9.99142276e-01 6.78378904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10509989299996 meters 0.026826922338305737 Centerline is valid? [True, True] Translation: X:188.20, Y:11.75, Z:6.79 [[ 9.92163511e-01 -1.18236569e-01 -4.03940837e-02 1.88196275e+02] [ 1.18225349e-01 9.92983188e-01 -2.67486370e-03 1.17542782e+01] [ 4.04269128e-02 -2.12170247e-03 9.99180246e-01 6.78707218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16509989299996 meters 0.027820435590487944 Centerline is valid? [True, True] Translation: X:188.26, Y:11.76, Z:6.79 [[ 9.92100476e-01 -1.18279965e-01 -4.17911027e-02 1.88256533e+02] [ 1.18267967e-01 9.92977858e-01 -2.76805717e-03 1.17587061e+01] [ 4.18250454e-02 -2.19635792e-03 9.99122536e-01 6.78738522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22509989299996 meters 0.02573489173843498 Centerline is valid? [True, True] Translation: X:188.32, Y:11.77, Z:6.79 [[ 9.92299204e-01 -1.16735979e-01 -4.14125661e-02 1.88317022e+02] [ 1.16722859e-01 9.93160738e-01 -2.74290958e-03 1.17678411e+01] [ 4.14495309e-02 -2.11200612e-03 9.99138367e-01 6.79038990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28509989299997 meters 0.026190661973260754 Centerline is valid? [True, True] Translation: X:188.38, Y:11.77, Z:6.79 [[ 9.92404712e-01 -1.15698185e-01 -4.17949526e-02 1.88376956e+02] [ 1.15683933e-01 9.93282220e-01 -2.76756381e-03 1.17733056e+01] [ 4.18343854e-02 -2.08846113e-03 9.99122376e-01 6.79262626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34509989299997 meters 0.025122657542969915 Centerline is valid? [True, True] Translation: X:188.44, Y:11.78, Z:6.79 [[ 9.92374958e-01 -1.15103740e-01 -4.40802957e-02 1.88436672e+02] [ 1.15087306e-01 9.93351092e-01 -2.91889387e-03 1.17814985e+01] [ 4.41231854e-02 -2.17644529e-03 9.99023727e-01 6.79334916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40509989299997 meters 0.02220773126219028 Centerline is valid? [True, True] Translation: X:188.50, Y:11.79, Z:6.79 [[ 9.92462538e-01 -1.13362544e-01 -4.65515202e-02 1.88496247e+02] [ 1.13342310e-01 9.93551216e-01 -3.08253256e-03 1.17938974e+01] [ 4.66007632e-02 -2.21695873e-03 9.98911134e-01 6.79467685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46509989299997 meters 0.021403851259073754 Centerline is valid? [True, True] Translation: X:188.56, Y:11.81, Z:6.80 [[ 9.93073779e-01 -1.07051069e-01 -4.84204311e-02 1.88555185e+02] [ 1.07021684e-01 9.94251516e-01 -3.20649329e-03 1.18051578e+01] [ 4.84853455e-02 -1.99775164e-03 9.98821896e-01 6.79584961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52509989299998 meters 0.018468227358696836 Centerline is valid? [True, True] Translation: X:188.61, Y:11.82, Z:6.80 [[ 9.93759614e-01 -1.01048878e-01 -4.72329752e-02 1.88614966e+02] [ 1.01014106e-01 9.94880074e-01 -3.12868353e-03 1.18183665e+01] [ 4.73072959e-02 -1.66203741e-03 9.98879000e-01 6.80024064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58509989299998 meters 0.01673539386181702 Centerline is valid? [True, True] Translation: X:188.67, Y:11.83, Z:6.81 [[ 9.94893668e-01 -9.12599956e-02 -4.31068809e-02 1.88673135e+02] [ 9.12218163e-02 9.95826503e-01 -2.85603685e-03 1.18320304e+01] [ 4.31876163e-02 -1.09083499e-03 9.99066384e-01 6.80625968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64509989299995 meters 0.015266927049710007 Centerline is valid? [True, True] Translation: X:188.73, Y:11.84, Z:6.81 [[ 9.95492962e-01 -8.50887984e-02 -4.18767137e-02 1.88733669e+02] [ 8.50472799e-02 9.96373052e-01 -2.77522233e-03 1.18430454e+01] [ 4.19609693e-02 -7.98786287e-04 9.99118931e-01 6.80992930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70509989299995 meters 0.013660415373916142 Centerline is valid? [True, True] Translation: X:188.79, Y:11.86, Z:6.81 [[ 9.96033160e-01 -7.77696088e-02 -4.32415550e-02 1.88793859e+02] [ 7.77184773e-02 9.96971229e-01 -2.86488069e-03 1.18572138e+01] [ 4.33333869e-02 -5.07151646e-04 9.99060539e-01 6.81135640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76509989299996 meters 0.013410549067819898 Centerline is valid? [True, True] Translation: X:188.85, Y:11.86, Z:6.81 [[ 9.96236019e-01 -7.43722679e-02 -4.45259518e-02 1.88852002e+02] [ 7.43146747e-02 9.97230479e-01 -2.94966631e-03 1.18641591e+01] [ 4.46220097e-02 -3.70367801e-04 9.99003873e-01 6.81133311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82509989299996 meters 0.01316666486317194 Centerline is valid? [True, True] Translation: X:188.91, Y:11.87, Z:6.81 [[ 9.96394860e-01 -7.18537948e-02 -4.51033924e-02 1.88910863e+02] [ 7.17919750e-02 9.97415142e-01 -2.99108513e-03 1.18720809e+01] [ 4.52017274e-02 -2.57759773e-04 9.98977846e-01 6.81368723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88509989299996 meters 0.013075672829839081 Centerline is valid? [True, True] Translation: X:188.97, Y:11.88, Z:6.82 [[ 9.96517148e-01 -7.03963723e-02 -4.46981577e-02 1.88969569e+02] [ 7.03338731e-02 9.97519081e-01 -2.97135477e-03 1.18795925e+01] [ 4.47964378e-02 -1.82788575e-04 9.98996119e-01 6.81657233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94509989299996 meters 0.01309573957253816 Centerline is valid? [True, True] Translation: X:189.03, Y:11.89, Z:6.82 [[ 9.96606416e-01 -6.98078984e-02 -4.36177566e-02 1.89028435e+02] [ 6.97473431e-02 9.97560443e-01 -2.91047692e-03 1.18850463e+01] [ 4.37145229e-02 -1.41622660e-04 9.99044053e-01 6.81898202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00509989299997 meters 0.01304265514179989 Centerline is valid? [True, True] Translation: X:189.09, Y:11.89, Z:6.82 [[ 9.96608425e-01 -6.98023554e-02 -4.35807123e-02 1.89086982e+02] [ 6.97414149e-02 9.97560832e-01 -2.91904479e-03 1.18898676e+01] [ 4.36781678e-02 -1.30235906e-04 9.99045645e-01 6.82035030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06509989299997 meters 0.013194457665617136 Centerline is valid? [True, True] Translation: X:189.14, Y:11.89, Z:6.82 [[ 9.96496485e-01 -7.12095507e-02 -4.38629227e-02 1.89144858e+02] [ 7.11487298e-02 9.97461361e-01 -2.94819115e-03 1.18934604e+01] [ 4.39615099e-02 -1.82929113e-04 9.99033209e-01 6.82223813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12509989299997 meters 0.013544906814049483 Centerline is valid? [True, True] Translation: X:189.20, Y:11.89, Z:6.82 [[ 9.96014362e-01 -7.66590709e-02 -4.55936023e-02 1.89203896e+02] [ 7.65988018e-02 9.97057269e-01 -3.07010563e-03 1.18943232e+01] [ 4.56947841e-02 -4.34546007e-04 9.98955353e-01 6.82335446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18509989299997 meters 0.014292899014945664 Centerline is valid? [True, True] Translation: X:189.26, Y:11.89, Z:6.82 [[ 9.95474781e-01 -8.27193708e-02 -4.67703644e-02 1.89262764e+02] [ 8.26620684e-02 9.96572621e-01 -3.16131343e-03 1.18935563e+01] [ 4.68715665e-02 -7.19127274e-04 9.98900665e-01 6.82430186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24509989299997 meters 0.015840377920787106 Centerline is valid? [True, True] Translation: X:189.32, Y:11.89, Z:6.83 [[ 9.94920998e-01 -8.92798134e-02 -4.64900269e-02 1.89321595e+02] [ 8.92298878e-02 9.96006070e-01 -3.15222515e-03 1.18920012e+01] [ 4.65857791e-02 -1.01208489e-03 9.98913781e-01 6.82600274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30509989299998 meters 0.016616132247414907 Centerline is valid? [True, True] Translation: X:189.38, Y:11.89, Z:6.83 [[ 9.94423411e-01 -9.48105582e-02 -4.61848259e-02 1.89382090e+02] [ 9.47671496e-02 9.95494535e-01 -3.13350519e-03 1.18923938e+01] [ 4.62738311e-02 -1.26077339e-03 9.98927997e-01 6.82850929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36509989299998 meters 0.018151914148009443 Centerline is valid? [True, True] Translation: X:189.44, Y:11.89, Z:6.83 [[ 9.94126126e-01 -9.85173484e-02 -4.48060016e-02 1.89442221e+02] [ 9.84802509e-02 9.95134362e-01 -3.03995600e-03 1.18917735e+01] [ 4.48874802e-02 -1.39040660e-03 9.98991081e-01 6.83129246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42509989299995 meters 0.01808838775323968 Centerline is valid? [True, True] Translation: X:189.50, Y:11.90, Z:6.83 [[ 9.94170781e-01 -9.82490534e-02 -4.44025056e-02 1.89503145e+02] [ 9.82123651e-02 9.95160920e-01 -3.01232223e-03 1.18959258e+01] [ 4.44835962e-02 -1.36611235e-03 9.99009181e-01 6.83407103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48509989299995 meters 0.016697311850267967 Centerline is valid? [True, True] Translation: X:189.56, Y:11.90, Z:6.84 [[ 9.94447016e-01 -9.57245228e-02 -4.37258345e-02 1.89563771e+02] [ 9.56865745e-02 9.95407097e-01 -2.96486019e-03 1.19026316e+01] [ 4.38088159e-02 -1.23557895e-03 9.99039169e-01 6.83749771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54509989299996 meters 0.01738483742321637 Centerline is valid? [True, True] Translation: X:189.62, Y:11.91, Z:6.84 [[ 9.94501181e-01 -9.51751907e-02 -4.36930554e-02 1.89624415e+02] [ 9.51368350e-02 9.95459800e-01 -2.96114480e-03 1.19052689e+01] [ 4.37765077e-02 -1.21195700e-03 9.99040614e-01 6.83965980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60509989299996 meters 0.017299775266279616 Centerline is valid? [True, True] Translation: X:189.69, Y:11.91, Z:6.84 [[ 9.94478689e-01 -9.48839345e-02 -4.48238390e-02 1.89685268e+02] [ 9.48433038e-02 9.95487581e-01 -3.03708885e-03 1.19086451e+01] [ 4.49097460e-02 -1.23092084e-03 9.98990290e-01 6.84133460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66509989299996 meters 0.016517559618691426 Centerline is valid? [True, True] Translation: X:189.75, Y:11.91, Z:6.84 [[ 9.94413792e-01 -9.49239531e-02 -4.61589978e-02 1.89746334e+02] [ 9.48809246e-02 9.95483717e-01 -3.12722590e-03 1.19134273e+01] [ 4.62473793e-02 -1.26985182e-03 9.98929210e-01 6.84320336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72509989299996 meters 0.017144541915943907 Centerline is valid? [True, True] Translation: X:189.81, Y:11.92, Z:6.84 [[ 9.94373216e-01 -9.42952538e-02 -4.82733086e-02 1.89806258e+02] [ 9.42475330e-02 9.95543428e-01 -3.26884011e-03 1.19162459e+01] [ 4.83664112e-02 -1.29919319e-03 9.98828815e-01 6.84433423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78509989299997 meters 0.01624440271517997 Centerline is valid? [True, True] Translation: X:189.87, Y:11.92, Z:6.85 [[ 9.94466000e-01 -9.25770440e-02 -4.96675511e-02 1.89866022e+02] [ 9.25244100e-02 9.95704738e-01 -3.36278639e-03 1.19229081e+01] [ 4.97655328e-02 -1.25128414e-03 9.98760144e-01 6.84708979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84509989299997 meters 0.015601951046614855 Centerline is valid? [True, True] Translation: X:189.92, Y:11.93, Z:6.85 [[ 9.94678283e-01 -9.03113575e-02 -4.95880307e-02 1.89924018e+02] [ 9.02558885e-02 9.95912936e-01 -3.36123564e-03 1.19287254e+01] [ 4.96889190e-02 -1.13226368e-03 9.98764101e-01 6.85041008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90509989299997 meters 0.015840278496810484 Centerline is valid? [True, True] Translation: X:189.98, Y:11.93, Z:6.85 [[ 9.94794655e-01 -8.97464652e-02 -4.82614312e-02 1.89981915e+02] [ 8.96927647e-02 9.95964075e-01 -3.28154799e-03 1.19321293e+01] [ 4.83611590e-02 -1.06423479e-03 9.98829348e-01 6.85364567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96509989299997 meters 0.015056911381158876 Centerline is valid? [True, True] Translation: X:190.04, Y:11.94, Z:6.86 [[ 9.94894377e-01 -8.99011829e-02 -4.58579941e-02 1.90040971e+02] [ 8.98527020e-02 9.95950173e-01 -3.12160827e-03 1.19368459e+01] [ 4.59529134e-02 -1.01479416e-03 9.98943091e-01 6.85833167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02509989299998 meters 0.015814249679596184 Centerline is valid? [True, True] Translation: X:190.10, Y:11.94, Z:6.86 [[ 9.94882008e-01 -9.03535826e-02 -4.52329564e-02 1.90100043e+02] [ 9.03068130e-02 9.95909228e-01 -3.08056642e-03 1.19388222e+01] [ 4.53262589e-02 -1.02004403e-03 9.98971716e-01 6.86065514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08509989299998 meters 0.016095832754887456 Centerline is valid? [True, True] Translation: X:190.16, Y:11.94, Z:6.86 [[ 9.94699836e-01 -9.23573485e-02 -4.51924457e-02 1.90160811e+02] [ 9.23126975e-02 9.95725308e-01 -3.07848452e-03 1.19418076e+01] [ 4.52835826e-02 -1.10966852e-03 9.98973556e-01 6.86367391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14509989299995 meters 0.017106936714792718 Centerline is valid? [True, True] Translation: X:190.22, Y:11.94, Z:6.87 [[ 9.94452133e-01 -9.48854483e-02 -4.54060206e-02 1.90221641e+02] [ 9.48430058e-02 9.95487437e-01 -3.09303313e-03 1.19425209e+01] [ 4.54946069e-02 -1.23057008e-03 9.98963826e-01 6.86539692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20509989299995 meters 0.01694789739261002 Centerline is valid? [True, True] Translation: X:190.28, Y:11.94, Z:6.87 [[ 9.93972278e-01 -9.97242565e-02 -4.55432014e-02 1.90282179e+02] [ 9.96866270e-02 9.95014046e-01 -3.10237781e-03 1.19435554e+01] [ 4.56255074e-02 -1.45637059e-03 9.98957553e-01 6.86857679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26509989299996 meters 0.018034453283273442 Centerline is valid? [True, True] Translation: X:190.34, Y:11.94, Z:6.87 [[ 9.93661195e-01 -1.03094381e-01 -4.48216268e-02 1.90343443e+02] [ 1.03061369e-01 9.94670314e-01 -3.05294139e-03 1.19428443e+01] [ 4.48974827e-02 -1.58578881e-03 9.98990341e-01 6.87098247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32509989299996 meters 0.019117087794188553 Centerline is valid? [True, True] Translation: X:190.40, Y:11.94, Z:6.87 [[ 9.93651553e-01 -1.03439697e-01 -4.42359689e-02 1.90403541e+02] [ 1.03407949e-01 9.94634469e-01 -3.01155375e-03 1.19434168e+01] [ 4.43101337e-02 -1.58191575e-03 9.99016571e-01 6.87281395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38509989299996 meters 0.01790166647743802 Centerline is valid? [True, True] Translation: X:190.46, Y:11.95, Z:6.88 [[ 9.93943864e-01 -1.00544351e-01 -4.43444400e-02 1.90464876e+02] [ 1.00509612e-01 9.94931510e-01 -3.01799017e-03 1.19487070e+01] [ 4.44231225e-02 -1.45732964e-03 9.99011743e-01 6.87514972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44509989299996 meters 0.01733934645165122 Centerline is valid? [True, True] Translation: X:190.52, Y:11.95, Z:6.88 [[ 9.94315577e-01 -9.69314120e-02 -4.40549028e-02 1.90524843e+02] [ 9.68936430e-02 9.95290229e-01 -2.99691347e-03 1.19530347e+01] [ 4.41379094e-02 -1.28876228e-03 9.99024616e-01 6.87793740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50509989299997 meters 0.01755670075012608 Centerline is valid? [True, True] Translation: X:190.59, Y:11.96, Z:6.88 [[ 9.94456016e-01 -9.60951650e-02 -4.26960452e-02 1.90585346e+02] [ 9.60589196e-02 9.95371412e-01 -2.90447476e-03 1.19553871e+01] [ 4.27775288e-02 -1.21296358e-03 9.99083886e-01 6.88055188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56509989299997 meters 0.017143719319359447 Centerline is valid? [True, True] Translation: X:190.65, Y:11.96, Z:6.88 [[ 9.94541401e-01 -9.54482819e-02 -4.21548105e-02 1.90645392e+02] [ 9.54123691e-02 9.95433703e-01 -2.86765629e-03 1.19586137e+01] [ 4.22360319e-02 -1.17008743e-03 9.99106976e-01 6.88341156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62509989299997 meters 0.016855640603316794 Centerline is valid? [True, True] Translation: X:190.71, Y:11.96, Z:6.89 [[ 9.94712638e-01 -9.33028828e-02 -4.29108305e-02 1.90705857e+02] [ 9.32636762e-02 9.95637166e-01 -2.91908591e-03 1.19622030e+01] [ 4.29959768e-02 -1.09837016e-03 9.99074642e-01 6.88533982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68509989299997 meters 0.01527040138049945 Centerline is valid? [True, True] Translation: X:190.77, Y:11.97, Z:6.89 [[ 9.95218556e-01 -8.76133942e-02 -4.31731310e-02 1.90765778e+02] [ 8.75683513e-02 9.96154184e-01 -2.93703679e-03 1.19683064e+01] [ 4.32644188e-02 -8.57606382e-04 9.99063289e-01 6.88843644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74509989299997 meters 0.01432757380183432 Centerline is valid? [True, True] Translation: X:190.83, Y:11.97, Z:6.89 [[ 9.95681412e-01 -8.22870875e-02 -4.29809407e-02 1.90825572e+02] [ 8.22374505e-02 9.96608473e-01 -2.92473373e-03 1.19731957e+01] [ 4.30758375e-02 -6.22539979e-04 9.99071611e-01 6.89076509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80509989299998 meters 0.013436113204921957 Centerline is valid? [True, True] Translation: X:190.88, Y:11.98, Z:6.89 [[ 9.96207848e-01 -7.61240407e-02 -4.21314009e-02 1.90884468e+02] [ 7.60707591e-02 9.97098295e-01 -2.86874100e-03 1.19784431e+01] [ 4.22275282e-02 -3.47105346e-04 9.99107960e-01 6.89375827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86509989299995 meters 0.01321938089654222 Centerline is valid? [True, True] Translation: X:190.94, Y:11.98, Z:6.90 [[ 9.96361922e-01 -7.39332215e-02 -4.23886663e-02 1.90942344e+02] [ 7.38769078e-02 9.97263164e-01 -2.89559797e-03 1.19806763e+01] [ 4.24867364e-02 -2.46480034e-04 9.99097001e-01 6.89510172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92509989299995 meters 0.013165606236179444 Centerline is valid? [True, True] Translation: X:191.00, Y:11.98, Z:6.90 [[ 9.96247086e-01 -7.48227764e-02 -4.35120297e-02 1.91001474e+02] [ 7.47640662e-02 9.97196806e-01 -2.97734954e-03 1.19794407e+01] [ 4.36128306e-02 -2.86960468e-04 9.99048467e-01 6.89551733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98509989299995 meters 0.013520236204457609 Centerline is valid? [True, True] Translation: X:191.06, Y:11.98, Z:6.90 [[ 9.96003145e-01 -7.75582867e-02 -4.42995154e-02 1.91059739e+02] [ 7.74996806e-02 9.96987738e-01 -3.04145985e-03 1.19778459e+01] [ 4.44019640e-02 -4.03894722e-04 9.99013665e-01 6.89612256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04509989299996 meters 0.014516320966232973 Centerline is valid? [True, True] Translation: X:191.12, Y:11.97, Z:6.90 [[ 9.95345003e-01 -8.59400382e-02 -4.36192132e-02 1.91119853e+02] [ 8.58911034e-02 9.96300020e-01 -2.99824683e-03 1.19731618e+01] [ 4.37154924e-02 -7.62212350e-04 9.99043730e-01 6.89893624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10509989299996 meters 0.01784695569247561 Centerline is valid? [True, True] Translation: X:191.18, Y:11.96, Z:6.90 [[ 9.94319630e-01 -9.68562719e-02 -4.41286355e-02 1.91180015e+02] [ 9.68168551e-02 9.95297587e-01 -3.03463303e-03 1.19640208e+01] [ 4.42150477e-02 -1.25500051e-03 9.99021248e-01 6.90085311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16509989299996 meters 0.018360166211886953 Centerline is valid? [True, True] Translation: X:191.24, Y:11.96, Z:6.90 [[ 9.93520480e-01 -1.04389823e-01 -4.49424143e-02 1.91239818e+02] [ 1.04356622e-01 9.94535139e-01 -3.09077368e-03 1.19632794e+01] [ 4.50194556e-02 -1.61929157e-03 9.98984798e-01 6.90311932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22509989299996 meters 0.024515651981657664 Centerline is valid? [True, True] Translation: X:191.30, Y:11.95, Z:6.90 [[ 9.92376267e-01 -1.14664124e-01 -4.51827801e-02 1.91299580e+02] [ 1.14641136e-01 9.93402108e-01 -3.10825775e-03 1.19535998e+01] [ 4.52410747e-02 -2.09524401e-03 9.98973901e-01 6.90466724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28509989299997 meters 0.02791592911068695 Centerline is valid? [True, True] Translation: X:191.36, Y:11.95, Z:6.91 [[ 9.91628654e-01 -1.20991368e-01 -4.50965764e-02 1.91360042e+02] [ 1.20974927e-01 9.92650711e-01 -3.10363667e-03 1.19502352e+01] [ 4.51406618e-02 -2.37789998e-03 9.98977811e-01 6.90699857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34509989299997 meters 0.028982971113514475 Centerline is valid? [True, True] Translation: X:191.42, Y:11.95, Z:6.91 [[ 9.90536883e-01 -1.29674764e-01 -4.49570733e-02 1.91420131e+02] [ 1.29667317e-01 9.91552728e-01 -3.09419153e-03 1.19497733e+01] [ 4.49785472e-02 -2.76455223e-03 9.98984128e-01 6.91048588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40509989299997 meters 0.028494586919730565 Centerline is valid? [True, True] Translation: X:191.48, Y:11.95, Z:6.91 [[ 9.89928324e-01 -1.34205149e-01 -4.50654049e-02 1.91480198e+02] [ 1.34202301e-01 9.90949099e-01 -3.10244643e-03 1.19535712e+01] [ 4.50738867e-02 -2.97668143e-03 9.98979221e-01 6.91321860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46509989299997 meters 0.03356210863561204 Centerline is valid? [True, True] Translation: X:191.54, Y:11.95, Z:6.91 [[ 9.89462953e-01 -1.37476461e-01 -4.54234231e-02 1.91540005e+02] [ 1.37476984e-01 9.90500025e-01 -3.12736207e-03 1.19500882e+01] [ 4.54218403e-02 -3.15026629e-03 9.98962928e-01 6.91450362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52509989299998 meters 0.030824615195864834 Centerline is valid? [True, True] Translation: X:191.60, Y:11.96, Z:6.92 [[ 9.89187541e-01 -1.39214721e-01 -4.61223413e-02 1.91599526e+02] [ 1.39217086e-01 9.90256791e-01 -3.17667916e-03 1.19568460e+01] [ 4.61152022e-02 -3.27868653e-03 9.98930748e-01 6.91565827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58509989299998 meters 0.0331321611723585 Centerline is valid? [True, True] Translation: X:191.66, Y:11.96, Z:6.92 [[ 9.88941578e-01 -1.40251224e-01 -4.82094245e-02 1.91658597e+02] [ 1.40254942e-01 9.90109849e-01 -3.32247995e-03 1.19583046e+01] [ 4.81986079e-02 -3.47587145e-03 9.98831724e-01 6.91523661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64509989299995 meters 0.033343493807992716 Centerline is valid? [True, True] Translation: X:191.72, Y:11.96, Z:6.92 [[ 9.88958461e-01 -1.39707342e-01 -4.94269271e-02 1.91717399e+02] [ 1.39710323e-01 9.90186541e-01 -3.41159110e-03 1.19638616e+01] [ 4.94185023e-02 -3.53153006e-03 9.98771916e-01 6.91631502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70509989299995 meters 0.029897005021615734 Centerline is valid? [True, True] Translation: X:191.78, Y:11.98, Z:6.92 [[ 9.89512637e-01 -1.35658898e-01 -4.96125447e-02 1.91776561e+02] [ 1.35656363e-01 9.90749998e-01 -3.43394364e-03 1.19769232e+01] [ 4.96194735e-02 -3.33232676e-03 9.98762636e-01 6.91929803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76509989299996 meters 0.03224122223873408 Centerline is valid? [True, True] Translation: X:191.84, Y:11.98, Z:6.92 [[ 9.90130787e-01 -1.31462217e-01 -4.85665453e-02 1.91835798e+02] [ 1.31454740e-01 9.91316473e-01 -3.36191624e-03 1.19806866e+01] [ 4.85867814e-02 -3.05556580e-03 9.98814291e-01 6.92129495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82509989299996 meters 0.024491314785575813 Centerline is valid? [True, True] Translation: X:191.89, Y:12.00, Z:6.93 [[ 9.91138254e-01 -1.24456194e-01 -4.64286271e-02 1.91894535e+02] [ 1.24441650e-01 9.92221720e-01 -3.21480443e-03 1.20017502e+01] [ 4.64675946e-02 -2.59133932e-03 9.98916437e-01 6.92687802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88509989299996 meters 0.023630158074992087 Centerline is valid? [True, True] Translation: X:191.95, Y:12.01, Z:6.93 [[ 9.92093050e-01 -1.17387580e-01 -4.44019810e-02 1.91953251e+02] [ 1.17367181e-01 9.93083827e-01 -3.07512851e-03 1.20131151e+01] [ 4.44558711e-02 -2.16052173e-03 9.99009013e-01 6.93065529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94509989299996 meters 0.022383166109199985 Centerline is valid? [True, True] Translation: X:192.01, Y:12.02, Z:6.93 [[ 9.92532709e-01 -1.13569972e-01 -4.45048565e-02 1.92013574e+02] [ 1.13545610e-01 9.93528001e-01 -3.08314413e-03 1.20233771e+01] [ 4.45669737e-02 -1.99320970e-03 9.99004410e-01 6.93282459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00509989299997 meters 0.0216217525856841 Centerline is valid? [True, True] Translation: X:192.07, Y:12.03, Z:6.94 [[ 9.92850542e-01 -1.10840664e-01 -4.42961415e-02 1.92074043e+02] [ 1.10813855e-01 9.93836444e-01 -3.06788599e-03 1.20340653e+01] [ 4.43631662e-02 -1.86267391e-03 9.99013734e-01 6.93531222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06509989299997 meters 0.020977250868774708 Centerline is valid? [True, True] Translation: X:192.13, Y:12.04, Z:6.93 [[ 9.92278562e-01 -1.13661570e-01 -4.96417552e-02 1.92134654e+02] [ 1.13631478e-01 9.93517022e-01 -3.43713251e-03 1.20425247e+01] [ 4.97105987e-02 -2.23027310e-03 9.98761174e-01 6.93454737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12509989299997 meters 0.022055072906915475 Centerline is valid? [True, True] Translation: X:192.19, Y:12.05, Z:6.93 [[ 9.91884315e-01 -1.15478154e-01 -5.32005785e-02 1.92194059e+02] [ 1.15446215e-01 9.93306903e-01 -3.68338893e-03 1.20470366e+01] [ 5.32698528e-02 -2.48830970e-03 9.98577053e-01 6.93303065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18509989299997 meters 0.023275367975755648 Centerline is valid? [True, True] Translation: X:192.25, Y:12.05, Z:6.94 [[ 9.92053837e-01 -1.14204962e-01 -5.27864619e-02 1.92251973e+02] [ 1.14171440e-01 9.93454320e-01 -3.65997655e-03 1.20541466e+01] [ 5.28589261e-02 -2.39581259e-03 9.98599116e-01 6.93505937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24509989299997 meters 0.021115762658630993 Centerline is valid? [True, True] Translation: X:192.31, Y:12.06, Z:6.94 [[ 9.92612976e-01 -1.10051672e-01 -5.10696607e-02 1.92311604e+02] [ 1.10014313e-01 9.93923661e-01 -3.55054802e-03 1.20649483e+01] [ 5.11500879e-02 -2.09407362e-03 9.98688782e-01 6.94019034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30509989299998 meters 0.017802646583001014 Centerline is valid? [True, True] Translation: X:192.37, Y:12.08, Z:6.95 [[ 9.93515556e-01 -1.02602061e-01 -4.89862890e-02 1.92370888e+02] [ 1.02558565e-01 9.94721132e-01 -3.40726467e-03 1.20794096e+01] [ 4.90772893e-02 -1.63879304e-03 9.98793639e-01 6.94549443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36509989299995 meters 0.01732337530307905 Centerline is valid? [True, True] Translation: X:192.43, Y:12.09, Z:6.95 [[ 9.93974897e-01 -9.86752212e-02 -4.77190251e-02 1.92429930e+02] [ 9.86294099e-02 9.95118697e-01 -3.31943167e-03 1.20869390e+01] [ 4.78136397e-02 -1.40706753e-03 9.98855283e-01 6.94899034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42509989299995 meters 0.01683946921146589 Centerline is valid? [True, True] Translation: X:192.49, Y:12.09, Z:6.95 [[ 9.94221193e-01 -9.70954712e-02 -4.57896137e-02 1.92489928e+02] [ 9.70515854e-02 9.95274254e-01 -3.18586796e-03 1.20935658e+01] [ 4.58825570e-02 -1.27649716e-03 9.98946025e-01 6.95396922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48509989299995 meters 0.019321440483224532 Centerline is valid? [True, True] Translation: X:192.55, Y:12.09, Z:6.96 [[ 9.94168515e-01 -9.78459261e-02 -4.53336260e-02 1.92549752e+02] [ 9.78036885e-02 9.95200728e-01 -3.15414957e-03 1.20924379e+01] [ 4.54246783e-02 -1.29803965e-03 9.98966923e-01 6.95576292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54509989299996 meters 0.017650010413854066 Centerline is valid? [True, True] Translation: X:192.61, Y:12.10, Z:6.96 [[ 9.93889397e-01 -1.00529635e-01 -4.55813551e-02 1.92610143e+02] [ 1.00489750e-01 9.94933039e-01 -3.17142022e-03 1.20979493e+01] [ 4.56692179e-02 -1.42841807e-03 9.98955596e-01 6.95887091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60509989299996 meters 0.01971214942823172 Centerline is valid? [True, True] Translation: X:192.67, Y:12.10, Z:6.96 [[ 9.93489370e-01 -1.04136596e-01 -4.62000127e-02 1.92669504e+02] [ 1.04099500e-01 9.94561692e-01 -3.21478715e-03 1.20975087e+01] [ 4.62835398e-02 -1.61554134e-03 9.98927036e-01 6.96005285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66509989299996 meters 0.021220758975118034 Centerline is valid? [True, True] Translation: X:192.73, Y:12.10, Z:6.96 [[ 9.93028548e-01 -1.07962668e-01 -4.73113645e-02 1.92730125e+02] [ 1.07928033e-01 9.94153254e-01 -3.29348741e-03 1.20971170e+01] [ 4.73903207e-02 -1.83569549e-03 9.98874761e-01 6.96088059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72509989299996 meters 0.020654034014527995 Centerline is valid? [True, True] Translation: X:192.79, Y:12.10, Z:6.96 [[ 9.92724586e-01 -1.11021557e-01 -4.66059037e-02 1.92790382e+02] [ 1.10991309e-01 9.93816081e-01 -3.24437814e-03 1.21015351e+01] [ 4.66778925e-02 -1.95207630e-03 9.98908086e-01 6.96378835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78509989299997 meters 0.023543603792092426 Centerline is valid? [True, True] Translation: X:192.85, Y:12.10, Z:6.97 [[ 9.92386608e-01 -1.14072117e-01 -4.64367504e-02 1.92849900e+02] [ 1.14045409e-01 9.93470278e-01 -3.23279787e-03 1.21005813e+01] [ 4.65023035e-02 -2.08771289e-03 9.98916001e-01 6.96620875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84509989299997 meters 0.021540701317164825 Centerline is valid? [True, True] Translation: X:192.91, Y:12.11, Z:6.97 [[ 9.92498996e-01 -1.11010256e-01 -5.12100165e-02 1.92910777e+02] [ 1.10973700e-01 9.93816948e-01 -3.56545934e-03 1.21125504e+01] [ 5.12891848e-02 -2.14425020e-03 9.98681542e-01 6.96875009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90509989299997 meters 0.020065799784456936 Centerline is valid? [True, True] Translation: X:192.97, Y:12.12, Z:6.97 [[ 9.92699561e-01 -1.09156713e-01 -5.13068584e-02 1.92969922e+02] [ 1.09117592e-01 9.94022433e-01 -3.57136643e-03 1.21198921e+01] [ 5.13900068e-02 -2.05318694e-03 9.98676550e-01 6.97115010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96509989299997 meters 0.020065799784456936 Centerline is valid? [True, True] Translation: X:193.03, Y:12.12, Z:6.97 [[ 9.92699560e-01 -1.09156763e-01 -5.13067637e-02 1.93029789e+02] [ 1.09117573e-01 9.94022430e-01 -3.57272513e-03 1.21240616e+01] [ 5.13900611e-02 -2.05182685e-03 9.98676550e-01 6.97339083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02509989299998 meters 0.020694188803694027 Centerline is valid? [True, True] Translation: X:193.09, Y:12.13, Z:6.97 [[ 9.92915864e-01 -1.07159228e-01 -5.13321168e-02 1.93088810e+02] [ 1.07117308e-01 9.94239962e-01 -3.57499941e-03 1.21280238e+01] [ 5.14195360e-02 -1.94888454e-03 9.98675239e-01 6.97480015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08509989299998 meters 0.01886340994264407 Centerline is valid? [True, True] Translation: X:193.15, Y:12.14, Z:6.98 [[ 9.93126090e-01 -1.05071359e-01 -5.15807971e-02 1.93148298e+02] [ 1.05026125e-01 9.94462968e-01 -3.59419110e-03 1.21359866e+01] [ 5.16728391e-02 -1.84784627e-03 9.98662357e-01 6.97758435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14509989299995 meters 0.018899772216824682 Centerline is valid? [True, True] Translation: X:193.21, Y:12.14, Z:6.98 [[ 9.93337296e-01 -1.02859637e-01 -5.19703012e-02 1.93207056e+02] [ 1.02810596e-01 9.94694352e-01 -3.62323138e-03 1.21414865e+01] [ 5.20672493e-02 -1.74400678e-03 9.98642058e-01 6.97925305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20509989299995 meters 0.01832336937077957 Centerline is valid? [True, True] Translation: X:193.27, Y:12.15, Z:6.98 [[ 9.93516459e-01 -1.00838939e-01 -5.25029043e-02 1.93265931e+02] [ 1.00785895e-01 9.94901392e-01 -3.66370644e-03 1.21482035e+01] [ 5.26046569e-02 -1.65159955e-03 9.98614051e-01 6.98139075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26509989299996 meters 0.01740278643263627 Centerline is valid? [True, True] Translation: X:193.33, Y:12.16, Z:6.98 [[ 9.93989215e-01 -9.63080786e-02 -5.20595295e-02 1.93325526e+02] [ 9.62494539e-02 9.95350596e-01 -3.63784149e-03 1.21573612e+01] [ 5.21678373e-02 -1.39472608e-03 9.98637357e-01 6.98449620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32509989299996 meters 0.016663041582242563 Centerline is valid? [True, True] Translation: X:193.38, Y:12.16, Z:6.99 [[ 9.94321640e-01 -9.36530928e-02 -5.05329036e-02 1.93384386e+02] [ 9.35942443e-02 9.95604149e-01 -3.53483294e-03 1.21647045e+01] [ 5.06418165e-02 -1.21482803e-03 9.98716141e-01 6.98776337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38509989299996 meters 0.015271327622460175 Centerline is valid? [True, True] Translation: X:193.44, Y:12.17, Z:6.99 [[ 9.94515641e-01 -9.24977144e-02 -4.88140607e-02 1.93443028e+02] [ 9.24408743e-02 9.95712283e-01 -3.42554947e-03 1.21738548e+01] [ 4.89216153e-02 -1.10565192e-03 9.98802009e-01 6.99283495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44509989299996 meters 0.015807295385061527 Centerline is valid? [True, True] Translation: X:193.50, Y:12.18, Z:6.99 [[ 9.94284674e-01 -9.48002372e-02 -4.91009280e-02 1.93502789e+02] [ 9.47450703e-02 9.95495572e-01 -3.45502726e-03 1.21774017e+01] [ 4.92072938e-02 -1.21679022e-03 9.98787846e-01 6.99473521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50509989299997 meters 0.02028922047435256 Centerline is valid? [True, True] Translation: X:193.56, Y:12.17, Z:6.99 [[ 9.93074564e-01 -1.05755389e-01 -5.11733108e-02 1.93562832e+02] [ 1.05709887e-01 9.94390488e-01 -3.60250641e-03 1.21728496e+01] [ 5.12672380e-02 -1.83196744e-03 9.98683290e-01 6.99355408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56509989299997 meters 0.020977409252010294 Centerline is valid? [True, True] Translation: X:193.62, Y:12.18, Z:7.00 [[ 9.92271209e-01 -1.12410475e-01 -5.25521982e-02 1.93623055e+02] [ 1.12371759e-01 9.93659346e-01 -3.70027368e-03 1.21757461e+01] [ 5.26349325e-02 -2.23370792e-03 9.98611323e-01 6.99566839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62509989299997 meters 0.022950113014856464 Centerline is valid? [True, True] Translation: X:193.68, Y:12.18, Z:7.00 [[ 9.91608268e-01 -1.18099193e-01 -5.25891951e-02 1.93683719e+02] [ 1.18068385e-01 9.92998562e-01 -3.70308963e-03 1.21785953e+01] [ 5.26583270e-02 -2.53710702e-03 9.98609365e-01 6.99812268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68509989299997 meters 0.02479436368237723 Centerline is valid? [True, True] Translation: X:193.74, Y:12.18, Z:7.00 [[ 9.91069794e-01 -1.22728603e-01 -5.21378273e-02 1.93744436e+02] [ 1.22704694e-01 9.92436435e-01 -3.67144998e-03 1.21812219e+01] [ 5.21940714e-02 -2.75889297e-03 9.98633150e-01 7.00073503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74509989299997 meters 0.025223635409025738 Centerline is valid? [True, True] Translation: X:193.81, Y:12.19, Z:7.00 [[ 9.91022269e-01 -1.23784909e-01 -5.05189006e-02 1.93805177e+02] [ 1.23763862e-01 9.92305324e-01 -3.55670422e-03 1.21861309e+01] [ 5.05704404e-02 -2.72764115e-03 9.98716772e-01 7.00448441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80509989299998 meters 0.02485701734163827 Centerline is valid? [True, True] Translation: X:193.87, Y:12.19, Z:7.01 [[ 9.91054359e-01 -1.23921999e-01 -4.95438686e-02 1.93867039e+02] [ 1.23902036e-01 9.92288332e-01 -3.48581784e-03 1.21926772e+01] [ 4.95937723e-02 -2.68395124e-03 9.98765866e-01 7.00785088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86509989299995 meters 0.027449821189082697 Centerline is valid? [True, True] Translation: X:193.93, Y:12.19, Z:7.01 [[ 9.90973607e-01 -1.24788227e-01 -4.89817252e-02 1.93927754e+02] [ 1.24769921e-01 9.92179728e-01 -3.44312603e-03 1.21947012e+01] [ 4.90283363e-02 -2.69939895e-03 9.98793740e-01 7.01031293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92509989299995 meters 0.030381991778554624 Centerline is valid? [True, True] Translation: X:193.99, Y:12.20, Z:7.01 [[ 9.90798724e-01 -1.26252278e-01 -4.87673189e-02 1.93987743e+02] [ 1.26235988e-01 9.91994323e-01 -3.42622598e-03 1.21972265e+01] [ 4.88094723e-02 -2.76149033e-03 9.98804290e-01 7.01258611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98509989299995 meters 0.027425478584428797 Centerline is valid? [True, True] Translation: X:194.05, Y:12.21, Z:7.02 [[ 9.90708708e-01 -1.26873805e-01 -4.89825901e-02 1.94049303e+02] [ 1.26858245e-01 9.91914895e-01 -3.43894725e-03 1.22073333e+01] [ 4.90228731e-02 -2.80685044e-03 9.98793712e-01 7.01628818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04509989299996 meters 0.030626501999202155 Centerline is valid? [True, True] Translation: X:194.11, Y:12.21, Z:7.02 [[ 9.90809914e-01 -1.26338194e-01 -4.83153701e-02 1.94110539e+02] [ 1.26322577e-01 9.91983428e-01 -3.38885311e-03 1.22106419e+01] [ 4.83561880e-02 -2.74561280e-03 9.98826382e-01 7.01811302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10509989299996 meters 0.026051285937589312 Centerline is valid? [True, True] Translation: X:194.17, Y:12.22, Z:7.02 [[ 9.91073917e-01 -1.23791651e-01 -4.94784659e-02 1.94170796e+02] [ 1.23772237e-01 9.92304594e-01 -3.46794738e-03 1.22240755e+01] [ 4.95270120e-02 -2.68706822e-03 9.98769170e-01 7.01994365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16509989299996 meters 0.024442456157101628 Centerline is valid? [True, True] Translation: X:194.23, Y:12.24, Z:7.02 [[ 9.91958080e-01 -1.16078056e-01 -5.04485050e-02 1.94229769e+02] [ 1.16047979e-01 9.93237319e-01 -3.53480697e-03 1.22364194e+01] [ 5.05176513e-02 -2.34806673e-03 9.98720408e-01 7.02026325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22509989299996 meters 0.020098037735949214 Centerline is valid? [True, True] Translation: X:194.29, Y:12.25, Z:7.02 [[ 9.93089452e-01 -1.06172208e-01 -5.00080155e-02 1.94288979e+02] [ 1.06130083e-01 9.94346079e-01 -3.50450049e-03 1.22540713e+01] [ 5.00973547e-02 -1.82707235e-03 9.98742668e-01 7.02394660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28509989299997 meters 0.01814001267081048 Centerline is valid? [True, True] Translation: X:194.35, Y:12.27, Z:7.03 [[ 9.93968024e-01 -9.84533592e-02 -4.83167074e-02 1.94347396e+02] [ 9.84049320e-02 9.95140697e-01 -3.38575825e-03 1.22661015e+01] [ 4.84152612e-02 -1.38926687e-03 9.98826327e-01 7.02689325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34509989299997 meters 0.015906424165118307 Centerline is valid? [True, True] Translation: X:194.41, Y:12.28, Z:7.03 [[ 9.94325364e-01 -9.55606514e-02 -4.67464614e-02 1.94407867e+02] [ 9.55121166e-02 9.95422877e-01 -3.27593622e-03 1.22761293e+01] [ 4.68455477e-02 -1.20750700e-03 9.98901415e-01 7.03114769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40509989299997 meters 0.015564910857935614 Centerline is valid? [True, True] Translation: X:194.47, Y:12.28, Z:7.03 [[ 9.94473018e-01 -9.40889057e-02 -4.65907112e-02 1.94469366e+02] [ 9.40391764e-02 9.95563150e-01 -3.26296541e-03 1.22826373e+01] [ 4.66910041e-02 -1.13642104e-03 9.98908734e-01 7.03392789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46509989299997 meters 0.015890823640777426 Centerline is valid? [True, True] Translation: X:194.53, Y:12.29, Z:7.04 [[ 9.94369346e-01 -9.44666075e-02 -4.80173183e-02 1.94531533e+02] [ 9.44143995e-02 9.95527316e-01 -3.35927682e-03 1.22875357e+01] [ 4.81198915e-02 -1.19316437e-03 9.98840854e-01 7.03523151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52509989299998 meters 0.016178460996910858 Centerline is valid? [True, True] Translation: X:194.59, Y:12.29, Z:7.04 [[ 9.94179912e-01 -9.63048413e-02 -4.82874710e-02 1.94593293e+02] [ 9.62543805e-02 9.95351047e-01 -3.37464337e-03 1.22915195e+01] [ 4.83879792e-02 -1.29287796e-03 9.98827779e-01 7.03752205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58509989299998 meters 0.017536528646796487 Centerline is valid? [True, True] Translation: X:194.65, Y:12.29, Z:7.04 [[ 9.93759825e-01 -1.00914091e-01 -4.75158500e-02 1.94654523e+02] [ 1.00870634e-01 9.94894019e-01 -3.31765341e-03 1.22932907e+01] [ 4.76080329e-02 -1.49600326e-03 9.98864974e-01 7.04018692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64509989299995 meters 0.021377366874933128 Centerline is valid? [True, True] Translation: X:194.71, Y:12.29, Z:7.04 [[ 9.93285733e-01 -1.05604126e-01 -4.72357954e-02 1.94714938e+02] [ 1.05566574e-01 9.94406775e-01 -3.29594966e-03 1.22916181e+01] [ 4.73196608e-02 -1.71270132e-03 9.98878329e-01 7.04218207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70509989299995 meters 0.02077695455353418 Centerline is valid? [True, True] Translation: X:194.78, Y:12.30, Z:7.04 [[ 9.92930457e-01 -1.09166077e-01 -4.66033858e-02 1.94776188e+02] [ 1.09133589e-01 9.94021784e-01 -3.24855383e-03 1.22959399e+01] [ 4.66794126e-02 -1.86040673e-03 9.98908190e-01 7.04499242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76509989299996 meters 0.02320001536023094 Centerline is valid? [True, True] Translation: X:194.84, Y:12.30, Z:7.05 [[ 9.92731178e-01 -1.11302154e-01 -4.57890688e-02 1.94837178e+02] [ 1.11273167e-01 9.93784740e-01 -3.18940281e-03 1.22962650e+01] [ 4.58594653e-02 -1.92887510e-03 9.98946039e-01 7.04690867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82509989299996 meters 0.024284153453308414 Centerline is valid? [True, True] Translation: X:194.90, Y:12.30, Z:7.05 [[ 9.92361860e-01 -1.14302042e-01 -4.64002410e-02 1.94898694e+02] [ 1.14275781e-01 9.93443825e-01 -3.22694926e-03 1.22991700e+01] [ 4.64648798e-02 -2.10012243e-03 9.98917717e-01 7.04936594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88509989299996 meters 0.025304164714456068 Centerline is valid? [True, True] Translation: X:194.96, Y:12.30, Z:7.05 [[ 9.91843146e-01 -1.18199153e-01 -4.77088468e-02 1.94959570e+02] [ 1.18175969e-01 9.92987131e-01 -3.31622166e-03 1.23003426e+01] [ 4.77662455e-02 -2.34886748e-03 9.98855780e-01 7.04972926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94509989299996 meters 0.023529773823851564 Centerline is valid? [True, True] Translation: X:195.02, Y:12.31, Z:7.05 [[ 9.91486284e-01 -1.20931622e-01 -4.82751694e-02 1.95020393e+02] [ 1.20911208e-01 9.92657661e-01 -3.35363235e-03 1.23063067e+01] [ 4.83262770e-02 -2.51192859e-03 9.98828444e-01 7.05248931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00509989299997 meters 0.02858286211155171 Centerline is valid? [True, True] Translation: X:195.08, Y:12.30, Z:7.05 [[ 9.91151805e-01 -1.23577708e-01 -4.84422242e-02 1.95081025e+02] [ 1.23560402e-01 9.92331354e-01 -3.36315955e-03 1.23033278e+01] [ 4.84863495e-02 -2.65213905e-03 9.98820324e-01 7.05395267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06509989299997 meters 0.028771180642317755 Centerline is valid? [True, True] Translation: X:195.14, Y:12.31, Z:7.06 [[ 9.90699069e-01 -1.26792653e-01 -4.93860029e-02 1.95141348e+02] [ 1.26778691e-01 9.91925105e-01 -3.42777058e-03 1.23079050e+01] [ 4.94218322e-02 -2.86520368e-03 9.98773885e-01 7.05694158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12509989299997 meters 0.03058741543106002 Centerline is valid? [True, True] Translation: X:195.20, Y:12.31, Z:7.06 [[ 9.90479717e-01 -1.28619501e-01 -4.90607138e-02 1.95203343e+02] [ 1.28608027e-01 9.91689664e-01 -3.40369295e-03 1.23104323e+01] [ 4.90907841e-02 -2.93831276e-03 9.98789999e-01 7.06090207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18509989299997 meters 0.02850769359143685 Centerline is valid? [True, True] Translation: X:195.26, Y:12.32, Z:7.06 [[ 9.90439207e-01 -1.28895316e-01 -4.91546079e-02 1.95264570e+02] [ 1.28884332e-01 9.91653784e-01 -3.40624503e-03 1.23183298e+01] [ 4.91834019e-02 -2.96158018e-03 9.98785373e-01 7.06479122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24509989299997 meters 0.025965941545102445 Centerline is valid? [True, True] Translation: X:195.33, Y:12.33, Z:7.07 [[ 9.90459297e-01 -1.28668932e-01 -4.93425377e-02 1.95326062e+02] [ 1.28657834e-01 9.91683168e-01 -3.41422445e-03 1.23272477e+01] [ 4.93714687e-02 -2.96665367e-03 9.98776080e-01 7.06866396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30509989299998 meters 0.027531654066431377 Centerline is valid? [True, True] Translation: X:195.39, Y:12.33, Z:7.07 [[ 9.90631740e-01 -1.27501895e-01 -4.89083103e-02 1.95386780e+02] [ 1.27489740e-01 9.91834128e-01 -3.38075960e-03 1.23305060e+01] [ 4.89399846e-02 -2.88622001e-03 9.98797551e-01 7.07095874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36509989299995 meters 0.02856535450438973 Centerline is valid? [True, True] Translation: X:195.45, Y:12.33, Z:7.07 [[ 9.90791645e-01 -1.26209573e-01 -4.90210106e-02 1.95448300e+02] [ 1.26195930e-01 9.91999559e-01 -3.38562915e-03 1.23342354e+01] [ 4.90561197e-02 -2.83179896e-03 9.98792009e-01 7.07326627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42509989299995 meters 0.027873161639948858 Centerline is valid? [True, True] Translation: X:195.51, Y:12.34, Z:7.08 [[ 9.90815221e-01 -1.25956489e-01 -4.91951384e-02 1.95509798e+02] [ 1.25942615e-01 9.92031722e-01 -3.39408847e-03 1.23407569e+01] [ 4.92306453e-02 -2.83284986e-03 9.98783419e-01 7.07579685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48509989299995 meters 0.028896678357867835 Centerline is valid? [True, True] Translation: X:195.57, Y:12.34, Z:7.08 [[ 9.90644579e-01 -1.27138600e-01 -4.95892642e-02 1.95571708e+02] [ 1.27126158e-01 9.91880668e-01 -3.41766987e-03 1.23441528e+01] [ 4.96211502e-02 -2.91839651e-03 9.98763848e-01 7.07786719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54509989299996 meters 0.028444170310028924 Centerline is valid? [True, True] Translation: X:195.63, Y:12.35, Z:7.08 [[ 9.90457530e-01 -1.28474191e-01 -4.98824989e-02 1.95633714e+02] [ 1.28463470e-01 9.91708295e-01 -3.43426171e-03 1.23492890e+01] [ 4.99101020e-02 -3.00658856e-03 9.98749189e-01 7.08014862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60509989299996 meters 0.03006700289592556 Centerline is valid? [True, True] Translation: X:195.70, Y:12.35, Z:7.08 [[ 9.90250524e-01 -1.30132078e-01 -4.96944892e-02 1.95695547e+02] [ 1.30123683e-01 9.91491878e-01 -3.41794555e-03 1.23511564e+01] [ 4.97164668e-02 -3.08180759e-03 9.98758617e-01 7.08249276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66509989299996 meters 0.03149709711846904 Centerline is valid? [True, True] Translation: X:195.76, Y:12.35, Z:7.08 [[ 9.90208400e-01 -1.30620951e-01 -4.92492882e-02 1.95757942e+02] [ 1.30613446e-01 9.91427593e-01 -3.38447373e-03 1.23533678e+01] [ 4.92691865e-02 -3.08128495e-03 9.98780783e-01 7.08482020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72509989299996 meters 0.02785125100661679 Centerline is valid? [True, True] Translation: X:195.82, Y:12.36, Z:7.09 [[ 9.90476259e-01 -1.28989174e-01 -4.81515598e-02 1.95819078e+02] [ 1.28980231e-01 9.91641655e-01 -3.30584178e-03 1.23637645e+01] [ 4.81755102e-02 -2.93624151e-03 9.98834570e-01 7.08919677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78509989299997 meters 0.02611486065423522 Centerline is valid? [True, True] Translation: X:195.88, Y:12.37, Z:7.09 [[ 9.90967850e-01 -1.25760008e-01 -4.65525653e-02 1.95879352e+02] [ 1.25748195e-01 9.92057050e-01 -3.19389638e-03 1.23722956e+01] [ 4.65844650e-02 -2.68885244e-03 9.98910736e-01 7.09302154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84509989299997 meters 0.026667811725116362 Centerline is valid? [True, True] Translation: X:195.94, Y:12.38, Z:7.10 [[ 9.91287106e-01 -1.23612283e-01 -4.54958951e-02 1.95940825e+02] [ 1.23598795e-01 9.92327366e-01 -3.12027164e-03 1.23757684e+01] [ 4.55325257e-02 -2.53015277e-03 9.98959653e-01 7.09550134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90509989299997 meters 0.025283646889507422 Centerline is valid? [True, True] Translation: X:196.00, Y:12.38, Z:7.10 [[ 9.91658118e-01 -1.21103420e-01 -4.41377211e-02 1.96002386e+02] [ 1.21088349e-01 9.92637125e-01 -3.02475666e-03 1.23817430e+01] [ 4.41790489e-02 -2.34503930e-03 9.99020877e-01 7.09850164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96509989299997 meters 0.025007271933407595 Centerline is valid? [True, True] Translation: X:196.06, Y:12.39, Z:7.10 [[ 9.91756525e-01 -1.20563719e-01 -4.33979776e-02 1.96064785e+02] [ 1.20548741e-01 9.92702962e-01 -2.97158500e-03 1.23856848e+01] [ 4.34395663e-02 -2.28448276e-03 9.99053445e-01 7.10115026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02509989299998 meters 0.02676699661609907 Centerline is valid? [True, True] Translation: X:196.13, Y:12.38, Z:7.10 [[ 9.91677136e-01 -1.21234498e-01 -4.33434487e-02 1.96126343e+02] [ 1.21220329e-01 9.92621198e-01 -2.96478851e-03 1.23849393e+01] [ 4.33830606e-02 -2.31399411e-03 9.99055832e-01 7.10293261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08509989299998 meters 0.029159944608938008 Centerline is valid? [True, True] Translation: X:196.19, Y:12.38, Z:7.10 [[ 9.91487790e-01 -1.23063842e-01 -4.25117960e-02 1.96187980e+02] [ 1.23051982e-01 9.92395973e-01 -2.90563916e-03 1.23825659e+01] [ 4.25461142e-02 -2.35025500e-03 9.99091740e-01 7.10404203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14509989299995 meters 0.02664945131883738 Centerline is valid? [True, True] Translation: X:196.25, Y:12.39, Z:7.11 [[ 9.91394634e-01 -1.23683659e-01 -4.28839346e-02 1.96249920e+02] [ 1.23672273e-01 9.92318796e-01 -2.92865690e-03 1.23888784e+01] [ 4.29167614e-02 -2.40009892e-03 9.99075768e-01 7.10653775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20509989299995 meters 0.02913745987949198 Centerline is valid? [True, True] Translation: X:196.31, Y:12.39, Z:7.11 [[ 9.91297906e-01 -1.24452574e-01 -4.28954396e-02 1.96311084e+02] [ 1.24442029e-01 9.92222565e-01 -2.92641406e-03 1.23874950e+01] [ 4.29260228e-02 -2.43704740e-03 9.99075281e-01 7.10828567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26509989299996 meters 0.029774198894015245 Centerline is valid? [True, True] Translation: X:196.37, Y:12.39, Z:7.11 [[ 9.91335195e-01 -1.24139701e-01 -4.29402490e-02 1.96373657e+02] [ 1.24128945e-01 9.92261779e-01 -2.92705377e-03 1.23892397e+01] [ 4.29713315e-02 -2.42843641e-03 9.99073354e-01 7.11038779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32509989299996 meters 0.02667337728044636 Centerline is valid? [True, True] Translation: X:196.44, Y:12.40, Z:7.11 [[ 9.91552187e-01 -1.22419786e-01 -4.28679018e-02 1.96435010e+02] [ 1.22407590e-01 9.92475622e-01 -2.91919010e-03 1.23967072e+01] [ 4.29027142e-02 -2.35282722e-03 9.99076484e-01 7.11337511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38509989299996 meters 0.025876447610026457 Centerline is valid? [True, True] Translation: X:196.50, Y:12.40, Z:7.12 [[ 9.92133819e-01 -1.18291191e-01 -4.09594894e-02 1.96495303e+02] [ 1.18276628e-01 9.92976773e-01 -2.78722038e-03 1.24014175e+01] [ 4.10015252e-02 -2.07925467e-03 9.99156920e-01 7.11720780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44509989299996 meters 0.02283739525658559 Centerline is valid? [True, True] Translation: X:196.56, Y:12.41, Z:7.12 [[ 9.92927537e-01 -1.12230806e-01 -3.87189040e-02 1.96555197e+02] [ 1.12213215e-01 9.93680661e-01 -2.63412147e-03 1.24092602e+01] [ 3.87698557e-02 -1.72928095e-03 9.99246670e-01 7.12047400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50509989299997 meters 0.020307430353514802 Centerline is valid? [True, True] Translation: X:196.62, Y:12.42, Z:7.12 [[ 9.93490855e-01 -1.07569390e-01 -3.74799700e-02 1.96616047e+02] [ 1.07549596e-01 9.94196451e-01 -2.54979303e-03 1.24159235e+01] [ 3.75367328e-02 -1.49775957e-03 9.99294126e-01 7.12236744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56509989299997 meters 0.021233802765012074 Centerline is valid? [True, True] Translation: X:196.68, Y:12.42, Z:7.13 [[ 9.93981494e-01 -1.03321109e-01 -3.64079406e-02 1.96676137e+02] [ 1.03299608e-01 9.94647203e-01 -2.47620973e-03 1.24173602e+01] [ 3.64689010e-02 -1.29961934e-03 9.99333943e-01 7.12579350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62509989299997 meters 0.01882959336777432 Centerline is valid? [True, True] Translation: X:196.74, Y:12.42, Z:7.12 [[ 9.93885909e-01 -1.02618273e-01 -4.07466462e-02 1.96738163e+02] [ 1.02590796e-01 9.94719787e-01 -2.77028845e-03 1.24241512e+01] [ 4.08157774e-02 -1.42688022e-03 9.99165670e-01 7.12469557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68509989299997 meters 0.019987836571063167 Centerline is valid? [True, True] Translation: X:196.80, Y:12.42, Z:7.12 [[ 9.93488396e-01 -1.04487256e-01 -4.54226843e-02 1.96800287e+02] [ 1.04455223e-01 9.94524807e-01 -3.08470176e-03 1.24233635e+01] [ 4.54962984e-02 -1.68002123e-03 9.98963095e-01 7.12166244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74509989299997 meters 0.02054146678049475 Centerline is valid? [True, True] Translation: X:196.86, Y:12.42, Z:7.12 [[ 9.93458100e-01 -1.05283968e-01 -4.42299556e-02 1.96862482e+02] [ 1.05254492e-01 9.94440790e-01 -3.00122216e-03 1.24242654e+01] [ 4.43000525e-02 -1.67381306e-03 9.99016869e-01 7.12489837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80509989299998 meters 0.01989829829505656 Centerline is valid? [True, True] Translation: X:196.92, Y:12.43, Z:7.13 [[ 9.93813675e-01 -1.02939366e-01 -4.16877182e-02 1.96923136e+02] [ 1.02911232e-01 9.94686529e-01 -2.82602773e-03 1.24293346e+01] [ 4.17571212e-02 -1.48158945e-03 9.99126693e-01 7.13017600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86509989299995 meters 0.01844781217062097 Centerline is valid? [True, True] Translation: X:196.99, Y:12.44, Z:7.13 [[ 9.94089014e-01 -1.00862892e-01 -4.01709972e-02 1.96985428e+02] [ 1.00835137e-01 9.94899426e-01 -2.72164285e-03 1.24358197e+01] [ 4.02406148e-02 -1.34509277e-03 9.99189113e-01 7.13412258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92509989299995 meters 0.020140997412578427 Centerline is valid? [True, True] Translation: X:197.05, Y:12.44, Z:7.14 [[ 9.94168899e-01 -1.01397548e-01 -3.66979279e-02 1.97046592e+02] [ 1.01374861e-01 9.94845200e-01 -2.48324534e-03 1.24350130e+01] [ 3.67605524e-02 -1.25148205e-03 9.99323319e-01 7.13925254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98509989299995 meters 0.02037695962233057 Centerline is valid? [True, True] Translation: X:197.11, Y:12.44, Z:7.14 [[ 9.93794435e-01 -1.04990021e-01 -3.67384964e-02 1.97107486e+02] [ 1.04969807e-01 9.94472307e-01 -2.48399497e-03 1.24357087e+01] [ 3.67962120e-02 -1.38785251e-03 9.99321826e-01 7.14166179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04509989299996 meters 0.022663285238288422 Centerline is valid? [True, True] Translation: X:197.17, Y:12.43, Z:7.14 [[ 9.93403491e-01 -1.08191636e-01 -3.80009843e-02 1.97168263e+02] [ 1.08172425e-01 9.94128832e-01 -2.56731604e-03 1.24347475e+01] [ 3.80556363e-02 -1.56027790e-03 9.99274404e-01 7.14283169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10509989299996 meters 0.02266551886146952 Centerline is valid? [True, True] Translation: X:197.23, Y:12.44, Z:7.14 [[ 9.93047288e-01 -1.11410491e-01 -3.80103553e-02 1.97229290e+02] [ 1.11393648e-01 9.93773045e-01 -2.56727125e-03 1.24362182e+01] [ 3.80596874e-02 -1.68469040e-03 9.99274048e-01 7.14393795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16509989299996 meters 0.023057630569527365 Centerline is valid? [True, True] Translation: X:197.29, Y:12.44, Z:7.15 [[ 9.93057211e-01 -1.11450364e-01 -3.76323311e-02 1.97291359e+02] [ 1.11433909e-01 9.93768598e-01 -2.54104123e-03 1.24390448e+01] [ 3.76810289e-02 -1.67011845e-03 9.99288422e-01 7.14636620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22509989299996 meters 0.024271774767369473 Centerline is valid? [True, True] Translation: X:197.35, Y:12.44, Z:7.15 [[ 9.93165187e-01 -1.10764503e-01 -3.67985985e-02 1.97352667e+02] [ 1.10748395e-01 9.93845376e-01 -2.48213614e-03 1.24410504e+01] [ 3.68470495e-02 -1.61021451e-03 9.99319620e-01 7.14878595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28509989299997 meters 0.02137567470830102 Centerline is valid? [True, True] Translation: X:197.41, Y:12.45, Z:7.15 [[ 9.93844992e-01 -1.05149525e-01 -3.48670184e-02 1.97413176e+02] [ 1.05131676e-01 9.94455534e-01 -2.35000368e-03 1.24507327e+01] [ 3.49208011e-02 -1.33008869e-03 9.99389198e-01 7.15182013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34509989299997 meters 0.02016512196989076 Centerline is valid? [True, True] Translation: X:197.47, Y:12.46, Z:7.15 [[ 9.94319342e-01 -1.00799477e-01 -3.41835005e-02 1.97474409e+02] [ 1.00779771e-01 9.94906092e-01 -2.30339097e-03 1.24554418e+01] [ 3.42415535e-02 -1.15469916e-03 9.99412919e-01 7.15415926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40509989299997 meters 0.016003794387529278 Centerline is valid? [True, True] Translation: X:197.54, Y:12.47, Z:7.15 [[ 9.95074824e-01 -8.98636141e-02 -4.18404823e-02 1.97535028e+02] [ 8.98244985e-02 9.95953623e-01 -2.81772590e-03 1.24657217e+01] [ 4.19243910e-02 -9.54452234e-04 9.99120330e-01 7.15179046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46509989299997 meters 0.015436886618321568 Centerline is valid? [True, True] Translation: X:197.60, Y:12.47, Z:7.15 [[ 9.95222865e-01 -8.81813074e-02 -4.18987481e-02 1.97596059e+02] [ 8.81405978e-02 9.96104048e-01 -2.82153812e-03 1.24713954e+01] [ 4.19843195e-02 -8.84921448e-04 9.99117878e-01 7.15419508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52509989299998 meters 0.015601863284129533 Centerline is valid? [True, True] Translation: X:197.66, Y:12.48, Z:7.16 [[ 9.95387965e-01 -8.64860162e-02 -4.15086597e-02 1.97656539e+02] [ 8.64446484e-02 9.96252738e-01 -2.79382079e-03 1.24750356e+01] [ 4.15947423e-02 -8.07265908e-04 9.99134238e-01 7.15613456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58509989299995 meters 0.015120745605149187 Centerline is valid? [True, True] Translation: X:197.72, Y:12.48, Z:7.16 [[ 9.95565040e-01 -8.45919694e-02 -4.11637004e-02 1.97717519e+02] [ 8.45497021e-02 9.96415413e-01 -2.76978607e-03 1.24800381e+01] [ 4.12504472e-02 -7.22876431e-04 9.99148577e-01 7.15856369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64509989299995 meters 0.01484746668702571 Centerline is valid? [True, True] Translation: X:197.78, Y:12.48, Z:7.16 [[ 9.95695698e-01 -8.31219741e-02 -4.09977266e-02 1.97779475e+02] [ 8.30788679e-02 9.96539162e-01 -2.75700763e-03 1.24847473e+01] [ 4.10850080e-02 -6.60904069e-04 9.99155436e-01 7.16085477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70509989299995 meters 0.01484746668702571 Centerline is valid? [True, True] Translation: X:197.84, Y:12.49, Z:7.16 [[ 9.95698678e-01 -8.30861834e-02 -4.09979156e-02 1.97840153e+02] [ 8.30431627e-02 9.96542145e-01 -2.75419331e-03 1.24887930e+01] [ 4.10849862e-02 -6.62249936e-04 9.99155436e-01 7.16312418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76509989299996 meters 0.014560903912913993 Centerline is valid? [True, True] Translation: X:197.90, Y:12.49, Z:7.17 [[ 9.95802827e-01 -8.17625848e-02 -4.11291694e-02 1.97902406e+02] [ 8.17182270e-02 9.96651647e-01 -2.76138185e-03 1.24934931e+01] [ 4.12172322e-02 -6.11210945e-04 9.99150022e-01 7.16548926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82509989299996 meters 0.014398463696128058 Centerline is valid? [True, True] Translation: X:197.96, Y:12.50, Z:7.17 [[ 9.95930548e-01 -8.03896571e-02 -4.07412075e-02 1.97963750e+02] [ 8.03450987e-02 9.96763361e-01 -2.73253132e-03 1.24976346e+01] [ 4.08290102e-02 -5.51944915e-04 9.99165996e-01 7.16825828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88509989299996 meters 0.014735707402012861 Centerline is valid? [True, True] Translation: X:198.02, Y:12.50, Z:7.17 [[ 9.95766794e-01 -8.23204859e-02 -4.08880053e-02 1.98024656e+02] [ 8.22772925e-02 9.96605707e-01 -2.74090738e-03 1.25002215e+01] [ 4.09748523e-02 -6.34849817e-04 9.99159976e-01 7.17115283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94509989299996 meters 0.017075273219397853 Centerline is valid? [True, True] Translation: X:198.09, Y:12.49, Z:7.17 [[ 9.94770556e-01 -9.31609610e-02 -4.18637783e-02 1.98085905e+02] [ 9.31253212e-02 9.95650444e-01 -2.80492106e-03 1.24941571e+01] [ 4.19429986e-02 -1.10832492e-03 9.99119391e-01 7.17281915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00509989299997 meters 0.020908015985292502 Centerline is valid? [True, True] Translation: X:198.15, Y:12.49, Z:7.17 [[ 9.93830632e-01 -1.02089211e-01 -4.33413024e-02 1.98146046e+02] [ 1.02059492e-01 9.94774059e-01 -2.90367924e-03 1.24885241e+01] [ 4.34112376e-02 -1.53762594e-03 9.99056105e-01 7.17405024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06509989299997 meters 0.02324455803721594 Centerline is valid? [True, True] Translation: X:198.21, Y:12.49, Z:7.18 [[ 9.93265796e-01 -1.07861017e-01 -4.22972726e-02 1.98207231e+02] [ 1.07837915e-01 9.94164449e-01 -2.83413540e-03 1.24875462e+01] [ 4.23561375e-02 -1.74619992e-03 9.99101050e-01 7.17758828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12509989299997 meters 0.025014586420270928 Centerline is valid? [True, True] Translation: X:198.27, Y:12.49, Z:7.18 [[ 9.93087017e-01 -1.09733594e-01 -4.16739054e-02 1.98267941e+02] [ 1.09712872e-01 9.93959404e-01 -2.79094098e-03 1.24875870e+01] [ 4.17284301e-02 -1.80051659e-03 9.99127367e-01 7.18084630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18509989299997 meters 0.023007365744086954 Centerline is valid? [True, True] Translation: X:198.33, Y:12.49, Z:7.18 [[ 9.92942078e-01 -1.10973124e-01 -4.18448913e-02 1.98329694e+02] [ 1.10953532e-01 9.93821658e-01 -2.79755345e-03 1.24936414e+01] [ 4.18968125e-02 -1.86502993e-03 9.99120202e-01 7.18396995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24509989299997 meters 0.023596034585946557 Centerline is valid? [True, True] Translation: X:198.39, Y:12.50, Z:7.19 [[ 9.92814358e-01 -1.12071283e-01 -4.19485269e-02 1.98391473e+02] [ 1.12052699e-01 9.93698317e-01 -2.80145077e-03 1.24965654e+01] [ 4.19981428e-02 -1.91912512e-03 9.99115846e-01 7.18616006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30509989299998 meters 0.025028221383999332 Centerline is valid? [True, True] Translation: X:198.45, Y:12.50, Z:7.19 [[ 9.92659657e-01 -1.12946692e-01 -4.32417621e-02 1.98452392e+02] [ 1.12927908e-01 9.93598996e-01 -2.88473919e-03 1.24975003e+01] [ 4.32907932e-02 -2.01963753e-03 9.99060473e-01 7.18671727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36509989299995 meters 0.025707807237471816 Centerline is valid? [True, True] Translation: X:198.51, Y:12.50, Z:7.19 [[ 9.92719877e-01 -1.12097040e-01 -4.40624506e-02 1.98513246e+02] [ 1.12076808e-01 9.93695206e-01 -2.93711494e-03 1.25002642e+01] [ 4.41138878e-02 -2.02264642e-03 9.99024461e-01 7.18804544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42509989299995 meters 0.025077627319378078 Centerline is valid? [True, True] Translation: X:198.57, Y:12.51, Z:7.19 [[ 9.92928289e-01 -1.09826191e-01 -4.50735055e-02 1.98574104e+02] [ 1.09802789e-01 9.93948859e-01 -3.00224608e-03 1.25069679e+01] [ 4.51304846e-02 -1.96818156e-03 9.98979162e-01 7.19013729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48509989299995 meters 0.02059942690519022 Centerline is valid? [True, True] Translation: X:198.63, Y:12.52, Z:7.19 [[ 9.93462933e-01 -1.04346229e-01 -4.62954225e-02 1.98633711e+02] [ 1.04315664e-01 9.94539462e-01 -3.08231074e-03 1.25200719e+01] [ 4.63642521e-02 -1.76717627e-03 9.98923037e-01 7.19236695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54509989299996 meters 0.017853487720977713 Centerline is valid? [True, True] Translation: X:198.69, Y:12.53, Z:7.19 [[ 9.94107210e-01 -9.83215635e-02 -4.56478385e-02 1.98694114e+02] [ 9.82855098e-02 9.95153618e-01 -3.03904040e-03 1.25290597e+01] [ 4.57254148e-02 -1.46538911e-03 9.98952971e-01 7.19477023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60509989299996 meters 0.017342711261452752 Centerline is valid? [True, True] Translation: X:198.75, Y:12.54, Z:7.20 [[ 9.94556763e-01 -9.36469287e-02 -4.56847619e-02 1.98753854e+02] [ 9.36059281e-02 9.95604683e-01 -3.04065950e-03 1.25354398e+01] [ 4.57687113e-02 -1.25225606e-03 9.98951279e-01 7.19734986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66509989299996 meters 0.015971427497334427 Centerline is valid? [True, True] Translation: X:198.81, Y:12.54, Z:7.20 [[ 9.94739457e-01 -9.13703454e-02 -4.63127597e-02 1.98814888e+02] [ 9.13257929e-02 9.95816300e-01 -3.08143195e-03 1.25426563e+01] [ 4.64005525e-02 -1.16432755e-03 9.98922236e-01 7.20016125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72509989299996 meters 0.01592784637654396 Centerline is valid? [True, True] Translation: X:198.88, Y:12.55, Z:7.20 [[ 9.94857211e-01 -9.02640290e-02 -4.59514343e-02 1.98875035e+02] [ 9.02190527e-02 9.95917257e-01 -3.05603277e-03 1.25463134e+01] [ 4.60396762e-02 -1.10537863e-03 9.98939000e-01 7.20226372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78509989299997 meters 0.016317967287238843 Centerline is valid? [True, True] Translation: X:198.94, Y:12.55, Z:7.20 [[ 9.94824593e-01 -9.07529510e-02 -4.56938841e-02 1.98936602e+02] [ 9.07090065e-02 9.95872805e-01 -3.03859946e-03 1.25498505e+01] [ 4.57810583e-02 -1.12197336e-03 9.98950868e-01 7.20489933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84509989299997 meters 0.016981928992210314 Centerline is valid? [True, True] Translation: X:199.00, Y:12.55, Z:7.21 [[ 9.94682471e-01 -9.25165352e-02 -4.52490076e-02 1.98997964e+02] [ 9.24753377e-02 9.95710434e-01 -3.00740240e-03 1.25525858e+01] [ 4.53331434e-02 -1.19300681e-03 9.98971212e-01 7.20795344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90509989299997 meters 0.017037659718000277 Centerline is valid? [True, True] Translation: X:199.06, Y:12.56, Z:7.21 [[ 9.94581641e-01 -9.36973013e-02 -4.50352695e-02 1.99059499e+02] [ 9.36577735e-02 9.95599956e-01 -2.99158738e-03 1.25564809e+01] [ 4.51174160e-02 -1.24252519e-03 9.98980918e-01 7.21027283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96509989299997 meters 0.01845265679550805 Centerline is valid? [True, True] Translation: X:199.12, Y:12.56, Z:7.21 [[ 9.94436534e-01 -9.50271316e-02 -4.54513419e-02 1.99120236e+02] [ 9.49883664e-02 9.95473811e-01 -3.01683113e-03 1.25586366e+01] [ 4.55323014e-02 -1.31730163e-03 9.98961998e-01 7.21168965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02509989299998 meters 0.017731286980921315 Centerline is valid? [True, True] Translation: X:199.18, Y:12.57, Z:7.21 [[ 9.94362550e-01 -9.55352522e-02 -4.60014690e-02 1.99181379e+02] [ 9.54963185e-02 9.95425116e-01 -3.04830831e-03 1.25652999e+01] [ 4.60822385e-02 -1.36184731e-03 9.98936721e-01 7.21383599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08509989299995 meters 0.01848120790016196 Centerline is valid? [True, True] Translation: X:199.24, Y:12.57, Z:7.22 [[ 9.94359989e-01 -9.55980909e-02 -4.59262189e-02 1.99241437e+02] [ 9.55594205e-02 9.95419080e-01 -3.04182263e-03 1.25684373e+01] [ 4.60066270e-02 -1.36401615e-03 9.98940203e-01 7.21570570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14509989299995 meters 0.018451626175015425 Centerline is valid? [True, True] Translation: X:199.30, Y:12.57, Z:7.22 [[ 9.94383635e-01 -9.58257179e-02 -4.49290264e-02 1.99302795e+02] [ 9.57889816e-02 9.95397218e-01 -2.97485339e-03 1.25733694e+01] [ 4.50072954e-02 -1.34556016e-03 9.98985752e-01 7.21828764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20509989299995 meters 0.01769602921197525 Centerline is valid? [True, True] Translation: X:199.36, Y:12.58, Z:7.22 [[ 9.94466077e-01 -9.53002437e-02 -4.42163372e-02 1.99364464e+02] [ 9.52642247e-02 9.95447722e-01 -2.92585577e-03 1.25793148e+01] [ 4.42938869e-02 -1.30257077e-03 9.99017695e-01 7.22128368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26509989299996 meters 0.017617641738150124 Centerline is valid? [True, True] Translation: X:199.43, Y:12.59, Z:7.22 [[ 9.94546017e-01 -9.44010239e-02 -4.43471060e-02 1.99425201e+02] [ 9.43640308e-02 9.95533443e-01 -2.93154157e-03 1.25859727e+01] [ 4.44257677e-02 -1.26921868e-03 9.99011882e-01 7.22333573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32509989299996 meters 0.018098917212873745 Centerline is valid? [True, True] Translation: X:199.49, Y:12.59, Z:7.22 [[ 9.94560407e-01 -9.36285601e-02 -4.56430612e-02 1.99485134e+02] [ 9.35886316e-02 9.95606385e-01 -3.01567712e-03 1.25900854e+01] [ 4.57248766e-02 -1.27239857e-03 9.98953260e-01 7.22411161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38509989299996 meters 0.017430165876913227 Centerline is valid? [True, True] Translation: X:199.55, Y:12.60, Z:7.23 [[ 9.94592480e-01 -9.34723012e-02 -4.52628624e-02 1.99545946e+02] [ 9.34329163e-02 9.95621089e-01 -2.98961025e-03 1.25973496e+01] [ 4.53441061e-02 -1.25559736e-03 9.98970638e-01 7.22686655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44509989299996 meters 0.018607795079478507 Centerline is valid? [True, True] Translation: X:199.61, Y:12.60, Z:7.23 [[ 9.94616156e-01 -9.33503620e-02 -4.49934739e-02 1.99606281e+02] [ 9.33114005e-02 9.95632543e-01 -2.97002685e-03 1.26013664e+01] [ 4.50742199e-02 -1.24436738e-03 9.98982866e-01 7.22911305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50509989299997 meters 0.017139523449029134 Centerline is valid? [True, True] Translation: X:199.67, Y:12.61, Z:7.23 [[ 9.94662587e-01 -9.29908742e-02 -4.47105738e-02 1.99667990e+02] [ 9.29521593e-02 9.95666210e-01 -2.94865317e-03 1.26100795e+01] [ 4.47910054e-02 -1.22302939e-03 9.98995631e-01 7.23167752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56509989299997 meters 0.018167607285031362 Centerline is valid? [True, True] Translation: X:199.73, Y:12.61, Z:7.23 [[ 9.94661106e-01 -9.30215278e-02 -4.46797341e-02 1.99729160e+02] [ 9.29830593e-02 9.95663341e-01 -2.94300203e-03 1.26129517e+01] [ 4.47597359e-02 -1.22716870e-03 9.98997027e-01 7.23284641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62509989299997 meters 0.01709764386884847 Centerline is valid? [True, True] Translation: X:199.79, Y:12.62, Z:7.24 [[ 9.94617293e-01 -9.42085353e-02 -4.31415275e-02 1.99790767e+02] [ 9.41739903e-02 9.95551712e-01 -2.83692402e-03 1.26204117e+01] [ 4.32168840e-02 -1.24115610e-03 9.99064943e-01 7.23556133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68509989299997 meters 0.018923808408886928 Centerline is valid? [True, True] Translation: X:199.85, Y:12.62, Z:7.24 [[ 9.94355876e-01 -9.77650536e-02 -4.12114693e-02 1.99851268e+02] [ 9.77366944e-02 9.95208626e-01 -2.70721288e-03 1.26221556e+01] [ 4.12786806e-02 -1.33593975e-03 9.99146779e-01 7.23803218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74509989299997 meters 0.019572061582135633 Centerline is valid? [True, True] Translation: X:199.91, Y:12.63, Z:7.24 [[ 9.94083605e-01 -1.00411125e-01 -4.14172824e-02 1.99912808e+02] [ 1.00384841e-01 9.94944968e-01 -2.71912706e-03 1.26258118e+01] [ 4.14809473e-02 -1.45462768e-03 9.99138236e-01 7.23938226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80509989299998 meters 0.021925322951959068 Centerline is valid? [True, True] Translation: X:199.97, Y:12.63, Z:7.24 [[ 9.93661225e-01 -1.04650560e-01 -4.10564288e-02 1.99972617e+02] [ 1.04628425e-01 9.94507737e-01 -2.69341802e-03 1.26274972e+01] [ 4.11128038e-02 -1.61932445e-03 9.99153199e-01 7.24054498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86509989299995 meters 0.02416245914854813 Centerline is valid? [True, True] Translation: X:200.03, Y:12.63, Z:7.24 [[ 9.93393480e-01 -1.07554152e-01 -4.00187143e-02 2.00032716e+02] [ 1.07535474e-01 9.94197782e-01 -2.62529210e-03 1.26296774e+01] [ 4.00688780e-02 -1.69548335e-03 9.99195482e-01 7.24273228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92509989299995 meters 0.02504553680966507 Centerline is valid? [True, True] Translation: X:200.09, Y:12.63, Z:7.24 [[ 9.93239523e-01 -1.08860098e-01 -4.03079329e-02 2.00094515e+02] [ 1.08842257e-01 9.94055519e-01 -2.64339487e-03 1.26334576e+01] [ 4.03560834e-02 -1.76168212e-03 9.99183808e-01 7.24448339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98509989299995 meters 0.023252386002571408 Centerline is valid? [True, True] Translation: X:200.16, Y:12.64, Z:7.25 [[ 9.92958581e-01 -1.11147949e-01 -4.09803586e-02 2.00156380e+02] [ 1.11131571e-01 9.93802076e-01 -2.68459268e-03 1.26426635e+01] [ 4.10247524e-02 -1.88852229e-03 9.99156346e-01 7.24663112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04509989299996 meters 0.022213154355541276 Centerline is valid? [True, True] Translation: X:200.22, Y:12.65, Z:7.25 [[ 9.92736807e-01 -1.12621822e-01 -4.23078918e-02 2.00217762e+02] [ 1.12605833e-01 9.93635880e-01 -2.76847148e-03 1.26495273e+01] [ 4.23504296e-02 -2.01575187e-03 9.99100785e-01 7.24804074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10509989299996 meters 0.023763219271853864 Centerline is valid? [True, True] Translation: X:200.28, Y:12.65, Z:7.25 [[ 9.92631125e-01 -1.13851896e-01 -4.14872930e-02 2.00278880e+02] [ 1.13837686e-01 9.93495659e-01 -2.71248432e-03 1.26549021e+01] [ 4.15262669e-02 -2.03032107e-03 9.99135350e-01 7.25205124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16509989299996 meters 0.02394160464428612 Centerline is valid? [True, True] Translation: X:200.34, Y:12.66, Z:7.26 [[ 9.92796648e-01 -1.12749544e-01 -4.05259954e-02 2.00340961e+02] [ 1.12735160e-01 9.93621545e-01 -2.64737950e-03 1.26615403e+01] [ 4.05659930e-02 -1.94039507e-03 9.99174977e-01 7.25571094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22509989299996 meters 0.02315438360276039 Centerline is valid? [True, True] Translation: X:200.40, Y:12.67, Z:7.26 [[ 9.93271533e-01 -1.08796824e-01 -3.96851710e-02 2.00401104e+02] [ 1.08779988e-01 9.94062477e-01 -2.58974478e-03 1.26714351e+01] [ 3.97312954e-02 -1.74463266e-03 9.99208877e-01 7.25820242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28509989299997 meters 0.021630476553406604 Centerline is valid? [True, True] Translation: X:200.46, Y:12.68, Z:7.26 [[ 9.93580342e-01 -1.06171542e-01 -3.90603069e-02 2.00461746e+02] [ 1.06153235e-01 9.94346518e-01 -2.54824135e-03 1.26810439e+01] [ 3.91100308e-02 -1.61449544e-03 9.99233606e-01 7.26172231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34509989299997 meters 0.021607474436717053 Centerline is valid? [True, True] Translation: X:200.52, Y:12.69, Z:7.26 [[ 9.93811760e-01 -1.03214666e-01 -4.10477488e-02 2.00521392e+02] [ 1.03192009e-01 9.94657855e-01 -2.67605223e-03 1.26890595e+01] [ 4.11046736e-02 -1.57630750e-03 9.99153602e-01 7.26308468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40509989299997 meters 0.021560929041029738 Centerline is valid? [True, True] Translation: X:200.58, Y:12.70, Z:7.26 [[ 9.93884654e-01 -1.02047469e-01 -4.21853992e-02 2.00583793e+02] [ 1.02022683e-01 9.94778284e-01 -2.74566108e-03 1.26959731e+01] [ 4.22453068e-02 -1.57499720e-03 9.99106027e-01 7.26485188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46509989299997 meters 0.020241717395337012 Centerline is valid? [True, True] Translation: X:200.65, Y:12.71, Z:7.27 [[ 9.93924384e-01 -1.01769660e-01 -4.19196210e-02 2.00645416e+02] [ 1.01745091e-01 9.94806771e-01 -2.72474665e-03 1.27059392e+01] [ 4.19792193e-02 -1.55692351e-03 9.99117271e-01 7.26895572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52509989299998 meters 0.020718098732163178 Centerline is valid? [True, True] Translation: X:200.71, Y:12.71, Z:7.27 [[ 9.94082442e-01 -1.00494178e-01 -4.12434131e-02 2.00706231e+02] [ 1.00469433e-01 9.94936543e-01 -2.67753768e-03 1.27112405e+01] [ 4.13036558e-02 -1.48200915e-03 9.99145541e-01 7.27201530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58509989299995 meters 0.019454608975390395 Centerline is valid? [True, True] Translation: X:200.77, Y:12.72, Z:7.27 [[ 9.94416680e-01 -9.70969559e-02 -4.13236939e-02 2.00766960e+02] [ 9.70694138e-02 9.95274013e-01 -2.67722383e-03 1.27201150e+01] [ 4.13883490e-02 -1.34899072e-03 9.99142225e-01 7.27490986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64509989299995 meters 0.01769076276367959 Centerline is valid? [True, True] Translation: X:200.83, Y:12.73, Z:7.28 [[ 9.94719878e-01 -9.39597822e-02 -4.12786083e-02 2.00828324e+02] [ 9.39296667e-02 9.95575248e-01 -2.67273650e-03 1.27298248e+01] [ 4.13470904e-02 -1.21866179e-03 9.99144100e-01 7.27862389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70509989299995 meters 0.01733627258672673 Centerline is valid? [True, True] Translation: X:200.89, Y:12.74, Z:7.28 [[ 9.94865129e-01 -9.17972663e-02 -4.26220288e-02 2.00890273e+02] [ 9.17632846e-02 9.95777032e-01 -2.75720035e-03 1.27357819e+01] [ 4.26951408e-02 -1.16809488e-03 9.99087464e-01 7.28047063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76509989299996 meters 0.017611421644538414 Centerline is valid? [True, True] Translation: X:200.95, Y:12.74, Z:7.28 [[ 9.94988305e-01 -9.06183662e-02 -4.22680165e-02 2.00951939e+02] [ 9.05840131e-02 9.95885072e-01 -2.73124958e-03 1.27383523e+01] [ 4.23415880e-02 -1.11124518e-03 9.99102575e-01 7.28229336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82509989299996 meters 0.016515163564450097 Centerline is valid? [True, True] Translation: X:201.01, Y:12.74, Z:7.29 [[ 9.95183536e-01 -8.85397503e-02 -4.20766128e-02 2.01013518e+02] [ 8.85039782e-02 9.96072121e-01 -2.71587671e-03 1.27448236e+01] [ 4.21518040e-02 -1.02115184e-03 9.99110696e-01 7.28509312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88509989299996 meters 0.01522607190441941 Centerline is valid? [True, True] Translation: X:201.07, Y:12.75, Z:7.29 [[ 9.95676323e-01 -8.20964707e-02 -4.34606633e-02 2.01074373e+02] [ 8.20523027e-02 9.96624085e-01 -2.80218786e-03 1.27534314e+01] [ 4.35439935e-02 -7.75975398e-04 9.99051209e-01 7.28749500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94509989299996 meters 0.014636555872767073 Centerline is valid? [True, True] Translation: X:201.14, Y:12.76, Z:7.29 [[ 9.95842946e-01 -7.95948506e-02 -4.42886695e-02 2.01136612e+02] [ 7.95465947e-02 9.96827064e-01 -2.85368847e-03 1.27597332e+01] [ 4.43752833e-02 -6.81187313e-04 9.99014700e-01 7.28953362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00509989299997 meters 0.013953981640070392 Centerline is valid? [True, True] Translation: X:201.20, Y:12.77, Z:7.29 [[ 9.96180858e-01 -7.50821772e-02 -4.45686621e-02 2.01198057e+02] [ 7.50289402e-02 9.97177231e-01 -2.86846443e-03 1.27666066e+01] [ 4.46582256e-02 -4.86430125e-04 9.99002205e-01 7.29155627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06509989299997 meters 0.013484112775258362 Centerline is valid? [True, True] Translation: X:201.26, Y:12.77, Z:7.29 [[ 9.96511230e-01 -7.03781091e-02 -4.48585486e-02 2.01258409e+02] [ 7.03195402e-02 9.97520347e-01 -2.88427429e-03 1.27716249e+01] [ 4.49503048e-02 -2.80220791e-04 9.98989185e-01 7.29277730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12509989299997 meters 0.01347571835647396 Centerline is valid? [True, True] Translation: X:201.32, Y:12.77, Z:7.30 [[ 9.96447619e-01 -7.10709567e-02 -4.51781059e-02 2.01319703e+02] [ 7.10123049e-02 9.97471213e-01 -2.90386830e-03 1.27744687e+01] [ 4.52702408e-02 -3.14648779e-04 9.98974728e-01 7.29554177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18509989299997 meters 0.013818765234511336 Centerline is valid? [True, True] Translation: X:201.38, Y:12.77, Z:7.30 [[ 9.96216526e-01 -7.44354196e-02 -4.48553508e-02 2.01380302e+02] [ 7.43810768e-02 9.97225727e-01 -2.88165336e-03 1.27743380e+01] [ 4.49454069e-02 -4.65638596e-04 9.98989336e-01 7.29685359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24509989299997 meters 0.013928559858300044 Centerline is valid? [True, True] Translation: X:201.44, Y:12.78, Z:7.30 [[ 9.96121594e-01 -7.57579165e-02 -4.47493965e-02 2.01441408e+02] [ 7.57052053e-02 9.97126102e-01 -2.87392002e-03 1.27765215e+01] [ 4.48385135e-02 -5.24988452e-04 9.98994110e-01 7.29921166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30509989299998 meters 0.014769676961245825 Centerline is valid? [True, True] Translation: X:201.50, Y:12.77, Z:7.30 [[ 9.95785123e-01 -8.04518621e-02 -4.40395983e-02 2.01502956e+02] [ 8.04054641e-02 9.96758231e-01 -2.82678961e-03 1.27746868e+01] [ 4.41242526e-02 -7.26149301e-04 9.99025787e-01 7.30140559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36509989299995 meters 0.015575927078191444 Centerline is valid? [True, True] Translation: X:201.57, Y:12.77, Z:7.30 [[ 9.95388341e-01 -8.54717134e-02 -4.35503859e-02 2.01565373e+02] [ 8.54312166e-02 9.96340154e-01 -2.79361669e-03 1.27746759e+01] [ 4.36297734e-02 -9.39828965e-04 9.99047326e-01 7.30476665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42509989299995 meters 0.016647395310392065 Centerline is valid? [True, True] Translation: X:201.63, Y:12.77, Z:7.31 [[ 9.95102311e-01 -8.89295993e-02 -4.31615281e-02 2.01627162e+02] [ 8.88932013e-02 9.96037324e-01 -2.76565960e-03 1.27742976e+01] [ 4.32364419e-02 -1.08465215e-03 9.99064279e-01 7.30698567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48509989299995 meters 0.018023607750641366 Centerline is valid? [True, True] Translation: X:201.69, Y:12.77, Z:7.31 [[ 9.94531143e-01 -9.54517179e-02 -4.23883946e-02 2.01688851e+02] [ 9.54226169e-02 9.95433151e-01 -2.71395471e-03 1.27726182e+01] [ 4.24538649e-02 -1.34569906e-03 9.99097522e-01 7.31027578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54509989299996 meters 0.019416460034530285 Centerline is valid? [True, True] Translation: X:201.75, Y:12.77, Z:7.31 [[ 9.94150761e-01 -9.95501690e-02 -4.18811174e-02 2.01749577e+02] [ 9.95254556e-02 9.95031407e-01 -2.67990311e-03 1.27727870e+01] [ 4.19398120e-02 -1.50400957e-03 9.99119007e-01 7.31294040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60509989299996 meters 0.021779250516552853 Centerline is valid? [True, True] Translation: X:201.81, Y:12.77, Z:7.31 [[ 9.93547827e-01 -1.05302506e-01 -4.21200369e-02 2.01811196e+02] [ 1.05282754e-01 9.94438680e-01 -2.69311432e-03 1.27703921e+01] [ 4.21693856e-02 -1.75877559e-03 9.99108928e-01 7.31425588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66509989299996 meters 0.02431619942650938 Centerline is valid? [True, True] Translation: X:201.87, Y:12.77, Z:7.32 [[ 9.92757484e-01 -1.12375221e-01 -4.24780920e-02 2.01872062e+02] [ 1.12361641e-01 9.93663672e-01 -2.71466876e-03 1.27671252e+01] [ 4.25139984e-02 -2.07790041e-03 9.99093710e-01 7.31530952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72509989299996 meters 0.026424401865561074 Centerline is valid? [True, True] Translation: X:201.93, Y:12.77, Z:7.32 [[ 9.92232919e-01 -1.16676088e-01 -4.31338078e-02 2.01933333e+02] [ 1.16666142e-01 9.93167364e-01 -2.75644512e-03 1.27655169e+01] [ 4.31607014e-02 -2.29721936e-03 9.99065502e-01 7.31571665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78509989299997 meters 0.02862442823951226 Centerline is valid? [True, True] Translation: X:201.99, Y:12.76, Z:7.32 [[ 9.91674570e-01 -1.20675326e-01 -4.49334256e-02 2.01994712e+02] [ 1.20668665e-01 9.92688689e-01 -2.87058197e-03 1.27640769e+01] [ 4.49513117e-02 -2.57537334e-03 9.98985859e-01 7.31577111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84509989299997 meters 0.02731494972437707 Centerline is valid? [True, True] Translation: X:202.06, Y:12.77, Z:7.32 [[ 9.91719350e-01 -1.19972233e-01 -4.58191410e-02 2.02056682e+02] [ 1.19964632e-01 9.92773855e-01 -2.92561811e-03 1.27702114e+01] [ 4.58390382e-02 -2.59528429e-03 9.98945468e-01 7.31819520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90509989299997 meters 0.024566553008771988 Centerline is valid? [True, True] Translation: X:202.12, Y:12.78, Z:7.32 [[ 9.92387156e-01 -1.14773158e-01 -4.46637966e-02 2.02116452e+02] [ 1.14760801e-01 9.93389068e-01 -2.84917612e-03 1.27796740e+01] [ 4.46955362e-02 -2.29816731e-03 9.98998012e-01 7.32212165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96509989299997 meters 0.024455662243184278 Centerline is valid? [True, True] Translation: X:202.18, Y:12.79, Z:7.33 [[ 9.93002436e-01 -1.09889174e-01 -4.32496458e-02 2.02176230e+02] [ 1.09872970e-01 9.93941809e-01 -2.75882168e-03 1.27859704e+01] [ 4.32907958e-02 -2.01245036e-03 9.99060487e-01 7.32582552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02509989299998 meters 0.020627672472797152 Centerline is valid? [True, True] Translation: X:202.24, Y:12.80, Z:7.33 [[ 9.93804168e-01 -1.02377013e-01 -4.32691815e-02 2.02236329e+02] [ 1.02353677e-01 9.94744241e-01 -2.76025231e-03 1.27992202e+01] [ 4.33243555e-02 -1.68560956e-03 9.99059637e-01 7.32979752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08509989299995 meters 0.01948972816876425 Centerline is valid? [True, True] Translation: X:202.30, Y:12.81, Z:7.33 [[ 9.94240920e-01 -9.67200194e-02 -4.61544134e-02 2.02295626e+02] [ 9.66874090e-02 9.95310444e-01 -2.94374675e-03 1.28064260e+01] [ 4.62226890e-02 -1.53575717e-03 9.98929980e-01 7.32882880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14509989299995 meters 0.016136128482844774 Centerline is valid? [True, True] Translation: X:202.36, Y:12.82, Z:7.33 [[ 9.95002545e-01 -8.80727765e-02 -4.70438265e-02 2.02355812e+02] [ 8.80292153e-02 9.96113373e-01 -3.00097180e-03 1.28193244e+01] [ 4.71252886e-02 -1.15525655e-03 9.98888318e-01 7.33169467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20509989299995 meters 0.015411715235580398 Centerline is valid? [True, True] Translation: X:202.42, Y:12.83, Z:7.33 [[ 9.95452159e-01 -8.30049182e-02 -4.67459284e-02 2.02416221e+02] [ 8.29563698e-02 9.96548722e-01 -2.98095804e-03 1.28265194e+01] [ 4.68320294e-02 -9.10471407e-04 9.98902364e-01 7.33478106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26509989299996 meters 0.014646615511066295 Centerline is valid? [True, True] Translation: X:202.48, Y:12.83, Z:7.34 [[ 9.95742378e-01 -7.86191420e-02 -4.81263692e-02 2.02477331e+02] [ 7.85626494e-02 9.96904460e-01 -3.06721680e-03 1.28333867e+01] [ 4.82185341e-02 -7.26777325e-04 9.98836546e-01 7.33636288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32509989299996 meters 0.014502049658213159 Centerline is valid? [True, True] Translation: X:202.54, Y:12.84, Z:7.34 [[ 9.95765650e-01 -7.82250805e-02 -4.82867132e-02 2.02538139e+02] [ 7.81678303e-02 9.96935469e-01 -3.07573040e-03 1.28373719e+01] [ 4.83793363e-02 -7.11760924e-04 9.98828781e-01 7.33882307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38509989299996 meters 0.014752936904445657 Centerline is valid? [True, True] Translation: X:202.60, Y:12.84, Z:7.34 [[ 9.95654495e-01 -8.00378077e-02 -4.76033122e-02 2.02599217e+02] [ 7.99843165e-02 9.96791515e-01 -3.03053313e-03 1.28395719e+01] [ 4.76931350e-02 -7.90154459e-04 9.98861722e-01 7.34192658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44509989299996 meters 0.015465246703326727 Centerline is valid? [True, True] Translation: X:202.66, Y:12.84, Z:7.35 [[ 9.95277355e-01 -8.52973585e-02 -4.63394727e-02 2.02660312e+02] [ 8.52524386e-02 9.96355021e-01 -2.94845287e-03 1.28394171e+01] [ 4.64220615e-02 -1.01602467e-03 9.98921398e-01 7.34622280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50509989299997 meters 0.016590561446393846 Centerline is valid? [True, True] Translation: X:202.72, Y:12.84, Z:7.35 [[ 9.94945505e-01 -9.02344667e-02 -4.40588554e-02 2.02721985e+02] [ 9.01987664e-02 9.95919843e-01 -2.80167729e-03 1.28385145e+01] [ 4.41318962e-02 -1.18653817e-03 9.99025009e-01 7.35015187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56509989299997 meters 0.01887605034296351 Centerline is valid? [True, True] Translation: X:202.78, Y:12.83, Z:7.35 [[ 9.94078682e-01 -9.98597200e-02 -4.28440335e-02 2.02782887e+02] [ 9.98349652e-02 9.95000286e-01 -2.72241739e-03 1.28322559e+01] [ 4.29016854e-02 -1.57103551e-03 9.99078064e-01 7.35403971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62509989299997 meters 0.020205079710581705 Centerline is valid? [True, True] Translation: X:202.84, Y:12.83, Z:7.35 [[ 9.93614254e-01 -1.02000591e-01 -4.82347687e-02 2.02843693e+02] [ 1.01971755e-01 9.94782574e-01 -3.06461895e-03 1.28311966e+01] [ 4.82957003e-02 -1.87353497e-03 9.98831325e-01 7.35117448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68509989299997 meters 0.018717659460781886 Centerline is valid? [True, True] Translation: X:202.90, Y:12.84, Z:7.35 [[ 9.94115945e-01 -9.62814234e-02 -4.96324104e-02 2.02903888e+02] [ 9.62438108e-02 9.95352796e-01 -3.15272123e-03 1.28362744e+01] [ 4.97053069e-02 -1.64264186e-03 9.98762576e-01 7.35134149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74509989299997 meters 0.015099030462707514 Centerline is valid? [True, True] Translation: X:202.96, Y:12.85, Z:7.36 [[ 9.95600669e-01 -8.19930143e-02 -4.53481318e-02 2.02964111e+02] [ 8.19467947e-02 9.96632543e-01 -2.88044444e-03 1.28482305e+01] [ 4.54316002e-02 -8.48361630e-04 9.98967092e-01 7.35823502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80509989299998 meters 0.013182078027352629 Centerline is valid? [True, True] Translation: X:203.02, Y:12.86, Z:7.36 [[ 9.96599880e-01 -6.82316981e-02 -4.61856431e-02 2.03024031e+02] [ 6.81690019e-02 9.97669477e-01 -2.93301918e-03 1.28595636e+01] [ 4.62781313e-02 -2.25382633e-04 9.98928568e-01 7.36029400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86509989299995 meters 0.012951478284215558 Centerline is valid? [True, True] Translation: X:203.08, Y:12.87, Z:7.36 [[ 9.97004501e-01 -6.23239635e-02 -4.58011747e-02 2.03083200e+02] [ 6.22560601e-02 9.98055971e-01 -2.90891603e-03 1.28659200e+01] [ 4.58934311e-02 4.88016921e-05 9.98946340e-01 7.36301637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92509989299995 meters 0.012938374664705514 Centerline is valid? [True, True] Translation: X:203.14, Y:12.86, Z:7.37 [[ 9.97119260e-01 -6.15074053e-02 -4.43849107e-02 2.03142086e+02] [ 6.14426900e-02 9.98106623e-01 -2.82210771e-03 1.28645410e+01] [ 4.44744538e-02 8.68496417e-05 9.99010518e-01 7.36602547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98509989299995 meters 0.01341116727989875 Centerline is valid? [True, True] Translation: X:203.20, Y:12.85, Z:7.37 [[ 9.96253441e-01 -7.43037987e-02 -4.42496022e-02 2.03201824e+02] [ 7.42515818e-02 9.97235541e-01 -2.82477157e-03 1.28517005e+01] [ 4.43371672e-02 -4.71414556e-04 9.99016513e-01 7.36767226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04509989299996 meters 0.014594883117652273 Centerline is valid? [True, True] Translation: X:203.26, Y:12.85, Z:7.37 [[ 9.95698601e-01 -8.15139797e-02 -4.40427912e-02 2.03262736e+02] [ 8.14688758e-02 9.96671894e-01 -2.82104928e-03 1.28469908e+01] [ 4.41261671e-02 -7.79201869e-04 9.99025662e-01 7.36964009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10509989299996 meters 0.01566424655198033 Centerline is valid? [True, True] Translation: X:203.32, Y:12.85, Z:7.37 [[ 9.95410278e-01 -8.51506529e-02 -4.36777387e-02 2.03323100e+02] [ 8.51097956e-02 9.96367651e-01 -2.79755172e-03 1.28450668e+01] [ 4.37572992e-02 -9.32691675e-04 9.99041755e-01 7.37109580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16509989299996 meters 0.015900849205545825 Centerline is valid? [True, True] Translation: X:203.38, Y:12.85, Z:7.37 [[ 9.95082547e-01 -8.89363261e-02 -4.36010838e-02 2.03384703e+02] [ 8.88992805e-02 9.96036708e-01 -2.79174460e-03 1.28450083e+01] [ 4.36765675e-02 -1.09808866e-03 9.99045120e-01 7.37322839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22509989299996 meters 0.020235015930431182 Centerline is valid? [True, True] Translation: X:203.44, Y:12.83, Z:7.38 [[ 9.94161651e-01 -9.96935467e-02 -4.12772030e-02 2.03444975e+02] [ 9.96696490e-02 9.95017077e-01 -2.64161714e-03 1.28327019e+01] [ 4.13348740e-02 -1.48788987e-03 9.99144241e-01 7.37516328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28509989299997 meters 0.02292909017915433 Centerline is valid? [True, True] Translation: X:203.51, Y:12.83, Z:7.38 [[ 9.93337410e-01 -1.08602801e-01 -3.85515464e-02 2.03506003e+02] [ 1.08588655e-01 9.94083708e-01 -2.46687567e-03 1.28260411e+01] [ 3.85913738e-02 -1.73582068e-03 9.99253568e-01 7.37801823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34509989299997 meters 0.02662730608277392 Centerline is valid? [True, True] Translation: X:203.57, Y:12.81, Z:7.37 [[ 9.91930586e-01 -1.19602838e-01 -4.20579857e-02 2.03568457e+02] [ 1.19595866e-01 9.92819011e-01 -2.69090747e-03 1.28072151e+01] [ 4.20778079e-02 -2.36076778e-03 9.99111548e-01 7.37333021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40509989299997 meters 0.025252575904837805 Centerline is valid? [True, True] Translation: X:203.63, Y:12.81, Z:7.38 [[ 9.92096471e-01 -1.18084255e-01 -4.24346783e-02 2.03629546e+02] [ 1.18075788e-01 9.93000876e-01 -2.71467530e-03 1.28139857e+01] [ 4.24582332e-02 -2.31728828e-03 9.99095555e-01 7.37527086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46509989299997 meters 0.02534954896030188 Centerline is valid? [True, True] Translation: X:203.69, Y:12.82, Z:7.38 [[ 9.92260284e-01 -1.16463120e-01 -4.30798158e-02 2.03690302e+02] [ 1.16452941e-01 9.93192391e-01 -2.75433250e-03 1.28189500e+01] [ 4.31073234e-02 -2.28375650e-03 9.99067837e-01 7.37741817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52509989299998 meters 0.02534954896030188 Centerline is valid? [True, True] Translation: X:203.75, Y:12.82, Z:7.38 [[ 9.92268746e-01 -1.16390956e-01 -4.30799298e-02 2.03751915e+02] [ 1.16380787e-01 9.93200854e-01 -2.75254857e-03 1.28228267e+01] [ 4.31073948e-02 -2.28240820e-03 9.99067837e-01 7.37972249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58509989299995 meters 0.026503623985491647 Centerline is valid? [True, True] Translation: X:203.81, Y:12.83, Z:7.38 [[ 9.92488690e-01 -1.14402287e-01 -4.33395606e-02 2.03812697e+02] [ 1.14390233e-01 9.93432042e-01 -2.76618291e-03 1.28260896e+01] [ 4.33713658e-02 -2.21221719e-03 9.99056570e-01 7.38181730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64509989299995 meters 0.02502266149760335 Centerline is valid? [True, True] Translation: X:203.87, Y:12.83, Z:7.38 [[ 9.92752277e-01 -1.12443933e-01 -4.24179054e-02 2.03873224e+02] [ 1.12430661e-01 9.93655888e-01 -2.70595171e-03 1.28330390e+01] [ 4.24530694e-02 -2.08273345e-03 9.99096291e-01 7.38485209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70509989299995 meters 0.02265349498169433 Centerline is valid? [True, True] Translation: X:203.93, Y:12.84, Z:7.39 [[ 9.92991681e-01 -1.10462898e-01 -4.20174899e-02 2.03934406e+02] [ 1.10448145e-01 9.93878276e-01 -2.67948954e-03 1.28413649e+01] [ 4.20562546e-02 -1.98004299e-03 9.99113282e-01 7.38825982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76509989299996 meters 0.02185945316649832 Centerline is valid? [True, True] Translation: X:203.99, Y:12.85, Z:7.39 [[ 9.93805584e-01 -1.03480518e-01 -4.05246157e-02 2.03993318e+02] [ 1.03461073e-01 9.94630151e-01 -2.58239855e-03 1.28503035e+01] [ 4.05742326e-02 -1.62631813e-03 9.99175203e-01 7.39194108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82509989299996 meters 0.019504241659755443 Centerline is valid? [True, True] Translation: X:204.05, Y:12.86, Z:7.39 [[ 9.94292826e-01 -9.88403780e-02 -4.01541566e-02 2.04053417e+02] [ 9.88174841e-02 9.95102283e-01 -2.55939455e-03 1.28606605e+01] [ 4.02104644e-02 -1.42314509e-03 9.99190219e-01 7.39450483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88509989299996 meters 0.018279231030827108 Centerline is valid? [True, True] Translation: X:204.11, Y:12.87, Z:7.40 [[ 9.94766362e-01 -9.39301459e-02 -4.02120993e-02 2.04114378e+02] [ 9.39032095e-02 9.95578034e-01 -2.56230888e-03 1.28685674e+01] [ 4.02749608e-02 -1.22714650e-03 9.99187881e-01 7.39646111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94509989299996 meters 0.016182442644436714 Centerline is valid? [True, True] Translation: X:204.18, Y:12.88, Z:7.40 [[ 9.95387536e-01 -8.71340766e-02 -4.01410830e-02 2.04175084e+02] [ 8.71017671e-02 9.96196139e-01 -2.55641723e-03 1.28785479e+01] [ 4.02111429e-02 -9.51733415e-04 9.99190752e-01 7.39839994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00509989299997 meters 0.014322165339465887 Centerline is valid? [True, True] Translation: X:204.24, Y:12.89, Z:7.40 [[ 9.95971172e-01 -7.95423539e-02 -4.14057874e-02 2.04235065e+02] [ 7.95014459e-02 9.96831265e-01 -2.63627296e-03 1.28894244e+01] [ 4.14842787e-02 -6.66168094e-04 9.99138935e-01 7.39967225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06509989299997 meters 0.013087221551774166 Centerline is valid? [True, True] Translation: X:204.30, Y:12.90, Z:7.40 [[ 9.96685650e-01 -6.98212736e-02 -4.17457258e-02 2.04295188e+02] [ 6.97711629e-02 9.97559482e-01 -2.65791657e-03 1.29005086e+01] [ 4.18294237e-02 -2.63540536e-04 9.99124732e-01 7.40180068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12509989299997 meters 0.012992826142382967 Centerline is valid? [True, True] Translation: X:204.35, Y:12.91, Z:7.40 [[ 9.96925570e-01 -6.61821935e-02 -4.19443065e-02 2.04353728e+02] [ 6.61283739e-02 9.97807549e-01 -2.67081493e-03 1.29065952e+01] [ 4.20291061e-02 -1.11105092e-04 9.99116381e-01 7.40377439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18509989299997 meters 0.013228563382414637 Centerline is valid? [True, True] Translation: X:204.41, Y:12.92, Z:7.41 [[ 9.97554815e-01 -5.61179499e-02 -4.16553372e-02 2.04411447e+02] [ 5.60559629e-02 9.98424097e-01 -2.65554750e-03 1.29173523e+01] [ 4.17387163e-02 3.14024153e-04 9.99128511e-01 7.40714450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24509989299997 meters 0.013685650899264818 Centerline is valid? [True, True] Translation: X:204.47, Y:12.92, Z:7.41 [[ 9.97862399e-01 -5.14446669e-02 -4.02998570e-02 2.04469957e+02] [ 5.13824358e-02 9.98675720e-01 -2.57914106e-03 1.29231393e+01] [ 4.03791717e-02 5.02923073e-04 9.99184302e-01 7.41012764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30509989299998 meters 0.013063358437181502 Centerline is valid? [True, True] Translation: X:204.53, Y:12.92, Z:7.41 [[ 9.97541133e-01 -5.74825224e-02 -4.00929863e-02 2.04529302e+02] [ 5.74253943e-02 9.98346477e-01 -2.57603458e-03 1.29196517e+01] [ 4.01747686e-02 2.67344907e-04 9.99192632e-01 7.41208964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36509989299995 meters 0.012816765218414744 Centerline is valid? [True, True] Translation: X:204.59, Y:12.92, Z:7.41 [[ 9.97078589e-01 -6.52892126e-02 -3.96434945e-02 2.04587606e+02] [ 6.52391327e-02 9.97866383e-01 -2.55699064e-03 1.29167999e+01] [ 3.97258544e-02 -3.67865819e-05 9.99210616e-01 7.41390261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42509989299995 meters 0.013212568495833726 Centerline is valid? [True, True] Translation: X:204.65, Y:12.91, Z:7.42 [[ 9.96488996e-01 -7.42212777e-02 -3.87412280e-02 2.04646612e+02] [ 7.41799883e-02 9.97241725e-01 -2.50412878e-03 1.29123246e+01] [ 3.88202287e-02 -3.78487067e-04 9.99246139e-01 7.41686415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48509989299995 meters 0.014849248156478345 Centerline is valid? [True, True] Translation: X:204.71, Y:12.90, Z:7.42 [[ 9.95694666e-01 -8.45004450e-02 -3.81025874e-02 2.04707634e+02] [ 8.44676605e-02 9.96423154e-01 -2.47229789e-03 1.29038483e+01] [ 3.81752106e-02 -7.56782601e-04 9.99270774e-01 7.41812662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54509989299996 meters 0.015646472812996394 Centerline is valid? [True, True] Translation: X:204.77, Y:12.90, Z:7.42 [[ 9.95402003e-01 -8.79867057e-02 -3.78575178e-02 2.04769451e+02] [ 8.79568609e-02 9.96121256e-01 -2.45637339e-03 1.29016950e+01] [ 3.79268064e-02 -8.84749442e-04 9.99280128e-01 7.41963695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60509989299996 meters 0.015458994642890713 Centerline is valid? [True, True] Translation: X:204.83, Y:12.90, Z:7.42 [[ 9.95518739e-01 -8.62432157e-02 -3.87885135e-02 2.04830610e+02] [ 8.62106193e-02 9.96273759e-01 -2.51532609e-03 1.29031664e+01] [ 3.88609080e-02 -8.39927519e-04 9.99244277e-01 7.42105192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66509989299996 meters 0.014508493437379302 Centerline is valid? [True, True] Translation: X:204.89, Y:12.91, Z:7.42 [[ 9.95806310e-01 -8.25344764e-02 -3.94696422e-02 2.04890589e+02] [ 8.24978676e-02 9.96587958e-01 -2.55812092e-03 1.29078921e+01] [ 3.95461033e-02 -7.08768359e-04 9.99217496e-01 7.42231595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72509989299996 meters 0.013484038765934422 Centerline is valid? [True, True] Translation: X:204.95, Y:12.92, Z:7.43 [[ 9.96406880e-01 -7.50611765e-02 -3.92319896e-02 2.04951230e+02] [ 7.50192160e-02 9.97178847e-01 -2.54268104e-03 1.29154531e+01] [ 3.93121668e-02 -4.09608221e-04 9.99226894e-01 7.42557529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78509989299997 meters 0.0132967242259937 Centerline is valid? [True, True] Translation: X:205.01, Y:12.92, Z:7.43 [[ 9.96616579e-01 -7.27818067e-02 -3.81864283e-02 2.05010923e+02] [ 7.27404051e-02 9.97347839e-01 -2.47428200e-03 1.29205275e+01] [ 3.82652344e-02 -3.11785798e-04 9.99267569e-01 7.42867560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84509989299997 meters 0.01300751486741189 Centerline is valid? [True, True] Translation: X:205.07, Y:12.93, Z:7.43 [[ 9.96871825e-01 -6.68033096e-02 -4.22360261e-02 2.05070685e+02] [ 6.67472207e-02 9.97766160e-01 -2.73837091e-03 1.29268175e+01] [ 4.23246098e-02 -8.93325505e-05 9.99103908e-01 7.42856819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90509989299997 meters 0.013091547612509077 Centerline is valid? [True, True] Translation: X:205.13, Y:12.93, Z:7.43 [[ 9.97016940e-01 -6.24225378e-02 -4.53943609e-02 2.05128807e+02] [ 6.23530861e-02 9.98049806e-01 -2.94571089e-03 1.29316455e+01] [ 4.54897119e-02 1.06445160e-04 9.98964802e-01 7.42733798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96509989299997 meters 0.013340585621467452 Centerline is valid? [True, True] Translation: X:205.19, Y:12.94, Z:7.43 [[ 9.97409302e-01 -5.72363610e-02 -4.35738834e-02 2.05186861e+02] [ 5.71671404e-02 9.98360599e-01 -2.83403909e-03 1.29367131e+01] [ 4.36646584e-02 3.35702646e-04 9.99046188e-01 7.43164636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02509989299998 meters 0.01370175273830997 Centerline is valid? [True, True] Translation: X:205.25, Y:12.94, Z:7.43 [[ 9.97460401e-01 -5.49465383e-02 -4.53169544e-02 2.05245540e+02] [ 5.48687661e-02 9.98489189e-01 -2.95922451e-03 1.29401620e+01] [ 4.54110882e-02 4.65223895e-04 9.98968276e-01 7.43370706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08509989299995 meters 0.01348806046189409 Centerline is valid? [True, True] Translation: X:205.30, Y:12.94, Z:7.44 [[ 9.97472938e-01 -5.59389262e-02 -4.38015426e-02 2.05304141e+02] [ 5.58667606e-02 9.98434105e-01 -2.87090208e-03 1.29400521e+01] [ 4.38935492e-02 4.16596837e-04 9.99036127e-01 7.43688350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14509989299995 meters 0.013158725247239484 Centerline is valid? [True, True] Translation: X:205.36, Y:12.94, Z:7.44 [[ 9.97300925e-01 -6.04073194e-02 -4.17351181e-02 2.05362592e+02] [ 6.03452922e-02 9.98173786e-01 -2.74557626e-03 1.29380293e+01] [ 4.18247538e-02 2.19647849e-04 9.99124938e-01 7.44101002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20509989299995 meters 0.01299443372141204 Centerline is valid? [True, True] Translation: X:205.42, Y:12.93, Z:7.44 [[ 9.96808301e-01 -6.73398369e-02 -4.28783919e-02 2.05420813e+02] [ 6.72803302e-02 9.97730095e-01 -2.83103375e-03 1.29330950e+01] [ 4.29717034e-02 -6.28744290e-05 9.99076288e-01 7.44126172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26509989299996 meters 0.013922474398224046 Centerline is valid? [True, True] Translation: X:205.48, Y:12.93, Z:7.45 [[ 9.96291749e-01 -7.65599465e-02 -3.92597304e-02 2.05478642e+02] [ 7.65170361e-02 9.97064893e-01 -2.59663476e-03 1.29259151e+01] [ 3.93432971e-02 -4.17032420e-04 9.99225666e-01 7.44633652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32509989299996 meters 0.014539784810290958 Centerline is valid? [True, True] Translation: X:205.54, Y:12.92, Z:7.45 [[ 9.95810203e-01 -8.27751444e-02 -3.88627784e-02 2.05537180e+02] [ 8.27376727e-02 9.96568036e-01 -2.57430198e-03 1.29239795e+01] [ 3.89424909e-02 -6.51899657e-04 9.99241241e-01 7.44945149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38509989299996 meters 0.015502478046753507 Centerline is valid? [True, True] Translation: X:205.60, Y:12.92, Z:7.45 [[ 9.95366607e-01 -8.75504991e-02 -3.97520906e-02 2.05596853e+02] [ 8.75149561e-02 9.96159716e-01 -2.63672918e-03 1.29221022e+01] [ 3.98302783e-02 -8.54390293e-04 9.99206094e-01 7.45054751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44509989299996 meters 0.015598358671559232 Centerline is valid? [True, True] Translation: X:205.66, Y:12.92, Z:7.45 [[ 9.95128440e-01 -9.00539276e-02 -4.01207845e-02 2.05656142e+02] [ 9.00196907e-02 9.95936426e-01 -2.66277053e-03 1.29213383e+01] [ 4.01975437e-02 -9.61861921e-04 9.99191289e-01 7.45176123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50509989299997 meters 0.015331509535118195 Centerline is valid? [True, True] Translation: X:205.72, Y:12.92, Z:7.45 [[ 9.95180080e-01 -8.95484603e-02 -3.99710118e-02 2.05715261e+02] [ 8.95139268e-02 9.95982028e-01 -2.65643331e-03 1.29240366e+01] [ 4.00482889e-02 -9.34332712e-04 9.99197309e-01 7.45400770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56509989299997 meters 0.015157906555697072 Centerline is valid? [True, True] Translation: X:205.77, Y:12.93, Z:7.46 [[ 9.95387735e-01 -8.69314383e-02 -4.05731722e-02 2.05773512e+02] [ 8.68932742e-02 9.96213950e-01 -2.70652072e-03 1.29266837e+01] [ 4.06548419e-02 -8.31498246e-04 9.99172904e-01 7.45523099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62509989299997 meters 0.014874904166012249 Centerline is valid? [True, True] Translation: X:205.83, Y:12.93, Z:7.46 [[ 9.95364804e-01 -8.71648026e-02 -4.06350206e-02 2.05832296e+02] [ 8.71265867e-02 9.96193552e-01 -2.71382929e-03 1.29296025e+01] [ 4.07168959e-02 -8.39140485e-04 9.99170371e-01 7.45702540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68509989299997 meters 0.015746129544782734 Centerline is valid? [True, True] Translation: X:205.89, Y:12.93, Z:7.46 [[ 9.94991467e-01 -9.07415845e-02 -4.19278605e-02 2.05891459e+02] [ 9.07036016e-02 9.95873965e-01 -2.81130157e-03 1.29292895e+01] [ 4.20099666e-02 -1.00578688e-03 9.99116685e-01 7.45754775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74509989299997 meters 0.018134968186720796 Centerline is valid? [True, True] Translation: X:205.95, Y:12.93, Z:7.46 [[ 9.94266490e-01 -9.80974931e-02 -4.25561895e-02 2.05951634e+02] [ 9.80646711e-02 9.95175925e-01 -2.86320606e-03 1.29278944e+01] [ 4.26317686e-02 -1.32646889e-03 9.99089972e-01 7.45957405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80509989299995 meters 0.018840094506009805 Centerline is valid? [True, True] Translation: X:206.01, Y:12.93, Z:7.46 [[ 9.94252558e-01 -9.82531042e-02 -4.25226727e-02 2.06008011e+02] [ 9.82204193e-02 9.95160568e-01 -2.86228025e-03 1.29312934e+01] [ 4.25981150e-02 -1.33076528e-03 9.99091402e-01 7.46168391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86509989299995 meters 0.017763572179054332 Centerline is valid? [True, True] Translation: X:206.07, Y:12.94, Z:7.46 [[ 9.94231708e-01 -9.82806588e-02 -4.29444245e-02 2.06065189e+02] [ 9.82470749e-02 9.95157837e-01 -2.89701776e-03 1.29376028e+01] [ 4.30212014e-02 -1.33885718e-03 9.99073262e-01 7.46432297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92509989299995 meters 0.01719303363479637 Centerline is valid? [True, True] Translation: X:206.12, Y:12.94, Z:7.47 [[ 9.94281371e-01 -9.77424770e-02 -4.30228198e-02 2.06124143e+02] [ 9.77077367e-02 9.95210884e-01 -2.91460604e-03 1.29432701e+01] [ 4.31016593e-02 -1.30572386e-03 9.99069838e-01 7.46661786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98509989299995 meters 0.017170840348114343 Centerline is valid? [True, True] Translation: X:206.18, Y:12.95, Z:7.47 [[ 9.94746143e-01 -9.39013050e-02 -4.07756854e-02 2.06182283e+02] [ 9.38665195e-02 9.95580935e-01 -2.77103346e-03 1.29495049e+01] [ 4.08556987e-02 -1.07099682e-03 9.99164483e-01 7.47061594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04509989299996 meters 0.015046409699146317 Centerline is valid? [True, True] Translation: X:206.24, Y:12.96, Z:7.47 [[ 9.95188799e-01 -8.85274574e-02 -4.19778836e-02 2.06241527e+02] [ 8.84857175e-02 9.96073354e-01 -2.85499081e-03 1.29590923e+01] [ 4.20657964e-02 -8.73188271e-04 9.99114461e-01 7.47248528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10509989299996 meters 0.014031921613622142 Centerline is valid? [True, True] Translation: X:206.30, Y:12.97, Z:7.47 [[ 9.95543748e-01 -8.38515883e-02 -4.31457664e-02 2.06299707e+02] [ 8.38030241e-02 9.96478014e-01 -2.93626687e-03 1.29684192e+01] [ 4.32400182e-02 -6.92563578e-04 9.99064473e-01 7.47427639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16509989299996 meters 0.01360574546119362 Centerline is valid? [True, True] Translation: X:206.36, Y:12.97, Z:7.48 [[ 9.95750367e-01 -8.04683291e-02 -4.47889973e-02 2.06358725e+02] [ 8.04123632e-02 9.96757008e-01 -3.05277423e-03 1.29745870e+01] [ 4.48893986e-02 -5.61788054e-04 9.98991805e-01 7.47519284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22509989299996 meters 0.013574640401578904 Centerline is valid? [True, True] Translation: X:206.42, Y:12.98, Z:7.48 [[ 9.95861389e-01 -7.90712820e-02 -4.48087682e-02 2.06417666e+02] [ 7.90133661e-02 9.96868845e-01 -3.06495824e-03 1.29793902e+01] [ 4.49108152e-02 -4.88218035e-04 9.98990881e-01 7.47654329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28509989299997 meters 0.013375229394104874 Centerline is valid? [True, True] Translation: X:206.48, Y:12.98, Z:7.48 [[ 9.95953061e-01 -7.80699467e-02 -4.45262245e-02 2.06475660e+02] [ 7.80112567e-02 9.96947792e-01 -3.05687649e-03 1.29849614e+01] [ 4.46289713e-02 -4.29041233e-04 9.99003539e-01 7.47922323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34509989299997 meters 0.013218339895577436 Centerline is valid? [True, True] Translation: X:206.53, Y:12.99, Z:7.48 [[ 9.96012840e-01 -7.76785081e-02 -4.38687932e-02 2.06533691e+02] [ 7.76206635e-02 9.96978382e-01 -3.02300993e-03 1.29903912e+01] [ 4.39710613e-02 -3.94168127e-04 9.99032727e-01 7.48232942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40509989299997 meters 0.013275792220325289 Centerline is valid? [True, True] Translation: X:206.59, Y:12.99, Z:7.48 [[ 9.95946636e-01 -7.88690397e-02 -4.32431859e-02 2.06591638e+02] [ 7.88134094e-02 9.96884894e-01 -2.99247982e-03 1.29938646e+01] [ 4.33444928e-02 -4.27792711e-04 9.99060094e-01 7.48435087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46509989299997 meters 0.013505130812446885 Centerline is valid? [True, True] Translation: X:206.65, Y:13.00, Z:7.49 [[ 9.95781993e-01 -8.16863977e-02 -4.17798367e-02 2.06650673e+02] [ 8.16364546e-02 9.96657946e-01 -2.90297920e-03 1.29957122e+01] [ 4.18773402e-02 -5.20023330e-04 9.99122624e-01 7.48667799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52509989299998 meters 0.014447985950299091 Centerline is valid? [True, True] Translation: X:206.71, Y:13.00, Z:7.49 [[ 9.95432400e-01 -8.66778534e-02 -4.00160722e-02 2.06709062e+02] [ 8.66356852e-02 9.96236154e-01 -2.78995766e-03 1.29956111e+01] [ 4.01072854e-02 -6.89605580e-04 9.99195141e-01 7.48932981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58509989299995 meters 0.016068204844297097 Centerline is valid? [True, True] Translation: X:206.77, Y:12.99, Z:7.49 [[ 9.94794183e-01 -9.37647456e-02 -3.99087173e-02 2.06768459e+02] [ 9.37282870e-02 9.95593912e-01 -2.78773957e-03 1.29926406e+01] [ 3.99942677e-02 -9.67348608e-04 9.99199441e-01 7.49047793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64509989299995 meters 0.01670935780573172 Centerline is valid? [True, True] Translation: X:206.83, Y:12.99, Z:7.49 [[ 9.94340244e-01 -9.85623504e-02 -3.96603391e-02 2.06827670e+02] [ 9.85300265e-02 9.95130213e-01 -2.77360891e-03 1.29935839e+01] [ 3.97405751e-02 -1.14982330e-03 9.99209370e-01 7.49223041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70509989299995 meters 0.018018450716183715 Centerline is valid? [True, True] Translation: X:206.89, Y:12.99, Z:7.49 [[ 9.93922199e-01 -1.02889546e-01 -3.91459209e-02 2.06887201e+02] [ 1.02861322e-01 9.94691933e-01 -2.73974744e-03 1.29944149e+01] [ 3.92200231e-02 -1.30350537e-03 9.99229749e-01 7.49389782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76509989299996 meters 0.01974646071247824 Centerline is valid? [True, True] Translation: X:206.95, Y:12.99, Z:7.50 [[ 9.93537596e-01 -1.06461150e-01 -3.93582249e-02 2.06946266e+02] [ 1.06435358e-01 9.94315804e-01 -2.75606548e-03 1.29949532e+01] [ 3.94279190e-02 -1.45085209e-03 9.99221364e-01 7.49506129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82509989299996 meters 0.02298856991306753 Centerline is valid? [True, True] Translation: X:207.01, Y:12.99, Z:7.50 [[ 9.92959911e-01 -1.11921060e-01 -3.87851863e-02 2.07006031e+02] [ 1.11900116e-01 9.93715744e-01 -2.71730102e-03 1.29941784e+01] [ 3.88455735e-02 -1.64189585e-03 9.99243877e-01 7.49694136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88509989299996 meters 0.02428536912569982 Centerline is valid? [True, True] Translation: X:207.07, Y:13.00, Z:7.50 [[ 9.92503300e-01 -1.15677461e-01 -3.94452164e-02 2.07065936e+02] [ 1.15658727e-01 9.93285164e-01 -2.76427729e-03 1.29969339e+01] [ 3.95001128e-02 -1.81862920e-03 9.99217911e-01 7.49866087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94509989299996 meters 0.024758467458227372 Centerline is valid? [True, True] Translation: X:207.13, Y:13.00, Z:7.50 [[ 9.91997388e-01 -1.19715791e-01 -4.01162377e-02 2.07125708e+02] [ 1.19699666e-01 9.92806165e-01 -2.81231601e-03 1.30017872e+01] [ 4.01643268e-02 -2.01209012e-03 9.99191062e-01 7.50009046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00509989299997 meters 0.02455513612707371 Centerline is valid? [True, True] Translation: X:207.19, Y:13.01, Z:7.50 [[ 9.91698474e-01 -1.22034928e-01 -4.05168183e-02 2.07185996e+02] [ 1.22020382e-01 9.92523529e-01 -2.84107916e-03 1.30069690e+01] [ 4.05606064e-02 -2.12638377e-03 9.99174817e-01 7.50215532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06509989299997 meters 0.02449909197155673 Centerline is valid? [True, True] Translation: X:207.25, Y:13.01, Z:7.50 [[ 9.91371350e-01 -1.24542471e-01 -4.08903375e-02 2.07246354e+02] [ 1.24529781e-01 9.92211728e-01 -2.86727069e-03 1.30130993e+01] [ 4.09289694e-02 -2.24953475e-03 9.99159526e-01 7.50405986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12509989299997 meters 0.028206729096774852 Centerline is valid? [True, True] Translation: X:207.31, Y:13.02, Z:7.51 [[ 9.91272116e-01 -1.25186162e-01 -4.13281692e-02 2.07306216e+02] [ 1.25173755e-01 9.92130603e-01 -2.89799740e-03 1.30158073e+01] [ 4.13657305e-02 -2.30049812e-03 9.99141423e-01 7.50590641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18509989299997 meters 0.02670328279343868 Centerline is valid? [True, True] Translation: X:207.37, Y:13.03, Z:7.51 [[ 9.91324203e-01 -1.25078293e-01 -4.03948647e-02 2.07366126e+02] [ 1.25066341e-01 9.92144337e-01 -2.83277831e-03 1.30250880e+01] [ 4.04318554e-02 -2.24383621e-03 9.99179779e-01 7.50917628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24509989299997 meters 0.02851592665729076 Centerline is valid? [True, True] Translation: X:207.43, Y:13.03, Z:7.51 [[ 9.91566539e-01 -1.23327847e-01 -3.98251249e-02 2.07425001e+02] [ 1.23314819e-01 9.92363671e-01 -2.79287088e-03 1.30314673e+01] [ 3.98654459e-02 -2.14171076e-03 9.99202762e-01 7.51224004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30509989299995 meters 0.023996740765134188 Centerline is valid? [True, True] Translation: X:207.49, Y:13.05, Z:7.52 [[ 9.91927906e-01 -1.20805993e-01 -3.85349351e-02 2.07485604e+02] [ 1.20791874e-01 9.92674175e-01 -2.70296409e-03 1.30464053e+01] [ 3.85791691e-02 -1.97356153e-03 9.99253598e-01 7.51552489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36509989299995 meters 0.022531832476334467 Centerline is valid? [True, True] Translation: X:207.55, Y:13.06, Z:7.52 [[ 9.92388149e-01 -1.16858158e-01 -3.88578589e-02 2.07545537e+02] [ 1.16840866e-01 9.93146915e-01 -2.72349306e-03 1.30596947e+01] [ 3.89098250e-02 -1.83742363e-03 9.99241037e-01 7.51871361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42509989299995 meters 0.024497958608088333 Centerline is valid? [True, True] Translation: X:207.61, Y:13.07, Z:7.52 [[ 9.92650814e-01 -1.14735012e-01 -3.84738808e-02 2.07605761e+02] [ 1.14716495e-01 9.93394613e-01 -2.69587622e-03 1.30660989e+01] [ 3.85290573e-02 -1.73752502e-03 9.99255970e-01 7.52085731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48509989299995 meters 0.020892812305320873 Centerline is valid? [True, True] Translation: X:207.67, Y:13.08, Z:7.52 [[ 9.92853982e-01 -1.12662471e-01 -3.93463866e-02 2.07665897e+02] [ 1.12641512e-01 9.93631870e-01 -2.75624093e-03 1.30819826e+01] [ 3.94063486e-02 -1.69549169e-03 9.99221830e-01 7.52280426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54509989299996 meters 0.023054322587277624 Centerline is valid? [True, True] Translation: X:207.73, Y:13.09, Z:7.52 [[ 9.92864159e-01 -1.12254232e-01 -4.02460984e-02 2.07726763e+02] [ 1.12232034e-01 9.93678032e-01 -2.81767684e-03 1.30867943e+01] [ 4.03079600e-02 -1.71933115e-03 9.99185825e-01 7.52395761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60509989299996 meters 0.02159408927042955 Centerline is valid? [True, True] Translation: X:207.79, Y:13.10, Z:7.53 [[ 9.92856126e-01 -1.12068177e-01 -4.09565216e-02 2.07788716e+02] [ 1.12045128e-01 9.93698989e-01 -2.86505862e-03 1.30986609e+01] [ 4.10195360e-02 -1.74438768e-03 9.99156822e-01 7.52576450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66509989299996 meters 0.02045278634263464 Centerline is valid? [True, True] Translation: X:207.85, Y:13.11, Z:7.53 [[ 9.92886877e-01 -1.11627698e-01 -4.14114300e-02 2.07850339e+02] [ 1.11603879e-01 9.93748560e-01 -2.89381536e-03 1.31085570e+01] [ 4.14755788e-02 -1.74844492e-03 9.99137988e-01 7.52775720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72509989299996 meters 0.02128092640894208 Centerline is valid? [True, True] Translation: X:207.91, Y:13.12, Z:7.53 [[ 9.93113693e-01 -1.09689060e-01 -4.11521884e-02 2.07909859e+02] [ 1.09663994e-01 9.93964564e-01 -2.87286168e-03 1.31171889e+01] [ 4.12189385e-02 -1.65983509e-03 9.99148760e-01 7.52993199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78509989299997 meters 0.020772191809229422 Centerline is valid? [True, True] Translation: X:207.97, Y:13.13, Z:7.53 [[ 9.93460185e-01 -1.06789976e-01 -4.04074570e-02 2.07970369e+02] [ 1.06763446e-01 9.94280450e-01 -2.82008691e-03 1.31265515e+01] [ 4.04775015e-02 -1.51239529e-03 9.99179305e-01 7.53257672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84509989299997 meters 0.01779023492152141 Centerline is valid? [True, True] Translation: X:208.03, Y:13.14, Z:7.54 [[ 9.94074759e-01 -1.00836834e-01 -4.05870128e-02 2.08030356e+02] [ 1.00805169e-01 9.94902157e-01 -2.83119789e-03 1.31416627e+01] [ 4.06655956e-02 -1.27695832e-03 9.99171997e-01 7.53513636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90509989299997 meters 0.015728675919958517 Centerline is valid? [True, True] Translation: X:208.09, Y:13.16, Z:7.54 [[ 9.94998431e-01 -9.16987802e-02 -3.96163714e-02 2.08089840e+02] [ 9.16614049e-02 9.95786400e-01 -2.76260102e-03 1.31563352e+01] [ 3.97027710e-02 -8.82508584e-04 9.99211144e-01 7.53818833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96509989299997 meters 0.014566015068070252 Centerline is valid? [True, True] Translation: X:208.15, Y:13.17, Z:7.54 [[ 9.95585035e-01 -8.52754115e-02 -3.92242476e-02 2.08150864e+02] [ 8.52338142e-02 9.96357225e-01 -2.73459452e-03 1.31658815e+01] [ 3.93145561e-02 -6.20710851e-04 9.99226691e-01 7.54015884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02509989299998 meters 0.01376882310253409 Centerline is valid? [True, True] Translation: X:208.21, Y:13.18, Z:7.54 [[ 9.96016267e-01 -8.00397881e-02 -3.93093899e-02 2.08211919e+02] [ 7.99939900e-02 9.96791583e-01 -2.73908475e-03 1.31752505e+01] [ 3.94025047e-02 -4.16341970e-04 9.99223333e-01 7.54266550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08509989299995 meters 0.013431364580974601 Centerline is valid? [True, True] Translation: X:208.27, Y:13.18, Z:7.55 [[ 9.96291698e-01 -7.65496320e-02 -3.92811263e-02 2.08273557e+02] [ 7.65012473e-02 9.97065733e-01 -2.73559786e-03 1.31836231e+01] [ 3.93752740e-02 -2.79601726e-04 9.99224454e-01 7.54501860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14509989299995 meters 0.01352679381234648 Centerline is valid? [True, True] Translation: X:208.33, Y:13.19, Z:7.55 [[ 9.96207631e-01 -7.76446988e-02 -3.92639310e-02 2.08334419e+02] [ 7.75973175e-02 9.96981040e-01 -2.73158437e-03 1.31868535e+01] [ 3.93574878e-02 -3.25550520e-04 9.99225141e-01 7.54682424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20509989299995 meters 0.014318557615983381 Centerline is valid? [True, True] Translation: X:208.40, Y:13.19, Z:7.55 [[ 9.95654983e-01 -8.42733072e-02 -3.96126776e-02 2.08395853e+02] [ 8.42303782e-02 9.96442500e-01 -2.75439954e-03 1.31854432e+01] [ 3.97038779e-02 -5.94159184e-04 9.99211314e-01 7.54863051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26509989299996 meters 0.016948469843715556 Centerline is valid? [True, True] Translation: X:208.46, Y:13.18, Z:7.55 [[ 9.94856791e-01 -9.34093001e-02 -3.91748377e-02 2.08456158e+02] [ 9.33744436e-02 9.95627341e-01 -2.72250580e-03 1.31806716e+01] [ 3.92578469e-02 -9.49425292e-04 9.99228663e-01 7.55079443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32509989299996 meters 0.017851890267137367 Centerline is valid? [True, True] Translation: X:208.52, Y:13.18, Z:7.55 [[ 9.94227363e-01 -9.96210613e-02 -3.98446438e-02 2.08517143e+02] [ 9.95900637e-02 9.95024705e-01 -2.76701480e-03 1.31808255e+01] [ 3.99220578e-02 -1.21708878e-03 9.99202056e-01 7.55226015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38509989299996 meters 0.02380976344519589 Centerline is valid? [True, True] Translation: X:208.58, Y:13.17, Z:7.55 [[ 9.93216247e-01 -1.09012233e-01 -4.04699902e-02 2.08577675e+02] [ 1.08988056e-01 9.94039088e-01 -2.80980387e-03 1.31716768e+01] [ 4.05350552e-02 -1.62000270e-03 9.99176804e-01 7.55299551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44509989299996 meters 0.02349813231126147 Centerline is valid? [True, True] Translation: X:208.64, Y:13.17, Z:7.56 [[ 9.92235696e-01 -1.17369477e-01 -4.11427912e-02 2.08638935e+02] [ 1.17351632e-01 9.93086317e-01 -2.85697261e-03 1.31746132e+01] [ 4.11936643e-02 -1.99338348e-03 9.99149192e-01 7.55521054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50509989299997 meters 0.025288709959061354 Centerline is valid? [True, True] Translation: X:208.70, Y:13.18, Z:7.56 [[ 9.91689045e-01 -1.21891167e-01 -4.11750023e-02 2.08699648e+02] [ 1.21877224e-01 9.92541069e-01 -2.85808336e-03 1.31753111e+01] [ 4.12162559e-02 -2.18396502e-03 9.99147862e-01 7.55740757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56509989299997 meters 0.028068088549379446 Centerline is valid? [True, True] Translation: X:208.76, Y:13.18, Z:7.56 [[ 9.91236110e-01 -1.25608341e-01 -4.09086650e-02 2.08760249e+02] [ 1.25597763e-01 9.92077186e-01 -2.83880263e-03 1.31752628e+01] [ 4.09411306e-02 -2.32411315e-03 9.99158857e-01 7.55958171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62509989299997 meters 0.026893516837131398 Centerline is valid? [True, True] Translation: X:208.82, Y:13.18, Z:7.56 [[ 9.90934479e-01 -1.28082470e-01 -4.05430571e-02 2.08820672e+02] [ 1.28074200e-01 9.91760602e-01 -2.81200534e-03 1.31809719e+01] [ 4.05691753e-02 -2.40600654e-03 9.99173835e-01 7.56210993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68509989299997 meters 0.030288818262013153 Centerline is valid? [True, True] Translation: X:208.88, Y:13.18, Z:7.56 [[ 9.90775172e-01 -1.29581530e-01 -3.96633987e-02 2.08881982e+02] [ 1.29574841e-01 9.91565831e-01 -2.75018703e-03 1.31808043e+01] [ 3.96852444e-02 -2.41456155e-03 9.99209313e-01 7.56456962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74509989299997 meters 0.030745314799127007 Centerline is valid? [True, True] Translation: X:208.94, Y:13.18, Z:7.57 [[ 9.90718139e-01 -1.29881932e-01 -4.01030345e-02 2.08943796e+02] [ 1.29875431e-01 9.91526426e-01 -2.77840326e-03 1.31840002e+01] [ 4.01240829e-02 -2.45578441e-03 9.99191687e-01 7.56545030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80509989299995 meters 0.028317292781648146 Centerline is valid? [True, True] Translation: X:209.01, Y:13.19, Z:7.57 [[ 9.90654894e-01 -1.30049879e-01 -4.11085171e-02 2.09005387e+02] [ 1.30043318e-01 9.91504232e-01 -2.84505269e-03 1.31920042e+01] [ 4.11292675e-02 -2.52742258e-03 9.99150637e-01 7.56704608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86509989299995 meters 0.028930558718263295 Centerline is valid? [True, True] Translation: X:209.07, Y:13.20, Z:7.57 [[ 9.90643849e-01 -1.29571356e-01 -4.28488975e-02 2.09067267e+02] [ 1.29563926e-01 9.91566646e-01 -2.96223403e-03 1.31972524e+01] [ 4.28713583e-02 -2.61715248e-03 9.99077173e-01 7.56774936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92509989299995 meters 0.029340927174725966 Centerline is valid? [True, True] Translation: X:209.13, Y:13.20, Z:7.57 [[ 9.90811101e-01 -1.28398803e-01 -4.25101106e-02 2.09128976e+02] [ 1.28390545e-01 9.91719340e-01 -2.93573756e-03 1.32024034e+01] [ 4.25350441e-02 -2.54913491e-03 9.99091723e-01 7.57022515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98509989299995 meters 0.028738188424826748 Centerline is valid? [True, True] Translation: X:209.19, Y:13.21, Z:7.57 [[ 9.91358309e-01 -1.24201685e-01 -4.22213825e-02 2.09189175e+02] [ 1.24189860e-01 9.92254198e-01 -2.91308082e-03 1.32103997e+01] [ 4.22561535e-02 -2.35556069e-03 9.99104033e-01 7.57324075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04509989299996 meters 0.0234936558903056 Centerline is valid? [True, True] Translation: X:209.25, Y:13.22, Z:7.58 [[ 9.92011258e-01 -1.19080958e-01 -4.16339970e-02 2.09249366e+02] [ 1.19064977e-01 9.92882310e-01 -2.87214788e-03 1.32244164e+01] [ 4.16796772e-02 -2.10794787e-03 9.99128801e-01 7.57640010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10509989299996 meters 0.023716559936311016 Centerline is valid? [True, True] Translation: X:209.31, Y:13.23, Z:7.58 [[ 9.93181327e-01 -1.08860839e-01 -4.17153281e-02 2.09308778e+02] [ 1.08835803e-01 9.94055576e-01 -2.87751372e-03 1.32337340e+01] [ 4.17806030e-02 -1.68222834e-03 9.99125393e-01 7.57833233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16509989299996 meters 0.020856892018361748 Centerline is valid? [True, True] Translation: X:209.37, Y:13.25, Z:7.58 [[ 9.93984743e-01 -1.01348817e-01 -4.15060013e-02 2.09368443e+02] [ 1.01317487e-01 9.94850024e-01 -2.86312984e-03 1.32453928e+01] [ 4.15824212e-02 -1.35937636e-03 9.99134152e-01 7.58063745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22509989299996 meters 0.015773502943103736 Centerline is valid? [True, True] Translation: X:209.43, Y:13.26, Z:7.58 [[ 9.94932406e-01 -9.19273190e-02 -4.07292893e-02 2.09428229e+02] [ 9.18892658e-02 9.95765269e-01 -2.80935746e-03 1.32618424e+01] [ 4.08150684e-02 -9.47463717e-04 9.99166269e-01 7.58349676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28509989299997 meters 0.014937090202881613 Centerline is valid? [True, True] Translation: X:209.49, Y:13.27, Z:7.58 [[ 9.95380981e-01 -8.62858935e-02 -4.20885568e-02 2.09489334e+02] [ 8.62402352e-02 9.96270142e-01 -2.90267550e-03 1.32706840e+01] [ 4.21820324e-02 -7.40459047e-04 9.99109668e-01 7.58438269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34509989299997 meters 0.015093617677507101 Centerline is valid? [True, True] Translation: X:209.55, Y:13.28, Z:7.58 [[ 9.95482575e-01 -8.45748538e-02 -4.31455352e-02 2.09550412e+02] [ 8.45253417e-02 9.96416892e-01 -2.97384637e-03 1.32750515e+01] [ 4.32424527e-02 -6.86478859e-04 9.99064372e-01 7.58456740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40509989299997 meters 0.015023117479665327 Centerline is valid? [True, True] Translation: X:209.61, Y:13.28, Z:7.59 [[ 9.95447147e-01 -8.47498217e-02 -4.36170372e-02 2.09611341e+02] [ 8.46994883e-02 9.96402013e-01 -3.00408011e-03 1.32789354e+01] [ 4.37146990e-02 -7.03937754e-04 9.99043808e-01 7.58564031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46509989299997 meters 0.015068453547280057 Centerline is valid? [True, True] Translation: X:209.67, Y:13.28, Z:7.59 [[ 9.95391798e-01 -8.51980314e-02 -4.40052699e-02 2.09672574e+02] [ 8.51473049e-02 9.96363769e-01 -3.02924613e-03 1.32827647e+01] [ 4.41033424e-02 -7.31643383e-04 9.99026706e-01 7.58792574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52509989299998 meters 0.014978876801019824 Centerline is valid? [True, True] Translation: X:209.73, Y:13.29, Z:7.59 [[ 9.95369980e-01 -8.63692390e-02 -4.21776865e-02 2.09734029e+02] [ 8.63237509e-02 9.96262911e-01 -2.90199351e-03 1.32880456e+01] [ 4.22707077e-02 -7.52378880e-04 9.99105911e-01 7.59265374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58509989299995 meters 0.015712829448065888 Centerline is valid? [True, True] Translation: X:209.80, Y:13.29, Z:7.60 [[ 9.95207469e-01 -8.92687243e-02 -3.99147604e-02 2.09795950e+02] [ 8.92303756e-02 9.96007232e-01 -2.74481596e-03 1.32893343e+01] [ 4.00004162e-02 -8.29947718e-04 9.99199318e-01 7.59700507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64509989299995 meters 0.01627956728757374 Centerline is valid? [True, True] Translation: X:209.86, Y:13.29, Z:7.60 [[ 9.94942145e-01 -9.22488205e-02 -3.97527703e-02 2.09857903e+02] [ 9.22132731e-02 9.95735535e-01 -2.73079883e-03 1.32911338e+01] [ 3.98351589e-02 -9.48746213e-04 9.99205815e-01 7.59974913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70509989299995 meters 0.01788658480144419 Centerline is valid? [True, True] Translation: X:209.92, Y:13.29, Z:7.60 [[ 9.94413613e-01 -9.75770450e-02 -4.02527842e-02 2.09919198e+02] [ 9.75450719e-02 9.95227275e-01 -2.76227416e-03 1.32906524e+01] [ 4.03302033e-02 -1.17961771e-03 9.99185710e-01 7.60191943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76509989299996 meters 0.018385316215047267 Centerline is valid? [True, True] Translation: X:209.98, Y:13.29, Z:7.60 [[ 9.94062374e-01 -1.00682889e-01 -4.12668455e-02 2.09981280e+02] [ 1.00652026e-01 9.94917665e-01 -2.83018341e-03 1.32920452e+01] [ 4.13420646e-02 -1.34021278e-03 9.99144153e-01 7.60387863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82509989299996 meters 0.0197778315011183 Centerline is valid? [True, True] Translation: X:210.04, Y:13.29, Z:7.61 [[ 9.93626772e-01 -1.04321686e-01 -4.26945432e-02 2.10042855e+02] [ 1.04292134e-01 9.94542405e-01 -2.92506942e-03 1.32912695e+01] [ 4.27666819e-02 -1.54627773e-03 9.99083890e-01 7.60555988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88509989299996 meters 0.020680440048688832 Centerline is valid? [True, True] Translation: X:210.10, Y:13.29, Z:7.61 [[ 9.93514595e-01 -1.05113830e-01 -4.33570224e-02 2.10104754e+02] [ 1.05084185e-01 9.94458899e-01 -2.96864212e-03 1.32936329e+01] [ 4.34288221e-02 -1.60674810e-03 9.99055232e-01 7.60830256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94509989299996 meters 0.02157104136855378 Centerline is valid? [True, True] Translation: X:210.17, Y:13.30, Z:7.61 [[ 9.93635660e-01 -1.03508421e-01 -4.44317642e-02 2.10165465e+02] [ 1.03475827e-01 9.94627326e-01 -3.03910353e-03 1.32958312e+01] [ 4.45076197e-02 -1.57785190e-03 9.99007799e-01 7.61071603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00509989299997 meters 0.019649649382226502 Centerline is valid? [True, True] Translation: X:210.23, Y:13.30, Z:7.61 [[ 9.94064045e-01 -9.86551818e-02 -4.58675171e-02 2.10226320e+02] [ 9.86153941e-02 9.95120684e-01 -3.13499459e-03 1.33034041e+01] [ 4.59529984e-02 -1.40685787e-03 9.98942612e-01 7.61346957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06509989299997 meters 0.017047650821778382 Centerline is valid? [True, True] Translation: X:210.29, Y:13.31, Z:7.62 [[ 9.94405599e-01 -9.47057302e-02 -4.67795728e-02 2.10287420e+02] [ 9.46600603e-02 9.95504526e-01 -3.19560587e-03 1.33138902e+01] [ 4.68719187e-02 -1.25042881e-03 9.98900125e-01 7.61763218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12509989299997 meters 0.01628068620115113 Centerline is valid? [True, True] Translation: X:210.35, Y:13.32, Z:7.62 [[ 9.94760284e-01 -8.99490172e-02 -4.85916762e-02 2.10348048e+02] [ 8.98941942e-02 9.95945798e-01 -3.31685431e-03 1.33202279e+01] [ 4.86930235e-02 -1.06863465e-03 9.98813220e-01 7.61991521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18509989299997 meters 0.01606205523013908 Centerline is valid? [True, True] Translation: X:210.41, Y:13.32, Z:7.62 [[ 9.94802935e-01 -8.87949325e-02 -4.98254912e-02 2.10408409e+02] [ 8.87359129e-02 9.96049386e-01 -3.39969303e-03 1.33243002e+01] [ 4.99305255e-02 -1.03928585e-03 9.98752153e-01 7.62199695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24509989299997 meters 0.015587924847963933 Centerline is valid? [True, True] Translation: X:210.47, Y:13.33, Z:7.63 [[ 9.94761256e-01 -8.89336060e-02 -5.04069148e-02 2.10467664e+02] [ 8.88733542e-02 9.96036994e-01 -3.43984952e-03 1.33288496e+01] [ 5.05130701e-02 -1.05800256e-03 9.98722840e-01 7.62690197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30509989299995 meters 0.01561697843600037 Centerline is valid? [True, True] Translation: X:210.53, Y:13.33, Z:7.63 [[ 9.94727441e-01 -9.00709540e-02 -4.90361254e-02 2.10526841e+02] [ 9.00152282e-02 9.95934761e-01 -3.34807251e-03 1.33320944e+01] [ 4.91383459e-02 -1.08357842e-03 9.98791394e-01 7.63136130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36509989299995 meters 0.01603266342952474 Centerline is valid? [True, True] Translation: X:210.59, Y:13.33, Z:7.63 [[ 9.94634069e-01 -9.13639878e-02 -4.85354584e-02 2.10587523e+02] [ 9.13108653e-02 9.95816918e-01 -3.31525093e-03 1.33345758e+01] [ 4.86353252e-02 -1.13435319e-03 9.98815958e-01 7.63417667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42509989299995 meters 0.01709565898417092 Centerline is valid? [True, True] Translation: X:210.65, Y:13.34, Z:7.64 [[ 9.94274753e-01 -9.53969335e-02 -4.81366779e-02 2.10647777e+02] [ 9.53493992e-02 9.95438437e-01 -3.28801192e-03 1.33365310e+01] [ 4.82307656e-02 -1.32061607e-03 9.98835346e-01 7.63739548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48509989299995 meters 0.01814170223915766 Centerline is valid? [True, True] Translation: X:210.71, Y:13.34, Z:7.64 [[ 9.93904455e-01 -9.93090737e-02 -4.78711027e-02 2.10708934e+02] [ 9.92666104e-02 9.95055501e-01 -3.26948467e-03 1.33391095e+01] [ 4.79590935e-02 -1.50244672e-03 9.98848171e-01 7.64063873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54509989299996 meters 0.021197848889710432 Centerline is valid? [True, True] Translation: X:210.77, Y:13.34, Z:7.64 [[ 9.93378875e-01 -1.04704447e-01 -4.72798975e-02 2.10769257e+02] [ 1.04669213e-01 9.94501856e-01 -3.22721431e-03 1.33378580e+01] [ 4.73578495e-02 -1.74290312e-03 9.98876467e-01 7.64279784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60509989299996 meters 0.02204393397761739 Centerline is valid? [True, True] Translation: X:210.83, Y:13.34, Z:7.65 [[ 9.92571603e-01 -1.11795121e-01 -4.79944138e-02 2.10830052e+02] [ 1.11767181e-01 9.93729027e-01 -3.27385930e-03 1.33407490e+01] [ 4.80594436e-02 -2.11466056e-03 9.98842239e-01 7.64557872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66509989299996 meters 0.029244783689635314 Centerline is valid? [True, True] Translation: X:210.89, Y:13.34, Z:7.65 [[ 9.91333124e-01 -1.21897301e-01 -4.89865890e-02 2.10889971e+02] [ 1.21880496e-01 9.92539159e-01 -3.34113765e-03 1.33351209e+01] [ 4.90283835e-02 -2.65832936e-03 9.98793848e-01 7.64650615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72509989299996 meters 0.030329808548033608 Centerline is valid? [True, True] Translation: X:210.95, Y:13.34, Z:7.65 [[ 9.90613326e-01 -1.27342965e-01 -4.96891149e-02 2.10950675e+02] [ 1.27332544e-01 9.91854296e-01 -3.38810300e-03 1.33385563e+01] [ 4.97158132e-02 -2.97074143e-03 9.98758986e-01 7.64825732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78509989299997 meters 0.029489680481655074 Centerline is valid? [True, True] Translation: X:211.01, Y:13.35, Z:7.65 [[ 9.90043793e-01 -1.31349221e-01 -5.06030650e-02 2.11010636e+02] [ 1.31343635e-01 9.91330896e-01 -3.45019518e-03 1.33457503e+01] [ 5.06175622e-02 -3.23054619e-03 9.98712885e-01 7.64992434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84509989299997 meters 0.029714860415226384 Centerline is valid? [True, True] Translation: X:211.07, Y:13.35, Z:7.65 [[ 9.90144667e-01 -1.31029138e-01 -4.94459631e-02 2.11072923e+02] [ 1.31023473e-01 9.91373539e-01 -3.36989770e-03 1.33524681e+01] [ 4.94609742e-02 -3.14189555e-03 9.98771115e-01 7.65243618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90509989299997 meters 0.03056550875592185 Centerline is valid? [True, True] Translation: X:211.13, Y:13.36, Z:7.65 [[ 9.90339706e-01 -1.29806965e-01 -4.87587746e-02 2.11134992e+02] [ 1.29800183e-01 9.91534617e-01 -3.31888957e-03 1.33581147e+01] [ 4.87768279e-02 -3.04206974e-03 9.98805070e-01 7.65465977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96509989299997 meters 0.028211643939848274 Centerline is valid? [True, True] Translation: X:211.20, Y:13.37, Z:7.66 [[ 9.90654258e-01 -1.27454014e-01 -4.85758756e-02 2.11195460e+02] [ 1.27444614e-01 9.91840188e-01 -3.30336716e-03 1.33698728e+01] [ 4.86005330e-02 -2.91823896e-03 9.98814033e-01 7.65734313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02509989299998 meters 0.027436817537449684 Centerline is valid? [True, True] Translation: X:211.26, Y:13.38, Z:7.66 [[ 9.90881432e-01 -1.25822298e-01 -4.81947849e-02 2.11256554e+02] [ 1.25811216e-01 9.92048794e-01 -3.27548803e-03 1.33791850e+01] [ 4.82237076e-02 -2.81782420e-03 9.98832586e-01 7.66086103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08509989299995 meters 0.024423545448406615 Centerline is valid? [True, True] Translation: X:211.32, Y:13.39, Z:7.66 [[ 9.91296900e-01 -1.22454241e-01 -4.83261388e-02 2.11316708e+02] [ 1.22439219e-01 9.92470587e-01 -3.28215252e-03 1.33941497e+01] [ 4.83641848e-02 -2.66342709e-03 9.98826217e-01 7.66455009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14509989299995 meters 0.025098861369111915 Centerline is valid? [True, True] Translation: X:211.38, Y:13.40, Z:7.67 [[ 9.92012717e-01 -1.16470137e-01 -4.84301211e-02 2.11375263e+02] [ 1.16447962e-01 9.93191349e-01 -3.28872156e-03 1.34045496e+01] [ 4.84834152e-02 -2.37713532e-03 9.98821159e-01 7.66664250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20509989299995 meters 0.02288526558321374 Centerline is valid? [True, True] Translation: X:211.44, Y:13.42, Z:7.67 [[ 9.92694863e-01 -1.10548773e-01 -4.83309243e-02 2.11435162e+02] [ 1.10519654e-01 9.93868518e-01 -3.28263309e-03 1.34171217e+01] [ 4.83974752e-02 -2.08286403e-03 9.98825984e-01 7.66919338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26509989299996 meters 0.01830850499972346 Centerline is valid? [True, True] Translation: X:211.50, Y:13.44, Z:7.67 [[ 9.93881543e-01 -9.97509833e-02 -4.74259447e-02 2.11495003e+02] [ 9.97106704e-02 9.95011260e-01 -3.22095215e-03 1.34358712e+01] [ 4.75106421e-02 -1.52762785e-03 9.98869564e-01 7.67276472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32509989299996 meters 0.016351506948453623 Centerline is valid? [True, True] Translation: X:211.55, Y:13.45, Z:7.67 [[ 9.94614377e-01 -9.24195156e-02 -4.69134776e-02 2.11554815e+02] [ 9.23719402e-02 9.95719477e-01 -3.18569197e-03 1.34478543e+01] [ 4.70070835e-02 -1.16495391e-03 9.98893877e-01 7.67497441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38509989299996 meters 0.01458448471751561 Centerline is valid? [True, True] Translation: X:211.61, Y:13.46, Z:7.68 [[ 9.95412669e-01 -8.32952348e-02 -4.70693267e-02 2.11614396e+02] [ 8.32371438e-02 9.96524642e-01 -3.19627501e-03 1.34626664e+01] [ 4.71719784e-02 -7.36303674e-04 9.98886511e-01 7.67725904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44509989299996 meters 0.014197804435265172 Centerline is valid? [True, True] Translation: X:211.68, Y:13.47, Z:7.68 [[ 9.95647703e-01 -8.00995511e-02 -4.76415054e-02 2.11676249e+02] [ 8.00364180e-02 9.96786693e-01 -3.23438204e-03 1.34709655e+01] [ 4.77474911e-02 -5.92750396e-04 9.98859262e-01 7.67854573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50509989299997 meters 0.01413053848679382 Centerline is valid? [True, True] Translation: X:211.74, Y:13.48, Z:7.68 [[ 9.95684700e-01 -7.99090831e-02 -4.71859739e-02 2.11738206e+02] [ 7.98470972e-02 9.96801987e-01 -3.20009625e-03 1.34762677e+01] [ 4.72907893e-02 -5.81376171e-04 9.98880996e-01 7.68045785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56509989299997 meters 0.015065300852284472 Centerline is valid? [True, True] Translation: X:211.80, Y:13.47, Z:7.68 [[ 9.95377845e-01 -8.42119152e-02 -4.61659836e-02 2.11800648e+02] [ 8.41573546e-02 9.96447569e-01 -3.12766781e-03 1.34747825e+01] [ 4.62653690e-02 -7.71995807e-04 9.98928886e-01 7.68220372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62509989299997 meters 0.015346228314422316 Centerline is valid? [True, True] Translation: X:211.86, Y:13.48, Z:7.69 [[ 9.95091339e-01 -8.82065571e-02 -4.48645761e-02 2.11863089e+02] [ 8.81592255e-02 9.96101768e-01 -3.03637558e-03 1.34764245e+01] [ 4.49575118e-02 -9.33755243e-04 9.98988464e-01 7.68626990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68509989299997 meters 0.018247055990160348 Centerline is valid? [True, True] Translation: X:211.92, Y:13.47, Z:7.69 [[ 9.94768443e-01 -9.21125496e-02 -4.41703763e-02 2.11924551e+02] [ 9.20706535e-02 9.95747999e-01 -2.98630596e-03 1.34732639e+01] [ 4.42576401e-02 -1.09611248e-03 9.99019549e-01 7.68847700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74509989299997 meters 0.017410447268893584 Centerline is valid? [True, True] Translation: X:211.99, Y:13.48, Z:7.69 [[ 9.94446587e-01 -9.63702568e-02 -4.22937353e-02 2.11986853e+02] [ 9.63357876e-02 9.95344791e-01 -2.85711248e-03 1.34768445e+01] [ 4.23721898e-02 -1.23315454e-03 9.99101134e-01 7.69244652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80509989299995 meters 0.01907310769866315 Centerline is valid? [True, True] Translation: X:212.05, Y:13.47, Z:7.70 [[ 9.94244514e-01 -9.96950164e-02 -3.92269127e-02 2.12048477e+02] [ 9.96680557e-02 9.95017222e-01 -2.64717948e-03 1.34744434e+01] [ 3.92953642e-02 -1.27772644e-03 9.99226822e-01 7.69636330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86509989299995 meters 0.01957036656207247 Centerline is valid? [True, True] Translation: X:212.11, Y:13.47, Z:7.70 [[ 9.94073762e-01 -1.01184327e-01 -3.97377370e-02 2.12111140e+02] [ 1.01158029e-01 9.94866768e-01 -2.67708808e-03 1.34747598e+01] [ 3.98046334e-02 -1.35856814e-03 9.99206558e-01 7.69798855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92509989299995 meters 0.019178061718456436 Centerline is valid? [True, True] Translation: X:212.17, Y:13.48, Z:7.70 [[ 9.94047616e-01 -1.01783994e-01 -3.88504323e-02 2.12173155e+02] [ 1.01759422e-01 9.94805601e-01 -2.61457561e-03 1.34768181e+01] [ 3.89147496e-02 -1.35438487e-03 9.99241616e-01 7.70107535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98509989299995 meters 0.019492061803872304 Centerline is valid? [True, True] Translation: X:212.24, Y:13.48, Z:7.70 [[ 9.94018251e-01 -1.01972109e-01 -3.91076205e-02 2.12235091e+02] [ 1.01947468e-01 9.94786310e-01 -2.62900552e-03 1.34790588e+01] [ 3.91718107e-02 -1.37364341e-03 9.99231546e-01 7.70285970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04509989299996 meters 0.020123341586030387 Centerline is valid? [True, True] Translation: X:212.30, Y:13.48, Z:7.70 [[ 9.93959344e-01 -1.01432043e-01 -4.19089792e-02 2.12296268e+02] [ 1.01403401e-01 9.94841410e-01 -2.81417925e-03 1.34791254e+01] [ 4.19782359e-02 -1.45253325e-03 9.99117469e-01 7.70205675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10509989299996 meters 0.02027858813906833 Centerline is valid? [True, True] Translation: X:212.36, Y:13.48, Z:7.70 [[ 9.94082613e-01 -9.99425169e-02 -4.25588012e-02 2.12357774e+02] [ 9.99117149e-02 9.94992209e-01 -2.85550685e-03 1.34817039e+01] [ 4.26310622e-02 -1.41351311e-03 9.99089883e-01 7.70312880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16509989299996 meters 0.017850688826385932 Centerline is valid? [True, True] Translation: X:212.42, Y:13.49, Z:7.70 [[ 9.94467573e-01 -9.50497219e-02 -4.47190869e-02 2.12419396e+02] [ 9.50108836e-02 9.95471719e-01 -2.99798872e-03 1.34894987e+01] [ 4.48015443e-02 -1.26739739e-03 9.98995103e-01 7.70479425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22509989299996 meters 0.016189054159937648 Centerline is valid? [True, True] Translation: X:212.48, Y:13.50, Z:7.71 [[ 9.95199904e-01 -8.69097459e-02 -4.49871957e-02 2.12478517e+02] [ 8.68622114e-02 9.96215776e-01 -3.01408932e-03 1.34965841e+01] [ 4.50789078e-02 -9.08065906e-04 9.98983017e-01 7.70675173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28509989299997 meters 0.013917516904841255 Centerline is valid? [True, True] Translation: X:212.54, Y:13.51, Z:7.71 [[ 9.95987517e-01 -7.83914460e-02 -4.31699750e-02 2.12539349e+02] [ 7.83396619e-02 9.96922530e-01 -2.89259559e-03 1.35071605e+01] [ 4.32638754e-02 -5.00932145e-04 9.99063555e-01 7.71171261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34509989299997 meters 0.013303405223071062 Centerline is valid? [True, True] Translation: X:212.60, Y:13.51, Z:7.71 [[ 9.96518604e-01 -7.23509110e-02 -4.14248513e-02 2.12600848e+02] [ 7.22981122e-02 9.97379212e-01 -2.77323448e-03 1.35123437e+01] [ 4.15169316e-02 -2.31358792e-04 9.99137774e-01 7.71491583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40509989299997 meters 0.013183484173341567 Centerline is valid? [True, True] Translation: X:212.66, Y:13.52, Z:7.72 [[ 9.96630003e-01 -7.13951448e-02 -4.03902232e-02 2.12661682e+02] [ 7.13442491e-02 9.97448093e-01 -2.70193566e-03 1.35151323e+01] [ 4.04800562e-02 -1.88779995e-04 9.99180329e-01 7.71730648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46509989299997 meters 0.013302626775955333 Centerline is valid? [True, True] Translation: X:212.72, Y:13.52, Z:7.72 [[ 9.96540762e-01 -7.29893482e-02 -3.97374589e-02 2.12722750e+02] [ 7.29414059e-02 9.97332689e-01 -2.65690659e-03 1.35158734e+01] [ 3.98253926e-02 -2.50790402e-04 9.99206623e-01 7.71951203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52509989299995 meters 0.013915217791890576 Centerline is valid? [True, True] Translation: X:212.78, Y:13.51, Z:7.72 [[ 9.96176181e-01 -7.74084003e-02 -4.05087206e-02 2.12784623e+02] [ 7.73622889e-02 9.96999372e-01 -2.70699797e-03 1.35146914e+01] [ 4.05967134e-02 -4.37200444e-04 9.99175518e-01 7.72079161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58509989299995 meters 0.014836089068256057 Centerline is valid? [True, True] Translation: X:212.85, Y:13.51, Z:7.72 [[ 9.95656370e-01 -8.37709932e-02 -4.06302134e-02 2.12846500e+02] [ 8.37299818e-02 9.96484786e-01 -2.71302068e-03 1.35136481e+01] [ 4.07146620e-02 -7.00730703e-04 9.99170569e-01 7.72277000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64509989299995 meters 0.017411380547802974 Centerline is valid? [True, True] Translation: X:212.91, Y:13.51, Z:7.72 [[ 9.94760027e-01 -9.36625363e-02 -4.09855774e-02 2.12908381e+02] [ 9.36292725e-02 9.95603375e-01 -2.73461165e-03 1.35087470e+01] [ 4.10615098e-02 -1.11716743e-03 9.99155996e-01 7.72348988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70509989299995 meters 0.019601841709789018 Centerline is valid? [True, True] Translation: X:212.97, Y:13.51, Z:7.73 [[ 9.93916162e-01 -1.02347629e-01 -4.06893820e-02 2.12968705e+02] [ 1.02322158e-01 9.94747613e-01 -2.71354109e-03 1.35067179e+01] [ 4.07533901e-02 -1.46639305e-03 9.99168159e-01 7.72574271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76509989299996 meters 0.021794890726764878 Centerline is valid? [True, True] Translation: X:213.03, Y:13.50, Z:7.73 [[ 9.93289368e-01 -1.08631043e-01 -3.96929160e-02 2.13030127e+02] [ 1.08611818e-01 9.94080715e-01 -2.64682696e-03 1.35043730e+01] [ 3.97454899e-02 -1.68205470e-03 9.99208420e-01 7.72807745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82509989299996 meters 0.02270369357196796 Centerline is valid? [True, True] Translation: X:213.09, Y:13.50, Z:7.73 [[ 9.92813349e-01 -1.12655696e-01 -4.03775609e-02 2.13090854e+02] [ 1.12639160e-01 9.93632314e-01 -2.69153818e-03 1.35038560e+01] [ 4.04236664e-02 -1.87589952e-03 9.99180869e-01 7.72978958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88509989299996 meters 0.026175126868209976 Centerline is valid? [True, True] Translation: X:213.15, Y:13.50, Z:7.73 [[ 9.92692648e-01 -1.13898023e-01 -3.98565863e-02 2.13152558e+02] [ 1.13882942e-01 9.93490625e-01 -2.65599707e-03 1.35020278e+01] [ 3.98996576e-02 -1.90239653e-03 9.99201881e-01 7.73212303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94509989299996 meters 0.023973104284305737 Centerline is valid? [True, True] Translation: X:213.21, Y:13.51, Z:7.74 [[ 9.92707561e-01 -1.14045893e-01 -3.90542228e-02 2.13214408e+02] [ 1.14031609e-01 9.93473719e-01 -2.60041905e-03 1.35082093e+01] [ 3.90959111e-02 -1.87196022e-03 9.99233709e-01 7.73507802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00509989299997 meters 0.023079608935789343 Centerline is valid? [True, True] Translation: X:213.28, Y:13.51, Z:7.74 [[ 9.92822771e-01 -1.12857962e-01 -3.95730513e-02 2.13276177e+02] [ 1.12842470e-01 9.93609405e-01 -2.63206183e-03 1.35127604e+01] [ 3.96172051e-02 -1.85234994e-03 9.99213213e-01 7.73765020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06509989299997 meters 0.024600208111338798 Centerline is valid? [True, True] Translation: X:213.34, Y:13.52, Z:7.74 [[ 9.93250920e-01 -1.08534178e-01 -4.09016192e-02 2.13335521e+02] [ 1.08514084e-01 9.94091197e-01 -2.71768416e-03 1.35154093e+01] [ 4.09549012e-02 -1.73905945e-03 9.99159483e-01 7.73910576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12509989299997 meters 0.019371358565023592 Centerline is valid? [True, True] Translation: X:213.40, Y:13.53, Z:7.74 [[ 9.93837620e-01 -1.02347381e-01 -4.25652392e-02 2.13396042e+02] [ 1.02319929e-01 9.94747521e-01 -2.82881872e-03 1.35295214e+01] [ 4.26311883e-02 -1.54388578e-03 9.99089685e-01 7.74081787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18509989299997 meters 0.01788299767110988 Centerline is valid? [True, True] Translation: X:213.46, Y:13.54, Z:7.74 [[ 9.94460946e-01 -9.54616336e-02 -4.39829905e-02 2.13456315e+02] [ 9.54256306e-02 9.95432273e-01 -2.92222064e-03 1.35390096e+01] [ 4.40610481e-02 -1.29107030e-03 9.99028006e-01 7.74210912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24509989299997 meters 0.016206221649899374 Centerline is valid? [True, True] Translation: X:213.52, Y:13.55, Z:7.74 [[ 9.94862787e-01 -9.09654863e-02 -4.44220116e-02 2.13516833e+02] [ 9.09243244e-02 9.95853434e-01 -2.95045363e-03 1.35483571e+01] [ 4.45062022e-02 -1.10374487e-03 9.99008498e-01 7.74444226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30509989299995 meters 0.015183795681295216 Centerline is valid? [True, True] Translation: X:213.58, Y:13.56, Z:7.75 [[ 9.95468558e-01 -8.49261499e-02 -4.27773146e-02 2.13577677e+02] [ 8.48824704e-02 9.96386924e-01 -2.83970103e-03 1.35577843e+01] [ 4.28639218e-02 -8.04211053e-04 9.99080596e-01 7.74787113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36509989299995 meters 0.01438006080199526 Centerline is valid? [True, True] Translation: X:213.64, Y:13.56, Z:7.75 [[ 9.95756041e-01 -8.17262926e-02 -4.23169100e-02 2.13638796e+02] [ 8.16807245e-02 9.96654592e-01 -2.80762594e-03 1.35648925e+01] [ 4.24047996e-02 -6.60765376e-04 9.99100293e-01 7.75115004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42509989299995 meters 0.01387188755080041 Centerline is valid? [True, True] Translation: X:213.70, Y:13.57, Z:7.75 [[ 9.95966074e-01 -7.91910239e-02 -4.21943306e-02 2.13701045e+02] [ 7.91435180e-02 9.96859306e-01 -2.79777521e-03 1.35711206e+01] [ 4.22833698e-02 -5.52918569e-04 9.99105505e-01 7.75399368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48509989299995 meters 0.013747448717829043 Centerline is valid? [True, True] Translation: X:213.76, Y:13.58, Z:7.76 [[ 9.96116377e-01 -7.75234482e-02 -4.17406128e-02 2.13761736e+02] [ 7.74756204e-02 9.96990414e-01 -2.76470385e-03 1.35756835e+01] [ 4.18293202e-02 -4.79913089e-04 9.99124656e-01 7.75589588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54509989299996 meters 0.01393930235196542 Centerline is valid? [True, True] Translation: X:213.82, Y:13.58, Z:7.76 [[ 9.95974523e-01 -7.89335254e-02 -4.24764488e-02 2.13823376e+02] [ 7.88853741e-02 9.96879729e-01 -2.81117162e-03 1.35778398e+01] [ 4.25658065e-02 -5.50915239e-04 9.99093513e-01 7.75707792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60509989299996 meters 0.01454748866957097 Centerline is valid? [True, True] Translation: X:213.88, Y:13.58, Z:7.76 [[ 9.95665600e-01 -8.22451881e-02 -4.34251346e-02 2.13884988e+02] [ 8.21980775e-02 9.96611873e-01 -2.87236581e-03 1.35786629e+01] [ 4.35142430e-02 -7.09546756e-04 9.99052555e-01 7.75810791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66509989299996 meters 0.01491484602297799 Centerline is valid? [True, True] Translation: X:213.95, Y:13.58, Z:7.76 [[ 9.95535418e-01 -8.38665082e-02 -4.33086564e-02 2.13946826e+02] [ 8.38212594e-02 9.96476693e-01 -2.86289563e-03 1.35818614e+01] [ 4.33961678e-02 -7.80072125e-04 9.99057638e-01 7.76085830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72509989299996 meters 0.014943323642630544 Centerline is valid? [True, True] Translation: X:214.01, Y:13.59, Z:7.76 [[ 9.95645949e-01 -8.31762350e-02 -4.20815637e-02 2.14008234e+02] [ 8.31330187e-02 9.96534585e-01 -2.77892484e-03 1.35850014e+01] [ 4.21668741e-02 -7.31542163e-04 9.99110314e-01 7.76412968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78509989299997 meters 0.014727437545055403 Centerline is valid? [True, True] Translation: X:214.07, Y:13.59, Z:7.77 [[ 9.95771722e-01 -8.22283595e-02 -4.09533327e-02 2.14070193e+02] [ 8.21867184e-02 9.96613286e-01 -2.70223379e-03 1.35885193e+01] [ 4.10368357e-02 -6.75012031e-04 9.99157406e-01 7.76726920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84509989299997 meters 0.014586589364002124 Centerline is valid? [True, True] Translation: X:214.13, Y:13.59, Z:7.77 [[ 9.95834312e-01 -8.15532513e-02 -4.07809948e-02 2.14132149e+02] [ 8.15115117e-02 9.96668776e-01 -2.68799000e-03 1.35910994e+01] [ 4.08643584e-02 -6.47327860e-04 9.99164494e-01 7.76983132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90509989299997 meters 0.01447307623692175 Centerline is valid? [True, True] Translation: X:214.19, Y:13.59, Z:7.77 [[ 9.95719655e-01 -8.26105368e-02 -4.14471715e-02 2.14194435e+02] [ 8.25684615e-02 9.96581659e-01 -2.72891624e-03 1.35929852e+01] [ 4.15309281e-02 -7.04993647e-04 9.99136970e-01 7.77145920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96509989299997 meters 0.014916585774083597 Centerline is valid? [True, True] Translation: X:214.26, Y:13.59, Z:7.77 [[ 9.95533981e-01 -8.41797719e-02 -4.27300779e-02 2.14256956e+02] [ 8.41366315e-02 9.96450265e-01 -2.81020557e-03 1.35933962e+01] [ 4.28149599e-02 -7.97509675e-04 9.99082701e-01 7.77236151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02509989299995 meters 0.01576136282175083 Centerline is valid? [True, True] Translation: X:214.32, Y:13.59, Z:7.77 [[ 9.95107880e-01 -8.81962742e-02 -4.45165625e-02 2.14318475e+02] [ 8.81536009e-02 9.96102600e-01 -2.92464238e-03 1.35920326e+01] [ 4.46010062e-02 -1.01396060e-03 9.99004365e-01 7.77365033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08509989299995 meters 0.017482785416449643 Centerline is valid? [True, True] Translation: X:214.38, Y:13.59, Z:7.77 [[ 9.94829244e-01 -9.08700543e-02 -4.53586620e-02 2.14378676e+02] [ 9.08285954e-02 9.95862086e-01 -2.97846008e-03 1.35911679e+01] [ 4.54416246e-02 -1.15680437e-03 9.98966326e-01 7.77476385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14509989299995 meters 0.01707128222620672 Centerline is valid? [True, True] Translation: X:214.44, Y:13.60, Z:7.78 [[ 9.94637558e-01 -9.24911639e-02 -4.62764789e-02 2.14440250e+02] [ 9.24498087e-02 9.95712712e-01 -3.03773402e-03 1.35954594e+01] [ 4.63590419e-02 -1.25680728e-03 9.98924051e-01 7.77683338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20509989299995 meters 0.0177426293689526 Centerline is valid? [True, True] Translation: X:214.50, Y:13.60, Z:7.78 [[ 9.94633768e-01 -9.25380754e-02 -4.62641640e-02 2.14500028e+02] [ 9.24968779e-02 9.95708349e-01 -3.03509406e-03 1.35989464e+01] [ 4.63464761e-02 -1.26048369e-03 9.98924629e-01 7.77864668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26509989299996 meters 0.016829442467796284 Centerline is valid? [True, True] Translation: X:214.56, Y:13.61, Z:7.78 [[ 9.94778133e-01 -9.17959186e-02 -4.46091464e-02 2.14560719e+02] [ 9.17569716e-02 9.95777137e-01 -2.92424797e-03 1.36065430e+01] [ 4.46892021e-02 -1.18422224e-03 9.99000237e-01 7.78317990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32509989299996 meters 0.017830284409386797 Centerline is valid? [True, True] Translation: X:214.62, Y:13.61, Z:7.79 [[ 9.94836577e-01 -9.13220303e-02 -4.42772231e-02 2.14621417e+02] [ 9.12832883e-02 9.95820742e-01 -2.90031543e-03 1.36096277e+01] [ 4.43570399e-02 -1.15643066e-03 9.99015073e-01 7.78528653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38509989299996 meters 0.016288324572293462 Centerline is valid? [True, True] Translation: X:214.68, Y:13.62, Z:7.79 [[ 9.95029620e-01 -8.94721256e-02 -4.37126199e-02 2.14682627e+02] [ 8.94327907e-02 9.95988757e-01 -2.85856625e-03 1.36192807e+01] [ 4.37930400e-02 -1.06498350e-03 9.99040057e-01 7.78851744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44509989299996 meters 0.015859946294022723 Centerline is valid? [True, True] Translation: X:214.74, Y:13.63, Z:7.79 [[ 9.95173717e-01 -8.79891073e-02 -4.34418109e-02 2.14743343e+02] [ 8.79489345e-02 9.96120939e-01 -2.83883489e-03 1.36263014e+01] [ 4.35230841e-02 -9.95527119e-04 9.99051926e-01 7.79050060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50509989299997 meters 0.015409573868618402 Centerline is valid? [True, True] Translation: X:214.81, Y:13.63, Z:7.79 [[ 9.95165886e-01 -8.79876138e-02 -4.36238279e-02 2.14805551e+02] [ 8.79471818e-02 9.96121065e-01 -2.84891096e-03 1.36331334e+01] [ 4.37052828e-02 -1.00145372e-03 9.99043966e-01 7.79293124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56509989299997 meters 0.016038497274217148 Centerline is valid? [True, True] Translation: X:214.87, Y:13.64, Z:7.80 [[ 9.95071845e-01 -8.90733546e-02 -4.35655941e-02 2.14867159e+02] [ 8.90342098e-02 9.96024514e-01 -2.84190542e-03 1.36368980e+01] [ 4.36455378e-02 -1.05092817e-03 9.99046527e-01 7.79508583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62509989299997 meters 0.016389007511434836 Centerline is valid? [True, True] Translation: X:214.93, Y:13.64, Z:7.80 [[ 9.94859621e-01 -9.10875528e-02 -4.42424267e-02 2.14929008e+02] [ 9.10493160e-02 9.95842212e-01 -2.88280123e-03 1.36419279e+01] [ 4.43210634e-02 -1.16026015e-03 9.99016665e-01 7.79724705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68509989299997 meters 0.01721857658454341 Centerline is valid? [True, True] Translation: X:214.99, Y:13.65, Z:7.80 [[ 9.94788015e-01 -9.17034604e-02 -4.45789363e-02 2.14990095e+02] [ 9.16653975e-02 9.95785637e-01 -2.90159498e-03 1.36456729e+01] [ 4.46571508e-02 -1.19987401e-03 9.99001651e-01 7.79891381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74509989299997 meters 0.017809928117819576 Centerline is valid? [True, True] Translation: X:215.05, Y:13.65, Z:7.80 [[ 9.94850339e-01 -9.15455232e-02 -4.34996660e-02 2.15051073e+02] [ 9.15092297e-02 9.95800210e-01 -2.82905726e-03 1.36506477e+01] [ 4.35759641e-02 -1.16613236e-03 9.99049436e-01 7.80138362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80509989299995 meters 0.016853471284397507 Centerline is valid? [True, True] Translation: X:215.11, Y:13.66, Z:7.81 [[ 9.95093952e-01 -9.00894850e-02 -4.08890213e-02 2.15112303e+02] [ 9.00562746e-02 9.95933134e-01 -2.65716611e-03 1.36603711e+01] [ 4.09621138e-02 -1.03818301e-03 9.99160161e-01 7.80688442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86509989299995 meters 0.01595801393827237 Centerline is valid? [True, True] Translation: X:215.17, Y:13.67, Z:7.81 [[ 9.95263107e-01 -8.81600975e-02 -4.09773752e-02 2.15174323e+02] [ 8.81252298e-02 9.96105852e-01 -2.65997922e-03 1.36695918e+01] [ 4.10523073e-02 -9.63761428e-04 9.99156534e-01 7.81000861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92509989299995 meters 0.016070829745511415 Centerline is valid? [True, True] Translation: X:215.24, Y:13.68, Z:7.81 [[ 9.95344289e-01 -8.74647677e-02 -4.04927303e-02 2.15236661e+02] [ 8.74302653e-02 9.96167182e-01 -2.62555699e-03 1.36762324e+01] [ 4.05671727e-02 -9.26956999e-04 9.99176383e-01 7.81243885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98509989299995 meters 0.015595745989301638 Centerline is valid? [True, True] Translation: X:215.30, Y:13.68, Z:7.82 [[ 9.95374684e-01 -8.74142312e-02 -3.98496123e-02 2.15298129e+02] [ 8.73809138e-02 9.96171631e-01 -2.58039848e-03 1.36826698e+01] [ 3.99226168e-02 -9.13632207e-04 9.99202357e-01 7.81506487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04509989299996 meters 0.01613317351676392 Centerline is valid? [True, True] Translation: X:215.36, Y:13.69, Z:7.82 [[ 9.95153015e-01 -8.94701032e-02 -4.08114744e-02 2.15360334e+02] [ 8.94370098e-02 9.95988983e-01 -2.63962788e-03 1.36857726e+01] [ 4.08839467e-02 -1.02322259e-03 9.99163378e-01 7.81534155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10509989299996 meters 0.01727751491998286 Centerline is valid? [True, True] Translation: X:215.42, Y:13.69, Z:7.82 [[ 9.94843018e-01 -9.26827405e-02 -4.11980563e-02 2.15422305e+02] [ 9.26518903e-02 9.95695005e-01 -2.66167090e-03 1.36860091e+01] [ 4.12673898e-02 -1.16913309e-03 9.99147454e-01 7.81609195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16509989299996 meters 0.018195644186694206 Centerline is valid? [True, True] Translation: X:215.48, Y:13.69, Z:7.82 [[ 9.94438809e-01 -9.69834672e-02 -4.10568251e-02 2.15483772e+02] [ 9.69565755e-02 9.95285084e-01 -2.65039592e-03 1.36863647e+01] [ 4.11202901e-02 -1.34507260e-03 9.99153298e-01 7.81754305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22509989299996 meters 0.01971067564732901 Centerline is valid? [True, True] Translation: X:215.54, Y:13.69, Z:7.82 [[ 9.94310740e-01 -9.80348020e-02 -4.16572954e-02 2.15544744e+02] [ 9.80081067e-02 9.95181987e-01 -2.68754718e-03 1.36879163e+01] [ 4.17200632e-02 -1.41049563e-03 9.99128344e-01 7.81946403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28509989299997 meters 0.02005584395457985 Centerline is valid? [True, True] Translation: X:215.61, Y:13.69, Z:7.82 [[ 9.94369093e-01 -9.76955599e-02 -4.10570850e-02 2.15606447e+02] [ 9.76694317e-02 9.95215393e-01 -2.64657840e-03 1.36917795e+01] [ 4.11192020e-02 -1.37834640e-03 9.99153297e-01 7.82155370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34509989299997 meters 0.01871355794975415 Centerline is valid? [True, True] Translation: X:215.67, Y:13.70, Z:7.82 [[ 9.94526264e-01 -9.64751850e-02 -4.01254222e-02 2.15668055e+02] [ 9.64493474e-02 9.95334541e-01 -2.58377012e-03 1.36978324e+01] [ 4.01874884e-02 -1.30044355e-03 9.99191310e-01 7.82388419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40509989299997 meters 0.01811814621913368 Centerline is valid? [True, True] Translation: X:215.73, Y:13.70, Z:7.83 [[ 9.94661812e-01 -9.55201143e-02 -3.90357271e-02 2.15729624e+02] [ 9.54950327e-02 9.95426740e-01 -2.51087137e-03 1.37026076e+01] [ 3.90970453e-02 -1.23025018e-03 9.99234661e-01 7.82655433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46509989299997 meters 0.016957846789336685 Centerline is valid? [True, True] Translation: X:215.79, Y:13.71, Z:7.83 [[ 9.94940033e-01 -9.26191006e-02 -3.89362565e-02 2.15791232e+02] [ 9.25920361e-02 9.95700987e-01 -2.50168933e-03 1.37094894e+01] [ 3.90005732e-02 -1.11615640e-03 9.99238565e-01 7.82854027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52509989299995 meters 0.01672411708515286 Centerline is valid? [True, True] Translation: X:215.85, Y:13.71, Z:7.83 [[ 9.95178220e-01 -9.00967672e-02 -3.87670307e-02 2.15852962e+02] [ 9.00681089e-02 9.95932499e-01 -2.48866501e-03 1.37146560e+01] [ 3.88335664e-02 -1.01500793e-03 9.99245177e-01 7.83084886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58509989299995 meters 0.015789296140493916 Centerline is valid? [True, True] Translation: X:215.92, Y:13.72, Z:7.83 [[ 9.95461144e-01 -8.69812301e-02 -3.86183335e-02 2.15915091e+02] [ 8.69505559e-02 9.96209551e-01 -2.47634197e-03 1.37204045e+01] [ 3.86873480e-02 -8.92783361e-04 9.99250965e-01 7.83257748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64509989299995 meters 0.01611710582807441 Centerline is valid? [True, True] Translation: X:215.98, Y:13.72, Z:7.83 [[ 9.95587870e-01 -8.53700856e-02 -3.89453616e-02 2.15976550e+02] [ 8.53377678e-02 9.96348956e-01 -2.49450047e-03 1.37217664e+01] [ 3.90161261e-02 -8.40015814e-04 9.99238228e-01 7.83250074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70509989299995 meters 0.015149985791372953 Centerline is valid? [True, True] Translation: X:216.04, Y:13.73, Z:7.83 [[ 9.95590049e-01 -8.51499614e-02 -3.93692678e-02 2.16038091e+02] [ 8.51168500e-02 9.96367791e-01 -2.51948081e-03 1.37264839e+01] [ 3.94408041e-02 -8.42618036e-04 9.99221553e-01 7.83449140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76509989299996 meters 0.015428334277718279 Centerline is valid? [True, True] Translation: X:216.10, Y:13.73, Z:7.84 [[ 9.95661104e-01 -8.43536905e-02 -3.92863999e-02 2.16099431e+02] [ 8.43202108e-02 9.96435545e-01 -2.51133631e-03 1.37291877e+01] [ 3.93582058e-02 -8.12197644e-04 9.99224836e-01 7.83672518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82509989299996 meters 0.014782876000185848 Centerline is valid? [True, True] Translation: X:216.16, Y:13.73, Z:7.84 [[ 9.95906766e-01 -8.14538268e-02 -3.91789227e-02 2.16161656e+02] [ 8.14183719e-02 9.96676872e-01 -2.50231302e-03 1.37332271e+01] [ 3.92525491e-02 -6.97813638e-04 9.99229078e-01 7.83888144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88509989299996 meters 0.014098534805307178 Centerline is valid? [True, True] Translation: X:216.22, Y:13.74, Z:7.84 [[ 9.96140782e-01 -7.87040798e-02 -3.88485545e-02 2.16223788e+02] [ 7.86672376e-02 9.96897850e-01 -2.47845380e-03 1.37387216e+01] [ 3.89231049e-02 -5.87219560e-04 9.99242036e-01 7.84151136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94509989299996 meters 0.013600329038267092 Centerline is valid? [True, True] Translation: X:216.29, Y:13.74, Z:7.84 [[ 9.96471267e-01 -7.50228915e-02 -3.76374678e-02 2.16286242e+02] [ 7.49857862e-02 9.97181718e-01 -2.39852759e-03 1.37434137e+01] [ 3.77113393e-02 -4.32211290e-04 9.99288581e-01 7.84425077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00509989299997 meters 0.013404439412640454 Centerline is valid? [True, True] Translation: X:216.35, Y:13.75, Z:7.85 [[ 9.96666123e-01 -7.23032954e-02 -3.78004222e-02 2.16347557e+02] [ 7.22640413e-02 9.97382636e-01 -2.40551328e-03 1.37476988e+01] [ 3.78754113e-02 -3.34117680e-04 9.99282413e-01 7.84617552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06509989299997 meters 0.013077881713419 Centerline is valid? [True, True] Translation: X:216.41, Y:13.75, Z:7.85 [[ 9.97074142e-01 -6.66347912e-02 -3.74560940e-02 2.16408117e+02] [ 6.65923236e-02 9.97777425e-01 -2.38162676e-03 1.37546123e+01] [ 3.75315443e-02 -1.19629871e-04 9.99295436e-01 7.84819315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12509989299997 meters 0.013019073335886623 Centerline is valid? [True, True] Translation: X:216.47, Y:13.76, Z:7.85 [[ 9.97328329e-01 -6.28610019e-02 -3.72115419e-02 2.16469260e+02] [ 6.28165104e-02 9.98022291e-01 -2.36474274e-03 1.37603582e+01] [ 3.72865984e-02 2.09257214e-05 9.99304613e-01 7.85063649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18509989299997 meters 0.013160051474209058 Centerline is valid? [True, True] Translation: X:216.53, Y:13.76, Z:7.85 [[ 9.97504971e-01 -5.98687680e-02 -3.74107291e-02 2.16529815e+02] [ 5.98217465e-02 9.98206248e-01 -2.37602385e-03 1.37645710e+01] [ 3.74858732e-02 1.32120450e-04 9.99297149e-01 7.85277398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24509989299997 meters 0.013248099464732849 Centerline is valid? [True, True] Translation: X:216.59, Y:13.77, Z:7.85 [[ 9.97606474e-01 -5.81486229e-02 -3.74173943e-02 2.16590218e+02] [ 5.81004002e-02 9.98307918e-01 -2.37577463e-03 1.37678130e+01] [ 3.74922291e-02 1.96122567e-04 9.99296900e-01 7.85486552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30509989299995 meters 0.013343593754323166 Centerline is valid? [True, True] Translation: X:216.65, Y:13.77, Z:7.86 [[ 9.97618487e-01 -5.79046753e-02 -3.74753772e-02 2.16649333e+02] [ 5.78561306e-02 9.98322095e-01 -2.37946470e-03 1.37700814e+01] [ 3.75502792e-02 2.05617658e-04 9.99294718e-01 7.85671479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36509989299995 meters 0.013155293029278845 Centerline is valid? [True, True] Translation: X:216.71, Y:13.77, Z:7.86 [[ 9.97467240e-01 -6.04157204e-02 -3.75372602e-02 2.16710216e+02] [ 6.03687434e-02 9.98173296e-01 -2.38469292e-03 1.37681529e+01] [ 3.76127636e-02 1.12575833e-04 9.99292383e-01 7.85838514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42509989299995 meters 0.013064215396708526 Centerline is valid? [True, True] Translation: X:216.77, Y:13.77, Z:7.86 [[ 9.97238299e-01 -6.36950071e-02 -3.81932055e-02 2.16770739e+02] [ 6.36487770e-02 9.97969411e-01 -2.42636426e-03 1.37678822e+01] [ 3.82701981e-02 -1.12874513e-05 9.99267428e-01 7.86031507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48509989299995 meters 0.013408619944070497 Centerline is valid? [True, True] Translation: X:216.83, Y:13.76, Z:7.86 [[ 9.96768910e-01 -7.02611882e-02 -3.89243498e-02 2.16831208e+02] [ 7.02181727e-02 9.97528593e-01 -2.47281290e-03 1.37637198e+01] [ 3.90018947e-02 -2.68373699e-04 9.99239101e-01 7.86190065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54509989299996 meters 0.014423366390606247 Centerline is valid? [True, True] Translation: X:216.89, Y:13.76, Z:7.86 [[ 9.96110603e-01 -7.90833323e-02 -3.88521956e-02 2.16893172e+02] [ 7.90471812e-02 9.96867820e-01 -2.46817027e-03 1.37594047e+01] [ 3.89256946e-02 -6.12585962e-04 9.99241920e-01 7.86410950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60509989299996 meters 0.01583682221384387 Centerline is valid? [True, True] Translation: X:216.95, Y:13.76, Z:7.87 [[ 9.95651641e-01 -8.45894469e-02 -3.90183994e-02 2.16953182e+02] [ 8.45572679e-02 9.96415542e-01 -2.47721727e-03 1.37565383e+01] [ 3.90880860e-02 -8.32843810e-04 9.99235422e-01 7.86560101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66509989299996 meters 0.017964966193003726 Centerline is valid? [True, True] Translation: X:217.01, Y:13.75, Z:7.87 [[ 9.94954522e-01 -9.25865573e-02 -3.86423130e-02 2.17014323e+02] [ 9.25611424e-02 9.95703988e-01 -2.45008943e-03 1.37525649e+01] [ 3.87031505e-02 -1.13904908e-03 9.99250103e-01 7.86824327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72509989299996 meters 0.020096458968106766 Centerline is valid? [True, True] Translation: X:217.08, Y:13.75, Z:7.87 [[ 9.94461094e-01 -9.79692728e-02 -3.80677572e-02 2.17075086e+02] [ 9.79485704e-02 9.95188553e-01 -2.41297056e-03 1.37513212e+01] [ 3.81209932e-02 -1.32907705e-03 9.99272247e-01 7.87144534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78509989299997 meters 0.02158283030608626 Centerline is valid? [True, True] Translation: X:217.14, Y:13.75, Z:7.87 [[ 9.93723161e-01 -1.04716489e-01 -3.93539879e-02 2.17135522e+02] [ 1.04699703e-01 9.94500758e-01 -2.49295661e-03 1.37504075e+01] [ 3.93986245e-02 -1.64304211e-03 9.99222222e-01 7.87295219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84509989299997 meters 0.022695282320750843 Centerline is valid? [True, True] Translation: X:217.20, Y:13.75, Z:7.87 [[ 9.93333891e-01 -1.08179312e-01 -3.98122806e-02 2.17197109e+02] [ 1.08164923e-01 9.94129766e-01 -2.52158931e-03 1.37517605e+01] [ 3.98513570e-02 -1.80151216e-03 9.99203995e-01 7.87498354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90509989299997 meters 0.025721404846775563 Centerline is valid? [True, True] Translation: X:217.26, Y:13.75, Z:7.88 [[ 9.92855333e-01 -1.12003309e-01 -4.11527151e-02 2.17257045e+02] [ 1.11991268e-01 9.93705776e-01 -2.60509349e-03 1.37506647e+01] [ 4.11854698e-02 -2.02226379e-03 9.99149472e-01 7.87625925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96509989299997 meters 0.027092149556074384 Centerline is valid? [True, True] Translation: X:217.32, Y:13.75, Z:7.88 [[ 9.92548673e-01 -1.14059114e-01 -4.28678142e-02 2.17318294e+02] [ 1.14047972e-01 9.93471538e-01 -2.71346653e-03 1.37527038e+01] [ 4.28974489e-02 -2.19573968e-03 9.99077068e-01 7.87712714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02509989299995 meters 0.026654548995773568 Centerline is valid? [True, True] Translation: X:217.38, Y:13.76, Z:7.88 [[ 9.92206709e-01 -1.16407414e-01 -4.44427755e-02 2.17379400e+02] [ 1.16397861e-01 9.93198688e-01 -2.81154495e-03 1.37581605e+01] [ 4.44677909e-02 -2.38341022e-03 9.99007975e-01 7.87838229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08509989299995 meters 0.028478702786359007 Centerline is valid? [True, True] Translation: X:217.44, Y:13.76, Z:7.88 [[ 9.92016194e-01 -1.17472275e-01 -4.58708554e-02 2.17439953e+02] [ 1.17463347e-01 9.93072986e-01 -2.89944422e-03 1.37607618e+01] [ 4.58937117e-02 -2.51184860e-03 9.98943170e-01 7.88008176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14509989299995 meters 0.02855066532062612 Centerline is valid? [True, True] Translation: X:217.50, Y:13.77, Z:7.88 [[ 9.91970176e-01 -1.17757607e-01 -4.61336666e-02 2.17501602e+02] [ 1.17749128e-01 9.93039108e-01 -2.91079906e-03 1.37659522e+01] [ 4.61553039e-02 -2.54477314e-03 9.98931035e-01 7.88234935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20509989299995 meters 0.02771058057673703 Centerline is valid? [True, True] Translation: X:217.56, Y:13.77, Z:7.89 [[ 9.92206296e-01 -1.16259303e-01 -4.48379392e-02 2.17562447e+02] [ 1.16249892e-01 9.93215976e-01 -2.82621454e-03 1.37732322e+01] [ 4.48623313e-02 -2.40821775e-03 9.98990276e-01 7.88608004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26509989299996 meters 0.025627604990759213 Centerline is valid? [True, True] Translation: X:217.62, Y:13.78, Z:7.89 [[ 9.92433961e-01 -1.14480264e-01 -4.43745698e-02 2.17623050e+02] [ 1.14469343e-01 9.93422848e-01 -2.79543499e-03 1.37814554e+01] [ 4.44027337e-02 -2.30524325e-03 9.99011053e-01 7.88912230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32509989299996 meters 0.027109111427836948 Centerline is valid? [True, True] Translation: X:217.68, Y:13.79, Z:7.89 [[ 9.92598160e-01 -1.12910353e-01 -4.47229880e-02 2.17683571e+02] [ 1.12897739e-01 9.93602622e-01 -2.81588645e-03 1.37854339e+01] [ 4.47548209e-02 -2.25408052e-03 9.98995458e-01 7.89068768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38509989299996 meters 0.02559558124855293 Centerline is valid? [True, True] Translation: X:217.75, Y:13.79, Z:7.89 [[ 9.92456739e-01 -1.13741987e-01 -4.57425661e-02 2.17745711e+02] [ 1.13729733e-01 9.93507554e-01 -2.87879208e-03 1.37938906e+01] [ 4.57730245e-02 -2.34521322e-03 9.98949113e-01 7.89317220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44509989299996 meters 0.028341434237482255 Centerline is valid? [True, True] Translation: X:217.81, Y:13.79, Z:7.89 [[ 9.92188400e-01 -1.15814462e-01 -4.63593400e-02 2.17806295e+02] [ 1.15804265e-01 9.93267777e-01 -2.91472517e-03 1.37943244e+01] [ 4.63848059e-02 -2.47665280e-03 9.98920575e-01 7.89495818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50509989299997 meters 0.02678398631186487 Centerline is valid? [True, True] Translation: X:217.87, Y:13.80, Z:7.90 [[ 9.91771394e-01 -1.19377563e-01 -4.62439162e-02 2.17867177e+02] [ 1.19371321e-01 9.92845426e-01 -2.90645494e-03 1.38009063e+01] [ 4.62600262e-02 -2.63765848e-03 9.98925950e-01 7.89772650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56509989299997 meters 0.027394499501207214 Centerline is valid? [True, True] Translation: X:217.93, Y:13.80, Z:7.90 [[ 9.91602704e-01 -1.20774997e-01 -4.62328542e-02 2.17929301e+02] [ 1.20770370e-01 9.92676225e-01 -2.90362672e-03 1.38045266e+01] [ 4.62449407e-02 -2.70431480e-03 9.98926470e-01 7.89981184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62509989299997 meters 0.028560551370184713 Centerline is valid? [True, True] Translation: X:217.99, Y:13.81, Z:7.90 [[ 9.91567941e-01 -1.20841443e-01 -4.68013290e-02 2.17991384e+02] [ 1.20836939e-01 9.92668029e-01 -2.93586420e-03 1.38088272e+01] [ 4.68129571e-02 -2.74422052e-03 9.98899903e-01 7.90142894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68509989299997 meters 0.026599822772222333 Centerline is valid? [True, True] Translation: X:218.05, Y:13.82, Z:7.90 [[ 9.91674659e-01 -1.20024738e-01 -4.66415470e-02 2.18053198e+02] [ 1.20019522e-01 9.92767230e-01 -2.92245911e-03 1.38158180e+01] [ 4.66549668e-02 -2.69976753e-03 9.98907416e-01 7.90364903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74509989299997 meters 0.024589901090223826 Centerline is valid? [True, True] Translation: X:218.11, Y:13.82, Z:7.91 [[ 9.92020342e-01 -1.17192663e-01 -4.64921669e-02 2.18113980e+02] [ 1.17184525e-01 9.93105895e-01 -2.90999682e-03 1.38240464e+01] [ 4.65126754e-02 -2.56138647e-03 9.98914416e-01 7.90630580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80509989299995 meters 0.024067255568395125 Centerline is valid? [True, True] Translation: X:218.18, Y:13.83, Z:7.91 [[ 9.92378437e-01 -1.14226967e-01 -4.62302750e-02 2.18175598e+02] [ 1.14215799e-01 9.93451755e-01 -2.89170696e-03 1.38311997e+01] [ 4.62578587e-02 -2.41056016e-03 9.98926624e-01 7.90895430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86509989299995 meters 0.024270576083225255 Centerline is valid? [True, True] Translation: X:218.23, Y:13.84, Z:7.91 [[ 9.93224693e-01 -1.06724763e-01 -4.59840539e-02 2.18234450e+02] [ 1.06705777e-01 9.94286485e-01 -2.87440956e-03 1.38394027e+01] [ 4.60280941e-02 -2.05182964e-03 9.98938038e-01 7.91042239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92509989299995 meters 0.020776587031932994 Centerline is valid? [True, True] Translation: X:218.29, Y:13.85, Z:7.91 [[ 9.93958261e-01 -9.98659335e-02 -4.55386784e-02 2.18294131e+02] [ 9.98400930e-02 9.94999422e-01 -2.84726923e-03 1.38514640e+01] [ 4.55953039e-02 -1.71651912e-03 9.98958519e-01 7.91337473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98509989299995 meters 0.017094583895984408 Centerline is valid? [True, True] Translation: X:218.35, Y:13.87, Z:7.92 [[ 9.95112971e-01 -8.81137819e-02 -4.45660889e-02 2.18353926e+02] [ 8.80772543e-02 9.96109750e-01 -2.78640024e-03 1.38667427e+01] [ 4.46382359e-02 -1.15247572e-03 9.99002552e-01 7.91665784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04509989299996 meters 0.01427054475873844 Centerline is valid? [True, True] Translation: X:218.41, Y:13.88, Z:7.92 [[ 9.96089020e-01 -7.62914095e-02 -4.45677526e-02 2.18413689e+02] [ 7.62430486e-02 9.97085369e-01 -2.78642348e-03 1.38825071e+01] [ 4.46504342e-02 -6.22455493e-04 9.99002478e-01 7.91931933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10509989299996 meters 0.013945521574996882 Centerline is valid? [True, True] Translation: X:218.47, Y:13.89, Z:7.92 [[ 9.96338011e-01 -7.27720663e-02 -4.48864630e-02 2.18473912e+02] [ 7.27194781e-02 9.97348488e-01 -2.80552446e-03 1.38888286e+01] [ 4.49716098e-02 -4.68869508e-04 9.98988155e-01 7.92071815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16509989299996 meters 0.01348132666715349 Centerline is valid? [True, True] Translation: X:218.53, Y:13.90, Z:7.92 [[ 9.96626784e-01 -6.74228126e-02 -4.67890687e-02 2.18534490e+02] [ 6.73598176e-02 9.97724465e-01 -2.92357251e-03 1.38977631e+01] [ 4.68797141e-02 -2.37992468e-04 9.98900513e-01 7.92182663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22509989299996 meters 0.01336307053859029 Centerline is valid? [True, True] Translation: X:218.59, Y:13.91, Z:7.92 [[ 9.96944455e-01 -6.16972564e-02 -4.79082721e-02 2.18592952e+02] [ 6.16245040e-02 9.98094909e-01 -2.99551691e-03 1.39061504e+01] [ 4.80018176e-02 3.40404725e-05 9.98847248e-01 7.92199789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28509989299997 meters 0.013603222796767513 Centerline is valid? [True, True] Translation: X:218.65, Y:13.91, Z:7.92 [[ 9.96982637e-01 -5.98871189e-02 -4.93877953e-02 2.18650509e+02] [ 5.98070476e-02 9.98205147e-01 -3.09878667e-03 1.39114282e+01] [ 4.94847288e-02 1.35698288e-04 9.98774871e-01 7.92230966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34509989299997 meters 0.013372271256126115 Centerline is valid? [True, True] Translation: X:218.71, Y:13.91, Z:7.93 [[ 9.96930746e-01 -6.08237373e-02 -4.92905773e-02 2.18708356e+02] [ 6.07447907e-02 9.98148518e-01 -3.09945132e-03 1.39136863e+01] [ 4.93878369e-02 9.57925158e-05 9.98779672e-01 7.92526213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40509989299997 meters 0.013283086536808715 Centerline is valid? [True, True] Translation: X:218.77, Y:13.92, Z:7.93 [[ 9.96866398e-01 -6.27275258e-02 -4.81937946e-02 2.18767232e+02] [ 6.26536371e-02 9.98030690e-01 -3.04375835e-03 1.39157343e+01] [ 4.82898135e-02 1.47039036e-05 9.98833366e-01 7.92854925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46509989299997 meters 0.013386107777823463 Centerline is valid? [True, True] Translation: X:218.82, Y:13.91, Z:7.93 [[ 9.96597059e-01 -6.76692289e-02 -4.70656665e-02 2.18824772e+02] [ 6.76036982e-02 9.97707789e-01 -2.98455340e-03 1.39143500e+01] [ 4.71597445e-02 -2.07415973e-04 9.98887339e-01 7.93144314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52509989299995 meters 0.014034526281429777 Centerline is valid? [True, True] Translation: X:218.88, Y:13.91, Z:7.93 [[ 9.96004000e-01 -7.60215463e-02 -4.68695688e-02 2.18883474e+02] [ 7.59651829e-02 9.97106002e-01 -2.98518096e-03 1.39106778e+01] [ 4.69608664e-02 -5.87203185e-04 9.98896557e-01 7.93434908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58509989299995 meters 0.015169323298577175 Centerline is valid? [True, True] Translation: X:218.94, Y:13.91, Z:7.94 [[ 9.95498751e-01 -8.26339113e-02 -4.64098486e-02 2.18944499e+02] [ 8.25853913e-02 9.96579581e-01 -2.96520652e-03 1.39080092e+01] [ 4.64961341e-02 -8.80916121e-04 9.98918081e-01 7.93690936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64509989299995 meters 0.017009616103024296 Centerline is valid? [True, True] Translation: X:219.01, Y:13.90, Z:7.94 [[ 9.94671330e-01 -9.21041325e-02 -4.63224999e-02 2.19006016e+02] [ 9.20660519e-02 9.95748504e-01 -2.95946472e-03 1.39030769e+01] [ 4.63981389e-02 -1.32103498e-03 9.98922153e-01 7.94036673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70509989299995 meters 0.020720229088821398 Centerline is valid? [True, True] Translation: X:219.07, Y:13.90, Z:7.94 [[ 9.94040809e-01 -9.84213948e-02 -4.68625465e-02 2.19066162e+02] [ 9.83894780e-02 9.95143484e-01 -2.99286772e-03 1.38973247e+01] [ 4.69295200e-02 -1.63574884e-03 9.98896864e-01 7.94179220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76509989299996 meters 0.019529132912280655 Centerline is valid? [True, True] Translation: X:219.13, Y:13.90, Z:7.94 [[ 9.93948390e-01 -9.94486139e-02 -4.66537368e-02 2.19128017e+02] [ 9.94182199e-02 9.95041283e-01 -2.97718287e-03 1.39012148e+01] [ 4.67184709e-02 -1.67906535e-03 9.98906685e-01 7.94495035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82509989299996 meters 0.019466768156567137 Centerline is valid? [True, True] Translation: X:219.19, Y:13.90, Z:7.95 [[ 9.94076011e-01 -9.82284036e-02 -4.65195199e-02 2.19189739e+02] [ 9.81969957e-02 9.95162578e-01 -2.96549722e-03 1.39036888e+01] [ 4.65857814e-02 -1.62014745e-03 9.98912979e-01 7.94742491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88509989299996 meters 0.01871387739947083 Centerline is valid? [True, True] Translation: X:219.25, Y:13.91, Z:7.95 [[ 9.94608697e-01 -9.29545942e-02 -4.59671939e-02 2.19248804e+02] [ 9.29183723e-02 9.95669422e-01 -2.92873789e-03 1.39085765e+01] [ 4.60403690e-02 -1.35824866e-03 9.98938657e-01 7.94972185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94509989299996 meters 0.015881912871258168 Centerline is valid? [True, True] Translation: X:219.31, Y:13.92, Z:7.95 [[ 9.95183448e-01 -8.61188877e-02 -4.68341930e-02 2.19309179e+02] [ 8.60736988e-02 9.96284302e-01 -2.98447601e-03 1.39179619e+01] [ 4.69171910e-02 -1.06109109e-03 9.98898219e-01 7.95202369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00509989299997 meters 0.015225860086335133 Centerline is valid? [True, True] Translation: X:219.37, Y:13.92, Z:7.95 [[ 9.95427214e-01 -8.21108971e-02 -4.88104651e-02 2.19369249e+02] [ 8.20570332e-02 9.96622784e-01 -3.10971908e-03 1.39223985e+01] [ 4.89009634e-02 -9.09742956e-04 9.98803218e-01 7.95122018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06509989299997 meters 0.015086056185471918 Centerline is valid? [True, True] Translation: X:219.43, Y:13.93, Z:7.95 [[ 9.95418073e-01 -8.09407981e-02 -5.09062528e-02 2.19428849e+02] [ 8.08806558e-02 9.96718515e-01 -3.24371797e-03 1.39257925e+01] [ 5.10017538e-02 -8.88475618e-04 9.98698168e-01 7.95194677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12509989299997 meters 0.01446300233724329 Centerline is valid? [True, True] Translation: X:219.49, Y:13.93, Z:7.95 [[ 9.95529146e-01 -7.92977421e-02 -5.13184824e-02 2.19487359e+02] [ 7.92341930e-02 9.96850650e-01 -3.27479006e-03 1.39315300e+01] [ 5.14165460e-02 -8.06029589e-04 9.98676969e-01 7.95447320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18509989299997 meters 0.013331489002434336 Centerline is valid? [True, True] Translation: X:219.55, Y:13.94, Z:7.96 [[ 9.96043292e-01 -7.36815256e-02 -4.96869495e-02 2.19545729e+02] [ 7.36144775e-02 9.97281702e-01 -3.18052954e-03 1.39401716e+01] [ 4.97862318e-02 -4.89733712e-04 9.98759777e-01 7.95993804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24509989299997 meters 0.012921879516526041 Centerline is valid? [True, True] Translation: X:219.60, Y:13.95, Z:7.97 [[ 9.96514390e-01 -6.91741005e-02 -4.66263287e-02 2.19603980e+02] [ 6.91098979e-02 9.97604573e-01 -2.98953958e-03 1.39471517e+01] [ 4.67214375e-02 -2.43221609e-04 9.98907928e-01 7.96560797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30509989299995 meters 0.01278869894269671 Centerline is valid? [True, True] Translation: X:219.66, Y:13.95, Z:7.97 [[ 9.96749120e-01 -6.70541323e-02 -4.46647065e-02 2.19663541e+02] [ 6.69926741e-02 9.97749331e-01 -2.87311226e-03 1.39520689e+01] [ 4.47568351e-02 -1.28436005e-04 9.98997903e-01 7.96932434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36509989299995 meters 0.012739812784551108 Centerline is valid? [True, True] Translation: X:219.72, Y:13.96, Z:7.97 [[ 9.96932417e-01 -6.50713739e-02 -4.34910633e-02 2.19722607e+02] [ 6.50111513e-02 9.97880612e-01 -2.79915522e-03 1.39566324e+01] [ 4.35810337e-02 -3.68355131e-05 9.99049895e-01 7.97309662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42509989299995 meters 0.012762772728638258 Centerline is valid? [True, True] Translation: X:219.78, Y:13.96, Z:7.98 [[ 9.97126828e-01 -6.32654231e-02 -4.16602427e-02 2.19782147e+02] [ 6.32085289e-02 9.97996736e-01 -2.68279223e-03 1.39596562e+01] [ 4.17465142e-02 4.18014494e-05 9.99128233e-01 7.97618978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48509989299995 meters 0.01277525522018606 Centerline is valid? [True, True] Translation: X:219.84, Y:13.96, Z:7.98 [[ 9.97185064e-01 -6.25519830e-02 -4.13424370e-02 2.19841158e+02] [ 6.24952735e-02 9.98041705e-01 -2.66395648e-03 1.39614525e+01] [ 4.14281120e-02 7.27507103e-05 9.99141485e-01 7.97810977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54509989299996 meters 0.012717390201657314 Centerline is valid? [True, True] Translation: X:219.90, Y:13.96, Z:7.98 [[ 9.97263944e-01 -6.16086196e-02 -4.08534337e-02 2.19901392e+02] [ 6.15523444e-02 9.98100378e-01 -2.63509688e-03 1.39606101e+01] [ 4.09381723e-02 1.13262487e-04 9.99161675e-01 7.98005204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60509989299996 meters 0.012763629931503387 Centerline is valid? [True, True] Translation: X:219.96, Y:13.96, Z:7.98 [[ 9.97342294e-01 -6.03700439e-02 -4.07897771e-02 2.19960982e+02] [ 6.03128481e-02 9.98176052e-01 -2.63246889e-03 1.39589902e+01] [ 4.08743009e-02 1.65324931e-04 9.99164283e-01 7.98136818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66509989299996 meters 0.012818691794449485 Centerline is valid? [True, True] Translation: X:220.02, Y:13.96, Z:7.98 [[ 9.97389587e-01 -6.01373484e-02 -3.99688756e-02 2.20020128e+02] [ 6.00821634e-02 9.98190097e-01 -2.58154578e-03 1.39583223e+01] [ 4.00517831e-02 1.73390358e-04 9.99197590e-01 7.98238199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72509989299996 meters 0.01278504852608235 Centerline is valid? [True, True] Translation: X:220.08, Y:13.96, Z:7.98 [[ 9.97374376e-01 -6.12115968e-02 -3.86974779e-02 2.20079366e+02] [ 6.11603021e-02 9.98124803e-01 -2.50907474e-03 1.39569641e+01] [ 3.87784970e-02 1.35737409e-04 9.99247822e-01 7.98395575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78509989299997 meters 0.012761922722436472 Centerline is valid? [True, True] Translation: X:220.14, Y:13.95, Z:7.99 [[ 9.96961478e-01 -6.82110333e-02 -3.76173737e-02 2.20137540e+02] [ 6.81671934e-02 9.97670908e-01 -2.44827308e-03 1.39499774e+01] [ 3.76967586e-02 -1.23436836e-04 9.99289217e-01 7.98553363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84509989299997 meters 0.01342650028213284 Centerline is valid? [True, True] Translation: X:220.20, Y:13.94, Z:7.99 [[ 9.96378665e-01 -7.61406813e-02 -3.78437912e-02 2.20198476e+02] [ 7.61018990e-02 9.97096995e-01 -2.46634949e-03 1.39448235e+01] [ 3.79217200e-02 -4.22566356e-04 9.99280624e-01 7.98668433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90509989299997 meters 0.016035900696041834 Centerline is valid? [True, True] Translation: X:220.26, Y:13.93, Z:7.99 [[ 9.95193647e-01 -9.01808230e-02 -3.81709757e-02 2.20259857e+02] [ 9.01516745e-02 9.95924940e-01 -2.48767702e-03 1.39325887e+01] [ 3.82397675e-02 -9.65457007e-04 9.99268126e-01 7.98730470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96509989299997 meters 0.019360522869060422 Centerline is valid? [True, True] Translation: X:220.32, Y:13.93, Z:7.99 [[ 9.94339665e-01 -9.90304590e-02 -3.84915365e-02 2.20320105e+02] [ 9.90074282e-02 9.95083532e-01 -2.50875862e-03 1.39250368e+01] [ 3.85507376e-02 -1.31638983e-03 9.99255777e-01 7.98846715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02509989299995 meters 0.022501424651690277 Centerline is valid? [True, True] Translation: X:220.38, Y:13.92, Z:7.99 [[ 9.93629931e-01 -1.05765827e-01 -3.88992353e-02 2.20381150e+02] [ 1.05747433e-01 9.94389788e-01 -2.53587796e-03 1.39203100e+01] [ 3.89492116e-02 -1.59377005e-03 9.99239921e-01 7.99003855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08509989299995 meters 0.02234068512207393 Centerline is valid? [True, True] Translation: X:220.44, Y:13.92, Z:7.99 [[ 9.93059736e-01 -1.11019692e-01 -3.88199574e-02 2.20441901e+02] [ 1.11005383e-01 9.93816583e-01 -2.53054215e-03 1.39216344e+01] [ 3.88608574e-02 -1.79624470e-03 9.99243017e-01 7.99213400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14509989299995 meters 0.027940440328728843 Centerline is valid? [True, True] Translation: X:220.50, Y:13.92, Z:8.00 [[ 9.92668798e-01 -1.14638489e-01 -3.82971705e-02 2.20502213e+02] [ 1.14627274e-01 9.93405436e-01 -2.49574591e-03 1.39153589e+01] [ 3.83307259e-02 -1.91245117e-03 9.99263278e-01 7.99579152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20509989299995 meters 0.02317655583020489 Centerline is valid? [True, True] Translation: X:220.56, Y:13.93, Z:8.00 [[ 9.92712174e-01 -1.14772515e-01 -3.67397386e-02 2.20563993e+02] [ 1.14762358e-01 9.93390094e-01 -2.39222069e-03 1.39253612e+01] [ 3.67714536e-02 -1.84155244e-03 9.99322005e-01 8.00049751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26509989299996 meters 0.02346116509385156 Centerline is valid? [True, True] Translation: X:220.62, Y:13.93, Z:8.00 [[ 9.93002574e-01 -1.12229544e-01 -3.67480163e-02 2.20623871e+02] [ 1.12217747e-01 9.93680766e-01 -2.38998559e-03 1.39283088e+01] [ 3.67840240e-02 -1.75051776e-03 9.99321706e-01 8.00389363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32509989299996 meters 0.02083560013736952 Centerline is valid? [True, True] Translation: X:220.68, Y:13.94, Z:8.00 [[ 9.93518984e-01 -1.05999259e-01 -4.10388302e-02 2.20684304e+02] [ 1.05979279e-01 9.94364758e-01 -2.66825757e-03 1.39373512e+01] [ 4.10903998e-02 -1.69830107e-03 9.99153990e-01 8.00429793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38509989299996 meters 0.019111518794245472 Centerline is valid? [True, True] Translation: X:220.74, Y:13.95, Z:8.01 [[ 9.94000493e-01 -1.00349098e-01 -4.35095185e-02 2.20744847e+02] [ 1.00321249e-01 9.94951077e-01 -2.82862522e-03 1.39457358e+01] [ 4.35736923e-02 -1.55327440e-03 9.99049008e-01 8.00514159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44509989299996 meters 0.016827906622826894 Centerline is valid? [True, True] Translation: X:220.80, Y:13.96, Z:8.01 [[ 9.94766046e-01 -9.04539637e-02 -4.75246706e-02 2.20804696e+02] [ 9.04094779e-02 9.95899886e-01 -3.08920074e-03 1.39575629e+01] [ 4.76092445e-02 -1.22364865e-03 9.98865287e-01 8.00542763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50509989299997 meters 0.015299452404414186 Centerline is valid? [True, True] Translation: X:220.86, Y:13.97, Z:8.01 [[ 9.95274120e-01 -8.36952658e-02 -4.92395001e-02 2.20864133e+02] [ 8.36392281e-02 9.96490960e-01 -3.20101871e-03 1.39674428e+01] [ 4.93346268e-02 -9.32462703e-04 9.98781871e-01 8.00740399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56509989299997 meters 0.013883243824169327 Centerline is valid? [True, True] Translation: X:220.92, Y:13.98, Z:8.01 [[ 9.96033594e-01 -7.43820066e-02 -4.88302844e-02 2.20923527e+02] [ 7.43156627e-02 9.97229713e-01 -3.17529218e-03 1.39804349e+01] [ 4.89311951e-02 -4.66157265e-04 9.98802043e-01 8.01107283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62509989299997 meters 0.01353733623058641 Centerline is valid? [True, True] Translation: X:220.98, Y:13.99, Z:8.02 [[ 9.96395196e-01 -7.00981750e-02 -4.77792757e-02 2.20982156e+02] [ 7.00295749e-02 9.97540067e-01 -3.11026466e-03 1.39884821e+01] [ 4.78797658e-02 -2.46909604e-04 9.98853076e-01 8.01503757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68509989299997 meters 0.013378510447032988 Centerline is valid? [True, True] Translation: X:221.04, Y:14.00, Z:8.02 [[ 9.96598700e-01 -6.76830624e-02 -4.70110047e-02 2.21039782e+02] [ 6.76134896e-02 9.97706865e-01 -3.07034786e-03 1.39955770e+01] [ 4.71110127e-02 -1.18673391e-04 9.98889653e-01 8.01940673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74509989299995 meters 0.013371337601509005 Centerline is valid? [True, True] Translation: X:221.10, Y:14.00, Z:8.02 [[ 9.96430816e-01 -7.03858239e-02 -4.65989767e-02 2.21097832e+02] [ 7.03201401e-02 9.97519814e-01 -3.04940870e-03 1.39991249e+01] [ 4.66980377e-02 -2.38321767e-04 9.98909023e-01 8.02369267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80509989299995 meters 0.014312868806534177 Centerline is valid? [True, True] Translation: X:221.16, Y:14.00, Z:8.03 [[ 9.95635006e-01 -8.03606864e-02 -4.74667680e-02 2.21157098e+02] [ 8.03033029e-02 9.96765599e-01 -3.11772222e-03 1.39971628e+01] [ 4.75637837e-02 -7.07624861e-04 9.98867952e-01 8.02682041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86509989299995 meters 0.017932628033296896 Centerline is valid? [True, True] Translation: X:221.22, Y:13.99, Z:8.03 [[ 9.94173246e-01 -9.61277069e-02 -4.87752079e-02 2.21217854e+02] [ 9.60859364e-02 9.95367880e-01 -3.20581914e-03 1.39899637e+01] [ 4.88574433e-02 -1.49947190e-03 9.98804636e-01 8.02871091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92509989299995 meters 0.020886871209044432 Centerline is valid? [True, True] Translation: X:221.28, Y:13.99, Z:8.03 [[ 9.93031733e-01 -1.06817518e-01 -4.97794666e-02 2.21278691e+02] [ 1.06787388e-01 9.94276494e-01 -3.27206992e-03 1.39871281e+01] [ 4.98440679e-02 -2.06654997e-03 9.98754874e-01 8.03071012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98509989299995 meters 0.024634518480686814 Centerline is valid? [True, True] Translation: X:221.34, Y:13.98, Z:8.03 [[ 9.92054150e-01 -1.15476355e-01 -4.99377100e-02 2.21339089e+02] [ 1.15456959e-01 9.93307060e-01 -3.28255403e-03 1.39844240e+01] [ 4.99825373e-02 -2.50918481e-03 9.98746940e-01 8.03206713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04509989299996 meters 0.026429774061441112 Centerline is valid? [True, True] Translation: X:221.40, Y:13.99, Z:8.03 [[ 9.91054391e-01 -1.23454138e-01 -5.06978293e-02 2.21399738e+02] [ 1.23444520e-01 9.92345878e-01 -3.33291866e-03 1.39864621e+01] [ 5.07212445e-02 -2.95526553e-03 9.98708477e-01 8.03419684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10509989299996 meters 0.027993882326235786 Centerline is valid? [True, True] Translation: X:221.46, Y:13.99, Z:8.04 [[ 9.90901910e-01 -1.25061233e-01 -4.97301933e-02 2.21459789e+02] [ 1.25053993e-01 9.92144551e-01 -3.26923726e-03 1.39896335e+01] [ 4.97483951e-02 -2.97946581e-03 9.98757338e-01 8.03659403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16509989299996 meters 0.0283757310138773 Centerline is valid? [True, True] Translation: X:221.52, Y:14.00, Z:8.04 [[ 9.90970605e-01 -1.24925430e-01 -4.86918668e-02 2.21520371e+02] [ 1.24918323e-01 9.92161865e-01 -3.20097821e-03 1.39954198e+01] [ 4.87100969e-02 -2.91043102e-03 9.98808718e-01 8.03877572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22509989299996 meters 0.028965652477465756 Centerline is valid? [True, True] Translation: X:221.58, Y:14.00, Z:8.04 [[ 9.91050984e-01 -1.24457040e-01 -4.82534163e-02 2.21581711e+02] [ 1.24449526e-01 9.92220870e-01 -3.17175957e-03 1.40005647e+01] [ 4.82727946e-02 -2.86173933e-03 9.98830090e-01 8.04075454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28509989299997 meters 0.029195568161305543 Centerline is valid? [True, True] Translation: X:221.64, Y:14.01, Z:8.04 [[ 9.91199465e-01 -1.23395679e-01 -4.79283569e-02 2.21642877e+02] [ 1.23387109e-01 9.92353620e-01 -3.14868845e-03 1.40077058e+01] [ 4.79504130e-02 -2.79276311e-03 9.98845813e-01 8.04307962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34509989299997 meters 0.029292944540587906 Centerline is valid? [True, True] Translation: X:221.70, Y:14.01, Z:8.04 [[ 9.91316302e-01 -1.22182407e-01 -4.86153167e-02 2.21704557e+02] [ 1.22172230e-01 9.92503782e-01 -3.19194527e-03 1.40134959e+01] [ 4.86408852e-02 -2.77521427e-03 9.98812476e-01 8.04418152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40509989299997 meters 0.02498345730914646 Centerline is valid? [True, True] Translation: X:221.77, Y:14.03, Z:8.05 [[ 9.91482844e-01 -1.20233104e-01 -5.00576664e-02 2.21765580e+02] [ 1.20219969e-01 9.92741846e-01 -3.28413864e-03 1.40265615e+01] [ 5.00892023e-02 -2.76176400e-03 9.98740930e-01 8.04648401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46509989299997 meters 0.02690851373616799 Centerline is valid? [True, True] Translation: X:221.82, Y:14.03, Z:8.05 [[ 9.91692981e-01 -1.18002811e-01 -5.11895382e-02 2.21824684e+02] [ 1.17986214e-01 9.93009560e-01 -3.35653350e-03 1.40304179e+01] [ 5.12277812e-02 -2.71100909e-03 9.98683316e-01 8.04688386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52509989299995 meters 0.023123880709583603 Centerline is valid? [True, True] Translation: X:221.88, Y:14.05, Z:8.05 [[ 9.92352699e-01 -1.11592657e-01 -5.27560413e-02 2.21884099e+02] [ 1.11565962e-01 9.93751008e-01 -3.45993033e-03 1.40452715e+01] [ 5.28124720e-02 -2.45230728e-03 9.98601437e-01 8.04966861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58509989299995 meters 0.021083021471970775 Centerline is valid? [True, True] Translation: X:221.94, Y:14.06, Z:8.05 [[ 9.93180615e-01 -1.04567770e-01 -5.15543092e-02 2.21944462e+02] [ 1.04532821e-01 9.94515690e-01 -3.38121903e-03 1.40560988e+01] [ 5.16251359e-02 -2.03095617e-03 9.98664468e-01 8.05223019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64509989299995 meters 0.016592526521573506 Centerline is valid? [True, True] Translation: X:222.00, Y:14.07, Z:8.06 [[ 9.94633564e-01 -9.09418477e-02 -4.93320663e-02 2.22003856e+02] [ 9.08930758e-02 9.95855401e-01 -3.23574777e-03 1.40745565e+01] [ 4.94218695e-02 -1.26555990e-03 9.98777191e-01 8.05600891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70509989299995 meters 0.014517086875237305 Centerline is valid? [True, True] Translation: X:222.06, Y:14.09, Z:8.06 [[ 9.95548076e-01 -8.10285372e-02 -4.81498158e-02 2.22063123e+02] [ 8.09704846e-02 9.96711496e-01 -3.15815228e-03 1.40881821e+01] [ 4.82473754e-02 -7.54621488e-04 9.98835132e-01 8.05882651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76509989299996 meters 0.013038868725909305 Centerline is valid? [True, True] Translation: X:222.12, Y:14.10, Z:8.06 [[ 9.96537279e-01 -6.84724213e-02 -4.71696737e-02 2.22122071e+02] [ 6.84026039e-02 9.97652999e-01 -3.09460843e-03 1.41043746e+01] [ 4.72708617e-02 -1.42635841e-04 9.98882098e-01 8.06112747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82509989299996 meters 0.013259897683182545 Centerline is valid? [True, True] Translation: X:222.18, Y:14.12, Z:8.06 [[ 9.97132708e-01 -5.98255388e-02 -4.63386080e-02 2.22179399e+02] [ 5.97486733e-02 9.98208813e-01 -3.04333081e-03 1.41156487e+01] [ 4.64376758e-02 2.65934345e-04 9.98921154e-01 8.06296039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88509989299996 meters 0.013812960239748621 Centerline is valid? [True, True] Translation: X:222.24, Y:14.12, Z:8.06 [[ 9.97407981e-01 -5.56251191e-02 -4.56417178e-02 2.22237738e+02] [ 5.55455817e-02 9.98451615e-01 -3.01004207e-03 1.41237132e+01] [ 4.57384808e-02 4.67044218e-04 9.98953339e-01 8.06482387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94509989299996 meters 0.013725036309862153 Centerline is valid? [True, True] Translation: X:222.30, Y:14.13, Z:8.07 [[ 9.97487855e-01 -5.40637449e-02 -4.57721609e-02 2.22295894e+02] [ 5.39815911e-02 9.98537334e-01 -3.02992436e-03 1.41285726e+01] [ 4.58690205e-02 5.51458684e-04 9.98947310e-01 8.06777346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00509989299997 meters 0.01417218575897159 Centerline is valid? [True, True] Translation: X:222.35, Y:14.14, Z:8.07 [[ 9.97584423e-01 -5.18803766e-02 -4.61924816e-02 2.22354231e+02] [ 5.17938231e-02 9.98653082e-01 -3.06948021e-03 1.41361381e+01] [ 4.62895099e-02 6.69580430e-04 9.98927842e-01 8.06978354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06509989299997 meters 0.013742019835562799 Centerline is valid? [True, True] Translation: X:222.41, Y:14.14, Z:8.07 [[ 9.97439209e-01 -5.46431392e-02 -4.61427363e-02 2.22413357e+02] [ 5.45592022e-02 9.98505795e-01 -3.07748714e-03 1.41386314e+01] [ 4.62419532e-02 5.52095454e-04 9.98930116e-01 8.07135575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12509989299997 meters 0.013178930006741899 Centerline is valid? [True, True] Translation: X:222.47, Y:14.14, Z:8.07 [[ 9.97271923e-01 -5.85779688e-02 -4.49147252e-02 2.22471986e+02] [ 5.85019666e-02 9.98282768e-01 -3.00587664e-03 1.41396961e+01] [ 4.50136743e-02 3.70076623e-04 9.98986302e-01 8.07488753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18509989299997 meters 0.012868997464122494 Centerline is valid? [True, True] Translation: X:222.53, Y:14.14, Z:8.08 [[ 9.97033090e-01 -6.32151303e-02 -4.39188458e-02 2.22529633e+02] [ 6.31465257e-02 9.97999910e-01 -2.94904571e-03 1.41411640e+01] [ 4.40174285e-02 1.66973631e-04 9.99030749e-01 8.07789454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24509989299995 meters 0.012772786821988314 Centerline is valid? [True, True] Translation: X:222.59, Y:14.14, Z:8.08 [[ 9.96664822e-01 -7.05222512e-02 -4.10590423e-02 2.22588522e+02] [ 7.04683219e-02 9.97510196e-01 -2.76107526e-03 1.41397429e+01] [ 4.11515306e-02 -1.41495227e-04 9.99152907e-01 8.08127725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30509989299995 meters 0.013405312434021328 Centerline is valid? [True, True] Translation: X:222.65, Y:14.14, Z:8.08 [[ 9.96147924e-01 -7.79146200e-02 -4.02321542e-02 2.22650403e+02] [ 7.78685007e-02 9.96959943e-01 -2.71449269e-03 1.41367010e+01] [ 4.03213448e-02 -4.28781264e-04 9.99186672e-01 8.08235552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36509989299995 meters 0.014216379236352807 Centerline is valid? [True, True] Translation: X:222.71, Y:14.14, Z:8.08 [[ 9.95774498e-01 -8.23603116e-02 -4.06193105e-02 2.22711341e+02] [ 8.23170577e-02 9.96602428e-01 -2.73908264e-03 1.41361542e+01] [ 4.07068951e-02 -6.16153481e-04 9.99170941e-01 8.08363564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42509989299995 meters 0.015139165970618962 Centerline is valid? [True, True] Translation: X:222.77, Y:14.14, Z:8.08 [[ 9.95449022e-01 -8.61894095e-02 -4.06525453e-02 2.22773606e+02] [ 8.61493604e-02 9.96278467e-01 -2.73921783e-03 1.41353208e+01] [ 4.07373471e-02 -7.75439067e-04 9.99169589e-01 8.08448027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48509989299995 meters 0.015524282543871348 Centerline is valid? [True, True] Translation: X:222.84, Y:14.14, Z:8.09 [[ 9.95325009e-01 -8.76375398e-02 -4.05929544e-02 2.22835349e+02] [ 8.75989270e-02 9.96152078e-01 -2.73235995e-03 1.41372226e+01] [ 4.06762132e-02 -8.36313056e-04 9.99172030e-01 8.08565361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54509989299996 meters 0.015754728736374877 Centerline is valid? [True, True] Translation: X:222.90, Y:14.14, Z:8.09 [[ 9.95165606e-01 -8.93102489e-02 -4.08545767e-02 2.22897662e+02] [ 8.92726380e-02 9.96003437e-01 -2.74769522e-03 1.41393610e+01] [ 4.09366962e-02 -9.12784064e-04 9.99161325e-01 8.08641894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60509989299996 meters 0.016244840666782473 Centerline is valid? [True, True] Translation: X:222.96, Y:14.14, Z:8.09 [[ 9.95065676e-01 -9.01108314e-02 -4.15251478e-02 2.22959407e+02] [ 9.00727988e-02 9.95931277e-01 -2.78975333e-03 1.41425697e+01] [ 4.16075805e-02 -9.64298505e-04 9.99133564e-01 8.08772913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66509989299996 meters 0.016534675493813558 Centerline is valid? [True, True] Translation: X:223.02, Y:14.15, Z:8.09 [[ 9.94974141e-01 -9.07979770e-02 -4.22159368e-02 2.23021075e+02] [ 9.07594157e-02 9.95868818e-01 -2.83310628e-03 1.41466185e+01] [ 4.22987754e-02 -1.01262626e-03 9.99104493e-01 8.08923590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72509989299996 meters 0.01643878218314863 Centerline is valid? [True, True] Translation: X:223.08, Y:14.15, Z:8.09 [[ 9.94831784e-01 -9.29956289e-02 -4.07619344e-02 2.23083271e+02] [ 9.29616354e-02 9.95665941e-01 -2.73271734e-03 1.41514877e+01] [ 4.08394005e-02 -1.07070202e-03 9.99165150e-01 8.09212409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78509989299997 meters 0.017562932451873757 Centerline is valid? [True, True] Translation: X:223.14, Y:14.15, Z:8.09 [[ 9.94658699e-01 -9.50884209e-02 -4.01530130e-02 2.23144787e+02] [ 9.50572526e-02 9.95468175e-01 -2.68905176e-03 1.41536427e+01] [ 4.02267442e-02 -1.14214638e-03 9.99189924e-01 8.09463908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84509989299997 meters 0.018215904766781317 Centerline is valid? [True, True] Translation: X:223.21, Y:14.16, Z:8.10 [[ 9.94230926e-01 -9.93915414e-02 -4.03260148e-02 2.23205903e+02] [ 9.93637238e-02 9.95047521e-01 -2.69849980e-03 1.41570003e+01] [ 4.03945091e-02 -1.32401104e-03 9.99182932e-01 8.09723826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90509989299997 meters 0.02062254020128959 Centerline is valid? [True, True] Translation: X:223.27, Y:14.16, Z:8.10 [[ 9.93884862e-01 -1.02582924e-01 -4.08610500e-02 2.23266995e+02] [ 1.02557120e-01 9.94723363e-01 -2.73272830e-03 1.41567744e+01] [ 4.09257724e-02 -1.47457433e-03 9.99161102e-01 8.09886255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96509989299997 meters 0.023004248188957327 Centerline is valid? [True, True] Translation: X:223.33, Y:14.16, Z:8.10 [[ 9.93246568e-01 -1.08188092e-01 -4.19117145e-02 2.23327821e+02] [ 1.08166012e-01 9.94128900e-01 -2.80085741e-03 1.41568855e+01] [ 4.19686660e-02 -1.75148102e-03 9.99117392e-01 8.10035564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02509989299995 meters 0.02371774703576357 Centerline is valid? [True, True] Translation: X:223.39, Y:14.16, Z:8.10 [[ 9.92779322e-01 -1.12581762e-01 -4.14072971e-02 2.23388878e+02] [ 1.12564053e-01 9.93640620e-01 -2.76637651e-03 1.41610029e+01] [ 4.14554158e-02 -1.91457177e-03 9.99138520e-01 8.10414694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08509989299995 meters 0.025169338119753634 Centerline is valid? [True, True] Translation: X:223.45, Y:14.16, Z:8.11 [[ 9.92636888e-01 -1.14161094e-01 -4.04876931e-02 2.23450880e+02] [ 1.14145533e-01 9.93460361e-01 -2.70340002e-03 1.41643271e+01] [ 4.05315413e-02 -1.93799475e-03 9.99176380e-01 8.10719415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14509989299995 meters 0.02322694883618536 Centerline is valid? [True, True] Translation: X:223.51, Y:14.17, Z:8.11 [[ 9.92679244e-01 -1.14024498e-01 -3.98287873e-02 2.23513094e+02] [ 1.14009445e-01 9.93476114e-01 -2.65650356e-03 1.41736839e+01] [ 3.98718553e-02 -1.90380198e-03 9.99202988e-01 8.11006010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20509989299995 meters 0.02314552184025401 Centerline is valid? [True, True] Translation: X:223.58, Y:14.18, Z:8.11 [[ 9.92888364e-01 -1.12187640e-01 -3.98325148e-02 2.23575341e+02] [ 1.12171284e-01 9.93685347e-01 -2.65237889e-03 1.41807236e+01] [ 3.98785504e-02 -1.83454819e-03 9.99202850e-01 8.11271663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26509989299996 meters 0.02290327415750776 Centerline is valid? [True, True] Translation: X:223.64, Y:14.19, Z:8.11 [[ 9.93057942e-01 -1.10360859e-01 -4.06989502e-02 2.23637523e+02] [ 1.10342406e-01 9.93889948e-01 -2.70635891e-03 1.41868357e+01] [ 4.07489536e-02 -1.80324888e-03 9.99167789e-01 8.11480890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32509989299996 meters 0.020892407750402728 Centerline is valid? [True, True] Translation: X:223.70, Y:14.20, Z:8.12 [[ 9.93299093e-01 -1.07729591e-01 -4.18479061e-02 2.23698666e+02] [ 1.07707879e-01 9.94178699e-01 -2.77973241e-03 1.41965126e+01] [ 4.19037563e-02 -1.74624354e-03 9.99120126e-01 8.11719446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38509989299996 meters 0.020831440784250758 Centerline is valid? [True, True] Translation: X:223.76, Y:14.20, Z:8.12 [[ 9.93523520e-01 -1.05224515e-01 -4.28814189e-02 2.23760104e+02] [ 1.05199494e-01 9.94447066e-01 -2.84595819e-03 1.42029669e+01] [ 4.29427658e-02 -1.68357715e-03 9.99076115e-01 8.11931474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44509989299996 meters 0.018409177739881346 Centerline is valid? [True, True] Translation: X:223.82, Y:14.21, Z:8.12 [[ 9.93982353e-01 -1.00201148e-01 -4.42584777e-02 2.23820130e+02] [ 1.00169621e-01 9.94966046e-01 -2.93512398e-03 1.42146339e+01] [ 4.43297854e-02 -1.51589352e-03 9.99015802e-01 8.12195112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50509989299997 meters 0.01790712367183197 Centerline is valid? [True, True] Translation: X:223.88, Y:14.22, Z:8.12 [[ 9.94446422e-01 -9.56083890e-02 -4.39926076e-02 2.23880446e+02] [ 9.55727915e-02 9.95418171e-01 -2.91656049e-03 1.42223146e+01] [ 4.40698886e-02 -1.30413317e-03 9.99027599e-01 8.12437333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56509989299997 meters 0.016015335074389007 Centerline is valid? [True, True] Translation: X:223.94, Y:14.23, Z:8.13 [[ 9.95116354e-01 -8.86223706e-02 -4.34685830e-02 2.23940707e+02] [ 8.85810179e-02 9.96064811e-01 -2.88036137e-03 1.42335020e+01] [ 4.35527903e-02 -9.84196624e-04 9.99050642e-01 8.12701203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62509989299997 meters 0.015406697198043237 Centerline is valid? [True, True] Translation: X:224.00, Y:14.24, Z:8.13 [[ 9.95463812e-01 -8.46377362e-02 -4.34540224e-02 2.24000758e+02] [ 8.45926510e-02 9.96411460e-01 -2.87861594e-03 1.42403572e+01] [ 4.35417255e-02 -8.10332956e-04 9.99051281e-01 8.12878412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68509989299997 meters 0.014304969215220802 Centerline is valid? [True, True] Translation: X:224.06, Y:14.25, Z:8.13 [[ 9.95756986e-01 -8.13195283e-02 -4.30715646e-02 2.24062328e+02] [ 8.12721775e-02 9.96687864e-01 -2.85219602e-03 1.42490729e+01] [ 4.31608449e-02 -6.60425730e-04 9.99067918e-01 8.13168616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74509989299995 meters 0.01376643450201149 Centerline is valid? [True, True] Translation: X:224.12, Y:14.26, Z:8.13 [[ 9.96148917e-01 -7.60227465e-02 -4.36792480e-02 2.24123681e+02] [ 7.59690962e-02 9.97105987e-01 -2.88930716e-03 1.42573134e+01] [ 4.37724927e-02 -4.40092791e-04 9.99041428e-01 8.13331892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80509989299995 meters 0.01353111840594022 Centerline is valid? [True, True] Translation: X:224.18, Y:14.26, Z:8.14 [[ 9.96318664e-01 -7.36448908e-02 -4.38810953e-02 2.24184817e+02] [ 7.35885382e-02 9.97284470e-01 -2.90038086e-03 1.42628551e+01] [ 4.39755331e-02 -3.39442076e-04 9.99032551e-01 8.13555669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86509989299995 meters 0.013187540796903468 Centerline is valid? [True, True] Translation: X:224.24, Y:14.27, Z:8.14 [[ 9.96782248e-01 -6.60951558e-02 -4.53495423e-02 2.24244208e+02] [ 6.60272228e-02 9.97813324e-01 -2.99592029e-03 1.42726766e+01] [ 4.54483934e-02 -8.02416761e-06 9.98966688e-01 8.13791290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92509989299995 meters 0.013323213383078557 Centerline is valid? [True, True] Translation: X:224.30, Y:14.28, Z:8.14 [[ 9.97092787e-01 -6.11085338e-02 -4.55161538e-02 2.24301995e+02] [ 6.10349114e-02 9.98131103e-01 -3.00680831e-03 1.42795779e+01] [ 4.56148305e-02 2.19992466e-04 9.98959078e-01 8.14074839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98509989299995 meters 0.013931436483682396 Centerline is valid? [True, True] Translation: X:224.36, Y:14.29, Z:8.14 [[ 9.97401450e-01 -5.57684942e-02 -4.56094652e-02 2.24359881e+02] [ 5.56888437e-02 9.98443617e-01 -3.01611850e-03 1.42862000e+01] [ 4.57066838e-02 4.68342588e-04 9.98954794e-01 8.14403824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04509989299996 meters 0.013904982131856819 Centerline is valid? [True, True] Translation: X:224.42, Y:14.29, Z:8.15 [[ 9.97364500e-01 -5.60047616e-02 -4.61250525e-02 2.24417902e+02] [ 5.59232893e-02 9.98430392e-01 -3.05587975e-03 1.42892451e+01] [ 4.62237981e-02 4.68361330e-04 9.98930999e-01 8.14699910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10509989299996 meters 0.013662935491499537 Centerline is valid? [True, True] Translation: X:224.48, Y:14.29, Z:8.15 [[ 9.97206357e-01 -5.84845378e-02 -4.64654837e-02 2.24475318e+02] [ 5.84040338e-02 9.98288247e-01 -3.08945369e-03 1.42901567e+01] [ 4.65666315e-02 3.67051175e-04 9.98915119e-01 8.14909900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16509989299996 meters 0.012811751158892251 Centerline is valid? [True, True] Translation: X:224.53, Y:14.28, Z:8.15 [[ 9.96563013e-01 -6.75606200e-02 -4.79345831e-02 2.24534718e+02] [ 6.74851421e-02 9.97715170e-01 -3.19307825e-03 1.42840377e+01] [ 4.80407870e-02 -5.27684654e-05 9.98845373e-01 8.15234993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22509989299996 meters 0.013087737632919672 Centerline is valid? [True, True] Translation: X:224.59, Y:14.28, Z:8.15 [[ 9.95942367e-01 -7.57972745e-02 -4.85136558e-02 2.24593461e+02] [ 7.57291790e-02 9.97123150e-01 -3.24278506e-03 1.42800475e+01] [ 4.86198835e-02 -4.44272291e-04 9.98817255e-01 8.15381251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28509989299997 meters 0.015441875874142181 Centerline is valid? [True, True] Translation: X:224.65, Y:14.27, Z:8.15 [[ 9.94932917e-01 -8.81013580e-02 -4.84421370e-02 2.24653323e+02] [ 8.80477513e-02 9.96110974e-01 -3.24352989e-03 1.42704589e+01] [ 4.85395036e-02 -1.03812657e-03 9.98820724e-01 8.15450570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34509989299997 meters 0.017206810982560147 Centerline is valid? [True, True] Translation: X:224.71, Y:14.27, Z:8.16 [[ 9.94361469e-01 -9.45716298e-02 -4.79736975e-02 2.24714216e+02] [ 9.45265255e-02 9.95517158e-01 -3.21312224e-03 1.42681503e+01] [ 4.80625092e-02 -1.33978199e-03 9.98843431e-01 8.15676279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40509989299997 meters 0.025182715870231777 Centerline is valid? [True, True] Translation: X:224.77, Y:14.26, Z:8.16 [[ 9.93778266e-01 -1.00850420e-01 -4.72646944e-02 2.24774837e+02] [ 1.00813776e-01 9.94900281e-01 -3.16456211e-03 1.42563675e+01] [ 4.73428051e-02 -1.62005925e-03 9.98877387e-01 8.15596870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46509989299997 meters 0.020339089807770525 Centerline is valid? [True, True] Translation: X:224.84, Y:14.27, Z:8.16 [[ 9.93393975e-01 -1.05675894e-01 -4.47327108e-02 2.24835503e+02] [ 1.05647933e-01 9.94399086e-01 -2.99539996e-03 1.42659613e+01] [ 4.47987083e-02 -1.75030615e-03 9.98994501e-01 8.16289268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52509989299995 meters 0.021104426693961023 Centerline is valid? [True, True] Translation: X:224.90, Y:14.27, Z:8.17 [[ 9.93205677e-01 -1.08373917e-01 -4.23978450e-02 2.24897898e+02] [ 1.08351319e-01 9.94108616e-01 -2.83739372e-03 1.42680598e+01] [ 4.24555625e-02 -1.77574689e-03 9.99096778e-01 8.16711072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58509989299995 meters 0.02364388799425258 Centerline is valid? [True, True] Translation: X:224.96, Y:14.27, Z:8.17 [[ 9.92949776e-01 -1.11583881e-01 -3.99972397e-02 2.24958222e+02] [ 1.11566470e-01 9.93753376e-01 -2.67411488e-03 1.42682658e+01] [ 4.00457801e-02 -1.80708907e-03 9.99196212e-01 8.17128213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64509989299995 meters 0.02404210098136137 Centerline is valid? [True, True] Translation: X:225.02, Y:14.27, Z:8.17 [[ 9.92786463e-01 -1.12972129e-01 -4.01539090e-02 2.25020067e+02] [ 1.12955749e-01 9.93596395e-01 -2.68370657e-03 1.42715457e+01] [ 4.01999633e-02 -1.87126733e-03 9.99189903e-01 8.17359662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70509989299995 meters 0.024092309951141002 Centerline is valid? [True, True] Translation: X:225.08, Y:14.27, Z:8.17 [[ 9.92536519e-01 -1.14401219e-01 -4.22329258e-02 2.25082622e+02] [ 1.14384526e-01 9.93432550e-01 -2.81948002e-03 1.42745475e+01] [ 4.22781151e-02 -2.03235632e-03 9.99103814e-01 8.17353990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76509989299996 meters 0.02456215088477687 Centerline is valid? [True, True] Translation: X:225.15, Y:14.28, Z:8.17 [[ 9.92394549e-01 -1.14937944e-01 -4.40718436e-02 2.25145037e+02] [ 1.14920443e-01 9.93370351e-01 -2.93893117e-03 1.42774455e+01] [ 4.41174574e-02 -2.14817652e-03 9.99024041e-01 8.17427021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82509989299996 meters 0.02536188529435801 Centerline is valid? [True, True] Translation: X:225.21, Y:14.28, Z:8.18 [[ 9.92491643e-01 -1.13479434e-01 -4.56372379e-02 2.25206704e+02] [ 1.13459287e-01 9.93537996e-01 -3.03994117e-03 1.42806632e+01] [ 4.56873006e-02 -2.16085229e-03 9.98953453e-01 8.17553459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88509989299996 meters 0.021603227169587826 Centerline is valid? [True, True] Translation: X:225.27, Y:14.29, Z:8.18 [[ 9.93162967e-01 -1.06937596e-01 -4.68153013e-02 2.25266973e+02] [ 1.06909271e-01 9.94263899e-01 -3.11568363e-03 1.42927559e+01] [ 4.68799477e-02 -1.91060815e-03 9.98898704e-01 8.17795077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94509989299996 meters 0.01874882312590551 Centerline is valid? [True, True] Translation: X:225.33, Y:14.30, Z:8.18 [[ 9.94029592e-01 -9.89766239e-02 -4.59216615e-02 2.25326377e+02] [ 9.89408872e-02 9.95088620e-01 -3.05612375e-03 1.43038392e+01] [ 4.59986076e-02 -1.50565249e-03 9.98940369e-01 8.18119766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00509989299997 meters 0.014618398296074519 Centerline is valid? [True, True] Translation: X:225.39, Y:14.32, Z:8.19 [[ 9.95495404e-01 -8.45561148e-02 -4.28854753e-02 2.25385959e+02] [ 8.45115673e-02 9.96418411e-01 -2.85394397e-03 1.43210407e+01] [ 4.29731956e-02 -7.83230629e-04 9.99075919e-01 8.18704681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06509989299997 meters 0.013144659479125279 Centerline is valid? [True, True] Translation: X:225.45, Y:14.33, Z:8.19 [[ 9.96406279e-01 -7.41839464e-02 -4.08811600e-02 2.25446831e+02] [ 7.41347672e-02 9.97244523e-01 -2.71975632e-03 1.43324795e+01] [ 4.09702752e-02 -3.20733007e-04 9.99160314e-01 8.19087031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12509989299997 meters 0.012840560680617534 Centerline is valid? [True, True] Translation: X:225.51, Y:14.34, Z:8.19 [[ 9.97226513e-01 -6.28491484e-02 -3.98656103e-02 2.25507044e+02] [ 6.27934055e-02 9.98023028e-01 -2.65011901e-03 1.43437510e+01] [ 3.99533549e-02 1.39471505e-04 9.99201536e-01 8.19369114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18509989299997 meters 0.013118835311134974 Centerline is valid? [True, True] Translation: X:225.57, Y:14.35, Z:8.20 [[ 9.97471347e-01 -5.89497635e-02 -3.96968257e-02 2.25567341e+02] [ 5.88914569e-02 9.98260908e-01 -2.63757972e-03 1.43493095e+01] [ 3.97832740e-02 2.93106296e-04 9.99208289e-01 8.19601994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24509989299995 meters 0.013348998386864437 Centerline is valid? [True, True] Translation: X:225.63, Y:14.35, Z:8.20 [[ 9.97390097e-01 -5.82654163e-02 -4.26396003e-02 2.25626056e+02] [ 5.81974987e-02 9.98301068e-01 -2.83347962e-03 1.43500615e+01] [ 4.27322523e-02 3.44566431e-04 9.99086501e-01 8.19533017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30509989299995 meters 0.013167714843177615 Centerline is valid? [True, True] Translation: X:225.68, Y:14.35, Z:8.20 [[ 9.97317167e-01 -5.88791475e-02 -4.34938324e-02 2.25683951e+02] [ 5.88088702e-02 9.98265064e-01 -2.89466514e-03 1.43499949e+01] [ 4.35888088e-02 3.29076094e-04 9.99049502e-01 8.19656787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36509989299995 meters 0.013526489359851625 Centerline is valid? [True, True] Translation: X:225.74, Y:14.35, Z:8.20 [[ 9.97387225e-01 -5.79199088e-02 -4.31741580e-02 2.25742113e+02] [ 5.78492793e-02 9.98321161e-01 -2.88455908e-03 1.43511519e+01] [ 4.32687489e-02 3.79428455e-04 9.99063397e-01 8.19808362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42509989299995 meters 0.013402845945611438 Centerline is valid? [True, True] Translation: X:225.80, Y:14.35, Z:8.20 [[ 9.97498472e-01 -5.64756933e-02 -4.25122857e-02 2.25801049e+02] [ 5.64057075e-02 9.98403877e-01 -2.84491962e-03 1.43510254e+01] [ 4.26050997e-02 4.39867416e-04 9.99091894e-01 8.20128251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48509989299995 meters 0.013528904745371023 Centerline is valid? [True, True] Translation: X:225.86, Y:14.35, Z:8.20 [[ 9.97647339e-01 -5.58090827e-02 -3.98137215e-02 2.25858781e+02] [ 5.57467906e-02 9.98441358e-01 -2.67392885e-03 1.43491997e+01] [ 3.99008957e-02 4.48150809e-04 9.99203542e-01 8.20473082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54509989299996 meters 0.013422776556004988 Centerline is valid? [True, True] Translation: X:225.92, Y:14.35, Z:8.21 [[ 9.97529701e-01 -5.73146617e-02 -4.06143404e-02 2.25917934e+02] [ 5.72506085e-02 9.98356081e-01 -2.73939133e-03 1.43477121e+01] [ 4.07045810e-02 4.07428511e-04 9.99171142e-01 8.20573599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60509989299996 meters 0.01308793673762079 Centerline is valid? [True, True] Translation: X:225.98, Y:14.34, Z:8.21 [[ 9.97440656e-01 -5.95772172e-02 -3.95309141e-02 2.25976776e+02] [ 5.95179349e-02 9.98223650e-01 -2.67586048e-03 1.43422452e+01] [ 3.96201136e-02 3.16213665e-04 9.99214765e-01 8.20789945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66509989299996 meters 0.013029579568451976 Centerline is valid? [True, True] Translation: X:226.03, Y:14.34, Z:8.21 [[ 9.97427985e-01 -6.03573974e-02 -3.86574559e-02 2.26034724e+02] [ 6.03009151e-02 9.98176789e-01 -2.62647566e-03 1.43400023e+01] [ 3.87455024e-02 2.88640363e-04 9.99249069e-01 8.21073973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72509989299996 meters 0.013171840699798426 Centerline is valid? [True, True] Translation: X:226.09, Y:14.34, Z:8.21 [[ 9.97418758e-01 -6.01920217e-02 -3.91502345e-02 2.26094019e+02] [ 6.01335114e-02 9.98186768e-01 -2.67143501e-03 1.43383485e+01] [ 3.92400452e-02 3.10298312e-04 9.99229765e-01 8.21273342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78509989299997 meters 0.013193744943234366 Centerline is valid? [True, True] Translation: X:226.15, Y:14.34, Z:8.21 [[ 9.97415823e-01 -5.97908418e-02 -3.98338069e-02 2.26152261e+02] [ 5.97295340e-02 9.98210869e-01 -2.72848350e-03 1.43376286e+01] [ 3.99256773e-02 3.42177897e-04 9.99202594e-01 8.21396734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84509989299997 meters 0.013324036787595188 Centerline is valid? [True, True] Translation: X:226.21, Y:14.34, Z:8.22 [[ 9.97386337e-01 -5.97323491e-02 -4.06514537e-02 2.26210675e+02] [ 5.96679821e-02 9.98214363e-01 -2.79593207e-03 1.43369326e+01] [ 4.07458726e-02 3.63034229e-04 9.99169476e-01 8.21537352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90509989299997 meters 0.013267689774838562 Centerline is valid? [True, True] Translation: X:226.27, Y:14.33, Z:8.22 [[ 9.97216556e-01 -6.11549828e-02 -4.26521777e-02 2.26269336e+02] [ 6.10852024e-02 9.98128229e-01 -2.93864312e-03 1.43318519e+01] [ 4.27520553e-02 3.25046666e-04 9.99085660e-01 8.21596165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96509989299997 meters 0.013130476868990626 Centerline is valid? [True, True] Translation: X:226.33, Y:14.33, Z:8.22 [[ 9.97033637e-01 -6.35853623e-02 -4.33685078e-02 2.26327903e+02] [ 6.35149537e-02 9.97976375e-01 -3.00089016e-03 1.43296056e+01] [ 4.34715589e-02 2.37439673e-04 9.99054637e-01 8.21723232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02509989299995 meters 0.012888949668069982 Centerline is valid? [True, True] Translation: X:226.39, Y:14.32, Z:8.22 [[ 9.96677070e-01 -6.94213116e-02 -4.26086896e-02 2.26387044e+02] [ 6.93581651e-02 9.97587430e-01 -2.96031250e-03 1.43240120e+01] [ 4.27114019e-02 -4.78494417e-06 9.99087452e-01 8.22090393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08509989299995 meters 0.013164445951471222 Centerline is valid? [True, True] Translation: X:226.45, Y:14.32, Z:8.22 [[ 9.96141657e-01 -7.71525218e-02 -4.18244825e-02 2.26446588e+02] [ 7.70980469e-02 9.97019251e-01 -2.91631190e-03 1.43164310e+01] [ 4.19248150e-02 -3.19526150e-04 9.99120717e-01 8.22315976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14509989299995 meters 0.013968915381617344 Centerline is valid? [True, True] Translation: X:226.51, Y:14.31, Z:8.22 [[ 9.95570546e-01 -8.42251520e-02 -4.17781270e-02 2.26505984e+02] [ 8.41765726e-02 9.96446565e-01 -2.92370739e-03 1.43088509e+01] [ 4.18759209e-02 -6.05982584e-04 9.99122635e-01 8.22480303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20509989299995 meters 0.014284818715647313 Centerline is valid? [True, True] Translation: X:226.56, Y:14.31, Z:8.23 [[ 9.95363696e-01 -8.69532796e-02 -4.11125186e-02 2.26564479e+02] [ 8.69081548e-02 9.96212145e-01 -2.88697893e-03 1.43070371e+01] [ 4.12078226e-02 -6.99419106e-04 9.99150352e-01 8.22752499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26509989299996 meters 0.01441523551839621 Centerline is valid? [True, True] Translation: X:226.62, Y:14.31, Z:8.23 [[ 9.95343357e-01 -8.70974789e-02 -4.12992792e-02 2.26622964e+02] [ 8.70518094e-02 9.96199546e-01 -2.90631595e-03 1.43080264e+01] [ 4.13954560e-02 -7.02394701e-04 9.99142594e-01 8.22953459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32509989299996 meters 0.013604598575204175 Centerline is valid? [True, True] Translation: X:226.68, Y:14.31, Z:8.23 [[ 9.95793565e-01 -8.16273875e-02 -4.16190627e-02 2.26681270e+02] [ 8.15757854e-02 9.96662807e-01 -2.93949638e-03 1.43112048e+01] [ 4.17201153e-02 -4.67976145e-04 9.99129227e-01 8.23169450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38509989299996 meters 0.013009673380006786 Centerline is valid? [True, True] Translation: X:226.74, Y:14.32, Z:8.23 [[ 9.96522468e-01 -7.22247009e-02 -4.15519373e-02 2.26738533e+02] [ 7.21646893e-02 9.97388384e-01 -2.94434906e-03 1.43169924e+01] [ 4.16560744e-02 -6.44726575e-05 9.99132007e-01 8.23303764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44509989299996 meters 0.013363648131817875 Centerline is valid? [True, True] Translation: X:226.80, Y:14.32, Z:8.24 [[ 9.97158353e-01 -6.32234555e-02 -4.09635721e-02 2.26796719e+02] [ 6.31573624e-02 9.97999348e-01 -2.90687323e-03 1.43237391e+01] [ 4.10654008e-02 3.11461754e-04 9.99156412e-01 8.23533908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50509989299997 meters 0.013940988281204093 Centerline is valid? [True, True] Translation: X:226.85, Y:14.33, Z:8.23 [[ 9.97279640e-01 -6.02000587e-02 -4.25355459e-02 2.26854955e+02] [ 6.01256019e-02 9.98186224e-01 -3.02877730e-03 1.43260219e+01] [ 4.26407285e-02 4.63062634e-04 9.99090363e-01 8.23492099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56509989299997 meters 0.01299536643524591 Centerline is valid? [True, True] Translation: X:226.91, Y:14.32, Z:8.24 [[ 9.96697471e-01 -6.86537795e-02 -4.33683082e-02 2.26914674e+02] [ 6.85840901e-02 9.97640540e-01 -3.09452969e-03 1.43209794e+01] [ 4.34784335e-02 1.09933962e-04 9.99054360e-01 8.23603652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62509989299997 meters 0.012881529737370263 Centerline is valid? [True, True] Translation: X:226.97, Y:14.32, Z:8.24 [[ 9.96345785e-01 -7.34738734e-02 -4.35507447e-02 2.26972311e+02] [ 7.34077464e-02 9.97297138e-01 -3.11785727e-03 1.43210906e+01] [ 4.36621141e-02 -9.04980687e-05 9.99046351e-01 8.23797223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68509989299997 meters 0.013804686962044635 Centerline is valid? [True, True] Translation: X:227.03, Y:14.32, Z:8.24 [[ 9.95576077e-01 -8.36265487e-02 -4.28354412e-02 2.27031036e+02] [ 8.35714896e-02 9.96497032e-01 -3.07763418e-03 1.43167931e+01] [ 4.29427619e-02 -5.15802662e-04 9.99077401e-01 8.24086852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74509989299995 meters 0.016292169496078132 Centerline is valid? [True, True] Translation: X:227.09, Y:14.31, Z:8.24 [[ 9.94687262e-01 -9.39776125e-02 -4.20173586e-02 2.27091526e+02] [ 9.39336409e-02 9.95573868e-01 -3.02396471e-03 1.43111865e+01] [ 4.21155692e-02 -9.38944291e-04 9.99112305e-01 8.24334838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80509989299995 meters 0.02007834831682824 Centerline is valid? [True, True] Translation: X:227.15, Y:14.31, Z:8.25 [[ 9.93815324e-01 -1.03344282e-01 -4.06332460e-02 2.27151811e+02] [ 1.03310943e-01 9.94644807e-01 -2.92505912e-03 1.43053280e+01] [ 4.07179352e-02 -1.29089039e-03 9.99169847e-01 8.24573596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86509989299995 meters 0.022463784492602834 Centerline is valid? [True, True] Translation: X:227.21, Y:14.30, Z:8.25 [[ 9.92663561e-01 -1.14433340e-01 -3.90392815e-02 2.27211909e+02] [ 1.14411080e-01 9.93429515e-01 -2.81119108e-03 1.43035165e+01] [ 3.91044685e-02 -1.67595942e-03 9.99233722e-01 8.24912070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92509989299995 meters 0.022438985994084296 Centerline is valid? [True, True] Translation: X:227.27, Y:14.31, Z:8.25 [[ 9.92084080e-01 -1.19269809e-01 -3.92923855e-02 2.27271667e+02] [ 1.19251016e-01 9.92860104e-01 -2.83007879e-03 1.43075021e+01] [ 3.93493849e-02 -1.87798077e-03 9.99223748e-01 8.25125609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98509989299995 meters 0.02436966598562692 Centerline is valid? [True, True] Translation: X:227.33, Y:14.31, Z:8.25 [[ 9.91700943e-01 -1.22694515e-01 -3.84095905e-02 2.27332142e+02] [ 1.22679090e-01 9.92442534e-01 -2.76716889e-03 1.43087809e+01] [ 3.84588277e-02 -1.96784962e-03 9.99258248e-01 8.25327769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04509989299996 meters 0.025326885729516184 Centerline is valid? [True, True] Translation: X:227.39, Y:14.31, Z:8.26 [[ 9.91704958e-01 -1.23007806e-01 -3.72874757e-02 2.27390703e+02] [ 1.22993488e-01 9.92403842e-01 -2.68634743e-03 1.43129625e+01] [ 3.73346759e-02 -1.92205264e-03 9.99300970e-01 8.25573670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10509989299996 meters 0.024124944462301408 Centerline is valid? [True, True] Translation: X:227.45, Y:14.32, Z:8.26 [[ 9.92007081e-01 -1.20604932e-01 -3.70998840e-02 2.27449754e+02] [ 1.20588732e-01 9.92698929e-01 -2.68223222e-03 1.43235477e+01] [ 3.71525056e-02 -1.81303461e-03 9.99307963e-01 8.25779905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16509989299996 meters 0.021462463978220523 Centerline is valid? [True, True] Translation: X:227.51, Y:14.34, Z:8.26 [[ 9.92536253e-01 -1.15540110e-01 -3.90162826e-02 2.27508729e+02] [ 1.15518233e-01 9.93301350e-01 -2.82223937e-03 1.43376559e+01] [ 3.90810081e-02 -1.70591713e-03 9.99234589e-01 8.25793169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22509989299996 meters 0.02030649903761851 Centerline is valid? [True, True] Translation: X:227.57, Y:14.35, Z:8.26 [[ 9.93033746e-01 -1.11056947e-01 -3.93742775e-02 2.27567591e+02] [ 1.11031119e-01 9.93812847e-01 -2.84887555e-03 1.43478228e+01] [ 3.94470503e-02 -1.54274052e-03 9.99220471e-01 8.25908918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28509989299997 meters 0.017792704295210557 Centerline is valid? [True, True] Translation: X:227.63, Y:14.37, Z:8.26 [[ 9.93760362e-01 -1.03783149e-01 -4.08583076e-02 2.27626650e+02] [ 1.03749138e-01 9.94599099e-01 -2.95768045e-03 1.43655473e+01] [ 4.09445933e-02 -1.29978860e-03 9.99160573e-01 8.26086280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34509989299997 meters 0.016867568125005547 Centerline is valid? [True, True] Translation: X:227.68, Y:14.38, Z:8.26 [[ 9.94311148e-01 -9.81764312e-02 -4.13125792e-02 2.27684908e+02] [ 9.81368106e-02 9.95168439e-01 -2.99087815e-03 1.43765796e+01] [ 4.14066087e-02 -1.08042128e-03 9.99141794e-01 8.26233978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40509989299997 meters 0.015291176930860618 Centerline is valid? [True, True] Translation: X:227.74, Y:14.39, Z:8.26 [[ 9.94833991e-01 -9.26269005e-02 -4.15401821e-02 2.27744030e+02] [ 9.25819403e-02 9.95700523e-01 -3.00894282e-03 1.43891782e+01] [ 4.16402901e-02 -8.52472068e-04 9.99132303e-01 8.26444079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46509989299994 meters 0.014148874486247758 Centerline is valid? [True, True] Translation: X:227.80, Y:14.40, Z:8.27 [[ 9.95453468e-01 -8.59535254e-02 -4.10412494e-02 2.27802278e+02] [ 8.59038499e-02 9.96298988e-01 -2.97566736e-03 1.44043517e+01] [ 4.11451244e-02 -5.63462938e-04 9.99153022e-01 8.26681812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52509989299995 meters 0.013685355591370844 Centerline is valid? [True, True] Translation: X:227.86, Y:14.41, Z:8.27 [[ 9.95687272e-01 -8.31932191e-02 -4.10578256e-02 2.27860597e+02] [ 8.31407537e-02 9.96533339e-01 -2.98667026e-03 1.44149949e+01] [ 4.11639627e-02 -4.39789004e-04 9.99152308e-01 8.26888910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58509989299995 meters 0.013820187810323561 Centerline is valid? [True, True] Translation: X:227.92, Y:14.42, Z:8.27 [[ 9.95819894e-01 -8.19804441e-02 -4.02733773e-02 2.27918081e+02] [ 8.19285796e-02 9.96633869e-01 -2.93935281e-03 1.44238068e+01] [ 4.03787813e-02 -3.72474592e-04 9.99184375e-01 8.27138132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64509989299995 meters 0.013825409377787656 Centerline is valid? [True, True] Translation: X:227.98, Y:14.43, Z:8.27 [[ 9.95801079e-01 -8.23645259e-02 -3.99536832e-02 2.27976858e+02] [ 8.23136289e-02 9.96602197e-01 -2.92005891e-03 1.44296116e+01] [ 4.00584377e-02 -3.80934839e-04 9.99197266e-01 8.27425343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70509989299995 meters 0.013857127910797734 Centerline is valid? [True, True] Translation: X:228.04, Y:14.44, Z:8.28 [[ 9.95683623e-01 -8.43018867e-02 -3.88241634e-02 2.28036156e+02] [ 8.42549480e-02 9.96440164e-01 -2.84652626e-03 1.44380202e+01] [ 3.89259233e-02 -4.36888286e-04 9.99242004e-01 8.27797748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76509989299996 meters 0.014405336276592108 Centerline is valid? [True, True] Translation: X:228.10, Y:14.44, Z:8.28 [[ 9.95426411e-01 -8.74917598e-02 -3.83595131e-02 2.28095707e+02] [ 8.74482526e-02 9.96165090e-01 -2.81381137e-03 1.44425902e+01] [ 3.84585931e-02 -5.53530241e-04 9.99260041e-01 8.28060737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82509989299996 meters 0.015192829951259423 Centerline is valid? [True, True] Translation: X:228.16, Y:14.45, Z:8.28 [[ 9.94859011e-01 -9.40790656e-02 -3.74790349e-02 2.28156396e+02] [ 9.40421923e-02 9.95564416e-01 -2.74947226e-03 1.44458406e+01] [ 3.75714613e-02 -7.89273354e-04 9.99293632e-01 8.28263408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88509989299996 meters 0.017227928059448096 Centerline is valid? [True, True] Translation: X:228.22, Y:14.45, Z:8.28 [[ 9.94388374e-01 -9.90147108e-02 -3.72538323e-02 2.28216665e+02] [ 9.89817640e-02 9.95085496e-01 -2.73226267e-03 1.44461900e+01] [ 3.73412824e-02 -9.70519807e-04 9.99302100e-01 8.28456564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94509989299996 meters 0.01884890386017869 Centerline is valid? [True, True] Translation: X:228.28, Y:14.45, Z:8.29 [[ 9.93591255e-01 -1.06112073e-01 -3.89441320e-02 2.28277225e+02] [ 1.06081574e-01 9.94353333e-01 -2.85457820e-03 1.44487129e+01] [ 3.90271327e-02 -1.29497089e-03 9.99237312e-01 8.28508144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00509989299997 meters 0.02052737744312754 Centerline is valid? [True, True] Translation: X:228.34, Y:14.45, Z:8.29 [[ 9.93086756e-01 -1.10576820e-01 -3.93886093e-02 2.28338560e+02] [ 1.10549155e-01 9.93866466e-01 -2.88640073e-03 1.44504765e+01] [ 3.94661869e-02 -1.48793114e-03 9.99219799e-01 8.28645312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06509989299997 meters 0.0209264830242344 Centerline is valid? [True, True] Translation: X:228.40, Y:14.45, Z:8.29 [[ 9.92400618e-01 -1.16408768e-01 -3.98749501e-02 2.28399343e+02] [ 1.16385167e-01 9.93199860e-01 -2.92065762e-03 1.44545184e+01] [ 3.99437850e-02 -1.74239028e-03 9.99200409e-01 8.28768186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12509989299997 meters 0.025954339050969413 Centerline is valid? [True, True] Translation: X:228.46, Y:14.45, Z:8.29 [[ 9.92005604e-01 -1.19465311e-01 -4.06561263e-02 2.28459497e+02] [ 1.19443363e-01 9.92836552e-01 -2.97721928e-03 1.44528390e+01] [ 4.07205627e-02 -1.90268623e-03 9.99168762e-01 8.28883775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18509989299997 meters 0.023853014795178387 Centerline is valid? [True, True] Translation: X:228.52, Y:14.46, Z:8.29 [[ 9.91668341e-01 -1.21859130e-01 -4.17642704e-02 2.28519766e+02] [ 1.21838200e-01 9.92545271e-01 -3.05566628e-03 1.44618260e+01] [ 4.18252900e-02 -2.05827603e-03 9.99122820e-01 8.29066962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24509989299995 meters 0.026117877898977147 Centerline is valid? [True, True] Translation: X:228.58, Y:14.47, Z:8.29 [[ 9.91282869e-01 -1.24580701e-01 -4.28709904e-02 2.28580117e+02] [ 1.24561220e-01 9.92206969e-01 -3.13584024e-03 1.44667085e+01] [ 4.29275606e-02 -2.23155814e-03 9.99075695e-01 8.29238778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30509989299995 meters 0.02641888746764416 Centerline is valid? [True, True] Translation: X:228.64, Y:14.47, Z:8.29 [[ 9.90966285e-01 -1.26733089e-01 -4.38696520e-02 2.28640816e+02] [ 1.26714834e-01 9.91934000e-01 -3.20796354e-03 1.44746355e+01] [ 4.39223545e-02 -2.37995194e-03 9.99032113e-01 8.29440657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36509989299995 meters 0.02594214768293656 Centerline is valid? [True, True] Translation: X:228.70, Y:14.48, Z:8.30 [[ 9.90808271e-01 -1.28241202e-01 -4.30484002e-02 2.28702514e+02] [ 1.28225115e-01 9.91740098e-01 -3.14615797e-03 1.44831891e+01] [ 4.30962917e-02 -2.40264674e-03 9.99068034e-01 8.29811431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42509989299995 meters 0.029039085364534152 Centerline is valid? [True, True] Translation: X:228.76, Y:14.49, Z:8.30 [[ 9.90519481e-01 -1.30651359e-01 -4.24426610e-02 2.28762720e+02] [ 1.30638044e-01 9.91425286e-01 -3.09908297e-03 1.44879147e+01] [ 4.24836267e-02 -2.47492417e-03 9.99094098e-01 8.30157639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48509989299995 meters 0.026540114292422052 Centerline is valid? [True, True] Translation: X:228.82, Y:14.50, Z:8.30 [[ 9.90365911e-01 -1.31772217e-01 -4.25610662e-02 2.28824217e+02] [ 1.31759904e-01 9.91276791e-01 -3.10665254e-03 1.44992043e+01] [ 4.25991676e-02 -2.53111923e-03 9.99089037e-01 8.30461879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54509989299996 meters 0.02750087505274149 Centerline is valid? [True, True] Translation: X:228.89, Y:14.51, Z:8.31 [[ 9.90254073e-01 -1.32192036e-01 -4.38421683e-02 2.28885506e+02] [ 1.32179542e-01 9.91220637e-01 -3.19655876e-03 1.45073156e+01] [ 4.38798215e-02 -2.62963238e-03 9.99033356e-01 8.30639156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60509989299996 meters 0.028082350606142906 Centerline is valid? [True, True] Translation: X:228.95, Y:14.52, Z:8.31 [[ 9.90146010e-01 -1.32559982e-01 -4.51522898e-02 2.28946814e+02] [ 1.32547337e-01 9.91171225e-01 -3.28717089e-03 1.45163425e+01] [ 4.51893977e-02 -2.73003663e-03 9.98974707e-01 8.30721362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66509989299996 meters 0.03120787331194326 Centerline is valid? [True, True] Translation: X:229.01, Y:14.52, Z:8.31 [[ 9.90130700e-01 -1.32674367e-01 -4.51520601e-02 2.29007855e+02] [ 1.32661983e-01 9.91155898e-01 -3.28399361e-03 1.45199898e+01] [ 4.51884324e-02 -2.73837893e-03 9.98974728e-01 8.30896640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72509989299996 meters 0.027603070571047706 Centerline is valid? [True, True] Translation: X:229.07, Y:14.54, Z:8.31 [[ 9.90213433e-01 -1.32207511e-01 -4.47049398e-02 2.29069426e+02] [ 1.32195010e-01 9.91218404e-01 -3.24892285e-03 1.45358198e+01] [ 4.47418911e-02 -2.69264294e-03 9.98994951e-01 8.31226905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78509989299997 meters 0.029537101217080423 Centerline is valid? [True, True] Translation: X:229.13, Y:14.54, Z:8.31 [[ 9.90363909e-01 -1.31446665e-01 -4.36016279e-02 2.29130709e+02] [ 1.31434174e-01 9.91319846e-01 -3.16559767e-03 1.45421826e+01] [ 4.36392663e-02 -2.59565027e-03 9.99043982e-01 8.31496362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84509989299997 meters 0.0293036837559935 Centerline is valid? [True, True] Translation: X:229.19, Y:14.55, Z:8.32 [[ 9.90549468e-01 -1.30392052e-01 -4.25401475e-02 2.29192122e+02] [ 1.30379320e-01 9.91459385e-01 -3.08551629e-03 1.45522021e+01] [ 4.25791553e-02 -2.48999897e-03 9.99089994e-01 8.31823259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90509989299997 meters 0.030568977994828102 Centerline is valid? [True, True] Translation: X:229.25, Y:14.56, Z:8.32 [[ 9.90630205e-01 -1.30056871e-01 -4.16774101e-02 2.29252696e+02] [ 1.30044484e-01 9.91503562e-01 -3.01978292e-03 1.45579508e+01] [ 4.17160441e-02 -2.42842911e-03 9.99126556e-01 8.32134610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96509989299994 meters 0.029226551066935405 Centerline is valid? [True, True] Translation: X:229.31, Y:14.57, Z:8.32 [[ 9.90643230e-01 -1.30300824e-01 -4.05917119e-02 2.29314446e+02] [ 1.30289466e-01 9.91471650e-01 -2.93645591e-03 1.45673893e+01] [ 4.06281542e-02 -2.37969227e-03 9.99171502e-01 8.32465502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02509989299995 meters 0.03108675789810322 Centerline is valid? [True, True] Translation: X:229.38, Y:14.57, Z:8.33 [[ 9.90666768e-01 -1.29862837e-01 -4.14125461e-02 2.29375457e+02] [ 1.29850757e-01 9.91529033e-01 -2.99288090e-03 1.45713124e+01] [ 4.14504058e-02 -2.41250283e-03 9.99137650e-01 8.32581873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08509989299995 meters 0.030988889314995445 Centerline is valid? [True, True] Translation: X:229.44, Y:14.58, Z:8.33 [[ 9.90854089e-01 -1.27718424e-01 -4.35451236e-02 2.29437072e+02] [ 1.27703115e-01 9.91807454e-01 -3.14459016e-03 1.45780639e+01] [ 4.35900003e-02 -2.44501790e-03 9.99046512e-01 8.32539259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14509989299995 meters 0.025196531847803877 Centerline is valid? [True, True] Translation: X:229.50, Y:14.59, Z:8.33 [[ 9.90941202e-01 -1.26491617e-01 -4.51154564e-02 2.29498319e+02] [ 1.26474037e-01 9.91964576e-01 -3.25540418e-03 1.45928860e+01] [ 4.51647159e-02 -2.48001979e-03 9.98976475e-01 8.32755162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20509989299995 meters 0.02867030909850183 Centerline is valid? [True, True] Translation: X:229.56, Y:14.60, Z:8.33 [[ 9.91265406e-01 -1.24227734e-01 -4.42760027e-02 2.29558725e+02] [ 1.24208680e-01 9.92250984e-01 -3.19186143e-03 1.45967093e+01] [ 4.43294249e-02 -2.33548205e-03 9.99014238e-01 8.33073158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26509989299996 meters 0.024463499054474445 Centerline is valid? [True, True] Translation: X:229.62, Y:14.61, Z:8.33 [[ 9.91614046e-01 -1.21944532e-01 -4.27915336e-02 2.29618927e+02] [ 1.21924678e-01 9.92534567e-01 -3.08332399e-03 1.46094913e+01] [ 4.28480707e-02 -2.15987656e-03 9.99079265e-01 8.33484268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32509989299996 meters 0.02348355695645662 Centerline is valid? [True, True] Translation: X:229.68, Y:14.62, Z:8.34 [[ 9.92021280e-01 -1.18826589e-01 -4.21191416e-02 2.29680190e+02] [ 1.18804618e-01 9.92913018e-01 -3.03325925e-03 1.46191493e+01] [ 4.21810758e-02 -1.99489079e-03 9.99107991e-01 8.33835780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38509989299996 meters 0.023591912249375263 Centerline is valid? [True, True] Translation: X:229.74, Y:14.62, Z:8.34 [[ 9.92088066e-01 -1.18269306e-01 -4.21146137e-02 2.29742127e+02] [ 1.18246939e-01 9.92979596e-01 -3.03053552e-03 1.46241504e+01] [ 4.21773715e-02 -1.97336607e-03 9.99108190e-01 8.34078821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44509989299996 meters 0.02504603415253089 Centerline is valid? [True, True] Translation: X:229.80, Y:14.63, Z:8.34 [[ 9.91928328e-01 -1.19293281e-01 -4.29802883e-02 2.29803825e+02] [ 1.19271078e-01 9.92856920e-01 -3.08976327e-03 1.46265465e+01] [ 4.30418646e-02 -2.06148160e-03 9.99071143e-01 8.34356441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50509989299997 meters 0.02402980899954058 Centerline is valid? [True, True] Translation: X:229.87, Y:14.63, Z:8.35 [[ 9.91748371e-01 -1.20659819e-01 -4.33171726e-02 2.29865721e+02] [ 1.20638673e-01 9.92691608e-01 -3.11152376e-03 1.46312535e+01] [ 4.33760296e-02 -2.13987762e-03 9.99056525e-01 8.34725515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56509989299997 meters 0.025549750854832652 Centerline is valid? [True, True] Translation: X:229.93, Y:14.63, Z:8.35 [[ 9.91583283e-01 -1.21517214e-01 -4.46784004e-02 2.29926730e+02] [ 1.21495732e-01 9.92586776e-01 -3.20608637e-03 1.46330985e+01] [ 4.47367841e-02 -2.24913331e-03 9.98996277e-01 8.34987580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62509989299997 meters 0.02657960902244473 Centerline is valid? [True, True] Translation: X:229.99, Y:14.64, Z:8.35 [[ 9.91424375e-01 -1.22429314e-01 -4.57030839e-02 2.29988801e+02] [ 1.22407925e-01 9.92474464e-01 -3.27695151e-03 1.46366353e+01] [ 4.57603386e-02 -2.34557007e-03 9.98949693e-01 8.35283101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68509989299997 meters 0.024469407484321172 Centerline is valid? [True, True] Translation: X:230.05, Y:14.64, Z:8.36 [[ 9.91376432e-01 -1.22507424e-01 -4.65263475e-02 2.30050875e+02] [ 1.22485503e-01 9.92464707e-01 -3.33260345e-03 1.46449344e+01] [ 4.65840265e-02 -2.39493856e-03 9.98911504e-01 8.35676291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74509989299995 meters 0.023508292887990872 Centerline is valid? [True, True] Translation: X:230.11, Y:14.65, Z:8.36 [[ 9.91660968e-01 -1.20335107e-01 -4.61301100e-02 2.30112556e+02] [ 1.20311361e-01 9.92730719e-01 -3.30101740e-03 1.46507291e+01] [ 4.61920055e-02 -2.27648621e-03 9.98929986e-01 8.35967787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80509989299995 meters 0.02342085993045058 Centerline is valid? [True, True] Translation: X:230.17, Y:14.66, Z:8.36 [[ 9.92091977e-01 -1.16869532e-01 -4.57714117e-02 2.30172150e+02] [ 1.16842568e-01 9.93145055e-01 -3.27330275e-03 1.46558384e+01] [ 4.58402005e-02 -2.10063190e-03 9.98946577e-01 8.36279316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86509989299995 meters 0.021141168078733123 Centerline is valid? [True, True] Translation: X:230.23, Y:14.67, Z:8.37 [[ 9.92715479e-01 -1.11713737e-01 -4.51222706e-02 2.30232613e+02] [ 1.11682221e-01 9.93738733e-01 -3.22673666e-03 1.46653628e+01] [ 4.52002188e-02 -1.83612396e-03 9.98976260e-01 8.36673282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92509989299995 meters 0.020413136473983413 Centerline is valid? [True, True] Translation: X:230.29, Y:14.67, Z:8.37 [[ 9.92917085e-01 -1.09776738e-01 -4.54393108e-02 2.30294426e+02] [ 1.09742812e-01 9.93954710e-01 -3.24812999e-03 1.46711579e+01] [ 4.55211861e-02 -1.76151397e-03 9.98961820e-01 8.36885019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98509989299995 meters 0.019344146354137105 Centerline is valid? [True, True] Translation: X:230.36, Y:14.68, Z:8.37 [[ 9.92963198e-01 -1.08528831e-01 -4.73875462e-02 2.30356685e+02] [ 1.08490687e-01 9.94091706e-01 -3.38381483e-03 1.46758796e+01] [ 4.74748081e-02 -1.78110386e-03 9.98870848e-01 8.36980813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04509989299996 meters 0.019960198582799835 Centerline is valid? [True, True] Translation: X:230.42, Y:14.68, Z:8.37 [[ 9.92907619e-01 -1.08536719e-01 -4.85205117e-02 2.30419134e+02] [ 1.08496917e-01 9.94090760e-01 -3.46107688e-03 1.46777086e+01] [ 4.86094463e-02 -1.82779634e-03 9.98816190e-01 8.37238636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10509989299996 meters 0.020807999659595223 Centerline is valid? [True, True] Translation: X:230.48, Y:14.68, Z:8.37 [[ 9.92741391e-01 -1.09221234e-01 -5.03512865e-02 2.30481594e+02] [ 1.09179443e-01 9.94015581e-01 -3.58791704e-03 1.46795685e+01] [ 5.04418401e-02 -1.93545167e-03 9.98725125e-01 8.37324225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16509989299996 meters 0.021003830335934195 Centerline is valid? [True, True] Translation: X:230.54, Y:14.68, Z:8.37 [[ 9.92824478e-01 -1.08229313e-01 -5.08524442e-02 2.30543482e+02] [ 1.08185575e-01 9.94124126e-01 -3.61996408e-03 1.46827526e+01] [ 5.09454278e-02 -1.90751198e-03 9.98699617e-01 8.37464005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22509989299996 meters 0.020269924571133233 Centerline is valid? [True, True] Translation: X:230.60, Y:14.69, Z:8.38 [[ 9.93253379e-01 -1.05190903e-01 -4.88118755e-02 2.30604372e+02] [ 1.05147083e-01 9.94450621e-01 -3.47176290e-03 1.46886868e+01] [ 4.89061978e-02 -1.68408608e-03 9.98801956e-01 8.37892498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28509989299997 meters 0.01866932666402401 Centerline is valid? [True, True] Translation: X:230.67, Y:14.70, Z:8.38 [[ 9.93248435e-01 -1.05215140e-01 -4.88602194e-02 2.30666449e+02] [ 1.05171368e-01 9.94448049e-01 -3.47303883e-03 1.46952763e+01] [ 4.89543661e-02 -1.68910575e-03 9.98799588e-01 8.38127103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34509989299997 meters 0.018949708392046738 Centerline is valid? [True, True] Translation: X:230.73, Y:14.70, Z:8.38 [[ 9.92917831e-01 -1.08013205e-01 -4.94704824e-02 2.30728298e+02] [ 1.07971969e-01 9.94147732e-01 -3.51298335e-03 1.46979370e+01] [ 4.95604165e-02 -1.85332161e-03 9.98769408e-01 8.38287830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40509989299997 meters 0.021473452839621526 Centerline is valid? [True, True] Translation: X:230.79, Y:14.70, Z:8.38 [[ 9.92415175e-01 -1.12644552e-01 -4.92272780e-02 2.30788668e+02] [ 1.12609505e-01 9.93633179e-01 -3.49366220e-03 1.46964563e+01] [ 4.93073987e-02 -2.07629600e-03 9.98781492e-01 8.38451074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46509989299994 meters 0.022591344348706133 Centerline is valid? [True, True] Translation: X:230.85, Y:14.70, Z:8.39 [[ 9.91775133e-01 -1.18225974e-01 -4.90377981e-02 2.30849000e+02] [ 1.18197998e-01 9.92983948e-01 -3.48016018e-03 1.46963119e+01] [ 4.91051917e-02 -2.34463322e-03 9.98790860e-01 8.38690663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52509989299995 meters 0.024139119269336307 Centerline is valid? [True, True] Translation: X:230.91, Y:14.70, Z:8.39 [[ 9.91550369e-01 -1.20868582e-01 -4.71025746e-02 2.30911186e+02] [ 1.20845780e-01 9.92665668e-01 -3.34192982e-03 1.46970241e+01] [ 4.71610430e-02 -2.37845563e-03 9.98884467e-01 8.39088813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58509989299995 meters 0.024575688235143195 Centerline is valid? [True, True] Translation: X:230.97, Y:14.70, Z:8.40 [[ 9.91603404e-01 -1.21086742e-01 -4.53948331e-02 2.30973615e+02] [ 1.21065936e-01 9.92639253e-01 -3.21754101e-03 1.47002113e+01] [ 4.54502948e-02 -2.30524332e-03 9.98963942e-01 8.39551966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64509989299995 meters 0.023698805757322472 Centerline is valid? [True, True] Translation: X:231.04, Y:14.70, Z:8.40 [[ 9.91799820e-01 -1.19958391e-01 -4.40806252e-02 2.31036099e+02] [ 1.19937802e-01 9.92776502e-01 -3.12111900e-03 1.47045688e+01] [ 4.41366133e-02 -2.19140804e-03 9.99023101e-01 8.39944034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70509989299995 meters 0.025697951877612472 Centerline is valid? [True, True] Translation: X:231.10, Y:14.71, Z:8.40 [[ 9.91843099e-01 -1.19482715e-01 -4.43976117e-02 2.31097924e+02] [ 1.19461531e-01 9.92833866e-01 -3.13958866e-03 1.47050106e+01] [ 4.44545791e-02 -2.18982733e-03 9.99009006e-01 8.40089536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76509989299996 meters 0.023969483106291895 Centerline is valid? [True, True] Translation: X:231.16, Y:14.71, Z:8.40 [[ 9.91696016e-01 -1.20091811e-01 -4.60105253e-02 2.31160006e+02] [ 1.20069876e-01 9.92760123e-01 -3.25020478e-03 1.47102968e+01] [ 4.60677377e-02 -2.30126293e-03 9.98935667e-01 8.40260629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82509989299996 meters 0.023702443276189936 Centerline is valid? [True, True] Translation: X:231.22, Y:14.71, Z:8.40 [[ 9.91445379e-01 -1.21168612e-01 -4.85203957e-02 2.31222429e+02] [ 1.21145690e-01 9.92628833e-01 -3.42378493e-03 1.47123776e+01] [ 4.85775990e-02 -2.48354105e-03 9.98816324e-01 8.40332798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88509989299996 meters 0.02610973785158289 Centerline is valid? [True, True] Translation: X:231.28, Y:14.71, Z:8.41 [[ 9.91708501e-01 -1.18391073e-01 -4.99780281e-02 2.31282744e+02] [ 1.18363394e-01 9.92964094e-01 -3.52356245e-03 1.47116933e+01] [ 5.00435457e-02 -2.42122220e-03 9.98744102e-01 8.40551705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94509989299996 meters 0.02070188838994644 Centerline is valid? [True, True] Translation: X:231.34, Y:14.72, Z:8.41 [[ 9.93087356e-01 -1.06208447e-01 -4.99726886e-02 2.31342248e+02] [ 1.06165406e-01 9.94342245e-01 -3.52239734e-03 1.47244521e+01] [ 5.00640637e-02 -1.80732252e-03 9.98744373e-01 8.41116240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00509989299997 meters 0.019277910413795778 Centerline is valid? [True, True] Translation: X:231.40, Y:14.73, Z:8.41 [[ 9.93154882e-01 -1.05575281e-01 -4.99723997e-02 2.31403000e+02] [ 1.05531478e-01 9.94409727e-01 -3.52161602e-03 1.47308865e+01] [ 5.00648360e-02 -1.77615105e-03 9.98744390e-01 8.41432063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06509989299997 meters 0.01918000593829838 Centerline is valid? [True, True] Translation: X:231.46, Y:14.74, Z:8.42 [[ 9.93174763e-01 -1.05231879e-01 -5.03005104e-02 2.31464650e+02] [ 1.05187177e-01 9.94446132e-01 -3.54242077e-03 1.47352343e+01] [ 5.03939236e-02 -1.77272578e-03 9.98727846e-01 8.41655116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12509989299997 meters 0.019699137341019562 Centerline is valid? [True, True] Translation: X:231.53, Y:14.74, Z:8.42 [[ 9.93134194e-01 -1.05205892e-01 -5.11487367e-02 2.31526814e+02] [ 1.05159829e-01 9.94448823e-01 -3.59839122e-03 1.47383263e+01] [ 5.12433729e-02 -1.80510704e-03 9.98684564e-01 8.41862653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18509989299997 meters 0.019699137341019562 Centerline is valid? [True, True] Translation: X:231.59, Y:14.74, Z:8.42 [[ 9.93137965e-01 -1.05170176e-01 -5.11489595e-02 2.31587514e+02] [ 1.05124229e-01 9.94452599e-01 -3.59522142e-03 1.47425619e+01] [ 5.12433258e-02 -1.80644406e-03 9.98684564e-01 8.42089725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24509989299995 meters 0.01985278238721478 Centerline is valid? [True, True] Translation: X:231.65, Y:14.75, Z:8.42 [[ 9.92998747e-01 -1.06252504e-01 -5.16129219e-02 2.31649214e+02] [ 1.06207277e-01 9.94337401e-01 -3.62595912e-03 1.47453803e+01] [ 5.17059259e-02 -1.88109502e-03 9.98660582e-01 8.42264814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30509989299995 meters 0.02173423761453856 Centerline is valid? [True, True] Translation: X:231.71, Y:14.74, Z:8.42 [[ 9.92629995e-01 -1.09528393e-01 -5.18577202e-02 2.31709538e+02] [ 1.09487265e-01 9.93981527e-01 -3.64180560e-03 1.47436610e+01] [ 5.19444971e-02 -2.06279450e-03 9.98647843e-01 8.42370489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36509989299995 meters 0.022023988303821237 Centerline is valid? [True, True] Translation: X:231.77, Y:14.75, Z:8.43 [[ 9.92306130e-01 -1.12443701e-01 -5.18165906e-02 2.31770560e+02] [ 1.12406629e-01 9.93655630e-01 -3.63839237e-03 1.47461564e+01] [ 5.18969613e-02 -2.21412924e-03 9.98649990e-01 8.42720097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42509989299995 meters 0.02156508280576278 Centerline is valid? [True, True] Translation: X:231.83, Y:14.75, Z:8.43 [[ 9.92159195e-01 -1.14056562e-01 -5.11002271e-02 2.31831618e+02] [ 1.14022734e-01 9.93471668e-01 -3.58626345e-03 1.47504381e+01] [ 5.11756647e-02 -2.26844336e-03 9.98687091e-01 8.42985073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48509989299995 meters 0.022302859615635984 Centerline is valid? [True, True] Translation: X:231.89, Y:14.75, Z:8.43 [[ 9.91676858e-01 -1.18792972e-01 -4.96511774e-02 2.31893067e+02] [ 1.18767038e-01 9.92916039e-01 -3.48277722e-03 1.47522521e+01] [ 4.97131799e-02 -2.44313374e-03 9.98760547e-01 8.43389234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54509989299996 meters 0.027476852997923806 Centerline is valid? [True, True] Translation: X:231.95, Y:14.75, Z:8.44 [[ 9.91270635e-01 -1.22573902e-01 -4.85609634e-02 2.31953940e+02] [ 1.22553688e-01 9.92456045e-01 -3.40473898e-03 1.47471878e+01] [ 4.86119538e-02 -2.57630740e-03 9.98814417e-01 8.43536277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60509989299996 meters 0.027176020588674372 Centerline is valid? [True, True] Translation: X:232.02, Y:14.75, Z:8.44 [[ 9.90945691e-01 -1.25287659e-01 -4.82663422e-02 2.32015087e+02] [ 1.25270948e-01 9.92116800e-01 -3.38300459e-03 1.47497610e+01] [ 4.83096977e-02 -2.69399661e-03 9.98828772e-01 8.43781082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66509989299996 meters 0.028033925609141818 Centerline is valid? [True, True] Translation: X:232.08, Y:14.75, Z:8.44 [[ 9.90819820e-01 -1.26280292e-01 -4.82635614e-02 2.32076968e+02] [ 1.26264859e-01 9.91990805e-01 -3.38067144e-03 1.47518460e+01] [ 4.83039213e-02 -2.74435551e-03 9.98828914e-01 8.43896690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72509989299996 meters 0.029263653903331473 Centerline is valid? [True, True] Translation: X:232.14, Y:14.75, Z:8.44 [[ 9.90878671e-01 -1.25859562e-01 -4.81542340e-02 2.32138591e+02] [ 1.25843861e-01 9.92044337e-01 -3.36975940e-03 1.47532799e+01] [ 4.81952517e-02 -2.72089200e-03 9.98834228e-01 8.44009836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78509989299997 meters 0.03124324657688558 Centerline is valid? [True, True] Translation: X:232.20, Y:14.75, Z:8.44 [[ 9.91013600e-01 -1.25068112e-01 -4.74342979e-02 2.32198791e+02] [ 1.25052099e-01 9.92144633e-01 -3.31670388e-03 1.47547411e+01] [ 4.74764979e-02 -2.64485985e-03 9.98868854e-01 8.44170052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84509989299997 meters 0.02643169026584217 Centerline is valid? [True, True] Translation: X:232.26, Y:14.77, Z:8.44 [[ 9.91065111e-01 -1.24407064e-01 -4.80918680e-02 2.32260192e+02] [ 1.24389997e-01 9.92227718e-01 -3.35921277e-03 1.47657326e+01] [ 4.81359943e-02 -2.65294876e-03 9.98837268e-01 8.44467521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90509989299997 meters 0.02679411057507383 Centerline is valid? [True, True] Translation: X:232.32, Y:14.77, Z:8.45 [[ 9.91114760e-01 -1.23873251e-01 -4.84453305e-02 2.32322829e+02] [ 1.23855479e-01 9.92294510e-01 -3.38015976e-03 1.47694556e+01] [ 4.84907468e-02 -2.65009339e-03 9.98820116e-01 8.44552714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96509989299994 meters 0.024835607448740766 Centerline is valid? [True, True] Translation: X:232.38, Y:14.78, Z:8.45 [[ 9.91056687e-01 -1.24314522e-01 -4.85030125e-02 2.32384868e+02] [ 1.24297439e-01 9.92239246e-01 -3.37998627e-03 1.47771693e+01] [ 4.85467740e-02 -2.67904226e-03 9.98817317e-01 8.44803019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02509989299995 meters 0.027230314690878794 Centerline is valid? [True, True] Translation: X:232.45, Y:14.78, Z:8.45 [[ 9.90950754e-01 -1.25176031e-01 -4.84516751e-02 2.32446305e+02] [ 1.25160174e-01 9.92130815e-01 -3.37302206e-03 1.47791070e+01] [ 4.84926214e-02 -2.72172135e-03 9.98819833e-01 8.44925646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08509989299995 meters 0.029139030688632574 Centerline is valid? [True, True] Translation: X:232.51, Y:14.78, Z:8.45 [[ 9.90754970e-01 -1.26477190e-01 -4.90724963e-02 2.32507130e+02] [ 1.26462638e-01 9.91965497e-01 -3.41374327e-03 1.47813022e+01] [ 4.91099838e-02 -2.82365425e-03 9.98789385e-01 8.45058402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14509989299995 meters 0.030163403596949093 Centerline is valid? [True, True] Translation: X:232.57, Y:14.79, Z:8.45 [[ 9.90467119e-01 -1.28736044e-01 -4.90093486e-02 2.32568314e+02] [ 1.28724369e-01 9.91674556e-01 -3.40760329e-03 1.47850450e+01] [ 4.90400054e-02 -2.93357845e-03 9.98792507e-01 8.45312656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20509989299995 meters 0.029191946825513286 Centerline is valid? [True, True] Translation: X:232.63, Y:14.79, Z:8.46 [[ 9.90170072e-01 -1.31529025e-01 -4.75746241e-02 2.32629216e+02] [ 1.31521307e-01 9.91307831e-01 -3.30618786e-03 1.47905357e+01] [ 4.75959571e-02 -2.98338848e-03 9.98862215e-01 8.45755611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26509989299996 meters 0.03252977330820348 Centerline is valid? [True, True] Translation: X:232.69, Y:14.79, Z:8.46 [[ 9.90051038e-01 -1.32712954e-01 -4.67569604e-02 2.32690224e+02] [ 1.32706897e-01 9.91150005e-01 -3.24751318e-03 1.47901065e+01] [ 4.67741486e-02 -2.98976732e-03 9.98901016e-01 8.46038797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32509989299996 meters 0.03439306810079562 Centerline is valid? [True, True] Translation: X:232.75, Y:14.79, Z:8.46 [[ 9.89948319e-01 -1.34085936e-01 -4.49809570e-02 2.32751794e+02] [ 1.34081842e-01 9.90965344e-01 -3.12181393e-03 1.47914659e+01] [ 4.49931609e-02 -2.94069511e-03 9.98982967e-01 8.46417174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38509989299996 meters 0.03297966559404854 Centerline is valid? [True, True] Translation: X:232.81, Y:14.80, Z:8.47 [[ 9.89753653e-01 -1.35650578e-01 -4.45715960e-02 2.32813691e+02] [ 1.35648245e-01 9.90752239e-01 -3.09093788e-03 1.47971202e+01] [ 4.45786960e-02 -2.98679170e-03 9.99001411e-01 8.46719038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44509989299996 meters 0.03155727238772104 Centerline is valid? [True, True] Translation: X:232.88, Y:14.80, Z:8.47 [[ 9.89508036e-01 -1.37196870e-01 -4.52864831e-02 2.32875134e+02] [ 1.37196218e-01 9.90538921e-01 -3.13736338e-03 1.48024243e+01] [ 4.52884606e-02 -3.10868791e-03 9.98969114e-01 8.46895736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50509989299997 meters 0.03233630365311097 Centerline is valid? [True, True] Translation: X:232.94, Y:14.80, Z:8.47 [[ 9.88978520e-01 -1.40612396e-01 -4.63642132e-02 2.32935874e+02] [ 1.40615545e-01 9.90059072e-01 -3.20989941e-03 1.48039702e+01] [ 4.63546615e-02 -3.34500754e-03 9.98919444e-01 8.46948985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56509989299997 meters 0.03462325378864058 Centerline is valid? [True, True] Translation: X:233.00, Y:14.80, Z:8.47 [[ 9.88530451e-01 -1.43453317e-01 -4.72090360e-02 2.32996836e+02] [ 1.43459821e-01 9.89650746e-01 -3.26802970e-03 1.48033439e+01] [ 4.71892674e-02 -3.54205300e-03 9.98879686e-01 8.47004757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62509989299997 meters 0.035786684388566685 Centerline is valid? [True, True] Translation: X:233.06, Y:14.81, Z:8.47 [[ 9.88514621e-01 -1.43537554e-01 -4.72843931e-02 2.33058813e+02] [ 1.43544241e-01 9.89638493e-01 -3.27183839e-03 1.48053526e+01] [ 4.72640871e-02 -3.55314223e-03 9.98876109e-01 8.47205551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68509989299997 meters 0.036956544188764213 Centerline is valid? [True, True] Translation: X:233.12, Y:14.81, Z:8.48 [[ 9.88812700e-01 -1.42234659e-01 -4.49304532e-02 2.33119855e+02] [ 1.42239479e-01 9.89827400e-01 -3.10612339e-03 1.48070060e+01] [ 4.49151921e-02 -3.31950998e-03 9.98985288e-01 8.47582236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74509989299995 meters 0.03285711774773424 Centerline is valid? [True, True] Translation: X:233.18, Y:14.82, Z:8.48 [[ 9.89223597e-01 -1.39665133e-01 -4.39354650e-02 2.33180354e+02] [ 1.39667281e-01 9.90193837e-01 -3.03591421e-03 1.48163736e+01] [ 4.39286380e-02 -3.13314894e-03 9.99029758e-01 8.47935961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80509989299995 meters 0.03302899328493881 Centerline is valid? [True, True] Translation: X:233.24, Y:14.82, Z:8.48 [[ 9.89626055e-01 -1.36942010e-01 -4.34414237e-02 2.33241031e+02] [ 1.36941531e-01 9.90574586e-01 -3.00099134e-03 1.48204424e+01] [ 4.34429321e-02 -2.97907586e-03 9.99051469e-01 8.48184796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86509989299995 meters 0.0332715388266322 Centerline is valid? [True, True] Translation: X:233.30, Y:14.82, Z:8.48 [[ 9.90100766e-01 -1.33869463e-01 -4.21834038e-02 2.33300359e+02] [ 1.33866275e-01 9.90995123e-01 -2.91308267e-03 1.48232406e+01] [ 4.21935202e-02 -2.76268974e-03 9.99105637e-01 8.48434702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92509989299995 meters 0.028805745518478015 Centerline is valid? [True, True] Translation: X:233.36, Y:14.83, Z:8.49 [[ 9.90215360e-01 -1.33053307e-01 -4.20756270e-02 2.33362496e+02] [ 1.33049532e-01 9.91105139e-01 -2.90255790e-03 1.48321725e+01] [ 4.20875651e-02 -2.72398506e-03 9.99110213e-01 8.48685661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98509989299995 meters 0.028878084273558095 Centerline is valid? [True, True] Translation: X:233.43, Y:14.84, Z:8.49 [[ 9.90217285e-01 -1.32857131e-01 -4.26463549e-02 2.33425018e+02] [ 1.32853239e-01 9.91131366e-01 -2.93803066e-03 1.48354070e+01] [ 4.26584784e-02 -2.75641763e-03 9.99085910e-01 8.48830025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04509989299996 meters 0.03181295859209539 Centerline is valid? [True, True] Translation: X:233.49, Y:14.83, Z:8.49 [[ 9.89962268e-01 -1.34357358e-01 -4.38498411e-02 2.33486482e+02] [ 1.34354851e-01 9.90928689e-01 -3.01774256e-03 1.48344476e+01] [ 4.38575215e-02 -2.90398760e-03 9.99033575e-01 8.48917941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10509989299996 meters 0.03137701913589128 Centerline is valid? [True, True] Translation: X:233.55, Y:14.84, Z:8.49 [[ 9.89870512e-01 -1.34955345e-01 -4.40842802e-02 2.33548475e+02] [ 1.34953514e-01 9.90847294e-01 -3.03132660e-03 1.48379628e+01] [ 4.40898835e-02 -2.94870772e-03 9.99023217e-01 8.49152671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16509989299996 meters 0.030750742039856137 Centerline is valid? [True, True] Translation: X:233.61, Y:14.84, Z:8.49 [[ 9.90004645e-01 -1.33808164e-01 -4.45665495e-02 2.33610063e+02] [ 1.33805284e-01 9.91002914e-01 -3.06120851e-03 1.48421858e+01] [ 4.45751951e-02 -2.93262916e-03 9.99001728e-01 8.49450941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22509989299996 meters 0.03204720331299988 Centerline is valid? [True, True] Translation: X:233.67, Y:14.84, Z:8.50 [[ 9.90200908e-01 -1.32233357e-01 -4.49054720e-02 2.33670748e+02] [ 1.32228957e-01 9.91214410e-01 -3.08147503e-03 1.48445202e+01] [ 4.49184248e-02 -2.88652436e-03 9.98986488e-01 8.49695081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28509989299997 meters 0.028251265681901956 Centerline is valid? [True, True] Translation: X:233.73, Y:14.85, Z:8.50 [[ 9.90595715e-01 -1.29229106e-01 -4.49440395e-02 2.33731303e+02] [ 1.29221687e-01 9.91610938e-01 -3.08263930e-03 1.48536357e+01] [ 4.49653679e-02 -2.75409531e-03 9.98984750e-01 8.50045948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34509989299997 meters 0.027905780429624095 Centerline is valid? [True, True] Translation: X:233.79, Y:14.86, Z:8.50 [[ 9.90834683e-01 -1.27321112e-01 -4.51216652e-02 2.33792720e+02] [ 1.27311707e-01 9.91857932e-01 -3.09384842e-03 1.48569444e+01] [ 4.51481938e-02 -2.67902390e-03 9.98976708e-01 8.50247543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40509989299997 meters 0.028122462328548703 Centerline is valid? [True, True] Translation: X:233.85, Y:14.86, Z:8.50 [[ 9.91035497e-01 -1.25636219e-01 -4.54332924e-02 2.33854539e+02] [ 1.25625003e-01 9.92072913e-01 -3.11339649e-03 1.48597764e+01] [ 4.54642941e-02 -2.62207107e-03 9.98962523e-01 8.50471953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46509989299994 meters 0.025836661574328876 Centerline is valid? [True, True] Translation: X:233.92, Y:14.87, Z:8.51 [[ 9.91333429e-01 -1.23100882e-01 -4.58716193e-02 2.33915487e+02] [ 1.23086853e-01 9.92390931e-01 -3.14107691e-03 1.48660018e+01] [ 4.59092483e-02 -2.53233874e-03 9.98942405e-01 8.50741469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52509989299995 meters 0.0252540582982213 Centerline is valid? [True, True] Translation: X:233.98, Y:14.87, Z:8.51 [[ 9.91647795e-01 -1.20471790e-01 -4.60564652e-02 2.33977004e+02] [ 1.20454908e-01 9.92713796e-01 -3.15186625e-03 1.48706074e+01] [ 4.61005993e-02 -2.42218608e-03 9.98933866e-01 8.50945894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58509989299995 meters 0.023631771596487584 Centerline is valid? [True, True] Translation: X:234.04, Y:14.88, Z:8.51 [[ 9.91908423e-01 -1.17914853e-01 -4.70506897e-02 2.34038673e+02] [ 1.17894493e-01 9.93020915e-01 -3.21727041e-03 1.48764967e+01] [ 4.71016829e-02 -2.35577958e-03 9.98887322e-01 8.51096669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64509989299995 meters 0.023268068984597833 Centerline is valid? [True, True] Translation: X:234.10, Y:14.88, Z:8.51 [[ 9.92068497e-01 -1.16513251e-01 -4.71673614e-02 2.34100269e+02] [ 1.16491334e-01 9.93186480e-01 -3.22263003e-03 1.48805287e+01] [ 4.72214648e-02 -2.29751914e-03 9.98881802e-01 8.51226558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70509989299995 meters 0.02345989583227306 Centerline is valid? [True, True] Translation: X:234.16, Y:14.88, Z:8.51 [[ 9.92248716e-01 -1.15243874e-01 -4.64901685e-02 2.34161294e+02] [ 1.15221301e-01 9.93334776e-01 -3.17399782e-03 1.48838010e+01] [ 4.65460850e-02 -2.20726243e-03 9.98913705e-01 8.51449437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76509989299996 meters 0.023057687966471636 Centerline is valid? [True, True] Translation: X:234.22, Y:14.89, Z:8.52 [[ 9.92492059e-01 -1.13478653e-01 -4.56301269e-02 2.34223012e+02] [ 1.13455126e-01 9.93538243e-01 -3.11351460e-03 1.48883157e+01] [ 4.56885936e-02 -2.08683328e-03 9.98953551e-01 8.51719594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82509989299996 meters 0.022445392211620573 Centerline is valid? [True, True] Translation: X:234.28, Y:14.89, Z:8.52 [[ 9.92647107e-01 -1.12466231e-01 -4.47556488e-02 2.34284605e+02] [ 1.12442673e-01 9.93653528e-01 -3.05153204e-03 1.48938719e+01] [ 4.48148026e-02 -2.00335034e-03 9.98993303e-01 8.52013718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88509989299996 meters 0.022577182983431646 Centerline is valid? [True, True] Translation: X:234.35, Y:14.90, Z:8.52 [[ 9.92725569e-01 -1.11959882e-01 -4.42823944e-02 2.34345944e+02] [ 1.11936417e-01 9.93710791e-01 -3.01699667e-03 1.48981789e+01] [ 4.43416758e-02 -1.96176281e-03 9.99014498e-01 8.52280463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94509989299996 meters 0.024196891506312487 Centerline is valid? [True, True] Translation: X:234.41, Y:14.90, Z:8.52 [[ 9.92679115e-01 -1.12514988e-01 -4.39152839e-02 2.34406028e+02] [ 1.12492515e-01 9.93648072e-01 -2.99052855e-03 1.48996901e+01] [ 4.39728164e-02 -1.97150551e-03 9.99030783e-01 8.52471706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00509989299997 meters 0.02633197163153733 Centerline is valid? [True, True] Translation: X:234.47, Y:14.90, Z:8.53 [[ 9.92547036e-01 -1.14133450e-01 -4.27075707e-02 2.34466728e+02] [ 1.14113725e-01 9.93463439e-01 -2.90744972e-03 1.49012958e+01] [ 4.27602474e-02 -1.98773938e-03 9.99083385e-01 8.52783331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06509989299997 meters 0.022777668305996392 Centerline is valid? [True, True] Translation: X:234.53, Y:14.91, Z:8.53 [[ 9.92481371e-01 -1.15142428e-01 -4.15084271e-02 2.34527778e+02] [ 1.15124745e-01 9.93347028e-01 -2.82409952e-03 1.49114881e+01] [ 4.15574463e-02 -1.97578091e-03 9.99134163e-01 8.53129773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12509989299997 meters 0.023256216578996652 Centerline is valid? [True, True] Translation: X:234.59, Y:14.92, Z:8.53 [[ 9.92300071e-01 -1.16463523e-01 -4.21523170e-02 2.34590007e+02] [ 1.16446659e-01 9.93192819e-01 -2.86358724e-03 1.49157826e+01] [ 4.21988820e-02 -2.06695866e-03 9.99107092e-01 8.53276105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18509989299997 meters 0.023229790270847907 Centerline is valid? [True, True] Translation: X:234.65, Y:14.92, Z:8.53 [[ 9.92240725e-01 -1.16811121e-01 -4.25852828e-02 2.34652367e+02] [ 1.16794364e-01 9.93151915e-01 -2.88981857e-03 1.49204705e+01] [ 4.26312181e-02 -2.10632537e-03 9.99088656e-01 8.53394328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24509989299995 meters 0.02458886383818157 Centerline is valid? [True, True] Translation: X:234.71, Y:14.92, Z:8.54 [[ 9.92382947e-01 -1.15400505e-01 -4.31139092e-02 2.34713144e+02] [ 1.15382137e-01 9.93316878e-01 -2.92257142e-03 1.49240123e+01] [ 4.31630399e-02 -2.07426495e-03 9.99065888e-01 8.53514920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30509989299995 meters 0.02343681425801082 Centerline is valid? [True, True] Translation: X:234.77, Y:14.93, Z:8.54 [[ 9.92863917e-01 -1.11151136e-01 -4.32049521e-02 2.34773427e+02] [ 1.11128770e-01 9.93801706e-01 -2.92659125e-03 1.49324328e+01] [ 4.32624491e-02 -1.89560633e-03 9.99061944e-01 8.53655330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36509989299995 meters 0.020821497906415246 Centerline is valid? [True, True] Translation: X:234.83, Y:14.94, Z:8.54 [[ 9.93290783e-01 -1.07999969e-01 -4.13452241e-02 2.34834048e+02] [ 1.07976792e-01 9.94149472e-01 -2.79983339e-03 1.49420945e+01] [ 4.14057146e-02 -1.68327597e-03 9.99140998e-01 8.54032383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42509989299995 meters 0.02091752154519022 Centerline is valid? [True, True] Translation: X:234.89, Y:14.95, Z:8.54 [[ 9.93765658e-01 -1.04682685e-01 -3.83582125e-02 2.34894616e+02] [ 1.04660317e-01 9.94504639e-01 -2.59624406e-03 1.49475291e+01] [ 3.84192021e-02 -1.43452449e-03 9.99260680e-01 8.54498575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48509989299995 meters 0.021119752627301768 Centerline is valid? [True, True] Translation: X:234.96, Y:14.95, Z:8.55 [[ 9.93878679e-01 -1.03922487e-01 -3.74871659e-02 2.34956113e+02] [ 1.03900633e-01 9.94584450e-01 -2.53595140e-03 1.49521757e+01] [ 3.75476947e-02 -1.37451225e-03 9.99293891e-01 8.54848679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54509989299996 meters 0.01997051265236797 Centerline is valid? [True, True] Translation: X:235.02, Y:14.96, Z:8.55 [[ 9.93839964e-01 -1.04388045e-01 -3.72191009e-02 2.35018066e+02] [ 1.04366926e-01 9.94535680e-01 -2.51518993e-03 1.49578249e+01] [ 3.72782795e-02 -1.38474688e-03 9.99303964e-01 8.55069872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60509989299996 meters 0.020386860226267543 Centerline is valid? [True, True] Translation: X:235.08, Y:14.96, Z:8.55 [[ 9.93602862e-01 -1.06221303e-01 -3.83456309e-02 2.35080348e+02] [ 1.06200361e-01 9.94341382e-01 -2.58842967e-03 1.49605195e+01] [ 3.84035940e-02 -1.50044872e-03 9.99261183e-01 8.55241559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66509989299996 meters 0.0216918818143768 Centerline is valid? [True, True] Translation: X:235.14, Y:14.96, Z:8.55 [[ 9.93109487e-01 -1.09833995e-01 -4.08661273e-02 2.35141857e+02] [ 1.09813387e-01 9.93948403e-01 -2.75552626e-03 1.49619066e+01] [ 4.09214724e-02 -1.75110857e-03 9.99160831e-01 8.55310363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72509989299996 meters 0.021905296204566094 Centerline is valid? [True, True] Translation: X:235.20, Y:14.96, Z:8.56 [[ 9.92628358e-01 -1.13378631e-01 -4.28278965e-02 2.35202665e+02] [ 1.13359355e-01 9.93549861e-01 -2.88627942e-03 1.49649698e+01] [ 4.28788930e-02 -1.98993991e-03 9.99078296e-01 8.55508542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78509989299997 meters 0.023900083639003724 Centerline is valid? [True, True] Translation: X:235.26, Y:14.97, Z:8.56 [[ 9.92414357e-01 -1.15445423e-01 -4.22622578e-02 2.35264035e+02] [ 1.15428560e-01 9.93311704e-01 -2.84719945e-03 1.49654227e+01] [ 4.23082914e-02 -2.05266996e-03 9.99102495e-01 8.55786031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84509989299997 meters 0.023137006184945096 Centerline is valid? [True, True] Translation: X:235.33, Y:14.97, Z:8.56 [[ 9.92195624e-01 -1.17603477e-01 -4.14399036e-02 2.35325382e+02] [ 1.17589233e-01 9.93058402e-01 -2.78954980e-03 1.49698925e+01] [ 4.14803052e-02 -2.10510738e-03 9.99137104e-01 8.56018310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90509989299997 meters 0.0246201054898027 Centerline is valid? [True, True] Translation: X:235.39, Y:14.97, Z:8.56 [[ 9.92101119e-01 -1.18534081e-01 -4.10492544e-02 2.35386535e+02] [ 1.18520992e-01 9.92947708e-01 -2.76096743e-03 1.49716378e+01] [ 4.10870318e-02 -2.12603948e-03 9.99153309e-01 8.56223288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96509989299994 meters 0.02673706130357128 Centerline is valid? [True, True] Translation: X:235.45, Y:14.97, Z:8.56 [[ 9.91812814e-01 -1.20743875e-01 -4.15723346e-02 2.35447174e+02] [ 1.20732476e-01 9.92681149e-01 -2.79398400e-03 1.49727473e+01] [ 4.16054293e-02 -2.24802174e-03 9.99131590e-01 8.56405534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02509989299995 meters 0.02789880966290612 Centerline is valid? [True, True] Translation: X:235.51, Y:14.98, Z:8.57 [[ 9.91212354e-01 -1.25661754e-01 -4.13181967e-02 2.35507645e+02] [ 1.25654776e-01 9.92070144e-01 -2.77622252e-03 1.49752450e+01] [ 4.13394144e-02 -2.44000270e-03 9.99142182e-01 8.56682626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08509989299995 meters 0.031389620793196404 Centerline is valid? [True, True] Translation: X:235.57, Y:14.98, Z:8.57 [[ 9.90550895e-01 -1.30523334e-01 -4.21020660e-02 2.35566923e+02] [ 1.30520478e-01 9.91441579e-01 -2.82847386e-03 1.49750285e+01] [ 4.21109206e-02 -2.69343445e-03 9.99109311e-01 8.56816273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14509989299995 meters 0.03342326999467042 Centerline is valid? [True, True] Translation: X:235.63, Y:14.98, Z:8.57 [[ 9.90339466e-01 -1.31797225e-01 -4.30956247e-02 2.35628644e+02] [ 1.31795554e-01 9.91272700e-01 -2.89247421e-03 1.49773849e+01] [ 4.31007364e-02 -2.81528036e-03 9.99066765e-01 8.56923585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20509989299995 meters 0.02976729818182777 Centerline is valid? [True, True] Translation: X:235.69, Y:14.99, Z:8.57 [[ 9.90259003e-01 -1.31986705e-01 -4.43465628e-02 2.35690351e+02] [ 1.31985314e-01 9.91247216e-01 -2.97224326e-03 1.49886283e+01] [ 4.43507035e-02 -2.90980435e-03 9.99011786e-01 8.57156247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26509989299996 meters 0.029787651137725284 Centerline is valid? [True, True] Translation: X:235.75, Y:14.99, Z:8.57 [[ 9.90307780e-01 -1.31611721e-01 -4.43717943e-02 2.35752085e+02] [ 1.31610099e-01 9.91297108e-01 -2.97065819e-03 1.49936789e+01] [ 4.43766048e-02 -2.89791032e-03 9.99010670e-01 8.57393186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32509989299996 meters 0.028725286191653595 Centerline is valid? [True, True] Translation: X:235.81, Y:15.00, Z:8.58 [[ 9.90414600e-01 -1.30657424e-01 -4.48057704e-02 2.35813453e+02] [ 1.30654949e-01 9.91423374e-01 -2.99637722e-03 1.50011832e+01] [ 4.48129869e-02 -2.88643989e-03 9.98991224e-01 8.57655060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38509989299996 meters 0.03119559422830264 Centerline is valid? [True, True] Translation: X:235.87, Y:15.00, Z:8.58 [[ 9.90511426e-01 -1.29337213e-01 -4.64650465e-02 2.35874481e+02] [ 1.29333268e-01 9.91596325e-01 -3.10395912e-03 1.50045793e+01] [ 4.64760268e-02 -2.93496935e-03 9.98915094e-01 8.57693335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44509989299996 meters 0.03051351146580215 Centerline is valid? [True, True] Translation: X:235.94, Y:15.01, Z:8.58 [[ 9.90422462e-01 -1.29950651e-01 -4.66494885e-02 2.35936491e+02] [ 1.29947480e-01 9.91515990e-01 -3.11354082e-03 1.50104695e+01] [ 4.66583204e-02 -2.97826273e-03 9.98906468e-01 8.57874266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50509989299997 meters 0.03247179063172019 Centerline is valid? [True, True] Translation: X:236.00, Y:15.01, Z:8.58 [[ 9.90263948e-01 -1.31369131e-01 -4.60376540e-02 2.35998135e+02] [ 1.31367711e-01 9.91328958e-01 -3.06956767e-03 1.50127002e+01] [ 4.60417060e-02 -3.00817902e-03 9.98934989e-01 8.58074357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56509989299997 meters 0.03235099003743675 Centerline is valid? [True, True] Translation: X:236.06, Y:15.02, Z:8.58 [[ 9.90171771e-01 -1.32214159e-01 -4.55991231e-02 2.36059701e+02] [ 1.32213774e-01 9.91216571e-01 -3.03774790e-03 1.50179742e+01] [ 4.56002397e-02 -3.02093994e-03 9.98955200e-01 8.58358527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62509989299997 meters 0.030232795723516694 Centerline is valid? [True, True] Translation: X:236.12, Y:15.03, Z:8.59 [[ 9.89924828e-01 -1.34346138e-01 -4.47208048e-02 2.36120054e+02] [ 1.34348052e-01 9.90929736e-01 -2.97647167e-03 1.50254474e+01] [ 4.47150528e-02 -3.06166983e-03 9.98995090e-01 8.58664122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68509989299994 meters 0.03448532573355743 Centerline is valid? [True, True] Translation: X:236.18, Y:15.02, Z:8.59 [[ 9.89643447e-01 -1.36153946e-01 -4.54747207e-02 2.36180031e+02] [ 1.36157891e-01 9.90682531e-01 -3.02520762e-03 1.50236712e+01] [ 4.54629053e-02 -3.19786519e-03 9.98960909e-01 8.58791410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74509989299995 meters 0.03659966135344646 Centerline is valid? [True, True] Translation: X:236.24, Y:15.03, Z:8.59 [[ 9.89238373e-01 -1.38533405e-01 -4.70737393e-02 2.36241024e+02] [ 1.38540497e-01 9.90351830e-01 -3.12774735e-03 1.50259612e+01] [ 4.70528613e-02 -3.42753155e-03 9.98886520e-01 8.58936990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80509989299995 meters 0.037526956388585386 Centerline is valid? [True, True] Translation: X:236.30, Y:15.03, Z:8.59 [[ 9.88967954e-01 -1.40217797e-01 -4.77635464e-02 2.36302071e+02] [ 1.40227141e-01 9.90114281e-01 -3.17175202e-03 1.50296496e+01] [ 4.77361054e-02 -3.56098445e-03 9.98853635e-01 8.59216660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86509989299995 meters 0.03478070668290272 Centerline is valid? [True, True] Translation: X:236.36, Y:15.04, Z:8.60 [[ 9.89018502e-01 -1.40050759e-01 -4.72036735e-02 2.36363801e+02] [ 1.40059790e-01 9.90138093e-01 -3.13254416e-03 1.50374995e+01] [ 4.71768704e-02 -3.51319248e-03 9.98880373e-01 8.59609561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92509989299995 meters 0.0333991917064924 Centerline is valid? [True, True] Translation: X:236.43, Y:15.04, Z:8.60 [[ 9.89230533e-01 -1.38853474e-01 -4.62889249e-02 2.36425180e+02] [ 1.38861005e-01 9.90307127e-01 -3.06854561e-03 1.50435588e+01] [ 4.62663305e-02 -3.39222760e-03 9.98923380e-01 8.59883955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98509989299995 meters 0.033672726029817746 Centerline is valid? [True, True] Translation: X:236.49, Y:15.05, Z:8.60 [[ 9.89735118e-01 -1.35643820e-01 -4.50016783e-02 2.36486091e+02] [ 1.35647752e-01 9.90752645e-01 -2.98055565e-03 1.50478409e+01] [ 4.49898258e-02 -3.15441587e-03 9.98982465e-01 8.60125177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04509989299996 meters 0.032543344659163746 Centerline is valid? [True, True] Translation: X:236.55, Y:15.05, Z:8.60 [[ 9.89911936e-01 -1.34643241e-01 -4.41084618e-02 2.36548098e+02] [ 1.34646078e-01 9.90889452e-01 -2.92026105e-03 1.50526590e+01] [ 4.40998029e-02 -3.04823009e-03 9.99022480e-01 8.60378117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10509989299996 meters 0.03199687547270398 Centerline is valid? [True, True] Translation: X:236.61, Y:15.05, Z:8.61 [[ 9.89727231e-01 -1.35937163e-01 -4.42842637e-02 2.36610102e+02] [ 1.35941454e-01 9.90712544e-01 -2.92865632e-03 1.50549514e+01] [ 4.42710887e-02 -3.12149630e-03 9.99014678e-01 8.60544895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16509989299996 meters 0.03827199180138329 Centerline is valid? [True, True] Translation: X:236.67, Y:15.05, Z:8.61 [[ 9.89190345e-01 -1.39449566e-01 -4.53462291e-02 2.36670561e+02] [ 1.39457859e-01 9.90223474e-01 -2.99619578e-03 1.50485888e+01] [ 4.53207187e-02 -3.36008008e-03 9.98966837e-01 8.60606333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22509989299996 meters 0.03713709353202946 Centerline is valid? [True, True] Translation: X:236.73, Y:15.05, Z:8.61 [[ 9.88487272e-01 -1.43451167e-01 -4.81110762e-02 2.36730968e+02] [ 1.43465193e-01 9.89650256e-01 -3.17944068e-03 1.50513952e+01] [ 4.80692333e-02 -3.75942820e-03 9.98836931e-01 8.60655623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28509989299997 meters 0.040009670543085046 Centerline is valid? [True, True] Translation: X:236.79, Y:15.05, Z:8.61 [[ 9.88284449e-01 -1.44791573e-01 -4.82622914e-02 2.36792026e+02] [ 1.44807300e-01 9.89454737e-01 -3.18893287e-03 1.50502506e+01] [ 4.82150835e-02 -3.83715935e-03 9.98829606e-01 8.60836626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34509989299997 meters 0.040165744256524076 Centerline is valid? [True, True] Translation: X:236.85, Y:15.05, Z:8.61 [[ 9.88457825e-01 -1.44321084e-01 -4.60711679e-02 2.36852907e+02] [ 1.44334970e-01 9.89524208e-01 -3.04257925e-03 1.50519609e+01] [ 4.60276443e-02 -3.64221938e-03 9.98933526e-01 8.61224122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40509989299997 meters 0.03950266794214991 Centerline is valid? [True, True] Translation: X:236.91, Y:15.06, Z:8.62 [[ 9.88863227e-01 -1.41920438e-01 -4.48119231e-02 2.36913581e+02] [ 1.41931185e-01 9.89872107e-01 -2.95800628e-03 1.50567462e+01] [ 4.47778743e-02 -3.43514570e-03 9.98991062e-01 8.61579642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46509989299994 meters 0.030941445704521314 Centerline is valid? [True, True] Translation: X:236.97, Y:15.07, Z:8.62 [[ 9.89547411e-01 -1.37143048e-01 -4.45836895e-02 2.36973011e+02] [ 1.37148890e-01 9.90546074e-01 -2.94229686e-03 1.50730868e+01] [ 4.45657142e-02 -3.20306129e-03 9.99001320e-01 8.61951363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52509989299995 meters 0.03173525005592561 Centerline is valid? [True, True] Translation: X:237.04, Y:15.08, Z:8.62 [[ 9.89660912e-01 -1.36346133e-01 -4.45085634e-02 2.37035671e+02] [ 1.36351182e-01 9.90656212e-01 -2.93669852e-03 1.50759521e+01] [ 4.44930923e-02 -3.16245950e-03 9.99004686e-01 8.62208477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58509989299995 meters 0.034554886113402634 Centerline is valid? [True, True] Translation: X:237.10, Y:15.07, Z:8.62 [[ 9.89734757e-01 -1.35674014e-01 -4.49185106e-02 2.37097455e+02] [ 1.35678670e-01 9.90748475e-01 -2.95929991e-03 1.50733540e+01] [ 4.49044460e-02 -3.16556178e-03 9.98986271e-01 8.62276847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64509989299995 meters 0.03585522189855312 Centerline is valid? [True, True] Translation: X:237.16, Y:15.08, Z:8.63 [[ 9.89777897e-01 -1.35368075e-01 -4.48909656e-02 2.37159066e+02] [ 1.35372641e-01 9.90790357e-01 -2.95239406e-03 1.50751471e+01] [ 4.48771958e-02 -3.15479419e-03 9.98987530e-01 8.62520832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70509989299995 meters 0.03278290919658948 Centerline is valid? [True, True] Translation: X:237.22, Y:15.08, Z:8.63 [[ 9.90096663e-01 -1.32706807e-01 -4.57984854e-02 2.37219710e+02] [ 1.32708830e-01 9.91150497e-01 -3.00987300e-03 1.50829828e+01] [ 4.57926222e-02 -3.09779821e-03 9.98946164e-01 8.62679844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76509989299996 meters 0.031886512168064596 Centerline is valid? [True, True] Translation: X:237.28, Y:15.09, Z:8.63 [[ 9.90573959e-01 -1.29343128e-01 -4.50953103e-02 2.37280296e+02] [ 1.29341658e-01 9.91595662e-01 -2.96275733e-03 1.50874777e+01] [ 4.50995263e-02 -2.89787196e-03 9.98978296e-01 8.62979847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82509989299996 meters 0.028618413314587025 Centerline is valid? [True, True] Translation: X:237.34, Y:15.10, Z:8.63 [[ 9.90962266e-01 -1.26821968e-01 -4.37032604e-02 2.37341828e+02] [ 1.26818185e-01 9.91921826e-01 -2.87030425e-03 1.50956930e+01] [ 4.37142355e-02 -2.69800496e-03 9.99040433e-01 8.63358158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88509989299996 meters 0.029124678909958714 Centerline is valid? [True, True] Translation: X:237.40, Y:15.10, Z:8.64 [[ 9.91462894e-01 -1.22835701e-01 -4.37346607e-02 2.37401194e+02] [ 1.22828132e-01 9.92423806e-01 -2.87046222e-03 1.50984067e+01] [ 4.37559137e-02 -2.52588991e-03 9.99039058e-01 8.63565252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94509989299996 meters 0.02546890409056897 Centerline is valid? [True, True] Translation: X:237.46, Y:15.11, Z:8.64 [[ 9.91790174e-01 -1.19787272e-01 -4.47577948e-02 2.37462222e+02] [ 1.19776234e-01 9.92796566e-01 -2.93804671e-03 1.51053432e+01] [ 4.47873255e-02 -2.44699423e-03 9.98993547e-01 8.63737633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00509989299997 meters 0.025357073464210268 Centerline is valid? [True, True] Translation: X:237.52, Y:15.11, Z:8.64 [[ 9.91942187e-01 -1.18416091e-01 -4.50369410e-02 2.37524432e+02] [ 1.18403595e-01 9.92961157e-01 -2.95441960e-03 1.51086796e+01] [ 4.50697838e-02 -2.40192227e-03 9.98980953e-01 8.64001365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06509989299997 meters 0.025065352825132236 Centerline is valid? [True, True] Translation: X:237.59, Y:15.11, Z:8.64 [[ 9.91958787e-01 -1.18323474e-01 -4.49145803e-02 2.37586685e+02] [ 1.18311099e-01 9.92972216e-01 -2.94310181e-03 1.51124342e+01] [ 4.49471683e-02 -2.39445763e-03 9.98986496e-01 8.64339401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12509989299997 meters 0.024445401416416886 Centerline is valid? [True, True] Translation: X:237.65, Y:15.12, Z:8.65 [[ 9.92062386e-01 -1.17270703e-01 -4.53850646e-02 2.37648488e+02] [ 1.17257123e-01 9.93097147e-01 -2.97055651e-03 1.51165978e+01] [ 4.54201374e-02 -2.37474472e-03 9.98965150e-01 8.64609445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18509989299994 meters 0.02505821454647038 Centerline is valid? [True, True] Translation: X:237.71, Y:15.12, Z:8.65 [[ 9.92110793e-01 -1.16835531e-01 -4.54492394e-02 2.37710287e+02] [ 1.16821611e-01 9.93148469e-01 -2.97139767e-03 1.51197271e+01] [ 4.54850074e-02 -2.36149769e-03 9.98962230e-01 8.64834235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24509989299995 meters 0.02534645102451938 Centerline is valid? [True, True] Translation: X:237.77, Y:15.12, Z:8.65 [[ 9.92176030e-01 -1.16093572e-01 -4.59239373e-02 2.37772453e+02] [ 1.16078724e-01 9.93235488e-01 -2.99904998e-03 1.51240269e+01] [ 4.59614547e-02 -2.35520654e-03 9.98940438e-01 8.65088957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30509989299995 meters 0.025715686053168894 Centerline is valid? [True, True] Translation: X:237.83, Y:15.13, Z:8.65 [[ 9.92245206e-01 -1.15346410e-01 -4.63104495e-02 2.37833882e+02] [ 1.15330642e-01 9.93322563e-01 -3.02124219e-03 1.51280877e+01] [ 4.63497039e-02 -2.34320081e-03 9.98922527e-01 8.65234583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36509989299995 meters 0.025584073296035247 Centerline is valid? [True, True] Translation: X:237.90, Y:15.13, Z:8.65 [[ 9.92309852e-01 -1.14919330e-01 -4.59859259e-02 2.37895097e+02] [ 1.14903400e-01 9.93372145e-01 -2.99843327e-03 1.51334403e+01] [ 4.60257158e-02 -2.30856435e-03 9.98937588e-01 8.65468356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42509989299995 meters 0.02613064112319377 Centerline is valid? [True, True] Translation: X:237.96, Y:15.14, Z:8.66 [[ 9.92309587e-01 -1.15663616e-01 -4.40864133e-02 2.37956353e+02] [ 1.15649770e-01 9.93285899e-01 -2.87305558e-03 1.51381917e+01] [ 4.41227207e-02 -2.24762298e-03 9.99023590e-01 8.65832420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48509989299995 meters 0.02448786125908619 Centerline is valid? [True, True] Translation: X:238.02, Y:15.14, Z:8.66 [[ 9.92003621e-01 -1.18966771e-01 -4.21393212e-02 2.38016689e+02] [ 1.18957145e-01 9.92895596e-01 -2.74480425e-03 1.51444866e+01] [ 4.21664869e-02 -2.28991759e-03 9.99107974e-01 8.66214341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54509989299996 meters 0.02792776340033551 Centerline is valid? [True, True] Translation: X:238.08, Y:15.14, Z:8.66 [[ 9.91150473e-01 -1.25360081e-01 -4.36530550e-02 2.38077815e+02] [ 1.25355961e-01 9.92107758e-01 -2.84261664e-03 1.51422816e+01] [ 4.36648852e-02 -2.65470983e-03 9.99042707e-01 8.66356703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60509989299996 meters 0.029396434412846784 Centerline is valid? [True, True] Translation: X:238.14, Y:15.14, Z:8.66 [[ 9.90673153e-01 -1.28255258e-01 -4.60140504e-02 2.38139257e+02] [ 1.28253828e-01 9.91736851e-01 -2.99563239e-03 1.51428211e+01] [ 4.60180351e-02 -2.93378553e-03 9.98936301e-01 8.66385665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66509989299996 meters 0.031146862936670492 Centerline is valid? [True, True] Translation: X:238.20, Y:15.14, Z:8.67 [[ 9.90332534e-01 -1.30734084e-01 -4.63688564e-02 2.38200188e+02] [ 1.30735408e-01 9.91412704e-01 -3.01718865e-03 1.51433380e+01] [ 4.63651227e-02 -3.07403129e-03 9.98919829e-01 8.66555988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72509989299996 meters 0.03387601682638529 Centerline is valid? [True, True] Translation: X:238.26, Y:15.14, Z:8.67 [[ 9.89854064e-01 -1.33764496e-01 -4.79165096e-02 2.38261244e+02] [ 1.33769495e-01 9.91007572e-01 -3.11687571e-03 1.51427777e+01] [ 4.79025511e-02 -3.32451519e-03 9.98846481e-01 8.66774024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78509989299997 meters 0.03309224267675659 Centerline is valid? [True, True] Translation: X:238.32, Y:15.15, Z:8.67 [[ 9.89225524e-01 -1.37871458e-01 -4.92374136e-02 2.38322033e+02] [ 1.37881855e-01 9.90443509e-01 -3.20163680e-03 1.51464249e+01] [ 4.92082910e-02 -3.62180506e-03 9.98781972e-01 8.67078490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84509989299997 meters 0.03634379340579182 Centerline is valid? [True, True] Translation: X:238.38, Y:15.14, Z:8.67 [[ 9.88931950e-01 -1.39881595e-01 -4.94645178e-02 2.38382515e+02] [ 1.39894602e-01 9.90161177e-01 -3.21611258e-03 1.51449064e+01] [ 4.94277201e-02 -3.73930256e-03 9.98770703e-01 8.67309516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90509989299997 meters 0.037250979716496546 Centerline is valid? [True, True] Translation: X:238.44, Y:15.15, Z:8.68 [[ 9.88706369e-01 -1.41991227e-01 -4.79396167e-02 2.38443343e+02] [ 1.42005941e-01 9.89860901e-01 -3.11611782e-03 1.51459065e+01] [ 4.78960136e-02 -3.72678486e-03 9.98845375e-01 8.67692083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96509989299994 meters 0.03555688828064436 Centerline is valid? [True, True] Translation: X:238.50, Y:15.15, Z:8.68 [[ 9.89010079e-01 -1.39996558e-01 -4.75397479e-02 2.38504225e+02] [ 1.40008785e-01 9.90145443e-01 -3.08908141e-03 1.51507242e+01] [ 4.75037255e-02 -3.60084970e-03 9.98864570e-01 8.68023027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02509989299995 meters 0.03570721603043562 Centerline is valid? [True, True] Translation: X:238.56, Y:15.15, Z:8.68 [[ 9.89361702e-01 -1.37571132e-01 -4.73033395e-02 2.38564815e+02] [ 1.37580554e-01 9.90485817e-01 -3.07218259e-03 1.51542527e+01] [ 4.72759305e-02 -3.46851984e-03 9.98875846e-01 8.68267128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08509989299995 meters 0.03377128772946809 Centerline is valid? [True, True] Translation: X:238.63, Y:15.16, Z:8.69 [[ 9.89550984e-01 -1.35789002e-01 -4.84788349e-02 2.38625765e+02] [ 1.35796829e-01 9.90731707e-01 -3.14743302e-03 1.51604538e+01] [ 4.84569056e-02 -3.46872663e-03 9.98819251e-01 8.68637586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14509989299995 meters 0.035850219095712905 Centerline is valid? [True, True] Translation: X:238.69, Y:15.16, Z:8.69 [[ 9.89690046e-01 -1.34457077e-01 -4.93447775e-02 2.38686375e+02] [ 1.34463622e-01 9.90913357e-01 -3.20205528e-03 1.51598120e+01] [ 4.93269381e-02 -3.46603529e-03 9.98776672e-01 8.68808459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20509989299995 meters 0.032042741167039694 Centerline is valid? [True, True] Translation: X:238.75, Y:15.17, Z:8.69 [[ 9.90016629e-01 -1.31915174e-01 -4.96534068e-02 2.38747078e+02] [ 1.31918666e-01 9.91255310e-01 -3.22118998e-03 1.51679522e+01] [ 4.96441270e-02 -3.36117956e-03 9.98761314e-01 8.69071398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26509989299996 meters 0.027592026765844827 Centerline is valid? [True, True] Translation: X:238.81, Y:15.18, Z:8.69 [[ 9.90774517e-01 -1.25569115e-01 -5.09730715e-02 2.38807254e+02] [ 1.25564484e-01 9.92079952e-01 -3.30586842e-03 1.51785475e+01] [ 5.09844773e-02 -3.12503723e-03 9.98694557e-01 8.69312253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32509989299996 meters 0.02558542895447073 Centerline is valid? [True, True] Translation: X:238.87, Y:15.19, Z:8.69 [[ 9.91708715e-01 -1.17296722e-01 -5.24909767e-02 2.38867364e+02] [ 1.17280299e-01 9.93093020e-01 -3.40367090e-03 1.51868291e+01] [ 5.25276620e-02 -2.78070732e-03 9.98615598e-01 8.69483301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38509989299996 meters 0.024826314595773974 Centerline is valid? [True, True] Translation: X:238.93, Y:15.19, Z:8.70 [[ 9.92269061e-01 -1.12589898e-01 -5.22075283e-02 2.38926998e+02] [ 1.12567146e-01 9.93638353e-01 -3.38542966e-03 1.51929844e+01] [ 5.22565676e-02 -2.51759534e-03 9.98630519e-01 8.69764145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44509989299996 meters 0.021719990784729432 Centerline is valid? [True, True] Translation: X:238.99, Y:15.20, Z:8.70 [[ 9.92905374e-01 -1.07531387e-01 -5.07535205e-02 2.38987269e+02] [ 1.07503275e-01 9.94199282e-01 -3.29136575e-03 1.52011107e+01] [ 5.08130387e-02 -2.18815492e-03 9.98705786e-01 8.70225964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50509989299997 meters 0.022517508145153773 Centerline is valid? [True, True] Translation: X:239.05, Y:15.20, Z:8.70 [[ 9.93405644e-01 -1.03398584e-01 -4.95374481e-02 2.39046255e+02] [ 1.03366643e-01 9.94638132e-01 -3.21309080e-03 1.52026300e+01] [ 4.96040639e-02 -1.92861717e-03 9.98767099e-01 8.70433183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56509989299997 meters 0.022656287547325137 Centerline is valid? [True, True] Translation: X:239.11, Y:15.21, Z:8.71 [[ 9.93398362e-01 -1.03156199e-01 -5.01845877e-02 2.39105877e+02] [ 1.03123019e-01 9.94663278e-01 -3.25686782e-03 1.52062004e+01] [ 5.02527326e-02 -1.93981904e-03 9.98734649e-01 8.70621324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62509989299997 meters 0.020660912639608845 Centerline is valid? [True, True] Translation: X:239.17, Y:15.21, Z:8.71 [[ 9.93366670e-01 -1.03241313e-01 -5.06348780e-02 2.39165739e+02] [ 1.03207580e-01 9.94654407e-01 -3.28738714e-03 1.52126193e+01] [ 5.07035987e-02 -1.96032242e-03 9.98711821e-01 8.70927808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68509989299994 meters 0.024487716548597 Centerline is valid? [True, True] Translation: X:239.22, Y:15.21, Z:8.71 [[ 9.93159438e-01 -1.05238669e-01 -5.05880833e-02 2.39224390e+02] [ 1.05207538e-01 9.94444861e-01 -3.28524316e-03 1.52093184e+01] [ 5.06527940e-02 -2.05947745e-03 9.98714200e-01 8.71012255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74509989299995 meters 0.028144547989024438 Centerline is valid? [True, True] Translation: X:239.28, Y:15.21, Z:8.71 [[ 9.92405360e-01 -1.11269175e-01 -5.24477990e-02 2.39284649e+02] [ 1.11243976e-01 9.93787281e-01 -3.40859148e-03 1.52060836e+01] [ 5.25012267e-02 -2.45179724e-03 9.98617850e-01 8.71112325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80509989299995 meters 0.023641057476387103 Centerline is valid? [True, True] Translation: X:239.34, Y:15.22, Z:8.72 [[ 9.91968577e-01 -1.14624203e-01 -5.34755558e-02 2.39344462e+02] [ 1.14602868e-01 9.93405307e-01 -3.47537183e-03 1.52152003e+01] [ 5.35212627e-02 -2.68099244e-03 9.98563111e-01 8.71533497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86509989299995 meters 0.02662462564711723 Centerline is valid? [True, True] Translation: X:239.40, Y:15.21, Z:8.72 [[ 9.91610320e-01 -1.18075571e-01 -5.26035465e-02 2.39403101e+02] [ 1.18059698e-01 9.93000610e-01 -3.41990782e-03 1.52146152e+01] [ 5.26391613e-02 -2.81914292e-03 9.98609619e-01 8.71757215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92509989299995 meters 0.02589598420069108 Centerline is valid? [True, True] Translation: X:239.46, Y:15.22, Z:8.72 [[ 9.91581514e-01 -1.18980097e-01 -5.10865650e-02 2.39463260e+02] [ 1.18966172e-01 9.92892743e-01 -3.32412320e-03 1.52204138e+01] [ 5.11189842e-02 -2.78143398e-03 9.98688697e-01 8.72251811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98509989299995 meters 0.025005607140213115 Centerline is valid? [True, True] Translation: X:239.52, Y:15.23, Z:8.73 [[ 9.91624555e-01 -1.19491785e-01 -4.90148560e-02 2.39523575e+02] [ 1.19479583e-01 9.92831535e-01 -3.18932032e-03 1.52263912e+01] [ 4.90445923e-02 -2.69366621e-03 9.98792958e-01 8.72743160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04509989299996 meters 0.02922380821970359 Centerline is valid? [True, True] Translation: X:239.58, Y:15.22, Z:8.73 [[ 9.91555046e-01 -1.20387170e-01 -4.82236501e-02 2.39584426e+02] [ 1.20376421e-01 9.92723362e-01 -3.13763803e-03 1.52246282e+01] [ 4.82504754e-02 -2.69384959e-03 9.98831635e-01 8.72931902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10509989299996 meters 0.03152508089517755 Centerline is valid? [True, True] Translation: X:239.64, Y:15.23, Z:8.73 [[ 9.91147059e-01 -1.23757846e-01 -4.80780872e-02 2.39644180e+02] [ 1.23751134e-01 9.92308357e-01 -3.12768194e-03 1.52255536e+01] [ 4.80953629e-02 -2.84972505e-03 9.98838683e-01 8.73228718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16509989299996 meters 0.031713920541048254 Centerline is valid? [True, True] Translation: X:239.70, Y:15.23, Z:8.73 [[ 9.90654539e-01 -1.27375276e-01 -4.87762601e-02 2.39704365e+02] [ 1.27372705e-01 9.91849848e-01 -3.17367384e-03 1.52294406e+01] [ 4.87829737e-02 -3.06874979e-03 9.98804688e-01 8.73466774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22509989299996 meters 0.030696753475758214 Centerline is valid? [True, True] Translation: X:239.76, Y:15.23, Z:8.74 [[ 9.90299208e-01 -1.29515515e-01 -5.03310075e-02 2.39764949e+02] [ 1.29515560e-01 9.91571984e-01 -3.27431675e-03 1.52349356e+01] [ 5.03308918e-02 -3.27609532e-03 9.98727224e-01 8.73672502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28509989299997 meters 0.031418260864161364 Centerline is valid? [True, True] Translation: X:239.83, Y:15.24, Z:8.74 [[ 9.89913778e-01 -1.31714597e-01 -5.21725634e-02 2.39826273e+02] [ 1.31717757e-01 9.91281454e-01 -3.39288019e-03 1.52387390e+01] [ 5.21645864e-02 -3.51339417e-03 9.98632321e-01 8.73802697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34509989299997 meters 0.03203571951432844 Centerline is valid? [True, True] Translation: X:239.89, Y:15.24, Z:8.74 [[ 9.89828680e-01 -1.32027576e-01 -5.29896536e-02 2.39887389e+02] [ 1.32031389e-01 9.91239553e-01 -3.44407851e-03 1.52433799e+01] [ 5.29801539e-02 -3.58724987e-03 9.98589122e-01 8.74032667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40509989299997 meters 0.033323720905120945 Centerline is valid? [True, True] Translation: X:239.95, Y:15.25, Z:8.74 [[ 9.90029789e-01 -1.31197256e-01 -5.12669226e-02 2.39947398e+02] [ 1.31199788e-01 9.91350353e-01 -3.33056248e-03 1.52471465e+01] [ 5.12604425e-02 -3.42885329e-03 9.98679433e-01 8.74362675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46509989299994 meters 0.030149983386705593 Centerline is valid? [True, True] Translation: X:240.01, Y:15.26, Z:8.75 [[ 9.90205291e-01 -1.30756783e-01 -4.89504472e-02 2.40008219e+02] [ 1.30758598e-01 9.91409140e-01 -3.17901187e-03 1.52574914e+01] [ 4.89455981e-02 -3.25281748e-03 9.98796149e-01 8.74961204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52509989299995 meters 0.03131941545889969 Centerline is valid? [True, True] Translation: X:240.07, Y:15.26, Z:8.75 [[ 9.90179085e-01 -1.30949676e-01 -4.89649147e-02 2.40070095e+02] [ 1.30951836e-01 9.91383639e-01 -3.17773015e-03 1.52610727e+01] [ 4.89591380e-02 -3.26552355e-03 9.98795444e-01 8.75163627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58509989299995 meters 0.03454883793403244 Centerline is valid? [True, True] Translation: X:240.13, Y:15.26, Z:8.75 [[ 9.89969767e-01 -1.31970436e-01 -5.04347593e-02 2.40130080e+02] [ 1.31974251e-01 9.91247754e-01 -3.26916575e-03 1.52627951e+01] [ 5.04247751e-02 -3.41971434e-03 9.98722007e-01 8.75271244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64509989299995 meters 0.03305051273432856 Centerline is valid? [True, True] Translation: X:240.19, Y:15.27, Z:8.75 [[ 9.89836670e-01 -1.32800160e-01 -5.08673258e-02 2.40191351e+02] [ 1.32805339e-01 9.91136669e-01 -3.29315392e-03 1.52695277e+01] [ 5.08538033e-02 -3.49576796e-03 9.98699990e-01 8.75497711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70509989299995 meters 0.03581444759930763 Centerline is valid? [True, True] Translation: X:240.25, Y:15.27, Z:8.76 [[ 9.89745964e-01 -1.33872149e-01 -4.98113883e-02 2.40252051e+02] [ 1.33878570e-01 9.90992504e-01 -3.22259623e-03 1.52711531e+01] [ 4.97941283e-02 -3.47912583e-03 9.98753443e-01 8.75752334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76509989299996 meters 0.03374830793616435 Centerline is valid? [True, True] Translation: X:240.31, Y:15.28, Z:8.76 [[ 9.89793560e-01 -1.34042196e-01 -4.83880011e-02 2.40312708e+02] [ 1.34048502e-01 9.90969831e-01 -3.12946937e-03 1.52794586e+01] [ 4.83705302e-02 -3.38881042e-03 9.98823712e-01 8.76149217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82509989299996 meters 0.03202058970415541 Centerline is valid? [True, True] Translation: X:240.37, Y:15.29, Z:8.76 [[ 9.89712710e-01 -1.34762054e-01 -4.80410291e-02 2.40374390e+02] [ 1.34769213e-01 9.90872151e-01 -3.10491283e-03 1.52862625e+01] [ 4.80209423e-02 -3.40147998e-03 9.98840537e-01 8.76493149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88509989299996 meters 0.030138144792146927 Centerline is valid? [True, True] Translation: X:240.44, Y:15.29, Z:8.77 [[ 9.89488994e-01 -1.36107006e-01 -4.88509398e-02 2.40436372e+02] [ 1.36116220e-01 9.90687857e-01 -3.15360538e-03 1.52922812e+01] [ 4.88252606e-02 -3.52894746e-03 9.98801102e-01 8.76626028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94509989299996 meters 0.03244288975072474 Centerline is valid? [True, True] Translation: X:240.50, Y:15.29, Z:8.77 [[ 9.89236532e-01 -1.37409615e-01 -5.02959314e-02 2.40497818e+02] [ 1.37421243e-01 9.90507387e-01 -3.24328604e-03 1.52928627e+01] [ 5.02641502e-02 -3.70335238e-03 9.98729093e-01 8.76705779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00509989299997 meters 0.03419868510836284 Centerline is valid? [True, True] Translation: X:240.56, Y:15.29, Z:8.77 [[ 9.88727904e-01 -1.40333226e-01 -5.21892557e-02 2.40558581e+02] [ 1.40349917e-01 9.90096253e-01 -3.36318269e-03 1.52943832e+01] [ 5.21443527e-02 -3.99948513e-03 9.98631549e-01 8.76809900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06509989299997 meters 0.03263983673134766 Centerline is valid? [True, True] Translation: X:240.62, Y:15.30, Z:8.77 [[ 9.88724900e-01 -1.40224230e-01 -5.25379554e-02 2.40620814e+02] [ 1.40241064e-01 9.90111605e-01 -3.38433431e-03 1.53005059e+01] [ 5.24930051e-02 -4.02180314e-03 9.98613193e-01 8.77123516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12509989299997 meters 0.0325465831167682 Centerline is valid? [True, True] Translation: X:240.68, Y:15.31, Z:8.78 [[ 9.89005721e-01 -1.38694186e-01 -5.12991801e-02 2.40681611e+02] [ 1.38708348e-01 9.90327772e-01 -3.30129728e-03 1.53059707e+01] [ 5.12608735e-02 -3.85062263e-03 9.98677874e-01 8.77547931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18509989299994 meters 0.030990885536146703 Centerline is valid? [True, True] Translation: X:240.74, Y:15.31, Z:8.78 [[ 9.89508950e-01 -1.35541249e-01 -5.00060699e-02 2.40742547e+02] [ 1.35550775e-01 9.90765180e-01 -3.21650969e-03 1.53128351e+01] [ 4.99802425e-02 -3.59559640e-03 9.98743734e-01 8.77893552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24509989299995 meters 0.03367805667323166 Centerline is valid? [True, True] Translation: X:240.80, Y:15.31, Z:8.78 [[ 9.89821259e-01 -1.33548757e-01 -4.91793033e-02 2.40803276e+02] [ 1.33555573e-01 9.91036280e-01 -3.16226889e-03 1.53134333e+01] [ 4.91607909e-02 -3.43808904e-03 9.98784960e-01 8.78059127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30509989299995 meters 0.03258111773849454 Centerline is valid? [True, True] Translation: X:240.86, Y:15.32, Z:8.78 [[ 9.90067242e-01 -1.31892678e-01 -4.86947461e-02 2.40864613e+02] [ 1.31897462e-01 9.91258426e-01 -3.12912271e-03 1.53203225e+01] [ 4.86817857e-02 -3.32467154e-03 9.98808806e-01 8.78343187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36509989299995 meters 0.03062141519328806 Centerline is valid? [True, True] Translation: X:240.93, Y:15.33, Z:8.79 [[ 9.89984387e-01 -1.32834748e-01 -4.78105001e-02 2.40926724e+02] [ 1.32840584e-01 9.91132664e-01 -3.06948855e-03 1.53276332e+01] [ 4.77942831e-02 -3.31242903e-03 9.98851708e-01 8.78611214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42509989299995 meters 0.030042915376107655 Centerline is valid? [True, True] Translation: X:240.99, Y:15.33, Z:8.79 [[ 9.89835132e-01 -1.33976624e-01 -4.77145298e-02 2.40988520e+02] [ 1.33983923e-01 9.90978782e-01 -3.05980421e-03 1.53322587e+01] [ 4.76940289e-02 -3.36427821e-03 9.98856327e-01 8.78824529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48509989299995 meters 0.03604745146381342 Centerline is valid? [True, True] Translation: X:241.05, Y:15.33, Z:8.79 [[ 9.89732863e-01 -1.34949887e-01 -4.70891525e-02 2.41049748e+02] [ 1.34958278e-01 9.90846693e-01 -3.01570065e-03 1.53283470e+01] [ 4.70650995e-02 -3.37033289e-03 9.98886138e-01 8.78905989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54509989299996 meters 0.03660628801485138 Centerline is valid? [True, True] Translation: X:241.11, Y:15.33, Z:8.79 [[ 9.89654147e-01 -1.35658467e-01 -4.67059938e-02 2.41111681e+02] [ 1.35667757e-01 9.90749890e-01 -2.98576618e-03 1.53326654e+01] [ 4.66790027e-02 -3.38162153e-03 9.98904217e-01 8.79126680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60509989299996 meters 0.030817077431247952 Centerline is valid? [True, True] Translation: X:241.17, Y:15.34, Z:8.79 [[ 9.89669955e-01 -1.35734584e-01 -4.61465339e-02 2.41173236e+02] [ 1.35743883e-01 9.90739580e-01 -2.94674646e-03 1.53444104e+01] [ 4.61191730e-02 -3.34780324e-03 9.98930335e-01 8.79468110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66509989299996 meters 0.03256674680694059 Centerline is valid? [True, True] Translation: X:241.23, Y:15.35, Z:8.80 [[ 9.89691609e-01 -1.35671230e-01 -4.58676056e-02 2.41234679e+02] [ 1.35680497e-01 9.90748325e-01 -2.92569742e-03 1.53465612e+01] [ 4.58401864e-02 -3.32780133e-03 9.98943243e-01 8.79664693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72509989299996 meters 0.030803724776400348 Centerline is valid? [True, True] Translation: X:241.30, Y:15.35, Z:8.80 [[ 9.89789811e-01 -1.35145699e-01 -4.52964651e-02 2.41296149e+02] [ 1.35154306e-01 9.90820358e-01 -2.88663958e-03 1.53528973e+01] [ 4.52707766e-02 -3.26484586e-03 9.98969418e-01 8.79914971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78509989299997 meters 0.03065979058653707 Centerline is valid? [True, True] Translation: X:241.36, Y:15.36, Z:8.80 [[ 9.90099679e-01 -1.32831170e-01 -4.53707519e-02 2.41357817e+02] [ 1.32837535e-01 9.91133618e-01 -2.88814453e-03 1.53579554e+01] [ 4.53521131e-02 -3.16738788e-03 9.98966042e-01 8.80038764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84509989299997 meters 0.0325951608065697 Centerline is valid? [True, True] Translation: X:241.42, Y:15.36, Z:8.80 [[ 9.90351495e-01 -1.31022743e-01 -4.51326551e-02 2.41418501e+02] [ 1.31027278e-01 9.91374607e-01 -2.87064488e-03 1.53599858e+01] [ 4.51194880e-02 -3.07066149e-03 9.98976878e-01 8.80178511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90509989299997 meters 0.029518951793287423 Centerline is valid? [True, True] Translation: X:241.48, Y:15.37, Z:8.80 [[ 9.90589593e-01 -1.29302019e-01 -4.48692078e-02 2.41479223e+02] [ 1.29304817e-01 9.91600791e-01 -2.85225488e-03 1.53689318e+01] [ 4.48611442e-02 -2.97639070e-03 9.98988798e-01 8.80422457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96509989299994 meters 0.03227517913076392 Centerline is valid? [True, True] Translation: X:241.54, Y:15.37, Z:8.81 [[ 9.90687897e-01 -1.28762799e-01 -4.42451344e-02 2.41540341e+02] [ 1.28765059e-01 9.91671144e-01 -2.81084429e-03 1.53694628e+01] [ 4.42385552e-02 -2.91255793e-03 9.99016750e-01 8.80611785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02509989299995 meters 0.02829998437125952 Centerline is valid? [True, True] Translation: X:241.60, Y:15.38, Z:8.81 [[ 9.90816625e-01 -1.28046044e-01 -4.34353100e-02 2.41601600e+02] [ 1.28047642e-01 9.91764186e-01 -2.75694786e-03 1.53792500e+01] [ 4.34306012e-02 -2.83015923e-03 9.99052438e-01 8.80862976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08509989299995 meters 0.033592854395588845 Centerline is valid? [True, True] Translation: X:241.66, Y:15.38, Z:8.81 [[ 9.90902555e-01 -1.27320338e-01 -4.36080090e-02 2.41663447e+02] [ 1.27321385e-01 9.91857662e-01 -2.76478313e-03 1.53765136e+01] [ 4.36049510e-02 -2.81260146e-03 9.99044893e-01 8.80948596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14509989299995 meters 0.030377407198302852 Centerline is valid? [True, True] Translation: X:241.73, Y:15.38, Z:8.81 [[ 9.90836522e-01 -1.28008083e-01 -4.30919756e-02 2.41725514e+02] [ 1.28009857e-01 9.91769139e-01 -2.72962215e-03 1.53835789e+01] [ 4.30867053e-02 -2.81158830e-03 9.99067381e-01 8.81206042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20509989299995 meters 0.02902198525729457 Centerline is valid? [True, True] Translation: X:241.79, Y:15.39, Z:8.81 [[ 9.90768711e-01 -1.28492538e-01 -4.32091224e-02 2.41787613e+02] [ 1.28494917e-01 9.91706399e-01 -2.73389341e-03 1.53886054e+01] [ 4.32020481e-02 -2.84349653e-03 9.99062309e-01 8.81363282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26509989299996 meters 0.03050291037846575 Centerline is valid? [True, True] Translation: X:241.85, Y:15.39, Z:8.81 [[ 9.90757794e-01 -1.28377907e-01 -4.37961895e-02 2.41848411e+02] [ 1.28380379e-01 9.91721139e-01 -2.76789114e-03 1.53904701e+01] [ 4.37889430e-02 -2.88026168e-03 9.99036652e-01 8.81495583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32509989299996 meters 0.02803677851710076 Centerline is valid? [True, True] Translation: X:241.91, Y:15.40, Z:8.82 [[ 9.90799241e-01 -1.27955915e-01 -4.40924839e-02 2.41910642e+02] [ 1.27958118e-01 9.91775665e-01 -2.78405679e-03 1.53974207e+01] [ 4.40860890e-02 -2.88354991e-03 9.99023574e-01 8.81730452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38509989299996 meters 0.029472807251788486 Centerline is valid? [True, True] Translation: X:241.97, Y:15.40, Z:8.82 [[ 9.90948588e-01 -1.26963370e-01 -4.36027344e-02 2.41971981e+02] [ 1.26964703e-01 9.91903424e-01 -2.75003209e-03 1.53991694e+01] [ 4.35988549e-02 -2.81086779e-03 9.99045164e-01 8.81927255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44509989299996 meters 0.03295504600983904 Centerline is valid? [True, True] Translation: X:242.03, Y:15.40, Z:8.82 [[ 9.90969614e-01 -1.27000243e-01 -4.30135169e-02 2.42032864e+02] [ 1.27001688e-01 9.91898798e-01 -2.71017810e-03 1.53985667e+01] [ 4.30092490e-02 -2.77708512e-03 9.99070814e-01 8.82199149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50509989299997 meters 0.027716963395581974 Centerline is valid? [True, True] Translation: X:242.09, Y:15.41, Z:8.83 [[ 9.91117440e-01 -1.25880499e-01 -4.28989571e-02 2.42094196e+02] [ 1.25881094e-01 9.92041667e-01 -2.69826043e-03 1.54094702e+01] [ 4.28972113e-02 -2.72587467e-03 9.99075772e-01 8.82500282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56509989299997 meters 0.028548954717933978 Centerline is valid? [True, True] Translation: X:242.15, Y:15.41, Z:8.83 [[ 9.91539047e-01 -1.22632694e-01 -4.25621932e-02 2.42154215e+02] [ 1.22630415e-01 9.92448804e-01 -2.67432759e-03 1.54131265e+01] [ 4.25687578e-02 -2.56771919e-03 9.99090240e-01 8.82687044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62509989299997 meters 0.027042776868417683 Centerline is valid? [True, True] Translation: X:242.22, Y:15.42, Z:8.83 [[ 9.91871245e-01 -1.20283465e-01 -4.15128957e-02 2.42215528e+02] [ 1.20279255e-01 9.92736671e-01 -2.60816333e-03 1.54202882e+01] [ 4.15250928e-02 -2.40617797e-03 9.99134564e-01 8.83031676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68509989299994 meters 0.02433264661542837 Centerline is valid? [True, True] Translation: X:242.28, Y:15.43, Z:8.83 [[ 9.92141604e-01 -1.18130318e-01 -4.12342777e-02 2.42276528e+02] [ 1.18124399e-01 9.92995431e-01 -2.58849329e-03 1.54273772e+01] [ 4.12512288e-02 -2.30262240e-03 9.99146152e-01 8.83366205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74509989299995 meters 0.025381536587943843 Centerline is valid? [True, True] Translation: X:242.34, Y:15.43, Z:8.84 [[ 9.92321008e-01 -1.16358039e-01 -4.19502616e-02 2.42337406e+02] [ 1.16350403e-01 9.93204741e-01 -2.63185210e-03 1.54294620e+01] [ 4.19714359e-02 -2.26928772e-03 9.99116234e-01 8.83568779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80509989299995 meters 0.024823772164015812 Centerline is valid? [True, True] Translation: X:242.40, Y:15.43, Z:8.84 [[ 9.92445174e-01 -1.15002728e-01 -4.27428315e-02 2.42399901e+02] [ 1.14993630e-01 9.93362615e-01 -2.67968300e-03 1.54341271e+01] [ 4.27673017e-02 -2.25571490e-03 9.99082514e-01 8.83771805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86509989299995 meters 0.024005855694226096 Centerline is valid? [True, True] Translation: X:242.46, Y:15.44, Z:8.84 [[ 9.92550374e-01 -1.13434426e-01 -4.44565597e-02 2.42462367e+02] [ 1.13423205e-01 9.93542869e-01 -2.78295210e-03 1.54387947e+01] [ 4.44851804e-02 -2.28018533e-03 9.99007442e-01 8.83917351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92509989299995 meters 0.026314916122073366 Centerline is valid? [True, True] Translation: X:242.52, Y:15.44, Z:8.84 [[ 9.92549429e-01 -1.12952105e-01 -4.56886563e-02 2.42524214e+02] [ 1.12939933e-01 9.93597713e-01 -2.85600196e-03 1.54381896e+01] [ 4.57187359e-02 -2.32535069e-03 9.98951645e-01 8.83994597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98509989299995 meters 0.022125194909418916 Centerline is valid? [True, True] Translation: X:242.59, Y:15.45, Z:8.84 [[ 9.92606418e-01 -1.12324234e-01 -4.59974419e-02 2.42585608e+02] [ 1.12311379e-01 9.93668912e-01 -2.87197980e-03 1.54465962e+01] [ 4.60288209e-02 -2.31529053e-03 9.98937429e-01 8.84335524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04509989299996 meters 0.020785418738241943 Centerline is valid? [True, True] Translation: X:242.65, Y:15.45, Z:8.85 [[ 9.93010206e-01 -1.09237572e-01 -4.46976846e-02 2.42647150e+02] [ 1.09222452e-01 9.94013423e-01 -2.78770150e-03 1.54507543e+01] [ 4.47346202e-02 -2.11377467e-03 9.98996670e-01 8.84634656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10509989299996 meters 0.019373046337347325 Centerline is valid? [True, True] Translation: X:242.71, Y:15.46, Z:8.85 [[ 9.93484477e-01 -1.04981020e-01 -4.43574019e-02 2.42708067e+02] [ 1.04961997e-01 9.94472392e-01 -2.76416278e-03 1.54554542e+01] [ 4.44023962e-02 -1.90968868e-03 9.99011902e-01 8.84877084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16509989299996 meters 0.0193776678131957 Centerline is valid? [True, True] Translation: X:242.77, Y:15.46, Z:8.85 [[ 9.93932181e-01 -1.00791151e-01 -4.40450130e-02 2.42767902e+02] [ 1.00768319e-01 9.94906134e-01 -2.74401398e-03 1.54579811e+01] [ 4.40972260e-02 -1.71097810e-03 9.99025779e-01 8.85051179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22509989299996 meters 0.01997570091710525 Centerline is valid? [True, True] Translation: X:242.83, Y:15.46, Z:8.85 [[ 9.94150089e-01 -9.89464556e-02 -4.33035625e-02 2.42828136e+02] [ 9.89226419e-02 9.95091470e-01 -2.69771467e-03 1.54596990e+01] [ 4.33579349e-02 -1.60176952e-03 9.99058319e-01 8.85261119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28509989299997 meters 0.01737852732926582 Centerline is valid? [True, True] Translation: X:242.89, Y:15.47, Z:8.86 [[ 9.94228725e-01 -9.82902177e-02 -4.29915857e-02 2.42889947e+02] [ 9.82661794e-02 9.95156566e-01 -2.67720672e-03 1.54661492e+01] [ 4.30465020e-02 -1.56286306e-03 9.99071847e-01 8.85587071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34509989299997 meters 0.018659179234756736 Centerline is valid? [True, True] Translation: X:242.95, Y:15.47, Z:8.86 [[ 9.94149513e-01 -9.88802474e-02 -4.34677123e-02 2.42951536e+02] [ 9.88563884e-02 9.95098038e-01 -2.70338150e-03 1.54651850e+01] [ 4.35219463e-02 -1.60949565e-03 9.99051175e-01 8.85726736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40509989299994 meters 0.018814911438740953 Centerline is valid? [True, True] Translation: X:243.01, Y:15.46, Z:8.86 [[ 9.93969759e-01 -1.00373964e-01 -4.41495829e-02 2.43012927e+02] [ 1.00351024e-01 9.94948319e-01 -2.74120731e-03 1.54642407e+01] [ 4.42016992e-02 -1.70577871e-03 9.99021171e-01 8.85859563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46509989299994 meters 0.018132841016991606 Centerline is valid? [True, True] Translation: X:243.07, Y:15.47, Z:8.86 [[ 9.93971765e-01 -1.00393456e-01 -4.40600063e-02 2.43074672e+02] [ 1.00370699e-01 9.94946354e-01 -2.73405591e-03 1.54663617e+01] [ 4.41118239e-02 -1.70475924e-03 9.99025145e-01 8.86086839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52509989299995 meters 0.018609783926387097 Centerline is valid? [True, True] Translation: X:243.14, Y:15.47, Z:8.86 [[ 9.93997967e-01 -1.00357070e-01 -4.35488132e-02 2.43135988e+02] [ 1.00334871e-01 9.94950059e-01 -2.70075867e-03 1.54683227e+01] [ 4.35999345e-02 -1.68491595e-03 9.99047650e-01 8.86265561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58509989299995 meters 0.020107240813622272 Centerline is valid? [True, True] Translation: X:243.20, Y:15.47, Z:8.86 [[ 9.93953620e-01 -1.01414548e-01 -4.20867039e-02 2.43196708e+02] [ 1.01394817e-01 9.94842845e-01 -2.60869216e-03 1.54657566e+01] [ 4.21342156e-02 -1.67445464e-03 9.99110556e-01 8.86441615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64509989299995 meters 0.019231278997238296 Centerline is valid? [True, True] Translation: X:243.26, Y:15.47, Z:8.87 [[ 9.93707844e-01 -1.03858922e-01 -4.19290584e-02 2.43258309e+02] [ 1.03841545e-01 9.94590460e-01 -2.59808553e-03 1.54671787e+01] [ 4.19720759e-02 -1.77224024e-03 9.99117212e-01 8.86538569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70509989299995 meters 0.021629582143972072 Centerline is valid? [True, True] Translation: X:243.32, Y:15.47, Z:8.87 [[ 9.93485811e-01 -1.06067237e-01 -4.16615409e-02 2.43318836e+02] [ 1.06052078e-01 9.94357230e-01 -2.58006357e-03 1.54656820e+01] [ 4.17001146e-02 -1.85503644e-03 9.99128450e-01 8.86692367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76509989299996 meters 0.023439832884601216 Centerline is valid? [True, True] Translation: X:243.38, Y:15.47, Z:8.87 [[ 9.93201265e-01 -1.08630077e-01 -4.18419975e-02 2.43380108e+02] [ 1.08617090e-01 9.94080287e-01 -2.59039666e-03 1.54650845e+01] [ 4.18756999e-02 -1.97197076e-03 9.99120882e-01 8.86819327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82509989299996 meters 0.024547077469540282 Centerline is valid? [True, True] Translation: X:243.44, Y:15.46, Z:8.87 [[ 9.92826922e-01 -1.12229787e-01 -4.12210908e-02 2.43441793e+02] [ 1.12220333e-01 9.93680075e-01 -2.55051262e-03 1.54641084e+01] [ 4.12468200e-02 -2.09362696e-03 9.99146794e-01 8.87052885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88509989299996 meters 0.0256794837956503 Centerline is valid? [True, True] Translation: X:243.50, Y:15.46, Z:8.87 [[ 9.92616711e-01 -1.14414590e-01 -4.02661869e-02 2.43502691e+02] [ 1.14407414e-01 9.93430794e-01 -2.49007343e-03 1.54646741e+01] [ 4.02865708e-02 -2.13506181e-03 9.99185885e-01 8.87301591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94509989299996 meters 0.024964739870372215 Centerline is valid? [True, True] Translation: X:243.56, Y:15.47, Z:8.87 [[ 9.92420269e-01 -1.16076227e-01 -4.03524428e-02 2.43564632e+02] [ 1.16070425e-01 9.93237854e-01 -2.49451098e-03 1.54677137e+01] [ 4.03691271e-02 -2.20812195e-03 9.99182395e-01 8.87490241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00509989299997 meters 0.025265345665965472 Centerline is valid? [True, True] Translation: X:243.63, Y:15.47, Z:8.88 [[ 9.92395490e-01 -1.16219782e-01 -4.05481566e-02 2.43626987e+02] [ 1.16214165e-01 9.93221023e-01 -2.50362408e-03 1.54707693e+01] [ 4.05642523e-02 -2.22768491e-03 9.99174449e-01 8.87689757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06509989299997 meters 0.027866244967381486 Centerline is valid? [True, True] Translation: X:243.69, Y:15.47, Z:8.88 [[ 9.92513870e-01 -1.15204124e-01 -4.05490864e-02 2.43688217e+02] [ 1.15197780e-01 9.93339427e-01 -2.50078120e-03 1.54707110e+01] [ 4.05671066e-02 -2.18910470e-03 9.99174418e-01 8.87738958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12509989299997 meters 0.023908528360620875 Centerline is valid? [True, True] Translation: X:243.75, Y:15.48, Z:8.88 [[ 9.92651743e-01 -1.14001388e-01 -4.05733934e-02 2.43748923e+02] [ 1.13994121e-01 9.93478278e-01 -2.50014694e-03 1.54811830e+01] [ 4.05938053e-02 -2.14335311e-03 9.99173433e-01 8.87961792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18509989299994 meters 0.02430096352450983 Centerline is valid? [True, True] Translation: X:243.81, Y:15.49, Z:8.88 [[ 9.92646441e-01 -1.13998064e-01 -4.07122127e-02 2.43810891e+02] [ 1.13990811e-01 9.93478641e-01 -2.50707158e-03 1.54857006e+01] [ 4.07325150e-02 -2.15218248e-03 9.99167769e-01 8.88171943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24509989299995 meters 0.02470122218058849 Centerline is valid? [True, True] Translation: X:243.87, Y:15.49, Z:8.88 [[ 9.92632088e-01 -1.14407962e-01 -3.99043257e-02 2.43873319e+02] [ 1.14401438e-01 9.93431571e-01 -2.45444456e-03 1.54899202e+01] [ 3.99230250e-02 -2.12875182e-03 9.99200491e-01 8.88390959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30509989299995 meters 0.024751032122425642 Centerline is valid? [True, True] Translation: X:243.94, Y:15.50, Z:8.89 [[ 9.92631330e-01 -1.14430588e-01 -3.98582797e-02 2.43935562e+02] [ 1.14424214e-01 9.93428962e-01 -2.44868911e-03 1.54965808e+01] [ 3.98765744e-02 -2.13010679e-03 9.99202343e-01 8.88588741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36509989299995 meters 0.028067965199458676 Centerline is valid? [True, True] Translation: X:244.00, Y:15.50, Z:8.89 [[ 9.92704052e-01 -1.13841943e-01 -3.97325780e-02 2.43997225e+02] [ 1.13835255e-01 9.93496649e-01 -2.43806256e-03 1.54987488e+01] [ 3.97517369e-02 -2.10269356e-03 9.99207375e-01 8.88794671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42509989299995 meters 0.02390654159234863 Centerline is valid? [True, True] Translation: X:244.06, Y:15.51, Z:8.89 [[ 9.92874534e-01 -1.12194758e-01 -4.01558955e-02 2.44058142e+02] [ 1.12186701e-01 9.93684098e-01 -2.46112653e-03 1.55127852e+01] [ 4.01784003e-02 -2.06136758e-03 9.99190396e-01 8.88990438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48509989299995 meters 0.02346423696364105 Centerline is valid? [True, True] Translation: X:244.12, Y:15.52, Z:8.89 [[ 9.92939912e-01 -1.11786234e-01 -3.96758116e-02 2.44119760e+02] [ 1.11778149e-01 9.93730218e-01 -2.42901582e-03 1.55204021e+01] [ 3.96985835e-02 -2.02302203e-03 9.99209653e-01 8.89247606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54509989299996 meters 0.025123102312203435 Centerline is valid? [True, True] Translation: X:244.18, Y:15.53, Z:8.89 [[ 9.92805343e-01 -1.12982700e-01 -3.96542709e-02 2.44180180e+02] [ 1.12975688e-01 9.93594794e-01 -2.42485962e-03 1.55267749e+01] [ 3.96742443e-02 -2.07255494e-03 9.99210518e-01 8.89452262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60509989299996 meters 0.027129642930643124 Centerline is valid? [True, True] Translation: X:244.24, Y:15.53, Z:8.90 [[ 9.92568144e-01 -1.14933281e-01 -3.99852443e-02 2.44241120e+02] [ 1.14927790e-01 9.93370843e-01 -2.44358110e-03 1.55328566e+01] [ 4.00010246e-02 -2.16999499e-03 9.99197282e-01 8.89595501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66509989299996 meters 0.02727400431539642 Centerline is valid? [True, True] Translation: X:244.30, Y:15.54, Z:8.90 [[ 9.92377469e-01 -1.16613516e-01 -3.98528072e-02 2.44302431e+02] [ 1.16609496e-01 9.93174861e-01 -2.43335420e-03 1.55418209e+01] [ 3.98645682e-02 -2.23240986e-03 9.99202598e-01 8.89879949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72509989299996 meters 0.028491729525284903 Centerline is valid? [True, True] Translation: X:244.36, Y:15.55, Z:8.90 [[ 9.92413576e-01 -1.16894029e-01 -3.80930454e-02 2.44363846e+02] [ 1.16890636e-01 9.93142074e-01 -2.32391772e-03 1.55478555e+01] [ 3.81034582e-02 -2.14643279e-03 9.99271494e-01 8.90278371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78509989299997 meters 0.02852621330902041 Centerline is valid? [True, True] Translation: X:244.43, Y:15.56, Z:8.91 [[ 9.92694429e-01 -1.14828829e-01 -3.70420167e-02 2.44425281e+02] [ 1.14824281e-01 9.93383254e-01 -2.25722458e-03 1.55571513e+01] [ 3.70561135e-02 -2.01258866e-03 9.99311160e-01 8.90551975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84509989299997 meters 0.028420976754687483 Centerline is valid? [True, True] Translation: X:244.49, Y:15.56, Z:8.91 [[ 9.93000234e-01 -1.12497758e-01 -3.59831931e-02 2.44485942e+02] [ 1.12492006e-01 9.93650215e-01 -2.19082893e-03 1.55648231e+01] [ 3.60011709e-02 -1.87232793e-03 9.99349994e-01 8.90878542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90509989299994 meters 0.023331084944981192 Centerline is valid? [True, True] Translation: X:244.55, Y:15.58, Z:8.91 [[ 9.93434040e-01 -1.08266816e-01 -3.69743707e-02 2.44546270e+02] [ 1.08257870e-01 9.94120300e-01 -2.24984531e-03 1.55804109e+01] [ 3.70005561e-02 -1.76769368e-03 9.99313682e-01 8.91027467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96509989299994 meters 0.022309603398447744 Centerline is valid? [True, True] Translation: X:244.61, Y:15.59, Z:8.91 [[ 9.93836545e-01 -1.03822880e-01 -3.88552659e-02 2.44606940e+02] [ 1.03809650e-01 9.94594375e-01 -2.36333448e-03 1.55908862e+01] [ 3.88905971e-02 -1.68478340e-03 9.99242054e-01 8.91158470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02509989299995 meters 0.019905926843244652 Centerline is valid? [True, True] Translation: X:244.67, Y:15.60, Z:8.91 [[ 9.94138249e-01 -1.00448372e-01 -3.99908362e-02 2.44667950e+02] [ 1.00431667e-01 9.94940987e-01 -2.43156163e-03 1.56020609e+01] [ 4.00327684e-02 -1.59903794e-03 9.99197088e-01 8.91374157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08509989299995 meters 0.019101822125371173 Centerline is valid? [True, True] Translation: X:244.73, Y:15.61, Z:8.92 [[ 9.94424539e-01 -9.70870953e-02 -4.11574149e-02 2.44729244e+02] [ 9.70666293e-02 9.95274746e-01 -2.50006068e-03 1.56101281e+01] [ 4.12056593e-02 -1.50888985e-03 9.99149547e-01 8.91619846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14509989299995 meters 0.017967712258153124 Centerline is valid? [True, True] Translation: X:244.79, Y:15.62, Z:8.92 [[ 9.94767647e-01 -9.35944752e-02 -4.09561002e-02 2.44790208e+02] [ 9.35713741e-02 9.95609473e-01 -2.48486844e-03 1.56200819e+01] [ 4.10088513e-02 -1.36045184e-03 9.99157857e-01 8.92003915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20509989299995 meters 0.01899407144958227 Centerline is valid? [True, True] Translation: X:244.85, Y:15.63, Z:8.92 [[ 9.94841933e-01 -9.31345265e-02 -4.01931349e-02 2.44850615e+02] [ 9.31119635e-02 9.95652662e-01 -2.43706871e-03 1.56253132e+01] [ 4.02453770e-02 -1.31796357e-03 9.99188957e-01 8.92442979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26509989299996 meters 0.019052924810718 Centerline is valid? [True, True] Translation: X:244.91, Y:15.63, Z:8.93 [[ 9.94738788e-01 -9.41309650e-02 -4.04240725e-02 2.44912829e+02] [ 9.41090553e-02 9.95558883e-01 -2.44880908e-03 1.56297299e+01] [ 4.04750532e-02 -1.36834589e-03 9.99179612e-01 8.92738905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32509989299996 meters 0.018990984872236435 Centerline is valid? [True, True] Translation: X:244.97, Y:15.63, Z:8.93 [[ 9.94479110e-01 -9.69698637e-02 -4.01016882e-02 2.44974545e+02] [ 9.69507182e-02 9.95286225e-01 -2.42647395e-03 1.56327114e+01] [ 4.01479528e-02 -1.47480982e-03 9.99192658e-01 8.93071271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38509989299996 meters 0.022751979016060832 Centerline is valid? [True, True] Translation: X:245.04, Y:15.63, Z:8.93 [[ 9.93938739e-01 -1.01761694e-01 -4.15973740e-02 2.45035225e+02] [ 1.01745374e-01 9.94807295e-01 -2.51476879e-03 1.56289923e+01] [ 4.16372783e-02 -1.73281424e-03 9.99131290e-01 8.93157413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44509989299996 meters 0.023259592082455177 Centerline is valid? [True, True] Translation: X:245.10, Y:15.63, Z:8.93 [[ 9.93389394e-01 -1.06247299e-01 -4.34628846e-02 2.45096261e+02] [ 1.06233800e-01 9.94337709e-01 -2.62673799e-03 1.56293033e+01] [ 4.34958689e-02 -2.00785374e-03 9.99051589e-01 8.93153419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50509989299997 meters 0.023380993031854102 Centerline is valid? [True, True] Translation: X:245.16, Y:15.63, Z:8.93 [[ 9.93139499e-01 -1.08582632e-01 -4.34021601e-02 2.45158562e+02] [ 1.08571442e-01 9.94085191e-01 -2.62195263e-03 1.56307426e+01] [ 4.34301431e-02 -2.10827040e-03 9.99054242e-01 8.93337653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56509989299997 meters 0.0241670933963362 Centerline is valid? [True, True] Translation: X:245.22, Y:15.63, Z:8.94 [[ 9.93019603e-01 -1.10096804e-01 -4.23173826e-02 2.45220938e+02] [ 1.10087664e-01 9.93918601e-01 -2.55339588e-03 1.56314441e+01] [ 4.23411545e-02 -2.12304964e-03 9.99100956e-01 8.93625468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62509989299997 meters 0.026856729420279966 Centerline is valid? [True, True] Translation: X:245.28, Y:15.63, Z:8.94 [[ 9.92826706e-01 -1.12599269e-01 -4.02061705e-02 2.45281827e+02] [ 1.12593167e-01 9.93638217e-01 -2.42336385e-03 1.56278492e+01] [ 4.02232565e-02 -2.12095971e-03 9.99188466e-01 8.93895871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68509989299994 meters 0.02576234659530124 Centerline is valid? [True, True] Translation: X:245.34, Y:15.63, Z:8.94 [[ 9.92630256e-01 -1.14246502e-01 -4.04093094e-02 2.45343424e+02] [ 1.14241733e-01 9.93449998e-01 -2.43476284e-03 1.56301795e+01] [ 4.04227914e-02 -2.19961025e-03 9.99180244e-01 8.94071358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74509989299995 meters 0.024883240775534905 Centerline is valid? [True, True] Translation: X:245.41, Y:15.63, Z:8.94 [[ 9.92523094e-01 -1.14841542e-01 -4.13440289e-02 2.45405889e+02] [ 1.14837165e-01 9.93381212e-01 -2.48868098e-03 1.56314261e+01] [ 4.13561854e-02 -2.27775773e-03 9.99141871e-01 8.94117932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80509989299995 meters 0.02540842701527991 Centerline is valid? [True, True] Translation: X:245.47, Y:15.63, Z:8.94 [[ 9.92567278e-01 -1.14376270e-01 -4.15724319e-02 2.45467819e+02] [ 1.14371567e-01 9.93434899e-01 -2.49932716e-03 1.56334680e+01] [ 4.15853684e-02 -2.27395381e-03 9.99132367e-01 8.94276845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86509989299995 meters 0.025967068460899433 Centerline is valid? [True, True] Translation: X:245.53, Y:15.64, Z:8.94 [[ 9.92667645e-01 -1.13434863e-01 -4.17549752e-02 2.45529606e+02] [ 1.13429418e-01 9.93542893e-01 -2.50722438e-03 1.56355342e+01] [ 4.17697655e-02 -2.24740200e-03 9.99124735e-01 8.94491561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92509989299995 meters 0.024664255379818305 Centerline is valid? [True, True] Translation: X:245.59, Y:15.64, Z:8.95 [[ 9.93090059e-01 -1.09991693e-01 -4.09140929e-02 2.45590145e+02] [ 1.09983660e-01 9.93930366e-01 -2.45402095e-03 1.56407777e+01] [ 4.09356813e-02 -2.06281789e-03 9.99159654e-01 8.94800254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98509989299995 meters 0.023474387756403228 Centerline is valid? [True, True] Translation: X:245.65, Y:15.65, Z:8.95 [[ 9.93653912e-01 -1.05088765e-01 -4.01030580e-02 2.45651018e+02] [ 1.05077091e-01 9.94461172e-01 -2.40464465e-03 1.56461679e+01] [ 4.01336352e-02 -1.82452814e-03 9.99192655e-01 8.95092270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04509989299996 meters 0.022377216508729005 Centerline is valid? [True, True] Translation: X:245.71, Y:15.65, Z:8.95 [[ 9.94003322e-01 -1.01948391e-01 -3.95464387e-02 2.45712789e+02] [ 1.01934600e-01 9.94788279e-01 -2.37022783e-03 1.56512547e+01] [ 3.95819746e-02 -1.67513606e-03 9.99214922e-01 8.95355078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10509989299996 meters 0.022414541124433297 Centerline is valid? [True, True] Translation: X:245.77, Y:15.65, Z:8.95 [[ 9.94014739e-01 -1.01881202e-01 -3.94324606e-02 2.45774956e+02] [ 1.01867521e-01 9.94795171e-01 -2.36125452e-03 1.56541627e+01] [ 3.94677888e-02 -1.66976523e-03 9.99219448e-01 8.95472565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16509989299996 meters 0.023717924579461404 Centerline is valid? [True, True] Translation: X:245.84, Y:15.65, Z:8.96 [[ 9.93780441e-01 -1.04040918e-01 -3.96978919e-02 2.45837031e+02] [ 1.04028885e-01 9.94571442e-01 -2.37430448e-03 1.56546571e+01] [ 3.97294144e-02 -1.77019006e-03 9.99208907e-01 8.95602900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22509989299996 meters 0.025699456972482146 Centerline is valid? [True, True] Translation: X:245.90, Y:15.65, Z:8.96 [[ 9.92891802e-01 -1.11352086e-01 -4.20307297e-02 2.45898550e+02] [ 1.11345250e-01 9.93778613e-01 -2.51090722e-03 1.56524361e+01] [ 4.20488350e-02 -2.18686290e-03 9.99113163e-01 8.95520300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28509989299997 meters 0.02556382233552157 Centerline is valid? [True, True] Translation: X:245.96, Y:15.66, Z:8.96 [[ 9.92600548e-01 -1.13984659e-01 -4.18527007e-02 2.45959403e+02] [ 1.13980260e-01 9.93479871e-01 -2.49916234e-03 1.56560115e+01] [ 4.18646819e-02 -2.28971178e-03 9.99120666e-01 8.95722074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34509989299997 meters 0.0273847327776985 Centerline is valid? [True, True] Translation: X:246.02, Y:15.66, Z:8.96 [[ 9.92600896e-01 -1.14358771e-01 -4.08109485e-02 2.46020973e+02] [ 1.14354936e-01 9.93436970e-01 -2.43609718e-03 1.56573688e+01] [ 4.08216941e-02 -2.24886114e-03 9.99163916e-01 8.96014637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40509989299994 meters 0.022502325762390266 Centerline is valid? [True, True] Translation: X:246.08, Y:15.67, Z:8.96 [[ 9.93273759e-01 -1.09195497e-01 -3.85173044e-02 2.46080730e+02] [ 1.09188279e-01 9.94018432e-01 -2.29726767e-03 1.56691861e+01] [ 3.85377618e-02 -1.92382246e-03 9.99255293e-01 8.96390437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46509989299994 meters 0.023286991417058936 Centerline is valid? [True, True] Translation: X:246.14, Y:15.67, Z:8.97 [[ 9.93900072e-01 -1.03592205e-01 -3.78325530e-02 2.46139979e+02] [ 1.03581199e-01 9.94618442e-01 -2.25615230e-03 1.56734606e+01] [ 3.78626747e-02 -1.67635128e-03 9.99281546e-01 8.96653382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52509989299995 meters 0.019637707097863874 Centerline is valid? [True, True] Translation: X:246.20, Y:15.69, Z:8.97 [[ 9.94863835e-01 -9.46707523e-02 -3.58245472e-02 2.46199591e+02] [ 9.46550878e-02 9.95507834e-01 -2.13685749e-03 1.56866236e+01] [ 3.58659153e-02 -1.26509342e-03 9.99355810e-01 8.96987736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58509989299995 meters 0.017750435795800545 Centerline is valid? [True, True] Translation: X:246.26, Y:15.70, Z:8.97 [[ 9.95433278e-01 -8.90964893e-02 -3.42695824e-02 2.46259806e+02] [ 8.90788510e-02 9.96022479e-01 -2.04418879e-03 1.56952048e+01] [ 3.43154044e-02 -1.01784147e-03 9.99410535e-01 8.97249232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64509989299995 meters 0.01718609629199269 Centerline is valid? [True, True] Translation: X:246.32, Y:15.70, Z:8.97 [[ 9.95523979e-01 -8.79352601e-02 -3.46323088e-02 2.46322003e+02] [ 8.79165616e-02 9.96125701e-01 -2.06533554e-03 1.57010391e+01] [ 3.46797487e-02 -9.88662454e-04 9.99397988e-01 8.97423153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70509989299995 meters 0.01878475980414129 Centerline is valid? [True, True] Translation: X:246.38, Y:15.70, Z:8.97 [[ 9.95223928e-01 -9.04056349e-02 -3.68260032e-02 2.46383464e+02] [ 9.03862886e-02 9.95904367e-01 -2.19327022e-03 1.57019943e+01] [ 3.68734614e-02 -1.14577075e-03 9.99319286e-01 8.97393287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76509989299996 meters 0.01932405097905786 Centerline is valid? [True, True] Translation: X:246.45, Y:15.70, Z:8.97 [[ 9.94874759e-01 -9.36517242e-02 -3.81256958e-02 2.46445334e+02] [ 9.36334501e-02 9.95604154e-01 -2.26853709e-03 1.57044652e+01] [ 3.81705535e-02 -1.31293014e-03 9.99270376e-01 8.97457303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82509989299996 meters 0.02116845409179093 Centerline is valid? [True, True] Translation: X:246.51, Y:15.71, Z:8.97 [[ 9.94400817e-01 -9.81300197e-02 -3.92111485e-02 2.46506123e+02] [ 9.81142480e-02 9.95172428e-01 -2.33101002e-03 1.57050956e+01] [ 3.92505959e-02 -1.52921408e-03 9.99228228e-01 8.97483828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88509989299996 meters 0.022857029334747904 Centerline is valid? [True, True] Translation: X:246.57, Y:15.71, Z:8.98 [[ 9.94146518e-01 -1.01290478e-01 -3.75890932e-02 2.46566858e+02] [ 1.01278261e-01 9.94855629e-01 -2.23393824e-03 1.57073122e+01] [ 3.76219976e-02 -1.58609606e-03 9.99290783e-01 8.97799773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94509989299996 meters 0.023684087697646274 Centerline is valid? [True, True] Translation: X:246.63, Y:15.71, Z:8.98 [[ 9.94099550e-01 -1.02114069e-01 -3.65896362e-02 2.46628610e+02] [ 1.02103070e-01 9.94771450e-01 -2.17394311e-03 1.57104365e+01] [ 3.66203156e-02 -1.57479834e-03 9.99328010e-01 8.98101908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00509989299997 meters 0.0217439544316221 Centerline is valid? [True, True] Translation: X:246.69, Y:15.72, Z:8.98 [[ 9.94219300e-01 -1.01740179e-01 -3.43062694e-02 2.46690816e+02] [ 1.01730364e-01 9.94809925e-01 -2.03602939e-03 1.57184032e+01] [ 3.43353633e-02 -1.46572956e-03 9.99409293e-01 8.98442523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06509989299997 meters 0.023398521150430365 Centerline is valid? [True, True] Translation: X:246.75, Y:15.72, Z:8.99 [[ 9.94261065e-01 -1.01352271e-01 -3.42440162e-02 2.46752001e+02] [ 1.01342341e-01 9.94849541e-01 -2.03003545e-03 1.57202371e+01] [ 3.42733925e-02 -1.45198357e-03 9.99411440e-01 8.98679467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12509989299997 meters 0.021930757018877704 Centerline is valid? [True, True] Translation: X:246.81, Y:15.73, Z:8.99 [[ 9.94164036e-01 -1.02254439e-01 -3.43787661e-02 2.46813360e+02] [ 1.02245147e-01 9.94757155e-01 -2.03285457e-03 1.57265148e+01] [ 3.44063919e-02 -1.49407108e-03 9.99406808e-01 8.98827027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18509989299994 meters 0.02399875373976661 Centerline is valid? [True, True] Translation: X:246.87, Y:15.73, Z:8.99 [[ 9.93910431e-01 -1.04263503e-01 -3.56535600e-02 2.46874618e+02] [ 1.04254869e-01 9.94548383e-01 -2.10629028e-03 1.57265726e+01] [ 3.56787996e-02 -1.62359334e-03 9.99361990e-01 8.98942226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24509989299995 meters 0.024920019920907907 Centerline is valid? [True, True] Translation: X:246.94, Y:15.73, Z:8.99 [[ 9.93672816e-01 -1.05951725e-01 -3.72634870e-02 2.46936274e+02] [ 1.05943655e-01 9.94369708e-01 -2.19668643e-03 1.57285663e+01] [ 3.72864254e-02 -1.76504243e-03 9.99303061e-01 8.99007188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30509989299995 meters 0.02859701998234661 Centerline is valid? [True, True] Translation: X:247.00, Y:15.73, Z:8.99 [[ 9.93449747e-01 -1.07246897e-01 -3.94423964e-02 2.46997486e+02] [ 1.07238968e-01 9.94230561e-01 -2.32279635e-03 1.57270255e+01] [ 3.94639486e-02 -1.92218043e-03 9.99219146e-01 8.99027018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36509989299995 meters 0.027787570922849333 Centerline is valid? [True, True] Translation: X:247.06, Y:15.73, Z:8.99 [[ 9.93312111e-01 -1.07914051e-01 -4.10561442e-02 2.47058921e+02] [ 1.07906207e-01 9.94158149e-01 -2.41353673e-03 1.57332204e+01] [ 4.10767548e-02 -2.03281753e-03 9.99153926e-01 8.99134924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42509989299995 meters 0.023506354593001884 Centerline is valid? [True, True] Translation: X:247.12, Y:15.75, Z:9.00 [[ 9.93498106e-01 -1.06555425e-01 -4.00930878e-02 2.47120132e+02] [ 1.06547003e-01 9.94304883e-01 -2.35286464e-03 1.57452046e+01] [ 4.01154635e-02 -1.93423180e-03 9.99193179e-01 8.99516118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48509989299995 meters 0.02236904531750309 Centerline is valid? [True, True] Translation: X:247.18, Y:15.75, Z:9.00 [[ 9.93799420e-01 -1.04360962e-01 -3.83601799e-02 2.47181505e+02] [ 1.04351722e-01 9.94537914e-01 -2.24848392e-03 1.57525517e+01] [ 3.83853072e-02 -1.76840882e-03 9.99261448e-01 8.99912110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54509989299996 meters 0.02262789426864516 Centerline is valid? [True, True] Translation: X:247.24, Y:15.76, Z:9.00 [[ 9.94038915e-01 -1.02452157e-01 -3.72852693e-02 2.47241440e+02] [ 1.02442162e-01 9.94736566e-01 -2.18345979e-03 1.57570468e+01] [ 3.73127209e-02 -1.64913961e-03 9.99302277e-01 9.00222822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60509989299996 meters 0.022124313544201205 Centerline is valid? [True, True] Translation: X:247.30, Y:15.76, Z:9.01 [[ 9.94277341e-01 -1.00336216e-01 -3.66771365e-02 2.47303005e+02] [ 1.00325131e-01 9.94952390e-01 -2.14721109e-03 1.57633868e+01] [ 3.67074477e-02 -1.54471520e-03 9.99324861e-01 9.00577046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66509989299996 meters 0.022638612375318234 Centerline is valid? [True, True] Translation: X:247.37, Y:15.77, Z:9.01 [[ 9.94270201e-01 -1.00195391e-01 -3.72511752e-02 2.47365732e+02] [ 1.00183935e-01 9.94966548e-01 -2.17875475e-03 1.57666127e+01] [ 3.72819744e-02 -1.56569839e-03 9.99303559e-01 9.00793270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72509989299996 meters 0.024748859742942487 Centerline is valid? [True, True] Translation: X:247.43, Y:15.77, Z:9.01 [[ 9.94081392e-01 -1.00074997e-01 -4.22750763e-02 2.47427553e+02] [ 1.00060344e-01 9.94978310e-01 -2.46775532e-03 1.57674204e+01] [ 4.23097446e-02 -1.77690905e-03 9.99102962e-01 9.00569274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78509989299997 meters 0.022728922178380507 Centerline is valid? [True, True] Translation: X:247.49, Y:15.77, Z:9.01 [[ 9.94018921e-01 -1.00203386e-01 -4.34242670e-02 2.47489779e+02] [ 1.00188158e-01 9.94965286e-01 -2.53236266e-03 1.57748807e+01] [ 4.34593895e-02 -1.83338091e-03 9.99053512e-01 9.00816053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84509989299997 meters 0.020578787145353244 Centerline is valid? [True, True] Translation: X:247.55, Y:15.78, Z:9.01 [[ 9.94108062e-01 -9.89775657e-02 -4.41882633e-02 2.47551637e+02] [ 9.89607326e-02 9.95088011e-01 -2.57369062e-03 1.57831864e+01] [ 4.42259487e-02 -1.81437632e-03 9.99019906e-01 9.01094057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90509989299994 meters 0.022480866222054263 Centerline is valid? [True, True] Translation: X:247.61, Y:15.79, Z:9.01 [[ 9.94446588e-01 -9.55993086e-02 -4.40085829e-02 2.47612381e+02] [ 9.55794415e-02 9.95418513e-01 -2.56022911e-03 1.57860813e+01] [ 4.40517143e-02 -1.66030467e-03 9.99027872e-01 9.01294806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96509989299994 meters 0.020421340221226134 Centerline is valid? [True, True] Translation: X:247.67, Y:15.80, Z:9.02 [[ 9.94755561e-01 -9.29860241e-02 -4.26025006e-02 2.47673425e+02] [ 9.29650762e-02 9.95666289e-01 -2.47692094e-03 1.57955886e+01] [ 4.26481927e-02 -1.49661383e-03 9.99089031e-01 9.01751609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02509989299995 meters 0.02009605522124977 Centerline is valid? [True, True] Translation: X:247.74, Y:15.80, Z:9.02 [[ 9.94780423e-01 -9.27784457e-02 -4.24743540e-02 2.47735608e+02] [ 9.27575070e-02 9.95685671e-01 -2.46776980e-03 1.58006490e+01] [ 4.25200615e-02 -1.48492610e-03 9.99094510e-01 9.01950964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08509989299995 meters 0.020915668918841224 Centerline is valid? [True, True] Translation: X:247.80, Y:15.80, Z:9.02 [[ 9.94437587e-01 -9.59366149e-02 -4.34747286e-02 2.47796519e+02] [ 9.59178146e-02 9.95386059e-01 -2.52305210e-03 1.58036788e+01] [ 4.35161919e-02 -1.66098311e-03 9.99051341e-01 9.02056700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14509989299995 meters 0.0221478151754356 Centerline is valid? [True, True] Translation: X:247.86, Y:15.81, Z:9.02 [[ 9.94029062e-01 -9.96628447e-02 -4.44245566e-02 2.47857975e+02] [ 9.96469689e-02 9.95019517e-01 -2.57723511e-03 1.58058294e+01] [ 4.44601554e-02 -1.86492581e-03 9.99009418e-01 9.02277205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20509989299995 meters 0.022685751797764202 Centerline is valid? [True, True] Translation: X:247.92, Y:15.81, Z:9.02 [[ 9.93496251e-01 -1.03749232e-01 -4.69179619e-02 2.47919164e+02] [ 1.03736155e-01 9.94601132e-01 -2.72012081e-03 1.58091776e+01] [ 4.69468685e-02 -2.16465913e-03 9.98895042e-01 9.02425188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26509989299996 meters 0.023401093416143298 Centerline is valid? [True, True] Translation: X:247.98, Y:15.81, Z:9.03 [[ 9.93544010e-01 -1.03234887e-01 -4.70410210e-02 2.47981440e+02] [ 1.03221264e-01 9.94654686e-01 -2.72518522e-03 1.58121854e+01] [ 4.70709062e-02 -2.14804218e-03 9.98889241e-01 9.02632523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32509989299996 meters 0.021961547980435238 Centerline is valid? [True, True] Translation: X:248.04, Y:15.82, Z:9.03 [[ 9.93931671e-01 -1.00035620e-01 -4.57461206e-02 2.48042899e+02] [ 1.00019499e-01 9.94981956e-01 -2.64697808e-03 1.58193850e+01] [ 4.57813567e-02 -1.94458872e-03 9.98949591e-01 9.03045441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38509989299996 meters 0.02133381422706348 Centerline is valid? [True, True] Translation: X:248.10, Y:15.83, Z:9.03 [[ 9.94265925e-01 -9.70112829e-02 -4.49897974e-02 2.48103704e+02] [ 9.69927239e-02 9.95281693e-01 -2.60044650e-03 1.58255630e+01] [ 4.50297944e-02 -1.77814766e-03 9.98984062e-01 9.03428247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44509989299996 meters 0.0204443846987503 Centerline is valid? [True, True] Translation: X:248.17, Y:15.83, Z:9.04 [[ 9.94336167e-01 -9.59025703e-02 -4.58070357e-02 2.48165731e+02] [ 9.58822496e-02 9.95389167e-01 -2.64568623e-03 1.58309819e+01] [ 4.58495552e-02 -1.76138013e-03 9.98946803e-01 9.03635567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50509989299997 meters 0.02056071154023399 Centerline is valid? [True, True] Translation: X:248.23, Y:15.83, Z:9.04 [[ 9.94346227e-01 -9.54186946e-02 -4.65924296e-02 2.48228080e+02] [ 9.53973026e-02 9.95435649e-01 -2.68761139e-03 1.58345534e+01] [ 4.66362138e-02 -1.77237586e-03 9.98910367e-01 9.03798331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56509989299997 meters 0.020962113956781103 Centerline is valid? [True, True] Translation: X:248.29, Y:15.84, Z:9.04 [[ 9.94273355e-01 -9.49882558e-02 -4.89665896e-02 2.48289873e+02] [ 9.49642910e-02 9.95476683e-01 -2.82089467e-03 1.58382290e+01] [ 4.90130500e-02 -1.84533706e-03 9.98796434e-01 9.03930105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62509989299997 meters 0.022070735525399926 Centerline is valid? [True, True] Translation: X:248.35, Y:15.84, Z:9.04 [[ 9.94083705e-01 -9.59044518e-02 -5.09894555e-02 2.48350040e+02] [ 9.58798458e-02 9.95388591e-01 -2.93403634e-03 1.58390264e+01] [ 5.10357094e-02 -1.97218341e-03 9.98694882e-01 9.03970647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68509989299994 meters 0.02058990373063786 Centerline is valid? [True, True] Translation: X:248.41, Y:15.84, Z:9.04 [[ 9.93932600e-01 -9.69108166e-02 -5.20219169e-02 2.48411115e+02] [ 9.68866993e-02 9.95290922e-01 -2.99118349e-03 1.58442694e+01] [ 5.20668197e-02 -2.06719703e-03 9.98641464e-01 9.04269141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74509989299995 meters 0.021101826631862993 Centerline is valid? [True, True] Translation: X:248.47, Y:15.85, Z:9.04 [[ 9.93998788e-01 -9.60884346e-02 -5.22821429e-02 2.48471791e+02] [ 9.60630264e-02 9.95370719e-01 -3.00451295e-03 1.58464579e+01] [ 5.23288131e-02 -2.03589865e-03 9.98627834e-01 9.04478341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80509989299995 meters 0.021896529425347425 Centerline is valid? [True, True] Translation: X:248.53, Y:15.85, Z:9.05 [[ 9.94090298e-01 -9.54024758e-02 -5.17961987e-02 2.48532328e+02] [ 9.53766552e-02 9.95436808e-01 -2.97566816e-03 1.58483757e+01] [ 5.18437288e-02 -1.98206534e-03 9.98653243e-01 9.04688554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86509989299995 meters 0.021250243772041048 Centerline is valid? [True, True] Translation: X:248.59, Y:15.85, Z:9.05 [[ 9.94378138e-01 -9.27545784e-02 -5.10754979e-02 2.48592984e+02] [ 9.27260286e-02 9.95687340e-01 -2.93337815e-03 1.58519168e+01] [ 5.11273109e-02 -1.81914098e-03 9.98690487e-01 9.05056571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92509989299995 meters 0.01904086028749453 Centerline is valid? [True, True] Translation: X:248.65, Y:15.86, Z:9.06 [[ 9.94443947e-01 -9.19099275e-02 -5.13205712e-02 2.48654874e+02] [ 9.18800670e-02 9.95765723e-01 -2.94577581e-03 1.58581583e+01] [ 5.13740118e-02 -1.78592860e-03 9.98677887e-01 9.05513008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98509989299995 meters 0.01978024467252141 Centerline is valid? [True, True] Translation: X:248.72, Y:15.86, Z:9.06 [[ 9.94452092e-01 -9.19996026e-02 -5.10010850e-02 2.48716505e+02] [ 9.19704062e-02 9.95757448e-01 -2.92399078e-03 1.58590241e+01] [ 5.10537163e-02 -1.78282175e-03 9.98694317e-01 9.05676736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04509989299996 meters 0.019908163876832925 Centerline is valid? [True, True] Translation: X:248.78, Y:15.86, Z:9.06 [[ 9.94403630e-01 -9.25781397e-02 -5.08990088e-02 2.48777562e+02] [ 9.25499436e-02 9.95703775e-01 -2.91564255e-03 1.58593890e+01] [ 5.09502599e-02 -1.81137486e-03 9.98699549e-01 9.05920556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10509989299996 meters 0.020121626509689784 Centerline is valid? [True, True] Translation: X:248.84, Y:15.86, Z:9.06 [[ 9.94413600e-01 -9.27452251e-02 -5.03975716e-02 2.48838996e+02] [ 9.27178855e-02 9.95688239e-01 -2.88513071e-03 1.58604424e+01] [ 5.04478515e-02 -1.80374306e-03 9.98725068e-01 9.06185539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16509989299996 meters 0.01996771710201575 Centerline is valid? [True, True] Translation: X:248.90, Y:15.86, Z:9.07 [[ 9.94369519e-01 -9.36978315e-02 -4.94972424e-02 2.48900642e+02] [ 9.36727229e-02 9.95599016e-01 -2.83184398e-03 1.58610272e+01] [ 4.95447435e-02 -1.82064214e-03 9.98770246e-01 9.06599690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22509989299996 meters 0.0206850134771249 Centerline is valid? [True, True] Translation: X:248.96, Y:15.86, Z:9.07 [[ 9.94361165e-01 -9.41372737e-02 -4.88267075e-02 2.48962559e+02] [ 9.41134534e-02 9.95557564e-01 -2.79174564e-03 1.58591515e+01] [ 4.88726053e-02 -1.81924661e-03 9.98803363e-01 9.06846958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28509989299997 meters 0.021302883700581365 Centerline is valid? [True, True] Translation: X:249.02, Y:15.86, Z:9.07 [[ 9.94281473e-01 -9.52589068e-02 -4.82710416e-02 2.49023945e+02] [ 9.52370260e-02 9.95450803e-01 -2.75827559e-03 1.58569685e+01] [ 4.83141974e-02 -1.85468813e-03 9.98830465e-01 9.07108036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34509989299997 meters 0.0208999218102996 Centerline is valid? [True, True] Translation: X:249.09, Y:15.86, Z:9.07 [[ 9.94210801e-01 -9.56838899e-02 -4.88822787e-02 2.49085257e+02] [ 9.56620509e-02 9.95409956e-01 -2.79144963e-03 1.58574607e+01] [ 4.89250037e-02 -1.90088966e-03 9.98800646e-01 9.07355132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40509989299994 meters 0.020127103857294455 Centerline is valid? [True, True] Translation: X:249.15, Y:15.86, Z:9.08 [[ 9.94351134e-01 -9.47059016e-02 -4.79230014e-02 2.49146769e+02] [ 9.46838577e-02 9.95503635e-01 -2.73496941e-03 1.58570025e+01] [ 4.79665398e-02 -1.81801471e-03 9.98847289e-01 9.07682601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46509989299994 meters 0.020841727573800466 Centerline is valid? [True, True] Translation: X:249.21, Y:15.86, Z:9.08 [[ 9.94538871e-01 -9.27310318e-02 -4.78893595e-02 2.49207448e+02] [ 9.27068074e-02 9.95689704e-01 -2.73150663e-03 1.58566675e+01] [ 4.79362377e-02 -1.72308011e-03 9.98848912e-01 9.07928845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52509989299995 meters 0.01804224428268694 Centerline is valid? [True, True] Translation: X:249.27, Y:15.86, Z:9.08 [[ 9.94916788e-01 -8.84403284e-02 -4.81548807e-02 2.49267493e+02] [ 8.84108482e-02 9.96080309e-01 -2.74598289e-03 1.58616930e+01] [ 4.82089841e-02 -1.52538937e-03 9.98836106e-01 9.08231273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58509989299995 meters 0.017515607431705608 Centerline is valid? [True, True] Translation: X:249.33, Y:15.86, Z:9.08 [[ 9.95170476e-01 -8.51669034e-02 -4.88090382e-02 2.49327752e+02] [ 8.51326852e-02 9.96365736e-01 -2.78328556e-03 1.58634684e+01] [ 4.88686970e-02 -1.38540087e-03 9.98804251e-01 9.08351208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64509989299995 meters 0.01672216706578917 Centerline is valid? [True, True] Translation: X:249.39, Y:15.87, Z:9.09 [[ 9.95425742e-01 -8.20738731e-02 -4.89026671e-02 2.49387081e+02] [ 8.20357744e-02 9.96625483e-01 -2.78904611e-03 1.58657398e+01] [ 4.89665520e-02 -1.23547987e-03 9.98799655e-01 9.08551511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70509989299995 meters 0.016122640945383272 Centerline is valid? [True, True] Translation: X:249.45, Y:15.87, Z:9.09 [[ 9.95590249e-01 -7.98905911e-02 -4.91685912e-02 2.49445486e+02] [ 7.98492012e-02 9.96802998e-01 -2.80859490e-03 1.58663910e+01] [ 4.92357794e-02 -1.12986304e-03 9.98786544e-01 9.08831660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76509989299996 meters 0.016837992543381048 Centerline is valid? [True, True] Translation: X:249.50, Y:15.86, Z:9.09 [[ 9.95573660e-01 -8.02749248e-02 -4.88776396e-02 2.49503906e+02] [ 8.02339743e-02 9.96772118e-01 -2.80241396e-03 1.58631270e+01] [ 4.89448319e-02 -1.13163776e-03 9.98800842e-01 9.09051916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82509989299996 meters 0.01688244275520085 Centerline is valid? [True, True] Translation: X:249.56, Y:15.86, Z:9.09 [[ 9.95479351e-01 -8.19905302e-02 -4.79417885e-02 2.49562582e+02] [ 8.19528341e-02 9.96632402e-01 -2.75469435e-03 1.58623496e+01] [ 4.80061986e-02 -1.18672409e-03 9.98846333e-01 9.09372819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88509989299996 meters 0.017645453928431188 Centerline is valid? [True, True] Translation: X:249.62, Y:15.86, Z:9.10 [[ 9.95350619e-01 -8.45321914e-02 -4.61676752e-02 2.49621704e+02] [ 8.44994434e-02 9.96419965e-01 -2.66398367e-03 1.58599607e+01] [ 4.62275857e-02 -1.24954507e-03 9.98930152e-01 9.09749711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94509989299996 meters 0.018785706778195733 Centerline is valid? [True, True] Translation: X:249.68, Y:15.85, Z:9.10 [[ 9.95079579e-01 -8.84515798e-02 -4.46424740e-02 2.49681028e+02] [ 8.84244686e-02 9.96079529e-01 -2.58554296e-03 1.58545120e+01] [ 4.46961498e-02 -1.37466604e-03 9.98999682e-01 9.10083198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00509989299997 meters 0.0192842304324302 Centerline is valid? [True, True] Translation: X:249.74, Y:15.85, Z:9.10 [[ 9.94676274e-01 -9.27877227e-02 -4.48279868e-02 2.49741438e+02] [ 9.27646424e-02 9.95684671e-01 -2.59936399e-03 1.58503185e+01] [ 4.48757283e-02 -1.57292647e-03 9.98991339e-01 9.10153626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06509989299997 meters 0.020524015725183444 Centerline is valid? [True, True] Translation: X:249.80, Y:15.85, Z:9.10 [[ 9.94308215e-01 -9.62768680e-02 -4.56282723e-02 2.49801547e+02] [ 9.62565840e-02 9.95353036e-01 -2.64661958e-03 1.58480242e+01] [ 4.56710475e-02 -1.76046603e-03 9.98954982e-01 9.10225429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12509989299997 meters 0.021671021285141236 Centerline is valid? [True, True] Translation: X:249.86, Y:15.84, Z:9.10 [[ 9.93861156e-01 -1.00395663e-01 -4.64834780e-02 2.49861788e+02] [ 1.00379065e-01 9.94945611e-01 -2.69711046e-03 1.58449071e+01] [ 4.65193106e-02 -1.98541473e-03 9.98915418e-01 9.10237975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18509989299994 meters 0.026501736760133017 Centerline is valid? [True, True] Translation: X:249.92, Y:15.84, Z:9.10 [[ 9.93535395e-01 -1.03161976e-01 -4.73817080e-02 2.49920975e+02] [ 1.03147810e-01 9.94662236e-01 -2.75047184e-03 1.58383758e+01] [ 4.74125398e-02 -2.15462827e-03 9.98873069e-01 9.10219150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24509989299995 meters 0.022362736103295207 Centerline is valid? [True, True] Translation: X:249.98, Y:15.85, Z:9.11 [[ 9.93526367e-01 -1.03545670e-01 -4.67295702e-02 2.49979749e+02] [ 1.03532204e-01 9.94622397e-01 -2.71494994e-03 1.58468184e+01] [ 4.67593984e-02 -2.14064104e-03 9.98903887e-01 9.10633640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30509989299995 meters 0.021537692335648843 Centerline is valid? [True, True] Translation: X:250.04, Y:15.85, Z:9.11 [[ 9.93848928e-01 -1.01003299e-01 -4.54163208e-02 2.50039014e+02] [ 1.00987853e-01 9.94884155e-01 -2.64029073e-03 1.58511941e+01] [ 4.54506560e-02 -1.96244664e-03 9.98964657e-01 9.11002078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36509989299995 meters 0.02077780033419852 Centerline is valid? [True, True] Translation: X:250.10, Y:15.86, Z:9.11 [[ 9.94148249e-01 -9.77088651e-02 -4.60677305e-02 2.50098210e+02] [ 9.76893644e-02 9.95213347e-01 -2.67988128e-03 1.58566789e+01] [ 4.61090685e-02 -1.83612803e-03 9.98934724e-01 9.11239422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42509989299995 meters 0.01881708558304398 Centerline is valid? [True, True] Translation: X:250.16, Y:15.87, Z:9.11 [[ 9.94634827e-01 -9.23643201e-02 -4.65874843e-02 2.50157996e+02] [ 9.23384388e-02 9.95723987e-01 -2.71192826e-03 1.58654541e+01] [ 4.66387610e-02 -1.60443728e-03 9.98910532e-01 9.11456271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48509989299995 meters 0.018533079988139703 Centerline is valid? [True, True] Translation: X:250.22, Y:15.87, Z:9.12 [[ 9.94900608e-01 -8.90580769e-02 -4.73438311e-02 2.50216227e+02] [ 8.90275025e-02 9.96025349e-01 -2.75824069e-03 1.58700776e+01] [ 4.74012995e-02 -1.47072770e-03 9.98874844e-01 9.11563729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54509989299996 meters 0.018783200582652784 Centerline is valid? [True, True] Translation: X:250.27, Y:15.87, Z:9.12 [[ 9.94859672e-01 -8.88488324e-02 -4.85810475e-02 2.50273888e+02] [ 8.88161310e-02 9.96044002e-01 -2.83566743e-03 1.58742349e+01] [ 4.86408067e-02 -1.49368951e-03 9.98815219e-01 9.11627510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60509989299996 meters 0.017977919498764303 Centerline is valid? [True, True] Translation: X:250.33, Y:15.88, Z:9.12 [[ 9.94698140e-01 -9.03100118e-02 -4.91905620e-02 2.50332333e+02] [ 9.02775814e-02 9.95912463e-01 -2.88518614e-03 1.58803169e+01] [ 4.92500549e-02 -1.57091567e-03 9.98785244e-01 9.11870847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66509989299996 meters 0.02049454447760578 Centerline is valid? [True, True] Translation: X:250.39, Y:15.88, Z:9.12 [[ 9.94607542e-01 -9.15605713e-02 -4.87083037e-02 2.50389866e+02] [ 9.15297509e-02 9.95798213e-01 -2.86753615e-03 1.58802106e+01] [ 4.87661951e-02 -1.60618582e-03 9.98808930e-01 9.11968319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72509989299996 meters 0.01916738446967486 Centerline is valid? [True, True] Translation: X:250.45, Y:15.89, Z:9.12 [[ 9.94546546e-01 -9.26476359e-02 -4.78913639e-02 2.50447795e+02] [ 9.26188066e-02 9.95697631e-01 -2.82550663e-03 1.58871818e+01] [ 4.79470941e-02 -1.62554311e-03 9.98848554e-01 9.12389571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78509989299997 meters 0.022349271704230685 Centerline is valid? [True, True] Translation: X:250.51, Y:15.89, Z:9.12 [[ 9.94363240e-01 -9.46444953e-02 -4.77929498e-02 2.50505549e+02] [ 9.46175855e-02 9.95509670e-01 -2.83015396e-03 1.58877549e+01] [ 4.78462021e-02 -1.70785245e-03 9.98853255e-01 9.12470802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84509989299997 meters 0.020554887380459345 Centerline is valid? [True, True] Translation: X:250.56, Y:15.89, Z:9.13 [[ 9.94256746e-01 -9.60144095e-02 -4.72732021e-02 2.50563985e+02] [ 9.59893493e-02 9.95378408e-01 -2.80522496e-03 1.58947071e+01] [ 4.73240667e-02 -1.74861007e-03 9.98878058e-01 9.12749970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90509989299994 meters 0.021169894343507592 Centerline is valid? [True, True] Translation: X:250.62, Y:15.90, Z:9.13 [[ 9.94156243e-01 -9.73970002e-02 -4.65530860e-02 2.50623783e+02] [ 9.73737603e-02 9.95244023e-01 -2.77211891e-03 1.58993469e+01] [ 4.66016767e-02 -1.77712972e-03 9.98911971e-01 9.12994482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96509989299994 meters 0.02264642362824792 Centerline is valid? [True, True] Translation: X:250.68, Y:15.90, Z:9.13 [[ 9.94024088e-01 -9.90672844e-02 -4.58452366e-02 2.50683282e+02] [ 9.90464497e-02 9.95079062e-01 -2.73144261e-03 1.59033154e+01] [ 4.58902316e-02 -1.82568817e-03 9.98944820e-01 9.13266814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02509989299995 meters 0.023729759326998296 Centerline is valid? [True, True] Translation: X:250.74, Y:15.91, Z:9.13 [[ 9.93893864e-01 -1.00514452e-01 -4.55173801e-02 2.50743131e+02] [ 1.00495391e-01 9.94933826e-01 -2.71270955e-03 1.59074479e+01] [ 4.55594476e-02 -1.87814154e-03 9.98959864e-01 9.13489147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08509989299995 meters 0.024391357746694188 Centerline is valid? [True, True] Translation: X:250.80, Y:15.91, Z:9.14 [[ 9.93835461e-01 -1.01155866e-01 -4.53714335e-02 2.50803065e+02] [ 1.01137565e-01 9.94868774e-01 -2.70466175e-03 1.59119377e+01] [ 4.54122148e-02 -1.90076754e-03 9.98966525e-01 9.13694221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14509989299995 meters 0.022334380822323342 Centerline is valid? [True, True] Translation: X:250.86, Y:15.92, Z:9.14 [[ 9.93678854e-01 -1.02448352e-01 -4.58984732e-02 2.50864003e+02] [ 1.02431014e-01 9.94736349e-01 -2.73576307e-03 1.59226054e+01] [ 4.59371540e-02 -1.98295721e-03 9.98942364e-01 9.14019749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20509989299995 meters 0.024573132022002682 Centerline is valid? [True, True] Translation: X:250.92, Y:15.93, Z:9.14 [[ 9.93509686e-01 -1.03821628e-01 -4.64712050e-02 2.50924290e+02] [ 1.03805425e-01 9.94593771e-01 -2.76835749e-03 1.59257423e+01] [ 4.65073864e-02 -2.07357322e-03 9.98915794e-01 9.14171743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26509989299996 meters 0.02534105721074273 Centerline is valid? [True, True] Translation: X:250.99, Y:15.93, Z:9.14 [[ 9.93325552e-01 -1.05564028e-01 -4.64820889e-02 2.50985027e+02] [ 1.05549759e-01 9.94410170e-01 -2.76817287e-03 1.59300917e+01] [ 4.65144814e-02 -2.15647646e-03 9.98915288e-01 9.14449233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32509989299996 meters 0.02389408243927839 Centerline is valid? [True, True] Translation: X:251.05, Y:15.94, Z:9.15 [[ 9.93164589e-01 -1.07152888e-01 -4.62856212e-02 2.51045529e+02] [ 1.07140505e-01 9.94240071e-01 -2.75548388e-03 1.59391842e+01] [ 4.63142774e-02 -2.22241581e-03 9.98924446e-01 9.14796157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38509989299996 meters 0.027319929912686877 Centerline is valid? [True, True] Translation: X:251.11, Y:15.94, Z:9.15 [[ 9.93217909e-01 -1.07010219e-01 -4.54642617e-02 2.51107257e+02] [ 1.06998202e-01 9.94255535e-01 -2.70479667e-03 1.59396886e+01] [ 4.54925348e-02 -2.17814177e-03 9.98962304e-01 9.14922193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44509989299996 meters 0.023289458679606148 Centerline is valid? [True, True] Translation: X:251.17, Y:15.95, Z:9.15 [[ 9.93495043e-01 -1.04933552e-01 -4.42329060e-02 2.51167933e+02] [ 1.04920221e-01 9.94477166e-01 -2.62930761e-03 1.59509200e+01] [ 4.42645176e-02 -2.02872219e-03 9.99017786e-01 9.15183303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50509989299997 meters 0.02408271385617021 Centerline is valid? [True, True] Translation: X:251.23, Y:15.95, Z:9.15 [[ 9.93642219e-01 -1.03749760e-01 -4.37164389e-02 2.51229365e+02] [ 1.03735670e-01 9.94601512e-01 -2.59689526e-03 1.59541663e+01] [ 4.37498635e-02 -1.95456931e-03 9.99040604e-01 9.15410179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56509989299997 meters 0.02224462165943463 Centerline is valid? [True, True] Translation: X:251.29, Y:15.96, Z:9.16 [[ 9.94145684e-01 -9.93563773e-02 -4.24578639e-02 2.51289738e+02] [ 9.93391739e-02 9.95050440e-01 -2.52005017e-03 1.59646143e+01] [ 4.24980992e-02 -1.71243213e-03 9.99095080e-01 9.15803742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62509989299994 meters 0.021531070924957003 Centerline is valid? [True, True] Translation: X:251.35, Y:15.97, Z:9.16 [[ 9.94389180e-01 -9.67395785e-02 -4.27973510e-02 2.51350443e+02] [ 9.67197244e-02 9.95308418e-01 -2.53916262e-03 1.59713923e+01] [ 4.28422012e-02 -1.61443216e-03 9.99080547e-01 9.15965505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68509989299994 meters 0.020194529682094578 Centerline is valid? [True, True] Translation: X:251.41, Y:15.98, Z:9.16 [[ 9.94464345e-01 -9.52104497e-02 -4.44481405e-02 2.51412433e+02] [ 9.51875984e-02 9.95455864e-01 -2.63515708e-03 1.59796917e+01] [ 4.44970566e-02 -1.61034199e-03 9.99008218e-01 9.16111730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74509989299995 meters 0.020501551699868854 Centerline is valid? [True, True] Translation: X:251.47, Y:15.98, Z:9.16 [[ 9.94438344e-01 -9.45483335e-02 -4.64003466e-02 2.51474223e+02] [ 9.45228790e-02 9.95518899e-01 -2.74733999e-03 1.59849897e+01] [ 4.64521784e-02 -1.65383412e-03 9.98919146e-01 9.16226095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80509989299995 meters 0.022144594565300806 Centerline is valid? [True, True] Translation: X:251.54, Y:15.99, Z:9.16 [[ 9.94557946e-01 -9.35199026e-02 -4.59186282e-02 2.51535050e+02] [ 9.34940174e-02 9.95616137e-01 -2.71581094e-03 1.59873610e+01] [ 4.59713096e-02 -1.59208567e-03 9.98941492e-01 9.16404251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86509989299995 meters 0.019775938255529108 Centerline is valid? [True, True] Translation: X:251.60, Y:16.00, Z:9.17 [[ 9.94672882e-01 -9.18945296e-02 -4.67038958e-02 2.51595654e+02] [ 9.18660432e-02 9.95767548e-01 -2.76055000e-03 1.59963096e+01] [ 4.67599032e-02 -1.54465788e-03 9.98904963e-01 9.16707502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92509989299995 meters 0.021251719376881435 Centerline is valid? [True, True] Translation: X:251.66, Y:16.00, Z:9.17 [[ 9.94711034e-01 -9.17412886e-02 -4.61897651e-02 2.51656353e+02] [ 9.17133301e-02 9.95781713e-01 -2.72865698e-03 1.59982356e+01] [ 4.62452539e-02 -1.52199197e-03 9.98928956e-01 9.16911099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98509989299995 meters 0.022147081234894606 Centerline is valid? [True, True] Translation: X:251.72, Y:16.00, Z:9.17 [[ 9.94564288e-01 -9.37051639e-02 -4.54006439e-02 2.51716912e+02] [ 9.36802241e-02 9.95598727e-01 -2.68138231e-03 1.60018061e+01] [ 4.54520826e-02 -1.58633540e-03 9.98965261e-01 9.17215392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04509989299996 meters 0.022754122185364635 Centerline is valid? [True, True] Translation: X:251.78, Y:16.01, Z:9.18 [[ 9.94358478e-01 -9.64139591e-02 -4.42217793e-02 2.51777605e+02] [ 9.63929751e-02 9.95339929e-01 -2.61163540e-03 1.60050246e+01] [ 4.42675008e-02 -1.66576707e-03 9.99018325e-01 9.17542237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10509989299996 meters 0.02450598325239606 Centerline is valid? [True, True] Translation: X:251.84, Y:16.01, Z:9.18 [[ 9.93796569e-01 -1.01319286e-01 -4.58561027e-02 2.51838934e+02] [ 1.01301977e-01 9.94852040e-01 -2.70717382e-03 1.60070516e+01] [ 4.58943262e-02 -1.95493383e-03 9.98944387e-01 9.17681144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16509989299996 meters 0.024081365659390532 Centerline is valid? [True, True] Translation: X:251.90, Y:16.01, Z:9.18 [[ 9.93347153e-01 -1.04885281e-01 -4.75448419e-02 2.51899832e+02] [ 1.04870824e-01 9.94481895e-01 -2.80532782e-03 1.60131035e+01] [ 4.75767221e-02 -2.19940235e-03 9.98865165e-01 9.17895666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22509989299996 meters 0.026350886086233066 Centerline is valid? [True, True] Translation: X:251.96, Y:16.02, Z:9.18 [[ 9.92782030e-01 -1.09384965e-01 -4.91810016e-02 2.51960335e+02] [ 1.09375046e-01 9.93996320e-01 -2.90098719e-03 1.60167755e+01] [ 4.92030589e-02 -2.49912633e-03 9.98785669e-01 9.18050884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28509989299997 meters 0.02829624484551553 Centerline is valid? [True, True] Translation: X:252.02, Y:16.02, Z:9.18 [[ 9.92565520e-01 -1.11496322e-01 -4.88083876e-02 2.52019948e+02] [ 1.11489122e-01 9.93761486e-01 -2.87844856e-03 1.60190022e+01] [ 4.88248322e-02 -2.58455548e-03 9.98804013e-01 9.18300536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34509989299997 meters 0.026736894929955554 Centerline is valid? [True, True] Translation: X:252.08, Y:16.03, Z:9.19 [[ 9.92519600e-01 -1.12338257e-01 -4.78012561e-02 2.52081910e+02] [ 1.12332358e-01 9.93666694e-01 -2.81828461e-03 1.60264619e+01] [ 4.78151173e-02 -2.57242508e-03 9.98852891e-01 9.18633953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40509989299994 meters 0.02660015886971427 Centerline is valid? [True, True] Translation: X:252.14, Y:16.03, Z:9.19 [[ 9.92599488e-01 -1.11445423e-01 -4.82304201e-02 2.52144329e+02] [ 1.11438539e-01 9.93767270e-01 -2.84005506e-03 1.60308933e+01] [ 4.82463240e-02 -2.55569033e-03 9.98832198e-01 9.18811348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46509989299994 meters 0.02586636250321409 Centerline is valid? [True, True] Translation: X:252.21, Y:16.04, Z:9.19 [[ 9.92675309e-01 -1.10032980e-01 -4.98846096e-02 2.52206253e+02] [ 1.10024028e-01 9.93924598e-01 -2.93375073e-03 1.60368587e+01] [ 4.99043499e-02 -2.57624378e-03 9.98750679e-01 9.18868093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52509989299995 meters 0.02695373858193534 Centerline is valid? [True, True] Translation: X:252.27, Y:16.04, Z:9.19 [[ 9.92635048e-01 -1.10480297e-01 -4.96967250e-02 2.52268292e+02] [ 1.10472149e-01 9.93874933e-01 -2.91911499e-03 1.60388529e+01] [ 4.97148339e-02 -2.59248818e-03 9.98760088e-01 9.19093827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58509989299995 meters 0.026144073357154195 Centerline is valid? [True, True] Translation: X:252.33, Y:16.04, Z:9.19 [[ 9.92707394e-01 -1.10144099e-01 -4.89929367e-02 2.52329940e+02] [ 1.10135941e-01 9.93912377e-01 -2.87429552e-03 1.60443768e+01] [ 4.90112729e-02 -2.54254878e-03 9.98794989e-01 9.19400977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64509989299995 meters 0.023913070826849056 Centerline is valid? [True, True] Translation: X:252.39, Y:16.05, Z:9.20 [[ 9.92903336e-01 -1.08612707e-01 -4.84380552e-02 2.52391363e+02] [ 1.08603074e-01 9.94081141e-01 -2.83845069e-03 1.60521445e+01] [ 4.84596491e-02 -2.44221456e-03 9.98822155e-01 9.19747570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70509989299995 meters 0.023886983567317194 Centerline is valid? [True, True] Translation: X:252.45, Y:16.06, Z:9.20 [[ 9.93324858e-01 -1.04628374e-01 -4.85657369e-02 2.52451314e+02] [ 1.04614041e-01 9.94508831e-01 -2.84384870e-03 1.60590632e+01] [ 4.85966014e-02 -2.25579241e-03 9.98815940e-01 9.19931477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76509989299996 meters 0.02195820111082762 Centerline is valid? [True, True] Translation: X:252.51, Y:16.07, Z:9.20 [[ 9.93670399e-01 -1.00728810e-01 -4.97277188e-02 2.52512779e+02] [ 1.00708948e-01 9.94911671e-01 -2.91120507e-03 1.60680133e+01] [ 4.97679300e-02 -2.11524796e-03 9.98758569e-01 9.20119226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82509989299996 meters 0.023630285544535574 Centerline is valid? [True, True] Translation: X:252.57, Y:16.07, Z:9.20 [[ 9.93865857e-01 -9.91758135e-02 -4.89368581e-02 2.52573638e+02] [ 9.91548179e-02 9.95067901e-01 -2.86247482e-03 1.60698653e+01] [ 4.89793850e-02 -2.00740926e-03 9.98797772e-01 9.20283173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88509989299996 meters 0.02120482669280235 Centerline is valid? [True, True] Translation: X:252.64, Y:16.08, Z:9.21 [[ 9.94045245e-01 -9.83771491e-02 -4.68613680e-02 2.52635272e+02] [ 9.83571006e-02 9.95147415e-01 -2.73909182e-03 1.60773450e+01] [ 4.69034333e-02 -1.88636708e-03 9.98897647e-01 9.20726595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94509989299996 meters 0.021946559285258536 Centerline is valid? [True, True] Translation: X:252.70, Y:16.08, Z:9.21 [[ 9.94020887e-01 -9.91375138e-02 -4.57627614e-02 2.52697459e+02] [ 9.91193464e-02 9.95071966e-01 -2.67160936e-03 1.60790686e+01] [ 4.58020977e-02 -1.88033950e-03 9.98948764e-01 9.21017949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00509989299997 meters 0.02341916155542451 Centerline is valid? [True, True] Translation: X:252.76, Y:16.08, Z:9.21 [[ 9.94007832e-01 -9.93223512e-02 -4.56453702e-02 2.52758480e+02] [ 9.93046144e-02 9.95053521e-01 -2.66162314e-03 1.60783114e+01] [ 4.56839450e-02 -1.88712164e-03 9.98954161e-01 9.21059595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06509989299997 meters 0.02366734281293118 Centerline is valid? [True, True] Translation: X:252.82, Y:16.08, Z:9.21 [[ 9.94016713e-01 -9.90925554e-02 -4.59504091e-02 2.52820949e+02] [ 9.90744565e-02 9.95076423e-01 -2.67679791e-03 1.60802972e+01] [ 4.59894194e-02 -1.89172995e-03 9.98940136e-01 9.21164704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12509989299994 meters 0.02419064560271189 Centerline is valid? [True, True] Translation: X:252.88, Y:16.08, Z:9.21 [[ 9.93952280e-01 -9.90294780e-02 -4.74555240e-02 2.52882752e+02] [ 9.90102665e-02 9.95082581e-01 -2.76107859e-03 1.60818830e+01] [ 4.74955935e-02 -1.95420371e-03 9.98869536e-01 9.21181912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18509989299994 meters 0.02309175229994477 Centerline is valid? [True, True] Translation: X:252.95, Y:16.09, Z:9.21 [[ 9.93990562e-01 -9.86185120e-02 -4.75094953e-02 2.52945172e+02] [ 9.85989460e-02 9.95123422e-01 -2.76090901e-03 1.60863625e+01] [ 4.75500883e-02 -1.94006866e-03 9.98866971e-01 9.21333808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24509989299995 meters 0.021513273937209653 Centerline is valid? [True, True] Translation: X:253.01, Y:16.09, Z:9.22 [[ 9.94092998e-01 -9.75297775e-02 -4.76135914e-02 2.53006783e+02] [ 9.75090413e-02 9.95230802e-01 -2.76357040e-03 1.60926350e+01] [ 4.76560432e-02 -1.89550966e-03 9.98862007e-01 9.21591835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30509989299995 meters 0.02221468953699156 Centerline is valid? [True, True] Translation: X:253.07, Y:16.10, Z:9.22 [[ 9.94418394e-01 -9.51732180e-02 -4.55424749e-02 2.53067290e+02] [ 9.51519080e-02 9.95459262e-01 -2.64047589e-03 1.60967454e+01] [ 4.55869810e-02 -1.70771559e-03 9.98958914e-01 9.21919787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36509989299995 meters 0.02011521864792998 Centerline is valid? [True, True] Translation: X:253.13, Y:16.10, Z:9.22 [[ 9.94679552e-01 -9.33228835e-02 -4.36282976e-02 2.53128156e+02] [ 9.33016142e-02 9.95634681e-01 -2.52798050e-03 1.61035863e+01] [ 4.36737646e-02 -1.55606008e-03 9.99044634e-01 9.22291441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42509989299995 meters 0.019897951569192197 Centerline is valid? [True, True] Translation: X:253.19, Y:16.11, Z:9.23 [[ 9.94805476e-01 -9.24943701e-02 -4.25071309e-02 2.53190520e+02] [ 9.24734966e-02 9.95712104e-01 -2.46130728e-03 1.61074411e+01] [ 4.25525218e-02 -1.48226106e-03 9.99093132e-01 9.22582586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48509989299995 meters 0.020782639402383625 Centerline is valid? [True, True] Translation: X:253.25, Y:16.11, Z:9.23 [[ 9.94954929e-01 -9.18932269e-02 -4.02532418e-02 2.53251739e+02] [ 9.18741252e-02 9.95767907e-01 -2.32807365e-03 1.61088827e+01] [ 4.02968206e-02 -1.38190302e-03 9.99186798e-01 9.22974331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54509989299996 meters 0.020527972581353627 Centerline is valid? [True, True] Translation: X:253.31, Y:16.11, Z:9.23 [[ 9.94611791e-01 -9.42054995e-02 -4.32748040e-02 2.53314101e+02] [ 9.41857214e-02 9.95551505e-01 -2.50024793e-03 1.61106081e+01] [ 4.33178333e-02 -1.58909256e-03 9.99060078e-01 9.22871311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60509989299996 meters 0.023398878946085923 Centerline is valid? [True, True] Translation: X:253.37, Y:16.11, Z:9.23 [[ 9.94326886e-01 -9.67909361e-02 -4.41084786e-02 2.53374758e+02] [ 9.67730546e-02 9.95303218e-01 -2.54554502e-03 1.61085008e+01] [ 4.41476964e-02 -1.73740835e-03 9.99023504e-01 9.22913696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66509989299996 meters 0.024204083372397853 Centerline is valid? [True, True] Translation: X:253.44, Y:16.11, Z:9.23 [[ 9.93829334e-01 -1.00471020e-01 -4.69981831e-02 2.53436225e+02] [ 1.00454876e-01 9.94937921e-01 -2.71126590e-03 1.61085594e+01] [ 4.70326783e-02 -2.02666109e-03 9.98891295e-01 9.22903023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72509989299996 meters 0.023414150378195126 Centerline is valid? [True, True] Translation: X:253.50, Y:16.11, Z:9.23 [[ 9.93554513e-01 -1.02443377e-01 -4.85261279e-02 2.53497639e+02] [ 1.02428601e-01 9.94736425e-01 -2.79765058e-03 1.61127423e+01] [ 4.85573077e-02 -2.19084504e-03 9.98817995e-01 9.23068612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78509989299997 meters 0.024894752737684683 Centerline is valid? [True, True] Translation: X:253.56, Y:16.11, Z:9.23 [[ 9.93578718e-01 -1.02273594e-01 -4.83884513e-02 2.53559243e+02] [ 1.02258830e-01 9.94753921e-01 -2.78704187e-03 1.61144390e+01] [ 4.84196425e-02 -2.17900094e-03 9.98824704e-01 9.23315887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84509989299997 meters 0.023220900442653854 Centerline is valid? [True, True] Translation: X:253.62, Y:16.12, Z:9.24 [[ 9.93993368e-01 -9.94690780e-02 -4.56408470e-02 2.53620422e+02] [ 9.94531999e-02 9.95038781e-01 -2.62416261e-03 1.61215536e+01] [ 4.56754357e-02 -1.93072805e-03 9.98954467e-01 9.23761137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90509989299994 meters 0.021814454017676423 Centerline is valid? [True, True] Translation: X:253.68, Y:16.13, Z:9.24 [[ 9.94555556e-01 -9.52449547e-02 -4.22805444e-02 2.53680446e+02] [ 9.52275906e-02 9.95452563e-01 -2.42912926e-03 1.61283688e+01] [ 4.23196386e-02 -1.61037037e-03 9.99102825e-01 9.24173186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96509989299994 meters 0.021053650220748198 Centerline is valid? [True, True] Translation: X:253.74, Y:16.13, Z:9.25 [[ 9.94776310e-01 -9.32729359e-02 -4.14759205e-02 2.53742643e+02] [ 9.32545269e-02 9.95639451e-01 -2.38259949e-03 1.61341692e+01] [ 4.15172948e-02 -1.49766382e-03 9.99136663e-01 9.24506036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02509989299995 meters 0.021044611358226214 Centerline is valid? [True, True] Translation: X:253.80, Y:16.14, Z:9.25 [[ 9.94672181e-01 -9.39560525e-02 -4.24206690e-02 2.53804701e+02] [ 9.39375476e-02 9.95575117e-01 -2.43378125e-03 1.61373296e+01] [ 4.24616310e-02 -1.56407912e-03 9.99096874e-01 9.24610628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08509989299995 meters 0.022295612865680808 Centerline is valid? [True, True] Translation: X:253.87, Y:16.14, Z:9.25 [[ 9.94386669e-01 -9.62113978e-02 -4.40286233e-02 2.53866322e+02] [ 9.61938096e-02 9.95359426e-01 -2.52289943e-03 1.61381921e+01] [ 4.40670368e-02 -1.72654345e-03 9.99027084e-01 9.24680806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14509989299995 meters 0.023874035699909257 Centerline is valid? [True, True] Translation: X:253.93, Y:16.14, Z:9.25 [[ 9.93901367e-01 -1.00381290e-01 -4.56472230e-02 2.53927519e+02] [ 1.00366874e-01 9.94947064e-01 -2.61343830e-03 1.61379446e+01] [ 4.56789109e-02 -1.98396920e-03 9.98954204e-01 9.24748266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20509989299995 meters 0.02344382107382903 Centerline is valid? [True, True] Translation: X:253.99, Y:16.14, Z:9.25 [[ 9.93746017e-01 -1.01841829e-01 -4.57940513e-02 2.53989692e+02] [ 1.01828926e-01 9.94798473e-01 -2.62056516e-03 1.61418530e+01] [ 4.58227355e-02 -2.05898289e-03 9.98947465e-01 9.24983837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26509989299996 meters 0.022725041725021208 Centerline is valid? [True, True] Translation: X:254.05, Y:16.15, Z:9.25 [[ 9.93922371e-01 -1.00382521e-01 -4.51848442e-02 2.54051396e+02] [ 1.00368600e-01 9.94946971e-01 -2.58247036e-03 1.61477632e+01] [ 4.52157588e-02 -1.96836449e-03 9.98975305e-01 9.25377421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32509989299996 meters 0.022702609344379485 Centerline is valid? [True, True] Translation: X:254.11, Y:16.15, Z:9.26 [[ 9.94371187e-01 -9.67730965e-02 -4.31382644e-02 2.54111347e+02] [ 9.67571259e-02 9.95304975e-01 -2.46292290e-03 1.61522915e+01] [ 4.31740738e-02 -1.72487491e-03 9.99066076e-01 9.25728820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38509989299996 meters 0.01962040586345269 Centerline is valid? [True, True] Translation: X:254.17, Y:16.16, Z:9.26 [[ 9.94831134e-01 -9.25967567e-02 -4.16755870e-02 2.54172678e+02] [ 9.25782028e-02 9.95702574e-01 -2.37910225e-03 1.61622464e+01] [ 4.17167864e-02 -1.49144595e-03 9.99128363e-01 9.26179376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44509989299996 meters 0.019214177512135066 Centerline is valid? [True, True] Translation: X:254.23, Y:16.17, Z:9.26 [[ 9.95038880e-01 -9.00965404e-02 -4.21929052e-02 2.54233978e+02] [ 9.00753985e-02 9.95932043e-01 -2.40580692e-03 1.61671653e+01] [ 4.22380211e-02 -1.40667133e-03 9.99106586e-01 9.26378973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50509989299997 meters 0.019023720818019476 Centerline is valid? [True, True] Translation: X:254.30, Y:16.17, Z:9.27 [[ 9.94983485e-01 -9.00478854e-02 -4.35803147e-02 2.54296295e+02] [ 9.00253664e-02 9.95936377e-01 -2.48305025e-03 1.61711521e+01] [ 4.36268141e-02 -1.45273980e-03 9.99046841e-01 9.26551819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56509989299997 meters 0.01963200134300208 Centerline is valid? [True, True] Translation: X:254.36, Y:16.17, Z:9.27 [[ 9.94952743e-01 -9.02069551e-02 -4.39516108e-02 2.54357759e+02] [ 9.01843427e-02 9.95921949e-01 -2.50110121e-03 1.61732331e+01] [ 4.39979906e-02 -1.47526961e-03 9.99030530e-01 9.26716799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62509989299994 meters 0.02092391999636895 Centerline is valid? [True, True] Translation: X:254.42, Y:16.17, Z:9.27 [[ 9.94699638e-01 -9.24531749e-02 -4.50004470e-02 2.54419396e+02] [ 9.24318707e-02 9.95715724e-01 -2.55845686e-03 1.61743547e+01] [ 4.50441901e-02 -1.61457938e-03 9.98983691e-01 9.26926296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68509989299994 meters 0.02034597164280629 Centerline is valid? [True, True] Translation: X:254.48, Y:16.18, Z:9.27 [[ 9.94433126e-01 -9.50219551e-02 -4.55366543e-02 2.54480969e+02] [ 9.50029096e-02 9.95473633e-01 -2.58715619e-03 1.61791823e+01] [ 4.55763753e-02 -1.75336084e-03 9.98959318e-01 9.27281810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74509989299995 meters 0.02301385289643351 Centerline is valid? [True, True] Translation: X:254.54, Y:16.18, Z:9.28 [[ 9.94292034e-01 -9.66963686e-02 -4.50906086e-02 2.54541891e+02] [ 9.66795230e-02 9.95312272e-01 -2.55935164e-03 1.61793634e+01] [ 4.51267161e-02 -1.81459558e-03 9.98979623e-01 9.27556016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80509989299995 meters 0.02231610249245 Centerline is valid? [True, True] Translation: X:254.60, Y:16.18, Z:9.28 [[ 9.94089010e-01 -9.86365004e-02 -4.53638706e-02 2.54603571e+02] [ 9.86215849e-02 9.95121684e-01 -2.57223933e-03 1.61842736e+01] [ 4.53962880e-02 -1.91682196e-03 9.98967218e-01 9.27915464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86509989299995 meters 0.024054613933138683 Centerline is valid? [True, True] Translation: X:254.66, Y:16.19, Z:9.28 [[ 9.93516610e-01 -1.03731663e-01 -4.65240479e-02 2.54663886e+02] [ 1.03721681e-01 9.94602870e-01 -2.63513423e-03 1.61853263e+01] [ 4.65462984e-02 -2.20750282e-03 9.98913694e-01 9.28209034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92509989299995 meters 0.02399027696023521 Centerline is valid? [True, True] Translation: X:254.72, Y:16.19, Z:9.28 [[ 9.93147403e-01 -1.06429654e-01 -4.82800620e-02 2.54724456e+02] [ 1.06422121e-01 9.94317282e-01 -2.73387106e-03 1.61879913e+01] [ 4.82966650e-02 -2.42292965e-03 9.98830096e-01 9.28420239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98509989299995 meters 0.02386840548451543 Centerline is valid? [True, True] Translation: X:254.79, Y:16.19, Z:9.29 [[ 9.93142858e-01 -1.06240967e-01 -4.87864751e-02 2.54786256e+02] [ 1.06233125e-01 9.94337418e-01 -2.76100507e-03 1.61911907e+01] [ 4.88035495e-02 -2.44066724e-03 9.98805415e-01 9.28714253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04509989299996 meters 0.02526667556779246 Centerline is valid? [True, True] Translation: X:254.85, Y:16.19, Z:9.29 [[ 9.93274304e-01 -1.05479939e-01 -4.77508100e-02 2.54847650e+02] [ 1.05471703e-01 9.94418642e-01 -2.69913560e-03 1.61929324e+01] [ 4.77690003e-02 -2.35537721e-03 9.98855633e-01 9.29115514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10509989299996 meters 0.024136490284187587 Centerline is valid? [True, True] Translation: X:254.91, Y:16.20, Z:9.29 [[ 9.93399799e-01 -1.04071234e-01 -4.82288046e-02 2.54909205e+02] [ 1.04061314e-01 9.94567155e-01 -2.72332059e-03 1.61981350e+01] [ 4.82502044e-02 -2.31340667e-03 9.98832602e-01 9.29337717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16509989299996 meters 0.025458179010241347 Centerline is valid? [True, True] Translation: X:254.97, Y:16.20, Z:9.29 [[ 9.93479885e-01 -1.03080778e-01 -4.87039196e-02 2.54970725e+02] [ 1.03069638e-01 9.94670350e-01 -2.74682405e-03 1.61997883e+01] [ 4.87274895e-02 -2.29098091e-03 9.98809483e-01 9.29483049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22509989299996 meters 0.02362320082234083 Centerline is valid? [True, True] Translation: X:255.03, Y:16.21, Z:9.30 [[ 9.93453242e-01 -1.02942075e-01 -4.95336826e-02 2.55032148e+02] [ 1.02930527e-01 9.94684633e-01 -2.79071763e-03 1.62059824e+01] [ 4.95576752e-02 -2.32608056e-03 9.98768555e-01 9.29810291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28509989299997 meters 0.02531946619184506 Centerline is valid? [True, True] Translation: X:255.09, Y:16.21, Z:9.30 [[ 9.93390008e-01 -1.03064929e-01 -5.05362409e-02 2.55093184e+02] [ 1.03053245e-01 9.94671776e-01 -2.84375057e-03 1.62067679e+01] [ 5.05600634e-02 -2.38297020e-03 9.98718179e-01 9.29907587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34509989299997 meters 0.02302999043711371 Centerline is valid? [True, True] Translation: X:255.15, Y:16.21, Z:9.30 [[ 9.93283102e-01 -1.03375678e-01 -5.19821877e-02 2.55154110e+02] [ 1.03363879e-01 9.94639315e-01 -2.92254113e-03 1.62138094e+01] [ 5.20056472e-02 -2.47016981e-03 9.98643736e-01 9.30216447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40509989299994 meters 0.02466639100392966 Centerline is valid? [True, True] Translation: X:255.21, Y:16.22, Z:9.30 [[ 9.93316758e-01 -1.03090673e-01 -5.19050228e-02 2.55214881e+02] [ 1.03078632e-01 9.94668936e-01 -2.91605799e-03 1.62159260e+01] [ 5.19289322e-02 -2.45372946e-03 9.98647768e-01 9.30462907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46509989299994 meters 0.022313816282799867 Centerline is valid? [True, True] Translation: X:255.28, Y:16.22, Z:9.31 [[ 9.93595189e-01 -1.01035894e-01 -5.05998787e-02 2.55275897e+02] [ 1.01021913e-01 9.94880146e-01 -2.84028675e-03 1.62242703e+01] [ 5.06277857e-02 -2.28960132e-03 9.98714967e-01 9.30909701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52509989299995 meters 0.02203422636549481 Centerline is valid? [True, True] Translation: X:255.34, Y:16.23, Z:9.31 [[ 9.93874793e-01 -9.87802918e-02 -4.95514909e-02 2.55337062e+02] [ 9.87641733e-02 9.95106985e-01 -2.77965560e-03 1.62292851e+01] [ 4.95836099e-02 -2.13128240e-03 9.98767702e-01 9.31240554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58509989299995 meters 0.018975191313178874 Centerline is valid? [True, True] Translation: X:255.40, Y:16.24, Z:9.32 [[ 9.94429189e-01 -9.34887188e-02 -4.86872412e-02 2.55396970e+02] [ 9.34668893e-02 9.95618646e-01 -2.72984718e-03 1.62388181e+01] [ 4.87291351e-02 -1.83600527e-03 9.98810343e-01 9.31607072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64509989299995 meters 0.018317256339155027 Centerline is valid? [True, True] Translation: X:255.46, Y:16.24, Z:9.32 [[ 9.94821491e-01 -8.95050594e-02 -4.81564607e-02 2.55458306e+02] [ 8.94790708e-02 9.95985044e-01 -2.69949068e-03 1.62438075e+01] [ 4.82047327e-02 -1.62348401e-03 9.98836157e-01 9.31846310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70509989299995 meters 0.016612302993734986 Centerline is valid? [True, True] Translation: X:255.52, Y:16.25, Z:9.32 [[ 9.95273453e-01 -8.41404181e-02 -4.84885983e-02 2.55518186e+02] [ 8.41078101e-02 9.96452959e-01 -2.71606030e-03 1.62520702e+01] [ 4.85451377e-02 -1.37504710e-03 9.98820043e-01 9.32144559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76509989299996 meters 0.015568338518063418 Centerline is valid? [True, True] Translation: X:255.58, Y:16.26, Z:9.32 [[ 9.95657997e-01 -7.92112546e-02 -4.88950862e-02 2.55578825e+02] [ 7.91721698e-02 9.96857195e-01 -2.73862088e-03 1.62580752e+01] [ 4.89583481e-02 -1.14440029e-03 9.98800165e-01 9.32438407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82509989299996 meters 0.014544441894827813 Centerline is valid? [True, True] Translation: X:255.64, Y:16.26, Z:9.33 [[ 9.95904513e-01 -7.58485518e-02 -4.92056660e-02 2.55639038e+02] [ 7.58049010e-02 9.97118862e-01 -2.75534536e-03 1.62631400e+01] [ 4.92728866e-02 -9.85969762e-04 9.98784867e-01 9.32689674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88509989299996 meters 0.013831595241216844 Centerline is valid? [True, True] Translation: X:255.70, Y:16.27, Z:9.33 [[ 9.96301088e-01 -7.04612093e-02 -4.91870000e-02 2.55698417e+02] [ 7.04110191e-02 9.97514261e-01 -2.75451243e-03 1.62686626e+01] [ 4.92588202e-02 -7.18983065e-04 9.98785789e-01 9.32887858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94509989299996 meters 0.012805087668884108 Centerline is valid? [True, True] Translation: X:255.76, Y:16.28, Z:9.33 [[ 9.96523408e-01 -6.67927921e-02 -4.97978023e-02 2.55757333e+02] [ 6.67367138e-02 9.97766720e-01 -2.78983636e-03 1.62758735e+01] [ 4.98729308e-02 -5.43204443e-04 9.98755423e-01 9.33239579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00509989299997 meters 0.01270375691707528 Centerline is valid? [True, True] Translation: X:255.82, Y:16.28, Z:9.34 [[ 9.96584480e-01 -6.59456750e-02 -4.97045433e-02 2.55815713e+02] [ 6.58885337e-02 9.97823092e-01 -2.78902564e-03 1.62796251e+01] [ 4.97802653e-02 -4.95459806e-04 9.98760071e-01 9.33502122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06509989299997 meters 0.012762783796223962 Centerline is valid? [True, True] Translation: X:255.87, Y:16.28, Z:9.34 [[ 9.96598430e-01 -6.70494404e-02 -4.79159874e-02 2.55873807e+02] [ 6.69971416e-02 9.97749518e-01 -2.69848890e-03 1.62804141e+01] [ 4.79890855e-02 -5.20924390e-04 9.98847724e-01 9.33799975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12509989299994 meters 0.012762425129189741 Centerline is valid? [True, True] Translation: X:255.93, Y:16.28, Z:9.34 [[ 9.96420122e-01 -7.01171805e-02 -4.72283912e-02 2.55933040e+02] [ 7.00696465e-02 9.97538546e-01 -2.66332436e-03 1.62815523e+01] [ 4.72988855e-02 -6.55486687e-04 9.98880566e-01 9.34129066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18509989299994 meters 0.014068618420951301 Centerline is valid? [True, True] Translation: X:255.99, Y:16.28, Z:9.34 [[ 9.95933126e-01 -7.72938411e-02 -4.62911582e-02 2.55993584e+02] [ 7.72558470e-02 9.97007879e-01 -2.61197494e-03 1.62774190e+01] [ 4.63545391e-02 -9.74910278e-04 9.98924575e-01 9.34261688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24509989299995 meters 0.016951159388414176 Centerline is valid? [True, True] Translation: X:256.05, Y:16.27, Z:9.34 [[ 9.95244109e-01 -8.61219899e-02 -4.55210548e-02 2.56053526e+02] [ 8.60944338e-02 9.96283668e-01 -2.56922824e-03 1.62694685e+01] [ 4.55731505e-02 -1.36210016e-03 9.98960076e-01 9.34376468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30509989299995 meters 0.019013774319654012 Centerline is valid? [True, True] Translation: X:256.11, Y:16.27, Z:9.35 [[ 9.94729647e-01 -9.23119525e-02 -4.46254645e-02 2.56114359e+02] [ 9.22916860e-02 9.95728829e-01 -2.51865518e-03 1.62662820e+01] [ 4.46673635e-02 -1.61317838e-03 9.99000613e-01 9.34626354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36509989299995 meters 0.02096148311952686 Centerline is valid? [True, True] Translation: X:256.18, Y:16.26, Z:9.35 [[ 9.93910363e-01 -1.01169170e-01 -4.36690994e-02 2.56175687e+02] [ 1.01158335e-01 9.94867289e-01 -2.46354810e-03 1.62621044e+01] [ 4.36941936e-02 -1.96894739e-03 9.99043012e-01 9.34914427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42509989299995 meters 0.023738270315764365 Centerline is valid? [True, True] Translation: X:256.24, Y:16.26, Z:9.35 [[ 9.93135837e-01 -1.08009625e-01 -4.48902024e-02 2.56236784e+02] [ 1.08005185e-01 9.94147108e-01 -2.53143215e-03 1.62568930e+01] [ 4.49008840e-02 -2.33431863e-03 9.98988719e-01 9.34969117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48509989299995 meters 0.026641360189187016 Centerline is valid? [True, True] Translation: X:256.30, Y:16.25, Z:9.35 [[ 9.92748417e-01 -1.11348966e-01 -4.52988676e-02 2.56297559e+02] [ 1.11347914e-01 9.93778203e-01 -2.55435888e-03 1.62537048e+01] [ 4.53014524e-02 -2.50809869e-03 9.98970214e-01 9.35093352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54509989299996 meters 0.026622709323027186 Centerline is valid? [True, True] Translation: X:256.36, Y:16.26, Z:9.35 [[ 9.92456556e-01 -1.13598828e-01 -4.61008765e-02 2.56358671e+02] [ 1.13600205e-01 9.93523146e-01 -2.59858025e-03 1.62554383e+01] [ 4.60974835e-02 -2.65809102e-03 9.98933409e-01 9.35358414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60509989299996 meters 0.026325865795591628 Centerline is valid? [True, True] Translation: X:256.42, Y:16.26, Z:9.36 [[ 9.92491231e-01 -1.13295648e-01 -4.61004697e-02 2.56420332e+02] [ 1.13296791e-01 9.93557797e-01 -2.59656144e-03 1.62587979e+01] [ 4.60976602e-02 -2.64597081e-03 9.98933434e-01 9.35668497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66509989299996 meters 0.027087865421184607 Centerline is valid? [True, True] Translation: X:256.48, Y:16.26, Z:9.36 [[ 9.92594875e-01 -1.12595646e-01 -4.55810774e-02 2.56482398e+02] [ 1.12596177e-01 9.93637523e-01 -2.56401524e-03 1.62600748e+01] [ 4.55797658e-02 -2.58722668e-03 9.98957352e-01 9.35895584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72509989299996 meters 0.028892921030869725 Centerline is valid? [True, True] Translation: X:256.54, Y:16.26, Z:9.36 [[ 9.92604441e-01 -1.12413157e-01 -4.58225375e-02 2.56544137e+02] [ 1.12413645e-01 9.93658163e-01 -2.57444177e-03 1.62600821e+01] [ 4.58213396e-02 -2.59567614e-03 9.98946278e-01 9.36042562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78509989299997 meters 0.02609180296755989 Centerline is valid? [True, True] Translation: X:256.61, Y:16.27, Z:9.36 [[ 9.92535673e-01 -1.12513773e-01 -4.70487818e-02 2.56606019e+02] [ 1.12514533e-01 9.93646571e-01 -2.64058919e-03 1.62656550e+01] [ 4.70469633e-02 -2.67279273e-03 9.98889103e-01 9.36140826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84509989299997 meters 0.027590848694974985 Centerline is valid? [True, True] Translation: X:256.67, Y:16.27, Z:9.36 [[ 9.92507565e-01 -1.12772460e-01 -4.70223880e-02 2.56668260e+02] [ 1.12773669e-01 9.93617206e-01 -2.63570159e-03 1.62668628e+01] [ 4.70194884e-02 -2.68693346e-03 9.98890358e-01 9.36374620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90509989299994 meters 0.027563103516628485 Centerline is valid? [True, True] Translation: X:256.73, Y:16.27, Z:9.37 [[ 9.92411624e-01 -1.13307036e-01 -4.77565186e-02 2.56730193e+02] [ 1.13309067e-01 9.93556193e-01 -2.67338713e-03 1.62705727e+01] [ 4.77516983e-02 -2.75814612e-03 9.98855429e-01 9.36594256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96509989299994 meters 0.03007246148564044 Centerline is valid? [True, True] Translation: X:256.79, Y:16.27, Z:9.37 [[ 9.92467536e-01 -1.12431907e-01 -4.86544672e-02 2.56791362e+02] [ 1.12433134e-01 9.93655569e-01 -2.72031765e-03 1.62724039e+01] [ 4.86516329e-02 -2.77054728e-03 9.98811966e-01 9.36750942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.025099893 meters 0.02935223307308898 Centerline is valid? [True, True] Translation: X:256.85, Y:16.28, Z:9.37 [[ 9.92638066e-01 -1.11403396e-01 -4.75284518e-02 2.56852994e+02] [ 1.11403506e-01 9.93771709e-01 -2.65489055e-03 1.62781932e+01] [ 4.75281946e-02 -2.65949074e-03 9.98866356e-01 9.37124454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.085099893 meters 0.023603257045359805 Centerline is valid? [True, True] Translation: X:256.91, Y:16.29, Z:9.38 [[ 9.93203589e-01 -1.06901769e-01 -4.60287231e-02 2.56912397e+02] [ 1.06897130e-01 9.94266766e-01 -2.56932654e-03 1.62913751e+01] [ 4.60394952e-02 -2.36847408e-03 9.98936812e-01 9.37583474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.145099893 meters 0.022565138667264853 Centerline is valid? [True, True] Translation: X:256.97, Y:16.30, Z:9.38 [[ 9.93659654e-01 -1.03114121e-01 -4.48103687e-02 2.56972835e+02] [ 1.03105871e-01 9.94667242e-01 -2.50152405e-03 1.62980007e+01] [ 4.48293483e-02 -2.13454856e-03 9.98992379e-01 9.37871038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205099893 meters 0.021601905532488353 Centerline is valid? [True, True] Translation: X:257.03, Y:16.31, Z:9.38 [[ 9.94186955e-01 -9.86059198e-02 -4.32339006e-02 2.57032789e+02] [ 9.85940184e-02 9.95124815e-01 -2.41270738e-03 1.63057297e+01] [ 4.32610346e-02 -1.86392178e-03 9.99062064e-01 9.38217833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26509989299996 meters 0.020878527954721303 Centerline is valid? [True, True] Translation: X:257.10, Y:16.31, Z:9.38 [[ 9.94363893e-01 -9.70197803e-02 -4.27505580e-02 2.57095132e+02] [ 9.70066969e-02 9.95280870e-01 -2.38533941e-03 1.63103897e+01] [ 4.27802377e-02 -1.77519504e-03 9.99082929e-01 9.38427255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32509989299996 meters 0.022279707401397845 Centerline is valid? [True, True] Translation: X:257.16, Y:16.31, Z:9.39 [[ 9.94358500e-01 -9.71357104e-02 -4.26125133e-02 2.57156592e+02] [ 9.71229432e-02 9.95269559e-01 -2.37469073e-03 1.63113646e+01] [ 4.26416046e-02 -1.77735880e-03 9.99088852e-01 9.38606833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38509989299996 meters 0.021000357848869906 Centerline is valid? [True, True] Translation: X:257.22, Y:16.32, Z:9.39 [[ 9.94145453e-01 -9.94859448e-02 -4.21588185e-02 2.57218301e+02] [ 9.94756491e-02 9.95037228e-01 -2.34718617e-03 1.63153560e+01] [ 4.21831060e-02 -1.86033138e-03 9.99108165e-01 9.38864041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44509989299996 meters 0.020624736349509055 Centerline is valid? [True, True] Translation: X:257.28, Y:16.32, Z:9.39 [[ 9.93922661e-01 -1.01696021e-01 -4.21386286e-02 2.57280559e+02] [ 1.01687817e-01 9.94813598e-01 -2.34365360e-03 1.63172267e+01] [ 4.21584210e-02 -1.95557474e-03 9.99109025e-01 9.39006727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50509989299997 meters 0.022246969615929132 Centerline is valid? [True, True] Translation: X:257.34, Y:16.32, Z:9.39 [[ 9.93803383e-01 -1.02136721e-01 -4.38511760e-02 2.57341324e+02] [ 1.02128432e-01 9.94768241e-01 -2.43515785e-03 1.63179815e+01] [ 4.38704763e-02 -2.05838374e-03 9.99035107e-01 9.39076435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56509989299997 meters 0.021510627094045186 Centerline is valid? [True, True] Translation: X:257.40, Y:16.32, Z:9.39 [[ 9.93828437e-01 -1.01247295e-01 -4.53213354e-02 2.57403108e+02] [ 1.01237773e-01 9.94859089e-01 -2.51126248e-03 1.63228673e+01] [ 4.53426010e-02 -2.09246701e-03 9.98969304e-01 9.39124904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62509989299997 meters 0.02059990537601177 Centerline is valid? [True, True] Translation: X:257.46, Y:16.33, Z:9.39 [[ 9.94176271e-01 -9.84101489e-02 -4.39202187e-02 2.57464817e+02] [ 9.83985741e-02 9.95144117e-01 -2.43061707e-03 1.63285518e+01] [ 4.39461446e-02 -1.90522508e-03 9.99032085e-01 9.39464704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.685099893 meters 0.019658768648533047 Centerline is valid? [True, True] Translation: X:257.53, Y:16.33, Z:9.40 [[ 9.94527813e-01 -9.57201897e-02 -4.18577809e-02 2.57525712e+02] [ 9.57073847e-02 9.95406821e-01 -2.31435678e-03 1.63343337e+01] [ 4.18870513e-02 -1.70440655e-03 9.99120899e-01 9.39823320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.745099893 meters 0.01873450854706185 Centerline is valid? [True, True] Translation: X:257.59, Y:16.34, Z:9.40 [[ 9.94936466e-01 -9.19198342e-02 -4.06469192e-02 2.57586960e+02] [ 9.19046506e-02 9.95765279e-01 -2.24595217e-03 1.63399291e+01] [ 4.06812383e-02 -1.50106118e-03 9.99171048e-01 9.40088580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.805099893 meters 0.01844477486613035 Centerline is valid? [True, True] Translation: X:257.65, Y:16.34, Z:9.40 [[ 9.95094347e-01 -8.99162588e-02 -4.12590303e-02 2.57649041e+02] [ 8.98989645e-02 9.95948285e-01 -2.27810439e-03 1.63436700e+01] [ 4.12966991e-02 -1.44221530e-03 9.99145887e-01 9.40173919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.865099893 meters 0.01990899093175992 Centerline is valid? [True, True] Translation: X:257.71, Y:16.34, Z:9.40 [[ 9.95245787e-01 -8.84295490e-02 -4.08171335e-02 2.57710440e+02] [ 8.84115021e-02 9.96081493e-01 -2.25057994e-03 1.63434713e+01] [ 4.08562090e-02 -1.36882387e-03 9.99164099e-01 9.40307893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.925099893 meters 0.017261789787149134 Centerline is valid? [True, True] Translation: X:257.77, Y:16.35, Z:9.40 [[ 9.95179013e-01 -8.83493705e-02 -4.25807633e-02 2.57772423e+02] [ 8.83298925e-02 9.96088522e-01 -2.34234173e-03 1.63497986e+01] [ 4.26211540e-02 -1.43010491e-03 9.99090282e-01 9.40389124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.985099893 meters 0.017727239273271415 Centerline is valid? [True, True] Translation: X:257.83, Y:16.35, Z:9.40 [[ 9.95090528e-01 -8.86032565e-02 -4.40942572e-02 2.57834780e+02] [ 8.85827670e-02 9.96065874e-01 -2.42225948e-03 1.63516929e+01] [ 4.41354049e-02 -1.49562384e-03 9.99024439e-01 9.40404746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.045099893 meters 0.01864555196484663 Centerline is valid? [True, True] Translation: X:257.90, Y:16.35, Z:9.40 [[ 9.94937376e-01 -8.95266630e-02 -4.56573550e-02 2.57896452e+02] [ 8.95058099e-02 9.95983150e-01 -2.50501037e-03 1.63530743e+01] [ 4.56982215e-02 -1.59427009e-03 9.98954018e-01 9.40448833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.105099893 meters 0.01839744823673895 Centerline is valid? [True, True] Translation: X:257.96, Y:16.36, Z:9.41 [[ 9.94932038e-01 -8.90189461e-02 -4.67532616e-02 2.57958146e+02] [ 8.89966040e-02 9.96028631e-01 -2.56338110e-03 1.63574410e+01] [ 4.67957766e-02 -1.61049153e-03 9.98903179e-01 9.40595067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.165099893 meters 0.01771710451929123 Centerline is valid? [True, True] Translation: X:258.02, Y:16.36, Z:9.41 [[ 9.95074886e-01 -8.82625841e-02 -4.51185966e-02 2.58018792e+02] [ 8.82410718e-02 9.96096081e-01 -2.47214248e-03 1.63634101e+01] [ 4.51606550e-02 -1.52134643e-03 9.98978579e-01 9.40976783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.225099893 meters 0.017893725008716964 Centerline is valid? [True, True] Translation: X:258.08, Y:16.37, Z:9.41 [[ 9.95218577e-01 -8.79508080e-02 -4.24810476e-02 2.58080626e+02] [ 8.79314945e-02 9.96123807e-01 -2.32661004e-03 1.63685605e+01] [ 4.25210101e-02 -1.41993647e-03 9.99094564e-01 9.41467002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.285099893 meters 0.019089214715289713 Centerline is valid? [True, True] Translation: X:258.14, Y:16.37, Z:9.42 [[ 9.95170438e-01 -8.86106074e-02 -4.22369371e-02 2.58141594e+02] [ 8.85922461e-02 9.96065298e-01 -2.30998425e-03 1.63701232e+01] [ 4.22754364e-02 -1.44303708e-03 9.99104952e-01 9.41625142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.345099893 meters 0.01964111915777647 Centerline is valid? [True, True] Translation: X:258.20, Y:16.37, Z:9.42 [[ 9.94875099e-01 -9.15089648e-02 -4.30075295e-02 2.58203067e+02] [ 9.14928304e-02 9.95802968e-01 -2.34749866e-03 1.63728504e+01] [ 4.30418427e-02 -1.59941264e-03 9.99071990e-01 9.41728158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.405099893 meters 0.021644252674300122 Centerline is valid? [True, True] Translation: X:258.26, Y:16.37, Z:9.42 [[ 9.94585550e-01 -9.46684710e-02 -4.28656553e-02 2.58263865e+02] [ 9.46554582e-02 9.95507348e-01 -2.33771272e-03 1.63726775e+01] [ 4.28943825e-02 -1.73241295e-03 9.99078110e-01 9.41850874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.465099893 meters 0.02106606135052418 Centerline is valid? [True, True] Translation: X:258.32, Y:16.38, Z:9.42 [[ 9.94316897e-01 -9.72007199e-02 -4.34272755e-02 2.58324609e+02] [ 9.71898077e-02 9.95263049e-01 -2.36756182e-03 1.63770256e+01] [ 4.34516913e-02 -1.86658183e-03 9.99053786e-01 9.42075145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.525099893 meters 0.021055811896626055 Centerline is valid? [True, True] Translation: X:258.39, Y:16.38, Z:9.42 [[ 9.94238124e-01 -9.79786224e-02 -4.34826652e-02 2.58386352e+02] [ 9.79684741e-02 9.95186698e-01 -2.36944397e-03 1.63812421e+01] [ 4.35055249e-02 -1.90413884e-03 9.99051372e-01 9.42292243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.585099893 meters 0.021579755183850656 Centerline is valid? [True, True] Translation: X:258.45, Y:16.39, Z:9.43 [[ 9.94333896e-01 -9.71324169e-02 -4.31902334e-02 2.58448077e+02] [ 9.71217441e-02 9.95269734e-01 -2.35035766e-03 1.63853744e+01] [ 4.32142280e-02 -1.85767051e-03 9.99064102e-01 9.42537412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.645099893 meters 0.02135224528167623 Centerline is valid? [True, True] Translation: X:258.51, Y:16.39, Z:9.43 [[ 9.94582587e-01 -9.48011965e-02 -4.26404732e-02 2.58508970e+02] [ 9.47887770e-02 9.95494709e-01 -2.31757442e-03 1.63921853e+01] [ 4.26680743e-02 -1.73681914e-03 9.99087793e-01 9.42772055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705099893 meters 0.021057963597449044 Centerline is valid? [True, True] Translation: X:258.57, Y:16.40, Z:9.43 [[ 9.94706262e-01 -9.38337328e-02 -4.18889397e-02 2.58570858e+02] [ 9.38209594e-02 9.95586486e-01 -2.27507657e-03 1.63988667e+01] [ 4.19175412e-02 -1.66702759e-03 9.99119683e-01 9.43104392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76509989299996 meters 0.02152451597158392 Centerline is valid? [True, True] Translation: X:258.63, Y:16.40, Z:9.43 [[ 9.94570981e-01 -9.49819935e-02 -4.25086329e-02 2.58632670e+02] [ 9.49700182e-02 9.95477463e-01 -2.30564287e-03 1.64017664e+01] [ 4.25353806e-02 -1.74392015e-03 9.99093439e-01 9.43302573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82509989299996 meters 0.023068806268917046 Centerline is valid? [True, True] Translation: X:258.69, Y:16.40, Z:9.43 [[ 9.94339619e-01 -9.68407171e-02 -4.37103856e-02 2.58693446e+02] [ 9.68299789e-02 9.95298120e-01 -2.36784424e-03 1.64023618e+01] [ 4.37341684e-02 -1.87803438e-03 9.99041438e-01 9.43392107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88509989299996 meters 0.021095801730611874 Centerline is valid? [True, True] Translation: X:258.76, Y:16.41, Z:9.44 [[ 9.94060366e-01 -9.93811563e-02 -4.43551012e-02 2.58755581e+02] [ 9.93727052e-02 9.95047386e-01 -2.40089941e-03 1.64081018e+01] [ 4.43740317e-02 -2.02104745e-03 9.99012943e-01 9.43627777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94509989299996 meters 0.023256666347810998 Centerline is valid? [True, True] Translation: X:258.82, Y:16.41, Z:9.44 [[ 9.93696100e-01 -1.02938385e-01 -4.44043857e-02 2.58817216e+02] [ 1.02933591e-01 9.94685334e-01 -2.40054794e-03 1.64082730e+01] [ 4.44154997e-02 -2.18528773e-03 9.99010755e-01 9.43831060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00509989299997 meters 0.024720278099601763 Centerline is valid? [True, True] Translation: X:258.88, Y:16.41, Z:9.44 [[ 9.93552096e-01 -1.04064997e-01 -4.49967745e-02 2.58878625e+02] [ 1.04061307e-01 9.94567914e-01 -2.43076926e-03 1.64108135e+01] [ 4.50053062e-02 -2.26732729e-03 9.98984175e-01 9.43988277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06509989299997 meters 0.02614159057061647 Centerline is valid? [True, True] Translation: X:258.94, Y:16.42, Z:9.44 [[ 9.93684755e-01 -1.03568849e-01 -4.31752374e-02 2.58939517e+02] [ 1.03565098e-01 9.94619949e-01 -2.32967215e-03 1.64158595e+01] [ 4.31842339e-02 -2.15648801e-03 9.99064798e-01 9.44422214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12509989299997 meters 0.024764930097206223 Centerline is valid? [True, True] Translation: X:259.00, Y:16.42, Z:9.45 [[ 9.93715886e-01 -1.03429516e-01 -4.27910412e-02 2.59001649e+02] [ 1.03425920e-01 9.94634491e-01 -2.30385581e-03 1.64224412e+01] [ 4.27997322e-02 -2.13632466e-03 9.99081388e-01 9.44744284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.185099893 meters 0.02432828118244224 Centerline is valid? [True, True] Translation: X:259.06, Y:16.43, Z:9.45 [[ 9.93771131e-01 -1.03356758e-01 -4.16691771e-02 2.59063719e+02] [ 1.03353405e-01 9.94642174e-01 -2.24050989e-03 1.64282826e+01] [ 4.16774928e-02 -2.08009730e-03 9.99128951e-01 9.45076420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.245099893 meters 0.02576201202637061 Centerline is valid? [True, True] Translation: X:259.13, Y:16.43, Z:9.45 [[ 9.93851374e-01 -1.02817159e-01 -4.10862262e-02 2.59125291e+02] [ 1.02813557e-01 9.94698198e-01 -2.20628296e-03 1.64302127e+01] [ 4.10952389e-02 -2.03150370e-03 9.99153169e-01 9.45228333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.305099893 meters 0.025090445846366726 Centerline is valid? [True, True] Translation: X:259.19, Y:16.44, Z:9.45 [[ 9.94087304e-01 -1.00294771e-01 -4.16099937e-02 2.59186708e+02] [ 1.00288968e-01 9.94955849e-01 -2.23214913e-03 1.64360182e+01] [ 4.16239794e-02 -1.95407220e-03 9.99131436e-01 9.45294512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.365099893 meters 0.02473707412684741 Centerline is valid? [True, True] Translation: X:259.25, Y:16.44, Z:9.46 [[ 9.94208932e-01 -9.91817452e-02 -4.13712546e-02 2.59248652e+02] [ 9.91751397e-02 9.95067523e-01 -2.21709038e-03 1.64415385e+01] [ 4.13870867e-02 -1.89874889e-03 9.99141383e-01 9.45557568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.425099893 meters 0.023285621104359503 Centerline is valid? [True, True] Translation: X:259.31, Y:16.45, Z:9.46 [[ 9.94264607e-01 -9.89368867e-02 -4.06126061e-02 2.59310819e+02] [ 9.89304310e-02 9.95091978e-01 -2.17361602e-03 1.64483222e+01] [ 4.06283293e-02 -1.85667314e-03 9.99172604e-01 9.45855364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.485099893 meters 0.02303118700883598 Centerline is valid? [True, True] Translation: X:259.37, Y:16.45, Z:9.46 [[ 9.94297688e-01 -9.85063373e-02 -4.08486031e-02 2.59372713e+02] [ 9.84995655e-02 9.95134699e-01 -2.18328232e-03 1.64513569e+01] [ 4.08649295e-02 -1.85273710e-03 9.99162962e-01 9.46023417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.545099893 meters 0.02316340380073961 Centerline is valid? [True, True] Translation: X:259.43, Y:16.45, Z:9.46 [[ 9.94398053e-01 -9.79062622e-02 -3.98356049e-02 2.59434519e+02] [ 9.78994526e-02 9.95194039e-01 -2.12632567e-03 1.64548954e+01] [ 3.98523372e-02 -1.78546981e-03 9.99203985e-01 9.46341944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.605099893 meters 0.021469701411816144 Centerline is valid? [True, True] Translation: X:259.50, Y:16.46, Z:9.47 [[ 9.94440021e-01 -9.74947928e-02 -3.97971040e-02 2.59496007e+02] [ 9.74877823e-02 9.95234461e-01 -2.12139083e-03 1.64605756e+01] [ 3.98142739e-02 -1.77013547e-03 9.99205530e-01 9.46622360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.665099893 meters 0.023190961392235497 Centerline is valid? [True, True] Translation: X:259.56, Y:16.46, Z:9.47 [[ 9.94356948e-01 -9.82227226e-02 -4.00818684e-02 2.59557074e+02] [ 9.82163202e-02 9.95162802e-01 -2.13361871e-03 1.64607539e+01] [ 4.00975543e-02 -1.81511503e-03 9.99194121e-01 9.46784987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.725099893 meters 0.024918302251812807 Centerline is valid? [True, True] Translation: X:259.62, Y:16.46, Z:9.47 [[ 9.94044569e-01 -1.00654037e-01 -4.17631353e-02 2.59617072e+02] [ 1.00649317e-01 9.94919485e-01 -2.22098547e-03 1.64597798e+01] [ 4.17745082e-02 -1.99567250e-03 9.99125071e-01 9.46930325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.785099893 meters 0.025885983780904984 Centerline is valid? [True, True] Translation: X:259.68, Y:16.46, Z:9.47 [[ 9.93690980e-01 -1.03722589e-01 -4.26598390e-02 2.59677854e+02] [ 1.03720489e-01 9.94603898e-01 -2.26857625e-03 1.64600148e+01] [ 4.26649448e-02 -2.17043559e-03 9.99087079e-01 9.47137413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.845099893 meters 0.026901597913040094 Centerline is valid? [True, True] Translation: X:259.74, Y:16.46, Z:9.47 [[ 9.93342529e-01 -1.06991969e-01 -4.27005816e-02 2.59738576e+02] [ 1.06992907e-01 9.94257193e-01 -2.26998055e-03 1.64591725e+01] [ 4.26982300e-02 -2.31379114e-03 9.99085335e-01 9.47470564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.905099893 meters 0.028581982738573385 Centerline is valid? [True, True] Translation: X:259.80, Y:16.46, Z:9.48 [[ 9.93087249e-01 -1.09461365e-01 -4.23783498e-02 2.59800260e+02] [ 1.09464564e-01 9.93988148e-01 -2.25200617e-03 1.64582469e+01] [ 4.23700850e-02 -2.40248897e-03 9.99099096e-01 9.47768703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.965099893 meters 0.030094628068304635 Centerline is valid? [True, True] Translation: X:259.86, Y:16.46, Z:9.48 [[ 9.92881190e-01 -1.11309543e-01 -4.23925517e-02 2.59862822e+02] [ 1.11314494e-01 9.93782681e-01 -2.25107389e-03 1.64569966e+01] [ 4.23795496e-02 -2.48385651e-03 9.99098496e-01 9.48013011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.025099893 meters 0.03075853814812952 Centerline is valid? [True, True] Translation: X:259.92, Y:16.46, Z:9.48 [[ 9.92626225e-01 -1.13306007e-01 -4.30688442e-02 2.59924009e+02] [ 1.13313114e-01 9.93556702e-01 -2.28410189e-03 1.64570083e+01] [ 4.30501413e-02 -2.61300543e-03 9.99069496e-01 9.48313848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.085099893 meters 0.028696513090225733 Centerline is valid? [True, True] Translation: X:259.99, Y:16.46, Z:9.49 [[ 9.92518008e-01 -1.14304018e-01 -4.29254510e-02 2.59986319e+02] [ 1.14312081e-01 9.93442285e-01 -2.27476348e-03 1.64613325e+01] [ 4.29039727e-02 -2.64915392e-03 9.99075688e-01 9.48708170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.145099893 meters 0.03665682747271411 Centerline is valid? [True, True] Translation: X:260.05, Y:16.45, Z:9.49 [[ 9.92434850e-01 -1.14716838e-01 -4.37391811e-02 2.60047589e+02] [ 1.14725743e-01 9.93394506e-01 -2.31486931e-03 1.64502619e+01] [ 4.37158167e-02 -2.72065309e-03 9.99040302e-01 9.48925281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205099893 meters 0.02980573330444059 Centerline is valid? [True, True] Translation: X:260.11, Y:16.46, Z:9.49 [[ 9.92539579e-01 -1.13456161e-01 -4.46417231e-02 2.60108983e+02] [ 1.13464256e-01 9.93539274e-01 -2.36072955e-03 1.64607601e+01] [ 4.46211445e-02 -2.72212237e-03 9.99000272e-01 9.49178003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26509989299996 meters 0.02868951384046105 Centerline is valid? [True, True] Translation: X:260.17, Y:16.46, Z:9.49 [[ 9.92922723e-01 -1.09422497e-01 -4.61647454e-02 2.60169419e+02] [ 1.09426950e-01 9.93991850e-01 -2.43833965e-03 1.64638262e+01] [ 4.61541899e-02 -2.63058445e-03 9.98930864e-01 9.49367542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32509989299996 meters 0.024940014054792327 Centerline is valid? [True, True] Translation: X:260.23, Y:16.47, Z:9.50 [[ 9.93681646e-01 -1.01381049e-01 -4.81525694e-02 2.60229991e+02] [ 1.01376524e-01 9.94844881e-01 -2.54246389e-03 1.64716330e+01] [ 4.81620948e-02 -2.35514040e-03 9.98836756e-01 9.49530643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38509989299996 meters 0.02085355515511369 Centerline is valid? [True, True] Translation: X:260.29, Y:16.48, Z:9.50 [[ 9.94250919e-01 -9.53784177e-02 -4.86627918e-02 2.60289912e+02] [ 9.53666565e-02 9.95438899e-01 -2.56872353e-03 1.64811244e+01] [ 4.86858367e-02 -2.08685202e-03 9.98811961e-01 9.49863400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44509989299996 meters 0.018850300129661525 Centerline is valid? [True, True] Translation: X:260.35, Y:16.49, Z:9.50 [[ 9.94972136e-01 -8.73937360e-02 -4.89160850e-02 2.60350733e+02] [ 8.73722367e-02 9.96172388e-01 -2.58168095e-03 1.64864218e+01] [ 4.89544760e-02 -1.70520715e-03 9.98799555e-01 9.50116583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50509989299997 meters 0.01665143992061198 Centerline is valid? [True, True] Translation: X:260.41, Y:16.49, Z:9.50 [[ 9.95590232e-01 -8.03645957e-02 -4.83903078e-02 2.60411101e+02] [ 8.03352927e-02 9.96764627e-01 -2.55327054e-03 1.64912503e+01] [ 4.84389397e-02 -1.34543834e-03 9.98825239e-01 9.50394083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56509989299997 meters 0.01533850876767481 Centerline is valid? [True, True] Translation: X:260.47, Y:16.50, Z:9.51 [[ 9.96136581e-01 -7.38336703e-02 -4.75447253e-02 2.60470111e+02] [ 7.37979242e-02 9.97270059e-01 -2.50914845e-03 1.64950310e+01] [ 4.76001906e-02 -1.00924748e-03 9.98865959e-01 9.50643452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62509989299997 meters 0.01483365444143583 Centerline is valid? [True, True] Translation: X:260.53, Y:16.50, Z:9.51 [[ 9.96348353e-01 -7.15912507e-02 -4.65258334e-02 2.60528775e+02] [ 7.15544096e-02 9.97433667e-01 -2.45896847e-03 1.64968162e+01] [ 4.65824732e-02 -8.79139357e-04 9.98914061e-01 9.50985313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.685099893 meters 0.014589148712022583 Centerline is valid? [True, True] Translation: X:260.59, Y:16.50, Z:9.51 [[ 9.96229940e-01 -7.27185048e-02 -4.73067251e-02 2.60587914e+02] [ 7.26812166e-02 9.97352064e-01 -2.51014639e-03 1.64976708e+01] [ 4.73639940e-02 -9.37627353e-04 9.98877256e-01 9.51227891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.745099893 meters 0.016050406582470127 Centerline is valid? [True, True] Translation: X:260.65, Y:16.49, Z:9.51 [[ 9.95874753e-01 -7.66846487e-02 -4.85071209e-02 2.60646512e+02] [ 7.66500037e-02 9.97054731e-01 -2.57670107e-03 1.64932477e+01] [ 4.85618478e-02 -1.15199946e-03 9.98819513e-01 9.51232204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.805099893 meters 0.016043766918473933 Centerline is valid? [True, True] Translation: X:260.71, Y:16.49, Z:9.51 [[ 9.95618583e-01 -7.97944659e-02 -4.87491575e-02 2.60705470e+02] [ 7.97629242e-02 9.96810484e-01 -2.59513430e-03 1.64929312e+01] [ 4.88007487e-02 -1.30461142e-03 9.98807682e-01 9.51486381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.865099893 meters 0.016761406680273944 Centerline is valid? [True, True] Translation: X:260.76, Y:16.49, Z:9.52 [[ 9.95581017e-01 -8.09691990e-02 -4.75649819e-02 2.60763414e+02] [ 8.09400247e-02 9.96715731e-01 -2.54225549e-03 1.64898187e+01] [ 4.76146101e-02 -1.31888950e-03 9.98864911e-01 9.51627863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.925099893 meters 0.017119886842225644 Centerline is valid? [True, True] Translation: X:260.82, Y:16.49, Z:9.52 [[ 9.95725574e-01 -8.03159571e-02 -4.56062253e-02 2.60821326e+02] [ 8.02882712e-02 9.96768696e-01 -2.44148228e-03 1.64898806e+01] [ 4.56549477e-02 -1.23059864e-03 9.98956511e-01 9.51940386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.985099893 meters 0.01668354532221881 Centerline is valid? [True, True] Translation: X:260.88, Y:16.49, Z:9.52 [[ 9.95841584e-01 -8.02795690e-02 -4.30665717e-02 2.60880496e+02] [ 8.02546504e-02 9.96771716e-01 -2.31004232e-03 1.64892857e+01] [ 4.31129898e-02 -1.15585645e-03 9.99069534e-01 9.52273892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.045099893 meters 0.01693204994270828 Centerline is valid? [True, True] Translation: X:260.94, Y:16.49, Z:9.53 [[ 9.95810480e-01 -8.13984918e-02 -4.16626214e-02 2.60939761e+02] [ 8.13757670e-02 9.96680967e-01 -2.24387930e-03 1.64883661e+01] [ 4.17069902e-02 -1.15584925e-03 9.99129216e-01 9.52547416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.105099893 meters 0.017763589577666095 Centerline is valid? [True, True] Translation: X:261.00, Y:16.48, Z:9.53 [[ 9.95468411e-01 -8.57570869e-02 -4.10897257e-02 2.60999835e+02] [ 8.57386062e-02 9.96315204e-01 -2.21504149e-03 1.64844973e+01] [ 4.11282740e-02 -1.31797198e-03 9.99153005e-01 9.52752363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.165099893 meters 0.0192802900957877 Centerline is valid? [True, True] Translation: X:261.06, Y:16.48, Z:9.53 [[ 9.95107924e-01 -8.92178882e-02 -4.24309879e-02 2.61060195e+02] [ 8.92012893e-02 9.96010991e-01 -2.28812729e-03 1.64818366e+01] [ 4.24658722e-02 -1.50796523e-03 9.99096780e-01 9.52850225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.225099893 meters 0.020166172988832772 Centerline is valid? [True, True] Translation: X:261.12, Y:16.48, Z:9.53 [[ 9.94713269e-01 -9.27259751e-02 -4.41294336e-02 2.61120850e+02] [ 9.27114367e-02 9.95690174e-01 -2.38040665e-03 1.64797508e+01] [ 4.41599690e-02 -1.72348111e-03 9.99022986e-01 9.53056135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.285099893 meters 0.020613787209963014 Centerline is valid? [True, True] Translation: X:261.18, Y:16.48, Z:9.53 [[ 9.94690246e-01 -9.23196605e-02 -4.54795983e-02 2.61180883e+02] [ 9.23037838e-02 9.95727870e-01 -2.45352733e-03 1.64794906e+01] [ 4.55118124e-02 -1.75743931e-03 9.98962255e-01 9.53263349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.345099893 meters 0.019514924096979847 Centerline is valid? [True, True] Translation: X:261.24, Y:16.48, Z:9.54 [[ 9.94844353e-01 -9.02055738e-02 -4.63429371e-02 2.61240041e+02] [ 9.01867230e-02 9.95921732e-01 -2.50176702e-03 1.64832405e+01] [ 4.63796115e-02 -1.69064884e-03 9.98922456e-01 9.53510520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.405099893 meters 0.015102769832135078 Centerline is valid? [True, True] Translation: X:261.30, Y:16.49, Z:9.54 [[ 9.95572599e-01 -8.23060326e-02 -4.53973199e-02 2.61299750e+02] [ 8.22796762e-02 9.96606262e-01 -2.45204912e-03 1.64919757e+01] [ 4.54450718e-02 -1.29408386e-03 9.98966001e-01 9.53911933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.465099893 meters 0.014010719960965196 Centerline is valid? [True, True] Translation: X:261.36, Y:16.50, Z:9.54 [[ 9.96124344e-01 -7.62152406e-02 -4.39036186e-02 2.61359915e+02] [ 7.61846651e-02 9.97090905e-01 -2.37164118e-03 1.64950943e+01] [ 4.39566540e-02 -9.82332968e-04 9.99032956e-01 9.54198113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.525099893 meters 0.013377227430666777 Centerline is valid? [True, True] Translation: X:261.42, Y:16.50, Z:9.54 [[ 9.96296770e-01 -7.35659227e-02 -4.45061880e-02 2.61418772e+02] [ 7.35317459e-02 9.97289973e-01 -2.40676820e-03 1.64987309e+01] [ 4.45626311e-02 -8.74762320e-04 9.99006210e-01 9.54370881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.585099893 meters 0.013418645602862996 Centerline is valid? [True, True] Translation: X:261.48, Y:16.50, Z:9.55 [[ 9.96320271e-01 -7.28368488e-02 -4.51742296e-02 2.61476988e+02] [ 7.28003540e-02 9.97343513e-01 -2.45472171e-03 1.65009499e+01] [ 4.52330190e-02 -8.43010908e-04 9.98976107e-01 9.54558799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.645099893 meters 0.013772779646535257 Centerline is valid? [True, True] Translation: X:261.53, Y:16.50, Z:9.55 [[ 9.96308194e-01 -7.36103822e-02 -4.41757098e-02 2.61534921e+02] [ 7.35758019e-02 9.97286715e-01 -2.41041656e-03 1.65009237e+01] [ 4.42332801e-02 -8.48745502e-04 9.99020869e-01 9.54804052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70509989299995 meters 0.014194793230283772 Centerline is valid? [True, True] Translation: X:261.59, Y:16.50, Z:9.55 [[ 9.96192729e-01 -7.52252913e-02 -4.40590828e-02 2.61593805e+02] [ 7.51922485e-02 9.97166146e-01 -2.40909786e-03 1.65017380e+01] [ 4.41154509e-02 -9.12975726e-04 9.99026022e-01 9.55042095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76509989299996 meters 0.014745239961916927 Centerline is valid? [True, True] Translation: X:261.65, Y:16.50, Z:9.55 [[ 9.95988535e-01 -7.78292773e-02 -4.41524772e-02 2.61652496e+02] [ 7.77981603e-02 9.96966180e-01 -2.42526758e-03 1.65032018e+01] [ 4.42072834e-02 -1.01944280e-03 9.99021860e-01 9.55257673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82509989299996 meters 0.015525040392120671 Centerline is valid? [True, True] Translation: X:261.71, Y:16.50, Z:9.55 [[ 9.95726180e-01 -8.10742789e-02 -4.42304803e-02 2.61711446e+02] [ 8.10457565e-02 9.96707394e-01 -2.44066376e-03 1.65041656e+01] [ 4.42827218e-02 -1.15445993e-03 9.99018372e-01 9.55404935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88509989299996 meters 0.016680604049109753 Centerline is valid? [True, True] Translation: X:261.77, Y:16.50, Z:9.55 [[ 9.95449687e-01 -8.39286293e-02 -4.51210186e-02 2.61770432e+02] [ 8.39013546e-02 9.96470926e-01 -2.50131354e-03 1.65049045e+01] [ 4.51717150e-02 -1.29578281e-03 9.98978397e-01 9.55450291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94509989299996 meters 0.018156527490216547 Centerline is valid? [True, True] Translation: X:261.83, Y:16.51, Z:9.56 [[ 9.95076935e-01 -8.84635045e-02 -4.46777490e-02 2.61830079e+02] [ 8.84409028e-02 9.96078323e-01 -2.48617379e-03 1.65053697e+01] [ 4.47224730e-02 -1.47740626e-03 9.98998357e-01 9.55599228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00509989299997 meters 0.01876606353397343 Centerline is valid? [True, True] Translation: X:261.89, Y:16.51, Z:9.56 [[ 9.94736003e-01 -9.25204066e-02 -4.40483567e-02 2.61889737e+02] [ 9.25023374e-02 9.95709446e-01 -2.45270156e-03 1.65075883e+01] [ 4.40862898e-02 -1.63478541e-03 9.99026389e-01 9.55875357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06509989299997 meters 0.020818084585782833 Centerline is valid? [True, True] Translation: X:261.95, Y:16.51, Z:9.56 [[ 9.94094263e-01 -9.93402531e-02 -4.36819314e-02 2.61950482e+02] [ 9.93289888e-02 9.95051672e-01 -2.43366261e-03 1.65072436e+01] [ 4.37075396e-02 -1.91959204e-03 9.99042525e-01 9.56134415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12509989299997 meters 0.022242358821664733 Centerline is valid? [True, True] Translation: X:262.01, Y:16.51, Z:9.57 [[ 9.93560252e-01 -1.04645771e-01 -4.34429302e-02 2.62010234e+02] [ 1.04639674e-01 9.94507255e-01 -2.42060661e-03 1.65104513e+01] [ 4.34576155e-02 -2.14083554e-03 9.99052978e-01 9.56563111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.185099893 meters 0.02504295223276503 Centerline is valid? [True, True] Translation: X:262.07, Y:16.51, Z:9.57 [[ 9.93297084e-01 -1.06979122e-01 -4.37763689e-02 2.62069207e+02] [ 1.06975149e-01 9.94258700e-01 -2.44009830e-03 1.65111636e+01] [ 4.37860752e-02 -2.25924106e-03 9.99038375e-01 9.56877866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.245099893 meters 0.025255560869724414 Centerline is valid? [True, True] Translation: X:262.13, Y:16.52, Z:9.57 [[ 9.92860156e-01 -1.10247888e-01 -4.55424353e-02 2.62129428e+02] [ 1.10246948e-01 9.93900980e-01 -2.54009812e-03 1.65150186e+01] [ 4.55447115e-02 -2.49895227e-03 9.98959176e-01 9.57044103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.305099893 meters 0.026912899971957636 Centerline is valid? [True, True] Translation: X:262.19, Y:16.52, Z:9.57 [[ 9.92488512e-01 -1.12701807e-01 -4.75905007e-02 2.62189869e+02] [ 1.12703562e-01 9.93625109e-01 -2.65503576e-03 1.65184370e+01] [ 4.75863438e-02 -2.72852647e-03 9.98863402e-01 9.57232163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.365099893 meters 0.025840702835332505 Centerline is valid? [True, True] Translation: X:262.25, Y:16.53, Z:9.57 [[ 9.92356128e-01 -1.13170787e-01 -4.92106549e-02 2.62249560e+02] [ 1.13173240e-01 9.93571477e-01 -2.74549861e-03 1.65254080e+01] [ 4.92050133e-02 -2.84481689e-03 9.98784648e-01 9.57437905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.425099893 meters 0.02532793250267674 Centerline is valid? [True, True] Translation: X:262.31, Y:16.53, Z:9.58 [[ 9.92754359e-01 -1.09584603e-01 -4.92950085e-02 2.62308675e+02] [ 1.09582626e-01 9.93973883e-01 -2.75087702e-03 1.65338392e+01] [ 4.92994048e-02 -2.67093132e-03 9.98780474e-01 9.57693637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.485099893 meters 0.021160211495727548 Centerline is valid? [True, True] Translation: X:262.37, Y:16.55, Z:9.58 [[ 9.93673397e-01 -1.01936290e-01 -4.71399320e-02 2.62367937e+02] [ 1.01925826e-01 9.94788520e-01 -2.63192907e-03 1.65504449e+01] [ 4.71625523e-02 -2.18949863e-03 9.98884828e-01 9.58300961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.545099893 meters 0.020593870325129708 Centerline is valid? [True, True] Translation: X:262.43, Y:16.56, Z:9.59 [[ 9.94447410e-01 -9.44252824e-02 -4.64565895e-02 2.62427231e+02] [ 9.44069310e-02 9.95530313e-01 -2.59388266e-03 1.65612913e+01] [ 4.64938712e-02 -1.80634415e-03 9.98916942e-01 9.58633311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.605099893 meters 0.019069776396688023 Centerline is valid? [True, True] Translation: X:262.49, Y:16.57, Z:9.59 [[ 9.94644890e-01 -9.23800273e-02 -4.63408477e-02 2.62487812e+02] [ 9.23595568e-02 9.95722360e-01 -2.58729952e-03 1.65705495e+01] [ 4.63816330e-02 -1.70657590e-03 9.98922335e-01 9.58935621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.665099893 meters 0.023001370602463447 Centerline is valid? [True, True] Translation: X:262.55, Y:16.57, Z:9.59 [[ 9.94424245e-01 -9.29081316e-02 -4.98848754e-02 2.62547658e+02] [ 9.28851042e-02 9.95672940e-01 -2.78467073e-03 1.65725848e+01] [ 4.99277391e-02 -1.86441776e-03 9.98751093e-01 9.58763225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.725099893 meters 0.019962614102584555 Centerline is valid? [True, True] Translation: X:262.61, Y:16.58, Z:9.59 [[ 9.94175497e-01 -9.53697737e-02 -5.01964881e-02 2.62606515e+02] [ 9.53495316e-02 9.95439907e-01 -2.80319850e-03 1.65829606e+01] [ 5.02349279e-02 -1.99934037e-03 9.98735428e-01 9.59157849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.785099893 meters 0.020734521345747346 Centerline is valid? [True, True] Translation: X:262.67, Y:16.59, Z:9.59 [[ 9.93743016e-01 -9.96727439e-02 -5.04000140e-02 2.62666307e+02] [ 9.96577757e-02 9.95017787e-01 -2.81615905e-03 1.65882321e+01] [ 5.04296048e-02 -2.22421491e-03 9.98725141e-01 9.59432462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.845099893 meters 0.024767433514706942 Centerline is valid? [True, True] Translation: X:262.73, Y:16.59, Z:9.59 [[ 9.93292397e-01 -1.03577266e-01 -5.14000373e-02 2.62725298e+02] [ 1.03566849e-01 9.94618345e-01 -2.87324890e-03 1.65878098e+01] [ 5.14210233e-02 -2.46936360e-03 9.98674011e-01 9.59421755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.905099893 meters 0.025127861524213868 Centerline is valid? [True, True] Translation: X:262.79, Y:16.59, Z:9.60 [[ 9.93172986e-01 -1.04846072e-01 -5.11343418e-02 2.62785456e+02] [ 1.04837369e-01 9.94485268e-01 -2.85974065e-03 1.65914412e+01] [ 5.11521822e-02 -2.52057269e-03 9.98687689e-01 9.59649828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.965099893 meters 0.023431657931829566 Centerline is valid? [True, True] Translation: X:262.85, Y:16.60, Z:9.60 [[ 9.92986007e-01 -1.07081266e-01 -5.01237668e-02 2.62845750e+02] [ 1.07075767e-01 9.94246914e-01 -2.80267339e-03 1.65989334e+01] [ 5.01355142e-02 -2.58402530e-03 9.98739082e-01 9.60029530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.025099893 meters 0.025582175073877878 Centerline is valid? [True, True] Translation: X:262.91, Y:16.60, Z:9.60 [[ 9.92762185e-01 -1.09233005e-01 -4.99138649e-02 2.62905846e+02] [ 1.09230365e-01 9.94012550e-01 -2.78885488e-03 1.66015822e+01] [ 4.99196431e-02 -2.68344001e-03 9.98749632e-01 9.60231499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.085099893 meters 0.024390975046962304 Centerline is valid? [True, True] Translation: X:262.97, Y:16.61, Z:9.61 [[ 9.92763666e-01 -1.09668074e-01 -4.89205169e-02 2.62967733e+02] [ 1.09666173e-01 9.93964724e-01 -2.73105479e-03 1.66092679e+01] [ 4.89247775e-02 -2.65363389e-03 9.98798941e-01 9.60570852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.145099893 meters 0.027015540890968866 Centerline is valid? [True, True] Translation: X:263.03, Y:16.61, Z:9.61 [[ 9.92841379e-01 -1.09087024e-01 -4.86417300e-02 2.63028877e+02] [ 1.09084612e-01 9.94028768e-01 -2.71213544e-03 1.66108739e+01] [ 4.86471377e-02 -2.61334396e-03 9.98812608e-01 9.60774023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20509989299995 meters 0.02640589637161286 Centerline is valid? [True, True] Translation: X:263.09, Y:16.62, Z:9.61 [[ 9.92908953e-01 -1.08432301e-01 -4.87262485e-02 2.63089488e+02] [ 1.08429215e-01 9.94100466e-01 -2.71440402e-03 1.66179498e+01] [ 4.87331154e-02 -2.58819284e-03 9.98808483e-01 9.60984795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26509989299996 meters 0.025733143657404672 Centerline is valid? [True, True] Translation: X:263.15, Y:16.62, Z:9.61 [[ 9.92947621e-01 -1.08114760e-01 -4.86438240e-02 2.63150453e+02] [ 1.08111389e-01 9.94135098e-01 -2.70808077e-03 1.66238264e+01] [ 4.86513162e-02 -2.56996900e-03 9.98812517e-01 9.61181387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32509989299996 meters 0.024583335019946164 Centerline is valid? [True, True] Translation: X:263.21, Y:16.63, Z:9.61 [[ 9.93181942e-01 -1.06229980e-01 -4.80085564e-02 2.63211915e+02] [ 1.06224591e-01 9.94338576e-01 -2.67081354e-03 1.66314404e+01] [ 4.80204801e-02 -2.44708548e-03 9.98843354e-01 9.61425253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38509989299996 meters 0.024664914221737742 Centerline is valid? [True, True] Translation: X:263.27, Y:16.64, Z:9.62 [[ 9.93368361e-01 -1.04235348e-01 -4.85210457e-02 2.63273566e+02] [ 1.04227600e-01 9.94549815e-01 -2.69667989e-03 1.66368866e+01] [ 4.85376864e-02 -2.37843566e-03 9.98818520e-01 9.61556091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44509989299996 meters 0.02374460150759277 Centerline is valid? [True, True] Translation: X:263.33, Y:16.65, Z:9.62 [[ 9.93703826e-01 -1.00835024e-01 -4.88365118e-02 2.63334368e+02] [ 1.00823188e-01 9.94900663e-01 -2.71200412e-03 1.66460530e+01] [ 4.88609429e-02 -2.22892393e-03 9.98803104e-01 9.61637574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50509989299997 meters 0.02160712523662597 Centerline is valid? [True, True] Translation: X:263.40, Y:16.66, Z:9.62 [[ 9.93928754e-01 -9.85329989e-02 -4.89579345e-02 2.63395369e+02] [ 9.85183710e-02 9.95131521e-01 -2.71766588e-03 1.66560168e+01] [ 4.89873636e-02 -2.12208969e-03 9.98797144e-01 9.61853371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56509989299997 meters 0.021169521996994185 Centerline is valid? [True, True] Translation: X:263.46, Y:16.66, Z:9.62 [[ 9.94175836e-01 -9.68911903e-02 -4.71858562e-02 2.63456017e+02] [ 9.68758319e-02 9.95293033e-01 -2.61763792e-03 1.66638506e+01] [ 4.72173800e-02 -1.96877671e-03 9.98882697e-01 9.62103486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62509989299997 meters 0.019488957866644806 Centerline is valid? [True, True] Translation: X:263.52, Y:16.67, Z:9.62 [[ 9.94522717e-01 -9.41681657e-02 -4.53533004e-02 2.63516803e+02] [ 9.41512203e-02 9.95554733e-01 -2.51438466e-03 1.66748227e+01] [ 4.53884678e-02 -1.76945592e-03 9.98967845e-01 9.62485896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.685099893 meters 0.019619206870987137 Centerline is valid? [True, True] Translation: X:263.58, Y:16.68, Z:9.63 [[ 9.94666537e-01 -9.29949516e-02 -4.46141037e-02 2.63579212e+02] [ 9.29774648e-02 9.95665146e-01 -2.47139542e-03 1.66808045e+01] [ 4.46505354e-02 -1.68989194e-03 9.99001238e-01 9.62726446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.745099893 meters 0.01965042158921776 Centerline is valid? [True, True] Translation: X:263.64, Y:16.69, Z:9.63 [[ 9.94766321e-01 -9.21676821e-02 -4.41031176e-02 2.63641710e+02] [ 9.21499551e-02 9.95742154e-01 -2.43915710e-03 1.66862222e+01] [ 4.41401448e-02 -1.63770898e-03 9.99024006e-01 9.62976661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.805099893 meters 0.018596315148978623 Centerline is valid? [True, True] Translation: X:263.70, Y:16.69, Z:9.63 [[ 9.94732280e-01 -9.25740172e-02 -4.40197975e-02 2.63703962e+02] [ 9.25569229e-02 9.95704428e-01 -2.43072164e-03 1.66937221e+01] [ 4.40557289e-02 -1.65641972e-03 9.99027702e-01 9.63161402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.865099893 meters 0.021278738001881334 Centerline is valid? [True, True] Translation: X:263.77, Y:16.70, Z:9.63 [[ 9.94590887e-01 -9.40589879e-02 -4.40667002e-02 2.63765440e+02] [ 9.40434491e-02 9.95565128e-01 -2.43019711e-03 1.66954802e+01] [ 4.40998519e-02 -1.72713258e-03 9.99025635e-01 9.63339082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.925099893 meters 0.02062618951402521 Centerline is valid? [True, True] Translation: X:263.83, Y:16.70, Z:9.64 [[ 9.94503040e-01 -9.47754590e-02 -4.45119822e-02 2.63827299e+02] [ 9.47604358e-02 9.95497085e-01 -2.45218665e-03 1.67013631e+01] [ 4.45439556e-02 -1.77926776e-03 9.99005841e-01 9.63538496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.985099893 meters 0.021049146914689124 Centerline is valid? [True, True] Translation: X:263.89, Y:16.71, Z:9.64 [[ 9.94574487e-01 -9.43301744e-02 -4.38566801e-02 2.63889089e+02] [ 9.43152937e-02 9.95539453e-01 -2.41298332e-03 1.67051242e+01] [ 4.38886725e-02 -1.73646401e-03 9.99034919e-01 9.63743682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.045099893 meters 0.02031856629058304 Centerline is valid? [True, True] Translation: X:263.95, Y:16.71, Z:9.64 [[ 9.94843917e-01 -9.18765131e-02 -4.29451718e-02 2.63950355e+02] [ 9.18600811e-02 9.95769128e-01 -2.36004422e-03 1.67113501e+01] [ 4.29803089e-02 -1.59707133e-03 9.99074643e-01 9.63978464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.105099893 meters 0.0190561692465679 Centerline is valid? [True, True] Translation: X:264.01, Y:16.72, Z:9.64 [[ 9.94989195e-01 -9.05149015e-02 -4.24682755e-02 2.64012581e+02] [ 9.04976649e-02 9.95893937e-01 -2.33216081e-03 1.67177581e+01] [ 4.25049934e-02 -1.52280496e-03 9.99095094e-01 9.64225973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.165099893 meters 0.018419266134475323 Centerline is valid? [True, True] Translation: X:264.07, Y:16.72, Z:9.64 [[ 9.95154841e-01 -8.91570298e-02 -4.14471532e-02 2.64074495e+02] [ 8.91395559e-02 9.96016552e-01 -2.27317925e-03 1.67226461e+01] [ 4.14847205e-02 -1.43241550e-03 9.99138112e-01 9.64424581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.225099893 meters 0.018020212997490313 Centerline is valid? [True, True] Translation: X:264.14, Y:16.73, Z:9.65 [[ 9.95206422e-01 -8.86239855e-02 -4.13517454e-02 2.64136909e+02] [ 8.86062556e-02 9.96064155e-01 -2.26497494e-03 1.67278932e+01] [ 4.13897225e-02 -1.40990572e-03 9.99142084e-01 9.64661007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.285099893 meters 0.018531663312283182 Centerline is valid? [True, True] Translation: X:264.20, Y:16.73, Z:9.65 [[ 9.95186114e-01 -8.86803274e-02 -4.17180796e-02 2.64199158e+02] [ 8.86624590e-02 9.96059115e-01 -2.28199564e-03 1.67310357e+01] [ 4.17560416e-02 -1.42781715e-03 9.99126816e-01 9.64791673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.345099893 meters 0.017848608101821567 Centerline is valid? [True, True] Translation: X:264.26, Y:16.73, Z:9.65 [[ 9.95206459e-01 -8.87123319e-02 -4.11609705e-02 2.64261585e+02] [ 8.86950848e-02 9.96056286e-01 -2.24860114e-03 1.67345502e+01] [ 4.11981220e-02 -1.41295339e-03 9.99149998e-01 9.65036453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.405099893 meters 0.018203855138050153 Centerline is valid? [True, True] Translation: X:264.32, Y:16.74, Z:9.65 [[ 9.95311822e-01 -8.78827336e-02 -4.03856591e-02 2.64323593e+02] [ 8.78655645e-02 9.96129905e-01 -2.20335631e-03 1.67365993e+01] [ 4.04229998e-02 -1.35548215e-03 9.99181737e-01 9.65277173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.465099893 meters 0.017093957049768578 Centerline is valid? [True, True] Translation: X:264.39, Y:16.74, Z:9.65 [[ 9.95411063e-01 -8.64397649e-02 -4.10485477e-02 2.64385955e+02] [ 8.64209258e-02 9.96256203e-01 -2.23653171e-03 1.67417497e+01] [ 4.10881955e-02 -1.32118508e-03 9.99154650e-01 9.65463034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.525099893 meters 0.018096378784028318 Centerline is valid? [True, True] Translation: X:264.45, Y:16.74, Z:9.66 [[ 9.95399399e-01 -8.63422885e-02 -4.15336722e-02 2.64447480e+02] [ 8.63230412e-02 9.96264636e-01 -2.25998276e-03 1.67431202e+01] [ 4.15736609e-02 -1.33572741e-03 9.99134549e-01 9.65607235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.585099893 meters 0.01842492894848412 Centerline is valid? [True, True] Translation: X:264.51, Y:16.74, Z:9.66 [[ 9.95238344e-01 -8.80000966e-02 -4.19120641e-02 2.64509539e+02] [ 8.79820639e-02 9.96119454e-01 -2.27821323e-03 1.67440068e+01] [ 4.19499053e-02 -1.42014474e-03 9.99118706e-01 9.65693717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.645099893 meters 0.01909816368273238 Centerline is valid? [True, True] Translation: X:264.57, Y:16.75, Z:9.66 [[ 9.95098164e-01 -8.93984778e-02 -4.22794969e-02 2.64571625e+02] [ 8.93815163e-02 9.95994818e-01 -2.29514963e-03 1.67457948e+01] [ 4.23153427e-02 -1.49510636e-03 9.99103186e-01 9.65930085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70509989299995 meters 0.019498172950523186 Centerline is valid? [True, True] Translation: X:264.63, Y:16.75, Z:9.66 [[ 9.95153028e-01 -8.91768933e-02 -4.14479613e-02 2.64634175e+02] [ 8.91605200e-02 9.96014735e-01 -2.24711397e-03 1.67481206e+01] [ 4.14831708e-02 -1.45929951e-03 9.99138137e-01 9.66207903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76509989299996 meters 0.01847267488772524 Centerline is valid? [True, True] Translation: X:264.70, Y:16.75, Z:9.66 [[ 9.95191787e-01 -8.91005612e-02 -4.06742752e-02 2.64696677e+02] [ 8.90848445e-02 9.96021606e-01 -2.20233839e-03 1.67513464e+01] [ 4.07086865e-02 -1.43171240e-03 9.99170032e-01 9.66469219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82509989299996 meters 0.022688656424291395 Centerline is valid? [True, True] Translation: X:264.76, Y:16.75, Z:9.67 [[ 9.95187422e-01 -8.93250639e-02 -4.02868118e-02 2.64757922e+02] [ 8.93099508e-02 9.96001500e-01 -2.17832776e-03 1.67473208e+01] [ 4.03203042e-02 -1.43016879e-03 9.99185782e-01 9.66638092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88509989299996 meters 0.020459109513643714 Centerline is valid? [True, True] Translation: X:264.82, Y:16.75, Z:9.67 [[ 9.94947369e-01 -9.17801475e-02 -4.06956776e-02 2.64819692e+02] [ 9.17669667e-02 9.95778089e-01 -2.19575601e-03 1.67519726e+01] [ 4.07253909e-02 -1.54985723e-03 9.99169175e-01 9.66838921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94509989299996 meters 0.020090637785713336 Centerline is valid? [True, True] Translation: X:264.88, Y:16.75, Z:9.67 [[ 9.94623233e-01 -9.50274802e-02 -4.11631228e-02 2.64880552e+02] [ 9.50168834e-02 9.95473190e-01 -2.21822603e-03 1.67544989e+01] [ 4.11875776e-02 -1.70489250e-03 9.99149977e-01 9.67038401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00509989299997 meters 0.02082284089601241 Centerline is valid? [True, True] Translation: X:264.94, Y:16.76, Z:9.67 [[ 9.94492939e-01 -9.63086303e-02 -4.13333108e-02 2.64942816e+02] [ 9.62990907e-02 9.95349953e-01 -2.22641038e-03 1.67554707e+01] [ 4.13555315e-02 -1.76621085e-03 9.99142933e-01 9.67260307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06509989299997 meters 0.020621771407948967 Centerline is valid? [True, True] Translation: X:265.01, Y:16.76, Z:9.67 [[ 9.94398883e-01 -9.70866945e-02 -4.17736127e-02 2.65005020e+02] [ 9.70777651e-02 9.95274263e-01 -2.24704466e-03 1.67576739e+01] [ 4.17943597e-02 -1.82083026e-03 9.99124575e-01 9.67428510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12509989299997 meters 0.02063817430845504 Centerline is valid? [True, True] Translation: X:265.07, Y:16.76, Z:9.68 [[ 9.94284849e-01 -9.79228987e-02 -4.25293415e-02 2.65066894e+02] [ 9.79145425e-02 9.95192204e-01 -2.28452329e-03 1.67596962e+01] [ 4.25485763e-02 -1.89277412e-03 9.99092606e-01 9.67594180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.185099893 meters 0.021961468564996686 Centerline is valid? [True, True] Translation: X:265.13, Y:16.76, Z:9.68 [[ 9.94290816e-01 -9.80905235e-02 -4.20002617e-02 2.65128413e+02] [ 9.80826473e-02 9.95175722e-01 -2.25313154e-03 1.67601034e+01] [ 4.20186516e-02 -1.87922886e-03 9.99115059e-01 9.67831106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.245099893 meters 0.02259414473587971 Centerline is valid? [True, True] Translation: X:265.19, Y:16.76, Z:9.68 [[ 9.94454849e-01 -9.67636311e-02 -4.11868110e-02 2.65189316e+02] [ 9.67550112e-02 9.95305780e-01 -2.20729216e-03 1.67614348e+01] [ 4.12070567e-02 -1.78997797e-03 9.99149025e-01 9.68053528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.305099893 meters 0.021658232578757784 Centerline is valid? [True, True] Translation: X:265.25, Y:16.77, Z:9.68 [[ 9.94847134e-01 -9.27593458e-02 -4.09253391e-02 2.65250237e+02] [ 9.27475362e-02 9.95687247e-01 -2.19123515e-03 1.67661064e+01] [ 4.09520957e-02 -1.61578036e-03 9.99159805e-01 9.68282280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.365099893 meters 0.01821034280990214 Centerline is valid? [True, True] Translation: X:265.31, Y:16.78, Z:9.68 [[ 9.95276987e-01 -8.76719190e-02 -4.16815701e-02 2.65310692e+02] [ 8.76552475e-02 9.96148373e-01 -2.23093295e-03 1.67755438e+01] [ 4.17166184e-02 -1.43321212e-03 9.99128455e-01 9.68416895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.425099893 meters 0.01661571019608979 Centerline is valid? [True, True] Translation: X:265.37, Y:16.78, Z:9.69 [[ 9.95665747e-01 -8.30326223e-02 -4.18963491e-02 2.65372296e+02] [ 8.30117147e-02 9.96546051e-01 -2.24150552e-03 1.67820517e+01] [ 4.19377593e-02 -1.24609750e-03 9.99119448e-01 9.68582180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.485099893 meters 0.016184794726724572 Centerline is valid? [True, True] Translation: X:265.43, Y:16.79, Z:9.69 [[ 9.95845893e-01 -8.10880119e-02 -4.14208987e-02 2.65433207e+02] [ 8.10659844e-02 9.96706278e-01 -2.21392716e-03 1.67855570e+01] [ 4.14639927e-02 -1.15309566e-03 9.99139333e-01 9.68762073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.545099893 meters 0.01600788819205962 Centerline is valid? [True, True] Translation: X:265.50, Y:16.79, Z:9.69 [[ 9.95924708e-01 -8.00953550e-02 -4.14573339e-02 2.65495684e+02] [ 8.00724974e-02 9.96786583e-01 -2.21424429e-03 1.67894447e+01] [ 4.15014649e-02 -1.11437166e-03 9.99137822e-01 9.68923789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.605099893 meters 0.016447959918126503 Centerline is valid? [True, True] Translation: X:265.56, Y:16.79, Z:9.69 [[ 9.95801703e-01 -8.12565022e-02 -4.21467598e-02 2.65558030e+02] [ 8.12340460e-02 9.96692518e-01 -2.24801399e-03 1.67920341e+01] [ 4.21900259e-02 -1.18517566e-03 9.99108902e-01 9.69076350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.665099893 meters 0.016090408128773503 Centerline is valid? [True, True] Translation: X:265.62, Y:16.79, Z:9.69 [[ 9.95712130e-01 -8.26001793e-02 -4.16481125e-02 2.65619608e+02] [ 8.25795535e-02 9.96582007e-01 -2.21833370e-03 1.67946810e+01] [ 4.16889943e-02 -1.23046076e-03 9.99129878e-01 9.69306813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.725099893 meters 0.017008200596507803 Centerline is valid? [True, True] Translation: X:265.68, Y:16.80, Z:9.70 [[ 9.95671922e-01 -8.34112716e-02 -4.09876003e-02 2.65680549e+02] [ 8.33921463e-02 9.96514426e-01 -2.17912069e-03 1.67957151e+01] [ 4.10264983e-02 -1.24835468e-03 9.99157279e-01 9.69529668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.785099893 meters 0.016881944137258176 Centerline is valid? [True, True] Translation: X:265.74, Y:16.80, Z:9.70 [[ 9.95607865e-01 -8.44383510e-02 -4.04369134e-02 2.65742677e+02] [ 8.44206717e-02 9.96427889e-01 -2.14761928e-03 1.67989564e+01] [ 4.04738096e-02 -1.27552474e-03 9.99179786e-01 9.69807171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.845099893 meters 0.017356638437712124 Centerline is valid? [True, True] Translation: X:265.81, Y:16.80, Z:9.70 [[ 9.95629530e-01 -8.43242297e-02 -4.01405455e-02 2.65805149e+02] [ 8.43068327e-02 9.96437567e-01 -2.12897077e-03 1.68014378e+01] [ 4.01770713e-02 -1.26445609e-03 9.99191775e-01 9.70045732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.905099893 meters 0.017740441001345232 Centerline is valid? [True, True] Translation: X:265.87, Y:16.80, Z:9.70 [[ 9.95644695e-01 -8.39707144e-02 -4.05038294e-02 2.65867104e+02] [ 8.39528286e-02 9.96467421e-01 -2.14529682e-03 1.68034356e+01] [ 4.05408885e-02 -1.26445765e-03 9.99177080e-01 9.70227945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.965099893 meters 0.01746829818398146 Centerline is valid? [True, True] Translation: X:265.93, Y:16.81, Z:9.70 [[ 9.95533789e-01 -8.50297455e-02 -4.10172782e-02 2.65929003e+02] [ 8.50124227e-02 9.96377529e-01 -2.16953799e-03 1.68061038e+01] [ 4.10531696e-02 -1.32712982e-03 9.99156082e-01 9.70313404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.025099893 meters 0.017828647950213303 Centerline is valid? [True, True] Translation: X:265.99, Y:16.81, Z:9.71 [[ 9.95395269e-01 -8.68701370e-02 -4.05196003e-02 2.65991412e+02] [ 8.68548716e-02 9.96218676e-01 -2.14031204e-03 1.68081054e+01] [ 4.05523118e-02 -1.38886821e-03 9.99176451e-01 9.70561763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.085099893 meters 0.019299772044156945 Centerline is valid? [True, True] Translation: X:266.05, Y:16.81, Z:9.71 [[ 9.95066892e-01 -9.05476155e-02 -4.05340529e-02 2.66052720e+02] [ 9.05354995e-02 9.95890933e-01 -2.13823179e-03 1.68072076e+01] [ 4.05611076e-02 -1.54208706e-03 9.99175870e-01 9.70713445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.145099893 meters 0.02019114782123352 Centerline is valid? [True, True] Translation: X:266.11, Y:16.81, Z:9.71 [[ 9.94555565e-01 -9.53410837e-02 -4.20631120e-02 2.66113677e+02] [ 9.53323771e-02 9.95443028e-01 -2.21740208e-03 1.68072181e+01] [ 4.20828411e-02 -1.80464688e-03 9.99112495e-01 9.70804804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20509989299995 meters 0.0234808996738143 Centerline is valid? [True, True] Translation: X:266.17, Y:16.80, Z:9.71 [[ 9.93966714e-01 -1.01228437e-01 -4.22252853e-02 2.66173261e+02] [ 1.01224992e-01 9.94861070e-01 -2.22517297e-03 1.68035953e+01] [ 4.22335434e-02 -2.06250631e-03 9.99105637e-01 9.71020153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26509989299996 meters 0.023478542387399253 Centerline is valid? [True, True] Translation: X:266.23, Y:16.80, Z:9.71 [[ 9.93463882e-01 -1.06012387e-01 -4.23189044e-02 2.66233700e+02] [ 1.06013281e-01 9.94362215e-01 -2.22939880e-03 1.68042923e+01] [ 4.23166634e-02 -2.27153873e-03 9.99101667e-01 9.71275079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32509989299996 meters 0.026272045881542333 Centerline is valid? [True, True] Translation: X:266.29, Y:16.80, Z:9.72 [[ 9.93372426e-01 -1.07298119e-01 -4.12108898e-02 2.66294689e+02] [ 1.07300085e-01 9.94224311e-01 -2.17061001e-03 1.68029815e+01] [ 4.12057709e-02 -2.26570784e-03 9.99148113e-01 9.71581858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38509989299996 meters 0.024407666252064624 Centerline is valid? [True, True] Translation: X:266.36, Y:16.81, Z:9.72 [[ 9.93417415e-01 -1.07085444e-01 -4.06761163e-02 2.66356558e+02] [ 1.07087273e-01 9.94247321e-01 -2.14016593e-03 1.68090949e+01] [ 4.06713003e-02 -2.22981627e-03 9.99170092e-01 9.71949081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44509989299996 meters 0.023685973954507524 Centerline is valid? [True, True] Translation: X:266.42, Y:16.81, Z:9.72 [[ 9.93666888e-01 -1.04996692e-01 -4.00226247e-02 2.66418239e+02] [ 1.04996888e-01 9.94470327e-01 -2.10290550e-03 1.68134067e+01] [ 4.00221108e-02 -2.11266345e-03 9.99196561e-01 9.72299265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50509989299997 meters 0.023404181231121642 Centerline is valid? [True, True] Translation: X:266.48, Y:16.82, Z:9.73 [[ 9.93810585e-01 -1.03771495e-01 -3.96484378e-02 2.66480374e+02] [ 1.03770803e-01 9.94599060e-01 -2.08101087e-03 1.68167629e+01] [ 3.96502485e-02 -2.04621961e-03 9.99211525e-01 9.72618408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56509989299997 meters 0.02285318405221491 Centerline is valid? [True, True] Translation: X:266.54, Y:16.82, Z:9.73 [[ 9.93832090e-01 -1.02865352e-01 -4.14306140e-02 2.66542437e+02] [ 1.02863947e-01 9.94693065e-01 -2.17136115e-03 1.68211302e+01] [ 4.14341022e-02 -2.10374808e-03 9.99139024e-01 9.72790476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62509989299997 meters 0.02351186861252385 Centerline is valid? [True, True] Translation: X:266.60, Y:16.82, Z:9.73 [[ 9.93848905e-01 -1.01896416e-01 -4.33759717e-02 2.66604185e+02] [ 1.01894104e-01 9.94792661e-01 -2.26998482e-03 1.68235817e+01] [ 4.33814017e-02 -2.16373386e-03 9.99056241e-01 9.72839308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.685099893 meters 0.023118838078648406 Centerline is valid? [True, True] Translation: X:266.67, Y:16.83, Z:9.73 [[ 9.94079518e-01 -9.86477313e-02 -4.55470948e-02 2.66665612e+02] [ 9.86419362e-02 9.95120145e-01 -2.38031185e-03 1.68288538e+01] [ 4.55596439e-02 -2.12663437e-03 9.98959357e-01 9.72995385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.745099893 meters 0.022862648694354042 Centerline is valid? [True, True] Translation: X:266.73, Y:16.83, Z:9.73 [[ 9.94186842e-01 -9.74207304e-02 -4.58445747e-02 2.66727570e+02] [ 9.74136797e-02 9.95241100e-01 -2.39322353e-03 1.68329889e+01] [ 4.58595545e-02 -2.08657737e-03 9.98945718e-01 9.73207217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.805099893 meters 0.02251531583321851 Centerline is valid? [True, True] Translation: X:266.79, Y:16.84, Z:9.73 [[ 9.94399435e-01 -9.50960032e-02 -4.61141490e-02 2.66788431e+02] [ 9.50865141e-02 9.95466109e-01 -2.40430456e-03 1.68385445e+01] [ 4.61337122e-02 -1.99399458e-03 9.98933283e-01 9.73457626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.865099893 meters 0.022003315069705067 Centerline is valid? [True, True] Translation: X:266.85, Y:16.85, Z:9.74 [[ 9.94783006e-01 -9.15833704e-02 -4.49361487e-02 2.66847981e+02] [ 9.15708387e-02 9.95795812e-01 -2.34159999e-03 1.68451481e+01] [ 4.49616802e-02 -1.78545695e-03 9.98987117e-01 9.73853784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.925099893 meters 0.01823237016996907 Centerline is valid? [True, True] Translation: X:266.91, Y:16.86, Z:9.74 [[ 9.95175031e-01 -8.78467999e-02 -4.36989460e-02 2.66908644e+02] [ 8.78313607e-02 9.96132756e-01 -2.27689430e-03 1.68557675e+01] [ 4.37299694e-02 -1.57222952e-03 9.99042150e-01 9.74234004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.985099893 meters 0.0179689483938076 Centerline is valid? [True, True] Translation: X:266.97, Y:16.86, Z:9.75 [[ 9.95394582e-01 -8.55797754e-02 -4.31940765e-02 2.66970003e+02] [ 8.55626311e-02 9.96330256e-01 -2.24892191e-03 1.68622078e+01] [ 4.32280275e-02 -1.45723415e-03 9.99064169e-01 9.74596256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.045099893 meters 0.01817381548939677 Centerline is valid? [True, True] Translation: X:267.03, Y:16.87, Z:9.75 [[ 9.95380348e-01 -8.58171388e-02 -4.30509283e-02 2.67032031e+02] [ 8.58004337e-02 9.96309827e-01 -2.23905290e-03 1.68661583e+01] [ 4.30842121e-02 -1.46507906e-03 9.99070370e-01 9.74864099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.105099893 meters 0.018286220439462316 Centerline is valid? [True, True] Translation: X:267.09, Y:16.87, Z:9.75 [[ 9.95289554e-01 -8.65844145e-02 -4.36101290e-02 2.67094028e+02] [ 8.65681466e-02 9.96243357e-01 -2.26497100e-03 1.68697539e+01] [ 4.36424125e-02 -1.52094606e-03 9.99046058e-01 9.75060599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.165099893 meters 0.017849817336203104 Centerline is valid? [True, True] Translation: X:267.16, Y:16.87, Z:9.75 [[ 9.95165905e-01 -8.75315963e-02 -4.45313571e-02 2.67155651e+02] [ 8.75157281e-02 9.96160461e-01 -2.30953113e-03 1.68738790e+01] [ 4.45625342e-02 -1.59882750e-03 9.99005317e-01 9.75261316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.225099893 meters 0.0180855388528198 Centerline is valid? [True, True] Translation: X:267.22, Y:16.88, Z:9.75 [[ 9.95220333e-01 -8.61738840e-02 -4.59407203e-02 2.67216978e+02] [ 8.61557053e-02 9.96278843e-01 -2.37932097e-03 1.68794023e+01] [ 4.59748030e-02 -1.59010655e-03 9.98941334e-01 9.75466313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.285099893 meters 0.016864127273149884 Centerline is valid? [True, True] Translation: X:267.28, Y:16.89, Z:9.76 [[ 9.95426248e-01 -8.38382785e-02 -4.58009575e-02 2.67278303e+02] [ 8.38178484e-02 9.96478275e-01 -2.36974913e-03 1.68857847e+01] [ 4.58383348e-02 -1.48002723e-03 9.98947775e-01 9.75767847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.345099893 meters 0.015994718973747112 Centerline is valid? [True, True] Translation: X:267.34, Y:16.89, Z:9.76 [[ 9.95843773e-01 -7.95130168e-02 -4.44168875e-02 2.67339678e+02] [ 7.94895803e-02 9.96833052e-01 -2.29641772e-03 1.68922903e+01] [ 4.44588166e-02 -1.24380645e-03 9.99010444e-01 9.76097276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.405099893 meters 0.014688334429884656 Centerline is valid? [True, True] Translation: X:267.40, Y:16.90, Z:9.76 [[ 9.96175590e-01 -7.53468138e-02 -4.42385691e-02 2.67400818e+02] [ 7.53195608e-02 9.97156830e-01 -2.28492894e-03 1.69000987e+01] [ 4.42849535e-02 -1.05583916e-03 9.99018382e-01 9.76359570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.465099893 meters 0.014457743211394949 Centerline is valid? [True, True] Translation: X:267.46, Y:16.91, Z:9.77 [[ 9.96315592e-01 -7.30645336e-02 -4.49089563e-02 2.67461774e+02] [ 7.30342065e-02 9.97326743e-01 -2.31790376e-03 1.69051705e+01] [ 4.49582597e-02 -9.70526332e-04 9.98988395e-01 9.76519903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.525099893 meters 0.01391098888289397 Centerline is valid? [True, True] Translation: X:267.52, Y:16.91, Z:9.77 [[ 9.96583304e-01 -7.00770757e-02 -4.37140958e-02 2.67522280e+02] [ 7.00455252e-02 9.97541247e-01 -2.25493776e-03 1.69102097e+01] [ 4.37646330e-02 -8.14743474e-04 9.99041537e-01 9.76784001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.585099893 meters 0.013370263954644789 Centerline is valid? [True, True] Translation: X:267.58, Y:16.91, Z:9.77 [[ 9.96871309e-01 -6.66338643e-02 -4.25149471e-02 2.67583062e+02] [ 6.66008950e-02 9.97777286e-01 -2.19298830e-03 1.69148822e+01] [ 4.25665758e-02 -6.45406418e-04 9.99093424e-01 9.77045197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.645099893 meters 0.013015104786832855 Centerline is valid? [True, True] Translation: X:267.64, Y:16.92, Z:9.77 [[ 9.97019941e-01 -6.45858230e-02 -4.21889730e-02 2.67644531e+02] [ 6.45515597e-02 9.97912002e-01 -2.17534835e-03 1.69195216e+01] [ 4.22413792e-02 -5.54498329e-04 9.99107281e-01 9.77285101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70509989299995 meters 0.012764696421683366 Centerline is valid? [True, True] Translation: X:267.71, Y:16.92, Z:9.77 [[ 9.97049611e-01 -6.35933044e-02 -4.29879699e-02 2.67705440e+02] [ 6.35568706e-02 9.97975760e-01 -2.21511312e-03 1.69230471e+01] [ 4.30418183e-02 -5.23603169e-04 9.99073134e-01 9.77351269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76509989299996 meters 0.01316474112789576 Centerline is valid? [True, True] Translation: X:267.77, Y:16.92, Z:9.77 [[ 9.96899058e-01 -6.57643799e-02 -4.32124412e-02 2.67765859e+02] [ 6.57296316e-02 9.97834987e-01 -2.22601013e-03 1.69234342e+01] [ 4.32652778e-02 -6.21230435e-04 9.99063426e-01 9.77447458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82509989299996 meters 0.014385861668098418 Centerline is valid? [True, True] Translation: X:267.83, Y:16.92, Z:9.78 [[ 9.96593969e-01 -6.97075895e-02 -4.40603293e-02 2.67825120e+02] [ 6.96753210e-02 9.97567140e-01 -2.26952392e-03 1.69222181e+01] [ 4.41113397e-02 -8.08123735e-04 9.99026294e-01 9.77538053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88509989299996 meters 0.014689291754203122 Centerline is valid? [True, True] Translation: X:267.89, Y:16.92, Z:9.78 [[ 9.96351344e-01 -7.32572882e-02 -4.37877686e-02 2.67885386e+02] [ 7.32288809e-02 9.97312613e-01 -2.25459420e-03 1.69233932e+01] [ 4.38352593e-02 -9.60161330e-04 9.99038312e-01 9.77757247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94509989299996 meters 0.016950878347752718 Centerline is valid? [True, True] Translation: X:267.95, Y:16.92, Z:9.78 [[ 9.95947659e-01 -7.90986480e-02 -4.27979388e-02 2.67945526e+02] [ 7.90768952e-02 9.96866084e-01 -2.20362872e-03 1.69198580e+01] [ 4.28381177e-02 -1.18962925e-03 9.99081318e-01 9.77991057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00509989299997 meters 0.01860307458395466 Centerline is valid? [True, True] Translation: X:268.01, Y:16.92, Z:9.78 [[ 9.95512614e-01 -8.49199635e-02 -4.17520601e-02 2.68006489e+02] [ 8.49043738e-02 9.96386785e-01 -2.14969702e-03 1.69171776e+01] [ 4.17837531e-02 -1.40488202e-03 9.99125690e-01 9.78242284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06509989299997 meters 0.01933545869389873 Centerline is valid? [True, True] Translation: X:268.07, Y:16.92, Z:9.79 [[ 9.95132058e-01 -8.98660514e-02 -4.04509554e-02 2.68067792e+02] [ 8.98555254e-02 9.95952634e-01 -2.08194504e-03 1.69165842e+01] [ 4.04743318e-02 -1.56293160e-03 9.99179356e-01 9.78539130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12509989299997 meters 0.02057345005608184 Centerline is valid? [True, True] Translation: X:268.13, Y:16.92, Z:9.79 [[ 9.94945598e-01 -9.19640231e-02 -4.03221523e-02 2.68130239e+02] [ 9.19553470e-02 9.95760972e-01 -2.07373314e-03 1.69160073e+01] [ 4.03419344e-02 -1.64458585e-03 9.99184579e-01 9.78745265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.185099893 meters 0.022738428782206818 Centerline is valid? [True, True] Translation: X:268.19, Y:16.91, Z:9.79 [[ 9.94686891e-01 -9.41918619e-02 -4.15437324e-02 2.68191008e+02] [ 9.41847149e-02 9.95552453e-01 -2.13360649e-03 1.69133591e+01] [ 4.15599331e-02 -1.79051419e-03 9.99134408e-01 9.78802167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.245099893 meters 0.023379952222270066 Centerline is valid? [True, True] Translation: X:268.25, Y:16.91, Z:9.79 [[ 9.94456722e-01 -9.59610213e-02 -4.29803427e-02 2.68253561e+02] [ 9.59550989e-02 9.95383220e-01 -2.20559337e-03 1.69135432e+01] [ 4.29935629e-02 -1.93081589e-03 9.99073484e-01 9.78841204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.305099893 meters 0.02337335623853877 Centerline is valid? [True, True] Translation: X:268.32, Y:16.91, Z:9.79 [[ 9.94264037e-01 -9.71735834e-02 -4.46801924e-02 2.68315885e+02] [ 9.71685546e-02 9.95265306e-01 -2.28953596e-03 1.69145766e+01] [ 4.46911278e-02 -2.06510644e-03 9.98998718e-01 9.78891335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.365099893 meters 0.02456023149281426 Centerline is valid? [True, True] Translation: X:268.38, Y:16.92, Z:9.79 [[ 9.94285887e-01 -9.67437355e-02 -4.51245365e-02 2.68377001e+02] [ 9.67383064e-02 9.95307173e-01 -2.30918749e-03 1.69153932e+01] [ 4.51361743e-02 -2.06927871e-03 9.98978700e-01 9.79052928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.425099893 meters 0.024489357051211247 Centerline is valid? [True, True] Translation: X:268.44, Y:16.92, Z:9.79 [[ 9.94556269e-01 -9.45340572e-02 -4.38308043e-02 2.68437923e+02] [ 9.45268859e-02 9.95519787e-01 -2.24083458e-03 1.69200695e+01] [ 4.38462682e-02 -1.91455335e-03 9.99036455e-01 9.79419536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.485099893 meters 0.020376452172235614 Centerline is valid? [True, True] Translation: X:268.50, Y:16.93, Z:9.80 [[ 9.94966370e-01 -9.08746532e-02 -4.22341199e-02 2.68498737e+02] [ 9.08647621e-02 9.95860903e-01 -2.15777522e-03 1.69311576e+01] [ 4.22553959e-02 -1.69067949e-03 9.99105411e-01 9.79902051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.545099893 meters 0.02303082338373305 Centerline is valid? [True, True] Translation: X:268.56, Y:16.93, Z:9.80 [[ 9.95281937e-01 -8.78029738e-02 -4.12856403e-02 2.68559810e+02] [ 8.77909432e-02 9.96136691e-01 -2.10784685e-03 1.69311026e+01] [ 4.13112163e-02 -1.52660341e-03 9.99145161e-01 9.80125185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.605099893 meters 0.020078436925641298 Centerline is valid? [True, True] Translation: X:268.62, Y:16.94, Z:9.80 [[ 9.95409060e-01 -8.68458002e-02 -4.02319525e-02 2.68621697e+02] [ 8.68336555e-02 9.96220710e-01 -2.05252944e-03 1.69392376e+01] [ 4.02581578e-02 -1.45038110e-03 9.99188259e-01 9.80473462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.665099893 meters 0.02168518963825915 Centerline is valid? [True, True] Translation: X:268.68, Y:16.94, Z:9.81 [[ 9.95419937e-01 -8.67277485e-02 -4.02174823e-02 2.68683046e+02] [ 8.67156301e-02 9.96230998e-01 -2.04896940e-03 1.69397067e+01] [ 4.02436051e-02 -1.44789933e-03 9.99188849e-01 9.80690343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.725099893 meters 0.02444581103103899 Centerline is valid? [True, True] Translation: X:268.74, Y:16.94, Z:9.81 [[ 9.95299121e-01 -8.76634102e-02 -4.11677875e-02 2.68744507e+02] [ 8.76516034e-02 9.96148988e-01 -2.09517119e-03 1.69379106e+01] [ 4.11929197e-02 -1.52310053e-03 9.99150051e-01 9.80795960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.785099893 meters 0.020893451488626282 Centerline is valid? [True, True] Translation: X:268.81, Y:16.95, Z:9.81 [[ 9.95075232e-01 -8.92460334e-02 -4.31326817e-02 2.68806649e+02] [ 8.92346630e-02 9.96008216e-01 -2.19275970e-03 1.69462604e+01] [ 4.31562004e-02 -1.66696944e-03 9.99066946e-01 9.80945714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.845099893 meters 0.020265508513196518 Centerline is valid? [True, True] Translation: X:268.87, Y:16.95, Z:9.81 [[ 9.94949403e-01 -9.03503746e-02 -4.37320936e-02 2.68868803e+02] [ 9.03398909e-02 9.95908518e-01 -2.22004392e-03 1.69500393e+01] [ 4.37537463e-02 -1.74192120e-03 9.99040828e-01 9.81123874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.905099893 meters 0.022328111964849927 Centerline is valid? [True, True] Translation: X:268.93, Y:16.95, Z:9.81 [[ 9.94812225e-01 -9.19370484e-02 -4.35455710e-02 2.68929041e+02] [ 9.19282942e-02 9.95763182e-01 -2.20773380e-03 1.69489969e+01] [ 4.35640489e-02 -1.80678949e-03 9.99049002e-01 9.81304981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.965099893 meters 0.024067881203620713 Centerline is valid? [True, True] Translation: X:268.99, Y:16.95, Z:9.82 [[ 9.94849550e-01 -9.23476324e-02 -4.17886005e-02 2.68990125e+02] [ 9.23399782e-02 9.95725286e-01 -2.11748950e-03 1.69498154e+01] [ 4.18055113e-02 -1.75217498e-03 9.99124231e-01 9.81667035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.025099893 meters 0.023160375682422983 Centerline is valid? [True, True] Translation: X:269.05, Y:16.95, Z:9.82 [[ 9.94835790e-01 -9.31561020e-02 -4.02950562e-02 2.69052143e+02] [ 9.31498210e-02 9.95650019e-01 -2.03744397e-03 1.69537917e+01] [ 4.03095738e-02 -1.72655509e-03 9.99185747e-01 9.81992879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.085099893 meters 0.023390509631143183 Centerline is valid? [True, True] Translation: X:269.11, Y:16.96, Z:9.82 [[ 9.94692953e-01 -9.48205984e-02 -3.99372323e-02 2.69114616e+02] [ 9.48158788e-02 9.95492784e-01 -2.01653775e-03 1.69553956e+01] [ 3.99484359e-02 -1.78084789e-03 9.99200156e-01 9.82252693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.145099893 meters 0.02408224940733536 Centerline is valid? [True, True] Translation: X:269.18, Y:16.96, Z:9.82 [[ 9.94580045e-01 -9.59252516e-02 -4.01108471e-02 2.69176280e+02] [ 9.59215010e-02 9.95386847e-01 -2.02246922e-03 1.69565826e+01] [ 4.01198155e-02 -1.83598513e-03 9.99193189e-01 9.82472730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20509989299995 meters 0.02240947448619148 Centerline is valid? [True, True] Translation: X:269.24, Y:16.96, Z:9.83 [[ 9.94522229e-01 -9.69811856e-02 -3.89895619e-02 2.69237636e+02] [ 9.69785293e-02 9.95284536e-01 -1.96389023e-03 1.69616330e+01] [ 3.89961684e-02 -1.82801788e-03 9.99237688e-01 9.82823721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26509989299996 meters 0.02293058049883145 Centerline is valid? [True, True] Translation: X:269.30, Y:16.96, Z:9.83 [[ 9.94551513e-01 -9.64245780e-02 -3.96180368e-02 2.69299438e+02] [ 9.64214863e-02 9.95338598e-01 -1.99326276e-03 1.69630556e+01] [ 3.96255607e-02 -1.83762749e-03 9.99212909e-01 9.83011022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32509989299996 meters 0.024991220016724224 Centerline is valid? [True, True] Translation: X:269.36, Y:16.96, Z:9.83 [[ 9.94722304e-01 -9.42501982e-02 -4.05516614e-02 2.69359672e+02] [ 9.42452851e-02 9.95546923e-01 -2.03709629e-03 1.69632075e+01] [ 4.05630785e-02 -1.79545778e-03 9.99175366e-01 9.83104213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38509989299996 meters 0.022746172859615412 Centerline is valid? [True, True] Translation: X:269.42, Y:16.97, Z:9.83 [[ 9.95042070e-01 -9.09617561e-02 -4.02148893e-02 2.69421195e+02] [ 9.09544073e-02 9.95853017e-01 -2.01610585e-03 1.69696168e+01] [ 4.02315074e-02 -1.65161129e-03 9.99189020e-01 9.83365052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44509989299996 meters 0.021572954616500373 Centerline is valid? [True, True] Translation: X:269.48, Y:16.97, Z:9.84 [[ 9.95453491e-01 -8.66479458e-02 -3.95535103e-02 2.69482233e+02] [ 8.66375144e-02 9.96237932e-01 -1.98096445e-03 1.69739460e+01] [ 3.95763538e-02 -1.45485984e-03 9.99215490e-01 9.83567602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50509989299997 meters 0.019365449060392174 Centerline is valid? [True, True] Translation: X:269.54, Y:16.98, Z:9.84 [[ 9.95751050e-01 -8.30565213e-02 -3.97675861e-02 2.69542991e+02] [ 8.30431462e-02 9.96543964e-01 -1.99094396e-03 1.69811966e+01] [ 3.97955087e-02 -1.31994093e-03 9.99206973e-01 9.83819930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56509989299997 meters 0.01837035581730564 Centerline is valid? [True, True] Translation: X:269.60, Y:16.99, Z:9.84 [[ 9.95829266e-01 -8.18904081e-02 -4.02247877e-02 2.69604997e+02] [ 8.18758368e-02 9.96640506e-01 -2.01227365e-03 1.69868299e+01] [ 4.02544386e-02 -1.28955715e-03 9.99188629e-01 9.84086027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62509989299997 meters 0.01758992414602808 Centerline is valid? [True, True] Translation: X:269.67, Y:16.99, Z:9.84 [[ 9.95844146e-01 -8.09271620e-02 -4.17759718e-02 2.69667525e+02] [ 8.09107347e-02 9.96719168e-01 -2.08665336e-03 1.69914805e+01] [ 4.18077788e-02 -1.30214304e-03 9.99124824e-01 9.84167635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.685099893 meters 0.017238126153602856 Centerline is valid? [True, True] Translation: X:269.73, Y:17.00, Z:9.84 [[ 9.95989412e-01 -7.85538501e-02 -4.28297030e-02 2.69728536e+02] [ 7.85345523e-02 9.96909105e-01 -2.13556877e-03 1.69970402e+01] [ 4.28650781e-02 -1.23660767e-03 9.99080105e-01 9.84360775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.745099893 meters 0.01711121973037376 Centerline is valid? [True, True] Translation: X:269.79, Y:17.00, Z:9.85 [[ 9.96102579e-01 -7.71630700e-02 -4.27260185e-02 2.69789735e+02] [ 7.71426538e-02 9.97017793e-01 -2.12885104e-03 1.70018603e+01] [ 4.27628693e-02 -1.17544444e-03 9.99084559e-01 9.84578611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.805099893 meters 0.017220111819543808 Centerline is valid? [True, True] Translation: X:269.85, Y:17.01, Z:9.85 [[ 9.96225585e-01 -7.58507070e-02 -4.22048986e-02 2.69850431e+02] [ 7.58296685e-02 9.97118571e-01 -2.10147930e-03 1.70078076e+01] [ 4.22426869e-02 -1.10683603e-03 9.99106766e-01 9.84911686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.865099893 meters 0.017027995078021517 Centerline is valid? [True, True] Translation: X:269.91, Y:17.01, Z:9.85 [[ 9.96096988e-01 -7.69299238e-02 -4.32732798e-02 2.69911649e+02] [ 7.69088630e-02 9.97035801e-01 -2.15378439e-03 1.70126085e+01] [ 4.33106996e-02 -1.18272060e-03 9.99060951e-01 9.85077541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.925099893 meters 0.017541288738251254 Centerline is valid? [True, True] Translation: X:269.97, Y:17.02, Z:9.85 [[ 9.95973912e-01 -7.88954565e-02 -4.25614062e-02 2.69973257e+02] [ 7.88769392e-02 9.96882113e-01 -2.11683921e-03 1.70157443e+01] [ 4.25957136e-02 -1.24879682e-03 9.99091610e-01 9.85397229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.985099893 meters 0.01881562923462929 Centerline is valid? [True, True] Translation: X:270.03, Y:17.02, Z:9.86 [[ 9.95550522e-01 -8.38868229e-02 -4.29203895e-02 2.70033894e+02] [ 8.38726890e-02 9.96474195e-01 -2.13313697e-03 1.70173390e+01] [ 4.29480027e-02 -1.47620286e-03 9.99076218e-01 9.85737749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.045099893 meters 0.01891290731901018 Centerline is valid? [True, True] Translation: X:270.10, Y:17.02, Z:9.86 [[ 9.95296578e-01 -8.64974021e-02 -4.36224911e-02 2.70096229e+02] [ 8.64853840e-02 9.96250765e-01 -2.16622727e-03 1.70208479e+01] [ 4.36463131e-02 -1.61666931e-03 9.99045738e-01 9.86010392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.105099893 meters 0.022159546785536017 Centerline is valid? [True, True] Translation: X:270.16, Y:17.02, Z:9.86 [[ 9.94847347e-01 -9.07088157e-02 -4.52842852e-02 2.70156253e+02] [ 9.07003497e-02 9.95875696e-01 -2.24587192e-03 1.70186770e+01] [ 4.53012394e-02 -1.87300078e-03 9.98971616e-01 9.86139016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.165099893 meters 0.021719928366151393 Centerline is valid? [True, True] Translation: X:270.22, Y:17.02, Z:9.86 [[ 9.94666029e-01 -9.23465944e-02 -4.59521261e-02 2.70218107e+02] [ 9.23396507e-02 9.95724961e-01 -2.27835953e-03 1.70220973e+01] [ 4.59660777e-02 -1.97699644e-03 9.98941045e-01 9.86447601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.225099893 meters 0.02224217725883002 Centerline is valid? [True, True] Translation: X:270.28, Y:17.03, Z:9.87 [[ 9.94947991e-01 -8.91323306e-02 -4.61943965e-02 2.70278231e+02] [ 8.91219902e-02 9.96018091e-01 -2.28747814e-03 1.70259670e+01] [ 4.62143429e-02 -1.84101477e-03 9.98929850e-01 9.86748743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.285099893 meters 0.019511907980476154 Centerline is valid? [True, True] Translation: X:270.34, Y:17.04, Z:9.87 [[ 9.95339714e-01 -8.52963995e-02 -4.49819743e-02 2.70338798e+02] [ 8.52827243e-02 9.96354304e-01 -2.22650018e-03 1.70352539e+01] [ 4.50078961e-02 -1.62006126e-03 9.98985318e-01 9.87249006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.345099893 meters 0.017998167505272753 Centerline is valid? [True, True] Translation: X:270.40, Y:17.04, Z:9.87 [[ 9.95851762e-01 -7.85026050e-02 -4.60066134e-02 2.70399679e+02] [ 7.84811301e-02 9.96913002e-01 -2.27567120e-03 1.70420466e+01] [ 4.60432372e-02 -1.34441983e-03 9.98938543e-01 9.87329999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.405099893 meters 0.01612939274153 Centerline is valid? [True, True] Translation: X:270.46, Y:17.05, Z:9.88 [[ 9.96069882e-01 -7.50246655e-02 -4.70753701e-02 2.70460341e+02] [ 7.49983514e-02 9.97180941e-01 -2.32749129e-03 1.70492218e+01] [ 4.71172811e-02 -1.21223117e-03 9.98888629e-01 9.87571284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.465099893 meters 0.015844875663010443 Centerline is valid? [True, True] Translation: X:270.52, Y:17.05, Z:9.88 [[ 9.96359625e-01 -7.13977304e-02 -4.65817662e-02 2.70519701e+02] [ 7.13680782e-02 9.97447392e-01 -2.30150673e-03 1.70541897e+01] [ 4.66271836e-02 -1.03132276e-03 9.98911829e-01 9.87844520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.525099893 meters 0.015734521406598326 Centerline is valid? [True, True] Translation: X:270.58, Y:17.06, Z:9.88 [[ 9.96400263e-01 -7.11430018e-02 -4.60997812e-02 2.70579954e+02] [ 7.11137259e-02 9.97465615e-01 -2.27686352e-03 1.70580953e+01] [ 4.61449295e-02 -1.00965979e-03 9.98934245e-01 9.88164224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.585099893 meters 0.015268854884916104 Centerline is valid? [True, True] Translation: X:270.64, Y:17.06, Z:9.88 [[ 9.96419155e-01 -7.04039044e-02 -4.68204939e-02 2.70640111e+02] [ 7.03728911e-02 9.97518074e-01 -2.31245945e-03 1.70620022e+01] [ 4.68670951e-02 -9.90714628e-04 9.98900643e-01 9.88403452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.645099893 meters 0.015763236495751436 Centerline is valid? [True, True] Translation: X:270.70, Y:17.06, Z:9.89 [[ 9.96406233e-01 -7.13693632e-02 -4.56183335e-02 2.70699957e+02] [ 7.13409186e-02 9.97449445e-01 -2.25338704e-03 1.70647524e+01] [ 4.56628043e-02 -1.00916493e-03 9.98956400e-01 9.88769474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70509989299995 meters 0.016839923765502994 Centerline is valid? [True, True] Translation: X:270.76, Y:17.07, Z:9.89 [[ 9.96282196e-01 -7.37829179e-02 -4.44732062e-02 2.70759128e+02] [ 7.37582205e-02 9.97273730e-01 -2.19826321e-03 1.70651614e+01] [ 4.45141545e-02 -1.09017405e-03 9.99008159e-01 9.89011908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76509989299996 meters 0.018666501388547578 Centerline is valid? [True, True] Translation: X:270.82, Y:17.06, Z:9.89 [[ 9.95744266e-01 -8.04747505e-02 -4.49129405e-02 2.70820581e+02] [ 8.04563369e-02 9.96755661e-01 -2.22045065e-03 1.70627241e+01] [ 4.49459179e-02 -1.40252967e-03 9.98988437e-01 9.89133799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82509989299996 meters 0.020679077128663813 Centerline is valid? [True, True] Translation: X:270.88, Y:17.06, Z:9.89 [[ 9.95295114e-01 -8.54082272e-02 -4.57500914e-02 2.70881892e+02] [ 8.53943828e-02 9.96344664e-01 -2.26053027e-03 1.70612815e+01] [ 4.57759273e-02 -1.65690609e-03 9.98950359e-01 9.89282327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88509989299996 meters 0.021823309490827118 Centerline is valid? [True, True] Translation: X:270.94, Y:17.06, Z:9.89 [[ 9.94839348e-01 -9.02847828e-02 -4.62961193e-02 2.70942885e+02] [ 9.02759283e-02 9.95914168e-01 -2.28634208e-03 1.70620349e+01] [ 4.63133831e-02 -1.90488209e-03 9.98925143e-01 9.89485934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94509989299996 meters 0.023018090642704502 Centerline is valid? [True, True] Translation: X:271.00, Y:17.06, Z:9.90 [[ 9.94291136e-01 -9.63635159e-02 -4.58171370e-02 2.71003866e+02] [ 9.63613084e-02 9.95343851e-01 -2.26199675e-03 1.70620106e+01] [ 4.58217795e-02 -2.16591595e-03 9.98947283e-01 9.89694544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00509989299997 meters 0.025883767051166198 Centerline is valid? [True, True] Translation: X:271.06, Y:17.06, Z:9.90 [[ 9.93996934e-01 -9.97312324e-02 -4.49864044e-02 2.71063703e+02] [ 9.97325463e-02 9.95011802e-01 -2.22085226e-03 1.70596728e+01] [ 4.49834916e-02 -2.27908831e-03 9.98985131e-01 9.89972583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06509989299997 meters 0.02464866462028899 Centerline is valid? [True, True] Translation: X:271.13, Y:17.06, Z:9.90 [[ 9.94022598e-01 -9.93930605e-02 -4.51673920e-02 2.71125366e+02] [ 9.93940633e-02 9.95045653e-01 -2.22921256e-03 1.70639601e+01] [ 4.51651854e-02 -2.27348296e-03 9.98976945e-01 9.90217133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12509989299997 meters 0.024017833441283314 Centerline is valid? [True, True] Translation: X:271.19, Y:17.07, Z:9.90 [[ 9.94030338e-01 -9.87907630e-02 -4.63041254e-02 2.71187221e+02] [ 9.87913276e-02 9.95105556e-01 -2.28187802e-03 1.70685200e+01] [ 4.63029209e-02 -2.30619005e-03 9.98924782e-01 9.90369958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.185099893 meters 0.024889529423121927 Centerline is valid? [True, True] Translation: X:271.25, Y:17.07, Z:9.91 [[ 9.93850280e-01 -9.99646436e-02 -4.76307771e-02 2.71249611e+02] [ 9.99667581e-02 9.94988017e-01 -2.34369417e-03 1.70711660e+01] [ 4.76263390e-02 -2.43221327e-03 9.98862261e-01 9.90534195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.245099893 meters 0.025462963126090126 Centerline is valid? [True, True] Translation: X:271.31, Y:17.07, Z:9.91 [[ 9.93800828e-01 -1.00277088e-01 -4.80043725e-02 2.71311945e+02] [ 1.00279769e-01 9.94956484e-01 -2.35856547e-03 1.70730951e+01] [ 4.79987718e-02 -2.46992309e-03 9.98844341e-01 9.90742612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.305099893 meters 0.024792575392481003 Centerline is valid? [True, True] Translation: X:271.37, Y:17.08, Z:9.91 [[ 9.93738104e-01 -1.01046857e-01 -4.76876685e-02 2.71373554e+02] [ 1.01050541e-01 9.94878542e-01 -2.33975198e-03 1.70768027e+01] [ 4.76798627e-02 -2.49376399e-03 9.98859556e-01 9.90970493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.365099893 meters 0.027562654206958467 Centerline is valid? [True, True] Translation: X:271.43, Y:17.08, Z:9.91 [[ 9.94005180e-01 -9.92345461e-02 -4.58934407e-02 2.71434598e+02] [ 9.92361322e-02 9.95061370e-01 -2.24942850e-03 1.70763824e+01] [ 4.58900110e-02 -2.31834397e-03 9.98943808e-01 9.91189254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.425099893 meters 0.023997819383445647 Centerline is valid? [True, True] Translation: X:271.50, Y:17.09, Z:9.92 [[ 9.94261249e-01 -9.69169418e-02 -4.52954284e-02 2.71495468e+02] [ 9.69161606e-02 9.95290076e-01 -2.21849175e-03 1.70851553e+01] [ 4.52970998e-02 -2.18409864e-03 9.98971172e-01 9.91523162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.485099893 meters 0.02452611615800182 Centerline is valid? [True, True] Translation: X:271.56, Y:17.09, Z:9.92 [[ 9.94541732e-01 -9.40536746e-02 -4.51735570e-02 2.71555957e+02] [ 9.40500187e-02 9.95565018e-01 -2.21102260e-03 1.70873537e+01] [ 4.51811679e-02 -2.04961964e-03 9.98976707e-01 9.91622481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.545099893 meters 0.02358320583260749 Centerline is valid? [True, True] Translation: X:271.62, Y:17.09, Z:9.92 [[ 9.94638586e-01 -9.37570306e-02 -4.36314412e-02 2.71618185e+02] [ 9.37533808e-02 9.95593164e-01 -2.13443779e-03 1.70915575e+01] [ 4.36392831e-02 -1.96760094e-03 9.99045415e-01 9.91945020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.605099893 meters 0.024742902140681283 Centerline is valid? [True, True] Translation: X:271.68, Y:17.09, Z:9.92 [[ 9.94568842e-01 -9.44002322e-02 -4.38339449e-02 2.71680743e+02] [ 9.43973101e-02 9.95532301e-01 -2.14119538e-03 1.70932497e+01] [ 4.38402374e-02 -2.00824027e-03 9.99036536e-01 9.92141766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.665099893 meters 0.022122578372918308 Centerline is valid? [True, True] Translation: X:271.74, Y:17.10, Z:9.92 [[ 9.94655366e-01 -9.38556697e-02 -4.30327262e-02 2.71742685e+02] [ 9.38524736e-02 9.95583903e-01 -2.09904038e-03 1.70995504e+01] [ 4.30396963e-02 -1.95090602e-03 9.99071458e-01 9.92283560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.725099893 meters 0.0225531168127906 Centerline is valid? [True, True] Translation: X:271.80, Y:17.10, Z:9.93 [[ 9.94824507e-01 -9.25625416e-02 -4.19091345e-02 2.71804375e+02] [ 9.25584906e-02 9.95705157e-01 -2.04120465e-03 1.71018907e+01] [ 4.19180804e-02 -1.84840582e-03 9.99119341e-01 9.92518567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.785099893 meters 0.02225924554515208 Centerline is valid? [True, True] Translation: X:271.87, Y:17.11, Z:9.93 [[ 9.95078740e-01 -9.07543441e-02 -3.97737333e-02 2.71865950e+02] [ 9.07493591e-02 9.95871885e-01 -1.93448732e-03 1.71050223e+01] [ 3.97851058e-02 -1.68447360e-03 9.99206839e-01 9.92841177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.845099893 meters 0.021376970942569996 Centerline is valid? [True, True] Translation: X:271.93, Y:17.11, Z:9.93 [[ 9.95290113e-01 -8.93810376e-02 -3.75315979e-02 2.71927898e+02] [ 8.93756945e-02 9.95996315e-01 -1.82350539e-03 1.71094408e+01] [ 3.75443200e-02 -1.53949574e-03 9.99293778e-01 9.93234729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.905099893 meters 0.02152940684224633 Centerline is valid? [True, True] Translation: X:271.99, Y:17.11, Z:9.93 [[ 9.95488257e-01 -8.73756182e-02 -3.69950238e-02 2.71989670e+02] [ 8.73691427e-02 9.96174388e-01 -1.79476808e-03 1.71121979e+01] [ 3.70103142e-02 -1.44555296e-03 9.99313838e-01 9.93472426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.965099893 meters 0.02151910195683804 Centerline is valid? [True, True] Translation: X:272.05, Y:17.12, Z:9.94 [[ 9.95541468e-01 -8.64008285e-02 -3.78428607e-02 2.72052295e+02] [ 8.63934562e-02 9.96259409e-01 -1.83310934e-03 1.71150605e+01] [ 3.78596882e-02 -1.44443916e-03 9.99282021e-01 9.93603352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.025099893 meters 0.022072865174440747 Centerline is valid? [True, True] Translation: X:272.11, Y:17.12, Z:9.94 [[ 9.95540206e-01 -8.59769959e-02 -3.88285364e-02 2.72114330e+02] [ 8.59690506e-02 9.96296039e-01 -1.87733501e-03 1.71161839e+01] [ 3.88461247e-02 -1.46908993e-03 9.99244125e-01 9.93640653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.085099893 meters 0.02071216541618394 Centerline is valid? [True, True] Translation: X:272.18, Y:17.12, Z:9.94 [[ 9.95621577e-01 -8.55465914e-02 -3.76756669e-02 2.72176155e+02] [ 8.55388993e-02 9.96333171e-01 -1.81902348e-03 1.71209164e+01] [ 3.76931279e-02 -1.41167604e-03 9.99288364e-01 9.93965593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.145099893 meters 0.021002862406982813 Centerline is valid? [True, True] Translation: X:272.24, Y:17.12, Z:9.94 [[ 9.95679134e-01 -8.49514192e-02 -3.75009023e-02 2.72238010e+02] [ 8.49434780e-02 9.96384131e-01 -1.80788637e-03 1.71228239e+01] [ 3.75188865e-02 -1.38538234e-03 9.99294958e-01 9.94164600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20509989299995 meters 0.02129904204253849 Centerline is valid? [True, True] Translation: X:272.30, Y:17.12, Z:9.94 [[ 9.95634612e-01 -8.54541304e-02 -3.75407785e-02 2.72300623e+02] [ 8.54466308e-02 9.96341110e-01 -1.80710130e-03 1.71229528e+01] [ 3.75578452e-02 -1.40852044e-03 9.99293463e-01 9.94317326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26509989299996 meters 0.023060065808384166 Centerline is valid? [True, True] Translation: X:272.36, Y:17.12, Z:9.94 [[ 9.95398820e-01 -8.82366481e-02 -3.73561541e-02 2.72362078e+02] [ 8.82312769e-02 9.96098398e-01 -1.79555027e-03 1.71210402e+01] [ 3.73688386e-02 -1.50869255e-03 9.99300402e-01 9.94443408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32509989299996 meters 0.022576709488286887 Centerline is valid? [True, True] Translation: X:272.42, Y:17.12, Z:9.95 [[ 9.95150412e-01 -9.04194544e-02 -3.87295607e-02 2.72424501e+02] [ 9.04153883e-02 9.95902404e-01 -1.86010339e-03 1.71224405e+01] [ 3.87390522e-02 -1.65066562e-03 9.99247998e-01 9.94555256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38509989299996 meters 0.02359399234205359 Centerline is valid? [True, True] Translation: X:272.49, Y:17.12, Z:9.95 [[ 9.94801367e-01 -9.41475023e-02 -3.88135068e-02 2.72485990e+02] [ 9.41463555e-02 9.95556628e-01 -1.86138368e-03 1.71210889e+01] [ 3.88162885e-02 -1.80244318e-03 9.99244738e-01 9.94824117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44509989299996 meters 0.023907096260047955 Centerline is valid? [True, True] Translation: X:272.55, Y:17.12, Z:9.95 [[ 9.94650989e-01 -9.57716658e-02 -3.86936442e-02 2.72547573e+02] [ 9.57718095e-02 9.95401589e-01 -1.85413602e-03 1.71225591e+01] [ 3.86932886e-02 -1.86154209e-03 9.99249400e-01 9.95118669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50509989299997 meters 0.025388117636552816 Centerline is valid? [True, True] Translation: X:272.61, Y:17.12, Z:9.95 [[ 9.94564867e-01 -9.67906329e-02 -3.83705481e-02 2.72608932e+02] [ 9.67916839e-02 9.95302971e-01 -1.83464275e-03 1.71226868e+01] [ 3.83678968e-02 -1.88927875e-03 9.99261895e-01 9.95494820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56509989299997 meters 0.024466612210622924 Centerline is valid? [True, True] Translation: X:272.67, Y:17.13, Z:9.96 [[ 9.94577954e-01 -9.63247713e-02 -3.91947939e-02 2.72670647e+02] [ 9.63255948e-02 9.95348118e-01 -1.87185252e-03 1.71253641e+01] [ 3.91927701e-02 -1.91375859e-03 9.99229836e-01 9.95621063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62509989299997 meters 0.024754758122700046 Centerline is valid? [True, True] Translation: X:272.73, Y:17.13, Z:9.96 [[ 9.94812241e-01 -9.43701145e-02 -3.79853552e-02 2.72731921e+02] [ 9.43695659e-02 9.95535586e-01 -1.81143227e-03 1.71260633e+01] [ 3.79867180e-02 -1.78262649e-03 9.99276654e-01 9.95928140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.685099893 meters 0.023779832233816474 Centerline is valid? [True, True] Translation: X:272.79, Y:17.13, Z:9.96 [[ 9.94938821e-01 -9.24960717e-02 -3.92583607e-02 2.72794493e+02] [ 9.24940936e-02 9.95711476e-01 -1.87057333e-03 1.71305920e+01] [ 3.92630210e-02 -1.77006047e-03 9.99227343e-01 9.96146117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.745099893 meters 0.02353411291845734 Centerline is valid? [True, True] Translation: X:272.86, Y:17.13, Z:9.96 [[ 9.94924135e-01 -9.14476948e-02 -4.19914916e-02 2.72856413e+02] [ 9.14446694e-02 9.95808157e-01 -1.99687649e-03 1.71332014e+01] [ 4.19980796e-02 -1.85315746e-03 9.99115973e-01 9.96132407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.805099893 meters 0.023382126445342342 Centerline is valid? [True, True] Translation: X:272.92, Y:17.14, Z:9.96 [[ 9.94908644e-01 -9.07051184e-02 -4.39246117e-02 2.72919013e+02] [ 9.07012429e-02 9.95875964e-01 -2.08531582e-03 1.71361980e+01] [ 4.39326139e-02 -1.90931814e-03 9.99032672e-01 9.96268258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.865099893 meters 0.021657577069717555 Centerline is valid? [True, True] Translation: X:272.98, Y:17.14, Z:9.97 [[ 9.95106767e-01 -8.80688278e-02 -4.47928957e-02 2.72980378e+02] [ 8.80623235e-02 9.96112706e-01 -2.12230721e-03 1.71414853e+01] [ 4.48056817e-02 -1.83264421e-03 9.98994040e-01 9.96511377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.925099893 meters 0.02072336460924808 Centerline is valid? [True, True] Translation: X:273.04, Y:17.15, Z:9.97 [[ 9.95702451e-01 -8.13213908e-02 -4.43109628e-02 2.73039904e+02] [ 8.13084085e-02 9.96686781e-01 -2.09821005e-03 1.71470766e+01] [ 4.43347803e-02 -1.51366098e-03 9.99015584e-01 9.96781763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.985099893 meters 0.01853079380549189 Centerline is valid? [True, True] Translation: X:273.10, Y:17.16, Z:9.97 [[ 9.96194557e-01 -7.60664378e-02 -4.25476485e-02 2.73100011e+02] [ 7.60496604e-02 9.97101995e-01 -2.01513293e-03 1.71552117e+01] [ 4.25776292e-02 -1.22826977e-03 9.99092407e-01 9.97202698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.045099893 meters 0.016762576310391263 Centerline is valid? [True, True] Translation: X:273.16, Y:17.16, Z:9.98 [[ 9.96602634e-01 -7.03854676e-02 -4.27676913e-02 2.73160805e+02] [ 7.03632935e-02 9.97519375e-01 -2.02545535e-03 1.71617610e+01] [ 4.28041633e-02 -9.90701473e-04 9.99082991e-01 9.97534738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.105099893 meters 0.016643922588341596 Centerline is valid? [True, True] Translation: X:273.22, Y:17.16, Z:9.98 [[ 9.96533687e-01 -7.05886682e-02 -4.40210143e-02 2.73221315e+02] [ 7.05654045e-02 9.97504978e-01 -2.08412082e-03 1.71639262e+01] [ 4.40582962e-02 -1.02946407e-03 9.99028431e-01 9.97780995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.165099893 meters 0.016929784780595886 Centerline is valid? [True, True] Translation: X:273.28, Y:17.17, Z:9.98 [[ 9.96363027e-01 -7.27951309e-02 -4.42898187e-02 2.73281321e+02] [ 7.27737539e-02 9.97346271e-01 -2.09697621e-03 1.71650274e+01] [ 4.43249352e-02 -1.13378680e-03 9.99016524e-01 9.98025964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.225099893 meters 0.018619951741343135 Centerline is valid? [True, True] Translation: X:273.34, Y:17.16, Z:9.98 [[ 9.95794067e-01 -7.93123217e-02 -4.58664588e-02 2.73341476e+02] [ 7.92962572e-02 9.96848727e-01 -2.17249125e-03 1.71620167e+01] [ 4.58942264e-02 -1.47368462e-03 9.98945218e-01 9.98099057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.285099893 meters 0.02160720626958672 Centerline is valid? [True, True] Translation: X:273.40, Y:17.16, Z:9.98 [[ 9.95326431e-01 -8.44692516e-02 -4.68000239e-02 2.73400791e+02] [ 8.44581672e-02 9.96424558e-01 -2.21774644e-03 1.71592200e+01] [ 4.68200245e-02 -1.74526260e-03 9.98901817e-01 9.98191076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.345099893 meters 0.02174825079797084 Centerline is valid? [True, True] Translation: X:273.46, Y:17.16, Z:9.99 [[ 9.94928231e-01 -8.94550585e-02 -4.59957288e-02 2.73461190e+02] [ 8.94496060e-02 9.95988962e-01 -2.18090995e-03 1.71613893e+01] [ 4.60063316e-02 -1.94445094e-03 9.98939256e-01 9.98634006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.405099893 meters 0.024640057581941023 Centerline is valid? [True, True] Translation: X:273.52, Y:17.16, Z:9.99 [[ 9.94815013e-01 -9.07667080e-02 -4.58747732e-02 2.73521317e+02] [ 9.07626898e-02 9.95870174e-01 -2.17485334e-03 1.71605766e+01] [ 4.58827227e-02 -2.00014106e-03 9.98944831e-01 9.98847879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.465099893 meters 0.021772752073746002 Centerline is valid? [True, True] Translation: X:273.58, Y:17.17, Z:9.99 [[ 9.94769103e-01 -9.04091999e-02 -4.75458592e-02 2.73583163e+02] [ 9.04045492e-02 9.95902577e-01 -2.25262440e-03 1.71698488e+01] [ 4.75547017e-02 -2.05752081e-03 9.98866516e-01 9.99030696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.525099893 meters 0.02318369600525985 Centerline is valid? [True, True] Translation: X:273.64, Y:17.17, Z:9.99 [[ 9.94817968e-01 -9.00562416e-02 -4.71919984e-02 2.73643830e+02] [ 9.00514003e-02 9.95934616e-01 -2.23295032e-03 1.71711245e+01] [ 4.72012359e-02 -2.02832644e-03 9.98883341e-01 9.99248338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.585099893 meters 0.022938668587091992 Centerline is valid? [True, True] Translation: X:273.70, Y:17.18, Z:10.00 [[ 9.94858123e-01 -8.94724792e-02 -4.74551523e-02 2.73704584e+02] [ 8.94669713e-02 9.95987261e-01 -2.24436042e-03 1.71759461e+01] [ 4.74655356e-02 -2.01284855e-03 9.98870848e-01 9.99564968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.645099893 meters 0.023375164873075498 Centerline is valid? [True, True] Translation: X:273.77, Y:17.18, Z:10.00 [[ 9.94810426e-01 -8.96681525e-02 -4.80815933e-02 2.73765915e+02] [ 8.96628108e-02 9.95969586e-01 -2.27225820e-03 1.71798384e+01] [ 4.80915538e-02 -2.05066466e-03 9.98840827e-01 9.99834289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70509989299995 meters 0.024619299492559553 Centerline is valid? [True, True] Translation: X:273.83, Y:17.18, Z:10.00 [[ 9.94716589e-01 -9.05497465e-02 -4.83699488e-02 2.73826354e+02] [ 9.05454451e-02 9.95889704e-01 -2.28455731e-03 1.71836260e+01] [ 4.83780001e-02 -2.10719149e-03 9.98826876e-01 1.00015294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76509989299996 meters 0.023924612869225807 Centerline is valid? [True, True] Translation: X:273.89, Y:17.19, Z:10.00 [[ 9.94628798e-01 -9.07049243e-02 -4.98615265e-02 2.73887615e+02] [ 9.07005743e-02 9.95875425e-01 -2.35455948e-03 1.71886448e+01] [ 4.98694390e-02 -2.18055642e-03 9.98753365e-01 1.00036934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82509989299996 meters 0.024490976165074736 Centerline is valid? [True, True] Translation: X:273.95, Y:17.19, Z:10.01 [[ 9.94739533e-01 -9.06788760e-02 -4.76508483e-02 2.73947854e+02] [ 9.06749283e-02 9.95878004e-01 -2.24890528e-03 1.71944167e+01] [ 4.76583599e-02 -2.08366226e-03 9.98861521e-01 1.00095624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88509989299996 meters 0.023247193391413325 Centerline is valid? [True, True] Translation: X:274.01, Y:17.20, Z:10.01 [[ 9.94760739e-01 -9.09407928e-02 -4.66995084e-02 2.74010208e+02] [ 9.09373189e-02 9.95854181e-01 -2.20332592e-03 1.71998995e+01] [ 4.67062729e-02 -2.05494596e-03 9.98906553e-01 1.00133627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94509989299996 meters 0.022791301379554468 Centerline is valid? [True, True] Translation: X:274.07, Y:17.20, Z:10.02 [[ 9.94798548e-01 -9.04918824e-02 -4.67660917e-02 2.74072457e+02] [ 9.04880621e-02 9.95895103e-01 -2.20308725e-03 1.72045691e+01] [ 4.67734832e-02 -2.04014500e-03 9.98903438e-01 1.00151848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00509989299997 meters 0.02257136866773651 Centerline is valid? [True, True] Translation: X:274.13, Y:17.21, Z:10.02 [[ 9.94973960e-01 -8.92206521e-02 -4.54587185e-02 2.74133191e+02] [ 8.92158490e-02 9.96010019e-01 -2.13857437e-03 1.72100631e+01] [ 4.54681441e-02 -1.92781236e-03 9.98963929e-01 1.00178189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06509989299997 meters 0.02466371690505045 Centerline is valid? [True, True] Translation: X:274.19, Y:17.21, Z:10.02 [[ 9.95101381e-01 -8.79332920e-02 -4.51771789e-02 2.74194498e+02] [ 8.79273035e-02 9.96124631e-01 -2.12356875e-03 1.72118435e+01] [ 4.51888331e-02 -1.85914133e-03 9.98976733e-01 1.00206066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12509989299997 meters 0.02171797983633246 Centerline is valid? [True, True] Translation: X:274.26, Y:17.22, Z:10.02 [[ 9.95318492e-01 -8.51236968e-02 -4.57717712e-02 2.74255607e+02] [ 8.51146921e-02 9.96368842e-01 -2.14918976e-03 1.72209520e+01] [ 4.57885136e-02 -1.75672190e-03 9.98949611e-01 1.00220745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.185099893 meters 0.021756098711702254 Centerline is valid? [True, True] Translation: X:274.32, Y:17.23, Z:10.03 [[ 9.95479431e-01 -8.37325671e-02 -4.48281178e-02 2.74316318e+02] [ 8.37225911e-02 9.96486881e-01 -2.10330665e-03 1.72271127e+01] [ 4.48467465e-02 -1.65932767e-03 9.98992500e-01 1.00256142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.245099893 meters 0.020332771440416172 Centerline is valid? [True, True] Translation: X:274.38, Y:17.23, Z:10.03 [[ 9.95473582e-01 -8.46241618e-02 -4.32561890e-02 2.74378265e+02] [ 8.46157852e-02 9.96411590e-01 -2.02784444e-03 1.72323653e+01] [ 4.32725727e-02 -1.64149083e-03 9.99061955e-01 1.00302857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.305099893 meters 0.021285373428905758 Centerline is valid? [True, True] Translation: X:274.44, Y:17.23, Z:10.03 [[ 9.95448963e-01 -8.58407727e-02 -4.13850706e-02 2.74440188e+02] [ 8.58342733e-02 9.96307545e-01 -1.93719968e-03 1.72326732e+01] [ 4.13985488e-02 -1.62387405e-03 9.99141393e-01 1.00342598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.365099893 meters 0.02098686778630511 Centerline is valid? [True, True] Translation: X:274.50, Y:17.24, Z:10.04 [[ 9.95360122e-01 -8.69594506e-02 -4.11859396e-02 2.74502526e+02] [ 8.69540917e-02 9.96210460e-01 -1.92490373e-03 1.72355530e+01] [ 4.11972524e-02 -1.66531356e-03 9.99149645e-01 1.00367045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.425099893 meters 0.021892387473572156 Centerline is valid? [True, True] Translation: X:274.56, Y:17.24, Z:10.04 [[ 9.95262246e-01 -8.76899310e-02 -4.19944980e-02 2.74564783e+02] [ 8.76851416e-02 9.96146313e-01 -1.95955438e-03 1.72363722e+01] [ 4.20044975e-02 -1.73202301e-03 9.99115920e-01 1.00380377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.485099893 meters 0.0219854843024815 Centerline is valid? [True, True] Translation: X:274.63, Y:17.24, Z:10.04 [[ 9.95155744e-01 -8.84747611e-02 -4.28633026e-02 2.74627232e+02] [ 8.84706350e-02 9.96076784e-01 -1.99692781e-03 1.72384381e+01] [ 4.28718183e-02 -1.80488942e-03 9.99078951e-01 1.00391731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.545099893 meters 0.023389605131072903 Centerline is valid? [True, True] Translation: X:274.69, Y:17.24, Z:10.04 [[ 9.94741971e-01 -9.19709492e-02 -4.50528133e-02 2.74689007e+02] [ 9.19701122e-02 9.95759562e-01 -2.09579564e-03 1.72367470e+01] [ 4.50545219e-02 -2.05873640e-03 9.98982408e-01 1.00391959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.605099893 meters 0.02403857519161845 Centerline is valid? [True, True] Translation: X:274.75, Y:17.24, Z:10.04 [[ 9.94494645e-01 -9.54644112e-02 -4.32081897e-02 2.74750560e+02] [ 9.54669903e-02 9.95430570e-01 -2.00847867e-03 1.72367867e+01] [ 4.32024911e-02 -2.12753455e-03 9.99064071e-01 1.00429439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.665099893 meters 0.025159513664209432 Centerline is valid? [True, True] Translation: X:274.81, Y:17.24, Z:10.05 [[ 9.94255467e-01 -9.85661060e-02 -4.17227755e-02 2.74811628e+02] [ 9.85712882e-02 9.95128105e-01 -1.93803502e-03 1.72361295e+01] [ 4.17105311e-02 -2.18576582e-03 9.99127346e-01 1.00461497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.725099893 meters 0.026121021159485995 Centerline is valid? [True, True] Translation: X:274.87, Y:17.24, Z:10.05 [[ 9.94094299e-01 -9.96472315e-02 -4.29762130e-02 2.74874168e+02] [ 9.96537874e-02 9.95020172e-01 -1.99513840e-03 1.72354249e+01] [ 4.29610089e-02 -2.29938669e-03 9.99074104e-01 1.00469388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.785099893 meters 0.02679000844687163 Centerline is valid? [True, True] Translation: X:274.94, Y:17.24, Z:10.05 [[ 9.94107251e-01 -9.97012889e-02 -4.25490962e-02 2.74936062e+02] [ 9.97078942e-02 9.95014797e-01 -1.97224185e-03 1.72358863e+01] [ 4.25336153e-02 -2.28186086e-03 9.99092430e-01 1.00487949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.845099893 meters 0.027945052584013575 Centerline is valid? [True, True] Translation: X:275.00, Y:17.24, Z:10.05 [[ 9.94249435e-01 -9.88631518e-02 -4.11599209e-02 2.74997752e+02] [ 9.88687323e-02 9.95098661e-01 -1.90497679e-03 1.72351789e+01] [ 4.11465142e-02 -2.17540711e-03 9.99150755e-01 1.00519529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.905099893 meters 0.02546099575134039 Centerline is valid? [True, True] Translation: X:275.06, Y:17.24, Z:10.05 [[ 9.94435173e-01 -9.69708997e-02 -4.11744098e-02 2.75058682e+02] [ 9.69749817e-02 9.95285000e-01 -1.90286358e-03 1.72409873e+01] [ 4.11647948e-02 -2.10061316e-03 9.99150162e-01 1.00539121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.965099893 meters 0.022817099273433377 Centerline is valid? [True, True] Translation: X:275.12, Y:17.25, Z:10.06 [[ 9.94749064e-01 -9.35446591e-02 -4.15174137e-02 2.75119761e+02] [ 9.35458966e-02 9.95613122e-01 -1.91719564e-03 1.72467351e+01] [ 4.15146253e-02 -1.97665512e-03 9.99135941e-01 1.00552718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.025099893 meters 0.0201849257010585 Centerline is valid? [True, True] Translation: X:275.18, Y:17.25, Z:10.06 [[ 9.95369886e-01 -8.67221540e-02 -4.14494653e-02 2.75179636e+02] [ 8.67175396e-02 9.96231103e-01 -1.91268015e-03 1.72541673e+01] [ 4.14591183e-02 -1.69057143e-03 9.99138771e-01 1.00566790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.085099893 meters 0.020632758119369824 Centerline is valid? [True, True] Translation: X:275.24, Y:17.26, Z:10.06 [[ 9.95692514e-01 -8.32088452e-02 -4.08987146e-02 2.75239661e+02] [ 8.32014158e-02 9.96530965e-01 -1.88670946e-03 1.72571433e+01] [ 4.09138265e-02 -1.52424847e-03 9.99161516e-01 1.00585423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.145099893 meters 0.0194907802447072 Centerline is valid? [True, True] Translation: X:275.30, Y:17.26, Z:10.06 [[ 9.95861429e-01 -8.12515968e-02 -4.07208947e-02 2.75301216e+02] [ 8.12427638e-02 9.96692580e-01 -1.87443889e-03 1.72619956e+01] [ 4.07385148e-02 -1.44159664e-03 9.99168802e-01 1.00608560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20509989299995 meters 0.018417614641564748 Centerline is valid? [True, True] Translation: X:275.36, Y:17.27, Z:10.06 [[ 9.96245242e-01 -7.64654410e-02 -4.06011479e-02 2.75362942e+02] [ 7.64527795e-02 9.97071456e-01 -1.86671330e-03 1.72661956e+01] [ 4.06249847e-02 -1.24436636e-03 9.99173690e-01 1.00624886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26509989299996 meters 0.01720110611941824 Centerline is valid? [True, True] Translation: X:275.42, Y:17.27, Z:10.07 [[ 9.96612202e-01 -7.22765694e-02 -3.92455983e-02 2.75424526e+02] [ 7.22615732e-02 9.97384087e-01 -1.80235986e-03 1.72723168e+01] [ 3.92732037e-02 -1.03969485e-03 9.99227969e-01 1.00656351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32509989299996 meters 0.0168060344489962 Centerline is valid? [True, True] Translation: X:275.49, Y:17.28, Z:10.07 [[ 9.96774121e-01 -6.92998442e-02 -4.04831361e-02 2.75485961e+02] [ 6.92815245e-02 9.97595420e-01 -1.85698412e-03 1.72765622e+01] [ 4.05144799e-02 -9.53739671e-04 9.99178496e-01 1.00661961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38509989299996 meters 0.01582613372098133 Centerline is valid? [True, True] Translation: X:275.55, Y:17.28, Z:10.07 [[ 9.97185380e-01 -6.41036248e-02 -3.88849876e-02 2.75545993e+02] [ 6.40828233e-02 9.97942992e-01 -1.78240015e-03 1.72816417e+01] [ 3.89192592e-02 -7.14476416e-04 9.99242103e-01 1.00691639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44509989299996 meters 0.014750276509584125 Centerline is valid? [True, True] Translation: X:275.61, Y:17.29, Z:10.07 [[ 9.97437608e-01 -5.95019736e-02 -3.97206985e-02 2.75606133e+02] [ 5.94766211e-02 9.98228038e-01 -1.82070725e-03 1.72880084e+01] [ 3.97586506e-02 -5.46411044e-04 9.99209163e-01 1.00705911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50509989299997 meters 0.014568462677699331 Centerline is valid? [True, True] Translation: X:275.67, Y:17.29, Z:10.07 [[ 9.97536587e-01 -5.71705181e-02 -4.06483641e-02 2.75665567e+02] [ 5.71420276e-02 9.98364321e-01 -1.86335259e-03 1.72915318e+01] [ 4.06884053e-02 -4.63967558e-04 9.99171776e-01 1.00719681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56509989299997 meters 0.014666712722977874 Centerline is valid? [True, True] Translation: X:275.73, Y:17.29, Z:10.07 [[ 9.97569100e-01 -5.66812551e-02 -4.05354894e-02 2.75725529e+02] [ 5.66524591e-02 9.98392228e-01 -1.85965069e-03 1.72929864e+01] [ 4.05757249e-02 -4.41305091e-04 9.99176369e-01 1.00734060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62509989299997 meters 0.014716633710742512 Centerline is valid? [True, True] Translation: X:275.78, Y:17.29, Z:10.08 [[ 9.97548799e-01 -5.76529780e-02 -3.96551044e-02 2.75783772e+02] [ 5.76261102e-02 9.98336574e-01 -1.82119132e-03 1.72938016e+01] [ 3.96941382e-02 -4.68442200e-04 9.99211767e-01 1.00764052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.685099893 meters 0.01501522152323821 Centerline is valid? [True, True] Translation: X:275.84, Y:17.29, Z:10.08 [[ 9.97542129e-01 -5.87595262e-02 -3.81709237e-02 2.75842507e+02] [ 5.87350881e-02 9.98272049e-01 -1.76227974e-03 1.72936796e+01] [ 3.82085169e-02 -4.84024283e-04 9.99269671e-01 1.00792164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.745099893 meters 0.01575872846807928 Centerline is valid? [True, True] Translation: X:275.90, Y:17.29, Z:10.08 [[ 9.97447444e-01 -6.21578573e-02 -3.51425364e-02 2.75903372e+02] [ 6.21391859e-02 9.98066172e-01 -1.62431627e-03 1.72914226e+01] [ 3.51755408e-02 -5.63558490e-04 9.99380990e-01 1.00835377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.805099893 meters 0.016583224603830857 Centerline is valid? [True, True] Translation: X:275.96, Y:17.29, Z:10.08 [[ 9.97011123e-01 -6.82055515e-02 -3.62880639e-02 2.75964868e+02] [ 6.81896431e-02 9.97670967e-01 -1.67729909e-03 1.72881659e+01] [ 3.63179489e-02 -8.02184273e-04 9.99339964e-01 1.00849192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.865099893 meters 0.018649222219124396 Centerline is valid? [True, True] Translation: X:276.03, Y:17.28, Z:10.08 [[ 9.96394572e-01 -7.53873299e-02 -3.89179613e-02 2.76025616e+02] [ 7.53745604e-02 9.97153672e-01 -1.79737226e-03 1.72820769e+01] [ 3.89426871e-02 -1.14253226e-03 9.99240793e-01 1.00842715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.925099893 meters 0.01922285925391831 Centerline is valid? [True, True] Translation: X:276.09, Y:17.28, Z:10.09 [[ 9.95996550e-01 -8.00900775e-02 -3.97045618e-02 2.76086700e+02] [ 8.00805459e-02 9.96786711e-01 -1.83297401e-03 1.72809764e+01] [ 3.97237826e-02 -1.35392720e-03 9.99209782e-01 1.00855069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.985099893 meters 0.021242699037330327 Centerline is valid? [True, True] Translation: X:276.15, Y:17.28, Z:10.09 [[ 9.95623040e-01 -8.46862706e-02 -3.95347753e-02 2.76146916e+02] [ 8.46804631e-02 9.96406489e-01 -1.82445565e-03 1.72772905e+01] [ 3.95472130e-02 -1.53135300e-03 9.99216530e-01 1.00874215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.045099893 meters 0.022693560456407684 Centerline is valid? [True, True] Translation: X:276.21, Y:17.28, Z:10.09 [[ 9.95443435e-01 -8.71570024e-02 -3.86784850e-02 2.76208304e+02] [ 8.71533058e-02 9.96193312e-01 -1.78488912e-03 1.72766148e+01] [ 3.86868137e-02 -1.59420167e-03 9.99250113e-01 1.00896234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.105099893 meters 0.023530454354158965 Centerline is valid? [True, True] Translation: X:276.27, Y:17.28, Z:10.09 [[ 9.95270576e-01 -9.00104145e-02 -3.65322547e-02 2.76269189e+02] [ 9.00090777e-02 9.95939520e-01 -1.68460623e-03 1.72776138e+01] [ 3.65355484e-02 -1.61159555e-03 9.99331054e-01 1.00944949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.165099893 meters 0.0259062083919076 Centerline is valid? [True, True] Translation: X:276.33, Y:17.28, Z:10.09 [[ 9.94776238e-01 -9.37135896e-02 -4.04722038e-02 2.76329894e+02] [ 9.37150425e-02 9.95597314e-01 -1.86549175e-03 1.72752458e+01] [ 4.04688393e-02 -1.93710743e-03 9.99178923e-01 1.00916555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.225099893 meters 0.02985409150812153 Centerline is valid? [True, True] Translation: X:276.39, Y:17.27, Z:10.10 [[ 9.94228340e-01 -9.95606823e-02 -3.99709605e-02 2.76389539e+02] [ 9.95668316e-02 9.95029172e-01 -1.84177730e-03 1.72722100e+01] [ 3.99556404e-02 -2.14863471e-03 9.99199144e-01 1.00955801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.285099893 meters 0.029657555717827338 Centerline is valid? [True, True] Translation: X:276.45, Y:17.28, Z:10.10 [[ 9.94036478e-01 -1.00824476e-01 -4.15440178e-02 2.76451205e+02] [ 1.00832208e-01 9.94901603e-01 -1.91459170e-03 1.72752731e+01] [ 4.15252476e-02 -2.28580107e-03 9.99134840e-01 1.00966998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.345099893 meters 0.030661266105810058 Centerline is valid? [True, True] Translation: X:276.51, Y:17.28, Z:10.10 [[ 9.93843908e-01 -1.02121379e-01 -4.29594047e-02 2.76512988e+02] [ 1.02130958e-01 9.94768997e-01 -1.97749054e-03 1.72766395e+01] [ 4.29366280e-02 -2.42216823e-03 9.99074862e-01 1.00978175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.405099893 meters 0.032314520726736906 Centerline is valid? [True, True] Translation: X:276.57, Y:17.28, Z:10.10 [[ 9.93549506e-01 -1.04378448e-01 -4.43228958e-02 2.76574229e+02] [ 1.04390984e-01 9.94534247e-01 -2.03800015e-03 1.72775446e+01] [ 4.42933611e-02 -2.60205667e-03 9.99015179e-01 1.00981317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.465099893 meters 0.03003469236703374 Centerline is valid? [True, True] Translation: X:276.64, Y:17.28, Z:10.10 [[ 9.93567521e-01 -1.04399557e-01 -4.38670048e-02 2.76635680e+02] [ 1.04411932e-01 9.94532094e-01 -2.01529830e-03 1.72841899e+01] [ 4.38375404e-02 -2.57790380e-03 9.99035347e-01 1.01013012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.525099893 meters 0.027310860042838486 Centerline is valid? [True, True] Translation: X:276.70, Y:17.29, Z:10.11 [[ 9.94109129e-01 -9.98813095e-02 -4.20804419e-02 2.76696143e+02] [ 9.98887659e-02 9.94996737e-01 -1.93065750e-03 1.72939888e+01] [ 4.20627390e-02 -2.28407916e-03 9.99112361e-01 1.01060755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.585099893 meters 0.024171566943854517 Centerline is valid? [True, True] Translation: X:276.76, Y:17.30, Z:10.11 [[ 9.94699974e-01 -9.46039271e-02 -4.02747884e-02 2.76756418e+02] [ 9.46064455e-02 9.95513037e-01 -1.84765236e-03 1.73033762e+01] [ 4.02688721e-02 -1.97239482e-03 9.99186933e-01 1.01093305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64509989299995 meters 0.02070332887216194 Centerline is valid? [True, True] Translation: X:276.82, Y:17.32, Z:10.11 [[ 9.95479096e-01 -8.64863791e-02 -3.92616377e-02 2.76816943e+02] [ 8.64824737e-02 9.96251744e-01 -1.80102761e-03 1.73157494e+01] [ 3.92702394e-02 -1.60255821e-03 9.99227342e-01 1.01126318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70509989299995 meters 0.019874613288876394 Centerline is valid? [True, True] Translation: X:276.88, Y:17.32, Z:10.11 [[ 9.95861884e-01 -8.10856172e-02 -4.10393821e-02 2.76876330e+02] [ 8.10768015e-02 9.96706080e-01 -1.88188615e-03 1.73225998e+01] [ 4.10567956e-02 -1.45324315e-03 9.99155757e-01 1.01134638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76509989299996 meters 0.019204716517164967 Centerline is valid? [True, True] Translation: X:276.94, Y:17.33, Z:10.11 [[ 9.96132549e-01 -7.68395919e-02 -4.26101120e-02 2.76936454e+02] [ 7.68262146e-02 9.97042585e-01 -1.95381590e-03 1.73281732e+01] [ 4.26342266e-02 -1.32731399e-03 9.99089866e-01 1.01147083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82509989299996 meters 0.01788205636819154 Centerline is valid? [True, True] Translation: X:277.00, Y:17.34, Z:10.12 [[ 9.96304222e-01 -7.41018751e-02 -4.34374178e-02 2.76997109e+02] [ 7.40854100e-02 9.97249913e-01 -1.99094822e-03 1.73351712e+01] [ 4.34654941e-02 -1.23448879e-03 9.99054166e-01 1.01177713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88509989299996 meters 0.017565814452668922 Centerline is valid? [True, True] Translation: X:277.06, Y:17.34, Z:10.12 [[ 9.96550816e-01 -7.08986359e-02 -4.31260275e-02 2.77056670e+02] [ 7.08794438e-02 9.97482932e-01 -1.97587427e-03 1.73404578e+01] [ 4.31575632e-02 -1.08768973e-03 9.99067686e-01 1.01203321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94509989299996 meters 0.016906666317509988 Centerline is valid? [True, True] Translation: X:277.12, Y:17.35, Z:10.12 [[ 9.96784836e-01 -6.67156344e-02 -4.43735895e-02 2.77116672e+02] [ 6.66912061e-02 9.97771593e-01 -2.03233301e-03 1.73471246e+01] [ 4.44102954e-02 -9.33529481e-04 9.99012940e-01 1.01217157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00509989299997 meters 0.01604039910812284 Centerline is valid? [True, True] Translation: X:277.18, Y:17.35, Z:10.12 [[ 9.96910226e-01 -6.42054062e-02 -4.52511525e-02 2.77176422e+02] [ 6.41773751e-02 9.97936353e-01 -2.07348027e-03 1.73536917e+01] [ 4.52908987e-02 -8.37026497e-04 9.98973490e-01 1.01241084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06509989299997 meters 0.0174697676117525 Centerline is valid? [True, True] Translation: X:277.23, Y:17.35, Z:10.13 [[ 9.96535289e-01 -6.85534987e-02 -4.70939005e-02 2.77234754e+02] [ 6.85278896e-02 9.97646863e-01 -2.15999525e-03 1.73539615e+01] [ 4.71311574e-02 -1.07473412e-03 9.98888131e-01 1.01254019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12509989299997 meters 0.017671379916912276 Centerline is valid? [True, True] Translation: X:277.29, Y:17.36, Z:10.13 [[ 9.96258419e-01 -7.18560810e-02 -4.80194292e-02 2.77294118e+02] [ 7.18331397e-02 9.97414225e-01 -2.20550373e-03 1.73561531e+01] [ 4.80537406e-02 -1.25213471e-03 9.98843967e-01 1.01281508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.185099893 meters 0.017923277779191803 Centerline is valid? [True, True] Translation: X:277.35, Y:17.36, Z:10.13 [[ 9.96135137e-01 -7.37720155e-02 -4.76705279e-02 2.77352380e+02] [ 7.37514075e-02 9.97274244e-01 -2.19344519e-03 1.73582261e+01] [ 4.77024045e-02 -1.33080071e-03 9.98860706e-01 1.01310503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.245099893 meters 0.018210543032802163 Centerline is valid? [True, True] Translation: X:277.41, Y:17.36, Z:10.13 [[ 9.96020364e-01 -7.52380541e-02 -4.77772924e-02 2.77412077e+02] [ 7.52185667e-02 9.97164626e-01 -2.20820167e-03 1.73605881e+01] [ 4.78079667e-02 -1.39432562e-03 9.98855572e-01 1.01338292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.305099893 meters 0.019655007349047748 Centerline is valid? [True, True] Translation: X:277.47, Y:17.36, Z:10.14 [[ 9.95671286e-01 -7.97364494e-02 -4.77576038e-02 2.77471879e+02] [ 7.97220599e-02 9.96814684e-01 -2.20902347e-03 1.73596900e+01] [ 4.77816204e-02 -1.60787332e-03 9.98856512e-01 1.01364385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.365099893 meters 0.019506053705165546 Centerline is valid? [True, True] Translation: X:277.53, Y:17.36, Z:10.14 [[ 9.95485055e-01 -8.19663733e-02 -4.78645842e-02 2.77531836e+02] [ 8.19544183e-02 9.96633616e-01 -2.21550819e-03 1.73625530e+01] [ 4.78850508e-02 -1.71720886e-03 9.98851377e-01 1.01396193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.425099893 meters 0.022285309225044046 Centerline is valid? [True, True] Translation: X:277.59, Y:17.36, Z:10.14 [[ 9.95015310e-01 -8.61492876e-02 -5.02278205e-02 2.77591679e+02] [ 8.61413925e-02 9.96280207e-01 -2.32591706e-03 1.73601847e+01] [ 5.02413595e-02 -2.01237131e-03 9.98735078e-01 1.01403913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.485099893 meters 0.02209321040888056 Centerline is valid? [True, True] Translation: X:277.65, Y:17.36, Z:10.14 [[ 9.94653598e-01 -8.91931941e-02 -5.20460762e-02 2.77651608e+02] [ 8.91888165e-02 9.96011818e-01 -2.41128802e-03 1.73622949e+01] [ 5.20535775e-02 -2.24353164e-03 9.98641773e-01 1.01426890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.545099893 meters 0.023229061959387 Centerline is valid? [True, True] Translation: X:277.71, Y:17.36, Z:10.14 [[ 9.94262092e-01 -9.23414670e-02 -5.39995004e-02 2.77711437e+02] [ 9.23413317e-02 9.95724266e-01 -2.50287232e-03 1.73623177e+01] [ 5.39997318e-02 -2.49787471e-03 9.98537826e-01 1.01444051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.605099893 meters 0.023550177219852902 Centerline is valid? [True, True] Translation: X:277.77, Y:17.37, Z:10.15 [[ 9.94256961e-01 -9.16736523e-02 -5.52180855e-02 2.77770955e+02] [ 9.16724052e-02 9.95785927e-01 -2.56086116e-03 1.73653664e+01] [ 5.52201560e-02 -2.51582067e-03 9.98471034e-01 1.01466657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.665099893 meters 0.02310984413385879 Centerline is valid? [True, True] Translation: X:277.83, Y:17.37, Z:10.15 [[ 9.94477569e-01 -8.92247935e-02 -5.52566742e-02 2.77830305e+02] [ 8.92196652e-02 9.96008672e-01 -2.56461867e-03 1.73699820e+01] [ 5.52649543e-02 -2.37952623e-03 9.98468889e-01 1.01492530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.725099893 meters 0.020999259117971847 Centerline is valid? [True, True] Translation: X:277.89, Y:17.38, Z:10.15 [[ 9.95031154e-01 -8.33318972e-02 -5.44866674e-02 2.77889870e+02] [ 8.33180149e-02 9.96519797e-01 -2.53024784e-03 1.73777027e+01] [ 5.45078931e-02 -2.02204554e-03 9.98511292e-01 1.01530166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.785099893 meters 0.018270054911782522 Centerline is valid? [True, True] Translation: X:277.95, Y:17.39, Z:10.16 [[ 9.95538244e-01 -7.69064597e-02 -5.46717525e-02 2.77949845e+02] [ 7.68827831e-02 9.97036905e-01 -2.53929264e-03 1.73874710e+01] [ 5.47050429e-02 -1.67535355e-03 9.98501152e-01 1.01575862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.845099893 meters 0.01701465505733111 Centerline is valid? [True, True] Translation: X:278.01, Y:17.39, Z:10.16 [[ 9.95789463e-01 -7.33952566e-02 -5.49225010e-02 2.78008155e+02] [ 7.33659232e-02 9.97301822e-01 -2.55286709e-03 1.73936467e+01] [ 5.49616787e-02 -1.48732184e-03 9.98487357e-01 1.01605763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.905099893 meters 0.015800973519110154 Centerline is valid? [True, True] Translation: X:278.07, Y:17.40, Z:10.16 [[ 9.95830991e-01 -7.13620243e-02 -5.68163612e-02 2.78066280e+02] [ 7.13268894e-02 9.97449477e-01 -2.64865503e-03 1.73988298e+01] [ 5.68604632e-02 -1.41492155e-03 9.98381132e-01 1.01618546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.965099893 meters 0.015618961315648994 Centerline is valid? [True, True] Translation: X:278.12, Y:17.40, Z:10.16 [[ 9.96039767e-01 -6.86945007e-02 -5.64433111e-02 2.78123770e+02] [ 6.86549142e-02 9.97636968e-01 -2.64244946e-03 1.74035395e+01] [ 5.64914555e-02 -1.24312593e-03 9.98402309e-01 1.01640708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.025099893 meters 0.015172947772484003 Centerline is valid? [True, True] Translation: X:278.18, Y:17.41, Z:10.17 [[ 9.96282402e-01 -6.51611742e-02 -5.63506650e-02 2.78181481e+02] [ 6.51157881e-02 9.97874215e-01 -2.64312321e-03 1.74092388e+01] [ 5.64031046e-02 -1.03602082e-03 9.98407540e-01 1.01667668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.085099893 meters 0.013861066660727507 Centerline is valid? [True, True] Translation: X:278.24, Y:17.41, Z:10.17 [[ 9.96529016e-01 -6.31802008e-02 -5.42049975e-02 2.78240187e+02] [ 6.31348765e-02 9.98001746e-01 -2.54984461e-03 1.74147889e+01] [ 5.42577819e-02 -8.81231679e-04 9.98526573e-01 1.01708655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14509989299995 meters 0.013639446825674901 Centerline is valid? [True, True] Translation: X:278.30, Y:17.42, Z:10.17 [[ 9.96540042e-01 -6.33129205e-02 -5.38462513e-02 2.78297620e+02] [ 6.32676282e-02 9.97993347e-01 -2.54703964e-03 1.74177309e+01] [ 5.38994611e-02 -8.68497614e-04 9.98545990e-01 1.01736016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20509989299995 meters 0.013943342683760233 Centerline is valid? [True, True] Translation: X:278.36, Y:17.42, Z:10.18 [[ 9.96607751e-01 -6.37087671e-02 -5.20978293e-02 2.78355203e+02] [ 6.36662514e-02 9.97968172e-01 -2.47692245e-03 1.74193735e+01] [ 5.21497772e-02 -8.48353391e-04 9.98638914e-01 1.01754767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26509989299996 meters 0.014874150123679781 Centerline is valid? [True, True] Translation: X:278.41, Y:17.42, Z:10.18 [[ 9.96407198e-01 -6.64422313e-02 -5.25178536e-02 2.78412918e+02] [ 6.64024820e-02 9.97789779e-01 -2.50330539e-03 1.74196635e+01] [ 5.25681028e-02 -9.93004317e-04 9.98616848e-01 1.01761683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32509989299996 meters 0.015236554182926304 Centerline is valid? [True, True] Translation: X:278.47, Y:17.42, Z:10.18 [[ 9.96232073e-01 -6.96294708e-02 -5.17048712e-02 2.78471105e+02] [ 6.95949949e-02 9.97572273e-01 -2.46907939e-03 1.74203412e+01] [ 5.17512666e-02 -1.13862417e-03 9.98659356e-01 1.01792637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38509989299996 meters 0.016884037043894844 Centerline is valid? [True, True] Translation: X:278.53, Y:17.42, Z:10.18 [[ 9.95768828e-01 -7.55489124e-02 -5.23144624e-02 2.78530409e+02] [ 7.55215558e-02 9.97141030e-01 -2.50235153e-03 1.74180762e+01] [ 5.23539468e-02 -1.45910594e-03 9.98627526e-01 1.01805362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44509989299996 meters 0.018064861215718927 Centerline is valid? [True, True] Translation: X:278.59, Y:17.42, Z:10.18 [[ 9.95558202e-01 -7.90633158e-02 -5.11161355e-02 2.78589662e+02] [ 7.90416831e-02 9.96868307e-01 -2.44771771e-03 1.74176761e+01] [ 5.11495801e-02 -1.60345994e-03 9.98689716e-01 1.01830983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50509989299997 meters 0.020464313189193603 Centerline is valid? [True, True] Translation: X:278.65, Y:17.41, Z:10.19 [[ 9.95301699e-01 -8.33218509e-02 -4.93152848e-02 2.78648518e+02] [ 8.33068035e-02 9.96521143e-01 -2.36403429e-03 1.74144434e+01] [ 4.93406997e-02 -1.75537140e-03 9.98780463e-01 1.01851412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56509989299997 meters 0.019346274889833585 Centerline is valid? [True, True] Translation: X:278.71, Y:17.42, Z:10.19 [[ 9.95099890e-01 -8.65378279e-02 -4.78269024e-02 2.78708985e+02] [ 8.65272879e-02 9.96246839e-01 -2.29458282e-03 1.74176555e+01] [ 4.78459685e-02 -1.85499303e-03 9.98853003e-01 1.01886050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62509989299997 meters 0.02119736302061282 Centerline is valid? [True, True] Translation: X:278.77, Y:17.42, Z:10.19 [[ 9.94791408e-01 -9.05687731e-02 -4.67691309e-02 2.78770160e+02] [ 9.05631437e-02 9.95888188e-01 -2.24366179e-03 1.74168621e+01] [ 4.67800307e-02 -2.00358405e-03 9.98903206e-01 1.01915277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.685099893 meters 0.023131706742946984 Centerline is valid? [True, True] Translation: X:278.83, Y:17.42, Z:10.19 [[ 9.94576646e-01 -9.32078427e-02 -4.61475084e-02 2.78831864e+02] [ 9.32052392e-02 9.95644458e-01 -2.21285635e-03 1.74157456e+01] [ 4.61527666e-02 -2.10033431e-03 9.98932185e-01 1.01928047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.745099893 meters 0.024661668502324163 Centerline is valid? [True, True] Translation: X:278.89, Y:17.41, Z:10.19 [[ 9.94324313e-01 -9.63345829e-02 -4.51531591e-02 2.78893286e+02] [ 9.63353740e-02 9.95346580e-01 -2.16359340e-03 1.74149694e+01] [ 4.51514714e-02 -2.19853295e-03 9.98977733e-01 1.01949161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.805099893 meters 0.02476427643965444 Centerline is valid? [True, True] Translation: X:278.96, Y:17.42, Z:10.20 [[ 9.94279404e-01 -9.73861302e-02 -4.38680901e-02 2.78955186e+02] [ 9.73879720e-02 9.95244277e-01 -2.10025444e-03 1.74177331e+01] [ 4.38640013e-02 -2.18398459e-03 9.99035124e-01 1.01982873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.865099893 meters 0.023590885397447105 Centerline is valid? [True, True] Translation: X:279.02, Y:17.42, Z:10.20 [[ 9.94544781e-01 -9.51494017e-02 -4.27465783e-02 2.79016406e+02] [ 9.51492075e-02 9.95460924e-01 -2.04375564e-03 1.74208342e+01] [ 4.27470105e-02 -2.03469655e-03 9.99083857e-01 1.02011265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.925099893 meters 0.024089596737543878 Centerline is valid? [True, True] Translation: X:279.08, Y:17.42, Z:10.20 [[ 9.94738109e-01 -9.34295336e-02 -4.20358871e-02 2.79076404e+02] [ 9.34278721e-02 9.95624025e-01 -2.00836705e-03 1.74226254e+01] [ 4.20395799e-02 -1.92952424e-03 9.99114083e-01 1.02037891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.985099893 meters 0.021002745577855763 Centerline is valid? [True, True] Translation: X:279.14, Y:17.43, Z:10.21 [[ 9.94884567e-01 -9.18914300e-02 -4.19602697e-02 2.79137855e+02] [ 9.18884517e-02 9.95767291e-01 -2.00374969e-03 1.74301317e+01] [ 4.19667915e-02 -1.86216458e-03 9.99117271e-01 1.02064879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.045099893 meters 0.019846459231097915 Centerline is valid? [True, True] Translation: X:279.20, Y:17.43, Z:10.21 [[ 9.95135024e-01 -8.87639663e-02 -4.27462592e-02 2.79199729e+02] [ 8.87581303e-02 9.96051123e-01 -2.03817054e-03 1.74339533e+01] [ 4.27583756e-02 -1.76582315e-03 9.99083882e-01 1.02081777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.105099893 meters 0.018664625459376166 Centerline is valid? [True, True] Translation: X:279.26, Y:17.44, Z:10.21 [[ 9.95516740e-01 -8.39469351e-02 -4.35813224e-02 2.79259985e+02] [ 8.39363538e-02 9.96468955e-01 -2.07587482e-03 1.74380250e+01] [ 4.36016982e-02 -1.59148917e-03 9.99047726e-01 1.02097809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.165099893 meters 0.016854655866517645 Centerline is valid? [True, True] Translation: X:279.32, Y:17.45, Z:10.21 [[ 9.95993176e-01 -7.70983469e-02 -4.53148729e-02 2.79320409e+02] [ 7.70798355e-02 9.97022588e-01 -2.15830241e-03 1.74453198e+01] [ 4.53463534e-02 -1.34320848e-03 9.98970422e-01 1.02114193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.225099893 meters 0.014458573001316746 Centerline is valid? [True, True] Translation: X:279.38, Y:17.45, Z:10.21 [[ 9.96572438e-01 -6.85664685e-02 -4.62819070e-02 2.79380678e+02] [ 6.85380037e-02 9.97646073e-01 -2.20350740e-03 1.74540734e+01] [ 4.63240495e-02 -9.76114771e-04 9.98925988e-01 1.02137864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.285099893 meters 0.01245183700990176 Centerline is valid? [True, True] Translation: X:279.44, Y:17.46, Z:10.22 [[ 9.97188558e-01 -5.90869574e-02 -4.60837501e-02 2.79440379e+02] [ 5.90486398e-02 9.98252697e-01 -2.19354221e-03 1.74625747e+01] [ 4.61328375e-02 -5.33807567e-04 9.98935171e-01 1.02173888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.345099893 meters 0.011870794281080047 Centerline is valid? [True, True] Translation: X:279.50, Y:17.47, Z:10.22 [[ 9.97460157e-01 -5.42000765e-02 -4.62124179e-02 2.79499036e+02] [ 5.41561679e-02 9.98530049e-01 -2.20255337e-03 1.74688213e+01] [ 4.62638665e-02 -3.05728233e-04 9.98929207e-01 1.02206343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.405099893 meters 0.011583090982517263 Centerline is valid? [True, True] Translation: X:279.56, Y:17.48, Z:10.22 [[ 9.97744598e-01 -4.83465760e-02 -4.65652943e-02 2.79557643e+02] [ 4.82950804e-02 9.98830620e-01 -2.23095284e-03 1.74753875e+01] [ 4.66187008e-02 -2.29534923e-05 9.98912757e-01 1.02228306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.465099893 meters 0.011993029277382515 Centerline is valid? [True, True] Translation: X:279.62, Y:17.48, Z:10.23 [[ 9.98057479e-01 -3.96856829e-02 -4.80241078e-02 2.79615704e+02] [ 3.96203600e-02 9.99212131e-01 -2.31173895e-03 1.74813247e+01] [ 4.80780140e-02 4.04515912e-04 9.98843502e-01 1.02261216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.525099893 meters 0.012431977994120434 Centerline is valid? [True, True] Translation: X:279.67, Y:17.48, Z:10.23 [[ 9.98147204e-01 -3.60938217e-02 -4.89836211e-02 2.79674010e+02] [ 3.60211328e-02 9.99348227e-01 -2.36617270e-03 1.74849858e+01] [ 4.90370992e-02 5.97343145e-04 9.98796779e-01 1.02282414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.585099893 meters 0.01286558924325081 Centerline is valid? [True, True] Translation: X:279.73, Y:17.48, Z:10.23 [[ 9.98076453e-01 -3.61961399e-02 -5.03312444e-02 2.79732269e+02] [ 3.61189775e-02 9.99344513e-01 -2.44207907e-03 1.74837793e+01] [ 5.03866468e-02 6.19468533e-04 9.98729594e-01 1.02292836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64509989299995 meters 0.012011230819367268 Centerline is valid? [True, True] Translation: X:279.79, Y:17.48, Z:10.23 [[ 9.97900686e-01 -4.02078319e-02 -5.07695820e-02 2.79791034e+02] [ 4.01341643e-02 9.99191247e-01 -2.47005405e-03 1.74808348e+01] [ 5.08278375e-02 4.27273881e-04 9.98707339e-01 1.02318743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70509989299995 meters 0.011483192588575794 Centerline is valid? [True, True] Translation: X:279.85, Y:17.48, Z:10.23 [[ 9.97615031e-01 -4.63769307e-02 -5.11217115e-02 2.79849943e+02] [ 4.63096678e-02 9.98924003e-01 -2.50008407e-03 1.74762979e+01] [ 5.11826509e-02 1.26691973e-04 9.98689301e-01 1.02343550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76509989299996 meters 0.011695582510598976 Centerline is valid? [True, True] Translation: X:279.91, Y:17.47, Z:10.24 [[ 9.97085603e-01 -5.79533088e-02 -4.96156638e-02 2.79909659e+02] [ 5.79036585e-02 9.98319197e-01 -2.43867424e-03 1.74655808e+01] [ 4.96735989e-02 -4.41361478e-04 9.98765407e-01 1.02375974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82509989299996 meters 0.013327354370003743 Centerline is valid? [True, True] Translation: X:279.97, Y:17.46, Z:10.24 [[ 9.96431063e-01 -6.92019621e-02 -4.83345061e-02 2.79969594e+02] [ 6.91675910e-02 9.97602203e-01 -2.38532546e-03 1.74558364e+01] [ 4.83836789e-02 -9.66368967e-04 9.98828357e-01 1.02413080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88509989299996 meters 0.01535970699926471 Centerline is valid? [True, True] Translation: X:280.03, Y:17.45, Z:10.24 [[ 9.96003340e-01 -7.56477367e-02 -4.74843879e-02 2.80028574e+02] [ 7.56217875e-02 9.97133815e-01 -2.34526166e-03 1.74496072e+01] [ 4.75257026e-02 -1.25496585e-03 9.98869227e-01 1.02434918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94509989299996 meters 0.018614786199964664 Centerline is valid? [True, True] Translation: X:280.09, Y:17.44, Z:10.24 [[ 9.95364331e-01 -8.40513300e-02 -4.67463533e-02 2.80088214e+02] [ 8.40353233e-02 9.96460096e-01 -2.31104592e-03 1.74394701e+01] [ 4.67751222e-02 -1.62801224e-03 9.98904118e-01 1.02449646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00509989299997 meters 0.020298958573067582 Centerline is valid? [True, True] Translation: X:280.15, Y:17.43, Z:10.25 [[ 9.94759642e-01 -9.06459045e-02 -4.72924293e-02 2.80148557e+02] [ 9.06369039e-02 9.95881258e-01 -2.33913411e-03 1.74344731e+01] [ 4.73096769e-02 -1.95956315e-03 9.98878348e-01 1.02465182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06509989299997 meters 0.022291815522941977 Centerline is valid? [True, True] Translation: X:280.21, Y:17.43, Z:10.25 [[ 9.94549984e-01 -9.26206912e-02 -4.78720900e-02 2.80206786e+02] [ 9.26137020e-02 9.95699297e-01 -2.36883941e-03 1.74328797e+01] [ 4.78856099e-02 -2.07768228e-03 9.98850665e-01 1.02476513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12509989299997 meters 0.025361015311050138 Centerline is valid? [True, True] Translation: X:280.27, Y:17.43, Z:10.25 [[ 9.94185390e-01 -9.60053408e-02 -4.87686905e-02 2.80266467e+02] [ 9.60020081e-02 9.95378208e-01 -2.41610412e-03 1.74286969e+01] [ 4.87752506e-02 -2.27983681e-03 9.98807177e-01 1.02480860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.185099893 meters 0.026548717389180517 Centerline is valid? [True, True] Translation: X:280.33, Y:17.43, Z:10.25 [[ 9.93702376e-01 -1.00360520e-01 -4.98332705e-02 2.80327070e+02] [ 1.00362456e-01 9.94947877e-01 -2.46972533e-03 1.74273060e+01] [ 4.98293696e-02 -2.54721751e-03 9.98754497e-01 1.02492140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.245099893 meters 0.02682117931277024 Centerline is valid? [True, True] Translation: X:280.39, Y:17.43, Z:10.25 [[ 9.93427800e-01 -1.02770840e-01 -5.03920756e-02 2.80386803e+02] [ 1.02775856e-01 9.94701403e-01 -2.49853719e-03 1.74296893e+01] [ 5.03818451e-02 -2.69697241e-03 9.98726387e-01 1.02512545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.305099893 meters 0.0260988637303269 Centerline is valid? [True, True] Translation: X:280.45, Y:17.43, Z:10.25 [[ 9.93294724e-01 -1.04074669e-01 -5.03393906e-02 2.80445289e+02] [ 1.04081111e-01 9.94565669e-01 -2.50051971e-03 1.74330014e+01] [ 5.03260704e-02 -2.75562665e-03 9.98729039e-01 1.02529193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.365099893 meters 0.024240448747973823 Centerline is valid? [True, True] Translation: X:280.50, Y:17.44, Z:10.26 [[ 9.93483021e-01 -1.03108799e-01 -4.85804666e-02 2.80504258e+02] [ 1.03113182e-01 9.94666679e-01 -2.42259171e-03 1.74395486e+01] [ 4.85711619e-02 -2.60248277e-03 9.98816334e-01 1.02565878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.425099893 meters 0.023669093581572844 Centerline is valid? [True, True] Translation: X:280.56, Y:17.44, Z:10.26 [[ 9.93695790e-01 -1.01087175e-01 -4.84774086e-02 2.80563490e+02] [ 1.01089055e-01 9.94874439e-01 -2.41922323e-03 1.74449837e+01] [ 4.84734871e-02 -2.49656349e-03 9.98821350e-01 1.02589265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.485099893 meters 0.02362186322851848 Centerline is valid? [True, True] Translation: X:280.62, Y:17.45, Z:10.26 [[ 9.93876892e-01 -9.99548557e-02 -4.70930004e-02 2.80623131e+02] [ 9.99552800e-02 9.94989151e-01 -2.35181527e-03 1.74481737e+01] [ 4.70920998e-02 -2.36977919e-03 9.98887741e-01 1.02610564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.545099893 meters 0.02285972994920576 Centerline is valid? [True, True] Translation: X:280.68, Y:17.45, Z:10.26 [[ 9.94161831e-01 -9.75966902e-02 -4.60123792e-02 2.80683202e+02] [ 9.75945055e-02 9.95223606e-01 -2.29933064e-03 1.74531977e+01] [ 4.60170130e-02 -2.20464863e-03 9.98938223e-01 1.02635371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.605099893 meters 0.022226487197472944 Centerline is valid? [True, True] Translation: X:280.74, Y:17.46, Z:10.27 [[ 9.94519027e-01 -9.41613730e-02 -4.54482218e-02 2.80742794e+02] [ 9.41556131e-02 9.95554899e-01 -2.27220089e-03 1.74591334e+01] [ 4.54601534e-02 -2.01945817e-03 9.98964112e-01 1.02661259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.665099893 meters 0.017982031710337687 Centerline is valid? [True, True] Translation: X:280.80, Y:17.47, Z:10.27 [[ 9.95371973e-01 -8.54864682e-02 -4.38941865e-02 2.80803067e+02] [ 8.54725971e-02 9.96338101e-01 -2.19614120e-03 1.74715251e+01] [ 4.39211908e-02 -1.56577272e-03 9.99033772e-01 1.02686212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.725099893 meters 0.015983929546306883 Centerline is valid? [True, True] Translation: X:280.86, Y:17.48, Z:10.27 [[ 9.96392482e-01 -7.35152879e-02 -4.23972293e-02 2.80862219e+02] [ 7.34915309e-02 9.97293586e-01 -2.12080499e-03 1.74824376e+01] [ 4.24383965e-02 -1.00268314e-03 9.99098582e-01 1.02708091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.785099893 meters 0.014073172677994851 Centerline is valid? [True, True] Translation: X:280.92, Y:17.49, Z:10.27 [[ 9.96962067e-01 -6.51210631e-02 -4.27303539e-02 2.80921272e+02] [ 6.50891807e-02 9.97877160e-01 -2.13846417e-03 1.74935295e+01] [ 4.27789032e-02 -6.49316066e-04 9.99084353e-01 1.02730582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.845099893 meters 0.013024614312266918 Centerline is valid? [True, True] Translation: X:280.98, Y:17.51, Z:10.28 [[ 9.97662514e-01 -5.40193786e-02 -4.18499060e-02 2.80978876e+02] [ 5.39789593e-02 9.98539873e-01 -2.09604156e-03 1.75055310e+01] [ 4.19020267e-02 -1.67872280e-04 9.99121710e-01 1.02756284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.905099893 meters 0.0130556078270837 Centerline is valid? [True, True] Translation: X:281.04, Y:17.51, Z:10.28 [[ 9.98015084e-01 -4.75991717e-02 -4.12336104e-02 2.81036181e+02] [ 4.75543017e-02 9.98866512e-01 -2.06890008e-03 1.75137498e+01] [ 4.12853505e-02 1.03957940e-04 9.99147391e-01 1.02782824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.965099893 meters 0.013570885416961947 Centerline is valid? [True, True] Translation: X:281.09, Y:17.52, Z:10.28 [[ 9.98331035e-01 -4.09223057e-02 -4.07493462e-02 2.81094202e+02] [ 4.08724579e-02 9.99162257e-01 -2.05598739e-03 1.75216443e+01] [ 4.07993445e-02 3.87030078e-04 9.99167285e-01 1.02807345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.025099893 meters 0.013804985162133214 Centerline is valid? [True, True] Translation: X:281.15, Y:17.52, Z:10.28 [[ 9.98389576e-01 -4.04935100e-02 -3.97307244e-02 2.81152469e+02] [ 4.04453837e-02 9.99179720e-01 -2.01467393e-03 1.75243447e+01] [ 3.97797153e-02 4.04505060e-04 9.99208392e-01 1.02824722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.085099893 meters 0.013489073690179166 Centerline is valid? [True, True] Translation: X:281.21, Y:17.52, Z:10.28 [[ 9.98180595e-01 -4.53636306e-02 -3.97195355e-02 2.81211127e+02] [ 4.53189263e-02 9.98970516e-01 -2.02562167e-03 1.75227622e+01] [ 3.97705344e-02 2.21889549e-04 9.99208815e-01 1.02834232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14509989299995 meters 0.013517280476017444 Centerline is valid? [True, True] Translation: X:281.27, Y:17.52, Z:10.29 [[ 9.97951631e-01 -5.04860388e-02 -3.92899732e-02 2.81268999e+02] [ 5.04458863e-02 9.98724766e-01 -2.01330835e-03 1.75217001e+01] [ 3.93415133e-02 2.71668271e-05 9.99225823e-01 1.02853534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20509989299995 meters 0.014047019885498883 Centerline is valid? [True, True] Translation: X:281.33, Y:17.52, Z:10.29 [[ 9.97456898e-01 -6.00515970e-02 -3.83867544e-02 2.81328299e+02] [ 6.00201476e-02 9.98195218e-01 -1.97221086e-03 1.75159892e+01] [ 3.84359090e-02 -3.36783332e-04 9.99261011e-01 1.02874097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26509989299996 meters 0.015299414081550342 Centerline is valid? [True, True] Translation: X:281.39, Y:17.51, Z:10.29 [[ 9.96873685e-01 -6.96352063e-02 -3.73335637e-02 2.81388573e+02] [ 6.96118318e-02 9.97572293e-01 -1.92719598e-03 1.75093985e+01] [ 3.73771294e-02 -6.77686796e-04 9.99301001e-01 1.02897081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32509989299996 meters 0.016523270955633714 Centerline is valid? [True, True] Translation: X:281.45, Y:17.51, Z:10.29 [[ 9.96491770e-01 -7.46872321e-02 -3.77620038e-02 2.81449448e+02] [ 7.46668889e-02 9.97206624e-01 -1.95069921e-03 1.75066061e+01] [ 3.78022127e-02 -8.75715635e-04 9.99284857e-01 1.02916229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38509989299996 meters 0.016783001154174422 Centerline is valid? [True, True] Translation: X:281.51, Y:17.51, Z:10.29 [[ 9.96170939e-01 -7.69986640e-02 -4.14085358e-02 2.81510314e+02] [ 7.69761978e-02 9.97030636e-01 -2.13907076e-03 1.75054294e+01] [ 4.14502844e-02 -1.05659152e-03 9.99140009e-01 1.02901539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44509989299996 meters 0.01671165531275683 Centerline is valid? [True, True] Translation: X:281.57, Y:17.51, Z:10.29 [[ 9.96317993e-01 -7.58399416e-02 -3.99844901e-02 2.81570246e+02] [ 7.58180572e-02 9.97119529e-01 -2.06560774e-03 1.75074723e+01] [ 4.00259715e-02 -9.73544200e-04 9.99198165e-01 1.02934008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50509989299997 meters 0.015862420952805985 Centerline is valid? [True, True] Translation: X:281.63, Y:17.51, Z:10.30 [[ 9.96662635e-01 -7.08147956e-02 -4.06061244e-02 2.81628516e+02] [ 7.07879934e-02 9.97489174e-01 -2.09928842e-03 1.75111684e+01] [ 4.06528301e-02 -7.82143734e-04 9.99173026e-01 1.02964961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56509989299997 meters 0.014903539466134489 Centerline is valid? [True, True] Translation: X:281.69, Y:17.52, Z:10.30 [[ 9.97135053e-01 -6.32909264e-02 -4.14239629e-02 2.81685817e+02] [ 6.32564421e-02 9.97995003e-01 -2.14398999e-03 1.75173268e+01] [ 4.14766031e-02 -4.82484935e-04 9.99139359e-01 1.02975863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62509989299997 meters 0.01397871670524046 Centerline is valid? [True, True] Translation: X:281.74, Y:17.52, Z:10.30 [[ 9.97554993e-01 -5.47152635e-02 -4.34772926e-02 2.81744553e+02] [ 5.46689113e-02 9.98501990e-01 -2.25529180e-03 1.75248174e+01] [ 4.35355620e-02 -1.27078656e-04 9.99051870e-01 1.02988501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.685099893 meters 0.014232179325704876 Centerline is valid? [True, True] Translation: X:281.80, Y:17.53, Z:10.30 [[ 9.97925924e-01 -4.56270750e-02 -4.54094771e-02 2.81803197e+02] [ 4.55665532e-02 9.98958500e-01 -2.36756142e-03 1.75300883e+01] [ 4.54702080e-02 2.93497560e-04 9.98965652e-01 1.02995804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.745099893 meters 0.014594713300734688 Centerline is valid? [True, True] Translation: X:281.86, Y:17.53, Z:10.30 [[ 9.98177096e-01 -4.01441315e-02 -4.50658833e-02 2.81861335e+02] [ 4.00784737e-02 9.99193748e-01 -2.35989484e-03 1.75347352e+01] [ 4.51242848e-02 5.49421163e-04 9.98981230e-01 1.03020682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.805099893 meters 0.015203120648554417 Centerline is valid? [True, True] Translation: X:281.92, Y:17.54, Z:10.31 [[ 9.98390430e-01 -3.64364035e-02 -4.34619110e-02 2.81919393e+02] [ 3.63716484e-02 9.99335732e-01 -2.28002598e-03 1.75380949e+01] [ 4.35161166e-02 6.95574774e-04 9.99052483e-01 1.03054581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.865099893 meters 0.015057977463724882 Centerline is valid? [True, True] Translation: X:281.98, Y:17.54, Z:10.31 [[ 9.98419465e-01 -3.61149386e-02 -4.30613912e-02 2.81977467e+02] [ 3.60507838e-02 9.99347391e-01 -2.26572764e-03 1.75359397e+01] [ 4.31151156e-02 7.09749669e-04 9.99069859e-01 1.03077258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.925099893 meters 0.014688296808068137 Centerline is valid? [True, True] Translation: X:282.04, Y:17.53, Z:10.31 [[ 9.98235469e-01 -4.03484186e-02 -4.35655190e-02 2.82036591e+02] [ 4.02862268e-02 9.99185522e-01 -2.30492425e-03 1.75335845e+01] [ 4.36230359e-02 5.45766764e-04 9.99047913e-01 1.03093957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.985099893 meters 0.014137457916277858 Centerline is valid? [True, True] Translation: X:282.10, Y:17.53, Z:10.31 [[ 9.97957173e-01 -4.75985730e-02 -4.26128708e-02 2.82095033e+02] [ 4.75452231e-02 9.98866518e-01 -2.26514759e-03 1.75294294e+01] [ 4.26723877e-02 2.34481837e-04 9.99089091e-01 1.03117166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.045099893 meters 0.014363663224731852 Centerline is valid? [True, True] Translation: X:282.15, Y:17.52, Z:10.32 [[ 9.97285603e-01 -6.13703432e-02 -4.06830187e-02 2.82154084e+02] [ 6.13327900e-02 9.98115010e-01 -2.17172243e-03 1.75185474e+01] [ 4.07396109e-02 -3.29375525e-04 9.99169743e-01 1.03156093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.105099893 meters 0.015447384779035424 Centerline is valid? [True, True] Translation: X:282.21, Y:17.51, Z:10.32 [[ 9.96659013e-01 -7.12298526e-02 -3.99639706e-02 2.82213674e+02] [ 7.12014196e-02 9.97459671e-01 -2.13614277e-03 1.75128716e+01] [ 4.00146061e-02 -7.16485493e-04 9.99198838e-01 1.03182600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.165099893 meters 0.019006724930843946 Centerline is valid? [True, True] Translation: X:282.27, Y:17.50, Z:10.32 [[ 9.95516926e-01 -8.56256428e-02 -4.01783399e-02 2.82274596e+02] [ 8.56085189e-02 9.96326533e-01 -2.14967180e-03 1.75028096e+01] [ 4.02148131e-02 -1.29957351e-03 9.99190212e-01 1.03196891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.225099893 meters 0.023798151623078426 Centerline is valid? [True, True] Translation: X:282.34, Y:17.49, Z:10.32 [[ 9.94001673e-01 -1.01384220e-01 -4.10111391e-02 2.82336152e+02] [ 1.01379746e-01 9.94845381e-01 -2.19418496e-03 1.74924788e+01] [ 4.10221980e-02 -1.97667534e-03 9.99156280e-01 1.03202085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.285099893 meters 0.026601726365359124 Centerline is valid? [True, True] Translation: X:282.40, Y:17.49, Z:10.32 [[ 9.93211076e-01 -1.08877803e-01 -4.09558543e-02 2.82396470e+02] [ 1.08879687e-01 9.94052520e-01 -2.19121785e-03 1.74918945e+01] [ 4.09508451e-02 -2.28291877e-03 9.99158554e-01 1.03222369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.345099893 meters 0.028420334286749782 Centerline is valid? [True, True] Translation: X:282.46, Y:17.49, Z:10.32 [[ 9.93065565e-01 -1.10005167e-01 -4.14686174e-02 2.82455399e+02] [ 1.10008055e-01 9.93928218e-01 -2.21922668e-03 1.74938616e+01] [ 4.14609554e-02 -2.35804435e-03 9.99137342e-01 1.03238724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.405099893 meters 0.030271243880005953 Centerline is valid? [True, True] Translation: X:282.51, Y:17.50, Z:10.32 [[ 9.93048834e-01 -1.10045072e-01 -4.17623759e-02 2.82513866e+02] [ 1.10047939e-01 9.93923762e-01 -2.23728146e-03 1.74950679e+01] [ 4.17548195e-02 -2.37413366e-03 9.99125067e-01 1.03249674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.465099893 meters 0.02797016856006087 Centerline is valid? [True, True] Translation: X:282.57, Y:17.50, Z:10.33 [[ 9.93061939e-01 -1.09476962e-01 -4.29276075e-02 2.82572962e+02] [ 1.09479346e-01 9.93986404e-01 -2.30248461e-03 1.75031108e+01] [ 4.29215272e-02 -2.41317657e-03 9.99075532e-01 1.03260079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.525099893 meters 0.026439293304902745 Centerline is valid? [True, True] Translation: X:282.63, Y:17.51, Z:10.33 [[ 9.93260440e-01 -1.07649366e-01 -4.29570995e-02 2.82632463e+02] [ 1.07649983e-01 9.94186182e-01 -2.30561718e-03 1.75110712e+01] [ 4.29555529e-02 -2.33425270e-03 9.99074257e-01 1.03277798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.585099893 meters 0.024129629859146136 Centerline is valid? [True, True] Translation: X:282.69, Y:17.52, Z:10.33 [[ 9.93810241e-01 -1.02673348e-01 -4.24191899e-02 2.82692581e+02] [ 1.02669370e-01 9.94712929e-01 -2.27810695e-03 1.75236940e+01] [ 4.24288175e-02 -2.09114549e-03 9.99097304e-01 1.03303880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64509989299995 meters 0.022286258119734628 Centerline is valid? [True, True] Translation: X:282.75, Y:17.54, Z:10.33 [[ 9.94477212e-01 -9.59215617e-02 -4.25925797e-02 2.82752005e+02] [ 9.59113638e-02 9.95387250e-01 -2.28757709e-03 1.75367922e+01] [ 4.26155388e-02 -1.81016912e-03 9.99089905e-01 1.03325668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70509989299995 meters 0.019731531538570272 Centerline is valid? [True, True] Translation: X:282.81, Y:17.55, Z:10.34 [[ 9.95317638e-01 -8.74237861e-02 -4.12296166e-02 2.82811321e+02] [ 8.74069406e-02 9.96170228e-01 -2.21450735e-03 1.75513148e+01] [ 4.12653172e-02 -1.39961643e-03 9.99147244e-01 1.03360291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76509989299996 meters 0.016713766723592354 Centerline is valid? [True, True] Translation: X:282.87, Y:17.57, Z:10.34 [[ 9.96293028e-01 -7.63185487e-02 -3.96948474e-02 2.82871276e+02] [ 7.62941162e-02 9.97083077e-01 -2.13219821e-03 1.75679779e+01] [ 3.97417869e-02 -9.04189087e-04 9.99209574e-01 1.03394869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82509989299996 meters 0.015491299783743492 Centerline is valid? [True, True] Translation: X:282.93, Y:17.58, Z:10.34 [[ 9.96895040e-01 -6.84130203e-02 -3.89863777e-02 2.82929716e+02] [ 6.83833923e-02 9.97656917e-01 -2.09453535e-03 1.75791314e+01] [ 3.90383229e-02 -5.77988863e-04 9.99237547e-01 1.03416935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88509989299996 meters 0.01442493861160001 Centerline is valid? [True, True] Translation: X:282.99, Y:17.59, Z:10.34 [[ 9.97502884e-01 -5.87274980e-02 -3.92310731e-02 2.82987480e+02] [ 5.86899471e-02 9.98274031e-01 -2.10916191e-03 1.75925861e+01] [ 3.92872273e-02 -1.98574513e-04 9.99227939e-01 1.03428163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94509989299996 meters 0.014220066342248512 Centerline is valid? [True, True] Translation: X:283.05, Y:17.60, Z:10.34 [[ 9.97649402e-01 -5.55926142e-02 -4.00640876e-02 2.83045107e+02] [ 5.55507858e-02 9.98453532e-01 -2.15738676e-03 1.76009894e+01] [ 4.01220645e-02 -7.32759405e-05 9.99194783e-01 1.03441930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00509989299997 meters 0.01420924027456566 Centerline is valid? [True, True] Translation: X:283.10, Y:17.61, Z:10.35 [[ 9.97682748e-01 -5.57608056e-02 -3.89854810e-02 2.83102744e+02] [ 5.57209151e-02 9.98444154e-01 -2.10988107e-03 1.76068765e+01] [ 3.90424743e-02 -6.73147352e-05 9.99237550e-01 1.03468626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06509989299997 meters 0.014421303184279732 Centerline is valid? [True, True] Translation: X:283.16, Y:17.61, Z:10.35 [[ 9.97534424e-01 -5.91251860e-02 -3.78058774e-02 2.83160539e+02] [ 5.90897041e-02 9.98250559e-01 -2.05618839e-03 1.76082879e+01] [ 3.78613108e-02 -1.82819404e-04 9.99282987e-01 1.03492869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12509989299997 meters 0.015371993851627639 Centerline is valid? [True, True] Translation: X:283.22, Y:17.61, Z:10.35 [[ 9.97087155e-01 -6.79228660e-02 -3.46942226e-02 2.83219373e+02] [ 6.78981709e-02 9.97690465e-01 -1.89085452e-03 1.76072141e+01] [ 3.47425273e-02 -4.70327500e-04 9.99396186e-01 1.03535411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.185099893 meters 0.01750177000401974 Centerline is valid? [True, True] Translation: X:283.28, Y:17.60, Z:10.36 [[ 9.96176472e-01 -8.00882239e-02 -3.49043274e-02 2.83280435e+02] [ 8.00703565e-02 9.96787381e-01 -1.91167241e-03 1.76025454e+01] [ 3.49452955e-02 -8.90438854e-04 9.99388830e-01 1.03553956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.245099893 meters 0.021629091722397777 Centerline is valid? [True, True] Translation: X:283.34, Y:17.60, Z:10.35 [[ 9.95071239e-01 -9.17331398e-02 -3.76597871e-02 2.83341005e+02] [ 9.17206599e-02 9.95782640e-01 -2.06261109e-03 1.75950492e+01] [ 3.76901720e-02 -1.40173554e-03 9.99288490e-01 1.03542523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.305099893 meters 0.025151805656359345 Centerline is valid? [True, True] Translation: X:283.40, Y:17.59, Z:10.36 [[ 9.94379718e-01 -9.99172672e-02 -3.50073799e-02 2.83401356e+02] [ 9.99115497e-02 9.94994476e-01 -1.91703396e-03 1.75915038e+01] [ 3.50236945e-02 -1.59138189e-03 9.99385215e-01 1.03589648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.365099893 meters 0.024513797442602965 Centerline is valid? [True, True] Translation: X:283.46, Y:17.59, Z:10.36 [[ 9.94078192e-01 -1.03081700e-01 -3.43905633e-02 2.83462616e+02] [ 1.03078070e-01 9.94671486e-01 -1.88325909e-03 1.75948863e+01] [ 3.44014422e-02 -1.67280611e-03 9.99406695e-01 1.03614082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.425099893 meters 0.024033281502143067 Centerline is valid? [True, True] Translation: X:283.52, Y:17.60, Z:10.36 [[ 9.93865065e-01 -1.05075688e-01 -3.45156900e-02 2.83524151e+02] [ 1.05073268e-01 9.94462689e-01 -1.88901654e-03 1.75988366e+01] [ 3.45230556e-02 -1.74924879e-03 9.99402371e-01 1.03624245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.485099893 meters 0.025832156099385797 Centerline is valid? [True, True] Translation: X:283.59, Y:17.60, Z:10.36 [[ 9.93845218e-01 -1.05285495e-01 -3.44477534e-02 2.83585074e+02] [ 1.05283330e-01 9.94440485e-01 -1.88182235e-03 1.76003122e+01] [ 3.44543692e-02 -1.75653405e-03 9.99404728e-01 1.03645249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.545099893 meters 0.025154590959107877 Centerline is valid? [True, True] Translation: X:283.65, Y:17.61, Z:10.37 [[ 9.93850131e-01 -1.05124070e-01 -3.47972336e-02 2.83647332e+02] [ 1.05121829e-01 9.94457538e-01 -1.89902012e-03 1.76064842e+01] [ 3.48040039e-02 -1.77060742e-03 9.99392589e-01 1.03675654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.605099893 meters 0.026835827452239586 Centerline is valid? [True, True] Translation: X:283.71, Y:17.61, Z:10.37 [[ 9.93938894e-01 -1.04100684e-01 -3.53344475e-02 2.83708355e+02] [ 1.04097818e-01 9.94565199e-01 -1.92582060e-03 1.76093512e+01] [ 3.53428910e-02 -1.76409089e-03 9.99373688e-01 1.03699920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.665099893 meters 0.02411435945930221 Centerline is valid? [True, True] Translation: X:283.77, Y:17.62, Z:10.37 [[ 9.94083540e-01 -1.02472561e-01 -3.60179050e-02 2.83768996e+02] [ 1.02468697e-01 9.94734302e-01 -1.95808732e-03 1.76181106e+01] [ 3.60288958e-02 -1.74420541e-03 9.99349226e-01 1.03719934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.725099893 meters 0.023614442307023167 Centerline is valid? [True, True] Translation: X:283.83, Y:17.62, Z:10.37 [[ 9.94416026e-01 -9.85105892e-02 -3.78474831e-02 2.83828854e+02] [ 9.85035162e-02 9.95134579e-01 -2.05611163e-03 1.76243344e+01] [ 3.78658879e-02 -1.68347981e-03 9.99281412e-01 1.03734514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.785099893 meters 0.022485270814442085 Centerline is valid? [True, True] Translation: X:283.89, Y:17.63, Z:10.38 [[ 9.94764751e-01 -9.44482949e-02 -3.90206351e-02 2.83889525e+02] [ 9.44376595e-02 9.95528520e-01 -2.11981274e-03 1.76308683e+01] [ 3.90463678e-02 -1.57630245e-03 9.99236156e-01 1.03756177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.845099893 meters 0.018347438306532203 Centerline is valid? [True, True] Translation: X:283.95, Y:17.64, Z:10.38 [[ 9.95570685e-01 -8.56415967e-02 -3.87882537e-02 2.83949174e+02] [ 8.56244351e-02 9.96325257e-01 -2.10652250e-03 1.76447010e+01] [ 3.88261228e-02 -1.22403026e-03 9.99245232e-01 1.03799683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.905099893 meters 0.0173698078711638 Centerline is valid? [True, True] Translation: X:284.01, Y:17.65, Z:10.38 [[ 9.95858223e-01 -8.21078019e-02 -3.90475103e-02 2.84010281e+02] [ 8.20876994e-02 9.96622854e-01 -2.12053029e-03 1.76513496e+01] [ 3.90897533e-02 -1.09357277e-03 9.99235105e-01 1.03828579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.965099893 meters 0.01584725695872532 Centerline is valid? [True, True] Translation: X:284.07, Y:17.66, Z:10.39 [[ 9.96369598e-01 -7.51758669e-02 -3.99526275e-02 2.84070846e+02] [ 7.51493101e-02 9.97169935e-01 -2.16822953e-03 1.76601895e+01] [ 4.00025575e-02 -8.42054403e-04 9.99199223e-01 1.03859831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.025099893 meters 0.014669328825835447 Centerline is valid? [True, True] Translation: X:284.13, Y:17.67, Z:10.39 [[ 9.96940458e-01 -6.75010429e-02 -3.94123272e-02 2.84129981e+02] [ 6.74692320e-02 9.97719064e-01 -2.13817117e-03 1.76673246e+01] [ 3.94667590e-02 -5.27490100e-04 9.99220745e-01 1.03887847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.085099893 meters 0.013748900766009244 Centerline is valid? [True, True] Translation: X:284.19, Y:17.67, Z:10.39 [[ 9.97313710e-01 -6.19392145e-02 -3.91011259e-02 2.84189382e+02] [ 6.19036731e-02 9.98079877e-01 -2.12018628e-03 1.76743661e+01] [ 3.91573696e-02 -3.06012472e-04 9.99233009e-01 1.03916242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14509989299995 meters 0.013487951691109966 Centerline is valid? [True, True] Translation: X:284.25, Y:17.68, Z:10.39 [[ 9.97408161e-01 -5.96621086e-02 -4.02168261e-02 2.84247461e+02] [ 5.96225963e-02 9.98218605e-01 -2.18223964e-03 1.76784321e+01] [ 4.02753811e-02 -2.21247959e-04 9.99188593e-01 1.03929718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20509989299995 meters 0.013318343306135393 Centerline is valid? [True, True] Translation: X:284.31, Y:17.68, Z:10.39 [[ 9.97365331e-01 -5.89476023e-02 -4.22797320e-02 2.84305168e+02] [ 5.89031368e-02 9.98261058e-01 -2.29777533e-03 1.76803532e+01] [ 4.23416584e-02 -1.98687384e-04 9.99103170e-01 1.03939274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26509989299996 meters 0.013510481804302298 Centerline is valid? [True, True] Translation: X:284.36, Y:17.68, Z:10.40 [[ 9.97203327e-01 -6.14331023e-02 -4.25617009e-02 2.84363791e+02] [ 6.13897704e-02 9.98111160e-01 -2.32560530e-03 1.76787687e+01] [ 4.26241778e-02 -2.93751701e-04 9.99091134e-01 1.03963593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32509989299996 meters 0.014023536632294118 Centerline is valid? [True, True] Translation: X:284.42, Y:17.68, Z:10.40 [[ 9.97018120e-01 -6.45895263e-02 -4.22263022e-02 2.84421625e+02] [ 6.45492828e-02 9.97911830e-01 -2.31722479e-03 1.76772046e+01] [ 4.22877949e-02 -4.15362413e-04 9.99105385e-01 1.03988354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38509989299996 meters 0.014958197603135189 Centerline is valid? [True, True] Translation: X:284.48, Y:17.67, Z:10.40 [[ 9.96557041e-01 -7.13430291e-02 -4.22402136e-02 2.84481104e+02] [ 7.13086611e-02 9.97451595e-01 -2.32171797e-03 1.76721175e+01] [ 4.22982068e-02 -6.98368680e-04 9.99104786e-01 1.04023303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44509989299996 meters 0.016162289129106822 Centerline is valid? [True, True] Translation: X:284.54, Y:17.67, Z:10.40 [[ 9.96154242e-01 -7.69431328e-02 -4.19103908e-02 2.84540709e+02] [ 7.69141187e-02 9.97035053e-01 -2.30670493e-03 1.76680910e+01] [ 4.19636138e-02 -9.25666873e-04 9.99118711e-01 1.04046563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50509989299997 meters 0.017865547379271214 Centerline is valid? [True, True] Translation: X:284.60, Y:17.66, Z:10.41 [[ 9.95452171e-01 -8.57306848e-02 -4.15358311e-02 2.84601280e+02] [ 8.57096937e-02 9.96317524e-01 -2.28918015e-03 1.76623618e+01] [ 4.15791294e-02 -1.28125402e-03 9.99134393e-01 1.04077391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56509989299997 meters 0.019086997865625663 Centerline is valid? [True, True] Translation: X:284.66, Y:17.66, Z:10.41 [[ 9.95009623e-01 -9.05747764e-02 -4.18576242e-02 2.84661652e+02] [ 9.05577043e-02 9.95888536e-01 -2.30768681e-03 1.76603863e+01] [ 4.18945463e-02 -1.49435977e-03 9.99120921e-01 1.04099663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62509989299997 meters 0.022112494805673462 Centerline is valid? [True, True] Translation: X:284.72, Y:17.65, Z:10.41 [[ 9.94577979e-01 -9.52098878e-02 -4.18296567e-02 2.84721571e+02] [ 9.51968962e-02 9.95455790e-01 -2.30691206e-03 1.76545649e+01] [ 4.18592147e-02 -1.68764955e-03 9.99122094e-01 1.04112044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.685099893 meters 0.0223640101244552 Centerline is valid? [True, True] Translation: X:284.78, Y:17.65, Z:10.41 [[ 9.94449966e-01 -9.64410436e-02 -4.20522421e-02 2.84781537e+02] [ 9.64289762e-02 9.95337164e-01 -2.32003649e-03 1.76543520e+01] [ 4.20799062e-02 -1.74789445e-03 9.99112720e-01 1.04125444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.745099893 meters 0.020171507469059668 Centerline is valid? [True, True] Translation: X:284.84, Y:17.66, Z:10.41 [[ 9.94720711e-01 -9.33327076e-02 -4.26580986e-02 2.84841949e+02] [ 9.33173801e-02 9.95633628e-01 -2.35480823e-03 1.76603618e+01] [ 4.26916181e-02 -1.63836549e-03 9.99086954e-01 1.04143416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.805099893 meters 0.017857500383096643 Centerline is valid? [True, True] Translation: X:284.90, Y:17.67, Z:10.42 [[ 9.95616118e-01 -8.33322025e-02 -4.24769387e-02 2.84900899e+02] [ 8.33079048e-02 9.96521096e-01 -2.34491823e-03 1.76683098e+01] [ 4.25245727e-02 -1.20402638e-03 9.99094696e-01 1.04163646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.865099893 meters 0.014926035937722128 Centerline is valid? [True, True] Translation: X:284.96, Y:17.68, Z:10.42 [[ 9.96617402e-01 -7.04808597e-02 -4.22634963e-02 2.84960598e+02] [ 7.04452158e-02 9.97512919e-01 -2.33393321e-03 1.76794864e+01] [ 4.23228812e-02 -6.51222666e-04 9.99103773e-01 1.04187558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.925099893 meters 0.013837575915134282 Centerline is valid? [True, True] Translation: X:285.02, Y:17.69, Z:10.42 [[ 9.97107198e-01 -6.35489960e-02 -4.16984456e-02 2.85018857e+02] [ 6.35082201e-02 9.97978658e-01 -2.30316399e-03 1.76872591e+01] [ 4.17605225e-02 -3.51692663e-04 9.99127587e-01 1.04214087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.985099893 meters 0.013456896009218873 Centerline is valid? [True, True] Translation: X:285.08, Y:17.69, Z:10.42 [[ 9.97338993e-01 -5.91811740e-02 -4.25737299e-02 2.85076496e+02] [ 5.91345521e-02 9.98247244e-01 -2.35472140e-03 1.76921795e+01] [ 4.26384638e-02 -1.69122978e-04 9.99090553e-01 1.04224030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.045099893 meters 0.01352527482031484 Centerline is valid? [True, True] Translation: X:285.13, Y:17.69, Z:10.42 [[ 9.97221893e-01 -6.07157556e-02 -4.31519770e-02 2.85134979e+02] [ 6.06690842e-02 9.98155069e-01 -2.39155457e-03 1.76931127e+01] [ 4.32175696e-02 -2.33080351e-04 9.99065657e-01 1.04238250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.105099893 meters 0.014041478149322831 Centerline is valid? [True, True] Translation: X:285.19, Y:17.69, Z:10.43 [[ 9.96778973e-01 -6.74796264e-02 -4.33379658e-02 2.85193407e+02] [ 6.74384982e-02 9.97720518e-01 -2.41199173e-03 1.76905662e+01] [ 4.34019380e-02 -5.18424686e-04 9.99057557e-01 1.04257529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.165099893 meters 0.0156775195244974 Centerline is valid? [True, True] Translation: X:285.25, Y:17.69, Z:10.43 [[ 9.96244848e-01 -7.54375533e-02 -4.24897426e-02 2.85252431e+02] [ 7.54050895e-02 9.97150171e-01 -2.36850440e-03 1.76864205e+01] [ 4.25473283e-02 -8.44332540e-04 9.99094096e-01 1.04286673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.225099893 meters 0.016532115437299388 Centerline is valid? [True, True] Translation: X:285.31, Y:17.69, Z:10.43 [[ 9.95881026e-01 -8.02908097e-02 -4.21232523e-02 2.85312383e+02] [ 8.02631116e-02 9.96770939e-01 -2.35109949e-03 1.76857968e+01] [ 4.21760054e-02 -1.03952792e-03 9.99109656e-01 1.04319312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.285099893 meters 0.017656541882280136 Centerline is valid? [True, True] Translation: X:285.37, Y:17.68, Z:10.43 [[ 9.95368931e-01 -8.68531003e-02 -4.11974534e-02 2.85372630e+02] [ 8.68321597e-02 9.96220298e-01 -2.30081000e-03 1.76848855e+01] [ 4.12415718e-02 -1.28710906e-03 9.99148375e-01 1.04346745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.345099893 meters 0.019548058074058995 Centerline is valid? [True, True] Translation: X:285.43, Y:17.68, Z:10.44 [[ 9.94996480e-01 -9.15347395e-02 -4.00424348e-02 2.85432100e+02] [ 9.15187068e-02 9.95800844e-01 -2.23712125e-03 1.76837976e+01] [ 4.00790647e-02 -1.43870408e-03 9.99195476e-01 1.04373790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.405099893 meters 0.020080863236262472 Centerline is valid? [True, True] Translation: X:285.49, Y:17.69, Z:10.44 [[ 9.94482985e-01 -9.69444115e-02 -4.00671263e-02 2.85492432e+02] [ 9.69326556e-02 9.95288421e-01 -2.24057956e-03 1.76851513e+01] [ 4.00955585e-02 -1.65559471e-03 9.99194478e-01 1.04395030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.465099893 meters 0.024207137717012 Centerline is valid? [True, True] Translation: X:285.55, Y:17.68, Z:10.44 [[ 9.93380991e-01 -1.07172879e-01 -4.13301523e-02 2.85552480e+02] [ 1.07169159e-01 9.94238113e-01 -2.31199133e-03 1.76814529e+01] [ 4.13397954e-02 -2.13262945e-03 9.99142869e-01 1.04416217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.525099893 meters 0.028878783629240394 Centerline is valid? [True, True] Translation: X:285.61, Y:17.68, Z:10.44 [[ 9.92310047e-01 -1.16627025e-01 -4.14597070e-02 2.85612571e+02] [ 1.16631469e-01 9.93172552e-01 -2.31986998e-03 1.76786559e+01] [ 4.14472025e-02 -2.53347625e-03 9.99137483e-01 1.04445221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.585099893 meters 0.028438019914656647 Centerline is valid? [True, True] Translation: X:285.67, Y:17.68, Z:10.45 [[ 9.91837554e-01 -1.20156356e-01 -4.26698465e-02 2.85673009e+02] [ 1.20164312e-01 9.92751146e-01 -2.38771841e-03 1.76834594e+01] [ 4.26474386e-02 -2.75916395e-03 9.99086374e-01 1.04465419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64509989299995 meters 0.032599459331297424 Centerline is valid? [True, True] Translation: X:285.73, Y:17.68, Z:10.45 [[ 9.91679590e-01 -1.21109809e-01 -4.36349147e-02 2.85732075e+02] [ 1.21119077e-01 9.92634983e-01 -2.44108530e-03 1.76843693e+01] [ 4.36091822e-02 -2.86424614e-03 9.99044561e-01 1.04473238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70509989299995 meters 0.03004980049765215 Centerline is valid? [True, True] Translation: X:285.79, Y:17.69, Z:10.45 [[ 9.91837976e-01 -1.19641737e-01 -4.40827043e-02 2.85791843e+02] [ 1.19649798e-01 9.92813099e-01 -2.46515317e-03 1.76943930e+01] [ 4.40608214e-02 -2.82945412e-03 9.99024844e-01 1.04497228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76509989299996 meters 0.02959602272663945 Centerline is valid? [True, True] Translation: X:285.85, Y:17.70, Z:10.45 [[ 9.92122025e-01 -1.16950460e-01 -4.49051963e-02 2.85851779e+02] [ 1.16956082e-01 9.93133913e-01 -2.51114783e-03 1.77021442e+01] [ 4.48905533e-02 -2.76057074e-03 9.98988097e-01 1.04517710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82509989299996 meters 0.02808843965411248 Centerline is valid? [True, True] Translation: X:285.91, Y:17.71, Z:10.45 [[ 9.92430417e-01 -1.14369690e-01 -4.47374630e-02 2.85912333e+02] [ 1.14372658e-01 9.93434767e-01 -2.50173521e-03 1.77118717e+01] [ 4.47298738e-02 -2.63394444e-03 9.98995646e-01 1.04548856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88509989299996 meters 0.027958423530337003 Centerline is valid? [True, True] Translation: X:285.97, Y:17.72, Z:10.46 [[ 9.92831076e-01 -1.11063523e-01 -4.41740625e-02 2.85972399e+02] [ 1.11063167e-01 9.93810280e-01 -2.46994512e-03 1.77220297e+01] [ 4.41749582e-02 -2.45387302e-03 9.99020796e-01 1.04588535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94509989299996 meters 0.027503433520360467 Centerline is valid? [True, True] Translation: X:286.03, Y:17.73, Z:10.46 [[ 9.93097563e-01 -1.08646422e-01 -4.41948574e-02 2.86033075e+02] [ 1.08643715e-01 9.94077683e-01 -2.47032040e-03 1.77297613e+01] [ 4.42015130e-02 -2.34822431e-03 9.99019876e-01 1.04614270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00509989299997 meters 0.024968748792872204 Centerline is valid? [True, True] Translation: X:286.09, Y:17.74, Z:10.46 [[ 9.93611073e-01 -1.03703433e-01 -4.45267844e-02 2.86092993e+02] [ 1.03695767e-01 9.94605951e-01 -2.48813752e-03 1.77417091e+01] [ 4.45446331e-02 -2.14499807e-03 9.99005092e-01 1.04635200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06509989299997 meters 0.021014501316082186 Centerline is valid? [True, True] Translation: X:286.15, Y:17.76, Z:10.47 [[ 9.94367202e-01 -9.59322004e-02 -4.50652957e-02 2.86152656e+02] [ 9.59163990e-02 9.95386209e-01 -2.51785741e-03 1.77569541e+01] [ 4.50989175e-02 -1.81882606e-03 9.98980870e-01 1.04671392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12509989299997 meters 0.0179584441753744 Centerline is valid? [True, True] Translation: X:286.21, Y:17.77, Z:10.47 [[ 9.94915132e-01 -8.95918149e-02 -4.60129008e-02 2.86212702e+02] [ 8.95685786e-02 9.95977340e-01 -2.57065360e-03 1.77691241e+01] [ 4.60581161e-02 -1.56372796e-03 9.98937538e-01 1.04698997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.185099893 meters 0.017918056888372686 Centerline is valid? [True, True] Translation: X:286.27, Y:17.78, Z:10.47 [[ 9.95527479e-01 -8.22528741e-02 -4.64704504e-02 2.86271831e+02] [ 8.22212073e-02 9.96610724e-01 -2.59573885e-03 1.77755948e+01] [ 4.65264562e-02 -1.23672718e-03 9.98916292e-01 1.04708468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.245099893 meters 0.014450711947404021 Centerline is valid? [True, True] Translation: X:286.33, Y:17.79, Z:10.47 [[ 9.96400771e-01 -7.05899897e-02 -4.69314028e-02 2.86331461e+02] [ 7.05447074e-02 9.97505171e-01 -2.62252696e-03 1.77913078e+01] [ 4.69994412e-02 -6.97674189e-04 9.98894672e-01 1.04745785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.305099893 meters 0.013560126893032246 Centerline is valid? [True, True] Translation: X:286.39, Y:17.80, Z:10.48 [[ 9.97035915e-01 -6.05970429e-02 -4.74065682e-02 2.86389832e+02] [ 6.05394847e-02 9.98162285e-01 -2.65031290e-03 1.78020573e+01] [ 4.74800496e-02 -2.27512064e-04 9.98872161e-01 1.04764325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.365099893 meters 0.013449360532869964 Centerline is valid? [True, True] Translation: X:286.45, Y:17.81, Z:10.48 [[ 9.97288252e-01 -5.67877197e-02 -4.68112879e-02 2.86447432e+02] [ 5.67272348e-02 9.98386275e-01 -2.62062847e-03 1.78078694e+01] [ 4.68845669e-02 -4.19529318e-05 9.98900313e-01 1.04780767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.425099893 meters 0.013341268135442903 Centerline is valid? [True, True] Translation: X:286.50, Y:17.81, Z:10.48 [[ 9.97340415e-01 -5.64609777e-02 -4.60896426e-02 2.86504924e+02] [ 5.64017261e-02 9.98404806e-01 -2.58606096e-03 1.78112982e+01] [ 4.61621323e-02 -2.03522939e-05 9.98933960e-01 1.04803361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.485099893 meters 0.01331049972699475 Centerline is valid? [True, True] Translation: X:286.56, Y:17.81, Z:10.48 [[ 9.97156812e-01 -5.95507572e-02 -4.61735720e-02 2.86562789e+02] [ 5.94939926e-02 9.98225267e-01 -2.60388181e-03 1.78123452e+01] [ 4.62466894e-02 -1.50571670e-04 9.98930038e-01 1.04821486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.545099893 meters 0.013911864563069226 Centerline is valid? [True, True] Translation: X:286.62, Y:17.81, Z:10.48 [[ 9.96612199e-01 -6.83285828e-02 -4.57747674e-02 2.86622068e+02] [ 6.82814563e-02 9.97662725e-01 -2.59417509e-03 1.78087736e+01] [ 4.58450355e-02 -5.40181241e-04 9.98948418e-01 1.04835176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.605099893 meters 0.015551126177126303 Centerline is valid? [True, True] Translation: X:286.68, Y:17.80, Z:10.49 [[ 9.95915096e-01 -7.89487632e-02 -4.38202458e-02 2.86681602e+02] [ 7.89154287e-02 9.96878198e-01 -2.49277356e-03 1.78028188e+01] [ 4.38802491e-02 -9.75502665e-04 9.99036322e-01 1.04864290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.665099893 meters 0.018354411247083504 Centerline is valid? [True, True] Translation: X:286.74, Y:17.80, Z:10.49 [[ 9.95457417e-01 -8.50840457e-02 -4.27227739e-02 2.86741088e+02] [ 8.50579167e-02 9.96373040e-01 -2.43231224e-03 1.77977192e+01] [ 4.27747710e-02 -1.21264688e-03 9.99084005e-01 1.04882289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.725099893 meters 0.01885017484550791 Centerline is valid? [True, True] Translation: X:286.80, Y:17.80, Z:10.49 [[ 9.94811508e-01 -9.24352648e-02 -4.24945295e-02 2.86801147e+02] [ 9.24160934e-02 9.95717536e-01 -2.41962399e-03 1.77974270e+01] [ 4.25362068e-02 -1.52010862e-03 9.99093770e-01 1.04901423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.785099893 meters 0.019441279285370955 Centerline is valid? [True, True] Translation: X:286.86, Y:17.80, Z:10.49 [[ 9.94410889e-01 -9.63178670e-02 -4.32417897e-02 2.86862335e+02] [ 9.63016382e-02 9.95349149e-01 -2.46310905e-03 1.77986964e+01] [ 4.32779199e-02 -1.71491272e-03 9.99061600e-01 1.04924421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.845099893 meters 0.022666552682517344 Centerline is valid? [True, True] Translation: X:286.92, Y:17.80, Z:10.49 [[ 9.93856758e-01 -1.02076162e-01 -4.27691769e-02 2.86921937e+02] [ 1.02065657e-01 9.94774684e-01 -2.43489369e-03 1.77950601e+01] [ 4.27942391e-02 -1.94532861e-03 9.99082013e-01 1.04933023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.905099893 meters 0.024749778294176353 Centerline is valid? [True, True] Translation: X:286.98, Y:17.80, Z:10.49 [[ 9.93373306e-01 -1.06468702e-01 -4.32884503e-02 2.86983221e+02] [ 1.06462085e-01 9.94313708e-01 -2.46479362e-03 1.77951830e+01] [ 4.33047229e-02 -2.16011847e-03 9.99059575e-01 1.04949400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.965099893 meters 0.026876675131605077 Centerline is valid? [True, True] Translation: X:287.04, Y:17.80, Z:10.50 [[ 9.92717473e-01 -1.11970457e-01 -4.44368676e-02 2.87043672e+02] [ 1.11969023e-01 9.93708479e-01 -2.52912853e-03 1.77969854e+01] [ 4.44404798e-02 -2.46484257e-03 9.99008993e-01 1.04953530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.025099893 meters 0.03036925858917493 Centerline is valid? [True, True] Translation: X:287.10, Y:17.80, Z:10.50 [[ 9.92283284e-01 -1.15331493e-01 -4.55250663e-02 2.87103984e+02] [ 1.15333536e-01 9.93323444e-01 -2.59056987e-03 1.77982049e+01] [ 4.55198900e-02 -2.67998769e-03 9.98959838e-01 1.04957656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.085099893 meters 0.027313147993469997 Centerline is valid? [True, True] Translation: X:287.17, Y:17.81, Z:10.50 [[ 9.92210151e-01 -1.15722030e-01 -4.61240533e-02 2.87165287e+02] [ 1.15724645e-01 9.93277871e-01 -2.62257083e-03 1.78078339e+01] [ 4.61174907e-02 -2.73554831e-03 9.98932277e-01 1.04982269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14509989299995 meters 0.027398374487883407 Centerline is valid? [True, True] Translation: X:287.23, Y:17.82, Z:10.50 [[ 9.92467977e-01 -1.13799532e-01 -4.53539553e-02 2.87226405e+02] [ 1.13800133e-01 9.93500321e-01 -2.57714398e-03 1.78159156e+01] [ 4.53524470e-02 -2.60355328e-03 9.98967656e-01 1.05009402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20509989299995 meters 0.02448134669443656 Centerline is valid? [True, True] Translation: X:287.29, Y:17.83, Z:10.50 [[ 9.92806078e-01 -1.11099846e-01 -4.46420793e-02 2.87287514e+02] [ 1.11097788e-01 9.93806247e-01 -2.53487336e-03 1.78271873e+01] [ 4.46472013e-02 -2.44299858e-03 9.98999829e-01 1.05045158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26509989299996 meters 0.02405248584485848 Centerline is valid? [True, True] Translation: X:287.35, Y:17.84, Z:10.51 [[ 9.93667139e-01 -1.03761852e-01 -4.31172228e-02 2.87346896e+02] [ 1.03753137e-01 9.94600072e-01 -2.44595728e-03 1.78375089e+01] [ 4.31381900e-02 -2.04307973e-03 9.99067026e-01 1.05080841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32509989299996 meters 0.021340937130471502 Centerline is valid? [True, True] Translation: X:287.41, Y:17.85, Z:10.51 [[ 9.94365450e-01 -9.70590328e-02 -4.26250580e-02 2.87406709e+02] [ 9.70443655e-02 9.95277119e-01 -2.41806834e-03 1.78496625e+01] [ 4.26584403e-02 -1.73207810e-03 9.99088213e-01 1.05105897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38509989299996 meters 0.017683166495903676 Centerline is valid? [True, True] Translation: X:287.47, Y:17.87, Z:10.51 [[ 9.95461948e-01 -8.58305800e-02 -4.10928443e-02 2.87466031e+02] [ 8.58073874e-02 9.96309017e-01 -2.33110751e-03 1.78672440e+01] [ 4.11412516e-02 -1.20554079e-03 9.99152613e-01 1.05145521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44509989299996 meters 0.015522113285425847 Centerline is valid? [True, True] Translation: X:287.53, Y:17.88, Z:10.52 [[ 9.96321053e-01 -7.51602594e-02 -4.11739510e-02 2.87526205e+02] [ 7.51278645e-02 9.97171173e-01 -2.33572366e-03 1.78807353e+01] [ 4.12330306e-02 -7.66180350e-04 9.99149263e-01 1.05168855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50509989299997 meters 0.014580817741085886 Centerline is valid? [True, True] Translation: X:287.59, Y:17.89, Z:10.52 [[ 9.96769404e-01 -6.90453454e-02 -4.10304170e-02 2.87587101e+02] [ 6.90080189e-02 9.97613391e-01 -2.32703826e-03 1.78906126e+01] [ 4.10931646e-02 -5.11907243e-04 9.99155188e-01 1.05193720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56509989299997 meters 0.013971297158935464 Centerline is valid? [True, True] Translation: X:287.65, Y:17.90, Z:10.52 [[ 9.97112325e-01 -6.36030883e-02 -4.14928787e-02 2.87646741e+02] [ 6.35602601e-02 9.97975231e-01 -2.35192162e-03 1.78995725e+01] [ 4.15584547e-02 -2.92168133e-04 9.99136032e-01 1.05214409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62509989299997 meters 0.013736716983445295 Centerline is valid? [True, True] Translation: X:287.71, Y:17.91, Z:10.52 [[ 9.97471285e-01 -5.65298947e-02 -4.30744372e-02 2.87706378e+02] [ 5.64771345e-02 9.98400907e-01 -2.44177857e-03 1.79089598e+01] [ 4.31435906e-02 2.88322556e-06 9.99068882e-01 1.05227616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.685099893 meters 0.013685498663028355 Centerline is valid? [True, True] Translation: X:287.76, Y:17.91, Z:10.52 [[ 9.97559782e-01 -5.45880524e-02 -4.35273080e-02 2.87763853e+02] [ 5.45321886e-02 9.98508957e-01 -2.47065649e-03 1.79134919e+01] [ 4.35972753e-02 9.09881796e-05 9.99049183e-01 1.05243781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.745099893 meters 0.013817734471198615 Centerline is valid? [True, True] Translation: X:287.82, Y:17.92, Z:10.53 [[ 9.97777867e-01 -5.01213194e-02 -4.38996686e-02 2.87822427e+02] [ 5.00596114e-02 9.98743091e-01 -2.50455447e-03 1.79204218e+01] [ 4.39700224e-02 3.01388662e-04 9.99032805e-01 1.05270130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.805099893 meters 0.01366806110942136 Centerline is valid? [True, True] Translation: X:287.88, Y:17.92, Z:10.53 [[ 9.97713894e-01 -5.09192149e-02 -4.44321911e-02 2.87879966e+02] [ 5.08562664e-02 9.98702736e-01 -2.54670406e-03 1.79238510e+01] [ 4.45042270e-02 2.81226675e-04 9.99009156e-01 1.05300345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.865099893 meters 0.013307657269741384 Centerline is valid? [True, True] Translation: X:287.94, Y:17.92, Z:10.53 [[ 9.97508788e-01 -5.55949035e-02 -4.34214810e-02 2.87938893e+02] [ 5.55386853e-02 9.98453404e-01 -2.50092918e-03 1.79243316e+01] [ 4.34933645e-02 8.31268691e-05 9.99053712e-01 1.05333790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.925099893 meters 0.013700966914367022 Centerline is valid? [True, True] Translation: X:288.00, Y:17.92, Z:10.54 [[ 9.96849139e-01 -6.69822351e-02 -4.24873463e-02 2.87996975e+02] [ 6.69383153e-02 9.97754090e-01 -2.45713373e-03 1.79180372e+01] [ 4.25565079e-02 -3.94639739e-04 9.99093984e-01 1.05362729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.985099893 meters 0.01470700086420414 Centerline is valid? [True, True] Translation: X:288.06, Y:17.92, Z:10.54 [[ 9.96313827e-01 -7.47664444e-02 -4.20563548e-02 2.88056819e+02] [ 7.47301191e-02 9.97200816e-01 -2.43740830e-03 1.79153503e+01] [ 4.21208677e-02 -7.14452807e-04 9.99112267e-01 1.05392874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.045099893 meters 0.016694291058940564 Centerline is valid? [True, True] Translation: X:288.12, Y:17.91, Z:10.54 [[ 9.95639639e-01 -8.29601605e-02 -4.26535017e-02 2.88117845e+02] [ 8.29302496e-02 9.96552285e-01 -2.47327230e-03 1.79096210e+01] [ 4.27116277e-02 -1.07477761e-03 9.99086864e-01 1.05410048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.105099893 meters 0.01723285838211336 Centerline is valid? [True, True] Translation: X:288.18, Y:17.91, Z:10.54 [[ 9.95429389e-01 -8.56253635e-02 -4.22921776e-02 2.88179597e+02] [ 8.55983949e-02 9.96326706e-01 -2.45148006e-03 1.79093134e+01] [ 4.23467349e-02 -1.17986722e-03 9.99102278e-01 1.05428650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.165099893 meters 0.017707920765175834 Centerline is valid? [True, True] Translation: X:288.24, Y:17.91, Z:10.55 [[ 9.95548967e-01 -8.42333463e-02 -4.22728989e-02 2.88240127e+02] [ 8.42052093e-02 9.96445425e-01 -2.44893254e-03 1.79090705e+01] [ 4.23289185e-02 -1.12156604e-03 9.99103100e-01 1.05454736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.225099893 meters 0.016113750338280355 Centerline is valid? [True, True] Translation: X:288.30, Y:17.91, Z:10.55 [[ 9.95882035e-01 -8.04876793e-02 -4.17217677e-02 2.88301430e+02] [ 8.04570202e-02 9.96755150e-01 -2.41619203e-03 1.79147719e+01] [ 4.17808605e-02 -9.50566870e-04 9.99126346e-01 1.05484933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.285099893 meters 0.014187943338649164 Centerline is valid? [True, True] Translation: X:288.36, Y:17.92, Z:10.55 [[ 9.96501065e-01 -7.22964775e-02 -4.19386165e-02 2.88361715e+02] [ 7.22583026e-02 9.97382998e-01 -2.42740501e-03 1.79222318e+01] [ 4.20043559e-02 -6.11501565e-04 9.99117240e-01 1.05507724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.345099893 meters 0.013435043776230659 Centerline is valid? [True, True] Translation: X:288.42, Y:17.93, Z:10.55 [[ 9.96879881e-01 -6.61864299e-02 -4.30099924e-02 2.88422389e+02] [ 6.61405927e-02 9.97807208e-01 -2.48943527e-03 1.79289333e+01] [ 4.30804473e-02 -3.63038454e-04 9.99071541e-01 1.05520718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.405099893 meters 0.013269718511514676 Centerline is valid? [True, True] Translation: X:288.48, Y:17.93, Z:10.55 [[ 9.96871230e-01 -6.56625448e-02 -4.40020629e-02 2.88481613e+02] [ 6.56140418e-02 9.97841826e-01 -2.54722336e-03 1.79325161e+01] [ 4.40743560e-02 -3.47899512e-04 9.99028193e-01 1.05535336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.465099893 meters 0.013666998152347518 Centerline is valid? [True, True] Translation: X:288.54, Y:17.93, Z:10.56 [[ 9.96497286e-01 -7.02973586e-02 -4.52928314e-02 2.88540091e+02] [ 7.02506374e-02 9.97525920e-01 -2.62442619e-03 1.79324668e+01] [ 4.53652635e-02 -5.66616697e-04 9.98970306e-01 1.05550626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.525099893 meters 0.014558869793426358 Centerline is valid? [True, True] Translation: X:288.60, Y:17.93, Z:10.56 [[ 9.96055394e-01 -7.56480601e-02 -4.63791209e-02 2.88599565e+02] [ 7.56046026e-02 9.97134240e-01 -2.69299246e-03 1.79318810e+01] [ 4.64499291e-02 -8.24105339e-04 9.98920280e-01 1.05568519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.585099893 meters 0.016020148647428904 Centerline is valid? [True, True] Translation: X:288.66, Y:17.93, Z:10.56 [[ 9.95458194e-01 -8.35967849e-02 -4.55473519e-02 2.88659999e+02] [ 8.35631186e-02 9.96498973e-01 -2.64601802e-03 1.79312309e+01] [ 4.56090880e-02 -1.17207845e-03 9.98958676e-01 1.05610757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64509989299995 meters 0.019136756818344584 Centerline is valid? [True, True] Translation: X:288.72, Y:17.93, Z:10.56 [[ 9.95025099e-01 -8.87804328e-02 -4.52005305e-02 2.88719616e+02] [ 8.87526096e-02 9.96050239e-01 -2.62601371e-03 1.79281255e+01] [ 4.52551379e-02 -1.39871549e-03 9.98974482e-01 1.05629812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70509989299995 meters 0.01927094395052753 Centerline is valid? [True, True] Translation: X:288.78, Y:17.93, Z:10.57 [[ 9.94335356e-01 -9.65088333e-02 -4.45336442e-02 2.88780388e+02] [ 9.64895284e-02 9.95330635e-01 -2.58790296e-03 1.79303064e+01] [ 4.45754558e-02 -1.72378692e-03 9.99004533e-01 1.05664733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76509989299996 meters 0.022521696213864795 Centerline is valid? [True, True] Translation: X:288.84, Y:17.93, Z:10.57 [[ 9.93865344e-01 -1.01672592e-01 -4.35242693e-02 2.88840496e+02] [ 1.01659095e-01 9.94816079e-01 -2.52909774e-03 1.79280700e+01] [ 4.35557828e-02 -1.91105524e-03 9.99049169e-01 1.05687950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82509989299996 meters 0.022918052485431828 Centerline is valid? [True, True] Translation: X:288.90, Y:17.93, Z:10.57 [[ 9.93290594e-01 -1.07525256e-01 -4.25689421e-02 2.88900863e+02] [ 1.07517703e-01 9.94200093e-01 -2.47354402e-03 1.79308330e+01] [ 4.25880146e-02 -2.11996686e-03 9.99090470e-01 1.05717285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88509989299996 meters 0.02431631766629605 Centerline is valid? [True, True] Translation: X:288.96, Y:17.93, Z:10.57 [[ 9.93101404e-01 -1.09475517e-01 -4.20084928e-02 2.88962828e+02] [ 1.09469927e-01 9.93987112e-01 -2.44033990e-03 1.79331215e+01] [ 4.20230579e-02 -2.17516167e-03 9.99114273e-01 1.05739474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94509989299996 meters 0.02359698133596135 Centerline is valid? [True, True] Translation: X:289.02, Y:17.94, Z:10.58 [[ 9.93238036e-01 -1.07992038e-01 -4.26136503e-02 2.89024820e+02] [ 1.07985061e-01 9.94149443e-01 -2.47232646e-03 1.79401249e+01] [ 4.26313282e-02 -2.14602894e-03 9.99088567e-01 1.05752250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00509989299997 meters 0.02341846272622603 Centerline is valid? [True, True] Translation: X:289.08, Y:17.95, Z:10.58 [[ 9.93602727e-01 -1.04199463e-01 -4.35441503e-02 2.89084347e+02] [ 1.04188668e-01 9.94554349e-01 -2.52351070e-03 1.79464847e+01] [ 4.35699726e-02 -2.02943990e-03 9.99048317e-01 1.05764477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06509989299997 meters 0.019726952189268586 Centerline is valid? [True, True] Translation: X:289.14, Y:17.96, Z:10.58 [[ 9.94427696e-01 -9.53623133e-02 -4.49398140e-02 2.89143870e+02] [ 9.53418066e-02 9.95441187e-01 -2.60439982e-03 1.79604121e+01] [ 4.49833033e-02 -1.69475574e-03 9.98986301e-01 1.05779708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12509989299997 meters 0.016869130412064497 Centerline is valid? [True, True] Translation: X:289.20, Y:17.98, Z:10.58 [[ 9.95201407e-01 -8.61970628e-02 -4.63057842e-02 2.89203563e+02] [ 8.61653786e-02 9.96277233e-01 -2.68358010e-03 1.79754770e+01] [ 4.63647153e-02 -1.31925274e-03 9.98923707e-01 1.05800944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.185099893 meters 0.01572130320565979 Centerline is valid? [True, True] Translation: X:289.26, Y:17.99, Z:10.58 [[ 9.95640903e-01 -8.05188304e-02 -4.70734491e-02 2.89263858e+02] [ 8.04797504e-02 9.96752511e-01 -2.72797116e-03 1.79850068e+01] [ 4.71402316e-02 -1.07237976e-03 9.98887706e-01 1.05819688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.245099893 meters 0.014772386443346944 Centerline is valid? [True, True] Translation: X:289.32, Y:17.99, Z:10.58 [[ 9.95986448e-01 -7.63707702e-02 -4.66744045e-02 2.89324129e+02] [ 7.63278053e-02 9.97079110e-01 -2.70468961e-03 1.79937242e+01] [ 4.67446329e-02 -8.68720658e-04 9.98906494e-01 1.05842500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.305099893 meters 0.014018056725174312 Centerline is valid? [True, True] Translation: X:289.38, Y:18.00, Z:10.59 [[ 9.96366290e-01 -7.22597916e-02 -4.50858999e-02 2.89384017e+02] [ 7.22154948e-02 9.97385631e-01 -2.61263891e-03 1.80027648e+01] [ 4.51568174e-02 -6.52755234e-04 9.98979697e-01 1.05879732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.365099893 meters 0.013835458316932479 Centerline is valid? [True, True] Translation: X:289.44, Y:18.01, Z:10.59 [[ 9.96642297e-01 -6.95292333e-02 -4.32413763e-02 2.89444268e+02] [ 6.94859185e-02 9.97579785e-01 -2.50575241e-03 1.80100885e+01] [ 4.33109460e-02 -5.07327915e-04 9.99061512e-01 1.05922220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.425099893 meters 0.013847058783462174 Centerline is valid? [True, True] Translation: X:289.51, Y:18.01, Z:10.59 [[ 9.96688059e-01 -6.88153093e-02 -4.33285879e-02 2.89505049e+02] [ 6.87711453e-02 9.97629303e-01 -2.51080614e-03 1.80145777e+01] [ 4.33986508e-02 -4.77266110e-04 9.99057721e-01 1.05944159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.485099893 meters 0.014029909177383029 Centerline is valid? [True, True] Translation: X:289.56, Y:18.02, Z:10.60 [[ 9.96652992e-01 -6.98303734e-02 -4.25033182e-02 2.89564241e+02] [ 6.97887947e-02 9.97558749e-01 -2.46307483e-03 1.80174532e+01] [ 4.25715543e-02 -5.11424443e-04 9.99093290e-01 1.05964707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.545099893 meters 0.013846255416980556 Centerline is valid? [True, True] Translation: X:289.63, Y:18.02, Z:10.60 [[ 9.96616251e-01 -7.03582645e-02 -4.24942687e-02 2.89625578e+02] [ 7.03171637e-02 9.97521644e-01 -2.46300530e-03 1.80219217e+01] [ 4.25622456e-02 -5.33405346e-04 9.99093675e-01 1.05988636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.605099893 meters 0.013907405902100793 Centerline is valid? [True, True] Translation: X:289.69, Y:18.02, Z:10.60 [[ 9.96643039e-01 -6.98514488e-02 -4.27016100e-02 2.89686267e+02] [ 6.98095439e-02 9.97557271e-01 -2.47355407e-03 1.80249272e+01] [ 4.27700829e-02 -5.15729476e-04 9.99084808e-01 1.06004808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.665099893 meters 0.013591243917302423 Centerline is valid? [True, True] Translation: X:289.75, Y:18.03, Z:10.60 [[ 9.96769743e-01 -6.78932694e-02 -4.29020242e-02 2.89747712e+02] [ 6.78491950e-02 9.97692495e-01 -2.48428243e-03 1.80298762e+01] [ 4.29716936e-02 -4.34610246e-04 9.99076196e-01 1.06027259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.725099893 meters 0.013304503412934373 Centerline is valid? [True, True] Translation: X:289.81, Y:18.03, Z:10.60 [[ 9.97068403e-01 -6.35268332e-02 -4.26490494e-02 2.89807460e+02] [ 6.34793414e-02 9.97980100e-01 -2.46828220e-03 1.80346042e+01] [ 4.27197048e-02 -2.46287375e-04 9.99087066e-01 1.06040996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.785099893 meters 0.013229152655473874 Centerline is valid? [True, True] Translation: X:289.87, Y:18.04, Z:10.61 [[ 9.97278682e-01 -5.97378048e-02 -4.32044486e-02 2.89866836e+02] [ 5.96855033e-02 9.98214099e-01 -2.50064241e-03 1.80380189e+01] [ 4.32766726e-02 -8.48418914e-05 9.99063122e-01 1.06057964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.845099893 meters 0.013200668945680992 Centerline is valid? [True, True] Translation: X:289.93, Y:18.04, Z:10.61 [[ 9.97386210e-01 -5.82233901e-02 -4.27876769e-02 2.89925466e+02] [ 5.81705821e-02 9.98303579e-01 -2.47927285e-03 1.80396543e+01] [ 4.28594426e-02 -1.61915249e-05 9.99081112e-01 1.06078210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.905099893 meters 0.013125856508866853 Centerline is valid? [True, True] Translation: X:289.98, Y:18.04, Z:10.61 [[ 9.97453560e-01 -5.75367635e-02 -4.21416326e-02 2.89984130e+02] [ 5.74844795e-02 9.98343388e-01 -2.45241444e-03 1.80390478e+01] [ 4.22129243e-02 2.36796974e-05 9.99108637e-01 1.06101565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.965099893 meters 0.013189843359313004 Centerline is valid? [True, True] Translation: X:290.04, Y:18.04, Z:10.61 [[ 9.97254438e-01 -6.03860463e-02 -4.28615471e-02 2.90042231e+02] [ 6.03341557e-02 9.98175094e-01 -2.50440897e-03 1.80357233e+01] [ 4.29345601e-02 -8.84823005e-05 9.99077883e-01 1.06119381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.025099893 meters 0.013395283918278055 Centerline is valid? [True, True] Translation: X:290.10, Y:18.03, Z:10.61 [[ 9.96938818e-01 -6.50118294e-02 -4.34333487e-02 2.90101279e+02] [ 6.49627159e-02 9.97884452e-01 -2.54275908e-03 1.80332789e+01] [ 4.35067728e-02 -2.86573064e-04 9.99053091e-01 1.06144617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.085099893 meters 0.014636126678567346 Centerline is valid? [True, True] Translation: X:290.16, Y:18.03, Z:10.62 [[ 9.96218511e-01 -7.43719165e-02 -4.49165468e-02 2.90161345e+02] [ 7.43284359e-02 9.97230322e-01 -2.63970830e-03 1.80252408e+01] [ 4.49884626e-02 -7.08850389e-04 9.98987255e-01 1.06155992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14509989299995 meters 0.015885038185384486 Centerline is valid? [True, True] Translation: X:290.22, Y:18.02, Z:10.62 [[ 9.95564268e-01 -8.16798449e-02 -4.66925221e-02 2.90221211e+02] [ 8.16408016e-02 9.96658036e-01 -2.74581217e-03 1.80219728e+01] [ 4.67607549e-02 -1.07838245e-03 9.98905536e-01 1.06171240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20509989299995 meters 0.0187933700071375 Centerline is valid? [True, True] Translation: X:290.28, Y:18.01, Z:10.62 [[ 9.94539107e-01 -9.25216795e-02 -4.82877226e-02 2.90282128e+02] [ 9.24926042e-02 9.95709318e-01 -2.84101993e-03 1.80140436e+01] [ 4.83433913e-02 -1.64075179e-03 9.98829427e-01 1.06183711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26509989299996 meters 0.02169951091929819 Centerline is valid? [True, True] Translation: X:290.34, Y:18.01, Z:10.62 [[ 9.93735185e-01 -1.01448120e-01 -4.68898830e-02 2.90343013e+02] [ 1.01430611e-01 9.94838791e-01 -2.75876381e-03 1.80083806e+01] [ 4.69277459e-02 -2.01458881e-03 9.98896255e-01 1.06221440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32509989299996 meters 0.023955512178730896 Centerline is valid? [True, True] Translation: X:290.40, Y:18.01, Z:10.62 [[ 9.93351904e-01 -1.05718895e-01 -4.55577591e-02 2.90403855e+02] [ 1.05706850e-01 9.94393724e-01 -2.68022688e-03 1.80057225e+01] [ 4.55857004e-02 -2.15335873e-03 9.98958111e-01 1.06249997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38509989299996 meters 0.02595094706752491 Centerline is valid? [True, True] Translation: X:290.46, Y:18.00, Z:10.63 [[ 9.92912173e-01 -1.10249968e-01 -4.43887542e-02 2.90464781e+02] [ 1.10243077e-01 9.93901227e-01 -2.61069924e-03 1.80031347e+01] [ 4.44058667e-02 -2.30135779e-03 9.99010922e-01 1.06278648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44509989299996 meters 0.0273580893193652 Centerline is valid? [True, True] Translation: X:290.53, Y:18.00, Z:10.63 [[ 9.92562743e-01 -1.12802071e-01 -4.57700098e-02 2.90526416e+02] [ 1.12797491e-01 9.93614354e-01 -2.69107104e-03 1.80027381e+01] [ 4.57812971e-02 -2.49168540e-03 9.98948379e-01 1.06291802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50509989299997 meters 0.029840422170719385 Centerline is valid? [True, True] Translation: X:290.59, Y:18.00, Z:10.63 [[ 9.92023190e-01 -1.16478465e-01 -4.81950024e-02 2.90587730e+02] [ 1.16477784e-01 9.93189259e-01 -2.83218835e-03 1.80006857e+01] [ 4.81966477e-02 -2.80405055e-03 9.98833930e-01 1.06298582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56509989299997 meters 0.02811574500032782 Centerline is valid? [True, True] Translation: X:290.65, Y:18.01, Z:10.63 [[ 9.91797973e-01 -1.17641791e-01 -4.99718953e-02 2.90648423e+02] [ 1.17642560e-01 9.93051664e-01 -2.93614273e-03 1.80060569e+01] [ 4.99700868e-02 -2.96676125e-03 9.98746309e-01 1.06319016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62509989299997 meters 0.024860788741845285 Centerline is valid? [True, True] Translation: X:290.71, Y:18.02, Z:10.64 [[ 9.92140066e-01 -1.13857393e-01 -5.19093765e-02 2.90708824e+02] [ 1.13853112e-01 9.93492915e-01 -3.04914546e-03 1.80167444e+01] [ 5.19187655e-02 -2.88486468e-03 9.98647145e-01 1.06354344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.685099893 meters 0.025174200214666372 Centerline is valid? [True, True] Translation: X:290.77, Y:18.02, Z:10.64 [[ 9.92954589e-01 -1.06886776e-01 -5.11507609e-02 2.90768033e+02] [ 1.06873394e-01 9.94268098e-01 -3.00453769e-03 1.80230264e+01] [ 5.11787151e-02 -2.48328595e-03 9.98686423e-01 1.06380315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.745099893 meters 0.019843644436950955 Centerline is valid? [True, True] Translation: X:290.83, Y:18.04, Z:10.64 [[ 9.94600742e-01 -9.10583992e-02 -4.97768187e-02 2.90828050e+02] [ 9.10258846e-02 9.95844233e-01 -2.92443915e-03 1.80402537e+01] [ 4.98362526e-02 -1.62232961e-03 9.98756084e-01 1.06428179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.805099893 meters 0.013939699472889934 Centerline is valid? [True, True] Translation: X:290.89, Y:18.06, Z:10.65 [[ 9.96162085e-01 -7.24541310e-02 -4.91070121e-02 2.90887682e+02] [ 7.23999043e-02 9.97371512e-01 -2.88444637e-03 1.80616730e+01] [ 4.91869250e-02 -6.81966864e-04 9.98789358e-01 1.06478223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.865099893 meters 0.013056335429211164 Centerline is valid? [True, True] Translation: X:290.95, Y:18.07, Z:10.65 [[ 9.96876480e-01 -6.14388763e-02 -4.96240597e-02 2.90945911e+02] [ 6.13698368e-02 9.98110838e-01 -2.91514630e-03 1.80731525e+01] [ 4.97094151e-02 -1.39379661e-04 9.98763713e-01 1.06497044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.925099893 meters 0.013730715179520807 Centerline is valid? [True, True] Translation: X:291.00, Y:18.08, Z:10.65 [[ 9.97542902e-01 -4.90407501e-02 -5.00316279e-02 2.91004322e+02] [ 4.89546797e-02 9.98796659e-01 -2.94501904e-03 1.80841203e+01] [ 5.01158488e-02 4.88500516e-04 9.98743292e-01 1.06513275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.985099893 meters 0.014904453105362755 Centerline is valid? [True, True] Translation: X:291.06, Y:18.09, Z:10.65 [[ 9.97727510e-01 -4.45242068e-02 -5.05708493e-02 2.91061548e+02] [ 4.44298990e-02 9.99008036e-01 -2.98804418e-03 1.80902703e+01] [ 5.06537252e-02 7.34396153e-04 9.98716006e-01 1.06519672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.045099893 meters 0.015048873922067508 Centerline is valid? [True, True] Translation: X:291.12, Y:18.09, Z:10.65 [[ 9.97762561e-01 -4.31053710e-02 -5.11057591e-02 2.91120153e+02] [ 4.30067607e-02 9.99070192e-01 -3.02814353e-03 1.80923210e+01] [ 5.11887698e-02 8.23475097e-04 9.98688656e-01 1.06539068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.105099893 meters 0.014110821707240491 Centerline is valid? [True, True] Translation: X:291.18, Y:18.09, Z:10.66 [[ 9.97704972e-01 -4.48306399e-02 -5.07444838e-02 2.91179347e+02] [ 4.47350181e-02 9.98994326e-01 -3.01914512e-03 1.80920947e+01] [ 5.08288016e-02 7.42160698e-04 9.98707105e-01 1.06574733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.165099893 meters 0.013480451018766444 Centerline is valid? [True, True] Translation: X:291.24, Y:18.09, Z:10.66 [[ 9.97544834e-01 -4.94452469e-02 -4.95930640e-02 2.91238439e+02] [ 4.93589997e-02 9.98776707e-01 -2.96302979e-03 1.80904998e+01] [ 4.96789048e-02 5.07891032e-04 9.98765112e-01 1.06609836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.225099893 meters 0.012944587935410274 Centerline is valid? [True, True] Translation: X:291.30, Y:18.09, Z:10.66 [[ 9.97363471e-01 -5.50794470e-02 -4.72478706e-02 2.91296707e+02] [ 5.50070176e-02 9.98481949e-01 -2.83279798e-03 1.80874531e+01] [ 4.73321749e-02 2.26364771e-04 9.98879179e-01 1.06648406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.285099893 meters 0.012653942273799162 Centerline is valid? [True, True] Translation: X:291.36, Y:18.08, Z:10.67 [[ 9.96959192e-01 -6.33365832e-02 -4.53965566e-02 2.91356189e+02] [ 6.32780359e-02 9.97992211e-01 -2.72701766e-03 1.80808250e+01] [ 4.54781299e-02 -1.53879610e-04 9.98965323e-01 1.06676675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.345099893 meters 0.013158193172869164 Centerline is valid? [True, True] Translation: X:291.42, Y:18.08, Z:10.67 [[ 9.96483559e-01 -7.05321126e-02 -4.52298406e-02 2.91415141e+02] [ 7.04808898e-02 9.97509399e-01 -2.72822819e-03 1.80761041e+01] [ 4.53096188e-02 -4.69204875e-04 9.98972882e-01 1.06686419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.405099893 meters 0.014349412383242895 Centerline is valid? [True, True] Translation: X:291.47, Y:18.07, Z:10.67 [[ 9.95658910e-01 -8.11025448e-02 -4.56695972e-02 2.91474897e+02] [ 8.10609613e-02 9.96705311e-01 -2.76483098e-03 1.80680592e+01] [ 4.57433649e-02 -9.49192845e-04 9.98952773e-01 1.06693158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.465099893 meters 0.016111528812854967 Centerline is valid? [True, True] Translation: X:291.53, Y:18.06, Z:10.67 [[ 9.95158904e-01 -8.67817730e-02 -4.61267793e-02 2.91533903e+02] [ 8.67452803e-02 9.96226600e-01 -2.79604540e-03 1.80629154e+01] [ 4.61953703e-02 -1.21877093e-03 9.98931681e-01 1.06699655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.525099893 meters 0.016695103413216894 Centerline is valid? [True, True] Translation: X:291.59, Y:18.06, Z:10.67 [[ 9.94759159e-01 -9.11440958e-02 -4.63354107e-02 2.91593865e+02] [ 9.11118859e-02 9.95836695e-01 -2.81107119e-03 1.80613190e+01] [ 4.63987147e-02 -1.42536784e-03 9.98921983e-01 1.06715522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58509989299995 meters 0.018298271424147607 Centerline is valid? [True, True] Translation: X:291.65, Y:18.06, Z:10.67 [[ 9.94365862e-01 -9.49235615e-02 -4.71810346e-02 2.91653819e+02] [ 9.48943290e-02 9.95483231e-01 -2.86412725e-03 1.80594309e+01] [ 4.72398019e-02 -1.62922226e-03 9.98882249e-01 1.06728558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64509989299995 meters 0.018745381673930337 Centerline is valid? [True, True] Translation: X:291.71, Y:18.06, Z:10.68 [[ 9.93923118e-01 -9.90219009e-02 -4.80780381e-02 2.91713205e+02] [ 9.89962356e-02 9.95083522e-01 -2.92055691e-03 1.80586619e+01] [ 4.81308625e-02 -1.85673575e-03 9.98839313e-01 1.06751164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70509989299995 meters 0.019136874944423718 Centerline is valid? [True, True] Translation: X:291.77, Y:18.06, Z:10.68 [[ 9.93753103e-01 -1.00644323e-01 -4.82233387e-02 2.91772309e+02] [ 1.00620170e-01 9.94920585e-01 -2.93430700e-03 1.80597092e+01] [ 4.82737137e-02 -1.93626386e-03 9.98832268e-01 1.06771124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76509989299996 meters 0.01923231100641893 Centerline is valid? [True, True] Translation: X:291.83, Y:18.06, Z:10.68 [[ 9.93779646e-01 -1.00589184e-01 -4.77894517e-02 2.91831033e+02] [ 1.00564811e-01 9.94926224e-01 -2.92021080e-03 1.80623024e+01] [ 4.78407204e-02 -1.90389112e-03 9.98853163e-01 1.06793388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82509989299996 meters 0.018587637049789073 Centerline is valid? [True, True] Translation: X:291.89, Y:18.07, Z:10.68 [[ 9.94073602e-01 -9.77197101e-02 -4.76291139e-02 2.91889614e+02] [ 9.76917170e-02 9.95212438e-01 -2.92077755e-03 1.80679978e+01] [ 4.76865042e-02 -1.74950206e-03 9.98860819e-01 1.06818689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88509989299996 meters 0.017868648764367317 Centerline is valid? [True, True] Translation: X:291.95, Y:18.07, Z:10.68 [[ 9.94338428e-01 -9.50380034e-02 -4.75275487e-02 2.91948210e+02] [ 9.50069050e-02 9.95472337e-01 -2.91802885e-03 1.80738108e+01] [ 4.75896836e-02 -1.61393708e-03 9.98865665e-01 1.06844026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94509989299996 meters 0.016642341163033442 Centerline is valid? [True, True] Translation: X:292.01, Y:18.08, Z:10.69 [[ 9.94916316e-01 -8.94052898e-02 -4.63488756e-02 2.92007798e+02] [ 8.93694648e-02 9.95994470e-01 -2.84873177e-03 1.80809259e+01] [ 4.64179155e-02 -1.30792449e-03 9.98921251e-01 1.06868724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00509989299997 meters 0.01520985232538721 Centerline is valid? [True, True] Translation: X:292.07, Y:18.09, Z:10.69 [[ 9.95300033e-01 -8.51412680e-02 -4.61390169e-02 2.92065973e+02] [ 8.51010816e-02 9.96368281e-01 -2.83815123e-03 1.80882533e+01] [ 4.62130968e-02 -1.10166823e-03 9.98930997e-01 1.06893874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06509989299997 meters 0.014143415356085461 Centerline is valid? [True, True] Translation: X:292.12, Y:18.10, Z:10.69 [[ 9.95858142e-01 -7.85784732e-02 -4.57382263e-02 2.92124499e+02] [ 7.85319254e-02 9.96907621e-01 -2.81649449e-03 1.80956405e+01] [ 4.58181022e-02 -7.87082007e-04 9.98949489e-01 1.06915149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12509989299997 meters 0.013502699378127349 Centerline is valid? [True, True] Translation: X:292.18, Y:18.10, Z:10.69 [[ 9.96134897e-01 -7.46329174e-02 -4.63162436e-02 2.92182361e+02] [ 7.45807566e-02 9.97210888e-01 -2.85566222e-03 1.81017836e+01] [ 4.64001888e-02 -6.09675695e-04 9.98922745e-01 1.06929782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.185099893 meters 0.012456916211199938 Centerline is valid? [True, True] Translation: X:292.24, Y:18.11, Z:10.70 [[ 9.96602930e-01 -6.93481560e-02 -4.44233431e-02 2.92240896e+02] [ 6.92944541e-02 9.97592461e-01 -2.74949090e-03 1.81096820e+01] [ 4.45070643e-02 -3.38140626e-04 9.99009012e-01 1.06970826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.245099893 meters 0.012207741661406063 Centerline is valid? [True, True] Translation: X:292.30, Y:18.12, Z:10.70 [[ 9.96741562e-01 -6.70498712e-02 -4.48394237e-02 2.92299017e+02] [ 6.69923196e-02 9.97749600e-01 -2.78667407e-03 1.81151967e+01] [ 4.49253632e-02 -2.26303140e-04 9.98990321e-01 1.07001804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.305099893 meters 0.012172781037655133 Centerline is valid? [True, True] Translation: X:292.36, Y:18.12, Z:10.70 [[ 9.96876483e-01 -6.35647419e-02 -4.68700416e-02 2.92356580e+02] [ 6.34973918e-02 9.97977715e-01 -2.92594781e-03 1.81198217e+01] [ 4.69612441e-02 -5.93168350e-05 9.98896710e-01 1.07005294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.365099893 meters 0.01217591747611039 Centerline is valid? [True, True] Translation: X:292.42, Y:18.12, Z:10.70 [[ 9.97306773e-01 -5.92307399e-02 -4.32541325e-02 2.92415516e+02] [ 5.91687979e-02 9.98244308e-01 -2.71201967e-03 1.81235198e+01] [ 4.33388265e-02 1.45420561e-04 9.99060421e-01 1.07043550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.425099893 meters 0.012564201944332646 Centerline is valid? [True, True] Translation: X:292.47, Y:18.13, Z:10.71 [[ 9.97473608e-01 -5.56439216e-02 -4.41605587e-02 2.92473289e+02] [ 5.55753815e-02 9.98450626e-01 -2.77922285e-03 1.81266668e+01] [ 4.42467844e-02 3.17961548e-04 9.99020581e-01 1.07056669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.485099893 meters 0.01253806786630848 Centerline is valid? [True, True] Translation: X:292.53, Y:18.13, Z:10.71 [[ 9.97531617e-01 -5.46007020e-02 -4.41524313e-02 2.92531664e+02] [ 5.45309394e-02 9.98508201e-01 -2.78382437e-03 1.81275432e+01] [ 4.42385635e-02 3.69279268e-04 9.99020927e-01 1.07074891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.545099893 meters 0.012538094394082558 Centerline is valid? [True, True] Translation: X:292.59, Y:18.13, Z:10.71 [[ 9.97484644e-01 -5.56105017e-02 -4.39528857e-02 2.92589622e+02] [ 5.55418924e-02 9.98452483e-01 -2.78158578e-03 1.81254956e+01] [ 4.40395532e-02 3.33362657e-04 9.99029733e-01 1.07094058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.605099893 meters 0.012172691993833865 Centerline is valid? [True, True] Translation: X:292.65, Y:18.12, Z:10.71 [[ 9.97220778e-01 -6.01251635e-02 -4.39964251e-02 2.92649281e+02] [ 6.00605258e-02 9.98190836e-01 -2.79074859e-03 1.81201394e+01] [ 4.40846225e-02 1.40544052e-04 9.99027791e-01 1.07111701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.665099893 meters 0.0121295309378829 Centerline is valid? [True, True] Translation: X:292.71, Y:18.12, Z:10.71 [[ 9.96969540e-01 -6.46380366e-02 -4.32857894e-02 2.92707532e+02] [ 6.45792668e-02 9.97908774e-01 -2.75614531e-03 1.81182349e+01] [ 4.33734209e-02 -4.75716156e-05 9.99058929e-01 1.07139399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.725099893 meters 0.012464456292957402 Centerline is valid? [True, True] Translation: X:292.77, Y:18.11, Z:10.72 [[ 9.96492122e-01 -7.19201234e-02 -4.27895547e-02 2.92766689e+02] [ 7.18688739e-02 9.97410334e-01 -2.73682852e-03 1.81121623e+01] [ 4.28755771e-02 -3.48009050e-04 9.99080359e-01 1.07154347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.785099893 meters 0.013196168465551137 Centerline is valid? [True, True] Translation: X:292.82, Y:18.11, Z:10.72 [[ 9.96075397e-01 -7.70856706e-02 -4.34925559e-02 2.92824539e+02] [ 7.70371807e-02 9.97024310e-01 -2.79236889e-03 1.81084435e+01] [ 4.35783872e-02 -5.69133936e-04 9.99049849e-01 1.07163483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.845099893 meters 0.014344963209329195 Centerline is valid? [True, True] Translation: X:292.88, Y:18.10, Z:10.72 [[ 9.95511079e-01 -8.42621361e-02 -4.30996986e-02 2.92884683e+02] [ 8.42210111e-02 9.96443242e-01 -2.77232681e-03 1.81023553e+01] [ 4.31800056e-02 -8.70018135e-04 9.99066930e-01 1.07186315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.905099893 meters 0.015143361651077296 Centerline is valid? [True, True] Translation: X:292.94, Y:18.10, Z:10.72 [[ 9.95252888e-01 -8.78234203e-02 -4.19372811e-02 2.92943538e+02] [ 8.77875355e-02 9.96135562e-01 -2.70007744e-03 1.81003494e+01] [ 4.20123471e-02 -9.94310683e-04 9.99116597e-01 1.07220613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.965099893 meters 0.016959503534914436 Centerline is valid? [True, True] Translation: X:293.00, Y:18.09, Z:10.72 [[ 9.95045850e-01 -9.06776317e-02 -4.07593270e-02 2.93001589e+02] [ 9.06457353e-02 9.95879719e-01 -2.63379318e-03 1.80948518e+01] [ 4.08302133e-02 -1.07391419e-03 9.99165522e-01 1.07248473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.025099893 meters 0.017419088749516334 Centerline is valid? [True, True] Translation: X:293.06, Y:18.09, Z:10.73 [[ 9.94931440e-01 -9.19288407e-02 -4.07494531e-02 2.93060093e+02] [ 9.18978589e-02 9.95764948e-01 -2.63679923e-03 1.80926473e+01] [ 4.08192749e-02 -1.12135303e-03 9.99165917e-01 1.07267787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08509989299995 meters 0.01762513036029363 Centerline is valid? [True, True] Translation: X:293.12, Y:18.09, Z:10.73 [[ 9.94759374e-01 -9.34302098e-02 -4.15281121e-02 2.93118666e+02] [ 9.33991855e-02 9.95625106e-01 -2.69088180e-03 1.80909948e+01] [ 4.15978407e-02 -1.20191195e-03 9.99133712e-01 1.07282257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14509989299995 meters 0.017234849772178044 Centerline is valid? [True, True] Translation: X:293.18, Y:18.09, Z:10.73 [[ 9.94327621e-01 -9.78433685e-02 -4.17044058e-02 2.93178558e+02] [ 9.78158099e-02 9.95200857e-01 -2.70577338e-03 1.80911729e+01] [ 4.17690024e-02 -1.38892502e-03 9.99126329e-01 1.07307203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20509989299995 meters 0.01781896039412214 Centerline is valid? [True, True] Translation: X:293.24, Y:18.09, Z:10.73 [[ 9.94164066e-01 -9.93514513e-02 -4.20368806e-02 2.93236754e+02] [ 9.93247199e-02 9.95051331e-01 -2.72918667e-03 1.80931996e+01] [ 4.21000027e-02 -1.46204208e-03 9.99112332e-01 1.07331062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26509989299996 meters 0.019481311067156334 Centerline is valid? [True, True] Translation: X:293.30, Y:18.09, Z:10.74 [[ 9.93759049e-01 -1.03418612e-01 -4.18036328e-02 2.93295843e+02] [ 1.03395613e-01 9.94636598e-01 -2.71772109e-03 1.80933396e+01] [ 4.18604860e-02 -1.62155230e-03 9.99122150e-01 1.07355500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32509989299996 meters 0.019802462895608237 Centerline is valid? [True, True] Translation: X:293.36, Y:18.10, Z:10.74 [[ 9.93506204e-01 -1.05737114e-01 -4.20129154e-02 2.93355291e+02] [ 1.05715858e-01 9.94392621e-01 -2.73356291e-03 1.80961809e+01] [ 4.20663721e-02 -1.72561969e-03 9.99113328e-01 1.07378441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38509989299996 meters 0.021706423835480028 Centerline is valid? [True, True] Translation: X:293.41, Y:18.10, Z:10.74 [[ 9.93277668e-01 -1.07744740e-01 -4.23148442e-02 2.93413924e+02] [ 1.07724925e-01 9.94176922e-01 -2.75487479e-03 1.80965854e+01] [ 4.23652648e-02 -1.82200779e-03 9.99100528e-01 1.07395973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44509989299996 meters 0.023490071866412943 Centerline is valid? [True, True] Translation: X:293.47, Y:18.10, Z:10.74 [[ 9.92652213e-01 -1.12966900e-01 -4.33596972e-02 2.93474535e+02] [ 1.12950972e-01 9.93596547e-01 -2.82497260e-03 1.80980663e+01] [ 4.34011738e-02 -2.09330463e-03 9.99055532e-01 1.07414977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50509989299997 meters 0.023845969270860277 Centerline is valid? [True, True] Translation: X:293.53, Y:18.10, Z:10.74 [[ 9.92320229e-01 -1.15703345e-01 -4.37412772e-02 2.93534175e+02] [ 1.15689779e-01 9.93281306e-01 -2.84998648e-03 1.81022850e+01] [ 4.37771459e-02 -2.23231946e-03 9.99038827e-01 1.07438932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56509989299997 meters 0.026206812931886966 Centerline is valid? [True, True] Translation: X:293.59, Y:18.10, Z:10.75 [[ 9.91899532e-01 -1.19061511e-01 -4.42682122e-02 2.93592966e+02] [ 1.19050884e-01 9.92883961e-01 -2.88577559e-03 1.81040363e+01] [ 4.42967827e-02 -2.40777036e-03 9.99015514e-01 1.07464393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62509989299997 meters 0.026243470836525933 Centerline is valid? [True, True] Translation: X:293.65, Y:18.11, Z:10.75 [[ 9.91748043e-01 -1.20303643e-01 -4.43040855e-02 2.93651844e+02] [ 1.20294136e-01 9.92734087e-01 -2.89031151e-03 1.81091111e+01] [ 4.43298909e-02 -2.46306092e-03 9.99013911e-01 1.07489972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.685099893 meters 0.02518877092736068 Centerline is valid? [True, True] Translation: X:293.71, Y:18.12, Z:10.75 [[ 9.91736340e-01 -1.20164611e-01 -4.49388339e-02 2.93709810e+02] [ 1.20154167e-01 9.92750882e-01 -2.94332411e-03 1.81189055e+01] [ 4.49667504e-02 -2.48058667e-03 9.98985404e-01 1.07519408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.745099893 meters 0.02778860316458837 Centerline is valid? [True, True] Translation: X:293.77, Y:18.12, Z:10.75 [[ 9.91957502e-01 -1.18334178e-01 -4.49147639e-02 2.93767762e+02] [ 1.18321418e-01 9.92970960e-01 -2.95191474e-03 1.81231586e+01] [ 4.49483686e-02 -2.38620455e-03 9.98986461e-01 1.07544781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.805099893 meters 0.02453742368437082 Centerline is valid? [True, True] Translation: X:293.83, Y:18.14, Z:10.76 [[ 9.92413295e-01 -1.14425223e-01 -4.49746640e-02 2.93827327e+02] [ 1.14408290e-01 9.93429408e-01 -2.95885269e-03 1.81375070e+01] [ 4.50177212e-02 -2.20906966e-03 9.98983746e-01 1.07579146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.865099893 meters 0.021118136635819344 Centerline is valid? [True, True] Translation: X:293.89, Y:18.15, Z:10.76 [[ 9.92876148e-01 -1.09825182e-01 -4.62102198e-02 2.93885761e+02] [ 1.09802254e-01 9.93948797e-01 -3.04193831e-03 1.81542616e+01] [ 4.62646738e-02 -2.05371829e-03 9.98927106e-01 1.07610041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.925099893 meters 0.019098893907343217 Centerline is valid? [True, True] Translation: X:293.95, Y:18.17, Z:10.76 [[ 9.93514278e-01 -1.03478741e-01 -4.71331071e-02 2.93945443e+02] [ 1.03447691e-01 9.94630052e-01 -3.10413063e-03 1.81698073e+01] [ 4.72012163e-02 -1.79181301e-03 9.98883794e-01 1.07635790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.985099893 meters 0.018114780992134247 Centerline is valid? [True, True] Translation: X:294.00, Y:18.18, Z:10.77 [[ 9.94016508e-01 -9.84838738e-02 -4.72452004e-02 2.94003719e+02] [ 9.84470173e-02 9.95137428e-01 -3.11203090e-03 1.81806560e+01] [ 4.73219521e-02 -1.55773897e-03 9.98878474e-01 1.07657859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.045099893 meters 0.01557783300357511 Centerline is valid? [True, True] Translation: X:294.06, Y:18.20, Z:10.77 [[ 9.94651470e-01 -9.16609449e-02 -4.76101395e-02 2.94062348e+02] [ 9.16156243e-02 9.95789502e-01 -3.13780581e-03 1.81970519e+01] [ 4.76972913e-02 -1.24080949e-03 9.98861066e-01 1.07683550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.105099893 meters 0.01462278779005181 Centerline is valid? [True, True] Translation: X:294.12, Y:18.21, Z:10.77 [[ 9.94983872e-01 -8.76681388e-02 -4.81808211e-02 2.94120334e+02] [ 8.76169423e-02 9.96149173e-01 -3.17760054e-03 1.82104250e+01] [ 4.82738594e-02 -1.05979493e-03 9.98833575e-01 1.07704476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.165099893 meters 0.014418495913950466 Centerline is valid? [True, True] Translation: X:294.18, Y:18.22, Z:10.77 [[ 9.95031987e-01 -8.72045451e-02 -4.80282505e-02 2.94178541e+02] [ 8.71528683e-02 9.96189896e-01 -3.17302847e-03 1.82182042e+01] [ 4.81219604e-02 -1.02853497e-03 9.98840938e-01 1.07729334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.225099893 meters 0.015000742814160405 Centerline is valid? [True, True] Translation: X:294.24, Y:18.23, Z:10.78 [[ 9.94892335e-01 -8.90309086e-02 -4.75682515e-02 2.94236711e+02] [ 8.89817242e-02 9.96028263e-01 -3.15474722e-03 1.82259716e+01] [ 4.76601929e-02 -1.09407120e-03 9.98863008e-01 1.07756469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.285099893 meters 0.01495389430820599 Centerline is valid? [True, True] Translation: X:294.29, Y:18.23, Z:10.78 [[ 9.94638770e-01 -9.15992539e-02 -4.79926502e-02 2.94294897e+02] [ 9.15515780e-02 9.95795209e-01 -3.19526571e-03 1.82329853e+01] [ 4.80835351e-02 -1.21566771e-03 9.98842578e-01 1.07786118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.345099893 meters 0.01639655128172357 Centerline is valid? [True, True] Translation: X:294.35, Y:18.24, Z:10.78 [[ 9.94170252e-01 -9.62766039e-02 -4.85420036e-02 2.94354580e+02] [ 9.62328967e-02 9.95353565e-01 -3.24209486e-03 1.82374090e+01] [ 4.86285942e-02 -1.44814335e-03 9.98815880e-01 1.07802234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.405099893 meters 0.017453103681190484 Centerline is valid? [True, True] Translation: X:294.41, Y:18.24, Z:10.78 [[ 9.93860159e-01 -9.92890376e-02 -4.88228591e-02 2.94413443e+02] [ 9.92482390e-02 9.95057348e-01 -3.26518728e-03 1.82419458e+01] [ 4.89057420e-02 -1.60044324e-03 9.98802116e-01 1.07819891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.465099893 meters 0.019462745928590586 Centerline is valid? [True, True] Translation: X:294.47, Y:18.25, Z:10.78 [[ 9.93574872e-01 -1.02433136e-01 -4.81292653e-02 2.94471470e+02] [ 1.02396679e-01 9.94738405e-01 -3.22893491e-03 1.82456129e+01] [ 4.82067785e-02 -1.72008837e-03 9.98835896e-01 1.07835041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.525099893 meters 0.01925124389121422 Centerline is valid? [True, True] Translation: X:294.53, Y:18.25, Z:10.79 [[ 9.93425460e-01 -1.04410549e-01 -4.69498916e-02 2.94531668e+02] [ 1.04377937e-01 9.94532709e-01 -3.15242121e-03 1.82517089e+01] [ 4.70223489e-02 -1.76883734e-03 9.98892271e-01 1.07859114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58509989299995 meters 0.019728470428344053 Centerline is valid? [True, True] Translation: X:294.59, Y:18.26, Z:10.79 [[ 9.93162722e-01 -1.07828688e-01 -4.47300877e-02 2.94591613e+02] [ 1.07802543e-01 9.94167788e-01 -3.00337386e-03 1.82573201e+01] [ 4.47930622e-02 -1.83917826e-03 9.98994594e-01 1.07886941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64509989299995 meters 0.021805107092191085 Centerline is valid? [True, True] Translation: X:294.65, Y:18.26, Z:10.79 [[ 9.92656992e-01 -1.12494399e-01 -4.44646653e-02 2.94652186e+02] [ 1.12473236e-01 9.93650270e-01 -2.98542026e-03 1.82599530e+01] [ 4.45181697e-02 -2.03758648e-03 9.99006497e-01 1.07904287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70509989299995 meters 0.023059225944490738 Centerline is valid? [True, True] Translation: X:294.71, Y:18.26, Z:10.79 [[ 9.92301232e-01 -1.15674964e-01 -4.42444003e-02 2.94712809e+02] [ 1.15657202e-01 9.93284749e-01 -2.96971144e-03 1.82631949e+01] [ 4.42908093e-02 -2.17033523e-03 9.99016323e-01 1.07921692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76509989299996 meters 0.026013425030934328 Centerline is valid? [True, True] Translation: X:294.77, Y:18.26, Z:10.79 [[ 9.91863421e-01 -1.19236052e-01 -4.46062586e-02 2.94773217e+02] [ 1.19221652e-01 9.92863154e-01 -2.99255714e-03 1.82645536e+01] [ 4.46447313e-02 -2.34982389e-03 9.99000163e-01 1.07933000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82509989299996 meters 0.025076391420174624 Centerline is valid? [True, True] Translation: X:294.84, Y:18.27, Z:10.80 [[ 9.91714387e-01 -1.20170718e-01 -4.54045465e-02 2.94835305e+02] [ 1.20156834e-01 9.92750253e-01 -3.04483492e-03 1.82718288e+01] [ 4.54412750e-02 -2.43605998e-03 9.98964041e-01 1.07952636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88509989299996 meters 0.023863931919257377 Centerline is valid? [True, True] Translation: X:294.90, Y:18.28, Z:10.80 [[ 9.92096837e-01 -1.16687924e-01 -4.61280218e-02 2.94895237e+02] [ 1.16669970e-01 9.93165931e-01 -3.09059187e-03 1.82803951e+01] [ 4.61734144e-02 -2.31558848e-03 9.98930755e-01 1.07974159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94509989299996 meters 0.021794920637730097 Centerline is valid? [True, True] Translation: X:294.96, Y:18.29, Z:10.80 [[ 9.92753483e-01 -1.11593685e-01 -4.45799471e-02 2.94955324e+02] [ 1.11571790e-01 9.93751888e-01 -2.98680649e-03 1.82899953e+01] [ 4.46347154e-02 -2.00870198e-03 9.99001355e-01 1.08011659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00509989299997 meters 0.01899591784273396 Centerline is valid? [True, True] Translation: X:295.01, Y:18.30, Z:10.81 [[ 9.93602038e-01 -1.04448529e-01 -4.29592145e-02 2.95014680e+02] [ 1.04421539e-01 9.94528964e-01 -2.87790417e-03 1.83012250e+01] [ 4.30247759e-02 -1.62637586e-03 9.99072682e-01 1.08057308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06509989299997 meters 0.015683247631501782 Centerline is valid? [True, True] Translation: X:295.07, Y:18.32, Z:10.81 [[ 9.94802958e-01 -9.26845373e-02 -4.21503509e-02 2.95074024e+02] [ 9.26479986e-02 9.95694921e-01 -2.82370125e-03 1.83157480e+01] [ 4.22306037e-02 -1.09611929e-03 9.99107289e-01 1.08091330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12509989299997 meters 0.013607483127723006 Centerline is valid? [True, True] Translation: X:295.13, Y:18.33, Z:10.81 [[ 9.95455717e-01 -8.54177822e-02 -4.20917891e-02 2.95134609e+02] [ 8.53748522e-02 9.96344912e-01 -2.81974122e-03 1.83261732e+01] [ 4.21787960e-02 -7.86652765e-04 9.99109769e-01 1.08109070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.185099893 meters 0.012348261730597897 Centerline is valid? [True, True] Translation: X:295.20, Y:18.34, Z:10.81 [[ 9.96130449e-01 -7.68943377e-02 -4.25604237e-02 2.95195282e+02] [ 7.68427043e-02 9.97039154e-01 -2.85025142e-03 1.83360391e+01] [ 4.26535771e-02 -4.31235822e-04 9.99089829e-01 1.08124610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.245099893 meters 0.011978191148877342 Centerline is valid? [True, True] Translation: X:295.26, Y:18.34, Z:10.81 [[ 9.96465245e-01 -7.26216971e-02 -4.22268146e-02 2.95255605e+02] [ 7.25670917e-02 9.97359528e-01 -2.82656232e-03 1.83431243e+01] [ 4.23205856e-02 -2.47706005e-04 9.99104052e-01 1.08148850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.305099893 meters 0.011830767821047077 Centerline is valid? [True, True] Translation: X:295.32, Y:18.35, Z:10.82 [[ 9.96567608e-01 -7.08921634e-02 -4.27469735e-02 2.95316143e+02] [ 7.08346134e-02 9.97483970e-01 -2.86138052e-03 1.83486189e+01] [ 4.28422702e-02 -1.76406197e-04 9.99081833e-01 1.08166387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.365099893 meters 0.011973357156652993 Centerline is valid? [True, True] Translation: X:295.38, Y:18.35, Z:10.82 [[ 9.96657702e-01 -6.84508216e-02 -4.45859851e-02 2.95375169e+02] [ 6.83857572e-02 9.97654489e-01 -2.98474695e-03 1.83536235e+01] [ 4.46857165e-02 -7.42753091e-05 9.99001092e-01 1.08171861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.425099893 meters 0.012056233459757683 Centerline is valid? [True, True] Translation: X:295.43, Y:18.36, Z:10.82 [[ 9.96575211e-01 -7.03481842e-02 -4.34624206e-02 2.95432648e+02] [ 7.02880807e-02 9.97522486e-01 -2.91140586e-03 1.83550811e+01] [ 4.35595540e-02 -1.53455221e-04 9.99050820e-01 1.08195975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.485099893 meters 0.012301950916453726 Centerline is valid? [True, True] Translation: X:295.49, Y:18.36, Z:10.82 [[ 9.96350866e-01 -7.35503972e-02 -4.33046379e-02 2.95492006e+02] [ 7.34935985e-02 9.97291460e-01 -2.90436492e-03 1.83557700e+01] [ 4.34009627e-02 -2.88847161e-04 9.99057693e-01 1.08221512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.545099893 meters 0.013267631182689818 Centerline is valid? [True, True] Translation: X:295.55, Y:18.35, Z:10.82 [[ 9.95853521e-01 -8.03056119e-02 -4.27407688e-02 2.95551596e+02] [ 8.02564332e-02 9.96770124e-01 -2.86805929e-03 1.83526811e+01] [ 4.28330426e-02 -5.74054711e-04 9.99082079e-01 1.08245729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.605099893 meters 0.01442325549905445 Centerline is valid? [True, True] Translation: X:295.61, Y:18.35, Z:10.83 [[ 9.95430884e-01 -8.60422983e-02 -4.14014147e-02 2.95612050e+02] [ 8.60010572e-02 9.96291169e-01 -2.77945888e-03 1.83509487e+01] [ 4.14870148e-02 -7.93806214e-04 9.99138728e-01 1.08273148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.665099893 meters 0.017159760758613758 Centerline is valid? [True, True] Translation: X:295.67, Y:18.34, Z:10.83 [[ 9.94583503e-01 -9.52947758e-02 -4.15037467e-02 2.95673525e+02] [ 9.52613739e-02 9.95448395e-01 -2.78627000e-03 1.83447462e+01] [ 4.15803550e-02 -1.18252575e-03 9.99134463e-01 1.08292244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.725099893 meters 0.01967528180159129 Centerline is valid? [True, True] Translation: X:295.73, Y:18.34, Z:10.83 [[ 9.93590870e-01 -1.04627131e-01 -4.27825609e-02 2.95734823e+02] [ 1.04600292e-01 9.94510198e-01 -2.87158492e-03 1.83404938e+01] [ 4.28481388e-02 -1.62188779e-03 9.99080280e-01 1.08300100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.785099893 meters 0.02125050083884329 Centerline is valid? [True, True] Translation: X:295.80, Y:18.34, Z:10.83 [[ 9.93040925e-01 -1.09894678e-01 -4.23424308e-02 2.95795728e+02] [ 1.09873169e-01 9.93941553e-01 -2.84189629e-03 1.83401008e+01] [ 4.23982107e-02 -1.83017775e-03 9.99099115e-01 1.08323108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.845099893 meters 0.023243329147181767 Centerline is valid? [True, True] Translation: X:295.86, Y:18.34, Z:10.83 [[ 9.92290553e-01 -1.15981357e-01 -4.36781696e-02 2.95856533e+02] [ 1.15964381e-01 9.93249049e-01 -2.93082710e-03 1.83398748e+01] [ 4.37232217e-02 -2.15687986e-03 9.99041354e-01 1.08342241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.905099893 meters 0.023579918400827023 Centerline is valid? [True, True] Translation: X:295.92, Y:18.34, Z:10.84 [[ 9.91917285e-01 -1.18973941e-01 -4.41055752e-02 2.95917589e+02] [ 1.18959597e-01 9.92894686e-01 -2.95912675e-03 1.83435233e+01] [ 4.41442503e-02 -2.31157246e-03 9.99022493e-01 1.08362795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.965099893 meters 0.027314581255374785 Centerline is valid? [True, True] Translation: X:295.98, Y:18.34, Z:10.84 [[ 9.91478626e-01 -1.22899976e-01 -4.31941056e-02 2.95977909e+02] [ 1.22889999e-01 9.92416072e-01 -2.89630513e-03 1.83431025e+01] [ 4.32224804e-02 -2.43649899e-03 9.99062501e-01 1.08386538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.025099893 meters 0.0272746972020861 Centerline is valid? [True, True] Translation: X:296.04, Y:18.35, Z:10.84 [[ 9.91215830e-01 -1.25202865e-01 -4.26077479e-02 2.96038502e+02] [ 1.25195364e-01 9.92128001e-01 -2.85491579e-03 1.83476414e+01] [ 4.26297834e-02 -2.50445481e-03 9.99087799e-01 1.08408677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08509989299995 meters 0.02673235770564797 Centerline is valid? [True, True] Translation: X:296.10, Y:18.35, Z:10.84 [[ 9.90877836e-01 -1.27711783e-01 -4.30211024e-02 2.96099305e+02] [ 1.27706525e-01 9.91807813e-01 -2.88181953e-03 1.83534419e+01] [ 4.30367078e-02 -2.63854439e-03 9.99070007e-01 1.08427237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14509989299995 meters 0.02964905034889495 Centerline is valid? [True, True] Translation: X:296.16, Y:18.36, Z:10.84 [[ 9.90479411e-01 -1.30297320e-01 -4.44200969e-02 2.96159062e+02] [ 1.30294338e-01 9.91470895e-01 -2.97481778e-03 1.83550844e+01] [ 4.44288441e-02 -2.84119135e-03 9.99008511e-01 1.08435277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20509989299995 meters 0.029529712659131888 Centerline is valid? [True, True] Translation: X:296.22, Y:18.36, Z:10.85 [[ 9.90195102e-01 -1.32594499e-01 -4.39586014e-02 2.96219781e+02] [ 1.32593842e-01 9.91166085e-01 -2.94360605e-03 1.83607878e+01] [ 4.39605808e-02 -2.91389558e-03 9.99029017e-01 1.08457270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26509989299996 meters 0.030286214673769834 Centerline is valid? [True, True] Translation: X:296.28, Y:18.37, Z:10.85 [[ 9.90140366e-01 -1.33055265e-01 -4.37989861e-02 2.96281884e+02] [ 1.33055157e-01 9.91104301e-01 -2.93075361e-03 1.83655044e+01] [ 4.37993157e-02 -2.92582350e-03 9.99036065e-01 1.08481392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32509989299996 meters 0.029374675582063418 Centerline is valid? [True, True] Translation: X:296.34, Y:18.38, Z:10.85 [[ 9.90451251e-01 -1.31090665e-01 -4.26797004e-02 2.96343096e+02] [ 1.31088870e-01 9.91366516e-01 -2.85289036e-03 1.83760689e+01] [ 4.26852132e-02 -2.76918486e-03 9.99084733e-01 1.08508094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38509989299996 meters 0.029136678945199376 Centerline is valid? [True, True] Translation: X:296.41, Y:18.38, Z:10.85 [[ 9.90608477e-01 -1.29962556e-01 -4.24803363e-02 2.96405143e+02] [ 1.29959848e-01 9.91515198e-01 -2.83712114e-03 1.83819130e+01] [ 4.24886186e-02 -2.71026180e-03 9.99093275e-01 1.08534629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44509989299996 meters 0.02898531907529531 Centerline is valid? [True, True] Translation: X:296.47, Y:18.39, Z:10.85 [[ 9.91083183e-01 -1.26592775e-01 -4.15739562e-02 2.96465445e+02] [ 1.26587341e-01 9.91951587e-01 -2.77382314e-03 1.83901620e+01] [ 4.15904978e-02 -2.51364711e-03 9.99131579e-01 1.08548623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50509989299997 meters 0.030094011212007377 Centerline is valid? [True, True] Translation: X:296.53, Y:18.40, Z:10.86 [[ 9.91394781e-01 -1.24395035e-01 -4.07708591e-02 2.96526107e+02] [ 1.24387988e-01 9.92229929e-01 -2.71945529e-03 1.83956850e+01] [ 4.07923533e-02 -2.37535136e-03 9.99164822e-01 1.08573757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56509989299997 meters 0.02956586838936085 Centerline is valid? [True, True] Translation: X:296.59, Y:18.40, Z:10.86 [[ 9.91804960e-01 -1.21443252e-01 -3.96794421e-02 2.96586052e+02] [ 1.21434272e-01 9.92595950e-01 -2.64536384e-03 1.84048716e+01] [ 3.97069151e-02 -2.19475920e-03 9.99208959e-01 1.08603681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62509989299997 meters 0.02967867013280516 Centerline is valid? [True, True] Translation: X:296.65, Y:18.41, Z:10.86 [[ 9.92032831e-01 -1.19503641e-01 -3.98715759e-02 2.96647211e+02] [ 1.19493016e-01 9.92831483e-01 -2.65808142e-03 1.84109885e+01] [ 3.99034063e-02 -2.12747082e-03 9.99201277e-01 1.08618629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.685099893 meters 0.024437307809170118 Centerline is valid? [True, True] Translation: X:296.71, Y:18.42, Z:10.86 [[ 9.92273327e-01 -1.17216759e-01 -4.06678820e-02 2.96707675e+02] [ 1.17203851e-01 9.93104181e-01 -2.70972732e-03 1.84245501e+01] [ 4.07050691e-02 -2.07764223e-03 9.99169045e-01 1.08636633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.745099893 meters 0.02610266026446244 Centerline is valid? [True, True] Translation: X:296.77, Y:18.43, Z:10.87 [[ 9.92588078e-01 -1.14311509e-01 -4.12527182e-02 2.96768527e+02] [ 1.14295788e-01 9.93442966e-01 -2.74716129e-03 1.84287429e+01] [ 4.12962549e-02 -1.98821240e-03 9.99144968e-01 1.08655797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.805099893 meters 0.023112423418156013 Centerline is valid? [True, True] Translation: X:296.83, Y:18.44, Z:10.87 [[ 9.92893474e-01 -1.11595436e-01 -4.13401549e-02 2.96829956e+02] [ 1.11577365e-01 9.93751942e-01 -2.75141371e-03 1.84387104e+01] [ 4.13889044e-02 -1.88076483e-03 9.99141342e-01 1.08689397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.865099893 meters 0.02275517307621785 Centerline is valid? [True, True] Translation: X:296.89, Y:18.44, Z:10.87 [[ 9.93140631e-01 -1.09393745e-01 -4.12879593e-02 2.96891378e+02] [ 1.09373913e-01 9.93996885e-01 -2.74570125e-03 1.84442093e+01] [ 4.13404655e-02 -1.78895821e-03 9.99143516e-01 1.08718331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.925099893 meters 0.021399899511106366 Centerline is valid? [True, True] Translation: X:296.95, Y:18.45, Z:10.87 [[ 9.93412661e-01 -1.06976303e-01 -4.10774259e-02 2.96952261e+02] [ 1.06954698e-01 9.94260148e-01 -2.72956898e-03 1.84507171e+01] [ 4.11336468e-02 -1.68183531e-03 9.99152238e-01 1.08745540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.985099893 meters 0.02085353208078325 Centerline is valid? [True, True] Translation: X:297.01, Y:18.46, Z:10.88 [[ 9.93580499e-01 -1.04546075e-01 -4.32193269e-02 2.97013586e+02] [ 1.04519936e-01 9.94518650e-01 -2.87026232e-03 1.84566916e+01] [ 4.32825013e-02 -1.66544462e-03 9.99061485e-01 1.08755014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.045099893 meters 0.020590549594483948 Centerline is valid? [True, True] Translation: X:297.08, Y:18.46, Z:10.88 [[ 9.93762252e-01 -1.02608694e-01 -4.36811371e-02 2.97075899e+02] [ 1.02580211e-01 9.94720512e-01 -2.89900669e-03 1.84621575e+01] [ 4.37479864e-02 -1.59989682e-03 9.99041317e-01 1.08773128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.105099893 meters 0.01790243848958408 Centerline is valid? [True, True] Translation: X:297.14, Y:18.47, Z:10.88 [[ 9.94093898e-01 -9.98122547e-02 -4.26008794e-02 2.97136961e+02] [ 9.97827430e-02 9.95005241e-01 -2.82390002e-03 1.84711602e+01] [ 4.26699581e-02 -1.44361081e-03 9.99088180e-01 1.08805671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.165099893 meters 0.017883614780198582 Centerline is valid? [True, True] Translation: X:297.20, Y:18.48, Z:10.88 [[ 9.94224747e-01 -9.89101900e-02 -4.16404461e-02 2.97198700e+02] [ 9.88812734e-02 9.95095415e-01 -2.75855574e-03 1.84759871e+01] [ 4.17090663e-02 -1.37483596e-03 9.99128852e-01 1.08832669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.225099893 meters 0.018513529722521196 Centerline is valid? [True, True] Translation: X:297.26, Y:18.48, Z:10.89 [[ 9.94233615e-01 -9.88289305e-02 -4.16216376e-02 2.97260203e+02] [ 9.88000936e-02 9.95103490e-01 -2.75432188e-03 1.84789521e+01] [ 4.16900435e-02 -1.37378229e-03 9.99129648e-01 1.08856304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.285099893 meters 0.018507848538306233 Centerline is valid? [True, True] Translation: X:297.32, Y:18.48, Z:10.89 [[ 9.94024118e-01 -1.00990592e-01 -4.14361284e-02 2.97321755e+02] [ 1.00963988e-01 9.94886309e-01 -2.73959785e-03 1.84833760e+01] [ 4.15009105e-02 -1.46033043e-03 9.99137399e-01 1.08881105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.345099893 meters 0.021257167910786853 Centerline is valid? [True, True] Translation: X:297.38, Y:18.48, Z:10.89 [[ 9.93782760e-01 -1.03522972e-01 -4.09734005e-02 2.97383295e+02] [ 1.03499267e-01 9.94625851e-01 -2.70509669e-03 1.84820946e+01] [ 4.10332430e-02 -1.55243846e-03 9.99156576e-01 1.08902947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.405099893 meters 0.02185762973948442 Centerline is valid? [True, True] Translation: X:297.44, Y:18.48, Z:10.89 [[ 9.93190017e-01 -1.08890377e-01 -4.14303850e-02 2.97444708e+02] [ 1.08870889e-01 9.94052141e-01 -2.73306120e-03 1.84845620e+01] [ 4.14815669e-02 -1.79611375e-03 9.99137655e-01 1.08927254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.465099893 meters 0.024946725279493723 Centerline is valid? [True, True] Translation: X:297.50, Y:18.48, Z:10.89 [[ 9.92528899e-01 -1.14198197e-01 -4.29552867e-02 2.97504206e+02] [ 1.14182262e-01 9.93455781e-01 -2.83234223e-03 1.84834006e+01] [ 4.29976262e-02 -2.09355027e-03 9.99072981e-01 1.08934042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.525099893 meters 0.025055403454663033 Centerline is valid? [True, True] Translation: X:297.56, Y:18.49, Z:10.90 [[ 9.92231801e-01 -1.16469539e-01 -4.37138479e-02 2.97564922e+02] [ 1.16455216e-01 9.93191760e-01 -2.88278374e-03 1.84869572e+01] [ 4.37519900e-02 -2.23031589e-03 9.99039934e-01 1.08957032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58509989299995 meters 0.022954868955998055 Centerline is valid? [True, True] Translation: X:297.63, Y:18.49, Z:10.90 [[ 9.92253811e-01 -1.16356615e-01 -4.35145134e-02 2.97626183e+02] [ 1.16342364e-01 9.93205027e-01 -2.86849877e-03 1.84949950e+01] [ 4.35526022e-02 -2.21630252e-03 9.99048677e-01 1.08989918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64509989299995 meters 0.023211440036478608 Centerline is valid? [True, True] Translation: X:297.69, Y:18.50, Z:10.90 [[ 9.92952860e-01 -1.10128492e-01 -4.37759349e-02 2.97685255e+02] [ 1.10108147e-01 9.93915431e-01 -2.88304079e-03 1.85015967e+01] [ 4.38270821e-02 -1.95736348e-03 9.99037214e-01 1.09029202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70509989299995 meters 0.018887274854694436 Centerline is valid? [True, True] Translation: X:297.75, Y:18.52, Z:10.91 [[ 9.93764083e-01 -1.02190311e-01 -4.46104096e-02 2.97745073e+02] [ 1.02161168e-01 9.94763520e-01 -2.93864090e-03 1.85151966e+01] [ 4.46771087e-02 -1.63713578e-03 9.99000138e-01 1.09060083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76509989299996 meters 0.015457491285620916 Centerline is valid? [True, True] Translation: X:297.81, Y:18.53, Z:10.91 [[ 9.95014849e-01 -8.88703118e-02 -4.52495097e-02 2.97805034e+02] [ 8.88265613e-02 9.96042649e-01 -2.98065707e-03 1.85304394e+01] [ 4.53353334e-02 -1.05356030e-03 9.98971270e-01 1.09096299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82509989299996 meters 0.014127417283729569 Centerline is valid? [True, True] Translation: X:297.87, Y:18.54, Z:10.91 [[ 9.95710704e-01 -8.09362138e-02 -4.48277148e-02 2.97865635e+02] [ 8.08852646e-02 9.96719047e-01 -2.95223910e-03 1.85402314e+01] [ 4.49195802e-02 -6.86325505e-04 9.98990370e-01 1.09125717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88509989299996 meters 0.013404494778821188 Centerline is valid? [True, True] Translation: X:297.93, Y:18.55, Z:10.91 [[ 9.96233710e-01 -7.37889266e-02 -4.55366912e-02 2.97926947e+02] [ 7.37289711e-02 9.97273812e-01 -2.99709525e-03 1.85491297e+01] [ 4.56337020e-02 -3.71566069e-04 9.98958171e-01 1.09149816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94509989299996 meters 0.013362621400651536 Centerline is valid? [True, True] Translation: X:297.99, Y:18.55, Z:10.92 [[ 9.96302622e-01 -7.25023033e-02 -4.60923037e-02 2.97987385e+02] [ 7.24395904e-02 9.97368194e-01 -3.03168621e-03 1.85539392e+01] [ 4.61908019e-02 -3.18430676e-04 9.98932585e-01 1.09175397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00509989299997 meters 0.013735247955172022 Centerline is valid? [True, True] Translation: X:298.05, Y:18.56, Z:10.92 [[ 9.95956972e-01 -7.60511967e-02 -4.78113545e-02 2.98048305e+02] [ 7.59878022e-02 9.97103788e-01 -3.14475547e-03 1.85551466e+01] [ 4.79120451e-02 -5.01038609e-04 9.98851433e-01 1.09191585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06509989299997 meters 0.014201544189813163 Centerline is valid? [True, True] Translation: X:298.11, Y:18.56, Z:10.92 [[ 9.95469797e-01 -8.12232566e-02 -4.94233383e-02 2.98108850e+02] [ 8.11618803e-02 9.96695631e-01 -3.25078248e-03 1.85556538e+01] [ 4.95240646e-02 -7.75235294e-04 9.98772630e-01 1.09215089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12509989299997 meters 0.01608474453327346 Centerline is valid? [True, True] Translation: X:298.17, Y:18.55, Z:10.92 [[ 9.94583601e-01 -9.09976856e-02 -5.02282934e-02 2.98169161e+02] [ 9.09467217e-02 9.95850279e-01 -3.30396572e-03 1.85516226e+01] [ 5.03205132e-02 -1.28202850e-03 9.98732298e-01 1.09238208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.185099893 meters 0.018969223956303568 Centerline is valid? [True, True] Translation: X:298.23, Y:18.55, Z:10.93 [[ 9.93771151e-01 -9.95292957e-02 -5.01280237e-02 2.98229024e+02] [ 9.94893440e-02 9.95033163e-01 -3.29775544e-03 1.85480524e+01] [ 5.02072692e-02 -1.70998997e-03 9.98737356e-01 1.09274274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.245099893 meters 0.021832839854354844 Centerline is valid? [True, True] Translation: X:298.29, Y:18.55, Z:10.93 [[ 9.93308087e-01 -1.04162081e-01 -4.98929471e-02 2.98289373e+02] [ 1.04128375e-01 9.94558452e-01 -3.28144600e-03 1.85458686e+01] [ 4.99632544e-02 -1.93578466e-03 9.98749181e-01 1.09297058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.305099893 meters 0.021946029498116332 Centerline is valid? [True, True] Translation: X:298.35, Y:18.55, Z:10.93 [[ 9.92930068e-01 -1.07773922e-01 -4.97459787e-02 2.98350770e+02] [ 1.07744957e-01 9.94173185e-01 -3.27133082e-03 1.85475288e+01] [ 4.98086823e-02 -2.11167563e-03 9.98756545e-01 1.09331582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.365099893 meters 0.023885414185534505 Centerline is valid? [True, True] Translation: X:298.41, Y:18.55, Z:10.94 [[ 9.92557139e-01 -1.11083539e-01 -4.99076525e-02 2.98412442e+02] [ 1.11058647e-01 9.93808441e-01 -3.28017464e-03 1.85457118e+01] [ 4.99630197e-02 -2.28691561e-03 9.98748450e-01 1.09360376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.425099893 meters 0.023916470998325837 Centerline is valid? [True, True] Translation: X:298.47, Y:18.55, Z:10.94 [[ 9.92684265e-01 -1.10046599e-01 -4.96759148e-02 2.98473333e+02] [ 1.10020730e-01 9.93923936e-01 -3.26319576e-03 1.85483149e+01] [ 4.97331843e-02 -2.22605730e-03 9.98760059e-01 1.09389947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.485099893 meters 0.02101032742392747 Centerline is valid? [True, True] Translation: X:298.53, Y:18.56, Z:10.94 [[ 9.92987434e-01 -1.07127429e-01 -4.99966938e-02 2.98534857e+02] [ 1.07097634e-01 9.94243091e-01 -3.28225374e-03 1.85564699e+01] [ 5.00604868e-02 -2.09529089e-03 9.98743990e-01 1.09424543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.545099893 meters 0.020791707977998272 Centerline is valid? [True, True] Translation: X:298.59, Y:18.56, Z:10.94 [[ 9.93628052e-01 -1.00157991e-01 -5.16882162e-02 2.98594539e+02] [ 1.00116837e-01 9.94969908e-01 -3.39129114e-03 1.85616407e+01] [ 5.17678846e-02 -1.80517869e-03 9.98657513e-01 1.09429363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.605099893 meters 0.01702205838920471 Centerline is valid? [True, True] Translation: X:298.65, Y:18.57, Z:10.95 [[ 9.94127821e-01 -9.44246180e-02 -5.28570367e-02 2.98654665e+02] [ 9.43734903e-02 9.95530822e-01 -3.46794433e-03 1.85730793e+01] [ 5.29482685e-02 -1.54072310e-03 9.98596068e-01 1.09464572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.665099893 meters 0.016378966189125363 Centerline is valid? [True, True] Translation: X:298.71, Y:18.58, Z:10.95 [[ 9.94924718e-01 -8.54643638e-02 -5.31097691e-02 2.98713756e+02] [ 8.54000078e-02 9.96340654e-01 -3.48413186e-03 1.85809797e+01] [ 5.32131912e-02 -1.06912579e-03 9.98582602e-01 1.09473342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.725099893 meters 0.013574586361405063 Centerline is valid? [True, True] Translation: X:298.77, Y:18.59, Z:10.95 [[ 9.95555515e-01 -7.80237748e-02 -5.27399936e-02 2.98772697e+02] [ 7.79498113e-02 9.96951277e-01 -3.46107994e-03 1.85920907e+01] [ 5.28492504e-02 -6.65375325e-04 9.98602280e-01 1.09512746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.785099893 meters 0.01296955153569336 Centerline is valid? [True, True] Translation: X:298.83, Y:18.60, Z:10.95 [[ 9.95771447e-01 -7.54064467e-02 -5.24699244e-02 2.98831155e+02] [ 7.53293369e-02 9.97152746e-01 -3.44850116e-03 1.85981938e+01] [ 5.25805684e-02 -5.18605624e-04 9.98616550e-01 1.09544172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.845099893 meters 0.01273243135106351 Centerline is valid? [True, True] Translation: X:298.89, Y:18.60, Z:10.96 [[ 9.95866521e-01 -7.45539811e-02 -5.18804091e-02 2.98889408e+02] [ 7.44767658e-02 9.97216875e-01 -3.42268715e-03 1.86019045e+01] [ 5.19911944e-02 -4.55345532e-04 9.98647439e-01 1.09575113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.905099893 meters 0.012612449298276002 Centerline is valid? [True, True] Translation: X:298.95, Y:18.60, Z:10.96 [[ 9.95738582e-01 -7.67050690e-02 -5.11957829e-02 2.98948192e+02] [ 7.66320635e-02 9.97053676e-01 -3.39029462e-03 1.86040227e+01] [ 5.13049963e-02 -5.47391322e-04 9.98682881e-01 1.09609072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.965099893 meters 0.013369267273527493 Centerline is valid? [True, True] Translation: X:299.01, Y:18.60, Z:10.96 [[ 9.95253902e-01 -8.30159058e-02 -5.07742993e-02 2.99007695e+02] [ 8.29517780e-02 9.96547855e-01 -3.37261482e-03 1.86016742e+01] [ 5.08789998e-02 -8.55210341e-04 9.98704459e-01 1.09629641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.025099893 meters 0.0154556212957258 Centerline is valid? [True, True] Translation: X:299.07, Y:18.60, Z:10.96 [[ 9.94550357e-01 -9.07964687e-02 -5.12404921e-02 2.99067552e+02] [ 9.07413457e-02 9.95868670e-01 -3.40591363e-03 1.85974430e+01] [ 5.13380456e-02 -1.26227859e-03 9.98680535e-01 1.09636911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08509989299995 meters 0.01691359808960107 Centerline is valid? [True, True] Translation: X:299.13, Y:18.60, Z:10.97 [[ 9.94190297e-01 -9.48952041e-02 -5.07991548e-02 2.99128369e+02] [ 9.48463334e-02 9.95486196e-01 -3.37724815e-03 1.85971071e+01] [ 5.08903421e-02 -1.46048624e-03 9.98703179e-01 1.09657380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14509989299995 meters 0.01809841190133665 Centerline is valid? [True, True] Translation: X:299.19, Y:18.60, Z:10.97 [[ 9.94070294e-01 -9.63905738e-02 -5.03299893e-02 2.99187652e+02] [ 9.63445034e-02 9.95342423e-01 -3.34628605e-03 1.85982140e+01] [ 5.04181240e-02 -1.52257427e-03 9.98727037e-01 1.09677908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20509989299995 meters 0.017688489306484288 Centerline is valid? [True, True] Translation: X:299.25, Y:18.60, Z:10.97 [[ 9.94023755e-01 -9.75656437e-02 -4.89665137e-02 2.99248320e+02] [ 9.75234371e-02 9.95227902e-01 -3.25605701e-03 1.86011107e+01] [ 4.90505201e-02 -1.53878471e-03 9.98795113e-01 1.09713026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26509989299996 meters 0.0166161381455317 Centerline is valid? [True, True] Translation: X:299.31, Y:18.61, Z:10.97 [[ 9.94221963e-01 -9.61128184e-02 -4.78018333e-02 2.99309920e+02] [ 9.60709764e-02 9.95369415e-01 -3.17739050e-03 1.86061064e+01] [ 4.78858708e-02 -1.43333738e-03 9.98851785e-01 1.09739460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32509989299996 meters 0.016513157737587374 Centerline is valid? [True, True] Translation: X:299.37, Y:18.61, Z:10.98 [[ 9.94377964e-01 -9.48823865e-02 -4.70084842e-02 2.99371270e+02] [ 9.48406584e-02 9.95487569e-01 -3.12231788e-03 1.86096467e+01] [ 4.70926146e-02 -1.35355150e-03 9.98889610e-01 1.09761356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38509989299996 meters 0.01587417923183863 Centerline is valid? [True, True] Translation: X:299.43, Y:18.61, Z:10.98 [[ 9.94435865e-01 -9.44695486e-02 -4.66134679e-02 2.99433777e+02] [ 9.44281595e-02 9.95526870e-01 -3.09407588e-03 1.86132833e+01] [ 4.66972558e-02 -1.32476396e-03 9.98908210e-01 1.09781663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44509989299996 meters 0.016413500609888484 Centerline is valid? [True, True] Translation: X:299.50, Y:18.61, Z:10.98 [[ 9.94329382e-01 -9.53152824e-02 -4.71601275e-02 2.99495460e+02] [ 9.52740225e-02 9.95446172e-01 -3.12707334e-03 1.86149330e+01] [ 4.72434263e-02 -1.38379415e-03 9.98882447e-01 1.09789712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50509989299997 meters 0.01806926295407291 Centerline is valid? [True, True] Translation: X:299.56, Y:18.62, Z:10.98 [[ 9.94209327e-01 -9.60170935e-02 -4.82548646e-02 2.99556168e+02] [ 9.59748313e-02 9.95378626e-01 -3.19739914e-03 1.86155434e+01] [ 4.83388658e-02 -1.45236844e-03 9.98829938e-01 1.09792048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56509989299997 meters 0.01677707908783151 Centerline is valid? [True, True] Translation: X:299.62, Y:18.62, Z:10.98 [[ 9.94097167e-01 -9.75949252e-02 -4.73925423e-02 2.99616829e+02] [ 9.75559979e-02 9.95225086e-01 -3.13924316e-03 1.86214925e+01] [ 4.74726212e-02 -1.50271403e-03 9.98871409e-01 1.09819320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62509989299997 meters 0.017539729597891428 Centerline is valid? [True, True] Translation: X:299.68, Y:18.63, Z:10.98 [[ 9.94219655e-01 -9.70603767e-02 -4.58972799e-02 2.99677431e+02] [ 9.70233647e-02 9.95277465e-01 -3.03873030e-03 1.86251688e+01] [ 4.59754687e-02 -1.43194314e-03 9.98941543e-01 1.09836796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.685099893 meters 0.016039808032825054 Centerline is valid? [True, True] Translation: X:299.74, Y:18.63, Z:10.99 [[ 9.94489491e-01 -9.51345560e-02 -4.40462043e-02 2.99738293e+02] [ 9.50986209e-02 9.95463587e-01 -2.91528559e-03 1.86334179e+01] [ 4.41237369e-02 -1.28951240e-03 9.99025241e-01 1.09879671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.745099893 meters 0.01566711860919685 Centerline is valid? [True, True] Translation: X:299.80, Y:18.64, Z:10.99 [[ 9.94817388e-01 -9.28603896e-02 -4.14163376e-02 2.99799250e+02] [ 9.28267072e-02 9.95678510e-01 -2.73978983e-03 1.86396792e+01] [ 4.14917753e-02 -1.11895168e-03 9.99138219e-01 1.09912251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.805099893 meters 0.015422163631805296 Centerline is valid? [True, True] Translation: X:299.86, Y:18.64, Z:10.99 [[ 9.94849998e-01 -9.30410843e-02 -4.02099266e-02 2.99861102e+02] [ 9.30095446e-02 9.95661668e-01 -2.65844684e-03 1.86444210e+01] [ 4.02828273e-02 -1.09515113e-03 9.99187717e-01 1.09936610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.865099893 meters 0.017670110519168718 Centerline is valid? [True, True] Translation: X:299.92, Y:18.64, Z:10.99 [[ 9.94550449e-01 -9.57424153e-02 -4.12649393e-02 2.99922187e+02] [ 9.57116460e-02 9.95405372e-01 -2.72517191e-03 1.86443274e+01] [ 4.13362567e-02 -1.23921431e-03 9.99144523e-01 1.09941329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.925099893 meters 0.018563709442129452 Centerline is valid? [True, True] Translation: X:299.98, Y:18.65, Z:11.00 [[ 9.94207288e-01 -9.93794684e-02 -4.09339646e-02 2.99982983e+02] [ 9.93523576e-02 9.95048649e-01 -2.70112451e-03 1.86461203e+01] [ 4.09997225e-02 -1.38140822e-03 9.99158203e-01 1.09955887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.985099893 meters 0.020264847936269058 Centerline is valid? [True, True] Translation: X:300.04, Y:18.65, Z:11.00 [[ 9.93676393e-01 -1.04642942e-01 -4.07072665e-02 3.00043888e+02] [ 1.04620614e-01 9.94508583e-01 -2.68426969e-03 1.86464292e+01] [ 4.07646158e-02 -1.59152380e-03 9.99167510e-01 1.09966686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.045099893 meters 0.020978664708148628 Centerline is valid? [True, True] Translation: X:300.11, Y:18.65, Z:11.00 [[ 9.93307805e-01 -1.08087390e-01 -4.07028311e-02 3.00105329e+02] [ 1.08067985e-01 9.94139885e-01 -2.68318656e-03 1.86491116e+01] [ 4.07543265e-02 -1.73344277e-03 9.99167694e-01 1.09979006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.105099893 meters 0.021690326682056994 Centerline is valid? [True, True] Translation: X:300.17, Y:18.65, Z:11.00 [[ 9.93255509e-01 -1.08676011e-01 -4.04106302e-02 3.00166928e+02] [ 1.08657436e-01 9.94075688e-01 -2.66225734e-03 1.86524664e+01] [ 4.04605485e-02 -1.74661371e-03 9.99179610e-01 1.09996311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.165099893 meters 0.019699839554092487 Centerline is valid? [True, True] Translation: X:300.23, Y:18.66, Z:11.00 [[ 9.93382527e-01 -1.07929273e-01 -3.92737437e-02 3.00228419e+02] [ 1.07911299e-01 9.94157169e-01 -2.58343081e-03 1.86599320e+01] [ 3.93231017e-02 -1.67174569e-03 9.99225149e-01 1.10023724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.225099893 meters 0.019208646094675562 Centerline is valid? [True, True] Translation: X:300.29, Y:18.67, Z:11.00 [[ 9.93947495e-01 -1.02649898e-01 -3.91327960e-02 3.00288050e+02] [ 1.02628076e-01 9.94716475e-01 -2.57139586e-03 1.86671736e+01] [ 3.91899904e-02 -1.46029109e-03 9.99230710e-01 1.10047986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.285099893 meters 0.0160870330924353 Centerline is valid? [True, True] Translation: X:300.35, Y:18.68, Z:11.01 [[ 9.94691910e-01 -9.52728873e-02 -3.88726219e-02 3.00348082e+02] [ 9.52457263e-02 9.95450515e-01 -2.55427082e-03 1.86785017e+01] [ 3.89391242e-02 -1.16173859e-03 9.99240909e-01 1.10074334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.345099893 meters 0.015036177289024413 Centerline is valid? [True, True] Translation: X:300.41, Y:18.69, Z:11.01 [[ 9.95145433e-01 -9.04685199e-02 -3.87429352e-02 3.00409420e+02] [ 9.04379302e-02 9.95898842e-01 -2.54500945e-03 1.86853245e+01] [ 3.88142875e-02 -9.71176333e-04 9.99245970e-01 1.10098526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.405099893 meters 0.013868463081266883 Centerline is valid? [True, True] Translation: X:300.47, Y:18.69, Z:11.01 [[ 9.95532374e-01 -8.60627914e-02 -3.88392563e-02 3.00470224e+02] [ 8.60287806e-02 9.96289391e-01 -2.54921874e-03 1.86919644e+01] [ 3.89145319e-02 -8.03464079e-04 9.99242220e-01 1.10115437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.465099893 meters 0.013656017264266395 Centerline is valid? [True, True] Translation: X:300.53, Y:18.70, Z:11.01 [[ 9.95667432e-01 -8.43491330e-02 -3.91355232e-02 3.00531921e+02] [ 8.43133383e-02 9.96435984e-01 -2.56713822e-03 1.86968138e+01] [ 3.92125795e-02 -7.43630695e-04 9.99230614e-01 1.10134169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.525099893 meters 0.013219678414319067 Centerline is valid? [True, True] Translation: X:300.59, Y:18.70, Z:11.02 [[ 9.95765283e-01 -8.32217093e-02 -3.90595519e-02 3.00593922e+02] [ 8.31852981e-02 9.96530810e-01 -2.55931116e-03 1.87017541e+01] [ 3.91370371e-02 -7.00707268e-04 9.99233607e-01 1.10152985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58509989299995 meters 0.013591134659491244 Centerline is valid? [True, True] Translation: X:300.65, Y:18.70, Z:11.02 [[ 9.95719636e-01 -8.35402243e-02 -3.95403360e-02 3.00654509e+02] [ 8.35032761e-02 9.96504142e-01 -2.58793705e-03 1.87048369e+01] [ 3.96183054e-02 -7.24887859e-04 9.99214624e-01 1.10167881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64509989299995 meters 0.01428168016278741 Centerline is valid? [True, True] Translation: X:300.72, Y:18.71, Z:11.02 [[ 9.95438081e-01 -8.69834574e-02 -3.92033730e-02 3.00716668e+02] [ 8.69498624e-02 9.96209388e-01 -2.56438744e-03 1.87068775e+01] [ 3.92778275e-02 -8.56038973e-04 9.99227962e-01 1.10192655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70509989299995 meters 0.016141459813164564 Centerline is valid? [True, True] Translation: X:300.78, Y:18.71, Z:11.02 [[ 9.95069788e-01 -9.12420882e-02 -3.88715578e-02 3.00777828e+02] [ 9.12124128e-02 9.95828220e-01 -2.53990626e-03 1.87063035e+01] [ 3.89411405e-02 -1.01818459e-03 9.99240987e-01 1.10214125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76509989299996 meters 0.018156450292104175 Centerline is valid? [True, True] Translation: X:300.84, Y:18.70, Z:11.02 [[ 9.94386192e-01 -9.82490533e-02 -3.92839103e-02 3.00838749e+02] [ 9.82242848e-02 9.95160998e-01 -2.56474987e-03 1.87049015e+01] [ 3.93457996e-02 -1.30828213e-03 9.99224798e-01 1.10225209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82509989299996 meters 0.02161644829367992 Centerline is valid? [True, True] Translation: X:300.90, Y:18.70, Z:11.02 [[ 9.93658552e-01 -1.05311285e-01 -3.93981695e-02 3.00898882e+02] [ 1.05291965e-01 9.94438029e-01 -2.57082095e-03 1.87021218e+01] [ 3.94497745e-02 -1.59379246e-03 9.99220284e-01 1.10245231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88509989299996 meters 0.020621613719264756 Centerline is valid? [True, True] Translation: X:300.96, Y:18.71, Z:11.03 [[ 9.93181163e-01 -1.09645017e-01 -3.96124647e-02 3.00959826e+02] [ 1.09628954e-01 9.93969222e-01 -2.58405999e-03 1.87058368e+01] [ 3.96569000e-02 -1.77623334e-03 9.99211777e-01 1.10265858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94509989299996 meters 0.02231209403719896 Centerline is valid? [True, True] Translation: X:301.02, Y:18.71, Z:11.03 [[ 9.92733598e-01 -1.14224255e-01 -3.78526602e-02 3.01020681e+02] [ 1.14212930e-01 9.93453226e-01 -2.46858027e-03 1.87066581e+01] [ 3.78868191e-02 -1.87262065e-03 9.99280282e-01 1.10299715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00509989299997 meters 0.027143684708323186 Centerline is valid? [True, True] Translation: X:301.08, Y:18.70, Z:11.03 [[ 9.92683977e-01 -1.14867186e-01 -3.72028422e-02 3.01081966e+02] [ 1.14856747e-01 9.93379106e-01 -2.42482406e-03 1.87046248e+01] [ 3.72350588e-02 -1.86591342e-03 9.99304793e-01 1.10330251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06509989299997 meters 0.02160964489233966 Centerline is valid? [True, True] Translation: X:301.14, Y:18.72, Z:11.04 [[ 9.92724384e-01 -1.14695932e-01 -3.66488840e-02 3.01143251e+02] [ 1.14685756e-01 9.93398953e-01 -2.38675041e-03 1.87174970e+01] [ 3.66807136e-02 -1.83371966e-03 9.99325354e-01 1.10361144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12509989299997 meters 0.024106970383361653 Centerline is valid? [True, True] Translation: X:301.20, Y:18.72, Z:11.04 [[ 9.92253793e-01 -1.18659163e-01 -3.67751688e-02 3.01203066e+02] [ 1.18651734e-01 9.92933051e-01 -2.39214910e-03 1.87191320e+01] [ 3.67991310e-02 -1.98981853e-03 9.99320702e-01 1.10392738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.185099893 meters 0.027258736746558817 Centerline is valid? [True, True] Translation: X:301.26, Y:18.72, Z:11.03 [[ 9.91223578e-01 -1.23867310e-01 -4.61812445e-02 3.01262692e+02] [ 1.23861266e-01 9.92294999e-01 -3.00348461e-03 1.87188768e+01] [ 4.61974516e-02 -2.74294266e-03 9.98928562e-01 1.10332459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.245099893 meters 0.02736073854049038 Centerline is valid? [True, True] Translation: X:301.32, Y:18.73, Z:11.03 [[ 9.91119696e-01 -1.23218976e-01 -4.99883117e-02 3.01324438e+02] [ 1.23211248e-01 9.92375151e-01 -3.24786167e-03 1.87252414e+01] [ 5.00073565e-02 -2.94010262e-03 9.98744522e-01 1.10322140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.305099893 meters 0.024309628121137943 Centerline is valid? [True, True] Translation: X:301.38, Y:18.74, Z:11.04 [[ 9.91783406e-01 -1.17409514e-01 -5.08004142e-02 3.01384094e+02] [ 1.17394079e-01 9.93079934e-01 -3.29787296e-03 1.87391049e+01] [ 5.08360736e-02 -2.69289215e-03 9.98703380e-01 1.10359619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.365099893 meters 0.02122250562755776 Centerline is valid? [True, True] Translation: X:301.44, Y:18.75, Z:11.04 [[ 9.92659736e-01 -1.10225265e-01 -4.97698698e-02 3.01443490e+02] [ 1.10201438e-01 9.93904022e-01 -3.23096459e-03 1.87517011e+01] [ 4.98226077e-02 -2.27746275e-03 9.98755486e-01 1.10408469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.425099893 meters 0.01761149064341946 Centerline is valid? [True, True] Translation: X:301.50, Y:18.77, Z:11.05 [[ 9.94146999e-01 -9.81547203e-02 -4.51375160e-02 3.01503504e+02] [ 9.81226834e-02 9.95170012e-01 -2.93022031e-03 1.87663111e+01] [ 4.52071173e-02 -1.51594447e-03 9.98976485e-01 1.10474386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.485099893 meters 0.015243380072344296 Centerline is valid? [True, True] Translation: X:301.56, Y:18.78, Z:11.05 [[ 9.95190219e-01 -8.91968231e-02 -4.05012825e-02 3.01563621e+02] [ 8.91636210e-02 9.96013522e-01 -2.62901440e-03 1.87767570e+01] [ 4.05743248e-02 -9.94871581e-04 9.99176028e-01 1.10539365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.545099893 meters 0.013392114847057232 Centerline is valid? [True, True] Translation: X:301.63, Y:18.78, Z:11.06 [[ 9.95724927e-01 -8.29092721e-02 -4.07175831e-02 3.01625085e+02] [ 8.28704693e-02 9.96556823e-01 -2.64280817e-03 1.87840949e+01] [ 4.07964985e-02 -7.42775244e-04 9.99167200e-01 1.10557003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.605099893 meters 0.01196189726673702 Centerline is valid? [True, True] Translation: X:301.69, Y:18.79, Z:11.06 [[ 9.96268958e-01 -7.49672405e-02 -4.27560044e-02 3.01686411e+02] [ 7.49172462e-02 9.97185900e-01 -2.77267071e-03 1.87915450e+01] [ 4.28435442e-02 -4.40836346e-04 9.99081697e-01 1.10562910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.665099893 meters 0.011595223532386645 Centerline is valid? [True, True] Translation: X:301.75, Y:18.80, Z:11.06 [[ 9.96475081e-01 -7.16586178e-02 -4.36171515e-02 3.01747484e+02] [ 7.16035222e-02 9.97429170e-01 -2.82618406e-03 1.87957994e+01] [ 4.37075396e-02 -3.06919688e-04 9.99044322e-01 1.10580149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.725099893 meters 0.01132938951027268 Centerline is valid? [True, True] Translation: X:301.81, Y:18.80, Z:11.06 [[ 9.96769109e-01 -6.66457031e-02 -4.48296100e-02 3.01808187e+02] [ 6.65825148e-02 9.97776699e-01 -2.90289575e-03 1.87988603e+01] [ 4.49234058e-02 -9.13513620e-05 9.98990430e-01 1.10591784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.785099893 meters 0.011255134481363527 Centerline is valid? [True, True] Translation: X:301.87, Y:18.80, Z:11.06 [[ 9.97133073e-01 -6.16894263e-02 -4.38183633e-02 3.01866630e+02] [ 6.16243013e-02 9.98095385e-01 -2.83677426e-03 1.88032727e+01] [ 4.39099052e-02 1.28365421e-04 9.99035487e-01 1.10623579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.845099893 meters 0.011275524901381286 Centerline is valid? [True, True] Translation: X:301.93, Y:18.81, Z:11.07 [[ 9.97485337e-01 -5.77422222e-02 -4.10954708e-02 3.01925082e+02] [ 5.76812030e-02 9.98331483e-01 -2.66998063e-03 1.88057343e+01] [ 4.11810729e-02 2.92830334e-04 9.99151657e-01 1.10663968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.905099893 meters 0.017652866973675494 Centerline is valid? [True, True] Translation: X:301.99, Y:18.75, Z:11.06 [[ 9.93502998e-01 -1.03641916e-01 -4.70121961e-02 3.01989256e+02] [ 1.03612664e-01 9.94613000e-01 -3.06527956e-03 1.87484713e+01] [ 4.70766328e-02 -1.82569443e-03 9.98889612e-01 1.10587841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.965099893 meters 0.01816463342905622 Centerline is valid? [True, True] Translation: X:302.05, Y:18.75, Z:11.06 [[ 9.93345139e-01 -1.05000645e-01 -4.73318054e-02 3.02050919e+02] [ 1.04972523e-01 9.94470333e-01 -3.08632127e-03 1.87504349e+01] [ 4.73941420e-02 -1.90275680e-03 9.98874454e-01 1.10606537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.025099893 meters 0.01816463342905622 Centerline is valid? [True, True] Translation: X:302.11, Y:18.75, Z:11.06 [[ 9.93349011e-01 -1.04963955e-01 -4.73319192e-02 3.02111647e+02] [ 1.04935874e-01 9.94474207e-01 -3.08457559e-03 1.87543636e+01] [ 4.73941420e-02 -1.90275620e-03 9.98874454e-01 1.10629252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08509989299995 meters 0.01908535352289021 Centerline is valid? [True, True] Translation: X:302.17, Y:18.76, Z:11.06 [[ 9.93227256e-01 -1.05919530e-01 -4.77563782e-02 3.02172529e+02] [ 1.05892113e-01 9.94372759e-01 -3.11084559e-03 1.87563065e+01] [ 4.78171408e-02 -1.96724714e-03 9.98854169e-01 1.10645951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14509989299995 meters 0.01908535352289021 Centerline is valid? [True, True] Translation: X:302.23, Y:18.76, Z:11.07 [[ 9.93227256e-01 -1.05919530e-01 -4.77563782e-02 3.02232414e+02] [ 1.05892113e-01 9.94372759e-01 -3.11084559e-03 1.87602074e+01] [ 4.78171408e-02 -1.96724714e-03 9.98854169e-01 1.10668355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20509989299995 meters 0.01843026694869457 Centerline is valid? [True, True] Translation: X:302.29, Y:18.76, Z:11.07 [[ 9.93178648e-01 -1.06222625e-01 -4.80929032e-02 3.02294015e+02] [ 1.06195194e-01 9.94340369e-01 -3.13236220e-03 1.87645953e+01] [ 4.81534429e-02 -1.99623994e-03 9.98837955e-01 1.10692925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26509989299996 meters 0.018528321446557538 Centerline is valid? [True, True] Translation: X:302.36, Y:18.77, Z:11.07 [[ 9.93138356e-01 -1.06462100e-01 -4.83945021e-02 3.02355519e+02] [ 1.06434697e-01 9.94314705e-01 -3.15019532e-03 1.87672090e+01] [ 4.84547415e-02 -2.02227435e-03 9.98823332e-01 1.10709532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32509989299996 meters 0.01858769828499855 Centerline is valid? [True, True] Translation: X:302.42, Y:18.77, Z:11.07 [[ 9.93166942e-01 -1.06361619e-01 -4.80274094e-02 3.02416109e+02] [ 1.06334578e-01 9.94325496e-01 -3.12492402e-03 1.87705401e+01] [ 4.80872496e-02 -2.00340305e-03 9.98841130e-01 1.10729060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38509989299996 meters 0.01883108911875592 Centerline is valid? [True, True] Translation: X:302.48, Y:18.77, Z:11.08 [[ 9.93172297e-01 -1.07030928e-01 -4.64022439e-02 3.02477297e+02] [ 1.07006428e-01 9.94253746e-01 -3.01884115e-03 1.87746809e+01] [ 4.64587141e-02 -1.96710896e-03 9.98918274e-01 1.10760979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44509989299996 meters 0.020686922658990425 Centerline is valid? [True, True] Translation: X:302.54, Y:18.78, Z:11.08 [[ 9.93250377e-01 -1.07715761e-01 -4.30232884e-02 3.02537887e+02] [ 1.07695396e-01 9.94180001e-01 -2.79762515e-03 1.87781805e+01] [ 4.30742412e-02 -1.85466785e-03 9.99070153e-01 1.10799170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50509989299997 meters 0.019620007283789223 Centerline is valid? [True, True] Translation: X:302.60, Y:18.79, Z:11.08 [[ 9.93314592e-01 -1.07591420e-01 -4.18354773e-02 3.02599681e+02] [ 1.07572094e-01 9.94193567e-01 -2.71938375e-03 1.87852162e+01] [ 4.18851447e-02 -1.79912634e-03 9.99120812e-01 1.10830186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56509989299997 meters 0.020164913240999695 Centerline is valid? [True, True] Translation: X:302.66, Y:18.79, Z:11.08 [[ 9.93162368e-01 -1.08774803e-01 -4.23857721e-02 3.02661005e+02] [ 1.08756168e-01 9.94064647e-01 -2.75216873e-03 1.87907038e+01] [ 4.24335641e-02 -1.87636374e-03 9.99097529e-01 1.10841148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62509989299997 meters 0.022426340310302325 Centerline is valid? [True, True] Translation: X:302.72, Y:18.79, Z:11.08 [[ 9.92862406e-01 -1.10842398e-01 -4.40250678e-02 3.02721457e+02] [ 1.10824398e-01 9.93835897e-01 -2.85690739e-03 1.87924517e+01] [ 4.40703592e-02 -2.04253569e-03 9.99026342e-01 1.10844495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.685099893 meters 0.021168120340475816 Centerline is valid? [True, True] Translation: X:302.78, Y:18.80, Z:11.09 [[ 9.92745915e-01 -1.11536819e-01 -4.48897081e-02 3.02782738e+02] [ 1.11518897e-01 9.93758049e-01 -2.91118138e-03 1.88012718e+01] [ 4.49342127e-02 -2.11598732e-03 9.98987707e-01 1.10862122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.745099893 meters 0.019260107231329194 Centerline is valid? [True, True] Translation: X:302.84, Y:18.81, Z:11.09 [[ 9.93421846e-01 -1.06060232e-01 -4.31771171e-02 3.02843114e+02] [ 1.06038546e-01 9.94358081e-01 -2.79872587e-03 1.88142871e+01] [ 4.32303488e-02 -1.79812328e-03 9.99063513e-01 1.10902818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.805099893 meters 0.017250026699618202 Centerline is valid? [True, True] Translation: X:302.90, Y:18.83, Z:11.09 [[ 9.94177508e-01 -9.91655274e-02 -4.21578120e-02 3.02903240e+02] [ 9.91386794e-02 9.95069876e-01 -2.73220550e-03 1.88262919e+01] [ 4.22209094e-02 -1.46317256e-03 9.99107228e-01 1.10937038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.865099893 meters 0.015102754030719043 Centerline is valid? [True, True] Translation: X:302.96, Y:18.84, Z:11.10 [[ 9.95041552e-01 -9.09563118e-02 -4.02400219e-02 3.02963595e+02] [ 9.09251495e-02 9.95854315e-01 -2.60769478e-03 1.88389479e+01] [ 4.03103857e-02 -1.06406534e-03 9.99186640e-01 1.10970853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.925099893 meters 0.014352227783066536 Centerline is valid? [True, True] Translation: X:303.02, Y:18.85, Z:11.10 [[ 9.95461413e-01 -8.67447484e-02 -3.91398085e-02 3.03024255e+02] [ 8.67120268e-02 9.96230191e-01 -2.53605285e-03 1.88466108e+01] [ 3.92122481e-02 -8.69349362e-04 9.99230526e-01 1.10999606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.985099893 meters 0.01203259778254893 Centerline is valid? [True, True] Translation: X:303.08, Y:18.86, Z:11.10 [[ 9.96487815e-01 -7.51506519e-02 -3.69379825e-02 3.03083549e+02] [ 7.51135874e-02 9.97172115e-01 -2.39211535e-03 1.88627506e+01] [ 3.70132951e-02 -3.90830576e-04 9.99314697e-01 1.11043294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.045099893 meters 0.011233603125793893 Centerline is valid? [True, True] Translation: X:303.14, Y:18.87, Z:11.11 [[ 9.97076931e-01 -6.71829383e-02 -3.63874383e-02 3.03144687e+02] [ 6.71416623e-02 9.97740670e-01 -2.35650715e-03 1.88745948e+01] [ 3.64635441e-02 -9.34941721e-05 9.99334979e-01 1.11068635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.105099893 meters 0.011228688780980794 Centerline is valid? [True, True] Translation: X:303.21, Y:18.88, Z:11.11 [[ 9.97253642e-01 -6.43728492e-02 -3.66239005e-02 3.03206207e+02] [ 6.43292134e-02 9.97925917e-01 -2.36982640e-03 1.88807701e+01] [ 3.67004920e-02 7.33129280e-06 9.99326310e-01 1.11089377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.165099893 meters 0.011311610297568251 Centerline is valid? [True, True] Translation: X:303.27, Y:18.88, Z:11.11 [[ 9.97208887e-01 -6.45506475e-02 -3.75186466e-02 3.03266440e+02] [ 6.45050310e-02 9.97914432e-01 -2.42632756e-03 1.88838302e+01] [ 3.75970199e-02 -5.86053579e-07 9.99292982e-01 1.11104299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.225099893 meters 0.011320794137810581 Centerline is valid? [True, True] Translation: X:303.33, Y:18.89, Z:11.11 [[ 9.97054937e-01 -6.67631163e-02 -3.77377533e-02 3.03327142e+02] [ 6.67185746e-02 9.97768851e-01 -2.43982603e-03 1.88852898e+01] [ 3.78164451e-02 -8.51685211e-05 9.99284699e-01 1.11127665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.285099893 meters 0.011547819998253996 Centerline is valid? [True, True] Translation: X:303.39, Y:18.88, Z:11.12 [[ 9.96730033e-01 -7.18902738e-02 -3.68921385e-02 3.03388915e+02] [ 7.18512156e-02 9.97412509e-01 -2.38516762e-03 1.88834253e+01] [ 3.69681508e-02 -2.73376803e-04 9.99316407e-01 1.11157314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.345099893 meters 0.012359723116400418 Centerline is valid? [True, True] Translation: X:303.45, Y:18.88, Z:11.12 [[ 9.96434890e-01 -7.64715925e-02 -3.56315110e-02 3.03449416e+02] [ 7.64381317e-02 9.97071668e-01 -2.30236811e-03 1.88817526e+01] [ 3.57032359e-02 -4.29446214e-04 9.99362344e-01 1.11187822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.405099893 meters 0.0140515006785073 Centerline is valid? [True, True] Translation: X:303.51, Y:18.88, Z:11.12 [[ 9.95875299e-01 -8.41781544e-02 -3.38589309e-02 3.03510406e+02] [ 8.41524063e-02 9.96450495e-01 -2.18733385e-03 1.88775067e+01] [ 3.39228742e-02 -6.70998761e-04 9.99424228e-01 1.11220346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.465099893 meters 0.014582648830143062 Centerline is valid? [True, True] Translation: X:303.57, Y:18.88, Z:11.12 [[ 9.95416371e-01 -8.95738195e-02 -3.35078898e-02 3.03571984e+02] [ 8.95517042e-02 9.95979825e-01 -2.16321435e-03 1.88774631e+01] [ 3.35669496e-02 -8.47389652e-04 9.99436112e-01 1.11240776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.525099893 meters 0.01674680581483968 Centerline is valid? [True, True] Translation: X:303.63, Y:18.87, Z:11.13 [[ 9.94804930e-01 -9.58089983e-02 -3.44062017e-02 3.03632514e+02] [ 9.57894456e-02 9.95399143e-01 -2.22000662e-03 1.88732025e+01] [ 3.44606003e-02 -1.08727745e-03 9.99405466e-01 1.11256375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58509989299995 meters 0.017316841547314225 Centerline is valid? [True, True] Translation: X:303.70, Y:18.87, Z:11.13 [[ 9.94515765e-01 -9.87302758e-02 -3.45068812e-02 3.03695004e+02] [ 9.87124606e-02 9.95113514e-01 -2.22371091e-03 1.88733855e+01] [ 3.45578113e-02 -1.19474359e-03 9.99401986e-01 1.11269178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64509989299995 meters 0.018826772120418583 Centerline is valid? [True, True] Translation: X:303.76, Y:18.87, Z:11.13 [[ 9.94319726e-01 -1.00481979e-01 -3.50949249e-02 3.03756830e+02] [ 1.00464737e-01 9.94938055e-01 -2.25889773e-03 1.88716001e+01] [ 3.51442548e-02 -1.27973581e-03 9.99381431e-01 1.11282741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70509989299995 meters 0.019044567436266892 Centerline is valid? [True, True] Translation: X:303.82, Y:18.87, Z:11.13 [[ 9.94315660e-01 -1.00178798e-01 -3.60635078e-02 3.03819107e+02] [ 1.00160465e-01 9.94968594e-01 -2.31921513e-03 1.88735733e+01] [ 3.61143938e-02 -1.30610578e-03 9.99346809e-01 1.11295130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76509989299996 meters 0.017326706564740772 Centerline is valid? [True, True] Translation: X:303.88, Y:18.88, Z:11.13 [[ 9.94326732e-01 -9.96063982e-02 -3.73217704e-02 3.03881141e+02] [ 9.95864666e-02 9.95026024e-01 -2.39732596e-03 1.88793194e+01] [ 3.73749218e-02 -1.33301795e-03 9.99300424e-01 1.11301030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82509989299996 meters 0.018150848060261085 Centerline is valid? [True, True] Translation: X:303.94, Y:18.88, Z:11.13 [[ 9.94323346e-01 -9.96991749e-02 -3.71639464e-02 3.03942532e+02] [ 9.96795800e-02 9.95016732e-01 -2.38439738e-03 1.88820126e+01] [ 3.72164709e-02 -1.33362458e-03 9.99306337e-01 1.11324055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88509989299996 meters 0.01892284071895341 Centerline is valid? [True, True] Translation: X:304.01, Y:18.89, Z:11.13 [[ 9.94268937e-01 -1.00403016e-01 -3.67221320e-02 3.04005057e+02] [ 1.00384437e-01 9.94945940e-01 -2.35404327e-03 1.88850831e+01] [ 3.67728892e-02 -1.34577846e-03 9.99322742e-01 1.11348757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94509989299996 meters 0.01885578048924524 Centerline is valid? [True, True] Translation: X:304.07, Y:18.89, Z:11.14 [[ 9.94157396e-01 -1.01506370e-01 -3.67086997e-02 3.04066977e+02] [ 1.01488654e-01 9.94833920e-01 -2.35050741e-03 1.88894332e+01] [ 3.67576511e-02 -1.38874219e-03 9.99323244e-01 1.11369211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00509989299997 meters 0.020439330649953236 Centerline is valid? [True, True] Translation: X:304.13, Y:18.89, Z:11.14 [[ 9.93752346e-01 -1.05062992e-01 -3.76569064e-02 3.04127959e+02] [ 1.05047004e-01 9.94464342e-01 -2.40838276e-03 1.88907050e+01] [ 3.77014825e-02 -1.56240918e-03 9.99287825e-01 1.11387469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06509989299997 meters 0.023065915953280683 Centerline is valid? [True, True] Translation: X:304.19, Y:18.89, Z:11.14 [[ 9.93276265e-01 -1.09180673e-01 -3.84946947e-02 3.04187903e+02] [ 1.09167120e-01 9.94020366e-01 -2.46017460e-03 1.88903867e+01] [ 3.85331141e-02 -1.75872190e-03 9.99255776e-01 1.11406210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12509989299997 meters 0.02491838013120036 Centerline is valid? [True, True] Translation: X:304.25, Y:18.89, Z:11.14 [[ 9.93138711e-01 -1.10485161e-01 -3.83214011e-02 3.04248935e+02] [ 1.10472700e-01 9.93876142e-01 -2.44904165e-03 1.88927235e+01] [ 3.83573090e-02 -1.80123057e-03 9.99262464e-01 1.11440591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.185099893 meters 0.022008651801234153 Centerline is valid? [True, True] Translation: X:304.31, Y:18.90, Z:11.15 [[ 9.93357873e-01 -1.09047691e-01 -3.67251670e-02 3.04310277e+02] [ 1.09035333e-01 9.94035108e-01 -2.34517581e-03 1.89017789e+01] [ 3.67618414e-02 -1.67474195e-03 9.99322652e-01 1.11473938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.245099893 meters 0.021595423761247352 Centerline is valid? [True, True] Translation: X:304.37, Y:18.91, Z:11.15 [[ 9.93753717e-01 -1.05548294e-01 -3.62368201e-02 3.04371534e+02] [ 1.05534035e-01 9.94413005e-01 -2.31135790e-03 1.89085655e+01] [ 3.62783251e-02 -1.52729735e-03 9.99340558e-01 1.11504063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.305099893 meters 0.01857470579927626 Centerline is valid? [True, True] Translation: X:304.43, Y:18.92, Z:11.15 [[ 9.94652970e-01 -9.68885190e-02 -3.57502931e-02 3.04431079e+02] [ 9.68691225e-02 9.95294520e-01 -2.27834818e-03 1.89214494e+01] [ 3.58028166e-02 -1.19693374e-03 9.99358157e-01 1.11528036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.365099893 meters 0.01518335884209375 Centerline is valid? [True, True] Translation: X:304.49, Y:18.94, Z:11.16 [[ 9.95594168e-01 -8.69444319e-02 -3.51129389e-02 3.04490596e+02] [ 8.69195444e-02 9.96212822e-01 -2.23753289e-03 1.89365096e+01] [ 3.51745010e-02 -8.24325954e-04 9.99380846e-01 1.11556831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.425099893 meters 0.014157119947471536 Centerline is valid? [True, True] Translation: X:304.55, Y:18.95, Z:11.16 [[ 9.96028266e-01 -8.18194017e-02 -3.51180839e-02 3.04551809e+02] [ 8.17913209e-02 9.96646964e-01 -2.23790474e-03 1.89457699e+01] [ 3.51834357e-02 -6.43338087e-04 9.99380664e-01 1.11581796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.485099893 meters 0.013492867447683866 Centerline is valid? [True, True] Translation: X:304.61, Y:18.95, Z:11.16 [[ 9.96297092e-01 -7.74910427e-02 -3.72456987e-02 3.04612141e+02] [ 7.74565298e-02 9.96992911e-01 -2.37087185e-03 1.89546105e+01] [ 3.73174189e-02 -5.22829842e-04 9.99303326e-01 1.11589651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.545099893 meters 0.013236956405818425 Centerline is valid? [True, True] Translation: X:304.67, Y:18.96, Z:11.16 [[ 9.96278733e-01 -7.70062308e-02 -3.87133897e-02 3.04674488e+02] [ 7.69686359e-02 9.97030473e-01 -2.46280884e-03 1.89615392e+01] [ 3.87880809e-02 -5.26072724e-04 9.99247321e-01 1.11599273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.605099893 meters 0.013540246094069857 Centerline is valid? [True, True] Translation: X:304.74, Y:18.96, Z:11.16 [[ 9.96215107e-01 -7.76652757e-02 -3.90328661e-02 3.04735586e+02] [ 7.76276730e-02 9.96979334e-01 -2.48032557e-03 1.89648646e+01] [ 3.91075961e-02 -5.59092764e-04 9.99234849e-01 1.11614348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.665099893 meters 0.014225032260942513 Centerline is valid? [True, True] Translation: X:304.80, Y:18.97, Z:11.16 [[ 9.95973494e-01 -8.09840528e-02 -3.84497356e-02 3.04797275e+02] [ 8.09500886e-02 9.96715165e-01 -2.44191396e-03 1.89667414e+01] [ 3.85211906e-02 -6.80427926e-04 9.99257552e-01 1.11646789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.725099893 meters 0.015449009900911708 Centerline is valid? [True, True] Translation: X:304.86, Y:18.97, Z:11.17 [[ 9.95685215e-01 -8.50763351e-02 -3.70536040e-02 3.04858645e+02] [ 8.50476707e-02 9.96374107e-01 -2.35197497e-03 1.89675992e+01] [ 3.71193490e-02 -8.09496010e-04 9.99310512e-01 1.11674345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.785099893 meters 0.01682397029922768 Centerline is valid? [True, True] Translation: X:304.92, Y:18.97, Z:11.17 [[ 9.94943060e-01 -9.38222970e-02 -3.58564448e-02 3.04919556e+02] [ 9.38011689e-02 9.95588352e-01 -2.27473868e-03 1.89670368e+01] [ 3.59116800e-02 -1.10014097e-03 9.99354362e-01 1.11690696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.845099893 meters 0.017755083145786724 Centerline is valid? [True, True] Translation: X:304.98, Y:18.97, Z:11.17 [[ 9.94645676e-01 -9.68465828e-02 -3.60654805e-02 3.04981849e+02] [ 9.68272137e-02 9.95298578e-01 -2.28741420e-03 1.89687306e+01] [ 3.61174497e-02 -1.21695334e-03 9.99346811e-01 1.11708920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.905099893 meters 0.019987055598593827 Centerline is valid? [True, True] Translation: X:305.04, Y:18.97, Z:11.17 [[ 9.93731089e-01 -1.05813529e-01 -3.60835241e-02 3.05042078e+02] [ 1.05800135e-01 9.94384788e-01 -2.28580805e-03 1.89677064e+01] [ 3.61227769e-02 -1.54616320e-03 9.99346163e-01 1.11723200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.965099893 meters 0.022167296008928042 Centerline is valid? [True, True] Translation: X:305.10, Y:18.97, Z:11.17 [[ 9.93259703e-01 -1.10089710e-01 -3.62686974e-02 3.05103456e+02] [ 1.10079028e-01 9.93920183e-01 -2.29734676e-03 1.89683837e+01] [ 3.63011046e-02 -1.71056099e-03 9.99339434e-01 1.11748992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.025099893 meters 0.02529913419721219 Centerline is valid? [True, True] Translation: X:305.16, Y:18.97, Z:11.18 [[ 9.93047742e-01 -1.12093188e-01 -3.59346636e-02 3.05164363e+02] [ 1.12084057e-01 9.93696125e-01 -2.27487253e-03 1.89678632e+01] [ 3.59631337e-02 -1.76864586e-03 9.99351552e-01 1.11775060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08509989299995 meters 0.025619760224938885 Centerline is valid? [True, True] Translation: X:305.23, Y:18.97, Z:11.18 [[ 9.93086642e-01 -1.11832524e-01 -3.56708228e-02 3.05225897e+02] [ 1.11823403e-01 9.93725532e-01 -2.25692823e-03 1.89719610e+01] [ 3.56994054e-02 -1.74750753e-03 9.99361045e-01 1.11798949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14509989299995 meters 0.023076873129994402 Centerline is valid? [True, True] Translation: X:305.29, Y:18.98, Z:11.18 [[ 9.93351523e-01 -1.09058185e-01 -3.68654874e-02 3.05287133e+02] [ 1.09046638e-01 9.94033904e-01 -2.32979910e-03 1.89801040e+01] [ 3.68996280e-02 -1.70574797e-03 9.99317521e-01 1.11806359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20509989299995 meters 0.021785849864578908 Centerline is valid? [True, True] Translation: X:305.35, Y:18.99, Z:11.18 [[ 9.94036574e-01 -1.01662369e-01 -3.94468260e-02 3.05346738e+02] [ 1.01643422e-01 9.94817778e-01 -2.49075673e-03 1.89880647e+01] [ 3.94956200e-02 -1.53360711e-03 9.99218567e-01 1.11802501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26509989299996 meters 0.018362648299590584 Centerline is valid? [True, True] Translation: X:305.41, Y:19.00, Z:11.18 [[ 9.94780271e-01 -9.36896215e-02 -4.04285471e-02 3.05406779e+02] [ 9.36631433e-02 9.95600673e-01 -2.55272678e-03 1.90008308e+01] [ 4.04898527e-02 -1.24726256e-03 9.99179171e-01 1.11816132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32509989299996 meters 0.017018459034138213 Centerline is valid? [True, True] Translation: X:305.47, Y:19.01, Z:11.18 [[ 9.95183154e-01 -8.88519105e-02 -4.14225632e-02 3.05468270e+02] [ 8.88199406e-02 9.96044266e-01 -2.61517918e-03 1.90090383e+01] [ 4.14910702e-02 -1.07656735e-03 9.99138295e-01 1.11827962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38509989299996 meters 0.015118568308371457 Centerline is valid? [True, True] Translation: X:305.53, Y:19.02, Z:11.18 [[ 9.95816212e-01 -8.05713790e-02 -4.31082910e-02 3.05527495e+02] [ 8.05290867e-02 9.96748549e-01 -2.71954745e-03 1.90201959e+01] [ 4.31872442e-02 -7.63301861e-04 9.99066704e-01 1.11830997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44509989299996 meters 0.013440478880399906 Centerline is valid? [True, True] Translation: X:305.59, Y:19.03, Z:11.19 [[ 9.96311268e-01 -7.40736431e-02 -4.33238082e-02 3.05588170e+02] [ 7.40247945e-02 9.97252657e-01 -2.73292034e-03 1.90322295e+01] [ 4.34072202e-02 -4.84196665e-04 9.99057345e-01 1.11863974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50509989299997 meters 0.012857811564873119 Centerline is valid? [True, True] Translation: X:305.65, Y:19.04, Z:11.19 [[ 9.96946962e-01 -6.47054069e-02 -4.37031494e-02 3.05648264e+02] [ 6.46467568e-02 9.97904406e-01 -2.75547313e-03 1.90447614e+01] [ 4.37898593e-02 -7.82063022e-05 9.99040761e-01 1.11890055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56509989299997 meters 0.01306180767517455 Centerline is valid? [True, True] Translation: X:305.71, Y:19.05, Z:11.19 [[ 9.97297650e-01 -5.95981837e-02 -4.29587488e-02 3.05706287e+02] [ 5.95367646e-02 9.98222438e-01 -2.70885008e-03 1.90531785e+01] [ 4.30438295e-02 1.43904904e-04 9.99073175e-01 1.11911435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62509989299997 meters 0.013142403308623395 Centerline is valid? [True, True] Translation: X:305.76, Y:19.06, Z:11.19 [[ 9.97515483e-01 -5.66424669e-02 -4.18866511e-02 3.05764790e+02] [ 5.65813386e-02 9.98394491e-01 -2.64441390e-03 1.90603597e+01] [ 4.19691878e-02 2.67841020e-04 9.99118870e-01 1.11942869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.685099893 meters 0.012987724239118714 Centerline is valid? [True, True] Translation: X:305.82, Y:19.06, Z:11.20 [[ 9.97434080e-01 -5.85594482e-02 -4.11830927e-02 3.05822805e+02] [ 5.85015803e-02 9.98283904e-01 -2.60992284e-03 1.90634516e+01] [ 4.12652543e-02 1.93949984e-04 9.99148208e-01 1.11971356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.745099893 meters 0.012923787776828113 Centerline is valid? [True, True] Translation: X:305.88, Y:19.06, Z:11.20 [[ 9.96932671e-01 -6.71764613e-02 -4.01568440e-02 3.05881325e+02] [ 6.71281990e-02 9.97741099e-01 -2.55053722e-03 1.90607339e+01] [ 4.02374697e-02 -1.52942727e-04 9.99190133e-01 1.12001686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.805099893 meters 0.014611805271500454 Centerline is valid? [True, True] Translation: X:305.94, Y:19.05, Z:11.20 [[ 9.95961149e-01 -8.03729707e-02 -4.00196852e-02 3.05942325e+02] [ 8.03352971e-02 9.96764632e-01 -2.55123903e-03 1.90540392e+01] [ 4.00952574e-02 -6.74058348e-04 9.99195634e-01 1.12021209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.865099893 meters 0.016593556295630668 Centerline is valid? [True, True] Translation: X:306.00, Y:19.05, Z:11.20 [[ 9.95133770e-01 -8.97568732e-02 -4.06507534e-02 3.06003808e+02] [ 8.97258481e-02 9.95963132e-01 -2.59072941e-03 1.90515030e+01] [ 4.07191874e-02 -1.06930100e-03 9.99170058e-01 1.12036452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.925099893 meters 0.02145790610419702 Centerline is valid? [True, True] Translation: X:306.06, Y:19.04, Z:11.20 [[ 9.93710175e-01 -1.03405624e-01 -4.29809968e-02 3.06063430e+02] [ 1.03383695e-01 9.94637779e-01 -2.73866244e-03 1.90449934e+01] [ 4.30337163e-02 -1.72209752e-03 9.99072136e-01 1.12035335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.985099893 meters 0.024956415661585008 Centerline is valid? [True, True] Translation: X:306.12, Y:19.04, Z:11.20 [[ 9.92865465e-01 -1.10777962e-01 -4.41181546e-02 3.06124511e+02] [ 1.10762075e-01 9.93842973e-01 -2.81198381e-03 1.90426387e+01] [ 4.41580238e-02 -2.09469675e-03 9.99022363e-01 1.12045273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.045099893 meters 0.029852856310307655 Centerline is valid? [True, True] Translation: X:306.18, Y:19.04, Z:11.21 [[ 9.91961563e-01 -1.18319810e-01 -4.48629141e-02 3.06184709e+02] [ 1.18311096e-01 9.92972463e-01 -2.85878085e-03 1.90396536e+01] [ 4.48858887e-02 -2.47197983e-03 9.98989062e-01 1.12062190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.105099893 meters 0.029507935115867807 Centerline is valid? [True, True] Translation: X:306.25, Y:19.05, Z:11.21 [[ 9.91794909e-01 -1.20166876e-01 -4.36208751e-02 3.06246322e+02] [ 1.20160551e-01 9.92750589e-01 -2.77650653e-03 1.90466956e+01] [ 4.36382936e-02 -2.48778336e-03 9.99044298e-01 1.12105611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.165099893 meters 0.030047272678642618 Centerline is valid? [True, True] Translation: X:306.31, Y:19.05, Z:11.21 [[ 9.91994175e-01 -1.18711290e-01 -4.30718706e-02 3.06306747e+02] [ 1.18703876e-01 9.92925923e-01 -2.73876228e-03 1.90524577e+01] [ 4.30922989e-02 -2.39596178e-03 9.99068222e-01 1.12134731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.225099893 meters 0.02509841725047165 Centerline is valid? [True, True] Translation: X:306.37, Y:19.07, Z:11.22 [[ 9.92333498e-01 -1.15705845e-01 -4.34325443e-02 3.06367024e+02] [ 1.15695504e-01 9.93280893e-01 -2.76016146e-03 1.90663789e+01] [ 4.34600832e-02 -2.28594943e-03 9.99052549e-01 1.12164776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.285099893 meters 0.025519803885014333 Centerline is valid? [True, True] Translation: X:306.43, Y:19.07, Z:11.22 [[ 9.92549761e-01 -1.13400563e-01 -4.45565372e-02 3.06426881e+02] [ 1.13387434e-01 9.93546818e-01 -2.83006419e-03 1.90728437e+01] [ 4.45899367e-02 -2.24317190e-03 9.99002856e-01 1.12173266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.345099893 meters 0.022827244519895006 Centerline is valid? [True, True] Translation: X:306.49, Y:19.08, Z:11.22 [[ 9.92590151e-01 -1.12026686e-01 -4.70618094e-02 3.06488507e+02] [ 1.12010573e-01 9.93702523e-01 -2.98775012e-03 1.90828964e+01] [ 4.71001465e-02 -2.30580889e-03 9.98887511e-01 1.12186550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.405099893 meters 0.02154203317503152 Centerline is valid? [True, True] Translation: X:306.55, Y:19.09, Z:11.22 [[ 9.92760386e-01 -1.09080907e-01 -5.02809216e-02 3.06550020e+02] [ 1.09058938e-01 9.94030171e-01 -3.18845482e-03 1.90928672e+01] [ 5.03285527e-02 -2.31821229e-03 9.98730025e-01 1.12187904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.465099893 meters 0.02181537388815484 Centerline is valid? [True, True] Translation: X:306.61, Y:19.10, Z:11.22 [[ 9.93080238e-01 -1.05256181e-01 -5.20843288e-02 3.06609970e+02] [ 1.05227491e-01 9.94442699e-01 -3.30039815e-03 1.91000206e+01] [ 5.21422678e-02 -2.20314307e-03 9.98637236e-01 1.12196236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52509989299995 meters 0.01796683672661699 Centerline is valid? [True, True] Translation: X:306.67, Y:19.12, Z:11.22 [[ 9.94022076e-01 -9.56124538e-02 -5.27102569e-02 3.06669463e+02] [ 9.55695646e-02 9.95417152e-01 -3.33937735e-03 1.91178281e+01] [ 5.27879799e-02 -1.71808150e-03 9.98604265e-01 1.12232496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58509989299995 meters 0.014153358306703046 Centerline is valid? [True, True] Translation: X:306.73, Y:19.14, Z:11.23 [[ 9.95292478e-01 -8.21677469e-02 -5.13940057e-02 3.06728931e+02] [ 8.21090482e-02 9.96618032e-01 -3.25602421e-03 1.91371196e+01] [ 5.14877330e-02 -9.79216484e-04 9.98673147e-01 1.12290271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64509989299995 meters 0.012831106250219304 Centerline is valid? [True, True] Translation: X:306.79, Y:19.15, Z:11.23 [[ 9.96097721e-01 -7.27414978e-02 -4.99800427e-02 3.06788559e+02] [ 7.26741186e-02 9.97350714e-01 -3.16647993e-03 1.91500180e+01] [ 5.00779657e-02 -4.78132111e-04 9.98745197e-01 1.12333246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70509989299995 meters 0.012297969895775196 Centerline is valid? [True, True] Translation: X:306.85, Y:19.16, Z:11.24 [[ 9.96630168e-01 -6.62969800e-02 -4.83013311e-02 3.06848914e+02] [ 6.62264856e-02 9.97799924e-01 -3.06012534e-03 1.91575924e+01] [ 4.83979415e-02 -1.49014172e-04 9.98828122e-01 1.12363299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76509989299996 meters 0.01222957440277088 Centerline is valid? [True, True] Translation: X:306.91, Y:19.16, Z:11.24 [[ 9.96881491e-01 -6.30444033e-02 -4.74625854e-02 3.06907986e+02] [ 6.29726340e-02 9.98010723e-01 -3.00736238e-03 1.91624328e+01] [ 4.75577665e-02 9.13987014e-06 9.98868489e-01 1.12398503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82509989299996 meters 0.012271914058055656 Centerline is valid? [True, True] Translation: X:306.97, Y:19.17, Z:11.24 [[ 9.97000950e-01 -6.02269368e-02 -4.85985800e-02 3.06966445e+02] [ 6.01482348e-02 9.98184699e-01 -3.08156443e-03 1.91670912e+01] [ 4.86959522e-02 1.49203865e-04 9.98813637e-01 1.12419319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88509989299996 meters 0.012231375548172352 Centerline is valid? [True, True] Translation: X:307.02, Y:19.17, Z:11.24 [[ 9.97001712e-01 -6.01509746e-02 -4.86769561e-02 3.07023953e+02] [ 6.00716334e-02 9.98189278e-01 -3.09256246e-03 1.91699428e+01] [ 4.87748363e-02 1.59185802e-04 9.98809787e-01 1.12443959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94509989299996 meters 0.01212808556861694 Centerline is valid? [True, True] Translation: X:307.08, Y:19.17, Z:11.25 [[ 9.96892965e-01 -6.14936042e-02 -4.92235086e-02 3.07081628e+02] [ 6.14133890e-02 9.98107472e-01 -3.14179908e-03 1.91679056e+01] [ 4.93235523e-02 1.09054913e-04 9.98782847e-01 1.12453079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00509989299997 meters 0.012237318456659698 Centerline is valid? [True, True] Translation: X:307.14, Y:19.17, Z:11.25 [[ 9.96788541e-01 -6.30033635e-02 -4.94285403e-02 3.07138627e+02] [ 6.29237052e-02 9.98013314e-01 -3.16754720e-03 1.91677517e+01] [ 4.95299074e-02 4.71478520e-05 9.98772640e-01 1.12459808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06509989299997 meters 0.012239998211949672 Centerline is valid? [True, True] Translation: X:307.20, Y:19.17, Z:11.25 [[ 9.96756755e-01 -6.41522755e-02 -4.85845422e-02 3.07196810e+02] [ 6.40764046e-02 9.97940121e-01 -3.11910875e-03 1.91675663e+01] [ 4.86845618e-02 -4.13006467e-06 9.98814204e-01 1.12486405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12509989299997 meters 0.012106869833476601 Centerline is valid? [True, True] Translation: X:307.26, Y:19.17, Z:11.25 [[ 9.96841613e-01 -6.38727795e-02 -4.71918125e-02 3.07255460e+02] [ 6.38006170e-02 9.97958049e-01 -3.03536684e-03 1.91695122e+01] [ 4.72893264e-02 1.49132261e-05 9.98881234e-01 1.12527704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.185099893 meters 0.01200635319931678 Centerline is valid? [True, True] Translation: X:307.31, Y:19.17, Z:11.26 [[ 9.96997260e-01 -6.31193049e-02 -4.48599739e-02 3.07314076e+02] [ 6.30528455e-02 9.98005987e-01 -2.89634516e-03 1.91682466e+01] [ 4.49533378e-02 5.90991802e-05 9.98989086e-01 1.12550878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.245099893 meters 0.011990245935903804 Centerline is valid? [True, True] Translation: X:307.37, Y:19.17, Z:11.26 [[ 9.97062200e-01 -6.27055395e-02 -4.39884558e-02 3.07373609e+02] [ 6.26408182e-02 9.98032068e-01 -2.84954797e-03 1.91691850e+01] [ 4.40805719e-02 8.57037059e-05 9.99027976e-01 1.12577321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.305099893 meters 0.011975153457556276 Centerline is valid? [True, True] Translation: X:307.43, Y:19.17, Z:11.26 [[ 9.97131146e-01 -6.19465752e-02 -4.34982631e-02 3.07431970e+02] [ 6.18824937e-02 9.98079460e-01 -2.81947788e-03 1.91680683e+01] [ 4.35893799e-02 1.19608216e-04 9.99049524e-01 1.12598028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.365099893 meters 0.0120472866321058 Centerline is valid? [True, True] Translation: X:307.49, Y:19.17, Z:11.26 [[ 9.97188324e-01 -6.09573963e-02 -4.35848961e-02 3.07490929e+02] [ 6.08920120e-02 9.98140355e-01 -2.82744227e-03 1.91666103e+01] [ 4.36761972e-02 1.65520394e-04 9.99045726e-01 1.12610676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.425099893 meters 0.012062330539510306 Centerline is valid? [True, True] Translation: X:307.55, Y:19.17, Z:11.26 [[ 9.97180468e-01 -6.10149141e-02 -4.36840409e-02 3.07549809e+02] [ 6.09491277e-02 9.98136841e-01 -2.83750912e-03 1.91656777e+01] [ 4.37757809e-02 1.67004486e-04 9.99041367e-01 1.12634613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.485099893 meters 0.01199427656171873 Centerline is valid? [True, True] Translation: X:307.61, Y:19.16, Z:11.26 [[ 9.97077288e-01 -6.15700192e-02 -4.52328843e-02 3.07609236e+02] [ 6.14995111e-02 9.98102754e-01 -2.95006379e-03 1.91628836e+01] [ 4.53287019e-02 1.59641327e-04 9.98972113e-01 1.12646556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.545099893 meters 0.012051930953076577 Centerline is valid? [True, True] Translation: X:307.67, Y:19.16, Z:11.27 [[ 9.96945349e-01 -6.28621150e-02 -4.63500233e-02 3.07667105e+02] [ 6.27889848e-02 9.98022215e-01 -3.03345904e-03 1.91616487e+01] [ 4.64490426e-02 1.13921979e-04 9.98920654e-01 1.12653711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.605099893 meters 0.011959974098877885 Centerline is valid? [True, True] Translation: X:307.72, Y:19.16, Z:11.27 [[ 9.96667993e-01 -6.65072140e-02 -4.72197133e-02 3.07724991e+02] [ 6.64351040e-02 9.97785943e-01 -3.09661704e-03 1.91563839e+01] [ 4.73211135e-02 -5.07474755e-05 9.98879727e-01 1.12673445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.665099893 meters 0.011967740979379308 Centerline is valid? [True, True] Translation: X:307.78, Y:19.15, Z:11.27 [[ 9.96334967e-01 -7.20002777e-02 -4.61800225e-02 3.07783471e+02] [ 7.19366007e-02 9.97404569e-01 -3.04147380e-03 1.91505108e+01] [ 4.62791524e-02 -2.91707141e-04 9.98928503e-01 1.12716376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.725099893 meters 0.01262099276207191 Centerline is valid? [True, True] Translation: X:307.84, Y:19.14, Z:11.27 [[ 9.96008647e-01 -7.74940085e-02 -4.42883031e-02 3.07841590e+02] [ 7.74403682e-02 9.96992686e-01 -2.92815988e-03 1.91435039e+01] [ 4.43820291e-02 -5.13229938e-04 9.99014500e-01 1.12747196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.785099893 meters 0.013184078264035132 Centerline is valid? [True, True] Translation: X:307.90, Y:19.14, Z:11.28 [[ 9.95800230e-01 -8.13030359e-02 -4.20917852e-02 3.07900274e+02] [ 8.12577970e-02 9.96689220e-01 -2.78739515e-03 1.91402090e+01] [ 4.21790522e-02 -6.44597003e-04 9.99109860e-01 1.12781903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.845099893 meters 0.014648247010527691 Centerline is valid? [True, True] Translation: X:307.96, Y:19.13, Z:11.28 [[ 9.95288687e-01 -8.80385527e-02 -4.06158040e-02 3.07960965e+02] [ 8.80016638e-02 9.96116672e-01 -2.69869758e-03 1.91321938e+01] [ 4.06956689e-02 -8.88275160e-04 9.99171193e-01 1.12806726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.905099893 meters 0.016743911019040415 Centerline is valid? [True, True] Translation: X:308.02, Y:19.13, Z:11.28 [[ 9.94664834e-01 -9.46954788e-02 -4.09222920e-02 3.08021752e+02] [ 9.46636252e-02 9.95505601e-01 -2.71979909e-03 1.91266952e+01] [ 4.09959236e-02 -1.16856400e-03 9.99158630e-01 1.12822852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.965099893 meters 0.02005251950539347 Centerline is valid? [True, True] Translation: X:308.08, Y:19.12, Z:11.28 [[ 9.93411819e-01 -1.06388903e-01 -4.25952882e-02 3.08082561e+02] [ 1.06365078e-01 9.94323112e-01 -2.83176880e-03 1.91179542e+01] [ 4.26547483e-02 -1.71753854e-03 9.99088396e-01 1.12827059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02509989299995 meters 0.020711681960968276 Centerline is valid? [True, True] Translation: X:308.14, Y:19.12, Z:11.28 [[ 9.92615347e-01 -1.12994837e-01 -4.41241433e-02 3.08143070e+02] [ 1.12975751e-01 9.93593413e-01 -2.93402394e-03 1.91180725e+01] [ 4.41729877e-02 -2.07260104e-03 9.99021747e-01 1.12848368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08509989299995 meters 0.025576794346279103 Centerline is valid? [True, True] Translation: X:308.20, Y:19.11, Z:11.29 [[ 9.91989271e-01 -1.17864741e-01 -4.54443619e-02 3.08202472e+02] [ 1.17849593e-01 9.93026859e-01 -3.02174369e-03 1.91131207e+01] [ 4.54836290e-02 -2.35806224e-03 9.98962301e-01 1.12862630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14509989299995 meters 0.022313225101702392 Centerline is valid? [True, True] Translation: X:308.26, Y:19.12, Z:11.29 [[ 9.92082938e-01 -1.17547379e-01 -4.42047182e-02 3.08263229e+02] [ 1.17532729e-01 9.93064659e-01 -2.93933069e-03 1.91220379e+01] [ 4.42436541e-02 -2.27944135e-03 9.99018170e-01 1.12905030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20509989299995 meters 0.02245690943300629 Centerline is valid? [True, True] Translation: X:308.32, Y:19.13, Z:11.29 [[ 9.92264426e-01 -1.15912443e-01 -4.44478760e-02 3.08323504e+02] [ 1.15896059e-01 9.93256954e-01 -2.95410233e-03 1.91261678e+01] [ 4.44905791e-02 -2.22008300e-03 9.99007337e-01 1.12918805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26509989299996 meters 0.021306598842773902 Centerline is valid? [True, True] Translation: X:308.38, Y:19.13, Z:11.29 [[ 9.92544143e-01 -1.13072782e-01 -4.55046076e-02 3.08384014e+02] [ 1.13052642e-01 9.93584397e-01 -3.02418221e-03 1.91333256e+01] [ 4.55546208e-02 -2.14278176e-03 9.98959551e-01 1.12931537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32509989299996 meters 0.020700618990043926 Centerline is valid? [True, True] Translation: X:308.44, Y:19.14, Z:11.29 [[ 9.92656450e-01 -1.11947052e-01 -4.58369993e-02 3.08443970e+02] [ 1.11925452e-01 9.93711939e-01 -3.04558084e-03 1.91390714e+01] [ 4.58897173e-02 -2.10711139e-03 9.98944290e-01 1.12949033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38509989299996 meters 0.020825274455283024 Centerline is valid? [True, True] Translation: X:308.50, Y:19.14, Z:11.30 [[ 9.92891874e-01 -1.09695413e-01 -4.61805567e-02 3.08503119e+02] [ 1.09671051e-01 9.93963201e-01 -3.06857122e-03 1.91443011e+01] [ 4.62383821e-02 -2.01791078e-03 9.98928396e-01 1.12972042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44509989299996 meters 0.018933114633888443 Centerline is valid? [True, True] Translation: X:308.56, Y:19.15, Z:11.30 [[ 9.93341526e-01 -1.06062448e-01 -4.49818915e-02 3.08562921e+02] [ 1.06035585e-01 9.94357842e-01 -2.98958348e-03 1.91531113e+01] [ 4.50451790e-02 -1.80000376e-03 9.98983329e-01 1.13002884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50509989299997 meters 0.015933620515487436 Centerline is valid? [True, True] Translation: X:308.62, Y:19.17, Z:11.30 [[ 9.94251052e-01 -9.74369996e-02 -4.43945647e-02 3.08622624e+02] [ 9.74022422e-02 9.95240723e-01 -2.95054674e-03 1.91656113e+01] [ 4.44707711e-02 -1.39054595e-03 9.99009718e-01 1.13029239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56509989299997 meters 0.013181186042543152 Centerline is valid? [True, True] Translation: X:308.68, Y:19.18, Z:11.30 [[ 9.95315772e-01 -8.56341838e-02 -4.48698289e-02 3.08682038e+02] [ 8.55866855e-02 9.96326265e-01 -2.98215015e-03 1.91781769e+01] [ 4.49603630e-02 -8.72078858e-04 9.98988391e-01 1.13046194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62509989299997 meters 0.012414270704612191 Centerline is valid? [True, True] Translation: X:308.74, Y:19.19, Z:11.31 [[ 9.95612970e-01 -8.16151248e-02 -4.57578989e-02 3.08740755e+02] [ 8.15613787e-02 9.96663674e-01 -3.04348760e-03 1.91853533e+01] [ 4.58536303e-02 -7.01941595e-04 9.98947923e-01 1.13066236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.685099893 meters 0.011298893008050212 Centerline is valid? [True, True] Translation: X:308.80, Y:19.20, Z:11.31 [[ 9.96244049e-01 -7.34124222e-02 -4.59174359e-02 3.08799027e+02] [ 7.33491189e-02 9.97301618e-01 -3.06428757e-03 1.91953823e+01] [ 4.60184899e-02 -3.15225206e-04 9.98940538e-01 1.13087950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.745099893 meters 0.01115444397495698 Centerline is valid? [True, True] Translation: X:308.86, Y:19.21, Z:11.31 [[ 9.96924136e-01 -6.42741532e-02 -4.48452872e-02 3.08857613e+02] [ 6.42043199e-02 9.97932273e-01 -2.99731943e-03 1.92051913e+01] [ 4.49452095e-02 1.08838921e-04 9.98989448e-01 1.13118521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.805099893 meters 0.0113414995971484 Centerline is valid? [True, True] Translation: X:308.92, Y:19.21, Z:11.31 [[ 9.97113439e-01 -6.22815579e-02 -4.34257767e-02 3.08915354e+02] [ 6.22137096e-02 9.98058599e-01 -2.91344389e-03 1.92089843e+01] [ 4.35229236e-02 2.03355401e-04 9.99052408e-01 1.13144748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.865099893 meters 0.01128430461309942 Centerline is valid? [True, True] Translation: X:308.97, Y:19.21, Z:11.32 [[ 9.96978082e-01 -6.52526244e-02 -4.21520905e-02 3.08974343e+02] [ 6.51908502e-02 9.97868773e-01 -2.83989378e-03 1.92082243e+01] [ 4.22475654e-02 8.33812349e-05 9.99107170e-01 1.13158879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.925099893 meters 0.011634136886012773 Centerline is valid? [True, True] Translation: X:309.03, Y:19.20, Z:11.32 [[ 9.96487864e-01 -7.30884257e-02 -4.08658646e-02 3.09032258e+02] [ 7.30365480e-02 9.97325438e-01 -2.76300092e-03 1.92025083e+01] [ 4.09585096e-02 -2.31404787e-04 9.99160821e-01 1.13157805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.985099893 meters 0.012639358418885197 Centerline is valid? [True, True] Translation: X:309.09, Y:19.20, Z:11.32 [[ 9.95952108e-01 -8.04777098e-02 -4.00341850e-02 3.09091355e+02] [ 8.04336573e-02 9.96756274e-01 -2.71247218e-03 1.91988817e+01] [ 4.01226186e-02 -5.18603531e-04 9.99194629e-01 1.13168265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.045099893 meters 0.014756709974437314 Centerline is valid? [True, True] Translation: X:309.15, Y:19.19, Z:11.32 [[ 9.94955369e-01 -9.25541957e-02 -3.86979907e-02 3.09151849e+02] [ 9.25218019e-02 9.95707183e-01 -2.63098637e-03 1.91916375e+01] [ 3.87753761e-02 -9.62693813e-04 9.99247489e-01 1.13181967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.105099893 meters 0.01670126192109209 Centerline is valid? [True, True] Translation: X:309.21, Y:19.19, Z:11.32 [[ 9.94373952e-01 -9.92374157e-02 -3.70456367e-02 3.09212666e+02] [ 9.92123341e-02 9.95063096e-01 -2.51931067e-03 1.91887363e+01] [ 3.71127559e-02 -1.17024718e-03 9.99310399e-01 1.13203763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.165099893 meters 0.01916520276529764 Centerline is valid? [True, True] Translation: X:309.27, Y:19.19, Z:11.32 [[ 9.93901567e-01 -1.04611401e-01 -3.48730479e-02 3.09272751e+02] [ 1.04592471e-01 9.94512338e-01 -2.37167333e-03 1.91851827e+01] [ 3.49297805e-02 -1.29024842e-03 9.99388936e-01 1.13228659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.225099893 meters 0.01992939287796923 Centerline is valid? [True, True] Translation: X:309.33, Y:19.19, Z:11.32 [[ 9.93989086e-01 -1.04323400e-01 -3.32012832e-02 3.09334013e+02] [ 1.04306131e-01 9.94542679e-01 -2.25644952e-03 1.91862223e+01] [ 3.32554936e-02 -1.22021121e-03 9.99446138e-01 1.13240956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.285099893 meters 0.018582635116770985 Centerline is valid? [True, True] Translation: X:309.40, Y:19.19, Z:11.32 [[ 9.94225907e-01 -1.01943470e-01 -3.35018518e-02 3.09395594e+02] [ 1.01924577e-01 9.94789526e-01 -2.27572680e-03 1.91913124e+01] [ 3.35592868e-02 -1.15207552e-03 9.99436064e-01 1.13248758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.345099893 meters 0.018007777331741272 Centerline is valid? [True, True] Translation: X:309.45, Y:19.20, Z:11.32 [[ 9.94684073e-01 -9.70736900e-02 -3.43553917e-02 3.09454746e+02] [ 9.70509862e-02 9.95276680e-01 -2.33178940e-03 1.91958063e+01] [ 3.44194756e-02 -1.01483087e-03 9.99406959e-01 1.13247478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.405099893 meters 0.016183126383672388 Centerline is valid? [True, True] Translation: X:309.52, Y:19.20, Z:11.33 [[ 9.94986503e-01 -9.38131995e-02 -3.46546250e-02 3.09515766e+02] [ 9.37882039e-02 9.95589399e-01 -2.34975687e-03 1.92025707e+01] [ 3.47222155e-02 -9.12218665e-04 9.99396586e-01 1.13258611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.465099893 meters 0.01562060287828021 Centerline is valid? [True, True] Translation: X:309.58, Y:19.21, Z:11.33 [[ 9.95445493e-01 -8.84862021e-02 -3.54748140e-02 3.09575168e+02] [ 8.84566792e-02 9.96077124e-01 -2.40393302e-03 1.92073009e+01] [ 3.55483656e-02 -7.44999957e-04 9.99367679e-01 1.13265121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52509989299995 meters 0.01389432757616413 Centerline is valid? [True, True] Translation: X:309.63, Y:19.22, Z:11.33 [[ 9.96021225e-01 -8.12743058e-02 -3.65541518e-02 3.09634987e+02] [ 8.12380774e-02 9.96691645e-01 -2.47775296e-03 1.92168284e+01] [ 3.66345953e-02 -5.01694469e-04 9.99328602e-01 1.13277496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58509989299995 meters 0.01291143134639953 Centerline is valid? [True, True] Translation: X:309.69, Y:19.23, Z:11.33 [[ 9.96456965e-01 -7.57846702e-02 -3.64719099e-02 3.09694433e+02] [ 7.57449046e-02 9.97124162e-01 -2.47280711e-03 1.92251838e+01] [ 3.65544235e-02 -2.98515468e-04 9.99331619e-01 1.13299181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64509989299995 meters 0.012539913503659766 Centerline is valid? [True, True] Translation: X:309.75, Y:19.23, Z:11.33 [[ 9.96984811e-01 -6.82611014e-02 -3.69013419e-02 3.09753955e+02] [ 6.82151891e-02 9.97667490e-01 -2.50327909e-03 1.92338198e+01] [ 3.69861457e-02 -2.15007837e-05 9.99315778e-01 1.13329349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70509989299995 meters 0.012803288787413374 Centerline is valid? [True, True] Translation: X:309.81, Y:19.24, Z:11.34 [[ 9.97337741e-01 -6.39285003e-02 -3.50795742e-02 3.09812159e+02] [ 6.38843043e-02 9.97954472e-01 -2.38044606e-03 1.92407497e+01] [ 3.51599963e-02 1.33074500e-04 9.99381687e-01 1.13361117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76509989299996 meters 0.012791687260328954 Centerline is valid? [True, True] Translation: X:309.87, Y:19.24, Z:11.34 [[ 9.97346234e-01 -6.42513675e-02 -3.42381644e-02 3.09870072e+02] [ 6.42091723e-02 9.97933738e-01 -2.33164209e-03 1.92442651e+01] [ 3.43172306e-02 1.27050262e-04 9.99410982e-01 1.13393931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82509989299996 meters 0.012807222689349867 Centerline is valid? [True, True] Translation: X:309.93, Y:19.24, Z:11.34 [[ 9.97050707e-01 -6.89753540e-02 -3.36494914e-02 3.09927869e+02] [ 6.89369694e-02 9.97618364e-01 -2.30094781e-03 1.92425993e+01] [ 3.37280592e-02 -2.55323207e-05 9.99431047e-01 1.13417920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88509989299996 meters 0.013120601460916499 Centerline is valid? [True, True] Translation: X:309.99, Y:19.24, Z:11.34 [[ 9.96661341e-01 -7.44108399e-02 -3.36035337e-02 3.09986879e+02] [ 7.43753179e-02 9.97227651e-01 -2.30758195e-03 1.92419610e+01] [ 3.36820821e-02 -1.99395778e-04 9.99432578e-01 1.13442056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94509989299996 meters 0.014112387451848655 Centerline is valid? [True, True] Translation: X:310.05, Y:19.24, Z:11.35 [[ 9.95912877e-01 -8.34449262e-02 -3.45613469e-02 3.10046541e+02] [ 8.34124564e-02 9.96512260e-01 -2.38279678e-03 1.92394612e+01] [ 3.46396382e-02 -5.09788851e-04 9.99399738e-01 1.13459629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00509989299997 meters 0.015556787253434193 Centerline is valid? [True, True] Translation: X:310.11, Y:19.24, Z:11.35 [[ 9.95284977e-01 -9.01722484e-02 -3.57320542e-02 3.10107420e+02] [ 9.01418206e-02 9.95925889e-01 -2.46492295e-03 1.92379202e+01] [ 3.58087455e-02 -7.67651641e-04 9.99358366e-01 1.13479409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06509989299997 meters 0.01861891211209976 Centerline is valid? [True, True] Translation: X:310.17, Y:19.23, Z:11.35 [[ 9.94368371e-01 -9.94856506e-02 -3.65259786e-02 3.10167282e+02] [ 9.94601276e-02 9.95038358e-01 -2.51966701e-03 1.92339952e+01] [ 3.65954205e-02 -1.12740131e-03 9.99329527e-01 1.13498477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12509989299997 meters 0.0190489926270786 Centerline is valid? [True, True] Translation: X:310.23, Y:19.24, Z:11.35 [[ 9.93683760e-01 -1.05625631e-01 -3.78920910e-02 3.10226939e+02] [ 1.05602568e-01 9.94404977e-01 -2.61523833e-03 1.92368343e+01] [ 3.79563200e-02 -1.40278225e-03 9.99278415e-01 1.13517361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.185099893 meters 0.020080006847362584 Centerline is valid? [True, True] Translation: X:310.29, Y:19.24, Z:11.35 [[ 9.93476852e-01 -1.07209151e-01 -3.88579816e-02 3.10286774e+02] [ 1.07186077e-01 9.94235359e-01 -2.68264076e-03 1.92400946e+01] [ 3.89215829e-02 -1.49989314e-03 9.99241142e-01 1.13533112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.245099893 meters 0.020748806372501986 Centerline is valid? [True, True] Translation: X:310.35, Y:19.25, Z:11.35 [[ 9.93452980e-01 -1.06998969e-01 -4.00299472e-02 3.10346422e+02] [ 1.06974283e-01 9.94257945e-01 -2.76430420e-03 1.92459953e+01] [ 4.00958708e-02 -1.53596864e-03 9.99194657e-01 1.13548382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.305099893 meters 0.0208278074232124 Centerline is valid? [True, True] Translation: X:310.41, Y:19.25, Z:11.36 [[ 9.93432066e-01 -1.07055854e-01 -4.03952240e-02 3.10406556e+02] [ 1.07030735e-01 9.94251797e-01 -2.79020635e-03 1.92524006e+01] [ 4.04617320e-02 -1.55165005e-03 9.99179884e-01 1.13577641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.365099893 meters 0.02008201413859425 Centerline is valid? [True, True] Translation: X:310.47, Y:19.26, Z:11.36 [[ 9.93531813e-01 -1.06007744e-01 -4.07049766e-02 3.10466724e+02] [ 1.05981361e-01 9.94364142e-01 -2.81160179e-03 1.92608522e+01] [ 4.07736206e-02 -1.52055298e-03 9.99167253e-01 1.13602663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.425099893 meters 0.02036683428832508 Centerline is valid? [True, True] Translation: X:310.53, Y:19.27, Z:11.36 [[ 9.93454134e-01 -1.06203731e-01 -4.20672287e-02 3.10527104e+02] [ 1.06175729e-01 9.94343136e-01 -2.90569620e-03 1.92678551e+01] [ 4.21378559e-02 -1.57984276e-03 9.99110557e-01 1.13623355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.485099893 meters 0.021867820677761204 Centerline is valid? [True, True] Translation: X:310.59, Y:19.27, Z:11.36 [[ 9.93368111e-01 -1.06552594e-01 -4.32011671e-02 3.10586825e+02] [ 1.06523387e-01 9.94305719e-01 -2.98412738e-03 1.92721859e+01] [ 4.32731340e-02 -1.63759768e-03 9.99061937e-01 1.13639451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.545099893 meters 0.019519963548875495 Centerline is valid? [True, True] Translation: X:310.65, Y:19.28, Z:11.37 [[ 9.93424327e-01 -1.05615549e-01 -4.41979939e-02 3.10646538e+02] [ 1.05584024e-01 9.94405696e-01 -3.05366415e-03 1.92822469e+01] [ 4.42732513e-02 -1.63301780e-03 9.99018124e-01 1.13664451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.605099893 meters 0.019213878407849033 Centerline is valid? [True, True] Translation: X:310.71, Y:19.29, Z:11.37 [[ 9.93665886e-01 -1.02780650e-01 -4.54339538e-02 3.10706388e+02] [ 1.02744372e-01 9.94702840e-01 -3.13920638e-03 1.92902307e+01] [ 4.55159326e-02 -1.54876076e-03 9.98962412e-01 1.13685429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.665099893 meters 0.0168023642681616 Centerline is valid? [True, True] Translation: X:310.77, Y:19.30, Z:11.37 [[ 9.94392698e-01 -9.57078582e-02 -4.49796388e-02 3.10765757e+02] [ 9.56650352e-02 9.95408729e-01 -3.10862759e-03 1.93043330e+01] [ 4.50706452e-02 -1.21178216e-03 9.98983067e-01 1.13732508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.725099893 meters 0.01584423476615739 Centerline is valid? [True, True] Translation: X:310.82, Y:19.31, Z:11.38 [[ 9.94903580e-01 -9.06411651e-02 -4.41706349e-02 3.10824564e+02] [ 9.05948370e-02 9.95883151e-01 -3.05364460e-03 1.93137383e+01] [ 4.42655770e-02 -9.63549519e-04 9.99019334e-01 1.13763520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.785099893 meters 0.015000699907267065 Centerline is valid? [True, True] Translation: X:310.88, Y:19.32, Z:11.38 [[ 9.95348175e-01 -8.53552723e-02 -4.46820684e-02 3.10883307e+02] [ 8.53024675e-02 9.96350308e-01 -3.09064603e-03 1.93235086e+01] [ 4.47827956e-02 -7.35221802e-04 9.98996477e-01 1.13785330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.845099893 meters 0.014587944022352561 Centerline is valid? [True, True] Translation: X:310.94, Y:19.33, Z:11.38 [[ 9.95426900e-01 -8.38666404e-02 -4.57348062e-02 3.10942131e+02] [ 8.38095847e-02 9.96476755e-01 -3.16701088e-03 1.93297775e+01] [ 4.58392779e-02 -6.80487290e-04 9.98948596e-01 1.13803234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.905099893 meters 0.014961714663472826 Centerline is valid? [True, True] Translation: X:311.00, Y:19.33, Z:11.38 [[ 9.95433079e-01 -8.36251766e-02 -4.60414416e-02 3.10999493e+02] [ 8.35665976e-02 9.96497060e-01 -3.19901092e-03 1.93338188e+01] [ 4.61476790e-02 -6.63125334e-04 9.98934408e-01 1.13819025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.965099893 meters 0.015109205758518783 Centerline is valid? [True, True] Translation: X:311.06, Y:19.34, Z:11.38 [[ 9.95212840e-01 -8.59253598e-02 -4.65643090e-02 3.11058230e+02] [ 8.58676093e-02 9.96301279e-01 -3.24279543e-03 1.93375185e+01] [ 4.66707189e-02 -7.71094240e-04 9.98910031e-01 1.13848568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02509989299995 meters 0.015566953501296084 Centerline is valid? [True, True] Translation: X:311.12, Y:19.34, Z:11.39 [[ 9.94919164e-01 -8.89051345e-02 -4.72412270e-02 3.11117213e+02] [ 8.88484729e-02 9.96039681e-01 -3.30205896e-03 1.93400399e+01] [ 4.73477067e-02 -9.12029140e-04 9.98878052e-01 1.13874806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08509989299995 meters 0.01626048858903016 Centerline is valid? [True, True] Translation: X:311.18, Y:19.34, Z:11.39 [[ 9.94844651e-01 -8.97478166e-02 -4.72170602e-02 3.11175083e+02] [ 8.96916706e-02 9.95964077e-01 -3.31072488e-03 1.93417405e+01] [ 4.73236261e-02 -9.41320073e-04 9.98879166e-01 1.13888152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14509989299995 meters 0.016413818893483395 Centerline is valid? [True, True] Translation: X:311.23, Y:19.35, Z:11.39 [[ 9.94798528e-01 -9.03633366e-02 -4.70144249e-02 3.11232571e+02] [ 9.03080723e-02 9.95908402e-01 -3.30257819e-03 1.93450170e+01] [ 4.71204928e-02 -9.60382161e-04 9.98888751e-01 1.13911352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20509989299995 meters 0.016033293345149288 Centerline is valid? [True, True] Translation: X:311.29, Y:19.35, Z:11.39 [[ 9.94696732e-01 -9.17378616e-02 -4.65035061e-02 3.11291128e+02] [ 9.16846996e-02 9.95782688e-01 -3.27939437e-03 1.93501527e+01] [ 4.66082310e-02 -1.00165712e-03 9.98912744e-01 1.13938336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26509989299996 meters 0.01644508548566857 Centerline is valid? [True, True] Translation: X:311.35, Y:19.35, Z:11.40 [[ 9.94534362e-01 -9.32699201e-02 -4.69268034e-02 3.11350006e+02] [ 9.32169227e-02 9.95640284e-01 -3.32127806e-03 1.93532864e+01] [ 4.70319912e-02 -1.07124705e-03 9.98892809e-01 1.13956360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32509989299996 meters 0.01777074935792712 Centerline is valid? [True, True] Translation: X:311.41, Y:19.35, Z:11.40 [[ 9.94415156e-01 -9.46297023e-02 -4.67302507e-02 3.11407369e+02] [ 9.45781393e-02 9.95511911e-01 -3.31820666e-03 1.93540790e+01] [ 4.68345221e-02 -1.11998516e-03 9.98902034e-01 1.13965550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38509989299996 meters 0.01748791470183591 Centerline is valid? [True, True] Translation: X:311.47, Y:19.36, Z:11.40 [[ 9.94322728e-01 -9.56401170e-02 -4.66399063e-02 3.11465448e+02] [ 9.55895568e-02 9.95415303e-01 -3.31834346e-03 1.93586050e+01] [ 4.67434433e-02 -1.15878366e-03 9.98906256e-01 1.14001631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44509989299996 meters 0.018253409579109942 Centerline is valid? [True, True] Translation: X:311.52, Y:19.36, Z:11.40 [[ 9.94161313e-01 -9.73462424e-02 -4.65509708e-02 3.11524124e+02] [ 9.72974829e-02 9.95249815e-01 -3.31757588e-03 1.93617099e+01] [ 4.66527986e-02 -1.23108670e-03 9.98910407e-01 1.14027233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50509989299997 meters 0.019360674565922702 Centerline is valid? [True, True] Translation: X:311.58, Y:19.36, Z:11.40 [[ 9.93916727e-01 -9.92593968e-02 -4.77190971e-02 3.11582128e+02] [ 9.92098721e-02 9.95060685e-01 -3.41104413e-03 1.93638318e+01] [ 4.78219756e-02 -1.34391170e-03 9.98854971e-01 1.14038862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56509989299997 meters 0.020948296655934586 Centerline is valid? [True, True] Translation: X:311.64, Y:19.37, Z:11.41 [[ 9.93479640e-01 -1.02548274e-01 -4.98202440e-02 3.11641969e+02] [ 1.02498232e-01 9.94726798e-01 -3.56499813e-03 1.93651191e+01] [ 4.99231162e-02 -1.56473387e-03 9.98751838e-01 1.14050751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62509989299997 meters 0.02202751240780789 Centerline is valid? [True, True] Translation: X:311.70, Y:19.37, Z:11.41 [[ 9.93298757e-01 -1.04018278e-01 -5.03763464e-02 3.11700685e+02] [ 1.03968780e-01 9.94574013e-01 -3.60916214e-03 1.93676458e+01] [ 5.04784238e-02 -1.65259100e-03 9.98723784e-01 1.14070537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.685099893 meters 0.01914048760521432 Centerline is valid? [True, True] Translation: X:311.76, Y:19.38, Z:11.41 [[ 9.93237004e-01 -1.05084339e-01 -4.93714014e-02 3.11758255e+02] [ 1.05037631e-01 9.94461923e-01 -3.54684290e-03 1.93772851e+01] [ 4.94706964e-02 -1.66299941e-03 9.98774191e-01 1.14130825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.745099893 meters 0.019463023648809377 Centerline is valid? [True, True] Translation: X:311.82, Y:19.38, Z:11.42 [[ 9.93177682e-01 -1.05786688e-01 -4.90639207e-02 3.11816317e+02] [ 1.05741196e-01 9.94387422e-01 -3.52920935e-03 1.93811653e+01] [ 4.91618889e-02 -1.68294567e-03 9.98789405e-01 1.14167433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.805099893 meters 0.01985658053670177 Centerline is valid? [True, True] Translation: X:311.87, Y:19.39, Z:11.42 [[ 9.93123507e-01 -1.06189140e-01 -4.92906414e-02 3.11874552e+02] [ 1.06143403e-01 9.94344488e-01 -3.55195112e-03 1.93853240e+01] [ 4.93890563e-02 -1.70435024e-03 9.98778162e-01 1.14192405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.865099893 meters 0.01922087057542575 Centerline is valid? [True, True] Translation: X:311.93, Y:19.39, Z:11.42 [[ 9.93005550e-01 -1.06791222e-01 -5.03548687e-02 3.11934132e+02] [ 1.06743754e-01 9.94279906e-01 -3.63869398e-03 1.93926637e+01] [ 5.04554146e-02 -1.76182439e-03 9.98724760e-01 1.14222624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.925099893 meters 0.02203472480999066 Centerline is valid? [True, True] Translation: X:311.99, Y:19.39, Z:11.42 [[ 9.92836699e-01 -1.08270536e-01 -5.05250473e-02 3.11991930e+02] [ 1.08224528e-01 9.94119763e-01 -3.65356134e-03 1.93934867e+01] [ 5.06235211e-02 -1.84065961e-03 9.98716111e-01 1.14236793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.985099893 meters 0.022887300611954455 Centerline is valid? [True, True] Translation: X:312.05, Y:19.40, Z:11.43 [[ 9.92281835e-01 -1.13243824e-01 -5.05232299e-02 3.12051986e+02] [ 1.13204067e-01 9.93565028e-01 -3.65702030e-03 1.93974626e+01] [ 5.06122493e-02 -2.09064028e-03 9.98716191e-01 1.14270999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.045099893 meters 0.023302941310056485 Centerline is valid? [True, True] Translation: X:312.11, Y:19.40, Z:11.43 [[ 9.91367269e-01 -1.20598292e-01 -5.14489026e-02 3.12112255e+02] [ 1.20566900e-01 9.92698217e-01 -3.72468428e-03 1.94031684e+01] [ 5.15224244e-02 -2.51050463e-03 9.98668682e-01 1.14301905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.105099893 meters 0.02464649756632821 Centerline is valid? [True, True] Translation: X:312.17, Y:19.41, Z:11.43 [[ 9.90752130e-01 -1.25058165e-01 -5.26371689e-02 3.12171872e+02] [ 1.25031556e-01 9.92145446e-01 -3.81115166e-03 1.94070338e+01] [ 5.27003430e-02 -2.80540050e-03 9.98606431e-01 1.14322647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.165099893 meters 0.02581525127848656 Centerline is valid? [True, True] Translation: X:312.23, Y:19.41, Z:11.44 [[ 9.90207487e-01 -1.28989520e-01 -5.33932182e-02 3.12231838e+02] [ 1.28967747e-01 9.91641247e-01 -3.86752468e-03 1.94130537e+01] [ 5.34457876e-02 -3.05635116e-03 9.98566075e-01 1.14357284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.225099893 meters 0.02504802986547317 Centerline is valid? [True, True] Translation: X:312.29, Y:19.42, Z:11.44 [[ 9.90133967e-01 -1.29675380e-01 -5.30944715e-02 3.12291771e+02] [ 1.29654771e-01 9.91551734e-01 -3.84700950e-03 1.94207699e+01] [ 5.31447777e-02 -3.07489677e-03 9.98582084e-01 1.14394305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.285099893 meters 0.026310778719448365 Centerline is valid? [True, True] Translation: X:312.35, Y:19.43, Z:11.44 [[ 9.90326111e-01 -1.28858724e-01 -5.14744980e-02 3.12351743e+02] [ 1.28838263e-01 9.91658608e-01 -3.72936825e-03 1.94276562e+01] [ 5.15256907e-02 -2.93859415e-03 9.98667346e-01 1.14436797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.345099893 meters 0.02625548435855689 Centerline is valid? [True, True] Translation: X:312.41, Y:19.44, Z:11.45 [[ 9.90681443e-01 -1.25881675e-01 -5.20007938e-02 3.12412206e+02] [ 1.25856758e-01 9.92041274e-01 -3.76653430e-03 1.94362913e+01] [ 5.20610714e-02 -2.81321567e-03 9.98639940e-01 1.14457037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.405099893 meters 0.02395143998015928 Centerline is valid? [True, True] Translation: X:312.47, Y:19.45, Z:11.45 [[ 9.91292814e-01 -1.20768072e-01 -5.24750375e-02 3.12472399e+02] [ 1.20735596e-01 9.92677428e-01 -3.80008708e-03 1.94494187e+01] [ 5.25497145e-02 -2.56860594e-03 9.98615006e-01 1.14485833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.465099893 meters 0.023008293157277718 Centerline is valid? [True, True] Translation: X:312.53, Y:19.46, Z:11.45 [[ 9.91555438e-01 -1.18446484e-01 -5.28038301e-02 3.12532744e+02] [ 1.18410348e-01 9.92957387e-01 -3.82332276e-03 1.94572227e+01] [ 5.28848123e-02 -2.46148345e-03 9.98597585e-01 1.14512557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52509989299995 meters 0.02182704814294844 Centerline is valid? [True, True] Translation: X:312.59, Y:19.47, Z:11.45 [[ 9.92161715e-01 -1.13070043e-01 -5.32005283e-02 3.12592857e+02] [ 1.13025701e-01 9.93584601e-01 -3.85110083e-03 1.94678483e+01] [ 5.32946699e-02 -2.19211220e-03 9.98576423e-01 1.14539134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58509989299995 meters 0.018781896796175247 Centerline is valid? [True, True] Translation: X:312.65, Y:19.48, Z:11.46 [[ 9.93141764e-01 -1.03616975e-01 -5.41568073e-02 3.12652741e+02] [ 1.03557012e-01 9.94615795e-01 -3.91985674e-03 1.94836731e+01] [ 5.42713796e-02 -1.71534368e-03 9.98524749e-01 1.14561723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64509989299995 meters 0.015555145047963412 Centerline is valid? [True, True] Translation: X:312.71, Y:19.50, Z:11.46 [[ 9.94071598e-01 -9.40358411e-02 -5.45794707e-02 3.12711830e+02] [ 9.39604911e-02 9.95568088e-01 -3.95069750e-03 1.95008033e+01] [ 5.47090865e-02 -1.20103770e-03 9.98501614e-01 1.14602763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70509989299995 meters 0.014816183328113706 Centerline is valid? [True, True] Translation: X:312.77, Y:19.51, Z:11.46 [[ 9.94538448e-01 -8.87420136e-02 -5.49375073e-02 3.12770739e+02] [ 8.86575759e-02 9.96054224e-01 -3.97705564e-03 1.95114036e+01] [ 5.50736681e-02 -9.15291470e-04 9.98481874e-01 1.14627667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76509989299996 meters 0.014014716426334587 Centerline is valid? [True, True] Translation: X:312.83, Y:19.52, Z:11.47 [[ 9.95036709e-01 -8.37611703e-02 -5.37216306e-02 3.12829446e+02] [ 8.36730702e-02 9.96485664e-01 -3.89096303e-03 1.95229301e+01] [ 5.38587463e-02 -6.23402716e-04 9.98548370e-01 1.14677054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82509989299996 meters 0.014398486620040325 Centerline is valid? [True, True] Translation: X:312.89, Y:19.53, Z:11.47 [[ 9.95042168e-01 -8.36722367e-02 -5.37590926e-02 3.12886916e+02] [ 8.35837292e-02 9.96493140e-01 -3.89654519e-03 1.95282890e+01] [ 5.38965996e-02 -6.16158659e-04 9.98546332e-01 1.14697893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88509989299996 meters 0.015177647207653229 Centerline is valid? [True, True] Translation: X:312.95, Y:19.53, Z:11.47 [[ 9.94586129e-01 -8.84661916e-02 -5.45175642e-02 3.12945550e+02] [ 8.83819386e-02 9.96078791e-01 -3.95921896e-03 1.95320756e+01] [ 5.46540465e-02 -8.80583750e-04 9.98504962e-01 1.14741575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94509989299996 meters 0.01699591168059857 Centerline is valid? [True, True] Translation: X:313.01, Y:19.53, Z:11.48 [[ 9.93774821e-01 -9.67727962e-02 -5.51962973e-02 3.13005909e+02] [ 9.66986847e-02 9.95305591e-01 -4.01815019e-03 1.95308313e+01] [ 5.53260310e-02 -1.34427287e-03 9.98467437e-01 1.14772932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00509989299997 meters 0.018747317244701505 Centerline is valid? [True, True] Translation: X:313.07, Y:19.53, Z:11.48 [[ 9.93077339e-01 -1.02975831e-01 -5.65099683e-02 3.13066387e+02] [ 1.02908113e-01 9.94682356e-01 -4.11479677e-03 1.95302850e+01] [ 5.66331930e-02 -1.72902275e-03 9.98393556e-01 1.14796877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06509989299997 meters 0.0193406917095316 Centerline is valid? [True, True] Translation: X:313.13, Y:19.53, Z:11.48 [[ 9.92193511e-01 -1.10369138e-01 -5.80576381e-02 3.13126998e+02] [ 1.10310243e-01 9.93888209e-01 -4.22817479e-03 1.95314018e+01] [ 5.81694620e-02 -2.20918458e-03 9.98304279e-01 1.14834441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12509989299997 meters 0.021231287111516138 Centerline is valid? [True, True] Translation: X:313.19, Y:19.53, Z:11.48 [[ 9.91817906e-01 -1.13567129e-01 -5.83073687e-02 3.13186521e+02] [ 1.13513211e-01 9.93527411e-01 -4.24681296e-03 1.95315622e+01] [ 5.84122674e-02 -2.40659151e-03 9.98289645e-01 1.14849979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.185099893 meters 0.02055167351300427 Centerline is valid? [True, True] Translation: X:313.25, Y:19.54, Z:11.49 [[ 9.91794063e-01 -1.14413004e-01 -5.70456046e-02 3.13247189e+02] [ 1.14362785e-01 9.93430365e-01 -4.15493352e-03 1.95357454e+01] [ 5.71462142e-02 -2.40305584e-03 9.98362928e-01 1.14885420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.245099893 meters 0.02199830412545297 Centerline is valid? [True, True] Translation: X:313.31, Y:19.54, Z:11.49 [[ 9.92093463e-01 -1.12580822e-01 -5.54627778e-02 3.13307845e+02] [ 1.12530603e-01 9.93640056e-01 -4.03764922e-03 1.95377518e+01] [ 5.55645995e-02 -2.23553442e-03 9.98452592e-01 1.14908319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.305099893 meters 0.019750722813265505 Centerline is valid? [True, True] Translation: X:313.37, Y:19.55, Z:11.50 [[ 9.92523556e-01 -1.09547558e-01 -5.38175050e-02 3.13367667e+02] [ 1.09495891e-01 9.93979532e-01 -3.91655588e-03 1.95457844e+01] [ 5.39225476e-02 -2.00552172e-03 9.98543107e-01 1.14951962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.365099893 meters 0.018701713449399467 Centerline is valid? [True, True] Translation: X:313.43, Y:19.55, Z:11.50 [[ 9.92757298e-01 -1.07441116e-01 -5.37527092e-02 3.13428275e+02] [ 1.07386524e-01 9.94209654e-01 -3.91123743e-03 1.95522625e+01] [ 5.38616901e-02 -1.88940710e-03 9.98546618e-01 1.14977695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.425099893 meters 0.019780369401287513 Centerline is valid? [True, True] Translation: X:313.49, Y:19.56, Z:11.50 [[ 9.92768528e-01 -1.06905171e-01 -5.46070863e-02 3.13488283e+02] [ 1.06848114e-01 9.94267422e-01 -3.97171845e-03 1.95558360e+01] [ 5.47186441e-02 -1.89166712e-03 9.98500021e-01 1.14987887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.485099893 meters 0.018418130565830908 Centerline is valid? [True, True] Translation: X:313.55, Y:19.56, Z:11.50 [[ 9.92681592e-01 -1.07584531e-01 -5.48527697e-02 3.13549377e+02] [ 1.07528066e-01 9.94194050e-01 -3.98828051e-03 1.95636955e+01] [ 5.49633746e-02 -1.93911962e-03 9.98486488e-01 1.15013450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.545099893 meters 0.018314500590286054 Centerline is valid? [True, True] Translation: X:313.61, Y:19.57, Z:11.50 [[ 9.92579422e-01 -1.08400511e-01 -5.50946447e-02 3.13610586e+02] [ 1.08344914e-01 9.94105301e-01 -4.00385121e-03 1.95690769e+01] [ 5.52038979e-02 -1.99508422e-03 9.98473109e-01 1.15027882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.605099893 meters 0.019462729143192227 Centerline is valid? [True, True] Translation: X:313.67, Y:19.57, Z:11.50 [[ 9.92588442e-01 -1.08533678e-01 -5.46683188e-02 3.13671053e+02] [ 1.08479230e-01 9.94090784e-01 -3.97120121e-03 1.95741177e+01] [ 5.47762810e-02 -1.98860872e-03 9.98496672e-01 1.15035494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.665099893 meters 0.01798668463469999 Centerline is valid? [True, True] Translation: X:313.73, Y:19.58, Z:11.51 [[ 9.92801875e-01 -1.07171633e-01 -5.34665988e-02 3.13732227e+02] [ 1.07117659e-01 9.94238771e-01 -3.88242922e-03 1.95834015e+01] [ 5.35746518e-02 -1.87273389e-03 9.98562091e-01 1.15069029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.725099893 meters 0.016934714081609605 Centerline is valid? [True, True] Translation: X:313.79, Y:19.59, Z:11.51 [[ 9.93440106e-01 -1.02722827e-01 -5.02471484e-02 3.13792882e+02] [ 1.02669571e-01 9.94708832e-01 -3.64665017e-03 1.95931390e+01] [ 5.03558765e-02 -1.53612466e-03 9.98730157e-01 1.15103544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.785099893 meters 0.01554278254439058 Centerline is valid? [True, True] Translation: X:313.85, Y:19.60, Z:11.51 [[ 9.93984874e-01 -9.82897157e-02 -4.83032339e-02 3.13853504e+02] [ 9.82353210e-02 9.95157043e-01 -3.50452059e-03 1.96025353e+01] [ 4.84137618e-02 -1.26164324e-03 9.98826569e-01 1.15138593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.845099893 meters 0.013903306085511772 Centerline is valid? [True, True] Translation: X:313.91, Y:19.61, Z:11.52 [[ 9.94693217e-01 -9.22599563e-02 -4.55357540e-02 3.13913047e+02] [ 9.22053590e-02 9.95734536e-01 -3.30245227e-03 1.96137158e+01] [ 4.56462070e-02 -9.13713674e-04 9.98957251e-01 1.15179077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.905099893 meters 0.013255936890290587 Centerline is valid? [True, True] Translation: X:313.97, Y:19.62, Z:11.52 [[ 9.94936207e-01 -9.01706384e-02 -4.43981948e-02 3.13974478e+02] [ 9.01166798e-02 9.95926011e-01 -3.21942419e-03 1.96209398e+01] [ 4.45076146e-02 -7.97896212e-04 9.99008726e-01 1.15204936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.965099893 meters 0.013395690133797163 Centerline is valid? [True, True] Translation: X:314.04, Y:19.63, Z:11.52 [[ 9.94915024e-01 -8.95209020e-02 -4.61530322e-02 3.14036881e+02] [ 8.94620558e-02 9.95984620e-01 -3.34318585e-03 1.96253218e+01] [ 4.62669953e-02 -8.02759308e-04 9.98928787e-01 1.15194424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02509989299995 meters 0.013567877462756419 Centerline is valid? [True, True] Translation: X:314.10, Y:19.63, Z:11.52 [[ 9.94722429e-01 -9.11826249e-02 -4.70427207e-02 3.14098973e+02] [ 9.11235079e-02 9.95833780e-01 -3.40415949e-03 1.96293921e+01] [ 4.71571306e-02 -9.00503933e-04 9.98887078e-01 1.15199701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08509989299995 meters 0.014145152419848105 Centerline is valid? [True, True] Translation: X:314.16, Y:19.63, Z:11.52 [[ 9.94627148e-01 -9.24239655e-02 -4.66331057e-02 3.14160649e+02] [ 9.23673943e-02 9.95719288e-01 -3.37114839e-03 1.96327301e+01] [ 4.67450577e-02 -9.54342754e-04 9.98906396e-01 1.15218629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14509989299995 meters 0.014858759243540867 Centerline is valid? [True, True] Translation: X:314.22, Y:19.64, Z:11.52 [[ 9.94474553e-01 -9.44309407e-02 -4.58602282e-02 3.14222950e+02] [ 9.43785105e-02 9.95530877e-01 -3.31202393e-03 1.96350051e+01] [ 4.59680308e-02 -1.03449651e-03 9.98942376e-01 1.15236912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20509989299995 meters 0.01603069558237066 Centerline is valid? [True, True] Translation: X:314.28, Y:19.64, Z:11.53 [[ 9.94394866e-01 -9.64940850e-02 -4.32173868e-02 3.14283829e+02] [ 9.64495918e-02 9.95332986e-01 -3.11834665e-03 1.96360297e+01] [ 4.33165926e-02 -1.06743142e-03 9.99060826e-01 1.15268887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26509989299996 meters 0.017105560559965628 Centerline is valid? [True, True] Translation: X:314.35, Y:19.64, Z:11.53 [[ 9.94131214e-01 -1.00823004e-01 -3.92154485e-02 3.14345807e+02] [ 1.00789807e-01 9.94903724e-01 -2.82767097e-03 1.96367805e+01] [ 3.93006900e-02 -1.14144152e-03 9.99226778e-01 1.15310883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32509989299996 meters 0.019133775356600397 Centerline is valid? [True, True] Translation: X:314.41, Y:19.64, Z:11.53 [[ 9.93777453e-01 -1.04563874e-01 -3.83766888e-02 3.14406898e+02] [ 1.04534966e-01 9.94517369e-01 -2.76460007e-03 1.96366211e+01] [ 3.84553609e-02 -1.26430866e-03 9.99259519e-01 1.15331368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38509989299996 meters 0.021666039065563625 Centerline is valid? [True, True] Translation: X:314.47, Y:19.64, Z:11.53 [[ 9.93246638e-01 -1.09694753e-01 -3.77912427e-02 3.14467866e+02] [ 1.09670451e-01 9.93964277e-01 -2.72177989e-03 1.96355721e+01] [ 3.78617102e-02 -1.44118390e-03 9.99281949e-01 1.15345527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44509989299996 meters 0.021383973158680018 Centerline is valid? [True, True] Translation: X:314.53, Y:19.64, Z:11.54 [[ 9.92533528e-01 -1.15914621e-01 -3.79604556e-02 3.14528502e+02] [ 1.15894662e-01 9.93257749e-01 -2.73332046e-03 1.96382994e+01] [ 3.80213485e-02 -1.68650197e-03 9.99275504e-01 1.15358407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50509989299997 meters 0.02693149460983031 Centerline is valid? [True, True] Translation: X:314.59, Y:19.63, Z:11.54 [[ 9.91350290e-01 -1.25171160e-01 -3.94560913e-02 3.14588428e+02] [ 1.25156905e-01 9.92132893e-01 -2.84091147e-03 1.96321134e+01] [ 3.95012862e-02 -2.12186387e-03 9.99217267e-01 1.15367786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56509989299997 meters 0.026998148262541946 Centerline is valid? [True, True] Translation: X:314.65, Y:19.64, Z:11.54 [[ 9.90743485e-01 -1.30140413e-01 -3.86111316e-02 3.14649334e+02] [ 1.30130494e-01 9.91492976e-01 -2.78071325e-03 1.96350910e+01] [ 3.86445490e-02 -2.26951208e-03 9.99250443e-01 1.15389564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62509989299997 meters 0.02941379466979779 Centerline is valid? [True, True] Translation: X:314.71, Y:19.63, Z:11.54 [[ 9.90348378e-01 -1.32743971e-01 -3.98638780e-02 3.14709434e+02] [ 1.32735514e-01 9.91147337e-01 -2.87058782e-03 1.96347166e+01] [ 3.98920298e-02 -2.44847033e-03 9.99200996e-01 1.15396621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.685099893 meters 0.030170788429705928 Centerline is valid? [True, True] Translation: X:314.77, Y:19.64, Z:11.54 [[ 9.90485833e-01 -1.31728819e-01 -3.98162392e-02 3.14771400e+02] [ 1.31719695e-01 9.91282866e-01 -2.86390847e-03 1.96379637e+01] [ 3.98464150e-02 -2.40792210e-03 9.99202915e-01 1.15415425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.745099893 meters 0.028163399023441456 Centerline is valid? [True, True] Translation: X:314.83, Y:19.65, Z:11.54 [[ 9.90766940e-01 -1.29600675e-01 -3.98062269e-02 3.14832883e+02] [ 1.29589955e-01 9.91563544e-01 -2.86039501e-03 1.96460050e+01] [ 3.98411125e-02 -2.32450235e-03 9.99203324e-01 1.15444842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.805099893 meters 0.02933710129541039 Centerline is valid? [True, True] Translation: X:314.89, Y:19.65, Z:11.55 [[ 9.91348447e-01 -1.24971375e-01 -4.01299438e-02 3.14891862e+02] [ 1.24956779e-01 9.92158001e-01 -2.88166197e-03 1.96496421e+01] [ 4.01753701e-02 -2.15777742e-03 9.99190314e-01 1.15462156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.865099893 meters 0.026462811730852517 Centerline is valid? [True, True] Translation: X:314.95, Y:19.66, Z:11.55 [[ 9.91739060e-01 -1.21719704e-01 -4.04716124e-02 3.14951878e+02] [ 1.21702138e-01 9.92562412e-01 -2.90670277e-03 1.96590039e+01] [ 4.05244042e-02 -2.04279108e-03 9.99176461e-01 1.15485582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.925099893 meters 0.02316116542313858 Centerline is valid? [True, True] Translation: X:315.01, Y:19.67, Z:11.55 [[ 9.92637952e-01 -1.13999011e-01 -4.09160305e-02 3.15011837e+02] [ 1.13974509e-01 9.93479328e-01 -2.93862580e-03 1.96699492e+01] [ 4.09842309e-02 -1.74639301e-03 9.99158267e-01 1.15505502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.985099893 meters 0.018105613289249638 Centerline is valid? [True, True] Translation: X:315.07, Y:19.68, Z:11.55 [[ 9.93747764e-01 -1.03950970e-01 -4.07379115e-02 3.15071709e+02] [ 1.03918244e-01 9.94581539e-01 -2.92584767e-03 1.96844145e+01] [ 4.08213194e-02 -1.32585765e-03 9.99165583e-01 1.15531117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.045099893 meters 0.01516054194845909 Centerline is valid? [True, True] Translation: X:315.13, Y:19.70, Z:11.56 [[ 9.94458838e-01 -9.68252624e-02 -4.09449354e-02 3.15131730e+02] [ 9.67861830e-02 9.95300854e-01 -2.94031926e-03 1.96957711e+01] [ 4.10372263e-02 -1.03887754e-03 9.99157078e-01 1.15558406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.105099893 meters 0.013276717931204602 Centerline is valid? [True, True] Translation: X:315.19, Y:19.71, Z:11.56 [[ 9.95119466e-01 -8.93616519e-02 -4.18538473e-02 3.15193117e+02] [ 8.93142569e-02 9.95998964e-01 -3.00467171e-03 1.97053000e+01] [ 4.19548910e-02 -7.48137963e-04 9.99119226e-01 1.15575987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.165099893 meters 0.011470800636859223 Centerline is valid? [True, True] Translation: X:315.25, Y:19.71, Z:11.56 [[ 9.95649703e-01 -8.27902217e-02 -4.27486518e-02 3.15254065e+02] [ 8.27348153e-02 9.96566880e-01 -3.06672952e-03 1.97133043e+01] [ 4.28557858e-02 -4.83413480e-04 9.99081152e-01 1.15588948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.225099893 meters 0.010794494814307396 Centerline is valid? [True, True] Translation: X:315.32, Y:19.72, Z:11.56 [[ 9.95992992e-01 -7.84953381e-02 -4.28537143e-02 3.15315882e+02] [ 7.84357603e-02 9.96914435e-01 -3.07250098e-03 1.97198569e+01] [ 4.29626634e-02 -3.01074217e-04 9.99076633e-01 1.15618316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.285099893 meters 0.010595882435168262 Centerline is valid? [True, True] Translation: X:315.38, Y:19.73, Z:11.56 [[ 9.96355949e-01 -7.38509029e-02 -4.26716213e-02 3.15377347e+02] [ 7.37877063e-02 9.97269288e-01 -3.05630031e-03 1.97259982e+01] [ 4.27808079e-02 -1.03478062e-04 9.99084477e-01 1.15645027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.345099893 meters 0.010709816025850045 Centerline is valid? [True, True] Translation: X:315.44, Y:19.73, Z:11.57 [[ 9.96857296e-01 -6.67741240e-02 -4.26233302e-02 3.15438136e+02] [ 6.67047263e-02 9.97768098e-01 -3.04991785e-03 1.97319737e+01] [ 4.27318547e-02 1.97155285e-04 9.99086558e-01 1.15667914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.405099893 meters 0.011075330484740024 Centerline is valid? [True, True] Translation: X:315.50, Y:19.74, Z:11.57 [[ 9.97084350e-01 -6.28507565e-02 -4.32733431e-02 3.15498906e+02] [ 6.27755907e-02 9.98022868e-01 -3.09505330e-03 1.97353055e+01] [ 4.33823124e-02 3.69519539e-04 9.99058476e-01 1.15682888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.465099893 meters 0.011018500073225688 Centerline is valid? [True, True] Translation: X:315.56, Y:19.74, Z:11.57 [[ 9.97066908e-01 -6.34545476e-02 -4.27913634e-02 3.15558486e+02] [ 6.33815946e-02 9.97984672e-01 -3.06078766e-03 1.97362542e+01] [ 4.28993457e-02 3.39625240e-04 9.99079342e-01 1.15701107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52509989299995 meters 0.010960882248282998 Centerline is valid? [True, True] Translation: X:315.62, Y:19.73, Z:11.57 [[ 9.96796018e-01 -6.80298928e-02 -4.20670024e-02 3.15618103e+02] [ 6.79633965e-02 9.97683273e-01 -3.01051031e-03 1.97319386e+01] [ 4.21743493e-02 1.41848329e-04 9.99110256e-01 1.15709695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58509989299995 meters 0.011019030174018467 Centerline is valid? [True, True] Translation: X:315.68, Y:19.73, Z:11.57 [[ 9.96438085e-01 -7.41910707e-02 -4.00852607e-02 3.15678765e+02] [ 7.41356238e-02 9.97244039e-01 -2.86998183e-03 1.97259644e+01] [ 4.01877143e-02 -1.11986610e-04 9.99192141e-01 1.15731198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64509989299995 meters 0.011491531085770095 Centerline is valid? [True, True] Translation: X:315.74, Y:19.72, Z:11.58 [[ 9.96128198e-01 -7.88574214e-02 -3.88602701e-02 3.15740025e+02] [ 7.88088631e-02 9.96885862e-01 -2.78221766e-03 1.97230668e+01] [ 3.89586524e-02 -2.91088245e-04 9.99240781e-01 1.15754278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70509989299995 meters 0.01336059593122131 Centerline is valid? [True, True] Translation: X:315.80, Y:19.71, Z:11.58 [[ 9.95474452e-01 -8.71793878e-02 -3.78202200e-02 3.15800886e+02] [ 8.71394425e-02 9.96192448e-01 -2.70645806e-03 1.97140938e+01] [ 3.79121648e-02 -6.01423027e-04 9.99280894e-01 1.15762303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76509989299996 meters 0.014267367204350548 Centerline is valid? [True, True] Translation: X:315.86, Y:19.71, Z:11.58 [[ 9.94877323e-01 -9.37227314e-02 -3.78835324e-02 3.15862633e+02] [ 9.36874155e-02 9.95597972e-01 -2.71031271e-03 1.97110468e+01] [ 3.79707859e-02 -8.52781591e-04 9.99278486e-01 1.15769011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82509989299996 meters 0.01679422245322186 Centerline is valid? [True, True] Translation: X:315.92, Y:19.70, Z:11.58 [[ 9.93920854e-01 -1.03074666e-01 -3.86904315e-02 3.15924297e+02] [ 1.03044954e-01 9.94672852e-01 -2.76664918e-03 1.97038005e+01] [ 3.87694933e-02 -1.23702342e-03 9.99247415e-01 1.15765986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88509989299996 meters 0.02313271152610653 Centerline is valid? [True, True] Translation: X:315.98, Y:19.69, Z:11.58 [[ 9.93214526e-01 -1.08863894e-01 -4.09091423e-02 3.15984997e+02] [ 1.08835593e-01 9.94055460e-01 -2.92491195e-03 1.96947501e+01] [ 4.09843736e-02 -1.54730573e-03 9.99158589e-01 1.15760886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94509989299996 meters 0.02306262415931767 Centerline is valid? [True, True] Translation: X:316.05, Y:19.70, Z:11.58 [[ 9.92221713e-01 -1.16967338e-01 -4.25994518e-02 3.16046264e+02] [ 1.16944201e-01 9.93133824e-01 -3.04333335e-03 1.96957020e+01] [ 4.26629270e-02 -1.96209742e-03 9.99087596e-01 1.15769399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00509989299997 meters 0.023672266785017753 Centerline is valid? [True, True] Translation: X:316.11, Y:19.70, Z:11.58 [[ 9.91545412e-01 -1.22823457e-01 -4.18580334e-02 3.16106446e+02] [ 1.22806358e-01 9.92426149e-01 -2.98939630e-03 1.96970153e+01] [ 4.19081749e-02 -2.17631044e-03 9.99119096e-01 1.15791869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06509989299997 meters 0.02541234037592926 Centerline is valid? [True, True] Translation: X:316.17, Y:19.70, Z:11.58 [[ 9.91243237e-01 -1.25504775e-01 -4.10535868e-02 3.16167946e+02] [ 1.25490627e-01 9.92090474e-01 -2.93167982e-03 1.96989850e+01] [ 4.10968122e-02 -2.24583255e-03 9.99152645e-01 1.15820798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12509989299997 meters 0.025526020675043615 Centerline is valid? [True, True] Translation: X:316.23, Y:19.70, Z:11.59 [[ 9.90906114e-01 -1.28128998e-01 -4.10856742e-02 3.16229024e+02] [ 1.28117137e-01 9.91754707e-01 -2.93247125e-03 1.97044989e+01] [ 4.11226454e-02 -2.35797527e-03 9.99151324e-01 1.15850228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.185099893 meters 0.028105911956783414 Centerline is valid? [True, True] Translation: X:316.29, Y:19.71, Z:11.59 [[ 9.90758222e-01 -1.29108438e-01 -4.15831346e-02 3.16290419e+02] [ 1.29097216e-01 9.91627505e-01 -2.96634641e-03 1.97056654e+01] [ 4.16179604e-02 -2.42933481e-03 9.99130644e-01 1.15872196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.245099893 meters 0.026244405407585412 Centerline is valid? [True, True] Translation: X:316.35, Y:19.71, Z:11.59 [[ 9.90721076e-01 -1.29404759e-01 -4.15470653e-02 3.16352571e+02] [ 1.29393915e-01 9.91588849e-01 -2.96141534e-03 1.97126573e+01] [ 4.15808279e-02 -2.44200083e-03 9.99132159e-01 1.15896957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.305099893 meters 0.027873924341965776 Centerline is valid? [True, True] Translation: X:316.41, Y:19.72, Z:11.59 [[ 9.90562750e-01 -1.30372421e-01 -4.22903212e-02 3.16414845e+02] [ 1.30362199e-01 9.91461865e-01 -3.01121893e-03 1.97152963e+01] [ 4.23218206e-02 -2.53025794e-03 9.99100826e-01 1.15925215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.365099893 meters 0.025956047682270666 Centerline is valid? [True, True] Translation: X:316.48, Y:19.72, Z:11.59 [[ 9.90743232e-01 -1.28252612e-01 -4.44872513e-02 3.16476186e+02] [ 1.28239324e-01 9.91738203e-01 -3.16433863e-03 1.97240869e+01] [ 4.45255413e-02 -2.56996794e-03 9.99004941e-01 1.15942241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.425099893 meters 0.02485858695467538 Centerline is valid? [True, True] Translation: X:316.54, Y:19.73, Z:11.60 [[ 9.91277131e-01 -1.23748780e-01 -4.53419171e-02 3.16536291e+02] [ 1.23730396e-01 9.92310639e-01 -3.22260116e-03 1.97322417e+01] [ 4.53920597e-02 -2.41568252e-03 9.98966328e-01 1.15966415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.485099893 meters 0.021226717862055548 Centerline is valid? [True, True] Translation: X:316.60, Y:19.75, Z:11.60 [[ 9.92731282e-01 -1.11235529e-01 -4.59484474e-02 3.16595279e+02] [ 1.11203297e-01 9.93792316e-01 -3.26501835e-03 1.97476844e+01] [ 4.60264000e-02 -1.86833299e-03 9.98938477e-01 1.16001423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.545099893 meters 0.016657800005008525 Centerline is valid? [True, True] Translation: X:316.66, Y:19.76, Z:11.60 [[ 9.93861609e-01 -1.00478466e-01 -4.62944913e-02 3.16655138e+02] [ 1.00434093e-01 9.94938276e-01 -3.28943586e-03 1.97643005e+01] [ 4.63906788e-02 -1.38030122e-03 9.98922419e-01 1.16042371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.605099893 meters 0.012907129026635222 Centerline is valid? [True, True] Translation: X:316.71, Y:19.78, Z:11.61 [[ 9.95377760e-01 -8.41977559e-02 -4.61936471e-02 3.16714359e+02] [ 8.41360651e-02 9.96448871e-01 -3.28163801e-03 1.97826445e+01] [ 4.63059141e-02 -6.20082210e-04 9.98927113e-01 1.16076394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.665099893 meters 0.011909550450698728 Centerline is valid? [True, True] Translation: X:316.77, Y:19.80, Z:11.61 [[ 9.96089790e-01 -7.49952634e-02 -4.66994640e-02 3.16773876e+02] [ 7.49220978e-02 9.97183871e-01 -3.31760638e-03 1.97954285e+01] [ 4.68167570e-02 -1.94187963e-04 9.98903476e-01 1.16102368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.725099893 meters 0.011926079541191488 Centerline is valid? [True, True] Translation: X:316.83, Y:19.81, Z:11.61 [[ 9.96669674e-01 -6.56235803e-02 -4.84056441e-02 3.16832467e+02] [ 6.55338947e-02 9.97844417e-01 -3.43922215e-03 1.98088364e+01] [ 4.85269958e-02 2.55558037e-04 9.98821839e-01 1.16127138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.785099893 meters 0.012489608008504462 Centerline is valid? [True, True] Translation: X:316.89, Y:19.82, Z:11.61 [[ 9.96936420e-01 -6.13229531e-02 -4.85517143e-02 3.16889394e+02] [ 6.12275117e-02 9.98117867e-01 -3.45196337e-03 1.98175981e+01] [ 4.86720181e-02 4.68687344e-04 9.98814705e-01 1.16143902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.845099893 meters 0.012611419451880929 Centerline is valid? [True, True] Translation: X:316.95, Y:19.82, Z:11.62 [[ 9.96888797e-01 -6.17819196e-02 -4.89460922e-02 3.16945822e+02] [ 6.16852398e-02 9.98089569e-01 -3.48475091e-03 1.98221485e+01] [ 4.90678787e-02 4.54657711e-04 9.98795343e-01 1.16154337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.905099893 meters 0.011742920091917033 Centerline is valid? [True, True] Translation: X:317.01, Y:19.82, Z:11.62 [[ 9.96597379e-01 -6.69411610e-02 -4.80889296e-02 3.17005017e+02] [ 6.68535080e-02 9.97756904e-01 -3.43061706e-03 1.98226251e+01] [ 4.82107110e-02 2.04030336e-04 9.98837167e-01 1.16187465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.965099893 meters 0.011443967622815151 Centerline is valid? [True, True] Translation: X:317.06, Y:19.82, Z:11.62 [[ 9.96207959e-01 -7.30582338e-02 -4.72461277e-02 3.17063458e+02] [ 7.29799779e-02 9.97327673e-01 -3.38151493e-03 1.98222113e+01] [ 4.73669182e-02 -7.93292713e-05 9.98877554e-01 1.16221016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02509989299995 meters 0.012216978863794 Centerline is valid? [True, True] Translation: X:317.12, Y:19.82, Z:11.62 [[ 9.95465327e-01 -8.31395763e-02 -4.62233081e-02 3.17122074e+02] [ 8.30750583e-02 9.96537768e-01 -3.31840744e-03 1.98180886e+01] [ 4.63391633e-02 -5.36644474e-04 9.98925620e-01 1.16247613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08509989299995 meters 0.01399680457118258 Centerline is valid? [True, True] Translation: X:317.18, Y:19.81, Z:11.63 [[ 9.94738738e-01 -9.15643751e-02 -4.59435258e-02 3.17182860e+02] [ 9.15094837e-02 9.95798734e-01 -3.30101780e-03 1.98147489e+01] [ 4.60527604e-02 -9.20618043e-04 9.98938585e-01 1.16283221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14509989299995 meters 0.015605075028834191 Centerline is valid? [True, True] Translation: X:317.24, Y:19.81, Z:11.63 [[ 9.94292361e-01 -9.63851501e-02 -4.57449852e-02 3.17244288e+02] [ 9.63358407e-02 9.95343461e-01 -3.28644599e-03 1.98134722e+01] [ 4.58487365e-02 -1.13919346e-03 9.98947744e-01 1.16311908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20509989299995 meters 0.01712890557062552 Centerline is valid? [True, True] Translation: X:317.31, Y:19.81, Z:11.63 [[ 9.93751486e-01 -1.01676638e-01 -4.60417684e-02 3.17305451e+02] [ 1.01632433e-01 9.94816525e-01 -3.30610135e-03 1.98103755e+01] [ 4.61392653e-02 -1.39389380e-03 9.98934045e-01 1.16338769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26509989299996 meters 0.01827793136578545 Centerline is valid? [True, True] Translation: X:317.37, Y:19.81, Z:11.63 [[ 9.93425354e-01 -1.03480539e-01 -4.89677783e-02 3.17366884e+02] [ 1.03432816e-01 9.94630234e-01 -3.51435237e-03 1.98088549e+01] [ 4.90684998e-02 -1.57362846e-03 9.98794176e-01 1.16332957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32509989299996 meters 0.017849690126714172 Centerline is valid? [True, True] Translation: X:317.43, Y:19.81, Z:11.64 [[ 9.93453715e-01 -1.03157828e-01 -4.90731886e-02 3.17426991e+02] [ 1.03109573e-01 9.94663773e-01 -3.52058722e-03 1.98131292e+01] [ 4.91744991e-02 -1.56237505e-03 9.98788981e-01 1.16359567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38509989299996 meters 0.018192523386182224 Centerline is valid? [True, True] Translation: X:317.49, Y:19.82, Z:11.64 [[ 9.93610503e-01 -1.00756244e-01 -5.08561477e-02 3.17486491e+02] [ 1.00701266e-01 9.94910017e-01 -3.64874198e-03 1.98164457e+01] [ 5.09649243e-02 -1.49585008e-03 9.98699324e-01 1.16364242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44509989299996 meters 0.017427964971164472 Centerline is valid? [True, True] Translation: X:317.55, Y:19.82, Z:11.64 [[ 9.93670810e-01 -9.99732021e-02 -5.12218777e-02 3.17546954e+02] [ 9.99163575e-02 9.94989051e-01 -3.67564749e-03 1.98228219e+01] [ 5.13326737e-02 -1.46551983e-03 9.98680534e-01 1.16392190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50509989299997 meters 0.016586778029041672 Centerline is valid? [True, True] Translation: X:317.61, Y:19.83, Z:11.64 [[ 9.93654607e-01 -1.00700597e-01 -5.00990284e-02 3.17606993e+02] [ 1.00647140e-01 9.94915689e-01 -3.59507258e-03 1.98293297e+01] [ 5.02063354e-02 -1.47006349e-03 9.98737785e-01 1.16434512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56509989299997 meters 0.018416001018243738 Centerline is valid? [True, True] Translation: X:317.67, Y:19.83, Z:11.65 [[ 9.93388419e-01 -1.03650531e-01 -4.93560199e-02 3.17667344e+02] [ 1.03602308e-01 9.94612498e-01 -3.54121891e-03 1.98309094e+01] [ 4.94571634e-02 -1.59559173e-03 9.98774971e-01 1.16458410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62509989299997 meters 0.019916438046578996 Centerline is valid? [True, True] Translation: X:317.73, Y:19.83, Z:11.65 [[ 9.92825104e-01 -1.09278370e-01 -4.85443163e-02 3.17727569e+02] [ 1.09238499e-01 9.94009471e-01 -3.48157151e-03 1.98335182e+01] [ 4.86339707e-02 -1.84631668e-03 9.98814962e-01 1.16494453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.685099893 meters 0.022141914892438216 Centerline is valid? [True, True] Translation: X:317.79, Y:19.84, Z:11.65 [[ 9.92291086e-01 -1.14096585e-01 -4.83773705e-02 3.17788062e+02] [ 1.14062681e-01 9.93467495e-01 -3.46995020e-03 1.98354908e+01] [ 4.84572546e-02 -2.07485193e-03 9.98823102e-01 1.16535172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.745099893 meters 0.02548669698859456 Centerline is valid? [True, True] Translation: X:317.85, Y:19.84, Z:11.66 [[ 9.91418124e-01 -1.21342717e-01 -4.86420521e-02 3.17848510e+02] [ 1.21317185e-01 9.92607665e-01 -3.48782831e-03 1.98358916e+01] [ 4.87056963e-02 -2.44322064e-03 9.98810185e-01 1.16566197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.805099893 meters 0.029216394578067857 Centerline is valid? [True, True] Translation: X:317.91, Y:19.84, Z:11.66 [[ 9.90883290e-01 -1.25683058e-01 -4.85188093e-02 3.17908696e+02] [ 1.25662848e-01 9.92066906e-01 -3.47878595e-03 1.98368336e+01] [ 4.85711295e-02 -2.64994088e-03 9.98816211e-01 1.16590566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.865099893 meters 0.029965082289551522 Centerline is valid? [True, True] Translation: X:317.97, Y:19.84, Z:11.66 [[ 9.90450770e-01 -1.29873077e-01 -4.62629044e-02 3.17968880e+02] [ 1.29859268e-01 9.91526888e-01 -3.31660922e-03 1.98432121e+01] [ 4.63016519e-02 -2.72272875e-03 9.98923793e-01 1.16636539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.925099893 meters 0.0274605399013576 Centerline is valid? [True, True] Translation: X:318.03, Y:19.85, Z:11.67 [[ 9.90248890e-01 -1.32319283e-01 -4.35745810e-02 3.18029519e+02] [ 1.32309421e-01 9.91203543e-01 -3.12303491e-03 1.98542849e+01] [ 4.36045168e-02 -2.67274572e-03 9.99045296e-01 1.16681672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.985099893 meters 0.027510862773603123 Centerline is valid? [True, True] Translation: X:318.09, Y:19.86, Z:11.67 [[ 9.90088919e-01 -1.33556399e-01 -4.34352454e-02 3.18091140e+02] [ 1.33547864e-01 9.91037481e-01 -3.11121452e-03 1.98607022e+01] [ 4.34614788e-02 -2.72030523e-03 9.99051400e-01 1.16703082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.045099893 meters 0.029022084214432455 Centerline is valid? [True, True] Translation: X:318.15, Y:19.87, Z:11.67 [[ 9.89710968e-01 -1.35464933e-01 -4.60592207e-02 3.18151808e+02] [ 1.35457544e-01 9.90777669e-01 -3.29606029e-03 1.98657081e+01] [ 4.60809480e-02 -2.97692188e-03 9.98933273e-01 1.16694189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.105099893 meters 0.02848272287960742 Centerline is valid? [True, True] Translation: X:318.21, Y:19.87, Z:11.67 [[ 9.89399996e-01 -1.37300654e-01 -4.72882374e-02 3.18212844e+02] [ 1.37295006e-01 9.90524425e-01 -3.38292872e-03 1.98729680e+01] [ 4.73046325e-02 -3.14536918e-03 9.98875557e-01 1.16702759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.165099893 meters 0.03187485438335739 Centerline is valid? [True, True] Translation: X:318.27, Y:19.87, Z:11.67 [[ 9.89359380e-01 -1.37600518e-01 -4.72664210e-02 3.18274452e+02] [ 1.37595308e-01 9.90482767e-01 -3.37941659e-03 1.98739065e+01] [ 4.72815849e-02 -3.16018026e-03 9.98876601e-01 1.16721380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.225099893 meters 0.03130959114823382 Centerline is valid? [True, True] Translation: X:318.34, Y:19.88, Z:11.68 [[ 9.89617631e-01 -1.35957347e-01 -4.66105653e-02 3.18335533e+02] [ 1.35950584e-01 9.90710023e-01 -3.32997810e-03 1.98828805e+01] [ 4.66302892e-02 -3.04132851e-03 9.98907587e-01 1.16753613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.285099893 meters 0.028188882619059972 Centerline is valid? [True, True] Translation: X:318.40, Y:19.89, Z:11.68 [[ 9.89903539e-01 -1.34386209e-01 -4.50702769e-02 3.18396741e+02] [ 1.34378367e-01 9.90924872e-01 -3.21754996e-03 1.98942238e+01] [ 4.50936527e-02 -2.87140613e-03 9.98978637e-01 1.16787980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.345099893 meters 0.028458032488175425 Centerline is valid? [True, True] Translation: X:318.46, Y:19.90, Z:11.68 [[ 9.90228649e-01 -1.32574531e-01 -4.32575693e-02 3.18458121e+02] [ 1.32565682e-01 9.91169419e-01 -3.08581973e-03 1.99009186e+01] [ 4.32846809e-02 -2.67880207e-03 9.99059188e-01 1.16824971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.405099893 meters 0.028364084439539798 Centerline is valid? [True, True] Translation: X:318.52, Y:19.91, Z:11.69 [[ 9.90608716e-01 -1.30192766e-01 -4.17638069e-02 3.18519222e+02] [ 1.30182499e-01 9.91485579e-01 -2.97703672e-03 1.99091271e+01] [ 4.17958009e-02 -2.48783822e-03 9.99123076e-01 1.16860983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.465099893 meters 0.026917045883023905 Centerline is valid? [True, True] Translation: X:318.58, Y:19.92, Z:11.69 [[ 9.90777698e-01 -1.29073335e-01 -4.12265473e-02 3.18580836e+02] [ 1.29062458e-01 9.91632119e-01 -2.93644127e-03 1.99176973e+01] [ 4.12605847e-02 -2.41143902e-03 9.99145509e-01 1.16888468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52509989299995 meters 0.028797863904806806 Centerline is valid? [True, True] Translation: X:318.64, Y:19.92, Z:11.69 [[ 9.90795477e-01 -1.28902555e-01 -4.13334576e-02 3.18642163e+02] [ 1.28891597e-01 9.91654328e-01 -2.94108415e-03 1.99202508e+01] [ 4.13676154e-02 -2.41352246e-03 9.99141079e-01 1.16899920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58509989299995 meters 0.029893351744667652 Centerline is valid? [True, True] Translation: X:318.70, Y:19.92, Z:11.69 [[ 9.90861707e-01 -1.27115824e-01 -4.51070324e-02 3.18703226e+02] [ 1.27101088e-01 9.91884587e-01 -3.20626723e-03 1.99249133e+01] [ 4.51485375e-02 -2.55618548e-03 9.98977014e-01 1.16881348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64509989299995 meters 0.02520306163742683 Centerline is valid? [True, True] Translation: X:318.76, Y:19.94, Z:11.69 [[ 9.91232420e-01 -1.23632012e-01 -4.66198960e-02 3.18763636e+02] [ 1.23612697e-01 9.92325026e-01 -3.30816411e-03 1.99381220e+01] [ 4.66710845e-02 -2.48365156e-03 9.98907224e-01 1.16901363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70509989299995 meters 0.023129280261362194 Centerline is valid? [True, True] Translation: X:318.82, Y:19.95, Z:11.70 [[ 9.92474608e-01 -1.14140606e-01 -4.43404443e-02 3.18822512e+02] [ 1.14113706e-01 9.93462715e-01 -3.14566741e-03 1.99497749e+01] [ 4.44096266e-02 -1.93785741e-03 9.99011526e-01 1.16954516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76509989299996 meters 0.017816904633941682 Centerline is valid? [True, True] Translation: X:318.88, Y:19.97, Z:11.70 [[ 9.93936975e-01 -1.01969097e-01 -4.11289694e-02 3.18882480e+02] [ 1.01935535e-01 9.94786727e-01 -2.91783146e-03 1.99664833e+01] [ 4.12120815e-02 -1.29236291e-03 9.99149585e-01 1.17012202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82509989299996 meters 0.015325866943772635 Centerline is valid? [True, True] Translation: X:318.94, Y:19.98, Z:11.70 [[ 9.94761264e-01 -9.36693564e-02 -4.09399592e-02 3.18943073e+02] [ 9.36291022e-02 9.95602913e-01 -2.90376498e-03 1.99776779e+01] [ 4.10319364e-02 -9.44618703e-04 9.99157389e-01 1.17042306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88509989299996 meters 0.013063968202205121 Centerline is valid? [True, True] Translation: X:319.00, Y:19.99, Z:11.71 [[ 9.95615687e-01 -8.34878174e-02 -4.21804238e-02 3.19002894e+02] [ 8.34359775e-02 9.96508651e-01 -2.99106163e-03 1.99886431e+01] [ 4.22828744e-02 -5.41417010e-04 9.99105533e-01 1.17056256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94509989299996 meters 0.012236890712932762 Centerline is valid? [True, True] Translation: X:319.06, Y:20.00, Z:11.71 [[ 9.96128994e-01 -7.59640932e-02 -4.42321637e-02 3.19063809e+02] [ 7.58997098e-02 9.97110526e-01 -3.13562290e-03 1.99961418e+01] [ 4.43425508e-02 -2.33723512e-04 9.99016358e-01 1.17066222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00509989299997 meters 0.012074559048809897 Centerline is valid? [True, True] Translation: X:319.13, Y:20.00, Z:11.71 [[ 9.96471722e-01 -7.07486672e-02 -4.51523453e-02 3.19125566e+02] [ 7.06764769e-02 9.97494173e-01 -3.19524288e-03 2.00031419e+01] [ 4.52652605e-02 -7.23950827e-06 9.98975003e-01 1.17094719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06509989299997 meters 0.012655241863608727 Centerline is valid? [True, True] Translation: X:319.19, Y:20.01, Z:11.71 [[ 9.96920992e-01 -6.28853615e-02 -4.68397967e-02 3.19185512e+02] [ 6.27991334e-02 9.98020692e-01 -3.31166219e-03 2.00108010e+01] [ 4.69553414e-02 3.59966915e-04 9.98896925e-01 1.17106652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12509989299997 meters 0.013024073549789756 Centerline is valid? [True, True] Translation: X:319.24, Y:20.01, Z:11.71 [[ 9.97313368e-01 -5.70004403e-02 -4.60108187e-02 3.19243760e+02] [ 5.69109062e-02 9.98373956e-01 -3.25461691e-03 2.00136158e+01] [ 4.61215177e-02 6.27355565e-04 9.98935640e-01 1.17141059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.185099893 meters 0.013457547623019261 Centerline is valid? [True, True] Translation: X:319.30, Y:20.02, Z:11.72 [[ 9.97481385e-01 -5.50780277e-02 -4.46911242e-02 3.19302783e+02] [ 5.49911386e-02 9.98481803e-01 -3.17224677e-03 2.00165368e+01] [ 4.47979954e-02 7.06641298e-04 9.98995816e-01 1.17173123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.245099893 meters 0.012870319195201648 Centerline is valid? [True, True] Translation: X:319.36, Y:20.01, Z:11.72 [[ 9.97463452e-01 -5.57330153e-02 -4.42774541e-02 3.19361163e+02] [ 5.56478738e-02 9.98445475e-01 -3.15412434e-03 2.00143647e+01] [ 4.43844125e-02 6.82177570e-04 9.99014293e-01 1.17206836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.305099893 meters 0.012266640707924936 Centerline is valid? [True, True] Translation: X:319.42, Y:20.01, Z:11.72 [[ 9.97132358e-01 -6.01152812e-02 -4.59696957e-02 3.19420449e+02] [ 6.00275274e-02 9.98191306e-01 -3.28827642e-03 2.00116365e+01] [ 4.60842262e-02 5.19399656e-04 9.98937423e-01 1.17215116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.365099893 meters 0.011646169807518956 Centerline is valid? [True, True] Translation: X:319.48, Y:20.00, Z:11.72 [[ 9.96370732e-01 -7.10695930e-02 -4.68452405e-02 3.19479703e+02] [ 7.09899791e-02 9.97471359e-01 -3.36311806e-03 2.00011870e+01] [ 4.69658012e-02 2.53697607e-05 9.98896498e-01 1.17199803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.425099893 meters 0.01231188126010983 Centerline is valid? [True, True] Translation: X:319.54, Y:19.99, Z:11.72 [[ 9.95276931e-01 -8.44071476e-02 -4.79506444e-02 3.19539947e+02] [ 8.43386899e-02 9.96431164e-01 -3.45271514e-03 1.99884930e+01] [ 4.80709503e-02 -6.07686806e-04 9.98843739e-01 1.17222610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.485099893 meters 0.013811611105602624 Centerline is valid? [True, True] Translation: X:319.60, Y:19.98, Z:11.72 [[ 9.94604900e-01 -9.18965629e-02 -4.81260382e-02 3.19600349e+02] [ 9.18362501e-02 9.95768085e-01 -3.46756390e-03 1.99826006e+01] [ 4.82410301e-02 -9.70858831e-04 9.98835252e-01 1.17234509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.545099893 meters 0.016102695202609225 Centerline is valid? [True, True] Translation: X:319.66, Y:19.98, Z:11.72 [[ 9.93870226e-01 -9.92758437e-02 -4.86444241e-02 3.19661572e+02] [ 9.92230135e-02 9.95059046e-01 -3.50559092e-03 1.99755786e+01] [ 4.87520947e-02 -1.34254391e-03 9.98810007e-01 1.17246019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.605099893 meters 0.01713041431949581 Centerline is valid? [True, True] Translation: X:319.72, Y:19.97, Z:11.73 [[ 9.93487116e-01 -1.03077365e-01 -4.85634279e-02 3.19722058e+02] [ 1.03029244e-01 9.94672170e-01 -3.49975388e-03 1.99748042e+01] [ 4.86654357e-02 -1.52649289e-03 9.98813969e-01 1.17268945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.665099893 meters 0.0206059024545707 Centerline is valid? [True, True] Translation: X:319.78, Y:19.97, Z:11.73 [[ 9.92869867e-01 -1.09241902e-01 -4.77036007e-02 3.19781948e+02] [ 1.09202549e-01 9.94013573e-01 -3.43816054e-03 1.99692310e+01] [ 4.77936178e-02 -1.79570880e-03 9.98855618e-01 1.17289993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.725099893 meters 0.02273090968106709 Centerline is valid? [True, True] Translation: X:319.84, Y:19.97, Z:11.73 [[ 9.92142411e-01 -1.16474276e-01 -4.56856605e-02 3.19842230e+02] [ 1.16445766e-01 9.93191589e-01 -3.29398491e-03 1.99669716e+01] [ 4.57582783e-02 -2.05179962e-03 9.98950434e-01 1.17320638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.785099893 meters 0.026156667122403148 Centerline is valid? [True, True] Translation: X:319.90, Y:19.96, Z:11.73 [[ 9.91325694e-01 -1.23040060e-01 -4.62007842e-02 3.19903323e+02] [ 1.23018009e-01 9.92398848e-01 -3.33112467e-03 1.99641547e+01] [ 4.62594668e-02 -2.38129901e-03 9.98926620e-01 1.17333257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.845099893 meters 0.025158248332835052 Centerline is valid? [True, True] Translation: X:319.96, Y:19.97, Z:11.73 [[ 9.90869629e-01 -1.26125340e-01 -4.76421663e-02 3.19964239e+02] [ 1.26105463e-01 9.92010895e-01 -3.43474322e-03 1.99689567e+01] [ 4.76947561e-02 -2.60455467e-03 9.98858562e-01 1.17347163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.905099893 meters 0.027488377995508278 Centerline is valid? [True, True] Translation: X:320.02, Y:19.97, Z:11.74 [[ 9.90624233e-01 -1.27797836e-01 -4.82839801e-02 3.20024092e+02] [ 1.27779433e-01 9.91796503e-01 -3.48032959e-03 1.99694886e+01] [ 4.83326612e-02 -2.72200075e-03 9.98827585e-01 1.17354997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.965099893 meters 0.02544735240798097 Centerline is valid? [True, True] Translation: X:320.09, Y:19.98, Z:11.74 [[ 9.90763631e-01 -1.26891110e-01 -4.78129021e-02 3.20085246e+02] [ 1.26872030e-01 9.91913108e-01 -3.44598800e-03 1.99773716e+01] [ 4.78635095e-02 -2.65196036e-03 9.98850365e-01 1.17385969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02509989299995 meters 0.022994917032438566 Centerline is valid? [True, True] Translation: X:320.15, Y:19.99, Z:11.74 [[ 9.91488105e-01 -1.21274111e-01 -4.73701099e-02 3.20145171e+02] [ 1.21249052e-01 9.92616251e-01 -3.41272311e-03 1.99881564e+01] [ 4.74342159e-02 -2.35990653e-03 9.98871576e-01 1.17409469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08509989299995 meters 0.025415356475214933 Centerline is valid? [True, True] Translation: X:320.20, Y:19.99, Z:11.74 [[ 9.91866682e-01 -1.18239005e-01 -4.71171156e-02 3.20204873e+02] [ 1.18210798e-01 9.92982721e-01 -3.39446039e-03 1.99905221e+01] [ 4.71878392e-02 -2.20289966e-03 9.98883604e-01 1.17421697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14509989299995 meters 0.016457550619516058 Centerline is valid? [True, True] Translation: X:320.26, Y:20.02, Z:11.75 [[ 9.93887297e-01 -1.00820327e-01 -4.49811361e-02 3.20264045e+02] [ 1.00776782e-01 9.94903784e-01 -3.24049942e-03 2.00165961e+01] [ 4.50786107e-02 -1.31236295e-03 9.98982581e-01 1.17473304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20509989299995 meters 0.013794908896684872 Centerline is valid? [True, True] Translation: X:320.32, Y:20.03, Z:11.75 [[ 9.94893681e-01 -9.09618142e-02 -4.37322647e-02 3.20323390e+02] [ 9.09111449e-02 9.95854025e-01 -3.15019570e-03 2.00305263e+01] [ 4.38374994e-02 -8.41640456e-04 9.99038320e-01 1.17505409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26509989299996 meters 0.011973426499869577 Centerline is valid? [True, True] Translation: X:320.38, Y:20.05, Z:11.75 [[ 9.96066938e-01 -7.82065689e-02 -4.16459681e-02 3.20383460e+02] [ 7.81494616e-02 9.96937140e-01 -3.00000504e-03 2.00460787e+01] [ 4.17530324e-02 -2.66404148e-04 9.99127926e-01 1.17536370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32509989299996 meters 0.011871391525427736 Centerline is valid? [True, True] Translation: X:320.44, Y:20.06, Z:11.76 [[ 9.96718142e-01 -6.94333082e-02 -4.16168388e-02 3.20442726e+02] [ 6.93686632e-02 9.97586591e-01 -2.99715324e-03 2.00579207e+01] [ 4.17245026e-02 1.00412537e-04 9.99129149e-01 1.17558394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38509989299996 meters 0.012048941222956184 Centerline is valid? [True, True] Translation: X:320.50, Y:20.06, Z:11.76 [[ 9.96812759e-01 -6.77038893e-02 -4.21960503e-02 3.20502180e+02] [ 6.76359035e-02 9.97705444e-01 -3.03837102e-03 2.00636504e+01] [ 4.23049386e-02 1.74719011e-04 9.99104730e-01 1.17571062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44509989299996 meters 0.012233119585367129 Centerline is valid? [True, True] Translation: X:320.56, Y:20.07, Z:11.76 [[ 9.96967910e-01 -6.52692580e-02 -4.23663837e-02 3.20561476e+02] [ 6.51984603e-02 9.97867649e-01 -3.05214546e-03 2.00693374e+01] [ 4.24752550e-02 2.80668098e-04 9.99097480e-01 1.17582849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50509989299997 meters 0.012152736793383861 Centerline is valid? [True, True] Translation: X:320.62, Y:20.07, Z:11.76 [[ 9.96951706e-01 -6.68363558e-02 -4.02516801e-02 3.20621367e+02] [ 6.67736735e-02 9.97763930e-01 -2.90117632e-03 2.00714834e+01] [ 4.03555785e-02 2.04580135e-04 9.99185361e-01 1.17615047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56509989299997 meters 0.011944344554251342 Centerline is valid? [True, True] Translation: X:320.68, Y:20.07, Z:11.76 [[ 9.96760350e-01 -7.01257014e-02 -3.93851657e-02 3.20680978e+02] [ 7.00682029e-02 9.97538160e-01 -2.84007271e-03 2.00729893e+01] [ 3.94873678e-02 7.12240895e-05 9.99220067e-01 1.17642828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62509989299997 meters 0.0122375890861601 Centerline is valid? [True, True] Translation: X:320.74, Y:20.07, Z:11.77 [[ 9.96127635e-01 -7.85604163e-02 -3.94714499e-02 3.20742033e+02] [ 7.85092541e-02 9.96909320e-01 -2.84695630e-03 2.00691733e+01] [ 3.95731144e-02 -2.62942250e-04 9.99216643e-01 1.17657387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.685099893 meters 0.013737563791687358 Centerline is valid? [True, True] Translation: X:320.80, Y:20.06, Z:11.77 [[ 9.95205689e-01 -8.97061196e-02 -3.89672899e-02 3.20803896e+02] [ 8.96647899e-02 9.95968035e-01 -2.81052907e-03 2.00622938e+01] [ 3.90622968e-02 -6.96939342e-04 9.99236534e-01 1.17678620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.745099893 meters 0.016247577200986966 Centerline is valid? [True, True] Translation: X:320.86, Y:20.06, Z:11.77 [[ 9.94517967e-01 -9.70342984e-02 -3.89661232e-02 3.20864331e+02] [ 9.69986446e-02 9.95280550e-01 -2.80897953e-03 2.00572414e+01] [ 3.90547918e-02 -9.86080522e-04 9.99236584e-01 1.17698666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.805099893 meters 0.01781377794818009 Centerline is valid? [True, True] Translation: X:320.92, Y:20.05, Z:11.77 [[ 9.93487883e-01 -1.06762810e-01 -3.97935749e-02 3.20924890e+02] [ 1.06733512e-01 9.94283532e-01 -2.86612149e-03 2.00525344e+01] [ 3.98720914e-02 -1.39985103e-03 9.99203811e-01 1.17719018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.865099893 meters 0.020025204941978493 Centerline is valid? [True, True] Translation: X:320.99, Y:20.05, Z:11.77 [[ 9.92697189e-01 -1.13312362e-01 -4.13835548e-02 3.20985610e+02] [ 1.13286329e-01 9.93557910e-01 -2.98121540e-03 2.00473142e+01] [ 4.14547668e-02 -1.72874685e-03 9.99138886e-01 1.17727657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.925099893 meters 0.021784228536134004 Centerline is valid? [True, True] Translation: X:321.05, Y:20.05, Z:11.77 [[ 9.92354624e-01 -1.16216540e-01 -4.15453610e-02 3.21047164e+02] [ 1.16192854e-01 9.93222163e-01 -2.99256466e-03 2.00463194e+01] [ 4.16115589e-02 -1.85758868e-03 9.99132137e-01 1.17746924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.985099893 meters 0.022146813524686004 Centerline is valid? [True, True] Translation: X:321.11, Y:20.05, Z:11.78 [[ 9.91962321e-01 -1.18953722e-01 -4.31365979e-02 3.21108737e+02] [ 1.18930839e-01 9.92897684e-01 -3.10556770e-03 2.00470733e+01] [ 4.31996470e-02 -2.04966566e-03 9.99064357e-01 1.17769816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.045099893 meters 0.02293425047180467 Centerline is valid? [True, True] Translation: X:321.17, Y:20.05, Z:11.78 [[ 9.91755887e-01 -1.19907561e-01 -4.51933305e-02 3.21169591e+02] [ 1.19883506e-01 9.92782639e-01 -3.25206706e-03 2.00492069e+01] [ 4.52571013e-02 -2.19267824e-03 9.98972966e-01 1.17784636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.105099893 meters 0.02293709441774939 Centerline is valid? [True, True] Translation: X:321.23, Y:20.05, Z:11.78 [[ 9.91645820e-01 -1.20486328e-01 -4.60609591e-02 3.21230481e+02] [ 1.20462011e-01 9.92712408e-01 -3.31348966e-03 2.00540611e+01] [ 4.61245159e-02 -2.26278760e-03 9.98933135e-01 1.17808284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.165099893 meters 0.025372623420416893 Centerline is valid? [True, True] Translation: X:321.29, Y:20.06, Z:11.78 [[ 9.91310451e-01 -1.22111107e-01 -4.89128593e-02 3.21290530e+02] [ 1.22085735e-01 9.92513326e-01 -3.51720862e-03 2.00554018e+01] [ 4.89761550e-02 -2.48491671e-03 9.98796857e-01 1.17806478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.225099893 meters 0.023628339587725773 Centerline is valid? [True, True] Translation: X:321.35, Y:20.06, Z:11.78 [[ 9.91082940e-01 -1.23649906e-01 -4.96518653e-02 3.21350012e+02] [ 1.23625679e-01 9.92322499e-01 -3.57050555e-03 2.00630594e+01] [ 4.97121558e-02 -2.59957844e-03 9.98760203e-01 1.17841782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.285099893 meters 0.024067741698227615 Centerline is valid? [True, True] Translation: X:321.41, Y:20.07, Z:11.79 [[ 9.91013611e-01 -1.24920573e-01 -4.78212745e-02 3.21409824e+02] [ 1.24899548e-01 9.92163431e-01 -3.43931761e-03 2.00696051e+01] [ 4.78761613e-02 -2.56444498e-03 9.98849987e-01 1.17894582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.345099893 meters 0.025591163378382513 Centerline is valid? [True, True] Translation: X:321.47, Y:20.08, Z:11.79 [[ 9.91332804e-01 -1.22802528e-01 -4.66777350e-02 3.21470255e+02] [ 1.22780168e-01 9.92428215e-01 -3.35672997e-03 2.00755693e+01] [ 4.67365162e-02 -2.40346363e-03 9.98904360e-01 1.17929810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.405099893 meters 0.023725268514547152 Centerline is valid? [True, True] Translation: X:321.53, Y:20.08, Z:11.80 [[ 9.91808123e-01 -1.19437192e-01 -4.52924400e-02 3.21530309e+02] [ 1.19412703e-01 9.92839366e-01 -3.25565355e-03 2.00848016e+01] [ 4.53569635e-02 -2.17950906e-03 9.98968466e-01 1.17967133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46509989299994 meters 0.019283277359508626 Centerline is valid? [True, True] Translation: X:321.59, Y:20.10, Z:11.80 [[ 9.92649917e-01 -1.12675983e-01 -4.41618083e-02 3.21589468e+02] [ 1.12646049e-01 9.93630110e-01 -3.17373066e-03 2.01000764e+01] [ 4.42381056e-02 -1.82424975e-03 9.99019350e-01 1.18011594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52509989299995 meters 0.01835739566631601 Centerline is valid? [True, True] Translation: X:321.65, Y:20.11, Z:11.80 [[ 9.93227731e-01 -1.07339091e-01 -4.44634033e-02 3.21648953e+02] [ 1.07303408e-01 9.94221187e-01 -3.19538214e-03 2.01084585e+01] [ 4.45494470e-02 -1.59733257e-03 9.99005904e-01 1.18031908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58509989299995 meters 0.0154718711300778 Centerline is valid? [True, True] Translation: X:321.71, Y:20.12, Z:11.81 [[ 9.93994262e-01 -9.99360594e-02 -4.45891295e-02 3.21709375e+02] [ 9.98927382e-02 9.94993052e-01 -3.20428092e-03 2.01212454e+01] [ 4.46860973e-02 -1.26909339e-03 9.99000271e-01 1.18054019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64509989299995 meters 0.014398002807250777 Centerline is valid? [True, True] Translation: X:321.77, Y:20.13, Z:11.81 [[ 9.94672079e-01 -9.30378919e-02 -4.44005098e-02 3.21768945e+02] [ 9.29880976e-02 9.95662110e-01 -3.19004057e-03 2.01306836e+01] [ 4.45046999e-02 -9.55674650e-04 9.99008718e-01 1.18073372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70509989299995 meters 0.013846296066388914 Centerline is valid? [True, True] Translation: X:321.83, Y:20.14, Z:11.81 [[ 9.95106513e-01 -8.88829026e-02 -4.31608363e-02 3.21828860e+02] [ 8.88319483e-02 9.96041801e-01 -3.10086816e-03 2.01380758e+01] [ 4.32656113e-02 -7.48367083e-04 9.99063325e-01 1.18097145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76509989299996 meters 0.012621030187453506 Centerline is valid? [True, True] Translation: X:321.89, Y:20.15, Z:11.81 [[ 9.95632713e-01 -8.36318429e-02 -4.14875365e-02 3.21889591e+02] [ 8.35802386e-02 9.96496595e-01 -2.97985723e-03 2.01482135e+01] [ 4.15913998e-02 -5.00694860e-04 9.99134578e-01 1.18129678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82509989299996 meters 0.012727991552647441 Centerline is valid? [True, True] Translation: X:321.95, Y:20.15, Z:11.81 [[ 9.95828590e-01 -8.21822924e-02 -3.96420356e-02 3.21950537e+02] [ 8.21340948e-02 9.96617225e-01 -2.84567717e-03 2.01524554e+01] [ 3.97417998e-02 -4.22156024e-04 9.99209893e-01 1.18144897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88509989299996 meters 0.01357261999245013 Centerline is valid? [True, True] Translation: X:322.01, Y:20.15, Z:11.82 [[ 9.95481282e-01 -8.67691265e-02 -3.85763654e-02 3.22012393e+02] [ 8.67271065e-02 9.96228270e-01 -2.76453311e-03 2.01530786e+01] [ 3.86707419e-02 -5.93575583e-04 9.99251831e-01 1.18153396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94509989299996 meters 0.015576627590104508 Centerline is valid? [True, True] Translation: X:322.07, Y:20.15, Z:11.82 [[ 9.94651206e-01 -9.58650347e-02 -3.84561326e-02 3.22074091e+02] [ 9.58301164e-02 9.95393893e-01 -2.75454778e-03 2.01506038e+01] [ 3.85430644e-02 -9.45441395e-04 9.99256493e-01 1.18156729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00509989299997 meters 0.017609261962230158 Centerline is valid? [True, True] Translation: X:322.14, Y:20.15, Z:11.82 [[ 9.94028066e-01 -1.01931717e-01 -3.89631745e-02 3.22135079e+02] [ 1.01900578e-01 9.94790677e-01 -2.78947626e-03 2.01493520e+01] [ 3.90445388e-02 -1.19755232e-03 9.99236754e-01 1.18159588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06509989299997 meters 0.017191435000472623 Centerline is valid? [True, True] Translation: X:322.20, Y:20.15, Z:11.82 [[ 9.93752127e-01 -1.04598388e-01 -3.89344033e-02 3.22196902e+02] [ 1.04569370e-01 9.94513691e-01 -2.78662042e-03 2.01533905e+01] [ 3.90122731e-02 -1.30213604e-03 9.99237883e-01 1.18175778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12509989299997 meters 0.021592574165358407 Centerline is valid? [True, True] Translation: X:322.26, Y:20.15, Z:11.82 [[ 9.92977922e-01 -1.12200199e-01 -3.74961491e-02 3.22256645e+02] [ 1.12178791e-01 9.93684422e-01 -2.68100510e-03 2.01485715e+01] [ 3.75601485e-02 -1.54409381e-03 9.99293176e-01 1.18190979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.185099893 meters 0.02139080104590238 Centerline is valid? [True, True] Translation: X:322.32, Y:20.15, Z:11.82 [[ 9.92605640e-01 -1.15601507e-01 -3.70180406e-02 3.22317918e+02] [ 1.15582979e-01 9.93294300e-01 -2.64739264e-03 2.01521392e+01] [ 3.70758513e-02 -1.65083853e-03 9.99311091e-01 1.18206806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.245099893 meters 0.022837016541813783 Centerline is valid? [True, True] Translation: X:322.38, Y:20.15, Z:11.82 [[ 9.92363006e-01 -1.17662946e-01 -3.70283028e-02 3.22379662e+02] [ 1.17645890e-01 9.93052083e-01 -2.64676846e-03 2.01536301e+01] [ 3.70824598e-02 -1.72967251e-03 9.99310712e-01 1.18209131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.305099893 meters 0.022807449494479225 Centerline is valid? [True, True] Translation: X:322.44, Y:20.16, Z:11.82 [[ 9.92324956e-01 -1.17967357e-01 -3.70794410e-02 3.22441616e+02] [ 1.17950540e-01 9.93015939e-01 -2.64838922e-03 2.01574779e+01] [ 3.71328995e-02 -1.74547739e-03 9.99308812e-01 1.18219545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.365099893 meters 0.02362468768034142 Centerline is valid? [True, True] Translation: X:322.50, Y:20.16, Z:11.82 [[ 9.92256272e-01 -1.18256934e-01 -3.79840599e-02 3.22503903e+02] [ 1.18239608e-01 9.92981395e-01 -2.71015044e-03 2.01602445e+01] [ 3.80379589e-02 -1.80205657e-03 9.99274670e-01 1.18223820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.425099893 meters 0.025836081230409116 Centerline is valid? [True, True] Translation: X:322.57, Y:20.16, Z:11.82 [[ 9.91966697e-01 -1.19921732e-01 -4.02597856e-02 3.22565103e+02] [ 1.19903760e-01 9.92781373e-01 -2.86950233e-03 2.01596507e+01] [ 4.03132809e-02 -1.98084891e-03 9.99185126e-01 1.18221708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.485099893 meters 0.02241684893013462 Centerline is valid? [True, True] Translation: X:322.63, Y:20.17, Z:11.82 [[ 9.92041418e-01 -1.19120045e-01 -4.07951048e-02 3.22626875e+02] [ 1.19101009e-01 9.92877892e-01 -2.90537187e-03 2.01685634e+01] [ 4.08506457e-02 -1.97648892e-03 9.99163309e-01 1.18237904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.545099893 meters 0.02326750554735524 Centerline is valid? [True, True] Translation: X:322.69, Y:20.17, Z:11.83 [[ 9.92532787e-01 -1.14967803e-01 -4.07562447e-02 3.22686202e+02] [ 1.14945421e-01 9.93367576e-01 -2.89989842e-03 2.01724377e+01] [ 4.08193269e-02 -1.80649944e-03 9.99164911e-01 1.18260267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.605099893 meters 0.018866517473770373 Centerline is valid? [True, True] Translation: X:322.75, Y:20.19, Z:11.83 [[ 9.93931951e-01 -1.02829749e-01 -3.90553348e-02 3.22745813e+02] [ 1.02799804e-01 9.94698183e-01 -2.77952859e-03 2.01859406e+01] [ 3.91340888e-02 -1.25221848e-03 9.99233184e-01 1.18289362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.665099893 meters 0.015737955133413528 Centerline is valid? [True, True] Translation: X:322.81, Y:20.20, Z:11.83 [[ 9.94950250e-01 -9.26168055e-02 -3.86797973e-02 3.22805952e+02] [ 9.25797134e-02 9.95701471e-01 -2.75286921e-03 2.01985909e+01] [ 3.87684930e-02 -8.41996630e-04 9.99247865e-01 1.18315281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.725099893 meters 0.013257872627610063 Centerline is valid? [True, True] Translation: X:322.86, Y:20.21, Z:11.83 [[ 9.96182077e-01 -7.82800354e-02 -3.86459019e-02 3.22864646e+02] [ 7.82322176e-02 9.96931370e-01 -2.75035248e-03 2.02138440e+01] [ 3.87426096e-02 -2.83502761e-04 9.99249183e-01 1.18336332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.785099893 meters 0.012783949069199111 Centerline is valid? [True, True] Translation: X:322.93, Y:20.22, Z:11.84 [[ 9.96841783e-01 -6.93824504e-02 -3.86333415e-02 3.22925839e+02] [ 6.93279829e-02 9.97590132e-01 -2.74938051e-03 2.02242399e+01] [ 3.87309990e-02 6.23257264e-05 9.99249671e-01 1.18364391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.845099893 meters 0.01286332456253729 Centerline is valid? [True, True] Translation: X:322.99, Y:20.23, Z:11.84 [[ 9.96924792e-01 -6.80690458e-02 -3.88273685e-02 3.22985922e+02] [ 6.80131137e-02 9.97680606e-01 -2.76113508e-03 2.02291425e+01] [ 3.89252604e-02 1.11873786e-04 9.99242119e-01 1.18395222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.905099893 meters 0.012823360432337264 Centerline is valid? [True, True] Translation: X:323.05, Y:20.23, Z:11.84 [[ 9.96733448e-01 -7.04712189e-02 -3.94492162e-02 3.23045900e+02] [ 7.04153606e-02 9.97513813e-01 -2.80535660e-03 2.02314226e+01] [ 3.95488349e-02 1.83619792e-05 9.99217639e-01 1.18421081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96509989299994 meters 0.013171279507789178 Centerline is valid? [True, True] Translation: X:323.11, Y:20.23, Z:11.84 [[ 9.96131020e-01 -7.82008301e-02 -4.00951574e-02 3.23105245e+02] [ 7.81493799e-02 9.96937583e-01 -2.85134234e-03 2.02292658e+01] [ 4.01953466e-02 -2.93101141e-04 9.99191798e-01 1.18438534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02509989299995 meters 0.014663372122358157 Centerline is valid? [True, True] Translation: X:323.17, Y:20.23, Z:11.85 [[ 9.95185076e-01 -8.89000242e-02 -4.12728765e-02 3.23165756e+02] [ 8.88546623e-02 9.96040275e-01 -2.93584324e-03 2.02257972e+01] [ 4.13704438e-02 -7.45580126e-04 9.99143599e-01 1.18461609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08509989299995 meters 0.01684594565313835 Centerline is valid? [True, True] Translation: X:323.23, Y:20.22, Z:11.85 [[ 9.94489362e-01 -9.63561275e-02 -4.13086592e-02 3.23227506e+02] [ 9.63170871e-02 9.95346363e-01 -2.93891156e-03 2.02239429e+01] [ 4.13996058e-02 -1.05601344e-03 9.99142111e-01 1.18489166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14509989299995 meters 0.01878198359145649 Centerline is valid? [True, True] Translation: X:323.29, Y:20.22, Z:11.85 [[ 9.93357736e-01 -1.07137483e-01 -4.19758101e-02 3.23288598e+02] [ 1.07106829e-01 9.94243037e-01 -2.98502423e-03 2.02210482e+01] [ 4.20539649e-02 -1.53069902e-03 9.99114168e-01 1.18519414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20509989299995 meters 0.02432803040002609 Centerline is valid? [True, True] Translation: X:323.35, Y:20.21, Z:11.85 [[ 9.92608371e-01 -1.13483076e-01 -4.30141083e-02 3.23348367e+02] [ 1.13456831e-01 9.93538218e-01 -3.05882582e-03 2.02148165e+01] [ 4.30832855e-02 -1.84402830e-03 9.99069782e-01 1.18528646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26509989299996 meters 0.023897472664704256 Centerline is valid? [True, True] Translation: X:323.41, Y:20.22, Z:11.86 [[ 9.91641088e-01 -1.21162645e-01 -4.43572445e-02 3.23409322e+02] [ 1.21142377e-01 9.92630129e-01 -3.15470192e-03 2.02186763e+01] [ 4.44125693e-02 -2.24520998e-03 9.99010752e-01 1.18567091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32509989299996 meters 0.026852030357950037 Centerline is valid? [True, True] Translation: X:323.47, Y:20.22, Z:11.86 [[ 9.91187548e-01 -1.24446108e-01 -4.53917475e-02 3.23469221e+02] [ 1.24428364e-01 9.92223346e-01 -3.22721627e-03 2.02189344e+01] [ 4.54403661e-02 -2.44924429e-03 9.98964051e-01 1.18596257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38509989299996 meters 0.024887345636454634 Centerline is valid? [True, True] Translation: X:323.53, Y:20.23, Z:11.86 [[ 9.90934418e-01 -1.25988496e-01 -4.66463181e-02 3.23530971e+02] [ 1.25971495e-01 9.92028320e-01 -3.31571220e-03 2.02272302e+01] [ 4.66922102e-02 -2.59045310e-03 9.98905965e-01 1.18634101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44509989299996 meters 0.025363959646858072 Centerline is valid? [True, True] Translation: X:323.59, Y:20.23, Z:11.87 [[ 9.90919940e-01 -1.25682141e-01 -4.77668420e-02 3.23592943e+02] [ 1.25664135e-01 9.92067045e-01 -3.39175642e-03 2.02337744e+01] [ 4.78141929e-02 -2.64161980e-03 9.98852754e-01 1.18673695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50509989299997 meters 0.0258641866629491 Centerline is valid? [True, True] Translation: X:323.65, Y:20.24, Z:11.87 [[ 9.90972750e-01 -1.24226902e-01 -5.04052084e-02 3.23654199e+02] [ 1.24205154e-01 9.92250117e-01 -3.57573004e-03 2.02396314e+01] [ 5.04587758e-02 -2.71713563e-03 9.98722448e-01 1.18683618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56509989299997 meters 0.02415346388961564 Centerline is valid? [True, True] Translation: X:323.72, Y:20.25, Z:11.87 [[ 9.90983126e-01 -1.23127102e-01 -5.28409028e-02 3.23715220e+02] [ 1.23101756e-01 9.92386982e-01 -3.74653252e-03 2.02492357e+01] [ 5.28999237e-02 -2.79205741e-03 9.98595916e-01 1.18710442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62509989299997 meters 0.026088091788766657 Centerline is valid? [True, True] Translation: X:323.78, Y:20.25, Z:11.87 [[ 9.91133860e-01 -1.21537023e-01 -5.36882072e-02 3.23775516e+02] [ 1.21508626e-01 9.92583083e-01 -3.80491966e-03 2.02529292e+01] [ 5.37524449e-02 -2.75239556e-03 9.98550499e-01 1.18721192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.685099893 meters 0.023230484213677707 Centerline is valid? [True, True] Translation: X:323.84, Y:20.27, Z:11.88 [[ 9.91610618e-01 -1.16884555e-01 -5.51940458e-02 3.23835936e+02] [ 1.16847416e-01 9.93142179e-01 -3.91062502e-03 2.02656961e+01] [ 5.52726266e-02 -2.57146432e-03 9.98467989e-01 1.18751983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.745099893 meters 0.020469120240782852 Centerline is valid? [True, True] Translation: X:323.90, Y:20.28, Z:11.88 [[ 9.92243174e-01 -1.12047274e-01 -5.38413590e-02 3.23896280e+02] [ 1.12004865e-01 9.93700339e-01 -3.81401508e-03 2.02767585e+01] [ 5.39295267e-02 -2.24606372e-03 9.98542218e-01 1.18794516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.805099893 meters 0.01960669385261683 Centerline is valid? [True, True] Translation: X:323.95, Y:20.29, Z:11.88 [[ 9.93216831e-01 -1.03679883e-01 -5.26384768e-02 3.23954963e+02] [ 1.03627606e-01 9.94609177e-01 -3.72883467e-03 2.02863088e+01] [ 5.27413172e-02 -1.75125799e-03 9.98606673e-01 1.18821446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.865099893 meters 0.016499627679997027 Centerline is valid? [True, True] Translation: X:324.01, Y:20.30, Z:11.89 [[ 9.93551814e-01 -1.00586143e-01 -5.23184564e-02 3.24014655e+02] [ 1.00530180e-01 9.94927104e-01 -3.70684982e-03 2.02969924e+01] [ 5.24259081e-02 -1.57663651e-03 9.98623572e-01 1.18866904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.925099893 meters 0.0150145074050787 Centerline is valid? [True, True] Translation: X:324.07, Y:20.31, Z:11.89 [[ 9.94425453e-01 -9.18356594e-02 -5.18095570e-02 3.24074080e+02] [ 9.17689060e-02 9.95773565e-01 -3.67086734e-03 2.03076285e+01] [ 5.19277038e-02 -1.10410244e-03 9.98650236e-01 1.18898030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.985099893 meters 0.013470882600075774 Centerline is valid? [True, True] Translation: X:324.13, Y:20.32, Z:11.89 [[ 9.95101064e-01 -8.43645942e-02 -5.15411239e-02 3.24132851e+02] [ 8.42884762e-02 9.96434700e-01 -3.65255503e-03 2.03172960e+01] [ 5.16655106e-02 -7.09661391e-04 9.98664194e-01 1.18933338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.045099893 meters 0.012888255449779014 Centerline is valid? [True, True] Translation: X:324.19, Y:20.32, Z:11.90 [[ 9.95494708e-01 -7.94317923e-02 -5.17771916e-02 3.24191967e+02] [ 7.93482081e-02 9.96840200e-01 -3.67116285e-03 2.03246318e+01] [ 5.19051931e-02 -4.53804186e-04 9.98651914e-01 1.18959021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.105099893 meters 0.012558263901398442 Centerline is valid? [True, True] Translation: X:324.25, Y:20.33, Z:11.90 [[ 9.95653762e-01 -7.77638840e-02 -5.12480753e-02 3.24250866e+02] [ 7.76795404e-02 9.96971740e-01 -3.63853994e-03 2.03293194e+01] [ 5.13758298e-02 -3.58200957e-04 9.98679326e-01 1.18981646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.165099893 meters 0.012374287959771964 Centerline is valid? [True, True] Translation: X:324.31, Y:20.33, Z:11.90 [[ 9.95863467e-01 -7.58459537e-02 -5.00334577e-02 3.24309943e+02] [ 7.57625156e-02 9.97119518e-01 -3.56480299e-03 2.03323021e+01] [ 5.01597131e-02 -2.40603557e-04 9.98741180e-01 1.19002637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.225099893 meters 0.012307081908132868 Centerline is valid? [True, True] Translation: X:324.37, Y:20.34, Z:11.90 [[ 9.95907041e-01 -7.51019870e-02 -5.02877526e-02 3.24368542e+02] [ 7.50161006e-02 9.97175840e-01 -3.59578895e-03 2.03355094e+01] [ 5.04157828e-02 -1.91319579e-04 9.98728298e-01 1.19021092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.285099893 meters 0.012198129708263245 Centerline is valid? [True, True] Translation: X:324.43, Y:20.34, Z:11.90 [[ 9.95962728e-01 -7.46569766e-02 -4.98455644e-02 3.24425910e+02] [ 7.45714812e-02 9.97209262e-01 -3.57529548e-03 2.03369301e+01] [ 4.99733792e-02 -1.56196529e-04 9.98750538e-01 1.19034617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.345099893 meters 0.012197416768270889 Centerline is valid? [True, True] Translation: X:324.48, Y:20.33, Z:11.91 [[ 9.95856440e-01 -7.69449430e-02 -4.84708840e-02 3.24483735e+02] [ 7.68664220e-02 9.97035311e-01 -3.48464326e-03 2.03349974e+01] [ 4.85953086e-02 -2.55578998e-04 9.98818517e-01 1.19050107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.405099893 meters 0.012247519775796004 Centerline is valid? [True, True] Translation: X:324.54, Y:20.33, Z:11.91 [[ 9.95797717e-01 -7.84710466e-02 -4.72144288e-02 3.24542220e+02] [ 7.83976356e-02 9.96916345e-01 -3.40748454e-03 2.03349633e+01] [ 4.73362247e-02 -3.08334266e-04 9.98878965e-01 1.19073912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46509989299994 meters 0.011962662116584276 Centerline is valid? [True, True] Translation: X:324.60, Y:20.34, Z:11.91 [[ 9.95813062e-01 -7.86124267e-02 -4.66522476e-02 3.24601277e+02] [ 7.85403102e-02 9.96905210e-01 -3.37970545e-03 2.03351445e+01] [ 4.67735555e-02 -2.98527165e-04 9.98905474e-01 1.19099950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52509989299995 meters 0.011983874567681322 Centerline is valid? [True, True] Translation: X:324.66, Y:20.34, Z:11.91 [[ 9.96034087e-01 -7.59666168e-02 -4.63159782e-02 3.24659444e+02] [ 7.58921973e-02 9.97110348e-01 -3.36567013e-03 2.03357268e+01] [ 4.64378197e-02 -1.62699173e-04 9.98921169e-01 1.19111304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58509989299995 meters 0.011954824434376139 Centerline is valid? [True, True] Translation: X:324.72, Y:20.34, Z:11.91 [[ 9.96222110e-01 -7.32353617e-02 -4.66700052e-02 3.24717706e+02] [ 7.31565352e-02 9.97314685e-01 -3.39712509e-03 2.03383930e+01] [ 4.67934712e-02 -2.99247524e-05 9.98904585e-01 1.19124429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64509989299995 meters 0.012046889455736601 Centerline is valid? [True, True] Translation: X:324.78, Y:20.34, Z:11.92 [[ 9.96578095e-01 -6.87925033e-02 -4.58224067e-02 3.24775760e+02] [ 6.87112908e-02 9.97630972e-01 -3.34693729e-03 2.03402707e+01] [ 4.59440963e-02 1.86967676e-04 9.98943995e-01 1.19150954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70509989299995 meters 0.012028448407405848 Centerline is valid? [True, True] Translation: X:324.83, Y:20.34, Z:11.92 [[ 9.96825383e-01 -6.61797378e-02 -4.42650907e-02 3.24833346e+02] [ 6.61008297e-02 9.97807670e-01 -3.24556041e-03 2.03419982e+01] [ 4.43828373e-02 3.09297778e-04 9.99014548e-01 1.19181038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76509989299996 meters 0.012254866162087404 Centerline is valid? [True, True] Translation: X:324.89, Y:20.34, Z:11.92 [[ 9.96927247e-01 -6.41135652e-02 -4.50057161e-02 3.24891837e+02] [ 6.40292932e-02 9.97942520e-01 -3.31304346e-03 2.03417153e+01] [ 4.51255288e-02 4.21179111e-04 9.98981236e-01 1.19196434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82509989299996 meters 0.012474832637411733 Centerline is valid? [True, True] Translation: X:324.95, Y:20.34, Z:11.92 [[ 9.96896726e-01 -6.40860835e-02 -4.57153342e-02 3.24950119e+02] [ 6.39986206e-02 9.97944277e-01 -3.37578098e-03 2.03403722e+01] [ 4.58376967e-02 4.39586673e-04 9.98948804e-01 1.19206492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88509989299996 meters 0.012043770028686718 Centerline is valid? [True, True] Translation: X:325.01, Y:20.34, Z:11.92 [[ 9.96792107e-01 -6.60702476e-02 -4.51687810e-02 3.25009552e+02] [ 6.59866636e-02 9.97814913e-01 -3.34064774e-03 2.03392302e+01] [ 4.52908007e-02 3.49394144e-04 9.98973784e-01 1.19239750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94509989299996 meters 0.011743206271396911 Centerline is valid? [True, True] Translation: X:325.07, Y:20.33, Z:11.93 [[ 9.96256680e-01 -7.38896119e-02 -4.48659355e-02 3.25068577e+02] [ 7.38145806e-02 9.97266426e-01 -3.32903481e-03 2.03312748e+01] [ 4.49892722e-02 4.81295701e-06 9.98987470e-01 1.19268399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00509989299997 meters 0.011813626227308466 Centerline is valid? [True, True] Translation: X:325.13, Y:20.33, Z:11.93 [[ 9.95846932e-01 -7.94372308e-02 -4.44816133e-02 3.25127312e+02] [ 7.93685073e-02 9.96839843e-01 -3.31175441e-03 2.03287460e+01] [ 4.46041210e-02 -2.32438779e-04 9.99004714e-01 1.19288392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06509989299997 meters 0.012324995357302531 Centerline is valid? [True, True] Translation: X:325.19, Y:20.33, Z:11.93 [[ 9.95378302e-01 -8.52090343e-02 -4.42883404e-02 3.25186041e+02] [ 8.51461154e-02 9.96362982e-01 -3.30858711e-03 2.03259348e+01] [ 4.44091844e-02 -4.77684326e-04 9.99013311e-01 1.19303818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12509989299997 meters 0.013735561876695548 Centerline is valid? [True, True] Translation: X:325.25, Y:20.32, Z:11.93 [[ 9.94767221e-01 -9.28192782e-02 -4.26937560e-02 3.25246620e+02] [ 9.27674080e-02 9.95682668e-01 -3.19882379e-03 2.03196377e+01] [ 4.28063454e-02 -7.78504032e-04 9.99083085e-01 1.19326630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.185099893 meters 0.01568036432791877 Centerline is valid? [True, True] Translation: X:325.31, Y:20.31, Z:11.94 [[ 9.94130865e-01 -1.00031134e-01 -4.12018896e-02 3.25306203e+02] [ 9.99889430e-02 9.94983754e-01 -3.08865841e-03 2.03144989e+01] [ 4.13041728e-02 -1.04920274e-03 9.99146068e-01 1.19358142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.245099893 meters 0.017226192528275446 Centerline is valid? [True, True] Translation: X:325.37, Y:20.31, Z:11.94 [[ 9.93430366e-01 -1.07107897e-01 -4.02989582e-02 3.25366798e+02] [ 1.07073227e-01 9.94246539e-01 -3.02391271e-03 2.03115704e+01] [ 4.03909847e-02 -1.31089279e-03 9.99183091e-01 1.19385343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.305099893 meters 0.01907708877593751 Centerline is valid? [True, True] Translation: X:325.43, Y:20.31, Z:11.94 [[ 9.92981146e-01 -1.11242042e-01 -4.01702818e-02 3.25426352e+02] [ 1.11210935e-01 9.93792250e-01 -3.01509597e-03 2.03097829e+01] [ 4.02563202e-02 -1.47344116e-03 9.99188299e-01 1.19409068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.365099893 meters 0.020353157194233123 Centerline is valid? [True, True] Translation: X:325.49, Y:20.31, Z:11.94 [[ 9.92257346e-01 -1.16834307e-01 -4.21319861e-02 3.25486558e+02] [ 1.16805024e-01 9.93149824e-01 -3.16454347e-03 2.03098327e+01] [ 4.22131018e-02 -1.78118613e-03 9.99107042e-01 1.19418522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.425099893 meters 0.022869759840126673 Centerline is valid? [True, True] Translation: X:325.55, Y:20.31, Z:11.94 [[ 9.91816783e-01 -1.19886808e-01 -4.38933057e-02 3.25545346e+02] [ 1.19857961e-01 9.92785573e-01 -3.29790920e-03 2.03102415e+01] [ 4.39720164e-02 -1.99004041e-03 9.99030781e-01 1.19427561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.485099893 meters 0.021612601650562325 Centerline is valid? [True, True] Translation: X:325.60, Y:20.32, Z:11.94 [[ 9.91665647e-01 -1.20793494e-01 -4.48126808e-02 3.25603901e+02] [ 1.20764170e-01 9.92675502e-01 -3.37099991e-03 2.03172144e+01] [ 4.48916452e-02 -2.06886140e-03 9.98989720e-01 1.19445620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.545099893 meters 0.020948171736154663 Centerline is valid? [True, True] Translation: X:325.66, Y:20.32, Z:11.95 [[ 9.91849354e-01 -1.19299846e-01 -4.47482503e-02 3.25662558e+02] [ 1.19268577e-01 9.92856283e-01 -3.37758608e-03 2.03240573e+01] [ 4.48315269e-02 -1.98700355e-03 9.98992586e-01 1.19468297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.605099893 meters 0.020484631489293734 Centerline is valid? [True, True] Translation: X:325.72, Y:20.33, Z:11.95 [[ 9.92198469e-01 -1.16986268e-01 -4.30860909e-02 3.25721105e+02] [ 1.16954694e-01 9.93131896e-01 -3.26151157e-03 2.03317675e+01] [ 4.31717232e-02 -1.80305377e-03 9.99066040e-01 1.19499774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.665099893 meters 0.019665643474334714 Centerline is valid? [True, True] Translation: X:325.78, Y:20.34, Z:11.95 [[ 9.92767662e-01 -1.12638172e-01 -4.15332572e-02 3.25780502e+02] [ 1.12604916e-01 9.93634858e-01 -3.14675973e-03 2.03402584e+01] [ 4.16233374e-02 -1.55284764e-03 9.99132167e-01 1.19524874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.725099893 meters 0.01716472117191673 Centerline is valid? [True, True] Translation: X:325.84, Y:20.35, Z:11.96 [[ 9.93225446e-01 -1.09072613e-01 -4.00796525e-02 3.25839274e+02] [ 1.09038674e-01 9.94032865e-01 -3.03836125e-03 2.03525706e+01] [ 4.01718938e-02 -1.35245445e-03 9.99191868e-01 1.19559000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.785099893 meters 0.018836191367576718 Centerline is valid? [True, True] Translation: X:325.90, Y:20.36, Z:11.96 [[ 9.93392959e-01 -1.07454961e-01 -4.02971463e-02 3.25898832e+02] [ 1.07419265e-01 9.94209113e-01 -3.05628096e-03 2.03560386e+01] [ 4.03922027e-02 -1.29260187e-03 9.99183066e-01 1.19576739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.845099893 meters 0.015646427288094407 Centerline is valid? [True, True] Translation: X:325.96, Y:20.37, Z:11.96 [[ 9.93840992e-01 -1.02915773e-01 -4.10904635e-02 3.25958126e+02] [ 1.02874754e-01 9.94689433e-01 -3.11713434e-03 2.03701617e+01] [ 4.11930522e-02 -1.12923545e-03 9.99150568e-01 1.19596913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.905099893 meters 0.014451163515727273 Centerline is valid? [True, True] Translation: X:326.02, Y:20.38, Z:11.96 [[ 9.94317168e-01 -9.85375855e-02 -4.02953302e-02 3.26017379e+02] [ 9.84945431e-02 9.95132896e-01 -3.05687167e-03 2.03808827e+01] [ 4.04004254e-02 -9.29370147e-04 9.99183137e-01 1.19627962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96509989299994 meters 0.013816989687339097 Centerline is valid? [True, True] Translation: X:326.08, Y:20.39, Z:11.96 [[ 9.94702837e-01 -9.43124739e-02 -4.08830460e-02 3.26076613e+02] [ 9.42645687e-02 9.95542348e-01 -3.10220977e-03 2.03901336e+01] [ 4.09933807e-02 -7.68045844e-04 9.99159123e-01 1.19640709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02509989299995 meters 0.01307401997867919 Centerline is valid? [True, True] Translation: X:326.14, Y:20.40, Z:11.97 [[ 9.94860882e-01 -9.24934131e-02 -4.11921481e-02 3.26136427e+02] [ 9.24431946e-02 9.95713052e-01 -3.12633522e-03 2.03981498e+01] [ 4.13047249e-02 -6.97665142e-04 9.99146352e-01 1.19662758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08509989299995 meters 0.012735342055399989 Centerline is valid? [True, True] Translation: X:326.20, Y:20.40, Z:11.97 [[ 9.94867154e-01 -9.17884746e-02 -4.25936838e-02 3.26196150e+02] [ 9.17341259e-02 9.95778288e-01 -3.23290599e-03 2.04046774e+01] [ 4.27106090e-02 -6.90982366e-04 9.99087247e-01 1.19667254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14509989299995 meters 0.014145979587923213 Centerline is valid? [True, True] Translation: X:326.25, Y:20.41, Z:11.97 [[ 9.94462458e-01 -9.59807934e-02 -4.28031166e-02 3.26254455e+02] [ 9.59297105e-02 9.95382803e-01 -3.25059009e-03 2.04064677e+01] [ 4.29174804e-02 -8.73500771e-04 9.99078239e-01 1.19673647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20509989299995 meters 0.01551548097650047 Centerline is valid? [True, True] Translation: X:326.31, Y:20.41, Z:11.97 [[ 9.93992830e-01 -1.01292076e-01 -4.14508039e-02 3.26314169e+02] [ 1.01248667e-01 9.94856161e-01 -3.15066240e-03 2.04077035e+01] [ 4.15567247e-02 -1.06510279e-03 9.99135578e-01 1.19708011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26509989299996 meters 0.019663167089964458 Centerline is valid? [True, True] Translation: X:326.37, Y:20.40, Z:11.97 [[ 9.92960577e-01 -1.10086918e-01 -4.37054161e-02 3.26373771e+02] [ 1.10047096e-01 9.93920818e-01 -3.32343014e-03 2.04042761e+01] [ 4.38055891e-02 -1.50961900e-03 9.99038934e-01 1.19699523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32509989299996 meters 0.01955230048818543 Centerline is valid? [True, True] Translation: X:326.43, Y:20.41, Z:11.97 [[ 9.92078793e-01 -1.17912147e-01 -4.33173596e-02 3.26434391e+02] [ 1.17880469e-01 9.93022329e-01 -3.29387853e-03 2.04092255e+01] [ 4.34034935e-02 -1.83848360e-03 9.99055933e-01 1.19728855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38509989299996 meters 0.020558396210944466 Centerline is valid? [True, True] Translation: X:326.49, Y:20.41, Z:11.98 [[ 9.91807332e-01 -1.20584710e-01 -4.21609219e-02 3.26494882e+02] [ 1.20557102e-01 9.92701217e-01 -3.20605277e-03 2.04146228e+01] [ 4.22397994e-02 -1.90301193e-03 9.99105689e-01 1.19757476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44509989299996 meters 0.020247278866924 Centerline is valid? [True, True] Translation: X:326.56, Y:20.42, Z:11.98 [[ 9.92116028e-01 -1.17721744e-01 -4.29811247e-02 3.26555576e+02] [ 1.17690406e-01 9.93044959e-01 -3.26761395e-03 2.04229321e+01] [ 4.30668584e-02 -1.81661386e-03 9.99070541e-01 1.19775832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50509989299997 meters 0.019419091951996068 Centerline is valid? [True, True] Translation: X:326.62, Y:20.43, Z:11.98 [[ 9.92604285e-01 -1.14050000e-01 -4.15852296e-02 3.26615709e+02] [ 1.14017475e-01 9.93473716e-01 -3.16083283e-03 2.04309309e+01] [ 4.16743255e-02 -1.60398664e-03 9.99129960e-01 1.19807042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56509989299997 meters 0.016925288214599158 Centerline is valid? [True, True] Translation: X:326.68, Y:20.44, Z:11.98 [[ 9.93343087e-01 -1.07896796e-01 -4.03459223e-02 3.26676097e+02] [ 1.07861111e-01 9.94161243e-01 -3.06657725e-03 2.04437941e+01] [ 4.04412262e-02 -1.30559269e-03 9.99181066e-01 1.19846463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62509989299997 meters 0.01573489231038056 Centerline is valid? [True, True] Translation: X:326.74, Y:20.45, Z:11.99 [[ 9.93844283e-01 -1.02879339e-01 -4.11020926e-02 3.26735774e+02] [ 1.02838045e-01 9.94693210e-01 -3.12335764e-03 2.04531635e+01] [ 4.12053014e-02 -1.12272771e-03 9.99150070e-01 1.19861460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.685099893 meters 0.0153161988304395 Centerline is valid? [True, True] Translation: X:326.80, Y:20.46, Z:11.99 [[ 9.93971557e-01 -1.01292971e-01 -4.19556639e-02 3.26796784e+02] [ 1.01248540e-01 9.94856055e-01 -3.18804957e-03 2.04600465e+01] [ 4.20627733e-02 -1.07911912e-03 9.99114387e-01 1.19877315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.745099893 meters 0.01644379059760847 Centerline is valid? [True, True] Translation: X:326.86, Y:20.46, Z:11.99 [[ 9.93798351e-01 -1.02426529e-01 -4.32856008e-02 3.26856571e+02] [ 1.02380365e-01 9.94739891e-01 -3.28783346e-03 2.04641978e+01] [ 4.33946752e-02 -1.16415214e-03 9.99057329e-01 1.19889286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.805099893 meters 0.016358109964798754 Centerline is valid? [True, True] Translation: X:326.92, Y:20.47, Z:11.99 [[ 9.93497619e-01 -1.04643736e-01 -4.48572062e-02 3.26916626e+02] [ 1.04596386e-01 9.94508915e-01 -3.40788913e-03 2.04710516e+01] [ 4.49675057e-02 -1.30617192e-03 9.98987596e-01 1.19909513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.865099893 meters 0.015766156743803442 Centerline is valid? [True, True] Translation: X:326.98, Y:20.48, Z:11.99 [[ 9.93482725e-01 -1.05040786e-01 -4.42550386e-02 3.26977685e+02] [ 1.04995103e-01 9.94467056e-01 -3.36188025e-03 2.04788955e+01] [ 4.43633125e-02 -1.30659239e-03 9.99014609e-01 1.19949451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.925099893 meters 0.015604880039617389 Centerline is valid? [True, True] Translation: X:327.04, Y:20.49, Z:12.00 [[ 9.93704982e-01 -1.03250865e-01 -4.34703074e-02 3.27038754e+02] [ 1.03205146e-01 9.94654615e-01 -3.30068680e-03 2.04862907e+01] [ 4.35787406e-02 -1.20645052e-03 9.99049267e-01 1.19984596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.985099893 meters 0.014058121288807898 Centerline is valid? [True, True] Translation: X:327.10, Y:20.50, Z:12.00 [[ 9.94279595e-01 -9.82804844e-02 -4.18214541e-02 3.27098881e+02] [ 9.82338316e-02 9.95158299e-01 -3.17409720e-03 2.04980918e+01] [ 4.19309189e-02 -9.52341604e-04 9.99120058e-01 1.20032861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.045099893 meters 0.013103925159615372 Centerline is valid? [True, True] Translation: X:327.16, Y:20.51, Z:12.01 [[ 9.94840852e-01 -9.28771358e-02 -4.08107525e-02 3.27160034e+02] [ 9.28282014e-02 9.95677326e-01 -3.09651854e-03 2.05066615e+01] [ 4.09219367e-02 -7.07845616e-04 9.99162096e-01 1.20063895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.105099893 meters 0.012539174245043073 Centerline is valid? [True, True] Translation: X:327.22, Y:20.51, Z:12.01 [[ 9.95186657e-01 -8.95969782e-02 -3.96975922e-02 3.27221362e+02] [ 8.95481531e-02 9.95977946e-01 -3.00993392e-03 2.05144101e+01] [ 3.98076073e-02 -5.59399984e-04 9.99207206e-01 1.20108566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.165099893 meters 0.012568091232737529 Centerline is valid? [True, True] Translation: X:327.28, Y:20.52, Z:12.01 [[ 9.94977444e-01 -9.07417142e-02 -4.22590580e-02 3.27282779e+02] [ 9.06875156e-02 9.95874251e-01 -3.20177994e-03 2.05173064e+01] [ 4.23752427e-02 -6.46670156e-04 9.99101557e-01 1.20113752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.225099893 meters 0.01261073580758586 Centerline is valid? [True, True] Translation: X:327.34, Y:20.52, Z:12.01 [[ 9.94857047e-01 -9.15160444e-02 -4.34081817e-02 3.27343470e+02] [ 9.14596605e-02 9.95803356e-01 -3.28731474e-03 2.05210625e+01] [ 4.35268551e-02 -6.99689327e-04 9.99052012e-01 1.20131010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.285099893 meters 0.01318227276539019 Centerline is valid? [True, True] Translation: X:327.40, Y:20.52, Z:12.01 [[ 9.94566404e-01 -9.37112765e-02 -4.53416449e-02 3.27403749e+02] [ 9.36520687e-02 9.95599068e-01 -3.43301102e-03 2.05226214e+01] [ 4.54638113e-02 -8.31981423e-04 9.98965640e-01 1.20135115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.345099893 meters 0.01452081004546879 Centerline is valid? [True, True] Translation: X:327.46, Y:20.52, Z:12.01 [[ 9.94155337e-01 -9.71972181e-02 -4.69879491e-02 3.27463059e+02] [ 9.71375295e-02 9.95264610e-01 -3.55746606e-03 2.05221094e+01] [ 4.71112186e-02 -1.02761942e-03 9.98889122e-01 1.20139397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.405099893 meters 0.014736816875479116 Centerline is valid? [True, True] Translation: X:327.52, Y:20.53, Z:12.02 [[ 9.93927493e-01 -9.97350805e-02 -4.64871195e-02 3.27522370e+02] [ 9.96794480e-02 9.95013378e-01 -3.51915907e-03 2.05250986e+01] [ 4.66062895e-02 -1.13602147e-03 9.98912690e-01 1.20178019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46509989299994 meters 0.015574428809646624 Centerline is valid? [True, True] Translation: X:327.58, Y:20.53, Z:12.02 [[ 9.93784076e-01 -1.01628549e-01 -4.54405925e-02 3.27582510e+02] [ 1.01577310e-01 9.94821697e-01 -3.44126230e-03 2.05275747e+01] [ 4.55550178e-02 -1.19586146e-03 9.98961115e-01 1.20211455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52509989299995 meters 0.01655231800749179 Centerline is valid? [True, True] Translation: X:327.64, Y:20.53, Z:12.03 [[ 9.93278659e-01 -1.07106781e-01 -4.38821410e-02 3.27643167e+02] [ 1.07064332e-01 9.94246541e-01 -3.32323919e-03 2.05295186e+01] [ 4.39856084e-02 -1.39730954e-03 9.99031188e-01 1.20253036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58509989299995 meters 0.020571514002542902 Centerline is valid? [True, True] Translation: X:327.70, Y:20.53, Z:12.03 [[ 9.92363174e-01 -1.15635316e-01 -4.29395388e-02 3.27703424e+02] [ 1.15602635e-01 9.93290218e-01 -3.25179305e-03 2.05263174e+01] [ 4.30274460e-02 -1.73696416e-03 9.99072381e-01 1.20283154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64509989299995 meters 0.022378816921177613 Centerline is valid? [True, True] Translation: X:327.76, Y:20.53, Z:12.03 [[ 9.91200441e-01 -1.24890993e-01 -4.38625664e-02 3.27764448e+02] [ 1.24865944e-01 9.92168063e-01 -3.32119885e-03 2.05266231e+01] [ 4.39338254e-02 -2.18496698e-03 9.99032054e-01 1.20308392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70509989299995 meters 0.02426408407827274 Centerline is valid? [True, True] Translation: X:327.83, Y:20.53, Z:12.03 [[ 9.90834635e-01 -1.27550929e-01 -4.44689495e-02 3.27825742e+02] [ 1.27527886e-01 9.91829273e-01 -3.36636747e-03 2.05285312e+01] [ 4.45349891e-02 -2.33551765e-03 9.99005095e-01 1.20328451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76509989299996 meters 0.026335677661626783 Centerline is valid? [True, True] Translation: X:327.89, Y:20.53, Z:12.03 [[ 9.90269787e-01 -1.31310730e-01 -4.60786423e-02 3.27887016e+02] [ 1.31290126e-01 9.91337857e-01 -3.48649756e-03 2.05315246e+01] [ 4.61373170e-02 -2.59709754e-03 9.98931731e-01 1.20349944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82509989299996 meters 0.024594526916476938 Centerline is valid? [True, True] Translation: X:327.95, Y:20.54, Z:12.04 [[ 9.90320512e-01 -1.30876891e-01 -4.62225301e-02 3.27948993e+02] [ 1.30855781e-01 9.91395253e-01 -3.49536794e-03 2.05402391e+01] [ 4.62822598e-02 -2.58695069e-03 9.98925052e-01 1.20376724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88509989299996 meters 0.024075551750583214 Centerline is valid? [True, True] Translation: X:328.01, Y:20.55, Z:12.04 [[ 9.90834438e-01 -1.26315453e-01 -4.78698625e-02 3.28007951e+02] [ 1.26287635e-01 9.91987071e-01 -3.61726950e-03 2.05492552e+01] [ 4.79432017e-02 -2.46125654e-03 9.98847031e-01 1.20382179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94509989299996 meters 0.02012901762648178 Centerline is valid? [True, True] Translation: X:328.07, Y:20.57, Z:12.04 [[ 9.91825884e-01 -1.17651288e-01 -4.93922016e-02 3.28067407e+02] [ 1.17610922e-01 9.93052736e-01 -3.73289911e-03 2.05658230e+01] [ 4.94882413e-02 -2.10667642e-03 9.98772485e-01 1.20401039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00509989299997 meters 0.016594212881571917 Centerline is valid? [True, True] Translation: X:328.13, Y:20.58, Z:12.04 [[ 9.93083519e-01 -1.06809905e-01 -4.87521042e-02 3.28127398e+02] [ 1.06757549e-01 9.94278258e-01 -3.68401525e-03 2.05819401e+01] [ 4.88666465e-02 -1.54612032e-03 9.98804115e-01 1.20434418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06509989299997 meters 0.014434877284297416 Centerline is valid? [True, True] Translation: X:328.19, Y:20.59, Z:12.05 [[ 9.93870203e-01 -9.94619303e-02 -4.82632701e-02 3.28187160e+02] [ 9.94019969e-02 9.95040676e-01 -3.64632356e-03 2.05942299e+01] [ 4.83865873e-02 -1.17349309e-03 9.98827994e-01 1.20468538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12509989299997 meters 0.012674765155685518 Centerline is valid? [True, True] Translation: X:328.25, Y:20.61, Z:12.05 [[ 9.94943032e-01 -8.86271071e-02 -4.72609626e-02 3.28246368e+02] [ 8.85574334e-02 9.96064674e-01 -3.57016066e-03 2.06081572e+01] [ 4.73913883e-02 -6.33203082e-04 9.98876196e-01 1.20492567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.185099893 meters 0.011916369916264317 Centerline is valid? [True, True] Translation: X:328.31, Y:20.62, Z:12.05 [[ 9.95421983e-01 -8.31226407e-02 -4.71773522e-02 3.28306381e+02] [ 8.30470325e-02 9.96539256e-01 -3.56384461e-03 2.06177275e+01] [ 4.73103197e-02 -3.70409838e-04 9.98880171e-01 1.20519098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.245099893 meters 0.01156217078614855 Centerline is valid? [True, True] Translation: X:328.37, Y:20.63, Z:12.05 [[ 9.95753573e-01 -7.85433914e-02 -4.80183137e-02 3.28365911e+02] [ 7.84597202e-02 9.96910684e-01 -3.62776832e-03 2.06255157e+01] [ 4.81549071e-02 -1.55140186e-04 9.98839867e-01 1.20543265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.305099893 meters 0.011825837871514616 Centerline is valid? [True, True] Translation: X:328.42, Y:20.63, Z:12.05 [[ 9.95631604e-01 -7.92982022e-02 -4.92899985e-02 3.28424079e+02] [ 7.92108609e-02 9.96850920e-01 -3.72589491e-03 2.06289688e+01] [ 4.94302372e-02 -1.94684493e-04 9.98777560e-01 1.20542443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.365099893 meters 0.01190612843263314 Centerline is valid? [True, True] Translation: X:328.48, Y:20.63, Z:12.06 [[ 9.95363589e-01 -8.38534385e-02 -4.71160941e-02 3.28481720e+02] [ 8.37785091e-02 9.96478019e-01 -3.56631536e-03 2.06294147e+01] [ 4.72491999e-02 -3.97535665e-04 9.98883054e-01 1.20574190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.425099893 meters 0.012715177327956101 Centerline is valid? [True, True] Translation: X:328.54, Y:20.63, Z:12.06 [[ 9.94970188e-01 -8.91089440e-02 -4.57593865e-02 3.28540593e+02] [ 8.90433272e-02 9.96021694e-01 -3.47437811e-03 2.06280151e+01] [ 4.58869398e-02 -6.17665376e-04 9.98946449e-01 1.20595648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.485099893 meters 0.013071157783414099 Centerline is valid? [True, True] Translation: X:328.60, Y:20.63, Z:12.06 [[ 9.94648683e-01 -9.27911110e-02 -4.54291414e-02 3.28601303e+02] [ 9.27301928e-02 9.95685292e-01 -3.45109580e-03 2.06303252e+01] [ 4.55533589e-02 -7.80025137e-04 9.98961602e-01 1.20621680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.545099893 meters 0.014010081841301373 Centerline is valid? [True, True] Translation: X:328.66, Y:20.63, Z:12.07 [[ 9.94327272e-01 -9.71961415e-02 -4.31993830e-02 3.28662521e+02] [ 9.71452469e-02 9.95264807e-01 -3.28084915e-03 2.06309796e+01] [ 4.33137115e-02 -9.34376947e-04 9.99061084e-01 1.20662055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.605099893 meters 0.014938740189608016 Centerline is valid? [True, True] Translation: X:328.72, Y:20.63, Z:12.07 [[ 9.94119462e-01 -9.97049815e-02 -4.22541271e-02 3.28722775e+02] [ 9.96586135e-02 9.95016518e-01 -3.20764666e-03 2.06308430e+01] [ 4.23633728e-02 -1.02220375e-03 9.99101746e-01 1.20687885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.665099893 meters 0.014316967968161603 Centerline is valid? [True, True] Translation: X:328.79, Y:20.63, Z:12.07 [[ 9.94182142e-01 -9.92747143e-02 -4.17899551e-02 3.28785371e+02] [ 9.92290250e-02 9.95059568e-01 -3.17132939e-03 2.06342272e+01] [ 4.18983274e-02 -9.93897450e-04 9.99121385e-01 1.20709996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.725099893 meters 0.013918383752907633 Centerline is valid? [True, True] Translation: X:328.85, Y:20.64, Z:12.07 [[ 9.94331475e-01 -9.73606584e-02 -4.27296094e-02 3.28846994e+02] [ 9.73112880e-02 9.95248724e-01 -3.23884438e-03 2.06386126e+01] [ 4.28419252e-02 -9.37588416e-04 9.99081423e-01 1.20725717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.785099893 meters 0.01304315892215586 Centerline is valid? [True, True] Translation: X:328.91, Y:20.64, Z:12.07 [[ 9.94797823e-01 -9.17131844e-02 -4.43394100e-02 3.28907175e+02] [ 9.16545157e-02 9.95785202e-01 -3.35862031e-03 2.06438885e+01] [ 4.44605581e-02 -7.22758970e-04 9.99010879e-01 1.20732038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.845099893 meters 0.011328208044790976 Centerline is valid? [True, True] Translation: X:328.97, Y:20.65, Z:12.08 [[ 9.95584790e-01 -8.27239710e-02 -4.43584432e-02 3.28967333e+02] [ 8.26563580e-02 9.96572446e-01 -3.35939247e-03 2.06528690e+01] [ 4.44843046e-02 -3.21947321e-04 9.99010031e-01 1.20751381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.905099893 meters 0.010903715289049008 Centerline is valid? [True, True] Translation: X:329.03, Y:20.66, Z:12.08 [[ 9.96284721e-01 -7.37196608e-02 -4.45215349e-02 3.29026958e+02] [ 7.36425297e-02 9.97279001e-01 -3.37235717e-03 2.06616101e+01] [ 4.46490008e-02 8.11494643e-05 9.99002733e-01 1.20777426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96509989299994 meters 0.010933466839796612 Centerline is valid? [True, True] Translation: X:329.09, Y:20.67, Z:12.08 [[ 9.96475629e-01 -7.11326147e-02 -4.44575295e-02 3.29085725e+02] [ 7.10529096e-02 9.97466847e-01 -3.37247916e-03 2.06661035e+01] [ 4.45848050e-02 2.01756465e-04 9.99005583e-01 1.20796055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02509989299995 meters 0.01071726566990837 Centerline is valid? [True, True] Translation: X:329.14, Y:20.67, Z:12.08 [[ 9.96333786e-01 -7.25040889e-02 -4.54108422e-02 3.29143430e+02] [ 7.24217974e-02 9.97368103e-01 -3.45692801e-03 2.06661177e+01] [ 4.55419669e-02 1.55519361e-04 9.98962414e-01 1.20800643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08509989299995 meters 0.010534932215076979 Centerline is valid? [True, True] Translation: X:329.20, Y:20.66, Z:12.08 [[ 9.95663408e-01 -8.03234346e-02 -4.69310556e-02 3.29202438e+02] [ 8.02435652e-02 9.96768834e-01 -3.58642424e-03 2.06622059e+01] [ 4.70674875e-02 -1.95043838e-04 9.98891693e-01 1.20815403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14509989299995 meters 0.011084317957182208 Centerline is valid? [True, True] Translation: X:329.26, Y:20.66, Z:12.08 [[ 9.95111767e-01 -8.73835974e-02 -4.60073802e-02 3.29260164e+02] [ 8.73138821e-02 9.96174608e-01 -3.52659444e-03 2.06595158e+01] [ 4.61395505e-02 -5.07727356e-04 9.98934875e-01 1.20845014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20509989299995 meters 0.014204692971268086 Centerline is valid? [True, True] Translation: X:329.32, Y:20.65, Z:12.09 [[ 9.93700992e-01 -1.02758396e-01 -4.47107367e-02 3.29321134e+02] [ 1.02707850e-01 9.94705643e-01 -3.43236271e-03 2.06489442e+01] [ 4.48267262e-02 -1.18140142e-03 9.98994079e-01 1.20893540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26509989299996 meters 0.016683369457077088 Centerline is valid? [True, True] Translation: X:329.38, Y:20.65, Z:12.09 [[ 9.92934432e-01 -1.10113706e-01 -4.42287778e-02 3.29381699e+02] [ 1.10071513e-01 9.93917870e-01 -3.39563101e-03 2.06459714e+01] [ 4.43336781e-02 -1.49668953e-03 9.99015658e-01 1.20923321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32509989299996 meters 0.018714480193086552 Centerline is valid? [True, True] Translation: X:329.44, Y:20.64, Z:12.09 [[ 9.92170603e-01 -1.17003652e-01 -4.36765436e-02 3.29441932e+02] [ 1.16969133e-01 9.93129887e-01 -3.35393021e-03 2.06442463e+01] [ 4.37689029e-02 -1.78113649e-03 9.99040095e-01 1.20948905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38509989299996 meters 0.021369646748735576 Centerline is valid? [True, True] Translation: X:329.50, Y:20.64, Z:12.10 [[ 9.91268359e-01 -1.24793206e-01 -4.25875194e-02 3.29502549e+02] [ 1.24767544e-01 9.92180611e-01 -3.27044032e-03 2.06427383e+01] [ 4.26626397e-02 -2.07165621e-03 9.99087387e-01 1.20977904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44509989299996 meters 0.023871578904033987 Centerline is valid? [True, True] Translation: X:329.56, Y:20.64, Z:12.10 [[ 9.90682461e-01 -1.29560866e-01 -4.19790867e-02 3.29563764e+02] [ 1.29540205e-01 9.91568931e-01 -3.22350239e-03 2.06429866e+01] [ 4.20427979e-02 -2.24451223e-03 9.99113290e-01 1.20996334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50509989299997 meters 0.02657338746978715 Centerline is valid? [True, True] Translation: X:329.62, Y:20.64, Z:12.10 [[ 9.90289493e-01 -1.32315003e-01 -4.26551299e-02 3.29624186e+02] [ 1.32296262e-01 9.91204811e-01 -3.27439005e-03 2.06444893e+01] [ 4.27132209e-02 -2.40052016e-03 9.99084490e-01 1.21011408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56509989299997 meters 0.026194851426211033 Centerline is valid? [True, True] Translation: X:329.69, Y:20.65, Z:12.10 [[ 9.89993793e-01 -1.33855658e-01 -4.46648971e-02 3.29685314e+02] [ 1.33836719e-01 9.90997469e-01 -3.42769538e-03 2.06509221e+01] [ 4.47216164e-02 -2.58440612e-03 9.98996145e-01 1.21012607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62509989299997 meters 0.02469595890336727 Centerline is valid? [True, True] Translation: X:329.75, Y:20.66, Z:12.10 [[ 9.90081556e-01 -1.33309000e-01 -4.43533953e-02 3.29746055e+02] [ 1.33289848e-01 9.91071260e-01 -3.40218481e-03 2.06584741e+01] [ 4.44109172e-02 -2.54341689e-03 9.99010111e-01 1.21032331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.685099893 meters 0.02176161014787621 Centerline is valid? [True, True] Translation: X:329.81, Y:20.67, Z:12.11 [[ 9.91180425e-01 -1.25062388e-01 -4.38265284e-02 3.29805994e+02] [ 1.25035708e-01 9.92146552e-01 -3.36032084e-03 2.06742918e+01] [ 4.39025888e-02 -2.14919678e-03 9.99033505e-01 1.21066237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.745099893 meters 0.01784070012212602 Centerline is valid? [True, True] Translation: X:329.87, Y:20.69, Z:12.11 [[ 9.91989633e-01 -1.18263980e-01 -4.43869228e-02 3.29865847e+02] [ 1.18229846e-01 9.92980425e-01 -3.40271329e-03 2.06894713e+01] [ 4.44777639e-02 -1.87240273e-03 9.99008620e-01 1.21098634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.805099893 meters 0.014478679050350675 Centerline is valid? [True, True] Translation: X:329.93, Y:20.71, Z:12.11 [[ 9.93286245e-01 -1.06684670e-01 -4.47304930e-02 3.29925590e+02] [ 1.06638284e-01 9.94291969e-01 -3.42875869e-03 2.07066239e+01] [ 4.48409660e-02 -1.36424418e-03 9.98993206e-01 1.21121182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.865099893 meters 0.011925096295087725 Centerline is valid? [True, True] Translation: X:329.99, Y:20.72, Z:12.11 [[ 9.94451415e-01 -9.55737064e-02 -4.39550988e-02 3.29985554e+02] [ 9.55180801e-02 9.95421994e-01 -3.36888214e-03 2.07211535e+01] [ 4.40758487e-02 -8.48317047e-04 9.99027827e-01 1.21140768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.925099893 meters 0.010075767236593355 Centerline is valid? [True, True] Translation: X:330.05, Y:20.73, Z:12.12 [[ 9.95334420e-01 -8.59869365e-02 -4.37680241e-02 3.30045791e+02] [ 8.59225178e-02 9.96296175e-01 -3.35442652e-03 2.07341222e+01] [ 4.38943519e-02 -4.21882655e-04 9.99036089e-01 1.21161763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.985099893 meters 0.0096218521783927 Centerline is valid? [True, True] Translation: X:330.11, Y:20.74, Z:12.12 [[ 9.95904360e-01 -7.91116629e-02 -4.37704347e-02 3.30105345e+02] [ 7.90406009e-02 9.96865754e-01 -3.35451054e-03 2.07437370e+01] [ 4.38986283e-02 -1.18869787e-04 9.99035983e-01 1.21169792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.045099893 meters 0.009684883670012086 Centerline is valid? [True, True] Translation: X:330.16, Y:20.75, Z:12.12 [[ 9.96114468e-01 -7.67935304e-02 -4.31128821e-02 3.30163333e+02] [ 7.67224040e-02 9.97047017e-01 -3.30443543e-03 2.07492940e+01] [ 4.32393297e-02 -1.61280149e-05 9.99064743e-01 1.21182081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.105099893 meters 0.009765240816022905 Centerline is valid? [True, True] Translation: X:330.22, Y:20.75, Z:12.12 [[ 9.96166196e-01 -7.66459319e-02 -4.21700175e-02 3.30222909e+02] [ 7.65776610e-02 9.97058374e-01 -3.23430903e-03 2.07522680e+01] [ 4.22938657e-02 -7.37198799e-06 9.99105214e-01 1.21197569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.165099893 meters 0.009978799094237089 Centerline is valid? [True, True] Translation: X:330.28, Y:20.75, Z:12.12 [[ 9.95965596e-01 -8.00895493e-02 -4.04746368e-02 3.30282435e+02] [ 8.00294441e-02 9.96787662e-01 -3.10568972e-03 2.07515983e+01] [ 4.05933519e-02 -1.46002567e-04 9.99175740e-01 1.21225207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.225099893 meters 0.010676594141878618 Centerline is valid? [True, True] Translation: X:330.34, Y:20.75, Z:12.13 [[ 9.95556705e-01 -8.64405535e-02 -3.73480580e-02 3.30343230e+02] [ 8.63937958e-02 9.96256941e-01 -2.86704828e-03 2.07471319e+01] [ 3.74560913e-02 -3.72331360e-04 9.99298205e-01 1.21258320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.285099893 meters 0.011893653897585156 Centerline is valid? [True, True] Translation: X:330.40, Y:20.74, Z:12.13 [[ 9.95113334e-01 -9.16565235e-02 -3.67223831e-02 3.30403495e+02] [ 9.16148663e-02 9.95790525e-01 -2.81906032e-03 2.07439271e+01] [ 3.68261864e-02 -5.59031706e-04 9.99321530e-01 1.21277052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.345099893 meters 0.01472985571345268 Centerline is valid? [True, True] Translation: X:330.47, Y:20.74, Z:12.13 [[ 9.94308538e-01 -1.00396132e-01 -3.56531593e-02 3.30465452e+02] [ 1.00362589e-01 9.94947173e-01 -2.73378327e-03 2.07354026e+01] [ 3.57474714e-02 -8.60019345e-04 9.99360485e-01 1.21285112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.405099893 meters 0.018479263199564153 Centerline is valid? [True, True] Translation: X:330.53, Y:20.73, Z:12.13 [[ 9.93454283e-01 -1.08716225e-01 -3.50623859e-02 3.30525845e+02] [ 1.08688984e-01 9.94072171e-01 -2.68771704e-03 2.07272665e+01] [ 3.51467405e-02 -1.14077108e-03 9.99381511e-01 1.21303903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46509989299994 meters 0.017940965230074202 Centerline is valid? [True, True] Translation: X:330.59, Y:20.73, Z:12.13 [[ 9.92638049e-01 -1.15664528e-01 -3.59363364e-02 3.30586950e+02] [ 1.15640489e-01 9.93287317e-01 -2.75373672e-03 2.07259022e+01] [ 3.60136168e-02 -1.42223166e-03 9.99350287e-01 1.21301904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52509989299995 meters 0.018957266511711996 Centerline is valid? [True, True] Translation: X:330.65, Y:20.73, Z:12.13 [[ 9.92227852e-01 -1.18696532e-01 -3.73500103e-02 3.30648449e+02] [ 1.18672727e-01 9.92929300e-01 -2.86156544e-03 2.07260351e+01] [ 3.74255775e-02 -1.59310265e-03 9.99298148e-01 1.21306394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58509989299995 meters 0.022383843717734428 Centerline is valid? [True, True] Translation: X:330.71, Y:20.72, Z:12.13 [[ 9.91780373e-01 -1.22291571e-01 -3.76359360e-02 3.30708661e+02] [ 1.22270034e-01 9.92492686e-01 -2.88207397e-03 2.07229432e+01] [ 3.77058446e-02 -1.74336278e-03 9.99287361e-01 1.21318277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64509989299995 meters 0.022385607875781845 Centerline is valid? [True, True] Translation: X:330.77, Y:20.73, Z:12.13 [[ 9.91584197e-01 -1.23663350e-01 -3.83165176e-02 3.30770343e+02] [ 1.23642051e-01 9.92322545e-01 -2.93415066e-03 2.07260223e+01] [ 3.83851912e-02 -1.82807538e-03 9.99261345e-01 1.21329024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70509989299995 meters 0.023178899542563105 Centerline is valid? [True, True] Translation: X:330.83, Y:20.73, Z:12.13 [[ 9.91311538e-01 -1.25640324e-01 -3.89351252e-02 3.30831516e+02] [ 1.25619908e-01 9.92073968e-01 -2.98008471e-03 2.07300627e+01] [ 3.90009430e-02 -1.93683451e-03 9.99237297e-01 1.21338425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76509989299996 meters 0.022646411469944307 Centerline is valid? [True, True] Translation: X:330.89, Y:20.74, Z:12.14 [[ 9.91115718e-01 -1.26780724e-01 -4.02030039e-02 3.30892223e+02] [ 1.26759955e-01 9.91928654e-01 -3.07562055e-03 2.07376326e+01] [ 4.02684410e-02 -2.04783510e-03 9.99186799e-01 1.21353082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82509989299996 meters 0.022517850273512493 Centerline is valid? [True, True] Translation: X:330.95, Y:20.74, Z:12.14 [[ 9.90882774e-01 -1.27980988e-01 -4.20974469e-02 3.30953677e+02] [ 1.27959366e-01 9.91774188e-01 -3.21893148e-03 2.07439622e+01] [ 4.21631232e-02 -2.19717884e-03 9.99108324e-01 1.21357672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88509989299996 meters 0.026827204884664144 Centerline is valid? [True, True] Translation: X:331.01, Y:20.74, Z:12.14 [[ 9.90661359e-01 -1.29560857e-01 -4.24741708e-02 3.31013461e+02] [ 1.29540349e-01 9.91568837e-01 -3.24643798e-03 2.07443102e+01] [ 4.25366755e-02 -2.28599826e-03 9.99092291e-01 1.21373470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94509989299996 meters 0.02653914172521555 Centerline is valid? [True, True] Translation: X:331.07, Y:20.75, Z:12.14 [[ 9.90425043e-01 -1.31379755e-01 -4.23980548e-02 3.31073178e+02] [ 1.31360952e-01 9.91329307e-01 -3.24130110e-03 2.07522174e+01] [ 4.24562756e-02 -2.35918307e-03 9.99095540e-01 1.21406619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00509989299997 meters 0.025593611337345393 Centerline is valid? [True, True] Translation: X:331.13, Y:20.76, Z:12.14 [[ 9.90532532e-01 -1.30660861e-01 -4.21075122e-02 3.31134074e+02] [ 1.30641675e-01 9.91424426e-01 -3.21891160e-03 2.07616509e+01] [ 4.21670019e-02 -2.31255925e-03 9.99107900e-01 1.21441983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06509989299997 meters 0.026471573621445484 Centerline is valid? [True, True] Translation: X:331.19, Y:20.77, Z:12.15 [[ 9.90937255e-01 -1.27765071e-01 -4.14661703e-02 3.31193221e+02] [ 1.27743988e-01 9.91802114e-01 -3.16863445e-03 2.07684783e+01] [ 4.15310762e-02 -2.15713602e-03 9.99134884e-01 1.21470035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12509989299997 meters 0.022610510343779693 Centerline is valid? [True, True] Translation: X:331.25, Y:20.78, Z:12.15 [[ 9.91882788e-01 -1.20877439e-01 -3.94611247e-02 3.31253042e+02] [ 1.20852878e-01 9.92665848e-01 -3.01604380e-03 2.07842109e+01] [ 3.95362824e-02 -1.77742854e-03 9.99216555e-01 1.21520296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.185099893 meters 0.017208697343055232 Centerline is valid? [True, True] Translation: X:331.31, Y:20.80, Z:12.15 [[ 9.92933630e-01 -1.11980893e-01 -3.92821398e-02 3.31312164e+02] [ 1.11949601e-01 9.93709350e-01 -3.00227647e-03 2.08018260e+01] [ 3.93712272e-02 -1.41655862e-03 9.99223649e-01 1.21547781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.245099893 meters 0.015602724104886419 Centerline is valid? [True, True] Translation: X:331.37, Y:20.81, Z:12.16 [[ 9.93976275e-01 -1.02289448e-01 -3.93450683e-02 3.31371131e+02] [ 1.02250464e-01 9.94754140e-01 -3.00714908e-03 2.08145519e+01] [ 3.94462692e-02 -1.03401666e-03 9.99221158e-01 1.21570780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.305099893 meters 0.012634232249439914 Centerline is valid? [True, True] Translation: X:331.43, Y:20.83, Z:12.16 [[ 9.94660187e-01 -9.44222870e-02 -4.16598587e-02 3.31431121e+02] [ 9.43716571e-02 9.95531942e-01 -3.18466341e-03 2.08295519e+01] [ 4.17744232e-02 -7.63851987e-04 9.99126776e-01 1.21578828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.365099893 meters 0.012252162172831739 Centerline is valid? [True, True] Translation: X:331.49, Y:20.84, Z:12.16 [[ 9.94868613e-01 -9.17236001e-02 -4.26992366e-02 3.31491732e+02] [ 9.16679663e-02 9.95784282e-01 -3.26321417e-03 2.08370326e+01] [ 4.28185424e-02 -6.67682823e-04 9.99082643e-01 1.21591676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.425099893 meters 0.012291464008146994 Centerline is valid? [True, True] Translation: X:331.55, Y:20.84, Z:12.16 [[ 9.94811845e-01 -9.20735522e-02 -4.32649382e-02 3.31552220e+02] [ 9.20168342e-02 9.95751967e-01 -3.30485020e-03 2.08444859e+01] [ 4.33854366e-02 -6.93398526e-04 9.99058168e-01 1.21608249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.485099893 meters 0.012373832386898126 Centerline is valid? [True, True] Translation: X:331.61, Y:20.85, Z:12.16 [[ 9.94770384e-01 -9.24776704e-02 -4.33562484e-02 3.31613257e+02] [ 9.24211652e-02 9.95714503e-01 -3.31024000e-03 2.08496729e+01] [ 4.34765686e-02 -7.14106277e-04 9.99054192e-01 1.21632912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.545099893 meters 0.01252664204780209 Centerline is valid? [True, True] Translation: X:331.67, Y:20.85, Z:12.17 [[ 9.94650244e-01 -9.36312536e-02 -4.36357691e-02 3.31674653e+02] [ 9.35751969e-02 9.95606646e-01 -3.32997387e-03 2.08548447e+01] [ 4.37558514e-02 -7.71066362e-04 9.99041957e-01 1.21655793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.605099893 meters 0.013620093641193504 Centerline is valid? [True, True] Translation: X:331.74, Y:20.86, Z:12.17 [[ 9.94506714e-01 -9.49210500e-02 -4.41179105e-02 3.31735209e+02] [ 9.48650821e-02 9.95484451e-01 -3.36525823e-03 2.08580910e+01] [ 4.42381278e-02 -8.38477304e-04 9.99020663e-01 1.21672374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.665099893 meters 0.013852008252565204 Centerline is valid? [True, True] Translation: X:331.80, Y:20.86, Z:12.17 [[ 9.94375981e-01 -9.59289100e-02 -4.48781908e-02 3.31796444e+02] [ 9.58720648e-02 9.95387781e-01 -3.42229527e-03 2.08649622e+01] [ 4.49994999e-02 -8.99516605e-04 9.98986604e-01 1.21693144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.725099893 meters 0.013088087781467458 Centerline is valid? [True, True] Translation: X:331.86, Y:20.87, Z:12.17 [[ 9.94327045e-01 -9.64695675e-02 -4.48034601e-02 3.31857145e+02] [ 9.64135313e-02 9.95335506e-01 -3.41500568e-03 2.08730484e+01] [ 4.49239187e-02 -9.24027289e-04 9.98989984e-01 1.21728038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.785099893 meters 0.013331934566993381 Centerline is valid? [True, True] Translation: X:331.92, Y:20.88, Z:12.18 [[ 9.94438800e-01 -9.55735944e-02 -4.42398031e-02 3.31917007e+02] [ 9.55181542e-02 9.95421983e-01 -3.37022615e-03 2.08800805e+01] [ 4.43593771e-02 -8.74220678e-04 9.99015256e-01 1.21754600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.845099893 meters 0.012683730391932881 Centerline is valid? [True, True] Translation: X:331.98, Y:20.89, Z:12.18 [[ 9.94552056e-01 -9.39723762e-02 -4.51154050e-02 3.31978254e+02] [ 9.39131973e-02 9.95574466e-01 -3.43418833e-03 2.08888959e+01] [ 4.52384641e-02 -8.21452864e-04 9.98975879e-01 1.21778669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.905099893 meters 0.012176133164449961 Centerline is valid? [True, True] Translation: X:332.04, Y:20.90, Z:12.18 [[ 9.95039809e-01 -8.89447876e-02 -4.45488951e-02 3.32037889e+02] [ 8.88821158e-02 9.96036385e-01 -3.38956213e-03 2.08989799e+01] [ 4.46738043e-02 -5.86850801e-04 9.99001455e-01 1.21806529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96509989299994 meters 0.011491140633776906 Centerline is valid? [True, True] Translation: X:332.10, Y:20.91, Z:12.18 [[ 9.95658090e-01 -8.19994996e-02 -4.40573436e-02 3.32096324e+02] [ 8.19314284e-02 9.96632333e-01 -3.35161068e-03 2.09098383e+01] [ 4.41838036e-02 -2.72622807e-04 9.99023382e-01 1.21840281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02509989299995 meters 0.011299742772022968 Centerline is valid? [True, True] Translation: X:332.16, Y:20.92, Z:12.19 [[ 9.96002845e-01 -7.75718790e-02 -4.42824576e-02 3.32156409e+02] [ 7.74987051e-02 9.96986759e-01 -3.36940515e-03 2.09186873e+01] [ 4.44103950e-02 -7.58960014e-05 9.99013369e-01 1.21872498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08509989299995 meters 0.01135181578863176 Centerline is valid? [True, True] Translation: X:332.22, Y:20.93, Z:12.19 [[ 9.96308889e-01 -7.35699120e-02 -4.42274214e-02 3.32216172e+02] [ 7.34929775e-02 9.97290057e-01 -3.36521751e-03 2.09269157e+01] [ 4.43551464e-02 1.02391232e-04 9.99015821e-01 1.21909218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14509989299995 meters 0.01142193450530183 Centerline is valid? [True, True] Translation: X:332.28, Y:20.93, Z:12.19 [[ 9.96283398e-01 -7.38147483e-02 -4.43933998e-02 3.32276128e+02] [ 7.37374663e-02 9.97271966e-01 -3.37810860e-03 2.09305462e+01] [ 4.45216474e-02 9.20966918e-05 9.99008416e-01 1.21927983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20509989299995 meters 0.011408739326879087 Centerline is valid? [True, True] Translation: X:332.34, Y:20.93, Z:12.20 [[ 9.95938117e-01 -7.80431915e-02 -4.49057550e-02 3.32336126e+02] [ 7.79683347e-02 9.96949974e-01 -3.41874489e-03 2.09314694e+01] [ 4.50356010e-02 -9.63685833e-05 9.98985378e-01 1.21952165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26509989299996 meters 0.011802678653225417 Centerline is valid? [True, True] Translation: X:332.40, Y:20.93, Z:12.20 [[ 9.95534551e-01 -8.26223065e-02 -4.56564532e-02 3.32395382e+02] [ 8.25496662e-02 9.96580885e-01 -3.47741610e-03 2.09315459e+01] [ 4.57876607e-02 -3.07037093e-04 9.98951148e-01 1.21968920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32509989299996 meters 0.012989379028449568 Centerline is valid? [True, True] Translation: X:332.46, Y:20.93, Z:12.20 [[ 9.94766122e-01 -9.20210070e-02 -4.44128087e-02 3.32455759e+02] [ 9.19615847e-02 9.95756807e-01 -3.38359904e-03 2.09271509e+01] [ 4.45357188e-02 -7.18382580e-04 9.99007534e-01 1.21999885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38509989299996 meters 0.01620654826781472 Centerline is valid? [True, True] Translation: X:332.52, Y:20.92, Z:12.20 [[ 9.93851299e-01 -1.02393690e-01 -4.21322549e-02 3.32515902e+02] [ 1.02349460e-01 9.94743322e-01 -3.21121340e-03 2.09199893e+01] [ 4.22395872e-02 -1.12074494e-03 9.99106882e-01 1.22039577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44509989299996 meters 0.017797866665683077 Centerline is valid? [True, True] Translation: X:332.58, Y:20.92, Z:12.21 [[ 9.92793520e-01 -1.12879592e-01 -4.02395968e-02 3.32576184e+02] [ 1.12847810e-01 9.93607549e-01 -3.06763773e-03 2.09172197e+01] [ 4.03286409e-02 -1.49541951e-03 9.99185350e-01 1.22077732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50509989299997 meters 0.021217881992248354 Centerline is valid? [True, True] Translation: X:332.64, Y:20.91, Z:12.21 [[ 9.92033346e-01 -1.19684878e-01 -3.93112006e-02 3.32635844e+02] [ 1.19659852e-01 9.92810423e-01 -2.99738526e-03 2.09137732e+01] [ 3.93873113e-02 -1.73046633e-03 9.99222520e-01 1.22102615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56509989299997 meters 0.023703146537108238 Centerline is valid? [True, True] Translation: X:332.70, Y:20.91, Z:12.21 [[ 9.91157211e-01 -1.26762944e-01 -3.92242154e-02 3.32696332e+02] [ 1.26743580e-01 9.91931008e-01 -2.99003981e-03 2.09124549e+01] [ 3.92867418e-02 -2.00781796e-03 9.99225961e-01 1.22125193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62509989299997 meters 0.023423716774824792 Centerline is valid? [True, True] Translation: X:332.76, Y:20.92, Z:12.21 [[ 9.90845463e-01 -1.29110576e-01 -3.94427204e-02 3.32757232e+02] [ 1.29092855e-01 9.91627952e-01 -3.00654346e-03 2.09167605e+01] [ 3.95006806e-02 -2.11275347e-03 9.99217310e-01 1.22146075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.685099893 meters 0.02291523229197536 Centerline is valid? [True, True] Translation: X:332.82, Y:20.92, Z:12.22 [[ 9.90906391e-01 -1.28457086e-01 -4.00412579e-02 3.32818867e+02] [ 1.28438329e-01 9.91712804e-01 -3.05124948e-03 2.09218874e+01] [ 4.01013828e-02 -2.11932965e-03 9.99193368e-01 1.22159563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.745099893 meters 0.0233638152869017 Centerline is valid? [True, True] Translation: X:332.88, Y:20.93, Z:12.22 [[ 9.91092104e-01 -1.26538200e-01 -4.15273965e-02 3.32878825e+02] [ 1.26516471e-01 9.91959469e-01 -3.16151805e-03 2.09270938e+01] [ 4.15935470e-02 -2.12054410e-03 9.99132364e-01 1.22167910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.805099893 meters 0.024389796666934648 Centerline is valid? [True, True] Translation: X:332.94, Y:20.93, Z:12.22 [[ 9.91234316e-01 -1.24869755e-01 -4.31517674e-02 3.32940242e+02] [ 1.24844769e-01 9.92170852e-01 -3.28403775e-03 2.09337358e+01] [ 4.32240028e-02 -2.13202150e-03 9.99063131e-01 1.22175393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.865099893 meters 0.022286955491452955 Centerline is valid? [True, True] Translation: X:333.00, Y:20.95, Z:12.22 [[ 9.91359703e-01 -1.24006273e-01 -4.27596091e-02 3.33001836e+02] [ 1.23981069e-01 9.92279257e-01 -3.25110705e-03 2.09453722e+01] [ 4.28326308e-02 -2.07836555e-03 9.99080100e-01 1.22203788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.925099893 meters 0.02211771295640549 Centerline is valid? [True, True] Translation: X:333.06, Y:20.95, Z:12.22 [[ 9.91777053e-01 -1.21334151e-01 -4.06976750e-02 3.33062485e+02] [ 1.21309185e-01 9.92609955e-01 -3.09158889e-03 2.09547577e+01] [ 4.07720326e-02 -1.87083485e-03 9.99166723e-01 1.22242846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.985099893 meters 0.020802306274770112 Centerline is valid? [True, True] Translation: X:333.12, Y:20.97, Z:12.23 [[ 9.92506426e-01 -1.16199576e-01 -3.77975308e-02 3.33122054e+02] [ 1.16174369e-01 9.93224687e-01 -2.87001573e-03 2.09662157e+01] [ 3.78749353e-02 -1.54259525e-03 9.99281297e-01 1.22288024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.045099893 meters 0.019480358255220313 Centerline is valid? [True, True] Translation: X:333.18, Y:20.98, Z:12.23 [[ 9.92970399e-01 -1.12021161e-01 -3.82236391e-02 3.33183402e+02] [ 1.11992293e-01 9.93704837e-01 -2.90231605e-03 2.09754751e+01] [ 3.83081359e-02 -1.39883908e-03 9.99264995e-01 1.22305660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.105099893 meters 0.015578565293232786 Centerline is valid? [True, True] Translation: X:333.24, Y:20.99, Z:12.23 [[ 9.93613369e-01 -1.05366475e-01 -4.03779505e-02 3.33242973e+02] [ 1.05328857e-01 9.94432725e-01 -3.06379838e-03 2.09897958e+01] [ 4.04759770e-02 -1.20873234e-03 9.99179781e-01 1.22316039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.165099893 meters 0.014763564602889783 Centerline is valid? [True, True] Translation: X:333.30, Y:21.00, Z:12.23 [[ 9.94089144e-01 -1.00221814e-01 -4.17416084e-02 3.33303107e+02] [ 1.00177088e-01 9.94964583e-01 -3.16710249e-03 2.09979781e+01] [ 4.18488348e-02 -1.03317056e-03 9.99123420e-01 1.22332363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.225099893 meters 0.012129710051141624 Centerline is valid? [True, True] Translation: X:333.36, Y:21.01, Z:12.24 [[ 9.95236753e-01 -8.84169199e-02 -4.10640300e-02 3.33362683e+02] [ 8.83636408e-02 9.96083414e-01 -3.11427088e-03 2.10124587e+01] [ 4.11785535e-02 -5.29130365e-04 9.99151664e-01 1.22356849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.285099893 meters 0.01175871604060799 Centerline is valid? [True, True] Translation: X:333.42, Y:21.02, Z:12.24 [[ 9.95741797e-01 -8.36136560e-02 -3.88204884e-02 3.33423988e+02] [ 8.35624209e-02 9.96498198e-01 -2.94335228e-03 2.10193360e+01] [ 3.89306512e-02 -3.13115109e-04 9.99241866e-01 1.22388804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.345099893 meters 0.011481106712759231 Centerline is valid? [True, True] Translation: X:333.49, Y:21.03, Z:12.24 [[ 9.96003082e-01 -8.11770772e-02 -3.72578005e-02 3.33485983e+02] [ 8.11282782e-02 9.96699673e-01 -2.82226110e-03 2.10259443e+01] [ 3.73639404e-02 -2.11680452e-04 9.99301702e-01 1.22429209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.405099893 meters 0.011669958789331818 Centerline is valid? [True, True] Translation: X:333.55, Y:21.03, Z:12.24 [[ 9.95818395e-01 -8.30471734e-02 -3.80643009e-02 3.33548543e+02] [ 8.29977117e-02 9.96545575e-01 -2.88052185e-03 2.10292285e+01] [ 3.81720298e-02 -2.90773219e-04 9.99271140e-01 1.22443294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46509989299994 meters 0.012089918473793945 Centerline is valid? [True, True] Translation: X:333.61, Y:21.03, Z:12.25 [[ 9.95459288e-01 -8.71877142e-02 -3.81982753e-02 3.33610464e+02] [ 8.71410558e-02 9.96191797e-01 -2.88788827e-03 2.10311187e+01] [ 3.83045969e-02 -4.53862843e-04 9.99266007e-01 1.22460983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52509989299995 meters 0.01335984351717286 Centerline is valid? [True, True] Translation: X:333.67, Y:21.03, Z:12.25 [[ 9.94839934e-01 -9.39368557e-02 -3.83324022e-02 3.33673055e+02] [ 9.38949816e-02 9.95577898e-01 -2.89519964e-03 2.10301216e+01] [ 3.84348583e-02 -7.18959980e-04 9.99260849e-01 1.22477499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58509989299995 meters 0.01704572602901158 Centerline is valid? [True, True] Translation: X:333.73, Y:21.02, Z:12.25 [[ 9.93570331e-01 -1.06452503e-01 -3.85468711e-02 3.33734452e+02] [ 1.06419662e-01 9.94317050e-01 -2.90865853e-03 2.10227115e+01] [ 3.86374452e-02 -1.21218818e-03 9.99252560e-01 1.22481981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64509989299995 meters 0.019835968690100843 Centerline is valid? [True, True] Translation: X:333.80, Y:21.02, Z:12.25 [[ 9.92408701e-01 -1.16599185e-01 -3.91100974e-02 3.33795925e+02] [ 1.16573241e-01 9.93177714e-01 -2.95098388e-03 2.10191404e+01] [ 3.91873594e-02 -1.63060871e-03 9.99230550e-01 1.22484085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70509989299995 meters 0.02277992094822873 Centerline is valid? [True, True] Translation: X:333.86, Y:21.02, Z:12.25 [[ 9.91966229e-01 -1.20313278e-01 -3.90860106e-02 3.33855946e+02] [ 1.20290281e-01 9.92734384e-01 -2.94812952e-03 2.10184503e+01] [ 3.91567258e-02 -1.77722230e-03 9.99231501e-01 1.22499098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76509989299996 meters 0.02028637499483577 Centerline is valid? [True, True] Translation: X:333.92, Y:21.03, Z:12.25 [[ 9.91971987e-01 -1.20614397e-01 -3.79966301e-02 3.33917440e+02] [ 1.20592886e-01 9.92697911e-01 -2.86590134e-03 2.10265974e+01] [ 3.80648443e-02 -1.73922944e-03 9.99273758e-01 1.22528120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82509989299996 meters 0.02117417433526901 Centerline is valid? [True, True] Translation: X:333.98, Y:21.03, Z:12.25 [[ 9.92202550e-01 -1.18730842e-01 -3.79089184e-02 3.33978536e+02] [ 1.18708166e-01 9.92925079e-01 -2.85646169e-03 2.10306758e+01] [ 3.79798659e-02 -1.66590961e-03 9.99277116e-01 1.22548937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88509989299996 meters 0.018771778871492135 Centerline is valid? [True, True] Translation: X:334.04, Y:21.04, Z:12.26 [[ 9.92901481e-01 -1.12820500e-01 -3.76587790e-02 3.34038560e+02] [ 1.12793954e-01 9.93614353e-01 -2.83556799e-03 2.10416687e+01] [ 3.77382136e-02 -1.43224294e-03 9.99286634e-01 1.22560904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94509989299996 meters 0.017192470180850336 Centerline is valid? [True, True] Translation: X:334.10, Y:21.05, Z:12.26 [[ 9.93292355e-01 -1.08747497e-01 -3.92973315e-02 3.34100120e+02] [ 1.08715442e-01 9.94068510e-01 -2.95808845e-03 2.10502039e+01] [ 3.93859245e-02 -1.33398013e-03 9.99223183e-01 1.22568017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00509989299997 meters 0.016001778599722374 Centerline is valid? [True, True] Translation: X:334.16, Y:21.06, Z:12.26 [[ 9.94016409e-01 -1.01023754e-01 -4.15400864e-02 3.34159755e+02] [ 1.00981323e-01 9.94883417e-01 -3.12387457e-03 2.10596138e+01] [ 4.16431287e-02 -1.08959029e-03 9.99131955e-01 1.22560347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06509989299997 meters 0.014233874710487407 Centerline is valid? [True, True] Translation: X:334.22, Y:21.07, Z:12.26 [[ 9.94545828e-01 -9.52899071e-02 -4.24079061e-02 3.34221014e+02] [ 9.52404866e-02 9.95449186e-01 -3.18883612e-03 2.10703422e+01] [ 4.25187795e-02 -8.67505955e-04 9.99095291e-01 1.22574428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12509989299997 meters 0.0124805562195278 Centerline is valid? [True, True] Translation: X:334.28, Y:21.08, Z:12.26 [[ 9.95335725e-01 -8.70024093e-02 -4.16818234e-02 3.34281550e+02] [ 8.69474943e-02 9.96207972e-01 -3.13197623e-03 2.10832866e+01] [ 4.17962543e-02 -5.06762268e-04 9.99126026e-01 1.22595631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.185099893 meters 0.011476904778698912 Centerline is valid? [True, True] Translation: X:334.34, Y:21.10, Z:12.26 [[ 9.95955270e-01 -7.96372686e-02 -4.16053586e-02 3.34342015e+02] [ 7.95761892e-02 9.96823889e-01 -3.12476077e-03 2.10955086e+01] [ 4.17220628e-02 -1.98673933e-04 9.99129236e-01 1.22608997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.245099893 meters 0.011333302188648415 Centerline is valid? [True, True] Translation: X:334.40, Y:21.10, Z:12.26 [[ 9.96356665e-01 -7.52733604e-02 -4.00913585e-02 3.34402875e+02] [ 7.52131729e-02 9.97162936e-01 -3.00959927e-03 2.11043032e+01] [ 4.02041594e-02 -1.67639900e-05 9.99191486e-01 1.22633620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.305099893 meters 0.011458855547049576 Centerline is valid? [True, True] Translation: X:334.46, Y:21.11, Z:12.27 [[ 9.96666785e-01 -7.19269094e-02 -3.84946779e-02 3.34464032e+02] [ 7.18690024e-02 9.97409899e-01 -2.88777583e-03 2.11142232e+01] [ 3.86026816e-02 1.11576152e-04 9.99254632e-01 1.22663446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.365099893 meters 0.011389460244059563 Centerline is valid? [True, True] Translation: X:334.52, Y:21.12, Z:12.27 [[ 9.96342202e-01 -7.64300931e-02 -3.82185602e-02 3.34524862e+02] [ 7.63763771e-02 9.97074940e-01 -2.86569548e-03 2.11176663e+01] [ 3.83257940e-02 -6.37818211e-05 9.99265295e-01 1.22679918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.425099893 meters 0.011688734772810617 Centerline is valid? [True, True] Translation: X:334.59, Y:21.12, Z:12.27 [[ 9.95931312e-01 -8.19939283e-02 -3.73873865e-02 3.34586942e+02] [ 8.19464907e-02 9.96632792e-01 -2.80205639e-03 2.11198236e+01] [ 3.74912470e-02 -2.73109423e-04 9.99296919e-01 1.22709670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.485099893 meters 0.01259261461417912 Centerline is valid? [True, True] Translation: X:334.65, Y:21.12, Z:12.27 [[ 9.95394813e-01 -8.85684655e-02 -3.66714138e-02 3.34648731e+02] [ 8.85273828e-02 9.96069959e-01 -2.74573941e-03 2.11202343e+01] [ 3.67704796e-02 -5.13329524e-04 9.99323605e-01 1.22736207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.545099893 meters 0.014840146638297823 Centerline is valid? [True, True] Translation: X:334.71, Y:21.12, Z:12.28 [[ 9.94611711e-01 -9.73010120e-02 -3.57778863e-02 3.34708612e+02] [ 9.72676206e-02 9.95254663e-01 -2.67683102e-03 2.11180125e+01] [ 3.58685665e-02 -8.17622388e-04 9.99356181e-01 1.22758418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.605099893 meters 0.016003851034127173 Centerline is valid? [True, True] Translation: X:334.77, Y:21.12, Z:12.28 [[ 9.94128218e-01 -1.02492227e-01 -3.47048914e-02 3.34769873e+02] [ 1.02463963e-01 9.94733328e-01 -2.59664283e-03 2.11196812e+01] [ 3.47882478e-02 -9.74604815e-04 9.99394231e-01 1.22779868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.665099893 meters 0.017178290221564762 Centerline is valid? [True, True] Translation: X:334.83, Y:21.12, Z:12.28 [[ 9.93898708e-01 -1.04491672e-01 -3.53107539e-02 3.34832510e+02] [ 1.04463718e-01 9.94525192e-01 -2.64072826e-03 2.11215370e+01] [ 3.53933684e-02 -1.06407624e-03 9.99372892e-01 1.22785916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.725099893 meters 0.01688322581233511 Centerline is valid? [True, True] Translation: X:334.89, Y:21.13, Z:12.28 [[ 9.93961595e-01 -1.03681558e-01 -3.59232695e-02 3.34894055e+02] [ 1.03652193e-01 9.94609984e-01 -2.68389263e-03 2.11271227e+01] [ 3.60079126e-02 -1.05583944e-03 9.99350947e-01 1.22788645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.785099893 meters 0.0161802881251592 Centerline is valid? [True, True] Translation: X:334.96, Y:21.13, Z:12.28 [[ 9.94110511e-01 -1.02086749e-01 -3.63674011e-02 3.34956409e+02] [ 1.02055684e-01 9.94774984e-01 -2.71441769e-03 2.11333072e+01] [ 3.64544869e-02 -1.01306883e-03 9.99334801e-01 1.22807228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.845099893 meters 0.016141585006692924 Centerline is valid? [True, True] Translation: X:335.02, Y:21.14, Z:12.28 [[ 9.94351992e-01 -9.93537191e-02 -3.73223031e-02 3.35017965e+02] [ 9.93192091e-02 9.95051734e-01 -2.78217499e-03 2.11383020e+01] [ 3.74140419e-02 -9.40360384e-04 9.99299407e-01 1.22821052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.905099893 meters 0.014317556994292359 Centerline is valid? [True, True] Translation: X:335.08, Y:21.15, Z:12.28 [[ 9.94839751e-01 -9.33833097e-02 -3.96664549e-02 3.35078753e+02] [ 9.33397016e-02 9.95629938e-01 -2.95396860e-03 2.11491966e+01] [ 3.97689614e-02 -7.63729682e-04 9.99208610e-01 1.22825171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96509989299994 meters 0.013344369861167264 Centerline is valid? [True, True] Translation: X:335.14, Y:21.16, Z:12.28 [[ 9.95402176e-01 -8.73330411e-02 -3.93376089e-02 3.35139052e+02] [ 8.72854850e-02 9.96179035e-01 -2.92806129e-03 2.11593987e+01] [ 3.94430178e-02 -5.19003692e-04 9.99221687e-01 1.22846245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02509989299995 meters 0.012878139818991378 Centerline is valid? [True, True] Translation: X:335.20, Y:21.17, Z:12.29 [[ 9.95664416e-01 -8.39599523e-02 -4.00386971e-02 3.35200737e+02] [ 8.39080214e-02 9.96469052e-01 -2.97869096e-03 2.11676795e+01] [ 4.01474132e-02 -3.93791257e-04 9.99193690e-01 1.22862014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08509989299995 meters 0.013123323197713881 Centerline is valid? [True, True] Translation: X:335.26, Y:21.17, Z:12.29 [[ 9.95466307e-01 -8.61702876e-02 -4.02680169e-02 3.35262460e+02] [ 8.61196842e-02 9.96280303e-01 -2.99285356e-03 2.11724135e+01] [ 4.03761272e-02 -4.88584023e-04 9.99184432e-01 1.22883868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14509989299995 meters 0.01404178795823146 Centerline is valid? [True, True] Translation: X:335.32, Y:21.17, Z:12.29 [[ 9.95117031e-01 -9.00834573e-02 -4.03368962e-02 3.35323470e+02] [ 9.00360088e-02 9.95934007e-01 -2.99509611e-03 2.11744102e+01] [ 4.04426953e-02 -6.51301986e-04 9.99181647e-01 1.22904706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20509989299995 meters 0.015959546650693702 Centerline is valid? [True, True] Translation: X:335.38, Y:21.17, Z:12.29 [[ 9.94372240e-01 -9.74849106e-02 -4.14793882e-02 3.35384562e+02] [ 9.74412539e-02 9.95236519e-01 -3.07779675e-03 2.11744773e+01] [ 4.15818407e-02 -9.81327948e-04 9.99134619e-01 1.22920223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26509989299996 meters 0.01649984757525012 Centerline is valid? [True, True] Translation: X:335.45, Y:21.18, Z:12.29 [[ 9.93903189e-01 -1.02094816e-01 -4.16305149e-02 3.35445450e+02] [ 1.02054916e-01 9.94773973e-01 -3.08810675e-03 2.11784557e+01] [ 4.17282324e-02 -1.17931956e-03 9.99128302e-01 1.22943392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32509989299996 meters 0.017882436759511504 Centerline is valid? [True, True] Translation: X:335.51, Y:21.18, Z:12.30 [[ 9.93675678e-01 -1.04347993e-01 -4.14746145e-02 3.35506053e+02] [ 1.04310441e-01 9.94540034e-01 -3.07436132e-03 2.11811657e+01] [ 4.15689680e-02 -1.27131727e-03 9.99134828e-01 1.22970976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38509989299996 meters 0.02004701194099476 Centerline is valid? [True, True] Translation: X:335.57, Y:21.18, Z:12.30 [[ 9.93245127e-01 -1.08742045e-01 -4.04880932e-02 3.35566347e+02] [ 1.08709958e-01 9.94068985e-01 -2.99985596e-03 2.11835319e+01] [ 4.05741682e-02 -1.42186658e-03 9.99175518e-01 1.23005865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44509989299996 meters 0.020517659419907814 Centerline is valid? [True, True] Translation: X:335.63, Y:21.19, Z:12.30 [[ 9.93215100e-01 -1.09288380e-01 -3.97468927e-02 3.35628554e+02] [ 1.09257926e-01 9.94009073e-01 -2.94411494e-03 2.11885391e+01] [ 3.98305295e-02 -1.41852363e-03 9.99205443e-01 1.23035441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50509989299997 meters 0.017871767670507292 Centerline is valid? [True, True] Translation: X:335.69, Y:21.20, Z:12.31 [[ 9.93543496e-01 -1.06046902e-01 -4.03159592e-02 3.35689063e+02] [ 1.06013017e-01 9.94360266e-01 -2.98349441e-03 2.12001426e+01] [ 4.04049783e-02 -1.30978501e-03 9.99182527e-01 1.23067453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56509989299997 meters 0.016242503797636518 Centerline is valid? [True, True] Translation: X:335.75, Y:21.21, Z:12.31 [[ 9.94137412e-01 -9.99859196e-02 -4.11536498e-02 3.35749627e+02] [ 9.99454828e-02 9.94988258e-01 -3.04401825e-03 2.12101889e+01] [ 4.12517573e-02 -1.08694897e-03 9.99148193e-01 1.23094696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62509989299997 meters 0.014749848199607965 Centerline is valid? [True, True] Translation: X:335.81, Y:21.22, Z:12.31 [[ 9.94675111e-01 -9.36533744e-02 -4.30170780e-02 3.35810178e+02] [ 9.36033129e-02 9.95604490e-01 -3.18093309e-03 2.12203171e+01] [ 4.31259011e-02 -8.62546032e-04 9.99069273e-01 1.23110307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.685099893 meters 0.014212996396072155 Centerline is valid? [True, True] Translation: X:335.87, Y:21.23, Z:12.31 [[ 9.94910069e-01 -8.97254675e-02 -4.58616887e-02 3.35870977e+02] [ 8.96644821e-02 9.95966261e-01 -3.38937073e-03 2.12282659e+01] [ 4.59808075e-02 -7.40045497e-04 9.98942049e-01 1.23116373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.745099893 meters 0.014227834370028399 Centerline is valid? [True, True] Translation: X:335.93, Y:21.23, Z:12.31 [[ 9.94935441e-01 -8.86042893e-02 -4.74631325e-02 3.35932531e+02] [ 8.85378099e-02 9.96066649e-01 -3.50530303e-03 2.12335820e+01] [ 4.75870283e-02 -7.14731591e-04 9.98866840e-01 1.23128458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.805099893 meters 0.014406374973296445 Centerline is valid? [True, True] Translation: X:335.99, Y:21.24, Z:12.31 [[ 9.94898789e-01 -8.85083145e-02 -4.84012192e-02 3.35994107e+02] [ 8.84391504e-02 9.96075174e-01 -3.57286599e-03 2.12382745e+01] [ 4.85274811e-02 -7.25922656e-04 9.98821584e-01 1.23143736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.865099893 meters 0.01425881252063576 Centerline is valid? [True, True] Translation: X:336.06, Y:21.24, Z:12.32 [[ 9.94590452e-01 -9.15606302e-02 -4.90559153e-02 3.36055062e+02] [ 9.14933759e-02 9.95799107e-01 -3.61945312e-03 2.12436915e+01] [ 4.91812361e-02 -8.88417787e-04 9.98789476e-01 1.23182908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.925099893 meters 0.014997048412613534 Centerline is valid? [True, True] Translation: X:336.12, Y:21.25, Z:12.32 [[ 9.94156094e-01 -9.59509154e-02 -4.94679951e-02 3.36116659e+02] [ 9.58880442e-02 9.95385440e-01 -3.64802788e-03 2.12466917e+01] [ 4.95897537e-02 -1.11668015e-03 9.98769047e-01 1.23201576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.985099893 meters 0.018717791437612784 Centerline is valid? [True, True] Translation: X:336.18, Y:21.24, Z:12.32 [[ 9.93135404e-01 -1.05862816e-01 -4.97507039e-02 3.36176652e+02] [ 1.05811711e-01 9.94379421e-01 -3.66728198e-03 2.12442269e+01] [ 4.98593049e-02 -1.62209951e-03 9.98754934e-01 1.23208563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.045099893 meters 0.021346721074339138 Centerline is valid? [True, True] Translation: X:336.24, Y:21.25, Z:12.32 [[ 9.92146468e-01 -1.15448981e-01 -4.81343904e-02 3.36236986e+02] [ 1.15412419e-01 9.93311325e-01 -3.54749256e-03 2.12457221e+01] [ 4.82219896e-02 -2.03567424e-03 9.98834569e-01 1.23249149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.105099893 meters 0.023115813237638987 Centerline is valid? [True, True] Translation: X:336.30, Y:21.25, Z:12.33 [[ 9.91763448e-01 -1.19271587e-01 -4.66856640e-02 3.36298335e+02] [ 1.19241435e-01 9.92859328e-01 -3.44026916e-03 2.12483677e+01] [ 4.67626234e-02 -2.15493238e-03 9.98903706e-01 1.23280214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.165099893 meters 0.024298181298923555 Centerline is valid? [True, True] Translation: X:336.36, Y:21.25, Z:12.33 [[ 9.91701028e-01 -1.19997945e-01 -4.61471925e-02 3.36360926e+02] [ 1.19969358e-01 9.92771778e-01 -3.39862336e-03 2.12508096e+01] [ 4.62214582e-02 -2.16583080e-03 9.98928869e-01 1.23298223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.225099893 meters 0.022705883638293577 Centerline is valid? [True, True] Translation: X:336.42, Y:21.26, Z:12.33 [[ 9.91980316e-01 -1.18028031e-01 -4.52154454e-02 3.36422318e+02] [ 1.17998682e-01 9.93008178e-01 -3.32695898e-03 2.12563648e+01] [ 4.52919815e-02 -2.03508515e-03 9.98971719e-01 1.23328866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.285099893 meters 0.022263071280256567 Centerline is valid? [True, True] Translation: X:336.48, Y:21.26, Z:12.33 [[ 9.92037264e-01 -1.17227365e-01 -4.60414142e-02 3.36483913e+02] [ 1.17196200e-01 9.93103012e-01 -3.38502589e-03 2.12615106e+01] [ 4.61206848e-02 -2.03780699e-03 9.98933796e-01 1.23347644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.345099893 meters 0.020970027039730887 Centerline is valid? [True, True] Translation: X:336.55, Y:21.27, Z:12.34 [[ 9.92135775e-01 -1.15497668e-01 -4.82378829e-02 3.36546302e+02] [ 1.15461600e-01 9.93305626e-01 -3.54286369e-03 2.12667805e+01] [ 4.83241530e-02 -2.05462131e-03 9.98829592e-01 1.23351865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40509989299994 meters 0.020940050208736884 Centerline is valid? [True, True] Translation: X:336.61, Y:21.27, Z:12.34 [[ 9.92445188e-01 -1.12382474e-01 -4.92212204e-02 3.36606993e+02] [ 1.12341257e-01 9.93663120e-01 -3.61185036e-03 2.12716448e+01] [ 4.93152201e-02 -1.94501027e-03 9.98781370e-01 1.23365845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46509989299994 meters 0.019729451373922388 Centerline is valid? [True, True] Translation: X:336.67, Y:21.28, Z:12.34 [[ 9.92691323e-01 -1.10544186e-01 -4.84140497e-02 3.36669029e+02] [ 1.10502231e-01 9.93869534e-01 -3.55047091e-03 2.12793117e+01] [ 4.85097329e-02 -1.82533882e-03 9.98821042e-01 1.23403983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52509989299995 meters 0.020325005923497785 Centerline is valid? [True, True] Translation: X:336.73, Y:21.28, Z:12.34 [[ 9.92711638e-01 -1.10322627e-01 -4.85028017e-02 3.36730213e+02] [ 1.10280416e-01 9.93894160e-01 -3.55364573e-03 2.12822909e+01] [ 4.85986989e-02 -1.82116369e-03 9.98816725e-01 1.23420119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58509989299995 meters 0.021622158007558685 Centerline is valid? [True, True] Translation: X:336.79, Y:21.28, Z:12.34 [[ 9.92559469e-01 -1.11563441e-01 -4.87780637e-02 3.36791554e+02] [ 1.11522399e-01 9.93755506e-01 -3.57067119e-03 2.12843158e+01] [ 4.88718258e-02 -1.89574320e-03 9.98803259e-01 1.23434821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64509989299995 meters 0.022694265215811013 Centerline is valid? [True, True] Translation: X:336.85, Y:21.29, Z:12.35 [[ 9.92013563e-01 -1.16015702e-01 -4.94918927e-02 3.36852529e+02] [ 1.15979169e-01 9.93245053e-01 -3.61905510e-03 2.12866859e+01] [ 4.95774448e-02 -2.14987683e-03 9.98767969e-01 1.23456348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70509989299995 meters 0.02364387379161281 Centerline is valid? [True, True] Translation: X:336.91, Y:21.29, Z:12.35 [[ 9.91750315e-01 -1.18281425e-01 -4.94046304e-02 3.36914525e+02] [ 1.18247899e-01 9.92977540e-01 -3.61114396e-03 2.12897484e+01] [ 4.94848196e-02 -2.26064058e-03 9.98772317e-01 1.23486118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76509989299996 meters 0.02446450271407777 Centerline is valid? [True, True] Translation: X:336.98, Y:21.29, Z:12.35 [[ 9.91871533e-01 -1.17859361e-01 -4.79586654e-02 3.36976993e+02] [ 1.17827435e-01 9.93027910e-01 -3.50212394e-03 2.12919002e+01] [ 4.80370513e-02 -2.17718947e-03 9.98843182e-01 1.23518971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82509989299996 meters 0.022702395200720645 Centerline is valid? [True, True] Translation: X:337.04, Y:21.30, Z:12.36 [[ 9.92178316e-01 -1.16065778e-01 -4.59448036e-02 3.37038291e+02] [ 1.16034691e-01 9.93239505e-01 -3.35209168e-03 2.12979124e+01] [ 4.60232572e-02 -2.00531844e-03 9.98938356e-01 1.23563280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88509989299996 meters 0.020771504931714965 Centerline is valid? [True, True] Translation: X:337.10, Y:21.30, Z:12.36 [[ 9.92212106e-01 -1.16294869e-01 -4.46165886e-02 3.37100632e+02] [ 1.16265907e-01 9.93212797e-01 -3.25241928e-03 2.13043048e+01] [ 4.46920065e-02 -1.96029837e-03 9.98998890e-01 1.23602359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94509989299996 meters 0.022256093110059185 Centerline is valid? [True, True] Translation: X:337.16, Y:21.30, Z:12.36 [[ 9.92098074e-01 -1.18040221e-01 -4.25196094e-02 3.37163112e+02] [ 1.18015699e-01 9.93006906e-01 -3.09520868e-03 2.13034421e+01] [ 4.25876248e-02 -1.94723083e-03 9.99090838e-01 1.23628109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00509989299997 meters 0.022987082400144042 Centerline is valid? [True, True] Translation: X:337.23, Y:21.30, Z:12.36 [[ 9.92021582e-01 -1.18947014e-01 -4.17706586e-02 3.37225707e+02] [ 1.18924275e-01 9.92898680e-01 -3.03768075e-03 2.13040013e+01] [ 4.18353549e-02 -1.95410042e-03 9.99122607e-01 1.23649145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06509989299997 meters 0.02330131953972022 Centerline is valid? [True, True] Translation: X:337.29, Y:21.31, Z:12.37 [[ 9.91987351e-01 -1.19249214e-01 -4.17219362e-02 3.37288242e+02] [ 1.19226922e-01 9.92862404e-01 -3.03109946e-03 2.13063254e+01] [ 4.17855981e-02 -1.96756570e-03 9.99124663e-01 1.23671224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12509989299997 meters 0.022540918778150235 Centerline is valid? [True, True] Translation: X:337.35, Y:21.31, Z:12.37 [[ 9.91868153e-01 -1.20384629e-01 -4.12929545e-02 3.37350186e+02] [ 1.20363896e-01 9.92725315e-01 -2.99695564e-03 2.13081385e+01] [ 4.13533486e-02 -1.99759603e-03 9.99142588e-01 1.23695467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.185099893 meters 0.021449443949279567 Centerline is valid? [True, True] Translation: X:337.41, Y:21.31, Z:12.37 [[ 9.91855695e-01 -1.19743059e-01 -4.34036860e-02 3.37412246e+02] [ 1.19719690e-01 9.92802747e-01 -3.14678498e-03 2.13111146e+01] [ 4.34681044e-02 -2.07511923e-03 9.99052660e-01 1.23699678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.245099893 meters 0.025400434942277596 Centerline is valid? [True, True] Translation: X:337.47, Y:21.31, Z:12.37 [[ 9.91935062e-01 -1.18834951e-01 -4.40804710e-02 3.37473758e+02] [ 1.18810118e-01 9.92911862e-01 -3.19215519e-03 2.13093062e+01] [ 4.41473622e-02 -2.07079529e-03 9.99022884e-01 1.23707793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.305099893 meters 0.021326417615472194 Centerline is valid? [True, True] Translation: X:337.53, Y:21.32, Z:12.37 [[ 9.92208347e-01 -1.16371427e-01 -4.45004158e-02 3.37534655e+02] [ 1.16343868e-01 9.93203781e-01 -3.21760902e-03 2.13192834e+01] [ 4.45724190e-02 -1.98481196e-03 9.99004184e-01 1.23733908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.365099893 meters 0.022578630842472816 Centerline is valid? [True, True] Translation: X:337.59, Y:21.32, Z:12.37 [[ 9.92765050e-01 -1.11432652e-01 -4.47249371e-02 3.37594427e+02] [ 1.11399873e-01 9.93770406e-01 -3.23246231e-03 2.13213163e+01] [ 4.48065208e-02 -1.77327671e-03 9.98994110e-01 1.23742647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.425099893 meters 0.01827213272772593 Centerline is valid? [True, True] Translation: X:337.66, Y:21.33, Z:12.38 [[ 9.93290103e-01 -1.07303303e-01 -4.31366728e-02 3.37655094e+02] [ 1.07268929e-01 9.94225155e-01 -3.11745816e-03 2.13326094e+01] [ 4.32220787e-02 -1.53068437e-03 9.99064317e-01 1.23777882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.485099893 meters 0.018537316692316515 Centerline is valid? [True, True] Translation: X:337.72, Y:21.34, Z:12.38 [[ 9.93321973e-01 -1.06861476e-01 -4.34980811e-02 3.37717500e+02] [ 1.06826181e-01 9.94272748e-01 -3.14176948e-03 2.13366133e+01] [ 4.35846907e-02 -1.52594521e-03 9.99048571e-01 1.23792567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.545099893 meters 0.019642847710141104 Centerline is valid? [True, True] Translation: X:337.78, Y:21.34, Z:12.38 [[ 9.93134659e-01 -1.07953416e-01 -4.50511932e-02 3.37778361e+02] [ 1.07916848e-01 9.94154611e-01 -3.25017351e-03 2.13379989e+01] [ 4.51387187e-02 -1.63392281e-03 9.98979392e-01 1.23782611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.605099893 meters 0.018344979228940694 Centerline is valid? [True, True] Translation: X:337.84, Y:21.34, Z:12.38 [[ 9.93089832e-01 -1.08560605e-01 -4.45778043e-02 3.37840209e+02] [ 1.08525641e-01 9.94088465e-01 -3.21088560e-03 2.13447259e+01] [ 4.46628568e-02 -1.64913695e-03 9.99000756e-01 1.23817606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.665099893 meters 0.019161470082702893 Centerline is valid? [True, True] Translation: X:337.90, Y:21.35, Z:12.39 [[ 9.93281740e-01 -1.07035343e-01 -4.39866010e-02 3.37901161e+02] [ 1.06999943e-01 9.94253988e-01 -3.16521964e-03 2.13501310e+01] [ 4.40726439e-02 -1.56260893e-03 9.99027107e-01 1.23861267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.725099893 meters 0.018909828538079453 Centerline is valid? [True, True] Translation: X:337.96, Y:21.36, Z:12.39 [[ 9.93492607e-01 -1.05524756e-01 -4.28598424e-02 3.37963536e+02] [ 1.05489848e-01 9.94415605e-01 -3.08165689e-03 2.13554310e+01] [ 4.29456872e-02 -1.45967494e-03 9.99076342e-01 1.23893683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.785099893 meters 0.016861047279565913 Centerline is valid? [True, True] Translation: X:338.02, Y:21.36, Z:12.39 [[ 9.93487434e-01 -1.05110400e-01 -4.39832003e-02 3.38024888e+02] [ 1.05073407e-01 9.94459453e-01 -3.15851618e-03 2.13635023e+01] [ 4.40715022e-02 -1.48351856e-03 9.99027278e-01 1.23917042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.845099893 meters 0.017524167960102685 Centerline is valid? [True, True] Translation: X:338.09, Y:21.37, Z:12.39 [[ 9.93373590e-01 -1.05385006e-01 -4.58575113e-02 3.38086970e+02] [ 1.05345250e-01 9.94430268e-01 -3.28955807e-03 2.13684759e+01] [ 4.59487674e-02 -1.56311087e-03 9.98942575e-01 1.23929090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90509989299994 meters 0.018992224300592844 Centerline is valid? [True, True] Translation: X:338.15, Y:21.37, Z:12.39 [[ 9.93140418e-01 -1.07013336e-01 -4.71195970e-02 3.38147825e+02] [ 1.06973351e-01 9.94256154e-01 -3.37672322e-03 2.13717924e+01] [ 4.72103037e-02 -1.68698088e-03 9.98883547e-01 1.23945352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96509989299994 meters 0.01980450801415556 Centerline is valid? [True, True] Translation: X:338.21, Y:21.38, Z:12.40 [[ 9.92664577e-01 -1.10576625e-01 -4.88860607e-02 3.38208854e+02] [ 1.10538022e-01 9.93865730e-01 -3.50077809e-03 2.13758491e+01] [ 4.89732846e-02 -1.92867007e-03 9.98798227e-01 1.23966039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02509989299995 meters 0.02011883662077488 Centerline is valid? [True, True] Translation: X:338.27, Y:21.38, Z:12.40 [[ 9.92317552e-01 -1.13078387e-01 -5.01911841e-02 3.38269524e+02] [ 1.13040994e-01 9.93583831e-01 -3.59215747e-03 2.13810994e+01] [ 5.02753444e-02 -2.10910045e-03 9.98733168e-01 1.23982918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08509989299995 meters 0.02284303352672805 Centerline is valid? [True, True] Translation: X:338.33, Y:21.38, Z:12.40 [[ 9.92135401e-01 -1.14695342e-01 -5.01231010e-02 3.38330430e+02] [ 1.14660243e-01 9.93398298e-01 -3.58459624e-03 2.13849767e+01] [ 5.02033397e-02 -2.19072210e-03 9.98736615e-01 1.24012638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14509989299995 meters 0.02202742440797102 Centerline is valid? [True, True] Translation: X:338.39, Y:21.39, Z:12.40 [[ 9.92290770e-01 -1.13429616e-01 -4.99274426e-02 3.38392128e+02] [ 1.13393339e-01 9.93543770e-01 -3.56766548e-03 2.13930625e+01] [ 5.00097785e-02 -2.12127790e-03 9.98746475e-01 1.24047764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20509989299995 meters 0.021475810258657795 Centerline is valid? [True, True] Translation: X:338.45, Y:21.40, Z:12.41 [[ 9.92600217e-01 -1.10241647e-01 -5.09076540e-02 3.38453464e+02] [ 1.10199925e-01 9.93902796e-01 -3.63426673e-03 2.14019810e+01] [ 5.09979072e-02 -2.00264571e-03 9.98696752e-01 1.24064799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26509989299996 meters 0.02153186707761776 Centerline is valid? [True, True] Translation: X:338.51, Y:21.41, Z:12.41 [[ 9.92852141e-01 -1.08226456e-01 -5.03156162e-02 3.38513691e+02] [ 1.08183237e-01 9.94124490e-01 -3.58959280e-03 2.14103320e+01] [ 5.04084752e-02 -1.87937132e-03 9.98726916e-01 1.24094874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32509989299996 meters 0.019550307411817083 Centerline is valid? [True, True] Translation: X:338.58, Y:21.42, Z:12.41 [[ 9.92950760e-01 -1.07435974e-01 -5.00629642e-02 3.38575103e+02] [ 1.07392295e-01 9.94210317e-01 -3.56934628e-03 2.14203175e+01] [ 5.01565917e-02 -1.83219155e-03 9.98739685e-01 1.24138144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38509989299996 meters 0.020077561545441384 Centerline is valid? [True, True] Translation: X:338.64, Y:21.42, Z:12.41 [[ 9.93216556e-01 -1.04908447e-01 -5.01506888e-02 3.38635671e+02] [ 1.04861558e-01 9.94480413e-01 -3.57244370e-03 2.14243229e+01] [ 5.02486572e-02 -1.71066913e-03 9.98735273e-01 1.24145862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44509989299996 meters 0.018165020477513266 Centerline is valid? [True, True] Translation: X:338.70, Y:21.43, Z:12.42 [[ 9.93461794e-01 -1.02285073e-01 -5.07092533e-02 3.38696767e+02] [ 1.02233815e-01 9.94753845e-01 -3.61040361e-03 2.14324503e+01] [ 5.08125151e-02 -1.59740235e-03 9.98706932e-01 1.24174179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50509989299997 meters 0.0165362312300947 Centerline is valid? [True, True] Translation: X:338.76, Y:21.44, Z:12.42 [[ 9.93523393e-01 -1.01328928e-01 -5.14170743e-02 3.38758169e+02] [ 1.01275075e-01 9.94851735e-01 -3.65838075e-03 2.14398146e+01] [ 5.15230654e-02 -1.57258122e-03 9.98670567e-01 1.24207938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56509989299997 meters 0.017567142427658788 Centerline is valid? [True, True] Translation: X:338.82, Y:21.44, Z:12.42 [[ 9.93423688e-01 -1.02090012e-01 -5.18363358e-02 3.38819314e+02] [ 1.02036500e-01 9.94773832e-01 -3.68460669e-03 2.14426615e+01] [ 5.19415919e-02 -1.62882271e-03 9.98648796e-01 1.24218700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62509989299997 meters 0.018566493565705437 Centerline is valid? [True, True] Translation: X:338.88, Y:21.45, Z:12.43 [[ 9.93179202e-01 -1.04747196e-01 -5.12161782e-02 3.38880734e+02] [ 1.04698612e-01 9.94497343e-01 -3.63799568e-03 2.14462010e+01] [ 5.13154230e-02 -1.74908111e-03 9.98680964e-01 1.24255970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.685099893 meters 0.01840444006160909 Centerline is valid? [True, True] Translation: X:338.94, Y:21.45, Z:12.43 [[ 9.93060747e-01 -1.06188482e-01 -5.05406609e-02 3.38942955e+02] [ 1.06143150e-01 9.94344387e-01 -3.58771123e-03 2.14496408e+01] [ 5.06357961e-02 -1.80172974e-03 9.98715560e-01 1.24282080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.745099893 meters 0.020098605993076033 Centerline is valid? [True, True] Translation: X:339.00, Y:21.45, Z:12.43 [[ 9.93190292e-01 -1.06004885e-01 -4.83322657e-02 3.39004127e+02] [ 1.05963364e-01 9.94364127e-01 -3.42773346e-03 2.14498592e+01] [ 4.84232277e-02 -1.71705788e-03 9.98825432e-01 1.24314826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.805099893 meters 0.017933064415037628 Centerline is valid? [True, True] Translation: X:339.07, Y:21.46, Z:12.44 [[ 9.93358376e-01 -1.04912380e-01 -4.72496486e-02 3.39065741e+02] [ 1.04871593e-01 9.94480135e-01 -3.34824355e-03 2.14572483e+01] [ 4.73401091e-02 -1.62914012e-03 9.98877500e-01 1.24350273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.865099893 meters 0.018910415744712236 Centerline is valid? [True, True] Translation: X:339.13, Y:21.46, Z:12.44 [[ 9.93592289e-01 -1.03391704e-01 -4.56565359e-02 3.39126703e+02] [ 1.03352158e-01 9.94639575e-01 -3.23224261e-03 2.14592158e+01] [ 4.57459845e-02 -1.50717019e-03 9.98951967e-01 1.24372459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.925099893 meters 0.01777675601409798 Centerline is valid? [True, True] Translation: X:339.19, Y:21.46, Z:12.44 [[ 9.93745585e-01 -1.02243706e-01 -4.48991789e-02 3.39188392e+02] [ 1.02204405e-01 9.94758349e-01 -3.17607738e-03 2.14638542e+01] [ 4.49885670e-02 -1.43268100e-03 9.98986475e-01 1.24397173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.985099893 meters 0.01694947434885344 Centerline is valid? [True, True] Translation: X:339.25, Y:21.47, Z:12.44 [[ 9.93817017e-01 -1.01075805e-01 -4.59501639e-02 3.39250059e+02] [ 1.01033554e-01 9.94877720e-01 -3.24703493e-03 2.14682319e+01] [ 4.60429910e-02 -1.41554978e-03 9.98938456e-01 1.24410484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.045099893 meters 0.016495120204991654 Centerline is valid? [True, True] Translation: X:339.31, Y:21.47, Z:12.44 [[ 9.93952715e-01 -9.94610555e-02 -4.65349202e-02 3.39311716e+02] [ 9.94161151e-02 9.95040524e-01 -3.28491567e-03 2.14729806e+01] [ 4.66308526e-02 -1.36127014e-03 9.98911263e-01 1.24428641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.105099893 meters 0.016169216712117445 Centerline is valid? [True, True] Translation: X:339.37, Y:21.48, Z:12.45 [[ 9.94198222e-01 -9.66703728e-02 -4.71670830e-02 3.39372786e+02] [ 9.66212222e-02 9.95315666e-01 -3.32624298e-03 2.14778498e+01] [ 4.72676858e-02 -1.25039635e-03 9.98881476e-01 1.24451399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.165099893 meters 0.014712664551399104 Centerline is valid? [True, True] Translation: X:339.43, Y:21.48, Z:12.45 [[ 9.94762364e-01 -9.07875777e-02 -4.69622677e-02 3.39434054e+02] [ 9.07324201e-02 9.95869809e-01 -3.30927269e-03 2.14845145e+01] [ 4.70687454e-02 -9.69060284e-04 9.98891182e-01 1.24477318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.225099893 meters 0.013309278268735581 Centerline is valid? [True, True] Translation: X:339.50, Y:21.49, Z:12.45 [[ 9.95171011e-01 -8.65359348e-02 -4.63269965e-02 3.39495461e+02] [ 8.64777698e-02 9.96248440e-01 -3.26203837e-03 2.14911984e+01] [ 4.64354815e-02 -7.59969311e-04 9.98921002e-01 1.24515594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.285099893 meters 0.01309750354862866 Centerline is valid? [True, True] Translation: X:339.56, Y:21.50, Z:12.45 [[ 9.95418767e-01 -8.34814963e-02 -4.66081279e-02 3.39555418e+02] [ 8.34193811e-02 9.96509132e-01 -3.27959826e-03 2.14960103e+01] [ 4.67192109e-02 -6.23447524e-04 9.98907867e-01 1.24542136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.345099893 meters 0.012635253159287244 Centerline is valid? [True, True] Translation: X:339.62, Y:21.50, Z:12.46 [[ 9.95587619e-01 -8.16202649e-02 -4.62971371e-02 3.39616122e+02] [ 8.15570112e-02 9.96663357e-01 -3.25671720e-03 2.14993790e+01] [ 4.64084742e-02 -5.33508809e-04 9.98922404e-01 1.24581547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40509989299994 meters 0.013351767718598674 Centerline is valid? [True, True] Translation: X:339.68, Y:21.50, Z:12.46 [[ 9.95463478e-01 -8.34594174e-02 -4.56835760e-02 3.39676956e+02] [ 8.33998333e-02 9.96510989e-01 -3.21206124e-03 2.14968320e+01] [ 4.57922623e-02 -6.12512971e-04 9.98950796e-01 1.24604601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46509989299994 meters 0.013484200854647478 Centerline is valid? [True, True] Translation: X:339.74, Y:21.50, Z:12.46 [[ 9.95187627e-01 -8.59545668e-02 -4.70467896e-02 3.39738092e+02] [ 8.58942075e-02 9.96298775e-01 -3.30686174e-03 2.14972970e+01] [ 4.71568987e-02 -7.50098816e-04 9.98887213e-01 1.24629586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52509989299995 meters 0.016163754724229387 Centerline is valid? [True, True] Translation: X:339.80, Y:21.49, Z:12.46 [[ 9.94514229e-01 -9.22526641e-02 -4.93041020e-02 3.39798381e+02] [ 9.21941702e-02 9.95735022e-01 -3.46410364e-03 2.14923055e+01] [ 4.94133939e-02 -1.10045041e-03 9.98777806e-01 1.24629371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58509989299995 meters 0.017815481104120276 Centerline is valid? [True, True] Translation: X:339.86, Y:21.49, Z:12.46 [[ 9.93648024e-01 -9.98786546e-02 -5.18445674e-02 3.39858698e+02] [ 9.98243258e-02 9.94998409e-01 -3.64278021e-03 2.14895128e+01] [ 5.19490980e-02 -1.55570763e-03 9.98648522e-01 1.24634907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64509989299995 meters 0.019582385653032105 Centerline is valid? [True, True] Translation: X:339.92, Y:21.49, Z:12.47 [[ 9.93025685e-01 -1.05443829e-01 -5.27407630e-02 3.39919446e+02] [ 1.05395412e-01 9.94423487e-01 -3.70622493e-03 2.14885683e+01] [ 5.28374520e-02 -1.87825790e-03 9.98601360e-01 1.24655641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70509989299995 meters 0.021636329091970878 Centerline is valid? [True, True] Translation: X:339.98, Y:21.49, Z:12.47 [[ 9.92273304e-01 -1.12635317e-01 -5.20286029e-02 3.39979670e+02] [ 1.12598054e-01 9.93633892e-01 -3.65617246e-03 2.14879815e+01] [ 5.21091973e-02 -2.23039711e-03 9.98638902e-01 1.24696806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76509989299996 meters 0.022512426620048483 Centerline is valid? [True, True] Translation: X:340.04, Y:21.49, Z:12.47 [[ 9.91842576e-01 -1.16709613e-01 -5.12559401e-02 3.40040517e+02] [ 1.16678894e-01 9.93163162e-01 -3.60140642e-03 2.14902804e+01] [ 5.13258302e-02 -2.40845820e-03 9.98679057e-01 1.24733588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82509989299996 meters 0.023799551645899107 Centerline is valid? [True, True] Translation: X:340.10, Y:21.49, Z:12.48 [[ 9.91579099e-01 -1.19274981e-01 -5.04417493e-02 3.40101713e+02] [ 1.19248620e-01 9.92858105e-01 -3.54254422e-03 2.14921409e+01] [ 5.05040365e-02 -2.50239619e-03 9.98720722e-01 1.24761895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88509989299996 meters 0.024716283565236405 Centerline is valid? [True, True] Translation: X:340.16, Y:21.49, Z:12.48 [[ 9.91496405e-01 -1.20158381e-01 -4.99684107e-02 3.40163981e+02] [ 1.20133742e-01 9.92751522e-01 -3.50705304e-03 2.14947362e+01] [ 5.00276176e-02 -2.52566170e-03 9.98744641e-01 1.24788258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94509989299996 meters 0.02754664168357372 Centerline is valid? [True, True] Translation: X:340.22, Y:21.49, Z:12.48 [[ 9.91068506e-01 -1.24093380e-01 -4.88267228e-02 3.40224696e+02] [ 1.24074754e-01 9.92266966e-01 -3.42395440e-03 2.14937348e+01] [ 4.88740342e-02 -2.66479026e-03 9.98801396e-01 1.24813916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00509989299997 meters 0.027640860529582357 Centerline is valid? [True, True] Translation: X:340.29, Y:21.50, Z:12.48 [[ 9.90367781e-01 -1.29099087e-01 -5.00508064e-02 3.40285201e+02] [ 1.29085943e-01 9.91627203e-01 -3.50859106e-03 2.14962428e+01] [ 5.00846971e-02 -2.98606001e-03 9.98740510e-01 1.24828462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06509989299997 meters 0.029012438862568986 Centerline is valid? [True, True] Translation: X:340.35, Y:21.50, Z:12.48 [[ 9.89668186e-01 -1.33134422e-01 -5.32175484e-02 3.40345454e+02] [ 1.33125388e-01 9.91092183e-01 -3.73041013e-03 2.14977950e+01] [ 5.32401422e-02 -3.39273857e-03 9.98575974e-01 1.24824428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12509989299997 meters 0.03233311363178184 Centerline is valid? [True, True] Translation: X:340.41, Y:21.50, Z:12.48 [[ 9.89413404e-01 -1.34696163e-01 -5.40190681e-02 3.40405379e+02] [ 1.34689181e-01 9.90880662e-01 -3.78647003e-03 2.14975307e+01] [ 5.40364729e-02 -3.52939985e-03 9.98532725e-01 1.24837269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.185099893 meters 0.028339082326914976 Centerline is valid? [True, True] Translation: X:340.47, Y:21.51, Z:12.49 [[ 9.89602388e-01 -1.33662197e-01 -5.31180913e-02 3.40465766e+02] [ 1.33653991e-01 9.91021065e-01 -3.72272497e-03 2.15073519e+01] [ 5.31387350e-02 -3.41542737e-03 9.98581298e-01 1.24881221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.245099893 meters 0.027628909120980826 Centerline is valid? [True, True] Translation: X:340.53, Y:21.51, Z:12.49 [[ 9.90211124e-01 -1.29566931e-01 -5.19070294e-02 3.40525535e+02] [ 1.29553558e-01 9.91565758e-01 -3.63644646e-03 2.15144642e+01] [ 5.19403961e-02 -3.12389061e-03 9.98645301e-01 1.24917565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.305099893 meters 0.027874156656857333 Centerline is valid? [True, True] Translation: X:340.59, Y:21.52, Z:12.49 [[ 9.90622234e-01 -1.26370074e-01 -5.19441468e-02 3.40585537e+02] [ 1.26352311e-01 9.91978756e-01 -3.63891596e-03 2.15194321e+01] [ 5.19873402e-02 -2.95847195e-03 9.98643362e-01 1.24942260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.365099893 meters 0.02801778181621471 Centerline is valid? [True, True] Translation: X:340.65, Y:21.52, Z:12.50 [[ 9.91096380e-01 -1.22722587e-01 -5.16442780e-02 3.40645491e+02] [ 1.22700092e-01 9.92437201e-01 -3.61790883e-03 2.15232028e+01] [ 5.16977019e-02 -2.75106130e-03 9.98658990e-01 1.24956060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.425099893 meters 0.02457486596990479 Centerline is valid? [True, True] Translation: X:340.71, Y:21.53, Z:12.50 [[ 9.91376782e-01 -1.20096053e-01 -5.24310356e-02 3.40706235e+02] [ 1.20069236e-01 9.92758728e-01 -3.67247516e-03 2.15316126e+01] [ 5.24924180e-02 -2.65454780e-03 9.98617794e-01 1.24987967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.485099893 meters 0.024656529260005375 Centerline is valid? [True, True] Translation: X:340.77, Y:21.54, Z:12.50 [[ 9.91508654e-01 -1.18870501e-01 -5.27294294e-02 3.40767305e+02] [ 1.18841752e-01 9.92906346e-01 -3.69147381e-03 2.15357121e+01] [ 5.27941924e-02 -2.60632954e-03 9.98602013e-01 1.25011308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.545099893 meters 0.02312174177873055 Centerline is valid? [True, True] Translation: X:340.83, Y:21.54, Z:12.50 [[ 9.91439455e-01 -1.19096797e-01 -5.35141047e-02 3.40828422e+02] [ 1.19067620e-01 9.92879087e-01 -3.74447166e-03 2.15415679e+01] [ 5.35789900e-02 -2.65938015e-03 9.98560073e-01 1.25044670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.605099893 meters 0.02420451570943936 Centerline is valid? [True, True] Translation: X:340.89, Y:21.54, Z:12.51 [[ 9.91351481e-01 -1.19680725e-01 -5.38401819e-02 3.40888441e+02] [ 1.19652141e-01 9.92808735e-01 -3.76562243e-03 2.15440121e+01] [ 5.39036753e-02 -2.70903767e-03 9.98542465e-01 1.25062358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.665099893 meters 0.02545765235439785 Centerline is valid? [True, True] Translation: X:340.95, Y:21.55, Z:12.51 [[ 9.91380877e-01 -1.19638609e-01 -5.33906441e-02 3.40948819e+02] [ 1.19610527e-01 9.92813875e-01 -3.73251880e-03 2.15466841e+01] [ 5.34535257e-02 -2.68573531e-03 9.98566727e-01 1.25085326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.725099893 meters 0.02315214965313834 Centerline is valid? [True, True] Translation: X:341.01, Y:21.56, Z:12.51 [[ 9.91639095e-01 -1.18255727e-01 -5.16477401e-02 3.41009835e+02] [ 1.18227716e-01 9.92979955e-01 -3.60792867e-03 2.15554010e+01] [ 5.17118288e-02 -2.52843121e-03 9.98658848e-01 1.25137371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.785099893 meters 0.022224623494657484 Centerline is valid? [True, True] Translation: X:341.07, Y:21.56, Z:12.52 [[ 9.91877426e-01 -1.16790028e-01 -5.03910730e-02 3.41070580e+02] [ 1.16761565e-01 9.93153743e-01 -3.51833843e-03 2.15610888e+01] [ 5.04569896e-02 -2.39398009e-03 9.98723366e-01 1.25173488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.845099893 meters 0.020984391934392214 Centerline is valid? [True, True] Translation: X:341.13, Y:21.57, Z:12.52 [[ 9.92035019e-01 -1.15522456e-01 -5.02103828e-02 3.41132672e+02] [ 1.15492694e-01 9.93302151e-01 -3.50340406e-03 2.15680231e+01] [ 5.02788031e-02 -2.32343287e-03 9.98732519e-01 1.25205593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90509989299994 meters 0.023201000335347517 Centerline is valid? [True, True] Translation: X:341.19, Y:21.57, Z:12.52 [[ 9.92064831e-01 -1.15545519e-01 -4.95641442e-02 3.41194054e+02] [ 1.15516714e-01 9.93299528e-01 -3.45492180e-03 2.15683237e+01] [ 4.96312418e-02 -2.29798065e-03 9.98764967e-01 1.25227307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96509989299994 meters 0.02443432979109717 Centerline is valid? [True, True] Translation: X:341.26, Y:21.57, Z:12.52 [[ 9.92017577e-01 -1.15391347e-01 -5.08523805e-02 3.41255061e+02] [ 1.15360969e-01 9.93317322e-01 -3.54191487e-03 2.15706016e+01] [ 5.09212567e-02 -2.35273810e-03 9.98699900e-01 1.25233591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02509989299995 meters 0.02319712177099768 Centerline is valid? [True, True] Translation: X:341.32, Y:21.58, Z:12.53 [[ 9.92006284e-01 -1.15182066e-01 -5.15424477e-02 3.41316728e+02] [ 1.15150734e-01 9.93341554e-01 -3.58696896e-03 2.15772485e+01] [ 5.16124096e-02 -2.37685492e-03 9.98664363e-01 1.25253583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08509989299995 meters 0.021751775727970546 Centerline is valid? [True, True] Translation: X:341.38, Y:21.58, Z:12.53 [[ 9.91993302e-01 -1.14882124e-01 -5.24536576e-02 3.41378156e+02] [ 1.14849458e-01 9.93376215e-01 -3.64657343e-03 2.15842093e+01] [ 5.25251419e-02 -2.40689774e-03 9.98616701e-01 1.25276653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14509989299995 meters 0.021914955389838606 Centerline is valid? [True, True] Translation: X:341.44, Y:21.59, Z:12.53 [[ 9.92001718e-01 -1.14356722e-01 -5.34334256e-02 3.41439592e+02] [ 1.14322246e-01 9.93436787e-01 -3.71133844e-03 2.15885812e+01] [ 5.35071472e-02 -2.42697512e-03 9.98564517e-01 1.25288417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20509989299995 meters 0.02157239273043622 Centerline is valid? [True, True] Translation: X:341.50, Y:21.59, Z:12.53 [[ 9.92260904e-01 -1.11858547e-01 -5.39070007e-02 3.41499481e+02] [ 1.11819854e-01 9.93721445e-01 -3.74287692e-03 2.15949994e+01] [ 5.39872154e-02 -2.31396253e-03 9.98538946e-01 1.25302604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26509989299996 meters 0.020026379174299842 Centerline is valid? [True, True] Translation: X:341.56, Y:21.60, Z:12.53 [[ 9.92774402e-01 -1.07666836e-01 -5.29796195e-02 3.41559710e+02] [ 1.07623519e-01 9.94184917e-01 -3.67820674e-03 2.16039632e+01] [ 5.30675594e-02 -2.05022358e-03 9.98588820e-01 1.25337937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32509989299996 meters 0.01817748388590738 Centerline is valid? [True, True] Translation: X:341.62, Y:21.61, Z:12.54 [[ 9.93265620e-01 -1.03764782e-01 -5.15390951e-02 3.41619500e+02] [ 1.03718575e-01 9.94600251e-01 -3.57755257e-03 2.16123689e+01] [ 5.16320209e-02 -1.79210154e-03 9.98664570e-01 1.25372261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38509989299996 meters 0.016608874667022204 Centerline is valid? [True, True] Translation: X:341.68, Y:21.62, Z:12.54 [[ 9.93716908e-01 -9.98642366e-02 -5.05355378e-02 3.41679769e+02] [ 9.98147850e-02 9.94999852e-01 -3.50765101e-03 2.16202494e+01] [ 5.06331415e-02 -1.55858173e-03 9.98716104e-01 1.25401955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44509989299996 meters 0.016681625133991625 Centerline is valid? [True, True] Translation: X:341.74, Y:21.63, Z:12.54 [[ 9.94062655e-01 -9.69813366e-02 -4.93361832e-02 3.41739766e+02] [ 9.69307004e-02 9.95285245e-01 -3.42353351e-03 2.16255889e+01] [ 4.94355941e-02 -1.37898398e-03 9.98776362e-01 1.25426764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50509989299997 meters 0.017099478597749084 Centerline is valid? [True, True] Translation: X:341.80, Y:21.63, Z:12.54 [[ 9.93992908e-01 -9.79657578e-02 -4.87935416e-02 3.41801203e+02] [ 9.79174650e-02 9.95188783e-01 -3.38482121e-03 2.16282943e+01] [ 4.88903818e-02 -1.41325162e-03 9.98803150e-01 1.25449971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56509989299997 meters 0.01574290888380584 Centerline is valid? [True, True] Translation: X:341.86, Y:21.63, Z:12.55 [[ 9.93877413e-01 -9.90921659e-02 -4.88715797e-02 3.41863014e+02] [ 9.90451838e-02 9.95077169e-01 -3.38808197e-03 2.16337055e+01] [ 4.89667256e-02 -1.47315646e-03 9.98799324e-01 1.25482977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62509989299997 meters 0.017701372276405496 Centerline is valid? [True, True] Translation: X:341.92, Y:21.63, Z:12.55 [[ 9.93869564e-01 -9.91665596e-02 -4.88802916e-02 3.41924458e+02] [ 9.91198156e-02 9.95069747e-01 -3.38532106e-03 2.16348133e+01] [ 4.89750101e-02 -1.48043793e-03 9.98798907e-01 1.25492715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.685099893 meters 0.017131095114797806 Centerline is valid? [True, True] Translation: X:341.99, Y:21.64, Z:12.55 [[ 9.93971409e-01 -9.78815811e-02 -4.93967114e-02 3.41985958e+02] [ 9.78323821e-02 9.95197035e-01 -3.41862221e-03 2.16402686e+01] [ 4.94940809e-02 -1.43458521e-03 9.98773387e-01 1.25512974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.745099893 meters 0.01492259782097653 Centerline is valid? [True, True] Translation: X:342.05, Y:21.65, Z:12.56 [[ 9.94369338e-01 -9.52172070e-02 -4.65113153e-02 3.42047244e+02] [ 9.51707558e-02 9.95455763e-01 -3.21719682e-03 2.16480043e+01] [ 4.66062894e-02 -1.22743516e-03 9.98912582e-01 1.25560101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.805099893 meters 0.014207911325715333 Centerline is valid? [True, True] Translation: X:342.11, Y:21.65, Z:12.56 [[ 9.94916028e-01 -9.05794652e-02 -4.40165686e-02 3.42107486e+02] [ 9.05334235e-02 9.95888770e-01 -3.04244734e-03 2.16542409e+01] [ 4.41111896e-02 -9.57991020e-04 9.99026168e-01 1.25607543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.865099893 meters 0.013588580518305648 Centerline is valid? [True, True] Translation: X:342.17, Y:21.66, Z:12.56 [[ 9.95303463e-01 -8.71069740e-02 -4.22302122e-02 3.42168270e+02] [ 8.70615321e-02 9.96198664e-01 -2.91750073e-03 2.16598839e+01] [ 4.23238156e-02 -7.72828386e-04 9.99103647e-01 1.25646747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.925099893 meters 0.012877774532718236 Centerline is valid? [True, True] Translation: X:342.23, Y:21.66, Z:12.57 [[ 9.95600662e-01 -8.37555824e-02 -4.20038688e-02 3.42230523e+02] [ 8.37077152e-02 9.96486130e-01 -2.90019803e-03 2.16644797e+01] [ 4.20991805e-02 -6.28608806e-04 9.99113239e-01 1.25672537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.985099893 meters 0.012674644884665534 Centerline is valid? [True, True] Translation: X:342.29, Y:21.67, Z:12.57 [[ 9.95485652e-01 -8.43981913e-02 -4.34196113e-02 3.42292536e+02] [ 8.43477927e-02 9.96431875e-01 -2.99474401e-03 2.16664944e+01] [ 4.35174357e-02 -6.81123682e-04 9.99052435e-01 1.25682483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.045099893 meters 0.013591119517824168 Centerline is valid? [True, True] Translation: X:342.35, Y:21.67, Z:12.57 [[ 9.95185390e-01 -8.75478835e-02 -4.40614030e-02 3.42354334e+02] [ 8.74992199e-02 9.96159963e-01 -3.03555983e-03 2.16652882e+01] [ 4.41579625e-02 -8.34393599e-04 9.99024213e-01 1.25696013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.105099893 meters 0.014797203284380351 Centerline is valid? [True, True] Translation: X:342.42, Y:21.66, Z:12.57 [[ 9.94632740e-01 -9.32882870e-02 -4.47549873e-02 3.42415512e+02] [ 9.32440550e-02 9.95638520e-01 -3.07948208e-03 2.16627530e+01] [ 4.48470690e-02 -1.11018280e-03 9.98993247e-01 1.25718722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.165099893 meters 0.017288467408410807 Centerline is valid? [True, True] Translation: X:342.48, Y:21.66, Z:12.57 [[ 9.94277779e-01 -9.67760756e-02 -4.52337202e-02 3.42475612e+02] [ 9.67345271e-02 9.95305354e-01 -3.11173742e-03 2.16603168e+01] [ 4.53225056e-02 -1.28173116e-03 9.98971585e-01 1.25730653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.225099893 meters 0.01742670233140572 Centerline is valid? [True, True] Translation: X:342.54, Y:21.66, Z:12.58 [[ 9.93796135e-01 -1.01218087e-01 -4.60883969e-02 3.42537223e+02] [ 1.01179736e-01 9.94863112e-01 -3.17021267e-03 2.16612025e+01] [ 4.61725288e-02 -1.51266675e-03 9.98932335e-01 1.25751663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.285099893 meters 0.019105277864772407 Centerline is valid? [True, True] Translation: X:342.60, Y:21.66, Z:12.58 [[ 9.93446544e-01 -1.04903245e-01 -4.53792219e-02 3.42598618e+02] [ 1.04869975e-01 9.94481048e-01 -3.11981866e-03 2.16600423e+01] [ 4.54560552e-02 -1.65954480e-03 9.98964961e-01 1.25776093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.345099893 meters 0.019979277931039083 Centerline is valid? [True, True] Translation: X:342.66, Y:21.66, Z:12.58 [[ 9.93391663e-01 -1.05839647e-01 -4.43956400e-02 3.42660792e+02] [ 1.05808817e-01 9.94381813e-01 -3.05038829e-03 2.16613541e+01] [ 4.44690690e-02 -1.66721984e-03 9.99009370e-01 1.25805206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40509989299994 meters 0.0190636965288915 Centerline is valid? [True, True] Translation: X:342.72, Y:21.67, Z:12.58 [[ 9.93478731e-01 -1.05752425e-01 -4.26196713e-02 3.42723108e+02] [ 1.05724055e-01 9.94391204e-01 -2.92543254e-03 2.16659772e+01] [ 4.26899978e-02 -1.59956948e-03 9.99087086e-01 1.25847569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46509989299994 meters 0.01947747377490878 Centerline is valid? [True, True] Translation: X:342.78, Y:21.67, Z:12.59 [[ 9.93554608e-01 -1.04987625e-01 -4.27415529e-02 3.42784702e+02] [ 1.04958520e-01 9.94472282e-01 -2.93069656e-03 2.16684658e+01] [ 4.28129765e-02 -1.57428304e-03 9.99081864e-01 1.25872474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52509989299995 meters 0.019579636510056814 Centerline is valid? [True, True] Translation: X:342.85, Y:21.67, Z:12.59 [[ 9.93423493e-01 -1.05751819e-01 -4.38898215e-02 3.42846754e+02] [ 1.05722015e-01 9.94391180e-01 -3.00622641e-03 2.16710737e+01] [ 4.39615652e-02 -1.65366444e-03 9.99031854e-01 1.25889460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58509989299995 meters 0.018728495940727247 Centerline is valid? [True, True] Translation: X:342.91, Y:21.68, Z:12.59 [[ 9.93341723e-01 -1.06243164e-01 -4.45489739e-02 3.42908818e+02] [ 1.06213096e-01 9.94338718e-01 -3.04813843e-03 2.16754640e+01] [ 4.46206135e-02 -1.70384138e-03 9.99002551e-01 1.25912392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64509989299995 meters 0.01902233895394631 Centerline is valid? [True, True] Translation: X:342.97, Y:21.68, Z:12.59 [[ 9.93159087e-01 -1.06913715e-01 -4.69519418e-02 3.42970684e+02] [ 1.06881235e-01 9.94266616e-01 -3.20897775e-03 2.16793040e+01] [ 4.70258320e-02 -1.83125610e-03 9.98891995e-01 1.25925160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70509989299995 meters 0.01836834858378412 Centerline is valid? [True, True] Translation: X:343.03, Y:21.68, Z:12.59 [[ 9.93021123e-01 -1.07826237e-01 -4.77760669e-02 3.43031468e+02] [ 1.07793813e-01 9.94167920e-01 -3.26214795e-03 2.16849228e+01] [ 4.78491782e-02 -1.91058258e-03 9.98852745e-01 1.25945595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76509989299996 meters 0.020757900765713173 Centerline is valid? [True, True] Translation: X:343.09, Y:21.69, Z:12.59 [[ 9.92831821e-01 -1.08571735e-01 -4.99715192e-02 3.43091978e+02] [ 1.08537312e-01 9.94086527e-01 -3.40998660e-03 2.16866088e+01] [ 5.00462421e-02 -2.03823114e-03 9.98744822e-01 1.25941623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82509989299996 meters 0.020269837823308694 Centerline is valid? [True, True] Translation: X:343.15, Y:21.69, Z:12.60 [[ 9.92879897e-01 -1.08907760e-01 -4.82556723e-02 3.43152460e+02] [ 1.08876158e-01 9.94049875e-01 -3.29074921e-03 2.16930916e+01] [ 4.83269331e-02 -1.98657345e-03 9.98829596e-01 1.25979676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88509989299996 meters 0.022650156464861414 Centerline is valid? [True, True] Translation: X:343.21, Y:21.70, Z:12.60 [[ 9.92722942e-01 -1.11997368e-01 -4.42464751e-02 3.43211968e+02] [ 1.11973908e-01 9.93706570e-01 -3.01611965e-03 2.16973099e+01] [ 4.43058104e-02 -1.96027956e-03 9.99016092e-01 1.26034814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94509989299996 meters 0.023511913229399772 Centerline is valid? [True, True] Translation: X:343.27, Y:21.70, Z:12.61 [[ 9.92603202e-01 -1.13098164e-01 -4.41326291e-02 3.43273499e+02] [ 1.13075926e-01 9.93581797e-01 -3.00799307e-03 2.17010598e+01] [ 4.41895754e-02 -2.00459436e-03 9.99021152e-01 1.26055453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00509989299997 meters 0.022639776367826908 Centerline is valid? [True, True] Translation: X:343.33, Y:21.71, Z:12.61 [[ 9.92224313e-01 -1.16449353e-01 -4.39370218e-02 3.43334638e+02] [ 1.16430684e-01 9.93194312e-01 -2.99245485e-03 2.17080962e+01] [ 4.39864696e-02 -2.14643103e-03 9.99029821e-01 1.26083144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06509989299997 meters 0.02631700154305784 Centerline is valid? [True, True] Translation: X:343.40, Y:21.71, Z:12.61 [[ 9.91729781e-01 -1.20758505e-01 -4.34675271e-02 3.43395135e+02] [ 1.20744419e-01 9.92679218e-01 -2.95903057e-03 2.17081809e+01] [ 4.35066389e-02 -2.31390259e-03 9.99050458e-01 1.26106449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12509989299997 meters 0.0291141975680467 Centerline is valid? [True, True] Translation: X:343.46, Y:21.71, Z:12.61 [[ 9.90941201e-01 -1.26941440e-01 -4.38338485e-02 3.43456203e+02] [ 1.26933176e-01 9.91906785e-01 -2.98312394e-03 2.17090604e+01] [ 4.38577738e-02 -2.60786916e-03 9.99034381e-01 1.26121917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.185099893 meters 0.02821268190319197 Centerline is valid? [True, True] Translation: X:343.52, Y:21.72, Z:12.61 [[ 9.90554514e-01 -1.29704243e-01 -4.44810462e-02 3.43516744e+02] [ 1.29698566e-01 9.91548852e-01 -3.02584093e-03 2.17166328e+01] [ 4.44975947e-02 -2.77186754e-03 9.99005646e-01 1.26139193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.245099893 meters 0.028268857404621425 Centerline is valid? [True, True] Translation: X:343.58, Y:21.72, Z:12.62 [[ 9.90637238e-01 -1.29334946e-01 -4.37073764e-02 3.43578134e+02] [ 1.29329196e-01 9.91597263e-01 -2.97115614e-03 2.17229678e+01] [ 4.37243891e-02 -2.70930192e-03 9.99039958e-01 1.26166676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.305099893 meters 0.0283314543816564 Centerline is valid? [True, True] Translation: X:343.64, Y:21.73, Z:12.62 [[ 9.90940506e-01 -1.27265530e-01 -4.28998614e-02 3.43639216e+02] [ 1.27258180e-01 9.91865348e-01 -2.91339384e-03 2.17297396e+01] [ 4.29216606e-02 -2.57235832e-03 9.99075129e-01 1.26191066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.365099893 meters 0.02917926290469201 Centerline is valid? [True, True] Translation: X:343.70, Y:21.74, Z:12.62 [[ 9.91094684e-01 -1.25707573e-01 -4.39196308e-02 3.43699422e+02] [ 1.25698414e-01 9.92064021e-01 -2.98115117e-03 2.17353108e+01] [ 4.39458388e-02 -2.56602485e-03 9.99030620e-01 1.26205230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.425099893 meters 0.02904055630103051 Centerline is valid? [True, True] Translation: X:343.76, Y:21.74, Z:12.62 [[ 9.91338148e-01 -1.23356827e-01 -4.50751460e-02 3.43760272e+02] [ 1.23344803e-01 9.92359161e-01 -3.05863362e-03 2.17434547e+01] [ 4.51080374e-02 -2.52764482e-03 9.98978917e-01 1.26216922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.485099893 meters 0.025846105877991108 Centerline is valid? [True, True] Translation: X:343.82, Y:21.75, Z:12.62 [[ 9.91533728e-01 -1.21986433e-01 -4.44991754e-02 3.43822071e+02] [ 1.21973418e-01 9.92528780e-01 -3.01773624e-03 2.17542245e+01] [ 4.45348352e-02 -2.43552929e-03 9.99004863e-01 1.26248142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.545099893 meters 0.03019581282639556 Centerline is valid? [True, True] Translation: X:343.88, Y:21.76, Z:12.62 [[ 9.91705627e-01 -1.19829206e-01 -4.64855863e-02 3.43882380e+02] [ 1.19812785e-01 9.92791508e-01 -3.14947399e-03 2.17554132e+01] [ 4.65278942e-02 -2.44621647e-03 9.98913996e-01 1.26242398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.605099893 meters 0.023903571894146686 Centerline is valid? [True, True] Translation: X:343.94, Y:21.77, Z:12.63 [[ 9.91909898e-01 -1.18298610e-01 -4.60455553e-02 3.43943795e+02] [ 1.18280913e-01 9.92975277e-01 -3.11836440e-03 2.17699582e+01] [ 4.60909962e-02 -2.35317379e-03 9.98934474e-01 1.26283235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.665099893 meters 0.023129663107086453 Centerline is valid? [True, True] Translation: X:344.01, Y:21.78, Z:12.63 [[ 9.92059964e-01 -1.17979620e-01 -4.35641664e-02 3.44005210e+02] [ 1.17963600e-01 9.93013546e-01 -2.94728306e-03 2.17770663e+01] [ 4.36075267e-02 -2.21510438e-03 9.99046284e-01 1.26328359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.725099893 meters 0.02546110731573052 Centerline is valid? [True, True] Translation: X:344.07, Y:21.78, Z:12.63 [[ 9.92195310e-01 -1.16994894e-01 -4.31353866e-02 3.44066125e+02] [ 1.16978413e-01 9.93130180e-01 -2.91471561e-03 2.17788657e+01] [ 4.31800611e-02 -2.15394192e-03 9.99064984e-01 1.26338859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.785099893 meters 0.023528900945121483 Centerline is valid? [True, True] Translation: X:344.13, Y:21.79, Z:12.64 [[ 9.92298827e-01 -1.15990435e-01 -4.34655819e-02 3.44128381e+02] [ 1.15973000e-01 9.93248042e-01 -2.93106532e-03 2.17876054e+01] [ 4.35120797e-02 -2.13234126e-03 9.99050625e-01 1.26358905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.845099893 meters 0.023844516524442413 Centerline is valid? [True, True] Translation: X:344.19, Y:21.79, Z:12.64 [[ 9.92343278e-01 -1.15055106e-01 -4.49125912e-02 3.44190872e+02] [ 1.15035724e-01 9.93356751e-01 -3.02451124e-03 2.17935042e+01] [ 4.49622112e-02 -2.16519907e-03 9.98986342e-01 1.26367179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90509989299994 meters 0.02276063770784658 Centerline is valid? [True, True] Translation: X:344.25, Y:21.80, Z:12.64 [[ 9.92162351e-01 -1.15974103e-01 -4.65174821e-02 3.44252779e+02] [ 1.15954513e-01 9.93249598e-01 -3.12848767e-03 2.17993789e+01] [ 4.65662939e-02 -2.28994429e-03 9.98912577e-01 1.26384274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96509989299994 meters 0.024866378449090933 Centerline is valid? [True, True] Translation: X:344.31, Y:21.80, Z:12.64 [[ 9.91935711e-01 -1.17335862e-01 -4.79149327e-02 3.44313758e+02] [ 1.17316816e-01 9.93089322e-01 -3.21929121e-03 2.17999913e+01] [ 4.79615463e-02 -2.42789742e-03 9.98846232e-01 1.26389364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02509989299995 meters 0.02298630708824464 Centerline is valid? [True, True] Translation: X:344.37, Y:21.81, Z:12.64 [[ 9.92290972e-01 -1.14789538e-01 -4.67117648e-02 3.44374668e+02] [ 1.14768698e-01 9.93387289e-01 -3.13680100e-03 2.18076751e+01] [ 4.67629453e-02 -2.24842911e-03 9.98903485e-01 1.26426754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08509989299995 meters 0.021440976531191 Centerline is valid? [True, True] Translation: X:344.44, Y:21.81, Z:12.65 [[ 9.92728072e-01 -1.11877721e-01 -4.44336559e-02 3.44436108e+02] [ 1.11856031e-01 9.93719949e-01 -2.98199344e-03 2.18146762e+01] [ 4.44882289e-02 -2.00986380e-03 9.99007887e-01 1.26469403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14509989299995 meters 0.020279469667651165 Centerline is valid? [True, True] Translation: X:344.50, Y:21.82, Z:12.65 [[ 9.93107430e-01 -1.09448359e-01 -4.19367373e-02 3.44497196e+02] [ 1.09426993e-01 9.93990859e-01 -2.81158195e-03 2.18200615e+01] [ 4.19924566e-02 -1.79680815e-03 9.99116312e-01 1.26509965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20509989299995 meters 0.021856963298205856 Centerline is valid? [True, True] Translation: X:344.56, Y:21.82, Z:12.65 [[ 9.93144721e-01 -1.09355170e-01 -4.12917634e-02 3.44558905e+02] [ 1.09334446e-01 9.94001169e-01 -2.76664180e-03 2.18209956e+01] [ 4.13466077e-02 -1.76693637e-03 9.99143301e-01 1.26529158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26509989299996 meters 0.02464863310838429 Centerline is valid? [True, True] Translation: X:344.62, Y:21.82, Z:12.65 [[ 9.92592655e-01 -1.12903503e-01 -4.48622453e-02 3.44619271e+02] [ 1.12882821e-01 9.93603772e-01 -3.00224739e-03 2.18172629e+01] [ 4.49142604e-02 -2.08416809e-03 9.98988671e-01 1.26509825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32509989299996 meters 0.024699862180774183 Centerline is valid? [True, True] Translation: X:344.68, Y:21.82, Z:12.65 [[ 9.91948910e-01 -1.16807613e-01 -4.89217919e-02 3.44680068e+02] [ 1.16787764e-01 9.93151499e-01 -3.27381681e-03 2.18181374e+01] [ 4.89691577e-02 -2.46600768e-03 9.98797247e-01 1.26493724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38509989299996 meters 0.025280001839547664 Centerline is valid? [True, True] Translation: X:344.74, Y:21.82, Z:12.65 [[ 9.91673677e-01 -1.18560759e-01 -5.02659383e-02 3.44740821e+02] [ 1.18542104e-01 9.92943332e-01 -3.36274175e-03 2.18206102e+01] [ 5.03099175e-02 -2.62388762e-03 9.98730208e-01 1.26511874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44509989299996 meters 0.022369906654426047 Centerline is valid? [True, True] Translation: X:344.80, Y:21.83, Z:12.66 [[ 9.91744016e-01 -1.18465887e-01 -4.90880821e-02 3.44802536e+02] [ 1.18448115e-01 9.92954822e-01 -3.28113261e-03 2.18286237e+01] [ 4.91309501e-02 -2.56034715e-03 9.98789064e-01 1.26556922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50509989299997 meters 0.023543975129309537 Centerline is valid? [True, True] Translation: X:344.86, Y:21.83, Z:12.66 [[ 9.92164615e-01 -1.16040143e-01 -4.63040200e-02 3.44863145e+02] [ 1.16021825e-01 9.93241851e-01 -3.09210300e-03 2.18311293e+01] [ 4.63498986e-02 -2.30440174e-03 9.98922608e-01 1.26601005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56509989299997 meters 0.019840470813638215 Centerline is valid? [True, True] Translation: X:344.92, Y:21.84, Z:12.66 [[ 9.92721090e-01 -1.11638389e-01 -4.51852547e-02 3.44923619e+02] [ 1.11616462e-01 9.93746784e-01 -3.01591587e-03 2.18403734e+01] [ 4.52393935e-02 -2.04945495e-03 9.98974072e-01 1.26632311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62509989299997 meters 0.017808931347145146 Centerline is valid? [True, True] Translation: X:344.98, Y:21.85, Z:12.66 [[ 9.93487023e-01 -1.04761880e-01 -4.48161077e-02 3.44983584e+02] [ 1.04733354e-01 9.94495843e-01 -2.99057999e-03 2.18474361e+01] [ 4.48827316e-02 -1.72263886e-03 9.98990777e-01 1.26648879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.685099893 meters 0.016154307800695517 Centerline is valid? [True, True] Translation: X:345.04, Y:21.85, Z:12.67 [[ 9.93937790e-01 -1.00510601e-01 -4.45565800e-02 3.45044417e+02] [ 1.00478154e-01 9.94934823e-01 -2.97291767e-03 2.18534874e+01] [ 4.46297028e-02 -1.52206768e-03 9.99002439e-01 1.26670900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.745099893 meters 0.015641611581992242 Centerline is valid? [True, True] Translation: X:345.11, Y:21.86, Z:12.67 [[ 9.94104178e-01 -9.84142529e-02 -4.55139427e-02 3.45106091e+02] [ 9.83782950e-02 9.95144462e-01 -3.03477878e-03 2.18573633e+01] [ 4.55916135e-02 -1.46069781e-03 9.98959094e-01 1.26682190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.805099893 meters 0.015607477736962303 Centerline is valid? [True, True] Translation: X:345.17, Y:21.86, Z:12.67 [[ 9.94280376e-01 -9.65700185e-02 -4.56154145e-02 3.45167290e+02] [ 9.65321081e-02 9.95325234e-01 -3.03834911e-03 2.18598882e+01] [ 4.56955865e-02 -1.38238123e-03 9.98954455e-01 1.26697027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.865099893 meters 0.015099949441192693 Centerline is valid? [True, True] Translation: X:345.23, Y:21.86, Z:12.67 [[ 9.94324053e-01 -9.60703361e-02 -4.57183533e-02 3.45229244e+02] [ 9.60318482e-02 9.95373612e-01 -3.04255964e-03 2.18644833e+01] [ 4.57991421e-02 -1.36512773e-03 9.98949736e-01 1.26721197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.925099893 meters 0.01448088058145004 Centerline is valid? [True, True] Translation: X:345.29, Y:21.87, Z:12.67 [[ 9.94607714e-01 -9.32570474e-02 -4.53720081e-02 3.45290992e+02] [ 9.32163589e-02 9.95641307e-01 -3.01637594e-03 2.18691709e+01] [ 4.54555438e-02 -1.22930261e-03 9.98965606e-01 1.26738877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.985099893 meters 0.013817850824537114 Centerline is valid? [True, True] Translation: X:345.35, Y:21.87, Z:12.68 [[ 9.95013543e-01 -8.97481862e-02 -4.35122025e-02 3.45351633e+02] [ 8.97075061e-02 9.95963959e-01 -2.89057628e-03 2.18737838e+01] [ 4.35960094e-02 -1.02720862e-03 9.99048714e-01 1.26768081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.045099893 meters 0.012257760653654729 Centerline is valid? [True, True] Translation: X:345.41, Y:21.88, Z:12.68 [[ 9.95263326e-01 -8.81341420e-02 -4.10278449e-02 3.45413782e+02] [ 8.80966672e-02 9.96108205e-01 -2.72400348e-03 2.18806096e+01] [ 4.11082507e-02 -9.03315634e-04 9.99154290e-01 1.26813325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.105099893 meters 0.012454547553590219 Centerline is valid? [True, True] Translation: X:345.48, Y:21.88, Z:12.68 [[ 9.95231157e-01 -8.84011802e-02 -4.12331794e-02 3.45475401e+02] [ 8.83636859e-02 9.96084525e-01 -2.73455135e-03 2.18840406e+01] [ 4.13134695e-02 -9.22005015e-04 9.99145809e-01 1.26831783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.165099893 meters 0.01325135179129373 Centerline is valid? [True, True] Translation: X:345.54, Y:21.88, Z:12.68 [[ 9.94885106e-01 -9.16047495e-02 -4.25698988e-02 3.45537310e+02] [ 9.15678475e-02 9.95794847e-01 -2.82006512e-03 2.18836769e+01] [ 4.26492172e-02 -1.09239321e-03 9.99089511e-01 1.26828915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.225099893 meters 0.014171057597889971 Centerline is valid? [True, True] Translation: X:345.60, Y:21.88, Z:12.68 [[ 9.94553957e-01 -9.46601709e-02 -4.36105298e-02 3.45599541e+02] [ 9.46244890e-02 9.95508852e-01 -2.88641357e-03 2.18831138e+01] [ 4.36878969e-02 -1.25593007e-03 9.99044439e-01 1.26836928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.285099893 meters 0.01633166927211175 Centerline is valid? [True, True] Translation: X:345.66, Y:21.88, Z:12.68 [[ 9.94068226e-01 -9.90070806e-02 -4.50106716e-02 3.45660281e+02] [ 9.89736620e-02 9.95085603e-01 -2.97591568e-03 2.18813577e+01] [ 4.50841080e-02 -1.49660778e-03 9.98982074e-01 1.26841907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.345099893 meters 0.016386722135042168 Centerline is valid? [True, True] Translation: X:345.72, Y:21.88, Z:12.69 [[ 9.93867883e-01 -1.00942699e-01 -4.51353771e-02 3.45722371e+02] [ 1.00911185e-01 9.94890969e-01 -2.98198791e-03 2.18838708e+01] [ 4.52057890e-02 -1.59096239e-03 9.98976429e-01 1.26864158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40509989299994 meters 0.017085402830709053 Centerline is valid? [True, True] Translation: X:345.78, Y:21.89, Z:12.69 [[ 9.93914720e-01 -1.00804823e-01 -4.44062684e-02 3.45784250e+02] [ 1.00774325e-01 9.94904994e-01 -2.93060774e-03 2.18853530e+01] [ 4.44754375e-02 -1.56223754e-03 9.99009257e-01 1.26888009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46509989299994 meters 0.017911337838490866 Centerline is valid? [True, True] Translation: X:345.85, Y:21.89, Z:12.69 [[ 9.94064568e-01 -9.95800005e-02 -4.38116285e-02 3.45845492e+02] [ 9.95492571e-02 9.95028443e-01 -2.88835701e-03 2.18873864e+01] [ 4.38814391e-02 -1.49020171e-03 9.99035634e-01 1.26916223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52509989299995 meters 0.014803964500745467 Centerline is valid? [True, True] Translation: X:345.91, Y:21.90, Z:12.70 [[ 9.94558767e-01 -9.49489603e-02 -4.28667084e-02 3.45906619e+02] [ 9.49153301e-02 9.95481344e-01 -2.82375402e-03 2.18964868e+01] [ 4.29411210e-02 -1.26031847e-03 9.99076810e-01 1.26950691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58509989299995 meters 0.012965992905237136 Centerline is valid? [True, True] Translation: X:345.97, Y:21.90, Z:12.70 [[ 9.94950059e-01 -9.06752227e-02 -4.30393360e-02 3.45967407e+02] [ 9.06374380e-02 9.95879928e-01 -2.83252711e-03 2.19039645e+01] [ 4.31188509e-02 -1.08275213e-03 9.99069363e-01 1.26975552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64509989299995 meters 0.011074435932218915 Centerline is valid? [True, True] Translation: X:346.03, Y:21.91, Z:12.70 [[ 9.95547342e-01 -8.31944025e-02 -4.43190934e-02 3.46028702e+02] [ 8.31470081e-02 9.96533029e-01 -2.91492902e-03 2.19124906e+01] [ 4.44079462e-02 -7.83050182e-04 9.99013174e-01 1.26996180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70509989299995 meters 0.009998019025429468 Centerline is valid? [True, True] Translation: X:346.09, Y:21.92, Z:12.70 [[ 9.96065978e-01 -7.58047536e-02 -4.58934211e-02 3.46089131e+02] [ 7.57462032e-02 9.97122568e-01 -3.01600019e-03 2.19201483e+01] [ 4.59899931e-02 -4.72117224e-04 9.98941789e-01 1.27011804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76509989299996 meters 0.009679695445438459 Centerline is valid? [True, True] Translation: X:346.15, Y:21.93, Z:12.70 [[ 9.96344663e-01 -7.04868637e-02 -4.82588229e-02 3.46148743e+02] [ 7.04159436e-02 9.97512679e-01 -3.17020907e-03 2.19268662e+01] [ 4.83622458e-02 -2.39569665e-04 9.98829833e-01 1.27007526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82509989299996 meters 0.009363586654999744 Centerline is valid? [True, True] Translation: X:346.21, Y:21.93, Z:12.70 [[ 9.96720175e-01 -6.44419563e-02 -4.89502472e-02 3.46206655e+02] [ 6.43615193e-02 9.97921455e-01 -3.21931037e-03 2.19348712e+01] [ 4.90559606e-02 5.82393105e-05 9.98796030e-01 1.27035092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88509989299996 meters 0.010227446090567943 Centerline is valid? [True, True] Translation: X:346.26, Y:21.94, Z:12.71 [[ 9.97355166e-01 -5.52600319e-02 -4.72123136e-02 3.46264418e+02] [ 5.51744431e-02 9.98471871e-01 -3.11511052e-03 2.19443437e+01] [ 4.73123082e-02 5.01958464e-04 9.98880020e-01 1.27074368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94509989299996 meters 0.011301122862079566 Centerline is valid? [True, True] Translation: X:346.32, Y:21.95, Z:12.71 [[ 9.97645268e-01 -5.07746546e-02 -4.61069708e-02 3.46321597e+02] [ 5.06880528e-02 9.98709889e-01 -3.04625484e-03 2.19513955e+01] [ 4.62021602e-02 7.02009158e-04 9.98931863e-01 1.27096891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00509989299997 meters 0.010619060835919621 Centerline is valid? [True, True] Translation: X:346.38, Y:21.95, Z:12.71 [[ 9.97644590e-01 -5.15183180e-02 -4.52894672e-02 3.46380650e+02] [ 5.14352863e-02 9.98671831e-01 -2.99756102e-03 2.19533753e+01] [ 4.53837444e-02 6.61023827e-04 9.98969408e-01 1.27130958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06509989299997 meters 0.010024171416459624 Centerline is valid? [True, True] Translation: X:346.44, Y:21.95, Z:12.72 [[ 9.97387250e-01 -5.67583198e-02 -4.46896772e-02 3.46438882e+02] [ 5.66822761e-02 9.98387856e-01 -2.96797336e-03 2.19523154e+01] [ 4.47860882e-02 4.27106166e-04 9.98996508e-01 1.27154748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12509989299997 meters 0.009410432034999234 Centerline is valid? [True, True] Translation: X:346.50, Y:21.95, Z:12.72 [[ 9.97049771e-01 -6.27985075e-02 -4.41372947e-02 3.46497566e+02] [ 6.27300214e-02 9.98026213e-01 -2.93636190e-03 2.19505283e+01] [ 4.42345762e-02 1.58965524e-04 9.99021159e-01 1.27180079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.185099893 meters 0.009643315531882031 Centerline is valid? [True, True] Translation: X:346.56, Y:21.94, Z:12.72 [[ 9.96343943e-01 -7.32773446e-02 -4.39224194e-02 3.46556491e+02] [ 7.32192032e-02 9.97311558e-01 -2.93319766e-03 2.19448029e+01] [ 4.40192735e-02 -2.93490833e-04 9.99030639e-01 1.27203434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.245099893 meters 0.010663411494550162 Centerline is valid? [True, True] Translation: X:346.62, Y:21.94, Z:12.72 [[ 9.95881742e-01 -7.97353549e-02 -4.31489204e-02 3.46616384e+02] [ 7.96848886e-02 9.96815911e-01 -2.89102948e-03 2.19419365e+01] [ 4.32420476e-02 -5.59193433e-04 9.99064469e-01 1.27233513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.305099893 meters 0.012213820739550539 Centerline is valid? [True, True] Translation: X:346.68, Y:21.94, Z:12.73 [[ 9.95295199e-01 -8.70452654e-02 -4.25510236e-02 3.46677418e+02] [ 8.70028313e-02 9.96203983e-01 -2.85163178e-03 2.19381710e+01] [ 4.26377202e-02 -8.63844110e-04 9.99090225e-01 1.27259265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.365099893 meters 0.013717774338120705 Centerline is valid? [True, True] Translation: X:346.74, Y:21.94, Z:12.73 [[ 9.94986578e-01 -9.06398059e-02 -4.22626948e-02 3.46737644e+02] [ 9.06011873e-02 9.95883228e-01 -2.83221850e-03 2.19368468e+01] [ 4.23454206e-02 -1.01103093e-03 9.99102519e-01 1.27272498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.425099893 meters 0.015299185007473888 Centerline is valid? [True, True] Translation: X:346.80, Y:21.94, Z:12.73 [[ 9.94681367e-01 -9.43831745e-02 -4.12406879e-02 3.46799158e+02] [ 9.43496466e-02 9.95535288e-01 -2.76293517e-03 2.19355066e+01] [ 4.13173347e-02 -1.14280420e-03 9.99145421e-01 1.27293858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.485099893 meters 0.015833568120038374 Centerline is valid? [True, True] Translation: X:346.86, Y:21.94, Z:12.73 [[ 9.94544754e-01 -9.55945562e-02 -4.17422339e-02 3.46860809e+02] [ 9.55613395e-02 9.95419619e-01 -2.79495933e-03 2.19378244e+01] [ 4.18182214e-02 -1.20923164e-03 9.99124504e-01 1.27315014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.545099893 meters 0.01457808388309453 Centerline is valid? [True, True] Translation: X:346.92, Y:21.94, Z:12.73 [[ 9.94690537e-01 -9.41273960e-02 -4.16025178e-02 3.46921448e+02] [ 9.40932089e-02 9.95559501e-01 -2.78346018e-03 2.19444825e+01] [ 4.16797817e-02 -1.14583289e-03 9.99130363e-01 1.27338684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.605099893 meters 0.013926517084480361 Centerline is valid? [True, True] Translation: X:346.98, Y:21.95, Z:12.74 [[ 9.95227280e-01 -8.82554522e-02 -4.16369540e-02 3.46981297e+02] [ 8.82161324e-02 9.96097466e-01 -2.78432479e-03 2.19510143e+01] [ 4.17201962e-02 -9.02015052e-04 9.99128926e-01 1.27359057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.665099893 meters 0.012005018707312775 Centerline is valid? [True, True] Translation: X:347.04, Y:21.96, Z:12.74 [[ 9.95767514e-01 -8.22348825e-02 -4.10424524e-02 3.47042295e+02] [ 8.21915981e-02 9.96612770e-01 -2.74376286e-03 2.19603446e+01] [ 4.11290652e-02 -6.41194827e-04 9.99153636e-01 1.27391630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.725099893 meters 0.011078897785440151 Centerline is valid? [True, True] Translation: X:347.10, Y:21.97, Z:12.74 [[ 9.96313116e-01 -7.58079703e-02 -4.01662265e-02 3.47103084e+02] [ 7.57613494e-02 9.97122367e-01 -2.68376426e-03 2.19690849e+01] [ 4.02540935e-02 -3.69177987e-04 9.99189407e-01 1.27426620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.785099893 meters 0.010530559859861306 Centerline is valid? [True, True] Translation: X:347.16, Y:21.98, Z:12.75 [[ 9.96872264e-01 -6.76673098e-02 -4.08267692e-02 3.47162750e+02] [ 6.76123697e-02 9.97707940e-01 -2.72655017e-03 2.19791283e+01] [ 4.09176901e-02 -4.23723692e-05 9.99162520e-01 1.27452850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.845099893 meters 0.010716702610991346 Centerline is valid? [True, True] Translation: X:347.22, Y:21.98, Z:12.75 [[ 9.96996383e-01 -6.50426246e-02 -4.20436668e-02 3.47222107e+02] [ 6.49820186e-02 9.97882484e-01 -2.80799411e-03 2.19839129e+01] [ 4.21372780e-02 6.74776279e-05 9.99111828e-01 1.27467231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90509989299994 meters 0.010980887100147071 Centerline is valid? [True, True] Translation: X:347.28, Y:21.99, Z:12.75 [[ 9.96972302e-01 -6.50604910e-02 -4.25835766e-02 3.47279855e+02] [ 6.49982548e-02 9.97881319e-01 -2.84590477e-03 2.19865727e+01] [ 4.26785116e-02 6.94300616e-05 9.99088855e-01 1.27485854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96509989299994 meters 0.011027450994130383 Centerline is valid? [True, True] Translation: X:347.34, Y:21.99, Z:12.75 [[ 9.96712647e-01 -6.87526392e-02 -4.28599288e-02 3.47338325e+02] [ 6.86927965e-02 9.97633734e-01 -2.86918566e-03 2.19862161e+01] [ 4.29557749e-02 -8.44147353e-05 9.99076971e-01 1.27517751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02509989299995 meters 0.011261715583432547 Centerline is valid? [True, True] Translation: X:347.40, Y:21.99, Z:12.75 [[ 9.96440216e-01 -7.23463787e-02 -4.32769964e-02 3.47397301e+02] [ 7.22883160e-02 9.97379541e-01 -2.90715090e-03 2.19864148e+01] [ 4.33739127e-02 -2.31619129e-04 9.99058882e-01 1.27538426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08509989299995 meters 0.012235607698457097 Centerline is valid? [True, True] Translation: X:347.46, Y:21.98, Z:12.76 [[ 9.95866091e-01 -7.97460711e-02 -4.34889955e-02 3.47456698e+02] [ 7.96943819e-02 9.96815057e-01 -2.92376773e-03 2.19832550e+01] [ 4.35836445e-02 -5.54147472e-04 9.99049628e-01 1.27554973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14509989299995 meters 0.013559342190134088 Centerline is valid? [True, True] Translation: X:347.52, Y:21.98, Z:12.76 [[ 9.95369979e-01 -8.56214790e-02 -4.36757080e-02 3.47516638e+02] [ 8.55748951e-02 9.96327407e-01 -2.93858147e-03 2.19817271e+01] [ 4.37669106e-02 -8.12568362e-04 9.99041439e-01 1.27569378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20509989299995 meters 0.01550345392191871 Centerline is valid? [True, True] Translation: X:347.58, Y:21.98, Z:12.76 [[ 9.94739928e-01 -9.31354027e-02 -4.26411969e-02 3.47577009e+02] [ 9.30978304e-02 9.95652828e-01 -2.87041497e-03 2.19790227e+01] [ 4.27231656e-02 -1.11448654e-03 9.99086327e-01 1.27600114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26509989299996 meters 0.016595268075397154 Centerline is valid? [True, True] Translation: X:347.64, Y:21.98, Z:12.76 [[ 9.94295777e-01 -9.82965758e-02 -4.13967428e-02 3.47638136e+02] [ 9.82655944e-02 9.95156321e-01 -2.78749253e-03 2.19792323e+01] [ 4.14702312e-02 -1.29628348e-03 9.99138899e-01 1.27627603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32509989299996 meters 0.02023383622030497 Centerline is valid? [True, True] Translation: X:347.70, Y:21.98, Z:12.77 [[ 9.93436204e-01 -1.07323503e-01 -3.95749135e-02 3.47698983e+02] [ 1.07302358e-01 9.94222866e-01 -2.66416160e-03 2.19751224e+01] [ 3.96322110e-02 -1.59980693e-03 9.99213055e-01 1.27657699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38509989299996 meters 0.023968871836039893 Centerline is valid? [True, True] Translation: X:347.76, Y:21.97, Z:12.77 [[ 9.92723044e-01 -1.13670712e-01 -3.97483060e-02 3.47758538e+02] [ 1.13654457e-01 9.93516736e-01 -2.67576091e-03 2.19724959e+01] [ 3.97947629e-02 -1.86128262e-03 9.99206141e-01 1.27672945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44509989299996 meters 0.02383746842547142 Centerline is valid? [True, True] Translation: X:347.82, Y:21.98, Z:12.77 [[ 9.91829395e-01 -1.20691766e-01 -4.13273341e-02 3.47818596e+02] [ 1.20680241e-01 9.92687532e-01 -2.78268827e-03 2.19752837e+01] [ 4.13609769e-02 -2.22744063e-03 9.99141786e-01 1.27681339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50509989299997 meters 0.025727383538468457 Centerline is valid? [True, True] Translation: X:347.88, Y:21.98, Z:12.77 [[ 9.91455029e-01 -1.23464191e-01 -4.21131781e-02 3.47879577e+02] [ 1.23454695e-01 9.92346157e-01 -2.83609582e-03 2.19764560e+01] [ 4.21410067e-02 -2.38720810e-03 9.99108821e-01 1.27699568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56509989299997 meters 0.02580615483249394 Centerline is valid? [True, True] Translation: X:347.94, Y:21.98, Z:12.77 [[ 9.91219240e-01 -1.24921033e-01 -4.33492166e-02 3.47941730e+02] [ 1.24912412e-01 9.92163481e-01 -2.91817856e-03 2.19814001e+01] [ 4.33740515e-02 -2.52230046e-03 9.99055719e-01 1.27712531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62509989299997 meters 0.02724181026370018 Centerline is valid? [True, True] Translation: X:348.00, Y:21.98, Z:12.77 [[ 9.91197935e-01 -1.24564197e-01 -4.48376418e-02 3.48003078e+02] [ 1.24554761e-01 9.92208154e-01 -3.01510309e-03 2.19845988e+01] [ 4.48638477e-02 -2.59617779e-03 9.98989737e-01 1.27717488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.685099893 meters 0.026550450019913463 Centerline is valid? [True, True] Translation: X:348.06, Y:21.99, Z:12.77 [[ 9.91467035e-01 -1.22003013e-01 -4.59171458e-02 3.48063733e+02] [ 1.21990493e-01 9.92526473e-01 -3.08528825e-03 2.19932089e+01] [ 4.59503973e-02 -2.54249368e-03 9.98940487e-01 1.27736692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.745099893 meters 0.024078337309022573 Centerline is valid? [True, True] Translation: X:348.12, Y:22.01, Z:12.78 [[ 9.92153922e-01 -1.16777642e-01 -4.46494956e-02 3.48123030e+02] [ 1.16760583e-01 9.93155564e-01 -2.99878071e-03 2.20053082e+01] [ 4.46940855e-02 -2.23804912e-03 9.98998213e-01 1.27775323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.805099893 meters 0.02303141967682905 Centerline is valid? [True, True] Translation: X:348.18, Y:22.01, Z:12.78 [[ 9.92752655e-01 -1.12082112e-01 -4.33562815e-02 3.48182963e+02] [ 1.12061565e-01 9.93697000e-01 -2.91173571e-03 2.20146923e+01] [ 4.34093604e-02 -1.96793940e-03 9.99055431e-01 1.27814284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.865099893 meters 0.018388201768925812 Centerline is valid? [True, True] Translation: X:348.24, Y:22.03, Z:12.79 [[ 9.93776132e-01 -1.03083307e-01 -4.22235890e-02 3.48242279e+02] [ 1.03055732e-01 9.94671543e-01 -2.83502388e-03 2.20307199e+01] [ 4.22908461e-02 -1.53400381e-03 9.99104164e-01 1.27852731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.925099893 meters 0.017794097247881946 Centerline is valid? [True, True] Translation: X:348.30, Y:22.04, Z:12.79 [[ 9.94436494e-01 -9.65868008e-02 -4.20362781e-02 3.48301846e+02] [ 9.65536695e-02 9.95323778e-01 -2.82248504e-03 2.20390834e+01] [ 4.21123220e-02 -1.25197478e-03 9.99112098e-01 1.27871783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.985099893 meters 0.015978202769302483 Centerline is valid? [True, True] Translation: X:348.36, Y:22.05, Z:12.79 [[ 9.95049571e-01 -8.98135921e-02 -4.25425769e-02 3.48361823e+02] [ 8.97734710e-02 9.95958114e-01 -2.85647997e-03 2.20490937e+01] [ 4.26271753e-02 -9.76855623e-04 9.99090571e-01 1.27890305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.045099893 meters 0.013062205997260738 Centerline is valid? [True, True] Translation: X:348.42, Y:22.06, Z:12.79 [[ 9.95895678e-01 -7.87951356e-02 -4.45323038e-02 3.48421697e+02] [ 7.87401630e-02 9.96890690e-01 -2.98994490e-03 2.20638211e+01] [ 4.46294321e-02 -5.28807652e-04 9.99003471e-01 1.27901732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.105099893 meters 0.012424186731451852 Centerline is valid? [True, True] Translation: X:348.48, Y:22.08, Z:12.79 [[ 9.96686030e-01 -6.67655341e-02 -4.64684965e-02 3.48481142e+02] [ 6.66926309e-02 9.97768692e-01 -3.11923453e-03 2.20759328e+01] [ 4.65730683e-02 9.79119588e-06 9.98914886e-01 1.27918018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.165099893 meters 0.012813061492222813 Centerline is valid? [True, True] Translation: X:348.54, Y:22.08, Z:12.79 [[ 9.97178675e-01 -5.93584910e-02 -4.59484419e-02 3.48539451e+02] [ 5.92792461e-02 9.98236667e-01 -3.08655008e-03 2.20849208e+01] [ 4.60506325e-02 3.54052921e-04 9.98939044e-01 1.27941180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.225099893 meters 0.014001798946767167 Centerline is valid? [True, True] Translation: X:348.60, Y:22.09, Z:12.80 [[ 9.97698975e-01 -5.02338083e-02 -4.55337268e-02 3.48598867e+02] [ 5.01460440e-02 9.98737182e-01 -3.06839424e-03 2.20940961e+01] [ 4.56303631e-02 7.77997525e-04 9.98958090e-01 1.27966485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.285099893 meters 0.015144402236078429 Centerline is valid? [True, True] Translation: X:348.66, Y:22.10, Z:12.80 [[ 9.97867575e-01 -4.69973776e-02 -4.52940349e-02 3.48656077e+02] [ 4.69071103e-02 9.98894586e-01 -3.05430146e-03 2.21002388e+01] [ 4.53875104e-02 9.23176102e-04 9.98969029e-01 1.27992058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.345099893 meters 0.01480239533541912 Centerline is valid? [True, True] Translation: X:348.71, Y:22.10, Z:12.80 [[ 9.97773815e-01 -4.82900931e-02 -4.59943583e-02 3.48714781e+02] [ 4.81981270e-02 9.98832962e-01 -3.10707057e-03 2.21004643e+01] [ 4.60907218e-02 8.83311736e-04 9.98936867e-01 1.28020426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40509989299994 meters 0.013125463936791579 Centerline is valid? [True, True] Translation: X:348.78, Y:22.09, Z:12.81 [[ 9.97256563e-01 -5.75495528e-02 -4.65553129e-02 3.48775084e+02] [ 5.74649510e-02 9.98342540e-01 -3.15468155e-03 2.20942092e+01] [ 4.66596998e-02 4.70728109e-04 9.98910732e-01 1.28066334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46509989299994 meters 0.012698280979472037 Centerline is valid? [True, True] Translation: X:348.83, Y:22.09, Z:12.81 [[ 9.96610551e-01 -6.74706980e-02 -4.70649936e-02 3.48834110e+02] [ 6.73950959e-02 9.97721256e-01 -3.19315606e-03 2.20897602e+01] [ 4.71731890e-02 1.03832565e-05 9.98886725e-01 1.28096588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52509989299995 meters 0.014119714829474593 Centerline is valid? [True, True] Translation: X:348.89, Y:22.08, Z:12.81 [[ 9.95293458e-01 -8.39402516e-02 -4.84248526e-02 3.48893234e+02] [ 8.38791489e-02 9.96470483e-01 -3.29613453e-03 2.20778083e+01] [ 4.85306146e-02 -7.81214282e-04 9.98821390e-01 1.28114774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58509989299995 meters 0.01623697929966582 Centerline is valid? [True, True] Translation: X:348.95, Y:22.07, Z:12.81 [[ 9.94319952e-01 -9.47135662e-02 -4.85507258e-02 3.48953423e+02] [ 9.46648195e-02 9.95503707e-01 -3.30762359e-03 2.20718229e+01] [ 4.86457043e-02 -1.30720956e-03 9.98815242e-01 1.28137293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64509989299995 meters 0.02025587672260352 Centerline is valid? [True, True] Translation: X:349.01, Y:22.06, Z:12.82 [[ 9.93331914e-01 -1.04656991e-01 -4.83593162e-02 3.49013416e+02] [ 1.04620347e-01 9.94506774e-01 -3.29526564e-03 2.20638504e+01] [ 4.84385402e-02 -1.78607591e-03 9.98824568e-01 1.28154836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70509989299995 meters 0.02162644648265561 Centerline is valid? [True, True] Translation: X:349.07, Y:22.06, Z:12.82 [[ 9.92333388e-01 -1.13794481e-01 -4.82209781e-02 3.49073906e+02] [ 1.13768799e-01 9.93501819e-01 -3.28584216e-03 2.20616055e+01] [ 4.82815402e-02 -2.22539188e-03 9.98831287e-01 1.28183445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76509989299996 meters 0.026991729928105668 Centerline is valid? [True, True] Translation: X:349.13, Y:22.05, Z:12.82 [[ 9.90914762e-01 -1.25086585e-01 -4.94093086e-02 3.49134074e+02] [ 1.25073586e-01 9.92141755e-01 -3.36700211e-03 2.20537466e+01] [ 4.94422050e-02 -2.84338732e-03 9.98772939e-01 1.28190277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82509989299996 meters 0.029043415448049805 Centerline is valid? [True, True] Translation: X:349.19, Y:22.05, Z:12.82 [[ 9.90257878e-01 -1.29691752e-01 -5.06891001e-02 3.49194332e+02] [ 1.29684043e-01 9.91549350e-01 -3.45493091e-03 2.20540855e+01] [ 5.07088203e-02 -3.15229487e-03 9.98708505e-01 1.28202508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88509989299996 meters 0.031836947367385134 Centerline is valid? [True, True] Translation: X:349.25, Y:22.05, Z:12.82 [[ 9.90035371e-01 -1.31207233e-01 -5.11334116e-02 3.49253562e+02] [ 1.31201404e-01 9.91349608e-01 -3.48516363e-03 2.20546720e+01] [ 5.11483663e-02 -3.25834013e-03 9.98685750e-01 1.28217642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94509989299996 meters 0.031711006210997865 Centerline is valid? [True, True] Translation: X:349.31, Y:22.06, Z:12.82 [[ 9.90361048e-01 -1.28417126e-01 -5.19041045e-02 3.49313582e+02] [ 1.28407309e-01 9.91715205e-01 -3.53766984e-03 2.20615218e+01] [ 5.19283870e-02 -3.16129598e-03 9.98645807e-01 1.28238739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00509989299997 meters 0.029189826054645252 Centerline is valid? [True, True] Translation: X:349.37, Y:22.07, Z:12.83 [[ 9.90731325e-01 -1.25013423e-01 -5.31327216e-02 3.49373057e+02] [ 1.24998214e-01 9.92150354e-01 -3.62235671e-03 2.20717275e+01] [ 5.31684917e-02 -3.05271305e-03 9.98580889e-01 1.28262231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06509989299997 meters 0.02562491034103837 Centerline is valid? [True, True] Translation: X:349.43, Y:22.08, Z:12.83 [[ 9.91159981e-01 -1.21189482e-01 -5.39907575e-02 3.49431809e+02] [ 1.21168059e-01 9.92625178e-01 -3.68212847e-03 2.20840772e+01] [ 5.40388205e-02 -2.89237690e-03 9.98534646e-01 1.28288857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12509989299997 meters 0.023598552466438417 Centerline is valid? [True, True] Translation: X:349.49, Y:22.10, Z:12.83 [[ 9.92034130e-01 -1.13841727e-01 -5.39290920e-02 3.49491424e+02] [ 1.13809439e-01 9.93495784e-01 -3.67942973e-03 2.20960315e+01] [ 5.39971982e-02 -2.48751983e-03 9.98537989e-01 1.28316336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.185099893 meters 0.021043322665163067 Centerline is valid? [True, True] Translation: X:349.55, Y:22.11, Z:12.84 [[ 9.93083499e-01 -1.04938519e-01 -5.26599561e-02 3.49549839e+02] [ 1.04895188e-01 9.94476790e-01 -3.59363932e-03 2.21100576e+01] [ 5.27462152e-02 -1.95499209e-03 9.98606036e-01 1.28350703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.245099893 meters 0.0190161319440345 Centerline is valid? [True, True] Translation: X:349.61, Y:22.12, Z:12.84 [[ 9.93748942e-01 -9.89467888e-02 -5.16969392e-02 3.49608814e+02] [ 9.88968615e-02 9.95091431e-01 -3.52922465e-03 2.21214251e+01] [ 5.17923866e-02 -1.60550177e-03 9.98656583e-01 1.28385068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.305099893 meters 0.015565901162282743 Centerline is valid? [True, True] Translation: X:349.67, Y:22.14, Z:12.84 [[ 9.94573953e-01 -9.08272369e-02 -5.07253794e-02 3.49668364e+02] [ 9.07685661e-02 9.95865990e-01 -3.46383808e-03 2.21370028e+01] [ 5.08302910e-02 -1.15922682e-03 9.98706632e-01 1.28423894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.365099893 meters 0.014412448103652968 Centerline is valid? [True, True] Translation: X:349.73, Y:22.15, Z:12.84 [[ 9.94985597e-01 -8.60227169e-02 -5.10269890e-02 3.49727808e+02] [ 8.59569603e-02 9.96292753e-01 -3.48584008e-03 2.21461785e+01] [ 5.11376808e-02 -9.17764198e-04 9.98691191e-01 1.28440178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.425099893 meters 0.013509753224754388 Centerline is valid? [True, True] Translation: X:349.79, Y:22.16, Z:12.85 [[ 9.95512777e-01 -7.96746541e-02 -5.10515495e-02 3.49786566e+02] [ 7.96003953e-02 9.96820747e-01 -3.48936824e-03 2.21575198e+01] [ 5.11672579e-02 -5.90012853e-04 9.98689924e-01 1.28461704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.485099893 meters 0.012945622355983578 Centerline is valid? [True, True] Translation: X:349.84, Y:22.17, Z:12.85 [[ 9.95946411e-01 -7.49593296e-02 -4.97176587e-02 3.49844414e+02] [ 7.48828038e-02 9.97186536e-01 -3.40270552e-03 2.21671114e+01] [ 4.98328444e-02 -3.34085334e-04 9.98757516e-01 1.28497122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.545099893 meters 0.012843246018039926 Centerline is valid? [True, True] Translation: X:349.90, Y:22.17, Z:12.85 [[ 9.96164701e-01 -7.28627070e-02 -4.84449675e-02 3.49902147e+02] [ 7.27870719e-02 9.97341958e-01 -3.32590122e-03 2.21726458e+01] [ 4.85585329e-02 -2.13021943e-04 9.98820316e-01 1.28522009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.605099893 meters 0.012660168171976462 Centerline is valid? [True, True] Translation: X:349.96, Y:22.18, Z:12.86 [[ 9.96387192e-01 -7.08765556e-02 -4.67875819e-02 3.49960385e+02] [ 7.08035547e-02 9.97485089e-01 -3.21778325e-03 2.21783949e+01] [ 4.68979806e-02 -1.06569094e-04 9.98899679e-01 1.28552678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.665099893 meters 0.012486481156956622 Centerline is valid? [True, True] Translation: X:350.02, Y:22.18, Z:12.86 [[ 9.96532245e-01 -7.00347894e-02 -4.49289775e-02 3.50019336e+02] [ 6.99661219e-02 9.97544548e-01 -3.10102437e-03 2.21819372e+01] [ 4.50358361e-02 -5.32355370e-05 9.98985371e-01 1.28582505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.725099893 meters 0.012357607322497502 Centerline is valid? [True, True] Translation: X:350.08, Y:22.18, Z:12.86 [[ 9.96531956e-01 -7.09235811e-02 -4.35190276e-02 3.50079138e+02] [ 7.08595965e-02 9.97481749e-01 -3.01305856e-03 2.21823414e+01] [ 4.36231327e-02 -8.11315921e-05 9.99048055e-01 1.28603865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.785099893 meters 0.01240402797215442 Centerline is valid? [True, True] Translation: X:350.14, Y:22.18, Z:12.86 [[ 9.96344441e-01 -7.34103493e-02 -4.36883936e-02 3.50138930e+02] [ 7.33481860e-02 9.97301802e-01 -3.02634901e-03 2.21827792e+01] [ 4.37926790e-02 -1.89178406e-04 9.99040623e-01 1.28621811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.845099893 meters 0.012706392037122415 Centerline is valid? [True, True] Translation: X:350.20, Y:22.18, Z:12.86 [[ 9.95788379e-01 -8.02407947e-02 -4.43499583e-02 3.50199253e+02] [ 8.01834285e-02 9.96775386e-01 -3.07379718e-03 2.21789541e+01] [ 4.44535907e-02 -4.95280199e-04 9.99011328e-01 1.28630790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90509989299994 meters 0.01386078224145954 Centerline is valid? [True, True] Translation: X:350.26, Y:22.18, Z:12.86 [[ 9.95260035e-01 -8.64081212e-02 -4.46217320e-02 3.50258877e+02] [ 8.63561724e-02 9.96259523e-01 -3.09415197e-03 2.21753592e+01] [ 4.47221853e-02 -7.73876185e-04 9.98999163e-01 1.28642887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96509989299994 meters 0.015142326037825619 Centerline is valid? [True, True] Translation: X:350.32, Y:22.17, Z:12.87 [[ 9.94681313e-01 -9.36443297e-02 -4.28931919e-02 3.50319327e+02] [ 9.36030133e-02 9.95605155e-01 -2.97504665e-03 2.21713716e+01] [ 4.29832792e-02 -1.05570870e-03 9.99075234e-01 1.28675146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02509989299995 meters 0.01604197344721083 Centerline is valid? [True, True] Translation: X:350.38, Y:22.17, Z:12.87 [[ 9.94363544e-01 -9.71902599e-02 -4.23697445e-02 3.50380379e+02] [ 9.71531354e-02 9.95265105e-01 -2.93931773e-03 2.21712629e+01] [ 4.24548013e-02 -1.19360313e-03 9.99097675e-01 1.28697379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08509989299995 meters 0.017287602222190612 Centerline is valid? [True, True] Translation: X:350.44, Y:22.17, Z:12.87 [[ 9.93852074e-01 -1.02281341e-01 -4.23861196e-02 3.50441207e+02] [ 1.02248842e-01 9.94754509e-01 -2.93967797e-03 2.21699144e+01] [ 4.24644577e-02 -1.41232660e-03 9.99096980e-01 1.28713152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14509989299995 meters 0.019151846393130625 Centerline is valid? [True, True] Translation: X:350.50, Y:22.17, Z:12.87 [[ 9.93194653e-01 -1.08794453e-01 -4.15709976e-02 3.50502669e+02] [ 1.08768915e-01 9.94062883e-01 -2.88234914e-03 2.21674626e+01] [ 4.16377693e-02 -1.65889855e-03 9.99131395e-01 1.28734506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20509989299995 meters 0.020634236988934844 Centerline is valid? [True, True] Translation: X:350.56, Y:22.17, Z:12.88 [[ 9.92592355e-01 -1.14316363e-01 -4.11361905e-02 3.50563336e+02] [ 1.14296132e-01 9.93442633e-01 -2.85107242e-03 2.21668745e+01] [ 4.11923697e-02 -1.87175477e-03 9.99149481e-01 1.28756087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26509989299996 meters 0.02406724185917333 Centerline is valid? [True, True] Translation: X:350.62, Y:22.16, Z:12.88 [[ 9.91605604e-01 -1.22243049e-01 -4.21303209e-02 3.50624812e+02] [ 1.22228991e-01 9.92497633e-01 -2.91914169e-03 2.21640571e+01] [ 4.21710886e-02 -2.25490937e-03 9.99107859e-01 1.28773198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32509989299996 meters 0.02610140687175958 Centerline is valid? [True, True] Translation: X:350.69, Y:22.16, Z:12.88 [[ 9.91027201e-01 -1.26319655e-01 -4.36855935e-02 3.50685983e+02] [ 1.26308541e-01 9.91986390e-01 -3.02569912e-03 2.21646996e+01] [ 4.37177194e-02 -2.51931343e-03 9.99040747e-01 1.28778484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38509989299996 meters 0.031010190590054484 Centerline is valid? [True, True] Translation: X:350.75, Y:22.16, Z:12.88 [[ 9.90700161e-01 -1.28054520e-01 -4.59916323e-02 3.50746064e+02] [ 1.28044115e-01 9.91763361e-01 -3.18439007e-03 2.21627813e+01] [ 4.60205914e-02 -2.73418210e-03 9.98936749e-01 1.28778955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44509989299996 meters 0.026443017606809224 Centerline is valid? [True, True] Translation: X:350.81, Y:22.17, Z:12.88 [[ 9.90888056e-01 -1.26853436e-01 -4.52666090e-02 3.50807014e+02] [ 1.26842254e-01 9.91917960e-01 -3.13094767e-03 2.21747920e+01] [ 4.52979339e-02 -2.63930006e-03 9.98970035e-01 1.28815346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50509989299997 meters 0.024069350462643493 Centerline is valid? [True, True] Translation: X:350.87, Y:22.19, Z:12.89 [[ 9.91309612e-01 -1.23696007e-01 -4.47722159e-02 3.50866983e+02] [ 1.23681955e-01 9.92317085e-01 -3.09455571e-03 2.21858347e+01] [ 4.48110189e-02 -2.46985238e-03 9.98992429e-01 1.28855688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56509989299997 meters 0.027533046396111045 Centerline is valid? [True, True] Translation: X:350.93, Y:22.19, Z:12.89 [[ 9.91492852e-01 -1.22338821e-01 -4.44425145e-02 3.50927490e+02] [ 1.22323657e-01 9.92485513e-01 -3.07084662e-03 2.21866818e+01] [ 4.44842355e-02 -2.39164842e-03 9.99007224e-01 1.28873602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62509989299997 meters 0.025354116539043348 Centerline is valid? [True, True] Translation: X:350.99, Y:22.20, Z:12.89 [[ 9.92059734e-01 -1.17765286e-01 -4.41454565e-02 3.50987076e+02] [ 1.17745836e-01 9.93039082e-01 -3.04965736e-03 2.21986132e+01] [ 4.41973074e-02 -2.17250143e-03 9.99020459e-01 1.28906540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.685099893 meters 0.023247715321250095 Centerline is valid? [True, True] Translation: X:351.05, Y:22.21, Z:12.89 [[ 9.92705386e-01 -1.12479797e-01 -4.34086695e-02 3.51046902e+02] [ 1.12455945e-01 9.93652186e-01 -2.99880091e-03 2.22113542e+01] [ 4.34704239e-02 -1.90463715e-03 9.99052899e-01 1.28942508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.745099893 meters 0.02036195057825518 Centerline is valid? [True, True] Translation: X:351.11, Y:22.22, Z:12.90 [[ 9.93125530e-01 -1.09090114e-01 -4.24385317e-02 3.51107600e+02] [ 1.09064245e-01 9.94030381e-01 -2.93133486e-03 2.22236770e+01] [ 4.25049695e-02 -1.71734292e-03 9.99094779e-01 1.28976204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.805099893 meters 0.020096418043274444 Centerline is valid? [True, True] Translation: X:351.17, Y:22.23, Z:12.90 [[ 9.93536228e-01 -1.05214064e-01 -4.26117780e-02 3.51168075e+02] [ 1.05184490e-01 9.94448374e-01 -2.94173689e-03 2.22325485e+01] [ 4.26847254e-02 -1.55937597e-03 9.99087375e-01 1.28991743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.865099893 meters 0.018415714063158596 Centerline is valid? [True, True] Translation: X:351.23, Y:22.24, Z:12.90 [[ 9.93647585e-01 -1.03912115e-01 -4.32059020e-02 3.51230274e+02] [ 1.03880565e-01 9.94585312e-01 -2.98083971e-03 2.22422807e+01] [ 4.32817009e-02 -1.52634936e-03 9.99061742e-01 1.29008731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.925099893 meters 0.0185583431759616 Centerline is valid? [True, True] Translation: X:351.29, Y:22.25, Z:12.90 [[ 9.93647495e-01 -1.03289139e-01 -4.46767175e-02 3.51292543e+02] [ 1.03254962e-01 9.94650158e-01 -3.07821006e-03 2.22482764e+01] [ 4.47556498e-02 -1.55443706e-03 9.98996755e-01 1.29020059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.985099893 meters 0.018533889151930143 Centerline is valid? [True, True] Translation: X:351.35, Y:22.26, Z:12.90 [[ 9.93840492e-01 -1.01174323e-01 -4.52198210e-02 3.51353761e+02] [ 1.01137263e-01 9.94867612e-01 -3.11257236e-03 2.22559599e+01] [ 4.53026477e-02 -1.48000849e-03 9.98972212e-01 1.29040456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.045099893 meters 0.016592196343276546 Centerline is valid? [True, True] Translation: X:351.41, Y:22.27, Z:12.91 [[ 9.94475153e-01 -9.51691499e-02 -4.42944977e-02 3.51413385e+02] [ 9.51276969e-02 9.95460413e-01 -3.04756436e-03 2.22685871e+01] [ 4.43834531e-02 -1.18290652e-03 9.99013869e-01 1.29074693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.105099893 meters 0.015369614899780662 Centerline is valid? [True, True] Translation: X:351.47, Y:22.28, Z:12.91 [[ 9.95078926e-01 -8.93815150e-02 -4.27653473e-02 3.51474278e+02] [ 8.93375452e-02 9.95997062e-01 -2.94204821e-03 2.22791379e+01] [ 4.28571250e-02 -8.92980976e-04 9.99080812e-01 1.29110844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.165099893 meters 0.014530103028130147 Centerline is valid? [True, True] Translation: X:351.54, Y:22.29, Z:12.91 [[ 9.95623859e-01 -8.35994209e-02 -4.17644440e-02 3.51535767e+02] [ 8.35524942e-02 9.96499242e-01 -2.87093068e-03 2.22878451e+01] [ 4.18582449e-02 -6.31156387e-04 9.99123360e-01 1.29137787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.225099893 meters 0.013873646004028878 Centerline is valid? [True, True] Translation: X:351.60, Y:22.30, Z:12.92 [[ 9.96158359e-01 -7.75775130e-02 -4.06233144e-02 3.51596122e+02] [ 7.75281950e-02 9.96986255e-01 -2.79038498e-03 2.22970807e+01] [ 4.07173572e-02 -3.69786912e-04 9.99170636e-01 1.29165774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.285099893 meters 0.013653530431538252 Centerline is valid? [True, True] Translation: X:351.66, Y:22.30, Z:12.92 [[ 9.96307459e-01 -7.53324012e-02 -4.11882938e-02 3.51658175e+02] [ 7.52798517e-02 9.97158437e-01 -2.82754244e-03 2.23045033e+01] [ 4.12842602e-02 -2.83547022e-04 9.99147401e-01 1.29192173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34509989299994 meters 0.013586916667618071 Centerline is valid? [True, True] Translation: X:351.72, Y:22.31, Z:12.92 [[ 9.96452724e-01 -7.28273446e-02 -4.21680843e-02 3.51719116e+02] [ 7.27701493e-02 9.97344546e-01 -2.89179457e-03 2.23097958e+01] [ 4.22667106e-02 -1.87041214e-04 9.99106346e-01 1.29199904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40509989299994 meters 0.013522058881669342 Centerline is valid? [True, True] Translation: X:351.78, Y:22.31, Z:12.92 [[ 9.96485856e-01 -7.18796513e-02 -4.30029588e-02 3.51780481e+02] [ 7.18193548e-02 9.97413301e-01 -2.94744966e-03 2.23139296e+01] [ 4.31035847e-02 -1.51352856e-04 9.99070597e-01 1.29221045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46509989299994 meters 0.013562619470076096 Centerline is valid? [True, True] Translation: X:351.84, Y:22.32, Z:12.92 [[ 9.96492419e-01 -7.21201551e-02 -4.24445804e-02 3.51840825e+02] [ 7.20616948e-02 9.97395938e-01 -2.90772449e-03 2.23165840e+01] [ 4.25437577e-02 -1.61102993e-04 9.99094591e-01 1.29243638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52509989299995 meters 0.013711774325600723 Centerline is valid? [True, True] Translation: X:351.90, Y:22.32, Z:12.93 [[ 9.96289659e-01 -7.49788772e-02 -4.22502411e-02 3.51901747e+02] [ 7.49235487e-02 9.97185082e-01 -2.89373654e-03 2.23159927e+01] [ 4.23482792e-02 -2.82538201e-04 9.99102869e-01 1.29275832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58509989299995 meters 0.014067737005010404 Centerline is valid? [True, True] Translation: X:351.96, Y:22.32, Z:12.93 [[ 9.96038763e-01 -7.85463191e-02 -4.16804374e-02 3.51962805e+02] [ 7.84956011e-02 9.96910373e-01 -2.85454927e-03 2.23159638e+01] [ 4.17758748e-02 -4.28489269e-04 9.99126915e-01 1.29301746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64509989299995 meters 0.015253010332496625 Centerline is valid? [True, True] Translation: X:352.02, Y:22.31, Z:12.93 [[ 9.95456739e-01 -8.52014091e-02 -4.25041188e-02 3.52023592e+02] [ 8.51547878e-02 9.96363486e-01 -2.90949537e-03 2.23125406e+01] [ 4.25974451e-02 -7.23152438e-04 9.99092055e-01 1.29323369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70509989299995 meters 0.016148226732988172 Centerline is valid? [True, True] Translation: X:352.09, Y:22.31, Z:12.93 [[ 9.94839966e-01 -9.17020016e-02 -4.34071964e-02 3.52085242e+02] [ 9.16595959e-02 9.95785969e-01 -2.97041078e-03 2.23108006e+01] [ 4.34966698e-02 -1.02360272e-03 9.99053048e-01 1.29341499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76509989299996 meters 0.021497273506156732 Centerline is valid? [True, True] Translation: X:352.15, Y:22.30, Z:12.93 [[ 9.93598311e-01 -1.03648014e-01 -4.49386935e-02 3.52146544e+02] [ 1.03614824e-01 9.94612749e-01 -3.07355799e-03 2.22999599e+01] [ 4.50151657e-02 -1.60243280e-03 9.98985018e-01 1.29346141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82509989299996 meters 0.022972539568476814 Centerline is valid? [True, True] Translation: X:352.21, Y:22.30, Z:12.94 [[ 9.92319419e-01 -1.14182676e-01 -4.75866372e-02 3.52206818e+02] [ 1.14157591e-01 9.93457326e-01 -3.25347633e-03 2.22971276e+01] [ 4.76467840e-02 -2.20388813e-03 9.98861816e-01 1.29358439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88509989299996 meters 0.024782813442748176 Centerline is valid? [True, True] Translation: X:352.27, Y:22.30, Z:12.94 [[ 9.91609815e-01 -1.19920155e-01 -4.82610779e-02 3.52267839e+02] [ 1.19901110e-01 9.92780356e-01 -3.29990043e-03 2.22961973e+01] [ 4.83083746e-02 -2.51434314e-03 9.98829304e-01 1.29373316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94509989299996 meters 0.0257305244394832 Centerline is valid? [True, True] Translation: X:352.33, Y:22.30, Z:12.94 [[ 9.91542566e-01 -1.20371664e-01 -4.85180719e-02 3.52329302e+02] [ 1.20352980e-01 9.92725621e-01 -3.31694161e-03 2.22984407e+01] [ 4.85643988e-02 -2.55040577e-03 9.98816797e-01 1.29399416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00509989299997 meters 0.024919210401873563 Centerline is valid? [True, True] Translation: X:352.39, Y:22.30, Z:12.94 [[ 9.91797846e-01 -1.18848663e-01 -4.70321914e-02 3.52390305e+02] [ 1.18829474e-01 9.92909476e-01 -3.21370242e-03 2.23038539e+01] [ 4.70806528e-02 -2.40146742e-03 9.98888205e-01 1.29435885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06509989299997 meters 0.02426930647939643 Centerline is valid? [True, True] Translation: X:352.45, Y:22.31, Z:12.95 [[ 9.92333338e-01 -1.15030779e-01 -4.51936513e-02 3.52450929e+02] [ 1.15009174e-01 9.93359634e-01 -3.08660103e-03 2.23101676e+01] [ 4.52486031e-02 -2.13474741e-03 9.98973477e-01 1.29478260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12509989299997 meters 0.02077610995423629 Centerline is valid? [True, True] Translation: X:352.51, Y:22.32, Z:12.95 [[ 9.93031710e-01 -1.08247015e-01 -4.65897625e-02 3.52510779e+02] [ 1.08216644e-01 9.94122245e-01 -3.18110169e-03 2.23215347e+01] [ 4.66602641e-02 -1.88285288e-03 9.98909042e-01 1.29494968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.185099893 meters 0.017091357607876938 Centerline is valid? [True, True] Translation: X:352.57, Y:22.33, Z:12.95 [[ 9.94025157e-01 -9.80472490e-02 -4.79658727e-02 3.52570677e+02] [ 9.80031975e-02 9.95180711e-01 -3.27497891e-03 2.23346218e+01] [ 4.80558140e-02 -1.44539747e-03 9.98843606e-01 1.29514625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.245099893 meters 0.01526935775199676 Centerline is valid? [True, True] Translation: X:352.63, Y:22.34, Z:12.95 [[ 9.94692058e-01 -9.07249235e-02 -4.85458265e-02 3.52630832e+02] [ 9.06710895e-02 9.95875378e-01 -3.31449113e-03 2.23446941e+01] [ 4.86463003e-02 -1.10480498e-03 9.98815457e-01 1.29537756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.305099893 meters 0.013912386221735143 Centerline is valid? [True, True] Translation: X:352.69, Y:22.35, Z:12.96 [[ 9.95314188e-01 -8.32728896e-02 -4.91456347e-02 3.52690892e+02] [ 8.32086531e-02 9.96526499e-01 -3.35509400e-03 2.23543565e+01] [ 4.92543156e-02 -7.49969403e-04 9.98785988e-01 1.29558170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.365099893 meters 0.012870658663466454 Centerline is valid? [True, True] Translation: X:352.75, Y:22.37, Z:12.96 [[ 9.95902902e-01 -7.41851635e-02 -5.17104577e-02 3.52749901e+02] [ 7.41017691e-02 9.97244434e-01 -3.53070909e-03 2.23664224e+01] [ 5.18298924e-02 -3.15592965e-04 9.98655878e-01 1.29566131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.425099893 meters 0.012625295785325952 Centerline is valid? [True, True] Translation: X:352.81, Y:22.37, Z:12.96 [[ 9.96187014e-01 -6.91534862e-02 -5.31904922e-02 3.52807230e+02] [ 6.90577566e-02 9.97606031e-01 -3.63776602e-03 2.23749643e+01] [ 5.33147200e-02 -4.93207924e-05 9.98577758e-01 1.29587359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.485099893 meters 0.012537899295643504 Centerline is valid? [True, True] Translation: X:352.86, Y:22.38, Z:12.96 [[ 9.96252283e-01 -6.86354538e-02 -5.26361462e-02 3.52864875e+02] [ 6.85401850e-02 9.97641807e-01 -3.61505174e-03 2.23796808e+01] [ 5.27601407e-02 -6.18765515e-06 9.98607214e-01 1.29616375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.545099893 meters 0.01233842055512196 Centerline is valid? [True, True] Translation: X:352.92, Y:22.38, Z:12.97 [[ 9.96300912e-01 -6.91644192e-02 -5.09978109e-02 3.52923463e+02] [ 6.90749617e-02 9.97605274e-01 -3.51666148e-03 2.23840776e+01] [ 5.11189130e-02 -1.90187980e-05 9.98692574e-01 1.29656328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.605099893 meters 0.0122961567540183 Centerline is valid? [True, True] Translation: X:352.98, Y:22.39, Z:12.97 [[ 9.96060338e-01 -7.40043102e-02 -4.88586228e-02 3.52981558e+02] [ 7.39275177e-02 9.97257891e-01 -3.37942377e-03 2.23859093e+01] [ 4.89747390e-02 -2.45886713e-04 9.98799987e-01 1.29697577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.665099893 meters 0.012712278229103978 Centerline is valid? [True, True] Translation: X:353.04, Y:22.39, Z:12.97 [[ 9.95551150e-01 -8.08964783e-02 -4.83080398e-02 3.53039937e+02] [ 8.08293019e-02 9.96722344e-01 -3.34567231e-03 2.23857056e+01] [ 4.84203557e-02 -5.73917217e-04 9.98826882e-01 1.29723857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.725099893 meters 0.016110634187722038 Centerline is valid? [True, True] Translation: X:353.10, Y:22.38, Z:12.97 [[ 9.94221705e-01 -9.55641720e-02 -4.88946792e-02 3.53101447e+02] [ 9.55128828e-02 9.95422422e-01 -3.38970172e-03 2.23773358e+01] [ 4.89947941e-02 -1.29995675e-03 9.98798188e-01 1.29733834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.785099893 meters 0.02001294450883449 Centerline is valid? [True, True] Translation: X:353.16, Y:22.37, Z:12.98 [[ 9.92524135e-01 -1.11678735e-01 -4.92311063e-02 3.53162807e+02] [ 1.11646489e-01 9.93742126e-01 -3.41306933e-03 2.23711610e+01] [ 4.93041915e-02 -2.10892647e-03 9.98781582e-01 1.29760474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84509989299994 meters 0.02513690596266061 Centerline is valid? [True, True] Translation: X:353.22, Y:22.37, Z:12.98 [[ 9.91453703e-01 -1.20643772e-01 -4.96450976e-02 3.53222778e+02] [ 1.20622216e-01 9.92692521e-01 -3.44098019e-03 2.23660358e+01] [ 4.96974499e-02 -2.57672913e-03 9.98760994e-01 1.29775204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90509989299994 meters 0.02814607778008824 Centerline is valid? [True, True] Translation: X:353.28, Y:22.36, Z:12.98 [[ 9.90347202e-01 -1.29179797e-01 -5.02493799e-02 3.53283444e+02] [ 1.29168765e-01 9.91616517e-01 -3.48054379e-03 2.23647130e+01] [ 5.02777310e-02 -3.04370353e-03 9.98730637e-01 1.29792617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96509989299994 meters 0.028634984289304284 Centerline is valid? [True, True] Translation: X:353.34, Y:22.37, Z:12.98 [[ 9.90020744e-01 -1.31813917e-01 -4.98399193e-02 3.53343947e+02] [ 1.31806410e-01 9.91269467e-01 -3.45168401e-03 2.23685257e+01] [ 4.98597703e-02 -3.15198204e-03 9.98751254e-01 1.29824002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02509989299995 meters 0.0331039127167506 Centerline is valid? [True, True] Translation: X:353.41, Y:22.37, Z:12.98 [[ 9.89929515e-01 -1.32840294e-01 -4.89184152e-02 3.53405658e+02] [ 1.32834369e-01 9.91132464e-01 -3.38656540e-03 2.23675376e+01] [ 4.89345017e-02 -3.14558574e-03 9.98797036e-01 1.29846318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08509989299995 meters 0.029494666635631685 Centerline is valid? [True, True] Translation: X:353.47, Y:22.38, Z:12.99 [[ 9.89919161e-01 -1.32896019e-01 -4.89765583e-02 3.53467299e+02] [ 1.32890289e-01 9.91124964e-01 -3.38772150e-03 2.23764423e+01] [ 4.89921043e-02 -3.15493855e-03 9.98794183e-01 1.29874363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14509989299995 meters 0.0281609187911801 Centerline is valid? [True, True] Translation: X:353.53, Y:22.38, Z:12.99 [[ 9.89860997e-01 -1.33454386e-01 -4.86326460e-02 3.53528877e+02] [ 1.33449578e-01 9.91049907e-01 -3.36039933e-03 2.23828442e+01] [ 4.86458393e-02 -3.16367784e-03 9.98811080e-01 1.29899396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20509989299995 meters 0.029244891759829725 Centerline is valid? [True, True] Translation: X:353.59, Y:22.39, Z:12.99 [[ 9.89777427e-01 -1.34019495e-01 -4.87792999e-02 3.53591018e+02] [ 1.34015518e-01 9.90973514e-01 -3.36691638e-03 2.23856217e+01] [ 4.87902267e-02 -3.20468529e-03 9.98803907e-01 1.29914924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26509989299996 meters 0.030735021219589462 Centerline is valid? [True, True] Translation: X:353.65, Y:22.39, Z:12.99 [[ 9.89531383e-01 -1.34879430e-01 -5.13340189e-02 3.53652909e+02] [ 1.34876374e-01 9.90856112e-01 -3.53960575e-03 2.23880925e+01] [ 5.13420464e-02 -3.42119538e-03 9.98675267e-01 1.29905633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32509989299996 meters 0.03193729089365915 Centerline is valid? [True, True] Translation: X:353.71, Y:22.39, Z:12.99 [[ 9.89521078e-01 -1.35116620e-01 -5.09071273e-02 3.53713925e+02] [ 1.35114053e-01 9.90823844e-01 -3.50767053e-03 2.23921504e+01] [ 5.09139402e-02 -3.40735436e-03 9.98697232e-01 1.29924311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38509989299996 meters 0.028379666097540786 Centerline is valid? [True, True] Translation: X:353.78, Y:22.40, Z:13.00 [[ 9.89663989e-01 -1.34669248e-01 -4.92887735e-02 3.53775025e+02] [ 1.34666391e-01 9.90885182e-01 -3.39397076e-03 2.24021005e+01] [ 4.92965788e-02 -3.27865059e-03 9.98778803e-01 1.29970485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44509989299996 meters 0.028247542354922203 Centerline is valid? [True, True] Translation: X:353.84, Y:22.41, Z:13.00 [[ 9.89959077e-01 -1.32608795e-01 -4.89482762e-02 3.53836059e+02] [ 1.32603626e-01 9.91163427e-01 -3.36733158e-03 2.24074461e+01] [ 4.89622790e-02 -3.15719844e-03 9.98795638e-01 1.30001325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50509989299997 meters 0.02957495132725975 Centerline is valid? [True, True] Translation: X:353.90, Y:22.41, Z:13.00 [[ 9.90392593e-01 -1.29827914e-01 -4.76153853e-02 3.53895778e+02] [ 1.29819881e-01 9.91532187e-01 -3.27429299e-03 2.24112213e+01] [ 4.76372818e-02 -2.93858813e-03 9.98860378e-01 1.30028561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56509989299997 meters 0.025768507143525375 Centerline is valid? [True, True] Translation: X:353.96, Y:22.42, Z:13.01 [[ 9.91293089e-01 -1.23911343e-01 -4.45420160e-02 3.53955346e+02] [ 1.23898351e-01 9.92290188e-01 -3.06295862e-03 2.24214296e+01] [ 4.45781408e-02 -2.48239264e-03 9.99002816e-01 1.30084116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62509989299997 meters 0.02337291343105862 Centerline is valid? [True, True] Translation: X:354.02, Y:22.43, Z:13.01 [[ 9.92193485e-01 -1.16931374e-01 -4.33490725e-02 3.54015592e+02] [ 1.16912419e-01 9.93137755e-01 -2.98096910e-03 2.24285461e+01] [ 4.34001693e-02 -2.11034680e-03 9.99055540e-01 1.30117233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.685099893 meters 0.021881054399256968 Centerline is valid? [True, True] Translation: X:354.08, Y:22.43, Z:13.01 [[ 9.92609416e-01 -1.13222104e-01 -4.36726626e-02 3.54076139e+02] [ 1.13199286e-01 9.93567765e-01 -3.00315543e-03 2.24343600e+01] [ 4.37317734e-02 -1.96275388e-03 9.99041380e-01 1.30132468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.745099893 meters 0.01963173252889992 Centerline is valid? [True, True] Translation: X:354.14, Y:22.44, Z:13.01 [[ 9.93131405e-01 -1.07432084e-01 -4.63503951e-02 3.54136552e+02] [ 1.07400132e-01 9.94210772e-01 -3.18641451e-03 2.24408944e+01] [ 4.64243852e-02 -1.81351022e-03 9.98920161e-01 1.30129527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.805099893 meters 0.016685700846677153 Centerline is valid? [True, True] Translation: X:354.20, Y:22.45, Z:13.01 [[ 9.93936810e-01 -9.90798938e-02 -4.76738128e-02 3.54197073e+02] [ 9.90365282e-02 9.95078404e-01 -3.27667480e-03 2.24495401e+01] [ 4.77638341e-02 -1.46464122e-03 9.98857583e-01 1.30145472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.865099893 meters 0.013930652171065937 Centerline is valid? [True, True] Translation: X:354.26, Y:22.46, Z:13.02 [[ 9.94665267e-01 -9.19690468e-02 -4.67193830e-02 3.54256966e+02] [ 9.19195655e-02 9.95761258e-01 -3.21096986e-03 2.24597975e+01] [ 4.68166614e-02 -1.10058519e-03 9.98902893e-01 1.30186524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.925099893 meters 0.012759953579280049 Centerline is valid? [True, True] Translation: X:354.32, Y:22.47, Z:13.02 [[ 9.95600369e-01 -8.17059124e-02 -4.58699208e-02 3.54316515e+02] [ 8.16473214e-02 9.96656298e-01 -3.15258729e-03 2.24672175e+01] [ 4.59741305e-02 -6.06439096e-04 9.98942447e-01 1.30207850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.985099893 meters 0.01170038230421373 Centerline is valid? [True, True] Translation: X:354.38, Y:22.47, Z:13.02 [[ 9.95956913e-01 -7.77274968e-02 -4.50362514e-02 3.54376887e+02] [ 7.76669505e-02 9.96974555e-01 -3.09529015e-03 2.24739657e+01] [ 4.51405859e-02 -4.15052691e-04 9.98980558e-01 1.30243220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.045099893 meters 0.01131487107301959 Centerline is valid? [True, True] Translation: X:354.44, Y:22.48, Z:13.03 [[ 9.96235776e-01 -7.49552891e-02 -4.35428967e-02 3.54437281e+02] [ 7.48960458e-02 9.97186856e-01 -2.99265358e-03 2.24771190e+01] [ 4.36447195e-02 -2.79802226e-04 9.99047076e-01 1.30270186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.105099893 meters 0.011709444015203681 Centerline is valid? [True, True] Translation: X:354.50, Y:22.48, Z:13.03 [[ 9.96076853e-01 -7.74866329e-02 -4.27402086e-02 3.54496795e+02] [ 7.74318825e-02 9.96993317e-01 -2.93750175e-03 2.24754308e+01] [ 4.28393195e-02 -3.83477317e-04 9.99081901e-01 1.30284602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.165099893 meters 0.012405408781151544 Centerline is valid? [True, True] Translation: X:354.56, Y:22.47, Z:13.03 [[ 9.95750052e-01 -8.21244151e-02 -4.16823094e-02 3.54557647e+02] [ 8.20763974e-02 9.96621923e-01 -2.86489830e-03 2.24740047e+01] [ 4.17767815e-02 -5.68411167e-04 9.99126807e-01 1.30311080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.225099893 meters 0.01464327530261336 Centerline is valid? [True, True] Translation: X:354.62, Y:22.47, Z:13.03 [[ 9.94855004e-01 -9.27217109e-02 -4.08191833e-02 3.54618899e+02] [ 9.26845689e-02 9.95691569e-01 -2.80550885e-03 2.24677451e+01] [ 4.09034482e-02 -9.92233886e-04 9.99162611e-01 1.30327372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.285099893 meters 0.018139229084297385 Centerline is valid? [True, True] Translation: X:354.68, Y:22.46, Z:13.03 [[ 9.94033888e-01 -1.01121113e-01 -4.08797029e-02 3.54679098e+02] [ 1.01090981e-01 9.94873220e-01 -2.80888557e-03 2.24622565e+01] [ 4.09541593e-02 -1.34044184e-03 9.99160127e-01 1.30336113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34509989299994 meters 0.017963205325768276 Centerline is valid? [True, True] Translation: X:354.74, Y:22.46, Z:13.04 [[ 9.93605610e-01 -1.05258444e-01 -4.08479008e-02 3.54740249e+02] [ 1.05231898e-01 9.94443753e-01 -2.80547625e-03 2.24647225e+01] [ 4.09162398e-02 -1.51096518e-03 9.99161438e-01 1.30354102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40509989299994 meters 0.023843267090066032 Centerline is valid? [True, True] Translation: X:354.80, Y:22.46, Z:13.04 [[ 9.92424023e-01 -1.15809445e-01 -4.10211129e-02 3.54800740e+02] [ 1.15791711e-01 9.93269525e-01 -2.81603219e-03 2.24550294e+01] [ 4.10711445e-02 -1.95520686e-03 9.99154312e-01 1.30356945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46509989299994 meters 0.024252387483504306 Centerline is valid? [True, True] Translation: X:354.86, Y:22.46, Z:13.04 [[ 9.91569175e-01 -1.22962635e-01 -4.08749489e-02 3.54861443e+02] [ 1.22951068e-01 9.92408766e-01 -2.80631563e-03 2.24565281e+01] [ 4.09097296e-02 -2.24296255e-03 9.99160329e-01 1.30378938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52509989299995 meters 0.025869553384404196 Centerline is valid? [True, True] Translation: X:354.92, Y:22.46, Z:13.04 [[ 9.91149498e-01 -1.25962501e-01 -4.19060845e-02 3.54922301e+02] [ 1.25953034e-01 9.92032035e-01 -2.87666817e-03 2.24576400e+01] [ 4.19345306e-02 -2.42699028e-03 9.99117413e-01 1.30397888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58509989299995 meters 0.02849174128606855 Centerline is valid? [True, True] Translation: X:354.98, Y:22.46, Z:13.04 [[ 9.90790206e-01 -1.28213008e-01 -4.35452838e-02 3.54982185e+02] [ 1.28205006e-01 9.91743187e-01 -2.98797805e-03 2.24573538e+01] [ 4.35688362e-02 -2.62226400e-03 9.99046986e-01 1.30409077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64509989299995 meters 0.029215040754007715 Centerline is valid? [True, True] Translation: X:355.04, Y:22.46, Z:13.04 [[ 9.90772546e-01 -1.28407011e-01 -4.33751350e-02 3.55043722e+02] [ 1.28399399e-01 9.91718083e-01 -2.97302297e-03 2.24606960e+01] [ 4.33976627e-02 -2.62375171e-03 9.99054432e-01 1.30434505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70509989299995 meters 0.0261963614084409 Centerline is valid? [True, True] Translation: X:355.10, Y:22.47, Z:13.05 [[ 9.90990987e-01 -1.26925203e-01 -4.27417474e-02 3.55104835e+02] [ 1.26916535e-01 9.91909080e-01 -2.92732823e-03 2.24711410e+01] [ 4.27674791e-02 -2.52367859e-03 9.99081865e-01 1.30475724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76509989299996 meters 0.02611847678894932 Centerline is valid? [True, True] Translation: X:355.17, Y:22.48, Z:13.05 [[ 9.91341141e-01 -1.23843616e-01 -4.36520553e-02 3.55165333e+02] [ 1.23831696e-01 9.92298738e-01 -2.98744929e-03 2.24776818e+01] [ 4.36858559e-02 -2.44392667e-03 9.99042328e-01 1.30500028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82509989299996 meters 0.027033488918674718 Centerline is valid? [True, True] Translation: X:355.23, Y:22.48, Z:13.05 [[ 9.91526918e-01 -1.21949910e-01 -4.47503206e-02 3.55225885e+02] [ 1.21935507e-01 9.92533303e-01 -3.06165064e-03 2.24825255e+01] [ 4.47895515e-02 -2.42094401e-03 9.98993511e-01 1.30518764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88509989299996 meters 0.024330756752607985 Centerline is valid? [True, True] Translation: X:355.29, Y:22.49, Z:13.06 [[ 9.91743929e-01 -1.19724494e-01 -4.59350113e-02 3.55286557e+02] [ 1.19707018e-01 9.92804293e-01 -3.14101372e-03 2.24927639e+01] [ 4.59805327e-02 -2.38366195e-03 9.98939492e-01 1.30553185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94509989299996 meters 0.023324728541079268 Centerline is valid? [True, True] Translation: X:355.35, Y:22.50, Z:13.06 [[ 9.92233312e-01 -1.15324865e-01 -4.66179053e-02 3.55346518e+02] [ 1.15302089e-01 9.93325362e-01 -3.18633071e-03 2.25013560e+01] [ 4.66742108e-02 -2.21355837e-03 9.98907713e-01 1.30579680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00509989299997 meters 0.02244710711688843 Centerline is valid? [True, True] Translation: X:355.41, Y:22.51, Z:13.06 [[ 9.92777009e-01 -1.10669951e-01 -4.63246474e-02 3.55406731e+02] [ 1.10642410e-01 9.93855237e-01 -3.16612607e-03 2.25091883e+01] [ 4.63903885e-02 -1.98221345e-03 9.98921420e-01 1.30609613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06509989299997 meters 0.01924194382655733 Centerline is valid? [True, True] Translation: X:355.47, Y:22.52, Z:13.06 [[ 9.93773197e-01 -1.01256568e-01 -4.64966705e-02 3.55466945e+02] [ 1.01218566e-01 9.94859140e-01 -3.17707378e-03 2.25216030e+01] [ 4.65793372e-02 -1.54903557e-03 9.98913393e-01 1.30640823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12509989299997 meters 0.014470872131630272 Centerline is valid? [True, True] Translation: X:355.53, Y:22.54, Z:13.07 [[ 9.94660857e-01 -9.16003124e-02 -4.75306416e-02 3.55526715e+02] [ 9.15496158e-02 9.95795222e-01 -3.24704442e-03 2.25360876e+01] [ 4.76282161e-02 -1.12170400e-03 9.98864503e-01 1.30669690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.185099893 meters 0.013222299775924368 Centerline is valid? [True, True] Translation: X:355.59, Y:22.54, Z:13.07 [[ 9.95113353e-01 -8.59751905e-02 -4.85559675e-02 3.55587136e+02] [ 8.59155999e-02 9.96296897e-01 -3.31689150e-03 2.25439457e+01] [ 4.86613301e-02 -8.71032050e-04 9.98814956e-01 1.30690373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.245099893 meters 0.012335876769628147 Centerline is valid? [True, True] Translation: X:355.65, Y:22.55, Z:13.07 [[ 9.95576895e-01 -7.99580916e-02 -4.93289962e-02 3.55646829e+02] [ 7.98891903e-02 9.96798054e-01 -3.36998794e-03 2.25521305e+01] [ 4.94405053e-02 -5.85771443e-04 9.98776899e-01 1.30711152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.305099893 meters 0.011765075454905334 Centerline is valid? [True, True] Translation: X:355.70, Y:22.56, Z:13.07 [[ 9.96048013e-01 -7.24865826e-02 -5.13230016e-02 3.55703873e+02] [ 7.24019797e-02 9.97369363e-01 -3.50814776e-03 2.25607082e+01] [ 5.14422830e-02 -2.21603313e-04 9.98675945e-01 1.30727484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.365099893 meters 0.011759785363803137 Centerline is valid? [True, True] Translation: X:355.76, Y:22.57, Z:13.08 [[ 9.96282277e-01 -6.81863967e-02 -5.26520587e-02 3.55761867e+02] [ 6.80909738e-02 9.97672599e-01 -3.60611112e-03 2.25677888e+01] [ 5.27754040e-02 7.57465018e-06 9.98606407e-01 1.30751235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.425099893 meters 0.01164058026338882 Centerline is valid? [True, True] Translation: X:355.82, Y:22.57, Z:13.08 [[ 9.96371831e-01 -6.70295710e-02 -5.24424614e-02 3.55819896e+02] [ 6.69326047e-02 9.97750986e-01 -3.60506833e-03 2.25723289e+01] [ 5.25661638e-02 8.18779879e-05 9.98617440e-01 1.30797621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.485099893 meters 0.011403829764055818 Centerline is valid? [True, True] Translation: X:355.88, Y:22.57, Z:13.08 [[ 9.96304925e-01 -6.81999232e-02 -5.22040881e-02 3.55877733e+02] [ 6.81046638e-02 9.97671674e-01 -3.60354080e-03 2.25748406e+01] [ 5.23283012e-02 3.48835725e-05 9.98629935e-01 1.30838150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.545099893 meters 0.011304655087325302 Centerline is valid? [True, True] Translation: X:355.94, Y:22.58, Z:13.09 [[ 9.96040638e-01 -7.19595371e-02 -5.22003053e-02 3.55935993e+02] [ 7.18686466e-02 9.97407541e-01 -3.61860532e-03 2.25754100e+01] [ 5.23253713e-02 -1.47287347e-04 9.98630079e-01 1.30866442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.605099893 meters 0.011380568913554164 Centerline is valid? [True, True] Translation: X:355.99, Y:22.58, Z:13.09 [[ 9.95797869e-01 -7.59626957e-02 -5.11495193e-02 3.55994456e+02] [ 7.58799480e-02 9.97110604e-01 -3.56051848e-03 2.25751073e+01] [ 5.12721947e-02 -3.35666155e-04 9.98684660e-01 1.30885392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.665099893 meters 0.011850303605347856 Centerline is valid? [True, True] Translation: X:356.05, Y:22.57, Z:13.09 [[ 9.95356872e-01 -8.23105039e-02 -4.98966850e-02 3.56053352e+02] [ 8.22390395e-02 9.96606533e-01 -3.48706157e-03 2.25710946e+01] [ 5.00143840e-02 -6.32584749e-04 9.98748297e-01 1.30912675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.725099893 meters 0.01277562976382672 Centerline is valid? [True, True] Translation: X:356.11, Y:22.57, Z:13.09 [[ 9.95026960e-01 -8.61471141e-02 -5.00002451e-02 3.56110920e+02] [ 8.60796446e-02 9.96282093e-01 -3.50518343e-03 2.25691732e+01] [ 5.01163102e-02 -8.16251319e-04 9.98743055e-01 1.30923323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.785099893 meters 0.013911706231089838 Centerline is valid? [True, True] Translation: X:356.17, Y:22.57, Z:13.09 [[ 9.94716568e-01 -9.01715968e-02 -4.90716979e-02 3.56169519e+02] [ 9.01112561e-02 9.95925747e-01 -3.44506908e-03 2.25656730e+01] [ 4.91824148e-02 -9.95045042e-04 9.98789317e-01 1.30942231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84509989299994 meters 0.014506635083874517 Centerline is valid? [True, True] Translation: X:356.23, Y:22.57, Z:13.10 [[ 9.94618992e-01 -9.14732498e-02 -4.86385184e-02 3.56228376e+02] [ 9.14152286e-02 9.95806987e-01 -3.42071895e-03 2.25652471e+01] [ 4.87474807e-02 -1.04398925e-03 9.98810589e-01 1.30961472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90509989299994 meters 0.013638330378542689 Centerline is valid? [True, True] Translation: X:356.29, Y:22.57, Z:13.10 [[ 9.94634902e-01 -9.14795607e-02 -4.83001149e-02 3.56286609e+02] [ 9.14217748e-02 9.95806426e-01 -3.40881906e-03 2.25671934e+01] [ 4.84094021e-02 -1.02515182e-03 9.98827052e-01 1.30994644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96509989299994 meters 0.012884825683964813 Centerline is valid? [True, True] Translation: X:356.35, Y:22.57, Z:13.10 [[ 9.94911864e-01 -8.85038735e-02 -4.81398765e-02 3.56346161e+02] [ 8.84425103e-02 9.96075455e-01 -3.40743188e-03 2.25703338e+01] [ 4.82525203e-02 -8.67517117e-04 9.98834792e-01 1.31025765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02509989299995 meters 0.013571867259967342 Centerline is valid? [True, True] Translation: X:356.40, Y:22.57, Z:13.10 [[ 9.95252947e-01 -8.46234974e-02 -4.80669959e-02 3.56404346e+02] [ 8.45576586e-02 9.96412770e-01 -3.40513342e-03 2.25712708e+01] [ 4.81827228e-02 -6.75463562e-04 9.98838310e-01 1.31024434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08509989299995 meters 0.011928437982642558 Centerline is valid? [True, True] Translation: X:356.46, Y:22.58, Z:13.11 [[ 9.95791597e-01 -7.78889309e-02 -4.82950252e-02 3.56463311e+02] [ 7.78141761e-02 9.96961983e-01 -3.42893142e-03 2.25775248e+01] [ 4.84153799e-02 -3.43536496e-04 9.98827229e-01 1.31058065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14509989299995 meters 0.01146734391982865 Centerline is valid? [True, True] Translation: X:356.52, Y:22.58, Z:13.11 [[ 9.96305243e-01 -7.16574616e-02 -4.73399484e-02 3.56522275e+02] [ 7.15780761e-02 9.97429299e-01 -3.37218823e-03 2.25814373e+01] [ 4.74598941e-02 -2.87736154e-05 9.98873144e-01 1.31084231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20509989299995 meters 0.011482553790785303 Centerline is valid? [True, True] Translation: X:356.58, Y:22.58, Z:13.11 [[ 9.96515377e-01 -6.90481048e-02 -4.67916849e-02 3.56579252e+02] [ 6.89671676e-02 9.97613326e-01 -3.34389215e-03 2.25836691e+01] [ 4.69108978e-02 1.05149966e-04 9.98899072e-01 1.31106839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26509989299996 meters 0.011431136043553435 Centerline is valid? [True, True] Translation: X:356.64, Y:22.59, Z:13.11 [[ 9.96582081e-01 -6.85521897e-02 -4.60950385e-02 3.56636992e+02] [ 6.84727793e-02 9.97647523e-01 -3.30138142e-03 2.25864257e+01] [ 4.62129179e-02 1.33842167e-04 9.98931603e-01 1.31135893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32509989299996 meters 0.011434265636202269 Centerline is valid? [True, True] Translation: X:356.70, Y:22.58, Z:13.12 [[ 9.96516306e-01 -6.98090470e-02 -4.56283704e-02 3.56695447e+02] [ 6.97320234e-02 9.97560369e-01 -3.27954608e-03 2.25849692e+01] [ 4.57459960e-02 8.63625505e-05 9.98953100e-01 1.31163183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38509989299996 meters 0.011361520541747685 Centerline is valid? [True, True] Translation: X:356.75, Y:22.58, Z:13.12 [[ 9.96330916e-01 -7.33019177e-02 -4.41761862e-02 3.56754525e+02] [ 7.32329294e-02 9.97309794e-01 -3.18019416e-03 2.25837116e+01] [ 4.42904574e-02 -6.66257625e-05 9.99018694e-01 1.31199129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44509989299996 meters 0.011898411588321552 Centerline is valid? [True, True] Translation: X:356.81, Y:22.58, Z:13.12 [[ 9.95695712e-01 -8.16820227e-02 -4.37960721e-02 3.56813717e+02] [ 8.16218276e-02 9.96658350e-01 -3.16389645e-03 2.25768949e+01] [ 4.39081544e-02 -4.24437324e-04 9.99035482e-01 1.31222723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50509989299997 meters 0.013696319253561243 Centerline is valid? [True, True] Translation: X:356.87, Y:22.57, Z:13.12 [[ 9.94935111e-01 -9.08652731e-02 -4.29840308e-02 3.56873851e+02] [ 9.08154403e-02 9.95862869e-01 -3.11467701e-03 2.25698311e+01] [ 4.30892162e-02 -8.04712168e-04 9.99070904e-01 1.31248910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56509989299997 meters 0.015509767282220435 Centerline is valid? [True, True] Translation: X:356.93, Y:22.57, Z:13.13 [[ 9.94105719e-01 -9.94433011e-02 -4.31838943e-02 3.56934983e+02] [ 9.94010246e-02 9.95042530e-01 -3.13049291e-03 2.25654272e+01] [ 4.32811179e-02 -1.18048242e-03 9.99062236e-01 1.31269615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62509989299997 meters 0.01775369655496809 Centerline is valid? [True, True] Translation: X:357.00, Y:22.56, Z:13.13 [[ 9.93487832e-01 -1.05680968e-01 -4.25847564e-02 3.56995625e+02] [ 1.05645570e-01 9.94399056e-01 -3.08717365e-03 2.25631362e+01] [ 4.26724971e-02 -1.43182140e-03 9.99088088e-01 1.31290012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.685099893 meters 0.020402166029004413 Centerline is valid? [True, True] Translation: X:357.06, Y:22.56, Z:13.13 [[ 9.92828370e-01 -1.11854839e-01 -4.21938653e-02 3.57056347e+02] [ 1.11825613e-01 9.93723136e-01 -3.05970354e-03 2.25601934e+01] [ 4.22712628e-02 -1.68059435e-03 9.99104757e-01 1.31307835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.745099893 meters 0.021016185842225702 Centerline is valid? [True, True] Translation: X:357.12, Y:22.56, Z:13.13 [[ 9.91799638e-01 -1.20638072e-01 -4.21892683e-02 3.57116322e+02] [ 1.20616741e-01 9.92694433e-01 -3.06007641e-03 2.25607902e+01] [ 4.22502135e-02 -2.05374937e-03 9.99104950e-01 1.31328102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.805099893 meters 0.024762753847262245 Centerline is valid? [True, True] Translation: X:357.18, Y:22.56, Z:13.13 [[ 9.90940921e-01 -1.27339739e-01 -4.26694557e-02 3.57175443e+02] [ 1.27324101e-01 9.91856337e-01 -3.09507886e-03 2.25599087e+01] [ 4.27160966e-02 -2.36580978e-03 9.99084450e-01 1.31348593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.865099893 meters 0.026667596773347443 Centerline is valid? [True, True] Translation: X:357.24, Y:22.56, Z:13.14 [[ 9.90632175e-01 -1.29895796e-01 -4.21304572e-02 3.57235141e+02] [ 1.29882883e-01 9.91524635e-01 -3.05525767e-03 2.25627189e+01] [ 4.21702513e-02 -2.44538868e-03 9.99107447e-01 1.31375236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.925099893 meters 0.027077228363479273 Centerline is valid? [True, True] Translation: X:357.29, Y:22.57, Z:13.14 [[ 9.90691502e-01 -1.29644223e-01 -4.15056986e-02 3.57294157e+02] [ 1.29631407e-01 9.91557678e-01 -3.01143946e-03 2.25687693e+01] [ 4.15457098e-02 -2.39703462e-03 9.99133729e-01 1.31400721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.985099893 meters 0.02517299534926154 Centerline is valid? [True, True] Translation: X:357.35, Y:22.58, Z:13.14 [[ 9.90846615e-01 -1.28269048e-01 -4.20718096e-02 3.57353742e+02] [ 1.28254574e-01 9.91736576e-01 -3.05420853e-03 2.25784961e+01] [ 4.21159129e-02 -2.36964983e-03 9.99109921e-01 1.31417924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.045099893 meters 0.02379296335807143 Centerline is valid? [True, True] Translation: X:357.41, Y:22.59, Z:13.14 [[ 9.91107680e-01 -1.25535873e-01 -4.41170254e-02 3.57414132e+02] [ 1.25517151e-01 9.92086272e-01 -3.20520231e-03 2.25898694e+01] [ 4.41702631e-02 -2.36074269e-03 9.99021228e-01 1.31428142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.105099893 meters 0.025261917354734608 Centerline is valid? [True, True] Translation: X:357.47, Y:22.60, Z:13.14 [[ 9.91334459e-01 -1.23790589e-01 -4.39531576e-02 3.57472465e+02] [ 1.23770309e-01 9.92305757e-01 -3.19298048e-03 2.25951002e+01] [ 4.40102322e-02 -2.27478431e-03 9.99028490e-01 1.31446643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.165099893 meters 0.022647885219274036 Centerline is valid? [True, True] Translation: X:357.53, Y:22.61, Z:13.15 [[ 9.91860964e-01 -1.19957275e-01 -4.26858435e-02 3.57532500e+02] [ 1.19934524e-01 9.92776955e-01 -3.10279454e-03 2.26094731e+01] [ 4.27497245e-02 -2.04196553e-03 9.99083726e-01 1.31482388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.225099893 meters 0.02015231010956466 Centerline is valid? [True, True] Translation: X:357.59, Y:22.62, Z:13.15 [[ 9.92291997e-01 -1.16638231e-01 -4.18582763e-02 3.57592807e+02] [ 1.16613435e-01 9.93172721e-01 -3.04195351e-03 2.26216559e+01] [ 4.19273063e-02 -1.86273128e-03 9.99118927e-01 1.31511616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.285099893 meters 0.018035723730346242 Centerline is valid? [True, True] Translation: X:357.65, Y:22.63, Z:13.15 [[ 9.93058553e-01 -1.10296848e-01 -4.08572498e-02 3.57652269e+02] [ 1.10267872e-01 9.93897470e-01 -2.96900213e-03 2.26345592e+01] [ 4.09353888e-02 -1.55684902e-03 9.99160583e-01 1.31539321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34509989299994 meters 0.01586469348662563 Centerline is valid? [True, True] Translation: X:357.71, Y:22.65, Z:13.16 [[ 9.93805734e-01 -1.03251259e-01 -4.11015797e-02 3.57711951e+02] [ 1.03215928e-01 9.94654489e-01 -2.98643655e-03 2.26478943e+01] [ 4.11902241e-02 -1.27439994e-03 9.99150510e-01 1.31564187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40509989299994 meters 0.014887624489724036 Centerline is valid? [True, True] Translation: X:357.77, Y:22.66, Z:13.16 [[ 9.94297836e-01 -9.81569190e-02 -4.16777135e-02 3.57772903e+02] [ 9.81161550e-02 9.95170365e-01 -3.02742844e-03 2.26578439e+01] [ 4.17735884e-02 -1.07909145e-03 9.99126520e-01 1.31583042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46509989299994 meters 0.013586733110352182 Centerline is valid? [True, True] Translation: X:357.83, Y:22.67, Z:13.16 [[ 9.94872611e-01 -9.17829774e-02 -4.24779134e-02 3.57833087e+02] [ 9.17348894e-02 9.95778690e-01 -3.08405031e-03 2.26688032e+01] [ 4.25816642e-02 -8.28469499e-04 9.99092646e-01 1.31601847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52509989299995 meters 0.012743855372094364 Centerline is valid? [True, True] Translation: X:357.89, Y:22.68, Z:13.16 [[ 9.95169770e-01 -8.82787118e-02 -4.29417992e-02 3.57893188e+02] [ 8.82263362e-02 9.96095577e-01 -3.11704584e-03 2.26771573e+01] [ 4.30493050e-02 -6.86607819e-04 9.99072713e-01 1.31617895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58509989299995 meters 0.012434000492818795 Centerline is valid? [True, True] Translation: X:357.95, Y:22.68, Z:13.16 [[ 9.95247507e-01 -8.75736585e-02 -4.25823256e-02 3.57953542e+02] [ 8.75215114e-02 9.96157834e-01 -3.09095249e-03 2.26835992e+01] [ 4.26894033e-02 -6.50606741e-04 9.99088180e-01 1.31640507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64509989299995 meters 0.012658168562031636 Centerline is valid? [True, True] Translation: X:358.01, Y:22.69, Z:13.17 [[ 9.95181804e-01 -8.81596919e-02 -4.29074091e-02 3.58013505e+02] [ 8.81072897e-02 9.96106121e-01 -3.11454955e-03 2.26880941e+01] [ 4.30149106e-02 -6.80912490e-04 9.99074198e-01 1.31655499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70509989299995 meters 0.013564672434002101 Centerline is valid? [True, True] Translation: X:358.07, Y:22.69, Z:13.17 [[ 9.94835726e-01 -9.18457175e-02 -4.32000330e-02 3.58073537e+02] [ 9.17960646e-02 9.95772890e-01 -3.13589942e-03 2.26902046e+01] [ 4.33054406e-02 -8.45888248e-04 9.99061521e-01 1.31677091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76509989299996 meters 0.014151942947805227 Centerline is valid? [True, True] Translation: X:358.13, Y:22.69, Z:13.17 [[ 9.94550894e-01 -9.50261948e-02 -4.28782117e-02 3.58134183e+02] [ 9.49802024e-02 9.95474294e-01 -3.11320989e-03 2.26931494e+01] [ 4.29799940e-02 -9.76335549e-04 9.99075456e-01 1.31701679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82509989299996 meters 0.015497562283209003 Centerline is valid? [True, True] Translation: X:358.20, Y:22.70, Z:13.17 [[ 9.94134205e-01 -9.98314859e-02 -4.16035636e-02 3.58195605e+02] [ 9.97923955e-02 9.95003696e-01 -3.02050291e-03 2.26953181e+01] [ 4.16972408e-02 -1.14893401e-03 9.99129631e-01 1.31738933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88509989299996 meters 0.01761900477362099 Centerline is valid? [True, True] Translation: X:358.26, Y:22.70, Z:13.18 [[ 9.93751401e-01 -1.03698230e-01 -4.12895788e-02 3.58256162e+02] [ 1.03663118e-01 9.94607953e-01 -2.99628955e-03 2.26960246e+01] [ 4.13776533e-02 -1.30263954e-03 9.99142729e-01 1.31760158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94509989299996 meters 0.016995130920915487 Centerline is valid? [True, True] Translation: X:358.32, Y:22.70, Z:13.18 [[ 9.93624038e-01 -1.04872303e-01 -4.13892620e-02 3.58316788e+02] [ 1.04838072e-01 9.94484772e-01 -3.00270203e-03 2.27018672e+01] [ 4.14758911e-02 -1.35561353e-03 9.99138585e-01 1.31783848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00509989299997 meters 0.016486687605166403 Centerline is valid? [True, True] Translation: X:358.38, Y:22.71, Z:13.18 [[ 9.93811828e-01 -1.03094344e-01 -4.13473918e-02 3.58377403e+02] [ 1.03058708e-01 9.94670756e-01 -2.99815964e-03 2.27085413e+01] [ 4.14361348e-02 -1.28160227e-03 9.99140333e-01 1.31809463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06509989299997 meters 0.015852699714522047 Centerline is valid? [True, True] Translation: X:358.44, Y:22.72, Z:13.18 [[ 9.94175992e-01 -9.96487064e-02 -4.10393907e-02 3.58437809e+02] [ 9.96107273e-02 9.95022038e-01 -2.97434604e-03 2.27153807e+01] [ 4.11314879e-02 -1.13094013e-03 9.99153102e-01 1.31833432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12509989299997 meters 0.01459498966219381 Centerline is valid? [True, True] Translation: X:358.50, Y:22.72, Z:13.19 [[ 9.94418153e-01 -9.69529804e-02 -4.16252003e-02 3.58499310e+02] [ 9.69116156e-02 9.95288424e-01 -3.01522306e-03 2.27226004e+01] [ 4.17214149e-02 -1.03557287e-03 9.99128746e-01 1.31850415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.185099893 meters 0.014586509043619002 Centerline is valid? [True, True] Translation: X:358.56, Y:22.73, Z:13.19 [[ 9.94538628e-01 -9.50355322e-02 -4.31412273e-02 3.58559123e+02] [ 9.49893852e-02 9.95473387e-01 -3.12300367e-03 2.27271741e+01] [ 4.32427400e-02 -9.92010882e-04 9.99064103e-01 1.31857373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.245099893 meters 0.014060543130835866 Centerline is valid? [True, True] Translation: X:358.62, Y:22.73, Z:13.19 [[ 9.94637913e-01 -9.32751260e-02 -4.46673584e-02 3.58619351e+02] [ 9.32239134e-02 9.95639920e-01 -3.23279291e-03 2.27332047e+01] [ 4.47741443e-02 -9.48607555e-04 9.98996685e-01 1.31866161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.305099893 meters 0.01327206438267958 Centerline is valid? [True, True] Translation: X:358.68, Y:22.74, Z:13.19 [[ 9.94692235e-01 -9.20521702e-02 -4.59756040e-02 3.58679964e+02] [ 9.19966083e-02 9.95753761e-01 -3.32747698e-03 2.27396897e+01] [ 4.60866821e-02 -9.19784119e-04 9.98937021e-01 1.31883641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.365099893 meters 0.013431006215132995 Centerline is valid? [True, True] Translation: X:358.74, Y:22.74, Z:13.19 [[ 9.94709830e-01 -9.17412208e-02 -4.62158243e-02 3.58739287e+02] [ 9.16847265e-02 9.95782467e-01 -3.34518401e-03 2.27438431e+01] [ 4.63277988e-02 -9.09797787e-04 9.98925877e-01 1.31906322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.425099893 meters 0.012940540129358124 Centerline is valid? [True, True] Translation: X:358.80, Y:22.75, Z:13.20 [[ 9.94837091e-01 -9.12802563e-02 -4.43517523e-02 3.58799141e+02] [ 9.12277135e-02 9.95824879e-01 -3.21153188e-03 2.27494882e+01] [ 4.44597278e-02 -8.51157917e-04 9.99010815e-01 1.31955768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.485099893 meters 0.01320268930867594 Centerline is valid? [True, True] Translation: X:358.86, Y:22.75, Z:13.20 [[ 9.94739594e-01 -9.29881478e-02 -4.29691099e-02 3.58859745e+02] [ 9.29404221e-02 9.95666810e-01 -3.11141408e-03 2.27536443e+01] [ 4.30722412e-02 -8.98520437e-04 9.99071556e-01 1.31995790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.545099893 meters 0.013939545710032678 Centerline is valid? [True, True] Translation: X:358.92, Y:22.76, Z:13.20 [[ 9.94433653e-01 -9.65292833e-02 -4.22351525e-02 3.58920869e+02] [ 9.64863717e-02 9.95329608e-01 -3.05808341e-03 2.27558705e+01] [ 4.23330924e-02 -1.03405557e-03 9.99103018e-01 1.32024895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.605099893 meters 0.018516386229226668 Centerline is valid? [True, True] Translation: X:358.98, Y:22.75, Z:13.20 [[ 9.93507598e-01 -1.05541227e-01 -4.24700168e-02 3.58980761e+02] [ 1.05506108e-01 9.94413904e-01 -3.07379290e-03 2.27502245e+01] [ 4.25571871e-02 -1.42700958e-03 9.99093013e-01 1.32039948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.665099893 meters 0.02018649856346991 Centerline is valid? [True, True] Translation: X:359.04, Y:22.75, Z:13.21 [[ 9.92174033e-01 -1.16969730e-01 -4.36894868e-02 3.59041525e+02] [ 1.16943585e-01 9.93133524e-01 -3.16257602e-03 2.27499637e+01] [ 4.37594196e-02 -1.97137942e-03 9.99040153e-01 1.32059513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.725099893 meters 0.023184543344098293 Centerline is valid? [True, True] Translation: X:359.10, Y:22.75, Z:13.21 [[ 9.91454090e-01 -1.22626866e-01 -4.45133677e-02 3.59102070e+02] [ 1.22605419e-01 9.92450266e-01 -3.22199134e-03 2.27491892e+01] [ 4.45724063e-02 -2.26312360e-03 9.99003593e-01 1.32073364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.785099893 meters 0.02212966046887012 Centerline is valid? [True, True] Translation: X:359.16, Y:22.75, Z:13.21 [[ 9.91022889e-01 -1.25957895e-01 -4.48134201e-02 3.59162615e+02] [ 1.25939564e-01 9.92032614e-01 -3.24344270e-03 2.27549276e+01] [ 4.48649115e-02 -2.42945663e-03 9.98990109e-01 1.32105821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84509989299994 meters 0.02265883041917463 Centerline is valid? [True, True] Translation: X:359.22, Y:22.76, Z:13.21 [[ 9.91056623e-01 -1.25555377e-01 -4.51953187e-02 3.59224971e+02] [ 1.25536375e-01 9.92083629e-01 -3.26977732e-03 2.27588915e+01] [ 4.52480739e-02 -2.43312199e-03 9.98972818e-01 1.32121045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90509989299994 meters 0.022031422565602657 Centerline is valid? [True, True] Translation: X:359.29, Y:22.77, Z:13.21 [[ 9.91568052e-01 -1.21493243e-01 -4.50798175e-02 3.59285030e+02] [ 1.21470276e-01 9.92589721e-01 -3.25864153e-03 2.27667555e+01] [ 4.51416664e-02 -2.24469304e-03 9.98978073e-01 1.32144957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96509989299994 meters 0.021034036484636854 Centerline is valid? [True, True] Translation: X:359.35, Y:22.78, Z:13.22 [[ 9.92078726e-01 -1.17355821e-01 -4.48041503e-02 3.59345078e+02] [ 1.17328924e-01 9.93087828e-01 -3.23871465e-03 2.27750968e+01] [ 4.48745383e-02 -2.04376285e-03 9.98990540e-01 1.32171840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02509989299995 meters 0.01733759964916928 Centerline is valid? [True, True] Translation: X:359.40, Y:22.79, Z:13.22 [[ 9.92910982e-01 -1.10096204e-01 -4.47951793e-02 3.59404844e+02] [ 1.10061941e-01 9.93919456e-01 -3.23805496e-03 2.27888241e+01] [ 4.48792978e-02 -1.71514406e-03 9.98990944e-01 1.32198722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08509989299995 meters 0.01615184121018254 Centerline is valid? [True, True] Translation: X:359.46, Y:22.80, Z:13.22 [[ 9.93462999e-01 -1.05181303e-01 -4.43639773e-02 3.59464647e+02] [ 1.05142804e-01 9.94451963e-01 -3.20683073e-03 2.27976444e+01] [ 4.44551429e-02 -1.47868528e-03 9.99010287e-01 1.32225218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14509989299995 meters 0.014297904288600914 Centerline is valid? [True, True] Translation: X:359.53, Y:22.81, Z:13.22 [[ 9.94205964e-01 -9.81139595e-02 -4.39107204e-02 3.59525129e+02] [ 9.80693597e-02 9.95174521e-01 -3.17394481e-03 2.28087928e+01] [ 4.40102384e-02 -1.15074137e-03 9.99030417e-01 1.32247519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20509989299995 meters 0.013692749079282963 Centerline is valid? [True, True] Translation: X:359.59, Y:22.82, Z:13.23 [[ 9.94633826e-01 -9.35282056e-02 -4.42270044e-02 3.59585176e+02] [ 9.34784893e-02 9.95616171e-01 -3.19548258e-03 2.28161464e+01] [ 4.43319885e-02 -9.55938491e-04 9.99016397e-01 1.32260913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26509989299996 meters 0.011434382398310305 Centerline is valid? [True, True] Translation: X:359.65, Y:22.83, Z:13.23 [[ 9.95244530e-01 -8.63380553e-02 -4.51006096e-02 3.59645378e+02] [ 8.62791314e-02 9.96265685e-01 -3.25512691e-03 2.28276792e+01] [ 4.52132311e-02 -6.51594174e-04 9.98977146e-01 1.32281727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32509989299996 meters 0.01044659218918925 Centerline is valid? [True, True] Translation: X:359.71, Y:22.84, Z:13.23 [[ 9.95926213e-01 -7.80603324e-02 -4.51393668e-02 3.59705081e+02] [ 7.79928087e-02 9.96948599e-01 -3.25783023e-03 2.28381464e+01] [ 4.52559357e-02 -2.75987471e-04 9.98975387e-01 1.32305251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38509989299996 meters 0.01016708529154426 Centerline is valid? [True, True] Translation: X:359.76, Y:22.85, Z:13.23 [[ 9.96302043e-01 -7.36888686e-02 -4.41836016e-02 3.59764049e+02] [ 7.36198662e-02 9.97281277e-01 -3.18910052e-03 2.28453436e+01] [ 4.42984799e-02 -7.54834776e-05 9.99018338e-01 1.32333378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44509989299996 meters 0.010135821226615077 Centerline is valid? [True, True] Translation: X:359.82, Y:22.85, Z:13.24 [[ 9.96570075e-01 -7.09980989e-02 -4.25130058e-02 3.59823391e+02] [ 7.09317074e-02 9.97476450e-01 -3.06999360e-03 2.28504050e+01] [ 4.26236858e-02 4.39436675e-05 9.99091197e-01 1.32360268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50509989299997 meters 0.01010178925251351 Centerline is valid? [True, True] Translation: X:359.88, Y:22.85, Z:13.24 [[ 9.96311188e-01 -7.51616617e-02 -4.14094357e-02 3.59883592e+02] [ 7.51022076e-02 9.97171353e-01 -2.99174020e-03 2.28500513e+01] [ 4.15171672e-02 -1.29235801e-04 9.99137782e-01 1.32380587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56509989299997 meters 0.010638241494214249 Centerline is valid? [True, True] Translation: X:359.94, Y:22.85, Z:13.24 [[ 9.95840310e-01 -8.10590159e-02 -4.16114501e-02 3.59944303e+02] [ 8.10040679e-02 9.96709233e-01 -3.00766927e-03 2.28487449e+01] [ 4.17183152e-02 -3.75538429e-04 9.99129342e-01 1.32398626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62509989299997 meters 0.013185412244257882 Centerline is valid? [True, True] Translation: X:360.01, Y:22.84, Z:13.24 [[ 9.94749216e-01 -9.33411147e-02 -4.19694254e-02 3.60005515e+02] [ 9.32961288e-02 9.95633783e-01 -3.03354368e-03 2.28417155e+01] [ 4.20693322e-02 -8.97969728e-04 9.99114290e-01 1.32404576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.685099893 meters 0.016787932468102625 Centerline is valid? [True, True] Translation: X:360.07, Y:22.84, Z:13.24 [[ 9.93906027e-01 -1.01813247e-01 -4.22477497e-02 3.60065561e+02] [ 1.01775309e-01 9.94802726e-01 -3.05349180e-03 2.28369383e+01] [ 4.23390625e-02 -1.26489386e-03 9.99102499e-01 1.32417288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.745099893 meters 0.020535928163187545 Centerline is valid? [True, True] Translation: X:360.13, Y:22.83, Z:13.24 [[ 9.92795369e-01 -1.12493161e-01 -4.12631084e-02 3.60126800e+02] [ 1.12466219e-01 9.93651077e-01 -2.98109444e-03 2.28315526e+01] [ 4.13364848e-02 -1.68108902e-03 9.99143868e-01 1.32441219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.805099893 meters 0.021036890236106342 Centerline is valid? [True, True] Translation: X:360.19, Y:22.83, Z:13.25 [[ 9.92251218e-01 -1.17407379e-01 -4.06574538e-02 3.60187593e+02] [ 1.17385342e-01 9.93082099e-01 -2.93716532e-03 2.28335286e+01] [ 4.07210344e-02 -1.85818325e-03 9.99168827e-01 1.32463644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.865099893 meters 0.023881983603176733 Centerline is valid? [True, True] Translation: X:360.25, Y:22.83, Z:13.25 [[ 9.91688053e-01 -1.22702035e-01 -3.87171324e-02 3.60248075e+02] [ 1.22686096e-01 9.92441586e-01 -2.79634314e-03 2.28325870e+01] [ 3.87676093e-02 -1.97695373e-03 9.99246298e-01 1.32491534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.925099893 meters 0.024274276278233208 Centerline is valid? [True, True] Translation: X:360.31, Y:22.84, Z:13.25 [[ 9.91463519e-01 -1.24780180e-01 -3.78152977e-02 3.60309847e+02] [ 1.24766487e-01 9.92182375e-01 -2.73103505e-03 2.28354492e+01] [ 3.78604509e-02 -2.01036023e-03 9.99281014e-01 1.32514144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.985099893 meters 0.02625989807400432 Centerline is valid? [True, True] Translation: X:360.37, Y:22.84, Z:13.25 [[ 9.91244776e-01 -1.26332336e-01 -3.83918699e-02 3.60371187e+02] [ 1.26319465e-01 9.91985744e-01 -2.77054150e-03 2.28353968e+01] [ 3.84341966e-02 -2.10335569e-03 9.99258920e-01 1.32523500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.045099893 meters 0.024161203012896006 Centerline is valid? [True, True] Translation: X:360.43, Y:22.84, Z:13.25 [[ 9.91267417e-01 -1.25617060e-01 -4.01156124e-02 3.60432780e+02] [ 1.25602519e-01 9.92076428e-01 -2.89262427e-03 2.28423548e+01] [ 4.01611164e-02 -2.17125778e-03 9.99190858e-01 1.32530822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.105099893 meters 0.02339698748961482 Centerline is valid? [True, True] Translation: X:360.49, Y:22.85, Z:13.26 [[ 9.91423610e-01 -1.24322340e-01 -4.02887231e-02 3.60494945e+02] [ 1.24306728e-01 9.92239596e-01 -2.90213561e-03 2.28479872e+01] [ 4.03368666e-02 -2.13091357e-03 9.99183865e-01 1.32551310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.165099893 meters 0.02136233951696978 Centerline is valid? [True, True] Translation: X:360.56, Y:22.86, Z:13.26 [[ 9.91916949e-01 -1.19489809e-01 -4.26960413e-02 3.60555139e+02] [ 1.19467942e-01 9.92833304e-01 -3.07253427e-03 2.28562953e+01] [ 4.27571883e-02 -2.05310936e-03 9.99083384e-01 1.32557859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.225099893 meters 0.019104623665667286 Centerline is valid? [True, True] Translation: X:360.62, Y:22.87, Z:13.26 [[ 9.92328604e-01 -1.15657204e-01 -4.36732492e-02 3.60615813e+02] [ 1.15630664e-01 9.93287309e-01 -3.14191854e-03 2.28651091e+01] [ 4.37434697e-02 -1.93215115e-03 9.99040928e-01 1.32577512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.285099893 meters 0.017077027104310253 Centerline is valid? [True, True] Translation: X:360.68, Y:22.88, Z:13.26 [[ 9.93210904e-01 -1.07630292e-01 -4.41341284e-02 3.60675865e+02] [ 1.07595335e-01 9.94189706e-01 -3.17369313e-03 2.28758612e+01] [ 4.42192817e-02 -1.59647973e-03 9.99020574e-01 1.32601506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34509989299994 meters 0.015495298073371423 Centerline is valid? [True, True] Translation: X:360.74, Y:22.89, Z:13.26 [[ 9.93934400e-01 -1.00762398e-01 -4.40607251e-02 3.60735571e+02] [ 1.00720815e-01 9.94909684e-01 -3.16841200e-03 2.28852317e+01] [ 4.41556989e-02 -1.28863848e-03 9.99023830e-01 1.32629053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40509989299994 meters 0.012225940835355874 Centerline is valid? [True, True] Translation: X:360.79, Y:22.90, Z:13.27 [[ 9.95092871e-01 -8.90859620e-02 -4.30565933e-02 3.60794930e+02] [ 8.90353222e-02 9.96023657e-01 -3.09618811e-03 2.28994290e+01] [ 4.31612124e-02 -7.52562944e-04 9.99067837e-01 1.32665161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46509989299994 meters 0.010865767874770595 Centerline is valid? [True, True] Translation: X:360.86, Y:22.91, Z:13.27 [[ 9.95919177e-01 -8.02891914e-02 -4.12145494e-02 3.60855012e+02] [ 8.02352659e-02 9.96771548e-01 -2.96355451e-03 2.29105521e+01] [ 4.13194316e-02 -3.55399571e-04 9.99145924e-01 1.32704594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52509989299995 meters 0.010475891112072375 Centerline is valid? [True, True] Translation: X:360.92, Y:22.92, Z:13.27 [[ 9.96152875e-01 -7.75462101e-02 -4.08170906e-02 3.60916057e+02] [ 7.74910503e-02 9.96988730e-01 -2.93418644e-03 2.29167337e+01] [ 4.09217143e-02 -2.40060961e-04 9.99162327e-01 1.32730372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58509989299995 meters 0.01053247561808243 Centerline is valid? [True, True] Translation: X:360.98, Y:22.92, Z:13.27 [[ 9.96111634e-01 -7.77923445e-02 -4.13517093e-02 3.60976185e+02] [ 7.77359992e-02 9.96969551e-01 -2.97123458e-03 2.29202795e+01] [ 4.14575344e-02 -2.54835112e-04 9.99140234e-01 1.32747100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64509989299995 meters 0.010636699557746654 Centerline is valid? [True, True] Translation: X:361.04, Y:22.92, Z:13.28 [[ 9.95993307e-01 -7.88030683e-02 -4.22777606e-02 3.61036896e+02] [ 7.87450802e-02 9.96890157e-01 -3.03777392e-03 2.29232791e+01] [ 4.23856693e-02 -3.03563155e-04 9.99101278e-01 1.32765371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70509989299995 meters 0.010827970740868387 Centerline is valid? [True, True] Translation: X:361.10, Y:22.93, Z:13.28 [[ 9.95843551e-01 -8.00004297e-02 -4.35379622e-02 3.61096760e+02] [ 7.99400654e-02 9.96794762e-01 -3.12855053e-03 2.29250441e+01] [ 4.36486981e-02 -3.64880674e-04 9.99046875e-01 1.32780967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76509989299996 meters 0.010963033831031123 Centerline is valid? [True, True] Translation: X:361.16, Y:22.93, Z:13.28 [[ 9.95720970e-01 -8.13466944e-02 -4.38459148e-02 3.61155806e+02] [ 8.12867020e-02 9.96685775e-01 -3.15239042e-03 2.29278216e+01] [ 4.39570362e-02 -4.25188559e-04 9.99033332e-01 1.32807672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82509989299996 meters 0.011537114207547215 Centerline is valid? [True, True] Translation: X:361.21, Y:22.93, Z:13.28 [[ 9.95583731e-01 -8.35071029e-02 -4.28905417e-02 3.61214306e+02] [ 8.34516015e-02 9.96507053e-01 -3.08599966e-03 2.29271454e+01] [ 4.29984302e-02 -5.06913342e-04 9.99075011e-01 1.32837842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88509989299996 meters 0.012503153024103665 Centerline is valid? [True, True] Translation: X:361.27, Y:22.92, Z:13.29 [[ 9.95305242e-01 -8.72884604e-02 -4.18114856e-02 3.61273252e+02] [ 8.72389224e-02 9.96182866e-01 -3.01141742e-03 2.29246007e+01] [ 4.19147476e-02 -6.50309409e-04 9.99120979e-01 1.32869331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94509989299996 meters 0.012580921345796772 Centerline is valid? [True, True] Translation: X:361.33, Y:22.93, Z:13.29 [[ 9.95040718e-01 -9.09852060e-02 -4.01952845e-02 3.61334027e+02] [ 9.09420935e-02 9.95851949e-01 -2.90354339e-03 2.29257955e+01] [ 4.02927319e-02 -7.66299420e-04 9.99187624e-01 1.32907557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00509989299997 meters 0.014272456709948273 Centerline is valid? [True, True] Translation: X:361.40, Y:22.92, Z:13.29 [[ 9.94452487e-01 -9.76318795e-02 -3.91441973e-02 3.61395711e+02] [ 9.75961624e-02 9.95222085e-01 -2.82688959e-03 2.29219539e+01] [ 3.92331642e-02 -1.00911605e-03 9.99229573e-01 1.32936238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06509989299997 meters 0.016074197619038225 Centerline is valid? [True, True] Translation: X:361.46, Y:22.92, Z:13.29 [[ 9.93460014e-01 -1.06535767e-01 -4.10771265e-02 3.61457011e+02] [ 1.06504089e-01 9.94307843e-01 -2.96504301e-03 2.29187240e+01] [ 4.11591922e-02 -1.42923026e-03 9.99151579e-01 1.32944229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12509989299997 meters 0.018253982239000953 Centerline is valid? [True, True] Translation: X:361.52, Y:22.92, Z:13.30 [[ 9.92732492e-01 -1.12677293e-01 -4.22614040e-02 3.61518398e+02] [ 1.12649322e-01 9.93630125e-01 -3.05031988e-03 2.29168861e+01] [ 4.23359059e-02 -1.73256685e-03 9.99101931e-01 1.32959595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.185099893 meters 0.024169749456375605 Centerline is valid? [True, True] Translation: X:361.58, Y:22.91, Z:13.30 [[ 9.91877136e-01 -1.19582040e-01 -4.33576207e-02 3.61578276e+02] [ 1.19559197e-01 9.92822143e-01 -3.12892783e-03 2.29093764e+01] [ 4.34205695e-02 -2.08029035e-03 9.99054716e-01 1.32968691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.245099893 meters 0.02190652687483197 Centerline is valid? [True, True] Translation: X:361.64, Y:22.92, Z:13.30 [[ 9.91599105e-01 -1.21713099e-01 -4.37851172e-02 3.61639016e+02] [ 1.21691900e-01 9.92562895e-01 -3.15919932e-03 2.29157992e+01] [ 4.38439987e-02 -2.19563491e-03 9.99035977e-01 1.32995459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.305099893 meters 0.022380620640023823 Centerline is valid? [True, True] Translation: X:361.70, Y:22.92, Z:13.30 [[ 9.91726403e-01 -1.21026477e-01 -4.27940924e-02 3.61700273e+02] [ 1.21005655e-01 9.92647020e-01 -3.08614433e-03 2.29198075e+01] [ 4.28529335e-02 -2.11771637e-03 9.99079147e-01 1.33033849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.365099893 meters 0.020926255270195447 Centerline is valid? [True, True] Translation: X:361.76, Y:22.93, Z:13.31 [[ 9.92038604e-01 -1.18790396e-01 -4.18120712e-02 3.61761133e+02] [ 1.18768599e-01 9.92917387e-01 -3.01382487e-03 2.29265471e+01] [ 4.18739459e-02 -1.97613051e-03 9.99120947e-01 1.33070057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.425099893 meters 0.022954461275617385 Centerline is valid? [True, True] Translation: X:361.82, Y:22.93, Z:13.31 [[ 9.92169208e-01 -1.17820431e-01 -4.14561066e-02 3.61821912e+02] [ 1.17798228e-01 9.93033060e-01 -2.98648755e-03 2.29278017e+01] [ 4.15191536e-02 -1.92035492e-03 9.99135863e-01 1.33091979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.485099893 meters 0.02016575015016838 Centerline is valid? [True, True] Translation: X:361.88, Y:22.94, Z:13.31 [[ 9.92146178e-01 -1.17728973e-01 -4.22593356e-02 3.61883505e+02] [ 1.17705952e-01 9.93043836e-01 -3.04122293e-03 2.29351325e+01] [ 4.23234128e-02 -1.95683763e-03 9.99102047e-01 1.33114711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.545099893 meters 0.020494296437056317 Centerline is valid? [True, True] Translation: X:361.94, Y:22.94, Z:13.31 [[ 9.92046652e-01 -1.18169665e-01 -4.33517016e-02 3.61944463e+02] [ 1.18145993e-01 9.92991344e-01 -3.11676925e-03 2.29385098e+01] [ 4.34161721e-02 -2.02984934e-03 9.99055011e-01 1.33133064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.605099893 meters 0.020373353683096583 Centerline is valid? [True, True] Translation: X:362.01, Y:22.94, Z:13.31 [[ 9.92146624e-01 -1.16647688e-01 -4.51485818e-02 3.62005603e+02] [ 1.16620522e-01 9.93171248e-01 -3.24423356e-03 2.29428279e+01] [ 4.52187057e-02 -2.04649580e-03 9.98975015e-01 1.33141094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.665099893 meters 0.018346435656041864 Centerline is valid? [True, True] Translation: X:362.07, Y:22.95, Z:13.32 [[ 9.92833666e-01 -1.10490285e-01 -4.55324908e-02 3.62065643e+02] [ 1.10456254e-01 9.93875606e-01 -3.27043340e-03 2.29519384e+01] [ 4.56149830e-02 -1.78235201e-03 9.98957505e-01 1.33165235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.725099893 meters 0.017048787257025584 Centerline is valid? [True, True] Translation: X:362.12, Y:22.96, Z:13.32 [[ 9.93505290e-01 -1.04436670e-01 -4.51687986e-02 3.62124438e+02] [ 1.04396924e-01 9.94530420e-01 -3.24448689e-03 2.29598420e+01] [ 4.52605876e-02 -1.49206874e-03 9.98974100e-01 1.33189550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.785099893 meters 0.013095003113646636 Centerline is valid? [True, True] Translation: X:362.18, Y:22.97, Z:13.32 [[ 9.94634893e-01 -9.39081097e-02 -4.33900612e-02 3.62184554e+02] [ 9.38613759e-02 9.95580395e-01 -3.11761477e-03 2.29724616e+01] [ 4.34910635e-02 -9.71762409e-04 9.99053343e-01 1.33226209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84509989299994 meters 0.011427284357063432 Centerline is valid? [True, True] Translation: X:362.24, Y:22.98, Z:13.33 [[ 9.95201539e-01 -8.79533458e-02 -4.28731314e-02 3.62244244e+02] [ 8.79022190e-02 9.96124347e-01 -3.07991171e-03 2.29815578e+01] [ 4.29778585e-02 -7.03510509e-04 9.99075777e-01 1.33254740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90509989299994 meters 0.010578298985404534 Centerline is valid? [True, True] Translation: X:362.30, Y:22.99, Z:13.33 [[ 9.95688419e-01 -8.22201267e-02 -4.29467571e-02 3.62302958e+02] [ 8.21634829e-02 9.96614089e-01 -3.08540795e-03 2.29886911e+01] [ 4.30550258e-02 -4.56550174e-04 9.99072598e-01 1.33274282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96509989299994 meters 0.010508730843323695 Centerline is valid? [True, True] Translation: X:362.36, Y:22.99, Z:13.33 [[ 9.95707496e-01 -8.20404999e-02 -4.28478674e-02 3.62361573e+02] [ 8.19838323e-02 9.96628897e-01 -3.08105387e-03 2.29926323e+01] [ 4.29561940e-02 -4.45003943e-04 9.99076858e-01 1.33294428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02509989299995 meters 0.01076180402619641 Centerline is valid? [True, True] Translation: X:362.42, Y:22.99, Z:13.33 [[ 9.95471619e-01 -8.47510305e-02 -4.30525086e-02 3.62420848e+02] [ 8.46959354e-02 9.96402005e-01 -3.10543545e-03 2.29933321e+01] [ 4.31607947e-02 -5.54999628e-04 9.99067985e-01 1.33313410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08509989299995 meters 0.011118728413525389 Centerline is valid? [True, True] Translation: X:362.48, Y:22.99, Z:13.33 [[ 9.95133898e-01 -8.84700316e-02 -4.33771712e-02 3.62480183e+02] [ 8.84175333e-02 9.96078579e-01 -3.13111205e-03 2.29945847e+01] [ 4.34840806e-02 -7.19426744e-04 9.99053861e-01 1.33334032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14509989299995 meters 0.012167126260593325 Centerline is valid? [True, True] Translation: X:362.54, Y:22.99, Z:13.33 [[ 9.94732649e-01 -9.30378565e-02 -4.30222465e-02 3.62539520e+02] [ 9.29904081e-02 9.95662156e-01 -3.10717840e-03 2.29937622e+01] [ 4.31247080e-02 -9.09844467e-04 9.99069283e-01 1.33348649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20509989299995 meters 0.012744665578567106 Centerline is valid? [True, True] Translation: X:362.60, Y:23.00, Z:13.34 [[ 9.94523536e-01 -9.54835770e-02 -4.24949842e-02 3.62599178e+02] [ 9.54394197e-02 9.95430502e-01 -3.07132424e-03 2.29950351e+01] [ 4.25940645e-02 -1.00119240e-03 9.99091959e-01 1.33369999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26509989299996 meters 0.013535072859037586 Centerline is valid? [True, True] Translation: X:362.66, Y:23.00, Z:13.34 [[ 9.94230789e-01 -9.88368735e-02 -4.16702531e-02 3.62658648e+02] [ 9.87972916e-02 9.95103018e-01 -3.01322670e-03 2.29957392e+01] [ 4.17640125e-02 -1.12106538e-03 9.99126874e-01 1.33389326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32509989299996 meters 0.014077857021216644 Centerline is valid? [True, True] Translation: X:362.72, Y:23.00, Z:13.34 [[ 9.94107066e-01 -1.00279091e-01 -4.11733646e-02 3.62718741e+02] [ 1.00241627e-01 9.94958664e-01 -2.97865185e-03 2.29986814e+01] [ 4.12644924e-02 -1.16618620e-03 9.99147578e-01 1.33413093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38509989299996 meters 0.01674439279415453 Centerline is valid? [True, True] Translation: X:362.78, Y:23.00, Z:13.34 [[ 9.93591367e-01 -1.05376135e-01 -4.08909061e-02 3.62778249e+02] [ 1.05343490e-01 9.94431495e-01 -2.95825373e-03 2.29963035e+01] [ 4.09749342e-02 -1.36829538e-03 9.99159238e-01 1.33429598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44509989299996 meters 0.016999347005704716 Centerline is valid? [True, True] Translation: X:362.84, Y:23.00, Z:13.35 [[ 9.93187389e-01 -1.09541976e-01 -3.97412444e-02 3.62838216e+02] [ 1.09514452e-01 9.93981044e-01 -2.87548589e-03 2.29983035e+01] [ 3.98170300e-02 -1.49634427e-03 9.99205867e-01 1.33451911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50509989299997 meters 0.01974791493699963 Centerline is valid? [True, True] Translation: X:362.90, Y:23.00, Z:13.35 [[ 9.92977949e-01 -1.11073151e-01 -4.07129967e-02 3.62898734e+02] [ 1.11045521e-01 9.93810953e-01 -2.94648634e-03 2.29971080e+01] [ 4.07882976e-02 -1.59519999e-03 9.99166538e-01 1.33460716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56509989299997 meters 0.016893303506503702 Centerline is valid? [True, True] Translation: X:362.96, Y:23.01, Z:13.35 [[ 9.93082593e-01 -1.10080645e-01 -4.08560239e-02 3.62959221e+02] [ 1.10052016e-01 9.93921433e-01 -2.95602300e-03 2.30050408e+01] [ 4.09330788e-02 -1.56071282e-03 9.99160671e-01 1.33481769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62509989299997 meters 0.01676940919346623 Centerline is valid? [True, True] Translation: X:363.02, Y:23.01, Z:13.35 [[ 9.93508285e-01 -1.06219543e-01 -4.07270976e-02 3.63018675e+02] [ 1.06187911e-01 9.94341718e-01 -2.94531602e-03 2.30099646e+01] [ 4.08095023e-02 -1.39852953e-03 9.99165967e-01 1.33508548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.685099893 meters 0.015123683983063626 Centerline is valid? [True, True] Translation: X:363.08, Y:23.02, Z:13.35 [[ 9.93889931e-01 -1.02469088e-01 -4.10230593e-02 3.63079130e+02] [ 1.02433806e-01 9.94735399e-01 -2.96664990e-03 2.30178660e+01] [ 4.11110792e-02 -1.25362463e-03 9.99153796e-01 1.33528432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.745099893 meters 0.012818077079384352 Centerline is valid? [True, True] Translation: X:363.14, Y:23.03, Z:13.35 [[ 9.94624488e-01 -9.47503263e-02 -4.17672461e-02 3.63139352e+02] [ 9.47069821e-02 9.95500612e-01 -3.01969345e-03 2.30289845e+01] [ 4.18654360e-02 -9.52188775e-04 9.99122805e-01 1.33544981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.805099893 meters 0.01105345258431643 Centerline is valid? [True, True] Translation: X:363.20, Y:23.04, Z:13.36 [[ 9.95159233e-01 -8.90698526e-02 -4.15290620e-02 3.63198091e+02] [ 8.90220779e-02 9.96025129e-01 -3.00196265e-03 2.30390144e+01] [ 4.16313737e-02 -7.09572542e-04 9.99132787e-01 1.33567022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.865099893 meters 0.009837790462686498 Centerline is valid? [True, True] Translation: X:363.26, Y:23.05, Z:13.36 [[ 9.95831368e-01 -8.10142713e-02 -4.19115020e-02 3.63255983e+02] [ 8.09584099e-02 9.96712871e-01 -3.03121593e-03 2.30490914e+01] [ 4.20193053e-02 -3.74508656e-04 9.99116729e-01 1.33582717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.925099893 meters 0.009121344513327363 Centerline is valid? [True, True] Translation: X:363.31, Y:23.06, Z:13.36 [[ 9.96393899e-01 -7.45418068e-02 -4.05304411e-02 3.63314304e+02] [ 7.44841065e-02 9.97217885e-01 -2.93393363e-03 2.30585251e+01] [ 4.06363814e-02 -9.55201195e-05 9.99173997e-01 1.33614960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.985099893 meters 0.009111677354667544 Centerline is valid? [True, True] Translation: X:363.37, Y:23.06, Z:13.36 [[ 9.96585883e-01 -7.20091663e-02 -4.03888441e-02 3.63372780e+02] [ 7.19493683e-02 9.97403970e-01 -2.93407056e-03 2.30640642e+01] [ 4.04952734e-02 1.81014879e-05 9.99179730e-01 1.33638910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.045099893 meters 0.009045409523197177 Centerline is valid? [True, True] Translation: X:363.43, Y:23.07, Z:13.37 [[ 9.96597367e-01 -7.21213004e-02 -3.99024466e-02 3.63431856e+02] [ 7.20626196e-02 9.97395868e-01 -2.90884462e-03 2.30659353e+01] [ 4.00083250e-02 2.34720598e-05 9.99199346e-01 1.33657122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.105099893 meters 0.009059099511644525 Centerline is valid? [True, True] Translation: X:363.49, Y:23.07, Z:13.37 [[ 9.96434059e-01 -7.43794018e-02 -3.98355534e-02 3.63490114e+02] [ 7.43223286e-02 9.97230014e-01 -2.91378715e-03 2.30664605e+01] [ 3.99419352e-02 -5.72743330e-05 9.99202001e-01 1.33672400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.165099893 meters 0.009313967306296014 Centerline is valid? [True, True] Translation: X:363.55, Y:23.07, Z:13.37 [[ 9.95934749e-01 -8.01553849e-02 -4.10985295e-02 3.63548687e+02] [ 8.00993895e-02 9.96782337e-01 -3.00999683e-03 2.30650131e+01] [ 4.12075557e-02 -2.94206682e-04 9.99150565e-01 1.33687709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.225099893 meters 0.010779741665452012 Centerline is valid? [True, True] Translation: X:363.61, Y:23.06, Z:13.37 [[ 9.95238620e-01 -8.85976825e-02 -4.06268357e-02 3.63608530e+02] [ 8.85498484e-02 9.96067292e-01 -2.97893486e-03 2.30605888e+01] [ 4.07309890e-02 -6.32749130e-04 9.99169949e-01 1.33704022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.285099893 meters 0.013038707756027683 Centerline is valid? [True, True] Translation: X:363.67, Y:23.06, Z:13.37 [[ 9.94602024e-01 -9.58051613e-02 -3.98520330e-02 3.63667400e+02] [ 9.57648534e-02 9.95399691e-01 -2.92358864e-03 2.30575276e+01] [ 3.99487963e-02 -9.08616922e-04 9.99201315e-01 1.33727969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34509989299994 meters 0.016638193635861935 Centerline is valid? [True, True] Translation: X:363.73, Y:23.05, Z:13.37 [[ 9.93490680e-01 -1.06699676e-01 -3.98929659e-02 3.63727983e+02] [ 1.06667968e-01 9.94290384e-01 -2.92859031e-03 2.30531840e+01] [ 3.99776720e-02 -1.34577443e-03 9.99199667e-01 1.33741194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40509989299994 meters 0.02103537915667859 Centerline is valid? [True, True] Translation: X:363.79, Y:23.05, Z:13.38 [[ 9.92177432e-01 -1.18563283e-01 -3.90729071e-02 3.63788720e+02] [ 1.18542031e-01 9.92944892e-01 -2.86843615e-03 2.30483524e+01] [ 3.91373347e-02 -1.78578415e-03 9.99232245e-01 1.33755762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46509989299994 meters 0.02499380479239675 Centerline is valid? [True, True] Translation: X:363.85, Y:23.05, Z:13.38 [[ 9.91299924e-01 -1.25743996e-01 -3.88961135e-02 3.63849815e+02] [ 1.25728415e-01 9.92060587e-01 -2.85618620e-03 2.30457507e+01] [ 3.89464494e-02 -2.05900953e-03 9.99239178e-01 1.33771383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52509989299995 meters 0.028314820544191915 Centerline is valid? [True, True] Translation: X:363.91, Y:23.05, Z:13.38 [[ 9.90308237e-01 -1.33223903e-01 -3.92554231e-02 3.63909747e+02] [ 1.33213882e-01 9.91083121e-01 -2.88258567e-03 2.30463785e+01] [ 3.92894165e-02 -2.37471897e-03 9.99225051e-01 1.33794232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58509989299995 meters 0.030813228027688072 Centerline is valid? [True, True] Translation: X:363.97, Y:23.05, Z:13.38 [[ 9.90066126e-01 -1.35089951e-01 -3.89842380e-02 3.63968434e+02] [ 1.35081472e-01 9.90830357e-01 -2.86357401e-03 2.30489152e+01] [ 3.90136066e-02 -2.43092065e-03 9.99235723e-01 1.33821040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64509989299995 meters 0.030922021210782084 Centerline is valid? [True, True] Translation: X:364.03, Y:23.06, Z:13.38 [[ 9.90223099e-01 -1.33744674e-01 -3.96304906e-02 3.64028234e+02] [ 1.33734759e-01 9.91012880e-01 -2.91308681e-03 2.30556121e+01] [ 3.96639365e-02 -2.41536826e-03 9.99210157e-01 1.33837193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70509989299995 meters 0.03033129856135007 Centerline is valid? [True, True] Translation: X:364.09, Y:23.07, Z:13.38 [[ 9.90651055e-01 -1.29700036e-01 -4.22893413e-02 3.64086975e+02] [ 1.29685044e-01 9.91550362e-01 -3.10933616e-03 2.30667876e+01] [ 4.23352927e-02 -2.40402795e-03 9.99100567e-01 1.33834924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76509989299996 meters 0.021872173167830914 Centerline is valid? [True, True] Translation: X:364.15, Y:23.09, Z:13.39 [[ 9.91047007e-01 -1.26179427e-01 -4.36415214e-02 3.64146580e+02] [ 1.26160028e-01 9.92004711e-01 -3.20950260e-03 2.30868979e+01] [ 4.36975680e-02 -2.32504762e-03 9.99042100e-01 1.33857173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82509989299996 meters 0.0208059456729351 Centerline is valid? [True, True] Translation: X:364.21, Y:23.10, Z:13.39 [[ 9.91624926e-01 -1.21483504e-01 -4.38379397e-02 3.64207097e+02] [ 1.21459389e-01 9.92591169e-01 -3.22312853e-03 2.30997465e+01] [ 4.39047088e-02 -2.12839479e-03 9.99033456e-01 1.33879479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88509989299996 meters 0.020421135104407764 Centerline is valid? [True, True] Translation: X:364.27, Y:23.11, Z:13.39 [[ 9.91838939e-01 -1.19811315e-01 -4.35978000e-02 3.64267523e+02] [ 1.19785881e-01 9.92794577e-01 -3.20479708e-03 2.31071149e+01] [ 4.36676304e-02 -2.04375837e-03 9.99044024e-01 1.33905877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94509989299996 meters 0.017339509827930068 Centerline is valid? [True, True] Translation: X:364.33, Y:23.12, Z:13.39 [[ 9.92604731e-01 -1.13227329e-01 -4.37655135e-02 3.64327132e+02] [ 1.13195311e-01 9.93567548e-01 -3.21712655e-03 2.31238729e+01] [ 4.38482606e-02 -1.76071587e-03 9.99036651e-01 1.33928526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00509989299997 meters 0.015877254666084927 Centerline is valid? [True, True] Translation: X:364.39, Y:23.14, Z:13.40 [[ 9.93357916e-01 -1.06725068e-01 -4.30094239e-02 3.64386010e+02] [ 1.06688063e-01 9.94287515e-01 -3.16143568e-03 2.31358342e+01] [ 4.31011376e-02 -1.44815495e-03 9.99069665e-01 1.33955798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06509989299997 meters 0.012014884091340954 Centerline is valid? [True, True] Translation: X:364.45, Y:23.15, Z:13.40 [[ 9.94607483e-01 -9.49125252e-02 -4.18039036e-02 3.64445695e+02] [ 9.48671332e-02 9.95485201e-01 -3.07276637e-03 2.31538889e+01] [ 4.19068114e-02 -9.09620066e-04 9.99121110e-01 1.33985296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12509989299997 meters 0.010430049889023348 Centerline is valid? [True, True] Translation: X:364.51, Y:23.17, Z:13.40 [[ 9.95224313e-01 -8.82827928e-02 -4.16499194e-02 3.64506496e+02] [ 8.82319648e-02 9.96095253e-01 -3.06061156e-03 2.31660513e+01] [ 4.17574863e-02 -6.28859187e-04 9.99127578e-01 1.34011608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.185099893 meters 0.009659977545630846 Centerline is valid? [True, True] Translation: X:364.57, Y:23.18, Z:13.40 [[ 9.95670051e-01 -8.25561967e-02 -4.27273258e-02 3.64566674e+02] [ 8.24975009e-02 9.96586331e-01 -3.13818389e-03 2.31770125e+01] [ 4.28405454e-02 -4.00301892e-04 9.99081842e-01 1.34024805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.245099893 meters 0.009495470387142593 Centerline is valid? [True, True] Translation: X:364.63, Y:23.18, Z:13.41 [[ 9.95637470e-01 -8.28044030e-02 -4.30053480e-02 3.64627076e+02] [ 8.27452299e-02 9.96565732e-01 -3.15726251e-03 2.31831533e+01] [ 4.31190914e-02 -4.14998558e-04 9.99069853e-01 1.34050172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.305099893 meters 0.010202313248578038 Centerline is valid? [True, True] Translation: X:364.69, Y:23.19, Z:13.41 [[ 9.95288063e-01 -8.67681863e-02 -4.32776292e-02 3.64687838e+02] [ 8.67120049e-02 9.96228354e-01 -3.17725219e-03 2.31865675e+01] [ 4.33900858e-02 -5.90408823e-04 9.99058032e-01 1.34071607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.365099893 meters 0.01157539620435748 Centerline is valid? [True, True] Translation: X:364.75, Y:23.19, Z:13.41 [[ 9.94780845e-01 -9.23918440e-02 -4.32991670e-02 3.64748408e+02] [ 9.23409272e-02 9.95722375e-01 -3.17883340e-03 2.31882381e+01] [ 4.34076477e-02 -8.36042657e-04 9.99057094e-01 1.34094935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.425099893 meters 0.01257776795343818 Centerline is valid? [True, True] Translation: X:364.81, Y:23.19, Z:13.41 [[ 9.94393203e-01 -9.64087613e-02 -4.34454670e-02 3.64809473e+02] [ 9.63613384e-02 9.95341309e-01 -3.18934696e-03 2.31908563e+01] [ 4.35505490e-02 -1.01499841e-03 9.99050709e-01 1.34119427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.485099893 meters 0.01425317063743722 Centerline is valid? [True, True] Translation: X:364.87, Y:23.19, Z:13.41 [[ 9.93702271e-01 -1.03020852e-01 -4.40738022e-02 3.64870637e+02] [ 1.02978606e-01 9.94678314e-01 -3.23397302e-03 2.31929698e+01] [ 4.41724219e-02 -1.32505235e-03 9.99023043e-01 1.34138092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.545099893 meters 0.01767344261939558 Centerline is valid? [True, True] Translation: X:364.93, Y:23.19, Z:13.42 [[ 9.92953324e-01 -1.09934695e-01 -4.42499519e-02 3.64930232e+02] [ 1.09898987e-01 9.93937460e-01 -3.24627324e-03 2.31924109e+01] [ 4.43385629e-02 -1.63962709e-03 9.99015217e-01 1.34150855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.605099893 meters 0.018117668971249033 Centerline is valid? [True, True] Translation: X:364.99, Y:23.20, Z:13.42 [[ 9.92555307e-01 -1.13531860e-01 -4.40962446e-02 3.64991590e+02] [ 1.13499937e-01 9.93532737e-01 -3.23507796e-03 2.31964864e+01] [ 4.41783470e-02 -1.79392718e-03 9.99022050e-01 1.34175763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.665099893 meters 0.020360420848412553 Centerline is valid? [True, True] Translation: X:365.05, Y:23.20, Z:13.42 [[ 9.92115968e-01 -1.17369745e-01 -4.39345951e-02 3.65052958e+02] [ 1.17341879e-01 9.93086353e-01 -3.22161589e-03 2.31998763e+01] [ 4.40089670e-02 -1.95915137e-03 9.99029215e-01 1.34202253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.725099893 meters 0.02095459106157845 Centerline is valid? [True, True] Translation: X:365.11, Y:23.20, Z:13.42 [[ 9.91908463e-01 -1.19155598e-01 -4.38126018e-02 3.65114763e+02] [ 1.19129703e-01 9.92873509e-01 -3.21084376e-03 2.32044618e+01] [ 4.38829617e-02 -2.03451916e-03 9.99034607e-01 1.34223665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.785099893 meters 0.021633363026915098 Centerline is valid? [True, True] Translation: X:365.18, Y:23.21, Z:13.42 [[ 9.91606646e-01 -1.21606937e-01 -4.39091311e-02 3.65175317e+02] [ 1.21583460e-01 9.92576006e-01 -3.21485157e-03 2.32096850e+01] [ 4.39740982e-02 -2.15075589e-03 9.99030356e-01 1.34238243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84509989299994 meters 0.022880335877371972 Centerline is valid? [True, True] Translation: X:365.24, Y:23.22, Z:13.43 [[ 9.91395308e-01 -1.22940313e-01 -4.49557865e-02 3.65237496e+02] [ 1.22917185e-01 9.92411481e-01 -3.28895432e-03 2.32154231e+01] [ 4.50189837e-02 -2.26518485e-03 9.98983563e-01 1.34255148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90509989299994 meters 0.022711159516055127 Centerline is valid? [True, True] Translation: X:365.30, Y:23.22, Z:13.43 [[ 9.91267740e-01 -1.23715211e-01 -4.56378648e-02 3.65299706e+02] [ 1.23692349e-01 9.92315009e-01 -3.33549331e-03 2.32217884e+01] [ 4.56997895e-02 -2.33868780e-03 9.98952481e-01 1.34271184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96509989299994 meters 0.023260618399336606 Centerline is valid? [True, True] Translation: X:365.36, Y:23.23, Z:13.43 [[ 9.91090028e-01 -1.24630169e-01 -4.69880461e-02 3.65361166e+02] [ 1.24607120e-01 9.92200229e-01 -3.43083152e-03 2.32276624e+01] [ 4.70491352e-02 -2.45478220e-03 9.98889560e-01 1.34281458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02509989299995 meters 0.022146472257275757 Centerline is valid? [True, True] Translation: X:365.42, Y:23.24, Z:13.43 [[ 9.91104029e-01 -1.24055283e-01 -4.81984426e-02 3.65422675e+02] [ 1.24030497e-01 9.92272176e-01 -3.51630452e-03 2.32353348e+01] [ 4.82621897e-02 -2.49305322e-03 9.98831590e-01 1.34302097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08509989299995 meters 0.020285602960726918 Centerline is valid? [True, True] Translation: X:365.48, Y:23.25, Z:13.43 [[ 9.91570730e-01 -1.20018902e-01 -4.88154702e-02 3.65483028e+02] [ 1.19988747e-01 9.92768875e-01 -3.55831940e-03 2.32459982e+01] [ 4.88895451e-02 -2.32898173e-03 9.98801476e-01 1.34328066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14509989299995 meters 0.01881234452721743 Centerline is valid? [True, True] Translation: X:365.54, Y:23.25, Z:13.44 [[ 9.92201855e-01 -1.15126826e-01 -4.77628731e-02 3.65543331e+02] [ 1.15092340e-01 9.93348699e-01 -3.48072339e-03 2.32548651e+01] [ 4.78459125e-02 -2.04356064e-03 9.98852638e-01 1.34361027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20509989299995 meters 0.01726869680124413 Centerline is valid? [True, True] Translation: X:365.60, Y:23.27, Z:13.44 [[ 9.93311809e-01 -1.06070231e-01 -4.56153023e-02 3.65602177e+02] [ 1.06029256e-01 9.94357456e-01 -3.32372655e-03 2.32656086e+01] [ 4.57104643e-02 -1.53505972e-03 9.98953551e-01 1.34396661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26509989299996 meters 0.012950851756702533 Centerline is valid? [True, True] Translation: X:365.66, Y:23.28, Z:13.44 [[ 9.94327965e-01 -9.65692870e-02 -4.45676020e-02 3.65661978e+02] [ 9.65206015e-02 9.95325687e-01 -3.24807058e-03 2.32804731e+01] [ 4.46729429e-02 -1.07204434e-03 9.99001091e-01 1.34427526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32509989299996 meters 0.011471388677231544 Centerline is valid? [True, True] Translation: X:365.72, Y:23.29, Z:13.45 [[ 9.94895842e-01 -9.05477543e-02 -4.45350130e-02 3.65723014e+02] [ 9.04931337e-02 9.95891792e-01 -3.24515055e-03 2.32900658e+01] [ 4.46458950e-02 -8.01526102e-04 9.99002553e-01 1.34451079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38509989299996 meters 0.01011673020144627 Centerline is valid? [True, True] Translation: X:365.78, Y:23.30, Z:13.45 [[ 9.95514384e-01 -8.31235740e-02 -4.51838665e-02 3.65783571e+02] [ 8.30598212e-02 9.96539133e-01 -3.28983728e-03 2.32997810e+01] [ 4.53009542e-02 -4.77883540e-04 9.98973271e-01 1.34471811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44509989299996 meters 0.00981370632287869 Centerline is valid? [True, True] Translation: X:365.84, Y:23.31, Z:13.45 [[ 9.95781552e-01 -7.94156170e-02 -4.59593267e-02 3.65844989e+02] [ 7.93457877e-02 9.96841542e-01 -3.34457569e-03 2.33068533e+01] [ 4.60797777e-02 -3.16212212e-04 9.98937713e-01 1.34485680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50509989299997 meters 0.009713512592014984 Centerline is valid? [True, True] Translation: X:365.91, Y:23.31, Z:13.45 [[ 9.96015746e-01 -7.58471519e-02 -4.69024892e-02 3.65906009e+02] [ 7.57705529e-02 9.97119444e-01 -3.41146252e-03 2.33134267e+01] [ 4.70261337e-02 -1.55957155e-04 9.98893647e-01 1.34507639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56509989299997 meters 0.009813903597339276 Centerline is valid? [True, True] Translation: X:365.96, Y:23.32, Z:13.45 [[ 9.96022732e-01 -7.62348263e-02 -4.61190722e-02 3.65964613e+02] [ 7.61612150e-02 9.97089876e-01 -3.35375712e-03 2.33164550e+01] [ 4.62405331e-02 -1.72066243e-04 9.98930320e-01 1.34530144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62509989299997 meters 0.010078974569298063 Centerline is valid? [True, True] Translation: X:366.02, Y:23.32, Z:13.46 [[ 9.95861369e-01 -7.89947162e-02 -4.49440598e-02 3.66024355e+02] [ 7.89274906e-02 9.96874993e-01 -3.27113973e-03 2.33180244e+01] [ 4.50620120e-02 -2.89720168e-04 9.98984150e-01 1.34565039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.685099893 meters 0.011001794708348089 Centerline is valid? [True, True] Translation: X:366.08, Y:23.32, Z:13.46 [[ 9.95303992e-01 -8.62794534e-02 -4.38841639e-02 3.66084676e+02] [ 8.62223708e-02 9.96270792e-01 -3.19544894e-03 2.33154549e+01] [ 4.39962124e-02 -6.03353567e-04 9.99031516e-01 1.34597001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.745099893 meters 0.012655275930551489 Centerline is valid? [True, True] Translation: X:366.15, Y:23.31, Z:13.46 [[ 9.94780926e-01 -9.24993093e-02 -4.30672320e-02 3.66145203e+02] [ 9.24501360e-02 9.95712376e-01 -3.13637765e-03 2.33131404e+01] [ 4.31726887e-02 -8.61562788e-04 9.99067253e-01 1.34617891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.805099893 meters 0.01470748416471623 Centerline is valid? [True, True] Translation: X:366.21, Y:23.31, Z:13.46 [[ 9.94095539e-01 -9.95307661e-02 -4.32167293e-02 3.66206747e+02] [ 9.94879593e-02 9.95033794e-01 -3.14552439e-03 2.33102785e+01] [ 4.33151826e-02 -1.17259244e-03 9.99060769e-01 1.34634797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.865099893 meters 0.017473546954881874 Centerline is valid? [True, True] Translation: X:366.27, Y:23.31, Z:13.46 [[ 9.93440745e-01 -1.05925598e-01 -4.30726649e-02 3.66267680e+02] [ 1.05889112e-01 9.94373005e-01 -3.13416175e-03 2.33064301e+01] [ 4.31622832e-02 -1.44732226e-03 9.99067026e-01 1.34641790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.925099893 meters 0.017666894660166216 Centerline is valid? [True, True] Translation: X:366.33, Y:23.31, Z:13.47 [[ 9.92703513e-01 -1.12871045e-01 -4.24247869e-02 3.66328917e+02] [ 1.12842034e-01 9.93608149e-01 -3.08560707e-03 2.33060052e+01] [ 4.25018897e-02 -1.72420628e-03 9.99094899e-01 1.34662894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.985099893 meters 0.01836336288232196 Centerline is valid? [True, True] Translation: X:366.39, Y:23.31, Z:13.47 [[ 9.92543123e-01 -1.14585918e-01 -4.15718303e-02 3.66390520e+02] [ 1.14559609e-01 9.93411778e-01 -3.02245092e-03 2.33073867e+01] [ 4.16442762e-02 -1.76253976e-03 9.99130946e-01 1.34687952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.045099893 meters 0.020130350444234453 Centerline is valid? [True, True] Translation: X:366.45, Y:23.31, Z:13.47 [[ 9.92747298e-01 -1.13298597e-01 -4.02023634e-02 3.66451751e+02] [ 1.13273026e-01 9.93559606e-01 -2.92067797e-03 2.33064489e+01] [ 4.02743531e-02 -1.65434821e-03 9.99187290e-01 1.34705718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.105099893 meters 0.018969984240857003 Centerline is valid? [True, True] Translation: X:366.51, Y:23.31, Z:13.47 [[ 9.93135267e-01 -1.10276424e-01 -3.90057800e-02 3.66513309e+02] [ 1.10250107e-01 9.93899842e-01 -2.83163433e-03 2.33116929e+01] [ 3.90801011e-02 -1.48819552e-03 9.99234973e-01 1.34732916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.165099893 meters 0.017237744972243136 Centerline is valid? [True, True] Translation: X:366.57, Y:23.32, Z:13.48 [[ 9.93975225e-01 -1.03138319e-01 -3.70909628e-02 3.66573633e+02] [ 1.03109627e-01 9.94666359e-01 -2.69069680e-03 2.33174399e+01] [ 3.71706468e-02 -1.14994939e-03 9.99308271e-01 1.34759332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.225099893 meters 0.014928442406230416 Centerline is valid? [True, True] Translation: X:366.64, Y:23.32, Z:13.48 [[ 9.94438760e-01 -9.86725904e-02 -3.68140160e-02 3.66635015e+02] [ 9.86412803e-02 9.95119474e-01 -2.67028092e-03 2.33246460e+01] [ 3.68978277e-02 -9.75950818e-04 9.99318567e-01 1.34777361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28509989299994 meters 0.014091944783669 Centerline is valid? [True, True] Translation: X:366.70, Y:23.33, Z:13.48 [[ 9.94794161e-01 -9.44342469e-02 -3.82981830e-02 3.66696426e+02] [ 9.43973061e-02 9.95530735e-01 -2.77575101e-03 2.33286574e+01] [ 3.83891442e-02 -8.53944402e-04 9.99262500e-01 1.34780563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34509989299994 meters 0.014548645986503773 Centerline is valid? [True, True] Translation: X:366.76, Y:23.33, Z:13.48 [[ 9.94780222e-01 -9.38368333e-02 -4.00868994e-02 3.66757809e+02] [ 9.37959399e-02 9.95587208e-01 -2.90381795e-03 2.33298111e+01] [ 4.01824893e-02 -8.71327743e-04 9.99191978e-01 1.34786921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40509989299994 meters 0.01368301657006626 Centerline is valid? [True, True] Translation: X:366.82, Y:23.33, Z:13.48 [[ 9.94712047e-01 -9.43517810e-02 -4.05670483e-02 3.66819740e+02] [ 9.43104222e-02 9.95538509e-01 -2.93632841e-03 2.33338988e+01] [ 4.06631066e-02 -9.05094212e-04 9.99172504e-01 1.34804642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46509989299994 meters 0.014549987377467611 Centerline is valid? [True, True] Translation: X:366.88, Y:23.33, Z:13.48 [[ 9.94546464e-01 -9.64257184e-02 -3.97418204e-02 3.66880785e+02] [ 9.63877908e-02 9.95339708e-01 -2.87379866e-03 2.33343004e+01] [ 3.98337200e-02 -9.72499972e-04 9.99205849e-01 1.34831889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52509989299995 meters 0.015388754905688782 Centerline is valid? [True, True] Translation: X:366.94, Y:23.34, Z:13.49 [[ 9.94389826e-01 -9.93659484e-02 -3.62668226e-02 3.66942374e+02] [ 9.93363603e-02 9.95050459e-01 -2.62130999e-03 2.33351572e+01] [ 3.63477874e-02 -9.96010165e-04 9.99338705e-01 1.34889104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58509989299995 meters 0.01651488199025944 Centerline is valid? [True, True] Translation: X:367.00, Y:23.34, Z:13.49 [[ 9.93913706e-01 -1.02888154e-01 -3.93646228e-02 3.67003418e+02] [ 1.02856113e-01 9.94692180e-01 -2.84369923e-03 2.33359596e+01] [ 3.94482655e-02 -1.22250046e-03 9.99220866e-01 1.34884578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64509989299995 meters 0.016990716508720145 Centerline is valid? [True, True] Translation: X:367.06, Y:23.34, Z:13.49 [[ 9.93549428e-01 -1.06808954e-01 -3.80969945e-02 3.67064293e+02] [ 1.06781846e-01 9.94278667e-01 -2.75145398e-03 2.33391755e+01] [ 3.81729088e-02 -1.33436189e-03 9.99270258e-01 1.34922221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70509989299995 meters 0.01946677674650014 Centerline is valid? [True, True] Translation: X:367.13, Y:23.34, Z:13.50 [[ 9.92960316e-01 -1.12600327e-01 -3.67556456e-02 3.67125910e+02] [ 1.12579076e-01 9.93639224e-01 -2.65392756e-03 2.33383876e+01] [ 3.68206843e-02 -1.50267185e-03 9.99320759e-01 1.34953984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76509989299996 meters 0.025563092040957032 Centerline is valid? [True, True] Translation: X:367.19, Y:23.33, Z:13.50 [[ 9.91724758e-01 -1.22360004e-01 -3.88591461e-02 3.67185973e+02] [ 1.22343772e-01 9.92483822e-01 -2.80440219e-03 2.33319609e+01] [ 3.89102205e-02 -1.97297945e-03 9.99240763e-01 1.34958684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82509989299996 meters 0.030582458805228252 Centerline is valid? [True, True] Translation: X:367.25, Y:23.33, Z:13.50 [[ 9.90497029e-01 -1.31282500e-01 -4.09943897e-02 3.67247337e+02] [ 1.31272005e-01 9.91341970e-01 -2.95946254e-03 2.33294768e+01] [ 4.10279847e-02 -2.45007687e-03 9.99154994e-01 1.34956821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88509989299996 meters 0.028655103763348847 Centerline is valid? [True, True] Translation: X:367.31, Y:23.34, Z:13.50 [[ 9.89921515e-01 -1.35379254e-01 -4.15674419e-02 3.67307835e+02] [ 1.35372063e-01 9.90790291e-01 -3.00072800e-03 2.33368370e+01] [ 4.15908542e-02 -2.65658514e-03 9.99131194e-01 1.34979571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94509989299996 meters 0.027888076504537732 Centerline is valid? [True, True] Translation: X:367.37, Y:23.34, Z:13.50 [[ 9.89629070e-01 -1.37307915e-01 -4.21999982e-02 3.67368547e+02] [ 1.37302260e-01 9.90524513e-01 -3.04615165e-03 2.33425337e+01] [ 4.22183934e-02 -2.77959488e-03 9.99104540e-01 1.34995331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00509989299997 meters 0.03007745271641371 Centerline is valid? [True, True] Translation: X:367.43, Y:23.35, Z:13.50 [[ 9.89634232e-01 -1.37326502e-01 -4.20180772e-02 3.67429674e+02] [ 1.37320953e-01 9.90521965e-01 -3.03205996e-03 2.33461340e+01] [ 4.20362105e-02 -2.76933206e-03 9.99112250e-01 1.35024547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06509989299997 meters 0.028336903901561798 Centerline is valid? [True, True] Translation: X:367.49, Y:23.36, Z:13.51 [[ 9.90173600e-01 -1.33461823e-01 -4.17634357e-02 3.67489729e+02] [ 1.33453005e-01 9.91050567e-01 -3.01156650e-03 2.33569475e+01] [ 4.17916058e-02 -2.59148234e-03 9.99122988e-01 1.35055805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12509989299997 meters 0.02771900327265942 Centerline is valid? [True, True] Translation: X:367.55, Y:23.37, Z:13.51 [[ 9.90699387e-01 -1.29308101e-01 -4.23572759e-02 3.67549715e+02] [ 1.29295273e-01 9.91601435e-01 -3.05379603e-03 2.33655648e+01] [ 4.23964162e-02 -2.45120170e-03 9.99097861e-01 1.35073659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.185099893 meters 0.023098025502253757 Centerline is valid? [True, True] Translation: X:367.61, Y:23.38, Z:13.51 [[ 9.91684003e-01 -1.21731212e-01 -4.17654145e-02 3.67609114e+02] [ 1.21712058e-01 9.92560885e-01 -3.01060834e-03 2.33823391e+01] [ 4.18212018e-02 -2.09778240e-03 9.99122909e-01 1.35100908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.245099893 meters 0.020367365803619877 Centerline is valid? [True, True] Translation: X:367.67, Y:23.40, Z:13.51 [[ 9.92686850e-01 -1.13605661e-01 -4.08236601e-02 3.67668374e+02] [ 1.13580514e-01 9.93524438e-01 -2.94235441e-03 2.33965608e+01] [ 4.08935721e-02 -1.71593576e-03 9.99162035e-01 1.35139305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.305099893 meters 0.01882932245618849 Centerline is valid? [True, True] Translation: X:367.73, Y:23.41, Z:13.52 [[ 9.93280796e-01 -1.08052121e-01 -4.14487673e-02 3.67728064e+02] [ 1.08021368e-01 9.94144084e-01 -2.98744552e-03 2.34071662e+01] [ 4.15288467e-02 -1.50998030e-03 9.99136164e-01 1.35163819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.365099893 meters 0.015848583565963335 Centerline is valid? [True, True] Translation: X:367.79, Y:23.42, Z:13.52 [[ 9.94156149e-01 -9.90040701e-02 -4.30319067e-02 3.67787252e+02] [ 9.89624542e-02 9.95086335e-01 -3.10153348e-03 2.34217307e+01] [ 4.31275268e-02 -1.17513452e-03 9.99068884e-01 1.35181463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.425099893 meters 0.013329857642961533 Centerline is valid? [True, True] Translation: X:367.85, Y:23.44, Z:13.52 [[ 9.95340537e-01 -8.59156290e-02 -4.37689438e-02 3.67847239e+02] [ 8.58599238e-02 9.96302225e-01 -3.15451008e-03 2.34377071e+01] [ 4.38781178e-02 -6.18186424e-04 9.99036700e-01 1.35201275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.485099893 meters 0.012277547950476102 Centerline is valid? [True, True] Translation: X:367.91, Y:23.45, Z:13.52 [[ 9.96102822e-01 -7.55923695e-02 -4.54418562e-02 3.67907848e+02] [ 7.55216006e-02 9.97138789e-01 -3.27460921e-03 2.34516014e+01] [ 4.55593729e-02 -1.69994241e-04 9.98961618e-01 1.35230770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.545099893 meters 0.012257435241442752 Centerline is valid? [True, True] Translation: X:367.97, Y:23.46, Z:13.53 [[ 9.96096614e-01 -7.56002985e-02 -4.55645823e-02 3.67967271e+02] [ 7.55292020e-02 9.97138188e-01 -3.28242390e-03 2.34561215e+01] [ 4.56823372e-02 -1.71845210e-04 9.98956002e-01 1.35260637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.605099893 meters 0.012425047953544481 Centerline is valid? [True, True] Translation: X:368.03, Y:23.46, Z:13.53 [[ 9.95962452e-01 -7.70868639e-02 -4.60044519e-02 3.68025420e+02] [ 7.70158865e-02 9.97024352e-01 -3.31596956e-03 2.34589711e+01] [ 4.61231765e-02 -2.40492472e-04 9.98935731e-01 1.35278644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.665099893 meters 0.012621152723644799 Centerline is valid? [True, True] Translation: X:368.09, Y:23.46, Z:13.53 [[ 9.95750248e-01 -7.97977186e-02 -4.59757271e-02 3.68085858e+02] [ 7.97296240e-02 9.96811011e-01 -3.31591632e-03 2.34616903e+01] [ 4.60937136e-02 -3.63802939e-04 9.98937054e-01 1.35311083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.725099893 meters 0.012787479971689983 Centerline is valid? [True, True] Translation: X:368.15, Y:23.46, Z:13.53 [[ 9.95580317e-01 -8.17162898e-02 -4.62847729e-02 3.68145015e+02] [ 8.16493329e-02 9.96655528e-01 -3.33853203e-03 2.34645344e+01] [ 4.64027872e-02 -4.55344059e-04 9.98922707e-01 1.35337524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78509989299994 meters 0.013889955943078926 Centerline is valid? [True, True] Translation: X:368.21, Y:23.46, Z:13.54 [[ 9.94976097e-01 -8.89324215e-02 -4.59738160e-02 3.68205479e+02] [ 8.88739930e-02 9.96037353e-01 -3.31743127e-03 2.34629185e+01] [ 4.60866652e-02 -7.85111791e-04 9.98937137e-01 1.35361461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84509989299994 meters 0.015286621041362936 Centerline is valid? [True, True] Translation: X:368.27, Y:23.46, Z:13.54 [[ 9.94420759e-01 -9.46877413e-02 -4.64928461e-02 3.68266927e+02] [ 9.46342825e-02 9.95506454e-01 -3.35454878e-03 2.34623933e+01] [ 4.66015630e-02 -1.06398419e-03 9.98912990e-01 1.35384758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90509989299994 meters 0.017137457835351817 Centerline is valid? [True, True] Translation: X:368.33, Y:23.46, Z:13.54 [[ 9.93813107e-01 -1.00791804e-01 -4.66532043e-02 3.68327796e+02] [ 1.00744768e-01 9.94906615e-01 -3.36444435e-03 2.34609936e+01] [ 4.67546900e-02 -1.35643733e-03 9.98905481e-01 1.35404307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96509989299994 meters 0.019199194971784714 Centerline is valid? [True, True] Translation: X:368.39, Y:23.46, Z:13.54 [[ 9.92709921e-01 -1.10517676e-01 -4.80921569e-02 3.68388404e+02] [ 1.10479141e-01 9.93872396e-01 -3.46685765e-03 2.34594408e+01] [ 4.81806163e-02 -1.87159618e-03 9.98836886e-01 1.35431217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02509989299995 meters 0.026828566180012257 Centerline is valid? [True, True] Translation: X:368.45, Y:23.45, Z:13.54 [[ 9.91593507e-01 -1.19897576e-01 -4.86506682e-02 3.68448981e+02] [ 1.19869392e-01 9.92783476e-01 -3.50707304e-03 2.34500429e+01] [ 4.87200690e-02 -2.35413514e-03 9.98809698e-01 1.35431814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08509989299995 meters 0.025714520730537198 Centerline is valid? [True, True] Translation: X:368.51, Y:23.46, Z:13.55 [[ 9.90909372e-01 -1.25342855e-01 -4.88649632e-02 3.68509414e+02] [ 1.25321010e-01 9.92109991e-01 -3.52267332e-03 2.34550753e+01] [ 4.89209601e-02 -2.63315654e-03 9.98799182e-01 1.35464834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14509989299995 meters 0.029256652013176735 Centerline is valid? [True, True] Translation: X:368.57, Y:23.46, Z:13.55 [[ 9.90091892e-01 -1.31461821e-01 -4.93541802e-02 3.68570230e+02] [ 1.31447136e-01 9.91316799e-01 -3.55730579e-03 2.34552817e+01] [ 4.93932778e-02 -2.96540601e-03 9.98775005e-01 1.35480740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20509989299995 meters 0.030449850679034204 Centerline is valid? [True, True] Translation: X:368.63, Y:23.46, Z:13.55 [[ 9.89675246e-01 -1.34036871e-01 -5.07643959e-02 3.68631448e+02] [ 1.34024808e-01 9.90971229e-01 -3.65705340e-03 2.34591797e+01] [ 5.07962358e-02 -3.18439319e-03 9.98703961e-01 1.35492847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26509989299996 meters 0.0312321018859489 Centerline is valid? [True, True] Translation: X:368.69, Y:23.46, Z:13.55 [[ 9.89286242e-01 -1.36379638e-01 -5.20895890e-02 3.68691910e+02] [ 1.36370269e-01 9.90650838e-01 -3.75066920e-03 2.34634917e+01] [ 5.21141099e-02 -3.39298586e-03 9.98635372e-01 1.35506905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32509989299996 meters 0.03408034215388533 Centerline is valid? [True, True] Translation: X:368.75, Y:23.47, Z:13.55 [[ 9.89285710e-01 -1.36221954e-01 -5.25105965e-02 3.68752621e+02] [ 1.36212293e-01 9.90672462e-01 -3.77948976e-03 2.34665088e+01] [ 5.25356514e-02 -3.41359353e-03 9.98613215e-01 1.35523073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38509989299996 meters 0.03218128364928022 Centerline is valid? [True, True] Translation: X:368.81, Y:23.48, Z:13.56 [[ 9.89566161e-01 -1.34024015e-01 -5.28807684e-02 3.68813403e+02] [ 1.34011160e-01 9.90972518e-01 -3.80491660e-03 2.34765661e+01] [ 5.29133384e-02 -3.32139640e-03 9.98593584e-01 1.35554490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44509989299996 meters 0.029544203918193342 Centerline is valid? [True, True] Translation: X:368.87, Y:23.49, Z:13.56 [[ 9.90391559e-01 -1.27775829e-01 -5.28951560e-02 3.68873638e+02] [ 1.27754162e-01 9.91798568e-01 -3.80451699e-03 2.34892138e+01] [ 5.29474653e-02 -2.98961482e-03 9.98592824e-01 1.35580209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50509989299997 meters 0.026802645282924017 Centerline is valid? [True, True] Translation: X:368.93, Y:23.50, Z:13.56 [[ 9.91474453e-01 -1.19299315e-01 -5.24030778e-02 3.68932616e+02] [ 1.19266249e-01 9.92855154e-01 -3.76887680e-03 2.35033871e+01] [ 5.24782903e-02 -2.51317346e-03 9.98618903e-01 1.35609706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56509989299997 meters 0.023499566585112118 Centerline is valid? [True, True] Translation: X:368.99, Y:23.52, Z:13.57 [[ 9.92251333e-01 -1.13149841e-01 -5.13264536e-02 3.68991910e+02] [ 1.13109902e-01 9.93575625e-01 -3.69150701e-03 2.35167855e+01] [ 5.14144067e-02 -2.14262741e-03 9.98675106e-01 1.35654258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62509989299997 meters 0.018540570780656875 Centerline is valid? [True, True] Translation: X:369.05, Y:23.54, Z:13.57 [[ 9.93273759e-01 -1.04180164e-01 -5.05344746e-02 3.69051682e+02] [ 1.04129863e-01 9.94557069e-01 -3.63429790e-03 2.35355302e+01] [ 5.06380407e-02 -1.65229520e-03 9.98715705e-01 1.35699136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.685099893 meters 0.01648862050013623 Centerline is valid? [True, True] Translation: X:369.11, Y:23.55, Z:13.57 [[ 9.93818694e-01 -9.90288612e-02 -5.01765720e-02 3.69112994e+02] [ 9.89727794e-02 9.95083603e-01 -3.60721340e-03 2.35468169e+01] [ 5.02871023e-02 -1.38119869e-03 9.98733848e-01 1.35730014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.745099893 meters 0.016105330571992545 Centerline is valid? [True, True] Translation: X:369.17, Y:23.56, Z:13.57 [[ 9.94265714e-01 -9.43108214e-02 -5.04099077e-02 3.69172950e+02] [ 9.42482733e-02 9.95542137e-01 -3.62170563e-03 2.35551822e+01] [ 5.05267532e-02 -1.15010903e-03 9.98722046e-01 1.35745629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.805099893 meters 0.015057240582066492 Centerline is valid? [True, True] Translation: X:369.23, Y:23.56, Z:13.58 [[ 9.94486103e-01 -9.15591771e-02 -5.11303015e-02 3.69233618e+02] [ 9.14912552e-02 9.95799109e-01 -3.67228562e-03 2.35632436e+01] [ 5.12517401e-02 -1.02593845e-03 9.98685239e-01 1.35765825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.865099893 meters 0.014263336488628564 Centerline is valid? [True, True] Translation: X:369.29, Y:23.57, Z:13.58 [[ 9.94830799e-01 -8.76850322e-02 -5.12153914e-02 3.69294866e+02] [ 8.76118593e-02 9.96147904e-01 -3.67633835e-03 2.35718831e+01] [ 5.13404646e-02 -8.29741049e-04 9.98680864e-01 1.35793042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.925099893 meters 0.01333235828154479 Centerline is valid? [True, True] Translation: X:369.36, Y:23.58, Z:13.58 [[ 9.95155191e-01 -8.47287532e-02 -4.98716818e-02 3.69355840e+02] [ 8.46557786e-02 9.96403834e-01 -3.57752144e-03 2.35794898e+01] [ 4.99954539e-02 -6.61737022e-04 9.98749226e-01 1.35837312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.985099893 meters 0.013215119456833613 Centerline is valid? [True, True] Translation: X:369.42, Y:23.58, Z:13.59 [[ 9.95254906e-01 -8.39295833e-02 -4.92290179e-02 3.69416667e+02] [ 8.38575876e-02 9.96471498e-01 -3.52966801e-03 2.35839661e+01] [ 4.93515568e-02 -6.15307282e-04 9.98781280e-01 1.35865320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.045099893 meters 0.013941731303029375 Centerline is valid? [True, True] Translation: X:369.48, Y:23.59, Z:13.59 [[ 9.95084922e-01 -8.61187240e-02 -4.88831554e-02 3.69476783e+02] [ 8.60504505e-02 9.96284621e-01 -3.50334279e-03 2.35853170e+01] [ 4.90032393e-02 -7.20293955e-04 9.98798360e-01 1.35873157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.105099893 meters 0.01465853878613969 Centerline is valid? [True, True] Translation: X:369.54, Y:23.59, Z:13.59 [[ 9.94550638e-01 -9.20019612e-02 -4.90374047e-02 3.69537931e+02] [ 9.19404397e-02 9.95758309e-01 -3.51352911e-03 2.35851742e+01] [ 4.91526547e-02 -1.01413793e-03 9.98790763e-01 1.35892896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.165099893 meters 0.01693141535713418 Centerline is valid? [True, True] Translation: X:369.60, Y:23.58, Z:13.59 [[ 9.93831659e-01 -9.99328230e-02 -4.80839369e-02 3.69598908e+02] [ 9.98829759e-02 9.94993230e-01 -3.44436769e-03 2.35815100e+01] [ 4.81873971e-02 -1.37964506e-03 9.98837360e-01 1.35920184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.225099893 meters 0.01817354697598811 Centerline is valid? [True, True] Translation: X:369.66, Y:23.58, Z:13.59 [[ 9.93562166e-01 -1.02813415e-01 -4.75775611e-02 3.69661009e+02] [ 1.02767976e-01 9.94699521e-01 -3.40670312e-03 2.35824625e+01] [ 4.76756320e-02 -1.50467831e-03 9.98861737e-01 1.35943663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28509989299994 meters 0.02122261132688954 Centerline is valid? [True, True] Translation: X:369.72, Y:23.58, Z:13.59 [[ 9.92952830e-01 -1.08284380e-01 -4.81577669e-02 3.69721555e+02] [ 1.08244374e-01 9.94118345e-01 -3.44557685e-03 2.35783059e+01] [ 4.82476217e-02 -1.79151207e-03 9.98833799e-01 1.35942833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34509989299994 meters 0.019407232469863006 Centerline is valid? [True, True] Translation: X:369.78, Y:23.58, Z:13.60 [[ 9.92887477e-01 -1.09323453e-01 -4.71470050e-02 3.69783683e+02] [ 1.09286310e-01 9.94004592e-01 -3.37253556e-03 2.35836614e+01] [ 4.72330367e-02 -1.80397390e-03 9.98882268e-01 1.35981380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40509989299994 meters 0.020599361690225634 Centerline is valid? [True, True] Translation: X:369.84, Y:23.59, Z:13.60 [[ 9.93085384e-01 -1.08038460e-01 -4.59250504e-02 3.69844821e+02] [ 1.08001989e-01 9.94145260e-01 -3.28201793e-03 2.35854759e+01] [ 4.60107554e-02 -1.70067274e-03 9.98939497e-01 1.36000867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46509989299994 meters 0.017228042929554592 Centerline is valid? [True, True] Translation: X:369.90, Y:23.59, Z:13.60 [[ 9.93586256e-01 -1.02865213e-01 -4.69584946e-02 3.69904907e+02] [ 1.02821417e-01 9.94694179e-01 -3.35364643e-03 2.35949754e+01] [ 4.70543147e-02 -1.49620196e-03 9.98891212e-01 1.36023524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52509989299995 meters 0.014931472775963633 Centerline is valid? [True, True] Translation: X:369.97, Y:23.61, Z:13.60 [[ 9.94349886e-01 -9.46244859e-02 -4.81093710e-02 3.69965042e+02] [ 9.45689201e-02 9.95512391e-01 -3.43495049e-03 2.36053104e+01] [ 4.82185054e-02 -1.13410863e-03 9.98836168e-01 1.36044301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58509989299995 meters 0.014393831094828816 Centerline is valid? [True, True] Translation: X:370.03, Y:23.61, Z:13.61 [[ 9.94602480e-01 -9.15541039e-02 -4.88236958e-02 3.70026577e+02] [ 9.14932433e-02 9.95799600e-01 -3.48464626e-03 2.36114112e+01] [ 4.89376504e-02 -1.00120046e-03 9.98801334e-01 1.36066666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64509989299995 meters 0.012363154601364031 Centerline is valid? [True, True] Translation: X:370.09, Y:23.62, Z:13.61 [[ 9.95365316e-01 -8.22698049e-02 -4.97952442e-02 3.70087044e+02] [ 8.21950060e-02 9.96609938e-01 -3.55148328e-03 2.36223099e+01] [ 4.99186151e-02 -5.57897122e-04 9.98753133e-01 1.36094705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70509989299995 meters 0.011887264716430599 Centerline is valid? [True, True] Translation: X:370.15, Y:23.63, Z:13.61 [[ 9.95820621e-01 -7.68370380e-02 -4.93696339e-02 3.70146384e+02] [ 7.67568946e-02 9.97043624e-01 -3.51998556e-03 2.36296794e+01] [ 4.94941440e-02 -2.84185587e-04 9.98774373e-01 1.36120968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76509989299996 meters 0.011743221108981286 Centerline is valid? [True, True] Translation: X:370.21, Y:23.64, Z:13.62 [[ 9.96270764e-01 -7.13639260e-02 -4.84948871e-02 3.70206070e+02] [ 7.12800744e-02 9.97450345e-01 -3.45847563e-03 2.36372163e+01] [ 4.86180522e-02 -1.11409970e-05 9.98817443e-01 1.36154721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82509989299996 meters 0.011767091008895357 Centerline is valid? [True, True] Translation: X:370.27, Y:23.64, Z:13.62 [[ 9.96324789e-01 -7.03462747e-02 -4.88704014e-02 3.70265130e+02] [ 7.02598418e-02 9.97522631e-01 -3.48634312e-03 2.36416836e+01] [ 4.89945826e-02 3.99034040e-05 9.98799043e-01 1.36190576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88509989299996 meters 0.011859100200676707 Centerline is valid? [True, True] Translation: X:370.32, Y:23.64, Z:13.62 [[ 9.96050031e-01 -7.40872859e-02 -4.89429206e-02 3.70323852e+02] [ 7.40048951e-02 9.97251751e-01 -3.49585821e-03 2.36420420e+01] [ 4.90674119e-02 -1.39966024e-04 9.98795459e-01 1.36216711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94509989299996 meters 0.01210902892942969 Centerline is valid? [True, True] Translation: X:370.38, Y:23.64, Z:13.62 [[ 9.95739717e-01 -7.83697438e-02 -4.85860083e-02 3.70383543e+02] [ 7.82931660e-02 9.96924304e-01 -3.48016653e-03 2.36412585e+01] [ 4.87093123e-02 -3.38612375e-04 9.98812940e-01 1.36248483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00509989299997 meters 0.01272303928550364 Centerline is valid? [True, True] Translation: X:370.44, Y:23.64, Z:13.63 [[ 9.95133644e-01 -8.56752937e-02 -4.86700671e-02 3.70444174e+02] [ 8.56071105e-02 9.96322869e-01 -3.48753665e-03 2.36383576e+01] [ 4.87898966e-02 -6.95938760e-04 9.98808821e-01 1.36285301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06509989299997 meters 0.014003666537623 Centerline is valid? [True, True] Translation: X:370.50, Y:23.64, Z:13.63 [[ 9.94599716e-01 -9.14167396e-02 -4.91363789e-02 3.70504231e+02] [ 9.13542397e-02 9.95812234e-01 -3.52095102e-03 2.36356618e+01] [ 4.92524811e-02 -9.86879655e-04 9.98785873e-01 1.36305332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12509989299997 meters 0.014701861451162835 Centerline is valid? [True, True] Translation: X:370.57, Y:23.63, Z:13.63 [[ 9.94309566e-01 -9.42423455e-02 -4.96675596e-02 3.70565218e+02] [ 9.41820372e-02 9.95548633e-01 -3.55841325e-03 2.36341878e+01] [ 4.97818243e-02 -1.13962760e-03 9.98759466e-01 1.36323056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.185099893 meters 0.014875987083492862 Centerline is valid? [True, True] Translation: X:370.63, Y:23.64, Z:13.63 [[ 9.94351484e-01 -9.39478173e-02 -4.93855639e-02 3.70625535e+02] [ 9.38879174e-02 9.95576493e-01 -3.53642709e-03 2.36362591e+01] [ 4.94993461e-02 -1.12025622e-03 9.98773528e-01 1.36346921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.245099893 meters 0.013147450846510316 Centerline is valid? [True, True] Translation: X:370.69, Y:23.64, Z:13.64 [[ 9.94950890e-01 -8.82327230e-02 -4.78300458e-02 3.70685993e+02] [ 8.81699457e-02 9.96099559e-01 -3.42484409e-03 2.36414053e+01] [ 4.79456708e-02 -8.09620869e-04 9.98849617e-01 1.36386448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.305099893 meters 0.012569657097274957 Centerline is valid? [True, True] Translation: X:370.75, Y:23.65, Z:13.64 [[ 9.95290555e-01 -8.43261313e-02 -4.78101987e-02 3.70746335e+02] [ 8.42589337e-02 9.96438015e-01 -3.42274137e-03 2.36453068e+01] [ 4.79285260e-02 -6.21814205e-04 9.98850574e-01 1.36405550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.365099893 meters 0.01227861322155513 Centerline is valid? [True, True] Translation: X:370.81, Y:23.65, Z:13.64 [[ 9.95562556e-01 -8.07389360e-02 -4.83365484e-02 3.70805657e+02] [ 8.06660143e-02 9.96735180e-01 -3.46062161e-03 2.36491385e+01] [ 4.84581451e-02 -4.53851403e-04 9.98825111e-01 1.36418304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.425099893 meters 0.01189496052577887 Centerline is valid? [True, True] Translation: X:370.86, Y:23.65, Z:13.64 [[ 9.95803070e-01 -7.80450381e-02 -4.78039593e-02 3.70864026e+02] [ 7.79704540e-02 9.96949784e-01 -3.42579352e-03 2.36516831e+01] [ 4.79255131e-02 -3.15880703e-04 9.98850862e-01 1.36448311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.485099893 meters 0.011824987327551733 Centerline is valid? [True, True] Translation: X:370.92, Y:23.65, Z:13.65 [[ 9.95858108e-01 -7.77339014e-02 -4.71600314e-02 3.70923377e+02] [ 7.76605145e-02 9.96974101e-01 -3.38916994e-03 2.36525901e+01] [ 4.72807833e-02 -2.87339932e-04 9.98881597e-01 1.36480509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.545099893 meters 0.011864685784335152 Centerline is valid? [True, True] Translation: X:370.98, Y:23.65, Z:13.65 [[ 9.95853159e-01 -7.79480171e-02 -4.69104711e-02 3.70980984e+02] [ 7.78755391e-02 9.96957381e-01 -3.37343505e-03 2.36534549e+01] [ 4.70306930e-02 -2.93732275e-04 9.98893402e-01 1.36500044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.605099893 meters 0.011890283635666172 Centerline is valid? [True, True] Translation: X:371.04, Y:23.65, Z:13.65 [[ 9.95771263e-01 -7.98497131e-02 -4.54270388e-02 3.71039482e+02] [ 7.97834843e-02 9.96806847e-01 -3.27205639e-03 2.36519591e+01] [ 4.55432560e-02 -3.66107710e-04 9.98962300e-01 1.36528072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.665099893 meters 0.012321118819195146 Centerline is valid? [True, True] Translation: X:371.10, Y:23.65, Z:13.66 [[ 9.95641143e-01 -8.25862776e-02 -4.33384385e-02 3.71099363e+02] [ 8.25281886e-02 9.96583813e-01 -3.13087675e-03 2.36503874e+01] [ 4.34489537e-02 -4.59413112e-04 9.99055543e-01 1.36559817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.725099893 meters 0.013302567410695654 Centerline is valid? [True, True] Translation: X:371.16, Y:23.65, Z:13.66 [[ 9.95206759e-01 -8.87404143e-02 -4.10931426e-02 3.71159952e+02] [ 8.86933750e-02 9.96054549e-01 -2.97001206e-03 2.36451646e+01] [ 4.11945717e-02 -6.88913433e-04 9.99150906e-01 1.36595336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78509989299994 meters 0.014564869541001028 Centerline is valid? [True, True] Translation: X:371.22, Y:23.64, Z:13.66 [[ 9.94722705e-01 -9.41893299e-02 -4.06830400e-02 3.71221742e+02] [ 9.41477539e-02 9.95553892e-01 -2.94091854e-03 2.36420290e+01] [ 4.07791620e-02 -9.04818396e-04 9.99167774e-01 1.36611862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84509989299994 meters 0.01688278999598837 Centerline is valid? [True, True] Translation: X:371.28, Y:23.63, Z:13.66 [[ 9.93805938e-01 -1.03690503e-01 -3.99754507e-02 3.71283441e+02] [ 1.03658085e-01 9.94608797e-01 -2.88842676e-03 2.36341117e+01] [ 4.00594373e-02 -1.27324300e-03 9.99196487e-01 1.36626530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90509989299994 meters 0.019885334860925526 Centerline is valid? [True, True] Translation: X:371.34, Y:23.63, Z:13.66 [[ 9.92635985e-01 -1.14565685e-01 -3.93510517e-02 3.71344873e+02] [ 1.14542798e-01 9.93414246e-01 -2.84311967e-03 2.36259163e+01] [ 3.94176193e-02 -1.68519668e-03 9.99221403e-01 1.36647311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96509989299994 meters 0.02402512451210452 Centerline is valid? [True, True] Translation: X:371.41, Y:23.62, Z:13.67 [[ 9.91787073e-01 -1.21667020e-01 -3.94403062e-02 3.71405139e+02] [ 1.21649644e-01 9.92569014e-01 -2.84912493e-03 2.36205075e+01] [ 3.94938703e-02 -1.97217392e-03 9.99217867e-01 1.36666018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02509989299995 meters 0.02575301269967824 Centerline is valid? [True, True] Translation: X:371.47, Y:23.62, Z:13.67 [[ 9.90774102e-01 -1.29796784e-01 -3.89804199e-02 3.71465959e+02] [ 1.29786086e-01 9.91538020e-01 -2.81560557e-03 2.36180340e+01] [ 3.90160249e-02 -2.26948706e-03 9.99236008e-01 1.36694068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08509989299995 meters 0.028949080547495704 Centerline is valid? [True, True] Translation: X:371.53, Y:23.62, Z:13.67 [[ 9.90312055e-01 -1.33238225e-01 -3.91102237e-02 3.71526403e+02] [ 1.33230183e-01 9.91081100e-01 -2.82356967e-03 2.36156952e+01] [ 3.91376109e-02 -2.41444717e-03 9.99230913e-01 1.36714615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14509989299995 meters 0.030947592338648786 Centerline is valid? [True, True] Translation: X:371.59, Y:23.62, Z:13.67 [[ 9.90001938e-01 -1.35707802e-01 -3.84649805e-02 3.71587957e+02] [ 1.35701950e-01 9.90745820e-01 -2.77508037e-03 2.36157414e+01] [ 3.84856187e-02 -2.47243793e-03 9.99256095e-01 1.36744742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20509989299995 meters 0.03229033013563803 Centerline is valid? [True, True] Translation: X:371.65, Y:23.62, Z:13.68 [[ 9.90088957e-01 -1.35322598e-01 -3.75719663e-02 3.71648228e+02] [ 1.35316787e-01 9.90798681e-01 -2.70933656e-03 2.36184947e+01] [ 3.75928892e-02 -2.40163356e-03 9.99290252e-01 1.36773475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26509989299996 meters 0.033314827686958426 Centerline is valid? [True, True] Translation: X:371.71, Y:23.62, Z:13.68 [[ 9.90224358e-01 -1.34245303e-01 -3.78671211e-02 3.71708377e+02] [ 1.34238642e-01 9.90945273e-01 -2.72994176e-03 2.36218760e+01] [ 3.78907266e-02 -2.37997609e-03 9.99279054e-01 1.36798237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32509989299996 meters 0.026407385408599604 Centerline is valid? [True, True] Translation: X:371.77, Y:23.64, Z:13.68 [[ 9.90474316e-01 -1.32013089e-01 -3.91557612e-02 3.71769172e+02] [ 1.32004263e-01 9.91245131e-01 -2.82206189e-03 2.36375131e+01] [ 3.91855067e-02 -2.37354758e-03 9.99229134e-01 1.36811133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38509989299996 meters 0.027915561014227284 Centerline is valid? [True, True] Translation: X:371.83, Y:23.64, Z:13.68 [[ 9.90725937e-01 -1.30074906e-01 -3.92764052e-02 3.71829675e+02] [ 1.30064594e-01 9.91501488e-01 -2.82857689e-03 2.36414986e+01] [ 3.93105410e-02 -2.30612518e-03 9.99224381e-01 1.36832867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44509989299996 meters 0.02578483337889218 Centerline is valid? [True, True] Translation: X:371.89, Y:23.65, Z:13.69 [[ 9.91146617e-01 -1.26801369e-01 -3.93674576e-02 3.71889680e+02] [ 1.26788492e-01 9.91925727e-01 -2.83371075e-03 2.36520831e+01] [ 3.94089124e-02 -2.18271775e-03 9.99220783e-01 1.36853776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50509989299997 meters 0.025749774633744928 Centerline is valid? [True, True] Translation: X:371.95, Y:23.66, Z:13.69 [[ 9.91280165e-01 -1.25809783e-01 -3.91858691e-02 3.71951470e+02] [ 1.25796286e-01 9.92052087e-01 -2.81974102e-03 2.36575885e+01] [ 3.92291743e-02 -2.13428346e-03 9.99227960e-01 1.36879972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56509989299997 meters 0.025877879608566832 Centerline is valid? [True, True] Translation: X:372.01, Y:23.67, Z:13.69 [[ 9.91650197e-01 -1.22674890e-01 -3.97587382e-02 3.72011210e+02] [ 1.22658594e-01 9.92444810e-01 -2.85820206e-03 2.36651286e+01] [ 3.98089830e-02 -2.04241429e-03 9.99205221e-01 1.36901926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62509989299997 meters 0.025011292420589575 Centerline is valid? [True, True] Translation: X:372.07, Y:23.67, Z:13.69 [[ 9.91952867e-01 -1.20188845e-01 -3.98014071e-02 3.72072502e+02] [ 1.20170524e-01 9.92749142e-01 -2.86113058e-03 2.36730133e+01] [ 3.98566888e-02 -1.94484927e-03 9.99203514e-01 1.36923660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.685099893 meters 0.023015696783898396 Centerline is valid? [True, True] Translation: X:372.13, Y:23.68, Z:13.70 [[ 9.92354266e-01 -1.16965435e-01 -3.93966678e-02 3.72133135e+02] [ 1.16945031e-01 9.93134357e-01 -2.82998289e-03 2.36830185e+01] [ 3.94571945e-02 -1.79889893e-03 9.99219642e-01 1.36953869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.745099893 meters 0.020625055981145134 Centerline is valid? [True, True] Translation: X:372.19, Y:23.69, Z:13.70 [[ 9.92762092e-01 -1.13861274e-01 -3.81973785e-02 3.72194432e+02] [ 1.13839852e-01 9.93495328e-01 -2.74246364e-03 2.36933437e+01] [ 3.82611775e-02 -1.62576997e-03 9.99266451e-01 1.36986478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.805099893 meters 0.023216464121636384 Centerline is valid? [True, True] Translation: X:372.26, Y:23.70, Z:13.70 [[ 9.92949719e-01 -1.12163631e-01 -3.83428715e-02 3.72255571e+02] [ 1.12140878e-01 9.93688512e-01 -2.75041252e-03 2.36964941e+01] [ 3.84093672e-02 -1.56878193e-03 9.99260857e-01 1.37004394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.865099893 meters 0.019271540417705065 Centerline is valid? [True, True] Translation: X:372.32, Y:23.71, Z:13.70 [[ 9.92910615e-01 -1.12185265e-01 -3.92807520e-02 3.72316685e+02] [ 1.12161613e-01 9.93685998e-01 -2.81234000e-03 2.37081902e+01] [ 3.93482364e-02 -1.61339027e-03 9.99224256e-01 1.37020378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.925099893 meters 0.02064672019642639 Centerline is valid? [True, True] Translation: X:372.38, Y:23.71, Z:13.70 [[ 9.92677305e-01 -1.13744741e-01 -4.06682023e-02 3.72377875e+02] [ 1.13720821e-01 9.93508488e-01 -2.90858486e-03 2.37113846e+01] [ 4.07350404e-02 -1.73753517e-03 9.99168473e-01 1.37030209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.985099893 meters 0.022790414180902125 Centerline is valid? [True, True] Translation: X:372.44, Y:23.71, Z:13.70 [[ 9.92151180e-01 -1.17985398e-01 -4.14183750e-02 3.72438937e+02] [ 1.17964364e-01 9.93013417e-01 -2.96005422e-03 2.37142391e+01] [ 4.14782453e-02 -1.94907098e-03 9.99137506e-01 1.37047277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.045099893 meters 0.02564970685102665 Centerline is valid? [True, True] Translation: X:372.50, Y:23.72, Z:13.71 [[ 9.91686318e-01 -1.22013220e-01 -4.08781321e-02 3.72499021e+02] [ 1.21996168e-01 9.92526274e-01 -2.92077785e-03 2.37156607e+01] [ 4.09289937e-02 -2.09048006e-03 9.99159871e-01 1.37076912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.105099893 meters 0.029935063916258383 Centerline is valid? [True, True] Translation: X:372.56, Y:23.72, Z:13.71 [[ 9.90999557e-01 -1.27689511e-01 -4.01903903e-02 3.72558753e+02] [ 1.27677675e-01 9.91811557e-01 -2.87168243e-03 2.37153787e+01] [ 4.02279773e-02 -2.28557956e-03 9.99187913e-01 1.37112679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.165099893 meters 0.02989678040239748 Centerline is valid? [True, True] Translation: X:372.62, Y:23.72, Z:13.71 [[ 9.90595763e-01 -1.30964032e-01 -3.96037396e-02 3.72619446e+02] [ 1.30955123e-01 9.91384257e-01 -2.83026798e-03 2.37206396e+01] [ 3.96331873e-02 -2.38266114e-03 9.99211456e-01 1.37142494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.225099893 meters 0.02665744196161127 Centerline is valid? [True, True] Translation: X:372.68, Y:23.73, Z:13.72 [[ 9.90050365e-01 -1.35258434e-01 -3.87998901e-02 3.72679014e+02] [ 1.35253189e-01 9.90807191e-01 -2.77215660e-03 2.37305009e+01] [ 3.88181677e-02 -2.50323423e-03 9.99243155e-01 1.37175652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28509989299994 meters 0.03124326479201875 Centerline is valid? [True, True] Translation: X:372.74, Y:23.73, Z:13.72 [[ 9.89728246e-01 -1.37610599e-01 -3.87469028e-02 3.72739714e+02] [ 1.37607178e-01 9.90483015e-01 -2.76797808e-03 2.37291694e+01] [ 3.87590523e-02 -2.59230586e-03 9.99245223e-01 1.37196386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34509989299994 meters 0.0342718810707246 Centerline is valid? [True, True] Translation: X:372.80, Y:23.73, Z:13.72 [[ 9.89155250e-01 -1.41019871e-01 -4.10522535e-02 3.72800791e+02] [ 1.41018986e-01 9.90002550e-01 -2.93191445e-03 2.37305482e+01] [ 4.10552938e-02 -2.88902858e-03 9.99152699e-01 1.37202221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40509989299994 meters 0.03257553773737628 Centerline is valid? [True, True] Translation: X:372.86, Y:23.74, Z:13.72 [[ 9.88896979e-01 -1.42522147e-01 -4.20737750e-02 3.72862386e+02] [ 1.42522595e-01 9.89786989e-01 -3.00432996e-03 2.37377529e+01] [ 4.20722586e-02 -3.02549076e-03 9.99109990e-01 1.37220166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46509989299994 meters 0.030137895772245973 Centerline is valid? [True, True] Translation: X:372.92, Y:23.75, Z:13.72 [[ 9.88782661e-01 -1.42996069e-01 -4.31390003e-02 3.72923991e+02] [ 1.42997131e-01 9.89718319e-01 -3.07715555e-03 2.37475823e+01] [ 4.31354800e-02 -3.12611523e-03 9.99064341e-01 1.37247191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52509989299995 meters 0.030173078345420826 Centerline is valid? [True, True] Translation: X:372.99, Y:23.75, Z:13.73 [[ 9.88953774e-01 -1.41893866e-01 -4.28551534e-02 3.72985492e+02] [ 1.41894022e-01 9.89877145e-01 -3.05368815e-03 2.37537085e+01] [ 4.28546365e-02 -3.06093368e-03 9.99076629e-01 1.37269460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58509989299995 meters 0.03184071265535759 Centerline is valid? [True, True] Translation: X:373.04, Y:23.76, Z:13.73 [[ 9.89536310e-01 -1.38004454e-01 -4.21029874e-02 3.73044493e+02] [ 1.38001212e-01 9.90427524e-01 -2.99741828e-03 2.37600531e+01] [ 4.21136147e-02 -2.84420906e-03 9.99108780e-01 1.37287034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64509989299995 meters 0.028344395305269155 Centerline is valid? [True, True] Translation: X:373.11, Y:23.77, Z:13.73 [[ 9.89804710e-01 -1.36257767e-01 -4.14783999e-02 3.73105229e+02] [ 1.36253075e-01 9.90669661e-01 -2.95334850e-03 2.37712622e+01] [ 4.14938091e-02 -2.72832130e-03 9.99135036e-01 1.37312640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70509989299995 meters 0.030389078425625153 Centerline is valid? [True, True] Translation: X:373.17, Y:23.77, Z:13.73 [[ 9.89953734e-01 -1.35064530e-01 -4.18231642e-02 3.73166639e+02] [ 1.35058770e-01 9.90833119e-01 -2.97623075e-03 2.37745113e+01] [ 4.18417594e-02 -2.70225438e-03 9.99120596e-01 1.37328629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76509989299996 meters 0.029129162098298342 Centerline is valid? [True, True] Translation: X:373.23, Y:23.78, Z:13.73 [[ 9.89881538e-01 -1.35600365e-01 -4.17981188e-02 3.73228115e+02] [ 1.35595188e-01 9.90759866e-01 -2.97205413e-03 2.37822107e+01] [ 4.18149102e-02 -2.72564225e-03 9.99121656e-01 1.37347583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82509989299996 meters 0.032210697781222236 Centerline is valid? [True, True] Translation: X:373.29, Y:23.78, Z:13.74 [[ 9.89778374e-01 -1.36323838e-01 -4.18877297e-02 3.73289636e+02] [ 1.36319411e-01 9.90660469e-01 -2.97540814e-03 2.37829590e+01] [ 4.19021370e-02 -2.76511599e-03 9.99117893e-01 1.37360577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88509989299996 meters 0.029219128820533968 Centerline is valid? [True, True] Translation: X:373.35, Y:23.79, Z:13.74 [[ 9.89774231e-01 -1.36021412e-01 -4.29551782e-02 3.73351620e+02] [ 1.36016583e-01 9.90701870e-01 -3.04871789e-03 2.37924400e+01] [ 4.29704663e-02 -2.82507415e-03 9.99072349e-01 1.37377430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94509989299996 meters 0.029184829429637467 Centerline is valid? [True, True] Translation: X:373.41, Y:23.80, Z:13.74 [[ 9.90031926e-01 -1.33904358e-01 -4.36624412e-02 3.73412459e+02] [ 1.33897454e-01 9.90990357e-01 -3.09586839e-03 2.37982416e+01] [ 4.36836085e-02 -2.78128115e-03 9.99041544e-01 1.37391205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00509989299997 meters 0.02602428970826945 Centerline is valid? [True, True] Translation: X:373.47, Y:23.81, Z:13.74 [[ 9.90863107e-01 -1.27412827e-01 -4.42297922e-02 3.73472620e+02] [ 1.27399365e-01 9.91846549e-01 -3.13457953e-03 2.38102964e+01] [ 4.42685524e-02 -2.52890822e-03 9.99016466e-01 1.37416472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06509989299997 meters 0.024402616812142407 Centerline is valid? [True, True] Translation: X:373.53, Y:23.82, Z:13.74 [[ 9.91644488e-01 -1.21241155e-01 -4.40657718e-02 3.73532799e+02] [ 1.21221744e-01 9.92620542e-01 -3.12231462e-03 2.38195046e+01] [ 4.41191434e-02 -2.24550362e-03 9.99023753e-01 1.37448479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12509989299997 meters 0.020876173877218806 Centerline is valid? [True, True] Translation: X:373.59, Y:23.83, Z:13.75 [[ 9.92924395e-01 -1.10917662e-01 -4.24077557e-02 3.73592281e+02] [ 1.10890278e-01 9.93828112e-01 -3.00485934e-03 2.38323801e+01] [ 4.24793118e-02 -1.71900966e-03 9.99095868e-01 1.37486901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.185099893 meters 0.019769812368837347 Centerline is valid? [True, True] Translation: X:373.65, Y:23.84, Z:13.75 [[ 9.93750678e-01 -1.03626145e-01 -4.14874903e-02 3.73651016e+02] [ 1.03593581e-01 9.94615367e-01 -2.93979262e-03 2.38404245e+01] [ 4.15687347e-02 -1.37641677e-03 9.99134699e-01 1.37512617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.245099893 meters 0.017313597924706478 Centerline is valid? [True, True] Translation: X:373.71, Y:23.85, Z:13.75 [[ 9.94710526e-01 -9.43099167e-02 -4.07014680e-02 3.73710080e+02] [ 9.42707531e-02 9.95542417e-01 -2.88471322e-03 2.38501105e+01] [ 4.07920949e-02 -9.67503436e-04 9.99167188e-01 1.37533906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.305099893 meters 0.014934410396251511 Centerline is valid? [True, True] Translation: X:373.77, Y:23.86, Z:13.76 [[ 9.95175865e-01 -8.92468166e-02 -4.07431393e-02 3.73770669e+02] [ 8.92033135e-02 9.96009251e-01 -2.88810020e-03 2.38592465e+01] [ 4.08382974e-02 -7.60255418e-04 9.99165480e-01 1.37554729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.365099893 meters 0.01351086464215471 Centerline is valid? [True, True] Translation: X:373.83, Y:23.87, Z:13.76 [[ 9.95691245e-01 -8.32099454e-02 -4.09273683e-02 3.73831636e+02] [ 8.31610097e-02 9.96531905e-01 -2.89967848e-03 2.38663143e+01] [ 4.10267104e-02 -5.16376799e-04 9.99157917e-01 1.37566370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.425099893 meters 0.01336703348560139 Centerline is valid? [True, True] Translation: X:373.89, Y:23.87, Z:13.76 [[ 9.95887161e-01 -8.08946209e-02 -4.08022304e-02 3.73892678e+02] [ 8.08441063e-02 9.96722571e-01 -2.88922977e-03 2.38708476e+01] [ 4.09022271e-02 -4.21273017e-04 9.99163065e-01 1.37583615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.485099893 meters 0.01291701050077382 Centerline is valid? [True, True] Translation: X:373.95, Y:23.88, Z:13.76 [[ 9.96311529e-01 -7.55177024e-02 -4.07481821e-02 3.73953957e+02] [ 7.54629135e-02 9.97144441e-01 -2.88323081e-03 2.38763763e+01] [ 4.08495582e-02 -2.02380446e-04 9.99165288e-01 1.37598625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.545099893 meters 0.01285166049380775 Centerline is valid? [True, True] Translation: X:374.01, Y:23.88, Z:13.76 [[ 9.96464139e-01 -7.34213949e-02 -4.08474997e-02 3.74013948e+02] [ 7.33646372e-02 9.97301000e-01 -2.88880764e-03 2.38791158e+01] [ 4.09493526e-02 -1.18168776e-04 9.99161217e-01 1.37611203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.605099893 meters 0.0129311309820023 Centerline is valid? [True, True] Translation: X:374.07, Y:23.88, Z:13.76 [[ 9.96433316e-01 -7.42836751e-02 -4.00322716e-02 3.74074807e+02] [ 7.42298834e-02 9.97237140e-01 -2.83048855e-03 2.38799067e+01] [ 4.01319272e-02 -1.51197762e-04 9.99194378e-01 1.37632196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.665099893 meters 0.013127997751030168 Centerline is valid? [True, True] Translation: X:374.14, Y:23.88, Z:13.77 [[ 9.96247779e-01 -7.75292518e-02 -3.84652700e-02 3.74135351e+02] [ 7.74820086e-02 9.96990041e-01 -2.71967038e-03 2.38796793e+01] [ 3.85603451e-02 -2.70900805e-04 9.99256237e-01 1.37656502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.725099893 meters 0.014295211619238942 Centerline is valid? [True, True] Translation: X:374.20, Y:23.87, Z:13.77 [[ 9.95534913e-01 -8.63354162e-02 -3.81632489e-02 3.74196443e+02] [ 8.62954021e-02 9.96265942e-01 -2.69759766e-03 2.38741904e+01] [ 3.82536433e-02 -6.07760259e-04 9.99267877e-01 1.37674979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78509989299994 meters 0.01716623853972917 Centerline is valid? [True, True] Translation: X:374.26, Y:23.87, Z:13.77 [[ 9.94413838e-01 -9.85757934e-02 -3.77350291e-02 3.74257389e+02] [ 9.85455246e-02 9.95128973e-01 -2.66581996e-03 2.38657043e+01] [ 3.78140061e-02 -1.06768998e-03 9.99284224e-01 1.37690356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84509989299994 meters 0.01958983204901987 Centerline is valid? [True, True] Translation: X:374.32, Y:23.86, Z:13.77 [[ 9.93561071e-01 -1.07034283e-01 -3.71491674e-02 3.74317928e+02] [ 1.07010850e-01 9.94254389e-01 -2.62431499e-03 2.38614945e+01] [ 3.72166144e-02 -1.36794677e-03 9.99306286e-01 1.37711360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90509989299994 meters 0.024124401540713648 Centerline is valid? [True, True] Translation: X:374.38, Y:23.85, Z:13.77 [[ 9.92369589e-01 -1.17393105e-01 -3.77022327e-02 3.74379467e+02] [ 1.17376425e-01 9.93083925e-01 -2.66325359e-03 2.38536480e+01] [ 3.77541288e-02 -1.78242144e-03 9.99285469e-01 1.37725129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96509989299994 meters 0.028297445627975724 Centerline is valid? [True, True] Translation: X:374.44, Y:23.85, Z:13.77 [[ 9.91928675e-01 -1.21143815e-01 -3.74390197e-02 3.74439462e+02] [ 1.21130045e-01 9.92633125e-01 -2.64425525e-03 2.38495139e+01] [ 3.74835462e-02 -1.91207754e-03 9.99295416e-01 1.37745469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02509989299995 meters 0.026423289871935946 Centerline is valid? [True, True] Translation: X:374.50, Y:23.85, Z:13.78 [[ 9.91732377e-01 -1.22647193e-01 -3.77433334e-02 3.74501684e+02] [ 1.22634380e-01 9.92448344e-01 -2.66322565e-03 2.38542852e+01] [ 3.77849459e-02 -1.98742318e-03 9.99283918e-01 1.37766846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08509989299995 meters 0.024172073344711463 Centerline is valid? [True, True] Translation: X:374.56, Y:23.86, Z:13.78 [[ 9.91908858e-01 -1.20925856e-01 -3.86491258e-02 3.74562911e+02] [ 1.20911227e-01 9.92659586e-01 -2.72434170e-03 2.38610248e+01] [ 3.86948685e-02 -1.97081455e-03 9.99249130e-01 1.37780703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14509989299995 meters 0.02300265781126039 Centerline is valid? [True, True] Translation: X:374.62, Y:23.87, Z:13.78 [[ 9.92550818e-01 -1.15255189e-01 -3.94856323e-02 3.74623024e+02] [ 1.15235499e-01 9.93334305e-01 -2.78188499e-03 2.38677339e+01] [ 3.95430598e-02 -1.78898431e-03 9.99216266e-01 1.37800255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20509989299995 meters 0.020059984932493332 Centerline is valid? [True, True] Translation: X:374.68, Y:23.88, Z:13.78 [[ 9.93384335e-01 -1.07409478e-01 -4.06296211e-02 3.74682504e+02] [ 1.07382087e-01 9.94213707e-01 -2.86224482e-03 2.38783740e+01] [ 4.07019585e-02 -1.51958434e-03 9.99170176e-01 1.37822024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26509989299996 meters 0.018545637344438988 Centerline is valid? [True, True] Translation: X:374.74, Y:23.89, Z:13.78 [[ 9.93967995e-01 -1.01264750e-01 -4.21078997e-02 3.74742708e+02] [ 1.01229827e-01 9.94858645e-01 -2.96629706e-03 2.38870706e+01] [ 4.21917893e-02 -1.31417105e-03 9.99108666e-01 1.37839214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32509989299996 meters 0.016470756435794397 Centerline is valid? [True, True] Translation: X:374.80, Y:23.90, Z:13.79 [[ 9.94429103e-01 -9.62391589e-02 -4.29974709e-02 3.74803503e+02] [ 9.61980887e-02 9.95357603e-01 -3.02807343e-03 2.38965376e+01] [ 4.30892789e-02 -1.12507018e-03 9.99070592e-01 1.37862096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38509989299996 meters 0.01518451452327563 Centerline is valid? [True, True] Translation: X:374.86, Y:23.90, Z:13.79 [[ 9.94960171e-01 -9.06263445e-02 -4.29083078e-02 3.74863875e+02] [ 9.05802906e-02 9.95884576e-01 -3.02032840e-03 2.39044799e+01] [ 4.30054432e-02 -8.81540526e-04 9.99074449e-01 1.37895524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44509989299996 meters 0.014692450242574937 Centerline is valid? [True, True] Translation: X:374.92, Y:23.91, Z:13.79 [[ 9.95061129e-01 -8.95910395e-02 -4.27410153e-02 3.74924556e+02] [ 8.95444273e-02 9.95978288e-01 -3.00767543e-03 2.39106813e+01] [ 4.28385840e-02 -8.34398827e-04 9.99081658e-01 1.37929731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50509989299997 meters 0.015754219881199686 Centerline is valid? [True, True] Translation: X:374.98, Y:23.91, Z:13.80 [[ 9.94822203e-01 -9.21055659e-02 -4.29575230e-02 3.74984658e+02] [ 9.20608941e-02 9.95748796e-01 -3.02123472e-03 2.39120338e+01] [ 4.30531744e-02 -9.49116606e-04 9.99072331e-01 1.37962244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56509989299997 meters 0.016047419635630833 Centerline is valid? [True, True] Translation: X:375.05, Y:23.91, Z:13.80 [[ 9.94414614e-01 -9.64514407e-02 -4.28566884e-02 3.75045304e+02] [ 9.64110941e-02 9.95337042e-01 -3.01215062e-03 2.39144414e+01] [ 4.29473758e-02 -1.13653363e-03 9.99076689e-01 1.37992859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62509989299997 meters 0.01905644674440494 Centerline is valid? [True, True] Translation: X:375.11, Y:23.91, Z:13.80 [[ 9.93576415e-01 -1.05015225e-01 -4.21628998e-02 3.75105647e+02] [ 1.04983892e-01 9.94469509e-01 -2.96278532e-03 2.39110298e+01] [ 4.22408558e-02 -1.48267172e-03 9.99106357e-01 1.38026142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.685099893 meters 0.022834888161945593 Centerline is valid? [True, True] Translation: X:375.17, Y:23.91, Z:13.80 [[ 9.92317495e-01 -1.15527299e-01 -4.42654695e-02 3.75166619e+02] [ 1.15503165e-01 9.93302240e-01 -3.11109419e-03 2.39063079e+01] [ 4.43284063e-02 -2.02560861e-03 9.99014960e-01 1.38035135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.745099893 meters 0.0275484425122626 Centerline is valid? [True, True] Translation: X:375.23, Y:23.90, Z:13.81 [[ 9.90878730e-01 -1.26796328e-01 -4.56292983e-02 3.75227446e+02] [ 1.26782585e-01 9.91925346e-01 -3.20680162e-03 2.39013389e+01] [ 4.56674682e-02 -2.60744888e-03 9.98953294e-01 1.38051413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.805099893 meters 0.028047078708227948 Centerline is valid? [True, True] Translation: X:375.29, Y:23.90, Z:13.81 [[ 9.90454457e-01 -1.30032558e-01 -4.57329517e-02 3.75288279e+02] [ 1.30022206e-01 9.91505874e-01 -3.21369824e-03 2.39045309e+01] [ 4.57623757e-02 -2.76327753e-03 9.98948532e-01 1.38075698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.865099893 meters 0.030009326193958106 Centerline is valid? [True, True] Translation: X:375.35, Y:23.91, Z:13.81 [[ 9.89526877e-01 -1.36812211e-01 -4.60323597e-02 3.75348759e+02] [ 1.36809080e-01 9.90592157e-01 -3.23340616e-03 2.39062220e+01] [ 4.60416639e-02 -3.09810248e-03 9.98934716e-01 1.38111744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.925099893 meters 0.029610134305799136 Centerline is valid? [True, True] Translation: X:375.41, Y:23.91, Z:13.81 [[ 9.89413994e-01 -1.37561317e-01 -4.62258973e-02 3.75410586e+02] [ 1.37559059e-01 9.90488250e-01 -3.24514288e-03 2.39118258e+01] [ 4.62326143e-02 -3.14800117e-03 9.98925741e-01 1.38137370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.985099893 meters 0.031991908636348945 Centerline is valid? [True, True] Translation: X:375.47, Y:23.92, Z:13.82 [[ 9.89869469e-01 -1.34481915e-01 -4.55307541e-02 3.75470422e+02] [ 1.34476605e-01 9.90911622e-01 -3.19360125e-03 2.39156233e+01] [ 4.55464350e-02 -2.96157288e-03 9.98957833e-01 1.38167210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.045099893 meters 0.02823914790001576 Centerline is valid? [True, True] Translation: X:375.53, Y:23.93, Z:13.82 [[ 9.90363920e-01 -1.30986119e-01 -4.49660114e-02 3.75530141e+02] [ 1.30977349e-01 9.91380344e-01 -3.15398928e-03 2.39274069e+01] [ 4.49915486e-02 -2.76593180e-03 9.98983538e-01 1.38199827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.105099893 meters 0.027228871214921267 Centerline is valid? [True, True] Translation: X:375.59, Y:23.94, Z:13.82 [[ 9.90896245e-01 -1.26711695e-01 -4.54838309e-02 3.75590067e+02] [ 1.26698240e-01 9.91936177e-01 -3.19021650e-03 2.39370271e+01] [ 4.55212950e-02 -2.60154779e-03 9.98959981e-01 1.38226450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.165099893 meters 0.024863470865170986 Centerline is valid? [True, True] Translation: X:375.65, Y:23.95, Z:13.82 [[ 9.91139742e-01 -1.24333962e-01 -4.67234104e-02 3.75651183e+02] [ 1.24317180e-01 9.92237122e-01 -3.27619790e-03 2.39472938e+01] [ 4.67680449e-02 -2.56135268e-03 9.98902492e-01 1.38245631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.225099893 meters 0.025168287291514588 Centerline is valid? [True, True] Translation: X:375.71, Y:23.96, Z:13.83 [[ 9.91598239e-01 -1.20069492e-01 -4.81274348e-02 3.75710764e+02] [ 1.20046784e-01 9.92762507e-01 -3.37251004e-03 2.39552749e+01] [ 4.81840484e-02 -2.43336876e-03 9.98835510e-01 1.38258802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28509989299994 meters 0.024434228553675722 Centerline is valid? [True, True] Translation: X:375.77, Y:23.96, Z:13.83 [[ 9.92144455e-01 -1.15352380e-01 -4.84067105e-02 3.75769821e+02] [ 1.15323808e-01 9.93322160e-01 -3.39208016e-03 2.39636933e+01] [ 4.84747427e-02 -2.21701265e-03 9.98821948e-01 1.38282359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34509989299994 meters 0.021298110434030185 Centerline is valid? [True, True] Translation: X:375.83, Y:23.98, Z:13.83 [[ 9.92871704e-01 -1.09179869e-01 -4.78072819e-02 3.75829743e+02] [ 1.09144857e-01 9.94020210e-01 -3.35003886e-03 2.39761224e+01] [ 4.78871612e-02 -1.89176017e-03 9.98850960e-01 1.38320176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40509989299994 meters 0.018839617139394627 Centerline is valid? [True, True] Translation: X:375.89, Y:23.99, Z:13.84 [[ 9.93662335e-01 -1.01851824e-01 -4.75538648e-02 3.75889541e+02] [ 1.01808807e-01 9.94798404e-01 -3.33210999e-03 2.39879901e+01] [ 4.76458903e-02 -1.53041007e-03 9.98863117e-01 1.38350997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46509989299994 meters 0.015736811106596894 Centerline is valid? [True, True] Translation: X:375.95, Y:24.00, Z:13.84 [[ 9.94450493e-01 -9.41221836e-02 -4.70024612e-02 3.75949423e+02] [ 9.40715455e-02 9.95559993e-01 -3.29313917e-03 2.40008591e+01] [ 4.71037274e-02 -1.14673029e-03 9.98889345e-01 1.38388501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52509989299995 meters 0.014277085034728389 Centerline is valid? [True, True] Translation: X:376.01, Y:24.01, Z:13.84 [[ 9.95370712e-01 -8.38623583e-02 -4.69494366e-02 3.76008258e+02] [ 8.38004456e-02 9.96477129e-01 -3.28891526e-03 2.40120673e+01] [ 4.70598559e-02 -6.60693784e-04 9.98891853e-01 1.38404003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58509989299995 meters 0.013398145829501407 Centerline is valid? [True, True] Translation: X:376.07, Y:24.02, Z:13.84 [[ 9.95994910e-01 -7.73385847e-02 -4.48651563e-02 3.76067951e+02] [ 7.72754015e-02 9.97004830e-01 -3.14355048e-03 2.40208807e+01] [ 4.49738953e-02 -3.36012694e-04 9.98988106e-01 1.38444092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64509989299995 meters 0.01333605155101126 Centerline is valid? [True, True] Translation: X:376.13, Y:24.02, Z:13.85 [[ 9.96160527e-01 -7.59210159e-02 -4.35913305e-02 3.76128720e+02] [ 7.58600142e-02 9.97113800e-01 -3.05429779e-03 2.40248197e+01] [ 4.36974025e-02 -2.64268058e-04 9.99044777e-01 1.38469238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70509989299995 meters 0.013398254005208624 Centerline is valid? [True, True] Translation: X:376.19, Y:24.03, Z:13.85 [[ 9.96119839e-01 -7.64298161e-02 -4.36319716e-02 3.76188259e+02] [ 7.63691893e-02 9.97074922e-01 -3.05712394e-03 2.40268959e+01] [ 4.37380001e-02 -2.86876482e-04 9.99042995e-01 1.38480681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76509989299996 meters 0.013624743396912834 Centerline is valid? [True, True] Translation: X:376.25, Y:24.03, Z:13.85 [[ 9.95865786e-01 -7.94857820e-02 -4.39698493e-02 3.76249212e+02] [ 7.94271941e-02 9.96835909e-01 -3.08067256e-03 2.40271497e+01] [ 4.40755944e-02 -4.24465362e-04 9.99028109e-01 1.38491373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82509989299996 meters 0.013900473995002233 Centerline is valid? [True, True] Translation: X:376.31, Y:24.03, Z:13.85 [[ 9.95696698e-01 -8.18253865e-02 -4.35050834e-02 3.76310208e+02] [ 8.17702625e-02 9.96646544e-01 -3.04810953e-03 2.40276536e+01] [ 4.36086038e-02 -5.22429503e-04 9.99048556e-01 1.38515877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88509989299996 meters 0.014022984395587298 Centerline is valid? [True, True] Translation: X:376.37, Y:24.03, Z:13.86 [[ 9.95571367e-01 -8.39487420e-02 -4.23114961e-02 3.76370967e+02] [ 8.38985182e-02 9.96469894e-01 -2.96448287e-03 2.40275766e+01] [ 4.24109967e-02 -5.98517567e-04 9.99100070e-01 1.38550130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94509989299996 meters 0.014027812171543854 Centerline is valid? [True, True] Translation: X:376.43, Y:24.03, Z:13.86 [[ 9.95601755e-01 -8.37750746e-02 -4.19390243e-02 3.76432395e+02] [ 8.37255845e-02 9.96484517e-01 -2.93821548e-03 2.40293974e+01] [ 4.20377376e-02 -5.86076835e-04 9.99115852e-01 1.38578396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00509989299997 meters 0.013728064351376646 Centerline is valid? [True, True] Translation: X:376.49, Y:24.03, Z:13.86 [[ 9.95758928e-01 -8.20882269e-02 -4.15413097e-02 3.76494096e+02] [ 8.20382661e-02 9.96624935e-01 -2.90886222e-03 2.40309561e+01] [ 4.16398884e-02 -5.11451500e-04 9.99132553e-01 1.38605218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06509989299997 meters 0.013503633963729597 Centerline is valid? [True, True] Translation: X:376.56, Y:24.03, Z:13.86 [[ 9.95931908e-01 -8.01973202e-02 -4.10855843e-02 3.76555035e+02] [ 8.01469024e-02 9.96778915e-01 -2.87547107e-03 2.40329172e+01] [ 4.11838492e-02 -4.29108922e-04 9.99151493e-01 1.38626499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12509989299997 meters 0.013090229664556034 Centerline is valid? [True, True] Translation: X:376.62, Y:24.03, Z:13.87 [[ 9.96185676e-01 -7.65812415e-02 -4.18259831e-02 3.76615804e+02] [ 7.65258610e-02 9.97063304e-01 -2.92591162e-03 2.40348428e+01] [ 4.19272228e-02 -2.86018124e-04 9.99120626e-01 1.38653172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.185099893 meters 0.012836542689088017 Centerline is valid? [True, True] Translation: X:376.68, Y:24.04, Z:13.87 [[ 9.96404033e-01 -7.33382776e-02 -4.24322960e-02 3.76675216e+02] [ 7.32783314e-02 9.97307111e-01 -2.96851401e-03 2.40378712e+01] [ 4.25357363e-02 -1.51528515e-04 9.99094935e-01 1.38674666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.245099893 meters 0.012724537088760856 Centerline is valid? [True, True] Translation: X:376.73, Y:24.04, Z:13.87 [[ 9.96612694e-01 -6.87835045e-02 -4.50773445e-02 3.76734316e+02] [ 6.87110323e-02 9.97631609e-01 -3.15704560e-03 2.40401729e+01] [ 4.51877364e-02 4.90408531e-05 9.98978511e-01 1.38694029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.305099893 meters 0.012918662318186615 Centerline is valid? [True, True] Translation: X:376.79, Y:24.04, Z:13.87 [[ 9.96736153e-01 -6.59671100e-02 -4.65336728e-02 3.76792368e+02] [ 6.58862982e-02 9.97821779e-01 -3.26996969e-03 2.40431399e+01] [ 4.66480226e-02 1.93365564e-04 9.98911370e-01 1.38696184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.365099893 meters 0.013085712654777435 Centerline is valid? [True, True] Translation: X:376.85, Y:24.04, Z:13.87 [[ 9.96923020e-01 -6.25037694e-02 -4.73050860e-02 3.76850994e+02] [ 6.24160707e-02 9.98044660e-01 -3.33020423e-03 2.40449308e+01] [ 4.74207388e-02 3.67359664e-04 9.98874936e-01 1.38728683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.425099893 meters 0.013154024177871081 Centerline is valid? [True, True] Translation: X:376.91, Y:24.05, Z:13.88 [[ 9.96999985e-01 -6.17649450e-02 -4.66489181e-02 3.76908805e+02] [ 6.16782946e-02 9.98090639e-01 -3.29599554e-03 2.40452280e+01] [ 4.67634254e-02 4.08881789e-04 9.98905909e-01 1.38753432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.485099893 meters 0.012992175157406671 Centerline is valid? [True, True] Translation: X:376.97, Y:24.05, Z:13.88 [[ 9.96921750e-01 -6.34216728e-02 -4.60946305e-02 3.76968165e+02] [ 6.33382947e-02 9.97986762e-01 -3.26862796e-03 2.40454352e+01] [ 4.62091329e-02 3.39011016e-04 9.98931730e-01 1.38777162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.545099893 meters 0.012593307083266395 Centerline is valid? [True, True] Translation: X:377.03, Y:24.04, Z:13.88 [[ 9.96588426e-01 -6.92327093e-02 -4.49259594e-02 3.77027161e+02] [ 6.91590940e-02 9.97600534e-01 -3.19270162e-03 2.40403438e+01] [ 4.50392005e-02 7.47708355e-05 9.98985218e-01 1.38799293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.605099893 meters 0.012562572094928753 Centerline is valid? [True, True] Translation: X:377.09, Y:24.04, Z:13.88 [[ 9.96230026e-01 -7.46705680e-02 -4.41592825e-02 3.77085095e+02] [ 7.46042785e-02 9.97208244e-01 -3.14959117e-03 2.40369891e+01] [ 4.42711823e-02 -1.56754111e-04 9.99019538e-01 1.38819835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.665099893 meters 0.012963421276451916 Centerline is valid? [True, True] Translation: X:377.14, Y:24.03, Z:13.88 [[ 9.95799823e-01 -8.04378706e-02 -4.37316912e-02 3.77144549e+02] [ 8.03778728e-02 9.96759546e-01 -3.13145525e-03 2.40336976e+01] [ 4.38418683e-02 -3.96757727e-04 9.99038404e-01 1.38843828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.725099893 meters 0.01401415047181289 Centerline is valid? [True, True] Translation: X:377.20, Y:24.03, Z:13.89 [[ 9.95238893e-01 -8.73705290e-02 -4.31964914e-02 3.77203625e+02] [ 8.73180854e-02 9.96175649e-01 -3.10300260e-03 2.40270491e+01] [ 4.33024039e-02 -6.83606052e-04 9.99061777e-01 1.38863389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78509989299994 meters 0.014670953479636626 Centerline is valid? [True, True] Translation: X:377.26, Y:24.03, Z:13.89 [[ 9.94934315e-01 -9.07128151e-02 -4.33231387e-02 3.77262170e+02] [ 9.06630477e-02 9.95876750e-01 -3.11626271e-03 2.40253656e+01] [ 4.34271915e-02 -8.27331080e-04 9.99056252e-01 1.38879121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84509989299994 meters 0.015029398728022489 Centerline is valid? [True, True] Translation: X:377.32, Y:24.02, Z:13.89 [[ 9.94815789e-01 -9.19848654e-02 -4.33627670e-02 3.77321398e+02] [ 9.19359263e-02 9.95760019e-01 -3.12572823e-03 2.40235878e+01] [ 4.34664294e-02 -8.77072356e-04 9.99054503e-01 1.38897225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90509989299994 meters 0.013938888766825752 Centerline is valid? [True, True] Translation: X:377.38, Y:24.03, Z:13.89 [[ 9.94997808e-01 -9.07280261e-02 -4.18065357e-02 3.77380284e+02] [ 9.06810048e-02 9.95875400e-01 -3.02365020e-03 2.40273689e+01] [ 4.19084303e-02 -7.82533337e-04 9.99121149e-01 1.38938885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96509989299994 meters 0.014088237515194836 Centerline is valid? [True, True] Translation: X:377.44, Y:24.03, Z:13.90 [[ 9.95056272e-01 -8.94681376e-02 -4.31099507e-02 3.77438707e+02] [ 8.94165020e-02 9.95989409e-01 -3.12842720e-03 2.40267395e+01] [ 4.32169488e-02 -7.41779876e-04 9.99065436e-01 1.38950401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02509989299995 meters 0.014302471123447428 Centerline is valid? [True, True] Translation: X:377.50, Y:24.03, Z:13.89 [[ 9.94934300e-01 -8.92855758e-02 -4.61933349e-02 3.77497863e+02] [ 8.92258194e-02 9.96005761e-01 -3.35805315e-03 2.40281288e+01] [ 4.63086534e-02 -7.80595899e-04 9.98926874e-01 1.38936881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08509989299995 meters 0.014122421484127188 Centerline is valid? [True, True] Translation: X:377.56, Y:24.03, Z:13.90 [[ 9.94987959e-01 -8.96779604e-02 -4.42360065e-02 3.77557055e+02] [ 8.96230763e-02 9.95970529e-01 -3.22641828e-03 2.40281617e+01] [ 4.43470974e-02 -7.54319639e-04 9.99015899e-01 1.38967135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14509989299995 meters 0.014573569088258234 Centerline is valid? [True, True] Translation: X:377.61, Y:24.03, Z:13.90 [[ 9.95001648e-01 -8.97869450e-02 -4.37038275e-02 3.77614201e+02] [ 8.97330354e-02 9.95960721e-01 -3.19771248e-03 2.40273184e+01] [ 4.38144083e-02 -7.39947915e-04 9.99039414e-01 1.38985894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20509989299995 meters 0.014697293454936035 Centerline is valid? [True, True] Translation: X:377.67, Y:24.03, Z:13.90 [[ 9.94916376e-01 -9.02435654e-02 -4.46934522e-02 3.77673404e+02] [ 9.01873527e-02 9.95919427e-01 -3.27667206e-03 2.40278336e+01] [ 4.48067759e-02 -7.70769452e-04 9.98995375e-01 1.39000064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26509989299996 meters 0.014482168868697418 Centerline is valid? [True, True] Translation: X:377.73, Y:24.03, Z:13.90 [[ 9.94924058e-01 -9.06692010e-02 -4.36487681e-02 3.77731548e+02] [ 9.06155283e-02 9.95880775e-01 -3.21074220e-03 2.40306352e+01] [ 4.37600845e-02 -7.60811529e-04 9.99041779e-01 1.39026209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32509989299996 meters 0.014340108157845097 Centerline is valid? [True, True] Translation: X:377.79, Y:24.03, Z:13.91 [[ 9.94879316e-01 -9.15121648e-02 -4.29030361e-02 3.77789765e+02] [ 9.14605757e-02 9.95803659e-01 -3.16792588e-03 2.40329683e+01] [ 4.30129040e-02 -7.72232439e-04 9.99074218e-01 1.39061302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38509989299996 meters 0.014743770024255516 Centerline is valid? [True, True] Translation: X:377.85, Y:24.03, Z:13.91 [[ 9.94763707e-01 -9.29555311e-02 -4.24786501e-02 3.77848797e+02] [ 9.29057588e-02 9.95669928e-01 -3.14863861e-03 2.40310329e+01] [ 4.25873979e-02 -8.14359803e-04 9.99092413e-01 1.39073016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44509989299996 meters 0.016085215225618874 Centerline is valid? [True, True] Translation: X:377.91, Y:24.03, Z:13.91 [[ 9.94497124e-01 -9.60528106e-02 -4.18249727e-02 3.77907229e+02] [ 9.60068897e-02 9.95375811e-01 -3.10983031e-03 2.40291089e+01] [ 4.19302741e-02 -9.22768247e-04 9.99120113e-01 1.39104622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50509989299997 meters 0.016012939071598783 Centerline is valid? [True, True] Translation: X:377.97, Y:24.03, Z:13.91 [[ 9.94233594e-01 -9.91159643e-02 -4.09339219e-02 3.77966274e+02] [ 9.90744007e-02 9.95075361e-01 -3.04775335e-03 2.40315794e+01] [ 4.10344181e-02 -1.02532502e-03 9.99157207e-01 1.39138098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56509989299997 meters 0.01678411636266451 Centerline is valid? [True, True] Translation: X:378.03, Y:24.03, Z:13.92 [[ 9.93938848e-01 -1.02287299e-01 -4.02849249e-02 3.78025278e+02] [ 1.02249235e-01 9.94754259e-01 -3.00955585e-03 2.40312925e+01] [ 4.03814399e-02 -1.12778826e-03 9.99183701e-01 1.39160424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62509989299997 meters 0.01862467722520239 Centerline is valid? [True, True] Translation: X:378.08, Y:24.03, Z:13.92 [[ 9.93799375e-01 -1.03642694e-01 -4.02615769e-02 3.78082851e+02] [ 1.03605388e-01 9.94613904e-01 -3.01762749e-03 2.40294603e+01] [ 4.03574792e-02 -1.17239998e-03 9.99184617e-01 1.39174613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.685099893 meters 0.016339708176241877 Centerline is valid? [True, True] Translation: X:378.14, Y:24.04, Z:13.92 [[ 9.93948797e-01 -1.02399718e-01 -3.97503077e-02 3.78141286e+02] [ 1.02362176e-01 9.94742721e-01 -2.98392241e-03 2.40366723e+01] [ 3.98468821e-02 -1.10306191e-03 9.99205189e-01 1.39196598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.745099893 meters 0.016230948366651794 Centerline is valid? [True, True] Translation: X:378.20, Y:24.04, Z:13.92 [[ 9.94401875e-01 -9.79047393e-02 -3.97438391e-02 3.78198799e+02] [ 9.78632268e-02 9.95195372e-01 -2.99335128e-03 2.40400100e+01] [ 3.98459480e-02 -9.12866208e-04 9.99205418e-01 1.39203739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.805099893 meters 0.014521452226795071 Centerline is valid? [True, True] Translation: X:378.26, Y:24.05, Z:13.92 [[ 9.94735304e-01 -9.44237145e-02 -3.98225595e-02 3.78257658e+02] [ 9.43790884e-02 9.95531802e-01 -3.00330675e-03 2.40473753e+01] [ 3.99282078e-02 -7.70921607e-04 9.99202254e-01 1.39217826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.865099893 meters 0.013722249322865242 Centerline is valid? [True, True] Translation: X:378.32, Y:24.05, Z:13.92 [[ 9.95171965e-01 -8.94910309e-02 -4.03003079e-02 3.78316074e+02] [ 8.94409069e-02 9.95987465e-01 -3.04865968e-03 2.40541537e+01] [ 4.04114292e-02 -5.70555440e-04 9.99182962e-01 1.39236285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.925099893 meters 0.013892778909156418 Centerline is valid? [True, True] Translation: X:378.37, Y:24.06, Z:13.92 [[ 9.95017731e-01 -9.01513372e-02 -4.25728879e-02 3.78374857e+02] [ 9.00958206e-02 9.95927881e-01 -3.22484903e-03 2.40584308e+01] [ 4.26902504e-02 -6.26857307e-04 9.99088159e-01 1.39249569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.985099893 meters 0.01479157985722568 Centerline is valid? [True, True] Translation: X:378.43, Y:24.06, Z:13.93 [[ 9.94840994e-01 -9.23024891e-02 -4.20909492e-02 3.78432997e+02] [ 9.22497319e-02 9.95730766e-01 -3.19815275e-03 2.40612501e+01] [ 4.22064506e-02 -7.01225320e-04 9.99108665e-01 1.39274470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.045099893 meters 0.015328790747150593 Centerline is valid? [True, True] Translation: X:378.49, Y:24.06, Z:13.93 [[ 9.94667899e-01 -9.43542887e-02 -4.16297834e-02 3.78491305e+02] [ 9.43042942e-02 9.95538381e-01 -3.16748032e-03 2.40648664e+01] [ 4.17429125e-02 -7.75276352e-04 9.99128084e-01 1.39299645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.105099893 meters 0.015745391432259552 Centerline is valid? [True, True] Translation: X:378.55, Y:24.07, Z:13.93 [[ 9.94497053e-01 -9.62901016e-02 -4.12774393e-02 3.78550108e+02] [ 9.62422034e-02 9.95352958e-01 -3.15062570e-03 2.40686527e+01] [ 4.13889954e-02 -8.39343733e-04 9.99142756e-01 1.39327751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.165099893 meters 0.015867320311294522 Centerline is valid? [True, True] Translation: X:378.61, Y:24.07, Z:13.94 [[ 9.94092570e-01 -1.00670291e-01 -4.05642168e-02 3.78608936e+02] [ 1.00627279e-01 9.94919345e-01 -3.10593023e-03 2.40728622e+01] [ 4.06707989e-02 -9.94284614e-04 9.99172106e-01 1.39361706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.225099893 meters 0.018264368513194244 Centerline is valid? [True, True] Translation: X:378.67, Y:24.07, Z:13.94 [[ 9.93344280e-01 -1.07957916e-01 -4.01525916e-02 3.78669751e+02] [ 1.07921337e-01 9.94154654e-01 -3.08378044e-03 2.40726989e+01] [ 4.02508043e-02 -1.27006572e-03 9.99188801e-01 1.39382584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28509989299994 meters 0.018474022486550782 Centerline is valid? [True, True] Translation: X:378.73, Y:24.08, Z:13.94 [[ 9.92737812e-01 -1.13230764e-01 -4.06254962e-02 3.78730122e+02] [ 1.13197724e-01 9.93567582e-01 -3.12010024e-03 2.40775584e+01] [ 4.07174673e-02 -1.50127221e-03 9.99169572e-01 1.39407414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34509989299994 meters 0.020658632439830453 Centerline is valid? [True, True] Translation: X:378.79, Y:24.08, Z:13.94 [[ 9.92221839e-01 -1.17239042e-01 -4.18429027e-02 3.78788219e+02] [ 1.17207534e-01 9.93102243e-01 -3.21394049e-03 2.40788246e+01] [ 4.19310799e-02 -1.71536150e-03 9.99119033e-01 1.39419903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40509989299994 meters 0.022125041041739235 Centerline is valid? [True, True] Translation: X:378.85, Y:24.08, Z:13.94 [[ 9.91604272e-01 -1.22101413e-01 -4.25700931e-02 3.78848723e+02] [ 1.22073150e-01 9.92515711e-01 -3.27257701e-03 2.40826975e+01] [ 4.26510725e-02 -1.95156403e-03 9.99088123e-01 1.39434340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46509989299994 meters 0.02356029308857098 Centerline is valid? [True, True] Translation: X:378.91, Y:24.09, Z:13.95 [[ 9.91304167e-01 -1.24466875e-01 -4.27088476e-02 3.78907905e+02] [ 1.24440604e-01 9.92221626e-01 -3.28354379e-03 2.40869598e+01] [ 4.27853346e-02 -2.05972414e-03 9.99082165e-01 1.39453865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52509989299995 meters 0.024359377889056538 Centerline is valid? [True, True] Translation: X:378.97, Y:24.09, Z:13.95 [[ 9.90804075e-01 -1.28206268e-01 -4.32485665e-02 3.78967828e+02] [ 1.28182785e-01 9.91744979e-01 -3.32719884e-03 2.40946237e+01] [ 4.33181164e-02 -2.24711954e-03 9.99058803e-01 1.39472408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58509989299995 meters 0.023346627157150593 Centerline is valid? [True, True] Translation: X:379.03, Y:24.10, Z:13.95 [[ 9.90475061e-01 -1.30630098e-01 -4.35308072e-02 3.79026736e+02] [ 1.30608600e-01 9.91428349e-01 -3.34983624e-03 2.41033713e+01] [ 4.35952658e-02 -2.36756854e-03 9.99046469e-01 1.39493770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64509989299995 meters 0.030849505834409558 Centerline is valid? [True, True] Translation: X:379.09, Y:24.10, Z:13.95 [[ 9.90069244e-01 -1.33861119e-01 -4.29429109e-02 3.79086654e+02] [ 1.33843160e-01 9.90997012e-01 -3.30608447e-03 2.41018485e+01] [ 4.29988525e-02 -2.47436233e-03 9.99072058e-01 1.39514696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70509989299995 meters 0.02748241234575571 Centerline is valid? [True, True] Translation: X:379.15, Y:24.11, Z:13.96 [[ 9.89852951e-01 -1.35507086e-01 -4.27664119e-02 3.79145635e+02] [ 1.35490765e-01 9.90773136e-01 -3.29338564e-03 2.41146945e+01] [ 4.28180891e-02 -2.53448639e-03 9.99079670e-01 1.39553190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76509989299996 meters 0.027197727013684374 Centerline is valid? [True, True] Translation: X:379.20, Y:24.12, Z:13.96 [[ 9.89683932e-01 -1.36800195e-01 -4.25608071e-02 3.79203903e+02] [ 1.36785105e-01 9.90595313e-01 -3.28029253e-03 2.41230443e+01] [ 4.26092807e-02 -2.57523166e-03 9.99088493e-01 1.39579971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82509989299996 meters 0.02897531482119516 Centerline is valid? [True, True] Translation: X:379.26, Y:24.13, Z:13.96 [[ 9.89729662e-01 -1.36451324e-01 -4.26172705e-02 3.79260982e+02] [ 1.36435440e-01 9.90643485e-01 -3.29476333e-03 2.41304811e+01] [ 4.26680963e-02 -2.55358105e-03 9.99086039e-01 1.39602831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88509989299996 meters 0.025059730858352298 Centerline is valid? [True, True] Translation: X:379.32, Y:24.14, Z:13.96 [[ 9.90036193e-01 -1.34196741e-01 -4.26564406e-02 3.79319526e+02] [ 1.34178588e-01 9.90951668e-01 -3.30137844e-03 2.41449792e+01] [ 4.27135052e-02 -2.45509685e-03 9.99084345e-01 1.39639534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94509989299996 meters 0.02516622451848471 Centerline is valid? [True, True] Translation: X:379.38, Y:24.16, Z:13.97 [[ 9.90806622e-01 -1.28279476e-01 -4.29722453e-02 3.79378008e+02] [ 1.28255438e-01 9.91735585e-01 -3.32734638e-03 2.41565221e+01] [ 4.30439351e-02 -2.21466733e-03 9.99070726e-01 1.39662328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00509989299997 meters 0.021769068625476857 Centerline is valid? [True, True] Translation: X:379.44, Y:24.17, Z:13.97 [[ 9.91671908e-01 -1.21506165e-01 -4.26975166e-02 3.79437607e+02] [ 1.21476131e-01 9.92588844e-01 -3.30689639e-03 2.41728039e+01] [ 4.27828869e-02 -1.90737288e-03 9.99082572e-01 1.39684186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06509989299997 meters 0.01924550091200529 Centerline is valid? [True, True] Translation: X:379.50, Y:24.19, Z:13.97 [[ 9.92261580e-01 -1.16590756e-01 -4.27030623e-02 3.79497034e+02] [ 1.16556165e-01 9.93178595e-01 -3.30746975e-03 2.41858316e+01] [ 4.27973878e-02 -1.69543000e-03 9.99082334e-01 1.39697716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12509989299997 meters 0.01784389371389399 Centerline is valid? [True, True] Translation: X:379.56, Y:24.20, Z:13.97 [[ 9.92952584e-01 -1.10633078e-01 -4.24910312e-02 3.79556286e+02] [ 1.10593368e-01 9.93860289e-01 -3.29133603e-03 2.41975048e+01] [ 4.25942792e-02 -1.43108562e-03 9.99091427e-01 1.39713351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.185099893 meters 0.015803069226052523 Centerline is valid? [True, True] Translation: X:379.62, Y:24.21, Z:13.97 [[ 9.93689011e-01 -1.03903844e-01 -4.22627464e-02 3.79616254e+02] [ 1.03858453e-01 9.94586699e-01 -3.27422129e-03 2.42107388e+01] [ 4.23741696e-02 -1.13578576e-03 9.99101166e-01 1.39731814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.245099893 meters 0.014659553448342244 Centerline is valid? [True, True] Translation: X:379.68, Y:24.22, Z:13.98 [[ 9.94353096e-01 -9.75289385e-02 -4.18333102e-02 3.79675136e+02] [ 9.74788505e-02 9.95232322e-01 -3.24036078e-03 2.42215318e+01] [ 4.19498914e-02 -8.55800216e-04 9.99119349e-01 1.39750532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.305099893 meters 0.013180201896352198 Centerline is valid? [True, True] Translation: X:379.73, Y:24.24, Z:13.98 [[ 9.94998653e-01 -9.07765660e-02 -4.16808679e-02 3.79734985e+02] [ 9.07208940e-02 9.95871122e-01 -3.22913711e-03 2.42358437e+01] [ 4.18019027e-02 -5.68338522e-04 9.99125757e-01 1.39775904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.365099893 meters 0.013078543159167873 Centerline is valid? [True, True] Translation: X:379.79, Y:24.24, Z:13.98 [[ 9.95141996e-01 -8.91760460e-02 -4.17137899e-02 3.79794372e+02] [ 8.91189059e-02 9.96015753e-01 -3.23108342e-03 2.42429652e+01] [ 4.18357272e-02 -5.02100517e-04 9.99124377e-01 1.39799954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.425099893 meters 0.013913440024369441 Centerline is valid? [True, True] Translation: X:379.85, Y:24.25, Z:13.98 [[ 9.94839607e-01 -9.27681621e-02 -4.10879969e-02 3.79853004e+02] [ 9.27157489e-02 9.95687529e-01 -3.18348260e-03 2.42458231e+01] [ 4.12061319e-02 -6.42449819e-04 9.99150460e-01 1.39820996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.485099893 meters 0.014127590090945335 Centerline is valid? [True, True] Translation: X:379.91, Y:24.25, Z:13.98 [[ 9.94358286e-01 -9.78351271e-02 -4.09864170e-02 3.79913315e+02] [ 9.77871904e-02 9.95202275e-01 -3.17758961e-03 2.42493057e+01] [ 4.11006554e-02 -8.48284001e-04 9.99154651e-01 1.39849176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.545099893 meters 0.016788054762150745 Centerline is valid? [True, True] Translation: X:379.97, Y:24.25, Z:13.99 [[ 9.93257765e-01 -1.08085050e-01 -4.19122224e-02 3.79973685e+02] [ 1.08044029e-01 9.94140800e-01 -3.24935824e-03 2.42477736e+01] [ 4.20178573e-02 -1.30091506e-03 9.99116013e-01 1.39870067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.605099893 meters 0.01911814607504078 Centerline is valid? [True, True] Translation: X:380.03, Y:24.25, Z:13.99 [[ 9.92489444e-01 -1.15139428e-01 -4.13233033e-02 3.80034773e+02] [ 1.15105654e-01 9.93348089e-01 -3.20362023e-03 2.42475451e+01] [ 4.14172874e-02 -1.57698661e-03 9.99140692e-01 1.39895769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.665099893 meters 0.0209537221791758 Centerline is valid? [True, True] Translation: X:380.10, Y:24.25, Z:13.99 [[ 9.91734368e-01 -1.21351865e-01 -4.16733402e-02 3.80095872e+02] [ 1.21322996e-01 9.92607825e-01 -3.23050702e-03 2.42482840e+01] [ 4.17573116e-02 -1.85212964e-03 9.99126066e-01 1.39918954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.725099893 meters 0.023347695050422574 Centerline is valid? [True, True] Translation: X:380.16, Y:24.25, Z:13.99 [[ 9.91040169e-01 -1.26816506e-01 -4.19160850e-02 3.80156419e+02] [ 1.26792179e-01 9.91923982e-01 -3.24914463e-03 2.42494136e+01] [ 4.19896151e-02 -2.09459890e-03 9.99115852e-01 1.39931835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78509989299994 meters 0.025566611302728543 Centerline is valid? [True, True] Translation: X:380.22, Y:24.25, Z:13.99 [[ 9.90845942e-01 -1.28342792e-01 -4.18622340e-02 3.80216644e+02] [ 1.28319895e-01 9.91727521e-01 -3.24473530e-03 2.42520383e+01] [ 4.19323680e-02 -2.15672466e-03 9.99118124e-01 1.39946454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84509989299994 meters 0.022438864938664177 Centerline is valid? [True, True] Translation: X:380.28, Y:24.26, Z:14.00 [[ 9.90911341e-01 -1.28013761e-01 -4.13181619e-02 3.80278469e+02] [ 1.27991210e-01 9.91770135e-01 -3.20159083e-03 2.42629465e+01] [ 4.13879667e-02 -2.11586886e-03 9.99140911e-01 1.39975734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90509989299994 meters 0.022600555025868482 Centerline is valid? [True, True] Translation: X:380.34, Y:24.27, Z:14.00 [[ 9.90893007e-01 -1.28057604e-01 -4.16208950e-02 3.80340793e+02] [ 1.28034892e-01 9.91764431e-01 -3.22189286e-03 2.42693631e+01] [ 4.16907111e-02 -2.13637569e-03 9.99128280e-01 1.39994310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96509989299994 meters 0.024499650524910287 Centerline is valid? [True, True] Translation: X:380.40, Y:24.27, Z:14.00 [[ 9.90369890e-01 -1.31676387e-01 -4.27645856e-02 3.80401825e+02] [ 1.31655900e-01 9.91289960e-01 -3.30744917e-03 2.42744535e+01] [ 4.28276173e-02 -2.35461193e-03 9.99079702e-01 1.40004637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02509989299995 meters 0.0248870556289179 Centerline is valid? [True, True] Translation: X:380.46, Y:24.28, Z:14.00 [[ 9.89816735e-01 -1.35513121e-01 -4.35777961e-02 3.80462250e+02] [ 1.35495587e-01 9.90772220e-01 -3.36951896e-03 2.42800300e+01] [ 4.36322839e-02 -2.56939280e-03 9.99044354e-01 1.40019039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08509989299995 meters 0.026786813572481447 Centerline is valid? [True, True] Translation: X:380.52, Y:24.28, Z:14.00 [[ 9.88896763e-01 -1.41879135e-01 -4.41984582e-02 3.80523499e+02] [ 1.41867465e-01 9.89879765e-01 -3.41658380e-03 2.42849298e+01] [ 4.42359013e-02 -2.89167454e-03 9.99016928e-01 1.40037892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14509989299995 meters 0.028394069642452623 Centerline is valid? [True, True] Translation: X:380.58, Y:24.29, Z:14.01 [[ 9.88441739e-01 -1.44976131e-01 -4.43266406e-02 3.80584201e+02] [ 1.44967547e-01 9.89430482e-01 -3.42521458e-03 2.42904694e+01] [ 4.43547037e-02 -3.04029932e-03 9.99011220e-01 1.40060473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20509989299995 meters 0.029569464753685604 Centerline is valid? [True, True] Translation: X:380.65, Y:24.30, Z:14.01 [[ 9.88295117e-01 -1.46085110e-01 -4.39534222e-02 3.80646220e+02] [ 1.46077813e-01 9.89267277e-01 -3.39517052e-03 2.42987726e+01] [ 4.39776661e-02 -3.06518933e-03 9.99027812e-01 1.40094548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26509989299996 meters 0.03015308536120809 Centerline is valid? [True, True] Translation: X:380.71, Y:24.31, Z:14.01 [[ 9.88633121e-01 -1.44135968e-01 -4.27711817e-02 3.80707233e+02] [ 1.44127366e-01 9.89553640e-01 -3.30091962e-03 2.43063406e+01] [ 4.28001598e-02 -2.90109927e-03 9.99079441e-01 1.40131410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32509989299996 meters 0.029250180929457366 Centerline is valid? [True, True] Translation: X:380.77, Y:24.32, Z:14.02 [[ 9.89246738e-01 -1.40175095e-01 -4.17352855e-02 3.80767409e+02] [ 1.40163449e-01 9.90123145e-01 -3.21959856e-03 2.43165666e+01] [ 4.17743796e-02 -2.66478418e-03 9.99123516e-01 1.40168036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38509989299996 meters 0.02652302397439237 Centerline is valid? [True, True] Translation: X:380.83, Y:24.33, Z:14.02 [[ 9.90711158e-01 -1.30070289e-01 -3.96625972e-02 3.80825563e+02] [ 1.30051695e-01 9.91502494e-01 -3.05955823e-03 2.43321520e+01] [ 3.97235217e-02 -2.12704953e-03 9.99208445e-01 1.40210963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44509989299996 meters 0.02217173772092147 Centerline is valid? [True, True] Translation: X:380.88, Y:24.35, Z:14.02 [[ 9.92329044e-01 -1.16975197e-01 -3.99983851e-02 3.80884023e+02] [ 1.16945631e-01 9.93133523e-01 -3.08621434e-03 2.43504064e+01] [ 4.00847476e-02 -1.61509626e-03 9.99194978e-01 1.40224441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50509989299997 meters 0.01933203770503891 Centerline is valid? [True, True] Translation: X:380.94, Y:24.36, Z:14.02 [[ 9.93261296e-01 -1.08503933e-01 -4.07295196e-02 3.80943742e+02] [ 1.08466130e-01 9.94095175e-01 -3.14335589e-03 2.43636055e+01] [ 4.08300854e-02 -1.29559963e-03 9.99165264e-01 1.40239014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56509989299997 meters 0.015372500134628387 Centerline is valid? [True, True] Translation: X:381.00, Y:24.38, Z:14.03 [[ 9.94034443e-01 -1.01104653e-01 -4.09069117e-02 3.81003369e+02] [ 1.01060261e-01 9.94875297e-01 -3.15695387e-03 2.43791178e+01] [ 4.10164587e-02 -9.95942280e-04 9.99157975e-01 1.40265397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62509989299997 meters 0.013242637968038783 Centerline is valid? [True, True] Translation: X:381.06, Y:24.39, Z:14.03 [[ 9.95014875e-01 -9.10038915e-02 -4.07883662e-02 3.81063449e+02] [ 9.09513069e-02 9.95850369e-01 -3.14686934e-03 2.43938623e+01] [ 4.09054868e-02 -5.78573409e-04 9.99162853e-01 1.40293973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.685099893 meters 0.012749590364124095 Centerline is valid? [True, True] Translation: X:381.12, Y:24.40, Z:14.03 [[ 9.95480502e-01 -8.54917842e-02 -4.13488274e-02 3.81123789e+02] [ 8.54330247e-02 9.96338811e-01 -3.18926365e-03 2.44028860e+01] [ 4.14700974e-02 -3.57705621e-04 9.99139681e-01 1.40310911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.745099893 meters 0.012272313031057958 Centerline is valid? [True, True] Translation: X:381.18, Y:24.41, Z:14.03 [[ 9.95957261e-01 -7.94964238e-02 -4.18264694e-02 3.81184474e+02] [ 7.94310758e-02 9.96835145e-01 -3.22457146e-03 2.44126820e+01] [ 4.19504366e-02 -1.10786102e-04 9.99119687e-01 1.40331982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.805099893 meters 0.012219003232252924 Centerline is valid? [True, True] Translation: X:381.25, Y:24.42, Z:14.04 [[ 9.96074250e-01 -7.76961579e-02 -4.24192889e-02 3.81245803e+02] [ 7.76273786e-02 9.96977084e-01 -3.26870163e-03 2.44181848e+01] [ 4.25450245e-02 -3.70286743e-05 9.99094550e-01 1.40351605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.865099893 meters 0.012174639351070124 Centerline is valid? [True, True] Translation: X:381.31, Y:24.42, Z:14.04 [[ 9.95980496e-01 -7.87895152e-02 -4.26035691e-02 3.81306928e+02] [ 7.87212028e-02 9.96891270e-01 -3.28135126e-03 2.44209747e+01] [ 4.27296622e-02 -8.56423485e-05 9.99086667e-01 1.40375154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.925099893 meters 0.012301638615036681 Centerline is valid? [True, True] Translation: X:381.37, Y:24.42, Z:14.04 [[ 9.95721349e-01 -8.24677934e-02 -4.16900290e-02 3.81368698e+02] [ 8.24056650e-02 9.96593701e-01 -3.20948688e-03 2.44222631e+01] [ 4.18126996e-02 -2.39739957e-04 9.99125438e-01 1.40404196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.985099893 meters 0.013130433503281 Centerline is valid? [True, True] Translation: X:381.43, Y:24.42, Z:14.04 [[ 9.95128999e-01 -9.01823004e-02 -3.98174244e-02 3.81430380e+02] [ 9.01318537e-02 9.95925128e-01 -3.06392945e-03 2.44175743e+01] [ 3.99314857e-02 -5.39813220e-04 9.99202274e-01 1.40429847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.045099893 meters 0.01365086166836106 Centerline is valid? [True, True] Translation: X:381.49, Y:24.42, Z:14.05 [[ 9.94881921e-01 -9.29794747e-02 -3.95573160e-02 3.81492579e+02] [ 9.29319538e-02 9.95667814e-01 -3.04241243e-03 2.44184741e+01] [ 3.96688282e-02 -6.49297544e-04 9.99212671e-01 1.40450321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.105099893 meters 0.014736391041809547 Centerline is valid? [True, True] Translation: X:381.55, Y:24.41, Z:14.05 [[ 9.94208849e-01 -1.00102523e-01 -3.90928258e-02 3.81553663e+02] [ 1.00061715e-01 9.94976698e-01 -3.00400981e-03 2.44145856e+01] [ 3.91971596e-02 -9.25082071e-04 9.99231068e-01 1.40467949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.165099893 meters 0.015315623437943396 Centerline is valid? [True, True] Translation: X:381.62, Y:24.41, Z:14.05 [[ 9.93974854e-01 -1.02410740e-01 -3.90644378e-02 3.81616123e+02] [ 1.02371804e-01 9.94741679e-01 -3.00100606e-03 2.44143845e+01] [ 3.91663597e-02 -1.01617243e-03 9.99232187e-01 1.40487020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22509989299994 meters 0.01575628031951351 Centerline is valid? [True, True] Translation: X:381.68, Y:24.41, Z:14.05 [[ 9.93929004e-01 -1.02431831e-01 -4.01603699e-02 3.81677815e+02] [ 1.02390817e-01 9.94739474e-01 -3.08221340e-03 2.44136203e+01] [ 4.02648220e-02 -1.04855181e-03 9.99188493e-01 1.40499243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28509989299994 meters 0.01496989673622271 Centerline is valid? [True, True] Translation: X:381.74, Y:24.42, Z:14.05 [[ 9.94079878e-01 -1.00685656e-01 -4.08361943e-02 3.81739595e+02] [ 1.00641873e-01 9.94917788e-01 -3.13175250e-03 2.44172732e+01] [ 4.09439787e-02 -9.96618949e-04 9.99160947e-01 1.40517261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34509989299994 meters 0.014609097657783702 Centerline is valid? [True, True] Translation: X:381.80, Y:24.42, Z:14.05 [[ 9.94475818e-01 -9.61416727e-02 -4.21263184e-02 3.81800308e+02] [ 9.60911314e-02 9.95367307e-01 -3.22770693e-03 2.44202771e+01] [ 4.22414773e-02 -8.38089114e-04 9.99107079e-01 1.40531273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40509989299994 meters 0.013511677072404065 Centerline is valid? [True, True] Translation: X:381.86, Y:24.43, Z:14.06 [[ 9.94848055e-01 -9.18586170e-02 -4.28875452e-02 3.81860437e+02] [ 9.18023129e-02 9.95771834e-01 -3.28466350e-03 2.44259014e+01] [ 4.30079342e-02 -6.69434744e-04 9.99074506e-01 1.40554262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46509989299994 meters 0.012203256955903958 Centerline is valid? [True, True] Translation: X:381.92, Y:24.43, Z:14.06 [[ 9.95042819e-01 -8.97085835e-02 -4.29203695e-02 3.81921759e+02] [ 8.96502031e-02 9.95967890e-01 -3.28696490e-03 2.44323167e+01] [ 4.30421788e-02 -5.77149030e-04 9.99073089e-01 1.40582877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52509989299995 meters 0.01210996234282684 Centerline is valid? [True, True] Translation: X:381.98, Y:24.44, Z:14.06 [[ 9.95123236e-01 -8.84193195e-02 -4.37237840e-02 3.81982213e+02] [ 8.83575555e-02 9.96083199e-01 -3.34696636e-03 2.44356685e+01] [ 4.38484632e-02 -5.32682680e-04 9.99038052e-01 1.40601031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58509989299995 meters 0.012144196666405567 Centerline is valid? [True, True] Translation: X:382.04, Y:24.44, Z:14.06 [[ 9.95098115e-01 -8.89802794e-02 -4.31538112e-02 3.82042203e+02] [ 8.89206726e-02 9.96033236e-01 -3.30264980e-03 2.44364506e+01] [ 4.32765009e-02 -5.50805327e-04 9.99062982e-01 1.40629701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64509989299995 meters 0.011980045663283432 Centerline is valid? [True, True] Translation: X:382.10, Y:24.44, Z:14.07 [[ 9.94955385e-01 -9.07535548e-02 -4.27501474e-02 3.82102504e+02] [ 9.06966977e-02 9.95873187e-01 -3.27166350e-03 2.44383539e+01] [ 4.28706407e-02 -6.22137988e-04 9.99080438e-01 1.40656445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70509989299995 meters 0.012961116554439787 Centerline is valid? [True, True] Translation: X:382.16, Y:24.44, Z:14.07 [[ 9.94445575e-01 -9.56286270e-02 -4.39677657e-02 3.82162359e+02] [ 9.55732377e-02 9.95416713e-01 -3.36497209e-03 2.44362343e+01] [ 4.40880365e-02 -8.55860118e-04 9.99027283e-01 1.40661168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76509989299996 meters 0.013941097024594895 Centerline is valid? [True, True] Translation: X:382.22, Y:24.44, Z:14.07 [[ 9.94029038e-01 -9.95843400e-02 -4.46007837e-02 3.82222863e+02] [ 9.95312894e-02 9.95028576e-01 -3.41411189e-03 2.44365495e+01] [ 4.47190464e-02 -1.04544715e-03 9.98999056e-01 1.40675351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82509989299996 meters 0.0167454424480234 Centerline is valid? [True, True] Translation: X:382.28, Y:24.43, Z:14.07 [[ 9.93513482e-01 -1.05184073e-01 -4.32119484e-02 3.82282761e+02] [ 1.05139558e-01 9.94451975e-01 -3.30790735e-03 2.44328702e+01] [ 4.33201467e-02 -1.25683462e-03 9.99060451e-01 1.40694714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88509989299996 meters 0.01664097491998759 Centerline is valid? [True, True] Translation: X:382.34, Y:24.44, Z:14.07 [[ 9.93234594e-01 -1.08224217e-01 -4.21017726e-02 3.82342520e+02] [ 1.08184655e-01 9.94125590e-01 -3.22366450e-03 2.44359782e+01] [ 4.22033280e-02 -1.35291062e-03 9.99108127e-01 1.40729321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94509989299996 meters 0.016984614559154138 Centerline is valid? [True, True] Translation: X:382.40, Y:24.44, Z:14.08 [[ 9.92990887e-01 -1.11383722e-01 -3.95318139e-02 3.82403931e+02] [ 1.11351319e-01 9.93776493e-01 -3.02743509e-03 2.44384552e+01] [ 3.96229944e-02 -1.39570417e-03 9.99213726e-01 1.40768524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00509989299997 meters 0.017802761900346256 Centerline is valid? [True, True] Translation: X:382.46, Y:24.44, Z:14.08 [[ 9.92915788e-01 -1.12363277e-01 -3.86358906e-02 3.82464896e+02] [ 1.12333120e-01 9.93666203e-01 -2.95742395e-03 2.44416496e+01] [ 3.87234845e-02 -1.40361718e-03 9.99248979e-01 1.40797430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06509989299997 meters 0.01911889901021228 Centerline is valid? [True, True] Translation: X:382.53, Y:24.44, Z:14.08 [[ 9.92846217e-01 -1.12919655e-01 -3.88013069e-02 3.82526174e+02] [ 1.12889720e-01 9.93603089e-01 -2.96863102e-03 2.44440649e+01] [ 3.88883152e-02 -1.43287460e-03 9.99242536e-01 1.40817098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12509989299997 meters 0.01858298957692914 Centerline is valid? [True, True] Translation: X:382.59, Y:24.45, Z:14.08 [[ 9.92730627e-01 -1.13633575e-01 -3.96650130e-02 3.82588183e+02] [ 1.13602951e-01 9.93521602e-01 -3.03246693e-03 2.44490036e+01] [ 3.97526373e-02 -1.49563973e-03 9.99208432e-01 1.40829261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.185099893 meters 0.020307106298289846 Centerline is valid? [True, True] Translation: X:382.65, Y:24.45, Z:14.08 [[ 9.92414116e-01 -1.15826225e-01 -4.12129657e-02 3.82647908e+02] [ 1.15795182e-01 9.93268125e-01 -3.14766198e-03 2.44510680e+01] [ 4.13001069e-02 -1.64847867e-03 9.99145427e-01 1.40842367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.245099893 meters 0.019671460499069187 Centerline is valid? [True, True] Translation: X:382.71, Y:24.46, Z:14.09 [[ 9.92119754e-01 -1.17844679e-01 -4.25561461e-02 3.82708699e+02] [ 1.17813576e-01 9.93030422e-01 -3.24690481e-03 2.44570678e+01] [ 4.26421782e-02 -1.79237335e-03 9.99088801e-01 1.40862352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.305099893 meters 0.02003962011430846 Centerline is valid? [True, True] Translation: X:382.77, Y:24.46, Z:14.09 [[ 9.91704182e-01 -1.20536628e-01 -4.46512818e-02 3.82770121e+02] [ 1.20505186e-01 9.92706858e-01 -3.40505267e-03 2.44618715e+01] [ 4.47360673e-02 -2.00390605e-03 9.98996831e-01 1.40867099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.365099893 meters 0.019602364033692744 Centerline is valid? [True, True] Translation: X:382.83, Y:24.47, Z:14.09 [[ 9.91618275e-01 -1.21079853e-01 -4.50873195e-02 3.82830811e+02] [ 1.21048431e-01 9.92640653e-01 -3.43662288e-03 2.44686757e+01] [ 4.51716120e-02 -2.04993124e-03 9.98977139e-01 1.40886993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.425099893 meters 0.0226053863474022 Centerline is valid? [True, True] Translation: X:382.89, Y:24.47, Z:14.09 [[ 9.91669252e-01 -1.20926439e-01 -4.43721848e-02 3.82891018e+02] [ 1.20895934e-01 9.92659432e-01 -3.38027912e-03 2.44723852e+01] [ 4.44552329e-02 -2.01229785e-03 9.99009351e-01 1.40913520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.485099893 meters 0.02123013808549672 Centerline is valid? [True, True] Translation: X:382.95, Y:24.48, Z:14.10 [[ 9.91738810e-01 -1.20876808e-01 -4.29293581e-02 3.82951863e+02] [ 1.20848316e-01 9.92665606e-01 -3.26781087e-03 2.44818118e+01] [ 4.30094999e-02 -1.94712577e-03 9.99072766e-01 1.40951326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.545099893 meters 0.022545257154102036 Centerline is valid? [True, True] Translation: X:383.01, Y:24.49, Z:14.10 [[ 9.91654427e-01 -1.21809956e-01 -4.22354370e-02 3.83012614e+02] [ 1.21783285e-01 9.92551513e-01 -3.21348170e-03 2.44884993e+01] [ 4.23122810e-02 -1.95690689e-03 9.99102518e-01 1.40989995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.605099893 meters 0.02346880312151181 Centerline is valid? [True, True] Translation: X:383.07, Y:24.49, Z:14.10 [[ 9.91566342e-01 -1.22733061e-01 -4.16267237e-02 3.83074032e+02] [ 1.22708028e-01 9.92437766e-01 -3.16562163e-03 2.44944379e+01] [ 4.17004591e-02 -1.96900934e-03 9.99128217e-01 1.41016868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.665099893 meters 0.024975332259669667 Centerline is valid? [True, True] Translation: X:383.14, Y:24.50, Z:14.10 [[ 9.91336552e-01 -1.24476774e-01 -4.19210410e-02 3.83135608e+02] [ 1.24453038e-01 9.92220385e-01 -3.18566827e-03 2.45006877e+01] [ 4.19914531e-02 -2.05913151e-03 9.99115848e-01 1.41036972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72509989299994 meters 0.025960995173257877 Centerline is valid? [True, True] Translation: X:383.20, Y:24.51, Z:14.10 [[ 9.91235406e-01 -1.24784280e-01 -4.33734141e-02 3.83196963e+02] [ 1.24759294e-01 9.92181573e-01 -3.29311147e-03 2.45078601e+01] [ 4.34452307e-02 -2.14698784e-03 9.99053503e-01 1.41049596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78509989299994 meters 0.021838726018769787 Centerline is valid? [True, True] Translation: X:383.26, Y:24.52, Z:14.11 [[ 9.91346311e-01 -1.23670734e-01 -4.40231924e-02 3.83258241e+02] [ 1.23643980e-01 9.92321020e-01 -3.34063397e-03 2.45214126e+01] [ 4.40982778e-02 -2.13147757e-03 9.99024924e-01 1.41073970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84509989299994 meters 0.021557322231412764 Centerline is valid? [True, True] Translation: X:383.32, Y:24.53, Z:14.11 [[ 9.91768134e-01 -1.20114194e-01 -4.43683296e-02 3.83318458e+02] [ 1.20083602e-01 9.92758084e-01 -3.36381410e-03 2.45323867e+01] [ 4.44510597e-02 -1.99178522e-03 9.99009578e-01 1.41097832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90509989299994 meters 0.019171388231615957 Centerline is valid? [True, True] Translation: X:383.38, Y:24.54, Z:14.11 [[ 9.92230091e-01 -1.16465932e-01 -4.37622371e-02 3.83379369e+02] [ 1.16432701e-01 9.93193047e-01 -3.31619738e-03 2.45443372e+01] [ 4.38505736e-02 -1.80492462e-03 9.99036471e-01 1.41124223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96509989299994 meters 0.01880534254768754 Centerline is valid? [True, True] Translation: X:383.44, Y:24.55, Z:14.11 [[ 9.92479453e-01 -1.14256419e-01 -4.39318451e-02 3.83440050e+02] [ 1.14220872e-01 9.93449810e-01 -3.32673612e-03 2.45513241e+01] [ 4.40241841e-02 -1.71621640e-03 9.99028991e-01 1.41145754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02509989299995 meters 0.01817826259449916 Centerline is valid? [True, True] Translation: X:383.50, Y:24.56, Z:14.12 [[ 9.93194957e-01 -1.08409815e-01 -4.25568966e-02 3.83499359e+02] [ 1.08371152e-01 9.94105285e-01 -3.22129579e-03 2.45628238e+01] [ 4.26552559e-02 -1.41256517e-03 9.99088852e-01 1.41167070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08509989299995 meters 0.016527478476855706 Centerline is valid? [True, True] Translation: X:383.56, Y:24.57, Z:14.12 [[ 9.93603076e-01 -1.05140734e-01 -4.12110779e-02 3.83560370e+02] [ 1.05101678e-01 9.94456589e-01 -3.11920869e-03 2.45733429e+01] [ 4.13105838e-02 -1.23209808e-03 9.99145594e-01 1.41196718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14509989299995 meters 0.015016697418553961 Centerline is valid? [True, True] Translation: X:383.62, Y:24.58, Z:14.12 [[ 9.94102501e-01 -1.00841629e-01 -3.98896319e-02 3.83621071e+02] [ 1.00801659e-01 9.94901966e-01 -3.01714546e-03 2.45847786e+01] [ 3.99905270e-02 -1.02158924e-03 9.99199537e-01 1.41218448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20509989299995 meters 0.014805700454644119 Centerline is valid? [True, True] Translation: X:383.68, Y:24.59, Z:14.12 [[ 9.94431853e-01 -9.74270674e-02 -4.01653557e-02 3.83681683e+02] [ 9.73838220e-02 9.95242268e-01 -3.03646972e-03 2.45921973e+01] [ 4.02700940e-02 -8.91893636e-04 9.99188433e-01 1.41229017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26509989299996 meters 0.013656846736103914 Centerline is valid? [True, True] Translation: X:383.74, Y:24.60, Z:14.12 [[ 9.94995315e-01 -9.13178667e-02 -4.05631653e-02 3.83741868e+02] [ 9.12687717e-02 9.95821581e-01 -3.06440952e-03 2.46024762e+01] [ 4.06735107e-02 -6.53077150e-04 9.99172277e-01 1.41235851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32509989299996 meters 0.012407876176322245 Centerline is valid? [True, True] Translation: X:383.80, Y:24.61, Z:14.13 [[ 9.95481903e-01 -8.61078838e-02 -4.00151535e-02 3.83803603e+02] [ 8.60559580e-02 9.96285723e-01 -3.02151752e-03 2.46125783e+01] [ 4.01267027e-02 -4.35676364e-04 9.99194505e-01 1.41255985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38509989299996 meters 0.01176572048896573 Centerline is valid? [True, True] Translation: X:383.86, Y:24.62, Z:14.13 [[ 9.96194848e-01 -7.82255703e-02 -3.84263524e-02 3.83864125e+02] [ 7.81719238e-02 9.96935678e-01 -2.89890293e-03 2.46225950e+01] [ 3.85353700e-02 -1.15989728e-04 9.99257230e-01 1.41280951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44509989299996 meters 0.011733508233942832 Centerline is valid? [True, True] Translation: X:383.93, Y:24.63, Z:14.13 [[ 9.96527431e-01 -7.45624941e-02 -3.70609536e-02 3.83925538e+02] [ 7.45101312e-02 9.97216343e-01 -2.79399428e-03 2.46287888e+01] [ 3.71661158e-02 2.28754266e-05 9.99309101e-01 1.41304342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50509989299997 meters 0.01174726495959825 Centerline is valid? [True, True] Translation: X:383.99, Y:24.63, Z:14.13 [[ 9.96627626e-01 -7.36754167e-02 -3.61290414e-02 3.83988077e+02] [ 7.36251615e-02 9.97282272e-01 -2.72127673e-03 2.46307852e+01] [ 3.62313437e-02 5.20930605e-05 9.99343428e-01 1.41314776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56509989299997 meters 0.011987059572617961 Centerline is valid? [True, True] Translation: X:384.05, Y:24.63, Z:14.13 [[ 9.96264922e-01 -7.79628962e-02 -3.71213023e-02 3.84049656e+02] [ 7.79129200e-02 9.96956255e-01 -2.79321654e-03 2.46282409e+01] [ 3.72260818e-02 -1.09445399e-04 9.99306863e-01 1.41316025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62509989299997 meters 0.012439314894813066 Centerline is valid? [True, True] Translation: X:384.11, Y:24.63, Z:14.13 [[ 9.95833758e-01 -8.31873951e-02 -3.73494786e-02 3.84112563e+02] [ 8.31405505e-02 9.96533874e-01 -2.80834842e-03 2.46259827e+01] [ 3.74536398e-02 -3.08608048e-04 9.99298319e-01 1.41327363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.685099893 meters 0.014319582045754453 Centerline is valid? [True, True] Translation: X:384.17, Y:24.62, Z:14.13 [[ 9.94957002e-01 -9.29802904e-02 -3.76195494e-02 3.84174820e+02] [ 9.29398589e-02 9.95667714e-01 -2.82592213e-03 2.46186593e+01] [ 3.77193258e-02 -6.84684604e-04 9.99288138e-01 1.41337839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.745099893 meters 0.01602087957371716 Centerline is valid? [True, True] Translation: X:384.24, Y:24.62, Z:14.14 [[ 9.94345323e-01 -9.92369288e-02 -3.78075502e-02 3.84235929e+02] [ 9.92006592e-02 9.95063400e-01 -2.83869968e-03 2.46159716e+01] [ 3.79026133e-02 -9.27886154e-04 9.99281007e-01 1.41353662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.805099893 meters 0.017543786827889988 Centerline is valid? [True, True] Translation: X:384.30, Y:24.61, Z:14.14 [[ 9.93793565e-01 -1.04963253e-01 -3.68383716e-02 3.84296801e+02] [ 1.04932770e-01 9.94475473e-01 -2.76529043e-03 2.46146483e+01] [ 3.69251109e-02 -1.11742456e-03 9.99317411e-01 1.41371270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.865099893 meters 0.02035611781104836 Centerline is valid? [True, True] Translation: X:384.36, Y:24.61, Z:14.14 [[ 9.93062573e-01 -1.12387607e-01 -3.45796611e-02 3.84358069e+02] [ 1.12365259e-01 9.93663582e-01 -2.59511883e-03 2.46097361e+01] [ 3.46522091e-02 -1.30843719e-03 9.99398575e-01 1.41398781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.925099893 meters 0.02419141106767063 Centerline is valid? [True, True] Translation: X:384.42, Y:24.61, Z:14.14 [[ 9.92648348e-01 -1.16557111e-01 -3.26143546e-02 3.84418770e+02] [ 1.16539478e-01 9.93183044e-01 -2.44756882e-03 2.46058397e+01] [ 3.26773056e-02 -1.37128472e-03 9.99465014e-01 1.41436794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.985099893 meters 0.024228824981690874 Centerline is valid? [True, True] Translation: X:384.48, Y:24.61, Z:14.15 [[ 9.91999634e-01 -1.22026651e-01 -3.23453606e-02 3.84479392e+02] [ 1.22012227e-01 9.92525631e-01 -2.42674848e-03 2.46072393e+01] [ 3.23997275e-02 -1.53919588e-03 9.99473806e-01 1.41456239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.045099893 meters 0.024975154051121613 Centerline is valid? [True, True] Translation: X:384.54, Y:24.61, Z:14.15 [[ 9.91666140e-01 -1.24603279e-01 -3.27458245e-02 3.84540980e+02] [ 1.24589897e-01 9.92205282e-01 -2.45680079e-03 2.46086758e+01] [ 3.27967055e-02 -1.64347274e-03 9.99460692e-01 1.41467898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.105099893 meters 0.025885183585133986 Centerline is valid? [True, True] Translation: X:384.60, Y:24.61, Z:14.15 [[ 9.91411778e-01 -1.26178529e-01 -3.43753580e-02 3.84603011e+02] [ 1.26164768e-01 9.92005951e-01 -2.57785291e-03 2.46096654e+01] [ 3.44258294e-02 -1.78124533e-03 9.99405668e-01 1.41474249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.165099893 meters 0.0253994418741707 Centerline is valid? [True, True] Translation: X:384.66, Y:24.61, Z:14.15 [[ 9.91664246e-01 -1.23509168e-01 -3.67084210e-02 3.84664870e+02] [ 1.23491759e-01 9.92341787e-01 -2.74997001e-03 2.46148631e+01] [ 3.67669466e-02 -1.80614054e-03 9.99322235e-01 1.41480644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22509989299994 meters 0.022489968322114466 Centerline is valid? [True, True] Translation: X:384.72, Y:24.62, Z:14.15 [[ 9.92178473e-01 -1.18974440e-01 -3.77751166e-02 3.84724708e+02] [ 1.18952803e-01 9.92895883e-01 -2.82782439e-03 2.46247231e+01] [ 3.78431966e-02 -1.68774950e-03 9.99282264e-01 1.41497770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28509989299994 meters 0.021409988837480614 Centerline is valid? [True, True] Translation: X:384.78, Y:24.63, Z:14.15 [[ 9.93244604e-01 -1.09357505e-01 -3.88084194e-02 3.84784011e+02] [ 1.09327334e-01 9.94001556e-01 -2.90517920e-03 2.46343752e+01] [ 3.88933325e-02 -1.35726747e-03 9.99242446e-01 1.41520320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34509989299994 meters 0.016216036345117556 Centerline is valid? [True, True] Translation: X:384.84, Y:24.65, Z:14.16 [[ 9.94025241e-01 -1.01996387e-01 -3.88658866e-02 3.84844164e+02] [ 1.01960502e-01 9.94784193e-01 -2.90950423e-03 2.46504076e+01] [ 3.89599285e-02 -1.07066468e-03 9.99240200e-01 1.41555992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40509989299994 meters 0.0159016074343796 Centerline is valid? [True, True] Translation: X:384.90, Y:24.66, Z:14.16 [[ 9.94742045e-01 -9.50085889e-02 -3.82312869e-02 3.84903706e+02] [ 9.49687331e-02 9.95476144e-01 -2.86131735e-03 2.46582570e+01] [ 3.83301838e-02 -7.84504212e-04 9.99264821e-01 1.41591845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46509989299994 meters 0.013507062788397762 Centerline is valid? [True, True] Translation: X:384.96, Y:24.67, Z:14.16 [[ 9.95496376e-01 -8.69586436e-02 -3.77512858e-02 3.84964182e+02] [ 8.69139944e-02 9.96211812e-01 -2.82537258e-03 2.46712419e+01] [ 3.78539674e-02 -4.68466881e-04 9.99283172e-01 1.41630998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52509989299995 meters 0.01303138948056435 Centerline is valid? [True, True] Translation: X:385.03, Y:24.68, Z:14.17 [[ 9.95734239e-01 -8.35987583e-02 -3.90457828e-02 3.85025599e+02] [ 8.35484725e-02 9.96499434e-01 -2.92069157e-03 2.46781201e+01] [ 3.91532667e-02 -3.53982915e-04 9.99233154e-01 1.41651172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58509989299995 meters 0.01295040481847218 Centerline is valid? [True, True] Translation: X:385.09, Y:24.68, Z:14.17 [[ 9.95733726e-01 -8.22747457e-02 -4.17757494e-02 3.85086938e+02] [ 8.22161497e-02 9.96609633e-01 -3.12169044e-03 2.46828247e+01] [ 4.18909505e-02 -3.26268808e-04 9.99122136e-01 1.41665531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64509989299995 meters 0.013075827504849539 Centerline is valid? [True, True] Translation: X:385.15, Y:24.68, Z:14.17 [[ 9.95506674e-01 -8.39621499e-02 -4.37814984e-02 3.85147697e+02] [ 8.38995147e-02 9.96468857e-01 -3.26943277e-03 2.46845063e+01] [ 4.39014083e-02 -4.18504333e-04 9.99035781e-01 1.41682123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70509989299995 meters 0.013211564435017106 Centerline is valid? [True, True] Translation: X:385.21, Y:24.69, Z:14.17 [[ 9.95323894e-01 -8.57770497e-02 -4.44144615e-02 3.85207147e+02] [ 8.57143837e-02 9.96314229e-01 -3.31695872e-03 2.46863634e+01] [ 4.45352789e-02 -5.05509930e-04 9.99007684e-01 1.41703269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76509989299996 meters 0.013655734990959427 Centerline is valid? [True, True] Translation: X:385.27, Y:24.69, Z:14.17 [[ 9.95170684e-01 -8.76723051e-02 -4.41460860e-02 3.85266146e+02] [ 8.76121826e-02 9.96149198e-01 -3.29860996e-03 2.46880553e+01] [ 4.42652849e-02 -5.85055020e-04 9.99019641e-01 1.41727497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82509989299996 meters 0.014157365672291557 Centerline is valid? [True, True] Translation: X:385.33, Y:24.69, Z:14.18 [[ 9.95020281e-01 -8.97042925e-02 -4.34485853e-02 3.85326216e+02] [ 8.96478968e-02 9.95968223e-01 -3.24864892e-03 2.46894703e+01] [ 4.35648280e-02 -6.62602726e-04 9.99050382e-01 1.41753355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88509989299996 meters 0.014270664032184683 Centerline is valid? [True, True] Translation: X:385.39, Y:24.69, Z:14.18 [[ 9.94809292e-01 -9.18987908e-02 -4.36930865e-02 3.85386424e+02] [ 9.18438162e-02 9.95768061e-01 -3.26823077e-03 2.46915880e+01] [ 4.38085265e-02 -7.61673465e-04 9.99039655e-01 1.41781500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94509989299996 meters 0.015666394621721282 Centerline is valid? [True, True] Translation: X:385.45, Y:24.69, Z:14.18 [[ 9.94572671e-01 -9.41483704e-02 -4.42864051e-02 3.85446464e+02] [ 9.40941201e-02 9.95557795e-01 -3.31261084e-03 2.46908272e+01] [ 4.44015527e-02 -8.72458109e-04 9.99013384e-01 1.41796415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00509989299997 meters 0.014988524506225261 Centerline is valid? [True, True] Translation: X:385.51, Y:24.69, Z:14.18 [[ 9.94164664e-01 -9.79866606e-02 -4.51135732e-02 3.85506516e+02] [ 9.79343045e-02 9.95187160e-01 -3.37462896e-03 2.46924259e+01] [ 4.52271174e-02 -1.06322954e-03 9.98976165e-01 1.41828764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06509989299997 meters 0.016400608676904387 Centerline is valid? [True, True] Translation: X:385.57, Y:24.69, Z:14.18 [[ 9.93583970e-01 -1.03472791e-01 -4.56538753e-02 3.85566820e+02] [ 1.03424915e-01 9.94631398e-01 -3.41591228e-03 2.46887645e+01] [ 4.57622318e-02 -1.32775247e-03 9.98951478e-01 1.41844651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12509989299997 meters 0.017176955470865965 Centerline is valid? [True, True] Translation: X:385.63, Y:24.69, Z:14.19 [[ 9.93265672e-01 -1.06494897e-01 -4.56304981e-02 3.85627406e+02] [ 1.06450218e-01 9.94312169e-01 -3.41491831e-03 2.46880734e+01] [ 4.57346309e-02 -1.46545535e-03 9.98952549e-01 1.41864808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.185099893 meters 0.018942322579263125 Centerline is valid? [True, True] Translation: X:385.69, Y:24.68, Z:14.19 [[ 9.92943281e-01 -1.09273579e-01 -4.60752211e-02 3.85687178e+02] [ 1.09231004e-01 9.94010411e-01 -3.44835170e-03 2.46842983e+01] [ 4.61760632e-02 -1.60882499e-03 9.98932021e-01 1.41874866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.245099893 meters 0.01965226720761878 Centerline is valid? [True, True] Translation: X:385.75, Y:24.69, Z:14.19 [[ 9.92846777e-01 -1.10149254e-01 -4.60697160e-02 3.85746617e+02] [ 1.10107586e-01 9.93913691e-01 -3.44888891e-03 2.46856474e+01] [ 4.61692140e-02 -1.64840699e-03 9.98932273e-01 1.41896826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.305099893 meters 0.021281879887460334 Centerline is valid? [True, True] Translation: X:385.80, Y:24.69, Z:14.19 [[ 9.92581648e-01 -1.12120096e-01 -4.70186841e-02 3.85804977e+02] [ 1.12078805e-01 9.93693080e-01 -3.52197578e-03 2.46851942e+01] [ 4.71170253e-02 -1.77394941e-03 9.98887801e-01 1.41918606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.365099893 meters 0.022681228022401377 Centerline is valid? [True, True] Translation: X:385.86, Y:24.69, Z:14.20 [[ 9.92357525e-01 -1.14408400e-01 -4.62305120e-02 3.85863593e+02] [ 1.14370737e-01 9.93432086e-01 -3.46770076e-03 2.46862960e+01] [ 4.63236081e-02 -1.84621881e-03 9.98924779e-01 1.41951717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.425099893 meters 0.0220762924830402 Centerline is valid? [True, True] Translation: X:385.92, Y:24.69, Z:14.20 [[ 9.92078489e-01 -1.17059368e-01 -4.55782479e-02 3.85922704e+02] [ 1.17025115e-01 9.93123038e-01 -3.42831115e-03 2.46902485e+01] [ 4.56661239e-02 -1.93264595e-03 9.98954889e-01 1.41982079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.485099893 meters 0.023517725681113485 Centerline is valid? [True, True] Translation: X:385.98, Y:24.69, Z:14.20 [[ 9.91547703e-01 -1.21315644e-01 -4.59963857e-02 3.85983114e+02] [ 1.21285188e-01 9.92611663e-01 -3.46275995e-03 2.46915822e+01] [ 4.60766358e-02 -2.14518858e-03 9.98935604e-01 1.42002968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.545099893 meters 0.03111869694196186 Centerline is valid? [True, True] Translation: X:386.04, Y:24.68, Z:14.20 [[ 9.91086708e-01 -1.25373639e-01 -4.50398498e-02 3.86043230e+02] [ 1.25348574e-01 9.92106966e-01 -3.39154161e-03 2.46848333e+01] [ 4.51095587e-02 -2.28436915e-03 9.98979434e-01 1.42011356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.605099893 meters 0.02517616126511475 Centerline is valid? [True, True] Translation: X:386.10, Y:24.70, Z:14.21 [[ 9.90849324e-01 -1.27597455e-01 -4.40057670e-02 3.86102263e+02] [ 1.27575678e-01 9.91823301e-01 -3.31444094e-03 2.46973773e+01] [ 4.40688594e-02 -2.32995400e-03 9.99025779e-01 1.42054620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.665099893 meters 0.023991203255902243 Centerline is valid? [True, True] Translation: X:386.16, Y:24.70, Z:14.21 [[ 9.90716443e-01 -1.28904671e-01 -4.31800308e-02 3.86162872e+02] [ 1.28884921e-01 9.91654223e-01 -3.25269036e-03 2.47040377e+01] [ 4.32389468e-02 -2.34276101e-03 9.99062013e-01 1.42085519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72509989299994 meters 0.025250960445353625 Centerline is valid? [True, True] Translation: X:386.22, Y:24.71, Z:14.21 [[ 9.90478892e-01 -1.31050025e-01 -4.21598707e-02 3.86223746e+02] [ 1.31033196e-01 9.91372899e-01 -3.17430260e-03 2.47085170e+01] [ 4.22121457e-02 -2.38026288e-03 9.99105835e-01 1.42112073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78509989299994 meters 0.026524908164050294 Centerline is valid? [True, True] Translation: X:386.29, Y:24.71, Z:14.21 [[ 9.90239921e-01 -1.32993693e-01 -4.16842545e-02 3.86285047e+02] [ 1.32979020e-01 9.91113888e-01 -3.13696178e-03 2.47128571e+01] [ 4.17310397e-02 -2.43678654e-03 9.99125909e-01 1.42124069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84509989299994 meters 0.029182229743895914 Centerline is valid? [True, True] Translation: X:386.35, Y:24.72, Z:14.21 [[ 9.90060364e-01 -1.34306355e-01 -4.17406156e-02 3.86345243e+02] [ 1.34292865e-01 9.90936713e-01 -3.13974646e-03 2.47155158e+01] [ 4.17839963e-02 -2.49692834e-03 9.99123547e-01 1.42142355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90509989299994 meters 0.03036955061716387 Centerline is valid? [True, True] Translation: X:386.41, Y:24.72, Z:14.22 [[ 9.89816788e-01 -1.36245279e-01 -4.12304429e-02 3.86406483e+02] [ 1.36233824e-01 9.90671859e-01 -3.10055962e-03 2.47224319e+01] [ 4.12682761e-02 -2.54799494e-03 9.99144853e-01 1.42165341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96509989299994 meters 0.03147197557122997 Centerline is valid? [True, True] Translation: X:386.47, Y:24.73, Z:14.22 [[ 9.89601547e-01 -1.37469162e-01 -4.23202996e-02 3.86467013e+02] [ 1.37458278e-01 9.90502450e-01 -3.18092107e-03 2.47283119e+01] [ 4.23556390e-02 -2.66943107e-03 9.99099031e-01 1.42177684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02509989299995 meters 0.029104015415024064 Centerline is valid? [True, True] Translation: X:386.53, Y:24.74, Z:14.22 [[ 9.89199443e-01 -1.39705942e-01 -4.43476243e-02 3.86527424e+02] [ 1.39696315e-01 9.90188791e-01 -3.33142271e-03 2.47400170e+01] [ 4.43779400e-02 -2.89975823e-03 9.99010605e-01 1.42185007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08509989299995 meters 0.03046416499570461 Centerline is valid? [True, True] Translation: X:386.59, Y:24.75, Z:14.22 [[ 9.89125696e-01 -1.40372720e-01 -4.38845856e-02 3.86588392e+02] [ 1.40363985e-01 9.90094485e-01 -3.29571403e-03 2.47456769e+01] [ 4.39125145e-02 -2.89993988e-03 9.99031171e-01 1.42213514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14509989299995 meters 0.029469558599401077 Centerline is valid? [True, True] Translation: X:386.65, Y:24.76, Z:14.23 [[ 9.89237932e-01 -1.39816582e-01 -4.31235243e-02 3.86649881e+02] [ 1.39807696e-01 9.90173384e-01 -3.23678540e-03 2.47554079e+01] [ 4.31523223e-02 -2.82704970e-03 9.99064505e-01 1.42250922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20509989299995 meters 0.029435970879891655 Centerline is valid? [True, True] Translation: X:386.71, Y:24.77, Z:14.23 [[ 9.89535384e-01 -1.38099379e-01 -4.18125129e-02 3.86710285e+02] [ 1.38089615e-01 9.90414775e-01 -3.13554336e-03 2.47655155e+01] [ 4.18447471e-02 -2.67114272e-03 9.99120554e-01 1.42280084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26509989299996 meters 0.02974868228369198 Centerline is valid? [True, True] Translation: X:386.77, Y:24.77, Z:14.23 [[ 9.89566466e-01 -1.37684031e-01 -4.24419204e-02 3.86772110e+02] [ 1.37673668e-01 9.90472535e-01 -3.18096852e-03 2.47733784e+01] [ 4.24755251e-02 -2.69535506e-03 9.99093872e-01 1.42298266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32509989299996 meters 0.029416904837475093 Centerline is valid? [True, True] Translation: X:386.83, Y:24.78, Z:14.23 [[ 9.89506226e-01 -1.37852086e-01 -4.32923854e-02 3.86834057e+02] [ 1.37841605e-01 9.90448981e-01 -3.24149511e-03 2.47833666e+01] [ 4.33257459e-02 -2.76001230e-03 9.99057187e-01 1.42313999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38509989299996 meters 0.02806987532546409 Centerline is valid? [True, True] Translation: X:386.90, Y:24.80, Z:14.23 [[ 9.89372030e-01 -1.39056514e-01 -4.25002697e-02 3.86895046e+02] [ 1.39047644e-01 9.90280589e-01 -3.17921160e-03 2.47954379e+01] [ 4.25292822e-02 -2.76413933e-03 9.99091397e-01 1.42343701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44509989299996 meters 0.029477040451473913 Centerline is valid? [True, True] Translation: X:386.96, Y:24.80, Z:14.24 [[ 9.89336607e-01 -1.39443908e-01 -4.20532345e-02 3.86956929e+02] [ 1.39435673e-01 9.90226142e-01 -3.14334239e-03 2.48010948e+01] [ 4.20805321e-02 -2.75389737e-03 9.99110427e-01 1.42366723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50509989299997 meters 0.029142018136034075 Centerline is valid? [True, True] Translation: X:387.02, Y:24.81, Z:14.24 [[ 9.89352497e-01 -1.39499496e-01 -4.14912906e-02 3.87018766e+02] [ 1.39491653e-01 9.90218400e-01 -3.09830711e-03 2.48096477e+01] [ 4.15176516e-02 -2.72237083e-03 9.99134062e-01 1.42388098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56509989299997 meters 0.030686183481441635 Centerline is valid? [True, True] Translation: X:387.08, Y:24.82, Z:14.24 [[ 9.89502062e-01 -1.38495725e-01 -4.12868367e-02 3.87079111e+02] [ 1.38487212e-01 9.90359432e-01 -3.08006038e-03 2.48173609e+01] [ 4.13153833e-02 -2.66997281e-03 9.99142588e-01 1.42408666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62509989299997 meters 0.030656933727195284 Centerline is valid? [True, True] Translation: X:387.14, Y:24.83, Z:14.24 [[ 9.89632550e-01 -1.37611009e-01 -4.11172327e-02 3.87140884e+02] [ 1.37601900e-01 9.90482873e-01 -3.06508691e-03 2.48252731e+01] [ 4.11477045e-02 -2.62449958e-03 9.99149628e-01 1.42435276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.685099893 meters 0.03214431706039841 Centerline is valid? [True, True] Translation: X:387.20, Y:24.83, Z:14.25 [[ 9.89784239e-01 -1.36522487e-01 -4.10946675e-02 3.87201811e+02] [ 1.36512574e-01 9.90633611e-01 -3.06050558e-03 2.48320897e+01] [ 4.11275866e-02 -2.58069863e-03 9.99150570e-01 1.42454875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.745099893 meters 0.029822955694499425 Centerline is valid? [True, True] Translation: X:387.26, Y:24.84, Z:14.25 [[ 9.89845218e-01 -1.35992959e-01 -4.13806625e-02 3.87263394e+02] [ 1.35982543e-01 9.90706447e-01 -3.07949950e-03 2.48412196e+01] [ 4.14148794e-02 -2.57881987e-03 9.99138708e-01 1.42477368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.805099893 meters 0.03054049012464957 Centerline is valid? [True, True] Translation: X:387.33, Y:24.85, Z:14.25 [[ 9.89975223e-01 -1.34900194e-01 -4.18448905e-02 3.87325128e+02] [ 1.34888699e-01 9.90855873e-01 -3.11098607e-03 2.48478110e+01] [ 4.18819281e-02 -2.56460372e-03 9.99119276e-01 1.42499200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.865099893 meters 0.033053004226222024 Centerline is valid? [True, True] Translation: X:387.38, Y:24.85, Z:14.25 [[ 9.90411861e-01 -1.31489772e-01 -4.23648990e-02 3.87384857e+02] [ 1.31474996e-01 9.91314492e-01 -3.14695400e-03 2.48537522e+01] [ 4.24107306e-02 -2.45314439e-03 9.99097249e-01 1.42516626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.925099893 meters 0.024988092111350613 Centerline is valid? [True, True] Translation: X:387.44, Y:24.87, Z:14.26 [[ 9.90881236e-01 -1.28026229e-01 -4.19959533e-02 3.87443944e+02] [ 1.28008608e-01 9.91768151e-01 -3.11954793e-03 2.48720228e+01] [ 4.20496328e-02 -2.28474202e-03 9.99112911e-01 1.42550492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.985099893 meters 0.023870737395766707 Centerline is valid? [True, True] Translation: X:387.50, Y:24.88, Z:14.26 [[ 9.91574489e-01 -1.22271201e-01 -4.27759898e-02 3.87503331e+02] [ 1.22247579e-01 9.92494551e-01 -3.17748206e-03 2.48823862e+01] [ 4.28434513e-02 -2.07855105e-03 9.99079636e-01 1.42575724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.045099893 meters 0.020924319824914755 Centerline is valid? [True, True] Translation: X:387.56, Y:24.89, Z:14.26 [[ 9.92040542e-01 -1.18400182e-01 -4.28597624e-02 3.87563666e+02] [ 1.18372870e-01 9.92964112e-01 -3.18354168e-03 2.48942850e+01] [ 4.29351378e-02 -1.91523067e-03 9.99076026e-01 1.42608207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.105099893 meters 0.021322993362366236 Centerline is valid? [True, True] Translation: X:387.62, Y:24.90, Z:14.26 [[ 9.92579308e-01 -1.13479441e-01 -4.36890536e-02 3.87622925e+02] [ 1.13446335e-01 9.93538828e-01 -3.24443252e-03 2.49020553e+01] [ 4.37749475e-02 -1.73600643e-03 9.99039909e-01 1.42630831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.165099893 meters 0.019357448158699112 Centerline is valid? [True, True] Translation: X:387.68, Y:24.91, Z:14.27 [[ 9.92845782e-01 -1.10893981e-01 -4.42693857e-02 3.87684109e+02] [ 1.10857442e-01 9.93830882e-01 -3.28713931e-03 2.49115982e+01] [ 4.43608066e-02 -1.64396844e-03 9.99014222e-01 1.42655549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22509989299994 meters 0.019525077878890462 Centerline is valid? [True, True] Translation: X:387.75, Y:24.92, Z:14.27 [[ 9.93102204e-01 -1.08741037e-01 -4.38565843e-02 3.87745049e+02] [ 1.08703185e-01 9.94068925e-01 -3.25409400e-03 2.49174966e+01] [ 4.39503212e-02 -1.53570248e-03 9.99032537e-01 1.42672035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28509989299994 meters 0.018905828759270264 Centerline is valid? [True, True] Translation: X:387.81, Y:24.92, Z:14.27 [[ 9.93121706e-01 -1.08446236e-01 -4.41439816e-02 3.87806899e+02] [ 1.08407707e-01 9.94101130e-01 -3.27288337e-03 2.49240427e+01] [ 4.42385138e-02 -1.53517632e-03 9.99019818e-01 1.42696839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34509989299994 meters 0.020572666905859054 Centerline is valid? [True, True] Translation: X:387.87, Y:24.93, Z:14.27 [[ 9.92983163e-01 -1.09675720e-01 -4.42230042e-02 3.87867610e+02] [ 1.09638402e-01 9.93966141e-01 -3.27578304e-03 2.49266666e+01] [ 4.43154427e-02 -1.59574210e-03 9.99016314e-01 1.42708508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40509989299994 meters 0.019852286444533903 Centerline is valid? [True, True] Translation: X:387.93, Y:24.93, Z:14.27 [[ 9.92750401e-01 -1.11559423e-01 -4.47340572e-02 3.87929128e+02] [ 1.11523225e-01 9.93756309e-01 -3.31187681e-03 2.49324012e+01] [ 4.48242226e-02 -1.70101931e-03 9.98993441e-01 1.42733189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46509989299994 meters 0.020756401343827495 Centerline is valid? [True, True] Translation: X:387.99, Y:24.94, Z:14.28 [[ 9.92380201e-01 -1.14923993e-01 -4.44298662e-02 3.87990512e+02] [ 1.14891751e-01 9.93372579e-01 -3.28707012e-03 2.49353831e+01] [ 4.45131740e-02 -1.84260180e-03 9.99007098e-01 1.42754655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52509989299995 meters 0.023263436711364886 Centerline is valid? [True, True] Translation: X:388.05, Y:24.94, Z:14.28 [[ 9.92154995e-01 -1.17034527e-01 -4.39475240e-02 3.88051833e+02] [ 1.17005122e-01 9.93125995e-01 -3.24967678e-03 2.49363978e+01] [ 4.40257528e-02 -1.91790233e-03 9.99028556e-01 1.42777754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58509989299995 meters 0.024117554828165896 Centerline is valid? [True, True] Translation: X:388.11, Y:24.94, Z:14.28 [[ 9.91920652e-01 -1.19158147e-01 -4.35288076e-02 3.88114194e+02] [ 1.19131444e-01 9.92873282e-01 -3.21627071e-03 2.49398710e+01] [ 4.36018350e-02 -1.99536437e-03 9.99046995e-01 1.42802396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64509989299995 meters 0.025297962984378787 Centerline is valid? [True, True] Translation: X:388.18, Y:24.94, Z:14.28 [[ 9.91864713e-01 -1.19643433e-01 -4.34722867e-02 3.88175607e+02] [ 1.19617394e-01 9.92814877e-01 -3.20912301e-03 2.49428995e+01] [ 4.35438835e-02 -2.01702578e-03 9.99049479e-01 1.42825090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70509989299995 meters 0.023710169667808798 Centerline is valid? [True, True] Translation: X:388.24, Y:24.95, Z:14.29 [[ 9.91919695e-01 -1.19429018e-01 -4.28021912e-02 3.88237746e+02] [ 1.19403675e-01 9.92840770e-01 -3.15732789e-03 2.49504689e+01] [ 4.28728370e-02 -1.97892322e-03 9.99078577e-01 1.42854924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76509989299996 meters 0.026713392017133738 Centerline is valid? [True, True] Translation: X:388.30, Y:24.95, Z:14.29 [[ 9.92016791e-01 -1.18608447e-01 -4.28336727e-02 3.88299474e+02] [ 1.18582437e-01 9.92939193e-01 -3.15657661e-03 2.49513205e+01] [ 4.29056291e-02 -1.94794429e-03 9.99077231e-01 1.42877276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82509989299996 meters 0.025124708054789897 Centerline is valid? [True, True] Translation: X:388.36, Y:24.96, Z:14.29 [[ 9.92098673e-01 -1.17844109e-01 -4.30463534e-02 3.88361799e+02] [ 1.17817258e-01 9.93030236e-01 -3.16909570e-03 2.49583018e+01] [ 4.31197898e-02 -1.92754770e-03 9.99068050e-01 1.42894948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88509989299996 meters 0.02175740014193728 Centerline is valid? [True, True] Translation: X:388.42, Y:24.97, Z:14.29 [[ 9.92185200e-01 -1.17129619e-01 -4.30021041e-02 3.88423764e+02] [ 1.17102311e-01 9.93114822e-01 -3.16218891e-03 2.49680736e+01] [ 4.30764129e-02 -1.89816874e-03 9.99069977e-01 1.42919162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94509989299996 meters 0.022724901286577004 Centerline is valid? [True, True] Translation: X:388.49, Y:24.97, Z:14.29 [[ 9.92161295e-01 -1.17235405e-01 -4.32645760e-02 3.88485634e+02] [ 1.17208001e-01 9.93102302e-01 -3.17831047e-03 2.49720645e+01] [ 4.33387606e-02 -1.91755785e-03 9.99058594e-01 1.42936575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00509989299997 meters 0.022167396132637022 Centerline is valid? [True, True] Translation: X:388.55, Y:24.98, Z:14.30 [[ 9.92116933e-01 -1.17282469e-01 -4.41453626e-02 3.88547901e+02] [ 1.17254129e-01 9.93096659e-01 -3.23977191e-03 2.49784745e+01] [ 4.42205806e-02 -1.96199347e-03 9.99019865e-01 1.42957879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06509989299997 meters 0.022937613600867907 Centerline is valid? [True, True] Translation: X:388.61, Y:24.98, Z:14.30 [[ 9.92020116e-01 -1.17885508e-01 -4.47112569e-02 3.88610021e+02] [ 1.17857197e-01 9.93025144e-01 -3.27800566e-03 2.49827041e+01] [ 4.47858317e-02 -2.01769585e-03 9.98994574e-01 1.42978523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12509989299997 meters 0.021796447143891826 Centerline is valid? [True, True] Translation: X:388.67, Y:24.99, Z:14.30 [[ 9.91966175e-01 -1.18725197e-01 -4.36741976e-02 3.88671822e+02] [ 1.18699130e-01 9.92925115e-01 -3.19886291e-03 2.49897975e+01] [ 4.37449933e-02 -2.01092546e-03 9.99040706e-01 1.43015932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.185099893 meters 0.022899601057054964 Centerline is valid? [True, True] Translation: X:388.73, Y:24.99, Z:14.30 [[ 9.91949914e-01 -1.19181790e-01 -4.27909925e-02 3.88733281e+02] [ 1.19157319e-01 9.92870449e-01 -3.13115458e-03 2.49931159e+01] [ 4.28590886e-02 -1.99291143e-03 9.99079139e-01 1.43046793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.245099893 meters 0.022683448261281953 Centerline is valid? [True, True] Translation: X:388.79, Y:25.00, Z:14.31 [[ 9.91824121e-01 -1.20304220e-01 -4.25653446e-02 3.88794975e+02] [ 1.20281141e-01 9.92734990e-01 -3.11220801e-03 2.49975014e+01] [ 4.26305188e-02 -2.03304525e-03 9.99088838e-01 1.43069912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.305099893 meters 0.025115356600742506 Centerline is valid? [True, True] Translation: X:388.86, Y:25.00, Z:14.31 [[ 9.91659160e-01 -1.21414441e-01 -4.32509459e-02 3.88856558e+02] [ 1.21391801e-01 9.92599642e-01 -3.15921583e-03 2.49976900e+01] [ 4.33144478e-02 -2.11744491e-03 9.99059245e-01 1.43085597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.365099893 meters 0.02472594904070868 Centerline is valid? [True, True] Translation: X:388.92, Y:25.00, Z:14.31 [[ 9.91369645e-01 -1.23896556e-01 -4.28470588e-02 3.88917517e+02] [ 1.23876738e-01 9.92292685e-01 -3.12759936e-03 2.50008124e+01] [ 4.29043218e-02 -2.20714683e-03 9.99076748e-01 1.43115645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.425099893 meters 0.026612626708188987 Centerline is valid? [True, True] Translation: X:388.98, Y:25.00, Z:14.31 [[ 9.91080151e-01 -1.26202759e-01 -4.28135327e-02 3.88978317e+02] [ 1.26185149e-01 9.92001787e-01 -3.12437554e-03 2.50018300e+01] [ 4.28654057e-02 -2.30592542e-03 9.99078195e-01 1.43137763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.485099893 meters 0.027511943986929323 Centerline is valid? [True, True] Translation: X:389.04, Y:25.00, Z:14.32 [[ 9.90798633e-01 -1.28038184e-01 -4.38667605e-02 3.89040804e+02] [ 1.28021542e-01 9.91766225e-01 -3.20007408e-03 2.50039061e+01] [ 4.39153032e-02 -2.44526132e-03 9.99032265e-01 1.43152835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.545099893 meters 0.032149667726616246 Centerline is valid? [True, True] Translation: X:389.10, Y:25.00, Z:14.32 [[ 9.90297268e-01 -1.31489093e-01 -4.49659720e-02 3.89101353e+02] [ 1.31475298e-01 9.91314031e-01 -3.27703322e-03 2.49996778e+01] [ 4.50062931e-02 -2.66667751e-03 9.98983144e-01 1.43154061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.605099893 meters 0.030343566864355753 Centerline is valid? [True, True] Translation: X:389.16, Y:25.00, Z:14.32 [[ 9.89922860e-01 -1.34252174e-01 -4.50453714e-02 3.89162155e+02] [ 1.34241289e-01 9.90943245e-01 -3.28033384e-03 2.50035181e+01] [ 4.50777985e-02 -2.79967128e-03 9.98979556e-01 1.43180458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.665099893 meters 0.03017069381845321 Centerline is valid? [True, True] Translation: X:389.22, Y:25.01, Z:14.32 [[ 9.89824143e-01 -1.34908363e-01 -4.52537274e-02 3.89224118e+02] [ 1.34898117e-01 9.90853998e-01 -3.29425600e-03 2.50076257e+01] [ 4.52842594e-02 -2.84390851e-03 9.98970094e-01 1.43207711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72509989299994 meters 0.03127426256985455 Centerline is valid? [True, True] Translation: X:389.29, Y:25.01, Z:14.32 [[ 9.89794125e-01 -1.35452456e-01 -4.42743958e-02 3.89285985e+02] [ 1.35443328e-01 9.90779863e-01 -3.21982458e-03 2.50099051e+01] [ 4.43023130e-02 -2.80970806e-03 9.99014219e-01 1.43240930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78509989299994 meters 0.030184971429138726 Centerline is valid? [True, True] Translation: X:389.35, Y:25.02, Z:14.33 [[ 9.89926689e-01 -1.34692819e-01 -4.36233258e-02 3.89347514e+02] [ 1.34683357e-01 9.90883620e-01 -3.16938409e-03 2.50153415e+01] [ 4.36525322e-02 -2.73787804e-03 9.99043022e-01 1.43277937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84509989299994 meters 0.03115401258163264 Centerline is valid? [True, True] Translation: X:389.41, Y:25.02, Z:14.33 [[ 9.90252499e-01 -1.32484144e-01 -4.29876727e-02 3.89408326e+02] [ 1.32473004e-01 9.91181702e-01 -3.12034763e-03 2.50171929e+01] [ 4.30219912e-02 -2.60477409e-03 9.99070730e-01 1.43302405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90509989299994 meters 0.02843440588671269 Centerline is valid? [True, True] Translation: X:389.47, Y:25.02, Z:14.33 [[ 9.90505029e-01 -1.30489451e-01 -4.32699763e-02 3.89469826e+02] [ 1.30476340e-01 9.91446454e-01 -3.13917464e-03 2.50248579e+01] [ 4.33094937e-02 -2.53633988e-03 9.99058484e-01 1.43328736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96509989299994 meters 0.02594702182813656 Centerline is valid? [True, True] Translation: X:389.53, Y:25.03, Z:14.34 [[ 9.90710840e-01 -1.28760426e-01 -4.37353792e-02 3.89530462e+02] [ 1.28745454e-01 9.91672605e-01 -3.17065473e-03 2.50317584e+01] [ 4.37794322e-02 -2.48952924e-03 9.99038119e-01 1.43350004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02509989299995 meters 0.028882813895993547 Centerline is valid? [True, True] Translation: X:389.59, Y:25.03, Z:14.34 [[ 9.90617995e-01 -1.29123787e-01 -4.47552847e-02 3.89592096e+02] [ 1.29108563e-01 9.91625163e-01 -3.24276366e-03 2.50310120e+01] [ 4.47991844e-02 -2.56595045e-03 9.98992717e-01 1.43364763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08509989299995 meters 0.028863627143347222 Centerline is valid? [True, True] Translation: X:389.65, Y:25.03, Z:14.34 [[ 9.90359838e-01 -1.30850245e-01 -4.54489314e-02 3.89654430e+02] [ 1.30836478e-01 9.91398502e-01 -3.29036365e-03 2.50341568e+01] [ 4.54885474e-02 -2.68773412e-03 9.98961245e-01 1.43385290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14509989299995 meters 0.032369489169831775 Centerline is valid? [True, True] Translation: X:389.72, Y:25.03, Z:14.34 [[ 9.89963410e-01 -1.33432744e-01 -4.65634003e-02 3.89715072e+02] [ 1.33421275e-01 9.91053691e-01 -3.36814488e-03 2.50313536e+01] [ 4.65962506e-02 -2.87820807e-03 9.98909658e-01 1.43388241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20509989299995 meters 0.028699839411390437 Centerline is valid? [True, True] Translation: X:389.78, Y:25.04, Z:14.34 [[ 9.89746557e-01 -1.34805490e-01 -4.72147551e-02 3.89777007e+02] [ 1.34795322e-01 9.90867583e-01 -3.41385558e-03 2.50388535e+01] [ 4.72437767e-02 -2.98547630e-03 9.98878928e-01 1.43410850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26509989299996 meters 0.02795978269168406 Centerline is valid? [True, True] Translation: X:389.84, Y:25.04, Z:14.34 [[ 9.89525064e-01 -1.36533930e-01 -4.68895830e-02 3.89839115e+02] [ 1.36525994e-01 9.90630699e-01 -3.38688742e-03 2.50419508e+01] [ 4.69126855e-02 -3.05023692e-03 9.98894337e-01 1.43439285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32509989299996 meters 0.035438684080041166 Centerline is valid? [True, True] Translation: X:389.90, Y:25.03, Z:14.35 [[ 9.89335498e-01 -1.37802178e-01 -4.71787343e-02 3.89901280e+02] [ 1.37795738e-01 9.90454817e-01 -3.40441298e-03 2.50349531e+01] [ 4.71975402e-02 -3.13292189e-03 9.98880662e-01 1.43454692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38509989299996 meters 0.03267366941437551 Centerline is valid? [True, True] Translation: X:389.96, Y:25.04, Z:14.35 [[ 9.88905943e-01 -1.40683755e-01 -4.76772093e-02 3.89961871e+02] [ 1.40680619e-01 9.90049061e-01 -3.43812023e-03 2.50400760e+01] [ 4.76864640e-02 -3.30728178e-03 9.98856878e-01 1.43485745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44509989299996 meters 0.033519789210066486 Centerline is valid? [True, True] Translation: X:390.02, Y:25.04, Z:14.35 [[ 9.88756655e-01 -1.41775102e-01 -4.75404858e-02 3.90024252e+02] [ 1.41773305e-01 9.89893220e-01 -3.42684420e-03 2.50411166e+01] [ 4.75458457e-02 -3.35165676e-03 9.98863434e-01 1.43512108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50509989299997 meters 0.032605424410066204 Centerline is valid? [True, True] Translation: X:390.09, Y:25.04, Z:14.35 [[ 9.89007008e-01 -1.40108697e-01 -4.72725171e-02 3.90085706e+02] [ 1.40105177e-01 9.90130774e-01 -3.40430813e-03 2.50448086e+01] [ 4.72829472e-02 -3.25623978e-03 9.98876228e-01 1.43542170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56509989299997 meters 0.03156936681832465 Centerline is valid? [True, True] Translation: X:390.15, Y:25.05, Z:14.36 [[ 9.89460361e-01 -1.36998747e-01 -4.68992331e-02 3.90146222e+02] [ 1.36991909e-01 9.90566416e-01 -3.37519129e-03 2.50503690e+01] [ 4.69192023e-02 -3.08519750e-03 9.98893923e-01 1.43562835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62509989299997 meters 0.030142753771875204 Centerline is valid? [True, True] Translation: X:390.21, Y:25.06, Z:14.36 [[ 9.90138430e-01 -1.32104335e-01 -4.66297461e-02 3.90206213e+02] [ 1.32092211e-01 9.91231755e-01 -3.35487354e-03 2.50566145e+01] [ 4.66640784e-02 -2.83763705e-03 9.98906608e-01 1.43579137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.685099893 meters 0.028070288096452945 Centerline is valid? [True, True] Translation: X:390.27, Y:25.06, Z:14.36 [[ 9.90533991e-01 -1.28994876e-01 -4.69332899e-02 3.90266089e+02] [ 1.28979127e-01 9.91641560e-01 -3.37651379e-03 2.50638650e+01] [ 4.69765538e-02 -2.70886308e-03 9.98892319e-01 1.43602977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.745099893 meters 0.02551469869949312 Centerline is valid? [True, True] Translation: X:390.33, Y:25.07, Z:14.36 [[ 9.91150491e-01 -1.24587568e-01 -4.58109281e-02 3.90326456e+02] [ 1.24567872e-01 9.92205616e-01 -3.29566129e-03 2.50716535e+01] [ 4.58644585e-02 -2.44007352e-03 9.98944692e-01 1.43627030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.805099893 meters 0.02550633657947605 Centerline is valid? [True, True] Translation: X:390.39, Y:25.08, Z:14.37 [[ 9.91544902e-01 -1.21718873e-01 -4.49802548e-02 3.90387068e+02] [ 1.21696972e-01 9.92562029e-01 -3.23517006e-03 2.50756882e+01] [ 4.50394742e-02 -2.26614444e-03 9.98982638e-01 1.43651197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.865099893 meters 0.024244507438583262 Centerline is valid? [True, True] Translation: X:390.45, Y:25.08, Z:14.37 [[ 9.91847906e-01 -1.19565803e-01 -4.40653007e-02 3.90448565e+02] [ 1.19542742e-01 9.92824002e-01 -3.16757950e-03 2.50807899e+01] [ 4.41278224e-02 -2.12592980e-03 9.99023631e-01 1.43680331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.925099893 meters 0.022689488742057985 Centerline is valid? [True, True] Translation: X:390.51, Y:25.09, Z:14.37 [[ 9.92336191e-01 -1.15790914e-01 -4.31433366e-02 3.90508712e+02] [ 1.15765356e-01 9.93271755e-01 -3.09879518e-03 2.50855178e+01] [ 4.32118700e-02 -1.91945711e-03 9.99064087e-01 1.43707085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.985099893 meters 0.022733021825962815 Centerline is valid? [True, True] Translation: X:390.57, Y:25.09, Z:14.37 [[ 9.92563079e-01 -1.13894048e-01 -4.29730123e-02 3.90570432e+02] [ 1.13866934e-01 9.93491216e-01 -3.08615441e-03 2.50893863e+01] [ 4.30448048e-02 -1.83000225e-03 9.99071467e-01 1.43732377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.045099893 meters 0.023256039053564843 Centerline is valid? [True, True] Translation: X:390.63, Y:25.09, Z:14.38 [[ 9.92690186e-01 -1.12639567e-01 -4.33419285e-02 3.90631494e+02] [ 1.12610922e-01 9.93634294e-01 -3.10967550e-03 2.50910000e+01] [ 4.34162991e-02 -1.79383020e-03 9.99055457e-01 1.43751792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.105099893 meters 0.020609585015898848 Centerline is valid? [True, True] Translation: X:390.69, Y:25.10, Z:14.38 [[ 9.92634543e-01 -1.12925440e-01 -4.38692349e-02 3.90693669e+02] [ 1.12896482e-01 9.93601778e-01 -3.14503875e-03 2.50979202e+01] [ 4.39437047e-02 -1.83080818e-03 9.99032331e-01 1.43772726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.165099893 meters 0.022086232132243776 Centerline is valid? [True, True] Translation: X:390.75, Y:25.10, Z:14.38 [[ 9.92488196e-01 -1.14227191e-01 -4.38101560e-02 3.90754389e+02] [ 1.14199706e-01 9.93452858e-01 -3.13782755e-03 2.50988682e+01] [ 4.38817499e-02 -1.88885015e-03 9.99034946e-01 1.43794440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22509989299994 meters 0.021455431055533943 Centerline is valid? [True, True] Translation: X:390.82, Y:25.10, Z:14.38 [[ 9.92376785e-01 -1.15366138e-01 -4.33470857e-02 3.90816150e+02] [ 1.15340393e-01 9.93321180e-01 -3.10286965e-03 2.51043250e+01] [ 4.34155444e-02 -1.92045408e-03 9.99055255e-01 1.43823377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28509989299994 meters 0.023144996689193453 Centerline is valid? [True, True] Translation: X:390.88, Y:25.11, Z:14.38 [[ 9.92233920e-01 -1.17067456e-01 -4.20363931e-02 3.90876964e+02] [ 1.17044885e-01 9.93122076e-01 -3.00620873e-03 2.51054538e+01] [ 4.20991992e-02 -1.93728252e-03 9.99111558e-01 1.43845983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34509989299994 meters 0.024915419415233037 Centerline is valid? [True, True] Translation: X:390.94, Y:25.11, Z:14.39 [[ 9.92193914e-01 -1.17663917e-01 -4.13090785e-02 3.90937879e+02] [ 1.17642699e-01 9.93051599e-01 -2.95264256e-03 2.51069879e+01] [ 4.13694659e-02 -1.93011751e-03 9.99142053e-01 1.43868829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40509989299994 meters 0.025002956266274717 Centerline is valid? [True, True] Translation: X:391.00, Y:25.11, Z:14.39 [[ 9.92198912e-01 -1.17946887e-01 -4.03714135e-02 3.90999846e+02] [ 1.17926941e-01 9.93018088e-01 -2.88345252e-03 2.51109055e+01] [ 4.04296381e-02 -1.89991885e-03 9.99180582e-01 1.43899777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46509989299994 meters 0.023412183008206612 Centerline is valid? [True, True] Translation: X:391.06, Y:25.12, Z:14.39 [[ 9.92230601e-01 -1.17932428e-01 -3.96279781e-02 3.91062121e+02] [ 1.17913308e-01 9.93019867e-01 -2.82759028e-03 2.51164289e+01] [ 3.96848341e-02 -1.86704437e-03 9.99210502e-01 1.43921941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52509989299995 meters 0.024628958606700516 Centerline is valid? [True, True] Translation: X:391.12, Y:25.12, Z:14.39 [[ 9.92202305e-01 -1.18165750e-01 -3.96414223e-02 3.91123599e+02] [ 1.18146921e-01 9.92992105e-01 -2.82555798e-03 2.51181067e+01] [ 3.96975035e-02 -1.87998685e-03 9.99209975e-01 1.43943161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58509989299995 meters 0.023317246350053437 Centerline is valid? [True, True] Translation: X:391.19, Y:25.12, Z:14.40 [[ 9.92095627e-01 -1.19047998e-01 -3.96716606e-02 3.91185670e+02] [ 1.19030022e-01 9.92886642e-01 -2.82322435e-03 2.51239740e+01] [ 3.97255611e-02 -1.92121011e-03 9.99208781e-01 1.43971283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64509989299995 meters 0.02425586007389282 Centerline is valid? [True, True] Translation: X:391.25, Y:25.13, Z:14.40 [[ 9.92032499e-01 -1.19619129e-01 -3.95320712e-02 3.91247818e+02] [ 1.19601846e-01 9.92817959e-01 -2.81039973e-03 2.51262320e+01] [ 3.95843278e-02 -1.94010083e-03 9.99214350e-01 1.43992934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70509989299995 meters 0.023111370297894333 Centerline is valid? [True, True] Translation: X:391.31, Y:25.13, Z:14.40 [[ 9.92102678e-01 -1.19130890e-01 -3.92442118e-02 3.91309667e+02] [ 1.19113588e-01 9.92876722e-01 -2.78710670e-03 2.51313605e+01] [ 3.92966949e-02 -1.90942288e-03 9.99225762e-01 1.44022361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76509989299996 meters 0.02507877622230609 Centerline is valid? [True, True] Translation: X:391.37, Y:25.13, Z:14.40 [[ 9.92421566e-01 -1.16676651e-01 -3.85486047e-02 3.91370452e+02] [ 1.16658215e-01 9.93168355e-01 -2.73495785e-03 2.51325197e+01] [ 3.86043600e-02 -1.78278027e-03 9.99252984e-01 1.44049981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82509989299996 meters 0.02129198873043892 Centerline is valid? [True, True] Translation: X:391.43, Y:25.14, Z:14.41 [[ 9.93127954e-01 -1.10365612e-01 -3.89396856e-02 3.91430288e+02] [ 1.10342010e-01 9.93889841e-01 -2.76132864e-03 2.51424376e+01] [ 3.90065136e-02 -1.55433053e-03 9.99237747e-01 1.44071646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88509989299996 meters 0.020004103396270418 Centerline is valid? [True, True] Translation: X:391.49, Y:25.15, Z:14.41 [[ 9.93634255e-01 -1.05160770e-01 -4.04002515e-02 3.91490414e+02] [ 1.05131074e-01 9.94454248e-01 -2.86477793e-03 2.51482339e+01] [ 4.04774639e-02 -1.40078034e-03 9.99179470e-01 1.44081810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94509989299996 meters 0.017167694018429002 Centerline is valid? [True, True] Translation: X:391.55, Y:25.16, Z:14.41 [[ 9.94301724e-01 -9.77477683e-02 -4.25376925e-02 3.91550599e+02] [ 9.77080733e-02 9.95210548e-01 -3.01624876e-03 2.51562002e+01] [ 4.26287919e-02 -1.15721464e-03 9.99090310e-01 1.44088421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00509989299997 meters 0.015454424000379455 Centerline is valid? [True, True] Translation: X:391.61, Y:25.16, Z:14.41 [[ 9.94689858e-01 -9.37269949e-02 -4.25127890e-02 3.91611867e+02] [ 9.36837176e-02 9.95597449e-01 -3.01352155e-03 2.51630269e+01] [ 4.26080726e-02 -9.85236799e-04 9.99091378e-01 1.44112764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06509989299997 meters 0.014602083730664996 Centerline is valid? [True, True] Translation: X:391.67, Y:25.17, Z:14.41 [[ 9.95044910e-01 -9.02462221e-02 -4.17282503e-02 3.91673376e+02] [ 9.02015651e-02 9.95919144e-01 -2.95560134e-03 2.51677376e+01] [ 4.18246952e-02 -8.22997418e-04 9.99124626e-01 1.44140509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12509989299997 meters 0.01434144626681777 Centerline is valid? [True, True] Translation: X:391.74, Y:25.17, Z:14.42 [[ 9.95337664e-01 -8.77607160e-02 -4.00123846e-02 3.91735065e+02] [ 8.77177347e-02 9.96141345e-01 -2.83193448e-03 2.51707123e+01] [ 4.01065233e-02 -6.91064688e-04 9.99195171e-01 1.44174185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.185099893 meters 0.014358205110267568 Centerline is valid? [True, True] Translation: X:391.80, Y:25.17, Z:14.42 [[ 9.95303081e-01 -8.83843793e-02 -3.94965559e-02 3.91796879e+02] [ 8.83430760e-02 9.96086190e-01 -2.79325308e-03 2.51720103e+01] [ 3.95888538e-02 -7.09113834e-04 9.99215802e-01 1.44195820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.245099893 meters 0.015870498056951756 Centerline is valid? [True, True] Translation: X:391.86, Y:25.17, Z:14.42 [[ 9.94781427e-01 -9.41355391e-02 -3.93498884e-02 3.91857196e+02] [ 9.40991430e-02 9.95558950e-01 -2.78015370e-03 2.51681934e+01] [ 3.94368449e-02 -9.37145510e-04 9.99221626e-01 1.44222649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.305099893 meters 0.01751792853151822 Centerline is valid? [True, True] Translation: X:391.92, Y:25.17, Z:14.42 [[ 9.94149574e-01 -1.00683253e-01 -3.91089115e-02 3.91918405e+02] [ 1.00652360e-01 9.94917820e-01 -2.76309378e-03 2.51657288e+01] [ 3.91883503e-02 -1.18947575e-03 9.99231134e-01 1.44246082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.365099893 meters 0.019184347460036208 Centerline is valid? [True, True] Translation: X:391.98, Y:25.16, Z:14.43 [[ 9.93376136e-01 -1.08058303e-01 -3.90801063e-02 3.91979676e+02] [ 1.08033176e-01 9.94143457e-01 -2.76037581e-03 2.51629943e+01] [ 3.91495135e-02 -1.47985655e-03 9.99232268e-01 1.44270016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.425099893 meters 0.025192865567838205 Centerline is valid? [True, True] Translation: X:392.04, Y:25.15, Z:14.43 [[ 9.92198790e-01 -1.18174287e-01 -3.97038824e-02 3.92040121e+02] [ 1.18156437e-01 9.92991034e-01 -2.80409902e-03 2.51523913e+01] [ 3.97569716e-02 -1.90904560e-03 9.99207555e-01 1.44286265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.485099893 meters 0.024233314391020035 Centerline is valid? [True, True] Translation: X:392.10, Y:25.15, Z:14.43 [[ 9.91425992e-01 -1.24001199e-01 -4.12092953e-02 3.92100776e+02] [ 1.23987092e-01 9.92279570e-01 -2.90785080e-03 2.51532748e+01] [ 4.12517188e-02 -2.22650182e-03 9.99146305e-01 1.44297411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.545099893 meters 0.025628582196036226 Centerline is valid? [True, True] Translation: X:392.16, Y:25.15, Z:14.43 [[ 9.91421198e-01 -1.24112191e-01 -4.09899066e-02 3.92162211e+02] [ 1.24098342e-01 9.92265709e-01 -2.89203690e-03 2.51535967e+01] [ 4.10318158e-02 -2.21955276e-03 9.99155375e-01 1.44316471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.605099893 meters 0.025722311852408482 Centerline is valid? [True, True] Translation: X:392.22, Y:25.16, Z:14.43 [[ 9.91815736e-01 -1.21148610e-01 -4.03058355e-02 3.92222249e+02] [ 1.21132859e-01 9.92632235e-01 -2.84175656e-03 2.51566636e+01] [ 4.03531465e-02 -2.06386222e-03 9.99183349e-01 1.44348447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.665099893 meters 0.021272973238354483 Centerline is valid? [True, True] Translation: X:392.28, Y:25.17, Z:14.44 [[ 9.92802866e-01 -1.13382125e-01 -3.85611653e-02 3.92282221e+02] [ 1.13361858e-01 9.93550048e-01 -2.71875034e-03 2.51676503e+01] [ 3.86207053e-02 -1.67218221e-03 9.99252543e-01 1.44386062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72509989299994 meters 0.019671134482313526 Centerline is valid? [True, True] Translation: X:392.34, Y:25.18, Z:14.44 [[ 9.93413466e-01 -1.07911229e-01 -3.85337696e-02 3.92342195e+02] [ 1.07886880e-01 9.94159464e-01 -2.71685952e-03 2.51750283e+01] [ 3.86018914e-02 -1.45832333e-03 9.99253605e-01 1.44407960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78509989299994 meters 0.018388410206489632 Centerline is valid? [True, True] Translation: X:392.40, Y:25.18, Z:14.44 [[ 9.94008439e-01 -1.01800682e-01 -3.97975452e-02 3.92401649e+02] [ 1.01769817e-01 9.94804016e-01 -2.80596320e-03 2.51813332e+01] [ 3.98764067e-02 -1.26103779e-03 9.99203824e-01 1.44414441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84509989299994 meters 0.01817318358339098 Centerline is valid? [True, True] Translation: X:392.46, Y:25.19, Z:14.44 [[ 9.94203197e-01 -9.92682494e-02 -4.13015348e-02 3.92461815e+02] [ 9.92328282e-02 9.95059981e-01 -2.91193137e-03 2.51855686e+01] [ 4.13865668e-02 -1.20341663e-03 9.99142484e-01 1.44422933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90509989299994 meters 0.016097358307805516 Centerline is valid? [True, True] Translation: X:392.52, Y:25.19, Z:14.44 [[ 9.94387621e-01 -9.67816998e-02 -4.27382884e-02 3.92523144e+02] [ 9.67415186e-02 9.95304981e-01 -3.01227010e-03 2.51944556e+01] [ 4.28291640e-02 -1.13920283e-03 9.99081761e-01 1.44441241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96509989299994 meters 0.01608029160435187 Centerline is valid? [True, True] Translation: X:392.58, Y:25.20, Z:14.45 [[ 9.94468678e-01 -9.55288307e-02 -4.36610854e-02 3.92583492e+02] [ 9.54857740e-02 9.95426044e-01 -3.07538354e-03 2.51992828e+01] [ 4.37551693e-02 -1.11063993e-03 9.99041667e-01 1.44462323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02509989299995 meters 0.015323083325373684 Centerline is valid? [True, True] Translation: X:392.64, Y:25.21, Z:14.45 [[ 9.94676529e-01 -9.38351732e-02 -4.25859423e-02 3.92643303e+02] [ 9.37926599e-02 9.95587233e-01 -2.99965301e-03 2.52050489e+01] [ 4.26794934e-02 -1.01056436e-03 9.99088304e-01 1.44499188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08509989299995 meters 0.01691156088530194 Centerline is valid? [True, True] Translation: X:392.70, Y:25.21, Z:14.45 [[ 9.94763702e-01 -9.35496122e-02 -4.11539379e-02 3.92703812e+02] [ 9.35096688e-02 9.95614152e-01 -2.89871486e-03 2.52064565e+01] [ 4.12446166e-02 -9.64754776e-04 9.99148613e-01 1.44529207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14509989299995 meters 0.016339238376406714 Centerline is valid? [True, True] Translation: X:392.77, Y:25.21, Z:14.46 [[ 9.94659899e-01 -9.48630330e-02 -4.06533018e-02 3.92765206e+02] [ 9.48251833e-02 9.95489824e-01 -2.86266620e-03 2.52112016e+01] [ 4.07415094e-02 -1.00757752e-03 9.99169212e-01 1.44556504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20509989299995 meters 0.016899635790418602 Centerline is valid? [True, True] Translation: X:392.83, Y:25.21, Z:14.46 [[ 9.94387440e-01 -9.75206643e-02 -4.10285052e-02 3.92826836e+02] [ 9.74844323e-02 9.95232861e-01 -2.88761523e-03 2.52133842e+01] [ 4.11145187e-02 -1.12823221e-03 9.99153804e-01 1.44574032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26509989299996 meters 0.0189078984809394 Centerline is valid? [True, True] Translation: X:392.89, Y:25.21, Z:14.46 [[ 9.93915183e-01 -1.02074210e-01 -4.13940203e-02 3.92886492e+02] [ 1.02041324e-01 9.94775898e-01 -2.91207019e-03 2.52133222e+01] [ 4.14750210e-02 -1.32954988e-03 9.99138657e-01 1.44585977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32509989299996 meters 0.020442018648349356 Centerline is valid? [True, True] Translation: X:392.95, Y:25.21, Z:14.46 [[ 9.93686485e-01 -1.03958421e-01 -4.21878770e-02 3.92945890e+02] [ 1.03925926e-01 9.94580610e-01 -2.96867306e-03 2.52144619e+01] [ 4.22678630e-02 -1.43448389e-03 9.99105285e-01 1.44600064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38509989299996 meters 0.01863137165671601 Centerline is valid? [True, True] Translation: X:393.01, Y:25.22, Z:14.46 [[ 9.93659526e-01 -1.04327815e-01 -4.19100633e-02 3.93006663e+02] [ 1.04296054e-01 9.94541921e-01 -2.94959464e-03 2.52213455e+01] [ 4.19890396e-02 -1.44016142e-03 9.99117033e-01 1.44628648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44509989299996 meters 0.017450943863387608 Centerline is valid? [True, True] Translation: X:393.07, Y:25.23, Z:14.47 [[ 9.93870300e-01 -1.02817546e-01 -4.06248510e-02 3.93067733e+02] [ 1.02786501e-01 9.94699336e-01 -2.85771283e-03 2.52276860e+01] [ 4.07033353e-02 -1.33549040e-03 9.99170383e-01 1.44652506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50509989299997 meters 0.017709617922180485 Centerline is valid? [True, True] Translation: X:393.13, Y:25.23, Z:14.47 [[ 9.94153776e-01 -1.00077515e-01 -4.05309870e-02 3.93128380e+02] [ 1.00044399e-01 9.94978893e-01 -2.84961927e-03 2.52324608e+01] [ 4.06126594e-02 -1.22193848e-03 9.99174218e-01 1.44670005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56509989299997 meters 0.015361006372301296 Centerline is valid? [True, True] Translation: X:393.19, Y:25.24, Z:14.47 [[ 9.94647131e-01 -9.45779861e-02 -4.16183786e-02 3.93189099e+02] [ 9.45383235e-02 9.95516927e-01 -2.92452285e-03 2.52424730e+01] [ 4.17083959e-02 -1.02566348e-03 9.99129300e-01 1.44681105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62509989299997 meters 0.015851384492815136 Centerline is valid? [True, True] Translation: X:393.25, Y:25.25, Z:14.47 [[ 9.94861914e-01 -9.20592233e-02 -4.21292350e-02 3.93248317e+02] [ 9.20163754e-02 9.95753097e-01 -2.95921122e-03 2.52459486e+01] [ 4.22227389e-02 -9.32572965e-04 9.99107787e-01 1.44691224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.685099893 meters 0.015114821424598761 Centerline is valid? [True, True] Translation: X:393.31, Y:25.25, Z:14.47 [[ 9.94896051e-01 -9.16519929e-02 -4.22108899e-02 3.93308165e+02] [ 9.16085841e-02 9.95790677e-01 -2.96562054e-03 2.52502623e+01] [ 4.23050157e-02 -9.16395690e-04 9.99104322e-01 1.44712358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.745099893 meters 0.01545562410787394 Centerline is valid? [True, True] Translation: X:393.37, Y:25.25, Z:14.47 [[ 9.94681196e-01 -9.38226643e-02 -4.25044296e-02 3.93368033e+02] [ 9.37806250e-02 9.95588407e-01 -2.98633989e-03 2.52528420e+01] [ 4.25971037e-02 -1.01563584e-03 9.99091815e-01 1.44730146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.805099893 meters 0.01699499764078444 Centerline is valid? [True, True] Translation: X:393.43, Y:25.25, Z:14.47 [[ 9.94352860e-01 -9.70597824e-02 -4.29160581e-02 3.93427780e+02] [ 9.70199018e-02 9.95277872e-01 -3.01604475e-03 2.52533208e+01] [ 4.30061396e-02 -1.16469902e-03 9.99074129e-01 1.44746883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.865099893 meters 0.017832296138297624 Centerline is valid? [True, True] Translation: X:393.49, Y:25.25, Z:14.48 [[ 9.93830418e-01 -1.02070863e-01 -4.33894003e-02 3.93487820e+02] [ 1.02034831e-01 9.94776151e-01 -3.05009403e-03 2.52547174e+01] [ 4.34740664e-02 -1.39595390e-03 9.99053581e-01 1.44768996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.925099893 meters 0.019564512089499726 Centerline is valid? [True, True] Translation: X:393.55, Y:25.26, Z:14.48 [[ 9.93347548e-01 -1.06861659e-01 -4.29096064e-02 3.93548386e+02] [ 1.06830850e-01 9.94272632e-01 -3.01703154e-03 2.52558879e+01] [ 4.29862523e-02 -1.58710884e-03 9.99074403e-01 1.44797039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.985099893 meters 0.019272534957302537 Centerline is valid? [True, True] Translation: X:393.61, Y:25.26, Z:14.48 [[ 9.93159670e-01 -1.08830739e-01 -4.23053197e-02 3.93609329e+02] [ 1.08802582e-01 9.94058927e-01 -2.97435578e-03 2.52606750e+01] [ 4.23776820e-02 -1.64891782e-03 9.99100302e-01 1.44826835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.045099893 meters 0.021482784541858493 Centerline is valid? [True, True] Translation: X:393.67, Y:25.26, Z:14.48 [[ 9.93038207e-01 -1.09950845e-01 -4.22602752e-02 3.93669099e+02] [ 1.09923818e-01 9.93935579e-01 -2.96981962e-03 2.52621982e+01] [ 4.23305252e-02 -1.69626646e-03 9.99102222e-01 1.44848100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.105099893 meters 0.020923325577590964 Centerline is valid? [True, True] Translation: X:393.73, Y:25.27, Z:14.49 [[ 9.93021225e-01 -1.09811828e-01 -4.30140534e-02 3.93729492e+02] [ 1.09783699e-01 9.93950905e-01 -3.02279101e-03 2.52686572e+01] [ 4.30857955e-02 -1.72054626e-03 9.99069894e-01 1.44867854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.165099893 meters 0.0211026364348803 Centerline is valid? [True, True] Translation: X:393.79, Y:25.27, Z:14.49 [[ 9.93178578e-01 -1.08217474e-01 -4.34199272e-02 3.93788963e+02] [ 1.08187296e-01 9.94125847e-01 -3.05121835e-03 2.52741388e+01] [ 4.34950670e-02 -1.66707979e-03 9.99052251e-01 1.44890795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22509989299994 meters 0.017785699806480815 Centerline is valid? [True, True] Translation: X:393.85, Y:25.29, Z:14.49 [[ 9.93592348e-01 -1.04450714e-01 -4.31774746e-02 3.93848446e+02] [ 1.04417344e-01 9.94528941e-01 -3.03361284e-03 2.52861811e+01] [ 4.32581111e-02 -1.49430273e-03 9.99062812e-01 1.44919783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28509989299994 meters 0.018348403184012308 Centerline is valid? [True, True] Translation: X:393.91, Y:25.29, Z:14.49 [[ 9.93857151e-01 -1.01989797e-01 -4.29656246e-02 3.93908683e+02] [ 1.01954461e-01 9.94784487e-01 -3.01862403e-03 2.52914752e+01] [ 4.30494057e-02 -1.38045603e-03 9.99071991e-01 1.44941848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34509989299994 meters 0.017794542000359112 Centerline is valid? [True, True] Translation: X:393.97, Y:25.30, Z:14.50 [[ 9.94044246e-01 -9.99180626e-02 -4.35019315e-02 3.93968934e+02] [ 9.98798883e-02 9.94994810e-01 -3.05561935e-03 2.52993361e+01] [ 4.35895076e-02 -1.30754722e-03 9.99048670e-01 1.44961756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40509989299994 meters 0.016795316895786262 Centerline is valid? [True, True] Translation: X:394.03, Y:25.31, Z:14.50 [[ 9.94037049e-01 -9.95858557e-02 -4.44184864e-02 3.94029424e+02] [ 9.95457368e-02 9.95028097e-01 -3.11973648e-03 2.53074113e+01] [ 4.45083236e-02 -1.32053731e-03 9.99008141e-01 1.44982234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46509989299994 meters 0.016397983345679566 Centerline is valid? [True, True] Translation: X:394.09, Y:25.32, Z:14.50 [[ 9.94125617e-01 -9.85220755e-02 -4.48069034e-02 3.94089709e+02] [ 9.84802344e-02 9.95134035e-01 -3.14564893e-03 2.53152819e+01] [ 4.48987904e-02 -1.28542417e-03 9.98990714e-01 1.45001236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52509989299995 meters 0.016310134461974574 Centerline is valid? [True, True] Translation: X:394.15, Y:25.32, Z:14.50 [[ 9.94327511e-01 -9.66809365e-02 -4.43350659e-02 3.94149804e+02] [ 9.66381437e-02 9.95314715e-01 -3.11252379e-03 2.53221901e+01] [ 4.44282652e-02 -1.18959044e-03 9.99011869e-01 1.45026030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58509989299995 meters 0.015632858646402265 Centerline is valid? [True, True] Translation: X:394.21, Y:25.33, Z:14.51 [[ 9.94642051e-01 -9.36675705e-02 -4.37444478e-02 3.94210360e+02] [ 9.36230033e-02 9.95602984e-01 -3.07094307e-03 2.53298459e+01] [ 4.38397506e-02 -1.04099747e-03 9.99038034e-01 1.45051766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64509989299995 meters 0.013796841920801736 Centerline is valid? [True, True] Translation: X:394.27, Y:25.34, Z:14.51 [[ 9.95188296e-01 -8.80199082e-02 -4.30436010e-02 3.94270123e+02] [ 8.79715054e-02 9.96118410e-01 -3.02108842e-03 2.53415463e+01] [ 4.31424394e-02 -7.80058542e-04 9.99068627e-01 1.45079725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70509989299995 meters 0.013449573918288042 Centerline is valid? [True, True] Translation: X:394.33, Y:25.35, Z:14.51 [[ 9.95598105e-01 -8.38773864e-02 -4.18210144e-02 3.94329747e+02] [ 8.38280445e-02 9.96475912e-01 -2.93519570e-03 2.53482282e+01] [ 4.19198301e-02 -5.83498589e-04 9.99120807e-01 1.45102179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76509989299996 meters 0.012707139246801023 Centerline is valid? [True, True] Translation: X:394.39, Y:25.36, Z:14.51 [[ 9.96122757e-01 -7.81741454e-02 -4.03516449e-02 3.94389799e+02] [ 7.81235578e-02 9.96939664e-01 -2.83141846e-03 2.53564881e+01] [ 4.04494990e-02 -3.31973697e-04 9.99181529e-01 1.45128850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82509989299996 meters 0.012298619189120884 Centerline is valid? [True, True] Translation: X:394.45, Y:25.36, Z:14.51 [[ 9.96353313e-01 -7.52495682e-02 -4.02191289e-02 3.94449612e+02] [ 7.51969303e-02 9.97164709e-01 -2.82212000e-03 2.53626594e+01] [ 4.03174593e-02 -2.12526419e-04 9.99186898e-01 1.45148686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88509989299996 meters 0.012280075356855465 Centerline is valid? [True, True] Translation: X:394.51, Y:25.37, Z:14.52 [[ 9.96406909e-01 -7.40926356e-02 -4.10311266e-02 3.94509171e+02] [ 7.40368640e-02 9.97251349e-01 -2.87923060e-03 2.53664556e+01] [ 4.11316761e-02 -1.68930678e-04 9.99153720e-01 1.45157429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94509989299996 meters 0.012262150326786691 Centerline is valid? [True, True] Translation: X:394.57, Y:25.37, Z:14.52 [[ 9.96318663e-01 -7.50499394e-02 -4.14322203e-02 3.94568985e+02] [ 7.49938378e-02 9.97179755e-01 -2.90884610e-03 2.53685687e+01] [ 4.15336799e-02 -2.09023550e-04 9.99137083e-01 1.45172843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00509989299997 meters 0.012613950285112415 Centerline is valid? [True, True] Translation: X:394.63, Y:25.37, Z:14.52 [[ 9.96023847e-01 -7.85936869e-02 -4.19467371e-02 3.94629239e+02] [ 7.85392585e-02 9.96906667e-01 -2.94649959e-03 2.53681275e+01] [ 4.20485582e-02 -3.59681776e-04 9.99115504e-01 1.45185383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06509989299997 meters 0.013085872190594353 Centerline is valid? [True, True] Translation: X:394.69, Y:25.37, Z:14.52 [[ 9.95782235e-01 -8.14513049e-02 -4.22306277e-02 3.94688708e+02] [ 8.13986404e-02 9.96677206e-01 -2.96796278e-03 2.53689171e+01] [ 4.23320484e-02 -4.82071070e-04 9.99103481e-01 1.45208198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12509989299997 meters 0.014245253513291919 Centerline is valid? [True, True] Translation: X:394.75, Y:25.37, Z:14.52 [[ 9.95388240e-01 -8.63551722e-02 -4.17736299e-02 3.94747642e+02] [ 8.63078906e-02 9.96264182e-01 -2.93739509e-03 2.53667248e+01] [ 4.18712305e-02 -6.81545347e-04 9.99122783e-01 1.45232123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.185099893 meters 0.014431252655751466 Centerline is valid? [True, True] Translation: X:394.81, Y:25.37, Z:14.53 [[ 9.95120023e-01 -8.94794980e-02 -4.15879772e-02 3.94807738e+02] [ 8.94352802e-02 9.95988337e-01 -2.92628674e-03 2.53683784e+01] [ 4.16829829e-02 -8.07425862e-04 9.99130561e-01 1.45260888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.245099893 meters 0.016242697200036002 Centerline is valid? [True, True] Translation: X:394.87, Y:25.37, Z:14.53 [[ 9.94670105e-01 -9.48293253e-02 -4.04818563e-02 3.94867961e+02] [ 9.47918530e-02 9.95493039e-01 -2.84845591e-03 2.53652358e+01] [ 4.05695233e-02 -1.00407623e-03 9.99176213e-01 1.45288883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.305099893 meters 0.017169046048555174 Centerline is valid? [True, True] Translation: X:394.93, Y:25.36, Z:14.53 [[ 9.94110422e-01 -1.00946117e-01 -3.94252397e-02 3.94929223e+02] [ 1.00915379e-01 9.94891145e-01 -2.77405775e-03 2.53629456e+01] [ 3.95038523e-02 -1.22089327e-03 9.99218672e-01 1.45317531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.365099893 meters 0.01992567548126296 Centerline is valid? [True, True] Translation: X:394.99, Y:25.36, Z:14.53 [[ 9.93915880e-01 -1.02850357e-01 -3.94084789e-02 3.94989705e+02] [ 1.02821175e-01 9.94695995e-01 -2.77198739e-03 2.53611971e+01] [ 3.94845560e-02 -1.29690382e-03 9.99219339e-01 1.45342032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.425099893 meters 0.01831183940737111 Centerline is valid? [True, True] Translation: X:395.05, Y:25.37, Z:14.54 [[ 9.93638667e-01 -1.05248346e-01 -4.00622564e-02 3.95050453e+02] [ 1.05220163e-01 9.94444961e-01 -2.81724118e-03 2.53652019e+01] [ 4.01362190e-02 -1.41603739e-03 9.99193214e-01 1.45364632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.485099893 meters 0.01931145195473352 Centerline is valid? [True, True] Translation: X:395.11, Y:25.37, Z:14.54 [[ 9.93556013e-01 -1.05808948e-01 -4.06314616e-02 3.95111014e+02] [ 1.05780457e-01 9.94385406e-01 -2.85651236e-03 2.53657866e+01] [ 4.07055770e-02 -1.45990954e-03 9.99170118e-01 1.45382148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.545099893 meters 0.018829194548849956 Centerline is valid? [True, True] Translation: X:395.17, Y:25.37, Z:14.54 [[ 9.93748511e-01 -1.04099937e-01 -4.03373157e-02 3.95171686e+02] [ 1.04070478e-01 9.94565884e-01 -2.83516370e-03 2.53691284e+01] [ 4.04132584e-02 -1.38048403e-03 9.99182097e-01 1.45413521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.605099893 meters 0.018249640837771693 Centerline is valid? [True, True] Translation: X:395.23, Y:25.37, Z:14.54 [[ 9.93990380e-01 -1.01461691e-01 -4.10931783e-02 3.95232528e+02] [ 1.01428870e-01 9.94838601e-01 -2.88822147e-03 2.53735592e+01] [ 4.11741238e-02 -1.29717027e-03 9.99151144e-01 1.45437512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.665099893 meters 0.016178492094007617 Centerline is valid? [True, True] Translation: X:395.29, Y:25.38, Z:14.55 [[ 9.94318947e-01 -9.77903995e-02 -4.20341429e-02 3.95293005e+02] [ 9.77528131e-02 9.95206342e-01 -2.95359064e-03 2.53810180e+01] [ 4.21214785e-02 -1.17214458e-03 9.99111809e-01 1.45456004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72509989299994 meters 0.015776854429626078 Centerline is valid? [True, True] Translation: X:395.35, Y:25.39, Z:14.55 [[ 9.94600618e-01 -9.42336388e-02 -4.34698876e-02 3.95352880e+02] [ 9.41900778e-02 9.95549549e-01 -3.05376796e-03 2.53863847e+01] [ 4.35641946e-02 -1.05715259e-03 9.99050071e-01 1.45467974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78509989299994 meters 0.015095091045804138 Centerline is valid? [True, True] Translation: X:395.41, Y:25.39, Z:14.55 [[ 9.94791080e-01 -9.19300681e-02 -4.40405396e-02 3.95412814e+02] [ 9.18830949e-02 9.95764994e-01 -3.09398011e-03 2.53921271e+01] [ 4.41384574e-02 -9.68717259e-04 9.99024954e-01 1.45490854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84509989299994 meters 0.014530825209208316 Centerline is valid? [True, True] Translation: X:395.47, Y:25.40, Z:14.55 [[ 9.95143422e-01 -8.87880426e-02 -4.25000470e-02 3.95472162e+02] [ 8.87413986e-02 9.96050222e-01 -2.98659709e-03 2.53981977e+01] [ 4.25973553e-02 -7.99421156e-04 9.99092001e-01 1.45529325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90509989299994 meters 0.014298359828707726 Centerline is valid? [True, True] Translation: X:395.53, Y:25.40, Z:14.56 [[ 9.95242901e-01 -8.86053208e-02 -4.05051293e-02 3.95531492e+02] [ 8.85627453e-02 9.96066529e-01 -2.84780606e-03 2.54032235e+01] [ 4.05981344e-02 -7.52986689e-04 9.99175272e-01 1.45577197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96509989299994 meters 0.014573017697098067 Centerline is valid? [True, True] Translation: X:395.59, Y:25.41, Z:14.56 [[ 9.95149038e-01 -9.02580045e-02 -3.91393123e-02 3.95591753e+02] [ 9.02194777e-02 9.95918102e-01 -2.75309322e-03 2.54062608e+01] [ 3.92280384e-02 -7.91390245e-04 9.99229971e-01 1.45611144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02509989299995 meters 0.015778547527510477 Centerline is valid? [True, True] Translation: X:395.65, Y:25.41, Z:14.56 [[ 9.94654395e-01 -9.55019706e-02 -3.92684205e-02 3.95652398e+02] [ 9.54672701e-02 9.95428737e-01 -2.76217480e-03 2.54065861e+01] [ 3.93527073e-02 -1.00143960e-03 9.99224880e-01 1.45635017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08509989299995 meters 0.016542382292229298 Centerline is valid? [True, True] Translation: X:395.71, Y:25.41, Z:14.56 [[ 9.94195867e-01 -9.97532995e-02 -4.02971126e-02 3.95713645e+02] [ 9.97202485e-02 9.95011476e-01 -2.83441902e-03 2.54082154e+01] [ 4.03788321e-02 -1.20047040e-03 9.99183721e-01 1.45649124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14509989299995 meters 0.02066753567297624 Centerline is valid? [True, True] Translation: X:395.77, Y:25.40, Z:14.57 [[ 9.93486497e-01 -1.06409675e-01 -4.07622648e-02 3.95774144e+02] [ 1.06381504e-01 9.94321257e-01 -2.86575836e-03 2.54041219e+01] [ 4.08357309e-02 -1.48925879e-03 9.99164764e-01 1.45668075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20509989299995 meters 0.020725964355128242 Centerline is valid? [True, True] Translation: X:395.83, Y:25.41, Z:14.57 [[ 9.93127111e-01 -1.09897441e-01 -4.02628105e-02 3.95834382e+02] [ 1.09872805e-01 9.93941624e-01 -2.83088962e-03 2.54079180e+01] [ 4.03299908e-02 -1.61235469e-03 9.99185114e-01 1.45697942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26509989299996 meters 0.021264404104343285 Centerline is valid? [True, True] Translation: X:395.90, Y:25.41, Z:14.57 [[ 9.92819478e-01 -1.12205705e-01 -4.14652140e-02 3.95895449e+02] [ 1.12181591e-01 9.93683446e-01 -2.91527608e-03 2.54119770e+01] [ 4.15304074e-02 -1.75729083e-03 9.99135695e-01 1.45706314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32509989299996 meters 0.022029208076783158 Centerline is valid? [True, True] Translation: X:395.96, Y:25.42, Z:14.57 [[ 9.92940607e-01 -1.11439179e-01 -4.06233987e-02 3.95955252e+02] [ 1.11415451e-01 9.93769816e-01 -2.85470190e-03 2.54160983e+01] [ 4.06884331e-02 -1.69152483e-03 9.99170451e-01 1.45725858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38509989299996 meters 0.01891768273290143 Centerline is valid? [True, True] Translation: X:396.02, Y:25.43, Z:14.58 [[ 9.93338493e-01 -1.07971637e-01 -4.02587240e-02 3.96016437e+02] [ 1.07945522e-01 9.94152788e-01 -2.82824417e-03 2.54275029e+01] [ 4.03286928e-02 -1.53634517e-03 9.99185286e-01 1.45754584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44509989299996 meters 0.018519333765326502 Centerline is valid? [True, True] Translation: X:396.08, Y:25.44, Z:14.58 [[ 9.93757968e-01 -1.03878342e-01 -4.06742136e-02 3.96076640e+02] [ 1.03848352e-01 9.94589045e-01 -2.85519595e-03 2.54353355e+01] [ 4.07507203e-02 -1.38657635e-03 9.99168382e-01 1.45776041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50509989299997 meters 0.017518915964394963 Centerline is valid? [True, True] Translation: X:396.14, Y:25.44, Z:14.58 [[ 9.93921926e-01 -1.02129647e-01 -4.10942753e-02 3.96137491e+02] [ 1.02097606e-01 9.94770208e-01 -2.88315351e-03 2.54436639e+01] [ 4.11738162e-02 -1.32999763e-03 9.99151114e-01 1.45799439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56509989299997 meters 0.01735336473522716 Centerline is valid? [True, True] Translation: X:396.20, Y:25.45, Z:14.58 [[ 9.93900686e-01 -1.01663546e-01 -4.27311433e-02 3.96198124e+02] [ 1.01628543e-01 9.94817904e-01 -2.99635905e-03 2.54505924e+01] [ 4.28143269e-02 -1.36462050e-03 9.99082114e-01 1.45812461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62509989299997 meters 0.01906030462690689 Centerline is valid? [True, True] Translation: X:396.26, Y:25.45, Z:14.58 [[ 9.93879971e-01 -1.01687560e-01 -4.31537091e-02 3.96258117e+02] [ 1.01651948e-01 9.94815427e-01 -3.02449511e-03 2.54531505e+01] [ 4.32375291e-02 -1.38067346e-03 9.99063867e-01 1.45829413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.685099893 meters 0.018246321350274652 Centerline is valid? [True, True] Translation: X:396.32, Y:25.46, Z:14.59 [[ 9.94028826e-01 -9.98097129e-02 -4.40989106e-02 3.96318596e+02] [ 9.97707147e-02 9.95005657e-01 -3.08992928e-03 2.54608438e+01] [ 4.41870705e-02 -1.32830106e-03 9.99022391e-01 1.45856544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.745099893 meters 0.016777161795248265 Centerline is valid? [True, True] Translation: X:396.38, Y:25.47, Z:14.59 [[ 9.94271805e-01 -9.69816182e-02 -4.49237423e-02 3.96379021e+02] [ 9.69382938e-02 9.95285418e-01 -3.14706794e-03 2.54701789e+01] [ 4.50171533e-02 -1.22579000e-03 9.98985462e-01 1.45885005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.805099893 meters 0.015682587557734568 Centerline is valid? [True, True] Translation: X:396.44, Y:25.48, Z:14.59 [[ 9.94723518e-01 -9.19055261e-02 -4.55905424e-02 3.96438054e+02] [ 9.18555689e-02 9.95767218e-01 -3.19398397e-03 2.54793753e+01] [ 4.56911123e-02 -1.01061423e-03 9.98955105e-01 1.45906846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.865099893 meters 0.014571940955797067 Centerline is valid? [True, True] Translation: X:396.50, Y:25.49, Z:14.59 [[ 9.94948351e-01 -8.93746668e-02 -4.57159425e-02 3.96497773e+02] [ 8.93217275e-02 9.95997674e-01 -3.20358165e-03 2.54870752e+01] [ 4.58192914e-02 -8.96028681e-04 9.98949343e-01 1.45931573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.925099893 meters 0.014413115784846168 Centerline is valid? [True, True] Translation: X:396.56, Y:25.49, Z:14.59 [[ 9.94993540e-01 -8.86389170e-02 -4.61627304e-02 3.96557095e+02] [ 8.85841003e-02 9.96063445e-01 -3.23588994e-03 2.54923857e+01] [ 4.62678341e-02 -8.69594360e-04 9.98928692e-01 1.45945095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.985099893 meters 0.014475191558369436 Centerline is valid? [True, True] Translation: X:396.62, Y:25.50, Z:14.60 [[ 9.94790854e-01 -9.08686207e-02 -4.61957885e-02 3.96616205e+02] [ 9.08160493e-02 9.95862414e-01 -3.23987978e-03 2.54968365e+01] [ 4.62990529e-02 -9.72316235e-04 9.98927151e-01 1.45969930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.045099893 meters 0.016150981569428978 Centerline is valid? [True, True] Translation: X:396.68, Y:25.50, Z:14.60 [[ 9.94072696e-01 -9.75326275e-02 -4.80297893e-02 3.96676828e+02] [ 9.74834941e-02 9.95231436e-01 -3.36993330e-03 2.54975064e+01] [ 4.81294346e-02 -1.33215300e-03 9.98840219e-01 1.45983046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.105099893 meters 0.01755988140934518 Centerline is valid? [True, True] Translation: X:396.74, Y:25.50, Z:14.60 [[ 9.93485471e-01 -1.02856771e-01 -4.90622377e-02 3.96737530e+02] [ 1.02811981e-01 9.94694851e-01 -3.44237339e-03 2.54992899e+01] [ 4.91560267e-02 -1.62423792e-03 9.98789791e-01 1.46001594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16509989299993 meters 0.020674073991534446 Centerline is valid? [True, True] Translation: X:396.80, Y:25.50, Z:14.60 [[ 9.92632680e-01 -1.10544261e-01 -4.96016967e-02 3.96797315e+02] [ 1.10508053e-01 9.93869135e-01 -3.48020671e-03 2.54992557e+01] [ 4.96823122e-02 -2.02682002e-03 9.98763015e-01 1.46031536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22509989299994 meters 0.02063779803002596 Centerline is valid? [True, True] Translation: X:396.86, Y:25.50, Z:14.61 [[ 9.92125904e-01 -1.15014801e-01 -4.95760599e-02 3.96857446e+02] [ 1.14984198e-01 9.93361231e-01 -3.47835708e-03 2.55044277e+01] [ 4.96469984e-02 -2.24949532e-03 9.98764294e-01 1.46069639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28509989299994 meters 0.02194643474740332 Centerline is valid? [True, True] Translation: X:396.92, Y:25.51, Z:14.61 [[ 9.91682054e-01 -1.18777803e-01 -4.95836387e-02 3.96918428e+02] [ 1.18751899e-01 9.92917865e-01 -3.47848554e-03 2.55079694e+01] [ 4.96456476e-02 -2.43859956e-03 9.98763918e-01 1.46099923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34509989299994 meters 0.02407612141943068 Centerline is valid? [True, True] Translation: X:396.98, Y:25.51, Z:14.61 [[ 9.91290062e-01 -1.21991548e-01 -4.96192994e-02 3.96979122e+02] [ 1.21969689e-01 9.92527726e-01 -3.47954641e-03 2.55109293e+01] [ 4.96730056e-02 -2.60281074e-03 9.98762143e-01 1.46126257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40509989299994 meters 0.02589870489630238 Centerline is valid? [True, True] Translation: X:397.04, Y:25.52, Z:14.62 [[ 9.90888312e-01 -1.25205825e-01 -4.96372222e-02 3.97039830e+02] [ 1.25188013e-01 9.92126933e-01 -3.47989628e-03 2.55156680e+01] [ 4.96821283e-02 -2.76579666e-03 9.98761251e-01 1.46156812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46509989299994 meters 0.02801973322213904 Centerline is valid? [True, True] Translation: X:397.10, Y:25.52, Z:14.62 [[ 9.90769389e-01 -1.26428390e-01 -4.89068549e-02 3.97099650e+02] [ 1.26412664e-01 9.91971821e-01 -3.42698038e-03 2.55185561e+01] [ 4.89474895e-02 -2.78709854e-03 9.98797465e-01 1.46185482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52509989299995 meters 0.02877072379213386 Centerline is valid? [True, True] Translation: X:397.16, Y:25.52, Z:14.62 [[ 9.90755245e-01 -1.26570511e-01 -4.88257065e-02 3.97160940e+02] [ 1.26555191e-01 9.91953680e-01 -3.41756032e-03 2.55245020e+01] [ 4.88654016e-02 -2.79318079e-03 9.98801467e-01 1.46213785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58509989299995 meters 0.027467693502498527 Centerline is valid? [True, True] Translation: X:397.22, Y:25.53, Z:14.62 [[ 9.90782891e-01 -1.25932441e-01 -4.99027324e-02 3.97221455e+02] [ 1.25915724e-01 9.92034799e-01 -3.49115285e-03 2.55326182e+01] [ 4.99448965e-02 -2.82456417e-03 9.98747981e-01 1.46230237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64509989299995 meters 0.02867599336991541 Centerline is valid? [True, True] Translation: X:397.28, Y:25.54, Z:14.62 [[ 9.90844892e-01 -1.24834195e-01 -5.14084109e-02 3.97281997e+02] [ 1.24815070e-01 9.92173511e-01 -3.59487081e-03 2.55373255e+01] [ 5.14548263e-02 -2.85458503e-03 9.98671243e-01 1.46231147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70509989299995 meters 0.024056177464000197 Centerline is valid? [True, True] Translation: X:397.34, Y:25.55, Z:14.63 [[ 9.91192821e-01 -1.21421391e-01 -5.28548688e-02 3.97342215e+02] [ 1.21396394e-01 9.92597231e-01 -3.69506064e-03 2.55513531e+01] [ 5.29122558e-02 -2.75387290e-03 9.98595368e-01 1.46258443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76509989299996 meters 0.02237392073322753 Centerline is valid? [True, True] Translation: X:397.40, Y:25.56, Z:14.63 [[ 9.91677476e-01 -1.17519734e-01 -5.25822671e-02 3.97402409e+02] [ 1.17489575e-01 9.93067316e-01 -3.67504681e-03 2.55614387e+01] [ 5.26496214e-02 -2.53340705e-03 9.98609833e-01 1.46295012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82509989299996 meters 0.02276048004179781 Centerline is valid? [True, True] Translation: X:397.46, Y:25.57, Z:14.63 [[ 9.92786673e-01 -1.08863669e-01 -5.02327025e-02 3.97461533e+02] [ 1.08825115e-01 9.94054714e-01 -3.51005861e-03 2.55708826e+01] [ 5.03161726e-02 -1.98184021e-03 9.98731373e-01 1.46330195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88509989299996 meters 0.015997368214754868 Centerline is valid? [True, True] Translation: X:397.52, Y:25.59, Z:14.64 [[ 9.94008562e-01 -9.82447090e-02 -4.79056889e-02 3.97520543e+02] [ 9.81973374e-02 9.95161334e-01 -3.34702468e-03 2.55909027e+01] [ 4.80027167e-02 -1.37723991e-03 9.98846256e-01 1.46387676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94509989299996 meters 0.013753450044784352 Centerline is valid? [True, True] Translation: X:397.58, Y:25.60, Z:14.64 [[ 9.94703349e-01 -9.13204504e-02 -4.71786273e-02 3.97580254e+02] [ 9.12667365e-02 9.95821028e-01 -3.29590760e-03 2.56020599e+01] [ 4.72824529e-02 -1.02738902e-03 9.98881031e-01 1.46416063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00509989299997 meters 0.012176172414433984 Centerline is valid? [True, True] Translation: X:397.64, Y:25.61, Z:14.64 [[ 9.95349202e-01 -8.31571246e-02 -4.86298206e-02 3.97641468e+02] [ 8.30903451e-02 9.96536230e-01 -3.39665636e-03 2.56132276e+01] [ 4.87438343e-02 -6.59809382e-04 9.98811095e-01 1.46424687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06509989299997 meters 0.011892643509404537 Centerline is valid? [True, True] Translation: X:397.70, Y:25.62, Z:14.64 [[ 9.95615498e-01 -7.92979124e-02 -4.96147338e-02 3.97700280e+02] [ 7.92237033e-02 9.96850846e-01 -3.46357255e-03 2.56197677e+01] [ 4.97331434e-02 -4.82276437e-04 9.98762425e-01 1.46430727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12509989299997 meters 0.011564481469062216 Centerline is valid? [True, True] Translation: X:397.76, Y:25.63, Z:14.65 [[ 9.95760103e-01 -7.71872894e-02 -5.00393821e-02 3.97759212e+02] [ 7.71090832e-02 9.97016539e-01 -3.49435684e-03 2.56261414e+01] [ 5.01598114e-02 -3.78949754e-04 9.98741132e-01 1.46453218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.185099893 meters 0.01135972889863789 Centerline is valid? [True, True] Translation: X:397.82, Y:25.63, Z:14.65 [[ 9.95842415e-01 -7.57564946e-02 -5.05849591e-02 3.97817276e+02] [ 7.56744867e-02 9.97126301e-01 -3.53721024e-03 2.56311718e+01] [ 5.07075598e-02 -3.05486823e-04 9.98713497e-01 1.46468966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.245099893 meters 0.011179037712837419 Centerline is valid? [True, True] Translation: X:397.88, Y:25.64, Z:14.65 [[ 9.95923077e-01 -7.47840976e-02 -5.04436752e-02 3.97875375e+02] [ 7.47006553e-02 9.97199719e-01 -3.54008173e-03 2.56361884e+01] [ 5.05671606e-02 -2.42526509e-04 9.98720633e-01 1.46487501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.305099893 meters 0.010889337495100663 Centerline is valid? [True, True] Translation: X:397.93, Y:25.64, Z:14.65 [[ 9.96004688e-01 -7.38844088e-02 -5.01573128e-02 3.97934002e+02] [ 7.38001393e-02 9.97266795e-01 -3.53254244e-03 2.56407316e+01] [ 5.02812224e-02 -1.83187842e-04 9.98735083e-01 1.46518455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.365099893 meters 0.010864803713616254 Centerline is valid? [True, True] Translation: X:397.99, Y:25.64, Z:14.65 [[ 9.95978935e-01 -7.43154661e-02 -5.00317158e-02 3.97992596e+02] [ 7.42315299e-02 9.97234764e-01 -3.53628010e-03 2.56437803e+01] [ 5.01561666e-02 -1.91870325e-04 9.98741369e-01 1.46548040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.425099893 meters 0.010883198435320172 Centerline is valid? [True, True] Translation: X:398.05, Y:25.65, Z:14.66 [[ 9.95872122e-01 -7.59267964e-02 -4.97376957e-02 3.98051570e+02] [ 7.58452361e-02 9.97113361e-01 -3.52784594e-03 2.56465200e+01] [ 4.98619790e-02 -2.59083858e-04 9.98756084e-01 1.46578710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.485099893 meters 0.011176520682535345 Centerline is valid? [True, True] Translation: X:398.11, Y:25.65, Z:14.66 [[ 9.95609885e-01 -7.96101056e-02 -4.92258863e-02 3.98110716e+02] [ 7.95341116e-02 9.96825987e-01 -3.50373424e-03 2.56459842e+01] [ 4.93485754e-02 -4.26784691e-04 9.98781526e-01 1.46598309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.545099893 meters 0.011291409483055416 Centerline is valid? [True, True] Translation: X:398.17, Y:25.65, Z:14.66 [[ 9.95430811e-01 -8.22695816e-02 -4.84687118e-02 3.98170397e+02] [ 8.21985954e-02 9.96609966e-01 -3.45935349e-03 2.56469461e+01] [ 4.85890007e-02 -5.40512978e-04 9.98818711e-01 1.46623197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.605099893 meters 0.011518651446458065 Centerline is valid? [True, True] Translation: X:398.23, Y:25.65, Z:14.66 [[ 9.95379045e-01 -8.27465685e-02 -4.87192281e-02 3.98229625e+02] [ 8.26753522e-02 9.96570462e-01 -3.47856263e-03 2.56472451e+01] [ 4.88399828e-02 -5.65390993e-04 9.98806456e-01 1.46632061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66509989299993 meters 0.01109883447037829 Centerline is valid? [True, True] Translation: X:398.29, Y:25.65, Z:14.67 [[ 9.95529753e-01 -8.12472008e-02 -4.81601881e-02 3.98288828e+02] [ 8.11758417e-02 9.96693863e-01 -3.43895691e-03 2.56508944e+01] [ 4.82803695e-02 -4.85859886e-04 9.98833705e-01 1.46656464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72509989299994 meters 0.010718958204954054 Centerline is valid? [True, True] Translation: X:398.35, Y:25.65, Z:14.67 [[ 9.95756008e-01 -7.86004444e-02 -4.78742376e-02 3.98347991e+02] [ 7.85267888e-02 9.96906137e-01 -3.42028611e-03 2.56543542e+01] [ 4.79949573e-02 -3.53639698e-04 9.98847515e-01 1.46680643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78509989299994 meters 0.010460647973174163 Centerline is valid? [True, True] Translation: X:398.41, Y:25.66, Z:14.67 [[ 9.96149826e-01 -7.41100747e-02 -4.68318375e-02 3.98407163e+02] [ 7.40344608e-02 9.97250059e-01 -3.34945580e-03 2.56569019e+01] [ 4.69512811e-02 -1.30610027e-04 9.98897172e-01 1.46701311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84509989299994 meters 0.010458652640016905 Centerline is valid? [True, True] Translation: X:398.47, Y:25.66, Z:14.67 [[ 9.96334032e-01 -7.20749043e-02 -4.60836797e-02 3.98465561e+02] [ 7.19990048e-02 9.97399222e-01 -3.30691380e-03 2.56594867e+01] [ 4.62021718e-02 -2.31883193e-05 9.98932109e-01 1.46719478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90509989299994 meters 0.010318996320425433 Centerline is valid? [True, True] Translation: X:398.52, Y:25.66, Z:14.67 [[ 9.96381593e-01 -7.14506937e-02 -4.60273696e-02 3.98524127e+02] [ 7.13737748e-02 9.97444133e-01 -3.31454376e-03 2.56599102e+01] [ 4.61465562e-02 1.74032790e-05 9.98934680e-01 1.46740016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96509989299994 meters 0.010326029574143872 Centerline is valid? [True, True] Translation: X:398.58, Y:25.66, Z:14.68 [[ 9.96196245e-01 -7.36799491e-02 -4.65220989e-02 3.98582609e+02] [ 7.36032189e-02 9.97281936e-01 -3.36253022e-03 2.56587284e+01] [ 4.66433999e-02 -7.44362469e-05 9.98911602e-01 1.46755600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02509989299995 meters 0.010383946195652584 Centerline is valid? [True, True] Translation: X:398.64, Y:25.66, Z:14.68 [[ 9.95981764e-01 -7.67238471e-02 -4.61928172e-02 3.98640790e+02] [ 7.66508498e-02 9.97052361e-01 -3.35212862e-03 2.56581087e+01] [ 4.63138457e-02 -2.02059716e-04 9.98926918e-01 1.46775764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08509989299995 meters 0.0109475633662058 Centerline is valid? [True, True] Translation: X:398.70, Y:25.65, Z:14.68 [[ 9.95464794e-01 -8.36228927e-02 -4.53547822e-02 3.98699664e+02] [ 8.35590910e-02 9.96497346e-01 -3.30411284e-03 2.56549089e+01] [ 4.54722196e-02 -5.00676366e-04 9.98965478e-01 1.46805573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14509989299995 meters 0.012013381680664634 Centerline is valid? [True, True] Translation: X:398.76, Y:25.65, Z:14.68 [[ 9.95080140e-01 -8.86954805e-02 -4.41432529e-02 3.98759665e+02] [ 8.86396048e-02 9.96058541e-01 -3.22542062e-03 2.56532473e+01] [ 4.42553443e-02 -7.03288493e-04 9.99020005e-01 1.46831022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20509989299995 meters 0.012955754652082525 Centerline is valid? [True, True] Translation: X:398.82, Y:25.65, Z:14.69 [[ 9.94865808e-01 -9.11266900e-02 -4.40221611e-02 3.98818931e+02] [ 9.10734334e-02 9.95838980e-01 -3.21804013e-03 2.56537292e+01] [ 4.41322334e-02 -8.07731270e-04 9.99025372e-01 1.46852863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26509989299996 meters 0.013408580475430145 Centerline is valid? [True, True] Translation: X:398.88, Y:25.65, Z:14.69 [[ 9.94335266e-01 -9.70623012e-02 -4.33161550e-02 3.98879831e+02] [ 9.70163347e-02 9.95277750e-01 -3.16708422e-03 2.56530620e+01] [ 4.34190098e-02 -1.05323106e-03 9.99056395e-01 1.46886798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32509989299996 meters 0.01582078641421601 Centerline is valid? [True, True] Translation: X:398.94, Y:25.65, Z:14.69 [[ 9.93873631e-01 -1.01603161e-01 -4.34971529e-02 3.98940822e+02] [ 1.01561157e-01 9.94824215e-01 -3.18020229e-03 2.56501470e+01] [ 4.35951396e-02 -1.25690195e-03 9.99048489e-01 1.46906804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38509989299996 meters 0.016365176426129065 Centerline is valid? [True, True] Translation: X:399.00, Y:25.65, Z:14.69 [[ 9.93633740e-01 -1.03868279e-01 -4.36276488e-02 3.99000980e+02] [ 1.03828231e-01 9.94590131e-01 -3.18905706e-03 2.56519338e+01] [ 4.37228708e-02 -1.36102693e-03 9.99042771e-01 1.46930117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44509989299996 meters 0.016529574574897763 Centerline is valid? [True, True] Translation: X:399.06, Y:25.65, Z:14.70 [[ 9.93426750e-01 -1.06095892e-01 -4.29762136e-02 3.99062632e+02] [ 1.06059122e-01 9.94354864e-01 -3.14122714e-03 2.56541079e+01] [ 4.30668783e-02 -1.43744040e-03 9.99071158e-01 1.46958834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50509989299997 meters 0.01675956357486989 Centerline is valid? [True, True] Translation: X:399.12, Y:25.66, Z:14.70 [[ 9.93378341e-01 -1.06145449e-01 -4.39615297e-02 3.99123736e+02] [ 1.06107095e-01 9.94349521e-01 -3.21160172e-03 2.56573909e+01] [ 4.40540229e-02 -1.47429460e-03 9.99028062e-01 1.46975382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56509989299997 meters 0.01666291904895982 Centerline is valid? [True, True] Translation: X:399.19, Y:25.66, Z:14.70 [[ 9.93387813e-01 -1.05349486e-01 -4.56304676e-02 3.99185117e+02] [ 1.05307405e-01 9.94434135e-01 -3.33180644e-03 2.56616859e+01] [ 4.57274987e-02 -1.49545025e-03 9.98952831e-01 1.46979833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62509989299997 meters 0.016477427231090015 Centerline is valid? [True, True] Translation: X:399.25, Y:25.67, Z:14.70 [[ 9.93398445e-01 -1.04810513e-01 -4.66292413e-02 3.99245166e+02] [ 1.04766043e-01 9.94491073e-01 -3.40334981e-03 2.56662596e+01] [ 4.67290710e-02 -1.50427867e-03 9.98906468e-01 1.46991970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.685099893 meters 0.016483808649182138 Centerline is valid? [True, True] Translation: X:399.31, Y:25.67, Z:14.70 [[ 9.93505246e-01 -1.03641791e-01 -4.69649467e-02 3.99305091e+02] [ 1.03595374e-01 9.94613618e-01 -3.42785210e-03 2.56707888e+01] [ 4.70672443e-02 -1.45976218e-03 9.98890656e-01 1.47012466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.745099893 meters 0.015759589908644348 Centerline is valid? [True, True] Translation: X:399.37, Y:25.68, Z:14.70 [[ 9.93724349e-01 -1.01938018e-01 -4.60495316e-02 3.99365268e+02] [ 1.01891565e-01 9.94789833e-01 -3.36103828e-03 2.56771674e+01] [ 4.61522234e-02 -1.35211328e-03 9.98933503e-01 1.47043504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.805099893 meters 0.016594595459543223 Centerline is valid? [True, True] Translation: X:399.42, Y:25.68, Z:14.71 [[ 9.93966554e-01 -1.00668025e-01 -4.35481076e-02 3.99424350e+02] [ 1.00625259e-01 9.94919320e-01 -3.17857900e-03 2.56816744e+01] [ 4.36468349e-02 -1.22263838e-03 9.99046275e-01 1.47085346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.865099893 meters 0.015349680880193792 Centerline is valid? [True, True] Translation: X:399.49, Y:25.69, Z:14.71 [[ 9.94001275e-01 -1.01154099e-01 -4.15850142e-02 3.99485575e+02] [ 1.01115506e-01 9.94870061e-01 -3.03576733e-03 2.56886084e+01] [ 4.16787660e-02 -1.18733318e-03 9.99130357e-01 1.47126551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.925099893 meters 0.01723546469353179 Centerline is valid? [True, True] Translation: X:399.55, Y:25.69, Z:14.71 [[ 9.93719030e-01 -1.03513528e-01 -4.25139952e-02 3.99545655e+02] [ 1.03475407e-01 9.94627175e-01 -3.10219381e-03 2.56890636e+01] [ 4.26066939e-02 -1.31644393e-03 9.99091055e-01 1.47134403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.985099893 meters 0.017045301275928817 Centerline is valid? [True, True] Translation: X:399.61, Y:25.69, Z:14.72 [[ 9.93461560e-01 -1.05920838e-01 -4.26017011e-02 3.99606780e+02] [ 1.05884778e-01 9.94373547e-01 -3.10839761e-03 2.56936671e+01] [ 4.26912487e-02 -1.42279813e-03 9.99087300e-01 1.47156182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.045099893 meters 0.017347590207244697 Centerline is valid? [True, True] Translation: X:399.67, Y:25.70, Z:14.72 [[ 9.93150337e-01 -1.08720309e-01 -4.28053976e-02 3.99668043e+02] [ 1.08686565e-01 9.94071167e-01 -3.12169565e-03 2.56976334e+01] [ 4.28910033e-02 -1.55205854e-03 9.99078552e-01 1.47181668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.105099893 meters 0.01967954209822245 Centerline is valid? [True, True] Translation: X:399.73, Y:25.70, Z:14.72 [[ 9.92853232e-01 -1.11395561e-01 -4.28192656e-02 3.99728407e+02] [ 1.11364341e-01 9.93774744e-01 -3.12123179e-03 2.56985503e+01] [ 4.29003961e-02 -1.66961424e-03 9.99077959e-01 1.47198688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16509989299993 meters 0.018988627740125382 Centerline is valid? [True, True] Translation: X:399.79, Y:25.70, Z:14.72 [[ 9.92912946e-01 -1.10972815e-01 -4.25313631e-02 3.99789643e+02] [ 1.10941663e-01 9.93822087e-01 -3.09938188e-03 2.57048660e+01] [ 4.26125551e-02 -1.64108376e-03 9.99090325e-01 1.47219296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22509989299994 meters 0.016790011453465974 Centerline is valid? [True, True] Translation: X:399.85, Y:25.72, Z:14.72 [[ 9.93340694e-01 -1.07342074e-01 -4.18562501e-02 3.99850154e+02] [ 1.07308747e-01 9.94221071e-01 -3.04868579e-03 2.57161628e+01] [ 4.19416181e-02 -1.46315811e-03 9.99118992e-01 1.47249650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28509989299994 meters 0.017172458117470774 Centerline is valid? [True, True] Translation: X:399.91, Y:25.72, Z:14.73 [[ 9.93720527e-01 -1.03840902e-01 -4.16723122e-02 3.99910736e+02] [ 1.03804857e-01 9.94593056e-01 -3.03374143e-03 2.57223658e+01] [ 4.17620188e-02 -1.31109729e-03 9.99126726e-01 1.47267260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34509989299994 meters 0.014754989583485287 Centerline is valid? [True, True] Translation: X:399.97, Y:25.74, Z:14.73 [[ 9.94156304e-01 -9.94822467e-02 -4.19109334e-02 3.99971919e+02] [ 9.94419864e-02 9.95038689e-01 -3.04948203e-03 2.57353790e+01] [ 4.20063696e-02 -1.13604469e-03 9.99116697e-01 1.47284813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40509989299994 meters 0.014647023838790843 Centerline is valid? [True, True] Translation: X:400.03, Y:25.74, Z:14.73 [[ 9.94213675e-01 -9.88375622e-02 -4.20749918e-02 4.00034001e+02] [ 9.87965115e-02 9.95102955e-01 -3.05900074e-03 2.57420312e+01] [ 4.21712928e-02 -1.11556204e-03 9.99109773e-01 1.47296372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46509989299994 meters 0.01542468439661276 Centerline is valid? [True, True] Translation: X:400.10, Y:25.75, Z:14.73 [[ 9.93949585e-01 -1.01284335e-01 -4.24935922e-02 4.00095208e+02] [ 1.01244822e-01 9.94856753e-01 -3.08648641e-03 2.57473824e+01] [ 4.25876499e-02 -1.23444429e-03 9.99091972e-01 1.47306937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52509989299995 meters 0.01580789593062101 Centerline is valid? [True, True] Translation: X:400.16, Y:25.75, Z:14.73 [[ 9.93514714e-01 -1.04032712e-01 -4.58879947e-02 4.00156282e+02] [ 1.03989644e-01 9.94572801e-01 -3.33125160e-03 2.57543182e+01] [ 4.59855106e-02 -1.46222877e-03 9.98941037e-01 1.47324332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58509989299995 meters 0.016659894782030345 Centerline is valid? [True, True] Translation: X:400.22, Y:25.76, Z:14.73 [[ 9.93296825e-01 -1.04517011e-01 -4.93721728e-02 4.00216654e+02] [ 1.04467838e-01 9.94521813e-01 -3.58248807e-03 2.57604830e+01] [ 4.94761338e-02 -1.59933015e-03 9.98774026e-01 1.47323401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64509989299995 meters 0.015992861424831934 Centerline is valid? [True, True] Translation: X:400.28, Y:25.77, Z:14.73 [[ 9.93375406e-01 -1.02713041e-01 -5.15299321e-02 4.00276499e+02] [ 1.02657091e-01 9.94709780e-01 -3.73835091e-03 2.57688191e+01] [ 5.16413048e-02 -1.57632709e-03 9.98664454e-01 1.47328303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70509989299995 meters 0.015448362398444486 Centerline is valid? [True, True] Translation: X:400.34, Y:25.77, Z:14.74 [[ 9.93729492e-01 -9.99073890e-02 -5.02016877e-02 4.00335965e+02] [ 9.98506859e-02 9.94995765e-01 -3.64245865e-03 2.57748542e+01] [ 5.03143752e-02 -1.39305436e-03 9.98732458e-01 1.47362921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76509989299996 meters 0.01448639629918295 Centerline is valid? [True, True] Translation: X:400.40, Y:25.78, Z:14.74 [[ 9.94225567e-01 -9.67367619e-02 -4.64491174e-02 4.00396322e+02] [ 9.66847031e-02 9.95309350e-01 -3.37142513e-03 2.57789673e+01] [ 4.65573816e-02 -1.13896207e-03 9.98914968e-01 1.47426886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82509989299996 meters 0.01454914253311212 Centerline is valid? [True, True] Translation: X:400.46, Y:25.78, Z:14.75 [[ 9.94325271e-01 -9.71026820e-02 -4.34548534e-02 4.00456645e+02] [ 9.70574677e-02 9.95273781e-01 -3.15409190e-03 2.57804045e+01] [ 4.35557471e-02 -1.08142475e-03 9.99050413e-01 1.47488563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88509989299996 meters 0.016167066398378647 Centerline is valid? [True, True] Translation: X:400.52, Y:25.78, Z:14.76 [[ 9.94323047e-01 -9.93836820e-02 -3.80073878e-02 4.00517471e+02] [ 9.93507578e-02 9.95048650e-01 -2.75868340e-03 2.57759735e+01] [ 3.80933681e-02 -1.03304031e-03 9.99273650e-01 1.47568163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94509989299996 meters 0.016278248183323435 Centerline is valid? [True, True] Translation: X:400.58, Y:25.77, Z:14.76 [[ 9.94106002e-01 -1.02134954e-01 -3.63552895e-02 4.00580238e+02] [ 1.02106688e-01 9.94769955e-01 -2.63820458e-03 2.57730150e+01] [ 3.64346026e-02 -1.08946319e-03 9.99335446e-01 1.47614205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00509989299997 meters 0.015279215773683427 Centerline is valid? [True, True] Translation: X:400.64, Y:25.77, Z:14.76 [[ 9.94051705e-01 -1.02721807e-01 -3.61861568e-02 4.00642831e+02] [ 1.02694285e-01 9.94709506e-01 -2.62334826e-03 2.57727086e+01] [ 3.62641892e-02 -1.10836769e-03 9.99341623e-01 1.47631076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06509989299997 meters 0.015365476181331524 Centerline is valid? [True, True] Translation: X:400.71, Y:25.78, Z:14.76 [[ 9.94117934e-01 -1.02068364e-01 -3.62157891e-02 4.00705386e+02] [ 1.02040461e-01 9.94776792e-01 -2.62279561e-03 2.57750135e+01] [ 3.62943309e-02 -1.08810767e-03 9.99340551e-01 1.47649072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12509989299997 meters 0.014117503235201792 Centerline is valid? [True, True] Translation: X:400.76, Y:25.77, Z:14.77 [[ 9.94870110e-01 -9.43942397e-02 -3.63756977e-02 4.00764891e+02] [ 9.43610637e-02 9.95534562e-01 -2.63160031e-03 2.57747633e+01] [ 3.64616722e-02 -8.14349033e-04 9.99334720e-01 1.47658442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.185099893 meters 0.018531171354118744 Centerline is valid? [True, True] Translation: X:400.83, Y:25.75, Z:14.76 [[ 9.92538344e-01 -1.13241374e-01 -4.52109072e-02 4.00828189e+02] [ 1.13209569e-01 9.93565745e-01 -3.27159866e-03 2.57474307e+01] [ 4.52904890e-02 -1.87112022e-03 9.98972107e-01 1.47606857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.245099893 meters 0.018531171354118744 Centerline is valid? [True, True] Translation: X:400.89, Y:25.75, Z:14.76 [[ 9.92534153e-01 -1.13278113e-01 -4.52108935e-02 4.00887200e+02] [ 1.13246337e-01 9.93561554e-01 -3.27178756e-03 2.57517296e+01] [ 4.52904276e-02 -1.87260720e-03 9.98972107e-01 1.47628944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.305099893 meters 0.018415363472413085 Centerline is valid? [True, True] Translation: X:400.95, Y:25.76, Z:14.77 [[ 9.92801162e-01 -1.10827539e-01 -4.54214687e-02 4.00946490e+02] [ 1.10792830e-01 9.93838082e-01 -3.28871865e-03 2.57566736e+01] [ 4.55060659e-02 -1.76732938e-03 9.98962499e-01 1.47651541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.365099893 meters 0.017973517005977623 Centerline is valid? [True, True] Translation: X:401.01, Y:25.76, Z:14.77 [[ 9.93115539e-01 -1.08154101e-01 -4.49912943e-02 4.01005380e+02] [ 1.08117164e-01 9.94132811e-01 -3.26075181e-03 2.57626945e+01] [ 4.50799856e-02 -1.62602784e-03 9.98982057e-01 1.47673834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.425099893 meters 0.017973517005977623 Centerline is valid? [True, True] Translation: X:401.06, Y:25.77, Z:14.77 [[ 9.93088289e-01 -1.08404354e-01 -4.49905194e-02 4.01063483e+02] [ 1.08367191e-01 9.94105553e-01 -3.27141272e-03 2.57669637e+01] [ 4.50799605e-02 -1.62669454e-03 9.98982057e-01 1.47695603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.485099893 meters 0.016776863172738896 Centerline is valid? [True, True] Translation: X:401.12, Y:25.77, Z:14.77 [[ 9.93410677e-01 -1.05573723e-01 -4.46028671e-02 4.01122129e+02] [ 1.05533851e-01 9.94410386e-01 -3.25430502e-03 2.57742764e+01] [ 4.46971234e-02 -1.47425100e-03 9.98999496e-01 1.47719265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.545099893 meters 0.015286066157921621 Centerline is valid? [True, True] Translation: X:401.18, Y:25.78, Z:14.77 [[ 9.93693436e-01 -1.02679895e-01 -4.50576888e-02 4.01181715e+02] [ 1.02635813e-01 9.94713537e-01 -3.29684912e-03 2.57822436e+01] [ 4.51580131e-02 -1.34847518e-03 9.98978946e-01 1.47742413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.605099893 meters 0.015286066157921621 Centerline is valid? [True, True] Translation: X:401.24, Y:25.79, Z:14.78 [[ 9.93667085e-01 -1.02934722e-01 -4.50573697e-02 4.01239802e+02] [ 1.02890704e-01 9.94687190e-01 -3.30120359e-03 2.57865339e+01] [ 4.51577969e-02 -1.35568714e-03 9.98978946e-01 1.47764162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66509989299993 meters 0.015286066157921621 Centerline is valid? [True, True] Translation: X:401.30, Y:25.79, Z:14.78 [[ 9.93640666e-01 -1.03189811e-01 -4.50565203e-02 4.01297887e+02] [ 1.03145531e-01 9.94660759e-01 -3.31275856e-03 2.57908426e+01] [ 4.51577956e-02 -1.35568710e-03 9.98978947e-01 1.47785928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72509989299994 meters 0.015207862222368753 Centerline is valid? [True, True] Translation: X:401.36, Y:25.80, Z:14.78 [[ 9.93925192e-01 -1.00522701e-01 -4.48095797e-02 4.01356025e+02] [ 1.00475744e-01 9.94934020e-01 -3.30469274e-03 2.57960565e+01] [ 4.49147719e-02 -1.21765850e-03 9.98990080e-01 1.47803750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78509989299994 meters 0.013895831004189169 Centerline is valid? [True, True] Translation: X:401.41, Y:25.80, Z:14.78 [[ 9.94355031e-01 -9.59609722e-02 -4.52721108e-02 4.01414929e+02] [ 9.59081079e-02 9.95384577e-01 -3.34338718e-03 2.58032713e+01] [ 4.53839955e-02 -1.01744862e-03 9.98969097e-01 1.47821460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84509989299994 meters 0.012491846073737706 Centerline is valid? [True, True] Translation: X:401.47, Y:25.81, Z:14.79 [[ 9.94608567e-01 -9.31410642e-02 -4.55910124e-02 4.01473109e+02] [ 9.30839971e-02 9.95652530e-01 -3.37775532e-03 2.58117888e+01] [ 4.57074146e-02 -8.84249289e-04 9.98954479e-01 1.47854098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90509989299994 meters 0.012859209488924522 Centerline is valid? [True, True] Translation: X:401.53, Y:25.82, Z:14.79 [[ 9.94623786e-01 -9.41195986e-02 -4.31859381e-02 4.01531125e+02] [ 9.40688566e-02 9.95560518e-01 -3.21016741e-03 2.58164696e+01] [ 4.32963546e-02 -8.69542948e-04 9.99061895e-01 1.47903179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96509989299994 meters 0.014019994262380799 Centerline is valid? [True, True] Translation: X:401.59, Y:25.82, Z:14.79 [[ 9.94257986e-01 -9.78049927e-02 -4.34193697e-02 4.01590153e+02] [ 9.77567261e-02 9.95205071e-01 -3.23862723e-03 2.58177326e+01] [ 4.35279309e-02 -1.02450445e-03 9.99051685e-01 1.47919892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02509989299995 meters 0.015543743435703005 Centerline is valid? [True, True] Translation: X:401.65, Y:25.82, Z:14.79 [[ 9.93798403e-01 -1.01857290e-01 -4.46074826e-02 4.01649840e+02] [ 1.01809977e-01 9.94798267e-01 -3.33718760e-03 2.58212169e+01] [ 4.47153633e-02 -1.22499505e-03 9.98999017e-01 1.47927883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08509989299995 meters 0.01649135905989716 Centerline is valid? [True, True] Translation: X:401.71, Y:25.83, Z:14.79 [[ 9.93554263e-01 -1.03960047e-01 -4.51910867e-02 4.01708435e+02] [ 1.03913508e-01 9.94580580e-01 -3.38419908e-03 2.58257596e+01] [ 4.52979987e-02 -1.33357892e-03 9.98972629e-01 1.47945165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14509989299995 meters 0.016776754428146766 Centerline is valid? [True, True] Translation: X:401.77, Y:25.83, Z:14.80 [[ 9.93424863e-01 -1.05336784e-01 -4.48464419e-02 4.01768053e+02] [ 1.05291924e-01 9.94435653e-01 -3.36788820e-03 2.58309058e+01] [ 4.49516633e-02 -1.37622430e-03 9.98988215e-01 1.47973291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20509989299995 meters 0.01822264797476015 Centerline is valid? [True, True] Translation: X:401.83, Y:25.84, Z:14.80 [[ 9.93343589e-01 -1.06864971e-01 -4.29929225e-02 4.01827686e+02] [ 1.06825112e-01 9.94272579e-01 -3.23007435e-03 2.58357702e+01] [ 4.30918657e-02 -1.38415010e-03 9.99070155e-01 1.48012553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26509989299996 meters 0.0184331907376547 Centerline is valid? [True, True] Translation: X:401.89, Y:25.84, Z:14.80 [[ 9.93249697e-01 -1.08205534e-01 -4.17923676e-02 4.01887456e+02] [ 1.08169024e-01 9.94127557e-01 -3.14059648e-03 2.58409680e+01] [ 4.18867742e-02 -1.40124310e-03 9.99121381e-01 1.48031066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32509989299996 meters 0.018422339983677958 Centerline is valid? [True, True] Translation: X:401.95, Y:25.85, Z:14.80 [[ 9.92919464e-01 -1.11421345e-01 -4.11852178e-02 4.01948166e+02] [ 1.11388629e-01 9.93772102e-01 -3.09545960e-03 2.58460125e+01] [ 4.12736208e-02 -1.51402286e-03 9.99146734e-01 1.48033332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38509989299996 meters 0.019357863727946668 Centerline is valid? [True, True] Translation: X:402.01, Y:25.85, Z:14.81 [[ 9.92785530e-01 -1.12859384e-01 -4.04926056e-02 4.02008199e+02] [ 1.12829011e-01 9.93609763e-01 -3.04193732e-03 2.58507284e+01] [ 4.05771594e-02 -1.54874930e-03 9.99175208e-01 1.48059192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44509989299996 meters 0.02048364799200641 Centerline is valid? [True, True] Translation: X:402.07, Y:25.85, Z:14.81 [[ 9.92712601e-01 -1.13317896e-01 -4.09969003e-02 4.02068841e+02] [ 1.13287156e-01 9.93557515e-01 -3.07975421e-03 2.58537637e+01] [ 4.10817697e-02 -1.58711141e-03 9.99154527e-01 1.48076778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50509989299997 meters 0.019450874843013614 Centerline is valid? [True, True] Translation: X:402.13, Y:25.86, Z:14.81 [[ 9.92647311e-01 -1.13815477e-01 -4.11989578e-02 4.02129317e+02] [ 1.13784891e-01 9.93500591e-01 -3.09419713e-03 2.58601111e+01] [ 4.12833564e-02 -1.61637245e-03 9.99146171e-01 1.48096247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56509989299997 meters 0.020773534718518897 Centerline is valid? [True, True] Translation: X:402.19, Y:25.86, Z:14.81 [[ 9.92486773e-01 -1.15369302e-01 -4.07422325e-02 4.02190309e+02] [ 1.15340728e-01 9.93321276e-01 -3.05910150e-03 2.58642620e+01] [ 4.08230528e-02 -1.66312100e-03 9.99165008e-01 1.48114890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62509989299997 meters 0.01928496994817869 Centerline is valid? [True, True] Translation: X:402.25, Y:25.87, Z:14.81 [[ 9.92464079e-01 -1.15755840e-01 -4.01950019e-02 4.02252180e+02] [ 1.15728406e-01 9.93276314e-01 -3.01647982e-03 2.58727133e+01] [ 4.02739185e-02 -1.65795565e-03 9.99187301e-01 1.48136743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.685099893 meters 0.017094807904406303 Centerline is valid? [True, True] Translation: X:402.31, Y:25.88, Z:14.82 [[ 9.93071486e-01 -1.10625462e-01 -3.96362395e-02 4.02312490e+02] [ 1.10594815e-01 9.93861135e-01 -2.97177987e-03 2.58843620e+01] [ 3.97216725e-02 -1.43237271e-03 9.99209756e-01 1.48156374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.745099893 meters 0.015951677314392565 Centerline is valid? [True, True] Translation: X:402.37, Y:25.89, Z:14.82 [[ 9.93809247e-01 -1.03873447e-01 -3.94143056e-02 4.02371301e+02] [ 1.03837862e-01 9.94589850e-01 -2.95448896e-03 2.58941831e+01] [ 3.95079612e-02 -1.15649876e-03 9.99218586e-01 1.48185417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.805099893 meters 0.013299912717645015 Centerline is valid? [True, True] Translation: X:402.43, Y:25.91, Z:14.82 [[ 9.94986007e-01 -9.26772875e-02 -3.76000843e-02 4.02429422e+02] [ 9.26368819e-02 9.95695968e-01 -2.81915189e-03 2.59082501e+01] [ 3.76995237e-02 -6.78137886e-04 9.99288890e-01 1.48220710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.865099893 meters 0.012139683975776718 Centerline is valid? [True, True] Translation: X:402.49, Y:25.92, Z:14.82 [[ 9.95506208e-01 -8.68546073e-02 -3.77315235e-02 4.02490615e+02] [ 8.68097178e-02 9.96220893e-01 -2.82950111e-03 2.59166175e+01] [ 3.78346872e-02 -4.58676992e-04 9.99283907e-01 1.48240179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.925099893 meters 0.011493593742800397 Centerline is valid? [True, True] Translation: X:402.55, Y:25.92, Z:14.83 [[ 9.95884063e-01 -8.18230486e-02 -3.89861826e-02 4.02551582e+02] [ 8.17713520e-02 9.96646834e-01 -2.92144907e-03 2.59234942e+01] [ 3.90944973e-02 -2.78528285e-04 9.99235479e-01 1.48250751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.985099893 meters 0.011435737432990176 Centerline is valid? [True, True] Translation: X:402.61, Y:25.93, Z:14.83 [[ 9.95911208e-01 -8.11730944e-02 -3.96458599e-02 4.02612456e+02] [ 8.11191754e-02 9.96699986e-01 -2.96944069e-03 2.59285479e+01] [ 3.97560667e-02 -2.58740201e-04 9.99209382e-01 1.48269065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.045099893 meters 0.0114019235362045 Centerline is valid? [True, True] Translation: X:402.67, Y:25.93, Z:14.83 [[ 9.95843848e-01 -8.13139315e-02 -4.10253030e-02 4.02672904e+02] [ 8.12563713e-02 9.96688501e-01 -3.07135065e-03 2.59327897e+01] [ 4.11391914e-02 -2.74981606e-04 9.99153387e-01 1.48283796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.105099893 meters 0.011503375231795418 Centerline is valid? [True, True] Translation: X:402.73, Y:25.94, Z:14.83 [[ 9.95733829e-01 -8.22383587e-02 -4.18448731e-02 4.02732857e+02] [ 8.21792837e-02 9.96612638e-01 -3.13287484e-03 2.59362517e+01] [ 4.19607719e-02 -3.19272242e-04 9.99119208e-01 1.48308567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16509989299993 meters 0.011793357921241473 Centerline is valid? [True, True] Translation: X:402.79, Y:25.94, Z:14.83 [[ 9.95579623e-01 -8.39300890e-02 -4.21539475e-02 4.02791914e+02] [ 8.38715886e-02 9.96471568e-01 -3.15754290e-03 2.59394624e+01] [ 4.22702230e-02 -3.91933171e-04 9.99106138e-01 1.48338351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22509989299994 meters 0.01192816739997377 Centerline is valid? [True, True] Translation: X:402.85, Y:25.94, Z:14.84 [[ 9.95486601e-01 -8.52206979e-02 -4.17595438e-02 4.02851812e+02] [ 8.51643598e-02 9.96362002e-01 -3.12949046e-03 2.59427416e+01] [ 4.18743200e-02 -4.41058993e-04 9.99122789e-01 1.48363817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28509989299994 meters 0.012446904453825746 Centerline is valid? [True, True] Translation: X:402.91, Y:25.94, Z:14.84 [[ 9.95377657e-01 -8.71817289e-02 -4.02823404e-02 4.02911093e+02] [ 8.71308578e-02 9.96192297e-01 -3.02012633e-03 2.59443605e+01] [ 4.03922570e-02 -5.03668595e-04 9.99183773e-01 1.48390202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34509989299994 meters 0.012381441931686716 Centerline is valid? [True, True] Translation: X:402.97, Y:25.95, Z:14.84 [[ 9.95373107e-01 -8.75297623e-02 -3.96348106e-02 4.02971612e+02] [ 8.74807639e-02 9.96161775e-01 -2.97222353e-03 2.59486197e+01] [ 3.97428413e-02 -5.08812133e-04 9.99209812e-01 1.48415874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40509989299994 meters 0.012013044911610146 Centerline is valid? [True, True] Translation: X:403.03, Y:25.95, Z:14.84 [[ 9.95492347e-01 -8.65337144e-02 -3.88188552e-02 4.03033147e+02] [ 8.64859585e-02 9.96248817e-01 -2.91097579e-03 2.59533562e+01] [ 3.89251361e-02 -4.59431777e-04 9.99242024e-01 1.48439882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46509989299994 meters 0.011649766329294743 Centerline is valid? [True, True] Translation: X:403.09, Y:25.96, Z:14.85 [[ 9.95721822e-01 -8.38386545e-02 -3.88475608e-02 4.03094575e+02] [ 8.37888328e-02 9.96479279e-01 -2.91170769e-03 2.59572503e+01] [ 3.89549030e-02 -3.55740885e-04 9.99240906e-01 1.48459699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52509989299995 meters 0.011558737642434232 Centerline is valid? [True, True] Translation: X:403.16, Y:25.96, Z:14.85 [[ 9.96000293e-01 -8.04295362e-02 -3.89166518e-02 4.03156165e+02] [ 8.03769922e-02 9.96760272e-01 -2.91542649e-03 2.59594112e+01] [ 3.90250588e-02 -2.24237780e-04 9.99238207e-01 1.48478417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58509989299995 meters 0.011502705402584619 Centerline is valid? [True, True] Translation: X:403.22, Y:25.96, Z:14.85 [[ 9.96115906e-01 -7.84851961e-02 -3.99146076e-02 4.03215141e+02] [ 7.84284182e-02 9.96915267e-01 -2.98876625e-03 2.59624699e+01] [ 4.00260556e-02 -1.53281941e-04 9.99198625e-01 1.48490268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64509989299995 meters 0.01146884050776224 Centerline is valid? [True, True] Translation: X:403.28, Y:25.97, Z:14.85 [[ 9.96135254e-01 -7.74306906e-02 -4.14613629e-02 4.03275022e+02] [ 7.73685140e-02 9.96997731e-01 -3.10454108e-03 2.59654360e+01] [ 4.15772715e-02 -1.15261222e-04 9.99135285e-01 1.48498886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70509989299995 meters 0.011485487734786479 Centerline is valid? [True, True] Translation: X:403.33, Y:25.97, Z:14.85 [[ 9.95991932e-01 -7.83050881e-02 -4.32248187e-02 4.03333655e+02] [ 7.82382020e-02 9.96929430e-01 -3.23954984e-03 2.59668002e+01] [ 4.33457671e-02 -1.55266587e-04 9.99060118e-01 1.48507425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76509989299996 meters 0.011615651600477055 Centerline is valid? [True, True] Translation: X:403.39, Y:25.97, Z:14.85 [[ 9.95823075e-01 -7.99692668e-02 -4.40604196e-02 4.03392746e+02] [ 7.99008884e-02 9.96797305e-01 -3.31366105e-03 2.59685045e+01] [ 4.41842985e-02 -2.20646531e-04 9.99023373e-01 1.48526504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82509989299996 meters 0.011845899038722029 Centerline is valid? [True, True] Translation: X:403.45, Y:25.97, Z:14.86 [[ 9.95590101e-01 -8.33158339e-02 -4.31140752e-02 4.03451192e+02] [ 8.32530348e-02 9.96523130e-01 -3.25319166e-03 2.59684377e+01] [ 4.32352155e-02 -3.50532185e-04 9.99064859e-01 1.48559843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88509989299996 meters 0.01207110414558715 Centerline is valid? [True, True] Translation: X:403.51, Y:25.97, Z:14.86 [[ 9.95333962e-01 -8.71116046e-02 -4.14954601e-02 4.03510017e+02] [ 8.70563100e-02 9.96198440e-01 -3.14113080e-03 2.59686616e+01] [ 4.16113415e-02 -4.85967475e-04 9.99133755e-01 1.48597279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94509989299996 meters 0.012656453807552117 Centerline is valid? [True, True] Translation: X:403.57, Y:25.97, Z:14.86 [[ 9.95024477e-01 -9.08648877e-02 -4.08639404e-02 4.03570116e+02] [ 9.08140309e-02 9.95863034e-01 -3.10295813e-03 2.59684179e+01] [ 4.09768376e-02 -6.23499855e-04 9.99159902e-01 1.48619152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00509989299997 meters 0.01440349862430915 Centerline is valid? [True, True] Translation: X:403.63, Y:25.96, Z:14.86 [[ 9.94201076e-01 -9.96744431e-02 -4.03636638e-02 4.03631293e+02] [ 9.96320177e-02 9.95019627e-01 -3.06632325e-03 2.59634940e+01] [ 4.04682718e-02 -9.72971394e-04 9.99180350e-01 1.48635256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06509989299997 meters 0.01765094705809789 Centerline is valid? [True, True] Translation: X:403.69, Y:25.96, Z:14.86 [[ 9.93372968e-01 -1.07428219e-01 -4.08573653e-02 4.03691076e+02] [ 1.07391289e-01 9.94211988e-01 -3.10396151e-03 2.59584521e+01] [ 4.09543355e-02 -1.30433368e-03 9.99160168e-01 1.48648410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12509989299997 meters 0.02039297841020574 Centerline is valid? [True, True] Translation: X:403.75, Y:25.96, Z:14.87 [[ 9.92266869e-01 -1.16816219e-01 -4.19575057e-02 4.03751395e+02] [ 1.16785580e-01 9.93152032e-01 -3.18901286e-03 2.59554987e+01] [ 4.20427104e-02 -1.73567984e-03 9.99114307e-01 1.48662019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.185099893 meters 0.02545206716966388 Centerline is valid? [True, True] Translation: X:403.81, Y:25.95, Z:14.87 [[ 9.90856034e-01 -1.27868739e-01 -4.30570069e-02 4.03812154e+02] [ 1.27846836e-01 9.91788522e-01 -3.27328987e-03 2.59502618e+01] [ 4.31219966e-02 -2.26134310e-03 9.99067255e-01 1.48677377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.245099893 meters 0.02750915888161412 Centerline is valid? [True, True] Translation: X:403.87, Y:25.95, Z:14.87 [[ 9.90293276e-01 -1.31748070e-01 -4.42907951e-02 4.03872130e+02] [ 1.31728746e-01 9.91280080e-01 -3.36743071e-03 2.59521282e+01] [ 4.43482354e-02 -2.49962691e-03 9.99013006e-01 1.48690690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.305099893 meters 0.025031375956469457 Centerline is valid? [True, True] Translation: X:403.93, Y:25.96, Z:14.87 [[ 9.90320195e-01 -1.31147776e-01 -4.54551664e-02 4.03930884e+02] [ 1.31126750e-01 9.91359584e-01 -3.45694268e-03 2.59622284e+01] [ 4.55157852e-02 -2.53690808e-03 9.98960398e-01 1.48706783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.365099893 meters 0.023274594912557418 Centerline is valid? [True, True] Translation: X:403.99, Y:25.97, Z:14.87 [[ 9.90948213e-01 -1.25722060e-01 -4.70701921e-02 4.03990768e+02] [ 1.25693344e-01 9.92062679e-01 -3.58121804e-03 2.59738188e+01] [ 4.71468189e-02 -2.36760822e-03 9.98885165e-01 1.48719829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.425099893 meters 0.020263691405236692 Centerline is valid? [True, True] Translation: X:404.05, Y:25.99, Z:14.88 [[ 9.91455273e-01 -1.21774770e-01 -4.67690849e-02 4.04049899e+02] [ 1.21742012e-01 9.92555397e-01 -3.55889508e-03 2.59865685e+01] [ 4.68542913e-02 -2.16527718e-03 9.98899388e-01 1.48755833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.485099893 meters 0.020968939593556255 Centerline is valid? [True, True] Translation: X:404.11, Y:25.99, Z:14.88 [[ 9.92186016e-01 -1.16649461e-01 -4.42697632e-02 4.04108625e+02] [ 1.16614931e-01 9.93171484e-01 -3.37057787e-03 2.59948213e+01] [ 4.43606425e-02 -1.81827516e-03 9.99013927e-01 1.48789439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.545099893 meters 0.019809506337928523 Centerline is valid? [True, True] Translation: X:404.17, Y:26.00, Z:14.88 [[ 9.92463111e-01 -1.14546315e-01 -4.35444009e-02 4.04168008e+02] [ 1.14510842e-01 9.93416463e-01 -3.31636173e-03 2.60044702e+01] [ 4.36376018e-02 -1.69493932e-03 9.99045988e-01 1.48821812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.605099893 meters 0.019671529877334674 Centerline is valid? [True, True] Translation: X:404.23, Y:26.01, Z:14.88 [[ 9.92648521e-01 -1.13017657e-01 -4.33119185e-02 4.04228201e+02] [ 1.12981080e-01 9.93591662e-01 -3.29931985e-03 2.60123612e+01] [ 4.34072425e-02 -1.61836234e-03 9.99056151e-01 1.48843358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66509989299993 meters 0.018720783195834492 Centerline is valid? [True, True] Translation: X:404.29, Y:26.02, Z:14.88 [[ 9.92823627e-01 -1.10852653e-01 -4.48657402e-02 4.04288278e+02] [ 1.10811198e-01 9.93835599e-01 -3.41768346e-03 2.60225253e+01] [ 4.49680291e-02 -1.57846955e-03 9.98987179e-01 1.48848452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72509989299994 meters 0.01731771891721533 Centerline is valid? [True, True] Translation: X:404.35, Y:26.03, Z:14.89 [[ 9.92989289e-01 -1.08582924e-01 -4.67120958e-02 4.04348051e+02] [ 1.08535481e-01 9.94086207e-01 -3.55833106e-03 2.60327343e+01] [ 4.68222242e-02 -1.53653517e-03 9.98902056e-01 1.48864923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78509989299994 meters 0.014978284812741938 Centerline is valid? [True, True] Translation: X:404.41, Y:26.05, Z:14.89 [[ 9.93530812e-01 -1.02714128e-01 -4.84389748e-02 4.04406963e+02] [ 1.02656134e-01 9.94710059e-01 -3.69008424e-03 2.60479991e+01] [ 4.85617593e-02 -1.30634549e-03 9.98819328e-01 1.48890831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84509989299994 meters 0.013341207932956449 Centerline is valid? [True, True] Translation: X:404.47, Y:26.06, Z:14.89 [[ 9.94314928e-01 -9.47195579e-02 -4.86418465e-02 4.04465437e+02] [ 9.46514608e-02 9.95503572e-01 -3.70664116e-03 2.60622237e+01] [ 4.87742233e-02 -9.18453185e-04 9.98809407e-01 1.48920707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90509989299994 meters 0.012922571857604735 Centerline is valid? [True, True] Translation: X:404.52, Y:26.07, Z:14.89 [[ 9.94553962e-01 -9.23768570e-02 -4.82590230e-02 4.04524234e+02] [ 9.23068809e-02 9.95723801e-01 -3.68140685e-03 2.60700969e+01] [ 4.83927345e-02 -7.93282111e-04 9.98828070e-01 1.48947327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96509989299994 meters 0.01196671086652181 Centerline is valid? [True, True] Translation: X:404.58, Y:26.08, Z:14.90 [[ 9.95006628e-01 -8.80434207e-02 -4.70123967e-02 4.04582584e+02] [ 8.79716652e-02 9.96116482e-01 -3.59719060e-03 2.60809208e+01] [ 4.71465321e-02 -5.56530330e-04 9.98887829e-01 1.48988027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02509989299995 meters 0.011723963561523793 Centerline is valid? [True, True] Translation: X:404.64, Y:26.09, Z:14.90 [[ 9.95254904e-01 -8.53967129e-02 -4.66377283e-02 4.04641618e+02] [ 8.53227592e-02 9.96346941e-01 -3.57777050e-03 2.60904286e+01] [ 4.67728877e-02 -4.18466029e-04 9.98905462e-01 1.49015517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08509989299995 meters 0.011849242340651421 Centerline is valid? [True, True] Translation: X:404.70, Y:26.10, Z:14.90 [[ 9.95159441e-01 -8.67236803e-02 -4.62243384e-02 4.04700758e+02] [ 8.66523846e-02 9.96232291e-01 -3.54774376e-03 2.60963251e+01] [ 4.63578519e-02 -4.74878449e-04 9.98924784e-01 1.49042952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14509989299995 meters 0.012590106773842358 Centerline is valid? [True, True] Translation: X:404.76, Y:26.10, Z:14.91 [[ 9.94820222e-01 -9.04946371e-02 -4.62973755e-02 4.04759475e+02] [ 9.04271078e-02 9.95896731e-01 -3.55522865e-03 2.60991295e+01] [ 4.64291341e-02 -6.49724412e-04 9.98921375e-01 1.49062575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20509989299995 meters 0.014139665619264118 Centerline is valid? [True, True] Translation: X:404.82, Y:26.10, Z:14.91 [[ 9.93949531e-01 -9.95329328e-02 -4.64491598e-02 4.04819472e+02] [ 9.94747049e-02 9.95033690e-01 -3.56917288e-03 2.61004528e+01] [ 4.65737291e-02 -1.07293875e-03 9.98914279e-01 1.49082082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26509989299996 meters 0.016663840656256097 Centerline is valid? [True, True] Translation: X:404.88, Y:26.10, Z:14.91 [[ 9.93212705e-01 -1.06409735e-01 -4.69626468e-02 4.04878959e+02] [ 1.06357821e-01 9.94321368e-01 -3.60997261e-03 2.61002343e+01] [ 4.70800994e-02 -1.40937413e-03 9.98890123e-01 1.49089159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32509989299996 meters 0.0189354986056263 Centerline is valid? [True, True] Translation: X:404.94, Y:26.10, Z:14.91 [[ 9.92171456e-01 -1.15822231e-01 -4.67013206e-02 4.04939578e+02] [ 1.15781229e-01 9.93268247e-01 -3.59118637e-03 2.61020583e+01] [ 4.68028780e-02 -1.84406369e-03 9.98902443e-01 1.49110793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38509989299996 meters 0.022357520237104165 Centerline is valid? [True, True] Translation: X:405.00, Y:26.10, Z:14.91 [[ 9.91446589e-01 -1.22596933e-01 -4.47621785e-02 4.04998959e+02] [ 1.22566147e-01 9.92454378e-01 -3.44206716e-03 2.61041335e+01] [ 4.48464069e-02 -2.07370203e-03 9.98991741e-01 1.49138181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44509989299996 meters 0.023819970474581485 Centerline is valid? [True, True] Translation: X:405.06, Y:26.11, Z:14.92 [[ 9.91119023e-01 -1.25643996e-01 -4.35507479e-02 4.05059434e+02] [ 1.25617766e-01 9.92073061e-01 -3.34932712e-03 2.61083874e+01] [ 4.36263466e-02 -2.15116585e-03 9.99045602e-01 1.49163282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50509989299997 meters 0.02621601133433263 Centerline is valid? [True, True] Translation: X:405.12, Y:26.11, Z:14.92 [[ 9.90766869e-01 -1.28923668e-01 -4.19487702e-02 4.05120864e+02] [ 1.28902294e-01 9.91652054e-01 -3.22531137e-03 2.61119932e+01] [ 4.20144031e-02 -2.21176107e-03 9.99114557e-01 1.49190734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56509989299997 meters 0.02893962222647646 Centerline is valid? [True, True] Translation: X:405.18, Y:26.11, Z:14.92 [[ 9.90556059e-01 -1.30793121e-01 -4.11321572e-02 4.05181960e+02] [ 1.30774238e-01 9.91407135e-01 -3.16102073e-03 2.61141605e+01] [ 4.11921539e-02 -2.24785829e-03 9.99148714e-01 1.49209564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62509989299997 meters 0.024613281748150084 Centerline is valid? [True, True] Translation: X:405.24, Y:26.13, Z:14.92 [[ 9.90326690e-01 -1.32251584e-01 -4.19829242e-02 4.05243184e+02] [ 1.32233318e-01 9.91213375e-01 -3.22404064e-03 2.61270045e+01] [ 4.20404205e-02 -2.35868788e-03 9.99113127e-01 1.49219535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.685099893 meters 0.025379549885439782 Centerline is valid? [True, True] Translation: X:405.30, Y:26.13, Z:14.92 [[ 9.90507310e-01 -1.30646802e-01 -4.27396891e-02 4.05304251e+02] [ 1.30626518e-01 9.91426226e-01 -3.27903559e-03 2.61327940e+01] [ 4.28016441e-02 -2.33502803e-03 9.99080861e-01 1.49229958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.745099893 meters 0.023789842863764232 Centerline is valid? [True, True] Translation: X:405.36, Y:26.14, Z:14.93 [[ 9.90998473e-01 -1.27024386e-01 -4.22709305e-02 4.05364376e+02] [ 1.27001347e-01 9.91897250e-01 -3.24094843e-03 2.61431216e+01] [ 4.23400991e-02 -2.15669017e-03 9.99100928e-01 1.49256600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.805099893 meters 0.020782196795036092 Centerline is valid? [True, True] Translation: X:405.42, Y:26.16, Z:14.93 [[ 9.92387727e-01 -1.16409974e-01 -4.01910211e-02 4.05422855e+02] [ 1.16380482e-01 9.93199926e-01 -3.08067228e-03 2.61593656e+01] [ 4.02763402e-02 -1.62022906e-03 9.99187265e-01 1.49301919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.865099893 meters 0.017413781002161063 Centerline is valid? [True, True] Translation: X:405.48, Y:26.17, Z:14.93 [[ 9.93555684e-01 -1.06642982e-01 -3.83976206e-02 4.05482234e+02] [ 1.06608767e-01 9.94296690e-01 -2.94335621e-03 2.61744620e+01] [ 3.84925153e-02 -1.16913469e-03 9.99258205e-01 1.49332202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.925099893 meters 0.013071000619246992 Centerline is valid? [True, True] Translation: X:405.54, Y:26.19, Z:14.94 [[ 9.95174856e-01 -9.10614168e-02 -3.65352580e-02 4.05541010e+02] [ 9.10199316e-02 9.95845133e-01 -2.80062236e-03 2.61945346e+01] [ 3.66384875e-02 -5.38327731e-04 9.99328440e-01 1.49360126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.985099893 meters 0.011867269963759083 Centerline is valid? [True, True] Translation: X:405.60, Y:26.21, Z:14.94 [[ 9.96343992e-01 -7.73513998e-02 -3.62685921e-02 4.05601044e+02] [ 7.73014259e-02 9.97003892e-01 -2.78023873e-03 2.62115879e+01] [ 3.63749828e-02 -3.35397279e-05 9.99338211e-01 1.49371844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.045099893 meters 0.011991384969570095 Centerline is valid? [True, True] Translation: X:405.66, Y:26.22, Z:14.94 [[ 9.96778952e-01 -7.14215934e-02 -3.64784334e-02 4.05662823e+02] [ 7.13671161e-02 9.97446200e-01 -2.79501555e-03 2.62223228e+01] [ 3.65848992e-02 1.82652086e-04 9.99330532e-01 1.49388814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.105099893 meters 0.012360754788643591 Centerline is valid? [True, True] Translation: X:405.72, Y:26.23, Z:14.94 [[ 9.96997440e-01 -6.82758604e-02 -3.65309681e-02 4.05724068e+02] [ 6.82192124e-02 9.97666437e-01 -2.79637252e-03 2.62301982e+01] [ 3.66366455e-02 2.95862368e-04 9.99328609e-01 1.49407982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16509989299993 meters 0.012320880236193255 Centerline is valid? [True, True] Translation: X:405.79, Y:26.23, Z:14.94 [[ 9.96988388e-01 -6.87515395e-02 -3.58800693e-02 4.05786433e+02] [ 6.86972688e-02 9.97633777e-01 -2.74466456e-03 2.62346213e+01] [ 3.59838689e-02 2.71535938e-04 9.99352334e-01 1.49435115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22509989299994 meters 0.012154868849782827 Centerline is valid? [True, True] Translation: X:405.85, Y:26.24, Z:14.95 [[ 9.96751385e-01 -7.20497029e-02 -3.59932750e-02 4.05847871e+02] [ 7.19973344e-02 9.97401032e-01 -2.75065793e-03 2.62370208e+01] [ 3.60979137e-02 1.50302241e-04 9.99348247e-01 1.49458536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28509989299994 meters 0.012260133920265938 Centerline is valid? [True, True] Translation: X:405.91, Y:26.24, Z:14.95 [[ 9.96064140e-01 -8.08026146e-02 -3.64303062e-02 4.05909952e+02] [ 8.07548870e-02 9.96730108e-01 -2.78207405e-03 2.62355568e+01] [ 3.65359819e-02 -1.70801063e-04 9.99332324e-01 1.49475868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34509989299994 meters 0.012948483885041663 Centerline is valid? [True, True] Translation: X:405.97, Y:26.23, Z:14.95 [[ 9.95456820e-01 -8.80156670e-02 -3.63175272e-02 4.05972198e+02] [ 8.79731265e-02 9.96118995e-01 -2.77080910e-03 2.62346929e+01] [ 3.64204533e-02 -4.36745606e-04 9.99336460e-01 1.49493554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40509989299994 meters 0.015245235739107358 Centerline is valid? [True, True] Translation: X:406.03, Y:26.23, Z:14.95 [[ 9.94354575e-01 -9.96004568e-02 -3.65886440e-02 4.06034112e+02] [ 9.95652074e-02 9.95027131e-01 -2.78877036e-03 2.62306455e+01] [ 3.66844563e-02 -8.69929368e-04 9.99326520e-01 1.49515986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46509989299994 meters 0.017472211780392852 Centerline is valid? [True, True] Translation: X:406.10, Y:26.23, Z:14.95 [[ 9.93559579e-01 -1.07360529e-01 -3.62364438e-02 4.06095046e+02] [ 1.07331154e-01 9.94219494e-01 -2.76061418e-03 2.62294118e+01] [ 3.63233598e-02 -1.14646467e-03 9.99339431e-01 1.49545184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52509989299995 meters 0.01952408088782559 Centerline is valid? [True, True] Translation: X:406.16, Y:26.23, Z:14.96 [[ 9.92816564e-01 -1.14189239e-01 -3.57223786e-02 4.06155405e+02] [ 1.14165149e-01 9.93458061e-01 -2.72012043e-03 2.62290406e+01] [ 3.57992935e-02 -1.37767005e-03 9.99358050e-01 1.49574205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58509989299995 meters 0.02360551800693836 Centerline is valid? [True, True] Translation: X:406.22, Y:26.23, Z:14.96 [[ 9.91930913e-01 -1.21754951e-01 -3.53383062e-02 4.06215023e+02] [ 1.21736167e-01 9.92558847e-01 -2.69072539e-03 2.62254105e+01] [ 3.54029576e-02 -1.63293626e-03 9.99371785e-01 1.49596196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64509989299995 meters 0.026223387435553303 Centerline is valid? [True, True] Translation: X:406.28, Y:26.23, Z:14.96 [[ 9.91300863e-01 -1.26517735e-01 -3.62748093e-02 4.06275499e+02] [ 1.26501203e-01 9.91962615e-01 -2.75981902e-03 2.62258917e+01] [ 3.63324207e-02 -1.85299602e-03 9.99338042e-01 1.49607446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70509989299995 meters 0.02591321704885871 Centerline is valid? [True, True] Translation: X:406.34, Y:26.23, Z:14.96 [[ 9.90955443e-01 -1.29036258e-01 -3.68368641e-02 4.06336393e+02] [ 1.29020953e-01 9.91637908e-01 -2.80232360e-03 2.62313254e+01] [ 3.68904322e-02 -1.97574950e-03 9.99317363e-01 1.49629987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76509989299996 meters 0.02880545002367854 Centerline is valid? [True, True] Translation: X:406.40, Y:26.23, Z:14.96 [[ 9.90473698e-01 -1.32018875e-01 -3.91518984e-02 4.06396217e+02] [ 1.32003967e-01 9.91244718e-01 -2.97700511e-03 2.62329109e+01] [ 3.92021334e-02 -2.21956064e-03 9.99228836e-01 1.49638187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82509989299996 meters 0.030624581135223747 Centerline is valid? [True, True] Translation: X:406.46, Y:26.24, Z:14.97 [[ 9.90335747e-01 -1.32776961e-01 -4.00672716e-02 4.06457626e+02] [ 1.32761973e-01 9.91143268e-01 -3.04645667e-03 2.62356685e+01] [ 4.01169057e-02 -2.30239508e-03 9.99192340e-01 1.49656904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88509989299996 meters 0.028423353343086946 Centerline is valid? [True, True] Translation: X:406.52, Y:26.24, Z:14.97 [[ 9.90097527e-01 -1.34241714e-01 -4.10615255e-02 4.06519275e+02] [ 1.34227323e-01 9.90945656e-01 -3.11976797e-03 2.62443846e+01] [ 4.11085433e-02 -2.42270410e-03 9.99151749e-01 1.49672085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94509989299996 meters 0.02753042753683701 Centerline is valid? [True, True] Translation: X:406.58, Y:26.25, Z:14.97 [[ 9.89996116e-01 -1.34102321e-01 -4.38663602e-02 4.06580700e+02] [ 1.34085915e-01 9.90964117e-01 -3.32950724e-03 2.62519406e+01] [ 4.39164836e-02 -2.58566182e-03 9.99031860e-01 1.49678258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00509989299997 meters 0.029240723594257934 Centerline is valid? [True, True] Translation: X:406.64, Y:26.26, Z:14.97 [[ 9.90385517e-01 -1.31169993e-01 -4.39426995e-02 4.06639989e+02] [ 1.31150768e-01 9.91356832e-01 -3.33269530e-03 2.62576698e+01] [ 4.40000450e-02 -2.46246563e-03 9.99028494e-01 1.49694525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06509989299997 meters 0.028497379855558395 Centerline is valid? [True, True] Translation: X:406.70, Y:26.27, Z:14.97 [[ 9.90869330e-01 -1.27644299e-01 -4.34154808e-02 4.06700242e+02] [ 1.27622133e-01 9.91817395e-01 -3.29326200e-03 2.62660885e+01] [ 4.34805952e-02 -2.27758398e-03 9.99051676e-01 1.49729768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12509989299997 meters 0.023369636110187417 Centerline is valid? [True, True] Translation: X:406.76, Y:26.28, Z:14.98 [[ 9.91920885e-01 -1.19647599e-01 -4.21593387e-02 4.06759223e+02] [ 1.19619511e-01 9.92814660e-01 -3.19736067e-03 2.62823599e+01] [ 4.22389661e-02 -1.87155067e-03 9.99105784e-01 1.49779797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.185099893 meters 0.019749722247268127 Centerline is valid? [True, True] Translation: X:406.82, Y:26.30, Z:14.98 [[ 9.92639347e-01 -1.13595891e-01 -4.19892897e-02 4.06819291e+02] [ 1.13562623e-01 9.93525737e-01 -3.18446599e-03 2.62952575e+01] [ 4.20791822e-02 -1.60738764e-03 9.99112986e-01 1.49813180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.245099893 meters 0.01718626951626151 Centerline is valid? [True, True] Translation: X:406.88, Y:26.31, Z:14.98 [[ 9.93614196e-01 -1.04825691e-01 -4.17421041e-02 4.06879067e+02] [ 1.04785097e-01 9.94489851e-01 -3.16528214e-03 2.63062752e+01] [ 4.18439017e-02 -1.22888118e-03 9.99123405e-01 1.49840904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.305099893 meters 0.01533384017612001 Centerline is valid? [True, True] Translation: X:406.94, Y:26.32, Z:14.99 [[ 9.94220385e-01 -9.89907865e-02 -4.15529812e-02 4.06939713e+02] [ 9.89454753e-02 9.95087868e-01 -3.15072998e-03 2.63152368e+01] [ 4.16607607e-02 -9.78959500e-04 9.99131334e-01 1.49870273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.365099893 meters 0.013656905611193974 Centerline is valid? [True, True] Translation: X:407.00, Y:26.33, Z:14.99 [[ 9.95122490e-01 -8.88307407e-02 -4.28990658e-02 4.07000226e+02] [ 8.87730708e-02 9.96046571e-01 -3.25124635e-03 2.63250237e+01] [ 4.30182780e-02 -5.72893447e-04 9.99074121e-01 1.49887363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.425099893 meters 0.0131460378295555 Centerline is valid? [True, True] Translation: X:407.06, Y:26.33, Z:14.99 [[ 9.95694240e-01 -8.15879840e-02 -4.40043332e-02 4.07061306e+02] [ 8.15202822e-02 9.96666107e-01 -3.33383068e-03 2.63331336e+01] [ 4.41296280e-02 -2.67769655e-04 9.99025778e-01 1.49901443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.485099893 meters 0.012981246616387292 Centerline is valid? [True, True] Translation: X:407.12, Y:26.34, Z:14.99 [[ 9.96353018e-01 -7.24186959e-02 -4.51242328e-02 4.07122902e+02] [ 7.23382163e-02 9.97374309e-01 -3.41605116e-03 2.63412952e+01] [ 4.52531365e-02 1.39386367e-04 9.98975542e-01 1.49919224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.545099893 meters 0.013267277577227753 Centerline is valid? [True, True] Translation: X:407.18, Y:26.35, Z:14.99 [[ 9.96648596e-01 -6.81297331e-02 -4.52759992e-02 4.07183236e+02] [ 6.80444065e-02 9.97676415e-01 -3.42489800e-03 2.63460360e+01] [ 4.54041339e-02 3.32641292e-04 9.98968645e-01 1.49943604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.605099893 meters 0.013521976699198825 Centerline is valid? [True, True] Translation: X:407.24, Y:26.35, Z:15.00 [[ 9.96795458e-01 -6.58068386e-02 -4.54782964e-02 4.07243025e+02] [ 6.57183173e-02 9.97832283e-01 -3.44049486e-03 2.63488912e+01] [ 4.56061204e-02 4.40712535e-04 9.98959402e-01 1.49969281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66509989299993 meters 0.013293409988209309 Centerline is valid? [True, True] Translation: X:407.30, Y:26.35, Z:15.00 [[ 9.96628103e-01 -6.81989653e-02 -4.56215479e-02 4.07302190e+02] [ 6.81122321e-02 9.97671684e-01 -3.45476813e-03 2.63486411e+01] [ 4.57509381e-02 3.35733542e-04 9.98952821e-01 1.49995569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72509989299994 meters 0.012780749174028166 Centerline is valid? [True, True] Translation: X:407.36, Y:26.34, Z:15.00 [[ 9.96212170e-01 -7.43954475e-02 -4.50181071e-02 4.07361949e+02] [ 7.43168163e-02 9.97228817e-01 -3.42011864e-03 2.63432446e+01] [ 4.51477950e-02 6.15614123e-05 9.98980317e-01 1.50034166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78509989299994 meters 0.013062188818816094 Centerline is valid? [True, True] Translation: X:407.42, Y:26.34, Z:15.01 [[ 9.95573062e-01 -8.28286263e-02 -4.44263116e-02 4.07422545e+02] [ 8.27600488e-02 9.96563758e-01 -3.38384812e-03 2.63359833e+01] [ 4.45539316e-02 -3.07855686e-04 9.99006933e-01 1.50064671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84509989299994 meters 0.013710078756539276 Centerline is valid? [True, True] Translation: X:407.48, Y:26.33, Z:15.01 [[ 9.95064311e-01 -8.88117852e-02 -4.42660462e-02 4.07483980e+02] [ 8.87496251e-02 9.96048261e-01 -3.37142414e-03 2.63323058e+01] [ 4.43905405e-02 -5.73811168e-04 9.99014089e-01 1.50090395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90509989299994 meters 0.015039122506515025 Centerline is valid? [True, True] Translation: X:407.55, Y:26.32, Z:15.01 [[ 9.94330034e-01 -9.63217993e-02 -4.50543586e-02 4.07545542e+02] [ 9.62651708e-02 9.95349814e-01 -3.42995679e-03 2.63242789e+01] [ 4.51752271e-02 -9.26656474e-04 9.98978649e-01 1.50103926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96509989299994 meters 0.015355281599999627 Centerline is valid? [True, True] Translation: X:407.61, Y:26.33, Z:15.01 [[ 9.94162290e-01 -9.79538548e-02 -4.52369598e-02 4.07606538e+02] [ 9.78984980e-02 9.95190449e-01 -3.44288950e-03 2.63259404e+01] [ 4.53566346e-02 -1.00583950e-03 9.98970352e-01 1.50125197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02509989299995 meters 0.016161890753905766 Centerline is valid? [True, True] Translation: X:407.67, Y:26.32, Z:15.01 [[ 9.93984488e-01 -9.90324326e-02 -4.67697980e-02 4.07667506e+02] [ 9.89745265e-02 9.95083606e-01 -3.55798114e-03 2.63229123e+01] [ 4.68922147e-02 -1.09244054e-03 9.98899358e-01 1.50134136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08509989299995 meters 0.01521432426156955 Centerline is valid? [True, True] Translation: X:407.73, Y:26.33, Z:15.02 [[ 9.94258291e-01 -9.59144026e-02 -4.74434125e-02 4.07727682e+02] [ 9.58513014e-02 9.95389123e-01 -3.60855075e-03 2.63251683e+01] [ 4.75707688e-02 -9.59681330e-04 9.98867409e-01 1.50155287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14509989299995 meters 0.014346797896447362 Centerline is valid? [True, True] Translation: X:407.79, Y:26.33, Z:15.02 [[ 9.94558569e-01 -9.24558108e-02 -4.80122378e-02 4.07788380e+02] [ 9.23871595e-02 9.95716464e-01 -3.65181566e-03 2.63292932e+01] [ 4.81442073e-02 -8.03769717e-04 9.98840072e-01 1.50174055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20509989299995 meters 0.013444904700752259 Centerline is valid? [True, True] Translation: X:407.85, Y:26.33, Z:15.02 [[ 9.95109833e-01 -8.58346373e-02 -4.88757228e-02 4.07848224e+02] [ 8.57554987e-02 9.96309276e-01 -3.71770292e-03 2.63336470e+01] [ 4.90144437e-02 -4.91839252e-04 9.98797949e-01 1.50186963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26509989299996 meters 0.013239194891600258 Centerline is valid? [True, True] Translation: X:407.91, Y:26.34, Z:15.02 [[ 9.95492387e-01 -8.14722662e-02 -4.85507649e-02 4.07905514e+02] [ 8.13888834e-02 9.96675572e-01 -3.69517675e-03 2.63371101e+01] [ 4.86904158e-02 -2.72972218e-04 9.98813881e-01 1.50196862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32509989299996 meters 0.012834458995898301 Centerline is valid? [True, True] Translation: X:407.96, Y:26.34, Z:15.02 [[ 9.95966343e-01 -7.64348009e-02 -4.69974950e-02 4.07964118e+02] [ 7.63507167e-02 9.97074581e-01 -3.58429837e-03 2.63413333e+01] [ 4.71339728e-02 -1.84518873e-05 9.98888577e-01 1.50246945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38509989299996 meters 0.012807388595321092 Centerline is valid? [True, True] Translation: X:408.02, Y:26.34, Z:15.03 [[ 9.96125758e-01 -7.45842782e-02 -4.65903462e-02 4.08022224e+02] [ 7.44990522e-02 9.97214711e-01 -3.56542876e-03 2.63442828e+01] [ 4.67265036e-02 8.06787913e-05 9.98907717e-01 1.50276138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44509989299996 meters 0.012901872848873706 Centerline is valid? [True, True] Translation: X:408.08, Y:26.34, Z:15.03 [[ 9.96195855e-01 -7.35355294e-02 -4.67583612e-02 4.08079944e+02] [ 7.34478851e-02 9.97292588e-01 -3.59207785e-03 2.63445961e+01] [ 4.68959124e-02 1.44110318e-04 9.98899771e-01 1.50294055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50509989299997 meters 0.012912674535994213 Centerline is valid? [True, True] Translation: X:408.14, Y:26.34, Z:15.03 [[ 9.96161751e-01 -7.42692089e-02 -4.63233349e-02 4.08137749e+02] [ 7.41833563e-02 9.97238221e-01 -3.57210178e-03 2.63449192e+01] [ 4.64606973e-02 1.21970699e-04 9.98920111e-01 1.50315073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56509989299997 meters 0.012757435832235512 Centerline is valid? [True, True] Translation: X:408.20, Y:26.34, Z:15.03 [[ 9.95940172e-01 -7.74627372e-02 -4.58551900e-02 4.08196218e+02] [ 7.73813819e-02 9.96995248e-01 -3.54930722e-03 2.63427241e+01] [ 4.59923455e-02 -1.34403179e-05 9.98941792e-01 1.50335846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62509989299997 meters 0.012796316989582775 Centerline is valid? [True, True] Translation: X:408.25, Y:26.34, Z:15.04 [[ 9.95701341e-01 -8.05096383e-02 -4.57934182e-02 4.08254147e+02] [ 8.04311025e-02 9.96753820e-01 -3.55799929e-03 2.63426279e+01] [ 4.59312178e-02 -1.40510445e-04 9.98944595e-01 1.50350891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.685099893 meters 0.01293459119257426 Centerline is valid? [True, True] Translation: X:408.31, Y:26.34, Z:15.04 [[ 9.95441290e-01 -8.37281020e-02 -4.56754066e-02 4.08313201e+02] [ 8.36527580e-02 9.96488600e-01 -3.56186829e-03 2.63426591e+01] [ 4.58132504e-02 -2.75242967e-04 9.98949984e-01 1.50367800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.745099893 meters 0.013230974471085597 Centerline is valid? [True, True] Translation: X:408.37, Y:26.34, Z:15.04 [[ 9.95225539e-01 -8.63391390e-02 -4.55156973e-02 4.08371652e+02] [ 8.62665852e-02 9.96265730e-01 -3.55957675e-03 2.63419297e+01] [ 4.56530602e-02 -3.83902087e-04 9.98957282e-01 1.50380814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.805099893 meters 0.013308960955023187 Centerline is valid? [True, True] Translation: X:408.43, Y:26.34, Z:15.04 [[ 9.95097854e-01 -8.87755961e-02 -4.35792882e-02 4.08429414e+02] [ 8.87112007e-02 9.96051541e-01 -3.41317769e-03 2.63406363e+01] [ 4.37102240e-02 -4.69525187e-04 9.99044141e-01 1.50420518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.865099893 meters 0.013718188433173538 Centerline is valid? [True, True] Translation: X:408.49, Y:26.34, Z:15.04 [[ 9.95013816e-01 -9.01829805e-02 -4.25973734e-02 4.08487073e+02] [ 9.01222707e-02 9.95925083e-01 -3.34733908e-03 2.63389732e+01] [ 4.27256657e-02 -5.08323393e-04 9.99086713e-01 1.50448462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.925099893 meters 0.013596084656132695 Centerline is valid? [True, True] Translation: X:408.55, Y:26.34, Z:15.05 [[ 9.94828380e-01 -9.17740235e-02 -4.35203739e-02 4.08545535e+02] [ 9.17119544e-02 9.95779688e-01 -3.42491190e-03 2.63404490e+01] [ 4.36510223e-02 -5.84138989e-04 9.99046669e-01 1.50468433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.985099893 meters 0.014493076529428892 Centerline is valid? [True, True] Translation: X:408.60, Y:26.34, Z:15.05 [[ 9.94428677e-01 -9.53500158e-02 -4.49441941e-02 4.08603416e+02] [ 9.52869764e-02 9.95443522e-01 -3.54781368e-03 2.63368342e+01] [ 4.50776910e-02 -7.54548699e-04 9.98983199e-01 1.50474108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.045099893 meters 0.015455161930810063 Centerline is valid? [True, True] Translation: X:408.66, Y:26.34, Z:15.05 [[ 9.94178794e-01 -9.82525475e-02 -4.42149631e-02 4.08661274e+02] [ 9.81941847e-02 9.95161135e-01 -3.49521211e-03 2.63357103e+01] [ 4.43444264e-02 -8.66786498e-04 9.99015926e-01 1.50492946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.105099893 meters 0.01535470300032195 Centerline is valid? [True, True] Translation: X:408.72, Y:26.34, Z:15.05 [[ 9.93912622e-01 -1.01404449e-01 -4.30678239e-02 4.08719646e+02] [ 1.01351754e-01 9.94844806e-01 -3.41094556e-03 2.63370811e+01] [ 4.31916860e-02 -9.74817657e-04 9.99066328e-01 1.50529475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16509989299993 meters 0.016560711465592102 Centerline is valid? [True, True] Translation: X:408.78, Y:26.34, Z:15.05 [[ 9.93778442e-01 -1.02747517e-01 -4.29808763e-02 4.08777178e+02] [ 1.02695856e-01 9.94706944e-01 -3.41410186e-03 2.63378962e+01] [ 4.31041666e-02 -1.02109707e-03 9.99070062e-01 1.50547174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22509989299994 meters 0.016258162763492567 Centerline is valid? [True, True] Translation: X:408.84, Y:26.34, Z:15.06 [[ 9.93631472e-01 -1.04219644e-01 -4.28341465e-02 4.08835313e+02] [ 1.04169536e-01 9.94553722e-01 -3.40629775e-03 2.63422988e+01] [ 4.29558630e-02 -1.07740851e-03 9.99076390e-01 1.50570447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28509989299994 meters 0.01623846203496209 Centerline is valid? [True, True] Translation: X:408.89, Y:26.35, Z:15.06 [[ 9.93302301e-01 -1.07409218e-01 -4.25887239e-02 4.08893621e+02] [ 1.07362445e-01 9.94214167e-01 -3.39061275e-03 2.63455105e+01] [ 4.27064957e-02 -1.20452609e-03 9.99086935e-01 1.50588000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34509989299994 meters 0.01785761481887681 Centerline is valid? [True, True] Translation: X:408.95, Y:26.35, Z:15.06 [[ 9.92982191e-01 -1.10383617e-01 -4.24479154e-02 4.08952343e+02] [ 1.10339707e-01 9.93888174e-01 -3.38314137e-03 2.63472698e+01] [ 4.25619245e-02 -1.32429143e-03 9.99092953e-01 1.50612340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40509989299994 meters 0.018239125828119054 Centerline is valid? [True, True] Translation: X:409.01, Y:26.35, Z:15.06 [[ 9.92717546e-01 -1.12684916e-01 -4.25908812e-02 4.09010860e+02] [ 1.12642677e-01 9.93629750e-01 -3.39796738e-03 2.63517533e+01] [ 4.27024663e-02 -1.42432905e-03 9.99086818e-01 1.50638016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46509989299994 meters 0.01978845453856602 Centerline is valid? [True, True] Translation: X:409.07, Y:26.35, Z:15.07 [[ 9.92452901e-01 -1.14859887e-01 -4.29470034e-02 4.09068706e+02] [ 1.14818537e-01 9.93380538e-01 -3.43648922e-03 2.63547943e+01] [ 4.30574321e-02 -1.52055838e-03 9.99071442e-01 1.50659004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52509989299995 meters 0.021390841853623922 Centerline is valid? [True, True] Translation: X:409.13, Y:26.36, Z:15.07 [[ 9.92113492e-01 -1.17605429e-01 -4.33564655e-02 4.09128328e+02] [ 1.17565746e-01 9.93059029e-01 -3.47283917e-03 2.63574619e+01] [ 4.34639542e-02 -1.65178461e-03 9.99053630e-01 1.50680376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58509989299995 meters 0.021079062830601247 Centerline is valid? [True, True] Translation: X:409.19, Y:26.36, Z:15.07 [[ 9.92007695e-01 -1.18335745e-01 -4.37879456e-02 4.09186992e+02] [ 1.18295849e-01 9.92972190e-01 -3.51036283e-03 2.63630637e+01] [ 4.38956137e-02 -1.69762527e-03 9.99034681e-01 1.50697442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64509989299995 meters 0.020174424741496125 Centerline is valid? [True, True] Translation: X:409.25, Y:26.37, Z:15.07 [[ 9.91971096e-01 -1.18506239e-01 -4.41544559e-02 4.09245292e+02] [ 1.18465349e-01 9.92951838e-01 -3.55084691e-03 2.63716449e+01] [ 4.42640457e-02 -1.70843555e-03 9.99018406e-01 1.50723133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70509989299995 meters 0.02011714095905261 Centerline is valid? [True, True] Translation: X:409.30, Y:26.38, Z:15.07 [[ 9.92071297e-01 -1.17394316e-01 -4.48677701e-02 4.09303283e+02] [ 1.17350440e-01 9.93083970e-01 -3.61975122e-03 2.63793972e+01] [ 4.49824015e-02 -1.67420128e-03 9.98986377e-01 1.50748041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76509989299996 meters 0.018138153090938233 Centerline is valid? [True, True] Translation: X:409.36, Y:26.39, Z:15.08 [[ 9.92241569e-01 -1.16063345e-01 -4.45642189e-02 4.09362403e+02] [ 1.16018292e-01 9.93240535e-01 -3.60483861e-03 2.63895514e+01] [ 4.46813783e-02 -1.59339386e-03 9.99000018e-01 1.50783480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82509989299996 meters 0.019621334718396763 Centerline is valid? [True, True] Translation: X:409.42, Y:26.40, Z:15.08 [[ 9.92655538e-01 -1.12848276e-01 -4.35918472e-02 4.09421267e+02] [ 1.12802002e-01 9.93611223e-01 -3.52777510e-03 2.63956247e+01] [ 4.37114520e-02 -1.41538213e-03 9.99043195e-01 1.50809963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88509989299996 meters 0.01645240187389298 Centerline is valid? [True, True] Translation: X:409.48, Y:26.41, Z:15.08 [[ 9.92954291e-01 -1.10431849e-01 -4.29718841e-02 4.09480891e+02] [ 1.10384563e-01 9.93882863e-01 -3.47894702e-03 2.64091945e+01] [ 4.30932058e-02 -1.28899727e-03 9.99070225e-01 1.50846213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94509989299996 meters 0.016284898758288337 Centerline is valid? [True, True] Translation: X:409.54, Y:26.42, Z:15.09 [[ 9.93348251e-01 -1.06729836e-01 -4.32202974e-02 4.09539715e+02] [ 1.06678507e-01 9.94287410e-01 -3.49890538e-03 2.64176548e+01] [ 4.33468351e-02 -1.13504524e-03 9.99059439e-01 1.50865395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00509989299997 meters 0.015549407183623182 Centerline is valid? [True, True] Translation: X:409.60, Y:26.43, Z:15.09 [[ 9.93639154e-01 -1.04028524e-01 -4.31195797e-02 4.09599233e+02] [ 1.03974928e-01 9.94573796e-01 -3.48992069e-03 2.64263664e+01] [ 4.32486553e-02 -1.01563335e-03 9.99063823e-01 1.50887671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06509989299997 meters 0.014982325545628153 Centerline is valid? [True, True] Translation: X:409.66, Y:26.43, Z:15.09 [[ 9.94074975e-01 -9.94310919e-02 -4.39135723e-02 4.09657236e+02] [ 9.93709742e-02 9.95044104e-01 -3.55523461e-03 2.64349363e+01] [ 4.40494421e-02 -8.29564700e-04 9.99029008e-01 1.50901390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12509989299997 meters 0.013793569683517342 Centerline is valid? [True, True] Translation: X:409.72, Y:26.44, Z:15.09 [[ 9.94372102e-01 -9.64501231e-02 -4.38348786e-02 4.09716720e+02] [ 9.63872155e-02 9.95337577e-01 -3.55136734e-03 2.64443050e+01] [ 4.39730317e-02 -6.93741286e-04 9.99032478e-01 1.50928645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.185099893 meters 0.013484349749889301 Centerline is valid? [True, True] Translation: X:409.77, Y:26.45, Z:15.09 [[ 9.94710903e-01 -9.31008073e-02 -4.33873181e-02 4.09774804e+02] [ 9.30358557e-02 9.95656543e-01 -3.51826081e-03 2.64507919e+01] [ 4.35264200e-02 -5.36923878e-04 9.99052132e-01 1.50945168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.245099893 meters 0.013321444409886798 Centerline is valid? [True, True] Translation: X:409.83, Y:26.46, Z:15.10 [[ 9.94812953e-01 -9.22243659e-02 -4.29168258e-02 4.09833713e+02] [ 9.21598501e-02 9.95738132e-01 -3.48360019e-03 2.64564805e+01] [ 4.30551927e-02 -4.89677640e-04 9.99072575e-01 1.50968441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.305099893 meters 0.01344423321675156 Centerline is valid? [True, True] Translation: X:409.89, Y:26.46, Z:15.10 [[ 9.94844688e-01 -9.18295757e-02 -4.30276157e-02 4.09892631e+02] [ 9.17639304e-02 9.95774630e-01 -3.50247187e-03 2.64597362e+01] [ 4.31674386e-02 -4.63967599e-04 9.99067744e-01 1.50982567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.365099893 meters 0.013394835223341183 Centerline is valid? [True, True] Translation: X:409.95, Y:26.46, Z:15.10 [[ 9.94756518e-01 -9.28827759e-02 -4.28049093e-02 4.09951233e+02] [ 9.28186355e-02 9.95676924e-01 -3.48777690e-03 2.64632025e+01] [ 4.29438148e-02 -5.03604467e-04 9.99077362e-01 1.51005468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.425099893 meters 0.014010997950207167 Centerline is valid? [True, True] Translation: X:410.01, Y:26.46, Z:15.10 [[ 9.94640793e-01 -9.45562758e-02 -4.18186918e-02 4.10008724e+02] [ 9.44961286e-02 9.95519364e-01 -3.41711542e-03 2.64632496e+01] [ 4.19544272e-02 -5.52902087e-04 9.99119372e-01 1.51029438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.485099893 meters 0.014006209698321814 Centerline is valid? [True, True] Translation: X:410.07, Y:26.47, Z:15.11 [[ 9.94550711e-01 -9.59352310e-02 -4.08082556e-02 4.10067366e+02] [ 9.58789452e-02 9.95387402e-01 -3.33871705e-03 2.64654682e+01] [ 4.09403241e-02 -5.92129084e-04 9.99161418e-01 1.51062233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.545099893 meters 0.013859472482779075 Centerline is valid? [True, True] Translation: X:410.13, Y:26.47, Z:15.11 [[ 9.94568736e-01 -9.60902237e-02 -3.99962187e-02 4.10126603e+02] [ 9.60359089e-02 9.95372461e-01 -3.28155506e-03 2.64685142e+01] [ 4.01264600e-02 -5.77341147e-04 9.99194442e-01 1.51091930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.605099893 meters 0.013908035260128565 Centerline is valid? [True, True] Translation: X:410.19, Y:26.47, Z:15.11 [[ 9.94571531e-01 -9.62405020e-02 -3.95630634e-02 4.10185835e+02] [ 9.61874192e-02 9.95357943e-01 -3.24745792e-03 2.64721985e+01] [ 3.96919464e-02 -5.75639771e-04 9.99211798e-01 1.51119073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66509989299993 meters 0.013911848932363753 Centerline is valid? [True, True] Translation: X:410.25, Y:26.47, Z:15.12 [[ 9.94633359e-01 -9.60042946e-02 -3.85701591e-02 4.10245860e+02] [ 9.59536124e-02 9.95380767e-01 -3.16733592e-03 2.64743111e+01] [ 3.86960724e-02 -5.50608133e-04 9.99250875e-01 1.51151803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72509989299994 meters 0.013641169098205109 Centerline is valid? [True, True] Translation: X:410.31, Y:26.48, Z:15.12 [[ 9.94681810e-01 -9.56320004e-02 -3.82441911e-02 4.10306529e+02] [ 9.55818449e-02 9.95416616e-01 -3.14190814e-03 2.64775886e+01] [ 3.83693702e-02 -5.30251463e-04 9.99263484e-01 1.51175909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78509989299994 meters 0.013714808324626168 Centerline is valid? [True, True] Translation: X:410.37, Y:26.48, Z:15.12 [[ 9.94802477e-01 -9.45474711e-02 -3.77995582e-02 4.10366527e+02] [ 9.44976929e-02 9.95520237e-01 -3.10537669e-03 2.64778768e+01] [ 3.79238307e-02 -4.82734625e-04 9.99280516e-01 1.51192292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84509989299994 meters 0.013686926098506838 Centerline is valid? [True, True] Translation: X:410.43, Y:26.48, Z:15.12 [[ 9.94834217e-01 -9.43617162e-02 -3.74265640e-02 4.10426093e+02] [ 9.43127911e-02 9.95537867e-01 -3.07455545e-03 2.64802855e+01] [ 3.75496820e-02 -4.71130742e-04 9.99294651e-01 1.51211495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90509989299994 meters 0.013617163702209086 Centerline is valid? [True, True] Translation: X:410.49, Y:26.48, Z:15.12 [[ 9.94784260e-01 -9.47008180e-02 -3.78950100e-02 4.10485538e+02] [ 9.46508535e-02 9.95505659e-01 -3.11442001e-03 2.64811709e+01] [ 3.80196350e-02 -4.88619042e-04 9.99276873e-01 1.51221730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96509989299994 meters 0.013839461205009162 Centerline is valid? [True, True] Translation: X:410.54, Y:26.48, Z:15.12 [[ 9.94701652e-01 -9.51706198e-02 -3.88738681e-02 4.10543845e+02] [ 9.51183409e-02 9.95460840e-01 -3.19634600e-03 2.64821640e+01] [ 3.90016117e-02 -5.18207202e-04 9.99239013e-01 1.51228418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02509989299995 meters 0.013489306243093163 Centerline is valid? [True, True] Translation: X:410.60, Y:26.48, Z:15.12 [[ 9.94578488e-01 -9.63225697e-02 -3.91866470e-02 4.10602459e+02] [ 9.62702397e-02 9.95350010e-01 -3.22460214e-03 2.64842644e+01] [ 3.93150314e-02 -5.65387975e-04 9.99226705e-01 1.51245817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08509989299995 meters 0.01364940426040549 Centerline is valid? [True, True] Translation: X:410.66, Y:26.49, Z:15.13 [[ 9.94506756e-01 -9.70506079e-02 -3.92108682e-02 4.10661159e+02] [ 9.69983734e-02 9.95279276e-01 -3.23688930e-03 2.64873901e+01] [ 3.93399066e-02 -5.84282156e-04 9.99225715e-01 1.51271235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14509989299995 meters 0.013933536407166094 Centerline is valid? [True, True] Translation: X:410.72, Y:26.49, Z:15.13 [[ 9.94517052e-01 -9.75989671e-02 -3.75536225e-02 4.10718510e+02] [ 9.75510937e-02 9.95225661e-01 -3.10943028e-03 2.64886625e+01] [ 3.76778059e-02 -5.71015512e-04 9.99289776e-01 1.51301298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20509989299995 meters 0.014052649908215004 Centerline is valid? [True, True] Translation: X:410.78, Y:26.49, Z:15.13 [[ 9.94444337e-01 -9.86714930e-02 -3.66660306e-02 4.10777377e+02] [ 9.86264670e-02 9.95119884e-01 -3.03913833e-03 2.64912748e+01] [ 3.67869724e-02 -5.93987159e-04 9.99322954e-01 1.51327767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26509989299996 meters 0.01448413112387014 Centerline is valid? [True, True] Translation: X:410.84, Y:26.49, Z:15.13 [[ 9.94134162e-01 -1.01985229e-01 -3.60039011e-02 4.10836360e+02] [ 1.01943658e-01 9.94785671e-01 -2.99333032e-03 2.64918034e+01] [ 3.61214403e-02 -6.94597432e-04 9.99347166e-01 1.51347935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32509989299996 meters 0.015594062001402528 Centerline is valid? [True, True] Translation: X:410.90, Y:26.49, Z:15.14 [[ 9.93837356e-01 -1.04737149e-01 -3.62965552e-02 4.10895325e+02] [ 1.04696380e-01 9.94499625e-01 -3.02733300e-03 2.64917580e+01] [ 3.64139847e-02 -7.91441314e-04 9.99336478e-01 1.51364206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38509989299996 meters 0.0159095670502966 Centerline is valid? [True, True] Translation: X:410.95, Y:26.49, Z:15.14 [[ 9.93462686e-01 -1.07967450e-01 -3.70799390e-02 4.10953769e+02] [ 1.07927049e-01 9.94153998e-01 -3.09538421e-03 2.64936608e+01] [ 3.71973703e-02 -9.26779670e-04 9.99307509e-01 1.51381344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44509989299996 meters 0.016138635714763757 Centerline is valid? [True, True] Translation: X:411.01, Y:26.50, Z:15.14 [[ 9.93255078e-01 -1.09804798e-01 -3.72459035e-02 4.11012674e+02] [ 1.09764964e-01 9.93952678e-01 -3.11887371e-03 2.64972952e+01] [ 3.73631328e-02 -9.90458101e-04 9.99301264e-01 1.51403713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50509989299997 meters 0.016539367411928095 Centerline is valid? [True, True] Translation: X:411.07, Y:26.50, Z:15.14 [[ 9.93087813e-01 -1.10854416e-01 -3.85732359e-02 4.11071720e+02] [ 1.10812093e-01 9.93836094e-01 -3.24008288e-03 2.65010978e+01] [ 3.86946516e-02 -1.05669420e-03 9.99250523e-01 1.51414620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56509989299997 meters 0.017426265570636215 Centerline is valid? [True, True] Translation: X:411.13, Y:26.50, Z:15.14 [[ 9.92766452e-01 -1.13355804e-01 -3.95630242e-02 4.11130080e+02] [ 1.13313168e-01 9.93553756e-01 -3.32565414e-03 2.65038621e+01] [ 3.96849734e-02 -1.18141373e-03 9.99211543e-01 1.51430565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62509989299997 meters 0.01779991568480419 Centerline is valid? [True, True] Translation: X:411.19, Y:26.51, Z:15.15 [[ 9.92536028e-01 -1.15302338e-01 -3.97190634e-02 4.11188084e+02] [ 1.15260705e-01 9.93329646e-01 -3.34419638e-03 2.65089694e+01] [ 3.98397168e-02 -1.25881187e-03 9.99205290e-01 1.51452682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.685099893 meters 0.020097562717366017 Centerline is valid? [True, True] Translation: X:411.25, Y:26.51, Z:15.15 [[ 9.92174288e-01 -1.18240145e-01 -4.01179528e-02 4.11246481e+02] [ 1.18199924e-01 9.92984060e-01 -3.38137030e-03 2.65119265e+01] [ 4.02363014e-02 -1.38703030e-03 9.99189229e-01 1.51468949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.745099893 meters 0.019773623259791408 Centerline is valid? [True, True] Translation: X:411.31, Y:26.52, Z:15.15 [[ 9.91743424e-01 -1.21644239e-01 -4.05913695e-02 4.11305313e+02] [ 1.21605815e-01 9.92572569e-01 -3.42357869e-03 2.65197687e+01] [ 4.07063385e-02 -1.54083490e-03 9.99169965e-01 1.51492902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.805099893 meters 0.020546249105393707 Centerline is valid? [True, True] Translation: X:411.36, Y:26.53, Z:15.15 [[ 9.91447049e-01 -1.24047917e-01 -4.05569214e-02 4.11364880e+02] [ 1.24011437e-01 9.92274882e-01 -3.42379343e-03 2.65255615e+01] [ 4.06683288e-02 -1.63501222e-03 9.99171364e-01 1.51515278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.865099893 meters 0.02228682078293492 Centerline is valid? [True, True] Translation: X:411.42, Y:26.53, Z:15.15 [[ 9.91269616e-01 -1.25699312e-01 -3.98024041e-02 4.11422818e+02] [ 1.25665444e-01 9.92066981e-01 -3.36162180e-03 2.65299146e+01] [ 3.99092045e-02 -1.66951324e-03 9.99201916e-01 1.51536618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.925099893 meters 0.021210085066548607 Centerline is valid? [True, True] Translation: X:411.48, Y:26.54, Z:15.16 [[ 9.91282446e-01 -1.25890603e-01 -3.88673136e-02 4.11481152e+02] [ 1.25858348e-01 9.92042783e-01 -3.28535551e-03 2.65412468e+01] [ 3.89716333e-02 -1.63506064e-03 9.99238980e-01 1.51567433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.985099893 meters 0.020381510823497234 Centerline is valid? [True, True] Translation: X:411.54, Y:26.55, Z:15.16 [[ 9.91594114e-01 -1.23489234e-01 -3.86202295e-02 4.11540926e+02] [ 1.23455491e-01 9.92344734e-01 -3.26649554e-03 2.65520319e+01] [ 3.87279584e-02 -1.52884165e-03 9.99248622e-01 1.51589565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.045099893 meters 0.017702365266369806 Centerline is valid? [True, True] Translation: X:411.60, Y:26.57, Z:15.16 [[ 9.92455563e-01 -1.16206189e-01 -3.90906158e-02 4.11600165e+02] [ 1.16165975e-01 9.93224312e-01 -3.30627245e-03 2.65677814e+01] [ 3.92099594e-02 -1.25967101e-03 9.99230200e-01 1.51606087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10509989299993 meters 0.017362883748265272 Centerline is valid? [True, True] Translation: X:411.66, Y:26.58, Z:15.16 [[ 9.93271519e-01 -1.08593906e-01 -4.02374573e-02 4.11659042e+02] [ 1.08545061e-01 9.94085705e-01 -3.40310595e-03 2.65807214e+01] [ 4.03690377e-02 -9.87369046e-04 9.99184350e-01 1.51617411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16509989299993 meters 0.015487706144607968 Centerline is valid? [True, True] Translation: X:411.72, Y:26.59, Z:15.16 [[ 9.93674305e-01 -1.04675600e-01 -4.06742394e-02 4.11718080e+02] [ 1.04622405e-01 9.94506067e-01 -3.44010950e-03 2.65940881e+01] [ 4.08108734e-02 -8.37088319e-04 9.99166539e-01 1.51638926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22509989299994 meters 0.014366824484425184 Centerline is valid? [True, True] Translation: X:411.78, Y:26.61, Z:15.17 [[ 9.93995256e-01 -1.01453267e-01 -4.09959313e-02 4.11777532e+02] [ 1.01396460e-01 9.94840053e-01 -3.46798548e-03 2.66063607e+01] [ 4.11362329e-02 -7.09681182e-04 9.99153295e-01 1.51660897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28509989299994 meters 0.014408523137557508 Centerline is valid? [True, True] Translation: X:411.84, Y:26.61, Z:15.17 [[ 9.93987515e-01 -1.01070720e-01 -4.21132895e-02 4.11837872e+02] [ 1.01010431e-01 9.94878988e-01 -3.56250662e-03 2.66137349e+01] [ 4.22576919e-02 -7.12794412e-04 9.99106491e-01 1.51681958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34509989299994 meters 0.014866726495320942 Centerline is valid? [True, True] Translation: X:411.90, Y:26.62, Z:15.17 [[ 9.93823088e-01 -1.02329289e-01 -4.29463187e-02 4.11897058e+02] [ 1.02267763e-01 9.94750273e-01 -3.63298854e-03 2.66211709e+01] [ 4.30926234e-02 -7.81476057e-04 9.99070776e-01 1.51707343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40509989299994 meters 0.014766353571919905 Centerline is valid? [True, True] Translation: X:411.96, Y:26.63, Z:15.17 [[ 9.93693183e-01 -1.03636764e-01 -4.28168087e-02 4.11956066e+02] [ 1.03576809e-01 9.94614862e-01 -3.62232314e-03 2.66274636e+01] [ 4.29616401e-02 -8.35350612e-04 9.99076373e-01 1.51739464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46509989299994 meters 0.015398838750380204 Centerline is valid? [True, True] Translation: X:412.02, Y:26.63, Z:15.18 [[ 9.93546828e-01 -1.05175999e-01 -4.24583199e-02 4.12015555e+02] [ 1.05118390e-01 9.94453223e-01 -3.59335590e-03 2.66331668e+01] [ 4.26007479e-02 -8.92982865e-04 9.99091777e-01 1.51773573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52509989299995 meters 0.014859576203188615 Centerline is valid? [True, True] Translation: X:412.08, Y:26.64, Z:15.18 [[ 9.93504900e-01 -1.05376869e-01 -4.29386725e-02 4.12076293e+02] [ 1.05318140e-01 9.94431940e-01 -3.63391290e-03 2.66403576e+01] [ 4.30825178e-02 -9.11910872e-04 9.99071101e-01 1.51803953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58509989299995 meters 0.015352897421053783 Centerline is valid? [True, True] Translation: X:412.14, Y:26.65, Z:15.18 [[ 9.93486155e-01 -1.05757517e-01 -4.24335632e-02 4.12135723e+02] [ 1.05700563e-01 9.94391524e-01 -3.58990960e-03 2.66461338e+01] [ 4.25752355e-02 -9.18726040e-04 9.99092841e-01 1.51829521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64509989299995 meters 0.014525290836000099 Centerline is valid? [True, True] Translation: X:412.20, Y:26.65, Z:15.19 [[ 9.93666607e-01 -1.03991947e-01 -4.25716942e-02 4.12196221e+02] [ 1.03932978e-01 9.94577780e-01 -3.60217163e-03 2.66538407e+01] [ 4.27154580e-02 -8.45245290e-04 9.99086921e-01 1.51854255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70509989299995 meters 0.013583797880633375 Centerline is valid? [True, True] Translation: X:412.25, Y:26.66, Z:15.19 [[ 9.94269264e-01 -9.81111699e-02 -4.24597320e-02 4.12254788e+02] [ 9.80471737e-02 9.95175285e-01 -3.59211495e-03 2.66631971e+01] [ 4.26073025e-02 -5.91527234e-04 9.99091721e-01 1.51882729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76509989299996 meters 0.012825435517760195 Centerline is valid? [True, True] Translation: X:412.31, Y:26.67, Z:15.19 [[ 9.94727880e-01 -9.35274206e-02 -4.20602600e-02 4.12314792e+02] [ 9.34604982e-02 9.95616627e-01 -3.55898202e-03 2.66721520e+01] [ 4.22087566e-02 -3.90754209e-04 9.99108737e-01 1.51909349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82509989299996 meters 0.012454162682977029 Centerline is valid? [True, True] Translation: X:412.38, Y:26.68, Z:15.19 [[ 9.95066758e-01 -8.94431904e-02 -4.29192527e-02 4.12375274e+02] [ 8.93697071e-02 9.95991901e-01 -3.63166677e-03 2.66794933e+01] [ 4.30720559e-02 -2.21930157e-04 9.99071944e-01 1.51926710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88509989299996 meters 0.012421427566912575 Centerline is valid? [True, True] Translation: X:412.43, Y:26.68, Z:15.19 [[ 9.95116160e-01 -8.83200761e-02 -4.40839217e-02 4.12433700e+02] [ 8.82414307e-02 9.96092131e-01 -3.73059195e-03 2.66843566e+01] [ 4.42411336e-02 -1.77655980e-04 9.99020866e-01 1.51936425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94509989299996 meters 0.012545231773087426 Centerline is valid? [True, True] Translation: X:412.49, Y:26.69, Z:15.20 [[ 9.94926437e-01 -8.99220784e-02 -4.51154607e-02 4.12493161e+02] [ 8.98412468e-02 9.95948772e-01 -3.82024314e-03 2.66876933e+01] [ 4.52762119e-02 -2.52368338e-04 9.98974475e-01 1.51953520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00509989299997 meters 0.012756834632270257 Centerline is valid? [True, True] Translation: X:412.55, Y:26.69, Z:15.20 [[ 9.94623927e-01 -9.28674147e-02 -4.58136031e-02 4.12551254e+02] [ 9.27870827e-02 9.95678407e-01 -3.88153094e-03 2.66902946e+01] [ 4.59760832e-02 -3.90247035e-04 9.98942465e-01 1.51970404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06509989299997 meters 0.013953253323909573 Centerline is valid? [True, True] Translation: X:412.61, Y:26.69, Z:15.20 [[ 9.93922272e-01 -1.00164477e-01 -4.56683052e-02 4.12610622e+02] [ 1.00092095e-01 9.94970632e-01 -3.87468744e-03 2.66891153e+01] [ 4.58267285e-02 -7.19898190e-04 9.98949144e-01 1.51995614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12509989299997 meters 0.014718628361916414 Centerline is valid? [True, True] Translation: X:412.67, Y:26.69, Z:15.20 [[ 9.93290070e-01 -1.06756971e-01 -4.44723149e-02 4.12670596e+02] [ 1.06694515e-01 9.94284654e-01 -3.78248242e-03 2.66895780e+01] [ 4.46219466e-02 -9.87849842e-04 9.99003456e-01 1.52029690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.185099893 meters 0.017840302421776002 Centerline is valid? [True, True] Translation: X:412.73, Y:26.69, Z:15.21 [[ 9.92226863e-01 -1.16257482e-01 -4.43852493e-02 4.12729981e+02] [ 1.16204692e-01 9.93218107e-01 -3.77645278e-03 2.66853638e+01] [ 4.45232742e-02 -1.41067635e-03 9.99007351e-01 1.52054620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.245099893 meters 0.021214863076339872 Centerline is valid? [True, True] Translation: X:412.79, Y:26.68, Z:15.21 [[ 9.91626157e-01 -1.21747411e-01 -4.30712456e-02 4.12789782e+02] [ 1.21702860e-01 9.92559813e-01 -3.66482291e-03 2.66828316e+01] [ 4.31969702e-02 -1.60775950e-03 9.99065282e-01 1.52077548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.305099893 meters 0.022088862254644633 Centerline is valid? [True, True] Translation: X:412.85, Y:26.68, Z:15.21 [[ 9.90667690e-01 -1.29517259e-01 -4.24594732e-02 4.12850615e+02] [ 1.29481050e-01 9.91575313e-01 -3.61341928e-03 2.66836765e+01] [ 4.25697656e-02 -1.91799944e-03 9.99091656e-01 1.52108956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.365099893 meters 0.023101608632251008 Centerline is valid? [True, True] Translation: X:412.91, Y:26.69, Z:15.21 [[ 9.89986270e-01 -1.34788211e-01 -4.19442877e-02 4.12911537e+02] [ 1.34757593e-01 9.90872166e-01 -3.56948879e-03 2.66862332e+01] [ 4.20425523e-02 -2.11856636e-03 9.99113575e-01 1.52140220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.425099893 meters 0.02482230954509208 Centerline is valid? [True, True] Translation: X:412.97, Y:26.69, Z:15.22 [[ 9.89652222e-01 -1.37039878e-01 -4.25270788e-02 4.12972211e+02] [ 1.37010509e-01 9.90562986e-01 -3.61828856e-03 2.66888692e+01] [ 4.26216000e-02 -2.24580942e-03 9.99088763e-01 1.52160785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.485099893 meters 0.024178141730483785 Centerline is valid? [True, True] Translation: X:413.03, Y:26.70, Z:15.22 [[ 9.89374787e-01 -1.38673686e-01 -4.36708040e-02 4.13032810e+02] [ 1.38644340e-01 9.90335270e-01 -3.71477958e-03 2.66951474e+01] [ 4.37638796e-02 -2.37940056e-03 9.99039069e-01 1.52179830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.545099893 meters 0.02628763870911013 Centerline is valid? [True, True] Translation: X:413.09, Y:26.70, Z:15.22 [[ 9.89396727e-01 -1.37885442e-01 -4.56258872e-02 4.13092683e+02] [ 1.37852619e-01 9.90445152e-01 -3.88020695e-03 2.66992869e+01] [ 4.57249628e-02 -2.45058397e-03 9.98951061e-01 1.52184857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60509989299993 meters 0.025790599911568044 Centerline is valid? [True, True] Translation: X:413.15, Y:26.71, Z:15.22 [[ 9.89809455e-01 -1.34789884e-01 -4.59230940e-02 4.13151863e+02] [ 1.34753327e-01 9.90871481e-01 -3.90510833e-03 2.67079604e+01] [ 4.60302532e-02 -2.32297655e-03 9.98937345e-01 1.52212121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66509989299993 meters 0.020459510750635228 Centerline is valid? [True, True] Translation: X:413.21, Y:26.73, Z:15.23 [[ 9.90687935e-01 -1.28406372e-01 -4.52682993e-02 4.13210973e+02] [ 1.28364139e-01 9.91719628e-01 -3.85072349e-03 2.67257810e+01] [ 4.53879184e-02 -1.99596096e-03 9.98967443e-01 1.52254387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72509989299994 meters 0.019317741509132513 Centerline is valid? [True, True] Translation: X:413.27, Y:26.74, Z:15.23 [[ 9.91254157e-01 -1.24328502e-01 -4.42449967e-02 4.13270662e+02] [ 1.24284102e-01 9.92239536e-01 -3.76364959e-03 2.67353789e+01] [ 4.43695639e-02 -1.76821638e-03 9.99013621e-01 1.52286255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78509989299994 meters 0.019375898625817792 Centerline is valid? [True, True] Translation: X:413.33, Y:26.74, Z:15.23 [[ 9.91720741e-01 -1.20327252e-01 -4.48477906e-02 4.13329917e+02] [ 1.20277548e-01 9.92732974e-01 -3.81492555e-03 2.67442846e+01] [ 4.49809201e-02 -1.61084151e-03 9.98986547e-01 1.52304189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84509989299994 meters 0.0177424671547445 Centerline is valid? [True, True] Translation: X:413.39, Y:26.76, Z:15.23 [[ 9.92200649e-01 -1.16634411e-01 -4.39805224e-02 4.13389447e+02] [ 1.16582988e-01 9.93173908e-01 -3.74115238e-03 2.67559789e+01] [ 4.41166544e-02 -1.41540689e-03 9.99025384e-01 1.52337949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90509989299994 meters 0.01749599048096207 Centerline is valid? [True, True] Translation: X:413.45, Y:26.76, Z:15.24 [[ 9.92453594e-01 -1.14605796e-01 -4.36047644e-02 4.13450689e+02] [ 1.14553307e-01 9.93410179e-01 -3.70883982e-03 2.67644066e+01] [ 4.37424714e-02 -1.31421856e-03 9.99041976e-01 1.52367523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96509989299994 meters 0.01667213362836978 Centerline is valid? [True, True] Translation: X:413.51, Y:26.77, Z:15.24 [[ 9.92623628e-01 -1.12598924e-01 -4.49423571e-02 4.13511827e+02] [ 1.12541218e-01 9.93639713e-01 -3.82024876e-03 2.67734131e+01] [ 4.50866668e-02 -1.26579842e-03 9.98982277e-01 1.52388736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02509989299995 meters 0.016104387279649413 Centerline is valid? [True, True] Translation: X:413.57, Y:26.78, Z:15.24 [[ 9.92984163e-01 -1.08848607e-01 -4.61999294e-02 4.13571615e+02] [ 1.08783642e-01 9.94057699e-01 -3.92559714e-03 2.67833502e+01] [ 4.63526913e-02 -1.12774081e-03 9.98924500e-01 1.52402654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08509989299995 meters 0.01544992561459658 Centerline is valid? [True, True] Translation: X:413.63, Y:26.79, Z:15.24 [[ 9.93311208e-01 -1.05878509e-01 -4.60715212e-02 4.13631559e+02] [ 1.05810743e-01 9.94378583e-01 -3.91402391e-03 2.67915118e+01] [ 4.62269450e-02 -9.87018067e-04 9.98930476e-01 1.52430198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14509989299995 meters 0.014043135795163834 Centerline is valid? [True, True] Translation: X:413.69, Y:26.80, Z:15.25 [[ 9.93792614e-01 -1.01141553e-01 -4.63316976e-02 4.13691349e+02] [ 1.01067873e-01 9.94871746e-01 -3.93612730e-03 2.68027014e+01] [ 4.64922030e-02 -7.70951913e-04 9.98918355e-01 1.52464107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20509989299995 meters 0.013659463402139688 Centerline is valid? [True, True] Translation: X:413.75, Y:26.81, Z:15.25 [[ 9.94077109e-01 -9.83161709e-02 -4.63101745e-02 4.13751229e+02] [ 9.82394953e-02 9.95155025e-01 -3.93429879e-03 2.68103394e+01] [ 4.64726080e-02 -6.38491799e-04 9.98919361e-01 1.52489872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26509989299996 meters 0.013273054320019063 Centerline is valid? [True, True] Translation: X:413.81, Y:26.82, Z:15.25 [[ 9.94245464e-01 -9.68744214e-02 -4.57307688e-02 4.13811178e+02] [ 9.67981288e-02 9.95296453e-01 -3.88507516e-03 2.68173677e+01] [ 4.58920364e-02 -5.63934493e-04 9.98946246e-01 1.52518587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32509989299996 meters 0.013742779445951099 Centerline is valid? [True, True] Translation: X:413.87, Y:26.82, Z:15.25 [[ 9.94072287e-01 -9.81753109e-02 -4.67107828e-02 4.13871299e+02] [ 9.80971553e-02 9.95168931e-01 -3.96815785e-03 2.68194020e+01] [ 4.68746950e-02 -6.37559173e-04 9.98900574e-01 1.52525485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38509989299996 meters 0.013991118774602445 Centerline is valid? [True, True] Translation: X:413.93, Y:26.82, Z:15.25 [[ 9.93788623e-01 -1.00969738e-01 -4.67897896e-02 4.13931409e+02] [ 1.00894444e-01 9.94889198e-01 -3.97418753e-03 2.68221246e+01] [ 4.69519290e-02 -7.71327464e-04 9.98896852e-01 1.52547051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44509989299996 meters 0.014467597463365355 Centerline is valid? [True, True] Translation: X:413.99, Y:26.83, Z:15.26 [[ 9.93642234e-01 -1.02438078e-01 -4.67070693e-02 4.13991800e+02] [ 1.02364671e-01 9.94739029e-01 -3.96716150e-03 2.68251501e+01] [ 4.68677332e-02 -8.39214541e-04 9.98900751e-01 1.52564578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50509989299997 meters 0.014812905490519026 Centerline is valid? [True, True] Translation: X:414.05, Y:26.83, Z:15.26 [[ 9.93198702e-01 -1.06944962e-01 -4.60338251e-02 4.14052319e+02] [ 1.06878490e-01 9.94264402e-01 -3.90997811e-03 2.68266848e+01] [ 4.61879460e-02 -1.03664052e-03 9.98932229e-01 1.52590077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56509989299997 meters 0.0166669376419228 Centerline is valid? [True, True] Translation: X:414.11, Y:26.83, Z:15.26 [[ 9.92918841e-01 -1.09663041e-01 -4.56748541e-02 4.14112249e+02] [ 1.09600467e-01 9.93968151e-01 -3.87964321e-03 2.68260131e+01] [ 4.58248038e-02 -1.15381449e-03 9.98948826e-01 1.52601338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62509989299997 meters 0.017786597323370575 Centerline is valid? [True, True] Translation: X:414.17, Y:26.83, Z:15.26 [[ 9.92724238e-01 -1.11622986e-01 -4.51541327e-02 4.14171417e+02] [ 1.11563812e-01 9.93749867e-01 -3.83635880e-03 2.68263003e+01] [ 4.53001392e-02 -1.22912079e-03 9.98972666e-01 1.52618347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.685099893 meters 0.01583895752514435 Centerline is valid? [True, True] Translation: X:414.23, Y:26.83, Z:15.27 [[ 9.92830001e-01 -1.10805134e-01 -4.48420678e-02 4.14232053e+02] [ 1.10745897e-01 9.93841448e-01 -3.81083976e-03 2.68337921e+01] [ 4.49881662e-02 -1.18255898e-03 9.98986820e-01 1.52651896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.745099893 meters 0.015362113063358124 Centerline is valid? [True, True] Translation: X:414.29, Y:26.84, Z:15.27 [[ 9.93313222e-01 -1.06411640e-01 -4.47817605e-02 4.14291367e+02] [ 1.06348155e-01 9.94321676e-01 -3.80448833e-03 2.68377454e+01] [ 4.49323170e-02 -9.83409044e-04 9.98989549e-01 1.52664072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.805099893 meters 0.013681093478538226 Centerline is valid? [True, True] Translation: X:414.35, Y:26.85, Z:15.27 [[ 9.94012393e-01 -9.96599329e-02 -4.48024616e-02 4.14351188e+02] [ 9.95895020e-02 9.95021326e-01 -3.80691997e-03 2.68455557e+01] [ 4.49588021e-02 -6.77729204e-04 9.98988612e-01 1.52691541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.865099893 meters 0.012989941879767349 Centerline is valid? [True, True] Translation: X:414.41, Y:26.85, Z:15.27 [[ 9.94574327e-01 -9.36867583e-02 -4.52183422e-02 4.14411510e+02] [ 9.36088404e-02 9.95601638e-01 -3.84225786e-03 2.68520761e+01] [ 4.53794242e-02 -4.11425553e-04 9.98969739e-01 1.52712421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.925099893 meters 0.012885375636142095 Centerline is valid? [True, True] Translation: X:414.47, Y:26.86, Z:15.27 [[ 9.94702773e-01 -9.22600955e-02 -4.53262498e-02 4.14471366e+02] [ 9.21803111e-02 9.95734882e-01 -3.85172601e-03 2.68572987e+01] [ 4.54882886e-02 -3.46865263e-04 9.98964812e-01 1.52733452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.985099893 meters 0.012788032305487381 Centerline is valid? [True, True] Translation: X:414.53, Y:26.86, Z:15.28 [[ 9.94890414e-01 -9.02996048e-02 -4.51557988e-02 4.14530120e+02] [ 9.02182474e-02 9.95914614e-01 -3.84062593e-03 2.68613280e+01] [ 4.53181269e-02 -2.52875111e-04 9.98972574e-01 1.52752065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.045099893 meters 0.012642876173148111 Centerline is valid? [True, True] Translation: X:414.59, Y:26.86, Z:15.28 [[ 9.95241141e-01 -8.67574814e-02 -4.43645227e-02 4.14588282e+02] [ 8.66749913e-02 9.96229458e-01 -3.78323346e-03 2.68640160e+01] [ 4.45254683e-02 -8.00650397e-05 9.99008246e-01 1.52771779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10509989299993 meters 0.012759826997733642 Centerline is valid? [True, True] Translation: X:414.65, Y:26.87, Z:15.28 [[ 9.95690876e-01 -8.12142832e-02 -4.47651579e-02 4.14647193e+02] [ 8.11244579e-02 9.96696649e-01 -3.82264723e-03 2.68684740e+01] [ 4.49277365e-02 1.74625797e-04 9.98990224e-01 1.52799476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16509989299993 meters 0.013050092636407716 Centerline is valid? [True, True] Translation: X:414.71, Y:26.87, Z:15.28 [[ 9.96070291e-01 -7.69316390e-02 -4.38804983e-02 4.14705819e+02] [ 7.68406965e-02 9.97036301e-01 -3.75797471e-03 2.68730707e+01] [ 4.40395569e-02 3.71398909e-04 9.99029719e-01 1.52833368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22509989299994 meters 0.013527753932377528 Centerline is valid? [True, True] Translation: X:414.76, Y:26.88, Z:15.29 [[ 9.96381592e-01 -7.34371661e-02 -4.27867370e-02 4.14764530e+02] [ 7.33470228e-02 9.97299709e-01 -3.67499221e-03 2.68758500e+01] [ 4.29410814e-02 5.23414815e-04 9.99077469e-01 1.52857217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28509989299994 meters 0.014141915207926806 Centerline is valid? [True, True] Translation: X:414.82, Y:26.88, Z:15.29 [[ 9.96651189e-01 -7.06458678e-02 -4.11772893e-02 4.14822560e+02] [ 7.05596108e-02 9.97501261e-01 -3.54618374e-03 2.68758083e+01] [ 4.13249212e-02 6.28854736e-04 9.99145563e-01 1.52888345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34509989299994 meters 0.013916572410770973 Centerline is valid? [True, True] Translation: X:414.88, Y:26.88, Z:15.29 [[ 9.96630458e-01 -7.13383048e-02 -4.04793276e-02 4.14881035e+02] [ 7.12553494e-02 9.97452000e-01 -3.49026028e-03 2.68752123e+01] [ 4.06251756e-02 5.94131068e-04 9.99174280e-01 1.52914358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40509989299994 meters 0.012955983696163919 Centerline is valid? [True, True] Translation: X:414.94, Y:26.87, Z:15.29 [[ 9.96291948e-01 -7.60178028e-02 -4.02945104e-02 4.14940703e+02] [ 7.59389719e-02 9.97106375e-01 -3.48557320e-03 2.68678552e+01] [ 4.04428788e-02 4.12724825e-04 9.99181767e-01 1.52932368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46509989299994 meters 0.012339454169541809 Centerline is valid? [True, True] Translation: X:415.00, Y:26.86, Z:15.29 [[ 9.95754522e-01 -8.22966424e-02 -4.12334052e-02 4.15000043e+02] [ 8.22190323e-02 9.96607863e-01 -3.57738197e-03 2.68630372e+01] [ 4.13879423e-02 1.72023602e-04 9.99143137e-01 1.52946295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52509989299995 meters 0.012545859055768244 Centerline is valid? [True, True] Translation: X:415.06, Y:26.85, Z:15.30 [[ 9.94583787e-01 -9.53619434e-02 -4.13423508e-02 4.15060463e+02] [ 9.52947638e-02 9.95442599e-01 -3.59712764e-03 2.68511127e+01] [ 4.14969662e-02 -3.62064725e-04 9.99138564e-01 1.52968235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58509989299995 meters 0.014286113360511509 Centerline is valid? [True, True] Translation: X:415.12, Y:26.85, Z:15.30 [[ 9.93522887e-01 -1.05530814e-01 -4.21369196e-02 4.15120597e+02] [ 1.05469744e-01 9.94415718e-01 -3.67601083e-03 2.68451347e+01] [ 4.22895476e-02 -7.91969233e-04 9.99105083e-01 1.52995702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64509989299995 meters 0.017428852987398016 Centerline is valid? [True, True] Translation: X:415.18, Y:26.84, Z:15.30 [[ 9.91904095e-01 -1.19610517e-01 -4.26566599e-02 4.15181829e+02] [ 1.19560786e-01 9.92819897e-01 -3.72434901e-03 2.68365465e+01] [ 4.27958520e-02 -1.40586676e-03 9.99082849e-01 1.53022994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70509989299995 meters 0.01985797496939117 Centerline is valid? [True, True] Translation: X:415.24, Y:26.83, Z:15.31 [[ 9.90904540e-01 -1.27263116e-01 -4.37297693e-02 4.15242463e+02] [ 1.27218269e-01 9.91867397e-01 -3.81832581e-03 2.68338200e+01] [ 4.38600644e-02 -1.77962919e-03 9.99036099e-01 1.53052336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76509989299996 meters 0.022429621903402638 Centerline is valid? [True, True] Translation: X:415.30, Y:26.83, Z:15.31 [[ 9.89866696e-01 -1.35109957e-01 -4.36946568e-02 4.15302854e+02] [ 1.35072797e-01 9.90828332e-01 -3.81535052e-03 2.68320966e+01] [ 4.38093958e-02 -2.12527110e-03 9.99037647e-01 1.53094172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82509989299996 meters 0.026704446837574437 Centerline is valid? [True, True] Translation: X:415.36, Y:26.83, Z:15.31 [[ 9.89525184e-01 -1.37439595e-01 -4.41618309e-02 4.15362031e+02] [ 1.37403926e-01 9.90507591e-01 -3.85664887e-03 2.68304785e+01] [ 4.42726850e-02 -2.25175777e-03 9.99016946e-01 1.53115868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88509989299996 meters 0.02263921782801248 Centerline is valid? [True, True] Translation: X:415.42, Y:26.84, Z:15.31 [[ 9.89365750e-01 -1.38293266e-01 -4.50598049e-02 4.15419862e+02] [ 1.38256828e-01 9.90388576e-01 -3.93921110e-03 2.68405421e+01] [ 4.51714824e-02 -2.33250517e-03 9.98976525e-01 1.53141240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94509989299996 meters 0.0258361688290467 Centerline is valid? [True, True] Translation: X:415.48, Y:26.84, Z:15.32 [[ 9.89265046e-01 -1.38672128e-01 -4.60945690e-02 4.15478026e+02] [ 1.38633890e-01 9.90335456e-01 -4.04089025e-03 2.68417722e+01] [ 4.62094449e-02 -2.39275793e-03 9.98928907e-01 1.53150411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00509989299997 meters 0.0230842790678433 Centerline is valid? [True, True] Translation: X:415.54, Y:26.85, Z:15.32 [[ 9.89111468e-01 -1.39241898e-01 -4.76465869e-02 4.15535765e+02] [ 1.39201317e-01 9.90255259e-01 -4.18504035e-03 2.68532331e+01] [ 4.77650162e-02 -2.49299621e-03 9.98855489e-01 1.53177245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06509989299997 meters 0.023178694254733893 Centerline is valid? [True, True] Translation: X:415.59, Y:26.86, Z:15.32 [[ 9.89089405e-01 -1.39300406e-01 -4.79327174e-02 4.15592872e+02] [ 1.39258781e-01 9.90247018e-01 -4.22313355e-03 2.68599488e+01] [ 4.80535147e-02 -2.49799517e-03 9.98841639e-01 1.53197630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12509989299997 meters 0.02316152689512089 Centerline is valid? [True, True] Translation: X:415.65, Y:26.87, Z:15.32 [[ 9.89149401e-01 -1.38582962e-01 -4.87670576e-02 4.15651419e+02] [ 1.38538311e-01 9.90347693e-01 -4.31088942e-03 2.68684280e+01] [ 4.88937588e-02 -2.49199213e-03 9.98800876e-01 1.53220539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.185099893 meters 0.02125856724449099 Centerline is valid? [True, True] Translation: X:415.71, Y:26.88, Z:15.33 [[ 9.89465416e-01 -1.36063736e-01 -4.94454305e-02 4.15709473e+02] [ 1.36014067e-01 9.90697208e-01 -4.38358883e-03 2.68824265e+01] [ 4.95818974e-02 -2.38786455e-03 9.98767207e-01 1.53252189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.245099893 meters 0.0208225794270908 Centerline is valid? [True, True] Translation: X:415.77, Y:26.89, Z:15.33 [[ 9.89867863e-01 -1.33225395e-01 -4.91183162e-02 4.15768553e+02] [ 1.33172429e-01 9.91083276e-01 -4.36401609e-03 2.68924679e+01] [ 4.92617395e-02 -2.22140619e-03 9.98783433e-01 1.53282469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.305099893 meters 0.02006941442386533 Centerline is valid? [True, True] Translation: X:415.83, Y:26.90, Z:15.33 [[ 9.90271783e-01 -1.30341961e-01 -4.87110697e-02 4.15827135e+02] [ 1.30286300e-01 9.91466961e-01 -4.32962886e-03 2.69031628e+01] [ 4.88597486e-02 -2.05887578e-03 9.98803527e-01 1.53310718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.365099893 meters 0.018651705249248758 Centerline is valid? [True, True] Translation: X:415.89, Y:26.92, Z:15.33 [[ 9.90724479e-01 -1.26655338e-01 -4.92283668e-02 4.15886477e+02] [ 1.26593847e-01 9.91944975e-01 -4.37762594e-03 2.69154811e+01] [ 4.93862808e-02 -1.89498716e-03 9.98777955e-01 1.53343533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.425099893 meters 0.019532073575356655 Centerline is valid? [True, True] Translation: X:415.94, Y:26.92, Z:15.34 [[ 9.91249148e-01 -1.22248217e-01 -4.98046205e-02 4.15944899e+02] [ 1.22179602e-01 9.92498115e-01 -4.43128942e-03 2.69242559e+01] [ 4.99727093e-02 -1.69259684e-03 9.98749149e-01 1.53354759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.485099893 meters 0.016383155801136074 Centerline is valid? [True, True] Translation: X:416.00, Y:26.94, Z:15.34 [[ 9.92062843e-01 -1.15322583e-01 -5.01200307e-02 4.16003701e+02] [ 1.15244183e-01 9.93327176e-01 -4.46096908e-03 2.69406746e+01] [ 5.03000390e-02 -1.35048034e-03 9.98733239e-01 1.53389953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.545099893 meters 0.015642317887322215 Centerline is valid? [True, True] Translation: X:416.06, Y:26.95, Z:15.34 [[ 9.92603336e-01 -1.10748043e-01 -4.97341813e-02 4.16062234e+02] [ 1.10665051e-01 9.93847897e-01 -4.42775587e-03 2.69506049e+01] [ 4.99185767e-02 -1.10883045e-03 9.98752675e-01 1.53415218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60509989299993 meters 0.01440062450845313 Centerline is valid? [True, True] Translation: X:416.12, Y:26.96, Z:15.34 [[ 9.93199181e-01 -1.04792646e-01 -5.07334997e-02 4.16120586e+02] [ 1.04698287e-01 9.94493754e-01 -4.52124313e-03 2.69637566e+01] [ 5.09279416e-02 -8.21215558e-04 9.98701993e-01 1.53436219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66509989299993 meters 0.01378900413824428 Centerline is valid? [True, True] Translation: X:416.18, Y:26.97, Z:15.35 [[ 9.93535978e-01 -1.01533539e-01 -5.07661343e-02 4.16179242e+02] [ 1.01434274e-01 9.94831908e-01 -4.53458192e-03 2.69738197e+01] [ 5.09641825e-02 -6.44155721e-04 9.98700274e-01 1.53456985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72509989299994 meters 0.013161242668151465 Centerline is valid? [True, True] Translation: X:416.24, Y:26.98, Z:15.35 [[ 9.93781875e-01 -9.92819601e-02 -5.04051366e-02 4.16237374e+02] [ 9.91807890e-02 9.95059207e-01 -4.51061154e-03 2.69839294e+01] [ 5.06039176e-02 -5.16657227e-04 9.98718667e-01 1.53493728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78509989299994 meters 0.013332788681117175 Centerline is valid? [True, True] Translation: X:416.29, Y:26.99, Z:15.35 [[ 9.93797251e-01 -9.93787020e-02 -4.99088911e-02 4.16294214e+02] [ 9.92790309e-02 9.95049556e-01 -4.47826703e-03 2.69891360e+01] [ 5.01068643e-02 -5.04416870e-04 9.98743735e-01 1.53501152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84509989299994 meters 0.013355455191130034 Centerline is valid? [True, True] Translation: X:416.35, Y:26.99, Z:15.35 [[ 9.93506192e-01 -1.02427654e-01 -4.95380805e-02 4.16352169e+02] [ 1.02332815e-01 9.94740248e-01 -4.45363300e-03 2.69948176e+01] [ 4.97336977e-02 -6.44659260e-04 9.98762306e-01 1.53539675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90509989299994 meters 0.013899210296926978 Centerline is valid? [True, True] Translation: X:416.41, Y:27.00, Z:15.36 [[ 9.93145120e-01 -1.06157100e-01 -4.89228023e-02 4.16410494e+02] [ 1.06068811e-01 9.94349036e-01 -4.40464932e-03 2.69974039e+01] [ 4.91139261e-02 -8.14727497e-04 9.98792851e-01 1.53562116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96509989299994 meters 0.015813782636452466 Centerline is valid? [True, True] Translation: X:416.47, Y:27.00, Z:15.36 [[ 9.92393204e-01 -1.13218262e-01 -4.83461843e-02 4.16468818e+02] [ 1.13139916e-01 9.93569487e-01 -4.36284190e-03 2.69960381e+01] [ 4.85292469e-02 -1.14022856e-03 9.98821111e-01 1.53581450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02509989299995 meters 0.016918305214163452 Centerline is valid? [True, True] Translation: X:416.53, Y:27.00, Z:15.36 [[ 9.91958941e-01 -1.17240822e-01 -4.76660057e-02 4.16528338e+02] [ 1.17169159e-01 9.93102643e-01 -4.30444185e-03 2.69974526e+01] [ 4.78418926e-02 -1.31515623e-03 9.98854055e-01 1.53608517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08509989299995 meters 0.01908456854080934 Centerline is valid? [True, True] Translation: X:416.59, Y:27.00, Z:15.36 [[ 9.91547254e-01 -1.21232645e-01 -4.62243430e-02 4.16587304e+02] [ 1.21169499e-01 9.92623047e-01 -4.17600244e-03 2.69970804e+01] [ 4.63896160e-02 -1.46027673e-03 9.98922355e-01 1.53634388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14509989299995 meters 0.019682228859342447 Centerline is valid? [True, True] Translation: X:416.65, Y:27.00, Z:15.37 [[ 9.91395840e-01 -1.22451111e-01 -4.62602894e-02 4.16646197e+02] [ 1.22388999e-01 9.92473391e-01 -4.18338641e-03 2.70006822e+01] [ 4.64243667e-02 -1.51435865e-03 9.98920660e-01 1.53654481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20509989299995 meters 0.01978755665165282 Centerline is valid? [True, True] Translation: X:416.70, Y:27.01, Z:15.37 [[ 9.91468908e-01 -1.21917463e-01 -4.61035399e-02 4.16704906e+02] [ 1.21854684e-01 9.92539149e-01 -4.18024822e-03 2.70059379e+01] [ 4.62692135e-02 -1.47334615e-03 9.98927920e-01 1.53675577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26509989299996 meters 0.015794749766403993 Centerline is valid? [True, True] Translation: X:416.76, Y:27.02, Z:15.37 [[ 9.92040891e-01 -1.17223303e-01 -4.59735467e-02 4.16764217e+02] [ 1.17155426e-01 9.93104806e-01 -4.17743607e-03 2.70186187e+01] [ 4.61462430e-02 -1.24186306e-03 9.98933923e-01 1.53710010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32509989299996 meters 0.01464516353972019 Centerline is valid? [True, True] Translation: X:416.82, Y:27.03, Z:15.37 [[ 9.92598721e-01 -1.12676488e-01 -4.52966721e-02 4.16822797e+02] [ 1.12605748e-01 9.93631211e-01 -4.11848828e-03 2.70268212e+01] [ 4.54722439e-02 -1.01265943e-03 9.98965089e-01 1.53734143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38509989299996 meters 0.013074782908296813 Centerline is valid? [True, True] Translation: X:416.88, Y:27.04, Z:15.38 [[ 9.93292585e-01 -1.06440289e-01 -4.51697485e-02 4.16881803e+02] [ 1.06363094e-01 9.94318838e-01 -4.11585150e-03 2.70362166e+01] [ 4.53512243e-02 -7.16149430e-04 9.98970847e-01 1.53753705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44509989299996 meters 0.012714741893790849 Centerline is valid? [True, True] Translation: X:416.94, Y:27.04, Z:15.38 [[ 9.93528662e-01 -1.03962461e-01 -4.57449864e-02 4.16938947e+02] [ 1.03880564e-01 9.94581036e-01 -4.17036783e-03 2.70428022e+01] [ 4.59306577e-02 -6.08635042e-04 9.98944445e-01 1.53762304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50509989299997 meters 0.012950606429604373 Centerline is valid? [True, True] Translation: X:417.00, Y:27.05, Z:15.38 [[ 9.93452882e-01 -1.04328264e-01 -4.65508861e-02 4.16996397e+02] [ 1.04243664e-01 9.94542716e-01 -4.24797245e-03 2.70461752e+01] [ 4.67400283e-02 -6.32474446e-04 9.98906887e-01 1.53767194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56509989299997 meters 0.012634982115252245 Centerline is valid? [True, True] Translation: X:417.06, Y:27.05, Z:15.38 [[ 9.93228742e-01 -1.06812311e-01 -4.56924044e-02 4.17055017e+02] [ 1.06733184e-01 9.94278933e-01 -4.17496765e-03 2.70505794e+01] [ 4.58769330e-02 -7.30197937e-04 9.98946832e-01 1.53804760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62509989299997 meters 0.013393310088339997 Centerline is valid? [True, True] Translation: X:417.11, Y:27.05, Z:15.38 [[ 9.92680025e-01 -1.12598798e-01 -4.36792646e-02 4.17113605e+02] [ 1.12531610e-01 9.93640087e-01 -4.00184313e-03 2.70515427e+01] [ 4.38520710e-02 -9.42748251e-04 9.99037590e-01 1.53839477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.685099893 meters 0.014483705945336916 Centerline is valid? [True, True] Translation: X:417.17, Y:27.05, Z:15.39 [[ 9.92166697e-01 -1.17225773e-01 -4.31667042e-02 4.17172743e+02] [ 1.17164089e-01 9.93104655e-01 -3.96494592e-03 2.70533606e+01] [ 4.33338487e-02 -1.12370030e-03 9.99060016e-01 1.53861885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.745099893 meters 0.016357777282251414 Centerline is valid? [True, True] Translation: X:417.23, Y:27.05, Z:15.39 [[ 9.91614401e-01 -1.21717848e-01 -4.34240146e-02 4.17231892e+02] [ 1.21659589e-01 9.92563857e-01 -3.99170259e-03 2.70531309e+01] [ 4.35869689e-02 -1.32471801e-03 9.99048758e-01 1.53876646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.805099893 meters 0.01734960773104561 Centerline is valid? [True, True] Translation: X:417.29, Y:27.05, Z:15.39 [[ 9.90923047e-01 -1.27690268e-01 -4.20322584e-02 4.17292421e+02] [ 1.27640988e-01 9.91812905e-01 -3.86508869e-03 2.70538859e+01] [ 4.21816705e-02 -1.53503354e-03 9.99108778e-01 1.53908010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.865099893 meters 0.020809667262610094 Centerline is valid? [True, True] Translation: X:417.35, Y:27.05, Z:15.39 [[ 9.90795581e-01 -1.28965533e-01 -4.11340203e-02 4.17351726e+02] [ 1.28919441e-01 9.91647857e-01 -3.78232238e-03 2.70531462e+01] [ 4.12782523e-02 -1.55546659e-03 9.99146479e-01 1.53935468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.925099893 meters 0.018491606343640398 Centerline is valid? [True, True] Translation: X:417.41, Y:27.06, Z:15.40 [[ 9.90994012e-01 -1.27295134e-01 -4.15549857e-02 4.17410453e+02] [ 1.27246687e-01 9.91863746e-01 -3.81960272e-03 2.70623297e+01] [ 4.17031006e-02 -1.50253082e-03 9.99128918e-01 1.53956423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.985099893 meters 0.017136382390682565 Centerline is valid? [True, True] Translation: X:417.47, Y:27.07, Z:15.40 [[ 9.91440968e-01 -1.23717937e-01 -4.16974711e-02 4.17469619e+02] [ 1.23665934e-01 9.92316500e-01 -3.83421155e-03 2.70702894e+01] [ 4.18514493e-02 -1.35516228e-03 9.99122925e-01 1.53971226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.045099893 meters 0.015205293710164344 Centerline is valid? [True, True] Translation: X:417.53, Y:27.08, Z:15.40 [[ 9.92147899e-01 -1.17908768e-01 -4.17141426e-02 4.17529326e+02] [ 1.17851532e-01 9.93023813e-01 -3.83717598e-03 2.70798244e+01] [ 4.18755736e-02 -1.10902954e-03 9.99122218e-01 1.53987887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10509989299993 meters 0.015107915856500478 Centerline is valid? [True, True] Translation: X:417.59, Y:27.09, Z:15.40 [[ 9.92428394e-01 -1.15460415e-01 -4.18900419e-02 4.17587909e+02] [ 1.15400477e-01 9.93311570e-01 -3.85428927e-03 2.70862425e+01] [ 4.20548811e-02 -1.00902471e-03 9.99114793e-01 1.54008718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16509989299993 meters 0.014418735348277293 Centerline is valid? [True, True] Translation: X:417.65, Y:27.09, Z:15.40 [[ 9.92509163e-01 -1.14682300e-01 -4.21133095e-02 4.17647407e+02] [ 1.14620929e-01 9.93401737e-01 -3.87701571e-03 2.70942736e+01] [ 4.22800599e-02 -9.79093030e-04 9.99105319e-01 1.54035309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22509989299994 meters 0.014703146628978592 Centerline is valid? [True, True] Translation: X:417.71, Y:27.10, Z:15.41 [[ 9.92403090e-01 -1.15391336e-01 -4.26725543e-02 4.17706956e+02] [ 1.15328912e-01 9.93319584e-01 -3.93005257e-03 2.70996237e+01] [ 4.28409779e-02 -1.02118294e-03 9.99081382e-01 1.54056383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28509989299994 meters 0.015095867988850606 Centerline is valid? [True, True] Translation: X:417.77, Y:27.11, Z:15.41 [[ 9.91829051e-01 -1.19702753e-01 -4.41178444e-02 4.17766139e+02] [ 1.19640213e-01 9.92808993e-01 -4.06479385e-03 2.71051475e+01] [ 4.42871597e-02 -1.24668769e-03 9.99018065e-01 1.54086284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34509989299994 meters 0.015949019325641706 Centerline is valid? [True, True] Translation: X:417.83, Y:27.11, Z:15.41 [[ 9.91337696e-01 -1.23728736e-01 -4.40541868e-02 4.17825505e+02] [ 1.23670274e-01 9.92315059e-01 -4.06055128e-03 2.71093121e+01] [ 4.42180399e-02 -1.42281578e-03 9.99020891e-01 1.54117004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40509989299994 meters 0.019762908502401796 Centerline is valid? [True, True] Translation: X:417.88, Y:27.11, Z:15.41 [[ 9.90823093e-01 -1.28061784e-01 -4.32409283e-02 4.17884583e+02] [ 1.28009497e-01 9.91764926e-01 -3.98743201e-03 2.71088884e+01] [ 4.33954738e-02 -1.58440976e-03 9.99056716e-01 1.54145260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46509989299994 meters 0.018830881541137552 Centerline is valid? [True, True] Translation: X:417.94, Y:27.12, Z:15.42 [[ 9.90715915e-01 -1.28909838e-01 -4.31767324e-02 4.17943942e+02] [ 1.28858372e-01 9.91655002e-01 -3.98468929e-03 2.71160120e+01] [ 4.33300883e-02 -1.61598837e-03 9.99059504e-01 1.54175660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52509989299995 meters 0.018602203521447966 Centerline is valid? [True, True] Translation: X:418.00, Y:27.12, Z:15.42 [[ 9.90759460e-01 -1.28591379e-01 -4.31271430e-02 4.18003651e+02] [ 1.28539662e-01 9.91696376e-01 -3.98167145e-03 2.71221304e+01] [ 4.32810400e-02 -1.59866973e-03 9.99061658e-01 1.54197093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58509989299995 meters 0.016335193705769222 Centerline is valid? [True, True] Translation: X:418.06, Y:27.13, Z:15.42 [[ 9.91169478e-01 -1.25538854e-01 -4.26973263e-02 4.18063351e+02] [ 1.25485277e-01 9.92087645e-01 -3.94332157e-03 2.71319387e+01] [ 4.28545299e-02 -1.44938585e-03 9.99080271e-01 1.54221013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64509989299995 meters 0.014946647387858895 Centerline is valid? [True, True] Translation: X:418.12, Y:27.14, Z:15.42 [[ 9.91960905e-01 -1.19153892e-01 -4.26135397e-02 4.18122350e+02] [ 1.19094637e-01 9.92875107e-01 -3.93558344e-03 2.71414786e+01] [ 4.27788629e-02 -1.17109913e-03 9.99083879e-01 1.54239067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70509989299995 meters 0.013700541508886123 Centerline is valid? [True, True] Translation: X:418.18, Y:27.15, Z:15.43 [[ 9.92515037e-01 -1.14554363e-01 -4.23225556e-02 4.18181991e+02] [ 1.14491732e-01 9.93416511e-01 -3.90880363e-03 2.71503043e+01] [ 4.24916960e-02 -9.66036292e-04 9.99096353e-01 1.54261115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76509989299996 meters 0.01315472838280513 Centerline is valid? [True, True] Translation: X:418.24, Y:27.16, Z:15.43 [[ 9.92918175e-01 -1.11026469e-01 -4.22684448e-02 4.18240006e+02] [ 1.10960762e-01 9.93817117e-01 -3.90475559e-03 2.71570211e+01] [ 4.24406352e-02 -8.13036045e-04 9.99098660e-01 1.54271463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82509989299996 meters 0.013230210474856938 Centerline is valid? [True, True] Translation: X:418.30, Y:27.16, Z:15.43 [[ 9.92855209e-01 -1.11198423e-01 -4.32833157e-02 4.18299413e+02] [ 1.11129587e-01 9.93797871e-01 -4.00077043e-03 2.71625822e+01] [ 4.34597463e-02 -8.37871227e-04 9.99054828e-01 1.54282946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88509989299996 meters 0.013976403512156897 Centerline is valid? [True, True] Translation: X:418.36, Y:27.17, Z:15.43 [[ 9.92463430e-01 -1.14287062e-01 -4.42132171e-02 4.18358054e+02] [ 1.14218158e-01 9.93447274e-01 -4.08985179e-03 2.71665762e+01] [ 4.43909172e-02 -9.90923885e-04 9.99013746e-01 1.54299031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94509989299996 meters 0.015022810662858299 Centerline is valid? [True, True] Translation: X:418.42, Y:27.17, Z:15.43 [[ 9.92109428e-01 -1.17198468e-01 -4.45354056e-02 4.18416585e+02] [ 1.17130982e-01 9.93107884e-01 -4.13089326e-03 2.71700465e+01] [ 4.47125968e-02 -1.11817763e-03 9.98999266e-01 1.54319122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00509989299997 meters 0.016183605318226144 Centerline is valid? [True, True] Translation: X:418.48, Y:27.17, Z:15.43 [[ 9.91768226e-01 -1.20169782e-01 -4.42154814e-02 4.18475367e+02] [ 1.20105726e-01 9.92752590e-01 -4.11212788e-03 2.71740532e+01] [ 4.43891872e-02 -1.23225470e-03 9.99013554e-01 1.54343304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06509989299997 meters 0.017962922932788627 Centerline is valid? [True, True] Translation: X:418.53, Y:27.18, Z:15.44 [[ 9.91493265e-01 -1.22829279e-01 -4.30589518e-02 4.18534223e+02] [ 1.22770634e-01 9.92426955e-01 -4.01380868e-03 2.71772835e+01] [ 4.32258777e-02 -1.30671055e-03 9.99064470e-01 1.54373770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12509989299997 meters 0.018637197380879687 Centerline is valid? [True, True] Translation: X:418.59, Y:27.18, Z:15.44 [[ 9.91459284e-01 -1.23498337e-01 -4.19123941e-02 4.18593109e+02] [ 1.23443244e-01 9.92343931e-01 -3.90995192e-03 2.71819203e+01] [ 4.20743825e-02 -1.29724376e-03 9.99113639e-01 1.54401315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.185099893 meters 0.018254986719250015 Centerline is valid? [True, True] Translation: X:418.65, Y:27.19, Z:15.44 [[ 9.91562623e-01 -1.22947240e-01 -4.10796841e-02 4.18652103e+02] [ 1.22893477e-01 9.92412434e-01 -3.84109629e-03 2.71882524e+01] [ 4.12402415e-02 -1.23973770e-03 9.99148490e-01 1.54421227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.245099893 meters 0.01844459212474434 Centerline is valid? [True, True] Translation: X:418.71, Y:27.19, Z:15.44 [[ 9.91667925e-01 -1.21851095e-01 -4.17975797e-02 4.18710953e+02] [ 1.21794404e-01 9.92547650e-01 -3.90966791e-03 2.71943896e+01] [ 4.19624869e-02 -1.21361904e-03 9.99118450e-01 1.54439707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.305099893 meters 0.01687743180720542 Centerline is valid? [True, True] Translation: X:418.77, Y:27.20, Z:15.44 [[ 9.92080225e-01 -1.18066952e-01 -4.28604969e-02 4.18769175e+02] [ 1.18003740e-01 9.93005051e-01 -4.01075167e-03 2.72036013e+01] [ 4.30342272e-02 -1.07871151e-03 9.99073016e-01 1.54448156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.365099893 meters 0.0162578587178621 Centerline is valid? [True, True] Translation: X:418.83, Y:27.21, Z:15.45 [[ 9.92363189e-01 -1.15470279e-01 -4.33810480e-02 4.18826943e+02] [ 1.15402870e-01 9.93310458e-01 -4.06340553e-03 2.72107970e+01] [ 4.35600512e-02 -9.73923391e-04 9.99050336e-01 1.54465163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.425099893 meters 0.0145539690791159 Centerline is valid? [True, True] Translation: X:418.88, Y:27.22, Z:15.45 [[ 9.92866746e-01 -1.10721032e-01 -4.42320956e-02 4.18884317e+02] [ 1.10645829e-01 9.93851225e-01 -4.15240730e-03 2.72201931e+01] [ 4.44198812e-02 -7.71309736e-04 9.99012652e-01 1.54478573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.485099893 meters 0.013742011800221143 Centerline is valid? [True, True] Translation: X:418.94, Y:27.23, Z:15.45 [[ 9.93087557e-01 -1.08582482e-01 -4.45751940e-02 4.18942672e+02] [ 1.08503745e-01 9.94087213e-01 -4.18928576e-03 2.72275866e+01] [ 4.47665135e-02 -6.76247913e-04 9.98997248e-01 1.54493531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.545099893 meters 0.013840619864281546 Centerline is valid? [True, True] Translation: X:419.00, Y:27.23, Z:15.45 [[ 9.93089605e-01 -1.08364027e-01 -4.50585669e-02 4.18999231e+02] [ 1.08282927e-01 9.94111058e-01 -4.24398634e-03 2.72328923e+01] [ 4.52531150e-02 -6.64414805e-04 9.98975332e-01 1.54507364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60509989299993 meters 0.015131476546134698 Centerline is valid? [True, True] Translation: X:419.06, Y:27.24, Z:15.45 [[ 9.92783105e-01 -1.11166180e-01 -4.49865266e-02 4.19058045e+02] [ 1.11087951e-01 9.93801522e-01 -4.24300022e-03 2.72358843e+01] [ 4.51793567e-02 -7.85082116e-04 9.98978583e-01 1.54529585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66509989299993 meters 0.01983064954646412 Centerline is valid? [True, True] Translation: X:419.12, Y:27.23, Z:15.46 [[ 9.91891218e-01 -1.19073136e-01 -4.44229591e-02 4.19117925e+02] [ 1.19004402e-01 9.92884852e-01 -4.19808223e-03 2.72324668e+01] [ 4.46067619e-02 -1.12248679e-03 9.99003992e-01 1.54560051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72509989299994 meters 0.01655787386555582 Centerline is valid? [True, True] Translation: X:419.18, Y:27.24, Z:15.46 [[ 9.91131264e-01 -1.25854342e-01 -4.26556192e-02 4.19177442e+02] [ 1.25797184e-01 9.92047786e-01 -4.03226211e-03 2.72415677e+01] [ 4.28238903e-02 -1.36945575e-03 9.99081698e-01 1.54619574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78509989299994 meters 0.0318234636328193 Centerline is valid? [True, True] Translation: X:419.24, Y:27.22, Z:15.46 [[ 9.89890912e-01 -1.35240701e-01 -4.27309608e-02 4.19239052e+02] [ 1.35192030e-01 9.90811179e-01 -4.04008448e-03 2.72241080e+01] [ 4.28846975e-02 -1.77764243e-03 9.99078447e-01 1.54611334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84509989299994 meters 0.036164018027084986 Centerline is valid? [True, True] Translation: X:419.30, Y:27.22, Z:15.46 [[ 9.89155223e-01 -1.40317604e-01 -4.33925622e-02 4.19300236e+02] [ 1.40272277e-01 9.90104467e-01 -4.10280833e-03 2.72233041e+01] [ 4.35388659e-02 -2.02845921e-03 9.99049675e-01 1.54618509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90509989299994 meters 0.04185471841916124 Centerline is valid? [True, True] Translation: X:419.36, Y:27.22, Z:15.46 [[ 9.88365282e-01 -1.45942476e-01 -4.28352896e-02 4.19360327e+02] [ 1.45903561e-01 9.89290527e-01 -4.05027829e-03 2.72222106e+01] [ 4.29676539e-02 -2.24666686e-03 9.99073938e-01 1.54644817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96509989299994 meters 0.02330602675515985 Centerline is valid? [True, True] Translation: X:419.42, Y:27.26, Z:15.47 [[ 9.88120610e-01 -1.47954695e-01 -4.15580033e-02 4.19418197e+02] [ 1.47919819e-01 9.88991548e-01 -3.92994164e-03 2.72553239e+01] [ 4.16819674e-02 -2.26399602e-03 9.99128364e-01 1.54706508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02509989299995 meters 0.026000520967640706 Centerline is valid? [True, True] Translation: X:419.48, Y:27.26, Z:15.47 [[ 9.88152519e-01 -1.47679501e-01 -4.17775592e-02 4.19478746e+02] [ 1.47644044e-01 9.89032676e-01 -3.94991995e-03 2.72602700e+01] [ 4.19026934e-02 -2.26508445e-03 9.99119129e-01 1.54727478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08509989299995 meters 0.028771543092922194 Centerline is valid? [True, True] Translation: X:419.54, Y:27.27, Z:15.48 [[ 9.88418241e-01 -1.46173925e-01 -4.07745687e-02 4.19538019e+02] [ 1.46138902e-01 9.89256572e-01 -3.85434784e-03 2.72670163e+01] [ 4.08999152e-02 -2.14904300e-03 9.99160937e-01 1.54754152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14509989299995 meters 0.023024212742729987 Centerline is valid? [True, True] Translation: X:419.60, Y:27.28, Z:15.48 [[ 9.88561343e-01 -1.45177873e-01 -4.08638733e-02 4.19598456e+02] [ 1.45141886e-01 9.89403315e-01 -3.86187764e-03 2.72821384e+01] [ 4.09915108e-02 -2.11335669e-03 9.99157260e-01 1.54785227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20509989299995 meters 0.02170011237080217 Centerline is valid? [True, True] Translation: X:419.66, Y:27.29, Z:15.48 [[ 9.88818839e-01 -1.43223962e-01 -4.15234826e-02 4.19659176e+02] [ 1.43185151e-01 9.89688146e-01 -3.92265407e-03 2.72935440e+01] [ 4.16571165e-02 -2.06675187e-03 9.99129828e-01 1.54813748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26509989299996 meters 0.021277377841933644 Centerline is valid? [True, True] Translation: X:419.72, Y:27.31, Z:15.48 [[ 9.89190489e-01 -1.40223754e-01 -4.28890992e-02 4.19720301e+02] [ 1.40179613e-01 9.90117808e-01 -4.04989979e-03 2.73056189e+01] [ 4.30331531e-02 -2.00605496e-03 9.99071631e-01 1.54833479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32509989299996 meters 0.02049207156167782 Centerline is valid? [True, True] Translation: X:419.78, Y:27.32, Z:15.49 [[ 9.89539520e-01 -1.37689873e-01 -4.30469101e-02 4.19780482e+02] [ 1.37643113e-01 9.90473558e-01 -4.06251249e-03 2.73176613e+01] [ 4.31961930e-02 -1.90509405e-03 9.99064792e-01 1.54861888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38509989299996 meters 0.020330487405482555 Centerline is valid? [True, True] Translation: X:419.84, Y:27.33, Z:15.49 [[ 9.89817450e-01 -1.35637267e-01 -4.31734640e-02 4.19841397e+02] [ 1.35588353e-01 9.90756888e-01 -4.07285701e-03 2.73273786e+01] [ 4.33268380e-02 -1.82243392e-03 9.99059289e-01 1.54890296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44509989299996 meters 0.018209760771888513 Centerline is valid? [True, True] Translation: X:419.90, Y:27.34, Z:15.49 [[ 9.90460916e-01 -1.31392265e-01 -4.15120152e-02 4.19901225e+02] [ 1.31343377e-01 9.91329205e-01 -3.91473490e-03 2.73417910e+01] [ 4.16664389e-02 -1.57493636e-03 9.99130336e-01 1.54925409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50509989299997 meters 0.018007174108463544 Centerline is valid? [True, True] Translation: X:419.96, Y:27.35, Z:15.50 [[ 9.91006494e-01 -1.27610443e-01 -4.02703777e-02 4.19960978e+02] [ 1.27561346e-01 9.91823415e-01 -3.79692447e-03 2.73508481e+01] [ 4.04256308e-02 -1.37416677e-03 9.99181605e-01 1.54953519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56509989299997 meters 0.01643157111018834 Centerline is valid? [True, True] Translation: X:420.02, Y:27.36, Z:15.50 [[ 9.91453615e-01 -1.24531258e-01 -3.88805311e-02 4.20021743e+02] [ 1.24483156e-01 9.92214952e-01 -3.66511627e-03 2.73623056e+01] [ 3.90342658e-02 -1.20617843e-03 9.99237145e-01 1.54990710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62509989299997 meters 0.01554179184134164 Centerline is valid? [True, True] Translation: X:420.08, Y:27.37, Z:15.50 [[ 9.91914718e-01 -1.20677219e-01 -3.92708734e-02 4.20082219e+02] [ 1.20625223e-01 9.92691226e-01 -3.69950456e-03 2.73739247e+01] [ 3.94302973e-02 -1.06746482e-03 9.99221753e-01 1.55009556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.685099893 meters 0.014193389145243101 Centerline is valid? [True, True] Translation: X:420.14, Y:27.38, Z:15.50 [[ 9.92220686e-01 -1.18219033e-01 -3.90175770e-02 4.20144044e+02] [ 1.18165864e-01 9.92987074e-01 -3.67417090e-03 2.73835034e+01] [ 3.91783066e-02 -9.64957329e-04 9.99231769e-01 1.55032434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.745099893 meters 0.013909383822588946 Centerline is valid? [True, True] Translation: X:420.20, Y:27.39, Z:15.51 [[ 9.92696499e-01 -1.14661817e-01 -3.75010505e-02 4.20204915e+02] [ 1.14610264e-01 9.93404266e-01 -3.52871415e-03 2.73899379e+01] [ 3.76583123e-02 -7.95063093e-04 9.99290358e-01 1.55058115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.805099893 meters 0.012756796148216457 Centerline is valid? [True, True] Translation: X:420.27, Y:27.40, Z:15.51 [[ 9.93050798e-01 -1.11370881e-01 -3.80347112e-02 4.20266646e+02] [ 1.11315516e-01 9.93778679e-01 -3.57684293e-03 2.73977949e+01] [ 3.81964412e-02 -6.81866786e-04 9.99270017e-01 1.55067440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.865099893 meters 0.012722597022243855 Centerline is valid? [True, True] Translation: X:420.33, Y:27.40, Z:15.51 [[ 9.93174557e-01 -1.09908772e-01 -3.90430577e-02 4.20327529e+02] [ 1.09849417e-01 9.93941470e-01 -3.66878454e-03 2.74027493e+01] [ 3.92097458e-02 -6.45113660e-04 9.99230794e-01 1.55073441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.925099893 meters 0.011931609319957376 Centerline is valid? [True, True] Translation: X:420.39, Y:27.41, Z:15.51 [[ 9.93209867e-01 -1.09348539e-01 -3.97121902e-02 4.20389387e+02] [ 1.09286773e-01 9.94003266e-01 -3.72943135e-03 2.74078740e+01] [ 3.98818546e-02 -6.35909084e-04 9.99204200e-01 1.55092889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.985099893 meters 0.012351804885911682 Centerline is valid? [True, True] Translation: X:420.45, Y:27.41, Z:15.51 [[ 9.93084059e-01 -1.10362687e-01 -4.00515773e-02 4.20450598e+02] [ 1.10300805e-01 9.93891145e-01 -3.75832829e-03 2.74105641e+01] [ 4.02216872e-02 -6.85385288e-04 9.99190545e-01 1.55116298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.045099893 meters 0.012794524845709261 Centerline is valid? [True, True] Translation: X:420.51, Y:27.41, Z:15.51 [[ 9.92712296e-01 -1.13852434e-01 -3.94958208e-02 4.20512541e+02] [ 1.13795104e-01 9.93497335e-01 -3.70397022e-03 2.74118005e+01] [ 3.96606988e-02 -8.17454246e-04 9.99212871e-01 1.55140360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10509989299993 meters 0.013872364447685455 Centerline is valid? [True, True] Translation: X:420.57, Y:27.41, Z:15.52 [[ 9.92441318e-01 -1.16442320e-01 -3.87481232e-02 4.20574151e+02] [ 1.16389220e-01 9.93197042e-01 -3.63104469e-03 2.74128215e+01] [ 3.89073287e-02 -9.06265082e-04 9.99242412e-01 1.55171538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16509989299993 meters 0.014503691957223739 Centerline is valid? [True, True] Translation: X:420.64, Y:27.42, Z:15.52 [[ 9.92146117e-01 -1.18915138e-01 -3.87978411e-02 4.20636047e+02] [ 1.18863875e-01 9.92903911e-01 -3.63352904e-03 2.74157079e+01] [ 3.89546098e-02 -1.00667001e-03 9.99240474e-01 1.55195467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22509989299994 meters 0.014742460224849516 Centerline is valid? [True, True] Translation: X:420.70, Y:27.42, Z:15.52 [[ 9.91802367e-01 -1.21610119e-01 -3.92306395e-02 4.20698132e+02] [ 1.21559926e-01 9.92577305e-01 -3.67116091e-03 2.74185942e+01] [ 3.93858927e-02 -1.12780755e-03 9.99223438e-01 1.55208835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28509989299994 meters 0.015121598064554773 Centerline is valid? [True, True] Translation: X:420.76, Y:27.42, Z:15.52 [[ 9.91580671e-01 -1.23251849e-01 -3.97083697e-02 4.20760136e+02] [ 1.23201860e-01 9.92374685e-01 -3.71287758e-03 2.74215946e+01] [ 3.98631999e-02 -1.21052735e-03 9.99204413e-01 1.55228840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34509989299994 meters 0.01590252863133288 Centerline is valid? [True, True] Translation: X:420.82, Y:27.42, Z:15.53 [[ 9.91367056e-01 -1.25031823e-01 -3.94766312e-02 4.20822355e+02] [ 1.24983940e-01 9.92151909e-01 -3.68828617e-03 2.74249039e+01] [ 3.96279682e-02 -1.27749952e-03 9.99213687e-01 1.55252152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40509989299994 meters 0.017736204748388953 Centerline is valid? [True, True] Translation: X:420.88, Y:27.43, Z:15.53 [[ 9.90994069e-01 -1.28100304e-01 -3.90008706e-02 4.20883309e+02] [ 1.28056050e-01 9.91760249e-01 -3.64105180e-03 2.74261435e+01] [ 3.91459330e-02 -1.38603669e-03 9.99232543e-01 1.55276724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46509989299994 meters 0.01827099707951049 Centerline is valid? [True, True] Translation: X:420.95, Y:27.43, Z:15.53 [[ 9.90721380e-01 -1.30208070e-01 -3.89487603e-02 4.20945700e+02] [ 1.30165618e-01 9.91485603e-01 -3.63469791e-03 2.74303003e+01] [ 3.90904021e-02 -1.46881651e-03 9.99234599e-01 1.55301640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52509989299995 meters 0.020642561733549503 Centerline is valid? [True, True] Translation: X:421.01, Y:27.43, Z:15.53 [[ 9.90145120e-01 -1.34291565e-01 -3.97292839e-02 4.21007296e+02] [ 1.34250787e-01 9.90940463e-01 -3.70467369e-03 2.74322808e+01] [ 3.98668614e-02 -1.66552306e-03 9.99203613e-01 1.55321733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58509989299995 meters 0.021275347089366303 Centerline is valid? [True, True] Translation: X:421.07, Y:27.44, Z:15.53 [[ 9.89212067e-01 -1.39760158e-01 -4.38928841e-02 4.21067661e+02] [ 1.39715820e-01 9.90183190e-01 -4.09142221e-03 2.74372865e+01] [ 4.40338138e-02 -2.08524607e-03 9.99027865e-01 1.55314704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64509989299995 meters 0.022517256751281623 Centerline is valid? [True, True] Translation: X:421.13, Y:27.44, Z:15.53 [[ 9.88554451e-01 -1.44485806e-01 -4.34044796e-02 4.21128700e+02] [ 1.44446998e-01 9.89504269e-01 -4.04564150e-03 2.74417595e+01] [ 4.35334556e-02 -2.27030985e-03 9.99049390e-01 1.55343497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70509989299995 meters 0.02501809166763546 Centerline is valid? [True, True] Translation: X:421.19, Y:27.45, Z:15.54 [[ 9.87299627e-01 -1.52793623e-01 -4.35150034e-02 4.21189128e+02] [ 1.52762675e-01 9.88254582e-01 -4.05531024e-03 2.74453810e+01] [ 4.36235271e-02 -2.64366202e-03 9.99044543e-01 1.55375415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76509989299996 meters 0.026494880106907388 Centerline is valid? [True, True] Translation: X:421.25, Y:27.45, Z:15.54 [[ 9.86614351e-01 -1.57053027e-01 -4.38915728e-02 4.21249636e+02] [ 1.57025727e-01 9.87586041e-01 -4.09056367e-03 2.74505633e+01] [ 4.39891400e-02 -2.85629730e-03 9.99027926e-01 1.55393994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82509989299996 meters 0.029487804323465944 Centerline is valid? [True, True] Translation: X:421.31, Y:27.46, Z:15.54 [[ 9.86154843e-01 -1.60424699e-01 -4.19826473e-02 4.21309757e+02] [ 1.60402772e-01 9.87043892e-01 -3.91230304e-03 2.74557474e+01] [ 4.20663457e-02 -2.87599640e-03 9.99110680e-01 1.55426972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88509989299996 meters 0.02964154429056131 Centerline is valid? [True, True] Translation: X:421.37, Y:27.46, Z:15.55 [[ 9.86184883e-01 -1.60586985e-01 -4.06349282e-02 4.21371348e+02] [ 1.60566615e-01 9.87017745e-01 -3.78578457e-03 2.74637787e+01] [ 4.07153430e-02 -2.79112938e-03 9.99166888e-01 1.55460309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94509989299996 meters 0.029163820898575582 Centerline is valid? [True, True] Translation: X:421.43, Y:27.48, Z:15.55 [[ 9.86328509e-01 -1.59672529e-01 -4.07523621e-02 4.21432672e+02] [ 1.59651389e-01 9.87166167e-01 -3.79368361e-03 2.74752234e+01] [ 4.08351002e-02 -2.76435291e-03 9.99162075e-01 1.55482501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00509989299997 meters 0.03016098938360178 Centerline is valid? [True, True] Translation: X:421.49, Y:27.48, Z:15.55 [[ 9.86540429e-01 -1.58417325e-01 -4.05207663e-02 4.21494846e+02] [ 1.58395495e-01 9.87368554e-01 -3.76906205e-03 2.74834139e+01] [ 4.06060152e-02 -2.69997476e-03 9.99171588e-01 1.55506014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06509989299997 meters 0.029668296351926422 Centerline is valid? [True, True] Translation: X:421.56, Y:27.49, Z:15.55 [[ 9.86687886e-01 -1.57490178e-01 -4.05445445e-02 4.21555926e+02] [ 1.57467692e-01 9.87516952e-01 -3.76762203e-03 2.74933317e+01] [ 4.06317884e-02 -2.66698881e-03 9.99170629e-01 1.55529693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12509989299997 meters 0.026815451627868418 Centerline is valid? [True, True] Translation: X:421.62, Y:27.51, Z:15.55 [[ 9.86832133e-01 -1.56368124e-01 -4.13684844e-02 4.21616938e+02] [ 1.56343863e-01 9.87695217e-01 -3.84108790e-03 2.75062363e+01] [ 4.14600779e-02 -2.67719969e-03 9.99136575e-01 1.55542150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.185099893 meters 0.029555749370653844 Centerline is valid? [True, True] Translation: X:421.68, Y:27.51, Z:15.55 [[ 9.86851040e-01 -1.55644993e-01 -4.35850950e-02 4.21678036e+02] [ 1.55617534e-01 9.87809110e-01 -4.04305074e-03 2.75146467e+01] [ 4.36830345e-02 -2.79271618e-03 9.99041537e-01 1.55539177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.245099893 meters 0.027991945016061833 Centerline is valid? [True, True] Translation: X:421.74, Y:27.53, Z:15.56 [[ 9.87041688e-01 -1.54331341e-01 -4.39379386e-02 4.21739687e+02] [ 1.54302399e-01 9.88015286e-01 -4.06991416e-03 2.75269651e+01] [ 4.40394703e-02 -2.76255438e-03 9.99025972e-01 1.55556632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.305099893 meters 0.028915556386276207 Centerline is valid? [True, True] Translation: X:421.80, Y:27.54, Z:15.56 [[ 9.87599726e-01 -1.51390956e-01 -4.15639305e-02 4.21798526e+02] [ 1.51362593e-01 9.88470823e-01 -3.84678440e-03 2.75387086e+01] [ 4.16671010e-02 -2.49214109e-03 9.99128441e-01 1.55593659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.365099893 meters 0.027501148165982325 Centerline is valid? [True, True] Translation: X:421.86, Y:27.55, Z:15.56 [[ 9.87999831e-01 -1.49386845e-01 -3.92416265e-02 4.21859301e+02] [ 1.49359991e-01 9.88776215e-01 -3.63169409e-03 2.75510244e+01] [ 3.93437143e-02 -2.27301582e-03 9.99223151e-01 1.55637352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.425099893 meters 0.02421385517277625 Centerline is valid? [True, True] Translation: X:421.92, Y:27.57, Z:15.57 [[ 9.88269679e-01 -1.47744987e-01 -3.86582505e-02 4.21919488e+02] [ 1.47717782e-01 9.89023092e-01 -3.57487600e-03 2.75670605e+01] [ 3.87620725e-02 -2.17756948e-03 9.99246096e-01 1.55656027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.485099893 meters 0.025671717647500123 Centerline is valid? [True, True] Translation: X:421.98, Y:27.58, Z:15.57 [[ 9.88279317e-01 -1.47794998e-01 -3.82181816e-02 4.21980137e+02] [ 1.47768501e-01 9.89015667e-01 -3.53274561e-03 2.75750195e+01] [ 3.83205025e-02 -2.15610397e-03 9.99263174e-01 1.55662780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.545099893 meters 0.025479096900885095 Centerline is valid? [True, True] Translation: X:422.04, Y:27.59, Z:15.57 [[ 9.87740678e-01 -1.50576405e-01 -4.11715800e-02 4.22041053e+02] [ 1.50548162e-01 9.88595360e-01 -3.80339109e-03 2.75856272e+01] [ 4.12747339e-02 -2.44154161e-03 9.99144852e-01 1.55652377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60509989299993 meters 0.029254122700553737 Centerline is valid? [True, True] Translation: X:422.10, Y:27.59, Z:15.57 [[ 9.87495082e-01 -1.51685056e-01 -4.29546995e-02 4.22102341e+02] [ 1.51655437e-01 9.88425463e-01 -3.96635529e-03 2.75887565e+01] [ 4.30591556e-02 -2.59755737e-03 9.99069148e-01 1.55650020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66509989299993 meters 0.030554578582000506 Centerline is valid? [True, True] Translation: X:422.16, Y:27.59, Z:15.57 [[ 9.87440169e-01 -1.51891652e-01 -4.34837765e-02 4.22163758e+02] [ 1.51861604e-01 9.88393621e-01 -4.01280205e-03 2.75941600e+01] [ 4.35885984e-02 -2.64111411e-03 9.99046074e-01 1.55667023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72509989299994 meters 0.027523582463918065 Centerline is valid? [True, True] Translation: X:422.22, Y:27.61, Z:15.57 [[ 9.87739921e-01 -1.50379822e-01 -4.19017504e-02 4.22224017e+02] [ 1.50350651e-01 9.88625180e-01 -3.86473650e-03 2.76082960e+01] [ 4.20063039e-02 -2.48260091e-03 9.99114261e-01 1.55698115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78509989299994 meters 0.02509747210681495 Centerline is valid? [True, True] Translation: X:422.28, Y:27.62, Z:15.57 [[ 9.88167675e-01 -1.47883510e-01 -4.06830945e-02 4.22284734e+02] [ 1.47853962e-01 9.89002092e-01 -3.75082381e-03 2.76199913e+01] [ 4.07903506e-02 -2.30871388e-03 9.99165060e-01 1.55729802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84509989299994 meters 0.02708315931747141 Centerline is valid? [True, True] Translation: X:422.34, Y:27.63, Z:15.58 [[ 9.88754709e-01 -1.44389775e-01 -3.89322165e-02 4.22344413e+02] [ 1.44360090e-01 9.89518719e-01 -3.58742602e-03 2.76271311e+01] [ 3.90421446e-02 -2.07317391e-03 9.99235414e-01 1.55759804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90509989299994 meters 0.022346424693326407 Centerline is valid? [True, True] Translation: X:422.41, Y:27.64, Z:15.58 [[ 9.88865082e-01 -1.43540177e-01 -3.92691718e-02 4.22405414e+02] [ 1.43509315e-01 9.89642352e-01 -3.61831547e-03 2.76421701e+01] [ 3.93818092e-02 -2.05746611e-03 9.99222117e-01 1.55787266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96509989299994 meters 0.025754128282933324 Centerline is valid? [True, True] Translation: X:422.47, Y:27.64, Z:15.58 [[ 9.88746065e-01 -1.44226139e-01 -3.97497063e-02 4.22466802e+02] [ 1.44195188e-01 9.89542498e-01 -3.65962165e-03 2.76440222e+01] [ 3.98618368e-02 -2.11327986e-03 9.99202966e-01 1.55803291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02509989299995 meters 0.023627337111082596 Centerline is valid? [True, True] Translation: X:422.53, Y:27.65, Z:15.58 [[ 9.88628260e-01 -1.44886789e-01 -4.02738309e-02 4.22528006e+02] [ 1.44855658e-01 9.89445859e-01 -3.70555182e-03 2.76530966e+01] [ 4.03856607e-02 -2.17047902e-03 9.99181809e-01 1.55819060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08509989299995 meters 0.025268388035266005 Centerline is valid? [True, True] Translation: X:422.59, Y:27.66, Z:15.58 [[ 9.88584368e-01 -1.45111903e-01 -4.05398875e-02 4.22588609e+02] [ 1.45080668e-01 9.89412810e-01 -3.72707138e-03 2.76584515e+01] [ 4.06515265e-02 -2.19702946e-03 9.99170970e-01 1.55837548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14509989299995 meters 0.025191231141814752 Centerline is valid? [True, True] Translation: X:422.65, Y:27.67, Z:15.59 [[ 9.88958832e-01 -1.42549086e-01 -4.04992275e-02 4.22649918e+02] [ 1.42515860e-01 9.89785524e-01 -3.72111858e-03 2.76666645e+01] [ 4.06159912e-02 -2.09174917e-03 9.99172641e-01 1.55857307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20509989299995 meters 0.02344497505581376 Centerline is valid? [True, True] Translation: X:422.71, Y:27.68, Z:15.59 [[ 9.89252877e-01 -1.40311358e-01 -4.11274628e-02 4.22710805e+02] [ 1.40275256e-01 9.90105343e-01 -3.77666519e-03 2.76764474e+01] [ 4.12504297e-02 -2.03308848e-03 9.99146770e-01 1.55875606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26509989299996 meters 0.02340337112209976 Centerline is valid? [True, True] Translation: X:422.77, Y:27.69, Z:15.59 [[ 9.89592184e-01 -1.37836222e-01 -4.13338274e-02 4.22772282e+02] [ 1.37797669e-01 9.90453133e-01 -3.79403257e-03 2.76850915e+01] [ 4.14621740e-02 -1.94116010e-03 9.99138189e-01 1.55888238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32509989299996 meters 0.021063528334236904 Centerline is valid? [True, True] Translation: X:422.83, Y:27.70, Z:15.59 [[ 9.89696113e-01 -1.37172359e-01 -4.10529869e-02 4.22833992e+02] [ 1.37133851e-01 9.90545367e-01 -3.76598538e-03 2.76951981e+01] [ 4.11814351e-02 -1.90257311e-03 9.99149873e-01 1.55911710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38509989299996 meters 0.021037375050047016 Centerline is valid? [True, True] Translation: X:422.90, Y:27.70, Z:15.59 [[ 9.89541014e-01 -1.38134078e-01 -4.15638936e-02 4.22895570e+02] [ 1.38095582e-01 9.90411579e-01 -3.80973925e-03 2.77028676e+01] [ 4.16916163e-02 -1.96989684e-03 9.99128585e-01 1.55924925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44509989299996 meters 0.025066871422884683 Centerline is valid? [True, True] Translation: X:422.96, Y:27.70, Z:15.59 [[ 9.89237866e-01 -1.39874583e-01 -4.29365253e-02 4.22956858e+02] [ 1.39835276e-01 9.90166972e-01 -3.93237314e-03 2.77035153e+01] [ 4.30643683e-02 -2.11398846e-03 9.99070063e-01 1.55930945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50509989299997 meters 0.02251294931828449 Centerline is valid? [True, True] Translation: X:423.02, Y:27.71, Z:15.60 [[ 9.88922124e-01 -1.41947345e-01 -4.34048888e-02 4.23017956e+02] [ 1.41909271e-01 9.89871696e-01 -3.97285063e-03 2.77135155e+01] [ 4.35292065e-02 -2.23071627e-03 9.99049664e-01 1.55950168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56509989299997 meters 0.0257987760161031 Centerline is valid? [True, True] Translation: X:423.08, Y:27.72, Z:15.60 [[ 9.88674036e-01 -1.43584384e-01 -4.36712219e-02 4.23079372e+02] [ 1.43547541e-01 9.89635360e-01 -3.99477934e-03 2.77157820e+01] [ 4.37921733e-02 -2.31936189e-03 9.99037970e-01 1.55966121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62509989299997 meters 0.025793434877407952 Centerline is valid? [True, True] Translation: X:423.14, Y:27.72, Z:15.60 [[ 9.88747802e-01 -1.43258817e-01 -4.30661854e-02 4.23141424e+02] [ 1.43222784e-01 9.89682643e-01 -3.93699674e-03 2.77231520e+01] [ 4.31858657e-02 -2.27536212e-03 9.99064464e-01 1.55990453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.685099893 meters 0.02393448758532012 Centerline is valid? [True, True] Translation: X:423.20, Y:27.73, Z:15.60 [[ 9.89179832e-01 -1.40065996e-01 -4.36437595e-02 4.23202487e+02] [ 1.40026025e-01 9.90139797e-01 -3.98675006e-03 2.77342864e+01] [ 4.37718313e-02 -2.16764941e-03 9.99039202e-01 1.56014595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.745099893 meters 0.02372883706018051 Centerline is valid? [True, True] Translation: X:423.26, Y:27.74, Z:15.60 [[ 9.89594055e-01 -1.37306390e-01 -4.30181618e-02 4.23263261e+02] [ 1.37265049e-01 9.90526568e-01 -3.92741812e-03 2.77419083e+01] [ 4.31498918e-02 -2.01834048e-03 9.99066571e-01 1.56035179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.805099893 meters 0.02128698543990395 Centerline is valid? [True, True] Translation: X:423.32, Y:27.75, Z:15.61 [[ 9.89935150e-01 -1.35029755e-01 -4.23717431e-02 4.23324270e+02] [ 1.34987634e-01 9.90839738e-01 -3.86681029e-03 2.77531433e+01] [ 4.25057413e-02 -1.89176991e-03 9.99094432e-01 1.56068218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.865099893 meters 0.0204976489688276 Centerline is valid? [True, True] Translation: X:423.39, Y:27.76, Z:15.61 [[ 9.90066239e-01 -1.33926205e-01 -4.28090401e-02 4.23386281e+02] [ 1.33882288e-01 9.90989551e-01 -3.90424035e-03 2.77614086e+01] [ 4.29461915e-02 -1.86591568e-03 9.99075644e-01 1.56083280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.925099893 meters 0.020727724035619927 Centerline is valid? [True, True] Translation: X:423.45, Y:27.77, Z:15.61 [[ 9.90183277e-01 -1.33149565e-01 -4.25237755e-02 4.23448355e+02] [ 1.33105649e-01 9.91094279e-01 -3.87511268e-03 2.77673290e+01] [ 4.26610402e-02 -1.82308297e-03 9.99087940e-01 1.56103995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.985099893 meters 0.01907343254144977 Centerline is valid? [True, True] Translation: X:423.51, Y:27.78, Z:15.61 [[ 9.90608452e-01 -1.30203257e-01 -4.17373527e-02 4.23508895e+02] [ 1.30158458e-01 9.91485921e-01 -3.80061660e-03 2.77771723e+01] [ 4.18768502e-02 -1.66754652e-03 9.99121388e-01 1.56134278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.045099893 meters 0.01911907872705828 Centerline is valid? [True, True] Translation: X:423.57, Y:27.78, Z:15.61 [[ 9.90818155e-01 -1.28391147e-01 -4.23685849e-02 4.23570932e+02] [ 1.28343405e-01 9.91722289e-01 -3.85631842e-03 2.77833666e+01] [ 4.25129872e-02 -1.61681816e-03 9.99094606e-01 1.56149189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10509989299993 meters 0.019191734932990746 Centerline is valid? [True, True] Translation: X:423.63, Y:27.79, Z:15.61 [[ 9.91000163e-01 -1.26099257e-01 -4.49183129e-02 4.23631904e+02] [ 1.26043457e-01 9.92016315e-01 -4.08372128e-03 2.77887080e+01] [ 4.50746535e-02 -1.61469098e-03 9.98982316e-01 1.56148449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16509989299993 meters 0.018908489760225942 Centerline is valid? [True, True] Translation: X:423.69, Y:27.79, Z:15.62 [[ 9.90901725e-01 -1.27037632e-01 -4.44433515e-02 4.23693876e+02] [ 1.26984352e-01 9.91896528e-01 -4.03148025e-03 2.77944281e+01] [ 4.45953557e-02 -1.64880945e-03 9.99003772e-01 1.56175266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22509989299994 meters 0.018691525889866355 Centerline is valid? [True, True] Translation: X:423.76, Y:27.80, Z:15.62 [[ 9.90792311e-01 -1.28060266e-01 -4.39450171e-02 4.23756011e+02] [ 1.28009317e-01 9.91764967e-01 -3.98311202e-03 2.77996605e+01] [ 4.40932068e-02 -1.67893486e-03 9.99026011e-01 1.56202757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28509989299994 meters 0.018831322850022928 Centerline is valid? [True, True] Translation: X:423.82, Y:27.80, Z:15.62 [[ 9.90648085e-01 -1.29395409e-01 -4.32804782e-02 4.23818038e+02] [ 1.29347397e-01 9.91591593e-01 -3.91973297e-03 2.78045044e+01] [ 4.34237538e-02 -1.71514125e-03 9.99055272e-01 1.56232165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34509989299994 meters 0.02051734417674657 Centerline is valid? [True, True] Translation: X:423.88, Y:27.81, Z:15.63 [[ 9.90272586e-01 -1.32127362e-01 -4.36184139e-02 4.23880375e+02] [ 1.32081384e-01 9.91231017e-01 -3.94708724e-03 2.78061435e+01] [ 4.37574430e-02 -1.85248818e-03 9.99040467e-01 1.56255036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40509989299994 meters 0.02115567446678128 Centerline is valid? [True, True] Translation: X:423.94, Y:27.81, Z:15.63 [[ 9.89847174e-01 -1.34869454e-01 -4.48642683e-02 4.23941401e+02] [ 1.34823753e-01 9.90861291e-01 -4.05691259e-03 2.78084999e+01] [ 4.50014204e-02 -2.03304555e-03 9.98984854e-01 1.56266154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46509989299994 meters 0.022167782110625898 Centerline is valid? [True, True] Translation: X:424.00, Y:27.81, Z:15.63 [[ 9.89817803e-01 -1.34998016e-01 -4.51248633e-02 4.24002484e+02] [ 1.34951967e-01 9.90843744e-01 -4.07935590e-03 2.78111008e+01] [ 4.52623934e-02 -2.05186995e-03 9.98973025e-01 1.56286376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52509989299995 meters 0.021753127326986997 Centerline is valid? [True, True] Translation: X:424.06, Y:27.82, Z:15.63 [[ 9.89988581e-01 -1.34001810e-01 -4.43409911e-02 4.24064239e+02] [ 1.33956461e-01 9.90979121e-01 -4.00598054e-03 2.78171356e+01] [ 4.44778051e-02 -1.97388726e-03 9.99008423e-01 1.56319309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58509989299995 meters 0.020820464792929896 Centerline is valid? [True, True] Translation: X:424.13, Y:27.82, Z:15.64 [[ 9.90223181e-01 -1.32859683e-01 -4.25012414e-02 4.24126314e+02] [ 1.32817095e-01 9.91133139e-01 -3.83679783e-03 2.78232846e+01] [ 4.26341446e-02 -1.84560526e-03 9.99089047e-01 1.56360376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64509989299995 meters 0.02173830312414508 Centerline is valid? [True, True] Translation: X:424.19, Y:27.82, Z:15.64 [[ 9.90350958e-01 -1.32526021e-01 -4.05195516e-02 4.24188464e+02] [ 1.32487147e-01 9.91177984e-01 -3.65506725e-03 2.78247067e+01] [ 4.06464789e-02 -1.74852042e-03 9.99172060e-01 1.56386916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70509989299995 meters 0.022364197686062706 Centerline is valid? [True, True] Translation: X:424.25, Y:27.83, Z:15.64 [[ 9.90269142e-01 -1.33283447e-01 -4.00318388e-02 4.24250388e+02] [ 1.33246235e-01 9.91076395e-01 -3.60822543e-03 2.78269461e+01] [ 4.01555273e-02 -1.76097749e-03 9.99191890e-01 1.56406947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76509989299996 meters 0.021654190702948727 Centerline is valid? [True, True] Translation: X:424.31, Y:27.83, Z:15.64 [[ 9.89751686e-01 -1.36836552e-01 -4.08332848e-02 4.24311247e+02] [ 1.36800964e-01 9.90591728e-01 -3.67767987e-03 2.78302677e+01] [ 4.09523551e-02 -1.94604286e-03 9.99159205e-01 1.56422265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82509989299996 meters 0.023906715216984616 Centerline is valid? [True, True] Translation: X:424.37, Y:27.83, Z:15.64 [[ 9.89133253e-01 -1.40501712e-01 -4.32975416e-02 4.24372534e+02] [ 1.40465237e-01 9.90077935e-01 -3.89878466e-03 2.78287877e+01] [ 4.34157265e-02 -2.22538187e-03 9.99054614e-01 1.56410923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88509989299996 meters 0.025119701083986465 Centerline is valid? [True, True] Translation: X:424.43, Y:27.83, Z:15.64 [[ 9.88795066e-01 -1.42970330e-01 -4.29395284e-02 4.24433612e+02] [ 1.42936808e-01 9.89724267e-01 -3.86576813e-03 2.78302380e+01] [ 4.30509835e-02 -2.31518668e-03 9.99070194e-01 1.56431668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94509989299996 meters 0.024705785208984747 Centerline is valid? [True, True] Translation: X:424.49, Y:27.83, Z:15.65 [[ 9.88321845e-01 -1.46314078e-01 -4.25690141e-02 4.24494920e+02] [ 1.46284258e-01 9.89235177e-01 -3.83153882e-03 2.78332150e+01] [ 4.26713743e-02 -2.44038312e-03 9.99086182e-01 1.56463626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00509989299997 meters 0.02543032230343827 Centerline is valid? [True, True] Translation: X:424.56, Y:27.84, Z:15.65 [[ 9.88075235e-01 -1.48093122e-01 -4.21397342e-02 4.24557202e+02] [ 1.48065585e-01 9.88970278e-01 -3.79115699e-03 2.78362914e+01] [ 4.22363889e-02 -2.49349604e-03 9.99104534e-01 1.56490349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06509989299997 meters 0.02544383837215628 Centerline is valid? [True, True] Translation: X:424.62, Y:27.84, Z:15.65 [[ 9.88148939e-01 -1.48371616e-01 -3.93387571e-02 4.24619288e+02] [ 1.48347943e-01 9.88928906e-01 -3.53639648e-03 2.78391812e+01] [ 3.94279349e-02 -2.34133727e-03 9.99219674e-01 1.56530006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12509989299997 meters 0.027272795510781864 Centerline is valid? [True, True] Translation: X:424.68, Y:27.84, Z:15.66 [[ 9.88311006e-01 -1.47624146e-01 -3.80587221e-02 4.24680657e+02] [ 1.47601544e-01 9.89040999e-01 -3.41848815e-03 2.78404638e+01] [ 3.81462879e-02 -2.23899667e-03 9.99269657e-01 1.56560153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.185099893 meters 0.026911766701987954 Centerline is valid? [True, True] Translation: X:424.74, Y:27.84, Z:15.66 [[ 9.88490469e-01 -1.46832124e-01 -3.64269042e-02 4.24742322e+02] [ 1.46811070e-01 9.89159157e-01 -3.26671441e-03 2.78435156e+01] [ 3.65116645e-02 -2.11875674e-03 9.99330981e-01 1.56590491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.245099893 meters 0.027675674170576047 Centerline is valid? [True, True] Translation: X:424.80, Y:27.84, Z:15.66 [[ 9.88398616e-01 -1.47606229e-01 -3.57851455e-02 4.24804819e+02] [ 1.47586508e-01 9.89043953e-01 -3.20658344e-03 2.78445651e+01] [ 3.58663935e-02 -2.11202203e-03 9.99354362e-01 1.56612853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.305099893 meters 0.0285618285440727 Centerline is valid? [True, True] Translation: X:424.87, Y:27.85, Z:15.66 [[ 9.88205411e-01 -1.49072711e-01 -3.50341532e-02 4.24867281e+02] [ 1.49054814e-01 9.88823960e-01 -3.13678911e-03 2.78453363e+01] [ 3.51102197e-02 -2.12221722e-03 9.99381193e-01 1.56637340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.365099893 meters 0.031094972614031876 Centerline is valid? [True, True] Translation: X:424.93, Y:27.84, Z:15.67 [[ 9.88118163e-01 -1.49911605e-01 -3.38970047e-02 4.24928748e+02] [ 1.49895424e-01 9.88697206e-01 -3.03253167e-03 2.78438768e+01] [ 3.39684855e-02 -2.08450627e-03 9.99420731e-01 1.56658576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.425099893 meters 0.029224013606426576 Centerline is valid? [True, True] Translation: X:424.99, Y:27.85, Z:15.67 [[ 9.88300909e-01 -1.48914779e-01 -3.29499787e-02 4.24991344e+02] [ 1.48898989e-01 9.88848022e-01 -2.94624318e-03 2.78477634e+01] [ 3.30212604e-02 -1.99444370e-03 9.99452659e-01 1.56669635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.485099893 meters 0.031532971367188474 Centerline is valid? [True, True] Translation: X:425.05, Y:27.85, Z:15.67 [[ 9.88461484e-01 -1.47856955e-01 -3.28970571e-02 4.25053134e+02] [ 1.47840732e-01 9.89006817e-01 -2.93846813e-03 2.78481050e+01] [ 3.29698866e-02 -1.95896244e-03 9.99454426e-01 1.56686394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.545099893 meters 0.02777261242910651 Centerline is valid? [True, True] Translation: X:425.11, Y:27.85, Z:15.67 [[ 9.88473275e-01 -1.47979133e-01 -3.19806449e-02 4.25114697e+02] [ 1.47963935e-01 9.88988638e-01 -2.85442558e-03 2.78545551e+01] [ 3.20508898e-02 -1.91045865e-03 9.99484412e-01 1.56697556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60509989299993 meters 0.028672574074019394 Centerline is valid? [True, True] Translation: X:425.18, Y:27.86, Z:15.67 [[ 9.88388829e-01 -1.48424551e-01 -3.25219129e-02 4.25176471e+02] [ 1.48409156e-01 9.88921792e-01 -2.90021802e-03 2.78560048e+01] [ 3.25920920e-02 -1.96000656e-03 9.99466815e-01 1.56707462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66509989299993 meters 0.030685134113358763 Centerline is valid? [True, True] Translation: X:425.24, Y:27.86, Z:15.67 [[ 9.88636230e-01 -1.46840231e-01 -3.21924103e-02 4.25238053e+02] [ 1.46824352e-01 9.89158418e-01 -2.86953161e-03 2.78556311e+01] [ 3.22647563e-02 -1.88970686e-03 9.99477571e-01 1.56711513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72509989299994 meters 0.02659684080618421 Centerline is valid? [True, True] Translation: X:425.30, Y:27.86, Z:15.67 [[ 9.88985715e-01 -1.44454810e-01 -3.22500063e-02 4.25299192e+02] [ 1.44437772e-01 9.89509725e-01 -2.86963271e-03 2.78645759e+01] [ 3.23262271e-02 -1.82009330e-03 9.99475714e-01 1.56716547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78509989299994 meters 0.028306733862238344 Centerline is valid? [True, True] Translation: X:425.36, Y:27.87, Z:15.67 [[ 9.89091954e-01 -1.43753075e-01 -3.21272361e-02 4.25360176e+02] [ 1.43735855e-01 9.89611965e-01 -2.85694399e-03 2.78672260e+01] [ 3.22041917e-02 -1.79205542e-03 9.99479704e-01 1.56738833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84509989299994 meters 0.024453328682199002 Centerline is valid? [True, True] Translation: X:425.42, Y:27.88, Z:15.68 [[ 9.89136321e-01 -1.43545422e-01 -3.16867550e-02 4.25422519e+02] [ 1.43528607e-01 9.89642161e-01 -2.81641010e-03 2.78776910e+01] [ 3.17628315e-02 -1.76214229e-03 9.99493881e-01 1.56757089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90509989299994 meters 0.02538109356319682 Centerline is valid? [True, True] Translation: X:425.49, Y:27.88, Z:15.68 [[ 9.89134905e-01 -1.43492842e-01 -3.19678506e-02 4.25485596e+02] [ 1.43475818e-01 9.89649755e-01 -2.83772952e-03 2.78817117e+01] [ 3.20441694e-02 -1.77971621e-03 9.99484869e-01 1.56780878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96509989299994 meters 0.02620553382665526 Centerline is valid? [True, True] Translation: X:425.55, Y:27.89, Z:15.68 [[ 9.89051908e-01 -1.43991740e-01 -3.22908889e-02 4.25548024e+02] [ 1.43974760e-01 9.89577220e-01 -2.86256900e-03 2.78850663e+01] [ 3.23665144e-02 -1.81784366e-03 9.99474414e-01 1.56797621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02509989299995 meters 0.026963424170941757 Centerline is valid? [True, True] Translation: X:425.61, Y:27.89, Z:15.68 [[ 9.88885923e-01 -1.44895407e-01 -3.33159456e-02 4.25610298e+02] [ 1.44877929e-01 9.89445136e-01 -2.95089758e-03 2.78891682e+01] [ 3.33918719e-02 -1.90864411e-03 9.99440513e-01 1.56818998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08509989299995 meters 0.026315425308698966 Centerline is valid? [True, True] Translation: X:425.67, Y:27.90, Z:15.68 [[ 9.88899520e-01 -1.44329650e-01 -3.53085063e-02 4.25672501e+02] [ 1.44309758e-01 9.89527630e-01 -3.12463425e-03 2.78960213e+01] [ 3.53897199e-02 -2.00541269e-03 9.99371576e-01 1.56829910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14509989299995 meters 0.02631703825599925 Centerline is valid? [True, True] Translation: X:425.73, Y:27.90, Z:15.68 [[ 9.89052033e-01 -1.42842074e-01 -3.70434689e-02 4.25734257e+02] [ 1.42819247e-01 9.89743368e-01 -3.27529946e-03 2.79018685e+01] [ 3.71313782e-02 -2.05107875e-03 9.99308288e-01 1.56849686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20509989299995 meters 0.02684139443930545 Centerline is valid? [True, True] Translation: X:425.80, Y:27.91, Z:15.69 [[ 9.89224563e-01 -1.41428198e-01 -3.78527234e-02 4.25796018e+02] [ 1.41403439e-01 9.89946405e-01 -3.34402919e-03 2.79076518e+01] [ 3.79451075e-02 -2.04450946e-03 9.99277734e-01 1.56880495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26509989299996 meters 0.027110657285233018 Centerline is valid? [True, True] Translation: X:425.86, Y:27.91, Z:15.69 [[ 9.89564314e-01 -1.38432229e-01 -3.99873340e-02 4.25855866e+02] [ 1.38402278e-01 9.90369805e-01 -3.52972860e-03 2.79138426e+01] [ 4.00908764e-02 -2.04144465e-03 9.99193952e-01 1.56889747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32509989299996 meters 0.025927530347738332 Centerline is valid? [True, True] Translation: X:425.92, Y:27.92, Z:15.69 [[ 9.89848531e-01 -1.36358099e-01 -4.00793551e-02 4.25916637e+02] [ 1.36326346e-01 9.90657669e-01 -3.53708105e-03 2.79213825e+01] [ 4.01872301e-02 -1.96269753e-03 9.99190239e-01 1.56912580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38509989299996 meters 0.02291032939790848 Centerline is valid? [True, True] Translation: X:425.98, Y:27.93, Z:15.69 [[ 9.90053797e-01 -1.34773205e-01 -4.03690819e-02 4.25978622e+02] [ 1.34739743e-01 9.90874624e-01 -3.56103012e-03 2.79319871e+01] [ 4.04806303e-02 -1.91370832e-03 9.99178491e-01 1.56942338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44509989299996 meters 0.023002903243087878 Centerline is valid? [True, True] Translation: X:426.04, Y:27.94, Z:15.70 [[ 9.90059205e-01 -1.34404812e-01 -4.14501683e-02 4.26040668e+02] [ 1.34369371e-01 9.90924584e-01 -3.65258602e-03 2.79385577e+01] [ 4.15649159e-02 -1.95335661e-03 9.99133896e-01 1.56967299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50509989299997 meters 0.022423376051435025 Centerline is valid? [True, True] Translation: X:426.10, Y:27.95, Z:15.70 [[ 9.90018025e-01 -1.34477004e-01 -4.21929521e-02 4.26102884e+02] [ 1.34440480e-01 9.90914707e-01 -3.71489890e-03 2.79460671e+01] [ 4.23091853e-02 -1.99462386e-03 9.99102574e-01 1.56988619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56509989299997 meters 0.023253211307888044 Centerline is valid? [True, True] Translation: X:426.17, Y:27.95, Z:15.70 [[ 9.89987873e-01 -1.34184812e-01 -4.38000873e-02 4.26165431e+02] [ 1.34145326e-01 9.90954180e-01 -3.85282012e-03 2.79514012e+01] [ 4.39208695e-02 -2.06133181e-03 9.99032886e-01 1.57003660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62509989299997 meters 0.022815890022680165 Centerline is valid? [True, True] Translation: X:426.23, Y:27.96, Z:15.70 [[ 9.90112665e-01 -1.33045250e-01 -4.44507830e-02 4.26226748e+02] [ 1.33003646e-01 9.91107854e-01 -3.90539935e-03 2.79596297e+01] [ 4.45751149e-02 -2.04533086e-03 9.99003942e-01 1.57034585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.685099893 meters 0.022340552534353793 Centerline is valid? [True, True] Translation: X:426.29, Y:27.97, Z:15.71 [[ 9.90404479e-01 -1.30898661e-01 -4.43227756e-02 4.26287774e+02] [ 1.30855283e-01 9.91393844e-01 -3.89119622e-03 2.79681614e+01] [ 4.44506792e-02 -1.94601119e-03 9.99009685e-01 1.57068447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.745099893 meters 0.01961217347404943 Centerline is valid? [True, True] Translation: X:426.35, Y:27.98, Z:15.71 [[ 9.90853048e-01 -1.27832661e-01 -4.32324835e-02 4.26348511e+02] [ 1.27788549e-01 9.91794179e-01 -3.79381764e-03 2.79807809e+01] [ 4.33626993e-02 -1.76550057e-03 9.99057836e-01 1.57118605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.805099893 meters 0.020627453495066318 Centerline is valid? [True, True] Translation: X:426.41, Y:27.99, Z:15.71 [[ 9.91029573e-01 -1.26458335e-01 -4.32281651e-02 4.26409384e+02] [ 1.26413032e-01 9.91970450e-01 -3.79101017e-03 2.79866561e+01] [ 4.33604672e-02 -1.70760023e-03 9.99058033e-01 1.57143708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.865099893 meters 0.022820197577643357 Centerline is valid? [True, True] Translation: X:426.47, Y:27.99, Z:15.72 [[ 9.90904340e-01 -1.27337772e-01 -4.35164434e-02 4.26470189e+02] [ 1.27292814e-01 9.91857850e-01 -3.81388004e-03 2.79900514e+01] [ 4.36477769e-02 -1.76014024e-03 9.99045431e-01 1.57160841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.925099893 meters 0.023576530801970023 Centerline is valid? [True, True] Translation: X:426.53, Y:28.00, Z:15.72 [[ 9.90412538e-01 -1.30818385e-01 -4.43796761e-02 4.26530783e+02] [ 1.30775216e-01 9.91404424e-01 -3.88718217e-03 2.79950989e+01] [ 4.45067221e-02 -1.95384778e-03 9.99007174e-01 1.57172018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.985099893 meters 0.02338323692735803 Centerline is valid? [True, True] Translation: X:426.59, Y:28.00, Z:15.72 [[ 9.89665272e-01 -1.36037450e-01 -4.53482302e-02 4.26590558e+02] [ 1.35997919e-01 9.90701168e-01 -3.97022891e-03 2.80017178e+01] [ 4.54666445e-02 -2.23806726e-03 9.98963350e-01 1.57195716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04509989299993 meters 0.02816556777888579 Centerline is valid? [True, True] Translation: X:426.65, Y:28.00, Z:15.72 [[ 9.89143799e-01 -1.39272332e-01 -4.68802905e-02 4.26650750e+02] [ 1.39233727e-01 9.90251042e-01 -4.10395592e-03 2.80012241e+01] [ 4.69948241e-02 -2.46791500e-03 9.98892084e-01 1.57200547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10509989299993 meters 0.027817773598178736 Centerline is valid? [True, True] Translation: X:426.71, Y:28.01, Z:15.72 [[ 9.88474402e-01 -1.43237028e-01 -4.90052182e-02 4.26711055e+02] [ 1.43199702e-01 9.89684516e-01 -4.28991493e-03 2.80090120e+01] [ 4.91141803e-02 -2.77706157e-03 9.98789310e-01 1.57222406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16509989299993 meters 0.029953458998460514 Centerline is valid? [True, True] Translation: X:426.77, Y:28.01, Z:15.72 [[ 9.88382869e-01 -1.43901881e-01 -4.89035100e-02 4.26771701e+02] [ 1.43865561e-01 9.89587985e-01 -4.28019957e-03 2.80132231e+01] [ 4.90102547e-02 -2.80505498e-03 9.98794336e-01 1.57244410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22509989299994 meters 0.02650710308515161 Centerline is valid? [True, True] Translation: X:426.83, Y:28.03, Z:15.73 [[ 9.88916679e-01 -1.40885193e-01 -4.68525904e-02 4.26831282e+02] [ 1.40848573e-01 9.90022667e-01 -4.09862669e-03 2.80263690e+01] [ 4.69625623e-02 -2.54592023e-03 9.98893406e-01 1.57303806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28509989299994 meters 0.023800047426431777 Centerline is valid? [True, True] Translation: X:426.89, Y:28.04, Z:15.73 [[ 9.89151970e-01 -1.39426505e-01 -4.62453173e-02 4.26892407e+02] [ 1.39389300e-01 9.90229402e-01 -4.04416450e-03 2.80368812e+01] [ 4.63573366e-02 -2.44580913e-03 9.98921927e-01 1.57339265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34509989299994 meters 0.02613448766348457 Centerline is valid? [True, True] Translation: X:426.95, Y:28.04, Z:15.74 [[ 9.89635171e-01 -1.36180871e-01 -4.55740987e-02 4.26951840e+02] [ 1.36141456e-01 9.90681405e-01 -3.98215250e-03 2.80411051e+01] [ 4.56917052e-02 -2.26364601e-03 9.98953024e-01 1.57365877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40509989299994 meters 0.022820605677374508 Centerline is valid? [True, True] Translation: X:427.01, Y:28.05, Z:15.74 [[ 9.90247533e-01 -1.31042653e-01 -4.73037643e-02 4.27012248e+02] [ 1.30994478e-01 9.91374493e-01 -4.13043888e-03 2.80540206e+01] [ 4.74370091e-02 -2.10637499e-03 9.98872010e-01 1.57380965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46509989299994 meters 0.020964030246495614 Centerline is valid? [True, True] Translation: X:427.07, Y:28.06, Z:15.74 [[ 9.90608913e-01 -1.27641242e-01 -4.90070931e-02 4.27072751e+02] [ 1.27585439e-01 9.91818357e-01 -4.27804725e-03 2.80644058e+01] [ 4.91521899e-02 -2.01471973e-03 9.98789269e-01 1.57399578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52509989299995 meters 0.020545535701243862 Centerline is valid? [True, True] Translation: X:427.13, Y:28.07, Z:15.74 [[ 9.91098745e-01 -1.22665020e-01 -5.17355788e-02 4.27132675e+02] [ 1.22596219e-01 9.92446370e-01 -4.51324116e-03 2.80742602e+01] [ 5.18984042e-02 -1.86951870e-03 9.98650620e-01 1.57399894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58509989299995 meters 0.018424361938744964 Centerline is valid? [True, True] Translation: X:427.19, Y:28.08, Z:15.74 [[ 9.91429657e-01 -1.19510932e-01 -5.27671460e-02 4.27193087e+02] [ 1.19435144e-01 9.92831355e-01 -4.59861680e-03 2.80849988e+01] [ 5.29384621e-02 -1.74304663e-03 9.98596255e-01 1.57428076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64509989299995 meters 0.017322815602914633 Centerline is valid? [True, True] Translation: X:427.25, Y:28.10, Z:15.75 [[ 9.92009482e-01 -1.15152290e-01 -5.15474366e-02 4.27253884e+02] [ 1.15074195e-01 9.93346751e-01 -4.49023768e-03 2.80956776e+01] [ 5.17215398e-02 -1.47742144e-03 9.98660453e-01 1.57460144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70509989299995 meters 0.01644279072467417 Centerline is valid? [True, True] Translation: X:427.32, Y:28.10, Z:15.75 [[ 9.92321513e-01 -1.12847230e-01 -5.06311976e-02 4.27315584e+02] [ 1.12769038e-01 9.93611452e-01 -4.40750493e-03 2.81046170e+01] [ 5.08051125e-02 -1.33596949e-03 9.98707693e-01 1.57494959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76509989299996 meters 0.015731861557079226 Centerline is valid? [True, True] Translation: X:427.38, Y:28.11, Z:15.75 [[ 9.92574101e-01 -1.11071590e-01 -4.95959348e-02 4.27377045e+02] [ 1.10994525e-01 9.93811655e-01 -4.31387915e-03 2.81129346e+01] [ 4.97681675e-02 -1.22303248e-03 9.98760048e-01 1.57521798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82509989299996 meters 0.01542923451449716 Centerline is valid? [True, True] Translation: X:427.44, Y:28.12, Z:15.76 [[ 9.92657491e-01 -1.10947983e-01 -4.81835189e-02 4.27439006e+02] [ 1.10875265e-01 9.93825508e-01 -4.18761584e-03 2.81198896e+01] [ 4.83506177e-02 -1.18549218e-03 9.98829721e-01 1.57553087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88509989299996 meters 0.01569445958243897 Centerline is valid? [True, True] Translation: X:427.50, Y:28.13, Z:15.76 [[ 9.92585169e-01 -1.12181359e-01 -4.67977141e-02 4.27500998e+02] [ 1.12114289e-01 9.93687009e-01 -4.06383026e-03 2.81252812e+01] [ 4.69581666e-02 -1.21299482e-03 9.98896120e-01 1.57581380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94509989299996 meters 0.01794884423216685 Centerline is valid? [True, True] Translation: X:427.56, Y:28.13, Z:15.76 [[ 9.92026458e-01 -1.17408920e-01 -4.58110401e-02 4.27561449e+02] [ 1.17350342e-01 9.93082622e-01 -3.97532189e-03 2.81263235e+01] [ 4.59608860e-02 -1.43231673e-03 9.98942213e-01 1.57591559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00509989299997 meters 0.019269707703204724 Centerline is valid? [True, True] Translation: X:427.62, Y:28.13, Z:15.76 [[ 9.91380160e-01 -1.22566263e-01 -4.62913471e-02 4.27622705e+02] [ 1.22512107e-01 9.92458894e-01 -4.01599380e-03 2.81288647e+01] [ 4.64344844e-02 -1.68987388e-03 9.98919908e-01 1.57606992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06509989299997 meters 0.02118532111079419 Centerline is valid? [True, True] Translation: X:427.68, Y:28.13, Z:15.76 [[ 9.90397640e-01 -1.30409133e-01 -4.58908732e-02 4.27682992e+02] [ 1.30364364e-01 9.91458165e-01 -3.97990105e-03 2.81303226e+01] [ 4.60178964e-02 -2.04084991e-03 9.98938531e-01 1.57618145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12509989299997 meters 0.024370934889010917 Centerline is valid? [True, True] Translation: X:427.74, Y:28.13, Z:15.76 [[ 9.89909699e-01 -1.34058373e-01 -4.59035949e-02 4.27743267e+02] [ 1.34017494e-01 9.90970970e-01 -3.98092869e-03 2.81306841e+01] [ 4.60228068e-02 -2.21112483e-03 9.98937942e-01 1.57633510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.185099893 meters 0.023590401781272165 Centerline is valid? [True, True] Translation: X:427.80, Y:28.14, Z:15.77 [[ 9.89657722e-01 -1.35983200e-01 -4.56745308e-02 4.27804483e+02] [ 1.35944792e-01 9.90708498e-01 -3.96059407e-03 2.81372957e+01] [ 4.57887200e-02 -2.28958209e-03 9.98948523e-01 1.57657181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.245099893 meters 0.025206793539665723 Centerline is valid? [True, True] Translation: X:427.87, Y:28.14, Z:15.77 [[ 9.89559954e-01 -1.36729077e-01 -4.55659599e-02 4.27865796e+02] [ 1.36691754e-01 9.90605760e-01 -3.94867899e-03 2.81418195e+01] [ 4.56778016e-02 -2.32103637e-03 9.98953528e-01 1.57670079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.305099893 meters 0.023580311829864933 Centerline is valid? [True, True] Translation: X:427.93, Y:28.15, Z:15.77 [[ 9.89521426e-01 -1.36936130e-01 -4.57803790e-02 4.27927623e+02] [ 1.36898799e-01 9.90577105e-01 -3.96459657e-03 2.81505519e+01] [ 4.58918918e-02 -2.34422565e-03 9.98943662e-01 1.57700385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.365099893 meters 0.023609590430344538 Centerline is valid? [True, True] Translation: X:427.99, Y:28.16, Z:15.77 [[ 9.89556647e-01 -1.36849868e-01 -4.52742344e-02 4.27990630e+02] [ 1.36813432e-01 9.90589088e-01 -3.91713719e-03 2.81574409e+01] [ 4.53842223e-02 -2.31789424e-03 9.98966916e-01 1.57733536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.425099893 meters 0.024368191423107102 Centerline is valid? [True, True] Translation: X:428.05, Y:28.16, Z:15.78 [[ 9.89482069e-01 -1.37051165e-01 -4.62840548e-02 4.28052113e+02] [ 1.37013527e-01 9.90561101e-01 -3.99976836e-03 2.81623879e+01] [ 4.63953572e-02 -2.38384250e-03 9.98920311e-01 1.57750496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.485099893 meters 0.02440368490563716 Centerline is valid? [True, True] Translation: X:428.11, Y:28.17, Z:15.78 [[ 9.89478655e-01 -1.37103946e-01 -4.62006342e-02 4.28113546e+02] [ 1.37066625e-01 9.90553795e-01 -3.98986157e-03 2.81682323e+01] [ 4.63112394e-02 -2.38468216e-03 9.98924213e-01 1.57777181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54509989299993 meters 0.02560226229382494 Centerline is valid? [True, True] Translation: X:428.17, Y:28.17, Z:15.78 [[ 9.89451298e-01 -1.37138898e-01 -4.66803188e-02 4.28174081e+02] [ 1.37100990e-01 9.90548885e-01 -4.02802795e-03 2.81727645e+01] [ 4.67915370e-02 -2.41438046e-03 9.98901758e-01 1.57796876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60509989299993 meters 0.026029617766984446 Centerline is valid? [True, True] Translation: X:428.24, Y:28.18, Z:15.78 [[ 9.89573464e-01 -1.36312923e-01 -4.65096276e-02 4.28235949e+02] [ 1.36274507e-01 9.90662997e-01 -4.01062809e-03 2.81791369e+01] [ 4.66220675e-02 -2.36926544e-03 9.98909790e-01 1.57822032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66509989299993 meters 0.024523354196945134 Centerline is valid? [True, True] Translation: X:428.30, Y:28.19, Z:15.78 [[ 9.89667418e-01 -1.35764632e-01 -4.61125525e-02 4.28297421e+02] [ 1.35726427e-01 9.90738387e-01 -3.97309446e-03 2.81866521e+01] [ 4.62248816e-02 -2.32664987e-03 9.98928349e-01 1.57844510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72509989299994 meters 0.025271810590561487 Centerline is valid? [True, True] Translation: X:428.36, Y:28.19, Z:15.79 [[ 9.89720246e-01 -1.35333544e-01 -4.62457174e-02 4.28359211e+02] [ 1.35294806e-01 9.90797389e-01 -3.98118952e-03 2.81914909e+01] [ 4.63589245e-02 -2.31654150e-03 9.98922161e-01 1.57861031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78509989299994 meters 0.02525699107261263 Centerline is valid? [True, True] Translation: X:428.42, Y:28.20, Z:15.79 [[ 9.89838927e-01 -1.34301751e-01 -4.67112225e-02 4.28421669e+02] [ 1.34261270e-01 9.90937825e-01 -4.01731350e-03 2.81968985e+01] [ 4.68274495e-02 -2.29501479e-03 9.98900357e-01 1.57878516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84509989299994 meters 0.027189426682182088 Centerline is valid? [True, True] Translation: X:428.48, Y:28.20, Z:15.79 [[ 9.89910432e-01 -1.34320767e-01 -4.51139429e-02 4.28483296e+02] [ 1.34283258e-01 9.90935413e-01 -3.87478910e-03 2.81984385e+01] [ 4.52254683e-02 -2.22235308e-03 9.98974333e-01 1.57901673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90509989299994 meters 0.024817388481901802 Centerline is valid? [True, True] Translation: X:428.54, Y:28.21, Z:15.79 [[ 9.89868017e-01 -1.34932813e-01 -4.42091110e-02 4.28544947e+02] [ 1.34897509e-01 9.90852291e-01 -3.79464239e-03 2.82059270e+01] [ 4.43167207e-02 -2.20750380e-03 9.99015093e-01 1.57933615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96509989299994 meters 0.025779428291034374 Centerline is valid? [True, True] Translation: X:428.61, Y:28.21, Z:15.80 [[ 9.89777856e-01 -1.35805146e-01 -4.35517828e-02 4.28607476e+02] [ 1.35771860e-01 9.90733088e-01 -3.73510273e-03 2.82079943e+01] [ 4.36554384e-02 -2.21618460e-03 9.99044189e-01 1.57956694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02509989299995 meters 0.028142428277135804 Centerline is valid? [True, True] Translation: X:428.67, Y:28.21, Z:15.80 [[ 9.89406093e-01 -1.38880070e-01 -4.22836665e-02 4.28668861e+02] [ 1.38851609e-01 9.90306569e-01 -3.62357115e-03 2.82076262e+01] [ 4.23770345e-02 -2.28597174e-03 9.99099075e-01 1.57985632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08509989299995 meters 0.03085325517119149 Centerline is valid? [True, True] Translation: X:428.73, Y:28.21, Z:15.80 [[ 9.89034149e-01 -1.41502252e-01 -4.22914277e-02 4.28729043e+02] [ 1.41476242e-01 9.89935023e-01 -3.62250267e-03 2.82055988e+01] [ 4.23783578e-02 -2.40045342e-03 9.99098750e-01 1.58005598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14509989299995 meters 0.02756469994923013 Centerline is valid? [True, True] Translation: X:428.79, Y:28.21, Z:15.80 [[ 9.88827297e-01 -1.43107452e-01 -4.17233007e-02 4.28790571e+02] [ 1.43083697e-01 9.89704151e-01 -3.57051047e-03 2.82129333e+01] [ 4.18046905e-02 -2.43930591e-03 9.99122824e-01 1.58034591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20509989299995 meters 0.02873250724920054 Centerline is valid? [True, True] Translation: X:428.85, Y:28.21, Z:15.81 [[ 9.88531730e-01 -1.45161697e-01 -4.16305184e-02 4.28851920e+02] [ 1.45139982e-01 9.89404727e-01 -3.55970394e-03 2.82128837e+01] [ 4.17061644e-02 -2.52337238e-03 9.99126733e-01 1.58056685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26509989299996 meters 0.03050589966592462 Centerline is valid? [True, True] Translation: X:428.91, Y:28.21, Z:15.81 [[ 9.88137034e-01 -1.47811988e-01 -4.16751598e-02 4.28912983e+02] [ 1.47792632e-01 9.89011956e-01 -3.56209198e-03 2.82129360e+01] [ 4.17437513e-02 -2.63944657e-03 9.99124863e-01 1.58079392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32509989299996 meters 0.032624315612859625 Centerline is valid? [True, True] Translation: X:428.97, Y:28.21, Z:15.81 [[ 9.87673451e-01 -1.50739403e-01 -4.21756584e-02 4.28974047e+02] [ 1.50722267e-01 9.88569577e-01 -3.60410469e-03 2.82101434e+01] [ 4.22368534e-02 -2.79713235e-03 9.99103710e-01 1.58093234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38509989299996 meters 0.03308648668158311 Centerline is valid? [True, True] Translation: X:429.04, Y:28.21, Z:15.81 [[ 9.87600464e-01 -1.51298587e-01 -4.18815063e-02 4.29036025e+02] [ 1.51282231e-01 9.88484135e-01 -3.57796740e-03 2.82117523e+01] [ 4.19405459e-02 -2.80232546e-03 9.99116178e-01 1.58117512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44509989299996 meters 0.03453272046644301 Centerline is valid? [True, True] Translation: X:429.10, Y:28.21, Z:15.81 [[ 9.87867147e-01 -1.49850620e-01 -4.07834692e-02 4.29096898e+02] [ 1.49833993e-01 9.88705039e-01 -3.48142779e-03 2.82111251e+01] [ 4.08445157e-02 -2.67156190e-03 9.99161943e-01 1.58149129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50509989299997 meters 0.03490925389721673 Centerline is valid? [True, True] Translation: X:429.16, Y:28.21, Z:15.82 [[ 9.88118620e-01 -1.48177555e-01 -4.08044785e-02 4.29158205e+02] [ 1.48159549e-01 9.88957342e-01 -3.48177539e-03 2.82128898e+01] [ 4.08698096e-02 -2.60516605e-03 9.99161084e-01 1.58167682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56509989299997 meters 0.029239722899879708 Centerline is valid? [True, True] Translation: X:429.22, Y:28.22, Z:15.82 [[ 9.88358863e-01 -1.46430136e-01 -4.12913259e-02 4.29219760e+02] [ 1.46410243e-01 9.89217690e-01 -3.52178605e-03 2.82204464e+01] [ 4.13618056e-02 -2.56468461e-03 9.99140943e-01 1.58185830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62509989299997 meters 0.028739023062720748 Centerline is valid? [True, True] Translation: X:429.28, Y:28.22, Z:15.82 [[ 9.88392078e-01 -1.45925085e-01 -4.22725655e-02 4.29281700e+02] [ 1.45903882e-01 9.89292209e-01 -3.60301653e-03 2.82229207e+01] [ 4.23456902e-02 -2.60653839e-03 9.99099619e-01 1.58203984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.685099893 meters 0.029130872702793773 Centerline is valid? [True, True] Translation: X:429.35, Y:28.23, Z:15.82 [[ 9.88395985e-01 -1.45699575e-01 -4.29535916e-02 4.29345133e+02] [ 1.45677619e-01 9.89325352e-01 -3.65766856e-03 2.82259049e+01] [ 4.30279979e-02 -2.64215205e-03 9.99070373e-01 1.58222566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.745099893 meters 0.028236685914737353 Centerline is valid? [True, True] Translation: X:429.41, Y:28.23, Z:15.82 [[ 9.88705649e-01 -1.43405780e-01 -4.35421960e-02 4.29406899e+02] [ 1.43381198e-01 9.89660607e-01 -3.70332058e-03 2.82270763e+01] [ 4.36230737e-02 -2.58163827e-03 9.99044725e-01 1.58241261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.805099893 meters 0.02715120763651115 Centerline is valid? [True, True] Translation: X:429.47, Y:28.23, Z:15.83 [[ 9.88984739e-01 -1.41596081e-01 -4.31246579e-02 4.29468690e+02] [ 1.41570355e-01 9.89921411e-01 -3.66547623e-03 2.82301598e+01] [ 4.32090392e-02 -2.48007306e-03 9.99062975e-01 1.58270898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.865099893 meters 0.02729337826803861 Centerline is valid? [True, True] Translation: X:429.53, Y:28.23, Z:15.83 [[ 9.89555095e-01 -1.38115899e-01 -4.12881710e-02 4.29528668e+02] [ 1.38089375e-01 9.90413561e-01 -3.50742937e-03 2.82298972e+01] [ 4.13767962e-02 -2.23066312e-03 9.99141124e-01 1.58303788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.925099893 meters 0.024235802029006274 Centerline is valid? [True, True] Translation: X:429.59, Y:28.24, Z:15.83 [[ 9.89892459e-01 -1.35758986e-01 -4.10172721e-02 4.29590332e+02] [ 1.35730799e-01 9.90739628e-01 -3.48420326e-03 2.82361516e+01] [ 4.11104488e-02 -2.11832059e-03 9.99152363e-01 1.58329534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.985099893 meters 0.02360613071292735 Centerline is valid? [True, True] Translation: X:429.65, Y:28.24, Z:15.83 [[ 9.90312157e-01 -1.32512276e-01 -4.15009428e-02 4.29651632e+02] [ 1.32480671e-01 9.91179328e-01 -3.52304556e-03 2.82372807e+01] [ 4.16017234e-02 -2.00915791e-03 9.99132253e-01 1.58343282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04509989299993 meters 0.022203563646776003 Centerline is valid? [True, True] Translation: X:429.71, Y:28.24, Z:15.84 [[ 9.90594154e-01 -1.30223873e-01 -4.20114905e-02 4.29713249e+02] [ 1.30189502e-01 9.91482721e-01 -3.56474835e-03 2.82410073e+01] [ 4.21178823e-02 -1.93823616e-03 9.99110768e-01 1.58361369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10509989299993 meters 0.02071725012644234 Centerline is valid? [True, True] Translation: X:429.77, Y:28.25, Z:15.84 [[ 9.91188134e-01 -1.25664850e-01 -4.18858896e-02 4.29774322e+02] [ 1.25626711e-01 9.92071224e-01 -3.55195337e-03 2.82450819e+01] [ 4.20001414e-02 -1.74133250e-03 9.99116087e-01 1.58389943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16509989299993 meters 0.019952112243484622 Centerline is valid? [True, True] Translation: X:429.84, Y:28.25, Z:15.84 [[ 9.91628140e-01 -1.22206312e-01 -4.17043073e-02 4.29835399e+02] [ 1.22165484e-01 9.92503448e-01 -3.53571101e-03 2.82497222e+01] [ 4.18237550e-02 -1.58871634e-03 9.99123741e-01 1.58419456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22509989299994 meters 0.018551064754269965 Centerline is valid? [True, True] Translation: X:429.90, Y:28.25, Z:15.84 [[ 9.92378867e-01 -1.15878127e-01 -4.19099430e-02 4.29895511e+02] [ 1.15831315e-01 9.93262549e-01 -3.55177901e-03 2.82541090e+01] [ 4.20391503e-02 -1.32977337e-03 9.99115079e-01 1.58435216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28509989299994 meters 0.01659837461373749 Centerline is valid? [True, True] Translation: X:429.96, Y:28.26, Z:15.85 [[ 9.92798288e-01 -1.12241690e-01 -4.18731735e-02 4.29956279e+02] [ 1.12191736e-01 9.93680242e-01 -3.54849039e-03 2.82608570e+01] [ 4.20068337e-02 -1.17488885e-03 9.99116633e-01 1.58462699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34509989299994 meters 0.016179117268863362 Centerline is valid? [True, True] Translation: X:430.02, Y:28.26, Z:15.85 [[ 9.93156152e-01 -1.09234255e-01 -4.13368640e-02 4.30018130e+02] [ 1.09183034e-01 9.94015495e-01 -3.50147024e-03 2.82638046e+01] [ 4.14719638e-02 -1.03577752e-03 9.99139131e-01 1.58493122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40509989299994 meters 0.01573695068207843 Centerline is valid? [True, True] Translation: X:430.08, Y:28.27, Z:15.85 [[ 9.93204373e-01 -1.08718186e-01 -4.15382872e-02 4.30080226e+02] [ 1.08666112e-01 9.94072086e-01 -3.51619476e-03 2.82674998e+01] [ 4.16743261e-02 -1.02150414e-03 9.99130726e-01 1.58519656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46509989299994 meters 0.016465518723774268 Centerline is valid? [True, True] Translation: X:430.14, Y:28.27, Z:15.85 [[ 9.93137423e-01 -1.09410173e-01 -4.13215858e-02 4.30141577e+02] [ 1.09359360e-01 9.93996135e-01 -3.49492551e-03 2.82685252e+01] [ 4.14558770e-02 -1.04796087e-03 9.99139786e-01 1.58542565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52509989299995 meters 0.016787769682929242 Centerline is valid? [True, True] Translation: X:430.20, Y:28.27, Z:15.86 [[ 9.92745989e-01 -1.13109576e-01 -4.07630452e-02 4.30202530e+02] [ 1.13063329e-01 9.93581809e-01 -3.44554757e-03 2.82679730e+01] [ 4.08911446e-02 -1.18825205e-03 9.99162901e-01 1.58564757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58509989299995 meters 0.017086884369897436 Centerline is valid? [True, True] Translation: X:430.26, Y:28.27, Z:15.86 [[ 9.92277236e-01 -1.17008771e-01 -4.11683711e-02 4.30263473e+02] [ 1.16965020e-01 9.93129945e-01 -3.47808915e-03 2.82689930e+01] [ 4.12925091e-02 -1.36403068e-03 9.99146170e-01 1.58582946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64509989299995 meters 0.021678957757998312 Centerline is valid? [True, True] Translation: X:430.32, Y:28.26, Z:15.86 [[ 9.91492845e-01 -1.23141924e-01 -4.21664010e-02 4.30324544e+02] [ 1.23101599e-01 9.92387682e-01 -3.56147722e-03 2.82626031e+01] [ 4.22839842e-02 -1.65957219e-03 9.99104254e-01 1.58590382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70509989299995 meters 0.024291011848910114 Centerline is valid? [True, True] Translation: X:430.38, Y:28.26, Z:15.86 [[ 9.90995036e-01 -1.27048977e-01 -4.22776176e-02 4.30384472e+02] [ 1.27012049e-01 9.91894752e-01 -3.56934912e-03 2.82611600e+01] [ 4.23884292e-02 -1.83255958e-03 9.99099526e-01 1.58604837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76509989299996 meters 0.025367272239925215 Centerline is valid? [True, True] Translation: X:430.45, Y:28.26, Z:15.86 [[ 9.90401093e-01 -1.31537744e-01 -4.24675964e-02 4.30445662e+02] [ 1.31504571e-01 9.91309078e-01 -3.58601256e-03 2.82607938e+01] [ 4.25702098e-02 -2.03309227e-03 9.99091409e-01 1.58621053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82509989299996 meters 0.023736529215662213 Centerline is valid? [True, True] Translation: X:430.51, Y:28.27, Z:15.86 [[ 9.90232334e-01 -1.32780100e-01 -4.25366873e-02 4.30506075e+02] [ 1.32747973e-01 9.91143318e-01 -3.59158119e-03 2.82668646e+01] [ 4.26368439e-02 -2.09015918e-03 9.99088450e-01 1.58649468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88509989299996 meters 0.022439731230870612 Centerline is valid? [True, True] Translation: X:430.57, Y:28.27, Z:15.87 [[ 9.90429499e-01 -1.31179068e-01 -4.29122409e-02 4.30567431e+02] [ 1.31144915e-01 9.91356591e-01 -3.62228752e-03 2.82728525e+01] [ 4.30165011e-02 -2.04010178e-03 9.99072279e-01 1.58676371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94509989299996 meters 0.021077188929133593 Centerline is valid? [True, True] Translation: X:430.63, Y:28.28, Z:15.87 [[ 9.90944033e-01 -1.27403484e-01 -4.24060731e-02 4.30627649e+02] [ 1.27366773e-01 9.91849236e-01 -3.57742389e-03 2.82801294e+01] [ 4.25162075e-02 -1.85609781e-03 9.99094053e-01 1.58701643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00509989299997 meters 0.018780824218656733 Centerline is valid? [True, True] Translation: X:430.69, Y:28.29, Z:15.87 [[ 9.91960353e-01 -1.19555460e-01 -4.14867551e-02 4.30687497e+02] [ 1.19513494e-01 9.92826410e-01 -3.49919752e-03 2.82906155e+01] [ 4.16074943e-02 -1.48716184e-03 9.99132926e-01 1.58740449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06509989299997 meters 0.016947737784793852 Centerline is valid? [True, True] Translation: X:430.75, Y:28.30, Z:15.88 [[ 9.92568096e-01 -1.14276357e-01 -4.18269038e-02 4.30748084e+02] [ 1.14229021e-01 9.93448179e-01 -3.52779971e-03 2.83002052e+01] [ 4.19560055e-02 -1.27626485e-03 9.99118644e-01 1.58763079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12509989299997 meters 0.016648057826380732 Centerline is valid? [True, True] Translation: X:430.81, Y:28.31, Z:15.88 [[ 9.93033776e-01 -1.09415670e-01 -4.37279247e-02 4.30807718e+02] [ 1.09359256e-01 9.93995451e-01 -3.68741832e-03 2.83067425e+01] [ 4.38688196e-02 -1.12032237e-03 9.99036672e-01 1.58763725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.185099893 meters 0.01668817169997743 Centerline is valid? [True, True] Translation: X:430.87, Y:28.31, Z:15.88 [[ 9.93094689e-01 -1.08573753e-01 -4.44373661e-02 4.30866810e+02] [ 1.08514641e-01 9.94087787e-01 -3.74749767e-03 2.83121487e+01] [ 4.45815228e-02 -1.10048477e-03 9.99005144e-01 1.58777187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.245099893 meters 0.01743373920494214 Centerline is valid? [True, True] Translation: X:430.93, Y:28.32, Z:15.88 [[ 9.92983264e-01 -1.09372162e-01 -4.49663031e-02 4.30925697e+02] [ 1.09312386e-01 9.94000207e-01 -3.79355745e-03 2.83169117e+01] [ 4.51114242e-02 -1.14843483e-03 9.98981301e-01 1.58794357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.305099893 meters 0.016395329381599877 Centerline is valid? [True, True] Translation: X:430.99, Y:28.32, Z:15.88 [[ 9.92877602e-01 -1.10471218e-01 -4.46113964e-02 4.30985958e+02] [ 1.10413461e-01 9.93878613e-01 -3.76425262e-03 2.83241898e+01] [ 4.47541544e-02 -1.18825658e-03 9.98997324e-01 1.58830192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.365099893 meters 0.016844383479330982 Centerline is valid? [True, True] Translation: X:431.05, Y:28.33, Z:15.89 [[ 9.92913489e-01 -1.11055942e-01 -4.23010839e-02 4.31045886e+02] [ 1.11004542e-01 9.93813489e-01 -3.56931140e-03 2.83299480e+01] [ 4.24357811e-02 -1.15159501e-03 9.99098533e-01 1.58876295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.425099893 meters 0.017157752938582266 Centerline is valid? [True, True] Translation: X:431.11, Y:28.34, Z:15.89 [[ 9.92916028e-01 -1.11240198e-01 -4.17538020e-02 4.31105660e+02] [ 1.11190283e-01 9.93792890e-01 -3.52313246e-03 2.83351188e+01] [ 4.18865455e-02 -1.14444236e-03 9.99121718e-01 1.58906619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.485099893 meters 0.018082874502524212 Centerline is valid? [True, True] Translation: X:431.17, Y:28.34, Z:15.89 [[ 9.92807495e-01 -1.12581025e-01 -4.07282653e-02 4.31166059e+02] [ 1.12534658e-01 9.93641857e-01 -3.43659898e-03 2.83392723e+01] [ 4.08562050e-02 -1.17146018e-03 9.99164350e-01 1.58928407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54509989299993 meters 0.018575975084878075 Centerline is valid? [True, True] Translation: X:431.23, Y:28.34, Z:15.89 [[ 9.92731960e-01 -1.13278183e-01 -4.06363065e-02 4.31227002e+02] [ 1.13232613e-01 9.93562589e-01 -3.42871886e-03 2.83431649e+01] [ 4.07631130e-02 -1.19755639e-03 9.99168121e-01 1.58949022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60509989299993 meters 0.01957358631086566 Centerline is valid? [True, True] Translation: X:431.29, Y:28.35, Z:15.90 [[ 9.92543502e-01 -1.14598331e-01 -4.15285449e-02 4.31287371e+02] [ 1.14551947e-01 9.93411084e-01 -3.50267755e-03 2.83460597e+01] [ 4.16563178e-02 -1.28061585e-03 9.99131178e-01 1.58961565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66509989299993 meters 0.01863537431517554 Centerline is valid? [True, True] Translation: X:431.35, Y:28.35, Z:15.90 [[ 9.92405730e-01 -1.15223009e-01 -4.30641909e-02 4.31348237e+02] [ 1.15173729e-01 9.93338724e-01 -3.63199038e-03 2.83537434e+01] [ 4.31958173e-02 -1.35545537e-03 9.99065706e-01 1.58981727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72509989299994 meters 0.01751152867796707 Centerline is valid? [True, True] Translation: X:431.41, Y:28.36, Z:15.90 [[ 9.92612044e-01 -1.13369871e-01 -4.32273385e-02 4.31409164e+02] [ 1.13318528e-01 9.93552027e-01 -3.64420493e-03 2.83614491e+01] [ 4.33617529e-02 -1.28117667e-03 9.99058615e-01 1.59011493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78509989299994 meters 0.016562114735203845 Centerline is valid? [True, True] Translation: X:431.47, Y:28.37, Z:15.90 [[ 9.92840803e-01 -1.11108582e-01 -4.38408850e-02 4.31470161e+02] [ 1.11053640e-01 9.93807547e-01 -3.69432481e-03 2.83691043e+01] [ 4.39798736e-02 -1.20081346e-03 9.99031696e-01 1.59032485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84509989299994 meters 0.015950130125169264 Centerline is valid? [True, True] Translation: X:431.53, Y:28.38, Z:15.91 [[ 9.93172312e-01 -1.07602180e-01 -4.50614060e-02 4.31530357e+02] [ 1.07540593e-01 9.94193448e-01 -3.79577872e-03 2.83769575e+01] [ 4.52081886e-02 -1.07606801e-03 9.98977008e-01 1.59053591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90509989299994 meters 0.015463204380610086 Centerline is valid? [True, True] Translation: X:431.59, Y:28.38, Z:15.91 [[ 9.93262055e-01 -1.06669587e-01 -4.52999840e-02 4.31590238e+02] [ 1.06606378e-01 9.94293980e-01 -3.81587550e-03 2.83830027e+01] [ 4.54485393e-02 -1.03910285e-03 9.98966141e-01 1.59077792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96509989299994 meters 0.01506681231518163 Centerline is valid? [True, True] Translation: X:431.65, Y:28.39, Z:15.91 [[ 9.93208560e-01 -1.07105728e-01 -4.54435917e-02 4.31651253e+02] [ 1.07042587e-01 9.94247069e-01 -3.82766447e-03 2.83881624e+01] [ 4.55921226e-02 -1.06273049e-03 9.98959573e-01 1.59105760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02509989299995 meters 0.01554157066712197 Centerline is valid? [True, True] Translation: X:431.71, Y:28.39, Z:15.91 [[ 9.92993384e-01 -1.08835159e-01 -4.60331206e-02 4.31711955e+02] [ 1.08772296e-01 9.94059136e-01 -3.87575330e-03 2.83916301e+01] [ 4.61814623e-02 -1.15853085e-03 9.98932395e-01 1.59135155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08509989299995 meters 0.01766850120313536 Centerline is valid? [True, True] Translation: X:431.77, Y:28.39, Z:15.92 [[ 9.92801584e-01 -1.10584493e-01 -4.60009160e-02 4.31771526e+02] [ 1.10523618e-01 9.93865954e-01 -3.87251300e-03 2.83921591e+01] [ 4.61469842e-02 -1.23955063e-03 9.98933891e-01 1.59151267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14509989299995 meters 0.019293590972868695 Centerline is valid? [True, True] Translation: X:431.83, Y:28.39, Z:15.92 [[ 9.92451529e-01 -1.13204707e-01 -4.71662688e-02 4.31830210e+02] [ 1.13143606e-01 9.93570707e-01 -3.97182798e-03 2.83930992e+01] [ 4.73126527e-02 -1.39471497e-03 9.98879156e-01 1.59162402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20509989299995 meters 0.018707355908503004 Centerline is valid? [True, True] Translation: X:431.89, Y:28.40, Z:15.92 [[ 9.92235108e-01 -1.14996995e-01 -4.73833552e-02 4.31889328e+02] [ 1.14937262e-01 9.93364730e-01 -3.99238854e-03 2.83982709e+01] [ 4.75280665e-02 -1.48472503e-03 9.98868799e-01 1.59188024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26509989299996 meters 0.020002516647917995 Centerline is valid? [True, True] Translation: X:431.95, Y:28.40, Z:15.92 [[ 9.92121220e-01 -1.16046096e-01 -4.72100496e-02 4.31948013e+02] [ 1.15987898e-01 9.93242654e-01 -3.97962368e-03 2.84017112e+01] [ 4.73528548e-02 -1.52752531e-03 9.98877056e-01 1.59214290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32509989299996 meters 0.019900998068088566 Centerline is valid? [True, True] Translation: X:432.01, Y:28.41, Z:15.92 [[ 9.92211421e-01 -1.15629606e-01 -4.63280715e-02 4.32007510e+02] [ 1.15573004e-01 9.93291303e-01 -3.90750189e-03 2.84075321e+01] [ 4.64690934e-02 -1.47720639e-03 9.98918636e-01 1.59245546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38509989299996 meters 0.019466346708630844 Centerline is valid? [True, True] Translation: X:432.07, Y:28.41, Z:15.93 [[ 9.92329497e-01 -1.14669880e-01 -4.61842792e-02 4.32066684e+02] [ 1.14612518e-01 9.93402630e-01 -3.89696549e-03 2.84140149e+01] [ 4.63264490e-02 -1.42622273e-03 9.98925336e-01 1.59269840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44509989299996 meters 0.017619337794200173 Centerline is valid? [True, True] Translation: X:432.13, Y:28.42, Z:15.93 [[ 9.92550140e-01 -1.12931579e-01 -4.57239339e-02 4.32126958e+02] [ 1.12873454e-01 9.93601876e-01 -3.85939674e-03 2.84225674e+01] [ 4.58672343e-02 -1.33037356e-03 9.98946659e-01 1.59293481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50509989299997 meters 0.017216265632813307 Centerline is valid? [True, True] Translation: X:432.19, Y:28.43, Z:15.93 [[ 9.92419550e-01 -1.13955333e-01 -4.60175816e-02 4.32186747e+02] [ 1.13897558e-01 9.93484907e-01 -3.88418251e-03 2.84284420e+01] [ 4.61603961e-02 -1.38655150e-03 9.98933078e-01 1.59319290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56509989299997 meters 0.01775467781372254 Centerline is valid? [True, True] Translation: X:432.25, Y:28.43, Z:15.93 [[ 9.92180491e-01 -1.15807068e-01 -4.65467118e-02 4.32247239e+02] [ 1.15749990e-01 9.93270610e-01 -3.92884453e-03 2.84319889e+01] [ 4.66884687e-02 -1.48965855e-03 9.98908388e-01 1.59330065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62509989299997 meters 0.018319266731015936 Centerline is valid? [True, True] Translation: X:432.31, Y:28.44, Z:15.93 [[ 9.91830412e-01 -1.18939570e-01 -4.61065441e-02 4.32307945e+02] [ 1.18886952e-01 9.92900171e-01 -3.89152494e-03 2.84351424e+01] [ 4.62420518e-02 -1.62173372e-03 9.98928948e-01 1.59349669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.685099893 meters 0.01975364900714148 Centerline is valid? [True, True] Translation: X:432.37, Y:28.44, Z:15.94 [[ 9.91786456e-01 -1.19626893e-01 -4.52662313e-02 4.32367008e+02] [ 1.19576914e-01 9.92817591e-01 -3.82006827e-03 2.84368033e+01] [ 4.53980936e-02 -1.62410427e-03 9.98967655e-01 1.59375148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.745099893 meters 0.02116968366312321 Centerline is valid? [True, True] Translation: X:432.43, Y:28.44, Z:15.94 [[ 9.91942064e-01 -1.18574425e-01 -4.46211546e-02 4.32426747e+02] [ 1.18524761e-01 9.92943954e-01 -3.76643407e-03 2.84398768e+01] [ 4.47529084e-02 -1.55262730e-03 9.98996880e-01 1.59397108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.805099893 meters 0.018696926320427264 Centerline is valid? [True, True] Translation: X:432.49, Y:28.45, Z:15.94 [[ 9.92041063e-01 -1.17850122e-01 -4.43382305e-02 4.32486347e+02] [ 1.17800334e-01 9.93030246e-01 -3.74320723e-03 2.84491929e+01] [ 4.44703414e-02 -1.50964309e-03 9.99009564e-01 1.59427084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.865099893 meters 0.018730596293582664 Centerline is valid? [True, True] Translation: X:432.55, Y:28.45, Z:15.95 [[ 9.92075135e-01 -1.18157704e-01 -4.27280247e-02 4.32546736e+02] [ 1.18111751e-01 9.92993757e-01 -3.60726735e-03 2.84537545e+01] [ 4.28548882e-02 -1.46800157e-03 9.99080229e-01 1.59457754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.925099893 meters 0.019380538480662332 Centerline is valid? [True, True] Translation: X:432.61, Y:28.46, Z:15.95 [[ 9.91941801e-01 -1.19343268e-01 -4.25281937e-02 4.32608081e+02] [ 1.19298840e-01 9.92851901e-01 -3.59020256e-03 2.84577237e+01] [ 4.26526644e-02 -1.51229217e-03 9.99088816e-01 1.59481096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.985099893 meters 0.019878039863869813 Centerline is valid? [True, True] Translation: X:432.67, Y:28.46, Z:15.95 [[ 9.91741978e-01 -1.21009831e-01 -4.24790472e-02 4.32669300e+02] [ 1.20967097e-01 9.92650045e-01 -3.58451395e-03 2.84629669e+01] [ 4.26005896e-02 -1.58365406e-03 9.99090928e-01 1.59498288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04509989299993 meters 0.020874626421806427 Centerline is valid? [True, True] Translation: X:432.73, Y:28.47, Z:15.95 [[ 9.91679340e-01 -1.21429627e-01 -4.27426225e-02 4.32729605e+02] [ 1.21386812e-01 9.92598732e-01 -3.60529585e-03 2.84670673e+01] [ 4.28640626e-02 -1.61309328e-03 9.99079611e-01 1.59512931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10509989299993 meters 0.019210172209244637 Centerline is valid? [True, True] Translation: X:432.79, Y:28.48, Z:15.95 [[ 9.91737181e-01 -1.20951216e-01 -4.27570724e-02 4.32790382e+02] [ 1.20907966e-01 9.92657173e-01 -3.60564317e-03 2.84768238e+01] [ 4.28792215e-02 -1.59382028e-03 9.99078992e-01 1.59546366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16509989299993 meters 0.019692663580581277 Centerline is valid? [True, True] Translation: X:432.85, Y:28.48, Z:15.96 [[ 9.91741692e-01 -1.20559502e-01 -4.37472595e-02 4.32851470e+02] [ 1.20513918e-01 9.92704789e-01 -3.68750117e-03 2.84825308e+01] [ 4.38726773e-02 -1.61510501e-03 9.99035825e-01 1.59562991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22509989299994 meters 0.020473937814996346 Centerline is valid? [True, True] Translation: X:432.91, Y:28.49, Z:15.96 [[ 9.91702398e-01 -1.20658136e-01 -4.43617808e-02 4.32911807e+02] [ 1.20611428e-01 9.92692758e-01 -3.73780083e-03 2.84880625e+01] [ 4.44886146e-02 -1.64375167e-03 9.99008539e-01 1.59570451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28509989299994 meters 0.020888283711729523 Centerline is valid? [True, True] Translation: X:432.97, Y:28.49, Z:15.96 [[ 9.91680615e-01 -1.20750406e-01 -4.45970482e-02 4.32972769e+02] [ 1.20703336e-01 9.92681516e-01 -3.75669183e-03 2.84937648e+01] [ 4.47242875e-02 -1.65757403e-03 9.98997993e-01 1.59591131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34509989299994 meters 0.02029921933122783 Centerline is valid? [True, True] Translation: X:433.03, Y:28.50, Z:15.96 [[ 9.91838851e-01 -1.19723505e-01 -4.38403437e-02 4.33033539e+02] [ 1.19677084e-01 9.92806008e-01 -3.69141662e-03 2.85022079e+01] [ 4.39669059e-02 -1.58539408e-03 9.99031730e-01 1.59620609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40509989299994 meters 0.017982540071504956 Centerline is valid? [True, True] Translation: X:433.09, Y:28.51, Z:15.97 [[ 9.92114716e-01 -1.17527263e-01 -4.35400162e-02 4.33093805e+02] [ 1.17479432e-01 9.93068555e-01 -3.66457509e-03 2.85142548e+01] [ 4.36689085e-02 -1.47937750e-03 9.99044963e-01 1.59653319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46509989299994 meters 0.01783814783871981 Centerline is valid? [True, True] Translation: X:433.16, Y:28.52, Z:15.97 [[ 9.92189927e-01 -1.16788131e-01 -4.38141781e-02 4.33155330e+02] [ 1.16739060e-01 9.93155782e-01 -3.68575369e-03 2.85207632e+01] [ 4.39447566e-02 -1.45785828e-03 9.99032899e-01 1.59677503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52509989299995 meters 0.01765557150145605 Centerline is valid? [True, True] Translation: X:433.22, Y:28.53, Z:15.97 [[ 9.92317708e-01 -1.15795626e-01 -4.35538621e-02 4.33217222e+02] [ 1.15746322e-01 9.93272062e-01 -3.66062658e-03 2.85282171e+01] [ 4.36847189e-02 -1.40869478e-03 9.99044374e-01 1.59700432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58509989299995 meters 0.01730165464873593 Centerline is valid? [True, True] Translation: X:433.28, Y:28.54, Z:15.97 [[ 9.92647029e-01 -1.13171242e-01 -4.29435296e-02 4.33278202e+02] [ 1.13120985e-01 9.93574676e-01 -3.60639072e-03 2.85365440e+01] [ 4.30757432e-02 -1.27794132e-03 9.99070992e-01 1.59721238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64509989299995 meters 0.017006560446822604 Centerline is valid? [True, True] Translation: X:433.34, Y:28.54, Z:15.97 [[ 9.92989415e-01 -1.10226859e-01 -4.26856072e-02 4.33338622e+02] [ 1.10174552e-01 9.93905795e-01 -3.58316584e-03 2.85438917e+01] [ 4.28204335e-02 -1.14482190e-03 9.99082129e-01 1.59740113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70509989299995 meters 0.015671487342179793 Centerline is valid? [True, True] Translation: X:433.40, Y:28.55, Z:15.98 [[ 9.93422659e-01 -1.06086569e-01 -4.30936157e-02 4.33399867e+02] [ 1.06029437e-01 9.94356417e-01 -3.61573051e-03 2.85541488e+01] [ 4.32339937e-02 -9.77243198e-04 9.99064496e-01 1.59765726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76509989299996 meters 0.014562133346347726 Centerline is valid? [True, True] Translation: X:433.46, Y:28.57, Z:15.98 [[ 9.94136216e-01 -9.93516544e-02 -4.26899731e-02 4.33459907e+02] [ 9.92894745e-02 9.95052153e-01 -3.57964963e-03 2.85650026e+01] [ 4.28343938e-02 -6.80005669e-04 9.99081955e-01 1.59788453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82509989299996 meters 0.01376706526805291 Centerline is valid? [True, True] Translation: X:433.52, Y:28.57, Z:15.98 [[ 9.94526418e-01 -9.49543541e-02 -4.35990250e-02 4.33520289e+02] [ 9.48853424e-02 9.95481501e-01 -3.65428428e-03 2.85737380e+01] [ 4.37490131e-02 -5.02626157e-04 9.99042427e-01 1.59808947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88509989299996 meters 0.013176565028455128 Centerline is valid? [True, True] Translation: X:433.58, Y:28.58, Z:15.98 [[ 9.94880521e-01 -9.10822304e-02 -4.37810092e-02 4.33581366e+02] [ 9.10089609e-02 9.95843318e-01 -3.66798628e-03 2.85821552e+01] [ 4.39331139e-02 -3.35256059e-04 9.99034418e-01 1.59833512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94509989299996 meters 0.013282849586581975 Centerline is valid? [True, True] Translation: X:433.64, Y:28.59, Z:15.99 [[ 9.94819163e-01 -9.15974268e-02 -4.40992491e-02 4.33642431e+02] [ 9.15236643e-02 9.95796054e-01 -3.69305449e-03 2.85857445e+01] [ 4.42521325e-02 -3.62203492e-04 9.99020329e-01 1.59852185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00509989299997 meters 0.013487006270098313 Centerline is valid? [True, True] Translation: X:433.70, Y:28.59, Z:15.99 [[ 9.94569790e-01 -9.38337603e-02 -4.50128651e-02 4.33703436e+02] [ 9.37592712e-02 9.95587767e-01 -3.76792714e-03 2.85893886e+01] [ 4.51678167e-02 -4.72906929e-04 9.98979301e-01 1.59875679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06509989299997 meters 0.014461861642643318 Centerline is valid? [True, True] Translation: X:433.76, Y:28.59, Z:15.99 [[ 9.93979484e-01 -9.92156965e-02 -4.64868853e-02 4.33764375e+02] [ 9.91421982e-02 9.95065673e-01 -3.88975830e-03 2.85901540e+01] [ 4.66434289e-02 -7.42472050e-04 9.98911327e-01 1.59888802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12509989299997 meters 0.014769809167173771 Centerline is valid? [True, True] Translation: X:433.83, Y:28.59, Z:15.99 [[ 9.93646150e-01 -1.02544140e-01 -4.63899582e-02 4.33825417e+02] [ 1.02474617e-01 9.94728050e-01 -3.88064741e-03 2.85933976e+01] [ 4.65433303e-02 -8.97802861e-04 9.98915869e-01 1.59915412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.185099893 meters 0.015330695522313658 Centerline is valid? [True, True] Translation: X:433.89, Y:28.60, Z:15.99 [[ 9.93403375e-01 -1.05163852e-01 -4.57197911e-02 4.33886157e+02] [ 1.05099164e-01 9.94454398e-01 -3.82309085e-03 2.85963562e+01] [ 4.58682983e-02 -1.00724047e-03 9.98946988e-01 1.59949057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.245099893 meters 0.015874227820495527 Centerline is valid? [True, True] Translation: X:433.95, Y:28.60, Z:16.00 [[ 9.93108399e-01 -1.08686279e-01 -4.38520394e-02 4.33947707e+02] [ 1.08630238e-01 9.94075466e-01 -3.66601134e-03 2.85997594e+01] [ 4.39906817e-02 -1.12291083e-03 9.99031310e-01 1.59985138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.305099893 meters 0.01747842736529677 Centerline is valid? [True, True] Translation: X:434.01, Y:28.60, Z:16.00 [[ 9.92835614e-01 -1.11323532e-01 -4.34110073e-02 4.34008527e+02] [ 1.11271224e-01 9.93783457e-01 -3.62698165e-03 2.86012019e+01] [ 4.35449094e-02 -1.22939937e-03 9.99050714e-01 1.60006967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.365099893 meters 0.0174640509040384 Centerline is valid? [True, True] Translation: X:434.07, Y:28.61, Z:16.00 [[ 9.92427584e-01 -1.15088824e-01 -4.29191465e-02 4.34069658e+02] [ 1.15041421e-01 9.93354241e-01 -3.58097382e-03 2.86052633e+01] [ 4.30460462e-02 -1.38362238e-03 9.99072131e-01 1.60034573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.425099893 meters 0.018200329954175934 Centerline is valid? [True, True] Translation: X:434.13, Y:28.61, Z:16.01 [[ 9.92169885e-01 -1.17273233e-01 -4.29640345e-02 4.34131737e+02] [ 1.17227853e-01 9.93098582e-01 -3.58290709e-03 2.86085359e+01] [ 4.30877008e-02 -1.48172899e-03 9.99070195e-01 1.60057663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.485099893 meters 0.018964990722423872 Centerline is valid? [True, True] Translation: X:434.19, Y:28.61, Z:16.01 [[ 9.91950520e-01 -1.19364981e-01 -4.22630702e-02 4.34193735e+02] [ 1.19323095e-01 9.92849233e-01 -3.52135628e-03 2.86116521e+01] [ 4.23811834e-02 -1.54994914e-03 9.99100312e-01 1.60089147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54509989299993 meters 0.018885951761762845 Centerline is valid? [True, True] Translation: X:434.26, Y:28.62, Z:16.01 [[ 9.91959863e-01 -1.19119787e-01 -4.27329717e-02 4.34255284e+02] [ 1.19076876e-01 9.92878665e-01 -3.55730571e-03 2.86173205e+01] [ 4.28524014e-02 -1.55980428e-03 9.99080196e-01 1.60112471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60509989299993 meters 0.01907908376548777 Centerline is valid? [True, True] Translation: X:434.32, Y:28.62, Z:16.01 [[ 9.92051369e-01 -1.17762027e-01 -4.43416956e-02 4.34317100e+02] [ 1.17714621e-01 9.93040617e-01 -3.68782904e-03 2.86228843e+01] [ 4.44673910e-02 -1.56115004e-03 9.99009617e-01 1.60126676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66509989299993 meters 0.018794324236887854 Centerline is valid? [True, True] Translation: X:434.38, Y:28.63, Z:16.01 [[ 9.92397557e-01 -1.14613364e-01 -4.48426665e-02 4.34377100e+02] [ 1.14561801e-01 9.93409133e-01 -3.72660507e-03 2.86292686e+01] [ 4.49742332e-02 -1.43898288e-03 9.98987111e-01 1.60144192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72509989299994 meters 0.018351427572931355 Centerline is valid? [True, True] Translation: X:434.44, Y:28.64, Z:16.02 [[ 9.92721165e-01 -1.11914383e-01 -4.44956223e-02 4.34438287e+02] [ 1.11860948e-01 9.93716993e-01 -3.69684118e-03 2.86366198e+01] [ 4.46297857e-02 -1.30739002e-03 9.99002739e-01 1.60174233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78509989299994 meters 0.016559694682017588 Centerline is valid? [True, True] Translation: X:434.50, Y:28.65, Z:16.02 [[ 9.93297556e-01 -1.06923508e-01 -4.39013537e-02 4.34499063e+02] [ 1.06866694e-01 9.94266673e-01 -3.64579700e-03 2.86481733e+01] [ 4.40394743e-02 -1.07023126e-03 9.99029218e-01 1.60220161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84509989299994 meters 0.016555345212795145 Centerline is valid? [True, True] Translation: X:434.56, Y:28.65, Z:16.03 [[ 9.93591775e-01 -1.04659580e-01 -4.26820507e-02 4.34559182e+02] [ 1.04603892e-01 9.94507657e-01 -3.54216367e-03 2.86545629e+01] [ 4.28183476e-02 -9.45243926e-04 9.99082427e-01 1.60256756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90509989299994 meters 0.01732970356152031 Centerline is valid? [True, True] Translation: X:434.62, Y:28.66, Z:16.03 [[ 9.93646725e-01 -1.04663244e-01 -4.13737985e-02 4.34619230e+02] [ 1.04611039e-01 9.94507295e-01 -3.43075350e-03 2.86576819e+01] [ 4.15056182e-02 -9.19199065e-04 9.99137848e-01 1.60288611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96509989299994 meters 0.01803326889618039 Centerline is valid? [True, True] Translation: X:434.68, Y:28.66, Z:16.03 [[ 9.93321683e-01 -1.07481535e-01 -4.19494163e-02 4.34680590e+02] [ 1.07430411e-01 9.94206524e-01 -3.47767614e-03 2.86604895e+01] [ 4.20801694e-02 -1.05219193e-03 9.99113683e-01 1.60312319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02509989299995 meters 0.018546000409129345 Centerline is valid? [True, True] Translation: X:434.74, Y:28.66, Z:16.03 [[ 9.92564920e-01 -1.13733965e-01 -4.33527999e-02 4.34741413e+02] [ 1.13685377e-01 9.93510306e-01 -3.59260290e-03 2.86632979e+01] [ 4.34800545e-02 -1.36268777e-03 9.99053366e-01 1.60330318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08509989299995 meters 0.019213616818748686 Centerline is valid? [True, True] Translation: X:434.80, Y:28.67, Z:16.03 [[ 9.92142634e-01 -1.16969613e-01 -4.43971043e-02 4.34802309e+02] [ 1.16921926e-01 9.93134298e-01 -3.67832943e-03 2.86661075e+01] [ 4.45225397e-02 -1.54156747e-03 9.99007191e-01 1.60348791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14509989299995 meters 0.02073856223317296 Centerline is valid? [True, True] Translation: X:434.86, Y:28.67, Z:16.04 [[ 9.91830831e-01 -1.19629502e-01 -4.42762367e-02 4.34863557e+02] [ 1.19584759e-01 9.92817222e-01 -3.66739181e-03 2.86683256e+01] [ 4.43969385e-02 -1.65733083e-03 9.99012595e-01 1.60380077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20509989299995 meters 0.02017412759203196 Centerline is valid? [True, True] Translation: X:434.93, Y:28.67, Z:16.04 [[ 9.91859587e-01 -1.19539461e-01 -4.38734183e-02 4.34925691e+02] [ 1.19495520e-01 9.92828096e-01 -3.63222987e-03 2.86747613e+01] [ 4.39929572e-02 -1.64001492e-03 9.99030495e-01 1.60412174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26509989299996 meters 0.018502960384917933 Centerline is valid? [True, True] Translation: X:434.99, Y:28.68, Z:16.04 [[ 9.92020707e-01 -1.17943889e-01 -4.45438676e-02 4.34987806e+02] [ 1.17897142e-01 9.93018978e-01 -3.68431625e-03 2.86832734e+01] [ 4.46674484e-02 -1.59667667e-03 9.99000635e-01 1.60436242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32509989299996 meters 0.020160273944376653 Centerline is valid? [True, True] Translation: X:435.05, Y:28.69, Z:16.05 [[ 9.92104142e-01 -1.17131409e-01 -4.48286156e-02 4.35048939e+02] [ 1.17083411e-01 9.93115177e-01 -3.70395976e-03 2.86859509e+01] [ 4.49538285e-02 -1.57397341e-03 9.98987826e-01 1.60451734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38509989299996 meters 0.02013969987004823 Centerline is valid? [True, True] Translation: X:435.11, Y:28.69, Z:16.05 [[ 9.92121635e-01 -1.16955259e-01 -4.49013261e-02 4.35110792e+02] [ 1.16907042e-01 9.93135942e-01 -3.70736519e-03 2.86909091e+01] [ 4.50267166e-02 -1.57112401e-03 9.98984548e-01 1.60473102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44509989299996 meters 0.018695577422432597 Centerline is valid? [True, True] Translation: X:435.17, Y:28.70, Z:16.05 [[ 9.91904023e-01 -1.18787161e-01 -4.49001050e-02 4.35172542e+02] [ 1.18740965e-01 9.92918357e-01 -3.70404807e-03 2.86986989e+01] [ 4.50221318e-02 -1.65742162e-03 9.98984615e-01 1.60511534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50509989299997 meters 0.020153274952708182 Centerline is valid? [True, True] Translation: X:435.23, Y:28.70, Z:16.05 [[ 9.91478848e-01 -1.21843837e-01 -4.60844220e-02 4.35234073e+02] [ 1.21798614e-01 9.92547565e-01 -3.79856679e-03 2.87008971e+01] [ 4.62038128e-02 -1.84682010e-03 9.98930326e-01 1.60527643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56509989299997 meters 0.021441028632357428 Centerline is valid? [True, True] Translation: X:435.30, Y:28.70, Z:16.05 [[ 9.91155889e-01 -1.24360654e-01 -4.63079993e-02 4.35295230e+02] [ 1.24317810e-01 9.92235116e-01 -3.81528845e-03 2.87040141e+01] [ 4.64228948e-02 -1.97536344e-03 9.98919923e-01 1.60545422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62509989299997 meters 0.02190794712873723 Centerline is valid? [True, True] Translation: X:435.36, Y:28.71, Z:16.06 [[ 9.90853176e-01 -1.26424708e-01 -4.71887412e-02 4.35357397e+02] [ 1.26382654e-01 9.91973954e-01 -3.88573486e-03 2.87100696e+01] [ 4.73012551e-02 -2.11364563e-03 9.98878433e-01 1.60566113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.685099893 meters 0.021452714230629284 Centerline is valid? [True, True] Translation: X:435.42, Y:28.72, Z:16.06 [[ 9.90830810e-01 -1.26628975e-01 -4.71106012e-02 4.35419506e+02] [ 1.26587455e-01 9.91947879e-01 -3.87583327e-03 2.87174997e+01] [ 4.72220537e-02 -2.12331608e-03 9.98882160e-01 1.60599742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.745099893 meters 0.020673495382222344 Centerline is valid? [True, True] Translation: X:435.48, Y:28.73, Z:16.06 [[ 9.91049299e-01 -1.25208523e-01 -4.63045714e-02 4.35481345e+02] [ 1.25167021e-01 9.92128384e-01 -3.80612354e-03 2.87265461e+01] [ 4.64166387e-02 -2.02374922e-03 9.98920117e-01 1.60635354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.805099893 meters 0.020457528197975 Centerline is valid? [True, True] Translation: X:435.54, Y:28.73, Z:16.07 [[ 9.91327594e-01 -1.22734104e-01 -4.69674372e-02 4.35542767e+02] [ 1.22688794e-01 9.92437697e-01 -3.85724482e-03 2.87342144e+01] [ 4.70856707e-02 -1.93858499e-03 9.98888974e-01 1.60659442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.865099893 meters 0.019190094257976645 Centerline is valid? [True, True] Translation: X:435.60, Y:28.74, Z:16.07 [[ 9.91751643e-01 -1.19072465e-01 -4.74386544e-02 4.35603962e+02] [ 1.19022185e-01 9.92883962e-01 -3.89329114e-03 2.87445528e+01] [ 4.75646629e-02 -1.78507444e-03 9.98866566e-01 1.60684988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.925099893 meters 0.018749465475997363 Centerline is valid? [True, True] Translation: X:435.66, Y:28.75, Z:16.07 [[ 9.92020130e-01 -1.16908400e-01 -4.72068618e-02 4.35664885e+02] [ 1.16856279e-01 9.93141288e-01 -3.87184036e-03 2.87512279e+01] [ 4.73357342e-02 -1.67547465e-03 9.98877631e-01 1.60704709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.985099893 meters 0.01776371283378309 Centerline is valid? [True, True] Translation: X:435.73, Y:28.76, Z:16.07 [[ 9.92268756e-01 -1.14848803e-01 -4.70368848e-02 4.35726166e+02] [ 1.14794846e-01 9.93381737e-01 -3.85579752e-03 2.87597295e+01] [ 4.71684161e-02 -1.57360453e-03 9.98885711e-01 1.60733216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04509989299993 meters 0.018188232366024574 Centerline is valid? [True, True] Translation: X:435.79, Y:28.77, Z:16.08 [[ 9.92182868e-01 -1.15075495e-01 -4.82782329e-02 4.35788265e+02] [ 1.15019098e-01 9.93355412e-01 -3.95389818e-03 2.87652310e+01] [ 4.84124407e-02 -1.62992874e-03 9.98826100e-01 1.60750100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10509989299993 meters 0.01988649360421715 Centerline is valid? [True, True] Translation: X:435.85, Y:28.77, Z:16.08 [[ 9.92032440e-01 -1.16325131e-01 -4.83746017e-02 4.35849591e+02] [ 1.16270154e-01 9.93209737e-01 -3.95843989e-03 2.87675803e+01] [ 4.85065915e-02 -1.69762162e-03 9.98821420e-01 1.60760923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16509989299993 meters 0.01928596159809004 Centerline is valid? [True, True] Translation: X:435.91, Y:28.77, Z:16.08 [[ 9.91819916e-01 -1.18484581e-01 -4.74832384e-02 4.35911076e+02] [ 1.18434211e-01 9.92954310e-01 -3.88275870e-03 2.87739467e+01] [ 4.76087333e-02 -1.77264247e-03 9.98864488e-01 1.60797072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22509989299994 meters 0.02075242175371978 Centerline is valid? [True, True] Translation: X:435.97, Y:28.78, Z:16.08 [[ 9.91748925e-01 -1.19516718e-01 -4.63661987e-02 4.35972369e+02] [ 1.19469963e-01 9.92830588e-01 -3.78824833e-03 2.87768572e+01] [ 4.64865393e-02 -1.78237683e-03 9.98917326e-01 1.60825187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28509989299994 meters 0.019586690205893535 Centerline is valid? [True, True] Translation: X:436.03, Y:28.78, Z:16.09 [[ 9.91853532e-01 -1.19051915e-01 -4.53123788e-02 4.36033888e+02] [ 1.19006893e-01 9.92886536e-01 -3.69957466e-03 2.87839480e+01] [ 4.54304923e-02 -1.72304921e-03 9.98966016e-01 1.60860249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34509989299994 meters 0.019410672358478008 Centerline is valid? [True, True] Translation: X:436.10, Y:28.79, Z:16.09 [[ 9.91940814e-01 -1.18515970e-01 -4.48038715e-02 4.36095554e+02] [ 1.18471554e-01 9.92950721e-01 -3.65478653e-03 2.87892414e+01] [ 4.49211870e-02 -1.68265233e-03 9.98989117e-01 1.60882961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40509989299994 meters 0.01945762630398038 Centerline is valid? [True, True] Translation: X:436.16, Y:28.79, Z:16.09 [[ 9.91858421e-01 -1.19372537e-01 -4.43516622e-02 4.36157393e+02] [ 1.19330012e-01 9.92848066e-01 -3.61465216e-03 2.87940928e+01] [ 4.44659523e-02 -1.70726118e-03 9.99009442e-01 1.60913341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46509989299994 meters 0.020065453682502055 Centerline is valid? [True, True] Translation: X:436.22, Y:28.80, Z:16.09 [[ 9.91686005e-01 -1.20919246e-01 -4.40159544e-02 4.36219048e+02] [ 1.20879020e-01 9.92660776e-01 -3.58417234e-03 2.87968021e+01] [ 4.41263069e-02 -1.76623187e-03 9.99024399e-01 1.60938345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52509989299995 meters 0.021337054651280687 Centerline is valid? [True, True] Translation: X:436.28, Y:28.80, Z:16.10 [[ 9.91309355e-01 -1.23957637e-01 -4.40484513e-02 4.36280242e+02] [ 1.23920446e-01 9.92285682e-01 -3.58449896e-03 2.87981733e+01] [ 4.41529736e-02 -1.90515636e-03 9.99022965e-01 1.60955699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58509989299995 meters 0.023594458662927774 Centerline is valid? [True, True] Translation: X:436.34, Y:28.80, Z:16.10 [[ 9.91102937e-01 -1.25383331e-01 -4.46541044e-02 4.36341149e+02] [ 1.25346627e-01 9.92106361e-01 -3.63212914e-03 2.87992303e+01] [ 4.47570294e-02 -1.99742751e-03 9.98995905e-01 1.60968364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64509989299995 meters 0.021940853918647685 Centerline is valid? [True, True] Translation: X:436.40, Y:28.81, Z:16.10 [[ 9.90890967e-01 -1.26454292e-01 -4.63076990e-02 4.36402924e+02] [ 1.26416085e-01 9.91970162e-01 -3.76454887e-03 2.88053992e+01] [ 4.64118990e-02 -2.12378053e-03 9.98920130e-01 1.60983120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70509989299995 meters 0.022198346203710605 Centerline is valid? [True, True] Translation: X:436.46, Y:28.81, Z:16.10 [[ 9.90918504e-01 -1.26247684e-01 -4.62821897e-02 4.36464842e+02] [ 1.26209453e-01 9.91996494e-01 -3.75905210e-03 2.88092669e+01] [ 4.63863415e-02 -2.11633558e-03 9.98921332e-01 1.61005586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76509989299996 meters 0.021944721495357984 Centerline is valid? [True, True] Translation: X:436.53, Y:28.81, Z:16.10 [[ 9.91238573e-01 -1.24241861e-01 -4.48335901e-02 4.36525939e+02] [ 1.24204069e-01 9.92250024e-01 -3.63846340e-03 2.88148753e+01] [ 4.49381803e-02 -1.96192905e-03 9.98987843e-01 1.61041103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82509989299996 meters 0.02052639962139943 Centerline is valid? [True, True] Translation: X:436.59, Y:28.82, Z:16.11 [[ 9.91608059e-01 -1.21558188e-01 -4.40120996e-02 4.36586980e+02] [ 1.21519199e-01 9.92582660e-01 -3.57020772e-03 2.88221200e+01] [ 4.41196348e-02 -1.80806834e-03 9.99024619e-01 1.61074552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88509989299996 meters 0.01935546693463986 Centerline is valid? [True, True] Translation: X:436.65, Y:28.83, Z:16.11 [[ 9.92391728e-01 -1.15375328e-01 -4.29789597e-02 4.36647882e+02] [ 1.15332418e-01 9.93320839e-01 -3.48496010e-03 2.88296374e+01] [ 4.30939747e-02 -1.49842177e-03 9.99069899e-01 1.61096680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.94509989299996 meters 0.01760522377666963 Centerline is valid? [True, True] Translation: X:436.71, Y:28.84, Z:16.11 [[ 9.92921597e-01 -1.10696125e-01 -4.30473103e-02 4.36708619e+02] [ 1.10648722e-01 9.93853451e-01 -3.48964130e-03 2.88378943e+01] [ 4.31690077e-02 -1.29818968e-03 9.99066940e-01 1.61120589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.00509989299997 meters 0.015764965986644088 Centerline is valid? [True, True] Translation: X:436.77, Y:28.85, Z:16.11 [[ 9.93580950e-01 -1.04599545e-01 -4.30793623e-02 4.36769400e+02] [ 1.04546412e-01 9.94513883e-01 -3.49066944e-03 2.88467243e+01] [ 4.32081463e-02 -1.03553011e-03 9.99065555e-01 1.61144496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.06509989299997 meters 0.01483358314274305 Centerline is valid? [True, True] Translation: X:436.83, Y:28.85, Z:16.12 [[ 9.93855066e-01 -1.02113120e-01 -4.27202235e-02 4.36830926e+02] [ 1.02058650e-01 9.94772367e-01 -3.45981806e-03 2.88535658e+01] [ 4.28501907e-02 -9.21410616e-04 9.99081084e-01 1.61174016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.12509989299997 meters 0.014298158089756891 Centerline is valid? [True, True] Translation: X:436.89, Y:28.86, Z:16.12 [[ 9.94128967e-01 -9.95226582e-02 -4.24598309e-02 4.36893184e+02] [ 9.94666239e-02 9.95034968e-01 -3.43555320e-03 2.88586639e+01] [ 4.25909319e-02 -8.07953075e-04 9.99092268e-01 1.61192918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.185099893 meters 0.01458976355604192 Centerline is valid? [True, True] Translation: X:436.95, Y:28.86, Z:16.12 [[ 9.94306454e-01 -9.73661051e-02 -4.32956962e-02 4.36954487e+02] [ 9.73059587e-02 9.95248363e-01 -3.49951494e-03 2.88622092e+01] [ 4.34307049e-02 -7.33338938e-04 9.99056173e-01 1.61202508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.245099893 meters 0.013858643931331762 Centerline is valid? [True, True] Translation: X:437.02, Y:28.87, Z:16.12 [[ 9.94705335e-01 -9.34358856e-02 -4.27905570e-02 4.37015345e+02] [ 9.33737169e-02 9.95625141e-01 -3.45362267e-03 2.88685572e+01] [ 4.29260466e-02 -5.60176458e-04 9.99078095e-01 1.61225665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.305099893 meters 0.013556147688936978 Centerline is valid? [True, True] Translation: X:437.08, Y:28.87, Z:16.12 [[ 9.94831517e-01 -9.20642790e-02 -4.28301442e-02 4.37076912e+02] [ 9.20008000e-02 9.95752939e-01 -3.45506442e-03 2.88737517e+01] [ 4.29663300e-02 -5.03200558e-04 9.99076394e-01 1.61246639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.365099893 meters 0.013323924709044662 Centerline is valid? [True, True] Translation: X:437.14, Y:28.88, Z:16.13 [[ 9.95101748e-01 -8.88117318e-02 -4.34164348e-02 4.37137275e+02] [ 8.87435325e-02 9.96048362e-01 -3.49949641e-03 2.88779113e+01] [ 4.35556651e-02 -3.70572791e-04 9.99050933e-01 1.61262261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.425099893 meters 0.013261252361463256 Centerline is valid? [True, True] Translation: X:437.20, Y:28.88, Z:16.13 [[ 9.95128495e-01 -8.86094185e-02 -4.32162999e-02 4.37198635e+02] [ 8.85416945e-02 9.96066384e-01 -3.48247831e-03 2.88820373e+01] [ 4.33548839e-02 -3.60931019e-04 9.99059670e-01 1.61296880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.485099893 meters 0.013350973580370757 Centerline is valid? [True, True] Translation: X:437.26, Y:28.88, Z:16.13 [[ 9.94958502e-01 -8.96710492e-02 -4.49074928e-02 4.37260197e+02] [ 8.95990770e-02 9.95971346e-01 -3.61703797e-03 2.88829819e+01] [ 4.50509197e-02 -4.24867231e-04 9.98984602e-01 1.61317134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54509989299993 meters 0.01344308275808858 Centerline is valid? [True, True] Translation: X:437.32, Y:28.89, Z:16.13 [[ 9.94781705e-01 -9.13023830e-02 -4.55327816e-02 4.37321550e+02] [ 9.12301769e-02 9.95823085e-01 -3.66570679e-03 2.88851115e+01] [ 4.56772828e-02 -5.07385664e-04 9.98956119e-01 1.61342489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60509989299993 meters 0.013974359312462725 Centerline is valid? [True, True] Translation: X:437.38, Y:28.88, Z:16.14 [[ 9.94492069e-01 -9.40659113e-02 -4.62290991e-02 4.37381854e+02] [ 9.39945349e-02 9.95565763e-01 -3.72019359e-03 2.88849411e+01] [ 4.63740517e-02 -6.45579653e-04 9.98923936e-01 1.61370085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66509989299993 meters 0.014195533203337317 Centerline is valid? [True, True] Translation: X:437.44, Y:28.89, Z:16.14 [[ 9.94246216e-01 -9.61920479e-02 -4.71333375e-02 4.37442357e+02] [ 9.61202707e-02 9.95362503e-01 -3.79226546e-03 2.88870807e+01] [ 4.72795425e-02 -7.60023566e-04 9.98881408e-01 1.61396281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72509989299994 meters 0.015745767801622335 Centerline is valid? [True, True] Translation: X:437.50, Y:28.88, Z:16.14 [[ 9.93759226e-01 -1.00362553e-01 -4.86822167e-02 4.37501822e+02] [ 1.00290957e-01 9.94950440e-01 -3.91729784e-03 2.88845837e+01] [ 4.88295429e-02 -9.89535210e-04 9.98806636e-01 1.61409400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78509989299994 meters 0.01584395120230038 Centerline is valid? [True, True] Translation: X:437.56, Y:28.89, Z:16.14 [[ 9.93358130e-01 -1.04301699e-01 -4.85878798e-02 4.37561617e+02] [ 1.04235000e-01 9.94545004e-01 -3.91145038e-03 2.88861357e+01] [ 4.87308040e-02 -1.17908659e-03 9.98811253e-01 1.61445866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84509989299994 meters 0.017102884293851962 Centerline is valid? [True, True] Translation: X:437.62, Y:28.89, Z:16.15 [[ 9.92735403e-01 -1.09897250e-01 -4.89797285e-02 4.37621689e+02] [ 1.09836191e-01 9.93941875e-01 -3.94456827e-03 2.88852412e+01] [ 4.91165004e-02 -1.46383424e-03 9.98791984e-01 1.61473393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90509989299994 meters 0.017770273560952128 Centerline is valid? [True, True] Translation: X:437.68, Y:28.89, Z:16.15 [[ 9.92385371e-01 -1.12829120e-01 -4.94051037e-02 4.37682483e+02] [ 1.12770587e-01 9.93613083e-01 -3.97951149e-03 2.88866527e+01] [ 4.95385621e-02 -1.62223357e-03 9.98770894e-01 1.61494249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96509989299994 meters 0.01802964018421966 Centerline is valid? [True, True] Translation: X:437.74, Y:28.89, Z:16.15 [[ 9.91860188e-01 -1.16773306e-01 -5.07677387e-02 4.37742585e+02] [ 1.16716640e-01 9.93156836e-01 -4.08956425e-03 2.88880901e+01] [ 5.08978787e-02 -1.86916393e-03 9.98702114e-01 1.61519303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02509989299995 meters 0.02209472197318979 Centerline is valid? [True, True] Translation: X:437.80, Y:28.88, Z:16.15 [[ 9.91295755e-01 -1.20992968e-01 -5.18982380e-02 4.37802220e+02] [ 1.20939448e-01 9.92651077e-01 -4.18199784e-03 2.88841643e+01] [ 5.20228342e-02 -2.13094756e-03 9.98643622e-01 1.61527738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08509989299995 meters 0.02348962057702853 Centerline is valid? [True, True] Translation: X:437.86, Y:28.89, Z:16.15 [[ 9.90933693e-01 -1.23601552e-01 -5.26599649e-02 4.37861609e+02] [ 1.23550008e-01 9.92329265e-01 -4.24558374e-03 2.88860353e+01] [ 5.27807850e-02 -2.29904710e-03 9.98603476e-01 1.61549890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14509989299995 meters 0.02252106039387515 Centerline is valid? [True, True] Translation: X:437.92, Y:28.89, Z:16.16 [[ 9.90664642e-01 -1.25836706e-01 -5.24279475e-02 4.37921307e+02] [ 1.25788618e-01 9.92048052e-01 -4.22909814e-03 2.88913320e+01] [ 5.25432190e-02 -2.40522107e-03 9.98615754e-01 1.61589733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20509989299995 meters 0.02474384647153212 Centerline is valid? [True, True] Translation: X:437.98, Y:28.89, Z:16.16 [[ 9.90256369e-01 -1.29177249e-01 -5.20150128e-02 4.37980610e+02] [ 1.29134469e-01 9.91618212e-01 -4.19653548e-03 2.88920357e+01] [ 5.21211309e-02 -2.56128506e-03 9.98637486e-01 1.61616377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26509989299996 meters 0.026114650865882615 Centerline is valid? [True, True] Translation: X:438.04, Y:28.89, Z:16.16 [[ 9.89985817e-01 -1.31220262e-01 -5.20511689e-02 4.38039714e+02] [ 1.31180184e-01 9.91349643e-01 -4.20043918e-03 2.88947225e+01] [ 5.21520904e-02 -2.66970671e-03 9.98635585e-01 1.61642035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32509989299996 meters 0.028020463460792806 Centerline is valid? [True, True] Translation: X:438.10, Y:28.90, Z:16.17 [[ 9.89659261e-01 -1.33831493e-01 -5.16108321e-02 4.38099186e+02] [ 1.33795500e-01 9.91000200e-01 -4.16736602e-03 2.88975928e+01] [ 5.17040697e-02 -2.78102470e-03 9.98658578e-01 1.61671266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38509989299996 meters 0.027101078152818793 Centerline is valid? [True, True] Translation: X:438.16, Y:28.90, Z:16.17 [[ 9.89598388e-01 -1.34395072e-01 -5.13127221e-02 4.38158807e+02] [ 1.34360155e-01 9.90923896e-01 -4.14509152e-03 2.89045011e+01] [ 5.14040824e-02 -2.79240942e-03 9.98674032e-01 1.61703685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.44509989299996 meters 0.026987936808118854 Centerline is valid? [True, True] Translation: X:438.22, Y:28.91, Z:16.17 [[ 9.89644812e-01 -1.34386540e-01 -5.04321806e-02 4.38218290e+02] [ 1.34352707e-01 9.90925193e-01 -4.07573207e-03 2.89113272e+01] [ 5.05222418e-02 -2.74217291e-03 9.98719172e-01 1.61735746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.50509989299997 meters 0.025300421072390493 Centerline is valid? [True, True] Translation: X:438.28, Y:28.92, Z:16.18 [[ 9.89913665e-01 -1.32630683e-01 -4.97999810e-02 4.38277776e+02] [ 1.32595412e-01 9.91162070e-01 -4.02594809e-03 2.89213581e+01] [ 4.98938165e-02 -2.61790799e-03 9.98751097e-01 1.61770221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.56509989299997 meters 0.023288011868562303 Centerline is valid? [True, True] Translation: X:438.34, Y:28.93, Z:16.18 [[ 9.90137231e-01 -1.30733966e-01 -5.03675825e-02 4.38338898e+02] [ 1.30695478e-01 9.91414201e-01 -4.07110366e-03 2.89311916e+01] [ 5.04673681e-02 -2.55186397e-03 9.98722450e-01 1.61791946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.62509989299997 meters 0.02319022757691831 Centerline is valid? [True, True] Translation: X:438.40, Y:28.94, Z:16.18 [[ 9.90595148e-01 -1.26771480e-01 -5.14805362e-02 4.38398099e+02] [ 1.26726046e-01 9.91929036e-01 -4.15895560e-03 2.89396384e+01] [ 5.15922756e-02 -2.40408359e-03 9.98665338e-01 1.61800496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.685099893 meters 0.020965176715508696 Centerline is valid? [True, True] Translation: X:438.46, Y:28.95, Z:16.18 [[ 9.91025533e-01 -1.23333986e-01 -5.15472737e-02 4.38458176e+02] [ 1.23283799e-01 9.92362718e-01 -4.16428802e-03 2.89498265e+01] [ 5.16671909e-02 -2.22802797e-03 9.98661873e-01 1.61826668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.745099893 meters 0.02018777517767468 Centerline is valid? [True, True] Translation: X:438.52, Y:28.96, Z:16.18 [[ 9.91873939e-01 -1.16778759e-01 -5.04857397e-02 4.38516707e+02] [ 1.16722133e-01 9.93156236e-01 -4.07858880e-03 2.89588747e+01] [ 5.06165198e-02 -1.84735729e-03 9.98716454e-01 1.61844810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.805099893 meters 0.01673883098876842 Centerline is valid? [True, True] Translation: X:438.58, Y:28.97, Z:16.19 [[ 9.92395142e-01 -1.12352277e-01 -5.02876589e-02 4.38576725e+02] [ 1.12290402e-01 9.93667127e-01 -4.06292052e-03 2.89722760e+01] [ 5.04256719e-02 -1.61479883e-03 9.98726511e-01 1.61880606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.865099893 meters 0.017049740834997048 Centerline is valid? [True, True] Translation: X:438.64, Y:28.98, Z:16.19 [[ 9.92841054e-01 -1.08393567e-01 -5.01744576e-02 4.38635835e+02] [ 1.08326943e-01 9.94107059e-01 -4.05332279e-03 2.89796549e+01] [ 5.03181366e-02 -1.41094034e-03 9.98732244e-01 1.61890011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.925099893 meters 0.01608491062345618 Centerline is valid? [True, True] Translation: X:438.70, Y:28.99, Z:16.19 [[ 9.92849471e-01 -1.08777389e-01 -4.91671368e-02 4.38697068e+02] [ 1.08713872e-01 9.94065147e-01 -3.97217033e-03 2.89872236e+01] [ 4.93074194e-02 -1.40138262e-03 9.98782666e-01 1.61919552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.985099893 meters 0.01654288745347535 Centerline is valid? [True, True] Translation: X:438.76, Y:28.99, Z:16.19 [[ 9.92717737e-01 -1.10349232e-01 -4.83170965e-02 4.38758402e+02] [ 1.10289837e-01 9.93891809e-01 -3.90174059e-03 2.89923255e+01] [ 4.84525205e-02 -1.45555761e-03 9.98824426e-01 1.61946393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04509989299993 meters 0.01754164560131418 Centerline is valid? [True, True] Translation: X:438.82, Y:29.00, Z:16.20 [[ 9.92292140e-01 -1.14343002e-01 -4.77701552e-02 4.38819174e+02] [ 1.14289636e-01 9.93439988e-01 -3.85602808e-03 2.89962368e+01] [ 4.78976922e-02 -1.63332729e-03 9.98850911e-01 1.61970039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10509989299993 meters 0.019080399039993104 Centerline is valid? [True, True] Translation: X:438.88, Y:29.00, Z:16.20 [[ 9.91897768e-01 -1.17631434e-01 -4.79756654e-02 4.38880686e+02] [ 1.17581498e-01 9.93055690e-01 -3.87153638e-03 2.89986381e+01] [ 4.80979219e-02 -1.80088230e-03 9.98841002e-01 1.61985829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16509989299993 meters 0.019651098996253658 Centerline is valid? [True, True] Translation: X:438.94, Y:29.00, Z:16.20 [[ 9.91723494e-01 -1.19159497e-01 -4.78071745e-02 4.38942314e+02] [ 1.19111775e-01 9.92873364e-01 -3.85600855e-03 2.90025731e+01] [ 4.79259502e-02 -1.87030315e-03 9.98849140e-01 1.62008844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22509989299994 meters 0.023653097220700258 Centerline is valid? [True, True] Translation: X:439.00, Y:29.00, Z:16.20 [[ 9.91038848e-01 -1.25056292e-01 -4.69353255e-02 4.39002507e+02] [ 1.25016974e-01 9.92147388e-01 -3.78381840e-03 2.90017891e+01] [ 4.70399509e-02 -2.11780135e-03 9.98890764e-01 1.62036142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28509989299994 meters 0.021576795386740365 Centerline is valid? [True, True] Translation: X:439.06, Y:29.01, Z:16.21 [[ 9.90306610e-01 -1.30978352e-01 -4.62329859e-02 4.39063006e+02] [ 1.30946611e-01 9.91382413e-01 -3.72765972e-03 2.90098333e+01] [ 4.63228119e-02 -2.36252674e-03 9.98923729e-01 1.62074813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34509989299994 meters 0.02531257823253229 Centerline is valid? [True, True] Translation: X:439.12, Y:29.01, Z:16.21 [[ 9.89805168e-01 -1.34665491e-01 -4.63781816e-02 4.39122894e+02] [ 1.34637618e-01 9.90887852e-01 -3.73857487e-03 2.90099797e+01] [ 4.64590338e-02 -2.54378719e-03 9.98916957e-01 1.62091609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40509989299994 meters 0.02881650221673168 Centerline is valid? [True, True] Translation: X:439.18, Y:29.01, Z:16.21 [[ 9.89224245e-01 -1.38607804e-01 -4.71515666e-02 4.39182237e+02] [ 1.38583599e-01 9.90343457e-01 -3.79786728e-03 2.90123102e+01] [ 4.72226595e-02 -2.77749140e-03 9.98880526e-01 1.62114985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46509989299994 meters 0.026044160873422977 Centerline is valid? [True, True] Translation: X:439.24, Y:29.02, Z:16.21 [[ 9.89034128e-01 -1.39571981e-01 -4.82820457e-02 4.39243901e+02] [ 1.39547856e-01 9.90207700e-01 -3.88671564e-03 2.90241536e+01] [ 4.83517300e-02 -2.89356154e-03 9.98826180e-01 1.62144603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52509989299995 meters 0.02921210997118426 Centerline is valid? [True, True] Translation: X:439.31, Y:29.03, Z:16.22 [[ 9.89185074e-01 -1.38598744e-01 -4.79924755e-02 4.39305282e+02] [ 1.38573926e-01 9.90344570e-01 -3.86006229e-03 2.90272266e+01] [ 4.80640873e-02 -2.83218974e-03 9.98840239e-01 1.62167978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58509989299995 meters 0.028036188996870902 Centerline is valid? [True, True] Translation: X:439.37, Y:29.04, Z:16.22 [[ 9.89739332e-01 -1.34752766e-01 -4.75157465e-02 4.39365521e+02] [ 1.34724125e-01 9.90875785e-01 -3.81951446e-03 2.90386803e+01] [ 4.75968927e-02 -2.62119370e-03 9.98863186e-01 1.62205044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64509989299995 meters 0.023995441295250372 Centerline is valid? [True, True] Translation: X:439.43, Y:29.05, Z:16.22 [[ 9.90305789e-01 -1.30700252e-01 -4.70307191e-02 4.39425788e+02] [ 1.30667674e-01 9.91419020e-01 -3.77969990e-03 2.90525732e+01] [ 4.71211572e-02 -2.40233598e-03 9.98886292e-01 1.62245944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70509989299995 meters 0.020116172414601133 Centerline is valid? [True, True] Translation: X:439.48, Y:29.07, Z:16.23 [[ 9.91417483e-01 -1.22442521e-01 -4.58170657e-02 4.39484699e+02] [ 1.22402831e-01 9.92473674e-01 -3.68142701e-03 2.90690190e+01] [ 4.59229947e-02 -1.95830745e-03 9.98943063e-01 1.62292122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76509989299996 meters 0.018738704906050792 Centerline is valid? [True, True] Translation: X:439.54, Y:29.08, Z:16.23 [[ 9.92184764e-01 -1.16162327e-01 -4.55599371e-02 4.39544813e+02] [ 1.16116488e-01 9.93228857e-01 -3.66034986e-03 2.90805659e+01] [ 4.56766390e-02 -1.65851653e-03 9.98954901e-01 1.62321972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82509989299996 meters 0.01607757398987715 Centerline is valid? [True, True] Translation: X:439.60, Y:29.10, Z:16.23 [[ 9.93279028e-01 -1.06321238e-01 -4.57445837e-02 4.39604619e+02] [ 1.06264612e-01 9.94331096e-01 -3.67479955e-03 2.90951938e+01] [ 4.58759713e-02 -1.21092912e-03 9.98946409e-01 1.62339829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88509989299996 meters 0.013443606130489548 Centerline is valid? [True, True] Translation: X:439.67, Y:29.11, Z:16.24 [[ 9.94011839e-01 -9.96025438e-02 -4.49421461e-02 4.39665442e+02] [ 9.95410433e-02 9.95026909e-01 -3.60987910e-03 2.91088769e+01] [ 4.50781979e-02 -8.85325545e-04 9.98983069e-01 1.62371079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.94509989299996 meters 0.012209918925620811 Centerline is valid? [True, True] Translation: X:439.73, Y:29.12, Z:16.24 [[ 9.95041697e-01 -8.93161698e-02 -4.37566311e-02 4.39725104e+02] [ 8.92480238e-02 9.96003240e-01 -3.51236774e-03 2.91220042e+01] [ 4.38954575e-02 -4.10240496e-04 9.99036046e-01 1.62395220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.00509989299997 meters 0.011822374973499312 Centerline is valid? [True, True] Translation: X:439.79, Y:29.13, Z:16.24 [[ 9.95545495e-01 -8.34962257e-02 -4.37898095e-02 4.39786596e+02] [ 8.34224279e-02 9.96508081e-01 -3.51317808e-03 2.91313690e+01] [ 4.39302361e-02 -1.55523612e-04 9.99034589e-01 1.62412690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.06509989299997 meters 0.01176849659590727 Centerline is valid? [True, True] Translation: X:439.85, Y:29.14, Z:16.24 [[ 9.95923226e-01 -7.88596324e-02 -4.37959635e-02 4.39847904e+02] [ 7.87814696e-02 9.96885729e-01 -3.51052550e-03 2.91388886e+01] [ 4.39364097e-02 4.59035169e-05 9.99034329e-01 1.62424029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.12509989299997 meters 0.011781148715868635 Centerline is valid? [True, True] Translation: X:439.91, Y:29.14, Z:16.24 [[ 9.95953566e-01 -7.88251938e-02 -4.31634582e-02 4.39910471e+02] [ 7.87493741e-02 9.96888453e-01 -3.45675693e-03 2.91425932e+01] [ 4.33016326e-02 4.36740769e-05 9.99062043e-01 1.62441538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.185099893 meters 0.011762281765144914 Centerline is valid? [True, True] Translation: X:439.97, Y:29.14, Z:16.25 [[ 9.95734482e-01 -8.17149557e-02 -4.28428148e-02 4.39972419e+02] [ 8.16430627e-02 9.96655737e-01 -3.42803382e-03 2.91439882e+01] [ 4.29796588e-02 -8.44071352e-05 9.99075944e-01 1.62463696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.245099893 meters 0.012429303757025728 Centerline is valid? [True, True] Translation: X:440.03, Y:29.14, Z:16.25 [[ 9.95097750e-01 -8.95084635e-02 -4.20559462e-02 4.40034041e+02] [ 8.94462743e-02 9.95985975e-01 -3.36190146e-03 2.91401188e+01] [ 4.21880512e-02 -4.16327123e-04 9.99109601e-01 1.62482495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.305099893 meters 0.013576848382728017 Centerline is valid? [True, True] Translation: X:440.10, Y:29.14, Z:16.25 [[ 9.94531752e-01 -9.57321426e-02 -4.17366933e-02 4.40096508e+02] [ 9.56765457e-02 9.95406899e-01 -3.33214243e-03 2.91377397e+01] [ 4.18639856e-02 -6.79301201e-04 9.99123088e-01 1.62498708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.365099893 meters 0.015414158910874805 Centerline is valid? [True, True] Translation: X:440.16, Y:29.13, Z:16.25 [[ 9.93749981e-01 -1.03904123e-01 -4.08032937e-02 4.40158653e+02] [ 1.03857974e-01 9.94586812e-01 -3.25490295e-03 2.91324861e+01] [ 4.09206157e-02 -1.00318766e-03 9.99161897e-01 1.62517365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.425099893 meters 0.016923587532507542 Centerline is valid? [True, True] Translation: X:440.22, Y:29.13, Z:16.25 [[ 9.93444841e-01 -1.07003444e-01 -4.02195309e-02 4.40220266e+02] [ 1.06961208e-01 9.94258023e-01 -3.20671679e-03 2.91306838e+01] [ 4.03317210e-02 -1.11623334e-03 9.99185722e-01 1.62541659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.485099893 meters 0.017828258776999513 Centerline is valid? [True, True] Translation: X:440.28, Y:29.13, Z:16.26 [[ 9.93319566e-01 -1.08199083e-01 -4.01148086e-02 4.40283121e+02] [ 1.08158198e-01 9.94128563e-01 -3.19444662e-03 2.91293723e+01] [ 4.02249132e-02 -1.16563907e-03 9.99189971e-01 1.62566183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54509989299993 meters 0.017284271578394107 Centerline is valid? [True, True] Translation: X:440.35, Y:29.13, Z:16.26 [[ 9.93402108e-01 -1.07193239e-01 -4.07659393e-02 4.40345420e+02] [ 1.07150288e-01 9.94237545e-01 -3.24340809e-03 2.91321282e+01] [ 4.08786988e-02 -1.14607371e-03 9.99163459e-01 1.62579131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60509989299993 meters 0.014738962376062663 Centerline is valid? [True, True] Translation: X:440.41, Y:29.14, Z:16.26 [[ 9.93805053e-01 -1.03314014e-01 -4.09601135e-02 4.40406686e+02] [ 1.03267474e-01 9.94648293e-01 -3.25609218e-03 2.91378439e+01] [ 4.10773070e-02 -9.93926597e-04 9.99155477e-01 1.62600165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66509989299993 meters 0.014342552494848854 Centerline is valid? [True, True] Translation: X:440.47, Y:29.14, Z:16.26 [[ 9.94188588e-01 -9.95473816e-02 -4.09801127e-02 4.40467359e+02] [ 9.94976635e-02 9.95032468e-01 -3.25609616e-03 2.91414955e+01] [ 4.11006785e-02 -8.40251823e-04 9.99154657e-01 1.62623432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72509989299994 meters 0.012563045444922018 Centerline is valid? [True, True] Translation: X:440.53, Y:29.15, Z:16.26 [[ 9.94848122e-01 -9.26048948e-02 -4.12498242e-02 4.40528091e+02] [ 9.25486423e-02 9.95702777e-01 -3.27535932e-03 2.91475578e+01] [ 4.13758788e-02 -5.59130160e-04 9.99143495e-01 1.62642657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78509989299994 meters 0.012021624524775995 Centerline is valid? [True, True] Translation: X:440.59, Y:29.15, Z:16.27 [[ 9.95276300e-01 -8.76575109e-02 -4.17282684e-02 4.40589708e+02] [ 8.75956708e-02 9.96150607e-01 -3.31160828e-03 2.91524801e+01] [ 4.18579272e-02 -3.59250429e-04 9.99123508e-01 1.62657784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84509989299994 meters 0.011671103364434502 Centerline is valid? [True, True] Translation: X:440.65, Y:29.16, Z:16.27 [[ 9.95789736e-01 -8.15252077e-02 -4.19099211e-02 4.40649970e+02] [ 8.14575266e-02 9.96671275e-01 -3.32292796e-03 2.91560152e+01] [ 4.20413169e-02 -1.04940959e-04 9.99115867e-01 1.62663396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90509989299994 meters 0.011569894785114547 Centerline is valid? [True, True] Translation: X:440.71, Y:29.16, Z:16.27 [[ 9.96017342e-01 -7.88860032e-02 -4.15506178e-02 4.40710966e+02] [ 7.88172901e-02 9.96883643e-01 -3.29185355e-03 2.91589391e+01] [ 4.16808125e-02 3.83612376e-06 9.99130977e-01 1.62685873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96509989299994 meters 0.011584672431222605 Centerline is valid? [True, True] Translation: X:440.77, Y:29.16, Z:16.27 [[ 9.96194048e-01 -7.74886076e-02 -3.99115890e-02 4.40771983e+02] [ 7.74241418e-02 9.96993236e-01 -3.16069768e-03 2.91595753e+01] [ 4.00365024e-02 5.85476831e-05 9.99198216e-01 1.62710976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02509989299995 meters 0.011402819742177144 Centerline is valid? [True, True] Translation: X:440.83, Y:29.16, Z:16.27 [[ 9.96017656e-01 -8.05659036e-02 -3.81832905e-02 4.40832804e+02] [ 8.05091620e-02 9.96749282e-01 -3.02382943e-03 2.91569988e+01] [ 3.83027850e-02 -6.23172191e-05 9.99266177e-01 1.62734895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08509989299995 meters 0.011558453746225461 Centerline is valid? [True, True] Translation: X:440.89, Y:29.16, Z:16.28 [[ 9.95846501e-01 -8.26240457e-02 -3.82493519e-02 4.40893334e+02] [ 8.25686272e-02 9.96580778e-01 -3.02899919e-03 2.91578366e+01] [ 3.83688370e-02 -1.41778228e-04 9.99263635e-01 1.62753541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14509989299995 meters 0.011901009784585498 Centerline is valid? [True, True] Translation: X:440.96, Y:29.15, Z:16.28 [[ 9.95348105e-01 -8.85862175e-02 -3.78765438e-02 4.40955480e+02] [ 8.85362698e-02 9.96068444e-01 -2.99730484e-03 2.91549981e+01] [ 3.79931499e-02 -3.70086209e-04 9.99277931e-01 1.62771362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20509989299995 meters 0.013581492994661826 Centerline is valid? [True, True] Translation: X:441.02, Y:29.15, Z:16.28 [[ 9.94271638e-01 -9.99176780e-02 -3.79521721e-02 4.41017311e+02] [ 9.98758238e-02 9.94995381e-01 -3.00191244e-03 2.91474546e+01] [ 3.80621800e-02 -8.05788047e-04 9.99275048e-01 1.62782459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26509989299996 meters 0.01573256616872741 Centerline is valid? [True, True] Translation: X:441.08, Y:29.14, Z:16.28 [[ 9.93452884e-01 -1.07773997e-01 -3.78963504e-02 4.41079098e+02] [ 1.07737998e-01 9.94174805e-01 -2.99677795e-03 2.91433040e+01] [ 3.79985715e-02 -1.10571925e-03 9.99277182e-01 1.62805769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32509989299996 meters 0.018777290291656843 Centerline is valid? [True, True] Translation: X:441.14, Y:29.14, Z:16.28 [[ 9.92257738e-01 -1.18046325e-01 -3.85959265e-02 4.41140747e+02] [ 1.18016789e-01 9.93006914e-01 -3.05069946e-03 2.91363445e+01] [ 3.86861457e-02 -1.52788718e-03 9.99250243e-01 1.62814110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38509989299996 meters 0.02235564717476923 Centerline is valid? [True, True] Translation: X:441.20, Y:29.13, Z:16.28 [[ 9.91155817e-01 -1.26961228e-01 -3.86133674e-02 4.41202543e+02] [ 1.26938413e-01 9.91905905e-01 -3.05192480e-03 2.91313603e+01] [ 3.86883033e-02 -1.87658658e-03 9.99249565e-01 1.62832003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.44509989299996 meters 0.02392101238071335 Centerline is valid? [True, True] Translation: X:441.26, Y:29.13, Z:16.29 [[ 9.90543060e-01 -1.31590884e-01 -3.88366556e-02 4.41263671e+02] [ 1.31571394e-01 9.91301948e-01 -3.06845357e-03 2.91318425e+01] [ 3.89026329e-02 -2.07035751e-03 9.99240861e-01 1.62853682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.50509989299997 meters 0.02538721369149327 Centerline is valid? [True, True] Translation: X:441.33, Y:29.13, Z:16.29 [[ 9.90010910e-01 -1.35440256e-01 -3.91705840e-02 4.41325019e+02] [ 1.35423448e-01 9.90782980e-01 -3.09441320e-03 2.91328132e+01] [ 3.92286561e-02 -2.24111271e-03 9.99227747e-01 1.62871445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.56509989299997 meters 0.027074428038824226 Centerline is valid? [True, True] Translation: X:441.39, Y:29.13, Z:16.29 [[ 9.89896706e-01 -1.36122210e-01 -3.96894767e-02 4.41385783e+02] [ 1.36105531e-01 9.90689385e-01 -3.13461727e-03 2.91347952e+01] [ 3.97466343e-02 -2.29901000e-03 9.99207146e-01 1.62887012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.62509989299997 meters 0.024780603119840084 Centerline is valid? [True, True] Translation: X:441.45, Y:29.14, Z:16.29 [[ 9.89997458e-01 -1.35277361e-01 -4.00633176e-02 4.41447050e+02] [ 1.35259740e-01 9.90805128e-01 -3.16260741e-03 2.91435353e+01] [ 4.01227697e-02 -2.28798063e-03 9.99192138e-01 1.62908765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.685099893 meters 0.024392600514366664 Centerline is valid? [True, True] Translation: X:441.51, Y:29.15, Z:16.29 [[ 9.90166928e-01 -1.33764520e-01 -4.09451852e-02 4.41508145e+02] [ 1.33744919e-01 9.91010527e-01 -3.22996295e-03 2.91493809e+01] [ 4.10091640e-02 -2.27800798e-03 9.99156174e-01 1.62924674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.745099893 meters 0.02357550713189035 Centerline is valid? [True, True] Translation: X:441.57, Y:29.16, Z:16.29 [[ 9.90402438e-01 -1.32025941e-01 -4.08920731e-02 4.41569260e+02] [ 1.32004977e-01 9.91243810e-01 -3.22424647e-03 2.91566053e+01] [ 4.09596985e-02 -2.20465558e-03 9.99158367e-01 1.62947899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.805099893 meters 0.024105454446849875 Centerline is valid? [True, True] Translation: X:441.63, Y:29.16, Z:16.30 [[ 9.90694777e-01 -1.29699612e-01 -4.12537107e-02 4.41629580e+02] [ 1.29676329e-01 9.91551047e-01 -3.25120708e-03 2.91633383e+01] [ 4.13268404e-02 -2.12867589e-03 9.99143414e-01 1.62969872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.865099893 meters 0.026204685700016814 Centerline is valid? [True, True] Translation: X:441.69, Y:29.17, Z:16.30 [[ 9.90797230e-01 -1.28947575e-01 -4.11506020e-02 4.41689705e+02] [ 1.28923821e-01 9.91649202e-01 -3.24164743e-03 2.91666613e+01] [ 4.12249643e-02 -2.09347755e-03 9.99147697e-01 1.62993288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.925099893 meters 0.022788271976374574 Centerline is valid? [True, True] Translation: X:441.75, Y:29.18, Z:16.30 [[ 9.90874170e-01 -1.28388249e-01 -4.10467660e-02 4.41750260e+02] [ 1.28364169e-01 9.91721831e-01 -3.23266265e-03 2.91784842e+01] [ 4.11220098e-02 -2.06577208e-03 9.99151997e-01 1.63018392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9850998929999 meters 0.022844235289155697 Centerline is valid? [True, True] Translation: X:441.81, Y:29.19, Z:16.30 [[ 9.91039056e-01 -1.27087494e-01 -4.11139682e-02 4.41811391e+02] [ 1.27062281e-01 9.91889461e-01 -3.23644167e-03 2.91859893e+01] [ 4.11918230e-02 -2.01659447e-03 9.99149222e-01 1.63039495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04509989299993 meters 0.023303453480164795 Centerline is valid? [True, True] Translation: X:441.87, Y:29.19, Z:16.31 [[ 9.91251903e-01 -1.25444193e-01 -4.10295003e-02 4.41871696e+02] [ 1.25417738e-01 9.92098770e-01 -3.22837126e-03 2.91923827e+01] [ 4.11102972e-02 -1.94569796e-03 9.99152720e-01 1.63061419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10509989299993 meters 0.022865672346826578 Centerline is valid? [True, True] Translation: X:441.93, Y:29.20, Z:16.31 [[ 9.91725514e-01 -1.21508911e-01 -4.14257088e-02 4.41930985e+02] [ 1.21478544e-01 9.92588708e-01 -3.25887379e-03 2.92009590e+01] [ 4.15146730e-02 -1.80042652e-03 9.99136272e-01 1.63079479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16509989299993 meters 0.018766218221431576 Centerline is valid? [True, True] Translation: X:441.99, Y:29.21, Z:16.31 [[ 9.92136645e-01 -1.18161662e-01 -4.12637675e-02 4.41991855e+02] [ 1.18128652e-01 9.92992994e-01 -3.24590719e-03 2.92139735e+01] [ 4.13581739e-02 -1.65404975e-03 9.99143016e-01 1.63110874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22509989299994 meters 0.018318229237182453 Centerline is valid? [True, True] Translation: X:442.05, Y:29.22, Z:16.31 [[ 9.92626340e-01 -1.13785021e-01 -4.17841900e-02 4.42052198e+02] [ 1.13747395e-01 9.93504274e-01 -3.28458097e-03 2.92230055e+01] [ 4.18865075e-02 -1.49248119e-03 9.99121260e-01 1.63136230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28509989299994 meters 0.017646534284945004 Centerline is valid? [True, True] Translation: X:442.11, Y:29.23, Z:16.32 [[ 9.92830921e-01 -1.11912378e-01 -4.19807221e-02 4.42113072e+02] [ 1.11872790e-01 9.93717062e-01 -3.29851313e-03 2.92310624e+01] [ 4.20861042e-02 -1.42163469e-03 9.99112976e-01 1.63159299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34509989299994 meters 0.018294811339304662 Centerline is valid? [True, True] Translation: X:442.17, Y:29.24, Z:16.32 [[ 9.92855729e-01 -1.11530338e-01 -4.24085519e-02 4.42172589e+02] [ 1.11489653e-01 9.93760013e-01 -3.33068150e-03 2.92373884e+01] [ 4.25153952e-02 -1.42122852e-03 9.99094801e-01 1.63182384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40509989299994 meters 0.019421184978975804 Centerline is valid? [True, True] Translation: X:442.23, Y:29.24, Z:16.32 [[ 9.92685692e-01 -1.12755700e-01 -4.31424359e-02 4.42233881e+02] [ 1.12714788e-01 9.93621609e-01 -3.38744097e-03 2.92423489e+01] [ 4.32492098e-02 -1.50012633e-03 9.99063189e-01 1.63205789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46509989299994 meters 0.019486354204653666 Centerline is valid? [True, True] Translation: X:442.30, Y:29.25, Z:16.32 [[ 9.92417794e-01 -1.14471278e-01 -4.47576634e-02 4.42295079e+02] [ 1.14429060e-01 9.93425212e-01 -3.51265304e-03 2.92490626e+01] [ 4.48654891e-02 -1.63555798e-03 9.98991698e-01 1.63226642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52509989299995 meters 0.01901169462999894 Centerline is valid? [True, True] Translation: X:442.36, Y:29.26, Z:16.33 [[ 9.92356704e-01 -1.15229276e-01 -4.41631824e-02 4.42355960e+02] [ 1.15188990e-01 9.93337553e-01 -3.46444818e-03 2.92555907e+01] [ 4.42681534e-02 -1.64914400e-03 9.99018324e-01 1.63255260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58509989299995 meters 0.019182509437748903 Centerline is valid? [True, True] Translation: X:442.42, Y:29.26, Z:16.33 [[ 9.92414732e-01 -1.15040769e-01 -4.33430678e-02 4.42416641e+02] [ 1.15001851e-01 9.93359464e-01 -3.39858006e-03 2.92611965e+01] [ 4.34462218e-02 -1.61173211e-03 9.99054467e-01 1.63281265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64509989299995 meters 0.019308936160517085 Centerline is valid? [True, True] Translation: X:442.48, Y:29.27, Z:16.33 [[ 9.92579935e-01 -1.13702373e-01 -4.30910919e-02 4.42477308e+02] [ 1.13662713e-01 9.93513654e-01 -3.37729209e-03 2.92668817e+01] [ 4.31955943e-02 -1.54561806e-03 9.99065439e-01 1.63297241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70509989299995 meters 0.015751793239543774 Centerline is valid? [True, True] Translation: X:442.54, Y:29.28, Z:16.33 [[ 9.93012154e-01 -1.09790406e-01 -4.32773557e-02 4.42537800e+02] [ 1.09746760e-01 9.93953799e-01 -3.39034477e-03 2.92790291e+01] [ 4.33879195e-02 -1.38289601e-03 9.99057344e-01 1.63319541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76509989299996 meters 0.015048678834625741 Centerline is valid? [True, True] Translation: X:442.60, Y:29.29, Z:16.33 [[ 9.93536910e-01 -1.04777000e-01 -4.36599298e-02 4.42598010e+02] [ 1.04727814e-01 9.94495047e-01 -3.41866428e-03 2.92855535e+01] [ 4.37777813e-02 -1.17583987e-03 9.99040601e-01 1.63336301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82509989299996 meters 0.014035658306133682 Centerline is valid? [True, True] Translation: X:442.66, Y:29.29, Z:16.34 [[ 9.93926563e-01 -1.00906731e-01 -4.39069355e-02 4.42659201e+02] [ 1.00853285e-01 9.94895375e-01 -3.43637762e-03 2.92927406e+01] [ 4.40295606e-02 -1.01265167e-03 9.99029715e-01 1.63355592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88509989299996 meters 0.012622799864801023 Centerline is valid? [True, True] Translation: X:442.72, Y:29.30, Z:16.34 [[ 9.94592734e-01 -9.40723982e-02 -4.39963301e-02 4.42719376e+02] [ 9.40121096e-02 9.95565104e-01 -3.44200851e-03 2.93009269e+01] [ 4.41250089e-02 -7.12791145e-04 9.99025763e-01 1.63377500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.94509989299996 meters 0.01135432476882391 Centerline is valid? [True, True] Translation: X:442.78, Y:29.31, Z:16.34 [[ 9.95203965e-01 -8.69552291e-02 -4.48091122e-02 4.42779174e+02] [ 8.68854779e-02 9.96212138e-01 -3.50559571e-03 2.93088643e+01] [ 4.49442114e-02 -4.04478382e-04 9.98989416e-01 1.63400588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.00509989299997 meters 0.011086148955226006 Centerline is valid? [True, True] Translation: X:442.84, Y:29.31, Z:16.34 [[ 9.95387735e-01 -8.48330518e-02 -4.47951962e-02 4.42839032e+02] [ 8.47611958e-02 9.96395132e-01 -3.50450700e-03 2.93141304e+01] [ 4.49310134e-02 -3.08551108e-04 9.98990044e-01 1.63423087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.06509989299997 meters 0.010766295886866235 Centerline is valid? [True, True] Translation: X:442.90, Y:29.32, Z:16.34 [[ 9.95699590e-01 -8.11553070e-02 -4.46782115e-02 4.42898225e+02] [ 8.10801120e-02 9.96701458e-01 -3.49562962e-03 2.93195597e+01] [ 4.48145274e-02 -1.41917415e-04 9.98995314e-01 1.63449154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.12509989299997 meters 0.010691548385090285 Centerline is valid? [True, True] Translation: X:442.96, Y:29.32, Z:16.35 [[ 9.95846776e-01 -7.92058230e-02 -4.48958462e-02 4.42956637e+02] [ 7.91277630e-02 9.96858282e-01 -3.51598345e-03 2.93223701e+01] [ 4.50332825e-02 -5.11270996e-05 9.98985486e-01 1.63472825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.185099893 meters 0.010697855154582868 Centerline is valid? [True, True] Translation: X:443.02, Y:29.32, Z:16.35 [[ 9.95720419e-01 -8.04569823e-02 -4.54699976e-02 4.43015768e+02] [ 8.03776846e-02 9.96758077e-01 -3.57258038e-03 2.93231535e+01] [ 4.56100264e-02 -9.74818912e-05 9.98959316e-01 1.63486747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.245099893 meters 0.010952812693544653 Centerline is valid? [True, True] Translation: X:443.07, Y:29.32, Z:16.35 [[ 9.95294841e-01 -8.60219411e-02 -4.45915297e-02 4.43074556e+02] [ 8.59507638e-02 9.96293187e-01 -3.51461452e-03 2.93203938e+01] [ 4.47285712e-02 -3.34598333e-04 9.98999121e-01 1.63514717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.305099893 meters 0.012091691278831413 Centerline is valid? [True, True] Translation: X:443.13, Y:29.32, Z:16.35 [[ 9.94556969e-01 -9.47363806e-02 -4.33757175e-02 4.43133628e+02] [ 9.46768360e-02 9.95502152e-01 -3.42965379e-03 2.93151775e+01] [ 4.35055331e-02 -6.95689613e-04 9.99052944e-01 1.63540274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.365099893 meters 0.013754502629031872 Centerline is valid? [True, True] Translation: X:443.19, Y:29.31, Z:16.36 [[ 9.93871111e-01 -1.01641634e-01 -4.34648413e-02 4.43193186e+02] [ 1.01588000e-01 9.94820586e-01 -3.44673064e-03 2.93127526e+01] [ 4.35900502e-02 -9.89900290e-04 9.99049012e-01 1.63557671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.425099893 meters 0.018584496855073622 Centerline is valid? [True, True] Translation: X:443.25, Y:29.30, Z:16.36 [[ 9.92621997e-01 -1.13409322e-01 -4.28940079e-02 4.43253458e+02] [ 1.13367915e-01 9.93547244e-01 -3.40449244e-03 2.93039085e+01] [ 4.30033245e-02 -1.48343017e-03 9.99073828e-01 1.63573366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4850998929999 meters 0.021170752879838647 Centerline is valid? [True, True] Translation: X:443.31, Y:29.30, Z:16.36 [[ 9.91160889e-01 -1.25664576e-01 -4.25265422e-02 4.43314437e+02] [ 1.25635108e-01 9.92070777e-01 -3.37548940e-03 2.93005968e+01] [ 4.26135192e-02 -1.99717365e-03 9.99089635e-01 1.63595222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54509989299993 meters 0.021296965803212737 Centerline is valid? [True, True] Translation: X:443.38, Y:29.30, Z:16.36 [[ 9.90692897e-01 -1.29353873e-01 -4.23693219e-02 4.43375573e+02] [ 1.29327979e-01 9.91596169e-01 -3.36316162e-03 2.93041118e+01] [ 4.24482952e-02 -2.14767842e-03 9.99096357e-01 1.63618316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60509989299993 meters 0.02474493996120958 Centerline is valid? [True, True] Translation: X:443.44, Y:29.30, Z:16.36 [[ 9.89504458e-01 -1.38045475e-01 -4.27126919e-02 4.43436023e+02] [ 1.38027277e-01 9.90422630e-01 -3.38907101e-03 2.93016268e+01] [ 4.27714626e-02 -2.54201566e-03 9.99081648e-01 1.63631037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66509989299993 meters 0.02738314684565247 Centerline is valid? [True, True] Translation: X:443.50, Y:29.30, Z:16.36 [[ 9.88965013e-01 -1.41668498e-01 -4.33386538e-02 4.43496660e+02] [ 1.41653211e-01 9.89910370e-01 -3.43909315e-03 2.93020470e+01] [ 4.33885940e-02 -2.73791667e-03 9.99054520e-01 1.63640919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72509989299994 meters 0.026514804356249682 Centerline is valid? [True, True] Translation: X:443.56, Y:29.31, Z:16.37 [[ 9.88991471e-01 -1.41329588e-01 -4.38385329e-02 4.43557686e+02] [ 1.41313647e-01 9.89958765e-01 -3.47806245e-03 2.93090184e+01] [ 4.38898930e-02 -2.75520886e-03 9.99032575e-01 1.63660546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78509989299994 meters 0.02769049235031664 Centerline is valid? [True, True] Translation: X:443.62, Y:29.31, Z:16.37 [[ 9.89365667e-01 -1.38846573e-01 -4.33267387e-02 4.43617654e+02] [ 1.38828688e-01 9.90310451e-01 -3.43608485e-03 2.93142507e+01] [ 4.33840107e-02 -2.61544992e-03 9.99055047e-01 1.63682685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84509989299994 meters 0.025127453017800457 Centerline is valid? [True, True] Translation: X:443.68, Y:29.33, Z:16.37 [[ 9.90346280e-01 -1.31656147e-01 -4.33693921e-02 4.43677072e+02] [ 1.31631353e-01 9.91292771e-01 -3.43943249e-03 2.93267918e+01] [ 4.34445873e-02 -2.30254258e-03 9.99053185e-01 1.63710815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90509989299994 meters 0.020788971893549377 Centerline is valid? [True, True] Translation: X:443.74, Y:29.34, Z:16.37 [[ 9.91626258e-01 -1.21781685e-01 -4.29719190e-02 4.43736273e+02] [ 1.21748094e-01 9.92555182e-01 -3.40771284e-03 2.93437472e+01] [ 4.30669979e-02 -1.85257169e-03 9.99070469e-01 1.63737755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96509989299994 meters 0.018159372350313716 Centerline is valid? [True, True] Translation: X:443.80, Y:29.36, Z:16.38 [[ 9.92459805e-01 -1.14634999e-01 -4.33860887e-02 4.43795781e+02] [ 1.14593934e-01 9.93406459e-01 -3.44060890e-03 2.93569218e+01] [ 4.34944349e-02 -1.55711656e-03 9.99052456e-01 1.63758135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02509989299995 meters 0.016050448194920203 Centerline is valid? [True, True] Translation: X:443.85, Y:29.37, Z:16.38 [[ 9.93516838e-01 -1.04858425e-01 -4.39204121e-02 4.43854824e+02] [ 1.04806800e-01 9.94486503e-01 -3.48285413e-03 2.93712559e+01] [ 4.40434637e-02 -1.14288361e-03 9.99028962e-01 1.63774036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08509989299995 meters 0.014667482693760208 Centerline is valid? [True, True] Translation: X:443.91, Y:29.38, Z:16.38 [[ 9.94137659e-01 -9.86399320e-02 -4.42773050e-02 4.43914386e+02] [ 9.85813002e-02 9.95122806e-01 -3.51112241e-03 2.93834020e+01] [ 4.44076929e-02 -8.74375282e-04 9.99013109e-01 1.63796146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14509989299995 meters 0.012464178942125962 Centerline is valid? [True, True] Translation: X:443.97, Y:29.40, Z:16.38 [[ 9.95083442e-01 -8.86403553e-02 -4.41795249e-02 4.43974339e+02] [ 8.85721303e-02 9.96063605e-01 -3.50324139e-03 2.94005353e+01] [ 4.43161454e-02 -4.27057140e-04 9.99017466e-01 1.63829126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20509989299995 meters 0.012078658593064928 Centerline is valid? [True, True] Translation: X:444.03, Y:29.41, Z:16.39 [[ 9.95659065e-01 -8.26071340e-02 -4.28845787e-02 4.44033886e+02] [ 8.25372831e-02 9.96582178e-01 -3.39990108e-03 2.94115420e+01] [ 4.30188629e-02 -1.54434286e-04 9.99074248e-01 1.63859830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26509989299996 meters 0.012144262518335107 Centerline is valid? [True, True] Translation: X:444.09, Y:29.42, Z:16.39 [[ 9.96101686e-01 -7.77282922e-02 -4.17102463e-02 4.44092939e+02] [ 7.76579355e-02 9.96974578e-01 -3.30688170e-03 2.94213142e+01] [ 4.18410935e-02 5.48588188e-05 9.99124276e-01 1.63885578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32509989299996 meters 0.012168851047455914 Centerline is valid? [True, True] Translation: X:444.15, Y:29.42, Z:16.39 [[ 9.95944310e-01 -8.04783112e-02 -4.02265245e-02 4.44152897e+02] [ 8.04150840e-02 9.96756358e-01 -3.19001062e-03 2.94248344e+01] [ 4.03527708e-02 -5.77464227e-05 9.99185494e-01 1.63914034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38509989299996 meters 0.012470841444815254 Centerline is valid? [True, True] Translation: X:444.21, Y:29.43, Z:16.39 [[ 9.95500750e-01 -8.58144807e-02 -4.01762541e-02 4.44213562e+02] [ 8.57557007e-02 9.96311096e-01 -3.18732989e-03 2.94253484e+01] [ 4.03015668e-02 -2.72353523e-04 9.99187525e-01 1.63931358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.44509989299996 meters 0.013909256618974675 Centerline is valid? [True, True] Translation: X:444.28, Y:29.42, Z:16.39 [[ 9.94465225e-01 -9.69913470e-02 -4.03929960e-02 4.44275436e+02] [ 9.69411678e-02 9.95284957e-01 -3.20373429e-03 2.94220523e+01] [ 4.05132758e-02 -7.29741858e-04 9.99178734e-01 1.63947081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.50509989299997 meters 0.01686541528611366 Centerline is valid? [True, True] Translation: X:444.34, Y:29.42, Z:16.40 [[ 9.93670683e-01 -1.04979899e-01 -3.99724258e-02 4.44335820e+02] [ 1.04937266e-01 9.94473794e-01 -3.16902853e-03 2.94181170e+01] [ 4.00842142e-02 -1.04562633e-03 9.99195758e-01 1.63961692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.56509989299997 meters 0.018609846873889214 Centerline is valid? [True, True] Translation: X:444.40, Y:29.42, Z:16.40 [[ 9.92629974e-01 -1.14721439e-01 -3.90477489e-02 4.44396571e+02] [ 1.14688275e-01 9.93396706e-01 -3.09571389e-03 2.94161549e+01] [ 3.91450499e-02 -1.40542057e-03 9.99232550e-01 1.63989904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.62509989299997 meters 0.019923634763129937 Centerline is valid? [True, True] Translation: X:444.46, Y:29.42, Z:16.40 [[ 9.92209759e-01 -1.18447034e-01 -3.86017391e-02 4.44457617e+02] [ 1.18417442e-01 9.92959186e-01 -3.06021106e-03 2.94168292e+01] [ 3.86924243e-02 -1.53474791e-03 9.99249989e-01 1.64014893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.685099893 meters 0.020075270810298505 Centerline is valid? [True, True] Translation: X:444.52, Y:29.42, Z:16.40 [[ 9.92102282e-01 -1.19538650e-01 -3.79943956e-02 4.44519942e+02] [ 1.19510808e-01 9.92828333e-01 -3.01133319e-03 2.94194551e+01] [ 3.80818831e-02 -1.55319038e-03 9.99273415e-01 1.64043570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.745099893 meters 0.019532751008515942 Centerline is valid? [True, True] Translation: X:444.58, Y:29.42, Z:16.41 [[ 9.92325258e-01 -1.17631357e-01 -3.81240783e-02 4.44582219e+02] [ 1.17602027e-01 9.93056217e-01 -3.01878304e-03 2.94237399e+01] [ 3.82144565e-02 -1.48785424e-03 9.99268453e-01 1.64063200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.805099893 meters 0.01869590714932962 Centerline is valid? [True, True] Translation: X:444.64, Y:29.43, Z:16.41 [[ 9.92456668e-01 -1.16608189e-01 -3.78456332e-02 4.44644134e+02] [ 1.16578648e-01 9.93176950e-01 -2.99395830e-03 2.94284658e+01] [ 3.79365306e-02 -1.44061888e-03 9.99279112e-01 1.64084633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.865099893 meters 0.019681728649963093 Centerline is valid? [True, True] Translation: X:444.71, Y:29.43, Z:16.41 [[ 9.92365676e-01 -1.17328818e-01 -3.80041264e-02 4.44705730e+02] [ 1.17299666e-01 9.93092023e-01 -3.00366011e-03 2.94302414e+01] [ 3.80940107e-02 -1.47714214e-03 9.99273068e-01 1.64106797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.925099893 meters 0.01972047916966617 Centerline is valid? [True, True] Translation: X:444.77, Y:29.43, Z:16.41 [[ 9.92269227e-01 -1.18030613e-01 -3.83478179e-02 4.44767376e+02] [ 1.18001537e-01 9.93008794e-01 -3.02866667e-03 2.94345619e+01] [ 3.84371958e-02 -1.51984871e-03 9.99259862e-01 1.64127049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9850998929999 meters 0.020414623677779353 Centerline is valid? [True, True] Translation: X:444.83, Y:29.44, Z:16.41 [[ 9.91925888e-01 -1.20541412e-01 -3.94055900e-02 4.44828972e+02] [ 1.20512802e-01 9.92706904e-01 -3.10930594e-03 2.94375638e+01] [ 3.94930014e-02 -1.66467699e-03 9.99218460e-01 1.64141307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04509989299993 meters 0.021538504256970292 Centerline is valid? [True, True] Translation: X:444.89, Y:29.44, Z:16.42 [[ 9.91375950e-01 -1.24654967e-01 -4.04334553e-02 4.44890414e+02] [ 1.24628319e-01 9.92198374e-01 -3.18888160e-03 2.94398252e+01] [ 4.05155186e-02 -1.87777304e-03 9.99177145e-01 1.64157360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10509989299993 meters 0.025303421710438402 Centerline is valid? [True, True] Translation: X:444.95, Y:29.44, Z:16.42 [[ 9.91187506e-01 -1.26078191e-01 -4.06400998e-02 4.44951487e+02] [ 1.26052527e-01 9.92018396e-01 -3.20360233e-03 2.94399421e+01] [ 4.07196309e-02 -1.94741667e-03 9.99168714e-01 1.64180562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16509989299993 meters 0.02305556909904158 Centerline is valid? [True, True] Translation: X:445.01, Y:29.45, Z:16.42 [[ 9.91067148e-01 -1.27336210e-01 -3.96408609e-02 4.45013398e+02] [ 1.27312882e-01 9.91857691e-01 -3.12265175e-03 2.94496751e+01] [ 3.97157194e-02 -1.95203466e-03 9.99209113e-01 1.64222094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22509989299994 meters 0.023429139163594792 Centerline is valid? [True, True] Translation: X:445.08, Y:29.46, Z:16.43 [[ 9.91005411e-01 -1.28017929e-01 -3.89831523e-02 4.45075013e+02] [ 1.27996004e-01 9.91769938e-01 -3.06800630e-03 2.94556845e+01] [ 3.90550783e-02 -1.94927689e-03 9.99235158e-01 1.64254914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28509989299994 meters 0.024283908609311518 Centerline is valid? [True, True] Translation: X:445.14, Y:29.46, Z:16.43 [[ 9.90869437e-01 -1.29205304e-01 -3.85194642e-02 4.45136294e+02] [ 1.29184899e-01 9.91615898e-01 -3.02872791e-03 2.94617524e+01] [ 3.85878408e-02 -1.97505919e-03 9.99253260e-01 1.64281239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34509989299994 meters 0.025587993422240825 Centerline is valid? [True, True] Translation: X:445.20, Y:29.47, Z:16.43 [[ 9.90583830e-01 -1.31244390e-01 -3.89690366e-02 4.45198094e+02] [ 1.31225165e-01 9.91347861e-01 -3.06187595e-03 2.94659577e+01] [ 3.90337251e-02 -2.08067345e-03 9.99235727e-01 1.64301863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40509989299994 meters 0.025229509075585296 Centerline is valid? [True, True] Translation: X:445.26, Y:29.47, Z:16.43 [[ 9.90122951e-01 -1.34494035e-01 -3.95966735e-02 4.45259019e+02] [ 1.34476886e-01 9.90911855e-01 -3.10841961e-03 2.94730720e+01] [ 3.96548771e-02 -2.24711974e-03 9.99210909e-01 1.64316436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46509989299994 meters 0.025578809288466845 Centerline is valid? [True, True] Translation: X:445.32, Y:29.48, Z:16.43 [[ 9.89971081e-01 -1.35479256e-01 -4.00328609e-02 4.45320468e+02] [ 1.35462599e-01 9.90777482e-01 -3.14095232e-03 2.94795377e+01] [ 4.00891910e-02 -2.31350340e-03 9.99193427e-01 1.64339963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52509989299995 meters 0.02561653825371064 Centerline is valid? [True, True] Translation: X:445.38, Y:29.49, Z:16.44 [[ 9.90269206e-01 -1.33139069e-01 -4.05078814e-02 4.45381212e+02] [ 1.33120236e-01 9.91094813e-01 -3.17394564e-03 2.94890574e+01] [ 4.05697273e-02 -2.24935812e-03 9.99174178e-01 1.64361090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58509989299995 meters 0.024447547842648798 Centerline is valid? [True, True] Translation: X:445.44, Y:29.50, Z:16.44 [[ 9.90738726e-01 -1.29579485e-01 -4.05701119e-02 4.45441004e+02] [ 1.29557674e-01 9.91566797e-01 -3.17744566e-03 2.94988068e+01] [ 4.06397077e-02 -2.10815088e-03 9.99171642e-01 1.64385356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64509989299995 meters 0.020298889795155158 Centerline is valid? [True, True] Translation: X:445.50, Y:29.51, Z:16.44 [[ 9.91490991e-01 -1.23452146e-01 -4.12938546e-02 4.45500545e+02] [ 1.23424248e-01 9.92348727e-01 -3.23411874e-03 2.95140814e+01] [ 4.13771629e-02 -1.89006336e-03 9.99141811e-01 1.64405174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70509989299995 meters 0.022425435207863394 Centerline is valid? [True, True] Translation: X:445.56, Y:29.52, Z:16.44 [[ 9.91923864e-01 -1.19907445e-01 -4.13431117e-02 4.45561223e+02] [ 1.19876419e-01 9.92783542e-01 -3.23772732e-03 2.95188321e+01] [ 4.14329885e-02 -1.74448519e-03 9.99139762e-01 1.64423291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76509989299996 meters 0.01980515073694883 Centerline is valid? [True, True] Translation: X:445.62, Y:29.53, Z:16.44 [[ 9.92360795e-01 -1.16216969e-01 -4.13964765e-02 4.45622056e+02] [ 1.16182724e-01 9.93222571e-01 -3.24028242e-03 2.95307341e+01] [ 4.14924907e-02 -1.59402616e-03 9.99137544e-01 1.64445963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82509989299996 meters 0.018652170770511425 Centerline is valid? [True, True] Translation: X:445.68, Y:29.54, Z:16.45 [[ 9.92494008e-01 -1.14964620e-01 -4.16986849e-02 4.45683549e+02] [ 1.14928870e-01 9.93368369e-01 -3.26154514e-03 2.95387070e+01] [ 4.17971170e-02 -1.55531872e-03 9.99124908e-01 1.64466206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88509989299996 meters 0.018787810652103776 Centerline is valid? [True, True] Translation: X:445.75, Y:29.54, Z:16.45 [[ 9.92601315e-01 -1.13722438e-01 -4.25421798e-02 4.45745969e+02] [ 1.13684231e-01 9.93511372e-01 -3.32420398e-03 2.95447713e+01] [ 4.26441760e-02 -1.53676575e-03 9.99089141e-01 1.64481057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.94509989299996 meters 0.01822779375021647 Centerline is valid? [True, True] Translation: X:445.81, Y:29.55, Z:16.45 [[ 9.92657186e-01 -1.13173483e-01 -4.27021619e-02 4.45807990e+02] [ 1.13134645e-01 9.93574076e-01 -3.33286712e-03 2.95518906e+01] [ 4.28049532e-02 -1.52269942e-03 9.99082288e-01 1.64502136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.00509989299997 meters 0.019633260231251323 Centerline is valid? [True, True] Translation: X:445.87, Y:29.56, Z:16.45 [[ 9.92687457e-01 -1.12993743e-01 -4.24738414e-02 4.45868709e+02] [ 1.12955285e-01 9.93594552e-01 -3.31200496e-03 2.95557152e+01] [ 4.25760132e-02 -1.50985906e-03 9.99092090e-01 1.64519992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.06509989299997 meters 0.020133438803430458 Centerline is valid? [True, True] Translation: X:445.93, Y:29.56, Z:16.45 [[ 9.92633418e-01 -1.13568142e-01 -4.22039683e-02 4.45930312e+02] [ 1.13530789e-01 9.93529036e-01 -3.28857320e-03 2.95602546e+01] [ 4.23043451e-02 -1.52710217e-03 9.99103603e-01 1.64544386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.12509989299997 meters 0.02076113488828707 Centerline is valid? [True, True] Translation: X:445.99, Y:29.57, Z:16.46 [[ 9.92609365e-01 -1.13970526e-01 -4.16817549e-02 4.45991896e+02] [ 1.13934569e-01 9.93482956e-01 -3.24493834e-03 2.95658849e+01] [ 4.17799404e-02 -1.52803660e-03 9.99125669e-01 1.64575503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.185099893 meters 0.018429099719158442 Centerline is valid? [True, True] Translation: X:446.05, Y:29.58, Z:16.46 [[ 9.92623163e-01 -1.13929898e-01 -4.14636530e-02 4.46053294e+02] [ 1.13894403e-01 9.93487627e-01 -3.22502620e-03 2.95756434e+01] [ 4.15610531e-02 -1.52124229e-03 9.99134808e-01 1.64606173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.245099893 meters 0.01885255969989346 Centerline is valid? [True, True] Translation: X:446.12, Y:29.58, Z:16.46 [[ 9.92605825e-01 -1.14371426e-01 -4.06552862e-02 4.46115672e+02] [ 1.14337792e-01 9.93436907e-01 -3.15916729e-03 2.95799099e+01] [ 4.07497802e-02 -1.51262781e-03 9.99168238e-01 1.64631895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.305099893 meters 0.019558628518484594 Centerline is valid? [True, True] Translation: X:446.18, Y:29.58, Z:16.47 [[ 9.92370526e-01 -1.16200658e-01 -4.12085593e-02 4.46178018e+02] [ 1.16167805e-01 9.93224450e-01 -3.19905789e-03 2.95837260e+01] [ 4.13010812e-02 -1.61245712e-03 9.99145445e-01 1.64654430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.365099893 meters 0.021852224007971863 Centerline is valid? [True, True] Translation: X:446.24, Y:29.58, Z:16.47 [[ 9.92075101e-01 -1.18601143e-01 -4.14820805e-02 4.46239471e+02] [ 1.18570081e-01 9.92940475e-01 -3.21705552e-03 2.95849540e+01] [ 4.15707832e-02 -1.72697295e-03 9.99134069e-01 1.64674383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.425099893 meters 0.022645283130381756 Centerline is valid? [True, True] Translation: X:446.30, Y:29.59, Z:16.47 [[ 9.91491927e-01 -1.22906517e-01 -4.28689516e-02 4.46300761e+02] [ 1.22877542e-01 9.92416286e-01 -3.32029172e-03 2.95868467e+01] [ 4.29519312e-02 -1.97558898e-03 9.99075187e-01 1.64689760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4850998929999 meters 0.025300595413978857 Centerline is valid? [True, True] Translation: X:446.36, Y:29.59, Z:16.47 [[ 9.90856704e-01 -1.27375113e-01 -4.44811394e-02 4.46360497e+02] [ 1.27348471e-01 9.91852059e-01 -3.44375857e-03 2.95862531e+01] [ 4.45573589e-02 -2.25233381e-03 9.99004289e-01 1.64698502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54509989299993 meters 0.025974634585741323 Centerline is valid? [True, True] Translation: X:446.42, Y:29.59, Z:16.47 [[ 9.90585449e-01 -1.29548797e-01 -4.42445217e-02 4.46421900e+02] [ 1.29524613e-01 9.91570292e-01 -3.42508461e-03 2.95899161e+01] [ 4.43152689e-02 -2.33791557e-03 9.99014860e-01 1.64724311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60509989299993 meters 0.024337327819387387 Centerline is valid? [True, True] Translation: X:446.48, Y:29.60, Z:16.48 [[ 9.90524984e-01 -1.30164541e-01 -4.37886851e-02 4.46484065e+02] [ 1.30141560e-01 9.91489637e-01 -3.38732555e-03 2.95970260e+01] [ 4.38569371e-02 -2.34349722e-03 9.99035073e-01 1.64760289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66509989299993 meters 0.022858146038801395 Centerline is valid? [True, True] Translation: X:446.55, Y:29.60, Z:16.48 [[ 9.90711839e-01 -1.29193005e-01 -4.24172009e-02 4.46545716e+02] [ 1.29170682e-01 9.91616957e-01 -3.27815965e-03 2.96037258e+01] [ 4.24851309e-02 -2.23134720e-03 9.99094608e-01 1.64790524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72509989299994 meters 0.02407016196186617 Centerline is valid? [True, True] Translation: X:446.61, Y:29.61, Z:16.48 [[ 9.91296750e-01 -1.24954903e-01 -4.14370016e-02 4.46605735e+02] [ 1.24930019e-01 9.92160397e-01 -3.19965461e-03 2.96072653e+01] [ 4.15119645e-02 -2.00491817e-03 9.99135995e-01 1.64820647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78509989299994 meters 0.021451923854279957 Centerline is valid? [True, True] Translation: X:446.67, Y:29.62, Z:16.48 [[ 9.91554331e-01 -1.22958245e-01 -4.12465605e-02 4.46666984e+02] [ 1.22931875e-01 9.92410002e-01 -3.18472111e-03 2.96162410e+01] [ 4.13250869e-02 -1.91269301e-03 9.99143923e-01 1.64847281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84509989299994 meters 0.019386237802587067 Centerline is valid? [True, True] Translation: X:446.73, Y:29.62, Z:16.49 [[ 9.92437896e-01 -1.15475301e-01 -4.16230469e-02 4.46727333e+02] [ 1.15441965e-01 9.93309034e-01 -3.21165633e-03 2.96248851e+01] [ 4.17154155e-02 -1.61767689e-03 9.99128224e-01 1.64867307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90509989299994 meters 0.018707167964460744 Centerline is valid? [True, True] Translation: X:446.79, Y:29.63, Z:16.49 [[ 9.93023321e-01 -1.10110658e-01 -4.21939109e-02 4.46786966e+02] [ 1.10071572e-01 9.93918332e-01 -3.25552749e-03 2.96313314e+01] [ 4.22957699e-02 -1.41153537e-03 9.99104136e-01 1.64888359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96509989299994 meters 0.016590714056940625 Centerline is valid? [True, True] Translation: X:446.85, Y:29.64, Z:16.49 [[ 9.93601611e-01 -1.04115284e-01 -4.37703781e-02 4.46847196e+02] [ 1.04067416e-01 9.94564512e-01 -3.37704237e-03 2.96395521e+01] [ 4.38840665e-02 -1.19963543e-03 9.99035910e-01 1.64903718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02509989299995 meters 0.01681789743089308 Centerline is valid? [True, True] Translation: X:446.91, Y:29.64, Z:16.49 [[ 9.93804082e-01 -1.01639433e-01 -4.49763434e-02 4.46908518e+02] [ 1.01586408e-01 9.94820671e-01 -3.46897276e-03 2.96433479e+01] [ 4.50959805e-02 -1.12150588e-03 9.98982029e-01 1.64909276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08509989299995 meters 0.015976331225829553 Centerline is valid? [True, True] Translation: X:446.97, Y:29.65, Z:16.49 [[ 9.93950778e-01 -9.97746150e-02 -4.59007392e-02 4.46969831e+02] [ 9.97175100e-02 9.95009498e-01 -3.53791622e-03 2.96483706e+01] [ 4.60246657e-02 -1.06059284e-03 9.98939741e-01 1.64927098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14509989299995 meters 0.01588548820901728 Centerline is valid? [True, True] Translation: X:447.03, Y:29.65, Z:16.49 [[ 9.93986025e-01 -9.91970912e-02 -4.63866217e-02 4.47031160e+02] [ 9.91382197e-02 9.95067255e-01 -3.57370917e-03 2.96518353e+01] [ 4.65123098e-02 -1.04647011e-03 9.98917169e-01 1.64944169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20509989299995 meters 0.01654776193588642 Centerline is valid? [True, True] Translation: X:447.09, Y:29.65, Z:16.50 [[ 9.93954146e-01 -9.98018360e-02 -4.57684392e-02 4.47091446e+02] [ 9.97452303e-02 9.95006767e-01 -3.52463515e-03 2.96536383e+01] [ 4.58916717e-02 -1.06185779e-03 9.98945858e-01 1.64965557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26509989299996 meters 0.016505077313579825 Centerline is valid? [True, True] Translation: X:447.15, Y:29.66, Z:16.50 [[ 9.93829507e-01 -1.01763819e-01 -4.41252395e-02 4.47152654e+02] [ 1.01713175e-01 9.94807966e-01 -3.39722161e-03 2.96562931e+01] [ 4.42418540e-02 -1.11185914e-03 9.99020231e-01 1.64994874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32509989299996 meters 0.01761284124993704 Centerline is valid? [True, True] Translation: X:447.21, Y:29.66, Z:16.50 [[ 9.93360886e-01 -1.06941260e-01 -4.23995029e-02 4.47213886e+02] [ 1.06899265e-01 9.94264502e-01 -3.26299734e-03 2.96554494e+01] [ 4.25052696e-02 -1.29114179e-03 9.99095408e-01 1.65027588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38509989299996 meters 0.018812579471158573 Centerline is valid? [True, True] Translation: X:447.27, Y:29.65, Z:16.50 [[ 9.92634947e-01 -1.13938808e-01 -4.11559149e-02 4.47274822e+02] [ 1.13905271e-01 9.93486569e-01 -3.16657109e-03 2.96535032e+01] [ 4.12486440e-02 -1.54462650e-03 9.99147719e-01 1.65047521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.44509989299996 meters 0.02301619208807549 Centerline is valid? [True, True] Translation: X:447.34, Y:29.65, Z:16.51 [[ 9.92145853e-01 -1.18169633e-01 -4.10188324e-02 4.47335697e+02] [ 1.18139956e-01 9.92991941e-01 -3.15528845e-03 2.96485687e+01] [ 4.11042293e-02 -1.71545669e-03 9.99153391e-01 1.65058045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.50509989299997 meters 0.021913780158692178 Centerline is valid? [True, True] Translation: X:447.40, Y:29.65, Z:16.51 [[ 9.91766916e-01 -1.21353598e-01 -4.08863002e-02 4.47396399e+02] [ 1.21326845e-01 9.92607632e-01 -3.14424164e-03 2.96519309e+01] [ 4.09656186e-02 -1.84225098e-03 9.99158858e-01 1.65077157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.56509989299997 meters 0.023889893262212795 Centerline is valid? [True, True] Translation: X:447.46, Y:29.65, Z:16.51 [[ 9.91747496e-01 -1.21418794e-01 -4.11628652e-02 4.47457949e+02] [ 1.21391817e-01 9.92599627e-01 -3.16351326e-03 2.96525502e+01] [ 4.12423546e-02 -1.85942866e-03 9.99147442e-01 1.65095706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.62509989299997 meters 0.02133382849457547 Centerline is valid? [True, True] Translation: X:447.52, Y:29.66, Z:16.51 [[ 9.92103520e-01 -1.18780268e-01 -4.02722311e-02 4.47518770e+02] [ 1.18752360e-01 9.92919086e-01 -3.09297760e-03 2.96597446e+01] [ 4.03544516e-02 -1.71386852e-03 9.99183957e-01 1.65120119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.685099893 meters 0.020218012531877348 Centerline is valid? [True, True] Translation: X:447.58, Y:29.67, Z:16.51 [[ 9.92655509e-01 -1.14045734e-01 -4.03560619e-02 4.47579291e+02] [ 1.14013861e-01 9.93474329e-01 -3.09797929e-03 2.96658008e+01] [ 4.04460228e-02 -1.52592421e-03 9.99180560e-01 1.65137886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.745099893 meters 0.017960484177849248 Centerline is valid? [True, True] Translation: X:447.64, Y:29.67, Z:16.52 [[ 9.93014408e-01 -1.10787314e-01 -4.06024107e-02 4.47640242e+02] [ 1.10752369e-01 9.93843148e-01 -3.11594323e-03 2.96746918e+01] [ 4.06976346e-02 -1.40263665e-03 9.99170524e-01 1.65157162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.805099893 meters 0.016669743716108538 Centerline is valid? [True, True] Translation: X:447.70, Y:29.68, Z:16.52 [[ 9.93387585e-01 -1.07225184e-01 -4.10349343e-02 4.47701123e+02] [ 1.07186518e-01 9.94233948e-01 -3.14758761e-03 2.96821472e+01] [ 4.11358254e-02 -1.27161729e-03 9.99152755e-01 1.65171581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.865099893 meters 0.016277844933660093 Centerline is valid? [True, True] Translation: X:447.76, Y:29.69, Z:16.52 [[ 9.93571419e-01 -1.05422457e-01 -4.12545882e-02 4.47763243e+02] [ 1.05381895e-01 9.94426796e-01 -3.16272304e-03 2.96878879e+01] [ 4.13580900e-02 -1.20509547e-03 9.99143661e-01 1.65191217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.925099893 meters 0.016407471183521493 Centerline is valid? [True, True] Translation: X:447.82, Y:29.69, Z:16.52 [[ 9.93784201e-01 -1.03779329e-01 -4.02841552e-02 4.47824128e+02] [ 1.03739421e-01 9.94599725e-01 -3.08543082e-03 2.96931237e+01] [ 4.03868136e-02 -1.11280255e-03 9.99183500e-01 1.65221843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9850998929999 meters 0.017329680837227083 Centerline is valid? [True, True] Translation: X:447.89, Y:29.70, Z:16.53 [[ 9.93996716e-01 -1.02360388e-01 -3.86378079e-02 4.47885518e+02] [ 1.02322688e-01 9.94746864e-01 -2.95717001e-03 2.96964454e+01] [ 3.87375352e-02 -1.01410710e-03 9.99248905e-01 1.65250091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04509989299993 meters 0.015939660175247092 Centerline is valid? [True, True] Translation: X:447.95, Y:29.70, Z:16.53 [[ 9.94064263e-01 -1.02055515e-01 -3.76950044e-02 4.47946731e+02] [ 1.02019595e-01 9.94778220e-01 -2.88021757e-03 2.97043440e+01] [ 3.77921115e-02 -9.82507741e-04 9.99285140e-01 1.65280141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10509989299993 meters 0.016298417797894135 Centerline is valid? [True, True] Translation: X:448.01, Y:29.71, Z:16.53 [[ 9.94068123e-01 -1.02131757e-01 -3.73854507e-02 4.48009011e+02] [ 1.02096582e-01 9.94770398e-01 -2.85380634e-03 2.97085763e+01] [ 3.74814039e-02 -9.80048814e-04 9.99296845e-01 1.65305167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16509989299993 meters 0.01654280350157014 Centerline is valid? [True, True] Translation: X:448.07, Y:29.71, Z:16.53 [[ 9.94059225e-01 -1.02052358e-01 -3.78361358e-02 4.48070592e+02] [ 1.02016379e-01 9.94778535e-01 -2.88539548e-03 2.97131275e+01] [ 3.79330371e-02 -9.91651576e-04 9.99279791e-01 1.65321893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22509989299994 meters 0.01640005522958914 Centerline is valid? [True, True] Translation: X:448.13, Y:29.72, Z:16.53 [[ 9.93914779e-01 -1.02480295e-01 -4.03881247e-02 4.48132515e+02] [ 1.02439779e-01 9.94734449e-01 -3.07688724e-03 2.97179713e+01] [ 4.04907793e-02 -1.07918686e-03 9.99179329e-01 1.65327185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28509989299994 meters 0.016608653787808382 Centerline is valid? [True, True] Translation: X:448.19, Y:29.72, Z:16.53 [[ 9.93832364e-01 -1.03087972e-01 -4.08668944e-02 4.48194029e+02] [ 1.03047125e-01 9.94671612e-01 -3.11039316e-03 2.97221371e+01] [ 4.09697838e-02 -1.12000657e-03 9.99159758e-01 1.65348839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34509989299994 meters 0.0169616330453362 Centerline is valid? [True, True] Translation: X:448.26, Y:29.73, Z:16.54 [[ 9.93740668e-01 -1.03561654e-01 -4.18863713e-02 4.48256153e+02] [ 1.03519266e-01 9.94622347e-01 -3.18553938e-03 2.97256451e+01] [ 4.19910207e-02 -1.17044638e-03 9.99117303e-01 1.65365924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40509989299994 meters 0.017486845798842382 Centerline is valid? [True, True] Translation: X:448.32, Y:29.73, Z:16.54 [[ 9.93732646e-01 -1.03420966e-01 -4.24209010e-02 4.48317471e+02] [ 1.03377489e-01 9.94636972e-01 -3.22317414e-03 2.97293726e+01] [ 4.25267403e-02 -1.18239288e-03 9.99094629e-01 1.65385757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46509989299994 meters 0.016811918060979095 Centerline is valid? [True, True] Translation: X:448.38, Y:29.74, Z:16.54 [[ 9.93773480e-01 -1.03202350e-01 -4.19945844e-02 4.48378729e+02] [ 1.03159639e-01 9.94659701e-01 -3.18863348e-03 2.97360348e+01] [ 4.20993952e-02 -1.16336678e-03 9.99112750e-01 1.65418192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52509989299995 meters 0.018019125604187145 Centerline is valid? [True, True] Translation: X:448.44, Y:29.74, Z:16.54 [[ 9.93727371e-01 -1.03456413e-01 -4.24580193e-02 4.48440136e+02] [ 1.03413055e-01 9.94633278e-01 -3.22217716e-03 2.97394274e+01] [ 4.25635138e-02 -1.18874786e-03 9.99093056e-01 1.65444262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58509989299995 meters 0.016966194861450713 Centerline is valid? [True, True] Translation: X:448.50, Y:29.75, Z:16.55 [[ 9.93590036e-01 -1.04594747e-01 -4.28809860e-02 4.48500977e+02] [ 1.04551676e-01 9.94514138e-01 -3.25204798e-03 2.97462652e+01] [ 4.29858939e-02 -1.25207647e-03 9.99074895e-01 1.65470918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64509989299995 meters 0.017083064751194747 Centerline is valid? [True, True] Translation: X:448.56, Y:29.75, Z:16.55 [[ 9.93240804e-01 -1.07526249e-01 -4.37128173e-02 4.48562348e+02] [ 1.07484396e-01 9.94201250e-01 -3.31350827e-03 2.97506269e+01] [ 4.38156267e-02 -1.40733415e-03 9.99038643e-01 1.65495858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70509989299995 meters 0.018049174531222553 Centerline is valid? [True, True] Translation: X:448.62, Y:29.75, Z:16.55 [[ 9.93097865e-01 -1.08650403e-01 -4.41782842e-02 4.48622734e+02] [ 1.08608844e-01 9.94078929e-01 -3.34702087e-03 2.97537989e+01] [ 4.42803566e-02 -1.47423309e-03 9.99018056e-01 1.65514046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76509989299996 meters 0.019516931979422527 Centerline is valid? [True, True] Translation: X:448.68, Y:29.76, Z:16.55 [[ 9.92824628e-01 -1.10895487e-01 -4.47375523e-02 4.48682973e+02] [ 1.10855240e-01 9.93830792e-01 -3.38725470e-03 2.97566098e+01] [ 4.48371883e-02 -1.59644221e-03 9.98993032e-01 1.65534765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82509989299996 meters 0.02029120004828381 Centerline is valid? [True, True] Translation: X:448.74, Y:29.76, Z:16.56 [[ 9.92681477e-01 -1.12121739e-01 -4.48575689e-02 4.48743526e+02] [ 1.12082562e-01 9.93693096e-01 -3.39553468e-03 2.97612241e+01] [ 4.49553698e-02 -1.65706685e-03 9.98987622e-01 1.65558360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88509989299996 meters 0.01917139895594248 Centerline is valid? [True, True] Translation: X:448.80, Y:29.77, Z:16.56 [[ 9.92978118e-01 -1.09475352e-01 -4.48286177e-02 4.48804854e+02] [ 1.09433581e-01 9.93988322e-01 -3.39226883e-03 2.97695174e+01] [ 4.49304923e-02 -1.53730744e-03 9.98988933e-01 1.65594469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.94509989299996 meters 0.016847516459252025 Centerline is valid? [True, True] Translation: X:448.87, Y:29.78, Z:16.56 [[ 9.93321534e-01 -1.06366872e-01 -4.47036778e-02 4.48866076e+02] [ 1.06322297e-01 9.94325974e-01 -3.38039054e-03 2.97792920e+01] [ 4.48095895e-02 -1.39518301e-03 9.98994572e-01 1.65631573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.00509989299997 meters 0.017170292583965317 Centerline is valid? [True, True] Translation: X:448.93, Y:29.79, Z:16.57 [[ 9.93815878e-01 -1.01304530e-01 -4.54685980e-02 4.48926468e+02] [ 1.01253235e-01 9.94854752e-01 -3.43580265e-03 2.97853999e+01] [ 4.55827132e-02 -1.18928739e-03 9.98959860e-01 1.65650297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.06509989299997 meters 0.01604745643210886 Centerline is valid? [True, True] Translation: X:448.99, Y:29.79, Z:16.57 [[ 9.94131546e-01 -9.72836339e-02 -4.73113464e-02 4.48986925e+02] [ 9.72236225e-02 9.95256147e-01 -3.57344486e-03 2.97933666e+01] [ 4.74345460e-02 -1.04730622e-03 9.98873799e-01 1.65663603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.12509989299997 meters 0.015264028782174281 Centerline is valid? [True, True] Translation: X:449.05, Y:29.80, Z:16.57 [[ 9.94229799e-01 -9.55423939e-02 -4.87725112e-02 4.49046810e+02] [ 9.54765576e-02 9.95424865e-01 -3.68313710e-03 2.98001743e+01] [ 4.89012661e-02 -9.94746816e-04 9.98803122e-01 1.65685233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.185099893 meters 0.01508528060559516 Centerline is valid? [True, True] Translation: X:449.11, Y:29.81, Z:16.57 [[ 9.94105642e-01 -9.63198270e-02 -4.97640874e-02 4.49107277e+02] [ 9.62522591e-02 9.95349878e-01 -3.75801762e-03 2.98064531e+01] [ 4.98946500e-02 -1.05403931e-03 9.98753930e-01 1.65720467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.245099893 meters 0.01601031227665182 Centerline is valid? [True, True] Translation: X:449.17, Y:29.81, Z:16.58 [[ 9.93840738e-01 -9.90376960e-02 -4.97204361e-02 4.49167080e+02] [ 9.89736318e-02 9.95082972e-01 -3.75494476e-03 2.98104620e+01] [ 4.98478404e-02 -1.18919506e-03 9.98756116e-01 1.65750180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.305099893 meters 0.016108385174442456 Centerline is valid? [True, True] Translation: X:449.23, Y:29.82, Z:16.58 [[ 9.93595951e-01 -1.01475587e-01 -4.96969877e-02 4.49227167e+02] [ 1.01414595e-01 9.94837167e-01 -3.75383752e-03 2.98151231e+01] [ 4.98213334e-02 -1.31020212e-03 9.98757287e-01 1.65781024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.365099893 meters 0.017581025706933325 Centerline is valid? [True, True] Translation: X:449.29, Y:29.82, Z:16.58 [[ 9.93232839e-01 -1.05269175e-01 -4.90604556e-02 4.49287525e+02] [ 1.05214355e-01 9.94442661e-01 -3.70575737e-03 2.98176044e+01] [ 4.91779120e-02 -1.48118427e-03 9.98788936e-01 1.65810349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.425099893 meters 0.019303949751913053 Centerline is valid? [True, True] Translation: X:449.35, Y:29.82, Z:16.58 [[ 9.92857204e-01 -1.09080671e-01 -4.83319742e-02 4.49348014e+02] [ 1.09031973e-01 9.94031539e-01 -3.65073189e-03 2.98199517e+01] [ 4.84417310e-02 -1.64507505e-03 9.98824655e-01 1.65837876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4850998929999 meters 0.02028361590240222 Centerline is valid? [True, True] Translation: X:449.41, Y:29.82, Z:16.59 [[ 9.92141844e-01 -1.15804674e-01 -4.73691818e-02 4.49408064e+02] [ 1.15765542e-01 9.93270123e-01 -3.57794882e-03 2.98231956e+01] [ 4.74647362e-02 -1.93388625e-03 9.98871042e-01 1.65872363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54509989299993 meters 0.02358135398436964 Centerline is valid? [True, True] Translation: X:449.47, Y:29.82, Z:16.59 [[ 9.91606974e-01 -1.20283700e-01 -4.74071882e-02 4.49468782e+02] [ 1.20249633e-01 9.92737230e-01 -3.58029617e-03 2.98228121e+01] [ 4.74935319e-02 -2.15045034e-03 9.98869231e-01 1.65885935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60509989299993 meters 0.02606879314400698 Centerline is valid? [True, True] Translation: X:449.53, Y:29.82, Z:16.59 [[ 9.90982557e-01 -1.25242577e-01 -4.76221366e-02 4.49529207e+02] [ 1.25213963e-01 9.92123247e-01 -3.59535816e-03 2.98249877e+01] [ 4.76973207e-02 -2.40001922e-03 9.98858952e-01 1.65911822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66509989299993 meters 0.026177963477242713 Centerline is valid? [True, True] Translation: X:449.59, Y:29.83, Z:16.59 [[ 9.90787287e-01 -1.26687963e-01 -4.78613747e-02 4.49590706e+02] [ 1.26660778e-01 9.91939512e-01 -3.61268035e-03 2.98305205e+01] [ 4.79332718e-02 -2.48276119e-03 9.98847455e-01 1.65932426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72509989299994 meters 0.027515375453692092 Centerline is valid? [True, True] Translation: X:449.65, Y:29.84, Z:16.59 [[ 9.90658996e-01 -1.27281513e-01 -4.89302627e-02 4.49651312e+02] [ 1.27253955e-01 9.91863302e-01 -3.69069420e-03 2.98350432e+01] [ 4.90018890e-02 -2.57035003e-03 9.98795379e-01 1.65948807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78509989299994 meters 0.02732747649471872 Centerline is valid? [True, True] Translation: X:449.71, Y:29.84, Z:16.60 [[ 9.90647615e-01 -1.27108899e-01 -4.96047513e-02 4.49712003e+02] [ 1.27080483e-01 9.91885361e-01 -3.73913296e-03 2.98412048e+01] [ 4.96775037e-02 -2.59963260e-03 9.98761927e-01 1.65973144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84509989299994 meters 0.02198300665070939 Centerline is valid? [True, True] Translation: X:449.77, Y:29.86, Z:16.60 [[ 9.90961516e-01 -1.24626476e-01 -4.96338217e-02 4.49772584e+02] [ 1.24595023e-01 9.92200634e-01 -3.73930677e-03 2.98557219e+01] [ 4.97127260e-02 -2.47861805e-03 9.98760482e-01 1.66026246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90509989299994 meters 0.021392508541450216 Centerline is valid? [True, True] Translation: X:449.83, Y:29.86, Z:16.61 [[ 9.91494001e-01 -1.20884359e-01 -4.82350278e-02 4.49833057e+02] [ 1.20850343e-01 9.92664095e-01 -3.63166085e-03 2.98623476e+01] [ 4.83201912e-02 -2.22844968e-03 9.98829411e-01 1.66059555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96509989299994 meters 0.020058515059722393 Centerline is valid? [True, True] Translation: X:449.89, Y:29.87, Z:16.61 [[ 9.92526631e-01 -1.12951915e-01 -4.61817265e-02 4.49891920e+02] [ 1.12912177e-01 9.93598890e-01 -3.47657093e-03 2.98705540e+01] [ 4.62787976e-02 -1.76389007e-03 9.98927005e-01 1.66100991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02509989299995 meters 0.01779363547740558 Centerline is valid? [True, True] Translation: X:449.95, Y:29.88, Z:16.61 [[ 9.93236695e-01 -1.06840011e-01 -4.54541487e-02 4.49952538e+02] [ 1.06795097e-01 9.94275161e-01 -3.42234670e-03 2.98793540e+01] [ 4.55595746e-02 -1.45507989e-03 9.98960564e-01 1.66137122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08509989299995 meters 0.015508943403784562 Centerline is valid? [True, True] Translation: X:450.01, Y:29.89, Z:16.62 [[ 9.94053813e-01 -9.84138309e-02 -4.66018791e-02 4.50012902e+02] [ 9.83574064e-02 9.95144972e-01 -3.50788886e-03 2.98878398e+01] [ 4.67208505e-02 -1.09660967e-03 9.98907383e-01 1.66156244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14509989299995 meters 0.014585414524957081 Centerline is valid? [True, True] Translation: X:450.07, Y:29.89, Z:16.62 [[ 9.94512664e-01 -9.30489267e-02 -4.78169173e-02 4.50074356e+02] [ 9.29833851e-02 9.95661159e-01 -3.59806009e-03 2.98943591e+01] [ 4.79442430e-02 -8.67862511e-04 9.98849637e-01 1.66164893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20509989299995 meters 0.013322404387945712 Centerline is valid? [True, True] Translation: X:450.14, Y:29.90, Z:16.62 [[ 9.95138927e-01 -8.56017537e-02 -4.86914330e-02 4.50135839e+02] [ 8.55250129e-02 9.96329297e-01 -3.66112698e-03 2.99009012e+01] [ 4.88261001e-02 -5.21005460e-04 9.98807159e-01 1.66185520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26509989299996 meters 0.013191247780966104 Centerline is valid? [True, True] Translation: X:450.20, Y:29.90, Z:16.62 [[ 9.95638190e-01 -8.03161028e-02 -4.74754506e-02 4.50195714e+02] [ 8.02372379e-02 9.96769410e-01 -3.56765748e-03 2.99046777e+01] [ 4.76086173e-02 -2.57202991e-04 9.98866034e-01 1.66198822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32509989299996 meters 0.01286353675040405 Centerline is valid? [True, True] Translation: X:450.26, Y:29.91, Z:16.62 [[ 9.96232343e-01 -7.37843404e-02 -4.55740124e-02 4.50255119e+02] [ 7.37048206e-02 9.97274219e-01 -3.42507469e-03 2.99086734e+01] [ 4.57025045e-02 5.31457776e-05 9.98955093e-01 1.66232278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38509989299996 meters 0.012927976459197493 Centerline is valid? [True, True] Translation: X:450.31, Y:29.91, Z:16.63 [[ 9.96472583e-01 -7.12131153e-02 -4.43968815e-02 4.50314979e+02] [ 7.11350305e-02 9.97461109e-01 -3.33819269e-03 2.99112736e+01] [ 4.45218858e-02 1.68243967e-04 9.99008395e-01 1.66253899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.44509989299996 meters 0.012855964436150818 Centerline is valid? [True, True] Translation: X:450.37, Y:29.91, Z:16.63 [[ 9.96367316e-01 -7.27657329e-02 -4.42416102e-02 4.50373460e+02] [ 7.26896350e-02 9.97349055e-01 -3.32850422e-03 2.99079810e+01] [ 4.43665291e-02 1.00506316e-04 9.99015316e-01 1.66251565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.50509989299997 meters 0.012902605702519741 Centerline is valid? [True, True] Translation: X:450.43, Y:29.90, Z:16.63 [[ 9.95997853e-01 -7.81172465e-02 -4.34277972e-02 4.50431530e+02] [ 7.80487872e-02 9.96944170e-01 -3.27230550e-03 2.99034970e+01] [ 4.35507127e-02 -1.30277652e-04 9.99051209e-01 1.66266355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.56509989299997 meters 0.01375461881276577 Centerline is valid? [True, True] Translation: X:450.49, Y:29.89, Z:16.63 [[ 9.95032816e-01 -9.00862002e-02 -4.23576642e-02 4.50491597e+02] [ 9.00314515e-02 9.95933775e-01 -3.20226902e-03 2.98929707e+01] [ 4.24739086e-02 -6.27159223e-04 9.99097380e-01 1.66295848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.62509989299997 meters 0.014538620213073625 Centerline is valid? [True, True] Translation: X:450.55, Y:29.89, Z:16.63 [[ 9.94617500e-01 -9.47229810e-02 -4.19950604e-02 4.50552186e+02] [ 9.46731675e-02 9.95503336e-01 -3.17786001e-03 2.98921830e+01] [ 4.21072391e-02 -8.15050208e-04 9.99112764e-01 1.66316885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.685099893 meters 0.01863902166599717 Centerline is valid? [True, True] Translation: X:450.61, Y:29.88, Z:16.63 [[ 9.93304123e-01 -1.07201210e-01 -4.30676089e-02 4.50612757e+02] [ 1.07160515e-01 9.94236391e-01 -3.25912890e-03 2.98788811e+01] [ 4.31687666e-02 -1.37784097e-03 9.99066844e-01 1.66318027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.745099893 meters 0.02287797601119903 Centerline is valid? [True, True] Translation: X:450.67, Y:29.87, Z:16.63 [[ 9.92660272e-01 -1.13172099e-01 -4.26340215e-02 4.50672587e+02] [ 1.13137676e-01 9.93574080e-01 -3.22717867e-03 2.98705728e+01] [ 4.27252853e-02 -1.62002204e-03 9.99085545e-01 1.66326685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.805099893 meters 0.021297377202498333 Centerline is valid? [True, True] Translation: X:450.73, Y:29.87, Z:16.64 [[ 9.92062822e-01 -1.18806386e-01 -4.11873718e-02 4.50733183e+02] [ 1.18779046e-01 9.92915812e-01 -3.11901476e-03 2.98699572e+01] [ 4.12661516e-02 -1.79793813e-03 9.99146572e-01 1.66356969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.865099893 meters 0.02436829933309424 Centerline is valid? [True, True] Translation: X:450.79, Y:29.87, Z:16.64 [[ 9.91776856e-01 -1.21412932e-01 -4.04668692e-02 4.50792865e+02] [ 1.21388673e-01 9.92600320e-01 -3.06518416e-03 2.98657713e+01] [ 4.05395803e-02 -1.87224084e-03 9.99176179e-01 1.66380710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.925099893 meters 0.02447013488948556 Centerline is valid? [True, True] Translation: X:450.85, Y:29.87, Z:16.64 [[ 9.91258988e-01 -1.25790746e-01 -3.97782309e-02 4.50852767e+02] [ 1.25770790e-01 9.92054749e-01 -3.01373203e-03 2.98652853e+01] [ 3.98412825e-02 -2.01555057e-03 9.99203988e-01 1.66405850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.9850998929999 meters 0.02467444727115817 Centerline is valid? [True, True] Translation: X:450.91, Y:29.87, Z:16.64 [[ 9.90928719e-01 -1.28428427e-01 -3.95779390e-02 4.50913447e+02] [ 1.28410742e-01 9.91716535e-01 -2.99923066e-03 2.98669860e+01] [ 3.96352830e-02 -2.11020870e-03 9.99211985e-01 1.66418570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04509989299993 meters 0.028689402831558443 Centerline is valid? [True, True] Translation: X:450.97, Y:29.86, Z:16.64 [[ 9.90352275e-01 -1.32510309e-01 -4.05387480e-02 4.50973301e+02] [ 1.32495158e-01 9.91178892e-01 -3.07213712e-03 2.98635015e+01] [ 4.05882411e-02 -2.32868981e-03 9.99173244e-01 1.66428726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10509989299993 meters 0.02961638923512045 Centerline is valid? [True, True] Translation: X:451.03, Y:29.87, Z:16.64 [[ 9.90055985e-01 -1.34569918e-01 -4.09888176e-02 4.51033491e+02] [ 1.34556139e-01 9.90901100e-01 -3.10739336e-03 2.98656379e+01] [ 4.10340261e-02 -2.43880365e-03 9.99154773e-01 1.66446599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16509989299993 meters 0.02784146810534916 Centerline is valid? [True, True] Translation: X:451.09, Y:29.87, Z:16.65 [[ 9.89905767e-01 -1.35612441e-01 -4.11805692e-02 4.51093592e+02] [ 1.35599404e-01 9.90758826e-01 -3.12259756e-03 2.98732217e+01] [ 4.12234754e-02 -2.49298331e-03 9.99146841e-01 1.66471168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22509989299994 meters 0.028215089300915167 Centerline is valid? [True, True] Translation: X:451.15, Y:29.88, Z:16.65 [[ 9.89836297e-01 -1.36122451e-01 -4.11677456e-02 4.51153698e+02] [ 1.36109862e-01 9.90688832e-01 -3.12162518e-03 2.98781723e+01] [ 4.12093490e-02 -2.51343825e-03 9.99147373e-01 1.66492266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28509989299994 meters 0.027946821455101092 Centerline is valid? [True, True] Translation: X:451.21, Y:29.89, Z:16.65 [[ 9.89911623e-01 -1.35787907e-01 -4.04551848e-02 4.51213657e+02] [ 1.35775471e-01 9.90734885e-01 -3.06759387e-03 2.98859935e+01] [ 4.04969050e-02 -2.45617494e-03 9.99176645e-01 1.66523171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34509989299994 meters 0.027385875618009686 Centerline is valid? [True, True] Translation: X:451.27, Y:29.89, Z:16.66 [[ 9.90172330e-01 -1.34237065e-01 -3.92322313e-02 4.51273726e+02] [ 1.34224154e-01 9.90946531e-01 -2.97486101e-03 2.98938446e+01] [ 3.92763801e-02 -2.32028801e-03 9.99225691e-01 1.66553833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40509989299994 meters 0.028163621556859798 Centerline is valid? [True, True] Translation: X:451.33, Y:29.90, Z:16.66 [[ 9.90685453e-01 -1.30992434e-01 -3.71929553e-02 4.51332587e+02] [ 1.30978548e-01 9.91381191e-01 -2.82022880e-03 2.99025988e+01] [ 3.72418250e-02 -2.07751963e-03 9.99304123e-01 1.66590149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46509989299994 meters 0.02606252798444613 Centerline is valid? [True, True] Translation: X:451.39, Y:29.92, Z:16.66 [[ 9.91153307e-01 -1.27437038e-01 -3.70799654e-02 4.51392881e+02] [ 1.27420730e-01 9.91844770e-01 -2.81233340e-03 2.99151587e+01] [ 3.71359652e-02 -1.93730271e-03 9.99308344e-01 1.66609825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52509989299995 meters 0.024126917446282745 Centerline is valid? [True, True] Translation: X:451.45, Y:29.93, Z:16.66 [[ 9.91545487e-01 -1.24133388e-01 -3.77948359e-02 4.51452860e+02] [ 1.24114079e-01 9.92263817e-01 -2.86586963e-03 2.99250816e+01] [ 3.78581983e-02 -1.84923115e-03 9.99281410e-01 1.66623726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58509989299995 meters 0.021832809082179196 Centerline is valid? [True, True] Translation: X:451.51, Y:29.94, Z:16.66 [[ 9.92048901e-01 -1.19656242e-01 -3.90046432e-02 4.51513432e+02] [ 1.19632226e-01 9.92813871e-01 -2.95756509e-03 2.99365863e+01] [ 3.90782419e-02 -1.73216308e-03 9.99234652e-01 1.66639265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64509989299995 meters 0.018795749422039904 Centerline is valid? [True, True] Translation: X:451.57, Y:29.95, Z:16.67 [[ 9.93156768e-01 -1.09602036e-01 -4.03364396e-02 4.51573472e+02] [ 1.09568104e-01 9.93974588e-01 -3.05765762e-03 2.99517662e+01] [ 4.04285215e-02 -1.38285384e-03 9.99181476e-01 1.66652376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70509989299995 meters 0.01569002268413743 Centerline is valid? [True, True] Translation: X:451.63, Y:29.97, Z:16.67 [[ 9.94483290e-01 -9.64027775e-02 -4.13459917e-02 4.51632396e+02] [ 9.63557301e-02 9.95342028e-01 -3.13385965e-03 2.99675637e+01] [ 4.14555160e-02 -8.67352161e-04 9.99139974e-01 1.66662892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76509989299996 meters 0.01358416177114512 Centerline is valid? [True, True] Translation: X:451.69, Y:29.98, Z:16.67 [[ 9.95402705e-01 -8.67428683e-02 -4.06094747e-02 4.51691778e+02] [ 8.66894406e-02 9.96230629e-01 -3.07806506e-03 2.99819728e+01] [ 4.07234027e-02 -4.56498352e-04 9.99170354e-01 1.66694322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82509989299996 meters 0.012964622988324015 Centerline is valid? [True, True] Translation: X:451.75, Y:29.99, Z:16.67 [[ 9.96161655e-01 -7.81582575e-02 -3.94112081e-02 4.51751095e+02] [ 7.81012169e-02 9.96940959e-01 -2.98724038e-03 2.99939525e+01] [ 3.95241251e-02 -1.02288985e-04 9.99218611e-01 1.66731764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88509989299996 meters 0.013142782709323822 Centerline is valid? [True, True] Translation: X:451.81, Y:30.00, Z:16.68 [[ 9.96771103e-01 -7.07754447e-02 -3.79236651e-02 4.51810136e+02] [ 7.07172852e-02 9.97492257e-01 -2.87450253e-03 3.00040987e+01] [ 3.80320065e-02 1.83362417e-04 9.99276505e-01 1.66762970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.94509989299996 meters 0.013206041068038242 Centerline is valid? [True, True] Translation: X:451.87, Y:30.01, Z:16.68 [[ 9.96787987e-01 -7.06010955e-02 -3.78046859e-02 4.51869116e+02] [ 7.05431491e-02 9.97504611e-01 -2.86617185e-03 3.00082130e+01] [ 3.79127034e-02 1.90104078e-04 9.99281037e-01 1.66783495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.00509989299997 meters 0.012945213495973383 Centerline is valid? [True, True] Translation: X:451.93, Y:30.01, Z:16.68 [[ 9.96332996e-01 -7.67447335e-02 -3.78260152e-02 4.51928963e+02] [ 7.66910952e-02 9.97050773e-01 -2.86911658e-03 3.00071547e+01] [ 3.79346473e-02 -4.23230159e-05 9.99280221e-01 1.66797674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.06509989299997 meters 0.013372660296032695 Centerline is valid? [True, True] Translation: X:451.99, Y:30.01, Z:16.68 [[ 9.95818474e-01 -8.27447591e-02 -3.87152546e-02 4.51988415e+02] [ 8.26930449e-02 9.96570734e-01 -2.93794980e-03 3.00053753e+01] [ 3.88255897e-02 -2.75817598e-04 9.99245964e-01 1.66812812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.12509989299997 meters 0.014408523548632094 Centerline is valid? [True, True] Translation: X:452.05, Y:30.00, Z:16.68 [[ 9.94999712e-01 -9.18958497e-02 -3.91244913e-02 4.52049086e+02] [ 9.18500944e-02 9.95768419e-01 -2.96917730e-03 3.00018814e+01] [ 3.92317880e-02 -6.39257665e-04 9.99229933e-01 1.66830666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.185099893 meters 0.01546073996781651 Centerline is valid? [True, True] Translation: X:452.11, Y:30.00, Z:16.69 [[ 9.94579451e-01 -9.64005835e-02 -3.89697627e-02 4.52109355e+02] [ 9.63586445e-02 9.95342286e-01 -2.95740308e-03 3.00003834e+01] [ 3.90733481e-02 -8.13701182e-04 9.99236014e-01 1.66853845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.245099893 meters 0.017718774110736628 Centerline is valid? [True, True] Translation: X:452.17, Y:30.00, Z:16.69 [[ 9.94059219e-01 -1.01860015e-01 -3.83510843e-02 4.52169151e+02] [ 1.01823479e-01 9.94798227e-01 -2.90981523e-03 2.99967827e+01] [ 3.84479845e-02 -1.01251216e-03 9.99260090e-01 1.66875508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.305099893 meters 0.018729967449528283 Centerline is valid? [True, True] Translation: X:452.23, Y:30.00, Z:16.69 [[ 9.93561313e-01 -1.06061007e-01 -3.98369185e-02 4.52230177e+02] [ 1.06024928e-01 9.94358876e-01 -3.02323231e-03 2.99954976e+01] [ 3.99328406e-02 -1.21993977e-03 9.99201621e-01 1.66884128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.365099893 meters 0.018709399213660573 Centerline is valid? [True, True] Translation: X:452.29, Y:30.00, Z:16.69 [[ 9.93152079e-01 -1.09376537e-01 -4.10575417e-02 4.52291047e+02] [ 1.09341046e-01 9.93999410e-01 -3.11579537e-03 2.99975532e+01] [ 4.11519672e-02 -1.39481590e-03 9.99151925e-01 1.66895916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.425099893 meters 0.019706517709768192 Centerline is valid? [True, True] Translation: X:452.35, Y:30.00, Z:16.69 [[ 9.92553249e-01 -1.14520914e-01 -4.15091312e-02 4.52351600e+02] [ 1.14489151e-01 9.93419506e-01 -3.14946059e-03 2.99968864e+01] [ 4.15966597e-02 -1.62633782e-03 9.99133161e-01 1.66911748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.4850998929999 meters 0.02124196385748121 Centerline is valid? [True, True] Translation: X:452.41, Y:30.00, Z:16.69 [[ 9.92278275e-01 -1.16584106e-01 -4.23316763e-02 4.52411658e+02] [ 1.16552916e-01 9.93179288e-01 -3.21257249e-03 2.99973780e+01] [ 4.24174790e-02 -1.74611441e-03 9.99098448e-01 1.66928254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54509989299993 meters 0.022080800681385564 Centerline is valid? [True, True] Translation: X:452.47, Y:30.00, Z:16.69 [[ 9.92275808e-01 -1.16227471e-01 -4.33577608e-02 4.52471577e+02] [ 1.16194406e-01 9.93221039e-01 -3.29055272e-03 2.99997380e+01] [ 4.34462929e-02 -1.77279341e-03 9.99054191e-01 1.66942436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60509989299993 meters 0.020554861846221635 Centerline is valid? [True, True] Translation: X:452.53, Y:30.01, Z:16.70 [[ 9.92594850e-01 -1.13264179e-01 -4.38940601e-02 4.52530802e+02] [ 1.13227360e-01 9.93563517e-01 -3.33216804e-03 3.00063199e+01] [ 4.39889520e-02 -1.66251568e-03 9.99030634e-01 1.66967530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66509989299993 meters 0.017218910065960807 Centerline is valid? [True, True] Translation: X:452.59, Y:30.02, Z:16.70 [[ 9.93646357e-01 -1.04190746e-01 -4.25582634e-02 4.52590771e+02] [ 1.04147758e-01 9.94556584e-01 -3.23207449e-03 3.00177549e+01] [ 4.26633533e-02 -1.22080868e-03 9.99088759e-01 1.67011171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72509989299994 meters 0.015475202811249731 Centerline is valid? [True, True] Translation: X:452.65, Y:30.03, Z:16.70 [[ 9.94431864e-01 -9.66544764e-02 -4.19902398e-02 4.52650325e+02] [ 9.66059040e-02 9.95317602e-01 -3.18913437e-03 3.00274548e+01] [ 4.21018688e-02 -8.85128240e-04 9.99112931e-01 1.67046876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78509989299994 meters 0.013541423422756944 Centerline is valid? [True, True] Translation: X:452.71, Y:30.04, Z:16.71 [[ 9.95316160e-01 -8.69920410e-02 -4.21678256e-02 4.52709776e+02] [ 8.69343517e-02 9.96208892e-01 -3.20338088e-03 3.00374041e+01] [ 4.22866315e-02 -4.77455827e-04 9.99105406e-01 1.67073841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84509989299994 meters 0.013096526465211691 Centerline is valid? [True, True] Translation: X:452.77, Y:30.04, Z:16.71 [[ 9.95608597e-01 -8.33564242e-02 -4.26054941e-02 4.52768019e+02] [ 8.32941150e-02 9.96519745e-01 -3.23867991e-03 3.00433687e+01] [ 4.27271809e-02 -3.24329368e-04 9.99086724e-01 1.67096110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90509989299994 meters 0.012829694227099784 Centerline is valid? [True, True] Translation: X:452.83, Y:30.05, Z:16.71 [[ 9.95735994e-01 -8.12920877e-02 -4.36053596e-02 4.52826728e+02] [ 8.12243448e-02 9.96690295e-01 -3.32599378e-03 3.00477718e+01] [ 4.37314156e-02 -2.30005037e-04 9.99043298e-01 1.67117800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96509989299994 meters 0.012934883566901161 Centerline is valid? [True, True] Translation: X:452.88, Y:30.05, Z:16.71 [[ 9.95641057e-01 -8.21413117e-02 -4.41779443e-02 4.52884325e+02] [ 8.20721550e-02 9.96620659e-01 -3.37999138e-03 3.00501688e+01] [ 4.43062889e-02 -2.60520908e-04 9.99017960e-01 1.67136760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02509989299995 meters 0.013173980788782385 Centerline is valid? [True, True] Translation: X:452.94, Y:30.05, Z:16.72 [[ 9.95288197e-01 -8.60603800e-02 -4.46655974e-02 4.52942803e+02] [ 8.59934475e-02 9.96289828e-01 -3.42137517e-03 3.00493518e+01] [ 4.47943252e-02 -4.35694384e-04 9.98996135e-01 1.67159569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08509989299995 meters 0.013705334122286635 Centerline is valid? [True, True] Translation: X:453.00, Y:30.05, Z:16.72 [[ 9.94910770e-01 -9.03559900e-02 -4.45909700e-02 4.53001783e+02] [ 9.02933556e-02 9.95909337e-01 -3.42091863e-03 3.00491248e+01] [ 4.47176638e-02 -6.22759524e-04 9.98999471e-01 1.67183047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14509989299995 meters 0.014639180526489288 Centerline is valid? [True, True] Translation: X:453.06, Y:30.05, Z:16.72 [[ 9.94310230e-01 -9.64808282e-02 -4.51510300e-02 4.53061279e+02] [ 9.64224547e-02 9.95334437e-01 -3.47406495e-03 3.00463714e+01] [ 4.52755557e-02 -8.99274823e-04 9.98974131e-01 1.67197572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20509989299995 meters 0.01545013288571939 Centerline is valid? [True, True] Translation: X:453.12, Y:30.05, Z:16.72 [[ 9.94015798e-01 -9.96472234e-02 -4.47551481e-02 4.53119596e+02] [ 9.95929124e-02 9.95022295e-01 -3.44721398e-03 3.00465024e+01] [ 4.48758755e-02 -1.03071039e-03 9.98992039e-01 1.67225615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26509989299996 meters 0.016118793251562496 Centerline is valid? [True, True] Translation: X:453.18, Y:30.05, Z:16.72 [[ 9.93972492e-01 -1.00161323e-01 -4.45689828e-02 4.53177560e+02] [ 1.00107799e-01 9.94970661e-01 -3.43688929e-03 3.00465845e+01] [ 4.46890736e-02 -1.04552937e-03 9.99000397e-01 1.67249538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32509989299996 meters 0.015741881907384545 Centerline is valid? [True, True] Translation: X:453.24, Y:30.05, Z:16.73 [[ 9.94160776e-01 -9.83177676e-02 -4.44743448e-02 4.53236069e+02] [ 9.82624008e-02 9.95154613e-01 -3.43468405e-03 3.00501055e+01] [ 4.45965398e-02 -9.55527725e-04 9.99004622e-01 1.67273350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38509989299996 meters 0.013740111100256424 Centerline is valid? [True, True] Translation: X:453.29, Y:30.06, Z:16.73 [[ 9.94727860e-01 -9.25047709e-02 -4.42645659e-02 4.53294975e+02] [ 9.24436936e-02 9.95712008e-01 -3.42923852e-03 3.00572107e+01] [ 4.43919808e-02 -6.80820875e-04 9.99013958e-01 1.67308915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.44509989299996 meters 0.013072666215829639 Centerline is valid? [True, True] Translation: X:453.35, Y:30.06, Z:16.73 [[ 9.95134855e-01 -8.78963741e-02 -4.45067057e-02 4.53353135e+02] [ 8.78295314e-02 9.96129514e-01 -3.45890250e-03 3.00636920e+01] [ 4.46384681e-02 -4.66928664e-04 9.99003098e-01 1.67336729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.50509989299997 meters 0.012803786555095955 Centerline is valid? [True, True] Translation: X:453.41, Y:30.07, Z:16.73 [[ 9.95530999e-01 -8.23232212e-02 -4.62700505e-02 4.53410784e+02] [ 8.22444250e-02 9.96605660e-01 -3.60737908e-03 3.00686299e+01] [ 4.64099653e-02 -2.14196001e-04 9.98922454e-01 1.67346207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.56509989299997 meters 0.012693541310190482 Centerline is valid? [True, True] Translation: X:453.47, Y:30.07, Z:16.74 [[ 9.95594105e-01 -8.10814042e-02 -4.70976013e-02 4.53468927e+02] [ 8.09979814e-02 9.96707471e-01 -3.68020017e-03 3.00715468e+01] [ 4.72409269e-02 -1.50825044e-04 9.98883513e-01 1.67374012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.62509989299997 meters 0.012793995232047438 Centerline is valid? [True, True] Translation: X:453.53, Y:30.07, Z:16.74 [[ 9.95409455e-01 -8.30356236e-02 -4.75930843e-02 4.53526726e+02] [ 8.29520899e-02 9.96546552e-01 -3.73100008e-03 3.00727723e+01] [ 4.77385300e-02 -2.34073055e-04 9.98859839e-01 1.67392893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.685099893 meters 0.013338511783647306 Centerline is valid? [True, True] Translation: X:453.59, Y:30.07, Z:16.74 [[ 9.94859552e-01 -8.95353876e-02 -4.73063033e-02 4.53585276e+02] [ 8.94599707e-02 9.95983496e-01 -3.71329039e-03 3.00701372e+01] [ 4.74487682e-02 -5.37818085e-04 9.98873528e-01 1.67421603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.745099893 meters 0.01423710403576958 Centerline is valid? [True, True] Translation: X:453.64, Y:30.07, Z:16.75 [[ 9.94325516e-01 -9.60780001e-02 -4.56704162e-02 4.53643812e+02] [ 9.60143375e-02 9.95373475e-01 -3.59066449e-03 3.00682961e+01] [ 4.58041047e-02 -8.14725437e-04 9.98950109e-01 1.67452551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.805099893 meters 0.01750464903060157 Centerline is valid? [True, True] Translation: X:453.71, Y:30.06, Z:16.75 [[ 9.93209892e-01 -1.07721912e-01 -4.39328971e-02 4.53705278e+02] [ 1.07674223e-01 9.94180219e-01 -3.45733689e-03 3.00602643e+01] [ 4.40496483e-02 -1.29657934e-03 9.99028502e-01 1.67478676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.865099893 meters 0.019211872884243947 Centerline is valid? [True, True] Translation: X:453.77, Y:30.06, Z:16.75 [[ 9.92282804e-01 -1.16044226e-01 -4.36872431e-02 4.53766311e+02] [ 1.16005104e-01 9.93242666e-01 -3.43824189e-03 3.00586371e+01] [ 4.37910219e-02 -1.65623486e-03 9.99039340e-01 1.67505533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.925099893 meters 0.02266544133606807 Centerline is valid? [True, True] Translation: X:453.83, Y:30.05, Z:16.75 [[ 9.90999380e-01 -1.26577698e-01 -4.35696641e-02 4.53827136e+02] [ 1.26548914e-01 9.91954441e-01 -3.42932833e-03 3.00535374e+01] [ 4.36531982e-02 -2.11523142e-03 9.99044506e-01 1.67528049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.9850998929999 meters 0.026201121136038296 Centerline is valid? [True, True] Translation: X:453.89, Y:30.05, Z:16.76 [[ 9.89950382e-01 -1.34920389e-01 -4.23642503e-02 4.53888067e+02] [ 1.34900755e-01 9.90853503e-01 -3.33503290e-03 3.00494117e+01] [ 4.24267297e-02 -2.41345227e-03 9.99096666e-01 1.67551730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04509989299993 meters 0.02805410755538448 Centerline is valid? [True, True] Translation: X:453.95, Y:30.05, Z:16.76 [[ 9.89406806e-01 -1.38929755e-01 -4.21033807e-02 4.53947866e+02] [ 1.38913974e-01 9.90298905e-01 -3.31452690e-03 3.00505016e+01] [ 4.21554183e-02 -2.56933247e-03 9.99107762e-01 1.67572375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10509989299993 meters 0.029446717060365488 Centerline is valid? [True, True] Translation: X:454.01, Y:30.05, Z:16.76 [[ 9.88898667e-01 -1.42498806e-01 -4.21131501e-02 4.54008233e+02] [ 1.42486206e-01 9.89791233e-01 -3.31606914e-03 3.00532996e+01] [ 4.21557626e-02 -2.72128662e-03 9.99107345e-01 1.67586389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16509989299993 meters 0.029843000481391612 Centerline is valid? [True, True] Translation: X:454.07, Y:30.06, Z:16.76 [[ 9.88779751e-01 -1.43248016e-01 -4.23628420e-02 4.54066871e+02] [ 1.43235865e-01 9.89682952e-01 -3.33774698e-03 3.00584746e+01] [ 4.24039082e-02 -2.76758171e-03 9.99096717e-01 1.67607409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22509989299994 meters 0.02794863128426837 Centerline is valid? [True, True] Translation: X:454.12, Y:30.07, Z:16.76 [[ 9.89046226e-01 -1.41602509e-01 -4.16688305e-02 4.54124863e+02] [ 1.41588891e-01 9.89920069e-01 -3.29279987e-03 3.00685126e+01] [ 4.17150803e-02 -2.64311221e-03 9.99126051e-01 1.67634673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28509989299994 meters 0.028581446436935307 Centerline is valid? [True, True] Translation: X:454.18, Y:30.07, Z:16.77 [[ 9.89472012e-01 -1.38796602e-01 -4.09956080e-02 4.54183554e+02] [ 1.38780903e-01 9.90317801e-01 -3.24246331e-03 3.00743081e+01] [ 4.10487233e-02 -2.48108081e-03 9.99154065e-01 1.67660453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34509989299994 meters 0.02519962576016039 Centerline is valid? [True, True] Translation: X:454.24, Y:30.09, Z:16.77 [[ 9.90288068e-01 -1.33426294e-01 -3.90764141e-02 4.54243501e+02] [ 1.33407807e-01 9.91056404e-01 -3.09198413e-03 3.00881423e+01] [ 3.91394824e-02 -2.15114373e-03 9.99231441e-01 1.67693979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40509989299994 meters 0.025355002212212926 Centerline is valid? [True, True] Translation: X:454.30, Y:30.09, Z:16.77 [[ 9.90550358e-01 -1.31444883e-01 -3.91437287e-02 4.54301787e+02] [ 1.31424770e-01 9.91321307e-01 -3.09781715e-03 3.00942431e+01] [ 3.92112045e-02 -2.07591163e-03 9.99228789e-01 1.67716004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46509989299994 meters 0.023917480854505718 Centerline is valid? [True, True] Translation: X:454.36, Y:30.10, Z:16.77 [[ 9.91019418e-01 -1.27877462e-01 -3.90879516e-02 4.54360711e+02] [ 1.27854529e-01 9.91788099e-01 -3.09618622e-03 3.01037476e+01] [ 3.91628976e-02 -1.92919098e-03 9.99230977e-01 1.67734646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52509989299995 meters 0.02223087231294614 Centerline is valid? [True, True] Translation: X:454.42, Y:30.12, Z:16.78 [[ 9.91554666e-01 -1.23510567e-01 -3.95535681e-02 4.54419573e+02] [ 1.23483560e-01 9.92341668e-01 -3.13453026e-03 3.01155232e+01] [ 3.96378013e-02 -1.77615728e-03 9.99212535e-01 1.67751866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58509989299995 meters 0.02085885496707855 Centerline is valid? [True, True] Translation: X:454.48, Y:30.13, Z:16.78 [[ 9.91892939e-01 -1.20619423e-01 -3.99918969e-02 4.54479257e+02] [ 1.20589412e-01 9.92697406e-01 -3.17069347e-03 3.01254714e+01] [ 4.00822995e-02 -1.67761088e-03 9.99194973e-01 1.67768040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64509989299995 meters 0.019310443563946372 Centerline is valid? [True, True] Translation: X:454.54, Y:30.14, Z:16.78 [[ 9.92458836e-01 -1.15988213e-01 -3.96508974e-02 4.54538144e+02] [ 1.15954990e-01 9.93249492e-01 -3.14442528e-03 3.01364098e+01] [ 3.97479500e-02 -1.47700674e-03 9.99208646e-01 1.67788316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70509989299995 meters 0.019224300483460258 Centerline is valid? [True, True] Translation: X:454.60, Y:30.14, Z:16.78 [[ 9.92847408e-01 -1.12789306e-01 -3.91483966e-02 4.54596003e+02] [ 1.12754379e-01 9.93618037e-01 -3.10602695e-03 3.01447356e+01] [ 3.92488796e-02 -1.33034235e-03 9.99228580e-01 1.67813869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76509989299996 meters 0.018272407927048956 Centerline is valid? [True, True] Translation: X:454.65, Y:30.16, Z:16.78 [[ 9.93337251e-01 -1.08083474e-01 -3.99883668e-02 4.54654549e+02] [ 1.08043136e-01 9.94141138e-01 -3.17482132e-03 3.01555027e+01] [ 4.00972262e-02 -1.16680026e-03 9.99195102e-01 1.67835205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82509989299996 meters 0.015958958723436577 Centerline is valid? [True, True] Translation: X:454.71, Y:30.17, Z:16.79 [[ 9.93646306e-01 -1.05058932e-01 -4.03687836e-02 4.54713633e+02] [ 1.05015271e-01 9.94465440e-01 -3.20646058e-03 3.01675195e+01] [ 4.04822275e-02 -1.05325103e-03 9.99179704e-01 1.67855417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88509989299996 meters 0.01617667627863895 Centerline is valid? [True, True] Translation: X:454.77, Y:30.17, Z:16.79 [[ 9.93801200e-01 -1.03761732e-01 -3.99083686e-02 4.54772607e+02] [ 1.03717961e-01 9.94601693e-01 -3.17128099e-03 3.01737916e+01] [ 4.00219885e-02 -9.87591754e-04 9.99198311e-01 1.67885636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.94509989299996 meters 0.014848201860854438 Centerline is valid? [True, True] Translation: X:454.83, Y:30.18, Z:16.79 [[ 9.93961404e-01 -1.02256685e-01 -3.98032461e-02 4.54832415e+02] [ 1.02211912e-01 9.94757617e-01 -3.16359265e-03 3.01832312e+01] [ 3.99180807e-02 -9.23876878e-04 9.99202529e-01 1.67914144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.00509989299997 meters 0.0147996266707479 Centerline is valid? [True, True] Translation: X:454.89, Y:30.19, Z:16.79 [[ 9.94016790e-01 -1.01536087e-01 -4.02621912e-02 4.54892522e+02] [ 1.01489684e-01 9.94831445e-01 -3.20006996e-03 3.01888377e+01] [ 4.03790165e-02 -9.05273810e-04 9.99184025e-01 1.67931059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.06509989299997 meters 0.015026475553764565 Centerline is valid? [True, True] Translation: X:454.95, Y:30.19, Z:16.79 [[ 9.93938536e-01 -1.02058418e-01 -4.08688870e-02 4.54952404e+02] [ 1.02011042e-01 9.94777963e-01 -3.24842438e-03 3.01932416e+01] [ 4.09869972e-02 -9.40343581e-04 9.99159237e-01 1.67937685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.12509989299997 meters 0.015564718805554266 Centerline is valid? [True, True] Translation: X:455.01, Y:30.20, Z:16.80 [[ 9.93766530e-01 -1.03379075e-01 -4.17235151e-02 4.55012292e+02] [ 1.03330795e-01 9.94641513e-01 -3.31789652e-03 3.01971848e+01] [ 4.18429412e-02 -1.01410946e-03 9.99123686e-01 1.67951651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.185099893 meters 0.016821543936807053 Centerline is valid? [True, True] Translation: X:455.07, Y:30.20, Z:16.80 [[ 9.93536812e-01 -1.05529818e-01 -4.18098039e-02 4.55070778e+02] [ 1.05483173e-01 9.94415525e-01 -3.32634388e-03 3.01996536e+01] [ 4.19273465e-02 -1.10538570e-03 9.99120051e-01 1.67968740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.245099893 meters 0.017581358809079916 Centerline is valid? [True, True] Translation: X:455.13, Y:30.20, Z:16.80 [[ 9.93479326e-01 -1.06224437e-01 -4.14149358e-02 4.55129025e+02] [ 1.06179182e-01 9.94341546e-01 -3.29710472e-03 3.02027564e+01] [ 4.15308244e-02 -1.12179863e-03 9.99136593e-01 1.67989417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.305099893 meters 0.01572633300101928 Centerline is valid? [True, True] Translation: X:455.19, Y:30.21, Z:16.80 [[ 9.93444219e-01 -1.06687903e-01 -4.10642700e-02 4.55189217e+02] [ 1.06643727e-01 9.94291917e-01 -3.27110093e-03 3.02109163e+01] [ 4.11788587e-02 -1.12959050e-03 9.99151153e-01 1.68020968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.365099893 meters 0.0159491458539942 Centerline is valid? [True, True] Translation: X:455.25, Y:30.21, Z:16.80 [[ 9.93509873e-01 -1.05987767e-01 -4.12883230e-02 4.55249164e+02] [ 1.05942504e-01 9.94366818e-01 -3.28894855e-03 3.02147337e+01] [ 4.14043266e-02 -1.10658546e-03 9.99141860e-01 1.68039414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.425099893 meters 0.015297312655352191 Centerline is valid? [True, True] Translation: X:455.31, Y:30.22, Z:16.81 [[ 9.93658699e-01 -1.04322925e-01 -4.19418334e-02 4.55308256e+02] [ 1.04274728e-01 9.94542919e-01 -3.34118091e-03 3.02194131e+01] [ 4.20615152e-02 -1.05347980e-03 9.99114467e-01 1.68051809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.4850998929999 meters 0.014071947524126749 Centerline is valid? [True, True] Translation: X:455.37, Y:30.23, Z:16.81 [[ 9.94094743e-01 -9.99624725e-02 -4.22273038e-02 4.55367635e+02] [ 9.99096194e-02 9.94990825e-01 -3.36548896e-03 3.02263351e+01] [ 4.23522024e-02 -8.73298961e-04 9.99102361e-01 1.68078412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54509989299993 meters 0.013396443827703244 Centerline is valid? [True, True] Translation: X:455.43, Y:30.23, Z:16.81 [[ 9.94514767e-01 -9.53130679e-02 -4.30789564e-02 4.55426796e+02] [ 9.52536297e-02 9.95447109e-01 -3.43500730e-03 3.02327809e+01] [ 4.32102237e-02 -6.87261477e-04 9.99065766e-01 1.68092382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60509989299993 meters 0.012418934427565902 Centerline is valid? [True, True] Translation: X:455.49, Y:30.24, Z:16.81 [[ 9.95360212e-01 -8.61317814e-02 -4.28878144e-02 4.55485383e+02] [ 8.60642676e-02 9.96283712e-01 -3.42156172e-03 3.02406144e+01] [ 4.30231362e-02 -2.85421943e-04 9.99074035e-01 1.68117043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66509989299993 meters 0.012249623328456343 Centerline is valid? [True, True] Translation: X:455.54, Y:30.25, Z:16.81 [[ 9.95877232e-01 -8.01786699e-02 -4.24254529e-02 4.55544009e+02] [ 8.01070295e-02 9.96780508e-01 -3.38873193e-03 3.02472542e+01] [ 4.25605685e-02 -2.38160355e-05 9.99093888e-01 1.68146363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72509989299994 meters 0.0124233984766108 Centerline is valid? [True, True] Translation: X:455.60, Y:30.25, Z:16.82 [[ 9.96321149e-01 -7.42819310e-02 -4.27359559e-02 4.55601251e+02] [ 7.42033765e-02 9.97237252e-01 -3.42370501e-03 3.02528455e+01] [ 4.28722066e-02 2.39957491e-04 9.99080535e-01 1.68161386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78509989299994 meters 0.012359695481395408 Centerline is valid? [True, True] Translation: X:455.66, Y:30.26, Z:16.82 [[ 9.96324392e-01 -7.39482666e-02 -4.32360866e-02 4.55659375e+02] [ 7.38673225e-02 9.97262044e-01 -3.46895972e-03 3.02553060e+01] [ 4.33742316e-02 2.62475234e-04 9.99058861e-01 1.68181094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84509989299994 meters 0.012251655744248306 Centerline is valid? [True, True] Translation: X:455.72, Y:30.25, Z:16.82 [[ 9.95972254e-01 -7.85185662e-02 -4.32909305e-02 4.55717454e+02] [ 7.84412159e-02 9.96912649e-01 -3.48519278e-03 3.02528645e+01] [ 4.34309285e-02 7.53620807e-05 9.99056429e-01 1.68194912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90509989299994 meters 0.01261860477625247 Centerline is valid? [True, True] Translation: X:455.78, Y:30.25, Z:16.82 [[ 9.95175489e-01 -8.86170973e-02 -4.21041105e-02 4.55776620e+02] [ 8.85526976e-02 9.96065705e-01 -3.39580606e-03 3.02469108e+01] [ 4.22393870e-02 -3.49009609e-04 9.99107458e-01 1.68223775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96509989299994 meters 0.014324218479678049 Centerline is valid? [True, True] Translation: X:455.84, Y:30.24, Z:16.83 [[ 9.94079048e-01 -1.00601598e-01 -4.10629366e-02 4.55836316e+02] [ 1.00550164e-01 9.94926447e-01 -3.32120772e-03 3.02398065e+01] [ 4.11887204e-02 -8.27342008e-04 9.99151042e-01 1.68252311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02509989299995 meters 0.01681757277503696 Centerline is valid? [True, True] Translation: X:455.90, Y:30.24, Z:16.83 [[ 9.93191843e-01 -1.09178610e-01 -4.06201102e-02 4.55896632e+02] [ 1.09135355e-01 9.94021462e-01 -3.28745158e-03 3.02358206e+01] [ 4.07361807e-02 -1.16802007e-03 9.99169255e-01 1.68272857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08509989299995 meters 0.020316936118250632 Centerline is valid? [True, True] Translation: X:455.96, Y:30.23, Z:16.83 [[ 9.91758195e-01 -1.21429393e-01 -4.08727862e-02 4.55957869e+02] [ 1.21395941e-01 9.92598649e-01 -3.30861483e-03 3.02310006e+01] [ 4.09720354e-02 -1.68044447e-03 9.99158880e-01 1.68291129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14509989299995 meters 0.023176424790126993 Centerline is valid? [True, True] Translation: X:456.02, Y:30.23, Z:16.83 [[ 9.90798737e-01 -1.28967751e-01 -4.10509629e-02 4.56018436e+02] [ 1.28940438e-01 9.91646771e-01 -3.32343151e-03 3.02301538e+01] [ 4.11366703e-02 -2.00027740e-03 9.99151527e-01 1.68312661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20509989299995 meters 0.028412803897936982 Centerline is valid? [True, True] Translation: X:456.08, Y:30.23, Z:16.83 [[ 9.89686656e-01 -1.37273584e-01 -4.09424744e-02 4.56078436e+02] [ 1.37253490e-01 9.90530410e-01 -3.31469145e-03 3.02271389e+01] [ 4.10097855e-02 -2.33899160e-03 9.99156007e-01 1.68334477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26509989299996 meters 0.02853612543139927 Centerline is valid? [True, True] Translation: X:456.14, Y:30.23, Z:16.84 [[ 9.89380515e-01 -1.39422450e-01 -4.10801218e-02 4.56138023e+02] [ 1.39404038e-01 9.90229998e-01 -3.32651872e-03 3.02327058e+01] [ 4.11425603e-02 -2.43554206e-03 9.99150318e-01 1.68360132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32509989299996 meters 0.030419152516542286 Centerline is valid? [True, True] Translation: X:456.20, Y:30.24, Z:16.84 [[ 9.89244927e-01 -1.40405706e-01 -4.09964982e-02 4.56195284e+02] [ 1.40388140e-01 9.90090975e-01 -3.32142645e-03 3.02372759e+01] [ 4.10566101e-02 -2.46971787e-03 9.99153770e-01 1.68377010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38509989299996 meters 0.029133854882862745 Centerline is valid? [True, True] Translation: X:456.25, Y:30.25, Z:16.84 [[ 9.89312433e-01 -1.39843224e-01 -4.12890101e-02 4.56253440e+02] [ 1.39824738e-01 9.90170603e-01 -3.34948893e-03 3.02464471e+01] [ 4.13515673e-02 -2.45953399e-03 9.99141631e-01 1.68393277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.44509989299996 meters 0.02699598732381192 Centerline is valid? [True, True] Translation: X:456.31, Y:30.26, Z:16.84 [[ 9.89601153e-01 -1.37374400e-01 -4.26360356e-02 4.56312529e+02] [ 1.37351991e-01 9.90516229e-01 -3.46852020e-03 3.02590471e+01] [ 4.27081710e-02 -2.42369280e-03 9.99084650e-01 1.68403690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.50509989299997 meters 0.02380387642635903 Centerline is valid? [True, True] Translation: X:456.37, Y:30.27, Z:16.84 [[ 9.90138868e-01 -1.33317522e-01 -4.30285891e-02 4.56371127e+02] [ 1.33290845e-01 9.91070780e-01 -3.50124553e-03 3.02749766e+01] [ 4.31111548e-02 -2.26859773e-03 9.99067706e-01 1.68429879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.56509989299997 meters 0.02252420200701178 Centerline is valid? [True, True] Translation: X:456.43, Y:30.29, Z:16.85 [[ 9.90606597e-01 -1.29831269e-01 -4.29233252e-02 4.56429736e+02] [ 1.29801419e-01 9.91533855e-01 -3.49358210e-03 3.02867273e+01] [ 4.30135063e-02 -2.11074306e-03 9.99072261e-01 1.68458384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.62509989299997 meters 0.021344467076473233 Centerline is valid? [True, True] Translation: X:456.49, Y:30.30, Z:16.85 [[ 9.91404812e-01 -1.23585727e-01 -4.29309482e-02 4.56488312e+02] [ 1.23549957e-01 9.92332196e-01 -3.49570822e-03 3.03008471e+01] [ 4.30337817e-02 -1.83845487e-03 9.99071926e-01 1.68478794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.685099893 meters 0.018989145440949824 Centerline is valid? [True, True] Translation: X:456.55, Y:30.31, Z:16.85 [[ 9.92014368e-01 -1.18384515e-01 -4.35040236e-02 4.56547301e+02] [ 1.18342741e-01 9.92966484e-01 -3.54348208e-03 3.03141018e+01] [ 4.36175308e-02 -1.63320028e-03 9.99046968e-01 1.68497826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.745099893 meters 0.0169694146322022 Centerline is valid? [True, True] Translation: X:456.61, Y:30.33, Z:16.85 [[ 9.92904916e-01 -1.10324360e-01 -4.43662418e-02 4.56606992e+02] [ 1.10272794e-01 9.93894783e-01 -3.61549883e-03 3.03299842e+01] [ 4.44942538e-02 -1.30254290e-03 9.99008791e-01 1.68516135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.805099893 meters 0.015863487277331247 Centerline is valid? [True, True] Translation: X:456.67, Y:30.34, Z:16.85 [[ 9.93440698e-01 -1.05290251e-01 -4.46042995e-02 4.56665909e+02] [ 1.05233035e-01 9.94440944e-01 -3.63545379e-03 3.03414437e+01] [ 4.47391195e-02 -1.08223808e-03 9.98998118e-01 1.68536727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.865099893 meters 0.014234562670418416 Centerline is valid? [True, True] Translation: X:456.72, Y:30.36, Z:16.86 [[ 9.93984858e-01 -1.00163946e-01 -4.42864130e-02 4.56724965e+02] [ 1.00102393e-01 9.94970588e-01 -3.61099132e-03 3.03553003e+01] [ 4.44253695e-02 -8.43905209e-04 9.99012349e-01 1.68565513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9250998929999 meters 0.014094964287036263 Centerline is valid? [True, True] Translation: X:456.78, Y:30.36, Z:16.86 [[ 9.94160180e-01 -9.86282347e-02 -4.37950698e-02 4.56784336e+02] [ 9.85665159e-02 9.95124055e-01 -3.57171858e-03 3.03628417e+01] [ 4.39337998e-02 -7.65867062e-04 9.99034151e-01 1.68588136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9850998929999 meters 0.01397051750068947 Centerline is valid? [True, True] Translation: X:456.84, Y:30.37, Z:16.86 [[ 9.94181615e-01 -9.87634681e-02 -4.29964305e-02 4.56843425e+02] [ 9.87040691e-02 9.95110649e-01 -3.50745449e-03 3.03709125e+01] [ 4.31326143e-02 -7.56875878e-04 9.99069069e-01 1.68613037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04509989299993 meters 0.014763869334288134 Centerline is valid? [True, True] Translation: X:456.90, Y:30.37, Z:16.86 [[ 9.94184460e-01 -9.94607887e-02 -4.12893547e-02 4.56902404e+02] [ 9.94065571e-02 9.95041196e-01 -3.36958367e-03 3.03738612e+01] [ 4.14197503e-02 -7.54444870e-04 9.99141549e-01 1.68629531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10509989299993 meters 0.01438189059680367 Centerline is valid? [True, True] Translation: X:456.96, Y:30.38, Z:16.87 [[ 9.94091120e-01 -1.00597835e-01 -4.07789238e-02 4.56963576e+02] [ 1.00545870e-01 9.94926856e-01 -3.32845868e-03 3.03794150e+01] [ 4.09068822e-02 -7.91361153e-04 9.99162650e-01 1.68654412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16509989299993 meters 0.014744240850324893 Centerline is valid? [True, True] Translation: X:457.02, Y:30.38, Z:16.87 [[ 9.93923441e-01 -1.02146174e-01 -4.10164924e-02 4.57024506e+02] [ 1.02094981e-01 9.94769027e-01 -3.34633122e-03 3.03828519e+01] [ 4.11437512e-02 -8.61580988e-04 9.99152866e-01 1.68671863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22509989299994 meters 0.014841171692530648 Centerline is valid? [True, True] Translation: X:457.09, Y:30.39, Z:16.87 [[ 9.93864838e-01 -1.02563403e-01 -4.13936207e-02 4.57086079e+02] [ 1.02511690e-01 9.94726072e-01 -3.37556498e-03 3.03861035e+01] [ 4.15215232e-02 -8.88474657e-04 9.99137215e-01 1.68686618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28509989299994 meters 0.015101805063656243 Centerline is valid? [True, True] Translation: X:457.15, Y:30.39, Z:16.87 [[ 9.93874501e-01 -1.02214953e-01 -4.20187999e-02 4.57145150e+02] [ 1.02161409e-01 9.94761938e-01 -3.42524581e-03 3.03881321e+01] [ 4.21488142e-02 -8.88435345e-04 9.99110949e-01 1.68706760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34509989299994 meters 0.01494150574986096 Centerline is valid? [True, True] Translation: X:457.21, Y:30.39, Z:16.87 [[ 9.93998343e-01 -1.00961973e-01 -4.21185811e-02 4.57205656e+02] [ 1.00907023e-01 9.94889934e-01 -3.43405432e-03 3.03922667e+01] [ 4.22500613e-02 -8.36616327e-04 9.99106717e-01 1.68726604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40509989299994 meters 0.014529144704570255 Centerline is valid? [True, True] Translation: X:457.26, Y:30.40, Z:16.87 [[ 9.94318963e-01 -9.75461384e-02 -4.25975491e-02 4.57264294e+02] [ 9.74867853e-02 9.95230758e-01 -3.47339346e-03 3.03962487e+01] [ 4.27332072e-02 -6.99037143e-04 9.99086275e-01 1.68740388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46509989299994 meters 0.013082119739235813 Centerline is valid? [True, True] Translation: X:457.32, Y:30.40, Z:16.88 [[ 9.94821990e-01 -9.24135024e-02 -4.22960181e-02 4.57323582e+02] [ 9.23502573e-02 9.95720604e-01 -3.45095504e-03 3.04031233e+01] [ 4.24339315e-02 -4.72962195e-04 9.99099163e-01 1.68772100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52509989299995 meters 0.012751153759471 Centerline is valid? [True, True] Translation: X:457.38, Y:30.41, Z:16.88 [[ 9.95120587e-01 -8.91422258e-02 -4.22928035e-02 4.57382353e+02] [ 8.90759224e-02 9.96018852e-01 -3.45338290e-03 3.04074359e+01] [ 4.24322718e-02 -3.30738056e-04 9.99099291e-01 1.68796006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58509989299995 meters 0.012458144743841824 Centerline is valid? [True, True] Translation: X:457.44, Y:30.41, Z:16.88 [[ 9.95525613e-01 -8.42853925e-02 -4.27168125e-02 4.57440733e+02] [ 8.42128052e-02 9.96441649e-01 -3.49911268e-03 3.04103187e+01] [ 4.28597352e-02 -1.13846314e-04 9.99081093e-01 1.68819186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64509989299995 meters 0.012498172274485056 Centerline is valid? [True, True] Translation: X:457.50, Y:30.41, Z:16.88 [[ 9.95772677e-01 -8.13574475e-02 -4.26349815e-02 4.57498618e+02] [ 8.12819728e-02 9.96684988e-01 -3.50366924e-03 3.04115230e+01] [ 4.27786956e-02 2.34026923e-05 9.99084572e-01 1.68834788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70509989299995 meters 0.012564372569831367 Centerline is valid? [True, True] Translation: X:457.56, Y:30.41, Z:16.89 [[ 9.95844383e-01 -8.06026303e-02 -4.23931647e-02 4.57556743e+02] [ 8.05267961e-02 9.96746312e-01 -3.49624684e-03 3.04128693e+01] [ 4.25370373e-02 6.79320454e-05 9.99094888e-01 1.68858060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76509989299996 meters 0.012730753727532225 Centerline is valid? [True, True] Translation: X:457.62, Y:30.41, Z:16.89 [[ 9.95821763e-01 -8.04674780e-02 -4.31740721e-02 4.57615110e+02] [ 8.03881907e-02 9.96757231e-01 -3.57229886e-03 3.04122154e+01] [ 4.33215225e-02 8.66874071e-05 9.99061178e-01 1.68869515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82509989299996 meters 0.01270964384470383 Centerline is valid? [True, True] Translation: X:457.67, Y:30.41, Z:16.89 [[ 9.95705647e-01 -8.19322779e-02 -4.30971643e-02 4.57672944e+02] [ 8.18544243e-02 9.96637899e-01 -3.57101774e-03 3.04128486e+01] [ 4.32448489e-02 2.79889638e-05 9.99064504e-01 1.68897824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88509989299996 meters 0.012839927451093606 Centerline is valid? [True, True] Translation: X:457.73, Y:30.41, Z:16.89 [[ 9.95352256e-01 -8.66097912e-02 -4.21026255e-02 4.57731231e+02] [ 8.65391586e-02 9.96242299e-01 -3.50075158e-03 3.04093078e+01] [ 4.22476157e-02 -1.59044799e-04 9.99107158e-01 1.68930587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.94509989299996 meters 0.01364073425336111 Centerline is valid? [True, True] Translation: X:457.79, Y:30.40, Z:16.90 [[ 9.94660929e-01 -9.46660550e-02 -4.10849764e-02 4.57790526e+02] [ 9.46051820e-02 9.95508970e-01 -3.42774517e-03 3.04036191e+01] [ 4.12249537e-02 -4.77407477e-04 9.99149776e-01 1.68958725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.00509989299997 meters 0.015275286714582427 Centerline is valid? [True, True] Translation: X:457.85, Y:30.40, Z:16.90 [[ 9.94031382e-01 -1.00993361e-01 -4.12547337e-02 4.57849457e+02] [ 1.00937026e-01 9.94886829e-01 -3.45158340e-03 3.03990914e+01] [ 4.13923783e-02 -7.33147897e-04 9.99142699e-01 1.68977107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.06509989299997 meters 0.016048958705647466 Centerline is valid? [True, True] Translation: X:457.91, Y:30.40, Z:16.90 [[ 9.93224515e-01 -1.08257875e-01 -4.22527587e-02 4.57909669e+02] [ 1.08205248e-01 9.94122282e-01 -3.53730460e-03 3.03968370e+01] [ 4.23873500e-02 -1.05863259e-03 9.99100692e-01 1.68998376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.12509989299997 meters 0.016644214491937308 Centerline is valid? [True, True] Translation: X:457.97, Y:30.40, Z:16.90 [[ 9.92883091e-01 -1.10781462e-01 -4.37108249e-02 4.57968465e+02] [ 1.10727447e-01 9.93844062e-01 -3.66244921e-03 3.03976173e+01] [ 4.38474753e-02 -1.20360414e-03 9.99037512e-01 1.69018704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.185099893 meters 0.01697212943317812 Centerline is valid? [True, True] Translation: X:458.03, Y:30.40, Z:16.90 [[ 9.92851978e-01 -1.10771466e-01 -4.44368421e-02 4.58026810e+02] [ 1.10715106e-01 9.93845166e-01 -3.73504580e-03 3.03982259e+01] [ 4.45770772e-02 -1.21148210e-03 9.99005213e-01 1.69044939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.245099893 meters 0.016313544277360797 Centerline is valid? [True, True] Translation: X:458.09, Y:30.40, Z:16.91 [[ 9.92885013e-01 -1.10533849e-01 -4.42901630e-02 4.58085305e+02] [ 1.10477069e-01 9.93871654e-01 -3.73522066e-03 3.04035220e+01] [ 4.44316059e-02 -1.18440276e-03 9.99011726e-01 1.69076255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.305099893 meters 0.016914997081004524 Centerline is valid? [True, True] Translation: X:458.14, Y:30.41, Z:16.91 [[ 9.93076418e-01 -1.08452637e-01 -4.51359534e-02 4.58143333e+02] [ 1.08391046e-01 9.94101007e-01 -3.81699779e-03 3.04053699e+01] [ 4.52836602e-02 -1.10176270e-03 9.98973561e-01 1.69095641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.365099893 meters 0.01573133374795727 Centerline is valid? [True, True] Translation: X:458.20, Y:30.41, Z:16.91 [[ 9.93145258e-01 -1.07592973e-01 -4.56754703e-02 4.58201409e+02] [ 1.07528738e-01 9.94194452e-01 -3.86816566e-03 3.04111917e+01] [ 4.58264866e-02 -1.06977531e-03 9.98948842e-01 1.69119292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4250998929999 meters 0.01597127339729744 Centerline is valid? [True, True] Translation: X:458.26, Y:30.41, Z:16.91 [[ 9.93141529e-01 -1.07253123e-01 -4.65475052e-02 4.58258451e+02] [ 1.07185536e-01 9.94231179e-01 -3.95278241e-03 3.04130224e+01] [ 4.67029292e-02 -1.06354692e-03 9.98908257e-01 1.69133879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4850998929999 meters 0.015218396263804229 Centerline is valid? [True, True] Translation: X:458.32, Y:30.42, Z:16.92 [[ 9.93042464e-01 -1.08038061e-01 -4.68448640e-02 4.58316432e+02] [ 1.07970142e-01 9.94146149e-01 -3.98520034e-03 3.04185776e+01] [ 4.70011945e-02 -1.10037347e-03 9.98894227e-01 1.69164544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54509989299993 meters 0.015669846129179363 Centerline is valid? [True, True] Translation: X:458.38, Y:30.42, Z:16.92 [[ 9.92855335e-01 -1.09759568e-01 -4.68094075e-02 4.58375084e+02] [ 1.09693093e-01 9.93957479e-01 -3.99430074e-03 3.04206686e+01] [ 4.69649734e-02 -1.16890590e-03 9.98895853e-01 1.69195837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60509989299993 meters 0.016062796008964285 Centerline is valid? [True, True] Translation: X:458.43, Y:30.42, Z:16.92 [[ 9.92672942e-01 -1.11866424e-01 -4.56764003e-02 4.58434143e+02] [ 1.11804827e-01 9.93722496e-01 -3.90913210e-03 3.04231398e+01] [ 4.58269671e-02 -1.22635238e-03 9.98948640e-01 1.69221608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66509989299993 meters 0.017754858557241036 Centerline is valid? [True, True] Translation: X:458.49, Y:30.42, Z:16.92 [[ 9.92322157e-01 -1.15262354e-01 -4.48478199e-02 4.58492949e+02] [ 1.15205987e-01 9.93334169e-01 -3.84816283e-03 3.04225196e+01] [ 4.49924202e-02 -1.34812011e-03 9.98986419e-01 1.69245450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72509989299994 meters 0.017715746584970177 Centerline is valid? [True, True] Translation: X:458.55, Y:30.43, Z:16.93 [[ 9.92084045e-01 -1.17186635e-01 -4.51280388e-02 4.58551424e+02] [ 1.17131336e-01 9.93108866e-01 -3.87689450e-03 3.04265900e+01] [ 4.52713757e-02 -1.43970231e-03 9.98973688e-01 1.69268788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78509989299994 meters 0.01650080187361639 Centerline is valid? [True, True] Translation: X:458.61, Y:30.43, Z:16.93 [[ 9.92333948e-01 -1.14833540e-01 -4.56792416e-02 4.58610002e+02] [ 1.14773851e-01 9.93383849e-01 -3.93602907e-03 3.04326214e+01] [ 4.58290090e-02 -1.33692722e-03 9.98948404e-01 1.69287154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84509989299994 meters 0.015033432986617017 Centerline is valid? [True, True] Translation: X:458.67, Y:30.44, Z:16.93 [[ 9.92903881e-01 -1.10008983e-01 -4.51653161e-02 4.58669657e+02] [ 1.09945205e-01 9.93929993e-01 -3.90139402e-03 3.04405142e+01] [ 4.53203508e-02 -1.09200065e-03 9.98971908e-01 1.69321828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90509989299994 meters 0.013755681081856841 Centerline is valid? [True, True] Translation: X:458.73, Y:30.45, Z:16.94 [[ 9.93962310e-01 -1.01146602e-01 -4.25240163e-02 4.58727452e+02] [ 1.01081914e-01 9.94871322e-01 -3.67418662e-03 3.04498503e+01] [ 4.26775558e-02 -6.46405936e-04 9.99088689e-01 1.69373337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96509989299994 meters 0.013148987104904237 Centerline is valid? [True, True] Translation: X:458.79, Y:30.46, Z:16.94 [[ 9.94315676e-01 -9.69108231e-02 -4.40979429e-02 4.58786069e+02] [ 9.68369193e-02 9.95292954e-01 -3.81406817e-03 3.04570996e+01] [ 4.42599963e-02 -4.77921158e-04 9.99019932e-01 1.69384499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02509989299995 meters 0.01298778565730265 Centerline is valid? [True, True] Translation: X:458.84, Y:30.46, Z:16.94 [[ 9.94517435e-01 -9.41876817e-02 -4.54285463e-02 4.58844618e+02] [ 9.41058684e-02 9.95554395e-01 -3.94099377e-03 3.04620211e+01] [ 4.55977820e-02 -3.55705785e-04 9.98959817e-01 1.69388726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08509989299995 meters 0.013318146356282213 Centerline is valid? [True, True] Translation: X:458.90, Y:30.46, Z:16.94 [[ 9.94242631e-01 -9.70778320e-02 -4.53595192e-02 4.58903137e+02] [ 9.69987538e-02 9.95276679e-01 -3.94638365e-03 3.04627527e+01] [ 4.55283780e-02 -4.76153980e-04 9.98962932e-01 1.69414226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14509989299995 meters 0.014369581357959396 Centerline is valid? [True, True] Translation: X:458.96, Y:30.46, Z:16.94 [[ 9.93765923e-01 -1.02111885e-01 -4.47487735e-02 4.58960850e+02] [ 1.02039581e-01 9.94772683e-01 -3.90302708e-03 3.04620731e+01] [ 4.49134029e-02 -6.87450777e-04 9.98990647e-01 1.69436569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20509989299995 meters 0.016460876509173855 Centerline is valid? [True, True] Translation: X:459.02, Y:30.46, Z:16.95 [[ 9.92632487e-01 -1.12750121e-01 -4.43638933e-02 4.59021446e+02] [ 1.12689509e-01 9.93622703e-01 -3.87280718e-03 3.04591227e+01] [ 4.45176310e-02 -1.15507111e-03 9.99007931e-01 1.69475543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26509989299996 meters 0.019298482394584416 Centerline is valid? [True, True] Translation: X:459.08, Y:30.46, Z:16.95 [[ 9.91801197e-01 -1.20292832e-01 -4.31279484e-02 4.59080573e+02] [ 1.20242627e-01 9.92737392e-01 -3.76577668e-03 3.04568764e+01] [ 4.32677230e-02 -1.45091601e-03 9.99062460e-01 1.69505446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32509989299996 meters 0.021634186372714144 Centerline is valid? [True, True] Translation: X:459.14, Y:30.45, Z:16.95 [[ 9.90724272e-01 -1.29245736e-01 -4.19637472e-02 4.59141511e+02] [ 1.29206158e-01 9.91610979e-01 -3.66540460e-03 3.04547691e+01] [ 4.20854504e-02 -1.79056925e-03 9.99112410e-01 1.69527751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38509989299996 meters 0.024324470264747447 Centerline is valid? [True, True] Translation: X:459.20, Y:30.46, Z:16.95 [[ 9.89989925e-01 -1.34562816e-01 -4.25769462e-02 4.59202219e+02] [ 1.34526972e-01 9.90902953e-01 -3.71900717e-03 3.04556965e+01] [ 4.26900618e-02 -2.04596803e-03 9.99086269e-01 1.69542714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.44509989299996 meters 0.024467147825648215 Centerline is valid? [True, True] Translation: X:459.26, Y:30.46, Z:16.96 [[ 9.89269270e-01 -1.39725527e-01 -4.26976429e-02 4.59261932e+02] [ 1.39694250e-01 9.90187661e-01 -3.73005715e-03 3.04613420e+01] [ 4.27998633e-02 -2.27458428e-03 9.99081077e-01 1.69568689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.50509989299997 meters 0.031284169667636974 Centerline is valid? [True, True] Translation: X:459.32, Y:30.46, Z:16.96 [[ 9.88280543e-01 -1.46772810e-01 -4.19441400e-02 4.59321802e+02] [ 1.46748929e-01 9.89166984e-01 -3.66457139e-03 3.04581462e+01] [ 4.20276179e-02 -2.53363301e-03 9.99113237e-01 1.69591970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.56509989299997 meters 0.02792312408429276 Centerline is valid? [True, True] Translation: X:459.38, Y:30.47, Z:16.96 [[ 9.87739523e-01 -1.50522987e-01 -4.13940250e-02 4.59380648e+02] [ 1.50502975e-01 9.88602939e-01 -3.61720213e-03 3.04700693e+01] [ 4.14667268e-02 -2.65707040e-03 9.99136352e-01 1.69617149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.62509989299997 meters 0.028589832998446946 Centerline is valid? [True, True] Translation: X:459.44, Y:30.48, Z:16.96 [[ 9.87304488e-01 -1.53233002e-01 -4.18269695e-02 4.59439938e+02] [ 1.53214957e-01 9.88186122e-01 -3.65582342e-03 3.04802014e+01] [ 4.18930236e-02 -2.79910646e-03 9.99118181e-01 1.69636087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.685099893 meters 0.02884027500280632 Centerline is valid? [True, True] Translation: X:459.50, Y:30.49, Z:16.97 [[ 9.87300830e-01 -1.53279221e-01 -4.17438877e-02 4.59497765e+02] [ 1.53261208e-01 9.88178970e-01 -3.65046148e-03 3.04914161e+01] [ 4.18099718e-02 -2.79361502e-03 9.99121675e-01 1.69652406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.745099893 meters 0.02980494596237881 Centerline is valid? [True, True] Translation: X:459.56, Y:30.50, Z:16.97 [[ 9.87552708e-01 -1.51426916e-01 -4.25386699e-02 4.59556257e+02] [ 1.51406070e-01 9.88464612e-01 -3.73010909e-03 3.05003772e+01] [ 4.26128087e-02 -2.75693348e-03 9.99087858e-01 1.69666573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.805099893 meters 0.026916827215309868 Centerline is valid? [True, True] Translation: X:459.61, Y:30.52, Z:16.97 [[ 9.88344421e-01 -1.46360437e-01 -4.18799209e-02 4.59614701e+02] [ 1.46335640e-01 9.89228176e-01 -3.67370918e-03 3.05201474e+01] [ 4.19664835e-02 -2.49763507e-03 9.99115897e-01 1.69699643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.865099893 meters 0.02535136931063746 Centerline is valid? [True, True] Translation: X:459.67, Y:30.54, Z:16.97 [[ 9.89477505e-01 -1.38984930e-01 -4.02176026e-02 4.59672144e+02] [ 1.38955972e-01 9.90292275e-01 -3.52815728e-03 3.05366538e+01] [ 4.03175418e-02 -2.09744377e-03 9.99184716e-01 1.69732104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9250998929999 meters 0.021859124350343387 Centerline is valid? [True, True] Translation: X:459.73, Y:30.56, Z:16.97 [[ 9.90824020e-01 -1.29115404e-01 -3.99621601e-02 4.59730761e+02] [ 1.29078724e-01 9.91628146e-01 -3.50754606e-03 3.05590053e+01] [ 4.00804810e-02 -1.68290374e-03 9.99195037e-01 1.69745694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9850998929999 meters 0.019157022660344452 Centerline is valid? [True, True] Translation: X:459.79, Y:30.57, Z:16.98 [[ 9.91308049e-01 -1.25473360e-01 -3.95574105e-02 4.59789996e+02] [ 1.25434533e-01 9.92095824e-01 -3.47177713e-03 3.05740590e+01] [ 3.96803573e-02 -1.52026471e-03 9.99211268e-01 1.69763902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04509989299993 meters 0.018815516084868703 Centerline is valid? [True, True] Translation: X:459.85, Y:30.58, Z:16.98 [[ 9.91526078e-01 -1.23920617e-01 -3.89835503e-02 4.59849947e+02] [ 1.23881710e-01 9.92291094e-01 -3.42141198e-03 3.05821206e+01] [ 3.91070132e-02 -1.43692965e-03 9.99233995e-01 1.69787130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10509989299993 meters 0.017808329722903707 Centerline is valid? [True, True] Translation: X:459.91, Y:30.59, Z:16.98 [[ 9.92093731e-01 -1.19970560e-01 -3.68387573e-02 4.59910172e+02] [ 1.19933095e-01 9.92776712e-01 -3.23317902e-03 3.05948530e+01] [ 3.69605466e-02 -1.21056953e-03 9.99315992e-01 1.69809121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16509989299993 meters 0.019034795766210328 Centerline is valid? [True, True] Translation: X:459.97, Y:30.60, Z:16.98 [[ 9.92269633e-01 -1.18533686e-01 -3.67524193e-02 4.59969993e+02] [ 1.18495436e-01 9.92949360e-01 -3.22492840e-03 3.06001758e+01] [ 3.68755538e-02 -1.15499544e-03 9.99319198e-01 1.69829750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22509989299994 meters 0.01647269404673564 Centerline is valid? [True, True] Translation: X:460.03, Y:30.61, Z:16.98 [[ 9.92654254e-01 -1.15286988e-01 -3.66938935e-02 4.60029960e+02] [ 1.15246669e-01 9.93331688e-01 -3.21914055e-03 3.06145575e+01] [ 3.68203322e-02 -1.03335542e-03 9.99321367e-01 1.69845831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28509989299994 meters 0.016097716009472254 Centerline is valid? [True, True] Translation: X:460.09, Y:30.63, Z:16.99 [[ 9.93328357e-01 -1.09504625e-01 -3.61595486e-02 4.60089442e+02] [ 1.09461689e-01 9.93985958e-01 -3.17092386e-03 3.06258524e+01] [ 3.62893144e-02 -8.08316697e-04 9.99340999e-01 1.69861101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34509989299994 meters 0.0145288539250072 Centerline is valid? [True, True] Translation: X:460.15, Y:30.64, Z:16.99 [[ 9.93965681e-01 -1.03987503e-01 -3.49116603e-02 4.60149660e+02] [ 1.03944097e-01 9.94578431e-01 -3.06091609e-03 3.06378672e+01] [ 3.50406814e-02 -5.86415479e-04 9.99385715e-01 1.69877662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40509989299994 meters 0.013713633504473645 Centerline is valid? [True, True] Translation: X:460.21, Y:30.65, Z:16.99 [[ 9.94278158e-01 -1.01180890e-01 -3.42545257e-02 4.60209924e+02] [ 1.01137480e-01 9.94867930e-01 -3.00209437e-03 3.06475270e+01] [ 3.43824836e-02 -4.79499558e-04 9.99408633e-01 1.69897592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46509989299994 meters 0.013736734927688392 Centerline is valid? [True, True] Translation: X:460.27, Y:30.65, Z:16.99 [[ 9.94447932e-01 -9.99693452e-02 -3.28548351e-02 4.60271077e+02] [ 9.99287856e-02 9.94990429e-01 -2.87834083e-03 3.06545200e+01] [ 3.29779923e-02 -4.20783686e-04 9.99455990e-01 1.69919685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52509989299995 meters 0.013622305203300409 Centerline is valid? [True, True] Translation: X:460.33, Y:30.66, Z:16.99 [[ 9.94362986e-01 -1.00832307e-01 -3.27886920e-02 4.60332553e+02] [ 1.00792439e-01 9.94903334e-01 -2.87075581e-03 3.06595328e+01] [ 3.29110439e-02 -4.50278917e-04 9.99458183e-01 1.69932778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58509989299995 meters 0.014399603739002778 Centerline is valid? [True, True] Translation: X:460.39, Y:30.66, Z:16.99 [[ 9.93990160e-01 -1.04372982e-01 -3.30127763e-02 4.60393741e+02] [ 1.04334580e-01 9.94538060e-01 -2.88849346e-03 3.06614022e+01] [ 3.31339431e-02 -5.73240066e-04 9.99450756e-01 1.69942030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64509989299995 meters 0.01526273547910922 Centerline is valid? [True, True] Translation: X:460.46, Y:30.66, Z:17.00 [[ 9.93645614e-01 -1.07839225e-01 -3.22349920e-02 4.60455569e+02] [ 1.07804490e-01 9.94168118e-01 -2.81869828e-03 3.06634409e+01] [ 3.23509676e-02 -6.74289700e-04 9.99476343e-01 1.69955303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70509989299995 meters 0.01746576548874819 Centerline is valid? [True, True] Translation: X:460.52, Y:30.66, Z:17.00 [[ 9.92825906e-01 -1.15207011e-01 -3.20010180e-02 4.60517038e+02] [ 1.15176662e-01 9.93341088e-01 -2.79630490e-03 3.06617145e+01] [ 3.21100799e-02 -9.09526476e-04 9.99483925e-01 1.69966028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76509989299996 meters 0.019360352872601478 Centerline is valid? [True, True] Translation: X:460.58, Y:30.66, Z:17.00 [[ 9.92199375e-01 -1.20557547e-01 -3.17218804e-02 4.60578175e+02] [ 1.20530471e-01 9.92705760e-01 -2.77134651e-03 3.06619829e+01] [ 3.18246001e-02 -1.07372492e-03 9.99492892e-01 1.69979909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82509989299996 meters 0.02364504308957399 Centerline is valid? [True, True] Translation: X:460.64, Y:30.66, Z:17.00 [[ 9.91304562e-01 -1.27704620e-01 -3.17300486e-02 4.60637969e+02] [ 1.27681207e-01 9.91811388e-01 -2.77130908e-03 3.06589855e+01] [ 3.18241325e-02 -1.30411957e-03 9.99492633e-01 1.69998940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88509989299996 meters 0.0244315818999118 Centerline is valid? [True, True] Translation: X:460.70, Y:30.66, Z:17.00 [[ 9.90328875e-01 -1.34986032e-01 -3.20544824e-02 4.60697988e+02] [ 1.34965920e-01 9.90846284e-01 -2.80023754e-03 3.06628235e+01] [ 3.21390577e-02 -1.55310662e-03 9.99482200e-01 1.70016363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.94509989299996 meters 0.02558804620804704 Centerline is valid? [True, True] Translation: X:460.76, Y:30.67, Z:17.00 [[ 9.89732927e-01 -1.39083311e-01 -3.29327391e-02 4.60758766e+02] [ 1.39064349e-01 9.90279168e-01 -2.87677675e-03 3.06666146e+01] [ 3.30127171e-02 -1.73252925e-03 9.99453430e-01 1.70035708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.00509989299997 meters 0.02789143040425483 Centerline is valid? [True, True] Translation: X:460.82, Y:30.67, Z:17.01 [[ 9.89309523e-01 -1.41874134e-01 -3.37401392e-02 4.60819046e+02] [ 1.41855870e-01 9.89882937e-01 -2.94667149e-03 3.06703474e+01] [ 3.38168445e-02 -1.87106663e-03 9.99426296e-01 1.70058225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.06509989299997 meters 0.027225141307094993 Centerline is valid? [True, True] Translation: X:460.88, Y:30.68, Z:17.01 [[ 9.89306568e-01 -1.41800060e-01 -3.41358743e-02 4.60880543e+02] [ 1.41781337e-01 9.89893513e-01 -2.98077634e-03 3.06783132e+01] [ 3.42135548e-02 -1.89092830e-03 9.99412756e-01 1.70086482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.12509989299997 meters 0.02556968390216085 Centerline is valid? [True, True] Translation: X:460.94, Y:30.69, Z:17.01 [[ 9.89675109e-01 -1.39004655e-01 -3.49411502e-02 4.60941590e+02] [ 1.38983395e-01 9.90290020e-01 -3.04844726e-03 3.06896354e+01] [ 3.50256206e-02 -1.83926730e-03 9.99384722e-01 1.70104277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.185099893 meters 0.02360675477316608 Centerline is valid? [True, True] Translation: X:461.00, Y:30.70, Z:17.01 [[ 9.89982770e-01 -1.36645294e-01 -3.55271645e-02 4.61002031e+02] [ 1.36621872e-01 9.90618428e-01 -3.09755488e-03 3.07006674e+01] [ 3.56171301e-02 -1.78726177e-03 9.99363911e-01 1.70122846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.245099893 meters 0.022801324448232255 Centerline is valid? [True, True] Translation: X:461.06, Y:30.71, Z:17.01 [[ 9.90358609e-01 -1.33580806e-01 -3.66877913e-02 4.61062501e+02] [ 1.33553784e-01 9.91036409e-01 -3.19732990e-03 3.07128785e+01] [ 3.67860388e-02 -1.73329015e-03 9.99321661e-01 1.70145906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.305099893 meters 0.021749853252579086 Centerline is valid? [True, True] Translation: X:461.12, Y:30.72, Z:17.02 [[ 9.90686887e-01 -1.30874166e-01 -3.75691914e-02 4.61122961e+02] [ 1.30843942e-01 9.91397575e-01 -3.27270867e-03 3.07234029e+01] [ 3.76743183e-02 -1.67347155e-03 9.99288670e-01 1.70166222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.365099893 meters 0.021788458603699705 Centerline is valid? [True, True] Translation: X:461.18, Y:30.73, Z:17.02 [[ 9.91412874e-01 -1.25226881e-01 -3.76661762e-02 4.61181918e+02] [ 1.25192484e-01 9.92127051e-01 -3.27976268e-03 3.07336894e+01] [ 3.77803468e-02 -1.46392322e-03 9.99284996e-01 1.70189977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4250998929999 meters 0.01819128251906881 Centerline is valid? [True, True] Translation: X:461.24, Y:30.75, Z:17.02 [[ 9.92470363e-01 -1.16790576e-01 -3.69126050e-02 4.61241339e+02] [ 1.16751709e-01 9.93155933e-01 -3.21414630e-03 3.07507548e+01] [ 3.70353547e-02 -1.11966479e-03 9.99313329e-01 1.70225571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4850998929999 meters 0.016840947654384323 Centerline is valid? [True, True] Translation: X:461.30, Y:30.76, Z:17.02 [[ 9.93096472e-01 -1.11111741e-01 -3.75975799e-02 4.61302082e+02] [ 1.11067354e-01 9.93807489e-01 -3.27370094e-03 3.07626777e+01] [ 3.77285031e-02 -9.24762852e-04 9.99287599e-01 1.70245227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54509989299993 meters 0.015469091553073579 Centerline is valid? [True, True] Translation: X:461.36, Y:30.78, Z:17.03 [[ 9.93756053e-01 -1.04400307e-01 -3.93634825e-02 4.61362583e+02] [ 1.04346475e-01 9.94535108e-01 -3.42524997e-03 3.07752564e+01] [ 3.95059624e-02 -7.03577740e-04 9.99219087e-01 1.70254202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60509989299993 meters 0.015010083780343238 Centerline is valid? [True, True] Translation: X:461.42, Y:30.78, Z:17.03 [[ 9.93992360e-01 -1.01877263e-01 -4.00026390e-02 4.61423398e+02] [ 1.01819684e-01 9.94796786e-01 -3.47939880e-03 3.07833580e+01] [ 4.01489683e-02 -6.14560245e-04 9.99193516e-01 1.70271296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66509989299993 meters 0.0150730962290216 Centerline is valid? [True, True] Translation: X:461.48, Y:30.79, Z:17.03 [[ 9.94105050e-01 -1.00847873e-01 -3.98102484e-02 4.61483695e+02] [ 1.00790077e-01 9.94901694e-01 -3.46129623e-03 3.07905976e+01] [ 3.99563479e-02 -5.71585938e-04 9.99201263e-01 1.70299651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72509989299994 meters 0.014588240080667884 Centerline is valid? [True, True] Translation: X:461.55, Y:30.80, Z:17.03 [[ 9.94065389e-01 -1.01456784e-01 -3.92495061e-02 4.61545734e+02] [ 1.01401111e-01 9.94839773e-01 -3.41174244e-03 3.07981442e+01] [ 3.93931142e-02 -5.88448449e-04 9.99223617e-01 1.70327606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78509989299994 meters 0.016071946380702213 Centerline is valid? [True, True] Translation: X:461.61, Y:30.80, Z:17.03 [[ 9.93796059e-01 -1.04210741e-01 -3.88524841e-02 4.61607019e+02] [ 1.04158402e-01 9.94554996e-01 -3.37439396e-03 3.07989009e+01] [ 3.89925803e-02 -6.93353240e-04 9.99239260e-01 1.70343851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84509989299994 meters 0.015644561116514084 Centerline is valid? [True, True] Translation: X:461.67, Y:30.80, Z:17.04 [[ 9.93501180e-01 -1.07260993e-01 -3.80852402e-02 4.61669053e+02] [ 1.07213019e-01 9.94230577e-01 -3.30568246e-03 3.08045979e+01] [ 3.82200811e-02 -7.99034162e-04 9.99269026e-01 1.70372656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90509989299994 meters 0.017798623122425205 Centerline is valid? [True, True] Translation: X:461.73, Y:30.80, Z:17.04 [[ 9.92715529e-01 -1.14363803e-01 -3.79051281e-02 4.61729513e+02] [ 1.14321555e-01 9.93438360e-01 -3.28731829e-03 3.08038368e+01] [ 3.80323585e-02 -1.07000126e-03 9.99275935e-01 1.70393640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96509989299994 meters 0.019469391744985853 Centerline is valid? [True, True] Translation: X:461.79, Y:30.80, Z:17.04 [[ 9.91970729e-01 -1.20573340e-01 -3.81594261e-02 4.61790278e+02] [ 1.20535108e-01 9.92703549e-01 -3.30935422e-03 3.08040903e+01] [ 3.82800176e-02 -1.31676803e-03 9.99266184e-01 1.70406357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02509989299995 meters 0.02240297428030047 Centerline is valid? [True, True] Translation: X:461.85, Y:30.80, Z:17.04 [[ 9.91196334e-01 -1.26787736e-01 -3.81405022e-02 4.61850298e+02] [ 1.26754159e-01 9.91928650e-01 -3.30700522e-03 3.08022925e+01] [ 3.82519446e-02 -1.55657582e-03 9.99266914e-01 1.70421741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08509989299995 meters 0.024763963520452726 Centerline is valid? [True, True] Translation: X:461.91, Y:30.80, Z:17.04 [[ 9.90374530e-01 -1.32822848e-01 -3.89407375e-02 4.61911077e+02] [ 1.32792549e-01 9.91138107e-01 -3.37507280e-03 3.08018883e+01] [ 3.90439356e-02 -1.82845364e-03 9.99235822e-01 1.70432617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14509989299995 meters 0.02533036433834316 Centerline is valid? [True, True] Translation: X:461.97, Y:30.80, Z:17.04 [[ 9.89428763e-01 -1.39585035e-01 -3.93286196e-02 4.61971946e+02] [ 1.39559457e-01 9.90207827e-01 -3.40854734e-03 3.08045776e+01] [ 3.94192892e-02 -2.11616602e-03 9.99220517e-01 1.70443341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20509989299995 meters 0.027117563946069387 Centerline is valid? [True, True] Translation: X:462.03, Y:30.81, Z:17.05 [[ 9.89097034e-01 -1.42033588e-01 -3.89039592e-02 4.62033540e+02] [ 1.42010453e-01 9.89859416e-01 -3.37156915e-03 3.08072714e+01] [ 3.89883264e-02 -2.18995981e-03 9.99237266e-01 1.70466259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26509989299996 meters 0.029736285719649827 Centerline is valid? [True, True] Translation: X:462.09, Y:30.81, Z:17.05 [[ 9.88895800e-01 -1.43619467e-01 -3.81909132e-02 4.62094729e+02] [ 1.43598401e-01 9.89630514e-01 -3.30838843e-03 3.08099944e+01] [ 3.82700420e-02 -2.21250267e-03 9.99264984e-01 1.70495178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32509989299996 meters 0.03039272065724191 Centerline is valid? [True, True] Translation: X:462.16, Y:30.82, Z:17.05 [[ 9.88716326e-01 -1.44508507e-01 -3.94628792e-02 4.62156704e+02] [ 1.44486811e-01 9.89500829e-01 -3.41633610e-03 3.08161072e+01] [ 3.95422413e-02 -2.32407831e-03 9.99215197e-01 1.70507492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38509989299996 meters 0.030861810604132747 Centerline is valid? [True, True] Translation: X:462.22, Y:30.82, Z:17.05 [[ 9.88565131e-01 -1.45077645e-01 -4.11273411e-02 4.62218269e+02] [ 1.45054696e-01 9.89417242e-01 -3.55746429e-03 3.08213614e+01] [ 4.12082089e-02 -2.44892880e-03 9.99147580e-01 1.70510019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.44509989299996 meters 0.030625667089047667 Centerline is valid? [True, True] Translation: X:462.28, Y:30.83, Z:17.05 [[ 9.88465516e-01 -1.45184111e-01 -4.30986868e-02 4.62279631e+02] [ 1.45159133e-01 9.89401308e-01 -3.72522847e-03 3.08287864e+01] [ 4.31827411e-02 -2.57390810e-03 9.99063875e-01 1.70516471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.50509989299997 meters 0.031248144421063596 Centerline is valid? [True, True] Translation: X:462.34, Y:30.84, Z:17.05 [[ 9.88695965e-01 -1.43503233e-01 -4.34408912e-02 4.62340221e+02] [ 1.43476437e-01 9.89646627e-01 -3.75029133e-03 3.08357016e+01] [ 4.35293104e-02 -2.52484640e-03 9.99048960e-01 1.70536157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.56509989299997 meters 0.028943119304163864 Centerline is valid? [True, True] Translation: X:462.40, Y:30.85, Z:17.06 [[ 9.89202512e-01 -1.39999064e-01 -4.33434290e-02 4.62399667e+02] [ 1.39969092e-01 9.90148808e-01 -3.74057449e-03 3.08483060e+01] [ 4.34401215e-02 -2.36655470e-03 9.99053229e-01 1.70569577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.62509989299997 meters 0.027203705493853533 Centerline is valid? [True, True] Translation: X:462.46, Y:30.86, Z:17.06 [[ 9.90455624e-01 -1.31200930e-01 -4.22371035e-02 4.62458483e+02] [ 1.31164481e-01 9.91353919e-01 -3.64510620e-03 3.08630908e+01] [ 4.23501594e-02 -1.92969181e-03 9.99100966e-01 1.70607572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.685099893 meters 0.020167618739461938 Centerline is valid? [True, True] Translation: X:462.52, Y:30.88, Z:17.06 [[ 9.91320455e-01 -1.24745432e-01 -4.15010060e-02 4.62517238e+02] [ 1.24704591e-01 9.92187451e-01 -3.58162599e-03 3.08827426e+01] [ 4.16235688e-02 -1.62482686e-03 9.99132043e-01 1.70646508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.745099893 meters 0.017592369829511196 Centerline is valid? [True, True] Translation: X:462.58, Y:30.90, Z:17.07 [[ 9.92522170e-01 -1.14900344e-01 -4.12025799e-02 4.62576762e+02] [ 1.14851613e-01 9.93376295e-01 -3.55573875e-03 3.08985986e+01] [ 4.13382217e-02 -1.20303323e-03 9.99144486e-01 1.70667782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.805099893 meters 0.01629160474221765 Centerline is valid? [True, True] Translation: X:462.64, Y:30.91, Z:17.07 [[ 9.93111180e-01 -1.09253450e-01 -4.23540709e-02 4.62637069e+02] [ 1.09196833e-01 9.94013427e-01 -3.65493054e-03 3.09104443e+01] [ 4.24998290e-02 -9.95178028e-04 9.99095978e-01 1.70685775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.865099893 meters 0.014519370780994308 Centerline is valid? [True, True] Translation: X:462.70, Y:30.93, Z:17.07 [[ 9.93805168e-01 -1.01894560e-01 -4.43710154e-02 4.62698043e+02] [ 1.01825171e-01 9.94794948e-01 -3.82709116e-03 3.09251807e+01] [ 4.45300217e-02 -7.14703260e-04 9.99007791e-01 1.70702332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9250998929999 meters 0.01417017368696353 Centerline is valid? [True, True] Translation: X:462.76, Y:30.93, Z:17.07 [[ 9.94156442e-01 -9.81282518e-02 -4.49868218e-02 4.62758728e+02] [ 9.80531998e-02 9.95173621e-01 -3.87730067e-03 3.09340501e+01] [ 4.51501711e-02 -5.56458387e-04 9.98980056e-01 1.70719785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9850998929999 meters 0.013506818701508674 Centerline is valid? [True, True] Translation: X:462.82, Y:30.95, Z:17.07 [[ 9.94515502e-01 -9.40581283e-02 -4.57382213e-02 4.62819285e+02] [ 9.39763529e-02 9.95566635e-01 -3.93969154e-03 3.09450255e+01] [ 4.59060071e-02 -3.80226916e-04 9.98945691e-01 1.70749071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04509989299993 meters 0.013445234265741074 Centerline is valid? [True, True] Translation: X:462.88, Y:30.95, Z:17.08 [[ 9.94643750e-01 -9.25118376e-02 -4.61017338e-02 4.62880387e+02] [ 9.24271740e-02 9.95711536e-01 -3.96932618e-03 3.09526052e+01] [ 4.62712378e-02 -3.12987496e-04 9.98928864e-01 1.70772251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10509989299993 meters 0.013379452868885209 Centerline is valid? [True, True] Translation: X:462.94, Y:30.96, Z:17.08 [[ 9.94512960e-01 -9.36048802e-02 -4.67129485e-02 4.62941880e+02] [ 9.35192404e-02 9.95609356e-01 -4.02025461e-03 3.09585831e+01] [ 4.68841641e-02 -3.70364155e-04 9.98900264e-01 1.70791417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16509989299993 meters 0.013754085700031555 Centerline is valid? [True, True] Translation: X:463.00, Y:30.96, Z:17.08 [[ 9.94150681e-01 -9.70596750e-02 -4.73692276e-02 4.63003014e+02] [ 9.69756124e-02 9.95278416e-01 -4.07497577e-03 3.09623890e+01] [ 4.75410856e-02 -5.42519918e-04 9.98869136e-01 1.70814294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22509989299994 meters 0.015378544613771509 Centerline is valid? [True, True] Translation: X:463.06, Y:30.96, Z:17.08 [[ 9.93275357e-01 -1.06231252e-01 -4.60324557e-02 4.63063455e+02] [ 1.06161770e-01 9.94340992e-01 -3.95848828e-03 3.09617923e+01] [ 4.61924729e-02 -9.55018111e-04 9.98932101e-01 1.70847327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28509989299994 meters 0.019633533142307102 Centerline is valid? [True, True] Translation: X:463.12, Y:30.96, Z:17.09 [[ 9.91889624e-01 -1.18900861e-01 -4.49172489e-02 4.63123111e+02] [ 1.18847679e-01 9.92904987e-01 -3.86218535e-03 3.09568885e+01] [ 4.50577775e-02 -1.50744919e-03 9.98983245e-01 1.70871770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34509989299994 meters 0.02373904752219229 Centerline is valid? [True, True] Translation: X:463.18, Y:30.95, Z:17.09 [[ 9.90802380e-01 -1.27494677e-01 -4.53403935e-02 4.63183478e+02] [ 1.27449397e-01 9.91837407e-01 -3.89992206e-03 3.09539483e+01] [ 4.54675176e-02 -1.91455376e-03 9.98963983e-01 1.70881526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40509989299994 meters 0.023430375268354536 Centerline is valid? [True, True] Translation: X:463.24, Y:30.96, Z:17.09 [[ 9.89335111e-01 -1.38371502e-01 -4.54902759e-02 4.63243497e+02] [ 1.38337346e-01 9.90377435e-01 -3.91335253e-03 3.09576596e+01] [ 4.55940392e-02 -2.42138697e-03 9.98957116e-01 1.70901314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46509989299994 meters 0.029083279573280347 Centerline is valid? [True, True] Translation: X:463.30, Y:30.95, Z:17.09 [[ 9.88635665e-01 -1.43328712e-01 -4.53475757e-02 4.63303099e+02] [ 1.43299959e-01 9.89671614e-01 -3.90115899e-03 3.09549896e+01] [ 4.54383565e-02 -2.64148082e-03 9.98963652e-01 1.70918642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52509989299995 meters 0.030486106090185566 Centerline is valid? [True, True] Translation: X:463.36, Y:30.96, Z:17.09 [[ 9.88072000e-01 -1.47179024e-01 -4.52996476e-02 4.63363126e+02] [ 1.47154335e-01 9.89105864e-01 -3.89754678e-03 3.09602056e+01] [ 4.53797842e-02 -2.81498269e-03 9.98965841e-01 1.70946072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58509989299995 meters 0.02999536399687589 Centerline is valid? [True, True] Translation: X:463.43, Y:30.97, Z:17.10 [[ 9.87889178e-01 -1.48456363e-01 -4.51185052e-02 4.63425015e+02] [ 1.48433235e-01 9.88914815e-01 -3.88110938e-03 3.09679903e+01] [ 4.51945336e-02 -2.86297973e-03 9.98974103e-01 1.70972610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64509989299995 meters 0.029695496923165424 Centerline is valid? [True, True] Translation: X:463.49, Y:30.98, Z:17.10 [[ 9.87787029e-01 -1.49088410e-01 -4.52706479e-02 4.63486792e+02] [ 1.49065937e-01 9.88819603e-01 -3.89088740e-03 3.09764578e+01] [ 4.53445903e-02 -2.90494345e-03 9.98967181e-01 1.70988323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70509989299995 meters 0.030892440960204087 Centerline is valid? [True, True] Translation: X:463.55, Y:30.98, Z:17.10 [[ 9.87859279e-01 -1.48406646e-01 -4.59294200e-02 4.63548955e+02] [ 1.48382939e-01 9.88922114e-01 -3.94411147e-03 3.09823063e+01] [ 4.60059515e-02 -2.91891521e-03 9.98936901e-01 1.71006886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76509989299996 meters 0.029029647392713766 Centerline is valid? [True, True] Translation: X:463.61, Y:30.99, Z:17.10 [[ 9.87915562e-01 -1.47553406e-01 -4.74429669e-02 4.63610281e+02] [ 1.47527303e-01 9.89049607e-01 -4.07056479e-03 3.09942680e+01] [ 4.75240735e-02 -2.97775864e-03 9.98865654e-01 1.71019570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82509989299996 meters 0.02986479319080874 Centerline is valid? [True, True] Translation: X:463.67, Y:31.00, Z:17.10 [[ 9.87863287e-01 -1.47418408e-01 -4.89278955e-02 4.63671882e+02] [ 1.47390665e-01 9.89069462e-01 -4.19430277e-03 3.10005588e+01] [ 4.90114047e-02 -3.06811733e-03 9.98793507e-01 1.71024344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88509989299996 meters 0.02915779670492746 Centerline is valid? [True, True] Translation: X:463.73, Y:31.01, Z:17.10 [[ 9.87738811e-01 -1.48300412e-01 -4.87752819e-02 4.63733170e+02] [ 1.48274086e-01 9.88937482e-01 -4.17767038e-03 3.10106179e+01] [ 4.88552547e-02 -3.10566317e-03 9.98801041e-01 1.71046581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.94509989299996 meters 0.030134468222974345 Centerline is valid? [True, True] Translation: X:463.80, Y:31.02, Z:17.11 [[ 9.87786996e-01 -1.48158602e-01 -4.82273742e-02 4.63795556e+02] [ 1.48132864e-01 9.88958857e-01 -4.12722389e-03 3.10157778e+01] [ 4.83063725e-02 -3.06724096e-03 9.98827856e-01 1.71070856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.00509989299997 meters 0.031332373107316215 Centerline is valid? [True, True] Translation: X:463.86, Y:31.02, Z:17.11 [[ 9.87867893e-01 -1.48043208e-01 -4.69066550e-02 4.63857402e+02] [ 1.48018884e-01 9.88976402e-01 -4.01086137e-03 3.10223931e+01] [ 4.69833557e-02 -2.98086957e-03 9.98891225e-01 1.71107202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.06509989299997 meters 0.029834773092436432 Centerline is valid? [True, True] Translation: X:463.92, Y:31.03, Z:17.12 [[ 9.88212525e-01 -1.46784766e-01 -4.34768645e-02 4.63918028e+02] [ 1.46762767e-01 9.89164744e-01 -3.71488407e-03 3.10339173e+01] [ 4.35510699e-02 -2.70968996e-03 9.99047527e-01 1.71156358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.12509989299997 meters 0.029665927787149136 Centerline is valid? [True, True] Translation: X:463.98, Y:31.04, Z:17.12 [[ 9.88351485e-01 -1.46671744e-01 -4.06046939e-02 4.63979828e+02] [ 1.46652517e-01 9.89181992e-01 -3.46795444e-03 3.10431114e+01] [ 4.06740830e-02 -2.52722264e-03 9.99169271e-01 1.71211096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.185099893 meters 0.030222402594158232 Centerline is valid? [True, True] Translation: X:464.04, Y:31.05, Z:17.12 [[ 9.88274529e-01 -1.47415264e-01 -3.97768291e-02 4.64041455e+02] [ 1.47397525e-01 9.89071508e-01 -3.39440518e-03 3.10490682e+01] [ 3.98425155e-02 -2.50840197e-03 9.99202823e-01 1.71239687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.245099893 meters 0.03233166190455635 Centerline is valid? [True, True] Translation: X:464.10, Y:31.05, Z:17.12 [[ 9.87798570e-01 -1.50174094e-01 -4.12519825e-02 4.64102413e+02] [ 1.50157529e-01 9.88655827e-01 -3.51740978e-03 3.10525804e+01] [ 4.13122367e-02 -2.71980340e-03 9.99142583e-01 1.71245720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.305099893 meters 0.03338171379091589 Centerline is valid? [True, True] Translation: X:464.16, Y:31.06, Z:17.13 [[ 9.87394716e-01 -1.52437762e-01 -4.25958138e-02 4.64163225e+02] [ 1.52422232e-01 9.88308797e-01 -3.63120675e-03 3.10574760e+01] [ 4.26513505e-02 -2.90711467e-03 9.99085788e-01 1.71257707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.365099893 meters 0.03293333685985662 Centerline is valid? [True, True] Translation: X:464.23, Y:31.06, Z:17.13 [[ 9.87306850e-01 -1.52716354e-01 -4.36222429e-02 4.64225440e+02] [ 1.52700390e-01 9.88265536e-01 -3.71755755e-03 3.10639580e+01] [ 4.36780911e-02 -2.99076348e-03 9.99041180e-01 1.71272596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4250998929999 meters 0.0320081017231679 Centerline is valid? [True, True] Translation: X:464.29, Y:31.07, Z:17.13 [[ 9.87556155e-01 -1.51447939e-01 -4.23835162e-02 4.64286485e+02] [ 1.51431823e-01 9.88461115e-01 -3.60918653e-03 3.10708906e+01] [ 4.24410615e-02 -2.85393876e-03 9.99094896e-01 1.71306512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4850998929999 meters 0.03247305343268812 Centerline is valid? [True, True] Translation: X:464.35, Y:31.08, Z:17.13 [[ 9.88127996e-01 -1.48351206e-01 -3.99372300e-02 4.64345490e+02] [ 1.48334423e-01 9.88931414e-01 -3.39964289e-03 3.10761735e+01] [ 3.99995225e-02 -2.56478364e-03 9.99196407e-01 1.71349115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54509989299993 meters 0.030185918795734516 Centerline is valid? [True, True] Translation: X:464.41, Y:31.08, Z:17.14 [[ 9.88507223e-01 -1.45991300e-01 -3.92429755e-02 4.64406300e+02] [ 1.45973218e-01 9.89282900e-01 -3.34112112e-03 3.10828733e+01] [ 3.93101792e-02 -2.42570108e-03 9.99224112e-01 1.71375458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60509989299993 meters 0.027355500627679195 Centerline is valid? [True, True] Translation: X:464.47, Y:31.09, Z:17.14 [[ 9.88595326e-01 -1.45060917e-01 -4.04550610e-02 4.64468223e+02] [ 1.45040994e-01 9.89419657e-01 -3.44268012e-03 3.10900363e+01] [ 4.05264309e-02 -2.46422480e-03 9.99175428e-01 1.71386561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66509989299993 meters 0.030145487692961687 Centerline is valid? [True, True] Translation: X:464.53, Y:31.09, Z:17.14 [[ 9.88532320e-01 -1.44770190e-01 -4.29586380e-02 4.64530564e+02] [ 1.44747606e-01 9.89461870e-01 -3.65225621e-03 3.10888386e+01] [ 4.30346721e-02 -2.60778671e-03 9.99070176e-01 1.71393492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72509989299994 meters 0.026010635761681677 Centerline is valid? [True, True] Translation: X:464.59, Y:31.10, Z:17.14 [[ 9.88655591e-01 -1.43627371e-01 -4.39465554e-02 4.64591760e+02] [ 1.43602791e-01 9.89628369e-01 -3.73223397e-03 3.10988462e+01] [ 4.40268089e-02 -2.62095403e-03 9.99026912e-01 1.71426070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78509989299994 meters 0.027975172281351553 Centerline is valid? [True, True] Translation: X:464.65, Y:31.10, Z:17.15 [[ 9.88980648e-01 -1.41154236e-01 -4.46403335e-02 4.64652269e+02] [ 1.41126499e-01 9.89984324e-01 -3.78816510e-03 3.10989991e+01] [ 4.47279460e-02 -2.55351199e-03 9.98995941e-01 1.71454395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84509989299994 meters 0.02641160079430003 Centerline is valid? [True, True] Translation: X:464.71, Y:31.10, Z:17.15 [[ 9.89529218e-01 -1.37326153e-01 -4.44235774e-02 4.64712729e+02] [ 1.37294874e-01 9.90523050e-01 -3.76894838e-03 3.11044979e+01] [ 4.45201526e-02 -2.36964493e-03 9.99005676e-01 1.71484619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90509989299994 meters 0.022979367562043853 Centerline is valid? [True, True] Translation: X:464.77, Y:31.11, Z:17.15 [[ 9.90457968e-01 -1.31014825e-01 -4.27566359e-02 4.64772580e+02] [ 1.30980007e-01 9.91378376e-01 -3.62687941e-03 3.11122358e+01] [ 4.28631792e-02 -2.00799287e-03 9.99078934e-01 1.71521189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96509989299994 meters 0.020615185627737554 Centerline is valid? [True, True] Translation: X:464.83, Y:31.12, Z:17.15 [[ 9.91013185e-01 -1.26721882e-01 -4.28302717e-02 4.64832692e+02] [ 1.26682942e-01 9.91936607e-01 -3.63312847e-03 3.11190578e+01] [ 4.29453112e-02 -1.82538660e-03 9.99075757e-01 1.71543823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02509989299995 meters 0.020119573148878318 Centerline is valid? [True, True] Translation: X:464.89, Y:31.12, Z:17.16 [[ 9.91599932e-01 -1.21353791e-01 -4.47530122e-02 4.64892772e+02] [ 1.21305818e-01 9.92607922e-01 -3.79622721e-03 3.11229718e+01] [ 4.48828810e-02 -1.66446213e-03 9.98990869e-01 1.71554692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08509989299995 meters 0.018884230336021168 Centerline is valid? [True, True] Translation: X:464.95, Y:31.13, Z:17.16 [[ 9.91892696e-01 -1.18383210e-01 -4.61984251e-02 4.64953593e+02] [ 1.18328888e-01 9.92966726e-01 -3.91850773e-03 3.11284782e+01] [ 4.63373844e-02 -1.57986907e-03 9.98924597e-01 1.71567682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14509989299995 meters 0.01750768158272157 Centerline is valid? [True, True] Translation: X:465.02, Y:31.13, Z:17.16 [[ 9.92180782e-01 -1.15438798e-01 -4.74466066e-02 4.65015157e+02] [ 1.15378241e-01 9.93313487e-01 -4.02223546e-03 3.11342532e+01] [ 4.75936763e-02 -1.48352130e-03 9.98865677e-01 1.71586356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20509989299995 meters 0.01665707550688445 Centerline is valid? [True, True] Translation: X:465.08, Y:31.14, Z:17.16 [[ 9.92568684e-01 -1.12674400e-01 -4.59552824e-02 4.65076120e+02] [ 1.12614767e-01 9.93631099e-01 -3.89284465e-03 3.11386873e+01] [ 4.61012216e-02 -1.31132774e-03 9.98935913e-01 1.71617216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26509989299996 meters 0.016778487512157738 Centerline is valid? [True, True] Translation: X:465.14, Y:31.14, Z:17.16 [[ 9.92730062e-01 -1.11714048e-01 -4.47995113e-02 4.65138588e+02] [ 1.11656492e-01 9.93739625e-01 -3.79290324e-03 3.11426224e+01] [ 4.49427701e-02 -1.23682720e-03 9.98988798e-01 1.71648275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32509989299996 meters 0.016549470500087256 Centerline is valid? [True, True] Translation: X:465.20, Y:31.15, Z:17.17 [[ 9.92590402e-01 -1.13546580e-01 -4.32604644e-02 4.65200454e+02] [ 1.13494810e-01 9.93531852e-01 -3.65888052e-03 3.11468675e+01] [ 4.33961026e-02 -1.27806848e-03 9.99057128e-01 1.71691049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38509989299996 meters 0.018347974455119178 Centerline is valid? [True, True] Translation: X:465.26, Y:31.15, Z:17.17 [[ 9.92191130e-01 -1.17342126e-01 -4.22798728e-02 4.65261915e+02] [ 1.17296255e-01 9.93090542e-01 -3.57266518e-03 3.11465065e+01] [ 4.24069659e-02 -1.41450403e-03 9.99099419e-01 1.71728067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.44509989299996 meters 0.021553340195966848 Centerline is valid? [True, True] Translation: X:465.32, Y:31.14, Z:17.17 [[ 9.90984732e-01 -1.26217038e-01 -4.49279455e-02 4.65323550e+02] [ 1.26174538e-01 9.92000810e-01 -3.79193524e-03 3.11429596e+01] [ 4.50471652e-02 -1.91101284e-03 9.98983033e-01 1.71739219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.50509989299997 meters 0.022013543530162855 Centerline is valid? [True, True] Translation: X:465.38, Y:31.14, Z:17.17 [[ 9.89915667e-01 -1.32281588e-01 -5.06808989e-02 4.65384458e+02] [ 1.32235493e-01 9.91209104e-01 -4.27632632e-03 3.11447784e+01] [ 5.08010476e-02 -2.46861122e-03 9.98705742e-01 1.71715798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.56509989299997 meters 0.024035169836250852 Centerline is valid? [True, True] Translation: X:465.45, Y:31.15, Z:17.17 [[ 9.89665203e-01 -1.33899694e-01 -5.13191801e-02 4.65445057e+02] [ 1.33854634e-01 9.90991520e-01 -4.32953163e-03 3.11466268e+01] [ 5.14365952e-02 -2.58452326e-03 9.98672918e-01 1.71730815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.62509989299997 meters 0.024434422019378423 Centerline is valid? [True, True] Translation: X:465.51, Y:31.15, Z:17.18 [[ 9.89551170e-01 -1.34234671e-01 -5.26263656e-02 4.65506817e+02] [ 1.34187895e-01 9.90945972e-01 -4.43727253e-03 3.11512218e+01] [ 5.27455208e-02 -2.67091302e-03 9.98604414e-01 1.71767226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.685099893 meters 0.0222024701868187 Centerline is valid? [True, True] Translation: X:465.57, Y:31.16, Z:17.18 [[ 9.89980520e-01 -1.30898450e-01 -5.29543670e-02 4.65568018e+02] [ 1.30846522e-01 9.91392598e-01 -4.46131912e-03 3.11601536e+01] [ 5.30825472e-02 -2.51227572e-03 9.98586967e-01 1.71802667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.745099893 meters 0.02164733885604231 Centerline is valid? [True, True] Translation: X:465.63, Y:31.17, Z:17.19 [[ 9.90364615e-01 -1.29030613e-01 -5.02894677e-02 4.65629337e+02] [ 1.28981509e-01 9.91637959e-01 -4.23410652e-03 3.11667729e+01] [ 5.04152745e-02 -2.29310217e-03 9.98725709e-01 1.71855167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.805099893 meters 0.02106451915707814 Centerline is valid? [True, True] Translation: X:465.69, Y:31.17, Z:17.19 [[ 9.90715558e-01 -1.26957595e-01 -4.86256390e-02 4.65690329e+02] [ 1.26909312e-01 9.91905885e-01 -4.09159536e-03 3.11722965e+01] [ 4.87515167e-02 -2.11743921e-03 9.98808693e-01 1.71894936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.865099893 meters 0.021365774153828843 Centerline is valid? [True, True] Translation: X:465.75, Y:31.18, Z:17.19 [[ 9.90798325e-01 -1.26490986e-01 -4.81529729e-02 4.65752474e+02] [ 1.26443191e-01 9.91965584e-01 -4.04965070e-03 3.11761459e+01] [ 4.82783362e-02 -2.07622842e-03 9.98831763e-01 1.71919998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9250998929999 meters 0.020695992077055882 Centerline is valid? [True, True] Translation: X:465.81, Y:31.18, Z:17.20 [[ 9.90987723e-01 -1.25684494e-01 -4.63329293e-02 4.65814461e+02] [ 1.25639516e-01 9.92068321e-01 -3.89328717e-03 3.11802711e+01] [ 4.64547572e-02 -1.96304702e-03 9.98918466e-01 1.71954195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9850998929999 meters 0.022900038028832767 Centerline is valid? [True, True] Translation: X:465.88, Y:31.18, Z:17.20 [[ 9.90833083e-01 -1.27214259e-01 -4.54569476e-02 4.65875381e+02] [ 1.27172714e-01 9.91873245e-01 -3.81653260e-03 3.11810200e+01] [ 4.55730475e-02 -1.99933662e-03 9.98959008e-01 1.71980786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04509989299993 meters 0.02265349425398293 Centerline is valid? [True, True] Translation: X:465.94, Y:31.18, Z:17.20 [[ 9.90578294e-01 -1.29218446e-01 -4.53567616e-02 4.65937524e+02] [ 1.29179298e-01 9.91613951e-01 -3.80550017e-03 3.11849223e+01] [ 4.54681384e-02 -2.08950876e-03 9.98963604e-01 1.72004058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10509989299993 meters 0.023235049246589493 Centerline is valid? [True, True] Translation: X:466.00, Y:31.19, Z:17.20 [[ 9.90240990e-01 -1.31710030e-01 -4.55549181e-02 4.65998979e+02] [ 1.31673306e-01 9.91285809e-01 -3.81909461e-03 3.11880164e+01] [ 4.56609569e-02 -2.21654264e-03 9.98954535e-01 1.72019287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16509989299993 meters 0.026013479064239925 Centerline is valid? [True, True] Translation: X:466.06, Y:31.19, Z:17.20 [[ 9.90370007e-01 -1.31063432e-01 -4.46052234e-02 4.66060273e+02] [ 1.31027646e-01 9.91371669e-01 -3.73773756e-03 3.11901384e+01] [ 4.47102355e-02 -2.14277427e-03 9.98997699e-01 1.72043027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22509989299994 meters 0.024431971305119347 Centerline is valid? [True, True] Translation: X:466.12, Y:31.20, Z:17.21 [[ 9.90081103e-01 -1.32685381e-01 -4.61952222e-02 4.66121854e+02] [ 1.32648888e-01 9.91155542e-01 -3.86822055e-03 3.11995661e+01] [ 4.62999069e-02 -2.29789281e-03 9.98924941e-01 1.72058530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28509989299994 meters 0.02609878548076926 Centerline is valid? [True, True] Translation: X:466.18, Y:31.20, Z:17.21 [[ 9.89643031e-01 -1.35262389e-01 -4.80703452e-02 4.66182777e+02] [ 1.35226065e-01 9.90806608e-01 -4.02193495e-03 3.12030846e+01] [ 4.81724323e-02 -2.52008373e-03 9.98835855e-01 1.72069799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34509989299994 meters 0.02609488587514571 Centerline is valid? [True, True] Translation: X:466.24, Y:31.21, Z:17.21 [[ 9.89464618e-01 -1.36288918e-01 -4.88374933e-02 4.66244198e+02] [ 1.36252816e-01 9.90665684e-01 -4.08321274e-03 3.12087261e+01] [ 4.89381254e-02 -2.61405144e-03 9.98798391e-01 1.72087183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40509989299994 meters 0.02707607626035746 Centerline is valid? [True, True] Translation: X:466.31, Y:31.21, Z:17.21 [[ 9.89282866e-01 -1.37389218e-01 -4.94329222e-02 4.66305867e+02] [ 1.37353827e-01 9.90513444e-01 -4.12843558e-03 3.12129885e+01] [ 4.95311766e-02 -2.70561045e-03 9.98768913e-01 1.72099089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46509989299994 meters 0.02636537091734602 Centerline is valid? [True, True] Translation: X:466.37, Y:31.22, Z:17.21 [[ 9.89095796e-01 -1.38403510e-01 -5.03386022e-02 4.66367866e+02] [ 1.38368272e-01 9.90371936e-01 -4.20106745e-03 3.12193046e+01] [ 5.04353814e-02 -2.81000727e-03 9.98723373e-01 1.72118453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52509989299995 meters 0.02636537091734602 Centerline is valid? [True, True] Translation: X:466.43, Y:31.22, Z:17.21 [[ 9.89105835e-01 -1.38331640e-01 -5.03389069e-02 4.66429407e+02] [ 1.38296494e-01 9.90381978e-01 -4.19741441e-03 3.12243756e+01] [ 5.04353813e-02 -2.81000727e-03 9.98723373e-01 1.72141497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58509989299995 meters 0.02734311107814345 Centerline is valid? [True, True] Translation: X:466.49, Y:31.23, Z:17.22 [[ 9.88916415e-01 -1.39623259e-01 -5.04942456e-02 4.66491786e+02] [ 1.39589761e-01 9.90200486e-01 -4.20667414e-03 3.12287870e+01] [ 5.05867761e-02 -2.88843057e-03 9.98715493e-01 1.72160344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64509989299995 meters 0.030039176887418275 Centerline is valid? [True, True] Translation: X:466.55, Y:31.23, Z:17.22 [[ 9.89042531e-01 -1.39265130e-01 -4.89907710e-02 4.66553240e+02] [ 1.39233316e-01 9.90251207e-01 -4.07816317e-03 3.12312001e+01] [ 4.90811160e-02 -2.78767067e-03 9.98790906e-01 1.72185372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70509989299995 meters 0.024947309408148013 Centerline is valid? [True, True] Translation: X:466.61, Y:31.25, Z:17.22 [[ 9.89656996e-01 -1.35820479e-01 -4.61717126e-02 4.66612508e+02] [ 1.35788572e-01 9.90730391e-01 -3.84144576e-03 3.12471841e+01] [ 4.62654658e-02 -2.46787723e-03 9.98926132e-01 1.72241677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76509989299996 meters 0.026203467327817906 Centerline is valid? [True, True] Translation: X:466.67, Y:31.25, Z:17.23 [[ 9.90114720e-01 -1.33005982e-01 -4.45224683e-02 4.66672526e+02] [ 1.32973508e-01 9.91112673e-01 -3.70343937e-03 3.12526113e+01] [ 4.46193621e-02 -2.25347897e-03 9.99001519e-01 1.72273219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82509989299996 meters 0.025176772962966616 Centerline is valid? [True, True] Translation: X:466.73, Y:31.26, Z:17.23 [[ 9.90438012e-01 -1.30608646e-01 -4.44288866e-02 4.66733253e+02] [ 1.30573944e-01 9.91431689e-01 -3.69473202e-03 3.12610806e+01] [ 4.45307700e-02 -2.14185191e-03 9.99005717e-01 1.72294956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88509989299996 meters 0.02413674910396869 Centerline is valid? [True, True] Translation: X:466.79, Y:31.27, Z:17.23 [[ 9.90210045e-01 -1.32007986e-01 -4.53647378e-02 4.66794464e+02] [ 1.31973354e-01 9.91246092e-01 -3.77075082e-03 3.12690110e+01] [ 4.54653883e-02 -2.25310128e-03 9.98963374e-01 1.72316121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.94509989299996 meters 0.02630833599587146 Centerline is valid? [True, True] Translation: X:466.86, Y:31.27, Z:17.23 [[ 9.89768134e-01 -1.34947589e-01 -4.63485676e-02 4.66855288e+02] [ 1.34914757e-01 9.90849728e-01 -3.85027814e-03 3.12708994e+01] [ 4.64440514e-02 -2.44222312e-03 9.98917907e-01 1.72325544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.00509989299997 meters 0.029754671922874926 Centerline is valid? [True, True] Translation: X:466.91, Y:31.27, Z:17.23 [[ 9.88961761e-01 -1.39771795e-01 -4.91780499e-02 4.66914950e+02] [ 1.39740803e-01 9.90179692e-01 -4.08480071e-03 3.12705299e+01] [ 4.92660463e-02 -2.83246849e-03 9.98781675e-01 1.72321089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.06509989299997 meters 0.03199555695661513 Centerline is valid? [True, True] Translation: X:466.98, Y:31.27, Z:17.23 [[ 9.88647384e-01 -1.41577669e-01 -5.03201099e-02 4.66976180e+02] [ 1.41547548e-01 9.89922634e-01 -4.17977238e-03 3.12734876e+01] [ 5.04047782e-02 -2.99036713e-03 9.98724394e-01 1.72333397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.12509989299997 meters 0.027049656605446715 Centerline is valid? [True, True] Translation: X:467.04, Y:31.29, Z:17.24 [[ 9.88865521e-01 -1.40074256e-01 -5.02412547e-02 4.67037879e+02] [ 1.40042421e-01 9.90136721e-01 -4.17074308e-03 3.12876031e+01] [ 5.03299249e-02 -2.91160289e-03 9.98728402e-01 1.72384079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.185099893 meters 0.02452922285995552 Centerline is valid? [True, True] Translation: X:467.10, Y:31.30, Z:17.24 [[ 9.89813157e-01 -1.33949823e-01 -4.82427096e-02 4.67097512e+02] [ 1.33913367e-01 9.90984963e-01 -4.00158964e-03 3.13000084e+01] [ 4.83438121e-02 -2.49951762e-03 9.98827627e-01 1.72437771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.245099893 meters 0.024077641308024467 Centerline is valid? [True, True] Translation: X:467.16, Y:31.31, Z:17.25 [[ 9.90612333e-01 -1.28457400e-01 -4.67536241e-02 4.67156580e+02] [ 1.28417045e-01 9.91712671e-01 -3.87826372e-03 3.13081947e+01] [ 4.68643531e-02 -2.16210638e-03 9.98898923e-01 1.72475063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.305099893 meters 0.02048298711077372 Centerline is valid? [True, True] Translation: X:467.22, Y:31.32, Z:17.25 [[ 9.91627002e-01 -1.20702183e-01 -4.59006768e-02 4.67216289e+02] [ 1.20654961e-01 9.92687201e-01 -3.80811114e-03 3.13214744e+01] [ 4.60246617e-02 -1.76191852e-03 9.98938750e-01 1.72518298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.365099893 meters 0.019188609426466958 Centerline is valid? [True, True] Translation: X:467.28, Y:31.33, Z:17.25 [[ 9.92001866e-01 -1.17359308e-01 -4.64660078e-02 4.67277455e+02] [ 1.17307278e-01 9.93088186e-01 -3.85452577e-03 3.13295977e+01] [ 4.65972079e-02 -1.62710412e-03 9.98912435e-01 1.72539428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4250998929999 meters 0.018430368720998125 Centerline is valid? [True, True] Translation: X:467.34, Y:31.34, Z:17.26 [[ 9.92166870e-01 -1.15200270e-01 -4.83094104e-02 4.67339561e+02] [ 1.15141617e-01 9.93341015e-01 -4.00451423e-03 3.13358208e+01] [ 4.84490399e-02 -1.58927728e-03 9.98824391e-01 1.72550932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4850998929999 meters 0.01958221431189796 Centerline is valid? [True, True] Translation: X:467.40, Y:31.34, Z:17.26 [[ 9.92132188e-01 -1.15078573e-01 -4.93015525e-02 4.67400531e+02] [ 1.15017544e-01 9.93355071e-01 -4.08255867e-03 3.13388570e+01] [ 4.94437622e-02 -1.62010563e-03 9.98775595e-01 1.72558944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54509989299993 meters 0.020301209179375276 Centerline is valid? [True, True] Translation: X:467.46, Y:31.34, Z:17.26 [[ 9.92075541e-01 -1.15154399e-01 -5.02552114e-02 4.67461437e+02] [ 1.15091344e-01 9.93346217e-01 -4.15638458e-03 3.13429687e+01] [ 5.03994501e-02 -1.66049232e-03 9.98727760e-01 1.72571076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60509989299993 meters 0.01937656468565776 Centerline is valid? [True, True] Translation: X:467.52, Y:31.35, Z:17.26 [[ 9.92144012e-01 -1.14782940e-01 -4.97507428e-02 4.67523209e+02] [ 1.14720818e-01 9.93389262e-01 -4.11184790e-03 3.13495284e+01] [ 4.98938237e-02 -1.62790064e-03 9.98753201e-01 1.72599670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66509989299993 meters 0.018803653961303554 Centerline is valid? [True, True] Translation: X:467.59, Y:31.36, Z:17.26 [[ 9.92307655e-01 -1.13855267e-01 -4.86055230e-02 4.67585517e+02] [ 1.13795036e-01 9.93496140e-01 -4.01360663e-03 3.13552727e+01] [ 4.87463698e-02 -1.54833467e-03 9.98809989e-01 1.72630163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72509989299994 meters 0.018015593001572135 Centerline is valid? [True, True] Translation: X:467.65, Y:31.36, Z:17.27 [[ 9.92360378e-01 -1.13572460e-01 -4.81889659e-02 4.67647131e+02] [ 1.13513121e-01 9.93528545e-01 -3.97512448e-03 3.13613517e+01] [ 4.83285778e-02 -1.52532387e-03 9.98830327e-01 1.72661148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78509989299994 meters 0.01843000327891202 Centerline is valid? [True, True] Translation: X:467.71, Y:31.37, Z:17.27 [[ 9.92394328e-01 -1.13613929e-01 -4.73853661e-02 4.67708957e+02] [ 1.13556761e-01 9.93523834e-01 -3.90543743e-03 3.13654971e+01] [ 4.75222028e-02 -1.50519474e-03 9.98869048e-01 1.72686155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84509989299994 meters 0.01850788850177248 Centerline is valid? [True, True] Translation: X:467.77, Y:31.37, Z:17.27 [[ 9.92347959e-01 -1.14432452e-01 -4.63760861e-02 4.67771359e+02] [ 1.14378739e-01 9.93429877e-01 -3.81896732e-03 3.13696683e+01] [ 4.65084033e-02 -1.51469383e-03 9.98916750e-01 1.72719173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90509989299994 meters 0.018264062306271738 Centerline is valid? [True, True] Translation: X:467.83, Y:31.37, Z:17.27 [[ 9.92408100e-01 -1.14054877e-01 -4.60179036e-02 4.67833771e+02] [ 1.14001738e-01 9.93473336e-01 -3.78616150e-03 3.13744345e+01] [ 4.61493903e-02 -1.48870364e-03 9.98933440e-01 1.72745310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96509989299994 meters 0.017394321367037967 Centerline is valid? [True, True] Translation: X:467.90, Y:31.38, Z:17.28 [[ 9.92662291e-01 -1.12288600e-01 -4.48647665e-02 4.67895576e+02] [ 1.12236432e-01 9.93674686e-01 -3.68809143e-03 3.13794228e+01] [ 4.49951134e-02 -1.37443205e-03 9.98986262e-01 1.72769859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02509989299995 meters 0.017380133893904366 Centerline is valid? [True, True] Translation: X:467.96, Y:31.38, Z:17.28 [[ 9.92845172e-01 -1.10452491e-01 -4.53730335e-02 4.67957124e+02] [ 1.10397372e-01 9.93880543e-01 -3.72652641e-03 3.13840099e+01] [ 4.55069793e-02 -1.30919990e-03 9.98963163e-01 1.72781226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08509989299995 meters 0.016644941261740636 Centerline is valid? [True, True] Translation: X:468.02, Y:31.39, Z:17.28 [[ 9.92991860e-01 -1.08036236e-01 -4.79096881e-02 4.68019158e+02] [ 1.07972146e-01 9.94146147e-01 -3.93125888e-03 3.13891826e+01] [ 4.80539503e-02 -1.26920380e-03 9.98843935e-01 1.72778081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14509989299995 meters 0.01697277031391011 Centerline is valid? [True, True] Translation: X:468.08, Y:31.39, Z:17.28 [[ 9.93148141e-01 -1.06253379e-01 -4.86517239e-02 4.68080645e+02] [ 1.06185314e-01 9.94338357e-01 -3.98880873e-03 3.13930230e+01] [ 4.88000996e-02 -1.20462063e-03 9.98807839e-01 1.72782030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20509989299995 meters 0.01564894530611994 Centerline is valid? [True, True] Translation: X:468.14, Y:31.40, Z:17.28 [[ 9.93253245e-01 -1.05520635e-01 -4.80976784e-02 4.68141905e+02] [ 1.05453387e-01 9.94416439e-01 -3.94062124e-03 3.14003864e+01] [ 4.82449389e-02 -1.15802827e-03 9.98834864e-01 1.72819462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26509989299996 meters 0.015888046154240516 Centerline is valid? [True, True] Translation: X:468.20, Y:31.40, Z:17.28 [[ 9.93409789e-01 -1.04612805e-01 -4.68310957e-02 4.68203212e+02] [ 1.04548194e-01 9.94512432e-01 -3.83367497e-03 3.14048313e+01] [ 4.69751584e-02 -1.08769625e-03 9.98895466e-01 1.72846779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32509989299996 meters 0.015443690333579093 Centerline is valid? [True, True] Translation: X:468.27, Y:31.41, Z:17.29 [[ 9.93441765e-01 -1.04385156e-01 -4.66604610e-02 4.68265186e+02] [ 1.04320892e-01 9.94536365e-01 -3.81700609e-03 3.14106711e+01] [ 4.68039641e-02 -1.07568763e-03 9.98903515e-01 1.72880872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38509989299996 meters 0.015945810013684357 Centerline is valid? [True, True] Translation: X:468.33, Y:31.41, Z:17.29 [[ 9.93268962e-01 -1.06411789e-01 -4.57525893e-02 4.68327202e+02] [ 1.06352300e-01 9.94321480e-01 -3.73943706e-03 3.14138349e+01] [ 4.58907025e-02 -1.15162634e-03 9.98945803e-01 1.72903951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.44509989299996 meters 0.016240088615662937 Centerline is valid? [True, True] Translation: X:468.39, Y:31.42, Z:17.29 [[ 9.92992687e-01 -1.09387828e-01 -4.47194273e-02 4.68388946e+02] [ 1.09334153e-01 9.93998344e-01 -3.65177643e-03 3.14170512e+01] [ 4.48504966e-02 -1.26317343e-03 9.98992912e-01 1.72934235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.50509989299997 meters 0.01902445763939939 Centerline is valid? [True, True] Translation: X:468.45, Y:31.42, Z:17.30 [[ 9.92490443e-01 -1.14578041e-01 -4.28321546e-02 4.68449702e+02] [ 1.14533742e-01 9.93413211e-01 -3.49490966e-03 3.14155496e+01] [ 4.29504681e-02 -1.43706252e-03 9.99076169e-01 1.72961455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.56509989299997 meters 0.020319388501243887 Centerline is valid? [True, True] Translation: X:468.51, Y:31.42, Z:17.30 [[ 9.92063649e-01 -1.18407317e-01 -4.23015722e-02 4.68511097e+02] [ 1.18367619e-01 9.92963846e-01 -3.45076377e-03 3.14176021e+01] [ 4.24125275e-02 -1.58375908e-03 9.99098929e-01 1.72989354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.62509989299997 meters 0.020427196326934904 Centerline is valid? [True, True] Translation: X:468.57, Y:31.42, Z:17.30 [[ 9.91893476e-01 -1.19804966e-01 -4.23568551e-02 4.68573059e+02] [ 1.19766508e-01 9.92796080e-01 -3.45356892e-03 3.14221609e+01] [ 4.24654744e-02 -1.64736015e-03 9.99096577e-01 1.73010570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.685099893 meters 0.02042078312827677 Centerline is valid? [True, True] Translation: X:468.64, Y:31.43, Z:17.30 [[ 9.91767547e-01 -1.20719489e-01 -4.27075908e-02 4.68635145e+02] [ 1.20681371e-01 9.92685198e-01 -3.47905246e-03 3.14262751e+01] [ 4.28151827e-02 -1.70359931e-03 9.99081557e-01 1.73032864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.745099893 meters 0.019577310205708957 Centerline is valid? [True, True] Translation: X:468.70, Y:31.43, Z:17.31 [[ 9.91817771e-01 -1.20148775e-01 -4.31483601e-02 4.68697440e+02] [ 1.20109465e-01 9.92754443e-01 -3.51178366e-03 3.14326461e+01] [ 4.32576627e-02 -1.69947701e-03 9.99062504e-01 1.73054601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.805099893 meters 0.02085342247281487 Centerline is valid? [True, True] Translation: X:468.76, Y:31.44, Z:17.31 [[ 9.91977591e-01 -1.18602489e-01 -4.37482371e-02 4.68758102e+02] [ 1.18560717e-01 9.92940432e-01 -3.55746494e-03 3.14364896e+01] [ 4.38613176e-02 -1.65789684e-03 9.99036254e-01 1.73069110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.865099893 meters 0.01890783327391025 Centerline is valid? [True, True] Translation: X:468.82, Y:31.45, Z:17.31 [[ 9.92486265e-01 -1.14209974e-01 -4.38986970e-02 4.68818671e+02] [ 1.14163722e-01 9.93455544e-01 -3.56742364e-03 3.14465010e+01] [ 4.40188393e-02 -1.47101969e-03 9.99029618e-01 1.73091812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9250998929999 meters 0.017658628406348603 Centerline is valid? [True, True] Translation: X:468.88, Y:31.46, Z:17.31 [[ 9.93045161e-01 -1.09669483e-01 -4.28242033e-02 4.68879764e+02] [ 1.09621318e-01 9.93967337e-01 -3.47850749e-03 3.14550373e+01] [ 4.29473454e-02 -1.24013059e-03 9.99076567e-01 1.73122974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9850998929999 meters 0.01491441942522459 Centerline is valid? [True, True] Translation: X:468.94, Y:31.47, Z:17.32 [[ 9.93859727e-01 -1.02518899e-01 -4.16259377e-02 4.68939173e+02] [ 1.02467202e-01 9.94730644e-01 -3.37925228e-03 3.14675183e+01] [ 4.17530330e-02 -9.06790623e-04 9.99127550e-01 1.73160508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04509989299993 meters 0.013697299544940734 Centerline is valid? [True, True] Translation: X:469.00, Y:31.48, Z:17.32 [[ 9.94503764e-01 -9.55932912e-02 -4.27104802e-02 4.68999710e+02] [ 9.55324878e-02 9.95420275e-01 -3.46709834e-03 3.14784074e+01] [ 4.28463093e-02 -6.32196082e-04 9.99081475e-01 1.73185734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10509989299993 meters 0.012823754763214151 Centerline is valid? [True, True] Translation: X:469.06, Y:31.49, Z:17.32 [[ 9.94938735e-01 -9.10350117e-02 -4.25387014e-02 4.69061014e+02] [ 9.09706043e-02 9.95847597e-01 -3.45143854e-03 3.14864388e+01] [ 4.26762653e-02 -4.35801480e-04 9.99088858e-01 1.73213728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16509989299993 meters 0.012444276160156687 Centerline is valid? [True, True] Translation: X:469.12, Y:31.49, Z:17.32 [[ 9.95421584e-01 -8.58313028e-02 -4.20577853e-02 4.69122152e+02] [ 8.57638219e-02 9.96309662e-01 -3.40951922e-03 3.14938155e+01] [ 4.21952213e-02 -2.13127379e-04 9.99109362e-01 1.73237317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22509989299994 meters 0.012261606179964638 Centerline is valid? [True, True] Translation: X:469.18, Y:31.50, Z:17.33 [[ 9.96053796e-01 -7.82245047e-02 -4.19256801e-02 4.69184089e+02] [ 7.81508048e-02 9.96935763e-01 -3.39649835e-03 3.15024357e+01] [ 4.20628993e-02 1.06569433e-04 9.99114959e-01 1.73272244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28509989299994 meters 0.01250424974631287 Centerline is valid? [True, True] Translation: X:469.25, Y:31.51, Z:17.33 [[ 9.96435295e-01 -7.32819016e-02 -4.17907277e-02 4.69245578e+02] [ 7.32044559e-02 9.97311218e-01 -3.38254167e-03 3.15083708e+01] [ 4.19262406e-02 3.11216429e-04 9.99120660e-01 1.73300507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34509989299994 meters 0.013009047188256276 Centerline is valid? [True, True] Translation: X:469.31, Y:31.51, Z:17.33 [[ 9.96714643e-01 -6.91922601e-02 -4.20993142e-02 4.69307316e+02] [ 6.91101439e-02 9.97603226e-01 -3.40455635e-03 3.15112543e+01] [ 4.22339806e-02 4.83881498e-04 9.99107630e-01 1.73316404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40509989299994 meters 0.012950568843951323 Centerline is valid? [True, True] Translation: X:469.37, Y:31.51, Z:17.33 [[ 9.96660028e-01 -7.01179700e-02 -4.18599875e-02 4.69368139e+02] [ 7.00376581e-02 9.97538609e-01 -3.38385063e-03 3.15124208e+01] [ 4.19942224e-02 4.40773176e-04 9.99117756e-01 1.73334631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46509989299994 meters 0.012407505084143166 Centerline is valid? [True, True] Translation: X:469.43, Y:31.51, Z:17.34 [[ 9.96188981e-01 -7.65907680e-02 -4.17297001e-02 4.69429407e+02] [ 7.65166290e-02 9.97062599e-01 -3.37331854e-03 3.15074570e+01] [ 4.18654883e-02 1.67446784e-04 9.99123242e-01 1.73357743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52509989299995 meters 0.012453992686814002 Centerline is valid? [True, True] Translation: X:469.49, Y:31.50, Z:17.34 [[ 9.95265793e-01 -8.74016063e-02 -4.25083580e-02 4.69491342e+02] [ 8.73345285e-02 9.96173114e-01 -3.43606917e-03 3.14980883e+01] [ 4.26460013e-02 -2.92645296e-04 9.99090203e-01 1.73363514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58509989299995 meters 0.013305321291868762 Centerline is valid? [True, True] Translation: X:469.55, Y:31.49, Z:17.34 [[ 9.94514796e-01 -9.54151069e-02 -4.28518110e-02 4.69553483e+02] [ 9.53544415e-02 9.95437363e-01 -3.46215027e-03 3.14934921e+01] [ 4.29866352e-02 -6.42950837e-04 9.99075441e-01 1.73379712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64509989299995 meters 0.01437937206218735 Centerline is valid? [True, True] Translation: X:469.62, Y:31.49, Z:17.34 [[ 9.94112785e-01 -9.95611223e-02 -4.27475480e-02 4.69615233e+02] [ 9.95046822e-02 9.95031108e-01 -3.45135766e-03 3.14927526e+01] [ 4.28787611e-02 -8.22542405e-04 9.99079944e-01 1.73398104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70509989299995 meters 0.016382268878286522 Centerline is valid? [True, True] Translation: X:469.68, Y:31.49, Z:17.34 [[ 9.93023142e-01 -1.10068076e-01 -4.23090823e-02 4.69676885e+02] [ 1.10022390e-01 9.93923246e-01 -3.41391761e-03 3.14856492e+01] [ 4.24277437e-02 -1.26484717e-03 9.99098737e-01 1.73417122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76509989299996 meters 0.021297049491353533 Centerline is valid? [True, True] Translation: X:469.74, Y:31.48, Z:17.34 [[ 9.92421275e-01 -1.15619084e-01 -4.16201895e-02 4.69737588e+02] [ 1.15579762e-01 9.93292526e-01 -3.35792014e-03 3.14782143e+01] [ 4.17292629e-02 -1.47798021e-03 9.99127862e-01 1.73432133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82509989299996 meters 0.024142153012379458 Centerline is valid? [True, True] Translation: X:469.80, Y:31.47, Z:17.34 [[ 9.91648652e-01 -1.22015739e-01 -4.17745290e-02 4.69799072e+02] [ 1.21981876e-01 9.92526613e-01 -3.36821111e-03 3.14743157e+01] [ 4.18733065e-02 -1.75565339e-03 9.99121386e-01 1.73449421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88509989299996 meters 0.022013584690384228 Centerline is valid? [True, True] Translation: X:469.86, Y:31.48, Z:17.35 [[ 9.91218264e-01 -1.25566882e-01 -4.14645728e-02 4.69860018e+02] [ 1.25536630e-01 9.92083353e-01 -3.34292988e-03 3.14802558e+01] [ 4.15560737e-02 -1.89174958e-03 9.99134382e-01 1.73476741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.94509989299996 meters 0.02393734985866096 Centerline is valid? [True, True] Translation: X:469.92, Y:31.48, Z:17.35 [[ 9.90665666e-01 -1.30391274e-01 -3.97448685e-02 4.69920905e+02] [ 1.30367401e-01 9.91460580e-01 -3.20293600e-03 3.14801611e+01] [ 3.98231053e-02 -2.00839648e-03 9.99204727e-01 1.73505511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.00509989299997 meters 0.027229560515947552 Centerline is valid? [True, True] Translation: X:469.98, Y:31.48, Z:17.35 [[ 9.90190545e-01 -1.33910798e-01 -3.98821128e-02 4.69981404e+02] [ 1.33889633e-01 9.90991040e-01 -3.21328236e-03 3.14800167e+01] [ 3.99531097e-02 -2.15803964e-03 9.99199225e-01 1.73515508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.06509989299997 meters 0.026602023118682847 Centerline is valid? [True, True] Translation: X:470.04, Y:31.49, Z:17.35 [[ 9.89934418e-01 -1.35363273e-01 -4.13114076e-02 4.70043265e+02] [ 1.35341867e-01 9.90793373e-01 -3.32744807e-03 3.14868306e+01] [ 4.13814831e-02 -2.29720765e-03 9.99140779e-01 1.73527841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.12509989299997 meters 0.030084666032293293 Centerline is valid? [True, True] Translation: X:470.10, Y:31.49, Z:17.35 [[ 9.89570252e-01 -1.37521026e-01 -4.28798737e-02 4.70103336e+02] [ 1.37500105e-01 9.90495741e-01 -3.45097862e-03 3.14888701e+01] [ 4.29469143e-02 -2.48100134e-03 9.99074275e-01 1.73531190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.185099893 meters 0.03153927636878301 Centerline is valid? [True, True] Translation: X:470.16, Y:31.49, Z:17.36 [[ 9.89335844e-01 -1.39103244e-01 -4.31842113e-02 4.70164780e+02] [ 1.39083535e-01 9.90274554e-01 -3.47526318e-03 3.14936344e+01] [ 4.32476460e-02 -2.56801035e-03 9.99061082e-01 1.73550437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.245099893 meters 0.02885181569573861 Centerline is valid? [True, True] Translation: X:470.23, Y:31.51, Z:17.36 [[ 9.89161382e-01 -1.40541222e-01 -4.25197087e-02 4.70226087e+02] [ 1.40523507e-01 9.90071435e-01 -3.42012590e-03 3.15063441e+01] [ 4.25782177e-02 -2.59196212e-03 9.99089774e-01 1.73586383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.305099893 meters 0.025871058535784128 Centerline is valid? [True, True] Translation: X:470.29, Y:31.52, Z:17.36 [[ 9.89306737e-01 -1.39799040e-01 -4.15741343e-02 4.70287917e+02] [ 1.39781578e-01 9.90176726e-01 -3.34100651e-03 3.15183959e+01] [ 4.16328097e-02 -2.50601784e-03 9.99129836e-01 1.73616765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.365099893 meters 0.026510941129231937 Centerline is valid? [True, True] Translation: X:470.35, Y:31.53, Z:17.36 [[ 9.89936322e-01 -1.35706891e-01 -4.01212830e-02 4.70346809e+02] [ 1.35687411e-01 9.90746462e-01 -3.22086916e-03 3.15278320e+01] [ 4.01871133e-02 -2.25549764e-03 9.99189626e-01 1.73649514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4250998929999 meters 0.024941897548247834 Centerline is valid? [True, True] Translation: X:470.41, Y:31.54, Z:17.37 [[ 9.90528819e-01 -1.31536172e-01 -3.93813912e-02 4.70407365e+02] [ 1.31514116e-01 9.91309257e-01 -3.16145114e-03 3.15388492e+01] [ 3.94549828e-02 -2.04770038e-03 9.99219251e-01 1.73681582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4850998929999 meters 0.02107333762620669 Centerline is valid? [True, True] Translation: X:470.47, Y:31.55, Z:17.37 [[ 9.91579625e-01 -1.23719876e-01 -3.82523190e-02 4.70466468e+02] [ 1.23693285e-01 9.92315749e-01 -3.07015445e-03 3.15543692e+01] [ 3.83382178e-02 -1.68725241e-03 9.99263396e-01 1.73713484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54509989299993 meters 0.020472281539228664 Centerline is valid? [True, True] Translation: X:470.53, Y:31.56, Z:17.37 [[ 9.92426411e-01 -1.16501346e-01 -3.89519647e-02 4.70525634e+02] [ 1.16468218e-01 9.93189499e-01 -3.12638099e-03 3.15635864e+01] [ 3.90509098e-02 -1.43396283e-03 9.99236193e-01 1.73734516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60509989299993 meters 0.016941681372645345 Centerline is valid? [True, True] Translation: X:470.59, Y:31.58, Z:17.37 [[ 9.92944695e-01 -1.11386723e-01 -4.06673049e-02 4.70586062e+02] [ 1.11346303e-01 9.93776304e-01 -3.26465313e-03 3.15760216e+01] [ 4.07778430e-02 -1.28653406e-03 9.99167410e-01 1.73746132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66509989299993 meters 0.016641871047800065 Centerline is valid? [True, True] Translation: X:470.65, Y:31.58, Z:17.38 [[ 9.93467576e-01 -1.05807765e-01 -4.27421638e-02 4.70646150e+02] [ 1.05757992e-01 9.94385981e-01 -3.43038600e-03 3.15825270e+01] [ 4.28651700e-02 -1.11234816e-03 9.99080247e-01 1.73753473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72509989299994 meters 0.013645047856704886 Centerline is valid? [True, True] Translation: X:470.71, Y:31.60, Z:17.38 [[ 9.94525369e-01 -9.47721726e-02 -4.40173381e-02 4.70706424e+02] [ 9.47086116e-02 9.95498772e-01 -3.53189358e-03 3.15955726e+01] [ 4.41539313e-02 -6.56263214e-04 9.99024524e-01 1.73776002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78509989299994 meters 0.0124265583086275 Centerline is valid? [True, True] Translation: X:470.77, Y:31.61, Z:17.38 [[ 9.95719457e-01 -8.16211571e-02 -4.33676012e-02 4.70766440e+02] [ 8.15470175e-02 9.96663424e-01 -3.47886315e-03 3.16091894e+01] [ 4.35068508e-02 -7.25268128e-05 9.99053126e-01 1.73819583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84509989299994 meters 0.01284147938474503 Centerline is valid? [True, True] Translation: X:470.83, Y:31.62, Z:17.38 [[ 9.96380959e-01 -7.36656352e-02 -4.24070608e-02 4.70826575e+02] [ 7.35876005e-02 9.97282960e-01 -3.40034758e-03 3.16185763e+01] [ 4.25423279e-02 2.67407732e-04 9.99094630e-01 1.73849250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90509989299994 meters 0.013461243160881051 Centerline is valid? [True, True] Translation: X:470.89, Y:31.62, Z:17.39 [[ 9.96876748e-01 -6.67834516e-02 -4.21511583e-02 4.70886949e+02] [ 6.67002332e-02 9.97767338e-01 -3.37915090e-03 3.16245614e+01] [ 4.22827203e-02 5.57104874e-04 9.99105531e-01 1.73882587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96509989299994 meters 0.01335120394864398 Centerline is valid? [True, True] Translation: X:470.95, Y:31.63, Z:17.39 [[ 9.96859264e-01 -6.72320292e-02 -4.18504728e-02 4.70947661e+02] [ 6.71503896e-02 9.97737224e-01 -3.35504572e-03 3.16263542e+01] [ 4.19813411e-02 5.34232847e-04 9.99118252e-01 1.73910305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02509989299995 meters 0.012609912818710725 Centerline is valid? [True, True] Translation: X:471.01, Y:31.62, Z:17.39 [[ 9.96292412e-01 -7.56921424e-02 -4.08916840e-02 4.71007873e+02] [ 7.56213151e-02 9.97131220e-01 -3.27831674e-03 3.16205459e+01] [ 4.10225176e-02 1.73879171e-04 9.99158207e-01 1.73936019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08509989299995 meters 0.01266948000934153 Centerline is valid? [True, True] Translation: X:471.07, Y:31.62, Z:17.40 [[ 9.95527327e-01 -8.47817908e-02 -4.16820080e-02 4.71069752e+02] [ 8.47161049e-02 9.96399522e-01 -3.34289115e-03 3.16155950e+01] [ 4.18153491e-02 -2.03197867e-04 9.99125335e-01 1.73953481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14509989299995 meters 0.014538463437585506 Centerline is valid? [True, True] Translation: X:471.13, Y:31.60, Z:17.40 [[ 9.94102272e-01 -9.97837510e-02 -4.24720621e-02 4.71131822e+02] [ 9.97292789e-02 9.95008783e-01 -3.40473051e-03 3.16039070e+01] [ 4.25998116e-02 -8.51057791e-04 9.99091854e-01 1.73963043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20509989299995 meters 0.016743754841337884 Centerline is valid? [True, True] Translation: X:471.19, Y:31.60, Z:17.40 [[ 9.93112810e-01 -1.09210992e-01 -4.24252980e-02 4.71193107e+02] [ 1.09165272e-01 9.94017799e-01 -3.39984461e-03 3.15973111e+01] [ 4.25428018e-02 -1.25493998e-03 9.99093857e-01 1.73977686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26509989299996 meters 0.020223890817824965 Centerline is valid? [True, True] Translation: X:471.25, Y:31.59, Z:17.40 [[ 9.91755570e-01 -1.20905719e-01 -4.24581730e-02 4.71254657e+02] [ 1.20870659e-01 9.92662437e-01 -3.40138568e-03 3.15880089e+01] [ 4.25578804e-02 -1.75860415e-03 9.99092455e-01 1.73993636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32509989299996 meters 0.023927566629311357 Centerline is valid? [True, True] Translation: X:471.31, Y:31.58, Z:17.40 [[ 9.90785401e-01 -1.28037604e-01 -4.41662949e-02 4.71314927e+02] [ 1.28006746e-01 9.91766987e-01 -3.53784666e-03 3.15816296e+01] [ 4.42556506e-02 -2.14833686e-03 9.99017929e-01 1.74002580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38509989299996 meters 0.02374147374942854 Centerline is valid? [True, True] Translation: X:471.38, Y:31.58, Z:17.40 [[ 9.90378155e-01 -1.30845850e-01 -4.50607759e-02 4.71375806e+02] [ 1.30816608e-01 9.91400012e-01 -3.60991757e-03 3.15840917e+01] [ 4.51455965e-02 -2.31951436e-03 9.98977725e-01 1.74027918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.44509989299996 meters 0.024807581782055662 Centerline is valid? [True, True] Translation: X:471.44, Y:31.58, Z:17.40 [[ 9.89984746e-01 -1.33427490e-01 -4.61227406e-02 4.71437348e+02] [ 1.33399696e-01 9.91055435e-01 -3.69396316e-03 3.15836717e+01] [ 4.62030690e-02 -2.49579238e-03 9.98928950e-01 1.74044882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.50509989299997 meters 0.02521043478189912 Centerline is valid? [True, True] Translation: X:471.50, Y:31.59, Z:17.41 [[ 9.89802639e-01 -1.34556909e-01 -4.67458475e-02 4.71498177e+02] [ 1.34529687e-01 9.90902497e-01 -3.74230316e-03 3.15864799e+01] [ 4.68241298e-02 -2.58456271e-03 9.98899805e-01 1.74066883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.56509989299997 meters 0.027617427375632914 Centerline is valid? [True, True] Translation: X:471.56, Y:31.59, Z:17.41 [[ 9.89691563e-01 -1.35184093e-01 -4.72850056e-02 4.71558125e+02] [ 1.35156979e-01 9.90816969e-01 -3.78495606e-03 3.15871500e+01] [ 4.73624518e-02 -2.64495945e-03 9.98874268e-01 1.74084859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.62509989299997 meters 0.025365697235748785 Centerline is valid? [True, True] Translation: X:471.62, Y:31.60, Z:17.41 [[ 9.89670173e-01 -1.35236590e-01 -4.75816583e-02 4.71618753e+02] [ 1.35209182e-01 9.90809754e-01 -3.80899810e-03 3.15950021e+01] [ 4.76594871e-02 -2.66382526e-03 9.98860089e-01 1.74114469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.685099893 meters 0.027486108506021935 Centerline is valid? [True, True] Translation: X:471.68, Y:31.60, Z:17.41 [[ 9.89665595e-01 -1.35397460e-01 -4.72179828e-02 4.71678665e+02] [ 1.35370706e-01 9.90787814e-01 -3.77870683e-03 3.15972619e+01] [ 4.72946293e-02 -2.65227552e-03 9.98877462e-01 1.74138176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.745099893 meters 0.028635870517348363 Centerline is valid? [True, True] Translation: X:471.74, Y:31.60, Z:17.42 [[ 9.89585356e-01 -1.36289300e-01 -4.63254815e-02 4.71739356e+02] [ 1.36264488e-01 9.90665554e-01 -3.70794508e-03 3.16015185e+01] [ 4.63984121e-02 -2.64318989e-03 9.98919517e-01 1.74173988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.805099893 meters 0.029381129004568123 Centerline is valid? [True, True] Translation: X:471.80, Y:31.61, Z:17.42 [[ 9.89413142e-01 -1.37953494e-01 -4.50607137e-02 4.71799883e+02] [ 1.37931742e-01 9.90435171e-01 -3.60657153e-03 3.16070775e+01] [ 4.51272548e-02 -2.64691346e-03 9.98977740e-01 1.74207234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.8650998929999 meters 0.026263938933519852 Centerline is valid? [True, True] Translation: X:471.86, Y:31.62, Z:17.42 [[ 9.89195229e-01 -1.39565713e-01 -4.48799578e-02 4.71860858e+02] [ 1.39545836e-01 9.90209101e-01 -3.59101194e-03 3.16170860e+01] [ 4.49417248e-02 -2.71059936e-03 9.98985933e-01 1.74233997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9250998929999 meters 0.029386500800577867 Centerline is valid? [True, True] Translation: X:471.92, Y:31.62, Z:17.42 [[ 9.88601101e-01 -1.43449716e-01 -4.57169834e-02 4.71920775e+02] [ 1.43433333e-01 9.89653230e-01 -3.65562390e-03 3.16186722e+01] [ 4.57683585e-02 -2.94338549e-03 9.98947743e-01 1.74246988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9850998929999 meters 0.03138549826231317 Centerline is valid? [True, True] Translation: X:471.98, Y:31.62, Z:17.43 [[ 9.88070443e-01 -1.46962514e-01 -4.60306311e-02 4.71981602e+02] [ 1.46949747e-01 9.89137115e-01 -3.67963873e-03 3.16233498e+01] [ 4.60713747e-02 -3.12844732e-03 9.98933252e-01 1.74271132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04509989299993 meters 0.03189454035878529 Centerline is valid? [True, True] Translation: X:472.04, Y:31.63, Z:17.43 [[ 9.87955877e-01 -1.47696479e-01 -4.61403776e-02 4.72042895e+02] [ 1.47684475e-01 9.89027652e-01 -3.68780375e-03 3.16295101e+01] [ 4.61787849e-02 -3.17083006e-03 9.98928158e-01 1.74299092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10509989299993 meters 0.03215937146879026 Centerline is valid? [True, True] Translation: X:472.10, Y:31.64, Z:17.43 [[ 9.88389389e-01 -1.45077581e-01 -4.51543133e-02 4.72103112e+02] [ 1.45063428e-01 9.89415781e-01 -3.60752276e-03 3.16382195e+01] [ 4.51997608e-02 -2.98460225e-03 9.98973510e-01 1.74331670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16509989299993 meters 0.0304910109143182 Centerline is valid? [True, True] Translation: X:472.16, Y:31.65, Z:17.44 [[ 9.89041976e-01 -1.41005734e-01 -4.37418856e-02 4.72163011e+02] [ 1.40988512e-01 9.90005066e-01 -3.49401399e-03 3.16485282e+01] [ 4.37973644e-02 -2.71137685e-03 9.99036756e-01 1.74370132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22509989299994 meters 0.026470729125810274 Centerline is valid? [True, True] Translation: X:472.22, Y:31.66, Z:17.44 [[ 9.90108612e-01 -1.33606918e-01 -4.28267244e-02 4.72222285e+02] [ 1.33583509e-01 9.91031656e-01 -3.42081349e-03 3.16643227e+01] [ 4.28996840e-02 -2.33396725e-03 9.99076659e-01 1.74407972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28509989299994 meters 0.02477200119851636 Centerline is valid? [True, True] Translation: X:472.28, Y:31.67, Z:17.44 [[ 9.90936154e-01 -1.27420628e-01 -4.25384690e-02 4.72282142e+02] [ 1.27391843e-01 9.91846648e-01 -3.39784753e-03 3.16747151e+01] [ 4.26245938e-02 -2.05200402e-03 9.99089052e-01 1.74431340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34509989299994 meters 0.023272842338446308 Centerline is valid? [True, True] Translation: X:472.34, Y:31.68, Z:17.44 [[ 9.91449275e-01 -1.23273213e-01 -4.28024561e-02 4.72342438e+02] [ 1.23240217e-01 9.92370979e-01 -3.41884424e-03 3.16830765e+01] [ 4.28973672e-02 -1.88537335e-03 9.99077705e-01 1.74448490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40509989299994 meters 0.022095430898962196 Centerline is valid? [True, True] Translation: X:472.40, Y:31.69, Z:17.45 [[ 9.92006952e-01 -1.18260269e-01 -4.40081401e-02 4.72403157e+02] [ 1.18220501e-01 9.92981149e-01 -3.51431858e-03 3.16913075e+01] [ 4.41148578e-02 -1.71643591e-03 9.99024991e-01 1.74462490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46509989299994 meters 0.01685917359521091 Centerline is valid? [True, True] Translation: X:472.46, Y:31.71, Z:17.45 [[ 9.93100925e-01 -1.08269469e-01 -4.50363735e-02 4.72462248e+02] [ 1.08217593e-01 9.94120729e-01 -3.59559147e-03 3.17075937e+01] [ 4.51608852e-02 -1.30294271e-03 9.98978877e-01 1.74489352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52509989299995 meters 0.014662379811600073 Centerline is valid? [True, True] Translation: X:472.52, Y:31.72, Z:17.45 [[ 9.94123479e-01 -9.81296656e-02 -4.57064173e-02 4.72522085e+02] [ 9.80655241e-02 9.95173270e-01 -3.64894596e-03 3.17194869e+01] [ 4.58438747e-02 -8.54720922e-04 9.98948251e-01 1.74517681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58509989299995 meters 0.013838092716741537 Centerline is valid? [True, True] Translation: X:472.58, Y:31.73, Z:17.45 [[ 9.94595017e-01 -9.33029041e-02 -4.55556849e-02 4.72583415e+02] [ 9.32341754e-02 9.95637569e-01 -3.63577851e-03 3.17272534e+01] [ 4.56961801e-02 -6.31219528e-04 9.98955185e-01 1.74544193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64509989299995 meters 0.013302162723289346 Centerline is valid? [True, True] Translation: X:472.64, Y:31.73, Z:17.46 [[ 9.94979976e-01 -8.93175304e-02 -4.51356313e-02 4.72644540e+02] [ 8.92460687e-02 9.96003102e-01 -3.59994929e-03 3.17335739e+01] [ 4.52767674e-02 -4.46300197e-04 9.98974382e-01 1.74567703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70509989299995 meters 0.013346638817632055 Centerline is valid? [True, True] Translation: X:472.71, Y:31.74, Z:17.46 [[ 9.94964325e-01 -8.96490863e-02 -4.48222387e-02 4.72705761e+02] [ 8.95790227e-02 9.95973308e-01 -3.57334075e-03 3.17368539e+01] [ 4.49621001e-02 -4.59785771e-04 9.98988588e-01 1.74589212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76509989299996 meters 0.01376468977364912 Centerline is valid? [True, True] Translation: X:472.77, Y:31.74, Z:17.46 [[ 9.94699233e-01 -9.32334386e-02 -4.33700599e-02 4.72766279e+02] [ 9.31713030e-02 9.95644094e-01 -3.45627663e-03 3.17365517e+01] [ 4.35033846e-02 -6.02889280e-04 9.99053098e-01 1.74613250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82509989299996 meters 0.014354337598842958 Centerline is valid? [True, True] Translation: X:472.83, Y:31.74, Z:17.46 [[ 9.94239938e-01 -9.81214024e-02 -4.31177082e-02 4.72827410e+02] [ 9.80645884e-02 9.95174121e-01 -3.43594603e-03 3.17372833e+01] [ 4.32467672e-02 -8.12165544e-04 9.99064091e-01 1.74636919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88509989299996 meters 0.01677057345944553 Centerline is valid? [True, True] Translation: X:472.89, Y:31.73, Z:17.46 [[ 9.93183016e-01 -1.08302335e-01 -4.31056840e-02 4.72888365e+02] [ 1.08255182e-01 9.94117209e-01 -3.43357680e-03 3.17324934e+01] [ 4.32239667e-02 -1.25624351e-03 9.99064618e-01 1.74647874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.94509989299996 meters 0.022345496717277757 Centerline is valid? [True, True] Translation: X:472.95, Y:31.72, Z:17.46 [[ 9.91916529e-01 -1.19179132e-01 -4.35652850e-02 4.72949528e+02] [ 1.19141440e-01 9.92871229e-01 -3.46991768e-03 3.17235209e+01] [ 4.36682598e-02 -1.74856209e-03 9.99044556e-01 1.74648954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.00509989299997 meters 0.026059952533584833 Centerline is valid? [True, True] Translation: X:473.01, Y:31.72, Z:17.47 [[ 9.91040260e-01 -1.26153256e-01 -4.38697947e-02 4.73010338e+02] [ 1.26121863e-01 9.92008603e-01 -3.49376735e-03 3.17208250e+01] [ 4.39599639e-02 -2.07047613e-03 9.99031148e-01 1.74657894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.06509989299997 meters 0.02847910714102988 Centerline is valid? [True, True] Translation: X:473.07, Y:31.72, Z:17.47 [[ 9.89944688e-01 -1.34813286e-01 -4.28356498e-02 4.73071229e+02] [ 1.34791433e-01 9.90868121e-01 -3.41129133e-03 3.17196225e+01] [ 4.29043672e-02 -2.39688888e-03 9.99076308e-01 1.74681320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.12509989299997 meters 0.030163019765960985 Centerline is valid? [True, True] Translation: X:473.13, Y:31.72, Z:17.47 [[ 9.89343235e-01 -1.39231481e-01 -4.25976204e-02 4.73131738e+02] [ 1.39213952e-01 9.90256517e-01 -3.39220421e-03 3.17208215e+01] [ 4.26548728e-02 -2.57412878e-03 9.99086551e-01 1.74702890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.185099893 meters 0.0354238335419811 Centerline is valid? [True, True] Translation: X:473.19, Y:31.72, Z:17.47 [[ 9.88669480e-01 -1.43891432e-01 -4.27541347e-02 4.73191575e+02] [ 1.43878111e-01 9.89589560e-01 -3.40460628e-03 3.17177900e+01] [ 4.27989390e-02 -2.78535383e-03 9.99079823e-01 1.74715979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.245099893 meters 0.032570911373672636 Centerline is valid? [True, True] Translation: X:473.25, Y:31.73, Z:17.47 [[ 9.88430711e-01 -1.45528582e-01 -4.27336142e-02 4.73252608e+02] [ 1.45516783e-01 9.89349930e-01 -3.40331351e-03 3.17268523e+01] [ 4.27737776e-02 -2.85451846e-03 9.99080705e-01 1.74745779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.305099893 meters 0.034457226470454363 Centerline is valid? [True, True] Translation: X:473.31, Y:31.73, Z:17.48 [[ 9.88344192e-01 -1.45966096e-01 -4.32395203e-02 4.73313828e+02] [ 1.45954505e-01 9.89285316e-01 -3.44193186e-03 3.17300105e+01] [ 4.32786278e-02 -2.90918943e-03 9.99058806e-01 1.74766082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.3650998929999 meters 0.03411272599477652 Centerline is valid? [True, True] Translation: X:473.37, Y:31.74, Z:17.48 [[ 9.88787931e-01 -1.42893016e-01 -4.33591122e-02 4.73373870e+02] [ 1.42878506e-01 9.89734224e-01 -3.44946837e-03 3.17375699e+01] [ 4.34069022e-02 -2.78429250e-03 9.99053596e-01 1.74791253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4250998929999 meters 0.033369368881975725 Centerline is valid? [True, True] Translation: X:473.43, Y:31.75, Z:17.48 [[ 9.89347555e-01 -1.38954479e-01 -4.33943283e-02 4.73434331e+02] [ 1.38936173e-01 9.90295321e-01 -3.45222954e-03 3.17455801e+01] [ 4.34529031e-02 -2.61358705e-03 9.99052058e-01 1.74816177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4850998929999 meters 0.03304134104571675 Centerline is valid? [True, True] Translation: X:473.49, Y:31.75, Z:17.48 [[ 9.89697093e-01 -1.36480674e-01 -4.32745937e-02 4.73494977e+02] [ 1.36460127e-01 9.90639583e-01 -3.44235881e-03 3.17520806e+01] [ 4.33393409e-02 -2.49836404e-03 9.99057286e-01 1.74836067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54509989299993 meters 0.02966043957638745 Centerline is valid? [True, True] Translation: X:473.55, Y:31.77, Z:17.49 [[ 9.90864986e-01 -1.27762911e-01 -4.31650036e-02 4.73554635e+02] [ 1.27734244e-01 9.91802489e-01 -3.43294610e-03 3.17670428e+01] [ 4.32497612e-02 -2.11206302e-03 9.99062059e-01 1.74866497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60509989299993 meters 0.027269604856483783 Centerline is valid? [True, True] Translation: X:473.61, Y:31.78, Z:17.49 [[ 9.91673204e-01 -1.21634077e-01 -4.23013942e-02 4.73614394e+02] [ 1.21600995e-01 9.92573364e-01 -3.36386619e-03 3.17791595e+01] [ 4.23963979e-02 -1.80803567e-03 9.99099233e-01 1.74905425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66509989299993 meters 0.023918503771761485 Centerline is valid? [True, True] Translation: X:473.67, Y:31.79, Z:17.49 [[ 9.92737582e-01 -1.12958027e-01 -4.13832925e-02 4.73673356e+02] [ 1.12918833e-01 9.93598766e-01 -3.29085887e-03 3.17938720e+01] [ 4.14901173e-02 -1.40599384e-03 9.99137925e-01 1.74946373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72509989299994 meters 0.017571572064364983 Centerline is valid? [True, True] Translation: X:473.73, Y:31.81, Z:17.50 [[ 9.93319694e-01 -1.07621955e-01 -4.16353164e-02 4.73733212e+02] [ 1.07577600e-01 9.94191178e-01 -3.31086421e-03 3.18111510e+01] [ 4.17497859e-02 -1.19028081e-03 9.99127389e-01 1.74978857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78509989299994 meters 0.01630374523399546 Centerline is valid? [True, True] Translation: X:473.79, Y:31.82, Z:17.50 [[ 9.93753761e-01 -1.03066449e-01 -4.27875035e-02 4.73794595e+02] [ 1.03015431e-01 9.94673942e-01 -3.40143479e-03 3.18209229e+01] [ 4.29101886e-02 -1.02758451e-03 9.99078405e-01 1.74999614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84509989299994 meters 0.015299634671043751 Centerline is valid? [True, True] Translation: X:473.86, Y:31.83, Z:17.50 [[ 9.94249555e-01 -9.76853280e-02 -4.38793672e-02 4.73855423e+02] [ 9.76265530e-02 9.95217015e-01 -3.48554714e-03 3.18299025e+01] [ 4.40099797e-02 -8.18287673e-04 9.99030756e-01 1.75024138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90509989299994 meters 0.01474786281380441 Centerline is valid? [True, True] Translation: X:473.92, Y:31.84, Z:17.51 [[ 9.94556512e-01 -9.46502038e-02 -4.35738802e-02 4.73916248e+02] [ 9.45894015e-02 9.95510359e-01 -3.45971249e-03 3.18363382e+01] [ 4.37057117e-02 -6.80747671e-04 9.99044217e-01 1.75059601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96509989299994 meters 0.014321344065258396 Centerline is valid? [True, True] Translation: X:473.98, Y:31.84, Z:17.51 [[ 9.94737924e-01 -9.27612177e-02 -4.34950423e-02 4.73977113e+02] [ 9.26988994e-02 9.95688204e-01 -3.45187501e-03 3.18425045e+01] [ 4.36277006e-02 -5.98231567e-04 9.99047679e-01 1.75094719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02509989299995 meters 0.013981736354097165 Centerline is valid? [True, True] Translation: X:474.04, Y:31.85, Z:17.51 [[ 9.95042510e-01 -8.93430342e-02 -4.36832451e-02 4.74038569e+02] [ 8.92769529e-02 9.96000812e-01 -3.46520611e-03 3.18473600e+01] [ 4.38181397e-02 -4.51879631e-04 9.99039422e-01 1.75124710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08509989299995 meters 0.013703372667864484 Centerline is valid? [True, True] Translation: X:474.10, Y:31.85, Z:17.52 [[ 9.95221007e-01 -8.73490401e-02 -4.36496627e-02 4.74099693e+02] [ 8.72812127e-02 9.96177701e-01 -3.46095666e-03 3.18517175e+01] [ 4.37851319e-02 -3.65378727e-04 9.99040904e-01 1.75154992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14509989299995 meters 0.013680549432965542 Centerline is valid? [True, True] Translation: X:474.16, Y:31.85, Z:17.52 [[ 9.95242122e-01 -8.68690176e-02 -4.41235969e-02 4.74160932e+02] [ 8.67993102e-02 9.96219680e-01 -3.49688718e-03 3.18543424e+01] [ 4.42605667e-02 -3.49648354e-04 9.99019960e-01 1.75181021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20509989299995 meters 0.013840693579787277 Centerline is valid? [True, True] Translation: X:474.22, Y:31.85, Z:17.52 [[ 9.95079890e-01 -8.84275234e-02 -4.46831679e-02 4.74222734e+02] [ 8.83576805e-02 9.96082523e-01 -3.53957730e-03 3.18539684e+01] [ 4.48211186e-02 -4.25938884e-04 9.98994938e-01 1.75211455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26509989299996 meters 0.014093936699075682 Centerline is valid? [True, True] Translation: X:474.28, Y:31.85, Z:17.52 [[ 9.94828305e-01 -9.09400771e-02 -4.52387620e-02 4.74283659e+02] [ 9.08711444e-02 9.95856216e-01 -3.58220321e-03 3.18541450e+01] [ 4.53770682e-02 -5.47220923e-04 9.98969780e-01 1.75231662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32509989299996 meters 0.014944640605783611 Centerline is valid? [True, True] Translation: X:474.34, Y:31.85, Z:17.52 [[ 9.94474873e-01 -9.41583897e-02 -4.64103898e-02 4.74343892e+02] [ 9.40893400e-02 9.95556975e-01 -3.67497783e-03 3.18513858e+01] [ 4.65502172e-02 -7.12049832e-04 9.98915697e-01 1.75247891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38509989299996 meters 0.014563525626372647 Centerline is valid? [True, True] Translation: X:474.40, Y:31.85, Z:17.53 [[ 9.94319811e-01 -9.56018476e-02 -4.67803368e-02 4.74404620e+02] [ 9.55332884e-02 9.95419343e-01 -3.70427185e-03 3.18537368e+01] [ 4.69201873e-02 -7.85848514e-04 9.98898332e-01 1.75280747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.44509989299996 meters 0.015111036136797385 Centerline is valid? [True, True] Translation: X:474.46, Y:31.85, Z:17.53 [[ 9.94265626e-01 -9.63044191e-02 -4.64900307e-02 4.74464047e+02] [ 9.62374763e-02 9.95351594e-01 -3.68127252e-03 3.18530613e+01] [ 4.66284490e-02 -8.13920496e-04 9.98911971e-01 1.75295627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.50509989299997 meters 0.015568861023079642 Centerline is valid? [True, True] Translation: X:474.52, Y:31.85, Z:17.53 [[ 9.94126872e-01 -9.73690183e-02 -4.72338576e-02 4.74523994e+02] [ 9.73011017e-02 9.95247961e-01 -3.74047580e-03 3.18507251e+01] [ 4.73736069e-02 -8.77398875e-04 9.98876855e-01 1.75315589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.56509989299997 meters 0.01500518298478059 Centerline is valid? [True, True] Translation: X:474.58, Y:31.85, Z:17.53 [[ 9.93988537e-01 -9.83263285e-02 -4.81531069e-02 4.74583175e+02] [ 9.82567710e-02 9.95153783e-01 -3.81520027e-03 3.18512406e+01] [ 4.82948811e-02 -9.39103467e-04 9.98832680e-01 1.75348936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.62509989299997 meters 0.015049633669325874 Centerline is valid? [True, True] Translation: X:474.64, Y:31.85, Z:17.54 [[ 9.93922614e-01 -9.85165533e-02 -4.91154355e-02 4.74641921e+02] [ 9.84441658e-02 9.95134947e-01 -3.89658313e-03 3.18521699e+01] [ 4.92603642e-02 -9.62225987e-04 9.98785508e-01 1.75358322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.685099893 meters 0.015343882082854407 Centerline is valid? [True, True] Translation: X:474.70, Y:31.85, Z:17.54 [[ 9.93917977e-01 -9.77938656e-02 -5.06301686e-02 4.74699587e+02] [ 9.77154470e-02 9.95206244e-01 -4.02776313e-03 3.18529146e+01] [ 5.07813505e-02 -9.44083367e-04 9.98709349e-01 1.75366600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.745099893 meters 0.014138197209226789 Centerline is valid? [True, True] Translation: X:474.76, Y:31.86, Z:17.54 [[ 9.94231877e-01 -9.44157848e-02 -5.08786316e-02 4.74757952e+02] [ 9.43318215e-02 9.95532556e-01 -4.05442645e-03 3.18564690e+01] [ 5.10341360e-02 -7.68433975e-04 9.98696614e-01 1.75403964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.805099893 meters 0.013706513871150482 Centerline is valid? [True, True] Translation: X:474.82, Y:31.86, Z:17.54 [[ 9.94554769e-01 -9.10158291e-02 -5.07634736e-02 4.74816384e+02] [ 9.09271516e-02 9.95849277e-01 -4.05833812e-03 3.18607665e+01] [ 5.09221416e-02 -5.79538533e-04 9.98702458e-01 1.75434689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.8650998929999 meters 0.01365335529386701 Centerline is valid? [True, True] Translation: X:474.87, Y:31.86, Z:17.54 [[ 9.95013397e-01 -8.62429949e-02 -5.01047504e-02 4.74874658e+02] [ 8.61499163e-02 9.96274081e-01 -4.01837519e-03 3.18634262e+01] [ 5.02646208e-02 -3.18182904e-04 9.98735884e-01 1.75444285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9250998929999 meters 0.013232149070255628 Centerline is valid? [True, True] Translation: X:474.93, Y:31.87, Z:17.55 [[ 9.95173757e-01 -8.44380647e-02 -4.99940717e-02 4.74932957e+02] [ 8.43424896e-02 9.96428707e-01 -4.02206463e-03 3.18672748e+01] [ 5.01551436e-02 -2.13971307e-04 9.98741416e-01 1.75486334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9850998929999 meters 0.01317727477873337 Centerline is valid? [True, True] Translation: X:474.99, Y:31.87, Z:17.55 [[ 9.95196561e-01 -8.46144557e-02 -4.92361465e-02 4.74990887e+02] [ 8.45213502e-02 9.96413745e-01 -3.97369872e-03 3.18689102e+01] [ 4.93958054e-02 -2.06894273e-04 9.98779261e-01 1.75518408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04509989299993 meters 0.013434943952411496 Centerline is valid? [True, True] Translation: X:475.05, Y:31.87, Z:17.55 [[ 9.94911823e-01 -8.77505746e-02 -4.95005151e-02 4.75049118e+02] [ 8.76597526e-02 9.96142416e-01 -4.00693007e-03 3.18655015e+01] [ 4.96611731e-02 -3.52660802e-04 9.98766060e-01 1.75529002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10509989299993 meters 0.013921508201783627 Centerline is valid? [True, True] Translation: X:475.11, Y:31.86, Z:17.55 [[ 9.94556033e-01 -9.15056685e-02 -4.98498669e-02 4.75108668e+02] [ 9.14179516e-02 9.95804410e-01 -4.04159491e-03 3.18634325e+01] [ 5.00105461e-02 -5.37580114e-04 9.98748545e-01 1.75542729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16509989299993 meters 0.014433083371363852 Centerline is valid? [True, True] Translation: X:475.17, Y:31.86, Z:17.56 [[ 9.94014860e-01 -9.73249266e-02 -4.96217438e-02 4.75167458e+02] [ 9.72447495e-02 9.95252326e-01 -4.03318274e-03 3.18601949e+01] [ 4.97786851e-02 -8.16410466e-04 9.98759939e-01 1.75573123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22509989299994 meters 0.0150820158364009 Centerline is valid? [True, True] Translation: X:475.23, Y:31.86, Z:17.56 [[ 9.93707506e-01 -1.00424532e-01 -4.96014756e-02 4.75226049e+02] [ 1.00348053e-01 9.94944209e-01 -4.03602429e-03 3.18595504e+01] [ 4.97560167e-02 -9.66783887e-04 9.98760934e-01 1.75596161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28509989299994 meters 0.015268622138252651 Centerline is valid? [True, True] Translation: X:475.28, Y:31.86, Z:17.56 [[ 9.93539162e-01 -1.02379355e-01 -4.89734830e-02 4.75284728e+02] [ 1.02306862e-01 9.94744880e-01 -3.99124917e-03 3.18597422e+01] [ 4.91247430e-02 -1.04486101e-03 9.98792104e-01 1.75623223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34509989299994 meters 0.014731782724643446 Centerline is valid? [True, True] Translation: X:475.34, Y:31.86, Z:17.56 [[ 9.93649315e-01 -1.01461381e-01 -4.86479884e-02 4.75343663e+02] [ 1.01388142e-01 9.94838995e-01 -3.97715510e-03 3.18636934e+01] [ 4.88004435e-02 -9.80431710e-04 9.98808067e-01 1.75649683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40509989299994 meters 0.015234061839166623 Centerline is valid? [True, True] Translation: X:475.40, Y:31.87, Z:17.57 [[ 9.93754022e-01 -1.00617379e-01 -4.82606206e-02 4.75401850e+02] [ 1.00543793e-01 9.94924768e-01 -3.95610327e-03 3.18665027e+01] [ 4.84137395e-02 -9.20912314e-04 9.98826943e-01 1.75665685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46509989299994 meters 0.014541923903810207 Centerline is valid? [True, True] Translation: X:475.46, Y:31.87, Z:17.57 [[ 9.94015111e-01 -9.86811841e-02 -4.68613203e-02 4.75460586e+02] [ 9.86093837e-02 9.95118781e-01 -3.84714425e-03 3.18695532e+01] [ 4.70122207e-02 -7.96846394e-04 9.98893996e-01 1.75703109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52509989299995 meters 0.014326762275210014 Centerline is valid? [True, True] Translation: X:475.52, Y:31.87, Z:17.57 [[ 9.94068350e-01 -9.85832349e-02 -4.59288746e-02 4.75519618e+02] [ 9.85136312e-02 9.95128515e-01 -3.78205076e-03 3.18722776e+01] [ 4.60779796e-02 -7.65003255e-04 9.98937553e-01 1.75735059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58509989299995 meters 0.014779175841379093 Centerline is valid? [True, True] Translation: X:475.58, Y:31.87, Z:17.58 [[ 9.93993452e-01 -9.92955884e-02 -4.60152544e-02 4.75577797e+02] [ 9.92260087e-02 9.95057668e-01 -3.79947335e-03 3.18715698e+01] [ 4.61651027e-02 -7.89258396e-04 9.98933511e-01 1.75752563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64509989299995 meters 0.015256652087464649 Centerline is valid? [True, True] Translation: X:475.64, Y:31.87, Z:17.58 [[ 9.93765495e-01 -1.01119850e-01 -4.69565516e-02 4.75637143e+02] [ 1.01049153e-01 9.94873857e-01 -3.88302649e-03 3.18722385e+01] [ 4.71084966e-02 -8.86102019e-04 9.98889385e-01 1.75763361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70509989299995 meters 0.016113815763245044 Centerline is valid? [True, True] Translation: X:475.70, Y:31.87, Z:17.58 [[ 9.93374956e-01 -1.04693594e-01 -4.73861550e-02 4.75695867e+02] [ 1.04625171e-01 9.94503966e-01 -3.92877931e-03 3.18701872e+01] [ 4.75370371e-02 -1.05503359e-03 9.98868919e-01 1.75775819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76509989299996 meters 0.01653423038223076 Centerline is valid? [True, True] Translation: X:475.76, Y:31.87, Z:17.58 [[ 9.93053273e-01 -1.07829933e-01 -4.70946149e-02 4.75755070e+02] [ 1.07765598e-01 9.94168640e-01 -3.91038826e-03 3.18711716e+01] [ 4.72416461e-02 -1.19195547e-03 9.98882779e-01 1.75799574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82509989299996 meters 0.017816000190276335 Centerline is valid? [True, True] Translation: X:475.81, Y:31.87, Z:17.58 [[ 9.92824887e-01 -1.10466490e-01 -4.57809763e-02 4.75813284e+02] [ 1.10408020e-01 9.93879037e-01 -3.81160484e-03 3.18701090e+01] [ 4.59218072e-02 -1.27033077e-03 9.98944230e-01 1.75827465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88509989299996 meters 0.017378147738956205 Centerline is valid? [True, True] Translation: X:475.87, Y:31.87, Z:17.59 [[ 9.92781025e-01 -1.11130531e-01 -4.51202918e-02 4.75871189e+02] [ 1.11074093e-01 9.93805001e-01 -3.76383762e-03 3.18740292e+01] [ 4.52590489e-02 -1.27502891e-03 9.98974471e-01 1.75855382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.94509989299996 meters 0.01698714081860743 Centerline is valid? [True, True] Translation: X:475.93, Y:31.88, Z:17.59 [[ 9.92745552e-01 -1.11587106e-01 -4.47726132e-02 4.75929249e+02] [ 1.11531419e-01 9.93753841e-01 -3.74771573e-03 3.18783280e+01] [ 4.49111531e-02 -1.27302498e-03 9.98990174e-01 1.75877696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.00509989299997 meters 0.01804940910094177 Centerline is valid? [True, True] Translation: X:475.99, Y:31.88, Z:17.59 [[ 9.92543628e-01 -1.13387644e-01 -4.47257039e-02 4.75987569e+02] [ 1.13333379e-01 9.93549919e-01 -3.75537050e-03 3.18786899e+01] [ 4.48630321e-02 -1.34154607e-03 9.98992247e-01 1.75891681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.06509989299997 meters 0.01844523682302884 Centerline is valid? [True, True] Translation: X:476.05, Y:31.88, Z:17.59 [[ 9.92188007e-01 -1.16465019e-01 -4.47085824e-02 4.76046694e+02] [ 1.16413677e-01 9.93193699e-01 -3.75919452e-03 3.18810998e+01] [ 4.48420970e-02 -1.47486276e-03 9.98992999e-01 1.75910338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.12509989299997 meters 0.020542116238076735 Centerline is valid? [True, True] Translation: X:476.11, Y:31.88, Z:17.59 [[ 9.91561264e-01 -1.22016710e-01 -4.37970693e-02 4.76106670e+02] [ 1.21972429e-01 9.92526622e-01 -3.69195378e-03 3.18801276e+01] [ 4.39202373e-02 -1.68123658e-03 9.99033626e-01 1.75929743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.185099893 meters 0.02026284469109017 Centerline is valid? [True, True] Translation: X:476.17, Y:31.88, Z:17.60 [[ 9.91254450e-01 -1.24659519e-01 -4.32968824e-02 4.76165933e+02] [ 1.24618712e-01 9.92197988e-01 -3.65085998e-03 3.18844673e+01] [ 4.34141940e-02 -1.77667051e-03 9.99055580e-01 1.75951686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.245099893 meters 0.021415606520032465 Centerline is valid? [True, True] Translation: X:476.22, Y:31.89, Z:17.60 [[ 9.91017837e-01 -1.26595212e-01 -4.30963942e-02 4.76224889e+02] [ 1.26556484e-01 9.91952736e-01 -3.63684085e-03 3.18872611e+01] [ 4.32099928e-02 -1.84995395e-03 9.99064299e-01 1.75971043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.305099893 meters 0.024385828237926156 Centerline is valid? [True, True] Translation: X:476.28, Y:31.89, Z:17.60 [[ 9.90975559e-01 -1.27009757e-01 -4.28481375e-02 4.76283238e+02] [ 1.26971430e-01 9.91899747e-01 -3.62587257e-03 3.18887309e+01] [ 4.29615780e-02 -1.84733821e-03 9.99075017e-01 1.75981724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.3650998929999 meters 0.020264696970105196 Centerline is valid? [True, True] Translation: X:476.34, Y:31.90, Z:17.60 [[ 9.91010126e-01 -1.27078762e-01 -4.18320274e-02 4.76340956e+02] [ 1.27042104e-01 9.91890993e-01 -3.54437857e-03 3.19014153e+01] [ 4.19432264e-02 -1.80191372e-03 9.99118371e-01 1.76013821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4250998929999 meters 0.022235779679377437 Centerline is valid? [True, True] Translation: X:476.40, Y:31.90, Z:17.60 [[ 9.91015917e-01 -1.27268898e-01 -4.11105818e-02 4.76397599e+02] [ 1.27233239e-01 9.91866674e-01 -3.49335154e-03 3.19042258e+01] [ 4.12208111e-02 -1.76866551e-03 9.99148496e-01 1.76032800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4850998929999 meters 0.021925911696819934 Centerline is valid? [True, True] Translation: X:476.46, Y:31.91, Z:17.61 [[ 9.90862350e-01 -1.28809418e-01 -3.99992260e-02 4.76456181e+02] [ 1.28776696e-01 9.91667774e-01 -3.40430278e-03 3.19106288e+01] [ 4.01044496e-02 -1.77777271e-03 9.99193911e-01 1.76055205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54509989299993 meters 0.02349748695039995 Centerline is valid? [True, True] Translation: X:476.51, Y:31.91, Z:17.61 [[ 9.90668224e-01 -1.30272835e-01 -4.00681797e-02 4.76513591e+02] [ 1.30240799e-01 9.91476494e-01 -3.41998602e-03 3.19138732e+01] [ 4.01721896e-02 -1.83044028e-03 9.99191095e-01 1.76075997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60509989299993 meters 0.024459484426006706 Centerline is valid? [True, True] Translation: X:476.57, Y:31.92, Z:17.61 [[ 9.90361845e-01 -1.32445318e-01 -4.05173155e-02 4.76572849e+02] [ 1.32414231e-01 9.91188422e-01 -3.46182435e-03 3.19180725e+01] [ 4.06187964e-02 -1.93661040e-03 9.99172839e-01 1.76092965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66509989299993 meters 0.024798959146719306 Centerline is valid? [True, True] Translation: X:476.63, Y:31.92, Z:17.61 [[ 9.89945800e-01 -1.35496084e-01 -4.05971100e-02 4.76632178e+02] [ 1.35467371e-01 9.90775731e-01 -3.47010177e-03 3.19233688e+01] [ 4.06928165e-02 -2.06437111e-03 9.99169572e-01 1.76115857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72509989299994 meters 0.024599658399636157 Centerline is valid? [True, True] Translation: X:476.69, Y:31.93, Z:17.61 [[ 9.89732232e-01 -1.37183617e-01 -4.01343381e-02 4.76690159e+02] [ 1.37156873e-01 9.90543393e-01 -3.43215479e-03 3.19299750e+01] [ 4.02256388e-02 -2.10778609e-03 9.99188398e-01 1.76142290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78509989299994 meters 0.025231423013787377 Centerline is valid? [True, True] Translation: X:476.75, Y:31.94, Z:17.62 [[ 9.89767312e-01 -1.37138976e-01 -3.94153440e-02 4.76748832e+02] [ 1.37112990e-01 9.90549666e-01 -3.37460546e-03 3.19369868e+01] [ 3.95056457e-02 -2.06428148e-03 9.99217215e-01 1.76173182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84509989299994 meters 0.024378462782831796 Centerline is valid? [True, True] Translation: X:476.81, Y:31.95, Z:17.62 [[ 9.89992251e-01 -1.35353899e-01 -3.99332493e-02 4.76807418e+02] [ 1.35325367e-01 9.90795279e-01 -3.42921404e-03 3.19458698e+01] [ 4.00298324e-02 -2.00908627e-03 9.99196465e-01 1.76193809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90509989299994 meters 0.022743891811084598 Centerline is valid? [True, True] Translation: X:476.87, Y:31.96, Z:17.62 [[ 9.90682348e-01 -1.30030029e-01 -4.05052660e-02 4.76867168e+02] [ 1.29995870e-01 9.91508403e-01 -3.48728628e-03 3.19582691e+01] [ 4.06147635e-02 -1.81072432e-03 9.99173239e-01 1.76214254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96509989299994 meters 0.022213064711450844 Centerline is valid? [True, True] Translation: X:476.93, Y:31.97, Z:17.62 [[ 9.91199659e-01 -1.25682464e-01 -4.15590469e-02 4.76925011e+02] [ 1.25642678e-01 9.92069107e-01 -3.57829457e-03 3.19674207e+01] [ 4.16791755e-02 -1.67478560e-03 9.99129642e-01 1.76233815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02509989299995 meters 0.018739860999259457 Centerline is valid? [True, True] Translation: X:476.98, Y:31.98, Z:17.63 [[ 9.91945468e-01 -1.19380284e-01 -4.23383523e-02 4.76984097e+02] [ 1.19333207e-01 9.92847565e-01 -3.64659413e-03 3.19826599e+01] [ 4.24708615e-02 -1.43514882e-03 9.99096675e-01 1.76260735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08509989299995 meters 0.016795268406179693 Centerline is valid? [True, True] Translation: X:477.04, Y:31.99, Z:17.63 [[ 9.92402717e-01 -1.15430745e-01 -4.25745314e-02 4.77043100e+02] [ 1.15379450e-01 9.93314716e-01 -3.66835417e-03 3.19938088e+01] [ 4.27133495e-02 -1.27174136e-03 9.99086559e-01 1.76294645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14509989299995 meters 0.01707111192496592 Centerline is valid? [True, True] Translation: X:477.10, Y:32.00, Z:17.63 [[ 9.92838863e-01 -1.11243702e-01 -4.35411496e-02 4.77100648e+02] [ 1.11185946e-01 9.93792532e-01 -3.75351685e-03 3.20022108e+01] [ 4.36884244e-02 -1.11452650e-03 9.99044583e-01 1.76311713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20509989299995 meters 0.01589558833995888 Centerline is valid? [True, True] Translation: X:477.16, Y:32.01, Z:17.63 [[ 9.92936685e-01 -1.10233459e-01 -4.38785208e-02 4.77158456e+02] [ 1.10173623e-01 9.93905142e-01 -3.78703980e-03 3.20115501e+01] [ 4.40285459e-02 -1.07396486e-03 9.99029696e-01 1.76336382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26509989299996 meters 0.017204206072285684 Centerline is valid? [True, True] Translation: X:477.22, Y:32.02, Z:17.64 [[ 9.92938220e-01 -1.10116891e-01 -4.41357121e-02 4.77215748e+02] [ 1.10055751e-01 9.93918074e-01 -3.82018433e-03 3.20150669e+01] [ 4.42879487e-02 -1.06418190e-03 9.99018241e-01 1.76351596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32509989299996 meters 0.015936530548267522 Centerline is valid? [True, True] Translation: X:477.27, Y:32.03, Z:17.64 [[ 9.93010716e-01 -1.09944975e-01 -4.29164345e-02 4.77274130e+02] [ 1.09886621e-01 9.93937154e-01 -3.72360200e-03 3.20258795e+01] [ 4.30656301e-02 -1.01836529e-03 9.99071726e-01 1.76388928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38509989299996 meters 0.015735547032913504 Centerline is valid? [True, True] Translation: X:477.33, Y:32.03, Z:17.64 [[ 9.93025376e-01 -1.10216324e-01 -4.18684317e-02 4.77331895e+02] [ 1.10160592e-01 9.93907125e-01 -3.64299538e-03 3.20335885e+01] [ 4.20148501e-02 -9.94664351e-04 9.99116491e-01 1.76419104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.44509989299996 meters 0.015446339447862239 Centerline is valid? [True, True] Translation: X:477.39, Y:32.04, Z:17.64 [[ 9.93160820e-01 -1.09605488e-01 -4.02271378e-02 4.77390722e+02] [ 1.09553168e-01 9.93974742e-01 -3.50937892e-03 3.20416470e+01] [ 4.03694061e-02 -9.21632730e-04 9.99184398e-01 1.76447274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.50509989299997 meters 0.015403709125844926 Centerline is valid? [True, True] Translation: X:477.45, Y:32.05, Z:17.65 [[ 9.93382008e-01 -1.07908807e-01 -3.93430493e-02 4.77450092e+02] [ 1.07857378e-01 9.94160448e-01 -3.43362791e-03 3.20484791e+01] [ 3.94838222e-02 -8.32533939e-04 9.99219863e-01 1.76468127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.56509989299997 meters 0.014886437684115638 Centerline is valid? [True, True] Translation: X:477.51, Y:32.06, Z:17.65 [[ 9.93599551e-01 -1.05780022e-01 -3.96297755e-02 4.77509809e+02] [ 1.05726121e-01 9.94389270e-01 -3.45932903e-03 3.20576063e+01] [ 3.97733514e-02 -7.52714668e-04 9.99208444e-01 1.76477948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.62509989299997 meters 0.014737220307898488 Centerline is valid? [True, True] Translation: X:477.57, Y:32.06, Z:17.65 [[ 9.93749245e-01 -1.04027058e-01 -4.05069021e-02 4.77569814e+02] [ 1.03969288e-01 9.94574223e-01 -3.53589443e-03 3.20639800e+01] [ 4.06549494e-02 -6.97681373e-04 9.99173002e-01 1.76483008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.685099893 meters 0.014133648698172806 Centerline is valid? [True, True] Translation: X:477.63, Y:32.07, Z:17.65 [[ 9.94047095e-01 -1.00831585e-01 -4.12718368e-02 4.77629619e+02] [ 1.00768860e-01 9.94903341e-01 -3.60266646e-03 3.20720867e+01] [ 4.14247508e-02 -5.77695793e-04 9.99141460e-01 1.76491722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.745099893 meters 0.013872396329223586 Centerline is valid? [True, True] Translation: X:477.69, Y:32.08, Z:17.65 [[ 9.94322626e-01 -9.80840007e-02 -4.12558273e-02 4.77688884e+02] [ 9.80189534e-02 9.95178032e-01 -3.60141884e-03 3.20797852e+01] [ 4.14101346e-02 -4.62880776e-04 9.99142125e-01 1.76517479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.805099893 meters 0.013674794717543995 Centerline is valid? [True, True] Translation: X:477.75, Y:32.09, Z:17.65 [[ 9.94683966e-01 -9.41104991e-02 -4.17973847e-02 4.77747627e+02] [ 9.40401599e-02 9.95561713e-01 -3.65023954e-03 3.20865811e+01] [ 4.19554018e-02 -2.99798005e-04 9.99119439e-01 1.76533447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.8650998929999 meters 0.01349381240572383 Centerline is valid? [True, True] Translation: X:477.81, Y:32.09, Z:17.66 [[ 9.94860891e-01 -9.21600642e-02 -4.19324439e-02 4.77806046e+02] [ 9.20874305e-02 9.95744182e-01 -3.66457541e-03 3.20930616e+01] [ 4.20917146e-02 -2.15708254e-04 9.99113728e-01 1.76555159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9250998929999 meters 0.013568188547535102 Centerline is valid? [True, True] Translation: X:477.86, Y:32.10, Z:17.66 [[ 9.94978248e-01 -9.08827655e-02 -4.19357828e-02 4.77863209e+02] [ 9.08085351e-02 9.95861587e-01 -3.67557128e-03 3.20991064e+01] [ 4.20962813e-02 -1.51013528e-04 9.99113547e-01 1.76577066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9850998929999 meters 0.013435690470385158 Centerline is valid? [True, True] Translation: X:477.92, Y:32.10, Z:17.66 [[ 9.94991868e-01 -9.09386730e-02 -4.14890364e-02 4.77919996e+02] [ 9.08655943e-02 9.95856485e-01 -3.64770585e-03 3.21038173e+01] [ 4.16488434e-02 -1.40488283e-04 9.99132301e-01 1.76601047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04509989299993 meters 0.013523503738163231 Centerline is valid? [True, True] Translation: X:477.98, Y:32.11, Z:17.66 [[ 9.94816821e-01 -9.28911311e-02 -4.13609818e-02 4.77978276e+02] [ 9.28198403e-02 9.95676249e-01 -3.64484812e-03 3.21076721e+01] [ 4.15207213e-02 -2.13163507e-04 9.99137620e-01 1.76628483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10509989299993 meters 0.014058199335453152 Centerline is valid? [True, True] Translation: X:478.04, Y:32.11, Z:17.67 [[ 9.94168072e-01 -9.94282993e-02 -4.17595305e-02 4.78037348e+02] [ 9.93609374e-02 9.95044613e-01 -3.69070526e-03 3.21089244e+01] [ 4.19195564e-02 -4.80084763e-04 9.99120874e-01 1.76652642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16509989299993 meters 0.015955838270307474 Centerline is valid? [True, True] Translation: X:478.10, Y:32.11, Z:17.67 [[ 9.93131328e-01 -1.09259619e-01 -4.18628764e-02 4.78096555e+02] [ 1.09200228e-01 9.94012851e-01 -3.70966269e-03 3.21065724e+01] [ 4.20175535e-02 -8.87253428e-04 9.99116479e-01 1.76672716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22509989299994 meters 0.017540378507018006 Centerline is valid? [True, True] Translation: X:478.16, Y:32.11, Z:17.67 [[ 9.92261366e-01 -1.16769658e-01 -4.22164432e-02 4.78156477e+02] [ 1.16715954e-01 9.93158283e-01 -3.74310617e-03 3.21066063e+01] [ 4.23646915e-02 -1.21319281e-03 9.99101477e-01 1.76694731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28509989299994 meters 0.021003161414379638 Centerline is valid? [True, True] Translation: X:478.22, Y:32.11, Z:17.67 [[ 9.90729893e-01 -1.28557885e-01 -4.38993056e-02 4.78216729e+02] [ 1.28511315e-01 9.91700401e-01 -3.89311138e-03 3.21051059e+01] [ 4.40354491e-02 -1.78453564e-03 9.99028375e-01 1.76718814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34509989299994 meters 0.025008965310464547 Centerline is valid? [True, True] Translation: X:478.28, Y:32.10, Z:17.67 [[ 9.89718366e-01 -1.35908019e-01 -4.45709132e-02 4.78276518e+02] [ 1.35867418e-01 9.90719141e-01 -3.95318011e-03 3.21040328e+01] [ 4.46945257e-02 -2.14319992e-03 9.98998401e-01 1.76742582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40509989299994 meters 0.02837199670854917 Centerline is valid? [True, True] Translation: X:478.34, Y:32.11, Z:17.68 [[ 9.88803029e-01 -1.42385654e-01 -4.46642441e-02 4.78337340e+02] [ 1.42351461e-01 9.89808248e-01 -3.96153307e-03 3.21052149e+01] [ 4.47731027e-02 -2.44084452e-03 9.98994200e-01 1.76776073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46509989299994 meters 0.027826619645801354 Centerline is valid? [True, True] Translation: X:478.40, Y:32.11, Z:17.68 [[ 9.88040018e-01 -1.47496649e-01 -4.49628810e-02 4.78396759e+02] [ 1.47467266e-01 9.89058897e-01 -3.98800710e-03 3.21139387e+01] [ 4.50591552e-02 -2.69024254e-03 9.98980698e-01 1.76824255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52509989299995 meters 0.028226333397035907 Centerline is valid? [True, True] Translation: X:478.46, Y:32.12, Z:17.69 [[ 9.87964858e-01 -1.47855640e-01 -4.54329170e-02 4.78456246e+02] [ 1.47826002e-01 9.89005173e-01 -4.03006725e-03 3.21220934e+01] [ 4.55292581e-02 -2.73460165e-03 9.98959263e-01 1.76852143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58509989299995 meters 0.027112583393739946 Centerline is valid? [True, True] Translation: X:478.52, Y:32.13, Z:17.69 [[ 9.88554710e-01 -1.43585506e-01 -4.62902564e-02 4.78515133e+02] [ 1.43550000e-01 9.89634541e-01 -4.10773076e-03 3.21348195e+01] [ 4.64002473e-02 -2.58424970e-03 9.98919586e-01 1.76877243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64509989299995 meters 0.02503475127062112 Centerline is valid? [True, True] Translation: X:478.57, Y:32.15, Z:17.69 [[ 9.89159071e-01 -1.39220123e-01 -4.67128481e-02 4.78574654e+02] [ 1.39179061e-01 9.90258551e-01 -4.14631276e-03 3.21478977e+01] [ 4.68350475e-02 -2.40008748e-03 9.98899754e-01 1.76907020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70509989299995 meters 0.02477638693690574 Centerline is valid? [True, True] Translation: X:478.63, Y:32.16, Z:17.69 [[ 9.89811181e-01 -1.34442810e-01 -4.68930406e-02 4.78632876e+02] [ 1.34396034e-01 9.90918954e-01 -4.16332118e-03 3.21584096e+01] [ 4.70269313e-02 -2.18133684e-03 9.98891240e-01 1.76930775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76509989299996 meters 0.02235478539060917 Centerline is valid? [True, True] Translation: X:478.69, Y:32.18, Z:17.70 [[ 9.90707062e-01 -1.28215864e-01 -4.53895256e-02 4.78691844e+02] [ 1.28165447e-01 9.91744608e-01 -4.03129548e-03 3.21750647e+01] [ 4.55316933e-02 -1.82353594e-03 9.98961230e-01 1.76970676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82509989299996 meters 0.0219974228680568 Centerline is valid? [True, True] Translation: X:478.75, Y:32.18, Z:17.70 [[ 9.91149760e-01 -1.25105259e-01 -4.43940083e-02 4.78751397e+02] [ 1.25053908e-01 9.92142113e-01 -3.94299987e-03 3.21845223e+01] [ 4.45384552e-02 -1.64354084e-03 9.99006319e-01 1.76993294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88509989299996 meters 0.018896478499258497 Centerline is valid? [True, True] Translation: X:478.81, Y:32.20, Z:17.70 [[ 9.91422374e-01 -1.23188548e-01 -4.36607233e-02 4.78811470e+02] [ 1.23137033e-01 9.92382101e-01 -3.87762943e-03 3.21999693e+01] [ 4.38057999e-02 -1.53188337e-03 9.99038891e-01 1.77017086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.94509989299996 meters 0.019816477865874448 Centerline is valid? [True, True] Translation: X:478.87, Y:32.21, Z:17.70 [[ 9.91543508e-01 -1.22133572e-01 -4.38732442e-02 4.78872717e+02] [ 1.22080622e-01 9.92512547e-01 -3.89427962e-03 3.22066625e+01] [ 4.40203677e-02 -1.49472526e-03 9.99029516e-01 1.77032087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.00509989299997 meters 0.01836351541451445 Centerline is valid? [True, True] Translation: X:478.93, Y:32.22, Z:17.71 [[ 9.91673017e-01 -1.21005875e-01 -4.40704705e-02 4.78933736e+02] [ 1.20951565e-01 9.92650723e-01 -3.90661107e-03 3.22174654e+01] [ 4.42193073e-02 -1.45631158e-03 9.99020787e-01 1.77055305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.06509989299997 meters 0.01789118175161937 Centerline is valid? [True, True] Translation: X:478.99, Y:32.23, Z:17.71 [[ 9.92064257e-01 -1.18160344e-01 -4.29725887e-02 4.78994384e+02] [ 1.18106164e-01 9.92993678e-01 -3.80638378e-03 3.22265913e+01] [ 4.31212725e-02 -1.29915032e-03 9.99069001e-01 1.77075727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.12509989299997 meters 0.016749085948058982 Centerline is valid? [True, True] Translation: X:479.06, Y:32.24, Z:17.71 [[ 9.92534593e-01 -1.14456936e-01 -4.21270904e-02 4.79055480e+02] [ 1.14401603e-01 9.93427582e-01 -3.72986812e-03 3.22356369e+01] [ 4.22771228e-02 -1.11738355e-03 9.99105298e-01 1.77103166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.185099893 meters 0.015917230631119123 Centerline is valid? [True, True] Translation: X:479.12, Y:32.24, Z:17.71 [[ 9.93041463e-01 -1.10101239e-01 -4.17895985e-02 4.79116192e+02] [ 1.10043028e-01 9.93919946e-01 -3.69775840e-03 3.22443550e+01] [ 4.19426433e-02 -9.26626541e-04 9.99119590e-01 1.77125390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.245099893 meters 0.015085704806453335 Centerline is valid? [True, True] Translation: X:479.18, Y:32.25, Z:17.71 [[ 9.93536349e-01 -1.05656533e-01 -4.14996367e-02 4.79177077e+02] [ 1.05595315e-01 9.94402412e-01 -3.67057712e-03 3.22523155e+01] [ 4.16551593e-02 -7.35315402e-04 9.99131777e-01 1.77139943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.305099893 meters 0.014720286846624842 Centerline is valid? [True, True] Translation: X:479.24, Y:32.26, Z:17.72 [[ 9.93844779e-01 -1.02942838e-01 -4.09307554e-02 4.79237862e+02] [ 1.02881048e-01 9.94687084e-01 -3.61877256e-03 3.22582518e+01] [ 4.10858205e-02 -6.14500813e-04 9.99155432e-01 1.77161153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.3650998929999 meters 0.014765543399662996 Centerline is valid? [True, True] Translation: X:479.30, Y:32.26, Z:17.72 [[ 9.93900334e-01 -1.02660043e-01 -4.02869951e-02 4.79299551e+02] [ 1.02600013e-01 9.94716322e-01 -3.56030271e-03 3.22616136e+01] [ 4.04396324e-02 -5.94860167e-04 9.99181806e-01 1.77180278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4250998929999 meters 0.01520561693603734 Centerline is valid? [True, True] Translation: X:479.36, Y:32.26, Z:17.72 [[ 9.93560469e-01 -1.05653056e-01 -4.09270908e-02 4.79362034e+02] [ 1.05593763e-01 9.94402784e-01 -3.61386503e-03 3.22641757e+01] [ 4.10798289e-02 -7.31052071e-04 9.99155600e-01 1.77200427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4850998929999 meters 0.01738158788325903 Centerline is valid? [True, True] Translation: X:479.42, Y:32.26, Z:17.72 [[ 9.92753595e-01 -1.12793875e-01 -4.14468416e-02 4.79423104e+02] [ 1.12739399e-01 9.93617862e-01 -3.65687052e-03 3.22614659e+01] [ 4.15947947e-02 -1.04232064e-03 9.99134018e-01 1.77204467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54509989299993 meters 0.01823994929088381 Centerline is valid? [True, True] Translation: X:479.48, Y:32.26, Z:17.72 [[ 9.92233554e-01 -1.17553390e-01 -4.06666232e-02 4.79484283e+02] [ 1.17504990e-01 9.93065815e-01 -3.58670180e-03 3.22623854e+01] [ 4.08062623e-02 -1.21968529e-03 9.99166333e-01 1.77214669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60509989299993 meters 0.019695133306561318 Centerline is valid? [True, True] Translation: X:479.55, Y:32.26, Z:17.72 [[ 9.91739877e-01 -1.21801688e-01 -4.02040475e-02 4.79545276e+02] [ 1.21757896e-01 9.92553498e-01 -3.54518483e-03 3.22632227e+01] [ 4.03364775e-02 -1.37925908e-03 9.99185201e-01 1.77233435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66509989299993 meters 0.022208451907007612 Centerline is valid? [True, True] Translation: X:479.61, Y:32.26, Z:17.73 [[ 9.91078331e-01 -1.27425567e-01 -3.90700236e-02 4.79606592e+02] [ 1.27388596e-01 9.91846904e-01 -3.44450308e-03 3.22626758e+01] [ 3.91903997e-02 -1.56330310e-03 9.99230538e-01 1.77250609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72509989299994 meters 0.024080416092394037 Centerline is valid? [True, True] Translation: X:479.67, Y:32.26, Z:17.73 [[ 9.90297936e-01 -1.33950976e-01 -3.69747695e-02 4.79667524e+02] [ 1.33922421e-01 9.90986460e-01 -3.25915672e-03 3.22635032e+01] [ 3.70780632e-02 -1.72421449e-03 9.99310885e-01 1.77268857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78509989299994 meters 0.02617407301963397 Centerline is valid? [True, True] Translation: X:479.73, Y:32.26, Z:17.73 [[ 9.89693895e-01 -1.38506512e-01 -3.63584881e-02 4.79728404e+02] [ 1.38481969e-01 9.90359770e-01 -3.20472062e-03 3.22646727e+01] [ 3.64518585e-02 -1.86330257e-03 9.99333673e-01 1.77288189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84509989299994 meters 0.02818696371783911 Centerline is valid? [True, True] Translation: X:479.79, Y:32.27, Z:17.73 [[ 9.89165059e-01 -1.42375869e-01 -3.57994024e-02 4.79789834e+02] [ 1.42354620e-01 9.89810694e-01 -3.15484906e-03 3.22671042e+01] [ 3.58838057e-02 -1.97554385e-03 9.99354016e-01 1.77305250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90509989299994 meters 0.02787149004891926 Centerline is valid? [True, True] Translation: X:479.85, Y:32.27, Z:17.73 [[ 9.88764113e-01 -1.45065069e-01 -3.60784496e-02 4.79850609e+02] [ 1.45045319e-01 9.89419908e-01 -3.17811980e-03 3.22737074e+01] [ 3.61577705e-02 -2.09059941e-03 9.99343907e-01 1.77313625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96509989299994 meters 0.02930841388975488 Centerline is valid? [True, True] Translation: X:479.91, Y:32.28, Z:17.73 [[ 9.88870306e-01 -1.44185324e-01 -3.66893870e-02 4.79911525e+02] [ 1.44164321e-01 9.89548487e-01 -3.23127105e-03 3.22779859e+01] [ 3.67718293e-02 -2.09399258e-03 9.99321494e-01 1.77326451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02509989299995 meters 0.02824065560598115 Centerline is valid? [True, True] Translation: X:479.97, Y:32.29, Z:17.73 [[ 9.89590564e-01 -1.39161830e-01 -3.66674409e-02 4.79971091e+02] [ 1.39137486e-01 9.90267814e-01 -3.22732264e-03 3.22896720e+01] [ 3.67597067e-02 -1.90808752e-03 9.99322312e-01 1.77347116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08509989299995 meters 0.02545537494649113 Centerline is valid? [True, True] Translation: X:480.03, Y:32.30, Z:17.74 [[ 9.90497037e-01 -1.32642450e-01 -3.63538069e-02 4.80030717e+02] [ 1.32614141e-01 9.91162576e-01 -3.19963381e-03 3.23036470e+01] [ 3.64569401e-02 -1.65180105e-03 9.99333860e-01 1.77375698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14509989299995 meters 0.020019569815487272 Centerline is valid? [True, True] Translation: X:480.09, Y:32.32, Z:17.74 [[ 9.91614443e-01 -1.24404433e-01 -3.49904842e-02 4.80089485e+02] [ 1.24373090e-01 9.92230745e-01 -3.07945123e-03 3.23220487e+01] [ 3.51017316e-02 -1.29824632e-03 9.99382901e-01 1.77407395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20509989299995 meters 0.017016967821609708 Centerline is valid? [True, True] Translation: X:480.15, Y:32.34, Z:17.74 [[ 9.93164611e-01 -1.12011692e-01 -3.28243353e-02 4.80148654e+02] [ 1.11977339e-01 9.93706561e-01 -2.88881908e-03 3.23402046e+01] [ 3.29413389e-02 -8.06508840e-04 9.99456961e-01 1.77441723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26509989299996 meters 0.015843661191270432 Centerline is valid? [True, True] Translation: X:480.21, Y:32.35, Z:17.75 [[ 9.93888523e-01 -1.05576552e-01 -3.22365526e-02 4.80209779e+02] [ 1.05540022e-01 9.94411008e-01 -2.83740783e-03 3.23524855e+01] [ 3.23559465e-02 -5.82179395e-04 9.99476240e-01 1.77467426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32509989299996 meters 0.015169448418785389 Centerline is valid? [True, True] Translation: X:480.27, Y:32.36, Z:17.75 [[ 9.94428431e-01 -1.00489051e-01 -3.18440930e-02 4.80271025e+02] [ 1.00450850e-01 9.94938078e-01 -2.80121591e-03 3.23636070e+01] [ 3.19643922e-02 -4.13157466e-04 9.99488923e-01 1.77483115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38509989299996 meters 0.015115632698368792 Centerline is valid? [True, True] Translation: X:480.33, Y:32.37, Z:17.75 [[ 9.94499656e-01 -9.95278909e-02 -3.26287294e-02 4.80332605e+02] [ 9.94873476e-02 9.95034695e-01 -2.86776833e-03 3.23706284e+01] [ 3.27521407e-02 -3.94151126e-04 9.99463427e-01 1.77497480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.44509989299996 meters 0.015354401606352059 Centerline is valid? [True, True] Translation: X:480.39, Y:32.38, Z:17.75 [[ 9.94538468e-01 -9.88621153e-02 -3.34591957e-02 4.80393886e+02] [ 9.88191917e-02 9.95101067e-01 -2.93817563e-03 3.23768274e+01] [ 3.35857556e-02 -3.84281984e-04 9.99435765e-01 1.77518916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.50509989299997 meters 0.014951194923228842 Centerline is valid? [True, True] Translation: X:480.46, Y:32.39, Z:17.75 [[ 9.94622564e-01 -9.77454150e-02 -3.42314025e-02 4.80455613e+02] [ 9.76998886e-02 9.95211388e-01 -3.00415461e-03 3.23851175e+01] [ 3.43611240e-02 -3.56404260e-04 9.99409419e-01 1.77526792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.56509989299997 meters 0.014849821819004844 Centerline is valid? [True, True] Translation: X:480.52, Y:32.39, Z:17.75 [[ 9.94716491e-01 -9.65818612e-02 -3.48001069e-02 4.80516425e+02] [ 9.65341861e-02 9.95324992e-01 -3.05152303e-03 3.23909003e+01] [ 3.49321379e-02 -3.23999719e-04 9.99389634e-01 1.77540990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.62509989299997 meters 0.014791442743495968 Centerline is valid? [True, True] Translation: X:480.58, Y:32.40, Z:17.76 [[ 9.94839517e-01 -9.52872868e-02 -3.48520820e-02 4.80577520e+02] [ 9.52388326e-02 9.95449774e-01 -3.05157798e-03 3.23964145e+01] [ 3.49842737e-02 -2.83441239e-04 9.99387823e-01 1.77551406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.685099893 meters 0.014833645891417835 Centerline is valid? [True, True] Translation: X:480.64, Y:32.40, Z:17.76 [[ 9.94875618e-01 -9.51384789e-02 -3.42224397e-02 4.80638021e+02] [ 9.50917345e-02 9.95464010e-01 -2.99462856e-03 3.24008621e+01] [ 3.43521115e-02 -2.74988218e-04 9.99409754e-01 1.77572366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.745099893 meters 0.014875984403831843 Centerline is valid? [True, True] Translation: X:480.70, Y:32.40, Z:17.76 [[ 9.94720367e-01 -9.70174204e-02 -3.34516322e-02 4.80699940e+02] [ 9.69738758e-02 9.95282628e-01 -2.92553070e-03 3.24039470e+01] [ 3.35776558e-02 -3.33849454e-04 9.99436056e-01 1.77596057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.805099893 meters 0.015385907368302391 Centerline is valid? [True, True] Translation: X:480.76, Y:32.41, Z:17.76 [[ 9.94424623e-01 -1.00162810e-01 -3.29708913e-02 4.80762122e+02] [ 1.00122314e-01 9.94970965e-01 -2.88114311e-03 3.24054084e+01] [ 3.30936629e-02 -4.36042269e-04 9.99452160e-01 1.77618560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.8650998929999 meters 0.01609535730472742 Centerline is valid? [True, True] Translation: X:480.82, Y:32.41, Z:17.76 [[ 9.93920362e-01 -1.04940590e-01 -3.33134575e-02 4.80824465e+02] [ 1.04902009e-01 9.94478310e-01 -2.90866678e-03 3.24055454e+01] [ 3.34347481e-02 -6.03665471e-04 9.99440720e-01 1.77631168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9250998929999 meters 0.01742939577482112 Centerline is valid? [True, True] Translation: X:480.89, Y:32.40, Z:17.76 [[ 9.92972722e-01 -1.13332830e-01 -3.40711474e-02 4.80886286e+02] [ 1.13297495e-01 9.93556664e-01 -2.97219471e-03 3.24039631e+01] [ 3.41884628e-02 -9.08867382e-04 9.99414990e-01 1.77639054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9850998929999 meters 0.020772580780036937 Centerline is valid? [True, True] Translation: X:480.95, Y:32.40, Z:17.77 [[ 9.92392662e-01 -1.18130874e-01 -3.46684590e-02 4.80946563e+02] [ 1.18097261e-01 9.92997432e-01 -3.02290655e-03 3.24008492e+01] [ 3.47827894e-02 -1.09433976e-03 9.99394297e-01 1.77655266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04509989299993 meters 0.020346804713147794 Centerline is valid? [True, True] Translation: X:481.01, Y:32.40, Z:17.77 [[ 9.91713766e-01 -1.23792683e-01 -3.43391569e-02 4.81007695e+02] [ 1.23763091e-01 9.92307277e-01 -2.99424506e-03 3.24038286e+01] [ 3.44456610e-02 -1.28048615e-03 9.99405752e-01 1.77669000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10509989299993 meters 0.02168245423076369 Centerline is valid? [True, True] Translation: X:481.07, Y:32.41, Z:17.77 [[ 9.91541820e-01 -1.25060798e-01 -3.47075707e-02 4.81068569e+02] [ 1.25031357e-01 9.92148176e-01 -3.02594992e-03 3.24060731e+01] [ 3.48134807e-02 -1.33917876e-03 9.99392930e-01 1.77686401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16509989299993 meters 0.02063360920382051 Centerline is valid? [True, True] Translation: X:481.13, Y:32.41, Z:17.77 [[ 9.91327496e-01 -1.26823218e-01 -3.44335141e-02 4.81130036e+02] [ 1.26795437e-01 9.91924356e-01 -2.99814492e-03 3.24122201e+01] [ 3.45356757e-02 -1.39386895e-03 9.99402494e-01 1.77703103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22509989299994 meters 0.02191610871315577 Centerline is valid? [True, True] Translation: X:481.19, Y:32.42, Z:17.77 [[ 9.91217170e-01 -1.27749621e-01 -3.41841504e-02 4.81190614e+02] [ 1.27722848e-01 9.91805437e-01 -2.97473793e-03 3.24151631e+01] [ 3.42840479e-02 -1.41748572e-03 9.99411124e-01 1.77725122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28509989299994 meters 0.022359060841019116 Centerline is valid? [True, True] Translation: X:481.25, Y:32.42, Z:17.77 [[ 9.91301405e-01 -1.26867817e-01 -3.50154577e-02 4.81251501e+02] [ 1.26839340e-01 9.91918608e-01 -3.04243049e-03 3.24195403e+01] [ 3.51184706e-02 -1.42537194e-03 9.99382140e-01 1.77740002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34509989299994 meters 0.021428827232866637 Centerline is valid? [True, True] Translation: X:481.31, Y:32.43, Z:17.78 [[ 9.91547390e-01 -1.24565624e-01 -3.62929447e-02 4.81312277e+02] [ 1.24533663e-01 9.92210387e-01 -3.14875127e-03 3.24279739e+01] [ 3.64024629e-02 -1.39755724e-03 9.99336233e-01 1.77755647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40509989299994 meters 0.021250771107131014 Centerline is valid? [True, True] Translation: X:481.37, Y:32.44, Z:17.78 [[ 9.91790231e-01 -1.22448108e-01 -3.68591823e-02 4.81374000e+02] [ 1.22413732e-01 9.92474010e-01 -3.19652415e-03 3.24354866e+01] [ 3.69731888e-02 -1.34178863e-03 9.99315357e-01 1.77776303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46509989299994 meters 0.0209046691567956 Centerline is valid? [True, True] Translation: X:481.44, Y:32.44, Z:17.78 [[ 9.92038402e-01 -1.20379827e-01 -3.69933179e-02 4.81435777e+02] [ 1.20343863e-01 9.92727092e-01 -3.20549363e-03 3.24427972e+01] [ 3.71101457e-02 -1.27194599e-03 9.99310372e-01 1.77798470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52509989299995 meters 0.020221373814280946 Centerline is valid? [True, True] Translation: X:481.50, Y:32.45, Z:17.78 [[ 9.92348890e-01 -1.17509811e-01 -3.78830487e-02 4.81496618e+02] [ 1.17470112e-01 9.93071002e-01 -3.27986115e-03 3.24511494e+01] [ 3.80059730e-02 -1.19535939e-03 9.99276797e-01 1.77812061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58509989299995 meters 0.017635746147382968 Centerline is valid? [True, True] Translation: X:481.56, Y:32.46, Z:17.78 [[ 9.92613689e-01 -1.15239758e-01 -3.79191651e-02 4.81558518e+02] [ 1.15198381e-01 9.93337085e-01 -3.28160586e-03 3.24635037e+01] [ 3.80446843e-02 -1.11085952e-03 9.99275421e-01 1.77836175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64509989299995 meters 0.017067154320271578 Centerline is valid? [True, True] Translation: X:481.62, Y:32.47, Z:17.79 [[ 9.93032396e-01 -1.11259146e-01 -3.88337748e-02 4.81619146e+02] [ 1.11212848e-01 9.93790940e-01 -3.35713565e-03 3.24737005e+01] [ 3.89661656e-02 -9.85070229e-04 9.99240045e-01 1.77860527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70509989299995 meters 0.01637915794380933 Centerline is valid? [True, True] Translation: X:481.68, Y:32.48, Z:17.79 [[ 9.93381014e-01 -1.08111382e-01 -3.88083807e-02 4.81680735e+02] [ 1.08062802e-01 9.94138414e-01 -3.35344523e-03 3.24821365e+01] [ 3.89434476e-02 -8.62493547e-04 9.99241044e-01 1.77886941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76509989299996 meters 0.016055908973948454 Centerline is valid? [True, True] Translation: X:481.74, Y:32.49, Z:17.79 [[ 9.93522531e-01 -1.06603350e-01 -3.93536164e-02 4.81742263e+02] [ 1.06552329e-01 9.94301291e-01 -3.39762769e-03 3.24904391e+01] [ 3.94915501e-02 -8.17599830e-04 9.99219570e-01 1.77915389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82509989299996 meters 0.01665237158902657 Centerline is valid? [True, True] Translation: X:481.80, Y:32.50, Z:17.79 [[ 9.93366953e-01 -1.08051689e-01 -3.93310179e-02 4.81803926e+02] [ 1.08001975e-01 9.94144890e-01 -3.39277389e-03 3.24973613e+01] [ 3.94673254e-02 -8.77558155e-04 9.99220476e-01 1.77947124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88509989299996 meters 0.017498196929149057 Centerline is valid? [True, True] Translation: X:481.87, Y:32.50, Z:17.80 [[ 9.92786005e-01 -1.12568752e-01 -4.12822506e-02 4.81865368e+02] [ 1.12518009e-01 9.93643315e-01 -3.55802976e-03 3.25019954e+01] [ 4.14203553e-02 -1.11263450e-03 9.99141189e-01 1.77968468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.94509989299996 meters 0.01862619280953365 Centerline is valid? [True, True] Translation: X:481.93, Y:32.51, Z:17.80 [[ 9.92455013e-01 -1.15241164e-01 -4.18631152e-02 4.81926952e+02] [ 1.15191453e-01 9.93336764e-01 -3.60580452e-03 3.25065808e+01] [ 4.19997085e-02 -1.24367429e-03 9.99116849e-01 1.77991681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.00509989299997 meters 0.019982873933342138 Centerline is valid? [True, True] Translation: X:481.99, Y:32.51, Z:17.80 [[ 9.92164704e-01 -1.17314119e-01 -4.29720634e-02 4.81987484e+02] [ 1.17263778e-01 9.93093915e-01 -3.69904497e-03 3.25113186e+01] [ 4.31092448e-02 -1.36900466e-03 9.99069426e-01 1.78023673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.06509989299997 meters 0.020151928174758797 Centerline is valid? [True, True] Translation: X:482.05, Y:32.52, Z:17.81 [[ 9.91776167e-01 -1.20256825e-01 -4.37987477e-02 4.82048706e+02] [ 1.20207469e-01 9.92741640e-01 -3.76849322e-03 3.25193549e+01] [ 4.39340276e-02 -1.52743483e-03 9.99033267e-01 1.78059238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.12509989299997 meters 0.019964509222855698 Centerline is valid? [True, True] Translation: X:482.11, Y:32.53, Z:17.81 [[ 9.91420420e-01 -1.22608837e-01 -4.53058834e-02 4.82110012e+02] [ 1.22558607e-01 9.92453633e-01 -3.89531321e-03 3.25264097e+01] [ 4.54415884e-02 -1.69073288e-03 9.98965567e-01 1.78082966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.185099893 meters 0.021057060539613072 Centerline is valid? [True, True] Translation: X:482.17, Y:32.53, Z:17.81 [[ 9.90941695e-01 -1.26242659e-01 -4.57968225e-02 4.82170764e+02] [ 1.26195389e-01 9.91997606e-01 -3.93353326e-03 3.25313369e+01] [ 4.59269180e-02 -1.88144570e-03 9.98943031e-01 1.78102916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.245099893 meters 0.02097981826643759 Centerline is valid? [True, True] Translation: X:482.23, Y:32.54, Z:17.81 [[ 9.90688117e-01 -1.27893293e-01 -4.66943405e-02 4.82231971e+02] [ 1.27846091e-01 9.91785920e-01 -4.00828363e-03 3.25387096e+01] [ 4.68234221e-02 -1.99872995e-03 9.98901182e-01 1.78130995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.305099893 meters 0.020403528795958602 Centerline is valid? [True, True] Translation: X:482.29, Y:32.55, Z:17.82 [[ 9.90598637e-01 -1.28013737e-01 -4.82371667e-02 4.82294002e+02] [ 1.27963653e-01 9.91770227e-01 -4.13774848e-03 3.25475096e+01] [ 4.83698744e-02 -2.07375604e-03 9.98827340e-01 1.78153218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.3650998929999 meters 0.023032960820122104 Centerline is valid? [True, True] Translation: X:482.36, Y:32.55, Z:17.82 [[ 9.90857135e-01 -1.25725576e-01 -4.89409678e-02 4.82355441e+02] [ 1.25671416e-01 9.92063053e-01 -4.19442819e-03 3.25527567e+01] [ 4.90798729e-02 -1.99440165e-03 9.98792866e-01 1.78158060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4250998929999 meters 0.019964671751454624 Centerline is valid? [True, True] Translation: X:482.42, Y:32.56, Z:17.82 [[ 9.91048020e-01 -1.24152034e-01 -4.90927031e-02 4.82417297e+02] [ 1.24095800e-01 9.92261338e-01 -4.20361529e-03 3.25647745e+01] [ 4.92346787e-02 -1.92621365e-03 9.98785380e-01 1.78196866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4850998929999 meters 0.01960576866886252 Centerline is valid? [True, True] Translation: X:482.48, Y:32.57, Z:17.82 [[ 9.91387861e-01 -1.21750508e-01 -4.82381957e-02 4.82478687e+02] [ 1.21693567e-01 9.92559141e-01 -4.12648180e-03 3.25728024e+01] [ 4.83816633e-02 -1.77933416e-03 9.98827337e-01 1.78224811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54509989299993 meters 0.017404773932793344 Centerline is valid? [True, True] Translation: X:482.54, Y:32.59, Z:17.83 [[ 9.92170454e-01 -1.15081942e-01 -4.85173962e-02 4.82538302e+02] [ 1.15016488e-01 9.93354922e-01 -4.14803944e-03 3.25857489e+01] [ 4.86723588e-02 -1.46473835e-03 9.98813724e-01 1.78250367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60509989299993 meters 0.016392179805877895 Centerline is valid? [True, True] Translation: X:482.60, Y:32.60, Z:17.83 [[ 9.92900249e-01 -1.08586606e-01 -4.85597045e-02 4.82597681e+02] [ 1.08513320e-01 9.94086330e-01 -4.15074550e-03 3.25958715e+01] [ 4.87232538e-02 -1.14809848e-03 9.98811657e-01 1.78275183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66509989299993 meters 0.014035148535953043 Centerline is valid? [True, True] Translation: X:482.66, Y:32.61, Z:17.83 [[ 9.94030321e-01 -9.76937403e-02 -4.85762715e-02 4.82657433e+02] [ 9.76074071e-02 9.95216336e-01 -4.15190633e-03 3.26101865e+01] [ 4.87495142e-02 -6.14283127e-04 9.98810847e-01 1.78313917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72509989299994 meters 0.013314496790034843 Centerline is valid? [True, True] Translation: X:482.72, Y:32.62, Z:17.84 [[ 9.94621168e-01 -9.19152962e-02 -4.77525915e-02 4.82718356e+02] [ 9.18252656e-02 9.95766776e-01 -4.08030524e-03 3.26193853e+01] [ 4.79254865e-02 -3.26536431e-04 9.98850860e-01 1.78350365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78509989299994 meters 0.013156232608403142 Centerline is valid? [True, True] Translation: X:482.78, Y:32.63, Z:17.84 [[ 9.94873797e-01 -8.89661977e-02 -4.80743521e-02 4.82779418e+02] [ 8.88715913e-02 9.96034628e-01 -4.10606036e-03 3.26261627e+01] [ 4.82490200e-02 -1.87432309e-04 9.98835320e-01 1.78368181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84509989299994 meters 0.013036638038596844 Centerline is valid? [True, True] Translation: X:482.84, Y:32.63, Z:17.84 [[ 9.94800017e-01 -8.94512872e-02 -4.86969498e-02 4.82840901e+02] [ 8.93548799e-02 9.95991175e-01 -4.15747872e-03 3.26292770e+01] [ 4.88736241e-02 -2.15450198e-04 9.98804947e-01 1.78384317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90509989299994 meters 0.013448600043855233 Centerline is valid? [True, True] Translation: X:482.90, Y:32.63, Z:17.84 [[ 9.94270417e-01 -9.51379259e-02 -4.87351356e-02 4.82902871e+02] [ 9.50482771e-02 9.95463976e-01 -4.15896831e-03 3.26280588e+01] [ 4.89097475e-02 -4.97051521e-04 9.98803078e-01 1.78398154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96509989299994 meters 0.014081404841599914 Centerline is valid? [True, True] Translation: X:482.96, Y:32.63, Z:17.84 [[ 9.93775980e-01 -1.00708946e-01 -4.76131349e-02 4.82963985e+02] [ 1.00629837e-01 9.94915644e-01 -4.06172610e-03 3.26283222e+01] [ 4.77801049e-02 -7.54856157e-04 9.98857593e-01 1.78423993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02509989299995 meters 0.014445860731408851 Centerline is valid? [True, True] Translation: X:483.03, Y:32.63, Z:17.85 [[ 9.93507816e-01 -1.03705935e-01 -4.67685660e-02 4.83026310e+02] [ 1.03632988e-01 9.94607610e-01 -3.98831787e-03 3.26312811e+01] [ 4.69299839e-02 -8.84341279e-04 9.98897790e-01 1.78450036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08509989299995 meters 0.01599976014242757 Centerline is valid? [True, True] Translation: X:483.09, Y:32.63, Z:17.85 [[ 9.92829075e-01 -1.10209431e-01 -4.63066830e-02 4.83087768e+02] [ 1.10145121e-01 9.93907683e-01 -3.94590135e-03 3.26302259e+01] [ 4.64594435e-02 -1.18284961e-03 9.98919477e-01 1.78475433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14509989299995 meters 0.019389455969260203 Centerline is valid? [True, True] Translation: X:483.15, Y:32.63, Z:17.85 [[ 9.91598336e-01 -1.20729149e-01 -4.64458049e-02 4.83148756e+02] [ 1.20676025e-01 9.92684061e-01 -3.95637698e-03 3.26250589e+01] [ 4.65836602e-02 -1.68175826e-03 9.98912976e-01 1.78491505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20509989299995 meters 0.021179601447632868 Centerline is valid? [True, True] Translation: X:483.21, Y:32.62, Z:17.85 [[ 9.90428337e-01 -1.30512725e-01 -4.49236826e-02 4.83209723e+02] [ 1.30473072e-01 9.91444470e-01 -3.82630503e-03 3.26238922e+01] [ 4.50387181e-02 -2.07164996e-03 9.98983094e-01 1.78526817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26509989299996 meters 0.022896919904782532 Centerline is valid? [True, True] Translation: X:483.27, Y:32.62, Z:17.86 [[ 9.89878679e-01 -1.35046890e-01 -4.36180859e-02 4.83270326e+02] [ 1.35013962e-01 9.90836737e-01 -3.71354233e-03 3.26247255e+01] [ 4.37199043e-02 -2.21309422e-03 9.99041377e-01 1.78558841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32509989299996 meters 0.02438807913358313 Centerline is valid? [True, True] Translation: X:483.33, Y:32.63, Z:17.86 [[ 9.89483710e-01 -1.38402280e-01 -4.20332808e-02 4.83331860e+02] [ 1.38374751e-01 9.90373479e-01 -3.57777125e-03 3.26270190e+01] [ 4.21238183e-02 -2.27619838e-03 9.99109805e-01 1.78589366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38509989299996 meters 0.02567247927159605 Centerline is valid? [True, True] Translation: X:483.39, Y:32.63, Z:17.86 [[ 9.89237749e-01 -1.40362938e-01 -4.13149160e-02 4.83393579e+02] [ 1.40338110e-01 9.90097399e-01 -3.51504403e-03 3.26296311e+01] [ 4.13991728e-02 -2.32084297e-03 9.99139991e-01 1.78614357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.44509989299996 meters 0.02812126532404196 Centerline is valid? [True, True] Translation: X:483.45, Y:32.63, Z:17.86 [[ 9.89270958e-01 -1.40078971e-01 -4.14831675e-02 4.83454601e+02] [ 1.40053788e-01 9.90137615e-01 -3.52705452e-03 3.26316377e+01] [ 4.15681107e-02 -2.32066214e-03 9.99132977e-01 1.78632904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.50509989299997 meters 0.024122308101689447 Centerline is valid? [True, True] Translation: X:483.51, Y:32.64, Z:17.86 [[ 9.89837272e-01 -1.36103481e-01 -4.12070037e-02 4.83514216e+02] [ 1.36075280e-01 9.90692312e-01 -3.50156068e-03 3.26434107e+01] [ 4.13000363e-02 -2.14127928e-03 9.99144495e-01 1.78649608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.56509989299997 meters 0.024190412445792776 Centerline is valid? [True, True] Translation: X:483.57, Y:32.65, Z:17.87 [[ 9.90258052e-01 -1.32770450e-01 -4.19642398e-02 4.83573648e+02] [ 1.32738219e-01 9.91144717e-01 -3.56590674e-03 3.26505316e+01] [ 4.20660816e-02 -2.03909058e-03 9.99112750e-01 1.78662570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.62509989299997 meters 0.021524926113253667 Centerline is valid? [True, True] Translation: X:483.63, Y:32.66, Z:17.87 [[ 9.90725462e-01 -1.29128738e-01 -4.22945473e-02 4.83633282e+02] [ 1.29092686e-01 9.91626019e-01 -3.59397458e-03 3.26612149e+01] [ 4.24044589e-02 -1.89927458e-03 9.99098721e-01 1.78676623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.685099893 meters 0.019813598062212407 Centerline is valid? [True, True] Translation: X:483.69, Y:32.67, Z:17.87 [[ 9.91597726e-01 -1.22198610e-01 -4.24434780e-02 4.83693009e+02] [ 1.22155964e-01 9.92504364e-01 -3.60662072e-03 3.26717104e+01] [ 4.25660612e-02 -1.60840708e-03 9.99092360e-01 1.78688174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.745099893 meters 0.01821679172521397 Centerline is valid? [True, True] Translation: X:483.75, Y:32.68, Z:17.87 [[ 9.92351665e-01 -1.16610739e-01 -4.04982518e-02 4.83753433e+02] [ 1.16567267e-01 9.93176837e-01 -3.44120447e-03 3.26811652e+01] [ 4.06232070e-02 -1.30588556e-03 9.99173683e-01 1.78720063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.805099893 meters 0.015242816019268576 Centerline is valid? [True, True] Translation: X:483.81, Y:32.70, Z:17.88 [[ 9.93517441e-01 -1.06889657e-01 -3.87000802e-02 4.83812920e+02] [ 1.06842610e-01 9.94270510e-01 -3.28777398e-03 3.26952631e+01] [ 3.88297775e-02 -8.68356781e-04 9.99245463e-01 1.78752366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.8650998929999 meters 0.01386517663432217 Centerline is valid? [True, True] Translation: X:483.87, Y:32.71, Z:17.88 [[ 9.94214054e-01 -1.00567119e-01 -3.77447851e-02 4.83873875e+02] [ 1.00517816e-01 9.94930092e-01 -3.20646541e-03 3.27063548e+01] [ 3.78758875e-02 -6.06110401e-04 9.99282267e-01 1.78771245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9250998929999 meters 0.013009303946843215 Centerline is valid? [True, True] Translation: X:483.94, Y:32.72, Z:17.88 [[ 9.94689943e-01 -9.55894117e-02 -3.81389893e-02 4.83935220e+02] [ 9.55354931e-02 9.95420758e-01 -3.23790819e-03 3.27167375e+01] [ 3.82738514e-02 -4.22912437e-04 9.99267198e-01 1.78788684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9850998929999 meters 0.012217769184423176 Centerline is valid? [True, True] Translation: X:484.00, Y:32.73, Z:17.88 [[ 9.95221108e-01 -8.95611233e-02 -3.89069630e-02 4.83996974e+02] [ 8.95005112e-02 9.95981308e-01 -3.30035747e-03 3.27278695e+01] [ 3.90461916e-02 -1.97607663e-04 9.99237387e-01 1.78795860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04509989299993 meters 0.012044908120935992 Centerline is valid? [True, True] Translation: X:484.06, Y:32.74, Z:17.88 [[ 9.95785690e-01 -8.34922936e-02 -3.79459677e-02 4.84058069e+02] [ 8.34303333e-02 9.96508422e-01 -3.21619848e-03 3.27378465e+01] [ 3.80820041e-02 3.67996907e-05 9.99274617e-01 1.78816020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10509989299993 meters 0.012207250592879063 Centerline is valid? [True, True] Translation: X:484.12, Y:32.75, Z:17.88 [[ 9.96036704e-01 -8.05987733e-02 -3.76127845e-02 4.84118274e+02] [ 8.05359359e-02 9.96746616e-01 -3.18525589e-03 3.27456702e+01] [ 3.77471434e-02 1.43450971e-04 9.99287312e-01 1.78834445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16509989299993 meters 0.012230547851831614 Centerline is valid? [True, True] Translation: X:484.18, Y:32.75, Z:17.88 [[ 9.96172584e-01 -7.90743396e-02 -3.72482349e-02 4.84180488e+02] [ 7.90116993e-02 9.96868702e-01 -3.15305434e-03 3.27508542e+01] [ 3.73809253e-02 1.97939959e-04 9.99301069e-01 1.78849748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22509989299994 meters 0.012292682061853324 Centerline is valid? [True, True] Translation: X:484.24, Y:32.75, Z:17.89 [[ 9.96109540e-01 -8.00208591e-02 -3.69113195e-02 4.84242106e+02] [ 7.99600965e-02 9.96793177e-01 -3.12184251e-03 3.27547035e+01] [ 3.70427640e-02 1.58264436e-04 9.99313669e-01 1.78863263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28509989299994 meters 0.012198642172321904 Centerline is valid? [True, True] Translation: X:484.30, Y:32.76, Z:17.89 [[ 9.95781337e-01 -8.37726954e-02 -3.74388219e-02 4.84304463e+02] [ 8.37129370e-02 9.96484890e-01 -3.16368832e-03 3.27562101e+01] [ 3.75722510e-02 1.62280477e-05 9.99293914e-01 1.78876152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34509989299994 meters 0.012752293249262641 Centerline is valid? [True, True] Translation: X:484.37, Y:32.75, Z:17.89 [[ 9.94918804e-01 -9.30072080e-02 -3.85516882e-02 4.84367143e+02] [ 9.29508773e-02 9.95665376e-01 -3.25487783e-03 3.27531669e+01] [ 3.86873082e-02 -3.45074073e-04 9.99251306e-01 1.78884187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40509989299994 meters 0.014182288406815555 Centerline is valid? [True, True] Translation: X:484.43, Y:32.75, Z:17.89 [[ 9.94136285e-01 -1.00654486e-01 -3.95186086e-02 4.84429508e+02] [ 1.00601442e-01 9.94921221e-01 -3.33360948e-03 3.27511655e+01] [ 3.96534451e-02 -6.61566877e-04 9.99213274e-01 1.78892543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46509989299994 meters 0.015568763821717 Centerline is valid? [True, True] Translation: X:484.49, Y:32.75, Z:17.89 [[ 9.93321368e-01 -1.08130026e-01 -4.02561476e-02 4.84490695e+02] [ 1.08081224e-01 9.94136276e-01 -3.39306821e-03 3.27504923e+01] [ 4.03869893e-02 -9.80526550e-04 9.99183632e-01 1.78906141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52509989299995 meters 0.017957638386784755 Centerline is valid? [True, True] Translation: X:484.55, Y:32.75, Z:17.89 [[ 9.92314084e-01 -1.16932646e-01 -4.04909178e-02 4.84551906e+02] [ 1.16890613e-01 9.93138934e-01 -3.41216015e-03 3.27476685e+01] [ 4.06120998e-02 -1.34707362e-03 9.99174080e-01 1.78922482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58509989299995 meters 0.020216124365317143 Centerline is valid? [True, True] Translation: X:484.61, Y:32.75, Z:17.89 [[ 9.91822190e-01 -1.21056252e-01 -4.04243339e-02 4.84611781e+02] [ 1.21017782e-01 9.92644495e-01 -3.40639095e-03 3.27485630e+01] [ 4.05393574e-02 -1.51352907e-03 9.99176796e-01 1.78946395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64509989299995 meters 0.021385257946439865 Centerline is valid? [True, True] Translation: X:484.67, Y:32.75, Z:17.90 [[ 9.91196256e-01 -1.26149111e-01 -4.02042828e-02 4.84672554e+02] [ 1.26115238e-01 9.92009813e-01 -3.38779313e-03 3.27519359e+01] [ 4.03104102e-02 -1.71240485e-03 9.99185738e-01 1.78972504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70509989299995 meters 0.02312381074380889 Centerline is valid? [True, True] Translation: X:484.73, Y:32.75, Z:17.90 [[ 9.90747012e-01 -1.29629291e-01 -4.02070364e-02 4.84734068e+02] [ 1.29598304e-01 9.91560793e-01 -3.38724075e-03 3.27545616e+01] [ 4.03068065e-02 -1.85486505e-03 9.99185629e-01 1.78989914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76509989299996 meters 0.02410060564152711 Centerline is valid? [True, True] Translation: X:484.79, Y:32.76, Z:17.90 [[ 9.90032923e-01 -1.34674924e-01 -4.12004268e-02 4.84794143e+02] [ 1.34646799e-01 9.90887583e-01 -3.46953735e-03 3.27587763e+01] [ 4.12922510e-02 -2.11254938e-03 9.99144878e-01 1.79011764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82509989299996 meters 0.028179806705772834 Centerline is valid? [True, True] Translation: X:484.85, Y:32.76, Z:17.90 [[ 9.89689989e-01 -1.36903128e-01 -4.20863334e-02 4.84854056e+02] [ 1.36875795e-01 9.90581878e-01 -3.54397599e-03 3.27596682e+01] [ 4.21751405e-02 -2.25316279e-03 9.99107692e-01 1.79032531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88509989299996 meters 0.0271106665099236 Centerline is valid? [True, True] Translation: X:484.92, Y:32.77, Z:17.91 [[ 9.89573705e-01 -1.37529115e-01 -4.27741046e-02 4.84916103e+02] [ 1.37501483e-01 9.90495013e-01 -3.60148991e-03 3.27671692e+01] [ 4.28628470e-02 -2.31756310e-03 9.99078278e-01 1.79057323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.94509989299996 meters 0.027461252839453325 Centerline is valid? [True, True] Translation: X:484.98, Y:32.77, Z:17.91 [[ 9.89475349e-01 -1.38083520e-01 -4.32605391e-02 4.84977874e+02] [ 1.38055921e-01 9.90417749e-01 -3.63931629e-03 3.27741704e+01] [ 4.33485354e-02 -2.37135982e-03 9.99057196e-01 1.79079738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.00509989299997 meters 0.027301421726579445 Centerline is valid? [True, True] Translation: X:485.04, Y:32.78, Z:17.91 [[ 9.89527578e-01 -1.37350774e-01 -4.43839777e-02 4.85039641e+02] [ 1.37321134e-01 9.90519555e-01 -3.73057979e-03 3.27811303e+01] [ 4.44755959e-02 -2.40334656e-03 9.99007580e-01 1.79096956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.06509989299997 meters 0.029495344193563828 Centerline is valid? [True, True] Translation: X:485.10, Y:32.79, Z:17.91 [[ 9.89732857e-01 -1.35437473e-01 -4.56679528e-02 4.85100014e+02] [ 1.35404198e-01 9.90783019e-01 -3.83561736e-03 3.27862319e+01] [ 4.57665185e-02 -2.38739600e-03 9.98949311e-01 1.79106667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.12509989299997 meters 0.025904603775855743 Centerline is valid? [True, True] Translation: X:485.16, Y:32.80, Z:17.91 [[ 9.90022054e-01 -1.33383311e-01 -4.54447527e-02 4.85160432e+02] [ 1.33348245e-01 9.91061897e-01 -3.81592628e-03 3.27992956e+01] [ 4.55475437e-02 -2.28212683e-03 9.98959565e-01 1.79139369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.185099893 meters 0.025045929906637846 Centerline is valid? [True, True] Translation: X:485.22, Y:32.81, Z:17.92 [[ 9.90722842e-01 -1.28476690e-01 -4.42943576e-02 4.85219271e+02] [ 1.28438536e-01 9.91710501e-01 -3.71810003e-03 3.28102007e+01] [ 4.44048687e-02 -2.00549581e-03 9.99011604e-01 1.79174408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.245099893 meters 0.0231008653215229 Centerline is valid? [True, True] Translation: X:485.28, Y:32.82, Z:17.92 [[ 9.91310072e-01 -1.24313303e-01 -4.30179377e-02 4.85279237e+02] [ 1.24273392e-01 9.92241444e-01 -3.61119576e-03 3.28216468e+01] [ 4.31331003e-02 -1.76617030e-03 9.99067774e-01 1.79209027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.305099893 meters 0.021903746604567013 Centerline is valid? [True, True] Translation: X:485.34, Y:32.83, Z:17.92 [[ 9.91810876e-01 -1.20629617e-01 -4.19485694e-02 4.85339725e+02] [ 1.20588409e-01 9.92696349e-01 -3.52062936e-03 3.28319879e+01] [ 4.20668838e-02 -1.56671275e-03 9.99113568e-01 1.79241498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.3650998929999 meters 0.02077418328742961 Centerline is valid? [True, True] Translation: X:485.40, Y:32.84, Z:17.93 [[ 9.92399920e-01 -1.15560068e-01 -4.22879241e-02 4.85398796e+02] [ 1.15513648e-01 9.93299557e-01 -3.54780603e-03 3.28420919e+01] [ 4.24145610e-02 -1.36398997e-03 9.99099167e-01 1.79251253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4250998929999 meters 0.019774356582445682 Centerline is valid? [True, True] Translation: X:485.46, Y:32.85, Z:17.93 [[ 9.92802820e-01 -1.11651535e-01 -4.33185408e-02 4.85458448e+02] [ 1.11599112e-01 9.93746663e-01 -3.63416753e-03 3.28506783e+01] [ 4.34534158e-02 -1.22629892e-03 9.99054702e-01 1.79257502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4850998929999 meters 0.015442258757723074 Centerline is valid? [True, True] Translation: X:485.52, Y:32.87, Z:17.93 [[ 9.93581798e-01 -1.03970504e-01 -4.45572154e-02 4.85518348e+02] [ 1.03907354e-01 9.94579959e-01 -3.73728831e-03 3.28677862e+01] [ 4.47042812e-02 -9.16520735e-04 9.98999843e-01 1.79283497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54509989299993 meters 0.01391392368430548 Centerline is valid? [True, True] Translation: X:485.58, Y:32.88, Z:17.93 [[ 9.94181792e-01 -9.76851381e-02 -4.53891826e-02 4.85579321e+02] [ 9.76131228e-02 9.95217160e-01 -3.80567217e-03 3.28799698e+01] [ 4.55438510e-02 -6.47049876e-04 9.98962131e-01 1.79311862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60509989299993 meters 0.013132354543946527 Centerline is valid? [True, True] Translation: X:485.64, Y:32.89, Z:17.93 [[ 9.94729594e-01 -9.17947518e-02 -4.56810436e-02 4.85640605e+02] [ 9.17157546e-02 9.95777875e-01 -3.82669774e-03 3.28899063e+01] [ 4.58394433e-02 -3.83141892e-04 9.98948747e-01 1.79339121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66509989299993 meters 0.012898607135876374 Centerline is valid? [True, True] Translation: X:485.70, Y:32.90, Z:17.94 [[ 9.95371012e-01 -8.45847876e-02 -4.56285332e-02 4.85700826e+02] [ 8.44985435e-02 9.96416284e-01 -3.81907899e-03 3.29005286e+01] [ 4.57880494e-02 -5.41440776e-05 9.98951176e-01 1.79362833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72509989299994 meters 0.012928655552502404 Centerline is valid? [True, True] Translation: X:485.76, Y:32.91, Z:17.94 [[ 9.95643740e-01 -8.14496344e-02 -4.53817069e-02 4.85761077e+02] [ 8.13611779e-02 9.96677455e-01 -3.79595384e-03 3.29080767e+01] [ 4.55401032e-02 8.71085445e-05 9.98962508e-01 1.79384063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78509989299994 meters 0.013001394729827498 Centerline is valid? [True, True] Translation: X:485.82, Y:32.92, Z:17.94 [[ 9.95659416e-01 -8.07583152e-02 -4.62646943e-02 4.85822889e+02] [ 8.06657596e-02 9.96733706e-01 -3.86713432e-03 3.29153682e+01] [ 4.64258834e-02 1.18371992e-04 9.98921730e-01 1.79409012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84509989299994 meters 0.012936140748714632 Centerline is valid? [True, True] Translation: X:485.89, Y:32.92, Z:17.94 [[ 9.95443572e-01 -8.29475345e-02 -4.70297912e-02 4.85885234e+02] [ 8.28544904e-02 9.96553915e-01 -3.92773246e-03 3.29188382e+01] [ 4.71935183e-02 1.32066502e-05 9.98885765e-01 1.79435358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90509989299994 meters 0.013083826684202283 Centerline is valid? [True, True] Translation: X:485.95, Y:32.92, Z:17.95 [[ 9.94750920e-01 -9.07698309e-02 -4.72381823e-02 4.85947150e+02] [ 9.06849103e-02 9.95871832e-01 -3.94214837e-03 3.29184792e+01] [ 4.74010033e-02 -3.62334606e-04 9.98875875e-01 1.79472854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96509989299994 meters 0.013817423972205723 Centerline is valid? [True, True] Translation: X:486.01, Y:32.92, Z:17.95 [[ 9.94126452e-01 -9.73546501e-02 -4.72722910e-02 4.86008985e+02] [ 9.72771312e-02 9.95249522e-01 -3.94310881e-03 3.29181969e+01] [ 4.74316050e-02 -6.78564076e-04 9.98874258e-01 1.79496300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02509989299995 meters 0.015914020296765946 Centerline is valid? [True, True] Translation: X:486.07, Y:32.92, Z:17.95 [[ 9.93221838e-01 -1.06641848e-01 -4.62373940e-02 4.86070619e+02] [ 1.06577831e-01 9.94296891e-01 -3.85465651e-03 3.29150447e+01] [ 4.63847648e-02 -1.09935212e-03 9.98923043e-01 1.79517073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08509989299995 meters 0.017080006980433438 Centerline is valid? [True, True] Translation: X:486.13, Y:32.92, Z:17.95 [[ 9.92708672e-01 -1.11715980e-01 -4.52662399e-02 4.86131764e+02] [ 1.11659925e-01 9.93739315e-01 -3.77289780e-03 3.29158084e+01] [ 4.54043352e-02 -1.30903659e-03 9.98967834e-01 1.79541543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14509989299995 meters 0.018199577636622877 Centerline is valid? [True, True] Translation: X:486.19, Y:32.92, Z:17.96 [[ 9.92257219e-01 -1.15425503e-01 -4.58537269e-02 4.86192768e+02] [ 1.15371990e-01 9.93315008e-01 -3.82072045e-03 3.29177227e+01] [ 4.59882037e-02 -1.49909829e-03 9.98940858e-01 1.79561366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20509989299995 meters 0.02001718638091857 Centerline is valid? [True, True] Translation: X:486.25, Y:32.92, Z:17.96 [[ 9.91630810e-01 -1.20683338e-01 -4.58679556e-02 4.86254289e+02] [ 1.20635509e-01 9.92689521e-01 -3.81960317e-03 3.29192638e+01] [ 4.59936013e-02 -1.74566797e-03 9.98940209e-01 1.79578761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26509989299996 meters 0.019807077066905918 Centerline is valid? [True, True] Translation: X:486.32, Y:32.92, Z:17.96 [[ 9.91223143e-01 -1.24018795e-01 -4.57822957e-02 4.86315393e+02] [ 1.23974769e-01 9.92278053e-01 -3.81081103e-03 3.29235254e+01] [ 4.59013794e-02 -1.89848546e-03 9.98944172e-01 1.79598276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32509989299996 meters 0.022729280529896697 Centerline is valid? [True, True] Translation: X:486.38, Y:32.92, Z:17.96 [[ 9.90608939e-01 -1.28661409e-01 -4.62619849e-02 4.86375456e+02] [ 1.28621568e-01 9.91686278e-01 -3.84934250e-03 3.29230403e+01] [ 4.63726375e-02 -2.13709597e-03 9.98921925e-01 1.79599172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38509989299996 meters 0.023339156565170206 Centerline is valid? [True, True] Translation: X:486.44, Y:32.93, Z:17.96 [[ 9.90291238e-01 -1.30864226e-01 -4.68808882e-02 4.86437606e+02] [ 1.30825807e-01 9.91397699e-01 -3.90013202e-03 3.29282709e+01] [ 4.69879924e-02 -2.27096347e-03 9.98892873e-01 1.79614731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.44509989299996 meters 0.024551592242446768 Centerline is valid? [True, True] Translation: X:486.50, Y:32.93, Z:17.96 [[ 9.90066100e-01 -1.32548237e-01 -4.69050363e-02 4.86499712e+02] [ 1.32511823e-01 9.91173757e-01 -3.89872387e-03 3.29333944e+01] [ 4.70078101e-02 -2.35547753e-03 9.98891745e-01 1.79637811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.50509989299997 meters 0.026046437048108877 Centerline is valid? [True, True] Translation: X:486.56, Y:32.94, Z:17.97 [[ 9.90010585e-01 -1.33221654e-01 -4.61630960e-02 4.86560193e+02] [ 1.33187257e-01 9.91083476e-01 -3.83392370e-03 3.29393147e+01] [ 4.62622433e-02 -2.35271109e-03 9.98926559e-01 1.79660583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.56509989299997 meters 0.027538041089623357 Centerline is valid? [True, True] Translation: X:486.62, Y:32.95, Z:17.97 [[ 9.90037304e-01 -1.33384047e-01 -4.51091313e-02 4.86621510e+02] [ 1.33351488e-01 9.91061736e-01 -3.74374481e-03 3.29457603e+01] [ 4.52052898e-02 -2.30892277e-03 9.98975050e-01 1.79686300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.62509989299997 meters 0.027408757947125877 Centerline is valid? [True, True] Translation: X:486.68, Y:32.95, Z:17.97 [[ 9.90188234e-01 -1.32713228e-01 -4.37545408e-02 4.86683718e+02] [ 1.32682105e-01 9.91152006e-01 -3.62756834e-03 3.29537580e+01] [ 4.38488272e-02 -2.21346910e-03 9.99035726e-01 1.79719149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.685099893 meters 0.027984768058626718 Centerline is valid? [True, True] Translation: X:486.75, Y:32.96, Z:17.97 [[ 9.90394624e-01 -1.31686996e-01 -4.21547626e-02 4.86745670e+02] [ 1.31657325e-01 9.91289140e-01 -3.49147212e-03 3.29604515e+01] [ 4.22473398e-02 -2.09204807e-03 9.99104992e-01 1.79748618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.745099893 meters 0.025210935446226032 Centerline is valid? [True, True] Translation: X:486.81, Y:32.97, Z:17.98 [[ 9.90528232e-01 -1.30916121e-01 -4.14100250e-02 4.86807343e+02] [ 1.30886934e-01 9.91391379e-01 -3.42697299e-03 3.29730408e+01] [ 4.15021878e-02 -2.02551769e-03 9.99136360e-01 1.79782838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8050998929999 meters 0.023666114783730388 Centerline is valid? [True, True] Translation: X:486.87, Y:32.98, Z:17.98 [[ 9.90546031e-01 -1.30727825e-01 -4.15787978e-02 4.86870193e+02] [ 1.30698365e-01 9.91416219e-01 -3.43779307e-03 3.29814125e+01] [ 4.16713097e-02 -2.02898860e-03 9.99129314e-01 1.79807104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8650998929999 meters 0.02596367344234208 Centerline is valid? [True, True] Translation: X:486.93, Y:32.99, Z:17.98 [[ 9.90418528e-01 -1.31443167e-01 -4.23536786e-02 4.86931129e+02] [ 1.31413440e-01 9.91321480e-01 -3.49742454e-03 3.29860109e+01] [ 4.24458239e-02 -2.10192854e-03 9.99096559e-01 1.79821554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9250998929999 meters 0.024435761659410346 Centerline is valid? [True, True] Translation: X:486.99, Y:32.99, Z:17.98 [[ 9.90325282e-01 -1.31772574e-01 -4.34950995e-02 4.86992534e+02] [ 1.31741652e-01 9.91277587e-01 -3.58916018e-03 3.29945704e+01] [ 4.35886702e-02 -2.17568018e-03 9.99047193e-01 1.79837588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9850998929999 meters 0.025037784766903742 Centerline is valid? [True, True] Translation: X:487.05, Y:33.00, Z:17.99 [[ 9.90464859e-01 -1.30737237e-01 -4.34412104e-02 4.87054812e+02] [ 1.30705535e-01 9.91414765e-01 -3.58156655e-03 3.30003481e+01] [ 4.35365015e-02 -2.13059083e-03 9.99049565e-01 1.79852092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04509989299993 meters 0.023997489611310936 Centerline is valid? [True, True] Translation: X:487.12, Y:33.01, Z:17.99 [[ 9.90777644e-01 -1.28517349e-01 -4.29296112e-02 4.87116168e+02] [ 1.28484443e-01 9.91705220e-01 -3.53631301e-03 3.30084395e+01] [ 4.30279971e-02 -2.01208729e-03 9.99071841e-01 1.79880271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10509989299993 meters 0.02233818863981681 Centerline is valid? [True, True] Translation: X:487.18, Y:33.02, Z:17.99 [[ 9.91133424e-01 -1.26079080e-01 -4.19356860e-02 4.87177277e+02] [ 1.26045629e-01 9.92018441e-01 -3.45138932e-03 3.30170009e+01] [ 4.20361219e-02 -1.86502263e-03 9.99114351e-01 1.79913259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16509989299993 meters 0.02290484998729878 Centerline is valid? [True, True] Translation: X:487.24, Y:33.02, Z:17.99 [[ 9.91201269e-01 -1.25623595e-01 -4.16984091e-02 4.87239660e+02] [ 1.25590217e-01 9.92076275e-01 -3.42951037e-03 3.30213548e+01] [ 4.17988298e-02 -1.83757723e-03 9.99124357e-01 1.79936404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22509989299994 meters 0.025624847903628237 Centerline is valid? [True, True] Translation: X:487.30, Y:33.02, Z:17.99 [[ 9.91041812e-01 -1.26688584e-01 -4.22626147e-02 4.87300693e+02] [ 1.26655387e-01 9.91940699e-01 -3.47301379e-03 3.30199855e+01] [ 4.23619988e-02 -1.91088594e-03 9.99100500e-01 1.79940674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28509989299994 meters 0.025346457219534047 Centerline is valid? [True, True] Translation: X:487.36, Y:33.02, Z:18.00 [[ 9.90764587e-01 -1.28655306e-01 -4.28175898e-02 4.87362906e+02] [ 1.28623138e-01 9.91687310e-01 -3.51688332e-03 3.30235053e+01] [ 4.29141262e-02 -2.02292930e-03 9.99076717e-01 1.79963592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34509989299994 meters 0.02302166191969634 Centerline is valid? [True, True] Translation: X:487.42, Y:33.03, Z:18.00 [[ 9.90454251e-01 -1.30888811e-01 -4.32260998e-02 4.87424740e+02] [ 1.30858281e-01 9.91394738e-01 -3.54734772e-03 3.30303746e+01] [ 4.33184361e-02 -2.14300751e-03 9.99059018e-01 1.79993181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40509989299994 meters 0.026297886988794768 Centerline is valid? [True, True] Translation: X:487.49, Y:33.03, Z:18.00 [[ 9.90142154e-01 -1.32923396e-01 -4.41575058e-02 4.87485837e+02] [ 1.32893690e-01 9.91123684e-01 -3.62070608e-03 3.30282539e+01] [ 4.42468264e-02 -2.28324018e-03 9.99018020e-01 1.80007955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46509989299994 meters 0.02644569101063292 Centerline is valid? [True, True] Translation: X:487.55, Y:33.03, Z:18.00 [[ 9.89674105e-01 -1.36465846e-01 -4.38433538e-02 4.87546705e+02] [ 1.36440089e-01 9.90641807e-01 -3.59346807e-03 3.30295652e+01] [ 4.39234449e-02 -2.42562880e-03 9.99031955e-01 1.80036025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52509989299995 meters 0.027721373578480132 Centerline is valid? [True, True] Translation: X:487.61, Y:33.03, Z:18.01 [[ 9.89354471e-01 -1.38902971e-01 -4.34015547e-02 4.87607650e+02] [ 1.38880099e-01 9.90302817e-01 -3.55647515e-03 3.30302671e+01] [ 4.34746869e-02 -2.50899761e-03 9.99051378e-01 1.80070583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58509989299995 meters 0.028701990588120226 Centerline is valid? [True, True] Translation: X:487.67, Y:33.03, Z:18.01 [[ 9.89266563e-01 -1.39810185e-01 -4.24826880e-02 4.87670088e+02] [ 1.39789147e-01 9.90175178e-01 -3.48013897e-03 3.30318233e+01] [ 4.25518620e-02 -2.49583360e-03 9.99091142e-01 1.80103170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64509989299995 meters 0.029366927730614632 Centerline is valid? [True, True] Translation: X:487.73, Y:33.03, Z:18.01 [[ 9.89220225e-01 -1.40402465e-01 -4.15992006e-02 4.87732330e+02] [ 1.40382935e-01 9.90091429e-01 -3.40481975e-03 3.30330409e+01] [ 4.16650570e-02 -2.47170132e-03 9.99128577e-01 1.80131234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70509989299995 meters 0.031002956969774908 Centerline is valid? [True, True] Translation: X:487.80, Y:33.03, Z:18.01 [[ 9.88975568e-01 -1.42040313e-01 -4.18554170e-02 4.87795068e+02] [ 1.42022130e-01 9.89857565e-01 -3.42276674e-03 3.30312292e+01] [ 4.19170720e-02 -2.55936281e-03 9.99117815e-01 1.80148331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76509989299996 meters 0.03195620413612544 Centerline is valid? [True, True] Translation: X:487.86, Y:33.03, Z:18.02 [[ 9.88755128e-01 -1.43279742e-01 -4.28277006e-02 4.87856996e+02] [ 1.43262010e-01 9.89678612e-01 -3.49888987e-03 3.30318574e+01] [ 4.28869793e-02 -2.67603717e-03 9.99076346e-01 1.80156228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82509989299996 meters 0.029682727488124033 Centerline is valid? [True, True] Translation: X:487.92, Y:33.04, Z:18.02 [[ 9.88582965e-01 -1.44059575e-01 -4.41651538e-02 4.87919479e+02] [ 1.44041721e-01 9.89565056e-01 -3.60305734e-03 3.30351857e+01] [ 4.42233478e-02 -2.79970366e-03 9.99017746e-01 1.80165268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88509989299996 meters 0.03277784225325147 Centerline is valid? [True, True] Translation: X:487.98, Y:33.03, Z:18.02 [[ 9.88738995e-01 -1.43003323e-01 -4.41049689e-02 4.87980869e+02] [ 1.42984608e-01 9.89718383e-01 -3.59506112e-03 3.30333503e+01] [ 4.41656042e-02 -2.75175457e-03 9.99020434e-01 1.80181112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.94509989299996 meters 0.027911890461752478 Centerline is valid? [True, True] Translation: X:488.04, Y:33.04, Z:18.02 [[ 9.89122935e-01 -1.40490300e-01 -4.35694384e-02 4.88041672e+02] [ 1.40469704e-01 9.90078616e-01 -3.54919300e-03 3.30417441e+01] [ 4.36357965e-02 -2.60959791e-03 9.99044097e-01 1.80216340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.00509989299997 meters 0.02933963327218763 Centerline is valid? [True, True] Translation: X:488.10, Y:33.04, Z:18.02 [[ 9.89312786e-01 -1.39018964e-01 -4.39765798e-02 4.88102269e+02] [ 1.38996600e-01 9.90286384e-01 -3.58085771e-03 3.30430012e+01] [ 4.40472153e-02 -2.57000673e-03 9.99026145e-01 1.80234255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.06509989299997 meters 0.026724471308790104 Centerline is valid? [True, True] Translation: X:488.16, Y:33.05, Z:18.03 [[ 9.89472892e-01 -1.37683267e-01 -4.45725616e-02 4.88163824e+02] [ 1.37658998e-01 9.90473037e-01 -3.62816748e-03 3.30489663e+01] [ 4.46474584e-02 -2.54584079e-03 9.98999561e-01 1.80255476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.12509989299997 meters 0.02609762802722632 Centerline is valid? [True, True] Translation: X:488.23, Y:33.05, Z:18.03 [[ 9.89856600e-01 -1.35006840e-01 -4.42387286e-02 4.88225553e+02] [ 1.34980406e-01 9.90841736e-01 -3.59789875e-03 3.30506177e+01] [ 4.43193196e-02 -2.40995772e-03 9.99014509e-01 1.80281222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.185099893 meters 0.024089047828576935 Centerline is valid? [True, True] Translation: X:488.29, Y:33.05, Z:18.03 [[ 9.90434420e-01 -1.30829858e-01 -4.38543976e-02 4.88285864e+02] [ 1.30799886e-01 9.91402382e-01 -3.56462243e-03 3.30543871e+01] [ 4.39437133e-02 -2.20562544e-03 9.99031574e-01 1.80311292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.245099893 meters 0.02398231425530616 Centerline is valid? [True, True] Translation: X:488.35, Y:33.06, Z:18.03 [[ 9.90821460e-01 -1.27898008e-01 -4.37599642e-02 4.88346363e+02] [ 1.27865322e-01 9.91785163e-01 -3.55670795e-03 3.30572035e+01] [ 4.38553790e-02 -2.07131937e-03 9.99035743e-01 1.80332691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3050998929999 meters 0.02312270715278175 Centerline is valid? [True, True] Translation: X:488.41, Y:33.06, Z:18.04 [[ 9.91498793e-01 -1.22658117e-01 -4.34180928e-02 4.88406144e+02] [ 1.22620982e-01 9.92447304e-01 -3.52759216e-03 3.30588815e+01] [ 4.35228570e-02 -1.82636583e-03 9.99050762e-01 1.80357677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3650998929999 meters 0.022312793483648893 Centerline is valid? [True, True] Translation: X:488.47, Y:33.06, Z:18.04 [[ 9.91902900e-01 -1.19556227e-01 -4.28362640e-02 4.88467785e+02] [ 1.19517203e-01 9.92826031e-01 -3.48007709e-03 3.30626764e+01] [ 4.29450229e-02 -1.66777192e-03 9.99076045e-01 1.80385673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4250998929999 meters 0.01815516690360939 Centerline is valid? [True, True] Translation: X:488.53, Y:33.07, Z:18.04 [[ 9.92477720e-01 -1.14890638e-01 -4.22861195e-02 4.88528118e+02] [ 1.14848467e-01 9.93377089e-01 -3.43336481e-03 3.30708650e+01] [ 4.24005238e-02 -1.44895790e-03 9.99099643e-01 1.80418094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4850998929999 meters 0.017438845380296972 Centerline is valid? [True, True] Translation: X:488.59, Y:33.08, Z:18.04 [[ 9.92777591e-01 -1.12234606e-01 -4.23798131e-02 4.88590167e+02] [ 1.12189876e-01 9.93680833e-01 -3.43990159e-03 3.30752500e+01] [ 4.24980840e-02 -1.33952876e-03 9.99095650e-01 1.80437759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54509989299993 meters 0.017796624868893517 Centerline is valid? [True, True] Translation: X:488.65, Y:33.08, Z:18.05 [[ 9.92955070e-01 -1.10684885e-01 -4.22975869e-02 4.88651063e+02] [ 1.10639051e-01 9.93854735e-01 -3.43022060e-03 3.30776476e+01] [ 4.24173305e-02 -1.27370995e-03 9.99099168e-01 1.80456299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60509989299993 meters 0.01795866013663631 Centerline is valid? [True, True] Translation: X:488.71, Y:33.08, Z:18.05 [[ 9.92861001e-01 -1.11499398e-01 -4.23664686e-02 4.88712865e+02] [ 1.11454254e-01 9.93763634e-01 -3.43348301e-03 3.30783939e+01] [ 4.24850871e-02 -1.31295178e-03 9.99096238e-01 1.80468876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66509989299993 meters 0.019534108983753053 Centerline is valid? [True, True] Translation: X:488.77, Y:33.08, Z:18.05 [[ 9.92626352e-01 -1.13346983e-01 -4.29579637e-02 4.88773789e+02] [ 1.13302395e-01 9.93554459e-01 -3.47915175e-03 3.30777463e+01] [ 4.30754277e-02 -1.41374247e-03 9.99070823e-01 1.80481489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72509989299994 meters 0.021196074196056913 Centerline is valid? [True, True] Translation: X:488.83, Y:33.08, Z:18.05 [[ 9.92300377e-01 -1.15847818e-01 -4.38091945e-02 4.88834738e+02] [ 1.15803974e-01 9.93265758e-01 -3.54592177e-03 3.30772460e+01] [ 4.39249600e-02 -1.55465930e-03 9.99033624e-01 1.80497429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78509989299994 meters 0.02020244203406483 Centerline is valid? [True, True] Translation: X:488.90, Y:33.08, Z:18.05 [[ 9.92063535e-01 -1.17747412e-01 -4.41077069e-02 4.88896890e+02] [ 1.17705066e-01 9.93042199e-01 -3.56501573e-03 3.30816111e+01] [ 4.42205856e-02 -1.65497846e-03 9.99020421e-01 1.80526484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84509989299994 meters 0.021413859889008128 Centerline is valid? [True, True] Translation: X:488.96, Y:33.08, Z:18.06 [[ 9.91881557e-01 -1.19617468e-01 -4.31582859e-02 4.88959221e+02] [ 1.19578825e-01 9.92818593e-01 -3.48520701e-03 3.30830190e+01] [ 4.32652403e-02 -1.70390455e-03 9.99062168e-01 1.80555716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90509989299994 meters 0.023388626509555914 Centerline is valid? [True, True] Translation: X:489.02, Y:33.08, Z:18.06 [[ 9.91577179e-01 -1.22687305e-01 -4.15032916e-02 4.89020051e+02] [ 1.22654359e-01 9.92443798e-01 -3.34891771e-03 3.30822801e+01] [ 4.16005540e-02 -1.76984926e-03 9.99132755e-01 1.80590664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96509989299994 meters 0.024741858457476732 Centerline is valid? [True, True] Translation: X:489.08, Y:33.08, Z:18.06 [[ 9.91347627e-01 -1.24922207e-01 -4.03029212e-02 4.89082294e+02] [ 1.24893015e-01 9.92164888e-01 -3.25120303e-03 3.30840042e+01] [ 4.03932907e-02 -1.81048094e-03 9.99182218e-01 1.80628636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02509989299995 meters 0.022310050048027497 Centerline is valid? [True, True] Translation: X:489.14, Y:33.09, Z:18.06 [[ 9.90831856e-01 -1.28723614e-01 -4.10178626e-02 4.89142858e+02] [ 1.28696738e-01 9.91678486e-01 -3.30614157e-03 3.30908229e+01] [ 4.11021103e-02 -2.00303473e-03 9.99152943e-01 1.80642518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08509989299995 meters 0.02359302205632688 Centerline is valid? [True, True] Translation: X:489.20, Y:33.09, Z:18.07 [[ 9.90408500e-01 -1.31415268e-01 -4.26735278e-02 4.89203546e+02] [ 1.31388706e-01 9.91324963e-01 -3.43876597e-03 3.30932270e+01] [ 4.27552397e-02 -2.20103655e-03 9.99083152e-01 1.80650769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14509989299995 meters 0.02802256976047802 Centerline is valid? [True, True] Translation: X:489.26, Y:33.09, Z:18.07 [[ 9.89935074e-01 -1.34343614e-01 -4.45010346e-02 4.89263629e+02] [ 1.34317711e-01 9.90931833e-01 -3.58531068e-03 3.30922418e+01] [ 4.45791554e-02 -2.42805232e-03 9.99002905e-01 1.80654299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20509989299995 meters 0.0277253024996353 Centerline is valid? [True, True] Translation: X:489.33, Y:33.10, Z:18.07 [[ 9.89839235e-01 -1.35122862e-01 -4.42730308e-02 4.89325550e+02] [ 1.35098023e-01 9.90825820e-01 -3.56643173e-03 3.30987869e+01] [ 4.43487685e-02 -2.45100488e-03 9.99013103e-01 1.80679309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26509989299996 meters 0.02604837748193903 Centerline is valid? [True, True] Translation: X:489.39, Y:33.11, Z:18.07 [[ 9.89895141e-01 -1.34732806e-01 -4.42117829e-02 4.89387511e+02] [ 1.34707789e-01 9.90878978e-01 -3.55831264e-03 3.31088527e+01] [ 4.42879477e-02 -2.43331514e-03 9.99015844e-01 1.80710601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32509989299996 meters 0.029485852762238488 Centerline is valid? [True, True] Translation: X:489.45, Y:33.11, Z:18.07 [[ 9.90102028e-01 -1.33497818e-01 -4.33163526e-02 4.89448624e+02] [ 1.33472755e-01 9.91046362e-01 -3.48323138e-03 3.31106930e+01] [ 4.33935174e-02 -2.33279848e-03 9.99055334e-01 1.80734099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38509989299996 meters 0.025067855208261592 Centerline is valid? [True, True] Translation: X:489.51, Y:33.12, Z:18.08 [[ 9.90325024e-01 -1.32368968e-01 -4.16509746e-02 4.89510138e+02] [ 1.32344893e-01 9.91198076e-01 -3.34704050e-03 3.31237415e+01] [ 4.17274102e-02 -2.19763581e-03 9.99126615e-01 1.80774007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.44509989299996 meters 0.02583136244589346 Centerline is valid? [True, True] Translation: X:489.57, Y:33.13, Z:18.08 [[ 9.90375955e-01 -1.32076161e-01 -4.13685294e-02 4.89572241e+02] [ 1.32052282e-01 9.91237188e-01 -3.32131886e-03 3.31309289e+01] [ 4.14446918e-02 -2.17345436e-03 9.99138436e-01 1.80805317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.50509989299997 meters 0.02560133200951258 Centerline is valid? [True, True] Translation: X:489.63, Y:33.14, Z:18.08 [[ 9.90026789e-01 -1.34365291e-01 -4.23429566e-02 4.89633164e+02] [ 1.34342486e-01 9.90929140e-01 -3.39659419e-03 3.31384807e+01] [ 4.24152540e-02 -2.32573883e-03 9.99097361e-01 1.80821664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.56509989299997 meters 0.028624408306116136 Centerline is valid? [True, True] Translation: X:489.69, Y:33.14, Z:18.08 [[ 9.89637897e-01 -1.36812329e-01 -4.35800356e-02 4.89693822e+02] [ 1.36790605e-01 9.90593822e-01 -3.49430077e-03 3.31396298e+01] [ 4.36481775e-02 -2.50324696e-03 9.99043828e-01 1.80832949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.62509989299997 meters 0.031255407848605005 Centerline is valid? [True, True] Translation: X:489.75, Y:33.14, Z:18.08 [[ 9.89283436e-01 -1.39260358e-01 -4.38729579e-02 4.89754068e+02] [ 1.39240774e-01 9.90252310e-01 -3.51698978e-03 3.31417611e+01] [ 4.39350751e-02 -2.62960486e-03 9.99030928e-01 1.80848864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.685099893 meters 0.03064854561328427 Centerline is valid? [True, True] Translation: X:489.82, Y:33.15, Z:18.09 [[ 9.89015464e-01 -1.41163843e-01 -4.38312877e-02 4.89815051e+02] [ 1.41146196e-01 9.89982531e-01 -3.51275605e-03 3.31500435e+01] [ 4.38880833e-02 -2.71244945e-03 9.99032772e-01 1.80875638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.745099893 meters 0.030673861767686692 Centerline is valid? [True, True] Translation: X:489.88, Y:33.16, Z:18.09 [[ 9.89104305e-01 -1.40305699e-01 -4.45756020e-02 4.89876950e+02] [ 1.40286665e-01 9.90104491e-01 -3.57052489e-03 3.31568801e+01] [ 4.46354687e-02 -2.72174101e-03 9.98999633e-01 1.80897200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8050998929999 meters 0.02771608423016298 Centerline is valid? [True, True] Translation: X:489.94, Y:33.17, Z:18.09 [[ 9.89685264e-01 -1.36232878e-01 -4.43134418e-02 4.89936688e+02] [ 1.36210121e-01 9.90673621e-01 -3.54675752e-03 3.31689897e+01] [ 4.43833428e-02 -2.52576560e-03 9.99011381e-01 1.80922511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8650998929999 meters 0.025467000302531743 Centerline is valid? [True, True] Translation: X:490.00, Y:33.18, Z:18.10 [[ 9.90200241e-01 -1.32503081e-01 -4.41182144e-02 4.89996467e+02] [ 1.32476861e-01 9.91179811e-01 -3.53048695e-03 3.31801400e+01] [ 4.41968838e-02 -2.34875354e-03 9.99020079e-01 1.80952313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9250998929999 meters 0.025189356163124295 Centerline is valid? [True, True] Translation: X:490.06, Y:33.19, Z:18.10 [[ 9.90787194e-01 -1.28517502e-01 -4.27081655e-02 4.90055390e+02] [ 1.28489232e-01 9.91705015e-01 -3.41774943e-03 3.31888274e+01] [ 4.27931425e-02 -2.10127700e-03 9.99081744e-01 1.80982749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9850998929999 meters 0.025875164244440706 Centerline is valid? [True, True] Translation: X:490.12, Y:33.19, Z:18.10 [[ 9.90875168e-01 -1.28453732e-01 -4.08171528e-02 4.90117326e+02] [ 1.28427838e-01 9.91713476e-01 -3.26680001e-03 3.31939251e+01] [ 4.08985531e-02 -2.00506767e-03 9.99161292e-01 1.81017198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04509989299993 meters 0.026843798598676666 Centerline is valid? [True, True] Translation: X:490.18, Y:33.20, Z:18.10 [[ 9.90682178e-01 -1.29892547e-01 -4.09481241e-02 4.90178988e+02] [ 1.29867829e-01 9.91525907e-01 -3.27442099e-03 3.31977520e+01] [ 4.10264487e-02 -2.07393346e-03 9.99155908e-01 1.81038934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10509989299993 meters 0.02588487136746474 Centerline is valid? [True, True] Translation: X:490.24, Y:33.20, Z:18.11 [[ 9.90475594e-01 -1.31310002e-01 -4.14219927e-02 4.90241047e+02] [ 1.31286041e-01 9.91339003e-01 -3.31000003e-03 3.32041193e+01] [ 4.14978730e-02 -2.15965520e-03 9.99136258e-01 1.81055525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16509989299993 meters 0.026947360084269237 Centerline is valid? [True, True] Translation: X:490.30, Y:33.21, Z:18.11 [[ 9.90118493e-01 -1.33330709e-01 -4.34544807e-02 4.90302438e+02] [ 1.33306415e-01 9.91068798e-01 -3.46934536e-03 3.32074106e+01] [ 4.35289503e-02 -2.35769805e-03 9.99049384e-01 1.81059661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22509989299994 meters 0.026200437018566725 Centerline is valid? [True, True] Translation: X:490.36, Y:33.21, Z:18.11 [[ 9.90005974e-01 -1.34048366e-01 -4.38087506e-02 4.90363999e+02] [ 1.34024456e-01 9.90971859e-01 -3.49578731e-03 3.32136732e+01] [ 4.38818436e-02 -2.41059364e-03 9.99033820e-01 1.81080360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28509989299994 meters 0.025623403216489146 Centerline is valid? [True, True] Translation: X:490.43, Y:33.22, Z:18.11 [[ 9.89988608e-01 -1.34153622e-01 -4.38789426e-02 4.90425894e+02] [ 1.34129881e-01 9.90957586e-01 -3.49814890e-03 3.32209161e+01] [ 4.39514604e-02 -2.42234979e-03 9.99030731e-01 1.81111905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34509989299994 meters 0.02652543888615954 Centerline is valid? [True, True] Translation: X:490.49, Y:33.22, Z:18.11 [[ 9.90115288e-01 -1.33504610e-01 -4.29911099e-02 4.90486883e+02] [ 1.33481339e-01 9.91045411e-01 -3.42434005e-03 3.32249750e+01] [ 4.30633074e-02 -2.34801948e-03 9.99069586e-01 1.81136318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40509989299994 meters 0.027422386551800976 Centerline is valid? [True, True] Translation: X:490.55, Y:33.23, Z:18.12 [[ 9.90403640e-01 -1.31709596e-01 -4.18713839e-02 4.90546715e+02] [ 1.31686007e-01 9.91285875e-01 -3.33307974e-03 3.32291845e+01] [ 4.19455100e-02 -2.21278106e-03 9.99117449e-01 1.81161341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46509989299994 meters 0.027118737025817744 Centerline is valid? [True, True] Translation: X:490.61, Y:33.24, Z:18.12 [[ 9.90614465e-01 -1.30284759e-01 -4.13383988e-02 4.90608257e+02] [ 1.30260570e-01 9.91474337e-01 -3.28969957e-03 3.32353816e+01] [ 4.14145593e-02 -2.12593940e-03 9.99139787e-01 1.81192936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52509989299995 meters 0.027677898563085175 Centerline is valid? [True, True] Translation: X:490.67, Y:33.24, Z:18.12 [[ 9.90810729e-01 -1.28608129e-01 -4.18813541e-02 4.90668828e+02] [ 1.28581927e-01 9.91693299e-01 -3.33005909e-03 3.32399459e+01] [ 4.19617309e-02 -2.08572693e-03 9.99117042e-01 1.81207752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58509989299995 meters 0.026434823027698263 Centerline is valid? [True, True] Translation: X:490.73, Y:33.25, Z:18.12 [[ 9.90745974e-01 -1.28612867e-01 -4.33721642e-02 4.90731110e+02] [ 1.28584850e-01 9.91692521e-01 -3.44680205e-03 3.32467451e+01] [ 4.34551540e-02 -2.16209798e-03 9.99053039e-01 1.81219731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64509989299995 meters 0.02334980654405809 Centerline is valid? [True, True] Translation: X:490.79, Y:33.26, Z:18.12 [[ 9.90674894e-01 -1.28919622e-01 -4.40793061e-02 4.90793109e+02] [ 1.28891130e-01 9.91652574e-01 -3.49979686e-03 3.32557357e+01] [ 4.41625499e-02 -2.21427068e-03 9.99021905e-01 1.81243339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70509989299995 meters 0.02539409185761877 Centerline is valid? [True, True] Translation: X:490.85, Y:33.26, Z:18.12 [[ 9.90501961e-01 -1.29683863e-01 -4.56942167e-02 4.90854190e+02] [ 1.29654213e-01 9.91552645e-01 -3.62465940e-03 3.32578520e+01] [ 4.57782813e-02 -2.33421544e-03 9.98948898e-01 1.81249843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76509989299996 meters 0.024723019958060127 Centerline is valid? [True, True] Translation: X:490.92, Y:33.26, Z:18.13 [[ 9.90520833e-01 -1.29246280e-01 -4.65174967e-02 4.90915917e+02] [ 1.29215202e-01 9.91609720e-01 -3.68718739e-03 3.32645007e+01] [ 4.66037571e-02 -2.35853178e-03 9.98910670e-01 1.81274725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82509989299996 meters 0.024712001986442352 Centerline is valid? [True, True] Translation: X:490.98, Y:33.27, Z:18.13 [[ 9.90676350e-01 -1.28034196e-01 -4.65576447e-02 4.90977936e+02] [ 1.28001889e-01 9.91767071e-01 -3.68695922e-03 3.32707113e+01] [ 4.66463958e-02 -2.30688315e-03 9.98908801e-01 1.81302871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88509989299996 meters 0.023634494034286694 Centerline is valid? [True, True] Translation: X:491.04, Y:33.28, Z:18.13 [[ 9.91149742e-01 -1.24772252e-01 -4.53219018e-02 4.91037807e+02] [ 1.24738352e-01 9.92183189e-01 -3.58646411e-03 3.32794347e+01] [ 4.54151203e-02 -2.09865636e-03 9.98965997e-01 1.81344384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.94509989299996 meters 0.02208792427170587 Centerline is valid? [True, True] Translation: X:491.10, Y:33.29, Z:18.14 [[ 9.91431446e-01 -1.22863648e-01 -4.43645399e-02 4.91098679e+02] [ 1.22829269e-01 9.92421608e-01 -3.51043918e-03 3.32882712e+01] [ 4.44596334e-02 -1.96890422e-03 9.99009241e-01 1.81383708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.00509989299997 meters 0.02286732228486262 Centerline is valid? [True, True] Translation: X:491.16, Y:33.29, Z:18.14 [[ 9.91757556e-01 -1.20487812e-01 -4.35848212e-02 4.91159065e+02] [ 1.20452410e-01 9.92713118e-01 -3.44715597e-03 3.32934806e+01] [ 4.36825640e-02 -1.83115379e-03 9.99043783e-01 1.81410617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.06509989299997 meters 0.023898286961137688 Centerline is valid? [True, True] Translation: X:491.22, Y:33.30, Z:18.14 [[ 9.91892524e-01 -1.19210906e-01 -4.40225046e-02 4.91220158e+02] [ 1.19173611e-01 9.92867332e-01 -3.48004549e-03 3.32966943e+01] [ 4.41233661e-02 -1.79448975e-03 9.99024478e-01 1.81425310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.12509989299997 meters 0.01996363289641338 Centerline is valid? [True, True] Translation: X:491.28, Y:33.31, Z:18.14 [[ 9.92173207e-01 -1.16356987e-01 -4.53142277e-02 4.91280555e+02] [ 1.16314607e-01 9.93205969e-01 -3.57983764e-03 3.33082882e+01] [ 4.54229006e-02 -1.71888760e-03 9.98966369e-01 1.81448595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.185099893 meters 0.01929566728080921 Centerline is valid? [True, True] Translation: X:491.34, Y:33.31, Z:18.15 [[ 9.92453974e-01 -1.13740584e-01 -4.58059955e-02 4.91341360e+02] [ 1.13694575e-01 9.93509165e-01 -3.61697626e-03 3.33148255e+01] [ 4.59200733e-02 -1.61821075e-03 9.98943806e-01 1.81471832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.245099893 meters 0.018804778482224206 Centerline is valid? [True, True] Translation: X:491.40, Y:33.32, Z:18.15 [[ 9.92818730e-01 -1.10539291e-01 -4.57387703e-02 4.91402388e+02] [ 1.10490102e-01 9.93870668e-01 -3.60998635e-03 3.33213015e+01] [ 4.58574676e-02 -1.46961931e-03 9.98946912e-01 1.81494603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3050998929999 meters 0.01848677159674228 Centerline is valid? [True, True] Translation: X:491.46, Y:33.33, Z:18.15 [[ 9.92975709e-01 -1.09245004e-01 -4.54397390e-02 4.91463924e+02] [ 1.09195191e-01 9.94013864e-01 -3.58444373e-03 3.33265926e+01] [ 4.55593131e-02 -1.40253544e-03 9.98960651e-01 1.81521531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3650998929999 meters 0.019724633468192122 Centerline is valid? [True, True] Translation: X:491.53, Y:33.33, Z:18.15 [[ 9.92854991e-01 -1.10359271e-01 -4.53849918e-02 4.91525203e+02] [ 1.10310882e-01 9.93890695e-01 -3.57700257e-03 3.33291014e+01] [ 4.55024764e-02 -1.45501362e-03 9.98963166e-01 1.81537144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4250998929999 meters 0.02115768870135856 Centerline is valid? [True, True] Translation: X:491.59, Y:33.33, Z:18.16 [[ 9.92567830e-01 -1.12960564e-01 -4.52660260e-02 4.91587785e+02] [ 1.12915244e-01 9.93598228e-01 -3.56508418e-03 3.33305039e+01] [ 4.53789571e-02 -1.57263650e-03 9.98968607e-01 1.81553691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4850998929999 meters 0.022731783982971227 Centerline is valid? [True, True] Translation: X:491.65, Y:33.33, Z:18.16 [[ 9.91744734e-01 -1.19808554e-01 -4.56978534e-02 4.91648970e+02] [ 1.19769737e-01 9.92795183e-01 -3.59645093e-03 3.33309303e+01] [ 4.57994944e-02 -1.90645861e-03 9.98948833e-01 1.81572886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54509989299993 meters 0.02270593789194541 Centerline is valid? [True, True] Translation: X:491.71, Y:33.33, Z:18.16 [[ 9.91040316e-01 -1.25536825e-01 -4.56026056e-02 4.91709866e+02] [ 1.25504221e-01 9.92086595e-01 -3.58879421e-03 3.33341375e+01] [ 4.56922595e-02 -2.16667975e-03 9.98953214e-01 1.81601593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60509989299993 meters 0.02661106570030966 Centerline is valid? [True, True] Translation: X:491.77, Y:33.33, Z:18.16 [[ 9.89825099e-01 -1.34903521e-01 -4.52472432e-02 4.91770890e+02] [ 1.34881175e-01 9.90855383e-01 -3.56060681e-03 3.33307338e+01] [ 4.53138129e-02 -2.57862332e-03 9.98969474e-01 1.81626661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66509989299993 meters 0.031130297956986522 Centerline is valid? [True, True] Translation: X:491.83, Y:33.33, Z:18.17 [[ 9.89148215e-01 -1.40014569e-01 -4.45166208e-02 4.91830576e+02] [ 1.39998096e-01 9.90145576e-01 -3.50294742e-03 3.33275881e+01] [ 4.45683989e-02 -2.76730796e-03 9.99002502e-01 1.81650135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72509989299994 meters 0.03136780898070249 Centerline is valid? [True, True] Translation: X:491.89, Y:33.33, Z:18.17 [[ 9.88655673e-01 -1.43658374e-01 -4.38432586e-02 4.91891370e+02] [ 1.43645945e-01 9.89623129e-01 -3.45028360e-03 3.33307186e+01] [ 4.38839649e-02 -2.88676384e-03 9.99032464e-01 1.81677887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78509989299994 meters 0.03056816016486298 Centerline is valid? [True, True] Translation: X:491.95, Y:33.34, Z:18.17 [[ 9.88376196e-01 -1.45623086e-01 -4.36624885e-02 4.91952135e+02] [ 1.45612726e-01 9.89335705e-01 -3.43467993e-03 3.33351396e+01] [ 4.36970276e-02 -2.96305807e-03 9.99040435e-01 1.81698999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84509989299994 meters 0.030952455819663195 Centerline is valid? [True, True] Translation: X:492.01, Y:33.34, Z:18.17 [[ 9.88153474e-01 -1.46562318e-01 -4.55214174e-02 4.92014271e+02] [ 1.46552115e-01 9.89196474e-01 -3.57957564e-03 3.33380916e+01] [ 4.55542565e-02 -3.13408988e-03 9.98956950e-01 1.81706737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90509989299994 meters 0.03332433179693727 Centerline is valid? [True, True] Translation: X:492.07, Y:33.34, Z:18.17 [[ 9.87855606e-01 -1.48211596e-01 -4.66328611e-02 4.92074307e+02] [ 1.48202851e-01 9.88950195e-01 -3.66414919e-03 3.33381193e+01] [ 4.66606465e-02 -3.29147264e-03 9.98905376e-01 1.81718894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96509989299994 meters 0.03580913756980678 Centerline is valid? [True, True] Translation: X:492.14, Y:33.34, Z:18.17 [[ 9.87454399e-01 -1.50615891e-01 -4.74200636e-02 4.92135195e+02] [ 1.50609615e-01 9.88586295e-01 -3.72582008e-03 3.33368625e+01] [ 4.74399926e-02 -3.46284010e-03 9.98868087e-01 1.81732596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02509989299995 meters 0.03426180679851439 Centerline is valid? [True, True] Translation: X:492.20, Y:33.34, Z:18.18 [[ 9.87337903e-01 -1.51214758e-01 -4.79370728e-02 4.92197012e+02] [ 1.51209118e-01 9.88494627e-01 -3.76498234e-03 3.33419729e+01] [ 4.79548598e-02 -3.53121273e-03 9.98843262e-01 1.81759434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08509989299995 meters 0.03140865422891859 Centerline is valid? [True, True] Translation: X:492.26, Y:33.35, Z:18.18 [[ 9.87511711e-01 -1.50171856e-01 -4.76343858e-02 4.92259204e+02] [ 1.50165255e-01 9.88653846e-01 -3.73752658e-03 3.33490310e+01] [ 4.76551900e-02 -3.46217844e-03 9.98857846e-01 1.81789884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14509989299995 meters 0.03374424204816989 Centerline is valid? [True, True] Translation: X:492.32, Y:33.35, Z:18.18 [[ 9.87827800e-01 -1.48230754e-01 -4.71580371e-02 4.92320141e+02] [ 1.48222263e-01 9.88947166e-01 -3.69633604e-03 3.33486195e+01] [ 4.71847178e-02 -3.33852747e-03 9.98880602e-01 1.81819253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20509989299995 meters 0.03341396888060451 Centerline is valid? [True, True] Translation: X:492.38, Y:33.35, Z:18.18 [[ 9.87906301e-01 -1.47803168e-01 -4.68547130e-02 4.92382677e+02] [ 1.47794412e-01 9.89011294e-01 -3.67031804e-03 3.33523027e+01] [ 4.68823250e-02 -3.29893447e-03 9.98894972e-01 1.81849683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26509989299996 meters 0.03263133693271228 Centerline is valid? [True, True] Translation: X:492.44, Y:33.35, Z:18.19 [[ 9.87796308e-01 -1.48460892e-01 -4.70937182e-02 4.92444864e+02] [ 1.48452985e-01 9.88912601e-01 -3.68491942e-03 3.33547215e+01] [ 4.71186378e-02 -3.35125326e-03 9.98883678e-01 1.81879590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32509989299996 meters 0.0335115465362327 Centerline is valid? [True, True] Translation: X:492.51, Y:33.36, Z:18.19 [[ 9.87755990e-01 -1.48785544e-01 -4.69144645e-02 4.92507195e+02] [ 1.48778222e-01 9.88863788e-01 -3.66746172e-03 3.33559125e+01] [ 4.69376804e-02 -3.35729333e-03 9.98892178e-01 1.81906446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38509989299996 meters 0.03555094685452612 Centerline is valid? [True, True] Translation: X:492.57, Y:33.35, Z:18.19 [[ 9.87372470e-01 -1.51381107e-01 -4.66836789e-02 4.92568252e+02] [ 1.51376873e-01 9.88469395e-01 -3.64655118e-03 3.33535975e+01] [ 4.66974068e-02 -3.46632507e-03 9.98903067e-01 1.81931269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.44509989299996 meters 0.03970679031673972 Centerline is valid? [True, True] Translation: X:492.63, Y:33.35, Z:18.20 [[ 9.87057877e-01 -1.53534934e-01 -4.63008895e-02 4.92628551e+02] [ 1.53533177e-01 9.88136879e-01 -3.61545012e-03 3.33499812e+01] [ 4.63067144e-02 -3.54006417e-03 9.98920996e-01 1.81950037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.50509989299997 meters 0.035673841146780565 Centerline is valid? [True, True] Translation: X:492.69, Y:33.36, Z:18.20 [[ 9.86880954e-01 -1.54615744e-01 -4.64753008e-02 4.92690445e+02] [ 1.54615299e-01 9.87968097e-01 -3.62619132e-03 3.33584407e+01] [ 4.64767808e-02 -3.60717337e-03 9.98912858e-01 1.81982590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.56509989299997 meters 0.0343523364377648 Centerline is valid? [True, True] Translation: X:492.75, Y:33.36, Z:18.20 [[ 9.86328317e-01 -1.58354405e-01 -4.56106751e-02 4.92751518e+02] [ 1.58358065e-01 9.87375348e-01 -3.55602388e-03 3.33594107e+01] [ 4.55979682e-02 -3.71541119e-03 9.98952962e-01 1.82013465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.62509989299997 meters 0.03573478778725202 Centerline is valid? [True, True] Translation: X:492.81, Y:33.36, Z:18.20 [[ 9.85970407e-01 -1.60848574e-01 -4.46104524e-02 4.92812666e+02] [ 1.60854623e-01 9.86971984e-01 -3.47760538e-03 3.33593286e+01] [ 4.45886345e-02 -3.74698152e-03 9.98998405e-01 1.82042474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.685099893 meters 0.03669727677454976 Centerline is valid? [True, True] Translation: X:492.87, Y:33.36, Z:18.21 [[ 9.85363223e-01 -1.64519317e-01 -4.46398265e-02 4.92873571e+02] [ 1.64529179e-01 9.86366083e-01 -3.47832462e-03 3.33584532e+01] [ 4.46034625e-02 -3.91714086e-03 9.98997091e-01 1.82070991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.745099893 meters 0.03781311018955884 Centerline is valid? [True, True] Translation: X:492.94, Y:33.36, Z:18.21 [[ 9.85075414e-01 -1.66188184e-01 -4.48097753e-02 4.92935008e+02] [ 1.66199853e-01 9.86085909e-01 -3.49116244e-03 3.33589135e+01] [ 4.47664779e-02 -4.00831975e-03 9.98989437e-01 1.82088190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8050998929999 meters 0.04055954237007008 Centerline is valid? [True, True] Translation: X:493.00, Y:33.36, Z:18.21 [[ 9.84705084e-01 -1.67983463e-01 -4.62325995e-02 4.92996206e+02] [ 1.67997926e-01 9.85780774e-01 -3.60040725e-03 3.33568783e+01] [ 4.61800166e-02 -4.22164152e-03 9.98924213e-01 1.82102851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8650998929999 meters 0.043240809140972794 Centerline is valid? [True, True] Translation: X:493.06, Y:33.36, Z:18.21 [[ 9.84596952e-01 -1.68372079e-01 -4.71135272e-02 4.93057410e+02] [ 1.68387629e-01 9.85714035e-01 -3.66721037e-03 3.33567599e+01] [ 4.70579208e-02 -4.32261097e-03 9.98882810e-01 1.82120650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9250998929999 meters 0.038752450327573344 Centerline is valid? [True, True] Translation: X:493.12, Y:33.37, Z:18.22 [[ 9.84745274e-01 -1.67579902e-01 -4.68371819e-02 4.93117871e+02] [ 1.67594589e-01 9.85849276e-01 -3.64124532e-03 3.33657326e+01] [ 4.67846014e-02 -4.26395914e-03 9.98895900e-01 1.82153466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9850998929999 meters 0.03643952923229432 Centerline is valid? [True, True] Translation: X:493.18, Y:33.37, Z:18.22 [[ 9.85238692e-01 -1.65073845e-01 -4.53359165e-02 4.93178218e+02] [ 1.65085035e-01 9.86273045e-01 -3.52303068e-03 3.33711643e+01] [ 4.52951526e-02 -4.01325522e-03 9.98965586e-01 1.82187446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04509989299993 meters 0.038285729965612955 Centerline is valid? [True, True] Translation: X:493.24, Y:33.37, Z:18.22 [[ 9.86057249e-01 -1.60250418e-01 -4.48431203e-02 4.93237637e+02] [ 1.60256436e-01 9.87069266e-01 -3.48419553e-03 3.33724901e+01] [ 4.48216096e-02 -3.75078237e-03 9.98987965e-01 1.82209287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10509989299993 meters 0.03584157654398929 Centerline is valid? [True, True] Translation: X:493.30, Y:33.38, Z:18.22 [[ 9.86636499e-01 -1.56717040e-01 -4.45891038e-02 4.93297486e+02] [ 1.56719371e-01 9.87637095e-01 -3.46519751e-03 3.33797075e+01] [ 4.45809084e-02 -3.56908597e-03 9.98999402e-01 1.82232937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16509989299993 meters 0.0332114518163173 Centerline is valid? [True, True] Translation: X:493.36, Y:33.39, Z:18.23 [[ 9.87573069e-01 -1.50717071e-01 -4.45398491e-02 4.93358031e+02] [ 1.50713337e-01 9.88571449e-01 -3.46117891e-03 3.33863823e+01] [ 4.45524819e-02 -3.29458223e-03 9.99001613e-01 1.82252783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22509989299994 meters 0.03430367032211211 Centerline is valid? [True, True] Translation: X:493.42, Y:33.39, Z:18.23 [[ 9.88324389e-01 -1.45653856e-01 -4.47197505e-02 4.93417959e+02] [ 1.45644965e-01 9.89330820e-01 -3.47447772e-03 3.33892452e+01] [ 4.47486986e-02 -3.07929542e-03 9.98993529e-01 1.82274186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28509989299994 meters 0.031620841633581434 Centerline is valid? [True, True] Translation: X:493.48, Y:33.40, Z:18.23 [[ 9.89642817e-01 -1.36065392e-01 -4.57526377e-02 4.93476595e+02] [ 1.36045887e-01 9.90696160e-01 -3.55446762e-03 3.33980825e+01] [ 4.58106025e-02 -2.70680483e-03 9.98946476e-01 1.82297578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34509989299994 meters 0.02540351641327282 Centerline is valid? [True, True] Translation: X:493.54, Y:33.41, Z:18.23 [[ 9.90672162e-01 -1.28232356e-01 -4.60991297e-02 4.93536241e+02] [ 1.28204092e-01 9.91741339e-01 -3.58149909e-03 3.34112653e+01] [ 4.61776767e-02 -2.36200561e-03 9.98930450e-01 1.82330985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40509989299994 meters 0.020373102487514456 Centerline is valid? [True, True] Translation: X:493.60, Y:33.42, Z:18.24 [[ 9.92021978e-01 -1.17764423e-01 -4.49881631e-02 4.93595748e+02] [ 1.17726755e-01 9.93039876e-01 -3.49513573e-03 3.34236332e+01] [ 4.50866425e-02 -1.82905900e-03 9.98981406e-01 1.82384557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46509989299994 meters 0.018567444322743005 Centerline is valid? [True, True] Translation: X:493.66, Y:33.43, Z:18.24 [[ 9.92699559e-01 -1.11900830e-01 -4.50087693e-02 4.93655916e+02] [ 1.11857137e-01 9.93718148e-01 -3.49608353e-03 3.34308889e+01] [ 4.51172455e-02 -1.56399150e-03 9.98980474e-01 1.82422723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52509989299995 meters 0.018375692326931866 Centerline is valid? [True, True] Translation: X:493.72, Y:33.43, Z:18.25 [[ 9.93207625e-01 -1.07254368e-01 -4.51122460e-02 4.93715160e+02] [ 1.07205711e-01 9.94230688e-01 -3.50357719e-03 3.34346283e+01] [ 4.52277534e-02 -1.35651083e-03 9.98975781e-01 1.82450272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58509989299995 meters 0.016808055462526818 Centerline is valid? [True, True] Translation: X:493.78, Y:33.44, Z:18.25 [[ 9.93552024e-01 -1.03415534e-01 -4.64715189e-02 4.93775716e+02] [ 1.03359674e-01 9.94637495e-01 -3.60983786e-03 3.34387333e+01] [ 4.65956284e-02 -1.21671932e-03 9.98913093e-01 1.82470508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64509989299995 meters 0.016276980463580462 Centerline is valid? [True, True] Translation: X:493.83, Y:33.44, Z:18.25 [[ 9.93564123e-01 -1.02664794e-01 -4.78568003e-02 4.93834962e+02] [ 1.02604665e-01 9.94715266e-01 -3.71783567e-03 3.34410408e+01] [ 4.79855807e-02 -1.21642283e-03 9.98847288e-01 1.82497449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70509989299995 meters 0.01642620342195108 Centerline is valid? [True, True] Translation: X:493.89, Y:33.44, Z:18.25 [[ 9.93400263e-01 -1.04067283e-01 -4.82277791e-02 4.93893420e+02] [ 1.04007664e-01 9.94569423e-01 -3.75087556e-03 3.34425438e+01] [ 4.83562179e-02 -1.28993788e-03 9.98829321e-01 1.82522058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76509989299996 meters 0.018526496247398813 Centerline is valid? [True, True] Translation: X:493.95, Y:33.44, Z:18.25 [[ 9.93180085e-01 -1.06076100e-01 -4.83857381e-02 4.93951337e+02] [ 1.06017928e-01 9.94357055e-01 -3.77432224e-03 3.34406262e+01] [ 4.85130655e-02 -1.38117402e-03 9.98821593e-01 1.82535717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82509989299996 meters 0.01782624548788798 Centerline is valid? [True, True] Translation: X:494.01, Y:33.44, Z:18.26 [[ 9.92896042e-01 -1.08819735e-01 -4.81218772e-02 4.94009436e+02] [ 1.08765118e-01 9.94060367e-01 -3.75983962e-03 3.34429845e+01] [ 4.82451956e-02 -1.50085179e-03 9.98834395e-01 1.82571466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88509989299996 meters 0.019469734582999096 Centerline is valid? [True, True] Translation: X:494.07, Y:33.44, Z:18.26 [[ 9.92778964e-01 -1.10100064e-01 -4.76225129e-02 4.94066980e+02] [ 1.10047839e-01 9.93919311e-01 -3.72513028e-03 3.34430129e+01] [ 4.77430723e-02 -1.54252365e-03 9.98858458e-01 1.82588931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.94509989299996 meters 0.01890664546253566 Centerline is valid? [True, True] Translation: X:494.13, Y:33.45, Z:18.26 [[ 9.92608461e-01 -1.11462635e-01 -4.80054615e-02 4.94125449e+02] [ 1.11410863e-01 9.93767313e-01 -3.76119938e-03 3.34459556e+01] [ 4.81254917e-02 -1.61493158e-03 9.98839992e-01 1.82611957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.00509989299997 meters 0.018608520900739257 Centerline is valid? [True, True] Translation: X:494.18, Y:33.45, Z:18.26 [[ 9.92494212e-01 -1.12502076e-01 -4.79429069e-02 4.94183931e+02] [ 1.12451064e-01 9.93650118e-01 -3.76847362e-03 3.34493571e+01] [ 4.80624362e-02 -1.65104262e-03 9.98842969e-01 1.82634760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.06509989299997 meters 0.019868343963683536 Centerline is valid? [True, True] Translation: X:494.24, Y:33.45, Z:18.27 [[ 9.92404069e-01 -1.13205179e-01 -4.81534064e-02 4.94241898e+02] [ 1.13154031e-01 9.93570208e-01 -3.79562134e-03 3.34491686e+01] [ 4.82734740e-02 -1.68196200e-03 9.98832740e-01 1.82659445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.12509989299997 meters 0.018815778780549436 Centerline is valid? [True, True] Translation: X:494.30, Y:33.45, Z:18.27 [[ 9.92510399e-01 -1.12449479e-01 -4.77307358e-02 4.94300620e+02] [ 1.12398065e-01 9.93656115e-01 -3.76832201e-03 3.34541412e+01] [ 4.78516834e-02 -1.62474355e-03 9.98853131e-01 1.82689607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.185099893 meters 0.018056441551464367 Centerline is valid? [True, True] Translation: X:494.36, Y:33.46, Z:18.27 [[ 9.93026811e-01 -1.07914590e-01 -4.74572821e-02 4.94359367e+02] [ 1.07858123e-01 9.94159199e-01 -3.75652727e-03 3.34593039e+01] [ 4.75854777e-02 -1.38832108e-03 9.98866205e-01 1.82710976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.245099893 meters 0.01605414323233516 Centerline is valid? [True, True] Translation: X:494.42, Y:33.47, Z:18.27 [[ 9.93402290e-01 -1.04140355e-01 -4.80278634e-02 4.94417944e+02] [ 1.04077925e-01 9.94561865e-01 -3.80563620e-03 3.34678979e+01] [ 4.81630017e-02 -1.21811266e-03 9.98838746e-01 1.82742663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3050998929999 meters 0.015041826570439249 Centerline is valid? [True, True] Translation: X:494.48, Y:33.48, Z:18.28 [[ 9.93890019e-01 -9.89912766e-02 -4.88196307e-02 4.94476213e+02] [ 9.89200772e-02 9.95087824e-01 -3.87828768e-03 3.34751511e+01] [ 4.89637367e-02 -9.74650211e-04 9.98800081e-01 1.82762509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3650998929999 meters 0.014548674744750887 Centerline is valid? [True, True] Translation: X:494.54, Y:33.48, Z:18.28 [[ 9.94157235e-01 -9.67077927e-02 -4.79478312e-02 4.94535250e+02] [ 9.66362619e-02 9.95312460e-01 -3.81314662e-03 3.34797880e+01] [ 4.80918348e-02 -8.42631866e-04 9.98842563e-01 1.82796040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4250998929999 meters 0.014594078431751478 Centerline is valid? [True, True] Translation: X:494.59, Y:33.48, Z:18.28 [[ 9.94170826e-01 -9.69855284e-02 -4.70975129e-02 4.94592928e+02] [ 9.69164562e-02 9.95285443e-01 -3.75330214e-03 3.34838463e+01] [ 4.72394850e-02 -8.33100554e-04 9.98883245e-01 1.82824477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4850998929999 meters 0.014944622164535033 Centerline is valid? [True, True] Translation: X:494.65, Y:33.49, Z:18.29 [[ 9.94119990e-01 -9.80148082e-02 -4.60276343e-02 4.94651006e+02] [ 9.79494151e-02 9.95184593e-01 -3.67942941e-03 3.34858757e+01] [ 4.61666311e-02 -8.50585528e-04 9.98933391e-01 1.82850182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54509989299993 meters 0.01591204596511701 Centerline is valid? [True, True] Translation: X:494.71, Y:33.48, Z:18.29 [[ 9.93698685e-01 -1.02555705e-01 -4.52244444e-02 4.94710462e+02] [ 1.02497102e-01 9.94726720e-01 -3.61892584e-03 3.34847691e+01] [ 4.53571047e-02 -1.03925266e-03 9.98970296e-01 1.82865424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60509989299993 meters 0.01778336296860755 Centerline is valid? [True, True] Translation: X:494.77, Y:33.48, Z:18.29 [[ 9.93028541e-01 -1.08729952e-01 -4.55204724e-02 4.94771095e+02] [ 1.08676956e-01 9.94070438e-01 -3.64477211e-03 3.34824366e+01] [ 4.56468518e-02 -1.32766366e-03 9.98956757e-01 1.82881608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66509989299993 meters 0.019793152235736033 Centerline is valid? [True, True] Translation: X:494.83, Y:33.48, Z:18.29 [[ 9.92463994e-01 -1.13804768e-01 -4.54279157e-02 4.94831871e+02] [ 1.13757262e-01 9.93501912e-01 -3.63802251e-03 3.34817065e+01] [ 4.55467454e-02 -1.55714898e-03 9.98960995e-01 1.82902740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72509989299994 meters 0.02122744614755461 Centerline is valid? [True, True] Translation: X:494.89, Y:33.48, Z:18.29 [[ 9.91789836e-01 -1.19653593e-01 -4.51213912e-02 4.94892354e+02] [ 1.19612757e-01 9.92814046e-01 -3.61361757e-03 3.34822849e+01] [ 4.52295333e-02 -1.81314480e-03 9.98974976e-01 1.82927836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78509989299994 meters 0.024763319295192616 Centerline is valid? [True, True] Translation: X:494.95, Y:33.48, Z:18.29 [[ 9.90698317e-01 -1.28188621e-01 -4.56565633e-02 4.94953191e+02] [ 1.28155811e-01 9.91747303e-01 -3.65714434e-03 3.34797246e+01] [ 4.57485778e-02 -2.22802715e-03 9.98950501e-01 1.82949560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84509989299994 meters 0.02559607017518427 Centerline is valid? [True, True] Translation: X:495.01, Y:33.48, Z:18.30 [[ 9.90031762e-01 -1.33332421e-01 -4.53825533e-02 4.95013097e+02] [ 1.33305386e-01 9.91068342e-01 -3.63520994e-03 3.34823004e+01] [ 4.54619032e-02 -2.45076550e-03 9.98963067e-01 1.82974551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90509989299994 meters 0.0260266578188654 Centerline is valid? [True, True] Translation: X:495.07, Y:33.49, Z:18.30 [[ 9.89248620e-01 -1.38832715e-01 -4.59635275e-02 4.95073438e+02] [ 1.38810881e-01 9.90312063e-01 -3.68203993e-03 3.34864990e+01] [ 4.60294233e-02 -2.73778483e-03 9.98936333e-01 1.83001665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96509989299994 meters 0.027245777733275627 Centerline is valid? [True, True] Translation: X:495.13, Y:33.49, Z:18.30 [[ 9.88961965e-01 -1.40653954e-01 -4.65907405e-02 4.95132731e+02] [ 1.40633509e-01 9.90054686e-01 -3.73281136e-03 3.34904320e+01] [ 4.66524156e-02 -2.86061088e-03 9.98907087e-01 1.83025413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02509989299995 meters 0.026809757796370803 Centerline is valid? [True, True] Translation: X:495.19, Y:33.50, Z:18.31 [[ 9.88851231e-01 -1.41256916e-01 -4.71139706e-02 4.95192027e+02] [ 1.41236609e-01 9.89968665e-01 -3.77650430e-03 3.34984575e+01] [ 4.71748119e-02 -2.91981651e-03 9.98882381e-01 1.83052146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08509989299995 meters 0.028601811644485286 Centerline is valid? [True, True] Translation: X:495.25, Y:33.50, Z:18.31 [[ 9.88942509e-01 -1.40698972e-01 -4.68669807e-02 4.95249350e+02] [ 1.40678127e-01 9.90048247e-01 -3.75937111e-03 3.35024521e+01] [ 4.69295118e-02 -2.87535717e-03 9.98894065e-01 1.83073552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14509989299995 meters 0.027897300897335914 Centerline is valid? [True, True] Translation: X:495.31, Y:33.51, Z:18.31 [[ 9.89168329e-01 -1.39274134e-01 -4.63544147e-02 4.95307311e+02] [ 1.39251927e-01 9.90249986e-01 -3.72377383e-03 3.35104618e+01] [ 4.64210839e-02 -2.77150244e-03 9.98918116e-01 1.83097994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20509989299995 meters 0.026412551524234485 Centerline is valid? [True, True] Translation: X:495.37, Y:33.52, Z:18.31 [[ 9.89628395e-01 -1.35598468e-01 -4.74204119e-02 4.95366735e+02] [ 1.35570883e-01 9.90760315e-01 -3.81238407e-03 3.35229747e+01] [ 4.74992156e-02 -2.65598360e-03 9.98867744e-01 1.83115153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26509989299996 meters 0.025205661250508243 Centerline is valid? [True, True] Translation: X:495.43, Y:33.54, Z:18.32 [[ 9.90177259e-01 -1.31823826e-01 -4.65990934e-02 4.95425252e+02] [ 1.31792972e-01 9.91270180e-01 -3.74736755e-03 3.35365966e+01] [ 4.66862841e-02 -2.43087488e-03 9.98906643e-01 1.83156726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32509989299996 meters 0.023531520680632637 Centerline is valid? [True, True] Translation: X:495.48, Y:33.55, Z:18.32 [[ 9.90351728e-01 -1.30013848e-01 -4.79568019e-02 4.95484235e+02] [ 1.29978971e-01 9.91509244e-01 -3.85834413e-03 3.35484757e+01] [ 4.80512505e-02 -2.41225796e-03 9.98841959e-01 1.83176304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38509989299996 meters 0.02272831044308114 Centerline is valid? [True, True] Translation: X:495.54, Y:33.56, Z:18.32 [[ 9.90471544e-01 -1.28571809e-01 -4.93498789e-02 4.95543706e+02] [ 1.28533024e-01 9.91697276e-01 -3.97183557e-03 3.35588293e+01] [ 4.94508065e-02 -2.40909906e-03 9.98773655e-01 1.83188935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.44509989299996 meters 0.02119389351659556 Centerline is valid? [True, True] Translation: X:495.60, Y:33.57, Z:18.32 [[ 9.91085298e-01 -1.24493827e-01 -4.74470206e-02 4.95603316e+02] [ 1.24453307e-01 9.92218117e-01 -3.81875387e-03 3.35721600e+01] [ 4.75532047e-02 -2.12022779e-03 9.98866456e-01 1.83222620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.50509989299997 meters 0.021089976176919423 Centerline is valid? [True, True] Translation: X:495.66, Y:33.58, Z:18.32 [[ 9.91583560e-01 -1.20137906e-01 -4.82589609e-02 4.95662759e+02] [ 1.20090827e-01 9.92755310e-01 -3.88434720e-03 3.35816280e+01] [ 4.83759970e-02 -1.94380369e-03 9.98827305e-01 1.83244366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.56509989299997 meters 0.01773353571767889 Centerline is valid? [True, True] Translation: X:495.72, Y:33.60, Z:18.33 [[ 9.92520248e-01 -1.11437222e-01 -4.98528090e-02 4.95722513e+02] [ 1.11376019e-01 9.93770236e-01 -4.01261605e-03 3.35987111e+01] [ 4.99893925e-02 -1.56980473e-03 9.98748515e-01 1.83265289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.62509989299997 meters 0.016017865588201903 Centerline is valid? [True, True] Translation: X:495.78, Y:33.61, Z:18.33 [[ 9.93153687e-01 -1.05402666e-01 -5.03590318e-02 4.95781890e+02] [ 1.05332465e-01 9.94428802e-01 -4.05330390e-03 3.36119360e+01] [ 5.05057007e-02 -1.27888724e-03 9.98722954e-01 1.83296680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.685099893 meters 0.014443093667709513 Centerline is valid? [True, True] Translation: X:495.84, Y:33.63, Z:18.33 [[ 9.94000589e-01 -9.77975507e-02 -4.89741482e-02 4.95841180e+02] [ 9.77219199e-02 9.95205952e-01 -3.94204913e-03 3.36254591e+01] [ 4.91248865e-02 -8.67448632e-04 9.98792267e-01 1.83337637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.745099893 meters 0.013700950838953114 Centerline is valid? [True, True] Translation: X:495.90, Y:33.63, Z:18.34 [[ 9.94382447e-01 -9.47573036e-02 -4.71656827e-02 4.95900836e+02] [ 9.46837080e-02 9.95500164e-01 -3.79712483e-03 3.36342208e+01] [ 4.73132502e-02 -6.90027452e-04 9.98879863e-01 1.83370871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8050998929999 meters 0.013880633080043028 Centerline is valid? [True, True] Translation: X:495.96, Y:33.64, Z:18.34 [[ 9.94478589e-01 -9.45119536e-02 -4.56051240e-02 4.95959894e+02] [ 9.44428843e-02 9.95523511e-01 -3.67163962e-03 3.36400431e+01] [ 4.57479870e-02 -6.55712460e-04 9.98952798e-01 1.83389031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8650998929999 meters 0.014521565074200053 Centerline is valid? [True, True] Translation: X:496.02, Y:33.64, Z:18.34 [[ 9.94185896e-01 -9.73040964e-02 -4.61120096e-02 4.96020339e+02] [ 9.72364520e-02 9.95254382e-01 -3.71311511e-03 3.36441151e+01] [ 4.62544810e-02 -7.92241543e-04 9.98929375e-01 1.83403977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9250998929999 meters 0.01649344706942032 Centerline is valid? [True, True] Translation: X:496.08, Y:33.64, Z:18.34 [[ 9.93401051e-01 -1.04934241e-01 -4.62942396e-02 4.96080621e+02] [ 1.04874324e-01 9.94478496e-01 -3.72795149e-03 3.36437272e+01] [ 4.64298156e-02 -1.15172614e-03 9.98920891e-01 1.83407264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9850998929999 meters 0.01807368872672915 Centerline is valid? [True, True] Translation: X:496.14, Y:33.64, Z:18.34 [[ 9.92906376e-01 -1.10313976e-01 -4.43593881e-02 4.96141736e+02] [ 1.10264299e-01 9.93895880e-01 -3.57265026e-03 3.36444008e+01] [ 4.44827263e-02 -1.34394962e-03 9.99009250e-01 1.83428681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04509989299993 meters 0.020369560477785546 Centerline is valid? [True, True] Translation: X:496.20, Y:33.64, Z:18.35 [[ 9.92302274e-01 -1.16665810e-01 -4.15365716e-02 4.96203350e+02] [ 1.16627838e-01 9.93170057e-01 -3.34452611e-03 3.36437071e+01] [ 4.16430710e-02 -1.52553966e-03 9.99131386e-01 1.83462739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10509989299993 meters 0.022307200579211074 Centerline is valid? [True, True] Translation: X:496.26, Y:33.64, Z:18.35 [[ 9.91938524e-01 -1.19844057e-01 -4.11748271e-02 4.96264911e+02] [ 1.19809535e-01 9.92791364e-01 -3.31394503e-03 3.36444397e+01] [ 4.12751693e-02 -1.64590714e-03 9.99146461e-01 1.83469265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16509989299993 meters 0.021104679987596575 Centerline is valid? [True, True] Translation: X:496.33, Y:33.65, Z:18.35 [[ 9.91815245e-01 -1.20882523e-01 -4.11088290e-02 4.96326598e+02] [ 1.20849067e-01 9.92665385e-01 -3.30704286e-03 3.36506729e+01] [ 4.12070752e-02 -1.68798811e-03 9.99149202e-01 1.83482751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22509989299994 meters 0.023062227023856924 Centerline is valid? [True, True] Translation: X:496.39, Y:33.65, Z:18.35 [[ 9.91600937e-01 -1.22649993e-01 -4.10434123e-02 4.96387848e+02] [ 1.22618282e-01 9.92448425e-01 -3.29867958e-03 3.36519679e+01] [ 4.11380529e-02 -1.76169895e-03 9.99151919e-01 1.83496969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28509989299994 meters 0.022241089678337884 Centerline is valid? [True, True] Translation: X:496.45, Y:33.66, Z:18.35 [[ 9.90877463e-01 -1.27837505e-01 -4.26547277e-02 4.96447821e+02] [ 1.27808216e-01 9.91792990e-01 -3.42423940e-03 3.36584619e+01] [ 4.27424061e-02 -2.05862301e-03 9.99084005e-01 1.83517280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34509989299994 meters 0.023845362534609782 Centerline is valid? [True, True] Translation: X:496.51, Y:33.66, Z:18.35 [[ 9.90652562e-01 -1.29361472e-01 -4.32794437e-02 4.96508993e+02] [ 1.29332807e-01 9.91595159e-01 -3.47353426e-03 3.36606877e+01] [ 4.33650283e-02 -2.15638631e-03 9.99056968e-01 1.83534658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40509989299994 meters 0.024434520370051272 Centerline is valid? [True, True] Translation: X:496.57, Y:33.66, Z:18.36 [[ 9.90409310e-01 -1.31017922e-01 -4.38600287e-02 4.96571372e+02] [ 1.30990295e-01 9.91377417e-01 -3.51575523e-03 3.36647273e+01] [ 4.39424689e-02 -2.26320138e-03 9.99031500e-01 1.83556409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46509989299994 meters 0.024322801174994725 Centerline is valid? [True, True] Translation: X:496.63, Y:33.67, Z:18.36 [[ 9.90219210e-01 -1.32444155e-01 -4.38686830e-02 4.96633601e+02] [ 1.32418054e-01 9.91187730e-01 -3.51322571e-03 3.36699928e+01] [ 4.39474065e-02 -2.33014203e-03 9.99031129e-01 1.83580260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52509989299995 meters 0.027294178558369162 Centerline is valid? [True, True] Translation: X:496.69, Y:33.67, Z:18.36 [[ 9.89774266e-01 -1.35782532e-01 -4.37036278e-02 4.96693537e+02] [ 1.35759988e-01 9.90735583e-01 -3.49726220e-03 3.36721748e+01] [ 4.37736063e-02 -2.47170389e-03 9.99038419e-01 1.83608832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58509989299995 meters 0.025896548663069393 Centerline is valid? [True, True] Translation: X:496.75, Y:33.68, Z:18.36 [[ 9.89663294e-01 -1.36839481e-01 -4.29129485e-02 4.96754655e+02] [ 1.36818748e-01 9.90590147e-01 -3.43367078e-03 3.36813678e+01] [ 4.29790057e-02 -2.47311797e-03 9.99072915e-01 1.83649860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64509989299995 meters 0.026295551534955813 Centerline is valid? [True, True] Translation: X:496.82, Y:33.69, Z:18.37 [[ 9.89679637e-01 -1.36971734e-01 -4.21065281e-02 4.96816816e+02] [ 1.36951992e-01 9.90571965e-01 -3.36674576e-03 3.36868157e+01] [ 4.21706953e-02 -2.43457316e-03 9.99107454e-01 1.83679093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70509989299995 meters 0.027085910311868373 Centerline is valid? [True, True] Translation: X:496.88, Y:33.69, Z:18.37 [[ 9.89808424e-01 -1.36348701e-01 -4.10891104e-02 4.96878412e+02] [ 1.36329487e-01 9.90658113e-01 -3.28242516e-03 3.36918974e+01] [ 4.11528149e-02 -2.35268528e-03 9.99150094e-01 1.83709336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76509989299996 meters 0.026988029694851635 Centerline is valid? [True, True] Translation: X:496.94, Y:33.70, Z:18.37 [[ 9.90217250e-01 -1.33344352e-01 -4.10984494e-02 4.96938906e+02] [ 1.33322664e-01 9.91067256e-01 -3.28038485e-03 3.36994134e+01] [ 4.11687483e-02 -2.23106111e-03 9.99149717e-01 1.83732350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82509989299996 meters 0.026086646150717506 Centerline is valid? [True, True] Translation: X:497.00, Y:33.71, Z:18.38 [[ 9.90742299e-01 -1.29297471e-01 -4.13746444e-02 4.96999506e+02] [ 1.29272003e-01 9.91603675e-01 -3.30168661e-03 3.37078302e+01] [ 4.14541492e-02 -2.07746257e-03 9.99138248e-01 1.83754500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88509989299996 meters 0.0229073654753876 Centerline is valid? [True, True] Translation: X:497.06, Y:33.72, Z:18.38 [[ 9.91874415e-01 -1.19891357e-01 -4.25582869e-02 4.97059510e+02] [ 1.19855798e-01 9.92785505e-01 -3.39538742e-03 3.37209965e+01] [ 4.26583280e-02 -1.73305952e-03 9.99088216e-01 1.83769388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.94509989299996 meters 0.019273654983079633 Centerline is valid? [True, True] Translation: X:497.12, Y:33.73, Z:18.38 [[ 9.92731762e-01 -1.12278988e-01 -4.33252538e-02 4.97118904e+02] [ 1.12234918e-01 9.93675691e-01 -3.45601899e-03 3.37345199e+01] [ 4.34392898e-02 -1.43170649e-03 9.99055043e-01 1.83791587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.00509989299997 meters 0.014767071211049549 Centerline is valid? [True, True] Translation: X:497.18, Y:33.75, Z:18.38 [[ 9.94044284e-01 -9.96314081e-02 -4.41536472e-02 4.97178625e+02] [ 9.95731631e-02 9.95024010e-01 -3.52200955e-03 3.37515125e+01] [ 4.42848419e-02 -8.95484857e-04 9.99018544e-01 1.83813105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.06509989299997 meters 0.01303067116172456 Centerline is valid? [True, True] Translation: X:497.24, Y:33.76, Z:18.38 [[ 9.94865767e-01 -9.09431503e-02 -4.44009990e-02 4.97239466e+02] [ 9.08756185e-02 9.95855954e-01 -3.54126783e-03 3.37631281e+01] [ 4.45390533e-02 -5.11882109e-04 9.99007513e-01 1.83836174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.12509989299997 meters 0.01231417561593399 Centerline is valid? [True, True] Translation: X:497.30, Y:33.78, Z:18.39 [[ 9.95767070e-01 -8.05774628e-02 -4.42178211e-02 4.97300464e+02] [ 8.05003718e-02 9.96748348e-01 -3.52422793e-03 3.37763468e+01] [ 4.43580135e-02 -5.02409185e-05 9.99015698e-01 1.83869040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.185099893 meters 0.012325807676839799 Centerline is valid? [True, True] Translation: X:497.36, Y:33.78, Z:18.39 [[ 9.96060022e-01 -7.67995334e-02 -4.43425699e-02 4.97361849e+02] [ 7.67183659e-02 9.97046548e-01 -3.53187462e-03 3.37836183e+01] [ 4.44828525e-02 1.16069613e-04 9.99010141e-01 1.83892706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.245099893 meters 0.012333022707139167 Centerline is valid? [True, True] Translation: X:497.42, Y:33.79, Z:18.39 [[ 9.96099424e-01 -7.63683170e-02 -4.42019988e-02 4.97421880e+02] [ 7.62872984e-02 9.97079667e-01 -3.51934436e-03 3.37876736e+01] [ 4.43416806e-02 1.33565825e-04 9.99016415e-01 1.83912103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3050998929999 meters 0.012231456736623894 Centerline is valid? [True, True] Translation: X:497.48, Y:33.79, Z:18.39 [[ 9.95726664e-01 -8.07451759e-02 -4.48177038e-02 4.97480564e+02] [ 8.06662900e-02 9.96734776e-01 -3.56887828e-03 3.37873731e+01] [ 4.49595336e-02 -6.16506217e-05 9.98988807e-01 1.83936661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3650998929999 meters 0.012500649652714357 Centerline is valid? [True, True] Translation: X:497.54, Y:33.78, Z:18.40 [[ 9.95156997e-01 -8.76983047e-02 -4.44022274e-02 4.97540926e+02] [ 8.76276727e-02 9.96147013e-01 -3.53839545e-03 3.37842236e+01] [ 4.45414575e-02 -3.69604861e-04 9.99007468e-01 1.83968503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4250998929999 meters 0.013167600326393171 Centerline is valid? [True, True] Translation: X:497.60, Y:33.78, Z:18.40 [[ 9.94701831e-01 -9.26011850e-02 -4.46462628e-02 4.97602672e+02] [ 9.25346890e-02 9.95703103e-01 -3.55825485e-03 3.37831154e+01] [ 4.47839210e-02 -5.91925426e-04 9.98996522e-01 1.83988612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4850998929999 meters 0.014009321945580966 Centerline is valid? [True, True] Translation: X:497.66, Y:33.78, Z:18.40 [[ 9.94171841e-01 -9.76335173e-02 -4.57170401e-02 4.97663967e+02] [ 9.75691763e-02 9.95222081e-01 -3.64207014e-03 3.37805650e+01] [ 4.58541960e-02 -8.39730379e-04 9.98947790e-01 1.84009661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54509989299993 meters 0.014596593027780606 Centerline is valid? [True, True] Translation: X:497.73, Y:33.78, Z:18.40 [[ 9.94010595e-01 -9.91138008e-02 -4.60368418e-02 4.97725454e+02] [ 9.90501882e-02 9.95075684e-01 -3.66655420e-03 3.37810334e+01] [ 4.61735480e-02 -9.15364120e-04 9.98933014e-01 1.84032090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60509989299993 meters 0.014290672743776081 Centerline is valid? [True, True] Translation: X:497.79, Y:33.78, Z:18.41 [[ 9.93959194e-01 -9.95074360e-02 -4.62967728e-02 4.97786390e+02] [ 9.94436069e-02 9.95036374e-01 -3.68559104e-03 3.37834800e+01] [ 4.64337166e-02 -9.40590979e-04 9.98920930e-01 1.84060678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66509989299993 meters 0.014092913744937109 Centerline is valid? [True, True] Translation: X:497.85, Y:33.78, Z:18.41 [[ 9.94129254e-01 -9.78766692e-02 -4.61213991e-02 4.97847134e+02] [ 9.78116318e-02 9.95198178e-01 -3.67027619e-03 3.37843034e+01] [ 4.62591667e-02 -8.62480376e-04 9.98929099e-01 1.84086815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72509989299994 meters 0.013771739545072798 Centerline is valid? [True, True] Translation: X:497.91, Y:33.79, Z:18.41 [[ 9.94248991e-01 -9.65394880e-02 -4.63580760e-02 4.97907873e+02] [ 9.64723288e-02 9.95328830e-01 -3.68911060e-03 3.37875328e+01] [ 4.64976744e-02 -8.04377053e-04 9.98918074e-01 1.84112674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78509989299994 meters 0.01386149874428327 Centerline is valid? [True, True] Translation: X:497.97, Y:33.79, Z:18.41 [[ 9.94281701e-01 -9.54333860e-02 -4.79204378e-02 4.97968752e+02] [ 9.53603389e-02 9.95435514e-01 -3.81344117e-03 3.37888292e+01] [ 4.80656353e-02 -7.78074424e-04 9.98843876e-01 1.84123005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84509989299994 meters 0.014559815640438503 Centerline is valid? [True, True] Translation: X:498.03, Y:33.79, Z:18.41 [[ 9.94083461e-01 -9.72889297e-02 -4.83004760e-02 4.98027865e+02] [ 9.72167694e-02 9.95255798e-01 -3.84651964e-03 3.37885647e+01] [ 4.84455526e-02 -8.71854674e-04 9.98825444e-01 1.84144099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90509989299994 meters 0.015345199555610988 Centerline is valid? [True, True] Translation: X:498.09, Y:33.79, Z:18.42 [[ 9.93781323e-01 -1.00571762e-01 -4.77912474e-02 4.98086680e+02] [ 1.00504327e-01 9.94929295e-01 -3.81805082e-03 3.37893587e+01] [ 4.79329002e-02 -1.00891958e-03 9.98850048e-01 1.84174045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96509989299994 meters 0.016560019832954336 Centerline is valid? [True, True] Translation: X:498.15, Y:33.79, Z:18.42 [[ 9.93452427e-01 -1.04303905e-01 -4.66151348e-02 4.98145276e+02] [ 1.04243395e-01 9.94544807e-01 -3.73382455e-03 3.37889991e+01] [ 4.67502927e-02 -1.14994286e-03 9.98905945e-01 1.84199235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02509989299995 meters 0.01858269306476064 Centerline is valid? [True, True] Translation: X:498.21, Y:33.79, Z:18.42 [[ 9.92764276e-01 -1.11375536e-01 -4.48841024e-02 4.98206021e+02] [ 1.11326563e-01 9.93777368e-01 -3.59709156e-03 3.37865606e+01] [ 4.50054331e-02 -1.42572884e-03 9.98985725e-01 1.84227024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08509989299995 meters 0.020105821692736572 Centerline is valid? [True, True] Translation: X:498.27, Y:33.79, Z:18.43 [[ 9.91824901e-01 -1.19587473e-01 -4.45219353e-02 4.98267128e+02] [ 1.19547538e-01 9.92822066e-01 -3.56807241e-03 3.37857097e+01] [ 4.46290566e-02 -1.78358467e-03 9.99002035e-01 1.84254052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14509989299995 meters 0.02357242434493344 Centerline is valid? [True, True] Translation: X:498.33, Y:33.78, Z:18.43 [[ 9.91214425e-01 -1.24865258e-01 -4.36191650e-02 4.98327398e+02] [ 1.24832025e-01 9.92171732e-01 -3.49560489e-03 3.37835597e+01] [ 4.37141821e-02 -1.98017471e-03 9.99042116e-01 1.84270890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20509989299995 meters 0.023634923302915792 Centerline is valid? [True, True] Translation: X:498.39, Y:33.79, Z:18.43 [[ 9.90611004e-01 -1.29956628e-01 -4.24395376e-02 4.98387992e+02] [ 1.29929860e-01 9.91517357e-01 -3.40020270e-03 3.37872958e+01] [ 4.25214171e-02 -2.14588500e-03 9.99093251e-01 1.84299924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26509989299996 meters 0.030795663621243505 Centerline is valid? [True, True] Translation: X:498.45, Y:33.78, Z:18.43 [[ 9.90146990e-01 -1.33820763e-01 -4.12424671e-02 4.98448635e+02] [ 1.33798836e-01 9.91003005e-01 -3.30394959e-03 3.37813608e+01] [ 4.13135458e-02 -2.24679835e-03 9.99143705e-01 1.84317269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32509989299996 meters 0.027806745111041958 Centerline is valid? [True, True] Translation: X:498.51, Y:33.79, Z:18.43 [[ 9.89770129e-01 -1.36712531e-01 -4.08016562e-02 4.98509329e+02] [ 1.36693522e-01 9.90607994e-01 -3.26850525e-03 3.37903127e+01] [ 4.08652924e-02 -2.34225324e-03 9.99161920e-01 1.84343176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38509989299996 meters 0.03016143369733507 Centerline is valid? [True, True] Translation: X:498.57, Y:33.79, Z:18.43 [[ 9.89272470e-01 -1.39979647e-01 -4.17813124e-02 4.98570747e+02] [ 1.39962680e-01 9.90151128e-01 -3.34548206e-03 3.37912932e+01] [ 4.18381130e-02 -2.53823117e-03 9.99121179e-01 1.84345618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.44509989299996 meters 0.03262172683073221 Centerline is valid? [True, True] Translation: X:498.63, Y:33.79, Z:18.44 [[ 9.88956350e-01 -1.41990235e-01 -4.24748215e-02 4.98631352e+02] [ 1.41974599e-01 9.89864463e-01 -3.39980130e-03 3.37928985e+01] [ 4.25270549e-02 -2.66809066e-03 9.99091753e-01 1.84350188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.50509989299997 meters 0.03375353248824445 Centerline is valid? [True, True] Translation: X:498.69, Y:33.80, Z:18.44 [[ 9.88573524e-01 -1.44607492e-01 -4.25565714e-02 4.98691872e+02] [ 1.44594269e-01 9.89485171e-01 -3.40494549e-03 3.37977406e+01] [ 4.26014770e-02 -2.78739736e-03 9.99088257e-01 1.84365236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.56509989299997 meters 0.03483973967840729 Centerline is valid? [True, True] Translation: X:498.75, Y:33.80, Z:18.44 [[ 9.88525876e-01 -1.45205129e-01 -4.16180691e-02 4.98752488e+02] [ 1.45193008e-01 9.89397747e-01 -3.32985605e-03 3.38023788e+01] [ 4.16603360e-02 -2.75100378e-03 9.99128044e-01 1.84389739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.62509989299997 meters 0.03270614752278102 Centerline is valid? [True, True] Translation: X:498.81, Y:33.81, Z:18.44 [[ 9.88786263e-01 -1.43989586e-01 -3.96071367e-02 4.98812805e+02] [ 1.43977636e-01 9.89575868e-01 -3.16891873e-03 3.38133579e+01] [ 3.96505580e-02 -2.56915859e-03 9.99210305e-01 1.84423737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.685099893 meters 0.030127769287054493 Centerline is valid? [True, True] Translation: X:498.87, Y:33.82, Z:18.45 [[ 9.89133382e-01 -1.41990262e-01 -3.81302665e-02 4.98873224e+02] [ 1.41977730e-01 9.89865153e-01 -3.05008759e-03 3.38243552e+01] [ 3.81769048e-02 -2.39670522e-03 9.99268122e-01 1.84457296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.745099893 meters 0.029156288378453937 Centerline is valid? [True, True] Translation: X:498.93, Y:33.83, Z:18.45 [[ 9.89652860e-01 -1.38767511e-01 -3.64800624e-02 4.98933025e+02] [ 1.38753903e-01 9.90322597e-01 -2.91679053e-03 3.38346497e+01] [ 3.65317859e-02 -2.17514096e-03 9.99330124e-01 1.84484533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8050998929999 meters 0.02555881734631394 Centerline is valid? [True, True] Translation: X:498.99, Y:33.85, Z:18.45 [[ 9.89917667e-01 -1.36813042e-01 -3.66770174e-02 4.98994139e+02] [ 1.36797950e-01 9.90594630e-01 -2.93256685e-03 3.38467652e+01] [ 3.67332698e-02 -2.11434104e-03 9.99322869e-01 1.84503854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8650998929999 meters 0.025112845301840957 Centerline is valid? [True, True] Translation: X:499.06, Y:33.85, Z:18.45 [[ 9.90130038e-01 -1.35139376e-01 -3.71464331e-02 4.99055583e+02] [ 1.35122800e-01 9.90824414e-01 -2.96798480e-03 3.38549036e+01] [ 3.72066844e-02 -2.08063913e-03 9.99305426e-01 1.84521418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9250998929999 meters 0.024916234192609032 Centerline is valid? [True, True] Translation: X:499.12, Y:33.86, Z:18.45 [[ 9.90361627e-01 -1.33016521e-01 -3.86063852e-02 4.99116220e+02] [ 1.32997096e-01 9.91111634e-01 -3.08242038e-03 3.38644821e+01] [ 3.86732504e-02 -2.08182626e-03 9.99249741e-01 1.84528646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9850998929999 meters 0.024954023775529934 Centerline is valid? [True, True] Translation: X:499.18, Y:33.87, Z:18.45 [[ 9.90583480e-01 -1.31227976e-01 -3.90331597e-02 4.99177143e+02] [ 1.31206793e-01 9.91350127e-01 -3.11503593e-03 3.38717673e+01] [ 3.91043077e-02 -2.03571257e-03 9.99233060e-01 1.84542206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04509989299993 meters 0.02372244115684972 Centerline is valid? [True, True] Translation: X:499.24, Y:33.88, Z:18.46 [[ 9.91105376e-01 -1.27194766e-01 -3.91359814e-02 4.99237395e+02] [ 1.27170388e-01 9.91875973e-01 -3.12184360e-03 3.38828501e+01] [ 3.92151218e-02 -1.88286198e-03 9.99229017e-01 1.84562751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10509989299993 meters 0.022288747700907642 Centerline is valid? [True, True] Translation: X:499.30, Y:33.89, Z:18.46 [[ 9.91580513e-01 -1.23669300e-01 -3.83925911e-02 4.99297169e+02] [ 1.23643227e-01 9.92322013e-01 -3.06188509e-03 3.38933274e+01] [ 3.84764745e-02 -1.71087829e-03 9.99258042e-01 1.84586604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16509989299993 meters 0.018758570610354814 Centerline is valid? [True, True] Translation: X:499.36, Y:33.91, Z:18.46 [[ 9.92400701e-01 -1.17207042e-01 -3.74614243e-02 4.99356778e+02] [ 1.17177620e-01 9.93106479e-01 -2.98762015e-03 3.39090598e+01] [ 3.75533534e-02 -1.42472421e-03 9.99293608e-01 1.84612936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22509989299994 meters 0.017847623133395187 Centerline is valid? [True, True] Translation: X:499.42, Y:33.92, Z:18.46 [[ 9.92857558e-01 -1.13497568e-01 -3.67718731e-02 4.99417674e+02] [ 1.13466690e-01 9.93537474e-01 -2.93230364e-03 3.39183243e+01] [ 3.68670432e-02 -1.26102288e-03 9.99319384e-01 1.84639053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28509989299994 meters 0.016011511692324457 Centerline is valid? [True, True] Translation: X:499.48, Y:33.93, Z:18.47 [[ 9.93510450e-01 -1.07523396e-01 -3.70905026e-02 4.99478104e+02] [ 1.07487872e-01 9.94202000e-01 -2.95631704e-03 3.39296997e+01] [ 3.71933252e-02 -1.04964734e-03 9.99307538e-01 1.84654517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34509989299994 meters 0.015125585420238941 Centerline is valid? [True, True] Translation: X:499.54, Y:33.94, Z:18.47 [[ 9.93858305e-01 -1.04065938e-01 -3.76291139e-02 4.99539153e+02] [ 1.04026925e-01 9.94569961e-01 -2.99852939e-03 3.39384155e+01] [ 3.77368311e-02 -9.34327682e-04 9.99287275e-01 1.84674135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40509989299994 meters 0.014517624281100662 Centerline is valid? [True, True] Translation: X:499.60, Y:33.95, Z:18.47 [[ 9.94331545e-01 -9.94374750e-02 -3.76426200e-02 4.99599106e+02] [ 9.93951740e-02 9.95043522e-01 -2.99815562e-03 3.39462299e+01] [ 3.77541742e-02 -7.60334050e-04 9.99286768e-01 1.84690175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46509989299994 meters 0.01373250917931913 Centerline is valid? [True, True] Translation: X:499.66, Y:33.95, Z:18.47 [[ 9.94626179e-01 -9.64126376e-02 -3.77275313e-02 4.99661242e+02] [ 9.63681273e-02 9.95341238e-01 -3.00077131e-03 3.39530887e+01] [ 3.78410800e-02 -6.51085835e-04 9.99283558e-01 1.84711969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52509989299995 meters 0.013196692054601094 Centerline is valid? [True, True] Translation: X:499.72, Y:33.96, Z:18.47 [[ 9.94914324e-01 -9.34361706e-02 -3.76187391e-02 4.99722647e+02] [ 9.33898929e-02 9.95625126e-01 -2.98938655e-03 3.39598172e+01] [ 3.77334787e-02 -5.39026519e-04 9.99287693e-01 1.84734143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58509989299995 meters 0.012648761949811528 Centerline is valid? [True, True] Translation: X:499.78, Y:33.97, Z:18.48 [[ 9.95241324e-01 -9.00919586e-02 -3.71233838e-02 4.99784363e+02] [ 9.00446648e-02 9.95933367e-01 -2.94736728e-03 3.39661850e+01] [ 3.72379507e-02 -4.09420930e-04 9.99306343e-01 1.84756382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64509989299995 meters 0.012438552768667458 Centerline is valid? [True, True] Translation: X:499.85, Y:33.97, Z:18.48 [[ 9.95283285e-01 -8.96650455e-02 -3.70319042e-02 4.99846178e+02] [ 8.96177895e-02 9.95971899e-01 -2.93740549e-03 3.39694382e+01] [ 3.71461185e-02 -3.95166810e-04 9.99309767e-01 1.84771258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70509989299995 meters 0.012794099084526394 Centerline is valid? [True, True] Translation: X:499.91, Y:33.97, Z:18.48 [[ 9.95070701e-01 -9.16045889e-02 -3.79855263e-02 4.99907650e+02] [ 9.15563886e-02 9.95795344e-01 -3.01018061e-03 3.39710469e+01] [ 3.81015566e-02 -4.82475085e-04 9.99273756e-01 1.84785658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76509989299996 meters 0.013239497138130076 Centerline is valid? [True, True] Translation: X:499.97, Y:33.97, Z:18.48 [[ 9.94565624e-01 -9.65203077e-02 -3.90262592e-02 4.99969797e+02] [ 9.64732969e-02 9.95330775e-01 -3.09042815e-03 3.39713758e+01] [ 3.91423260e-02 -6.91358290e-04 9.99233406e-01 1.84803159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82509989299996 meters 0.016362832686514416 Centerline is valid? [True, True] Translation: X:500.03, Y:33.97, Z:18.48 [[ 9.94261925e-01 -9.97456444e-02 -3.86527027e-02 5.00031076e+02] [ 9.97020734e-02 9.95012636e-01 -3.05803106e-03 3.39664246e+01] [ 3.87649528e-02 -8.13270749e-04 9.99248026e-01 1.84819540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88509989299996 meters 0.01507004869865002 Centerline is valid? [True, True] Translation: X:500.09, Y:33.97, Z:18.48 [[ 9.93889637e-01 -1.03032130e-01 -3.95950709e-02 5.00093377e+02] [ 1.02989076e-01 9.94677559e-01 -3.13099827e-03 3.39693014e+01] [ 3.97069219e-02 -9.65993030e-04 9.99210902e-01 1.84829340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.94509989299996 meters 0.015307427814662248 Centerline is valid? [True, True] Translation: X:500.16, Y:33.97, Z:18.48 [[ 9.93762287e-01 -1.04225148e-01 -3.96690627e-02 5.00155277e+02] [ 1.04182999e-01 9.94553207e-01 -3.13393414e-03 3.39718425e+01] [ 3.97796282e-02 -1.01845635e-03 9.99207958e-01 1.84849476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.00509989299997 meters 0.015853493903089086 Centerline is valid? [True, True] Translation: X:500.22, Y:33.97, Z:18.49 [[ 9.93683673e-01 -1.04804641e-01 -4.01091734e-02 5.00217616e+02] [ 1.04762142e-01 9.94492268e-01 -3.16572089e-03 3.39729417e+01] [ 4.02200451e-02 -1.05619777e-03 9.99190288e-01 1.84871416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.06509989299997 meters 0.01759060199133494 Centerline is valid? [True, True] Translation: X:500.28, Y:33.97, Z:18.49 [[ 9.93581282e-01 -1.05906227e-01 -3.97505536e-02 5.00278586e+02] [ 1.05865478e-01 9.94375520e-01 -3.13459420e-03 3.39724072e+01] [ 3.98589504e-02 -1.09373724e-03 9.99204718e-01 1.84894379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.12509989299997 meters 0.01640083176204214 Centerline is valid? [True, True] Translation: X:500.34, Y:33.98, Z:18.49 [[ 9.93494254e-01 -1.06857296e-01 -3.93787480e-02 5.00340253e+02] [ 1.06818137e-01 9.94273733e-01 -3.10313211e-03 3.39781948e+01] [ 3.94848471e-02 -1.12342059e-03 9.99219538e-01 1.84923815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.185099893 meters 0.01883688030636713 Centerline is valid? [True, True] Translation: X:500.40, Y:33.98, Z:18.50 [[ 9.92821049e-01 -1.12935542e-01 -3.93945124e-02 5.00401175e+02] [ 1.12901236e-01 9.93601374e-01 -3.10160762e-03 3.39750425e+01] [ 3.94927234e-02 -1.36834780e-03 9.99218921e-01 1.84953400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.245099893 meters 0.01969887200389063 Centerline is valid? [True, True] Translation: X:500.46, Y:33.98, Z:18.50 [[ 9.92157911e-01 -1.18230137e-01 -4.05501362e-02 5.00461891e+02] [ 1.18198231e-01 9.92984889e-01 -3.19184230e-03 3.39757079e+01] [ 4.06430444e-02 -1.62614278e-03 9.99172407e-01 1.84972464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3050998929999 meters 0.02345547701776899 Centerline is valid? [True, True] Translation: X:500.52, Y:33.97, Z:18.50 [[ 9.91125495e-01 -1.25981400e-01 -4.24139065e-02 5.00522502e+02] [ 1.25953607e-01 9.92030518e-01 -3.33762336e-03 3.39715208e+01] [ 4.24963681e-02 -2.03418092e-03 9.99094550e-01 1.84985857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3650998929999 meters 0.02671261337152238 Centerline is valid? [True, True] Translation: X:500.58, Y:33.97, Z:18.50 [[ 9.90498240e-01 -1.30529375e-01 -4.33049476e-02 5.00582293e+02] [ 1.30504797e-01 9.91441826e-01 -3.40630766e-03 3.39702053e+01] [ 4.33789595e-02 -2.27756167e-03 9.99056094e-01 1.85009404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4250998929999 meters 0.026418854095588983 Centerline is valid? [True, True] Translation: X:500.64, Y:33.97, Z:18.50 [[ 9.89949949e-01 -1.34506677e-01 -4.36698166e-02 5.00643269e+02] [ 1.34485525e-01 9.90909604e-01 -3.43531330e-03 3.39734184e+01] [ 4.37349132e-02 -2.47216997e-03 9.99040112e-01 1.85036114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4850998929999 meters 0.02774298545751073 Centerline is valid? [True, True] Translation: X:500.70, Y:33.98, Z:18.51 [[ 9.89811033e-01 -1.35682702e-01 -4.31778223e-02 5.00704114e+02] [ 1.35663181e-01 9.90749197e-01 -3.39559974e-03 3.39758429e+01] [ 4.32391170e-02 -2.49663864e-03 9.99061633e-01 1.85068395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54509989299993 meters 0.027144097766896306 Centerline is valid? [True, True] Translation: X:500.77, Y:33.98, Z:18.51 [[ 9.90013899e-01 -1.34111646e-01 -4.34343880e-02 5.00765535e+02] [ 1.34090431e-01 9.90963216e-01 -3.41476324e-03 3.39815558e+01] [ 4.34998404e-02 -2.44347273e-03 9.99050446e-01 1.85095986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60509989299993 meters 0.025952038993581006 Centerline is valid? [True, True] Translation: X:500.83, Y:33.99, Z:18.51 [[ 9.90275422e-01 -1.31979088e-01 -4.40012348e-02 5.00826790e+02] [ 1.31955324e-01 9.91249637e-01 -3.45690913e-03 3.39883142e+01] [ 4.40724477e-02 -2.38290506e-03 9.99025496e-01 1.85120125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66509989299993 meters 0.02605003779547382 Centerline is valid? [True, True] Translation: X:500.89, Y:33.99, Z:18.51 [[ 9.90591692e-01 -1.29769651e-01 -4.34504078e-02 5.00887391e+02] [ 1.29744451e-01 9.91541597e-01 -3.41150048e-03 3.39939340e+01] [ 4.35255960e-02 -2.25804529e-03 9.99049760e-01 1.85146743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72509989299994 meters 0.022577884112481503 Centerline is valid? [True, True] Translation: X:500.95, Y:34.01, Z:18.52 [[ 9.90920585e-01 -1.26832795e-01 -4.46075876e-02 5.00948236e+02] [ 1.26803319e-01 9.91921700e-01 -3.50126623e-03 3.40053120e+01] [ 4.46913095e-02 -2.18691337e-03 9.98998451e-01 1.85173109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78509989299994 meters 0.0215204390530735 Centerline is valid? [True, True] Translation: X:501.01, Y:34.01, Z:18.52 [[ 9.91264317e-01 -1.23593802e-01 -4.60393877e-02 5.01009334e+02] [ 1.23559033e-01 9.92330653e-01 -3.61119565e-03 3.40133024e+01] [ 4.61326171e-02 -2.10893284e-03 9.98933098e-01 1.85185965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84509989299994 meters 0.0192627170315163 Centerline is valid? [True, True] Translation: X:501.07, Y:34.02, Z:18.52 [[ 9.91702242e-01 -1.19703861e-01 -4.68790838e-02 5.01069401e+02] [ 1.19663551e-01 9.92807698e-01 -3.67548339e-03 3.40231196e+01] [ 4.69818848e-02 -1.96473251e-03 9.98893809e-01 1.85211819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90509989299994 meters 0.016092857418133783 Centerline is valid? [True, True] Translation: X:501.13, Y:34.04, Z:18.52 [[ 9.92778178e-01 -1.10268502e-01 -4.72477270e-02 5.01128933e+02] [ 1.10216915e-01 9.93900656e-01 -3.70362819e-03 3.40367241e+01] [ 4.73679404e-02 -1.53061748e-03 9.98876336e-01 1.85243886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96509989299994 meters 0.01453817613003975 Centerline is valid? [True, True] Translation: X:501.19, Y:34.05, Z:18.53 [[ 9.93578282e-01 -1.02902395e-01 -4.70456630e-02 5.01189304e+02] [ 1.02843016e-01 9.94690765e-01 -3.68737979e-03 3.40466080e+01] [ 4.71753267e-02 -1.17461738e-03 9.98885934e-01 1.85271081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02509989299995 meters 0.01326408557823569 Centerline is valid? [True, True] Translation: X:501.25, Y:34.06, Z:18.53 [[ 9.94230871e-01 -9.65512607e-02 -4.67207629e-02 5.01248980e+02] [ 9.64857209e-02 9.95327635e-01 -3.66123420e-03 3.40556312e+01] [ 4.68559632e-02 -8.67774421e-04 9.98901279e-01 1.85292316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08509989299995 meters 0.012086266901459228 Centerline is valid? [True, True] Translation: X:501.31, Y:34.06, Z:18.53 [[ 9.94722978e-01 -9.09475757e-02 -4.74840588e-02 5.01309133e+02] [ 9.08734938e-02 9.95855493e-01 -3.72104926e-03 3.40649783e+01] [ 4.76256812e-02 -6.13629125e-04 9.98865065e-01 1.85315847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14509989299995 meters 0.011896159341092845 Centerline is valid? [True, True] Translation: X:501.37, Y:34.07, Z:18.53 [[ 9.94751640e-01 -9.06340238e-02 -4.74831383e-02 5.01368158e+02] [ 9.05594711e-02 9.95884089e-01 -3.72342335e-03 3.40697552e+01] [ 4.76251708e-02 -5.96166408e-04 9.98865100e-01 1.85333691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20509989299995 meters 0.01246052952639576 Centerline is valid? [True, True] Translation: X:501.43, Y:34.07, Z:18.54 [[ 9.94425449e-01 -9.41472766e-02 -4.74796373e-02 5.01428055e+02] [ 9.40762959e-02 9.95557994e-01 -3.73235776e-03 3.40710002e+01] [ 4.76201238e-02 -7.55156862e-04 9.98865233e-01 1.85355324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26509989299996 meters 0.013444661883125006 Centerline is valid? [True, True] Translation: X:501.49, Y:34.07, Z:18.54 [[ 9.93956208e-01 -9.92174767e-02 -4.69781814e-02 5.01487227e+02] [ 9.91535552e-02 9.95065285e-01 -3.69480062e-03 3.40713004e+01] [ 4.71129462e-02 -9.85583679e-04 9.98889082e-01 1.85377696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32509989299996 meters 0.013958748167620388 Centerline is valid? [True, True] Translation: X:501.55, Y:34.07, Z:18.54 [[ 9.93565036e-01 -1.02674185e-01 -4.78176887e-02 5.01547893e+02] [ 1.02611857e-01 9.94714355e-01 -3.76288390e-03 3.40733587e+01] [ 4.79512924e-02 -1.16799196e-03 9.98848992e-01 1.85400581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38509989299996 meters 0.01696135621417421 Centerline is valid? [True, True] Translation: X:501.61, Y:34.07, Z:18.54 [[ 9.93085174e-01 -1.07636859e-01 -4.68630272e-02 5.01607389e+02] [ 1.07582512e-01 9.94189320e-01 -3.68773675e-03 3.40700995e+01] [ 4.69876575e-02 -1.37940548e-03 9.98894518e-01 1.85416622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.44509989299996 meters 0.017649396790530632 Centerline is valid? [True, True] Translation: X:501.67, Y:34.07, Z:18.54 [[ 9.92829319e-01 -1.10332446e-01 -4.60075470e-02 5.01667716e+02] [ 1.10282957e-01 9.93893637e-01 -3.62033204e-03 3.40718987e+01] [ 4.61260484e-02 -1.47947654e-03 9.98934532e-01 1.85447652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.50509989299997 meters 0.016683055729320193 Centerline is valid? [True, True] Translation: X:501.73, Y:34.08, Z:18.55 [[ 9.92561253e-01 -1.13184743e-01 -4.48483288e-02 5.01728447e+02] [ 1.13140629e-01 9.93572717e-01 -3.52897094e-03 3.40757601e+01] [ 4.49595016e-02 -1.57144830e-03 9.98987574e-01 1.85485167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.56509989299997 meters 0.01820806684932817 Centerline is valid? [True, True] Translation: X:501.79, Y:34.08, Z:18.55 [[ 9.92328242e-01 -1.14990362e-01 -4.54078898e-02 5.01788503e+02] [ 1.14947093e-01 9.93365195e-01 -3.57155090e-03 3.40759277e+01] [ 4.55173112e-02 -1.67535410e-03 9.98962145e-01 1.85492226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.62509989299997 meters 0.018397257969805604 Centerline is valid? [True, True] Translation: X:501.85, Y:34.08, Z:18.55 [[ 9.91983680e-01 -1.17665359e-01 -4.60786427e-02 5.01849405e+02] [ 1.17623849e-01 9.93051620e-01 -3.62069796e-03 3.40784769e+01] [ 4.61845016e-02 -1.82827405e-03 9.98931254e-01 1.85505886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.685099893 meters 0.022337847125649006 Centerline is valid? [True, True] Translation: X:501.91, Y:34.07, Z:18.55 [[ 9.91279768e-01 -1.23353447e-01 -4.63502919e-02 5.01909616e+02] [ 1.23317668e-01 9.92360565e-01 -3.64156521e-03 3.40748619e+01] [ 4.64454015e-02 -2.10599999e-03 9.98918610e-01 1.85508708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7450998929999 meters 0.02133292949072705 Centerline is valid? [True, True] Translation: X:501.97, Y:34.08, Z:18.55 [[ 9.90685445e-01 -1.28113731e-01 -4.61434887e-02 5.01970565e+02] [ 1.28083389e-01 9.91756774e-01 -3.62589961e-03 3.40800206e+01] [ 4.62276450e-02 -2.31808844e-03 9.98928241e-01 1.85535673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8050998929999 meters 0.02748387416221889 Centerline is valid? [True, True] Translation: X:502.03, Y:34.08, Z:18.55 [[ 9.89851765e-01 -1.34548749e-01 -4.57177958e-02 5.02030327e+02] [ 1.34525869e-01 9.90903576e-01 -3.59088184e-03 3.40754577e+01] [ 4.57850760e-02 -2.59578549e-03 9.98947941e-01 1.85541940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8650998929999 meters 0.0255550569918614 Centerline is valid? [True, True] Translation: X:502.09, Y:34.08, Z:18.56 [[ 9.89456987e-01 -1.37668272e-01 -4.49701814e-02 5.02090453e+02] [ 1.37649436e-01 9.90474720e-01 -3.53004542e-03 3.40830706e+01] [ 4.50278031e-02 -2.69729200e-03 9.98982093e-01 1.85572486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9250998929999 meters 0.027011903053275783 Centerline is valid? [True, True] Translation: X:502.15, Y:34.09, Z:18.56 [[ 9.89157818e-01 -1.40222853e-01 -4.36390042e-02 5.02151888e+02] [ 1.40207646e-01 9.90116201e-01 -3.42420827e-03 3.40869295e+01] [ 4.36878373e-02 -2.73143967e-03 9.99041497e-01 1.85596092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9850998929999 meters 0.03140737546425545 Centerline is valid? [True, True] Translation: X:502.21, Y:34.09, Z:18.56 [[ 9.89075709e-01 -1.40954419e-01 -4.31403979e-02 5.02212193e+02] [ 1.40940312e-01 9.90012313e-01 -3.38361625e-03 3.40867357e+01] [ 4.31864608e-02 -2.73356852e-03 9.99063290e-01 1.85615059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04509989299993 meters 0.02940833002437151 Centerline is valid? [True, True] Translation: X:502.27, Y:34.09, Z:18.56 [[ 9.89133449e-01 -1.40721041e-01 -4.25747333e-02 5.02273447e+02] [ 1.40707123e-01 9.90045636e-01 -3.33838696e-03 3.40944066e+01] [ 4.26207102e-02 -2.68845803e-03 9.99087707e-01 1.85645202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10509989299993 meters 0.027830598877477367 Centerline is valid? [True, True] Translation: X:502.33, Y:34.10, Z:18.57 [[ 9.89420589e-01 -1.39407550e-01 -4.01551147e-02 5.02334452e+02] [ 1.39394142e-01 9.90231977e-01 -3.14728045e-03 3.41035632e+01] [ 4.02016333e-02 -2.48340368e-03 9.99188501e-01 1.85673513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16509989299993 meters 0.027866567059819974 Centerline is valid? [True, True] Translation: X:502.39, Y:34.11, Z:18.57 [[ 9.89968137e-01 -1.35981215e-01 -3.83692230e-02 5.02393667e+02] [ 1.35966457e-01 9.90708881e-01 -3.00599181e-03 3.41118369e+01] [ 3.84214884e-02 -2.24109121e-03 9.99259109e-01 1.85700700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22509989299994 meters 0.028677657359169096 Centerline is valid? [True, True] Translation: X:502.45, Y:34.12, Z:18.57 [[ 9.90431992e-01 -1.32508530e-01 -3.85481370e-02 5.02453108e+02] [ 1.32491012e-01 9.91179606e-01 -3.02000861e-03 3.41180244e+01] [ 3.86083041e-02 -2.11616852e-03 9.99252181e-01 1.85712791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28509989299994 meters 0.022244223376339762 Centerline is valid? [True, True] Translation: X:502.51, Y:34.13, Z:18.57 [[ 9.90987074e-01 -1.28506275e-01 -3.78253501e-02 5.02512747e+02] [ 1.28486500e-01 9.91706831e-01 -2.96337086e-03 3.41338365e+01] [ 3.78924698e-02 -1.92338462e-03 9.99279971e-01 1.85726312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34509989299994 meters 0.02012330376713231 Centerline is valid? [True, True] Translation: X:502.57, Y:34.15, Z:18.57 [[ 9.92040904e-01 -1.20000066e-01 -3.81422103e-02 5.02572958e+02] [ 1.19973708e-01 9.92772574e-01 -2.98747722e-03 3.41456650e+01] [ 3.82250378e-02 -1.61236279e-03 9.99267855e-01 1.85731764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40509989299994 meters 0.01784166794061857 Centerline is valid? [True, True] Translation: X:502.63, Y:34.16, Z:18.57 [[ 9.92895230e-01 -1.12770361e-01 -3.79724510e-02 5.02633032e+02] [ 1.12738980e-01 9.93620189e-01 -2.97354506e-03 3.41575488e+01] [ 3.80655217e-02 -1.32855667e-03 9.99274362e-01 1.85749549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46509989299994 meters 0.01540703535730126 Centerline is valid? [True, True] Translation: X:502.69, Y:34.17, Z:18.58 [[ 9.94204859e-01 -1.00545361e-01 -3.80437786e-02 5.02691541e+02] [ 1.00504913e-01 9.94932102e-01 -2.97903780e-03 3.41707008e+01] [ 3.81505050e-02 -8.61812808e-04 9.99271633e-01 1.85762550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52509989299995 meters 0.01302507746494677 Centerline is valid? [True, True] Translation: X:502.75, Y:34.18, Z:18.58 [[ 9.95004426e-01 -9.25376247e-02 -3.74563693e-02 5.02752396e+02] [ 9.24927170e-02 9.95709039e-01 -2.93372235e-03 3.41835889e+01] [ 3.75671252e-02 -5.45374637e-04 9.99293958e-01 1.85789896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58509989299995 meters 0.012145434997073417 Centerline is valid? [True, True] Translation: X:502.81, Y:34.19, Z:18.58 [[ 9.95844337e-01 -8.38566550e-02 -3.55263027e-02 5.02812470e+02] [ 8.38107974e-02 9.96477806e-01 -2.78069119e-03 3.41947689e+01] [ 3.56343517e-02 -2.08352189e-04 9.99364873e-01 1.85823647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64509989299995 meters 0.012020010134900123 Centerline is valid? [True, True] Translation: X:502.87, Y:34.20, Z:18.59 [[ 9.96062437e-01 -8.15603244e-02 -3.47496026e-02 5.02873838e+02] [ 8.15150924e-02 9.96668399e-01 -2.71877533e-03 3.42016213e+01] [ 3.48555750e-02 -1.24547090e-04 9.99392352e-01 1.85851214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70509989299995 meters 0.012179313747345075 Centerline is valid? [True, True] Translation: X:502.94, Y:34.21, Z:18.59 [[ 9.96015012e-01 -8.21880524e-02 -3.46297466e-02 5.02936301e+02] [ 8.21435986e-02 9.96616828e-01 -2.70688327e-03 3.42054577e+01] [ 3.47350617e-02 -1.48515635e-04 9.99396545e-01 1.85872652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76509989299996 meters 0.013125932030800948 Centerline is valid? [True, True] Translation: X:503.00, Y:34.20, Z:18.59 [[ 9.95391214e-01 -8.95081402e-02 -3.44183633e-02 5.02997587e+02] [ 8.94686883e-02 9.95986009e-01 -2.68778228e-03 3.42037871e+01] [ 3.45207866e-02 -4.03970950e-04 9.99403898e-01 1.85893830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82509989299996 meters 0.014536945812398555 Centerline is valid? [True, True] Translation: X:503.06, Y:34.20, Z:18.59 [[ 9.94635049e-01 -9.74283458e-02 -3.47683297e-02 5.03058806e+02] [ 9.73929898e-02 9.95242304e-01 -2.71310768e-03 3.42025488e+01] [ 3.48672462e-02 -6.87639585e-04 9.99391716e-01 1.85913555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88509989299996 meters 0.01828591081610972 Centerline is valid? [True, True] Translation: X:503.12, Y:34.20, Z:18.59 [[ 9.93251138e-01 -1.10584259e-01 -3.49756844e-02 5.03120610e+02] [ 1.10556638e-01 9.93866080e-01 -2.72867909e-03 3.41962372e+01] [ 3.50628953e-02 -1.15653048e-03 9.99384438e-01 1.85930246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.94509989299996 meters 0.021389356586906653 Centerline is valid? [True, True] Translation: X:503.18, Y:34.19, Z:18.59 [[ 9.91871184e-01 -1.22122999e-01 -3.57425133e-02 5.03181220e+02] [ 1.22101664e-01 9.92513685e-01 -2.78730881e-03 3.41928957e+01] [ 3.58153281e-02 -1.59956906e-03 9.99357145e-01 1.85947938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.00509989299997 meters 0.024810698493858578 Centerline is valid? [True, True] Translation: X:503.24, Y:34.19, Z:18.60 [[ 9.91096475e-01 -1.28074386e-01 -3.63968318e-02 5.03240668e+02] [ 1.28056275e-01 9.91762843e-01 -2.83800839e-03 3.41906674e+01] [ 3.64605015e-02 -1.84810258e-03 9.99333386e-01 1.85966808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.06509989299997 meters 0.025827933032927068 Centerline is valid? [True, True] Translation: X:503.30, Y:34.19, Z:18.60 [[ 9.90212840e-01 -1.34726580e-01 -3.64318589e-02 5.03301471e+02] [ 1.34712997e-01 9.90880594e-01 -2.83856755e-03 3.41921443e+01] [ 3.64820525e-02 -2.09705888e-03 9.99332108e-01 1.85994451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.12509989299997 meters 0.026610848287982342 Centerline is valid? [True, True] Translation: X:503.36, Y:34.19, Z:18.60 [[ 9.89785038e-01 -1.37796469e-01 -3.65747285e-02 5.03362711e+02] [ 1.37784903e-01 9.90458079e-01 -2.84869891e-03 3.41948611e+01] [ 3.66182760e-02 -2.21984586e-03 9.99326861e-01 1.86025262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.185099893 meters 0.029845619280429874 Centerline is valid? [True, True] Translation: X:503.42, Y:34.19, Z:18.61 [[ 9.89241618e-01 -1.41360282e-01 -3.76602261e-02 5.03422684e+02] [ 1.41350645e-01 9.89955251e-01 -2.93181083e-03 3.41947845e+01] [ 3.76963802e-02 -2.42302796e-03 9.99286301e-01 1.86051279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2450998929999 meters 0.03353350928545062 Centerline is valid? [True, True] Translation: X:503.48, Y:34.19, Z:18.61 [[ 9.88952620e-01 -1.43012959e-01 -3.89872875e-02 5.03483496e+02] [ 1.43003914e-01 9.89717469e-01 -3.03506083e-03 3.41946306e+01] [ 3.90204525e-02 -2.57380333e-03 9.99235097e-01 1.86071379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3050998929999 meters 0.03237550234153189 Centerline is valid? [True, True] Translation: X:503.55, Y:34.20, Z:18.61 [[ 9.88754076e-01 -1.43585655e-01 -4.18155137e-02 5.03545116e+02] [ 1.43575840e-01 9.89633969e-01 -3.25345789e-03 3.42017534e+01] [ 4.18492026e-02 -2.78682775e-03 9.99120052e-01 1.86081789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3650998929999 meters 0.02987748132194233 Centerline is valid? [True, True] Translation: X:503.61, Y:34.21, Z:18.61 [[ 9.88894893e-01 -1.42234953e-01 -4.30825887e-02 5.03605508e+02] [ 1.42223390e-01 9.89828920e-01 -3.34905846e-03 3.42116233e+01] [ 4.31207454e-02 -2.81548502e-03 9.99065901e-01 1.86110049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4250998929999 meters 0.031013129155262057 Centerline is valid? [True, True] Translation: X:503.66, Y:34.22, Z:18.61 [[ 9.89537885e-01 -1.37475464e-01 -4.37638116e-02 5.03664433e+02] [ 1.37458953e-01 9.90501626e-01 -3.40072728e-03 3.42184032e+01] [ 4.38156432e-02 -2.65057925e-03 9.99036117e-01 1.86142500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4850998929999 meters 0.029243043107068736 Centerline is valid? [True, True] Translation: X:503.72, Y:34.23, Z:18.62 [[ 9.90242652e-01 -1.31964242e-01 -4.47764319e-02 5.03723945e+02] [ 1.31941315e-01 9.91251420e-01 -3.48006721e-03 3.42280639e+01] [ 4.48439462e-02 -2.46175032e-03 9.98990971e-01 1.86168874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54509989299993 meters 0.02225753013671597 Centerline is valid? [True, True] Translation: X:503.78, Y:34.25, Z:18.62 [[ 9.91215834e-01 -1.24121169e-01 -4.56629651e-02 5.03783338e+02] [ 1.24089026e-01 9.92264742e-01 -3.54889811e-03 3.42462197e+01] [ 4.57502437e-02 -2.14854885e-03 9.98950599e-01 1.86208472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60509989299993 meters 0.0185098090615691 Centerline is valid? [True, True] Translation: X:503.84, Y:34.26, Z:18.62 [[ 9.92868211e-01 -1.10329383e-01 -4.51679413e-02 5.03842691e+02] [ 1.10283685e-01 9.93893952e-01 -3.51005821e-03 3.42617873e+01] [ 4.52794062e-02 -1.49626178e-03 9.98973241e-01 1.86245390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66509989299993 meters 0.0163024403133807 Centerline is valid? [True, True] Translation: X:503.90, Y:34.27, Z:18.63 [[ 9.93857844e-01 -1.01065156e-01 -4.50823698e-02 5.03902882e+02] [ 1.01010115e-01 9.94879231e-01 -3.50313832e-03 3.42728790e+01] [ 4.52055586e-02 -1.07215385e-03 9.98977131e-01 1.86275676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72509989299994 meters 0.013729860018484311 Centerline is valid? [True, True] Translation: X:503.96, Y:34.29, Z:18.63 [[ 9.95085780e-01 -8.80551271e-02 -4.52833900e-02 5.03963251e+02] [ 8.79861327e-02 9.96115486e-01 -3.51842617e-03 3.42862001e+01] [ 4.54173015e-02 -4.83174515e-04 9.98967985e-01 1.86302253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78509989299994 meters 0.013250823330619858 Centerline is valid? [True, True] Translation: X:504.02, Y:34.29, Z:18.63 [[ 9.95656395e-01 -8.08174175e-02 -4.62264874e-02 5.04023737e+02] [ 8.07377572e-02 9.96728910e-01 -3.59084763e-03 3.42949976e+01] [ 4.63654795e-02 -1.56972505e-04 9.98924531e-01 1.86324140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84509989299994 meters 0.013577650916879073 Centerline is valid? [True, True] Translation: X:504.08, Y:34.30, Z:18.63 [[ 9.96326044e-01 -7.14856167e-02 -4.71616467e-02 5.04082749e+02] [ 7.13922675e-02 9.97441591e-01 -3.66297236e-03 3.43030263e+01] [ 4.73028378e-02 2.82537863e-04 9.98880554e-01 1.86334454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90509989299994 meters 0.014020332647402853 Centerline is valid? [True, True] Translation: X:504.14, Y:34.31, Z:18.64 [[ 9.96630249e-01 -6.71208880e-02 -4.71479973e-02 5.04141218e+02] [ 6.70225585e-02 9.97744729e-01 -3.66511919e-03 3.43085831e+01] [ 4.72876718e-02 4.92789243e-04 9.98881191e-01 1.86353761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96509989299994 meters 0.014570966110228746 Centerline is valid? [True, True] Translation: X:504.20, Y:34.31, Z:18.64 [[ 9.96778007e-01 -6.48661969e-02 -4.71803023e-02 5.04198548e+02] [ 6.47647171e-02 9.97893784e-01 -3.67799719e-03 3.43125708e+01] [ 4.73195080e-02 6.10527786e-04 9.98879618e-01 1.86361089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02509989299995 meters 0.014509604163293242 Centerline is valid? [True, True] Translation: X:504.26, Y:34.31, Z:18.64 [[ 9.96748118e-01 -6.56223773e-02 -4.67642170e-02 5.04256347e+02] [ 6.55232304e-02 9.97844363e-01 -3.65156742e-03 3.43142242e+01] [ 4.69030348e-02 5.75550389e-04 9.98899281e-01 1.86375168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08509989299995 meters 0.013900743748901484 Centerline is valid? [True, True] Translation: X:504.32, Y:34.31, Z:18.64 [[ 9.96517802e-01 -7.05555613e-02 -4.44317885e-02 5.04315264e+02] [ 7.04704328e-02 9.97507794e-01 -3.48132507e-03 3.43092866e+01] [ 4.45666821e-02 3.38075039e-04 9.99006355e-01 1.86410740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14509989299995 meters 0.013612179168099182 Centerline is valid? [True, True] Translation: X:504.37, Y:34.31, Z:18.64 [[ 9.96226609e-01 -7.56820163e-02 -4.24826454e-02 5.04373569e+02] [ 7.56084307e-02 9.97131997e-01 -3.33852722e-03 3.43063870e+01] [ 4.26134715e-02 1.13883498e-04 9.99091627e-01 1.86436582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20509989299995 meters 0.013583384117464816 Centerline is valid? [True, True] Translation: X:504.43, Y:34.30, Z:18.65 [[ 9.95865723e-01 -8.09681006e-02 -4.11780120e-02 5.04432837e+02] [ 8.09032357e-02 9.96716688e-01 -3.24196828e-03 3.43020936e+01] [ 4.13053077e-02 -1.02869319e-04 9.99146566e-01 1.86462923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26509989299996 meters 0.013965058559709862 Centerline is valid? [True, True] Translation: X:504.49, Y:34.29, Z:18.65 [[ 9.95302369e-01 -8.77522809e-02 -4.08990445e-02 5.04492713e+02] [ 8.76936252e-02 9.96142258e-01 -3.22947101e-03 3.42944327e+01] [ 4.10246600e-02 -3.72285330e-04 9.99158065e-01 1.86485811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32509989299996 meters 0.014249372301505239 Centerline is valid? [True, True] Translation: X:504.55, Y:34.29, Z:18.65 [[ 9.95040782e-01 -9.01296164e-02 -4.20772394e-02 5.04552815e+02] [ 9.00695589e-02 9.95929927e-01 -3.32478823e-03 3.42918716e+01] [ 4.22056439e-02 -4.81578509e-04 9.99108829e-01 1.86500857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38509989299996 meters 0.01419592088802312 Centerline is valid? [True, True] Translation: X:504.61, Y:34.29, Z:18.65 [[ 9.94999716e-01 -9.00649445e-02 -4.31725707e-02 5.04611775e+02] [ 9.00015299e-02 9.95935775e-01 -3.41428850e-03 3.42885062e+01] [ 4.33046153e-02 -4.88381319e-04 9.99061796e-01 1.86512167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.44509989299996 meters 0.014040062880552167 Centerline is valid? [True, True] Translation: X:504.67, Y:34.29, Z:18.65 [[ 9.95176187e-01 -8.74871660e-02 -4.43886447e-02 5.04670117e+02] [ 8.74170939e-02 9.96165576e-01 -3.52100996e-03 3.42894772e+01] [ 4.45264830e-02 -3.76301049e-04 9.99008133e-01 1.86521930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.50509989299997 meters 0.013677921461052022 Centerline is valid? [True, True] Translation: X:504.73, Y:34.29, Z:18.65 [[ 9.95600632e-01 -8.19114623e-02 -4.54960976e-02 5.04728509e+02] [ 8.18317752e-02 9.96639602e-01 -3.61438108e-03 3.42917315e+01] [ 4.56392718e-02 -1.24546337e-04 9.98957978e-01 1.86533927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.56509989299997 meters 0.013800857625020316 Centerline is valid? [True, True] Translation: X:504.79, Y:34.30, Z:18.66 [[ 9.96074305e-01 -7.54583620e-02 -4.62819090e-02 5.04787244e+02] [ 7.53683884e-02 9.97148936e-01 -3.68849021e-03 3.42950700e+01] [ 4.64282838e-02 1.85817423e-04 9.98921609e-01 1.86552449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.62509989299997 meters 0.014030160113198114 Centerline is valid? [True, True] Translation: X:504.85, Y:34.30, Z:18.66 [[ 9.96440124e-01 -7.11799876e-02 -4.51717698e-02 5.04845625e+02] [ 7.10893820e-02 9.97463413e-01 -3.61112098e-03 3.42984349e+01] [ 4.53142272e-02 3.87032643e-04 9.98972708e-01 1.86582532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.685099893 meters 0.014840446770997837 Centerline is valid? [True, True] Translation: X:504.90, Y:34.30, Z:18.66 [[ 9.96825220e-01 -6.60235684e-02 -4.45013354e-02 5.04904080e+02] [ 6.59300021e-02 9.97817869e-01 -3.56859932e-03 3.42994279e+01] [ 4.46398393e-02 6.23296668e-04 9.99002951e-01 1.86612839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7450998929999 meters 0.015008239227756874 Centerline is valid? [True, True] Translation: X:504.96, Y:34.30, Z:18.66 [[ 9.96899997e-01 -6.50091714e-02 -4.43193338e-02 5.04962913e+02] [ 6.49148757e-02 9.97884437e-01 -3.56505711e-03 3.42993824e+01] [ 4.44573348e-02 6.77021381e-04 9.99011055e-01 1.86640179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8050998929999 meters 0.014603752231953508 Centerline is valid? [True, True] Translation: X:505.02, Y:34.29, Z:18.67 [[ 9.96764452e-01 -6.69328933e-02 -4.45040995e-02 5.05021830e+02] [ 6.68392244e-02 9.97757296e-01 -3.59112328e-03 3.42938249e+01] [ 4.46446542e-02 6.04884540e-04 9.99002747e-01 1.86663392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8650998929999 meters 0.014228153375324265 Centerline is valid? [True, True] Translation: X:505.08, Y:34.29, Z:18.67 [[ 9.96576758e-01 -6.97568051e-02 -4.43706495e-02 5.05080794e+02] [ 6.96659960e-02 9.97563908e-01 -3.59153364e-03 3.42908867e+01] [ 4.45130924e-02 4.88113457e-04 9.99008682e-01 1.86690018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9250998929999 meters 0.013767990923986515 Centerline is valid? [True, True] Translation: X:505.14, Y:34.28, Z:18.67 [[ 9.96178330e-01 -7.49732753e-02 -4.48078358e-02 5.05140797e+02] [ 7.48854281e-02 9.97185507e-01 -3.63826716e-03 3.42841428e+01] [ 4.49544973e-02 2.68908938e-04 9.98988999e-01 1.86715900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9850998929999 meters 0.013550616754010352 Centerline is valid? [True, True] Translation: X:505.20, Y:34.28, Z:18.67 [[ 9.95817992e-01 -7.92119961e-02 -4.55190707e-02 5.05200398e+02] [ 7.91252536e-02 9.96857789e-01 -3.70710879e-03 3.42814393e+01] [ 4.56696877e-02 8.98976253e-05 9.98956591e-01 1.86740511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04509989299993 meters 0.013509602971953225 Centerline is valid? [True, True] Translation: X:505.26, Y:34.28, Z:18.68 [[ 9.95466869e-01 -8.40535411e-02 -4.45052300e-02 5.05258410e+02] [ 8.39749446e-02 9.96461233e-01 -3.63597667e-03 3.42787755e+01] [ 4.46533531e-02 -1.17829912e-04 9.99002535e-01 1.86768599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10509989299993 meters 0.013975874798855911 Centerline is valid? [True, True] Translation: X:505.32, Y:34.27, Z:18.68 [[ 9.94826585e-01 -9.15126018e-02 -4.41079403e-02 5.05316711e+02] [ 9.14422107e-02 9.95803822e-01 -3.61514415e-03 3.42733861e+01] [ 4.42536868e-02 -4.36886069e-04 9.99020230e-01 1.86787261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16509989299993 meters 0.015599982141344918 Centerline is valid? [True, True] Translation: X:505.38, Y:34.27, Z:18.68 [[ 9.94203602e-01 -9.81299218e-02 -4.39285319e-02 5.05375729e+02] [ 9.80663879e-02 9.95173348e-01 -3.60419128e-03 3.42693341e+01] [ 4.40701832e-02 -7.24612497e-04 9.99028175e-01 1.86800064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22509989299994 meters 0.01839667907799899 Centerline is valid? [True, True] Translation: X:505.44, Y:34.26, Z:18.68 [[ 9.92685144e-01 -1.12284904e-01 -4.43655923e-02 5.05437205e+02] [ 1.12234109e-01 9.93675118e-01 -3.64206475e-03 3.42624842e+01] [ 4.44939341e-02 -1.36390916e-03 9.99008723e-01 1.86816991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28509989299994 meters 0.02272194243962881 Centerline is valid? [True, True] Translation: X:505.50, Y:34.26, Z:18.68 [[ 9.91366955e-01 -1.23529145e-01 -4.39557735e-02 5.05498594e+02] [ 1.23490303e-01 9.92339219e-01 -3.60839010e-03 3.42571276e+01] [ 4.40647793e-02 -1.85087309e-03 9.99026961e-01 1.86838014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34509989299994 meters 0.027419031223161274 Centerline is valid? [True, True] Translation: X:505.56, Y:34.25, Z:18.69 [[ 9.89523940e-01 -1.37979026e-01 -4.24754139e-02 5.05559178e+02] [ 1.37956002e-01 9.90432220e-01 -3.48687055e-03 3.42521435e+01] [ 4.25501335e-02 -2.40939639e-03 9.99091428e-01 1.86869236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40509989299994 meters 0.027950617529776612 Centerline is valid? [True, True] Translation: X:505.62, Y:34.26, Z:18.69 [[ 9.88743712e-01 -1.43547738e-01 -4.21890742e-02 5.05619176e+02] [ 1.43530050e-01 9.89639898e-01 -3.46380643e-03 3.42563036e+01] [ 4.22492126e-02 -2.63058309e-03 9.99103640e-01 1.86901884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46509989299994 meters 0.027747591149113314 Centerline is valid? [True, True] Translation: X:505.68, Y:34.26, Z:18.69 [[ 9.88552257e-01 -1.45089485e-01 -4.13941561e-02 5.05677926e+02] [ 1.45073791e-01 9.89415001e-01 -3.39877948e-03 3.42633188e+01] [ 4.14491262e-02 -2.64533601e-03 9.99137114e-01 1.86925791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52509989299995 meters 0.02837523893867005 Centerline is valid? [True, True] Translation: X:505.74, Y:34.27, Z:18.69 [[ 9.88912680e-01 -1.42744668e-01 -4.09349522e-02 5.05736773e+02] [ 1.42727227e-01 9.89756347e-01 -3.36329223e-03 3.42708823e+01] [ 4.09957208e-02 -2.51652989e-03 9.99156153e-01 1.86947830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58509989299995 meters 0.02617579893979531 Centerline is valid? [True, True] Translation: X:505.80, Y:34.29, Z:18.70 [[ 9.89689273e-01 -1.37348173e-01 -4.06278544e-02 5.05796083e+02] [ 1.37326404e-01 9.90520220e-01 -3.33943896e-03 3.42850277e+01] [ 4.07013771e-02 -2.27427022e-03 9.99168767e-01 1.86972525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64509989299995 meters 0.02587975473048359 Centerline is valid? [True, True] Translation: X:505.85, Y:34.29, Z:18.70 [[ 9.90188381e-01 -1.33597332e-01 -4.09722235e-02 5.05854844e+02] [ 1.33571980e-01 9.91033391e-01 -3.36800430e-03 3.42944991e+01] [ 4.10547980e-02 -2.13778228e-03 9.99154609e-01 1.86989039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70509989299995 meters 0.02413485739073217 Centerline is valid? [True, True] Translation: X:505.91, Y:34.31, Z:18.70 [[ 9.90723135e-01 -1.29245890e-01 -4.19901054e-02 5.05913758e+02] [ 1.29215303e-01 9.91610549e-01 -3.45314949e-03 3.43087478e+01] [ 4.20841368e-02 -2.00464908e-03 9.99112059e-01 1.86999463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76509989299996 meters 0.02172499862992522 Centerline is valid? [True, True] Translation: X:505.97, Y:34.32, Z:18.70 [[ 9.90872222e-01 -1.27975513e-01 -4.23616438e-02 5.05971931e+02] [ 1.27943137e-01 9.91775379e-01 -3.48574961e-03 3.43222070e+01] [ 4.24593259e-02 -1.96594913e-03 9.99096262e-01 1.87020937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82509989299996 meters 0.022483626449474273 Centerline is valid? [True, True] Translation: X:506.03, Y:34.33, Z:18.70 [[ 9.91097182e-01 -1.26380017e-01 -4.18863685e-02 5.06028962e+02] [ 1.26346517e-01 9.91980145e-01 -3.45675745e-03 3.43321876e+01] [ 4.19873110e-02 -1.86621420e-03 9.99116401e-01 1.87039322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88509989299996 meters 0.022510887112708856 Centerline is valid? [True, True] Translation: X:506.09, Y:34.34, Z:18.71 [[ 9.91166298e-01 -1.26020482e-01 -4.13304792e-02 5.06087543e+02] [ 1.25987368e-01 9.92025967e-01 -3.41532772e-03 3.43390087e+01] [ 4.14313098e-02 -1.82196057e-03 9.99139693e-01 1.87061325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.94509989299996 meters 0.02188239060468767 Centerline is valid? [True, True] Translation: X:506.15, Y:34.35, Z:18.71 [[ 9.91458943e-01 -1.23731659e-01 -4.12266889e-02 5.06145398e+02] [ 1.23696334e-01 9.92314237e-01 -3.41649666e-03 3.43486018e+01] [ 4.13325591e-02 -1.71227409e-03 9.99143977e-01 1.87080783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.00509989299997 meters 0.01941447684453732 Centerline is valid? [True, True] Translation: X:506.20, Y:34.36, Z:18.71 [[ 9.92127287e-01 -1.18344781e-01 -4.09628872e-02 5.06204478e+02] [ 1.18305208e-01 9.92971468e-01 -3.39738108e-03 3.43635757e+01] [ 4.10770406e-02 -1.47548840e-03 9.99154893e-01 1.87111363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.06509989299997 meters 0.017794675140866162 Centerline is valid? [True, True] Translation: X:506.26, Y:34.38, Z:18.71 [[ 9.92970768e-01 -1.11150704e-01 -4.06764784e-02 5.06264162e+02] [ 1.11105620e-01 9.93802875e-01 -3.37433686e-03 3.43770635e+01] [ 4.07994611e-02 -1.16876750e-03 9.99166672e-01 1.87138141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.12509989299997 meters 0.016648054725387322 Centerline is valid? [True, True] Translation: X:506.32, Y:34.39, Z:18.72 [[ 9.93452489e-01 -1.06854811e-01 -4.04252517e-02 5.06322756e+02] [ 1.06806684e-01 9.94274147e-01 -3.35458041e-03 3.43877351e+01] [ 4.05522357e-02 -9.85070837e-04 9.99176934e-01 1.87166923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.185099893 meters 0.015491196581103463 Centerline is valid? [True, True] Translation: X:506.38, Y:34.40, Z:18.72 [[ 9.93861701e-01 -1.02979691e-01 -4.04240362e-02 5.06381346e+02] [ 1.02928005e-01 9.94683122e-01 -3.36331022e-03 3.43991688e+01] [ 4.05554592e-02 -8.18100184e-04 9.99176954e-01 1.87189461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2450998929999 meters 0.015724469023181625 Centerline is valid? [True, True] Translation: X:506.44, Y:34.40, Z:18.72 [[ 9.93945500e-01 -1.02179004e-01 -4.03954839e-02 5.06438529e+02] [ 1.02126657e-01 9.94765720e-01 -3.36272597e-03 3.44044861e+01] [ 4.05276426e-02 -7.83089399e-04 9.99178111e-01 1.87209318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3050998929999 meters 0.015452934355373999 Centerline is valid? [True, True] Translation: X:506.50, Y:34.41, Z:18.72 [[ 9.93819587e-01 -1.03443757e-01 -4.02742771e-02 5.06496954e+02] [ 1.03392528e-01 9.94634961e-01 -3.35842533e-03 3.44105673e+01] [ 4.04056121e-02 -8.26390434e-04 9.99183018e-01 1.87229668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3650998929999 meters 0.017174703192779823 Centerline is valid? [True, True] Translation: X:506.56, Y:34.41, Z:18.72 [[ 9.93389763e-01 -1.07286755e-01 -4.08207187e-02 5.06555039e+02] [ 1.07236962e-01 9.94227630e-01 -3.41384613e-03 3.44121690e+01] [ 4.09513469e-02 -9.86210052e-04 9.99160655e-01 1.87245588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4250998929999 meters 0.01672715636956253 Centerline is valid? [True, True] Translation: X:506.61, Y:34.42, Z:18.73 [[ 9.92846869e-01 -1.11993857e-01 -4.13819978e-02 5.06613848e+02] [ 1.11946644e-01 9.93708182e-01 -3.46376105e-03 3.44174853e+01] [ 4.15095498e-02 -1.19359145e-03 9.99137394e-01 1.87271753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4850998929999 meters 0.019346844954325395 Centerline is valid? [True, True] Translation: X:506.67, Y:34.42, Z:18.73 [[ 9.91951524e-01 -1.19658972e-01 -4.13993378e-02 5.06674542e+02] [ 1.19618243e-01 9.92813903e-01 -3.46846548e-03 3.44165689e+01] [ 4.15168712e-02 -1.51156643e-03 9.99136660e-01 1.87290517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54509989299993 meters 0.020812474523325138 Centerline is valid? [True, True] Translation: X:506.74, Y:34.42, Z:18.73 [[ 9.91341146e-01 -1.24678593e-01 -4.12065533e-02 5.06735135e+02] [ 1.24642547e-01 9.92195703e-01 -3.45280400e-03 3.44186325e+01] [ 4.13154559e-02 -1.71318310e-03 9.99144683e-01 1.87311550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60509989299993 meters 0.026002447853558264 Centerline is valid? [True, True] Translation: X:506.79, Y:34.42, Z:18.73 [[ 9.90541019e-01 -1.30861600e-01 -4.12762791e-02 5.06794688e+02] [ 1.30830780e-01 9.91398681e-01 -3.45873482e-03 3.44158608e+01] [ 4.13738642e-02 -1.97418909e-03 9.99141785e-01 1.87328711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66509989299993 meters 0.024646003608481598 Centerline is valid? [True, True] Translation: X:506.85, Y:34.42, Z:18.73 [[ 9.90022926e-01 -1.34687461e-01 -4.13992057e-02 5.06854715e+02] [ 1.34659754e-01 9.90885821e-01 -3.46991574e-03 3.44223233e+01] [ 4.14892401e-02 -2.13951072e-03 9.99136660e-01 1.87349140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72509989299994 meters 0.029016903179591897 Centerline is valid? [True, True] Translation: X:506.91, Y:34.42, Z:18.74 [[ 9.89229576e-01 -1.40014671e-01 -4.26701068e-02 5.06914221e+02] [ 1.39990139e-01 9.90146436e-01 -3.57724764e-03 3.44209513e+01] [ 4.27505213e-02 -2.43467500e-03 9.99082812e-01 1.87356709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78509989299994 meters 0.027985582023191135 Centerline is valid? [True, True] Translation: X:506.97, Y:34.43, Z:18.74 [[ 9.88848069e-01 -1.42378905e-01 -4.36777181e-02 5.06972708e+02] [ 1.42355452e-01 9.89808825e-01 -3.66281463e-03 3.44284842e+01] [ 4.37540984e-02 -2.59579412e-03 9.99038959e-01 1.87379179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84509989299994 meters 0.029943429398110774 Centerline is valid? [True, True] Translation: X:507.03, Y:34.43, Z:18.74 [[ 9.88652262e-01 -1.43674025e-01 -4.38688775e-02 5.07030608e+02] [ 1.43651519e-01 9.89621487e-01 -3.68149139e-03 3.44327136e+01] [ 4.39425184e-02 -2.66211610e-03 9.99030514e-01 1.87400042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90509989299994 meters 0.03070600238606061 Centerline is valid? [True, True] Translation: X:507.09, Y:34.44, Z:18.74 [[ 9.88923363e-01 -1.41985690e-01 -4.32509568e-02 5.07087753e+02] [ 1.41962038e-01 9.89865434e-01 -3.63346558e-03 3.44403305e+01] [ 4.33285273e-02 -2.54677497e-03 9.99057632e-01 1.87425718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96509989299994 meters 0.024967353540210027 Centerline is valid? [True, True] Translation: X:507.15, Y:34.46, Z:18.75 [[ 9.89388940e-01 -1.38503878e-01 -4.38885076e-02 5.07146807e+02] [ 1.38475958e-01 9.90358919e-01 -3.69047594e-03 3.44586123e+01] [ 4.39765202e-02 -2.42618707e-03 9.99029619e-01 1.87453668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02509989299995 meters 0.027935588130211738 Centerline is valid? [True, True] Translation: X:507.21, Y:34.46, Z:18.75 [[ 9.89559377e-01 -1.36927244e-01 -4.49796601e-02 5.07205187e+02] [ 1.36896246e-01 9.90578166e-01 -3.78336464e-03 3.44624663e+01] [ 4.50739149e-02 -2.41368267e-03 9.98980739e-01 1.87463318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08509989299995 meters 0.023705234222755094 Centerline is valid? [True, True] Translation: X:507.26, Y:34.48, Z:18.75 [[ 9.89697564e-01 -1.35785077e-01 -4.53998244e-02 5.07263767e+02] [ 1.35752193e-01 9.90735455e-01 -3.82106917e-03 3.44760697e+01] [ 4.54980599e-02 -2.38142287e-03 9.98961589e-01 1.87491021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14509989299995 meters 0.0255375992776702 Centerline is valid? [True, True] Translation: X:507.32, Y:34.48, Z:18.75 [[ 9.89899047e-01 -1.34636910e-01 -4.44159785e-02 5.07321713e+02] [ 1.34604203e-01 9.90892386e-01 -3.74001910e-03 3.44821461e+01] [ 4.45149995e-02 -2.27633606e-03 9.99006123e-01 1.87518752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20509989299995 meters 0.024345674186991784 Centerline is valid? [True, True] Translation: X:507.38, Y:34.49, Z:18.75 [[ 9.90062988e-01 -1.33571222e-01 -4.39773598e-02 5.07380794e+02] [ 1.33538009e-01 9.91036765e-01 -3.70535770e-03 3.44916424e+01] [ 4.40781096e-02 -2.20411155e-03 9.99025656e-01 1.87546077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26509989299996 meters 0.022460632453409013 Centerline is valid? [True, True] Translation: X:507.44, Y:34.50, Z:18.76 [[ 9.90562036e-01 -1.29715734e-01 -4.42795864e-02 5.07440963e+02] [ 1.29678166e-01 9.91549114e-01 -3.73205368e-03 3.45042793e+01] [ 4.43894908e-02 -2.04526486e-03 9.99012207e-01 1.87569886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32509989299996 meters 0.020577739610481403 Centerline is valid? [True, True] Translation: X:507.50, Y:34.52, Z:18.76 [[ 9.91071279e-01 -1.25767098e-01 -4.42759240e-02 5.07500976e+02] [ 1.25725639e-01 9.92058035e-01 -3.73093228e-03 3.45152893e+01] [ 4.43935147e-02 -1.86899901e-03 9.99012374e-01 1.87594700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38509989299996 meters 0.01834533599857739 Centerline is valid? [True, True] Translation: X:507.56, Y:34.53, Z:18.76 [[ 9.91994519e-01 -1.18407259e-01 -4.38929915e-02 5.07560464e+02] [ 1.18359348e-01 9.92963942e-01 -3.69796286e-03 3.45286366e+01] [ 4.40220236e-02 -1.52678695e-03 9.99029394e-01 1.87624036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.44509989299996 meters 0.017872267417335337 Centerline is valid? [True, True] Translation: X:507.62, Y:34.54, Z:18.76 [[ 9.92560600e-01 -1.13698806e-01 -4.35435082e-02 5.07619143e+02] [ 1.13647127e-01 9.93514405e-01 -3.66852868e-03 3.45377446e+01] [ 4.36782099e-02 -1.30735759e-03 9.99044796e-01 1.87641123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.50509989299997 meters 0.01631419701046709 Centerline is valid? [True, True] Translation: X:507.68, Y:34.55, Z:18.77 [[ 9.93141508e-01 -1.08577103e-01 -4.33699983e-02 5.07679294e+02] [ 1.08520931e-01 9.94087447e-01 -3.65447185e-03 3.45482732e+01] [ 4.35103628e-02 -1.07714490e-03 9.99052395e-01 1.87661848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.56509989299997 meters 0.01443357883533426 Centerline is valid? [True, True] Translation: X:507.74, Y:34.56, Z:18.77 [[ 9.93996299e-01 -1.00418501e-01 -4.34451749e-02 5.07738769e+02] [ 1.00354370e-01 9.94945026e-01 -3.66012995e-03 3.45614513e+01] [ 4.35931054e-02 -7.21757547e-04 9.99049108e-01 1.87679745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.62509989299997 meters 0.01396127973047346 Centerline is valid? [True, True] Translation: X:507.80, Y:34.57, Z:18.77 [[ 9.94496269e-01 -9.56420284e-02 -4.27758506e-02 5.07799020e+02] [ 9.55754463e-02 9.95415666e-01 -3.60363778e-03 3.45705685e+01] [ 4.29244111e-02 -5.04516690e-04 9.99078195e-01 1.87707073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.685099893 meters 0.01369567622669056 Centerline is valid? [True, True] Translation: X:507.86, Y:34.58, Z:18.77 [[ 9.95085338e-01 -8.98671279e-02 -4.15820762e-02 5.07858207e+02] [ 8.97991937e-02 9.95953733e-01 -3.50248087e-03 3.45787495e+01] [ 4.17285819e-02 -2.48769552e-04 9.99128952e-01 1.87732377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7450998929999 meters 0.013711823766065957 Centerline is valid? [True, True] Translation: X:507.92, Y:34.58, Z:18.78 [[ 9.95220757e-01 -8.83975261e-02 -4.14912298e-02 5.07918314e+02] [ 8.83285838e-02 9.96085259e-01 -3.49550212e-03 3.45848905e+01] [ 4.16377961e-02 -1.86065307e-04 9.99132754e-01 1.87756575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8050998929999 meters 0.013817220429111245 Centerline is valid? [True, True] Translation: X:507.98, Y:34.59, Z:18.78 [[ 9.95384921e-01 -8.60954849e-02 -4.23842791e-02 5.07978585e+02] [ 8.60214552e-02 9.96286886e-01 -3.57073863e-03 3.45910564e+01] [ 4.25343259e-02 -9.16979749e-05 9.99095002e-01 1.87772874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8650998929999 meters 0.013805631632905784 Centerline is valid? [True, True] Translation: X:508.04, Y:34.59, Z:18.78 [[ 9.95361330e-01 -8.63554519e-02 -4.24094094e-02 5.08037438e+02] [ 8.62815582e-02 9.96264385e-01 -3.57313642e-03 3.45949321e+01] [ 4.25595440e-02 -1.02588110e-04 9.99093927e-01 1.87789939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9250998929999 meters 0.013934829182823948 Centerline is valid? [True, True] Translation: X:508.10, Y:34.60, Z:18.78 [[ 9.95260197e-01 -8.76152876e-02 -4.21983563e-02 5.08096627e+02] [ 8.75431680e-02 9.96154375e-01 -3.55751561e-03 3.45976611e+01] [ 4.23477699e-02 -1.53524102e-04 9.99102919e-01 1.87811872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9850998929999 meters 0.01415088131227949 Centerline is valid? [True, True] Translation: X:508.16, Y:34.60, Z:18.78 [[ 9.94944005e-01 -9.15475932e-02 -4.12972829e-02 5.08155673e+02] [ 9.14818438e-02 9.95800653e-01 -3.48306246e-03 3.45978330e+01] [ 4.14427272e-02 -3.12499469e-04 9.99140832e-01 1.87837569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04509989299993 meters 0.015013553248480986 Centerline is valid? [True, True] Translation: X:508.22, Y:34.60, Z:18.79 [[ 9.94342284e-01 -9.83043523e-02 -4.02451936e-02 5.08216052e+02] [ 9.82473578e-02 9.95156230e-01 -3.39634112e-03 3.45954787e+01] [ 4.03841303e-02 -5.76858348e-04 9.99184062e-01 1.87861218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10509989299993 meters 0.016083307557685323 Centerline is valid? [True, True] Translation: X:508.28, Y:34.59, Z:18.79 [[ 9.93772285e-01 -1.04088572e-01 -3.97770642e-02 5.08276441e+02] [ 1.04037470e-01 9.94567709e-01 -3.35817024e-03 3.45940103e+01] [ 3.99105307e-02 -8.01048617e-04 9.99202936e-01 1.87883248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16509989299993 meters 0.018432013128845386 Centerline is valid? [True, True] Translation: X:508.34, Y:34.59, Z:18.79 [[ 9.92841386e-01 -1.13059414e-01 -3.85168902e-02 5.08336777e+02] [ 1.13018211e-01 9.93587593e-01 -3.25244602e-03 3.45886773e+01] [ 3.86376239e-02 -1.12394700e-03 9.99252656e-01 1.87910899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22509989299994 meters 0.019943745550355323 Centerline is valid? [True, True] Translation: X:508.40, Y:34.59, Z:18.79 [[ 9.92145878e-01 -1.19107256e-01 -3.82101801e-02 5.08398363e+02] [ 1.19071158e-01 9.92880479e-01 -3.22716918e-03 3.45877803e+01] [ 3.83225211e-02 -1.34790777e-03 9.99264513e-01 1.87932191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28509989299994 meters 0.02155277119028904 Centerline is valid? [True, True] Translation: X:508.46, Y:34.58, Z:18.80 [[ 9.91002346e-01 -1.28160526e-01 -3.85905417e-02 5.08459979e+02] [ 1.28130603e-01 9.91751952e-01 -3.25789586e-03 3.45846212e+01] [ 3.86897787e-02 -1.71604693e-03 9.99249797e-01 1.87951947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34509989299994 meters 0.02424830884929815 Centerline is valid? [True, True] Translation: X:508.52, Y:34.58, Z:18.80 [[ 9.90306549e-01 -1.33422630e-01 -3.86178798e-02 5.08521361e+02] [ 1.33396691e-01 9.91057365e-01 -3.25919714e-03 3.45819279e+01] [ 3.87073849e-02 -1.92389311e-03 9.99248736e-01 1.87971960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40509989299994 meters 0.025399778801159616 Centerline is valid? [True, True] Translation: X:508.58, Y:34.58, Z:18.80 [[ 9.89597180e-01 -1.38632693e-01 -3.84499282e-02 5.08581629e+02] [ 1.38610903e-01 9.90341602e-01 -3.24485156e-03 3.45833428e+01] [ 3.85284060e-02 -2.11848332e-03 9.99255260e-01 1.88001475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46509989299994 meters 0.027997804632943428 Centerline is valid? [True, True] Translation: X:508.64, Y:34.58, Z:18.80 [[ 9.88841268e-01 -1.43623211e-01 -3.95641264e-02 5.08642651e+02] [ 1.43604129e-01 9.89629581e-01 -3.33860707e-03 3.45825181e+01] [ 3.96333313e-02 -2.38021945e-03 9.99211456e-01 1.88017927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52509989299995 meters 0.03236856005817691 Centerline is valid? [True, True] Translation: X:508.70, Y:34.58, Z:18.80 [[ 9.88601197e-01 -1.45092190e-01 -4.01986206e-02 5.08702183e+02] [ 1.45073709e-01 9.89415036e-01 -3.39196270e-03 3.45799934e+01] [ 4.02652669e-02 -2.47846460e-03 9.99185951e-01 1.88035489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58509989299995 meters 0.0285545747184915 Centerline is valid? [True, True] Translation: X:508.76, Y:34.59, Z:18.81 [[ 9.88601750e-01 -1.45092785e-01 -4.01828902e-02 5.08761867e+02] [ 1.45074344e-01 9.89414950e-01 -3.38999290e-03 3.45894774e+01] [ 4.02494158e-02 -2.47815352e-03 9.99186591e-01 1.88057982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64509989299995 meters 0.027040074696883725 Centerline is valid? [True, True] Translation: X:508.82, Y:34.60, Z:18.81 [[ 9.89060223e-01 -1.41869770e-01 -4.04084482e-02 5.08822439e+02] [ 1.41848444e-01 9.89882517e-01 -3.40896207e-03 3.45978030e+01] [ 4.04832451e-02 -2.36020673e-03 9.99177430e-01 1.88085668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70509989299995 meters 0.025488802326125177 Centerline is valid? [True, True] Translation: X:508.88, Y:34.61, Z:18.81 [[ 9.89552897e-01 -1.38517562e-01 -3.99743528e-02 5.08882603e+02] [ 1.38493994e-01 9.90357534e-01 -3.37160873e-03 3.46059260e+01] [ 4.00559285e-02 -2.19982260e-03 9.99195018e-01 1.88111950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76509989299996 meters 0.024708203400704676 Centerline is valid? [True, True] Translation: X:508.94, Y:34.61, Z:18.81 [[ 9.90108686e-01 -1.34639516e-01 -3.94587143e-02 5.08942776e+02] [ 1.34613509e-01 9.90892593e-01 -3.32739489e-03 3.46133024e+01] [ 3.95473466e-02 -2.01719339e-03 9.99215662e-01 1.88136079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82509989299996 meters 0.02228118980322471 Centerline is valid? [True, True] Translation: X:509.00, Y:34.63, Z:18.82 [[ 9.90846675e-01 -1.29130048e-01 -3.93484011e-02 5.09002318e+02] [ 1.29099878e-01 9.91626047e-01 -3.31739170e-03 3.46255985e+01] [ 3.94472743e-02 -1.79284724e-03 9.99220045e-01 1.88161427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88509989299996 meters 0.020462012815188096 Centerline is valid? [True, True] Translation: X:509.06, Y:34.64, Z:18.82 [[ 9.91282423e-01 -1.25792042e-01 -3.91857103e-02 5.09063328e+02] [ 1.25759535e-01 9.92055254e-01 -3.30322779e-03 3.46357527e+01] [ 3.92899095e-02 -1.65354507e-03 9.99226485e-01 1.88184504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.94509989299996 meters 0.01958514499855061 Centerline is valid? [True, True] Translation: X:509.12, Y:34.65, Z:18.82 [[ 9.91904560e-01 -1.20490467e-01 -4.00922836e-02 5.09123362e+02] [ 1.20452199e-01 9.92713383e-01 -3.37755796e-03 3.46456298e+01] [ 4.02071100e-02 -1.47898858e-03 9.99190273e-01 1.88200564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.00509989299997 meters 0.019080506233906232 Centerline is valid? [True, True] Translation: X:509.18, Y:34.65, Z:18.82 [[ 9.92405181e-01 -1.16166851e-01 -4.04625726e-02 5.09182744e+02] [ 1.16124311e-01 9.93228841e-01 -3.40805941e-03 3.46544264e+01] [ 4.05844976e-02 -1.31651253e-03 9.99175243e-01 1.88219696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.06509989299997 meters 0.016688206569308424 Centerline is valid? [True, True] Translation: X:509.24, Y:34.67, Z:18.82 [[ 9.93309075e-01 -1.07998330e-01 -4.09077377e-02 5.09242217e+02] [ 1.07947924e-01 9.94150579e-01 -3.44555453e-03 3.46679840e+01] [ 4.10405652e-02 -9.93404773e-04 9.99156987e-01 1.88249228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.12509989299997 meters 0.015470451246056418 Centerline is valid? [True, True] Translation: X:509.30, Y:34.68, Z:18.83 [[ 9.93983307e-01 -1.01647539e-01 -4.08039707e-02 5.09302466e+02] [ 1.01592039e-01 9.94820208e-01 -3.43678915e-03 3.46779322e+01] [ 4.09419558e-02 -7.29247545e-04 9.99161260e-01 1.88269823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.185099893 meters 0.013837116927148714 Centerline is valid? [True, True] Translation: X:509.36, Y:34.69, Z:18.83 [[ 9.94925681e-01 -9.19924927e-02 -4.07464299e-02 5.09362588e+02] [ 9.19290631e-02 9.95759645e-01 -3.43161930e-03 3.46906220e+01] [ 4.08893338e-02 -3.31574960e-04 9.99163626e-01 1.88296831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2450998929999 meters 0.013590564144495821 Centerline is valid? [True, True] Translation: X:509.42, Y:34.70, Z:18.83 [[ 9.95382444e-01 -8.70303242e-02 -4.04908889e-02 5.09422168e+02] [ 8.69636093e-02 9.96205655e-01 -3.40943560e-03 3.46993253e+01] [ 4.06339767e-02 -1.27541500e-04 9.99174091e-01 1.88327295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3050998929999 meters 0.0135068844040076 Centerline is valid? [True, True] Translation: X:509.48, Y:34.71, Z:18.83 [[ 9.95591631e-01 -8.46309273e-02 -4.04340363e-02 5.09481991e+02] [ 8.45624166e-02 9.96412367e-01 -3.40476660e-03 3.47051694e+01] [ 4.05771224e-02 -2.94426843e-05 9.99176409e-01 1.88348240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3650998929999 meters 0.013589097417301653 Centerline is valid? [True, True] Translation: X:509.54, Y:34.71, Z:18.84 [[ 9.95420907e-01 -8.62303837e-02 -4.12497042e-02 5.09541902e+02] [ 8.61603892e-02 9.96275219e-01 -3.47497249e-03 3.47071847e+01] [ 4.13957063e-02 -9.50303042e-05 9.99142826e-01 1.88363265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4250998929999 meters 0.013925822051793576 Centerline is valid? [True, True] Translation: X:509.60, Y:34.71, Z:18.84 [[ 9.94715576e-01 -9.37423884e-02 -4.18722701e-02 5.09601073e+02] [ 9.36768033e-02 9.95596402e-01 -3.53000091e-03 3.47053974e+01] [ 4.20187922e-02 -4.11113518e-04 9.99116736e-01 1.88382013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4850998929999 meters 0.014721007831290529 Centerline is valid? [True, True] Translation: X:509.66, Y:34.70, Z:18.84 [[ 9.94189003e-01 -9.95393044e-02 -4.09896733e-02 5.09661360e+02] [ 9.94809856e-02 9.95033430e-01 -3.46510618e-03 3.47045003e+01] [ 4.11310094e-02 -6.32722635e-04 9.99153562e-01 1.88406255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54509989299993 meters 0.016036203585259215 Centerline is valid? [True, True] Translation: X:509.72, Y:34.70, Z:18.84 [[ 9.93355759e-01 -1.07855881e-01 -4.01428162e-02 5.09721608e+02] [ 1.07806671e-01 9.94166081e-01 -3.39489897e-03 3.47022332e+01] [ 4.02747861e-02 -9.55320929e-04 9.99188185e-01 1.88430606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60509989299993 meters 0.01725510320898446 Centerline is valid? [True, True] Translation: X:509.78, Y:34.70, Z:18.85 [[ 9.92919494e-01 -1.11785546e-01 -4.01854448e-02 5.09781637e+02] [ 1.11739415e-01 9.93731728e-01 -3.39924858e-03 3.47028482e+01] [ 4.03135384e-02 -1.11511792e-03 9.99186457e-01 1.88452947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66509989299993 meters 0.01875083854507912 Centerline is valid? [True, True] Translation: X:509.84, Y:34.70, Z:18.85 [[ 9.92456909e-01 -1.15699906e-01 -4.05316577e-02 5.09842042e+02] [ 1.15656208e-01 9.93283385e-01 -3.42922030e-03 3.47034537e+01] [ 4.06561826e-02 -1.28438444e-03 9.99172370e-01 1.88474313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72509989299994 meters 0.02086301167806805 Centerline is valid? [True, True] Translation: X:509.90, Y:34.70, Z:18.85 [[ 9.91932428e-01 -1.20196018e-01 -4.02861662e-02 5.09901897e+02] [ 1.20156545e-01 9.92749106e-01 -3.40850551e-03 3.47023113e+01] [ 4.04037442e-02 -1.45963940e-03 9.99182369e-01 1.88490986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78509989299994 meters 0.021977775552123734 Centerline is valid? [True, True] Translation: X:509.96, Y:34.70, Z:18.85 [[ 9.90736622e-01 -1.29527522e-01 -4.07868401e-02 5.09962129e+02] [ 1.29494914e-01 9.91574079e-01 -3.45159620e-03 3.47017553e+01] [ 4.08902501e-02 -1.86206558e-03 9.99161909e-01 1.88508881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84509989299994 meters 0.025569634398166285 Centerline is valid? [True, True] Translation: X:510.02, Y:34.70, Z:18.85 [[ 9.89728264e-01 -1.36602528e-01 -4.21629396e-02 5.10021560e+02] [ 1.36574055e-01 9.90623436e-01 -3.56860940e-03 3.46998868e+01] [ 4.22550772e-02 -2.22641006e-03 9.99104375e-01 1.88518766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90509989299994 meters 0.029652081507621744 Centerline is valid? [True, True] Translation: X:510.08, Y:34.70, Z:18.85 [[ 9.88429711e-01 -1.45008424e-01 -4.44889184e-02 5.10082171e+02] [ 1.44985229e-01 9.89426657e-01 -3.76479410e-03 3.46983318e+01] [ 4.45644486e-02 -2.72900170e-03 9.99002784e-01 1.88517210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96509989299994 meters 0.030119576336774485 Centerline is valid? [True, True] Translation: X:510.14, Y:34.70, Z:18.85 [[ 9.87987739e-01 -1.47613691e-01 -4.57211805e-02 5.10142386e+02] [ 1.47591947e-01 9.89040769e-01 -3.86962664e-03 3.47033927e+01] [ 4.57913214e-02 -2.92493438e-03 9.98946745e-01 1.88533525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02509989299995 meters 0.02752571211148161 Centerline is valid? [True, True] Translation: X:510.20, Y:34.72, Z:18.86 [[ 9.87866262e-01 -1.48327724e-01 -4.60340577e-02 5.10201474e+02] [ 1.48306447e-01 9.88933778e-01 -3.89627437e-03 3.47158058e+01] [ 4.61025601e-02 -2.97814952e-03 9.98932272e-01 1.88566090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08509989299995 meters 0.03043546033193825 Centerline is valid? [True, True] Translation: X:510.26, Y:34.72, Z:18.86 [[ 9.88087557e-01 -1.46953332e-01 -4.56913243e-02 5.10259832e+02] [ 1.46930852e-01 9.89139201e-01 -3.86843625e-03 3.47203281e+01] [ 4.57635596e-02 -2.89111149e-03 9.98948116e-01 1.88589939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14509989299995 meters 0.027479269443571576 Centerline is valid? [True, True] Translation: X:510.32, Y:34.73, Z:18.86 [[ 9.88549628e-01 -1.44006331e-01 -4.50756061e-02 5.10319036e+02] [ 1.43981291e-01 9.89573042e-01 -3.81874064e-03 3.47331728e+01] [ 4.51555275e-02 -2.71502931e-03 9.98976279e-01 1.88623523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20509989299995 meters 0.025297765930019856 Centerline is valid? [True, True] Translation: X:510.38, Y:34.75, Z:18.87 [[ 9.89523302e-01 -1.37561608e-01 -4.38228141e-02 5.10378433e+02] [ 1.37531555e-01 9.90490421e-01 -3.71441659e-03 3.47475514e+01] [ 4.39170387e-02 -2.35151800e-03 9.99032414e-01 1.88661199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26509989299996 meters 0.024322492181362548 Centerline is valid? [True, True] Translation: X:510.44, Y:34.76, Z:18.87 [[ 9.90223223e-01 -1.32576446e-01 -4.33757474e-02 5.10438266e+02] [ 1.32542230e-01 9.91170540e-01 -3.67655737e-03 3.47580976e+01] [ 4.34801879e-02 -2.10850580e-03 9.99052064e-01 1.88687036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32509989299996 meters 0.02190081021385635 Centerline is valid? [True, True] Translation: X:510.50, Y:34.77, Z:18.87 [[ 9.91083796e-01 -1.25823751e-01 -4.38325576e-02 5.10497631e+02] [ 1.25782230e-01 9.92050921e-01 -3.71501114e-03 3.47712575e+01] [ 4.39515658e-02 -1.83146951e-03 9.99031984e-01 1.88699304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38509989299996 meters 0.020227976300268537 Centerline is valid? [True, True] Translation: X:510.56, Y:34.78, Z:18.87 [[ 9.91820449e-01 -1.19150512e-01 -4.57750113e-02 5.10556227e+02] [ 1.19098132e-01 9.92874908e-01 -3.87965719e-03 3.47840010e+01] [ 4.59111233e-02 -1.60379498e-03 9.98944241e-01 1.88704193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.44509989299996 meters 0.019091739590483707 Centerline is valid? [True, True] Translation: X:510.62, Y:34.79, Z:18.87 [[ 9.92374460e-01 -1.14159789e-01 -4.64809008e-02 5.10615069e+02] [ 1.14100288e-01 9.93461424e-01 -3.94000305e-03 3.47947801e+01] [ 4.66267718e-02 -1.39352579e-03 9.98911409e-01 1.88718156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.50509989299997 meters 0.014858207814985399 Centerline is valid? [True, True] Translation: X:510.67, Y:34.81, Z:18.87 [[ 9.93422485e-01 -1.04424034e-01 -4.69828375e-02 5.10674791e+02] [ 1.04352301e-01 9.94532417e-01 -3.98368255e-03 3.48142565e+01] [ 4.71419471e-02 -9.45287399e-04 9.98887753e-01 1.88749868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.56509989299997 meters 0.013848411936461085 Centerline is valid? [True, True] Translation: X:510.74, Y:34.83, Z:18.88 [[ 9.94277664e-01 -9.62370143e-02 -4.63720074e-02 5.10735077e+02] [ 9.61582683e-02 9.95358294e-01 -3.93107787e-03 3.48269851e+01] [ 4.65350774e-02 -5.50469003e-04 9.98916505e-01 1.88774767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.62509989299997 meters 0.013160065927500157 Centerline is valid? [True, True] Translation: X:510.79, Y:34.84, Z:18.88 [[ 9.95095652e-01 -8.78892728e-02 -4.53885321e-02 5.10794663e+02] [ 8.78051781e-02 9.96130238e-01 -3.84703554e-03 3.48404831e+01] [ 4.55510024e-02 -1.57179806e-04 9.98962002e-01 1.88805604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.685099893 meters 0.013279078076988042 Centerline is valid? [True, True] Translation: X:510.85, Y:34.86, Z:18.88 [[ 9.95927480e-01 -7.85043917e-02 -4.43341325e-02 5.10853936e+02] [ 7.84148593e-02 9.96913732e-01 -3.75766687e-03 3.48550595e+01] [ 4.44922988e-02 2.65908932e-04 9.99009692e-01 1.88841023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7450998929999 meters 0.013500374503524181 Centerline is valid? [True, True] Translation: X:510.91, Y:34.86, Z:18.89 [[ 9.96186082e-01 -7.55951624e-02 -4.35736216e-02 5.10912335e+02] [ 7.55058223e-02 9.97138515e-01 -3.69486406e-03 3.48626237e+01] [ 4.37282502e-02 3.90710023e-04 9.99043386e-01 1.88862419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8050998929999 meters 0.013330442399295407 Centerline is valid? [True, True] Translation: X:510.97, Y:34.87, Z:18.89 [[ 9.96043372e-01 -7.77576933e-02 -4.30272266e-02 5.10970988e+02] [ 7.76721731e-02 9.96972241e-01 -3.65834733e-03 3.48672212e+01] [ 4.31814152e-02 3.01854420e-04 9.99067202e-01 1.88882968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8650998929999 meters 0.012996934994233926 Centerline is valid? [True, True] Translation: X:511.03, Y:34.87, Z:18.89 [[ 9.95573936e-01 -8.32042098e-02 -4.36989405e-02 5.11030866e+02] [ 8.31211381e-02 9.96532516e-01 -3.71775417e-03 3.48676882e+01] [ 4.38567479e-02 6.89934810e-05 9.99037828e-01 1.88898687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9250998929999 meters 0.013000524851005514 Centerline is valid? [True, True] Translation: X:511.09, Y:34.87, Z:18.89 [[ 9.95226039e-01 -8.70665366e-02 -4.40970539e-02 5.11091803e+02] [ 8.69856708e-02 9.96202494e-01 -3.75300252e-03 3.48687307e+01] [ 4.42563559e-02 -1.00725974e-04 9.99020202e-01 1.88919987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9850998929999 meters 0.013091706619550473 Centerline is valid? [True, True] Translation: X:511.15, Y:34.87, Z:18.89 [[ 9.94903116e-01 -9.08182339e-02 -4.38159587e-02 5.11151584e+02] [ 9.07420207e-02 9.95867450e-01 -3.72932290e-03 3.48681561e+01] [ 4.39735776e-02 -2.65633655e-04 9.99032659e-01 1.88940875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04509989299993 meters 0.013092945482208402 Centerline is valid? [True, True] Translation: X:511.21, Y:34.87, Z:18.90 [[ 9.94810307e-01 -9.21127470e-02 -4.32168292e-02 5.11211741e+02] [ 9.20397670e-02 9.95748533e-01 -3.67967367e-03 3.48699864e+01] [ 4.33720391e-02 -3.17089592e-04 9.99058940e-01 1.88965196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10509989299993 meters 0.013243907357671737 Centerline is valid? [True, True] Translation: X:511.27, Y:34.87, Z:18.90 [[ 9.94741968e-01 -9.26517149e-02 -4.36357185e-02 5.11272060e+02] [ 9.25778309e-02 9.95698519e-01 -3.71533977e-03 3.48703897e+01] [ 4.37922529e-02 -3.43895768e-04 9.99040600e-01 1.88978812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16509989299993 meters 0.013391866383605655 Centerline is valid? [True, True] Translation: X:511.33, Y:34.87, Z:18.90 [[ 9.94645637e-01 -9.34606369e-02 -4.41040355e-02 5.11332083e+02] [ 9.33859471e-02 9.95622902e-01 -3.75534091e-03 3.48724763e+01] [ 4.42619644e-02 -3.83463677e-04 9.99019885e-01 1.88997221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22509989299994 meters 0.013439651646514296 Centerline is valid? [True, True] Translation: X:511.39, Y:34.87, Z:18.90 [[ 9.94383280e-01 -9.57850856e-02 -4.50234325e-02 5.11391713e+02] [ 9.57095842e-02 9.95401914e-01 -3.83461017e-03 3.48746566e+01] [ 4.51837094e-02 -4.96101771e-04 9.98978571e-01 1.89021838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28509989299994 meters 0.014720564616693087 Centerline is valid? [True, True] Translation: X:511.45, Y:34.87, Z:18.90 [[ 9.93752924e-01 -1.01973697e-01 -4.53485420e-02 5.11450740e+02] [ 1.01903452e-01 9.94786789e-01 -3.86414377e-03 3.48707806e+01] [ 4.55061715e-02 -7.81168810e-04 9.98963752e-01 1.89031566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34509989299994 meters 0.0156953022279678 Centerline is valid? [True, True] Translation: X:511.51, Y:34.87, Z:18.91 [[ 9.93197026e-01 -1.07617684e-01 -4.44758540e-02 5.11510788e+02] [ 1.07555667e-01 9.94191832e-01 -3.79204915e-03 3.48703286e+01] [ 4.46256223e-02 -1.01737819e-03 9.99003263e-01 1.89058313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40509989299994 meters 0.01756099362860497 Centerline is valid? [True, True] Translation: X:511.57, Y:34.87, Z:18.91 [[ 9.92125236e-01 -1.17265051e-01 -4.40048266e-02 5.11571329e+02] [ 1.17213746e-01 9.93099618e-01 -3.75327252e-03 3.48685655e+01] [ 4.41413041e-02 -1.43425420e-03 9.99024268e-01 1.89076729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46509989299994 meters 0.020664740109528804 Centerline is valid? [True, True] Translation: X:511.63, Y:34.87, Z:18.91 [[ 9.90716979e-01 -1.28413555e-01 -4.46074668e-02 5.11631870e+02] [ 1.28372080e-01 9.91718776e-01 -3.80506550e-03 3.48650646e+01] [ 4.47266844e-02 -1.95661031e-03 9.98997345e-01 1.89086313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52509989299995 meters 0.025150148973337186 Centerline is valid? [True, True] Translation: X:511.69, Y:34.86, Z:18.91 [[ 9.89667851e-01 -1.36344812e-01 -4.43580561e-02 5.11691622e+02] [ 1.36311704e-01 9.90658769e-01 -3.78449427e-03 3.48619312e+01] [ 4.44596934e-02 -2.30112988e-03 9.99008529e-01 1.89100498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58509989299995 meters 0.02672880003890075 Centerline is valid? [True, True] Translation: X:511.75, Y:34.86, Z:18.91 [[ 9.89183999e-01 -1.39874189e-01 -4.41613709e-02 5.11751571e+02] [ 1.39844846e-01 9.90166258e-01 -3.76840556e-03 3.48646321e+01] [ 4.42542020e-02 -2.44809365e-03 9.99017303e-01 1.89126519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64509989299995 meters 0.030504355688565223 Centerline is valid? [True, True] Translation: X:511.81, Y:34.87, Z:18.92 [[ 9.88353538e-01 -1.45970167e-01 -4.30115490e-02 5.11812512e+02] [ 1.45948048e-01 9.89285445e-01 -3.67093862e-03 3.48656289e+01] [ 4.30865469e-02 -2.64926643e-03 9.99067831e-01 1.89157283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70509989299995 meters 0.027136922798892554 Centerline is valid? [True, True] Translation: X:511.87, Y:34.88, Z:18.92 [[ 9.88312055e-01 -1.46464137e-01 -4.22792959e-02 5.11873367e+02] [ 1.46443223e-01 9.89212497e-01 -3.60821229e-03 3.48770037e+01] [ 4.23516816e-02 -2.62547664e-03 9.99099315e-01 1.89190140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76509989299996 meters 0.029224198779795776 Centerline is valid? [True, True] Translation: X:511.93, Y:34.88, Z:18.92 [[ 9.88397600e-01 -1.46269325e-01 -4.09324867e-02 5.11933561e+02] [ 1.46249610e-01 9.89241557e-01 -3.49185720e-03 3.48811226e+01] [ 4.10028685e-02 -2.53501697e-03 9.99155813e-01 1.89222993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82509989299996 meters 0.031184097732468653 Centerline is valid? [True, True] Translation: X:511.99, Y:34.89, Z:18.92 [[ 9.88195787e-01 -1.46598086e-01 -4.44756951e-02 5.11993970e+02] [ 1.46575190e-01 9.89192259e-01 -3.79324628e-03 3.48853402e+01] [ 4.45510960e-02 -2.77056346e-03 9.99003265e-01 1.89209217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88509989299996 meters 0.026874215696327718 Centerline is valid? [True, True] Translation: X:512.05, Y:34.90, Z:18.92 [[ 9.88456637e-01 -1.44292713e-01 -4.61853933e-02 5.12054949e+02] [ 1.44265575e-01 9.89531170e-01 -3.93786694e-03 3.48979198e+01] [ 4.62700917e-02 -2.77055162e-03 9.98925124e-01 1.89218021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.94509989299996 meters 0.02527063655409065 Centerline is valid? [True, True] Translation: X:512.11, Y:34.91, Z:18.93 [[ 9.89544456e-01 -1.37137498e-01 -4.46662709e-02 5.12114776e+02] [ 1.37104934e-01 9.90549216e-01 -3.80630405e-03 3.49093383e+01] [ 4.47661266e-02 -2.35745906e-03 9.98994713e-01 1.89253916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.00509989299997 meters 0.021885403199937464 Centerline is valid? [True, True] Translation: X:512.17, Y:34.92, Z:18.93 [[ 9.90470863e-01 -1.30425590e-01 -4.42338653e-02 5.12174188e+02] [ 1.30386982e-01 9.91456014e-01 -3.76927770e-03 3.49224352e+01] [ 4.43475420e-02 -2.03416044e-03 9.99014093e-01 1.89289001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.06509989299997 meters 0.01879154446257862 Centerline is valid? [True, True] Translation: X:512.23, Y:34.94, Z:18.93 [[ 9.91733378e-01 -1.20545899e-01 -4.39726505e-02 5.12233693e+02] [ 1.20498051e-01 9.92706493e-01 -3.74682143e-03 3.49363849e+01] [ 4.41035996e-02 -1.58277080e-03 9.99025709e-01 1.89316161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.12509989299997 meters 0.016835679470978568 Centerline is valid? [True, True] Translation: X:512.29, Y:34.95, Z:18.93 [[ 9.92527549e-01 -1.14313113e-01 -4.26799252e-02 5.12293524e+02] [ 1.14262276e-01 9.93443962e-01 -3.63672623e-03 3.49462603e+01] [ 4.28158395e-02 -1.26715442e-03 9.99082178e-01 1.89346045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.185099893 meters 0.014637369509046434 Centerline is valid? [True, True] Translation: X:512.35, Y:34.96, Z:18.94 [[ 9.93772047e-01 -1.03363010e-01 -4.16318116e-02 5.12353044e+02] [ 1.03305029e-01 9.94643397e-01 -3.54739361e-03 3.49572058e+01] [ 4.17754758e-02 -7.75474920e-04 9.99126723e-01 1.89377807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2450998929999 meters 0.013322230884840861 Centerline is valid? [True, True] Translation: X:512.41, Y:34.97, Z:18.94 [[ 9.94710024e-01 -9.44424604e-02 -4.04053159e-02 5.12413649e+02] [ 9.43804981e-02 9.95530246e-01 -3.44257308e-03 3.49678813e+01] [ 4.05498392e-02 -3.89111890e-04 9.99177441e-01 1.89410714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3050998929999 meters 0.013099769315671493 Centerline is valid? [True, True] Translation: X:512.47, Y:34.98, Z:18.95 [[ 9.95907099e-01 -8.21996677e-02 -3.75801139e-02 5.12474336e+02] [ 8.21373971e-02 9.96615876e-01 -3.20054945e-03 3.49786882e+01] [ 3.77160222e-02 1.00717179e-04 9.99288493e-01 1.89456701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3650998929999 meters 0.013479816390875622 Centerline is valid? [True, True] Translation: X:512.54, Y:34.98, Z:18.95 [[ 9.96348400e-01 -7.65597423e-02 -3.77951179e-02 5.12535307e+02] [ 7.64927519e-02 9.97064946e-01 -3.21746152e-03 3.49846440e+01] [ 3.79305152e-02 3.14660059e-04 9.99280330e-01 1.89476792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4250998929999 meters 0.013662700050039306 Centerline is valid? [True, True] Translation: X:512.60, Y:34.99, Z:18.95 [[ 9.96428840e-01 -7.54480194e-02 -3.79099455e-02 5.12596329e+02] [ 7.53798685e-02 9.97149672e-01 -3.22588041e-03 3.49851512e+01] [ 3.80452761e-02 3.56713564e-04 9.99275953e-01 1.89495626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4850998929999 meters 0.013528887040414649 Centerline is valid? [True, True] Translation: X:512.66, Y:34.98, Z:18.95 [[ 9.96125329e-01 -7.96305317e-02 -3.73270357e-02 5.12655948e+02] [ 7.95673957e-02 9.96824428e-01 -3.17627724e-03 3.49844308e+01] [ 3.74614297e-02 1.93955189e-04 9.99298055e-01 1.89525079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54509989299993 meters 0.013986566021728973 Centerline is valid? [True, True] Translation: X:512.72, Y:34.97, Z:18.95 [[ 9.94997936e-01 -9.19773330e-02 -3.89779007e-02 5.12716252e+02] [ 9.19179577e-02 9.95761061e-01 -3.31645354e-03 3.49743489e+01] [ 3.91177143e-02 -2.82904597e-04 9.99234569e-01 1.89541629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60509989299993 meters 0.016381480193856792 Centerline is valid? [True, True] Translation: X:512.78, Y:34.96, Z:18.96 [[ 9.93431986e-01 -1.07426783e-01 -3.94002063e-02 5.12777683e+02] [ 1.07378181e-01 9.94212592e-01 -3.35380417e-03 3.49619110e+01] [ 3.95324697e-02 -8.98946153e-04 9.99217882e-01 1.89560082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66509989299993 meters 0.02002249599241341 Centerline is valid? [True, True] Translation: X:512.84, Y:34.95, Z:18.96 [[ 9.92217447e-01 -1.18360474e-01 -3.86695688e-02 5.12837843e+02] [ 1.18321918e-01 9.92969831e-01 -3.29221108e-03 3.49498963e+01] [ 3.87873829e-02 -1.30886828e-03 9.99246629e-01 1.89583932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72509989299994 meters 0.02110036981795382 Centerline is valid? [True, True] Translation: X:512.90, Y:34.94, Z:18.96 [[ 9.91881673e-01 -1.21386228e-01 -3.78963229e-02 5.12898097e+02] [ 1.21351461e-01 9.92604364e-01 -3.22485187e-03 3.49429365e+01] [ 3.80075080e-02 -1.40010266e-03 9.99276473e-01 1.89611278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78509989299994 meters 0.017629913464652737 Centerline is valid? [True, True] Translation: X:512.96, Y:34.95, Z:18.96 [[ 9.92724728e-01 -1.14137307e-01 -3.83443550e-02 5.12957903e+02] [ 1.14096256e-01 9.93464337e-01 -3.26435292e-03 3.49460231e+01] [ 3.84663336e-02 -1.13434346e-03 9.99259253e-01 1.89636589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84509989299994 meters 0.017629913464652737 Centerline is valid? [True, True] Translation: X:513.02, Y:34.95, Z:18.97 [[ 9.92720526e-01 -1.14173872e-01 -3.83442761e-02 5.13016829e+02] [ 1.14132812e-01 9.93460135e-01 -3.26527856e-03 3.49510701e+01] [ 3.84663192e-02 -1.13483102e-03 9.99259253e-01 1.89658669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90509989299994 meters 0.01865831203805753 Centerline is valid? [True, True] Translation: X:513.08, Y:34.95, Z:18.97 [[ 9.92980330e-01 -1.11785476e-01 -3.86532313e-02 5.13075657e+02] [ 1.11741887e-01 9.93731808e-01 -3.29305919e-03 3.49526153e+01] [ 3.87790616e-02 -1.04924201e-03 9.99247258e-01 1.89675992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96509989299994 meters 0.017235771074177657 Centerline is valid? [True, True] Translation: X:513.14, Y:34.96, Z:18.97 [[ 9.93564892e-01 -1.06108727e-01 -3.96199822e-02 5.13135027e+02] [ 1.06058333e-01 9.94354173e-01 -3.37759138e-03 3.49573302e+01] [ 3.97546865e-02 -8.46173036e-04 9.99209112e-01 1.89691700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02509989299995 meters 0.014441095510945794 Centerline is valid? [True, True] Translation: X:513.19, Y:34.97, Z:18.97 [[ 9.94436529e-01 -9.68494005e-02 -4.14268377e-02 5.13194637e+02] [ 9.67862031e-02 9.95298924e-01 -3.53317274e-03 3.49655583e+01] [ 4.15742726e-02 -4.96030292e-04 9.99135293e-01 1.89712558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08509989299995 meters 0.013714306065225296 Centerline is valid? [True, True] Translation: X:513.25, Y:34.97, Z:18.97 [[ 9.95021538e-01 -8.93017613e-02 -4.42417699e-02 5.13253462e+02] [ 8.92220515e-02 9.96004598e-01 -3.77701826e-03 3.49705254e+01] [ 4.44023006e-02 -1.89126956e-04 9.99013714e-01 1.89724734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14509989299995 meters 0.013569404276411458 Centerline is valid? [True, True] Translation: X:513.31, Y:34.97, Z:18.98 [[ 9.95265526e-01 -8.61228022e-02 -4.50488182e-02 5.13311260e+02] [ 8.60363583e-02 9.96284528e-01 -3.85790219e-03 3.49749938e+01] [ 4.52136939e-02 -3.61992173e-05 9.98977337e-01 1.89751245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20509989299995 meters 0.013451767180659277 Centerline is valid? [True, True] Translation: X:513.37, Y:34.98, Z:18.98 [[ 9.95264840e-01 -8.57816578e-02 -4.57100077e-02 5.13369477e+02] [ 8.56917438e-02 9.96313960e-01 -3.92656924e-03 3.49756218e+01] [ 4.58783464e-02 -8.99396271e-06 9.98947034e-01 1.89773683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26509989299996 meters 0.013402257617331057 Centerline is valid? [True, True] Translation: X:513.43, Y:34.98, Z:18.98 [[ 9.95007524e-01 -8.85846416e-02 -4.59650846e-02 5.13427118e+02] [ 8.84964326e-02 9.96068644e-01 -3.95447048e-03 3.49761870e+01] [ 4.61346848e-02 -1.33018135e-04 9.98935220e-01 1.89804573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32509989299996 meters 0.013706182913731099 Centerline is valid? [True, True] Translation: X:513.49, Y:34.97, Z:18.98 [[ 9.94453423e-01 -9.46806247e-02 -4.58035824e-02 5.13485313e+02] [ 9.45989600e-02 9.95507618e-01 -3.95216907e-03 3.49723206e+01] [ 4.59720091e-02 -4.02723200e-04 9.98942647e-01 1.89838903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38509989299996 meters 0.014325071909639537 Centerline is valid? [True, True] Translation: X:513.54, Y:34.97, Z:18.99 [[ 9.93893045e-01 -1.00254302e-01 -4.61051997e-02 5.13543979e+02] [ 1.00177355e-01 9.94961627e-01 -3.98235730e-03 3.49709072e+01] [ 4.62721530e-02 -6.60659740e-04 9.98928652e-01 1.89872802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.44509989299996 meters 0.015989199043777262 Centerline is valid? [True, True] Translation: X:513.60, Y:34.97, Z:18.99 [[ 9.93165657e-01 -1.07054134e-01 -4.64907629e-02 5.13603175e+02] [ 1.06983140e-01 9.94252709e-01 -4.01977118e-03 3.49677029e+01] [ 4.66539001e-02 -9.81429130e-04 9.98910632e-01 1.89894482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.50509989299997 meters 0.01731088442473045 Centerline is valid? [True, True] Translation: X:513.66, Y:34.97, Z:18.99 [[ 9.92267534e-01 -1.14702998e-01 -4.74169162e-02 5.13663981e+02] [ 1.14637723e-01 9.93398893e-01 -4.10276583e-03 3.49666231e+01] [ 4.75745116e-02 -1.36472599e-03 9.98866760e-01 1.89918129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.56509989299997 meters 0.02033229846180704 Centerline is valid? [True, True] Translation: X:513.72, Y:34.96, Z:18.99 [[ 9.90866408e-01 -1.25966338e-01 -4.81273628e-02 5.13724574e+02] [ 1.25912327e-01 9.92032632e-01 -4.16442399e-03 3.49627675e+01] [ 4.82684916e-02 -1.93344041e-03 9.98832526e-01 1.89941759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.62509989299997 meters 0.021454149886090984 Centerline is valid? [True, True] Translation: X:513.79, Y:34.96, Z:19.00 [[ 9.90044973e-01 -1.32088645e-01 -4.86162631e-02 5.13785175e+02] [ 1.32040854e-01 9.91235346e-01 -4.20743592e-03 3.49647651e+01] [ 4.87459129e-02 -2.25378213e-03 9.98808669e-01 1.89966320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.685099893 meters 0.023782321727452975 Centerline is valid? [True, True] Translation: X:513.85, Y:34.97, Z:19.00 [[ 9.89388702e-01 -1.36986786e-01 -4.84212505e-02 5.13845036e+02] [ 1.36945201e-01 9.90569759e-01 -4.19099085e-03 3.49660587e+01] [ 4.85387368e-02 -2.48453886e-03 9.98818211e-01 1.89988403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7450998929999 meters 0.024362747039905413 Centerline is valid? [True, True] Translation: X:513.91, Y:34.97, Z:19.00 [[ 9.88782942e-01 -1.41455349e-01 -4.79445252e-02 5.13905243e+02] [ 1.41419777e-01 9.89941019e-01 -4.15041128e-03 3.49717876e+01] [ 4.80493500e-02 -2.67644819e-03 9.98841377e-01 1.90019842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8050998929999 meters 0.02546625617437853 Centerline is valid? [True, True] Translation: X:513.96, Y:34.98, Z:19.00 [[ 9.88446930e-01 -1.43587312e-01 -4.85319488e-02 5.13964457e+02] [ 1.43553403e-01 9.89633653e-01 -4.20168824e-03 3.49772896e+01] [ 4.86321589e-02 -2.81378055e-03 9.98812793e-01 1.90040167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8650998929999 meters 0.028907443270497938 Centerline is valid? [True, True] Translation: X:514.02, Y:34.98, Z:19.01 [[ 9.88171799e-01 -1.45502750e-01 -4.84297968e-02 5.14023192e+02] [ 1.45471175e-01 9.89353597e-01 -4.19485443e-03 3.49792706e+01] [ 4.85245565e-02 -2.89990260e-03 9.98817780e-01 1.90052183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9250998929999 meters 0.030144051530580845 Centerline is valid? [True, True] Translation: X:514.08, Y:34.99, Z:19.01 [[ 9.87753214e-01 -1.48265176e-01 -4.85903842e-02 5.14082665e+02] [ 1.48236608e-01 9.88942959e-01 -4.21102918e-03 3.49850191e+01] [ 4.86774673e-02 -3.04341612e-03 9.98809913e-01 1.90074390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9850998929999 meters 0.02868893560269272 Centerline is valid? [True, True] Translation: X:514.14, Y:34.99, Z:19.01 [[ 9.87489267e-01 -1.49859282e-01 -4.90626374e-02 5.14141137e+02] [ 1.49832050e-01 9.88702314e-01 -4.25329570e-03 3.49946935e+01] [ 4.91457389e-02 -3.15107168e-03 9.98786647e-01 1.90097566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0450998929999 meters 0.031168662521672934 Centerline is valid? [True, True] Translation: X:514.20, Y:35.00, Z:19.01 [[ 9.87167487e-01 -1.51524176e-01 -5.04061091e-02 5.14199456e+02] [ 1.51497452e-01 9.88447977e-01 -4.37260999e-03 3.50011419e+01] [ 5.04863726e-02 -3.31989866e-03 9.98719232e-01 1.90109378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1050998929999 meters 0.029318662254139774 Centerline is valid? [True, True] Translation: X:514.26, Y:35.02, Z:19.01 [[ 9.87425876e-01 -1.49897458e-01 -5.02084816e-02 5.14257719e+02] [ 1.49868590e-01 9.88696309e-01 -4.36060283e-03 3.50152715e+01] [ 5.02945837e-02 -3.21890229e-03 9.98729239e-01 1.90143504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1650998929999 meters 0.026485868075456755 Centerline is valid? [True, True] Translation: X:514.32, Y:35.03, Z:19.02 [[ 9.87984159e-01 -1.46320680e-01 -4.97750914e-02 5.14316323e+02] [ 1.46287335e-01 9.89232657e-01 -4.33198094e-03 3.50297149e+01] [ 4.98730044e-02 -3.00153694e-03 9.98751057e-01 1.90182812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2250998929999 meters 0.02527431571635057 Centerline is valid? [True, True] Translation: X:514.37, Y:35.04, Z:19.02 [[ 9.89119262e-01 -1.38618325e-01 -4.92752012e-02 5.14374203e+02] [ 1.38576058e-01 9.90342504e-01 -4.28958921e-03 3.50448626e+01] [ 4.93939418e-02 -2.58544783e-03 9.98776028e-01 1.90213330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2850998929999 meters 0.02345508351264753 Centerline is valid? [True, True] Translation: X:514.43, Y:35.06, Z:19.02 [[ 9.89881393e-01 -1.33298148e-01 -4.86459817e-02 5.14433259e+02] [ 1.33250475e-01 9.91073340e-01 -4.23622054e-03 3.50578840e+01] [ 4.87764159e-02 -2.28874428e-03 9.98807100e-01 1.90241541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3450998929999 meters 0.019612965370229184 Centerline is valid? [True, True] Translation: X:514.49, Y:35.08, Z:19.03 [[ 9.90658388e-01 -1.27118511e-01 -4.93643805e-02 5.14492080e+02] [ 1.27061748e-01 9.91885493e-01 -4.29907015e-03 3.50758210e+01] [ 4.95103043e-02 -2.01341456e-03 9.98771583e-01 1.90270645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4050998929999 meters 0.020472251727950044 Centerline is valid? [True, True] Translation: X:514.55, Y:35.08, Z:19.03 [[ 9.90865443e-01 -1.25156701e-01 -5.02142804e-02 5.14549470e+02] [ 1.25095360e-01 9.92135077e-01 -4.37492557e-03 3.50837230e+01] [ 5.03669002e-02 -1.94661091e-03 9.98728885e-01 1.90285449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4650998929999 meters 0.019759111124586354 Centerline is valid? [True, True] Translation: X:514.61, Y:35.09, Z:19.03 [[ 9.90958208e-01 -1.24487848e-01 -5.00460410e-02 5.14607080e+02] [ 1.24425661e-01 9.92219317e-01 -4.36833417e-03 3.50941856e+01] [ 5.02004531e-02 -1.89817513e-03 9.98737359e-01 1.90309436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5250998929998 meters 0.018727715802692602 Centerline is valid? [True, True] Translation: X:514.67, Y:35.10, Z:19.03 [[ 9.91024027e-01 -1.24248787e-01 -4.93316989e-02 5.14665466e+02] [ 1.24187453e-01 9.92249378e-01 -4.31834709e-03 3.51041364e+01] [ 4.94858969e-02 -1.84679234e-03 9.98773115e-01 1.90345330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5850998929999 meters 0.018325476375046272 Centerline is valid? [True, True] Translation: X:514.72, Y:35.11, Z:19.04 [[ 9.91525051e-01 -1.20680493e-01 -4.81070906e-02 5.14723714e+02] [ 1.20617503e-01 9.92690084e-01 -4.22084874e-03 3.51147732e+01] [ 4.82648060e-02 -1.61747987e-03 9.98833266e-01 1.90371852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6450998929998 meters 0.017241118271080363 Centerline is valid? [True, True] Translation: X:514.78, Y:35.12, Z:19.04 [[ 9.92038748e-01 -1.16625249e-01 -4.75149856e-02 5.14782856e+02] [ 1.16559073e-01 9.93175004e-01 -4.17058559e-03 3.51247757e+01] [ 4.76770916e-02 -1.40092015e-03 9.98861818e-01 1.90396922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7050998929999 meters 0.014839888800984581 Centerline is valid? [True, True] Translation: X:514.84, Y:35.14, Z:19.04 [[ 9.92812684e-01 -1.09790952e-01 -4.76331977e-02 5.14841473e+02] [ 1.09716503e-01 9.93954121e-01 -4.18265200e-03 3.51377118e+01] [ 4.78044305e-02 -1.07355792e-03 9.98856138e-01 1.90417778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7650998929998 meters 0.013182227058183763 Centerline is valid? [True, True] Translation: X:514.90, Y:35.15, Z:19.05 [[ 9.93147482e-01 -1.07189846e-01 -4.65662532e-02 5.14900408e+02] [ 1.07115762e-01 9.94238141e-01 -4.09060953e-03 3.51485628e+01] [ 4.67364168e-02 -9.25401124e-04 9.98906828e-01 1.90453767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8250998929999 meters 0.013134733904529423 Centerline is valid? [True, True] Translation: X:514.96, Y:35.16, Z:19.05 [[ 9.93302633e-01 -1.06063315e-01 -4.58306860e-02 5.14959753e+02] [ 1.05990277e-01 9.94359009e-01 -4.02768215e-03 3.51551181e+01] [ 4.59993448e-02 -8.56899824e-04 9.98941102e-01 1.90470830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8850998929998 meters 0.013388280108249275 Centerline is valid? [True, True] Translation: X:515.02, Y:35.16, Z:19.05 [[ 9.93233588e-01 -1.06557655e-01 -4.61790600e-02 5.15018090e+02] [ 1.06483866e-01 9.94306133e-01 -4.06197803e-03 3.51595773e+01] [ 4.63489575e-02 -8.82831813e-04 9.98924919e-01 1.90487420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9450998929999 meters 0.013163607377482291 Centerline is valid? [True, True] Translation: X:515.08, Y:35.17, Z:19.05 [[ 9.93153297e-01 -1.07188993e-01 -4.64440296e-02 5.15077767e+02] [ 1.07114582e-01 9.94238249e-01 -4.09515752e-03 3.51653871e+01] [ 4.66153865e-02 -9.07713641e-04 9.98912500e-01 1.90509232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0050998929999 meters 0.013507060358525886 Centerline is valid? [True, True] Translation: X:515.14, Y:35.17, Z:19.05 [[ 9.92988767e-01 -1.08592209e-01 -4.67016189e-02 5.15136381e+02] [ 1.08518340e-01 9.94085902e-01 -4.12172013e-03 3.51693090e+01] [ 4.68730077e-02 -9.75160388e-04 9.98900381e-01 1.90526824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0650998929999 meters 0.01372376522908658 Centerline is valid? [True, True] Translation: X:515.19, Y:35.17, Z:19.05 [[ 9.92955429e-01 -1.08774507e-01 -4.69853471e-02 5.15194659e+02] [ 1.08699367e-01 9.94065969e-01 -4.15892395e-03 3.51731578e+01] [ 4.71589195e-02 -9.77651385e-04 9.98886921e-01 1.90540645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1250998929999 meters 0.013649156099477363 Centerline is valid? [True, True] Translation: X:515.25, Y:35.18, Z:19.06 [[ 9.93178567e-01 -1.07298452e-01 -4.56440237e-02 5.15252681e+02] [ 1.07225464e-01 9.94226476e-01 -4.05155684e-03 3.51775366e+01] [ 4.58152226e-02 -8.70282194e-04 9.98949552e-01 1.90570641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1850998929999 meters 0.01281490719824014 Centerline is valid? [True, True] Translation: X:515.31, Y:35.18, Z:19.06 [[ 9.93538393e-01 -1.04558343e-01 -4.41476424e-02 5.15311993e+02] [ 1.04486947e-01 9.94518501e-01 -3.92802069e-03 3.51838786e+01] [ 4.43163544e-02 -7.10213000e-04 9.99017295e-01 1.90609062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2450998929999 meters 0.012330250281714384 Centerline is valid? [True, True] Translation: X:515.37, Y:35.19, Z:19.06 [[ 9.93680866e-01 -1.03291837e-01 -4.39218876e-02 5.15371534e+02] [ 1.03219863e-01 9.94650881e-01 -3.90951775e-03 3.51896473e+01] [ 4.40907655e-02 -6.48798254e-04 9.99027319e-01 1.90638817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3050998929999 meters 0.012371125446471037 Centerline is valid? [True, True] Translation: X:515.43, Y:35.19, Z:19.07 [[ 9.93667806e-01 -1.02995817e-01 -4.49015900e-02 5.15430635e+02] [ 1.02920217e-01 9.94681578e-01 -3.99841130e-03 3.51934057e+01] [ 4.50746040e-02 -6.48188826e-04 9.98983413e-01 1.90651504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3650998929999 meters 0.01243980259708814 Centerline is valid? [True, True] Translation: X:515.49, Y:35.20, Z:19.07 [[ 9.93593619e-01 -1.03466467e-01 -4.54577839e-02 5.15489086e+02] [ 1.03389315e-01 9.94632714e-01 -4.05144420e-03 3.51978628e+01] [ 4.56329876e-02 -6.74360016e-04 9.98958045e-01 1.90669735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4250998929999 meters 0.012985017977867903 Centerline is valid? [True, True] Translation: X:515.55, Y:35.20, Z:19.07 [[ 9.93376108e-01 -1.05387570e-01 -4.57970300e-02 5.15547196e+02] [ 1.05310825e-01 9.94430936e-01 -4.09203140e-03 3.52006977e+01] [ 4.59732326e-02 -7.57996764e-04 9.98942384e-01 1.90687456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4850998929999 meters 0.01357362340164791 Centerline is valid? [True, True] Translation: X:515.61, Y:35.20, Z:19.07 [[ 9.92831840e-01 -1.10424736e-01 -4.57309077e-02 5.15606960e+02] [ 1.10353380e-01 9.93884000e-01 -4.08977143e-03 3.52024586e+01] [ 4.59028294e-02 -9.86104943e-04 9.98945423e-01 1.90718112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5450998929999 meters 0.015641745985110315 Centerline is valid? [True, True] Translation: X:515.67, Y:35.20, Z:19.07 [[ 9.92273007e-01 -1.15397816e-01 -4.55809555e-02 5.15665869e+02] [ 1.15332072e-01 9.93318619e-01 -4.07839965e-03 3.52022197e+01] [ 4.57470502e-02 -1.21006016e-03 9.98952323e-01 1.90737920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6050998929999 meters 0.01646047801634718 Centerline is valid? [True, True] Translation: X:515.73, Y:35.21, Z:19.08 [[ 9.91544697e-01 -1.21475713e-01 -4.56373163e-02 5.15725790e+02] [ 1.21416088e-01 9.92593287e-01 -4.08654564e-03 3.52052953e+01] [ 4.57957098e-02 -1.48911174e-03 9.98949716e-01 1.90769420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6650998929999 meters 0.01986944864865612 Centerline is valid? [True, True] Translation: X:515.79, Y:35.20, Z:19.08 [[ 9.90202944e-01 -1.32010863e-01 -4.55111235e-02 5.15786827e+02] [ 1.31962627e-01 9.91246313e-01 -4.07591853e-03 3.52030786e+01] [ 4.56507989e-02 -1.96978087e-03 9.98955517e-01 1.90793602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7250998929999 meters 0.02377001933074636 Centerline is valid? [True, True] Translation: X:515.85, Y:35.20, Z:19.08 [[ 9.88708086e-01 -1.42726451e-01 -4.56670619e-02 5.15847842e+02] [ 1.42689262e-01 9.89759085e-01 -4.08993105e-03 3.52012418e+01] [ 4.57831308e-02 -2.47245144e-03 9.98948343e-01 1.90814621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7850998929999 meters 0.026607535690258116 Centerline is valid? [True, True] Translation: X:515.91, Y:35.20, Z:19.08 [[ 9.87861996e-01 -1.48314248e-01 -4.61688379e-02 5.15908468e+02] [ 1.48282291e-01 9.88936429e-01 -4.13532820e-03 3.52023430e+01] [ 4.62713738e-02 -2.76088748e-03 9.98925091e-01 1.90834932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8450998929999 meters 0.03100715731425921 Centerline is valid? [True, True] Translation: X:515.97, Y:35.20, Z:19.09 [[ 9.87161518e-01 -1.52739143e-01 -4.67214196e-02 5.15967655e+02] [ 1.52711349e-01 9.88261975e-01 -4.18479808e-03 3.52027643e+01] [ 4.68121849e-02 -3.00381942e-03 9.98899192e-01 1.90854012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9050998929999 meters 0.03205640201086602 Centerline is valid? [True, True] Translation: X:516.02, Y:35.21, Z:19.09 [[ 9.87127788e-01 -1.52966813e-01 -4.66892248e-02 5.16024946e+02] [ 1.52939189e-01 9.88226742e-01 -4.18451800e-03 3.52084472e+01] [ 4.67796329e-02 -3.00995817e-03 9.98900699e-01 1.90881317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9650998929999 meters 0.027909774181971048 Centerline is valid? [True, True] Translation: X:516.08, Y:35.22, Z:19.09 [[ 9.87929598e-01 -1.47922790e-01 -4.59778031e-02 5.16084174e+02] [ 1.47890076e-01 9.88995176e-01 -4.13116074e-03 3.52245679e+01] [ 4.60829183e-02 -2.71836485e-03 9.98933919e-01 1.90923343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0250998929998 meters 0.02573260709897884 Centerline is valid? [True, True] Translation: X:516.14, Y:35.24, Z:19.10 [[ 9.88815167e-01 -1.41931639e-01 -4.58254846e-02 5.16143366e+02] [ 1.41892721e-01 9.89873477e-01 -4.11758119e-03 3.52375188e+01] [ 4.59458469e-02 -2.43077600e-03 9.98940974e-01 1.90950553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0850998929999 meters 0.021322564563847925 Centerline is valid? [True, True] Translation: X:516.20, Y:35.26, Z:19.10 [[ 9.90318630e-01 -1.31115501e-01 -4.55821916e-02 5.16202347e+02] [ 1.31065555e-01 9.91365243e-01 -4.09569079e-03 3.52557435e+01] [ 4.57256090e-02 -1.91821633e-03 9.98952196e-01 1.90974112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1450998929998 meters 0.018693450894876874 Centerline is valid? [True, True] Translation: X:516.26, Y:35.27, Z:19.10 [[ 9.91230232e-01 -1.24157561e-01 -4.52496140e-02 5.16261514e+02] [ 1.24101095e-01 9.92261249e-01 -4.06588142e-03 3.52698379e+01] [ 4.54042485e-02 -1.58530208e-03 9.98967437e-01 1.91000157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2050998929999 meters 0.016087680132445763 Centerline is valid? [True, True] Translation: X:516.32, Y:35.29, Z:19.10 [[ 9.92282785e-01 -1.15262602e-01 -4.57100302e-02 5.16321092e+02] [ 1.15195545e-01 9.93334343e-01 -4.10730448e-03 3.52860376e+01] [ 4.58787614e-02 -1.18998432e-03 9.98946306e-01 1.91021436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2650998929998 meters 0.014746310246716665 Centerline is valid? [True, True] Translation: X:516.38, Y:35.30, Z:19.10 [[ 9.92746337e-01 -1.11268954e-01 -4.55404156e-02 5.16380902e+02] [ 1.11198201e-01 9.93789825e-01 -4.09191341e-03 3.52978676e+01] [ 4.57129046e-02 -1.00178024e-03 9.98954116e-01 1.91046719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3250998929999 meters 0.014133982079804661 Centerline is valid? [True, True] Translation: X:516.44, Y:35.31, Z:19.11 [[ 9.93029105e-01 -1.08279867e-01 -4.65689485e-02 5.16440440e+02] [ 1.08202597e-01 9.94120058e-01 -4.18432951e-03 3.53095125e+01] [ 4.67482044e-02 -8.83720164e-04 9.98906314e-01 1.91063815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3850998929998 meters 0.014027733353291452 Centerline is valid? [True, True] Translation: X:516.50, Y:35.32, Z:19.11 [[ 9.92961373e-01 -1.08465738e-01 -4.75698907e-02 5.16501785e+02] [ 1.08385341e-01 9.94099770e-01 -4.27388215e-03 3.53173386e+01] [ 4.77527872e-02 -9.12078954e-04 9.98858769e-01 1.91077464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4450998929999 meters 0.014871346524087175 Centerline is valid? [True, True] Translation: X:516.56, Y:35.32, Z:19.11 [[ 9.92683295e-01 -1.10966290e-01 -4.76062874e-02 5.16561522e+02] [ 1.10888698e-01 9.93823633e-01 -4.27597043e-03 3.53234186e+01] [ 4.77867420e-02 -1.03431482e-03 9.98857026e-01 1.91094359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5050998929999 meters 0.01572805570521001 Centerline is valid? [True, True] Translation: X:516.62, Y:35.33, Z:19.11 [[ 9.92506671e-01 -1.12764211e-01 -4.70610304e-02 5.16620345e+02] [ 1.12690365e-01 9.93621159e-01 -4.22784177e-03 3.53285831e+01] [ 4.72375848e-02 -1.10716355e-03 9.98883069e-01 1.91117268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5650998929999 meters 0.0163110837848909 Centerline is valid? [True, True] Translation: X:516.68, Y:35.34, Z:19.12 [[ 9.92311672e-01 -1.14813131e-01 -4.62113684e-02 5.16679907e+02] [ 1.14744109e-01 9.93386404e-01 -4.15232589e-03 3.53355840e+01] [ 4.63824867e-02 -1.18208087e-03 9.98923054e-01 1.91151701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6250998929999 meters 0.016353947043444002 Centerline is valid? [True, True] Translation: X:516.74, Y:35.34, Z:19.12 [[ 9.92257608e-01 -1.15514341e-01 -4.56210177e-02 5.16741215e+02] [ 1.15447795e-01 9.93305089e-01 -4.09963074e-03 3.53423098e+01] [ 4.57891551e-02 -1.19895611e-03 9.98950407e-01 1.91184149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6850998929999 meters 0.017797121798497278 Centerline is valid? [True, True] Translation: X:516.80, Y:35.35, Z:19.12 [[ 9.92138708e-01 -1.17225691e-01 -4.38055013e-02 5.16800918e+02] [ 1.17166085e-01 9.93104540e-01 -3.93460919e-03 3.53463495e+01] [ 4.39646795e-02 -1.22884101e-03 9.99032330e-01 1.91217074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7450998929999 meters 0.017049403411679126 Centerline is valid? [True, True] Translation: X:516.86, Y:35.35, Z:19.13 [[ 9.92096988e-01 -1.18171353e-01 -4.21793593e-02 5.16862386e+02] [ 1.18117094e-01 9.92992460e-01 -3.78501423e-03 3.53545373e+01] [ 4.23310660e-02 -1.22700212e-03 9.99102885e-01 1.91252319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8050998929999 meters 0.016905760017484346 Centerline is valid? [True, True] Translation: X:516.92, Y:35.36, Z:19.13 [[ 9.92059170e-01 -1.18891172e-01 -4.10303909e-02 5.16923776e+02] [ 1.18840564e-01 9.92906534e-01 -3.67898742e-03 3.53626843e+01] [ 4.11767423e-02 -1.22630160e-03 9.99151126e-01 1.91289853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8650998929999 meters 0.01837697568107486 Centerline is valid? [True, True] Translation: X:516.98, Y:35.37, Z:19.13 [[ 9.92101466e-01 -1.18883782e-01 -4.00165946e-02 5.16984523e+02] [ 1.18835751e-01 9.92907453e-01 -3.58525669e-03 3.53673448e+01] [ 4.01590039e-02 -1.19846367e-03 9.99192583e-01 1.91313240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9250998929999 meters 0.01692325288035543 Centerline is valid? [True, True] Translation: X:517.05, Y:35.38, Z:19.13 [[ 9.92209692e-01 -1.18371697e-01 -3.88338626e-02 5.17046313e+02] [ 1.18326154e-01 9.92968696e-01 -3.47720540e-03 3.53776094e+01] [ 3.89724126e-02 -1.14494470e-03 9.99239631e-01 1.91347233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9850998929999 meters 0.016594364579099682 Centerline is valid? [True, True] Translation: X:517.11, Y:35.39, Z:19.14 [[ 9.92280403e-01 -1.18164385e-01 -3.76401513e-02 5.17107851e+02] [ 1.18121550e-01 9.92993433e-01 -3.36764346e-03 3.53850238e+01] [ 3.77743586e-02 -1.10446641e-03 9.99285684e-01 1.91377920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0450998929999 meters 0.01749392267682458 Centerline is valid? [True, True] Translation: X:517.17, Y:35.39, Z:19.14 [[ 9.92357362e-01 -1.18064927e-01 -3.58822870e-02 5.17168558e+02] [ 1.18026024e-01 9.93005321e-01 -3.20790325e-03 3.53908556e+01] [ 3.60100427e-02 -1.05165725e-03 9.99350875e-01 1.91417064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1050998929999 meters 0.018025564701896837 Centerline is valid? [True, True] Translation: X:517.23, Y:35.40, Z:19.14 [[ 9.92265498e-01 -1.19188982e-01 -3.46867060e-02 5.17230245e+02] [ 1.19153457e-01 9.92871020e-01 -3.09691983e-03 3.53966023e+01] [ 3.48085439e-02 -1.06007425e-03 9.99393437e-01 1.91442855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1650998929999 meters 0.017385881171623853 Centerline is valid? [True, True] Translation: X:517.29, Y:35.40, Z:19.15 [[ 9.92046735e-01 -1.21276658e-01 -3.36934354e-02 5.17292038e+02] [ 1.21244418e-01 9.92618132e-01 -3.00592113e-03 3.54040099e+01] [ 3.38092629e-02 -1.10312673e-03 9.99427695e-01 1.91468012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2250998929999 meters 0.017456552754389235 Centerline is valid? [True, True] Translation: X:517.35, Y:35.41, Z:19.15 [[ 9.91716533e-01 -1.24110356e-01 -3.30898359e-02 5.17353293e+02] [ 1.24080917e-01 9.92267719e-01 -2.94960936e-03 3.54101927e+01] [ 3.32000531e-02 -1.18064083e-03 9.99448029e-01 1.91485608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2850998929999 meters 0.01904410217893496 Centerline is valid? [True, True] Translation: X:517.41, Y:35.41, Z:19.15 [[ 9.91584780e-01 -1.25213563e-01 -3.28814061e-02 5.17414173e+02] [ 1.25185150e-01 9.92129072e-01 -2.92952713e-03 3.54136056e+01] [ 3.29894154e-02 -1.21138924e-03 9.99454967e-01 1.91511685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3450998929999 meters 0.020038531988667466 Centerline is valid? [True, True] Translation: X:517.48, Y:35.42, Z:19.15 [[ 9.91328960e-01 -1.27277823e-01 -3.26687728e-02 5.17475976e+02] [ 1.27251049e-01 9.91866285e-01 -2.90589451e-03 3.54181402e+01] [ 3.27729102e-02 -1.27643822e-03 9.99462009e-01 1.91531492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4050998929999 meters 0.02004673559849537 Centerline is valid? [True, True] Translation: X:517.54, Y:35.42, Z:19.15 [[ 9.91138721e-01 -1.28756131e-01 -3.26480344e-02 5.17538196e+02] [ 1.28730268e-01 9.91675400e-01 -2.90168777e-03 3.54244223e+01] [ 3.27498626e-02 -1.32681512e-03 9.99462699e-01 1.91539736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4650998929999 meters 0.02025380119154813 Centerline is valid? [True, True] Translation: X:517.60, Y:35.43, Z:19.15 [[ 9.91143230e-01 -1.28521562e-01 -3.34261153e-02 5.17599727e+02] [ 1.28494403e-01 9.91705792e-01 -2.96832308e-03 3.54297148e+01] [ 3.35303657e-02 -1.35303543e-03 9.99436783e-01 1.91547877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5250998929998 meters 0.01902780412037325 Centerline is valid? [True, True] Translation: X:517.66, Y:35.44, Z:19.16 [[ 9.91300092e-01 -1.27243122e-01 -3.36647603e-02 5.17661733e+02] [ 1.27214921e-01 9.91870678e-01 -2.98704895e-03 3.54368348e+01] [ 3.37711700e-02 -1.32159793e-03 9.99428718e-01 1.91552483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5850998929999 meters 0.02064538948821054 Centerline is valid? [True, True] Translation: X:517.72, Y:35.44, Z:19.16 [[ 9.91432671e-01 -1.26150823e-01 -3.38707584e-02 5.17722587e+02] [ 1.26121728e-01 9.92010228e-01 -3.00274249e-03 3.54394492e+01] [ 3.39789372e-02 -1.29482155e-03 9.99421710e-01 1.91569412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6450998929998 meters 0.0203548704755852 Centerline is valid? [True, True] Translation: X:517.78, Y:35.44, Z:19.16 [[ 9.91641021e-01 -1.24333905e-01 -3.44842751e-02 5.17784825e+02] [ 1.24302715e-01 9.92239639e-01 -3.05525380e-03 3.54449231e+01] [ 3.45965363e-02 -1.25677402e-03 9.99400570e-01 1.91575791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7050998929999 meters 0.0173850417286949 Centerline is valid? [True, True] Translation: X:517.85, Y:35.45, Z:19.16 [[ 9.91664814e-01 -1.23680764e-01 -3.61104587e-02 5.17846835e+02] [ 1.23646227e-01 9.92321214e-01 -3.19667099e-03 3.54538775e+01] [ 3.62285409e-02 -1.29489584e-03 9.99342692e-01 1.91578772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7650998929998 meters 0.017637662339234868 Centerline is valid? [True, True] Translation: X:517.91, Y:35.46, Z:19.16 [[ 9.91455321e-01 -1.24913034e-01 -3.75909575e-02 5.17909512e+02] [ 1.24876602e-01 9.92166710e-01 -3.32479926e-03 3.54559721e+01] [ 3.77118074e-02 -1.39784114e-03 9.99287679e-01 1.91574547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8250998929999 meters 0.02401699248901401 Centerline is valid? [True, True] Translation: X:517.97, Y:35.45, Z:19.16 [[ 9.91237943e-01 -1.26306770e-01 -3.86515345e-02 5.17971363e+02] [ 1.26269428e-01 9.91990103e-01 -3.41558553e-03 3.54494885e+01] [ 3.87733513e-02 -1.49484917e-03 9.99246913e-01 1.91578376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8850998929998 meters 0.01802491968767803 Centerline is valid? [True, True] Translation: X:518.03, Y:35.46, Z:19.16 [[ 9.91227925e-01 -1.26084304e-01 -3.96225866e-02 5.18032352e+02] [ 1.26045047e-01 9.92018354e-01 -3.49731709e-03 3.54604665e+01] [ 3.97472900e-02 -1.52759244e-03 9.99208597e-01 1.91593054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9450998929999 meters 0.01711561198067211 Centerline is valid? [True, True] Translation: X:518.09, Y:35.47, Z:19.16 [[ 9.91538328e-01 -1.23540307e-01 -3.98689827e-02 5.18093160e+02] [ 1.23498623e-01 9.92338514e-01 -3.51616707e-03 3.54654135e+01] [ 3.99979154e-02 -1.43735006e-03 9.99198729e-01 1.91612402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0050998929999 meters 0.01690210185987955 Centerline is valid? [True, True] Translation: X:518.15, Y:35.47, Z:19.16 [[ 9.92306012e-01 -1.17184091e-01 -3.99583315e-02 5.18152790e+02] [ 1.17137127e-01 9.93109503e-01 -3.52264736e-03 3.54682457e+01] [ 4.00957969e-02 -1.18505997e-03 9.99195137e-01 1.91628848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0650998929999 meters 0.01441336015196926 Centerline is valid? [True, True] Translation: X:518.21, Y:35.48, Z:19.17 [[ 9.92803709e-01 -1.12852522e-01 -4.00637447e-02 5.18213461e+02] [ 1.12801790e-01 9.93611233e-01 -3.53183234e-03 3.54755455e+01] [ 4.02063630e-02 -1.01284587e-03 9.99190884e-01 1.91650682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1250998929999 meters 0.013672362096198369 Centerline is valid? [True, True] Translation: X:518.27, Y:35.48, Z:19.17 [[ 9.93328140e-01 -1.08004396e-01 -4.04259462e-02 5.18273599e+02] [ 1.07948787e-01 9.94150074e-01 -3.56230657e-03 3.54775702e+01] [ 4.05742021e-02 -8.25392509e-04 9.99176187e-01 1.91660259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1850998929999 meters 0.013092307338154736 Centerline is valid? [True, True] Translation: X:518.34, Y:35.48, Z:19.17 [[ 9.93425747e-01 -1.06677145e-01 -4.15363956e-02 5.18335019e+02] [ 1.06617316e-01 9.94293396e-01 -3.65929608e-03 3.54809191e+01] [ 4.16897271e-02 -7.93260057e-04 9.99130291e-01 1.91673479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2450998929999 meters 0.013297564628708295 Centerline is valid? [True, True] Translation: X:518.40, Y:35.48, Z:19.17 [[ 9.93314571e-01 -1.07118997e-01 -4.30311988e-02 5.18396922e+02] [ 1.07055268e-01 9.94245850e-01 -3.78936572e-03 3.54805389e+01] [ 4.31895039e-02 -8.42684341e-04 9.99066543e-01 1.91683426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3050998929999 meters 0.01372490353981291 Centerline is valid? [True, True] Translation: X:518.46, Y:35.48, Z:19.17 [[ 9.93097132e-01 -1.08934100e-01 -4.34907880e-02 5.18457854e+02] [ 1.08870814e-01 9.94048536e-01 -3.82814963e-03 3.54812564e+01] [ 4.36489702e-02 -9.33153093e-04 9.99046494e-01 1.91704360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3650998929999 meters 0.014060741859176985 Centerline is valid? [True, True] Translation: X:518.52, Y:35.48, Z:19.17 [[ 9.92690741e-01 -1.12464297e-01 -4.37821228e-02 5.18519293e+02] [ 1.12403684e-01 9.93655160e-01 -3.85163766e-03 3.54807258e+01] [ 4.39375040e-02 -1.09778685e-03 9.99033678e-01 1.91733308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4250998929999 meters 0.015316396877290524 Centerline is valid? [True, True] Translation: X:518.58, Y:35.48, Z:19.18 [[ 9.92460842e-01 -1.14628872e-01 -4.33785574e-02 5.18578651e+02] [ 1.14571494e-01 9.93407681e-01 -3.81479702e-03 3.54807364e+01] [ 4.35298780e-02 -1.18390950e-03 9.99051424e-01 1.91756562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4850998929999 meters 0.016194526670809506 Centerline is valid? [True, True] Translation: X:518.64, Y:35.48, Z:19.18 [[ 9.92096485e-01 -1.17873773e-01 -4.30155611e-02 5.18638837e+02] [ 1.17820383e-01 9.93027716e-01 -3.78317573e-03 3.54804337e+01] [ 4.31615816e-02 -1.31483456e-03 9.99067240e-01 1.91786853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5450998929999 meters 0.01783210479782044 Centerline is valid? [True, True] Translation: X:518.70, Y:35.48, Z:19.18 [[ 9.91769021e-01 -1.20677971e-01 -4.27906024e-02 5.18697856e+02] [ 1.20627717e-01 9.92690680e-01 -3.76401636e-03 3.54808296e+01] [ 4.29320661e-02 -1.42869786e-03 9.99076972e-01 1.91815926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6050998929999 meters 0.019782167378420194 Centerline is valid? [True, True] Translation: X:518.76, Y:35.48, Z:19.19 [[ 9.90944819e-01 -1.27397046e-01 -4.24070588e-02 5.18758707e+02] [ 1.27353769e-01 9.91850338e-01 -3.73158435e-03 3.54798882e+01] [ 4.25368484e-02 -1.70290457e-03 9.99093447e-01 1.91854854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6650998929999 meters 0.022699799096706472 Centerline is valid? [True, True] Translation: X:518.82, Y:35.48, Z:19.19 [[ 9.89663082e-01 -1.36807770e-01 -4.30188053e-02 5.18819525e+02] [ 1.36772099e-01 9.90595308e-01 -3.78527092e-03 3.54772252e+01] [ 4.31320812e-02 -2.13762941e-03 9.99067092e-01 1.91885568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7250998929999 meters 0.027038726518387565 Centerline is valid? [True, True] Translation: X:518.88, Y:35.47, Z:19.19 [[ 9.88673313e-01 -1.43568795e-01 -4.37387907e-02 5.18879643e+02] [ 1.43538508e-01 9.89637249e-01 -3.84863014e-03 3.54738936e+01] [ 4.38380797e-02 -2.47316287e-03 9.99035588e-01 1.91903900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7850998929999 meters 0.02758200853170262 Centerline is valid? [True, True] Translation: X:518.94, Y:35.48, Z:19.19 [[ 9.87813780e-01 -1.49010234e-01 -4.49431401e-02 5.18940124e+02] [ 1.48983844e-01 9.88831721e-01 -3.95504417e-03 3.54764087e+01] [ 4.50305446e-02 -2.78895466e-03 9.98981717e-01 1.91927388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8450998929999 meters 0.03087606010714833 Centerline is valid? [True, True] Translation: X:519.00, Y:35.47, Z:19.19 [[ 9.86815871e-01 -1.54872410e-01 -4.69997236e-02 5.19000672e+02] [ 1.54850159e-01 9.87929309e-01 -4.13617689e-03 3.54746780e+01] [ 4.70729842e-02 -3.19626966e-03 9.98886339e-01 1.91939174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9050998929999 meters 0.03062940875123092 Centerline is valid? [True, True] Translation: X:519.06, Y:35.48, Z:19.20 [[ 9.86517736e-01 -1.56295425e-01 -4.85231548e-02 5.19059650e+02] [ 1.56273362e-01 9.87704607e-01 -4.27152193e-03 3.54790755e+01] [ 4.85941629e-02 -3.36894439e-03 9.98812924e-01 1.91956026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9650998929999 meters 0.028541245770316172 Centerline is valid? [True, True] Translation: X:519.12, Y:35.49, Z:19.20 [[ 9.86886056e-01 -1.53551512e-01 -4.97779666e-02 5.19119411e+02] [ 1.53524687e-01 9.88135084e-01 -4.38473278e-03 3.54879489e+01] [ 4.98606376e-02 -3.31491511e-03 9.98750684e-01 1.91989640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0250998929998 meters 0.02670366410389637 Centerline is valid? [True, True] Translation: X:519.18, Y:35.50, Z:19.20 [[ 9.87685832e-01 -1.48424966e-01 -4.94643889e-02 5.19178761e+02] [ 1.48391978e-01 9.88919016e-01 -4.35904105e-03 3.54980915e+01] [ 4.95632653e-02 -3.03475542e-03 9.98766376e-01 1.92024330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0850998929999 meters 0.0223466442778399 Centerline is valid? [True, True] Translation: X:519.24, Y:35.51, Z:19.21 [[ 9.89435116e-01 -1.36746573e-01 -4.81510675e-02 5.19238236e+02] [ 1.36701502e-01 9.90603196e-01 -4.24342594e-03 3.55147152e+01] [ 4.82788753e-02 -2.38372861e-03 9.98831051e-01 1.92068817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1450998929998 meters 0.02004663310372252 Centerline is valid? [True, True] Translation: X:519.30, Y:35.53, Z:19.21 [[ 9.91132610e-01 -1.24285931e-01 -4.70016714e-02 5.19296648e+02] [ 1.24228978e-01 9.92244931e-01 -4.14226900e-03 3.55280934e+01] [ 4.71519960e-02 -1.73343172e-03 9.98886222e-01 1.92094941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2050998929999 meters 0.01714653903613128 Centerline is valid? [True, True] Translation: X:519.36, Y:35.54, Z:19.21 [[ 9.91516986e-01 -1.21291424e-01 -4.67167750e-02 5.19355459e+02] [ 1.21231807e-01 9.92615682e-01 -4.11787630e-03 3.55393354e+01] [ 4.68712666e-02 -1.58061476e-03 9.98899688e-01 1.92130561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2650998929998 meters 0.015365331078150635 Centerline is valid? [True, True] Translation: X:519.41, Y:35.55, Z:19.22 [[ 9.92116116e-01 -1.16040720e-01 -4.73303682e-02 5.19414855e+02] [ 1.15973465e-01 9.93243542e-01 -4.17388301e-03 3.55499436e+01] [ 4.74949229e-02 -1.34809022e-03 9.98870570e-01 1.92156435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3250998929999 meters 0.014478195680999156 Centerline is valid? [True, True] Translation: X:519.47, Y:35.56, Z:19.22 [[ 9.92862994e-01 -1.08719728e-01 -4.90213729e-02 5.19473202e+02] [ 1.08638541e-01 9.94071908e-01 -4.32547928e-03 3.55599488e+01] [ 4.92010346e-02 -1.03100212e-03 9.98788364e-01 1.92157682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3850998929998 meters 0.01290457306923059 Centerline is valid? [True, True] Translation: X:519.53, Y:35.57, Z:19.22 [[ 9.93210417e-01 -1.05080433e-01 -4.99116333e-02 5.19531883e+02] [ 1.04991584e-01 9.94463351e-01 -4.40586637e-03 3.55707130e+01] [ 5.00982604e-02 -8.64349091e-04 9.98743920e-01 1.92187168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4450998929999 meters 0.012032037813326736 Centerline is valid? [True, True] Translation: X:519.59, Y:35.58, Z:19.22 [[ 9.93627870e-01 -1.01173799e-01 -4.96741266e-02 5.19590100e+02] [ 1.01080685e-01 9.94868548e-01 -4.38950612e-03 3.55802774e+01] [ 4.98633292e-02 -6.59559138e-04 9.98755833e-01 1.92224436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5050998929999 meters 0.01179077295260738 Centerline is valid? [True, True] Translation: X:519.65, Y:35.59, Z:19.22 [[ 9.93927577e-01 -9.85427233e-02 -4.89622617e-02 5.19647221e+02] [ 9.84485482e-02 9.95132691e-01 -4.33718505e-03 3.55870856e+01] [ 4.91513453e-02 -5.09415759e-04 9.98791212e-01 1.92247221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5650998929999 meters 0.011415140791855558 Centerline is valid? [True, True] Translation: X:519.70, Y:35.60, Z:19.23 [[ 9.94254693e-01 -9.54702060e-02 -4.84050147e-02 5.19704698e+02] [ 9.53743120e-02 9.95432227e-01 -4.29216775e-03 3.55950998e+01] [ 4.85936857e-02 -3.49087042e-04 9.98818568e-01 1.92273197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6250998929999 meters 0.011214086038226299 Centerline is valid? [True, True] Translation: X:519.76, Y:35.60, Z:19.23 [[ 9.94238133e-01 -9.61833127e-02 -4.73213080e-02 5.19761839e+02] [ 9.60921798e-02 9.95363569e-01 -4.20225050e-03 3.56003769e+01] [ 4.75060924e-02 -3.69169950e-04 9.98870880e-01 1.92304730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6850998929999 meters 0.011298709777909838 Centerline is valid? [True, True] Translation: X:519.82, Y:35.60, Z:19.23 [[ 9.93963305e-01 -9.90907309e-02 -4.70953936e-02 5.19820851e+02] [ 9.90031013e-02 9.95078281e-01 -4.19540825e-03 3.56035251e+01] [ 4.72793294e-02 -4.92508174e-04 9.98881586e-01 1.92333598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7450998929999 meters 0.01316498164921943 Centerline is valid? [True, True] Translation: X:519.88, Y:35.60, Z:19.23 [[ 9.93196344e-01 -1.06320598e-01 -4.75073883e-02 5.19879547e+02] [ 1.06239190e-01 9.94331552e-01 -4.24251154e-03 3.56013332e+01] [ 4.76891615e-02 -8.33499472e-04 9.98861877e-01 1.92331724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8050998929999 meters 0.014752195329211066 Centerline is valid? [True, True] Translation: X:519.94, Y:35.60, Z:19.23 [[ 9.92625715e-01 -1.11507539e-01 -4.75421793e-02 5.19939563e+02] [ 1.11431806e-01 9.93763001e-01 -4.24866788e-03 3.56021979e+01] [ 4.77194173e-02 -1.08037391e-03 9.98860195e-01 1.92348457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8650998929999 meters 0.015675806832079916 Centerline is valid? [True, True] Translation: X:520.00, Y:35.60, Z:19.24 [[ 9.91972492e-01 -1.17154374e-01 -4.75965111e-02 5.19999205e+02] [ 1.17084876e-01 9.93112796e-01 -4.25518586e-03 3.56039130e+01] [ 4.77672178e-02 -1.35180427e-03 9.98857580e-01 1.92376466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9250998929999 meters 0.016321606265085314 Centerline is valid? [True, True] Translation: X:520.06, Y:35.61, Z:19.24 [[ 9.91785921e-01 -1.19164233e-01 -4.64819598e-02 5.20058862e+02] [ 1.19100079e-01 9.92873551e-01 -4.15717818e-03 3.56074541e+01] [ 4.66460954e-02 -1.41297427e-03 9.98910479e-01 1.92398505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9850998929999 meters 0.014964145585173083 Centerline is valid? [True, True] Translation: X:520.12, Y:35.62, Z:19.24 [[ 9.91848957e-01 -1.19452055e-01 -4.43492089e-02 5.20119045e+02] [ 1.19393883e-01 9.92839039e-01 -3.96770267e-03 3.56156600e+01] [ 4.45055762e-02 -1.35966252e-03 9.99008211e-01 1.92438295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0450998929999 meters 0.016613724810636513 Centerline is valid? [True, True] Translation: X:520.18, Y:35.62, Z:19.25 [[ 9.91953151e-01 -1.19110916e-01 -4.29131162e-02 5.20178009e+02] [ 1.19056127e-01 9.92880103e-01 -3.83932847e-03 3.56187616e+01] [ 4.30648851e-02 -1.30063545e-03 9.99071431e-01 1.92458235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1050998929999 meters 0.017085792374887433 Centerline is valid? [True, True] Translation: X:520.24, Y:35.62, Z:19.25 [[ 9.91896470e-01 -1.19760468e-01 -4.24125380e-02 5.20238727e+02] [ 1.19707515e-01 9.92801948e-01 -3.79521826e-03 3.56237439e+01] [ 4.25617675e-02 -1.31263593e-03 9.99092975e-01 1.92472565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1650998929999 meters 0.017263175568559653 Centerline is valid? [True, True] Translation: X:520.30, Y:35.63, Z:19.25 [[ 9.91635768e-01 -1.21871142e-01 -4.24962058e-02 5.20299475e+02] [ 1.21819918e-01 9.92544935e-01 -3.80260924e-03 3.56290038e+01] [ 4.26428222e-02 -1.40608100e-03 9.99089392e-01 1.92481281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2250998929999 meters 0.017777672798924688 Centerline is valid? [True, True] Translation: X:520.36, Y:35.63, Z:19.25 [[ 9.91295717e-01 -1.24186106e-01 -4.37105508e-02 5.20359922e+02] [ 1.24134189e-01 9.92257734e-01 -3.91058384e-03 3.56332700e+01] [ 4.38577722e-02 -1.54942877e-03 9.99036583e-01 1.92486468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2850998929999 meters 0.017964767071257357 Centerline is valid? [True, True] Translation: X:520.42, Y:35.64, Z:19.25 [[ 9.91073602e-01 -1.26113424e-01 -4.32263857e-02 5.20420200e+02] [ 1.26064480e-01 9.92014512e-01 -3.86726779e-03 3.56388297e+01] [ 4.33689162e-02 -1.61656482e-03 9.99057818e-01 1.92497093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3450998929999 meters 0.0172518118199811 Centerline is valid? [True, True] Translation: X:520.48, Y:35.65, Z:19.25 [[ 9.91419501e-01 -1.23455554e-01 -4.29662659e-02 5.20481056e+02] [ 1.23404715e-01 9.92348982e-01 -3.84378225e-03 3.56481795e+01] [ 4.31120664e-02 -1.49143910e-03 9.99069129e-01 1.92519636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4050998929999 meters 0.015058395686211513 Centerline is valid? [True, True] Translation: X:520.54, Y:35.66, Z:19.26 [[ 9.92003632e-01 -1.19188219e-01 -4.15085951e-02 5.20541802e+02] [ 1.19137103e-01 9.92870874e-01 -3.71181100e-03 3.56599870e+01] [ 4.16550793e-02 -1.26308379e-03 9.99131252e-01 1.92553474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4650998929999 meters 0.013299663572663899 Centerline is valid? [True, True] Translation: X:520.60, Y:35.67, Z:19.26 [[ 9.92920943e-01 -1.11945255e-01 -3.97021558e-02 5.20601607e+02] [ 1.11892786e-01 9.93713950e-01 -3.54820314e-03 3.56717311e+01] [ 3.98497906e-02 -9.19299605e-04 9.99205259e-01 1.92583695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5250998929998 meters 0.013718840878522102 Centerline is valid? [True, True] Translation: X:520.66, Y:35.68, Z:19.26 [[ 9.93393243e-01 -1.08067956e-01 -3.86158346e-02 5.20661596e+02] [ 1.08015424e-01 9.94143231e-01 -3.45025724e-03 3.56779303e+01] [ 3.87625329e-02 -7.43643520e-04 9.99248174e-01 1.92608152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5850998929999 meters 0.01305172231396555 Centerline is valid? [True, True] Translation: X:520.72, Y:35.69, Z:19.26 [[ 9.93743318e-01 -1.05171946e-01 -3.75909578e-02 5.20722431e+02] [ 1.05120120e-01 9.94453862e-01 -3.35800272e-03 3.56867379e+01] [ 3.77356409e-02 -6.14573239e-04 9.99287568e-01 1.92632521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6450998929998 meters 0.012172634832983075 Centerline is valid? [True, True] Translation: X:520.78, Y:35.69, Z:19.26 [[ 9.93698460e-01 -1.05520842e-01 -3.77984598e-02 5.20783682e+02] [ 1.05468745e-01 9.94416890e-01 -3.37520513e-03 3.56944270e+01] [ 3.79435813e-02 -6.32619981e-04 9.99279683e-01 1.92649570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7050998929999 meters 0.013608374671310604 Centerline is valid? [True, True] Translation: X:520.84, Y:35.70, Z:19.27 [[ 9.93382612e-01 -1.08368925e-01 -3.80415774e-02 5.20844982e+02] [ 1.08318351e-01 9.94110464e-01 -3.39409198e-03 3.56959766e+01] [ 3.81853443e-02 -7.48968966e-04 9.99270393e-01 1.92657063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7650998929998 meters 0.014133111370497255 Centerline is valid? [True, True] Translation: X:520.91, Y:35.70, Z:19.27 [[ 9.92967075e-01 -1.11790024e-01 -3.89791994e-02 5.20906452e+02] [ 1.11739646e-01 9.93731439e-01 -3.47548772e-03 3.57000581e+01] [ 3.91233808e-02 -9.04477076e-04 9.99233978e-01 1.92668488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8250998929999 meters 0.01377303297970751 Centerline is valid? [True, True] Translation: X:520.97, Y:35.71, Z:19.27 [[ 9.92800919e-01 -1.13281121e-01 -3.89065822e-02 5.20968306e+02] [ 1.13232218e-01 9.93562507e-01 -3.46534917e-03 3.57063765e+01] [ 3.90486800e-02 -9.65076737e-04 9.99236843e-01 1.92685672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8850998929998 meters 0.014389166429017301 Centerline is valid? [True, True] Translation: X:521.03, Y:35.71, Z:19.27 [[ 9.92802440e-01 -1.13639262e-01 -3.78078486e-02 5.21028951e+02] [ 1.13593446e-01 9.93521619e-01 -3.36473779e-03 3.57109947e+01] [ 3.79452813e-02 -9.54203900e-04 9.99279363e-01 1.92713753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9450998929999 meters 0.01482001131677748 Centerline is valid? [True, True] Translation: X:521.09, Y:35.72, Z:19.27 [[ 9.92915004e-01 -1.13238418e-01 -3.60118763e-02 5.21089954e+02] [ 1.13196657e-01 9.93567440e-01 -3.20300272e-03 3.57161052e+01] [ 3.61429307e-02 -8.96114558e-04 9.99346229e-01 1.92744156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0050998929999 meters 0.01420942873308267 Centerline is valid? [True, True] Translation: X:521.15, Y:35.72, Z:19.28 [[ 9.92931675e-01 -1.13208578e-01 -3.56441718e-02 5.21151472e+02] [ 1.13167714e-01 9.93570848e-01 -3.16840520e-03 3.57224002e+01] [ 3.57737007e-02 -8.87759554e-04 9.99359522e-01 1.92767898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0650998929999 meters 0.01466868978129295 Centerline is valid? [True, True] Translation: X:521.21, Y:35.73, Z:19.28 [[ 9.92777955e-01 -1.14362008e-01 -3.62389860e-02 5.21213062e+02] [ 1.14320635e-01 9.93438691e-01 -3.21855861e-03 3.57263897e+01] [ 3.63692917e-02 -9.47549875e-04 9.99337969e-01 1.92781529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1250998929999 meters 0.015437157518153647 Centerline is valid? [True, True] Translation: X:521.28, Y:35.73, Z:19.28 [[ 9.92522328e-01 -1.16344889e-01 -3.69228282e-02 5.21275385e+02] [ 1.16303459e-01 9.93208326e-01 -3.27525188e-03 3.57298215e+01] [ 3.70531192e-02 -1.04349204e-03 9.99312753e-01 1.92790764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1850998929999 meters 0.016269988171824276 Centerline is valid? [True, True] Translation: X:521.34, Y:35.73, Z:19.28 [[ 9.92187114e-01 -1.18914226e-01 -3.77377372e-02 5.21337781e+02] [ 1.18872911e-01 9.92903844e-01 -3.34469462e-03 3.57328212e+01] [ 3.78676761e-02 -1.16743178e-03 9.99282080e-01 1.92805610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2450998929999 meters 0.017140320746372034 Centerline is valid? [True, True] Translation: X:521.40, Y:35.74, Z:19.28 [[ 9.91832031e-01 -1.21495374e-01 -3.88342292e-02 5.21400110e+02] [ 1.21453713e-01 9.92591139e-01 -3.43893308e-03 3.57360832e+01] [ 3.89643263e-02 -1.30571735e-03 9.99239749e-01 1.92821789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3050998929999 meters 0.017167497534076162 Centerline is valid? [True, True] Translation: X:521.46, Y:35.74, Z:19.28 [[ 9.91890385e-01 -1.20832478e-01 -3.94078329e-02 5.21462301e+02] [ 1.20789172e-01 9.92672060e-01 -3.48678457e-03 3.57415250e+01] [ 3.95403715e-02 -1.30153143e-03 9.99217126e-01 1.92840595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3650998929999 meters 0.016811218056980434 Centerline is valid? [True, True] Translation: X:521.52, Y:35.75, Z:19.29 [[ 9.92418087e-01 -1.16425287e-01 -3.93889990e-02 5.21522559e+02] [ 1.16378665e-01 9.93198812e-01 -3.48231360e-03 3.57490219e+01] [ 3.95265364e-02 -1.12812812e-03 9.99217884e-01 1.92866604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4250998929999 meters 0.014475760155071484 Centerline is valid? [True, True] Translation: X:521.58, Y:35.76, Z:19.29 [[ 9.92921072e-01 -1.12375337e-01 -3.84646417e-02 5.21582994e+02] [ 1.12327892e-01 9.93665381e-01 -3.39923253e-03 3.57598271e+01] [ 3.86029727e-02 -9.45482531e-04 9.99254180e-01 1.92900903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4850998929999 meters 0.014757103472450291 Centerline is valid? [True, True] Translation: X:521.64, Y:35.77, Z:19.29 [[ 9.93354130e-01 -1.08709070e-01 -3.78141663e-02 5.21642999e+02] [ 1.08660616e-01 9.94073293e-01 -3.34031692e-03 3.57655416e+01] [ 3.79531756e-02 -7.90792991e-04 9.99279206e-01 1.92927713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5450998929999 meters 0.013439356844168545 Centerline is valid? [True, True] Translation: X:521.70, Y:35.77, Z:19.30 [[ 9.93668908e-01 -1.05806829e-01 -3.77758791e-02 5.21704292e+02] [ 1.05756521e-01 9.94386468e-01 -3.33313011e-03 3.57735162e+01] [ 3.79164909e-02 -6.83017802e-04 9.99280678e-01 1.92951852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6050998929999 meters 0.013287493515973421 Centerline is valid? [True, True] Translation: X:521.77, Y:35.78, Z:19.30 [[ 9.93675535e-01 -1.05590297e-01 -3.82049700e-02 5.21765835e+02] [ 1.05538789e-01 9.94409483e-01 -3.36814989e-03 3.57788755e+01] [ 3.83470284e-02 -6.85258134e-04 9.99264247e-01 1.92974957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6650998929999 meters 0.013570331194764166 Centerline is valid? [True, True] Translation: X:521.83, Y:35.78, Z:19.30 [[ 9.93487371e-01 -1.06945396e-01 -3.93131778e-02 5.21828090e+02] [ 1.06892035e-01 9.94264603e-01 -3.46282930e-03 3.57819921e+01] [ 3.94580348e-02 -7.61988381e-04 9.99220938e-01 1.92995220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7250998929999 meters 0.013762347345818328 Centerline is valid? [True, True] Translation: X:521.89, Y:35.79, Z:19.30 [[ 9.93341336e-01 -1.07882057e-01 -4.04283617e-02 5.21890266e+02] [ 1.07826526e-01 9.94163357e-01 -3.55796755e-03 3.57850281e+01] [ 4.05762366e-02 -8.24973538e-04 9.99176105e-01 1.93011586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7850998929999 meters 0.014126983930288717 Centerline is valid? [True, True] Translation: X:521.95, Y:35.79, Z:19.30 [[ 9.93302166e-01 -1.08287896e-01 -4.03055742e-02 5.21951412e+02] [ 1.08233153e-01 9.94119220e-01 -3.54427399e-03 3.57892978e+01] [ 4.04523480e-02 -8.41864349e-04 9.99181114e-01 1.93037291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8450998929999 meters 0.014347948465372752 Centerline is valid? [True, True] Translation: X:522.01, Y:35.79, Z:19.30 [[ 9.93127145e-01 -1.09202009e-01 -4.21117000e-02 5.22012549e+02] [ 1.09143138e-01 9.94019152e-01 -3.70147585e-03 3.57931937e+01] [ 4.22640449e-02 -9.20166952e-04 9.99106052e-01 1.93042522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9050998929999 meters 0.015072914236445313 Centerline is valid? [True, True] Translation: X:522.07, Y:35.80, Z:19.31 [[ 9.93044429e-01 -1.10607868e-01 -4.03566888e-02 5.22072809e+02] [ 1.10555017e-01 9.93863680e-01 -3.54584103e-03 3.57965768e+01] [ 4.05012452e-02 -9.40456745e-04 9.99179045e-01 1.93074582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9650998929999 meters 0.01685151626783679 Centerline is valid? [True, True] Translation: X:522.13, Y:35.80, Z:19.31 [[ 9.92777764e-01 -1.13506991e-01 -3.88390921e-02 5.22133416e+02] [ 1.13460283e-01 9.93536675e-01 -3.41182118e-03 3.57972421e+01] [ 3.89753279e-02 -1.01951418e-03 9.99239653e-01 1.93107147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0250998929998 meters 0.016041726457450313 Centerline is valid? [True, True] Translation: X:522.19, Y:35.80, Z:19.31 [[ 9.92566021e-01 -1.15141780e-01 -3.94343173e-02 5.22194716e+02] [ 1.15094948e-01 9.93348458e-01 -3.46335339e-03 3.58033456e+01] [ 3.95707949e-02 -1.10108379e-03 9.99216163e-01 1.93124405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0850998929999 meters 0.016651396625292816 Centerline is valid? [True, True] Translation: X:522.26, Y:35.81, Z:19.31 [[ 9.92345419e-01 -1.16905115e-01 -3.97965190e-02 5.22255649e+02] [ 1.16858894e-01 9.93142383e-01 -3.49368980e-03 3.58070473e+01] [ 3.99320399e-02 -1.18363012e-03 9.99201697e-01 1.93138398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1450998929998 meters 0.018496214267645954 Centerline is valid? [True, True] Translation: X:522.32, Y:35.81, Z:19.32 [[ 9.92229489e-01 -1.17840047e-01 -3.99294918e-02 5.22316538e+02] [ 1.17794329e-01 9.93031831e-01 -3.50394521e-03 3.58082303e+01] [ 4.00641615e-02 -1.22674995e-03 9.99196356e-01 1.93157194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2050998929999 meters 0.01888595534025185 Centerline is valid? [True, True] Translation: X:522.38, Y:35.81, Z:19.32 [[ 9.92020969e-01 -1.19386492e-01 -4.05125068e-02 5.22377688e+02] [ 1.19340750e-01 9.92846993e-01 -3.55430802e-03 3.58130331e+01] [ 4.06470569e-02 -1.30884485e-03 9.99172710e-01 1.93178723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2650998929998 meters 0.01909884877659408 Centerline is valid? [True, True] Translation: X:522.44, Y:35.82, Z:19.32 [[ 9.91935096e-01 -1.20189616e-01 -4.02395567e-02 5.22438237e+02] [ 1.20145202e-01 9.92750057e-01 -3.52900638e-03 3.58184502e+01] [ 4.03719722e-02 -1.33404439e-03 9.99183829e-01 1.93208740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3250998929999 meters 0.01863494467431442 Centerline is valid? [True, True] Translation: X:522.50, Y:35.83, Z:19.32 [[ 9.91721812e-01 -1.21851125e-01 -4.04987882e-02 5.22498580e+02] [ 1.21807550e-01 9.92547385e-01 -3.55101877e-03 3.58255776e+01] [ 4.06296620e-02 -1.41143538e-03 9.99173277e-01 1.93243416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3850998929998 meters 0.01908928559041092 Centerline is valid? [True, True] Translation: X:522.56, Y:35.83, Z:19.33 [[ 9.91501990e-01 -1.23521413e-01 -4.08198942e-02 5.22559292e+02] [ 1.23478590e-01 9.92340785e-01 -3.57835994e-03 3.58308361e+01] [ 4.09492499e-02 -1.49243196e-03 9.99160113e-01 1.93268950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4450998929999 meters 0.020971437548367288 Centerline is valid? [True, True] Translation: X:522.62, Y:35.83, Z:19.33 [[ 9.91170111e-01 -1.25818798e-01 -4.18502176e-02 5.22619131e+02] [ 1.25775905e-01 9.92051902e-01 -3.66688770e-03 3.58349946e+01] [ 4.19789514e-02 -1.62923953e-03 9.99117167e-01 1.93298212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5050998929999 meters 0.02205562006693296 Centerline is valid? [True, True] Translation: X:522.68, Y:35.84, Z:19.33 [[ 9.91021567e-01 -1.26940822e-01 -4.19795302e-02 5.22680117e+02] [ 1.26898811e-01 9.91908860e-01 -3.67483028e-03 3.58399123e+01] [ 4.21063540e-02 -1.68531641e-03 9.99111713e-01 1.93323275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5650998929999 meters 0.020432540241170787 Centerline is valid? [True, True] Translation: X:522.74, Y:35.85, Z:19.34 [[ 9.90987468e-01 -1.27077068e-01 -4.23704858e-02 5.22741938e+02] [ 1.27034468e-01 9.91891375e-01 -3.70735219e-03 3.58506672e+01] [ 4.24980389e-02 -1.70857255e-03 9.99095089e-01 1.93350166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6250998929999 meters 0.019567691052828993 Centerline is valid? [True, True] Translation: X:522.80, Y:35.86, Z:19.34 [[ 9.91369262e-01 -1.24078375e-01 -4.23266269e-02 5.22802806e+02] [ 1.24033261e-01 9.92271161e-01 -3.70051015e-03 3.58612271e+01] [ 4.24586445e-02 -1.58133756e-03 9.99096974e-01 1.93379294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6850998929999 meters 0.017235352743214537 Centerline is valid? [True, True] Translation: X:522.86, Y:35.87, Z:19.34 [[ 9.91974073e-01 -1.19293629e-01 -4.19102472e-02 5.22863558e+02] [ 1.19245230e-01 9.92858080e-01 -3.66182201e-03 3.58737724e+01] [ 4.20477596e-02 -1.36516456e-03 9.99114669e-01 1.93408007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7450998929999 meters 0.015226346270114887 Centerline is valid? [True, True] Translation: X:522.92, Y:35.89, Z:19.34 [[ 9.93229023e-01 -1.08737186e-01 -4.08941504e-02 5.22922674e+02] [ 1.08682240e-01 9.94070128e-01 -3.57100431e-03 3.58890909e+01] [ 4.10399542e-02 -8.97642732e-04 9.99157103e-01 1.93443092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8050998929999 meters 0.013878316272750898 Centerline is valid? [True, True] Translation: X:522.98, Y:35.90, Z:19.35 [[ 9.94342817e-01 -9.79706431e-02 -4.10379829e-02 5.22982477e+02] [ 9.79061433e-02 9.95189201e-01 -3.58340553e-03 3.59040087e+01] [ 4.11916259e-02 -4.54737085e-04 9.99151161e-01 1.93466874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8650998929999 meters 0.013506882418267255 Centerline is valid? [True, True] Translation: X:523.04, Y:35.91, Z:19.35 [[ 9.94818076e-01 -9.28109628e-02 -4.15104899e-02 5.23043354e+02] [ 9.27405127e-02 9.95683718e-01 -3.62380762e-03 3.59132697e+01] [ 4.16676480e-02 -2.44674797e-04 9.99131496e-01 1.93487089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9250998929999 meters 0.013607587461581801 Centerline is valid? [True, True] Translation: X:523.10, Y:35.92, Z:19.35 [[ 9.95026616e-01 -9.02005852e-02 -4.22597580e-02 5.23104088e+02] [ 9.01253021e-02 9.95923609e-01 -3.68714805e-03 3.59196368e+01] [ 4.24200736e-02 -1.39863009e-04 9.99099854e-01 1.93499669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9850998929999 meters 0.013665720943664495 Centerline is valid? [True, True] Translation: X:523.16, Y:35.92, Z:19.35 [[ 9.95078057e-01 -8.95654812e-02 -4.23991247e-02 5.23164464e+02] [ 8.94893386e-02 9.95980929e-01 -3.69427477e-03 3.59248399e+01] [ 4.25595991e-02 -1.18177874e-04 9.99093923e-01 1.93518864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0450998929999 meters 0.01370084340408895 Centerline is valid? [True, True] Translation: X:523.23, Y:35.93, Z:19.35 [[ 9.94981208e-01 -9.07114972e-02 -4.22352865e-02 5.23226047e+02] [ 9.06370776e-02 9.95877199e-01 -3.67756048e-03 3.59293809e+01] [ 4.23947559e-02 -1.68979372e-04 9.99100924e-01 1.93547185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1050998929999 meters 0.013832034649525147 Centerline is valid? [True, True] Translation: X:523.29, Y:35.93, Z:19.36 [[ 9.94751075e-01 -9.34103495e-02 -4.17708658e-02 5.23286545e+02] [ 9.33399971e-02 9.95627655e-01 -3.63566372e-03 3.59311761e+01] [ 4.19278377e-02 -2.82312096e-04 9.99120602e-01 1.93571101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1650998929999 meters 0.014550393178968418 Centerline is valid? [True, True] Translation: X:523.35, Y:35.93, Z:19.36 [[ 9.94113193e-01 -1.00411244e-01 -4.07006296e-02 5.23348425e+02] [ 1.00350345e-01 9.94945860e-01 -3.54171867e-03 3.59293248e+01] [ 4.08505513e-02 -5.63452949e-04 9.99165109e-01 1.93598162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2250998929999 meters 0.01544525029802704 Centerline is valid? [True, True] Translation: X:523.41, Y:35.93, Z:19.36 [[ 9.93518936e-01 -1.06450264e-01 -3.98555577e-02 5.23409631e+02] [ 1.06396775e-01 9.94317710e-01 -3.46681693e-03 3.59288393e+01] [ 3.99981304e-02 -7.96154537e-04 9.99199437e-01 1.93618428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2850998929999 meters 0.01885966680628792 Centerline is valid? [True, True] Translation: X:523.47, Y:35.92, Z:19.36 [[ 9.92452498e-01 -1.16151386e-01 -3.93305765e-02 5.23470132e+02] [ 1.16106928e-01 9.93230830e-01 -3.42041127e-03 3.59220258e+01] [ 3.94616267e-02 -1.17195671e-03 9.99220399e-01 1.93634317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3450998929999 meters 0.01973908082131176 Centerline is valid? [True, True] Translation: X:523.53, Y:35.92, Z:19.37 [[ 9.91753668e-01 -1.22073936e-01 -3.90207094e-02 5.23531313e+02] [ 1.22034797e-01 9.92520025e-01 -3.39228738e-03 3.59228321e+01] [ 3.91429453e-02 -1.39757088e-03 9.99232644e-01 1.93657557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4050998929998 meters 0.021155071947943017 Centerline is valid? [True, True] Translation: X:523.59, Y:35.92, Z:19.37 [[ 9.90897681e-01 -1.28366766e-01 -4.05432922e-02 5.23592302e+02] [ 1.28329795e-01 9.91725287e-01 -3.52393320e-03 3.59221804e+01] [ 4.06601640e-02 -1.71105514e-03 9.99171569e-01 1.93671209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4650998929999 meters 0.024177504870615915 Centerline is valid? [True, True] Translation: X:523.65, Y:35.92, Z:19.37 [[ 9.90214218e-01 -1.33312572e-01 -4.12742063e-02 5.23653163e+02] [ 1.33278552e-01 9.91072126e-01 -3.58717405e-03 3.59199129e+01] [ 4.13839308e-02 -1.94889568e-03 9.99141417e-01 1.93689382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5250998929998 meters 0.026576426156757132 Centerline is valid? [True, True] Translation: X:523.71, Y:35.92, Z:19.37 [[ 9.89847008e-01 -1.35831231e-01 -4.18661845e-02 5.23712979e+02] [ 1.35798514e-01 9.90729797e-01 -3.63766489e-03 3.59204595e+01] [ 4.19721850e-02 -2.08463394e-03 9.99116605e-01 1.93715363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5850998929999 meters 0.026048449184557492 Centerline is valid? [True, True] Translation: X:523.77, Y:35.93, Z:19.37 [[ 9.89528137e-01 -1.37853812e-01 -4.27830909e-02 5.23774089e+02] [ 1.37821540e-01 9.90450103e-01 -3.71713022e-03 3.59262214e+01] [ 4.28869374e-02 -2.21822656e-03 9.99077470e-01 1.93739088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6450998929998 meters 0.027685595588817367 Centerline is valid? [True, True] Translation: X:523.84, Y:35.93, Z:19.38 [[ 9.89257611e-01 -1.39154060e-01 -4.47830970e-02 5.23835188e+02] [ 1.39120106e-01 9.90267878e-01 -3.88922239e-03 3.59302605e+01] [ 4.48884635e-02 -2.38278636e-03 9.98989163e-01 1.93755706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7050998929999 meters 0.025024760732055652 Centerline is valid? [True, True] Translation: X:523.90, Y:35.94, Z:19.38 [[ 9.89277929e-01 -1.38809753e-01 -4.53985913e-02 5.23896049e+02] [ 1.38774574e-01 9.90316154e-01 -3.94103197e-03 3.59405133e+01] [ 4.55060120e-02 -2.40139423e-03 9.98961179e-01 1.93789306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7650998929998 meters 0.024627218885650507 Centerline is valid? [True, True] Translation: X:523.96, Y:35.95, Z:19.38 [[ 9.89615756e-01 -1.36451007e-01 -4.51860415e-02 5.23957148e+02] [ 1.36413787e-01 9.90644187e-01 -3.92077224e-03 3.59496923e+01] [ 4.52982827e-02 -2.28394107e-03 9.98970895e-01 1.93823816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8250998929999 meters 0.022977054725300653 Centerline is valid? [True, True] Translation: X:524.02, Y:35.96, Z:19.39 [[ 9.89925605e-01 -1.34485743e-01 -4.42818486e-02 5.24017970e+02] [ 1.34448136e-01 9.90913191e-01 -3.84004139e-03 3.59597656e+01] [ 4.43958987e-02 -2.15225671e-03 9.99011698e-01 1.93858665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8850998929998 meters 0.02413200229524129 Centerline is valid? [True, True] Translation: X:524.08, Y:35.97, Z:19.39 [[ 9.90537273e-01 -1.30213201e-01 -4.33639575e-02 5.24077113e+02] [ 1.30173110e-01 9.91484156e-01 -3.75908082e-03 3.59669973e+01] [ 4.34841587e-02 -1.92131153e-03 9.99052269e-01 1.93882750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9450998929999 meters 0.021516887054888523 Centerline is valid? [True, True] Translation: X:524.14, Y:35.98, Z:19.39 [[ 9.91256534e-01 -1.24815611e-01 -4.27965856e-02 5.24136682e+02] [ 1.24771544e-01 9.92178562e-01 -3.70976753e-03 3.59809622e+01] [ 4.29248917e-02 -1.66246476e-03 9.99076919e-01 1.93915194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0050998929999 meters 0.020322379490637057 Centerline is valid? [True, True] Translation: X:524.20, Y:35.99, Z:19.39 [[ 9.91809666e-01 -1.20400321e-01 -4.26303870e-02 5.24196823e+02] [ 1.20352563e-01 9.92724338e-01 -3.69441131e-03 3.59917982e+01] [ 4.27650310e-02 -1.46652346e-03 9.99084081e-01 1.93937726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0650998929999 meters 0.0183075013909968 Centerline is valid? [True, True] Translation: X:524.26, Y:36.01, Z:19.40 [[ 9.92644643e-01 -1.13670556e-01 -4.16607362e-02 5.24256508e+02] [ 1.13619052e-01 9.93517831e-01 -3.60965499e-03 3.60053579e+01] [ 4.18009958e-02 -1.15034867e-03 9.99125294e-01 1.93965248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1250998929999 meters 0.016664358609086504 Centerline is valid? [True, True] Translation: X:524.32, Y:36.02, Z:19.40 [[ 9.93133580e-01 -1.09587599e-01 -4.09420352e-02 5.24316745e+02] [ 1.09534422e-01 9.93976676e-01 -3.54660073e-03 3.60164624e+01] [ 4.10840915e-02 -9.62313860e-04 9.99155229e-01 1.93994754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1850998929999 meters 0.01510529734430111 Centerline is valid? [True, True] Translation: X:524.38, Y:36.03, Z:19.40 [[ 9.93789104e-01 -1.03688203e-01 -4.03976887e-02 5.24377413e+02] [ 1.03631616e-01 9.94609598e-01 -3.49798936e-03 3.60285705e+01] [ 4.05426292e-02 -7.10214052e-04 9.99177557e-01 1.94021804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2450998929999 meters 0.014669590173555987 Centerline is valid? [True, True] Translation: X:524.44, Y:36.04, Z:19.40 [[ 9.94139040e-01 -9.98949832e-02 -4.13347378e-02 5.24438705e+02] [ 9.98325346e-02 9.94997823e-01 -3.57739360e-03 3.60368128e+01] [ 4.14853378e-02 -5.70125004e-04 9.99138950e-01 1.94033433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3050998929999 meters 0.014208674932983107 Centerline is valid? [True, True] Translation: X:524.50, Y:36.04, Z:19.40 [[ 9.94503196e-01 -9.58908918e-02 -4.20515185e-02 5.24500637e+02] [ 9.58228128e-02 9.95391765e-01 -3.63626553e-03 3.60444632e+01] [ 4.22064200e-02 -4.13217097e-04 9.99108827e-01 1.94044893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3650998929999 meters 0.014072998588442642 Centerline is valid? [True, True] Translation: X:524.56, Y:36.05, Z:19.41 [[ 9.94635835e-01 -9.45867649e-02 -4.18676349e-02 5.24563122e+02] [ 9.45182580e-02 9.95516557e-01 -3.61720932e-03 3.60492323e+01] [ 4.20220639e-02 -3.59449909e-04 9.99116618e-01 1.94066956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4250998929999 meters 0.014071468609803453 Centerline is valid? [True, True] Translation: X:524.63, Y:36.05, Z:19.41 [[ 9.94499968e-01 -9.65110829e-02 -4.06868970e-02 5.24625491e+02] [ 9.64481422e-02 9.95331816e-01 -3.51162326e-03 3.60512049e+01] [ 4.08358737e-02 -4.31866410e-04 9.99165774e-01 1.94092509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4850998929999 meters 0.014514528735262945 Centerline is valid? [True, True] Translation: X:524.69, Y:36.05, Z:19.41 [[ 9.94216551e-01 -9.94800317e-02 -4.04619838e-02 5.24687387e+02] [ 9.94203632e-02 9.95039405e-01 -3.48922231e-03 3.60526662e+01] [ 4.06083762e-02 -5.53702552e-04 9.99174986e-01 1.94112821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5450998929999 meters 0.015582540960708439 Centerline is valid? [True, True] Translation: X:524.75, Y:36.05, Z:19.41 [[ 9.93601356e-01 -1.05080723e-01 -4.14051633e-02 5.24748555e+02] [ 1.05023219e-01 9.94463371e-01 -3.56760942e-03 3.60505490e+01] [ 4.15508053e-02 -8.03721973e-04 9.99136069e-01 1.94125881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6050998929999 meters 0.016673801603798544 Centerline is valid? [True, True] Translation: X:524.81, Y:36.05, Z:19.41 [[ 9.93267820e-01 -1.08315453e-01 -4.10706872e-02 5.24809505e+02] [ 1.08261694e-01 9.94116136e-01 -3.53738153e-03 3.60501171e+01] [ 4.12121860e-02 -9.32814934e-04 9.99149982e-01 1.94144162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6650998929999 meters 0.01709716672798117 Centerline is valid? [True, True] Translation: X:524.87, Y:36.05, Z:19.42 [[ 9.92868874e-01 -1.12013997e-01 -4.07953919e-02 5.24871144e+02] [ 1.11964107e-01 9.93706042e-01 -3.51288345e-03 3.60511580e+01] [ 4.09321196e-02 -1.07978697e-03 9.99161346e-01 1.94169402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7250998929999 meters 0.0180947889610407 Centerline is valid? [True, True] Translation: X:524.93, Y:36.05, Z:19.42 [[ 9.92740775e-01 -1.13272399e-01 -4.04365909e-02 5.24931486e+02] [ 1.13224486e-01 9.93563336e-01 -3.48048828e-03 3.60519250e+01] [ 4.05705574e-02 -1.12318959e-03 9.99176045e-01 1.94183660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7850998929999 meters 0.018989088726044028 Centerline is valid? [True, True] Translation: X:524.99, Y:36.05, Z:19.42 [[ 9.92617832e-01 -1.14510702e-01 -3.99642147e-02 5.24991688e+02] [ 1.14464979e-01 9.93421335e-01 -3.43795677e-03 3.60520728e+01] [ 4.00949864e-02 -1.16192579e-03 9.99195197e-01 1.94200527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8450998929999 meters 0.019222948873731743 Centerline is valid? [True, True] Translation: X:525.05, Y:36.05, Z:19.42 [[ 9.92616613e-01 -1.14703417e-01 -3.94383671e-02 5.25052541e+02] [ 1.14659070e-01 9.93399110e-01 -3.39200164e-03 3.60548385e+01] [ 3.95671130e-02 -1.15500931e-03 9.99216248e-01 1.94221834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9050998929998 meters 0.018271011285529076 Centerline is valid? [True, True] Translation: X:525.11, Y:36.06, Z:19.42 [[ 9.92714421e-01 -1.13886639e-01 -3.93435003e-02 5.25113861e+02] [ 1.13841918e-01 9.93493119e-01 -3.38247664e-03 3.60600272e+01] [ 3.94727157e-02 -1.12110619e-03 9.99220020e-01 1.94239409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9650998929999 meters 0.01781310143869364 Centerline is valid? [True, True] Translation: X:525.18, Y:36.06, Z:19.43 [[ 9.92863330e-01 -1.12630883e-01 -3.92006542e-02 5.25175163e+02] [ 1.12585563e-01 9.93636323e-01 -3.36880860e-03 3.60647063e+01] [ 3.93306258e-02 -1.06866119e-03 9.99225680e-01 1.94259884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0250998929998 meters 0.017709770068700722 Centerline is valid? [True, True] Translation: X:525.24, Y:36.07, Z:19.43 [[ 9.92975195e-01 -1.11307629e-01 -4.01356848e-02 5.25235969e+02] [ 1.11259100e-01 9.93785453e-01 -3.44770263e-03 3.60682715e+01] [ 4.02700153e-02 -1.04197698e-03 9.99188291e-01 1.94273216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0850998929999 meters 0.018152156159690534 Centerline is valid? [True, True] Translation: X:525.30, Y:36.07, Z:19.43 [[ 9.92900980e-01 -1.11812069e-01 -4.05672946e-02 5.25296006e+02] [ 1.11762965e-01 9.93728789e-01 -3.48345772e-03 3.60716316e+01] [ 4.07023811e-02 -1.07519256e-03 9.99170736e-01 1.94290039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1450998929998 meters 0.019480869546650115 Centerline is valid? [True, True] Translation: X:525.36, Y:36.07, Z:19.43 [[ 9.92601213e-01 -1.14147002e-01 -4.13919429e-02 5.25355179e+02] [ 1.14097913e-01 9.93463152e-01 -3.55417131e-03 3.60728591e+01] [ 4.15270681e-02 -1.19485954e-03 9.99136665e-01 1.94312641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2050998929999 meters 0.020682074264595715 Centerline is valid? [True, True] Translation: X:525.42, Y:36.08, Z:19.43 [[ 9.92305872e-01 -1.16322650e-01 -4.24039822e-02 5.25415191e+02] [ 1.16273147e-01 9.93210604e-01 -3.64027822e-03 3.60757959e+01] [ 4.25395316e-02 -1.31817501e-03 9.99093915e-01 1.94329418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2650998929998 meters 0.01901895759961132 Centerline is valid? [True, True] Translation: X:525.48, Y:36.08, Z:19.44 [[ 9.91913436e-01 -1.19596436e-01 -4.24785514e-02 5.25475274e+02] [ 1.19549733e-01 9.92821514e-01 -3.64721362e-03 3.60844114e+01] [ 4.26098135e-02 -1.46057927e-03 9.99090722e-01 1.94369067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3250998929999 meters 0.021279979697765523 Centerline is valid? [True, True] Translation: X:525.54, Y:36.09, Z:19.44 [[ 9.91684280e-01 -1.21799144e-01 -4.15602915e-02 5.25535592e+02] [ 1.21756404e-01 9.92553601e-01 -3.56752360e-03 3.60870918e+01] [ 4.16853383e-02 -1.52237457e-03 9.99129629e-01 1.94404710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3850998929998 meters 0.021978139577470555 Centerline is valid? [True, True] Translation: X:525.60, Y:36.09, Z:19.44 [[ 9.91320789e-01 -1.25016811e-01 -4.06680472e-02 5.25596474e+02] [ 1.24978654e-01 9.92153295e-01 -3.48929015e-03 3.60929192e+01] [ 4.07851570e-02 -1.62363194e-03 9.99166620e-01 1.94444949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4450998929999 meters 0.02496910372914617 Centerline is valid? [True, True] Translation: X:525.66, Y:36.10, Z:19.45 [[ 9.91034159e-01 -1.27303271e-01 -4.05607285e-02 5.25656154e+02] [ 1.27267280e-01 9.91862358e-01 -3.47876094e-03 3.60956106e+01] [ 4.06735174e-02 -1.71448266e-03 9.99171019e-01 1.94471941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5050998929999 meters 0.022639692946241248 Centerline is valid? [True, True] Translation: X:525.72, Y:36.11, Z:19.45 [[ 9.90495563e-01 -1.31351198e-01 -4.08093364e-02 5.25716197e+02] [ 1.31318196e-01 9.91334092e-01 -3.49993330e-03 3.61074519e+01] [ 4.09154069e-02 -1.89234004e-03 9.99160822e-01 1.94499916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5650998929999 meters 0.02540598410712407 Centerline is valid? [True, True] Translation: X:525.78, Y:36.11, Z:19.45 [[ 9.89832722e-01 -1.36094204e-01 -4.13467125e-02 5.25775694e+02] [ 1.36064514e-01 9.90693638e-01 -3.54451619e-03 3.61118911e+01] [ 4.14443131e-02 -2.11734223e-03 9.99138572e-01 1.94513076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6250998929999 meters 0.026526508528645073 Centerline is valid? [True, True] Translation: X:525.84, Y:36.12, Z:19.45 [[ 9.89484006e-01 -1.38339642e-01 -4.22320467e-02 5.25836073e+02] [ 1.38310699e-01 9.90382271e-01 -3.62058688e-03 3.61179579e+01] [ 4.23267410e-02 -2.25863107e-03 9.99101269e-01 1.94527105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6850998929999 meters 0.02516274956568607 Centerline is valid? [True, True] Translation: X:525.90, Y:36.13, Z:19.46 [[ 9.89198392e-01 -1.40139771e-01 -4.29812228e-02 5.25897553e+02] [ 1.40111584e-01 9.90128872e-01 -3.68251481e-03 3.61307615e+01] [ 4.30730165e-02 -2.37942949e-03 9.99069093e-01 1.94552148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7450998929999 meters 0.026268225355284034 Centerline is valid? [True, True] Translation: X:525.96, Y:36.14, Z:19.46 [[ 9.89248164e-01 -1.39715781e-01 -4.32154022e-02 5.25958615e+02] [ 1.39687019e-01 9.90188796e-01 -3.69946106e-03 3.61378083e+01] [ 4.33082802e-02 -2.37694565e-03 9.99058929e-01 1.94568830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8050998929999 meters 0.025247372699405364 Centerline is valid? [True, True] Translation: X:526.02, Y:36.15, Z:19.46 [[ 9.89469758e-01 -1.37751769e-01 -4.44302510e-02 5.26018882e+02] [ 1.37719502e-01 9.90463977e-01 -3.80108697e-03 3.61493538e+01] [ 4.45301696e-02 -2.35785142e-03 9.99005258e-01 1.94579458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8650998929999 meters 0.026096869835470944 Centerline is valid? [True, True] Translation: X:526.08, Y:36.16, Z:19.46 [[ 9.89814628e-01 -1.35175136e-01 -4.46618991e-02 5.26078923e+02] [ 1.35139990e-01 9.90819154e-01 -3.81925731e-03 3.61586469e+01] [ 4.47681338e-02 -2.25525185e-03 9.98994859e-01 1.94599282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9250998929999 meters 0.026239265715911494 Centerline is valid? [True, True] Translation: X:526.14, Y:36.17, Z:19.46 [[ 9.90141417e-01 -1.32945401e-01 -4.41077536e-02 5.26139715e+02] [ 1.32908984e-01 9.91121076e-01 -3.77029537e-03 3.61670225e+01] [ 4.42173676e-02 -2.12919113e-03 9.99019665e-01 1.94626995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9850998929999 meters 0.022852418695939482 Centerline is valid? [True, True] Translation: X:526.20, Y:36.18, Z:19.47 [[ 9.90712884e-01 -1.28905520e-01 -4.32590846e-02 5.26199122e+02] [ 1.28866702e-01 9.91655035e-01 -3.69646973e-03 3.61813994e+01] [ 4.33745844e-02 -1.91251537e-03 9.99057049e-01 1.94660820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0450998929999 meters 0.020192431285160146 Centerline is valid? [True, True] Translation: X:526.26, Y:36.19, Z:19.47 [[ 9.91163804e-01 -1.25338228e-01 -4.34124688e-02 5.26259599e+02] [ 1.25295729e-01 9.92112504e-01 -3.70934413e-03 3.61934486e+01] [ 4.35349758e-02 -1.76282929e-03 9.99050348e-01 1.94690008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1050998929999 meters 0.018253061448759232 Centerline is valid? [True, True] Translation: X:526.32, Y:36.21, Z:19.47 [[ 9.91901173e-01 -1.19007721e-01 -4.43759582e-02 5.26319725e+02] [ 1.18957056e-01 9.92892166e-01 -3.79012262e-03 3.62050852e+01] [ 4.45115952e-02 -1.51940626e-03 9.99007712e-01 1.94702852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1650998929999 meters 0.017474383896136186 Centerline is valid? [True, True] Translation: X:526.38, Y:36.21, Z:19.47 [[ 9.92584994e-01 -1.12331130e-01 -4.64407898e-02 5.26378983e+02] [ 1.12268372e-01 9.93670008e-01 -3.96576060e-03 3.62134154e+01] [ 4.65922983e-02 -1.27747742e-03 9.98913172e-01 1.94701313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2250998929999 meters 0.015177351697055195 Centerline is valid? [True, True] Translation: X:526.44, Y:36.22, Z:19.47 [[ 9.93099251e-01 -1.07334711e-01 -4.72560947e-02 5.26440121e+02] [ 1.07264104e-01 9.94222376e-01 -4.03481981e-03 3.62240916e+01] [ 4.74161430e-02 -1.06190613e-03 9.98874658e-01 1.94727639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2850998929999 meters 0.014162719793529082 Centerline is valid? [True, True] Translation: X:526.50, Y:36.23, Z:19.48 [[ 9.93606284e-01 -1.01904713e-01 -4.86002208e-02 5.26500853e+02] [ 1.01823663e-01 9.94793820e-01 -4.14702722e-03 3.62319025e+01] [ 4.87698009e-02 -8.28140215e-04 9.98809702e-01 1.94750875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3450998929999 meters 0.01335380467198335 Centerline is valid? [True, True] Translation: X:526.56, Y:36.24, Z:19.48 [[ 9.94265630e-01 -9.47552929e-02 -4.95710793e-02 5.26561277e+02] [ 9.46621800e-02 9.95500475e-01 -4.22801231e-03 3.62390642e+01] [ 4.97486595e-02 -4.88739101e-04 9.98761649e-01 1.94768154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4050998929998 meters 0.01310857328633057 Centerline is valid? [True, True] Translation: X:526.62, Y:36.24, Z:19.48 [[ 9.94444766e-01 -9.25198186e-02 -5.01965172e-02 5.26622300e+02] [ 9.24215628e-02 9.95710769e-01 -4.27998652e-03 3.62404093e+01] [ 5.03771963e-02 -3.83030371e-04 9.98730189e-01 1.94788339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4650998929999 meters 0.013103087631976271 Centerline is valid? [True, True] Translation: X:526.68, Y:36.24, Z:19.48 [[ 9.94366164e-01 -9.31618600e-02 -5.05647994e-02 5.26681804e+02] [ 9.30629611e-02 9.95650889e-01 -4.31187460e-03 3.62416017e+01] [ 5.07465897e-02 -4.18127752e-04 9.98711474e-01 1.94813660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5250998929998 meters 0.01328215444032544 Centerline is valid? [True, True] Translation: X:526.74, Y:36.24, Z:19.48 [[ 9.94054962e-01 -9.62616744e-02 -5.08765395e-02 5.26741259e+02] [ 9.61653590e-02 9.95355896e-01 -4.34331471e-03 3.62393494e+01] [ 5.10583583e-02 -5.75067157e-04 9.98695506e-01 1.94840154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5850998929999 meters 0.01359712909454634 Centerline is valid? [True, True] Translation: X:526.80, Y:36.24, Z:19.49 [[ 9.93816758e-01 -9.90023960e-02 -5.02670579e-02 5.26800104e+02] [ 9.89112367e-02 9.95086953e-01 -4.30397094e-03 3.62378877e+01] [ 5.04461969e-02 -6.94618413e-04 9.98726539e-01 1.94868439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6450998929998 meters 0.014027760011045134 Centerline is valid? [True, True] Translation: X:526.86, Y:36.23, Z:19.49 [[ 9.93535393e-01 -1.02228654e-01 -4.93632025e-02 5.26858979e+02] [ 1.02144111e-01 9.94760580e-01 -4.23890306e-03 3.62339679e+01] [ 4.95379053e-02 -8.30660205e-04 9.98771899e-01 1.94902727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7050998929999 meters 0.014686185249329013 Centerline is valid? [True, True] Translation: X:526.92, Y:36.23, Z:19.49 [[ 9.93341814e-01 -1.04088983e-01 -4.93712987e-02 5.26917794e+02] [ 1.04006199e-01 9.94567569e-01 -4.24984099e-03 3.62306161e+01] [ 4.95454541e-02 -9.13376381e-04 9.98771452e-01 1.94911799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7650998929998 meters 0.014968937353737454 Centerline is valid? [True, True] Translation: X:526.98, Y:36.23, Z:19.49 [[ 9.93314809e-01 -1.04702096e-01 -4.86123530e-02 5.26976569e+02] [ 1.04622311e-01 9.94503201e-01 -4.18985519e-03 3.62307962e+01] [ 4.87838273e-02 -9.24091499e-04 9.98808933e-01 1.94925880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8250998929999 meters 0.01505054893539401 Centerline is valid? [True, True] Translation: X:527.04, Y:36.23, Z:19.49 [[ 9.93293289e-01 -1.05032285e-01 -4.83390277e-02 5.27035514e+02] [ 1.04953218e-01 9.94468384e-01 -4.17799511e-03 3.62338791e+01] [ 4.85104591e-02 -9.23361995e-04 9.98822248e-01 1.94947581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8850998929998 meters 0.013726260061782469 Centerline is valid? [True, True] Translation: X:527.10, Y:36.24, Z:19.50 [[ 9.93457154e-01 -1.04056281e-01 -4.70656375e-02 5.27095152e+02] [ 1.03979798e-01 9.94571053e-01 -4.07708242e-03 3.62373557e+01] [ 4.72343667e-02 -8.43468795e-04 9.98883478e-01 1.94986795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9450998929999 meters 0.013771343753525667 Centerline is valid? [True, True] Translation: X:527.15, Y:36.24, Z:19.50 [[ 9.93681249e-01 -1.02200401e-01 -4.63967048e-02 5.27154731e+02] [ 1.02123984e-01 9.94763553e-01 -4.02067192e-03 3.62403138e+01] [ 4.65646652e-02 -7.42950027e-04 9.98915001e-01 1.95009260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0050998929999 meters 0.013033493535956009 Centerline is valid? [True, True] Translation: X:527.21, Y:36.24, Z:19.50 [[ 9.94219259e-01 -9.76517224e-02 -4.46341392e-02 5.27214835e+02] [ 9.75763846e-02 9.95220519e-01 -3.86872231e-03 3.62440649e+01] [ 4.47985986e-02 -5.08879707e-04 9.98995909e-01 1.95035311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0650998929999 meters 0.012584728033033146 Centerline is valid? [True, True] Translation: X:527.27, Y:36.25, Z:19.51 [[ 9.94774292e-01 -9.23223540e-02 -4.35969244e-02 5.27274028e+02] [ 9.22453210e-02 9.95729137e-01 -3.77971612e-03 3.62482347e+01] [ 4.37596802e-02 -2.61647864e-04 9.99042052e-01 1.95057647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1250998929999 meters 0.012481105995936801 Centerline is valid? [True, True] Translation: X:527.33, Y:36.25, Z:19.51 [[ 9.95103215e-01 -8.89912700e-02 -4.30133218e-02 5.27333346e+02] [ 8.89131080e-02 9.96032400e-01 -3.73067280e-03 3.62525311e+01] [ 4.31746594e-02 -1.12043627e-04 9.99067533e-01 1.95080110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1850998929999 meters 0.01244418215615162 Centerline is valid? [True, True] Translation: X:527.39, Y:36.26, Z:19.51 [[ 9.95352564e-01 -8.64501090e-02 -4.24223057e-02 5.27391355e+02] [ 8.63716863e-02 9.96256181e-01 -3.68146153e-03 3.62564893e+01] [ 4.25817471e-02 2.66092142e-07 9.99092986e-01 1.95100637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2450998929999 meters 0.012488842292434278 Centerline is valid? [True, True] Translation: X:527.45, Y:36.26, Z:19.51 [[ 9.95578913e-01 -8.42467798e-02 -4.15344303e-02 5.27448885e+02] [ 8.41694322e-02 9.96444916e-01 -3.61058598e-03 3.62580667e+01] [ 4.16909522e-02 9.86938411e-05 9.99130549e-01 1.95121501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3050998929999 meters 0.01247069545251442 Centerline is valid? [True, True] Translation: X:527.51, Y:36.26, Z:19.51 [[ 9.95594181e-01 -8.45453170e-02 -4.05501612e-02 5.27507984e+02] [ 8.44713796e-02 9.96419631e-01 -3.53634782e-03 3.62593199e+01] [ 4.07039583e-02 9.54392605e-05 9.99171246e-01 1.95148582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3650998929999 meters 0.012430327223053825 Centerline is valid? [True, True] Translation: X:527.57, Y:36.26, Z:19.52 [[ 9.95532846e-01 -8.60704472e-02 -3.88101756e-02 5.27566500e+02] [ 8.60035095e-02 9.96289053e-01 -3.39410305e-03 3.62606395e+01] [ 3.89582851e-02 4.11297618e-05 9.99240837e-01 1.95174691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4250998929999 meters 0.012600641129391148 Centerline is valid? [True, True] Translation: X:527.63, Y:36.26, Z:19.52 [[ 9.95102307e-01 -9.15983235e-02 -3.71637759e-02 5.27626534e+02] [ 9.15404622e-02 9.95796024e-01 -3.25912219e-03 3.62579015e+01] [ 3.73060704e-02 -1.58829212e-04 9.99303874e-01 1.95193795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4850998929999 meters 0.01298791902377439 Centerline is valid? [True, True] Translation: X:527.69, Y:36.26, Z:19.52 [[ 9.94493232e-01 -9.80118614e-02 -3.71064113e-02 5.27687738e+02] [ 9.79585879e-02 9.95185167e-01 -3.25544802e-03 3.62563610e+01] [ 3.72468227e-02 -3.97370634e-04 9.99306017e-01 1.95211076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5450998929999 meters 0.01597110207028726 Centerline is valid? [True, True] Translation: X:527.75, Y:36.25, Z:19.52 [[ 9.93193340e-01 -1.10389163e-01 -3.71648059e-02 5.27748190e+02] [ 1.10344370e-01 9.93888067e-01 -3.26057120e-03 3.62471765e+01] [ 3.72975888e-02 -8.62549478e-04 9.99303831e-01 1.95232233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6050998929999 meters 0.020624574347918194 Centerline is valid? [True, True] Translation: X:527.81, Y:36.24, Z:19.53 [[ 9.91966752e-01 -1.21285059e-01 -3.59429883e-02 5.27809047e+02] [ 1.21250261e-01 9.92616957e-01 -3.15439535e-03 3.62386732e+01] [ 3.60602007e-02 -1.22904140e-03 9.99348864e-01 1.95254408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6650998929999 meters 0.019866099842502927 Centerline is valid? [True, True] Translation: X:527.87, Y:36.24, Z:19.53 [[ 9.91286088e-01 -1.26557943e-01 -3.65373639e-02 5.27869051e+02] [ 1.26525535e-01 9.91958166e-01 -3.20720234e-03 3.62412634e+01] [ 3.66494334e-02 -1.44365444e-03 9.99327141e-01 1.95268285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7250998929999 meters 0.020216629806053623 Centerline is valid? [True, True] Translation: X:527.93, Y:36.25, Z:19.53 [[ 9.91252396e-01 -1.26728451e-01 -3.68590171e-02 5.27929450e+02] [ 1.26695561e-01 9.91936370e-01 -3.23613093e-03 3.62455032e+01] [ 3.69719095e-02 -1.46205132e-03 9.99315236e-01 1.95285803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7850998929999 meters 0.01864401014622971 Centerline is valid? [True, True] Translation: X:527.99, Y:36.25, Z:19.53 [[ 9.91410082e-01 -1.25544146e-01 -3.66703679e-02 5.27989430e+02] [ 1.25510784e-01 9.92087031e-01 -3.21956799e-03 3.62541058e+01] [ 3.67843943e-02 -1.41061444e-03 9.99322230e-01 1.95311696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8450998929999 meters 0.01968191827340567 Centerline is valid? [True, True] Translation: X:528.05, Y:36.26, Z:19.53 [[ 9.91514805e-01 -1.24334870e-01 -3.79371942e-02 5.28049075e+02] [ 1.24298279e-01 9.92239308e-01 -3.33080667e-03 3.62593524e+01] [ 3.80569107e-02 -1.41298383e-03 9.99274574e-01 1.95327673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9050998929998 meters 0.019737171015855832 Centerline is valid? [True, True] Translation: X:528.11, Y:36.27, Z:19.53 [[ 9.91454199e-01 -1.24674833e-01 -3.84025735e-02 5.28109231e+02] [ 1.24637566e-01 9.92196606e-01 -3.37236761e-03 3.62658831e+01] [ 3.85233525e-02 -1.44285528e-03 9.99256658e-01 1.95343415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9650998929999 meters 0.021725977133433497 Centerline is valid? [True, True] Translation: X:528.17, Y:36.27, Z:19.54 [[ 9.90973001e-01 -1.28143823e-01 -3.93912720e-02 5.28168631e+02] [ 1.28107345e-01 9.91754275e-01 -3.45923157e-03 3.62714917e+01] [ 3.95097415e-02 -1.61830619e-03 9.99217875e-01 1.95361494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0250998929998 meters 0.02240203539043685 Centerline is valid? [True, True] Translation: X:528.23, Y:36.28, Z:19.54 [[ 9.90444358e-01 -1.31889445e-01 -4.03131296e-02 5.28228876e+02] [ 1.31854307e-01 9.91262783e-01 -3.54087294e-03 3.62778027e+01] [ 4.04279088e-02 -1.80842215e-03 9.99180821e-01 1.95381414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0850998929999 meters 0.02660160323770058 Centerline is valid? [True, True] Translation: X:528.29, Y:36.28, Z:19.54 [[ 9.89613905e-01 -1.37630538e-01 -4.14988330e-02 5.28287866e+02] [ 1.37598335e-01 9.90481404e-01 -3.64501036e-03 3.62800982e+01] [ 4.16054871e-02 -2.10301737e-03 9.99131904e-01 1.95390820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1450998929998 meters 0.02513456127231579 Centerline is valid? [True, True] Translation: X:528.35, Y:36.29, Z:19.54 [[ 9.89306241e-01 -1.39890834e-01 -4.12760910e-02 5.28347181e+02] [ 1.39860935e-01 9.90164519e-01 -3.62545406e-03 3.62907670e+01] [ 4.13772886e-02 -2.18622837e-03 9.99141201e-01 1.95425041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2050998929999 meters 0.02910912000313162 Centerline is valid? [True, True] Translation: X:528.41, Y:36.30, Z:19.55 [[ 9.89273623e-01 -1.40415457e-01 -4.02641053e-02 5.28405615e+02] [ 1.40387404e-01 9.90090331e-01 -3.53740137e-03 3.62972947e+01] [ 4.03618072e-02 -2.15311535e-03 9.99182810e-01 1.95461842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2650998929998 meters 0.02865535310045608 Centerline is valid? [True, True] Translation: X:528.46, Y:36.31, Z:19.55 [[ 9.89499256e-01 -1.38765852e-01 -4.04383656e-02 5.28464474e+02] [ 1.38736096e-01 9.90323007e-01 -3.55484921e-03 3.63082101e+01] [ 4.05403355e-02 -2.09274034e-03 9.99175711e-01 1.95489054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3250998929999 meters 0.021585695305099482 Centerline is valid? [True, True] Translation: X:528.52, Y:36.33, Z:19.55 [[ 9.90295989e-01 -1.32895024e-01 -4.06542240e-02 5.28522702e+02] [ 1.32859960e-01 9.91128372e-01 -3.57511199e-03 3.63321727e+01] [ 4.07686694e-02 -1.86089950e-03 9.99166879e-01 1.95515365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3850998929998 meters 0.020265820245570387 Centerline is valid? [True, True] Translation: X:528.58, Y:36.35, Z:19.55 [[ 9.91023753e-01 -1.27115540e-01 -4.13951831e-02 5.28582188e+02] [ 1.27074161e-01 9.91886540e-01 -3.64006332e-03 3.63462665e+01] [ 4.15220336e-02 -1.65286894e-03 9.99136221e-01 1.95539206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4450998929999 meters 0.017794156311201823 Centerline is valid? [True, True] Translation: X:528.64, Y:36.36, Z:19.56 [[ 9.92262997e-01 -1.16901955e-01 -4.18100195e-02 5.28641663e+02] [ 1.16850718e-01 9.93142688e-01 -3.67561081e-03 3.63649378e+01] [ 4.19530012e-02 -1.23835822e-03 9.99118818e-01 1.95560430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5050998929999 meters 0.015937527725103012 Centerline is valid? [True, True] Translation: X:528.70, Y:36.38, Z:19.56 [[ 9.92849085e-01 -1.11465090e-01 -4.27343990e-02 5.28701835e+02] [ 1.11406547e-01 9.93767815e-01 -3.75648016e-03 3.63795670e+01] [ 4.28867867e-02 -1.03127392e-03 9.99079406e-01 1.95581704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5650998929999 meters 0.015310273722779816 Centerline is valid? [True, True] Translation: X:528.76, Y:36.39, Z:19.56 [[ 9.93415044e-01 -1.05554385e-01 -4.45513418e-02 5.28761186e+02] [ 1.05484887e-01 9.94413201e-01 -3.91460682e-03 3.63935461e+01] [ 4.47156463e-02 -8.10663924e-04 9.98999426e-01 1.95583248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6250998929999 meters 0.014371217516585657 Centerline is valid? [True, True] Translation: X:528.82, Y:36.41, Z:19.56 [[ 9.93751708e-01 -1.02490196e-01 -4.41961883e-02 5.28821319e+02] [ 1.02418814e-01 9.94733790e-01 -3.88245740e-03 3.64064664e+01] [ 4.43613558e-02 -6.68322518e-04 9.99015327e-01 1.95614687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6850998929999 meters 0.014295348760733214 Centerline is valid? [True, True] Translation: X:528.88, Y:36.42, Z:19.56 [[ 9.93843363e-01 -1.01555118e-01 -4.42936621e-02 5.28881109e+02] [ 1.01482560e-01 9.94829715e-01 -3.88951828e-03 3.64153604e+01] [ 4.44596517e-02 -6.29462278e-04 9.99010982e-01 1.95633733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7450998929999 meters 0.014285988035543559 Centerline is valid? [True, True] Translation: X:528.94, Y:36.42, Z:19.57 [[ 9.93821265e-01 -1.01666224e-01 -4.45339386e-02 5.28942597e+02] [ 1.01593042e-01 9.94818360e-01 -3.90939797e-03 3.64225880e+01] [ 4.47006335e-02 -6.39095472e-04 9.99000223e-01 1.95659281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8050998929999 meters 0.014223987783431957 Centerline is valid? [True, True] Translation: X:529.00, Y:36.43, Z:19.57 [[ 9.93732567e-01 -1.02162639e-01 -4.53693842e-02 5.29004078e+02] [ 1.02087356e-01 9.94767479e-01 -3.97934753e-03 3.64300381e+01] [ 4.55385286e-02 -6.77233231e-04 9.98962354e-01 1.95679614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8650998929999 meters 0.014560522221060726 Centerline is valid? [True, True] Translation: X:529.07, Y:36.44, Z:19.57 [[ 9.93475051e-01 -1.04291437e-01 -4.61586232e-02 5.29065393e+02] [ 1.04215951e-01 9.94546464e-01 -4.04544879e-03 3.64357381e+01] [ 4.63288012e-02 -7.91412389e-04 9.98925931e-01 1.95693307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9250998929999 meters 0.015212244031957922 Centerline is valid? [True, True] Translation: X:529.13, Y:36.44, Z:19.57 [[ 9.93039670e-01 -1.08287421e-01 -4.63254673e-02 5.29126821e+02] [ 1.08215809e-01 9.94119142e-01 -4.05838303e-03 3.64404440e+01] [ 4.64925056e-02 -9.83012566e-04 9.98918155e-01 1.95714017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9850998929999 meters 0.015671007696024496 Centerline is valid? [True, True] Translation: X:529.19, Y:36.45, Z:19.57 [[ 9.92757675e-01 -1.11179168e-01 -4.55125465e-02 5.29187491e+02] [ 1.11113157e-01 9.93799770e-01 -3.98553046e-03 3.64463659e+01] [ 4.56734662e-02 -1.10037678e-03 9.98955817e-01 1.95749562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0450998929999 meters 0.016917781492541296 Centerline is valid? [True, True] Translation: X:529.25, Y:36.45, Z:19.58 [[ 9.92294590e-01 -1.15375023e-01 -4.51669288e-02 5.29248166e+02] [ 1.15314418e-01 9.93321173e-01 -3.95376469e-03 3.64497353e+01] [ 4.53214324e-02 -1.28509881e-03 9.98971629e-01 1.95777873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1050998929999 meters 0.018012895954018966 Centerline is valid? [True, True] Translation: X:529.31, Y:36.45, Z:19.58 [[ 9.92066641e-01 -1.17442398e-01 -4.48448785e-02 5.29310391e+02] [ 1.17384819e-01 9.93078750e-01 -3.92435067e-03 3.64531734e+01] [ 4.49953810e-02 -1.37089054e-03 9.98986254e-01 1.95800004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1650998929999 meters 0.017348627763269984 Centerline is valid? [True, True] Translation: X:529.37, Y:36.46, Z:19.58 [[ 9.91893984e-01 -1.19121941e-01 -4.42299322e-02 5.29371719e+02] [ 1.19067731e-01 9.92878602e-01 -3.86750953e-03 3.64600137e+01] [ 4.43756585e-02 -1.43019824e-03 9.99013892e-01 1.95830142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2250998929999 meters 0.01797639850788566 Centerline is valid? [True, True] Translation: X:529.43, Y:36.46, Z:19.59 [[ 9.91822396e-01 -1.20034718e-01 -4.33589767e-02 5.29433665e+02] [ 1.19983601e-01 9.92768644e-01 -3.78886261e-03 3.64643712e+01] [ 4.35002276e-02 -1.44448738e-03 9.99052373e-01 1.95862993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2850998929999 meters 0.019634804730273122 Centerline is valid? [True, True] Translation: X:529.49, Y:36.47, Z:19.58 [[ 9.91719683e-01 -1.19601746e-01 -4.67706384e-02 5.29494578e+02] [ 1.19541979e-01 9.92820752e-01 -4.08295147e-03 3.64664240e+01] [ 4.69231885e-02 -1.54191134e-03 9.98897310e-01 1.95846610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3450998929999 meters 0.017581188503068557 Centerline is valid? [True, True] Translation: X:529.56, Y:36.48, Z:19.59 [[ 9.91880709e-01 -1.18316178e-01 -4.66255350e-02 5.29556598e+02] [ 1.18255600e-01 9.92974867e-01 -4.06521311e-03 3.64764924e+01] [ 4.67789649e-02 -1.48152415e-03 9.98904166e-01 1.95874147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4050998929998 meters 0.01868468315588596 Centerline is valid? [True, True] Translation: X:529.62, Y:36.48, Z:19.59 [[ 9.91973391e-01 -1.17183770e-01 -4.75053187e-02 5.29617963e+02] [ 1.17119780e-01 9.93109176e-01 -4.13789840e-03 3.64797530e+01] [ 4.76628625e-02 -1.45912736e-03 9.98862414e-01 1.95884585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4650998929999 meters 0.016588038264865726 Centerline is valid? [True, True] Translation: X:529.68, Y:36.49, Z:19.59 [[ 9.92201986e-01 -1.15493003e-01 -4.68677317e-02 5.29679070e+02] [ 1.15428962e-01 9.93307360e-01 -4.07966498e-03 3.64890647e+01] [ 4.70252355e-02 -1.36204192e-03 9.98892773e-01 1.95925682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5250998929998 meters 0.016568171209113164 Centerline is valid? [True, True] Translation: X:529.74, Y:36.50, Z:19.60 [[ 9.92582720e-01 -1.12621720e-01 -4.57809176e-02 5.29739354e+02] [ 1.12557701e-01 9.93637211e-01 -3.98207551e-03 3.64957179e+01] [ 4.59380915e-02 -1.20045548e-03 9.98943567e-01 1.95958858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5850998929999 meters 0.016321067364776367 Centerline is valid? [True, True] Translation: X:529.80, Y:36.50, Z:19.60 [[ 9.92703291e-01 -1.11705067e-01 -4.54109437e-02 5.29800230e+02] [ 1.11641195e-01 9.93740738e-01 -3.94826105e-03 3.65013803e+01] [ 4.55677454e-02 -1.15028029e-03 9.98960589e-01 1.95983118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6450998929998 meters 0.016026272330902033 Centerline is valid? [True, True] Translation: X:529.86, Y:36.51, Z:19.60 [[ 9.92809856e-01 -1.10844749e-01 -4.51888538e-02 5.29861729e+02] [ 1.10780682e-01 9.93837118e-01 -3.92734611e-03 3.65067637e+01] [ 4.53456859e-02 -1.10694412e-03 9.98970742e-01 1.96009474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7050998929999 meters 0.016381175155553974 Centerline is valid? [True, True] Translation: X:529.92, Y:36.51, Z:19.60 [[ 9.92781171e-01 -1.11702599e-01 -4.36815327e-02 5.29923988e+02] [ 1.11643642e-01 9.93741062e-01 -3.79459637e-03 3.65104137e+01] [ 4.38319990e-02 -1.10956159e-03 9.99038300e-01 1.96046438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7650998929998 meters 0.016054893267949073 Centerline is valid? [True, True] Translation: X:529.99, Y:36.52, Z:19.61 [[ 9.92548062e-01 -1.13988832e-01 -4.30684529e-02 5.29986092e+02] [ 1.13933799e-01 9.93481311e-01 -3.73828513e-03 3.65151938e+01] [ 4.32138258e-02 -1.19652481e-03 9.99065130e-01 1.96074835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8250998929999 meters 0.017678472536084608 Centerline is valid? [True, True] Translation: X:530.05, Y:36.52, Z:19.61 [[ 9.92137002e-01 -1.17216135e-01 -4.38696593e-02 5.30047191e+02] [ 1.17162326e-01 9.93105490e-01 -3.80464544e-03 3.65162739e+01] [ 4.40131654e-02 -1.36514180e-03 9.99030018e-01 1.96083903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8850998929998 meters 0.019893432652978067 Centerline is valid? [True, True] Translation: X:530.11, Y:36.52, Z:19.61 [[ 9.91694717e-01 -1.20699546e-01 -4.44207969e-02 5.30107592e+02] [ 1.20647962e-01 9.92687889e-01 -3.85024488e-03 3.65163450e+01] [ 4.45607099e-02 -1.54101112e-03 9.99005490e-01 1.96091081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9450998929999 meters 0.019650784846372008 Centerline is valid? [True, True] Translation: X:530.17, Y:36.52, Z:19.61 [[ 9.91804990e-01 -1.20089566e-01 -4.36045545e-02 5.30169715e+02] [ 1.20039320e-01 9.92761948e-01 -3.77839120e-03 3.65222720e+01] [ 4.37426878e-02 -1.48683380e-03 9.99041724e-01 1.96134651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0050998929999 meters 0.01912690951871337 Centerline is valid? [True, True] Translation: X:530.23, Y:36.53, Z:19.62 [[ 9.92048981e-01 -1.18154496e-01 -4.33397649e-02 5.30230996e+02] [ 1.18103137e-01 9.92994243e-01 -3.75261871e-03 3.65287675e+01] [ 4.34795258e-02 -1.39578061e-03 9.99053343e-01 1.96166797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0650998929999 meters 0.017036852011758665 Centerline is valid? [True, True] Translation: X:530.29, Y:36.54, Z:19.62 [[ 9.92423156e-01 -1.15153109e-01 -4.28490548e-02 5.30291724e+02] [ 1.15100176e-01 9.93346966e-01 -3.70863490e-03 3.65373593e+01] [ 4.29910394e-02 -1.25139858e-03 9.99074674e-01 1.96193312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1250998929999 meters 0.016186876746448114 Centerline is valid? [True, True] Translation: X:530.35, Y:36.54, Z:19.62 [[ 9.92526786e-01 -1.13870452e-01 -4.38645462e-02 5.30353673e+02] [ 1.13813812e-01 9.93494850e-01 -3.79464271e-03 3.65439073e+01] [ 4.40112985e-02 -1.22610669e-03 9.99030281e-01 1.96209913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1850998929999 meters 0.0166225758542181 Centerline is valid? [True, True] Translation: X:530.42, Y:36.55, Z:19.62 [[ 9.92134119e-01 -1.16789853e-01 -4.50557458e-02 5.30415215e+02] [ 1.16733249e-01 9.93155669e-01 -3.89442008e-03 3.65471361e+01] [ 4.52021981e-02 -1.39571655e-03 9.98976883e-01 1.96227606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2450998929999 meters 0.017452613828794622 Centerline is valid? [True, True] Translation: X:530.48, Y:36.55, Z:19.62 [[ 9.91845933e-01 -1.18794276e-01 -4.61472050e-02 5.30477535e+02] [ 1.18737191e-01 9.92917716e-01 -3.98595675e-03 3.65511448e+01] [ 4.62938862e-02 -1.52593452e-03 9.98926698e-01 1.96245523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3050998929999 meters 0.01764171240644599 Centerline is valid? [True, True] Translation: X:530.54, Y:36.56, Z:19.63 [[ 9.91754226e-01 -1.19443844e-01 -4.64405282e-02 5.30539121e+02] [ 1.19386904e-01 9.92839717e-01 -4.00783501e-03 3.65561365e+01] [ 4.65867121e-02 -1.56960357e-03 9.98913017e-01 1.96262450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3650998929999 meters 0.02132136522394301 Centerline is valid? [True, True] Translation: X:530.60, Y:36.56, Z:19.63 [[ 9.91615129e-01 -1.20501290e-01 -4.66784180e-02 5.30599960e+02] [ 1.20445081e-01 9.92711831e-01 -4.02524992e-03 3.65565856e+01] [ 4.68232656e-02 -1.63068710e-03 9.98901858e-01 1.96269856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4250998929999 meters 0.018399636870447305 Centerline is valid? [True, True] Translation: X:530.66, Y:36.57, Z:19.63 [[ 9.91701242e-01 -1.20283889e-01 -4.53919830e-02 5.30661665e+02] [ 1.20230595e-01 9.92738282e-01 -3.91239327e-03 3.65675817e+01] [ 4.55329571e-02 -1.57757983e-03 9.98961591e-01 1.96309667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4850998929999 meters 0.01856514556878964 Centerline is valid? [True, True] Translation: X:530.72, Y:36.58, Z:19.63 [[ 9.91868575e-01 -1.19634280e-01 -4.34093108e-02 5.30723726e+02] [ 1.19585059e-01 9.92816921e-01 -3.73826654e-03 3.65760316e+01] [ 4.35447231e-02 -1.48323588e-03 9.99050378e-01 1.96348662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5450998929999 meters 0.018226558704265802 Centerline is valid? [True, True] Translation: X:530.79, Y:36.58, Z:19.64 [[ 9.91923889e-01 -1.19619372e-01 -4.21687600e-02 5.30785357e+02] [ 1.19573083e-01 9.92818775e-01 -3.62734617e-03 3.65842021e+01] [ 4.22998375e-02 -1.44419732e-03 9.99103918e-01 1.96383780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6050998929999 meters 0.018369202746235696 Centerline is valid? [True, True] Translation: X:530.85, Y:36.59, Z:19.64 [[ 9.91691665e-01 -1.21684813e-01 -4.17186753e-02 5.30846978e+02] [ 1.21641457e-01 9.92567630e-01 -3.58560492e-03 3.65912732e+01] [ 4.18449203e-02 -1.51890595e-03 9.99122963e-01 1.96414476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6650998929999 meters 0.020184720561267716 Centerline is valid? [True, True] Translation: X:530.91, Y:36.59, Z:19.64 [[ 9.91238923e-01 -1.25138838e-01 -4.22571780e-02 5.30907931e+02] [ 1.25097610e-01 9.92137802e-01 -3.62900787e-03 3.65947062e+01] [ 4.23790735e-02 -1.68905812e-03 9.99100176e-01 1.96431668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7250998929999 meters 0.024187394837171545 Centerline is valid? [True, True] Translation: X:530.97, Y:36.59, Z:19.64 [[ 9.90290784e-01 -1.31784885e-01 -4.42369368e-02 5.30967324e+02] [ 1.31746349e-01 9.91276184e-01 -3.79824389e-03 3.65946856e+01] [ 4.43515731e-02 -2.06668898e-03 9.99013847e-01 1.96438823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7850998929999 meters 0.026150398471918967 Centerline is valid? [True, True] Translation: X:531.03, Y:36.60, Z:19.65 [[ 9.89648380e-01 -1.36056622e-01 -4.56582914e-02 5.31028428e+02] [ 1.36020128e-01 9.90698320e-01 -3.91972602e-03 3.65978543e+01] [ 4.57668973e-02 -2.33129613e-03 9.98949426e-01 1.96455242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8450998929999 meters 0.02578899018817407 Centerline is valid? [True, True] Translation: X:531.09, Y:36.60, Z:19.65 [[ 9.89169892e-01 -1.39073053e-01 -4.69213226e-02 5.31088693e+02] [ 1.39037934e-01 9.90278867e-01 -4.02732509e-03 3.66044873e+01] [ 4.70252866e-02 -2.54013504e-03 9.98890470e-01 1.96472013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9050998929998 meters 0.023746242612804374 Centerline is valid? [True, True] Translation: X:531.15, Y:36.62, Z:19.65 [[ 9.89063794e-01 -1.39228367e-01 -4.86649128e-02 5.31150297e+02] [ 1.39190856e-01 9.90256770e-01 -4.17542311e-03 3.66152375e+01] [ 4.87720967e-02 -2.64395104e-03 9.98806434e-01 1.96500871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9650998929999 meters 0.025554580805862027 Centerline is valid? [True, True] Translation: X:531.21, Y:36.62, Z:19.65 [[ 9.89481011e-01 -1.36152421e-01 -4.88860637e-02 5.31210122e+02] [ 1.36110973e-01 9.90684730e-01 -4.19139058e-03 3.66211823e+01] [ 4.90013448e-02 -2.50662833e-03 9.98795567e-01 1.96525369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0250998929998 meters 0.020984587746163786 Centerline is valid? [True, True] Translation: X:531.27, Y:36.64, Z:19.66 [[ 9.90702766e-01 -1.27456549e-01 -4.75694938e-02 5.31269761e+02] [ 1.27407332e-01 9.91842096e-01 -4.07771173e-03 3.66382126e+01] [ 4.77011575e-02 -2.02090198e-03 9.98859608e-01 1.96572319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0850998929999 meters 0.01733150963680045 Centerline is valid? [True, True] Translation: X:531.33, Y:36.65, Z:19.66 [[ 9.91652402e-01 -1.20425959e-01 -4.60771343e-02 5.31329380e+02] [ 1.20372222e-01 9.92720973e-01 -3.94930718e-03 3.66519495e+01] [ 4.62173367e-02 -1.63006708e-03 9.98930078e-01 1.96610198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1450998929998 meters 0.014582660108160141 Centerline is valid? [True, True] Translation: X:531.39, Y:36.67, Z:19.66 [[ 9.92845949e-01 -1.10347822e-01 -4.56100851e-02 5.31389279e+02] [ 1.10284548e-01 9.93892367e-01 -3.90902641e-03 3.66666669e+01] [ 4.57628680e-02 -1.14902660e-03 9.98951670e-01 1.96643550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2050998929999 meters 0.013806711457405694 Centerline is valid? [True, True] Translation: X:531.45, Y:36.68, Z:19.67 [[ 9.93407882e-01 -1.04598090e-01 -4.69043770e-02 5.31448919e+02] [ 1.04524812e-01 9.94514158e-01 -4.01901682e-03 3.66756572e+01] [ 4.70674485e-02 -9.10148188e-04 9.98891299e-01 1.96656870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2650998929998 meters 0.012624365842918208 Centerline is valid? [True, True] Translation: X:531.51, Y:36.69, Z:19.67 [[ 9.94045413e-01 -9.74757396e-02 -4.87052156e-02 5.31509746e+02] [ 9.73882330e-02 9.95237723e-01 -4.17218025e-03 3.66863755e+01] [ 4.88799542e-02 -5.95978241e-04 9.98804483e-01 1.96669548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3250998929999 meters 0.012133647569944945 Centerline is valid? [True, True] Translation: X:531.57, Y:36.69, Z:19.67 [[ 9.94605514e-01 -9.14279096e-02 -4.89980523e-02 5.31570700e+02] [ 9.13321520e-02 9.95811652e-01 -4.19436339e-03 3.66945231e+01] [ 4.91763133e-02 -3.03360606e-04 9.98790067e-01 1.96683731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3850998929998 meters 0.011883237622568972 Centerline is valid? [True, True] Translation: X:531.63, Y:36.70, Z:19.67 [[ 9.94905702e-01 -8.82950542e-02 -4.86479891e-02 5.31631206e+02] [ 8.81971697e-02 9.96094353e-01 -4.15922284e-03 3.67013635e+01] [ 4.88252260e-02 -1.52580426e-04 9.98807326e-01 1.96704000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4450998929999 meters 0.011841133029664365 Centerline is valid? [True, True] Translation: X:531.69, Y:36.71, Z:19.67 [[ 9.95082810e-01 -8.64699541e-02 -4.83026798e-02 5.31692569e+02] [ 8.63713888e-02 9.96254457e-01 -4.12798852e-03 3.67073041e+01] [ 4.84787070e-02 -6.42791142e-05 9.98824214e-01 1.96724894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5050998929999 meters 0.011867229044468824 Centerline is valid? [True, True] Translation: X:531.75, Y:36.71, Z:19.67 [[ 9.95000552e-01 -8.76452319e-02 -4.78770749e-02 5.31753317e+02] [ 8.75498300e-02 9.96151745e-01 -4.09008860e-03 3.67104682e+01] [ 4.80513085e-02 -1.21989352e-04 9.98844861e-01 1.96733870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5650998929999 meters 0.012130788481904653 Centerline is valid? [True, True] Translation: X:531.81, Y:36.71, Z:19.68 [[ 9.94638619e-01 -9.22097404e-02 -4.68121988e-02 5.31814989e+02] [ 9.21236339e-02 9.95739550e-01 -3.99813339e-03 3.67101235e+01] [ 4.69814246e-02 -3.35811993e-04 9.98895707e-01 1.96759127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6250998929999 meters 0.012477079303241769 Centerline is valid? [True, True] Translation: X:531.88, Y:36.71, Z:19.68 [[ 9.94290087e-01 -9.65857476e-02 -4.53697835e-02 5.31876735e+02] [ 9.65095186e-02 9.95324527e-01 -3.87275113e-03 3.67109479e+01] [ 4.55317108e-02 -5.27977907e-04 9.98962754e-01 1.96794276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6850998929999 meters 0.013716640889901965 Centerline is valid? [True, True] Translation: X:531.94, Y:36.71, Z:19.68 [[ 9.93617845e-01 -1.03798755e-01 -4.41519780e-02 5.31938949e+02] [ 1.03733875e-01 9.94597966e-01 -3.76430094e-03 3.67080810e+01] [ 4.43041972e-02 -8.39779189e-04 9.99017734e-01 1.96819973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7450998929999 meters 0.014733980711384915 Centerline is valid? [True, True] Translation: X:532.00, Y:36.71, Z:19.68 [[ 9.93146622e-01 -1.08347731e-01 -4.38241489e-02 5.32000821e+02] [ 1.08288338e-01 9.94112515e-01 -3.73398222e-03 3.67075633e+01] [ 4.39707034e-02 -1.03725243e-03 9.99032282e-01 1.96836237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8050998929999 meters 0.015166363752038744 Centerline is valid? [True, True] Translation: X:532.06, Y:36.71, Z:19.69 [[ 9.92608830e-01 -1.13334901e-01 -4.33925108e-02 5.32061683e+02] [ 1.13281522e-01 9.93556059e-01 -3.69507806e-03 3.67073127e+01] [ 4.35316734e-02 -1.24780254e-03 9.99051268e-01 1.96859543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8650998929999 meters 0.01608496729094536 Centerline is valid? [True, True] Translation: X:532.12, Y:36.71, Z:19.69 [[ 9.92264663e-01 -1.16130341e-01 -4.38700733e-02 5.32124087e+02] [ 1.16078561e-01 9.93233014e-01 -3.73454068e-03 3.67073303e+01] [ 4.40068986e-02 -1.38672222e-03 9.99030265e-01 1.96874535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9250998929999 meters 0.017158929549205525 Centerline is valid? [True, True] Translation: X:532.19, Y:36.71, Z:19.69 [[ 9.92092416e-01 -1.17423809e-01 -4.43202886e-02 5.32185144e+02] [ 1.17372392e-01 9.93080818e-01 -3.76966540e-03 3.67088519e+01] [ 4.44562769e-02 -1.46212182e-03 9.99010261e-01 1.96891012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9850998929999 meters 0.017436779341215874 Centerline is valid? [True, True] Translation: X:532.25, Y:36.71, Z:19.69 [[ 9.91914859e-01 -1.19073070e-01 -4.38921083e-02 5.32247668e+02] [ 1.19024365e-01 9.92884325e-01 -3.73071766e-03 3.67120310e+01] [ 4.40240143e-02 -1.52367602e-03 9.99029311e-01 1.96911482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0450998929999 meters 0.018025109228919728 Centerline is valid? [True, True] Translation: X:532.31, Y:36.72, Z:19.69 [[ 9.91786540e-01 -1.20132176e-01 -4.39057940e-02 5.32309305e+02] [ 1.20084613e-01 9.92756658e-01 -3.72876373e-03 3.67156410e+01] [ 4.40357138e-02 -1.57427262e-03 9.99028717e-01 1.96934252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1050998929999 meters 0.017960534702395822 Centerline is valid? [True, True] Translation: X:532.37, Y:36.72, Z:19.70 [[ 9.91563378e-01 -1.21940823e-01 -4.39602341e-02 5.32370992e+02] [ 1.21895029e-01 9.92535986e-01 -3.73082743e-03 3.67213443e+01] [ 4.40870545e-02 -1.65918218e-03 9.99026315e-01 1.96961512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1650998929999 meters 0.018725992052994547 Centerline is valid? [True, True] Translation: X:532.43, Y:36.73, Z:19.70 [[ 9.91374554e-01 -1.23446429e-01 -4.40167437e-02 5.32433051e+02] [ 1.23402144e-01 9.92349727e-01 -3.73233067e-03 3.67258909e+01] [ 4.41407465e-02 -1.73162289e-03 9.99023822e-01 1.96984906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2250998929999 meters 0.01960894612000617 Centerline is valid? [True, True] Translation: X:532.50, Y:36.73, Z:19.70 [[ 9.91086321e-01 -1.26116087e-01 -4.29259463e-02 5.32495178e+02] [ 1.26076601e-01 9.92013843e-01 -3.63671451e-03 3.67304779e+01] [ 4.30417811e-02 -1.80765942e-03 9.99071638e-01 1.97021331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2850998929999 meters 0.020958644638037954 Centerline is valid? [True, True] Translation: X:532.56, Y:36.73, Z:19.70 [[ 9.90930725e-01 -1.27484532e-01 -4.24734276e-02 5.32557317e+02] [ 1.27447261e-01 9.91838833e-01 -3.59525362e-03 3.67334526e+01] [ 4.25851340e-02 -1.85047471e-03 9.99091128e-01 1.97045849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3450998929999 meters 0.020971989614731377 Centerline is valid? [True, True] Translation: X:532.62, Y:36.74, Z:19.71 [[ 9.90925048e-01 -1.27740617e-01 -4.18316224e-02 5.32619141e+02] [ 1.27704817e-01 9.91805910e-01 -3.53790490e-03 3.67395496e+01] [ 4.19407845e-02 -1.83630112e-03 9.99118411e-01 1.97078972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4050998929998 meters 0.01898002162629923 Centerline is valid? [True, True] Translation: X:532.68, Y:36.75, Z:19.71 [[ 9.91088550e-01 -1.26523724e-01 -4.16561352e-02 5.32680733e+02] [ 1.26487279e-01 9.91961984e-01 -3.52000691e-03 3.67483351e+01] [ 4.17666669e-02 -1.78033267e-03 9.99125806e-01 1.97103408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4650998929999 meters 0.02168177962116199 Centerline is valid? [True, True] Translation: X:532.74, Y:36.75, Z:19.71 [[ 9.91573885e-01 -1.22594885e-01 -4.18535992e-02 5.32741792e+02] [ 1.22554727e-01 9.92455466e-01 -3.53369061e-03 3.67506668e+01] [ 4.19710457e-02 -1.62544109e-03 9.99117505e-01 1.97117987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5250998929998 meters 0.018172205384278137 Centerline is valid? [True, True] Translation: X:532.80, Y:36.76, Z:19.72 [[ 9.91799895e-01 -1.20822382e-01 -4.16523711e-02 5.32803053e+02] [ 1.20781120e-01 9.92672940e-01 -3.51498806e-03 3.67615652e+01] [ 4.17718709e-02 -1.54465523e-03 9.99125980e-01 1.97151211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5850998929999 meters 0.018108724004046676 Centerline is valid? [True, True] Translation: X:532.86, Y:36.77, Z:19.72 [[ 9.92525960e-01 -1.14721968e-01 -4.16063466e-02 5.32862179e+02] [ 1.14675556e-01 9.93396803e-01 -3.50835072e-03 3.67688023e+01] [ 4.17340966e-02 -1.28910175e-03 9.99127921e-01 1.97174207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6450998929998 meters 0.015147695739124549 Centerline is valid? [True, True] Translation: X:532.92, Y:36.78, Z:19.72 [[ 9.93065358e-01 -1.09595666e-01 -4.25439186e-02 5.32922780e+02] [ 1.09542446e-01 9.93975646e-01 -3.58721043e-03 3.67806079e+01] [ 4.26807617e-02 -1.09803051e-03 9.99088158e-01 1.97198659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7050998929999 meters 0.013164914102449165 Centerline is valid? [True, True] Translation: X:532.98, Y:36.79, Z:19.72 [[ 9.93919032e-01 -1.01138434e-01 -4.35427984e-02 5.32982812e+02] [ 1.01074638e-01 9.94872077e-01 -3.66990923e-03 3.67920860e+01] [ 4.36906832e-02 -7.53479941e-04 9.99044822e-01 1.97217093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7650998929998 meters 0.012329286274077565 Centerline is valid? [True, True] Translation: X:533.04, Y:36.80, Z:19.72 [[ 9.94451538e-01 -9.52408343e-02 -4.46690244e-02 5.33044366e+02] [ 9.51678011e-02 9.95454130e-01 -3.76358431e-03 3.68011599e+01] [ 4.48244117e-02 -5.08350625e-04 9.98994752e-01 1.97237027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8250998929999 meters 0.011431148876947073 Centerline is valid? [True, True] Translation: X:533.11, Y:36.81, Z:19.73 [[ 9.95117270e-01 -8.71142101e-02 -4.63975661e-02 5.33105358e+02] [ 8.70267294e-02 9.96198319e-01 -3.90598788e-03 3.68123550e+01] [ 4.65614444e-02 -1.50912437e-04 9.98915416e-01 1.97265076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8850998929998 meters 0.011297685376429695 Centerline is valid? [True, True] Translation: X:533.17, Y:36.82, Z:19.73 [[ 9.95524709e-01 -8.19457602e-02 -4.70685339e-02 5.33166587e+02] [ 8.18500537e-02 9.96636787e-01 -3.96035732e-03 3.68198984e+01] [ 4.72347668e-02 9.00715426e-05 9.98883811e-01 1.97300328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9450998929999 meters 0.011269159652841892 Centerline is valid? [True, True] Translation: X:533.23, Y:36.82, Z:19.73 [[ 9.95603843e-01 -8.07951576e-02 -4.73828039e-02 5.33227237e+02] [ 8.06969317e-02 9.96730717e-01 -3.98541302e-03 3.68243865e+01] [ 4.75498982e-02 1.44245631e-04 9.98868853e-01 1.97327534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0050998929999 meters 0.011100897388384432 Centerline is valid? [True, True] Translation: X:533.29, Y:36.83, Z:19.73 [[ 9.95448578e-01 -8.24411761e-02 -4.78077485e-02 5.33286647e+02] [ 8.23430670e-02 9.96595930e-01 -4.02134857e-03 3.68272738e+01] [ 4.79765323e-02 6.64090834e-05 9.98848461e-01 1.97348481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0650998929999 meters 0.010981604393686763 Centerline is valid? [True, True] Translation: X:533.35, Y:36.83, Z:19.74 [[ 9.95082286e-01 -8.62081863e-02 -4.87790284e-02 5.33346551e+02] [ 8.61105151e-02 9.96277138e-01 -4.10415950e-03 3.68286710e+01] [ 4.89512430e-02 -1.16410853e-04 9.98801163e-01 1.97368739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1250998929999 meters 0.011724438229470752 Centerline is valid? [True, True] Translation: X:533.41, Y:36.83, Z:19.74 [[ 9.94280674e-01 -9.47086568e-02 -4.93579965e-02 5.33406821e+02] [ 9.46190318e-02 9.95504887e-01 -4.15446296e-03 3.68253388e+01] [ 4.95295903e-02 -5.39503609e-04 9.98772511e-01 1.97381980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1850998929999 meters 0.012944885115925673 Centerline is valid? [True, True] Translation: X:533.47, Y:36.82, Z:19.74 [[ 9.93622937e-01 -1.01605923e-01 -4.88845028e-02 5.33467065e+02] [ 1.01526302e-01 9.94824343e-01 -4.11548025e-03 3.68245614e+01] [ 4.90496505e-02 -8.73827200e-04 9.98795959e-01 1.97414650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2450998929999 meters 0.014737277549934232 Centerline is valid? [True, True] Translation: X:533.53, Y:36.82, Z:19.75 [[ 9.92600127e-01 -1.11607905e-01 -4.78399682e-02 5.33528578e+02] [ 1.11543221e-01 9.93751420e-01 -4.02799893e-03 3.68228438e+01] [ 4.79905929e-02 -1.33803189e-03 9.98846892e-01 1.97454073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3050998929999 meters 0.016800264333707928 Centerline is valid? [True, True] Translation: X:533.59, Y:36.82, Z:19.75 [[ 9.91940039e-01 -1.17186080e-01 -4.81910898e-02 5.33589533e+02] [ 1.17127060e-01 9.93108653e-01 -4.05654561e-03 3.68219395e+01] [ 4.83343589e-02 -1.62063068e-03 9.98829897e-01 1.97471129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3650998929999 meters 0.019827643225552156 Centerline is valid? [True, True] Translation: X:533.65, Y:36.82, Z:19.75 [[ 9.91131612e-01 -1.23670384e-01 -4.86185614e-02 5.33649422e+02] [ 1.23618139e-01 9.92321427e-01 -4.09158122e-03 3.68194047e+01] [ 4.87512477e-02 -1.95484059e-03 9.98809038e-01 1.97482574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4250998929999 meters 0.020099996878429467 Centerline is valid? [True, True] Translation: X:533.71, Y:36.82, Z:19.75 [[ 9.90718642e-01 -1.26622273e-01 -4.94304760e-02 5.33710748e+02] [ 1.26571930e-01 9.91948709e-01 -4.15997635e-03 3.68233947e+01] [ 4.95592425e-02 -2.13514465e-03 9.98768904e-01 1.97509890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4850998929999 meters 0.022156761051153523 Centerline is valid? [True, True] Translation: X:533.77, Y:36.83, Z:19.75 [[ 9.90381529e-01 -1.29203355e-01 -4.95067655e-02 5.33771061e+02] [ 1.29156151e-01 9.91615522e-01 -4.16481368e-03 3.68252944e+01] [ 4.96297850e-02 -2.26934874e-03 9.98765105e-01 1.97531176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5450998929999 meters 0.022841082156812412 Centerline is valid? [True, True] Translation: X:533.83, Y:36.83, Z:19.75 [[ 9.90442265e-01 -1.28697469e-01 -4.96092794e-02 5.33832740e+02] [ 1.28649502e-01 9.91681350e-01 -4.17210717e-03 3.68297404e+01] [ 4.97335367e-02 -2.24997782e-03 9.98759988e-01 1.97549794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6050998929999 meters 0.022700799347552394 Centerline is valid? [True, True] Translation: X:533.89, Y:36.84, Z:19.76 [[ 9.90711492e-01 -1.26658794e-01 -4.94801993e-02 5.33893539e+02] [ 1.26608659e-01 9.91944026e-01 -4.15885216e-03 3.68371272e+01] [ 4.96083433e-02 -2.14439903e-03 9.98766446e-01 1.97579390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6650998929999 meters 0.021382016431123686 Centerline is valid? [True, True] Translation: X:533.95, Y:36.85, Z:19.76 [[ 9.91350818e-01 -1.21665993e-01 -4.92030642e-02 5.33952950e+02] [ 1.21610342e-01 9.92569309e-01 -4.13425714e-03 3.68474959e+01] [ 4.93404500e-02 -1.88510228e-03 9.98780239e-01 1.97608610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7250998929999 meters 0.01714054675057859 Centerline is valid? [True, True] Translation: X:534.01, Y:36.86, Z:19.76 [[ 9.91735250e-01 -1.18387860e-01 -4.94520814e-02 5.34013161e+02] [ 1.18327598e-01 9.92965920e-01 -4.15472828e-03 3.68609993e+01] [ 4.95961009e-02 -1.73115552e-03 9.98767856e-01 1.97644285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7850998929999 meters 0.01920604729498206 Centerline is valid? [True, True] Translation: X:534.07, Y:36.87, Z:19.76 [[ 9.92278349e-01 -1.13912439e-01 -4.90676478e-02 5.34073688e+02] [ 1.13847734e-01 9.93489665e-01 -4.12064044e-03 3.68660673e+01] [ 4.92175931e-02 -1.49741819e-03 9.98786957e-01 1.97649895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8450998929999 meters 0.014300035402439414 Centerline is valid? [True, True] Translation: X:534.13, Y:36.88, Z:19.77 [[ 9.92710691e-01 -1.10503306e-01 -4.81092799e-02 5.34134279e+02] [ 1.10437197e-01 9.93874901e-01 -4.03822658e-03 3.68821445e+01] [ 4.82608432e-02 -1.30426332e-03 9.98833915e-01 1.97711479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9050998929998 meters 0.013943821388033604 Centerline is valid? [True, True] Translation: X:534.20, Y:36.89, Z:19.77 [[ 9.92941236e-01 -1.08844290e-01 -4.71234880e-02 5.34195714e+02] [ 1.08779127e-01 9.94058086e-01 -3.95270847e-03 3.68900097e+01] [ 4.72737140e-02 -1.20124467e-03 9.98881251e-01 1.97747224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9650998929999 meters 0.0144348831548061 Centerline is valid? [True, True] Translation: X:534.26, Y:36.89, Z:19.78 [[ 9.93046170e-01 -1.08479678e-01 -4.57325327e-02 5.34256460e+02] [ 1.08418064e-01 9.94097999e-01 -3.83289017e-03 3.68949840e+01] [ 4.58784099e-02 -1.15199575e-03 9.98946367e-01 1.97764875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0250998929998 meters 0.014888634811362838 Centerline is valid? [True, True] Translation: X:534.32, Y:36.90, Z:19.78 [[ 9.92948559e-01 -1.09333115e-01 -4.58195359e-02 5.34318137e+02] [ 1.09272296e-01 9.94004446e-01 -3.83752010e-03 3.69000458e+01] [ 4.59643904e-02 -1.19634584e-03 9.98942362e-01 1.97782320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0850998929999 meters 0.015489677334139947 Centerline is valid? [True, True] Translation: X:534.38, Y:36.91, Z:19.78 [[ 9.92497938e-01 -1.13390571e-01 -4.57211301e-02 5.34379414e+02] [ 1.13334447e-01 9.93549527e-01 -3.82629976e-03 3.69054095e+01] [ 4.58600735e-02 -1.38418439e-03 9.98946914e-01 1.97806766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1450998929998 meters 0.019108488000355858 Centerline is valid? [True, True] Translation: X:534.44, Y:36.90, Z:19.78 [[ 9.91941687e-01 -1.18249198e-01 -4.54842500e-02 5.34439579e+02] [ 1.18198813e-01 9.92982659e-01 -3.80512165e-03 3.69047703e+01] [ 4.56150241e-02 -1.60172556e-03 9.98957809e-01 1.97813681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2050998929999 meters 0.02011630895571651 Centerline is valid? [True, True] Translation: X:534.50, Y:36.91, Z:19.78 [[ 9.90637654e-01 -1.28751865e-01 -4.53871786e-02 5.34500278e+02] [ 1.28712684e-01 9.91674659e-01 -3.79689648e-03 3.69078106e+01] [ 4.54981723e-02 -2.08055697e-03 9.98962255e-01 1.97830627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2650998929998 meters 0.024261173642118692 Centerline is valid? [True, True] Translation: X:534.56, Y:36.91, Z:19.78 [[ 9.89720230e-01 -1.35881276e-01 -4.46110515e-02 5.34560102e+02] [ 1.35850652e-01 9.90722300e-01 -3.73161888e-03 3.69077867e+01] [ 4.47042206e-02 -2.36718174e-03 9.98997462e-01 1.97848043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3250998929999 meters 0.026295150294347973 Centerline is valid? [True, True] Translation: X:534.62, Y:36.91, Z:19.79 [[ 9.88870086e-01 -1.42167659e-01 -4.38669656e-02 5.34620832e+02] [ 1.42144181e-01 9.89839160e-01 -3.66991758e-03 3.69119947e+01] [ 4.39429840e-02 -2.60636218e-03 9.99030641e-01 1.97868881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3850998929998 meters 0.025828789395541653 Centerline is valid? [True, True] Translation: X:534.68, Y:36.92, Z:19.79 [[ 9.88702602e-01 -1.43666485e-01 -4.27446655e-02 5.34682020e+02] [ 1.43645620e-01 9.89622733e-01 -3.57522156e-03 3.69198055e+01] [ 4.28147322e-02 -2.60525310e-03 9.99079632e-01 1.97895723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4450998929999 meters 0.027328827490340372 Centerline is valid? [True, True] Translation: X:534.74, Y:36.93, Z:19.79 [[ 9.88838576e-01 -1.43203968e-01 -4.11204964e-02 5.34742759e+02] [ 1.43184463e-01 9.89690060e-01 -3.43437511e-03 3.69253694e+01] [ 4.11883627e-02 -2.49177360e-03 9.99148292e-01 1.97923080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5050998929999 meters 0.028429489885198535 Centerline is valid? [True, True] Translation: X:534.80, Y:36.93, Z:19.79 [[ 9.89077728e-01 -1.41747300e-01 -4.04097959e-02 5.34803027e+02] [ 1.41727474e-01 9.89899980e-01 -3.36953038e-03 3.69320107e+01] [ 4.04792780e-02 -2.39445084e-03 9.99177509e-01 1.97947065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5650998929999 meters 0.025253600938486723 Centerline is valid? [True, True] Translation: X:534.86, Y:36.94, Z:19.80 [[ 9.89311571e-01 -1.40211844e-01 -4.00406479e-02 5.34864139e+02] [ 1.40191185e-01 9.90118828e-01 -3.33725589e-03 3.69443119e+01] [ 4.01129222e-02 -2.31175999e-03 9.99192479e-01 1.97963062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6250998929999 meters 0.026018394070703138 Centerline is valid? [True, True] Translation: X:534.92, Y:36.95, Z:19.80 [[ 9.89782648e-01 -1.36813079e-01 -4.01558346e-02 5.34923342e+02] [ 1.36789595e-01 9.90594478e-01 -3.34477887e-03 3.69533106e+01] [ 4.02357575e-02 -2.18229627e-03 9.99187831e-01 1.97973760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6850998929999 meters 0.02427444044696273 Centerline is valid? [True, True] Translation: X:534.98, Y:36.97, Z:19.80 [[ 9.90545341e-01 -1.31489333e-01 -3.91213712e-02 5.34983155e+02] [ 1.31462901e-01 9.91315735e-01 -3.25860822e-03 3.69661872e+01] [ 3.92101031e-02 -1.91520975e-03 9.99229153e-01 1.97990414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7450998929999 meters 0.023021087410250867 Centerline is valid? [True, True] Translation: X:535.04, Y:36.98, Z:19.80 [[ 9.91274080e-01 -1.26162510e-01 -3.81931915e-02 5.35043221e+02] [ 1.26133373e-01 9.92008192e-01 -3.18118990e-03 3.69780310e+01] [ 3.82893057e-02 -1.66400498e-03 9.99265310e-01 1.98015069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8050998929999 meters 0.01682769653411188 Centerline is valid? [True, True] Translation: X:535.10, Y:37.00, Z:19.80 [[ 9.92529374e-01 -1.16455179e-01 -3.63817698e-02 5.35101858e+02] [ 1.16422237e-01 9.93195188e-01 -3.02991805e-03 3.69996073e+01] [ 3.64870484e-02 -1.22836437e-03 9.99333371e-01 1.98042793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8650998929999 meters 0.01503954170830601 Centerline is valid? [True, True] Translation: X:535.16, Y:37.01, Z:19.81 [[ 9.93744410e-01 -1.06005365e-01 -3.51412954e-02 5.35160227e+02] [ 1.05968097e-01 9.94365223e-01 -2.92661449e-03 3.70145289e+01] [ 3.52535189e-02 -8.15549406e-04 9.99378069e-01 1.98062041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9250998929999 meters 0.013375856357493488 Centerline is valid? [True, True] Translation: X:535.22, Y:37.03, Z:19.81 [[ 9.94385419e-01 -9.98758383e-02 -3.49636404e-02 5.35220670e+02] [ 9.98351322e-02 9.94999730e-01 -2.91252268e-03 3.70274457e+01] [ 3.50797034e-02 -5.94429578e-04 9.99384341e-01 1.98076721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9850998929999 meters 0.012756901035351428 Centerline is valid? [True, True] Translation: X:535.28, Y:37.04, Z:19.81 [[ 9.95013118e-01 -9.36330662e-02 -3.43764931e-02 5.35280339e+02] [ 9.35900350e-02 9.95606706e-01 -2.86230318e-03 3.70395843e+01] [ 3.44934733e-02 -3.69267990e-04 9.99404855e-01 1.98091305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0450998929999 meters 0.012723398466722265 Centerline is valid? [True, True] Translation: X:535.34, Y:37.05, Z:19.81 [[ 9.95202383e-01 -9.18584495e-02 -3.36785026e-02 5.35342353e+02] [ 9.18161464e-02 9.95772029e-01 -2.80377428e-03 3.70471079e+01] [ 3.37936612e-02 -3.01907481e-04 9.99428786e-01 1.98115528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1050998929999 meters 0.012804680401364675 Centerline is valid? [True, True] Translation: X:535.40, Y:37.05, Z:19.81 [[ 9.95259650e-01 -9.20738507e-02 -3.13150882e-02 5.35403638e+02] [ 9.20374481e-02 9.95752139e-01 -2.60498627e-03 3.70547971e+01] [ 3.14219171e-02 -2.89523073e-04 9.99506168e-01 1.98142105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1650998929999 meters 0.013672818035759942 Centerline is valid? [True, True] Translation: X:535.46, Y:37.06, Z:19.82 [[ 9.94980999e-01 -9.53521223e-02 -3.03444319e-02 5.35464398e+02] [ 9.53195186e-02 9.95443533e-01 -2.52249174e-03 3.70583817e+01] [ 3.04466934e-02 -3.82585292e-04 9.99536319e-01 1.98155873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2250998929999 meters 0.014063032522726324 Centerline is valid? [True, True] Translation: X:535.53, Y:37.06, Z:19.82 [[ 9.94581276e-01 -9.93268450e-02 -3.06962925e-02 5.35526328e+02] [ 9.92955150e-02 9.95054729e-01 -2.54710696e-03 3.70616308e+01] [ 3.07974871e-02 -5.14699275e-04 9.99525512e-01 1.98163888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2850998929999 meters 0.015525077243151412 Centerline is valid? [True, True] Translation: X:535.59, Y:37.06, Z:19.82 [[ 9.93677034e-01 -1.08121112e-01 -3.02618087e-02 5.35587210e+02] [ 1.08094812e-01 9.94137425e-01 -2.50847280e-03 3.70619458e+01] [ 3.03556155e-02 -7.78532730e-04 9.99538859e-01 1.98168134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3450998929999 meters 0.01895676917864138 Centerline is valid? [True, True] Translation: X:535.65, Y:37.06, Z:19.82 [[ 9.92442420e-01 -1.18871552e-01 -3.04564797e-02 5.35646802e+02] [ 1.18849991e-01 9.92909014e-01 -2.52368699e-03 3.70589593e+01] [ 3.05405078e-02 -1.11513831e-03 9.99532908e-01 1.98176461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4050998929998 meters 0.023036654292793467 Centerline is valid? [True, True] Translation: X:535.71, Y:37.06, Z:19.82 [[ 9.91707428e-01 -1.24885462e-01 -3.03314693e-02 5.35707085e+02] [ 1.24866849e-01 9.92170322e-01 -2.51446480e-03 3.70558305e+01] [ 3.04080037e-02 -1.29378158e-03 9.99536732e-01 1.98190184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4650998929999 meters 0.02179396538431299 Centerline is valid? [True, True] Translation: X:535.77, Y:37.06, Z:19.82 [[ 9.91480828e-01 -1.26652262e-01 -3.04133407e-02 5.35769227e+02] [ 1.26634351e-01 9.91946259e-01 -2.52212746e-03 3.70591129e+01] [ 3.04878327e-02 -1.35073264e-03 9.99534225e-01 1.98198180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5250998929998 meters 0.022606033686965572 Centerline is valid? [True, True] Translation: X:535.83, Y:37.06, Z:19.82 [[ 9.91505523e-01 -1.26783734e-01 -2.90289945e-02 5.35831487e+02] [ 1.26767532e-01 9.91929538e-01 -2.40529584e-03 3.70626940e+01] [ 2.90996695e-02 -1.29506987e-03 9.99575676e-01 1.98234229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5850998929999 meters 0.022126203953179522 Centerline is valid? [True, True] Translation: X:535.89, Y:37.07, Z:19.83 [[ 9.91630487e-01 -1.25953883e-01 -2.83654188e-02 5.35893782e+02] [ 1.25938130e-01 9.92035318e-01 -2.34830744e-03 3.70663462e+01] [ 2.84352757e-02 -1.24363456e-03 9.99594862e-01 1.98250333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6450998929998 meters 0.021270589898935245 Centerline is valid? [True, True] Translation: X:535.96, Y:37.07, Z:19.82 [[ 9.91691955e-01 -1.25179691e-01 -2.96160526e-02 5.35956503e+02] [ 1.25162238e-01 9.92133264e-01 -2.44968786e-03 3.70700877e+01] [ 2.96897221e-02 -1.27747569e-03 9.99558347e-01 1.98247519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7050998929999 meters 0.022162114255326847 Centerline is valid? [True, True] Translation: X:536.02, Y:37.07, Z:19.82 [[ 9.91764857e-01 -1.23652533e-01 -3.33544584e-02 5.36017604e+02] [ 1.23629648e-01 9.92324603e-01 -2.75557947e-03 3.70724232e+01] [ 3.34391840e-02 -1.39071306e-03 9.99439787e-01 1.98238235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7650998929998 meters 0.021999997924378255 Centerline is valid? [True, True] Translation: X:536.08, Y:37.08, Z:19.82 [[ 9.92184194e-01 -1.19657342e-01 -3.53927240e-02 5.36077119e+02] [ 1.19629241e-01 9.92814348e-01 -2.91820496e-03 3.70779217e+01] [ 3.54875888e-02 -1.33860787e-03 9.99369221e-01 1.98247587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8250998929999 meters 0.01852581379341693 Centerline is valid? [True, True] Translation: X:536.14, Y:37.09, Z:19.83 [[ 9.92701070e-01 -1.15147161e-01 -3.58568988e-02 5.36138332e+02] [ 1.15115377e-01 9.93347728e-01 -2.95654960e-03 3.70886580e+01] [ 3.59588073e-02 -1.19271047e-03 9.99352561e-01 1.98270034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8850998929998 meters 0.016506737115163952 Centerline is valid? [True, True] Translation: X:536.20, Y:37.10, Z:19.83 [[ 9.93684925e-01 -1.06240941e-01 -3.60989107e-02 5.36198062e+02] [ 1.06202925e-01 9.94340028e-01 -2.97446040e-03 3.70995736e+01] [ 3.62106013e-02 -8.78133439e-04 9.99343795e-01 1.98300558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9450998929999 meters 0.014906810943714014 Centerline is valid? [True, True] Translation: X:536.26, Y:37.11, Z:19.83 [[ 9.94401898e-01 -9.91747978e-02 -3.64585333e-02 5.36259318e+02] [ 9.91312788e-02 9.95069830e-01 -3.00389026e-03 3.71099194e+01] [ 3.65766967e-02 -6.27106846e-04 9.99330652e-01 1.98326666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0050998929999 meters 0.013183002348631198 Centerline is valid? [True, True] Translation: X:536.32, Y:37.12, Z:19.83 [[ 9.95471175e-01 -8.75807816e-02 -3.69695448e-02 5.36319825e+02] [ 8.75281085e-02 9.96157399e-01 -3.04398037e-03 3.71224918e+01] [ 3.70940798e-02 -2.05679618e-04 9.99311757e-01 1.98349026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0650998929999 meters 0.013028677277748268 Centerline is valid? [True, True] Translation: X:536.38, Y:37.13, Z:19.84 [[ 9.96158264e-01 -7.93330903e-02 -3.70806519e-02 5.36381768e+02] [ 7.92744340e-02 9.96848158e-01 -3.05179327e-03 3.71322623e+01] [ 3.72058877e-02 1.00521399e-04 9.99307616e-01 1.98375828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1250998929999 meters 0.014190643160524735 Centerline is valid? [True, True] Translation: X:536.44, Y:37.14, Z:19.84 [[ 9.97012119e-01 -6.78745739e-02 -3.68765004e-02 5.36443327e+02] [ 6.78088193e-02 9.97693725e-01 -3.03233382e-03 3.71425832e+01] [ 3.69972714e-02 5.22721617e-04 9.99315230e-01 1.98404781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1850998929999 meters 0.01566182353153499 Centerline is valid? [True, True] Translation: X:536.50, Y:37.15, Z:19.84 [[ 9.97354561e-01 -6.19414751e-02 -3.80412055e-02 5.36504093e+02] [ 6.18672924e-02 9.98079491e-01 -3.12528827e-03 3.71502826e+01] [ 3.81617320e-02 7.63514125e-04 9.99271284e-01 1.98421097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2450998929999 meters 0.016140742571268445 Centerline is valid? [True, True] Translation: X:536.57, Y:37.15, Z:19.84 [[ 9.97476239e-01 -5.82466900e-02 -4.06014284e-02 5.36565878e+02] [ 5.81592094e-02 9.98301755e-01 -3.33346355e-03 3.71514224e+01] [ 4.07266405e-02 9.63703706e-04 9.99169861e-01 1.98420544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3050998929999 meters 0.015797541133800934 Centerline is valid? [True, True] Translation: X:536.63, Y:37.15, Z:19.84 [[ 9.97160351e-01 -6.13310521e-02 -4.37005247e-02 5.36625707e+02] [ 6.12327085e-02 9.98117073e-01 -3.58670996e-03 3.71492774e+01] [ 4.38382164e-02 9.00623482e-04 9.99038237e-01 1.98415038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3650998929999 meters 0.015421490432543568 Centerline is valid? [True, True] Translation: X:536.68, Y:37.15, Z:19.84 [[ 9.96973410e-01 -6.38960849e-02 -4.42866751e-02 5.36684152e+02] [ 6.37974756e-02 9.97956236e-01 -3.63787808e-03 3.71510802e+01] [ 4.44286097e-02 8.01489643e-04 9.99012240e-01 1.98431984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4250998929999 meters 0.01367577970654904 Centerline is valid? [True, True] Translation: X:536.74, Y:37.14, Z:19.85 [[ 9.96317618e-01 -7.32798847e-02 -4.45113680e-02 5.36744600e+02] [ 7.31892037e-02 9.97311337e-01 -3.66572994e-03 3.71435412e+01] [ 4.46603162e-02 3.94479741e-04 9.99002152e-01 1.98462841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4850998929999 meters 0.013005809949495562 Centerline is valid? [True, True] Translation: X:536.81, Y:37.14, Z:19.85 [[ 9.95821108e-01 -8.06152826e-02 -4.29126658e-02 5.36805551e+02] [ 8.05377505e-02 9.96745289e-01 -3.53534960e-03 3.71393017e+01] [ 4.30580007e-02 6.44861864e-05 9.99072572e-01 1.98504503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5450998929999 meters 0.013346692402649147 Centerline is valid? [True, True] Translation: X:536.87, Y:37.13, Z:19.85 [[ 9.94961087e-01 -9.12431023e-02 -4.15587674e-02 5.36866803e+02] [ 9.11796554e-02 9.95828574e-01 -3.42357043e-03 3.71292573e+01] [ 4.16977853e-02 -3.82994738e-04 9.99130196e-01 1.98533363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6050998929999 meters 0.01462105203475863 Centerline is valid? [True, True] Translation: X:536.93, Y:37.12, Z:19.86 [[ 9.94102538e-01 -1.00321171e-01 -4.11801751e-02 5.36928878e+02] [ 1.00266741e-01 9.94954817e-01 -3.39023224e-03 3.71211835e+01] [ 4.13125256e-02 -7.58763487e-04 9.99145985e-01 1.98553064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6650998929999 meters 0.015680007791652645 Centerline is valid? [True, True] Translation: X:536.99, Y:37.12, Z:19.86 [[ 9.93624595e-01 -1.04735869e-01 -4.17200485e-02 5.36991359e+02] [ 1.04683958e-01 9.94499615e-01 -3.43300358e-03 3.71183616e+01] [ 4.18501308e-02 -9.56303033e-04 9.99123442e-01 1.98572833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7250998929999 meters 0.017083253925560465 Centerline is valid? [True, True] Translation: X:537.05, Y:37.12, Z:19.86 [[ 9.93173173e-01 -1.08201416e-01 -4.35832796e-02 5.37052927e+02] [ 1.08148234e-01 9.94128322e-01 -3.58320328e-03 3.71159758e+01] [ 4.37150803e-02 -1.15471335e-03 9.99043372e-01 1.98577550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7850998929999 meters 0.01878246837046477 Centerline is valid? [True, True] Translation: X:537.11, Y:37.11, Z:19.86 [[ 9.92432550e-01 -1.13390734e-01 -4.71187371e-02 5.37114634e+02] [ 1.13334525e-01 9.93549343e-01 -3.87144903e-03 3.71128826e+01] [ 4.72537768e-02 -1.49802764e-03 9.98881793e-01 1.98572268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8450998929999 meters 0.018536653002962332 Centerline is valid? [True, True] Translation: X:537.18, Y:37.11, Z:19.86 [[ 9.91649642e-01 -1.18891624e-01 -4.99576663e-02 5.37175888e+02] [ 1.18835472e-01 9.92905481e-01 -4.10330614e-03 3.71141365e+01] [ 5.00910894e-02 -1.86770078e-03 9.98742907e-01 1.98587603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9050998929998 meters 0.024239769614006413 Centerline is valid? [True, True] Translation: X:537.24, Y:37.11, Z:19.86 [[ 9.91287717e-01 -1.21665325e-01 -5.04599861e-02 5.37236587e+02] [ 1.21611659e-01 9.92569107e-01 -4.14386921e-03 3.71082540e+01] [ 5.05891886e-02 -2.02875595e-03 9.98717487e-01 1.98583057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9650998929999 meters 0.020476112525698587 Centerline is valid? [True, True] Translation: X:537.30, Y:37.12, Z:19.86 [[ 9.91021554e-01 -1.23948846e-01 -5.01294625e-02 5.37297014e+02] [ 1.23898817e-01 9.92286319e-01 -4.11624959e-03 3.71184719e+01] [ 5.02529842e-02 -2.13168904e-03 9.98734246e-01 1.98644865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0250998929998 meters 0.022524700238292967 Centerline is valid? [True, True] Translation: X:537.36, Y:37.12, Z:19.87 [[ 9.90975478e-01 -1.24707384e-01 -4.91494730e-02 5.37357385e+02] [ 1.24660299e-01 9.92191279e-01 -4.03422286e-03 3.71209356e+01] [ 4.92687758e-02 -2.12917206e-03 9.98783287e-01 1.98675480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0850998929999 meters 0.021510839808557235 Centerline is valid? [True, True] Translation: X:537.42, Y:37.13, Z:19.87 [[ 9.90835457e-01 -1.26000994e-01 -4.86707944e-02 5.37417814e+02] [ 1.25956420e-01 9.92027735e-01 -3.99405564e-03 3.71275881e+01] [ 4.87860329e-02 -2.17294708e-03 9.98806889e-01 1.98713612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1450998929998 meters 0.022996221768190744 Centerline is valid? [True, True] Translation: X:537.48, Y:37.13, Z:19.88 [[ 9.90625961e-01 -1.28118755e-01 -4.73897752e-02 5.37478886e+02] [ 1.28078960e-01 9.91756353e-01 -3.88790086e-03 3.71301351e+01] [ 4.74972237e-02 -2.21817759e-03 9.98868907e-01 1.98751075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2050998929999 meters 0.02310445925594988 Centerline is valid? [True, True] Translation: X:537.54, Y:37.14, Z:19.88 [[ 9.90855540e-01 -1.26916849e-01 -4.57975127e-02 5.37539862e+02] [ 1.26878474e-01 9.91911159e-01 -3.75566411e-03 3.71355818e+01] [ 4.59037210e-02 -2.08939792e-03 9.98943684e-01 1.98787265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2650998929998 meters 0.021014246950553987 Centerline is valid? [True, True] Translation: X:537.60, Y:37.15, Z:19.88 [[ 9.91359904e-01 -1.23014786e-01 -4.55291438e-02 5.37599643e+02] [ 1.22972812e-01 9.92403022e-01 -3.73233252e-03 3.71451608e+01] [ 4.56423920e-02 -1.89876204e-03 9.98956038e-01 1.98814179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3250998929999 meters 0.01721595390524899 Centerline is valid? [True, True] Translation: X:537.66, Y:37.16, Z:19.89 [[ 9.92561232e-01 -1.13026006e-01 -4.52473556e-02 5.37659434e+02] [ 1.12974184e-01 9.93591001e-01 -3.70909043e-03 3.71608155e+01] [ 4.53765890e-02 -1.43028372e-03 9.98968928e-01 1.98851818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3850998929998 meters 0.015655428220022707 Centerline is valid? [True, True] Translation: X:537.72, Y:37.17, Z:19.89 [[ 9.93390180e-01 -1.05746156e-01 -4.46508823e-02 5.37719788e+02] [ 1.05688377e-01 9.94392566e-01 -3.65941328e-03 3.71711609e+01] [ 4.47874743e-02 -1.08385405e-03 9.98995950e-01 1.98883305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4450998929999 meters 0.013976007668377964 Centerline is valid? [True, True] Translation: X:537.78, Y:37.18, Z:19.89 [[ 9.94324965e-01 -9.74816386e-02 -4.26050956e-02 5.37779629e+02] [ 9.74214783e-02 9.95237092e-01 -3.49100118e-03 3.71832231e+01] [ 4.27424799e-02 -6.79461765e-04 9.99085892e-01 1.98924018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5050998929999 meters 0.013741090329282883 Centerline is valid? [True, True] Translation: X:537.84, Y:37.19, Z:19.89 [[ 9.94612006e-01 -9.50653202e-02 -4.13466172e-02 5.37841500e+02] [ 9.50066157e-02 9.95470879e-01 -3.38691156e-03 3.71890941e+01] [ 4.14813312e-02 -5.59539265e-04 9.99139122e-01 1.98949626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5650998929999 meters 0.013915159655851304 Centerline is valid? [True, True] Translation: X:537.90, Y:37.19, Z:19.90 [[ 9.94477048e-01 -9.66805017e-02 -4.08445915e-02 5.37903859e+02] [ 9.66246975e-02 9.95315273e-01 -3.34281627e-03 3.71929536e+01] [ 4.09764309e-02 -6.22242245e-04 9.99159920e-01 1.98973325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6250998929999 meters 0.015125941766384212 Centerline is valid? [True, True] Translation: X:537.97, Y:37.19, Z:19.90 [[ 9.93980945e-01 -1.02196549e-01 -3.94682874e-02 5.37965629e+02] [ 1.02148897e-01 9.94763885e-01 -3.22736717e-03 3.71914391e+01] [ 3.95914527e-02 -8.23700545e-04 9.99215612e-01 1.98997300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6850998929999 meters 0.016219808216831343 Centerline is valid? [True, True] Translation: X:538.03, Y:37.19, Z:19.90 [[ 9.93436222e-01 -1.07655202e-01 -3.86630362e-02 5.38026767e+02] [ 1.07613684e-01 9.94187766e-01 -3.15943514e-03 3.71920630e+01] [ 3.87784472e-02 -1.02197444e-03 9.99247311e-01 1.99026111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7450998929999 meters 0.01848721680976277 Centerline is valid? [True, True] Translation: X:538.09, Y:37.19, Z:19.90 [[ 9.92362996e-01 -1.17561230e-01 -3.73502425e-02 5.38087508e+02] [ 1.17529552e-01 9.93064701e-01 -3.05029229e-03 3.71894084e+01] [ 3.74498035e-02 -1.36276006e-03 9.99297581e-01 1.99047872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8050998929999 meters 0.02371209058352637 Centerline is valid? [True, True] Translation: X:538.15, Y:37.18, Z:19.91 [[ 9.91151656e-01 -1.27715605e-01 -3.61541130e-02 5.38148155e+02] [ 1.27692657e-01 9.91809391e-01 -2.95257730e-03 3.71812451e+01] [ 3.62350790e-02 -1.69016287e-03 9.99341865e-01 1.99058867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8650998929999 meters 0.026243238979197798 Centerline is valid? [True, True] Translation: X:538.21, Y:37.18, Z:19.91 [[ 9.90576166e-01 -1.32253563e-01 -3.56069346e-02 5.38209308e+02] [ 1.32234326e-01 9.91214227e-01 -2.90508807e-03 3.71801007e+01] [ 3.56783084e-02 -1.83074799e-03 9.99361650e-01 1.99078327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9250998929999 meters 0.028509315283595526 Centerline is valid? [True, True] Translation: X:538.27, Y:37.18, Z:19.91 [[ 9.90297912e-01 -1.34379849e-01 -3.53850403e-02 5.38270088e+02] [ 1.34362225e-01 9.90928081e-01 -2.88640746e-03 3.71826696e+01] [ 3.54519050e-02 -1.89600945e-03 9.99369585e-01 1.99102030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9850998929999 meters 0.02853272959337823 Centerline is valid? [True, True] Translation: X:538.33, Y:37.19, Z:19.91 [[ 9.90682658e-01 -1.31554056e-01 -3.52335169e-02 5.38330213e+02] [ 1.31534842e-01 9.91307385e-01 -2.87283437e-03 3.71898772e+01] [ 3.53051785e-02 -1.78836789e-03 9.99374978e-01 1.99128575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0450998929999 meters 0.022455382435568782 Centerline is valid? [True, True] Translation: X:538.39, Y:37.20, Z:19.91 [[ 9.91516594e-01 -1.25464751e-01 -3.39623349e-02 5.38389450e+02] [ 1.25443374e-01 9.92096920e-01 -2.76794618e-03 3.72038064e+01] [ 3.40412076e-02 -1.51588532e-03 9.99419281e-01 1.99145091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1050998929999 meters 0.023751524427073387 Centerline is valid? [True, True] Translation: X:538.45, Y:37.21, Z:19.92 [[ 9.92054370e-01 -1.21220944e-01 -3.36691207e-02 5.38448953e+02] [ 1.21197498e-01 9.92624621e-01 -2.74396089e-03 3.72073145e+01] [ 3.37534237e-02 -1.35845479e-03 9.99429268e-01 1.99165352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1650998929999 meters 0.019708117226887617 Centerline is valid? [True, True] Translation: X:538.51, Y:37.22, Z:19.92 [[ 9.92677405e-01 -1.15815398e-01 -3.43272843e-02 5.38508860e+02] [ 1.15787796e-01 9.93270034e-01 -2.79765133e-03 3.72194324e+01] [ 3.44202739e-02 -1.19751533e-03 9.99406729e-01 1.99169718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2250998929999 meters 0.01819990942921447 Centerline is valid? [True, True] Translation: X:538.57, Y:37.23, Z:19.92 [[ 9.92861049e-01 -1.14172253e-01 -3.45200598e-02 5.38570535e+02] [ 1.14143364e-01 9.93460306e-01 -2.81288631e-03 3.72271317e+01] [ 3.46154627e-02 -1.14743050e-03 9.99400047e-01 1.99185107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2850998929999 meters 0.017523859625154826 Centerline is valid? [True, True] Translation: X:538.63, Y:37.23, Z:19.92 [[ 9.93289467e-01 -1.09908729e-01 -3.60014786e-02 5.38631381e+02] [ 1.09874613e-01 9.93941135e-01 -2.93074691e-03 3.72334236e+01] [ 3.61054652e-02 -1.04456850e-03 9.99347439e-01 1.99194440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3450998929999 meters 0.016523246392246584 Centerline is valid? [True, True] Translation: X:538.69, Y:37.24, Z:19.92 [[ 9.93592063e-01 -1.07156895e-01 -3.59473502e-02 5.38693036e+02] [ 1.07121128e-01 9.94241675e-01 -2.92506173e-03 3.72411873e+01] [ 3.60537942e-02 -9.44402587e-04 9.99349404e-01 1.99213191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4050998929998 meters 0.015789418763978845 Centerline is valid? [True, True] Translation: X:538.75, Y:37.25, Z:19.92 [[ 9.94052384e-01 -1.03021413e-01 -3.53050367e-02 5.38754485e+02] [ 1.02984398e-01 9.94678831e-01 -2.87018423e-03 3.72488212e+01] [ 3.54128630e-02 -7.82754468e-04 9.99372461e-01 1.99239746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4650998929999 meters 0.015742113239158532 Centerline is valid? [True, True] Translation: X:538.82, Y:37.25, Z:19.93 [[ 9.94424535e-01 -9.96551055e-02 -3.44775948e-02 5.38815764e+02] [ 9.96178479e-02 9.95021828e-01 -2.80104241e-03 3.72536529e+01] [ 3.45850976e-02 -6.49158499e-04 9.99401546e-01 1.99264058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5250998929998 meters 0.014444839682159552 Centerline is valid? [True, True] Translation: X:538.88, Y:37.26, Z:19.93 [[ 9.95005372e-01 -9.37442994e-02 -3.42974723e-02 5.38876521e+02] [ 9.37039846e-02 9.95596208e-01 -2.78449190e-03 3.72629334e+01] [ 3.44074636e-02 -4.43225423e-04 9.99407790e-01 1.99281602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5850998929999 meters 0.014055990583464809 Centerline is valid? [True, True] Translation: X:538.94, Y:37.27, Z:19.93 [[ 9.95526300e-01 -8.84267405e-02 -3.32880916e-02 5.38938175e+02] [ 8.83858263e-02 9.96082651e-01 -2.70148911e-03 3.72701986e+01] [ 3.33965744e-02 -2.52792022e-04 9.99442147e-01 1.99328788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6450998929998 meters 0.013886281089831323 Centerline is valid? [True, True] Translation: X:539.00, Y:37.27, Z:19.93 [[ 9.95533087e-01 -8.68488906e-02 -3.70289371e-02 5.39000261e+02] [ 8.67972821e-02 9.96221471e-01 -3.00206647e-03 3.72747480e+01] [ 3.71497483e-02 -2.25354603e-04 9.99309684e-01 1.99319560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7050998929999 meters 0.013966325466101147 Centerline is valid? [True, True] Translation: X:539.06, Y:37.28, Z:19.93 [[ 9.95537782e-01 -8.68550183e-02 -3.68880902e-02 5.39061132e+02] [ 8.68039061e-02 9.96220936e-01 -2.98794272e-03 3.72773947e+01] [ 3.70082056e-02 -2.27420448e-04 9.99314936e-01 1.99345151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7650998929998 meters 0.014265460404575658 Centerline is valid? [True, True] Translation: X:539.12, Y:37.28, Z:19.94 [[ 9.95374067e-01 -8.86013585e-02 -3.71519406e-02 5.39122578e+02] [ 8.85508038e-02 9.96067122e-01 -3.00728428e-03 3.72787157e+01] [ 3.72722760e-02 -2.96461415e-04 9.99305103e-01 1.99366292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8250998929999 meters 0.014451722323895015 Centerline is valid? [True, True] Translation: X:539.18, Y:37.28, Z:19.94 [[ 9.94943581e-01 -9.30109395e-02 -3.78977122e-02 5.39184598e+02] [ 9.29616091e-02 9.95664975e-01 -3.06558166e-03 3.72795855e+01] [ 3.80185573e-02 -4.72951507e-04 9.99276921e-01 1.99389943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8850998929998 meters 0.01548400685741191 Centerline is valid? [True, True] Translation: X:539.25, Y:37.28, Z:19.94 [[ 9.94408903e-01 -9.80426104e-02 -3.92247479e-02 5.39245222e+02] [ 9.79937873e-02 9.95181978e-01 -3.17005091e-03 3.72784827e+01] [ 3.93465622e-02 -6.91454751e-04 9.99225385e-01 1.99406176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9450998929999 meters 0.015736143477411847 Centerline is valid? [True, True] Translation: X:539.31, Y:37.28, Z:19.94 [[ 9.94101877e-01 -1.01228575e-01 -3.89131479e-02 5.39306190e+02] [ 1.01182992e-01 9.94862863e-01 -3.14413725e-03 3.72808229e+01] [ 3.90315223e-02 -8.11755980e-04 9.99237650e-01 1.99440861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0050998929999 meters 0.017304197192351028 Centerline is valid? [True, True] Translation: X:539.37, Y:37.28, Z:19.95 [[ 9.93802601e-01 -1.04219822e-01 -3.86602979e-02 5.39366589e+02] [ 1.04177143e-01 9.94553857e-01 -3.12233475e-03 3.72800160e+01] [ 3.87751576e-02 -9.24534972e-04 9.99247533e-01 1.99467329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0650998929999 meters 0.017732275958884398 Centerline is valid? [True, True] Translation: X:539.43, Y:37.28, Z:19.95 [[ 9.93327340e-01 -1.08726434e-01 -3.84624284e-02 5.39428275e+02] [ 1.08687592e-01 9.94071105e-01 -3.10564448e-03 3.72804600e+01] [ 3.85720544e-02 -1.09546714e-03 9.99255221e-01 1.99498572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1250998929999 meters 0.017308167295624097 Centerline is valid? [True, True] Translation: X:539.49, Y:37.28, Z:19.95 [[ 9.93093752e-01 -1.11040798e-01 -3.78779723e-02 5.39490459e+02] [ 1.11004860e-01 9.93815162e-01 -3.05707543e-03 3.72838039e+01] [ 3.79831632e-02 -1.16867649e-03 9.99277696e-01 1.99518378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1850998929999 meters 0.01905272394330581 Centerline is valid? [True, True] Translation: X:539.55, Y:37.28, Z:19.95 [[ 9.92722510e-01 -1.13832598e-01 -3.92957765e-02 5.39551530e+02] [ 1.13796228e-01 9.93499059e-01 -3.16832574e-03 3.72826094e+01] [ 3.94009758e-02 -1.32644286e-03 9.99222600e-01 1.99531985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2450998929999 meters 0.019536160479686163 Centerline is valid? [True, True] Translation: X:539.61, Y:37.28, Z:19.95 [[ 9.92456444e-01 -1.15662551e-01 -4.06494904e-02 5.39612665e+02] [ 1.15625373e-01 9.93287504e-01 -3.27236718e-03 3.72849694e+01] [ 4.07551212e-02 -1.45243060e-03 9.99168109e-01 1.99536344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3050998929999 meters 0.020551460406488236 Centerline is valid? [True, True] Translation: X:539.67, Y:37.29, Z:19.96 [[ 9.92195277e-01 -1.17636738e-01 -4.13537149e-02 5.39673895e+02] [ 1.17600035e-01 9.93055466e-01 -3.32753390e-03 3.72866076e+01] [ 4.14579729e-02 -1.56163491e-03 9.99139028e-01 1.99554842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3650998929999 meters 0.020896948564879916 Centerline is valid? [True, True] Translation: X:539.73, Y:37.29, Z:19.96 [[ 9.91765770e-01 -1.20511059e-01 -4.33329190e-02 5.39734932e+02] [ 1.20473568e-01 9.92710417e-01 -3.48516667e-03 3.72906707e+01] [ 4.34370412e-02 -1.76400237e-03 9.99054609e-01 1.99567463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4250998929999 meters 0.02394564651605053 Centerline is valid? [True, True] Translation: X:539.80, Y:37.29, Z:19.96 [[ 9.91174398e-01 -1.24150879e-01 -4.64744212e-02 5.39795443e+02] [ 1.24111831e-01 9.92261203e-01 -3.73604421e-03 3.72908584e+01] [ 4.65785983e-02 -2.06495416e-03 9.98912494e-01 1.99564459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4850998929999 meters 0.023005727670241314 Centerline is valid? [True, True] Translation: X:539.86, Y:37.30, Z:19.96 [[ 9.90473373e-01 -1.29126090e-01 -4.78429745e-02 5.39855183e+02] [ 1.29090564e-01 9.91625355e-01 -3.84462970e-03 3.72981784e+01] [ 4.79387485e-02 -2.36807322e-03 9.98847470e-01 1.99598858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5450998929999 meters 0.026175708190845536 Centerline is valid? [True, True] Translation: X:539.92, Y:37.30, Z:19.96 [[ 9.89621559e-01 -1.35315883e-01 -4.83609546e-02 5.39915709e+02] [ 1.35286953e-01 9.90798839e-01 -3.88609076e-03 3.73016524e+01] [ 4.84418275e-02 -2.69684698e-03 9.98822365e-01 1.99631312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6050998929999 meters 0.026482378749552064 Centerline is valid? [True, True] Translation: X:539.98, Y:37.31, Z:19.97 [[ 9.89539729e-01 -1.36131073e-01 -4.77436420e-02 5.39976309e+02] [ 1.36103830e-01 9.90687151e-01 -3.83627272e-03 3.73064722e+01] [ 4.78212486e-02 -2.70194828e-03 9.98852255e-01 1.99655003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6650998929999 meters 0.026482378749552064 Centerline is valid? [True, True] Translation: X:540.04, Y:37.31, Z:19.97 [[ 9.89544650e-01 -1.36095270e-01 -4.77437267e-02 5.40037018e+02] [ 1.36068036e-01 9.90692072e-01 -3.83521796e-03 3.73113189e+01] [ 4.78212866e-02 -2.70127572e-03 9.98852255e-01 1.99677737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7250998929999 meters 0.028419208637904123 Centerline is valid? [True, True] Translation: X:540.10, Y:37.32, Z:19.97 [[ 9.89330100e-01 -1.38103940e-01 -4.64031807e-02 5.40097244e+02] [ 1.38080472e-01 9.90414004e-01 -3.72621747e-03 3.73166158e+01] [ 4.64729653e-02 -2.72091400e-03 9.98915842e-01 1.99716601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7850998929999 meters 0.02981680430250035 Centerline is valid? [True, True] Translation: X:540.16, Y:37.32, Z:19.97 [[ 9.89319426e-01 -1.38104416e-01 -4.66287958e-02 5.40156751e+02] [ 1.38080721e-01 9.90413901e-01 -3.74433457e-03 3.73222723e+01] [ 4.66989166e-02 -2.73419480e-03 9.98905268e-01 1.99745644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8450998929999 meters 0.03038444192239383 Centerline is valid? [True, True] Translation: X:540.22, Y:37.33, Z:19.98 [[ 9.89351786e-01 -1.36925943e-01 -4.93389297e-02 5.40216491e+02] [ 1.36897961e-01 9.90577231e-01 -3.96196078e-03 3.73305920e+01] [ 4.94165156e-02 -2.83462591e-03 9.98774235e-01 1.99754063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9050998929998 meters 0.02868192549261236 Centerline is valid? [True, True] Translation: X:540.28, Y:37.34, Z:19.98 [[ 9.89444145e-01 -1.35618098e-01 -5.10687430e-02 5.40276087e+02] [ 1.35586389e-01 9.90757041e-01 -4.10086635e-03 3.73409975e+01] [ 5.11528684e-02 -2.86664827e-03 9.98686721e-01 1.99777007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9650998929999 meters 0.023331783672397927 Centerline is valid? [True, True] Translation: X:540.34, Y:37.36, Z:19.98 [[ 9.89993316e-01 -1.31444941e-01 -5.13367575e-02 5.40335458e+02] [ 1.31407320e-01 9.91319890e-01 -4.12212710e-03 3.73593506e+01] [ 5.14329815e-02 -2.66514743e-03 9.98672892e-01 1.99827839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0250998929998 meters 0.020884464410598998 Centerline is valid? [True, True] Translation: X:540.39, Y:37.37, Z:19.99 [[ 9.90871037e-01 -1.24458203e-01 -5.18145059e-02 5.40394886e+02] [ 1.24410387e-01 9.92222129e-01 -4.15971402e-03 3.73740992e+01] [ 5.19292098e-02 -2.32452259e-03 9.98648063e-01 1.99855243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0850998929999 meters 0.018564588544715696 Centerline is valid? [True, True] Translation: X:540.45, Y:37.39, Z:19.99 [[ 9.92000561e-01 -1.15274903e-01 -5.14449517e-02 5.40453147e+02] [ 1.15215429e-01 9.93331942e-01 -4.13011537e-03 3.73883106e+01] [ 5.15780124e-02 -1.83017539e-03 9.98667291e-01 1.99879542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1450998929998 meters 0.019004875198553598 Centerline is valid? [True, True] Translation: X:540.51, Y:37.39, Z:19.99 [[ 9.92385194e-01 -1.12053938e-01 -5.11423727e-02 5.40512977e+02] [ 1.11990853e-01 9.93700752e-01 -4.10654104e-03 3.73947878e+01] [ 5.12803683e-02 -1.65220741e-03 9.98682930e-01 1.99895848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2050998929999 meters 0.015211127787107544 Centerline is valid? [True, True] Translation: X:540.57, Y:37.41, Z:19.99 [[ 9.93175851e-01 -1.04363344e-01 -5.20578682e-02 5.40572579e+02] [ 1.04287437e-01 9.94538415e-01 -4.17978606e-03 3.74113247e+01] [ 5.22097662e-02 -1.27771909e-03 9.98635323e-01 1.99928245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2650998929998 meters 0.01450739379423273 Centerline is valid? [True, True] Translation: X:540.63, Y:37.42, Z:20.00 [[ 9.93459559e-01 -1.01597125e-01 -5.21164858e-02 5.40632628e+02] [ 1.01517279e-01 9.94824978e-01 -4.18382738e-03 3.74192552e+01] [ 5.22718467e-02 -1.13426051e-03 9.98632248e-01 1.99952053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3250998929999 meters 0.014006965964612914 Centerline is valid? [True, True] Translation: X:540.69, Y:37.43, Z:20.00 [[ 9.93685389e-01 -9.94355167e-02 -5.19800478e-02 5.40692343e+02] [ 9.93531335e-02 9.95043487e-01 -4.17287437e-03 3.74265476e+01] [ 5.21373400e-02 -1.01785634e-03 9.98639405e-01 1.99971037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3850998929998 meters 0.013116177290611692 Centerline is valid? [True, True] Translation: X:540.75, Y:37.43, Z:20.00 [[ 9.93898689e-01 -9.69073829e-02 -5.26721413e-02 5.40752545e+02] [ 9.68192434e-02 9.95292999e-01 -4.22843452e-03 3.74349441e+01] [ 5.28339800e-02 -8.97041346e-04 9.98602907e-01 1.99994223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4450998929999 meters 0.01164759998040469 Centerline is valid? [True, True] Translation: X:540.81, Y:37.45, Z:20.00 [[ 9.94520773e-01 -8.99485021e-02 -5.32700606e-02 5.40812630e+02] [ 8.98483692e-02 9.95946275e-01 -4.27643650e-03 3.74462678e+01] [ 5.34387774e-02 -5.33223135e-04 9.98570985e-01 2.00023431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5050998929999 meters 0.011443103643185452 Centerline is valid? [True, True] Translation: X:540.87, Y:37.45, Z:20.00 [[ 9.95031989e-01 -8.44652911e-02 -5.26968322e-02 5.40871349e+02] [ 8.43595858e-02 9.96426394e-01 -4.23097490e-03 3.74536657e+01] [ 5.28658850e-02 -2.35527570e-04 9.98601594e-01 2.00026202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5650998929999 meters 0.010745851012558372 Centerline is valid? [True, True] Translation: X:540.93, Y:37.46, Z:20.01 [[ 9.95792654e-01 -7.67019866e-02 -5.01377647e-02 5.40929144e+02] [ 7.65962358e-02 9.97054048e-01 -4.03004164e-03 3.74613946e+01] [ 5.02991735e-02 1.72721814e-04 9.98734181e-01 2.00096258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6250998929999 meters 0.010679236529464087 Centerline is valid? [True, True] Translation: X:540.99, Y:37.46, Z:20.01 [[ 9.95657992e-01 -7.77729392e-02 -5.11520657e-02 5.40987740e+02] [ 7.76636010e-02 9.96971089e-01 -4.12469820e-03 3.74633993e+01] [ 5.13179206e-02 1.34135097e-04 9.98682358e-01 2.00106786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6850998929999 meters 0.010436138252258628 Centerline is valid? [True, True] Translation: X:541.05, Y:37.47, Z:20.01 [[ 9.95498546e-01 -7.95661948e-02 -5.14962664e-02 5.41046489e+02] [ 7.94570897e-02 9.96829583e-01 -4.16572806e-03 3.74659797e+01] [ 5.16644529e-02 5.52327684e-05 9.98664499e-01 2.00131226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7450998929999 meters 0.01083996393334097 Centerline is valid? [True, True] Translation: X:541.10, Y:37.46, Z:20.01 [[ 9.94793954e-01 -8.75273623e-02 -5.21914719e-02 5.41104326e+02] [ 8.74255818e-02 9.96162054e-01 -4.23434703e-03 3.74614944e+01] [ 5.23617851e-02 -3.50566976e-04 9.98628119e-01 2.00127931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8050998929999 meters 0.01180571140969516 Centerline is valid? [True, True] Translation: X:541.16, Y:37.46, Z:20.01 [[ 9.94110755e-01 -9.50999311e-02 -5.19596859e-02 5.41163712e+02] [ 9.50088781e-02 9.95467459e-01 -4.22518192e-03 3.74592598e+01] [ 5.21259910e-02 -7.36332681e-04 9.98640245e-01 2.00149002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8650998929999 meters 0.014469096188360541 Centerline is valid? [True, True] Translation: X:541.22, Y:37.45, Z:20.02 [[ 9.92969311e-01 -1.06314197e-01 -5.20503504e-02 5.41224169e+02] [ 1.06237699e-01 9.94331713e-01 -4.24209426e-03 3.74545485e+01] [ 5.22063089e-02 -1.31744006e-03 9.98635452e-01 2.00170198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9250998929999 meters 0.01778650037909197 Centerline is valid? [True, True] Translation: X:541.29, Y:37.45, Z:20.02 [[ 9.91795972e-01 -1.16795025e-01 -5.19583689e-02 5.41285119e+02] [ 1.16733104e-01 9.93154291e-01 -4.23526576e-03 3.74508333e+01] [ 5.20973350e-02 -1.86474216e-03 9.98640271e-01 2.00192660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9850998929999 meters 0.021471561500069 Centerline is valid? [True, True] Translation: X:541.35, Y:37.45, Z:20.02 [[ 9.90718449e-01 -1.25925857e-01 -5.11823444e-02 5.41345687e+02] [ 1.25877915e-01 9.92036968e-01 -4.17200025e-03 3.74486002e+01] [ 5.13001405e-02 -2.30944920e-03 9.98680611e-01 2.00217036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0450998929999 meters 0.024838838949915024 Centerline is valid? [True, True] Translation: X:541.41, Y:37.45, Z:20.02 [[ 9.90109503e-01 -1.30993050e-01 -5.02393495e-02 5.41405702e+02] [ 1.30953374e-01 9.91380072e-01 -4.09478126e-03 3.74480471e+01] [ 5.03426778e-02 -2.52473050e-03 9.98728812e-01 2.00240121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1050998929999 meters 0.027495800283094715 Centerline is valid? [True, True] Translation: X:541.47, Y:37.45, Z:20.03 [[ 9.89579007e-01 -1.35434856e-01 -4.88956848e-02 5.41466425e+02] [ 1.35402719e-01 9.90782635e-01 -3.98429515e-03 3.74492826e+01] [ 4.89846078e-02 -2.67783385e-03 9.98795944e-01 2.00268768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1650998929999 meters 0.03001643478225882 Centerline is valid? [True, True] Translation: X:541.53, Y:37.45, Z:20.03 [[ 9.89001464e-01 -1.39388462e-01 -4.94667679e-02 5.41527119e+02] [ 1.39360514e-01 9.90233509e-01 -4.03045918e-03 3.74511684e+01] [ 4.95454507e-02 -2.90758418e-03 9.98767638e-01 2.00281112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2250998929999 meters 0.031456472360727614 Centerline is valid? [True, True] Translation: X:541.59, Y:37.45, Z:20.03 [[ 9.88812997e-01 -1.40457709e-01 -5.02044825e-02 5.41587760e+02] [ 1.40430316e-01 9.90082116e-01 -4.09015708e-03 3.74548912e+01] [ 5.02810543e-02 -3.00583084e-03 9.98730585e-01 2.00293255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2850998929999 meters 0.03268166788796416 Centerline is valid? [True, True] Translation: X:541.65, Y:37.46, Z:20.03 [[ 9.88772125e-01 -1.40746954e-01 -5.01994104e-02 5.41648535e+02] [ 1.40719970e-01 9.90040994e-01 -4.08910332e-03 3.74591050e+01] [ 5.02750030e-02 -3.02086813e-03 9.98730844e-01 2.00306841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3450998929999 meters 0.026992687165302266 Centerline is valid? [True, True] Translation: X:541.71, Y:37.47, Z:20.03 [[ 9.88964031e-01 -1.39350767e-01 -5.03141111e-02 5.41709291e+02] [ 1.39321896e-01 9.90238667e-01 -4.09773329e-03 3.74723982e+01] [ 5.03940006e-02 -2.95734652e-03 9.98725037e-01 2.00343497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4050998929998 meters 0.021056948990644468 Centerline is valid? [True, True] Translation: X:541.77, Y:37.49, Z:20.04 [[ 9.89890818e-01 -1.32495301e-01 -5.06079383e-02 5.41768945e+02] [ 1.32457273e-01 9.91180156e-01 -4.11939374e-03 3.74891602e+01] [ 5.07073845e-02 -2.62563948e-03 9.98710102e-01 2.00382360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4650998929999 meters 0.01695761337521121 Centerline is valid? [True, True] Translation: X:541.83, Y:37.51, Z:20.04 [[ 9.91673370e-01 -1.19004750e-01 -4.92117499e-02 5.41828497e+02] [ 1.18952229e-01 9.92891901e-01 -4.00502527e-03 3.75053399e+01] [ 4.93385649e-02 -1.88217044e-03 9.98780338e-01 2.00419437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5250998929998 meters 0.014348416519942259 Centerline is valid? [True, True] Translation: X:541.89, Y:37.52, Z:20.04 [[ 9.93060985e-01 -1.07465613e-01 -4.77600386e-02 5.41887003e+02] [ 1.07402805e-01 9.94207991e-01 -3.88685531e-03 3.75180675e+01] [ 4.79011154e-02 -1.26967775e-03 9.98851276e-01 2.00449886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5850998929999 meters 0.010289440739256743 Centerline is valid? [True, True] Translation: X:541.95, Y:37.54, Z:20.05 [[ 9.95014321e-01 -8.88532761e-02 -4.52945510e-02 5.41946399e+02] [ 8.87774524e-02 9.96044663e-01 -3.68686423e-03 3.75375343e+01] [ 4.54429858e-02 -3.52652137e-04 9.98966872e-01 2.00490372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6450998929998 meters 0.010243564826630896 Centerline is valid? [True, True] Translation: X:542.01, Y:37.55, Z:20.05 [[ 9.96311626e-01 -7.35799854e-02 -4.41489484e-02 5.42006523e+02] [ 7.34929623e-02 9.97289263e-01 -3.59321254e-03 3.75536464e+01] [ 4.42936607e-02 3.35322431e-04 9.99018498e-01 2.00524214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7050998929999 meters 0.010955279827122615 Centerline is valid? [True, True] Translation: X:542.07, Y:37.56, Z:20.05 [[ 9.96728449e-01 -6.73918925e-02 -4.46176182e-02 5.42066519e+02] [ 6.72968741e-02 9.97726392e-01 -3.62997553e-03 3.75613016e+01] [ 4.47608062e-02 6.15473650e-04 9.98997543e-01 2.00534308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7650998929998 meters 0.011520594600786948 Centerline is valid? [True, True] Translation: X:542.13, Y:37.57, Z:20.05 [[ 9.96850458e-01 -6.52669579e-02 -4.50487381e-02 5.42125428e+02] [ 6.51679052e-02 9.97867581e-01 -3.66547954e-03 3.75662613e+01] [ 4.51919100e-02 7.18203060e-04 9.98978066e-01 2.00543788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8250998929999 meters 0.011219775786326257 Centerline is valid? [True, True] Translation: X:542.18, Y:37.57, Z:20.06 [[ 9.96746428e-01 -6.76579631e-02 -4.38059113e-02 5.42184212e+02] [ 6.75664511e-02 9.97708396e-01 -3.56799047e-03 3.75691430e+01] [ 4.39469285e-02 5.96571791e-04 9.99033689e-01 2.00569313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8850998929998 meters 0.01015870251351129 Centerline is valid? [True, True] Translation: X:542.24, Y:37.57, Z:20.06 [[ 9.96331212e-01 -7.47816485e-02 -4.16151463e-02 5.42243076e+02] [ 7.47048893e-02 9.97199894e-01 -3.39873898e-03 3.75670898e+01] [ 4.17527827e-02 2.77414830e-04 9.99127934e-01 2.00602181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9450998929999 meters 0.009874773128844149 Centerline is valid? [True, True] Translation: X:542.30, Y:37.56, Z:20.06 [[ 9.95675293e-01 -8.36309461e-02 -4.04546214e-02 5.42302880e+02] [ 8.35655995e-02 9.96496792e-01 -3.30658899e-03 3.75631653e+01] [ 4.05894336e-02 -8.83257330e-05 9.99175905e-01 2.00624520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0050998929999 meters 0.01039163835955665 Centerline is valid? [True, True] Translation: X:542.36, Y:37.56, Z:20.07 [[ 9.95131687e-01 -9.00719526e-02 -3.99996013e-02 5.42364379e+02] [ 9.00132443e-02 9.95935200e-01 -3.26994202e-03 3.75620318e+01] [ 4.01315410e-02 -3.46470967e-04 9.99194345e-01 2.00650524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0650998929999 meters 0.01072782746648313 Centerline is valid? [True, True] Translation: X:542.43, Y:37.56, Z:20.07 [[ 9.94849863e-01 -9.32655231e-02 -3.96899418e-02 5.42426285e+02] [ 9.32103196e-02 9.95641159e-01 -3.24313458e-03 3.75640865e+01] [ 3.98194123e-02 -4.73080167e-04 9.99206781e-01 2.00673779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1250998929999 meters 0.012058209256371258 Centerline is valid? [True, True] Translation: X:542.49, Y:37.56, Z:20.07 [[ 9.94283419e-01 -9.94028466e-02 -3.89814811e-02 5.42489153e+02] [ 9.93544172e-02 9.95047020e-01 -3.18244992e-03 3.75621505e+01] [ 3.91047512e-02 -7.08725147e-04 9.99234865e-01 2.00693502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1850998929999 meters 0.01495838033195687 Centerline is valid? [True, True] Translation: X:542.55, Y:37.56, Z:20.07 [[ 9.93298235e-01 -1.08688893e-01 -3.93108237e-02 5.42550437e+02] [ 1.08647009e-01 9.94075221e-01 -3.20657513e-03 3.75556136e+01] [ 3.94264349e-02 -1.08591801e-03 9.99221886e-01 2.00703922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2450998929999 meters 0.014623937029375905 Centerline is valid? [True, True] Translation: X:542.61, Y:37.56, Z:20.07 [[ 9.93098067e-01 -1.10026498e-01 -4.06250987e-02 5.42612139e+02] [ 1.09982923e-01 9.93927956e-01 -3.31283347e-03 3.75593434e+01] [ 4.07429207e-02 -1.17809857e-03 9.99168968e-01 2.00716031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3050998929999 meters 0.014870637366498528 Centerline is valid? [True, True] Translation: X:542.67, Y:37.56, Z:20.07 [[ 9.93217301e-01 -1.08793392e-01 -4.10291544e-02 5.42673226e+02] [ 1.08748018e-01 9.94063728e-01 -3.34278246e-03 3.75621226e+01] [ 4.11492668e-02 -1.14172985e-03 9.99152358e-01 2.00726992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3650998929999 meters 0.013643404445999522 Centerline is valid? [True, True] Translation: X:542.73, Y:37.57, Z:20.07 [[ 9.93926722e-01 -1.02220891e-01 -4.07499844e-02 5.42733182e+02] [ 1.02170696e-01 9.94761348e-01 -3.31794394e-03 3.75680427e+01] [ 4.08756726e-02 -8.65661141e-04 9.99163865e-01 2.00744385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4250998929999 meters 0.011217234219040468 Centerline is valid? [True, True] Translation: X:542.79, Y:37.58, Z:20.08 [[ 9.94872224e-01 -9.21401414e-02 -4.17067366e-02 5.42794238e+02] [ 9.20787403e-02 9.95745942e-01 -3.39491171e-03 3.75789478e+01] [ 4.18421213e-02 -4.62800398e-04 9.99124128e-01 2.00758165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4850998929999 meters 0.010546067492951613 Centerline is valid? [True, True] Translation: X:542.86, Y:37.59, Z:20.08 [[ 9.95440448e-01 -8.55534089e-02 -4.21773490e-02 5.42855094e+02] [ 8.54848053e-02 9.96333568e-01 -3.43075695e-03 3.75871736e+01] [ 4.23162216e-02 -1.90408231e-04 9.99104249e-01 2.00774958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5450998929999 meters 0.01057513303883863 Centerline is valid? [True, True] Translation: X:542.91, Y:37.59, Z:20.08 [[ 9.95955865e-01 -7.89806290e-02 -4.28249281e-02 5.42914658e+02] [ 7.89038897e-02 9.96876147e-01 -3.48192992e-03 3.75933042e+01] [ 4.29661543e-02 8.87951242e-05 9.99076524e-01 2.00781843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6050998929999 meters 0.01073338548261135 Centerline is valid? [True, True] Translation: X:542.97, Y:37.60, Z:20.08 [[ 9.96020331e-01 -7.81335040e-02 -4.28795608e-02 5.42974149e+02] [ 7.80558044e-02 9.96942897e-01 -3.48589617e-03 3.75959032e+01] [ 4.30208388e-02 1.25024845e-04 9.99074167e-01 2.00804388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6650998929999 meters 0.010664848399699566 Centerline is valid? [True, True] Translation: X:543.03, Y:37.60, Z:20.08 [[ 9.95866965e-01 -7.99754639e-02 -4.30454885e-02 5.43033423e+02] [ 7.98988143e-02 9.96796831e-01 -3.50093288e-03 3.75976201e+01] [ 4.31875953e-02 4.71799048e-05 9.99066979e-01 2.00829923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7250998929999 meters 0.010920700506218853 Centerline is valid? [True, True] Translation: X:543.09, Y:37.60, Z:20.08 [[ 9.95337439e-01 -8.62383017e-02 -4.32011264e-02 5.43093481e+02] [ 8.61669216e-02 9.96274513e-01 -3.51516090e-03 3.75952393e+01] [ 4.33433227e-02 -2.23736825e-04 9.99060212e-01 2.00849932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7850998929999 meters 0.011540718751270053 Centerline is valid? [True, True] Translation: X:543.15, Y:37.59, Z:20.09 [[ 9.94824866e-01 -9.21010888e-02 -4.29054336e-02 5.43154563e+02] [ 9.20360709e-02 9.95749549e-01 -3.49246672e-03 3.75939538e+01] [ 4.30447261e-02 -4.74454792e-04 9.99073034e-01 2.00871950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8450998929999 meters 0.013774237587305832 Centerline is valid? [True, True] Translation: X:543.21, Y:37.59, Z:20.09 [[ 9.93844068e-01 -1.02610528e-01 -4.17737800e-02 5.43214114e+02] [ 1.02558156e-01 9.94721198e-01 -3.40051844e-03 3.75871983e+01] [ 4.19021935e-02 -9.04656772e-04 9.99121308e-01 2.00901751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9050998929998 meters 0.016075980504964418 Centerline is valid? [True, True] Translation: X:543.28, Y:37.58, Z:20.09 [[ 9.93053636e-01 -1.10250481e-01 -4.11011798e-02 5.43275109e+02] [ 1.10206258e-01 9.93903103e-01 -3.34710020e-03 3.75839846e+01] [ 4.12196096e-02 -1.20575722e-03 9.99149383e-01 2.00928667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9650998929999 meters 0.021116254851206884 Centerline is valid? [True, True] Translation: X:543.34, Y:37.58, Z:20.09 [[ 9.91678308e-01 -1.21934246e-01 -4.13058525e-02 5.43335546e+02] [ 1.21899683e-01 9.92536726e-01 -3.36382870e-03 3.75757606e+01] [ 4.14077415e-02 -1.69933436e-03 9.99140887e-01 2.00945883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0250998929998 meters 0.021922780511774213 Centerline is valid? [True, True] Translation: X:543.40, Y:37.58, Z:20.10 [[ 9.90715579e-01 -1.29202533e-01 -4.23006824e-02 5.43396185e+02] [ 1.29172865e-01 9.91616105e-01 -3.44538969e-03 3.75765971e+01] [ 4.23911910e-02 -2.05069911e-03 9.99098985e-01 2.00962542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0850998929999 meters 0.025525528859954124 Centerline is valid? [True, True] Translation: X:543.46, Y:37.57, Z:20.10 [[ 9.89494537e-01 -1.38148003e-01 -4.26109210e-02 5.43456956e+02] [ 1.38126159e-01 9.90408562e-01 -3.47059195e-03 3.75734860e+01] [ 4.26816764e-02 -2.45155109e-03 9.99085714e-01 2.00985198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1450998929998 meters 0.026691614706358596 Centerline is valid? [True, True] Translation: X:543.52, Y:37.58, Z:20.10 [[ 9.89071526e-01 -1.41092937e-01 -4.27820078e-02 5.43517920e+02] [ 1.41073651e-01 9.89992970e-01 -3.48475497e-03 3.75769634e+01] [ 4.28455613e-02 -2.58874211e-03 9.99078353e-01 2.01013066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2050998929999 meters 0.027005524855030175 Centerline is valid? [True, True] Translation: X:543.58, Y:37.58, Z:20.10 [[ 9.89175316e-01 -1.40163014e-01 -4.34341388e-02 5.43578909e+02] [ 1.40142302e-01 9.90125057e-01 -3.53653130e-03 3.75829878e+01] [ 4.35009200e-02 -2.58871075e-03 9.99050033e-01 2.01036468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2650998929998 meters 0.025364248409921446 Centerline is valid? [True, True] Translation: X:543.64, Y:37.59, Z:20.10 [[ 9.89663934e-01 -1.36020993e-01 -4.54267159e-02 5.43639037e+02] [ 1.35994062e-01 9.90702753e-01 -3.69724965e-03 3.75915626e+01] [ 4.55072761e-02 -2.51872898e-03 9.98960832e-01 2.01043333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3250998929999 meters 0.022460293448836807 Centerline is valid? [True, True] Translation: X:543.70, Y:37.60, Z:20.11 [[ 9.90179174e-01 -1.32057239e-01 -4.58921542e-02 5.43698663e+02] [ 1.32025530e-01 9.91239281e-01 -3.73467786e-03 3.76022212e+01] [ 4.59832972e-02 -2.36093576e-03 9.98939419e-01 2.01071492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3850998929998 meters 0.021670800834241426 Centerline is valid? [True, True] Translation: X:543.76, Y:37.61, Z:20.11 [[ 9.91295084e-01 -1.23440971e-01 -4.57862734e-02 5.43757739e+02] [ 1.23400232e-01 9.92349988e-01 -3.72607460e-03 3.76134085e+01] [ 4.58959581e-02 -1.95639733e-03 9.98944310e-01 2.01105047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4450998929999 meters 0.01708716759611862 Centerline is valid? [True, True] Translation: X:543.82, Y:37.63, Z:20.11 [[ 9.92530746e-01 -1.13094234e-01 -4.57428919e-02 5.43817263e+02] [ 1.13042596e-01 9.93583170e-01 -3.72245563e-03 3.76308195e+01] [ 4.58703557e-02 -1.47624356e-03 9.98946310e-01 2.01147959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5050998929999 meters 0.014297846051301471 Centerline is valid? [True, True] Translation: X:543.88, Y:37.64, Z:20.12 [[ 9.93330305e-01 -1.05793888e-01 -4.58536617e-02 5.43877006e+02] [ 1.05734262e-01 9.94387423e-01 -3.73067365e-03 3.76440963e+01] [ 4.59909869e-02 -1.14251188e-03 9.98941201e-01 2.01182587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5650998929999 meters 0.012239759141951212 Centerline is valid? [True, True] Translation: X:543.94, Y:37.66, Z:20.12 [[ 9.94298070e-01 -9.57185516e-02 -4.70032628e-02 5.43936734e+02] [ 9.56446818e-02 9.95408196e-01 -3.82331547e-03 3.76586101e+01] [ 4.71533953e-02 -6.94096923e-04 9.98887419e-01 2.01210268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6250998929999 meters 0.01146055085665433 Centerline is valid? [True, True] Translation: X:544.00, Y:37.67, Z:20.12 [[ 9.94780865e-01 -9.01491842e-02 -4.77928412e-02 5.43996334e+02] [ 9.00664183e-02 9.95928177e-01 -3.88684099e-03 3.76689611e+01] [ 4.79486328e-02 -4.37974994e-04 9.98849707e-01 2.01235858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6850998929999 meters 0.011148407293999504 Centerline is valid? [True, True] Translation: X:544.06, Y:37.68, Z:20.13 [[ 9.95190235e-01 -8.52292407e-02 -4.82946407e-02 5.44055426e+02] [ 8.51389150e-02 9.96361348e-01 -3.92806101e-03 3.76780582e+01] [ 4.84536989e-02 -2.02585348e-04 9.98825409e-01 2.01258716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7450998929999 meters 0.010970384790304672 Centerline is valid? [True, True] Translation: X:544.11, Y:37.69, Z:20.13 [[ 9.95638509e-01 -8.03613640e-02 -4.73920992e-02 5.44113352e+02] [ 8.02686827e-02 9.96765795e-01 -3.85860332e-03 3.76866442e+01] [ 4.75489061e-02 3.76726761e-05 9.98868910e-01 2.01278499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8050998929999 meters 0.010903294103825685 Centerline is valid? [True, True] Translation: X:544.17, Y:37.69, Z:20.13 [[ 9.95780257e-01 -7.97127868e-02 -4.54703343e-02 5.44172144e+02] [ 7.96262843e-02 9.96817870e-01 -3.71337772e-03 3.76923778e+01] [ 4.56216455e-02 7.70744500e-05 9.98958788e-01 2.01314889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8650998929999 meters 0.010843184792031965 Centerline is valid? [True, True] Translation: X:544.23, Y:37.69, Z:20.13 [[ 9.95610739e-01 -8.24422358e-02 -4.43005074e-02 5.44231813e+02] [ 8.23624005e-02 9.96595844e-01 -3.62747987e-03 3.76949875e+01] [ 4.44487591e-02 -3.71382212e-05 9.99011665e-01 2.01342175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9250998929999 meters 0.011357818762566977 Centerline is valid? [True, True] Translation: X:544.29, Y:37.69, Z:20.14 [[ 9.94986999e-01 -9.00602986e-02 -4.34742976e-02 5.44290491e+02] [ 8.99906040e-02 9.95936246e-01 -3.56152134e-03 3.76928018e+01] [ 4.36183804e-02 -3.68610865e-04 9.99048198e-01 2.01353743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9850998929999 meters 0.011662655199750608 Centerline is valid? [True, True] Translation: X:544.35, Y:37.70, Z:20.14 [[ 9.94678968e-01 -9.34893729e-02 -4.32837976e-02 5.44351003e+02] [ 9.34234439e-02 9.95620145e-01 -3.54793740e-03 3.76952847e+01] [ 4.34259153e-02 -5.14662726e-04 9.99056517e-01 2.01374749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0450998929999 meters 0.013874487666532126 Centerline is valid? [True, True] Translation: X:544.41, Y:37.69, Z:20.14 [[ 9.93581045e-01 -1.04741215e-01 -4.27315509e-02 5.44411252e+02] [ 1.04687340e-01 9.94499015e-01 -3.50277219e-03 3.76922846e+01] [ 4.28633699e-02 -9.93164336e-04 9.99080450e-01 2.01396023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1050998929999 meters 0.015330674193980263 Centerline is valid? [True, True] Translation: X:544.47, Y:37.69, Z:20.14 [[ 9.92771229e-01 -1.11999701e-01 -4.31434133e-02 5.44472743e+02] [ 1.11951602e-01 9.93707366e-01 -3.53700054e-03 3.76919174e+01] [ 4.32680706e-02 -1.31854187e-03 9.99062628e-01 2.01411582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1650998929999 meters 0.018891533142271953 Centerline is valid? [True, True] Translation: X:544.53, Y:37.69, Z:20.14 [[ 9.91766522e-01 -1.20356335e-01 -4.37437783e-02 5.44532429e+02] [ 1.20315052e-01 9.92729287e-01 -3.58491392e-03 3.76881702e+01] [ 4.38571970e-02 -1.70763735e-03 9.99036351e-01 2.01419841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2250998929999 meters 0.020754515452890712 Centerline is valid? [True, True] Translation: X:544.59, Y:37.69, Z:20.14 [[ 9.91253824e-01 -1.24762539e-01 -4.30135549e-02 5.44593956e+02] [ 1.24726745e-01 9.92184867e-01 -3.52541175e-03 3.76900710e+01] [ 4.31172376e-02 -1.87036280e-03 9.99068269e-01 2.01442142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2850998929999 meters 0.023008491440772494 Centerline is valid? [True, True] Translation: X:544.65, Y:37.69, Z:20.15 [[ 9.91104168e-01 -1.26005491e-01 -4.28385869e-02 5.44654253e+02] [ 1.25971207e-01 9.92027690e-01 -3.50962592e-03 3.76922407e+01] [ 4.29392965e-02 -1.91802363e-03 9.99075842e-01 2.01456356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3450998929999 meters 0.021870439690625004 Centerline is valid? [True, True] Translation: X:544.72, Y:37.70, Z:20.15 [[ 9.90964851e-01 -1.26821396e-01 -4.36462778e-02 5.44715590e+02] [ 1.26786658e-01 9.91923569e-01 -3.57443240e-03 3.76997664e+01] [ 4.37470862e-02 -1.99162881e-03 9.99040653e-01 2.01470557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4050998929998 meters 0.023522017315667502 Centerline is valid? [True, True] Translation: X:544.78, Y:37.70, Z:20.15 [[ 9.90794026e-01 -1.28046408e-01 -4.39467368e-02 5.44776139e+02] [ 1.28012578e-01 9.91766029e-01 -3.59481086e-03 3.77033320e+01] [ 4.40451833e-02 -2.06401794e-03 9.99027408e-01 2.01487902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4650998929999 meters 0.02510662279662814 Centerline is valid? [True, True] Translation: X:544.84, Y:37.71, Z:20.15 [[ 9.90190220e-01 -1.32342167e-01 -4.48205203e-02 5.44837063e+02] [ 1.32311434e-01 9.91201420e-01 -3.66475167e-03 3.77083169e+01] [ 4.49111645e-02 -2.30146604e-03 9.98988334e-01 2.01499891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5250998929998 meters 0.028076224776663324 Centerline is valid? [True, True] Translation: X:544.90, Y:37.71, Z:20.15 [[ 9.89672439e-01 -1.35776190e-01 -4.59705330e-02 5.44897459e+02] [ 1.35747599e-01 9.90736326e-01 -3.75775624e-03 3.77098336e+01] [ 4.60548908e-02 -2.52144171e-03 9.98935728e-01 2.01507212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5850998929999 meters 0.025509687409676005 Centerline is valid? [True, True] Translation: X:544.96, Y:37.72, Z:20.15 [[ 9.89026216e-01 -1.40070895e-01 -4.69817894e-02 5.44957327e+02] [ 1.40045892e-01 9.90137569e-01 -3.83971134e-03 3.77205335e+01] [ 4.70562665e-02 -2.78203143e-03 9.98888366e-01 2.01532151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6450998929998 meters 0.025536834110765832 Centerline is valid? [True, True] Translation: X:545.02, Y:37.73, Z:20.16 [[ 9.89059376e-01 -1.39803255e-01 -4.70807905e-02 5.45018873e+02] [ 1.39777887e-01 9.90175410e-01 -3.84691343e-03 3.77282271e+01] [ 4.71560521e-02 -2.77602762e-03 9.98883677e-01 2.01560836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7050998929999 meters 0.02417792599050301 Centerline is valid? [True, True] Translation: X:545.08, Y:37.74, Z:20.16 [[ 9.89959799e-01 -1.33694588e-01 -4.58841233e-02 5.45078756e+02] [ 1.33664078e-01 9.91019616e-01 -3.74628321e-03 3.77407528e+01] [ 4.59729241e-02 -2.42438927e-03 9.98939744e-01 2.01608250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7650998929998 meters 0.018658053723624876 Centerline is valid? [True, True] Translation: X:545.14, Y:37.76, Z:20.17 [[ 9.91497071e-01 -1.22478358e-01 -4.39614516e-02 5.45137365e+02] [ 1.22439366e-01 9.92469507e-01 -3.58865127e-03 3.77601589e+01] [ 4.40699323e-02 -1.82447505e-03 9.99026783e-01 2.01662156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8250998929999 meters 0.01765603171477996 Centerline is valid? [True, True] Translation: X:545.20, Y:37.77, Z:20.17 [[ 9.92471036e-01 -1.14415127e-01 -4.37083650e-02 5.45195984e+02] [ 1.14368772e-01 9.93431957e-01 -3.56798239e-03 3.77705576e+01] [ 4.38295177e-02 -1.45775283e-03 9.99037961e-01 2.01691468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8850998929998 meters 0.013843162747984656 Centerline is valid? [True, True] Translation: X:545.26, Y:37.79, Z:20.17 [[ 9.93641642e-01 -1.03182217e-01 -4.50523959e-02 5.45255242e+02] [ 1.03121392e-01 9.94661977e-01 -3.67836451e-03 3.77873651e+01] [ 4.51914470e-02 -9.90889604e-04 9.98977853e-01 2.01715582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9450998929999 meters 0.013460935338063048 Centerline is valid? [True, True] Translation: X:545.32, Y:37.80, Z:20.17 [[ 9.94209410e-01 -9.67991393e-02 -4.66645028e-02 5.45315130e+02] [ 9.67268636e-02 9.95303672e-01 -3.80976446e-03 3.77960356e+01] [ 4.68141329e-02 -7.26007321e-04 9.98903354e-01 2.01723952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0050998929999 meters 0.011507952928669333 Centerline is valid? [True, True] Translation: X:545.38, Y:37.81, Z:20.18 [[ 9.94885342e-01 -8.82544354e-02 -4.91356312e-02 5.45375203e+02] [ 8.81639348e-02 9.96097906e-01 -4.01036377e-03 3.78105064e+01] [ 4.92978317e-02 -3.42138453e-04 9.98784064e-01 2.01757973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0650998929999 meters 0.011366194990635391 Centerline is valid? [True, True] Translation: X:545.44, Y:37.82, Z:20.18 [[ 9.95312103e-01 -8.26823579e-02 -5.01741452e-02 5.45435516e+02] [ 8.25809812e-02 9.96575949e-01 -4.09372653e-03 3.78195197e+01] [ 5.03408254e-02 -6.88945844e-05 9.98732094e-01 2.01784127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1250998929999 meters 0.011557420620000789 Centerline is valid? [True, True] Translation: X:545.49, Y:37.83, Z:20.18 [[ 9.95697766e-01 -7.76184913e-02 -5.06095700e-02 5.45493621e+02] [ 7.75087695e-02 9.96983116e-01 -4.12998439e-03 3.78277476e+01] [ 5.07774500e-02 1.89530738e-04 9.98709975e-01 2.01806385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1850998929999 meters 0.012195063687891392 Centerline is valid? [True, True] Translation: X:545.55, Y:37.84, Z:20.18 [[ 9.96141947e-01 -7.19304786e-02 -5.02715425e-02 5.45550543e+02] [ 7.18148167e-02 9.97409533e-01 -4.10557773e-03 3.78361132e+01] [ 5.04366319e-02 4.79496579e-04 9.98727148e-01 2.01838088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2450998929999 meters 0.012103384156472632 Centerline is valid? [True, True] Translation: X:545.61, Y:37.84, Z:20.19 [[ 9.96307120e-01 -7.06890972e-02 -4.87357629e-02 5.45608490e+02] [ 7.05785929e-02 9.97498255e-01 -3.98673412e-03 3.78394668e+01] [ 4.88956570e-02 5.32310020e-04 9.98803750e-01 2.01879079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3050998929999 meters 0.012168765143895937 Centerline is valid? [True, True] Translation: X:545.67, Y:37.84, Z:20.19 [[ 9.96237056e-01 -7.18975094e-02 -4.83991294e-02 5.45666360e+02] [ 7.17893805e-02 9.97411909e-01 -3.97095981e-03 3.78414486e+01] [ 4.85593701e-02 4.81473799e-04 9.98820182e-01 2.01898792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3650998929999 meters 0.011588659013901038 Centerline is valid? [True, True] Translation: X:545.73, Y:37.84, Z:20.19 [[ 9.95873982e-01 -7.67318705e-02 -4.84482310e-02 5.45725474e+02] [ 7.66289355e-02 9.97051732e-01 -3.98118251e-03 3.78391677e+01] [ 4.86108762e-02 2.52219718e-04 9.98817761e-01 2.01921782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4250998929999 meters 0.011397204898338018 Centerline is valid? [True, True] Translation: X:545.78, Y:37.84, Z:20.19 [[ 9.95457684e-01 -8.17765547e-02 -4.87503183e-02 5.45783599e+02] [ 8.16777458e-02 9.96650688e-01 -4.01884266e-03 3.78373594e+01] [ 4.89156854e-02 1.87716986e-05 9.98802911e-01 2.01930118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4850998929999 meters 0.011763771969726214 Centerline is valid? [True, True] Translation: X:545.84, Y:37.83, Z:20.19 [[ 9.94770218e-01 -8.93831729e-02 -4.94253231e-02 5.45842488e+02] [ 8.92903916e-02 9.95997253e-01 -4.08641547e-03 3.78325963e+01] [ 4.95927428e-02 -3.48162049e-04 9.98769462e-01 2.01937538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5450998929999 meters 0.012693305000422268 Centerline is valid? [True, True] Translation: X:545.90, Y:37.83, Z:20.20 [[ 9.94199311e-01 -9.60558633e-02 -4.83838870e-02 5.45900471e+02] [ 9.59746111e-02 9.95375725e-01 -4.00509964e-03 3.78279608e+01] [ 4.85448599e-02 -6.61757438e-04 9.98820784e-01 2.01951394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6050998929999 meters 0.013050086525823528 Centerline is valid? [True, True] Translation: X:545.96, Y:37.83, Z:20.20 [[ 9.93892881e-01 -9.92496708e-02 -4.82332258e-02 5.45959756e+02] [ 9.91724120e-02 9.95062233e-01 -3.99817254e-03 3.78287061e+01] [ 4.83918787e-02 -8.09650120e-04 9.98828099e-01 2.01971892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6650998929999 meters 0.01364573492501756 Centerline is valid? [True, True] Translation: X:546.02, Y:37.83, Z:20.20 [[ 9.93584860e-01 -1.02426779e-01 -4.79362200e-02 5.46020052e+02] [ 1.02354064e-01 9.94740087e-01 -3.97557087e-03 3.78295636e+01] [ 4.80912845e-02 -9.56399923e-04 9.98842487e-01 2.01995497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7250998929999 meters 0.015760450454928254 Centerline is valid? [True, True] Translation: X:546.08, Y:37.83, Z:20.20 [[ 9.92946349e-01 -1.08800010e-01 -4.71179944e-02 5.46079520e+02] [ 1.08736903e-01 9.94062882e-01 -3.90807268e-03 3.78265494e+01] [ 4.72634476e-02 -1.24295830e-03 9.98881685e-01 2.02004999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7850998929999 meters 0.016997872367181564 Centerline is valid? [True, True] Translation: X:546.14, Y:37.83, Z:20.20 [[ 9.92119321e-01 -1.16104074e-01 -4.71072950e-02 5.46139944e+02] [ 1.16049137e-01 9.93235782e-01 -3.90874289e-03 3.78256629e+01] [ 4.72424720e-02 -1.58882158e-03 9.98882187e-01 2.02017150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8450998929999 meters 0.018226120824677217 Centerline is valid? [True, True] Translation: X:546.20, Y:37.83, Z:20.20 [[ 9.91846549e-01 -1.18318366e-01 -4.73411762e-02 5.46200842e+02] [ 1.18265362e-01 9.92974253e-01 -3.92893190e-03 3.78274728e+01] [ 4.74734339e-02 -1.70192378e-03 9.98871051e-01 2.02031579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9050998929998 meters 0.01974234535200938 Centerline is valid? [True, True] Translation: X:546.26, Y:37.83, Z:20.20 [[ 9.91363319e-01 -1.22244883e-01 -4.74864111e-02 5.46261689e+02] [ 1.22196046e-01 9.92498159e-01 -3.94098521e-03 3.78282708e+01] [ 4.76119408e-02 -1.89570350e-03 9.98864110e-01 2.02046465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9650998929999 meters 0.020489801516082755 Centerline is valid? [True, True] Translation: X:546.32, Y:37.83, Z:20.21 [[ 9.91083391e-01 -1.24614483e-01 -4.71692916e-02 5.46321722e+02] [ 1.24568965e-01 9.92203229e-01 -3.91484992e-03 3.78316273e+01] [ 4.72893704e-02 -1.99588708e-03 9.98879238e-01 2.02069715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0250998929998 meters 0.02062041034669052 Centerline is valid? [True, True] Translation: X:546.38, Y:37.84, Z:20.21 [[ 9.91079554e-01 -1.24881995e-01 -4.65382165e-02 5.46382044e+02] [ 1.24837949e-01 9.92169624e-01 -3.86314513e-03 3.78362794e+01] [ 4.66562420e-02 -1.98105133e-03 9.98909040e-01 2.02097125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0850998929999 meters 0.01900266008016131 Centerline is valid? [True, True] Translation: X:546.44, Y:37.84, Z:20.21 [[ 9.91507486e-01 -1.21747958e-01 -4.57202456e-02 5.46442676e+02] [ 1.21702134e-01 9.92559413e-01 -3.79492491e-03 3.78443003e+01] [ 4.58420845e-02 -1.80155499e-03 9.98947075e-01 2.02124762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1450998929998 meters 0.021080906599265693 Centerline is valid? [True, True] Translation: X:546.50, Y:37.85, Z:20.21 [[ 9.91915049e-01 -1.18424534e-01 -4.56088327e-02 5.46501932e+02] [ 1.18375502e-01 9.92961692e-01 -3.78401642e-03 3.78472673e+01] [ 4.57359441e-02 -1.64554562e-03 9.98952209e-01 2.02133440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2050998929999 meters 0.017105618263306623 Centerline is valid? [True, True] Translation: X:546.56, Y:37.86, Z:20.22 [[ 9.92505411e-01 -1.13418704e-01 -4.54885287e-02 5.46561866e+02] [ 1.13364739e-01 9.93546276e-01 -3.77269306e-03 3.78608232e+01] [ 4.56228522e-02 -1.41237691e-03 9.98957737e-01 2.02164051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2650998929998 meters 0.016303780142093695 Centerline is valid? [True, True] Translation: X:546.62, Y:37.87, Z:20.22 [[ 9.92857523e-01 -1.10366621e-01 -4.53116671e-02 5.46622479e+02] [ 1.10309937e-01 9.93890135e-01 -3.75719585e-03 3.78681894e+01] [ 4.54494880e-02 -1.26796698e-03 9.98965833e-01 2.02184512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3250998929999 meters 0.01589952742922165 Centerline is valid? [True, True] Translation: X:546.68, Y:37.88, Z:20.22 [[ 9.93278986e-01 -1.06861383e-01 -4.44690925e-02 5.46683066e+02] [ 1.06803313e-01 9.94273334e-01 -3.68652942e-03 3.78757565e+01] [ 4.46083805e-02 -1.08769421e-03 9.99003959e-01 2.02216411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3850998929998 meters 0.016039177475230055 Centerline is valid? [True, True] Translation: X:546.74, Y:37.88, Z:20.22 [[ 9.93439859e-01 -1.05940344e-01 -4.30568227e-02 5.46742227e+02] [ 1.05885064e-01 9.94371971e-01 -3.56890598e-03 3.78814416e+01] [ 4.31925888e-02 -1.01358097e-03 9.99066251e-01 2.02243868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4450998929999 meters 0.016381691423713988 Centerline is valid? [True, True] Translation: X:546.80, Y:37.89, Z:20.23 [[ 9.93380451e-01 -1.07213621e-01 -4.12373464e-02 5.46802983e+02] [ 1.07163990e-01 9.94235481e-01 -3.41858006e-03 3.78863132e+01] [ 4.13661513e-02 -1.02320797e-03 9.99143531e-01 2.02274866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5050998929999 meters 0.016954459942815966 Centerline is valid? [True, True] Translation: X:546.86, Y:37.89, Z:20.23 [[ 9.92730318e-01 -1.13139059e-01 -4.10617770e-02 5.46864338e+02] [ 1.13094969e-01 9.93578357e-01 -3.40256183e-03 3.78898902e+01] [ 4.11830555e-02 -1.26605412e-03 9.99150816e-01 2.02291405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5650998929999 meters 0.019411906679870385 Centerline is valid? [True, True] Translation: X:546.92, Y:37.89, Z:20.23 [[ 9.92032897e-01 -1.19015685e-01 -4.13037194e-02 5.46924067e+02] [ 1.18976214e-01 9.92891210e-01 -3.42121639e-03 3.78904306e+01] [ 4.14172783e-02 -1.52020096e-03 9.99140780e-01 2.02310094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6250998929999 meters 0.02315930094693073 Centerline is valid? [True, True] Translation: X:546.99, Y:37.89, Z:20.23 [[ 9.90795330e-01 -1.28741777e-01 -4.18350196e-02 5.46985048e+02] [ 1.28709927e-01 9.91676231e-01 -3.46516776e-03 3.78895833e+01] [ 4.19329064e-02 -1.95131027e-03 9.99118523e-01 2.02334794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6850998929999 meters 0.026002262248633477 Centerline is valid? [True, True] Translation: X:547.05, Y:37.89, Z:20.24 [[ 9.90124533e-01 -1.33719168e-01 -4.21021732e-02 5.47045673e+02] [ 1.33691415e-01 9.91016876e-01 -3.48682161e-03 3.78909674e+01] [ 4.21902190e-02 -2.17631148e-03 9.99107226e-01 2.02364919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7450998929999 meters 0.025905246583208332 Centerline is valid? [True, True] Translation: X:547.11, Y:37.90, Z:20.24 [[ 9.89727951e-01 -1.37019495e-01 -4.07951186e-02 5.47106221e+02] [ 1.36996238e-01 9.90565807e-01 -3.37836382e-03 3.78977002e+01] [ 4.08731513e-02 -2.24511669e-03 9.99161821e-01 2.02403716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8050998929999 meters 0.02946813318290608 Centerline is valid? [True, True] Translation: X:547.17, Y:37.90, Z:20.24 [[ 9.89773717e-01 -1.36963321e-01 -3.98627395e-02 5.47166951e+02] [ 1.36941101e-01 9.90573694e-01 -3.30033736e-03 3.78999159e+01] [ 3.99390063e-02 -2.19226027e-03 9.99199715e-01 2.02425265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8650998929999 meters 0.026978300564886818 Centerline is valid? [True, True] Translation: X:547.23, Y:37.91, Z:20.24 [[ 9.90061145e-01 -1.34897354e-01 -3.97697473e-02 5.47227661e+02] [ 1.34873660e-01 9.90857340e-01 -3.29052340e-03 3.79115897e+01] [ 3.98500290e-02 -2.10607199e-03 9.99203453e-01 2.02449614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9250998929999 meters 0.023981432174382016 Centerline is valid? [True, True] Translation: X:547.29, Y:37.92, Z:20.25 [[ 9.90256635e-01 -1.33493737e-01 -3.96386127e-02 5.47288896e+02] [ 1.33469138e-01 9.91047548e-01 -3.27815873e-03 3.79232881e+01] [ 3.97213636e-02 -2.04431303e-03 9.99208704e-01 2.02476555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9850998929999 meters 0.02375412125790828 Centerline is valid? [True, True] Translation: X:547.35, Y:37.93, Z:20.25 [[ 9.90607125e-01 -1.30859525e-01 -3.96649447e-02 5.47350043e+02] [ 1.30832902e-01 9.91399017e-01 -3.27743362e-03 3.79338979e+01] [ 3.97526705e-02 -1.94283071e-03 9.99207661e-01 2.02503755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0450998929999 meters 0.022067296674880863 Centerline is valid? [True, True] Translation: X:547.41, Y:37.95, Z:20.25 [[ 9.90959240e-01 -1.28068803e-01 -3.99770784e-02 5.47411309e+02] [ 1.28039584e-01 9.91763565e-01 -3.30100235e-03 3.79451224e+01] [ 4.00705652e-02 -1.84748970e-03 9.99195144e-01 2.02527318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1050998929999 meters 0.02123473312725021 Centerline is valid? [True, True] Translation: X:547.47, Y:37.96, Z:20.25 [[ 9.91685117e-01 -1.21829475e-01 -4.14512748e-02 5.47470560e+02] [ 1.21792706e-01 9.92549664e-01 -3.42063778e-03 3.79572128e+01] [ 4.15591834e-02 -1.65626736e-03 9.99134671e-01 2.02540359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1650998929999 meters 0.01965675217754094 Centerline is valid? [True, True] Translation: X:547.53, Y:37.97, Z:20.26 [[ 9.92748807e-01 -1.12369504e-01 -4.26954517e-02 5.47529558e+02] [ 1.12321731e-01 9.93665644e-01 -3.52382638e-03 3.79710933e+01] [ 4.28209741e-02 -1.29735260e-03 9.99081919e-01 2.02556186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2250998929999 meters 0.015877253064292947 Centerline is valid? [True, True] Translation: X:547.59, Y:37.99, Z:20.26 [[ 9.93641548e-01 -1.03886442e-01 -4.34060096e-02 5.47588909e+02] [ 1.03828978e-01 9.94588714e-01 -3.58237673e-03 3.79878223e+01] [ 4.35432876e-02 -9.47203244e-04 9.99051092e-01 2.02590309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2850998929999 meters 0.013482495013705095 Centerline is valid? [True, True] Translation: X:547.65, Y:38.01, Z:20.26 [[ 9.94974981e-01 -8.97605213e-02 -4.43602980e-02 5.47647921e+02] [ 8.96864843e-02 9.95963320e-01 -3.66045298e-03 3.80064443e+01] [ 4.45097938e-02 -3.36460035e-04 9.99008891e-01 2.02631932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3450998929999 meters 0.013240706289576383 Centerline is valid? [True, True] Translation: X:547.71, Y:38.02, Z:20.27 [[ 9.95672954e-01 -8.18122332e-02 -4.40695749e-02 5.47708725e+02] [ 8.17313882e-02 9.96647760e-01 -3.63621052e-03 3.80184122e+01] [ 4.42193297e-02 1.86089354e-05 9.99021847e-01 2.02667912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4050998929998 meters 0.013519802547839738 Centerline is valid? [True, True] Translation: X:547.77, Y:38.03, Z:20.27 [[ 9.96127439e-01 -7.59391448e-02 -4.43099450e-02 5.47768589e+02] [ 7.58516717e-02 9.97112415e-01 -3.65454248e-03 3.80279576e+01] [ 4.44595191e-02 2.79406636e-04 9.99011148e-01 2.02687685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4650998929999 meters 0.01337761892976102 Centerline is valid? [True, True] Translation: X:547.83, Y:38.03, Z:20.27 [[ 9.96059649e-01 -7.65369056e-02 -4.48026468e-02 5.47829075e+02] [ 7.64481101e-02 9.97066716e-01 -3.69450065e-03 3.80321725e+01] [ 4.49539936e-02 2.54865345e-04 9.98989026e-01 2.02710978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5250998929998 meters 0.013316475557200677 Centerline is valid? [True, True] Translation: X:547.89, Y:38.04, Z:20.27 [[ 9.95750169e-01 -8.00472567e-02 -4.55416007e-02 5.47889023e+02] [ 7.99591747e-02 9.96791065e-01 -3.75543602e-03 3.80352373e+01] [ 4.56960730e-02 9.80072410e-05 9.98955384e-01 2.02732547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5850998929999 meters 0.013640017896570898 Centerline is valid? [True, True] Translation: X:547.95, Y:38.03, Z:20.27 [[ 9.94924591e-01 -8.88322093e-02 -4.72641194e-02 5.47948571e+02] [ 8.87472250e-02 9.96046554e-01 -3.89765840e-03 3.80335437e+01] [ 4.74235009e-02 -3.16683247e-04 9.98874823e-01 2.02746775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6450998929998 meters 0.015227670709487195 Centerline is valid? [True, True] Translation: X:548.01, Y:38.03, Z:20.28 [[ 9.93849523e-01 -1.00483377e-01 -4.65426226e-02 5.48009464e+02] [ 1.00413691e-01 9.94938367e-01 -3.83881541e-03 3.80285065e+01] [ 4.66927781e-02 -8.58311660e-04 9.98908929e-01 2.02774553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7050998929999 meters 0.017801046955564608 Centerline is valid? [True, True] Translation: X:548.07, Y:38.02, Z:20.28 [[ 9.93138580e-01 -1.07904993e-01 -4.50807358e-02 5.48070249e+02] [ 1.07847254e-01 9.94160523e-01 -3.71810069e-03 3.80249571e+01] [ 4.52186895e-02 -1.16924434e-03 9.98976428e-01 2.02800246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7650998929998 meters 0.018260621565291214 Centerline is valid? [True, True] Translation: X:548.13, Y:38.03, Z:20.28 [[ 9.92525039e-01 -1.13920841e-01 -4.37731536e-02 5.48131249e+02] [ 1.13872275e-01 9.93488841e-01 -3.60950114e-03 3.80269249e+01] [ 4.38993370e-02 -1.40202834e-03 9.99034976e-01 2.02839371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8250998929999 meters 0.019476295560123733 Centerline is valid? [True, True] Translation: X:548.19, Y:38.03, Z:20.29 [[ 9.91978381e-01 -1.18770352e-01 -4.32723394e-02 5.48192258e+02] [ 1.18727529e-01 9.92920464e-01 -3.56742302e-03 3.80278198e+01] [ 4.33896954e-02 -1.59881142e-03 9.99056944e-01 2.02865128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8850998929998 meters 0.02324543031176449 Centerline is valid? [True, True] Translation: X:548.25, Y:38.02, Z:20.29 [[ 9.91102231e-01 -1.25921256e-01 -4.31301020e-02 5.48252099e+02] [ 1.25885498e-01 9.92038409e-01 -3.55493173e-03 3.80233987e+01] [ 4.32343592e-02 -1.90615358e-03 9.99063140e-01 2.02880738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9450998929999 meters 0.02381561044306723 Centerline is valid? [True, True] Translation: X:548.31, Y:38.03, Z:20.29 [[ 9.90433385e-01 -1.31228937e-01 -4.26693764e-02 5.48312853e+02] [ 1.31198871e-01 9.91349833e-01 -3.51640282e-03 3.80251654e+01] [ 4.27617330e-02 -2.11541128e-03 9.99083059e-01 2.02899100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0050998929999 meters 0.027044276890186465 Centerline is valid? [True, True] Translation: X:548.37, Y:38.02, Z:20.29 [[ 9.89440523e-01 -1.38265558e-01 -4.34751281e-02 5.48374456e+02] [ 1.38241127e-01 9.90392123e-01 -3.58243594e-03 3.80240136e+01] [ 4.35527519e-02 -2.46544341e-03 9.99048087e-01 2.02909488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0650998929999 meters 0.029298798208596284 Centerline is valid? [True, True] Translation: X:548.44, Y:38.03, Z:20.29 [[ 9.89047649e-01 -1.40680797e-01 -4.46504425e-02 5.48435582e+02] [ 1.40657535e-01 9.90051478e-01 -3.67805612e-03 3.80255689e+01] [ 4.47236685e-02 -2.64264841e-03 9.98995901e-01 2.02914069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1250998929999 meters 0.030211031627702688 Centerline is valid? [True, True] Translation: X:548.50, Y:38.03, Z:20.29 [[ 9.89059885e-01 -1.40379165e-01 -4.53236599e-02 5.48497193e+02] [ 1.40354940e-01 9.90094218e-01 -3.73225933e-03 3.80306228e+01] [ 4.53986251e-02 -2.66997156e-03 9.98965383e-01 2.02921733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1850998929999 meters 0.027638758174087726 Centerline is valid? [True, True] Translation: X:548.56, Y:38.04, Z:20.29 [[ 9.89472779e-01 -1.37485896e-01 -4.51801622e-02 5.48557767e+02] [ 1.37458943e-01 9.90500489e-01 -3.71767114e-03 3.80407826e+01] [ 4.52621001e-02 -2.53188293e-03 9.98971937e-01 2.02945147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2450998929999 meters 0.023689134620301623 Centerline is valid? [True, True] Translation: X:548.62, Y:38.06, Z:20.30 [[ 9.90559474e-01 -1.29486707e-01 -4.50013367e-02 5.48617226e+02] [ 1.29451759e-01 9.91578809e-01 -3.70230365e-03 3.80561070e+01] [ 4.51017710e-02 -2.15815024e-03 9.98980066e-01 2.02970515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3050998929999 meters 0.019758238554327772 Centerline is valid? [True, True] Translation: X:548.68, Y:38.07, Z:20.30 [[ 9.92030270e-01 -1.17995482e-01 -4.41928722e-02 5.48676608e+02] [ 1.17950388e-01 9.93012834e-01 -3.63570291e-03 3.80730537e+01] [ 4.43130857e-02 -1.60583909e-03 9.99016402e-01 2.03008487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3650998929999 meters 0.017753155646012174 Centerline is valid? [True, True] Translation: X:548.74, Y:38.08, Z:20.30 [[ 9.93066342e-01 -1.09507640e-01 -4.27471290e-02 5.48736339e+02] [ 1.09457621e-01 9.93985245e-01 -3.51600412e-03 3.80848084e+01] [ 4.28750448e-02 -1.18737367e-03 9.99079737e-01 2.03036462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4250998929999 meters 0.01416489171383426 Centerline is valid? [True, True] Translation: X:548.80, Y:38.10, Z:20.31 [[ 9.94518092e-01 -9.60597140e-02 -4.13073482e-02 5.48795998e+02] [ 9.60014091e-02 9.95375400e-01 -3.39741109e-03 3.81033485e+01] [ 4.14426726e-02 -5.86776843e-04 9.99140711e-01 2.03073853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4850998929999 meters 0.013608846835101628 Centerline is valid? [True, True] Translation: X:548.86, Y:38.12, Z:20.31 [[ 9.95307300e-01 -8.76395505e-02 -4.10205862e-02 5.48856090e+02] [ 8.75749415e-02 9.96152224e-01 -3.37280892e-03 3.81151548e+01] [ 4.11583397e-02 -2.35394106e-04 9.99152609e-01 2.03098458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5450998929999 meters 0.01345151758167263 Centerline is valid? [True, True] Translation: X:548.92, Y:38.13, Z:20.31 [[ 9.96087771e-01 -7.85374579e-02 -4.05095077e-02 5.48917842e+02] [ 7.84670118e-02 9.96911154e-01 -3.32852420e-03 3.81276889e+01] [ 4.06457939e-02 1.36842223e-04 9.99173609e-01 2.03117399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6050998929999 meters 0.013649991511091177 Centerline is valid? [True, True] Translation: X:548.98, Y:38.13, Z:20.31 [[ 9.96311283e-01 -7.54195834e-02 -4.09354756e-02 5.48979259e+02] [ 7.53451410e-02 9.97151852e-01 -3.36048857e-03 3.81345411e+01] [ 4.10723320e-02 2.63803504e-04 9.99156141e-01 2.03133307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6650998929999 meters 0.013672281924404133 Centerline is valid? [True, True] Translation: X:549.04, Y:38.14, Z:20.31 [[ 9.96419026e-01 -7.36856992e-02 -4.14673756e-02 5.49040769e+02] [ 7.36079349e-02 9.97281457e-01 -3.40109834e-03 3.81397768e+01] [ 4.16052571e-02 3.36591209e-04 9.99134070e-01 2.03148699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7250998929999 meters 0.013544350907533632 Centerline is valid? [True, True] Translation: X:549.10, Y:38.14, Z:20.32 [[ 9.96393539e-01 -7.40726120e-02 -4.13903915e-02 5.49101602e+02] [ 7.39955915e-02 9.97252800e-01 -3.39186092e-03 3.81437165e+01] [ 4.15279278e-02 3.16921806e-04 9.99137293e-01 2.03169101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7850998929999 meters 0.013506583622636159 Centerline is valid? [True, True] Translation: X:549.16, Y:38.15, Z:20.32 [[ 9.96342215e-01 -7.51422331e-02 -4.06919696e-02 5.49161857e+02] [ 7.50687412e-02 9.97172790e-01 -3.33319959e-03 3.81465905e+01] [ 4.08273890e-02 2.66312523e-04 9.99166179e-01 2.03188068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8450998929999 meters 0.013451360264441131 Centerline is valid? [True, True] Translation: X:549.22, Y:38.15, Z:20.32 [[ 9.96293545e-01 -7.62020683e-02 -3.99051081e-02 5.49222979e+02] [ 7.61322728e-02 9.97092372e-01 -3.26797792e-03 3.81488469e+01] [ 4.00381056e-02 2.17798722e-04 9.99198130e-01 2.03217286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9050998929998 meters 0.01343859873430301 Centerline is valid? [True, True] Translation: X:549.28, Y:38.15, Z:20.32 [[ 9.96123255e-01 -7.90179532e-02 -3.86603612e-02 5.49284157e+02] [ 7.89546228e-02 9.96873188e-01 -3.16455982e-03 3.81480388e+01] [ 3.87895346e-02 9.98773909e-05 9.99247398e-01 2.03248320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9650998929999 meters 0.013352445128244201 Centerline is valid? [True, True] Translation: X:549.35, Y:38.15, Z:20.33 [[ 9.95886552e-01 -8.20686688e-02 -3.84019462e-02 5.49347249e+02] [ 8.20086178e-02 9.96626677e-01 -3.13903498e-03 3.81451559e+01] [ 3.85300204e-02 -2.31678072e-05 9.99257443e-01 2.03266973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0250998929998 meters 0.013364470707488274 Centerline is valid? [True, True] Translation: X:549.41, Y:38.15, Z:20.33 [[ 9.95775978e-01 -8.30382792e-02 -3.91771126e-02 5.49409974e+02] [ 8.29766419e-02 9.96546356e-01 -3.19951614e-03 3.81451488e+01] [ 3.93074911e-02 -6.47839339e-05 9.99227160e-01 2.03275863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0850998929999 meters 0.013319345125402829 Centerline is valid? [True, True] Translation: X:549.47, Y:38.14, Z:20.33 [[ 9.95745763e-01 -8.25009855e-02 -4.10361229e-02 5.49472594e+02] [ 8.24330303e-02 9.96590982e-01 -3.34820917e-03 3.81447588e+01] [ 4.11724605e-02 -4.87668641e-05 9.99152054e-01 2.03283830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1450998929998 meters 0.01334574577191514 Centerline is valid? [True, True] Translation: X:549.53, Y:38.15, Z:20.33 [[ 9.95850756e-01 -8.05765340e-02 -4.22929459e-02 5.49533609e+02] [ 8.05027411e-02 9.96748424e-01 -3.44780215e-03 3.81472340e+01] [ 4.24332391e-02 2.87983047e-05 9.99099304e-01 2.03300035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2050998929999 meters 0.013443579944415565 Centerline is valid? [True, True] Translation: X:549.59, Y:38.15, Z:20.33 [[ 9.96162977e-01 -7.61749446e-02 -4.30894489e-02 5.49594704e+02] [ 7.60942977e-02 9.97094444e-01 -3.51111276e-03 3.81492983e+01] [ 4.32317089e-02 2.18779191e-04 9.99065049e-01 2.03322725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2650998929998 meters 0.013774823040450506 Centerline is valid? [True, True] Translation: X:549.65, Y:38.15, Z:20.33 [[ 9.96413441e-01 -7.27108124e-02 -4.32826950e-02 5.49653232e+02] [ 7.26262182e-02 9.97352997e-01 -3.52581180e-03 3.81524356e+01] [ 4.34244902e-02 3.69707823e-04 9.99056644e-01 2.03341091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3250998929999 meters 0.014087415852036513 Centerline is valid? [True, True] Translation: X:549.71, Y:38.15, Z:20.34 [[ 9.96684059e-01 -6.90357434e-02 -4.30691523e-02 5.49712634e+02] [ 6.89484556e-02 9.97614047e-01 -3.51065016e-03 3.81528729e+01] [ 4.32087517e-02 5.29457519e-04 9.99065925e-01 2.03365068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3850998929998 meters 0.014384706269243685 Centerline is valid? [True, True] Translation: X:549.77, Y:38.15, Z:20.34 [[ 9.96727369e-01 -6.78868554e-02 -4.38853765e-02 5.49770600e+02] [ 6.77950241e-02 9.97692851e-01 -3.57919344e-03 3.81520161e+01] [ 4.40271066e-02 5.92269898e-04 9.99030161e-01 2.03379558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4450998929999 meters 0.014087160617869576 Centerline is valid? [True, True] Translation: X:549.83, Y:38.15, Z:20.34 [[ 9.96526903e-01 -6.98858717e-02 -4.52779985e-02 5.49829324e+02] [ 6.97899240e-02 9.97554855e-01 -3.69834916e-03 3.81510551e+01] [ 4.54257496e-02 5.25556352e-04 9.98967580e-01 2.03403826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5050998929999 meters 0.013600846111746511 Centerline is valid? [True, True] Translation: X:549.89, Y:38.15, Z:20.34 [[ 9.96021224e-01 -7.64465920e-02 -4.57999999e-02 5.49887857e+02] [ 7.63548641e-02 9.97073649e-01 -3.75146740e-03 3.81459124e+01] [ 4.59527600e-02 2.39488379e-04 9.98943585e-01 2.03430783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5650998929999 meters 0.01354702858940498 Centerline is valid? [True, True] Translation: X:549.95, Y:38.14, Z:20.35 [[ 9.95210280e-01 -8.62474259e-02 -4.60204245e-02 5.49946965e+02] [ 8.61650033e-02 9.96273727e-01 -3.77544015e-03 3.81375019e+01] [ 4.61745618e-02 -2.07993175e-04 9.98933364e-01 2.03450784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6250998929999 meters 0.01422031370862265 Centerline is valid? [True, True] Translation: X:550.01, Y:38.13, Z:20.35 [[ 9.94537628e-01 -9.33876713e-02 -4.66224033e-02 5.50006378e+02] [ 9.33102973e-02 9.95629679e-01 -3.83797215e-03 3.81336898e+01] [ 4.67770678e-02 -5.33342592e-04 9.98905211e-01 2.03470405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6850998929999 meters 0.014365304530737583 Centerline is valid? [True, True] Translation: X:550.06, Y:38.14, Z:20.35 [[ 9.94196413e-01 -9.67596734e-02 -4.70218800e-02 5.50064704e+02] [ 9.66842314e-02 9.95307537e-01 -3.88151372e-03 3.81354876e+01] [ 4.71768055e-02 -6.87287308e-04 9.98886318e-01 2.03497980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7450998929999 meters 0.016133809346062976 Centerline is valid? [True, True] Translation: X:550.12, Y:38.13, Z:20.35 [[ 9.93314213e-01 -1.05432579e-01 -4.70196188e-02 5.50123578e+02] [ 1.05366568e-01 9.94425853e-01 -3.88716848e-03 3.81291988e+01] [ 4.71673588e-02 -1.09311616e-03 9.98886403e-01 2.03524009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8050998929999 meters 0.019019911934010404 Centerline is valid? [True, True] Translation: X:550.18, Y:38.12, Z:20.35 [[ 9.92507715e-01 -1.12704480e-01 -4.71819541e-02 5.50183639e+02] [ 1.12646076e-01 9.93627508e-01 -3.90343906e-03 3.81217387e+01] [ 4.73212225e-02 -1.44066860e-03 9.98878685e-01 2.03544587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8650998929999 meters 0.02026640920793977 Centerline is valid? [True, True] Translation: X:550.24, Y:38.12, Z:20.36 [[ 9.91992014e-01 -1.17254226e-01 -4.69392185e-02 5.50242743e+02] [ 1.17201439e-01 9.93100565e-01 -3.88473721e-03 3.81213611e+01] [ 4.70708662e-02 -1.64771567e-03 9.98890193e-01 2.03575098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9250998929999 meters 0.023365661372419765 Centerline is valid? [True, True] Translation: X:550.30, Y:38.12, Z:20.36 [[ 9.91239785e-01 -1.23613560e-01 -4.65121065e-02 5.50303300e+02] [ 1.23568564e-01 9.92328559e-01 -3.85252488e-03 3.81173974e+01] [ 4.66315159e-02 -1.92865827e-03 9.98910297e-01 2.03595376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9850998929999 meters 0.025609583864330387 Centerline is valid? [True, True] Translation: X:550.36, Y:38.12, Z:20.36 [[ 9.90734111e-01 -1.27439371e-01 -4.69587849e-02 5.50364172e+02] [ 1.27397771e-01 9.91844079e-01 -3.88997887e-03 3.81168774e+01] [ 4.70715292e-02 -2.12850976e-03 9.98889253e-01 2.03609714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0450998929999 meters 0.024505335183214766 Centerline is valid? [True, True] Translation: X:550.42, Y:38.12, Z:20.36 [[ 9.90243184e-01 -1.30707616e-01 -4.83110317e-02 5.50424331e+02] [ 1.30667464e-01 9.91418175e-01 -4.00199649e-03 3.81225611e+01] [ 4.84195263e-02 -2.34973023e-03 9.98824323e-01 2.03629077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1050998929999 meters 0.023063821299201228 Centerline is valid? [True, True] Translation: X:550.48, Y:38.13, Z:20.37 [[ 9.90044535e-01 -1.32094497e-01 -4.86092941e-02 5.50482600e+02] [ 1.32055369e-01 9.91234151e-01 -4.02968285e-03 3.81310065e+01] [ 4.87154913e-02 -2.42955279e-03 9.98809741e-01 2.03656085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1650998929999 meters 0.024193277080179026 Centerline is valid? [True, True] Translation: X:550.54, Y:38.14, Z:20.37 [[ 9.90115222e-01 -1.31563191e-01 -4.86104387e-02 5.50540524e+02] [ 1.31522807e-01 9.91304903e-01 -4.04239301e-03 3.81370154e+01] [ 4.87195963e-02 -2.39094650e-03 9.98809634e-01 2.03676397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2250998929999 meters 0.023005755457655763 Centerline is valid? [True, True] Translation: X:550.60, Y:38.15, Z:20.37 [[ 9.90769259e-01 -1.27155293e-01 -4.69873008e-02 5.50599235e+02] [ 1.27112162e-01 9.91880616e-01 -3.91697033e-03 3.81491375e+01] [ 4.71038563e-02 -2.09184361e-03 9.98887807e-01 2.03714738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2850998929999 meters 0.022423882171795032 Centerline is valid? [True, True] Translation: X:550.66, Y:38.16, Z:20.37 [[ 9.91333728e-01 -1.23071977e-01 -4.59426524e-02 5.50657509e+02] [ 1.23026290e-01 9.92396015e-01 -3.83149180e-03 3.81594519e+01] [ 4.60648545e-02 -1.85386705e-03 9.98936731e-01 2.03743965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3450998929999 meters 0.019051973127972736 Centerline is valid? [True, True] Translation: X:550.72, Y:38.18, Z:20.38 [[ 9.91977628e-01 -1.17838173e-01 -4.57662619e-02 5.50716462e+02] [ 1.17787205e-01 9.93031518e-01 -3.81825045e-03 3.81759991e+01] [ 4.58972762e-02 -1.60306106e-03 9.98944878e-01 2.03768257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4050998929998 meters 0.01940040737225647 Centerline is valid? [True, True] Translation: X:550.78, Y:38.18, Z:20.38 [[ 9.92289634e-01 -1.15044144e-01 -4.61099388e-02 5.50775449e+02] [ 1.14989357e-01 9.93359272e-01 -3.84777111e-03 3.81837468e+01] [ 4.62463987e-02 -1.48404882e-03 9.98928961e-01 2.03774690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4650998929999 meters 0.017586068218668486 Centerline is valid? [True, True] Translation: X:550.84, Y:38.20, Z:20.38 [[ 9.92670527e-01 -1.12128180e-01 -4.50832202e-02 5.50835100e+02] [ 1.12072772e-01 9.93692878e-01 -3.76274918e-03 3.81972238e+01] [ 4.52207850e-02 -1.31743123e-03 9.98976148e-01 2.03808738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5250998929998 meters 0.01679850999789301 Centerline is valid? [True, True] Translation: X:550.90, Y:38.21, Z:20.38 [[ 9.92839963e-01 -1.10755643e-01 -4.47436705e-02 5.50895429e+02] [ 1.10699680e-01 9.93846888e-01 -3.73426991e-03 3.82080603e+01] [ 4.48819491e-02 -1.24557762e-03 9.98991521e-01 2.03826448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5850998929999 meters 0.016905970526818293 Centerline is valid? [True, True] Translation: X:550.95, Y:38.22, Z:20.38 [[ 9.92968652e-01 -1.09516689e-01 -4.49371967e-02 5.50954278e+02] [ 1.09459008e-01 9.93984238e-01 -3.74965148e-03 3.82150502e+01] [ 4.50775147e-02 -1.19549462e-03 9.98982777e-01 2.03838936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6450998929998 meters 0.015662939097458573 Centerline is valid? [True, True] Translation: X:551.02, Y:38.23, Z:20.39 [[ 9.93282624e-01 -1.06909628e-01 -4.42714288e-02 5.51015329e+02] [ 1.06851091e-01 9.94268175e-01 -3.69331642e-03 3.82257451e+01] [ 4.44125238e-02 -1.06194346e-03 9.99012713e-01 2.03867272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7050998929999 meters 0.01486791567212277 Centerline is valid? [True, True] Translation: X:551.08, Y:38.24, Z:20.39 [[ 9.93885871e-01 -1.01524848e-01 -4.34002332e-02 5.51075060e+02] [ 1.01463550e-01 9.94832676e-01 -3.61858363e-03 3.82375654e+01] [ 4.35433463e-02 -8.07082598e-04 9.99051213e-01 2.03895801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7650998929998 meters 0.014369031529921042 Centerline is valid? [True, True] Translation: X:551.14, Y:38.25, Z:20.39 [[ 9.94330268e-01 -9.79056250e-02 -4.14946601e-02 5.51136008e+02] [ 9.78464490e-02 9.95195510e-01 -3.45954309e-03 3.82474881e+01] [ 4.16340081e-02 -6.20176736e-04 9.99132736e-01 2.03927092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8250998929999 meters 0.014350215880456235 Centerline is valid? [True, True] Translation: X:551.20, Y:38.25, Z:20.39 [[ 9.94438599e-01 -9.71166632e-02 -4.07458765e-02 5.51196899e+02] [ 9.70590027e-02 9.95272837e-01 -3.39563728e-03 3.82538720e+01] [ 4.08830370e-02 -5.78001352e-04 9.99163772e-01 2.03949890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8850998929998 meters 0.014443003404022327 Centerline is valid? [True, True] Translation: X:551.26, Y:38.26, Z:20.40 [[ 9.94336610e-01 -9.81840994e-02 -4.06766280e-02 5.51258209e+02] [ 9.81275995e-02 9.95168074e-01 -3.38809672e-03 3.82605777e+01] [ 4.08127388e-02 -6.22591256e-04 9.99166619e-01 2.03971568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9450998929999 meters 0.015831390895087828 Centerline is valid? [True, True] Translation: X:551.32, Y:38.26, Z:20.40 [[ 9.93954990e-01 -1.01688803e-01 -4.13867652e-02 5.51318770e+02] [ 1.01633547e-01 9.94815949e-01 -3.44245580e-03 3.82624838e+01] [ 4.15222733e-02 -7.84637615e-04 9.99137270e-01 2.03984808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0050998929999 meters 0.016964575608302425 Centerline is valid? [True, True] Translation: X:551.38, Y:38.27, Z:20.40 [[ 9.93600578e-01 -1.05159958e-01 -4.12222485e-02 5.51379509e+02] [ 1.05108204e-01 9.94454887e-01 -3.42684334e-03 3.82652210e+01] [ 4.13540332e-02 -9.27882979e-04 9.99144125e-01 2.04006743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0650998929999 meters 0.016702588977903915 Centerline is valid? [True, True] Translation: X:551.44, Y:38.27, Z:20.40 [[ 9.93053761e-01 -1.10067814e-01 -4.15849123e-02 5.51440602e+02] [ 1.10019475e-01 9.93923423e-01 -3.45617988e-03 3.82707230e+01] [ 4.17126326e-02 -1.14297779e-03 9.99128996e-01 2.04030203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1250998929999 meters 0.016928658214690383 Centerline is valid? [True, True] Translation: X:551.50, Y:38.28, Z:20.41 [[ 9.92900091e-01 -1.11500992e-01 -4.14359594e-02 5.51502783e+02] [ 1.11454316e-01 9.93763597e-01 -3.44210917e-03 3.82757151e+01] [ 4.15613466e-02 -1.20054599e-03 9.99135233e-01 2.04058826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1850998929999 meters 0.01675568806290022 Centerline is valid? [True, True] Translation: X:551.57, Y:38.28, Z:20.41 [[ 9.93058199e-01 -1.09983477e-01 -4.17018900e-02 5.51565064e+02] [ 1.09934994e-01 9.93932753e-01 -3.46106945e-03 3.82815619e+01] [ 4.18295348e-02 -1.14745363e-03 9.99124103e-01 2.04080216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2450998929999 meters 0.015589583935802535 Centerline is valid? [True, True] Translation: X:551.63, Y:38.29, Z:20.41 [[ 9.93670734e-01 -1.04434745e-01 -4.13745991e-02 5.51626381e+02] [ 1.04382336e-01 9.94531325e-01 -3.43091453e-03 3.82913606e+01] [ 4.15066416e-02 -9.09577949e-04 9.99137814e-01 2.04109860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3050998929999 meters 0.014291909562178181 Centerline is valid? [True, True] Translation: X:551.69, Y:38.30, Z:20.41 [[ 9.94496689e-01 -9.64534514e-02 -4.09031341e-02 5.51687498e+02] [ 9.63955792e-02 9.95337332e-01 -3.38938632e-03 3.83021605e+01] [ 4.10393344e-02 -5.72147828e-04 9.99157368e-01 2.04146005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3650998929999 meters 0.013399116835570662 Centerline is valid? [True, True] Translation: X:551.75, Y:38.31, Z:20.42 [[ 9.95365826e-01 -8.73665609e-02 -4.01740707e-02 5.51748405e+02] [ 8.73034157e-02 9.96176212e-01 -3.32685172e-03 3.83128108e+01] [ 4.03111092e-02 -1.95899089e-04 9.99187158e-01 2.04175747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4250998929999 meters 0.013173374246465403 Centerline is valid? [True, True] Translation: X:551.81, Y:38.32, Z:20.42 [[ 9.95850377e-01 -8.17222030e-02 -4.00438384e-02 5.51809597e+02] [ 8.16549626e-02 9.96655146e-01 -3.31459084e-03 3.83215740e+01] [ 4.01807733e-02 3.10584066e-05 9.99192426e-01 2.04201244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4850998929999 meters 0.013298456388491964 Centerline is valid? [True, True] Translation: X:551.87, Y:38.33, Z:20.42 [[ 9.96185627e-01 -7.75741389e-02 -3.99555883e-02 5.51870655e+02] [ 7.75039165e-02 9.96986567e-01 -3.30583855e-03 3.83289823e+01] [ 4.00916324e-02 1.96514268e-04 9.99195988e-01 2.04219130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5450998929999 meters 0.013467139883376418 Centerline is valid? [True, True] Translation: X:551.93, Y:38.33, Z:20.42 [[ 9.96227230e-01 -7.63403785e-02 -4.12729150e-02 5.51930944e+02] [ 7.62644470e-02 9.97081783e-01 -3.41342528e-03 3.83332173e+01] [ 4.14130538e-02 2.52891181e-04 9.99142079e-01 2.04225878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6050998929999 meters 0.01338155197032717 Centerline is valid? [True, True] Translation: X:551.99, Y:38.34, Z:20.42 [[ 9.96144731e-01 -7.74006365e-02 -4.12894175e-02 5.51990209e+02] [ 7.73255483e-02 9.97000049e-01 -3.41493959e-03 3.83367986e+01] [ 4.14298698e-02 2.09047234e-04 9.99141392e-01 2.04240839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6650998929999 meters 0.013179695731208089 Centerline is valid? [True, True] Translation: X:552.05, Y:38.34, Z:20.43 [[ 9.95760286e-01 -8.21035842e-02 -4.14783617e-02 5.52050620e+02] [ 8.20318271e-02 9.96623801e-01 -3.43192451e-03 3.83380073e+01] [ 4.16200958e-02 1.48283409e-05 9.99133508e-01 2.04262486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7250998929999 meters 0.013756361215947656 Centerline is valid? [True, True] Translation: X:552.11, Y:38.33, Z:20.43 [[ 9.94859652e-01 -9.29856191e-02 -4.00992200e-02 5.52110668e+02] [ 9.29273811e-02 9.95667361e-01 -3.31786767e-03 3.83334002e+01] [ 4.02339985e-02 -4.25502818e-04 9.99190194e-01 2.04292420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7850998929999 meters 0.016400124427878488 Centerline is valid? [True, True] Translation: X:552.17, Y:38.33, Z:20.43 [[ 9.93687129e-01 -1.05564253e-01 -3.79747136e-02 5.52172344e+02] [ 1.05521168e-01 9.94412091e-01 -3.14271608e-03 3.83257980e+01] [ 3.80942728e-02 -8.84259610e-04 9.99273759e-01 2.04328219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8450998929999 meters 0.018405318479750014 Centerline is valid? [True, True] Translation: X:552.23, Y:38.32, Z:20.44 [[ 9.92885398e-01 -1.13242780e-01 -3.68056846e-02 5.52233424e+02] [ 1.13207591e-01 9.93566690e-01 -3.04544575e-03 3.83239648e+01] [ 3.69137770e-02 -1.14290428e-03 9.99317801e-01 2.04356703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9050998929998 meters 0.022681479925177002 Centerline is valid? [True, True] Translation: X:552.29, Y:38.32, Z:20.44 [[ 9.91709303e-01 -1.23091919e-01 -3.68922334e-02 5.52294013e+02] [ 1.23063385e-01 9.92394120e-01 -3.05194887e-03 3.83185918e+01] [ 3.69873058e-02 -1.51343703e-03 9.99314589e-01 2.04373304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9650998929999 meters 0.021500413018237317 Centerline is valid? [True, True] Translation: X:552.35, Y:38.32, Z:20.44 [[ 9.90807532e-01 -1.29801091e-01 -3.81065652e-02 5.52354881e+02] [ 1.29775651e-01 9.91538377e-01 -3.15091364e-03 3.83224755e+01] [ 3.81931139e-02 -1.82335536e-03 9.99268713e-01 2.04388428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0250998929998 meters 0.027791325375107475 Centerline is valid? [True, True] Translation: X:552.41, Y:38.32, Z:20.44 [[ 9.89459122e-01 -1.39259221e-01 -3.97179346e-02 5.52414965e+02] [ 1.39239181e-01 9.90253335e-01 -3.28391538e-03 3.83155720e+01] [ 3.97881326e-02 -2.28099264e-03 9.99205535e-01 2.04399424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0850998929999 meters 0.02707328996735468 Centerline is valid? [True, True] Translation: X:552.48, Y:38.32, Z:20.44 [[ 9.88824584e-01 -1.43593233e-01 -4.00864807e-02 5.52475170e+02] [ 1.43576407e-01 9.89633688e-01 -3.31332603e-03 3.83208787e+01] [ 4.01467029e-02 -2.47917464e-03 9.99190721e-01 2.04423910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1450998929998 meters 0.029603120219028778 Centerline is valid? [True, True] Translation: X:552.54, Y:38.32, Z:20.44 [[ 9.88435843e-01 -1.45745679e-01 -4.18662305e-02 5.52535459e+02] [ 1.45729262e-01 9.89318457e-01 -3.46017560e-03 3.83244567e+01] [ 4.19233402e-02 -2.68097330e-03 9.99117233e-01 2.04440265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2050998929999 meters 0.030224059942158554 Centerline is valid? [True, True] Translation: X:552.60, Y:38.33, Z:20.45 [[ 9.88738729e-01 -1.43117205e-01 -4.37400545e-02 5.52596063e+02] [ 1.43096770e-01 9.89702103e-01 -3.61409062e-03 3.83324886e+01] [ 4.38068624e-02 -2.68566915e-03 9.99036409e-01 2.04450632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2650998929998 meters 0.027762933900062927 Centerline is valid? [True, True] Translation: X:552.66, Y:38.34, Z:20.45 [[ 9.89074068e-01 -1.40689780e-01 -4.40326338e-02 5.52656518e+02] [ 1.40666746e-01 9.90050323e-01 -3.63665511e-03 3.83442212e+01] [ 4.41061635e-02 -2.59700607e-03 9.99023474e-01 2.04474203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3250998929999 meters 0.02535776924167455 Centerline is valid? [True, True] Translation: X:552.72, Y:38.36, Z:20.45 [[ 9.89473163e-01 -1.37387207e-01 -4.54710323e-02 5.52716700e+02] [ 1.37359242e-01 9.90514183e-01 -3.75388935e-03 3.83585597e+01] [ 4.55554387e-02 -2.53149376e-03 9.98958605e-01 2.04498462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3850998929998 meters 0.02548967092126725 Centerline is valid? [True, True] Translation: X:552.78, Y:38.37, Z:20.45 [[ 9.89764051e-01 -1.35344577e-01 -4.52655258e-02 5.52778013e+02] [ 1.35314786e-01 9.90795616e-01 -3.73579606e-03 3.83671241e+01] [ 4.53545042e-02 -2.42753830e-03 9.98968005e-01 2.04524427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4450998929999 meters 0.022966795459148773 Centerline is valid? [True, True] Translation: X:552.84, Y:38.38, Z:20.46 [[ 9.90245516e-01 -1.32053492e-01 -4.44487796e-02 5.52837572e+02] [ 1.32021554e-01 9.91240066e-01 -3.66624966e-03 3.83817326e+01] [ 4.45435523e-02 -2.23770967e-03 9.99004937e-01 2.04559782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5050998929999 meters 0.023307784775726592 Centerline is valid? [True, True] Translation: X:552.90, Y:38.39, Z:20.46 [[ 9.90959111e-01 -1.26606143e-01 -4.43951040e-02 5.52896626e+02] [ 1.26568853e-01 9.91951068e-01 -3.66121550e-03 3.83932914e+01] [ 4.45013032e-02 -1.99092257e-03 9.99007342e-01 2.04581051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5650998929999 meters 0.020979132611309563 Centerline is valid? [True, True] Translation: X:552.96, Y:38.41, Z:20.46 [[ 9.91587505e-01 -1.21426522e-01 -4.48310222e-02 5.52956735e+02] [ 1.21383198e-01 9.92598835e-01 -3.69746160e-03 3.84066996e+01] [ 4.49481903e-02 -1.77537614e-03 9.98987742e-01 2.04607061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6250998929999 meters 0.016940792500426335 Centerline is valid? [True, True] Translation: X:553.02, Y:38.43, Z:20.46 [[ 9.92648950e-01 -1.12184255e-01 -4.54175609e-02 5.53015847e+02] [ 1.12130155e-01 9.93686471e-01 -3.74515918e-03 3.84257174e+01] [ 4.55509637e-02 -1.37504982e-03 9.98961070e-01 2.04629925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6850998929999 meters 0.015863577902249494 Centerline is valid? [True, True] Translation: X:553.07, Y:38.44, Z:20.46 [[ 9.93395679e-01 -1.04814460e-01 -4.66792573e-02 5.53074524e+02] [ 1.04749173e-01 9.94491223e-01 -3.84936668e-03 3.84375667e+01] [ 4.68255810e-02 -1.06566935e-03 9.98902512e-01 2.04643017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7450998929999 meters 0.013287182639009357 Centerline is valid? [True, True] Translation: X:553.13, Y:38.46, Z:20.47 [[ 9.94639671e-01 -9.22631854e-02 -4.66843627e-02 5.53134042e+02] [ 9.21840293e-02 9.95734543e-01 -3.85028717e-03 3.84571792e+01] [ 4.68404723e-02 -4.73904301e-04 9.98902270e-01 2.04680790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8050998929999 meters 0.012941860981159596 Centerline is valid? [True, True] Translation: X:553.19, Y:38.47, Z:20.47 [[ 9.95764298e-01 -7.97694867e-02 -4.57197158e-02 5.53194854e+02] [ 7.96804463e-02 9.96813331e-01 -3.76958077e-03 3.84724975e+01] [ 4.58747197e-02 1.10646596e-04 9.98947195e-01 2.04709441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8650998929999 meters 0.01340059074395671 Centerline is valid? [True, True] Translation: X:553.26, Y:38.48, Z:20.47 [[ 9.96265509e-01 -7.36236530e-02 -4.51064577e-02 5.53255045e+02] [ 7.35307793e-02 9.97286021e-01 -3.71699900e-03 3.84824194e+01] [ 4.52576988e-02 3.86404920e-04 9.98975271e-01 2.04729675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9250998929999 meters 0.013878526181771815 Centerline is valid? [True, True] Translation: X:553.32, Y:38.49, Z:20.48 [[ 9.96573347e-01 -6.98180110e-02 -4.43509733e-02 5.53315586e+02] [ 6.97244568e-02 9.97559594e-01 -3.65474329e-03 3.84888882e+01] [ 4.44979058e-02 5.49872232e-04 9.99009326e-01 2.04753683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9850998929999 meters 0.013722552153177903 Centerline is valid? [True, True] Translation: X:553.37, Y:38.49, Z:20.48 [[ 9.96495051e-01 -7.12603580e-02 -4.38129515e-02 5.53374735e+02] [ 7.11704441e-02 9.97457634e-01 -3.61063985e-03 3.84913796e+01] [ 4.39588584e-02 4.79797526e-04 9.99033227e-01 2.04778386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0450998929999 meters 0.013147313093460119 Centerline is valid? [True, True] Translation: X:553.43, Y:38.49, Z:20.48 [[ 9.96082973e-01 -7.69587049e-02 -4.35438595e-02 5.53433689e+02] [ 7.68752612e-02 9.97034255e-01 -3.59008659e-03 3.84878856e+01] [ 4.36910079e-02 2.28578552e-04 9.99045066e-01 2.04792888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1050998929999 meters 0.012902104780047328 Centerline is valid? [True, True] Translation: X:553.49, Y:38.48, Z:20.48 [[ 9.95468631e-01 -8.40437526e-02 -4.44843014e-02 5.53494829e+02] [ 8.39636422e-02 9.96462062e-01 -3.66958789e-03 3.84820286e+01] [ 4.46353246e-02 -8.21043386e-05 9.99003344e-01 2.04802359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1650998929999 meters 0.01319543835534473 Centerline is valid? [True, True] Translation: X:553.56, Y:38.48, Z:20.48 [[ 9.95060412e-01 -8.89619611e-02 -4.40516374e-02 5.53556106e+02] [ 8.88882172e-02 9.96034979e-01 -3.63389668e-03 3.84783076e+01] [ 4.42002503e-02 -2.99724789e-04 9.99022646e-01 2.04822842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2250998929999 meters 0.014268029721162577 Centerline is valid? [True, True] Translation: X:553.62, Y:38.47, Z:20.49 [[ 9.94323258e-01 -9.71156895e-02 -4.34718452e-02 5.53617181e+02] [ 9.70516567e-02 9.95272885e-01 -3.58606860e-03 3.84714621e+01] [ 4.36146123e-02 -6.53303179e-04 9.99048216e-01 2.04850878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2850998929998 meters 0.015087089683302001 Centerline is valid? [True, True] Translation: X:553.68, Y:38.47, Z:20.49 [[ 9.93812284e-01 -1.02228999e-01 -4.34324291e-02 5.53678553e+02] [ 1.02169964e-01 9.94760505e-01 -3.58270373e-03 3.84687360e+01] [ 4.35711213e-02 -8.76954752e-04 9.99049943e-01 2.04875616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3450998929999 meters 0.01759640212290307 Centerline is valid? [True, True] Translation: X:553.74, Y:38.46, Z:20.49 [[ 9.92880041e-01 -1.10912072e-01 -4.34480840e-02 5.53740099e+02] [ 1.10861320e-01 9.93829426e-01 -3.58332096e-03 3.84597433e+01] [ 4.35774179e-02 -1.25890408e-03 9.99049260e-01 2.04888056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4050998929998 meters 0.01986363130183943 Centerline is valid? [True, True] Translation: X:553.80, Y:38.45, Z:20.49 [[ 9.91587016e-01 -1.21599540e-01 -4.43704916e-02 5.53802248e+02] [ 1.21557287e-01 9.92577673e-01 -3.65922238e-03 3.84533229e+01] [ 4.44861190e-02 -1.76511916e-03 9.99008443e-01 2.04905982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4650998929999 meters 0.024490168861814165 Centerline is valid? [True, True] Translation: X:553.86, Y:38.45, Z:20.49 [[ 9.91178332e-01 -1.24779871e-01 -4.46709936e-02 5.53862774e+02] [ 1.24740305e-01 9.92182590e-01 -3.68310506e-03 3.84486805e+01] [ 4.47813595e-02 -1.92165944e-03 9.98994963e-01 2.04914160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5250998929998 meters 0.023760584233604384 Centerline is valid? [True, True] Translation: X:553.92, Y:38.45, Z:20.49 [[ 9.90398313e-01 -1.30412528e-01 -4.58667065e-02 5.53923814e+02] [ 1.30376838e-01 9.91457301e-01 -3.78166260e-03 3.84500705e+01] [ 4.59680572e-02 -2.23460390e-03 9.98940411e-01 2.04936273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5850998929999 meters 0.026489100907167717 Centerline is valid? [True, True] Translation: X:553.98, Y:38.45, Z:20.49 [[ 9.89771089e-01 -1.34813883e-01 -4.66734228e-02 5.53984479e+02] [ 1.34781803e-01 9.90867830e-01 -3.84818882e-03 3.84461829e+01] [ 4.67659824e-02 -2.48190202e-03 9.98902790e-01 2.04948306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6450998929998 meters 0.02728543867396385 Centerline is valid? [True, True] Translation: X:554.04, Y:38.45, Z:20.50 [[ 9.89714537e-01 -1.34884894e-01 -4.76571210e-02 5.54043808e+02] [ 1.34851487e-01 9.90858027e-01 -3.93021414e-03 3.84481471e+01] [ 4.77515675e-02 -2.53684358e-03 9.98856022e-01 2.04966365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7050998929999 meters 0.023494564715031908 Centerline is valid? [True, True] Translation: X:554.10, Y:38.46, Z:20.50 [[ 9.89986203e-01 -1.32546670e-01 -4.85664344e-02 5.54103494e+02] [ 1.32509108e-01 9.91173690e-01 -4.00654499e-03 3.84566831e+01] [ 4.86688262e-02 -2.46907063e-03 9.98811919e-01 2.04993897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7650998929998 meters 0.022652090441242625 Centerline is valid? [True, True] Translation: X:554.16, Y:38.46, Z:20.50 [[ 9.90477511e-01 -1.29061710e-01 -4.79309335e-02 5.54163080e+02] [ 1.29021044e-01 9.91633972e-01 -3.95431558e-03 3.84620607e+01] [ 4.80402927e-02 -2.26743840e-03 9.98842825e-01 2.05023455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8250998929999 meters 0.026113727381555388 Centerline is valid? [True, True] Translation: X:554.22, Y:38.46, Z:20.50 [[ 9.90794324e-01 -1.26688349e-01 -4.77144616e-02 5.54221851e+02] [ 1.26645244e-01 9.91940259e-01 -3.93770397e-03 3.84629706e+01] [ 4.78287566e-02 -2.14135488e-03 9.98853255e-01 2.05042689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8850998929998 meters 0.019932886744880113 Centerline is valid? [True, True] Translation: X:554.28, Y:38.48, Z:20.51 [[ 9.91430671e-01 -1.22228497e-01 -4.61022747e-02 5.54281493e+02] [ 1.22183358e-01 9.92500246e-01 -3.80643261e-03 3.84796655e+01] [ 4.62217735e-02 -1.85911669e-03 9.98929473e-01 2.05098805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9450998929999 meters 0.01987048466448428 Centerline is valid? [True, True] Translation: X:554.34, Y:38.49, Z:20.51 [[ 9.91768168e-01 -1.19310942e-01 -4.64843961e-02 5.54340815e+02] [ 1.19261877e-01 9.92855417e-01 -3.83745968e-03 3.84862893e+01] [ 4.66101354e-02 -1.73794596e-03 9.98911645e-01 2.05122514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0050998929999 meters 0.019071218092576878 Centerline is valid? [True, True] Translation: X:554.40, Y:38.50, Z:20.51 [[ 9.92146481e-01 -1.15460201e-01 -4.81072054e-02 5.54400591e+02] [ 1.15403088e-01 9.93310801e-01 -3.97232162e-03 3.84951519e+01] [ 4.82440518e-02 -1.61059512e-03 9.98834279e-01 2.05142537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0650998929999 meters 0.01823685366297888 Centerline is valid? [True, True] Translation: X:554.46, Y:38.50, Z:20.52 [[ 9.92259380e-01 -1.13593574e-01 -5.01779139e-02 5.54459817e+02] [ 1.13528997e-01 9.93526039e-01 -4.14446465e-03 3.85039494e+01] [ 5.03238486e-02 -1.58426433e-03 9.98731696e-01 2.05164400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1250998929999 meters 0.018352587692133417 Centerline is valid? [True, True] Translation: X:554.52, Y:38.51, Z:20.52 [[ 9.92181136e-01 -1.13411456e-01 -5.21002451e-02 5.54519433e+02] [ 1.13341486e-01 9.93546764e-01 -4.30516153e-03 3.85097170e+01] [ 5.22522846e-02 -1.63361917e-03 9.98632580e-01 2.05179425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1850998929999 meters 0.019874545224651752 Centerline is valid? [True, True] Translation: X:554.58, Y:38.51, Z:20.52 [[ 9.92081712e-01 -1.13733295e-01 -5.32786424e-02 5.54577104e+02] [ 1.13660440e-01 9.93509888e-01 -4.40530959e-03 3.85136623e+01] [ 5.34338884e-02 -1.68524686e-03 9.98569967e-01 2.05189285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2450998929999 meters 0.01903974742916409 Centerline is valid? [True, True] Translation: X:554.64, Y:38.52, Z:20.52 [[ 9.92018291e-01 -1.14736140e-01 -5.23003671e-02 5.54635646e+02] [ 1.14666961e-01 9.93394548e-01 -4.33139741e-03 3.85209155e+01] [ 5.24518674e-02 -1.70029867e-03 9.98622006e-01 2.05244287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3050998929999 meters 0.017473020278561964 Centerline is valid? [True, True] Translation: X:554.69, Y:38.53, Z:20.53 [[ 9.91762810e-01 -1.16328140e-01 -5.36124301e-02 5.54694603e+02] [ 1.16257224e-01 9.93209169e-01 -4.45016660e-03 3.85295354e+01] [ 5.37660368e-02 -1.81932257e-03 9.98551903e-01 2.05278734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3650998929999 meters 0.018556666549774475 Centerline is valid? [True, True] Translation: X:554.75, Y:38.53, Z:20.53 [[ 9.91574798e-01 -1.18801561e-01 -5.16295393e-02 5.54754353e+02] [ 1.18739054e-01 9.92916239e-01 -4.28719128e-03 3.85340110e+01] [ 5.17731329e-02 -1.87937183e-03 9.98657104e-01 2.05327264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4250998929999 meters 0.021702650466340467 Centerline is valid? [True, True] Translation: X:554.81, Y:38.53, Z:20.53 [[ 9.91297848e-01 -1.21350653e-01 -5.10156320e-02 5.54813478e+02] [ 1.21292929e-01 9.92607712e-01 -4.23740389e-03 3.85338829e+01] [ 5.11527215e-02 -1.98730608e-03 9.98688865e-01 2.05344418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4850998929999 meters 0.02314398706281399 Centerline is valid? [True, True] Translation: X:554.87, Y:38.54, Z:20.54 [[ 9.90553372e-01 -1.27190563e-01 -5.12501595e-02 5.54873536e+02] [ 1.27140019e-01 9.91875638e-01 -4.25844638e-03 3.85371984e+01] [ 5.13754189e-02 -2.29772783e-03 9.98676768e-01 2.05370389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5450998929999 meters 0.02603197593069925 Centerline is valid? [True, True] Translation: X:554.93, Y:38.54, Z:20.54 [[ 9.89946512e-01 -1.31750549e-01 -5.14557628e-02 5.54932463e+02] [ 1.31705685e-01 9.91279639e-01 -4.27655039e-03 3.85380901e+01] [ 5.15704879e-02 -2.54346035e-03 9.98666118e-01 2.05381449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6050998929999 meters 0.02531626735103783 Centerline is valid? [True, True] Translation: X:554.99, Y:38.54, Z:20.54 [[ 9.89206916e-01 -1.37622302e-01 -5.02969070e-02 5.54992831e+02] [ 1.37586927e-01 9.90480869e-01 -4.18151852e-03 3.85441944e+01] [ 5.03935943e-02 -2.78380983e-03 9.98725556e-01 2.05410778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6650998929999 meters 0.02701703787159268 Centerline is valid? [True, True] Translation: X:555.05, Y:38.55, Z:20.54 [[ 9.88898386e-01 -1.39879114e-01 -5.01379597e-02 5.55053851e+02] [ 1.39846874e-01 9.90164371e-01 -4.16783932e-03 3.85481205e+01] [ 5.02278149e-02 -2.89006733e-03 9.98733605e-01 2.05420607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7250998929999 meters 0.028383216648866737 Centerline is valid? [True, True] Translation: X:555.11, Y:38.55, Z:20.54 [[ 9.88968913e-01 -1.39627817e-01 -4.94425194e-02 5.55113620e+02] [ 1.39596227e-01 9.90199987e-01 -4.10847437e-03 3.85538117e+01] [ 4.95316393e-02 -2.83883575e-03 9.98768521e-01 2.05446609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7850998929998 meters 0.028993633655481122 Centerline is valid? [True, True] Translation: X:555.17, Y:38.56, Z:20.55 [[ 9.89286625e-01 -1.37699002e-01 -4.84866803e-02 5.55172472e+02] [ 1.37666333e-01 9.90470470e-01 -4.02859377e-03 3.85610372e+01] [ 4.85793583e-02 -2.68954955e-03 9.98815705e-01 2.05467626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8450998929999 meters 0.029211394986480677 Centerline is valid? [True, True] Translation: X:555.23, Y:38.57, Z:20.55 [[ 9.89513777e-01 -1.36247162e-01 -4.79499242e-02 5.55232978e+02] [ 1.36213490e-01 9.90671494e-01 -3.98445680e-03 3.85681708e+01] [ 4.80454940e-02 -2.58875164e-03 9.98841794e-01 2.05481045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9050998929998 meters 0.024444956628698774 Centerline is valid? [True, True] Translation: X:555.29, Y:38.58, Z:20.55 [[ 9.89591272e-01 -1.35671178e-01 -4.79838191e-02 5.55294540e+02] [ 1.35636853e-01 9.90750603e-01 -3.98582479e-03 3.85817971e+01] [ 4.80807592e-02 -2.56403680e-03 9.98840161e-01 2.05515284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9650998929999 meters 0.02689689534260978 Centerline is valid? [True, True] Translation: X:555.35, Y:38.59, Z:20.55 [[ 9.89990289e-01 -1.32804593e-01 -4.77720350e-02 5.55354714e+02] [ 1.32767427e-01 9.91139291e-01 -3.96439586e-03 3.85874146e+01] [ 4.78752309e-02 -2.41785676e-03 9.98850397e-01 2.05530620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0250998929998 meters 0.02087470566040818 Centerline is valid? [True, True] Translation: X:555.41, Y:38.61, Z:20.56 [[ 9.91006492e-01 -1.25656533e-01 -4.60061855e-02 5.55414122e+02] [ 1.25614543e-01 9.92071791e-01 -3.81414800e-03 3.86072213e+01] [ 4.61207114e-02 -1.99920053e-03 9.98933873e-01 2.05576066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0850998929999 meters 0.019180159260160177 Centerline is valid? [True, True] Translation: X:555.47, Y:38.62, Z:20.56 [[ 9.91835504e-01 -1.19195248e-01 -4.53301804e-02 5.55474208e+02] [ 1.19147751e-01 9.92869423e-01 -3.75792803e-03 3.86189123e+01] [ 4.54548772e-02 -1.67374261e-03 9.98964991e-01 2.05603118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1450998929998 meters 0.015791015577613945 Centerline is valid? [True, True] Translation: X:555.53, Y:38.64, Z:20.56 [[ 9.93081585e-01 -1.08844196e-01 -4.40670717e-02 5.55533463e+02] [ 1.08789129e-01 9.94058138e-01 -3.65302570e-03 3.86355762e+01] [ 4.42028419e-02 -1.16626578e-03 9.99021896e-01 2.05631573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2050998929999 meters 0.01319884378048072 Centerline is valid? [True, True] Translation: X:555.59, Y:38.65, Z:20.56 [[ 9.94337789e-01 -9.70029300e-02 -4.33911510e-02 5.55592866e+02] [ 9.69382647e-02 9.95283897e-01 -3.59691499e-03 3.86515008e+01] [ 4.35354251e-02 -6.29714376e-04 9.99051685e-01 2.05647913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2650998929998 meters 0.012530468380515069 Centerline is valid? [True, True] Translation: X:555.65, Y:38.66, Z:20.57 [[ 9.94750786e-01 -9.26338471e-02 -4.34723441e-02 5.55654919e+02] [ 9.25648190e-02 9.95700144e-01 -3.60248462e-03 3.86604763e+01] [ 4.36191312e-02 -4.40435256e-04 9.99048136e-01 2.05664460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3250998929999 meters 0.01228651785583748 Centerline is valid? [True, True] Translation: X:555.72, Y:38.67, Z:20.57 [[ 9.95005749e-01 -8.96816444e-02 -4.38265009e-02 5.55716184e+02] [ 8.96087828e-02 9.95970432e-01 -3.62821772e-03 3.86680629e+01] [ 4.39752836e-02 -3.17141910e-04 9.99032569e-01 2.05683001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3850998929998 meters 0.012193910811630055 Centerline is valid? [True, True] Translation: X:555.78, Y:38.67, Z:20.57 [[ 9.95049622e-01 -8.91230751e-02 -4.39696131e-02 5.55777841e+02] [ 8.90492719e-02 9.96020577e-01 -3.63824768e-03 3.86737129e+01] [ 4.41188912e-02 -2.95225049e-04 9.99026244e-01 2.05706650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4450998929999 meters 0.012097681840729822 Centerline is valid? [True, True] Translation: X:555.84, Y:38.68, Z:20.57 [[ 9.94994446e-01 -8.94482050e-02 -4.45541289e-02 5.55840211e+02] [ 8.93728968e-02 9.95991425e-01 -3.68336657e-03 3.86788517e+01] [ 4.47050008e-02 -3.17002283e-04 9.99000181e-01 2.05735909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5050998929999 meters 0.012390466478566262 Centerline is valid? [True, True] Translation: X:555.90, Y:38.68, Z:20.58 [[ 9.94743648e-01 -9.20027225e-02 -4.49507976e-02 5.55901897e+02] [ 9.19288172e-02 9.95758659e-01 -3.71296226e-03 3.86811993e+01] [ 4.51017486e-02 -4.38828030e-04 9.98982302e-01 2.05754661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5650998929999 meters 0.012741420384974255 Centerline is valid? [True, True] Translation: X:555.96, Y:38.68, Z:20.58 [[ 9.94477518e-01 -9.43773084e-02 -4.59063153e-02 5.55963025e+02] [ 9.43028719e-02 9.95536343e-01 -3.78933582e-03 3.86835113e+01] [ 4.60590326e-02 -5.60688089e-04 9.98938562e-01 2.05771335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6250998929999 meters 0.01270423312527329 Centerline is valid? [True, True] Translation: X:556.02, Y:38.69, Z:20.58 [[ 9.94487952e-01 -9.43255842e-02 -4.57864236e-02 5.56024344e+02] [ 9.42515876e-02 9.95541246e-01 -3.77712922e-03 3.86874755e+01] [ 4.59385531e-02 -5.59133615e-04 9.98944111e-01 2.05800537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6850998929999 meters 0.012035353452752987 Centerline is valid? [True, True] Translation: X:556.09, Y:38.69, Z:20.58 [[ 9.94815801e-01 -9.12286275e-02 -4.49317208e-02 5.56085519e+02] [ 9.11542821e-02 9.95829890e-01 -3.70504355e-03 3.86937016e+01] [ 4.50823567e-02 -4.09882888e-04 9.98983190e-01 2.05839693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7450998929999 meters 0.011633510599504467 Centerline is valid? [True, True] Translation: X:556.15, Y:38.70, Z:20.59 [[ 9.95154964e-01 -8.76700933e-02 -4.45034032e-02 5.56145732e+02] [ 8.75936671e-02 9.96149534e-01 -3.66825885e-03 3.87002466e+01] [ 4.46536409e-02 -2.47730283e-04 9.99002498e-01 2.05869487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8050998929999 meters 0.011176407669773543 Centerline is valid? [True, True] Translation: X:556.21, Y:38.71, Z:20.59 [[ 9.95579146e-01 -8.32214622e-02 -4.35471280e-02 5.56206502e+02] [ 8.31440698e-02 9.96531076e-01 -3.58855556e-03 3.87062286e+01] [ 4.36947112e-02 -4.79943745e-05 9.99044929e-01 2.05895158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8650998929999 meters 0.011155003471703154 Centerline is valid? [True, True] Translation: X:556.27, Y:38.71, Z:20.59 [[ 9.95677384e-01 -8.17446533e-02 -4.40948888e-02 5.56268057e+02] [ 8.16639250e-02 9.96653306e-01 -3.63207199e-03 3.87105800e+01] [ 4.42442191e-02 1.54102427e-05 9.99020745e-01 2.05911522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9250998929999 meters 0.01115055184908872 Centerline is valid? [True, True] Translation: X:556.33, Y:38.71, Z:20.59 [[ 9.95671628e-01 -8.09596524e-02 -4.56458494e-02 5.56329723e+02] [ 8.08723955e-02 9.96717378e-01 -3.75812434e-03 3.87139249e+01] [ 4.58002678e-02 5.03685953e-05 9.98950616e-01 2.05922689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9850998929999 meters 0.010986630243414309 Centerline is valid? [True, True] Translation: X:556.39, Y:38.72, Z:20.59 [[ 9.95604274e-01 -8.13782106e-02 -4.63650411e-02 5.56389477e+02] [ 8.12886908e-02 9.96683293e-01 -3.81612658e-03 3.87167738e+01] [ 4.65218113e-02 3.03984449e-05 9.98917274e-01 2.05940327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0450998929999 meters 0.010941570728871496 Centerline is valid? [True, True] Translation: X:556.45, Y:38.72, Z:20.60 [[ 9.95584246e-01 -8.17754628e-02 -4.60953705e-02 5.56449152e+02] [ 8.16873618e-02 9.96650778e-01 -3.79491815e-03 3.87197553e+01] [ 4.62513181e-02 1.27515163e-05 9.98929835e-01 2.05967391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1050998929999 meters 0.011038932107741137 Centerline is valid? [True, True] Translation: X:556.51, Y:38.72, Z:20.60 [[ 9.95571650e-01 -8.18418194e-02 -4.62493825e-02 5.56509032e+02] [ 8.17531293e-02 9.96645331e-01 -3.80911944e-03 3.87227922e+01] [ 4.64059765e-02 1.12195807e-05 9.98922662e-01 2.05988423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1650998929999 meters 0.010839270493336958 Centerline is valid? [True, True] Translation: X:556.57, Y:38.73, Z:20.60 [[ 9.95523077e-01 -8.27928611e-02 -4.55976497e-02 5.56568407e+02] [ 8.27076070e-02 9.96566777e-01 -3.75640608e-03 3.87252329e+01] [ 4.57521064e-02 -3.16835560e-05 9.98952824e-01 2.06014022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2250998929999 meters 0.010764446441243915 Centerline is valid? [True, True] Translation: X:556.63, Y:38.73, Z:20.60 [[ 9.95302775e-01 -8.61649092e-02 -4.41360938e-02 5.56627936e+02] [ 8.60882790e-02 9.96280872e-01 -3.63756686e-03 3.87256114e+01] [ 4.42853767e-02 -1.79119972e-04 9.99018905e-01 2.06042195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2850998929998 meters 0.010920199987278553 Centerline is valid? [True, True] Translation: X:556.69, Y:38.73, Z:20.61 [[ 9.95070802e-01 -8.92972854e-02 -4.31288156e-02 5.56689310e+02] [ 8.92270061e-02 9.96004969e-01 -3.55566338e-03 3.87279000e+01] [ 4.32740258e-02 -3.10118280e-04 9.99063192e-01 2.06071579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3450998929999 meters 0.011365567048747981 Centerline is valid? [True, True] Translation: X:556.75, Y:38.73, Z:20.61 [[ 9.94788587e-01 -9.28992271e-02 -4.20166805e-02 5.56749532e+02] [ 9.28357972e-02 9.95675412e-01 -3.46254734e-03 3.87282107e+01] [ 4.21566436e-02 -4.56149457e-04 9.99110909e-01 2.06095099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4050998929998 meters 0.011389980009922687 Centerline is valid? [True, True] Translation: X:556.81, Y:38.73, Z:20.61 [[ 9.94617236e-01 -9.44834154e-02 -4.25374799e-02 5.56811605e+02] [ 9.44198967e-02 9.95526294e-01 -3.50438453e-03 3.87307312e+01] [ 4.26782860e-02 -5.30863199e-04 9.99088726e-01 2.06110939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4650998929999 meters 0.011357504530344871 Centerline is valid? [True, True] Translation: X:556.87, Y:38.73, Z:20.61 [[ 9.94652662e-01 -9.41927143e-02 -4.23534542e-02 5.56874174e+02] [ 9.41296130e-02 9.95553847e-01 -3.48611344e-03 3.87343945e+01] [ 4.24935107e-02 -5.19242240e-04 9.99096608e-01 2.06126672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5250998929998 meters 0.010862456304546918 Centerline is valid? [True, True] Translation: X:556.94, Y:38.74, Z:20.61 [[ 9.94973589e-01 -9.08260003e-02 -4.21686388e-02 5.56935188e+02] [ 9.07605480e-02 9.95866706e-01 -3.46801615e-03 3.87410993e+01] [ 4.23093295e-02 -3.76664296e-04 9.99104488e-01 2.06148526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5850998929999 meters 0.010329888498993732 Centerline is valid? [True, True] Translation: X:557.00, Y:38.75, Z:20.62 [[ 9.95734304e-01 -8.19407119e-02 -4.24136292e-02 5.56995932e+02] [ 8.18664998e-02 9.96637206e-01 -3.48661380e-03 3.87507939e+01] [ 4.25566965e-02 -5.14405711e-07 9.99094053e-01 2.06174641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6450998929998 meters 0.0104352606370122 Centerline is valid? [True, True] Translation: X:557.06, Y:38.76, Z:20.62 [[ 9.96200446e-01 -7.61350693e-02 -4.22861967e-02 5.57056636e+02] [ 7.60561368e-02 9.97097483e-01 -3.47462401e-03 3.87588081e+01] [ 4.24280011e-02 2.45297223e-04 9.99099497e-01 2.06206290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7050998929999 meters 0.010954438304045215 Centerline is valid? [True, True] Translation: X:557.12, Y:38.76, Z:20.62 [[ 9.96583131e-01 -7.14378263e-02 -4.14571997e-02 5.57116179e+02] [ 7.13579443e-02 9.97444960e-01 -3.40534879e-03 3.87646006e+01] [ 4.15945456e-02 4.35412613e-04 9.99134478e-01 2.06232198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7650998929998 meters 0.010693746846011215 Centerline is valid? [True, True] Translation: X:557.18, Y:38.76, Z:20.62 [[ 9.96382995e-01 -7.37495132e-02 -4.22129972e-02 5.57175590e+02] [ 7.36686983e-02 9.97276736e-01 -3.46896917e-03 3.87646149e+01] [ 4.23538749e-02 3.46645334e-04 9.99102612e-01 2.06239250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8250998929999 meters 0.01015259361907049 Centerline is valid? [True, True] Translation: X:557.24, Y:38.76, Z:20.63 [[ 9.95989674e-01 -7.88735234e-02 -4.22319275e-02 5.57235104e+02] [ 7.87971335e-02 9.96884622e-01 -3.47299409e-03 3.87637350e+01] [ 4.23742864e-02 1.31311428e-04 9.99101798e-01 2.06253683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8850998929998 meters 0.010272493237499554 Centerline is valid? [True, True] Translation: X:557.30, Y:38.76, Z:20.63 [[ 9.95087896e-01 -8.92747168e-02 -4.27797261e-02 5.57295683e+02] [ 8.92055519e-02 9.96006993e-01 -3.52684349e-03 3.87582137e+01] [ 4.29237643e-02 -3.06669810e-04 9.99078303e-01 2.06279514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9450998929999 meters 0.011649125096023732 Centerline is valid? [True, True] Translation: X:557.36, Y:38.75, Z:20.63 [[ 9.94196731e-01 -9.91139243e-02 -4.18245127e-02 5.57356333e+02] [ 9.90564483e-02 9.95075837e-01 -3.44950806e-03 3.87520035e+01] [ 4.19604562e-02 -7.13498039e-04 9.99119017e-01 2.06308568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0050998929999 meters 0.012775801466282849 Centerline is valid? [True, True] Translation: X:557.42, Y:38.75, Z:20.63 [[ 9.93755727e-01 -1.03739035e-01 -4.10824475e-02 5.57417387e+02] [ 1.03687508e-01 9.94604151e-01 -3.38879667e-03 3.87508214e+01] [ 4.12123233e-02 -8.92100518e-04 9.99150013e-01 2.06333486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0650998929999 meters 0.013712372420776 Centerline is valid? [True, True] Translation: X:557.48, Y:38.75, Z:20.64 [[ 9.93498526e-01 -1.06482871e-01 -4.02750247e-02 5.57479018e+02] [ 1.06435675e-01 9.94314046e-01 -3.32039466e-03 3.87506034e+01] [ 4.03995879e-02 -9.87892220e-04 9.99183115e-01 2.06354415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1250998929999 meters 0.013273728794189468 Centerline is valid? [True, True] Translation: X:557.54, Y:38.75, Z:20.64 [[ 9.93627930e-01 -1.04806083e-01 -4.14635096e-02 5.57540710e+02] [ 1.04754665e-01 9.94492225e-01 -3.41682577e-03 3.87535604e+01] [ 4.15932421e-02 -9.48442544e-04 9.99134177e-01 2.06360932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1850998929999 meters 0.013095343601519907 Centerline is valid? [True, True] Translation: X:557.60, Y:38.76, Z:20.64 [[ 9.93893931e-01 -1.01933162e-01 -4.22431659e-02 5.57599976e+02] [ 1.01877254e-01 9.94790891e-01 -3.47978763e-03 3.87574854e+01] [ 4.23778224e-02 -8.45077922e-04 9.99101299e-01 2.06373477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2450998929999 meters 0.010864339263206055 Centerline is valid? [True, True] Translation: X:557.66, Y:38.77, Z:20.64 [[ 9.94554714e-01 -9.51095754e-02 -4.26038698e-02 5.57659947e+02] [ 9.50464188e-02 9.95466653e-01 -3.51017066e-03 3.87667600e+01] [ 4.27445825e-02 -5.58288475e-04 9.99085877e-01 2.06403608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3050998929999 meters 0.010318349700161862 Centerline is valid? [True, True] Translation: X:557.72, Y:38.77, Z:20.64 [[ 9.94815749e-01 -9.23653444e-02 -4.25472505e-02 5.57719801e+02] [ 9.22998465e-02 9.95725087e-01 -3.50550575e-03 3.87732208e+01] [ 4.26891520e-02 -4.39772369e-04 9.99088306e-01 2.06426910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3650998929999 meters 0.00963227669589639 Centerline is valid? [True, True] Translation: X:557.78, Y:38.78, Z:20.64 [[ 9.95536963e-01 -8.42622241e-02 -4.24974344e-02 5.57778799e+02] [ 8.41894868e-02 9.96443611e-01 -3.50159453e-03 3.87811622e+01] [ 4.26413491e-02 -9.18704019e-05 9.99090440e-01 2.06449200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4250998929999 meters 0.009549031772308028 Centerline is valid? [True, True] Translation: X:557.84, Y:38.79, Z:20.65 [[ 9.95731905e-01 -8.14836147e-02 -4.33404521e-02 5.57837732e+02] [ 8.14052023e-02 9.96674681e-01 -3.57399548e-03 3.87868680e+01] [ 4.34875533e-02 3.06030641e-05 9.99053968e-01 2.06465123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4850998929999 meters 0.00951739853742571 Centerline is valid? [True, True] Translation: X:557.90, Y:38.79, Z:20.65 [[ 9.95658852e-01 -8.15573595e-02 -4.48536313e-02 5.57896650e+02] [ 8.14729202e-02 9.96668649e-01 -3.71049468e-03 3.87911246e+01] [ 4.50068262e-02 4.00305490e-05 9.98986679e-01 2.06480780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5450998929999 meters 0.009487423795449644 Centerline is valid? [True, True] Translation: X:557.96, Y:38.79, Z:20.65 [[ 9.95194783e-01 -8.65147517e-02 -4.58534755e-02 5.57955077e+02] [ 8.64312772e-02 9.96250554e-01 -3.80370563e-03 3.87918733e+01] [ 4.60106270e-02 -1.77746447e-04 9.98940934e-01 2.06502838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6050998929999 meters 0.009905447688271837 Centerline is valid? [True, True] Translation: X:558.01, Y:38.79, Z:20.65 [[ 9.94773505e-01 -9.14042972e-02 -4.55074492e-02 5.58012730e+02] [ 9.13269809e-02 9.95813787e-01 -3.77956578e-03 3.87922696e+01] [ 4.56624139e-02 -3.96246045e-04 9.98956849e-01 2.06522026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6650998929999 meters 0.010625735846173417 Centerline is valid? [True, True] Translation: X:558.07, Y:38.79, Z:20.66 [[ 9.94165549e-01 -9.84964113e-02 -4.39695205e-02 5.58071633e+02] [ 9.84308662e-02 9.95137166e-01 -3.65852424e-03 3.87917649e+01] [ 4.41160556e-02 -6.90779237e-04 9.99026174e-01 2.06557171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7250998929999 meters 0.012213581507805 Centerline is valid? [True, True] Translation: X:558.13, Y:38.79, Z:20.66 [[ 9.93698317e-01 -1.03660510e-01 -4.26398091e-02 5.58130667e+02] [ 1.03603201e-01 9.94612347e-01 -3.55761640e-03 3.87905616e+01] [ 4.27788649e-02 -8.82423294e-04 9.99084176e-01 2.06577045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7850998929998 meters 0.01334412897873836 Centerline is valid? [True, True] Translation: X:558.19, Y:38.79, Z:20.66 [[ 9.93565003e-01 -1.05008994e-01 -4.24463925e-02 5.58189814e+02] [ 1.04953334e-01 9.94470834e-01 -3.54380213e-03 3.87914708e+01] [ 4.25838304e-02 -9.33892633e-04 9.99092461e-01 2.06593783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8450998929999 meters 0.011311546180278444 Centerline is valid? [True, True] Translation: X:558.25, Y:38.80, Z:20.66 [[ 9.93951675e-01 -1.01612983e-01 -4.16517597e-02 5.58249510e+02] [ 1.01556326e-01 9.94823706e-01 -3.47941209e-03 3.87994142e+01] [ 4.17897114e-02 -7.71632220e-04 9.99126130e-01 2.06626475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9050998929998 meters 0.010480199726413697 Centerline is valid? [True, True] Translation: X:558.31, Y:38.81, Z:20.67 [[ 9.94467945e-01 -9.67794698e-02 -4.08318657e-02 5.58309020e+02] [ 9.67209432e-02 9.95305694e-01 -3.41105482e-03 3.88058740e+01] [ 4.09703085e-02 -5.57111883e-04 9.99160209e-01 2.06652521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9650998929999 meters 0.009520049012726586 Centerline is valid? [True, True] Translation: X:558.37, Y:38.81, Z:20.67 [[ 9.95067056e-01 -9.01780641e-02 -4.13457410e-02 5.58367639e+02] [ 9.01122895e-02 9.95925617e-01 -3.45557874e-03 3.88127527e+01] [ 4.14889000e-02 -2.87226821e-04 9.99138924e-01 2.06663854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0250998929998 meters 0.009244131445472072 Centerline is valid? [True, True] Translation: X:558.43, Y:38.82, Z:20.67 [[ 9.95215036e-01 -8.79180017e-02 -4.26316366e-02 5.58426289e+02] [ 8.78458487e-02 9.96127696e-01 -3.56652974e-03 3.88183556e+01] [ 4.27801161e-02 -1.95548281e-04 9.99084493e-01 2.06677595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0850998929999 meters 0.009280177657269923 Centerline is valid? [True, True] Translation: X:558.48, Y:38.82, Z:20.67 [[ 9.95074117e-01 -8.84990407e-02 -4.46701415e-02 5.58484200e+02] [ 8.84199185e-02 9.96076238e-01 -3.74789892e-03 3.88212097e+01] [ 4.48265520e-02 -2.20293071e-04 9.98994761e-01 2.06671737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1450998929998 meters 0.010059390017091654 Centerline is valid? [True, True] Translation: X:558.54, Y:38.82, Z:20.67 [[ 9.94514014e-01 -9.39619596e-02 -4.59676732e-02 5.58541969e+02] [ 9.38837849e-02 9.95575675e-01 -3.86144297e-03 3.88205411e+01] [ 4.61271261e-02 -4.75360000e-04 9.98935465e-01 2.06682441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2050998929999 meters 0.010923930665987963 Centerline is valid? [True, True] Translation: X:558.60, Y:38.82, Z:20.67 [[ 9.93956622e-01 -9.96737839e-02 -4.59931602e-02 5.58600538e+02] [ 9.96012953e-02 9.95019899e-01 -3.87082384e-03 3.88211594e+01] [ 4.61499292e-02 -7.33547343e-04 9.98934255e-01 2.06712818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2650998929998 meters 0.013170824041713564 Centerline is valid? [True, True] Translation: X:558.66, Y:38.82, Z:20.67 [[ 9.93096015e-01 -1.08473921e-01 -4.46510183e-02 5.58661141e+02] [ 1.08414066e-01 9.94098687e-01 -3.76711985e-03 3.88186487e+01] [ 4.47961529e-02 -1.09968672e-03 9.98995543e-01 2.06744741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3250998929999 meters 0.016189621057282548 Centerline is valid? [True, True] Translation: X:558.72, Y:38.82, Z:20.68 [[ 9.92537140e-01 -1.13802505e-01 -4.38065716e-02 5.58720073e+02] [ 1.13750028e-01 9.93502523e-01 -3.69689015e-03 3.88166253e+01] [ 4.39426548e-02 -1.31369798e-03 9.99033191e-01 2.06766299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3850998929998 meters 0.016944811168541133 Centerline is valid? [True, True] Translation: X:558.78, Y:38.82, Z:20.68 [[ 9.91955096e-01 -1.19169611e-01 -4.27046899e-02 5.58780284e+02] [ 1.19124617e-01 9.92872763e-01 -3.60594358e-03 3.88190750e+01] [ 4.28300423e-02 -1.51024571e-03 9.99081231e-01 2.06795781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4450998929999 meters 0.019852456883995468 Centerline is valid? [True, True] Translation: X:558.84, Y:38.82, Z:20.68 [[ 9.91366262e-01 -1.24000891e-01 -4.26229203e-02 5.58839980e+02] [ 1.23960489e-01 9.92280625e-01 -3.59983827e-03 3.88198584e+01] [ 4.27402812e-02 -1.71479982e-03 9.99084745e-01 2.06817761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5050998929999 meters 0.021935390106712947 Centerline is valid? [True, True] Translation: X:558.90, Y:38.82, Z:20.68 [[ 9.90495898e-01 -1.30504834e-01 -4.34323033e-02 5.58900086e+02] [ 1.30469084e-01 9.91445590e-01 -3.66890096e-03 3.88223104e+01] [ 4.35395749e-02 -2.03254150e-03 9.99049636e-01 2.06837662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5650998929999 meters 0.02415646286515421 Centerline is valid? [True, True] Translation: X:558.96, Y:38.83, Z:20.69 [[ 9.89890710e-01 -1.35012387e-01 -4.34515516e-02 5.58960124e+02] [ 1.34980921e-01 9.90841398e-01 -3.67081606e-03 3.88251259e+01] [ 4.35492018e-02 -2.23142375e-03 9.99048791e-01 2.06860973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6250998929999 meters 0.02283038576290563 Centerline is valid? [True, True] Translation: X:559.02, Y:38.83, Z:20.69 [[ 9.89237154e-01 -1.39661157e-01 -4.36418946e-02 5.59019211e+02] [ 1.39633884e-01 9.90196334e-01 -3.68772911e-03 3.88343173e+01] [ 4.37290766e-02 -2.44584861e-03 9.99040432e-01 2.06885364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6850998929999 meters 0.0277580803576908 Centerline is valid? [True, True] Translation: X:559.08, Y:38.84, Z:20.69 [[ 9.88903268e-01 -1.41597840e-01 -4.49486085e-02 5.59078557e+02] [ 1.41570848e-01 9.89920835e-01 -3.79940466e-03 3.88355172e+01] [ 4.50335516e-02 -2.60616892e-03 9.98982075e-01 2.06887428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7450998929999 meters 0.033507312983971936 Centerline is valid? [True, True] Translation: X:559.14, Y:38.84, Z:20.69 [[ 9.88733820e-01 -1.42388187e-01 -4.61631513e-02 5.59136696e+02] [ 1.42360456e-01 9.89807180e-01 -3.90467491e-03 3.88372402e+01] [ 4.62485982e-02 -2.71112313e-03 9.98926282e-01 2.06886246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8050998929999 meters 0.02908608313342767 Centerline is valid? [True, True] Translation: X:559.19, Y:38.85, Z:20.69 [[ 9.88987815e-01 -1.40772465e-01 -4.56750963e-02 5.59194363e+02] [ 1.40743348e-01 9.90038556e-01 -3.86889198e-03 3.88519051e+01] [ 4.57647398e-02 -2.60217894e-03 9.98948856e-01 2.06925962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8650998929999 meters 0.022668077253966284 Centerline is valid? [True, True] Translation: X:559.25, Y:38.87, Z:20.70 [[ 9.89988468e-01 -1.33996079e-01 -4.43608490e-02 5.59252883e+02] [ 1.33961712e-01 9.90979375e-01 -3.76010117e-03 3.88722917e+01] [ 4.44645252e-02 -2.22019847e-03 9.99008497e-01 2.06976513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9250998929999 meters 0.016909507000752968 Centerline is valid? [True, True] Translation: X:559.31, Y:38.89, Z:20.70 [[ 9.91555408e-01 -1.22775214e-01 -4.17626472e-02 5.59312173e+02] [ 1.22734808e-01 9.92433190e-01 -3.53988885e-03 3.88927363e+01] [ 4.18812478e-02 -1.61573455e-03 9.99121289e-01 2.07024843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9850998929999 meters 0.014963200928929324 Centerline is valid? [True, True] Translation: X:559.37, Y:38.91, Z:20.70 [[ 9.92836000e-01 -1.11312925e-01 -4.34293608e-02 5.59371070e+02] [ 1.11258297e-01 9.93784708e-01 -3.68046986e-03 3.89075330e+01] [ 4.35691185e-02 -1.17777374e-03 9.99049721e-01 2.07026461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0450998929999 meters 0.013005786587192685 Centerline is valid? [True, True] Translation: X:559.43, Y:38.92, Z:20.70 [[ 9.93474760e-01 -1.05024119e-01 -4.44728677e-02 5.59430952e+02] [ 1.04960539e-01 9.94469246e-01 -3.76880738e-03 3.89199337e+01] [ 4.46227149e-02 -9.23681170e-04 9.99003484e-01 2.07041895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1050998929999 meters 0.010661001646334682 Centerline is valid? [True, True] Translation: X:559.49, Y:38.93, Z:20.71 [[ 9.94154612e-01 -9.83036834e-02 -4.46429600e-02 5.59491090e+02] [ 9.82328765e-02 9.95156267e-01 -3.78244043e-03 3.89338339e+01] [ 4.47985492e-02 -6.25075772e-04 9.98995845e-01 2.07069338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1650998929999 meters 0.009763178236375283 Centerline is valid? [True, True] Translation: X:559.55, Y:38.94, Z:20.71 [[ 9.94409505e-01 -9.53822635e-02 -4.52985749e-02 5.59550690e+02] [ 9.53063617e-02 9.95440592e-01 -3.83731545e-03 3.89434951e+01] [ 4.54580520e-02 -5.01379403e-04 9.98966123e-01 2.07095752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2250998929999 meters 0.009887100484648388 Centerline is valid? [True, True] Translation: X:559.61, Y:38.95, Z:20.71 [[ 9.94571767e-01 -9.32874887e-02 -4.60916925e-02 5.59609749e+02] [ 9.32066486e-02 9.95639129e-01 -3.90466623e-03 3.89506669e+01] [ 4.62549490e-02 -4.12581389e-04 9.98929582e-01 2.07106648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2850998929998 meters 0.009572229875733649 Centerline is valid? [True, True] Translation: X:559.67, Y:38.96, Z:20.71 [[ 9.94694014e-01 -9.20733709e-02 -4.58945909e-02 5.59669218e+02] [ 9.19918978e-02 9.95752163e-01 -3.88865124e-03 3.89588640e+01] [ 4.60576794e-02 -3.53912412e-04 9.98938719e-01 2.07142045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3450998929999 meters 0.010030469968908957 Centerline is valid? [True, True] Translation: X:559.73, Y:38.96, Z:20.72 [[ 9.94731110e-01 -9.22781329e-02 -4.46627887e-02 5.59728425e+02] [ 9.22011765e-02 9.95733208e-01 -3.78441911e-03 3.89617160e+01] [ 4.48214410e-02 -3.53482242e-04 9.98994952e-01 2.07152745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4050998929998 meters 0.010089010291061467 Centerline is valid? [True, True] Translation: X:559.79, Y:38.97, Z:20.72 [[ 9.94469627e-01 -9.52297760e-02 -4.42882608e-02 5.59789164e+02] [ 9.51569994e-02 9.95455201e-01 -3.75336577e-03 3.89655292e+01] [ 4.44444117e-02 -4.81729746e-04 9.99011743e-01 2.07189030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4650998929999 meters 0.01157654685244007 Centerline is valid? [True, True] Translation: X:559.85, Y:38.96, Z:20.72 [[ 9.93550600e-01 -1.04127415e-01 -4.48852678e-02 5.59849393e+02] [ 1.04061720e-01 9.94563566e-01 -3.80410310e-03 3.89649075e+01] [ 4.50373635e-02 -8.91269266e-04 9.98984906e-01 2.07209877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5250998929998 meters 0.016329522337367283 Centerline is valid? [True, True] Translation: X:559.91, Y:38.96, Z:20.72 [[ 9.92100788e-01 -1.16830494e-01 -4.56800013e-02 5.59909498e+02] [ 1.16775847e-01 9.93150748e-01 -3.87221552e-03 3.89575096e+01] [ 4.58195203e-02 -1.49269276e-03 9.98948619e-01 2.07212020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5850998929999 meters 0.018615247058793007 Centerline is valid? [True, True] Translation: X:559.97, Y:38.96, Z:20.72 [[ 9.91062222e-01 -1.25265693e-01 -4.58713223e-02 5.59969842e+02] [ 1.25219577e-01 9.92121431e-01 -3.88883759e-03 3.89565498e+01] [ 4.59970599e-02 -1.88990754e-03 9.98939787e-01 2.07232080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6450998929998 meters 0.022021312475157238 Centerline is valid? [True, True] Translation: X:560.03, Y:38.95, Z:20.73 [[ 9.89780220e-01 -1.35071392e-01 -4.57256451e-02 5.60030544e+02] [ 1.35035959e-01 9.90833113e-01 -3.87718672e-03 3.89548422e+01] [ 4.58301803e-02 -2.33704361e-03 9.98946511e-01 2.07259559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7050998929999 meters 0.023464605136725616 Centerline is valid? [True, True] Translation: X:560.09, Y:38.96, Z:20.73 [[ 9.89169072e-01 -1.39571046e-01 -4.54364375e-02 5.60091207e+02] [ 1.39540769e-01 9.90208830e-01 -3.85305841e-03 3.89572976e+01] [ 4.55293370e-02 -2.52890921e-03 9.98959801e-01 2.07283230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7650998929998 meters 0.024985470806715433 Centerline is valid? [True, True] Translation: X:560.15, Y:38.96, Z:20.73 [[ 9.88771071e-01 -1.42600987e-01 -4.46847641e-02 5.60151684e+02] [ 1.42574825e-01 9.89776777e-01 -3.78837573e-03 3.89604309e+01] [ 4.47681679e-02 -2.62508609e-03 9.98993954e-01 2.07314359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8250998929999 meters 0.025603948536072833 Centerline is valid? [True, True] Translation: X:560.21, Y:38.97, Z:20.73 [[ 9.88962284e-01 -1.41180766e-01 -4.49621180e-02 5.60212790e+02] [ 1.41152861e-01 9.89980478e-01 -3.81091126e-03 3.89667084e+01] [ 4.50496464e-02 -2.57768407e-03 9.98981424e-01 2.07340491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8850998929998 meters 0.023748699962632826 Centerline is valid? [True, True] Translation: X:560.27, Y:38.98, Z:20.74 [[ 9.89199028e-01 -1.39454882e-01 -4.51400023e-02 5.60273367e+02] [ 1.39425041e-01 9.90225243e-01 -3.82431957e-03 3.89763905e+01] [ 4.52320898e-02 -2.51063346e-03 9.98973350e-01 2.07368010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9450998929999 meters 0.02416717290105487 Centerline is valid? [True, True] Translation: X:560.33, Y:38.98, Z:20.74 [[ 9.89385538e-01 -1.37941847e-01 -4.56979710e-02 5.60334759e+02] [ 1.37909742e-01 9.90437241e-01 -3.86971841e-03 3.89830508e+01] [ 4.57947684e-02 -2.47355196e-03 9.98947807e-01 2.07382047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0050998929999 meters 0.027606940310217428 Centerline is valid? [True, True] Translation: X:560.39, Y:38.98, Z:20.74 [[ 9.89068372e-01 -1.39701957e-01 -4.71923690e-02 5.60394555e+02] [ 1.39669817e-01 9.90190077e-01 -3.99415300e-03 3.89847513e+01] [ 4.72874065e-02 -2.64085912e-03 9.98877834e-01 2.07388619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0650998929999 meters 0.027627043640390588 Centerline is valid? [True, True] Translation: X:560.46, Y:38.99, Z:20.74 [[ 9.88886058e-01 -1.40041866e-01 -4.99263560e-02 5.60455307e+02] [ 1.40006354e-01 9.90141591e-01 -4.22509416e-03 3.89912163e+01] [ 5.00258516e-02 -2.81187039e-03 9.98743965e-01 2.07383630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1250998929999 meters 0.023219959788709957 Centerline is valid? [True, True] Translation: X:560.52, Y:39.01, Z:20.74 [[ 9.89273015e-01 -1.37455081e-01 -4.94469607e-02 5.60515445e+02] [ 1.37417103e-01 9.90504438e-01 -4.18299525e-03 3.90053363e+01] [ 4.95524080e-02 -2.65673375e-03 9.98767991e-01 2.07420242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1850998929999 meters 0.021479589884746887 Centerline is valid? [True, True] Translation: X:560.58, Y:39.02, Z:20.75 [[ 9.89915705e-01 -1.33015902e-01 -4.87203008e-02 5.60575480e+02] [ 1.32973711e-01 9.91110999e-01 -4.12063318e-03 3.90157142e+01] [ 4.88353357e-02 -2.39943969e-03 9.98803961e-01 2.07453468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2450998929999 meters 0.017663298137195017 Centerline is valid? [True, True] Translation: X:560.63, Y:39.03, Z:20.75 [[ 9.91174050e-01 -1.23755266e-01 -4.75251123e-02 5.60634800e+02] [ 1.23704518e-01 9.92310960e-01 -4.01889536e-03 3.90324228e+01] [ 4.76570493e-02 -1.89564633e-03 9.98861959e-01 2.07492358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3050998929999 meters 0.015091175524499432 Centerline is valid? [True, True] Translation: X:560.69, Y:39.05, Z:20.75 [[ 9.92334774e-01 -1.14179648e-01 -4.72726507e-02 5.60694461e+02] [ 1.14118579e-01 9.93459093e-01 -3.99754952e-03 3.90461226e+01] [ 4.74198834e-02 -1.42778032e-03 9.98874024e-01 2.07520570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3650998929999 meters 0.013149349858095448 Centerline is valid? [True, True] Translation: X:560.75, Y:39.06, Z:20.75 [[ 9.93083480e-01 -1.07621310e-01 -4.69345962e-02 5.60754080e+02] [ 1.07553802e-01 9.94191344e-01 -3.96874530e-03 3.90565527e+01] [ 4.70890908e-02 -1.10669886e-03 9.98890080e-01 2.07546022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4250998929999 meters 0.010952814134874795 Centerline is valid? [True, True] Translation: X:560.81, Y:39.07, Z:20.76 [[ 9.94063207e-01 -9.82223436e-02 -4.68050364e-02 5.60814208e+02] [ 9.81447967e-02 9.95164276e-01 -3.95761003e-03 3.90689202e+01] [ 4.69674259e-02 -6.59556266e-04 9.98896204e-01 2.07576776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4850998929999 meters 0.01029027766209263 Centerline is valid? [True, True] Translation: X:560.87, Y:39.08, Z:20.76 [[ 9.94661845e-01 -9.26893804e-02 -4.53485697e-02 5.60873809e+02] [ 9.26108738e-02 9.95694998e-01 -3.83363608e-03 3.90774215e+01] [ 4.55086814e-02 -3.86599134e-04 9.98963868e-01 2.07602789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5450998929999 meters 0.009813750867702233 Centerline is valid? [True, True] Translation: X:560.93, Y:39.08, Z:20.76 [[ 9.95228062e-01 -8.65363949e-02 -4.50838864e-02 5.60934960e+02] [ 8.64525329e-02 9.96248684e-01 -3.81029212e-03 3.90849186e+01] [ 4.52444915e-02 -1.05506534e-04 9.98975938e-01 2.07621951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6050998929999 meters 0.009864250556734285 Centerline is valid? [True, True] Translation: X:561.00, Y:39.09, Z:20.76 [[ 9.95402227e-01 -8.43566686e-02 -4.53691304e-02 5.60995345e+02] [ 8.42695409e-02 9.96435624e-01 -3.83302450e-03 3.90893761e+01] [ 4.55307590e-02 -7.83466155e-06 9.98962937e-01 2.07631275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6650998929999 meters 0.00982415273817531 Centerline is valid? [True, True] Translation: X:561.05, Y:39.09, Z:20.77 [[ 9.95355350e-01 -8.56353993e-02 -4.39807366e-02 5.61054676e+02] [ 8.55547617e-02 9.96326540e-01 -3.71597511e-03 3.90913561e+01] [ 4.41373941e-02 -6.40457296e-05 9.99025468e-01 2.07657115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7250998929999 meters 0.010069370794972816 Centerline is valid? [True, True] Translation: X:561.11, Y:39.09, Z:20.77 [[ 9.95079502e-01 -8.90917946e-02 -4.33524673e-02 5.61114136e+02] [ 8.90166597e-02 9.96023397e-01 -3.66434599e-03 3.90912753e+01] [ 4.35065349e-02 -2.12776242e-04 9.99053120e-01 2.07673928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7850998929998 meters 0.010539616029091847 Centerline is valid? [True, True] Translation: X:561.18, Y:39.09, Z:20.77 [[ 9.94572606e-01 -9.49688768e-02 -4.24999316e-02 5.61175231e+02] [ 9.49020011e-02 9.95480136e-01 -3.59294308e-03 3.90904849e+01] [ 4.26490554e-02 -4.59885788e-04 9.99090009e-01 2.07695073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8450998929999 meters 0.013489842647746978 Centerline is valid? [True, True] Translation: X:561.24, Y:39.08, Z:20.77 [[ 9.93496549e-01 -1.05875399e-01 -4.18927943e-02 5.61236017e+02] [ 1.05820099e-01 9.94378984e-01 -3.54161572e-03 3.90834950e+01] [ 4.20322842e-02 -9.14516656e-04 9.99115835e-01 2.07708888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9050998929998 meters 0.015924694055721396 Centerline is valid? [True, True] Translation: X:561.30, Y:39.08, Z:20.77 [[ 9.92426029e-01 -1.15864437e-01 -4.08167880e-02 5.61297609e+02] [ 1.15820371e-01 9.93264182e-01 -3.45063565e-03 3.90784570e+01] [ 4.09416595e-02 -1.30291491e-03 9.99160689e-01 2.07730457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9650998929999 meters 0.01860130035206493 Centerline is valid? [True, True] Translation: X:561.36, Y:39.07, Z:20.78 [[ 9.91574015e-01 -1.23511964e-01 -3.90610812e-02 5.61358243e+02] [ 1.23477532e-01 9.92341874e-01 -3.30205347e-03 3.90744256e+01] [ 3.91697897e-02 -1.54893550e-03 9.99231369e-01 2.07755848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0250998929998 meters 0.019999653566638104 Centerline is valid? [True, True] Translation: X:561.42, Y:39.07, Z:20.78 [[ 9.90880476e-01 -1.29045545e-01 -3.87702214e-02 5.61419139e+02] [ 1.29015859e-01 9.91637115e-01 -3.27717096e-03 3.90743930e+01] [ 3.88688949e-02 -1.75468870e-03 9.99242778e-01 2.07774370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0850998929999 meters 0.019999653566638104 Centerline is valid? [True, True] Translation: X:561.48, Y:39.08, Z:20.78 [[ 9.90890050e-01 -1.28971990e-01 -3.87702874e-02 5.61480634e+02] [ 1.28942278e-01 9.91646688e-01 -3.27639034e-03 3.90795319e+01] [ 3.88689897e-02 -1.75258657e-03 9.99242778e-01 2.07797405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1450998929998 meters 0.021632229362936278 Centerline is valid? [True, True] Translation: X:561.54, Y:39.08, Z:20.78 [[ 9.90339198e-01 -1.32957926e-01 -3.93759208e-02 5.61542052e+02] [ 1.32930533e-01 9.91119781e-01 -3.32470674e-03 3.90795838e+01] [ 3.94683002e-02 -1.94167473e-03 9.99218937e-01 2.07805923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2050998929999 meters 0.023942681243882206 Centerline is valid? [True, True] Translation: X:561.60, Y:39.08, Z:20.78 [[ 9.90179427e-01 -1.34027740e-01 -3.97651588e-02 5.61603640e+02] [ 1.34000697e-01 9.90975553e-01 -3.35673089e-03 3.90797334e+01] [ 3.98561953e-02 -2.00479310e-03 9.99203415e-01 2.07819608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2650998929998 meters 0.024818337953125384 Centerline is valid? [True, True] Translation: X:561.66, Y:39.08, Z:20.78 [[ 9.90374931e-01 -1.32293695e-01 -4.06924284e-02 5.61663601e+02] [ 1.32264013e-01 9.91208579e-01 -3.43263670e-03 3.90837273e+01] [ 4.07888004e-02 -1.98254655e-03 9.99165824e-01 2.07831785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3250998929999 meters 0.0220508307849383 Centerline is valid? [True, True] Translation: X:561.72, Y:39.09, Z:20.79 [[ 9.90807538e-01 -1.28972274e-01 -4.08237048e-02 5.61723307e+02] [ 1.28939705e-01 9.91646466e-01 -3.44083397e-03 3.90936782e+01] [ 4.09264547e-02 -1.85459223e-03 9.99160440e-01 2.07853707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3850998929998 meters 0.01889865739941165 Centerline is valid? [True, True] Translation: X:561.78, Y:39.11, Z:20.79 [[ 9.91839909e-01 -1.20973430e-01 -4.02371081e-02 5.61783540e+02] [ 1.20935218e-01 9.92654609e-01 -3.39133797e-03 3.91056921e+01] [ 4.03518126e-02 -1.50241909e-03 9.99184404e-01 2.07876695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4450998929999 meters 0.017134393464553477 Centerline is valid? [True, True] Translation: X:561.84, Y:39.12, Z:20.79 [[ 9.92530004e-01 -1.15412607e-01 -3.95489828e-02 5.61844023e+02] [ 1.15371307e-01 9.93316845e-01 -3.33264649e-03 3.91150902e+01] [ 3.96693002e-02 -1.25506621e-03 9.99212075e-01 2.07906128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5050998929999 meters 0.015386032987643166 Centerline is valid? [True, True] Translation: X:561.90, Y:39.13, Z:20.79 [[ 9.93311550e-01 -1.08647458e-01 -3.90882982e-02 5.61904029e+02] [ 1.08601906e-01 9.94079867e-01 -3.29313061e-03 3.91254621e+01] [ 3.92146805e-02 -9.73959034e-04 9.99230334e-01 2.07941678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5650998929999 meters 0.014122465745607769 Centerline is valid? [True, True] Translation: X:561.97, Y:39.13, Z:20.80 [[ 9.93623026e-01 -1.05901554e-01 -3.87058540e-02 5.61965393e+02] [ 1.05854836e-01 9.94376249e-01 -3.26017351e-03 3.91337579e+01] [ 3.88334393e-02 -8.57818357e-04 9.99245329e-01 2.07974813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6250998929999 meters 0.013710772125430275 Centerline is valid? [True, True] Translation: X:562.03, Y:39.14, Z:20.80 [[ 9.93666125e-01 -1.05508149e-01 -3.86737897e-02 5.62027628e+02] [ 1.05461293e-01 9.94418080e-01 -3.25533547e-03 3.91392068e+01] [ 3.88013801e-02 -8.43871285e-04 9.99246587e-01 2.08009672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6850998929999 meters 0.014971609718112022 Centerline is valid? [True, True] Translation: X:562.09, Y:39.14, Z:20.80 [[ 9.93224220e-01 -1.09205750e-01 -3.97461162e-02 5.62088727e+02] [ 1.09159333e-01 9.94018645e-01 -3.34267665e-03 3.91413561e+01] [ 3.98734201e-02 -1.01863211e-03 9.99204220e-01 2.08037596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7450998929999 meters 0.017829782140126482 Centerline is valid? [True, True] Translation: X:562.15, Y:39.14, Z:20.81 [[ 9.92785032e-01 -1.12618294e-01 -4.11703816e-02 5.62148691e+02] [ 1.12571492e-01 9.93637601e-01 -3.46073196e-03 3.91414399e+01] [ 4.12981809e-02 -1.19884837e-03 9.99146147e-01 2.08054828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8050998929999 meters 0.019192832650852632 Centerline is valid? [True, True] Translation: X:562.21, Y:39.14, Z:20.81 [[ 9.91964698e-01 -1.19357058e-01 -4.19515374e-02 5.62209608e+02] [ 1.19314607e-01 9.92850246e-01 -3.52326424e-03 3.91439520e+01] [ 4.20721207e-02 -1.51047744e-03 9.99113435e-01 2.08087642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8650998929999 meters 0.021093886030010105 Centerline is valid? [True, True] Translation: X:562.27, Y:39.14, Z:20.81 [[ 9.91165957e-01 -1.26053681e-01 -4.12372982e-02 5.62270649e+02] [ 1.26018464e-01 9.92021853e-01 -3.46276174e-03 3.91449812e+01] [ 4.13447948e-02 -1.76448942e-03 9.99143380e-01 2.08123208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9250998929999 meters 0.022539016249337598 Centerline is valid? [True, True] Translation: X:562.33, Y:39.15, Z:20.82 [[ 9.90623442e-01 -1.30188625e-01 -4.14260478e-02 5.62331561e+02] [ 1.30156700e-01 9.91487335e-01 -3.47834152e-03 3.91478546e+01] [ 4.15262422e-02 -1.94615103e-03 9.99135518e-01 2.08152786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9850998929999 meters 0.023188565668523366 Centerline is valid? [True, True] Translation: X:562.39, Y:39.15, Z:20.82 [[ 9.90021153e-01 -1.34653974e-01 -4.15502543e-02 5.62392282e+02] [ 1.34625829e-01 9.90890369e-01 -3.48750533e-03 3.91530815e+01] [ 4.16413532e-02 -2.14103339e-03 9.99130329e-01 2.08180406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0450998929999 meters 0.02407257002480604 Centerline is valid? [True, True] Translation: X:562.45, Y:39.16, Z:20.82 [[ 9.89760992e-01 -1.36376446e-01 -4.21265309e-02 5.62453976e+02] [ 1.36349139e-01 9.90654542e-01 -3.53427360e-03 3.91577973e+01] [ 4.22148309e-02 -2.24583007e-03 9.99106033e-01 2.08199613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1050998929999 meters 0.02467375933725606 Centerline is valid? [True, True] Translation: X:562.52, Y:39.16, Z:20.82 [[ 9.89734588e-01 -1.36144356e-01 -4.34759650e-02 5.62516353e+02] [ 1.36115194e-01 9.90686315e-01 -3.64419452e-03 3.91635117e+01] [ 4.35671801e-02 -2.31095404e-03 9.99047827e-01 2.08211061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1650998929999 meters 0.02224772707512955 Centerline is valid? [True, True] Translation: X:562.58, Y:39.17, Z:20.82 [[ 9.89979750e-01 -1.33954953e-01 -4.46784577e-02 5.62577175e+02] [ 1.33922072e-01 9.90984802e-01 -3.74191416e-03 3.91740792e+01] [ 4.47769204e-02 -2.27901236e-03 9.98994411e-01 2.08229702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2250998929999 meters 0.021064582344406873 Centerline is valid? [True, True] Translation: X:562.64, Y:39.18, Z:20.82 [[ 9.90359473e-01 -1.30817827e-01 -4.55500917e-02 5.62638327e+02] [ 1.30780429e-01 9.91404025e-01 -3.81301826e-03 3.91828538e+01] [ 4.56573550e-02 -2.18080177e-03 9.98954779e-01 2.08245474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2850998929998 meters 0.01964958559380134 Centerline is valid? [True, True] Translation: X:562.70, Y:39.19, Z:20.83 [[ 9.91202677e-01 -1.23757629e-01 -4.69180349e-02 5.62696852e+02] [ 1.23710150e-01 9.92310631e-01 -3.92554331e-03 3.91944782e+01] [ 4.70430808e-02 -1.91322811e-03 9.98891029e-01 2.08260873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3450998929999 meters 0.018006061711106046 Centerline is valid? [True, True] Translation: X:562.76, Y:39.21, Z:20.83 [[ 9.91929758e-01 -1.17796178e-01 -4.68979355e-02 5.62756961e+02] [ 1.17742063e-01 9.93036458e-01 -3.92432878e-03 3.92051210e+01] [ 4.70336307e-02 -1.62920119e-03 9.98891978e-01 2.08287828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4050998929998 meters 0.015282278532624743 Centerline is valid? [True, True] Translation: X:562.82, Y:39.22, Z:20.83 [[ 9.93054658e-01 -1.08010371e-01 -4.66498322e-02 5.62816743e+02] [ 1.07946066e-01 9.94149091e-01 -3.90288178e-03 3.92197004e+01] [ 4.67984400e-02 -1.15989092e-03 9.98903679e-01 2.08315896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4650998929999 meters 0.013602983791265781 Centerline is valid? [True, True] Translation: X:562.88, Y:39.23, Z:20.83 [[ 9.93741767e-01 -1.01445454e-01 -4.67559733e-02 5.62876589e+02] [ 1.01373595e-01 9.94840737e-01 -3.91167823e-03 3.92319551e+01] [ 4.69115689e-02 -8.52623078e-04 9.98898682e-01 2.08344138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5250998929998 meters 0.012912941612738715 Centerline is valid? [True, True] Translation: X:562.94, Y:39.24, Z:20.84 [[ 9.94517346e-01 -9.36375595e-02 -4.65537966e-02 5.62935001e+02] [ 9.35577641e-02 9.95606235e-01 -3.89482453e-03 3.92440407e+01] [ 4.67139520e-02 -4.81998568e-04 9.98908191e-01 2.08360021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5850998929999 meters 0.012298162948839973 Centerline is valid? [True, True] Translation: X:563.00, Y:39.25, Z:20.84 [[ 9.94821095e-01 -9.00175298e-02 -4.71999392e-02 5.62995359e+02] [ 8.99314062e-02 9.95940131e-01 -3.94937933e-03 3.92533859e+01] [ 4.73638270e-02 -3.15831037e-04 9.98877654e-01 2.08391910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6450998929998 meters 0.012097561961043245 Centerline is valid? [True, True] Translation: X:563.06, Y:39.26, Z:20.84 [[ 9.95106392e-01 -8.69774134e-02 -4.68849426e-02 5.63055350e+02] [ 8.68890945e-02 9.96210269e-01 -3.92234953e-03 3.92613352e+01] [ 4.70484171e-02 -1.70635116e-04 9.98892595e-01 2.08421253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7050998929999 meters 0.012010999487912396 Centerline is valid? [True, True] Translation: X:563.11, Y:39.27, Z:20.84 [[ 9.95116911e-01 -8.71469781e-02 -4.63436875e-02 5.63114408e+02] [ 8.70608558e-02 9.96195449e-01 -3.87740149e-03 3.92667280e+01] [ 4.65052745e-02 -1.76253302e-04 9.98918029e-01 2.08442438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7650998929998 meters 0.012204293447753435 Centerline is valid? [True, True] Translation: X:563.17, Y:39.27, Z:20.85 [[ 9.94738259e-01 -9.10350182e-02 -4.69938506e-02 5.63174422e+02] [ 9.09507142e-02 9.95847626e-01 -3.93353037e-03 3.92689061e+01] [ 4.71568036e-02 -3.61291124e-04 9.98887434e-01 2.08459124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8250998929999 meters 0.012721451393599082 Centerline is valid? [True, True] Translation: X:563.23, Y:39.27, Z:20.85 [[ 9.94298467e-01 -9.58471090e-02 -4.67321031e-02 5.63234370e+02] [ 9.57689702e-02 9.95395896e-01 -3.91334056e-03 3.92703247e+01] [ 4.68920261e-02 -5.84456875e-04 9.98899793e-01 2.08471993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8850998929998 meters 0.014505057010670803 Centerline is valid? [True, True] Translation: X:563.29, Y:39.27, Z:20.85 [[ 9.93382327e-01 -1.05262282e-01 -4.59500123e-02 5.63294663e+02] [ 1.05196723e-01 9.94443981e-01 -3.84934337e-03 3.92673842e+01] [ 4.60999039e-02 -1.00992102e-03 9.98936324e-01 2.08486479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9450998929999 meters 0.015593405259636825 Centerline is valid? [True, True] Translation: X:563.36, Y:39.27, Z:20.85 [[ 9.92747985e-01 -1.11243188e-01 -4.55674486e-02 5.63356309e+02] [ 1.11184989e-01 9.93792395e-01 -3.81765414e-03 3.92683119e+01] [ 4.57092719e-02 -1.27644780e-03 9.98953969e-01 2.08505243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0050998929999 meters 0.01639438887580733 Centerline is valid? [True, True] Translation: X:563.42, Y:39.27, Z:20.85 [[ 9.92442513e-01 -1.13903819e-01 -4.56484179e-02 5.63417778e+02] [ 1.13848301e-01 9.93490791e-01 -3.82274171e-03 3.92709504e+01] [ 4.57867077e-02 -1.40314342e-03 9.98950253e-01 2.08524385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0650998929999 meters 0.018259080129792733 Centerline is valid? [True, True] Translation: X:563.48, Y:39.27, Z:20.85 [[ 9.91680478e-01 -1.20673851e-01 -4.48068194e-02 5.63478627e+02] [ 1.20627321e-01 9.92690778e-01 -3.75077129e-03 3.92713531e+01] [ 4.49319365e-02 -1.68535991e-03 9.98988629e-01 2.08547732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1250998929999 meters 0.021617556300281497 Centerline is valid? [True, True] Translation: X:563.54, Y:39.27, Z:20.86 [[ 9.90906243e-01 -1.27240442e-01 -4.37571342e-02 5.63538416e+02] [ 1.27202485e-01 9.91870010e-01 -3.66208210e-03 3.92696528e+01] [ 4.38673541e-02 -1.93723617e-03 9.99035486e-01 2.08571277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1850998929999 meters 0.021950406108944824 Centerline is valid? [True, True] Translation: X:563.60, Y:39.27, Z:20.86 [[ 9.90397732e-01 -1.31402015e-01 -4.29632798e-02 5.63599593e+02] [ 1.31369369e-01 9.91326973e-01 -3.59461640e-03 3.92740068e+01] [ 4.30629980e-02 -2.08395904e-03 9.99070185e-01 2.08601908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2450998929999 meters 0.026341396829288457 Centerline is valid? [True, True] Translation: X:563.66, Y:39.27, Z:20.86 [[ 9.89623842e-01 -1.37114288e-01 -4.29455969e-02 5.63659613e+02] [ 1.37087090e-01 9.90552487e-01 -3.59167951e-03 3.92736170e+01] [ 4.30323384e-02 -2.33287523e-03 9.99070956e-01 2.08625918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3050998929999 meters 0.030742514569201476 Centerline is valid? [True, True] Translation: X:563.72, Y:39.27, Z:20.86 [[ 9.89153239e-01 -1.40276919e-01 -4.35689750e-02 5.63720219e+02] [ 1.40252012e-01 9.90109136e-01 -3.64311297e-03 3.92739761e+01] [ 4.36490849e-02 -2.50703941e-03 9.99043779e-01 2.08637643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3650998929999 meters 0.0267582900084867 Centerline is valid? [True, True] Translation: X:563.78, Y:39.29, Z:20.87 [[ 9.88567377e-01 -1.44007545e-01 -4.46807474e-02 5.63780841e+02] [ 1.43985209e-01 9.89572793e-01 -3.73465929e-03 3.92863034e+01] [ 4.47526711e-02 -2.74140443e-03 9.98994336e-01 2.08659998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4250998929999 meters 0.031465405512641396 Centerline is valid? [True, True] Translation: X:563.84, Y:39.29, Z:20.87 [[ 9.88084012e-01 -1.46976579e-01 -4.56932213e-02 5.63841450e+02] [ 1.46956452e-01 9.89135595e-01 -3.81774047e-03 3.92876060e+01] [ 4.57579101e-02 -2.94266537e-03 9.98948224e-01 2.08668824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4850998929999 meters 0.029666419297506973 Centerline is valid? [True, True] Translation: X:563.90, Y:39.30, Z:20.87 [[ 9.87866084e-01 -1.48223686e-01 -4.63717584e-02 5.63903324e+02] [ 1.48204389e-01 9.88949169e-01 -3.87306868e-03 3.92966316e+01] [ 4.64333925e-02 -3.04642496e-03 9.98916743e-01 2.08690116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5450998929999 meters 0.02884483909584873 Centerline is valid? [True, True] Translation: X:563.96, Y:39.31, Z:20.87 [[ 9.88119453e-01 -1.46597153e-01 -4.61434838e-02 5.63963891e+02] [ 1.46576421e-01 9.89191853e-01 -3.85095704e-03 3.93064209e+01] [ 4.62092976e-02 -2.95834115e-03 9.98927399e-01 2.08714273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6050998929999 meters 0.026501769337307857 Centerline is valid? [True, True] Translation: X:564.02, Y:39.32, Z:20.88 [[ 9.89322153e-01 -1.38871254e-01 -4.42317965e-02 5.64023160e+02] [ 1.38844559e-01 9.90307312e-01 -3.69011496e-03 3.93210792e+01] [ 4.43155223e-02 -2.49063181e-03 9.99014480e-01 2.08757362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6650998929999 meters 0.02405196523358614 Centerline is valid? [True, True] Translation: X:564.08, Y:39.33, Z:20.88 [[ 9.90399329e-01 -1.31279034e-01 -4.33010812e-02 5.64083373e+02] [ 1.31246208e-01 9.91343222e-01 -3.61247209e-03 3.93340836e+01] [ 4.34004752e-02 -2.10531277e-03 9.99055537e-01 2.08790764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7250998929999 meters 0.019487894252139 Centerline is valid? [True, True] Translation: X:564.14, Y:39.35, Z:20.88 [[ 9.91937833e-01 -1.19234738e-01 -4.29233429e-02 5.64142477e+02] [ 1.19191235e-01 9.92864860e-01 -3.58048301e-03 3.93520035e+01] [ 4.30439968e-02 -1.56446967e-03 9.99071953e-01 2.08818216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7850998929998 meters 0.015701463942844777 Centerline is valid? [True, True] Translation: X:564.20, Y:39.37, Z:20.88 [[ 9.93131086e-01 -1.08922673e-01 -4.27375501e-02 5.64201658e+02] [ 1.08870010e-01 9.94049603e-01 -3.56474787e-03 3.93680704e+01] [ 4.28715266e-02 -1.11257559e-03 9.99079974e-01 2.08837751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8450998929999 meters 0.014337651487190121 Centerline is valid? [True, True] Translation: X:564.26, Y:39.38, Z:20.89 [[ 9.93713451e-01 -1.03058523e-01 -4.37323546e-02 5.64262519e+02] [ 1.02997713e-01 9.94674905e-01 -3.64750056e-03 3.93779393e+01] [ 4.38753817e-02 -8.79762124e-04 9.99036624e-01 2.08851560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9050998929998 meters 0.012478663156075931 Centerline is valid? [True, True] Translation: X:564.32, Y:39.39, Z:20.89 [[ 9.94526312e-01 -9.44594991e-02 -4.46633815e-02 5.64323277e+02] [ 9.43874779e-02 9.95528573e-01 -3.72340890e-03 3.93906225e+01] [ 4.48153838e-02 -5.12635811e-04 9.98995154e-01 2.08867506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9650998929999 meters 0.011712484694351535 Centerline is valid? [True, True] Translation: X:564.38, Y:39.40, Z:20.89 [[ 9.95043454e-01 -8.89300735e-02 -4.44968185e-02 5.64383991e+02] [ 8.88531592e-02 9.96037837e-01 -3.70731188e-03 3.93998871e+01] [ 4.46502064e-02 -2.64746480e-04 9.99002647e-01 2.08890393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0250998929998 meters 0.011392066615043411 Centerline is valid? [True, True] Translation: X:564.44, Y:39.41, Z:20.89 [[ 9.95712856e-01 -8.18814849e-02 -4.30270858e-02 5.64444671e+02] [ 8.18030502e-02 9.96642072e-01 -3.58341641e-03 3.94100292e+01] [ 4.31760194e-02 4.83069364e-05 9.99067480e-01 2.08917282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0850998929999 meters 0.01167384210074342 Centerline is valid? [True, True] Translation: X:564.50, Y:39.42, Z:20.89 [[ 9.95963893e-01 -7.79859978e-02 -4.44309281e-02 5.64504431e+02] [ 7.78985416e-02 9.96954429e-01 -3.69902412e-03 3.94168714e+01] [ 4.45840827e-02 2.22989962e-04 9.99005611e-01 2.08911582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1450998929998 meters 0.011498518351795025 Centerline is valid? [True, True] Translation: X:564.57, Y:39.42, Z:20.90 [[ 9.96104775e-01 -7.70742104e-02 -4.28350762e-02 5.64565951e+02] [ 7.69920932e-02 9.97025326e-01 -3.56595734e-03 3.94208322e+01] [ 4.29824992e-02 2.54104953e-04 9.99075793e-01 2.08952693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2050998929999 meters 0.011588157923913768 Centerline is valid? [True, True] Translation: X:564.63, Y:39.42, Z:20.90 [[ 9.95988355e-01 -7.92417179e-02 -4.15685900e-02 5.64626380e+02] [ 7.91663321e-02 9.96855419e-01 -3.45912734e-03 3.94219812e+01] [ 4.17119814e-02 1.54417751e-04 9.99129665e-01 2.08977490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2650998929998 meters 0.011511052388580575 Centerline is valid? [True, True] Translation: X:564.69, Y:39.42, Z:20.90 [[ 9.95466836e-01 -8.54883529e-02 -4.16835651e-02 5.64688058e+02] [ 8.54180552e-02 9.96339164e-01 -3.46786471e-03 3.94192280e+01] [ 4.18274305e-02 -1.08384755e-04 9.99124844e-01 2.08985164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3250998929999 meters 0.01184523423420952 Centerline is valid? [True, True] Translation: X:564.75, Y:39.42, Z:20.90 [[ 9.95085882e-01 -9.00197335e-02 -4.12375339e-02 5.64749821e+02] [ 8.99548807e-02 9.95939938e-01 -3.42930084e-03 3.94181642e+01] [ 4.13788117e-02 -2.97068588e-04 9.99143486e-01 2.09004936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3850998929998 meters 0.01240705702676065 Centerline is valid? [True, True] Translation: X:564.81, Y:39.41, Z:20.90 [[ 9.94599749e-01 -9.57864158e-02 -3.99537375e-02 5.64812626e+02] [ 9.57302477e-02 9.95401773e-01 -3.32103756e-03 3.94146869e+01] [ 4.00881314e-02 -5.21678063e-04 9.99196012e-01 2.09028072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4450998929999 meters 0.013272451613373233 Centerline is valid? [True, True] Translation: X:564.87, Y:39.41, Z:20.90 [[ 9.94321775e-01 -9.88125074e-02 -3.95005857e-02 5.64874135e+02] [ 9.87601062e-02 9.95105864e-01 -3.28049258e-03 3.94138518e+01] [ 3.96314181e-02 -6.39216831e-04 9.99214162e-01 2.09045131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5050998929999 meters 0.014515447431200304 Centerline is valid? [True, True] Translation: X:564.94, Y:39.41, Z:20.91 [[ 9.93910204e-01 -1.03043863e-01 -3.90444553e-02 5.64936117e+02] [ 1.02996013e-01 9.94676491e-01 -3.24040375e-03 3.94114033e+01] [ 3.91705055e-02 -8.00752872e-04 9.99232220e-01 2.09061472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5650998929999 meters 0.016123098365914926 Centerline is valid? [True, True] Translation: X:565.00, Y:39.41, Z:20.91 [[ 9.93362248e-01 -1.07880735e-01 -3.99147917e-02 5.64998038e+02] [ 1.07834774e-01 9.94163323e-01 -3.30896391e-03 3.94085988e+01] [ 4.00387954e-02 -1.01720271e-03 9.99197608e-01 2.09068392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6250998929999 meters 0.017822576411126525 Centerline is valid? [True, True] Translation: X:565.06, Y:39.41, Z:20.91 [[ 9.92855394e-01 -1.12356026e-01 -4.01782240e-02 5.65059531e+02] [ 1.12313172e-01 9.93667282e-01 -3.32936587e-03 3.94079685e+01] [ 4.02978609e-02 -1.20696494e-03 9.99186982e-01 2.09086764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6850998929999 meters 0.01854106364782303 Centerline is valid? [True, True] Translation: X:565.12, Y:39.41, Z:20.91 [[ 9.91819913e-01 -1.21036110e-01 -4.05403440e-02 5.65120262e+02] [ 1.20999767e-01 9.92646856e-01 -3.35803722e-03 3.94081354e+01] [ 4.06486887e-02 -1.57480398e-03 9.99172259e-01 2.09098566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7450998929999 meters 0.02226974649483364 Centerline is valid? [True, True] Translation: X:565.18, Y:39.40, Z:20.91 [[ 9.90732874e-01 -1.29875730e-01 -3.97576017e-02 5.65181856e+02] [ 1.29847877e-01 9.91528459e-01 -3.29301109e-03 3.94045858e+01] [ 3.98484757e-02 -1.89994584e-03 9.99203928e-01 2.09119932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8050998929999 meters 0.025507781972107558 Centerline is valid? [True, True] Translation: X:565.24, Y:39.40, Z:20.91 [[ 9.89791021e-01 -1.36491859e-01 -4.10330008e-02 5.65243119e+02] [ 1.36467901e-01 9.90638667e-01 -3.39753124e-03 3.94031080e+01] [ 4.11126126e-02 -2.23684156e-03 9.99152015e-01 2.09132304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8650998929999 meters 0.02633955450949818 Centerline is valid? [True, True] Translation: X:565.30, Y:39.41, Z:20.92 [[ 9.89490783e-01 -1.38439764e-01 -4.17423339e-02 5.65304675e+02] [ 1.38416714e-01 9.90368048e-01 -3.45588884e-03 3.94068511e+01] [ 4.18187062e-02 -2.35826652e-03 9.99122432e-01 2.09154975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9250998929999 meters 0.025385460338732808 Centerline is valid? [True, True] Translation: X:565.37, Y:39.41, Z:20.92 [[ 9.89382016e-01 -1.39185680e-01 -4.18398515e-02 5.65366195e+02] [ 1.39163287e-01 9.90263398e-01 -3.46157457e-03 3.94133193e+01] [ 4.19142751e-02 -2.39775162e-03 9.99118333e-01 2.09177252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9850998929999 meters 0.025086844603955306 Centerline is valid? [True, True] Translation: X:565.43, Y:39.42, Z:20.92 [[ 9.89388982e-01 -1.39110113e-01 -4.19263527e-02 5.65428012e+02] [ 1.39087690e-01 9.90274005e-01 -3.46559867e-03 3.94198883e+01] [ 4.20006770e-02 -2.40261441e-03 9.99114693e-01 2.09202874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0450998929999 meters 0.02699794120173411 Centerline is valid? [True, True] Translation: X:565.49, Y:39.43, Z:20.92 [[ 9.89533486e-01 -1.37657790e-01 -4.32875687e-02 5.65489233e+02] [ 1.37632646e-01 9.90476893e-01 -3.57489641e-03 3.94260734e+01] [ 4.33674489e-02 -2.42030291e-03 9.99056258e-01 2.09215840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1050998929999 meters 0.02531819477610961 Centerline is valid? [True, True] Translation: X:565.55, Y:39.44, Z:20.92 [[ 9.89641157e-01 -1.36819651e-01 -4.34828996e-02 5.65550950e+02] [ 1.36793584e-01 9.90593074e-01 -3.58848976e-03 3.94358290e+01] [ 4.35648351e-02 -2.39686451e-03 9.99047727e-01 2.09239147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1650998929999 meters 0.024410183237540604 Centerline is valid? [True, True] Translation: X:565.61, Y:39.44, Z:20.93 [[ 9.89829917e-01 -1.35797171e-01 -4.23776461e-02 5.65612618e+02] [ 1.35771606e-01 9.90734001e-01 -3.49420880e-03 3.94439142e+01] [ 4.24594786e-02 -2.29500868e-03 9.99095554e-01 2.09263576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2250998929999 meters 0.026578066783695287 Centerline is valid? [True, True] Translation: X:565.67, Y:39.45, Z:20.93 [[ 9.90374656e-01 -1.32169948e-01 -4.10992200e-02 5.65671686e+02] [ 1.32142895e-01 9.91224893e-01 -3.38618107e-03 3.94506945e+01] [ 4.11861214e-02 -2.07738198e-03 9.99149332e-01 2.09288481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2850998929998 meters 0.022283828832802097 Centerline is valid? [True, True] Translation: X:565.73, Y:39.47, Z:20.93 [[ 9.91250204e-01 -1.25495067e-01 -4.09148149e-02 5.65730654e+02] [ 1.25462551e-01 9.92092627e-01 -3.37166313e-03 3.94682048e+01] [ 4.10144133e-02 -1.79111531e-03 9.99156950e-01 2.09313014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3450998929999 meters 0.02047208516790372 Centerline is valid? [True, True] Translation: X:565.79, Y:39.48, Z:20.93 [[ 9.91988192e-01 -1.19796494e-01 -4.01026965e-02 5.65791214e+02] [ 1.19760608e-01 9.92797298e-01 -3.30467699e-03 3.94789703e+01] [ 4.02097375e-02 -1.52452277e-03 9.99190098e-01 2.09335053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4050998929998 meters 0.01714582107876997 Centerline is valid? [True, True] Translation: X:565.85, Y:39.49, Z:20.94 [[ 9.93145536e-01 -1.10035117e-01 -3.94235590e-02 5.65850698e+02] [ 1.09992775e-01 9.93927080e-01 -3.24804947e-03 3.94938862e+01] [ 3.95415424e-02 -1.11052081e-03 9.99217310e-01 2.09362279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4650998929999 meters 0.015380686077007835 Centerline is valid? [True, True] Translation: X:565.91, Y:39.51, Z:20.94 [[ 9.93923882e-01 -1.02962752e-01 -3.89100119e-02 5.65910672e+02] [ 1.02916096e-01 9.94684876e-01 -3.20550532e-03 3.95064073e+01] [ 3.90332480e-02 -8.18438252e-04 9.99237577e-01 2.09391141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5250998929998 meters 0.013390008844599939 Centerline is valid? [True, True] Translation: X:565.97, Y:39.52, Z:20.94 [[ 9.94909968e-01 -9.31617538e-02 -3.84062895e-02 5.65971243e+02] [ 9.31090214e-02 9.95650895e-01 -3.16328197e-03 3.95207242e+01] [ 3.85339534e-02 -4.28791271e-04 9.99257199e-01 2.09414269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5850998929999 meters 0.012860904855782236 Centerline is valid? [True, True] Translation: X:566.03, Y:39.53, Z:20.94 [[ 9.95304626e-01 -8.87521665e-02 -3.86232425e-02 5.66032962e+02] [ 8.86956001e-02 9.96053706e-01 -3.17899899e-03 3.95293404e+01] [ 3.87529669e-02 -2.61639274e-04 9.99248787e-01 2.09430726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6450998929998 meters 0.012806391602773805 Centerline is valid? [True, True] Translation: X:566.10, Y:39.54, Z:20.94 [[ 9.95436251e-01 -8.63785911e-02 -4.05636392e-02 5.66095116e+02] [ 8.63143546e-02 9.96262368e-01 -3.33555289e-03 3.95373526e+01] [ 4.07001477e-02 -1.80894076e-04 9.99171389e-01 2.09438940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7050998929999 meters 0.012905754544376912 Centerline is valid? [True, True] Translation: X:566.16, Y:39.54, Z:20.95 [[ 9.95211041e-01 -8.84523644e-02 -4.16072389e-02 5.66157258e+02] [ 8.83867204e-02 9.96080370e-01 -3.41824522e-03 3.95430824e+01] [ 4.17465058e-02 -2.75652008e-04 9.99128197e-01 2.09457203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7650998929998 meters 0.013269976006425032 Centerline is valid? [True, True] Translation: X:566.22, Y:39.55, Z:20.95 [[ 9.94870144e-01 -9.25683307e-02 -4.07982991e-02 5.66219495e+02] [ 9.25087942e-02 9.95706236e-01 -3.34883462e-03 3.95462144e+01] [ 4.09331169e-02 -4.42545880e-04 9.99161791e-01 2.09485820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8250998929999 meters 0.013889695559901506 Centerline is valid? [True, True] Translation: X:566.28, Y:39.55, Z:20.95 [[ 9.94603409e-01 -9.56729965e-02 -4.01339841e-02 5.66280408e+02] [ 9.56180304e-02 9.95412658e-01 -3.29129611e-03 3.95488783e+01] [ 4.02647639e-02 -5.63998177e-04 9.99188886e-01 2.09515634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8850998929998 meters 0.014742612801928985 Centerline is valid? [True, True] Translation: X:566.34, Y:39.55, Z:20.95 [[ 9.93952857e-01 -1.01833997e-01 -4.10798583e-02 5.66341923e+02] [ 1.01781856e-01 9.94801053e-01 -3.36420700e-03 3.95512281e+01] [ 4.12088770e-02 -8.37321064e-04 9.99150203e-01 2.09542366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9450998929999 meters 0.016916741036069247 Centerline is valid? [True, True] Translation: X:566.40, Y:39.55, Z:20.96 [[ 9.93456171e-01 -1.06496897e-01 -4.12704070e-02 5.66402828e+02] [ 1.06448458e-01 9.94312491e-01 -3.37571619e-03 3.95503200e+01] [ 4.13951845e-02 -1.03954511e-03 9.99142311e-01 2.09561171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0050998929999 meters 0.018180559568908877 Centerline is valid? [True, True] Translation: X:566.46, Y:39.55, Z:20.96 [[ 9.92690048e-01 -1.13538823e-01 -4.09316913e-02 5.66463399e+02] [ 1.13497348e-01 9.93532674e-01 -3.34320917e-03 3.95514593e+01] [ 4.10465568e-02 -1.32686792e-03 9.99156354e-01 2.09594675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0650998929999 meters 0.020753254949130294 Centerline is valid? [True, True] Translation: X:566.52, Y:39.55, Z:20.96 [[ 9.91851626e-01 -1.20196465e-01 -4.22275054e-02 5.66524289e+02] [ 1.20158404e-01 9.92748746e-01 -3.44754424e-03 3.95514519e+01] [ 4.23356856e-02 -1.65453731e-03 9.99102073e-01 2.09617378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1250998929999 meters 0.020795067923037196 Centerline is valid? [True, True] Translation: X:566.58, Y:39.56, Z:20.96 [[ 9.91309253e-01 -1.24191932e-01 -4.33858129e-02 5.66584925e+02] [ 1.24155584e-01 9.92256442e-01 -3.54182449e-03 3.95564724e+01] [ 4.34897184e-02 -1.87554755e-03 9.99052114e-01 2.09642074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1850998929999 meters 0.024590686456158178 Centerline is valid? [True, True] Translation: X:566.65, Y:39.56, Z:20.97 [[ 9.90748753e-01 -1.28045205e-01 -4.49592411e-02 5.66645433e+02] [ 1.28010168e-01 9.91766067e-01 -3.66941742e-03 3.95558389e+01] [ 4.50589010e-02 -2.11976929e-03 9.98982083e-01 2.09652636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2450998929999 meters 0.02318887580067641 Centerline is valid? [True, True] Translation: X:566.71, Y:39.56, Z:20.97 [[ 9.90619290e-01 -1.28942830e-01 -4.52456563e-02 5.66706565e+02] [ 1.28908331e-01 9.91649643e-01 -3.69166733e-03 3.95642683e+01] [ 4.53438530e-02 -2.17550518e-03 9.98969070e-01 2.09686692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3050998929999 meters 0.02265718980106142 Centerline is valid? [True, True] Translation: X:566.77, Y:39.57, Z:20.97 [[ 9.90730029e-01 -1.27925090e-01 -4.57075683e-02 5.66768604e+02] [ 1.27888927e-01 9.91781495e-01 -3.72665850e-03 3.95729716e+01] [ 4.58086536e-02 -2.15337940e-03 9.98947912e-01 2.09715767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3650998929999 meters 0.020843815406202018 Centerline is valid? [True, True] Translation: X:566.83, Y:39.58, Z:20.97 [[ 9.91001727e-01 -1.25334965e-01 -4.69757826e-02 5.66829697e+02] [ 1.25294025e-01 9.92112274e-01 -3.82669839e-03 3.95843512e+01] [ 4.70848696e-02 -2.09352015e-03 9.98888699e-01 2.09739344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4250998929999 meters 0.023690439467458434 Centerline is valid? [True, True] Translation: X:566.89, Y:39.59, Z:20.98 [[ 9.91300894e-01 -1.23020853e-01 -4.67804224e-02 5.66890230e+02] [ 1.22977787e-01 9.92402116e-01 -3.80852900e-03 3.95874969e+01] [ 4.68935186e-02 -1.97755460e-03 9.98897936e-01 2.09757059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4850998929999 meters 0.019406087092484023 Centerline is valid? [True, True] Translation: X:566.95, Y:39.60, Z:20.98 [[ 9.91863666e-01 -1.18853473e-01 -4.56105317e-02 5.66949611e+02] [ 1.18808165e-01 9.92910286e-01 -3.71262028e-03 3.96014130e+01] [ 4.57284239e-02 -1.73649040e-03 9.98952399e-01 2.09804987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5450998929999 meters 0.018237251829364563 Centerline is valid? [True, True] Translation: X:567.01, Y:39.61, Z:20.98 [[ 9.92561721e-01 -1.13392840e-01 -4.43090791e-02 5.67009343e+02] [ 1.13344644e-01 9.93549185e-01 -3.60668424e-03 3.96109765e+01] [ 4.44322217e-02 -1.44234008e-03 9.99011360e-01 2.09840670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6050998929999 meters 0.017008181688086498 Centerline is valid? [True, True] Translation: X:567.07, Y:39.62, Z:20.99 [[ 9.93046910e-01 -1.09258921e-01 -4.38214977e-02 5.67070514e+02] [ 1.09207774e-01 9.94012546e-01 -3.56663420e-03 3.96190961e+01] [ 4.39488051e-02 -1.24381315e-03 9.99033010e-01 2.09867491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6650998929999 meters 0.014986457809062232 Centerline is valid? [True, True] Translation: X:567.13, Y:39.63, Z:20.99 [[ 9.93782910e-01 -1.02738916e-01 -4.28980607e-02 5.67130915e+02] [ 1.02683920e-01 9.94707915e-01 -3.48938794e-03 3.96278558e+01] [ 4.30295365e-02 -9.37246947e-04 9.99073361e-01 2.09887452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7250998929999 meters 0.014159870764211433 Centerline is valid? [True, True] Translation: X:567.19, Y:39.63, Z:20.99 [[ 9.94279975e-01 -9.78918019e-02 -4.27144845e-02 5.67192079e+02] [ 9.78328424e-02 9.95196799e-01 -3.47357329e-03 3.96344494e+01] [ 4.28493526e-02 -7.25175072e-04 9.99081282e-01 2.09907082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7850998929998 meters 0.013075137653984149 Centerline is valid? [True, True] Translation: X:567.25, Y:39.64, Z:20.99 [[ 9.95077438e-01 -8.91213334e-02 -4.33391351e-02 5.67252127e+02] [ 8.90523817e-02 9.96020714e-01 -3.52287325e-03 3.96426970e+01] [ 4.34806395e-02 -3.53921519e-04 9.99054207e-01 2.09918006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8450998929999 meters 0.012770434989145126 Centerline is valid? [True, True] Translation: X:567.31, Y:39.65, Z:20.99 [[ 9.95287922e-01 -8.65193276e-02 -4.37762400e-02 5.67314513e+02] [ 8.64465216e-02 9.96250142e-01 -3.55703703e-03 3.96486805e+01] [ 4.39198378e-02 -2.44027685e-04 9.99035029e-01 2.09940232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9050998929998 meters 0.012644990916962152 Centerline is valid? [True, True] Translation: X:567.38, Y:39.65, Z:21.00 [[ 9.95881813e-01 -7.93301526e-02 -4.38878176e-02 5.67375390e+02] [ 7.92501740e-02 9.96848395e-01 -3.56199696e-03 3.96538091e+01] [ 4.40320743e-02 6.92108051e-05 9.99030115e-01 2.09957875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9650998929999 meters 0.012751974588026353 Centerline is valid? [True, True] Translation: X:567.44, Y:39.66, Z:21.00 [[ 9.96114396e-01 -7.66232319e-02 -4.34164779e-02 5.67436687e+02] [ 7.65424591e-02 9.97060102e-01 -3.52220893e-03 3.96568177e+01] [ 4.35587209e-02 1.85319038e-04 9.99050851e-01 2.09978338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0250998929998 meters 0.012766976261146768 Centerline is valid? [True, True] Translation: X:567.50, Y:39.66, Z:21.00 [[ 9.96227125e-01 -7.53656088e-02 -4.30295391e-02 5.67497742e+02] [ 7.52851583e-02 9.97155940e-01 -3.48940916e-03 3.96559947e+01] [ 4.31701419e-02 2.36758387e-04 9.99067707e-01 2.10005447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0850998929999 meters 0.012755166643377239 Centerline is valid? [True, True] Translation: X:567.56, Y:39.66, Z:21.00 [[ 9.96262731e-01 -7.56897050e-02 -4.16129602e-02 5.67558361e+02] [ 7.56147769e-02 9.97131397e-01 -3.37387936e-03 3.96559327e+01] [ 4.17489570e-02 2.14715568e-04 9.99128109e-01 2.10030054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1450998929998 meters 0.0126845737810868 Centerline is valid? [True, True] Translation: X:567.62, Y:39.65, Z:21.01 [[ 9.96251904e-01 -7.67624878e-02 -3.98706065e-02 5.67619332e+02] [ 7.66945643e-02 9.97049394e-01 -3.23261349e-03 3.96513922e+01] [ 4.00011075e-02 1.62638548e-04 9.99199622e-01 2.10053436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2050998929999 meters 0.01269494518939419 Centerline is valid? [True, True] Translation: X:567.68, Y:39.65, Z:21.01 [[ 9.96128074e-01 -7.87231326e-02 -3.91347563e-02 5.67680564e+02] [ 7.86592064e-02 9.96896515e-01 -3.17295251e-03 3.96456792e+01] [ 3.92630869e-02 8.23582002e-05 9.99228904e-01 2.10062226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2650998929998 meters 0.012753743912073543 Centerline is valid? [True, True] Translation: X:567.74, Y:39.64, Z:21.01 [[ 9.95937940e-01 -8.14066910e-02 -3.84781899e-02 5.67741402e+02] [ 8.13468944e-02 9.96680967e-01 -3.11971968e-03 3.96379197e+01] [ 3.86044456e-02 -2.30340604e-05 9.99254570e-01 2.10071214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3250998929999 meters 0.012894706975746255 Centerline is valid? [True, True] Translation: X:567.80, Y:39.63, Z:21.01 [[ 9.95824013e-01 -8.30695781e-02 -3.78679385e-02 5.67802120e+02] [ 8.30128655e-02 9.96543746e-01 -3.07024195e-03 3.96348481e+01] [ 3.79921010e-02 -8.61054227e-05 9.99278036e-01 2.10093458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3850998929998 meters 0.013072279049983052 Centerline is valid? [True, True] Translation: X:567.86, Y:39.63, Z:21.01 [[ 9.95758797e-01 -8.35829212e-02 -3.84488379e-02 5.67862824e+02] [ 8.35248380e-02 9.96500820e-01 -3.11731708e-03 3.96291472e+01] [ 3.85748530e-02 -1.07337057e-04 9.99255708e-01 2.10105360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4450998929999 meters 0.013118627501120934 Centerline is valid? [True, True] Translation: X:567.92, Y:39.63, Z:21.01 [[ 9.95896936e-01 -8.12920358e-02 -3.97604947e-02 5.67923290e+02] [ 8.12281192e-02 9.96690325e-01 -3.22306108e-03 3.96254980e+01] [ 3.98909096e-02 -1.98335471e-05 9.99204041e-01 2.10111207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5050998929999 meters 0.013297316832582043 Centerline is valid? [True, True] Translation: X:567.98, Y:39.63, Z:21.01 [[ 9.96084336e-01 -7.88568555e-02 -3.99698873e-02 5.67982334e+02] [ 7.87902222e-02 9.96885946e-01 -3.24206045e-03 3.96252111e+01] [ 4.01010776e-02 8.01293273e-05 9.99195625e-01 2.10131334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5650998929999 meters 0.013718086767746362 Centerline is valid? [True, True] Translation: X:568.04, Y:39.62, Z:21.02 [[ 9.96367501e-01 -7.53264513e-02 -3.97206444e-02 5.68040054e+02] [ 7.52574606e-02 9.97158900e-01 -3.23140278e-03 3.96231930e+01] [ 3.98512042e-02 2.30389887e-04 9.99205599e-01 2.10156754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6250998929999 meters 0.013860044264385465 Centerline is valid? [True, True] Translation: X:568.10, Y:39.62, Z:21.02 [[ 9.96402441e-01 -7.48196332e-02 -3.98019801e-02 5.68097876e+02] [ 7.47497186e-02 9.97197050e-01 -3.24394481e-03 3.96211375e+01] [ 3.99331279e-02 2.57087719e-04 9.99202321e-01 2.10178191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6850998929999 meters 0.01400604523188281 Centerline is valid? [True, True] Translation: X:568.16, Y:39.61, Z:21.02 [[ 9.96197900e-01 -7.72781014e-02 -4.02223715e-02 5.68156027e+02] [ 7.72082193e-02 9.97009561e-01 -3.29021086e-03 3.96146563e+01] [ 4.03563502e-02 1.72203474e-04 9.99185336e-01 2.10191159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7450998929999 meters 0.013950907765870388 Centerline is valid? [True, True] Translation: X:568.21, Y:39.61, Z:21.02 [[ 9.95890519e-01 -8.09186681e-02 -4.06723987e-02 5.68214856e+02] [ 8.08497588e-02 9.96720707e-01 -3.33896803e-03 3.96107512e+01] [ 4.08092068e-02 3.68929820e-05 9.99166957e-01 2.10208466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8050998929999 meters 0.014370977296766894 Centerline is valid? [True, True] Translation: X:568.27, Y:39.60, Z:21.02 [[ 9.95370450e-01 -8.71316090e-02 -4.05678532e-02 5.68273905e+02] [ 8.70677595e-02 9.96196788e-01 -3.34141768e-03 3.96021217e+01] [ 4.07047081e-02 -2.06203667e-04 9.99171199e-01 2.10233066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8650998929999 meters 0.014729445331491519 Centerline is valid? [True, True] Translation: X:568.33, Y:39.60, Z:21.03 [[ 9.95026310e-01 -9.11760801e-02 -4.01193729e-02 5.68333377e+02] [ 9.11167589e-02 9.95834720e-01 -3.30847081e-03 3.95984230e+01] [ 4.02539179e-02 -3.63531720e-04 9.99189416e-01 2.10262056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9250998929999 meters 0.015878626669926503 Centerline is valid? [True, True] Translation: X:568.39, Y:39.59, Z:21.03 [[ 9.94394785e-01 -9.77774260e-02 -4.02316687e-02 5.68393091e+02] [ 9.77227668e-02 9.95208113e-01 -3.32767634e-03 3.95904536e+01] [ 4.03642547e-02 -6.22525981e-04 9.99184837e-01 2.10283076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9850998929999 meters 0.01721270733967047 Centerline is valid? [True, True] Translation: X:568.45, Y:39.59, Z:21.03 [[ 9.93937065e-01 -1.02337405e-01 -4.02015618e-02 5.68452166e+02] [ 1.02286159e-01 9.94749426e-01 -3.33495309e-03 3.95867137e+01] [ 4.03317709e-02 -7.97329861e-04 9.99186025e-01 2.10305562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0450998929999 meters 0.017745901074818805 Centerline is valid? [True, True] Translation: X:568.51, Y:39.58, Z:21.03 [[ 9.93310942e-01 -1.08230553e-01 -4.02432664e-02 5.68511972e+02] [ 1.08183664e-01 9.94125289e-01 -3.34746285e-03 3.95841759e+01] [ 4.03691466e-02 -1.02859252e-03 9.99184304e-01 2.10333394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1050998929999 meters 0.019452779125331377 Centerline is valid? [True, True] Translation: X:568.57, Y:39.58, Z:21.04 [[ 9.92531735e-01 -1.15569298e-01 -3.90447428e-02 5.68572203e+02] [ 1.15530774e-01 9.93298587e-01 -3.24910919e-03 3.95807714e+01] [ 3.91585851e-02 -1.28602538e-03 9.99232181e-01 2.10362148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1650998929999 meters 0.02317511672807801 Centerline is valid? [True, True] Translation: X:568.63, Y:39.58, Z:21.04 [[ 9.91317278e-01 -1.25040174e-01 -4.06818130e-02 5.68631708e+02] [ 1.25006278e-01 9.92150173e-01 -3.38595022e-03 3.95764506e+01] [ 4.07858476e-02 -1.72893109e-03 9.99166415e-01 2.10370951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2250998929999 meters 0.02562403356260824 Centerline is valid? [True, True] Translation: X:568.69, Y:39.58, Z:21.04 [[ 9.90602481e-01 -1.30138130e-01 -4.20807691e-02 5.68691845e+02] [ 1.30106491e-01 9.91493843e-01 -3.50141406e-03 3.95770502e+01] [ 4.21784910e-02 -2.00647176e-03 9.99108077e-01 2.10384514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2850998929998 meters 0.027896500665195962 Centerline is valid? [True, True] Translation: X:568.75, Y:39.58, Z:21.04 [[ 9.90004662e-01 -1.34362211e-01 -4.28668312e-02 5.68752400e+02] [ 1.34333297e-01 9.90929785e-01 -3.56748114e-03 3.95799458e+01] [ 4.29573545e-02 -2.22661980e-03 9.99074426e-01 2.10403938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3450998929999 meters 0.02623409315033102 Centerline is valid? [True, True] Translation: X:568.81, Y:39.59, Z:21.04 [[ 9.90015148e-01 -1.33988012e-01 -4.37860596e-02 5.68810905e+02] [ 1.33957441e-01 9.90980383e-01 -3.64489697e-03 3.95908815e+01] [ 4.38794986e-02 -2.25696528e-03 9.99034282e-01 2.10430568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4050998929998 meters 0.024293413062078502 Centerline is valid? [True, True] Translation: X:568.87, Y:39.60, Z:21.05 [[ 9.90456940e-01 -1.30641779e-01 -4.39064443e-02 5.68869693e+02] [ 1.30607522e-01 9.91427394e-01 -3.66032752e-03 3.96029079e+01] [ 4.40082434e-02 -2.10911512e-03 9.99028942e-01 2.10460593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4650998929999 meters 0.021834841541955214 Centerline is valid? [True, True] Translation: X:568.93, Y:39.62, Z:21.05 [[ 9.91296345e-01 -1.24017630e-01 -4.41722066e-02 5.68929203e+02] [ 1.23976330e-01 9.92278337e-01 -3.68387720e-03 3.96194875e+01] [ 4.42879894e-02 -1.82449404e-03 9.99017140e-01 2.10494133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5250998929998 meters 0.021326592152903723 Centerline is valid? [True, True] Translation: X:568.99, Y:39.63, Z:21.05 [[ 9.91902821e-01 -1.19289962e-01 -4.35740572e-02 5.68987518e+02] [ 1.19245202e-01 9.92858184e-01 -3.63434028e-03 3.96298256e+01] [ 4.36963996e-02 -1.59108487e-03 9.99043589e-01 2.10517737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5850998929999 meters 0.01962604011245846 Centerline is valid? [True, True] Translation: X:569.05, Y:39.64, Z:21.05 [[ 9.92790611e-01 -1.12342750e-01 -4.17840706e-02 5.69045411e+02] [ 1.12295384e-01 9.93668753e-01 -3.48644138e-03 3.96449064e+01] [ 4.19112018e-02 -1.23085197e-03 9.99120581e-01 2.10549132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6450998929998 meters 0.01679038037219121 Centerline is valid? [True, True] Translation: X:569.10, Y:39.66, Z:21.06 [[ 9.93449540e-01 -1.06173280e-01 -4.22521631e-02 5.69104165e+02] [ 1.06119230e-01 9.94347159e-01 -3.52644134e-03 3.96602405e+01] [ 4.23877322e-02 -9.80425469e-04 9.99100755e-01 2.10572868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7050998929999 meters 0.015516983154030096 Centerline is valid? [True, True] Translation: X:569.16, Y:39.67, Z:21.06 [[ 9.94042513e-01 -1.00053356e-01 -4.32297204e-02 5.69161960e+02] [ 9.99909396e-02 9.94981802e-01 -3.60917896e-03 3.96727855e+01] [ 4.33738956e-02 -7.34903033e-04 9.99058639e-01 2.10588951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7650998929998 meters 0.015241588721558499 Centerline is valid? [True, True] Translation: X:569.22, Y:39.68, Z:21.06 [[ 9.94538358e-01 -9.46462605e-02 -4.39947629e-02 5.69219075e+02] [ 9.45761740e-02 9.95510839e-01 -3.67646897e-03 3.96823204e+01] [ 4.41452274e-02 -5.04466937e-04 9.99024997e-01 2.10593494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8250998929999 meters 0.014272233620281061 Centerline is valid? [True, True] Translation: X:569.28, Y:39.70, Z:21.06 [[ 9.95005738e-01 -8.89134513e-02 -4.53649701e-02 5.69276451e+02] [ 8.88327178e-02 9.96039324e-01 -3.79654030e-03 3.96960848e+01] [ 4.55228576e-02 -2.52314211e-04 9.98963265e-01 2.10620115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8850998929998 meters 0.01415022159943324 Centerline is valid? [True, True] Translation: X:569.33, Y:39.70, Z:21.06 [[ 9.95131228e-01 -8.71151487e-02 -4.60954524e-02 5.69333957e+02] [ 8.70293049e-02 9.96198236e-01 -3.86976085e-03 3.97042251e+01] [ 4.62573232e-02 -1.60735319e-04 9.98929544e-01 2.10639159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9450998929999 meters 0.01400083885380541 Centerline is valid? [True, True] Translation: X:569.39, Y:39.71, Z:21.07 [[ 9.95003229e-01 -8.81546920e-02 -4.68756356e-02 5.69392609e+02] [ 8.80664422e-02 9.96106777e-01 -3.94857144e-03 3.97116041e+01] [ 4.70412234e-02 -1.99329123e-04 9.98892929e-01 2.10664467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0050998929999 meters 0.014581853780940271 Centerline is valid? [True, True] Translation: X:569.45, Y:39.71, Z:21.07 [[ 9.94377572e-01 -9.50120412e-02 -4.67542112e-02 5.69450156e+02] [ 9.49313312e-02 9.95475992e-01 -3.94871997e-03 3.97135916e+01] [ 4.69178707e-02 -5.11920939e-04 9.98898619e-01 2.10690587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0650998929999 meters 0.015465016699916045 Centerline is valid? [True, True] Translation: X:569.51, Y:39.72, Z:21.07 [[ 9.93607932e-01 -1.02661806e-01 -4.69449721e-02 5.69509688e+02] [ 1.02588785e-01 9.94715935e-01 -3.96854882e-03 3.97150862e+01] [ 4.71043302e-02 -8.72846068e-04 9.98889594e-01 2.10721475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1250998929999 meters 0.019400315046923397 Centerline is valid? [True, True] Translation: X:569.57, Y:39.71, Z:21.07 [[ 9.92066740e-01 -1.16553515e-01 -4.71047837e-02 5.69569234e+02] [ 1.16495531e-01 9.93183226e-01 -3.98376879e-03 3.97101917e+01] [ 4.72480033e-02 -1.53533228e-03 9.98882010e-01 2.10739677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1850998929999 meters 0.024521407356426377 Centerline is valid? [True, True] Translation: X:569.63, Y:39.71, Z:21.08 [[ 9.90406015e-01 -1.29431837e-01 -4.84079052e-02 5.69630012e+02] [ 1.29385856e-01 9.91585865e-01 -4.09540239e-03 3.97061926e+01] [ 4.85306700e-02 -2.20718710e-03 9.98819254e-01 2.10751848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2450998929999 meters 0.027763984638045858 Centerline is valid? [True, True] Translation: X:569.69, Y:39.71, Z:21.08 [[ 9.89450363e-01 -1.36581373e-01 -4.83063857e-02 5.69690336e+02] [ 1.36544050e-01 9.90625568e-01 -4.08726513e-03 3.97067135e+01] [ 4.84117851e-02 -2.55180357e-03 9.98824202e-01 2.10774016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3050998929999 meters 0.028430205269498292 Centerline is valid? [True, True] Translation: X:569.75, Y:39.71, Z:21.08 [[ 9.88190354e-01 -1.45537164e-01 -4.79453714e-02 5.69749962e+02] [ 1.45510844e-01 9.89348336e-01 -4.05750651e-03 3.97128469e+01] [ 4.80251914e-02 -2.96698268e-03 9.98841718e-01 2.10814016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3650998929999 meters 0.028818930918279393 Centerline is valid? [True, True] Translation: X:569.81, Y:39.72, Z:21.08 [[ 9.87788602e-01 -1.47728412e-01 -4.94974075e-02 5.69808957e+02] [ 1.47703038e-01 9.89022879e-01 -4.19014235e-03 3.97198253e+01] [ 4.95730715e-02 -3.17194261e-03 9.98765463e-01 2.10821005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4250998929999 meters 0.027811167076766535 Centerline is valid? [True, True] Translation: X:569.87, Y:39.73, Z:21.09 [[ 9.88105351e-01 -1.45844556e-01 -4.87563433e-02 5.69868237e+02] [ 1.45817522e-01 9.89302882e-01 -4.13005506e-03 3.97332917e+01] [ 4.88371370e-02 -3.02859963e-03 9.98802163e-01 2.10853329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4850998929999 meters 0.025441934914476345 Centerline is valid? [True, True] Translation: X:569.93, Y:39.75, Z:21.09 [[ 9.88686454e-01 -1.41799163e-01 -4.89090345e-02 5.69927001e+02] [ 1.41766926e-01 9.89891387e-01 -4.14506441e-03 3.97484945e+01] [ 4.90023986e-02 -2.83551444e-03 9.98794636e-01 2.10878141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5450998929999 meters 0.02532909148854377 Centerline is valid? [True, True] Translation: X:569.99, Y:39.76, Z:21.09 [[ 9.88894062e-01 -1.40073672e-01 -4.96779752e-02 5.69985961e+02] [ 1.40038205e-01 9.90137146e-01 -4.21104348e-03 3.97580248e+01] [ 4.97778649e-02 -2.79253859e-03 9.98756410e-01 2.10883384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6050998929999 meters 0.027038325034881176 Centerline is valid? [True, True] Translation: X:570.04, Y:39.77, Z:21.09 [[ 9.88831504e-01 -1.39892648e-01 -5.14033401e-02 5.70044110e+02] [ 1.39854322e-01 9.90162493e-01 -4.35951163e-03 3.97670473e+01] [ 5.15075230e-02 -2.87815685e-03 9.98668459e-01 2.10884270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6650998929999 meters 0.02634026949107185 Centerline is valid? [True, True] Translation: X:570.10, Y:39.78, Z:21.09 [[ 9.88719850e-01 -1.40716513e-01 -5.13022583e-02 5.70103024e+02] [ 1.40679310e-01 9.90045645e-01 -4.35349489e-03 3.97784705e+01] [ 5.14041860e-02 -2.91277949e-03 9.98673683e-01 2.10906862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7250998929999 meters 0.025178600054078855 Centerline is valid? [True, True] Translation: X:570.16, Y:39.79, Z:21.10 [[ 9.89059965e-01 -1.38941882e-01 -4.95533903e-02 5.70161259e+02] [ 1.38904860e-01 9.90296795e-01 -4.20686683e-03 3.97926726e+01] [ 4.96570736e-02 -2.72236317e-03 9.98762616e-01 2.10950695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7850998929998 meters 0.02428332092087684 Centerline is valid? [True, True] Translation: X:570.22, Y:39.80, Z:21.10 [[ 9.89633639e-01 -1.35284299e-01 -4.82018501e-02 5.70221343e+02] [ 1.35244885e-01 9.90803748e-01 -4.09326645e-03 3.98047624e+01] [ 4.83123284e-02 -2.46821951e-03 9.98829228e-01 2.10984518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8450998929999 meters 0.023056280840135196 Centerline is valid? [True, True] Translation: X:570.28, Y:39.82, Z:21.10 [[ 9.90416450e-01 -1.29913391e-01 -4.68803433e-02 5.70280579e+02] [ 1.29870135e-01 9.91523023e-01 -3.98034801e-03 3.98169684e+01] [ 4.70000402e-02 -2.14615438e-03 9.98892582e-01 2.11013663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9050998929998 meters 0.01947934905118988 Centerline is valid? [True, True] Translation: X:570.34, Y:39.83, Z:21.10 [[ 9.91671492e-01 -1.20335574e-01 -4.59020911e-02 5.70339511e+02] [ 1.20283858e-01 9.92731890e-01 -3.89718740e-03 3.98346447e+01] [ 4.60374399e-02 -1.65655095e-03 9.98938341e-01 2.11039300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9650998929999 meters 0.016446708808093454 Centerline is valid? [True, True] Translation: X:570.40, Y:39.85, Z:21.11 [[ 9.92889772e-01 -1.09919147e-01 -4.56911600e-02 5.70398537e+02] [ 1.09856879e-01 9.93939846e-01 -3.87928515e-03 3.98518127e+01] [ 4.58406722e-02 -1.16778568e-03 9.98948081e-01 2.11063258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0250998929998 meters 0.01490757826480786 Centerline is valid? [True, True] Translation: X:570.46, Y:39.86, Z:21.11 [[ 9.93648737e-01 -1.03126770e-01 -4.50228519e-02 5.70458541e+02] [ 1.03059354e-01 9.94667864e-01 -3.82220361e-03 3.98642323e+01] [ 4.51769555e-02 -8.42098262e-04 9.98978645e-01 2.11082064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0850998929999 meters 0.01384395921538792 Centerline is valid? [True, True] Translation: X:570.52, Y:39.88, Z:21.11 [[ 9.94543417e-01 -9.43897250e-02 -4.44293899e-02 5.70518199e+02] [ 9.43153918e-02 9.95535226e-01 -3.77102125e-03 3.98767371e+01] [ 4.45869684e-02 -4.39930959e-04 9.99005410e-01 2.11095780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1450998929998 meters 0.013227989762457452 Centerline is valid? [True, True] Translation: X:570.58, Y:39.89, Z:21.11 [[ 9.94927344e-01 -9.04111022e-02 -4.41068449e-02 5.70578810e+02] [ 9.03339771e-02 9.95904496e-01 -3.74271521e-03 3.98877630e+01] [ 4.42645881e-02 -2.60617013e-04 9.99019809e-01 2.11125869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2050998929999 meters 0.013168849244898424 Centerline is valid? [True, True] Translation: X:570.64, Y:39.90, Z:21.11 [[ 9.94861043e-01 -8.98673831e-02 -4.66407413e-02 5.70639320e+02] [ 8.97806255e-02 9.95953709e-01 -3.95591487e-03 3.98962999e+01] [ 4.68075270e-02 -2.51849338e-04 9.98903895e-01 2.11125767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2650998929998 meters 0.014011414586183747 Centerline is valid? [True, True] Translation: X:570.70, Y:39.90, Z:21.12 [[ 9.93921883e-01 -9.94990203e-02 -4.71087663e-02 5.70699163e+02] [ 9.94213698e-02 9.95037404e-01 -3.99441180e-03 3.98986998e+01] [ 4.72724246e-02 -7.13484780e-04 9.98881779e-01 2.11153298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3250998929999 meters 0.014662202401886702 Centerline is valid? [True, True] Translation: X:570.76, Y:39.90, Z:21.12 [[ 9.93528832e-01 -1.03330965e-01 -4.71505210e-02 5.70760566e+02] [ 1.03257472e-01 9.94646625e-01 -3.99827138e-03 3.99018288e+01] [ 4.73112518e-02 -8.96245705e-04 9.98879794e-01 2.11177152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3850998929998 meters 0.017209890721764577 Centerline is valid? [True, True] Translation: X:570.82, Y:39.90, Z:21.12 [[ 9.92586597e-01 -1.11872718e-01 -4.75009648e-02 5.70821382e+02] [ 1.11807964e-01 9.93721675e-01 -4.02641363e-03 3.98999000e+01] [ 4.76531841e-02 -1.31442196e-03 9.98863077e-01 2.11190436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4450998929999 meters 0.021464218836674133 Centerline is valid? [True, True] Translation: X:570.88, Y:39.90, Z:21.12 [[ 9.90942853e-01 -1.25850168e-01 -4.68401242e-02 5.70882253e+02] [ 1.25802793e-01 9.92047327e-01 -3.96975422e-03 3.98956176e+01] [ 4.69672143e-02 -1.95881888e-03 9.98894511e-01 2.11217070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5050998929999 meters 0.022652801861065084 Centerline is valid? [True, True] Translation: X:570.94, Y:39.90, Z:21.13 [[ 9.89962065e-01 -1.33634158e-01 -4.60110964e-02 5.70943153e+02] [ 1.33596818e-01 9.91028094e-01 -3.89956121e-03 3.98975460e+01] [ 4.61194037e-02 -2.28651839e-03 9.98933317e-01 2.11251910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5650998929999 meters 0.025598837884210666 Centerline is valid? [True, True] Translation: X:571.00, Y:39.90, Z:21.13 [[ 9.88932763e-01 -1.41398160e-01 -4.49282854e-02 5.71004092e+02] [ 1.41370550e-01 9.89949429e-01 -3.80737577e-03 3.98968973e+01] [ 4.50150864e-02 -2.58629780e-03 9.98982959e-01 2.11284327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6250998929999 meters 0.028738811137196753 Centerline is valid? [True, True] Translation: X:571.07, Y:39.90, Z:21.13 [[ 9.88706694e-01 -1.43089419e-01 -4.45476237e-02 5.71065325e+02] [ 1.43064066e-01 9.89706237e-01 -3.77327833e-03 3.98975283e+01] [ 4.46289772e-02 -2.64249864e-03 9.99000136e-01 2.11303592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6850998929999 meters 0.03008358588449902 Centerline is valid? [True, True] Translation: X:571.13, Y:39.90, Z:21.13 [[ 9.88266577e-01 -1.45998783e-01 -4.48723594e-02 5.71126599e+02] [ 1.45976150e-01 9.89280817e-01 -3.79844343e-03 3.99007211e+01] [ 4.49459325e-02 -2.79641959e-03 9.98985507e-01 2.11324864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7450998929999 meters 0.027899500839726817 Centerline is valid? [True, True] Translation: X:571.19, Y:39.91, Z:21.13 [[ 9.88171775e-01 -1.46316931e-01 -4.59118535e-02 5.71188526e+02] [ 1.46293674e-01 9.89233578e-01 -3.88442179e-03 3.99089300e+01] [ 4.59859038e-02 -2.87813778e-03 9.98937943e-01 2.11348688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8050998929999 meters 0.030549397301344004 Centerline is valid? [True, True] Translation: X:571.25, Y:39.91, Z:21.14 [[ 9.88515053e-01 -1.43600165e-01 -4.70848421e-02 5.71248563e+02] [ 1.43572781e-01 9.89631755e-01 -3.98065269e-03 3.99119859e+01] [ 4.71682774e-02 -2.82516663e-03 9.98882962e-01 2.11362809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8650998929999 meters 0.024517563047060355 Centerline is valid? [True, True] Translation: X:571.31, Y:39.93, Z:21.14 [[ 9.89363324e-01 -1.37351241e-01 -4.79045977e-02 5.71307751e+02] [ 1.37315626e-01 9.90519067e-01 -4.04926333e-03 3.99268561e+01] [ 4.80065887e-02 -2.57185720e-03 9.98843708e-01 2.11394795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9250998929999 meters 0.02188412987357634 Centerline is valid? [True, True] Translation: X:571.37, Y:39.94, Z:21.14 [[ 9.90232165e-01 -1.30763044e-01 -4.83868405e-02 5.71367871e+02] [ 1.30718861e-01 9.91411040e-01 -4.09004010e-03 3.99379051e+01] [ 4.85060740e-02 -2.27498343e-03 9.98820297e-01 2.11421001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9850998929999 meters 0.01848239765936645 Centerline is valid? [True, True] Translation: X:571.43, Y:39.95, Z:21.15 [[ 9.91827082e-01 -1.18099859e-01 -4.82852285e-02 5.71427444e+02] [ 1.18040872e-01 9.93000350e-01 -4.08133535e-03 3.99525061e+01] [ 4.84292540e-02 -1.65165153e-03 9.98825250e-01 2.11452251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0450998929999 meters 0.01565974834725141 Centerline is valid? [True, True] Translation: X:571.49, Y:39.97, Z:21.15 [[ 9.92828413e-01 -1.09587404e-01 -4.77738691e-02 5.71487051e+02] [ 1.09519830e-01 9.93976410e-01 -4.03767904e-03 3.99656362e+01] [ 4.79285777e-02 -1.22346356e-03 9.98850016e-01 2.11488600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1050998929999 meters 0.013809804993678274 Centerline is valid? [True, True] Translation: X:571.55, Y:39.98, Z:21.15 [[ 9.94020593e-01 -9.86495875e-02 -4.68115426e-02 5.71546579e+02] [ 9.85725914e-02 9.95121999e-01 -3.95605468e-03 3.99765739e+01] [ 4.69734590e-02 -6.81935241e-04 9.98895905e-01 2.11522377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1650998929999 meters 0.012684451000573086 Centerline is valid? [True, True] Translation: X:571.61, Y:39.99, Z:21.15 [[ 9.94638844e-01 -9.05899785e-02 -4.98700860e-02 5.71607438e+02] [ 9.04924807e-02 9.95888223e-01 -4.21407475e-03 3.99875186e+01] [ 5.00467843e-02 -3.21385362e-04 9.98746823e-01 2.11529755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2250998929999 meters 0.012295819710298335 Centerline is valid? [True, True] Translation: X:571.67, Y:40.00, Z:21.16 [[ 9.95242637e-01 -8.43673227e-02 -4.87262504e-02 5.71667444e+02] [ 8.42668551e-02 9.96434722e-01 -4.11610930e-03 3.99951943e+01] [ 4.88997929e-02 -9.48040830e-06 9.98803690e-01 2.11562728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2850998929998 meters 0.012272045273235152 Centerline is valid? [True, True] Translation: X:571.73, Y:40.00, Z:21.16 [[ 9.95478743e-01 -8.18416833e-02 -4.82080076e-02 5.71725951e+02] [ 8.17403472e-02 9.96645336e-01 -4.07305617e-03 3.99996648e+01] [ 4.83796317e-02 1.14101550e-04 9.98829014e-01 2.11584653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3450998929999 meters 0.012087281185535556 Centerline is valid? [True, True] Translation: X:571.78, Y:40.00, Z:21.16 [[ 9.95471310e-01 -8.17173316e-02 -4.85710648e-02 5.71784928e+02] [ 8.16140549e-02 9.96655538e-01 -4.10904992e-03 4.00024456e+01] [ 4.87444013e-02 1.26359769e-04 9.98811277e-01 2.11614825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4050998929998 meters 0.011905743407031362 Centerline is valid? [True, True] Translation: X:571.84, Y:40.00, Z:21.16 [[ 9.95088618e-01 -8.61292659e-02 -4.87892556e-02 5.71843590e+02] [ 8.60297518e-02 9.96283967e-01 -4.13984202e-03 4.00015014e+01] [ 4.89645147e-02 -7.78178775e-05 9.98800516e-01 2.11633268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4650998929999 meters 0.011933948499413878 Centerline is valid? [True, True] Translation: X:571.90, Y:40.00, Z:21.17 [[ 9.94817487e-01 -8.96032009e-02 -4.80565667e-02 5.71902759e+02] [ 8.95102159e-02 9.95977515e-01 -4.08779303e-03 4.00013710e+01] [ 4.82295393e-02 -2.34945679e-04 9.98836251e-01 2.11660710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5250998929998 meters 0.012210582492587592 Centerline is valid? [True, True] Translation: X:571.96, Y:40.00, Z:21.17 [[ 9.94340893e-01 -9.44901318e-02 -4.85572268e-02 5.71962337e+02] [ 9.44008692e-02 9.95525686e-01 -4.13344537e-03 4.00002946e+01] [ 4.87305363e-02 -4.73790662e-04 9.98811849e-01 2.11693292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5850998929999 meters 0.012558549565587088 Centerline is valid? [True, True] Translation: X:572.02, Y:40.00, Z:21.17 [[ 9.94121397e-01 -9.65651009e-02 -4.89676295e-02 5.72021657e+02] [ 9.64767586e-02 9.95326502e-01 -4.16998225e-03 4.00016292e+01] [ 4.91414542e-02 -5.78769589e-04 9.98791661e-01 2.11709999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6450998929998 meters 0.012501625909339455 Centerline is valid? [True, True] Translation: X:572.08, Y:40.00, Z:21.17 [[ 9.94083122e-01 -9.73533769e-02 -4.81774457e-02 5.72081830e+02] [ 9.72687370e-02 9.95249693e-01 -4.10376029e-03 4.00011806e+01] [ 4.83481029e-02 -6.06680450e-04 9.98830362e-01 2.11733863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7050998929999 meters 0.012322434332845324 Centerline is valid? [True, True] Translation: X:572.14, Y:40.00, Z:21.18 [[ 9.94143349e-01 -9.65703996e-02 -4.85093729e-02 5.72142437e+02] [ 9.64835908e-02 9.95325993e-01 -4.13340203e-03 4.00028439e+01] [ 4.86818040e-02 -5.71164346e-04 9.98814175e-01 2.11757877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7650998929998 meters 0.012339306907859145 Centerline is valid? [True, True] Translation: X:572.20, Y:40.01, Z:21.18 [[ 9.94184932e-01 -9.60121810e-02 -4.87645594e-02 5.72200961e+02] [ 9.59237538e-02 9.95380009e-01 -4.15578257e-03 4.00059795e+01] [ 4.89382733e-02 -5.46063180e-04 9.98801656e-01 2.11774972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8250998929999 meters 0.012042814852114074 Centerline is valid? [True, True] Translation: X:572.26, Y:40.01, Z:21.18 [[ 9.94364932e-01 -9.43115059e-02 -4.84120007e-02 5.72259348e+02] [ 9.42221023e-02 9.95542633e-01 -4.13059957e-03 4.00072709e+01] [ 4.85857737e-02 -4.54157127e-04 9.98818911e-01 2.11789719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8850998929998 meters 0.011806922374903545 Centerline is valid? [True, True] Translation: X:572.32, Y:40.01, Z:21.18 [[ 9.94538147e-01 -9.13737383e-02 -5.04451508e-02 5.72318582e+02] [ 9.12722220e-02 9.95816621e-01 -4.31717945e-03 4.00100094e+01] [ 5.06285965e-02 -3.10641357e-04 9.98717502e-01 2.11798973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9450998929999 meters 0.011373026127903649 Centerline is valid? [True, True] Translation: X:572.38, Y:40.01, Z:21.18 [[ 9.94786747e-01 -8.80795492e-02 -5.13937819e-02 5.72375791e+02] [ 8.79690709e-02 9.96113435e-01 -4.41213755e-03 4.00142502e+01] [ 5.15826557e-02 -1.31927289e-04 9.98668720e-01 2.11828945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0050998929999 meters 0.011298741635781906 Centerline is valid? [True, True] Translation: X:572.43, Y:40.01, Z:21.18 [[ 9.94625246e-01 -9.03294001e-02 -5.06084933e-02 5.72433652e+02] [ 9.02245389e-02 9.95911917e-01 -4.35740577e-03 4.00065486e+01] [ 5.07952035e-02 -2.32142193e-04 9.98709063e-01 2.11839430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0650998929999 meters 0.011647190235837018 Centerline is valid? [True, True] Translation: X:572.49, Y:40.01, Z:21.18 [[ 9.94254440e-01 -9.35637865e-02 -5.19992896e-02 5.72491201e+02] [ 9.34571215e-02 9.95613207e-01 -4.48435826e-03 4.00068803e+01] [ 5.21907530e-02 -4.01110816e-04 9.98637053e-01 2.11848919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1250998929999 meters 0.011612528680376264 Centerline is valid? [True, True] Translation: X:572.55, Y:40.01, Z:21.19 [[ 9.94049137e-01 -9.57233355e-02 -5.19938165e-02 5.72549979e+02] [ 9.56191440e-02 9.95407850e-01 -4.49345921e-03 4.00096515e+01] [ 5.21851820e-02 -5.04884981e-04 9.98637297e-01 2.11875409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1850998929999 meters 0.012770192085403422 Centerline is valid? [True, True] Translation: X:572.61, Y:40.01, Z:21.19 [[ 9.93635169e-01 -9.99367080e-02 -5.19788852e-02 5.72608444e+02] [ 9.98377675e-02 9.94993539e-01 -4.50301605e-03 4.00073904e+01] [ 5.21686716e-02 -7.15100742e-04 9.98638032e-01 2.11881388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2450998929999 meters 0.013437909260449804 Centerline is valid? [True, True] Translation: X:572.67, Y:40.01, Z:21.19 [[ 9.93013467e-01 -1.06568504e-01 -5.06695948e-02 5.72667434e+02] [ 1.06482765e-01 9.94304829e-01 -4.39628782e-03 4.00065764e+01] [ 5.08495286e-02 -1.02986557e-03 9.98705795e-01 2.11927476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3050998929999 meters 0.014675519092256764 Centerline is valid? [True, True] Translation: X:572.73, Y:40.01, Z:21.20 [[ 9.92544673e-01 -1.11584640e-01 -4.90299866e-02 5.72726517e+02] [ 1.11509872e-01 9.93754169e-01 -4.26620507e-03 4.00071544e+01] [ 4.91997966e-02 -1.23292839e-03 9.98788196e-01 2.11964471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3650998929999 meters 0.01453015224474967 Centerline is valid? [True, True] Translation: X:572.78, Y:40.01, Z:21.20 [[ 9.92490489e-01 -1.12360364e-01 -4.83505793e-02 5.72784016e+02] [ 1.12287961e-01 9.93666749e-01 -4.21969946e-03 4.00105309e+01] [ 4.85184899e-02 -1.24117637e-03 9.98821513e-01 2.11987176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4250998929999 meters 0.01415722540302639 Centerline is valid? [True, True] Translation: X:572.84, Y:40.01, Z:21.20 [[ 9.92651569e-01 -1.11059516e-01 -4.80483788e-02 5.72842217e+02] [ 1.10985834e-01 9.93813084e-01 -4.20697590e-03 4.00149163e+01] [ 4.82183322e-02 -1.15662815e-03 9.98836150e-01 2.12009193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4850998929999 meters 0.01261698171831722 Centerline is valid? [True, True] Translation: X:572.90, Y:40.02, Z:21.21 [[ 9.93256780e-01 -1.05988237e-01 -4.69836358e-02 5.72900688e+02] [ 1.05911563e-01 9.94366996e-01 -4.12541142e-03 4.00238799e+01] [ 4.71562218e-02 -8.78517442e-04 9.98887140e-01 2.12052750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5450998929999 meters 0.012271014099506173 Centerline is valid? [True, True] Translation: X:572.96, Y:40.03, Z:21.21 [[ 9.93481949e-01 -1.04222677e-01 -4.61654616e-02 5.72959575e+02] [ 1.04146240e-01 9.94553689e-01 -4.06447292e-03 4.00298944e+01] [ 4.63376404e-02 -7.69978777e-04 9.98925538e-01 2.12081113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6050998929999 meters 0.01189361668927904 Centerline is valid? [True, True] Translation: X:573.02, Y:40.03, Z:21.21 [[ 9.93653806e-01 -1.02533780e-01 -4.62486524e-02 5.73017766e+02] [ 1.02454719e-01 9.94729290e-01 -4.08298184e-03 4.00347499e+01] [ 4.64235327e-02 -6.81322232e-04 9.98921614e-01 2.12102511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6650998929999 meters 0.012460835762908655 Centerline is valid? [True, True] Translation: X:573.08, Y:40.04, Z:21.21 [[ 9.93412480e-01 -1.04202136e-01 -4.76818664e-02 5.73075806e+02] [ 1.04119481e-01 9.94555840e-01 -4.22069572e-03 4.00355828e+01] [ 4.78620842e-02 -7.71719398e-04 9.98853656e-01 2.12102787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7250998929999 meters 0.013751288738765242 Centerline is valid? [True, True] Translation: X:573.13, Y:40.04, Z:21.21 [[ 9.92911772e-01 -1.08067648e-01 -4.94731889e-02 5.73134406e+02] [ 1.07983163e-01 9.94143052e-01 -4.38515525e-03 4.00366711e+01] [ 4.96573204e-02 -9.88199154e-04 9.98765825e-01 2.12108810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7850998929998 meters 0.014338611645894454 Centerline is valid? [True, True] Translation: X:573.19, Y:40.04, Z:21.21 [[ 9.92719762e-01 -1.09569287e-01 -5.00204610e-02 5.73193358e+02] [ 1.09484570e-01 9.93978584e-01 -4.43874510e-03 4.00402026e+01] [ 5.02056171e-02 -1.07003871e-03 9.98738330e-01 2.12130979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8450998929999 meters 0.012894624069122671 Centerline is valid? [True, True] Translation: X:573.25, Y:40.05, Z:21.22 [[ 9.92808766e-01 -1.09275006e-01 -4.88848275e-02 5.73251515e+02] [ 1.09193157e-01 9.94011033e-01 -4.34977405e-03 4.00473918e+01] [ 4.90673794e-02 -1.01939483e-03 9.98794950e-01 2.12188681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9050998929998 meters 0.012748709897023678 Centerline is valid? [True, True] Translation: X:573.31, Y:40.05, Z:21.22 [[ 9.92942521e-01 -1.09115258e-01 -4.64651580e-02 5.73310117e+02] [ 1.09040605e-01 9.94028650e-01 -4.14591089e-03 4.00532194e+01] [ 4.66400804e-02 -9.49937712e-04 9.98911308e-01 2.12235623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9650998929999 meters 0.013405566006272884 Centerline is valid? [True, True] Translation: X:573.37, Y:40.06, Z:21.23 [[ 9.92903459e-01 -1.10102053e-01 -4.49472846e-02 5.73367406e+02] [ 1.10032761e-01 9.93919830e-01 -4.02037261e-03 4.00572964e+01] [ 4.51166487e-02 -9.53831948e-04 9.98981270e-01 2.12265520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0250998929998 meters 0.013179223409791621 Centerline is valid? [True, True] Translation: X:573.43, Y:40.06, Z:21.23 [[ 9.92838010e-01 -1.10783917e-01 -4.47169887e-02 5.73426260e+02] [ 1.10715789e-01 9.93844039e-01 -4.00501385e-03 4.00629164e+01] [ 4.48854038e-02 -9.74546683e-04 9.98991667e-01 2.12283999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0850998929999 meters 0.01259752325988459 Centerline is valid? [True, True] Translation: X:573.49, Y:40.07, Z:21.23 [[ 9.92775003e-01 -1.10948046e-01 -4.56981844e-02 5.73485917e+02] [ 1.10876610e-01 9.93825711e-01 -4.10286895e-03 4.00703170e+01] [ 4.58712359e-02 -9.93634041e-04 9.98946867e-01 2.12308061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1450998929998 meters 0.013244691265500035 Centerline is valid? [True, True] Translation: X:573.54, Y:40.08, Z:21.23 [[ 9.92519554e-01 -1.12824162e-01 -4.66437936e-02 5.73544672e+02] [ 1.12751627e-01 9.93614362e-01 -4.19162472e-03 4.00752131e+01] [ 4.68188598e-02 -1.09889410e-03 9.98902791e-01 2.12323878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2050998929999 meters 0.014283966767592695 Centerline is valid? [True, True] Translation: X:573.60, Y:40.08, Z:21.23 [[ 9.91897290e-01 -1.17621247e-01 -4.80105057e-02 5.73603650e+02] [ 1.17549502e-01 9.93057606e-01 -4.32491785e-03 4.00782772e+01] [ 4.81859001e-02 -1.35373677e-03 9.98837467e-01 2.12337705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2650998929998 meters 0.015255481291213933 Centerline is valid? [True, True] Translation: X:573.66, Y:40.08, Z:21.24 [[ 9.91455888e-01 -1.20986321e-01 -4.87599502e-02 5.73663578e+02] [ 1.20916256e-01 9.92652982e-01 -4.39496669e-03 4.00815280e+01] [ 4.89334408e-02 -1.53845500e-03 9.98800857e-01 2.12352847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3250998929999 meters 0.017093634338529055 Centerline is valid? [True, True] Translation: X:573.72, Y:40.09, Z:21.24 [[ 9.91067652e-01 -1.24046544e-01 -4.89628895e-02 5.73721749e+02] [ 1.23979511e-01 9.92274954e-01 -4.41550990e-03 4.00851975e+01] [ 4.91323777e-02 -1.69432607e-03 9.98790838e-01 2.12365948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3850998929998 meters 0.01697834148858489 Centerline is valid? [True, True] Translation: X:573.78, Y:40.09, Z:21.24 [[ 9.90928854e-01 -1.24942397e-01 -4.94914468e-02 5.73780248e+02] [ 1.24874729e-01 9.92162451e-01 -4.46909755e-03 4.00922905e+01] [ 4.96619349e-02 -1.75167330e-03 9.98764549e-01 2.12388314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4450998929999 meters 0.016492562026020636 Centerline is valid? [True, True] Translation: X:573.84, Y:40.10, Z:21.24 [[ 9.90884865e-01 -1.25077380e-01 -5.00283247e-02 5.73838830e+02] [ 1.25007887e-01 9.92145416e-01 -4.52795828e-03 4.01007583e+01] [ 5.02017182e-02 -1.76724985e-03 9.98737535e-01 2.12415760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5050998929999 meters 0.016796722257668147 Centerline is valid? [True, True] Translation: X:573.90, Y:40.11, Z:21.24 [[ 9.90848329e-01 -1.25580633e-01 -4.94883204e-02 5.73897380e+02] [ 1.25512997e-01 9.92081841e-01 -4.48432612e-03 4.01076318e+01] [ 4.96596085e-02 -1.76814038e-03 9.98764635e-01 2.12442879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5650998929999 meters 0.01748540607779545 Centerline is valid? [True, True] Translation: X:573.96, Y:40.11, Z:21.25 [[ 9.90650756e-01 -1.27624943e-01 -4.81970315e-02 5.73956501e+02] [ 1.27562731e-01 9.91820846e-01 -4.37708902e-03 4.01147877e+01] [ 4.83614463e-02 -1.81197844e-03 9.98828257e-01 2.12477288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6250998929999 meters 0.017981097773305175 Centerline is valid? [True, True] Translation: X:574.02, Y:40.12, Z:21.25 [[ 9.90522710e-01 -1.28851462e-01 -4.75611311e-02 5.74016622e+02] [ 1.28792227e-01 9.91662187e-01 -4.32069207e-03 4.01216941e+01] [ 4.77213028e-02 -1.84576037e-03 9.98858984e-01 2.12495084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6850998929999 meters 0.019865714574983432 Centerline is valid? [True, True] Translation: X:574.07, Y:40.13, Z:21.25 [[ 9.90588151e-01 -1.28326181e-01 -4.76183342e-02 5.74074953e+02] [ 1.28266164e-01 9.91730342e-01 -4.32658700e-03 4.01267454e+01] [ 4.77797613e-02 -1.82195526e-03 9.98856233e-01 2.12507246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7450998929999 meters 0.01959245555576993 Centerline is valid? [True, True] Translation: X:574.13, Y:40.14, Z:21.25 [[ 9.90935345e-01 -1.25373242e-01 -4.82565309e-02 5.74132671e+02] [ 1.25307960e-01 9.92108191e-01 -4.38766422e-03 4.01372089e+01] [ 4.84257953e-02 -1.69903590e-03 9.98825338e-01 2.12525089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8050998929999 meters 0.015695069812678476 Centerline is valid? [True, True] Translation: X:574.19, Y:40.15, Z:21.26 [[ 9.91273573e-01 -1.23240708e-01 -4.67806780e-02 5.74191669e+02] [ 1.23176898e-01 9.92375606e-01 -4.25535303e-03 4.01527568e+01] [ 4.69484364e-02 -1.54407981e-03 9.98896121e-01 2.12578089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8650998929999 meters 0.01545616900145833 Centerline is valid? [True, True] Translation: X:574.25, Y:40.16, Z:21.26 [[ 9.91302040e-01 -1.23176345e-01 -4.63449496e-02 5.74252861e+02] [ 1.23113664e-01 9.92383624e-01 -4.21537379e-03 4.01610417e+01] [ 4.65112033e-02 -1.52698791e-03 9.98916601e-01 2.12603338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9250998929999 meters 0.016402267809830083 Centerline is valid? [True, True] Translation: X:574.31, Y:40.17, Z:21.26 [[ 9.90970759e-01 -1.25438751e-01 -4.73505554e-02 5.74313451e+02] [ 1.25375983e-01 9.92099959e-01 -4.30504221e-03 4.01688345e+01] [ 4.75165032e-02 -1.67045150e-03 9.98869056e-01 2.12613875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9850998929999 meters 0.018452532149818554 Centerline is valid? [True, True] Translation: X:574.37, Y:40.17, Z:21.26 [[ 9.90446541e-01 -1.29061695e-01 -4.85667444e-02 5.74373894e+02] [ 1.29000087e-01 9.91634759e-01 -4.41399067e-03 4.01727309e+01] [ 4.87301490e-02 -1.89329247e-03 9.98810186e-01 2.12621125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0450998929999 meters 0.020444883749899133 Centerline is valid? [True, True] Translation: X:574.43, Y:40.18, Z:21.26 [[ 9.89469562e-01 -1.36146902e-01 -4.91325541e-02 5.74434531e+02] [ 1.36092591e-01 9.90686062e-01 -4.46468586e-03 4.01770442e+01] [ 4.92827896e-02 -2.26890583e-03 9.98782288e-01 2.12642020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1050998929999 meters 0.0239420824037204 Centerline is valid? [True, True] Translation: X:574.49, Y:40.18, Z:21.27 [[ 9.88539506e-01 -1.42956854e-01 -4.85075479e-02 5.74494576e+02] [ 1.42912079e-01 9.89725572e-01 -4.40793956e-03 4.01790318e+01] [ 4.86393058e-02 -2.57489212e-03 9.98813090e-01 2.12668992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1650998929999 meters 0.024729435882169536 Centerline is valid? [True, True] Translation: X:574.56, Y:40.19, Z:21.27 [[ 9.88132457e-01 -1.46121735e-01 -4.73570055e-02 5.74555561e+02] [ 1.46082668e-01 9.89263025e-01 -4.30356344e-03 4.01853185e+01] [ 4.74773787e-02 -2.66554700e-03 9.98868757e-01 2.12702248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2250998929999 meters 0.025936982529741828 Centerline is valid? [True, True] Translation: X:574.62, Y:40.19, Z:21.27 [[ 9.87855186e-01 -1.48470686e-01 -4.58103265e-02 5.74616726e+02] [ 1.48436717e-01 9.88913153e-01 -4.16137128e-03 4.01920907e+01] [ 4.59202761e-02 -2.68910228e-03 9.98941488e-01 2.12726980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2850998929998 meters 0.025890606226314162 Centerline is valid? [True, True] Translation: X:574.68, Y:40.20, Z:21.27 [[ 9.87633653e-01 -1.49923037e-01 -4.58568401e-02 5.74678292e+02] [ 1.49890650e-01 9.88693814e-01 -4.16358890e-03 4.02015414e+01] [ 4.59625920e-02 -2.76141106e-03 9.98939345e-01 2.12746832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3450998929999 meters 0.02673176465861547 Centerline is valid? [True, True] Translation: X:574.74, Y:40.21, Z:21.28 [[ 9.87442068e-01 -1.51235519e-01 -4.56725237e-02 5.74739378e+02] [ 1.51204937e-01 9.88493752e-01 -4.14363753e-03 4.02092790e+01] [ 4.57736695e-02 -2.81430904e-03 9.98947872e-01 2.12773237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4050998929998 meters 0.02822883720145431 Centerline is valid? [True, True] Translation: X:574.80, Y:40.22, Z:21.28 [[ 9.86987938e-01 -1.54013531e-01 -4.62021826e-02 5.74799685e+02] [ 1.53985379e-01 9.88064246e-01 -4.18922717e-03 4.02161341e+01] [ 4.62959224e-02 -2.97974389e-03 9.98923325e-01 2.12794380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4650998929999 meters 0.02920130926553248 Centerline is valid? [True, True] Translation: X:574.86, Y:40.22, Z:21.28 [[ 9.86831814e-01 -1.54873691e-01 -4.66595091e-02 5.74861377e+02] [ 1.54846042e-01 9.87929564e-01 -4.22843943e-03 4.02215573e+01] [ 4.67511825e-02 -3.05228178e-03 9.98901902e-01 2.12818697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5250998929998 meters 0.03327459043550722 Centerline is valid? [True, True] Translation: X:574.92, Y:40.23, Z:21.28 [[ 9.86509448e-01 -1.56898613e-01 -4.67111803e-02 5.74921936e+02] [ 1.56873310e-01 9.87609676e-01 -4.22995478e-03 4.02251613e+01] [ 4.67960877e-02 -3.15484710e-03 9.98899481e-01 2.12828137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5850998929999 meters 0.027515737170782983 Centerline is valid? [True, True] Translation: X:574.98, Y:40.24, Z:21.29 [[ 9.86419857e-01 -1.57250999e-01 -4.74129602e-02 5.74983288e+02] [ 1.57225457e-01 9.87553413e-01 -4.29096692e-03 4.02413692e+01] [ 4.74975894e-02 -3.22182936e-03 9.98866157e-01 2.12852854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6450998929998 meters 0.02911420990128944 Centerline is valid? [True, True] Translation: X:575.04, Y:40.25, Z:21.29 [[ 9.86424607e-01 -1.56911282e-01 -4.84287598e-02 5.75043937e+02] [ 1.56884437e-01 9.87607260e-01 -4.37863463e-03 4.02470735e+01] [ 4.85156519e-02 -3.27852579e-03 9.98817042e-01 2.12862017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7050998929999 meters 0.03168856000132169 Centerline is valid? [True, True] Translation: X:575.11, Y:40.25, Z:21.29 [[ 9.86582377e-01 -1.55749587e-01 -4.89620139e-02 5.75105144e+02] [ 1.55720997e-01 9.87791184e-01 -4.42132949e-03 4.02539807e+01] [ 4.90528659e-02 -3.26240787e-03 9.98790856e-01 2.12875190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7650998929998 meters 0.027871437390891426 Centerline is valid? [True, True] Translation: X:575.17, Y:40.27, Z:21.29 [[ 9.86777008e-01 -1.54855426e-01 -4.78636988e-02 5.75165914e+02] [ 1.54827220e-01 9.87932124e-01 -4.31871061e-03 4.02677831e+01] [ 4.79548614e-02 -3.14899909e-03 9.98844540e-01 2.12918594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8250998929999 meters 0.029286525047476378 Centerline is valid? [True, True] Translation: X:575.23, Y:40.28, Z:21.30 [[ 9.87179958e-01 -1.52962474e-01 -4.55874216e-02 5.75226291e+02] [ 1.52935006e-01 9.88227701e-01 -4.11038092e-03 4.02762369e+01] [ 4.56794868e-02 -2.91422690e-03 9.98951897e-01 2.12950725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8850998929998 meters 0.02651397182599742 Centerline is valid? [True, True] Translation: X:575.29, Y:40.29, Z:21.30 [[ 9.87468360e-01 -1.51547641e-01 -4.40403307e-02 5.75286622e+02] [ 1.51520670e-01 9.88446119e-01 -3.96931180e-03 4.02902687e+01] [ 4.41330339e-02 -2.75345061e-03 9.99021869e-01 2.12980588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9450998929999 meters 0.026937640860819095 Centerline is valid? [True, True] Translation: X:575.35, Y:40.30, Z:21.30 [[ 9.87516513e-01 -1.51295424e-01 -4.38272878e-02 5.75348247e+02] [ 1.51268549e-01 9.88484819e-01 -3.94823370e-03 4.02978818e+01] [ 4.39199583e-02 -2.73074425e-03 9.99031321e-01 2.12994981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0050998929999 meters 0.027337960557765877 Centerline is valid? [True, True] Translation: X:575.41, Y:40.31, Z:21.30 [[ 9.87057117e-01 -1.53907412e-01 -4.50639088e-02 5.75409242e+02] [ 1.53881851e-01 9.88080928e-01 -4.05651010e-03 4.03054352e+01] [ 4.51511158e-02 -2.93051054e-03 9.98975870e-01 2.13004896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0650998929999 meters 0.032734060433447995 Centerline is valid? [True, True] Translation: X:575.47, Y:40.30, Z:21.30 [[ 9.86330399e-01 -1.58391034e-01 -4.54381465e-02 5.75469556e+02] [ 1.58369836e-01 9.87371397e-01 -4.08893090e-03 4.03049707e+01] [ 4.55119761e-02 -3.16299495e-03 9.98958786e-01 2.13008637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1250998929999 meters 0.03268055977746849 Centerline is valid? [True, True] Translation: X:575.53, Y:40.31, Z:21.30 [[ 9.85856384e-01 -1.61421609e-01 -4.50583433e-02 5.75530572e+02] [ 1.61403895e-01 9.86880104e-01 -4.05503247e-03 4.03109664e+01] [ 4.51217524e-02 -3.27491249e-03 9.98976127e-01 2.13033482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1850998929999 meters 0.0325886280925391 Centerline is valid? [True, True] Translation: X:575.59, Y:40.32, Z:21.31 [[ 9.85381990e-01 -1.64365606e-01 -4.47915332e-02 5.75591177e+02] [ 1.64351196e-01 9.86393658e-01 -4.02938803e-03 4.03168540e+01] [ 4.48443771e-02 -3.39105567e-03 9.98988229e-01 2.13051755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2450998929999 meters 0.03408517173271924 Centerline is valid? [True, True] Translation: X:575.65, Y:40.32, Z:21.31 [[ 9.85360186e-01 -1.64618546e-01 -4.43400309e-02 5.75653240e+02] [ 1.64604762e-01 9.86351548e-01 -3.98687664e-03 4.03222888e+01] [ 4.43911720e-02 -3.37007075e-03 9.99008542e-01 2.13074660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3050998929999 meters 0.03202133677923716 Centerline is valid? [True, True] Translation: X:575.72, Y:40.33, Z:21.31 [[ 9.85256554e-01 -1.65261507e-01 -4.42510735e-02 5.75715016e+02] [ 1.65248567e-01 9.86243938e-01 -3.97562004e-03 4.03313068e+01] [ 4.42993700e-02 -3.39542079e-03 9.99012531e-01 2.13099418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3650998929999 meters 0.03397361244118503 Centerline is valid? [True, True] Translation: X:575.78, Y:40.33, Z:21.31 [[ 9.85044994e-01 -1.66664007e-01 -4.36974585e-02 5.75777068e+02] [ 1.66652900e-01 9.86007821e-01 -3.92263731e-03 4.03340662e+01] [ 4.37397983e-02 -3.41833393e-03 9.99037109e-01 2.13113793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4250998929999 meters 0.03729823148476058 Centerline is valid? [True, True] Translation: X:575.84, Y:40.33, Z:21.31 [[ 9.84964527e-01 -1.67334343e-01 -4.29429561e-02 5.75838779e+02] [ 1.67324377e-01 9.85894374e-01 -3.85188088e-03 4.03345913e+01] [ 4.29817707e-02 -3.39143736e-03 9.99070100e-01 2.13129525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4850998929999 meters 0.03632579420530408 Centerline is valid? [True, True] Translation: X:575.90, Y:40.34, Z:21.31 [[ 9.85057768e-01 -1.66948015e-01 -4.23031307e-02 5.75900239e+02] [ 1.66938089e-01 9.85960088e-01 -3.79210809e-03 4.03409082e+01] [ 4.23422833e-02 -3.32655828e-03 9.99097625e-01 2.13149399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5450998929999 meters 0.03552390785601564 Centerline is valid? [True, True] Translation: X:575.96, Y:40.35, Z:21.32 [[ 9.85563407e-01 -1.64301667e-01 -4.08623677e-02 5.75960294e+02] [ 1.64290249e-01 9.86405249e-01 -3.66033886e-03 4.03466813e+01] [ 4.09082538e-02 -3.10579251e-03 9.99158080e-01 2.13173426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6050998929999 meters 0.032883255807388746 Centerline is valid? [True, True] Translation: X:576.02, Y:40.36, Z:21.32 [[ 9.86254479e-01 -1.60544304e-01 -3.90848943e-02 5.76019871e+02] [ 1.60530918e-01 9.87024603e-01 -3.50110691e-03 4.03551742e+01] [ 3.91398351e-02 -2.82135161e-03 9.99229760e-01 2.13207281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6650998929999 meters 0.028265555982905543 Centerline is valid? [True, True] Translation: X:576.08, Y:40.37, Z:21.32 [[ 9.87824916e-01 -1.50900373e-01 -3.78287375e-02 5.76080063e+02] [ 1.50880792e-01 9.88546157e-01 -3.38837877e-03 4.03674652e+01] [ 3.79067607e-02 -2.36050491e-03 9.99278492e-01 2.13237075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7250998929999 meters 0.023120062554200283 Centerline is valid? [True, True] Translation: X:576.14, Y:40.38, Z:21.33 [[ 9.89643841e-01 -1.38292597e-01 -3.84736951e-02 5.76139760e+02] [ 1.38262844e-01 9.90389576e-01 -3.44586485e-03 4.03807423e+01] [ 3.85804842e-02 -1.90930357e-03 9.99253672e-01 2.13250107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7850998929998 meters 0.018547975556443802 Centerline is valid? [True, True] Translation: X:576.20, Y:40.39, Z:21.33 [[ 9.91392497e-01 -1.25180761e-01 -3.83496275e-02 5.76199631e+02] [ 1.25141412e-01 9.92132971e-01 -3.43429050e-03 4.03935941e+01] [ 3.84778370e-02 -1.39439669e-03 9.99258481e-01 2.13275916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8450998929999 meters 0.0151271390752155 Centerline is valid? [True, True] Translation: X:576.26, Y:40.40, Z:21.33 [[ 9.92396706e-01 -1.17090843e-01 -3.79277137e-02 5.76259392e+02] [ 1.17046457e-01 9.93120633e-01 -3.39629694e-03 4.04047949e+01] [ 3.80644703e-02 -1.06883060e-03 9.99274714e-01 2.13305644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9050998929998 meters 0.012284848365670202 Centerline is valid? [True, True] Translation: X:576.32, Y:40.42, Z:21.33 [[ 9.93534865e-01 -1.06974561e-01 -3.80120382e-02 5.76319127e+02] [ 1.06922581e-01 9.94261524e-01 -3.40359546e-03 4.04154786e+01] [ 3.81580052e-02 -6.82754484e-04 9.99271485e-01 2.13331421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9650998929999 meters 0.011237920928921643 Centerline is valid? [True, True] Translation: X:576.38, Y:40.42, Z:21.34 [[ 9.94109115e-01 -1.00957252e-01 -3.94296996e-02 5.76379997e+02] [ 1.00896592e-01 9.94890654e-01 -3.53044790e-03 4.04230184e+01] [ 3.95846640e-02 -4.68671896e-04 9.99216110e-01 2.13350844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0250998929998 meters 0.01133847373533681 Centerline is valid? [True, True] Translation: X:576.44, Y:40.43, Z:21.34 [[ 9.94180859e-01 -1.00038881e-01 -3.99580071e-02 5.76442294e+02] [ 9.99759077e-02 9.94983432e-01 -3.57614067e-03 4.04278779e+01] [ 4.01153081e-02 -4.39507426e-04 9.99194960e-01 2.13370699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0850998929999 meters 0.01197381132427437 Centerline is valid? [True, True] Translation: X:576.50, Y:40.43, Z:21.34 [[ 9.93778954e-01 -1.03959015e-01 -3.99488852e-02 5.76504064e+02] [ 1.03899350e-01 9.94581401e-01 -3.57245183e-03 4.04292198e+01] [ 4.01038068e-02 -6.00435770e-04 9.99195338e-01 2.13402317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1450998929998 meters 0.013353936552148485 Centerline is valid? [True, True] Translation: X:576.56, Y:40.43, Z:21.34 [[ 9.93243930e-01 -1.08980605e-01 -3.98713331e-02 5.76564880e+02] [ 1.08925299e-01 9.94043551e-01 -3.56334592e-03 4.04290463e+01] [ 4.00221772e-02 -8.03725165e-04 9.99198468e-01 2.13433338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2050998929999 meters 0.016948929144708136 Centerline is valid? [True, True] Translation: X:576.63, Y:40.42, Z:21.35 [[ 9.92053256e-01 -1.18808554e-01 -4.14109156e-02 5.76625306e+02] [ 1.18757494e-01 9.92916397e-01 -3.69958518e-03 4.04241174e+01] [ 4.15571195e-02 -1.24767102e-03 9.99135351e-01 2.13460979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2650998929998 meters 0.017659667509563354 Centerline is valid? [True, True] Translation: X:576.69, Y:40.42, Z:21.35 [[ 9.91080766e-01 -1.26118051e-01 -4.30482635e-02 5.76685837e+02] [ 1.26069727e-01 9.92013926e-01 -3.84640510e-03 4.04248880e+01] [ 4.31895780e-02 -1.61498472e-03 9.99065590e-01 2.13478630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3250998929999 meters 0.019819868977469905 Centerline is valid? [True, True] Translation: X:576.75, Y:40.42, Z:21.35 [[ 9.90289965e-01 -1.32099841e-01 -4.33060878e-02 5.76746542e+02] [ 1.32056648e-01 9.91234619e-01 -3.86925778e-03 4.04239440e+01] [ 4.34376218e-02 -1.88716965e-03 9.99054359e-01 2.13510762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3850998929998 meters 0.022219510433782515 Centerline is valid? [True, True] Translation: X:576.81, Y:40.42, Z:21.35 [[ 9.89744796e-01 -1.36113435e-01 -4.33401823e-02 5.76807257e+02] [ 1.36074024e-01 9.90691106e-01 -3.87198721e-03 4.04243908e+01] [ 4.34637626e-02 -2.06519382e-03 9.99052870e-01 2.13545782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4450998929999 meters 0.024090642062304126 Centerline is valid? [True, True] Translation: X:576.87, Y:40.43, Z:21.36 [[ 9.89329468e-01 -1.38784528e-01 -4.43402545e-02 5.76868511e+02] [ 1.38745994e-01 9.90320082e-01 -3.96038108e-03 4.04259737e+01] [ 4.44606841e-02 -2.23391098e-03 9.99008637e-01 2.13579620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5050998929999 meters 0.02398647192817633 Centerline is valid? [True, True] Translation: X:576.93, Y:40.43, Z:21.36 [[ 9.89021794e-01 -1.40665059e-01 -4.52684502e-02 5.76930431e+02] [ 1.40626949e-01 9.90054407e-01 -4.04132674e-03 4.04302937e+01] [ 4.53867021e-02 -2.36900379e-03 9.98966684e-01 2.13598872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5650998929999 meters 0.024330207009363516 Centerline is valid? [True, True] Translation: X:576.99, Y:40.44, Z:21.36 [[ 9.88934246e-01 -1.40959821e-01 -4.62534891e-02 5.76992056e+02] [ 1.40920517e-01 9.90012316e-01 -4.12582664e-03 4.04350445e+01] [ 4.63730997e-02 -2.43789433e-03 9.98921214e-01 2.13614686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6250998929999 meters 0.023050124355172598 Centerline is valid? [True, True] Translation: X:577.05, Y:40.44, Z:21.36 [[ 9.89041826e-01 -1.39310649e-01 -4.88754448e-02 5.77054021e+02] [ 1.39264942e-01 9.90245576e-01 -4.35598153e-03 4.04442606e+01] [ 4.90055276e-02 -2.49838807e-03 9.98795383e-01 2.13632588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6850998929999 meters 0.0216553854024333 Centerline is valid? [True, True] Translation: X:577.12, Y:40.45, Z:21.37 [[ 9.89231648e-01 -1.37589346e-01 -4.98990758e-02 5.77115269e+02] [ 1.37539711e-01 9.90486286e-01 -4.44347441e-03 4.04535666e+01] [ 5.00357250e-02 -2.46747895e-03 9.98744381e-01 2.13662056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7450998929999 meters 0.02226712966926319 Centerline is valid? [True, True] Translation: X:577.18, Y:40.46, Z:21.37 [[ 9.89597435e-01 -1.34545477e-01 -5.09355681e-02 5.77175213e+02] [ 1.34489897e-01 9.90904598e-01 -4.53269566e-03 4.04619296e+01] [ 5.10821423e-02 -2.36477531e-03 9.98691655e-01 2.13679794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8050998929999 meters 0.0205793455943343 Centerline is valid? [True, True] Translation: X:577.24, Y:40.47, Z:21.37 [[ 9.90100114e-01 -1.30569025e-01 -5.15120812e-02 5.77235140e+02] [ 1.30506861e-01 9.91436814e-01 -4.58301641e-03 4.04748602e+01] [ 5.16693736e-02 -2.18503494e-03 9.98661855e-01 2.13707966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8650998929999 meters 0.017509220878994817 Centerline is valid? [True, True] Translation: X:577.29, Y:40.49, Z:21.38 [[ 9.90789712e-01 -1.25324152e-01 -5.12796660e-02 5.77294784e+02] [ 1.25255585e-01 9.92114022e-01 -4.56133784e-03 4.04911070e+01] [ 5.14469215e-02 -1.90373797e-03 9.98673916e-01 2.13754943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9250998929999 meters 0.018105053923265477 Centerline is valid? [True, True] Translation: X:577.36, Y:40.50, Z:21.38 [[ 9.91256474e-01 -1.21845785e-01 -5.06380096e-02 5.77355020e+02] [ 1.21774451e-01 9.92547583e-01 -4.50309007e-03 4.04994578e+01] [ 5.08093166e-02 -1.70269861e-03 9.98706921e-01 2.13779701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9850998929999 meters 0.016514618182557214 Centerline is valid? [True, True] Translation: X:577.42, Y:40.51, Z:21.38 [[ 9.91593549e-01 -1.19133627e-01 -5.04917080e-02 5.77415875e+02] [ 1.19059298e-01 9.92877002e-01 -4.48800010e-03 4.05122712e+01] [ 5.06667274e-02 -1.56123538e-03 9.98714396e-01 2.13821306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0450998929999 meters 0.016967449105281845 Centerline is valid? [True, True] Translation: X:577.48, Y:40.52, Z:21.38 [[ 9.91410809e-01 -1.20289128e-01 -5.13335499e-02 5.77477224e+02] [ 1.20214004e-01 9.92737529e-01 -4.55975346e-03 4.05210389e+01] [ 5.15092303e-02 -1.65042272e-03 9.98671155e-01 2.13844692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1050998929999 meters 0.018290530645354443 Centerline is valid? [True, True] Translation: X:577.54, Y:40.53, Z:21.39 [[ 9.91098133e-01 -1.22477144e-01 -5.21904271e-02 5.77539449e+02] [ 1.22402719e-01 9.92469707e-01 -4.63206166e-03 4.05262781e+01] [ 5.23647396e-02 -1.79742253e-03 9.98626408e-01 2.13859015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1650998929999 meters 0.018988242177257652 Centerline is valid? [True, True] Translation: X:577.60, Y:40.53, Z:21.39 [[ 9.90669346e-01 -1.25735660e-01 -5.25812812e-02 5.77599927e+02] [ 1.25664850e-01 9.92061790e-01 -4.66380213e-03 4.05335667e+01] [ 5.27502862e-02 -1.98733301e-03 9.98605757e-01 2.13891719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2250998929999 meters 0.019815498853096646 Centerline is valid? [True, True] Translation: X:577.66, Y:40.54, Z:21.39 [[ 9.90271361e-01 -1.28746271e-01 -5.27923234e-02 5.77660172e+02] [ 1.28679210e-01 9.91675221e-01 -4.68156577e-03 4.05405223e+01] [ 5.29555731e-02 -2.15725395e-03 9.98594539e-01 2.13922588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2850998929998 meters 0.021121739385661222 Centerline is valid? [True, True] Translation: X:577.72, Y:40.55, Z:21.39 [[ 9.89973731e-01 -1.30958269e-01 -5.29333974e-02 5.77721902e+02] [ 1.30894099e-01 9.91385252e-01 -4.69226292e-03 4.05459611e+01] [ 5.30918801e-02 -2.28345231e-03 9.98587021e-01 2.13947248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3450998929999 meters 0.02151886395749913 Centerline is valid? [True, True] Translation: X:577.78, Y:40.55, Z:21.40 [[ 9.89601122e-01 -1.33949112e-01 -5.24142561e-02 5.77783061e+02] [ 1.33890544e-01 9.90985249e-01 -4.64303547e-03 4.05530097e+01] [ 5.25636852e-02 -2.42302015e-03 9.98614634e-01 2.13982342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4050998929998 meters 0.021760696872317718 Centerline is valid? [True, True] Translation: X:577.85, Y:40.56, Z:21.40 [[ 9.89414305e-01 -1.35764975e-01 -5.12562736e-02 5.77845238e+02] [ 1.35711515e-01 9.90738003e-01 -4.53809394e-03 4.05592947e+01] [ 5.13976524e-02 -2.46601148e-03 9.98675223e-01 2.14016057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4650998929999 meters 0.023475192146553886 Centerline is valid? [True, True] Translation: X:577.91, Y:40.56, Z:21.40 [[ 9.89190567e-01 -1.37931178e-01 -4.97695976e-02 5.77906922e+02] [ 1.37883683e-01 9.90438643e-01 -4.40288550e-03 4.05636588e+01] [ 4.99010278e-02 -2.50712261e-03 9.98751021e-01 2.14046717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5250998929998 meters 0.024292022427322212 Centerline is valid? [True, True] Translation: X:577.97, Y:40.57, Z:21.41 [[ 9.88931867e-01 -1.39783694e-01 -4.97421571e-02 5.77968769e+02] [ 1.39738767e-01 9.90178643e-01 -4.39683781e-03 4.05694734e+01] [ 4.98682278e-02 -2.60273468e-03 9.98752415e-01 2.14068090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5850998929999 meters 0.02544468133918456 Centerline is valid? [True, True] Translation: X:578.03, Y:40.57, Z:21.41 [[ 9.88838215e-01 -1.40307945e-01 -5.01264823e-02 5.78030383e+02] [ 1.40263166e-01 9.90104359e-01 -4.42738686e-03 4.05734992e+01] [ 5.02516462e-02 -2.65292978e-03 9.98733064e-01 2.14082082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6450998929998 meters 0.026382257510790666 Centerline is valid? [True, True] Translation: X:578.09, Y:40.58, Z:21.41 [[ 9.88836374e-01 -1.39777192e-01 -5.16232772e-02 5.78093538e+02] [ 1.39729168e-01 9.90179278e-01 -4.55598133e-03 4.05781130e+01] [ 5.17531216e-02 -2.70815752e-03 9.98656237e-01 2.14073915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7050998929999 meters 0.024360845488983773 Centerline is valid? [True, True] Translation: X:578.15, Y:40.59, Z:21.41 [[ 9.89151639e-01 -1.38073432e-01 -5.01474098e-02 5.78154029e+02] [ 1.38026147e-01 9.90418716e-01 -4.42140668e-03 4.05876559e+01] [ 5.02774121e-02 -2.54821209e-03 9.98732040e-01 2.14106423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7650998929998 meters 0.023097821488708127 Centerline is valid? [True, True] Translation: X:578.21, Y:40.60, Z:21.41 [[ 9.89751253e-01 -1.34134217e-01 -4.89945873e-02 5.78214513e+02] [ 1.34084339e-01 9.90960515e-01 -4.31823648e-03 4.05968581e+01] [ 4.91309248e-02 -2.29542689e-03 9.98789709e-01 2.14127526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8250998929999 meters 0.022661754684899494 Centerline is valid? [True, True] Translation: X:578.28, Y:40.60, Z:21.41 [[ 9.89967948e-01 -1.32544535e-01 -4.89428990e-02 5.78275959e+02] [ 1.32492898e-01 9.91174575e-01 -4.31217464e-03 4.06047752e+01] [ 4.90825123e-02 -2.21567185e-03 9.98792270e-01 2.14146912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8850998929998 meters 0.02314063451405631 Centerline is valid? [True, True] Translation: X:578.34, Y:40.61, Z:21.42 [[ 9.89991837e-01 -1.32522060e-01 -4.85187125e-02 5.78339078e+02] [ 1.32471474e-01 9.91177617e-01 -4.27095780e-03 4.06107594e+01] [ 4.86566579e-02 -2.19913199e-03 9.98813142e-01 2.14167168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9450998929999 meters 0.025348392951217557 Centerline is valid? [True, True] Translation: X:578.40, Y:40.61, Z:21.42 [[ 9.89999458e-01 -1.32841813e-01 -4.74776346e-02 5.78400471e+02] [ 1.32793951e-01 9.91134873e-01 -4.17489808e-03 4.06123925e+01] [ 4.76113404e-02 -2.17159584e-03 9.98863576e-01 2.14180959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0050998929999 meters 0.0237085135113442 Centerline is valid? [True, True] Translation: X:578.46, Y:40.62, Z:21.42 [[ 9.90092279e-01 -1.32376773e-01 -4.68366161e-02 5.78462525e+02] [ 1.32329797e-01 9.91197197e-01 -4.11593260e-03 4.06191628e+01] [ 4.69691765e-02 -2.12272682e-03 9.98894084e-01 2.14200456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0650998929999 meters 0.02127962832336717 Centerline is valid? [True, True] Translation: X:578.52, Y:40.63, Z:21.42 [[ 9.90039539e-01 -1.32753448e-01 -4.68853174e-02 5.78523889e+02] [ 1.32706951e-01 9.91146768e-01 -4.11688708e-03 4.06277330e+01] [ 4.70167618e-02 -2.14612655e-03 9.98891795e-01 2.14226650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1250998929999 meters 0.02403074976370349 Centerline is valid? [True, True] Translation: X:578.59, Y:40.63, Z:21.42 [[ 9.89768973e-01 -1.34791551e-01 -4.67826714e-02 5.78585132e+02] [ 1.34747710e-01 9.90871441e-01 -4.10399262e-03 4.06276908e+01] [ 4.69087965e-02 -2.24185327e-03 9.98896661e-01 2.14238215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1850998929999 meters 0.022206458183706024 Centerline is valid? [True, True] Translation: X:578.65, Y:40.63, Z:21.43 [[ 9.89695672e-01 -1.35972904e-01 -4.48758894e-02 5.78647123e+02] [ 1.35933991e-01 9.90710094e-01 -3.93185255e-03 4.06337549e+01] [ 4.49936221e-02 -2.20882132e-03 9.98984832e-01 2.14275329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2450998929999 meters 0.026359203293379065 Centerline is valid? [True, True] Translation: X:578.71, Y:40.63, Z:21.43 [[ 9.89765466e-01 -1.35736529e-01 -4.40444948e-02 5.78708452e+02] [ 1.35698972e-01 9.90742613e-01 -3.85533932e-03 4.06328354e+01] [ 4.41600682e-02 -2.16091097e-03 9.99022131e-01 2.14296615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3050998929999 meters 0.02395942030851589 Centerline is valid? [True, True] Translation: X:578.77, Y:40.64, Z:21.43 [[ 9.90009128e-01 -1.34506320e-01 -4.23081087e-02 5.78770398e+02] [ 1.34470777e-01 9.90910660e-01 -3.69787465e-03 4.06403784e+01] [ 4.24209434e-02 -2.02827457e-03 9.99097768e-01 2.14337773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3650998929999 meters 0.02258474484783727 Centerline is valid? [True, True] Translation: X:578.83, Y:40.65, Z:21.44 [[ 9.90059713e-01 -1.34096075e-01 -4.24264892e-02 5.78831956e+02] [ 1.34060086e-01 9.90966278e-01 -3.70518693e-03 4.06465990e+01] [ 4.25400711e-02 -2.01934247e-03 9.99092721e-01 2.14360912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4250998929999 meters 0.022010895325980894 Centerline is valid? [True, True] Translation: X:578.89, Y:40.65, Z:21.44 [[ 9.89842872e-01 -1.35064326e-01 -4.43702143e-02 5.78893800e+02] [ 1.35026085e-01 9.90834480e-01 -3.87158883e-03 4.06506486e+01] [ 4.44864518e-02 -2.15887174e-03 9.99007655e-01 2.14362410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4850998929999 meters 0.026238485466069383 Centerline is valid? [True, True] Translation: X:578.96, Y:40.65, Z:21.44 [[ 9.89647077e-01 -1.35999712e-01 -4.58556605e-02 5.78955096e+02] [ 1.35960052e-01 9.90706256e-01 -3.99728052e-03 4.06477651e+01] [ 4.59731188e-02 -2.27864100e-03 9.98940078e-01 2.14354842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5450998929999 meters 0.023892358371775783 Centerline is valid? [True, True] Translation: X:579.02, Y:40.66, Z:21.44 [[ 9.89783243e-01 -1.35534797e-01 -4.42656893e-02 5.79016495e+02] [ 1.35497598e-01 9.90770180e-01 -3.85362970e-03 4.06552510e+01] [ 4.43794259e-02 -2.18363647e-03 9.99012361e-01 2.14397264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6050998929999 meters 0.023206188833701426 Centerline is valid? [True, True] Translation: X:579.08, Y:40.66, Z:21.44 [[ 9.89971330e-01 -1.34660151e-01 -4.27014056e-02 5.79078211e+02] [ 1.34624849e-01 9.90889677e-01 -3.71447089e-03 4.06605070e+01] [ 4.28125732e-02 -2.07145058e-03 9.99080974e-01 2.14432931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6650998929999 meters 0.02239661026415474 Centerline is valid? [True, True] Translation: X:579.14, Y:40.67, Z:21.45 [[ 9.90028603e-01 -1.34596622e-01 -4.15585737e-02 5.79139678e+02] [ 1.34563249e-01 9.90898423e-01 -3.61213437e-03 4.06658553e+01] [ 4.16665062e-02 -2.01614037e-03 9.99129540e-01 2.14459722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7250998929999 meters 0.02211671121616311 Centerline is valid? [True, True] Translation: X:579.20, Y:40.67, Z:21.45 [[ 9.90102403e-01 -1.34212214e-01 -4.10403950e-02 5.79201320e+02] [ 1.34179460e-01 9.90950639e-01 -3.56414088e-03 4.06694314e+01] [ 4.11473569e-02 -1.97791357e-03 9.99151131e-01 2.14478652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7850998929998 meters 0.023644867997280897 Centerline is valid? [True, True] Translation: X:579.26, Y:40.67, Z:21.45 [[ 9.90058553e-01 -1.34322228e-01 -4.17324861e-02 5.79262683e+02] [ 1.34288583e-01 9.90935650e-01 -3.62124214e-03 4.06708175e+01] [ 4.18406215e-02 -2.01895468e-03 9.99122258e-01 2.14490648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8450998929999 meters 0.02290667329320758 Centerline is valid? [True, True] Translation: X:579.33, Y:40.68, Z:21.45 [[ 9.89957145e-01 -1.34751595e-01 -4.27417633e-02 5.79325050e+02] [ 1.34716810e-01 9.90877209e-01 -3.70636408e-03 4.06753348e+01] [ 4.28512776e-02 -2.08889238e-03 9.99079278e-01 2.14498992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9050998929998 meters 0.023748560603572822 Centerline is valid? [True, True] Translation: X:579.39, Y:40.68, Z:21.45 [[ 9.90071487e-01 -1.33291323e-01 -4.46304028e-02 5.79386146e+02] [ 1.33252092e-01 9.91074635e-01 -3.86625842e-03 4.06779270e+01] [ 4.47473989e-02 -2.11922232e-03 9.98996086e-01 2.14504740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9650998929999 meters 0.02234126073133313 Centerline is valid? [True, True] Translation: X:579.45, Y:40.68, Z:21.45 [[ 9.90346764e-01 -1.31060538e-01 -4.51267356e-02 5.79447466e+02] [ 1.31018382e-01 9.91372254e-01 -3.90345910e-03 4.06847590e+01] [ 4.52489830e-02 -2.04665381e-03 9.98973644e-01 2.14521861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0250998929998 meters 0.020720154484076006 Centerline is valid? [True, True] Translation: X:579.51, Y:40.69, Z:21.45 [[ 9.91116653e-01 -1.25305961e-01 -4.45667526e-02 5.79507494e+02] [ 1.25259125e-01 9.92116579e-01 -3.85300315e-03 4.06936643e+01] [ 4.46982184e-02 -1.76361687e-03 9.98998978e-01 2.14549935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0850998929999 meters 0.017973781555680222 Centerline is valid? [True, True] Translation: X:579.57, Y:40.70, Z:21.46 [[ 9.91989073e-01 -1.18350623e-01 -4.41679721e-02 5.79567212e+02] [ 1.18297747e-01 9.92970827e-01 -3.81823203e-03 4.07043070e+01] [ 4.43093979e-02 -1.43732714e-03 9.99016822e-01 2.14575142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1450998929998 meters 0.014651014840113163 Centerline is valid? [True, True] Translation: X:579.63, Y:40.72, Z:21.46 [[ 9.92357674e-01 -1.15059645e-01 -4.45816700e-02 5.79627518e+02] [ 1.15002477e-01 9.93357730e-01 -3.85353595e-03 4.07154259e+01] [ 4.47289330e-02 -1.30291651e-03 9.98998311e-01 2.14606215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2050998929999 meters 0.014220832406343675 Centerline is valid? [True, True] Translation: X:579.69, Y:40.72, Z:21.46 [[ 9.92376347e-01 -1.14239756e-01 -4.62435400e-02 5.79689059e+02] [ 1.14177455e-01 9.93452338e-01 -3.99507911e-03 4.07218880e+01] [ 4.63971498e-02 -1.31534771e-03 9.98922206e-01 2.14620489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2650998929998 meters 0.015936056146643642 Centerline is valid? [True, True] Translation: X:579.75, Y:40.72, Z:21.46 [[ 9.92119814e-01 -1.16526034e-01 -4.60430050e-02 5.79750143e+02] [ 1.16466880e-01 9.93186624e-01 -3.97451510e-03 4.07242512e+01] [ 4.61924312e-02 -1.41928996e-03 9.98931552e-01 2.14636384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3250998929999 meters 0.01625764640644146 Centerline is valid? [True, True] Translation: X:579.81, Y:40.73, Z:21.47 [[ 9.91842680e-01 -1.18707937e-01 -4.64383893e-02 5.79812287e+02] [ 1.18650278e-01 9.92928026e-01 -4.00590543e-03 4.07286069e+01] [ 4.65855109e-02 -1.53669984e-03 9.98913124e-01 2.14660579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3850998929998 meters 0.017567874665089002 Centerline is valid? [True, True] Translation: X:579.87, Y:40.73, Z:21.47 [[ 9.91461941e-01 -1.21874157e-01 -4.63671250e-02 5.79873865e+02] [ 1.21820279e-01 9.92544129e-01 -3.99653421e-03 4.07323342e+01] [ 4.65084919e-02 -1.68604456e-03 9.98916472e-01 2.14687316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4450998929999 meters 0.017928647077306903 Centerline is valid? [True, True] Translation: X:579.94, Y:40.74, Z:21.47 [[ 9.91165242e-01 -1.24373219e-01 -4.60734705e-02 5.79936102e+02] [ 1.24322840e-01 9.92233885e-01 -3.96854316e-03 4.07374620e+01] [ 4.62092391e-02 -1.79450267e-03 9.98930171e-01 2.14722875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5050998929999 meters 0.01920900962053268 Centerline is valid? [True, True] Translation: X:580.00, Y:40.74, Z:21.47 [[ 9.91087622e-01 -1.25228804e-01 -4.54210556e-02 5.79996680e+02] [ 1.25180908e-01 9.92126233e-01 -3.90859900e-03 4.07406076e+01] [ 4.55528900e-02 -1.81208492e-03 9.98960285e-01 2.14748293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5650998929999 meters 0.019014428367458293 Centerline is valid? [True, True] Translation: X:580.06, Y:40.75, Z:21.48 [[ 9.91023600e-01 -1.25822753e-01 -4.51758706e-02 5.80057978e+02] [ 1.25776221e-01 9.92051042e-01 -3.88237101e-03 4.07473441e+01] [ 4.53052601e-02 -1.83452901e-03 9.98971505e-01 2.14779516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6250998929999 meters 0.018220342395967228 Centerline is valid? [True, True] Translation: X:580.12, Y:40.75, Z:21.48 [[ 9.91115414e-01 -1.24851529e-01 -4.58511962e-02 5.80119351e+02] [ 1.24802684e-01 9.92173767e-01 -3.93769923e-03 4.07543727e+01] [ 4.59839818e-02 -1.81963796e-03 9.98940520e-01 2.14800325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6850998929999 meters 0.018493848808926166 Centerline is valid? [True, True] Translation: X:580.18, Y:40.76, Z:21.48 [[ 9.91197731e-01 -1.23522915e-01 -4.76355677e-02 5.80181013e+02] [ 1.23468837e-01 9.92340032e-01 -4.08734104e-03 4.07600514e+01] [ 4.77755610e-02 -1.83014496e-03 9.98856419e-01 2.14807798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7450998929999 meters 0.019393094088155614 Centerline is valid? [True, True] Translation: X:580.24, Y:40.76, Z:21.48 [[ 9.91194805e-01 -1.22915165e-01 -4.92414461e-02 5.80242901e+02] [ 1.22856823e-01 9.92415428e-01 -4.22126792e-03 4.07647809e+01] [ 4.93868287e-02 -1.86554878e-03 9.98777984e-01 2.14816045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8050998929999 meters 0.019554813518317487 Centerline is valid? [True, True] Translation: X:580.30, Y:40.77, Z:21.48 [[ 9.91280984e-01 -1.22309097e-01 -4.90152555e-02 5.80304604e+02] [ 1.22250754e-01 9.92490369e-01 -4.19773109e-03 4.07704249e+01] [ 4.91605897e-02 -1.83102092e-03 9.98789209e-01 2.14843162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8650998929999 meters 0.018130573213599805 Centerline is valid? [True, True] Translation: X:580.37, Y:40.78, Z:21.49 [[ 9.91466360e-01 -1.20101573e-01 -5.06958558e-02 5.80366194e+02] [ 1.20036468e-01 9.92760005e-01 -4.33799538e-03 4.07784120e+01] [ 5.08498181e-02 -1.78437496e-03 9.98704717e-01 2.14862489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9250998929999 meters 0.01902244378210179 Centerline is valid? [True, True] Translation: X:580.43, Y:40.78, Z:21.49 [[ 9.91767617e-01 -1.17339105e-01 -5.12691762e-02 5.80426877e+02] [ 1.17268997e-01 9.93090511e-01 -4.38388801e-03 4.07840542e+01] [ 5.14293339e-02 -1.66448669e-03 9.98675249e-01 2.14872528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9850998929999 meters 0.015080143343311031 Centerline is valid? [True, True] Translation: X:580.49, Y:40.80, Z:21.49 [[ 9.92024282e-01 -1.15279436e-01 -5.09752523e-02 5.80487900e+02] [ 1.15207532e-01 9.93331891e-01 -4.35644448e-03 4.07965935e+01] [ 5.11375522e-02 -1.55103432e-03 9.98690415e-01 2.14927115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0450998929999 meters 0.015356277150799286 Centerline is valid? [True, True] Translation: X:580.55, Y:40.80, Z:21.50 [[ 9.92383970e-01 -1.12772268e-01 -4.95628134e-02 5.80547567e+02] [ 1.12701314e-01 9.93619896e-01 -4.23285530e-03 4.08026996e+01] [ 4.97239462e-02 -1.38517644e-03 9.98762039e-01 2.14959155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1050998929999 meters 0.013374074882314685 Centerline is valid? [True, True] Translation: X:580.61, Y:40.81, Z:21.50 [[ 9.92836917e-01 -1.09277605e-01 -4.83038420e-02 5.80608789e+02] [ 1.09206138e-01 9.94010569e-01 -4.12407003e-03 4.08126320e+01] [ 4.84651979e-02 -1.18054707e-03 9.98824174e-01 2.15000592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1650998929999 meters 0.013223480647623303 Centerline is valid? [True, True] Translation: X:580.67, Y:40.82, Z:21.50 [[ 9.92998648e-01 -1.07859387e-01 -4.81667671e-02 5.80670579e+02] [ 1.07786796e-01 9.94165539e-01 -4.10953051e-03 4.08185387e+01] [ 4.83289914e-02 -1.11098327e-03 9.98830854e-01 2.15026095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2250998929999 meters 0.013125884772675471 Centerline is valid? [True, True] Translation: X:580.73, Y:40.82, Z:21.50 [[ 9.93481757e-01 -1.03756180e-01 -4.72086262e-02 5.80730980e+02] [ 1.03681961e-01 9.94602359e-01 -4.02477586e-03 4.08244907e+01] [ 4.73714064e-02 -8.96141572e-04 9.98876943e-01 2.15039428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2850998929998 meters 0.011544403811443716 Centerline is valid? [True, True] Translation: X:580.79, Y:40.83, Z:21.51 [[ 9.93703829e-01 -1.01347065e-01 -4.77647603e-02 5.80792794e+02] [ 1.01268407e-01 9.94850815e-01 -4.07006744e-03 4.08329349e+01] [ 4.79313001e-02 -7.92619594e-04 9.98850320e-01 2.15071089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3450998929999 meters 0.011073814177143097 Centerline is valid? [True, True] Translation: X:580.85, Y:40.84, Z:21.51 [[ 9.93909097e-01 -9.93215953e-02 -4.77485935e-02 5.80854877e+02] [ 9.92408231e-02 9.95055141e-01 -4.06518983e-03 4.08385448e+01] [ 4.79162445e-02 -6.98180568e-04 9.98851113e-01 2.15094289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4050998929998 meters 0.011107232794758394 Centerline is valid? [True, True] Translation: X:580.92, Y:40.84, Z:21.51 [[ 9.94004463e-01 -9.85096351e-02 -4.74444767e-02 5.80917286e+02] [ 9.84291327e-02 9.95135879e-01 -4.03577279e-03 4.08424269e+01] [ 4.76112636e-02 -6.58342525e-04 9.98865724e-01 2.15118665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4650998929999 meters 0.01150111970798039 Centerline is valid? [True, True] Translation: X:580.98, Y:40.85, Z:21.51 [[ 9.94128342e-01 -9.74789569e-02 -4.69754425e-02 5.80978235e+02] [ 9.73990766e-02 9.95237401e-01 -3.99189768e-03 4.08458214e+01] [ 4.71408433e-02 -6.06906095e-04 9.98888068e-01 2.15136099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5250998929998 meters 0.011497590463966305 Centerline is valid? [True, True] Translation: X:581.04, Y:40.85, Z:21.52 [[ 9.94202061e-01 -9.67775317e-02 -4.68654568e-02 5.81040775e+02] [ 9.66975088e-02 9.95305870e-01 -3.97697755e-03 4.08499588e+01] [ 4.70303463e-02 -5.77853645e-04 9.98893294e-01 2.15160825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5850998929999 meters 0.011480924221700743 Centerline is valid? [True, True] Translation: X:581.10, Y:40.85, Z:21.52 [[ 9.94215893e-01 -9.71586192e-02 -4.57707384e-02 5.81102820e+02] [ 9.70828738e-02 9.95268737e-01 -3.88021109e-03 4.08508616e+01] [ 4.59311809e-02 -5.85787284e-04 9.98944435e-01 2.15182164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6450998929998 meters 0.011926521228568965 Centerline is valid? [True, True] Translation: X:581.17, Y:40.85, Z:21.52 [[ 9.94008975e-01 -9.99753685e-02 -4.41710624e-02 5.81165519e+02] [ 9.99077434e-02 9.94989670e-01 -3.74148530e-03 4.08504195e+01] [ 4.43238072e-02 -6.93961193e-04 9.99016976e-01 2.15211803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7050998929999 meters 0.014046203650746613 Centerline is valid? [True, True] Translation: X:581.23, Y:40.84, Z:21.52 [[ 9.93456347e-01 -1.05905068e-01 -4.27621661e-02 5.81227715e+02] [ 1.05847303e-01 9.94375809e-01 -3.61915906e-03 4.08447267e+01] [ 4.29049508e-02 -9.30783411e-04 9.99078725e-01 2.15231912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7650998929998 meters 0.01570360998524708 Centerline is valid? [True, True] Translation: X:581.29, Y:40.84, Z:21.53 [[ 9.93044746e-01 -1.10376726e-01 -4.09769638e-02 5.81290324e+02] [ 1.10327577e-01 9.93889236e-01 -3.46583567e-03 4.08415794e+01] [ 4.11091108e-02 -1.07915923e-03 9.99154080e-01 2.15256911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8250998929999 meters 0.016780293723980527 Centerline is valid? [True, True] Translation: X:581.35, Y:40.84, Z:21.53 [[ 9.92519794e-01 -1.15847223e-01 -3.85211650e-02 5.81351838e+02] [ 1.15807999e-01 9.93266283e-01 -3.25559714e-03 4.08377934e+01] [ 3.86389263e-02 -1.22981444e-03 9.99252481e-01 2.15286762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8850998929998 meters 0.018648687949423783 Centerline is valid? [True, True] Translation: X:581.41, Y:40.83, Z:21.53 [[ 9.92138705e-01 -1.19584944e-01 -3.68813156e-02 5.81413918e+02] [ 1.19551589e-01 9.92823099e-01 -3.11636209e-03 4.08325874e+01] [ 3.69892921e-02 -1.31735644e-03 9.99314794e-01 2.15311422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9450998929999 meters 0.01915740791009923 Centerline is valid? [True, True] Translation: X:581.48, Y:40.83, Z:21.53 [[ 9.92029170e-01 -1.20649097e-01 -3.63582317e-02 5.81475940e+02] [ 1.20617440e-01 9.92694315e-01 -3.07093804e-03 4.08313071e+01] [ 3.64631158e-02 -1.33897671e-03 9.99334102e-01 2.15331135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0050998929999 meters 0.018336142668107017 Centerline is valid? [True, True] Translation: X:581.54, Y:40.83, Z:21.54 [[ 9.92021049e-01 -1.20857148e-01 -3.58857637e-02 5.81538502e+02] [ 1.20826619e-01 9.92669014e-01 -3.02619017e-03 4.08320172e+01] [ 3.59884223e-02 -1.33391113e-03 9.99351317e-01 2.15350331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0650998929999 meters 0.02004923210471395 Centerline is valid? [True, True] Translation: X:581.60, Y:40.83, Z:21.54 [[ 9.92092661e-01 -1.20670870e-01 -3.45064259e-02 5.81601031e+02] [ 1.20642613e-01 9.92691748e-01 -2.90744739e-03 4.08273157e+01] [ 3.46050885e-02 -1.27848817e-03 9.99400247e-01 2.15391396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1250998929999 meters 0.019497708540257626 Centerline is valid? [True, True] Translation: X:581.66, Y:40.83, Z:21.54 [[ 9.91844601e-01 -1.21376232e-01 -3.88857033e-02 5.81663241e+02] [ 1.21341047e-01 9.92605481e-01 -3.27243974e-03 4.08264773e+01] [ 3.89953586e-02 -1.47268026e-03 9.99238307e-01 2.15381604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1850998929999 meters 0.01847365808268035 Centerline is valid? [True, True] Translation: X:581.73, Y:40.83, Z:21.54 [[ 9.92055595e-01 -1.19162736e-01 -4.03229343e-02 5.81725968e+02] [ 1.19123203e-01 9.92873692e-01 -3.39026623e-03 4.08273393e+01] [ 4.04395741e-02 -1.44006451e-03 9.99180948e-01 2.15396194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2450998929999 meters 0.017429213737887455 Centerline is valid? [True, True] Translation: X:581.79, Y:40.83, Z:21.54 [[ 9.92557484e-01 -1.15345985e-01 -3.90505323e-02 5.81787275e+02] [ 1.15306091e-01 9.93324593e-01 -3.27987068e-03 4.08295304e+01] [ 3.91681740e-02 -1.24730403e-03 9.99231854e-01 2.15443518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3050998929999 meters 0.01669967078532589 Centerline is valid? [True, True] Translation: X:581.85, Y:40.83, Z:21.55 [[ 9.92990084e-01 -1.11487212e-01 -3.92593181e-02 5.81848935e+02] [ 1.11443936e-01 9.93765257e-01 -3.29588690e-03 4.08323437e+01] [ 3.93819956e-02 -1.10242992e-03 9.99223620e-01 2.15473626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3650998929999 meters 0.015790999325355163 Centerline is valid? [True, True] Translation: X:581.91, Y:40.83, Z:21.55 [[ 9.93392179e-01 -1.07978827e-01 -3.88915282e-02 5.81910727e+02] [ 1.07933754e-01 9.94152734e-01 -3.26289152e-03 4.08325939e+01] [ 3.90164423e-02 -9.56377717e-04 9.99238111e-01 2.15498445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4250998929999 meters 0.015932055400301195 Centerline is valid? [True, True] Translation: X:581.97, Y:40.83, Z:21.55 [[ 9.93447442e-01 -1.07669462e-01 -3.83336395e-02 5.81972856e+02] [ 1.07625498e-01 9.94186310e-01 -3.21466491e-03 4.08287777e+01] [ 3.84569008e-02 -9.32076409e-04 9.99259825e-01 2.15529980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4850998929999 meters 0.016434079899591038 Centerline is valid? [True, True] Translation: X:582.04, Y:40.83, Z:21.55 [[ 9.93270868e-01 -1.09081550e-01 -3.89126923e-02 5.82035030e+02] [ 1.09037387e-01 9.94032298e-01 -3.26176299e-03 4.08260778e+01] [ 3.90362711e-02 -1.00312414e-03 9.99237291e-01 2.15547002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5450998929999 meters 0.018214774809416395 Centerline is valid? [True, True] Translation: X:582.10, Y:40.82, Z:21.56 [[ 9.92758124e-01 -1.13703619e-01 -3.87658976e-02 5.82095138e+02] [ 1.13663358e-01 9.93514011e-01 -3.24812574e-03 4.08187780e+01] [ 3.88837860e-02 -1.18165887e-03 9.99243041e-01 2.15570961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6050998929999 meters 0.018436795962635293 Centerline is valid? [True, True] Translation: X:582.16, Y:40.82, Z:21.56 [[ 9.92265236e-01 -1.17885590e-01 -3.88933048e-02 5.82155785e+02] [ 1.17848244e-01 9.93026267e-01 -3.25947635e-03 4.08174478e+01] [ 3.90063186e-02 -1.34924261e-03 9.99238053e-01 2.15597430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6650998929999 meters 0.019889292408862294 Centerline is valid? [True, True] Translation: X:582.22, Y:40.81, Z:21.56 [[ 9.91404849e-01 -1.24754680e-01 -3.94042509e-02 5.82217280e+02] [ 1.24721757e-01 9.92186262e-01 -3.30230344e-03 4.08110597e+01] [ 3.95083342e-02 -1.64064776e-03 9.99217894e-01 2.15612314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7250998929999 meters 0.021743337939250144 Centerline is valid? [True, True] Translation: X:582.28, Y:40.81, Z:21.56 [[ 9.90632779e-01 -1.31022289e-01 -3.84689183e-02 5.82278424e+02] [ 1.30995616e-01 9.91377705e-01 -3.22403541e-03 4.08065278e+01] [ 3.85596485e-02 -1.84542451e-03 9.99254596e-01 2.15634050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7850998929998 meters 0.024790120208822968 Centerline is valid? [True, True] Translation: X:582.34, Y:40.80, Z:21.57 [[ 9.89903287e-01 -1.36593826e-01 -3.78630296e-02 5.82338101e+02] [ 1.36572041e-01 9.90625059e-01 -3.17340029e-03 4.08012684e+01] [ 3.79415328e-02 -2.02967185e-03 9.99277900e-01 2.15658098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8450998929999 meters 0.02714649868979069 Centerline is valid? [True, True] Translation: X:582.40, Y:40.80, Z:21.57 [[ 9.88914993e-01 -1.43513175e-01 -3.80933682e-02 5.82399163e+02] [ 1.43496236e-01 9.89645713e-01 -3.19266300e-03 4.07970338e+01] [ 3.81571277e-02 -2.30898262e-03 9.99269084e-01 2.15669817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9050998929998 meters 0.02955858245032144 Centerline is valid? [True, True] Translation: X:582.46, Y:40.79, Z:21.57 [[ 9.87681939e-01 -1.51886440e-01 -3.76151045e-02 5.82460688e+02] [ 1.51875961e-01 9.88394534e-01 -3.15253570e-03 4.07914316e+01] [ 3.76573911e-02 -2.59912758e-03 9.99287329e-01 2.15680363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9650998929999 meters 0.031101851227679438 Centerline is valid? [True, True] Translation: X:582.52, Y:40.79, Z:21.57 [[ 9.86690815e-01 -1.57286473e-01 -4.12577379e-02 5.82521668e+02] [ 1.57278560e-01 9.87548225e-01 -3.45791929e-03 4.07901366e+01] [ 4.12878898e-02 -3.07706042e-03 9.99142553e-01 2.15668533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0250998929998 meters 0.035567021546715975 Centerline is valid? [True, True] Translation: X:582.58, Y:40.79, Z:21.57 [[ 9.86522009e-01 -1.58191191e-01 -4.18314791e-02 5.82580192e+02] [ 1.58183851e-01 9.87403451e-01 -3.50638768e-03 4.07887616e+01] [ 4.18592265e-02 -3.15793584e-03 9.99118528e-01 2.15679080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0850998929999 meters 0.035567021546715975 Centerline is valid? [True, True] Translation: X:582.64, Y:40.79, Z:21.57 [[ 9.86476542e-01 -1.58474579e-01 -4.18310800e-02 5.82637547e+02] [ 1.58467292e-01 9.87357984e-01 -3.51114161e-03 4.07936589e+01] [ 4.18586776e-02 -3.16519913e-03 9.99118528e-01 2.15700575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1450998929998 meters 0.03165986568534165 Centerline is valid? [True, True] Translation: X:582.70, Y:40.80, Z:21.57 [[ 9.86194087e-01 -1.60093066e-01 -4.23253163e-02 5.82696358e+02] [ 1.60086618e-01 9.87096538e-01 -3.56370216e-03 4.08035947e+01] [ 4.23496972e-02 -3.26121473e-03 9.99097527e-01 2.15721390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2050998929999 meters 0.032201891239380206 Centerline is valid? [True, True] Translation: X:582.76, Y:40.81, Z:21.57 [[ 9.85655356e-01 -1.63042989e-01 -4.35947658e-02 5.82756818e+02] [ 1.63038954e-01 9.86612799e-01 -3.67203060e-03 4.08080714e+01] [ 4.36098527e-02 -3.48828838e-03 9.99042548e-01 2.15737194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2650998929998 meters 0.03715006641570593 Centerline is valid? [True, True] Translation: X:582.81, Y:40.81, Z:21.57 [[ 9.85501242e-01 -1.63994867e-01 -4.35084612e-02 5.82814626e+02] [ 1.63991729e-01 9.86454903e-01 -3.66566656e-03 4.08063478e+01] [ 4.35202854e-02 -3.52250885e-03 9.99046334e-01 2.15749826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3250998929999 meters 0.03536359117922193 Centerline is valid? [True, True] Translation: X:582.87, Y:40.81, Z:21.58 [[ 9.85374108e-01 -1.64722960e-01 -4.36373022e-02 5.82872430e+02] [ 1.64720254e-01 9.86333451e-01 -3.68244929e-03 4.08140754e+01] [ 4.36475148e-02 -3.55935733e-03 9.99040653e-01 2.15774311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3850998929998 meters 0.033677418990956935 Centerline is valid? [True, True] Translation: X:582.93, Y:40.82, Z:21.58 [[ 9.85401063e-01 -1.64705082e-01 -4.30926935e-02 5.82930255e+02] [ 1.64702210e-01 9.86336617e-01 -3.64145507e-03 4.08233129e+01] [ 4.31036676e-02 -3.50916815e-03 9.99064442e-01 2.15812055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4450998929999 meters 0.036426885811201536 Centerline is valid? [True, True] Translation: X:582.99, Y:40.83, Z:21.58 [[ 9.85497338e-01 -1.64746324e-01 -4.06650435e-02 5.82987629e+02] [ 1.64743405e-01 9.86330440e-01 -3.44588048e-03 4.08262872e+01] [ 4.06768664e-02 -3.30339169e-03 9.99166893e-01 2.15848056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5050998929999 meters 0.03800420870515497 Centerline is valid? [True, True] Translation: X:583.05, Y:40.83, Z:21.59 [[ 9.85731222e-01 -1.63570938e-01 -3.97304155e-02 5.83045310e+02] [ 1.63567058e-01 9.86526461e-01 -3.37027231e-03 4.08298619e+01] [ 3.97463848e-02 -3.17640454e-03 9.99204751e-01 2.15879278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5650998929999 meters 0.03165662504155097 Centerline is valid? [True, True] Translation: X:583.10, Y:40.85, Z:21.59 [[ 9.85752653e-01 -1.63434654e-01 -3.97595352e-02 5.83103898e+02] [ 1.63430521e-01 9.86549069e-01 -3.37619910e-03 4.08455344e+01] [ 3.97765204e-02 -3.16982435e-03 9.99203573e-01 2.15907577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6250998929999 meters 0.03246898869646806 Centerline is valid? [True, True] Translation: X:583.16, Y:40.85, Z:21.59 [[ 9.85757520e-01 -1.63083845e-01 -4.10581449e-02 5.83162723e+02] [ 1.63079036e-01 9.86606839e-01 -3.48895890e-03 4.08510884e+01] [ 4.10772394e-02 -3.25645524e-03 9.99150667e-01 2.15922678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6850998929999 meters 0.0317164443114614 Centerline is valid? [True, True] Translation: X:583.22, Y:40.86, Z:21.59 [[ 9.85847898e-01 -1.62001225e-01 -4.31222008e-02 5.83221500e+02] [ 1.61994390e-01 9.86784832e-01 -3.67612509e-03 4.08591085e+01] [ 4.31478705e-02 -3.36145442e-03 9.99063042e-01 2.15925338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7450998929999 meters 0.03088962253757458 Centerline is valid? [True, True] Translation: X:583.28, Y:40.87, Z:21.59 [[ 9.85964220e-01 -1.61151404e-01 -4.36438090e-02 5.83280260e+02] [ 1.61143135e-01 9.86923995e-01 -3.73071292e-03 4.08668547e+01] [ 4.36743319e-02 -3.35455074e-03 9.99040189e-01 2.15944822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8050998929999 meters 0.03175548343781994 Centerline is valid? [True, True] Translation: X:583.34, Y:40.87, Z:21.60 [[ 9.86522167e-01 -1.57907235e-01 -4.28872762e-02 5.83339278e+02] [ 1.57895978e-01 9.87448927e-01 -3.67120203e-03 4.08738791e+01] [ 4.29287042e-02 -3.15000622e-03 9.99073172e-01 2.15976397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8650998929999 meters 0.032957585468187355 Centerline is valid? [True, True] Translation: X:583.40, Y:40.88, Z:21.60 [[ 9.87287531e-01 -1.53469622e-01 -4.13570509e-02 5.83398160e+02] [ 1.53455235e-01 9.88149255e-01 -3.54117253e-03 4.08804625e+01] [ 4.14104015e-02 -2.85030048e-03 9.99138156e-01 2.16003385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9250998929999 meters 0.03003574464604592 Centerline is valid? [True, True] Translation: X:583.46, Y:40.89, Z:21.60 [[ 9.87994657e-01 -1.49340195e-01 -3.95482515e-02 5.83457737e+02] [ 1.49323711e-01 9.88782563e-01 -3.38705819e-03 4.08912490e+01] [ 3.96104454e-02 -2.55909629e-03 9.99211921e-01 2.16031679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9850998929999 meters 0.03163793195546151 Centerline is valid? [True, True] Translation: X:583.52, Y:40.90, Z:21.61 [[ 9.88095338e-01 -1.48826398e-01 -3.89654437e-02 5.83515653e+02] [ 1.48809986e-01 9.88860177e-01 -3.33742088e-03 4.08951491e+01] [ 3.90280719e-02 -2.50075713e-03 9.99234985e-01 2.16052180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0450998929999 meters 0.028819728456406343 Centerline is valid? [True, True] Translation: X:583.58, Y:40.90, Z:21.61 [[ 9.87730920e-01 -1.51114634e-01 -3.93953848e-02 5.83575392e+02] [ 1.51099539e-01 9.88512783e-01 -3.37758652e-03 4.09047247e+01] [ 3.94532442e-02 -2.61647783e-03 9.99217992e-01 2.16067181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1050998929999 meters 0.03303209092396439 Centerline is valid? [True, True] Translation: X:583.64, Y:40.90, Z:21.61 [[ 9.86963475e-01 -1.55992964e-01 -3.96143145e-02 5.83635398e+02] [ 1.55981605e-01 9.87754121e-01 -3.39639989e-03 4.09031026e+01] [ 3.96590169e-02 -2.82698171e-03 9.99209273e-01 2.16077310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1650998929998 meters 0.036173799736655625 Centerline is valid? [True, True] Translation: X:583.70, Y:40.90, Z:21.61 [[ 9.86573616e-01 -1.58460290e-01 -3.95327276e-02 5.83695133e+02] [ 1.58450919e-01 9.87361035e-01 -3.39011077e-03 4.09035787e+01] [ 3.95702728e-02 -2.91940316e-03 9.99212525e-01 2.16093895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2250998929999 meters 0.03770738859016816 Centerline is valid? [True, True] Translation: X:583.76, Y:40.91, Z:21.61 [[ 9.86108092e-01 -1.61226118e-01 -3.99621095e-02 5.83755183e+02] [ 1.61218766e-01 9.86912742e-01 -3.42776195e-03 4.09059966e+01] [ 3.99917598e-02 -3.06249818e-03 9.99195316e-01 2.16105440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2850998929998 meters 0.04036847586419735 Centerline is valid? [True, True] Translation: X:583.81, Y:40.91, Z:21.61 [[ 9.85861805e-01 -1.62510213e-01 -4.08280894e-02 5.83814051e+02] [ 1.62503600e-01 9.86701733e-01 -3.50290758e-03 4.09071731e+01] [ 4.08544048e-02 -3.18132871e-03 9.99160046e-01 2.16115274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3450998929999 meters 0.040995331356741584 Centerline is valid? [True, True] Translation: X:583.87, Y:40.91, Z:21.61 [[ 9.85668479e-01 -1.63534246e-01 -4.14028971e-02 5.83872260e+02] [ 1.63528247e-01 9.86532249e-01 -3.55457018e-03 4.09106954e+01] [ 4.14265871e-02 -3.26691539e-03 9.99136210e-01 2.16134137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4050998929998 meters 0.03897387385602514 Centerline is valid? [True, True] Translation: X:583.93, Y:40.92, Z:21.62 [[ 9.85514032e-01 -1.64766845e-01 -4.01743637e-02 5.83931402e+02] [ 1.64762079e-01 9.86327298e-01 -3.45234836e-03 4.09178817e+01] [ 4.01939041e-02 -3.21687393e-03 9.99186720e-01 2.16169527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4650998929999 meters 0.034368660890731956 Centerline is valid? [True, True] Translation: X:583.99, Y:40.93, Z:21.62 [[ 9.85202946e-01 -1.66285242e-01 -4.15255797e-02 5.83990158e+02] [ 1.66281421e-01 9.86071875e-01 -3.57019883e-03 4.09279008e+01] [ 4.15408776e-02 -3.38756198e-03 9.99131062e-01 2.16180221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5250998929998 meters 0.04534734622816257 Centerline is valid? [True, True] Translation: X:584.05, Y:40.92, Z:21.62 [[ 9.84870941e-01 -1.67899830e-01 -4.28821287e-02 5.84049594e+02] [ 1.67897121e-01 9.85797615e-01 -3.69051378e-03 4.09184770e+01] [ 4.28927368e-02 -3.56510616e-03 9.99073322e-01 2.16174037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5850998929999 meters 0.03515550356327002 Centerline is valid? [True, True] Translation: X:584.11, Y:40.94, Z:21.62 [[ 9.84649772e-01 -1.69045194e-01 -4.34574395e-02 5.84107197e+02] [ 1.69043312e-01 9.85601509e-01 -3.74480296e-03 4.09363873e+01] [ 4.34647589e-02 -3.65887011e-03 9.99048261e-01 2.16200330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6450998929998 meters 0.035396438766636215 Centerline is valid? [True, True] Translation: X:584.17, Y:40.94, Z:21.62 [[ 9.84620457e-01 -1.69142258e-01 -4.37430280e-02 5.84165498e+02] [ 1.69139943e-01 9.85584793e-01 -3.78093394e-03 4.09412274e+01] [ 4.37519789e-02 -3.67590837e-03 9.99035661e-01 2.16219141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7050998929999 meters 0.03405665862644187 Centerline is valid? [True, True] Translation: X:584.22, Y:40.95, Z:21.62 [[ 9.84938067e-01 -1.67237001e-01 -4.39179826e-02 5.84224523e+02] [ 1.67232347e-01 9.85910166e-01 -3.80605949e-03 4.09488764e+01] [ 4.39356995e-02 -3.59577443e-03 9.99027890e-01 2.16244728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7650998929998 meters 0.03141720995077489 Centerline is valid? [True, True] Translation: X:584.28, Y:40.96, Z:21.63 [[ 9.85139512e-01 -1.66076146e-01 -4.38047552e-02 5.84283273e+02] [ 1.66070243e-01 9.86106607e-01 -3.79928823e-03 4.09582197e+01] [ 4.38271296e-02 -3.53183737e-03 9.99032887e-01 2.16266828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8250998929999 meters 0.033633548195572446 Centerline is valid? [True, True] Translation: X:584.34, Y:40.96, Z:21.63 [[ 9.85208033e-01 -1.65524957e-01 -4.43465951e-02 5.84340890e+02] [ 1.65517908e-01 9.86199245e-01 -3.85631777e-03 4.09606796e+01] [ 4.43728954e-02 -3.54088040e-03 9.99008763e-01 2.16284261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8850998929998 meters 0.037008538908581974 Centerline is valid? [True, True] Translation: X:584.40, Y:40.96, Z:21.63 [[ 9.85001105e-01 -1.66678649e-01 -4.46212046e-02 5.84399744e+02] [ 1.66672514e-01 9.86004659e-01 -3.88412055e-03 4.09608489e+01] [ 4.46441156e-02 -3.61126530e-03 9.98996427e-01 2.16300170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9450998929999 meters 0.03645651862856174 Centerline is valid? [True, True] Translation: X:584.46, Y:40.97, Z:21.63 [[ 9.84805973e-01 -1.67741651e-01 -4.49436822e-02 5.84457868e+02] [ 1.67736402e-01 9.85824108e-01 -3.91495887e-03 4.09664258e+01] [ 4.49632671e-02 -3.68321668e-03 9.98981851e-01 2.16325673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0050998929999 meters 0.03892741752769485 Centerline is valid? [True, True] Translation: X:584.52, Y:40.97, Z:21.64 [[ 9.84178399e-01 -1.71469269e-01 -4.46225200e-02 5.84518743e+02] [ 1.71467744e-01 9.85182053e-01 -3.89034929e-03 4.09673344e+01] [ 4.46283812e-02 -3.82252509e-03 9.98996344e-01 2.16354517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0650998929999 meters 0.03577681164499567 Centerline is valid? [True, True] Translation: X:584.58, Y:40.97, Z:21.64 [[ 9.83640695e-01 -1.74493935e-01 -4.47532148e-02 5.84578197e+02] [ 1.74495501e-01 9.84650240e-01 -3.90181413e-03 4.09743995e+01] [ 4.47471066e-02 -3.97125148e-03 9.98990453e-01 2.16379915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1250998929999 meters 0.03578301230383454 Centerline is valid? [True, True] Translation: X:584.64, Y:40.98, Z:21.64 [[ 9.83540083e-01 -1.74936493e-01 -4.52341508e-02 5.84636345e+02] [ 1.74938448e-01 9.84571464e-01 -3.94620129e-03 4.09785665e+01] [ 4.52265887e-02 -4.03194500e-03 9.98968618e-01 2.16402876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1850998929999 meters 0.03802000633923672 Centerline is valid? [True, True] Translation: X:584.70, Y:40.98, Z:21.64 [[ 9.84183342e-01 -1.71299985e-01 -4.51604232e-02 5.84695703e+02] [ 1.71297679e-01 9.85211401e-01 -3.94983509e-03 4.09809699e+01] [ 4.51691705e-02 -3.84851378e-03 9.98971939e-01 2.16419823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2450998929999 meters 0.034044864385308515 Centerline is valid? [True, True] Translation: X:584.76, Y:40.99, Z:21.64 [[ 9.85428154e-01 -1.63749307e-01 -4.60164970e-02 5.84755770e+02] [ 1.63738689e-01 9.86495533e-01 -4.02563273e-03 4.09919073e+01] [ 4.60542633e-02 -3.56770907e-03 9.98932568e-01 2.16444654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3050998929999 meters 0.030381227272506344 Centerline is valid? [True, True] Translation: X:584.82, Y:41.00, Z:21.65 [[ 9.86312710e-01 -1.58085628e-01 -4.68633304e-02 5.84815539e+02] [ 1.58068238e-01 9.87419678e-01 -4.10016693e-03 4.10022733e+01] [ 4.69219521e-02 -3.36355730e-03 9.98892896e-01 2.16464364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3650998929999 meters 0.024719711443050303 Centerline is valid? [True, True] Translation: X:584.87, Y:41.02, Z:21.65 [[ 9.87846704e-01 -1.48266773e-01 -4.66460413e-02 5.84874939e+02] [ 1.48238612e-01 9.88943201e-01 -4.08165697e-03 4.10150450e+01] [ 4.67354595e-02 -2.88269302e-03 9.98903142e-01 2.16497234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4250998929999 meters 0.027537690207892065 Centerline is valid? [True, True] Translation: X:584.93, Y:41.02, Z:21.65 [[ 9.88950952e-01 -1.40870342e-01 -4.61688306e-02 5.84934430e+02] [ 1.40834694e-01 9.90024881e-01 -4.04037502e-03 4.10166063e+01] [ 4.62774600e-02 -2.50644039e-03 9.98925480e-01 2.16510664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4850998929999 meters 0.018880239474532066 Centerline is valid? [True, True] Translation: X:584.99, Y:41.03, Z:21.65 [[ 9.90606580e-01 -1.28703885e-01 -4.61942974e-02 5.84993847e+02] [ 1.28654928e-01 9.91681177e-01 -4.04383300e-03 4.10325948e+01] [ 4.63304722e-02 -1.93727644e-03 9.98924289e-01 2.16544092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5450998929999 meters 0.015783619458388697 Centerline is valid? [True, True] Translation: X:585.05, Y:41.04, Z:21.65 [[ 9.91938116e-01 -1.17237683e-01 -4.81050812e-02 5.85052540e+02] [ 1.17171094e-01 9.93102813e-01 -4.21158435e-03 4.10402045e+01] [ 4.82670478e-02 -1.45889395e-03 9.98833401e-01 2.16544768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6050998929999 meters 0.013047407928313612 Centerline is valid? [True, True] Translation: X:585.11, Y:41.05, Z:21.66 [[ 9.92756551e-01 -1.10013758e-01 -4.82846106e-02 5.85112250e+02] [ 1.09938067e-01 9.93929444e-01 -4.22860475e-03 4.10474039e+01] [ 4.84567009e-02 -1.11034172e-03 9.98824667e-01 2.16571926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6650998929998 meters 0.010649734058239232 Centerline is valid? [True, True] Translation: X:585.17, Y:41.05, Z:21.66 [[ 9.93789283e-01 -1.00538314e-01 -4.76960064e-02 5.85172010e+02] [ 1.00453503e-01 9.94932982e-01 -4.17791045e-03 4.10521272e+01] [ 4.78743700e-02 -6.39268304e-04 9.98853160e-01 2.16598273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7250998929999 meters 0.009786868758364842 Centerline is valid? [True, True] Translation: X:585.23, Y:41.06, Z:21.66 [[ 9.94318325e-01 -9.53485899e-02 -4.73256207e-02 5.85231023e+02] [ 9.52590620e-02 9.95443871e-01 -4.14867021e-03 4.10552681e+01] [ 4.75055689e-02 -3.83095422e-04 9.98870900e-01 2.16621667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7850998929998 meters 0.009199185323010183 Centerline is valid? [True, True] Translation: X:585.29, Y:41.05, Z:21.67 [[ 9.94885406e-01 -8.96860536e-02 -4.64697794e-02 5.85289713e+02] [ 8.95930219e-02 9.95970081e-01 -4.08515067e-03 4.10545572e+01] [ 4.66488910e-02 -9.91111875e-05 9.98911343e-01 2.16652432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8450998929999 meters 0.009223233205654631 Centerline is valid? [True, True] Translation: X:585.35, Y:41.05, Z:21.67 [[ 9.94980299e-01 -8.89081112e-02 -4.59298571e-02 5.85347138e+02] [ 8.88158857e-02 9.96039831e-01 -4.04886059e-03 4.10481517e+01] [ 4.61079436e-02 -5.07644155e-05 9.98936462e-01 2.16664735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9050998929998 meters 0.009239266281180889 Centerline is valid? [True, True] Translation: X:585.41, Y:41.04, Z:21.67 [[ 9.94661117e-01 -9.23356923e-02 -4.60801770e-02 5.85406426e+02] [ 9.22460860e-02 9.95727914e-01 -4.07184591e-03 4.10421484e+01] [ 4.62592952e-02 -2.00609167e-04 9.98929446e-01 2.16684330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9650998929999 meters 0.010736147167523415 Centerline is valid? [True, True] Translation: X:585.47, Y:41.03, Z:21.67 [[ 9.93804312e-01 -1.01253865e-01 -4.58327840e-02 5.85465551e+02] [ 1.01174210e-01 9.94860439e-01 -4.06038254e-03 4.10252657e+01] [ 4.60083530e-02 -6.01870019e-04 9.98940874e-01 2.16694460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0250998929998 meters 0.01502260402291078 Centerline is valid? [True, True] Translation: X:585.53, Y:41.00, Z:21.67 [[ 9.92468657e-01 -1.13472907e-01 -4.61504434e-02 5.85527024e+02] [ 1.13405124e-01 9.93540400e-01 -4.09283628e-03 4.10031090e+01] [ 4.63167560e-02 -1.17168505e-03 9.98926116e-01 2.16706117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0850998929999 meters 0.01584598561423442 Centerline is valid? [True, True] Translation: X:585.59, Y:40.99, Z:21.67 [[ 9.91436402e-01 -1.22169540e-01 -4.61352809e-02 5.85588749e+02] [ 1.22111145e-01 9.92507995e-01 -4.09254540e-03 4.09944748e+01] [ 4.62896195e-02 -1.57613349e-03 9.98926818e-01 2.16737801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1450998929998 meters 0.020968041511196474 Centerline is valid? [True, True] Translation: X:585.65, Y:40.97, Z:21.68 [[ 9.89960941e-01 -1.33467327e-01 -4.65167398e-02 5.85650420e+02] [ 1.33420401e-01 9.91050943e-01 -4.12614976e-03 4.09744826e+01] [ 4.66511650e-02 -2.12155497e-03 9.98908989e-01 2.16751569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2050998929999 meters 0.02071301371862043 Centerline is valid? [True, True] Translation: X:585.71, Y:40.97, Z:21.68 [[ 9.89159445e-01 -1.39501241e-01 -4.58584405e-02 5.85711124e+02] [ 1.39462061e-01 9.90219057e-01 -4.06844617e-03 4.09683631e+01] [ 4.59774550e-02 -2.37117065e-03 9.98939663e-01 2.16782360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2650998929998 meters 0.024945908126714756 Centerline is valid? [True, True] Translation: X:585.77, Y:40.95, Z:21.68 [[ 9.88134097e-01 -1.46857697e-01 -4.49869118e-02 5.85772907e+02] [ 1.46827564e-01 9.89154050e-01 -3.99147522e-03 4.09473580e+01] [ 4.50851649e-02 -2.66120589e-03 9.98979602e-01 2.16807696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3250998929999 meters 0.025730914411964324 Centerline is valid? [True, True] Translation: X:585.83, Y:40.94, Z:21.68 [[ 9.87874658e-01 -1.48454123e-01 -4.54426333e-02 5.85832726e+02] [ 1.48425020e-01 9.88915441e-01 -4.03274709e-03 4.09421066e+01] [ 4.55375997e-02 -2.76097512e-03 9.98958810e-01 2.16827081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3850998929998 meters 0.02494817773119809 Centerline is valid? [True, True] Translation: X:585.89, Y:40.93, Z:21.69 [[ 9.87959707e-01 -1.48062448e-01 -4.48679091e-02 5.85892822e+02] [ 1.48033497e-01 9.88974316e-01 -3.98565695e-03 4.09348277e+01] [ 4.49633359e-02 -2.70428499e-03 9.98984978e-01 2.16853413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4450998929999 meters 0.031790076148328655 Centerline is valid? [True, True] Translation: X:585.95, Y:40.92, Z:21.69 [[ 9.88281452e-01 -1.45930179e-01 -4.47677748e-02 5.85953360e+02] [ 1.45898760e-01 9.89291496e-01 -3.98604537e-03 4.09232304e+01] [ 4.48700632e-02 -2.59222813e-03 9.98989468e-01 2.16863763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5050998929999 meters 0.022769526493268546 Centerline is valid? [True, True] Translation: X:586.01, Y:40.93, Z:21.69 [[ 9.88806905e-01 -1.42237037e-01 -4.50503140e-02 5.86013546e+02] [ 1.42201332e-01 9.89829621e-01 -4.01272079e-03 4.09276681e+01] [ 4.51628928e-02 -2.43840862e-03 9.98976660e-01 2.16898868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5650998929999 meters 0.02179985250938818 Centerline is valid? [True, True] Translation: X:586.07, Y:40.92, Z:21.69 [[ 9.89473630e-01 -1.37720165e-01 -4.44420083e-02 5.86074663e+02] [ 1.37680834e-01 9.90468733e-01 -3.95938735e-03 4.09210272e+01] [ 4.45637071e-02 -2.20110338e-03 9.99004120e-01 2.16926481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6250998929999 meters 0.02168039100368416 Centerline is valid? [True, True] Translation: X:586.13, Y:40.92, Z:21.70 [[ 9.89866268e-01 -1.34967243e-01 -4.41431110e-02 5.86134946e+02] [ 1.34925659e-01 9.90847915e-01 -3.93384534e-03 4.09183135e+01] [ 4.42700497e-02 -2.06205754e-03 9.99017473e-01 2.16955585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6850998929999 meters 0.021313971500823484 Centerline is valid? [True, True] Translation: X:586.20, Y:40.91, Z:21.70 [[ 9.90221090e-01 -1.31654623e-01 -4.61438354e-02 5.86196029e+02] [ 1.31605511e-01 9.91293632e-01 -4.11400920e-03 4.09111148e+01] [ 4.62837185e-02 -1.99900437e-03 9.98926334e-01 2.16955968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7450998929999 meters 0.02007678893430653 Centerline is valid? [True, True] Translation: X:586.26, Y:40.91, Z:21.70 [[ 9.90365061e-01 -1.31114770e-01 -4.45641492e-02 5.86255377e+02] [ 1.31068251e-01 9.91365371e-01 -3.97687997e-03 4.09084487e+01] [ 4.47007820e-02 -1.90238213e-03 9.98998609e-01 2.16997631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8050998929999 meters 0.01954774594201894 Centerline is valid? [True, True] Translation: X:586.31, Y:40.90, Z:21.70 [[ 9.90321799e-01 -1.32159391e-01 -4.23866726e-02 5.86314904e+02] [ 1.32117816e-01 9.91226763e-01 -3.79297305e-03 4.09000370e+01] [ 4.25160813e-02 -1.84377073e-03 9.99094081e-01 2.17034564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8650998929999 meters 0.02027307961803122 Centerline is valid? [True, True] Translation: X:586.37, Y:40.90, Z:21.71 [[ 9.90287078e-01 -1.32299505e-01 -4.27591396e-02 5.86372953e+02] [ 1.32256838e-01 9.91208051e-01 -3.83770253e-03 4.08993367e+01] [ 4.28909296e-02 -1.85476138e-03 9.99078039e-01 2.17053634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9250998929999 meters 0.019202157028614705 Centerline is valid? [True, True] Translation: X:586.43, Y:40.89, Z:21.71 [[ 9.90414473e-01 -1.31382178e-01 -4.26367733e-02 5.86432398e+02] [ 1.31338379e-01 9.91330163e-01 -3.83902898e-03 4.08909305e+01] [ 4.27714995e-02 -1.79761484e-03 9.99083264e-01 2.17072892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9850998929999 meters 0.018206728618358117 Centerline is valid? [True, True] Translation: X:586.49, Y:40.89, Z:21.71 [[ 9.90723956e-01 -1.29147573e-01 -4.22722963e-02 5.86491623e+02] [ 1.29102071e-01 9.91623967e-01 -3.81607673e-03 4.08876387e+01] [ 4.24110592e-02 -1.67676236e-03 9.99098839e-01 2.17105098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0450998929999 meters 0.01811399767245215 Centerline is valid? [True, True] Translation: X:586.55, Y:40.88, Z:21.71 [[ 9.91312482e-01 -1.24603298e-01 -4.21139096e-02 5.86552099e+02] [ 1.24553918e-01 9.92205546e-01 -3.80466812e-03 4.08765543e+01] [ 4.22597289e-02 -1.47383744e-03 9.99105572e-01 2.17142005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1050998929999 meters 0.018313408026356916 Centerline is valid? [True, True] Translation: X:586.61, Y:40.87, Z:21.72 [[ 9.91500406e-01 -1.23114055e-01 -4.20698731e-02 5.86611737e+02] [ 1.23063332e-01 9.92391531e-01 -3.80323828e-03 4.08708451e+01] [ 4.22180179e-02 -1.40634646e-03 9.99107432e-01 2.17166759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1650998929998 meters 0.01772001946878265 Centerline is valid? [True, True] Translation: X:586.67, Y:40.86, Z:21.72 [[ 9.91454694e-01 -1.23657802e-01 -4.15492206e-02 5.86671419e+02] [ 1.23608372e-01 9.92323931e-01 -3.76649498e-03 4.08577047e+01] [ 4.16960424e-02 -1.40152240e-03 9.99129359e-01 2.17200235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2250998929999 meters 0.019949207885801953 Centerline is valid? [True, True] Translation: X:586.73, Y:40.84, Z:21.72 [[ 9.90542977e-01 -1.30446344e-01 -4.25248522e-02 5.86733314e+02] [ 1.30400334e-01 9.91453886e-01 -3.86595499e-03 4.08389456e+01] [ 4.26657296e-02 -1.71586037e-03 9.99087930e-01 2.17221232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2850998929998 meters 0.021878337435683636 Centerline is valid? [True, True] Translation: X:586.80, Y:40.83, Z:21.72 [[ 9.89742456e-01 -1.36174363e-01 -4.32019998e-02 5.86795112e+02] [ 1.36132294e-01 9.90682880e-01 -3.92804095e-03 4.08268839e+01] [ 4.33343801e-02 -1.99343846e-03 9.99058636e-01 2.17246875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3450998929999 meters 0.023862271958289244 Centerline is valid? [True, True] Translation: X:586.86, Y:40.81, Z:21.73 [[ 9.88720266e-01 -1.43717050e-01 -4.21621344e-02 5.86857079e+02] [ 1.43683788e-01 9.89616223e-01 -3.83405844e-03 4.08079663e+01] [ 4.22753517e-02 -2.26720387e-03 9.99103425e-01 2.17281264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4050998929998 meters 0.02599827307837486 Centerline is valid? [True, True] Translation: X:586.92, Y:40.79, Z:21.73 [[ 9.87543966e-01 -1.51618947e-01 -4.20548447e-02 5.86918894e+02] [ 1.51592948e-01 9.88435606e-01 -3.82511869e-03 4.07897139e+01] [ 4.21484664e-02 -2.59774500e-03 9.99107981e-01 2.17304332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4650998929999 meters 0.02773431890994202 Centerline is valid? [True, True] Translation: X:586.98, Y:40.78, Z:21.73 [[ 9.86717285e-01 -1.56609651e-01 -4.31557360e-02 5.86980313e+02] [ 1.56586986e-01 9.87656368e-01 -3.92610738e-03 4.07788174e+01] [ 4.32379038e-02 -2.88366860e-03 9.99060643e-01 2.17320078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5250998929998 meters 0.03300058813647654 Centerline is valid? [True, True] Translation: X:587.04, Y:40.76, Z:21.73 [[ 9.85389081e-01 -1.64490212e-01 -4.41738570e-02 5.87041588e+02] [ 1.64474288e-01 9.86373180e-01 -4.01969941e-03 4.07583362e+01] [ 4.42331090e-02 -3.30449578e-03 9.99015772e-01 2.17325609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5850998929999 meters 0.03477962471235109 Centerline is valid? [True, True] Translation: X:587.10, Y:40.74, Z:21.73 [[ 9.83523274e-01 -1.75079488e-01 -4.50460031e-02 5.87103696e+02] [ 1.75073893e-01 9.84546759e-01 -4.10012198e-03 4.07444452e+01] [ 4.50677436e-02 -3.85381371e-03 9.98976500e-01 2.17345792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6450998929998 meters 0.03860637529968039 Centerline is valid? [True, True] Translation: X:587.17, Y:40.73, Z:21.74 [[ 9.81569160e-01 -1.85868892e-01 -4.44380347e-02 5.87165868e+02] [ 1.85874338e-01 9.82565195e-01 -4.04578547e-03 4.07278967e+01] [ 4.44152519e-02 -4.28867203e-03 9.99003950e-01 2.17376819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7050998929999 meters 0.03803919043697335 Centerline is valid? [True, True] Translation: X:587.23, Y:40.73, Z:21.74 [[ 9.80018139e-01 -1.93796981e-01 -4.48015445e-02 5.87226079e+02] [ 1.93810655e-01 9.81030471e-01 -4.07988850e-03 4.07251818e+01] [ 4.47423503e-02 -4.68465196e-03 9.98987576e-01 2.17398386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7650998929998 meters 0.04389276945846902 Centerline is valid? [True, True] Translation: X:587.29, Y:40.72, Z:21.74 [[ 9.78567658e-01 -2.00852735e-01 -4.54259475e-02 5.87286042e+02] [ 2.00874231e-01 9.79608299e-01 -4.13816505e-03 4.07161846e+01] [ 4.53307969e-02 -5.07542781e-03 9.98959138e-01 2.17410036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8250998929999 meters 0.04582654591974599 Centerline is valid? [True, True] Translation: X:587.35, Y:40.71, Z:21.74 [[ 9.76798354e-01 -2.09319749e-01 -4.52793465e-02 5.87347289e+02] [ 2.09349989e-01 9.77832069e-01 -4.12635044e-03 4.07098203e+01] [ 4.51393238e-02 -5.44861838e-03 9.98965842e-01 2.17431431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8850998929998 meters 0.0480517773908388 Centerline is valid? [True, True] Translation: X:587.41, Y:40.71, Z:21.74 [[ 9.75987890e-01 -2.13035867e-01 -4.54241916e-02 5.87407479e+02] [ 2.13070205e-01 9.77028117e-01 -4.14078910e-03 4.07074884e+01] [ 4.52628490e-02 -5.63718178e-03 9.98959207e-01 2.17449525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9450998929999 meters 0.048444608102975614 Centerline is valid? [True, True] Translation: X:587.47, Y:40.71, Z:21.75 [[ 9.74995393e-01 -2.17451029e-01 -4.58152011e-02 5.87467197e+02] [ 2.17490680e-01 9.76053456e-01 -4.17803458e-03 4.07071244e+01] [ 4.56266032e-02 -5.89081477e-03 9.98941195e-01 2.17470366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0050998929999 meters 0.04755485162612311 Centerline is valid? [True, True] Translation: X:587.53, Y:40.71, Z:21.75 [[ 9.74750477e-01 -2.18502786e-01 -4.60221660e-02 5.87526245e+02] [ 2.18543866e-01 9.75818092e-01 -4.19871820e-03 4.07115186e+01] [ 4.58266938e-02 -5.96515951e-03 9.98931595e-01 2.17496765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0650998929999 meters 0.04244013565418865 Centerline is valid? [True, True] Translation: X:587.59, Y:40.72, Z:21.75 [[ 9.75266104e-01 -2.16363178e-01 -4.51995764e-02 5.87585978e+02] [ 2.16400443e-01 9.76295973e-01 -4.12575901e-03 4.07199066e+01] [ 4.50208268e-02 -5.75749543e-03 9.98969457e-01 2.17526652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1250998929999 meters 0.0490085083526115 Centerline is valid? [True, True] Translation: X:587.65, Y:40.71, Z:21.75 [[ 9.76626315e-01 -2.10162614e-01 -4.50856542e-02 5.87645987e+02] [ 2.10193122e-01 9.77651218e-01 -4.11663421e-03 4.07146559e+01] [ 4.49432074e-02 -5.45628111e-03 9.98974643e-01 2.17532753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1850998929999 meters 0.04351527385228638 Centerline is valid? [True, True] Translation: X:587.70, Y:40.73, Z:21.75 [[ 9.77789544e-01 -2.04676982e-01 -4.51103241e-02 5.87704717e+02] [ 2.04701684e-01 9.78815734e-01 -4.12066185e-03 4.07258029e+01] [ 4.49980996e-02 -5.20501922e-03 9.98973513e-01 2.17549088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2450998929999 meters 0.04271816794117054 Centerline is valid? [True, True] Translation: X:587.76, Y:40.73, Z:21.76 [[ 9.79792828e-01 -1.94946973e-01 -4.47402713e-02 5.87764235e+02] [ 1.94961165e-01 9.80802441e-01 -4.08839249e-03 4.07285758e+01] [ 4.46783870e-02 -4.71683777e-03 9.98990287e-01 2.17573127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3050998929999 meters 0.03694893130559448 Centerline is valid? [True, True] Translation: X:587.82, Y:40.74, Z:21.76 [[ 9.81213743e-01 -1.88007013e-01 -4.32776355e-02 5.87823091e+02] [ 1.88013537e-01 9.82158469e-01 -3.95615720e-03 4.07385235e+01] [ 4.32492815e-02 -4.25494553e-03 9.99055251e-01 2.17600893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3650998929999 meters 0.03656229310368859 Centerline is valid? [True, True] Translation: X:587.88, Y:40.74, Z:21.76 [[ 9.82334132e-01 -1.82336386e-01 -4.21081329e-02 5.87882664e+02] [ 1.82337337e-01 9.83228493e-01 -3.85056818e-03 4.07421058e+01] [ 4.21040148e-02 -3.89534028e-03 9.99105639e-01 2.17620806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4250998929999 meters 0.03413712069696155 Centerline is valid? [True, True] Translation: X:587.94, Y:40.74, Z:21.76 [[ 9.83208562e-01 -1.77699774e-01 -4.15176304e-02 5.87943048e+02] [ 1.77696542e-01 9.84078003e-01 -3.79783861e-03 4.07444037e+01] [ 4.15314618e-02 -3.64347191e-03 9.99130553e-01 2.17632039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4850998929999 meters 0.038676044844153504 Centerline is valid? [True, True] Translation: X:588.00, Y:40.74, Z:21.76 [[ 9.83051664e-01 -1.78400821e-01 -4.22205314e-02 5.88002023e+02] [ 1.78398072e-01 9.83950813e-01 -3.86333524e-03 4.07368275e+01] [ 4.22321483e-02 -3.73420325e-03 9.99100846e-01 2.17646188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5450998929999 meters 0.03942828041996359 Centerline is valid? [True, True] Translation: X:588.06, Y:40.73, Z:21.77 [[ 9.82612196e-01 -1.80652712e-01 -4.28703758e-02 5.88063162e+02] [ 1.80651790e-01 9.83539274e-01 -3.92778309e-03 4.07302173e+01] [ 4.28742630e-02 -3.88512257e-03 9.99072922e-01 2.17661294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6050998929999 meters 0.03564045966175745 Centerline is valid? [True, True] Translation: X:588.12, Y:40.73, Z:21.77 [[ 9.82365347e-01 -1.81797097e-01 -4.36822768e-02 5.88122986e+02] [ 1.81797220e-01 9.83327893e-01 -4.00315628e-03 4.07323020e+01] [ 4.36817634e-02 -4.00875447e-03 9.99037453e-01 2.17683163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6650998929998 meters 0.036373394132620245 Centerline is valid? [True, True] Translation: X:588.18, Y:40.73, Z:21.77 [[ 9.82776008e-01 -1.79869868e-01 -4.24045913e-02 5.88183474e+02] [ 1.79868143e-01 9.83683048e-01 -3.88740901e-03 4.07281481e+01] [ 4.24119054e-02 -3.80678279e-03 9.99092958e-01 2.17715759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7250998929999 meters 0.03192674788404277 Centerline is valid? [True, True] Translation: X:588.24, Y:40.74, Z:21.77 [[ 9.84048012e-01 -1.73076483e-01 -4.11587399e-02 5.88242583e+02] [ 1.73068922e-01 9.84902485e-01 -3.77392326e-03 4.07370786e+01] [ 4.11905225e-02 -3.40957707e-03 9.99145493e-01 2.17748532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7850998929998 meters 0.030707027502955033 Centerline is valid? [True, True] Translation: X:588.30, Y:40.74, Z:21.78 [[ 9.85333557e-01 -1.65629637e-01 -4.10439437e-02 5.88302284e+02] [ 1.65615647e-01 9.86183191e-01 -3.76448131e-03 4.07425796e+01] [ 4.11003570e-02 -3.08824955e-03 9.99150251e-01 2.17780832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8450998929999 meters 0.03396566706765016 Centerline is valid? [True, True] Translation: X:588.36, Y:40.74, Z:21.78 [[ 9.86314423e-01 -1.59733555e-01 -4.08540238e-02 5.88361530e+02] [ 1.59714616e-01 9.87156114e-01 -3.74814168e-03 4.07426569e+01] [ 4.09280034e-02 -2.82813851e-03 9.99158096e-01 2.17801365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9050998929998 meters 0.032409672922429814 Centerline is valid? [True, True] Translation: X:588.42, Y:40.75, Z:21.78 [[ 9.86386636e-01 -1.59400284e-01 -4.04098253e-02 5.88420330e+02] [ 1.59381399e-01 9.87210115e-01 -3.70925715e-03 4.07517633e+01] [ 4.04842449e-02 -2.78181280e-03 9.99176304e-01 2.17808135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9650998929999 meters 0.029939445288445003 Centerline is valid? [True, True] Translation: X:588.48, Y:40.76, Z:21.78 [[ 9.84667716e-01 -1.70098726e-01 -3.86770391e-02 5.88479765e+02] [ 1.70089310e-01 9.85422228e-01 -3.55801829e-03 4.07616488e+01] [ 3.87184284e-02 -3.07508514e-03 9.99245429e-01 2.17831967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0250998929998 meters 0.03334353583023975 Centerline is valid? [True, True] Translation: X:588.54, Y:40.76, Z:21.79 [[ 9.83447871e-01 -1.77426878e-01 -3.67421761e-02 5.88539634e+02] [ 1.77423408e-01 9.84128804e-01 -3.38106333e-03 4.07623385e+01] [ 3.67589253e-02 -3.19382257e-03 9.99319059e-01 2.17863840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0850998929999 meters 0.03433019786818222 Centerline is valid? [True, True] Translation: X:588.60, Y:40.77, Z:21.79 [[ 9.82009251e-01 -1.84823421e-01 -3.87057318e-02 5.88599615e+02] [ 1.84825215e-01 9.82764949e-01 -3.56299217e-03 4.07670048e+01] [ 3.86971610e-02 -3.65490394e-03 9.99244300e-01 2.17877910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1450998929998 meters 0.033760760846710154 Centerline is valid? [True, True] Translation: X:588.66, Y:40.78, Z:21.79 [[ 9.81778932e-01 -1.85550658e-01 -4.10010091e-02 5.88658261e+02] [ 1.85553254e-01 9.82626956e-01 -3.77560091e-03 4.07774044e+01] [ 4.09892620e-02 -3.90106522e-03 9.99151971e-01 2.17870197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2050998929999 meters 0.03669300968304479 Centerline is valid? [True, True] Translation: X:588.72, Y:40.78, Z:21.79 [[ 9.81578932e-01 -1.85815553e-01 -4.44452465e-02 5.88715799e+02] [ 1.85818413e-01 9.82575534e-01 -4.10341274e-03 4.07804656e+01] [ 4.44332897e-02 -4.23092168e-03 9.99003394e-01 2.17861776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2650998929998 meters 0.03592622490619384 Centerline is valid? [True, True] Translation: X:588.77, Y:40.79, Z:21.79 [[ 9.81537993e-01 -1.85811813e-01 -4.53556844e-02 5.88774046e+02] [ 1.85814550e-01 9.82575887e-01 -4.19277964e-03 4.07871544e+01] [ 4.53444698e-02 -4.31237357e-03 9.98962103e-01 2.17885250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3250998929999 meters 0.033234065528180166 Centerline is valid? [True, True] Translation: X:588.83, Y:40.79, Z:21.79 [[ 9.81377812e-01 -1.86834709e-01 -4.46136956e-02 5.88832130e+02] [ 1.86837919e-01 9.82382051e-01 -4.13497914e-03 4.07941648e+01] [ 4.46002514e-02 -4.27755328e-03 9.98995756e-01 2.17929181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3850998929998 meters 0.037197468171977985 Centerline is valid? [True, True] Translation: X:588.89, Y:40.79, Z:21.80 [[ 9.82059522e-01 -1.83946108e-01 -4.15081325e-02 5.88891382e+02] [ 1.83945952e-01 9.82928796e-01 -3.85594699e-03 4.07933960e+01] [ 4.15088252e-02 -3.84848348e-03 9.99130725e-01 2.17969338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4450998929999 meters 0.02994922099132823 Centerline is valid? [True, True] Translation: X:588.95, Y:40.81, Z:21.80 [[ 9.82848876e-01 -1.79649344e-01 -4.16437299e-02 5.88949965e+02] [ 1.79645289e-01 9.83723839e-01 -3.87027501e-03 4.08071229e+01] [ 4.16612222e-02 -3.67720444e-03 9.99125028e-01 2.17994187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5050998929999 meters 0.029516125703222266 Centerline is valid? [True, True] Translation: X:589.01, Y:40.81, Z:21.80 [[ 9.84604694e-01 -1.69425119e-01 -4.29968139e-02 5.89008458e+02] [ 1.69411044e-01 9.85537376e-01 -3.99746664e-03 4.08128683e+01] [ 4.30522384e-02 -3.34821069e-03 9.99067212e-01 2.17993841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5650998929999 meters 0.02614264739519817 Centerline is valid? [True, True] Translation: X:589.07, Y:40.82, Z:21.80 [[ 9.85878831e-01 -1.61659173e-01 -4.36948693e-02 5.89068169e+02] [ 1.61636976e-01 9.86841918e-01 -4.06399132e-03 4.08230837e+01] [ 4.37769101e-02 -3.05610351e-03 9.99036657e-01 2.18012683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6250998929999 meters 0.026212289286549253 Centerline is valid? [True, True] Translation: X:589.13, Y:40.83, Z:21.80 [[ 9.87469389e-01 -1.51712989e-01 -4.34439278e-02 5.89126645e+02] [ 1.51681429e-01 9.88421172e-01 -4.04113237e-03 4.08272373e+01] [ 4.35539903e-02 -2.59914251e-03 9.99047694e-01 2.18032318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6850998929999 meters 0.02305398343691351 Centerline is valid? [True, True] Translation: X:589.19, Y:40.84, Z:21.81 [[ 9.88680955e-01 -1.43348952e-01 -4.42837138e-02 5.89185843e+02] [ 1.43307709e-01 9.89669600e-01 -4.12110732e-03 4.08369566e+01] [ 4.44170017e-02 -2.27173723e-03 9.99010495e-01 2.18055849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7450998929999 meters 0.02219252250482224 Centerline is valid? [True, True] Translation: X:589.25, Y:40.84, Z:21.81 [[ 9.89297948e-01 -1.38996200e-01 -4.43804788e-02 5.89245810e+02] [ 1.38950376e-01 9.90290730e-01 -4.13079609e-03 4.08430452e+01] [ 4.45237417e-02 -2.08009612e-03 9.99006161e-01 2.18079049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8050998929999 meters 0.0206934442357579 Centerline is valid? [True, True] Translation: X:589.31, Y:40.85, Z:21.81 [[ 9.89810709e-01 -1.35546457e-01 -4.36109872e-02 5.89305705e+02] [ 1.35498833e-01 9.90769188e-01 -4.05991493e-03 4.08503855e+01] [ 4.37587294e-02 -1.89069059e-03 9.99040339e-01 2.18109423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8650998929999 meters 0.01872824417347455 Centerline is valid? [True, True] Translation: X:589.37, Y:40.86, Z:21.81 [[ 9.90236374e-01 -1.32513436e-01 -4.32679172e-02 5.89365418e+02] [ 1.32463635e-01 9.91179678e-01 -4.02873439e-03 4.08567948e+01] [ 4.34201417e-02 -1.74202626e-03 9.99055382e-01 2.18145795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9250998929999 meters 0.01836196797918677 Centerline is valid? [True, True] Translation: X:589.42, Y:40.86, Z:21.82 [[ 9.90737626e-01 -1.28835125e-01 -4.29006555e-02 5.89424844e+02] [ 1.28782685e-01 9.91664791e-01 -3.99540370e-03 4.08617908e+01] [ 4.30578178e-02 -1.56646481e-03 9.99071354e-01 2.18175181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9850998929999 meters 0.015995721495982523 Centerline is valid? [True, True] Translation: X:589.48, Y:40.87, Z:21.82 [[ 9.91717014e-01 -1.20276979e-01 -4.50645472e-02 5.89484540e+02] [ 1.20210217e-01 9.92739582e-01 -4.19843397e-03 4.08709591e+01] [ 4.52423347e-02 -1.25356061e-03 9.98975255e-01 2.18184666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0450998929999 meters 0.01528435580328739 Centerline is valid? [True, True] Translation: X:589.54, Y:40.88, Z:21.82 [[ 9.92254127e-01 -1.14959704e-01 -4.70745489e-02 5.89542645e+02] [ 1.14880820e-01 9.93369595e-01 -4.38680640e-03 4.08791254e+01] [ 4.72667316e-02 -1.05513601e-03 9.98881746e-01 2.18179255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1050998929999 meters 0.013821386051031155 Centerline is valid? [True, True] Translation: X:589.60, Y:40.89, Z:21.82 [[ 9.93010583e-01 -1.08025371e-01 -4.75447361e-02 5.89602284e+02] [ 1.07936853e-01 9.94147869e-01 -4.43277561e-03 4.08873148e+01] [ 4.77453503e-02 -7.30036093e-04 9.98859274e-01 2.18193962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1650998929998 meters 0.012719732939229412 Centerline is valid? [True, True] Translation: X:589.66, Y:40.89, Z:21.82 [[ 9.93673048e-01 -1.02460069e-01 -4.59979203e-02 5.89660793e+02] [ 1.02371199e-01 9.94737018e-01 -4.28980055e-03 4.08937972e+01] [ 4.61953673e-02 -4.46203081e-04 9.98932325e-01 2.18230486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2250998929999 meters 0.012168251473956039 Centerline is valid? [True, True] Translation: X:589.72, Y:40.90, Z:21.83 [[ 9.94001455e-01 -9.90882761e-02 -4.62884607e-02 5.89718894e+02] [ 9.89943966e-02 9.95078606e-01 -4.32179884e-03 4.09004399e+01] [ 4.64888966e-02 -2.86423906e-04 9.98918766e-01 2.18263551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2850998929998 meters 0.011920386107348843 Centerline is valid? [True, True] Translation: X:589.78, Y:40.91, Z:21.83 [[ 9.94579198e-01 -9.28696528e-02 -4.67701374e-02 5.89776943e+02] [ 9.27663769e-02 9.95678275e-01 -4.37858179e-03 4.09086706e+01] [ 4.69746471e-02 1.61501760e-05 9.98896082e-01 2.18281342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3450998929999 meters 0.011955835951667479 Centerline is valid? [True, True] Translation: X:589.83, Y:40.92, Z:21.83 [[ 9.94862563e-01 -8.98110869e-02 -4.67166877e-02 5.89834817e+02] [ 8.97041156e-02 9.95958804e-01 -4.38550626e-03 4.09166543e+01] [ 4.69217635e-02 1.72296845e-04 9.98898553e-01 2.18303088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4050998929998 meters 0.01233449093571544 Centerline is valid? [True, True] Translation: X:589.89, Y:40.92, Z:21.83 [[ 9.95049698e-01 -8.74177042e-02 -4.72677907e-02 5.89892720e+02] [ 8.73049387e-02 9.96171700e-01 -4.44890848e-03 4.09232039e+01] [ 4.74757487e-02 3.00173470e-04 9.98872346e-01 2.18317221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4650998929999 meters 0.01234733177763566 Centerline is valid? [True, True] Translation: X:589.95, Y:40.93, Z:21.83 [[ 9.95134637e-01 -8.61974043e-02 -4.77185696e-02 5.89951231e+02] [ 8.60807851e-02 9.96278010e-01 -4.49735936e-03 4.09290335e+01] [ 4.79286222e-02 3.67826135e-04 9.98850695e-01 2.18348257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5250998929998 meters 0.012462819260110147 Centerline is valid? [True, True] Translation: X:590.01, Y:40.93, Z:21.84 [[ 9.95176695e-01 -8.58690907e-02 -4.74325237e-02 5.90008802e+02] [ 8.57528977e-02 9.96306351e-01 -4.48289539e-03 4.09344524e+01] [ 4.76422667e-02 3.93796673e-04 9.98864385e-01 2.18371583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5850998929999 meters 0.012863077717185593 Centerline is valid? [True, True] Translation: X:590.07, Y:40.94, Z:21.84 [[ 9.95252572e-01 -8.48210345e-02 -4.77253702e-02 5.90065941e+02] [ 8.47016283e-02 9.96396097e-01 -4.52242363e-03 4.09408498e+01] [ 4.79369693e-02 4.58537179e-04 9.98850257e-01 2.18393935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6450998929998 meters 0.013063725172523532 Centerline is valid? [True, True] Translation: X:590.12, Y:40.95, Z:21.84 [[ 9.95299675e-01 -8.40571397e-02 -4.80931924e-02 5.90124379e+02] [ 8.39346982e-02 9.96460808e-01 -4.56338016e-03 4.09460585e+01] [ 4.83065660e-02 5.05243198e-04 9.98832429e-01 2.18420849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7050998929999 meters 0.013194608477284594 Centerline is valid? [True, True] Translation: X:590.18, Y:40.95, Z:21.84 [[ 9.95340306e-01 -8.35040446e-02 -4.82156504e-02 5.90182624e+02] [ 8.33797421e-02 9.96507289e-01 -4.58712103e-03 4.09520321e+01] [ 4.84302902e-02 5.45537954e-04 9.98826416e-01 2.18441930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7650998929998 meters 0.01361423631020302 Centerline is valid? [True, True] Translation: X:590.24, Y:40.96, Z:21.85 [[ 9.95349884e-01 -8.30246765e-02 -4.88416964e-02 5.90240810e+02] [ 8.28959389e-02 9.96547318e-01 -4.65904096e-03 4.09577093e+01] [ 4.90598769e-02 5.88597592e-04 9.98795666e-01 2.18458365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8250998929999 meters 0.013926653649347693 Centerline is valid? [True, True] Translation: X:590.30, Y:40.96, Z:21.85 [[ 9.95460853e-01 -8.06826603e-02 -5.04777055e-02 5.90299238e+02] [ 8.05414815e-02 9.96739565e-01 -4.82803003e-03 4.09625262e+01] [ 5.07026645e-02 7.40565703e-04 9.98713518e-01 2.18487641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8850998929998 meters 0.01551319430970366 Centerline is valid? [True, True] Translation: X:590.36, Y:40.97, Z:21.85 [[ 9.95561755e-01 -7.85995596e-02 -5.17580941e-02 5.90356579e+02] [ 7.84477296e-02 9.96905881e-01 -4.96161699e-03 4.09706610e+01] [ 5.19879293e-02 8.79291151e-04 9.98647326e-01 2.18490161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9450998929999 meters 0.015234013161483623 Centerline is valid? [True, True] Translation: X:590.42, Y:40.97, Z:21.85 [[ 9.95649578e-01 -7.73437126e-02 -5.19602451e-02 5.90415534e+02] [ 7.71886132e-02 9.97004031e-01 -4.98810265e-03 4.09748999e+01] [ 5.21903722e-02 9.55663039e-04 9.98636697e-01 2.18534425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0050998929999 meters 0.01535851748051279 Centerline is valid? [True, True] Translation: X:590.47, Y:40.98, Z:21.86 [[ 9.95669916e-01 -7.78940009e-02 -5.07340354e-02 5.90474465e+02] [ 7.77462140e-02 9.96961224e-01 -4.88295805e-03 4.09799677e+01] [ 5.09602192e-02 9.17435254e-04 9.98700263e-01 2.18569506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0650998929999 meters 0.015328755354175525 Centerline is valid? [True, True] Translation: X:590.53, Y:40.98, Z:21.86 [[ 9.95682001e-01 -7.89424552e-02 -4.88409841e-02 5.90532944e+02] [ 7.88061735e-02 9.96878818e-01 -4.71269987e-03 4.09843206e+01] [ 4.90605746e-02 8.43379365e-04 9.98795449e-01 2.18620354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1250998929999 meters 0.015325343599452021 Centerline is valid? [True, True] Translation: X:590.59, Y:40.99, Z:21.87 [[ 9.95630687e-01 -7.92830303e-02 -4.93329214e-02 5.90590661e+02] [ 7.91437588e-02 9.96851785e-01 -4.77319111e-03 4.09891804e+01] [ 4.95560439e-02 8.47942711e-04 9.98770985e-01 2.18652329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1850998929999 meters 0.01579365367698318 Centerline is valid? [True, True] Translation: X:590.65, Y:41.00, Z:21.87 [[ 9.95580671e-01 -7.90352025e-02 -5.07204488e-02 5.90647878e+02] [ 7.88870235e-02 9.96871422e-01 -4.91988693e-03 4.09973276e+01] [ 5.09506102e-02 8.96959096e-04 9.98700771e-01 2.18659421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2450998929999 meters 0.015926748830749266 Centerline is valid? [True, True] Translation: X:590.71, Y:41.00, Z:21.87 [[ 9.95501048e-01 -7.79627757e-02 -5.38467267e-02 5.90706657e+02] [ 7.77937563e-02 9.96955750e-01 -5.23098965e-03 4.10034759e+01] [ 5.40906263e-02 1.01851655e-03 9.98535511e-01 2.18676127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3050998929999 meters 0.016654494063310838 Centerline is valid? [True, True] Translation: X:590.77, Y:41.01, Z:21.87 [[ 9.95609913e-01 -7.52913060e-02 -5.56068295e-02 5.90765489e+02] [ 7.51062745e-02 9.97160844e-01 -5.41283825e-03 4.10113651e+01] [ 5.58564927e-02 1.21265361e-03 9.98438071e-01 2.18689880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3650998929999 meters 0.017493025625618445 Centerline is valid? [True, True] Translation: X:590.82, Y:41.02, Z:21.87 [[ 9.95780852e-01 -7.16593130e-02 -5.73187345e-02 5.90824516e+02] [ 7.14565265e-02 9.97428094e-01 -5.58231306e-03 4.10195916e+01] [ 5.75713408e-02 1.46296279e-03 9.98340323e-01 2.18710987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4250998929999 meters 0.018156646657124655 Centerline is valid? [True, True] Translation: X:590.88, Y:41.03, Z:21.87 [[ 9.95916376e-01 -7.06474630e-02 -5.62095021e-02 5.90883025e+02] [ 7.04504986e-02 9.97500221e-01 -5.48047380e-03 4.10267997e+01] [ 5.64561724e-02 1.49810616e-03 9.98403954e-01 2.18738325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4850998929999 meters 0.018845158023334398 Centerline is valid? [True, True] Translation: X:590.94, Y:41.03, Z:21.88 [[ 9.96049210e-01 -7.01002911e-02 -5.45153286e-02 5.90939961e+02] [ 6.99136274e-02 9.97538831e-01 -5.32600810e-03 4.10347816e+01] [ 5.47545118e-02 1.49360180e-03 9.98498729e-01 2.18771276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5450998929999 meters 0.018893259683068306 Centerline is valid? [True, True] Translation: X:591.00, Y:41.04, Z:21.88 [[ 9.96311603e-01 -6.85075948e-02 -5.16710587e-02 5.90997326e+02] [ 6.83373963e-02 9.97649458e-01 -5.05551719e-03 4.10410365e+01] [ 5.18959451e-02 1.50580481e-03 9.98651362e-01 2.18829877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6050998929999 meters 0.019981803355894598 Centerline is valid? [True, True] Translation: X:591.05, Y:41.05, Z:21.89 [[ 9.96422901e-01 -6.71759736e-02 -5.12717436e-02 5.91054663e+02] [ 6.70060194e-02 9.97739900e-01 -5.02844256e-03 4.10483624e+01] [ 5.14936548e-02 1.57493988e-03 9.98672080e-01 2.18850315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6650998929998 meters 0.020871864752487892 Centerline is valid? [True, True] Translation: X:591.11, Y:41.06, Z:21.89 [[ 9.96468527e-01 -6.58502855e-02 -5.20981321e-02 5.91112834e+02] [ 6.56726225e-02 9.97828105e-01 -5.11657788e-03 4.10557899e+01] [ 5.23219085e-02 1.67708786e-03 9.98628863e-01 2.18857792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7250998929999 meters 0.021878748884313133 Centerline is valid? [True, True] Translation: X:591.17, Y:41.06, Z:21.88 [[ 9.96483491e-01 -6.30275546e-02 -5.52103263e-02 5.91171929e+02] [ 6.28230851e-02 9.98009891e-01 -5.43296446e-03 4.10632559e+01] [ 5.54428782e-02 1.94537636e-03 9.98459966e-01 2.18848253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7850998929998 meters 0.02137004531427686 Centerline is valid? [True, True] Translation: X:591.23, Y:41.07, Z:21.89 [[ 9.96420867e-01 -6.26390412e-02 -5.67609539e-02 5.91230556e+02] [ 6.24218784e-02 9.98034184e-01 -5.59261485e-03 4.10682560e+01] [ 5.69996883e-02 2.02947278e-03 9.98372133e-01 2.18861286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8450998929999 meters 0.021980231249018743 Centerline is valid? [True, True] Translation: X:591.29, Y:41.07, Z:21.89 [[ 9.96410179e-01 -6.35086592e-02 -5.59768293e-02 5.91287925e+02] [ 6.32982096e-02 9.97979356e-01 -5.52640218e-03 4.10741267e+01] [ 5.62146944e-02 1.96333032e-03 9.98416773e-01 2.18882537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9050998929998 meters 0.022706919224826438 Centerline is valid? [True, True] Translation: X:591.35, Y:41.08, Z:21.89 [[ 9.96423542e-01 -6.48339633e-02 -5.41911605e-02 5.91345268e+02] [ 6.46384398e-02 9.97894382e-01 -5.35483241e-03 4.10803667e+01] [ 5.44242296e-02 1.83284901e-03 9.98516221e-01 2.18915162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9650998929999 meters 0.022235572535310826 Centerline is valid? [True, True] Translation: X:591.40, Y:41.08, Z:21.90 [[ 9.96527660e-01 -6.48997741e-02 -5.21597732e-02 5.91404194e+02] [ 6.47183788e-02 9.97890222e-01 -5.16097580e-03 4.10849466e+01] [ 5.23846738e-02 1.76735917e-03 9.98625416e-01 2.18963250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0250998929998 meters 0.023537520716809198 Centerline is valid? [True, True] Translation: X:591.46, Y:41.09, Z:21.90 [[ 9.96674877e-01 -6.22073028e-02 -5.26254887e-02 5.91462656e+02] [ 6.20183696e-02 9.98061372e-01 -5.21715132e-03 4.10934050e+01] [ 5.28480124e-02 1.93605664e-03 9.98600691e-01 2.18983793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0850998929999 meters 0.02445704725473566 Centerline is valid? [True, True] Translation: X:591.52, Y:41.10, Z:21.90 [[ 9.96918863e-01 -5.66368266e-02 -5.42683234e-02 5.91522074e+02] [ 5.64275390e-02 9.98392189e-01 -5.38227864e-03 4.11033186e+01] [ 5.44859054e-02 2.30346716e-03 9.98511883e-01 2.19005783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1450998929998 meters 0.025368422427885694 Centerline is valid? [True, True] Translation: X:591.58, Y:41.11, Z:21.90 [[ 9.97015009e-01 -5.57420595e-02 -5.34218485e-02 5.91580964e+02] [ 5.55377278e-02 9.98442507e-01 -5.30295177e-03 4.11092292e+01] [ 5.36342418e-02 2.32019443e-03 9.98557953e-01 2.19032364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2050998929999 meters 0.02587081976943425 Centerline is valid? [True, True] Translation: X:591.64, Y:41.11, Z:21.91 [[ 9.97040381e-01 -5.69577902e-02 -5.16361106e-02 5.91639797e+02] [ 5.67678729e-02 9.98374181e-01 -5.13837046e-03 4.11142737e+01] [ 5.18448299e-02 2.19189068e-03 9.98652747e-01 2.19065642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2650998929998 meters 0.026119766469015912 Centerline is valid? [True, True] Translation: X:591.70, Y:41.12, Z:21.91 [[ 9.97002174e-01 -5.92636828e-02 -4.97441628e-02 5.91698336e+02] [ 5.90897043e-02 9.98240344e-01 -4.96209930e-03 4.11181048e+01] [ 4.99507025e-02 2.00785592e-03 9.98749666e-01 2.19095135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3250998929999 meters 0.026501980820391777 Centerline is valid? [True, True] Translation: X:591.76, Y:41.12, Z:21.91 [[ 9.97012135e-01 -6.04738830e-02 -4.80594723e-02 5.91757053e+02] [ 6.03123567e-02 9.98167986e-01 -4.80534779e-03 4.11239056e+01] [ 4.82620247e-02 1.89241002e-03 9.98832917e-01 2.19120102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3850998929998 meters 0.02404248873773394 Centerline is valid? [True, True] Translation: X:591.82, Y:41.12, Z:21.91 [[ 9.96848940e-01 -6.43478505e-02 -4.63847402e-02 5.91816777e+02] [ 6.42011339e-02 9.97926157e-01 -4.64745200e-03 4.11237263e+01] [ 4.65875991e-02 1.65485469e-03 9.98912838e-01 2.19137313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4450998929999 meters 0.02291185572194217 Centerline is valid? [True, True] Translation: X:591.88, Y:41.13, Z:21.92 [[ 9.96675503e-01 -6.82419187e-02 -4.45082347e-02 5.91876921e+02] [ 6.81106436e-02 9.97667800e-01 -4.46108356e-03 4.11259766e+01] [ 4.47088655e-02 1.41476819e-03 9.98999057e-01 2.19167764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5050998929999 meters 0.020981689252570476 Centerline is valid? [True, True] Translation: X:591.94, Y:41.13, Z:21.92 [[ 9.96265566e-01 -7.48336091e-02 -4.30680095e-02 5.91937229e+02] [ 7.47167702e-02 9.97195445e-01 -4.31848911e-03 4.11265358e+01] [ 4.32703910e-02 1.08445942e-03 9.99062809e-01 2.19193020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5650998929999 meters 0.021146758914920218 Centerline is valid? [True, True] Translation: X:591.99, Y:41.13, Z:21.92 [[ 9.96168380e-01 -7.63166732e-02 -4.27121173e-02 5.91994920e+02] [ 7.62030710e-02 9.97083116e-01 -4.28394791e-03 4.11327520e+01] [ 4.29144676e-02 1.01273894e-03 9.99078237e-01 2.19210474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6250998929999 meters 0.020240512423021412 Centerline is valid? [True, True] Translation: X:592.05, Y:41.14, Z:21.92 [[ 9.95964197e-01 -7.91457259e-02 -4.23234374e-02 5.92053612e+02] [ 7.90365423e-02 9.96862662e-01 -4.24948156e-03 4.11355672e+01] [ 4.25269828e-02 8.87233340e-04 9.99094925e-01 2.19235850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6850998929999 meters 0.01942134474151081 Centerline is valid? [True, True] Translation: X:592.11, Y:41.14, Z:21.93 [[ 9.95618532e-01 -8.45047647e-02 -4.00335382e-02 5.92112100e+02] [ 8.44110488e-02 9.96422875e-01 -4.02852687e-03 4.11393267e+01] [ 4.02307629e-02 6.31603064e-04 9.99190216e-01 2.19259507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7450998929999 meters 0.01892492569143827 Centerline is valid? [True, True] Translation: X:592.17, Y:41.14, Z:21.93 [[ 9.95442448e-01 -8.69374763e-02 -3.91944833e-02 5.92170536e+02] [ 8.68494105e-02 9.96213631e-01 -3.94721829e-03 4.11447534e+01] [ 3.93892398e-02 5.25210862e-04 9.99223805e-01 2.19279587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8050998929999 meters 0.01934161567321572 Centerline is valid? [True, True] Translation: X:592.23, Y:41.15, Z:21.93 [[ 9.95428199e-01 -8.66830704e-02 -4.01091786e-02 5.92228386e+02] [ 8.65902364e-02 9.96235782e-01 -4.04928253e-03 4.11527214e+01] [ 4.03092032e-02 5.57706759e-04 9.99187098e-01 2.19280436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8650998929999 meters 0.019637029541147218 Centerline is valid? [True, True] Translation: X:592.29, Y:41.16, Z:21.93 [[ 9.95467088e-01 -8.52967269e-02 -4.20683479e-02 5.92287290e+02] [ 8.51931592e-02 9.96355382e-01 -4.25181586e-03 4.11602693e+01] [ 4.22776908e-02 6.48607291e-04 9.99105688e-01 2.19285490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9250998929999 meters 0.01964940758603708 Centerline is valid? [True, True] Translation: X:592.35, Y:41.17, Z:21.93 [[ 9.95404034e-01 -8.57224760e-02 -4.26903548e-02 5.92345404e+02] [ 8.56157375e-02 9.96318841e-01 -4.32574323e-03 4.11668644e+01] [ 4.29040182e-02 6.50896051e-04 9.99078987e-01 2.19295720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9850998929999 meters 0.019318689529923057 Centerline is valid? [True, True] Translation: X:592.40, Y:41.17, Z:21.93 [[ 9.95272837e-01 -8.61635980e-02 -4.48086315e-02 5.92403819e+02] [ 8.60458486e-02 9.96280772e-01 -4.55358802e-03 4.11738349e+01] [ 4.50343315e-02 6.76465750e-04 9.98985211e-01 2.19292727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0450998929999 meters 0.019378979041098882 Centerline is valid? [True, True] Translation: X:592.46, Y:41.18, Z:21.93 [[ 9.95082791e-01 -8.77047976e-02 -4.60228996e-02 5.92461096e+02] [ 8.75817296e-02 9.96146308e-01 -4.68763008e-03 4.11804858e+01] [ 4.62566691e-02 6.33814878e-04 9.98929386e-01 2.19294879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1050998929999 meters 0.018450718066557383 Centerline is valid? [True, True] Translation: X:592.52, Y:41.18, Z:21.93 [[ 9.94562525e-01 -9.33460087e-02 -4.61725812e-02 5.92519741e+02] [ 9.32279439e-02 9.95633657e-01 -4.70861178e-03 4.11832598e+01] [ 4.64105060e-02 3.78434010e-04 9.98922380e-01 2.19326194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1650998929998 meters 0.01817747784438819 Centerline is valid? [True, True] Translation: X:592.58, Y:41.19, Z:21.93 [[ 9.94190710e-01 -9.74294818e-02 -4.57419705e-02 5.92577965e+02] [ 9.73173844e-02 9.95242411e-01 -4.67651320e-03 4.11881706e+01] [ 4.59799792e-02 1.97857059e-04 9.98942342e-01 2.19343799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2250998929999 meters 0.01800307704138085 Centerline is valid? [True, True] Translation: X:592.64, Y:41.19, Z:21.94 [[ 9.93907162e-01 -1.00299330e-01 -4.57011737e-02 5.92636145e+02] [ 1.00189908e-01 9.94957305e-01 -4.68442394e-03 4.11935649e+01] [ 4.59405612e-02 7.70861060e-05 9.98944172e-01 2.19364209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2850998929998 meters 0.019052000896152176 Centerline is valid? [True, True] Translation: X:592.69, Y:41.20, Z:21.94 [[ 9.93833543e-01 -1.00069203e-01 -4.77602612e-02 5.92693219e+02] [ 9.99488246e-02 9.94980474e-01 -4.90802665e-03 4.12009033e+01] [ 4.80116696e-02 1.04179552e-04 9.98846769e-01 2.19357038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3450998929999 meters 0.018478968490647996 Centerline is valid? [True, True] Translation: X:592.75, Y:41.21, Z:21.94 [[ 9.94230153e-01 -9.54833878e-02 -4.88807288e-02 5.92751201e+02] [ 9.53514321e-02 9.95430966e-01 -5.02962897e-03 4.12097484e+01] [ 4.91376371e-02 3.39761286e-04 9.98791959e-01 2.19367163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4050998929998 meters 0.018864744902774483 Centerline is valid? [True, True] Translation: X:592.81, Y:41.22, Z:21.94 [[ 9.94567556e-01 -9.17047875e-02 -4.92504618e-02 5.92809694e+02] [ 9.15655732e-02 9.95786090e-01 -5.08022565e-03 4.12169282e+01] [ 4.95088058e-02 5.42980842e-04 9.98773540e-01 2.19394028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4650998929999 meters 0.020351388287345548 Centerline is valid? [True, True] Translation: X:592.87, Y:41.22, Z:21.95 [[ 9.94880214e-01 -9.08704761e-02 -4.42257534e-02 5.92867303e+02] [ 9.07570018e-02 9.95862577e-01 -4.57111944e-03 4.12188210e+01] [ 4.44581525e-02 5.33919503e-04 9.99011105e-01 2.19478612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4210.30 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%| | 0/19684 [00:00