+ python -m lidar_slam --no-model /working/035f4c62-adef-46b1-830d-305987fb65a8 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/035f4c62-adef-46b1-830d-305987fb65a8 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 0.016875 Adjusted end_distance from 9.223372036854776e+18 to 565.876875 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.016875 meters 0.16288847575233611 Centerline is valid? [0, False] SLAMing on 0.076875 meters 0.18938496046167239 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 0.99997477 -0.00514792 0.00489416 0.01194902] [ 0.00516062 0.99998334 -0.00258562 -0.00802528] [-0.00488077 0.00261081 0.99998468 0.0016758 ] [ 0. 0. 0. 1. ]] SLAMing on 0.136875 meters 0.19804248650553063 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.01 [[ 9.99998018e-01 -8.36825046e-04 1.80638078e-03 6.99543873e-03] [ 8.68096961e-04 9.99848560e-01 -1.73811213e-02 -2.77815373e-03] [-1.79156226e-03 1.73826550e-02 9.99847305e-01 6.99326448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.196875 meters 0.20922738688412035 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.01 [[ 9.99997083e-01 2.21125987e-03 9.71976768e-04 8.99230966e-03] [-2.19485614e-03 9.99860372e-01 -1.65655998e-02 4.71069251e-03] [-1.00847190e-03 1.65634181e-02 9.99862309e-01 5.16835182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25687499999999996 meters 0.20176454186070716 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:0.00 [[ 0.99992752 -0.00950614 0.00738902 0.07387057] [ 0.00957751 0.99990724 -0.00968413 0.01882942] [-0.00729627 0.00975419 0.99992581 0.00164568] [ 0. 0. 0. 1. ]] SLAMing on 0.316875 meters 0.23919464641228616 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:0.02 [[ 0.99967731 -0.02533063 -0.00190879 0.1066327 ] [ 0.02535014 0.99961807 0.01100425 0.01805836] [ 0.00162932 -0.01104909 0.99993763 0.0174611 ] [ 0. 0. 0. 1. ]] SLAMing on 0.37687499999999996 meters 0.25605283377147037 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.02 [[ 0.99931982 -0.03685224 -0.00134869 0.17564175] [ 0.03685996 0.99930104 0.00622771 0.02133344] [ 0.00111824 -0.00627318 0.9999797 0.01870134] [ 0. 0. 0. 1. ]] SLAMing on 0.436875 meters 0.2663651940265956 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:0.03 [[ 0.99838792 -0.05478821 -0.01482595 0.25774042] [ 0.0550322 0.99834687 0.01658238 0.01679311] [ 0.01389293 -0.01737156 0.99975258 0.02997734] [ 0. 0. 0. 1. ]] SLAMing on 0.49687499999999996 meters 0.2765241326053833 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:0.04 [[ 0.99857148 -0.05113139 -0.01551085 0.32807518] [ 0.05138806 0.99854035 0.01662649 0.0219603 ] [ 0.01463807 -0.01739981 0.99974145 0.03713205] [ 0. 0. 0. 1. ]] SLAMing on 0.556875 meters 0.2584753836248428 Centerline is valid? [False, False] Translation: X:0.35, Y:0.08, Z:0.04 [[ 0.99933768 0.03398567 -0.01300666 0.34525252] [-0.03376593 0.99928928 0.01675687 0.07510632] [ 0.01356691 -0.01630659 0.99977499 0.04340435] [ 0. 0. 0. 1. ]] SLAMing on 0.616875 meters 0.22639895768781657 Centerline is valid? [False, False] Translation: X:0.33, Y:0.13, Z:0.04 [[ 0.99481904 0.1014599 -0.00640042 0.32729292] [-0.10133807 0.99470467 0.01712337 0.13307724] [ 0.00810387 -0.01638605 0.9998329 0.03876611] [ 0. 0. 0. 1. ]] SLAMing on 0.6768749999999999 meters 0.1854588947250986 Centerline is valid? [False, False] Translation: X:0.30, Y:0.16, Z:0.04 [[ 0.99671843 0.08017785 0.01112988 0.29959804] [-0.08032822 0.99667303 0.01379314 0.15560739] [-0.00998694 -0.01464192 0.99984293 0.03997831] [ 0. 0. 0. 1. ]] SLAMing on 0.736875 meters 0.12883078634860734 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:0.04 [[ 0.9978691 -0.06448602 -0.00994081 0.34139793] [ 0.0647879 0.99732546 0.03382967 0.12508232] [ 0.00773268 -0.03440162 0.99937817 0.04244724] [ 0. 0. 0. 1. ]] SLAMing on 0.796875 meters 0.0987095749886737 Centerline is valid? [False, True] Translation: X:0.33, Y:0.06, Z:0.07 [[ 0.98921054 -0.14492554 -0.02142649 0.32795347] [ 0.14564395 0.98864531 0.03699051 0.06412606] [ 0.01582233 -0.03971205 0.99908589 0.06954967] [ 0. 0. 0. 1. ]] SLAMing on 0.8568749999999999 meters 0.06829821994113788 Centerline is valid? [True, True] Translation: X:0.39, Y:0.05, Z:0.07 [[ 0.98650836 -0.16126508 -0.02819261 0.38913285] [ 0.16127596 0.98690752 -0.00190257 0.04985466] [ 0.02813031 -0.00266989 0.9996007 0.07082723] [ 0. 0. 0. 1. ]] SLAMing on 0.9168749999999999 meters 0.06707179546001564 Centerline is valid? [True, True] Translation: X:0.45, Y:0.09, Z:0.08 [[ 0.9923727 -0.11743072 -0.03750256 0.44537812] [ 0.11741866 0.99307928 -0.0025315 0.09374365] [ 0.03754029 -0.00189131 0.99929332 0.08307017] [ 0. 0. 0. 1. ]] SLAMing on 0.9768749999999999 meters 0.0532138276038303 Centerline is valid? [True, True] Translation: X:0.50, Y:0.20, Z:0.06 [[ 0.99818317 -0.03335985 -0.0501744 0.49540327] [ 0.03323145 0.99944193 -0.00339121 0.20302894] [ 0.05025953 0.00171768 0.99873471 0.0610002 ] [ 0. 0. 0. 1. ]] SLAMing on 1.036875 meters 0.05717760612339873 Centerline is valid? [True, True] Translation: X:0.56, Y:0.11, Z:0.09 [[ 9.94448862e-01 -1.01955054e-01 -2.60120849e-02 5.61638797e-01] [ 1.01943907e-01 9.94788596e-01 -1.75773611e-03 1.12064162e-01] [ 2.60557355e-02 -9.03794906e-04 9.99660083e-01 9.09564282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.096875 meters 0.06277818724815441 Centerline is valid? [True, True] Translation: X:0.63, Y:0.02, Z:0.09 [[ 0.99079665 -0.13255763 -0.02739478 0.62809501] [ 0.13255688 0.99117367 -0.00185142 0.02136046] [ 0.02739841 -0.00179698 0.99962298 0.08684981] [ 0. 0. 0. 1. ]] SLAMing on 1.1568749999999999 meters 0.03180581673129499 Centerline is valid? [True, True] Translation: X:0.69, Y:0.05, Z:0.10 [[ 9.96044253e-01 -8.65568854e-02 -2.00935846e-02 6.87374673e-01] [ 8.65470890e-02 9.96246835e-01 -1.35827455e-03 4.54338191e-02] [ 2.01357381e-02 -3.86139694e-04 9.99797181e-01 9.55538643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.216875 meters 0.038558986174791435 Centerline is valid? [True, True] Translation: X:0.74, Y:0.08, Z:0.08 [[ 9.98758263e-01 -4.03540110e-02 -2.92144741e-02 7.44904051e-01] [ 4.03134834e-02 9.99185129e-01 -1.97515013e-03 7.86951041e-02] [ 2.92703733e-02 7.94960295e-04 9.99571215e-01 8.10303781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.276875 meters 0.045761118936129955 Centerline is valid? [True, True] Translation: X:0.80, Y:0.09, Z:0.10 [[ 9.99707512e-01 -1.93441653e-02 -1.45153181e-02 8.04662276e-01] [ 1.93319494e-02 9.99812639e-01 -9.81443487e-04 8.86325091e-02] [ 1.45315837e-02 7.00547032e-04 9.99894166e-01 9.52412687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3368749999999998 meters 0.02660423164636466 Centerline is valid? [True, True] Translation: X:0.87, Y:0.01, Z:0.12 [[ 9.97809966e-01 -6.60773108e-02 3.01026963e-03 8.70868463e-01] [ 6.60769976e-02 9.97814506e-01 2.03489947e-04 1.33549059e-02] [-3.01713677e-03 -4.13471836e-06 9.99995448e-01 1.22774886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3968749999999999 meters 0.028223860527514077 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.02, Z:0.12 [[ 9.96049466e-01 -8.86606204e-02 4.97557157e-03 9.33325078e-01] [ 8.86600460e-02 9.96061887e-01 3.36316416e-04 -2.06750250e-02] [-4.98579523e-03 1.06146618e-04 9.99987565e-01 1.19693951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.456875 meters 0.026118301205721745 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.00, Z:0.11 [[ 9.98350475e-01 -5.73763116e-02 -2.07091650e-03 9.89922411e-01] [ 5.73761422e-02 9.98352622e-01 -1.41128592e-04 -1.52045329e-03] [ 2.07560235e-03 2.20745968e-05 9.99997846e-01 1.06572330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.516875 meters 0.037482901044357295 Centerline is valid? [True, True] Translation: X:1.05, Y:0.05, Z:0.11 [[ 9.99428602e-01 -3.38004191e-02 3.82603952e-05 1.04670902e+00] [ 3.38004190e-02 9.99428603e-01 2.52627365e-06 5.15488405e-02] [-3.83239225e-05 -1.23161274e-06 9.99999999e-01 1.05766605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.576875 meters 0.03322616573309073 Centerline is valid? [True, True] Translation: X:1.11, Y:0.06, Z:0.11 [[ 9.99282445e-01 -3.78641395e-02 9.49430089e-04 1.10584188e+00] [ 3.78640957e-02 9.99282896e-01 6.40182012e-05 5.93339305e-02] [-9.51173243e-04 -2.80229529e-05 9.99999547e-01 1.06698796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6368749999999999 meters 0.037538218119484504 Centerline is valid? [True, True] Translation: X:1.17, Y:0.06, Z:0.10 [[ 9.99433762e-01 -3.36362172e-02 -8.71679492e-04 1.16552897e+00] [ 3.36361783e-02 9.99434142e-01 -5.92129802e-05 6.05221622e-02] [ 8.73177945e-04 2.98594848e-05 9.99999618e-01 9.85888707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.696875 meters 0.030725335477241555 Centerline is valid? [True, True] Translation: X:1.23, Y:0.03, Z:0.09 [[ 9.99597203e-01 -2.46984745e-02 -1.39791921e-02 1.22831862e+00] [ 2.46876366e-02 9.99694765e-01 -9.47350236e-04 3.10587782e-02] [ 1.39983232e-02 6.01855432e-04 9.99901838e-01 9.12031695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.756875 meters 0.030567148408466 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.02, Z:0.10 [[ 9.99612416e-01 -2.77407002e-02 -2.33923484e-03 1.29226650e+00] [ 2.77404038e-02 9.99615148e-01 -1.59065589e-04 -1.62348201e-02] [ 2.34274718e-03 9.41126182e-05 9.99997251e-01 9.94303057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8168749999999998 meters 0.03073406508081909 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.02, Z:0.10 [[ 9.99523965e-01 -3.06032025e-02 -3.90992735e-03 1.35046028e+00] [ 3.06023941e-02 9.99531602e-01 -2.66408421e-04 -1.60060144e-02] [ 3.91624889e-03 1.46628464e-04 9.99992321e-01 9.57333604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8768749999999998 meters 0.030674653156420633 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.02, Z:0.09 [[ 9.99481399e-01 -3.19884724e-02 -3.69745582e-03 1.40947766e+00] [ 3.19877494e-02 9.99488229e-01 -2.54513556e-04 -1.50866883e-02] [ 3.70370507e-03 1.36108275e-04 9.99993132e-01 9.04453959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.936875 meters 0.029853428264967636 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.02, Z:0.09 [[ 9.99496076e-01 -3.16338272e-02 -2.62591673e-03 1.46741240e+00] [ 3.16334562e-02 9.99499520e-01 -1.82702894e-04 -1.58396725e-02] [ 2.63038210e-03 9.95440040e-05 9.99996536e-01 9.08466299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.996875 meters 0.03397730942650811 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.02, Z:0.11 [[ 9.99670814e-01 -2.36282917e-02 9.99834284e-03 1.52765315e+00] [ 2.36226309e-02 9.99720713e-01 6.83907372e-04 -2.11502888e-02] [-1.00117100e-02 -4.47495077e-04 9.99949781e-01 1.09038663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0568750000000002 meters 0.03597221229533564 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.03, Z:0.10 [[ 9.99628729e-01 -2.39800465e-02 1.29368356e-02 1.58589748e+00] [ 2.39705908e-02 9.99712272e-01 8.85499764e-04 -2.60655842e-02] [-1.29543477e-02 -5.75067409e-04 9.99915924e-01 1.00152590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1168750000000003 meters 0.042004069124064077 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.17, Z:0.09 [[ 9.99944918e-01 -1.72303660e-04 1.04943434e-02 1.65677430e+00] [ 1.64766667e-04 9.99999728e-01 7.19056096e-04 -1.71803710e-01] [-1.04944645e-02 -7.17287371e-04 9.99944674e-01 9.09244714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1768750000000003 meters 0.041216245430234257 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.11, Z:0.10 [[ 0.99964524 -0.00310382 0.02645307 1.71461333] [ 0.00305696 0.99999369 0.00181189 -0.10827115] [-0.02645853 -0.00173038 0.99964841 0.1001151 ] [ 0. 0. 0. 1. ]] SLAMing on 2.236875 meters 0.035877995226714615 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.10, Z:0.09 [[ 9.99831253e-01 -7.54876148e-03 1.67475887e-02 1.77455594e+00] [ 7.53060768e-03 9.99970987e-01 1.14676521e-03 -9.82317581e-02] [-1.67557594e-02 -1.02045217e-03 9.99859092e-01 8.60867225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.296875 meters 0.026925990588012757 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.10, Z:0.08 [[ 9.99794197e-01 -1.61603670e-02 1.22639989e-02 1.83489254e+00] [ 1.61512783e-02 9.99869207e-01 8.39774765e-04 -9.78800721e-02] [-1.22759659e-02 -6.41522677e-04 9.99924442e-01 8.04984451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.356875 meters 0.02510462634357901 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.09, Z:0.08 [[ 9.99702410e-01 -2.17175980e-02 1.11102211e-02 1.89506983e+00] [ 2.17104807e-02 9.99764010e-01 7.60826685e-04 -9.44254364e-02] [-1.11241226e-02 -5.19392029e-04 9.99937990e-01 7.95279288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.416875 meters 0.027729652280827057 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.09, Z:0.08 [[ 9.99629388e-01 -2.41058165e-02 1.26489469e-02 1.95391685e+00] [ 2.40967790e-02 9.99709255e-01 8.66428097e-04 -8.69985698e-02] [-1.26661552e-02 -5.61308112e-04 9.99919623e-01 8.16729571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.476875 meters 0.023488949683626487 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.09, Z:0.09 [[ 9.99364613e-01 -3.05384251e-02 1.83786285e-02 2.01466700e+00] [ 3.05203942e-02 9.99533349e-01 1.26082920e-03 -9.04209307e-02] [-1.84085558e-02 -6.99105096e-04 9.99830304e-01 8.69804646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.536875 meters 0.023180941425688717 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.10, Z:0.10 [[ 9.98728293e-01 -4.07443496e-02 2.96933337e-02 2.07530640e+00] [ 4.07017625e-02 9.99169263e-01 2.03749085e-03 -9.53920340e-02] [-2.97516825e-02 -8.26328746e-04 9.99556979e-01 9.56367927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5968750000000003 meters 0.022503343275179288 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.10, Z:0.10 [[ 9.98483348e-01 -4.35753505e-02 3.36480826e-02 2.13489679e+00] [ 4.35220648e-02 9.99049784e-01 2.31476805e-03 -9.86444446e-02] [-3.37169765e-02 -8.46823325e-04 9.99431062e-01 9.67567443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.656875 meters 0.023786334147281478 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.09, Z:0.09 [[ 9.98835127e-01 -3.84422431e-02 2.91647676e-02 2.19295546e+00] [ 3.83999115e-02 9.99260429e-01 2.01036720e-03 -9.29675051e-02] [-2.92204812e-02 -8.88100885e-04 9.99572596e-01 8.67054330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.716875 meters 0.024820043796822285 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.09, Z:0.08 [[ 9.99016447e-01 -3.65033979e-02 2.51722114e-02 2.25074075e+00] [ 3.64711287e-02 9.99333192e-01 1.74000178e-03 -8.74936178e-02] [-2.52189423e-02 -8.20231432e-04 9.99681615e-01 8.07295693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.776875 meters 0.022654362976415446 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.09, Z:0.08 [[ 9.98789390e-01 -4.47244603e-02 2.04811587e-02 2.31172368e+00] [ 4.47047728e-02 9.98999235e-01 1.41832120e-03 -8.90018290e-02] [-2.05240955e-02 -5.00998623e-04 9.99789233e-01 7.51194279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.836875 meters 0.01766175314424788 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.10, Z:0.07 [[ 9.97471805e-01 -6.80367338e-02 2.05183197e-02 2.37325584e+00] [ 6.80218972e-02 9.97682817e-01 1.42095659e-03 -9.94995441e-02] [-2.05674522e-02 -2.16691025e-05 9.99788467e-01 7.42628561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.896875 meters 0.02022825155707295 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.10, Z:0.08 [[ 9.96330286e-01 -8.32430280e-02 1.99138066e-02 2.43318108e+00] [ 8.32320791e-02 9.96529236e-01 1.37944160e-03 -1.00492145e-01] [-1.99595194e-02 2.83088091e-04 9.99800749e-01 7.61262773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.956875 meters 0.017002885665367774 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.07, Z:0.09 [[ 9.97467236e-01 -6.66086683e-02 2.49479253e-02 2.48969306e+00] [ 6.65862182e-02 9.97779175e-01 1.73044678e-03 -7.32310504e-02] [-2.50077831e-02 -6.48759638e-05 9.99687254e-01 8.53433972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.016875 meters 0.02633882378442023 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.04, Z:0.08 [[ 9.98971630e-01 -3.86103068e-02 2.37681944e-02 2.54772286e+00] [ 3.85819664e-02 9.99254077e-01 1.64995991e-03 -3.65129419e-02] [-2.38141706e-02 -7.31239464e-04 9.99716135e-01 8.31596176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0768750000000002 meters 0.027546306546529183 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.01, Z:0.08 [[ 9.99319370e-01 -2.68826023e-02 2.52610686e-02 2.60602725e+00] [ 2.68468414e-02 9.99638020e-01 1.75379336e-03 -1.48673161e-02] [-2.52990712e-02 -1.07441977e-03 9.99679350e-01 8.26407442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1368750000000003 meters 0.02598518400655094 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.01, Z:0.07 [[ 9.99550652e-01 -2.48474221e-02 1.67660218e-02 2.66519625e+00] [ 2.48313598e-02 9.99690975e-01 1.16555395e-03 -1.40692817e-02] [-1.67898017e-02 -7.48707086e-04 9.99858761e-01 7.15300475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.196875 meters 0.024181885048798202 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.02, Z:0.07 [[ 9.99393551e-01 -3.20420601e-02 1.36322174e-02 2.72552070e+00] [ 3.20320781e-02 9.99486390e-01 9.50011499e-04 -2.47698677e-02] [-1.36556561e-02 -5.12767113e-04 9.99906626e-01 6.58151563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.256875 meters 0.02098297415332148 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.04, Z:0.07 [[ 9.99164054e-01 -3.87333786e-02 1.30736148e-02 2.78724768e+00] [ 3.87247668e-02 9.99249499e-01 9.11317771e-04 -3.83123232e-02] [-1.30991015e-02 -4.04283272e-04 9.99914121e-01 6.83794953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.316875 meters 0.019457805955143674 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.05, Z:0.07 [[ 9.98950028e-01 -4.35781412e-02 1.41346207e-02 2.84863905e+00] [ 4.35685575e-02 9.99049954e-01 9.85397917e-04 -5.20938947e-02] [-1.41641340e-02 -3.68538242e-04 9.99899616e-01 6.71723490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.376875 meters 0.022726038341803374 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.05, Z:0.07 [[ 9.99342320e-01 -3.41083360e-02 1.23105314e-02 2.90917572e+00] [ 3.41003462e-02 9.99418045e-01 8.58399917e-04 -5.41363409e-02] [-1.23326458e-02 -4.38041980e-04 9.99923854e-01 6.65357217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.436875 meters 0.026005721151447326 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.05, Z:0.07 [[ 9.99625671e-01 -2.24574848e-02 1.56262391e-02 2.96976104e+00] [ 2.24431896e-02 9.99747526e-01 1.08960348e-03 -5.12661135e-02] [-1.56467636e-02 -7.38492959e-04 9.99877309e-01 6.91224258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.496875 meters 0.027842471675992363 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.05, Z:0.07 [[ 9.99427723e-01 -2.66124824e-02 2.08806663e-02 3.02866255e+00] [ 2.65878498e-02 9.99645420e-01 1.45646582e-03 -5.30110822e-02] [-2.09120226e-02 -9.00460301e-04 9.99780914e-01 7.45482333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5568750000000002 meters 0.020753894322857538 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.07, Z:0.07 [[ 9.99062022e-01 -3.93749270e-02 1.80192194e-02 3.08973194e+00] [ 3.93586443e-02 9.99224357e-01 1.25751042e-03 -6.75501297e-02] [-1.80547573e-02 -5.47118852e-04 9.99836850e-01 6.72514974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.616875 meters 0.020003666068157937 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.07, Z:0.07 [[ 9.99036737e-01 -4.02926527e-02 1.73810225e-02 3.14936699e+00] [ 4.02776107e-02 9.99187789e-01 1.21475788e-03 -6.98850171e-02] [-1.74158513e-02 -5.13521693e-04 9.99848201e-01 6.74504806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.676875 meters 0.02255094662331251 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.07, Z:0.06 [[ 9.99338588e-01 -3.34792782e-02 1.41959355e-02 3.20958517e+00] [ 3.34685246e-02 9.99439277e-01 9.94477052e-04 -6.66019189e-02] [-1.42212699e-02 -5.18702278e-04 9.99898738e-01 6.22596040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.736875 meters 0.02589464656072889 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.06, Z:0.06 [[ 9.99558882e-01 -2.80869460e-02 9.65215579e-03 3.26877597e+00] [ 2.80817230e-02 9.99605402e-01 6.76252340e-04 -6.30241050e-02] [-9.66734093e-03 -4.04904868e-04 9.99953188e-01 5.73199950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.796875 meters 0.028816053540319297 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.06, Z:0.06 [[ 9.99805727e-01 -1.72013738e-02 9.62392860e-03 3.32899037e+00] [ 1.71956743e-02 9.99851916e-01 6.74652124e-04 -5.95963219e-02] [-9.63410839e-03 -5.09031116e-04 9.99953461e-01 5.90310114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.856875 meters 0.02986608803942741 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.05, Z:0.06 [[ 9.99899484e-01 -8.14538475e-03 1.16049562e-02 3.38925450e+00] [ 8.13648840e-03 9.99966567e-01 8.13606642e-04 -5.41654434e-02] [-1.16111954e-02 -7.19101269e-04 9.99932329e-01 5.84049219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.916875 meters 0.028795693946888818 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.05, Z:0.06 [[ 9.99700934e-01 -1.76595440e-02 1.69169510e-02 3.44909142e+00] [ 1.76419900e-02 9.99843664e-01 1.18634109e-03 -5.48741113e-02] [-1.69352565e-02 -8.87537619e-04 9.99856194e-01 6.31111497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.976875 meters 0.022547759126127206 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.07, Z:0.06 [[ 9.99156951e-01 -3.71897645e-02 1.73870144e-02 3.50901088e+00] [ 3.71741643e-02 9.99308058e-01 1.21968402e-03 -6.53925106e-02] [-1.74203433e-02 -5.72308042e-04 9.99848091e-01 6.44443755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.036874999999999 meters 0.018337541202085687 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.08, Z:0.06 [[ 9.98685835e-01 -4.90950306e-02 1.47064835e-02 3.56990539e+00] [ 4.90851559e-02 9.98794064e-01 1.03187508e-03 -7.65914928e-02] [-1.47394084e-02 -3.08648991e-04 9.99891321e-01 5.76575171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.096875 meters 0.021620239126254968 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.07, Z:0.05 [[ 9.99248648e-01 -3.80393789e-02 7.42601286e-03 3.62958083e+00] [ 3.80365563e-02 9.99276213e-01 5.21010844e-04 -7.15221486e-02] [-7.44045694e-03 -2.38159425e-04 9.99972291e-01 5.02457146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.156874999999999 meters 0.029789796507704903 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.05, Z:0.05 [[ 9.99794372e-01 -1.91347898e-02 6.71365477e-03 3.68895619e+00] [ 1.91320560e-02 9.99816854e-01 4.71184642e-04 -5.36666456e-02] [-6.72144121e-03 -3.42641734e-04 9.99977352e-01 4.99152883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.216875 meters 0.04155467773093912 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.03, Z:0.05 [[ 9.99967302e-01 3.42559604e-04 8.07942299e-03 3.74685633e+00] [-3.47153076e-04 9.99999779e-01 5.67144038e-04 -3.20329740e-02] [-8.07922693e-03 -5.69930290e-04 9.99967200e-01 4.93106952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2768749999999995 meters 0.03636996954667747 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.04, Z:0.05 [[ 9.99893513e-01 -9.20313958e-03 1.13254439e-02 3.80824012e+00] [ 9.19472508e-03 9.99957412e-01 7.94818792e-04 -4.22984053e-02] [-1.13322764e-02 -6.90599811e-04 9.99935549e-01 5.15841953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.336875 meters 0.026540913436260655 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.07, Z:0.05 [[ 9.99631840e-01 -2.45542040e-02 1.15444854e-02 3.87011441e+00] [ 2.45464811e-02 9.99698361e-01 8.10213556e-04 -6.56953570e-02] [-1.15608973e-02 -5.26538775e-04 9.99933032e-01 5.08599785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.396875 meters 0.02513074539862788 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.07, Z:0.05 [[ 9.99475996e-01 -2.91949776e-02 1.39780483e-02 3.93064625e+00] [ 2.91841066e-02 9.99573572e-01 9.81110409e-04 -7.43056553e-02] [-1.40007311e-02 -5.72659453e-04 9.99901821e-01 5.42806952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.456874999999999 meters 0.02997146467891969 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.07, Z:0.05 [[ 9.99712785e-01 -2.07449792e-02 1.19996831e-02 3.99082971e+00] [ 2.07363583e-02 9.99784624e-01 8.42411945e-04 -7.42567796e-02] [-1.20145744e-02 -5.93340264e-04 9.99927646e-01 5.16763818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.516875 meters 0.032739263421721815 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.07, Z:0.05 [[ 9.99842015e-01 -1.35311354e-02 1.15261779e-02 4.05070427e+00] [ 1.35227035e-02 9.99908237e-01 8.09165995e-04 -7.00050625e-02] [-1.15360692e-02 -6.53173073e-04 9.99933244e-01 4.99174194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.576874999999999 meters 0.026745693127913778 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.09, Z:0.05 [[ 9.99630739e-01 -2.51915396e-02 1.01868846e-02 4.11285133e+00] [ 2.51855556e-02 9.99682538e-01 7.15298164e-04 -8.50663017e-02] [-1.02016701e-02 -4.58471684e-04 9.99947857e-01 4.75903882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.636875 meters 0.025044633406106645 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.09, Z:0.05 [[ 9.99489999e-01 -3.01576242e-02 1.05004669e-02 4.17269871e+00] [ 3.01515389e-02 9.99545067e-01 7.37387926e-04 -8.61311651e-02] [-1.05179277e-02 -4.20406621e-04 9.99944597e-01 4.77642797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6968749999999995 meters 0.01897019294160132 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.10, Z:0.06 [[ 9.98848203e-01 -4.45589000e-02 1.77980752e-02 4.23388101e+00] [ 4.45436845e-02 9.99006655e-01 1.25060711e-03 -9.97794448e-02] [-1.78361213e-02 -4.56374812e-04 9.99840820e-01 5.75889077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.756875 meters 0.02225033513291704 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.09, Z:0.06 [[ 9.99170997e-01 -3.67262809e-02 1.75641197e-02 4.29362587e+00] [ 3.67102488e-02 9.99325189e-01 1.23443384e-03 -8.91068790e-02] [-1.75976034e-02 -5.88627291e-04 9.99844977e-01 5.71193997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.816875 meters 0.028684395086873836 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.07, Z:0.05 [[ 9.99656801e-01 -2.25148881e-02 1.33925164e-02 4.35243864e+00] [ 2.25042918e-02 9.99746303e-01 9.41403190e-04 -6.98445248e-02] [-1.34103144e-02 -6.39691004e-04 9.99909873e-01 5.02415531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.876874999999999 meters 0.03201979135434005 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.06, Z:0.05 [[ 9.99830391e-01 -1.67036740e-02 7.75741557e-03 4.41233252e+00] [ 1.66999443e-02 9.99860397e-01 5.45326661e-04 -5.57417514e-02] [-7.76544158e-03 -4.15685760e-04 9.99969762e-01 4.51452982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.936875 meters 0.030564557251202558 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.05, Z:0.04 [[ 9.99780506e-01 -2.07408834e-02 2.95903477e-03 4.47195697e+00] [ 2.07403593e-02 9.99784874e-01 2.07699386e-04 -4.90393963e-02] [-2.96270607e-03 -1.46282353e-04 9.99995600e-01 3.94743663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.996874999999999 meters 0.02844436264472739 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.04, Z:0.04 [[ 9.99705309e-01 -2.40665657e-02 3.17725785e-03 4.53167414e+00] [ 2.40659771e-02 9.99710347e-01 2.23343188e-04 -4.26060286e-02] [-3.18171266e-03 -1.46813556e-04 9.99994928e-01 3.87412492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.056875 meters 0.02863035660890121 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.03, Z:0.04 [[ 9.99699879e-01 -2.36306582e-02 6.46090552e-03 4.59046117e+00] [ 2.36282202e-02 9.99720712e-01 4.53437903e-04 -3.43747112e-02] [-6.46981610e-03 -3.00642119e-04 9.99979025e-01 4.24016300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.116874999999999 meters 0.027289343106728644 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.03, Z:0.04 [[ 9.99636707e-01 -2.62133734e-02 6.26998333e-03 4.64995509e+00] [ 2.62111127e-02 9.99656332e-01 4.42473898e-04 -2.96125389e-02] [-6.27942727e-03 -2.77969910e-04 9.99980246e-01 4.27699785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.176875 meters 0.02421550055491585 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.03, Z:0.04 [[ 9.99450030e-01 -3.27406029e-02 5.26213711e-03 4.71076003e+00] [ 3.27390993e-02 9.99463863e-01 3.71650427e-04 -2.90936018e-02] [-5.27148395e-03 -1.99168401e-04 9.99986086e-01 3.90813783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2368749999999995 meters 0.02269983165307736 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.03, Z:0.04 [[ 9.99347985e-01 -3.55938966e-02 6.05638319e-03 4.76949375e+00] [ 3.55919590e-02 9.99366314e-01 4.27443007e-04 -2.61425225e-02] [-6.06775970e-03 -2.11605765e-04 9.99981569e-01 4.19449493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.296874999999999 meters 0.024137008053137638 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.02, Z:0.04 [[ 9.99435597e-01 -3.31191180e-02 5.62245798e-03 4.82849122e+00] [ 3.31174061e-02 9.99451389e-01 3.97342193e-04 -1.64780601e-02] [-5.63253307e-03 -2.10916708e-04 9.99984115e-01 3.93294047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.356875 meters 0.026968908633159896 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.00, Z:0.04 [[ 9.99520717e-01 -3.04940337e-02 5.33385110e-03 4.88613548e+00] [ 3.04924558e-02 9.99534926e-01 3.76920585e-04 -3.68963131e-03] [-5.34286430e-03 -2.14097714e-04 9.99985704e-01 3.65288816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.416874999999999 meters 0.0282309845807092 Centerline is valid? [True, True] Translation: X:4.95, Y:0.00, Z:0.03 [[ 9.99681041e-01 -2.52530395e-02 -3.16146068e-04 4.94579837e+00] [ 2.52530337e-02 9.99681091e-01 -2.24406227e-05 4.37420698e-03] [ 3.16611941e-04 1.44498178e-05 9.99999950e-01 3.27901766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.476875 meters 0.029016648868711727 Centerline is valid? [True, True] Translation: X:5.00, Y:0.01, Z:0.03 [[ 9.99741803e-01 -2.27200152e-02 -3.58046150e-04 5.00498400e+00] [ 2.27200074e-02 9.99741867e-01 -2.57415270e-05 1.04416496e-02] [ 3.58538574e-04 1.76000694e-05 9.99999936e-01 3.08027449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.536874999999999 meters 0.02716402305662831 Centerline is valid? [True, True] Translation: X:5.07, Y:0.01, Z:0.03 [[ 9.99617632e-01 -2.74277280e-02 3.50835547e-03 5.06560059e+00] [ 2.74270244e-02 9.99623778e-01 2.48517879e-04 9.08478918e-03] [-3.51385183e-03 -1.52199103e-04 9.99993815e-01 3.43399055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.596875 meters 0.02644343728857284 Centerline is valid? [True, True] Translation: X:5.12, Y:0.01, Z:0.04 [[ 9.99598516e-01 -2.80979583e-02 3.64861213e-03 5.12458146e+00] [ 2.80972081e-02 9.99605163e-01 2.56720815e-04 1.21821710e-02] [-3.65438485e-03 -1.54101932e-04 9.99993311e-01 3.51256794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.656874999999999 meters 0.030828986819770775 Centerline is valid? [True, True] Translation: X:5.18, Y:0.02, Z:0.03 [[ 9.99779551e-01 -2.08730286e-02 2.27298341e-03 5.18368757e+00] [ 2.08727152e-02 9.99782128e-01 1.61514731e-04 2.47360069e-02] [-2.27585949e-03 -1.14035790e-04 9.99997404e-01 3.15338115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.716875 meters 0.03201331007050327 Centerline is valid? [True, True] Translation: X:5.24, Y:0.03, Z:0.03 [[ 9.99869046e-01 -1.61354142e-02 -1.24081789e-03 5.24384552e+00] [ 1.61353170e-02 9.99869813e-01 -8.82689855e-05 3.08709649e-02] [ 1.24208061e-03 6.82364362e-05 9.99999226e-01 2.76460818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7768749999999995 meters 0.03098230001509491 Centerline is valid? [True, True] Translation: X:5.30, Y:0.03, Z:0.03 [[ 9.99787900e-01 -2.05744610e-02 9.20605802e-04 5.30331724e+00] [ 2.05744096e-02 9.99788322e-01 6.52410184e-05 3.01020842e-02] [-9.21753229e-04 -4.62862599e-05 9.99999574e-01 3.15685178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.836874999999999 meters 0.024287421994034795 Centerline is valid? [True, True] Translation: X:5.36, Y:0.02, Z:0.04 [[ 9.99543675e-01 -2.95281077e-02 6.36649157e-03 5.36465396e+00] [ 2.95258218e-02 9.99563915e-01 4.52768007e-04 1.75492340e-02] [-6.37708462e-03 -2.64585503e-04 9.99979631e-01 3.80623837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.896875 meters 0.021389142320304963 Centerline is valid? [True, True] Translation: X:5.42, Y:0.01, Z:0.04 [[ 9.99117856e-01 -4.11869543e-02 8.19422388e-03 5.42479692e+00] [ 4.11835593e-02 9.99151427e-01 5.82689624e-04 9.37629536e-03] [-8.21126970e-03 -2.44708303e-04 9.99966257e-01 3.80602556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.956874999999999 meters 0.019843653373263492 Centerline is valid? [True, True] Translation: X:5.49, Y:0.00, Z:0.04 [[ 9.98901930e-01 -4.59907566e-02 8.93224251e-03 5.48543034e+00] [ 4.59869125e-02 9.98941840e-01 6.35382964e-04 4.01855563e-03] [-8.95201252e-03 -2.23919014e-04 9.99959905e-01 4.00432513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.016875 meters 0.023079740810929585 Centerline is valid? [True, True] Translation: X:5.54, Y:0.02, Z:0.03 [[ 9.99308627e-01 -3.69292217e-02 4.30120651e-03 5.54457399e+00] [ 3.69282461e-02 9.99317873e-01 3.06049861e-04 1.66653094e-02] [-4.30957472e-03 -1.47002254e-04 9.99990703e-01 3.31968498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.076874999999999 meters 0.02845600013754459 Centerline is valid? [True, True] Translation: X:5.60, Y:0.03, Z:0.03 [[ 9.99643613e-01 -2.65651107e-02 2.63491650e-03 5.60231441e+00] [ 2.65647086e-02 9.99647078e-01 1.87485560e-04 3.31295916e-02] [-2.63896716e-03 -1.17422953e-04 9.99996511e-01 3.08686455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.136875 meters 0.029564251151165354 Centerline is valid? [True, True] Translation: X:5.66, Y:0.04, Z:0.04 [[ 9.99692679e-01 -2.39057371e-02 6.56219434e-03 5.66124699e+00] [ 2.39031874e-02 9.99714169e-01 4.66702402e-04 4.23839244e-02] [-6.57147552e-03 -3.09701614e-04 9.99978360e-01 3.57010841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1968749999999995 meters 0.02684121016116196 Centerline is valid? [True, True] Translation: X:5.72, Y:0.04, Z:0.04 [[ 9.99415997e-01 -3.32601820e-02 7.83747449e-03 5.71983783e+00] [ 3.32568279e-02 9.99446683e-01 5.57928888e-04 4.49541746e-02] [-7.85169470e-03 -2.96953516e-04 9.99969131e-01 3.64644123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.256875 meters 0.0222398157519442 Centerline is valid? [True, True] Translation: X:5.78, Y:0.04, Z:0.04 [[ 9.99135436e-01 -4.09997445e-02 6.88490959e-03 5.78035551e+00] [ 4.09973367e-02 9.99159135e-01 4.90555466e-04 4.36764008e-02] [-6.89923296e-03 -2.07868393e-04 9.99976178e-01 3.57641687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.316875 meters 0.023880007934167457 Centerline is valid? [True, True] Translation: X:5.84, Y:0.06, Z:0.03 [[ 9.99393554e-01 -3.47595680e-02 2.07278491e-03 5.83942855e+00] [ 3.47593365e-02 9.99395701e-01 1.47617420e-04 6.10848545e-02] [-2.07666345e-03 -7.54792701e-05 9.99997841e-01 2.99517284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.376874999999999 meters 0.028569324001030395 Centerline is valid? [True, True] Translation: X:5.90, Y:0.09, Z:0.03 [[ 9.99748200e-01 -2.24396081e-02 -1.34815393e-05 5.89836472e+00] [ 2.24396081e-02 9.99748200e-01 -1.02238250e-06 8.52999021e-02] [ 1.35010865e-05 7.19604604e-07 1.00000000e+00 2.88831359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.436875 meters 0.03118122747573533 Centerline is valid? [True, True] Translation: X:5.96, Y:0.10, Z:0.03 [[ 9.99825837e-01 -1.86493578e-02 -7.04545183e-04 5.95702214e+00] [ 1.86493269e-02 9.99826085e-01 -5.04134812e-05 1.02700847e-01] [ 7.05362831e-04 3.72654076e-05 9.99999751e-01 2.64177869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.496874999999999 meters 0.028544469139253854 Centerline is valid? [True, True] Translation: X:6.02, Y:0.11, Z:0.03 [[ 9.99718543e-01 -2.31945946e-02 4.98448368e-03 6.01791799e+00] [ 2.31931101e-02 9.99730940e-01 3.55414086e-04 1.05801322e-01] [-4.99138625e-03 -2.39708374e-04 9.99987514e-01 3.07540830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.556875 meters 0.027916600085103275 Centerline is valid? [True, True] Translation: X:6.08, Y:0.11, Z:0.03 [[ 9.99644308e-01 -2.58311949e-02 6.63383521e-03 6.07751198e+00] [ 2.58286258e-02 9.99666274e-01 4.72661077e-04 1.09919216e-01] [-6.64383073e-03 -3.01150107e-04 9.99977884e-01 3.30165624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.616874999999999 meters 0.027737280369490826 Centerline is valid? [True, True] Translation: X:6.14, Y:0.11, Z:0.03 [[ 9.99693004e-01 -2.38720854e-02 6.63485033e-03 6.13673366e+00] [ 2.38694710e-02 9.99714972e-01 4.72957893e-04 1.14619143e-01] [-6.64424970e-03 -3.14442330e-04 9.99977877e-01 3.22027273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.676875 meters 0.03143207264873148 Centerline is valid? [True, True] Translation: X:6.20, Y:0.13, Z:0.03 [[ 9.99845453e-01 -1.68342097e-02 5.06746712e-03 6.19617423e+00] [ 1.68325933e-02 9.99858257e-01 3.61469427e-04 1.26518227e-01] [-5.07283389e-03 -2.76114950e-04 9.99987095e-01 2.71669366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7368749999999995 meters 0.03735861234385868 Centerline is valid? [True, True] Translation: X:6.25, Y:0.14, Z:0.02 [[ 9.99916449e-01 -1.26950858e-02 2.43522909e-03 6.25499491e+00] [ 1.26947001e-02 9.99919404e-01 1.73765330e-04 1.41037785e-01] [-2.43723879e-03 -1.42836309e-04 9.99997020e-01 2.31339825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.796874999999999 meters 0.034240968886209665 Centerline is valid? [True, True] Translation: X:6.32, Y:0.14, Z:0.02 [[ 9.99948935e-01 -9.87508707e-03 2.14691498e-03 6.31501815e+00] [ 9.87478119e-03 9.99951231e-01 1.53026171e-04 1.41654083e-01] [-2.14832143e-03 -1.31818041e-04 9.99997684e-01 2.30801319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.856875 meters 0.034585871624836916 Centerline is valid? [True, True] Translation: X:6.37, Y:0.15, Z:0.02 [[ 9.99934739e-01 -1.08460336e-02 3.58919148e-03 6.37359236e+00] [ 1.08451903e-02 9.99941157e-01 2.54346811e-04 1.45249561e-01] [-3.59173893e-03 -2.15404747e-04 9.99993526e-01 2.30720283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.916874999999999 meters 0.03325644733003037 Centerline is valid? [True, True] Translation: X:6.43, Y:0.14, Z:0.02 [[ 9.99876874e-01 -1.50673054e-02 4.38325984e-03 6.43457880e+00] [ 1.50660740e-02 9.99886451e-01 3.13823722e-04 1.42114844e-01] [-4.38749060e-03 -2.47746565e-04 9.99990344e-01 2.41345326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.976875 meters 0.02935533202095639 Centerline is valid? [True, True] Translation: X:6.49, Y:0.14, Z:0.03 [[ 9.99719022e-01 -2.24564945e-02 7.58835124e-03 6.49484999e+00] [ 2.24530157e-02 9.99747752e-01 5.43328572e-04 1.35116967e-01] [-7.59863835e-03 -3.72794539e-04 9.99971060e-01 2.52846632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.036874999999999 meters 0.026378745562048764 Centerline is valid? [True, True] Translation: X:6.56, Y:0.13, Z:0.02 [[ 9.99546096e-01 -2.91866865e-02 7.46592958e-03 6.55636264e+00] [ 2.91835036e-02 9.99573928e-01 5.34936928e-04 1.28018569e-01] [-7.47836160e-03 -3.16812135e-04 9.99971986e-01 2.36906190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.096875 meters 0.02335801011249972 Centerline is valid? [True, True] Translation: X:6.62, Y:0.12, Z:0.02 [[ 9.99281459e-01 -3.68962957e-02 8.67349749e-03 6.61760371e+00] [ 3.68922914e-02 9.99319055e-01 6.21271791e-04 1.15722368e-01] [-8.69051394e-03 -3.00840185e-04 9.99962192e-01 2.31109738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.156874999999999 meters 0.02388436788132698 Centerline is valid? [True, True] Translation: X:6.68, Y:0.11, Z:0.02 [[ 9.99333492e-01 -3.54756163e-02 8.60536815e-03 6.67725844e+00] [ 3.54716268e-02 9.99370494e-01 6.15836344e-04 1.08602432e-01] [-8.62179819e-03 -3.10179476e-04 9.99962783e-01 2.22220790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.216874999999999 meters 0.026993581461652996 Centerline is valid? [True, True] Translation: X:6.74, Y:0.11, Z:0.02 [[ 9.99558616e-01 -2.89872999e-02 6.50461557e-03 6.73816524e+00] [ 2.89848700e-02 9.99579741e-01 4.67549373e-04 1.05069041e-01] [-6.51543494e-03 -2.78807568e-04 9.99978735e-01 2.23960751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2768749999999995 meters 0.031336672814099714 Centerline is valid? [True, True] Translation: X:6.80, Y:0.11, Z:0.02 [[ 9.99761999e-01 -2.03276392e-02 7.92034965e-03 6.79860370e+00] [ 2.03237667e-02 9.99793289e-01 5.69122889e-04 1.05863393e-01] [-7.93028135e-03 -4.08016098e-04 9.99968472e-01 2.08895331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.336874999999999 meters 0.029687571308415633 Centerline is valid? [True, True] Translation: X:6.86, Y:0.10, Z:0.01 [[ 9.99781696e-01 -2.07007429e-02 2.83528719e-03 6.85796810e+00] [ 2.07002541e-02 9.99785706e-01 2.01639028e-04 1.01506702e-01] [-2.83885368e-03 -1.42903844e-04 9.99995960e-01 1.49652739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.396875 meters 0.02573040492875533 Centerline is valid? [True, True] Translation: X:6.92, Y:0.09, Z:0.01 [[ 9.99499676e-01 -3.16205889e-02 -7.32249862e-04 6.91764305e+00] [ 3.16205583e-02 9.99499944e-01 -5.32297668e-05 9.35921045e-02] [ 7.33566853e-04 3.00489852e-05 9.99999730e-01 1.00883363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.456874999999999 meters 0.02586327564130512 Centerline is valid? [True, True] Translation: X:6.98, Y:0.10, Z:0.01 [[ 9.99431990e-01 -3.36939835e-02 6.43039057e-04 6.97562313e+00] [ 3.36939612e-02 9.99432196e-01 4.54892636e-05 9.56161101e-02] [-6.44206651e-04 -2.37968922e-05 9.99999792e-01 1.20392912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.516875 meters 0.026276817155512708 Centerline is valid? [True, True] Translation: X:7.03, Y:0.10, Z:0.02 [[ 9.99430209e-01 -3.30907711e-02 6.65267910e-03 7.03418573e+00] [ 3.30883116e-02 9.99452317e-01 4.79455323e-04 1.00759530e-01] [-6.66490108e-03 -2.59056215e-04 9.99977756e-01 1.99997809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.576874999999999 meters 0.02867604459352859 Centerline is valid? [True, True] Translation: X:7.09, Y:0.11, Z:0.02 [[ 9.99485590e-01 -3.01536473e-02 1.09230134e-02 7.09349020e+00] [ 3.01467937e-02 9.99545169e-01 7.91590938e-04 1.12056179e-01] [-1.09419146e-02 -4.61889906e-04 9.99940029e-01 2.17350929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.636875 meters 0.025433010734184688 Centerline is valid? [True, True] Translation: X:7.15, Y:0.11, Z:0.02 [[ 9.99411229e-01 -3.24197970e-02 1.12317395e-02 7.15299851e+00] [ 3.24126888e-02 9.99474239e-01 8.14370857e-04 1.11388031e-01] [-1.12522360e-02 -4.49840501e-04 9.99936590e-01 2.14062165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6968749999999995 meters 0.025482103595549477 Centerline is valid? [True, True] Translation: X:7.21, Y:0.12, Z:0.02 [[ 9.99398215e-01 -3.37936884e-02 7.82267347e-03 7.21146585e+00] [ 3.37902814e-02 9.99428784e-01 5.67331376e-04 1.17261619e-01] [-7.83737726e-03 -3.02659627e-04 9.99969241e-01 1.52254600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.756874999999999 meters 0.02570066099932313 Centerline is valid? [True, True] Translation: X:7.27, Y:0.12, Z:0.01 [[ 9.99410898e-01 -3.40587500e-02 4.22602076e-03 7.27033975e+00] [ 3.40577589e-02 9.99419819e-01 3.06280692e-04 1.23147711e-01] [-4.23400044e-03 -1.62171465e-04 9.99991023e-01 1.12809625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.816875 meters 0.025535760244418063 Centerline is valid? [True, True] Translation: X:7.33, Y:0.13, Z:0.01 [[ 9.99338813e-01 -3.58612395e-02 5.99227714e-03 7.32867529e+00] [ 3.58592582e-02 9.99356754e-01 4.37783545e-04 1.26787980e-01] [-6.00412209e-03 -2.22615475e-04 9.99981950e-01 1.26065447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.876874999999999 meters 0.02310086024153666 Centerline is valid? [True, True] Translation: X:7.39, Y:0.12, Z:0.02 [[ 9.99204579e-01 -3.88972060e-02 8.78734704e-03 7.38857437e+00] [ 3.88930534e-02 9.99243172e-01 6.43021824e-04 1.23527062e-01] [-8.80570828e-03 -3.00743594e-04 9.99961184e-01 1.58985973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.936875 meters 0.024084002214727125 Centerline is valid? [True, True] Translation: X:7.45, Y:0.13, Z:0.01 [[ 9.99266256e-01 -3.76417764e-02 7.07431677e-03 7.44683199e+00] [ 3.76390539e-02 9.99291266e-01 5.17634799e-04 1.26804329e-01] [-7.08878765e-03 -2.50984397e-04 9.99974843e-01 1.10576462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.996874999999999 meters 0.02297240117942394 Centerline is valid? [True, True] Translation: X:7.51, Y:0.13, Z:0.01 [[ 9.99215946e-01 -3.90301756e-02 6.64371108e-03 7.50596315e+00] [ 3.90278065e-02 9.99238007e-01 4.85922025e-04 1.25845025e-01] [-6.65761424e-03 -2.26251565e-04 9.99977812e-01 1.28441580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.056875 meters 0.023979531901647314 Centerline is valid? [True, True] Translation: X:7.56, Y:0.13, Z:0.01 [[ 9.99221385e-01 -3.89087553e-02 6.53705228e-03 7.56371858e+00] [ 3.89064438e-02 9.99242742e-01 4.80454282e-04 1.30950461e-01] [-6.55079592e-03 -2.25746736e-04 9.99978518e-01 9.41475049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.116875 meters 0.023841028138211415 Centerline is valid? [True, True] Translation: X:7.62, Y:0.13, Z:0.01 [[ 9.99277853e-01 -3.76333511e-02 5.24445558e-03 7.62293543e+00] [ 3.76318493e-02 9.99291597e-01 3.84779547e-04 1.33798007e-01] [-5.25522094e-03 -1.87143117e-04 9.99986174e-01 8.31453680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.176875 meters 0.02075420510380568 Centerline is valid? [True, True] Translation: X:7.68, Y:0.13, Z:0.01 [[ 9.98907089e-01 -4.59949118e-02 8.31235960e-03 7.68403698e+00] [ 4.59913916e-02 9.98941647e-01 6.14242610e-04 1.32968156e-01] [-8.33181423e-03 -2.31274311e-04 9.99965263e-01 1.09622727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.236875 meters 0.020180289934355826 Centerline is valid? [True, True] Translation: X:7.74, Y:0.14, Z:0.01 [[ 9.98716114e-01 -5.00636720e-02 7.72991735e-03 7.74206328e+00] [ 5.00607511e-02 9.98746011e-01 5.71011079e-04 1.39162099e-01] [-7.74881103e-03 -1.83312498e-04 9.99969961e-01 9.49742685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.296875 meters 0.020415427259587296 Centerline is valid? [True, True] Translation: X:7.80, Y:0.15, Z:0.01 [[ 9.98842988e-01 -4.73624166e-02 8.33582280e-03 7.80093178e+00] [ 4.73589246e-02 9.98877747e-01 6.15919924e-04 1.47796918e-01] [-8.35563935e-03 -2.20431695e-04 9.99965067e-01 1.05760360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.356875 meters 0.022230051406140067 Centerline is valid? [True, True] Translation: X:7.86, Y:0.16, Z:0.01 [[ 9.99078087e-01 -4.11390229e-02 1.22701389e-02 7.86046288e+00] [ 4.11309376e-02 9.99153350e-01 9.10669304e-04 1.61960565e-01] [-1.22972144e-02 -4.05147431e-04 9.99924304e-01 1.18545999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.416875000000001 meters 0.022759216291295504 Centerline is valid? [True, True] Translation: X:7.92, Y:0.17, Z:0.02 [[ 9.98893694e-01 -4.34049661e-02 1.80941097e-02 7.91814427e+00] [ 4.33877376e-02 9.99057405e-01 1.34382186e-03 1.70361898e-01] [-1.81353828e-02 -5.57272697e-04 9.99835385e-01 1.62263485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.476875 meters 0.020828839905071284 Centerline is valid? [True, True] Translation: X:7.98, Y:0.17, Z:0.02 [[ 9.98832810e-01 -4.51042256e-02 1.72807883e-02 7.97735603e+00] [ 4.50887225e-02 9.98982159e-01 1.28589310e-03 1.71902298e-01] [-1.73211985e-02 -5.05223550e-04 9.99849849e-01 1.64756976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.536875 meters 0.023279712616851918 Centerline is valid? [True, True] Translation: X:8.04, Y:0.18, Z:0.01 [[ 9.99047737e-01 -4.16689787e-02 1.29350796e-02 8.03549990e+00] [ 4.16599773e-02 9.99131381e-01 9.64684348e-04 1.84092635e-01] [-1.29640413e-02 -4.24890594e-04 9.99915873e-01 7.68076376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.596875 meters 0.023661882000113165 Centerline is valid? [True, True] Translation: X:8.10, Y:0.19, Z:0.00 [[ 9.99261031e-01 -3.74704790e-02 8.56479163e-03 8.09507653e+00] [ 3.74663761e-02 9.99297685e-01 6.39046930e-04 1.89728548e-01] [-8.58272184e-03 -3.17682990e-04 9.99963117e-01 2.74090298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.656875000000001 meters 0.026731269623936554 Centerline is valid? [True, True] Translation: X:8.15, Y:0.20, Z:-0.00 [[ 9.99420653e-01 -3.35083596e-02 5.96221406e-03 8.15374901e+00] [ 3.35062998e-02 9.99438407e-01 4.45045432e-04 2.03511360e-01] [-5.97377846e-03 -2.45015864e-04 9.99982127e-01 -2.99724915e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.716875 meters 0.02849568518951182 Centerline is valid? [True, True] Translation: X:8.21, Y:0.21, Z:-0.00 [[ 9.99469336e-01 -3.21060879e-02 5.49968276e-03 8.21072944e+00] [ 3.21043158e-02 9.99484439e-01 4.10228987e-04 2.13999343e-01] [-5.51001819e-03 -2.33447741e-04 9.99984792e-01 -1.40975221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.776875 meters 0.026440829790367326 Centerline is valid? [True, True] Translation: X:8.27, Y:0.22, Z:0.00 [[ 9.99485051e-01 -3.09577271e-02 8.44109291e-03 8.26972812e+00] [ 3.09535049e-02 9.99520627e-01 6.30412666e-04 2.18485540e-01] [-8.45656261e-03 -3.68806626e-04 9.99964175e-01 1.31894933e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.836875000000001 meters 0.02850973772102569 Centerline is valid? [True, True] Translation: X:8.33, Y:0.23, Z:0.00 [[ 9.99532236e-01 -2.81499851e-02 1.19535848e-02 8.32773365e+00] [ 2.81412700e-02 9.99603554e-01 8.96690314e-04 2.29735673e-01] [-1.19740877e-02 -5.59881817e-04 9.99928151e-01 4.41849619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.896875 meters 0.02672978001218698 Centerline is valid? [True, True] Translation: X:8.39, Y:0.23, Z:0.00 [[ 9.99492172e-01 -2.91887901e-02 1.27832687e-02 8.38703995e+00] [ 2.91788947e-02 9.99573744e-01 9.59951555e-04 2.33690659e-01] [-1.28058396e-02 -5.86462412e-04 9.99917830e-01 1.73987531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.956875 meters 0.02107540432963946 Centerline is valid? [True, True] Translation: X:8.45, Y:0.22, Z:0.00 [[ 9.98853461e-01 -4.54087024e-02 1.51595582e-02 8.44891498e+00] [ 4.53966040e-02 9.98968391e-01 1.14141284e-03 2.24188360e-01] [-1.51957495e-02 -4.51911703e-04 9.99884436e-01 2.24905140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.016875 meters 0.01715904661338683 Centerline is valid? [True, True] Translation: X:8.51, Y:0.21, Z:0.00 [[ 9.98005836e-01 -6.04960211e-02 1.80161922e-02 8.51034405e+00] [ 6.04813901e-02 9.98168403e-01 1.35636537e-03 2.13662049e-01] [-1.80652486e-02 -2.64016207e-04 9.99836775e-01 4.95542947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.076875000000001 meters 0.019267408749886115 Centerline is valid? [True, True] Translation: X:8.57, Y:0.23, Z:-0.00 [[ 9.98528697e-01 -5.22678565e-02 1.44399277e-02 8.56852207e+00] [ 5.22575942e-02 9.98633046e-01 1.08735310e-03 2.27900764e-01] [-1.44770226e-02 -3.31157393e-04 9.99895148e-01 -2.54864906e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.136875 meters 0.023337928743636847 Centerline is valid? [True, True] Translation: X:8.63, Y:0.25, Z:-0.01 [[ 9.99353122e-01 -3.51976550e-02 7.37985332e-03 8.62744691e+00] [ 3.51945074e-02 9.99380327e-01 5.55982596e-04 2.49282719e-01] [-7.39484950e-03 -2.95892641e-04 9.99972614e-01 -8.58512607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.196875 meters 0.031419875982889645 Centerline is valid? [True, True] Translation: X:8.68, Y:0.28, Z:-0.02 [[ 9.99674800e-01 -2.52446231e-02 3.60600002e-03 8.68453669e+00] [ 2.52438078e-02 9.99681287e-01 2.71447190e-04 2.77187002e-01] [-3.61170333e-03 -1.80329744e-04 9.99993462e-01 -1.73569575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.256875 meters 0.029531249852309302 Centerline is valid? [True, True] Translation: X:8.74, Y:0.28, Z:-0.01 [[ 9.99611917e-01 -2.74335354e-02 4.83897999e-03 8.74429792e+00] [ 2.74320913e-02 9.99623603e-01 3.64552864e-04 2.80944335e-01] [-4.84715959e-03 -2.31668046e-04 9.99988226e-01 -1.26727357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.316875 meters 0.021424633945793775 Centerline is valid? [True, True] Translation: X:8.81, Y:0.27, Z:-0.01 [[ 9.99165672e-01 -3.93122389e-02 1.10683561e-02 8.80564303e+00] [ 3.93054011e-02 9.99226896e-01 8.34717011e-04 2.69798993e-01] [-1.10926137e-02 -3.98974408e-04 9.99938395e-01 -6.30518966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.376875 meters 0.024790219881832363 Centerline is valid? [True, True] Translation: X:8.86, Y:0.28, Z:-0.01 [[ 9.99250814e-01 -3.71142814e-02 1.09699772e-02 8.86342887e+00] [ 3.71074321e-02 9.99310940e-01 8.27316362e-04 2.80068282e-01] [-1.09931234e-02 -4.19628865e-04 9.99939486e-01 -7.53465714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.436875 meters 0.02815204005029351 Centerline is valid? [True, True] Translation: X:8.92, Y:0.29, Z:-0.01 [[ 9.99574945e-01 -2.78422384e-02 8.64521281e-03 8.92304530e+00] [ 2.78376343e-02 9.99612245e-01 6.52459835e-04 2.92898818e-01] [-8.66002653e-03 -4.11520231e-04 9.99962417e-01 -1.38733490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.496875000000001 meters 0.027182485599155235 Centerline is valid? [True, True] Translation: X:8.98, Y:0.29, Z:-0.01 [[ 9.99617044e-01 -2.71624326e-02 5.28848071e-03 8.98189914e+00] [ 2.71607081e-02 9.99631001e-01 3.97661661e-04 2.91990720e-01] [-5.29733072e-03 -2.53870493e-04 9.99985937e-01 -1.49512196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.556875 meters 0.025083063894775888 Centerline is valid? [True, True] Translation: X:9.04, Y:0.29, Z:-0.01 [[ 9.99406383e-01 -3.37759411e-02 6.78729517e-03 9.04260516e+00] [ 3.37732284e-02 9.99429390e-01 5.13919036e-04 2.87752461e-01] [-6.80078037e-03 -2.84385095e-04 9.99976834e-01 -1.43024118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.616875 meters 0.022741716311741003 Centerline is valid? [True, True] Translation: X:9.10, Y:0.28, Z:-0.01 [[ 9.99240263e-01 -3.75173121e-02 1.05521809e-02 9.10274143e+00] [ 3.75109630e-02 9.99295897e-01 7.99022967e-04 2.81731524e-01] [-1.05747282e-02 -4.02593454e-04 9.99944005e-01 -9.80285498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.676875 meters 0.02371178964643302 Centerline is valid? [True, True] Translation: X:9.16, Y:0.29, Z:-0.01 [[ 9.99307059e-01 -3.47565573e-02 1.33185447e-02 9.16234426e+00] [ 3.47461901e-02 9.99395659e-01 1.00908287e-03 2.85321038e-01] [-1.33455680e-02 -5.45614951e-04 9.99910795e-01 -9.24832559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.736875 meters 0.029046746983273693 Centerline is valid? [True, True] Translation: X:9.22, Y:0.30, Z:-0.01 [[ 9.99560223e-01 -2.82918772e-02 8.88423010e-03 9.22080024e+00] [ 2.82870070e-02 9.99599616e-01 6.73388372e-04 2.95807664e-01] [-8.89972441e-03 -4.21783953e-04 9.99960308e-01 -1.47803850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.796875 meters 0.02882723909211457 Centerline is valid? [True, True] Translation: X:9.28, Y:0.30, Z:-0.02 [[ 9.99559188e-01 -2.87116943e-02 7.55436623e-03 9.27934851e+00] [ 2.87081926e-02 9.99587671e-01 5.71581118e-04 2.96621413e-01] [-7.56766241e-03 -3.54456957e-04 9.99971302e-01 -1.71338200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.856875 meters 0.027441940876903013 Centerline is valid? [True, True] Translation: X:9.34, Y:0.29, Z:-0.02 [[ 9.99442446e-01 -3.26096140e-02 7.17009152e-03 9.33927026e+00] [ 3.26065393e-02 9.99468117e-01 5.45325782e-04 2.93204780e-01] [-7.18406074e-03 -3.11229862e-04 9.99974146e-01 -1.85255619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.916875000000001 meters 0.022467475035816708 Centerline is valid? [True, True] Translation: X:9.40, Y:0.28, Z:-0.01 [[ 9.99119284e-01 -4.01438286e-02 1.22118942e-02 9.40151211e+00] [ 4.01354630e-02 9.99193815e-01 9.29441651e-04 2.77553542e-01] [-1.22393605e-02 -4.38493050e-04 9.99925000e-01 -1.26140159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.976875 meters 0.02662007535247035 Centerline is valid? [True, True] Translation: X:9.46, Y:0.29, Z:-0.02 [[ 9.99309173e-01 -3.58138133e-02 9.92708069e-03 9.45999929e+00] [ 3.58080721e-02 9.99358400e-01 7.55532722e-04 2.85201955e-01] [-9.94776998e-03 -3.99541159e-04 9.99950440e-01 -1.57697999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.036875 meters 0.02563759910275093 Centerline is valid? [True, True] Translation: X:9.52, Y:0.29, Z:-0.02 [[ 9.99312263e-01 -3.65008219e-02 6.53377874e-03 9.51836637e+00] [ 3.64983562e-02 9.99333590e-01 4.96253507e-04 2.86104939e-01] [-6.54753823e-03 -2.57440031e-04 9.99978532e-01 -2.17970825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.096875 meters 0.024904491809956016 Centerline is valid? [True, True] Translation: X:9.58, Y:0.29, Z:-0.03 [[ 9.99241217e-01 -3.89409318e-02 -7.70213736e-04 9.57684463e+00] [ 3.89408957e-02 9.99241514e-01 -6.17880006e-05 2.87777821e-01] [ 7.72035622e-04 3.17483042e-05 9.99999701e-01 -3.11137522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.156875 meters 0.020947523183081556 Centerline is valid? [True, True] Translation: X:9.64, Y:0.28, Z:-0.02 [[ 9.98842010e-01 -4.78605332e-02 4.89974091e-03 9.63752827e+00] [ 4.78592664e-02 9.98854018e-01 3.75543799e-04 2.84908673e-01] [-4.91209962e-03 -1.40610917e-04 9.99987926e-01 -2.29966025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.216875 meters 0.021073449620245592 Centerline is valid? [True, True] Translation: X:9.70, Y:0.29, Z:-0.02 [[ 9.98882927e-01 -4.64672468e-02 8.58442434e-03 9.69610286e+00] [ 4.64633077e-02 9.98919781e-01 6.57837413e-04 2.93484105e-01] [-8.60571918e-03 -2.58241811e-04 9.99962937e-01 -2.13601894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.276875 meters 0.022592908726946193 Centerline is valid? [True, True] Translation: X:9.75, Y:0.31, Z:-0.02 [[ 9.99030193e-01 -4.22852915e-02 1.22730761e-02 9.75465026e+00] [ 4.22768750e-02 9.99105487e-01 9.44524508e-04 3.06033151e-01] [-1.23020372e-02 -4.24741197e-04 9.99924237e-01 -1.59040798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.336875000000001 meters 0.026021441944927507 Centerline is valid? [True, True] Translation: X:9.81, Y:0.32, Z:-0.02 [[ 9.99372512e-01 -3.43990413e-02 8.44320457e-03 9.81338506e+00] [ 3.43947735e-02 9.99408113e-01 6.50191533e-04 3.23800867e-01] [-8.46057311e-03 -3.59381437e-04 9.99964144e-01 -2.26634770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.396875 meters 0.027429704209826333 Centerline is valid? [True, True] Translation: X:9.87, Y:0.33, Z:-0.03 [[ 9.99451787e-01 -3.26517237e-02 5.47632748e-03 9.87223979e+00] [ 3.26499038e-02 9.99466761e-01 4.21417700e-04 3.32058265e-01] [-5.48716730e-03 -2.42385108e-04 9.99984916e-01 -2.79087800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.456875 meters 0.026640068713804227 Centerline is valid? [True, True] Translation: X:9.93, Y:0.33, Z:-0.02 [[ 9.99427799e-01 -3.28800575e-02 7.93575146e-03 9.93058241e+00] [ 3.28762434e-02 9.99459244e-01 6.10624875e-04 3.34578898e-01] [-7.95153754e-03 -3.49377778e-04 9.99968325e-01 -2.45862116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.516875 meters 0.0271114618783406 Centerline is valid? [True, True] Translation: X:9.99, Y:0.34, Z:-0.03 [[ 9.99526671e-01 -3.04778577e-02 4.18738402e-03 9.99002646e+00] [ 3.04767687e-02 9.99535423e-01 3.23633946e-04 3.39659918e-01] [-4.19530233e-03 -1.95862826e-04 9.99991180e-01 -3.01867316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.576875 meters 0.02663320484580523 Centerline is valid? [True, True] Translation: X:10.05, Y:0.34, Z:-0.03 [[ 9.99466998e-01 -3.20692408e-02 6.10609241e-03 1.00487244e+01] [ 3.20669535e-02 9.99485611e-01 4.72153772e-04 3.43767499e-01] [-6.11809312e-03 -2.76098331e-04 9.99981246e-01 -2.81725241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.636875 meters 0.026899311120079265 Centerline is valid? [True, True] Translation: X:10.11, Y:0.35, Z:-0.03 [[ 9.99500621e-01 -3.10916524e-02 5.64074293e-03 1.01075386e+01] [ 3.10896885e-02 9.99516504e-01 4.35533701e-04 3.52024768e-01] [-5.65155712e-03 -2.59947263e-04 9.99983996e-01 -3.16026186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.696875 meters 0.027125140893091374 Centerline is valid? [True, True] Translation: X:10.17, Y:0.36, Z:-0.03 [[ 9.99452843e-01 -3.24573665e-02 6.36659344e-03 1.01660766e+01] [ 3.24548796e-02 9.99473080e-01 4.93574431e-04 3.57502931e-01] [-6.37925888e-03 -2.86677345e-04 9.99979611e-01 -3.12636988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.756875 meters 0.02439396565277822 Centerline is valid? [True, True] Translation: X:10.23, Y:0.36, Z:-0.03 [[ 9.99158545e-01 -4.03592073e-02 7.30319809e-03 1.02256829e+01] [ 4.03561229e-02 9.99185198e-01 5.69270906e-04 3.57203151e-01] [-7.32022274e-03 -2.74063131e-04 9.99973169e-01 -3.22161163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.816875 meters 0.019788835915904187 Centerline is valid? [True, True] Translation: X:10.29, Y:0.35, Z:-0.03 [[ 9.98655620e-01 -5.12348074e-02 7.87066469e-03 1.02862454e+01] [ 5.12315608e-02 9.98686613e-01 6.13692740e-04 3.48976823e-01] [-7.89176989e-03 -2.09641267e-04 9.99968838e-01 -2.95913400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.876875 meters 0.01843445865161552 Centerline is valid? [True, True] Translation: X:10.35, Y:0.35, Z:-0.03 [[ 9.98350633e-01 -5.63353312e-02 1.10609092e-02 1.03466612e+01] [ 5.63292273e-02 9.98411876e-01 8.62853527e-04 3.47808767e-01] [-1.10919523e-02 -2.38377895e-04 9.99938454e-01 -2.77547981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.936875 meters 0.019824415597205002 Centerline is valid? [True, True] Translation: X:10.41, Y:0.36, Z:-0.03 [[ 9.98587885e-01 -5.18933044e-02 1.13719269e-02 1.04061208e+01] [ 5.18865621e-02 9.98652591e-01 8.87323329e-04 3.56674579e-01] [-1.14026504e-02 -2.96020136e-04 9.99934944e-01 -2.92744952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.996875000000001 meters 0.023327763356650856 Centerline is valid? [True, True] Translation: X:10.47, Y:0.37, Z:-0.03 [[ 9.99124849e-01 -4.10098129e-02 8.22985658e-03 1.04656215e+01] [ 4.10059104e-02 9.99158697e-01 6.42434687e-04 3.71356961e-01] [-8.24927891e-03 -3.04399698e-04 9.99965928e-01 -3.28809061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.056875 meters 0.026993234000410263 Centerline is valid? [True, True] Translation: X:10.53, Y:0.38, Z:-0.04 [[ 9.99430655e-01 -3.37339333e-02 6.21826468e-04 1.05254455e+01] [ 3.37339096e-02 9.99430849e-01 4.85458823e-05 3.84021966e-01] [-6.23110198e-04 -2.75416052e-05 9.99999805e-01 -4.21128641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.116875 meters 0.020986148553993833 Centerline is valid? [True, True] Translation: X:10.59, Y:0.38, Z:-0.04 [[ 9.98833714e-01 -4.81155185e-02 4.01343865e-03 1.05868921e+01] [ 4.81146479e-02 9.98841771e-01 3.13259223e-04 3.75739494e-01] [-4.02386279e-03 -1.19788686e-04 9.99991897e-01 -3.91693078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.176875 meters 0.018824569116247275 Centerline is valid? [True, True] Translation: X:10.65, Y:0.37, Z:-0.03 [[ 9.98414589e-01 -5.55807262e-02 8.89334488e-03 1.06466291e+01] [ 5.55767467e-02 9.98454177e-01 6.94177351e-04 3.72391525e-01] [-8.91818022e-03 -1.98813619e-04 9.99960212e-01 -3.09924365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.236875 meters 0.01928524612251856 Centerline is valid? [True, True] Translation: X:10.70, Y:0.38, Z:-0.03 [[ 9.98441342e-01 -5.46583231e-02 1.12851702e-02 1.07046830e+01] [ 5.46518502e-02 9.98505082e-01 8.81399052e-04 3.80476467e-01] [-1.13164755e-02 -2.63269822e-04 9.99935932e-01 -3.19335439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.296875 meters 0.019856991119833887 Centerline is valid? [True, True] Translation: X:10.76, Y:0.39, Z:-0.04 [[ 9.98664152e-01 -5.08754580e-02 9.03317969e-03 1.07633601e+01] [ 5.08711379e-02 9.98704975e-01 7.07520398e-04 3.89117548e-01] [-9.05747692e-03 -2.47047129e-04 9.99958950e-01 -3.57317963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.356875 meters 0.020768705821735685 Centerline is valid? [True, True] Translation: X:10.82, Y:0.40, Z:-0.04 [[ 9.98857336e-01 -4.75661444e-02 4.63513011e-03 1.08221721e+01] [ 4.75649711e-02 9.98868080e-01 3.63115823e-04 3.99588461e-01] [-4.64715553e-03 -1.42231074e-04 9.99989192e-01 -3.96916929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.416875000000001 meters 0.020220240964620488 Centerline is valid? [True, True] Translation: X:10.88, Y:0.40, Z:-0.04 [[ 9.98729271e-01 -5.00850359e-02 5.59761108e-03 1.08810082e+01] [ 5.00833637e-02 9.98744945e-01 4.38605062e-04 4.01681900e-01] [-5.61255332e-03 -1.57700522e-04 9.99984237e-01 -3.93796179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.476875 meters 0.019381465432409425 Centerline is valid? [True, True] Translation: X:10.94, Y:0.40, Z:-0.04 [[ 9.98524694e-01 -5.34761245e-02 9.42013954e-03 1.09407228e+01] [ 5.34715305e-02 9.98569101e-01 7.39054151e-04 4.02514479e-01] [-9.44618202e-03 -2.34254542e-04 9.99955356e-01 -3.60860498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.536875 meters 0.020245291563811055 Centerline is valid? [True, True] Translation: X:11.00, Y:0.41, Z:-0.04 [[ 9.98696928e-01 -5.00847291e-02 9.79618842e-03 1.10003815e+01] [ 5.00795726e-02 9.98744933e-01 7.71119897e-04 4.06810852e-01] [-9.82251489e-03 -2.79526143e-04 9.99951719e-01 -3.72976970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.596875 meters 0.02375801006206162 Centerline is valid? [True, True] Translation: X:11.06, Y:0.42, Z:-0.04 [[ 9.99121133e-01 -4.10432109e-02 8.50979120e-03 1.10604617e+01] [ 4.10389892e-02 9.99157321e-01 6.70192856e-04 4.18652286e-01] [-8.53012705e-03 -3.20370616e-04 9.99963566e-01 -4.01078201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.656875 meters 0.026550728644218854 Centerline is valid? [True, True] Translation: X:11.12, Y:0.43, Z:-0.04 [[ 9.99308463e-01 -3.62336304e-02 8.34986882e-03 1.11198268e+01] [ 3.62293986e-02 9.99343284e-01 6.57564845e-04 4.28426585e-01] [-8.36821128e-03 -3.54599389e-04 9.99964923e-01 -4.03097502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.716875 meters 0.025556385189295233 Centerline is valid? [True, True] Translation: X:11.18, Y:0.43, Z:-0.04 [[ 9.99356767e-01 -3.55224528e-02 4.92017659e-03 1.11781563e+01] [ 3.55209770e-02 9.99368856e-01 3.87030613e-04 4.31136669e-01] [-4.93081953e-03 -2.12012182e-04 9.99987821e-01 -4.41203519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.776875 meters 0.02548716889538966 Centerline is valid? [True, True] Translation: X:11.24, Y:0.44, Z:-0.05 [[ 9.99408278e-01 -3.43617265e-02 1.53812827e-03 1.12371266e+01] [ 3.43615842e-02 9.99409459e-01 1.18867989e-04 4.35175357e-01] [-1.54130445e-03 -6.59451283e-05 9.99998810e-01 -4.84152043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.836875000000001 meters 0.025745571656510664 Centerline is valid? [True, True] Translation: X:11.30, Y:0.44, Z:-0.05 [[ 9.99333377e-01 -3.64632901e-02 1.79741328e-03 1.12951257e+01] [ 3.64630947e-02 9.99334990e-01 1.41380945e-04 4.37061755e-01] [-1.80137320e-03 -7.57474468e-05 9.99998375e-01 -4.80525176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.896875 meters 0.0235963737800703 Centerline is valid? [True, True] Translation: X:11.36, Y:0.44, Z:-0.04 [[ 9.99142159e-01 -4.05376978e-02 8.46416076e-03 1.13552466e+01] [ 4.05334714e-02 9.99177956e-01 6.70353667e-04 4.35232035e-01] [-8.48437744e-03 -3.26696792e-04 9.99963954e-01 -4.02446441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.956875 meters 0.02487612502057905 Centerline is valid? [True, True] Translation: X:11.41, Y:0.44, Z:-0.04 [[ 9.99224306e-01 -3.88953251e-02 6.15958797e-03 1.14133412e+01] [ 3.88930566e-02 9.99243260e-01 4.87684418e-04 4.41436262e-01] [-6.17389540e-03 -2.47740921e-04 9.99980911e-01 -4.43000029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.016875 meters 0.02461904410435011 Centerline is valid? [True, True] Translation: X:11.47, Y:0.44, Z:-0.05 [[ 9.99163825e-01 -4.06387494e-02 4.48817022e-03 1.14721076e+01] [ 4.06375667e-02 9.99173890e-01 3.54434302e-04 4.43968233e-01] [-4.49886627e-03 -1.71749616e-04 9.99989865e-01 -4.92091468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.076875 meters 0.021480621972641306 Centerline is valid? [True, True] Translation: X:11.53, Y:0.44, Z:-0.05 [[ 9.98914907e-01 -4.64951247e-02 2.68568528e-03 1.15321969e+01] [ 4.64947187e-02 9.98918513e-01 2.13437316e-04 4.39124593e-01] [-2.69270454e-03 -8.83355347e-05 9.99996371e-01 -4.87392769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.136875 meters 0.019167008623381335 Centerline is valid? [True, True] Translation: X:11.59, Y:0.44, Z:-0.05 [[ 9.98594718e-01 -5.28483783e-02 3.95460436e-03 1.15932018e+01] [ 5.28475465e-02 9.98602542e-01 3.14600467e-04 4.35078447e-01] [-3.96570409e-03 -1.05167227e-04 9.99992131e-01 -4.68158976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.196875 meters 0.0182061142622306 Centerline is valid? [True, True] Translation: X:11.65, Y:0.44, Z:-0.05 [[ 9.98355343e-01 -5.69318703e-02 6.73577606e-03 1.16529853e+01] [ 5.69295463e-02 9.98378054e-01 5.36416301e-04 4.35407727e-01] [-6.75539018e-03 -1.52069405e-04 9.99977171e-01 -4.61053176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.256875 meters 0.021071800340582907 Centerline is valid? [True, True] Translation: X:11.71, Y:0.45, Z:-0.05 [[ 9.98751831e-01 -4.96752690e-02 5.21037818e-03 1.17128320e+01] [ 4.96737781e-02 9.98765410e-01 4.15240646e-04 4.45692032e-01] [-5.22457268e-03 -1.55903186e-04 9.99986340e-01 -4.67550778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.316875 meters 0.02119433902755897 Centerline is valid? [True, True] Translation: X:11.77, Y:0.45, Z:-0.05 [[ 9.98840893e-01 -4.79952894e-02 3.64999329e-03 1.17715415e+01] [ 4.79945533e-02 9.98847556e-01 2.89030032e-04 4.52062526e-01] [-3.65965895e-03 -1.13515218e-04 9.99993297e-01 -4.91326800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.376875 meters 0.018225903265350788 Centerline is valid? [True, True] Translation: X:11.83, Y:0.45, Z:-0.05 [[ 9.98377887e-01 -5.68282769e-02 3.48453670e-03 1.18316740e+01] [ 5.68276508e-02 9.98383964e-01 2.78504659e-04 4.54544654e-01] [-3.49473250e-03 -8.00348586e-05 9.99993890e-01 -4.72284415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.436875 meters 0.01647389538318118 Centerline is valid? [True, True] Translation: X:11.89, Y:0.47, Z:-0.06 [[ 9.97872030e-01 -6.51157730e-02 -3.36857939e-03 1.18885903e+01] [ 6.51152305e-02 9.97877715e-01 -2.70582252e-04 4.66022375e-01] [ 3.37904948e-03 5.06606370e-05 9.99994290e-01 -6.08560431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.496875000000001 meters 0.017244298116535346 Centerline is valid? [True, True] Translation: X:11.95, Y:0.48, Z:-0.06 [[ 9.98091545e-01 -6.17346235e-02 -1.45028067e-03 1.19463293e+01] [ 6.17345184e-02 9.98092599e-01 -1.17146993e-04 4.77758301e-01] [ 1.45474643e-03 2.73910442e-05 9.99998941e-01 -5.56835943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.556875 meters 0.020673624386428502 Centerline is valid? [True, True] Translation: X:12.01, Y:0.50, Z:-0.05 [[ 9.98826674e-01 -4.84153624e-02 1.10850985e-03 1.20051256e+01] [ 4.84152936e-02 9.98827288e-01 8.87912253e-05 4.99545256e-01] [-1.11150874e-03 -3.50182146e-05 9.99999382e-01 -5.46495195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.616875 meters 0.02625377295327862 Centerline is valid? [True, True] Translation: X:12.06, Y:0.52, Z:-0.05 [[ 9.99397047e-01 -3.44270833e-02 4.50769529e-03 1.20642041e+01] [ 3.44258038e-02 9.99407191e-01 3.61135526e-04 5.23120607e-01] [-4.51745593e-03 -2.05736745e-04 9.99989775e-01 -5.05687165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.676875 meters 0.02737090650437749 Centerline is valid? [True, True] Translation: X:12.12, Y:0.54, Z:-0.05 [[ 9.99556982e-01 -2.91816155e-02 5.85435003e-03 1.21235036e+01] [ 2.91793675e-02 9.99574082e-01 4.69064169e-04 5.40705780e-01] [-5.86554460e-03 -2.98030134e-04 9.99982753e-01 -5.29780922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.736875 meters 0.024868022105525116 Centerline is valid? [True, True] Translation: X:12.18, Y:0.55, Z:-0.06 [[ 9.99478782e-01 -3.22734040e-02 7.69253946e-04 1.21817749e+01] [ 3.22733667e-02 9.99479077e-01 6.08982125e-05 5.49133531e-01] [-7.70818617e-04 -3.60400566e-05 9.99999702e-01 -6.00253637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.796875 meters 0.020149974420287146 Centerline is valid? [True, True] Translation: X:12.24, Y:0.55, Z:-0.05 [[ 9.98898443e-01 -4.63700943e-02 7.19134658e-03 1.22428476e+01] [ 4.63671410e-02 9.98924299e-01 5.76938800e-04 5.47359943e-01] [-7.21036355e-03 -2.42861087e-04 9.99973975e-01 -5.25290176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.856875 meters 0.01592974663233408 Centerline is valid? [True, True] Translation: X:12.30, Y:0.54, Z:-0.05 [[ 9.97603121e-01 -6.74311889e-02 1.55257353e-02 1.23026230e+01] [ 6.74199650e-02 9.97723908e-01 1.24579286e-03 5.42076060e-01] [-1.55744026e-02 -1.96062312e-04 9.99878692e-01 -4.74361198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.916875000000001 meters 0.014976339279971836 Centerline is valid? [True, True] Translation: X:12.36, Y:0.54, Z:-0.05 [[ 9.96088129e-01 -8.60353377e-02 2.01583673e-02 1.23618722e+01] [ 8.60201661e-02 9.96292079e-01 1.62012940e-03 5.35681933e-01] [-2.02230100e-02 1.20234440e-04 9.99795487e-01 -4.53111631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.976875 meters 0.014676315031209721 Centerline is valid? [True, True] Translation: X:12.42, Y:0.55, Z:-0.05 [[ 9.96376451e-01 -8.40645772e-02 1.29273057e-02 1.24190171e+01] [ 8.40581471e-02 9.96460307e-01 1.04091657e-03 5.45932643e-01] [-1.29690512e-02 4.95005988e-05 9.99915897e-01 -5.19402736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.036875 meters 0.014790700045940594 Centerline is valid? [True, True] Translation: X:12.48, Y:0.56, Z:-0.06 [[ 9.96862897e-01 -7.89110046e-02 6.11701426e-03 1.24755639e+01] [ 7.89094734e-02 9.96881665e-01 4.91646284e-04 5.62385093e-01] [-6.13673566e-03 -7.41356486e-06 9.99981170e-01 -6.15511864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.096875 meters 0.014926622164771662 Centerline is valid? [True, True] Translation: X:12.53, Y:0.57, Z:-0.07 [[ 9.97058692e-01 -7.66417936e-02 3.33031191e-05 1.25340591e+01] [ 7.66417937e-02 9.97058692e-01 5.57073648e-08 5.73674299e-01] [-3.32094339e-05 2.49686727e-06 9.99999999e-01 -6.71169086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.156875 meters 0.015783862813171 Centerline is valid? [True, True] Translation: X:12.59, Y:0.59, Z:-0.06 [[ 9.97792630e-01 -6.62175235e-02 5.01078069e-03 1.25921457e+01] [ 6.62163249e-02 9.97805209e-01 4.04901687e-04 5.90241258e-01] [-5.02659466e-03 -7.22124372e-05 9.99987364e-01 -6.11052106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.216875 meters 0.01987758816587274 Centerline is valid? [True, True] Translation: X:12.65, Y:0.61, Z:-0.06 [[ 9.98770692e-01 -4.86983860e-02 9.25046800e-03 1.26509192e+01] [ 4.86935019e-02 9.98813484e-01 7.52604911e-04 6.11748929e-01] [-9.27614282e-03 -3.01242046e-04 9.99956930e-01 -5.96572218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.276875 meters 0.020393443089237035 Centerline is valid? [True, True] Translation: X:12.71, Y:0.62, Z:-0.06 [[ 9.98968124e-01 -4.49076550e-02 6.78158496e-03 1.27102211e+01] [ 4.49049430e-02 9.98991112e-01 5.51718450e-04 6.20279318e-01] [-6.79951948e-03 -2.46622458e-04 9.99976853e-01 -6.11167896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.336875000000001 meters 0.019758531909408565 Centerline is valid? [True, True] Translation: X:12.77, Y:0.62, Z:-0.06 [[ 9.98741752e-01 -4.93441744e-02 8.94793117e-03 1.27698555e+01] [ 4.93396266e-02 9.98781793e-01 7.28419788e-04 6.24589147e-01] [-8.97297401e-03 -2.86015672e-04 9.99959701e-01 -5.94730963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.396875 meters 0.017324473524532164 Centerline is valid? [True, True] Translation: X:12.83, Y:0.62, Z:-0.06 [[ 9.98224928e-01 -5.84818836e-02 1.12633006e-02 1.28307343e+01] [ 5.84752529e-02 9.98288437e-01 9.17408011e-04 6.23162071e-01] [-1.12976745e-02 -2.57155196e-04 9.99936146e-01 -6.07152270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.456875 meters 0.014896819489177416 Centerline is valid? [True, True] Translation: X:12.89, Y:0.61, Z:-0.06 [[ 9.96899303e-01 -7.69086590e-02 1.66384289e-02 1.28915786e+01] [ 7.68967461e-02 9.97038140e-01 1.35552194e-03 6.14279364e-01] [-1.66933995e-02 -7.18778419e-05 9.99860653e-01 -5.64104520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.516875 meters 0.015371192967197992 Centerline is valid? [True, True] Translation: X:12.95, Y:0.61, Z:-0.05 [[ 9.95638072e-01 -9.02361795e-02 2.37120741e-02 1.29506135e+01] [ 9.02157219e-02 9.95920371e-01 1.93327792e-03 6.06972172e-01] [-2.37897892e-02 2.14356781e-04 9.99716960e-01 -4.78762994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.576875 meters 0.014907816938359356 Centerline is valid? [True, True] Translation: X:13.01, Y:0.62, Z:-0.06 [[ 9.96375637e-01 -8.36397617e-02 1.54912974e-02 1.30087248e+01] [ 8.36302168e-02 9.96496056e-01 1.26407331e-03 6.20960814e-01] [-1.55427435e-02 3.60487149e-05 9.99879204e-01 -6.22779958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.636875 meters 0.015165334972294928 Centerline is valid? [True, True] Translation: X:13.07, Y:0.64, Z:-0.07 [[ 9.97384369e-01 -7.17942421e-02 8.36705116e-03 1.30653833e+01] [ 7.17910368e-02 9.97419461e-01 6.83200240e-04 6.38815652e-01] [-8.39450950e-03 -8.07339623e-05 9.99964762e-01 -7.01036731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.696875 meters 0.015361635509330642 Centerline is valid? [True, True] Translation: X:13.12, Y:0.65, Z:-0.07 [[ 9.97476883e-01 -7.05245583e-02 8.13355496e-03 1.31237780e+01] [ 7.05214855e-02 9.97510039e-01 6.64339197e-04 6.51354200e-01] [-8.16015495e-03 -8.90726138e-05 9.99966701e-01 -7.15284218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.756875 meters 0.014791552242718959 Centerline is valid? [True, True] Translation: X:13.18, Y:0.65, Z:-0.07 [[ 9.96500135e-01 -8.25150496e-02 1.33696201e-02 1.31831871e+01] [ 8.25077563e-02 9.96589819e-01 1.09711472e-03 6.53999138e-01] [-1.34145557e-02 9.82239239e-06 9.99910021e-01 -6.78067944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.816875 meters 0.014882351430106362 Centerline is valid? [True, True] Translation: X:13.24, Y:0.67, Z:-0.06 [[ 9.96529424e-01 -8.12085795e-02 1.82831493e-02 1.32409264e+01] [ 8.11946379e-02 9.96697129e-01 1.50479279e-03 6.65126207e-01] [-1.83449645e-02 -1.50766057e-05 9.99831717e-01 -6.23599430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.876875 meters 0.01601072756806934 Centerline is valid? [True, True] Translation: X:13.30, Y:0.69, Z:-0.06 [[ 9.97580098e-01 -6.72319856e-02 1.77146380e-02 1.32981370e+01] [ 6.72166597e-02 9.97737335e-01 1.45981742e-03 6.87084122e-01] [-1.77727022e-02 -2.65566009e-04 9.99842018e-01 -6.46330435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.936875 meters 0.020273179053393535 Centerline is valid? [True, True] Translation: X:13.36, Y:0.72, Z:-0.07 [[ 9.98784130e-01 -4.76343581e-02 1.26975948e-02 1.33565786e+01] [ 4.76248946e-02 9.98864742e-01 1.04679922e-03 7.15357880e-01] [-1.27330434e-02 -4.40804832e-04 9.99918834e-01 -7.22396180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.996875 meters 0.022605531333068966 Centerline is valid? [True, True] Translation: X:13.42, Y:0.73, Z:-0.08 [[ 9.99222226e-01 -3.81869397e-02 9.83365400e-03 1.34161477e+01] [ 3.81808073e-02 9.99270518e-01 8.10667594e-04 7.32449938e-01] [-9.85743744e-03 -4.34580229e-04 9.99951320e-01 -7.57887960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.056875 meters 0.02097705572413792 Centerline is valid? [True, True] Translation: X:13.48, Y:0.73, Z:-0.08 [[ 9.98945345e-01 -4.46057386e-02 1.08869616e-02 1.34766103e+01] [ 4.45986014e-02 9.99004584e-01 8.97592262e-04 7.34143699e-01] [-1.09161623e-02 -4.11102349e-04 9.99940332e-01 -7.94924268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.116875 meters 0.019216699322630943 Centerline is valid? [True, True] Translation: X:13.54, Y:0.73, Z:-0.08 [[ 9.98653320e-01 -5.09387706e-02 9.83813433e-03 1.35370569e+01] [ 5.09332493e-02 9.98701730e-01 8.11110079e-04 7.28208290e-01] [-9.86667873e-03 -3.08929624e-04 9.99951275e-01 -8.22674216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.176875 meters 0.018956250663768662 Centerline is valid? [True, True] Translation: X:13.60, Y:0.73, Z:-0.08 [[ 9.98609023e-01 -5.12925939e-02 1.22101927e-02 1.35951592e+01] [ 5.12841053e-02 9.98683596e-01 1.00750807e-03 7.28020818e-01] [-1.22457969e-02 -3.79917842e-04 9.99924945e-01 -8.03514218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.236875 meters 0.019719730865914994 Centerline is valid? [True, True] Translation: X:13.65, Y:0.72, Z:-0.08 [[ 9.98610368e-01 -5.08361450e-02 1.38931412e-02 1.36546652e+01] [ 5.08250496e-02 9.98706909e-01 1.15076588e-03 7.20197598e-01] [-1.39336766e-02 -4.43047146e-04 9.99902823e-01 -7.58778849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.296875 meters 0.01804021451399454 Centerline is valid? [True, True] Translation: X:13.72, Y:0.71, Z:-0.08 [[ 9.98168746e-01 -5.85949775e-02 1.50260509e-02 1.37162663e+01] [ 5.85828299e-02 9.98281771e-01 1.24770511e-03 7.05716338e-01] [-1.50733420e-02 -3.65151660e-04 9.99886324e-01 -8.02627071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.356875 meters 0.016087032810721536 Centerline is valid? [True, True] Translation: X:13.78, Y:0.69, Z:-0.08 [[ 9.97669223e-01 -6.71406787e-02 1.21758294e-02 1.37775196e+01] [ 6.71333362e-02 9.97743500e-01 1.01121484e-03 6.91011682e-01] [-1.22162483e-02 -1.91453869e-04 9.99925361e-01 -8.15132909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.416875 meters 0.015098503655175096 Centerline is valid? [True, True] Translation: X:13.84, Y:0.68, Z:-0.08 [[ 9.97099440e-01 -7.53582301e-02 1.06697206e-02 1.38361117e+01] [ 7.53530605e-02 9.97156523e-01 8.86270696e-04 6.82761004e-01] [-1.07061693e-02 -7.97039150e-05 9.99942684e-01 -8.23481001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.476875 meters 0.014817212325818258 Centerline is valid? [True, True] Translation: X:13.90, Y:0.67, Z:-0.09 [[ 9.96314064e-01 -8.55524431e-02 6.25017089e-03 1.38952835e+01] [ 8.55508686e-02 9.96333669e-01 5.19322801e-04 6.72094361e-01] [-6.27168502e-03 1.72989378e-05 9.99980333e-01 -8.80537326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.536875 meters 0.01482366723072529 Centerline is valid? [True, True] Translation: X:13.95, Y:0.68, Z:-0.09 [[ 9.96367713e-01 -8.49753920e-02 5.52847380e-03 1.39537031e+01] [ 8.49741550e-02 9.96383050e-01 4.58678117e-04 6.75886725e-01] [-5.54745394e-03 1.27653232e-05 9.99984613e-01 -9.10698349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.596875 meters 0.01725307697748528 Centerline is valid? [True, True] Translation: X:14.01, Y:0.69, Z:-0.08 [[ 9.98111913e-01 -6.08992543e-02 7.99314536e-03 1.40128661e+01] [ 6.08958604e-02 9.98143902e-01 6.67518838e-04 6.92050848e-01] [-8.01896070e-03 -1.79509039e-04 9.99967832e-01 -8.48693991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.656875 meters 0.02065518891231875 Centerline is valid? [True, True] Translation: X:14.07, Y:0.71, Z:-0.09 [[ 9.98709467e-01 -4.97038824e-02 1.04367205e-02 1.40707575e+01] [ 4.96974821e-02 9.98763936e-01 8.71864359e-04 7.06571125e-01] [-1.04671551e-02 -3.52060458e-04 9.99945156e-01 -8.65859621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.716875 meters 0.024186268294400008 Centerline is valid? [True, True] Translation: X:14.13, Y:0.72, Z:-0.09 [[ 9.99084066e-01 -4.20937457e-02 7.69063814e-03 1.41311097e+01] [ 4.20900480e-02 9.99113615e-01 6.42100613e-04 7.15501473e-01] [-7.71084970e-03 -3.17813162e-04 9.99970220e-01 -8.89571428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.776875 meters 0.026653769621854936 Centerline is valid? [True, True] Translation: X:14.19, Y:0.72, Z:-0.10 [[ 9.99251606e-01 -3.86199155e-02 2.17469664e-03 1.41905225e+01] [ 3.86196119e-02 9.99253968e-01 1.81419397e-04 7.18746586e-01] [-2.18008065e-03 -9.72976835e-05 9.99997619e-01 -9.72573152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.836875000000001 meters 0.024728459989968265 Centerline is valid? [True, True] Translation: X:14.25, Y:0.71, Z:-0.10 [[ 9.99134219e-01 -4.15185446e-02 -2.65011765e-03 1.42509206e+01] [ 4.15180951e-02 9.99137727e-01 -2.24451854e-04 7.09063560e-01] [ 2.65715144e-03 1.14229691e-04 9.99996463e-01 -1.04250991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.896875 meters 0.02719980155648943 Centerline is valid? [True, True] Translation: X:14.31, Y:0.70, Z:-0.10 [[ 9.99177255e-01 -4.04775362e-02 -2.52617429e-03 1.43097934e+01] [ 4.04771275e-02 9.99180443e-01 -2.12725794e-04 7.03794839e-01] [ 2.53271456e-03 1.10298496e-04 9.99996787e-01 -1.01428771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.956875 meters 0.02346454518179809 Centerline is valid? [True, True] Translation: X:14.37, Y:0.69, Z:-0.10 [[ 9.99035417e-01 -4.38273190e-02 2.72063103e-03 1.43706875e+01] [ 4.38268611e-02 9.99039116e-01 2.27735844e-04 6.94689628e-01] [-2.72799787e-03 -1.08279456e-04 9.99996273e-01 -9.54723321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.016875 meters 0.022631501783053027 Centerline is valid? [True, True] Translation: X:14.43, Y:0.69, Z:-0.09 [[ 9.98876925e-01 -4.71237059e-02 4.92397995e-03 1.44309804e+01] [ 4.71222426e-02 9.98889045e-01 4.12844758e-04 6.94045020e-01] [-4.93796440e-03 -1.80352125e-04 9.99987792e-01 -9.31806900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.076875 meters 0.02484678242268169 Centerline is valid? [True, True] Translation: X:14.49, Y:0.70, Z:-0.10 [[ 9.98897249e-01 -4.68592832e-02 2.91433111e-03 1.44883402e+01] [ 4.68587713e-02 9.98901495e-01 2.43747731e-04 7.01182350e-01] [-2.92255155e-03 -1.06916962e-04 9.99995724e-01 -9.85152154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.136875 meters 0.024523836428685435 Centerline is valid? [True, True] Translation: X:14.55, Y:0.70, Z:-0.10 [[ 9.98975772e-01 -4.52481976e-02 8.48543812e-05 1.45474625e+01] [ 4.52481972e-02 9.98975776e-01 6.54687031e-06 7.03765171e-01] [-8.50637054e-05 -2.70065705e-06 9.99999996e-01 -1.00260028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.196875 meters 0.025559644341254618 Centerline is valid? [True, True] Translation: X:14.61, Y:0.71, Z:-0.10 [[ 9.99153856e-01 -4.10422233e-02 2.66609845e-03 1.46067199e+01] [ 4.10417722e-02 9.99157406e-01 2.23718410e-04 7.12695170e-01] [-2.67303392e-03 -1.14107707e-04 9.99996421e-01 -9.88277196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.256875 meters 0.030153490278379522 Centerline is valid? [True, True] Translation: X:14.67, Y:0.73, Z:-0.10 [[ 9.99374104e-01 -3.52232159e-02 3.27501343e-03 1.46651323e+01] [ 3.52225030e-02 9.99379457e-01 2.75123822e-04 7.29032225e-01] [-3.28267189e-03 -1.59597452e-04 9.99994599e-01 -1.00344479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.316875 meters 0.029820561522081138 Centerline is valid? [True, True] Translation: X:14.72, Y:0.74, Z:-0.10 [[ 9.99478622e-01 -3.20886090e-02 3.57852859e-03 1.47238928e+01] [ 3.20877383e-02 9.99485011e-01 3.00488310e-04 7.36930596e-01] [-3.58632794e-03 -1.85504753e-04 9.99993552e-01 -9.86400026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.376875 meters 0.025373841547442336 Centerline is valid? [True, True] Translation: X:14.78, Y:0.74, Z:-0.10 [[ 9.99171410e-01 -4.05444661e-02 3.55534079e-03 1.47836443e+01] [ 4.05436587e-02 9.99177723e-01 2.98913584e-04 7.37812287e-01] [-3.56453661e-03 -1.54519384e-04 9.99993635e-01 -9.88578497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.436875 meters 0.02302526913290474 Centerline is valid? [True, True] Translation: X:14.84, Y:0.74, Z:-0.10 [[ 9.98917551e-01 -4.63849394e-02 3.48760543e-03 1.48440187e+01] [ 4.63841973e-02 9.98923631e-01 2.93397615e-04 7.37979209e-01] [-3.49746070e-03 -1.31310249e-04 9.99993875e-01 -9.87248167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.496875 meters 0.023171678378694507 Centerline is valid? [True, True] Translation: X:14.90, Y:0.74, Z:-0.10 [[ 9.98894197e-01 -4.69749892e-02 1.93217836e-03 1.49025215e+01] [ 4.69747674e-02 9.98896063e-01 1.60056281e-04 7.41308968e-01] [-1.93756400e-03 -6.91156608e-05 9.99998121e-01 -1.00765228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.556875 meters 0.029359145087196486 Centerline is valid? [True, True] Translation: X:14.96, Y:0.75, Z:-0.10 [[ 9.99216658e-01 -3.95674410e-02 6.99142350e-04 1.49607635e+01] [ 3.95674093e-02 9.99216902e-01 5.90428077e-05 7.54885514e-01] [-7.00931026e-04 -3.13333054e-05 9.99999754e-01 -1.04025288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.616875 meters 0.029418583912508983 Centerline is valid? [True, True] Translation: X:15.02, Y:0.76, Z:-0.11 [[ 9.99338503e-01 -3.62567337e-02 -2.82926820e-03 1.50205114e+01] [ 3.62562014e-02 9.99342499e-01 -2.39241510e-04 7.61206576e-01] [ 2.83608207e-03 1.36504735e-04 9.99995969e-01 -1.08682600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.676875 meters 0.024912664257428007 Centerline is valid? [True, True] Translation: X:15.08, Y:0.76, Z:-0.11 [[ 9.98943766e-01 -4.57314446e-02 -4.47075018e-03 1.50810997e+01] [ 4.57302106e-02 9.98953755e-01 -3.77906035e-04 7.59609208e-01] [ 4.48335487e-03 1.73058530e-04 9.99989935e-01 -1.07112882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.736875 meters 0.021798183975818005 Centerline is valid? [True, True] Translation: X:15.14, Y:0.76, Z:-0.10 [[ 9.98756650e-01 -4.98224500e-02 -1.69648771e-03 1.51414363e+01] [ 4.98222779e-02 9.98758089e-01 -1.43582559e-04 7.61094570e-01] [ 1.70153446e-03 5.88811538e-05 9.99998551e-01 -1.03459439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.796875 meters 0.0222456717817744 Centerline is valid? [True, True] Translation: X:15.20, Y:0.76, Z:-0.10 [[ 9.98725167e-01 -5.04515970e-02 1.63606063e-03 1.52001713e+01] [ 5.04514419e-02 9.98726506e-01 1.35958194e-04 7.64751107e-01] [-1.64083643e-03 -5.32432523e-05 9.99998652e-01 -9.89052846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.856875 meters 0.022433321923876957 Centerline is valid? [True, True] Translation: X:15.26, Y:0.77, Z:-0.10 [[ 9.98734117e-01 -5.02491389e-02 2.27769106e-03 1.52591268e+01] [ 5.02488340e-02 9.98736711e-01 1.90898501e-04 7.68060075e-01] [-2.28440616e-03 -7.62055259e-05 9.99997388e-01 -1.01162305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.916875 meters 0.023328816762861963 Centerline is valid? [True, True] Translation: X:15.32, Y:0.77, Z:-0.11 [[ 9.98847596e-01 -4.78645135e-02 -3.53102517e-03 1.53178965e+01] [ 4.78637470e-02 9.98853829e-01 -3.01305334e-04 7.72800188e-01] [ 3.54139985e-03 1.31950013e-04 9.99993721e-01 -1.07372073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.976875 meters 0.024347108834988793 Centerline is valid? [True, True] Translation: X:15.38, Y:0.78, Z:-0.11 [[ 9.98897041e-01 -4.65522842e-02 -6.13080347e-03 1.53768693e+01] [ 4.65499523e-02 9.98915827e-01 -5.22578452e-04 7.77954456e-01] [ 6.14848383e-03 2.36613461e-04 9.99981070e-01 -1.10355982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.036875 meters 0.023676117800664923 Centerline is valid? [True, True] Translation: X:15.44, Y:0.78, Z:-0.11 [[ 9.98787780e-01 -4.91150657e-02 -3.26804996e-03 1.54369029e+01] [ 4.91144170e-02 9.98793120e-01 -2.78500305e-04 7.82080737e-01] [ 3.27778437e-03 1.17654333e-04 9.99994621e-01 -1.09332270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.096874999999997 meters 0.021492154458160762 Centerline is valid? [True, True] Translation: X:15.50, Y:0.78, Z:-0.10 [[ 9.98726971e-01 -5.04306774e-02 1.08784210e-03 1.54957810e+01] [ 5.04306072e-02 9.98727563e-01 9.19177571e-05 7.81847296e-01] [-1.09109337e-03 -3.69402053e-05 9.99999404e-01 -1.01231074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.156875 meters 0.02380695718105654 Centerline is valid? [True, True] Translation: X:15.56, Y:0.79, Z:-0.10 [[ 9.98976310e-01 -4.52354329e-02 2.96095834e-04 1.55550913e+01] [ 4.52354274e-02 9.98976354e-01 2.50436832e-05 7.94741852e-01] [-2.96925598e-04 -1.16240246e-05 9.99999956e-01 -1.04203251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.216874999999998 meters 0.026895050258062225 Centerline is valid? [True, True] Translation: X:15.61, Y:0.81, Z:-0.11 [[ 9.99298441e-01 -3.74483236e-02 -4.99009725e-04 1.56148389e+01] [ 3.74483070e-02 9.99298565e-01 -4.25306035e-05 8.08053681e-01] [ 5.00252402e-04 2.38136964e-05 9.99999875e-01 -1.05416926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.276874999999997 meters 0.029767586726033187 Centerline is valid? [True, True] Translation: X:15.67, Y:0.82, Z:-0.11 [[ 9.99310253e-01 -3.71351254e-02 -4.02741995e-05 1.56722408e+01] [ 3.71351252e-02 9.99310253e-01 -4.92098464e-06 8.18780886e-01] [ 4.04291619e-05 3.42200296e-06 9.99999999e-01 -1.07552557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.336875 meters 0.02835759395978836 Centerline is valid? [True, True] Translation: X:15.73, Y:0.82, Z:-0.11 [[ 9.99334205e-01 -3.63609163e-02 -3.00509486e-03 1.57311253e+01] [ 3.63602981e-02 9.99338712e-01 -2.60123945e-04 8.20733627e-01] [ 3.01256597e-03 1.50684611e-04 9.99995451e-01 -1.08479344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.396874999999998 meters 0.02695295223517287 Centerline is valid? [True, True] Translation: X:15.79, Y:0.82, Z:-0.10 [[ 9.99339478e-01 -3.61922458e-02 3.27545802e-03 1.57905820e+01] [ 3.61915238e-02 9.99344833e-01 2.79436858e-04 8.23696739e-01] [-3.28342550e-03 -1.60708466e-04 9.99994597e-01 -1.03541307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.456874999999997 meters 0.027646522564999068 Centerline is valid? [True, True] Translation: X:15.85, Y:0.83, Z:-0.10 [[ 9.99253086e-01 -3.82129111e-02 5.74827101e-03 1.58478870e+01] [ 3.82107085e-02 9.99269583e-01 4.92547785e-04 8.29987809e-01] [-5.76289406e-03 -2.72534386e-04 9.99983357e-01 -1.02209430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.516875 meters 0.026279095332946926 Centerline is valid? [True, True] Translation: X:15.91, Y:0.83, Z:-0.10 [[ 9.99113761e-01 -4.18561718e-02 4.44442114e-03 1.59074917e+01] [ 4.18548886e-02 9.99123627e-01 3.81372296e-04 8.32240718e-01] [-4.45648895e-03 -1.95013558e-04 9.99990051e-01 -1.03033991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.576874999999998 meters 0.0250636093306695 Centerline is valid? [True, True] Translation: X:15.97, Y:0.83, Z:-0.11 [[ 9.98955306e-01 -4.56976236e-02 1.53796740e-04 1.59673512e+01] [ 4.56976222e-02 9.98955318e-01 1.28266650e-05 8.32563913e-01] [-1.54222220e-04 -5.78511970e-06 9.99999988e-01 -1.09228632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.636875 meters 0.024328661277190355 Centerline is valid? [True, True] Translation: X:16.03, Y:0.83, Z:-0.11 [[ 9.98898340e-01 -4.69240946e-02 4.85916884e-04 1.60268633e+01] [ 4.69240810e-02 9.98898458e-01 3.93158268e-05 8.33688700e-01] [-4.87226486e-04 -1.64713109e-05 9.99999881e-01 -1.08738811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.696875 meters 0.023036941330046773 Centerline is valid? [True, True] Translation: X:16.09, Y:0.84, Z:-0.11 [[ 9.98932434e-01 -4.61564513e-02 1.89056535e-03 1.60855809e+01] [ 4.61562300e-02 9.98934220e-01 1.60526425e-04 8.36122376e-01] [-1.89595975e-03 -7.30936837e-05 9.99998200e-01 -1.07258548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.756874999999997 meters 0.02716083424981938 Centerline is valid? [True, True] Translation: X:16.14, Y:0.85, Z:-0.11 [[ 9.99013749e-01 -4.43793560e-02 1.41490479e-03 1.61427798e+01] [ 4.43792285e-02 9.99014749e-01 1.21407638e-04 8.49836740e-01] [-1.41889875e-03 -5.84955167e-05 9.99998992e-01 -1.11714447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.816875 meters 0.02435937503840526 Centerline is valid? [True, True] Translation: X:16.20, Y:0.85, Z:-0.11 [[ 9.98882395e-01 -4.71732126e-02 -2.94091213e-03 1.62025561e+01] [ 4.71726581e-02 9.98886717e-01 -2.57679327e-04 8.48565367e-01] [ 2.94979362e-03 1.18660701e-04 9.99995642e-01 -1.14861068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.876875 meters 0.022879248785264643 Centerline is valid? [True, True] Translation: X:16.26, Y:0.85, Z:-0.12 [[ 9.98788279e-01 -4.91253573e-02 -2.94505110e-03 1.62613818e+01] [ 4.91248068e-02 9.98792614e-01 -2.59019561e-04 8.49463241e-01] [ 2.95421972e-03 1.14030635e-04 9.99995630e-01 -1.15542095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.936874999999997 meters 0.022642381926272045 Centerline is valid? [True, True] Translation: X:16.32, Y:0.85, Z:-0.12 [[ 9.98680479e-01 -5.12534517e-02 -3.22245049e-03 1.63205773e+01] [ 5.12528021e-02 9.98685671e-01 -2.83918515e-04 8.51001251e-01] [ 3.23276694e-03 1.18384262e-04 9.99994768e-01 -1.17641399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.996875 meters 0.021055514232822037 Centerline is valid? [True, True] Translation: X:16.38, Y:0.85, Z:-0.11 [[ 9.98451436e-01 -5.56302549e-02 6.49486590e-05 1.63815039e+01] [ 5.56302547e-02 9.98451438e-01 5.20683447e-06 8.46977343e-01] [-6.51377395e-05 -1.58566091e-06 9.99999998e-01 -1.13215649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.056874999999998 meters 0.01822644665291374 Centerline is valid? [True, True] Translation: X:16.44, Y:0.84, Z:-0.11 [[ 9.97966899e-01 -6.36054517e-02 4.05152549e-03 1.64425099e+01] [ 6.36045402e-02 9.97975119e-01 3.53559499e-04 8.41096848e-01] [-4.06580995e-03 -9.51452604e-05 9.99991730e-01 -1.10767499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.116874999999997 meters 0.015604884806703016 Centerline is valid? [True, True] Translation: X:16.50, Y:0.83, Z:-0.11 [[ 9.97325416e-01 -7.29502005e-02 4.50359488e-03 1.65031093e+01] [ 7.29491697e-02 9.97335583e-01 3.92955076e-04 8.34167776e-01] [-4.52026157e-03 -6.33705775e-05 9.99989782e-01 -1.09446126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.176875 meters 0.015578833223722355 Centerline is valid? [True, True] Translation: X:16.56, Y:0.84, Z:-0.11 [[ 9.97184214e-01 -7.49231458e-02 3.18843936e-03 1.65614214e+01] [ 7.49226416e-02 9.97189310e-01 2.77464669e-04 8.36755599e-01] [-3.20026617e-03 -3.77970886e-05 9.99994878e-01 -1.12225596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.236874999999998 meters 0.015679448837601247 Centerline is valid? [True, True] Translation: X:16.62, Y:0.84, Z:-0.11 [[ 9.97306426e-01 -7.33409425e-02 9.99612494e-04 1.66203062e+01] [ 7.33408941e-02 9.97306927e-01 8.49865275e-05 8.42940862e-01] [-1.00315346e-03 -1.14451359e-05 9.99999497e-01 -1.13667477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.296875 meters 0.017528438723656014 Centerline is valid? [True, True] Translation: X:16.68, Y:0.85, Z:-0.12 [[ 9.97559215e-01 -6.97705980e-02 -2.77068584e-03 1.66775795e+01] [ 6.97701894e-02 9.97563061e-01 -2.43967554e-04 8.54779254e-01] [ 2.78095561e-03 5.00608056e-05 9.99996132e-01 -1.18205503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.356875 meters 0.01781399193691714 Centerline is valid? [True, True] Translation: X:16.74, Y:0.87, Z:-0.12 [[ 9.97757651e-01 -6.68959707e-02 -2.14450972e-03 1.67351201e+01] [ 6.68957181e-02 9.97759955e-01 -1.89386110e-04 8.66073255e-01] [ 2.15237509e-03 4.55029226e-05 9.99997683e-01 -1.18839098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.416874999999997 meters 0.017046980152159424 Centerline is valid? [True, True] Translation: X:16.79, Y:0.87, Z:-0.11 [[ 9.97591923e-01 -6.93527231e-02 -7.45260251e-04 1.67934765e+01] [ 6.93526914e-02 9.97592201e-01 -6.83418743e-05 8.73303344e-01] [ 7.48205509e-04 1.64914976e-05 9.99999720e-01 -1.14899496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.476875 meters 0.019435916248835672 Centerline is valid? [True, True] Translation: X:16.85, Y:0.89, Z:-0.12 [[ 9.98033671e-01 -6.26730684e-02 -9.36814234e-04 1.68510122e+01] [ 6.26730177e-02 9.98034111e-01 -8.34390977e-05 8.92632497e-01] [ 9.40201945e-04 2.45620540e-05 9.99999558e-01 -1.17351486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.536875 meters 0.02262873742674774 Centerline is valid? [True, True] Translation: X:16.91, Y:0.91, Z:-0.12 [[ 9.98352514e-01 -5.73683623e-02 1.06212782e-03 1.69081715e+01] [ 5.73682958e-02 9.98353079e-01 9.29842389e-05 9.10282009e-01] [-1.06571294e-03 -3.18985855e-05 9.99999432e-01 -1.17196381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.596874999999997 meters 0.019523307300441356 Centerline is valid? [True, True] Translation: X:16.97, Y:0.91, Z:-0.11 [[ 9.98229507e-01 -5.90027334e-02 7.51852437e-03 1.69669162e+01] [ 5.89994099e-02 9.98257797e-01 6.63268963e-04 9.11567019e-01] [-7.54456026e-03 -2.18506149e-04 9.99971516e-01 -1.07006745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.656875 meters 0.017172173344522028 Centerline is valid? [True, True] Translation: X:17.03, Y:0.91, Z:-0.11 [[ 9.97682365e-01 -6.72243172e-02 1.05256753e-02 1.70267200e+01] [ 6.72182488e-02 9.97737863e-01 9.29643639e-04 9.11292165e-01] [-1.05643595e-02 -2.19971601e-04 9.99944171e-01 -1.05296813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.716874999999998 meters 0.016428668185029666 Centerline is valid? [True, True] Translation: X:17.09, Y:0.91, Z:-0.11 [[ 9.97397158e-01 -7.13740434e-02 1.02301237e-02 1.70855943e+01] [ 7.13685258e-02 9.97449606e-01 9.03864432e-04 9.12921212e-01] [-1.02685453e-02 -1.71402970e-04 9.99947262e-01 -1.06206817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.776874999999997 meters 0.015902075503162576 Centerline is valid? [True, True] Translation: X:17.14, Y:0.92, Z:-0.11 [[ 9.97202077e-01 -7.45530316e-02 5.46478300e-03 1.71440509e+01] [ 7.45515101e-02 9.97217048e-01 4.81887542e-04 9.15908395e-01] [-5.48550095e-03 -7.31314327e-05 9.99984952e-01 -1.12061793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.836875 meters 0.01621886765039769 Centerline is valid? [True, True] Translation: X:17.20, Y:0.92, Z:-0.12 [[ 9.97239534e-01 -7.42149125e-02 2.33622848e-03 1.72025913e+01] [ 7.42146357e-02 9.97242270e-01 2.05073954e-04 9.22021150e-01] [-2.34500534e-03 -3.11255089e-05 9.99997250e-01 -1.18835729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.896874999999998 meters 0.016789100446812415 Centerline is valid? [True, True] Translation: X:17.26, Y:0.93, Z:-0.12 [[ 9.97335732e-01 -7.29441035e-02 7.71038913e-04 1.72613325e+01] [ 7.29440743e-02 9.97336030e-01 6.60586303e-05 9.27257879e-01] [-7.73803476e-04 -9.63991271e-06 9.99999701e-01 -1.19327436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.956874999999997 meters 0.016740732724700617 Centerline is valid? [True, True] Translation: X:17.32, Y:0.93, Z:-0.12 [[ 9.97365289e-01 -7.24051587e-02 4.46921862e-03 1.73204106e+01] [ 7.24041072e-02 9.97375299e-01 3.96851427e-04 9.33741103e-01] [-4.48622235e-03 -7.22160538e-05 9.99989934e-01 -1.15881174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.016875 meters 0.0165391793122259 Centerline is valid? [True, True] Translation: X:17.38, Y:0.94, Z:-0.11 [[ 9.97361451e-01 -7.21413774e-02 8.10909597e-03 1.73779669e+01] [ 7.21378741e-02 9.97394407e-01 7.24066514e-04 9.40262914e-01] [-8.14020212e-03 -1.37183085e-04 9.99966859e-01 -1.13977098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.076874999999998 meters 0.01671038348878586 Centerline is valid? [True, True] Translation: X:17.44, Y:0.95, Z:-0.11 [[ 9.97238126e-01 -7.33894456e-02 1.14065741e-02 1.74353963e+01] [ 7.33825450e-02 9.97303342e-01 1.02290119e-03 9.46886853e-01] [-1.14508846e-02 -1.83032634e-04 9.99934420e-01 -1.11551907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.136875 meters 0.016062718728732224 Centerline is valid? [True, True] Translation: X:17.49, Y:0.95, Z:-0.11 [[ 9.97069736e-01 -7.55370388e-02 1.20870899e-02 1.74936353e+01] [ 7.55294326e-02 9.97142982e-01 1.08518078e-03 9.52285163e-01] [-1.21345282e-02 -1.69069875e-04 9.99926360e-01 -1.12075808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.196875 meters 0.017144654153670315 Centerline is valid? [True, True] Translation: X:17.55, Y:0.96, Z:-0.12 [[ 9.97272105e-01 -7.32377102e-02 9.19704476e-03 1.75505379e+01] [ 7.32331914e-02 9.97314501e-01 8.27602468e-04 9.64046188e-01] [-9.23295782e-03 -1.51815917e-04 9.99957364e-01 -1.18396647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.256874999999997 meters 0.01795274464596 Centerline is valid? [True, True] Translation: X:17.61, Y:0.97, Z:-0.12 [[ 9.97580495e-01 -6.92109829e-02 6.55719286e-03 1.76095882e+01] [ 6.92085956e-02 9.97602036e-01 5.90571701e-04 9.72957623e-01] [-6.58234299e-03 -1.35328702e-04 9.99978327e-01 -1.21156897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.316875 meters 0.019310876601942875 Centerline is valid? [True, True] Translation: X:17.67, Y:0.98, Z:-0.12 [[ 9.97980547e-01 -6.28406105e-02 9.26740663e-03 1.76680546e+01] [ 6.28355630e-02 9.98023544e-01 8.35101846e-04 9.84562551e-01] [-9.30156832e-03 -2.51092684e-04 9.99956708e-01 -1.20048708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.376875 meters 0.021798023737611805 Centerline is valid? [True, True] Translation: X:17.73, Y:1.00, Z:-0.12 [[ 9.98411293e-01 -5.57365590e-02 8.26593868e-03 1.77270226e+01] [ 5.57322962e-02 9.98445470e-01 7.45330395e-04 9.96487417e-01] [-8.29463118e-03 -2.83466541e-04 9.99965559e-01 -1.21171246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.436874999999997 meters 0.0222547084855916 Centerline is valid? [True, True] Translation: X:17.79, Y:1.00, Z:-0.12 [[ 9.98582539e-01 -5.25314058e-02 8.56524604e-03 1.77865513e+01] [ 5.25267100e-02 9.98619221e-01 7.72431421e-04 1.00380810e+00] [-8.59399624e-03 -3.21432334e-04 9.99963019e-01 -1.22921089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.496875 meters 0.02400894214652272 Centerline is valid? [True, True] Translation: X:17.84, Y:1.01, Z:-0.13 [[ 9.98674139e-01 -5.07472190e-02 8.64196255e-03 1.78438855e+01] [ 5.07423703e-02 9.98711472e-01 7.79539622e-04 1.01230470e+00] [-8.67038661e-03 -3.39992397e-04 9.99962354e-01 -1.26042487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.556874999999998 meters 0.025559388133749205 Centerline is valid? [True, True] Translation: X:17.90, Y:1.02, Z:-0.13 [[ 9.98705142e-01 -5.03148018e-02 7.51393801e-03 1.79010464e+01] [ 5.03111199e-02 9.98733363e-01 6.78342234e-04 1.01894692e+00] [-7.53855124e-03 -2.99429241e-04 9.99971540e-01 -1.28936385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.616874999999997 meters 0.025756883591197113 Centerline is valid? [True, True] Translation: X:17.96, Y:1.02, Z:-0.13 [[ 9.98856915e-01 -4.72583664e-02 7.17706902e-03 1.79605220e+01] [ 4.72549228e-02 9.98882651e-01 6.48718096e-04 1.02346929e+00] [-7.19970709e-03 -3.08824713e-04 9.99974034e-01 -1.27987119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.676875 meters 0.027265368439344028 Centerline is valid? [True, True] Translation: X:18.02, Y:1.03, Z:-0.13 [[ 9.98981158e-01 -4.45507126e-02 7.20284057e-03 1.80198023e+01] [ 4.45471722e-02 9.99007070e-01 6.51304791e-04 1.03054297e+00] [-7.22470474e-03 -3.29775035e-04 9.99973847e-01 -1.28087178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.736874999999998 meters 0.02789629981495306 Centerline is valid? [True, True] Translation: X:18.08, Y:1.04, Z:-0.13 [[ 9.98978819e-01 -4.43983321e-02 8.37302330e-03 1.80782622e+01] [ 4.43935442e-02 9.99013834e-01 7.56911800e-04 1.03755126e+00] [-8.39837173e-03 -3.84430676e-04 9.99964659e-01 -1.30114632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.796874999999996 meters 0.02469801666620879 Centerline is valid? [True, True] Translation: X:18.14, Y:1.04, Z:-0.13 [[ 9.98863134e-01 -4.65264409e-02 1.03792645e-02 1.81374141e+01] [ 4.65191636e-02 9.98916954e-01 9.41600485e-04 1.03572440e+00] [-1.04118326e-02 -4.57695307e-04 9.99945691e-01 -1.25468846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.856875 meters 0.022940775891643048 Centerline is valid? [True, True] Translation: X:18.20, Y:1.04, Z:-0.13 [[ 9.98710856e-01 -4.95751875e-02 1.09053836e-02 1.81968068e+01] [ 4.95673257e-02 9.98770294e-01 9.90174968e-04 1.03878559e+00] [-1.09410613e-02 -4.48347786e-04 9.99940044e-01 -1.27053667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.916874999999997 meters 0.021950508693533856 Centerline is valid? [True, True] Translation: X:18.26, Y:1.04, Z:-0.13 [[ 9.98547222e-01 -5.28904729e-02 1.02977196e-02 1.82563640e+01] [ 5.28836352e-02 9.98600243e-01 9.35360679e-04 1.04172627e+00] [-1.03327769e-02 -3.89420963e-04 9.99946540e-01 -1.29984570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.976875 meters 0.02171722700729033 Centerline is valid? [True, True] Translation: X:18.32, Y:1.04, Z:-0.13 [[ 9.98346854e-01 -5.67968076e-02 8.81372567e-03 1.83153098e+01] [ 5.67919484e-02 9.98385714e-01 8.00832645e-04 1.04422541e+00] [-8.84498253e-03 -2.98960099e-04 9.99960838e-01 -1.28272716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.036875 meters 0.018927235605502624 Centerline is valid? [True, True] Translation: X:18.37, Y:1.04, Z:-0.13 [[ 9.98149406e-01 -6.00138963e-02 9.80287706e-03 1.83742058e+01] [ 6.00080366e-02 9.98197496e-01 8.91058907e-04 1.04346364e+00] [-9.83868325e-03 -3.01158513e-04 9.99951554e-01 -1.28057394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.096874999999997 meters 0.019431630780614308 Centerline is valid? [True, True] Translation: X:18.43, Y:1.05, Z:-0.13 [[ 9.97981563e-01 -6.25493603e-02 1.09716432e-02 1.84321546e+01] [ 6.25421631e-02 9.98041823e-01 9.98203024e-04 1.04842954e+00] [-1.10125958e-02 -3.09997913e-04 9.99939311e-01 -1.29630325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.156875 meters 0.01858352589986666 Centerline is valid? [True, True] Translation: X:18.49, Y:1.05, Z:-0.13 [[ 9.97823051e-01 -6.53293629e-02 9.01297931e-03 1.84908594e+01] [ 6.53246165e-02 9.97863729e-01 8.20327406e-04 1.05095161e+00] [-9.04731661e-03 -2.29772178e-04 9.99959046e-01 -1.31470013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.216874999999998 meters 0.017469960601955235 Centerline is valid? [True, True] Translation: X:18.55, Y:1.05, Z:-0.13 [[ 9.97697729e-01 -6.72121681e-02 9.04242019e-03 1.85499280e+01] [ 6.72074480e-02 9.97738682e-01 8.25202730e-04 1.05409294e+00] [-9.07743607e-03 -2.15584906e-04 9.99958776e-01 -1.31622862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.276874999999997 meters 0.01653082194796421 Centerline is valid? [True, True] Translation: X:18.61, Y:1.06, Z:-0.14 [[ 9.97573403e-01 -6.93052655e-02 6.63966220e-03 1.86090102e+01] [ 6.93027609e-02 9.97595489e-01 6.06825469e-04 1.05907652e+00] [-6.66575326e-03 -1.45206026e-04 9.99977773e-01 -1.35991860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.336875 meters 0.01698386913310764 Centerline is valid? [True, True] Translation: X:18.67, Y:1.07, Z:-0.14 [[ 9.97514076e-01 -7.01595468e-02 6.58071121e-03 1.86661430e+01] [ 7.01570895e-02 9.97535773e-01 6.03794742e-04 1.06566470e+00] [-6.60685680e-03 -1.40610208e-04 9.99978165e-01 -1.37326967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.396874999999998 meters 0.0159011138288927 Centerline is valid? [True, True] Translation: X:18.72, Y:1.07, Z:-0.13 [[ 9.97483760e-01 -7.04636957e-02 7.81133599e-03 1.87238765e+01] [ 7.04602409e-02 9.97514331e-01 7.16931403e-04 1.06836247e+00] [-7.84243723e-03 -1.64738815e-04 9.99969234e-01 -1.34279353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.456874999999997 meters 0.017593951508427772 Centerline is valid? [True, True] Translation: X:18.78, Y:1.08, Z:-0.13 [[ 9.97641955e-01 -6.79696291e-02 9.52155021e-03 1.87809844e+01] [ 6.79643465e-02 9.97687365e-01 8.77660674e-04 1.07824953e+00] [-9.55918461e-03 -2.28465172e-04 9.99954284e-01 -1.33219150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.516875 meters 0.01980602278603404 Centerline is valid? [True, True] Translation: X:18.84, Y:1.09, Z:-0.14 [[ 9.98067947e-01 -6.14179436e-02 9.39202990e-03 1.88409203e+01] [ 6.14125046e-02 9.98112094e-01 8.66689342e-04 1.08923859e+00] [-9.42752891e-03 -2.88226772e-04 9.99955518e-01 -1.35217448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.576874999999998 meters 0.022990256394468448 Centerline is valid? [True, True] Translation: X:18.90, Y:1.10, Z:-0.14 [[ 9.98519337e-01 -5.40181579e-02 6.41652109e-03 1.89002367e+01] [ 5.40154669e-02 9.98539923e-01 5.92081351e-04 1.10113115e+00] [-6.43913562e-03 -2.44613296e-04 9.99979239e-01 -1.38131290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.636875 meters 0.024273191287624157 Centerline is valid? [True, True] Translation: X:18.96, Y:1.11, Z:-0.14 [[ 9.98830894e-01 -4.82184211e-02 3.43922017e-03 1.89594577e+01] [ 4.82176139e-02 9.98836804e-01 3.17288560e-04 1.11075232e+00] [-3.45051883e-03 -1.51086626e-04 9.99994036e-01 -1.42877795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.696875 meters 0.029533360387444075 Centerline is valid? [True, True] Translation: X:19.02, Y:1.13, Z:-0.15 [[ 9.99166237e-01 -4.07432289e-02 2.61160768e-03 1.90178246e+01] [ 4.07427381e-02 9.99169641e-01 2.40907367e-04 1.12721443e+00] [-2.61925446e-03 -1.34302460e-04 9.99996561e-01 -1.46373742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.756874999999997 meters 0.026700432330746003 Centerline is valid? [True, True] Translation: X:19.08, Y:1.13, Z:-0.14 [[ 9.98932580e-01 -4.59937619e-02 4.27478509e-03 1.90782063e+01] [ 4.59924935e-02 9.98941707e-01 3.94602665e-04 1.12980009e+00] [-4.28841038e-03 -1.97573433e-04 9.99990785e-01 -1.44704692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.816875 meters 0.023657325362594454 Centerline is valid? [True, True] Translation: X:19.14, Y:1.13, Z:-0.14 [[ 9.98684930e-01 -5.09584177e-02 5.62591791e-03 1.91379145e+01] [ 5.09563001e-02 9.98700749e-01 5.19195516e-04 1.13210274e+00] [-5.64506582e-03 -2.31836776e-04 9.99984040e-01 -1.44163792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.876875 meters 0.02314603178047167 Centerline is valid? [True, True] Translation: X:19.20, Y:1.14, Z:-0.15 [[ 9.98600745e-01 -5.26048868e-02 5.41090345e-03 1.91966954e+01] [ 5.26029576e-02 9.98615382e-01 4.98327022e-04 1.13719159e+00] [-5.42962585e-03 -2.13000211e-04 9.99985237e-01 -1.45450431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.936874999999997 meters 0.01937481862082275 Centerline is valid? [True, True] Translation: X:19.26, Y:1.14, Z:-0.14 [[ 9.98301355e-01 -5.76788150e-02 8.21943934e-03 1.92570848e+01] [ 5.76745011e-02 9.98335150e-01 7.61095073e-04 1.13621493e+00] [-8.24965427e-03 -2.85750179e-04 9.99965930e-01 -1.41767077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.996875 meters 0.017570679023830433 Centerline is valid? [True, True] Translation: X:19.32, Y:1.14, Z:-0.14 [[ 9.97932919e-01 -6.34496787e-02 1.01993602e-02 1.93171996e+01] [ 6.34433348e-02 9.97984995e-01 9.44667228e-04 1.13981427e+00] [-1.02387473e-02 -2.95633102e-04 9.99947539e-01 -1.40955989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.056874999999998 meters 0.01582774440961222 Centerline is valid? [True, True] Translation: X:19.38, Y:1.14, Z:-0.14 [[ 9.97497296e-01 -6.96045352e-02 1.24239106e-02 1.93769584e+01] [ 6.95955955e-02 9.97574623e-01 1.15097563e-03 1.14361126e+00] [-1.24738911e-02 -2.83445616e-04 9.99922158e-01 -1.40708867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.116874999999997 meters 0.015608365661797073 Centerline is valid? [True, True] Translation: X:19.44, Y:1.15, Z:-0.14 [[ 9.97245946e-01 -7.29654830e-02 1.32876211e-02 1.94351550e+01] [ 7.29555449e-02 9.97334433e-01 1.23176700e-03 1.14877903e+00] [-1.33420785e-02 -2.58969007e-04 9.99910957e-01 -1.39022295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.176875 meters 0.014513455454403674 Centerline is valid? [True, True] Translation: X:19.49, Y:1.16, Z:-0.14 [[ 9.96910183e-01 -7.77955390e-02 1.08600494e-02 1.94931858e+01] [ 7.77891623e-02 9.96969322e-01 1.00898570e-03 1.15518413e+00] [-1.09056307e-02 -1.61073966e-04 9.99940519e-01 -1.43516005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.236874999999998 meters 0.01394620591349321 Centerline is valid? [True, True] Translation: X:19.55, Y:1.16, Z:-0.15 [[ 9.96692850e-01 -8.04721412e-02 1.12959093e-02 1.95521921e+01] [ 8.04654045e-02 9.96756849e-01 1.05033809e-03 1.16134044e+00] [-1.13437980e-02 -1.37934553e-04 9.99935648e-01 -1.45173914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.296874999999996 meters 0.013955272584121782 Centerline is valid? [True, True] Translation: X:19.61, Y:1.17, Z:-0.15 [[ 9.96654594e-01 -8.11646355e-02 9.58757800e-03 1.96100342e+01] [ 8.11597964e-02 9.96700702e-01 8.93365815e-04 1.16942177e+00] [-9.62845544e-03 -1.12251266e-04 9.99953639e-01 -1.46482170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.356875 meters 0.014313303625423943 Centerline is valid? [True, True] Translation: X:19.67, Y:1.18, Z:-0.15 [[ 9.96918554e-01 -7.81071114e-02 7.25781271e-03 1.96684874e+01] [ 7.81042474e-02 9.96944967e-01 6.77646827e-04 1.17973664e+00] [-7.28856889e-03 -1.08692695e-04 9.99973432e-01 -1.48269404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.416874999999997 meters 0.015745630219790245 Centerline is valid? [True, True] Translation: X:19.73, Y:1.19, Z:-0.15 [[ 9.97379223e-01 -7.21432349e-02 5.48080286e-03 1.97271175e+01] [ 7.21415013e-02 9.97394275e-01 5.13600371e-04 1.19266300e+00] [-5.50357419e-03 -1.16860992e-04 9.99984848e-01 -1.52221699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.476875 meters 0.020543618004009077 Centerline is valid? [True, True] Translation: X:19.78, Y:1.21, Z:-0.15 [[ 9.98135430e-01 -6.09077763e-02 3.98815982e-03 1.97845363e+01] [ 6.09067686e-02 9.98143389e-01 3.73752054e-04 1.21111802e+00] [-4.00351977e-03 -1.30149240e-04 9.99991977e-01 -1.54790174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.536875 meters 0.021247105149050597 Centerline is valid? [True, True] Translation: X:19.84, Y:1.22, Z:-0.15 [[ 9.98612628e-01 -5.25182629e-02 3.82759223e-03 1.98445607e+01] [ 5.25172717e-02 9.98619951e-01 3.59076777e-04 1.22129752e+00] [-3.84116805e-03 -1.57563904e-04 9.99992610e-01 -1.53495684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.596874999999997 meters 0.021448443841197207 Centerline is valid? [True, True] Translation: X:19.90, Y:1.23, Z:-0.15 [[ 9.98682024e-01 -5.06118947e-02 8.52358380e-03 1.99031747e+01] [ 5.06069151e-02 9.98718330e-01 7.99022979e-04 1.22961298e+00] [-8.55309944e-03 -3.66617604e-04 9.99963354e-01 -1.48390159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.656875 meters 0.022674987591456416 Centerline is valid? [True, True] Translation: X:19.96, Y:1.24, Z:-0.15 [[ 9.98557727e-01 -5.24211554e-02 1.15968848e-02 1.99606534e+01] [ 5.24120134e-02 9.98624950e-01 1.09104079e-03 1.23875623e+00] [-1.16381321e-02 -4.81651131e-04 9.99932159e-01 -1.48562563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.716874999999998 meters 0.02064389877141095 Centerline is valid? [True, True] Translation: X:20.02, Y:1.24, Z:-0.15 [[ 9.98354766e-01 -5.62665379e-02 1.10380010e-02 2.00207099e+01] [ 5.62584800e-02 9.98415697e-01 1.03941075e-03 1.24254777e+00] [-1.10789975e-02 -4.16719516e-04 9.99938539e-01 -1.50897161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.776874999999997 meters 0.020267330906592256 Centerline is valid? [True, True] Translation: X:20.08, Y:1.25, Z:-0.16 [[ 9.98295065e-01 -5.79149966e-02 7.26748344e-03 2.00789739e+01] [ 5.79115532e-02 9.98321484e-01 6.83534618e-04 1.24879518e+00] [-7.29487175e-03 -2.61497982e-04 9.99973358e-01 -1.55003901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.836875 meters 0.022602028456351092 Centerline is valid? [True, True] Translation: X:20.14, Y:1.26, Z:-0.16 [[ 9.98377123e-01 -5.68439667e-02 3.44736320e-03 2.01354751e+01] [ 5.68431850e-02 9.98383066e-01 3.24378226e-04 1.25933742e+00] [-3.46022799e-03 -1.27892695e-04 9.99994005e-01 -1.59996411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.896874999999998 meters 0.02220152296308191 Centerline is valid? [True, True] Translation: X:20.19, Y:1.26, Z:-0.16 [[ 9.98498313e-01 -5.47819252e-02 2.44634450e-04 2.01946863e+01] [ 5.47819213e-02 9.98498343e-01 2.27606393e-05 1.26426571e+00] [-2.45513965e-04 -9.32491476e-06 9.99999970e-01 -1.64736555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.956874999999997 meters 0.02134054077395697 Centerline is valid? [True, True] Translation: X:20.25, Y:1.27, Z:-0.17 [[ 9.98414258e-01 -5.62915315e-02 -4.82974321e-04 2.02540136e+01] [ 5.62915152e-02 9.98414374e-01 -4.72068207e-05 1.26742999e+00] [ 4.84865849e-04 1.99446066e-05 9.99999882e-01 -1.66944090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.016875 meters 0.019374246584626276 Centerline is valid? [True, True] Translation: X:20.31, Y:1.27, Z:-0.16 [[ 9.98240875e-01 -5.92047522e-02 3.15470123e-03 2.03139949e+01] [ 5.92041037e-02 9.98245854e-01 2.98639685e-04 1.26641741e+00] [-3.16684832e-03 -1.11343081e-04 9.99994979e-01 -1.61247317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.076874999999998 meters 0.02053026143374992 Centerline is valid? [True, True] Translation: X:20.37, Y:1.27, Z:-0.16 [[ 9.98346076e-01 -5.70872684e-02 6.79391605e-03 2.03726941e+01] [ 5.70842131e-02 9.98369160e-01 6.42933089e-04 1.27416286e+00] [-6.81953955e-03 -2.54044375e-04 9.99976714e-01 -1.58728300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.136874999999996 meters 0.02260690699216233 Centerline is valid? [True, True] Translation: X:20.43, Y:1.28, Z:-0.16 [[ 9.98721378e-01 -4.99675238e-02 7.67176780e-03 2.04326181e+01] [ 4.99633940e-02 9.98750784e-01 7.29148883e-04 1.28426539e+00] [-7.69861787e-03 -3.44909020e-04 9.99970306e-01 -1.60480377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.196875 meters 0.026440113731516654 Centerline is valid? [True, True] Translation: X:20.49, Y:1.29, Z:-0.16 [[ 9.98927795e-01 -4.59229353e-02 5.86041144e-03 2.04911619e+01] [ 4.59204569e-02 9.98944944e-01 5.56835517e-04 1.29431240e+00] [-5.87979990e-03 -2.87125704e-04 9.99982673e-01 -1.63383496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.256874999999997 meters 0.02516423639308775 Centerline is valid? [True, True] Translation: X:20.55, Y:1.30, Z:-0.16 [[ 9.98928903e-01 -4.58819125e-02 5.99145844e-03 2.05501743e+01] [ 4.58793266e-02 9.98946828e-01 5.68403800e-04 1.29752377e+00] [-6.01122785e-03 -2.92910905e-04 9.99981890e-01 -1.63415305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.316875 meters 0.024295736785125845 Centerline is valid? [True, True] Translation: X:20.61, Y:1.30, Z:-0.16 [[ 9.98830194e-01 -4.79192940e-02 6.47960081e-03 2.06092852e+01] [ 4.79162947e-02 9.98851164e-01 6.17432926e-04 1.29978305e+00] [-6.50174376e-03 -3.06232187e-04 9.99978817e-01 -1.60989328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.376875 meters 0.02353663656090343 Centerline is valid? [True, True] Translation: X:20.67, Y:1.30, Z:-0.16 [[ 9.98620672e-01 -5.21960573e-02 5.68545874e-03 2.06696446e+01] [ 5.21938138e-02 9.98636827e-01 5.42366553e-04 1.30093507e+00] [-5.70601787e-03 -2.44872677e-04 9.99983691e-01 -1.62973758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.436874999999997 meters 0.02317996378976704 Centerline is valid? [True, True] Translation: X:20.73, Y:1.30, Z:-0.16 [[ 9.98428035e-01 -5.55988247e-02 7.08733445e-03 2.07290470e+01] [ 5.55954232e-02 9.98453149e-01 6.76204983e-04 1.30368849e+00] [-7.11396760e-03 -2.81118654e-04 9.99974656e-01 -1.64248540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.496875 meters 0.021240751608767258 Centerline is valid? [True, True] Translation: X:20.79, Y:1.30, Z:-0.16 [[ 9.98302016e-01 -5.79318221e-02 6.08179379e-03 2.07886971e+01] [ 5.79293608e-02 9.98320516e-01 5.80239125e-04 1.30045022e+00] [-6.10519382e-03 -2.26939462e-04 9.99981337e-01 -1.64445049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.556874999999998 meters 0.02177616499581456 Centerline is valid? [True, True] Translation: X:20.85, Y:1.30, Z:-0.16 [[ 9.98415360e-01 -5.57718492e-02 7.50135081e-03 2.08477316e+01] [ 5.57680432e-02 9.98443495e-01 7.15751853e-04 1.30375221e+00] [-7.52959372e-03 -2.96281988e-04 9.99971608e-01 -1.63463643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.616874999999997 meters 0.025824992430031023 Centerline is valid? [True, True] Translation: X:20.91, Y:1.31, Z:-0.17 [[ 9.98640637e-01 -5.14310634e-02 8.46897478e-03 2.09067204e+01] [ 5.14260295e-02 9.98676477e-01 8.11230542e-04 1.31404951e+00] [-8.49948834e-03 -3.74602038e-04 9.99963809e-01 -1.65377950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.676875 meters 0.026916291344110128 Centerline is valid? [True, True] Translation: X:20.97, Y:1.32, Z:-0.17 [[ 9.98880734e-01 -4.68412256e-02 6.57104352e-03 2.09670754e+01] [ 4.68380949e-02 9.98902296e-01 6.29608902e-04 1.31951114e+00] [-6.59332211e-03 -3.21129042e-04 9.99978212e-01 -1.66870444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.736874999999998 meters 0.029877739345882677 Centerline is valid? [True, True] Translation: X:21.03, Y:1.33, Z:-0.17 [[ 9.99202171e-01 -3.98046040e-02 3.25810192e-03 2.10270911e+01] [ 3.98037970e-02 9.99207466e-01 3.12188008e-04 1.32979377e+00] [-3.26794628e-03 -1.82254108e-04 9.99994644e-01 -1.72596102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.796874999999996 meters 0.03312094187849472 Centerline is valid? [True, True] Translation: X:21.08, Y:1.34, Z:-0.17 [[ 9.99280852e-01 -3.78405278e-02 2.42369163e-03 2.10847139e+01] [ 3.78400772e-02 9.99283781e-01 2.31498472e-04 1.33967817e+00] [-2.43071576e-03 -1.39619312e-04 9.99997036e-01 -1.74548400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.856875 meters 0.03350751372096497 Centerline is valid? [True, True] Translation: X:21.14, Y:1.34, Z:-0.17 [[ 9.99424784e-01 -3.37688213e-02 3.12533660e-03 2.11443971e+01] [ 3.37680492e-02 9.99429652e-01 2.99508302e-04 1.34278829e+00] [-3.13366811e-03 -1.93799500e-04 9.99995071e-01 -1.72764541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.916874999999997 meters 0.036189709640758565 Centerline is valid? [True, True] Translation: X:21.20, Y:1.35, Z:-0.17 [[ 9.99400307e-01 -3.43772567e-02 4.15087789e-03 2.12018266e+01] [ 3.43759010e-02 9.99408895e-01 3.97545494e-04 1.35092193e+00] [-4.16209081e-03 -2.54616922e-04 9.99991306e-01 -1.72881740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.976875 meters 0.03437955670843648 Centerline is valid? [True, True] Translation: X:21.26, Y:1.35, Z:-0.17 [[ 9.99257026e-01 -3.82293374e-02 4.89025427e-03 2.12627330e+01] [ 3.82274960e-02 9.99268952e-01 4.69493965e-04 1.34975210e+00] [-4.90462770e-03 -2.82202968e-04 9.99987932e-01 -1.71477433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.036875 meters 0.029770583068842654 Centerline is valid? [True, True] Translation: X:21.32, Y:1.34, Z:-0.17 [[ 9.99011533e-01 -4.40175834e-02 6.19758411e-03 2.13236678e+01] [ 4.40147364e-02 9.99030705e-01 5.95083739e-04 1.34368331e+00] [-6.21777097e-03 -3.21710487e-04 9.99980618e-01 -1.69198554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.096874999999997 meters 0.027988956264439886 Centerline is valid? [True, True] Translation: X:21.38, Y:1.34, Z:-0.17 [[ 9.98871777e-01 -4.69933317e-02 6.84109010e-03 2.13834383e+01] [ 4.69899330e-02 9.98895147e-01 6.56774500e-04 1.34464198e+00] [-6.86439572e-03 -3.34571146e-04 9.99976384e-01 -1.70052892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.156875 meters 0.026325837343906117 Centerline is valid? [True, True] Translation: X:21.44, Y:1.34, Z:-0.17 [[ 9.98653584e-01 -5.16129646e-02 5.20780783e-03 2.14435611e+01] [ 5.16110573e-02 9.98667136e-01 5.00068881e-04 1.34318058e+00] [-5.22667657e-03 -2.30615112e-04 9.99986314e-01 -1.72840654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.216874999999998 meters 0.021852173508435768 Centerline is valid? [True, True] Translation: X:21.50, Y:1.34, Z:-0.17 [[ 9.98105288e-01 -6.12343407e-02 6.01585320e-03 2.15041459e+01] [ 6.12319680e-02 9.98123395e-01 5.77973718e-04 1.33964871e+00] [-6.03995566e-03 -2.08516093e-04 9.99981738e-01 -1.74030502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.276874999999997 meters 0.020795822752998048 Centerline is valid? [True, True] Translation: X:21.56, Y:1.34, Z:-0.17 [[ 9.97844637e-01 -6.52150409e-02 7.28548645e-03 2.15643506e+01] [ 6.52116646e-02 9.97871208e-01 7.00270678e-04 1.34157092e+00] [-7.31564534e-03 -2.23662642e-04 9.99973215e-01 -1.71615151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.336875 meters 0.02027952691176546 Centerline is valid? [True, True] Translation: X:21.62, Y:1.35, Z:-0.18 [[ 9.97775070e-01 -6.65122939e-02 4.58525667e-03 2.16226795e+01] [ 6.65109770e-02 9.97785597e-01 4.39253577e-04 1.34566460e+00] [-4.60431882e-03 -1.33306368e-04 9.99989391e-01 -1.75809099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.396874999999998 meters 0.020145142719554202 Centerline is valid? [True, True] Translation: X:21.68, Y:1.35, Z:-0.18 [[ 9.97896204e-01 -6.47718210e-02 2.78890917e-03 2.16814062e+01] [ 6.47713283e-02 9.97900097e-01 2.66714631e-04 1.35125179e+00] [-2.80032832e-03 -8.55121664e-05 9.99996075e-01 -1.79618350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.456874999999997 meters 0.02233312808295473 Centerline is valid? [True, True] Translation: X:21.74, Y:1.36, Z:-0.18 [[ 9.98276631e-01 -5.85978819e-02 3.17101627e-03 2.17407108e+01] [ 5.85972040e-02 9.98281661e-01 3.06328205e-04 1.36130700e+00] [-3.18351758e-03 -1.19987601e-04 9.99994925e-01 -1.80552761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.516875 meters 0.02167311415030836 Centerline is valid? [True, True] Translation: X:21.80, Y:1.37, Z:-0.18 [[ 9.98062658e-01 -6.21853163e-02 1.97928868e-03 2.17983121e+01] [ 6.21850606e-02 9.98064618e-01 1.90512636e-04 1.36569494e+00] [-1.98730509e-03 -6.70613612e-05 9.99998023e-01 -1.80285618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.576874999999998 meters 0.021659759495067706 Centerline is valid? [True, True] Translation: X:21.86, Y:1.37, Z:-0.18 [[ 9.97953382e-01 -6.38433505e-02 3.61566088e-03 2.18559553e+01] [ 6.38425040e-02 9.97959925e-01 3.49180973e-04 1.37369484e+00] [-3.63057754e-03 -1.17633489e-04 9.99993403e-01 -1.78214457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.636874999999996 meters 0.021214747290737374 Centerline is valid? [True, True] Translation: X:21.91, Y:1.38, Z:-0.18 [[ 9.97945122e-01 -6.38820327e-02 4.96170139e-03 2.19136167e+01] [ 6.38804410e-02 9.97957444e-01 4.78775672e-04 1.38125294e+00] [-4.98215200e-03 -1.60836174e-04 9.99987576e-01 -1.78059221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.696875 meters 0.022241297973380692 Centerline is valid? [True, True] Translation: X:21.97, Y:1.39, Z:-0.18 [[ 9.98002190e-01 -6.27441114e-02 7.40311222e-03 2.19703285e+01] [ 6.27405040e-02 9.98029615e-01 7.18753393e-04 1.39328822e+00] [-7.43362278e-03 -2.52842469e-04 9.99972338e-01 -1.77425910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.756874999999997 meters 0.02211923247395917 Centerline is valid? [True, True] Translation: X:22.03, Y:1.40, Z:-0.18 [[ 9.98038734e-01 -6.21410100e-02 7.56177068e-03 2.20282894e+01] [ 6.21372238e-02 9.98067345e-01 7.34839282e-04 1.40096156e+00] [-7.59282005e-03 -2.63530630e-04 9.99971139e-01 -1.76650698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.816875 meters 0.02261063601351024 Centerline is valid? [True, True] Translation: X:22.09, Y:1.41, Z:-0.18 [[ 9.98227201e-01 -5.90780177e-02 7.22794002e-03 2.20873884e+01] [ 5.90744724e-02 9.98253331e-01 7.03197012e-04 1.41200377e+00] [-7.25685869e-03 -2.74963641e-04 9.99973631e-01 -1.78648141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.876875 meters 0.025555505477262017 Centerline is valid? [True, True] Translation: X:22.14, Y:1.43, Z:-0.18 [[ 9.98436081e-01 -5.56461608e-02 5.37550498e-03 2.21447597e+01] [ 5.56441512e-02 9.98450527e-01 5.22792998e-04 1.42542754e+00] [-5.39626721e-03 -2.22859981e-04 9.99985415e-01 -1.83360342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.936874999999997 meters 0.028198057398666564 Centerline is valid? [True, True] Translation: X:22.20, Y:1.44, Z:-0.19 [[ 9.98712119e-01 -5.05943203e-02 3.78394684e-03 2.22040717e+01] [ 5.05932864e-02 9.98719272e-01 3.68540118e-04 1.43832931e+00] [-3.79774667e-03 -1.76623176e-04 9.99992773e-01 -1.87434935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.996875 meters 0.02581912660717335 Centerline is valid? [True, True] Translation: X:22.26, Y:1.44, Z:-0.19 [[ 9.98781729e-01 -4.92452581e-02 3.15624940e-03 2.22627229e+01] [ 4.92445380e-02 9.98786705e-01 3.05513622e-04 1.44120698e+00] [-3.16746503e-03 -1.49713380e-04 9.99994972e-01 -1.87536558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.056874999999998 meters 0.027804141451415076 Centerline is valid? [True, True] Translation: X:22.32, Y:1.45, Z:-0.19 [[ 9.98741158e-01 -4.99906372e-02 4.12737417e-03 2.23201588e+01] [ 4.99893992e-02 9.98749667e-01 4.02630479e-04 1.45071927e+00] [-4.14234134e-03 -1.95798675e-04 9.99991401e-01 -1.88787291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.116874999999997 meters 0.026063682703821166 Centerline is valid? [True, True] Translation: X:22.38, Y:1.45, Z:-0.19 [[ 9.98610451e-01 -5.24664248e-02 4.94381680e-03 2.23799035e+01] [ 5.24646740e-02 9.98622664e-01 4.83256974e-04 1.45446014e+00] [-4.96236227e-03 -2.23209728e-04 9.99987662e-01 -1.90454982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.176875 meters 0.025173662361194 Centerline is valid? [True, True] Translation: X:22.44, Y:1.46, Z:-0.19 [[ 9.98464319e-01 -5.51542342e-02 5.19757436e-03 2.24392286e+01] [ 5.51523403e-02 9.98477823e-01 5.07124817e-04 1.45886505e+00] [-5.21763281e-03 -2.19687645e-04 9.99986364e-01 -1.92523577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.236874999999998 meters 0.02310884984735074 Centerline is valid? [True, True] Translation: X:22.50, Y:1.46, Z:-0.19 [[ 9.98080867e-01 -6.15535288e-02 6.76357812e-03 2.25003263e+01] [ 6.15504460e-02 9.98103754e-01 6.63208185e-04 1.45816893e+00] [-6.79157551e-03 -2.45634150e-04 9.99976907e-01 -1.88114088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.296874999999996 meters 0.020589635833421317 Centerline is valid? [True, True] Translation: X:22.56, Y:1.46, Z:-0.19 [[ 9.97513241e-01 -6.97513999e-02 1.01032423e-02 2.25602996e+01] [ 6.97449393e-02 9.97564365e-01 9.90814830e-04 1.45728650e+00] [-1.01477452e-02 -2.83700892e-04 9.99948470e-01 -1.85594086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.356875 meters 0.018103646358320995 Centerline is valid? [True, True] Translation: X:22.62, Y:1.46, Z:-0.19 [[ 9.97157104e-01 -7.46902600e-02 9.95360461e-03 2.26203541e+01] [ 7.46842351e-02 9.97206755e-01 9.76139559e-04 1.45582097e+00] [-9.99870987e-03 -2.29987149e-04 9.99949985e-01 -1.85715565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.416874999999997 meters 0.01683228815774371 Centerline is valid? [True, True] Translation: X:22.68, Y:1.46, Z:-0.19 [[ 9.96714219e-01 -8.04625274e-02 9.30310674e-03 2.26794609e+01] [ 8.04574944e-02 9.96757621e-01 9.14608703e-04 1.45585247e+00] [-9.34653427e-03 -1.63098840e-04 9.99956307e-01 -1.87897342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.476875 meters 0.01644588966789463 Centerline is valid? [True, True] Translation: X:22.74, Y:1.46, Z:-0.19 [[ 9.96461363e-01 -8.36247469e-02 8.46482092e-03 2.27376755e+01] [ 8.36206916e-02 9.96497309e-01 8.32497731e-04 1.45790900e+00] [-8.50478868e-03 -1.21717644e-04 9.99963826e-01 -1.89373468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.536875 meters 0.016705770314528547 Centerline is valid? [True, True] Translation: X:22.80, Y:1.46, Z:-0.19 [[ 9.96615203e-01 -8.20059395e-02 5.75881767e-03 2.27958211e+01] [ 8.20040345e-02 9.96631836e-01 5.66544849e-04 1.46261756e+00] [-5.78588107e-03 -9.23809263e-05 9.99983257e-01 -1.90093550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.596874999999997 meters 0.01888414497610002 Centerline is valid? [True, True] Translation: X:22.85, Y:1.48, Z:-0.20 [[ 9.97307680e-01 -7.33079134e-02 1.82787195e-03 2.28548694e+01] [ 7.33077066e-02 9.97309354e-01 1.79966662e-04 1.47770448e+00] [-1.83614677e-03 -4.54850333e-05 9.99998313e-01 -1.95851391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.656875 meters 0.021509513580002693 Centerline is valid? [True, True] Translation: X:22.91, Y:1.49, Z:-0.20 [[ 9.97789012e-01 -6.64338611e-02 1.90522026e-03 2.29143039e+01] [ 6.64336238e-02 9.97790829e-01 1.87624700e-04 1.49023740e+00] [-1.91347594e-03 -6.06391780e-05 9.99998167e-01 -1.95642866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.716874999999998 meters 0.021891014801894506 Centerline is valid? [True, True] Translation: X:22.97, Y:1.50, Z:-0.19 [[ 9.98066386e-01 -6.21307677e-02 1.80484245e-03 2.29730470e+01] [ 6.21305483e-02 9.98068015e-01 1.77421104e-04 1.49790268e+00] [-1.81237883e-03 -6.49421886e-05 9.99998356e-01 -1.93488525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.776874999999997 meters 0.023924968575374215 Centerline is valid? [True, True] Translation: X:23.03, Y:1.51, Z:-0.19 [[ 9.98194127e-01 -6.00038871e-02 2.83181542e-03 2.30301040e+01] [ 6.00033390e-02 9.98198138e-01 2.78216016e-04 1.50946298e+00] [-2.84340692e-03 -1.07795212e-04 9.99995952e-01 -1.93885726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.836875 meters 0.024595090716727813 Centerline is valid? [True, True] Translation: X:23.09, Y:1.52, Z:-0.19 [[ 9.98340236e-01 -5.73936544e-02 4.76875577e-03 2.30890505e+01] [ 5.73920598e-02 9.98351606e-01 4.70663298e-04 1.51705293e+00] [-4.78790807e-03 -1.96193392e-04 9.99988519e-01 -1.90079176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.896874999999998 meters 0.024801969328150708 Centerline is valid? [True, True] Translation: X:23.15, Y:1.53, Z:-0.19 [[ 9.98330028e-01 -5.75045514e-02 5.51194004e-03 2.31470923e+01] [ 5.75024277e-02 9.98345219e-01 5.43135589e-04 1.52512124e+00] [-5.53405175e-03 -2.25278635e-04 9.99984662e-01 -1.91493829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.956874999999997 meters 0.024480064723065936 Centerline is valid? [True, True] Translation: X:23.21, Y:1.53, Z:-0.19 [[ 9.98224300e-01 -5.93628325e-02 4.92968405e-03 2.32058130e+01] [ 5.93611500e-02 9.98236453e-01 4.87047154e-04 1.52989788e+00] [-4.94990282e-03 -1.93550590e-04 9.99987730e-01 -1.91552755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.016875 meters 0.022094728636675262 Centerline is valid? [True, True] Translation: X:23.26, Y:1.53, Z:-0.19 [[ 9.98092128e-01 -6.17175642e-02 1.74534156e-03 2.32646254e+01] [ 6.17173593e-02 9.98093652e-01 1.71041543e-04 1.53138960e+00] [-1.75257060e-03 -6.29973449e-05 9.99998462e-01 -1.93393605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.076874999999998 meters 0.021291072054174475 Centerline is valid? [True, True] Translation: X:23.32, Y:1.54, Z:-0.19 [[ 9.97831393e-01 -6.58210136e-02 -3.24440010e-04 2.33239452e+01] [ 6.58210057e-02 9.97831446e-01 -3.49470195e-05 1.53521541e+00] [ 3.26036692e-04 1.35162654e-05 9.99999947e-01 -1.94571851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.136874999999996 meters 0.020801008725801356 Centerline is valid? [True, True] Translation: X:23.38, Y:1.54, Z:-0.20 [[ 9.97585392e-01 -6.94424210e-02 -1.06613259e-03 2.33813873e+01] [ 6.94423457e-02 9.97585961e-01 -1.07487737e-04 1.53885553e+00] [ 1.07102311e-03 3.31934489e-05 9.99999426e-01 -1.96208079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.196875 meters 0.019095459519290255 Centerline is valid? [True, True] Translation: X:23.44, Y:1.54, Z:-0.20 [[ 9.97315804e-01 -7.32089853e-02 -1.27743805e-03 2.34402177e+01] [ 7.32088807e-02 9.97316621e-01 -1.28495822e-04 1.54011344e+00] [ 1.28341725e-03 3.46311046e-05 9.99999176e-01 -1.97438857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.256874999999997 meters 0.01844532400030688 Centerline is valid? [True, True] Translation: X:23.50, Y:1.54, Z:-0.20 [[ 9.97300668e-01 -7.34231608e-02 -6.45681171e-04 2.34978426e+01] [ 7.34231321e-02 9.97300877e-01 -6.79405632e-05 1.54343863e+00] [ 6.48926808e-04 2.03492352e-05 9.99999789e-01 -1.95867566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.316875 meters 0.020582411251219863 Centerline is valid? [True, True] Translation: X:23.56, Y:1.55, Z:-0.19 [[ 9.97621018e-01 -6.89360518e-02 3.54805295e-04 2.35553623e+01] [ 6.89360438e-02 9.97621081e-01 3.46885275e-05 1.55261334e+00] [-3.56352532e-04 -1.01471308e-05 9.99999936e-01 -1.94140855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.376875 meters 0.023542775267384214 Centerline is valid? [True, True] Translation: X:23.61, Y:1.57, Z:-0.20 [[ 9.98110130e-01 -6.14405252e-02 1.10875435e-03 2.36142745e+01] [ 6.14404395e-02 9.98110745e-01 1.11173653e-04 1.56526137e+00] [-1.11349020e-03 -4.28411941e-05 9.99999379e-01 -1.96528159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.436874999999997 meters 0.0253417000058848 Centerline is valid? [True, True] Translation: X:23.67, Y:1.57, Z:-0.20 [[ 9.98359534e-01 -5.72549814e-02 3.28068472e-04 2.36741682e+01] [ 5.72549737e-02 9.98359588e-01 3.27372668e-05 1.57248662e+00] [-3.29404676e-04 -1.39000108e-05 9.99999946e-01 -1.96843531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.496875 meters 0.024224389083479618 Centerline is valid? [True, True] Translation: X:23.73, Y:1.58, Z:-0.20 [[ 9.98475518e-01 -5.51923594e-02 -6.65611106e-04 2.37337059e+01] [ 5.51923268e-02 9.98475740e-01 -6.72448109e-05 1.57569091e+00] [ 6.68307941e-04 3.04056717e-05 9.99999776e-01 -1.97740175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.556874999999998 meters 0.026301328762317232 Centerline is valid? [True, True] Translation: X:23.79, Y:1.58, Z:-0.20 [[ 9.98577271e-01 -5.33236858e-02 1.38574550e-04 2.37911911e+01] [ 5.33236845e-02 9.98577280e-01 1.29333330e-05 1.58236355e+00] [-1.39067050e-04 -5.52562675e-06 9.99999990e-01 -1.97139569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.616874999999997 meters 0.025033722341000063 Centerline is valid? [True, True] Translation: X:23.85, Y:1.59, Z:-0.20 [[ 9.98409502e-01 -5.63356528e-02 2.18186606e-03 2.38508725e+01] [ 5.63353085e-02 9.98411881e-01 2.18983235e-04 1.58501064e+00] [-2.19073756e-03 -9.57188452e-05 9.99997596e-01 -1.98071084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.676875 meters 0.02354313397582551 Centerline is valid? [True, True] Translation: X:23.91, Y:1.58, Z:-0.20 [[ 9.98071719e-01 -6.20442102e-02 1.83290688e-03 2.39103869e+01] [ 6.20439767e-02 9.98073400e-01 1.84031705e-04 1.58435068e+00] [-1.84079370e-03 -6.99560091e-05 9.99998303e-01 -1.98711903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.736874999999998 meters 0.02227812139130553 Centerline is valid? [True, True] Translation: X:23.97, Y:1.59, Z:-0.20 [[ 9.97817972e-01 -6.60081709e-02 1.48871358e-03 2.39706029e+01] [ 6.60080212e-02 9.97819081e-01 1.49559988e-04 1.58637168e+00] [-1.49533899e-03 -5.09666062e-05 9.99998881e-01 -1.98477198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.796874999999996 meters 0.02011179743026668 Centerline is valid? [True, True] Translation: X:24.03, Y:1.59, Z:-0.20 [[ 9.97534518e-01 -7.01604695e-02 1.54735945e-03 2.40306228e+01] [ 7.01603129e-02 9.97535717e-01 1.55313405e-04 1.58518005e+00] [-1.55444318e-03 -4.63672595e-05 9.99998791e-01 -1.97683665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.856875 meters 0.01933862998559008 Centerline is valid? [True, True] Translation: X:24.09, Y:1.59, Z:-0.20 [[ 9.97324317e-01 -7.30964798e-02 1.05399142e-03 2.40901753e+01] [ 7.30964098e-02 9.97324874e-01 1.04827763e-04 1.58735298e+00] [-1.05883440e-03 -2.75042885e-05 9.99999439e-01 -1.99897578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.916874999999997 meters 0.018780739715414597 Centerline is valid? [True, True] Translation: X:24.15, Y:1.59, Z:-0.20 [[ 9.97223056e-01 -7.44347916e-02 2.37448120e-03 2.41493049e+01] [ 7.44344379e-02 9.97225881e-01 2.37071495e-04 1.59059987e+00] [-2.38554047e-03 -5.96699869e-05 9.99997153e-01 -1.99089495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.976875 meters 0.019076125885109086 Centerline is valid? [True, True] Translation: X:24.21, Y:1.60, Z:-0.20 [[ 9.97190600e-01 -7.48554389e-02 2.75134037e-03 2.42069262e+01] [ 7.48549600e-02 9.97194393e-01 2.76784242e-04 1.59569994e+00] [-2.76434000e-03 -7.00551712e-05 9.99996177e-01 -1.98490333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.036875 meters 0.019423965368119786 Centerline is valid? [True, True] Translation: X:24.27, Y:1.60, Z:-0.20 [[ 9.97099068e-01 -7.60637500e-02 2.78480960e-03 2.42660029e+01] [ 7.60632655e-02 9.97102954e-01 2.79609389e-04 1.60133498e+00] [-2.79801002e-03 -6.69765490e-05 9.99996083e-01 -2.01299457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.096874999999997 meters 0.017802144070930195 Centerline is valid? [True, True] Translation: X:24.32, Y:1.61, Z:-0.20 [[ 9.96870983e-01 -7.89441477e-02 4.00810478e-03 2.43245711e+01] [ 7.89431537e-02 9.96879037e-01 4.05842467e-04 1.60581963e+00] [-4.02763452e-03 -8.81601472e-05 9.99991885e-01 -1.98892792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.156875 meters 0.016084933305887356 Centerline is valid? [True, True] Translation: X:24.38, Y:1.61, Z:-0.20 [[ 9.96347467e-01 -8.50354273e-02 7.79111437e-03 2.43848813e+01] [ 8.50318463e-02 9.96377921e-01 7.90331273e-04 1.60910132e+00] [-7.83010050e-03 -1.24951722e-04 9.99969336e-01 -1.97044582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.216874999999998 meters 0.015415301019412637 Centerline is valid? [True, True] Translation: X:24.44, Y:1.61, Z:-0.20 [[ 9.95930841e-01 -8.98896778e-02 6.45027980e-03 2.44434501e+01] [ 8.98873313e-02 9.95951726e-01 6.53365274e-04 1.61151520e+00] [-6.48289810e-03 -7.09081890e-05 9.99978983e-01 -1.97692904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.276874999999997 meters 0.014692893152016521 Centerline is valid? [True, True] Translation: X:24.50, Y:1.62, Z:-0.20 [[ 9.95525178e-01 -9.42695742e-02 6.54738234e-03 2.45026470e+01] [ 9.42672403e-02 9.95546707e-01 6.64842786e-04 1.61543992e+00] [-6.58089938e-03 -4.46640684e-05 9.99978345e-01 -1.98961375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.336875 meters 0.014423396343832988 Centerline is valid? [True, True] Translation: X:24.56, Y:1.62, Z:-0.20 [[ 9.95422572e-01 -9.54572005e-02 4.67190715e-03 2.45606090e+01] [ 9.54560246e-02 9.95433535e-01 4.74533034e-04 1.62219263e+00] [-4.69587064e-03 -2.63992090e-05 9.99988974e-01 -2.03806951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.396874999999998 meters 0.014865680523847747 Centerline is valid? [True, True] Translation: X:24.62, Y:1.63, Z:-0.21 [[ 9.95783548e-01 -9.16983166e-02 2.55814738e-03 2.46184292e+01] [ 9.16979502e-02 9.95786834e-01 2.60403052e-04 1.63159531e+00] [-2.57124801e-03 -2.47282035e-05 9.99996694e-01 -2.05102000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.456874999999997 meters 0.01566279758250439 Centerline is valid? [True, True] Translation: X:24.68, Y:1.64, Z:-0.20 [[ 9.96093966e-01 -8.81736593e-02 4.71348474e-03 2.46762226e+01] [ 8.81723706e-02 9.96105116e-01 4.80918158e-04 1.64300737e+00] [-4.73753058e-03 -6.34405516e-05 9.99988776e-01 -2.03918710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.516875 meters 0.017259476213963953 Centerline is valid? [True, True] Translation: X:24.73, Y:1.66, Z:-0.20 [[ 9.96625555e-01 -8.17932070e-02 6.88289700e-03 2.47347628e+01] [ 8.17902814e-02 9.96649312e-01 7.05934964e-04 1.65667545e+00] [-6.91757524e-03 -1.40598743e-04 9.99976063e-01 -2.02739910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.576874999999998 meters 0.017522761925009858 Centerline is valid? [True, True] Translation: X:24.79, Y:1.66, Z:-0.20 [[ 9.96783361e-01 -7.98789527e-02 6.50263772e-03 2.47930548e+01] [ 7.98763057e-02 9.96804561e-01 6.66177224e-04 1.66415093e+00] [-6.53507247e-03 -1.44627694e-04 9.99978636e-01 -2.03383026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.636874999999996 meters 0.01874823291677649 Centerline is valid? [True, True] Translation: X:24.85, Y:1.68, Z:-0.20 [[ 9.97073595e-01 -7.62236906e-02 5.84761348e-03 2.48517927e+01] [ 7.62214739e-02 9.97090731e-01 6.01330143e-04 1.67527633e+00] [-5.87643680e-03 -1.53856690e-04 9.99982722e-01 -2.04459884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.696875 meters 0.019883723206525917 Centerline is valid? [True, True] Translation: X:24.91, Y:1.69, Z:-0.21 [[ 9.97418189e-01 -7.15803729e-02 5.76243512e-03 2.49102999e+01] [ 7.15781423e-02 9.97434819e-01 5.92666958e-04 1.68591388e+00] [-5.79007675e-03 -1.78672403e-04 9.99983221e-01 -2.05413710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.756874999999997 meters 0.0214437804862075 Centerline is valid? [True, True] Translation: X:24.97, Y:1.70, Z:-0.21 [[ 9.97654501e-01 -6.83089715e-02 4.40230984e-03 2.49687502e+01] [ 6.83076373e-02 9.97664203e-01 4.52876789e-04 1.69822977e+00] [-4.42296248e-03 -1.51103183e-04 9.99990207e-01 -2.08016126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.816875 meters 0.02234746330034219 Centerline is valid? [True, True] Translation: X:25.03, Y:1.71, Z:-0.21 [[ 9.97765772e-01 -6.67739413e-02 2.16924324e-03 2.50268551e+01] [ 6.67736179e-02 9.97768127e-01 2.21252531e-04 1.70774058e+00] [-2.17917567e-03 -7.59099833e-05 9.99997623e-01 -2.12248845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.876875 meters 0.022153124543835986 Centerline is valid? [True, True] Translation: X:25.09, Y:1.72, Z:-0.21 [[ 9.97879562e-01 -6.50457892e-02 2.32922420e-03 2.50856036e+01] [ 6.50454099e-02 9.97882277e-01 2.38305431e-04 1.71645835e+00] [-2.33979231e-03 -8.62947761e-05 9.99997259e-01 -2.11610522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.936874999999997 meters 0.022401816195693668 Centerline is valid? [True, True] Translation: X:25.14, Y:1.72, Z:-0.21 [[ 9.97820159e-01 -6.58643095e-02 4.10170830e-03 2.51443585e+01] [ 6.58631271e-02 9.97828577e-01 4.22815210e-04 1.72432849e+00] [-4.12065019e-03 -1.51742204e-04 9.99991499e-01 -2.10776087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.996875 meters 0.02180490904322606 Centerline is valid? [True, True] Translation: X:25.20, Y:1.73, Z:-0.21 [[ 9.97575768e-01 -6.93325302e-02 5.96557289e-03 2.52028756e+01] [ 6.93300687e-02 9.97593584e-01 6.18684644e-04 1.72922375e+00] [-5.99411221e-03 -2.03591230e-04 9.99982014e-01 -2.10426600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.056874999999998 meters 0.01859992235647288 Centerline is valid? [True, True] Translation: X:25.26, Y:1.73, Z:-0.21 [[ 9.97018687e-01 -7.65824639e-02 9.42680943e-03 2.52635950e+01] [ 7.65766323e-02 9.97063219e-01 9.78546021e-04 1.72869182e+00] [-9.47406442e-03 -2.53755349e-04 9.99955088e-01 -2.08119302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.116874999999997 meters 0.01717039865062358 Centerline is valid? [True, True] Translation: X:25.32, Y:1.73, Z:-0.21 [[ 9.96623513e-01 -8.14445160e-02 1.04097767e-02 2.53232174e+01] [ 8.14376697e-02 9.96677851e-01 1.08058527e-03 1.73128548e+00] [-1.04632016e-02 -2.29188728e-04 9.99945233e-01 -2.06285273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.176875 meters 0.01724585124714324 Centerline is valid? [True, True] Translation: X:25.38, Y:1.74, Z:-0.21 [[ 9.96519043e-01 -8.28228304e-02 9.49612149e-03 2.53814975e+01] [ 8.28171773e-02 9.96564268e-01 9.87672611e-04 1.73728447e+00] [-9.54529720e-03 -1.97792587e-04 9.99954423e-01 -2.06923415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.236874999999998 meters 0.017210779611496196 Centerline is valid? [True, True] Translation: X:25.44, Y:1.75, Z:-0.21 [[ 9.96587227e-01 -8.22767937e-02 6.66537898e-03 2.54397337e+01] [ 8.22739911e-02 9.96609507e-01 6.94049637e-04 1.74643082e+00] [-6.69988423e-03 -1.43293673e-04 9.99977545e-01 -2.12652403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.296874999999996 meters 0.017757470350491293 Centerline is valid? [True, True] Translation: X:25.50, Y:1.76, Z:-0.21 [[ 9.96731945e-01 -8.04835990e-02 6.91518477e-03 2.54979929e+01] [ 8.04805265e-02 9.96755920e-01 7.21889636e-04 1.75657798e+00] [-6.95085163e-03 -1.62992750e-04 9.99975829e-01 -2.13312634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.356875 meters 0.018410273701642953 Centerline is valid? [True, True] Translation: X:25.56, Y:1.76, Z:-0.21 [[ 9.96857832e-01 -7.88833094e-02 7.20316526e-03 2.55559666e+01] [ 7.88799159e-02 9.96883840e-01 7.54437310e-04 1.76404898e+00] [-7.24023155e-03 -1.83881672e-04 9.99973772e-01 -2.12370158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.416874999999997 meters 0.019121803373021464 Centerline is valid? [True, True] Translation: X:25.61, Y:1.77, Z:-0.21 [[ 9.97075496e-01 -7.59487197e-02 8.49986832e-03 2.56139373e+01] [ 7.59438835e-02 9.97111695e-01 8.90767728e-04 1.77399416e+00] [-8.54297078e-03 -2.42649665e-04 9.99963479e-01 -2.10016324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.476874999999996 meters 0.02019978750846313 Centerline is valid? [True, True] Translation: X:25.67, Y:1.78, Z:-0.21 [[ 9.97258371e-01 -7.35092156e-02 8.49336822e-03 2.56720417e+01] [ 7.35042803e-02 9.97294503e-01 8.92198007e-04 1.78398083e+00] [-8.53597420e-03 -2.65453012e-04 9.99963533e-01 -2.13445673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.536875 meters 0.01997570597322183 Centerline is valid? [True, True] Translation: X:25.73, Y:1.79, Z:-0.21 [[ 9.97295945e-01 -7.30581458e-02 7.95641076e-03 2.57305031e+01] [ 7.30537860e-02 9.97327651e-01 8.37607777e-04 1.78902093e+00] [-7.99634252e-03 -2.54096911e-04 9.99967996e-01 -2.13261505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.596874999999997 meters 0.019529858115532366 Centerline is valid? [True, True] Translation: X:25.79, Y:1.80, Z:-0.21 [[ 9.97312875e-01 -7.29514769e-02 6.71656317e-03 2.57895944e+01] [ 7.29483591e-02 9.97335468e-01 7.08339071e-04 1.79508049e+00] [-6.75034105e-03 -2.16473413e-04 9.99977193e-01 -2.14847192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.656875 meters 0.020456175116864393 Centerline is valid? [True, True] Translation: X:25.85, Y:1.80, Z:-0.22 [[ 9.97348988e-01 -7.26595573e-02 3.94776828e-03 2.58467755e+01] [ 7.26584739e-02 9.97356793e-01 4.17359854e-04 1.80245128e+00] [-3.96765870e-03 -1.29414609e-04 9.99992120e-01 -2.18669682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.716874999999998 meters 0.019686982198681376 Centerline is valid? [True, True] Translation: X:25.91, Y:1.81, Z:-0.22 [[ 9.97094733e-01 -7.61078857e-02 3.11172742e-03 2.59056961e+01] [ 7.61072287e-02 9.97099584e-01 3.29192122e-04 1.80664075e+00] [-3.12775623e-03 -9.14107805e-05 9.99995104e-01 -2.21417221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.776874999999997 meters 0.01890744925737109 Centerline is valid? [True, True] Translation: X:25.97, Y:1.81, Z:-0.22 [[ 9.96886865e-01 -7.87073092e-02 4.66231908e-03 2.59650664e+01] [ 7.87058640e-02 9.96897760e-01 4.92938868e-04 1.81020015e+00] [-4.68665334e-03 -1.24452432e-04 9.99989010e-01 -2.20158703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.836875 meters 0.01888746004190713 Centerline is valid? [True, True] Translation: X:26.02, Y:1.82, Z:-0.22 [[ 9.96800219e-01 -7.97134894e-02 5.92309863e-03 2.60236658e+01] [ 7.97111628e-02 9.96817805e-01 6.28223028e-04 1.81637312e+00] [-5.95432802e-03 -1.54075773e-04 9.99982261e-01 -2.18316646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.896874999999998 meters 0.019454184506421415 Centerline is valid? [True, True] Translation: X:26.08, Y:1.83, Z:-0.22 [[ 9.96897231e-01 -7.84304740e-02 6.67622869e-03 2.60822091e+01] [ 7.84274762e-02 9.96919569e-01 7.10058652e-04 1.82618637e+00] [-6.71135326e-03 -1.84255737e-04 9.99977462e-01 -2.19535428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.956874999999997 meters 0.02058853756587676 Centerline is valid? [True, True] Translation: X:26.14, Y:1.84, Z:-0.22 [[ 9.97175632e-01 -7.48433514e-02 6.26352378e-03 2.61406999e+01] [ 7.48406273e-02 9.97195284e-01 6.68513263e-04 1.83901421e+00] [-6.29599015e-03 -1.97859087e-04 9.99980160e-01 -2.22833400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.016875 meters 0.01967375815098153 Centerline is valid? [True, True] Translation: X:26.20, Y:1.85, Z:-0.22 [[ 9.97200463e-01 -7.46723001e-02 3.90956444e-03 2.61995217e+01] [ 7.46712435e-02 9.97208119e-01 4.15729880e-04 1.84608531e+00] [-3.92969291e-03 -1.22633990e-04 9.99992271e-01 -2.24595322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.076874999999998 meters 0.01962046987236323 Centerline is valid? [True, True] Translation: X:26.26, Y:1.85, Z:-0.22 [[ 9.97139177e-01 -7.54622225e-02 4.34907738e-03 2.62582552e+01] [ 7.54609164e-02 9.97148652e-01 4.63863283e-04 1.85422043e+00] [-4.37168080e-03 -1.34350887e-04 9.99990435e-01 -2.24986347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.136874999999996 meters 0.020861696926171368 Centerline is valid? [True, True] Translation: X:26.32, Y:1.86, Z:-0.23 [[ 9.97172253e-01 -7.49758663e-02 5.11041886e-03 2.63152818e+01] [ 7.49740426e-02 9.97185335e-01 5.47785351e-04 1.86439555e+00] [-5.13710543e-03 -1.63087591e-04 9.99986792e-01 -2.26499083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.196875 meters 0.022795372090854308 Centerline is valid? [True, True] Translation: X:26.37, Y:1.88, Z:-0.23 [[ 9.97400845e-01 -7.17845346e-02 6.20769454e-03 2.63737904e+01] [ 7.17817756e-02 9.97420138e-01 6.66412834e-04 1.87590392e+00] [-6.23951769e-03 -2.19081387e-04 9.99980510e-01 -2.28175870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.256874999999997 meters 0.021867559074608637 Centerline is valid? [True, True] Translation: X:26.43, Y:1.88, Z:-0.23 [[ 9.97663284e-01 -6.80375850e-02 6.23374269e-03 2.64324684e+01] [ 6.80347289e-02 9.97682729e-01 6.69327061e-04 1.88243217e+00] [-6.26483681e-03 -2.43652040e-04 9.99980346e-01 -2.28112673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.316875 meters 0.022256594346994618 Centerline is valid? [True, True] Translation: X:26.49, Y:1.89, Z:-0.23 [[ 9.97715305e-01 -6.71689898e-02 7.24547116e-03 2.64911870e+01] [ 6.71651105e-02 9.97741571e-01 7.77693739e-04 1.89027343e+00] [-7.28134468e-03 -2.89274076e-04 9.99973449e-01 -2.27802731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.376875 meters 0.02414902176048936 Centerline is valid? [True, True] Translation: X:26.55, Y:1.90, Z:-0.23 [[ 9.97649151e-01 -6.83251730e-02 5.27650510e-03 2.65487035e+01] [ 6.83231237e-02 9.97663084e-01 5.67875634e-04 1.89856637e+00] [-5.30297455e-03 -2.06033334e-04 9.99985918e-01 -2.28769718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.436874999999997 meters 0.02114651444460042 Centerline is valid? [True, True] Translation: X:26.61, Y:1.90, Z:-0.23 [[ 9.97518500e-01 -7.02416525e-02 4.79086879e-03 2.66080270e+01] [ 7.02399884e-02 9.97529989e-01 5.14917760e-04 1.89922379e+00] [-4.81520397e-03 -1.77129423e-04 9.99988391e-01 -2.30154716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.496875 meters 0.021588417324024885 Centerline is valid? [True, True] Translation: X:26.67, Y:1.91, Z:-0.23 [[ 9.97314016e-01 -7.31653202e-02 3.40423655e-03 2.66653787e+01] [ 7.31644926e-02 9.97319819e-01 3.67197258e-04 1.90595777e+00] [-3.42197869e-03 -1.17141732e-04 9.99994138e-01 -2.34809133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.556874999999998 meters 0.019469899782744136 Centerline is valid? [True, True] Translation: X:26.73, Y:1.90, Z:-0.24 [[ 9.96984465e-01 -7.75804020e-02 1.80508044e-03 2.67252153e+01] [ 7.75801794e-02 9.96986097e-01 1.93099115e-04 1.90432007e+00] [-1.81462081e-03 -5.24783535e-05 9.99998352e-01 -2.35425724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.616874999999997 meters 0.018877425924005344 Centerline is valid? [True, True] Translation: X:26.78, Y:1.91, Z:-0.24 [[ 9.96733833e-01 -8.06934602e-02 3.19884006e-03 2.67845017e+01] [ 8.06927685e-02 9.96738962e-01 3.44899193e-04 1.90752979e+00] [-3.21623963e-03 -8.56494338e-05 9.99994824e-01 -2.36322321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.676875 meters 0.018149338337954877 Centerline is valid? [True, True] Translation: X:26.84, Y:1.91, Z:-0.24 [[ 9.96511187e-01 -8.33642657e-02 3.98153408e-03 2.68438547e+01] [ 8.33632093e-02 9.96519137e-01 4.30824605e-04 1.91033547e+00] [-4.00359028e-03 -9.74080802e-05 9.99991981e-01 -2.36358873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.736874999999998 meters 0.018203050217474585 Centerline is valid? [True, True] Translation: X:26.90, Y:1.91, Z:-0.24 [[ 9.96500527e-01 -8.35092336e-02 3.59273283e-03 2.69015110e+01] [ 8.35083737e-02 9.96507000e-01 3.88939243e-04 1.91494608e+00] [-3.61266343e-03 -8.75548846e-05 9.99993470e-01 -2.37386456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.796874999999996 meters 0.01883244106746619 Centerline is valid? [True, True] Translation: X:26.96, Y:1.92, Z:-0.24 [[ 9.96518913e-01 -8.32174179e-02 4.99180051e-03 2.69580602e+01] [ 8.32157362e-02 9.96531407e-01 5.44014865e-04 1.92006877e+00] [-5.01975750e-03 -1.26724748e-04 9.99987393e-01 -2.38443005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.856875 meters 0.01782058612985771 Centerline is valid? [True, True] Translation: X:27.02, Y:1.92, Z:-0.24 [[ 9.96347393e-01 -8.51326795e-02 6.65578184e-03 2.70175905e+01] [ 8.51297278e-02 9.96369611e-01 7.26055726e-04 1.91945270e+00] [-6.69342984e-03 -1.56798833e-04 9.99977586e-01 -2.35941298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.916874999999997 meters 0.01846103355785317 Centerline is valid? [True, True] Translation: X:27.08, Y:1.92, Z:-0.24 [[ 9.96249592e-01 -8.63401865e-02 5.66764540e-03 2.70752298e+01] [ 8.63380550e-02 9.96265705e-01 6.20127459e-04 1.92486892e+00] [-5.70002267e-03 -1.28468247e-04 9.99983746e-01 -2.36962930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.976874999999996 meters 0.01784794479916374 Centerline is valid? [True, True] Translation: X:27.13, Y:1.93, Z:-0.24 [[ 9.96137442e-01 -8.76013747e-02 6.01628464e-03 2.71337819e+01] [ 8.75989971e-02 9.96155602e-01 6.58090762e-04 1.92780762e+00] [-6.05080530e-03 -1.28528347e-04 9.99981685e-01 -2.40042565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.036875 meters 0.0167168276328799 Centerline is valid? [True, True] Translation: X:27.19, Y:1.92, Z:-0.24 [[ 9.95783031e-01 -9.16348263e-02 4.38324432e-03 2.71937920e+01] [ 9.16336019e-02 9.95792676e-01 4.79785621e-04 1.92354522e+00] [-4.40876766e-03 -7.61099154e-05 9.99990278e-01 -2.39871350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.096874999999997 meters 0.015883321793246617 Centerline is valid? [True, True] Translation: X:27.25, Y:1.92, Z:-0.24 [[ 9.95403179e-01 -9.56881486e-02 4.03593103e-03 2.72528724e+01] [ 9.56871407e-02 9.95411360e-01 4.42530675e-04 1.92462813e+00] [-4.05975654e-03 -5.43097406e-05 9.99991758e-01 -2.42188444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.156875 meters 0.015318556039376697 Centerline is valid? [True, True] Translation: X:27.31, Y:1.92, Z:-0.24 [[ 9.95038999e-01 -9.93050701e-02 5.99107446e-03 2.73125429e+01] [ 9.93028981e-02 9.95057033e-01 6.59674183e-04 1.92458556e+00] [-6.02696977e-03 -6.14704818e-05 9.99981836e-01 -2.41833589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.216874999999998 meters 0.014988558013295157 Centerline is valid? [True, True] Translation: X:27.37, Y:1.93, Z:-0.24 [[ 9.94847574e-01 -1.01184536e-01 6.32414692e-03 2.73712062e+01] [ 1.01182143e-01 9.94867673e-01 6.97997661e-04 1.92735736e+00] [-6.36231590e-03 -5.45105407e-05 9.99979759e-01 -2.42219699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.276874999999997 meters 0.015205142827233935 Centerline is valid? [True, True] Translation: X:27.43, Y:1.93, Z:-0.24 [[ 9.94922675e-01 -1.00453081e-01 6.16841829e-03 2.74296593e+01] [ 1.00450782e-01 9.94941795e-01 6.82214568e-04 1.93359559e+00] [-6.20574772e-03 -5.91283026e-05 9.99980742e-01 -2.44669665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.336875 meters 0.01565238383867342 Centerline is valid? [True, True] Translation: X:27.49, Y:1.94, Z:-0.25 [[ 9.95233759e-01 -9.73873420e-02 5.04691459e-03 2.74884717e+01] [ 9.73857597e-02 9.95246553e-01 5.58919909e-04 1.94106746e+00] [-5.07735607e-03 -6.47583511e-05 9.99987108e-01 -2.45461454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.396874999999998 meters 0.017211023791781743 Centerline is valid? [True, True] Translation: X:27.55, Y:1.95, Z:-0.25 [[ 9.95750169e-01 -9.19899204e-02 4.41076336e-03 2.75464004e+01] [ 9.19886499e-02 9.95759935e-01 4.90479850e-04 1.95170275e+00] [-4.43718064e-03 -8.26552272e-05 9.99990152e-01 -2.47083652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.456874999999997 meters 0.01844840680096087 Centerline is valid? [True, True] Translation: X:27.61, Y:1.96, Z:-0.25 [[ 9.96146480e-01 -8.74851594e-02 6.20791147e-03 2.76052623e+01] [ 8.74825513e-02 9.96165812e-01 6.90955481e-04 1.96273536e+00] [-6.24455753e-03 -1.45208936e-04 9.99980492e-01 -2.47841358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.516875 meters 0.019939747581366397 Centerline is valid? [True, True] Translation: X:27.66, Y:1.97, Z:-0.25 [[ 9.96346692e-01 -8.50278730e-02 7.97056349e-03 2.76619491e+01] [ 8.50234935e-02 9.96378552e-01 8.87318614e-04 1.97169703e+00] [-8.01714533e-03 -2.06391813e-04 9.99967841e-01 -2.47278780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.576874999999998 meters 0.019022812606832723 Centerline is valid? [True, True] Translation: X:27.72, Y:1.97, Z:-0.25 [[ 9.96323213e-01 -8.53559188e-02 7.37712112e-03 2.77203250e+01] [ 8.53521761e-02 9.96350506e-01 8.21266472e-04 1.97410845e+00] [-7.42029832e-03 -1.88593509e-04 9.99972451e-01 -2.45248390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.636874999999996 meters 0.01835234894431741 Centerline is valid? [True, True] Translation: X:27.78, Y:1.98, Z:-0.25 [[ 9.96189539e-01 -8.70142243e-02 5.90999662e-03 2.77792574e+01] [ 8.70118440e-02 9.96207059e-01 6.59170497e-04 1.97795136e+00] [-5.94493756e-03 -1.42419050e-04 9.99982319e-01 -2.47054082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.696875 meters 0.018384286537248835 Centerline is valid? [True, True] Translation: X:27.84, Y:1.98, Z:-0.25 [[ 9.96141619e-01 -8.77182814e-02 2.71608103e-03 2.78379951e+01] [ 8.77177835e-02 9.96145320e-01 3.02135900e-04 1.98201282e+00] [-2.73211425e-03 -6.27215360e-05 9.99996266e-01 -2.52215395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.756874999999997 meters 0.018368871047967174 Centerline is valid? [True, True] Translation: X:27.90, Y:1.99, Z:-0.25 [[ 9.96048105e-01 -8.87052150e-02 4.42228621e-03 2.78971737e+01] [ 8.87038921e-02 9.96057917e-01 4.94788772e-04 1.98550433e+00] [-4.44874354e-03 -1.00559420e-04 9.99990099e-01 -2.52087187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.816874999999996 meters 0.018688232793976692 Centerline is valid? [True, True] Translation: X:27.95, Y:1.99, Z:-0.25 [[ 9.96085497e-01 -8.81255342e-02 6.89736377e-03 2.79548706e+01] [ 8.81222808e-02 9.96109363e-01 7.74787331e-04 1.99013089e+00] [-6.93880718e-03 -1.63942997e-04 9.99975913e-01 -2.48143348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.876875 meters 0.016932303481773256 Centerline is valid? [True, True] Translation: X:28.01, Y:1.99, Z:-0.25 [[ 9.95529538e-01 -9.43213238e-02 4.94231004e-03 2.80143787e+01] [ 9.43197195e-02 9.95541802e-01 5.57203507e-04 1.99240239e+00] [-4.97283242e-03 -8.85552533e-05 9.99987631e-01 -2.52218929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.936874999999997 meters 0.014811243508072492 Centerline is valid? [True, True] Translation: X:28.07, Y:1.99, Z:-0.25 [[ 9.94401950e-01 -1.05485352e-01 6.13207167e-03 2.80748327e+01] [ 1.05483091e-01 9.94420856e-01 6.91738130e-04 1.99150746e+00] [-6.17082820e-03 -4.10358690e-05 9.99980959e-01 -2.49166543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.996875 meters 0.014648789418821894 Centerline is valid? [True, True] Translation: X:28.13, Y:2.00, Z:-0.25 [[ 9.94134824e-01 -1.07996672e-01 5.71586539e-03 2.81326140e+01] [ 1.07994753e-01 9.94151255e-01 6.44288799e-04 1.99771743e+00] [-5.75201580e-03 -2.32264608e-05 9.99983457e-01 -2.50031583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.056874999999998 meters 0.01528553497649553 Centerline is valid? [True, True] Translation: X:28.19, Y:2.01, Z:-0.26 [[ 9.94559186e-01 -1.04170763e-01 6.91383401e-04 2.81894715e+01] [ 1.04170735e-01 9.94559426e-01 7.72326262e-05 2.01409629e+00] [-6.95667260e-04 -4.79050082e-06 9.99999758e-01 -2.61334723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.116874999999997 meters 0.017218005884026284 Centerline is valid? [True, True] Translation: X:28.25, Y:2.03, Z:-0.26 [[ 9.95627262e-01 -9.33913363e-02 2.10088788e-03 2.82478268e+01] [ 9.33910436e-02 9.95629478e-01 2.37193418e-04 2.02883827e+00] [-2.11385771e-03 -3.99521221e-05 9.99997765e-01 -2.56375057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.176875 meters 0.018732150274464635 Centerline is valid? [True, True] Translation: X:28.31, Y:2.04, Z:-0.25 [[ 9.96178967e-01 -8.72838788e-02 2.99827950e-03 2.83065965e+01] [ 8.72832542e-02 9.96183476e-01 3.38772344e-04 2.04124116e+00] [-3.01640586e-03 -7.57782922e-05 9.99995448e-01 -2.53104300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.236874999999998 meters 0.02147545979373912 Centerline is valid? [True, True] Translation: X:28.36, Y:2.06, Z:-0.26 [[ 9.96666214e-01 -8.15485220e-02 2.50941437e-03 2.83643250e+01] [ 8.15480656e-02 9.96669370e-01 2.83803138e-04 2.05627071e+00] [-2.52420017e-03 -7.82191112e-05 9.99996811e-01 -2.55698749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.296874999999996 meters 0.02277371360321559 Centerline is valid? [True, True] Translation: X:28.42, Y:2.07, Z:-0.26 [[ 9.97081198e-01 -7.62794352e-02 3.24521989e-03 2.84239706e+01] [ 7.62786438e-02 9.97086473e-01 3.67122669e-04 2.06691929e+00] [-3.26376876e-03 -1.18510139e-04 9.99994667e-01 -2.55966526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.356875 meters 0.02159617281861061 Centerline is valid? [True, True] Translation: X:28.48, Y:2.07, Z:-0.26 [[ 9.96747610e-01 -8.05124541e-02 3.45651126e-03 2.84832282e+01] [ 8.05115826e-02 9.96753597e-01 3.90757100e-04 2.07163322e+00] [-3.47675084e-03 -1.11197014e-04 9.99993950e-01 -2.56339723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.416874999999997 meters 0.020447056517025084 Centerline is valid? [True, True] Translation: X:28.54, Y:2.08, Z:-0.25 [[ 9.96631651e-01 -8.18729206e-02 4.70929963e-03 2.85418659e+01] [ 8.18713232e-02 9.96642767e-01 5.31318858e-04 2.07555189e+00] [-4.73699004e-03 -1.43972598e-04 9.99988770e-01 -2.54945693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.476874999999996 meters 0.020204669374621387 Centerline is valid? [True, True] Translation: X:28.60, Y:2.08, Z:-0.25 [[ 9.96302369e-01 -8.57866723e-02 4.71555500e-03 2.85996528e+01] [ 8.57851038e-02 9.96313520e-01 5.34258123e-04 2.07993301e+00] [-4.74400343e-03 -1.27758258e-04 9.99988739e-01 -2.54461179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.536875 meters 0.017991096150769343 Centerline is valid? [True, True] Translation: X:28.66, Y:2.08, Z:-0.26 [[ 9.95848277e-01 -9.10230611e-02 1.00577796e-03 2.86585156e+01] [ 9.10229929e-02 9.95848785e-01 1.13453598e-04 2.08197925e+00] [-1.01192965e-03 -2.14336506e-05 9.99999488e-01 -2.61419722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.596874999999997 meters 0.018053469044810422 Centerline is valid? [True, True] Translation: X:28.72, Y:2.09, Z:-0.26 [[ 9.95842240e-01 -9.10707594e-02 -2.08566309e-03 2.87168504e+01] [ 9.10704562e-02 9.95844423e-01 -2.40071092e-04 2.08789903e+00] [ 2.09885941e-03 4.91306453e-05 9.99997796e-01 -2.64786067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.656875 meters 0.019280719615725955 Centerline is valid? [True, True] Translation: X:28.77, Y:2.10, Z:-0.26 [[ 9.96019877e-01 -8.91167514e-02 -1.61511215e-03 2.87742870e+01] [ 8.91165687e-02 9.96021186e-01 -1.84904436e-04 2.09670302e+00] [ 1.62516400e-03 4.02352408e-05 9.99998679e-01 -2.64022644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.716874999999998 meters 0.019906379429774225 Centerline is valid? [True, True] Translation: X:28.83, Y:2.11, Z:-0.26 [[ 9.96256100e-01 -8.64510064e-02 8.58646165e-05 2.88324937e+01] [ 8.64510061e-02 9.96256103e-01 7.11056715e-06 2.10628246e+00] [-8.61578639e-05 3.39136585e-07 9.99999996e-01 -2.63676370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.776874999999997 meters 0.020493008166582456 Centerline is valid? [True, True] Translation: X:28.89, Y:2.11, Z:-0.26 [[ 9.96330434e-01 -8.55388743e-02 2.96088045e-03 2.88899869e+01] [ 8.55382540e-02 9.96334830e-01 3.35733711e-04 2.11337250e+00] [-2.97874660e-03 -8.12331705e-05 9.99995560e-01 -2.61795153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.836875 meters 0.01976747891496248 Centerline is valid? [True, True] Translation: X:28.95, Y:2.12, Z:-0.26 [[ 9.96302678e-01 -8.58199770e-02 3.98815869e-03 2.89475915e+01] [ 8.58188454e-02 9.96310654e-01 4.54340868e-04 2.11802399e+00] [-4.01243651e-03 -1.10401849e-04 9.99991944e-01 -2.59878684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.896874999999998 meters 0.020096875602375473 Centerline is valid? [True, True] Translation: X:29.00, Y:2.13, Z:-0.26 [[ 9.96306962e-01 -8.58610303e-02 5.66733549e-04 2.90048155e+01] [ 8.58610077e-02 9.96307123e-01 6.40957080e-05 2.12547217e+00] [-5.70143995e-04 -1.51986865e-05 9.99999837e-01 -2.64325836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.956874999999997 meters 0.020287426427500692 Centerline is valid? [True, True] Translation: X:29.06, Y:2.13, Z:-0.27 [[ 9.96205905e-01 -8.70162052e-02 -1.40562058e-03 2.90620695e+01] [ 8.70160593e-02 9.96206895e-01 -1.64787667e-04 2.13212428e+00] [ 1.41462811e-03 4.18508825e-05 9.99998999e-01 -2.69107994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.016875 meters 0.019980604933955304 Centerline is valid? [True, True] Translation: X:29.12, Y:2.14, Z:-0.27 [[ 9.96001310e-01 -8.93117031e-02 -2.19337098e-03 2.91203338e+01] [ 8.93113567e-02 9.96003723e-01 -2.55544590e-04 2.13705086e+00] [ 2.20742879e-03 5.86298086e-05 9.99997562e-01 -2.70968832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.076874999999998 meters 0.01885946912206288 Centerline is valid? [True, True] Translation: X:29.18, Y:2.14, Z:-0.27 [[ 9.96013003e-01 -8.92065595e-02 -5.35777964e-04 2.91794770e+01] [ 8.92065376e-02 9.96013147e-01 -6.46519696e-05 2.14114358e+00] [ 5.39409276e-04 1.65993054e-05 9.99999854e-01 -2.67451133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.136874999999996 meters 0.020760497707927383 Centerline is valid? [True, True] Translation: X:29.24, Y:2.15, Z:-0.26 [[ 9.96133218e-01 -8.78313269e-02 2.06657701e-03 2.92363811e+01] [ 8.78310220e-02 9.96135360e-01 2.38028114e-04 2.15083282e+00] [-2.07949676e-03 -5.55981403e-05 9.99997836e-01 -2.64624318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.196875 meters 0.01966168172303161 Centerline is valid? [True, True] Translation: X:29.30, Y:2.16, Z:-0.26 [[ 9.96277998e-01 -8.60300951e-02 5.38264542e-03 2.92952139e+01] [ 8.60279942e-02 9.96292527e-01 6.21061543e-04 2.15724942e+00] [-5.41611939e-03 -1.55691762e-04 9.99985321e-01 -2.63017834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.256874999999997 meters 0.02027429811485089 Centerline is valid? [True, True] Translation: X:29.35, Y:2.16, Z:-0.26 [[ 9.96316709e-01 -8.56147455e-02 4.80943316e-03 2.93539075e+01] [ 8.56130589e-02 9.96328307e-01 5.55850984e-04 2.16451942e+00] [-4.83936344e-03 -1.42053339e-04 9.99988280e-01 -2.64282368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.316874999999996 meters 0.02126712088234426 Centerline is valid? [True, True] Translation: X:29.41, Y:2.17, Z:-0.27 [[ 9.96475405e-01 -8.36968555e-02 5.62176218e-03 2.94119892e+01] [ 8.36945099e-02 9.96491247e-01 6.51613368e-04 2.17428748e+00] [-5.65657480e-03 -1.78806064e-04 9.99983985e-01 -2.65029123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.376875 meters 0.022143902858038928 Centerline is valid? [True, True] Translation: X:29.47, Y:2.18, Z:-0.27 [[ 9.96666971e-01 -8.13701283e-02 5.81824201e-03 2.94703425e+01] [ 8.13675674e-02 9.96683933e-01 6.75903508e-04 2.18425433e+00] [-5.85394669e-03 -2.00234503e-04 9.99982845e-01 -2.66136302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.436874999999997 meters 0.023230622087202755 Centerline is valid? [True, True] Translation: X:29.53, Y:2.19, Z:-0.27 [[ 9.96702086e-01 -8.10158220e-02 4.62468525e-03 2.95274594e+01] [ 8.10141928e-02 9.96712802e-01 5.38854375e-04 2.19398149e+00] [-4.65313873e-03 -1.62412137e-04 9.99989161e-01 -2.68731424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.496875 meters 0.021812285649101724 Centerline is valid? [True, True] Translation: X:29.59, Y:2.20, Z:-0.27 [[ 9.96576859e-01 -8.26583356e-02 1.47062906e-03 2.95863996e+01] [ 8.26581756e-02 9.96577943e-01 1.69297579e-04 2.19826338e+00] [-1.47959034e-03 -4.71585342e-05 9.99998904e-01 -2.71822288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.556874999999998 meters 0.020962016223320844 Centerline is valid? [True, True] Translation: X:29.65, Y:2.20, Z:-0.27 [[ 9.96366626e-01 -8.51677523e-02 1.02894027e-05 2.96450500e+01] [ 8.51677523e-02 9.96366626e-01 -1.50383130e-06 2.20228215e+00] [-1.01239395e-05 2.37469262e-06 1.00000000e+00 -2.73479753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.616874999999997 meters 0.01849075685491387 Centerline is valid? [True, True] Translation: X:29.71, Y:2.20, Z:-0.27 [[ 9.95891729e-01 -9.05009373e-02 3.04045146e-03 2.97054856e+01] [ 9.05002712e-02 9.95896367e-01 3.56254481e-04 2.20361776e+00] [-3.06021593e-03 -7.96292093e-05 9.99995314e-01 -2.71657756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.676875 meters 0.01689952517226114 Centerline is valid? [True, True] Translation: X:29.77, Y:2.21, Z:-0.27 [[ 9.95437086e-01 -9.50624510e-02 8.25454800e-03 2.97658795e+01] [ 9.50576941e-02 9.95471295e-01 9.67593154e-04 2.20727891e+00] [-8.30914737e-03 -1.78519811e-04 9.99965463e-01 -2.67550480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.736874999999998 meters 0.0160132650337333 Centerline is valid? [True, True] Translation: X:29.83, Y:2.21, Z:-0.27 [[ 9.95112176e-01 -9.82816621e-02 9.61619221e-03 2.98250790e+01] [ 9.82753540e-02 9.95158622e-01 1.12747548e-03 2.21147201e+00] [-9.68044675e-03 -1.76929885e-04 9.99953128e-01 -2.65940923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.796874999999996 meters 0.01540795226206368 Centerline is valid? [True, True] Translation: X:29.88, Y:2.22, Z:-0.27 [[ 9.94790484e-01 -1.01518419e-01 9.26840645e-03 2.98836961e+01] [ 1.01512679e-01 9.94833650e-01 1.08885150e-03 2.21781858e+00] [-9.33106109e-03 -1.42318337e-04 9.99956455e-01 -2.66469836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.856875 meters 0.015152415699712395 Centerline is valid? [True, True] Translation: X:29.94, Y:2.23, Z:-0.27 [[ 9.94664997e-01 -1.02857539e-01 7.86578664e-03 2.99418062e+01] [ 1.02853435e-01 9.94696091e-01 9.25562629e-04 2.22500304e+00] [-7.91926832e-03 -1.11601577e-04 9.99968636e-01 -2.69719472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.916874999999997 meters 0.01504516295770148 Centerline is valid? [True, True] Translation: X:30.00, Y:2.23, Z:-0.28 [[ 9.94504131e-01 -1.04655500e-01 2.95967425e-03 2.99989692e+01] [ 1.04654930e-01 9.94508534e-01 3.47085539e-04 2.23195635e+00] [-2.97974572e-03 -3.54335001e-05 9.99995560e-01 -2.76971682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.976874999999996 meters 0.015471010821440227 Centerline is valid? [True, True] Translation: X:30.06, Y:2.24, Z:-0.28 [[ 9.94529125e-01 -1.04367022e-01 4.39815474e-03 3.00554600e+01] [ 1.04365747e-01 9.94538849e-01 5.18987319e-04 2.24118429e+00] [-4.42830091e-03 -5.71313008e-05 9.99990193e-01 -2.77987446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.036875 meters 0.01548969331301779 Centerline is valid? [True, True] Translation: X:30.11, Y:2.25, Z:-0.28 [[ 9.94743757e-01 -1.02223330e-01 5.93703455e-03 3.01134927e+01] [ 1.02220960e-01 9.94761470e-01 7.02080207e-04 2.24977804e+00] [-5.97770219e-03 -9.15005327e-05 9.99982129e-01 -2.75875900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.096874999999997 meters 0.016851170459096985 Centerline is valid? [True, True] Translation: X:30.17, Y:2.26, Z:-0.28 [[ 9.95304111e-01 -9.66458034e-02 5.41441892e-03 3.01721085e+01] [ 9.66437383e-02 9.95318831e-01 6.42381188e-04 2.25987234e+00] [-5.45115655e-03 -1.16094952e-04 9.99985136e-01 -2.75136360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.156875 meters 0.018081380138431098 Centerline is valid? [True, True] Translation: X:30.23, Y:2.27, Z:-0.28 [[ 9.95610287e-01 -9.34117692e-02 5.86495502e-03 3.02297139e+01] [ 9.34092889e-02 9.95627551e-01 6.96006956e-04 2.27071801e+00] [-5.90432604e-03 -1.45110408e-04 9.99982559e-01 -2.76349286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.216874999999998 meters 0.01985348026536088 Centerline is valid? [True, True] Translation: X:30.29, Y:2.28, Z:-0.28 [[ 9.95905442e-01 -9.02446821e-02 5.31485684e-03 3.02876035e+01] [ 9.02425971e-02 9.95919613e-01 6.31302007e-04 2.28050270e+00] [-5.35014182e-03 -1.49090620e-04 9.99985677e-01 -2.78941829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.276874999999997 meters 0.019101827948820743 Centerline is valid? [True, True] Translation: X:30.35, Y:2.28, Z:-0.28 [[ 9.96076039e-01 -8.83778372e-02 4.67795648e-03 3.03463296e+01] [ 8.83762067e-02 9.96087014e-01 5.54537023e-04 2.28451552e+00] [-4.70866048e-03 -1.38940992e-04 9.99988905e-01 -2.79105396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.336875 meters 0.020382633672721404 Centerline is valid? [True, True] Translation: X:30.40, Y:2.29, Z:-0.28 [[ 9.96136168e-01 -8.76991433e-02 4.64714877e-03 3.04031448e+01] [ 8.76975164e-02 9.96146997e-01 5.53104337e-04 2.29341700e+00] [-4.67775007e-03 -1.43423829e-04 9.99989049e-01 -2.79963194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.396874999999998 meters 0.020594893500729555 Centerline is valid? [True, True] Translation: X:30.46, Y:2.30, Z:-0.28 [[ 9.96162889e-01 -8.73486674e-02 5.45052044e-03 3.04619171e+01] [ 8.73464253e-02 9.96177786e-01 6.48510394e-04 2.29959252e+00] [-5.48633391e-03 -1.69938511e-04 9.99984936e-01 -2.81819729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.456874999999997 meters 0.020465052597913994 Centerline is valid? [True, True] Translation: X:30.52, Y:2.30, Z:-0.29 [[ 9.96088482e-01 -8.83149379e-02 2.86495020e-03 3.05196017e+01] [ 8.83143249e-02 9.96092598e-01 3.40005453e-04 2.30350676e+00] [-2.88378325e-03 -8.56593729e-05 9.99995838e-01 -2.85446347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.516875 meters 0.020481841549814864 Centerline is valid? [True, True] Translation: X:30.58, Y:2.31, Z:-0.29 [[ 9.96044111e-01 -8.88541624e-02 1.03266492e-03 3.05787046e+01] [ 8.88540844e-02 9.96044646e-01 1.21221348e-04 2.30872911e+00] [-1.03935139e-03 -2.89853138e-05 9.99999459e-01 -2.87966303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.576874999999998 meters 0.02065884743956261 Centerline is valid? [True, True] Translation: X:30.64, Y:2.31, Z:-0.29 [[ 9.95953698e-01 -8.98678437e-02 -5.18198379e-05 3.06380726e+01] [ 8.98678434e-02 9.95953699e-01 -8.70916002e-06 2.31260402e+00] [ 5.23928326e-05 4.01698306e-06 9.99999999e-01 -2.89208633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.636874999999996 meters 0.019180904284269808 Centerline is valid? [True, True] Translation: X:30.70, Y:2.32, Z:-0.29 [[ 9.95788313e-01 -9.16464132e-02 2.56324052e-03 3.06972609e+01] [ 9.16459287e-02 9.95791610e-01 3.06087212e-04 2.31608287e+00] [-2.58050520e-03 -6.98875101e-05 9.99996668e-01 -2.87807554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.696875 meters 0.01850251306720471 Centerline is valid? [True, True] Translation: X:30.76, Y:2.32, Z:-0.29 [[ 9.95444261e-01 -9.52213330e-02 4.86004511e-03 3.07553410e+01] [ 9.52196109e-02 9.95456118e-01 5.85015320e-04 2.31912317e+00] [-4.89366758e-03 -1.19578539e-04 9.99988019e-01 -2.85469543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.756874999999997 meters 0.017401930285487047 Centerline is valid? [True, True] Translation: X:30.81, Y:2.32, Z:-0.29 [[ 9.95313314e-01 -9.65561102e-02 5.32211196e-03 3.08146737e+01] [ 9.65540657e-02 9.95327535e-01 6.40363150e-04 2.32315968e+00] [-5.35907556e-03 -1.23490421e-04 9.99985632e-01 -2.85259290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.816874999999996 meters 0.0172065746551178 Centerline is valid? [True, True] Translation: X:30.87, Y:2.33, Z:-0.29 [[ 9.95224635e-01 -9.75676046e-02 2.91333447e-03 3.08729067e+01] [ 9.75669989e-02 9.95228898e-01 3.49649067e-04 2.32959825e+00] [-2.93354908e-03 -6.37340641e-05 9.99995695e-01 -2.88428539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.876875 meters 0.017308780760738305 Centerline is valid? [True, True] Translation: X:30.93, Y:2.34, Z:-0.29 [[ 9.95036822e-01 -9.95012923e-02 1.10213255e-03 3.09306919e+01] [ 9.95012065e-02 9.95037433e-01 1.32594404e-04 2.33516706e+00] [-1.10985646e-03 -2.22727955e-05 9.99999384e-01 -2.90620896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.936874999999997 meters 0.01691044309548165 Centerline is valid? [True, True] Translation: X:30.99, Y:2.34, Z:-0.29 [[ 9.94905379e-01 -1.00785627e-01 2.35456278e-03 3.09897905e+01] [ 1.00785239e-01 9.94908164e-01 2.83202702e-04 2.34074957e+00] [-2.37111649e-03 -4.44547181e-05 9.99997188e-01 -2.89905787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.996875 meters 0.016835657457116505 Centerline is valid? [True, True] Translation: X:31.05, Y:2.35, Z:-0.29 [[ 9.94932425e-01 -1.00513034e-01 2.56898029e-03 3.10480562e+01] [ 1.00512569e-01 9.94935740e-01 3.09813482e-04 2.34854036e+00] [-2.58711060e-03 -5.00286707e-05 9.99996652e-01 -2.90682664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.056875 meters 0.018401508621510944 Centerline is valid? [True, True] Translation: X:31.11, Y:2.36, Z:-0.29 [[ 9.95189345e-01 -9.79483078e-02 2.07273952e-03 3.11050921e+01] [ 9.79479966e-02 9.95191503e-01 2.51386016e-04 2.35919097e+00] [-2.08739559e-03 -4.71560008e-05 9.99997820e-01 -2.90653050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.116875 meters 0.01929188814492449 Centerline is valid? [True, True] Translation: X:31.16, Y:2.37, Z:-0.29 [[ 9.95451322e-01 -9.52710588e-02 3.00084530e-04 3.11635328e+01] [ 9.52710523e-02 9.95451368e-01 3.59758450e-05 2.36869838e+00] [-3.02147012e-04 -7.22283357e-06 9.99999954e-01 -2.91950909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.176874999999995 meters 0.022278137861273244 Centerline is valid? [True, True] Translation: X:31.22, Y:2.38, Z:-0.29 [[ 9.96072241e-01 -8.85394962e-02 -9.21530912e-04 3.12222655e+01] [ 8.85394300e-02 9.96072666e-01 -1.12445788e-04 2.38274666e+00] [ 9.27867646e-04 3.04123064e-05 9.99999569e-01 -2.93068594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.236875 meters 0.024814521531699486 Centerline is valid? [True, True] Translation: X:31.28, Y:2.39, Z:-0.29 [[ 9.96387443e-01 -8.49120488e-02 -1.41648487e-03 3.12795102e+01] [ 8.49118880e-02 9.96388449e-01 -1.73400046e-04 2.39477495e+00] [ 1.42609291e-03 5.24972243e-05 9.99998982e-01 -2.94221749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.296875 meters 0.024674961837634204 Centerline is valid? [True, True] Translation: X:31.34, Y:2.40, Z:-0.29 [[ 9.96553822e-01 -8.29368726e-02 -1.39856455e-03 3.13376364e+01] [ 8.29367107e-02 9.96554801e-01 -1.73517549e-04 2.40297858e+00] [ 1.40813722e-03 5.69272330e-05 9.99999007e-01 -2.93685886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.356874999999995 meters 0.02280021903057837 Centerline is valid? [True, True] Translation: X:31.40, Y:2.40, Z:-0.29 [[ 9.96184118e-01 -8.72407742e-02 -2.50013166e-03 3.13975301e+01] [ 8.72402812e-02 9.96187251e-01 -3.05812446e-04 2.40491251e+00] [ 2.51727860e-03 8.65333133e-05 9.99996828e-01 -2.90987382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.416875 meters 0.020305286210671902 Centerline is valid? [True, True] Translation: X:31.46, Y:2.41, Z:-0.29 [[ 9.95608079e-01 -9.36009095e-02 -1.85013666e-03 3.14577506e+01] [ 9.36006505e-02 9.95609797e-01 -2.26242980e-04 2.40761172e+00] [ 1.86319073e-03 5.20753442e-05 9.99998263e-01 -2.90523391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.476875 meters 0.017798641185609834 Centerline is valid? [True, True] Translation: X:31.52, Y:2.41, Z:-0.29 [[ 9.95012785e-01 -9.97218094e-02 -2.26235685e-03 3.15178335e+01] [ 9.97214372e-02 9.95015356e-01 -2.77023219e-04 2.40933017e+00] [ 2.27870507e-03 5.00361676e-05 9.99997402e-01 -2.93897975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.536874999999995 meters 0.01714491080441386 Centerline is valid? [True, True] Translation: X:31.58, Y:2.41, Z:-0.29 [[ 9.94689087e-01 -1.02900284e-01 -2.26955896e-03 3.15768989e+01] [ 1.02899911e-01 9.94691676e-01 -2.80657472e-04 2.41260492e+00] [ 2.28639114e-03 4.56295090e-05 9.99997385e-01 -2.93757750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.596875 meters 0.016478501267503023 Centerline is valid? [True, True] Translation: X:31.64, Y:2.42, Z:-0.29 [[ 9.94405075e-01 -1.05631092e-01 7.86623752e-04 3.16362704e+01] [ 1.05631050e-01 9.94405386e-01 9.40001423e-05 2.41648087e+00] [-7.92152234e-04 -1.03823254e-05 9.99999686e-01 -2.90256242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.656875 meters 0.01684946016604165 Centerline is valid? [True, True] Translation: X:31.69, Y:2.42, Z:-0.29 [[ 9.94481390e-01 -1.04903084e-01 1.45160139e-03 3.16947230e+01] [ 1.04902939e-01 9.94482450e-01 1.75765559e-04 2.42460625e+00] [-1.46203045e-03 -2.25183259e-05 9.99998931e-01 -2.90557171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.716874999999995 meters 0.01755250092875425 Centerline is valid? [True, True] Translation: X:31.75, Y:2.44, Z:-0.29 [[ 9.94690955e-01 -1.02906596e-01 3.70663438e-04 3.17529849e+01] [ 1.02906587e-01 9.94691024e-01 4.29872355e-05 2.43535851e+00] [-3.73119265e-04 -4.61530495e-06 9.99999930e-01 -2.93995173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.776875 meters 0.01804257811989804 Centerline is valid? [True, True] Translation: X:31.81, Y:2.44, Z:-0.29 [[ 9.94844687e-01 -1.01410267e-01 -8.36686731e-05 3.18108730e+01] [ 1.01410267e-01 9.94844690e-01 -1.30179911e-05 2.44478987e+00] [ 8.45574931e-05 4.46601684e-06 9.99999996e-01 -2.94551446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.836875 meters 0.019971847262525412 Centerline is valid? [True, True] Translation: X:31.87, Y:2.46, Z:-0.30 [[ 9.95375413e-01 -9.60535902e-02 -1.22267671e-03 3.18690798e+01] [ 9.60534765e-02 9.95376163e-01 -1.51557440e-04 2.45669788e+00] [ 1.23158089e-03 3.34142007e-05 9.99999241e-01 -2.95111235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.896874999999994 meters 0.02163612621089203 Centerline is valid? [True, True] Translation: X:31.93, Y:2.47, Z:-0.30 [[ 9.95724230e-01 -9.23670623e-02 -1.25857234e-03 3.19271949e+01] [ 9.23669388e-02 9.95725024e-01 -1.56058818e-04 2.46803355e+00] [ 1.26760667e-03 3.91410723e-05 9.99999196e-01 -2.96749214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.956875 meters 0.019634436823416104 Centerline is valid? [True, True] Translation: X:31.99, Y:2.47, Z:-0.30 [[ 9.95194372e-01 -9.79185294e-02 3.50389271e-04 3.19872592e+01] [ 9.79185203e-02 9.95194434e-01 4.30990483e-05 2.47235828e+00] [-3.52925648e-04 -8.58233133e-06 9.99999938e-01 -2.96506639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.016875 meters 0.021167705516285905 Centerline is valid? [True, True] Translation: X:32.05, Y:2.49, Z:-0.29 [[ 9.95594488e-01 -9.37622593e-02 5.03346427e-04 3.20456980e+01] [ 9.37622400e-02 9.95594616e-01 6.18255521e-05 2.48525220e+00] [-5.06925896e-04 -1.43582904e-05 9.99999871e-01 -2.94749955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.076875 meters 0.023289494196723885 Centerline is valid? [True, True] Translation: X:32.10, Y:2.50, Z:-0.29 [[ 9.96108590e-01 -8.81316988e-02 6.93001353e-04 3.21049454e+01] [ 8.81316605e-02 9.96108831e-01 8.56476121e-05 2.49945123e+00] [-6.97853037e-04 -2.42389621e-05 9.99999756e-01 -2.94143085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.136874999999996 meters 0.02448216552804303 Centerline is valid? [True, True] Translation: X:32.16, Y:2.51, Z:-0.29 [[ 9.96610325e-01 -8.22640387e-02 6.98736098e-04 3.21639565e+01] [ 8.22639985e-02 9.96610569e-01 8.61713960e-05 2.51258903e+00] [-7.03456587e-04 -2.83984777e-05 9.99999752e-01 -2.93706011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.196875 meters 0.02536621785024741 Centerline is valid? [True, True] Translation: X:32.22, Y:2.52, Z:-0.29 [[ 9.96659728e-01 -8.16626980e-02 7.68017145e-04 3.22221559e+01] [ 8.16626510e-02 9.96660024e-01 9.23555116e-05 2.52230371e+00] [-7.72993986e-04 -2.93287030e-05 9.99999701e-01 -2.94799377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.256875 meters 0.02606971928269365 Centerline is valid? [True, True] Translation: X:32.28, Y:2.53, Z:-0.30 [[ 9.96661577e-01 -8.16427811e-02 3.96969029e-04 3.22798297e+01] [ 8.16427691e-02 9.96661656e-01 4.65221371e-05 2.53377481e+00] [-3.99442006e-04 -1.39571758e-05 9.99999920e-01 -2.97160506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.316874999999996 meters 0.02095856360722908 Centerline is valid? [True, True] Translation: X:32.34, Y:2.53, Z:-0.29 [[ 9.95848773e-01 -9.09778345e-02 2.87308780e-03 3.23404576e+01] [ 9.09771850e-02 9.95852913e-01 3.56243049e-04 2.53425221e+00] [-2.89358308e-03 -9.33787626e-05 9.99995809e-01 -2.93311100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.376875 meters 0.01945451577591942 Centerline is valid? [True, True] Translation: X:32.40, Y:2.54, Z:-0.29 [[ 9.95288088e-01 -9.69498987e-02 1.52949911e-03 3.24005864e+01] [ 9.69497216e-02 9.95289262e-01 1.89716812e-04 2.53852667e+00] [-1.54068707e-03 -4.05383703e-05 9.99998812e-01 -2.91931063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.436875 meters 0.017571619943023326 Centerline is valid? [True, True] Translation: X:32.46, Y:2.54, Z:-0.30 [[ 9.94447075e-01 -1.05230640e-01 1.23600098e-03 3.24595142e+01] [ 1.05230531e-01 9.94447843e-01 1.53128963e-04 2.54332645e+00] [-1.24525236e-03 -2.22136106e-05 9.99999224e-01 -2.95710252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.496874999999996 meters 0.016144563599123196 Centerline is valid? [True, True] Translation: X:32.52, Y:2.55, Z:-0.29 [[ 9.93742032e-01 -1.11686234e-01 1.72017595e-03 3.25187963e+01] [ 1.11686032e-01 9.93743521e-01 2.13002972e-04 2.54549663e+00] [-1.73320320e-03 -1.95503798e-05 9.99998498e-01 -2.92833262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.556875 meters 0.015681749875673636 Centerline is valid? [True, True] Translation: X:32.58, Y:2.55, Z:-0.29 [[ 9.93292622e-01 -1.15557806e-01 4.01992830e-03 3.25776893e+01] [ 1.15556738e-01 9.93300756e-01 4.97850766e-04 2.55056075e+00] [-4.05052837e-03 -2.99816930e-05 9.99991796e-01 -2.90269516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.616875 meters 0.015601950131438657 Centerline is valid? [True, True] Translation: X:32.64, Y:2.56, Z:-0.29 [[ 9.93087374e-01 -1.17259650e-01 5.25756977e-03 3.26364404e+01] [ 1.17257835e-01 9.93101291e-01 6.53256741e-04 2.55803499e+00] [-5.29789999e-03 -3.22497725e-05 9.99985966e-01 -2.89445534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.676874999999995 meters 0.015828454557274226 Centerline is valid? [True, True] Translation: X:32.69, Y:2.57, Z:-0.29 [[ 9.93261591e-01 -1.15636855e-01 7.71557046e-03 3.26933644e+01] [ 1.15632873e-01 9.93291555e-01 9.61642439e-04 2.56915873e+00] [-7.77501229e-03 -6.29889157e-05 9.99969772e-01 -2.88396594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.736875 meters 0.01625935146363631 Centerline is valid? [True, True] Translation: X:32.75, Y:2.58, Z:-0.29 [[ 9.93680807e-01 -1.12038187e-01 6.77480988e-03 3.27506025e+01] [ 1.12035018e-01 9.93703898e-01 8.46687781e-04 2.58227239e+00] [-6.82701635e-03 -8.23214481e-05 9.99976692e-01 -2.90739251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.796875 meters 0.016769300488704307 Centerline is valid? [True, True] Translation: X:32.81, Y:2.59, Z:-0.29 [[ 9.94030926e-01 -1.08983275e-01 5.01632808e-03 3.28084348e+01] [ 1.08981502e-01 9.94043581e-01 6.26162339e-04 2.59340409e+00] [-5.05468994e-03 -7.57377616e-05 9.99987222e-01 -2.91375157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.856874999999995 meters 0.017809465086196907 Centerline is valid? [True, True] Translation: X:32.87, Y:2.61, Z:-0.29 [[ 9.94533447e-01 -1.04350711e-01 3.76181631e-03 3.28664634e+01] [ 1.04349675e-01 9.94540559e-01 4.71332946e-04 2.60901063e+00] [-3.79046283e-03 -7.62120720e-05 9.99992813e-01 -2.93293088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.916875 meters 0.018474537757895815 Centerline is valid? [True, True] Translation: X:32.92, Y:2.62, Z:-0.29 [[ 9.94813193e-01 -1.01688212e-01 2.49361219e-03 3.29246379e+01] [ 1.01687753e-01 9.94816317e-01 3.10609000e-04 2.62034083e+00] [-2.51227137e-03 -5.54281109e-05 9.99996843e-01 -2.94097090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.976875 meters 0.019287177413437915 Centerline is valid? [True, True] Translation: X:32.98, Y:2.63, Z:-0.30 [[ 9.95163392e-01 -9.82163864e-02 1.83438103e-03 3.29828759e+01] [ 9.82161290e-02 9.95165081e-01 2.30146176e-04 2.63416072e+00] [-1.84811607e-03 -4.88672452e-05 9.99998291e-01 -2.96706884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.036874999999995 meters 0.019236306477972566 Centerline is valid? [True, True] Translation: X:33.04, Y:2.64, Z:-0.29 [[ 9.95293357e-01 -9.68208180e-02 4.10635557e-03 3.30412321e+01] [ 9.68195195e-02 9.95301822e-01 5.14305617e-04 2.64277279e+00] [-4.13685867e-03 -1.14309590e-04 9.99991437e-01 -2.91304139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.096875 meters 0.01952087691900324 Centerline is valid? [True, True] Translation: X:33.10, Y:2.65, Z:-0.29 [[ 9.95305209e-01 -9.67226538e-02 3.50287003e-03 3.30991731e+01] [ 9.67217065e-02 9.95311368e-01 4.39224149e-04 2.65293619e+00] [-3.52892929e-03 -9.83585156e-05 9.99993768e-01 -2.93550343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.156875 meters 0.020332827808587087 Centerline is valid? [True, True] Translation: X:33.16, Y:2.66, Z:-0.30 [[ 9.95305198e-01 -9.67792119e-02 1.16029628e-03 3.31564395e+01] [ 9.67791080e-02 9.95305874e-01 1.45540758e-04 2.66317786e+00] [-1.16893503e-03 -3.25650340e-05 9.99999316e-01 -2.97937062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.216874999999995 meters 0.018860523194179264 Centerline is valid? [True, True] Translation: X:33.22, Y:2.67, Z:-0.30 [[ 9.94917230e-01 -1.00681846e-01 -1.69474805e-03 3.32155653e+01] [ 1.00681622e-01 9.94918672e-01 -2.17102499e-04 2.66724913e+00] [ 1.70799476e-03 4.53690348e-05 9.99998540e-01 -2.99963466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.276875 meters 0.01778708771311299 Centerline is valid? [True, True] Translation: X:33.27, Y:2.67, Z:-0.30 [[ 9.94608646e-01 -1.03693934e-01 -1.09949381e-03 3.32745463e+01] [ 1.03693843e-01 9.94609254e-01 -1.39958802e-04 2.67168713e+00] [ 1.10807960e-03 2.51934960e-05 9.99999386e-01 -2.99024091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.336875 meters 0.016713918178909534 Centerline is valid? [True, True] Translation: X:33.34, Y:2.67, Z:-0.30 [[ 9.94076921e-01 -1.08676746e-01 6.62885440e-04 3.33351170e+01] [ 1.08676715e-01 9.94077142e-01 8.33661073e-05 2.67400562e+00] [-6.68019221e-04 -1.08321115e-05 9.99999777e-01 -2.96502216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.396874999999994 meters 0.016195839421455086 Centerline is valid? [True, True] Translation: X:33.39, Y:2.68, Z:-0.30 [[ 9.93750711e-01 -1.11617999e-01 9.73323394e-04 3.33937631e+01] [ 1.11617934e-01 9.93751187e-01 1.20812206e-04 2.67880758e+00] [-9.80726095e-04 -1.14168691e-05 9.99999519e-01 -2.96596606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.456875 meters 0.01655176476830336 Centerline is valid? [True, True] Translation: X:33.45, Y:2.69, Z:-0.30 [[ 9.93855363e-01 -1.10685463e-01 -4.95140559e-04 3.34506880e+01] [ 1.10685445e-01 9.93855487e-01 -6.38089593e-05 2.68750785e+00] [ 4.99160886e-04 8.61202331e-06 9.99999875e-01 -3.00428445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.516875 meters 0.01711595008084242 Centerline is valid? [True, True] Translation: X:33.51, Y:2.70, Z:-0.30 [[ 9.94266166e-01 -1.06929644e-01 -9.18063733e-04 3.35091131e+01] [ 1.06929579e-01 9.94266589e-01 -1.19493129e-04 2.69634422e+00] [ 9.25577454e-04 2.06398070e-05 9.99999571e-01 -2.99731801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.576875 meters 0.018016229235471276 Centerline is valid? [True, True] Translation: X:33.57, Y:2.71, Z:-0.30 [[ 9.94887617e-01 -1.00981948e-01 -1.12926472e-03 3.35677739e+01] [ 1.00981850e-01 9.94888258e-01 -1.44097446e-04 2.70683813e+00] [ 1.13804345e-03 2.93255238e-05 9.99999352e-01 -2.97844470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.636874999999996 meters 0.02080696418993323 Centerline is valid? [True, True] Translation: X:33.63, Y:2.72, Z:-0.30 [[ 9.95318938e-01 -9.66426011e-02 6.47362594e-04 3.36251484e+01] [ 9.66425683e-02 9.95319148e-01 8.18167673e-05 2.72117005e+00] [-6.52239371e-04 -1.88709942e-05 9.99999787e-01 -2.97400240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.696875 meters 0.020687248498146037 Centerline is valid? [True, True] Translation: X:33.68, Y:2.73, Z:-0.30 [[ 9.95550731e-01 -9.41996508e-02 2.27315122e-03 3.36832964e+01] [ 9.41992404e-02 9.95553324e-01 2.87198092e-04 2.72919166e+00] [-2.29009722e-03 -7.17911514e-05 9.99997375e-01 -2.95660957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.756875 meters 0.022237100029117253 Centerline is valid? [True, True] Translation: X:33.74, Y:2.74, Z:-0.30 [[ 9.95833684e-01 -9.11474400e-02 2.72343965e-03 3.37419234e+01] [ 9.11468312e-02 9.95837404e-01 3.47091546e-04 2.74126595e+00] [-2.74373957e-03 -9.74125593e-05 9.99996231e-01 -2.96781556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.816874999999996 meters 0.022129941968365645 Centerline is valid? [True, True] Translation: X:33.80, Y:2.75, Z:-0.30 [[ 9.95830881e-01 -9.11955716e-02 2.05551115e-03 3.38005700e+01] [ 9.11952288e-02 9.95832999e-01 2.60051805e-04 2.74866484e+00] [-2.07066140e-03 -7.15148081e-05 9.99997854e-01 -2.98221398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.876875 meters 0.02080056917898547 Centerline is valid? [True, True] Translation: X:33.86, Y:2.75, Z:-0.30 [[ 9.95621227e-01 -9.34676288e-02 1.47443994e-03 3.38594124e+01] [ 9.34674556e-02 9.95622318e-01 1.86088805e-04 2.75193413e+00] [-1.48537859e-03 -4.74618143e-05 9.99998896e-01 -2.96819916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.936875 meters 0.020764247594137954 Centerline is valid? [True, True] Translation: X:33.92, Y:2.76, Z:-0.30 [[ 9.95466652e-01 -9.51112195e-02 3.20087966e-05 3.39176154e+01] [ 9.51112195e-02 9.95466652e-01 1.36517351e-06 2.75943904e+00] [-3.19935330e-05 1.68541098e-06 9.99999999e-01 -3.00039147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.996874999999996 meters 0.020623273522272192 Centerline is valid? [True, True] Translation: X:33.98, Y:2.77, Z:-0.30 [[ 9.95471730e-01 -9.50362285e-02 -2.03703225e-03 3.39763717e+01] [ 9.50358856e-02 9.95473812e-01 -2.64700099e-04 2.76527569e+00] [ 2.05296836e-03 6.99103016e-05 9.99997890e-01 -3.02696250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.056875 meters 0.021997080044448048 Centerline is valid? [True, True] Translation: X:34.03, Y:2.77, Z:-0.30 [[ 9.95622671e-01 -9.34394629e-02 -2.13625893e-03 3.40337546e+01] [ 9.34390859e-02 9.95624960e-01 -2.75847724e-04 2.77436628e+00] [ 2.15268777e-03 7.50301667e-05 9.99997680e-01 -3.02976518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.116875 meters 0.022591151404370475 Centerline is valid? [True, True] Translation: X:34.09, Y:2.78, Z:-0.30 [[ 9.95707430e-01 -9.25300584e-02 -2.21425382e-03 3.40922187e+01] [ 9.25296460e-02 9.95709888e-01 -2.88159899e-04 2.78320158e+00] [ 2.23141787e-03 8.20388300e-05 9.99997507e-01 -3.03624263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.176874999999995 meters 0.02429828637045933 Centerline is valid? [True, True] Translation: X:34.15, Y:2.79, Z:-0.30 [[ 9.96044019e-01 -8.88427087e-02 -1.81275216e-03 3.41508497e+01] [ 8.88424295e-02 9.96045666e-01 -2.34140681e-04 2.79394829e+00] [ 1.82638562e-03 7.21651193e-05 9.99998330e-01 -3.04132617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.236875 meters 0.023503747849081064 Centerline is valid? [True, True] Translation: X:34.21, Y:2.80, Z:-0.30 [[ 9.96105065e-01 -8.81698128e-02 -8.85754456e-04 3.42097671e+01] [ 8.81697434e-02 9.96105458e-01 -1.17195109e-04 2.79988692e+00] [ 8.92637918e-04 3.86418986e-05 9.99999601e-01 -3.02781514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.296875 meters 0.024582143835597425 Centerline is valid? [True, True] Translation: X:34.27, Y:2.81, Z:-0.30 [[ 9.96058923e-01 -8.86802073e-02 -1.56270797e-03 3.42672876e+01] [ 8.86799977e-02 9.96060147e-01 -2.03014504e-04 2.80840643e+00] [ 1.57455450e-03 6.36334693e-05 9.99998758e-01 -3.04374004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.356874999999995 meters 0.02268510798686973 Centerline is valid? [True, True] Translation: X:34.33, Y:2.81, Z:-0.31 [[ 9.95870013e-01 -9.07755762e-02 -1.64692437e-03 3.43263193e+01] [ 9.07753428e-02 9.95871372e-01 -2.16083329e-04 2.81168487e+00] [ 1.65973992e-03 6.56907834e-05 9.99998620e-01 -3.05187545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.416875 meters 0.022407657655725895 Centerline is valid? [True, True] Translation: X:34.39, Y:2.82, Z:-0.31 [[ 9.95632099e-01 -9.32782525e-02 -3.98629509e-03 3.43854982e+01] [ 9.32769181e-02 9.95640069e-01 -5.19775597e-04 2.81752243e+00] [ 4.01739888e-03 1.45675948e-04 9.99991920e-01 -3.07478519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.476875 meters 0.022411102886717035 Centerline is valid? [True, True] Translation: X:34.44, Y:2.82, Z:-0.31 [[ 9.95475499e-01 -9.48772232e-02 -5.18106391e-03 3.44440303e+01] [ 9.48749871e-02 9.95488965e-01 -6.76243622e-04 2.82360023e+00] [ 5.22185207e-03 1.81630586e-04 9.99986350e-01 -3.09371277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.536874999999995 meters 0.020108440583309604 Centerline is valid? [True, True] Translation: X:34.50, Y:2.83, Z:-0.31 [[ 9.95189253e-01 -9.79165461e-02 -3.27110711e-03 3.45042580e+01] [ 9.79156758e-02 9.95194624e-01 -4.25523327e-04 2.82561480e+00] [ 3.29705398e-03 1.03183578e-04 9.99994559e-01 -3.06989659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.596875 meters 0.01977749604955444 Centerline is valid? [True, True] Translation: X:34.56, Y:2.83, Z:-0.31 [[ 9.95001650e-01 -9.98470527e-02 -1.51112265e-03 3.45635102e+01] [ 9.98468648e-02 9.95002796e-01 -1.99500413e-04 2.82841011e+00] [ 1.52349079e-03 4.76223813e-05 9.99998838e-01 -3.05764527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.656875 meters 0.019396210053183458 Centerline is valid? [True, True] Translation: X:34.62, Y:2.83, Z:-0.31 [[ 9.94783924e-01 -1.02002324e-01 -6.86262893e-04 3.46224937e+01] [ 1.02002285e-01 9.94784160e-01 -9.22812681e-05 2.83238269e+00] [ 6.92096359e-04 2.17995390e-05 9.99999760e-01 -3.06085044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.716874999999995 meters 0.0191945908220082 Centerline is valid? [True, True] Translation: X:34.68, Y:2.84, Z:-0.31 [[ 9.94595781e-01 -1.03823079e-01 -1.09910771e-05 3.46816020e+01] [ 1.03823079e-01 9.94595781e-01 -4.08897062e-06 2.83543097e+00] [ 1.13562085e-05 2.92574545e-06 1.00000000e+00 -3.06110013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.776875 meters 0.020178611151998732 Centerline is valid? [True, True] Translation: X:34.74, Y:2.84, Z:-0.31 [[ 9.94667269e-01 -1.03135823e-01 1.62374389e-04 3.47398690e+01] [ 1.03135822e-01 9.94667282e-01 1.86511010e-05 2.84197117e+00] [-1.63432089e-04 -1.80502368e-06 9.99999987e-01 -3.06583972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.836875 meters 0.01994211729151983 Centerline is valid? [True, True] Translation: X:34.80, Y:2.85, Z:-0.31 [[ 9.94771799e-01 -1.02122737e-01 -1.17946881e-04 3.47984878e+01] [ 1.02122735e-01 9.94771806e-01 -1.81835112e-05 2.84687771e+00] [ 1.19187182e-04 6.04338595e-06 9.99999993e-01 -3.08337945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.896874999999994 meters 0.020678223177983672 Centerline is valid? [True, True] Translation: X:34.86, Y:2.85, Z:-0.31 [[ 9.94862633e-01 -1.01230270e-01 -8.79778230e-04 3.48572230e+01] [ 1.01230205e-01 9.94863021e-01 -1.18358436e-04 2.85201004e+00] [ 8.87240284e-04 2.86902541e-05 9.99999606e-01 -3.08602391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.956875 meters 0.020917646690775435 Centerline is valid? [True, True] Translation: X:34.92, Y:2.86, Z:-0.31 [[ 9.94919556e-01 -1.00667413e-01 -1.07160741e-03 3.49159703e+01] [ 1.00667317e-01 9.94920133e-01 -1.43860558e-04 2.85783461e+00] [ 1.08064586e-03 3.52538403e-05 9.99999415e-01 -3.07959834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.016875 meters 0.019836513638332918 Centerline is valid? [True, True] Translation: X:34.97, Y:2.86, Z:-0.31 [[ 9.94831512e-01 -1.01536238e-01 8.09285876e-04 3.49743606e+01] [ 1.01536186e-01 9.94831841e-01 1.04035097e-04 2.86317421e+00] [-8.15666691e-04 -2.13255917e-05 9.99999667e-01 -3.08636161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.076874999999994 meters 0.019766411329205733 Centerline is valid? [True, True] Translation: X:35.03, Y:2.87, Z:-0.31 [[ 9.94668824e-01 -1.03107809e-01 1.64614492e-03 3.50329954e+01] [ 1.03107595e-01 9.94670185e-01 2.14917075e-04 2.86821925e+00] [-1.65953090e-03 -4.40412711e-05 9.99998622e-01 -3.08622177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.136874999999996 meters 0.018086759689342702 Centerline is valid? [True, True] Translation: X:35.09, Y:2.87, Z:-0.31 [[ 9.94065498e-01 -1.08776564e-01 1.20221486e-03 3.50926755e+01] [ 1.08776452e-01 9.94066224e-01 1.58623770e-04 2.86854554e+00] [-1.21233573e-03 -2.69097503e-05 9.99999265e-01 -3.08112701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.196875 meters 0.016331136032561245 Centerline is valid? [True, True] Translation: X:35.15, Y:2.87, Z:-0.31 [[ 9.93213691e-01 -1.16248295e-01 3.59145974e-03 3.51521092e+01] [ 1.16247338e-01 9.93220183e-01 4.74766872e-04 2.86825156e+00] [-3.62230114e-03 -5.40473239e-05 9.99993438e-01 -3.07023888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.256875 meters 0.015180925686408643 Centerline is valid? [True, True] Translation: X:35.21, Y:2.87, Z:-0.31 [[ 9.92777461e-01 -1.19939291e-01 2.73477692e-03 3.52118336e+01] [ 1.19938755e-01 9.92781227e-01 3.59913429e-04 2.87003673e+00] [-2.75820295e-03 -2.93082024e-05 9.99996196e-01 -3.08151125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.316874999999996 meters 0.015220491278787334 Centerline is valid? [True, True] Translation: X:35.27, Y:2.87, Z:-0.31 [[ 9.92588378e-01 -1.21499595e-01 2.48215091e-03 3.52699430e+01] [ 1.21499154e-01 9.92591481e-01 3.28214932e-04 2.87480057e+00] [-2.50363983e-03 -2.42030906e-05 9.99996866e-01 -3.08441252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.376875 meters 0.015500009230622877 Centerline is valid? [True, True] Translation: X:35.33, Y:2.88, Z:-0.31 [[ 9.92753958e-01 -1.20133340e-01 2.74933576e-03 3.53269417e+01] [ 1.20132794e-01 9.92757765e-01 3.63534795e-04 2.88268768e+00] [-2.77309707e-03 -3.06152212e-05 9.99996154e-01 -3.09396426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.436875 meters 0.01632286576637746 Centerline is valid? [True, True] Translation: X:35.38, Y:2.89, Z:-0.31 [[ 9.93229538e-01 -1.16160886e-01 1.31625352e-03 3.53846503e+01] [ 1.16160758e-01 9.93230410e-01 1.73881062e-04 2.89160805e+00] [-1.32754121e-03 -1.98068001e-05 9.99999119e-01 -3.10061911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.496874999999996 meters 0.016859609033489147 Centerline is valid? [True, True] Translation: X:35.44, Y:2.90, Z:-0.31 [[ 9.93411326e-01 -1.14603385e-01 2.89868756e-05 3.54424446e+01] [ 1.14603385e-01 9.93411327e-01 1.16707211e-06 2.90177125e+00] [-2.89296410e-05 2.16261141e-06 1.00000000e+00 -3.13539098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.556875 meters 0.01768757170319755 Centerline is valid? [True, True] Translation: X:35.50, Y:2.91, Z:-0.31 [[ 9.93767753e-01 -1.11467447e-01 8.13487297e-04 3.55003898e+01] [ 1.11467398e-01 9.93768086e-01 1.05746184e-04 2.91153293e+00] [-8.20204971e-04 -1.44098359e-05 9.99999664e-01 -3.11123823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.616875 meters 0.018689535974818743 Centerline is valid? [True, True] Translation: X:35.56, Y:2.92, Z:-0.31 [[ 9.94022029e-01 -1.09174563e-01 1.05824925e-03 3.55580205e+01] [ 1.09174477e-01 9.94022592e-01 1.38666230e-04 2.92248467e+00] [-1.06706249e-03 -2.23034788e-05 9.99999430e-01 -3.11209895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.676874999999995 meters 0.02035369763939859 Centerline is valid? [True, True] Translation: X:35.62, Y:2.94, Z:-0.32 [[ 9.94477472e-01 -1.04950137e-01 1.64359989e-04 3.56162247e+01] [ 1.04950135e-01 9.94477485e-01 2.15740209e-05 2.93583016e+00] [-1.65716505e-04 -4.20527462e-06 9.99999986e-01 -3.15451960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.736875 meters 0.02143846598288808 Centerline is valid? [True, True] Translation: X:35.68, Y:2.95, Z:-0.31 [[ 9.94815456e-01 -1.01690561e-01 1.11258802e-03 3.56750764e+01] [ 1.01690458e-01 9.94816078e-01 1.48292102e-04 2.94673637e+00] [-1.12190035e-03 -3.43836900e-05 9.99999370e-01 -3.14336168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.796875 meters 0.021337643564464392 Centerline is valid? [True, True] Translation: X:35.73, Y:2.96, Z:-0.31 [[ 9.95032013e-01 -9.95344166e-02 2.04786256e-03 3.57330254e+01] [ 9.95340687e-02 9.95034118e-01 2.71385620e-04 2.95584026e+00] [-2.06470533e-03 -6.62052874e-05 9.99997866e-01 -3.12430530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.856874999999995 meters 0.021565039958993847 Centerline is valid? [True, True] Translation: X:35.79, Y:2.96, Z:-0.31 [[ 9.95057732e-01 -9.92865057e-02 1.51671572e-03 3.57909550e+01] [ 9.92863151e-02 9.95058886e-01 2.00645307e-04 2.96485091e+00] [-1.52914282e-03 -4.90645492e-05 9.99998830e-01 -3.14688272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.916875 meters 0.021351296631633307 Centerline is valid? [True, True] Translation: X:35.85, Y:2.97, Z:-0.32 [[ 9.94791188e-01 -1.01931902e-01 -6.16146708e-04 3.58482075e+01] [ 1.01931870e-01 9.94791379e-01 -8.36890750e-05 2.97125044e+00] [ 6.21468020e-04 2.04481685e-05 9.99999807e-01 -3.18539800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.976875 meters 0.021177230502124035 Centerline is valid? [True, True] Translation: X:35.91, Y:2.98, Z:-0.32 [[ 9.94635986e-01 -1.03436639e-01 3.42450499e-04 3.59063501e+01] [ 1.03436630e-01 9.94636045e-01 4.33399514e-05 2.97900055e+00] [-3.45096549e-04 -7.68554985e-06 9.99999940e-01 -3.19511702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.036874999999995 meters 0.01957803167880936 Centerline is valid? [True, True] Translation: X:35.97, Y:2.98, Z:-0.32 [[ 9.94306581e-01 -1.06551127e-01 1.13153167e-03 3.59650015e+01] [ 1.06551023e-01 9.94307224e-01 1.51465657e-04 2.98317793e+00] [-1.14122895e-03 -3.00374416e-05 9.99999348e-01 -3.19231460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.096875 meters 0.015190559484533796 Centerline is valid? [True, True] Translation: X:36.03, Y:2.98, Z:-0.31 [[ 9.92424972e-01 -1.22794429e-01 3.76860538e-03 3.60260582e+01] [ 1.22793389e-01 9.92432127e-01 5.06884563e-04 2.97773241e+00] [-3.80232766e-03 -4.02850716e-05 9.99992770e-01 -3.14377666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.156875 meters 0.014440422198743173 Centerline is valid? [True, True] Translation: X:36.08, Y:2.98, Z:-0.32 [[ 9.91664376e-01 -1.28787051e-01 3.95739427e-03 3.60847966e+01] [ 1.28785958e-01 9.91672272e-01 5.30806214e-04 2.98343302e+00] [-3.99279914e-03 -1.67248012e-05 9.99992029e-01 -3.15446506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.216874999999995 meters 0.014938015311888639 Centerline is valid? [True, True] Translation: X:36.14, Y:3.00, Z:-0.32 [[ 9.92172481e-01 -1.24819052e-01 3.73787851e-03 3.61408914e+01] [ 1.24818042e-01 9.92179522e-01 5.03317069e-04 2.99793675e+00] [-3.77147007e-03 -3.28226697e-05 9.99992887e-01 -3.18616796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.276875 meters 0.016742172767126487 Centerline is valid? [True, True] Translation: X:36.20, Y:3.02, Z:-0.32 [[ 9.93303934e-01 -1.15460667e-01 4.01621210e-03 3.61990113e+01] [ 1.15459420e-01 9.93312050e-01 5.41582006e-04 3.01522053e+00] [-4.05188329e-03 -7.42460149e-05 9.99991788e-01 -3.16783712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.336875 meters 0.01876054621818352 Centerline is valid? [True, True] Translation: X:36.26, Y:3.03, Z:-0.32 [[ 9.93887439e-01 -1.10320856e-01 4.13114901e-03 3.62572301e+01] [ 1.10319492e-01 9.93896020e-01 5.57239374e-04 3.03119643e+00] [-4.16740769e-03 -9.80869533e-05 9.99991312e-01 -3.18777022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.396874999999994 meters 0.019935544104362917 Centerline is valid? [True, True] Translation: X:36.32, Y:3.05, Z:-0.32 [[ 9.94387727e-01 -1.05730188e-01 3.76516410e-03 3.63152978e+01] [ 1.05729023e-01 9.94394849e-01 5.07835891e-04 3.04530657e+00] [-3.79775337e-03 -1.06898657e-04 9.99992783e-01 -3.20699489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.456875 meters 0.020221959595723184 Centerline is valid? [True, True] Translation: X:36.37, Y:3.06, Z:-0.32 [[ 9.94442370e-01 -1.05245482e-01 2.78585734e-03 3.63729459e+01] [ 1.05244847e-01 9.94446269e-01 3.74146213e-04 3.05691925e+00] [-2.80976264e-03 -7.88697182e-05 9.99996049e-01 -3.23344154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.516875 meters 0.01955882119665638 Centerline is valid? [True, True] Translation: X:36.43, Y:3.06, Z:-0.32 [[ 9.94179367e-01 -1.07680262e-01 3.51397214e-03 3.64310976e+01] [ 1.07679260e-01 9.94185573e-01 4.73526349e-04 3.06438214e+00] [-3.54452984e-03 -9.23882056e-05 9.99993714e-01 -3.23251458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.576874999999994 meters 0.01757359876939044 Centerline is valid? [True, True] Translation: X:36.49, Y:3.07, Z:-0.32 [[ 9.93579882e-01 -1.13036347e-01 4.66926147e-03 3.64914640e+01] [ 1.13034621e-01 9.93590848e-01 6.32705983e-04 3.06862935e+00] [-4.71085424e-03 -1.00855736e-04 9.99988899e-01 -3.20171698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.636874999999996 meters 0.01643718748497056 Centerline is valid? [True, True] Translation: X:36.55, Y:3.07, Z:-0.32 [[ 9.92979638e-01 -1.18128981e-01 6.08136946e-03 3.65499160e+01] [ 1.18126150e-01 9.92998255e-01 8.23964199e-04 3.07373022e+00] [-6.13612331e-03 -9.98109122e-05 9.99981169e-01 -3.20628559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.696875 meters 0.015316454502747915 Centerline is valid? [True, True] Translation: X:36.61, Y:3.08, Z:-0.32 [[ 9.92262024e-01 -1.23969875e-01 6.89540422e-03 3.66087354e+01] [ 1.23966371e-01 9.92285979e-01 9.34837780e-04 3.07786261e+00] [-6.95810465e-03 -7.28057873e-05 9.99975789e-01 -3.21353738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.756875 meters 0.015160296949143878 Centerline is valid? [True, True] Translation: X:36.67, Y:3.08, Z:-0.33 [[ 9.92020662e-01 -1.26026974e-01 3.49397392e-03 3.66669467e+01] [ 1.26026093e-01 9.92026815e-01 4.72014028e-04 3.08442478e+00] [-3.52560232e-03 -2.79157855e-05 9.99993785e-01 -3.25448641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.816874999999996 meters 0.015357586566466288 Centerline is valid? [True, True] Translation: X:36.72, Y:3.09, Z:-0.33 [[ 9.92174596e-01 -1.24842775e-01 1.96259974e-03 3.67249806e+01] [ 1.24842496e-01 9.92176537e-01 2.64651733e-04 3.09306530e+00] [-1.98028527e-03 -1.75648769e-05 9.99998039e-01 -3.26478263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.876875 meters 0.01612055988100635 Centerline is valid? [True, True] Translation: X:36.78, Y:3.10, Z:-0.33 [[ 9.92690302e-01 -1.20664697e-01 2.44856909e-03 3.67831053e+01] [ 1.20664247e-01 9.92693321e-01 3.31423997e-04 3.10465442e+00] [-2.47066936e-03 -3.35466431e-05 9.99996947e-01 -3.29143210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.936875 meters 0.01691412521715437 Centerline is valid? [True, True] Translation: X:36.84, Y:3.11, Z:-0.33 [[ 9.93101439e-01 -1.17182960e-01 4.20544186e-03 3.68411901e+01] [ 1.17181587e-01 9.93110340e-01 5.72143767e-04 3.11415670e+00] [-4.24351330e-03 -7.53964459e-05 9.99990993e-01 -3.28015269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.996874999999996 meters 0.01890243553530733 Centerline is valid? [True, True] Translation: X:36.90, Y:3.13, Z:-0.33 [[ 9.93838648e-01 -1.10718861e-01 5.10649281e-03 3.68990512e+01] [ 1.10716738e-01 9.93851758e-01 6.97560728e-04 3.12660903e+00] [-5.15232999e-03 -1.27888585e-04 9.99986718e-01 -3.28263746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.056875 meters 0.02054472926346607 Centerline is valid? [True, True] Translation: X:36.96, Y:3.14, Z:-0.33 [[ 9.94242213e-01 -1.07057967e-01 4.58411877e-03 3.69567327e+01] [ 1.07056215e-01 9.94252772e-01 6.26614748e-04 3.13670311e+00] [-4.62485690e-03 -1.32248428e-04 9.99989297e-01 -3.30070576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.116875 meters 0.02161492171959918 Centerline is valid? [True, True] Translation: X:37.02, Y:3.14, Z:-0.33 [[ 9.94691654e-01 -1.02876541e-01 2.22067649e-03 3.70153541e+01] [ 1.02876120e-01 9.94694130e-01 3.03360601e-04 3.14413958e+00] [-2.24010256e-03 -7.32956767e-05 9.99997488e-01 -3.31873946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.176874999999995 meters 0.02192323325220661 Centerline is valid? [True, True] Translation: X:37.07, Y:3.15, Z:-0.33 [[ 9.94757063e-01 -1.02258513e-01 1.25757263e-03 3.70736065e+01] [ 1.02258380e-01 9.94757857e-01 1.69680806e-04 3.15041914e+00] [-1.26833156e-03 -4.01938409e-05 9.99999195e-01 -3.34157129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.236875 meters 0.021343772942217037 Centerline is valid? [True, True] Translation: X:37.13, Y:3.15, Z:-0.34 [[ 9.94670515e-01 -1.03100629e-01 9.08983707e-04 3.71321604e+01] [ 1.03100561e-01 9.94670930e-01 1.22074888e-04 3.15491304e+00] [-9.16725667e-04 -2.77075625e-05 9.99999579e-01 -3.35213901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.296875 meters 0.020429476238822013 Centerline is valid? [True, True] Translation: X:37.19, Y:3.16, Z:-0.33 [[ 9.94256343e-01 -1.06983888e-01 2.96190290e-03 3.71915475e+01] [ 1.06983151e-01 9.94260751e-01 4.06611542e-04 3.15696458e+00] [-2.98840469e-03 -8.74023997e-05 9.99995531e-01 -3.32590705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.356874999999995 meters 0.019860655679468868 Centerline is valid? [True, True] Translation: X:37.25, Y:3.16, Z:-0.33 [[ 9.94071880e-01 -1.08679898e-01 3.12675615e-03 3.72503592e+01] [ 1.08679090e-01 9.94076794e-01 4.27691262e-04 3.16157483e+00] [-3.15471717e-03 -8.53428448e-05 9.99995020e-01 -3.32651087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.416875 meters 0.016068817616541463 Centerline is valid? [True, True] Translation: X:37.31, Y:3.16, Z:-0.34 [[ 9.92489287e-01 -1.22301263e-01 2.72316839e-03 3.73102777e+01] [ 1.22300695e-01 9.92493022e-01 3.74604379e-04 3.15967028e+00] [-2.74854022e-03 -3.87454453e-05 9.99996222e-01 -3.36150776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.476875 meters 0.014496363024983298 Centerline is valid? [True, True] Translation: X:37.37, Y:3.15, Z:-0.33 [[ 9.90182542e-01 -1.39702033e-01 4.67703275e-03 3.73708666e+01] [ 1.39700552e-01 9.90193588e-01 6.43569681e-04 3.15342216e+00] [-4.72107583e-03 1.61325931e-05 9.99988856e-01 -3.30411077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.536874999999995 meters 0.014763411264656485 Centerline is valid? [True, True] Translation: X:37.43, Y:3.16, Z:-0.33 [[ 9.89414584e-01 -1.45099750e-01 2.20060712e-03 3.74293042e+01] [ 1.45099440e-01 9.89417031e-01 3.00963400e-04 3.16107008e+00] [-2.22098788e-03 2.15292828e-05 9.99997533e-01 -3.34924940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.596875 meters 0.014770308856215567 Centerline is valid? [True, True] Translation: X:37.49, Y:3.17, Z:-0.34 [[ 9.89664535e-01 -1.43391628e-01 1.71753304e-03 3.74862192e+01] [ 1.43391434e-01 9.89666025e-01 2.36239558e-04 3.17213341e+00] [-1.73365887e-03 1.24816132e-05 9.99998497e-01 -3.37927772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.656875 meters 0.014324223358782386 Centerline is valid? [True, True] Translation: X:37.54, Y:3.18, Z:-0.34 [[ 9.90383464e-01 -1.38349009e-01 3.82646389e-04 3.75429136e+01] [ 1.38349000e-01 9.90383538e-01 4.99323250e-05 3.18459437e+00] [-3.85874772e-04 3.48659622e-06 9.99999926e-01 -3.36406346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.716874999999995 meters 0.014967382511352694 Centerline is valid? [True, True] Translation: X:37.60, Y:3.21, Z:-0.34 [[ 9.91791330e-01 -1.27866774e-01 2.14620298e-04 3.75995385e+01] [ 1.27866771e-01 9.91791353e-01 2.71102579e-05 3.20562355e+00] [-2.16325057e-04 5.55085726e-07 9.99999977e-01 -3.39284619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.776875 meters 0.01738059780897626 Centerline is valid? [True, True] Translation: X:37.66, Y:3.22, Z:-0.34 [[ 9.93108839e-01 -1.17117915e-01 4.26944242e-03 3.76568825e+01] [ 1.17116454e-01 9.93118012e-01 5.91466623e-04 3.22408269e+00] [-4.30933150e-03 -8.73687766e-05 9.99990711e-01 -3.35842534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.836875 meters 0.01836653605802177 Centerline is valid? [True, True] Translation: X:37.72, Y:3.24, Z:-0.33 [[ 9.93626062e-01 -1.12648216e-01 4.19863792e-03 3.77150493e+01] [ 1.12646763e-01 9.93634927e-01 5.81706939e-04 3.23588082e+00] [-4.23744154e-03 -1.05036206e-04 9.99991016e-01 -3.34974660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.896874999999994 meters 0.020859503930468343 Centerline is valid? [True, True] Translation: X:37.77, Y:3.25, Z:-0.34 [[ 9.94174657e-01 -1.07688329e-01 4.46944080e-03 3.77717170e+01] [ 1.07686631e-01 9.94184694e-01 6.19573453e-04 3.25154078e+00] [-4.51017046e-03 -1.34665202e-04 9.99989820e-01 -3.37611639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.956875 meters 0.02184683405575203 Centerline is valid? [True, True] Translation: X:37.83, Y:3.26, Z:-0.34 [[ 9.94331647e-01 -1.06246220e-01 4.03938913e-03 3.78282554e+01] [ 1.06244821e-01 9.94339843e-01 5.60060137e-04 3.26214877e+00] [-4.07602983e-03 -1.27721344e-04 9.99991685e-01 -3.38983613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.016875 meters 0.020950383904213863 Centerline is valid? [True, True] Translation: X:37.89, Y:3.27, Z:-0.34 [[ 9.94608843e-01 -1.03692163e-01 1.08830239e-03 3.78869268e+01] [ 1.03692060e-01 9.94609438e-01 1.50436931e-04 3.27041913e+00] [-1.09803496e-03 -3.67775848e-05 9.99999396e-01 -3.42251337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.076874999999994 meters 0.02261287644500572 Centerline is valid? [True, True] Translation: X:37.94, Y:3.28, Z:-0.34 [[ 9.94714444e-01 -1.02679721e-01 -2.22495004e-04 3.79436954e+01] [ 1.02679716e-01 9.94714469e-01 -3.19316631e-05 3.28154581e+00] [ 2.24597734e-04 8.91716265e-06 9.99999975e-01 -3.43712908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.136874999999996 meters 0.022237305581077033 Centerline is valid? [True, True] Translation: X:38.00, Y:3.29, Z:-0.34 [[ 9.94848947e-01 -1.01368210e-01 -2.40415880e-04 3.80018830e+01] [ 1.01368204e-01 9.94848976e-01 -3.63011159e-05 3.28912179e+00] [ 2.42857271e-04 1.17436010e-05 9.99999970e-01 -3.43212167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.196875 meters 0.02442370534499972 Centerline is valid? [True, True] Translation: X:38.06, Y:3.30, Z:-0.35 [[ 9.95067930e-01 -9.91904857e-02 1.03078579e-03 3.80582891e+01] [ 9.91903914e-02 9.95068463e-01 1.42301929e-04 3.30194385e+00] [-1.03981743e-03 -3.93560393e-05 9.99999459e-01 -3.45263433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.256875 meters 0.02437819657649339 Centerline is valid? [True, True] Translation: X:38.12, Y:3.31, Z:-0.34 [[ 9.95177046e-01 -9.80901092e-02 9.89168738e-04 3.81168398e+01] [ 9.80900229e-02 9.95177536e-01 1.35456844e-04 3.30894642e+00] [-9.97685484e-04 -3.77759580e-05 9.99999502e-01 -3.43792042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.316874999999996 meters 0.02448226180223663 Centerline is valid? [True, True] Translation: X:38.18, Y:3.32, Z:-0.34 [[ 9.95140539e-01 -9.84466699e-02 1.88712400e-03 3.81751685e+01] [ 9.84463509e-02 9.95142325e-01 2.61409783e-04 3.31665210e+00] [-1.90369188e-03 -7.43590013e-05 9.99998185e-01 -3.43509223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.376875 meters 0.024579462419388846 Centerline is valid? [True, True] Translation: X:38.23, Y:3.32, Z:-0.34 [[ 9.95026163e-01 -9.95980195e-02 1.78045591e-03 3.82337784e+01] [ 9.95977368e-02 9.95027753e-01 2.46948305e-04 3.32326030e+00] [-1.79619861e-03 -6.83906449e-05 9.99998384e-01 -3.44368524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.436875 meters 0.02378569584497353 Centerline is valid? [True, True] Translation: X:38.29, Y:3.33, Z:-0.35 [[ 9.94894611e-01 -1.00919028e-01 -2.51564986e-04 3.82922359e+01] [ 1.00919021e-01 9.94894643e-01 -3.81011428e-05 3.32837096e+00] [ 2.54125787e-04 1.25189294e-05 9.99999968e-01 -3.46477502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.496874999999996 meters 0.023852502142049672 Centerline is valid? [True, True] Translation: X:38.35, Y:3.33, Z:-0.35 [[ 9.94717130e-01 -1.02607391e-01 -3.09104297e-03 3.83501870e+01] [ 1.02606532e-01 9.94721926e-01 -4.35509543e-04 3.33408837e+00] [ 3.11941471e-03 1.16047604e-04 9.99995128e-01 -3.49475205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.556875 meters 0.022150669514057045 Centerline is valid? [True, True] Translation: X:38.41, Y:3.34, Z:-0.35 [[ 9.94557578e-01 -1.04155114e-01 -2.63367988e-03 3.84087063e+01] [ 1.04154489e-01 9.94561060e-01 -3.73686316e-04 3.33861669e+00] [ 2.65827680e-03 9.73429757e-05 9.99996462e-01 -3.49447086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.616875 meters 0.02044407125168699 Centerline is valid? [True, True] Translation: X:38.47, Y:3.34, Z:-0.35 [[ 9.93996340e-01 -1.09380924e-01 -2.66256344e-03 3.84689021e+01] [ 1.09380310e-01 9.93999903e-01 -3.75465965e-04 3.33882491e+00] [ 2.68765662e-03 8.19797802e-05 9.99996385e-01 -3.47645348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.676874999999995 meters 0.018420562577415346 Centerline is valid? [True, True] Translation: X:38.53, Y:3.34, Z:-0.34 [[ 9.93115180e-01 -1.17138197e-01 9.39288208e-04 3.85288240e+01] [ 1.17138125e-01 9.93115624e-01 1.32008441e-04 3.33829493e+00] [-9.48285026e-04 -2.10731267e-05 9.99999550e-01 -3.44413360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.736875 meters 0.017098778777916584 Centerline is valid? [True, True] Translation: X:38.59, Y:3.34, Z:-0.35 [[ 9.92620809e-01 -1.21259738e-01 7.41165352e-05 3.85885889e+01] [ 1.21259738e-01 9.92620812e-01 7.94516471e-06 3.34005754e+00] [-7.45330439e-05 1.10081583e-06 9.99999997e-01 -3.46803167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.796875 meters 0.016200776587419623 Centerline is valid? [True, True] Translation: X:38.65, Y:3.34, Z:-0.35 [[ 9.92149960e-01 -1.25049695e-01 -1.01518593e-03 3.86477408e+01] [ 1.25049611e-01 9.92150479e-01 -1.46241047e-04 3.34020567e+00] [ 1.02550461e-03 1.81444438e-05 9.99999474e-01 -3.47550900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.856874999999995 meters 0.016257608968500377 Centerline is valid? [True, True] Translation: X:38.71, Y:3.35, Z:-0.35 [[ 9.92069095e-01 -1.25691763e-01 -7.01126043e-04 3.87051081e+01] [ 1.25691724e-01 9.92069343e-01 -1.00645684e-04 3.34617019e+00] [ 7.08215986e-04 1.17217314e-05 9.99999749e-01 -3.47382130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.916875 meters 0.017177513886443067 Centerline is valid? [True, True] Translation: X:38.76, Y:3.35, Z:-0.35 [[ 9.92348986e-01 -1.23451445e-01 -1.79731444e-03 3.87631160e+01] [ 1.23451181e-01 9.92350613e-01 -2.57409736e-04 3.35466864e+00] [ 1.81534369e-03 3.35597011e-05 9.99998352e-01 -3.50052272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.976875 meters 0.017656525185934514 Centerline is valid? [True, True] Translation: X:38.82, Y:3.36, Z:-0.35 [[ 9.92646145e-01 -1.20998515e-01 -3.60420608e-03 3.88211237e+01] [ 1.20997444e-01 9.92652685e-01 -5.14472652e-04 3.36348727e+00] [ 3.63997527e-03 7.45895717e-05 9.99993372e-01 -3.51016121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.036874999999995 meters 0.016132165560816383 Centerline is valid? [True, True] Translation: X:38.88, Y:3.37, Z:-0.35 [[ 9.92070795e-01 -1.25651064e-01 -2.71078124e-03 3.88799485e+01] [ 1.25650479e-01 9.92074497e-01 -3.85887731e-04 3.36759527e+00] [ 2.73778414e-03 4.22169865e-05 9.99996251e-01 -3.48591369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.096875 meters 0.015270044906514565 Centerline is valid? [True, True] Translation: X:38.94, Y:3.38, Z:-0.35 [[ 9.91534895e-01 -1.29828622e-01 -1.75527967e-03 3.89385993e+01] [ 1.29828378e-01 9.91536448e-01 -2.52535732e-04 3.37555846e+00] [ 1.77321014e-03 2.25128772e-05 9.99998428e-01 -3.49420904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.156875 meters 0.015213360175851731 Centerline is valid? [True, True] Translation: X:39.00, Y:3.39, Z:-0.35 [[ 9.91462866e-01 -1.30387203e-01 -7.49579923e-04 3.89963537e+01] [ 1.30387158e-01 9.91463150e-01 -1.09542996e-04 3.38569824e+00] [ 7.57463876e-04 1.08722170e-05 9.99999713e-01 -3.51329176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.216874999999995 meters 0.015798921375748023 Centerline is valid? [True, True] Translation: X:39.05, Y:3.40, Z:-0.35 [[ 9.91773773e-01 -1.28002637e-01 3.27966778e-04 3.90539051e+01] [ 1.28002629e-01 9.91773828e-01 4.41699366e-05 3.39687320e+00] [-3.30922735e-04 -1.82597486e-06 9.99999945e-01 -3.48266716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.276875 meters 0.016476391296234977 Centerline is valid? [True, True] Translation: X:39.11, Y:3.41, Z:-0.35 [[ 9.92072689e-01 -1.25661601e-01 9.70400594e-04 3.91115519e+01] [ 1.25661528e-01 9.92073164e-01 1.36129552e-04 3.40926854e+00] [-9.79814644e-04 -1.31083888e-05 9.99999520e-01 -3.47649397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.336875 meters 0.01742800437342365 Centerline is valid? [True, True] Translation: X:39.17, Y:3.42, Z:-0.35 [[ 9.92598014e-01 -1.21444969e-01 -5.48854696e-04 3.91697926e+01] [ 1.21444944e-01 9.92598166e-01 -7.89167030e-05 3.42338608e+00] [ 5.54376202e-04 1.16769351e-05 9.99999846e-01 -3.52427447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.396874999999994 meters 0.018320409053907895 Centerline is valid? [True, True] Translation: X:39.23, Y:3.44, Z:-0.35 [[ 9.92925148e-01 -1.18739954e-01 -6.88150251e-04 3.92270889e+01] [ 1.18739914e-01 9.92925386e-01 -9.94908062e-05 3.43552358e+00] [ 6.95095388e-04 1.70760218e-05 9.99999758e-01 -3.52570238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.456875 meters 0.018433310811061827 Centerline is valid? [True, True] Translation: X:39.28, Y:3.44, Z:-0.35 [[ 9.92896300e-01 -1.18980976e-01 -6.82403753e-04 3.92845090e+01] [ 1.18980935e-01 9.92896534e-01 -1.00984786e-04 3.44390238e+00] [ 6.89571590e-04 1.90743841e-05 9.99999762e-01 -3.51026429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.516875 meters 0.0175375693793286 Centerline is valid? [True, True] Translation: X:39.34, Y:3.45, Z:-0.35 [[ 9.92587437e-01 -1.21532205e-01 -3.21541000e-04 3.93432485e+01] [ 1.21532195e-01 9.92587489e-01 -4.89264105e-05 3.45075019e+00] [ 3.25103708e-04 9.48615680e-06 9.99999947e-01 -3.52883526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.576874999999994 meters 0.016820589911710215 Centerline is valid? [True, True] Translation: X:39.40, Y:3.46, Z:-0.35 [[ 9.92251665e-01 -1.24244148e-01 -1.60235808e-04 3.94023133e+01] [ 1.24244146e-01 9.92251678e-01 -2.57678491e-05 3.45644487e+00] [ 1.62195754e-04 5.65983009e-06 9.99999987e-01 -3.53314402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.636874999999996 meters 0.0166266394552715 Centerline is valid? [True, True] Translation: X:39.46, Y:3.46, Z:-0.35 [[ 9.92089697e-01 -1.25521246e-01 1.56513443e-03 3.94605033e+01] [ 1.25521050e-01 9.92090931e-01 2.22986058e-04 3.46329619e+00] [-1.58074516e-03 -2.47648544e-05 9.99998750e-01 -3.50466426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.696875 meters 0.016663343956215198 Centerline is valid? [True, True] Translation: X:39.52, Y:3.47, Z:-0.35 [[ 9.91963239e-01 -1.26458294e-01 4.15113031e-03 3.95177707e+01] [ 1.26456899e-01 9.91971923e-01 5.97949401e-04 3.47166504e+00] [-4.19342037e-03 -6.82047596e-05 9.99991205e-01 -3.48171379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.756875 meters 0.015973573739654374 Centerline is valid? [True, True] Translation: X:39.58, Y:3.48, Z:-0.35 [[ 9.91860056e-01 -1.27264307e-01 4.17440584e-03 3.95754086e+01] [ 1.27262907e-01 9.91868838e-01 6.00321225e-04 3.47819195e+00] [-4.21686254e-03 -6.41876207e-05 9.99991107e-01 -3.48408711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.816874999999996 meters 0.015857253331916985 Centerline is valid? [True, True] Translation: X:39.63, Y:3.49, Z:-0.35 [[ 9.91788066e-01 -1.27831576e-01 3.93963006e-03 3.96332538e+01] [ 1.27830330e-01 9.91795889e-01 5.67480831e-04 3.48558954e+00] [-3.97985087e-03 -5.92165068e-05 9.99992079e-01 -3.48393933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.876875 meters 0.015519529270995617 Centerline is valid? [True, True] Translation: X:39.69, Y:3.49, Z:-0.35 [[ 9.91711220e-01 -1.28443304e-01 3.34259747e-03 3.96907419e+01] [ 1.28442409e-01 9.91716852e-01 4.81926840e-04 3.49257156e+00] [-3.37681052e-03 -4.86009839e-05 9.99994297e-01 -3.50130995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.936875 meters 0.01616503560460794 Centerline is valid? [True, True] Translation: X:39.75, Y:3.50, Z:-0.35 [[ 9.91772441e-01 -1.27983850e-01 2.74953864e-03 3.97473987e+01] [ 1.27983238e-01 9.91776251e-01 3.98172823e-04 3.50159838e+00] [-2.77788681e-03 -4.30019750e-05 9.99996141e-01 -3.51306887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.996874999999996 meters 0.013845413869110186 Centerline is valid? [True, True] Translation: X:39.81, Y:3.50, Z:-0.35 [[ 9.90267285e-01 -1.39091311e-01 4.93073121e-03 3.98077714e+01] [ 1.39089471e-01 9.90279560e-01 7.15926970e-04 3.50171172e+00] [-4.98238155e-03 -2.31462637e-05 9.99987588e-01 -3.46687852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.056875 meters 0.013602714660253916 Centerline is valid? [True, True] Translation: X:39.87, Y:3.51, Z:-0.35 [[ 9.89093286e-01 -1.47155111e-01 6.31223838e-03 3.98658739e+01] [ 1.47152263e-01 9.89113428e-01 9.15876851e-04 3.50909543e+00] [-6.37829570e-03 2.29725158e-05 9.99979658e-01 -3.45056013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.116875 meters 0.013669675626102456 Centerline is valid? [True, True] Translation: X:39.92, Y:3.52, Z:-0.35 [[ 9.89523451e-01 -1.44332579e-01 3.38326885e-03 3.99230754e+01] [ 1.44331745e-01 9.89529235e-01 4.90484592e-04 3.52474243e+00] [-3.41863634e-03 2.96709245e-06 9.99994156e-01 -3.53021793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.176874999999995 meters 0.014498521649882632 Centerline is valid? [True, True] Translation: X:39.98, Y:3.54, Z:-0.35 [[ 9.90867918e-01 -1.34806568e-01 2.82108152e-03 3.99799115e+01] [ 1.34805949e-01 9.90871934e-01 4.09205344e-04 3.54343834e+00] [-2.85049407e-03 -2.51698756e-05 9.99995937e-01 -3.53671322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.236875 meters 0.015790810519649163 Centerline is valid? [True, True] Translation: X:40.04, Y:3.56, Z:-0.35 [[ 9.91743143e-01 -1.28161478e-01 4.49146332e-03 4.00378246e+01] [ 1.28159829e-01 9.91753311e-01 6.54180419e-04 3.55774916e+00] [-4.53826435e-03 -7.31537727e-05 9.99989699e-01 -3.48898439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.296875 meters 0.017521971632508546 Centerline is valid? [True, True] Translation: X:40.10, Y:3.57, Z:-0.35 [[ 9.92808774e-01 -1.19558002e-01 6.05169626e-03 4.00965789e+01] [ 1.19554826e-01 9.92827206e-01 8.85053333e-04 3.57482927e+00] [-6.11410390e-03 -1.55179217e-04 9.99981297e-01 -3.47385787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.356874999999995 meters 0.019386816098547668 Centerline is valid? [True, True] Translation: X:40.15, Y:3.59, Z:-0.35 [[ 9.93419993e-01 -1.14413599e-01 5.12301697e-03 4.01546324e+01] [ 1.14411255e-01 9.93433190e-01 7.49079579e-04 3.58884059e+00] [-5.17507998e-03 -1.58019827e-04 9.99986597e-01 -3.50968470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.416875 meters 0.022334709818310233 Centerline is valid? [True, True] Translation: X:40.21, Y:3.60, Z:-0.35 [[ 9.93504697e-01 -1.13676932e-01 5.09635841e-03 4.02111676e+01] [ 1.13674605e-01 9.93517755e-01 7.44781339e-04 3.60150065e+00] [-5.14798703e-03 -1.60617226e-04 9.99986736e-01 -3.50599873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.476875 meters 0.01965081938162534 Centerline is valid? [True, True] Translation: X:40.27, Y:3.60, Z:-0.35 [[ 9.93376715e-01 -1.14817190e-01 4.44006221e-03 4.02697932e+01] [ 1.14815437e-01 9.93386629e-01 6.48503674e-04 3.60486251e+00] [-4.48515780e-03 -1.34420765e-04 9.99989933e-01 -3.50873914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.536874999999995 meters 0.018713363077569323 Centerline is valid? [True, True] Translation: X:40.33, Y:3.61, Z:-0.35 [[ 9.93009152e-01 -1.17998988e-01 3.01036348e-03 4.03284261e+01] [ 1.17998197e-01 9.93013712e-01 4.39567356e-04 3.61100953e+00] [-3.04120071e-03 -8.12769433e-05 9.99995372e-01 -3.53843866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.596875 meters 0.01834186904674497 Centerline is valid? [True, True] Translation: X:40.39, Y:3.62, Z:-0.35 [[ 9.92621480e-01 -1.21207432e-01 3.36988473e-03 4.03864275e+01] [ 1.21206451e-01 9.92627197e-01 4.94639810e-04 3.61725529e+00] [-3.40499325e-03 -8.25383308e-05 9.99994200e-01 -3.54687862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.656875 meters 0.01682522891773409 Centerline is valid? [True, True] Translation: X:40.45, Y:3.62, Z:-0.35 [[ 9.92002176e-01 -1.26130918e-01 4.76180484e-03 4.04462834e+01] [ 1.26129017e-01 9.92013600e-01 6.98614444e-04 3.61969662e+00] [-4.81189204e-03 -9.24252834e-05 9.99988419e-01 -3.51811993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.716874999999995 meters 0.01617051300502818 Centerline is valid? [True, True] Translation: X:40.51, Y:3.63, Z:-0.35 [[ 9.91731296e-01 -1.28264091e-01 4.16653953e-03 4.05054009e+01] [ 1.28262652e-01 9.91740045e-01 6.11912057e-04 3.62590270e+00] [-4.21061045e-03 -7.24409267e-05 9.99991133e-01 -3.53860836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.776875 meters 0.015942111346553836 Centerline is valid? [True, True] Translation: X:40.56, Y:3.63, Z:-0.35 [[ 9.91460611e-01 -1.30321065e-01 4.71992463e-03 4.05634353e+01] [ 1.30319235e-01 9.91471843e-01 6.94524289e-04 3.63267325e+00] [-4.77018351e-03 -7.34965089e-05 9.99988620e-01 -3.54768436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.836875 meters 0.015971212171914505 Centerline is valid? [True, True] Translation: X:40.62, Y:3.64, Z:-0.36 [[ 9.91348740e-01 -1.31189780e-01 4.11309964e-03 4.06206899e+01] [ 1.31188395e-01 9.91357271e-01 6.05699270e-04 3.63948467e+00] [-4.15701279e-03 -6.08682661e-05 9.99991358e-01 -3.55577699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.896874999999994 meters 0.015958294672108065 Centerline is valid? [True, True] Translation: X:40.68, Y:3.65, Z:-0.36 [[ 9.91422004e-01 -1.30664969e-01 3.01259044e-03 4.06792902e+01] [ 1.30664224e-01 9.91426580e-01 4.43895386e-04 3.64741776e+00] [-3.04476381e-03 -4.64498621e-05 9.99995364e-01 -3.56632196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.956875 meters 0.016851870211626426 Centerline is valid? [True, True] Translation: X:40.74, Y:3.66, Z:-0.35 [[ 9.91725047e-01 -1.28306388e-01 4.34773021e-03 4.07374177e+01] [ 1.28304802e-01 9.91734574e-01 6.42880467e-04 3.65802550e+00] [-4.39428004e-03 -7.97259954e-05 9.99990342e-01 -3.54751527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.016875 meters 0.017726970912200057 Centerline is valid? [True, True] Translation: X:40.80, Y:3.67, Z:-0.36 [[ 9.92336129e-01 -1.23535182e-01 2.84012685e-03 4.07957034e+01] [ 1.23534482e-01 9.92340191e-01 4.21252148e-04 3.66937028e+00] [-2.87041148e-03 -6.71701279e-05 9.99995878e-01 -3.56321486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.076874999999994 meters 0.019165315345766522 Centerline is valid? [True, True] Translation: X:40.85, Y:3.68, Z:-0.36 [[ 9.92876328e-01 -1.19114963e-01 2.86756262e-03 4.08536922e+01] [ 1.19114230e-01 9.92880466e-01 4.25479105e-04 3.68276893e+00] [-2.89782783e-03 -8.08806176e-05 9.99995798e-01 -3.58972225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.136874999999996 meters 0.019998031628934515 Centerline is valid? [True, True] Translation: X:40.91, Y:3.69, Z:-0.36 [[ 9.92942715e-01 -1.18587139e-01 1.36214642e-03 4.09116537e+01] [ 1.18586976e-01 9.92943649e-01 2.00005683e-04 3.69201836e+00] [-1.37625274e-03 -3.70613610e-05 9.99999052e-01 -3.59731467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.196875 meters 0.019125567606152038 Centerline is valid? [True, True] Translation: X:40.97, Y:3.70, Z:-0.36 [[ 9.92469412e-01 -1.22471850e-01 2.26089437e-03 4.09707661e+01] [ 1.22471402e-01 9.92471986e-01 3.36183722e-04 3.69819612e+00] [-2.28504737e-03 -5.67571579e-05 9.99997388e-01 -3.59459750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.256874999999994 meters 0.016773612082248698 Centerline is valid? [True, True] Translation: X:41.03, Y:3.70, Z:-0.36 [[ 9.91471206e-01 -1.30298029e-01 2.69651386e-03 4.10305437e+01] [ 1.30297419e-01 9.91474872e-01 4.01130515e-04 3.69950601e+00] [-2.72579225e-03 -4.63605582e-05 9.99996284e-01 -3.62424806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.316874999999996 meters 0.01487268162311444 Centerline is valid? [True, True] Translation: X:41.09, Y:3.70, Z:-0.36 [[ 9.90584780e-01 -1.36861075e-01 3.29225142e-03 4.10906005e+01] [ 1.36860208e-01 9.90590251e-01 4.88444383e-04 3.69969584e+00] [-3.32812118e-03 -3.32673585e-05 9.99994461e-01 -3.61026569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.376875 meters 0.014886169524855419 Centerline is valid? [True, True] Translation: X:41.15, Y:3.71, Z:-0.36 [[ 9.90431118e-01 -1.37979460e-01 2.80515755e-03 4.11484598e+01] [ 1.37978831e-01 9.90435090e-01 4.17622210e-04 3.70694530e+00] [-2.83594976e-03 -2.65736734e-05 9.99995978e-01 -3.62112735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.436875 meters 0.015848882290755727 Centerline is valid? [True, True] Translation: X:41.21, Y:3.72, Z:-0.36 [[ 9.90995739e-01 -1.33860838e-01 2.95319883e-03 4.12062737e+01] [ 1.33860125e-01 9.91000138e-01 4.38699449e-04 3.71821347e+00] [-2.98534513e-03 -3.94337202e-05 9.99995543e-01 -3.62922466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.496874999999996 meters 0.01774973094395601 Centerline is valid? [True, True] Translation: X:41.26, Y:3.73, Z:-0.36 [[ 9.91902256e-01 -1.26912429e-01 4.81140162e-03 4.12641508e+01] [ 1.26910434e-01 9.91913920e-01 7.18903579e-04 3.73344646e+00] [-4.86373404e-03 -1.02465015e-04 9.99988167e-01 -3.62118488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.556875 meters 0.019334599401938442 Centerline is valid? [True, True] Translation: X:41.32, Y:3.75, Z:-0.36 [[ 9.92705816e-01 -1.20458823e-01 4.98355259e-03 4.13222887e+01] [ 1.20456601e-01 9.92718315e-01 7.44700320e-04 3.74561397e+00] [-5.03696965e-03 -1.38966532e-04 9.99987305e-01 -3.62716454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.616875 meters 0.020319536945065445 Centerline is valid? [True, True] Translation: X:41.38, Y:3.76, Z:-0.36 [[ 9.92888906e-01 -1.18990965e-01 3.57372480e-03 4.13800023e+01] [ 1.18989818e-01 9.92895332e-01 5.32587963e-04 3.75690754e+00] [-3.61170783e-03 -1.03563815e-04 9.99993472e-01 -3.64799047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.676874999999995 meters 0.018834559989664212 Centerline is valid? [True, True] Translation: X:41.44, Y:3.76, Z:-0.37 [[ 9.92443680e-01 -1.22672704e-01 2.63605749e-03 4.14390140e+01] [ 1.22672090e-01 9.92447179e-01 3.93877646e-04 3.76274406e+00] [-2.66446586e-03 -6.75306986e-05 9.99996448e-01 -3.67058749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.736875 meters 0.018512721516675015 Centerline is valid? [True, True] Translation: X:41.50, Y:3.77, Z:-0.37 [[ 9.92184551e-01 -1.24749345e-01 2.72343243e-03 4.14978658e+01] [ 1.24748697e-01 9.92188287e-01 4.07242529e-04 3.77033493e+00] [-2.75296100e-03 -6.43150988e-05 9.99996209e-01 -3.68124287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.796875 meters 0.016488130003156493 Centerline is valid? [True, True] Translation: X:41.56, Y:3.77, Z:-0.37 [[ 9.91330981e-01 -1.31342139e-01 3.48275730e-03 4.15584903e+01] [ 1.31341114e-01 9.91337097e-01 5.22450498e-04 3.77230466e+00] [-3.52120627e-03 -6.04921435e-05 9.99993799e-01 -3.67614671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.856874999999995 meters 0.01577890488028077 Centerline is valid? [True, True] Translation: X:41.62, Y:3.78, Z:-0.37 [[ 9.90882574e-01 -1.34595652e-01 5.97793206e-03 4.16169128e+01] [ 1.34592696e-01 9.90900602e-01 8.95879897e-04 3.77796286e+00] [-6.04411802e-03 -8.31257867e-05 9.99981731e-01 -3.66222916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.916875 meters 0.015945017979243522 Centerline is valid? [True, True] Translation: X:41.67, Y:3.79, Z:-0.37 [[ 9.90870667e-01 -1.34643729e-01 6.81077480e-03 4.16748600e+01] [ 1.34639880e-01 9.90894070e-01 1.02255040e-03 3.78520303e+00] [-6.88643635e-03 -9.62132957e-05 9.99976284e-01 -3.66353448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.976875 meters 0.015365211364005229 Centerline is valid? [True, True] Translation: X:41.73, Y:3.79, Z:-0.37 [[ 9.90506941e-01 -1.37273995e-01 7.20069753e-03 4.17336336e+01] [ 1.37269746e-01 9.90533111e-01 1.08338720e-03 3.79190318e+00] [-7.28125021e-03 -8.46646232e-05 9.99973488e-01 -3.67976161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.036874999999995 meters 0.014762552333909969 Centerline is valid? [True, True] Translation: X:41.79, Y:3.80, Z:-0.37 [[ 9.90039636e-01 -1.40627898e-01 6.73148040e-03 4.17920182e+01] [ 1.40624253e-01 9.90062519e-01 1.01424802e-03 3.79873334e+00] [-6.80721800e-03 -5.75363450e-05 9.99976829e-01 -3.68482308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.096875 meters 0.015179140786339128 Centerline is valid? [True, True] Translation: X:41.85, Y:3.81, Z:-0.37 [[ 9.90387851e-01 -1.38171649e-01 6.36391005e-03 4.18498811e+01] [ 1.38168331e-01 9.90408295e-01 9.60246233e-04 3.81228341e+00] [-6.43554811e-03 -7.17253748e-05 9.99979289e-01 -3.72073094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.156875 meters 0.015716395342353886 Centerline is valid? [True, True] Translation: X:41.91, Y:3.83, Z:-0.37 [[ 9.90760035e-01 -1.35480829e-01 6.28470988e-03 4.19071301e+01] [ 1.35477529e-01 9.90779964e-01 9.49787111e-04 3.82517876e+00] [-6.35544257e-03 -8.95741470e-05 9.99979800e-01 -3.73134683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.216874999999995 meters 0.016182844392597664 Centerline is valid? [True, True] Translation: X:41.96, Y:3.84, Z:-0.37 [[ 9.91151691e-01 -1.32577130e-01 6.45213641e-03 4.19647470e+01] [ 1.32573580e-01 9.91172685e-01 9.76701407e-04 3.83842347e+00] [-6.52466964e-03 -1.12676428e-04 9.99978708e-01 -3.72606323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.276875 meters 0.01669452672112064 Centerline is valid? [True, True] Translation: X:42.02, Y:3.85, Z:-0.37 [[ 9.91336121e-01 -1.31133404e-01 7.53164813e-03 4.20222873e+01] [ 1.31128508e-01 9.91364721e-01 1.14244756e-03 3.85063947e+00] [-7.61642328e-03 -1.44935756e-04 9.99970984e-01 -3.72780770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.336875 meters 0.017033144156086213 Centerline is valid? [True, True] Translation: X:42.08, Y:3.86, Z:-0.37 [[ 9.91388261e-01 -1.30548914e-01 1.03100010e-02 4.20789618e+01] [ 1.30539668e-01 9.91441848e-01 1.56759944e-03 3.86262557e+00] [-1.04264148e-02 -2.08235581e-04 9.99945622e-01 -3.72203736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.396874999999994 meters 0.016453821024631925 Centerline is valid? [True, True] Translation: X:42.14, Y:3.87, Z:-0.37 [[ 9.91090605e-01 -1.32810143e-01 1.00437861e-02 4.21377186e+01] [ 1.32801476e-01 9.91141480e-01 1.52794310e-03 3.87161319e+00] [-1.01577393e-02 -1.80500436e-04 9.99948393e-01 -3.73611396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.456875 meters 0.0156666249482431 Centerline is valid? [True, True] Translation: X:42.20, Y:3.88, Z:-0.37 [[ 9.90746877e-01 -1.35311121e-01 1.05606065e-02 4.21958069e+01] [ 1.35301666e-01 9.90803146e-01 1.60797951e-03 3.87919506e+00] [-1.06810596e-02 -1.64233029e-04 9.99942942e-01 -3.72906338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.516875 meters 0.015012977323584796 Centerline is valid? [True, True] Translation: X:42.25, Y:3.89, Z:-0.38 [[ 9.90257346e-01 -1.38991014e-01 8.47861776e-03 4.22545110e+01] [ 1.38985040e-01 9.90293637e-01 1.29261195e-03 3.88804563e+00] [-8.57598266e-03 -1.01617450e-04 9.99963220e-01 -3.77077871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.576874999999994 meters 0.014310894825199216 Centerline is valid? [True, True] Translation: X:42.31, Y:3.89, Z:-0.38 [[ 9.89489814e-01 -1.44455110e-01 6.52910646e-03 4.23121654e+01] [ 1.44451676e-01 9.89511354e-01 9.96951587e-04 3.89369366e+00] [-6.60463973e-03 -4.33330681e-05 9.99978188e-01 -3.81182898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.636874999999996 meters 0.013975943835693066 Centerline is valid? [True, True] Translation: X:42.37, Y:3.90, Z:-0.38 [[ 9.88770661e-01 -1.49260195e-01 7.34670123e-03 4.23712819e+01] [ 1.49255978e-01 9.88797954e-01 1.12198047e-03 3.89892133e+00] [-7.43187017e-03 -1.28422879e-05 9.99972383e-01 -3.80660241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.696875 meters 0.014118643892415541 Centerline is valid? [True, True] Translation: X:42.43, Y:3.90, Z:-0.38 [[ 9.87886507e-01 -1.54931406e-01 8.74688723e-03 4.24291057e+01] [ 1.54925629e-01 9.87925229e-01 1.33834485e-03 3.90316737e+00] [-8.84862222e-03 3.29841806e-05 9.99960850e-01 -3.77012986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.756874999999994 meters 0.01400876349918344 Centerline is valid? [True, True] Translation: X:42.49, Y:3.91, Z:-0.38 [[ 9.87988240e-01 -1.54328105e-01 7.87868644e-03 4.24854535e+01] [ 1.54323379e-01 9.88019653e-01 1.20791993e-03 3.91273846e+00] [-7.97071304e-03 2.24548329e-05 9.99968233e-01 -3.78911416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.816874999999996 meters 0.014130203713649555 Centerline is valid? [True, True] Translation: X:42.54, Y:3.93, Z:-0.38 [[ 9.88948543e-01 -1.48037533e-01 8.10364589e-03 4.25423487e+01] [ 1.48032317e-01 9.88981743e-01 1.24298229e-03 3.92802844e+00] [-8.19836587e-03 -2.96440482e-05 9.99966392e-01 -3.81737172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.876875 meters 0.014659688267804253 Centerline is valid? [True, True] Translation: X:42.60, Y:3.94, Z:-0.38 [[ 9.89651657e-01 -1.43328993e-01 6.81152010e-03 4.26003322e+01] [ 1.43325186e-01 9.89675096e-01 1.04633092e-03 3.94140007e+00] [-6.89116137e-03 -5.92407375e-05 9.99976254e-01 -3.82299943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.936875 meters 0.01554465185860287 Centerline is valid? [True, True] Translation: X:42.66, Y:3.96, Z:-0.38 [[ 9.90493490e-01 -1.37482038e-01 4.61910096e-03 4.26575035e+01] [ 1.37480223e-01 9.90504258e-01 7.09777033e-04 3.95550574e+00] [-4.67282076e-03 -6.79945016e-05 9.99989080e-01 -3.83553772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.996874999999996 meters 0.015770555254170517 Centerline is valid? [True, True] Translation: X:42.71, Y:3.97, Z:-0.38 [[ 9.90528130e-01 -1.37168206e-01 6.23761621e-03 4.27147669e+01] [ 1.37164875e-01 9.90547765e-01 9.60805675e-04 3.96523323e+00] [-6.31044879e-03 -9.61232010e-05 9.99980084e-01 -3.82384671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.056875 meters 0.014831207609912817 Centerline is valid? [True, True] Translation: X:42.77, Y:3.97, Z:-0.38 [[ 9.89778973e-01 -1.42384971e-01 8.00650511e-03 4.27728949e+01] [ 1.42379626e-01 9.89811352e-01 1.23654680e-03 3.97125316e+00] [-8.10099533e-03 -8.39448197e-05 9.99967183e-01 -3.82594240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.116875 meters 0.014391854186520935 Centerline is valid? [True, True] Translation: X:42.83, Y:3.98, Z:-0.38 [[ 9.89237194e-01 -1.46097819e-01 8.07471029e-03 4.28319369e+01] [ 1.46092491e-01 9.89270147e-01 1.24896805e-03 3.97633117e+00] [-8.17054135e-03 -5.58711112e-05 9.99966619e-01 -3.81803557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.176874999999995 meters 0.014056077905198541 Centerline is valid? [True, True] Translation: X:42.89, Y:3.98, Z:-0.38 [[ 9.88390789e-01 -1.51619161e-01 9.76108668e-03 4.28907289e+01] [ 1.51611615e-01 9.88438986e-01 1.51278216e-03 3.98090814e+00] [-9.87760538e-03 -1.53258356e-05 9.99951215e-01 -3.79967338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.236875 meters 0.014247914606845298 Centerline is valid? [True, True] Translation: X:42.95, Y:3.99, Z:-0.38 [[ 9.88290955e-01 -1.52277704e-01 9.61717586e-03 4.29472226e+01] [ 1.52270384e-01 9.88337746e-01 1.49307015e-03 3.99008924e+00] [-9.73237921e-03 -1.11766572e-05 9.99952639e-01 -3.82205470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.296875 meters 0.014444738678205844 Centerline is valid? [True, True] Translation: X:43.00, Y:4.00, Z:-0.39 [[ 9.88944552e-01 -1.48137034e-01 6.64013313e-03 4.30035342e+01] [ 1.48133447e-01 9.88966844e-01 1.03145517e-03 4.00184427e+00] [-6.71966821e-03 -3.64261589e-05 9.99977422e-01 -3.85836012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.356874999999995 meters 0.015017253067071702 Centerline is valid? [True, True] Translation: X:43.06, Y:4.01, Z:-0.39 [[ 9.89647959e-01 -1.43438879e-01 4.71225355e-03 4.30613356e+01] [ 1.43437024e-01 9.89659177e-01 7.31110029e-04 4.01486154e+00] [-4.76839457e-03 -4.76299252e-05 9.99988630e-01 -3.88623062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.416875 meters 0.01652688657268245 Centerline is valid? [True, True] Translation: X:43.12, Y:4.03, Z:-0.39 [[ 9.90464724e-01 -1.37699403e-01 4.30164088e-03 4.31180122e+01] [ 1.37697794e-01 9.90474063e-01 6.69421248e-04 4.02857774e+00] [-4.35284263e-03 -7.07116699e-05 9.99990524e-01 -3.89019469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.476875 meters 0.01671114783563782 Centerline is valid? [True, True] Translation: X:43.18, Y:4.04, Z:-0.39 [[ 9.90625091e-01 -1.36541767e-01 4.27483085e-03 4.31759887e+01] [ 1.36540171e-01 9.90634312e-01 6.64366569e-04 4.03900805e+00] [-4.32550791e-03 -7.44520577e-05 9.99990642e-01 -3.89891342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.536874999999995 meters 0.016745733578421032 Centerline is valid? [True, True] Translation: X:43.23, Y:4.05, Z:-0.39 [[ 9.90641494e-01 -1.36348935e-01 6.19669084e-03 4.32334015e+01] [ 1.36345562e-01 9.90660868e-01 9.65625516e-04 4.04820825e+00] [-6.27048114e-03 -1.11697410e-04 9.99980334e-01 -3.88291545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.596875 meters 0.01732352993004835 Centerline is valid? [True, True] Translation: X:43.29, Y:4.06, Z:-0.39 [[ 9.90917010e-01 -1.34362434e-01 5.49691119e-03 4.32909158e+01] [ 1.34359741e-01 9.90932250e-01 8.57961160e-04 4.05980676e+00] [-5.56234433e-03 -1.11604744e-04 9.99984524e-01 -3.90681490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.656875 meters 0.01807418422552555 Centerline is valid? [True, True] Translation: X:43.35, Y:4.07, Z:-0.39 [[ 9.91099114e-01 -1.33033081e-01 4.97446304e-03 4.33483347e+01] [ 1.33030850e-01 9.91111592e-01 7.78337031e-04 4.07071489e+00] [-5.03379255e-03 -1.09652098e-04 9.99987324e-01 -3.92342997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.716874999999995 meters 0.020762762451408463 Centerline is valid? [True, True] Translation: X:43.41, Y:4.09, Z:-0.39 [[ 9.91758257e-01 -1.28077299e-01 3.43013778e-03 4.34050779e+01] [ 1.28076208e-01 9.91764184e-01 5.36745399e-04 4.08584240e+00] [-3.47063270e-03 -9.30026403e-05 9.99993973e-01 -3.93416825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.776875 meters 0.022023643909029864 Centerline is valid? [True, True] Translation: X:43.46, Y:4.10, Z:-0.39 [[ 9.92240404e-01 -1.24277474e-01 3.75370849e-03 4.34638541e+01] [ 1.24276137e-01 9.92247497e-01 5.88106170e-04 4.09748071e+00] [-3.79769620e-03 -1.17046312e-04 9.99992782e-01 -3.93247723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.836875 meters 0.02175019821927562 Centerline is valid? [True, True] Translation: X:43.52, Y:4.11, Z:-0.39 [[ 9.92431506e-01 -1.22754647e-01 3.31706576e-03 4.35216713e+01] [ 1.22753596e-01 9.92437043e-01 5.19343642e-04 4.10590806e+00] [-3.35573078e-03 -1.08231241e-04 9.99994364e-01 -3.94661886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.896874999999994 meters 0.022236226341710685 Centerline is valid? [True, True] Translation: X:43.58, Y:4.11, Z:-0.39 [[ 9.92448915e-01 -1.22603591e-01 3.67560128e-03 4.35795971e+01] [ 1.22602302e-01 9.92455714e-01 5.74759374e-04 4.11492284e+00] [-3.71833906e-03 -1.19782139e-04 9.99993080e-01 -3.94522712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.956875 meters 0.022893806219942386 Centerline is valid? [True, True] Translation: X:43.64, Y:4.12, Z:-0.39 [[ 9.92536448e-01 -1.21813801e-01 5.72689503e-03 4.36378037e+01] [ 1.21810642e-01 9.92552951e-01 8.98461981e-04 4.12423290e+00] [-5.79369163e-03 -1.94159502e-04 9.99983198e-01 -3.92800272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.016875 meters 0.02361024399706701 Centerline is valid? [True, True] Translation: X:43.70, Y:4.13, Z:-0.39 [[ 9.92755890e-01 -1.19971796e-01 6.52007857e-03 4.36961559e+01] [ 1.19967649e-01 9.92777273e-01 1.02488788e-03 4.13335440e+00] [-6.59594346e-03 -2.35264986e-04 9.99978219e-01 -3.91650453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.076874999999994 meters 0.02297179790120899 Centerline is valid? [True, True] Translation: X:43.75, Y:4.14, Z:-0.39 [[ 9.92795837e-01 -1.19695315e-01 5.42753655e-03 4.37542005e+01] [ 1.19692427e-01 9.92810653e-01 8.54925516e-04 4.14003943e+00] [-5.49084669e-03 -1.99131468e-04 9.99984905e-01 -3.93020958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.136874999999996 meters 0.023001451061407628 Centerline is valid? [True, True] Translation: X:43.81, Y:4.15, Z:-0.40 [[ 9.92519868e-01 -1.22014620e-01 4.09204172e-03 4.38120708e+01] [ 1.22013002e-01 9.92528293e-01 6.43585382e-04 4.14761859e+00] [-4.13999401e-03 -1.39488984e-04 9.99991420e-01 -3.96592479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.196875 meters 0.02019637610819785 Centerline is valid? [True, True] Translation: X:43.87, Y:4.15, Z:-0.39 [[ 9.91741850e-01 -1.28173012e-01 4.44776306e-03 4.38727442e+01] [ 1.28171150e-01 9.91751815e-01 7.02286935e-04 4.14790778e+00] [-4.50109132e-03 -1.26412437e-04 9.99989862e-01 -3.94004612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.256874999999994 meters 0.018143449970139558 Centerline is valid? [True, True] Translation: X:43.93, Y:4.15, Z:-0.40 [[ 9.90841665e-01 -1.34934752e-01 5.04065513e-03 4.39320407e+01] [ 1.34932447e-01 9.90854480e-01 7.96165302e-04 4.14954602e+00] [-5.10198609e-03 -1.08725819e-04 9.99986979e-01 -3.95560180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.316874999999996 meters 0.016958822422574037 Centerline is valid? [True, True] Translation: X:43.99, Y:4.15, Z:-0.40 [[ 9.90327000e-01 -1.38646899e-01 5.42858433e-03 4.39913014e+01] [ 1.38644281e-01 9.90341874e-01 8.57466029e-04 4.15300003e+00] [-5.49503939e-03 -9.65295893e-05 9.99984897e-01 -3.96105296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.376875 meters 0.01608546760872534 Centerline is valid? [True, True] Translation: X:44.05, Y:4.16, Z:-0.40 [[ 9.89823347e-01 -1.42258211e-01 3.51339059e-03 4.40507114e+01] [ 1.42257141e-01 9.89829581e-01 5.53646555e-04 4.15529872e+00] [-3.55641870e-03 -4.82073842e-05 9.99993675e-01 -3.97558151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.436875 meters 0.014480712420418628 Centerline is valid? [True, True] Translation: X:44.11, Y:4.15, Z:-0.40 [[ 9.86968950e-01 -1.60807330e-01 5.77010802e-03 4.41107967e+01] [ 1.60804739e-01 9.86985816e-01 9.13266597e-04 4.15403800e+00] [-5.84187474e-03 2.64949388e-05 9.99982936e-01 -3.95984153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.496874999999996 meters 0.01613667820949115 Centerline is valid? [True, True] Translation: X:44.17, Y:4.16, Z:-0.39 [[ 9.85013249e-01 -1.72309932e-01 7.62804774e-03 4.41704735e+01] [ 1.72305741e-01 9.85042777e-01 1.20820822e-03 4.15940848e+00] [-7.72213960e-03 1.24255322e-04 9.99970176e-01 -3.94046063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.556875 meters 0.017235681024934203 Centerline is valid? [True, True] Translation: X:44.23, Y:4.17, Z:-0.40 [[ 9.84451954e-01 -1.75530502e-01 6.58735853e-03 4.42266710e+01] [ 1.75527449e-01 9.84473985e-01 1.04325794e-03 4.17083665e+00] [-6.66820669e-03 1.29224924e-04 9.99977759e-01 -3.99419527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.616875 meters 0.016264975214682488 Centerline is valid? [True, True] Translation: X:44.28, Y:4.19, Z:-0.40 [[ 9.85027904e-01 -1.72335385e-01 4.53257537e-03 4.42840696e+01] [ 1.72333909e-01 9.85038329e-01 7.17080431e-04 4.18604257e+00] [-4.58833880e-03 7.47721995e-05 9.99989471e-01 -3.99505017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.676874999999995 meters 0.01530865717314398 Centerline is valid? [True, True] Translation: X:44.34, Y:4.20, Z:-0.40 [[ 9.85904730e-01 -1.67248057e-01 4.46652228e-03 4.43416608e+01] [ 1.67246567e-01 9.85914847e-01 7.07689650e-04 4.20060932e+00] [-4.52197034e-03 4.92959461e-05 9.99989775e-01 -3.98945111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.736875 meters 0.014343223180962683 Centerline is valid? [True, True] Translation: X:44.40, Y:4.22, Z:-0.40 [[ 9.87039780e-01 -1.60416985e-01 4.34332019e-03 4.43985150e+01] [ 1.60415503e-01 9.87049335e-01 6.89790614e-04 4.22041756e+00] [-4.39772544e-03 1.58851170e-05 9.99990330e-01 -4.02348071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.796875 meters 0.014370877311388482 Centerline is valid? [True, True] Translation: X:44.46, Y:4.24, Z:-0.40 [[ 9.88075776e-01 -1.53788830e-01 7.43353925e-03 4.44558532e+01] [ 1.53784290e-01 9.88103737e-01 1.18201614e-03 4.23650445e+00] [-7.52688879e-03 -2.47599576e-05 9.99971672e-01 -3.99129774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.856874999999995 meters 0.014935343238591017 Centerline is valid? [True, True] Translation: X:44.51, Y:4.26, Z:-0.40 [[ 9.88984948e-01 -1.47834115e-01 7.33803484e-03 4.45115225e+01] [ 1.47829509e-01 9.89012168e-01 1.16922324e-03 4.25587681e+00] [-7.43025683e-03 -7.15661036e-05 9.99972393e-01 -4.02108116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.916875 meters 0.015548661208482964 Centerline is valid? [True, True] Translation: X:44.57, Y:4.27, Z:-0.40 [[ 9.89737167e-01 -1.42745897e-01 6.62943190e-03 4.45688593e+01] [ 1.42742024e-01 9.89759364e-01 1.05610384e-03 4.27103239e+00] [-6.71229679e-03 -9.89666890e-05 9.99977467e-01 -4.03523547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.976875 meters 0.01583927559700069 Centerline is valid? [True, True] Translation: X:44.63, Y:4.28, Z:-0.41 [[ 9.89925183e-01 -1.41463256e-01 6.02327061e-03 4.46267551e+01] [ 1.41460028e-01 9.89943502e-01 9.60797604e-04 4.28377024e+00] [-6.09861516e-03 -9.90657125e-05 9.99981398e-01 -4.05164097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.036874999999995 meters 0.01672758416883521 Centerline is valid? [True, True] Translation: X:44.68, Y:4.30, Z:-0.41 [[ 9.90119617e-01 -1.40105127e-01 5.80499167e-03 4.46830599e+01] [ 1.40102092e-01 9.90136628e-01 9.28161713e-04 4.29717305e+00] [-5.87777509e-03 -1.05699642e-04 9.99982720e-01 -4.05923241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.096875 meters 0.016545069690790653 Centerline is valid? [True, True] Translation: X:44.74, Y:4.31, Z:-0.41 [[ 9.90285932e-01 -1.38984640e-01 4.12835509e-03 4.47408929e+01] [ 1.38983100e-01 9.90294534e-01 6.59063553e-04 4.30779250e+00] [-4.17988719e-03 -7.88897755e-05 9.99991261e-01 -4.08108693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.156875 meters 0.01673487918548868 Centerline is valid? [True, True] Translation: X:44.80, Y:4.32, Z:-0.41 [[ 9.90413163e-01 -1.38098736e-01 3.24140568e-03 4.47987049e+01] [ 1.38097781e-01 9.90418465e-01 5.17691774e-04 4.31986211e+00] [-3.28184061e-03 -6.50978170e-05 9.99994613e-01 -4.10432175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.216874999999995 meters 0.017088178728488973 Centerline is valid? [True, True] Translation: X:44.86, Y:4.33, Z:-0.41 [[ 9.90375516e-01 -1.38341395e-01 4.24217211e-03 4.48558392e+01] [ 1.38339748e-01 9.90384598e-01 6.80499946e-04 4.33014223e+00] [-4.29552323e-03 -8.70894635e-05 9.99990770e-01 -4.10821875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.276875 meters 0.01737899303195815 Centerline is valid? [True, True] Translation: X:44.91, Y:4.34, Z:-0.41 [[ 9.90556509e-01 -1.36963766e-01 6.22336251e-03 4.49133673e+01] [ 1.36960189e-01 9.90576049e-01 9.99314286e-04 4.34028981e+00] [-6.30158370e-03 -1.37524363e-04 9.99980135e-01 -4.09019755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.336875 meters 0.01886889818550099 Centerline is valid? [True, True] Translation: X:44.97, Y:4.35, Z:-0.41 [[ 9.91079902e-01 -1.33161441e-01 5.35334661e-03 4.49712525e+01] [ 1.33158736e-01 9.91094350e-01 8.60143408e-04 4.35357840e+00] [-5.42020951e-03 -1.39625974e-04 9.99985301e-01 -4.10852587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.396874999999994 meters 0.019629728015350283 Centerline is valid? [True, True] Translation: X:45.03, Y:4.37, Z:-0.41 [[ 9.91593837e-01 -1.29269544e-01 5.57200206e-03 4.50295424e+01] [ 1.29266550e-01 9.91609478e-01 8.95680157e-04 4.36559814e+00] [-5.64103422e-03 -1.67877441e-04 9.99984075e-01 -4.12974327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.456875 meters 0.022905668478790043 Centerline is valid? [True, True] Translation: X:45.09, Y:4.38, Z:-0.42 [[ 9.92311204e-01 -1.23657460e-01 5.22556049e-03 4.50869198e+01] [ 1.23654749e-01 9.92324945e-01 8.40156280e-04 4.38024839e+00] [-5.28934562e-03 -1.87531122e-04 9.99985994e-01 -4.15400120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.516875 meters 0.02319679577060731 Centerline is valid? [True, True] Translation: X:45.15, Y:4.39, Z:-0.42 [[ 9.92820431e-01 -1.19543776e-01 4.10815066e-03 4.51460584e+01] [ 1.19542064e-01 9.92828917e-01 6.60599532e-04 4.39021889e+00] [-4.15766134e-03 -1.64759903e-04 9.99991343e-01 -4.16986390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.576874999999994 meters 0.025693246008417197 Centerline is valid? [True, True] Translation: X:45.20, Y:4.40, Z:-0.42 [[ 9.92977378e-01 -1.18231036e-01 4.16513261e-03 4.52026093e+01] [ 1.18229266e-01 9.92986099e-01 6.69485749e-04 4.40316798e+00] [-4.21507277e-03 -1.72343631e-04 9.99991102e-01 -4.18490192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.636874999999996 meters 0.026762878616431045 Centerline is valid? [True, True] Translation: X:45.26, Y:4.41, Z:-0.42 [[ 9.93401745e-01 -1.14581907e-01 4.89476226e-03 4.52614763e+01] [ 1.14579414e-01 9.93413780e-01 7.87697943e-04 4.41383125e+00] [-4.95278021e-03 -2.21661519e-04 9.99987710e-01 -4.18812310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.696875 meters 0.028415774303373414 Centerline is valid? [True, True] Translation: X:45.32, Y:4.43, Z:-0.42 [[ 9.93707806e-01 -1.11858282e-01 5.70263868e-03 4.53202134e+01] [ 1.11854852e-01 9.93724131e-01 9.17964635e-04 4.42515137e+00] [-5.76953161e-03 -2.74320819e-04 9.99983318e-01 -4.18776202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.756874999999994 meters 0.02723828481365072 Centerline is valid? [True, True] Translation: X:45.38, Y:4.43, Z:-0.42 [[ 9.93750009e-01 -1.11477553e-01 5.80305178e-03 4.53783260e+01] [ 1.11473996e-01 9.93766912e-01 9.33823815e-04 4.43177963e+00] [-5.87098124e-03 -2.81098055e-04 9.99982726e-01 -4.18958316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.816874999999996 meters 0.02674856915195047 Centerline is valid? [True, True] Translation: X:45.44, Y:4.44, Z:-0.42 [[ 9.93562368e-01 -1.13177497e-01 4.96749445e-03 4.54367114e+01] [ 1.13174913e-01 9.93574758e-01 7.99124108e-04 4.43936007e+00] [-5.02601996e-03 -2.31783890e-04 9.99987343e-01 -4.22681600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.876875 meters 0.024875895045913882 Centerline is valid? [True, True] Translation: X:45.50, Y:4.44, Z:-0.42 [[ 9.93240762e-01 -1.15973556e-01 4.78775591e-03 4.54961468e+01] [ 1.15971182e-01 9.93252279e-01 7.71411563e-04 4.44382118e+00] [-4.84491281e-03 -2.10955696e-04 9.99988241e-01 -4.22973979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.936875 meters 0.023108142612532752 Centerline is valid? [True, True] Translation: X:45.56, Y:4.45, Z:-0.42 [[ 9.92792375e-01 -1.19723130e-01 5.44722416e-03 4.55555619e+01] [ 1.19720099e-01 9.92807294e-01 8.80429997e-04 4.44873226e+00] [-5.51345171e-03 -2.21941973e-04 9.99984776e-01 -4.23521114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.996874999999996 meters 0.02105044967475942 Centerline is valid? [True, True] Translation: X:45.61, Y:4.45, Z:-0.42 [[ 9.92469373e-01 -1.22304293e-01 6.79726341e-03 4.56146916e+01] [ 1.22299631e-01 9.92492616e-01 1.09882459e-03 4.45311314e+00] [-6.88062471e-03 -2.59246945e-04 9.99976295e-01 -4.24234468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.056875 meters 0.02159237521430428 Centerline is valid? [True, True] Translation: X:45.67, Y:4.46, Z:-0.43 [[ 9.92197801e-01 -1.24536339e-01 5.85013965e-03 4.56721809e+01] [ 1.24532925e-01 9.92215025e-01 9.45733058e-04 4.46012618e+00] [-5.92237459e-03 -2.09819260e-04 9.99982441e-01 -4.26001671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.116875 meters 0.020691275455118244 Centerline is valid? [True, True] Translation: X:45.73, Y:4.47, Z:-0.43 [[ 9.92050661e-01 -1.25705140e-01 5.80540437e-03 4.57311347e+01] [ 1.25701797e-01 9.92067627e-01 9.38639814e-04 4.46627320e+00] [-5.87734559e-03 -2.01428485e-04 9.99982708e-01 -4.26801106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.176874999999995 meters 0.02026385320948083 Centerline is valid? [True, True] Translation: X:45.79, Y:4.47, Z:-0.43 [[ 9.91849408e-01 -1.27213918e-01 7.16730785e-03 4.57893676e+01] [ 1.27208843e-01 9.91875275e-01 1.16134983e-03 4.47285728e+00] [-7.25681531e-03 -2.40139200e-04 9.99973640e-01 -4.29449905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.236875 meters 0.020066772994232842 Centerline is valid? [True, True] Translation: X:45.85, Y:4.48, Z:-0.43 [[ 9.91679674e-01 -1.28549803e-01 6.80972776e-03 4.58475590e+01] [ 1.28545243e-01 9.91703030e-01 1.10504563e-03 4.47991456e+00] [-6.89528105e-03 -2.20493184e-04 9.99976203e-01 -4.30958273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.296875 meters 0.02067318172264268 Centerline is valid? [True, True] Translation: X:45.90, Y:4.49, Z:-0.43 [[ 9.91645729e-01 -1.28809869e-01 6.83855600e-03 4.59042314e+01] [ 1.28805260e-01 9.91669284e-01 1.11203801e-03 4.48817231e+00] [-6.92482740e-03 -2.21905761e-04 9.99975998e-01 -4.30791733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.356874999999995 meters 0.02090222672238648 Centerline is valid? [True, True] Translation: X:45.96, Y:4.50, Z:-0.43 [[ 9.91640295e-01 -1.28789852e-01 7.91827288e-03 4.59614365e+01] [ 1.28783666e-01 9.91671875e-01 1.28834124e-03 4.49721859e+00] [-8.01825379e-03 -2.57826875e-04 9.99967820e-01 -4.30948002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.416875 meters 0.020525115006529586 Centerline is valid? [True, True] Translation: X:46.02, Y:4.51, Z:-0.43 [[ 9.91561798e-01 -1.29387016e-01 8.01256517e-03 4.60199000e+01] [ 1.29380682e-01 9.91594137e-01 1.30610147e-03 4.50584120e+00] [-8.11420522e-03 -2.58409176e-04 9.99967046e-01 -4.34545291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.476875 meters 0.019981712963723003 Centerline is valid? [True, True] Translation: X:46.08, Y:4.51, Z:-0.44 [[ 9.91375634e-01 -1.30858296e-01 7.10347316e-03 4.60783777e+01] [ 1.30853345e-01 9.91401058e-01 1.15938217e-03 4.51222272e+00] [-7.19410558e-03 -2.19870005e-04 9.99974098e-01 -4.35533983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.536874999999995 meters 0.01932358029064538 Centerline is valid? [True, True] Translation: X:46.14, Y:4.52, Z:-0.43 [[ 9.90796843e-01 -1.35163639e-01 7.23919333e-03 4.61376395e+01] [ 1.35158591e-01 9.90823270e-01 1.18423108e-03 4.51726747e+00] [-7.33282619e-03 -1.94893246e-04 9.99973095e-01 -4.34400065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.596875 meters 0.016697561727111333 Centerline is valid? [True, True] Translation: X:46.20, Y:4.52, Z:-0.43 [[ 9.89742071e-01 -1.42553750e-01 9.43722498e-03 4.61984600e+01] [ 1.42545503e-01 9.89787045e-01 1.54428073e-03 4.51899871e+00] [-9.56098603e-03 -1.83205629e-04 9.99954276e-01 -4.34513390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.656875 meters 0.015405451851435234 Centerline is valid? [True, True] Translation: X:46.26, Y:4.52, Z:-0.43 [[ 9.89089606e-01 -1.46945122e-01 1.04346393e-02 4.62577256e+01] [ 1.46935281e-01 9.89144634e-01 1.70767179e-03 4.52298629e+00] [-1.05723015e-02 -1.55823758e-04 9.99944100e-01 -4.33572749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.716874999999995 meters 0.01491258947558054 Centerline is valid? [True, True] Translation: X:46.32, Y:4.53, Z:-0.43 [[ 9.88599248e-01 -1.50276518e-01 9.40712735e-03 4.63165924e+01] [ 1.50268668e-01 9.88643999e-01 1.53983455e-03 4.52919253e+00] [-9.53170097e-03 -1.08682779e-04 9.99954566e-01 -4.33754370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.776875 meters 0.014737863124436434 Centerline is valid? [True, True] Translation: X:46.37, Y:4.54, Z:-0.43 [[ 9.88474589e-01 -1.51060826e-01 9.93045126e-03 4.63741801e+01] [ 1.51052092e-01 9.88524463e-01 1.62803848e-03 4.53796228e+00] [-1.00624268e-02 -1.09259226e-04 9.99949367e-01 -4.34763508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.836875 meters 0.015025259492825556 Centerline is valid? [True, True] Translation: X:46.43, Y:4.55, Z:-0.43 [[ 9.88673361e-01 -1.49751647e-01 9.97143249e-03 4.64319161e+01] [ 1.49742746e-01 9.88723636e-01 1.63757861e-03 4.54818388e+00] [-1.01042211e-02 -1.25880665e-04 9.99948943e-01 -4.34839863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.896874999999994 meters 0.01576228654146287 Centerline is valid? [True, True] Translation: X:46.49, Y:4.56, Z:-0.44 [[ 9.89039715e-01 -1.47353133e-01 9.35390944e-03 4.64891662e+01] [ 1.47345171e-01 9.89083937e-01 1.53855518e-03 4.56012228e+00] [-9.47851250e-03 -1.43438798e-04 9.99955068e-01 -4.35204094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.956875 meters 0.016933458497066373 Centerline is valid? [True, True] Translation: X:46.55, Y:4.57, Z:-0.44 [[ 9.89566819e-01 -1.43818793e-01 8.58283819e-03 4.65464128e+01] [ 1.43811953e-01 9.89604026e-01 1.41201564e-03 4.57453643e+00] [-8.69668561e-03 -1.62969105e-04 9.99962170e-01 -4.38068551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.016875 meters 0.01788069575744735 Centerline is valid? [True, True] Translation: X:46.60, Y:4.59, Z:-0.44 [[ 9.89884703e-01 -1.41650920e-01 7.95557450e-03 4.66037392e+01] [ 1.41644960e-01 9.89916657e-01 1.31058850e-03 4.58727548e+00] [-8.06100178e-03 -1.70464476e-04 9.99967495e-01 -4.39570135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.076874999999994 meters 0.01974740141406365 Centerline is valid? [True, True] Translation: X:46.66, Y:4.60, Z:-0.44 [[ 9.90370702e-01 -1.38328530e-01 5.57595169e-03 4.66608419e+01] [ 1.38325541e-01 9.90386388e-01 9.20163292e-04 4.60122868e+00] [-5.64963149e-03 -1.40006233e-04 9.99984031e-01 -4.41024479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.136874999999996 meters 0.019191116923908604 Centerline is valid? [True, True] Translation: X:46.72, Y:4.61, Z:-0.44 [[ 9.90527848e-01 -1.37219167e-01 5.04806784e-03 4.67187735e+01] [ 1.37216707e-01 9.90540702e-01 8.32099011e-04 4.61138754e+00] [-5.11449660e-03 -1.31537997e-04 9.99986912e-01 -4.44238749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.196875 meters 0.01797850143475548 Centerline is valid? [True, True] Translation: X:46.78, Y:4.62, Z:-0.45 [[ 9.90067753e-01 -1.40545907e-01 3.56274115e-03 4.67770547e+01] [ 1.40544702e-01 9.90074160e-01 5.87340114e-04 4.61900043e+00] [-3.60992619e-03 -8.07821119e-05 9.99993481e-01 -4.45757588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.256874999999994 meters 0.01845465371232168 Centerline is valid? [True, True] Translation: X:46.83, Y:4.63, Z:-0.44 [[ 9.90029580e-01 -1.40803042e-01 3.99188419e-03 4.68335933e+01] [ 1.40801522e-01 9.90037623e-01 6.60527448e-04 4.62901289e+00] [-4.04511981e-03 -9.18783397e-05 9.99991814e-01 -4.44567969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.316874999999996 meters 0.018689469791948153 Centerline is valid? [True, True] Translation: X:46.89, Y:4.64, Z:-0.44 [[ 9.90238449e-01 -1.39325438e-01 4.02944352e-03 4.68915032e+01] [ 1.39323881e-01 9.90246642e-01 6.65996436e-04 4.63987462e+00] [-4.08293317e-03 -9.80975702e-05 9.99991660e-01 -4.43430526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.376875 meters 0.020137389627728593 Centerline is valid? [True, True] Translation: X:46.95, Y:4.65, Z:-0.45 [[ 9.90583415e-01 -1.36843234e-01 4.29272591e-03 4.69491591e+01] [ 1.36841438e-01 9.90592709e-01 7.10774812e-04 4.65430509e+00] [-4.34960771e-03 -1.16658956e-04 9.99990534e-01 -4.46038533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.436875 meters 0.021046856756430216 Centerline is valid? [True, True] Translation: X:47.01, Y:4.67, Z:-0.44 [[ 9.91055504e-01 -1.33396382e-01 3.79381347e-03 4.70071600e+01] [ 1.33394946e-01 9.91062758e-01 6.30144766e-04 4.66579312e+00] [-3.84396628e-03 -1.18432894e-04 9.99992605e-01 -4.44308913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.496874999999996 meters 0.020717866178751015 Centerline is valid? [True, True] Translation: X:47.07, Y:4.67, Z:-0.44 [[ 9.91098924e-01 -1.33059087e-01 4.26637838e-03 4.70652356e+01] [ 1.33057273e-01 9.91108098e-01 7.07588783e-04 4.67484306e+00] [-4.32259328e-03 -1.33617809e-04 9.99990649e-01 -4.43363728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.556875 meters 0.020388688943401508 Centerline is valid? [True, True] Translation: X:47.12, Y:4.68, Z:-0.44 [[ 9.91195289e-01 -1.32338093e-01 4.30439076e-03 4.71235171e+01] [ 1.32336234e-01 9.91204626e-01 7.14992362e-04 4.68446045e+00] [-4.36115276e-03 -1.39070197e-04 9.99990480e-01 -4.43617271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.616875 meters 0.021903616332350485 Centerline is valid? [True, True] Translation: X:47.18, Y:4.70, Z:-0.45 [[ 9.91349975e-01 -1.31207948e-01 3.11486064e-03 4.71796665e+01] [ 1.31206966e-01 9.91354863e-01 5.18387806e-04 4.69782039e+00] [-3.15594885e-03 -1.05212325e-04 9.99995014e-01 -4.48197175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.676874999999995 meters 0.021120849360813283 Centerline is valid? [True, True] Translation: X:47.24, Y:4.70, Z:-0.45 [[ 9.91263960e-01 -1.31883500e-01 1.58267182e-03 4.72372773e+01] [ 1.31883250e-01 9.91265222e-01 2.61400987e-04 4.70434760e+00] [-1.60332201e-03 -5.03894737e-05 9.99998713e-01 -4.47005692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.736875 meters 0.02155088742510818 Centerline is valid? [True, True] Translation: X:47.29, Y:4.71, Z:-0.45 [[ 9.91026077e-01 -1.33645559e-01 2.48591614e-03 4.72946695e+01] [ 1.33644939e-01 9.91029191e-01 4.14864459e-04 4.71423486e+00] [-2.51906025e-03 -7.89113871e-05 9.99996824e-01 -4.47220341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.796875 meters 0.01565707606557666 Centerline is valid? [True, True] Translation: X:47.36, Y:4.71, Z:-0.44 [[ 9.88777716e-01 -1.49321982e-01 4.64471201e-03 4.73559053e+01] [ 1.49319980e-01 9.88788623e-01 7.76797283e-04 4.70993414e+00] [-4.70863130e-03 -7.45315377e-05 9.99988912e-01 -4.44437957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.856874999999995 meters 0.013851402575105969 Centerline is valid? [True, True] Translation: X:47.42, Y:4.71, Z:-0.44 [[ 9.87149130e-01 -1.59697289e-01 5.77675724e-03 4.74164073e+01] [ 1.59694369e-01 9.87166032e-01 9.66259796e-04 4.71212837e+00] [-5.85692759e-03 -3.13269157e-05 9.99982848e-01 -4.43460712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.916875 meters 0.01381042778397257 Centerline is valid? [True, True] Translation: X:47.47, Y:4.71, Z:-0.45 [[ 9.85504869e-01 -1.69553218e-01 5.64435827e-03 4.74740295e+01] [ 1.69550592e-01 9.85521032e-01 9.44033999e-04 4.71493028e+00] [-5.72269779e-03 2.66541849e-05 9.99983625e-01 -4.45053655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.976875 meters 0.014065517972050596 Centerline is valid? [True, True] Translation: X:47.53, Y:4.72, Z:-0.44 [[ 9.85006066e-01 -1.72439885e-01 5.24757984e-03 4.75328011e+01] [ 1.72437657e-01 9.85020043e-01 8.77525643e-04 4.72288003e+00] [-5.32029174e-03 4.05122882e-05 9.99985846e-01 -4.44703326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.036874999999995 meters 0.013660465482213925 Centerline is valid? [True, True] Translation: X:47.59, Y:4.74, Z:-0.44 [[ 9.85572595e-01 -1.69159451e-01 5.63376119e-03 4.75900468e+01] [ 1.69156820e-01 9.85588697e-01 9.43675308e-04 4.73589752e+00] [-5.71220295e-03 2.29286063e-05 9.99983685e-01 -4.43514550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.096875 meters 0.013393588640918136 Centerline is valid? [True, True] Translation: X:47.65, Y:4.75, Z:-0.45 [[ 9.86257223e-01 -1.65122427e-01 5.59230258e-03 4.76466594e+01] [ 1.65119764e-01 9.86273078e-01 9.37890166e-04 4.75022600e+00] [-5.67040418e-03 -1.60127024e-06 9.99983923e-01 -4.45613837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.156875 meters 0.013801821948755018 Centerline is valid? [True, True] Translation: X:47.70, Y:4.77, Z:-0.45 [[ 9.87341084e-01 -1.58546069e-01 4.55284565e-03 4.77038177e+01] [ 1.58544230e-01 9.87351580e-01 7.64454251e-04 4.76680661e+00] [-4.61646056e-03 -3.29496818e-05 9.99989344e-01 -4.48932490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.216874999999995 meters 0.01452878760448964 Centerline is valid? [True, True] Translation: X:47.76, Y:4.78, Z:-0.45 [[ 9.87960236e-01 -1.54617121e-01 5.30270866e-03 4.77601378e+01] [ 1.54614554e-01 9.87974464e-01 8.93008215e-04 4.78136935e+00] [-5.37701510e-03 -6.23806704e-05 9.99985542e-01 -4.48655956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.276875 meters 0.01594253405868681 Centerline is valid? [True, True] Translation: X:47.82, Y:4.80, Z:-0.45 [[ 9.88812727e-01 -1.49082724e-01 4.87156514e-03 4.78175846e+01] [ 1.49080488e-01 9.88824724e-01 8.20956897e-04 4.79763925e+00] [-4.93951454e-03 -8.55173186e-05 9.99987797e-01 -4.49222931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.336875 meters 0.01685005669200864 Centerline is valid? [True, True] Translation: X:47.87, Y:4.81, Z:-0.45 [[ 9.89125479e-01 -1.47011930e-01 4.27541202e-03 4.78747338e+01] [ 1.47010194e-01 9.89134716e-01 7.19390997e-04 4.81094990e+00] [-4.33471752e-03 -8.30388148e-05 9.99990602e-01 -4.52910435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.396874999999994 meters 0.016174496261579647 Centerline is valid? [True, True] Translation: X:47.93, Y:4.82, Z:-0.45 [[ 9.88917257e-01 -1.48429276e-01 3.37767038e-03 4.79331433e+01] [ 1.48428200e-01 9.88923023e-01 5.68548223e-04 4.81892345e+00] [-3.42464521e-03 -6.09056159e-05 9.99994134e-01 -4.52626605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.456875 meters 0.015220764839578323 Centerline is valid? [True, True] Translation: X:47.99, Y:4.83, Z:-0.45 [[ 9.88376946e-01 -1.51931462e-01 5.27674345e-03 4.79918247e+01] [ 1.51928870e-01 9.88391028e-01 8.91021397e-04 4.82531827e+00] [-5.35086007e-03 -7.89753374e-05 9.99985681e-01 -4.49856694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.516875 meters 0.014822058269234648 Centerline is valid? [True, True] Translation: X:48.05, Y:4.83, Z:-0.45 [[ 9.88035103e-01 -1.54155206e-01 4.77578488e-03 4.80500959e+01] [ 1.54153104e-01 9.88046643e-01 8.07365882e-04 4.83403369e+00] [-4.84315787e-03 -6.15037671e-05 9.99988270e-01 -4.50570577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.576874999999994 meters 0.014869090565613209 Centerline is valid? [True, True] Translation: X:48.11, Y:4.84, Z:-0.45 [[ 9.87994858e-01 -1.54412180e-01 4.79985409e-03 4.81069245e+01] [ 1.54410055e-01 9.88006516e-01 8.12408662e-04 4.84384974e+00] [-4.86773291e-03 -6.15098475e-05 9.99988151e-01 -4.51251883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.636874999999996 meters 0.015395710985123342 Centerline is valid? [True, True] Translation: X:48.16, Y:4.86, Z:-0.45 [[ 9.88257264e-01 -1.52708482e-01 5.26307599e-03 4.81645647e+01] [ 1.52705892e-01 9.88271275e-01 8.92771693e-04 4.85620241e+00] [-5.33768063e-03 -7.85853954e-05 9.99985751e-01 -4.52306803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.696875 meters 0.015054526208959654 Centerline is valid? [True, True] Translation: X:48.22, Y:4.87, Z:-0.45 [[ 9.88281303e-01 -1.52561541e-01 5.00429792e-03 4.82221541e+01] [ 1.52559189e-01 9.88293970e-01 8.50566483e-04 4.86575468e+00] [-5.07548119e-03 -7.71473184e-05 9.99987117e-01 -4.53543184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.756874999999994 meters 0.014847530771509933 Centerline is valid? [True, True] Translation: X:48.28, Y:4.87, Z:-0.45 [[ 9.88115354e-01 -1.53616463e-01 5.47990883e-03 4.82804600e+01] [ 1.53613658e-01 9.88130546e-01 9.31674298e-04 4.87397271e+00] [-5.55798581e-03 -7.88128372e-05 9.99984551e-01 -4.52417037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.816874999999996 meters 0.014626966176918305 Centerline is valid? [True, True] Translation: X:48.34, Y:4.88, Z:-0.45 [[ 9.87917954e-01 -1.54885417e-01 5.35019357e-03 4.83371762e+01] [ 1.54882750e-01 9.87932438e-01 9.11772644e-04 4.88327422e+00] [-5.42685007e-03 -7.21038734e-05 9.99985272e-01 -4.54263113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.876875 meters 0.014687958803275569 Centerline is valid? [True, True] Translation: X:48.40, Y:4.89, Z:-0.46 [[ 9.87935901e-01 -1.54824737e-01 3.45783922e-03 4.83956368e+01] [ 1.54823627e-01 9.87941951e-01 5.88054416e-04 4.89272338e+00] [-3.50718980e-03 -4.56048611e-05 9.99993849e-01 -4.57417995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.936875 meters 0.014810037922852874 Centerline is valid? [True, True] Translation: X:48.45, Y:4.90, Z:-0.46 [[ 9.87935121e-01 -1.54853784e-01 2.12183597e-03 4.84538529e+01] [ 1.54853367e-01 9.87937399e-01 3.60323462e-04 4.90053190e+00] [-2.15203856e-03 -2.74027579e-05 9.99997684e-01 -4.58828428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.996874999999996 meters 0.014928640729131873 Centerline is valid? [True, True] Translation: X:48.51, Y:4.91, Z:-0.46 [[ 9.87928119e-01 -1.54881559e-01 3.12010559e-03 4.85113473e+01] [ 1.54880648e-01 9.87933045e-01 5.33134330e-04 4.90911803e+00] [-3.16502809e-03 -4.34544205e-05 9.99994990e-01 -4.58296550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.056875 meters 0.01477820853832489 Centerline is valid? [True, True] Translation: X:48.57, Y:4.92, Z:-0.46 [[ 9.87864012e-01 -1.55246719e-01 4.81148136e-03 4.85704388e+01] [ 1.55244555e-01 9.87875727e-01 8.22199885e-04 4.91621726e+00] [-4.88078948e-03 -6.52653909e-05 9.99988087e-01 -4.58290654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.116875 meters 0.014936395300457534 Centerline is valid? [True, True] Translation: X:48.63, Y:4.92, Z:-0.46 [[ 9.87826138e-01 -1.55460182e-01 5.62613164e-03 4.86282665e+01] [ 1.55457219e-01 9.87842156e-01 9.62850171e-04 4.92483868e+00] [-5.70741488e-03 -7.65057860e-05 9.99983710e-01 -4.58233067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.176874999999995 meters 0.01562269767484834 Centerline is valid? [True, True] Translation: X:48.69, Y:4.94, Z:-0.46 [[ 9.88249969e-01 -1.52746572e-01 5.52121080e-03 4.86858060e+01] [ 1.52743667e-01 9.88265387e-01 9.46575198e-04 4.93660515e+00] [-5.60100764e-03 -9.21229256e-05 9.99984310e-01 -4.61005747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.236875 meters 0.016057564011833548 Centerline is valid? [True, True] Translation: X:48.74, Y:4.95, Z:-0.46 [[ 9.88570890e-01 -1.50690467e-01 4.46963947e-03 4.87436027e+01] [ 1.50688540e-01 9.88580991e-01 7.66857416e-04 4.94707687e+00] [-4.53415872e-03 -8.45694732e-05 9.99989717e-01 -4.63594805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.296875 meters 0.01598043717052652 Centerline is valid? [True, True] Translation: X:48.80, Y:4.96, Z:-0.47 [[ 9.88423083e-01 -1.51677936e-01 3.68962764e-03 4.88009545e+01] [ 1.51676624e-01 9.88429967e-01 6.34649148e-04 4.95552593e+00] [-3.74320080e-03 -6.76716027e-05 9.99992992e-01 -4.65085640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.356874999999995 meters 0.01589084119572131 Centerline is valid? [True, True] Translation: X:48.86, Y:4.96, Z:-0.46 [[ 9.88316791e-01 -1.52364576e-01 3.86741084e-03 4.88589157e+01] [ 1.52363143e-01 9.88324355e-01 6.64250284e-04 4.96410876e+00] [-3.92346454e-03 -6.72388367e-05 9.99992301e-01 -4.64084336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.416875 meters 0.014910454812056733 Centerline is valid? [True, True] Translation: X:48.92, Y:4.97, Z:-0.47 [[ 9.87867273e-01 -1.55248878e-01 4.00468051e-03 4.89181124e+01] [ 1.55247359e-01 9.87875388e-01 6.89262944e-04 4.96901729e+00] [-4.06313261e-03 -5.91842299e-05 9.99991744e-01 -4.65494965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.476875 meters 0.014617794350026463 Centerline is valid? [True, True] Translation: X:48.98, Y:4.98, Z:-0.47 [[ 9.87475112e-01 -1.57641035e-01 6.49667410e-03 4.89755957e+01] [ 1.57637063e-01 9.87496479e-01 1.12226887e-03 4.97635947e+00] [-6.59235843e-03 -8.40959538e-05 9.99978267e-01 -4.65198150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.536874999999995 meters 0.014652758588603994 Centerline is valid? [True, True] Translation: X:49.03, Y:4.98, Z:-0.47 [[ 9.87431938e-01 -1.57985953e-01 4.31356289e-03 4.90344312e+01] [ 1.57984209e-01 9.87441358e-01 7.44156136e-04 4.98431849e+00] [-4.37695662e-03 -5.33287115e-05 9.99990420e-01 -4.66156763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.596875 meters 0.015083752300804103 Centerline is valid? [True, True] Translation: X:49.09, Y:5.00, Z:-0.47 [[ 9.87775799e-01 -1.55820860e-01 4.33943113e-03 4.90914120e+01] [ 1.55819066e-01 9.87785329e-01 7.50442890e-04 4.99741795e+00] [-4.40336106e-03 -6.51032188e-05 9.99990303e-01 -4.67597412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.656875 meters 0.015698587978876518 Centerline is valid? [True, True] Translation: X:49.15, Y:5.01, Z:-0.47 [[ 9.88057613e-01 -1.54001806e-01 5.05933074e-03 4.91476701e+01] [ 1.53999338e-01 9.88070562e-01 8.76134204e-04 5.00977890e+00] [-5.13390202e-03 -8.65374836e-05 9.99986818e-01 -4.68282466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.716874999999995 meters 0.01646960352137627 Centerline is valid? [True, True] Translation: X:49.21, Y:5.02, Z:-0.47 [[ 9.88321051e-01 -1.52352457e-01 3.19814709e-03 4.92050713e+01] [ 1.52351467e-01 9.88326224e-01 5.52525296e-04 5.02288246e+00] [-3.24499123e-03 -5.88299815e-05 9.99994733e-01 -4.69670539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.776875 meters 0.017163329249101886 Centerline is valid? [True, True] Translation: X:49.26, Y:5.04, Z:-0.47 [[ 9.88664724e-01 -1.50107463e-01 3.13257158e-03 4.92626733e+01] [ 1.50106500e-01 9.88669685e-01 5.41898068e-04 5.03534217e+00] [-3.17842150e-03 -6.55361493e-05 9.99994947e-01 -4.69690048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.836875 meters 0.017379006841362496 Centerline is valid? [True, True] Translation: X:49.32, Y:5.05, Z:-0.47 [[ 9.88790795e-01 -1.49271464e-01 3.28534202e-03 4.93203905e+01] [ 1.49270397e-01 9.88796250e-01 5.69268915e-04 5.04636108e+00] [-3.33350948e-03 -7.24835562e-05 9.99994441e-01 -4.70958623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.896874999999994 meters 0.018189737247608445 Centerline is valid? [True, True] Translation: X:49.38, Y:5.06, Z:-0.47 [[ 9.88807739e-01 -1.49078040e-01 5.91553009e-03 4.93770251e+01] [ 1.49074547e-01 9.88825424e-01 1.02952018e-03 5.05763130e+00] [-6.00290540e-03 -1.36142556e-04 9.99981973e-01 -4.68635884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.956875 meters 0.017726813523507877 Centerline is valid? [True, True] Translation: X:49.43, Y:5.07, Z:-0.47 [[ 9.88696461e-01 -1.49817961e-01 5.82130185e-03 4.94344097e+01] [ 1.49814594e-01 9.88713589e-01 1.01260384e-03 5.06665556e+00] [-5.90730649e-03 -1.29041853e-04 9.99982543e-01 -4.68264521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.016875 meters 0.017274821458412644 Centerline is valid? [True, True] Translation: X:49.49, Y:5.08, Z:-0.47 [[ 9.88428657e-01 -1.51553805e-01 6.34309503e-03 4.94923483e+01] [ 1.51549829e-01 9.88449001e-01 1.10564163e-03 5.07562872e+00] [-6.43739014e-03 -1.31552902e-04 9.99979271e-01 -4.68591781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.076874999999994 meters 0.015652812883108776 Centerline is valid? [True, True] Translation: X:49.55, Y:5.08, Z:-0.47 [[ 9.87647411e-01 -1.56603350e-01 5.28974643e-03 4.95514602e+01] [ 1.56600652e-01 9.87661574e-01 9.23007616e-04 5.08149879e+00] [-5.36902536e-03 -8.32283437e-05 9.99985583e-01 -4.70700124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.136874999999996 meters 0.014625026145836722 Centerline is valid? [True, True] Translation: X:49.61, Y:5.09, Z:-0.47 [[ 9.86997235e-01 -1.60620064e-01 6.13626809e-03 4.96103545e+01] [ 1.60616496e-01 9.87016307e-01 1.07303206e-03 5.08936517e+00] [-6.22894714e-03 -7.34937940e-05 9.99980597e-01 -4.72842193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.196875 meters 0.014235592633971008 Centerline is valid? [True, True] Translation: X:49.67, Y:5.10, Z:-0.47 [[ 9.86490319e-01 -1.63677625e-01 6.81796492e-03 4.96691921e+01] [ 1.63673290e-01 9.86513878e-01 1.19277796e-03 5.09694243e+00] [-6.92124808e-03 -6.07451549e-05 9.99976046e-01 -4.71733854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.256874999999994 meters 0.013715015396557872 Centerline is valid? [True, True] Translation: X:49.73, Y:5.10, Z:-0.47 [[ 9.85857798e-01 -1.67503011e-01 5.20995454e-03 4.97284103e+01] [ 1.67500530e-01 9.85871564e-01 9.12065471e-04 5.10267886e+00] [-5.28911974e-03 -2.64967117e-05 9.99986012e-01 -4.71755487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.316874999999996 meters 0.01348564549138838 Centerline is valid? [True, True] Translation: X:49.79, Y:5.11, Z:-0.47 [[ 9.85467049e-01 -1.69802002e-01 4.68781205e-03 4.97859047e+01] [ 1.69800016e-01 9.85478199e-01 8.21358084e-04 5.11058846e+00] [-4.75920482e-03 -1.34307661e-05 9.99988675e-01 -4.73308560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.376875 meters 0.013456575338759841 Centerline is valid? [True, True] Translation: X:49.84, Y:5.12, Z:-0.47 [[ 9.85213718e-01 -1.71252691e-01 5.14254422e-03 4.98431162e+01] [ 1.71250311e-01 9.85227139e-01 9.02790351e-04 5.11903659e+00] [-5.22117940e-03 -8.77914103e-06 9.99986370e-01 -4.73152307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43687499999999 meters 0.01349166505596683 Centerline is valid? [True, True] Translation: X:49.90, Y:5.13, Z:-0.47 [[ 9.85317080e-01 -1.70603269e-01 6.69153981e-03 4.99004674e+01] [ 1.70599206e-01 9.85339801e-01 1.17755623e-03 5.12887850e+00] [-6.79433545e-03 -1.86948916e-05 9.99976918e-01 -4.70244084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.496874999999996 meters 0.013667074520391386 Centerline is valid? [True, True] Translation: X:49.96, Y:5.14, Z:-0.47 [[ 9.85374588e-01 -1.70198894e-01 8.32208150e-03 4.99580239e+01] [ 1.70192569e-01 9.85409730e-01 1.46756161e-03 5.13935076e+00] [-8.45043744e-03 -2.97414902e-05 9.99964294e-01 -4.70676460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.556875 meters 0.013637031969998643 Centerline is valid? [True, True] Translation: X:50.02, Y:5.15, Z:-0.47 [[ 9.85372630e-01 -1.70224323e-01 8.02866986e-03 5.00155753e+01] [ 1.70218420e-01 9.85405337e-01 1.41794743e-03 5.14827188e+00] [-8.15286327e-03 -3.05790922e-05 9.99966764e-01 -4.70454248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.616875 meters 0.014164249626796467 Centerline is valid? [True, True] Translation: X:50.07, Y:5.16, Z:-0.47 [[ 9.85832087e-01 -1.67576946e-01 7.28442304e-03 5.00715354e+01] [ 1.67571996e-01 9.85858998e-01 1.28894369e-03 5.16157191e+00] [-7.39741125e-03 -5.00167385e-05 9.99972638e-01 -4.73486297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.676874999999995 meters 0.014641428548031615 Centerline is valid? [True, True] Translation: X:50.13, Y:5.17, Z:-0.47 [[ 9.86353713e-01 -1.64509496e-01 6.55581085e-03 5.01288891e+01] [ 1.64505418e-01 9.86375497e-01 1.16028034e-03 5.17345767e+00] [-6.65736832e-03 -6.59804137e-05 9.99977837e-01 -4.74710167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.736875 meters 0.014667874652827286 Centerline is valid? [True, True] Translation: X:50.19, Y:5.18, Z:-0.48 [[ 9.86481980e-01 -1.63772422e-01 5.64780809e-03 5.01867365e+01] [ 1.63769377e-01 9.86498145e-01 1.00057924e-03 5.18355377e+00] [-5.73541949e-03 -6.21153790e-05 9.99983550e-01 -4.76382545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.796875 meters 0.0145140725519744 Centerline is valid? [True, True] Translation: X:50.25, Y:5.19, Z:-0.48 [[ 9.86247264e-01 -1.65139087e-01 6.73922827e-03 5.02452982e+01] [ 1.65134768e-01 9.86270286e-01 1.19614541e-03 5.19338053e+00] [-6.84423095e-03 -6.68142420e-05 9.99976576e-01 -4.78431222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.856874999999995 meters 0.013635920795348706 Centerline is valid? [True, True] Translation: X:50.30, Y:5.20, Z:-0.48 [[ 9.85040680e-01 -1.72246175e-01 5.11027174e-03 5.03039741e+01] [ 1.72243784e-01 9.85053935e-01 9.07641848e-04 5.19779526e+00] [-5.19023113e-03 -1.38515999e-05 9.99986531e-01 -4.80529623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.916875 meters 0.013456675374749046 Centerline is valid? [True, True] Translation: X:50.36, Y:5.21, Z:-0.48 [[ 9.84623968e-01 -1.74602959e-01 5.42671906e-03 5.03611893e+01] [ 1.74600291e-01 9.84638922e-01 9.65148564e-04 5.20623292e+00] [-5.51187660e-03 -2.80167922e-06 9.99984809e-01 -4.81072401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.976875 meters 0.013472113979003228 Centerline is valid? [True, True] Translation: X:50.42, Y:5.22, Z:-0.48 [[ 9.84840150e-01 -1.73326851e-01 6.90520368e-03 5.04184780e+01] [ 1.73322481e-01 9.84864357e-01 1.23084687e-03 5.21772897e+00] [-7.01402780e-03 -1.53603761e-05 9.99975401e-01 -4.81042828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.036874999999995 meters 0.013649519871512878 Centerline is valid? [True, True] Translation: X:50.47, Y:5.23, Z:-0.48 [[ 9.84924790e-01 -1.72795921e-01 8.04534821e-03 5.04741595e+01] [ 1.72789947e-01 9.84957648e-01 1.43713287e-03 5.22860378e+00] [-8.17265795e-03 -2.53125009e-05 9.99966603e-01 -4.81062606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.096875 meters 0.013800298609056249 Centerline is valid? [True, True] Translation: X:50.53, Y:5.24, Z:-0.48 [[ 9.85008552e-01 -1.72291635e-01 8.58744693e-03 5.05313535e+01] [ 1.72284796e-01 9.85045984e-01 1.53553381e-03 5.23966752e+00] [-8.72358975e-03 -3.30273988e-05 9.99961948e-01 -4.81513108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.156875 meters 0.013973820211021684 Centerline is valid? [True, True] Translation: X:50.59, Y:5.25, Z:-0.48 [[ 9.85099491e-01 -1.71805219e-01 7.87146517e-03 5.05882092e+01] [ 1.71799436e-01 9.85130938e-01 1.41008953e-03 5.25028248e+00] [-7.99668461e-03 -3.67652011e-05 9.99968025e-01 -4.84596944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.216874999999995 meters 0.014081431385415632 Centerline is valid? [True, True] Translation: X:50.65, Y:5.26, Z:-0.49 [[ 9.85151051e-01 -1.71584968e-01 6.00040136e-03 5.06465239e+01] [ 1.71581607e-01 9.85169324e-01 1.07442674e-03 5.26023811e+00] [-6.09576683e-03 -2.89141305e-05 9.99981420e-01 -4.85394091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.276875 meters 0.014107879254795109 Centerline is valid? [True, True] Translation: X:50.70, Y:5.27, Z:-0.49 [[ 9.85196007e-01 -1.71336915e-01 5.69996056e-03 5.07039814e+01] [ 1.71333871e-01 9.85212495e-01 1.02169579e-03 5.27067326e+00] [-5.79072658e-03 -2.99743050e-05 9.99983233e-01 -4.86157395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.336875 meters 0.01399483263540667 Centerline is valid? [True, True] Translation: X:50.76, Y:5.28, Z:-0.49 [[ 9.85104071e-01 -1.71845148e-01 6.26208620e-03 5.07599782e+01] [ 1.71841469e-01 9.85123974e-01 1.12497217e-03 5.28167398e+00] [-6.36225225e-03 -3.21285779e-05 9.99979760e-01 -4.89327032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.396874999999994 meters 0.013972845687813505 Centerline is valid? [True, True] Translation: X:50.82, Y:5.29, Z:-0.49 [[ 9.84940260e-01 -1.72668179e-01 8.85344025e-03 5.08182542e+01] [ 1.72660835e-01 9.84980050e-01 1.59296697e-03 5.29092346e+00] [-8.99551673e-03 -4.03349119e-05 9.99959539e-01 -4.87025117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.456875 meters 0.014059039643202266 Centerline is valid? [True, True] Translation: X:50.88, Y:5.30, Z:-0.49 [[ 9.85078582e-01 -1.71825575e-01 9.80603300e-03 5.08754250e+01] [ 1.71816498e-01 9.85127387e-01 1.76699613e-03 5.30289625e+00] [-9.96380679e-03 -5.57917952e-05 9.99950358e-01 -4.86861163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.516875 meters 0.014510441767969753 Centerline is valid? [True, True] Translation: X:50.93, Y:5.32, Z:-0.49 [[ 9.85527625e-01 -1.69295697e-01 8.61782966e-03 5.09327753e+01] [ 1.69288572e-01 9.85565300e-01 1.55500820e-03 5.31575678e+00] [-8.75669008e-03 -7.36034635e-05 9.99961657e-01 -4.88946402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.576874999999994 meters 0.01497238631134629 Centerline is valid? [True, True] Translation: X:50.99, Y:5.33, Z:-0.49 [[ 9.85930116e-01 -1.67028937e-01 6.56813331e-03 5.09890266e+01] [ 1.67024736e-01 9.85951991e-01 1.18686275e-03 5.32791874e+00] [-6.67410453e-03 -7.31229948e-05 9.99977725e-01 -4.92125865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.636874999999996 meters 0.014615185158489351 Centerline is valid? [True, True] Translation: X:51.05, Y:5.34, Z:-0.49 [[ 9.85717614e-01 -1.68204345e-01 8.25126148e-03 5.10471705e+01] [ 1.68197752e-01 9.85752145e-01 1.49153798e-03 5.33679883e+00] [-8.38458187e-03 -8.23916274e-05 9.99964845e-01 -4.91598818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.696875 meters 0.014459044870264608 Centerline is valid? [True, True] Translation: X:51.10, Y:5.35, Z:-0.49 [[ 9.85599588e-01 -1.68906903e-01 7.99438233e-03 5.11035905e+01] [ 1.68900719e-01 9.85632006e-01 1.44741167e-03 5.34596160e+00] [-8.12399692e-03 -7.63114263e-05 9.99966997e-01 -4.92423479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.756874999999994 meters 0.014718917379931012 Centerline is valid? [True, True] Translation: X:51.16, Y:5.36, Z:-0.49 [[ 9.85675977e-01 -1.68478654e-01 7.60343840e-03 5.11616214e+01] [ 1.68473043e-01 9.85705299e-01 1.37710111e-03 5.35651666e+00] [-7.72676167e-03 -7.64010799e-05 9.99970145e-01 -4.93110410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.816874999999996 meters 0.014899843779088937 Centerline is valid? [True, True] Translation: X:51.22, Y:5.37, Z:-0.50 [[ 9.85825081e-01 -1.67670534e-01 5.95833972e-03 5.12189254e+01] [ 1.67667064e-01 9.85843085e-01 1.08080415e-03 5.36751054e+00] [-6.05520701e-03 -6.64665119e-05 9.99981665e-01 -4.95146748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.876875 meters 0.01492475115925469 Centerline is valid? [True, True] Translation: X:51.28, Y:5.38, Z:-0.50 [[ 9.85838770e-01 -1.67601215e-01 5.63493610e-03 5.12762597e+01] [ 1.67598113e-01 9.85854872e-01 1.02156158e-03 5.37839161e+00] [-5.72644417e-03 -6.26903491e-05 9.99983602e-01 -4.96769172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93687499999999 meters 0.014505926745986225 Centerline is valid? [True, True] Translation: X:51.33, Y:5.39, Z:-0.50 [[ 9.85506507e-01 -1.69545029e-01 5.60423267e-03 5.13345578e+01] [ 1.69541982e-01 9.85522440e-01 1.01773952e-03 5.38664613e+00] [-5.69564974e-03 -5.28362065e-05 9.99983778e-01 -4.95803213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.996874999999996 meters 0.01415604683256395 Centerline is valid? [True, True] Translation: X:51.39, Y:5.40, Z:-0.49 [[ 9.84935418e-01 -1.72569954e-01 1.10378553e-02 5.13909505e+01] [ 1.72558264e-01 9.84997262e-01 2.00993796e-03 5.40332067e+00] [-1.12191122e-02 -7.49859271e-05 9.99937061e-01 -4.89807312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.056875 meters 0.013726250258298146 Centerline is valid? [True, True] Translation: X:51.45, Y:5.42, Z:-0.49 [[ 9.83824294e-01 -1.79013315e-01 6.63266455e-03 5.14480301e+01] [ 1.79009237e-01 9.83846651e-01 1.20832967e-03 5.41766211e+00] [-6.74183191e-03 -1.47587063e-06 9.99977274e-01 -4.94538482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.116875 meters 0.013713047346082405 Centerline is valid? [True, True] Translation: X:51.50, Y:5.44, Z:-0.51 [[ 9.82920000e-01 -1.84033317e-01 -1.08838598e-04 5.15040000e+01] [ 1.84033316e-01 9.82920006e-01 -2.08597938e-05 5.43530734e+00] [ 1.10818532e-04 4.73580555e-07 9.99999994e-01 -5.08123788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.176874999999995 meters 0.014150309715846184 Centerline is valid? [True, True] Translation: X:51.56, Y:5.44, Z:-0.50 [[ 9.82150187e-01 -1.88093262e-01 -1.39118233e-03 5.15616319e+01] [ 1.88093089e-01 9.82151172e-01 -2.55229648e-04 5.44471572e+00] [ 1.41435833e-03 -1.09979352e-05 9.99999000e-01 -5.04566302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.236875 meters 0.014264881923159188 Centerline is valid? [True, True] Translation: X:51.62, Y:5.46, Z:-0.50 [[ 9.81910564e-01 -1.89344536e-01 -5.38536729e-04 5.16189834e+01] [ 1.89344509e-01 9.81910712e-01 -1.01653913e-04 5.45710626e+00] [ 5.48042596e-04 -2.15392108e-06 9.99999850e-01 -5.02258237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.296875 meters 0.013739118516462579 Centerline is valid? [True, True] Translation: X:51.68, Y:5.48, Z:-0.50 [[ 9.82321026e-01 -1.87170441e-01 3.55352375e-03 5.16761115e+01] [ 1.87169319e-01 9.82327453e-01 6.48753834e-04 5.47555479e+00] [-3.61215147e-03 2.78260878e-05 9.99993476e-01 -5.01671036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.356874999999995 meters 0.013404657614023872 Centerline is valid? [True, True] Translation: X:51.73, Y:5.49, Z:-0.50 [[ 9.83085753e-01 -1.83066365e-01 5.39511215e-03 5.17335680e+01] [ 1.83063703e-01 9.83100557e-01 9.87440679e-04 5.48991845e+00] [-5.48470494e-03 1.69103453e-05 9.99984959e-01 -4.98248459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.416875 meters 0.013811225132091483 Centerline is valid? [True, True] Translation: X:51.79, Y:5.51, Z:-0.50 [[ 9.84705436e-01 -1.74184844e-01 3.85278856e-03 5.17882636e+01] [ 1.74183414e-01 9.84712973e-01 7.06180758e-04 5.51024624e+00] [-3.91689686e-03 -2.42881649e-05 9.99992329e-01 -5.00079915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.476875 meters 0.014619907611889497 Centerline is valid? [True, True] Translation: X:51.84, Y:5.53, Z:-0.50 [[ 9.85638197e-01 -1.68798065e-01 4.95568261e-03 5.18447321e+01] [ 1.68795629e-01 9.85650653e-01 9.08701422e-04 5.52813834e+00] [-5.03795884e-03 -5.91532678e-05 9.99987308e-01 -5.02495258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.536874999999995 meters 0.01558515452146168 Centerline is valid? [True, True] Translation: X:51.90, Y:5.54, Z:-0.50 [[ 9.86452448e-01 -1.63885591e-01 7.28564069e-03 5.19019521e+01] [ 1.63880170e-01 9.86479344e-01 1.33897132e-03 5.54284486e+00] [-7.40657216e-03 -1.26859495e-04 9.99972563e-01 -5.00497304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.596875 meters 0.016682061344248236 Centerline is valid? [True, True] Translation: X:51.96, Y:5.56, Z:-0.50 [[ 9.86713211e-01 -1.62351453e-01 6.24858012e-03 5.19582169e+01] [ 1.62347423e-01 9.86732989e-01 1.15029647e-03 5.55704963e+00] [-6.35243244e-03 -1.20571847e-04 9.99979816e-01 -5.02218305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.656875 meters 0.016627869684538242 Centerline is valid? [True, True] Translation: X:52.02, Y:5.57, Z:-0.50 [[ 9.86817714e-01 -1.61662678e-01 7.48178201e-03 5.20159214e+01] [ 1.61656878e-01 9.86846065e-01 1.37762403e-03 5.56730399e+00] [-7.60607753e-03 -1.49982273e-04 9.99971062e-01 -5.02395943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.716874999999995 meters 0.016589705653151137 Centerline is valid? [True, True] Translation: X:52.07, Y:5.58, Z:-0.50 [[ 9.86765504e-01 -1.62029468e-01 6.34752370e-03 5.20738094e+01] [ 1.62025294e-01 9.86785912e-01 1.16974631e-03 5.57643279e+00] [-6.45318033e-03 -1.25805911e-04 9.99979170e-01 -5.03548288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.776875 meters 0.01620577684288622 Centerline is valid? [True, True] Translation: X:52.13, Y:5.58, Z:-0.51 [[ 9.86587228e-01 -1.63134011e-01 5.73903218e-03 5.21324184e+01] [ 1.63130609e-01 9.86603914e-01 1.05910914e-03 5.58487468e+00] [-5.83492833e-03 -1.08691732e-04 9.99982971e-01 -5.06405133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.836875 meters 0.016239657951299474 Centerline is valid? [True, True] Translation: X:52.19, Y:5.59, Z:-0.51 [[ 9.86420888e-01 -1.64134940e-01 5.79252825e-03 5.21906498e+01] [ 1.64131483e-01 9.86437890e-01 1.07046320e-03 5.59344075e+00] [-5.88966976e-03 -1.05191009e-04 9.99982650e-01 -5.06950070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.896874999999994 meters 0.016270312823603507 Centerline is valid? [True, True] Translation: X:52.25, Y:5.60, Z:-0.51 [[ 9.86510489e-01 -1.63659215e-01 3.56599266e-03 5.22492158e+01] [ 1.63657902e-01 9.86516932e-01 6.58827025e-04 5.60261448e+00] [-3.62573526e-03 -6.63368931e-05 9.99993425e-01 -5.08233329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.956875 meters 0.01750738019829714 Centerline is valid? [True, True] Translation: X:52.31, Y:5.61, Z:-0.51 [[ 9.86804940e-01 -1.61876757e-01 3.45343571e-03 5.23056291e+01] [ 1.61875508e-01 9.86810980e-01 6.39991164e-04 5.61464182e+00] [-3.51148797e-03 -7.25197832e-05 9.99993832e-01 -5.09286259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.016875 meters 0.0185949549733984 Centerline is valid? [True, True] Translation: X:52.36, Y:5.63, Z:-0.51 [[ 9.87464166e-01 -1.57775498e-01 4.62740954e-03 5.23641017e+01] [ 1.57773206e-01 9.87475001e-01 8.58597109e-04 5.62660459e+00] [-4.70491683e-03 -1.17752641e-04 9.99988925e-01 -5.09348872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.076874999999994 meters 0.019540304367366222 Centerline is valid? [True, True] Translation: X:52.42, Y:5.64, Z:-0.51 [[ 9.87850432e-01 -1.55359271e-01 3.87561335e-03 5.24212172e+01] [ 1.55357645e-01 9.87858029e-01 7.18807258e-04 5.63831247e+00] [-3.94022914e-03 -1.07967897e-04 9.99992231e-01 -5.10456781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.136874999999996 meters 0.019673367284757357 Centerline is valid? [True, True] Translation: X:52.48, Y:5.65, Z:-0.51 [[ 9.88010604e-01 -1.54361375e-01 2.75917423e-03 5.24797909e+01] [ 1.54360551e-01 9.88014453e-01 5.10397123e-04 5.64696098e+00] [-2.80488962e-03 -7.83701159e-05 9.99996063e-01 -5.10550987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.196875 meters 0.019501934642067568 Centerline is valid? [True, True] Translation: X:52.54, Y:5.66, Z:-0.51 [[ 9.87866460e-01 -1.55283358e-01 2.63365382e-03 5.25383628e+01] [ 1.55282609e-01 9.87869968e-01 4.87694345e-04 5.65635763e+00] [-2.67743833e-03 -7.28162492e-05 9.99996413e-01 -5.11145291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.256874999999994 meters 0.017446110210229418 Centerline is valid? [True, True] Translation: X:52.60, Y:5.66, Z:-0.51 [[ 9.87276105e-01 -1.58963470e-01 4.06305452e-03 5.25981799e+01] [ 1.58961708e-01 9.87284460e-01 7.54955786e-04 5.66041878e+00] [-4.13140098e-03 -9.94797192e-05 9.99991461e-01 -5.09828707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.316874999999996 meters 0.017937294709335767 Centerline is valid? [True, True] Translation: X:52.66, Y:5.67, Z:-0.51 [[ 9.86791603e-01 -1.61938617e-01 4.26805280e-03 5.26550855e+01] [ 1.61936693e-01 9.86800829e-01 7.94920633e-04 5.67010874e+00] [-4.34044639e-03 -9.32666482e-05 9.99990576e-01 -5.11415191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.376875 meters 0.01663502566936327 Centerline is valid? [True, True] Translation: X:52.71, Y:5.68, Z:-0.51 [[ 9.86334673e-01 -1.64661714e-01 5.51666465e-03 5.27144975e+01] [ 1.64658538e-01 9.86350094e-01 1.02809216e-03 5.67588729e+00] [-5.61065012e-03 -1.05677011e-04 9.99984255e-01 -5.10396484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43687499999999 meters 0.01695661814891544 Centerline is valid? [True, True] Translation: X:52.77, Y:5.69, Z:-0.51 [[ 9.86504571e-01 -1.63683197e-01 4.06735394e-03 5.27722537e+01] [ 1.63681462e-01 9.86512952e-01 7.58144919e-04 5.68613625e+00] [-4.13659293e-03 -8.21629901e-05 9.99991441e-01 -5.11774254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.496874999999996 meters 0.017815122003475237 Centerline is valid? [True, True] Translation: X:52.83, Y:5.70, Z:-0.51 [[ 9.86808171e-01 -1.61867517e-01 2.92239814e-03 5.28296751e+01] [ 1.61866613e-01 9.86812496e-01 5.44706208e-04 5.69801944e+00] [-2.97202924e-03 -6.44818476e-05 9.99995581e-01 -5.13743885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.556875 meters 0.018874389308516565 Centerline is valid? [True, True] Translation: X:52.89, Y:5.71, Z:-0.52 [[ 9.87060071e-01 -1.60338238e-01 2.01612411e-03 5.28872736e+01] [ 1.60337805e-01 9.87062129e-01 3.75472002e-04 5.71017742e+00] [-2.05024228e-03 -4.73525052e-05 9.99997897e-01 -5.16707155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.616875 meters 0.017957882049327977 Centerline is valid? [True, True] Translation: X:52.95, Y:5.72, Z:-0.52 [[ 9.87276803e-01 -1.58973430e-01 3.45866683e-03 5.29454866e+01] [ 1.58972135e-01 9.87282857e-01 6.48000915e-04 5.71649924e+00] [-3.51769740e-03 -8.99246229e-05 9.99993809e-01 -5.15043894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.676874999999995 meters 0.019119377994591756 Centerline is valid? [True, True] Translation: X:53.00, Y:5.73, Z:-0.51 [[ 9.87214953e-01 -1.59351948e-01 3.68695241e-03 5.30026769e+01] [ 1.59350477e-01 9.87221833e-01 6.91195843e-04 5.72716016e+00] [-3.74998332e-03 -9.48412468e-05 9.99992964e-01 -5.14293440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.736875 meters 0.020241548564221293 Centerline is valid? [True, True] Translation: X:53.06, Y:5.74, Z:-0.52 [[ 9.87015712e-01 -1.60577810e-01 3.84073583e-03 5.30594553e+01] [ 1.60576222e-01 9.87023180e-01 7.20437532e-04 5.73866516e+00] [-3.90658157e-03 -9.43523139e-05 9.99992365e-01 -5.15438118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.796875 meters 0.018279989989520053 Centerline is valid? [True, True] Translation: X:53.12, Y:5.75, Z:-0.52 [[ 9.86905648e-01 -1.61252381e-01 3.86158339e-03 5.31170575e+01] [ 1.61250785e-01 9.86913198e-01 7.23287640e-04 5.74554399e+00] [-3.92767947e-03 -9.11333055e-05 9.99992282e-01 -5.15904051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.856874999999995 meters 0.017782034631045468 Centerline is valid? [True, True] Translation: X:53.18, Y:5.76, Z:-0.52 [[ 9.86679970e-01 -1.62648443e-01 2.84959633e-03 5.31750135e+01] [ 1.62647579e-01 9.86684083e-01 5.34023752e-04 5.75508606e+00] [-2.89850947e-03 -6.34305954e-05 9.99995797e-01 -5.18047801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.916875 meters 0.016055119779232525 Centerline is valid? [True, True] Translation: X:53.23, Y:5.76, Z:-0.52 [[ 9.85765560e-01 -1.68073137e-01 4.20493647e-03 5.32349464e+01] [ 1.68071288e-01 9.85774526e-01 7.91714100e-04 5.76097626e+00] [-4.27818513e-03 -7.37154031e-05 9.99990846e-01 -5.15558829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.976875 meters 0.01494596856152829 Centerline is valid? [True, True] Translation: X:53.29, Y:5.77, Z:-0.51 [[ 9.85019400e-01 -1.72350663e-01 5.65952183e-03 5.32935124e+01] [ 1.72347389e-01 9.85035656e-01 1.06501682e-03 5.76894511e+00] [-5.75838716e-03 -7.36584195e-05 9.99983418e-01 -5.13863922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.036874999999995 meters 0.014649022593468458 Centerline is valid? [True, True] Translation: X:53.35, Y:5.78, Z:-0.52 [[ 9.84426439e-01 -1.75710950e-01 5.49985770e-03 5.33505267e+01] [ 1.75707898e-01 9.84441801e-01 1.03719496e-03 5.78006704e+00] [-5.59653633e-03 -5.46737054e-05 9.99984338e-01 -5.16371593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.096875 meters 0.013990845088437443 Centerline is valid? [True, True] Translation: X:53.41, Y:5.79, Z:-0.52 [[ 9.83789710e-01 -1.79242558e-01 5.46920119e-03 5.34089846e+01] [ 1.79239596e-01 9.83804912e-01 1.03100911e-03 5.79000428e+00] [-5.56542770e-03 -3.39987409e-05 9.99984512e-01 -5.16735324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.156875 meters 0.013739384946977939 Centerline is valid? [True, True] Translation: X:53.47, Y:5.80, Z:-0.52 [[ 9.83110804e-01 -1.82955224e-01 4.53138231e-03 5.34672635e+01] [ 1.82953227e-01 9.83121247e-01 8.54914989e-04 5.80049281e+00] [-4.61130939e-03 -1.14451468e-05 9.99989368e-01 -5.18537780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.216874999999995 meters 0.013709057772550177 Centerline is valid? [True, True] Translation: X:53.53, Y:5.81, Z:-0.52 [[ 9.82537592e-01 -1.85980663e-01 5.57434904e-03 5.35254409e+01] [ 1.85977678e-01 9.82553405e-01 1.05370301e-03 5.81149100e+00] [-5.67306402e-03 1.40167689e-06 9.99983908e-01 -5.17974631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.276875 meters 0.014486231969836293 Centerline is valid? [True, True] Translation: X:53.58, Y:5.82, Z:-0.51 [[ 9.80600349e-01 -1.95802197e-01 9.18992741e-03 5.35823842e+01] [ 1.95794475e-01 9.80643407e-01 1.74135092e-03 5.82012023e+00] [-9.35300206e-03 9.17676946e-05 9.99956256e-01 -5.12836467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.336875 meters 0.014823311220193224 Centerline is valid? [True, True] Translation: X:53.64, Y:5.83, Z:-0.52 [[ 9.79853454e-01 -1.99592889e-01 7.06302503e-03 5.36393932e+01] [ 1.99588426e-01 9.79878905e-01 1.33846509e-03 5.83438916e+00] [-7.18805735e-03 9.81984085e-05 9.99974161e-01 -5.17445046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.396874999999994 meters 0.015247899589935023 Centerline is valid? [True, True] Translation: X:53.70, Y:5.85, Z:-0.52 [[ 9.79476810e-01 -2.01475811e-01 5.71627485e-03 5.36964624e+01] [ 2.01472914e-01 9.79493486e-01 1.08416730e-03 5.84881014e+00] [-5.81748747e-03 8.97578171e-05 9.99983074e-01 -5.21086743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.456875 meters 0.015262850012128085 Centerline is valid? [True, True] Translation: X:53.75, Y:5.87, Z:-0.52 [[ 9.79846707e-01 -1.99678705e-01 5.37083422e-03 5.37520707e+01] [ 1.99676111e-01 9.79861424e-01 1.02045456e-03 5.86562045e+00] [-5.46643631e-03 7.25382515e-05 9.99985056e-01 -5.20791412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.516875 meters 0.014424505721370011 Centerline is valid? [True, True] Translation: X:53.81, Y:5.89, Z:-0.52 [[ 9.80508515e-01 -1.96392423e-01 5.75051178e-03 5.38084173e+01] [ 1.96389391e-01 9.80525376e-01 1.09282716e-03 5.88530362e+00] [-5.85314570e-03 5.78131710e-05 9.99982869e-01 -5.19365652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.576874999999994 meters 0.013732056207548622 Centerline is valid? [True, True] Translation: X:53.86, Y:5.91, Z:-0.52 [[ 9.82385590e-01 -1.86800779e-01 4.90121513e-03 5.38633344e+01] [ 1.86798453e-01 9.82397816e-01 9.32222356e-04 5.91106191e+00] [-4.98908290e-03 -2.62405750e-07 9.99987554e-01 -5.22506352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.636874999999996 meters 0.014212595264899985 Centerline is valid? [True, True] Translation: X:53.92, Y:5.93, Z:-0.52 [[ 9.83692829e-01 -1.79771721e-01 5.52680456e-03 5.39194420e+01] [ 1.79768643e-01 9.83708354e-01 1.05291639e-03 5.93262470e+00] [-5.62604841e-03 -4.22001527e-05 9.99984173e-01 -5.24378430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.696875 meters 0.01530831464648121 Centerline is valid? [True, True] Translation: X:53.98, Y:5.95, Z:-0.52 [[ 9.84738710e-01 -1.73916772e-01 6.52908166e-03 5.39758989e+01] [ 1.73912333e-01 9.84760350e-01 1.24595639e-03 5.95268366e+00] [-6.64627346e-03 -9.14536591e-05 9.99977909e-01 -5.24412088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.756874999999994 meters 0.016150222400218083 Centerline is valid? [True, True] Translation: X:54.03, Y:5.97, Z:-0.52 [[ 9.85915729e-01 -1.66995202e-01 9.09822050e-03 5.40327348e+01] [ 1.66986253e-01 9.85957689e-01 1.73990724e-03 5.97252914e+00] [-9.26101662e-03 -1.96124168e-04 9.99957097e-01 -5.22127665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.816874999999996 meters 0.0169995640803855 Centerline is valid? [True, True] Translation: X:54.09, Y:5.99, Z:-0.52 [[ 9.86297167e-01 -1.64695093e-01 9.66562594e-03 5.40896905e+01] [ 1.64684881e-01 9.86344500e-01 1.84852726e-03 5.98958283e+00] [-9.83808036e-03 -2.31414743e-04 9.99951578e-01 -5.22719091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.876875 meters 0.01741903339598344 Centerline is valid? [True, True] Translation: X:54.15, Y:6.01, Z:-0.52 [[ 9.86589586e-01 -1.62911386e-01 1.00433984e-02 5.41460124e+01] [ 1.62900240e-01 9.86640670e-01 1.92356307e-03 6.00550979e+00] [-1.02225957e-02 -2.61695284e-04 9.99947714e-01 -5.24635326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93687499999999 meters 0.01760604058349854 Centerline is valid? [True, True] Translation: X:54.20, Y:6.02, Z:-0.53 [[ 9.86876809e-01 -1.61286570e-01 7.79780478e-03 5.42023030e+01] [ 1.61279794e-01 9.86907592e-01 1.49435046e-03 6.02148570e+00] [-7.93673140e-03 -2.17111464e-04 9.99968480e-01 -5.27889237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.996874999999996 meters 0.01837327817603929 Centerline is valid? [True, True] Translation: X:54.26, Y:6.04, Z:-0.53 [[ 9.87133580e-01 -1.59733173e-01 7.25324965e-03 5.42587486e+01] [ 1.59727265e-01 9.87160204e-01 1.39043312e-03 6.03681753e+00] [-7.38221770e-03 -2.14001494e-04 9.99972728e-01 -5.28077425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.056875 meters 0.019249889584101003 Centerline is valid? [True, True] Translation: X:54.32, Y:6.05, Z:-0.53 [[ 9.87197440e-01 -1.59303223e-01 7.98112471e-03 5.43154046e+01] [ 1.59296044e-01 9.87229672e-01 1.53135216e-03 6.05103742e+00] [-8.12315246e-03 -2.40385341e-04 9.99966978e-01 -5.28249443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.116875 meters 0.020680583746886427 Centerline is valid? [True, True] Translation: X:54.37, Y:6.07, Z:-0.53 [[ 9.87482849e-01 -1.57482974e-01 8.75986159e-03 5.43725783e+01] [ 1.57474249e-01 9.87521663e-01 1.68131948e-03 6.06659130e+00] [-8.91533227e-03 -2.80821520e-04 9.99960218e-01 -5.28171789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.176874999999995 meters 0.020751694472822674 Centerline is valid? [True, True] Translation: X:54.43, Y:6.08, Z:-0.53 [[ 9.87810859e-01 -1.55485965e-01 7.33638389e-03 5.44298226e+01] [ 1.55479780e-01 9.87838069e-01 1.40945687e-03 6.07989219e+00] [-7.46631006e-03 -2.51617444e-04 9.99972095e-01 -5.30515496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.236875 meters 0.02069285468806926 Centerline is valid? [True, True] Translation: X:54.49, Y:6.09, Z:-0.53 [[ 9.87915253e-01 -1.54827667e-01 7.20039921e-03 5.44876144e+01] [ 1.54821679e-01 9.87941460e-01 1.38509636e-03 6.09212550e+00] [-7.32802414e-03 -2.53579930e-04 9.99973118e-01 -5.31660419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.296875 meters 0.020716824338138946 Centerline is valid? [True, True] Translation: X:54.55, Y:6.10, Z:-0.53 [[ 9.87990267e-01 -1.54380881e-01 6.46338169e-03 5.45453568e+01] [ 1.54376038e-01 9.88011381e-01 1.24468130e-03 6.10257539e+00] [-6.57804967e-03 -2.31941754e-04 9.99978337e-01 -5.32628992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.356874999999995 meters 0.01996431886479594 Centerline is valid? [True, True] Translation: X:54.60, Y:6.11, Z:-0.53 [[ 9.87827496e-01 -1.55445541e-01 5.78978428e-03 5.46037375e+01] [ 1.55441666e-01 9.87844443e-01 1.11613547e-03 6.11116845e+00] [-5.89290451e-03 -2.02575591e-04 9.99982616e-01 -5.32865886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.416875 meters 0.01952667919917716 Centerline is valid? [True, True] Translation: X:54.66, Y:6.12, Z:-0.53 [[ 9.87672380e-01 -1.56428566e-01 5.77695543e-03 5.46624677e+01] [ 1.56424716e-01 9.87689255e-01 1.11525026e-03 6.12055816e+00] [-5.88029380e-03 -1.97843263e-04 9.99982691e-01 -5.33755314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.476875 meters 0.020323471406968645 Centerline is valid? [True, True] Translation: X:54.72, Y:6.13, Z:-0.54 [[ 9.87365788e-01 -1.58386846e-01 4.73370317e-03 5.47194088e+01] [ 1.58384277e-01 9.87377123e-01 9.15182343e-04 6.12917876e+00] [-4.81890306e-03 -1.53875582e-04 9.99988377e-01 -5.36375665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.536874999999995 meters 0.01902853647307104 Centerline is valid? [True, True] Translation: X:54.78, Y:6.13, Z:-0.54 [[ 9.87227621e-01 -1.59277484e-01 3.50805324e-03 5.47787747e+01] [ 1.59276082e-01 9.87233848e-01 6.77404064e-04 6.13470155e+00] [-3.57116412e-03 -1.10003028e-04 9.99993617e-01 -5.37995234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.596875 meters 0.02019634486116842 Centerline is valid? [True, True] Translation: X:54.84, Y:6.14, Z:-0.54 [[ 9.87282578e-01 -1.58929804e-01 3.79862940e-03 5.48354575e+01] [ 1.58928148e-01 9.87289878e-01 7.35921165e-04 6.14397624e+00] [-3.86730816e-03 -1.22853010e-04 9.99992514e-01 -5.39359509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.656875 meters 0.019446942469095955 Centerline is valid? [True, True] Translation: X:54.89, Y:6.15, Z:-0.54 [[ 9.87390316e-01 -1.58268642e-01 3.37658026e-03 5.48948009e+01] [ 1.58267333e-01 9.87396083e-01 6.53069653e-04 6.14606606e+00] [-3.43738257e-03 -1.10432299e-04 9.99994086e-01 -5.39597966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.716874999999995 meters 0.020162378347071335 Centerline is valid? [True, True] Translation: X:54.95, Y:6.15, Z:-0.54 [[ 9.87482761e-01 -1.57703430e-01 2.72476365e-03 5.49538195e+01] [ 1.57702575e-01 9.87486516e-01 5.27192467e-04 6.15318419e+00] [-2.77380743e-03 -9.08912284e-05 9.99996149e-01 -5.41248571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.776875 meters 0.022833475017808896 Centerline is valid? [True, True] Translation: X:55.01, Y:6.16, Z:-0.54 [[ 9.87685874e-01 -1.56432166e-01 2.36464360e-03 5.50110682e+01] [ 1.56431514e-01 9.87688701e-01 4.59177724e-04 6.16015005e+00] [-2.40736193e-03 -8.36185720e-05 9.99997099e-01 -5.44162793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.836875 meters 0.02327766303400224 Centerline is valid? [True, True] Translation: X:55.07, Y:6.17, Z:-0.55 [[ 9.87698662e-01 -1.56351868e-01 2.33378860e-03 5.50701489e+01] [ 1.56351236e-01 9.87701416e-01 4.52048396e-04 6.16689934e+00] [-2.37576491e-03 -8.15968644e-05 9.99997175e-01 -5.45100371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.896874999999994 meters 0.021773011171336135 Centerline is valid? [True, True] Translation: X:55.13, Y:6.17, Z:-0.54 [[ 9.87443748e-01 -1.57935147e-01 3.36654379e-03 5.51296091e+01] [ 1.57933833e-01 9.87449480e-01 6.54049105e-04 6.16978542e+00] [-3.42758926e-03 -1.14145533e-04 9.99994119e-01 -5.43916011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.956875 meters 0.019737515899197876 Centerline is valid? [True, True] Translation: X:55.19, Y:6.17, Z:-0.54 [[ 9.86863137e-01 -1.61457631e-01 5.70801127e-03 5.51899702e+01] [ 1.61453895e-01 9.86879629e-01 1.11241172e-03 6.16984263e+00] [-5.81272740e-03 -1.76217465e-04 9.99983090e-01 -5.43327809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.016875 meters 0.020078244655473157 Centerline is valid? [True, True] Translation: X:55.25, Y:6.18, Z:-0.55 [[ 9.86272228e-01 -1.65009407e-01 6.24402582e-03 5.52477787e+01] [ 1.65004993e-01 9.86291978e-01 1.21916898e-03 6.17625261e+00] [-6.35960693e-03 -1.72137070e-04 9.99979763e-01 -5.45267612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.076874999999994 meters 0.01836258399161423 Centerline is valid? [True, True] Translation: X:55.31, Y:6.18, Z:-0.55 [[ 9.85427959e-01 -1.69988955e-01 5.95757281e-03 5.53079636e+01] [ 1.69985020e-01 9.85445958e-01 1.16440543e-03 6.17899084e+00] [-6.06880211e-03 -1.34739532e-04 9.99981576e-01 -5.45817681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.136874999999996 meters 0.0161724933212458 Centerline is valid? [True, True] Translation: X:55.37, Y:6.18, Z:-0.55 [[ 9.84227961e-01 -1.76785553e-01 6.49526688e-03 5.53694399e+01] [ 1.76781022e-01 9.84249388e-01 1.26969472e-03 6.17742069e+00] [-6.61742613e-03 -1.01429131e-04 9.99978099e-01 -5.45088488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.196875 meters 0.01556690624072377 Centerline is valid? [True, True] Translation: X:55.43, Y:6.18, Z:-0.55 [[ 9.83789999e-01 -1.79183555e-01 7.10570409e-03 5.54285201e+01] [ 1.79178198e-01 9.83815656e-01 1.38872973e-03 6.18467639e+00] [-7.23954046e-03 -9.30311641e-05 9.99973790e-01 -5.45427412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.256874999999994 meters 0.01540104841579892 Centerline is valid? [True, True] Translation: X:55.49, Y:6.19, Z:-0.55 [[ 9.83516545e-01 -1.80671464e-01 7.28197495e-03 5.54867415e+01] [ 1.80665866e-01 9.83543499e-01 1.42487655e-03 6.19374132e+00] [-7.41957365e-03 -8.57853541e-05 9.99972471e-01 -5.47503430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.316874999999996 meters 0.015370235581020015 Centerline is valid? [True, True] Translation: X:55.54, Y:6.20, Z:-0.55 [[ 9.83445048e-01 -1.81022942e-01 8.15673768e-03 5.55440576e+01] [ 1.81015906e-01 9.83478869e-01 1.59887379e-03 6.20365234e+00] [-8.31141199e-03 -9.59052488e-05 9.99965455e-01 -5.47157102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.376875 meters 0.015446197053575814 Centerline is valid? [True, True] Translation: X:55.60, Y:6.22, Z:-0.55 [[ 9.83554445e-01 -1.80352379e-01 9.67847864e-03 5.56015599e+01] [ 1.80342433e-01 9.83602056e-01 1.89800139e-03 6.21584499e+00] [-9.86208056e-03 -1.21347319e-04 9.99951361e-01 -5.47252527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43687499999999 meters 0.0159551706125919 Centerline is valid? [True, True] Translation: X:55.66, Y:6.23, Z:-0.55 [[ 9.84035660e-01 -1.77644456e-01 1.07827072e-02 5.56586425e+01] [ 1.77631915e-01 9.84094721e-01 2.11753514e-03 6.22934340e+00] [-1.09873736e-02 -1.68377174e-04 9.99939623e-01 -5.46313944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.496874999999996 meters 0.01796757782457043 Centerline is valid? [True, True] Translation: X:55.71, Y:6.25, Z:-0.55 [[ 9.84909190e-01 -1.72753781e-01 1.04889780e-02 5.57144873e+01] [ 1.72741608e-01 9.84965016e-01 2.06250984e-03 6.24798255e+00] [-1.06875828e-02 -2.19501966e-04 9.99942862e-01 -5.49142339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.556875 meters 0.01761935583208894 Centerline is valid? [True, True] Translation: X:55.77, Y:6.26, Z:-0.55 [[ 9.85175746e-01 -1.71163850e-01 1.14754228e-02 5.57722600e+01] [ 1.71149162e-01 9.85242543e-01 2.25727004e-03 6.26050420e+00] [-1.16924378e-02 -2.59798696e-04 9.99931607e-01 -5.49559449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61687499999999 meters 0.018645580587811975 Centerline is valid? [True, True] Translation: X:55.83, Y:6.27, Z:-0.55 [[ 9.85238936e-01 -1.70787161e-01 1.16612688e-02 5.58280997e+01] [ 1.70771933e-01 9.85307907e-01 2.29674101e-03 6.27425950e+00] [-1.18821942e-02 -2.71421250e-04 9.99929367e-01 -5.49006966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.676874999999995 meters 0.01765825840558981 Centerline is valid? [True, True] Translation: X:55.89, Y:6.29, Z:-0.55 [[ 9.85035425e-01 -1.72044184e-01 1.02961119e-02 5.58865204e+01] [ 1.72032373e-01 9.85089208e-01 2.02859434e-03 6.28529364e+00] [-1.04915966e-02 -2.26972727e-04 9.99944936e-01 -5.51090718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.736875 meters 0.01687377186995949 Centerline is valid? [True, True] Translation: X:55.94, Y:6.30, Z:-0.55 [[ 9.84552358e-01 -1.74883711e-01 8.50546037e-03 5.59442168e+01] [ 1.74875744e-01 9.84589082e-01 1.67730638e-03 6.29572905e+00] [-8.66771699e-03 -1.63997236e-04 9.99962421e-01 -5.54943336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.796875 meters 0.016070109319947994 Centerline is valid? [True, True] Translation: X:56.00, Y:6.30, Z:-0.56 [[ 9.83932925e-01 -1.78402597e-01 6.96508654e-03 5.60025538e+01] [ 1.78397334e-01 9.83957571e-01 1.37480765e-03 6.30470083e+00] [-7.09861889e-03 -1.10165646e-04 9.99974798e-01 -5.56965836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.856874999999995 meters 0.0148509631156811 Centerline is valid? [True, True] Translation: X:56.06, Y:6.31, Z:-0.56 [[ 9.82765114e-01 -1.84686040e-01 7.98735593e-03 5.60617702e+01] [ 1.84679305e-01 9.82797569e-01 1.57902850e-03 6.31123083e+00] [-8.14157851e-03 -7.67147802e-05 9.99966854e-01 -5.55773753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.916875 meters 0.014285366108611615 Centerline is valid? [True, True] Translation: X:56.12, Y:6.32, Z:-0.55 [[ 9.82043364e-01 -1.88407458e-01 9.66754924e-03 5.61199673e+01] [ 1.88397746e-01 9.82090946e-01 1.91389140e-03 6.32036993e+00] [-9.85500400e-03 -5.81798641e-05 9.99951437e-01 -5.54319780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.976875 meters 0.014204116226554053 Centerline is valid? [True, True] Translation: X:56.18, Y:6.33, Z:-0.56 [[ 9.81688035e-01 -1.90217542e-01 1.02902282e-02 5.61768184e+01] [ 1.90206608e-01 9.81741964e-01 2.03993174e-03 6.33106498e+00] [-1.04903797e-02 -4.53071699e-05 9.99944973e-01 -5.55218548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.036874999999995 meters 0.013906167515813693 Centerline is valid? [True, True] Translation: X:56.23, Y:6.34, Z:-0.56 [[ 9.80683102e-01 -1.95361512e-01 9.72284289e-03 5.62343230e+01] [ 1.95351993e-01 9.80731298e-01 1.92845786e-03 6.34006239e+00] [-9.91224278e-03 8.17070350e-06 9.99950872e-01 -5.57527679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.096875 meters 0.013882800967955492 Centerline is valid? [True, True] Translation: X:56.29, Y:6.35, Z:-0.56 [[ 9.80209181e-01 -1.97774161e-01 8.68001579e-03 5.62916957e+01] [ 1.97766650e-01 9.80247612e-01 1.72377288e-03 6.35097391e+00] [-8.84948248e-03 2.69596462e-05 9.99960842e-01 -5.58923571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.156875 meters 0.013912287041064016 Centerline is valid? [True, True] Translation: X:56.35, Y:6.36, Z:-0.56 [[ 9.80048362e-01 -1.98607522e-01 7.76273661e-03 5.63482761e+01] [ 1.98601527e-01 9.80079105e-01 1.54345227e-03 6.36239377e+00] [-7.91463717e-03 2.90334743e-05 9.99968678e-01 -5.58122593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.216874999999995 meters 0.01382459852048552 Centerline is valid? [True, True] Translation: X:56.40, Y:6.38, Z:-0.56 [[ 9.79947986e-01 -1.99041076e-01 9.19758707e-03 5.64044727e+01] [ 1.99032649e-01 9.79991147e-01 1.83188746e-03 6.37645983e+00] [-9.37817476e-03 3.54656933e-05 9.99956023e-01 -5.58738012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.276875 meters 0.013788948294160904 Centerline is valid? [True, True] Translation: X:56.46, Y:6.39, Z:-0.56 [[ 9.79880614e-01 -1.99315416e-01 1.03608624e-02 5.64602707e+01] [ 1.99304702e-01 9.79935387e-01 2.06697372e-03 6.38942982e+00] [-1.05649554e-02 3.95811190e-05 9.99944189e-01 -5.59046861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.336875 meters 0.013771663767187628 Centerline is valid? [True, True] Translation: X:56.52, Y:6.40, Z:-0.56 [[ 9.79922742e-01 -1.99099713e-01 1.05225442e-02 5.65167207e+01] [ 1.99088636e-01 9.79979236e-01 2.10047981e-03 6.40283849e+00] [-1.07300798e-02 3.66110416e-05 9.99942430e-01 -5.58566358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.396874999999994 meters 0.013782495351815676 Centerline is valid? [True, True] Translation: X:56.57, Y:6.42, Z:-0.56 [[ 9.80801657e-01 -1.94745599e-01 1.01124748e-02 5.65709642e+01] [ 1.94735107e-01 9.80853787e-01 2.02154205e-03 6.42071508e+00] [-1.03125457e-02 -1.34779200e-05 9.99946824e-01 -5.59747826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.456875 meters 0.013959888097276997 Centerline is valid? [True, True] Translation: X:56.63, Y:6.44, Z:-0.56 [[ 9.81596333e-01 -1.90795150e-01 8.11482735e-03 5.66272271e+01] [ 1.90788255e-01 9.81629874e-01 1.62260890e-03 6.43769217e+00] [-8.27534285e-03 -4.45331958e-05 9.99965758e-01 -5.62834461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.516875 meters 0.01433379739606701 Centerline is valid? [True, True] Translation: X:56.68, Y:6.45, Z:-0.57 [[ 9.82330353e-01 -1.87046084e-01 6.39057622e-03 5.66843179e+01] [ 1.87041723e-01 9.82351138e-01 1.27880595e-03 6.45420629e+00] [-6.51698547e-03 -6.09055164e-05 9.99978762e-01 -5.66934987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.576874999999994 meters 0.014738329250611667 Centerline is valid? [True, True] Translation: X:56.74, Y:6.47, Z:-0.57 [[ 9.82816672e-01 -1.84510978e-01 5.20459429e-03 5.67412594e+01] [ 1.84508046e-01 9.82830451e-01 1.04227373e-03 6.46815114e+00] [-5.30754470e-03 -6.40744758e-05 9.99985913e-01 -5.68735362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.636874999999996 meters 0.015030977285367293 Centerline is valid? [True, True] Translation: X:56.80, Y:6.48, Z:-0.57 [[ 9.83042448e-01 -1.83281307e-01 5.95881930e-03 5.67985211e+01] [ 1.83277428e-01 9.83060505e-01 1.19519632e-03 6.48154097e+00] [-6.07693705e-03 -8.28116388e-05 9.99981532e-01 -5.68662087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.696875 meters 0.015706029266705227 Centerline is valid? [True, True] Translation: X:56.86, Y:6.50, Z:-0.57 [[ 9.83457919e-01 -1.81033216e-01 6.12340346e-03 5.68554552e+01] [ 1.81029067e-01 9.83476977e-01 1.22982368e-03 6.49566888e+00] [-6.24486526e-03 -1.00965821e-04 9.99980496e-01 -5.68524880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.756874999999994 meters 0.01699142664080131 Centerline is valid? [True, True] Translation: X:56.91, Y:6.51, Z:-0.57 [[ 9.84438097e-01 -1.75536520e-01 8.28027230e-03 5.69130760e+01] [ 1.75528708e-01 9.84472902e-01 1.66659071e-03 6.51111701e+00] [-8.44425124e-03 -1.87229886e-04 9.99964329e-01 -5.65241293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.816874999999996 meters 0.018207313123157296 Centerline is valid? [True, True] Translation: X:56.97, Y:6.53, Z:-0.57 [[ 9.85198281e-01 -1.71239678e-01 7.83067884e-03 5.69709180e+01] [ 1.71232553e-01 9.85229378e-01 1.57635979e-03 6.52630349e+00] [-7.98495019e-03 -2.12159827e-04 9.99968097e-01 -5.67098532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.876875 meters 0.0202004146696582 Centerline is valid? [True, True] Translation: X:57.03, Y:6.54, Z:-0.57 [[ 9.85853798e-01 -1.67465522e-01 6.89839594e-03 5.70276196e+01] [ 1.67459900e-01 9.85877910e-01 1.38872831e-03 6.54109376e+00] [-7.03354028e-03 -2.13878386e-04 9.99975241e-01 -5.68937600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93687499999999 meters 0.020825621578058097 Centerline is valid? [True, True] Translation: X:57.09, Y:6.55, Z:-0.57 [[ 9.86640202e-01 -1.62789526e-01 6.37819632e-03 5.70852843e+01] [ 1.62784620e-01 9.86660792e-01 1.28441103e-03 6.55411658e+00] [-6.50220489e-03 -2.28979296e-04 9.99978834e-01 -5.71076058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.996874999999996 meters 0.02161413684193328 Centerline is valid? [True, True] Translation: X:57.14, Y:6.57, Z:-0.57 [[ 9.86911273e-01 -1.61164492e-01 5.66972319e-03 5.71425377e+01] [ 1.61160587e-01 9.86927536e-01 1.14204043e-03 6.56579571e+00] [-5.77966230e-03 -2.13356657e-04 9.99983275e-01 -5.71366880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.056875 meters 0.023158699932741635 Centerline is valid? [True, True] Translation: X:57.20, Y:6.58, Z:-0.57 [[ 9.87112291e-01 -1.59976405e-01 4.10784534e-03 5.71992268e+01] [ 1.59974344e-01 9.87120826e-01 8.27545833e-04 6.57887186e+00] [-4.18732749e-03 -1.59730800e-04 9.99991220e-01 -5.73660632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11687499999999 meters 0.023255905916330828 Centerline is valid? [True, True] Translation: X:57.26, Y:6.59, Z:-0.58 [[ 9.87096793e-01 -1.60114886e-01 1.77301684e-03 5.72571700e+01] [ 1.60114506e-01 9.87098383e-01 3.55287039e-04 6.58850441e+00] [-1.80702880e-03 -6.68169819e-05 9.99998365e-01 -5.77050282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.176874999999995 meters 0.0232980740616087 Centerline is valid? [True, True] Translation: X:57.32, Y:6.60, Z:-0.58 [[ 9.86900949e-01 -1.61313405e-01 2.12199111e-03 5.73157583e+01] [ 1.61312860e-01 9.86903227e-01 4.26486407e-04 6.59876363e+00] [-2.16299785e-03 -7.85953843e-05 9.99997658e-01 -5.76119549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.236875 meters 0.024023393403267552 Centerline is valid? [True, True] Translation: X:57.37, Y:6.61, Z:-0.57 [[ 9.86680769e-01 -1.62637031e-01 3.20255648e-03 5.73728549e+01] [ 1.62635788e-01 9.86685959e-01 6.46833016e-04 6.61022432e+00] [-3.26511652e-03 -1.17367402e-04 9.99994663e-01 -5.74431726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.296875 meters 0.02119041142829676 Centerline is valid? [True, True] Translation: X:57.43, Y:6.62, Z:-0.57 [[ 9.86335815e-01 -1.64675312e-01 4.86846194e-03 5.74320131e+01] [ 1.64672457e-01 9.86347815e-01 9.84334604e-04 6.61594727e+00] [-4.96409241e-03 -1.69182884e-04 9.99987665e-01 -5.74661243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.356874999999995 meters 0.02219197549826715 Centerline is valid? [True, True] Translation: X:57.49, Y:6.63, Z:-0.57 [[ 9.85904424e-01 -1.67218609e-01 5.51399936e-03 5.74888980e+01] [ 1.67214984e-01 9.85919827e-01 1.11527359e-03 6.62723745e+00] [-5.62285580e-03 -1.77529851e-04 9.99984176e-01 -5.74893516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.416875 meters 0.01946468249529035 Centerline is valid? [True, True] Translation: X:57.55, Y:6.63, Z:-0.58 [[ 9.85346569e-01 -1.70487668e-01 5.10831736e-03 5.75480183e+01] [ 1.70484598e-01 9.85359799e-01 1.03371612e-03 6.63189175e+00] [-5.20976642e-03 -1.47679205e-04 9.99986418e-01 -5.75567719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.476875 meters 0.019547619273990118 Centerline is valid? [True, True] Translation: X:57.61, Y:6.64, Z:-0.58 [[ 9.84969836e-01 -1.72704318e-01 2.76425524e-03 5.76052072e+01] [ 1.72703429e-01 9.84973712e-01 5.58737903e-04 6.64032529e+00] [-2.81921520e-03 -7.29436209e-05 9.99996023e-01 -5.78908166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.536874999999995 meters 0.021501433671177243 Centerline is valid? [True, True] Translation: X:57.66, Y:6.65, Z:-0.58 [[ 9.85096944e-01 -1.71993977e-01 1.44327695e-03 5.76614456e+01] [ 1.71993734e-01 9.85098000e-01 2.91661984e-04 6.65406529e+00] [-1.47193334e-03 -3.90807359e-05 9.99998916e-01 -5.81902275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.596875 meters 0.021436927225024504 Centerline is valid? [True, True] Translation: X:57.72, Y:6.66, Z:-0.58 [[ 9.85364859e-01 -1.70456959e-01 7.20761818e-04 5.77195571e+01] [ 1.70456900e-01 9.85365123e-01 1.43692075e-04 6.66486584e+00] [-7.34706871e-04 -1.87302963e-05 9.99999730e-01 -5.83117036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.656875 meters 0.02455312576556524 Centerline is valid? [True, True] Translation: X:57.78, Y:6.68, Z:-0.58 [[ 9.86139646e-01 -1.65880752e-01 3.48921374e-03 5.77766319e+01] [ 1.65879286e-01 9.86145812e-01 7.07664724e-04 6.68032333e+00] [-3.55826147e-03 -1.19067958e-04 9.99993662e-01 -5.79772631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.716874999999995 meters 0.026931196795075364 Centerline is valid? [True, True] Translation: X:57.83, Y:6.70, Z:-0.58 [[ 9.86612366e-01 -1.62988467e-01 5.54959342e-03 5.78339390e+01] [ 1.62984705e-01 9.86627953e-01 1.12661400e-03 6.69683086e+00] [-5.65900908e-03 -2.07032461e-04 9.99983966e-01 -5.78519613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.776875 meters 0.025854730268446365 Centerline is valid? [True, True] Translation: X:57.89, Y:6.71, Z:-0.58 [[ 9.87012579e-01 -1.60505881e-01 6.63555193e-03 5.78920840e+01] [ 1.60500445e-01 9.87034848e-01 1.34728169e-03 6.70805953e+00] [-6.76576763e-03 -2.64774935e-04 9.99977077e-01 -5.77065767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.836875 meters 0.025251364888189777 Centerline is valid? [True, True] Translation: X:57.95, Y:6.72, Z:-0.58 [[ 9.87187120e-01 -1.59475380e-01 5.40299143e-03 5.79491364e+01] [ 1.59471761e-01 9.87201881e-01 1.09699452e-03 6.72061685e+00] [-5.50878692e-03 -2.21314300e-04 9.99984802e-01 -5.81285652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.896874999999994 meters 0.024873943909221773 Centerline is valid? [True, True] Translation: X:58.01, Y:6.73, Z:-0.58 [[ 9.87190387e-01 -1.59487847e-01 4.33204861e-03 5.80068068e+01] [ 1.59485525e-01 9.87199876e-01 8.78670934e-04 6.73244373e+00] [-4.41673519e-03 -1.76516454e-04 9.99990231e-01 -5.84164789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.956875 meters 0.025384067502077078 Centerline is valid? [True, True] Translation: X:58.06, Y:6.74, Z:-0.59 [[ 9.86988974e-01 -1.60778748e-01 1.72021190e-03 5.80633959e+01] [ 1.60778383e-01 9.86990471e-01 3.49200845e-04 6.74457821e+00] [-1.75397683e-03 -6.80844957e-05 9.99998459e-01 -5.87647463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.016875 meters 0.023383538432184443 Centerline is valid? [True, True] Translation: X:58.12, Y:6.75, Z:-0.59 [[ 9.86400241e-01 -1.64327690e-01 3.31271421e-03 5.81230697e+01] [ 1.64326351e-01 9.86405797e-01 6.74217531e-04 6.75348024e+00] [-3.37847311e-03 -1.20682097e-04 9.99994286e-01 -5.85122184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.076874999999994 meters 0.020991364771649625 Centerline is valid? [True, True] Translation: X:58.18, Y:6.76, Z:-0.59 [[ 9.85796275e-01 -1.67871649e-01 4.98133796e-03 5.81823298e+01] [ 1.67868666e-01 9.85808847e-01 1.01400807e-03 6.76264482e+00] [-5.08087024e-03 -1.63394817e-04 9.99987079e-01 -5.85539558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.136874999999996 meters 0.01972119520598514 Centerline is valid? [True, True] Translation: X:58.24, Y:6.77, Z:-0.58 [[ 9.85128754e-01 -1.71699764e-01 6.36629703e-03 5.82409475e+01] [ 1.71694977e-01 9.85149307e-01 1.29514427e-03 6.77240147e+00] [-6.49412908e-03 -1.82822639e-04 9.99978896e-01 -5.84775561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.196875 meters 0.016815366237360015 Centerline is valid? [True, True] Translation: X:58.30, Y:6.78, Z:-0.58 [[ 9.84000419e-01 -1.77994365e-01 7.82181173e-03 5.83008500e+01] [ 1.77987313e-01 9.84031491e-01 1.59421449e-03 6.77764569e+00] [-7.98067026e-03 -1.76524473e-04 9.99968138e-01 -5.82602461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.256874999999994 meters 0.015346387489406189 Centerline is valid? [True, True] Translation: X:58.36, Y:6.79, Z:-0.58 [[ 9.83107942e-01 -1.82861984e-01 7.76327973e-03 5.83590126e+01] [ 1.82855187e-01 9.83138584e-01 1.58244982e-03 6.78581030e+00] [-7.92174975e-03 -1.36163015e-04 9.99968613e-01 -5.82959202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.316874999999996 meters 0.014415039065546373 Centerline is valid? [True, True] Translation: X:58.42, Y:6.80, Z:-0.59 [[ 9.82304210e-01 -1.87134319e-01 7.69322689e-03 5.84162563e+01] [ 1.87127772e-01 9.82334330e-01 1.56867101e-03 6.79555214e+00] [-7.85087306e-03 -1.01295732e-04 9.99969176e-01 -5.86465243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.376875 meters 0.013329771512597014 Centerline is valid? [True, True] Translation: X:58.48, Y:6.80, Z:-0.59 [[ 9.81273009e-01 -1.92529177e-01 5.98318014e-03 5.84752469e+01] [ 1.92525319e-01 9.81291248e-01 1.21960438e-03 6.80314399e+00] [-6.10605174e-03 -4.48511934e-05 9.99981357e-01 -5.88233897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43687499999999 meters 0.013070090257187573 Centerline is valid? [True, True] Translation: X:58.53, Y:6.81, Z:-0.59 [[ 9.80664227e-01 -1.95554121e-01 7.50066726e-03 5.85331116e+01] [ 1.95548129e-01 9.80692910e-01 1.53126609e-03 6.81283362e+00] [-7.65529660e-03 -3.49164295e-05 9.99970697e-01 -5.86718073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.496874999999996 meters 0.01286958954903925 Centerline is valid? [True, True] Translation: X:58.59, Y:6.82, Z:-0.59 [[ 9.80277660e-01 -1.97479998e-01 7.57367720e-03 5.85902720e+01] [ 1.97473932e-01 9.80306916e-01 1.54795412e-03 6.82319921e+00] [-7.73021812e-03 -2.18210255e-05 9.99970121e-01 -5.87237343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.556875 meters 0.01279594754590361 Centerline is valid? [True, True] Translation: X:58.65, Y:6.84, Z:-0.59 [[ 9.80485153e-01 -1.96510187e-01 5.71056648e-03 5.86471912e+01] [ 1.96506716e-01 9.80501783e-01 1.16816510e-03 6.83692678e+00] [-5.82877696e-03 -2.32038767e-05 9.99983012e-01 -5.91947771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61687499999999 meters 0.0129334550217468 Centerline is valid? [True, True] Translation: X:58.70, Y:6.85, Z:-0.59 [[ 9.81002180e-01 -1.93901434e-01 6.07924914e-03 5.87044900e+01] [ 1.93897441e-01 9.81021015e-01 1.24523813e-03 6.85104601e+00] [-6.20532462e-03 -4.28304694e-05 9.99980746e-01 -5.91833943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.676874999999995 meters 0.013888936823095313 Centerline is valid? [True, True] Translation: X:58.76, Y:6.87, Z:-0.59 [[ 9.81743814e-01 -1.90107220e-01 6.19107460e-03 5.87600523e+01] [ 1.90102988e-01 9.81763332e-01 1.27049113e-03 6.86644851e+00] [-6.31969956e-03 -7.03550300e-05 9.99980028e-01 -5.91881033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.736875 meters 0.01494136901836189 Centerline is valid? [True, True] Translation: X:58.82, Y:6.88, Z:-0.59 [[ 9.82705931e-01 -1.85042175e-01 6.96033717e-03 5.88164191e+01] [ 1.85036693e-01 9.82730573e-01 1.42908173e-03 6.88298192e+00] [-7.10457653e-03 -1.16449321e-04 9.99974755e-01 -5.90660420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.796875 meters 0.015984028853078265 Centerline is valid? [True, True] Translation: X:58.87, Y:6.90, Z:-0.59 [[ 9.83104016e-01 -1.82923327e-01 6.74903429e-03 5.88735465e+01] [ 1.82918123e-01 9.83127174e-01 1.38561806e-03 6.89845780e+00] [-6.88862088e-03 -1.27685990e-04 9.99976265e-01 -5.92448578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.856874999999995 meters 0.015600875425662112 Centerline is valid? [True, True] Translation: X:58.93, Y:6.91, Z:-0.59 [[ 9.83135112e-01 -1.82795711e-01 5.57487341e-03 5.89308589e+01] [ 1.82792154e-01 9.83150912e-01 1.14540191e-03 6.91018539e+00] [-5.69031643e-03 -1.07041713e-04 9.99983804e-01 -5.93516582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.916875 meters 0.01607735785500303 Centerline is valid? [True, True] Translation: X:58.99, Y:6.92, Z:-0.60 [[ 9.83224892e-01 -1.82361454e-01 3.62099454e-03 5.89884387e+01] [ 1.82359950e-01 9.83231557e-01 7.43947395e-04 6.92396437e+00] [-3.69594343e-03 -7.11432128e-05 9.99993167e-01 -5.96642588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.976875 meters 0.016317802047431763 Centerline is valid? [True, True] Translation: X:59.05, Y:6.94, Z:-0.60 [[ 9.83168239e-01 -1.82695235e-01 1.63264132e-03 5.90462529e+01] [ 1.82694931e-01 9.83169594e-01 3.34360917e-04 6.93630819e+00] [-1.66624945e-03 -3.04577396e-05 9.99998611e-01 -5.98663461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.036874999999995 meters 0.016349726706042133 Centerline is valid? [True, True] Translation: X:59.10, Y:6.95, Z:-0.60 [[ 9.83309098e-01 -1.81936278e-01 1.55223553e-03 5.91030445e+01] [ 1.81936002e-01 9.83310322e-01 3.18103100e-04 6.95079680e+00] [-1.58420372e-03 -3.03861445e-05 9.99998745e-01 -5.99507092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.096875 meters 0.01669804514270576 Centerline is valid? [True, True] Translation: X:59.16, Y:6.96, Z:-0.60 [[ 9.83380818e-01 -1.81537942e-01 2.47839164e-03 5.91588812e+01] [ 1.81537230e-01 9.83383940e-01 5.11246841e-04 6.96496456e+00] [-2.53002124e-03 -5.28299825e-05 9.99996798e-01 -6.00419482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.156875 meters 0.0167530463642876 Centerline is valid? [True, True] Translation: X:59.22, Y:6.98, Z:-0.60 [[ 9.83272377e-01 -1.82106651e-01 3.54963527e-03 5.92151433e+01] [ 1.82105189e-01 9.83278781e-01 7.33529270e-04 6.97776746e+00] [-3.62386161e-03 -7.48520666e-05 9.99993431e-01 -5.99523272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.216874999999995 meters 0.016966530820120847 Centerline is valid? [True, True] Translation: X:59.27, Y:6.99, Z:-0.60 [[ 9.83380737e-01 -1.81519554e-01 3.60251093e-03 5.92719901e+01] [ 1.81518043e-01 9.83387332e-01 7.44787583e-04 6.99125514e+00] [-3.67785712e-03 -7.84890278e-05 9.99993234e-01 -5.99749170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.276875 meters 0.016653004324790697 Centerline is valid? [True, True] Translation: X:59.33, Y:7.01, Z:-0.60 [[ 9.83414752e-01 -1.81304198e-01 4.92073689e-03 5.93285069e+01] [ 1.81301378e-01 9.83427057e-01 1.01689628e-03 7.00550196e+00] [-5.02355336e-03 -1.07894420e-04 9.99987376e-01 -5.99257812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.336875 meters 0.016385060333162924 Centerline is valid? [True, True] Translation: X:59.38, Y:7.02, Z:-0.60 [[ 9.83369925e-01 -1.81547537e-01 4.90733349e-03 5.93849410e+01] [ 1.81544728e-01 9.83382164e-01 1.01552310e-03 7.01850734e+00] [-5.01014994e-03 -1.07734353e-04 9.99987443e-01 -6.00914463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.396874999999994 meters 0.016130600247684996 Centerline is valid? [True, True] Translation: X:59.44, Y:7.03, Z:-0.60 [[ 9.83107791e-01 -1.82973612e-01 4.44174559e-03 5.94430835e+01] [ 1.82971319e-01 9.83117820e-01 9.20548022e-04 7.03080386e+00] [-4.53519524e-03 -9.22858810e-05 9.99989712e-01 -6.02132608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.456875 meters 0.016802692943834595 Centerline is valid? [True, True] Translation: X:59.50, Y:7.05, Z:-0.60 [[ 9.83217591e-01 -1.82353064e-01 5.52533930e-03 5.94996726e+01] [ 1.82349493e-01 9.83233108e-01 1.14760599e-03 7.04521459e+00] [-5.64196600e-03 -1.20803578e-04 9.99984077e-01 -6.00672505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.516875 meters 0.01665008722404526 Centerline is valid? [True, True] Translation: X:59.56, Y:7.06, Z:-0.60 [[ 9.83325649e-01 -1.81754534e-01 5.99653668e-03 5.95566670e+01] [ 1.81750314e-01 9.83343923e-01 1.24581099e-03 7.05896124e+00] [-6.12308970e-03 -1.35165473e-04 9.99981245e-01 -6.01659574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.576874999999994 meters 0.016811626754667755 Centerline is valid? [True, True] Translation: X:59.61, Y:7.07, Z:-0.60 [[ 9.83574654e-01 -1.80410323e-01 5.74593806e-03 5.96139956e+01] [ 1.80406418e-01 9.83591427e-01 1.19507345e-03 7.07289547e+00] [-5.86725901e-03 -1.38839847e-04 9.99982778e-01 -6.03257772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.636874999999996 meters 0.01779494216189084 Centerline is valid? [True, True] Translation: X:59.67, Y:7.09, Z:-0.60 [[ 9.83916463e-01 -1.78510764e-01 6.50389956e-03 5.96698879e+01] [ 1.78505701e-01 9.83937944e-01 1.35551370e-03 7.08811259e+00] [-6.64140734e-03 -1.72729096e-04 9.99977931e-01 -6.04081416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.696875 meters 0.018585817594354556 Centerline is valid? [True, True] Translation: X:59.73, Y:7.10, Z:-0.60 [[ 9.83986674e-01 -1.78149621e-01 5.73910695e-03 5.97270470e+01] [ 1.78145675e-01 9.84003399e-01 1.19571183e-03 7.10257884e+00] [-5.86031635e-03 -1.54167421e-04 9.99982816e-01 -6.04513651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.756874999999994 meters 0.018948880592516915 Centerline is valid? [True, True] Translation: X:59.78, Y:7.12, Z:-0.61 [[ 9.84394807e-01 -1.75889053e-01 5.46856411e-03 5.97843033e+01] [ 1.75885429e-01 9.84409983e-01 1.14056277e-03 7.11820767e+00] [-5.58392161e-03 -1.60923326e-04 9.99984397e-01 -6.05676762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.816874999999996 meters 0.017977904084589838 Centerline is valid? [True, True] Translation: X:59.84, Y:7.13, Z:-0.61 [[ 9.84442657e-01 -1.75639424e-01 4.84228229e-03 5.98418649e+01] [ 1.75636575e-01 9.84454555e-01 1.01079532e-03 7.12928119e+00] [-4.94454237e-03 -1.44588150e-04 9.99987765e-01 -6.06274926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.876875 meters 0.019344481859952942 Centerline is valid? [True, True] Translation: X:59.90, Y:7.15, Z:-0.61 [[ 9.84273854e-01 -1.76538166e-01 6.26546292e-03 5.98981331e+01] [ 1.76533398e-01 9.84293778e-01 1.31037852e-03 7.14561875e+00] [-6.39838800e-03 -1.83707858e-04 9.99979513e-01 -6.07405262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93687499999999 meters 0.017624944649576937 Centerline is valid? [True, True] Translation: X:59.96, Y:7.15, Z:-0.61 [[ 9.83635337e-01 -1.79993502e-01 7.99141612e-03 5.99569854e+01] [ 1.79985836e-01 9.83667777e-01 1.67426082e-03 7.15470985e+00] [-8.16225460e-03 -2.08520393e-04 9.99966667e-01 -6.06036763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.996874999999996 meters 0.016949192402808996 Centerline is valid? [True, True] Translation: X:60.02, Y:7.17, Z:-0.61 [[ 9.83103366e-01 -1.82889910e-01 7.68452542e-03 6.00152280e+01] [ 1.82882896e-01 9.83133383e-01 1.61170779e-03 7.16653485e+00] [-7.84967857e-03 -1.79107089e-04 9.99969175e-01 -6.06209718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.056875 meters 0.01638488686921182 Centerline is valid? [True, True] Translation: X:60.07, Y:7.18, Z:-0.61 [[ 9.82773504e-01 -1.84701655e-01 6.44498177e-03 6.00724356e+01] [ 1.84696753e-01 9.82794627e-01 1.35275881e-03 7.18019571e+00] [-6.58395025e-03 -1.39088311e-04 9.99978316e-01 -6.08741419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11687499999999 meters 0.016721327981746862 Centerline is valid? [True, True] Translation: X:60.13, Y:7.19, Z:-0.61 [[ 9.82654454e-01 -1.85383871e-01 4.80034051e-03 6.01276712e+01] [ 1.85381154e-01 9.82666174e-01 1.00886410e-03 7.19491557e+00] [-4.90415938e-03 -1.01472142e-04 9.99987969e-01 -6.11810170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.176874999999995 meters 0.017042995496140776 Centerline is valid? [True, True] Translation: X:60.18, Y:7.21, Z:-0.61 [[ 9.82677209e-01 -1.85272031e-01 4.44719600e-03 6.01849817e+01] [ 1.85269699e-01 9.82687268e-01 9.34317045e-04 7.20994434e+00] [-4.54330570e-03 -9.42014031e-05 9.99989675e-01 -6.13008426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.236875 meters 0.016916249816319267 Centerline is valid? [True, True] Translation: X:60.24, Y:7.22, Z:-0.61 [[ 9.82758515e-01 -1.84834146e-01 4.69462954e-03 6.02422468e+01] [ 1.84831537e-01 9.82769723e-01 9.87587727e-04 7.22284611e+00] [-4.79627970e-03 -1.02844657e-04 9.99988492e-01 -6.11527683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.296875 meters 0.01739086903284544 Centerline is valid? [True, True] Translation: X:60.30, Y:7.24, Z:-0.61 [[ 9.83141182e-01 -1.82760546e-01 5.65683869e-03 6.02990450e+01] [ 1.82756711e-01 9.83157446e-01 1.19197170e-03 7.23789055e+00] [-5.77940848e-03 -1.38051231e-04 9.99983290e-01 -6.10554834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.356874999999995 meters 0.01853150107019394 Centerline is valid? [True, True] Translation: X:60.36, Y:7.25, Z:-0.61 [[ 9.83517254e-01 -1.80781936e-01 3.42082034e-03 6.03560143e+01] [ 1.80780523e-01 9.83523199e-01 7.20624556e-04 7.25327912e+00] [-3.49473206e-03 -9.03289963e-05 9.99993889e-01 -6.14125273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.416875 meters 0.018291118739528132 Centerline is valid? [True, True] Translation: X:60.41, Y:7.27, Z:-0.61 [[ 9.83530895e-01 -1.80695981e-01 3.99266156e-03 6.04127202e+01] [ 1.80694050e-01 9.83538993e-01 8.42272077e-04 7.26541575e+00] [-4.07913351e-03 -1.06950424e-04 9.99991675e-01 -6.13484413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.476875 meters 0.020262057486389554 Centerline is valid? [True, True] Translation: X:60.47, Y:7.28, Z:-0.61 [[ 9.83886597e-01 -1.78738177e-01 4.45293266e-03 6.04688756e+01] [ 1.78735743e-01 9.83896665e-01 9.42037329e-04 7.28063413e+00] [-4.54960363e-03 -1.30959676e-04 9.99989642e-01 -6.12597215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.536874999999995 meters 0.01962442484169588 Centerline is valid? [True, True] Translation: X:60.53, Y:7.29, Z:-0.61 [[ 9.84225918e-01 -1.76855763e-01 4.62408493e-03 6.05271905e+01] [ 1.76853118e-01 9.84236769e-01 9.78166504e-04 7.29151645e+00] [-4.72418879e-03 -1.44952989e-04 9.99988830e-01 -6.12169167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.596875 meters 0.021452826860430138 Centerline is valid? [True, True] Translation: X:60.58, Y:7.31, Z:-0.62 [[ 9.84776341e-01 -1.73800774e-01 2.97458358e-03 6.05843845e+01] [ 1.73799662e-01 9.84780828e-01 6.30419712e-04 7.30555715e+00] [-3.03888032e-03 -1.03840797e-04 9.99995377e-01 -6.15616789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.656875 meters 0.022571553861129152 Centerline is valid? [True, True] Translation: X:60.64, Y:7.32, Z:-0.62 [[ 9.85265879e-01 -1.71026547e-01 1.03315838e-03 6.06423944e+01] [ 1.71026412e-01 9.85266420e-01 2.18497375e-04 7.31731997e+00] [-1.05530511e-03 -3.85806373e-05 9.99999442e-01 -6.17371071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.716874999999995 meters 0.022885770987718265 Centerline is valid? [True, True] Translation: X:60.70, Y:7.33, Z:-0.62 [[ 9.85540913e-01 -1.69421267e-01 2.35452328e-03 6.07007397e+01] [ 1.69420561e-01 9.85543721e-01 4.97672198e-04 7.32702317e+00] [-2.40480189e-03 -9.15716579e-05 9.99997104e-01 -6.15680578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.776875 meters 0.0248704521522044 Centerline is valid? [True, True] Translation: X:60.76, Y:7.34, Z:-0.62 [[ 9.85650147e-01 -1.68791068e-01 1.83375304e-03 6.07576172e+01] [ 1.68790636e-01 9.85651850e-01 3.88945882e-04 7.33955861e+00] [-1.87309267e-03 -7.38442248e-05 9.99998243e-01 -6.17968869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.836875 meters 0.024714183690549445 Centerline is valid? [True, True] Translation: X:60.82, Y:7.35, Z:-0.62 [[ 9.85639542e-01 -1.68854481e-01 1.69057360e-03 6.08158115e+01] [ 1.68854116e-01 9.85640989e-01 3.57182743e-04 7.34907202e+00] [-1.72661055e-03 -6.65931229e-05 9.99998507e-01 -6.17348335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.896874999999994 meters 0.023934166513888133 Centerline is valid? [True, True] Translation: X:60.87, Y:7.36, Z:-0.62 [[ 9.85656902e-01 -1.68761517e-01 1.48755863e-04 6.08748196e+01] [ 1.68761514e-01 9.85656913e-01 2.89207275e-05 7.35545166e+00] [-1.51502951e-04 -3.40164988e-06 9.99999989e-01 -6.17007825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.956875 meters 0.024379921642607657 Centerline is valid? [True, True] Translation: X:60.93, Y:7.37, Z:-0.62 [[ 9.85530148e-01 -1.69499191e-01 5.92456925e-04 6.09325642e+01] [ 1.69499147e-01 9.85530326e-01 1.23653084e-04 7.36577033e+00] [-6.04843364e-04 -2.14428985e-05 9.99999817e-01 -6.18075719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.016875 meters 0.022152177452514618 Centerline is valid? [True, True] Translation: X:60.99, Y:7.37, Z:-0.62 [[ 9.84882149e-01 -1.73223326e-01 9.11739658e-04 6.09932095e+01] [ 1.73223220e-01 9.84882571e-01 1.94380452e-04 7.36974267e+00] [-9.31627726e-04 -3.35073578e-05 9.99999565e-01 -6.17334675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.076874999999994 meters 0.021093554968216688 Centerline is valid? [True, True] Translation: X:61.05, Y:7.37, Z:-0.62 [[ 9.83985967e-01 -1.78245934e-01 6.65787727e-05 6.10521313e+01] [ 1.78245933e-01 9.83985969e-01 1.38233373e-05 7.37444629e+00] [-6.79765319e-05 -1.73457445e-06 9.99999998e-01 -6.18088720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.136874999999996 meters 0.019301443292331386 Centerline is valid? [True, True] Translation: X:61.11, Y:7.38, Z:-0.62 [[ 9.83261952e-01 -1.82195135e-01 9.31268064e-04 6.11121165e+01] [ 1.82195029e-01 9.83262392e-01 1.98424022e-04 7.37836730e+00] [-9.51832756e-04 -2.54303792e-05 9.99999547e-01 -6.16652672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.196875 meters 0.018854456777896836 Centerline is valid? [True, True] Translation: X:61.17, Y:7.38, Z:-0.62 [[ 9.82798572e-01 -1.84679795e-01 5.83579156e-04 6.11712264e+01] [ 1.84679755e-01 9.82798745e-01 1.22004202e-04 7.38427560e+00] [-5.96072573e-04 -1.21303003e-05 9.99999822e-01 -6.16833985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.256874999999994 meters 0.018376663752406514 Centerline is valid? [True, True] Translation: X:61.23, Y:7.39, Z:-0.62 [[ 9.82655500e-01 -1.85438604e-01 8.31651673e-04 6.12300812e+01] [ 1.85438522e-01 9.82655852e-01 1.75190166e-04 7.39235261e+00] [-8.49714404e-04 -1.79313231e-05 9.99999639e-01 -6.17279102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.316874999999996 meters 0.016202344473328217 Centerline is valid? [True, True] Translation: X:61.29, Y:7.39, Z:-0.62 [[ 9.80979447e-01 -1.94109001e-01 1.01025499e-03 6.12896176e+01] [ 1.94108881e-01 9.80979967e-01 2.15662946e-04 7.39439756e+00] [-1.03290203e-03 -1.54614506e-05 9.99999466e-01 -6.19322811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.376875 meters 0.015762418317811677 Centerline is valid? [True, True] Translation: X:61.35, Y:7.40, Z:-0.62 [[ 9.80270567e-01 -1.97655435e-01 1.39421609e-03 6.13481873e+01] [ 1.97655214e-01 9.80271559e-01 2.96112142e-04 7.40149132e+00] [-1.42523856e-03 -1.46959375e-05 9.99998984e-01 -6.18036774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43687499999999 meters 0.01562202028567868 Centerline is valid? [True, True] Translation: X:61.41, Y:7.41, Z:-0.62 [[ 9.80216632e-01 -1.97926428e-01 -6.95011407e-04 6.14066760e+01] [ 1.97926370e-01 9.80216879e-01 -1.51819349e-04 7.41188909e+00] [ 7.11310974e-04 1.12547660e-05 9.99999747e-01 -6.22047475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.496874999999996 meters 0.016092730333442353 Centerline is valid? [True, True] Translation: X:61.46, Y:7.42, Z:-0.62 [[ 9.80469000e-01 -1.96653899e-01 -2.78998276e-03 6.14643887e+01] [ 1.96652982e-01 9.80472969e-01 -6.01979108e-04 7.42280300e+00] [ 2.85388422e-03 4.15634228e-05 9.99995927e-01 -6.23595333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.556875 meters 0.016234623072468417 Centerline is valid? [True, True] Translation: X:61.52, Y:7.43, Z:-0.62 [[ 9.80532491e-01 -1.96350926e-01 -1.53222614e-03 6.15215004e+01] [ 1.96350645e-01 9.80533688e-01 -3.32662114e-04 7.43494669e+00] [ 1.56771786e-03 2.53324203e-05 9.99998771e-01 -6.21102841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61687499999999 meters 0.016199381925038777 Centerline is valid? [True, True] Translation: X:61.58, Y:7.45, Z:-0.62 [[ 9.80602285e-01 -1.95999714e-01 1.80871591e-03 6.15792531e+01] [ 1.95999334e-01 9.80603952e-01 3.86911958e-04 7.44905807e+00] [-1.84946860e-03 -2.48996373e-05 9.99998289e-01 -6.19532124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.676874999999995 meters 0.01627655339604183 Centerline is valid? [True, True] Translation: X:61.64, Y:7.46, Z:-0.62 [[ 9.80601268e-01 -1.95992389e-01 2.85253425e-03 6.16356530e+01] [ 1.95991438e-01 9.80605416e-01 6.11906560e-04 7.46192560e+00] [-2.91713957e-03 -4.09640596e-05 9.99995744e-01 -6.19864148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.736875 meters 0.01714374837693996 Centerline is valid? [True, True] Translation: X:61.69, Y:7.48, Z:-0.62 [[ 9.81027001e-01 -1.93801547e-01 5.19458227e-03 6.16919475e+01] [ 1.93798335e-01 9.81040749e-01 1.11946322e-03 7.47723781e+00] [-5.31305059e-03 -9.15222522e-05 9.99985881e-01 -6.17675542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.796875 meters 0.017987862901264834 Centerline is valid? [True, True] Translation: X:61.75, Y:7.49, Z:-0.62 [[ 9.81908472e-01 -1.89299857e-01 4.61704130e-03 6.17494672e+01] [ 1.89297267e-01 9.81919321e-01 9.95622487e-04 7.49440301e+00] [-4.72203326e-03 -1.03616855e-04 9.99988846e-01 -6.19043228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.856874999999995 meters 0.019514852980159852 Centerline is valid? [True, True] Translation: X:61.81, Y:7.51, Z:-0.62 [[ 9.82672801e-01 -1.85348475e-01 3.29634076e-04 6.18062006e+01] [ 1.85348462e-01 9.82672856e-01 7.05393865e-05 7.51151637e+00] [-3.36996826e-04 -8.21996755e-06 9.99999943e-01 -6.24995334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.916875 meters 0.020584499065300667 Centerline is valid? [True, True] Translation: X:61.86, Y:7.53, Z:-0.63 [[ 9.83113773e-01 -1.82993322e-01 8.67915006e-04 6.18630702e+01] [ 1.82993230e-01 9.83114156e-01 1.84728497e-04 7.52843834e+00] [-8.87063610e-04 -2.27865590e-05 9.99999606e-01 -6.25139585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.976875 meters 0.020201686456471524 Centerline is valid? [True, True] Translation: X:61.92, Y:7.54, Z:-0.62 [[ 9.83157319e-01 -1.82749936e-01 2.03627557e-03 6.19195396e+01] [ 1.82749422e-01 9.83159426e-01 4.37292563e-04 7.54071339e+00] [-2.08189870e-03 -5.77992010e-05 9.99997831e-01 -6.22673528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.036875 meters 0.020223453661801453 Centerline is valid? [True, True] Translation: X:61.98, Y:7.56, Z:-0.62 [[ 9.83104910e-01 -1.83015857e-01 3.15156750e-03 6.19762871e+01] [ 1.83014618e-01 9.83109957e-01 6.79510740e-04 7.55507838e+00] [-3.22269863e-03 -9.12474242e-05 9.99994803e-01 -6.20211186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.096875 meters 0.02016076843214682 Centerline is valid? [True, True] Translation: X:62.03, Y:7.57, Z:-0.62 [[ 9.82818723e-01 -1.84544645e-01 3.26055473e-03 6.20319973e+01] [ 1.84543320e-01 9.82824127e-01 7.05305250e-04 7.56944660e+00] [-3.33471217e-03 -9.14736091e-05 9.99994436e-01 -6.22708641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.156875 meters 0.01888529660414682 Centerline is valid? [True, True] Translation: X:62.09, Y:7.58, Z:-0.62 [[ 9.82153504e-01 -1.88031277e-01 4.32816895e-03 6.20904654e+01] [ 1.88028974e-01 9.82163035e-01 9.36651318e-04 7.58058322e+00] [-4.42708730e-03 -1.06114208e-04 9.99990195e-01 -6.21076577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.216875 meters 0.01832712582412158 Centerline is valid? [True, True] Translation: X:62.15, Y:7.59, Z:-0.62 [[ 9.81488382e-01 -1.91483876e-01 3.80539751e-03 6.21474235e+01] [ 1.91482115e-01 9.81495756e-01 8.25261593e-04 7.59270395e+00] [-3.89300579e-03 -8.13191039e-05 9.99992419e-01 -6.22833611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27687499999999 meters 0.01608657896942594 Centerline is valid? [True, True] Translation: X:62.21, Y:7.60, Z:-0.62 [[ 9.80518785e-01 -1.96364487e-01 4.88876433e-03 6.22054649e+01] [ 1.96361638e-01 9.80530969e-01 1.06075948e-03 7.60177505e+00] [-5.00188032e-03 -8.01288266e-05 9.99987487e-01 -6.23638305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33687499999999 meters 0.015637662844281065 Centerline is valid? [True, True] Translation: X:62.26, Y:7.61, Z:-0.63 [[ 9.80029761e-01 -1.98827728e-01 3.03363610e-03 6.22631996e+01] [ 1.98826648e-01 9.80034455e-01 6.56776212e-04 7.61387076e+00] [-3.10365322e-03 -4.04925384e-05 9.99995183e-01 -6.25239000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.396875 meters 0.015600846526580347 Centerline is valid? [True, True] Translation: X:62.32, Y:7.63, Z:-0.63 [[ 9.80182906e-01 -1.98072856e-01 2.93497248e-03 6.23203126e+01] [ 1.98071839e-01 9.80187299e-01 6.36039611e-04 7.62771248e+00] [-3.00280493e-03 -4.20997572e-05 9.99995491e-01 -6.25742009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.456875 meters 0.01621059638517374 Centerline is valid? [True, True] Translation: X:62.38, Y:7.64, Z:-0.63 [[ 9.80620669e-01 -1.95889089e-01 3.25100055e-03 6.23775421e+01] [ 1.95887825e-01 9.80626056e-01 7.05645033e-04 7.64252456e+00] [-3.32624401e-03 -5.51386769e-05 9.99994467e-01 -6.26954418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.516875 meters 0.015136594091440919 Centerline is valid? [True, True] Translation: X:62.44, Y:7.65, Z:-0.63 [[ 9.79789484e-01 -1.99960519e-01 5.32520484e-03 6.24358698e+01] [ 1.99957168e-01 9.79803953e-01 1.15992327e-03 7.65019374e+00] [-5.44959561e-03 -7.16677410e-05 9.99985148e-01 -6.25744516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.576875 meters 0.014472416186576343 Centerline is valid? [True, True] Translation: X:62.49, Y:7.66, Z:-0.63 [[ 9.78749781e-01 -2.04968457e-01 6.06606826e-03 6.24939720e+01] [ 2.04964206e-01 9.78768578e-01 1.32100466e-03 7.65803386e+00] [-6.20804129e-03 -4.96061523e-05 9.99980729e-01 -6.25728129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.636875 meters 0.014435157484469212 Centerline is valid? [True, True] Translation: X:62.55, Y:7.67, Z:-0.63 [[ 9.78912398e-01 -2.04220443e-01 4.95253324e-03 6.25516076e+01] [ 2.04217596e-01 9.78924925e-01 1.07922358e-03 7.67051701e+00] [-5.06855774e-03 -4.50709152e-05 9.99987154e-01 -6.27986709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69687499999999 meters 0.015707868248079616 Centerline is valid? [True, True] Translation: X:62.61, Y:7.69, Z:-0.63 [[ 9.80002906e-01 -1.98965288e-01 2.66818301e-03 6.26083794e+01] [ 1.98964439e-01 9.80006537e-01 5.82469407e-04 7.68693984e+00] [-2.73072799e-03 -3.99481743e-05 9.99996271e-01 -6.30739614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.756875 meters 0.017013289004678342 Centerline is valid? [True, True] Translation: X:62.67, Y:7.70, Z:-0.63 [[ 9.81234176e-01 -1.92787121e-01 3.55229528e-03 6.26659465e+01] [ 1.92785574e-01 9.81240603e-01 7.75976162e-04 7.70466431e+00] [-3.63525457e-03 -7.65830436e-05 9.99993390e-01 -6.30186078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.816875 meters 0.019002784292572666 Centerline is valid? [True, True] Translation: X:62.72, Y:7.72, Z:-0.63 [[ 9.82082037e-01 -1.88410693e-01 4.03535652e-03 6.27215761e+01] [ 1.88408660e-01 9.82090322e-01 8.81452710e-04 7.72281272e+00] [-4.12915970e-03 -1.05362756e-04 9.99991469e-01 -6.30568804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.876875 meters 0.019564818281085767 Centerline is valid? [True, True] Translation: X:62.78, Y:7.74, Z:-0.63 [[ 9.82522261e-01 -1.86092052e-01 4.44465792e-03 6.27787504e+01] [ 1.86089567e-01 9.82532306e-01 9.70091900e-04 7.73723994e+00] [-4.54754639e-03 -1.26032421e-04 9.99989652e-01 -6.31076936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.936875 meters 0.019277276242459954 Centerline is valid? [True, True] Translation: X:62.84, Y:7.75, Z:-0.63 [[ 9.82711276e-01 -1.85084768e-01 4.70929166e-03 6.28365179e+01] [ 1.85081959e-01 9.82722549e-01 1.02916186e-03 7.74976574e+00] [-4.81840929e-03 -1.39764040e-04 9.99988382e-01 -6.31325353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.996875 meters 0.020054669025187256 Centerline is valid? [True, True] Translation: X:62.89, Y:7.76, Z:-0.63 [[ 9.82792106e-01 -1.84647670e-01 4.99142608e-03 6.28935678e+01] [ 1.84644501e-01 9.82804770e-01 1.09232353e-03 7.76323929e+00] [-5.10729235e-03 -1.51887569e-04 9.99986946e-01 -6.31617467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05687499999999 meters 0.021361561331941236 Centerline is valid? [True, True] Translation: X:62.95, Y:7.78, Z:-0.63 [[ 9.83130959e-01 -1.82873163e-01 3.30511786e-03 6.29508035e+01] [ 1.82871764e-01 9.83136509e-01 7.23217252e-04 7.77901620e+00] [-3.38163907e-03 -1.06604538e-04 9.99994277e-01 -6.34912858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.116875 meters 0.021491871267080503 Centerline is valid? [True, True] Translation: X:63.01, Y:7.79, Z:-0.64 [[ 9.83182366e-01 -1.82616241e-01 1.93486683e-03 6.30086125e+01] [ 1.82615763e-01 9.83184268e-01 4.22734419e-04 7.79151044e+00] [-1.97952880e-03 -6.22878434e-05 9.99998039e-01 -6.35561002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.176875 meters 0.018868941705659288 Centerline is valid? [True, True] Translation: X:63.07, Y:7.80, Z:-0.64 [[ 9.81797694e-01 -1.89925375e-01 1.28073060e-03 6.30677821e+01] [ 1.89925170e-01 9.81798529e-01 2.81303974e-04 7.80014612e+00] [-1.31084618e-03 -3.29406167e-05 9.99999140e-01 -6.38914863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.236875 meters 0.016198927527571197 Centerline is valid? [True, True] Translation: X:63.13, Y:7.81, Z:-0.63 [[ 9.80363721e-01 -1.97148469e-01 4.41091289e-03 6.31279673e+01] [ 1.97146100e-01 9.80373640e-01 9.70068564e-04 7.80592719e+00] [-4.51559026e-03 -8.14257549e-05 9.99989801e-01 -6.34346036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.296875 meters 0.01518510053055186 Centerline is valid? [True, True] Translation: X:63.19, Y:7.82, Z:-0.63 [[ 9.79574242e-01 -2.00993849e-01 5.98138106e-03 6.31859442e+01] [ 2.00989569e-01 9.79592500e-01 1.31447816e-03 7.81681013e+00] [-6.12351805e-03 -8.54337439e-05 9.99981247e-01 -6.33964907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.356875 meters 0.015267071660404856 Centerline is valid? [True, True] Translation: X:63.24, Y:7.83, Z:-0.63 [[ 9.79426813e-01 -2.01718998e-01 5.70646467e-03 6.32410395e+01] [ 2.01715105e-01 9.79443434e-01 1.25570224e-03 7.82981091e+00] [-5.84245835e-03 -7.87883282e-05 9.99982930e-01 -6.34666529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41687499999999 meters 0.01601547264573275 Centerline is valid? [True, True] Translation: X:63.30, Y:7.85, Z:-0.64 [[ 9.79921614e-01 -1.99341836e-01 4.05752629e-03 6.32969111e+01] [ 1.99339844e-01 9.79930012e-01 8.93773356e-04 7.84590767e+00] [-4.15425820e-03 -6.70011724e-05 9.99991369e-01 -6.38239294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47687499999999 meters 0.016284162020101776 Centerline is valid? [True, True] Translation: X:63.35, Y:7.86, Z:-0.64 [[ 9.80345294e-01 -1.97270559e-01 2.72597259e-03 6.33537746e+01] [ 1.97269652e-01 9.80349083e-01 6.00364908e-04 7.85930006e+00] [-2.79083905e-03 -5.08132472e-05 9.99996104e-01 -6.39233877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.536875 meters 0.017213663589682543 Centerline is valid? [True, True] Translation: X:63.41, Y:7.88, Z:-0.64 [[ 9.80909018e-01 -1.94397612e-01 5.20249163e-03 6.34100177e+01] [ 1.94394261e-01 9.80922808e-01 1.14715574e-03 7.87539723e+00] [-5.32624704e-03 -1.13920900e-04 9.99985809e-01 -6.38568083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.596875 meters 0.017903841029101 Centerline is valid? [True, True] Translation: X:63.47, Y:7.89, Z:-0.64 [[ 9.80942233e-01 -1.94205924e-01 6.03283037e-03 6.34651521e+01] [ 1.94201411e-01 9.80960775e-01 1.33078534e-03 7.88925680e+00] [-6.17641635e-03 -1.33839380e-04 9.99980917e-01 -6.38254885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.656875 meters 0.016874384847792863 Centerline is valid? [True, True] Translation: X:63.52, Y:7.90, Z:-0.64 [[ 9.80700317e-01 -1.95379153e-01 7.33994787e-03 6.35229801e+01] [ 1.95372499e-01 9.80727772e-01 1.61988386e-03 7.89910154e+00] [-7.51498225e-03 -1.54596657e-04 9.99971750e-01 -6.37452554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.716875 meters 0.016620139821164292 Centerline is valid? [True, True] Translation: X:63.58, Y:7.91, Z:-0.64 [[ 9.80397660e-01 -1.96924003e-01 6.43155555e-03 6.35811115e+01] [ 1.96918918e-01 9.80418748e-01 1.42071615e-03 7.90995770e+00] [-6.58539075e-03 -1.26371825e-04 9.99978308e-01 -6.38165436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77687499999999 meters 0.015930024619133492 Centerline is valid? [True, True] Translation: X:63.64, Y:7.92, Z:-0.64 [[ 9.79805586e-01 -1.99865500e-01 5.89871375e-03 6.36393641e+01] [ 1.99861268e-01 9.79823337e-01 1.30428222e-03 7.91894402e+00] [-6.04037841e-03 -9.90185995e-05 9.99981752e-01 -6.40907871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83687499999999 meters 0.01486600570904569 Centerline is valid? [True, True] Translation: X:63.70, Y:7.92, Z:-0.64 [[ 9.78835438e-01 -2.04553889e-01 6.23625715e-03 6.36980677e+01] [ 2.04549244e-01 9.78855301e-01 1.38063635e-03 7.92477767e+00] [-6.38680791e-03 -7.57940980e-05 9.99979601e-01 -6.40671568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.896875 meters 0.01446052520731124 Centerline is valid? [True, True] Translation: X:63.76, Y:7.93, Z:-0.64 [[ 9.78253723e-01 -2.07306628e-01 6.60412727e-03 6.37568612e+01] [ 2.07301468e-01 9.78276013e-01 1.46398956e-03 7.93424076e+00] [-6.76415403e-03 -6.31079642e-05 9.99977121e-01 -6.41108184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.956875 meters 0.014496553108635664 Centerline is valid? [True, True] Translation: X:63.81, Y:7.95, Z:-0.64 [[ 9.78209359e-01 -2.07503953e-01 6.96842548e-03 6.38136318e+01] [ 2.07498202e-01 9.78234177e-01 1.54630637e-03 7.94509058e+00] [-7.13761665e-03 -6.66756060e-05 9.99974525e-01 -6.41902565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.016875 meters 0.01467938701132093 Centerline is valid? [True, True] Translation: X:63.87, Y:7.96, Z:-0.64 [[ 9.78307621e-01 -2.07049135e-01 6.69731089e-03 6.38697605e+01] [ 2.07043794e-01 9.78330543e-01 1.48879806e-03 7.95825240e+00] [-6.86043814e-03 -6.98658315e-05 9.99976464e-01 -6.43318918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.076875 meters 0.014873862882472602 Centerline is valid? [True, True] Translation: X:63.93, Y:7.97, Z:-0.64 [[ 9.78445270e-01 -2.06423937e-01 5.83197420e-03 6.39278689e+01] [ 2.06419878e-01 9.78462648e-01 1.29603273e-03 7.96963097e+00] [-5.97390110e-03 -6.42616863e-05 9.99982154e-01 -6.43347329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.136875 meters 0.01504469307037155 Centerline is valid? [True, True] Translation: X:63.98, Y:7.98, Z:-0.64 [[ 9.78661570e-01 -2.05383737e-01 6.24914397e-03 6.39848586e+01] [ 2.05379044e-01 9.78681519e-01 1.39048377e-03 7.98279378e+00] [-6.40150447e-03 -7.73698109e-05 9.99979507e-01 -6.44093784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19687499999999 meters 0.015674839941537552 Centerline is valid? [True, True] Translation: X:64.04, Y:8.00, Z:-0.65 [[ 9.79002871e-01 -2.03748554e-01 6.31709844e-03 6.40412202e+01] [ 2.03743710e-01 9.79023247e-01 1.40795011e-03 7.99668191e+00] [-6.47145402e-03 -9.13181257e-05 9.99979056e-01 -6.45702166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.256875 meters 0.01588126743468786 Centerline is valid? [True, True] Translation: X:64.10, Y:8.01, Z:-0.65 [[ 9.79078874e-01 -2.03376338e-01 6.52860307e-03 6.40987829e+01] [ 2.03371156e-01 9.79100636e-01 1.45501959e-03 8.00827146e+00] [-6.68807597e-03 -9.68493890e-05 9.99977630e-01 -6.47369699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.316875 meters 0.015848554055269363 Centerline is valid? [True, True] Translation: X:64.16, Y:8.02, Z:-0.65 [[ 9.79052303e-01 -2.03522609e-01 5.92744431e-03 6.41562888e+01] [ 2.03518334e-01 9.79070243e-01 1.32207867e-03 8.01888133e+00] [-6.07245724e-03 -8.80405788e-05 9.99981559e-01 -6.47633426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.376875 meters 0.015599745506952749 Centerline is valid? [True, True] Translation: X:64.21, Y:8.03, Z:-0.65 [[ 9.79083704e-01 -2.03389533e-01 5.27243130e-03 6.42149439e+01] [ 2.03386141e-01 9.79097897e-01 1.17729058e-03 8.02844761e+00] [-5.40167498e-03 -8.03265689e-05 9.99985408e-01 -6.49902389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.436875 meters 0.014080674970071561 Centerline is valid? [True, True] Translation: X:64.27, Y:8.03, Z:-0.65 [[ 9.77197257e-01 -2.12279196e-01 4.80236531e-03 6.42727452e+01] [ 2.12276480e-01 9.77209057e-01 1.07429101e-03 8.03352065e+00] [-4.92096451e-03 -3.03650198e-05 9.99987892e-01 -6.52195385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.496875 meters 0.013648917556717289 Centerline is valid? [True, True] Translation: X:64.33, Y:8.04, Z:-0.65 [[ 9.75770174e-01 -2.18754171e-01 4.37958985e-03 6.43316521e+01] [ 2.18751981e-01 9.75780002e-01 9.78947813e-04 8.03871147e+00] [-4.48766511e-03 2.81587713e-06 9.99989930e-01 -6.52011151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55687499999999 meters 0.013683701220672782 Centerline is valid? [True, True] Translation: X:64.39, Y:8.05, Z:-0.65 [[ 9.75862710e-01 -2.18355193e-01 3.60291470e-03 6.43876138e+01] [ 2.18353703e-01 9.75869361e-01 8.06628391e-04 8.05194453e+00] [-3.69210556e-03 -4.48800524e-07 9.99993184e-01 -6.54749006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.616875 meters 0.0138016523909208 Centerline is valid? [True, True] Translation: X:64.44, Y:8.07, Z:-0.65 [[ 9.76298561e-01 -2.16364163e-01 5.26008031e-03 6.44439457e+01] [ 2.16360956e-01 9.76312731e-01 1.17816124e-03 8.06721414e+00] [-5.39039524e-03 -1.21611159e-05 9.99985472e-01 -6.52489671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.676875 meters 0.01426948521507242 Centerline is valid? [True, True] Translation: X:64.50, Y:8.09, Z:-0.65 [[ 9.77102635e-01 -2.12705442e-01 5.18023051e-03 6.44986984e+01] [ 2.12702266e-01 9.77116366e-01 1.16289998e-03 8.08576998e+00] [-5.30904317e-03 -3.44258611e-05 9.99985906e-01 -6.54566473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.736875 meters 0.01466879313777847 Centerline is valid? [True, True] Translation: X:64.56, Y:8.10, Z:-0.66 [[ 9.77733987e-01 -2.09811543e-01 3.92005772e-03 6.45552071e+01] [ 2.09809705e-01 9.77741845e-01 8.78999811e-04 8.10373663e+00] [-4.01722877e-03 -3.69618352e-05 9.99991930e-01 -6.56678785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.796875 meters 0.01611456305652352 Centerline is valid? [True, True] Translation: X:64.61, Y:8.12, Z:-0.66 [[ 9.78635227e-01 -2.05567060e-01 3.90854486e-03 6.46094845e+01] [ 2.05565191e-01 9.78643030e-01 8.78406532e-04 8.12426238e+00] [-4.00564163e-03 -5.61788070e-05 9.99991976e-01 -6.59443930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.856875 meters 0.016576138197974835 Centerline is valid? [True, True] Translation: X:64.67, Y:8.14, Z:-0.66 [[ 9.79068663e-01 -2.03494232e-01 3.82757254e-03 6.46664424e+01] [ 2.03492426e-01 9.79076143e-01 8.59593331e-04 8.14038129e+00] [-3.92240725e-03 -6.27188701e-05 9.99992305e-01 -6.59165004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91687499999999 meters 0.016270249260665216 Centerline is valid? [True, True] Translation: X:64.72, Y:8.15, Z:-0.66 [[ 9.78926534e-01 -2.04169625e-01 4.19587205e-03 6.47229340e+01] [ 2.04167457e-01 9.78935524e-01 9.43330426e-04 8.15352178e+00] [-4.30008763e-03 -6.67906576e-05 9.99990752e-01 -6.59768895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97687499999999 meters 0.015805177574024516 Centerline is valid? [True, True] Translation: X:64.78, Y:8.17, Z:-0.66 [[ 9.78591018e-01 -2.05764974e-01 4.51618280e-03 6.47811969e+01] [ 2.05762467e-01 9.78601436e-01 1.01786034e-03 8.16527058e+00] [-4.62898298e-03 -6.68080660e-05 9.99989284e-01 -6.58786139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.036875 meters 0.01584208190252784 Centerline is valid? [True, True] Translation: X:64.84, Y:8.18, Z:-0.66 [[ 9.78380630e-01 -2.06793031e-01 2.82596125e-03 6.48381187e+01] [ 2.06792057e-01 9.78384710e-01 6.35551172e-04 8.17769171e+00] [-2.89630483e-03 -3.74246141e-05 9.99995805e-01 -6.60743410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.096875 meters 0.01587611702991602 Centerline is valid? [True, True] Translation: X:64.90, Y:8.19, Z:-0.66 [[ 9.78399888e-01 -2.06715950e-01 1.47470660e-03 6.48959180e+01] [ 2.06715686e-01 9.78400999e-01 3.30917219e-04 8.18906732e+00] [-1.51126028e-03 -1.89243827e-05 9.99998858e-01 -6.60802766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.156875 meters 0.016009967827758955 Centerline is valid? [True, True] Translation: X:64.95, Y:8.20, Z:-0.66 [[ 9.78396529e-01 -2.06730516e-01 1.65079691e-03 6.49524642e+01] [ 2.06730185e-01 9.78397922e-01 3.70857140e-04 8.20126058e+00] [-1.69180375e-03 -2.15757894e-05 9.99998569e-01 -6.61503498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.216875 meters 0.016606528855061628 Centerline is valid? [True, True] Translation: X:65.01, Y:8.21, Z:-0.66 [[ 9.78869017e-01 -2.04466268e-01 2.99890956e-03 6.50098708e+01] [ 2.04465152e-01 9.78873609e-01 6.77409088e-04 8.21449547e+00] [-3.07406073e-03 -4.99222700e-05 9.99995274e-01 -6.59746371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27687499999999 meters 0.018242372367650885 Centerline is valid? [True, True] Translation: X:65.07, Y:8.23, Z:-0.66 [[ 9.79785679e-01 -2.00026514e-01 3.06876860e-03 6.50669692e+01] [ 2.00025316e-01 9.79790482e-01 6.95547882e-04 8.23051973e+00] [-3.14587828e-03 -6.76564446e-05 9.99995049e-01 -6.60731313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33687499999999 meters 0.019289824427720908 Centerline is valid? [True, True] Translation: X:65.12, Y:8.25, Z:-0.66 [[ 9.80453553e-01 -1.96743551e-01 1.67495264e-03 6.51242709e+01] [ 1.96743190e-01 9.80454983e-01 3.79452415e-04 8.24581442e+00] [-1.71687048e-03 -4.24999428e-05 9.99998525e-01 -6.63223861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.396875 meters 0.02078979225279307 Centerline is valid? [True, True] Translation: X:65.18, Y:8.26, Z:-0.67 [[ 9.81128601e-01 -1.93347415e-01 -1.85609052e-03 6.51819745e+01] [ 1.93346963e-01 9.81130355e-01 -4.21603032e-04 8.26117524e+00] [ 1.90258260e-03 5.47773288e-05 9.99998189e-01 -6.67367759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.456875 meters 0.02105941005838718 Centerline is valid? [True, True] Translation: X:65.24, Y:8.27, Z:-0.67 [[ 9.81192061e-01 -1.92996383e-01 -3.81255198e-03 6.52396209e+01] [ 1.92994462e-01 9.81199461e-01 -8.68919556e-04 8.27432535e+00] [ 3.90857228e-03 1.16775553e-04 9.99992355e-01 -6.69345303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.516875 meters 0.020829058674183422 Centerline is valid? [True, True] Translation: X:65.30, Y:8.29, Z:-0.67 [[ 9.80944458e-01 -1.94204671e-01 -5.70231237e-03 6.52971650e+01] [ 1.94200391e-01 9.80961017e-01 -1.30033085e-03 8.28505044e+00] [ 5.84627646e-03 1.68161055e-04 9.99982896e-01 -6.69974640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.576875 meters 0.020138118454661274 Centerline is valid? [True, True] Translation: X:65.36, Y:8.30, Z:-0.67 [[ 9.80524669e-01 -1.96337429e-01 -4.79445701e-03 6.53554561e+01] [ 1.96334422e-01 9.80536382e-01 -1.09466121e-03 8.29563521e+00] [ 4.91606249e-03 1.32025376e-04 9.99987907e-01 -6.70112558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.636875 meters 0.01947187021674653 Centerline is valid? [True, True] Translation: X:65.41, Y:8.30, Z:-0.67 [[ 9.79918432e-01 -1.99385664e-01 -2.28564329e-03 6.54141897e+01] [ 1.99384985e-01 9.79921096e-01 -5.23626491e-04 8.30475270e+00] [ 2.34415370e-03 5.73882970e-05 9.99997251e-01 -6.67100240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69687499999999 meters 0.0184981546111293 Centerline is valid? [True, True] Translation: X:65.47, Y:8.31, Z:-0.67 [[ 9.79367356e-01 -2.02085854e-01 -9.42801066e-04 6.54729904e+01] [ 2.02085738e-01 9.79367810e-01 -2.17747269e-04 8.31449082e+00] [ 9.67352658e-04 2.27279175e-05 9.99999532e-01 -6.65655893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.756875 meters 0.017236938245163893 Centerline is valid? [True, True] Translation: X:65.53, Y:8.32, Z:-0.67 [[ 9.78328617e-01 -2.07058202e-01 1.34940205e-04 6.55312053e+01] [ 2.07058200e-01 9.78328626e-01 3.00147071e-05 8.32317548e+00] [-1.38230657e-04 -1.42377094e-06 9.99999990e-01 -6.65574645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.816875 meters 0.0168542909262413 Centerline is valid? [True, True] Translation: X:65.59, Y:8.33, Z:-0.67 [[ 9.77904240e-01 -2.09051763e-01 -8.11022471e-04 6.55887827e+01] [ 2.09051679e-01 9.77904576e-01 -1.88097958e-04 8.33410656e+00] [ 8.32424795e-04 1.43961820e-05 9.99999653e-01 -6.67929342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.876875 meters 0.016703263065922194 Centerline is valid? [True, True] Translation: X:65.65, Y:8.35, Z:-0.67 [[ 9.77930214e-01 -2.08931796e-01 -3.15958522e-05 6.56458545e+01] [ 2.08931796e-01 9.77930215e-01 -9.21520650e-06 8.34733333e+00] [ 3.28238881e-05 2.41045072e-06 9.99999999e-01 -6.68638309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.936875 meters 0.01703898269969465 Centerline is valid? [True, True] Translation: X:65.70, Y:8.36, Z:-0.67 [[ 9.78319324e-01 -2.07081489e-01 2.92516113e-03 6.57008837e+01] [ 2.07080417e-01 9.78323696e-01 6.68046533e-04 8.36354626e+00] [-3.00009452e-03 -4.78192455e-05 9.99995499e-01 -6.68725970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.996875 meters 0.018059095042198468 Centerline is valid? [True, True] Translation: X:65.76, Y:8.38, Z:-0.67 [[ 9.78768824e-01 -2.04936104e-01 3.57509458e-03 6.57561629e+01] [ 2.04934485e-01 9.78775351e-01 8.17522774e-04 8.38062305e+00] [-3.66675438e-03 -6.75056384e-05 9.99993275e-01 -6.70794293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05687499999999 meters 0.018433268995810975 Centerline is valid? [True, True] Translation: X:65.81, Y:8.40, Z:-0.67 [[ 9.79206979e-01 -2.02816386e-01 4.38241474e-03 6.58129365e+01] [ 2.02813934e-01 9.79216781e-01 1.00168348e-03 8.39669938e+00] [-4.49449188e-03 -9.20406815e-05 9.99989895e-01 -6.71664982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.116875 meters 0.018160752584119567 Centerline is valid? [True, True] Translation: X:65.87, Y:8.41, Z:-0.67 [[ 9.79227037e-01 -2.02711799e-01 4.72608399e-03 6.58695092e+01] [ 2.02708940e-01 9.79238437e-01 1.08139770e-03 8.41095510e+00] [-4.84717517e-03 -1.00914389e-04 9.99988247e-01 -6.73168884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.176875 meters 0.017629077658876276 Centerline is valid? [True, True] Translation: X:65.93, Y:8.42, Z:-0.67 [[ 9.78884216e-01 -2.04332086e-01 5.83866071e-03 6.59266310e+01] [ 2.04327735e-01 9.78901622e-01 1.33861350e-03 8.42484303e+00] [-5.98899613e-03 -1.17347309e-04 9.99982059e-01 -6.74300894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.236875 meters 0.017055877222060707 Centerline is valid? [True, True] Translation: X:65.98, Y:8.44, Z:-0.68 [[ 9.78493983e-01 -2.06153820e-01 7.08012564e-03 6.59842770e+01] [ 2.06147453e-01 9.78519589e-01 1.62563616e-03 8.43775374e+00] [-7.26317273e-03 -1.31125334e-04 9.99973614e-01 -6.75269072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.296875 meters 0.015458194204662752 Centerline is valid? [True, True] Translation: X:66.04, Y:8.45, Z:-0.68 [[ 9.77020464e-01 -2.12977774e-01 8.45460473e-03 6.60423321e+01] [ 2.12968921e-01 9.77057039e-01 1.94435655e-03 8.44780139e+00] [-8.67473579e-03 -9.91080861e-05 9.99962369e-01 -6.76210554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.356875 meters 0.014392676021979006 Centerline is valid? [True, True] Translation: X:66.10, Y:8.46, Z:-0.68 [[ 9.75658438e-01 -2.19101823e-01 9.21975677e-03 6.61005324e+01] [ 2.19091564e-01 9.75701998e-01 2.12075901e-03 8.45653162e+00] [-9.46039726e-03 -4.91654952e-05 9.99955248e-01 -6.76743678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41687499999999 meters 0.014110143552371165 Centerline is valid? [True, True] Translation: X:66.16, Y:8.47, Z:-0.68 [[ 9.74259674e-01 -2.25294899e-01 7.76508666e-03 6.61583286e+01] [ 2.25287806e-01 9.74290618e-01 1.78768379e-03 8.46623960e+00] [-7.96820712e-03 7.71111145e-06 9.99968253e-01 -6.79252167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47687499999999 meters 0.014236051900190167 Centerline is valid? [True, True] Translation: X:66.21, Y:8.48, Z:-0.68 [[ 9.73559807e-01 -2.28282789e-01 8.26258399e-03 6.62149611e+01] [ 2.28274842e-01 9.73594868e-01 1.90499124e-03 8.47633422e+00] [-8.47928608e-03 3.15171593e-05 9.99964050e-01 -6.80780810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.536875 meters 0.014250110897217975 Centerline is valid? [True, True] Translation: X:66.27, Y:8.49, Z:-0.68 [[ 9.73587564e-01 -2.28139408e-01 8.92556457e-03 6.62711875e+01] [ 2.28130124e-01 9.73628476e-01 2.05837670e-03 8.48910202e+00] [-9.15978067e-03 3.21801985e-05 9.99958048e-01 -6.80793542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.596875 meters 0.014027351258593872 Centerline is valid? [True, True] Translation: X:66.33, Y:8.51, Z:-0.68 [[ 9.74841978e-01 -2.22667006e-01 1.01253055e-02 6.63267341e+01] [ 2.22654729e-01 9.74894560e-01 2.33834088e-03 8.50749980e+00] [-1.03917766e-02 -2.50657079e-05 9.99946004e-01 -6.80585872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.656875 meters 0.014725580342360985 Centerline is valid? [True, True] Translation: X:66.38, Y:8.53, Z:-0.68 [[ 9.76145752e-01 -2.16839970e-01 1.09498048e-02 6.63829976e+01] [ 2.16825207e-01 9.76207159e-01 2.53214279e-03 8.52615901e+00] [-1.12383476e-02 -9.75467357e-05 9.99936843e-01 -6.80683670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.716875 meters 0.01626844442675022 Centerline is valid? [True, True] Translation: X:66.44, Y:8.55, Z:-0.68 [[ 9.77622593e-01 -2.10146291e-01 9.62297242e-03 6.64384030e+01] [ 2.10134541e-01 9.77669940e-01 2.22763435e-03 8.54692596e+00] [-9.87621997e-03 -1.55666782e-04 9.99951217e-01 -6.82995618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77687499999999 meters 0.014954066839953798 Centerline is valid? [True, True] Translation: X:66.50, Y:8.56, Z:-0.68 [[ 9.76884548e-01 -2.13598876e-01 8.49115387e-03 6.64964303e+01] [ 2.13589859e-01 9.76921445e-01 1.96552395e-03 8.55728549e+00] [-8.71502401e-03 -1.06465622e-04 9.99962018e-01 -6.84836341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83687499999999 meters 0.014760319368551707 Centerline is valid? [True, True] Translation: X:66.55, Y:8.57, Z:-0.68 [[ 9.76233062e-01 -2.16508458e-01 9.64861654e-03 6.65527052e+01] [ 2.16496927e-01 9.76280738e-01 2.23652213e-03 8.57065798e+00] [-9.90398443e-03 -9.44710133e-05 9.99950950e-01 -6.84304453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.896875 meters 0.014817390689061394 Centerline is valid? [True, True] Translation: X:66.61, Y:8.59, Z:-0.68 [[ 9.76336215e-01 -2.16032541e-01 9.87606215e-03 6.66087859e+01] [ 2.16020423e-01 9.76386159e-01 2.29048318e-03 8.58542694e+00] [-1.01376693e-02 -1.02850562e-04 9.99948607e-01 -6.83315450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.956875 meters 0.015658709908697988 Centerline is valid? [True, True] Translation: X:66.67, Y:8.60, Z:-0.68 [[ 9.76980055e-01 -2.13125342e-01 9.35742161e-03 6.66653915e+01] [ 2.13114305e-01 9.77024858e-01 2.17275513e-03 8.60126782e+00] [-9.60550269e-03 -1.28538020e-04 9.99953858e-01 -6.84525219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.016875 meters 0.017705006239033618 Centerline is valid? [True, True] Translation: X:66.72, Y:8.62, Z:-0.68 [[ 9.78405973e-01 -2.06409131e-01 1.08176497e-02 6.67215142e+01] [ 2.06393936e-01 9.78465747e-01 2.51487664e-03 8.62052891e+00] [-1.11037932e-02 -2.27873027e-04 9.99938325e-01 -6.84660905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.076875 meters 0.019626253610976682 Centerline is valid? [True, True] Translation: X:66.78, Y:8.64, Z:-0.68 [[ 9.79619752e-01 -2.00586062e-01 1.05058252e-02 6.67780157e+01] [ 2.00571389e-01 9.79676043e-01 2.44292318e-03 8.63806657e+00] [-1.07823216e-02 -2.85967845e-04 9.99941828e-01 -6.83865120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.136875 meters 0.01958501306671515 Centerline is valid? [True, True] Translation: X:66.84, Y:8.65, Z:-0.69 [[ 9.79962918e-01 -1.98950387e-01 9.56154269e-03 6.68354433e+01] [ 1.98938154e-01 9.80009524e-01 2.22355492e-03 8.65157924e+00] [-9.81278002e-03 -2.76845716e-04 9.99951815e-01 -6.85093424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19687499999999 meters 0.020194637012401796 Centerline is valid? [True, True] Translation: X:66.89, Y:8.67, Z:-0.69 [[ 9.79450424e-01 -2.01530965e-01 7.88269223e-03 6.68907717e+01] [ 2.01522717e-01 9.79482122e-01 1.83518576e-03 8.66736855e+00] [-8.09080286e-03 -2.08931912e-04 9.99967247e-01 -6.90338830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.256875 meters 0.017808931399687887 Centerline is valid? [True, True] Translation: X:66.95, Y:8.68, Z:-0.69 [[ 9.78800222e-01 -2.04635140e-01 8.63622473e-03 6.69488734e+01] [ 2.04625353e-01 9.78838301e-01 2.01154046e-03 8.67625992e+00] [-8.86509940e-03 -2.01705717e-04 9.99960684e-01 -6.87805207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.316875 meters 0.01664199506547724 Centerline is valid? [True, True] Translation: X:67.01, Y:8.69, Z:-0.69 [[ 9.78285752e-01 -2.07110396e-01 7.89127119e-03 6.70071280e+01] [ 2.07102302e-01 9.78317564e-01 1.83834678e-03 8.68794876e+00] [-8.10090994e-03 -1.64128032e-04 9.99967174e-01 -6.90303712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.376875 meters 0.01701744074970302 Centerline is valid? [True, True] Translation: X:67.06, Y:8.70, Z:-0.69 [[ 9.77689121e-01 -2.09936150e-01 7.12704648e-03 6.70636262e+01] [ 2.09929616e-01 9.77715090e-01 1.66128619e-03 8.70084726e+00] [-7.31698491e-03 -1.28043308e-04 9.99973222e-01 -6.92948214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.436875 meters 0.015497269127219415 Centerline is valid? [True, True] Translation: X:67.12, Y:8.71, Z:-0.69 [[ 9.77517581e-01 -2.10732587e-01 7.15233078e-03 6.71213217e+01] [ 2.10726029e-01 9.77543739e-01 1.66708985e-03 8.71018706e+00] [-7.34302633e-03 -1.22427375e-04 9.99973032e-01 -6.92177782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.496875 meters 0.014862223701330316 Centerline is valid? [True, True] Translation: X:67.18, Y:8.72, Z:-0.69 [[ 9.76946026e-01 -2.13335516e-01 8.02620062e-03 6.71802160e+01] [ 2.13327321e-01 9.76978988e-01 1.87359285e-03 8.71876746e+00] [-8.24113326e-03 -1.18191216e-04 9.99966034e-01 -6.91032823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55687499999999 meters 0.014519011643722568 Centerline is valid? [True, True] Translation: X:67.24, Y:8.73, Z:-0.69 [[ 9.76595224e-01 -2.14917045e-01 8.51066100e-03 6.72383277e+01] [ 2.14907871e-01 9.76632301e-01 1.98902058e-03 8.72890840e+00] [-8.73926086e-03 -1.13459958e-04 9.99961805e-01 -6.90787228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.616875 meters 0.014244333090595621 Centerline is valid? [True, True] Translation: X:67.30, Y:8.74, Z:-0.69 [[ 9.76104961e-01 -2.17157426e-01 7.85855333e-03 6.72970637e+01] [ 2.17149662e-01 9.76136591e-01 1.83840607e-03 8.73706227e+00] [-8.07024499e-03 -8.79950882e-05 9.99967431e-01 -6.92287547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.676875 meters 0.013712151958446004 Centerline is valid? [True, True] Translation: X:67.36, Y:8.75, Z:-0.69 [[ 9.75736866e-01 -2.18735942e-01 9.59978505e-03 6.73558159e+01] [ 2.18724402e-01 9.75784084e-01 2.24874393e-03 8.74626005e+00] [-9.85919859e-03 -9.44751038e-05 9.99951392e-01 -6.91241883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.736875 meters 0.013587268162496929 Centerline is valid? [True, True] Translation: X:67.41, Y:8.76, Z:-0.69 [[ 9.75313002e-01 -2.20569535e-01 1.06596261e-02 6.74135724e+01] [ 2.20555383e-01 9.75371249e-01 2.50008970e-03 8.75607413e+00] [-1.09485364e-02 -8.73320825e-05 9.99940059e-01 -6.90371239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.796875 meters 0.013770731518748669 Centerline is valid? [True, True] Translation: X:67.47, Y:8.77, Z:-0.69 [[ 9.75765710e-01 -2.18579595e-01 1.02098003e-02 6.74702020e+01] [ 2.18566478e-01 9.75819117e-01 2.39707582e-03 8.77174518e+00] [-1.04868702e-02 -1.07464306e-04 9.99945005e-01 -6.91691402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.856875 meters 0.014540215566211195 Centerline is valid? [True, True] Translation: X:67.53, Y:8.79, Z:-0.70 [[ 9.76542597e-01 -2.15195428e-01 7.44876250e-03 6.75275155e+01] [ 2.15188339e-01 9.76570999e-01 1.74995828e-03 8.78706890e+00] [-7.65082846e-03 -1.06021979e-04 9.99970726e-01 -6.95529609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91687499999999 meters 0.014821581212720538 Centerline is valid? [True, True] Translation: X:67.58, Y:8.80, Z:-0.70 [[ 9.76748641e-01 -2.14313688e-01 5.63349704e-03 6.75844165e+01] [ 2.14309613e-01 9.76764883e-01 1.32426455e-03 8.80061567e+00] [-5.78641010e-03 -8.61610234e-05 9.99983255e-01 -6.97667324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97687499999999 meters 0.014401916793650734 Centerline is valid? [True, True] Translation: X:67.64, Y:8.81, Z:-0.70 [[ 9.76291791e-01 -2.16380661e-01 5.80930228e-03 6.76414614e+01] [ 2.16376351e-01 9.76309072e-01 1.36797225e-03 8.81136342e+00] [-5.96767725e-03 -7.85444551e-05 9.99982190e-01 -6.98362962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.036875 meters 0.013513960774044388 Centerline is valid? [True, True] Translation: X:67.70, Y:8.82, Z:-0.70 [[ 9.75520433e-01 -2.19837253e-01 5.60946855e-03 6.77000041e+01] [ 2.19833294e-01 9.75536560e-01 1.32056817e-03 8.82164331e+00] [-5.76255173e-03 -5.50932855e-05 9.99983395e-01 -6.99272873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.096875 meters 0.013440799542572997 Centerline is valid? [True, True] Translation: X:67.76, Y:8.83, Z:-0.70 [[ 9.75577058e-01 -2.19634896e-01 3.14888340e-03 6.77574253e+01] [ 2.19633649e-01 9.75582140e-01 7.40865225e-04 8.83421002e+00] [-3.23471426e-03 -3.11703649e-05 9.99994768e-01 -7.02430224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.156875 meters 0.013796194527132202 Centerline is valid? [True, True] Translation: X:67.81, Y:8.85, Z:-0.70 [[ 9.75444688e-01 -2.20204876e-01 4.18021423e-03 6.78136856e+01] [ 2.20202670e-01 9.75453644e-01 9.86540679e-04 8.84779001e+00] [-4.29484627e-03 -4.18215303e-05 9.99990776e-01 -7.02760947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.216875 meters 0.014102936042266544 Centerline is valid? [True, True] Translation: X:67.87, Y:8.86, Z:-0.70 [[ 9.75681090e-01 -2.19156480e-01 4.10464307e-03 6.78707839e+01] [ 2.19154346e-01 9.75689723e-01 9.68057538e-04 8.86282377e+00] [-4.21701414e-03 -4.49650636e-05 9.99991107e-01 -7.01786242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27687499999999 meters 0.014414719862783228 Centerline is valid? [True, True] Translation: X:67.93, Y:8.88, Z:-0.70 [[ 9.76474053e-01 -2.15597185e-01 4.03458145e-03 6.79275486e+01] [ 2.15595090e-01 9.76482386e-01 9.52339378e-04 8.88032017e+00] [-4.14501941e-03 -6.00987413e-05 9.99991408e-01 -7.00824918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33687499999999 meters 0.013495316644072365 Centerline is valid? [True, True] Translation: X:67.98, Y:8.89, Z:-0.70 [[ 9.75428856e-01 -2.20245944e-01 5.50183026e-03 6.79836349e+01] [ 2.20242104e-01 9.75444371e-01 1.30192606e-03 8.89370856e+00] [-5.65347329e-03 -5.82015724e-05 9.99984017e-01 -6.99044887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.396875 meters 0.012918105682769205 Centerline is valid? [True, True] Translation: X:68.04, Y:8.91, Z:-0.70 [[ 9.75068283e-01 -2.21873831e-01 3.72115220e-03 6.80401135e+01] [ 2.21872092e-01 9.75075383e-01 8.79146130e-04 8.90856700e+00] [-3.82346342e-03 -3.16076846e-05 9.99992690e-01 -7.02468200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.456875 meters 0.013239869926968092 Centerline is valid? [True, True] Translation: X:68.10, Y:8.93, Z:-0.71 [[ 9.75246384e-01 -2.21119147e-01 9.01746460e-04 6.80957884e+01] [ 2.21119045e-01 9.75246801e-01 2.12915505e-04 8.92665735e+00] [-9.26505045e-04 -8.25176078e-06 9.99999571e-01 -7.06781921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.516875 meters 0.013667930167425344 Centerline is valid? [True, True] Translation: X:68.15, Y:8.94, Z:-0.71 [[ 9.75725218e-01 -2.18997461e-01 6.40590083e-04 6.81519581e+01] [ 2.18997410e-01 9.75725429e-01 1.49369002e-04 8.94380523e+00] [-6.57751466e-04 -5.45553305e-06 9.99999784e-01 -7.06237686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.576875 meters 0.014312806519924833 Centerline is valid? [True, True] Translation: X:68.21, Y:8.96, Z:-0.71 [[ 9.76372698e-01 -2.16093016e-01 4.02689836e-04 6.82080014e+01] [ 2.16092996e-01 9.76372781e-01 9.29818391e-05 8.96312059e+00] [-4.13268122e-04 -3.76647580e-06 9.99999915e-01 -7.06801815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63687499999999 meters 0.015271488435716494 Centerline is valid? [True, True] Translation: X:68.26, Y:8.98, Z:-0.71 [[ 9.76966435e-01 -2.13364785e-01 3.47173034e-03 6.82639803e+01] [ 2.13363205e-01 9.76972602e-01 8.23352823e-04 8.98327463e+00] [-3.56745992e-03 -6.36485587e-05 9.99993635e-01 -7.05522912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69687499999999 meters 0.01583534065914694 Centerline is valid? [True, True] Translation: X:68.32, Y:9.00, Z:-0.70 [[ 9.77257658e-01 -2.12004026e-01 4.66501878e-03 6.83207043e+01] [ 2.12001149e-01 9.77268788e-01 1.10847926e-03 9.00049725e+00] [-4.79397932e-03 -9.42805032e-05 9.99988504e-01 -7.04562767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.756875 meters 0.01596077845874953 Centerline is valid? [True, True] Translation: X:68.38, Y:9.02, Z:-0.70 [[ 9.77212699e-01 -2.12187270e-01 5.64825834e-03 6.83766392e+01] [ 2.12183045e-01 9.77229016e-01 1.34392829e-03 9.01762014e+00] [-5.80480641e-03 -1.14839142e-04 9.99983145e-01 -7.03336578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.816875 meters 0.015618511236528411 Centerline is valid? [True, True] Translation: X:68.43, Y:9.03, Z:-0.70 [[ 9.76682923e-01 -2.14641661e-01 4.40745218e-03 6.84328481e+01] [ 2.14639105e-01 9.76692864e-01 1.05056200e-03 9.03123747e+00] [-4.53022147e-03 -8.00543768e-05 9.99989735e-01 -7.04619746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.876875 meters 0.013140126679128542 Centerline is valid? [True, True] Translation: X:68.49, Y:9.04, Z:-0.70 [[ 9.74655258e-01 -2.23676469e-01 3.99569394e-03 6.84924638e+01] [ 2.23674442e-01 9.74663448e-01 9.53032219e-04 9.03864643e+00] [-4.10762771e-03 -3.51432524e-05 9.99991563e-01 -7.03687165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.936875 meters 0.012845501288890756 Centerline is valid? [True, True] Translation: X:68.55, Y:9.05, Z:-0.70 [[ 9.72045158e-01 -2.34774062e-01 3.05772989e-03 6.85507725e+01] [ 2.34772935e-01 9.72049968e-01 7.27606899e-04 9.04670409e+00] [-3.14308947e-03 1.06054571e-05 9.99995060e-01 -7.04000616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.996875 meters 0.01355217015021324 Centerline is valid? [True, True] Translation: X:68.61, Y:9.06, Z:-0.70 [[ 9.70529202e-01 -2.40954371e-01 3.74953011e-03 6.86075274e+01] [ 2.40952711e-01 9.70536444e-01 8.95016608e-04 9.05657692e+00] [-3.85471379e-03 3.48196922e-05 9.99992570e-01 -7.02422335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05687499999999 meters 0.014911076198864117 Centerline is valid? [True, True] Translation: X:68.67, Y:9.07, Z:-0.70 [[ 9.68735299e-01 -2.48079800e-01 2.88692496e-03 6.86656629e+01] [ 2.48078846e-01 9.68739599e-01 6.89581201e-04 9.06910100e+00] [-2.96774969e-03 4.81633615e-05 9.99995595e-01 -7.03499144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.116875 meters 0.015322500018011794 Centerline is valid? [True, True] Translation: X:68.72, Y:9.09, Z:-0.70 [[ 9.68294266e-01 -2.49800810e-01 2.40210096e-03 6.87218853e+01] [ 2.49800157e-01 9.68297244e-01 5.72970827e-04 9.08524838e+00] [-2.46907631e-03 4.52408286e-05 9.99996951e-01 -7.03423965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.176875 meters 0.014968032218246744 Centerline is valid? [True, True] Translation: X:68.78, Y:9.10, Z:-0.71 [[ 9.68817045e-01 -2.47776124e-01 7.24913857e-04 6.87777334e+01] [ 2.47776065e-01 9.68817316e-01 1.70811163e-04 9.10365688e+00] [-7.44632025e-04 1.41315372e-05 9.99999723e-01 -7.06302603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.236875 meters 0.013768966343812675 Centerline is valid? [True, True] Translation: X:68.83, Y:9.13, Z:-0.71 [[ 9.70695547e-01 -2.40312620e-01 7.01396068e-06 6.88321457e+01] [ 2.40312620e-01 9.70695547e-01 7.20675731e-07 9.12620546e+00] [-6.98160792e-06 9.85986541e-07 1.00000000e+00 -7.07504008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.296875 meters 0.013308655726122215 Centerline is valid? [True, True] Translation: X:68.89, Y:9.14, Z:-0.71 [[ 9.71423201e-01 -2.37353892e-01 3.06709293e-04 6.88887452e+01] [ 2.37353881e-01 9.71423250e-01 7.07228972e-05 9.14394868e+00] [-3.14730893e-04 4.09677801e-06 9.99999950e-01 -7.06067554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.356875 meters 0.013706576500532126 Centerline is valid? [True, True] Translation: X:68.94, Y:9.17, Z:-0.71 [[ 9.74316937e-01 -2.25162081e-01 2.92299712e-03 6.89410714e+01] [ 2.25160995e-01 9.74321321e-01 6.99732810e-04 9.17026413e+00] [-3.00549171e-03 -2.36165881e-05 9.99995483e-01 -7.07786815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41687499999999 meters 0.01630019149730472 Centerline is valid? [True, True] Translation: X:69.00, Y:9.19, Z:-0.71 [[ 9.76284659e-01 -2.16480845e-01 2.07546623e-03 6.89966369e+01] [ 2.16480277e-01 9.76286865e-01 4.97150824e-04 9.19243488e+00] [-2.13387405e-03 -3.60632180e-05 9.99997723e-01 -7.11468701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47687499999999 meters 0.01837831486973435 Centerline is valid? [True, True] Translation: X:69.05, Y:9.21, Z:-0.71 [[ 9.78170202e-01 -2.07801909e-01 1.19288914e-03 6.90532321e+01] [ 2.07801715e-01 9.78170929e-01 2.85981736e-04 9.21374184e+00] [-1.22627703e-03 -3.18544038e-05 9.99999248e-01 -7.13243426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.536875 meters 0.01993974110569812 Centerline is valid? [True, True] Translation: X:69.11, Y:9.23, Z:-0.72 [[ 9.78813916e-01 -2.04750844e-01 6.40610614e-04 6.91095443e+01] [ 2.04750788e-01 9.78814125e-01 1.53167382e-04 9.23105348e+00] [-6.58399868e-04 -1.87568371e-05 9.99999783e-01 -7.15679633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.596875 meters 0.020743412555452007 Centerline is valid? [True, True] Translation: X:69.17, Y:9.25, Z:-0.72 [[ 9.78998697e-01 -2.03866142e-01 -3.83836922e-04 6.91665754e+01] [ 2.03866120e-01 9.78998772e-01 -9.49547710e-05 9.24612757e+00] [ 3.95133938e-04 1.47092531e-05 9.99999922e-01 -7.21546672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.656875 meters 0.020257407056550283 Centerline is valid? [True, True] Translation: X:69.22, Y:9.26, Z:-0.72 [[ 9.78859288e-01 -2.04531601e-01 -1.14853868e-03 6.92234926e+01] [ 2.04531413e-01 9.78859961e-01 -2.79456053e-04 9.25777445e+00] [ 1.18141612e-03 3.86359147e-05 9.99999301e-01 -7.23094637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.716875 meters 0.021444993855903108 Centerline is valid? [True, True] Translation: X:69.28, Y:9.27, Z:-0.72 [[ 9.78868580e-01 -2.04489585e-01 5.59172142e-04 6.92803054e+01] [ 2.04489542e-01 9.78868740e-01 1.33136938e-04 9.27099554e+00] [-5.74581247e-04 -1.59787105e-05 9.99999835e-01 -7.22807956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77687499999999 meters 0.020596539858072693 Centerline is valid? [True, True] Translation: X:69.34, Y:9.28, Z:-0.72 [[ 9.78837179e-01 -2.04637535e-01 1.12123223e-03 6.93377539e+01] [ 2.04637363e-01 9.78837820e-01 2.67028075e-04 9.28177225e+00] [-1.15214848e-03 -3.19310011e-05 9.99999336e-01 -7.22006083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83687499999999 meters 0.02116311141308885 Centerline is valid? [True, True] Translation: X:69.40, Y:9.30, Z:-0.72 [[ 9.79053167e-01 -2.03597369e-01 1.73423795e-03 6.93951896e+01] [ 2.03596952e-01 9.79054701e-01 4.15642042e-04 9.29504853e+00] [-1.78253745e-03 -5.38500966e-05 9.99998410e-01 -7.22500709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.896875 meters 0.021748181676803726 Centerline is valid? [True, True] Translation: X:69.45, Y:9.31, Z:-0.72 [[ 9.79395608e-01 -2.01940602e-01 2.05838036e-03 6.94525975e+01] [ 2.01940008e-01 9.79397768e-01 4.94351714e-04 9.30887550e+00] [-2.11580282e-03 -6.84965500e-05 9.99997759e-01 -7.24163056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.956875 meters 0.021841660314940607 Centerline is valid? [True, True] Translation: X:69.51, Y:9.32, Z:-0.72 [[ 9.79543762e-01 -2.01208433e-01 3.03064930e-03 6.95104803e+01] [ 2.01207137e-01 9.79548445e-01 7.29911648e-04 9.32185100e+00] [-3.11553219e-03 -1.05192133e-04 9.99995141e-01 -7.23440797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.016875 meters 0.02196904891745704 Centerline is valid? [True, True] Translation: X:69.57, Y:9.34, Z:-0.72 [[ 9.79540780e-01 -2.01182121e-01 5.06108986e-03 6.95667628e+01] [ 2.01178490e-01 9.79553838e-01 1.22187747e-03 9.33533168e+00] [-5.20342990e-03 -1.78696391e-04 9.99986446e-01 -7.21411653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.076875 meters 0.022504265015495815 Centerline is valid? [True, True] Translation: X:69.62, Y:9.35, Z:-0.72 [[ 9.79233667e-01 -2.02654413e-01 5.71095232e-03 6.96228815e+01] [ 2.02649796e-01 9.79250300e-01 1.38188363e-03 9.35005537e+00] [-5.87249659e-03 -1.95863657e-04 9.99982738e-01 -7.23559327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13687499999999 meters 0.02019872226798422 Centerline is valid? [True, True] Translation: X:69.68, Y:9.36, Z:-0.72 [[ 9.78746501e-01 -2.04983119e-01 6.09983282e-03 6.96808192e+01] [ 2.04977898e-01 9.78765489e-01 1.47579690e-03 9.35980407e+00] [-6.27281930e-03 -1.94100149e-04 9.99980307e-01 -7.24587973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19687499999999 meters 0.01978117110794484 Centerline is valid? [True, True] Translation: X:69.74, Y:9.37, Z:-0.72 [[ 9.78282656e-01 -2.07200547e-01 5.56582501e-03 6.97387500e+01] [ 2.07196230e-01 9.78298475e-01 1.34782172e-03 9.37236879e+00] [-5.72430751e-03 -1.65332660e-04 9.99983602e-01 -7.24739528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.256875 meters 0.019067454806456097 Centerline is valid? [True, True] Translation: X:69.80, Y:9.39, Z:-0.73 [[ 9.77693313e-01 -2.09961724e-01 5.64443329e-03 6.97953548e+01] [ 2.09957321e-01 9.77709594e-01 1.36839870e-03 9.38643804e+00] [-5.80592793e-03 -1.52784170e-04 9.99983134e-01 -7.26568164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.316875 meters 0.017483544945976516 Centerline is valid? [True, True] Translation: X:69.85, Y:9.40, Z:-0.73 [[ 9.77003463e-01 -2.13140450e-01 5.94833882e-03 6.98539603e+01] [ 2.13135608e-01 9.77021560e-01 1.44370930e-03 9.39645930e+00] [-6.11936812e-03 -1.42706174e-04 9.99981266e-01 -7.26858178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.376875 meters 0.015907667841024282 Centerline is valid? [True, True] Translation: X:69.91, Y:9.41, Z:-0.73 [[ 9.75814763e-01 -2.18532601e-01 5.38994862e-03 6.99120906e+01] [ 2.18528697e-01 9.75829643e-01 1.31013344e-03 9.40606551e+00] [-5.54597851e-03 -1.00589107e-04 9.99984616e-01 -7.27370663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.436875 meters 0.015281996387107456 Centerline is valid? [True, True] Translation: X:69.97, Y:9.42, Z:-0.73 [[ 9.74919122e-01 -2.22484089e-01 5.79102879e-03 6.99699561e+01] [ 2.22479654e-01 9.74936318e-01 1.40720171e-03 9.41599579e+00] [-5.95896427e-03 -8.35217768e-05 9.99982242e-01 -7.27237340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.496875 meters 0.014821281274708354 Centerline is valid? [True, True] Translation: X:70.03, Y:9.43, Z:-0.73 [[ 9.74530610e-01 -2.24179193e-01 5.81195732e-03 7.00273785e+01] [ 2.24174748e-01 9.74547938e-01 1.41376338e-03 9.42774078e+00] [-5.98096736e-03 -7.48616193e-05 9.99982111e-01 -7.26859196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55687499999999 meters 0.014340374816840902 Centerline is valid? [True, True] Translation: X:70.09, Y:9.44, Z:-0.73 [[ 9.73902657e-01 -2.26898265e-01 5.54913031e-03 7.00852664e+01] [ 2.26894249e-01 9.73918464e-01 1.35112459e-03 9.43866066e+00] [-5.71096829e-03 -5.67980683e-05 9.99983691e-01 -7.28036979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.616875 meters 0.013974898597671091 Centerline is valid? [True, True] Translation: X:70.14, Y:9.45, Z:-0.73 [[ 9.73372002e-01 -2.29186841e-01 4.50979377e-03 7.01425528e+01] [ 2.29184205e-01 9.73382448e-01 1.09972244e-03 9.44943186e+00] [-4.64179601e-03 -3.68655293e-05 9.99989226e-01 -7.28625296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.676875 meters 0.01369094969439485 Centerline is valid? [True, True] Translation: X:70.20, Y:9.46, Z:-0.73 [[ 9.72568126e-01 -2.32599732e-01 2.93338366e-03 7.02005446e+01] [ 2.32598637e-01 9.72572550e-01 7.13668940e-04 9.45735169e+00] [-3.01892763e-03 -1.17906220e-05 9.99995443e-01 -7.28242844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.736875 meters 0.013717986569226124 Centerline is valid? [True, True] Translation: X:70.26, Y:9.47, Z:-0.73 [[ 9.72051106e-01 -2.34742937e-01 3.52152065e-03 7.02589018e+01] [ 2.34741367e-01 9.72057485e-01 8.58667709e-04 9.46771817e+00] [-3.62468668e-03 -8.02232431e-06 9.99993431e-01 -7.27605975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.796875 meters 0.013781374849933279 Centerline is valid? [True, True] Translation: X:70.32, Y:9.48, Z:-0.73 [[ 9.72042404e-01 -2.34786750e-01 2.95736899e-03 7.03158980e+01] [ 2.34785643e-01 9.72046903e-01 7.21126072e-04 9.48100127e+00] [-3.04401221e-03 -6.61734195e-06 9.99995367e-01 -7.29313548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.856875 meters 0.013996260439306678 Centerline is valid? [True, True] Translation: X:70.37, Y:9.50, Z:-0.73 [[ 9.72487558e-01 -2.32944554e-01 2.18730724e-03 7.03726218e+01] [ 2.32943943e-01 9.72490018e-01 5.33494522e-04 9.49560655e+00] [-2.25140910e-03 -9.29681048e-06 9.99997466e-01 -7.30150432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91687499999999 meters 0.014356519984890365 Centerline is valid? [True, True] Translation: X:70.43, Y:9.51, Z:-0.73 [[ 9.73046150e-01 -2.30609904e-01 5.12593457e-04 7.04293012e+01] [ 2.30609872e-01 9.73046285e-01 1.23086320e-04 9.51083223e+00] [-5.27162084e-04 -1.55955866e-06 9.99999861e-01 -7.29965573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97687499999999 meters 0.014845771824538917 Centerline is valid? [True, True] Translation: X:70.49, Y:9.53, Z:-0.73 [[ 9.73704898e-01 -2.27812760e-01 -3.43285273e-04 7.04864197e+01] [ 2.27812744e-01 9.73704959e-01 -8.70561781e-05 9.52716312e+00] [ 3.54091081e-04 6.56226706e-06 9.99999937e-01 -7.31281296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.036875 meters 0.015146524103479423 Centerline is valid? [True, True] Translation: X:70.54, Y:9.54, Z:-0.73 [[ 9.73748158e-01 -2.27625932e-01 -9.79288253e-04 7.05429172e+01] [ 2.27625805e-01 9.73748651e-01 -2.41606686e-04 9.54132904e+00] [ 1.00857656e-03 1.23527893e-05 9.99999491e-01 -7.32251181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.096875 meters 0.014723014550802936 Centerline is valid? [True, True] Translation: X:70.60, Y:9.55, Z:-0.73 [[ 9.73570022e-01 -2.28388689e-01 -1.37492586e-04 7.06001681e+01] [ 2.28388686e-01 9.73570032e-01 -3.65430487e-05 9.55387168e+00] [ 1.42204680e-04 4.17546576e-06 9.99999990e-01 -7.30328987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.156875 meters 0.014477707300558185 Centerline is valid? [True, True] Translation: X:70.66, Y:9.57, Z:-0.73 [[ 9.73179316e-01 -2.30045387e-01 1.06678147e-03 7.06577936e+01] [ 2.30045240e-01 9.73179901e-01 2.59951677e-04 9.56707730e+00] [-1.09797097e-03 -7.57159713e-06 9.99999397e-01 -7.29668491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.216875 meters 0.014460385723012883 Centerline is valid? [True, True] Translation: X:70.71, Y:9.58, Z:-0.73 [[ 9.73096743e-01 -2.30396864e-01 1.19965274e-04 7.07145467e+01] [ 2.30396862e-01 9.73096750e-01 2.85780357e-05 9.58074999e+00] [-1.23322109e-04 -1.69570684e-07 9.99999992e-01 -7.30810951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27687499999999 meters 0.014521295115776886 Centerline is valid? [True, True] Translation: X:70.77, Y:9.59, Z:-0.73 [[ 9.73053116e-01 -2.30560512e-01 -3.07951771e-03 7.07721115e+01] [ 2.30559255e-01 9.73057989e-01 -7.62089136e-04 9.59474601e+00] [ 3.17225697e-03 3.15419019e-05 9.99994968e-01 -7.33154201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33687499999999 meters 0.01474889135639915 Centerline is valid? [True, True] Translation: X:70.83, Y:9.61, Z:-0.73 [[ 9.73257649e-01 -2.29688740e-01 -3.55399613e-03 7.08288760e+01] [ 2.29687058e-01 9.73264137e-01 -8.79968897e-04 9.60930273e+00] [ 3.66109592e-03 4.01295461e-05 9.99993297e-01 -7.32955618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.396875 meters 0.015106312962815421 Centerline is valid? [True, True] Translation: X:70.89, Y:9.63, Z:-0.73 [[ 9.73699847e-01 -2.27821203e-01 -2.47118859e-03 7.08852283e+01] [ 2.27820381e-01 9.73702982e-01 -6.13304690e-04 9.62538310e+00] [ 2.54592751e-03 3.41875578e-05 9.99996759e-01 -7.33197565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.456875 meters 0.015908805212321367 Centerline is valid? [True, True] Translation: X:70.94, Y:9.64, Z:-0.73 [[ 9.73955194e-01 -2.26737627e-01 -1.15223707e-03 7.09402478e+01] [ 2.26737447e-01 9.73955876e-01 -2.86187664e-04 9.64016455e+00] [ 1.18711758e-03 1.74786704e-05 9.99999295e-01 -7.33204201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.516875 meters 0.01609315894358341 Centerline is valid? [True, True] Translation: X:71.00, Y:9.65, Z:-0.73 [[ 9.74262485e-01 -2.25414343e-01 -9.92105764e-04 7.09967671e+01] [ 2.25414209e-01 9.74262990e-01 -2.46297953e-04 9.65479771e+00] [ 1.02209102e-03 1.63241188e-05 9.99999478e-01 -7.31940815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.576875 meters 0.016330311189164705 Centerline is valid? [True, True] Translation: X:71.05, Y:9.67, Z:-0.73 [[ 9.74638499e-01 -2.23779390e-01 -1.60683715e-03 7.10533564e+01] [ 2.23779034e-01 9.74639823e-01 -4.00533875e-04 9.66984717e+00] [ 1.65571870e-03 3.07992688e-05 9.99998629e-01 -7.32443943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63687499999999 meters 0.016439035454622584 Centerline is valid? [True, True] Translation: X:71.11, Y:9.68, Z:-0.73 [[ 9.74672767e-01 -2.23624400e-01 -2.26380756e-03 7.11107180e+01] [ 2.23623693e-01 9.74675395e-01 -5.63768194e-04 9.68461794e+00] [ 2.33254985e-03 4.32484999e-05 9.99997279e-01 -7.34092003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69687499999999 meters 0.016493511378948094 Centerline is valid? [True, True] Translation: X:71.17, Y:9.70, Z:-0.74 [[ 9.74611410e-01 -2.23888889e-01 -2.52298064e-03 7.11670280e+01] [ 2.23888011e-01 9.74614674e-01 -6.29105501e-04 9.69934509e+00] [ 2.59978369e-03 4.82682822e-05 9.99996619e-01 -7.35174150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.756875 meters 0.016602002994813948 Centerline is valid? [True, True] Translation: X:71.22, Y:9.71, Z:-0.73 [[ 9.74503317e-01 -2.24363316e-01 -2.09475216e-03 7.12236201e+01] [ 2.24362709e-01 9.74505567e-01 -5.23456541e-04 9.71311241e+00] [ 2.15879208e-03 4.01258663e-05 9.99997669e-01 -7.33947608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.816875 meters 0.01680508893631171 Centerline is valid? [True, True] Translation: X:71.28, Y:9.73, Z:-0.74 [[ 9.74560405e-01 -2.24114288e-01 -2.19148911e-03 7.12804015e+01] [ 2.24113623e-01 9.74562868e-01 -5.47620721e-04 9.72945026e+00] [ 2.25847354e-03 4.25469080e-05 9.99997449e-01 -7.36390338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.876875 meters 0.017073337794476822 Centerline is valid? [True, True] Translation: X:71.34, Y:9.74, Z:-0.74 [[ 9.74596090e-01 -2.23962987e-01 -1.74399858e-03 7.13368787e+01] [ 2.23962563e-01 9.74597650e-01 -4.37202204e-04 9.74428234e+00] [ 1.79761403e-03 3.55051666e-05 9.99998384e-01 -7.36660541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.936875 meters 0.016608470205054172 Centerline is valid? [True, True] Translation: X:71.39, Y:9.76, Z:-0.74 [[ 9.74421364e-01 -2.24722643e-01 -1.65508819e-03 7.13946642e+01] [ 2.24722262e-01 9.74422769e-01 -4.15166653e-04 9.75736117e+00] [ 1.70605296e-03 3.26120953e-05 9.99998544e-01 -7.35231428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.996875 meters 0.016999212852308678 Centerline is valid? [True, True] Translation: X:71.45, Y:9.77, Z:-0.73 [[ 9.74403526e-01 -2.24803495e-01 -1.07535162e-03 7.14501548e+01] [ 2.24803335e-01 9.74404119e-01 -2.69023860e-04 9.77273843e+00] [ 1.10830456e-03 2.03951655e-05 9.99999386e-01 -7.34694244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05687499999999 meters 0.016987176547720657 Centerline is valid? [True, True] Translation: X:71.51, Y:9.79, Z:-0.73 [[ 9.74516411e-01 -2.24315070e-01 -7.16496794e-04 7.15075961e+01] [ 2.24314997e-01 9.74516675e-01 -1.81488064e-04 9.78740450e+00] [ 7.38948580e-04 1.61421208e-05 9.99999727e-01 -7.33465068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.116875 meters 0.017541224230491696 Centerline is valid? [True, True] Translation: X:71.56, Y:9.80, Z:-0.73 [[ 9.74747237e-01 -2.23311024e-01 -9.92621959e-05 7.15631720e+01] [ 2.23311023e-01 9.74747242e-01 -2.57320780e-05 9.80410585e+00] [ 1.02501808e-04 2.91592950e-06 9.99999995e-01 -7.33690943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.176875 meters 0.01783836124855413 Centerline is valid? [True, True] Translation: X:71.62, Y:9.82, Z:-0.74 [[ 9.74691344e-01 -2.23554654e-01 -3.17039365e-04 7.16191124e+01] [ 2.23554640e-01 9.74691395e-01 -8.22391715e-05 9.81980637e+00] [ 3.27400490e-04 9.28218772e-06 9.99999946e-01 -7.36085605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.236875 meters 0.017809498454693835 Centerline is valid? [True, True] Translation: X:71.68, Y:9.83, Z:-0.74 [[ 9.74466755e-01 -2.24531189e-01 -5.36870206e-04 7.16754894e+01] [ 2.24531149e-01 9.74466903e-01 -1.35132220e-04 9.83438454e+00] [ 5.53503645e-04 1.11377719e-05 9.99999847e-01 -7.36687345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.296875 meters 0.016498627458638785 Centerline is valid? [True, True] Translation: X:71.73, Y:9.85, Z:-0.74 [[ 9.73395217e-01 -2.29132586e-01 -9.56046648e-05 7.17320021e+01] [ 2.29132584e-01 9.73395222e-01 -2.48200134e-05 9.84645399e+00] [ 9.87481977e-05 2.25353838e-06 9.99999995e-01 -7.36816941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.356875 meters 0.015452359841969151 Centerline is valid? [True, True] Translation: X:71.79, Y:9.86, Z:-0.74 [[ 9.72420698e-01 -2.33233603e-01 -2.68498528e-04 7.17896080e+01] [ 2.33233593e-01 9.72420735e-01 -6.96979403e-05 9.85789796e+00] [ 2.77349437e-04 5.15284343e-06 9.99999962e-01 -7.37311342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41687499999999 meters 0.014287096979754279 Centerline is valid? [True, True] Translation: X:71.85, Y:9.87, Z:-0.74 [[ 9.70535624e-01 -2.40957371e-01 -3.83566671e-04 7.18471518e+01] [ 2.40957352e-01 9.70535700e-01 -9.69138357e-05 9.86717052e+00] [ 3.95617250e-04 1.63512080e-06 9.99999922e-01 -7.38866763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47687499999999 meters 0.01419973906019706 Centerline is valid? [True, True] Translation: X:71.90, Y:9.88, Z:-0.74 [[ 9.69409314e-01 -2.45449609e-01 2.68870596e-04 7.19042555e+01] [ 2.45449600e-01 9.69409351e-01 6.42462454e-05 9.87956892e+00] [-2.76414885e-04 3.71327153e-06 9.99999962e-01 -7.36296320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.536875 meters 0.014395043246487287 Centerline is valid? [True, True] Translation: X:71.96, Y:9.89, Z:-0.73 [[ 9.68373857e-01 -2.49491986e-01 2.41276567e-03 7.19606199e+01] [ 2.49491259e-01 9.68376863e-01 6.02411229e-04 9.89313011e+00] [-2.48676322e-03 1.86046590e-05 9.99996908e-01 -7.33814728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.596875 meters 0.01448395719246274 Centerline is valid? [True, True] Translation: X:72.02, Y:9.91, Z:-0.73 [[ 9.67988851e-01 -2.50977670e-01 2.79166789e-03 7.20159739e+01] [ 2.50976700e-01 9.67992876e-01 6.98285609e-04 9.90999555e+00] [-2.87756873e-03 2.47109098e-05 9.99995859e-01 -7.34390087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.656875 meters 0.014201018362967735 Centerline is valid? [True, True] Translation: X:72.07, Y:9.93, Z:-0.74 [[ 9.68663729e-01 -2.48350411e-01 3.55707498e-03 7.20713163e+01] [ 2.48348806e-01 9.68670260e-01 8.93066067e-04 9.92789693e+00] [-3.66742607e-03 1.83146161e-05 9.99993275e-01 -7.35672641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.716875 meters 0.014354288567811119 Centerline is valid? [True, True] Translation: X:72.13, Y:9.95, Z:-0.74 [[ 9.70533004e-01 -2.40965731e-01 1.09778080e-03 7.21252594e+01] [ 2.40965574e-01 9.70533625e-01 2.74667458e-04 9.95133182e+00] [-1.13161862e-03 -2.04645205e-06 9.99999360e-01 -7.40464075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77687499999999 meters 0.015013138765557535 Centerline is valid? [True, True] Translation: X:72.18, Y:9.97, Z:-0.74 [[ 9.72879054e-01 -2.31312917e-01 8.24697257e-04 7.21803475e+01] [ 2.31312825e-01 9.72879404e-01 2.06836636e-04 9.97459537e+00] [-8.50174962e-04 -1.04639781e-05 9.99999639e-01 -7.38783792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83687499999999 meters 0.0163086627970791 Centerline is valid? [True, True] Translation: X:72.24, Y:10.00, Z:-0.74 [[ 9.74391294e-01 -2.24852618e-01 1.70486290e-03 7.22366734e+01] [ 2.24852212e-01 9.74392785e-01 4.28474812e-04 9.99561928e+00] [-1.75754979e-03 -3.41599317e-05 9.99998455e-01 -7.39001076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.896875 meters 0.018599133599976576 Centerline is valid? [True, True] Translation: X:72.29, Y:10.02, Z:-0.74 [[ 9.76270008e-01 -2.16549935e-01 1.73110532e-03 7.22933703e+01] [ 2.16549504e-01 9.76271542e-01 4.35346058e-04 1.00177354e+01] [-1.78430302e-03 -5.01453019e-05 9.99998407e-01 -7.38726125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.956875 meters 0.020660899503124712 Centerline is valid? [True, True] Translation: X:72.35, Y:10.04, Z:-0.74 [[ 9.77193571e-01 -2.12348615e-01 8.89574257e-04 7.23490808e+01] [ 2.12348499e-01 9.77193975e-01 2.23248384e-04 1.00375137e+01] [-9.16693089e-04 -2.92571271e-05 9.99999579e-01 -7.40607218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.016875 meters 0.02274088829694541 Centerline is valid? [True, True] Translation: X:72.41, Y:10.06, Z:-0.74 [[ 9.78332642e-01 -2.07038418e-01 5.78796837e-04 7.24058029e+01] [ 2.07038368e-01 9.78332813e-01 1.45383802e-04 1.00583285e+01] [-5.96355970e-04 -2.24005668e-05 9.99999822e-01 -7.42881222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.076875 meters 0.02477366059850991 Centerline is valid? [True, True] Translation: X:72.46, Y:10.08, Z:-0.74 [[ 9.78866681e-01 -2.04499415e-01 9.67372797e-05 7.24612522e+01] [ 2.04499414e-01 9.78866686e-01 2.37640203e-05 1.00775590e+01] [-9.95526287e-05 -3.47909072e-06 9.99999995e-01 -7.43914456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13687499999999 meters 0.025125758796116223 Centerline is valid? [True, True] Translation: X:72.52, Y:10.09, Z:-0.74 [[ 9.78889079e-01 -2.04392169e-01 1.07633958e-04 7.25182886e+01] [ 2.04392168e-01 9.78889085e-01 2.43941704e-05 1.00931261e+01] [-1.10347684e-04 -1.87964898e-06 9.99999994e-01 -7.44522610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19687499999999 meters 0.02273452347806864 Centerline is valid? [True, True] Translation: X:72.58, Y:10.10, Z:-0.74 [[ 9.78700253e-01 -2.05290049e-01 1.34531050e-03 7.25760870e+01] [ 2.05289780e-01 9.78701176e-01 3.36480339e-04 1.01045865e+01] [-1.38573303e-03 -5.31348961e-05 9.99999038e-01 -7.43448137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.256875 meters 0.02263793101833562 Centerline is valid? [True, True] Translation: X:72.63, Y:10.12, Z:-0.75 [[ 9.78157084e-01 -2.07866586e-01 4.49540189e-04 7.26321758e+01] [ 2.07866557e-01 9.78157187e-01 1.12432438e-04 1.01196782e+01] [-4.63091913e-04 -1.65322145e-05 9.99999893e-01 -7.45080878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.316875 meters 0.02160437558722911 Centerline is valid? [True, True] Translation: X:72.69, Y:10.13, Z:-0.75 [[ 9.77468175e-01 -2.11082838e-01 4.60761459e-05 7.26903118e+01] [ 2.11082838e-01 9.77468176e-01 9.07226679e-06 1.01318371e+01] [-4.69529662e-05 8.58031560e-07 9.99999999e-01 -7.45580001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.376875 meters 0.01870271218340588 Centerline is valid? [True, True] Translation: X:72.75, Y:10.14, Z:-0.74 [[ 9.76417065e-01 -2.15886141e-01 1.69956715e-03 7.27500106e+01] [ 2.15885721e-01 9.76418543e-01 4.29058272e-04 1.01421080e+01] [-1.75211662e-03 -5.20275390e-05 9.99998464e-01 -7.43148838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.436875 meters 0.01817230261808258 Centerline is valid? [True, True] Translation: X:72.81, Y:10.16, Z:-0.74 [[ 9.75482906e-01 -2.20057697e-01 2.77676763e-03 7.28073670e+01] [ 2.20056592e-01 9.75486855e-01 7.01035475e-04 1.01558291e+01] [-2.86296858e-03 -7.28021011e-05 9.99995899e-01 -7.42914390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.496875 meters 0.017782006676629568 Centerline is valid? [True, True] Translation: X:72.86, Y:10.17, Z:-0.74 [[ 9.75003124e-01 -2.22179535e-01 2.27227902e-03 7.28642106e+01] [ 2.22178806e-01 9.75005770e-01 5.71848383e-04 1.01709664e+01] [-2.34253816e-03 -5.27017213e-05 9.99997255e-01 -7.44636909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55687499999999 meters 0.01693369962246296 Centerline is valid? [True, True] Translation: X:72.92, Y:10.19, Z:-0.75 [[ 9.74618304e-01 -2.23870202e-01 1.13780387e-03 7.29210048e+01] [ 2.23870022e-01 9.74618968e-01 2.85239112e-04 1.01854377e+01] [-1.17278177e-03 -2.32790826e-05 9.99999312e-01 -7.46136141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.616875 meters 0.016612317726801232 Centerline is valid? [True, True] Translation: X:72.98, Y:10.20, Z:-0.75 [[ 9.74240634e-01 -2.25510707e-01 3.29327902e-04 7.29780913e+01] [ 2.25510692e-01 9.74240690e-01 8.07092677e-05 1.02008897e+01] [-3.39045446e-04 -4.36328496e-06 9.99999943e-01 -7.48421897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.676875 meters 0.016612456169263663 Centerline is valid? [True, True] Translation: X:73.03, Y:10.22, Z:-0.75 [[ 9.74270957e-01 -2.25377217e-01 1.10076785e-03 7.30339804e+01] [ 2.25377049e-01 9.74271579e-01 2.76066920e-04 1.02156098e+01] [-1.13466602e-03 -2.08761735e-05 9.99999356e-01 -7.47775304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.736875 meters 0.017031545097611366 Centerline is valid? [True, True] Translation: X:73.09, Y:10.23, Z:-0.75 [[ 9.74854701e-01 -2.22826955e-01 2.54177370e-03 7.30906686e+01] [ 2.22826037e-01 9.74858012e-01 6.42613049e-04 1.02332336e+01] [-2.62105997e-03 -6.00809922e-05 9.99996563e-01 -7.47008852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.796875 meters 0.018709321834313522 Centerline is valid? [True, True] Translation: X:73.15, Y:10.25, Z:-0.75 [[ 9.75972884e-01 -2.17872357e-01 2.92685222e-03 7.31474197e+01] [ 2.17871108e-01 9.75977268e-01 7.42915027e-04 1.02532195e+01] [-3.01840189e-03 -8.73883836e-05 9.99995441e-01 -7.48227184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.856875 meters 0.019338758581091877 Centerline is valid? [True, True] Translation: X:73.20, Y:10.27, Z:-0.75 [[ 9.76718873e-01 -2.14510756e-01 2.31917039e-03 7.32048396e+01] [ 2.14509963e-01 9.76721623e-01 5.88667447e-04 1.02702605e+01] [-2.39145937e-03 -7.74774517e-05 9.99997137e-01 -7.50209274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91687499999999 meters 0.02187953986147982 Centerline is valid? [True, True] Translation: X:73.26, Y:10.29, Z:-0.75 [[ 9.77426988e-01 -2.11270698e-01 1.08383626e-03 7.32603574e+01] [ 2.11270524e-01 9.77427588e-01 2.74578471e-04 1.02881420e+01] [-1.11738185e-03 -3.93977538e-05 9.99999375e-01 -7.51932999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97687499999999 meters 0.02242797973505299 Centerline is valid? [True, True] Translation: X:73.32, Y:10.30, Z:-0.75 [[ 9.77475598e-01 -2.11046943e-01 8.01633487e-04 7.33175747e+01] [ 2.11046849e-01 9.77475927e-01 2.01160147e-04 1.03025467e+01] [-8.26031669e-04 -2.74469131e-05 9.99999658e-01 -7.53149014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.036875 meters 0.021959054479545274 Centerline is valid? [True, True] Translation: X:73.38, Y:10.31, Z:-0.75 [[ 9.77129795e-01 -2.12635771e-01 1.84207121e-03 7.33761100e+01] [ 2.12635269e-01 9.77131529e-01 4.66408911e-04 1.03138665e+01] [-1.89912108e-03 -6.40527355e-05 9.99998195e-01 -7.52963930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.096875 meters 0.01983661522834613 Centerline is valid? [True, True] Translation: X:73.44, Y:10.32, Z:-0.75 [[ 9.76698600e-01 -2.14603682e-01 2.25915053e-03 7.34352521e+01] [ 2.14602928e-01 9.76701210e-01 5.73972017e-04 1.03227440e+01] [-2.32969156e-03 -7.57773471e-05 9.99997283e-01 -7.52080862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.156875 meters 0.0200738062827501 Centerline is valid? [True, True] Translation: X:73.49, Y:10.33, Z:-0.75 [[ 9.76434628e-01 -2.15781137e-01 3.73076200e-03 7.34928609e+01] [ 2.15779086e-01 9.76441748e-01 9.48395264e-04 1.03330499e+01] [-3.84751757e-03 -1.21025562e-04 9.99992591e-01 -7.49932225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.216875 meters 0.020739409517433242 Centerline is valid? [True, True] Translation: X:73.55, Y:10.35, Z:-0.75 [[ 9.76534948e-01 -2.15286268e-01 5.59621147e-03 7.35509056e+01] [ 2.15281631e-01 9.76550965e-01 1.42543355e-03 1.03451735e+01] [-5.77186198e-03 -1.87224144e-04 9.99983325e-01 -7.49312243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27687499999999 meters 0.021308074566701717 Centerline is valid? [True, True] Translation: X:73.61, Y:10.36, Z:-0.75 [[ 9.76646281e-01 -2.14823275e-01 3.60578462e-03 7.36086505e+01] [ 2.14821347e-01 9.76652930e-01 9.18393771e-04 1.03564422e+01] [-3.71889247e-03 -1.22346352e-04 9.99993077e-01 -7.53211581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33687499999999 meters 0.02002596531734388 Centerline is valid? [True, True] Translation: X:73.67, Y:10.37, Z:-0.75 [[ 9.76731281e-01 -2.14453768e-01 2.36345585e-03 7.36670989e+01] [ 2.14452939e-01 9.76734137e-01 6.01549304e-04 1.03658624e+01] [-2.43747253e-03 -8.07019681e-05 9.99997026e-01 -7.54689147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.396875 meters 0.020720113004600943 Centerline is valid? [True, True] Translation: X:73.72, Y:10.38, Z:-0.75 [[ 9.76945615e-01 -2.13476600e-01 2.23774618e-03 7.37249504e+01] [ 2.13475854e-01 9.76948174e-01 5.69999522e-04 1.03784186e+01] [-2.30784360e-03 -7.91537580e-05 9.99997334e-01 -7.54533573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.456875 meters 0.021469961831898 Centerline is valid? [True, True] Translation: X:73.78, Y:10.39, Z:-0.75 [[ 9.76840078e-01 -2.13924357e-01 4.45332535e-03 7.37813854e+01] [ 2.13921383e-01 9.76850216e-01 1.13942706e-03 1.03903133e+01] [-4.59398303e-03 -1.60376501e-04 9.99989435e-01 -7.54288074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.516875 meters 0.021414748429125628 Centerline is valid? [True, True] Translation: X:73.84, Y:10.40, Z:-0.75 [[ 9.76547767e-01 -2.15236991e-01 5.24371978e-03 7.38387672e+01] [ 2.15232887e-01 9.76561829e-01 1.34141381e-03 1.04021815e+01] [-5.40953845e-03 -1.81333713e-04 9.99985352e-01 -7.54568136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.576875 meters 0.021009336755014773 Centerline is valid? [True, True] Translation: X:73.90, Y:10.41, Z:-0.75 [[ 9.76134741e-01 -2.17067304e-01 6.53861837e-03 7.38972538e+01] [ 2.17060948e-01 9.76156616e-01 1.67504053e-03 1.04126740e+01] [-6.74631212e-03 -2.15786547e-04 9.99977220e-01 -7.54635542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63687499999999 meters 0.020370030970091692 Centerline is valid? [True, True] Translation: X:73.96, Y:10.42, Z:-0.76 [[ 9.75725212e-01 -2.18902862e-01 6.46903633e-03 7.39550319e+01] [ 2.18896670e-01 9.75746635e-01 1.65886699e-03 1.04235952e+01] [-6.67527116e-03 -2.02547835e-04 9.99977700e-01 -7.55049255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69687499999999 meters 0.01883791875188927 Centerline is valid? [True, True] Translation: X:74.01, Y:10.43, Z:-0.76 [[ 9.75062577e-01 -2.21891871e-01 4.11932570e-03 7.40141238e+01] [ 2.21889387e-01 9.75071271e-01 1.05636438e-03 1.04312514e+01] [-4.25103481e-03 -1.15986722e-04 9.99990958e-01 -7.58924381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.756875 meters 0.017849750787923373 Centerline is valid? [True, True] Translation: X:74.07, Y:10.44, Z:-0.76 [[ 9.74665436e-01 -2.23637199e-01 3.70013654e-03 7.40721659e+01] [ 2.23635205e-01 9.74672455e-01 9.49519203e-04 1.04423090e+01] [-3.81876898e-03 -9.79827555e-05 9.99992704e-01 -7.60904965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.816875 meters 0.018502977785520826 Centerline is valid? [True, True] Translation: X:74.13, Y:10.45, Z:-0.76 [[ 9.74480599e-01 -2.24409326e-01 5.29300777e-03 7.41291208e+01] [ 2.24405238e-01 9.74494964e-01 1.36161585e-03 1.04539608e+01] [-5.46356871e-03 -1.39089565e-04 9.99985065e-01 -7.59396718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.876875 meters 0.018462802977554423 Centerline is valid? [True, True] Translation: X:74.19, Y:10.47, Z:-0.76 [[ 9.74330134e-01 -2.25027575e-01 6.58641566e-03 7.41872326e+01] [ 2.25021254e-01 9.74352381e-01 1.69513608e-03 1.04652699e+01] [-6.79894214e-03 -1.69538649e-04 9.99976873e-01 -7.57358832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.936875 meters 0.01859599307559001 Centerline is valid? [True, True] Translation: X:74.24, Y:10.48, Z:-0.76 [[ 9.74228337e-01 -2.25470415e-01 6.49916993e-03 7.42444947e+01] [ 2.25464260e-01 9.74250001e-01 1.67416897e-03 1.04776882e+01] [-6.70929189e-03 -1.65692311e-04 9.99977479e-01 -7.59140001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.996875 meters 0.018141116309346124 Centerline is valid? [True, True] Translation: X:74.30, Y:10.49, Z:-0.76 [[ 9.74115887e-01 -2.25944529e-01 6.87810372e-03 7.43012894e+01] [ 2.25937631e-01 9.74140154e-01 1.77398336e-03 1.04897652e+01] [-7.10105885e-03 -1.74042914e-04 9.99974772e-01 -7.59048570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05687499999999 meters 0.018019308197410655 Centerline is valid? [True, True] Translation: X:74.36, Y:10.50, Z:-0.76 [[ 9.73958476e-01 -2.26650325e-01 5.87520451e-03 7.43578690e+01] [ 2.26645298e-01 9.73976185e-01 1.51661711e-03 1.05022202e+01] [-6.06605104e-03 -1.45534614e-04 9.99981591e-01 -7.59988763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.116875 meters 0.018389259655884758 Centerline is valid? [True, True] Translation: X:74.41, Y:10.52, Z:-0.76 [[ 9.73615963e-01 -2.28128357e-01 5.42297946e-03 7.44145924e+01] [ 2.28124082e-01 9.73631058e-01 1.40234853e-03 1.05151120e+01] [-5.59989669e-03 -1.28236697e-04 9.99984312e-01 -7.61604899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.176875 meters 0.017049643082974957 Centerline is valid? [True, True] Translation: X:74.47, Y:10.53, Z:-0.76 [[ 9.73154756e-01 -2.30074285e-01 5.97028706e-03 7.44728260e+01] [ 2.30069142e-01 9.73173061e-01 1.54372176e-03 1.05253096e+01] [-6.16529322e-03 -1.28701353e-04 9.99980986e-01 -7.61154699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.236875 meters 0.0167952451715447 Centerline is valid? [True, True] Translation: X:74.53, Y:10.54, Z:-0.77 [[ 9.72816734e-01 -2.31537706e-01 4.23001074e-03 7.45301496e+01] [ 2.31535137e-01 9.72825927e-01 1.09403840e-03 1.05373135e+01] [-4.36837526e-03 -8.49027501e-05 9.99990455e-01 -7.65173684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.296875 meters 0.01683462753194819 Centerline is valid? [True, True] Translation: X:74.59, Y:10.55, Z:-0.77 [[ 9.72597542e-01 -2.32476792e-01 2.92620286e-03 7.45874769e+01] [ 2.32475568e-01 9.72601942e-01 7.56461274e-04 1.05492349e+01] [-3.02189028e-03 -5.54617032e-05 9.99995433e-01 -7.66458389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.356875 meters 0.01666794651725071 Centerline is valid? [True, True] Translation: X:74.64, Y:10.56, Z:-0.77 [[ 9.72520913e-01 -2.32805152e-01 2.19864545e-03 7.46447851e+01] [ 2.32804462e-01 9.72523398e-01 5.68202007e-04 1.05610081e+01] [-2.27051450e-03 -4.07338638e-05 9.99997422e-01 -7.67364087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41687499999999 meters 0.015714933185146752 Centerline is valid? [True, True] Translation: X:74.70, Y:10.57, Z:-0.77 [[ 9.71753866e-01 -2.35970969e-01 3.48221315e-03 7.47035486e+01] [ 2.35969248e-01 9.71760103e-01 9.03057030e-04 1.05707248e+01] [-3.59697105e-03 -5.58539432e-05 9.99993529e-01 -7.66047856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47687499999999 meters 0.013778611508577943 Centerline is valid? [True, True] Translation: X:74.76, Y:10.58, Z:-0.76 [[ 9.68681358e-01 -2.48232863e-01 6.07230900e-03 7.47639365e+01] [ 2.48227839e-01 9.68700390e-01 1.57945816e-03 1.05751402e+01] [-6.27432151e-03 -2.26755347e-05 9.99980316e-01 -7.62516106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.536875 meters 0.014212182440578694 Centerline is valid? [True, True] Translation: X:74.82, Y:10.58, Z:-0.76 [[ 9.66341322e-01 -2.57173032e-01 6.81773819e-03 7.48215131e+01] [ 2.57166919e-01 9.66365371e-01 1.77351969e-03 1.05826512e+01] [-7.04452753e-03 3.94713660e-05 9.99975186e-01 -7.59389280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.596875 meters 0.014584839741027296 Centerline is valid? [True, True] Translation: X:74.88, Y:10.60, Z:-0.77 [[ 9.65267167e-01 -2.61251173e-01 2.66837497e-03 7.48776354e+01] [ 2.61250253e-01 9.65270855e-01 6.93773871e-04 1.05988617e+01] [-2.75695383e-03 2.74364975e-05 9.99996199e-01 -7.68030067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.656875 meters 0.01399480854485904 Centerline is valid? [True, True] Translation: X:74.93, Y:10.62, Z:-0.77 [[ 9.66438023e-01 -2.56899879e-01 2.84927617e-05 7.49331220e+01] [ 2.56899879e-01 9.66438023e-01 4.30769322e-06 1.06174941e+01] [-2.86431342e-05 3.15666851e-06 1.00000000e+00 -7.69469163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.716875 meters 0.013908798674733887 Centerline is valid? [True, True] Translation: X:74.99, Y:10.64, Z:-0.77 [[ 9.67669318e-01 -2.52220735e-01 8.89495446e-04 7.49882477e+01] [ 2.52220630e-01 9.67669727e-01 2.30973947e-04 1.06367047e+01] [-9.18994234e-04 8.42700004e-07 9.99999578e-01 -7.68049329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77687499999999 meters 0.014490731790935117 Centerline is valid? [True, True] Translation: X:75.04, Y:10.66, Z:-0.77 [[ 9.70084549e-01 -2.42744186e-01 3.35085665e-03 7.50426822e+01] [ 2.42742623e-01 9.70090336e-01 8.71819449e-04 1.06616859e+01] [-3.46226276e-03 -3.23428456e-05 9.99994006e-01 -7.65243942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83687499999999 meters 0.01666749297490521 Centerline is valid? [True, True] Translation: X:75.10, Y:10.69, Z:-0.77 [[ 9.72102981e-01 -2.34520058e-01 4.01711623e-03 7.50976248e+01] [ 2.34517729e-01 9.72111278e-01 1.04811951e-03 1.06864085e+01] [-4.15088904e-03 -7.67951246e-05 9.99991382e-01 -7.67628473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.896875 meters 0.018103369919137115 Centerline is valid? [True, True] Translation: X:75.15, Y:10.71, Z:-0.77 [[ 9.73315612e-01 -2.29439273e-01 3.78672488e-03 7.51535543e+01] [ 2.29437163e-01 9.73322974e-01 9.88172903e-04 1.07070464e+01] [-3.91243199e-03 -9.29886994e-05 9.99992342e-01 -7.69065144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.956875 meters 0.02104501140115627 Centerline is valid? [True, True] Translation: X:75.21, Y:10.73, Z:-0.77 [[ 9.74405053e-01 -2.24790371e-01 2.02025642e-03 7.52084298e+01] [ 2.24789761e-01 9.74407146e-01 5.26825377e-04 1.07291795e+01] [-2.08697757e-03 -5.92083505e-05 9.99997821e-01 -7.71838352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.016875 meters 0.02003490485374574 Centerline is valid? [True, True] Translation: X:75.27, Y:10.74, Z:-0.77 [[ 9.74549052e-01 -2.24168029e-01 1.68504503e-03 7.52656994e+01] [ 2.24167607e-01 9.74550508e-01 4.37745831e-04 1.07435359e+01] [-1.74029011e-03 -4.88722730e-05 9.99998484e-01 -7.71988550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.076875 meters 0.020347586510108484 Centerline is valid? [True, True] Translation: X:75.32, Y:10.76, Z:-0.77 [[ 9.74411991e-01 -2.24752461e-01 2.75746926e-03 7.53226245e+01] [ 2.24751326e-01 9.74415889e-01 7.18888176e-04 1.07600127e+01] [-2.84849375e-03 -8.07483856e-05 9.99995940e-01 -7.72855185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13687499999999 meters 0.020015927392656844 Centerline is valid? [True, True] Translation: X:75.38, Y:10.77, Z:-0.77 [[ 9.74113009e-01 -2.26030554e-01 3.74627730e-03 7.53796301e+01] [ 2.26028460e-01 9.74120207e-01 9.78657024e-04 1.07746492e+01] [-3.87053080e-03 -1.06557249e-04 9.99992504e-01 -7.72591315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19687499999999 meters 0.019120942729409524 Centerline is valid? [True, True] Translation: X:75.44, Y:10.79, Z:-0.77 [[ 9.73662021e-01 -2.27967238e-01 3.63405115e-03 7.54374197e+01] [ 2.27965278e-01 9.73668798e-01 9.50177558e-04 1.07879857e+01] [-3.75497157e-03 -9.67143198e-05 9.99992945e-01 -7.72515648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.256875 meters 0.01920427928467797 Centerline is valid? [True, True] Translation: X:75.49, Y:10.80, Z:-0.77 [[ 9.73274002e-01 -2.29621982e-01 3.38576208e-03 7.54932554e+01] [ 2.29620284e-01 9.73279887e-01 8.87199508e-04 1.08032132e+01] [-3.49901465e-03 -8.60485655e-05 9.99993875e-01 -7.74482502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.316875 meters 0.017932062235981795 Centerline is valid? [True, True] Translation: X:75.55, Y:10.82, Z:-0.78 [[ 9.72990054e-01 -2.30824437e-01 3.23027855e-03 7.55510293e+01] [ 2.30822901e-01 9.72995413e-01 8.45432477e-04 1.08164320e+01] [-3.33819269e-03 -7.69751242e-05 9.99994425e-01 -7.76629578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.376875 meters 0.018487507397980826 Centerline is valid? [True, True] Translation: X:75.61, Y:10.83, Z:-0.78 [[ 9.73051545e-01 -2.30576619e-01 2.26124355e-03 7.56065048e+01] [ 2.30575863e-01 9.73054171e-01 5.93002906e-04 1.08325140e+01] [-2.33704508e-03 -5.56342106e-05 9.99997268e-01 -7.77292279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.436875 meters 0.01851262689067867 Centerline is valid? [True, True] Translation: X:75.66, Y:10.85, Z:-0.78 [[ 9.73116370e-01 -2.30307752e-01 1.69408227e-03 7.56637502e+01] [ 2.30307330e-01 9.73117844e-01 4.42675481e-04 1.08481907e+01] [-1.75049328e-03 -4.06151929e-05 9.99998467e-01 -7.77269447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.496875 meters 0.0183003510461965 Centerline is valid? [True, True] Translation: X:75.72, Y:10.86, Z:-0.78 [[ 9.72862855e-01 -2.31353186e-01 3.68350932e-03 7.57205606e+01] [ 2.31351183e-01 9.72869825e-01 9.66734205e-04 1.08635109e+01] [-3.80723211e-03 -8.83155595e-05 9.99992749e-01 -7.75226078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55687499999999 meters 0.01673194581335668 Centerline is valid? [True, True] Translation: X:75.78, Y:10.87, Z:-0.78 [[ 9.71791018e-01 -2.35802887e-01 4.38358356e-03 7.57781840e+01] [ 2.35800083e-01 9.71800901e-01 1.15328599e-03 1.08748153e+01] [-4.53191861e-03 -8.71036033e-05 9.99989727e-01 -7.76064853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.616875 meters 0.014231333149963821 Centerline is valid? [True, True] Translation: X:75.84, Y:10.88, Z:-0.78 [[ 9.68883042e-01 -2.47494417e-01 3.48764675e-03 7.58376095e+01] [ 2.47492717e-01 9.68889319e-01 9.17940650e-04 1.08812055e+01] [-3.60632887e-03 -2.62099609e-05 9.99993497e-01 -7.76994316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.676875 meters 0.013703588027153789 Centerline is valid? [True, True] Translation: X:75.90, Y:10.89, Z:-0.78 [[ 9.66178307e-01 -2.57860949e-01 2.68506970e-03 7.58965593e+01] [ 2.57859986e-01 9.66182038e-01 7.04968737e-04 1.08872295e+01] [-2.77605002e-03 1.12465337e-05 9.99996147e-01 -7.77440322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.736875 meters 0.013850409252883797 Centerline is valid? [True, True] Translation: X:75.95, Y:10.90, Z:-0.78 [[ 9.65916132e-01 -2.58840148e-01 2.79361917e-03 7.59523203e+01] [ 2.58839107e-01 9.65920172e-01 7.33988284e-04 1.09023954e+01] [-2.88839874e-03 1.41267672e-05 9.99995828e-01 -7.79565446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.796875 meters 0.01379318036563902 Centerline is valid? [True, True] Translation: X:76.01, Y:10.92, Z:-0.78 [[ 9.66912070e-01 -2.55069443e-01 4.54178802e-03 7.60089509e+01] [ 2.55066636e-01 9.66922737e-01 1.19677586e-03 1.09196265e+01] [-4.69681906e-03 1.28156426e-06 9.99988970e-01 -7.77170845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.856875 meters 0.014715638873810517 Centerline is valid? [True, True] Translation: X:76.06, Y:10.94, Z:-0.78 [[ 9.69216268e-01 -2.46166087e-01 4.69921998e-03 7.60638744e+01] [ 2.46162970e-01 9.69227659e-01 1.23957819e-03 1.09427076e+01] [-4.85975609e-03 -4.46453981e-05 9.99988190e-01 -7.75880857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91687499999999 meters 0.015533510339053013 Centerline is valid? [True, True] Translation: X:76.12, Y:10.96, Z:-0.78 [[ 9.70050196e-01 -2.42865673e-01 4.34531396e-03 7.61195859e+01] [ 2.42862970e-01 9.70059927e-01 1.14711778e-03 1.09614109e+01] [-4.49381047e-03 -5.74459723e-05 9.99989901e-01 -7.77178654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97687499999999 meters 0.01792735021615076 Centerline is valid? [True, True] Translation: X:76.17, Y:10.98, Z:-0.78 [[ 9.71743809e-01 -2.36000635e-01 4.20358499e-03 7.61738722e+01] [ 2.35998032e-01 9.71752897e-01 1.11184955e-03 1.09835275e+01] [-4.34724309e-03 -8.83951343e-05 9.99990547e-01 -7.78675542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.036875 meters 0.018514233613708048 Centerline is valid? [True, True] Translation: X:76.23, Y:11.00, Z:-0.78 [[ 9.73025558e-01 -2.30649353e-01 4.70535231e-03 7.62302385e+01] [ 2.30646027e-01 9.73036926e-01 1.24508006e-03 1.10019101e+01] [-4.86565846e-03 -1.26223902e-04 9.99988155e-01 -7.79153014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.096875 meters 0.01924800454756475 Centerline is valid? [True, True] Translation: X:76.29, Y:11.02, Z:-0.78 [[ 9.73477325e-01 -2.28721879e-01 5.31028684e-03 7.62866009e+01] [ 2.28717618e-01 9.73491797e-01 1.40440220e-03 1.10188971e+01] [-5.49073819e-03 -1.52597540e-04 9.99984914e-01 -7.78469166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.156875 meters 0.019409345996010834 Centerline is valid? [True, True] Translation: X:76.34, Y:11.03, Z:-0.78 [[ 9.73516913e-01 -2.28548001e-01 5.53448334e-03 7.63433107e+01] [ 2.28543361e-01 9.73532632e-01 1.46527545e-03 1.10347905e+01] [-5.72288591e-03 -1.61601005e-04 9.99983611e-01 -7.78818318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.216875 meters 0.019785203969181757 Centerline is valid? [True, True] Translation: X:76.40, Y:11.05, Z:-0.78 [[ 9.73720263e-01 -2.27646272e-01 6.78418812e-03 7.63997148e+01] [ 2.27639261e-01 9.73743874e-01 1.79856643e-03 1.10518806e+01] [-7.01549856e-03 -2.06953005e-04 9.99975370e-01 -7.78919390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27687499999999 meters 0.02087510680744053 Centerline is valid? [True, True] Translation: X:76.46, Y:11.07, Z:-0.78 [[ 9.73997913e-01 -2.26474533e-01 6.11163224e-03 7.64551174e+01] [ 2.26468806e-01 9.74017067e-01 1.62239859e-03 1.10687023e+01] [-6.32026608e-03 -1.96118777e-04 9.99980008e-01 -7.80754456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33687499999999 meters 0.02172075168082765 Centerline is valid? [True, True] Translation: X:76.51, Y:11.09, Z:-0.78 [[ 9.74411878e-01 -2.24728507e-01 4.31160378e-03 7.65119006e+01] [ 2.24725644e-01 9.74421406e-01 1.14359917e-03 1.10856905e+01] [-4.45831835e-03 -1.45408680e-04 9.99990051e-01 -7.83559511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.396875 meters 0.021153290730723313 Centerline is valid? [True, True] Translation: X:76.57, Y:11.10, Z:-0.78 [[ 9.74317386e-01 -2.25137209e-01 4.34375154e-03 7.65689102e+01] [ 2.25134303e-01 9.74327058e-01 1.15299803e-03 1.10987545e+01] [-4.49181741e-03 -1.45458556e-04 9.99989901e-01 -7.84285331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.456875 meters 0.02069517040300822 Centerline is valid? [True, True] Translation: X:76.63, Y:11.11, Z:-0.78 [[ 9.73882850e-01 -2.27000818e-01 4.77733513e-03 7.66271496e+01] [ 2.26997316e-01 9.73894556e-01 1.27020909e-03 1.11112636e+01] [-4.94095917e-03 -1.52592596e-04 9.99987782e-01 -7.83696560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.516875 meters 0.019681925272082762 Centerline is valid? [True, True] Translation: X:76.68, Y:11.12, Z:-0.78 [[ 9.73320524e-01 -2.29374286e-01 5.88174979e-03 7.66847515e+01] [ 2.29369008e-01 9.73338279e-01 1.56581415e-03 1.11235146e+01] [-6.08408973e-03 -1.74947932e-04 9.99981476e-01 -7.84547278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.576875 meters 0.020236969234251754 Centerline is valid? [True, True] Translation: X:76.74, Y:11.14, Z:-0.79 [[ 9.73390600e-01 -2.29097386e-01 5.01274952e-03 7.67414788e+01] [ 2.29093544e-01 9.73403495e-01 1.33538017e-03 1.11380818e+01] [-5.18536001e-03 -1.51457950e-04 9.99986544e-01 -7.86614007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63687499999999 meters 0.020441533459450153 Centerline is valid? [True, True] Translation: X:76.80, Y:11.15, Z:-0.79 [[ 9.73712023e-01 -2.27741498e-01 4.32507876e-03 7.67978894e+01] [ 2.27738618e-01 9.73721619e-01 1.15370158e-03 1.11528934e+01] [-4.47416842e-03 -1.38385635e-04 9.99989981e-01 -7.86776535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69687499999999 meters 0.021714000916055694 Centerline is valid? [True, True] Translation: X:76.85, Y:11.17, Z:-0.79 [[ 9.74191959e-01 -2.25683196e-01 4.13792508e-03 7.68536749e+01] [ 2.25680537e-01 9.74200736e-01 1.10462358e-03 1.11704176e+01] [-4.28046464e-03 -1.42266255e-04 9.99990829e-01 -7.88144037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.756875 meters 0.02209989939093303 Centerline is valid? [True, True] Translation: X:76.91, Y:11.19, Z:-0.79 [[ 9.74217002e-01 -2.25561040e-01 4.84246036e-03 7.69108983e+01] [ 2.25557400e-01 9.74229023e-01 1.29232580e-03 1.11862048e+01] [-5.00916377e-03 -1.66752997e-04 9.99987440e-01 -7.89304970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.816875 meters 0.021706277743679062 Centerline is valid? [True, True] Translation: X:76.97, Y:11.20, Z:-0.79 [[ 9.73937371e-01 -2.26756385e-01 5.24780289e-03 7.69689082e+01] [ 2.26752118e-01 9.73951493e-01 1.40212729e-03 1.11990767e+01] [-5.42904677e-03 -1.75633741e-04 9.99985247e-01 -7.88850097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.876875 meters 0.02080596047617502 Centerline is valid? [True, True] Translation: X:77.03, Y:11.21, Z:-0.79 [[ 9.73354614e-01 -2.29254381e-01 4.81918031e-03 7.70266735e+01] [ 2.29250803e-01 9.73366532e-01 1.28976120e-03 1.12108805e+01] [-4.98651224e-03 -1.50594054e-04 9.99987556e-01 -7.88967160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.936875 meters 0.02135956650794351 Centerline is valid? [True, True] Translation: X:77.08, Y:11.23, Z:-0.79 [[ 9.72885190e-01 -2.31253222e-01 4.04408872e-03 7.70827418e+01] [ 2.31250719e-01 9.72893588e-01 1.08237841e-03 1.12254752e+01] [-4.18477148e-03 -1.17831500e-04 9.99991237e-01 -7.91319382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.996875 meters 0.01781617102339309 Centerline is valid? [True, True] Translation: X:77.14, Y:11.23, Z:-0.79 [[ 9.71705932e-01 -2.36149528e-01 4.58059564e-03 7.71432764e+01] [ 2.36146371e-01 9.71716722e-01 1.22587037e-03 1.12321830e+01] [-4.74053009e-03 -1.09494472e-04 9.99988758e-01 -7.91910326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05687499999999 meters 0.016966089941110405 Centerline is valid? [True, True] Translation: X:77.20, Y:11.24, Z:-0.79 [[ 9.70672952e-01 -2.40319722e-01 6.36013724e-03 7.71999808e+01] [ 2.40313710e-01 9.70693780e-01 1.70467654e-03 1.12444986e+01] [-6.58341306e-03 -1.26255238e-04 9.99978321e-01 -7.90616729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.116875 meters 0.01587273257585695 Centerline is valid? [True, True] Translation: X:77.26, Y:11.26, Z:-0.79 [[ 9.69410645e-01 -2.45336286e-01 7.28752402e-03 7.72575318e+01] [ 2.45328527e-01 9.69438031e-01 1.95413599e-03 1.12557523e+01] [-7.54422340e-03 -1.06522696e-04 9.99971536e-01 -7.89328816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.176875 meters 0.01459961950133251 Centerline is valid? [True, True] Translation: X:77.32, Y:11.27, Z:-0.79 [[ 9.68368101e-01 -2.49421684e-01 7.21421099e-03 7.73156287e+01] [ 2.49414194e-01 9.68394970e-01 1.93433298e-03 1.12670850e+01] [-7.46867023e-03 -7.38197318e-05 9.99972106e-01 -7.89478601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.236875 meters 0.013947343669884026 Centerline is valid? [True, True] Translation: X:77.37, Y:11.28, Z:-0.79 [[ 9.67091447e-01 -2.54337247e-01 6.83355398e-03 7.73722207e+01] [ 2.54330633e-01 9.67115590e-01 1.83455171e-03 1.12789203e+01] [-7.07543142e-03 -3.61971576e-05 9.99974968e-01 -7.91194591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.296875 meters 0.0138008779251644 Centerline is valid? [True, True] Translation: X:77.43, Y:11.29, Z:-0.80 [[ 9.66420456e-01 -2.56935323e-01 3.96770828e-03 7.74287375e+01] [ 2.56933121e-01 9.66428600e-01 1.06383167e-03 1.12924460e+01] [-4.10784269e-03 -8.67301340e-06 9.99991563e-01 -7.95077710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.356875 meters 0.013878878470080049 Centerline is valid? [True, True] Translation: X:77.49, Y:11.31, Z:-0.80 [[ 9.66241242e-01 -2.57597007e-01 4.65233581e-03 7.74850620e+01] [ 2.57593979e-01 9.66252442e-01 1.24923086e-03 1.13084976e+01] [-4.81712897e-03 -8.64468736e-06 9.99988398e-01 -7.96449666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41687499999999 meters 0.013869786930762485 Centerline is valid? [True, True] Translation: X:77.54, Y:11.33, Z:-0.79 [[ 9.66581174e-01 -2.56285563e-01 6.20835378e-03 7.75406897e+01] [ 2.56280125e-01 9.66601112e-01 1.66979716e-03 1.13250185e+01] [-6.42894657e-03 -2.29168159e-05 9.99979334e-01 -7.94583282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47687499999999 meters 0.01399759087524503 Centerline is valid? [True, True] Translation: X:77.60, Y:11.34, Z:-0.79 [[ 9.67057294e-01 -2.54458881e-01 7.13212123e-03 7.75965664e+01] [ 2.54451635e-01 9.67083593e-01 1.92081565e-03 1.13426743e+01] [-7.38612603e-03 -4.27588811e-05 9.99972721e-01 -7.94017692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.536875 meters 0.014611918434220262 Centerline is valid? [True, True] Translation: X:77.65, Y:11.36, Z:-0.80 [[ 9.68150209e-01 -2.50275237e-01 6.89045478e-03 7.76523444e+01] [ 2.50268353e-01 9.68174726e-01 1.85778306e-03 1.13628183e+01] [-7.13612127e-03 -7.41502955e-05 9.99974535e-01 -7.96402148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.596875 meters 0.015095786850000969 Centerline is valid? [True, True] Translation: X:77.71, Y:11.38, Z:-0.80 [[ 9.68727791e-01 -2.48047598e-01 6.23346391e-03 7.77085687e+01] [ 2.48041909e-01 9.68747843e-01 1.68198373e-03 1.13809073e+01] [-6.45586673e-03 -8.32240942e-05 9.99979157e-01 -7.97178720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.656875 meters 0.01555805735325358 Centerline is valid? [True, True] Translation: X:77.76, Y:11.40, Z:-0.80 [[ 9.69021067e-01 -2.46938791e-01 4.40523049e-03 7.77631344e+01] [ 2.46935934e-01 9.69031078e-01 1.18962292e-03 1.13987653e+01] [-4.56256929e-03 -6.49599623e-05 9.99989589e-01 -8.00969523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.716875 meters 0.015788527934746728 Centerline is valid? [True, True] Translation: X:77.82, Y:11.42, Z:-0.80 [[ 9.69354442e-01 -2.45630763e-01 4.18254805e-03 7.78201438e+01] [ 2.45628176e-01 9.69363463e-01 1.12942640e-03 1.14152363e+01] [-4.33183113e-03 -6.74628539e-05 9.99990615e-01 -8.01660867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77687499999999 meters 0.01687652973397965 Centerline is valid? [True, True] Translation: X:77.87, Y:11.43, Z:-0.80 [[ 9.69905404e-01 -2.43432003e-01 4.93626290e-03 7.78748321e+01] [ 2.43428358e-01 9.69917961e-01 1.33545427e-03 1.14338111e+01] [-5.11286236e-03 -9.36379436e-05 9.99986925e-01 -8.02128602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83687499999999 meters 0.01681375387819077 Centerline is valid? [True, True] Translation: X:77.93, Y:11.45, Z:-0.80 [[ 9.70289533e-01 -2.41891186e-01 5.18418540e-03 7.79316269e+01] [ 2.41887143e-01 9.70303377e-01 1.40262096e-03 1.14500641e+01] [-5.36951424e-03 -1.06960645e-04 9.99985578e-01 -8.01954468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.896875 meters 0.018690285318021728 Centerline is valid? [True, True] Translation: X:77.99, Y:11.47, Z:-0.80 [[ 9.71734590e-01 -2.36002259e-01 5.90086240e-03 7.79878023e+01] [ 2.35996894e-01 9.71752493e-01 1.59952860e-03 1.14714878e+01] [-6.11167011e-03 -1.61732070e-04 9.99981310e-01 -8.03082008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.956875 meters 0.019472164930370725 Centerline is valid? [True, True] Translation: X:78.04, Y:11.49, Z:-0.81 [[ 9.72605648e-01 -2.32404912e-01 5.11953293e-03 7.80448713e+01] [ 2.32400823e-01 9.72619109e-01 1.38787172e-03 1.14900673e+01] [-5.30190376e-03 -1.60068206e-04 9.99985932e-01 -8.05727143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.016875 meters 0.019763606998932953 Centerline is valid? [True, True] Translation: X:78.10, Y:11.51, Z:-0.81 [[ 9.72017086e-01 -2.34847982e-01 5.40463849e-03 7.81011597e+01] [ 2.34843468e-01 9.72032099e-01 1.46419447e-03 1.15054760e+01] [-5.59734522e-03 -1.53977998e-04 9.99984323e-01 -8.06146260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.076875 meters 0.017586466789025257 Centerline is valid? [True, True] Translation: X:78.16, Y:11.52, Z:-0.81 [[ 9.70322861e-01 -2.41743808e-01 5.78595968e-03 7.81592713e+01] [ 2.41738740e-01 9.70340103e-01 1.57029942e-03 1.15151668e+01] [-5.99395887e-03 -1.25006826e-04 9.99982028e-01 -8.05277631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13687499999999 meters 0.016514616003639855 Centerline is valid? [True, True] Translation: X:78.22, Y:11.53, Z:-0.81 [[ 9.69784816e-01 -2.43888363e-01 5.98973634e-03 7.82165441e+01] [ 2.43882977e-01 9.69803306e-01 1.62489112e-03 1.15287826e+01] [-6.20515815e-03 -1.15000006e-04 9.99980741e-01 -8.07933241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19687499999999 meters 0.01627688384756356 Centerline is valid? [True, True] Translation: X:78.27, Y:11.54, Z:-0.81 [[ 9.69601425e-01 -2.44588701e-01 7.03159181e-03 7.82736433e+01] [ 2.44581280e-01 9.69626913e-01 1.90981467e-03 1.15432035e+01] [-7.28513975e-03 -1.31963299e-04 9.99973454e-01 -8.08399586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.256875 meters 0.016765166931195744 Centerline is valid? [True, True] Translation: X:78.33, Y:11.56, Z:-0.81 [[ 9.69830380e-01 -2.43659147e-01 7.69772064e-03 7.83299750e+01] [ 2.43650203e-01 9.69860916e-01 2.09349269e-03 1.15586696e+01] [-7.97581703e-03 -1.54781620e-04 9.99968181e-01 -8.07084373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.316875 meters 0.016801309548350317 Centerline is valid? [True, True] Translation: X:78.39, Y:11.57, Z:-0.81 [[ 9.70052495e-01 -2.42763277e-01 8.00929055e-03 7.83864984e+01] [ 2.42753561e-01 9.70085544e-01 2.17854278e-03 1.15747873e+01] [-8.29856717e-03 -1.69017059e-04 9.99965552e-01 -8.08799004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.376875 meters 0.0164594266624471 Centerline is valid? [True, True] Translation: X:78.44, Y:11.59, Z:-0.81 [[ 9.69551952e-01 -2.44719600e-01 9.01828688e-03 7.84441360e+01] [ 2.44707338e-01 9.69593877e-01 2.45593010e-03 1.15891248e+01] [-9.34508997e-03 -1.74310847e-04 9.99956319e-01 -8.11068872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.436875 meters 0.015457379977513392 Centerline is valid? [True, True] Translation: X:78.50, Y:11.60, Z:-0.81 [[ 9.68812952e-01 -2.47618090e-01 9.31371248e-03 7.85018756e+01] [ 2.47605135e-01 9.68857708e-01 2.53754344e-03 1.16013740e+01] [-9.65200378e-03 -1.52281917e-04 9.99953407e-01 -8.10285721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.496875 meters 0.014160385657363491 Centerline is valid? [True, True] Translation: X:78.56, Y:11.61, Z:-0.81 [[ 9.67105558e-01 -2.54142927e-01 1.08725868e-02 7.85592386e+01] [ 2.54125646e-01 9.67166667e-01 2.96554065e-03 1.16121858e+01] [-1.12692747e-02 -1.04987710e-04 9.99936494e-01 -8.09490868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55687499999999 meters 0.013389052618149008 Centerline is valid? [True, True] Translation: X:78.62, Y:11.62, Z:-0.81 [[ 9.64761430e-01 -2.62857332e-01 1.18914120e-02 7.86181518e+01] [ 2.62837304e-01 9.64834713e-01 3.24480270e-03 1.16210127e+01] [-1.23261672e-02 -4.95383167e-06 9.99924030e-01 -8.09079166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.616875 meters 0.01348669299256568 Centerline is valid? [True, True] Translation: X:78.68, Y:11.63, Z:-0.81 [[ 9.63190272e-01 -2.68546606e-01 1.21334427e-02 7.86753721e+01] [ 2.68526165e-01 9.63266690e-01 3.31402734e-03 1.16334812e+01] [-1.25777120e-02 6.61079354e-05 9.99920895e-01 -8.10179777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.676875 meters 0.014156789953611968 Centerline is valid? [True, True] Translation: X:78.73, Y:11.65, Z:-0.81 [[ 9.61807215e-01 -2.73412335e-01 1.31368525e-02 7.87324833e+01] [ 2.73388783e-01 9.61896916e-01 3.59126291e-03 1.16452872e+01] [-1.36181934e-02 1.37365533e-04 9.99907259e-01 -8.08819171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.736875 meters 0.014038843380795873 Centerline is valid? [True, True] Translation: X:78.79, Y:11.66, Z:-0.81 [[ 9.61821647e-01 -2.73414333e-01 1.19884325e-02 7.87884229e+01] [ 2.73394704e-01 9.61896349e-01 3.27856109e-03 1.16618875e+01] [-1.24280351e-02 1.24182936e-04 9.99922761e-01 -8.11746165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.796875 meters 0.01334584354282623 Centerline is valid? [True, True] Translation: X:78.84, Y:11.68, Z:-0.82 [[ 9.63409997e-01 -2.67850689e-01 9.85835536e-03 7.88438859e+01] [ 2.67837099e-01 9.63460433e-01 2.69838587e-03 1.16842650e+01] [-1.02208998e-02 4.07813853e-05 9.99947764e-01 -8.16464462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.856875 meters 0.013529153354746479 Centerline is valid? [True, True] Translation: X:78.90, Y:11.71, Z:-0.82 [[ 9.65414213e-01 -2.60588317e-01 8.31418333e-03 7.88977558e+01] [ 2.60578366e-01 9.65450013e-01 2.27763041e-03 1.17062540e+01] [-8.62045228e-03 -3.23604684e-05 9.99962843e-01 -8.18906826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91687499999999 meters 0.015426554215274068 Centerline is valid? [True, True] Translation: X:78.95, Y:11.73, Z:-0.82 [[ 9.68454496e-01 -2.49051876e-01 8.30976856e-03 7.89518573e+01] [ 2.49041502e-01 9.68490137e-01 2.27718144e-03 1.17323751e+01] [-8.61506520e-03 -1.35869359e-04 9.99962880e-01 -8.18037948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97687499999999 meters 0.018705511839353574 Centerline is valid? [True, True] Translation: X:79.01, Y:11.76, Z:-0.82 [[ 9.70614772e-01 -2.40525586e-01 7.37612607e-03 7.90053937e+01] [ 2.40517162e-01 9.70642780e-01 2.02186721e-03 1.17583767e+01] [-7.64589432e-03 -1.88369269e-04 9.99970752e-01 -8.21230459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.036875 meters 0.019775111371215955 Centerline is valid? [True, True] Translation: X:79.06, Y:11.78, Z:-0.82 [[ 9.71067400e-01 -2.38670852e-01 8.02051334e-03 7.90600980e+01] [ 2.38660824e-01 9.71100497e-01 2.19894169e-03 1.17760514e+01] [-8.31354778e-03 -2.21138263e-04 9.99965417e-01 -8.21579820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.096875 meters 0.019541037345280066 Centerline is valid? [True, True] Translation: X:79.12, Y:11.79, Z:-0.82 [[ 9.70649757e-01 -2.40339785e-01 8.70842679e-03 7.91158039e+01] [ 2.40328021e-01 9.70688795e-01 2.38863020e-03 1.17904077e+01] [-9.02725517e-03 -2.25644351e-04 9.99959228e-01 -8.21548351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.156875 meters 0.017292111422135808 Centerline is valid? [True, True] Translation: X:79.17, Y:11.80, Z:-0.82 [[ 9.69851041e-01 -2.43527030e-01 9.14023949e-03 7.91748292e+01] [ 2.43514205e-01 9.69894089e-01 2.50769116e-03 1.18003562e+01] [-9.47575483e-03 -2.06308732e-04 9.99955083e-01 -8.21020019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.216875 meters 0.01544701564296238 Centerline is valid? [True, True] Translation: X:79.23, Y:11.81, Z:-0.82 [[ 9.68094489e-01 -2.50492026e-01 6.84140023e-03 7.92344119e+01] [ 2.50485006e-01 9.68118657e-01 1.87812588e-03 1.18093497e+01] [-7.09374275e-03 -1.04535134e-04 9.99974834e-01 -8.24572269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27687499999999 meters 0.014219285156025425 Centerline is valid? [True, True] Translation: X:79.29, Y:11.82, Z:-0.83 [[ 9.66722661e-01 -2.55774423e-01 5.17119766e-03 7.92930197e+01] [ 2.55770486e-01 9.66736491e-01 1.41993231e-03 1.18201683e+01] [-5.36236784e-03 -5.00410009e-05 9.99985621e-01 -8.27734788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33687499999999 meters 0.0136547473697497 Centerline is valid? [True, True] Translation: X:79.35, Y:11.83, Z:-0.83 [[ 9.64599108e-01 -2.63695854e-01 3.61354067e-03 7.93520697e+01] [ 2.63693988e-01 9.64605876e-01 9.92214459e-04 1.18281318e+01] [-3.74728540e-03 -4.22023400e-06 9.99992979e-01 -8.29302159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.396875 meters 0.013703633585616708 Centerline is valid? [True, True] Translation: X:79.41, Y:11.84, Z:-0.83 [[ 9.63468825e-01 -2.67794312e-01 3.74568692e-03 7.94091087e+01] [ 2.67792334e-01 9.63476106e-01 1.02933885e-03 1.18391117e+01] [-3.88453093e-03 1.13303498e-05 9.99992455e-01 -8.28453042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.456875 meters 0.01368689365358981 Centerline is valid? [True, True] Translation: X:79.47, Y:11.85, Z:-0.82 [[ 9.62856774e-01 -2.69956515e-01 5.50565491e-03 7.94657736e+01] [ 2.69952260e-01 9.62872515e-01 1.51594497e-03 1.18527864e+01] [-5.71048301e-03 2.66261050e-05 9.99983695e-01 -8.24984919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.516875 meters 0.0136623346141763 Centerline is valid? [True, True] Translation: X:79.52, Y:11.87, Z:-0.82 [[ 9.62808991e-01 -2.70040684e-01 8.76785312e-03 7.95211411e+01] [ 2.70029852e-01 9.62848912e-01 2.41905580e-03 1.18682198e+01] [-9.09536132e-03 3.84934059e-05 9.99958636e-01 -8.23363167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.576875 meters 0.013577355706317407 Centerline is valid? [True, True] Translation: X:79.58, Y:11.89, Z:-0.82 [[ 9.63097989e-01 -2.69000601e-01 8.99669410e-03 7.95772518e+01] [ 2.68989140e-01 9.63140009e-01 2.48322626e-03 1.18850068e+01] [-9.33306539e-03 2.84227921e-05 9.99956446e-01 -8.23643661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63687499999999 meters 0.013470804882727148 Centerline is valid? [True, True] Translation: X:79.63, Y:11.90, Z:-0.83 [[ 9.64137875e-01 -2.65327751e-01 6.27236369e-03 7.96320124e+01] [ 2.65322097e-01 9.64158278e-01 1.73215832e-03 1.19045141e+01] [-6.50714104e-03 -5.84275690e-06 9.99978828e-01 -8.27472936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69687499999999 meters 0.013664677273037521 Centerline is valid? [True, True] Translation: X:79.69, Y:11.92, Z:-0.83 [[ 9.65046096e-01 -2.62029023e-01 5.17925588e-03 7.96883779e+01] [ 2.62025114e-01 9.65059993e-01 1.43145697e-03 1.19231915e+01] [-5.37337592e-03 -2.43268476e-05 9.99985563e-01 -8.30240468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.756875 meters 0.014077227441168207 Centerline is valid? [True, True] Translation: X:79.75, Y:11.94, Z:-0.83 [[ 9.65808308e-01 -2.59222543e-01 4.24087811e-03 7.97450150e+01] [ 2.59219892e-01 9.65817619e-01 1.17271354e-03 1.19407302e+01] [-4.39990858e-03 -3.32965185e-05 9.99990320e-01 -8.31206487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.816875 meters 0.014616743397568925 Centerline is valid? [True, True] Translation: X:79.80, Y:11.96, Z:-0.83 [[ 9.66446041e-01 -2.56817531e-01 5.17750558e-03 7.98005912e+01] [ 2.56813530e-01 9.66459908e-01 1.43453169e-03 1.19580630e+01] [-5.37226445e-03 -5.67439902e-05 9.99985568e-01 -8.30788650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.876875 meters 0.015254110978290547 Centerline is valid? [True, True] Translation: X:79.86, Y:11.98, Z:-0.83 [[ 9.67370014e-01 -2.53277812e-01 6.75322677e-03 7.98570421e+01] [ 2.53270918e-01 9.67393581e-01 1.87134477e-03 1.19759237e+01] [-7.00699834e-03 -9.98868702e-05 9.99975446e-01 -8.29112702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.936875 meters 0.016082142259890117 Centerline is valid? [True, True] Translation: X:79.91, Y:11.99, Z:-0.83 [[ 9.67996172e-01 -2.50887048e-01 6.25299990e-03 7.99130533e+01] [ 2.50881079e-01 9.68016362e-01 1.73413237e-03 1.19937881e+01] [-6.48807756e-03 -1.09874136e-04 9.99978946e-01 -8.30008737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.996875 meters 0.017297894430123792 Centerline is valid? [True, True] Translation: X:79.97, Y:12.01, Z:-0.83 [[ 9.69088488e-01 -2.46663207e-01 4.97642324e-03 7.99692024e+01] [ 2.46659360e-01 9.69101259e-01 1.38209147e-03 1.20146491e+01] [-5.16356914e-03 -1.11887564e-04 9.99986662e-01 -8.33056829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05687499999999 meters 0.018510600323951836 Centerline is valid? [True, True] Translation: X:80.02, Y:12.03, Z:-0.84 [[ 9.69715038e-01 -2.44208698e-01 3.85445438e-03 8.00238136e+01] [ 2.44206374e-01 9.69722694e-01 1.06985449e-03 1.20339244e+01] [-3.99901966e-03 -9.61716559e-05 9.99991999e-01 -8.35199217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.116875 meters 0.01798428696158482 Centerline is valid? [True, True] Translation: X:80.08, Y:12.05, Z:-0.84 [[ 9.69617556e-01 -2.44601857e-01 3.42436114e-03 8.00801236e+01] [ 2.44600028e-01 9.69623600e-01 9.49594067e-04 1.20478895e+01] [-3.55261384e-03 -8.31442498e-05 9.99993686e-01 -8.35363036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.176875 meters 0.01780332494318617 Centerline is valid? [True, True] Translation: X:80.14, Y:12.06, Z:-0.83 [[ 9.69154872e-01 -2.46414190e-01 4.34522904e-03 8.01365175e+01] [ 2.46411252e-01 9.69164608e-01 1.20739675e-03 1.20635531e+01] [-4.50876189e-03 -9.94411157e-05 9.99989831e-01 -8.34376917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.236875 meters 0.016938718745899074 Centerline is valid? [True, True] Translation: X:80.19, Y:12.08, Z:-0.83 [[ 9.68768758e-01 -2.47913164e-01 5.11441206e-03 8.01942603e+01] [ 2.47909106e-01 9.68782251e-01 1.42291635e-03 1.20775266e+01] [-5.30751133e-03 -1.10567585e-04 9.99985909e-01 -8.33043701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.296875 meters 0.017328361454238956 Centerline is valid? [True, True] Translation: X:80.25, Y:12.09, Z:-0.83 [[ 9.68646274e-01 -2.48387534e-01 5.29412011e-03 8.02489370e+01] [ 2.48383182e-01 9.68660735e-01 1.47475149e-03 1.20941364e+01] [-5.49451617e-03 -1.13542131e-04 9.99984899e-01 -8.33537841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.356875 meters 0.016853539525437795 Centerline is valid? [True, True] Translation: X:80.31, Y:12.11, Z:-0.84 [[ 9.68125577e-01 -2.50443118e-01 3.33345416e-03 8.03064372e+01] [ 2.50441407e-01 9.68131314e-01 9.28078990e-04 1.21084648e+01] [-3.45965235e-03 -6.36620576e-05 9.99994013e-01 -8.36398520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41687499999999 meters 0.01594214120941203 Centerline is valid? [True, True] Translation: X:80.36, Y:12.12, Z:-0.84 [[ 9.67568120e-01 -2.52585176e-01 3.55828031e-03 8.03638793e+01] [ 2.52583237e-01 9.67574661e-01 9.91729143e-04 1.21218490e+01] [-3.69339795e-03 -6.08035436e-05 9.99993178e-01 -8.35941041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47687499999999 meters 0.015494524943996077 Centerline is valid? [True, True] Translation: X:80.42, Y:12.14, Z:-0.84 [[ 9.66831824e-01 -2.55369816e-01 4.74131791e-03 8.04200353e+01] [ 2.55366390e-01 9.66843448e-01 1.32462032e-03 1.21360568e+01] [-4.92238020e-03 -6.99118346e-05 9.99987883e-01 -8.35396391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.536875 meters 0.015320522191358679 Centerline is valid? [True, True] Translation: X:80.48, Y:12.15, Z:-0.84 [[ 9.66674968e-01 -2.55965607e-01 4.59502436e-03 8.04757623e+01] [ 2.55962400e-01 9.66685887e-01 1.28290494e-03 1.21517800e+01] [-4.77032474e-03 -6.39986253e-05 9.99988620e-01 -8.36946670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.596875 meters 0.014872185949154423 Centerline is valid? [True, True] Translation: X:80.53, Y:12.17, Z:-0.84 [[ 9.66289549e-01 -2.57423766e-01 4.18471485e-03 8.05327354e+01] [ 2.57421115e-01 9.66298609e-01 1.16953324e-03 1.21678902e+01] [-4.34474980e-03 -5.28737846e-05 9.99990560e-01 -8.39158259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.656875 meters 0.014471037870817882 Centerline is valid? [True, True] Translation: X:80.59, Y:12.18, Z:-0.84 [[ 9.65731554e-01 -2.59507786e-01 4.27484825e-03 8.05894601e+01] [ 2.59505034e-01 9.65741015e-01 1.19588137e-03 1.21824037e+01] [-4.43873681e-03 -4.55557354e-05 9.99990148e-01 -8.39159829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.716875 meters 0.013837828846026324 Centerline is valid? [True, True] Translation: X:80.65, Y:12.20, Z:-0.84 [[ 9.64536739e-01 -2.63901453e-01 4.99022115e-03 8.06456967e+01] [ 2.63897748e-01 9.64549647e-01 1.39873150e-03 1.21957444e+01] [-5.18244332e-03 -3.22198004e-05 9.99986571e-01 -8.39022039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77687499999999 meters 0.01346436516177829 Centerline is valid? [True, True] Translation: X:80.70, Y:12.21, Z:-0.84 [[ 9.62889429e-01 -2.69822127e-01 6.32189921e-03 8.07035872e+01] [ 2.69816308e-01 9.62910183e-01 1.77211264e-03 1.22071225e+01] [-6.56557632e-03 -5.97027914e-07 9.99978446e-01 -8.38308845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83687499999999 meters 0.013544859071494109 Centerline is valid? [True, True] Translation: X:80.76, Y:12.22, Z:-0.84 [[ 9.61909660e-01 -2.73284624e-01 6.73201748e-03 8.07601586e+01] [ 2.73278098e-01 9.61933217e-01 1.88881906e-03 1.22207871e+01] [-6.99193644e-03 2.28396272e-05 9.99975556e-01 -8.38428852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.896875 meters 0.014003092587053022 Centerline is valid? [True, True] Translation: X:80.82, Y:12.23, Z:-0.84 [[ 9.60832371e-01 -2.77028526e-01 7.50668938e-03 8.08176801e+01] [ 2.77020504e-01 9.60861693e-01 2.10888734e-03 1.22342109e+01] [-7.79711222e-03 5.32196540e-05 9.99969601e-01 -8.37946225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.956875 meters 0.014091869895862698 Centerline is valid? [True, True] Translation: X:80.87, Y:12.25, Z:-0.84 [[ 9.60265367e-01 -2.79003369e-01 6.89535884e-03 8.08740165e+01] [ 2.78996640e-01 9.60290121e-01 1.93869948e-03 1.22505319e+01] [-7.16244866e-03 6.21159839e-05 9.99974347e-01 -8.40631720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.016875 meters 0.014206255658805766 Centerline is valid? [True, True] Translation: X:80.93, Y:12.27, Z:-0.84 [[ 9.60279010e-01 -2.78984126e-01 5.66392123e-03 8.09289697e+01] [ 2.78979574e-01 9.60295712e-01 1.59428594e-03 1.22675457e+01] [-5.88381974e-03 4.91590109e-05 9.99982689e-01 -8.42749372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.076875 meters 0.013963148070803164 Centerline is valid? [True, True] Translation: X:80.98, Y:12.29, Z:-0.84 [[ 9.60441713e-01 -2.78433315e-01 5.15796858e-03 8.09839730e+01] [ 2.78429537e-01 9.60455562e-01 1.45111675e-03 1.22867488e+01] [-5.35803886e-03 4.24177456e-05 9.99985645e-01 -8.42608852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13687499999999 meters 0.013915129702291812 Centerline is valid? [True, True] Translation: X:81.04, Y:12.31, Z:-0.84 [[ 9.60564029e-01 -2.77976805e-01 6.75587946e-03 8.10399111e+01] [ 2.77970290e-01 9.60587786e-01 1.90379576e-03 1.23051142e+01] [-7.01882635e-03 4.92160468e-05 9.99975367e-01 -8.42251923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19687499999999 meters 0.013712516162239405 Centerline is valid? [True, True] Translation: X:81.09, Y:12.33, Z:-0.84 [[ 9.62044822e-01 -2.72782739e-01 7.70312007e-03 8.10939737e+01] [ 2.72774083e-01 9.62075661e-01 2.17312359e-03 1.23292895e+01] [-8.00377494e-03 1.05692184e-05 9.99967969e-01 -8.43115578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.256875 meters 0.014324455524678412 Centerline is valid? [True, True] Translation: X:81.15, Y:12.36, Z:-0.85 [[ 9.64777452e-01 -2.62957010e-01 7.62091705e-03 8.11478322e+01] [ 2.62948215e-01 9.64807549e-01 2.15187154e-03 1.23563229e+01] [-7.91856801e-03 -7.21706092e-05 9.99968645e-01 -8.45229169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.316875 meters 0.015844766407222134 Centerline is valid? [True, True] Translation: X:81.20, Y:12.38, Z:-0.85 [[ 9.66648410e-01 -2.55988295e-01 7.80020438e-03 8.12026571e+01] [ 2.55978833e-01 9.66679872e-01 2.20518357e-03 1.23794960e+01] [-8.10480175e-03 -1.34949984e-04 9.99967146e-01 -8.45110320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.376875 meters 0.018104378891401908 Centerline is valid? [True, True] Translation: X:81.26, Y:12.40, Z:-0.85 [[ 9.68700327e-01 -2.48132428e-01 7.06927981e-03 8.12579066e+01] [ 2.48124443e-01 9.68726104e-01 1.99897815e-03 1.24046833e+01] [-7.34420720e-03 -1.82349673e-04 9.99973014e-01 -8.48466990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.436875 meters 0.0184693111856369 Centerline is valid? [True, True] Translation: X:81.31, Y:12.42, Z:-0.85 [[ 9.69180482e-01 -2.46225631e-01 7.88235022e-03 8.13145174e+01] [ 2.46215644e-01 9.69212510e-01 2.22848725e-03 1.24224082e+01] [-8.18838313e-03 -2.19048414e-04 9.99966451e-01 -8.49281831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49687499999999 meters 0.018680822176675545 Centerline is valid? [True, True] Translation: X:81.37, Y:12.44, Z:-0.85 [[ 9.69352134e-01 -2.45520508e-01 8.72469120e-03 8.13715151e+01] [ 2.45508220e-01 9.69391364e-01 2.46923615e-03 1.24370749e+01] [-9.06388842e-03 -2.51575926e-04 9.99958890e-01 -8.47216371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55687499999999 meters 0.018101904833086373 Centerline is valid? [True, True] Translation: X:81.43, Y:12.45, Z:-0.85 [[ 9.68793271e-01 -2.47723481e-01 8.52499785e-03 8.14290099e+01] [ 2.47711815e-01 9.68830751e-01 2.41492821e-03 1.24489977e+01] [-8.85751450e-03 -2.27823511e-04 9.99960745e-01 -8.47859615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.616875 meters 0.018078479862514662 Centerline is valid? [True, True] Translation: X:81.49, Y:12.46, Z:-0.85 [[ 9.68439377e-01 -2.49153558e-01 6.90488483e-03 8.14862065e+01] [ 2.49145931e-01 9.68463977e-01 1.95729694e-03 1.24623123e+01] [-7.17479971e-03 -1.75199471e-04 9.99974245e-01 -8.50439000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.676875 meters 0.02028897508942188 Centerline is valid? [True, True] Translation: X:81.54, Y:12.48, Z:-0.86 [[ 9.68386798e-01 -2.49396392e-01 5.33376544e-03 8.15413962e+01] [ 2.49391836e-01 9.68401477e-01 1.51361717e-03 1.24805716e+01] [-5.54271699e-03 -1.35569332e-04 9.99984630e-01 -8.55160960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.736875 meters 0.018411709772048503 Centerline is valid? [True, True] Translation: X:81.60, Y:12.49, Z:-0.86 [[ 9.68496268e-01 -2.48992801e-01 4.19097827e-03 8.15997660e+01] [ 2.48989988e-01 9.68505330e-01 1.18839157e-03 1.24906805e+01] [-4.35488574e-03 -1.07441170e-04 9.99990512e-01 -8.55856507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.796875 meters 0.019041004938784502 Centerline is valid? [True, True] Translation: X:81.66, Y:12.50, Z:-0.86 [[ 9.68793064e-01 -2.47821871e-01 4.93156484e-03 8.16567337e+01] [ 2.47817948e-01 9.68805606e-01 1.40088855e-03 1.25040365e+01] [-5.12489848e-03 -1.35040826e-04 9.99986859e-01 -8.55029665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.856875 meters 0.0196956639797232 Centerline is valid? [True, True] Translation: X:81.71, Y:12.52, Z:-0.86 [[ 9.68927592e-01 -2.47275267e-01 5.85359089e-03 8.17133374e+01] [ 2.47269727e-01 9.68945259e-01 1.66332342e-03 1.25199528e+01] [-6.08310789e-03 -1.64224138e-04 9.99981484e-01 -8.55192132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91687499999999 meters 0.019817640440267795 Centerline is valid? [True, True] Translation: X:81.77, Y:12.53, Z:-0.85 [[ 9.68713061e-01 -2.48058117e-01 7.88517237e-03 8.17699571e+01] [ 2.48048063e-01 9.68745128e-01 2.24393899e-03 1.25338112e+01] [-8.19534960e-03 -2.17831280e-04 9.99966394e-01 -8.54902181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97687499999999 meters 0.018227889690545666 Centerline is valid? [True, True] Translation: X:81.83, Y:12.54, Z:-0.86 [[ 9.68029713e-01 -2.50701289e-01 8.20599949e-03 8.18281362e+01] [ 2.50690487e-01 9.68064472e-01 2.33609412e-03 1.25448826e+01] [-8.52959837e-03 -2.04242511e-04 9.99963601e-01 -8.55665822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.036875 meters 0.017804491494462137 Centerline is valid? [True, True] Translation: X:81.89, Y:12.56, Z:-0.86 [[ 9.67491701e-01 -2.52779541e-01 7.89380956e-03 8.18853691e+01] [ 2.52769599e-01 9.67523886e-01 2.24918827e-03 1.25587272e+01] [-8.20599808e-03 -1.80755900e-04 9.99966314e-01 -8.57079640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.096875 meters 0.01683776056329433 Centerline is valid? [True, True] Translation: X:81.94, Y:12.57, Z:-0.86 [[ 9.66573309e-01 -2.56288566e-01 7.22562813e-03 8.19435352e+01] [ 2.56280317e-01 9.66600306e-01 2.06091487e-03 1.25715948e+01] [-7.51248328e-03 -1.40239034e-04 9.99971771e-01 -8.59998048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.156875 meters 0.01572672260054327 Centerline is valid? [True, True] Translation: X:82.00, Y:12.58, Z:-0.86 [[ 9.65683570e-01 -2.59635589e-01 6.67863655e-03 8.20015430e+01] [ 2.59628620e-01 9.65706658e-01 1.90513332e-03 1.25820660e+01] [-6.94424420e-03 -1.05790755e-04 9.99975883e-01 -8.61260865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.216875 meters 0.015220806199656125 Centerline is valid? [True, True] Translation: X:82.06, Y:12.60, Z:-0.86 [[ 9.65141489e-01 -2.61631501e-01 7.13186408e-03 8.20595937e+01] [ 2.61623594e-01 9.65167834e-01 2.03654917e-03 1.25952413e+01] [-7.41627122e-03 -9.96941858e-05 9.99972494e-01 -8.62465193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27687499999999 meters 0.015081773983781433 Centerline is valid? [True, True] Translation: X:82.12, Y:12.61, Z:-0.86 [[ 9.64913886e-01 -2.62465666e-01 7.27784181e-03 8.21160085e+01] [ 2.62457443e-01 9.64941327e-01 2.07985831e-03 1.26088232e+01] [-7.56858173e-03 -9.67604041e-05 9.99971353e-01 -8.63455605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33687499999999 meters 0.015368686366088314 Centerline is valid? [True, True] Translation: X:82.17, Y:12.62, Z:-0.86 [[ 9.64858958e-01 -2.62653214e-01 7.77691967e-03 8.21709809e+01] [ 2.62643807e-01 9.64890294e-01 2.22531752e-03 1.26225202e+01] [-8.08836110e-03 -1.04557751e-04 9.99967283e-01 -8.63722929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.396875 meters 0.015538761446881577 Centerline is valid? [True, True] Translation: X:82.23, Y:12.64, Z:-0.87 [[ 9.65086481e-01 -2.61825351e-01 7.45449667e-03 8.22272266e+01] [ 2.61816674e-01 9.65115265e-01 2.13429582e-03 1.26389040e+01] [-7.75326128e-03 -1.08068518e-04 9.99969937e-01 -8.65661843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.456875 meters 0.016777252007543018 Centerline is valid? [True, True] Translation: X:82.28, Y:12.66, Z:-0.87 [[ 9.65846446e-01 -2.59017040e-01 7.12851668e-03 8.22822759e+01] [ 2.59009012e-01 9.65872743e-01 2.04328776e-03 1.26564648e+01] [-7.41448631e-03 -1.27152160e-04 9.99972504e-01 -8.67684453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.516875 meters 0.01763921211555182 Centerline is valid? [True, True] Translation: X:82.34, Y:12.67, Z:-0.87 [[ 9.66326668e-01 -2.57239063e-01 6.39015631e-03 8.23389535e+01] [ 2.57232575e-01 9.66347789e-01 1.83143512e-03 1.26734960e+01] [-6.64623007e-03 -1.26008236e-04 9.99977906e-01 -8.69186834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.576875 meters 0.01735043528159423 Centerline is valid? [True, True] Translation: X:82.40, Y:12.69, Z:-0.87 [[ 9.65960880e-01 -2.58593800e-01 6.98751992e-03 8.23960183e+01] [ 2.58586062e-01 9.65986144e-01 2.00467553e-03 1.26877729e+01] [-7.26824408e-03 -1.29562879e-04 9.99973578e-01 -8.70106385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63687499999999 meters 0.014801451792926544 Centerline is valid? [True, True] Translation: X:82.46, Y:12.70, Z:-0.87 [[ 9.64055187e-01 -2.65592758e-01 7.62122011e-03 8.24553159e+01] [ 2.65583754e-01 9.64085307e-01 2.18864112e-03 1.26960100e+01] [-7.92879356e-03 -8.58985746e-05 9.99968563e-01 -8.69630349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69687499999999 meters 0.01390257202773673 Centerline is valid? [True, True] Translation: X:82.51, Y:12.71, Z:-0.87 [[ 9.62430832e-01 -2.71444522e-01 6.69062532e-03 8.25130517e+01] [ 2.71437715e-01 9.62454087e-01 1.92265090e-03 1.27079171e+01] [-6.96131275e-03 -3.43304590e-05 9.99975769e-01 -8.72851825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.756875 meters 0.013706733934217093 Centerline is valid? [True, True] Translation: X:82.57, Y:12.72, Z:-0.87 [[ 9.61459050e-01 -2.74878160e-01 6.20429729e-03 8.25689270e+01] [ 2.74872370e-01 9.61479067e-01 1.78414691e-03 1.27223873e+01] [-6.45572499e-03 -9.99429530e-06 9.99979162e-01 -8.74793539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.816875 meters 0.014046152993809733 Centerline is valid? [True, True] Translation: X:82.63, Y:12.73, Z:-0.87 [[ 9.58824700e-01 -2.83928272e-01 6.31916425e-03 8.26269082e+01] [ 2.83922448e-01 9.58845521e-01 1.81923384e-03 1.27336290e+01] [-6.57563426e-03 4.98262434e-05 9.99978379e-01 -8.74244611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.876875 meters 0.015164314415645173 Centerline is valid? [True, True] Translation: X:82.68, Y:12.75, Z:-0.87 [[ 9.56575473e-01 -2.91412102e-01 6.50776073e-03 8.26842299e+01] [ 2.91406086e-01 9.56597604e-01 1.87533324e-03 1.27475656e+01] [-6.77180312e-03 1.02503298e-04 9.99977066e-01 -8.74204742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.936875 meters 0.01586154738466495 Centerline is valid? [True, True] Translation: X:82.74, Y:12.77, Z:-0.88 [[ 9.55426884e-01 -2.95127760e-01 7.68605928e-03 8.27398080e+01] [ 2.95119467e-01 9.55457787e-01 2.21739067e-03 1.27673265e+01] [-7.99811873e-03 1.49751067e-04 9.99968003e-01 -8.76226565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99687499999999 meters 0.014669623480725908 Centerline is valid? [True, True] Translation: X:82.79, Y:12.79, Z:-0.88 [[ 9.56969673e-01 -2.90032965e-01 9.48280717e-03 8.27938806e+01] [ 2.90020060e-01 9.57016647e-01 2.73905087e-03 1.27925458e+01] [-9.86961936e-03 1.29015690e-04 9.99951286e-01 -8.75405242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05687499999999 meters 0.013937348101867635 Centerline is valid? [True, True] Translation: X:82.85, Y:12.82, Z:-0.87 [[ 9.58715960e-01 -2.84186295e-01 1.00924897e-02 8.28470913e+01] [ 2.84171344e-01 9.58769078e-01 2.91591473e-03 1.28162353e+01] [-1.05050301e-02 7.24623819e-05 9.99944818e-01 -8.74173355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.116875 meters 0.013596780255481515 Centerline is valid? [True, True] Translation: X:82.90, Y:12.85, Z:-0.87 [[ 9.61490363e-01 -2.74605822e-01 1.13103933e-02 8.28999207e+01] [ 2.74586359e-01 9.61556884e-01 3.26955315e-03 1.28456108e+01] [-1.17734249e-02 -3.79641269e-05 9.99930690e-01 -8.73731812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.176875 meters 0.013988522962659894 Centerline is valid? [True, True] Translation: X:82.95, Y:12.87, Z:-0.88 [[ 9.62662840e-01 -2.70469626e-01 1.12444951e-02 8.29541788e+01] [ 2.70450074e-01 9.62728504e-01 3.25338273e-03 1.28685065e+01] [-1.17053371e-02 -9.08361315e-05 9.99931486e-01 -8.75936605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.236875 meters 0.014133903663776431 Centerline is valid? [True, True] Translation: X:83.01, Y:12.89, Z:-0.88 [[ 9.63156964e-01 -2.68750957e-01 1.00790057e-02 8.30093690e+01] [ 2.68735130e-01 9.63209693e-01 2.91849141e-03 1.28899934e+01] [-1.04925434e-02 -1.02382407e-04 9.99944947e-01 -8.79917665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.296875 meters 0.014123433424336763 Centerline is valid? [True, True] Translation: X:83.06, Y:12.91, Z:-0.88 [[ 9.63041113e-01 -2.69192929e-01 9.32639309e-03 8.30647205e+01] [ 2.69179376e-01 9.63086268e-01 2.70271587e-03 1.29068455e+01] [-9.70967312e-03 -9.23538282e-05 9.99952856e-01 -8.80733437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.356875 meters 0.01417553250954553 Centerline is valid? [True, True] Translation: X:83.12, Y:12.92, Z:-0.88 [[ 9.63187924e-01 -2.68670864e-01 9.21900307e-03 8.31202830e+01] [ 2.68657570e-01 9.63232037e-01 2.67457348e-03 1.29248628e+01] [-9.59861907e-03 -9.93619151e-05 9.99953927e-01 -8.81964465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41687499999999 meters 0.015036810998323985 Centerline is valid? [True, True] Translation: X:83.17, Y:12.94, Z:-0.88 [[ 9.64098971e-01 -2.65393958e-01 8.90061847e-03 8.31746922e+01] [ 2.65381414e-01 9.64140047e-01 2.58348487e-03 1.29441382e+01] [-9.26708398e-03 -1.28676392e-04 9.99957051e-01 -8.84341002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47687499999999 meters 0.016036458922265212 Centerline is valid? [True, True] Translation: X:83.23, Y:12.96, Z:-0.88 [[ 9.65399823e-01 -2.60606200e-01 9.35894578e-03 8.32308411e+01] [ 2.60592099e-01 9.65445169e-01 2.71720212e-03 1.29623745e+01] [-9.74366871e-03 -1.84319119e-04 9.99952512e-01 -8.83663364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.536875 meters 0.01653757277354292 Centerline is valid? [True, True] Translation: X:83.29, Y:12.98, Z:-0.88 [[ 9.65827569e-01 -2.59007305e-01 9.60846821e-03 8.32867623e+01] [ 2.58992336e-01 9.65875340e-01 2.79235317e-03 1.29791691e+01] [-1.00038224e-02 -2.08412051e-04 9.99949939e-01 -8.84079477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.596875 meters 0.018794649140923995 Centerline is valid? [True, True] Translation: X:83.34, Y:13.00, Z:-0.88 [[ 9.66950006e-01 -2.54745152e-01 1.06110081e-02 8.33419145e+01] [ 2.54726622e-01 9.67008184e-01 3.08536538e-03 1.29979277e+01] [-1.10469136e-02 -2.80487829e-04 9.99938942e-01 -8.84948612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.656875 meters 0.02035783872753082 Centerline is valid? [True, True] Translation: X:83.40, Y:13.02, Z:-0.89 [[ 9.67903228e-01 -2.51143353e-01 9.50566092e-03 8.33983970e+01] [ 2.51128302e-01 9.67949861e-01 2.76461140e-03 1.30152367e+01] [-9.89531694e-03 -2.88735818e-04 9.99950998e-01 -8.86112220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.716875 meters 0.024261341094577515 Centerline is valid? [True, True] Translation: X:83.45, Y:13.04, Z:-0.89 [[ 9.69294360e-01 -2.45814012e-01 6.62684650e-03 8.34535094e+01] [ 2.45806571e-01 9.69316983e-01 1.92751823e-03 1.30357146e+01] [-6.89732585e-03 -2.39410131e-04 9.99976185e-01 -8.90437441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77687499999999 meters 0.023411732110202532 Centerline is valid? [True, True] Translation: X:83.51, Y:13.05, Z:-0.89 [[ 9.70043939e-01 -2.42861906e-01 5.73156469e-03 8.35117607e+01] [ 2.42856286e-01 9.70060845e-01 1.66746422e-03 1.30483200e+01] [-5.96493003e-03 -2.25567050e-04 9.99982184e-01 -8.92700378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83687499999999 meters 0.02244111082099987 Centerline is valid? [True, True] Translation: X:83.57, Y:13.06, Z:-0.89 [[ 9.69202735e-01 -2.46212240e-01 5.05883735e-03 8.35692644e+01] [ 2.46207908e-01 9.69215920e-01 1.47175066e-03 1.30597909e+01] [-5.26546873e-03 -1.80898999e-04 9.99986121e-01 -8.93691824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.896875 meters 0.020941069522263333 Centerline is valid? [True, True] Translation: X:83.63, Y:13.07, Z:-0.89 [[ 9.67881346e-01 -2.51330742e-01 6.20954551e-03 8.36288549e+01] [ 2.51324320e-01 9.67901246e-01 1.80640445e-03 1.30688001e+01] [-6.46423181e-03 -1.87775366e-04 9.99979089e-01 -8.91277904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.956875 meters 0.018636977918028076 Centerline is valid? [True, True] Translation: X:83.69, Y:13.08, Z:-0.89 [[ 9.66555115e-01 -2.56381707e-01 6.29522106e-03 8.36878918e+01] [ 2.56375200e-01 9.66575603e-01 1.83345940e-03 1.30793009e+01] [-6.55487254e-03 -1.58201006e-04 9.99978504e-01 -8.93725589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.016875 meters 0.016467592653257427 Centerline is valid? [True, True] Translation: X:83.75, Y:13.09, Z:-0.89 [[ 9.64776147e-01 -2.62996267e-01 6.32058322e-03 8.37476630e+01] [ 2.62989847e-01 9.64796844e-01 1.84112856e-03 1.30863778e+01] [-6.58228868e-03 -1.14027700e-04 9.99978330e-01 -8.94218361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.076875 meters 0.015386610511281866 Centerline is valid? [True, True] Translation: X:83.81, Y:13.10, Z:-0.89 [[ 9.63481625e-01 -2.67719634e-01 5.41818736e-03 8.38062846e+01] [ 2.67714992e-01 9.63496857e-01 1.57797307e-03 1.30970452e+01] [-5.64286086e-03 -6.98180694e-05 9.99984076e-01 -8.94640354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13687499999999 meters 0.014267876064356498 Centerline is valid? [True, True] Translation: X:83.86, Y:13.11, Z:-0.89 [[ 9.61179699e-01 -2.75833865e-01 7.01891040e-03 8.38644772e+01] [ 2.75826280e-01 9.61205326e-01 2.04573767e-03 1.31078552e+01] [-7.31089778e-03 -3.03215674e-05 9.99973275e-01 -8.93628485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19687499999999 meters 0.014129986443609322 Centerline is valid? [True, True] Translation: X:83.92, Y:13.12, Z:-0.89 [[ 9.58732719e-01 -2.84182981e-01 8.46212001e-03 8.39214033e+01] [ 2.84172278e-01 9.58770062e-01 2.46668155e-03 1.31187755e+01] [-8.81421624e-03 3.98116193e-05 9.99961153e-01 -8.92197740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.256875 meters 0.014443008433020774 Centerline is valid? [True, True] Translation: X:83.98, Y:13.14, Z:-0.90 [[ 9.57644652e-01 -2.87910142e-01 4.94681037e-03 8.39775856e+01] [ 2.87906532e-01 9.57657427e-01 1.44232805e-03 1.31365568e+01] [-5.15261057e-03 4.29812790e-05 9.99986724e-01 -8.98908313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.316875 meters 0.014255067879622288 Centerline is valid? [True, True] Translation: X:84.03, Y:13.16, Z:-0.90 [[ 9.58098094e-01 -2.86422093e-01 3.22911811e-03 8.40324612e+01] [ 2.86420547e-01 9.58103535e-01 9.41122802e-04 1.31551999e+01] [-3.36338784e-03 2.31978148e-05 9.99994344e-01 -9.01132596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.376875 meters 0.014199255996427936 Centerline is valid? [True, True] Translation: X:84.09, Y:13.18, Z:-0.90 [[ 9.59787486e-01 -2.80703149e-01 3.70456449e-03 8.40862151e+01] [ 2.80701061e-01 9.59794635e-01 1.08268303e-03 1.31773255e+01] [-3.85953366e-03 7.29557119e-07 9.99992552e-01 -8.99036151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.436875 meters 0.014707059359640645 Centerline is valid? [True, True] Translation: X:84.14, Y:13.20, Z:-0.90 [[ 9.61658301e-01 -2.74232856e-01 3.10682205e-03 8.41404312e+01] [ 2.74231357e-01 9.61663320e-01 9.06894549e-04 1.32032674e+01] [-3.23641709e-03 -2.01346439e-05 9.99994763e-01 -9.01168394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49687499999999 meters 0.015222501944279756 Centerline is valid? [True, True] Translation: X:84.20, Y:13.22, Z:-0.90 [[ 9.62675857e-01 -2.70633820e-01 3.53973103e-03 8.41954040e+01] [ 2.70631846e-01 9.62682364e-01 1.03449638e-03 1.32244915e+01] [-3.68760634e-03 -3.79207435e-05 9.99993200e-01 -9.01944306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55687499999999 meters 0.01600846195661102 Centerline is valid? [True, True] Translation: X:84.25, Y:13.25, Z:-0.90 [[ 9.63669381e-01 -2.67061843e-01 4.39268528e-03 8.42507132e+01] [ 2.67058757e-01 9.63679390e-01 1.28555494e-03 1.32469048e+01] [-4.57646294e-03 -6.57448627e-05 9.99989526e-01 -9.01637086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.616875 meters 0.016874815354297922 Centerline is valid? [True, True] Translation: X:84.31, Y:13.27, Z:-0.90 [[ 9.64291465e-01 -2.64803638e-01 4.58306328e-03 8.43060550e+01] [ 2.64800246e-01 9.64302352e-01 1.34259657e-03 1.32676935e+01] [-4.77498316e-03 -8.10581235e-05 9.99988596e-01 -9.01327882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.676875 meters 0.016973114899031774 Centerline is valid? [True, True] Translation: X:84.36, Y:13.29, Z:-0.90 [[ 9.64587156e-01 -2.63725952e-01 4.49903746e-03 8.43624316e+01] [ 2.63722667e-01 9.64597644e-01 1.31907683e-03 1.32862342e+01] [-4.68763573e-03 -8.58664044e-05 9.99989009e-01 -9.01993231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.736875 meters 0.018033675703243428 Centerline is valid? [True, True] Translation: X:84.42, Y:13.31, Z:-0.90 [[ 9.65204921e-01 -2.61452742e-01 4.68229247e-03 8.44162873e+01] [ 2.61449147e-01 9.65216273e-01 1.37488853e-03 1.33069865e+01] [-4.87889326e-03 -1.02867800e-04 9.99988093e-01 -9.03497916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.796875 meters 0.018141584990003262 Centerline is valid? [True, True] Translation: X:84.47, Y:13.32, Z:-0.90 [[ 9.65587105e-01 -2.60045619e-01 4.22119828e-03 8.44724695e+01] [ 2.60042685e-01 9.65596327e-01 1.23912899e-03 1.33248742e+01] [-4.39820362e-03 -9.87952379e-05 9.99990323e-01 -9.03758519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.856875 meters 0.018994201112114556 Centerline is valid? [True, True] Translation: X:84.53, Y:13.34, Z:-0.91 [[ 9.65906917e-01 -2.58867091e-01 3.41429950e-03 8.45274517e+01] [ 2.58865159e-01 9.65912947e-01 1.00386555e-03 1.33421193e+01] [-3.55778384e-03 -8.57974958e-05 9.99993667e-01 -9.05123606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91687499999999 meters 0.019320487163270523 Centerline is valid? [True, True] Translation: X:84.58, Y:13.36, Z:-0.91 [[ 9.66213709e-01 -2.57736129e-01 1.77653565e-03 8.45834668e+01] [ 2.57735605e-01 9.66215341e-01 5.22028235e-04 1.33584076e+01] [-1.85106154e-03 -4.65143468e-05 9.99998286e-01 -9.08203306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97687499999999 meters 0.02097156859805649 Centerline is valid? [True, True] Translation: X:84.64, Y:13.38, Z:-0.91 [[ 9.67215235e-01 -2.53948726e-01 2.17562650e-03 8.46406214e+01] [ 2.53947927e-01 9.67217680e-01 6.40193084e-04 1.33767615e+01] [-2.26688063e-03 -6.67086654e-05 9.99997428e-01 -9.07262976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.036875 meters 0.02070467610151569 Centerline is valid? [True, True] Translation: X:84.70, Y:13.39, Z:-0.91 [[ 9.68087200e-01 -2.50596615e-01 2.91722354e-03 8.46974258e+01] [ 2.50595164e-01 9.68091590e-01 8.58490038e-04 1.33934964e+01] [-3.03927427e-03 -1.00051105e-04 9.99995376e-01 -9.07899380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.096875 meters 0.02169566761026854 Centerline is valid? [True, True] Translation: X:84.75, Y:13.41, Z:-0.91 [[ 9.68230582e-01 -2.50036998e-01 3.32246781e-03 8.47523027e+01] [ 2.50035113e-01 9.68236276e-01 9.77753327e-04 1.34104572e+01] [-3.46140837e-03 -1.15957058e-04 9.99994003e-01 -9.06952422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.156875 meters 0.020977838765816315 Centerline is valid? [True, True] Translation: X:84.81, Y:13.42, Z:-0.90 [[ 9.67458150e-01 -2.52963638e-01 5.84179565e-03 8.48102237e+01] [ 2.52957860e-01 9.67475769e-01 1.71975793e-03 1.34242654e+01] [-6.08683196e-03 -1.86065696e-04 9.99981458e-01 -9.04169615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.216875 meters 0.019792152401055106 Centerline is valid? [True, True] Translation: X:84.87, Y:13.44, Z:-0.90 [[ 9.66585806e-01 -2.56274577e-01 5.93476739e-03 8.48676946e+01] [ 2.56268662e-01 9.66604010e-01 1.74945294e-03 1.34373767e+01] [-6.18491027e-03 -1.70101477e-04 9.99980859e-01 -9.04862820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27687499999999 meters 0.018210040173334198 Centerline is valid? [True, True] Translation: X:84.93, Y:13.45, Z:-0.91 [[ 9.65369775e-01 -2.60853722e-01 4.06623074e-03 8.49254876e+01] [ 2.60850986e-01 9.65378333e-01 1.19870018e-03 1.34490744e+01] [-4.23813646e-03 -9.65086300e-05 9.99991014e-01 -9.08351463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33687499999999 meters 0.017570879850471354 Centerline is valid? [True, True] Translation: X:84.98, Y:13.46, Z:-0.91 [[ 9.64594457e-01 -2.63711942e-01 3.68046726e-03 8.49832826e+01] [ 2.63709724e-01 9.64601475e-01 1.08401743e-03 1.34632446e+01] [-3.83605249e-03 -7.50621939e-05 9.99992640e-01 -9.09407703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.396875 meters 0.016969992483852354 Centerline is valid? [True, True] Translation: X:85.04, Y:13.48, Z:-0.91 [[ 9.64114226e-01 -2.65462615e-01 3.65502274e-03 8.50407836e+01] [ 2.65460438e-01 9.64121152e-01 1.07725013e-03 1.34778638e+01] [-3.80985437e-03 -6.83282356e-05 9.99992740e-01 -9.09083710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.456875 meters 0.016879185747364887 Centerline is valid? [True, True] Translation: X:85.10, Y:13.49, Z:-0.91 [[ 9.63871921e-01 -2.66323640e-01 4.75796646e-03 8.50967168e+01] [ 2.66319946e-01 9.63883660e-01 1.40544691e-03 1.34942221e+01] [-4.96042986e-03 -8.75294384e-05 9.99987693e-01 -9.08808719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.516875 meters 0.01686475598096462 Centerline is valid? [True, True] Translation: X:85.15, Y:13.51, Z:-0.91 [[ 9.63692985e-01 -2.66946305e-01 5.95819950e-03 8.51531277e+01] [ 2.66940524e-01 9.63711398e-01 1.76001111e-03 1.35116867e+01] [-6.21181324e-03 -1.05625462e-04 9.99980701e-01 -9.09923890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.576875 meters 0.016395339162256908 Centerline is valid? [True, True] Translation: X:85.21, Y:13.53, Z:-0.91 [[ 9.63404127e-01 -2.67912602e-01 8.67898393e-03 8.52100603e+01] [ 2.67900343e-01 9.63443208e-01 2.56720729e-03 1.35280391e+01] [-9.04949531e-03 -1.48155329e-04 9.99959042e-01 -9.07762513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63687499999999 meters 0.0161988165248864 Centerline is valid? [True, True] Translation: X:85.27, Y:13.54, Z:-0.91 [[ 9.62965701e-01 -2.69472630e-01 9.03105774e-03 8.52670302e+01] [ 2.69459401e-01 9.63008038e-01 2.67385417e-03 1.35447047e+01] [-9.41751171e-03 -1.41326445e-04 9.99955644e-01 -9.07645722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69687499999999 meters 0.015637186265996694 Centerline is valid? [True, True] Translation: X:85.32, Y:13.56, Z:-0.91 [[ 9.62220090e-01 -2.72202279e-01 6.19820503e-03 8.53240200e+01] [ 2.72196100e-01 9.62240049e-01 1.83588626e-03 1.35597572e+01] [-6.46389354e-03 -7.93994125e-05 9.99979106e-01 -9.11227483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.756875 meters 0.01504498193903057 Centerline is valid? [True, True] Translation: X:85.38, Y:13.57, Z:-0.91 [[ 9.61615133e-01 -2.74334752e-01 6.06468795e-03 8.53815054e+01] [ 2.74328869e-01 9.61634255e-01 1.79784749e-03 1.35743266e+01] [-6.32522372e-03 -6.51183669e-05 9.99979993e-01 -9.12435036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.816875 meters 0.01533212645720273 Centerline is valid? [True, True] Translation: X:85.44, Y:13.59, Z:-0.91 [[ 9.61883019e-01 -2.73402399e-01 5.67324436e-03 8.54380229e+01] [ 2.73397226e-01 9.61899747e-01 1.68312717e-03 1.35919303e+01] [-5.91726332e-03 -6.79221691e-05 9.99982491e-01 -9.12819225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.876875 meters 0.016668252632587387 Centerline is valid? [True, True] Translation: X:85.49, Y:13.61, Z:-0.92 [[ 9.63139036e-01 -2.68942341e-01 5.76310997e-03 8.54915437e+01] [ 2.68936910e-01 9.63156273e-01 1.71204184e-03 1.36130264e+01] [-6.01121606e-03 -9.90213352e-05 9.99981928e-01 -9.15821645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.936875 meters 0.01839546075336931 Centerline is valid? [True, True] Translation: X:85.55, Y:13.63, Z:-0.91 [[ 9.64658943e-01 -2.63426318e-01 6.30074061e-03 8.55479593e+01] [ 2.63419701e-01 9.64679508e-01 1.87286858e-03 1.36328611e+01] [-6.57155822e-03 -1.46940216e-04 9.99978396e-01 -9.14806663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99687499999999 meters 0.019071774787449338 Centerline is valid? [True, True] Translation: X:85.60, Y:13.65, Z:-0.91 [[ 9.65337150e-01 -2.60904650e-01 7.27668442e-03 8.56037969e+01] [ 2.60895756e-01 9.65364557e-01 2.16252972e-03 1.36510235e+01] [-7.58886729e-03 -1.89114193e-04 9.99971186e-01 -9.14670229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05687499999999 meters 0.019527492009429843 Centerline is valid? [True, True] Translation: X:85.66, Y:13.67, Z:-0.92 [[ 9.65754884e-01 -2.59370955e-01 6.64925862e-03 8.56606294e+01] [ 2.59363482e-01 9.65777756e-01 1.97756654e-03 1.36667894e+01] [-6.93462939e-03 -1.85269679e-04 9.99975938e-01 -9.16637979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.116875 meters 0.018492370388386425 Centerline is valid? [True, True] Translation: X:85.72, Y:13.68, Z:-0.92 [[ 9.65274511e-01 -2.61184335e-01 5.27847976e-03 8.57178366e+01] [ 2.61179648e-01 9.65288933e-01 1.57067343e-03 1.36797178e+01] [-5.50549339e-03 -1.37499537e-04 9.99984835e-01 -9.19196995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.176875 meters 0.017968888393568277 Centerline is valid? [True, True] Translation: X:85.78, Y:13.69, Z:-0.92 [[ 9.64722331e-01 -2.63229488e-01 4.58927616e-03 8.57751391e+01] [ 2.63225965e-01 9.64733240e-01 1.36646687e-03 1.36934259e+01] [-4.78712163e-03 -1.10244461e-04 9.99988536e-01 -9.20519912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.236875 meters 0.017006355001733017 Centerline is valid? [True, True] Translation: X:85.83, Y:13.71, Z:-0.92 [[ 9.63771201e-01 -2.66677282e-01 5.31971933e-03 8.58327826e+01] [ 2.66672584e-01 9.63785876e-01 1.58687685e-03 1.37051428e+01] [-5.55025436e-03 -1.10762913e-04 9.99984591e-01 -9.19849909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.296875 meters 0.01576032526077712 Centerline is valid? [True, True] Translation: X:85.89, Y:13.72, Z:-0.92 [[ 9.62516094e-01 -2.71147524e-01 6.46438896e-03 8.58912821e+01] [ 2.71140682e-01 9.62537796e-01 1.92900052e-03 1.37159677e+01] [-6.74526242e-03 -1.03935219e-04 9.99977245e-01 -9.18382908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.356875 meters 0.015506308303711315 Centerline is valid? [True, True] Translation: X:85.95, Y:13.73, Z:-0.92 [[ 9.61946526e-01 -2.73132233e-01 7.59376908e-03 8.59489234e+01] [ 2.73122852e-01 9.61976493e-01 2.26615591e-03 1.37304985e+01] [-7.92398757e-03 -1.05888932e-04 9.99968599e-01 -9.17233662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41687499999999 meters 0.015351521685632403 Centerline is valid? [True, True] Translation: X:86.01, Y:13.75, Z:-0.92 [[ 9.61858657e-01 -2.73423825e-01 8.20589935e-03 8.60051280e+01] [ 2.73412862e-01 9.61893653e-01 2.45111263e-03 1.37464600e+01] [-8.56339509e-03 -1.14025470e-04 9.99963327e-01 -9.17805903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47687499999999 meters 0.01485759440840633 Centerline is valid? [True, True] Translation: X:86.06, Y:13.76, Z:-0.92 [[ 9.61295485e-01 -2.75459849e-01 5.73251922e-03 8.60603862e+01] [ 2.75454524e-01 9.61312575e-01 1.71410611e-03 1.37620518e+01] [-5.98291022e-03 -6.87141086e-05 9.99982100e-01 -9.21863129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.536875 meters 0.014005913780104495 Centerline is valid? [True, True] Translation: X:86.12, Y:13.78, Z:-0.92 [[ 9.60437350e-01 -2.78437375e-01 5.72064223e-03 8.61175864e+01] [ 2.78432127e-01 9.60454385e-01 1.71019796e-03 1.37756732e+01] [-5.97059894e-03 -4.97274142e-05 9.99982175e-01 -9.22023816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.596875 meters 0.013840846960477536 Centerline is valid? [True, True] Translation: X:86.17, Y:13.79, Z:-0.92 [[ 9.59657005e-01 -2.81103657e-01 6.25833197e-03 8.61737884e+01] [ 2.81097420e-01 9.59677411e-01 1.87294462e-03 1.37918261e+01] [-6.53247140e-03 -3.81834558e-05 9.99978662e-01 -9.23572738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.656875 meters 0.013444747665273144 Centerline is valid? [True, True] Translation: X:86.23, Y:13.81, Z:-0.92 [[ 9.58606288e-01 -2.84636207e-01 7.49766164e-03 8.62313298e+01] [ 2.84627343e-01 9.58635608e-01 2.24645405e-03 1.38062711e+01] [-7.82694759e-03 -1.94254691e-05 9.99969369e-01 -9.22599329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.716875 meters 0.01328593989880979 Centerline is valid? [True, True] Translation: X:86.29, Y:13.82, Z:-0.92 [[ 9.58322936e-01 -2.85601125e-01 7.01056300e-03 8.62864131e+01] [ 2.85593390e-01 9.58348578e-01 2.10203871e-03 1.38235889e+01] [-7.31890770e-03 -1.22614592e-05 9.99973216e-01 -9.23119824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77687499999999 meters 0.013374784502032498 Centerline is valid? [True, True] Translation: X:86.34, Y:13.84, Z:-0.93 [[ 9.58406337e-01 -2.85346091e-01 5.90776215e-03 8.63414333e+01] [ 2.85340585e-01 9.58424545e-01 1.77263948e-03 1.38423556e+01] [-6.16795999e-03 -1.31846072e-05 9.99980978e-01 -9.25535184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83687499999999 meters 0.01324033113191097 Centerline is valid? [True, True] Translation: X:86.40, Y:13.86, Z:-0.93 [[ 9.58845487e-01 -2.83879951e-01 5.24453821e-03 8.63965061e+01] [ 2.83875582e-01 9.58859830e-01 1.57499970e-03 1.38634753e+01] [-5.47588785e-03 -2.13850144e-05 9.99985007e-01 -9.27727118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.896875 meters 0.013518928790459886 Centerline is valid? [True, True] Translation: X:86.45, Y:13.88, Z:-0.93 [[ 9.59479281e-01 -2.81732384e-01 5.13542440e-03 8.64518162e+01] [ 2.81728157e-01 9.59493024e-01 1.54355563e-03 1.38846617e+01] [-5.36227350e-03 -3.42159897e-05 9.99985622e-01 -9.27995018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.956875 meters 0.014258985111918594 Centerline is valid? [True, True] Translation: X:86.51, Y:13.91, Z:-0.93 [[ 9.60307411e-01 -2.78907074e-01 4.52996949e-03 8.65060259e+01] [ 2.78903745e-01 9.60318094e-01 1.36350305e-03 1.39058662e+01] [-4.73050231e-03 -4.59566268e-05 9.99988810e-01 -9.28076869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.016875 meters 0.015917875326879962 Centerline is valid? [True, True] Translation: X:86.56, Y:13.93, Z:-0.93 [[ 9.62208014e-01 -2.72290052e-01 3.72364015e-03 8.65599059e+01] [ 2.72287752e-01 9.62215217e-01 1.12107482e-03 1.39319800e+01] [-3.88820074e-03 -6.48055742e-05 9.99992439e-01 -9.30429060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.076875 meters 0.018005781908359466 Centerline is valid? [True, True] Translation: X:86.61, Y:13.96, Z:-0.93 [[ 9.63698369e-01 -2.66982780e-01 2.37666641e-03 8.66144793e+01] [ 2.66981827e-01 9.63701298e-01 7.15617844e-04 1.39559085e+01] [-2.48145415e-03 -5.51130083e-05 9.99996920e-01 -9.33055399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13687499999999 meters 0.019063226904855245 Centerline is valid? [True, True] Translation: X:86.67, Y:13.98, Z:-0.93 [[ 9.64129565e-01 -2.65427695e-01 1.52304413e-03 8.66700326e+01] [ 2.65427305e-01 9.64130768e-01 4.56636183e-04 1.39752715e+01] [-1.58961759e-03 -3.59989472e-05 9.99998736e-01 -9.34432354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19687499999999 meters 0.01836050455323448 Centerline is valid? [True, True] Translation: X:86.73, Y:13.99, Z:-0.93 [[ 9.64392064e-01 -2.64462265e-01 2.76730720e-03 8.67260400e+01] [ 2.64460960e-01 9.64396031e-01 8.33883823e-04 1.39918553e+01] [-2.88931088e-03 -7.23462223e-05 9.99995823e-01 -9.32818146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.256875 meters 0.01826050860859519 Centerline is valid? [True, True] Translation: X:86.78, Y:14.01, Z:-0.93 [[ 9.64521280e-01 -2.63993445e-01 2.48208997e-03 8.67825237e+01] [ 2.63992398e-01 9.64524472e-01 7.46646563e-04 1.40094332e+01] [-2.59114632e-03 -6.49036160e-05 9.99996641e-01 -9.33716278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.316875 meters 0.01895470701928742 Centerline is valid? [True, True] Translation: X:86.84, Y:14.03, Z:-0.93 [[ 9.64315528e-01 -2.64744885e-01 2.38931328e-03 8.68377669e+01] [ 2.64743911e-01 9.64318486e-01 7.20722094e-04 1.40280857e+01] [-2.49486645e-03 -6.24473637e-05 9.99996886e-01 -9.34847749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.376875 meters 0.018331213793860636 Centerline is valid? [True, True] Translation: X:86.89, Y:14.04, Z:-0.94 [[ 9.64204254e-01 -2.65151504e-01 2.19904200e-03 8.68936299e+01] [ 2.65150684e-01 9.64206760e-01 6.61675443e-04 1.40442735e+01] [-2.29577540e-03 -5.49127861e-05 9.99997363e-01 -9.35210266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.436875 meters 0.017890700704981513 Centerline is valid? [True, True] Translation: X:86.95, Y:14.06, Z:-0.94 [[ 9.63764032e-01 -2.66746733e-01 2.25197666e-03 8.69496576e+01] [ 2.66745875e-01 9.63766661e-01 6.78703283e-04 1.40624813e+01] [-2.35142191e-03 -5.34043277e-05 9.99997234e-01 -9.38031641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49687499999999 meters 0.01693864751719263 Centerline is valid? [True, True] Translation: X:87.01, Y:14.08, Z:-0.94 [[ 9.62849594e-01 -2.70022129e-01 2.95104829e-03 8.70064309e+01] [ 2.70020662e-01 9.62854114e-01 8.92522003e-04 1.40776246e+01] [-3.08242968e-03 -6.25204382e-05 9.99995247e-01 -9.37232619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55687499999999 meters 0.01576170647549363 Centerline is valid? [True, True] Translation: X:87.06, Y:14.09, Z:-0.94 [[ 9.61599931e-01 -2.74414938e-01 4.69204870e-03 8.70629772e+01] [ 2.74411275e-01 9.61611375e-01 1.41990586e-03 1.40933883e+01] [-4.90157078e-03 -7.78303053e-05 9.99987984e-01 -9.36917724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.616875 meters 0.01532099731378591 Centerline is valid? [True, True] Translation: X:87.12, Y:14.11, Z:-0.94 [[ 9.60954418e-01 -2.76616885e-01 7.05021846e-03 8.71193636e+01] [ 2.76608673e-01 9.60980275e-01 2.13379637e-03 1.41099096e+01] [-7.36536498e-03 -1.00329482e-04 9.99972870e-01 -9.35776288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.676875 meters 0.015512517302991689 Centerline is valid? [True, True] Translation: X:87.18, Y:14.13, Z:-0.94 [[ 9.61051796e-01 -2.76281664e-01 6.92008353e-03 8.71751744e+01] [ 2.76273731e-01 9.61076704e-01 2.09615273e-03 1.41289510e+01] [-7.22985964e-03 -1.02674048e-04 9.99973859e-01 -9.37301489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.736875 meters 0.016056983907364604 Centerline is valid? [True, True] Translation: X:87.23, Y:14.15, Z:-0.94 [[ 9.61683288e-01 -2.74086633e-01 6.46301645e-03 8.72309948e+01] [ 2.74079654e-01 9.61704999e-01 1.95916823e-03 1.41493296e+01] [-6.75249705e-03 -1.12718033e-04 9.99977195e-01 -9.39698394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.796875 meters 0.016872689290207576 Centerline is valid? [True, True] Translation: X:87.29, Y:14.17, Z:-0.94 [[ 9.62569233e-01 -2.70933228e-01 7.46042142e-03 8.72861300e+01] [ 2.70923815e-01 9.62598131e-01 2.26387796e-03 1.41710419e+01] [-7.79474747e-03 -1.57933434e-04 9.99969608e-01 -9.40587466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.856875 meters 0.017227605215708996 Centerline is valid? [True, True] Translation: X:87.34, Y:14.19, Z:-0.94 [[ 9.62780666e-01 -2.70193165e-01 7.00312394e-03 8.73420051e+01] [ 2.70184839e-01 9.62806123e-01 2.12675447e-03 1.41902826e+01] [-7.31728513e-03 -1.55460173e-04 9.99973216e-01 -9.42068983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91687499999999 meters 0.017046885586934422 Centerline is valid? [True, True] Translation: X:87.40, Y:14.21, Z:-0.95 [[ 9.62808045e-01 -2.70107821e-01 6.51405485e-03 8.73976485e+01] [ 2.70100605e-01 9.62830070e-01 1.97971751e-03 1.42093217e+01] [-6.80666507e-03 -1.46637783e-04 9.99976824e-01 -9.45589844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97687499999999 meters 0.016520160925296228 Centerline is valid? [True, True] Translation: X:87.45, Y:14.23, Z:-0.94 [[ 9.62524026e-01 -2.71056929e-01 8.69718755e-03 8.74541580e+01] [ 2.71044077e-01 9.62563299e-01 2.64639222e-03 1.42276344e+01] [-9.08891649e-03 -1.89894921e-04 9.99958677e-01 -9.44810548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.036875 meters 0.01563976100082623 Centerline is valid? [True, True] Translation: X:87.51, Y:14.24, Z:-0.95 [[ 9.61602124e-01 -2.74290018e-01 9.29200623e-03 8.75107010e+01] [ 2.74275473e-01 9.61647002e-01 2.83002554e-03 1.42436527e+01] [-9.71187769e-03 -1.72789165e-04 9.99952824e-01 -9.45389692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.096875 meters 0.014954873829247105 Centerline is valid? [True, True] Translation: X:87.57, Y:14.26, Z:-0.95 [[ 9.60883098e-01 -2.76761015e-01 1.03446967e-02 8.75674951e+01] [ 2.76743097e-01 9.60938766e-01 3.15367069e-03 1.42601358e+01] [-1.08134332e-02 -1.67485461e-04 9.99941519e-01 -9.46606770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.156875 meters 0.013682309006098655 Centerline is valid? [True, True] Translation: X:87.62, Y:14.28, Z:-0.95 [[ 9.59526235e-01 -2.81448940e-01 9.79278282e-03 8.76244003e+01] [ 2.81433102e-01 9.59576199e-01 2.98781461e-03 1.42753137e+01] [-1.02378386e-02 -1.10873260e-04 9.99947586e-01 -9.48940753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.216875 meters 0.01288681455036475 Centerline is valid? [True, True] Translation: X:87.68, Y:14.29, Z:-0.95 [[ 9.57802130e-01 -2.87297221e-01 8.68252673e-03 8.76813769e+01] [ 2.87284993e-01 9.57841482e-01 2.65102308e-03 1.42894424e+01] [-9.07811583e-03 -4.47959199e-05 9.99958792e-01 -9.50875321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27687499999999 meters 0.012569635737872334 Centerline is valid? [True, True] Translation: X:87.74, Y:14.30, Z:-0.95 [[ 9.56610572e-01 -2.91250942e-01 8.31281288e-03 8.77379755e+01] [ 2.91239865e-01 9.56646690e-01 2.54016080e-03 1.43046901e+01] [-8.69224915e-03 -8.92217834e-06 9.99962222e-01 -9.51377364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33687499999999 meters 0.012582964168540623 Centerline is valid? [True, True] Translation: X:87.79, Y:14.32, Z:-0.95 [[ 9.55340174e-01 -2.95367678e-01 9.11519219e-03 8.77929290e+01] [ 2.95354520e-01 9.55383658e-01 2.78816635e-03 1.43216969e+01] [-9.53203988e-03 2.85658861e-05 9.99954569e-01 -9.51101103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.396875 meters 0.012557378880339191 Centerline is valid? [True, True] Translation: X:87.85, Y:14.34, Z:-0.95 [[ 9.55534287e-01 -2.94708637e-01 1.00521855e-02 8.78474966e+01] [ 2.94692573e-01 9.55587159e-01 3.07702758e-03 1.43416705e+01] [-1.05125660e-02 2.20990529e-05 9.99944741e-01 -9.50161315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.456875 meters 0.012510325509889708 Centerline is valid? [True, True] Translation: X:87.90, Y:14.36, Z:-0.95 [[ 9.56299921e-01 -2.92261649e-01 8.57841147e-03 8.79019995e+01] [ 2.92249833e-01 9.56338396e-01 2.62797948e-03 1.43628240e+01] [-8.97192188e-03 -6.09725051e-06 9.99959751e-01 -9.51639749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.516875 meters 0.013006096608098532 Centerline is valid? [True, True] Translation: X:87.96, Y:14.39, Z:-0.95 [[ 9.58263326e-01 -2.85791547e-01 7.38855668e-03 8.79556030e+01] [ 2.85782574e-01 9.58291808e-01 2.26533317e-03 1.43891312e+01] [-7.72780641e-03 -5.92649508e-05 9.99970138e-01 -9.54659589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.576875 meters 0.01457495669501206 Centerline is valid? [True, True] Translation: X:88.01, Y:14.41, Z:-0.96 [[ 9.60477410e-01 -2.78297572e-01 5.79703810e-03 8.80102903e+01] [ 2.78291900e-01 9.60494900e-01 1.77937224e-03 1.44142920e+01] [-6.06322050e-03 -9.57780942e-05 9.99981614e-01 -9.56554090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63687499999999 meters 0.0161064364340204 Centerline is valid? [True, True] Translation: X:88.07, Y:14.44, Z:-0.96 [[ 9.62091305e-01 -2.72681926e-01 4.98873263e-03 8.80659779e+01] [ 2.72677649e-01 9.62104233e-01 1.53139667e-03 1.44358095e+01] [-5.21726497e-03 -1.13027535e-04 9.99986384e-01 -9.57322098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69687499999999 meters 0.017101522995421163 Centerline is valid? [True, True] Translation: X:88.12, Y:14.46, Z:-0.96 [[ 9.62810514e-01 -2.70100899e-01 6.43568123e-03 8.81218117e+01] [ 2.70093727e-01 9.62832009e-01 1.97498608e-03 1.44555627e+01] [-6.72992540e-03 -1.63300235e-04 9.99977340e-01 -9.57540797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.756875 meters 0.018887982597020226 Centerline is valid? [True, True] Translation: X:88.18, Y:14.47, Z:-0.96 [[ 9.64067531e-01 -2.65579997e-01 6.40784069e-03 8.81783846e+01] [ 2.65572770e-01 9.64088806e-01 1.96905743e-03 1.44741749e+01] [-6.70066975e-03 -1.96556334e-04 9.99977531e-01 -9.57080123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.816875 meters 0.019777798891432396 Centerline is valid? [True, True] Translation: X:88.23, Y:14.49, Z:-0.96 [[ 9.64653368e-01 -2.63478587e-01 4.78674437e-03 8.82346550e+01] [ 2.63474535e-01 9.64665232e-01 1.46968476e-03 1.44914731e+01] [-5.00483633e-03 -1.56551111e-04 9.99987463e-01 -9.59092612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.876875 meters 0.021333700176422558 Centerline is valid? [True, True] Translation: X:88.29, Y:14.51, Z:-0.96 [[ 9.65823657e-01 -2.59135540e-01 5.78234852e-03 8.82904432e+01] [ 2.59129530e-01 9.65840941e-01 1.77844954e-03 1.45108397e+01] [-6.04568842e-03 -2.19291386e-04 9.99981701e-01 -9.60626840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.936875 meters 0.02407094058066648 Centerline is valid? [True, True] Translation: X:88.35, Y:14.53, Z:-0.96 [[ 9.66640242e-01 -2.56101403e-01 4.32588451e-03 8.83457234e+01] [ 2.56098009e-01 9.66649905e-01 1.33038902e-03 1.45297818e+01] [-4.52233035e-03 -1.78157156e-04 9.99989758e-01 -9.61384340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99687499999999 meters 0.024106921114732047 Centerline is valid? [True, True] Translation: X:88.40, Y:14.55, Z:-0.96 [[ 9.66628475e-01 -2.56166151e-01 2.87999399e-03 8.84020076e+01] [ 2.56164651e-01 9.66632758e-01 8.84316946e-04 1.45466460e+01] [-3.01042860e-03 -1.17053287e-04 9.99995462e-01 -9.64428028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05687499999999 meters 0.021379871138849146 Centerline is valid? [True, True] Translation: X:88.46, Y:14.56, Z:-0.96 [[ 9.65879879e-01 -2.58978529e-01 2.48607165e-03 8.84605601e+01] [ 2.58977420e-01 9.65883074e-01 7.63731192e-04 1.45577753e+01] [-2.59904450e-03 -9.38361715e-05 9.99996618e-01 -9.64461529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.116875 meters 0.021073676193094238 Centerline is valid? [True, True] Translation: X:88.52, Y:14.57, Z:-0.96 [[ 9.65040799e-01 -2.62084885e-01 2.78745177e-03 8.85167391e+01] [ 2.62083497e-01 9.65044819e-01 8.58552265e-04 1.45713019e+01] [-2.91502946e-03 -9.79928555e-05 9.99995746e-01 -9.63241967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.176875 meters 0.018023244419630453 Centerline is valid? [True, True] Translation: X:88.58, Y:14.58, Z:-0.96 [[ 9.63513872e-01 -2.67636128e-01 3.45281401e-03 8.85768650e+01] [ 2.67634036e-01 9.63520053e-01 1.06313257e-03 1.45795965e+01] [-3.61138822e-03 -1.00252433e-04 9.99993474e-01 -9.61458773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.236875 meters 0.016103706402865643 Centerline is valid? [True, True] Translation: X:88.64, Y:14.59, Z:-0.96 [[ 9.61500594e-01 -2.74762195e-01 4.72686379e-03 8.86361684e+01] [ 2.74758344e-01 9.61512208e-01 1.45832254e-03 1.45881808e+01] [-4.94562914e-03 -1.03432724e-04 9.99987765e-01 -9.60251268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.296875 meters 0.015525231040764908 Centerline is valid? [True, True] Translation: X:88.69, Y:14.60, Z:-0.96 [[ 9.60696293e-01 -2.77550532e-01 5.32303607e-03 8.86933105e+01] [ 2.77545695e-01 9.60711035e-01 1.64147725e-03 1.46018920e+01] [-5.56949237e-03 -9.95753650e-05 9.99984485e-01 -9.59995120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.356875 meters 0.0137099101851248 Centerline is valid? [True, True] Translation: X:88.75, Y:14.61, Z:-0.96 [[ 9.58499468e-01 -2.85051589e-01 4.93581430e-03 8.87529425e+01] [ 2.85047519e-01 9.58512175e-01 1.52422255e-03 1.46089565e+01] [-5.16552016e-03 -5.40248825e-05 9.99986657e-01 -9.59297202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41687499999999 meters 0.013085747999491913 Centerline is valid? [True, True] Translation: X:88.81, Y:14.62, Z:-0.96 [[ 9.57098602e-01 -2.89719406e-01 4.99323690e-03 8.88111557e+01] [ 2.89715307e-01 9.57111626e-01 1.54140589e-03 1.46215809e+01] [-5.22566029e-03 -2.86602600e-05 9.99986346e-01 -9.61366237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47687499999999 meters 0.012820285850121526 Centerline is valid? [True, True] Translation: X:88.87, Y:14.63, Z:-0.96 [[ 9.55853659e-01 -2.93825563e-01 3.21255900e-03 8.88687570e+01] [ 2.93823892e-01 9.55859058e-01 9.91141730e-04 1.46334887e+01] [-3.36197639e-03 -3.45986209e-06 9.99994349e-01 -9.63675232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.536875 meters 0.012812973457078798 Centerline is valid? [True, True] Translation: X:88.92, Y:14.65, Z:-0.96 [[ 9.55761176e-01 -2.94124274e-01 3.38916437e-03 8.89249517e+01] [ 2.94122411e-01 9.55767185e-01 1.04683647e-03 1.46493330e+01] [-3.54715210e-03 -3.69645503e-06 9.99993709e-01 -9.63174607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.596875 meters 0.013056606953981328 Centerline is valid? [True, True] Translation: X:88.98, Y:14.67, Z:-0.97 [[ 9.57118082e-01 -2.89697549e-01 5.53837851e-04 8.89802575e+01] [ 2.89697499e-01 9.57118243e-01 1.68988150e-04 1.46706323e+01] [-5.79043764e-04 -1.29617367e-06 9.99999832e-01 -9.67926255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.656875 meters 0.013905536978969044 Centerline is valid? [True, True] Translation: X:89.04, Y:14.69, Z:-0.97 [[ 9.58574630e-01 -2.84841389e-01 2.50557018e-04 8.90352045e+01] [ 2.84841379e-01 9.58574662e-01 7.49945200e-05 1.46922700e+01] [-2.61539152e-04 -5.18837639e-07 9.99999966e-01 -9.69448771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.716875 meters 0.016077278516828008 Centerline is valid? [True, True] Translation: X:89.09, Y:14.72, Z:-0.97 [[ 9.61027819e-01 -2.76450316e-01 8.68154913e-04 8.90896755e+01] [ 2.76450185e-01 9.61028211e-01 2.68864542e-04 1.47174492e+01] [-9.08649050e-04 -1.83847178e-05 9.99999587e-01 -9.70151206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77687499999999 meters 0.017439898968667773 Centerline is valid? [True, True] Translation: X:89.15, Y:14.74, Z:-0.97 [[ 9.62265033e-01 -2.72105623e-01 2.12968013e-03 8.91457679e+01] [ 2.72104827e-01 9.62267388e-01 6.60690149e-04 1.47379043e+01] [-2.22909924e-03 -5.62627847e-05 9.99997514e-01 -9.69017879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83687499999999 meters 0.019906455165873454 Centerline is valid? [True, True] Translation: X:89.20, Y:14.76, Z:-0.97 [[ 9.63578096e-01 -2.67415694e-01 2.46978558e-03 8.92001268e+01] [ 2.67414609e-01 9.63581258e-01 7.65943179e-04 1.47597704e+01] [-2.58466432e-03 -7.75893250e-05 9.99996657e-01 -9.70125270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.896875 meters 0.018757162680739087 Centerline is valid? [True, True] Translation: X:89.26, Y:14.78, Z:-0.97 [[ 9.63008429e-01 -2.69467955e-01 1.33689748e-03 8.92571212e+01] [ 2.69467642e-01 9.63009356e-01 4.12631238e-04 1.47755006e+01] [-1.39863568e-03 -3.71167489e-05 9.99999021e-01 -9.73300806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.956875 meters 0.018200360654353213 Centerline is valid? [True, True] Translation: X:89.31, Y:14.79, Z:-0.97 [[ 9.62231700e-01 -2.72228287e-01 1.38380189e-03 8.93130950e+01] [ 2.72227951e-01 9.62232695e-01 4.28774592e-04 1.47895853e+01] [-1.44826399e-03 -3.58709523e-05 9.99998951e-01 -9.72895318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.016875 meters 0.01620501585683471 Centerline is valid? [True, True] Translation: X:89.37, Y:14.80, Z:-0.97 [[ 9.60764001e-01 -2.77367091e-01 1.78501727e-04 8.93716680e+01] [ 2.77367086e-01 9.60764017e-01 5.47120715e-05 1.48002198e+01] [-1.86673365e-04 -3.05488484e-06 9.99999983e-01 -9.74027746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.076875 meters 0.015220100753761769 Centerline is valid? [True, True] Translation: X:89.43, Y:14.81, Z:-0.97 [[ 9.59652687e-01 -2.81186538e-01 9.23160858e-04 8.94296630e+01] [ 2.81186392e-01 9.59653130e-01 2.86368208e-04 1.48116816e+01] [-9.66437093e-04 -1.52337494e-05 9.99999533e-01 -9.73676357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13687499999999 meters 0.014958493427427978 Centerline is valid? [True, True] Translation: X:89.49, Y:14.83, Z:-0.97 [[ 9.59259011e-01 -2.82527626e-01 5.37932696e-04 8.94876118e+01] [ 2.82527578e-01 9.59259162e-01 1.64879963e-04 1.48255663e+01] [-5.62600012e-04 -6.18176840e-06 9.99999842e-01 -9.73651603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19687499999999 meters 0.014289476003200137 Centerline is valid? [True, True] Translation: X:89.55, Y:14.84, Z:-0.97 [[ 9.58414931e-01 -2.85377573e-01 6.78204790e-04 8.95452929e+01] [ 2.85377497e-01 9.58415171e-01 2.08544894e-04 1.48381625e+01] [-7.09515796e-04 -6.32815437e-06 9.99999748e-01 -9.74690222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.256875 meters 0.014002319640275821 Centerline is valid? [True, True] Translation: X:89.60, Y:14.85, Z:-0.97 [[ 9.57725338e-01 -2.87682800e-01 8.84822224e-04 8.96031605e+01] [ 2.87682670e-01 9.57725747e-01 2.73134980e-04 1.48517804e+01] [-9.25993261e-04 -7.04027108e-06 9.99999571e-01 -9.74201924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.316875 meters 0.014158821073295347 Centerline is valid? [True, True] Translation: X:89.66, Y:14.87, Z:-0.98 [[ 9.57578147e-01 -2.88173513e-01 3.43277404e-04 8.96580714e+01] [ 2.88173494e-01 9.57578209e-01 1.04966251e-04 1.48684044e+01] [-3.58963455e-04 -1.58993963e-06 9.99999936e-01 -9.75011889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.376875 meters 0.014043083638670283 Centerline is valid? [True, True] Translation: X:89.71, Y:14.88, Z:-0.97 [[ 9.57384638e-01 -2.88812880e-01 1.33237189e-03 8.97144333e+01] [ 2.88812585e-01 9.57385565e-01 4.13313087e-04 1.48844351e+01] [-1.39496376e-03 -1.08938291e-05 9.99999027e-01 -9.73895482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.436875 meters 0.013657484893900087 Centerline is valid? [True, True] Translation: X:89.77, Y:14.90, Z:-0.97 [[ 9.56565519e-01 -2.91512276e-01 1.73238094e-03 8.97714325e+01] [ 2.91511779e-01 9.56567087e-01 5.38661135e-04 1.48995352e+01] [-1.81416492e-03 -1.02552198e-05 9.99998354e-01 -9.72928731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49687499999999 meters 0.013539019596437822 Centerline is valid? [True, True] Translation: X:89.83, Y:14.92, Z:-0.97 [[ 9.56184198e-01 -2.92759976e-01 1.83735762e-03 8.98273215e+01] [ 2.92759419e-01 9.56185963e-01 5.71585157e-04 1.49162969e+01] [-1.92419283e-03 -8.63694561e-06 9.99998149e-01 -9.73253057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55687499999999 meters 0.013497173278570987 Centerline is valid? [True, True] Translation: X:89.88, Y:14.93, Z:-0.97 [[ 9.55782274e-01 -2.94063854e-01 2.58739399e-03 8.98835675e+01] [ 2.94062746e-01 9.55785776e-01 8.07355438e-04 1.49333262e+01] [-2.71040842e-03 -1.07998346e-05 9.99996327e-01 -9.72134583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.616875 meters 0.013515497570379674 Centerline is valid? [True, True] Translation: X:89.94, Y:14.95, Z:-0.97 [[ 9.55431205e-01 -2.95205063e-01 2.27684864e-03 8.99386585e+01] [ 2.95204208e-01 9.55433918e-01 7.10432189e-04 1.49517425e+01] [-2.38510159e-03 -6.63378367e-06 9.99997156e-01 -9.72927644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.676875 meters 0.013647086654376315 Centerline is valid? [True, True] Translation: X:89.99, Y:14.97, Z:-0.97 [[ 9.55665190e-01 -2.94439334e-01 3.08586978e-03 8.99918365e+01] [ 2.94437749e-01 9.55670172e-01 9.66285732e-04 1.49717616e+01] [-3.23358623e-03 -1.48490872e-05 9.99994772e-01 -9.74160092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.736875 meters 0.013738477253689103 Centerline is valid? [True, True] Translation: X:90.05, Y:14.99, Z:-0.97 [[ 9.56478432e-01 -2.91787662e-01 2.99510205e-03 9.00463268e+01] [ 2.91786157e-01 9.56483121e-01 9.37196211e-04 1.49943253e+01] [-3.13822685e-03 -2.24786442e-05 9.99995076e-01 -9.73960768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.796875 meters 0.014151314729587902 Centerline is valid? [True, True] Translation: X:90.10, Y:15.02, Z:-0.98 [[ 9.57142746e-01 -2.89602919e-01 2.81319775e-03 9.01000182e+01] [ 2.89601577e-01 9.57146879e-01 8.82199541e-04 1.50165500e+01] [-2.94813101e-03 -2.96843862e-05 9.99995654e-01 -9.75647091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.856875 meters 0.015431765386470456 Centerline is valid? [True, True] Translation: X:90.15, Y:15.04, Z:-0.98 [[ 9.58325190e-01 -2.85676743e-01 1.27603390e-03 9.01533422e+01] [ 2.85676465e-01 9.58326040e-01 3.99331082e-04 1.50405971e+01] [-1.33693611e-03 -1.81561819e-05 9.99999106e-01 -9.77187559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91687499999999 meters 0.015795618868227026 Centerline is valid? [True, True] Translation: X:90.21, Y:15.06, Z:-0.98 [[ 9.58768785e-01 -2.84181748e-01 1.77489747e-03 9.02080042e+01] [ 2.84181207e-01 9.58770428e-01 5.55193323e-04 1.50621097e+01] [-1.85949501e-03 -2.79095222e-05 9.99998271e-01 -9.77787406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97687499999999 meters 0.015356813632918036 Centerline is valid? [True, True] Translation: X:90.26, Y:15.08, Z:-0.98 [[ 9.58558041e-01 -2.84876118e-01 3.47565986e-03 9.02641009e+01] [ 2.84874035e-01 9.58564340e-01 1.09066210e-03 1.50800135e+01] [-3.64234719e-03 -5.53376738e-05 9.99993365e-01 -9.76957079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.036875 meters 0.014813412947747077 Centerline is valid? [True, True] Translation: X:90.32, Y:15.10, Z:-0.98 [[ 9.57843285e-01 -2.87242160e-01 5.30865918e-03 9.03209050e+01] [ 2.87237322e-01 9.57857994e-01 1.66874917e-03 1.50967416e+01] [-5.56427675e-03 -7.35551434e-05 9.99984517e-01 -9.75987415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.096875 meters 0.01446226589027572 Centerline is valid? [True, True] Translation: X:90.38, Y:15.11, Z:-0.98 [[ 9.57147322e-01 -2.89566906e-01 4.47328273e-03 9.03765920e+01] [ 2.89563488e-01 9.57157774e-01 1.40793660e-03 1.51122175e+01] [-4.68932918e-03 -5.23033973e-05 9.99989004e-01 -9.78093326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.156875 meters 0.014255917488442826 Centerline is valid? [True, True] Translation: X:90.43, Y:15.13, Z:-0.98 [[ 9.56905468e-01 -2.90374603e-01 3.80982758e-03 9.04319697e+01] [ 2.90372135e-01 9.56913052e-01 1.19793297e-03 1.51286610e+01] [-3.99352305e-03 -4.00408396e-05 9.99992025e-01 -9.78686284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.216875 meters 0.014463154196878379 Centerline is valid? [True, True] Translation: X:90.49, Y:15.15, Z:-0.98 [[ 9.56927172e-01 -2.90314772e-01 2.77873810e-03 9.04886079e+01] [ 2.90313458e-01 9.56931206e-01 8.74007101e-04 1.51463868e+01] [-2.91279837e-03 -2.96560769e-05 9.99995757e-01 -9.80907366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27687499999999 meters 0.014907583782675246 Centerline is valid? [True, True] Translation: X:90.54, Y:15.17, Z:-0.98 [[ 9.57258188e-01 -2.89224067e-01 2.49004098e-03 9.05447261e+01] [ 2.89223007e-01 9.57261426e-01 7.83584010e-04 1.51650731e+01] [-2.61025154e-03 -2.99150695e-05 9.99996593e-01 -9.81147703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33687499999999 meters 0.015355750562857352 Centerline is valid? [True, True] Translation: X:90.60, Y:15.18, Z:-0.98 [[ 9.57864818e-01 -2.87214976e-01 1.59646222e-03 9.06003740e+01] [ 2.87214539e-01 9.57866148e-01 5.01736321e-04 1.51832738e+01] [-1.67330330e-03 -2.20684099e-05 9.99998600e-01 -9.83117398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.396875 meters 0.015839869893265197 Centerline is valid? [True, True] Translation: X:90.66, Y:15.20, Z:-0.98 [[ 9.58177064e-01 -2.86157599e-01 3.24688749e-03 9.06560709e+01] [ 2.86155772e-01 9.58182564e-01 1.02394787e-03 1.52011330e+01] [-3.40412144e-03 -5.20077645e-05 9.99994205e-01 -9.81476164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.456875 meters 0.016370561093549865 Centerline is valid? [True, True] Translation: X:90.71, Y:15.22, Z:-0.98 [[ 9.58694719e-01 -2.84365732e-01 6.36920725e-03 9.07122865e+01] [ 2.84358627e-01 9.58715868e-01 2.01373017e-03 1.52191559e+01] [-6.67889591e-03 -1.19413445e-04 9.99977689e-01 -9.77896180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.516875 meters 0.016557873381600245 Centerline is valid? [True, True] Translation: X:90.77, Y:15.24, Z:-0.98 [[ 9.58949178e-01 -2.83510296e-01 6.19569086e-03 9.07680209e+01] [ 2.83503545e-01 9.58969184e-01 1.96043483e-03 1.52371777e+01] [-6.49728007e-03 -1.23457043e-04 9.99978885e-01 -9.78824399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.576875 meters 0.016118733853146557 Centerline is valid? [True, True] Translation: X:90.82, Y:15.26, Z:-0.99 [[ 9.58086375e-01 -2.86451120e-01 4.03156184e-03 9.08232534e+01] [ 2.86448286e-01 9.58094855e-01 1.27577834e-03 1.52569797e+01] [-4.22806679e-03 -6.74718703e-05 9.99991059e-01 -9.85131804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63687499999999 meters 0.014753149365652704 Centerline is valid? [True, True] Translation: X:90.88, Y:15.27, Z:-0.98 [[ 9.56630887e-01 -2.91269639e-01 4.39819887e-03 9.08801525e+01] [ 2.91266312e-01 9.56640996e-01 1.39319143e-03 1.52714290e+01] [-4.61329171e-03 -5.17227864e-05 9.99989357e-01 -9.84601625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69687499999999 meters 0.013790464079529687 Centerline is valid? [True, True] Translation: X:90.94, Y:15.29, Z:-0.98 [[ 9.54175341e-01 -2.99225635e-01 3.66576445e-03 9.09376606e+01] [ 2.99223380e-01 9.54182382e-01 1.16172621e-03 1.52850146e+01] [-3.84542613e-03 -1.16080742e-05 9.99992606e-01 -9.81775147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.756875 meters 0.013719519239341898 Centerline is valid? [True, True] Translation: X:90.99, Y:15.30, Z:-0.98 [[ 9.52638736e-01 -3.04077101e-01 4.06895694e-03 9.09930107e+01] [ 3.04074362e-01 9.52647425e-01 1.29061064e-03 1.53026660e+01] [-4.26872649e-03 7.77979442e-06 9.99990889e-01 -9.82596496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.816875 meters 0.013768263170247652 Centerline is valid? [True, True] Translation: X:91.05, Y:15.32, Z:-0.98 [[ 9.52500746e-01 -3.04504919e-01 4.36833120e-03 9.10483414e+01] [ 3.04501760e-01 9.52510763e-01 1.38714572e-03 1.53211691e+01] [-4.58327518e-03 8.90720348e-06 9.99989497e-01 -9.84132538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.876875 meters 0.013777589845223242 Centerline is valid? [True, True] Translation: X:91.10, Y:15.34, Z:-0.98 [[ 9.52968009e-01 -3.03049080e-01 3.63722212e-03 9.11024762e+01] [ 3.03046871e-01 9.52974950e-01 1.15696155e-03 1.53406600e+01] [-3.81679770e-03 -2.98561741e-07 9.99992716e-01 -9.82808216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.936875 meters 0.013817003985463846 Centerline is valid? [True, True] Translation: X:91.16, Y:15.36, Z:-0.98 [[ 9.53928133e-01 -2.99988769e-01 5.27780588e-03 9.11562263e+01] [ 2.99984073e-01 9.53942733e-01 1.67862599e-03 1.53625394e+01] [-5.53829351e-03 -1.80308570e-05 9.99984663e-01 -9.82339719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99687499999999 meters 0.013986094817995265 Centerline is valid? [True, True] Translation: X:91.21, Y:15.38, Z:-0.98 [[ 9.54494505e-01 -2.98181086e-01 5.31782389e-03 9.12110092e+01] [ 2.98176276e-01 9.54509318e-01 1.69403776e-03 1.53821288e+01] [-5.58104248e-03 -3.13008044e-05 9.99984425e-01 -9.81584893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05687499999999 meters 0.013677365789968502 Centerline is valid? [True, True] Translation: X:91.27, Y:15.40, Z:-0.99 [[ 9.54131838e-01 -2.99361437e-01 3.89420645e-03 9.12658182e+01] [ 2.99358872e-01 9.54139785e-01 1.23924585e-03 1.54017087e+01] [-4.08659972e-03 -1.66386740e-05 9.99991650e-01 -9.85030279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.116875 meters 0.013756581899339279 Centerline is valid? [True, True] Translation: X:91.32, Y:15.42, Z:-0.98 [[ 9.53336096e-01 -3.01885760e-01 3.90838336e-03 9.13218401e+01] [ 3.01883187e-01 9.53344108e-01 1.24632200e-03 1.54179001e+01] [-4.10228111e-03 -8.28852110e-06 9.99991586e-01 -9.84848407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.176875 meters 0.013580250516416856 Centerline is valid? [True, True] Translation: X:91.38, Y:15.43, Z:-0.98 [[ 9.51993025e-01 -3.06107077e-01 2.78175958e-03 9.13788694e+01] [ 3.06105796e-01 9.51997089e-01 8.85677261e-04 1.54329603e+01] [-2.91933910e-03 8.35415348e-06 9.99995739e-01 -9.83844310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.236875 meters 0.014261900300418308 Centerline is valid? [True, True] Translation: X:91.44, Y:15.45, Z:-0.99 [[ 9.49578726e-01 -3.13523562e-01 1.79448399e-03 9.14350802e+01] [ 3.13523040e-01 9.49580421e-01 5.72339157e-04 1.54476363e+01] [-1.88344867e-03 1.91309877e-05 9.99998226e-01 -9.86829971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.296875 meters 0.015556250588627139 Centerline is valid? [True, True] Translation: X:91.49, Y:15.46, Z:-0.99 [[ 9.47443332e-01 -3.19919233e-01 1.67841321e-03 9.14926444e+01] [ 3.19918786e-01 9.47444818e-01 5.35745581e-04 1.54620017e+01] [-1.76159921e-03 2.93673365e-05 9.99998448e-01 -9.85602492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.356875 meters 0.01613201598474094 Centerline is valid? [True, True] Translation: X:91.55, Y:15.48, Z:-0.98 [[ 9.46155298e-01 -3.23702257e-01 2.64581853e-03 9.15490581e+01] [ 3.23701164e-01 9.46158996e-01 8.43367412e-04 1.54802823e+01] [-2.77636494e-03 5.84979911e-05 9.99996144e-01 -9.83454941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41687499999999 meters 0.016470059702595352 Centerline is valid? [True, True] Translation: X:91.60, Y:15.50, Z:-0.98 [[ 9.45439278e-01 -3.25760680e-01 4.95495402e-03 9.16035370e+01] [ 3.25756854e-01 9.45452255e-01 1.58317886e-03 1.55021499e+01] [-5.20040988e-03 1.17310753e-04 9.99986471e-01 -9.82258633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47687499999999 meters 0.016266976859338575 Centerline is valid? [True, True] Translation: X:91.66, Y:15.53, Z:-0.98 [[ 9.45711042e-01 -3.24974302e-01 4.72521268e-03 9.16573116e+01] [ 3.24970807e-01 9.45722841e-01 1.51088212e-03 1.55259733e+01] [-4.95973942e-03 1.06698272e-04 9.99987695e-01 -9.84186661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.536875 meters 0.01584442958164826 Centerline is valid? [True, True] Translation: X:91.71, Y:15.55, Z:-0.99 [[ 9.46134136e-01 -3.23755435e-01 3.55177149e-03 9.17121881e+01] [ 3.23753451e-01 9.46140800e-01 1.13591481e-03 1.55488647e+01] [-3.72823451e-03 7.51704984e-05 9.99993047e-01 -9.85841619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.596875 meters 0.015482945585207667 Centerline is valid? [True, True] Translation: X:91.77, Y:15.57, Z:-0.99 [[ 9.46627543e-01 -3.22305195e-01 3.95669975e-03 9.17658725e+01] [ 3.22302714e-01 9.46635809e-01 1.26678197e-03 1.55736042e+01] [-4.15384407e-03 7.60843658e-05 9.99991370e-01 -9.85429271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.656875 meters 0.015570982268296146 Centerline is valid? [True, True] Translation: X:91.82, Y:15.60, Z:-0.99 [[ 9.46063660e-01 -3.23958716e-01 3.78179585e-03 9.18206780e+01] [ 3.23956460e-01 9.46071215e-01 1.21162967e-03 1.55950744e+01] [-3.97036619e-03 7.88583923e-05 9.99992115e-01 -9.85986154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.716875 meters 0.017568861387482572 Centerline is valid? [True, True] Translation: X:91.88, Y:15.61, Z:-0.99 [[ 9.44482893e-01 -3.28524760e-01 4.85247954e-03 9.18764559e+01] [ 3.28521088e-01 9.44495351e-01 1.55800482e-03 1.56143657e+01] [-5.09498752e-03 1.22632957e-04 9.99987013e-01 -9.87311946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77687499999999 meters 0.01715020031706455 Centerline is valid? [True, True] Translation: X:91.93, Y:15.64, Z:-0.99 [[ 9.43282943e-01 -3.31933366e-01 6.12615706e-03 9.19312408e+01] [ 3.31927588e-01 9.43302819e-01 1.96651118e-03 1.56372718e+01] [-6.43157190e-03 1.78464081e-04 9.99979301e-01 -9.86864888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83687499999999 meters 0.01891489377549191 Centerline is valid? [True, True] Translation: X:91.99, Y:15.66, Z:-0.99 [[ 9.42253825e-01 -3.34830616e-01 6.79614623e-03 9.19857261e+01] [ 3.34823561e-01 9.42278309e-01 2.18447019e-03 1.56578654e+01] [-7.13528867e-03 2.17184486e-04 9.99974520e-01 -9.86946888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.896875 meters 0.018986074877946908 Centerline is valid? [True, True] Translation: X:92.04, Y:15.68, Z:-0.99 [[ 9.42209786e-01 -3.35012231e-01 2.74321146e-03 9.20389913e+01] [ 3.35011087e-01 9.42213775e-01 8.80014653e-04 1.56840353e+01] [-2.87950730e-03 8.98478360e-05 9.99995850e-01 -9.91978684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.956875 meters 0.01838561850881742 Centerline is valid? [True, True] Translation: X:92.09, Y:15.71, Z:-1.00 [[ 9.42654990e-01 -3.33763932e-01 1.79087289e-03 9.20929389e+01] [ 3.33763443e-01 9.42656690e-01 5.74162945e-04 1.57100428e+01] [-1.87981320e-03 5.64903376e-05 9.99998232e-01 -9.95872301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.016875 meters 0.017733667507409973 Centerline is valid? [True, True] Translation: X:92.15, Y:15.74, Z:-0.99 [[ 9.43190038e-01 -3.32230119e-01 3.96227725e-03 9.21462043e+01] [ 3.32227695e-01 9.43198354e-01 1.27431594e-03 1.57377123e+01] [-4.16057952e-03 1.14456142e-04 9.99991338e-01 -9.94949934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.076875 meters 0.01740850196485364 Centerline is valid? [True, True] Translation: X:92.20, Y:15.76, Z:-0.99 [[ 9.43170184e-01 -3.32283049e-01 4.24012429e-03 9.22004073e+01] [ 3.32280269e-01 9.43179707e-01 1.36473527e-03 1.57588007e+01] [-4.45267759e-03 1.21732019e-04 9.99990079e-01 -9.94667069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13687499999999 meters 0.016689644003417846 Centerline is valid? [True, True] Translation: X:92.25, Y:15.79, Z:-1.00 [[ 9.43854805e-01 -3.30308943e-01 5.84036156e-03 9.22529798e+01] [ 3.30303610e-01 9.43872862e-01 1.88297582e-03 1.57875461e+01] [-6.13452253e-03 1.51836728e-04 9.99981172e-01 -9.95046067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19687499999999 meters 0.015596324230158404 Centerline is valid? [True, True] Translation: X:92.31, Y:15.81, Z:-1.00 [[ 9.45321669e-01 -3.26058968e-01 7.24512541e-03 9.23061769e+01] [ 3.26050612e-01 9.45349420e-01 2.33916264e-03 1.58141226e+01] [-7.61188007e-03 1.51016443e-04 9.99971018e-01 -9.95314786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.256875 meters 0.01404156112687421 Centerline is valid? [True, True] Translation: X:92.36, Y:15.85, Z:-1.00 [[ 9.48466006e-01 -3.16748227e-01 9.09923773e-03 9.23577365e+01] [ 3.16734609e-01 9.48509648e-01 2.93873376e-03 1.58453697e+01] [-9.56155348e-03 9.47544267e-05 9.99954283e-01 -9.95937666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.316875 meters 0.013410746782409258 Centerline is valid? [True, True] Translation: X:92.41, Y:15.87, Z:-1.00 [[ 9.49984287e-01 -3.12170787e-01 8.90250186e-03 9.24108126e+01] [ 3.12157549e-01 9.50025998e-01 2.87528388e-03 1.58717151e+01] [-9.35518784e-03 4.75086539e-05 9.99956238e-01 -9.96668807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.376875 meters 0.013311265939788392 Centerline is valid? [True, True] Translation: X:92.46, Y:15.90, Z:-1.00 [[ 9.52603224e-01 -3.04082717e-01 8.98879611e-03 9.24624723e+01] [ 3.04068837e-01 9.52645632e-01 2.90550811e-03 1.59004263e+01] [-9.44665216e-03 -3.45836132e-05 9.99955379e-01 -9.96958763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.436875 meters 0.015196640792094459 Centerline is valid? [True, True] Translation: X:92.51, Y:15.93, Z:-1.00 [[ 9.55940281e-01 -2.93471478e-01 7.25753737e-03 9.25140469e+01] [ 2.93462104e-01 9.55967823e-01 2.34834556e-03 1.59325322e+01] [-7.62714464e-03 -1.15065931e-04 9.99970906e-01 -9.99887002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49687499999999 meters 0.017311104211587762 Centerline is valid? [True, True] Translation: X:92.57, Y:15.96, Z:-1.00 [[ 9.58794482e-01 -2.84054181e-01 5.13447712e-03 9.25678245e+01] [ 2.84049353e-01 9.58808221e-01 1.66162311e-03 1.59596084e+01] [-5.39496986e-03 -1.34710164e-04 9.99985438e-01 -1.00239829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55687499999999 meters 0.019272436048135687 Centerline is valid? [True, True] Translation: X:92.62, Y:15.98, Z:-1.00 [[ 9.60150605e-01 -2.79416256e-01 6.11323916e-03 9.26234624e+01] [ 2.79409316e-01 9.60170047e-01 1.97862229e-03 1.59824004e+01] [-6.42260837e-03 -1.91679415e-04 9.99979356e-01 -1.00142162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.616875 meters 0.020305949727166327 Centerline is valid? [True, True] Translation: X:92.68, Y:16.00, Z:-1.00 [[ 9.61549783e-01 -2.74538123e-01 7.12978516e-03 9.26795193e+01] [ 2.74528547e-01 9.61576180e-01 2.30791093e-03 1.60024015e+01] [-7.48944111e-03 -2.61841695e-04 9.99971919e-01 -1.00129529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.676875 meters 0.02108778907179509 Centerline is valid? [True, True] Translation: X:92.74, Y:16.02, Z:-1.00 [[ 9.62227659e-01 -2.72166947e-01 6.56394900e-03 9.27363588e+01] [ 2.72158773e-01 9.62250012e-01 2.12515798e-03 1.60211988e+01] [-6.89455777e-03 -2.58449477e-04 9.99976199e-01 -1.00272375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.736875 meters 0.023033803762138157 Centerline is valid? [True, True] Translation: X:92.79, Y:16.04, Z:-1.00 [[ 9.63078679e-01 -2.69140312e-01 6.55370806e-03 9.27924998e+01] [ 2.69132092e-01 9.63100937e-01 2.12202413e-03 1.60386414e+01] [-6.88300461e-03 -2.79863041e-04 9.99976273e-01 -1.00282107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.796875 meters 0.02265979298926056 Centerline is valid? [True, True] Translation: X:92.85, Y:16.05, Z:-1.00 [[ 9.63424025e-01 -2.67836162e-01 8.82832668e-03 9.28497600e+01] [ 2.67821185e-01 9.63464394e-01 2.85909217e-03 1.60517900e+01] [-9.27154669e-03 -3.90105168e-04 9.99956942e-01 -9.99321536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.856875 meters 0.022430509282562388 Centerline is valid? [True, True] Translation: X:92.91, Y:16.06, Z:-1.00 [[ 9.63271912e-01 -2.68334754e-01 1.01825264e-02 9.29069633e+01] [ 2.68314840e-01 9.63325626e-01 3.29935412e-03 1.60649340e+01] [-1.06944200e-02 -4.46052206e-04 9.99942714e-01 -9.99339133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91687499999999 meters 0.02166475357770764 Centerline is valid? [True, True] Translation: X:92.96, Y:16.08, Z:-1.00 [[ 9.63016938e-01 -2.69270808e-01 9.57124578e-03 9.29643403e+01] [ 2.69253234e-01 9.63064412e-01 3.10376583e-03 1.60782017e+01] [-1.00534797e-02 -4.11890182e-04 9.99949378e-01 -1.00112531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97687499999999 meters 0.02187281708979049 Centerline is valid? [True, True] Translation: X:93.02, Y:16.09, Z:-1.00 [[ 9.62561371e-01 -2.70972437e-01 7.03883354e-03 9.30213047e+01] [ 2.70962966e-01 9.62587063e-01 2.28423179e-03 1.60899274e+01] [-7.39445396e-03 -2.91450075e-04 9.99972618e-01 -1.00264566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.036875 meters 0.021398894635253973 Centerline is valid? [True, True] Translation: X:93.08, Y:16.10, Z:-1.00 [[ 9.62282501e-01 -2.71983382e-01 6.11786727e-03 9.30793490e+01] [ 2.71976247e-01 9.62301917e-01 1.98546676e-03 1.61006657e+01] [-6.42724936e-03 -2.46665344e-04 9.99979315e-01 -1.00235856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.096875 meters 0.02092319088404549 Centerline is valid? [True, True] Translation: X:93.14, Y:16.11, Z:-1.00 [[ 9.62250484e-01 -2.72096248e-01 6.13502725e-03 9.31364937e+01] [ 2.72089065e-01 9.62270009e-01 1.99254379e-03 1.61120553e+01] [-6.44571642e-03 -2.48052398e-04 9.99979195e-01 -1.00279072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.156875 meters 0.021854050844907196 Centerline is valid? [True, True] Translation: X:93.19, Y:16.13, Z:-1.00 [[ 9.62439189e-01 -2.71413256e-01 6.75663616e-03 9.31932100e+01] [ 2.71404509e-01 9.62462864e-01 2.19710450e-03 1.61275704e+01] [-7.09933468e-03 -2.80797952e-04 9.99974760e-01 -1.00267113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.216875 meters 0.02174638301379423 Centerline is valid? [True, True] Translation: X:93.25, Y:16.14, Z:-1.00 [[ 9.62259901e-01 -2.72033220e-01 7.33551164e-03 9.32516887e+01] [ 2.72022910e-01 9.62287813e-01 2.38762372e-03 1.61382240e+01] [-7.70838643e-03 -3.02087338e-04 9.99970244e-01 -1.00138260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27687499999999 meters 0.021876859436098423 Centerline is valid? [True, True] Translation: X:93.31, Y:16.15, Z:-1.00 [[ 9.61808060e-01 -2.73635071e-01 7.00737714e-03 9.33099962e+01] [ 2.73625691e-01 9.61833546e-01 2.28262897e-03 1.61506333e+01] [-7.36453774e-03 -2.78052523e-04 9.99972843e-01 -1.00051502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33687499999999 meters 0.020954615941851797 Centerline is valid? [True, True] Translation: X:93.37, Y:16.16, Z:-1.00 [[ 9.61184207e-01 -2.75751570e-01 9.27320231e-03 9.33686483e+01] [ 2.75735206e-01 9.61228874e-01 3.02440482e-03 1.61600459e+01] [-9.74765420e-03 -3.50061801e-04 9.99952429e-01 -9.98904247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.396875 meters 0.022128900427262996 Centerline is valid? [True, True] Translation: X:93.42, Y:16.17, Z:-1.00 [[ 9.60785550e-01 -2.77156976e-01 8.66820138e-03 9.34245303e+01] [ 2.77142730e-01 9.60824600e-01 2.82758893e-03 1.61748042e+01] [-9.11230712e-03 -3.14377586e-04 9.99958433e-01 -1.00022413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.456875 meters 0.019125353063278092 Centerline is valid? [True, True] Translation: X:93.48, Y:16.18, Z:-1.00 [[ 9.59884461e-01 -2.80284929e-01 7.88549794e-03 9.34844749e+01] [ 2.80273236e-01 9.59916815e-01 2.57341732e-03 1.61799560e+01] [-8.29071215e-03 -2.60089279e-04 9.99965598e-01 -1.00044588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.516875 meters 0.01873103651478079 Centerline is valid? [True, True] Translation: X:93.54, Y:16.19, Z:-1.00 [[ 9.59226689e-01 -2.82542323e-01 7.34808459e-03 9.35426005e+01] [ 2.82532236e-01 9.59254807e-01 2.39799609e-03 1.61935414e+01] [-7.72622085e-03 -2.24151081e-04 9.99970127e-01 -1.00180153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.576875 meters 0.018135749686572823 Centerline is valid? [True, True] Translation: X:93.60, Y:16.20, Z:-1.00 [[ 9.58705497e-01 -2.84344126e-01 5.67338867e-03 9.36012644e+01] [ 2.84338140e-01 9.58722270e-01 1.85218041e-03 1.62033634e+01] [-5.96586069e-03 -1.62534762e-04 9.99982191e-01 -1.00338783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63687499999999 meters 0.0181347338423755 Centerline is valid? [True, True] Translation: X:93.66, Y:16.21, Z:-1.01 [[ 9.58367810e-01 -2.85511763e-01 3.76473262e-03 9.36585732e+01] [ 2.85509131e-01 9.58375199e-01 1.23031804e-03 1.62141000e+01] [-3.95929664e-03 -1.04231664e-04 9.99992157e-01 -1.00604480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69687499999999 meters 0.017980390409138323 Centerline is valid? [True, True] Translation: X:93.72, Y:16.23, Z:-1.01 [[ 9.58019762e-01 -2.86675971e-01 3.87587431e-03 9.37162523e+01] [ 2.86673194e-01 9.58027597e-01 1.26590714e-03 1.62268165e+01] [-4.07609972e-03 -1.01654793e-04 9.99991688e-01 -1.00651968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.756875 meters 0.018339472168102153 Centerline is valid? [True, True] Translation: X:93.77, Y:16.24, Z:-1.01 [[ 9.57868095e-01 -2.87180464e-01 4.01157490e-03 9.37732160e+01] [ 2.87177486e-01 9.57876490e-01 1.31221093e-03 1.62375170e+01] [-4.21943462e-03 -1.04890989e-04 9.99991093e-01 -1.00531053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.816875 meters 0.01810920885336931 Centerline is valid? [True, True] Translation: X:93.83, Y:16.25, Z:-1.01 [[ 9.57979023e-01 -2.86809238e-01 4.08072747e-03 9.38319765e+01] [ 2.86806153e-01 9.57987708e-01 1.33460293e-03 1.62486148e+01] [-4.29206321e-03 -1.08143865e-04 9.99990783e-01 -1.00562047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.876875 meters 0.018345778859915757 Centerline is valid? [True, True] Translation: X:93.89, Y:16.26, Z:-1.01 [[ 9.57804329e-01 -2.87396923e-01 3.72509095e-03 9.38885861e+01] [ 2.87394350e-01 9.57811567e-01 1.22022777e-03 1.62626941e+01] [-3.91862491e-03 -9.81693452e-05 9.99992317e-01 -1.00727584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.936875 meters 0.017350545030981747 Centerline is valid? [True, True] Translation: X:93.95, Y:16.27, Z:-1.01 [[ 9.57343970e-01 -2.88945736e-01 1.69840683e-03 9.39477423e+01] [ 2.88945207e-01 9.57345476e-01 5.54407040e-04 1.62719166e+01] [-1.78615565e-03 -4.00117223e-05 9.99998404e-01 -1.01065231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99687499999999 meters 0.017387005708083218 Centerline is valid? [True, True] Translation: X:94.00, Y:16.29, Z:-1.01 [[ 9.57098402e-01 -2.89759744e-01 1.39246285e-03 9.40034187e+01] [ 2.89759390e-01 9.57099415e-01 4.54059816e-04 1.62876998e+01] [-1.46429363e-03 -3.11007402e-05 9.99998927e-01 -1.01202752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05687499999999 meters 0.017809725995846928 Centerline is valid? [True, True] Translation: X:94.06, Y:16.30, Z:-1.01 [[ 9.57043631e-01 -2.89943913e-01 -1.26653267e-04 9.40615373e+01] [ 2.89943909e-01 9.57043639e-01 -4.44339483e-05 1.63003013e+01] [ 1.34096056e-04 5.80288394e-06 9.99999991e-01 -1.01318832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.116875 meters 0.018384313120159698 Centerline is valid? [True, True] Translation: X:94.12, Y:16.32, Z:-1.01 [[ 9.57348601e-01 -2.88934714e-01 -6.22262414e-04 9.41179292e+01] [ 2.88934641e-01 9.57348803e-01 -2.05593294e-04 1.63157759e+01] [ 6.55125217e-04 1.70312848e-05 9.99999785e-01 -1.01450889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.176875 meters 0.01690823656833246 Centerline is valid? [True, True] Translation: X:94.18, Y:16.33, Z:-1.01 [[ 9.56101062e-01 -2.93027389e-01 -2.38908983e-03 9.41767767e+01] [ 2.93026332e-01 9.56104046e-01 -7.88979059e-04 1.63255412e+01] [ 2.51541093e-03 5.42774868e-05 9.99996835e-01 -1.01495811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.236875 meters 0.016064592350177858 Centerline is valid? [True, True] Translation: X:94.23, Y:16.34, Z:-1.01 [[ 9.55095007e-01 -2.96294090e-01 -1.82753841e-03 9.42347822e+01] [ 2.96293479e-01 9.55096755e-01 -6.03012517e-04 1.63395013e+01] [ 1.92414505e-03 3.44465318e-05 9.99998148e-01 -1.01444461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.296875 meters 0.01503450131170892 Centerline is valid? [True, True] Translation: X:94.29, Y:16.35, Z:-1.01 [[ 9.54058091e-01 -2.99621224e-01 5.30112953e-04 9.42924323e+01] [ 2.99621174e-01 9.54058238e-01 1.73733374e-04 1.63532193e+01] [-5.57812836e-04 -6.91866574e-06 9.99999844e-01 -1.01161191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.356875 meters 0.013822233543077649 Centerline is valid? [True, True] Translation: X:94.35, Y:16.37, Z:-1.01 [[ 9.51768688e-01 -3.06813838e-01 1.27824027e-03 9.43502435e+01] [ 3.06813551e-01 9.51769546e-01 4.20166309e-04 1.63654249e+01] [-1.34550300e-03 -7.71970046e-06 9.99999095e-01 -1.01079813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41687499999999 meters 0.013824811664157144 Centerline is valid? [True, True] Translation: X:94.41, Y:16.38, Z:-1.01 [[ 9.51480098e-01 -3.07707419e-01 -1.32987421e-03 9.44064735e+01] [ 3.07707103e-01 9.51481027e-01 -4.41088662e-04 1.63839207e+01] [ 1.40107633e-03 1.04753431e-05 9.99999018e-01 -1.01434607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47687499999999 meters 0.014161841238039092 Centerline is valid? [True, True] Translation: X:94.46, Y:16.40, Z:-1.02 [[ 9.51994054e-01 -3.06103789e-01 -2.79125063e-03 9.44616650e+01] [ 3.06102397e-01 9.51998146e-01 -9.23463303e-04 1.64038973e+01] [ 2.93994104e-03 2.47230674e-05 9.99995678e-01 -1.01551632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.536875 meters 0.014216392076855426 Centerline is valid? [True, True] Translation: X:94.52, Y:16.42, Z:-1.02 [[ 9.52505633e-01 -3.04499436e-01 -3.62122259e-03 9.45164360e+01] [ 3.04497088e-01 9.52512515e-01 -1.19649768e-03 1.64243070e+01] [ 3.81359271e-03 3.70190463e-05 9.99992728e-01 -1.01628932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.596875 meters 0.014687597675413793 Centerline is valid? [True, True] Translation: X:94.57, Y:16.45, Z:-1.02 [[ 9.52816958e-01 -3.03520154e-01 -3.91924765e-03 9.45719208e+01] [ 3.03517386e-01 9.52825018e-01 -1.29710696e-03 1.64452523e+01] [ 4.12805531e-03 4.63457045e-05 9.99991478e-01 -1.01787388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.656875 meters 0.014755405052835614 Centerline is valid? [True, True] Translation: X:94.63, Y:16.46, Z:-1.02 [[ 9.52902108e-01 -3.03270584e-01 -2.12707155e-03 9.46275151e+01] [ 3.03269764e-01 9.52904482e-01 -7.05779773e-04 1.64646244e+01] [ 2.24093826e-03 2.74625449e-05 9.99997489e-01 -1.01638096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.716875 meters 0.014565326006707924 Centerline is valid? [True, True] Translation: X:94.68, Y:16.48, Z:-1.01 [[ 9.52945167e-01 -3.03142653e-01 -2.04095418e-04 9.46835154e+01] [ 3.03142644e-01 9.52945188e-01 -7.03139680e-05 1.64833832e+01] [ 2.15806910e-04 5.13533109e-06 9.99999977e-01 -1.01384517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77687499999999 meters 0.015225268147947266 Centerline is valid? [True, True] Translation: X:94.74, Y:16.50, Z:-1.01 [[ 9.53087351e-01 -3.02694991e-01 4.93566259e-04 9.47364748e+01] [ 3.02694948e-01 9.53087479e-01 1.61205121e-04 1.65038922e+01] [-5.19207804e-04 -4.24254852e-06 9.99999865e-01 -1.01433971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83687499999999 meters 0.01460303743457134 Centerline is valid? [True, True] Translation: X:94.79, Y:16.52, Z:-1.02 [[ 9.52473497e-01 -3.04621464e-01 1.20477562e-05 9.47927820e+01] [ 3.04621464e-01 9.52473497e-01 1.27930389e-06 1.65214369e+01] [-1.18648720e-05 2.45150209e-06 1.00000000e+00 -1.01597473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.896875 meters 0.013765322025541657 Centerline is valid? [True, True] Translation: X:94.85, Y:16.53, Z:-1.01 [[ 9.50862725e-01 -3.09612783e-01 4.76602482e-05 9.48501583e+01] [ 3.09612783e-01 9.50862726e-01 1.29338678e-05 1.65349969e+01] [-4.93228445e-05 2.45788929e-06 9.99999999e-01 -1.01409748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.956875 meters 0.013601844199419543 Centerline is valid? [True, True] Translation: X:94.91, Y:16.55, Z:-1.02 [[ 9.49497410e-01 -3.13774865e-01 -4.57344682e-05 9.49058235e+01] [ 3.13774864e-01 9.49497411e-01 -1.61725480e-05 1.65511764e+01] [ 4.84992982e-05 1.00546590e-06 9.99999999e-01 -1.01546767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.016875 meters 0.013621056609059153 Centerline is valid? [True, True] Translation: X:94.96, Y:16.57, Z:-1.02 [[ 9.48832687e-01 -3.15778476e-01 6.97136808e-04 9.49611587e+01] [ 3.15778393e-01 9.48832943e-01 2.28233136e-04 1.65683690e+01] [-7.33537481e-04 3.58568160e-06 9.99999731e-01 -1.01539299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.076875 meters 0.013605291233883602 Centerline is valid? [True, True] Translation: X:95.02, Y:16.59, Z:-1.02 [[ 9.48569019e-01 -3.16568926e-01 9.64775289e-04 9.50158072e+01] [ 3.16568767e-01 9.48569510e-01 3.17294134e-04 1.65874786e+01] [-1.01560189e-03 4.44233791e-06 9.99999484e-01 -1.01591696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13687499999999 meters 0.013648826051012202 Centerline is valid? [True, True] Translation: X:95.07, Y:16.61, Z:-1.02 [[ 9.49117386e-01 -3.14919452e-01 1.38768413e-03 9.50694459e+01] [ 3.14919116e-01 9.49118401e-01 4.59815685e-04 1.66078048e+01] [-1.46188145e-03 5.89200105e-07 9.99998931e-01 -1.01539482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19687499999999 meters 0.013774212520433276 Centerline is valid? [True, True] Translation: X:95.12, Y:16.63, Z:-1.02 [[ 9.49449389e-01 -3.13918078e-01 1.13939753e-03 9.51235254e+01] [ 3.13917853e-01 9.49450072e-01 3.75838203e-04 1.66280745e+01] [-1.19978348e-03 8.37875397e-07 9.99999280e-01 -1.01625196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.256875 meters 0.013962646146253511 Centerline is valid? [True, True] Translation: X:95.18, Y:16.65, Z:-1.02 [[ 9.50072841e-01 -3.12026969e-01 -8.75582850e-04 9.51782521e+01] [ 3.12026830e-01 9.50073245e-01 -2.94261189e-04 1.66505373e+01] [ 9.23685266e-04 6.36422300e-06 9.99999573e-01 -1.02024358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.316875 meters 0.014120344198276156 Centerline is valid? [True, True] Translation: X:95.23, Y:16.67, Z:-1.02 [[ 9.50724606e-01 -3.10035764e-01 -7.40838165e-04 9.52333259e+01] [ 3.10035664e-01 9.50724894e-01 -2.49643443e-04 1.66717344e+01] [ 7.81731682e-04 7.65591154e-06 9.99999694e-01 -1.01992878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.376875 meters 0.01433064313417782 Centerline is valid? [True, True] Translation: X:95.29, Y:16.69, Z:-1.02 [[ 9.51473782e-01 -3.07729550e-01 -4.07591708e-04 9.52881401e+01] [ 3.07729519e-01 9.51473869e-01 -1.38731995e-04 1.66940378e+01] [ 4.30504794e-04 6.57185606e-06 9.99999907e-01 -1.01964048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.436875 meters 0.01472385418176347 Centerline is valid? [True, True] Translation: X:95.34, Y:16.72, Z:-1.02 [[ 9.51999423e-01 -3.06098969e-01 -7.20556054e-04 9.53431268e+01] [ 3.06098872e-01 9.51999696e-01 -2.43252396e-04 1.67153238e+01] [ 7.60428452e-04 1.10147447e-05 9.99999711e-01 -1.02080288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49687499999999 meters 0.01569856361283205 Centerline is valid? [True, True] Translation: X:95.40, Y:16.74, Z:-1.02 [[ 9.52908916e-01 -3.03251564e-01 -1.75665367e-03 9.53969176e+01] [ 3.03250996e-01 9.52910535e-01 -5.87367596e-04 1.67369364e+01] [ 1.85205393e-03 2.70008422e-05 9.99998285e-01 -1.02267639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55687499999999 meters 0.01629825035436346 Centerline is valid? [True, True] Translation: X:95.45, Y:16.76, Z:-1.02 [[ 9.54024452e-01 -2.99726053e-01 -1.28009527e-03 9.54515646e+01] [ 2.99725745e-01 9.54025310e-01 -4.30474449e-04 1.67584034e+01] [ 1.35026769e-03 2.70056424e-05 9.99999088e-01 -1.02156141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.616875 meters 0.017025930805756668 Centerline is valid? [True, True] Translation: X:95.51, Y:16.78, Z:-1.02 [[ 9.54355371e-01 -2.98671815e-01 -9.86141920e-04 9.55069263e+01] [ 2.98671630e-01 9.54355880e-01 -3.32504862e-04 1.67783737e+01] [ 1.04044017e-03 2.27951860e-05 9.99999458e-01 -1.02151770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.676875 meters 0.017256145888039406 Centerline is valid? [True, True] Translation: X:95.56, Y:16.80, Z:-1.02 [[ 9.54751629e-01 -2.97403766e-01 -5.71278722e-04 9.55619864e+01] [ 2.97403704e-01 9.54751800e-01 -1.92060412e-04 1.67977992e+01] [ 6.02548878e-04 1.34695834e-05 9.99999818e-01 -1.02059754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.736875 meters 0.017616660798497663 Centerline is valid? [True, True] Translation: X:95.62, Y:16.82, Z:-1.02 [[ 9.54853160e-01 -2.97076403e-01 -1.02611381e-03 9.56177878e+01] [ 2.97076203e-01 9.54853711e-01 -3.46242325e-04 1.68175713e+01] [ 1.08264901e-03 2.57765829e-05 9.99999414e-01 -1.02246588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.796875 meters 0.015188366077202906 Centerline is valid? [True, True] Translation: X:95.68, Y:16.83, Z:-1.02 [[ 9.52373109e-01 -3.04933801e-01 9.15946182e-04 9.56764521e+01] [ 3.04933649e-01 9.52373549e-01 3.04286227e-04 1.68295715e+01] [-9.65110072e-04 -1.04912078e-05 9.99999534e-01 -1.01916455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.856875 meters 0.014038020887664657 Centerline is valid? [True, True] Translation: X:95.73, Y:16.84, Z:-1.02 [[ 9.50003286e-01 -3.12238285e-01 -1.00531147e-03 9.57325832e+01] [ 3.12238102e-01 9.50003818e-01 -3.37803415e-04 1.68438460e+01] [ 1.06052490e-03 7.01780770e-06 9.99999438e-01 -1.02346260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91687499999999 meters 0.013766342803494543 Centerline is valid? [True, True] Translation: X:95.79, Y:16.86, Z:-1.02 [[ 9.49526883e-01 -3.13684207e-01 -9.57878140e-04 9.57875219e+01] [ 3.13684039e-01 9.49527366e-01 -3.24500715e-04 1.68614433e+01] [ 1.01132226e-03 7.65106816e-06 9.99999489e-01 -1.02442506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97687499999999 meters 0.013828946173808015 Centerline is valid? [True, True] Translation: X:95.84, Y:16.88, Z:-1.03 [[ 9.49240577e-01 -3.14550448e-01 -5.85969850e-04 9.58423021e+01] [ 3.14550386e-01 9.49240757e-01 -1.97562461e-04 1.68797479e+01] [ 6.18369825e-04 3.21726221e-06 9.99999809e-01 -1.02538674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.036875 meters 0.014103886352543239 Centerline is valid? [True, True] Translation: X:95.90, Y:16.90, Z:-1.02 [[ 9.49843452e-01 -3.12724989e-01 7.06045929e-04 9.58964448e+01] [ 3.12724902e-01 9.49843714e-01 2.33895186e-04 1.69000017e+01] [-7.43778157e-04 -1.36566726e-06 9.99999723e-01 -1.02349357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.096875 meters 0.014327223220867564 Centerline is valid? [True, True] Translation: X:95.95, Y:16.92, Z:-1.02 [[ 9.50405913e-01 -3.11012113e-01 2.56763369e-04 9.59517608e+01] [ 3.11012102e-01 9.50405948e-01 8.34990320e-05 1.69204137e+01] [-2.69998644e-04 4.98541485e-07 9.99999964e-01 -1.02406481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.156875 meters 0.014893827530051598 Centerline is valid? [True, True] Translation: X:96.01, Y:16.94, Z:-1.03 [[ 9.50902346e-01 -3.09484532e-01 -2.01307225e-03 9.60072269e+01] [ 3.09483787e-01 9.50904477e-01 -6.79670843e-04 1.69405372e+01] [ 2.12458702e-03 2.32873770e-05 9.99997743e-01 -1.02663065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.216875 meters 0.014556044403525467 Centerline is valid? [True, True] Translation: X:96.06, Y:16.96, Z:-1.03 [[ 9.50381753e-01 -3.11084608e-01 -9.43150413e-04 9.60634272e+01] [ 3.11084443e-01 9.50382221e-01 -3.20207347e-04 1.69580640e+01] [ 9.95964962e-04 1.09197986e-05 9.99999504e-01 -1.02506969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27687499999999 meters 0.014184232556539065 Centerline is valid? [True, True] Translation: X:96.12, Y:16.98, Z:-1.02 [[ 9.49597016e-01 -3.13467987e-01 1.82416545e-03 9.61201181e+01] [ 3.13467390e-01 9.49598768e-01 6.11776858e-04 1.69759718e+01] [-1.92399772e-03 -9.12509697e-06 9.99998149e-01 -1.02280230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33687499999999 meters 0.014067072027375813 Centerline is valid? [True, True] Translation: X:96.18, Y:16.99, Z:-1.02 [[ 9.48534756e-01 -3.16664144e-01 2.37424936e-03 9.61764784e+01] [ 3.16663140e-01 9.48537727e-01 7.97451527e-04 1.69926224e+01] [-2.50458940e-03 -4.57323034e-06 9.99996864e-01 -1.02194155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.396875 meters 0.014049997623782536 Centerline is valid? [True, True] Translation: X:96.23, Y:17.01, Z:-1.02 [[ 9.48187773e-01 -3.17704204e-01 1.99636449e-03 9.62313034e+01] [ 3.17703497e-01 9.48189875e-01 6.70284054e-04 1.70117057e+01] [-2.10588465e-03 -1.30316695e-06 9.99997783e-01 -1.02398686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.456875 meters 0.013951206036029982 Centerline is valid? [True, True] Translation: X:96.29, Y:17.03, Z:-1.03 [[ 9.48326187e-01 -3.17295932e-01 8.56970190e-04 9.62860958e+01] [ 3.17295801e-01 9.48326574e-01 2.88182312e-04 1.70318136e+01] [-9.04126680e-04 -1.37779000e-06 9.99999591e-01 -1.02546502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.516875 meters 0.014110336957319777 Centerline is valid? [True, True] Translation: X:96.34, Y:17.05, Z:-1.03 [[ 9.48870047e-01 -3.15655521e-01 -2.68813921e-03 9.63411098e+01] [ 3.15654208e-01 9.48873855e-01 -9.10626155e-04 1.70538183e+01] [ 2.83814919e-03 1.55434286e-05 9.99995972e-01 -1.02884673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.576875 meters 0.0143345668765676 Centerline is valid? [True, True] Translation: X:96.39, Y:17.08, Z:-1.03 [[ 9.49408607e-01 -3.14028942e-01 -3.01994490e-03 9.63944361e+01] [ 3.14027283e-01 9.49413410e-01 -1.02113169e-03 1.70755769e+01] [ 3.18784109e-03 2.11261267e-05 9.99994919e-01 -1.03129782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63687499999999 meters 0.014660888727903075 Centerline is valid? [True, True] Translation: X:96.45, Y:17.10, Z:-1.03 [[ 9.50184008e-01 -3.11689325e-01 3.41818043e-04 9.64486298e+01] [ 3.11689304e-01 9.50184069e-01 1.12794176e-04 1.70999157e+01] [-3.59946799e-04 -6.34194653e-07 9.99999935e-01 -1.02899665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69687499999999 meters 0.015218472926532261 Centerline is valid? [True, True] Translation: X:96.50, Y:17.12, Z:-1.03 [[ 9.51273035e-01 -3.08347242e-01 1.26131941e-03 9.65029284e+01] [ 3.08346951e-01 9.51273871e-01 4.23929085e-04 1.71237010e+01] [-1.33057757e-03 -1.43483111e-05 9.99999115e-01 -1.02752372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.756875 meters 0.01625103879001371 Centerline is valid? [True, True] Translation: X:96.56, Y:17.15, Z:-1.03 [[ 9.52113802e-01 -3.05742797e-01 8.06629943e-04 9.65561995e+01] [ 3.05742676e-01 9.52114143e-01 2.71989581e-04 1.71467876e+01] [-8.51162632e-04 -1.23438371e-05 9.99999638e-01 -1.02906425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.816875 meters 0.016922178326094744 Centerline is valid? [True, True] Translation: X:96.61, Y:17.17, Z:-1.03 [[ 9.53015828e-01 -3.02920115e-01 -4.85325511e-04 9.66095974e+01] [ 3.02920070e-01 9.53015951e-01 -1.65796597e-04 1.71712229e+01] [ 5.12746078e-04 1.09919434e-05 9.99999868e-01 -1.03200931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.876875 meters 0.016668147252853822 Centerline is valid? [True, True] Translation: X:96.66, Y:17.19, Z:-1.03 [[ 9.52832023e-01 -3.03498060e-01 2.50874301e-04 9.66646726e+01] [ 3.03498049e-01 9.52832056e-01 8.22206103e-05 1.71919412e+01] [-2.63994872e-04 -2.20256967e-06 9.99999965e-01 -1.03290038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.936875 meters 0.015569227413103197 Centerline is valid? [True, True] Translation: X:96.72, Y:17.21, Z:-1.03 [[ 9.51620223e-01 -3.07274263e-01 1.21633896e-03 9.67211387e+01] [ 3.07273988e-01 9.51621000e-01 4.11429309e-04 1.72089786e+01] [-1.28391533e-03 -1.77751281e-05 9.99999176e-01 -1.03135440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99687499999999 meters 0.013926476109952752 Centerline is valid? [True, True] Translation: X:96.78, Y:17.22, Z:-1.03 [[ 9.47865008e-01 -3.18643293e-01 4.28693505e-03 9.67792403e+01] [ 3.18639987e-01 9.47874703e-01 1.45147493e-03 1.72232804e+01] [-4.52598004e-03 -9.81336384e-06 9.99989758e-01 -1.02896095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05687499999999 meters 0.014184220532992895 Centerline is valid? [True, True] Translation: X:96.84, Y:17.24, Z:-1.03 [[ 9.44190964e-01 -3.29319935e-01 7.19754076e-03 9.68365843e+01] [ 3.29310903e-01 9.44218394e-01 2.43997434e-03 1.72377349e+01] [-7.59958257e-03 6.64269194e-05 9.99971121e-01 -1.02636130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.116875 meters 0.014769015445973664 Centerline is valid? [True, True] Translation: X:96.89, Y:17.26, Z:-1.03 [[ 9.42269834e-01 -3.34756841e-01 8.08814033e-03 9.68926019e+01] [ 3.34745613e-01 9.42304538e-01 2.74444379e-03 1.72564701e+01] [-8.54021267e-03 1.21462899e-04 9.99963524e-01 -1.02718218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.176875 meters 0.014983316864863908 Centerline is valid? [True, True] Translation: X:96.95, Y:17.28, Z:-1.03 [[ 9.41401780e-01 -3.37150767e-01 9.59418496e-03 9.69473038e+01] [ 3.37135060e-01 9.41450653e-01 3.25865677e-03 1.72785249e+01] [-1.01311103e-02 1.66830837e-04 9.99948665e-01 -1.02701358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.236875 meters 0.014686799599932592 Centerline is valid? [True, True] Translation: X:97.00, Y:17.30, Z:-1.03 [[ 9.42235177e-01 -3.34757570e-01 1.14122930e-02 9.70012483e+01] [ 3.34735126e-01 9.42304273e-01 3.87986958e-03 1.73027293e+01] [-1.20526682e-02 1.64345748e-04 9.99927350e-01 -1.02739339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.296875 meters 0.013912868983842148 Centerline is valid? [True, True] Translation: X:97.05, Y:17.33, Z:-1.03 [[ 9.44460878e-01 -3.28482936e-01 9.62346619e-03 9.70536054e+01] [ 3.28466628e-01 9.44509903e-01 3.27390048e-03 1.73305355e+01] [-1.01648796e-02 6.89165620e-05 9.99948334e-01 -1.02791409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35687499999999 meters 0.013645764849613256 Centerline is valid? [True, True] Translation: X:97.11, Y:17.36, Z:-1.03 [[ 9.46000171e-01 -3.24093736e-01 6.85036265e-03 9.71060673e+01] [ 3.24085350e-01 9.46024973e-01 2.33153024e-03 1.73597666e+01] [-7.23624849e-03 1.44741672e-05 9.99973818e-01 -1.03360835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41687499999999 meters 0.013574010371480174 Centerline is valid? [True, True] Translation: X:97.16, Y:17.38, Z:-1.04 [[ 9.46676147e-01 -3.22129637e-01 6.06371091e-03 9.71589324e+01] [ 3.22123019e-01 9.46695567e-01 2.06490697e-03 1.73841581e+01] [-6.40565598e-03 -1.53731475e-06 9.99979484e-01 -1.03517460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47687499999999 meters 0.013754703146563596 Centerline is valid? [True, True] Translation: X:97.21, Y:17.41, Z:-1.04 [[ 9.47268149e-01 -3.20403451e-01 4.96805169e-03 9.72129585e+01] [ 3.20398979e-01 9.47281177e-01 1.69295896e-03 1.74092272e+01] [-5.24857174e-03 -1.19274095e-05 9.99986226e-01 -1.03673327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.536875 meters 0.013702869981770555 Centerline is valid? [True, True] Translation: X:97.27, Y:17.43, Z:-1.04 [[ 9.47395984e-01 -3.20044221e-01 3.54212282e-03 9.72674709e+01] [ 3.20041944e-01 9.47402605e-01 1.20717616e-03 1.74322090e+01] [-3.74216615e-03 -1.00459717e-05 9.99992998e-01 -1.03810067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.596875 meters 0.01380279122868566 Centerline is valid? [True, True] Translation: X:97.32, Y:17.46, Z:-1.04 [[ 9.47798019e-01 -3.18857072e-01 3.01381152e-03 9.73214256e+01] [ 3.18855417e-01 9.47802810e-01 1.02748150e-03 1.74569486e+01] [-3.18411878e-03 -1.28748010e-05 9.99994931e-01 -1.03894126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.656875 meters 0.014043074070570758 Centerline is valid? [True, True] Translation: X:97.38, Y:17.48, Z:-1.04 [[ 9.48118916e-01 -3.17899594e-01 3.22030478e-03 9.73751798e+01] [ 3.17897696e-01 9.48124384e-01 1.09863713e-03 1.74785461e+01] [-3.40250578e-03 -1.79111728e-05 9.99994211e-01 -1.03723905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.716875 meters 0.014579095115639493 Centerline is valid? [True, True] Translation: X:97.43, Y:17.50, Z:-1.04 [[ 9.49294393e-01 -3.14380783e-01 2.20864353e-03 9.74280858e+01] [ 3.14379877e-01 9.49296962e-01 7.54918969e-04 1.75040712e+01] [-2.33399061e-03 -2.22872630e-05 9.99997276e-01 -1.03848888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77687499999999 meters 0.01480271649819083 Centerline is valid? [True, True] Translation: X:97.48, Y:17.52, Z:-1.04 [[ 9.49732324e-01 -3.13057613e-01 1.85565544e-03 9.74833776e+01] [ 3.13056974e-01 9.49734137e-01 6.32785666e-04 1.75248922e+01] [-1.96047769e-03 -2.00511243e-05 9.99998078e-01 -1.03941696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83687499999999 meters 0.015296990513373146 Centerline is valid? [True, True] Translation: X:97.54, Y:17.55, Z:-1.04 [[ 9.50427504e-01 -3.10944700e-01 9.75914465e-04 9.75379793e+01] [ 3.10944523e-01 9.50428005e-01 3.31724397e-04 1.75484763e+01] [-1.03068438e-03 -1.18247327e-05 9.99999469e-01 -1.04114086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.896875 meters 0.015047338752801348 Centerline is valid? [True, True] Translation: X:97.59, Y:17.57, Z:-1.04 [[ 9.50310514e-01 -3.11298415e-01 1.79547692e-03 9.75929379e+01] [ 3.11297813e-01 9.50312210e-01 6.12703349e-04 1.75678821e+01] [-1.89699722e-03 -2.33303975e-05 9.99998200e-01 -1.04079486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.956875 meters 0.014980963494423795 Centerline is valid? [True, True] Translation: X:97.65, Y:17.59, Z:-1.04 [[ 9.49901800e-01 -3.12539325e-01 2.39598587e-03 9.76474221e+01] [ 3.12538247e-01 9.49904821e-01 8.21305495e-04 1.75866417e+01] [-2.53264879e-03 -3.13223437e-05 9.99996792e-01 -1.04076244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.016875 meters 0.014988204437283095 Centerline is valid? [True, True] Translation: X:97.70, Y:17.61, Z:-1.04 [[ 9.49838651e-01 -3.12716840e-01 3.83609539e-03 9.77027902e+01] [ 3.12714081e-01 9.49846396e-01 1.31453866e-03 1.76058255e+01] [-4.05477975e-03 -4.89985839e-05 9.99991778e-01 -1.03998821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.076875 meters 0.015180048168247527 Centerline is valid? [True, True] Translation: X:97.76, Y:17.63, Z:-1.04 [[ 9.50360980e-01 -3.11112668e-01 4.78697273e-03 9.77578512e+01] [ 3.11108339e-01 9.50373033e-01 1.64287318e-03 1.76263160e+01] [-5.06052845e-03 -7.20554343e-05 9.99987193e-01 -1.04077072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13687499999999 meters 0.01606417836401266 Centerline is valid? [True, True] Translation: X:97.81, Y:17.65, Z:-1.04 [[ 9.51308070e-01 -3.08205982e-01 4.69335627e-03 9.78113434e+01] [ 3.08201776e-01 9.51319644e-01 1.61256807e-03 1.76471411e+01] [-4.96188514e-03 -8.75482783e-05 9.99987686e-01 -1.04250893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19687499999999 meters 0.017875759270729877 Centerline is valid? [True, True] Translation: X:97.87, Y:17.67, Z:-1.04 [[ 9.52834194e-01 -3.03443994e-01 5.36106208e-03 9.78669742e+01] [ 3.03438420e-01 9.52849267e-01 1.84380521e-03 1.76695681e+01] [-5.66777569e-03 -1.30088440e-04 9.99983930e-01 -1.04357832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.256875 meters 0.01860846193997023 Centerline is valid? [True, True] Translation: X:97.92, Y:17.69, Z:-1.05 [[ 9.53806314e-01 -3.00389119e-01 4.46019817e-03 9.79227034e+01] [ 3.00385228e-01 9.53816734e-01 1.53395751e-03 1.76894355e+01] [-4.71499579e-03 -1.23320715e-04 9.99988877e-01 -1.04514105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.316875 meters 0.019217089872583755 Centerline is valid? [True, True] Translation: X:97.98, Y:17.71, Z:-1.05 [[ 9.54393170e-01 -2.98533370e-01 3.39181544e-03 9.79791768e+01] [ 2.98531113e-01 9.54399192e-01 1.16505841e-03 1.77074508e+01] [-3.58495472e-03 -9.93613459e-05 9.99993569e-01 -1.04654975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.376875 meters 0.019533877155355865 Centerline is valid? [True, True] Translation: X:98.04, Y:17.73, Z:-1.05 [[ 9.54642096e-01 -2.97740605e-01 3.00014422e-03 9.80355786e+01] [ 2.97738834e-01 9.54646806e-01 1.03100457e-03 1.77258023e+01] [-3.17105003e-03 -9.09809261e-05 9.99994968e-01 -1.04832051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.436875 meters 0.019883397377517285 Centerline is valid? [True, True] Translation: X:98.09, Y:17.74, Z:-1.05 [[ 9.55139592e-01 -2.96152858e-01 1.35823377e-03 9.80921473e+01] [ 2.96152495e-01 9.55140557e-01 4.65556993e-04 1.77426867e+01] [-1.43518019e-03 -4.24275972e-05 9.99998969e-01 -1.05036406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49687499999999 meters 0.020724843996919796 Centerline is valid? [True, True] Translation: X:98.15, Y:17.76, Z:-1.05 [[ 9.55570982e-01 -2.94759296e-01 1.02756041e-03 9.81480416e+01] [ 2.94759088e-01 9.55571534e-01 3.51810689e-04 1.77610485e+01] [-1.08560695e-03 -3.32973173e-05 9.99999410e-01 -1.05128838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55687499999999 meters 0.023296828347014433 Centerline is valid? [True, True] Translation: X:98.20, Y:17.78, Z:-1.05 [[ 9.56899258e-01 -2.90414631e-01 1.77540395e-03 9.82036232e+01] [ 2.90413995e-01 9.56900902e-01 6.12268706e-04 1.77813926e+01] [-1.87669743e-03 -7.02773188e-05 9.99998237e-01 -1.05079178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.616875 meters 0.02518275332455007 Centerline is valid? [True, True] Translation: X:98.26, Y:17.80, Z:-1.05 [[ 9.58448687e-01 -2.85264519e-01 5.17363929e-04 9.82604388e+01] [ 2.85264465e-01 9.58448827e-01 1.78212570e-04 1.78008581e+01] [-5.46704573e-04 -2.32220595e-05 9.99999850e-01 -1.05308396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.676875 meters 0.026337382241015606 Centerline is valid? [True, True] Translation: X:98.32, Y:17.82, Z:-1.05 [[ 9.59397826e-01 -2.82056328e-01 2.00316883e-04 9.83167226e+01] [ 2.82056320e-01 9.59397846e-01 6.85641735e-05 1.78198532e+01] [-2.11522545e-04 -9.27967616e-06 9.99999978e-01 -1.05341843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.736875 meters 0.027356888502537875 Centerline is valid? [True, True] Translation: X:98.37, Y:17.84, Z:-1.05 [[ 9.59863542e-01 -2.80464095e-01 1.36798492e-03 9.83729585e+01] [ 2.80463709e-01 9.59864515e-01 4.69844803e-04 1.78374510e+01] [-1.44485478e-03 -6.73167710e-05 9.99998954e-01 -1.05166168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.796875 meters 0.025725559179623304 Centerline is valid? [True, True] Translation: X:98.43, Y:17.85, Z:-1.05 [[ 9.59280416e-01 -2.82447027e-01 2.18195134e-03 9.84302406e+01] [ 2.82446042e-01 9.59282891e-01 7.53343741e-04 1.78516387e+01] [-2.30588829e-03 -1.06384378e-04 9.99997336e-01 -1.05128604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85687499999999 meters 0.023767938854381276 Centerline is valid? [True, True] Translation: X:98.49, Y:17.86, Z:-1.05 [[ 9.57343152e-01 -2.88920318e-01 4.37476720e-03 9.84895613e+01] [ 2.88916421e-01 9.57353130e-01 1.51177174e-03 1.78632166e+01] [-4.62497865e-03 -1.83342243e-04 9.99989288e-01 -1.04860423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91687499999999 meters 0.021588134613442604 Centerline is valid? [True, True] Translation: X:98.55, Y:17.88, Z:-1.05 [[ 9.56119759e-01 -2.92933997e-01 4.96790744e-03 9.85477941e+01] [ 2.92929024e-01 9.56132647e-01 1.71711130e-03 1.78763550e+01] [-5.25297877e-03 -1.86519766e-04 9.99986186e-01 -1.04865373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97687499999999 meters 0.019389438511432683 Centerline is valid? [True, True] Translation: X:98.61, Y:17.89, Z:-1.05 [[ 9.54869916e-01 -2.97006846e-01 3.22115254e-03 9.86066681e+01] [ 2.97004784e-01 9.54875344e-01 1.11184072e-03 1.78882264e+01] [-3.40602345e-03 -1.04965545e-04 9.99994194e-01 -1.05042699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.036875 meters 0.019201338916554594 Centerline is valid? [True, True] Translation: X:98.66, Y:17.90, Z:-1.05 [[ 9.54475962e-01 -2.98283707e-01 1.57096390e-03 9.86638672e+01] [ 2.98283218e-01 9.54477254e-01 5.42221529e-04 1.79045079e+01] [-1.66118516e-03 -4.89452476e-05 9.99998619e-01 -1.05400313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.096875 meters 0.01956508204649248 Centerline is valid? [True, True] Translation: X:98.72, Y:17.92, Z:-1.05 [[ 9.54558551e-01 -2.98010077e-01 2.82263373e-03 9.87188877e+01] [ 2.98008496e-01 9.54562720e-01 9.74653195e-04 1.79227577e+01] [-2.98483740e-03 -8.91947099e-05 9.99995541e-01 -1.05321169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.156875 meters 0.020444632912257423 Centerline is valid? [True, True] Translation: X:98.77, Y:17.94, Z:-1.05 [[ 9.55022166e-01 -2.96508136e-01 3.94811556e-03 9.87746738e+01] [ 2.96505019e-01 9.55030317e-01 1.36615079e-03 1.79417843e+01] [-4.17564488e-03 -1.34068208e-04 9.99991273e-01 -1.05314347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.216875 meters 0.022124719465999396 Centerline is valid? [True, True] Translation: X:98.83, Y:17.96, Z:-1.05 [[ 9.55594107e-01 -2.94659973e-01 3.92472306e-03 9.88285429e+01] [ 2.94656868e-01 9.55602156e-01 1.36029976e-03 1.79626793e+01] [-4.15129971e-03 -1.43447833e-04 9.99991373e-01 -1.05392172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27687499999999 meters 0.023601727257211512 Centerline is valid? [True, True] Translation: X:98.88, Y:17.98, Z:-1.06 [[ 9.56571147e-01 -2.91467933e-01 4.25264724e-03 9.88844620e+01] [ 2.91464252e-01 9.56580585e-01 1.47481545e-03 1.79840049e+01] [-4.49786119e-03 -1.71271258e-04 9.99989870e-01 -1.05640500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33687499999999 meters 0.02433341200838758 Centerline is valid? [True, True] Translation: X:98.94, Y:18.00, Z:-1.06 [[ 9.56642758e-01 -2.91226063e-01 4.69186931e-03 9.89396773e+01] [ 2.91221585e-01 9.56654245e-01 1.62602211e-03 1.80035502e+01] [-4.96203671e-03 -1.89148655e-04 9.99987671e-01 -1.05724971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.396875 meters 0.023627429546590573 Centerline is valid? [True, True] Translation: X:99.00, Y:18.02, Z:-1.06 [[ 9.55803476e-01 -2.93977792e-01 4.09538532e-03 9.89957111e+01] [ 2.93974398e-01 9.55812238e-01 1.42116807e-03 1.80183951e+01] [-4.33221126e-03 -1.54418953e-04 9.99990604e-01 -1.05802607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.456875 meters 0.02063462081699593 Centerline is valid? [True, True] Translation: X:99.05, Y:18.03, Z:-1.06 [[ 9.54573874e-01 -2.97957170e-01 3.20055502e-03 9.90549104e+01] [ 2.97955122e-01 9.54579234e-01 1.10970020e-03 1.80303390e+01] [-3.38582649e-03 -1.05669059e-04 9.99994262e-01 -1.05904668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.516875 meters 0.018940838005210833 Centerline is valid? [True, True] Translation: X:99.11, Y:18.05, Z:-1.06 [[ 9.53916693e-01 -3.00053116e-01 3.32732015e-03 9.91126203e+01] [ 3.00050913e-01 9.53922490e-01 1.15434664e-03 1.80454242e+01] [-3.52037083e-03 -1.02785081e-04 9.99993798e-01 -1.06014151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.576875 meters 0.01886528309413672 Centerline is valid? [True, True] Translation: X:99.17, Y:18.06, Z:-1.06 [[ 9.53497597e-01 -3.01380581e-01 3.47532497e-03 9.91692421e+01] [ 3.01378183e-01 9.53503925e-01 1.20660220e-03 1.80630384e+01] [-3.67738247e-03 -1.03105168e-04 9.99993233e-01 -1.06084423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63687499999999 meters 0.019517256070236366 Centerline is valid? [True, True] Translation: X:99.22, Y:18.08, Z:-1.06 [[ 9.53575001e-01 -3.01147257e-01 2.24659998e-03 9.92243610e+01] [ 3.01146251e-01 9.53577645e-01 7.81097504e-04 1.80800314e+01] [-2.37753289e-03 -6.82798897e-05 9.99997171e-01 -1.06187881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69687499999999 meters 0.01968934135048701 Centerline is valid? [True, True] Translation: X:99.28, Y:18.10, Z:-1.06 [[ 9.53464340e-01 -3.01488891e-01 3.19404588e-03 9.92807681e+01] [ 3.01486862e-01 9.53469685e-01 1.11012299e-03 1.80987436e+01] [-3.38011566e-03 -9.54998135e-05 9.99994283e-01 -1.06160827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.756875 meters 0.020536353478961798 Centerline is valid? [True, True] Translation: X:99.34, Y:18.12, Z:-1.06 [[ 9.53467778e-01 -3.01446257e-01 5.41754643e-03 9.93350932e+01] [ 3.01440403e-01 9.53483155e-01 1.88588704e-03 1.81180373e+01] [-5.73403286e-03 -1.65065147e-04 9.99983547e-01 -1.05932279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.816875 meters 0.018657960545641877 Centerline is valid? [True, True] Translation: X:99.39, Y:18.13, Z:-1.06 [[ 9.52469375e-01 -3.04560637e-01 6.70136406e-03 9.93920644e+01] [ 3.04551730e-01 9.52492931e-01 2.33651001e-03 1.81340883e+01] [-7.09461088e-03 -1.84542211e-04 9.99974816e-01 -1.05982405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.876875 meters 0.01618011983978339 Centerline is valid? [True, True] Translation: X:99.45, Y:18.15, Z:-1.06 [[ 9.49617307e-01 -3.13358046e-01 5.80561416e-03 9.94502001e+01] [ 3.13351522e-01 9.49635048e-01 2.02462019e-03 1.81472169e+01] [-6.14764571e-03 -1.03416342e-04 9.99981098e-01 -1.06061947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.936875 meters 0.015559171450664858 Centerline is valid? [True, True] Translation: X:99.51, Y:18.16, Z:-1.06 [[ 9.48520879e-01 -3.16687003e-01 4.18149581e-03 9.95068273e+01] [ 3.16683657e-01 9.48530094e-01 1.45702592e-03 1.81649722e+01] [-4.42769578e-03 -5.78081251e-05 9.99990196e-01 -1.06354723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99687499999999 meters 0.015268153277277251 Centerline is valid? [True, True] Translation: X:99.56, Y:18.18, Z:-1.07 [[ 9.47956576e-01 -3.18385680e-01 2.98127951e-03 9.95626077e+01] [ 3.18383988e-01 9.47961264e-01 1.03851158e-03 1.81822778e+01] [-3.15678470e-03 -3.52722227e-05 9.99995017e-01 -1.06730184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05687499999999 meters 0.01580472158009271 Centerline is valid? [True, True] Translation: X:99.62, Y:18.20, Z:-1.07 [[ 9.48872607e-01 -3.15642953e-01 3.20970760e-03 9.96176841e+01] [ 3.15640971e-01 9.48878034e-01 1.11955606e-03 1.82027197e+01] [-3.39900102e-03 -4.92008508e-05 9.99994222e-01 -1.06645141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.116875 meters 0.016634692067924808 Centerline is valid? [True, True] Translation: X:99.67, Y:18.22, Z:-1.07 [[ 9.49788517e-01 -3.12878438e-01 2.97597291e-03 9.96725542e+01] [ 3.12876719e-01 9.49793178e-01 1.03861944e-03 1.82241994e+01] [-3.15152039e-03 -5.53561768e-05 9.99995032e-01 -1.06674161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.176875 meters 0.018362941468693796 Centerline is valid? [True, True] Translation: X:99.73, Y:18.25, Z:-1.07 [[ 9.51639926e-01 -3.07183231e-01 4.46244419e-03 9.97271533e+01] [ 3.07179285e-01 9.51650382e-01 1.56126815e-03 1.82483476e+01] [-4.72628211e-03 -1.14994692e-04 9.99988824e-01 -1.06594926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.236875 meters 0.020023941198412158 Centerline is valid? [True, True] Translation: X:99.78, Y:18.27, Z:-1.07 [[ 9.52908465e-01 -3.03201956e-01 5.83355824e-03 9.97817544e+01] [ 3.03195134e-01 9.52926305e-01 2.04151585e-03 1.82731195e+01] [-6.17794270e-03 -1.76671261e-04 9.99980901e-01 -1.06712413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.296875 meters 0.020562164069623814 Centerline is valid? [True, True] Translation: X:99.84, Y:18.29, Z:-1.07 [[ 9.53327838e-01 -3.01876217e-01 6.06487595e-03 9.98368135e+01] [ 3.01868819e-01 9.53347110e-01 2.12208484e-03 1.82944630e+01] [-6.42253891e-03 -1.92245615e-04 9.99979357e-01 -1.06778561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35687499999999 meters 0.020845190575610423 Centerline is valid? [True, True] Translation: X:99.89, Y:18.32, Z:-1.07 [[ 9.53160219e-01 -3.02423977e-01 5.03331146e-03 9.98910743e+01] [ 3.02418886e-01 9.53173496e-01 1.76182773e-03 1.83155680e+01] [-5.33043803e-03 -1.57135666e-04 9.99985781e-01 -1.06931689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41687499999999 meters 0.019397892888494476 Centerline is valid? [True, True] Translation: X:99.95, Y:18.33, Z:-1.07 [[ 9.52555813e-01 -3.04338830e-01 3.91141865e-03 9.99474907e+01] [ 3.04335769e-01 9.52563837e-01 1.36982714e-03 1.83339094e+01] [-4.14276754e-03 -1.14452206e-04 9.99991412e-01 -1.07060469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47687499999999 meters 0.017520885771642365 Centerline is valid? [True, True] Translation: X:100.00, Y:18.35, Z:-1.07 [[ 9.50843170e-01 -3.09663292e-01 2.43135752e-03 1.00004315e+02] [ 3.09662123e-01 9.50846277e-01 8.52847998e-04 1.83504177e+01] [-2.57594297e-03 -5.80253616e-05 9.99996681e-01 -1.07308808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.536875 meters 0.016666115264102607 Centerline is valid? [True, True] Translation: X:100.06, Y:18.37, Z:-1.07 [[ 9.49067200e-01 -3.15062207e-01 2.69375934e-03 1.00059813e+02] [ 3.15060794e-01 9.49071021e-01 9.44807902e-04 1.83671327e+01] [-2.85424219e-03 -4.79882337e-05 9.99995925e-01 -1.07344090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.596875 meters 0.01486308805090865 Centerline is valid? [True, True] Translation: X:100.12, Y:18.38, Z:-1.07 [[ 9.46815225e-01 -3.21747141e-01 4.43917614e-03 1.00116956e+02] [ 3.21743372e-01 9.46825631e-01 1.55818139e-03 1.83808134e+01] [-4.70446615e-03 -4.70343676e-05 9.99988933e-01 -1.07255960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.656875 meters 0.014579435992590107 Centerline is valid? [True, True] Translation: X:100.17, Y:18.40, Z:-1.07 [[ 9.46230910e-01 -3.23462087e-01 4.39804447e-03 1.00171915e+02] [ 3.23458406e-01 9.46241130e-01 1.54373122e-03 1.83993004e+01] [-4.66094909e-03 -3.81417458e-05 9.99989137e-01 -1.07294798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.716875 meters 0.014326038420279517 Centerline is valid? [True, True] Translation: X:100.23, Y:18.42, Z:-1.07 [[ 9.46674546e-01 -3.22125295e-01 6.52667178e-03 1.00226412e+02] [ 3.22117150e-01 9.46697042e-01 2.29171033e-03 1.84191194e+01] [-6.91699874e-03 -6.71509210e-05 9.99976075e-01 -1.07179979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77687499999999 meters 0.015461693895747643 Centerline is valid? [True, True] Translation: X:100.28, Y:18.44, Z:-1.07 [[ 9.48222577e-01 -3.17508412e-01 7.89638582e-03 1.00278859e+02] [ 3.17496299e-01 9.48255447e-01 2.77633089e-03 1.84433339e+01] [-8.36929928e-03 -1.25506361e-04 9.99964969e-01 -1.07161016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83687499999999 meters 0.0162840864723855 Centerline is valid? [True, True] Translation: X:100.33, Y:18.47, Z:-1.07 [[ 9.49283299e-01 -3.14326948e-01 7.73226933e-03 1.00333078e+02] [ 3.14315225e-01 9.49314778e-01 2.71887069e-03 1.84658057e+01] [-8.19497187e-03 -1.50608570e-04 9.99966409e-01 -1.07295665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.896875 meters 0.017866791355736166 Centerline is valid? [True, True] Translation: X:100.39, Y:18.49, Z:-1.08 [[ 9.50963879e-01 -3.09244172e-01 5.97847732e-03 1.00387623e+02] [ 3.09237052e-01 9.50982660e-01 2.10400535e-03 1.84906230e+01] [-6.33607966e-03 -1.52066387e-04 9.99979915e-01 -1.07694092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.956875 meters 0.018165572930712155 Centerline is valid? [True, True] Translation: X:100.44, Y:18.51, Z:-1.08 [[ 9.51688299e-01 -3.07043877e-01 3.66604865e-03 1.00442232e+02] [ 3.07041184e-01 9.51695354e-01 1.29001217e-03 1.85113751e+01] [-3.88505180e-03 -1.02061567e-04 9.99992448e-01 -1.07995968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.016875 meters 0.018303432143665373 Centerline is valid? [True, True] Translation: X:100.50, Y:18.53, Z:-1.08 [[ 9.51966803e-01 -3.06178816e-01 3.70660286e-03 1.00497844e+02] [ 3.06176060e-01 9.51974013e-01 1.30344412e-03 1.85307342e+01] [-3.92767658e-03 -1.05962474e-04 9.99992281e-01 -1.08065729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.076875 meters 0.018200417808309662 Centerline is valid? [True, True] Translation: X:100.55, Y:18.55, Z:-1.08 [[ 9.51587845e-01 -3.07316722e-01 6.08323872e-03 1.00554084e+02] [ 3.07309299e-01 9.51607274e-01 2.14274621e-03 1.85488790e+01] [-6.44735595e-03 -1.69575419e-04 9.99979201e-01 -1.07767840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13687499999999 meters 0.01744695639743983 Centerline is valid? [True, True] Translation: X:100.61, Y:18.57, Z:-1.08 [[ 9.50737348e-01 -3.09918830e-01 6.98673333e-03 1.00611027e+02] [ 3.09909090e-01 9.50763003e-01 2.46340747e-03 1.85661945e+01] [-7.40618393e-03 -1.76801317e-04 9.99972558e-01 -1.07777961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19687499999999 meters 0.016477674278066703 Centerline is valid? [True, True] Translation: X:100.67, Y:18.58, Z:-1.08 [[ 9.49788145e-01 -3.12810792e-01 7.20337775e-03 1.00667932e+02] [ 3.12800507e-01 9.49815447e-01 2.54166232e-03 1.85823938e+01] [-7.63693886e-03 -1.60820525e-04 9.99970825e-01 -1.07995224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.256875 meters 0.016303836382786888 Centerline is valid? [True, True] Translation: X:100.72, Y:18.60, Z:-1.08 [[ 9.49248171e-01 -3.14470619e-01 6.01161753e-03 1.00724548e+02] [ 3.14463481e-01 9.49267199e-01 2.12235846e-03 1.85995872e+01] [-6.37405071e-03 -1.24210715e-04 9.99979678e-01 -1.08159625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.316875 meters 0.016774258010775395 Centerline is valid? [True, True] Translation: X:100.78, Y:18.62, Z:-1.08 [[ 9.49098258e-01 -3.14932111e-01 5.50109666e-03 1.00779211e+02] [ 3.14926130e-01 9.49114194e-01 1.94406597e-03 1.86172812e+01] [-5.83341772e-03 -1.12670543e-04 9.99982979e-01 -1.08213323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.376875 meters 0.016790603052636025 Centerline is valid? [True, True] Translation: X:100.84, Y:18.64, Z:-1.08 [[ 9.49578292e-01 -3.13488442e-01 5.10524718e-03 1.00835286e+02] [ 3.13483271e-01 9.49592009e-01 1.80401429e-03 1.86350875e+01] [-5.41343956e-03 -1.12643217e-04 9.99985341e-01 -1.08380647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.436875 meters 0.01807311229078487 Centerline is valid? [True, True] Translation: X:100.89, Y:18.66, Z:-1.09 [[ 9.50300183e-01 -3.11299289e-01 4.72384599e-03 1.00889684e+02] [ 3.11294824e-01 9.50311917e-01 1.67133386e-03 1.86555605e+01] [-5.00941218e-03 -1.17760069e-04 9.99987446e-01 -1.08533454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49687499999999 meters 0.019194848466591405 Centerline is valid? [True, True] Translation: X:100.95, Y:18.68, Z:-1.09 [[ 9.51999923e-01 -3.06074568e-01 3.80864669e-03 1.00945188e+02] [ 3.06071623e-01 9.52007534e-01 1.34794132e-03 1.86756140e+01] [-4.03843090e-03 -1.17521365e-04 9.99991839e-01 -1.08624357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55687499999999 meters 0.021934343150750192 Centerline is valid? [True, True] Translation: X:101.00, Y:18.70, Z:-1.09 [[ 9.53500933e-01 -3.01371407e-01 3.35358298e-03 1.00999774e+02] [ 3.01369094e-01 9.53506822e-01 1.18702021e-03 1.86977924e+01] [-3.55539821e-03 -1.21158613e-04 9.99993672e-01 -1.08783807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.616875 meters 0.02111060573826145 Centerline is valid? [True, True] Translation: X:101.06, Y:18.72, Z:-1.09 [[ 9.52939969e-01 -3.03140800e-01 3.32715293e-03 1.01056181e+02] [ 3.03138539e-01 9.52945771e-01 1.17629239e-03 1.87151199e+01] [-3.52717853e-03 -1.12347762e-04 9.99993773e-01 -1.08903306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.676875 meters 0.01722502847307023 Centerline is valid? [True, True] Translation: X:101.11, Y:18.72, Z:-1.09 [[ 9.49002795e-01 -3.15226791e-01 5.07586876e-03 1.01114930e+02] [ 3.15221678e-01 9.49016364e-01 1.79863207e-03 1.87241751e+01] [-5.38405953e-03 -1.06882998e-04 9.99985500e-01 -1.08569798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.736875 meters 0.01473387811331666 Centerline is valid? [True, True] Translation: X:101.17, Y:18.73, Z:-1.09 [[ 9.45730370e-01 -3.24894064e-01 6.15739402e-03 1.01173830e+02] [ 3.24886740e-01 9.45750413e-01 2.18241515e-03 1.87346825e+01] [-6.53241167e-03 -6.35206126e-05 9.99978662e-01 -1.08617416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.796875 meters 0.014270527997740983 Centerline is valid? [True, True] Translation: X:101.23, Y:18.75, Z:-1.09 [[ 9.44862313e-01 -3.27435924e-01 4.57453347e-03 1.01228950e+02] [ 3.27431913e-01 9.44873386e-01 1.62105109e-03 1.87514063e+01] [-4.85314529e-03 -3.38218381e-05 9.99988223e-01 -1.09228934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85687499999999 meters 0.014687279913093109 Centerline is valid? [True, True] Translation: X:101.28, Y:18.77, Z:-1.09 [[ 9.45663532e-01 -3.25114607e-01 4.58001722e-03 1.01284214e+02] [ 3.25110560e-01 9.45674622e-01 1.62293229e-03 1.87710512e+01] [-4.85884505e-03 -4.57359224e-05 9.99988195e-01 -1.09136359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91687499999999 meters 0.015582969070778557 Centerline is valid? [True, True] Translation: X:101.34, Y:18.79, Z:-1.09 [[ 9.47332893e-01 -3.20196553e-01 5.87862646e-03 1.01339138e+02] [ 3.20189775e-01 9.47351128e-01 2.08535932e-03 1.87936865e+01] [-6.23684827e-03 -9.32533902e-05 9.99980546e-01 -1.08978776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97687499999999 meters 0.016544444827960702 Centerline is valid? [True, True] Translation: X:101.39, Y:18.82, Z:-1.09 [[ 9.48483380e-01 -3.16764781e-01 6.27310356e-03 1.01393399e+02] [ 3.16756976e-01 9.48504116e-01 2.22717143e-03 1.88164250e+01] [-6.65555401e-03 -1.25385765e-04 9.99977844e-01 -1.09035005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.036875 meters 0.018993502491378503 Centerline is valid? [True, True] Translation: X:101.45, Y:18.84, Z:-1.09 [[ 9.49865834e-01 -3.12599211e-01 6.05237264e-03 1.01447131e+02] [ 3.12591845e-01 9.49885104e-01 2.15130703e-03 1.88412006e+01] [-6.42155549e-03 -1.51530719e-04 9.99979370e-01 -1.09283667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.096875 meters 0.019803236825277466 Centerline is valid? [True, True] Translation: X:101.50, Y:18.86, Z:-1.09 [[ 9.50779987e-01 -3.09817432e-01 5.52950012e-03 1.01501970e+02] [ 3.09811236e-01 9.50796053e-01 1.96553955e-03 1.88615052e+01] [-5.86638531e-03 -1.55694394e-04 9.99982780e-01 -1.09297222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.156875 meters 0.019282347946536684 Centerline is valid? [True, True] Translation: X:101.56, Y:18.88, Z:-1.09 [[ 9.51275865e-01 -3.08282665e-01 6.00226257e-03 1.01558098e+02] [ 3.08275335e-01 9.51294784e-01 2.13342112e-03 1.88806493e+01] [-6.36761782e-03 -1.79122515e-04 9.99979710e-01 -1.09357240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.216875 meters 0.01928922028382163 Centerline is valid? [True, True] Translation: X:101.61, Y:18.90, Z:-1.09 [[ 9.50910397e-01 -3.09410739e-01 5.86608134e-03 1.01612753e+02] [ 3.09403744e-01 9.50928476e-01 2.08741568e-03 1.88988829e+01] [-6.22409262e-03 -1.69957744e-04 9.99980616e-01 -1.09468553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27687499999999 meters 0.018118297488427464 Centerline is valid? [True, True] Translation: X:101.67, Y:18.92, Z:-1.10 [[ 9.49937618e-01 -3.12378749e-01 6.16754133e-03 1.01669527e+02] [ 3.12371075e-01 9.49957626e-01 2.19543090e-03 1.89153675e+01] [-6.54470888e-03 -1.58960884e-04 9.99978571e-01 -1.09553055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33687499999999 meters 0.016640975945879412 Centerline is valid? [True, True] Translation: X:101.73, Y:18.93, Z:-1.10 [[ 9.48520885e-01 -3.16657040e-01 6.03741248e-03 1.01726806e+02] [ 3.16649770e-01 9.48540090e-01 2.14956609e-03 1.89301242e+01] [-6.40740302e-03 -1.27163055e-04 9.99979464e-01 -1.09500563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.396875 meters 0.015931816870477702 Centerline is valid? [True, True] Translation: X:101.78, Y:18.95, Z:-1.10 [[ 9.47915548e-01 -3.18471039e-01 5.68431039e-03 1.01783096e+02] [ 3.18464630e-01 9.47932585e-01 2.02330047e-03 1.89468342e+01] [-6.03270564e-03 -1.07666166e-04 9.99981797e-01 -1.09518590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.456875 meters 0.015997616710007986 Centerline is valid? [True, True] Translation: X:101.84, Y:18.97, Z:-1.10 [[ 9.47518026e-01 -3.19669020e-01 4.61615647e-03 1.01837819e+02] [ 3.19664800e-01 9.47529267e-01 1.64459161e-03 1.89651120e+01] [-4.89966834e-03 -8.26574594e-05 9.99987993e-01 -1.09764256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.516875 meters 0.015236779893440534 Centerline is valid? [True, True] Translation: X:101.89, Y:18.98, Z:-1.10 [[ 9.47036279e-01 -3.21098681e-01 4.23361033e-03 1.01894248e+02] [ 3.21095148e-01 9.47045739e-01 1.50797416e-03 1.89822751e+01] [-4.49363114e-03 -6.87145068e-05 9.99989901e-01 -1.09798125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.576875 meters 0.015447946968873978 Centerline is valid? [True, True] Translation: X:101.95, Y:19.00, Z:-1.10 [[ 9.47087688e-01 -3.20941236e-01 4.65123513e-03 1.01949083e+02] [ 3.20936962e-01 9.47099106e-01 1.65810015e-03 1.90022775e+01] [-4.93733334e-03 -7.76129694e-05 9.99987808e-01 -1.09713956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63687499999999 meters 0.015807677350960777 Centerline is valid? [True, True] Translation: X:102.00, Y:19.02, Z:-1.10 [[ 9.47422717e-01 -3.19975062e-01 2.48109032e-03 1.02004317e+02] [ 3.19973843e-01 9.47425964e-01 8.84019027e-04 1.90228223e+01] [-2.63351343e-03 -4.36557021e-05 9.99996531e-01 -1.09866938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69687499999999 meters 0.016341132728609906 Centerline is valid? [True, True] Translation: X:102.06, Y:19.04, Z:-1.10 [[ 9.47701670e-01 -3.19155357e-01 1.18415516e-03 1.02058195e+02] [ 3.19155079e-01 9.47702410e-01 4.21940514e-04 1.90438494e+01] [-1.25689127e-03 -2.19445973e-05 9.99999210e-01 -1.10084477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.756875 meters 0.016390645020866967 Centerline is valid? [True, True] Translation: X:102.11, Y:19.06, Z:-1.10 [[ 9.48068551e-01 -3.18063880e-01 1.17953163e-03 1.02113874e+02] [ 3.18063605e-01 9.48069284e-01 4.19235156e-04 1.90644858e+01] [-1.25162127e-03 -2.22975851e-05 9.99999216e-01 -1.10087569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.816875 meters 0.016770334698750788 Centerline is valid? [True, True] Translation: X:102.17, Y:19.09, Z:-1.10 [[ 9.48109679e-01 -3.17930239e-01 2.89830384e-03 1.02168158e+02] [ 3.17928560e-01 9.48114107e-01 1.03487033e-03 1.90853551e+01] [-3.07693932e-03 -5.97170117e-05 9.99995264e-01 -1.09893265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.876875 meters 0.01624734890895217 Centerline is valid? [True, True] Translation: X:102.22, Y:19.10, Z:-1.10 [[ 9.47308432e-01 -3.20300666e-01 3.77068377e-03 1.02222772e+02] [ 3.20297829e-01 9.47315934e-01 1.34999204e-03 1.91043806e+01] [-4.00443217e-03 -7.11170170e-05 9.99991980e-01 -1.09941399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.936875 meters 0.014345248212663121 Centerline is valid? [True, True] Translation: X:102.28, Y:19.12, Z:-1.10 [[ 9.44870126e-01 -3.27426475e-01 3.51394152e-03 1.02279411e+02] [ 3.27424059e-01 9.44876660e-01 1.25847346e-03 1.91198863e+01] [-3.73229885e-03 -3.85449861e-05 9.99993034e-01 -1.09987937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99687499999999 meters 0.014012927401515874 Centerline is valid? [True, True] Translation: X:102.33, Y:19.14, Z:-1.10 [[ 9.43855967e-01 -3.30357205e-01 1.73846258e-04 1.02334633e+02] [ 3.30357200e-01 9.43855983e-01 5.91719429e-05 1.91393993e+01] [-1.83633708e-04 1.58157144e-06 9.99999983e-01 -1.10393772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05687499999999 meters 0.013885084522652493 Centerline is valid? [True, True] Translation: X:102.39, Y:19.16, Z:-1.10 [[ 9.43962222e-01 -3.30051300e-01 -1.20945169e-03 1.02389639e+02] [ 3.30051011e-01 9.43962997e-01 -4.37017060e-04 1.91608048e+01] [ 1.28591569e-03 1.33468422e-05 9.99999173e-01 -1.10478661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.116875 meters 0.015263640769492928 Centerline is valid? [True, True] Translation: X:102.44, Y:19.19, Z:-1.11 [[ 9.45594035e-01 -3.25345754e-01 -1.43550984e-03 1.02442202e+02] [ 3.25345345e-01 9.45595125e-01 -5.16423441e-04 1.91868091e+01] [ 1.52542728e-03 2.12904825e-05 9.99998836e-01 -1.10519502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.176875 meters 0.016114390296767037 Centerline is valid? [True, True] Translation: X:102.50, Y:19.21, Z:-1.10 [[ 9.46896072e-01 -3.21539258e-01 -5.79349749e-04 1.02495838e+02] [ 3.21539189e-01 9.46896249e-01 -2.11010439e-04 1.92111211e+01] [ 6.16432244e-04 1.35213079e-05 9.99999810e-01 -1.10392555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.236875 meters 0.01858250772841064 Centerline is valid? [True, True] Translation: X:102.55, Y:19.24, Z:-1.10 [[ 9.49147355e-01 -3.14828431e-01 1.53524941e-03 1.02548806e+02] [ 3.14827951e-01 9.49148596e-01 5.50936740e-04 1.92408845e+01] [-1.63063037e-03 -3.95807235e-05 9.99998670e-01 -1.10255464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.296875 meters 0.016971795061327462 Centerline is valid? [True, True] Translation: X:102.60, Y:19.26, Z:-1.11 [[ 9.48367386e-01 -3.17173814e-01 2.67932169e-04 1.02603437e+02] [ 3.17173801e-01 9.48367424e-01 9.34756823e-05 1.92627135e+01] [-2.83746180e-04 -3.66822401e-06 9.99999960e-01 -1.10551065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35687499999999 meters 0.015923579448247644 Centerline is valid? [True, True] Translation: X:102.66, Y:19.28, Z:-1.10 [[ 9.46666888e-01 -3.22198718e-01 3.12884756e-03 1.02658047e+02] [ 3.22196760e-01 9.46672057e-01 1.12479925e-03 1.92840787e+01] [-3.32440143e-03 -5.67056620e-05 9.99994473e-01 -1.10128786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41687499999999 meters 0.014863852735919643 Centerline is valid? [True, True] Translation: X:102.71, Y:19.31, Z:-1.10 [[ 9.45701468e-01 -3.25030325e-01 2.00534973e-03 1.02712460e+02] [ 3.25029531e-01 9.45703594e-01 7.19119267e-04 1.93061561e+01] [-2.13020201e-03 -2.82742653e-05 9.99997731e-01 -1.10331791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47687499999999 meters 0.014661788095026601 Centerline is valid? [True, True] Translation: X:102.77, Y:19.33, Z:-1.11 [[ 9.44942921e-01 -3.27235090e-01 2.69910727e-04 1.02765797e+02] [ 3.27235076e-01 9.44942959e-01 9.40182403e-05 1.93283571e+01] [-2.85816308e-04 -5.17613346e-07 9.99999959e-01 -1.10550491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.536875 meters 0.014736936221278484 Centerline is valid? [True, True] Translation: X:102.82, Y:19.35, Z:-1.11 [[ 9.45124998e-01 -3.26708820e-01 2.91626837e-04 1.02820814e+02] [ 3.26708804e-01 9.45125043e-01 1.02341776e-04 1.93501023e+01] [-3.09059788e-04 -1.44871550e-06 9.99999952e-01 -1.10676561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.596875 meters 0.015348626463391468 Centerline is valid? [True, True] Translation: X:102.87, Y:19.38, Z:-1.11 [[ 9.46270033e-01 -3.23376802e-01 -6.84289657e-04 1.02874010e+02] [ 3.23376706e-01 9.46270280e-01 -2.49776373e-04 1.93755129e+01] [ 7.28294850e-04 1.50725612e-05 9.99999735e-01 -1.10719939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.656875 meters 0.016509052773445953 Centerline is valid? [True, True] Translation: X:102.93, Y:19.40, Z:-1.11 [[ 9.47649411e-01 -3.19312445e-01 3.94156789e-04 1.02926878e+02] [ 3.19312414e-01 9.47649493e-01 1.40767188e-04 1.94013941e+01] [-4.18471196e-04 -7.53878700e-06 9.99999912e-01 -1.10659649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.716875 meters 0.017913832104266756 Centerline is valid? [True, True] Translation: X:102.98, Y:19.42, Z:-1.10 [[ 9.48572535e-01 -3.16555765e-01 1.61057073e-03 1.02980113e+02] [ 3.16555236e-01 9.48573901e-01 5.80175517e-04 1.94240137e+01] [-1.71140327e-03 -4.05039630e-05 9.99998535e-01 -1.10403241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77687499999999 meters 0.018705050575110356 Centerline is valid? [True, True] Translation: X:103.03, Y:19.45, Z:-1.11 [[ 9.49338196e-01 -3.14246299e-01 2.50057532e-03 1.03034356e+02] [ 3.14245015e-01 9.49341487e-01 9.00961697e-04 1.94477286e+01] [-2.65702377e-03 -6.95240220e-05 9.99996468e-01 -1.10510886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83687499999999 meters 0.020200246861512516 Centerline is valid? [True, True] Translation: X:103.09, Y:19.47, Z:-1.11 [[ 9.50007718e-01 -3.12204003e-01 3.74109179e-03 1.03087363e+02] [ 3.12201099e-01 9.50015077e-01 1.35152307e-03 1.94711988e+01] [-3.97604452e-03 -1.15984381e-04 9.99992089e-01 -1.10564822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.896875 meters 0.020077500021967915 Centerline is valid? [True, True] Translation: X:103.14, Y:19.49, Z:-1.10 [[ 9.51399087e-01 -3.07936628e-01 3.84854759e-03 1.03143220e+02] [ 3.07933518e-01 9.51406860e-01 1.39079209e-03 1.94910607e+01] [-4.08981041e-03 -1.38101520e-04 9.99991627e-01 -1.10390623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.956875 meters 0.023663504010039693 Centerline is valid? [True, True] Translation: X:103.20, Y:19.52, Z:-1.11 [[ 9.53481978e-01 -3.01446885e-01 1.37570382e-03 1.03196032e+02] [ 3.01446482e-01 9.53482969e-01 4.96960013e-04 1.95187082e+01] [-1.46151721e-03 -5.91413397e-05 9.99998930e-01 -1.10937436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.016875 meters 0.025193713936861817 Centerline is valid? [True, True] Translation: X:103.25, Y:19.54, Z:-1.11 [[ 9.54834906e-01 -2.97136256e-01 5.89461450e-04 1.03251413e+02] [ 2.97136181e-01 9.54835088e-01 2.12563400e-04 1.95411570e+01] [-6.25998768e-04 -2.78126299e-05 9.99999804e-01 -1.11106446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.076875 meters 0.029121793945780145 Centerline is valid? [True, True] Translation: X:103.30, Y:19.57, Z:-1.11 [[ 9.56055272e-01 -2.93186343e-01 2.92276348e-04 1.03304853e+02] [ 2.93186324e-01 9.56055317e-01 1.05099725e-04 1.95650650e+01] [-3.10246161e-04 -1.47897184e-05 9.99999952e-01 -1.11213357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13687499999999 meters 0.02947029640834224 Centerline is valid? [True, True] Translation: X:103.36, Y:19.58, Z:-1.11 [[ 9.56092114e-01 -2.93065823e-01 5.41044055e-04 1.03360722e+02] [ 2.93065760e-01 9.56092267e-01 1.93013658e-04 1.95832933e+01] [-5.73853743e-04 -2.59773495e-05 9.99999835e-01 -1.11286916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19687499999999 meters 0.027576422355446904 Centerline is valid? [True, True] Translation: X:103.42, Y:19.60, Z:-1.11 [[ 9.55630933e-01 -2.94561253e-01 1.78533759e-03 1.03418297e+02] [ 2.94560559e-01 9.55632597e-01 6.45737780e-04 1.95981304e+01] [-1.89633613e-03 -9.11969594e-05 9.99998198e-01 -1.11163138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.256875 meters 0.025097945467734493 Centerline is valid? [True, True] Translation: X:103.48, Y:19.61, Z:-1.11 [[ 9.54250266e-01 -2.99003434e-01 1.83770953e-03 1.03476951e+02] [ 2.99002706e-01 9.54252031e-01 6.65071455e-04 1.96104223e+01] [-1.95249670e-03 -8.51644917e-05 9.99998090e-01 -1.11183745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.316875 meters 0.025460213973531327 Centerline is valid? [True, True] Translation: X:103.53, Y:19.63, Z:-1.11 [[ 9.53300149e-01 -3.02017953e-01 1.99540230e-03 1.03532418e+02] [ 3.02017101e-01 9.53302234e-01 7.22164196e-04 1.96282270e+01] [-2.12032802e-03 -8.57936181e-05 9.99997748e-01 -1.11420132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.376875 meters 0.02278094596084016 Centerline is valid? [True, True] Translation: X:103.59, Y:19.64, Z:-1.12 [[ 9.52091402e-01 -3.05812376e-01 8.68185931e-04 1.03591257e+02] [ 3.05812217e-01 9.52091797e-01 3.13944067e-04 1.96395068e+01] [-9.22600684e-04 -3.34015825e-05 9.99999574e-01 -1.11579770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.436875 meters 0.021893211033562853 Centerline is valid? [True, True] Translation: X:103.65, Y:19.65, Z:-1.12 [[ 9.51158637e-01 -3.08702101e-01 5.09368585e-04 1.03649016e+02] [ 3.08702047e-01 9.51158773e-01 1.83789540e-04 1.96529453e+01] [-5.41226615e-04 -1.75698834e-05 9.99999853e-01 -1.11722305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49687499999999 meters 0.021308669459793716 Centerline is valid? [True, True] Translation: X:103.71, Y:19.67, Z:-1.12 [[ 9.50800878e-01 -3.09800939e-01 1.03401076e-03 1.03705943e+02] [ 3.09800717e-01 9.50801439e-01 3.72155120e-04 1.96684566e+01] [-1.09843293e-03 -3.35081387e-05 9.99999396e-01 -1.11727237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55687499999999 meters 0.020232844133004014 Centerline is valid? [True, True] Translation: X:103.76, Y:19.68, Z:-1.12 [[ 9.49845843e-01 -3.12713619e-01 1.75100848e-03 1.03763772e+02] [ 3.12712981e-01 9.49847456e-01 6.34405955e-04 1.96815109e+01] [-1.86157833e-03 -5.50247775e-05 9.99998266e-01 -1.11697123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.616875 meters 0.01828599998484707 Centerline is valid? [True, True] Translation: X:103.82, Y:19.69, Z:-1.12 [[ 9.47672561e-01 -3.19238864e-01 1.80715911e-03 1.03821377e+02] [ 3.19238195e-01 9.47674283e-01 6.55061799e-04 1.96942804e+01] [-1.92171940e-03 -4.38698812e-05 9.99998153e-01 -1.11729502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.676875 meters 0.0163791020952535 Centerline is valid? [True, True] Translation: X:103.88, Y:19.71, Z:-1.12 [[ 9.45903691e-01 -3.24443233e-01 1.67201588e-03 1.03879370e+02] [ 3.24442671e-01 9.45905169e-01 6.04465659e-04 1.97090582e+01] [-1.77768325e-03 -2.92930019e-05 9.99998419e-01 -1.11756392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.736875 meters 0.0158125248636626 Centerline is valid? [True, True] Translation: X:103.94, Y:19.73, Z:-1.12 [[ 9.45265739e-01 -3.26294573e-01 2.12919676e-03 1.03935097e+02] [ 3.26293664e-01 9.45268137e-01 7.70827009e-04 1.97276212e+01] [-2.26417852e-03 -3.38929497e-05 9.99997436e-01 -1.11900363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.796875 meters 0.01652805036027414 Centerline is valid? [True, True] Translation: X:103.99, Y:19.75, Z:-1.12 [[ 9.45820961e-01 -3.24680202e-01 2.34025844e-03 1.03989549e+02] [ 3.24679097e-01 9.45823855e-01 8.48192339e-04 1.97499247e+01] [-2.48886352e-03 -4.24050954e-05 9.99996902e-01 -1.11929224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85687499999999 meters 0.017596230895901083 Centerline is valid? [True, True] Translation: X:104.04, Y:19.77, Z:-1.12 [[ 9.47217219e-01 -3.20575725e-01 3.27781746e-03 1.04043228e+02] [ 3.20573522e-01 9.47222888e-01 1.19088669e-03 1.97736898e+01] [-3.48659308e-03 -7.72468899e-05 9.99993919e-01 -1.11953277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91687499999999 meters 0.018649600660635195 Centerline is valid? [True, True] Translation: X:104.10, Y:19.80, Z:-1.12 [[ 9.47778227e-01 -3.18924309e-01 1.92787978e-03 1.04097290e+02] [ 3.18923547e-01 9.47780187e-01 6.99014712e-04 1.97964638e+01] [-2.05013904e-03 -4.76646668e-05 9.99997897e-01 -1.12172219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97687499999999 meters 0.019085230888444063 Centerline is valid? [True, True] Translation: X:104.15, Y:19.82, Z:-1.12 [[ 9.48545689e-01 -3.16634794e-01 1.86617108e-03 1.04152023e+02] [ 3.16634075e-01 9.48547523e-01 6.77005959e-04 1.98186835e+01] [-1.98451560e-03 -5.12777313e-05 9.99998030e-01 -1.12328330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.036875 meters 0.020432445890471794 Centerline is valid? [True, True] Translation: X:104.21, Y:19.84, Z:-1.12 [[ 9.49012777e-01 -3.15235585e-01 1.12949317e-03 1.04205710e+02] [ 3.15235320e-01 9.49013448e-01 4.10153110e-04 1.98413462e+01] [-1.20119906e-03 -3.31844023e-05 9.99999278e-01 -1.12449006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.096875 meters 0.019872383624766857 Centerline is valid? [True, True] Translation: X:104.26, Y:19.86, Z:-1.13 [[ 9.49198162e-01 -3.14677254e-01 1.03657689e-03 1.04261638e+02] [ 3.14677032e-01 9.49198728e-01 3.75168612e-04 1.98610208e+01] [-1.10197449e-03 -2.99224176e-05 9.99999392e-01 -1.12507257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.156875 meters 0.015078511377699774 Centerline is valid? [True, True] Translation: X:104.32, Y:19.87, Z:-1.12 [[ 9.43881451e-01 -3.30260947e-01 3.93873709e-03 1.04319827e+02] [ 3.30257829e-01 9.43889667e-01 1.43628464e-03 1.98717627e+01] [-4.19208196e-03 -5.48836680e-05 9.99991212e-01 -1.12120320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.216875 meters 0.01391227569532775 Centerline is valid? [True, True] Translation: X:104.38, Y:19.89, Z:-1.12 [[ 9.41292372e-01 -3.37559022e-01 4.75156230e-03 1.04376913e+02] [ 3.37554579e-01 9.41304364e-01 1.73214617e-03 1.98886028e+01] [-5.05736790e-03 -2.65443694e-05 9.99987211e-01 -1.12032270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27687499999999 meters 0.01371969671370175 Centerline is valid? [True, True] Translation: X:104.43, Y:19.91, Z:-1.13 [[ 9.39341721e-01 -3.42971165e-01 2.81270778e-03 1.04429581e+02] [ 3.42969630e-01 9.39345932e-01 1.02590886e-03 1.99104195e+01] [-2.99396277e-03 9.94356004e-07 9.99995518e-01 -1.12565657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33687499999999 meters 0.013627510802316476 Centerline is valid? [True, True] Translation: X:104.48, Y:19.93, Z:-1.12 [[ 9.39553187e-01 -3.42385010e-01 3.50909257e-03 1.04483135e+02] [ 3.42382619e-01 9.39559740e-01 1.27952173e-03 1.99332775e+01] [-3.73509117e-03 -7.26410515e-07 9.99993025e-01 -1.12289685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.396875 meters 0.013697170579155976 Centerline is valid? [True, True] Translation: X:104.54, Y:19.95, Z:-1.12 [[ 9.39596700e-01 -3.42259084e-01 4.09391068e-03 1.04537675e+02] [ 3.42255821e-01 9.39605619e-01 1.49454305e-03 1.99547859e+01] [-4.35818242e-03 -3.10296003e-06 9.99990503e-01 -1.12208915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.456875 meters 0.013709770037228425 Centerline is valid? [True, True] Translation: X:104.59, Y:19.98, Z:-1.12 [[ 9.40144532e-01 -3.40756776e-01 3.61656003e-03 1.04591931e+02] [ 3.40754214e-01 9.40151488e-01 1.32128852e-03 1.99793169e+01] [-3.85035231e-03 -9.84410309e-06 9.99992587e-01 -1.12340815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.516875 meters 0.014152305354497534 Centerline is valid? [True, True] Translation: X:104.64, Y:20.01, Z:-1.13 [[ 9.41605576e-01 -3.36704972e-01 2.94989285e-03 1.04644407e+02] [ 3.36703244e-01 9.41610196e-01 1.07895493e-03 2.00057547e+01] [-3.14093867e-03 -2.27114893e-05 9.99995067e-01 -1.12586549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.576875 meters 0.01460704795160393 Centerline is valid? [True, True] Translation: X:104.70, Y:20.03, Z:-1.13 [[ 9.42635365e-01 -3.33804507e-01 3.62211404e-03 1.04697971e+02] [ 3.33801876e-01 9.42642323e-01 1.32599779e-03 2.00294206e+01] [-3.85698203e-03 -4.08639454e-05 9.99992561e-01 -1.12524344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63687499999999 meters 0.015670913155442057 Centerline is valid? [True, True] Translation: X:104.75, Y:20.06, Z:-1.13 [[ 9.44088450e-01 -3.29675389e-01 3.33708761e-03 1.04751544e+02] [ 3.29673133e-01 9.44094347e-01 1.22068135e-03 2.00555587e+01] [-3.55295415e-03 -5.22830368e-05 9.99993687e-01 -1.12582751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69687499999999 meters 0.017099248181148427 Centerline is valid? [True, True] Translation: X:104.80, Y:20.08, Z:-1.13 [[ 9.45772046e-01 -3.24812369e-01 3.48730435e-03 1.04804799e+02] [ 3.24809863e-01 9.45778473e-01 1.27801583e-03 2.00819786e+01] [-3.71333273e-03 -7.60007931e-05 9.99993103e-01 -1.12841892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.756875 meters 0.01758400816072654 Centerline is valid? [True, True] Translation: X:104.86, Y:20.10, Z:-1.13 [[ 9.46689681e-01 -3.22139650e-01 2.16653736e-03 1.04859613e+02] [ 3.22138680e-01 9.46692159e-01 7.92209053e-04 2.01044886e+01] [-2.30624588e-03 -5.20506486e-05 9.99997339e-01 -1.13046218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.816875 meters 0.01931067347502586 Centerline is valid? [True, True] Translation: X:104.91, Y:20.13, Z:-1.13 [[ 9.47724564e-01 -3.19086249e-01 1.45495714e-03 1.04913215e+02] [ 3.19085806e-01 9.47725680e-01 5.33418916e-04 2.01281875e+01] [-1.54910689e-03 -4.12780382e-05 9.99998799e-01 -1.13236101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.876875 meters 0.01951948003847558 Centerline is valid? [True, True] Translation: X:104.97, Y:20.15, Z:-1.13 [[ 9.48069114e-01 -3.18055980e-01 2.31257951e-03 1.04968410e+02] [ 3.18054857e-01 9.48071932e-01 8.48019009e-04 2.01473877e+01] [-2.46220924e-03 -6.84534876e-05 9.99996966e-01 -1.13113757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.936875 meters 0.02021122552191292 Centerline is valid? [True, True] Translation: X:105.02, Y:20.17, Z:-1.13 [[ 9.48222430e-01 -3.17589253e-01 3.36013711e-03 1.05023878e+02] [ 3.17586880e-01 9.48228378e-01 1.23171468e-03 2.01676834e+01] [-3.57735671e-03 -1.00804024e-04 9.99993596e-01 -1.13191114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99687499999999 meters 0.018469294175332517 Centerline is valid? [True, True] Translation: X:105.08, Y:20.18, Z:-1.13 [[ 9.48234061e-01 -3.17554122e-01 3.39775765e-03 1.05080453e+02] [ 3.17551693e-01 9.48240143e-01 1.24633381e-03 2.01836217e+01] [-3.61766864e-03 -1.02852474e-04 9.99993451e-01 -1.13237116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05687499999999 meters 0.020415921649374943 Centerline is valid? [True, True] Translation: X:105.13, Y:20.20, Z:-1.13 [[ 9.48409265e-01 -3.17037415e-01 2.67279610e-03 1.05134841e+02] [ 3.17035906e-01 9.48413027e-01 9.81987423e-04 2.02035313e+01] [-2.84624139e-03 -8.39536389e-05 9.99995946e-01 -1.13430425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.116875 meters 0.020447217788628992 Centerline is valid? [True, True] Translation: X:105.19, Y:20.22, Z:-1.14 [[ 9.48243022e-01 -3.17526641e-01 3.46444210e-03 1.05190794e+02] [ 3.17524110e-01 9.48249345e-01 1.27231396e-03 2.02215412e+01] [-3.68914853e-03 -1.06418940e-04 9.99993189e-01 -1.13534310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.176875 meters 0.0195104680759407 Centerline is valid? [True, True] Translation: X:105.25, Y:20.24, Z:-1.13 [[ 9.47499439e-01 -3.19728388e-01 4.30932212e-03 1.05247293e+02] [ 3.19724486e-01 9.47509231e-01 1.58444848e-03 2.02376310e+01] [-4.58971565e-03 -1.23468246e-04 9.99989460e-01 -1.13476342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.236875 meters 0.01807054891693433 Centerline is valid? [True, True] Translation: X:105.30, Y:20.25, Z:-1.13 [[ 9.46527998e-01 -3.22594419e-01 4.19407820e-03 1.05304472e+02] [ 3.22590746e-01 9.46537284e-01 1.54311667e-03 2.02533408e+01] [-4.46765221e-03 -1.07632314e-04 9.99990014e-01 -1.13479926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.296875 meters 0.016954903940101927 Centerline is valid? [True, True] Translation: X:105.36, Y:20.27, Z:-1.14 [[ 9.45101099e-01 -3.26748678e-01 4.38332563e-03 1.05362190e+02] [ 3.26744704e-01 9.45111259e-01 1.61424082e-03 2.02686378e+01] [-4.67018146e-03 -9.33923340e-05 9.99989090e-01 -1.13688962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35687499999999 meters 0.015695188110675842 Centerline is valid? [True, True] Translation: X:105.42, Y:20.28, Z:-1.14 [[ 9.43684269e-01 -3.30810576e-01 4.93582918e-03 1.05420193e+02] [ 3.30805579e-01 9.43697174e-01 1.82028560e-03 2.02822724e+01] [-5.26009778e-03 -8.49750580e-05 9.99986162e-01 -1.13736474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41687499999999 meters 0.01539285810140816 Centerline is valid? [True, True] Translation: X:105.48, Y:20.30, Z:-1.14 [[ 9.42830842e-01 -3.33211718e-01 6.32092513e-03 1.05475541e+02] [ 3.33203572e-01 9.42852026e-01 2.33175217e-03 2.02987753e+01] [-6.73666421e-03 -9.22930353e-05 9.99977304e-01 -1.13655807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47687499999999 meters 0.014809464187172274 Centerline is valid? [True, True] Translation: X:105.53, Y:20.31, Z:-1.14 [[ 9.42116973e-01 -3.35188970e-01 7.99778786e-03 1.05532570e+02] [ 3.35175994e-01 9.42150914e-01 2.95095439e-03 2.03148653e+01] [-8.52425050e-03 -9.94777136e-05 9.99963663e-01 -1.13619062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.536875 meters 0.015017738459161527 Centerline is valid? [True, True] Translation: X:105.59, Y:20.33, Z:-1.14 [[ 9.42403833e-01 -3.34403717e-01 7.01213864e-03 1.05588107e+02] [ 3.34393709e-01 9.42429915e-01 2.58884868e-03 2.03346916e+01] [-7.47416985e-03 -9.49258684e-05 9.99972063e-01 -1.13900241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.596875 meters 0.013859144194494254 Centerline is valid? [True, True] Translation: X:105.65, Y:20.35, Z:-1.14 [[ 9.39879566e-01 -3.41438496e-01 6.79372867e-03 1.05646388e+02] [ 3.41429272e-01 9.39904118e-01 2.51007859e-03 2.03483311e+01] [-7.24249102e-03 -3.95937448e-05 9.99973772e-01 -1.13819152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.656875 meters 0.01350118825158226 Centerline is valid? [True, True] Translation: X:105.70, Y:20.37, Z:-1.14 [[ 9.38177466e-01 -3.46092869e-01 6.53975591e-03 1.05703089e+02] [ 3.46084424e-01 9.38200259e-01 2.41770873e-03 2.03659952e+01] [-6.97235244e-03 -4.93218982e-06 9.99975693e-01 -1.13882062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.716875 meters 0.013563081783726942 Centerline is valid? [True, True] Translation: X:105.76, Y:20.39, Z:-1.14 [[ 9.37876443e-01 -3.46927871e-01 5.36925320e-03 1.05755597e+02] [ 3.46922185e-01 9.37891813e-01 1.98629446e-03 2.03881513e+01] [-5.72487952e-03 -1.85728044e-07 9.99983613e-01 -1.14453875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77687499999999 meters 0.01370589615342587 Centerline is valid? [True, True] Translation: X:105.81, Y:20.41, Z:-1.14 [[ 9.39226492e-01 -3.43269288e-01 4.44885600e-03 1.05809883e+02] [ 3.43265342e-01 9.39237028e-01 1.64602744e-03 2.04120991e+01] [-4.74356095e-03 -1.88545000e-05 9.99988749e-01 -1.14405648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83687499999999 meters 0.013933856186600023 Centerline is valid? [True, True] Translation: X:105.86, Y:20.44, Z:-1.14 [[ 9.40162731e-01 -3.40692042e-01 4.79280363e-03 1.05863654e+02] [ 3.40687418e-01 9.40174947e-01 1.77555588e-03 2.04351542e+01] [-5.11099166e-03 -3.64635682e-05 9.99986938e-01 -1.14251843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.896875 meters 0.014764335451975976 Centerline is valid? [True, True] Translation: X:105.92, Y:20.46, Z:-1.14 [[ 9.41604760e-01 -3.36675479e-01 5.48609728e-03 1.05916744e+02] [ 3.36669349e-01 9.41620740e-01 2.03279280e-03 2.04604274e+01] [-5.85021447e-03 -6.70865769e-05 9.99982885e-01 -1.14168945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.956875 meters 0.015556910408647946 Centerline is valid? [True, True] Translation: X:105.97, Y:20.49, Z:-1.14 [[ 9.42731770e-01 -3.33503517e-01 5.67567851e-03 1.05970593e+02] [ 3.33496889e-01 9.42748851e-01 2.10467769e-03 2.04852244e+01] [-6.05265681e-03 -9.13253975e-05 9.99981678e-01 -1.14334590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.016875 meters 0.016651137212822156 Centerline is valid? [True, True] Translation: X:106.03, Y:20.51, Z:-1.14 [[ 9.44248485e-01 -3.29198788e-01 4.79120802e-03 1.06025294e+02] [ 3.29194003e-01 9.44260635e-01 1.77792480e-03 2.05104560e+01] [-5.10943982e-03 -1.01565858e-04 9.99986942e-01 -1.14295583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.076875 meters 0.01867015567289823 Centerline is valid? [True, True] Translation: X:106.08, Y:20.54, Z:-1.14 [[ 9.45931681e-01 -3.24339520e-01 4.13892146e-03 1.06078223e+02] [ 3.24335896e-01 9.45940729e-01 1.53733652e-03 2.05380476e+01] [-4.41379338e-03 -1.11814515e-04 9.99990253e-01 -1.14485434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13687499999999 meters 0.019888307119153955 Centerline is valid? [True, True] Translation: X:106.13, Y:20.56, Z:-1.14 [[ 9.46844404e-01 -3.21662165e-01 4.37330268e-03 1.06131626e+02] [ 3.21658091e-01 9.46854495e-01 1.62414629e-03 2.05619149e+01] [-4.66330772e-03 -1.31105637e-04 9.99989118e-01 -1.14476686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19687499999999 meters 0.02049351031836809 Centerline is valid? [True, True] Translation: X:106.19, Y:20.58, Z:-1.14 [[ 9.47465084e-01 -3.19821111e-01 4.93668294e-03 1.06186334e+02] [ 3.19815894e-01 9.47477932e-01 1.83359851e-03 2.05849727e+01] [-5.26382165e-03 -1.58440895e-04 9.99986133e-01 -1.14412153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.256875 meters 0.020005216636177176 Centerline is valid? [True, True] Translation: X:106.24, Y:20.61, Z:-1.14 [[ 9.46976495e-01 -3.21261952e-01 5.12608462e-03 1.06242254e+02] [ 3.21256339e-01 9.46990356e-01 1.90559028e-03 2.06051020e+01] [-5.46654635e-03 -1.57762030e-04 9.99985046e-01 -1.14367458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.316875 meters 0.019941016882549293 Centerline is valid? [True, True] Translation: X:106.30, Y:20.63, Z:-1.15 [[ 9.45791942e-01 -3.24730363e-01 5.27200967e-03 1.06296276e+02] [ 3.24724468e-01 9.45806624e-01 1.96188139e-03 2.06258464e+01] [-5.62338412e-03 -1.43581069e-04 9.99984178e-01 -1.14509980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.376875 meters 0.015281747776898093 Centerline is valid? [True, True] Translation: X:106.36, Y:20.64, Z:-1.14 [[ 9.42954492e-01 -3.32886362e-01 4.84716184e-03 1.06355741e+02] [ 3.32881487e-01 9.42966946e-01 1.80371389e-03 2.06373483e+01] [-5.17114516e-03 -8.72896730e-05 9.99986626e-01 -1.14475145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.436875 meters 0.014403727899993403 Centerline is valid? [True, True] Translation: X:106.41, Y:20.66, Z:-1.15 [[ 9.41409547e-01 -3.37247609e-01 3.48070594e-03 1.06411142e+02] [ 3.37245125e-01 9.41415981e-01 1.29518291e-03 2.06557094e+01] [-3.71358953e-03 -4.54464489e-05 9.99993104e-01 -1.14774470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49687499999999 meters 0.01436690913422501 Centerline is valid? [True, True] Translation: X:106.47, Y:20.68, Z:-1.15 [[ 9.41198729e-01 -3.37840102e-01 3.00312003e-03 1.06465822e+02] [ 3.37838255e-01 9.41203519e-01 1.11762832e-03 2.06756552e+01] [-3.20412681e-03 -3.73415251e-05 9.99994866e-01 -1.14879060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55687499999999 meters 0.015165847123605691 Centerline is valid? [True, True] Translation: X:106.52, Y:20.70, Z:-1.15 [[ 9.42458695e-01 -3.34303743e-01 3.55182075e-03 1.06519604e+02] [ 3.34301123e-01 9.42465386e-01 1.32500802e-03 2.06986447e+01] [-3.79042325e-03 -6.13876628e-05 9.99992814e-01 -1.14776414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.616875 meters 0.016404117636385458 Centerline is valid? [True, True] Translation: X:106.57, Y:20.72, Z:-1.15 [[ 9.43790298e-01 -3.30529318e-01 3.20049868e-03 1.06573189e+02] [ 3.30527172e-01 9.43795722e-01 1.19288885e-03 2.07227251e+01] [-3.41490171e-03 -6.79851469e-05 9.99994167e-01 -1.14888179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.676875 meters 0.01860806211889321 Centerline is valid? [True, True] Translation: X:106.63, Y:20.75, Z:-1.15 [[ 9.46101182e-01 -3.23845959e-01 4.04330120e-03 1.06626571e+02] [ 3.23842460e-01 9.46109814e-01 1.51028035e-03 2.07495981e+01] [-4.31450514e-03 -1.19485418e-04 9.99990685e-01 -1.15019297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.736875 meters 0.019894413849452116 Centerline is valid? [True, True] Translation: X:106.68, Y:20.77, Z:-1.15 [[ 9.47719307e-01 -3.19064351e-01 5.10431024e-03 1.06680561e+02] [ 3.19058702e-01 9.47733036e-01 1.90699237e-03 2.07738668e+01] [-5.44597672e-03 -1.78718889e-04 9.99985155e-01 -1.15103347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.796875 meters 0.02084450134843515 Centerline is valid? [True, True] Translation: X:106.73, Y:20.80, Z:-1.15 [[ 9.48352517e-01 -3.17183428e-01 4.70918640e-03 1.06734782e+02] [ 3.17178602e-01 9.48364193e-01 1.75833730e-03 2.07961890e+01] [-5.02373921e-03 -1.73870444e-04 9.99987366e-01 -1.15252457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85687499999999 meters 0.021845830789885376 Centerline is valid? [True, True] Translation: X:106.79, Y:20.82, Z:-1.15 [[ 9.49189942e-01 -3.14674638e-01 4.28098337e-03 1.06789570e+02] [ 3.14670613e-01 9.49199580e-01 1.60077290e-03 2.08187046e+01] [-4.56723025e-03 -1.72337872e-04 9.99989555e-01 -1.15441585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91687499999999 meters 0.0234105531975763 Centerline is valid? [True, True] Translation: X:106.84, Y:20.84, Z:-1.16 [[ 9.49648317e-01 -3.13295216e-01 3.76582712e-03 1.06843016e+02] [ 3.13292091e-01 9.49655771e-01 1.40803078e-03 2.08411472e+01] [-4.01736877e-03 -1.57330206e-04 9.99991918e-01 -1.15589422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97687499999999 meters 0.02398949591286612 Centerline is valid? [True, True] Translation: X:106.90, Y:20.86, Z:-1.16 [[ 9.49991104e-01 -3.12257448e-01 3.49131761e-03 1.06898024e+02] [ 3.12254759e-01 9.49997507e-01 1.30443122e-03 2.08614753e+01] [-3.72406139e-03 -1.49017521e-04 9.99993055e-01 -1.15752406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.036875 meters 0.02344662901160986 Centerline is valid? [True, True] Translation: X:106.95, Y:20.88, Z:-1.16 [[ 9.49911147e-01 -3.12501647e-01 3.39622957e-03 1.06953518e+02] [ 3.12499102e-01 9.49917207e-01 1.26946409e-03 2.08799246e+01] [-3.62284652e-03 -1.44559396e-04 9.99993427e-01 -1.15943221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.096875 meters 0.023724918790475644 Centerline is valid? [True, True] Translation: X:107.01, Y:20.90, Z:-1.16 [[ 9.49497035e-01 -3.13754716e-01 3.65505665e-03 1.07007805e+02] [ 3.13751766e-01 9.49504057e-01 1.36918039e-03 2.08995128e+01] [-3.90007793e-03 -1.53252242e-04 9.99992383e-01 -1.15898574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.156875 meters 0.0224841302415409 Centerline is valid? [True, True] Translation: X:107.06, Y:20.92, Z:-1.16 [[ 9.49212878e-01 -3.14598612e-01 4.75654251e-03 1.07064435e+02] [ 3.14593627e-01 9.49224776e-01 1.78165391e-03 2.09177417e+01] [-5.07553384e-03 -1.94790874e-04 9.99987100e-01 -1.15785120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.216875 meters 0.022703906341680586 Centerline is valid? [True, True] Translation: X:107.12, Y:20.94, Z:-1.16 [[ 9.48975481e-01 -3.15310069e-01 5.00967308e-03 1.07119401e+02] [ 3.15304542e-01 9.48988683e-01 1.87784646e-03 2.09386553e+01] [-5.34622695e-03 -2.02457572e-04 9.99985688e-01 -1.15882435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27687499999999 meters 0.022397715487025464 Centerline is valid? [True, True] Translation: X:107.18, Y:20.96, Z:-1.16 [[ 9.48382746e-01 -3.17100404e-01 4.18347148e-03 1.07175602e+02] [ 3.17096564e-01 9.48391959e-01 1.56899381e-03 2.09577338e+01] [-4.46509928e-03 -1.61442227e-04 9.99990018e-01 -1.16114611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33687499999999 meters 0.021382994815642424 Centerline is valid? [True, True] Translation: X:107.23, Y:20.97, Z:-1.16 [[ 9.47794954e-01 -3.18861580e-01 3.46657798e-03 1.07232040e+02] [ 3.18858954e-01 9.47801285e-01 1.30041676e-03 2.09744530e+01] [-3.70028000e-03 -1.27179019e-04 9.99993146e-01 -1.16233129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.396875 meters 0.021170537492047576 Centerline is valid? [True, True] Translation: X:107.29, Y:20.99, Z:-1.16 [[ 9.47448348e-01 -3.19890033e-01 3.46338467e-03 1.07288004e+02] [ 3.19887415e-01 9.47454670e-01 1.30019484e-03 2.09934085e+01] [-3.69731935e-03 -1.23974282e-04 9.99993157e-01 -1.16266615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.456875 meters 0.01548732925012073 Centerline is valid? [True, True] Translation: X:107.35, Y:21.00, Z:-1.16 [[ 9.42023700e-01 -3.35482628e-01 6.53878326e-03 1.07348491e+02] [ 3.35473631e-01 9.42046385e-01 2.46001777e-03 2.10007656e+01] [-6.98513036e-03 -1.23805677e-04 9.99975596e-01 -1.15700520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.516875 meters 0.014998042562653848 Centerline is valid? [True, True] Translation: X:107.40, Y:21.02, Z:-1.16 [[ 9.39996670e-01 -3.41155835e-01 4.35393383e-03 1.07403232e+02] [ 3.41151907e-01 9.40006752e-01 1.63794478e-03 2.10200796e+01] [-4.65152162e-03 -5.43098143e-05 9.99989180e-01 -1.16282800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.576875 meters 0.013246217783307195 Centerline is valid? [True, True] Translation: X:107.46, Y:21.03, Z:-1.17 [[ 9.37798046e-01 -3.47179507e-01 1.10237662e-03 1.07460946e+02] [ 3.47179262e-01 9.37798694e-01 4.12411094e-04 2.10349156e+01] [-1.17698804e-03 -4.03601608e-06 9.99999307e-01 -1.16889629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63687499999999 meters 0.013385687916322176 Centerline is valid? [True, True] Translation: X:107.52, Y:21.05, Z:-1.16 [[ 9.37375633e-01 -3.48308781e-01 2.81345820e-03 1.07517087e+02] [ 3.48307175e-01 9.37379855e-01 1.05780684e-03 2.10517600e+01] [-3.00572246e-03 -1.16146825e-05 9.99995483e-01 -1.16333895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69687499999999 meters 0.013727496395761709 Centerline is valid? [True, True] Translation: X:107.57, Y:21.08, Z:-1.16 [[ 9.38443093e-01 -3.45407300e-01 4.28470671e-03 1.07571808e+02] [ 3.45403532e-01 9.38452874e-01 1.61356682e-03 2.10751082e+01] [-4.57833309e-03 -3.42878061e-05 9.99989519e-01 -1.16115226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.756875 meters 0.01539612652666392 Centerline is valid? [True, True] Translation: X:107.63, Y:21.10, Z:-1.17 [[ 9.41074435e-01 -3.38180909e-01 3.54681332e-03 1.07625301e+02] [ 3.38178273e-01 9.41081117e-01 1.33647163e-03 2.11033809e+01] [-3.78980823e-03 -5.82640843e-05 9.99992817e-01 -1.16509969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.816875 meters 0.016839822311063745 Centerline is valid? [True, True] Translation: X:107.68, Y:21.13, Z:-1.16 [[ 9.42856472e-01 -3.33173355e-01 4.14601427e-03 1.07680216e+02] [ 3.33169699e-01 9.42865583e-01 1.56352007e-03 2.11281076e+01] [-4.43005738e-03 -9.28486861e-05 9.99990183e-01 -1.16400694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.876875 meters 0.01947749462092276 Centerline is valid? [True, True] Translation: X:107.73, Y:21.16, Z:-1.16 [[ 9.44935303e-01 -3.27225901e-01 4.52569297e-03 1.07732902e+02] [ 3.27221466e-01 9.44946132e-01 1.70894277e-03 2.11552337e+01] [-4.83574640e-03 -1.33936465e-04 9.99988299e-01 -1.16316370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.936875 meters 0.018749231977371893 Centerline is valid? [True, True] Translation: X:107.79, Y:21.18, Z:-1.16 [[ 9.44360631e-01 -3.28875808e-01 4.86846107e-03 1.07788155e+02] [ 3.28870700e-01 9.44373170e-01 1.83780397e-03 2.11756742e+01] [-5.20205328e-03 -1.34455514e-04 9.99986460e-01 -1.16321793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99687499999999 meters 0.01724731308635089 Centerline is valid? [True, True] Translation: X:107.84, Y:21.19, Z:-1.16 [[ 9.43113423e-01 -3.32439891e-01 4.55951859e-03 1.07843779e+02] [ 3.32435442e-01 9.43124439e-01 1.72343964e-03 2.11942748e+01] [-4.87313350e-03 -1.09653485e-04 9.99988120e-01 -1.16427965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05687499999999 meters 0.01675796043175445 Centerline is valid? [True, True] Translation: X:107.90, Y:21.22, Z:-1.17 [[ 9.42359351e-01 -3.34583285e-01 3.58864723e-03 1.07898493e+02] [ 3.34580549e-01 9.42366181e-01 1.35522761e-03 2.12150294e+01] [-3.83525629e-03 -7.64198482e-05 9.99992642e-01 -1.16699443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.116875 meters 0.016732805590284054 Centerline is valid? [True, True] Translation: X:107.95, Y:21.24, Z:-1.17 [[ 9.42486067e-01 -3.34233065e-01 2.87607053e-03 1.07952852e+02] [ 3.34231306e-01 9.42490453e-01 1.08634383e-03 2.12372089e+01] [-3.07376104e-03 -6.25911157e-05 9.99995274e-01 -1.16844730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.176875 meters 0.01800126167864841 Centerline is valid? [True, True] Translation: X:108.01, Y:21.26, Z:-1.17 [[ 9.43507625e-01 -3.31348638e-01 1.20094365e-03 1.08007859e+02] [ 3.31348330e-01 9.43508388e-01 4.52944729e-04 2.12613923e+01] [-1.28318302e-03 -2.94261339e-05 9.99999176e-01 -1.16997185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.236875 meters 0.018538883185509395 Centerline is valid? [True, True] Translation: X:108.06, Y:21.28, Z:-1.17 [[ 9.43817095e-01 -3.30467175e-01 8.58857967e-04 1.08062261e+02] [ 3.30467018e-01 9.43817486e-01 3.22792447e-04 2.12835580e+01] [-9.17277475e-04 -2.08327989e-05 9.99999579e-01 -1.17118580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.296875 meters 0.021709759915769702 Centerline is valid? [True, True] Translation: X:108.11, Y:21.31, Z:-1.17 [[ 9.45331081e-01 -3.26111908e-01 4.13326834e-04 1.08114737e+02] [ 3.26111871e-01 9.45331171e-01 1.55810900e-04 2.13100736e+01] [-4.41542530e-04 -1.25020991e-05 9.99999902e-01 -1.17279995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35687499999999 meters 0.02186924693624024 Centerline is valid? [True, True] Translation: X:108.17, Y:21.33, Z:-1.17 [[ 9.46242048e-01 -3.23452240e-01 2.15300013e-03 1.08168930e+02] [ 3.23451220e-01 9.46244494e-01 8.15831773e-04 2.13316109e+01] [-2.30114713e-03 -7.55838094e-05 9.99997350e-01 -1.17134771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41687499999999 meters 0.021958569478748736 Centerline is valid? [True, True] Translation: X:108.22, Y:21.35, Z:-1.17 [[ 9.46986462e-01 -3.21248235e-01 4.02638671e-03 1.08223247e+02] [ 3.21244647e-01 9.46995010e-01 1.52581282e-03 2.13546427e+01] [-4.30313280e-03 -1.51468908e-04 9.99990730e-01 -1.17029306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47687499999999 meters 0.02365656601459134 Centerline is valid? [True, True] Translation: X:108.28, Y:21.38, Z:-1.17 [[ 9.48094819e-01 -3.17966090e-01 3.71217471e-03 1.08276855e+02] [ 3.17963006e-01 9.48102073e-01 1.40890742e-03 2.13810733e+01] [-3.96750532e-03 -1.55443598e-04 9.99992117e-01 -1.17290108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.536875 meters 0.025910929884181838 Centerline is valid? [True, True] Translation: X:108.33, Y:21.41, Z:-1.17 [[ 9.48519212e-01 -3.16705435e-01 2.99520887e-03 1.08329401e+02] [ 3.16703422e-01 9.48523933e-01 1.13640358e-03 2.14058541e+01] [-3.20093249e-03 -1.29307728e-04 9.99994869e-01 -1.17479524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.596875 meters 0.024161101907523283 Centerline is valid? [True, True] Translation: X:108.39, Y:21.43, Z:-1.18 [[ 9.48274359e-01 -3.17431310e-01 3.61996357e-03 1.08385039e+02] [ 3.17428376e-01 9.48281256e-01 1.37338679e-03 2.14260390e+01] [-3.86869957e-03 -1.53268323e-04 9.99992505e-01 -1.17550100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.656875 meters 0.03103830906059998 Centerline is valid? [True, True] Translation: X:108.43, Y:21.47, Z:-1.17 [[ 9.51797961e-01 -3.06641500e-01 7.18553168e-03 1.08429718e+02] [ 3.06629588e-01 9.51825001e-01 2.73178888e-03 2.14742090e+01] [-7.67704854e-03 -3.96814467e-04 9.99970452e-01 -1.17222955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.716875 meters 0.047976954278738625 Centerline is valid? [True, True] Translation: X:108.46, Y:21.55, Z:-1.18 [[ 9.62921539e-01 -2.69737798e-01 4.86109749e-03 1.08463610e+02] [ 2.69731872e-01 9.62933695e-01 1.84829845e-03 2.15536498e+01] [-5.17947052e-03 -4.68573462e-04 9.99986477e-01 -1.17745687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77687499999999 meters 0.07655145410939866 Centerline is valid? [True, True] Translation: X:108.49, Y:21.66, Z:-1.18 [[ 9.75583751e-01 -2.19618233e-01 2.04392099e-03 1.08488551e+02] [ 2.19617076e-01 9.75585843e-01 7.77027563e-04 2.16575984e+01] [-2.16466980e-03 -3.09175513e-04 9.99997609e-01 -1.18142903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83687499999999 meters 0.11114840195153146 Centerline is valid? [True, False] Translation: X:108.44, Y:21.68, Z:-1.18 [[ 9.86608912e-01 -1.62999573e-01 -5.83038883e-03 1.08443083e+02] [ 1.62995567e-01 9.86626121e-01 -1.15902274e-03 2.16776798e+01] [ 5.94133413e-03 1.93174636e-04 9.99982331e-01 -1.17572891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.896875 meters 0.13558110256703246 Centerline is valid? [False, False] Translation: X:108.42, Y:21.74, Z:-1.18 [[ 9.95190080e-01 -9.79084537e-02 -3.26180551e-03 1.08415012e+02] [ 9.77758734e-02 9.94796428e-01 -2.86346755e-02 2.17417284e+01] [ 6.04840928e-03 2.81780191e-02 9.99584622e-01 -1.18326749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.956875 meters 0.1468537064514879 Centerline is valid? [False, False] Translation: X:108.41, Y:21.78, Z:-1.18 [[ 9.97074013e-01 -7.57639511e-02 -1.01605130e-02 1.08405696e+02] [ 7.54566798e-02 9.96760955e-01 -2.78188427e-02 2.17768114e+01] [ 1.22352680e-02 2.69707666e-02 9.99561342e-01 -1.18029150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.016875 meters 0.14018314267928114 Centerline is valid? [False, False] Translation: X:108.40, Y:21.81, Z:-1.17 [[ 9.97062060e-01 -7.34974336e-02 -2.15725694e-02 1.08397305e+02] [ 7.28152807e-02 9.96867700e-01 -3.08662283e-02 2.18143646e+01] [ 2.37735862e-02 2.92047325e-02 9.99290699e-01 -1.17201491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.076875 meters 0.11763319055010196 Centerline is valid? [False, False] Translation: X:108.39, Y:21.83, Z:-1.17 [[ 9.96765807e-01 -7.73467844e-02 -2.18037137e-02 1.08393843e+02] [ 7.65358354e-02 9.96422004e-01 -3.58532562e-02 2.18297261e+01] [ 2.44988342e-02 3.40685344e-02 9.99119183e-01 -1.16772681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13687499999999 meters 0.08992493946692137 Centerline is valid? [False, True] Translation: X:108.40, Y:21.85, Z:-1.16 [[ 9.93562437e-01 -1.09820178e-01 -2.78067069e-02 1.08397720e+02] [ 1.09147012e-01 9.93719371e-01 -2.46726878e-02 2.18497917e+01] [ 3.03416223e-02 2.14788368e-02 9.99308784e-01 -1.15521924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19687499999999 meters 0.06531368510305206 Centerline is valid? [True, True] Translation: X:108.46, Y:21.85, Z:-1.15 [[ 9.86282215e-01 -1.62437647e-01 -2.93496839e-02 1.08461617e+02] [ 1.62242293e-01 9.86710495e-01 -8.93512551e-03 2.18456790e+01] [ 3.04110419e-02 4.05079535e-03 9.99529269e-01 -1.15088647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.256875 meters 0.0464357553399324 Centerline is valid? [True, True] Translation: X:108.53, Y:21.84, Z:-1.15 [[ 9.79406819e-01 -1.99753300e-01 -2.93411426e-02 1.08525227e+02] [ 1.99574437e-01 9.79841951e-01 -8.93281143e-03 2.18433852e+01] [ 3.05340410e-02 2.89311441e-03 9.99529540e-01 -1.15034842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.316875 meters 0.023976778316410676 Centerline is valid? [True, True] Translation: X:108.59, Y:21.83, Z:-1.15 [[ 9.67974292e-01 -2.49271303e-01 -2.98259394e-02 1.08590753e+02] [ 2.49109555e-01 9.68432738e-01 -9.08088019e-03 2.18338031e+01] [ 3.11480190e-02 1.36013208e-03 9.99513857e-01 -1.14948646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.376875 meters 0.014880282439253404 Centerline is valid? [True, True] Translation: X:108.65, Y:21.84, Z:-1.15 [[ 9.61237365e-01 -2.74212234e-01 -2.88163041e-02 1.08653065e+02] [ 2.74072350e-01 9.61669051e-01 -8.77405059e-03 2.18371973e+01] [ 3.01176998e-02 5.36193092e-04 9.99546215e-01 -1.14684872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.436875 meters 0.013143348872782889 Centerline is valid? [True, True] Translation: X:108.71, Y:21.84, Z:-1.14 [[ 9.53564264e-01 -3.00058048e-01 -2.60837593e-02 1.08714238e+02] [ 2.99953012e-01 9.53920911e-01 -7.94265548e-03 2.18405932e+01] [ 2.72651012e-02 -2.50069738e-04 9.99628207e-01 -1.14405235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49687499999999 meters 0.01612631921779556 Centerline is valid? [True, True] Translation: X:108.77, Y:21.85, Z:-1.14 [[ 9.49339194e-01 -3.13136678e-01 -2.64672516e-02 1.08773395e+02] [ 3.13033558e-01 9.49707861e-01 -8.06045232e-03 2.18485360e+01] [ 2.76601802e-02 -6.33034650e-04 9.99617184e-01 -1.14419720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55687499999999 meters 0.017045873848274534 Centerline is valid? [True, True] Translation: X:108.83, Y:21.86, Z:-1.14 [[ 9.48901049e-01 -3.14367142e-01 -2.75699094e-02 1.08828968e+02] [ 3.14255736e-01 9.49301225e-01 -8.39741407e-03 2.18629202e+01] [ 2.88120198e-02 -6.95687144e-04 9.99584605e-01 -1.14473385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.616875 meters 0.013221482251196142 Centerline is valid? [True, True] Translation: X:108.88, Y:21.89, Z:-1.15 [[ 9.52006091e-01 -3.04534789e-01 -3.07077242e-02 1.08883360e+02] [ 3.04391338e-01 9.52501112e-01 -9.35651881e-03 2.18889995e+01] [ 3.20985270e-02 -4.39702357e-04 9.99484613e-01 -1.14515722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.676875 meters 0.01230504608020212 Centerline is valid? [True, True] Translation: X:108.94, Y:21.91, Z:-1.14 [[ 9.55961187e-01 -2.91946481e-01 -3.00908756e-02 1.08937163e+02] [ 2.91802436e-01 9.56434656e-01 -9.16987232e-03 2.19118811e+01] [ 3.14570682e-02 -1.45487742e-05 9.99505104e-01 -1.14334392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.736875 meters 0.015418219626412747 Centerline is valid? [True, True] Translation: X:108.99, Y:21.94, Z:-1.14 [[ 9.62274234e-01 -2.70626242e-01 -2.81022565e-02 1.08992179e+02] [ 2.70491407e-01 9.62684282e-01 -8.56577110e-03 2.19386539e+01] [ 2.93717231e-02 6.41201900e-04 9.99568352e-01 -1.13890810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.796875 meters 0.02830041662835773 Centerline is valid? [True, True] Translation: X:109.05, Y:21.97, Z:-1.14 [[ 9.66839264e-01 -2.53908963e-01 -2.74239951e-02 1.09045569e+02] [ 2.53773811e-01 9.67227470e-01 -8.35906994e-03 2.19677283e+01] [ 2.86476841e-02 1.12238529e-03 9.99588941e-01 -1.13836793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85687499999999 meters 0.022401267165723163 Centerline is valid? [True, True] Translation: X:109.11, Y:21.97, Z:-1.14 [[ 9.68138513e-01 -2.48736799e-01 -2.89451869e-02 1.09108824e+02] [ 2.48583894e-01 9.68570178e-01 -8.82373007e-03 2.19682544e+01] [ 3.02302312e-02 1.34728563e-03 9.99542054e-01 -1.13871576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91687499999999 meters 0.02379396748598596 Centerline is valid? [True, True] Translation: X:109.17, Y:21.97, Z:-1.14 [[ 9.68177188e-01 -2.48558112e-01 -2.91855702e-02 1.09168429e+02] [ 2.48402566e-01 9.68616025e-01 -8.89728225e-03 2.19701876e+01] [ 3.04811026e-02 1.36437518e-03 9.99534412e-01 -1.13783370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97687499999999 meters 0.02177061877739287 Centerline is valid? [True, True] Translation: X:109.23, Y:21.97, Z:-1.13 [[ 9.67677890e-01 -2.50629742e-01 -2.80041862e-02 1.09229631e+02] [ 2.50487327e-01 9.68082214e-01 -8.53970641e-03 2.19717610e+01] [ 2.92506590e-02 1.24899132e-03 9.99571328e-01 -1.13422039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.036875 meters 0.02082171442025606 Centerline is valid? [True, True] Translation: X:109.29, Y:21.97, Z:-1.13 [[ 9.66933566e-01 -2.53664347e-01 -2.63415729e-02 1.09292177e+02] [ 2.53539413e-01 9.67291688e-01 -8.03464475e-03 2.19697008e+01] [ 2.75180874e-02 1.09034076e-03 9.99620711e-01 -1.13031592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.096875 meters 0.02115321386458847 Centerline is valid? [True, True] Translation: X:109.35, Y:21.97, Z:-1.13 [[ 9.66419243e-01 -2.55528392e-01 -2.71861732e-02 1.09353252e+02] [ 2.55395854e-01 9.66800952e-01 -8.29925864e-03 2.19687318e+01] [ 2.84043143e-02 1.07732734e-03 9.99595936e-01 -1.13047592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.156875 meters 0.021743394491637712 Centerline is valid? [True, True] Translation: X:109.41, Y:21.98, Z:-1.13 [[ 9.66233000e-01 -2.56083376e-01 -2.85498516e-02 1.09410277e+02] [ 2.55937346e-01 9.66654052e-01 -8.71888571e-03 2.19802209e+01] [ 2.98305914e-02 1.11750184e-03 9.99554344e-01 -1.13049915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21687499999999 meters 0.020281839261630585 Centerline is valid? [True, True] Translation: X:109.47, Y:21.98, Z:-1.13 [[ 9.65986290e-01 -2.56667483e-01 -3.15006560e-02 1.09470313e+02] [ 2.56489664e-01 9.66498995e-01 -9.63045159e-03 2.19842215e+01] [ 3.29171762e-02 1.22329153e-03 9.99457334e-01 -1.13200507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27687499999999 meters 0.021003183129981416 Centerline is valid? [True, True] Translation: X:109.53, Y:21.99, Z:-1.13 [[ 9.65872528e-01 -2.56872509e-01 -3.32682119e-02 1.09530099e+02] [ 2.56673963e-01 9.66444432e-01 -1.01801630e-02 2.19852433e+01] [ 3.47668822e-02 1.29365592e-03 9.99394612e-01 -1.13302663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33687499999999 meters 0.02005095805694691 Centerline is valid? [True, True] Translation: X:109.59, Y:21.98, Z:-1.13 [[ 9.65888405e-01 -2.56869242e-01 -3.28295720e-02 1.09591425e+02] [ 2.56675743e-01 9.66445317e-01 -1.00504543e-02 2.19842290e+01] [ 3.43096388e-02 1.28106250e-03 9.99410430e-01 -1.12973455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.396875 meters 0.021295119510430952 Centerline is valid? [True, True] Translation: X:109.65, Y:21.99, Z:-1.13 [[ 9.66382948e-01 -2.55132996e-01 -3.17986189e-02 1.09649923e+02] [ 2.54950241e-01 9.66905084e-01 -9.74336153e-03 2.19922457e+01] [ 3.32320993e-02 1.30875290e-03 9.99446804e-01 -1.12754468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.456875 meters 0.022549148432187298 Centerline is valid? [True, True] Translation: X:109.71, Y:21.99, Z:-1.13 [[ 9.67328547e-01 -2.51532407e-01 -3.17321631e-02 1.09711758e+02] [ 2.51348389e-01 9.67847817e-01 -9.72574743e-03 2.19946780e+01] [ 3.31582455e-02 1.43216503e-03 9.99449088e-01 -1.12626548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.516875 meters 0.023421903091510425 Centerline is valid? [True, True] Translation: X:109.77, Y:22.00, Z:-1.12 [[ 9.67774434e-01 -2.50023941e-01 -3.00112319e-02 1.09770826e+02] [ 2.49858562e-01 9.68238635e-01 -9.20024997e-03 2.20017230e+01] [ 3.13583170e-02 1.40520346e-03 9.99507219e-01 -1.12457434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.576875 meters 0.02313019899861288 Centerline is valid? [True, True] Translation: X:109.83, Y:22.00, Z:-1.12 [[ 9.68469387e-01 -2.47592462e-01 -2.76589775e-02 1.09833306e+02] [ 2.47450816e-01 9.68863295e-01 -8.48580061e-03 2.20001246e+01] [ 2.88987884e-02 1.37400156e-03 9.99581398e-01 -1.12143225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63687499999999 meters 0.023527419648199325 Centerline is valid? [True, True] Translation: X:109.89, Y:22.01, Z:-1.12 [[ 9.68448037e-01 -2.47616531e-01 -2.81860437e-02 1.09893557e+02] [ 2.47469382e-01 9.68857105e-01 -8.64960881e-03 2.20060539e+01] [ 2.94500348e-02 1.40151386e-03 9.99565271e-01 -1.12130381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69687499999999 meters 0.025857491841845694 Centerline is valid? [True, True] Translation: X:109.95, Y:22.01, Z:-1.12 [[ 9.68444029e-01 -2.47801854e-01 -2.66534156e-02 1.09952918e+02] [ 2.47670154e-01 9.68809827e-01 -8.18619846e-03 2.20095210e+01] [ 2.78506461e-02 1.32661950e-03 9.99611215e-01 -1.11974237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.756875 meters 0.023381661034233888 Centerline is valid? [True, True] Translation: X:110.02, Y:22.01, Z:-1.12 [[ 9.68510666e-01 -2.47326250e-01 -2.85799838e-02 1.10015236e+02] [ 2.47174510e-01 9.68931190e-01 -8.78127510e-03 2.20077495e+01] [ 2.98638775e-02 1.44051510e-03 9.99552937e-01 -1.12098342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.816875 meters 0.025394282950787123 Centerline is valid? [True, True] Translation: X:110.07, Y:22.02, Z:-1.12 [[ 9.68527331e-01 -2.46927590e-01 -3.13300903e-02 1.10073035e+02] [ 2.46744746e-01 9.69032611e-01 -9.63475101e-03 2.20177397e+01] [ 3.27389651e-02 1.60098450e-03 9.99462654e-01 -1.12305425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.876875 meters 0.025970547701573334 Centerline is valid? [True, True] Translation: X:110.13, Y:22.02, Z:-1.12 [[ 9.68252858e-01 -2.47797275e-01 -3.29076532e-02 1.10134034e+02] [ 2.47595895e-01 9.68810493e-01 -1.01243260e-02 2.20202030e+01] [ 3.43900601e-02 1.65510770e-03 9.99407116e-01 -1.12403420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.936875 meters 0.0235833795693144 Centerline is valid? [True, True] Translation: X:110.19, Y:22.02, Z:-1.12 [[ 9.67871487e-01 -2.49324461e-01 -3.25898357e-02 1.10194932e+02] [ 2.49127521e-01 9.68418697e-01 -1.00351762e-02 2.20232931e+01] [ 3.40626211e-02 1.59373592e-03 9.99418430e-01 -1.12056470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99687499999999 meters 0.024566559316207215 Centerline is valid? [True, True] Translation: X:110.25, Y:22.03, Z:-1.12 [[ 9.67786466e-01 -2.50081830e-01 -2.91279081e-02 1.10254802e+02] [ 2.49924659e-01 9.68223682e-01 -8.97586848e-03 2.20263988e+01] [ 3.04470320e-02 1.40694155e-03 9.99535391e-01 -1.11537512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05687499999999 meters 0.0271865135337578 Centerline is valid? [True, True] Translation: X:110.31, Y:22.04, Z:-1.11 [[ 9.68145021e-01 -2.48836164e-01 -2.78528424e-02 1.10311981e+02] [ 2.48691867e-01 9.68544601e-01 -8.58551303e-03 2.20385480e+01] [ 2.91131063e-02 1.38524632e-03 9.99575164e-01 -1.11366248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.116875 meters 0.026817725896536235 Centerline is valid? [True, True] Translation: X:110.37, Y:22.04, Z:-1.11 [[ 9.68906867e-01 -2.45872459e-01 -2.76806326e-02 1.10372354e+02] [ 2.45728660e-01 9.69301078e-01 -8.53497028e-03 2.20429244e+01] [ 2.89293811e-02 1.46766655e-03 9.99580380e-01 -1.11241526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.176875 meters 0.030626899346223552 Centerline is valid? [True, True] Translation: X:110.43, Y:22.06, Z:-1.11 [[ 9.69053797e-01 -2.45259652e-01 -2.79721761e-02 1.10428576e+02] [ 2.45112503e-01 9.69456262e-01 -8.62656531e-03 2.20571799e+01] [ 2.92335497e-02 1.50327577e-03 9.99571478e-01 -1.11132830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.236875 meters 0.02435488695098471 Centerline is valid? [True, True] Translation: X:110.49, Y:22.06, Z:-1.11 [[ 9.66790589e-01 -2.53707551e-01 -3.07966709e-02 1.10492207e+02] [ 2.53533341e-01 9.67279992e-01 -9.50068446e-03 2.20558042e+01] [ 3.21993990e-02 1.37718947e-03 9.99480516e-01 -1.11322687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.296875 meters 0.020859010513954786 Centerline is valid? [True, True] Translation: X:110.55, Y:22.06, Z:-1.11 [[ 9.64419322e-01 -2.62681365e-01 -2.98976752e-02 1.10554562e+02] [ 2.62521426e-01 9.64882066e-01 -9.22489660e-03 2.20570674e+01] [ 3.12709391e-02 1.04788820e-03 9.99510395e-01 -1.10915638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35687499999999 meters 0.018352797456370615 Centerline is valid? [True, True] Translation: X:110.61, Y:22.06, Z:-1.11 [[ 9.62673925e-01 -2.68953177e-01 -3.03826229e-02 1.10614657e+02] [ 2.68791074e-01 9.63152870e-01 -9.37594770e-03 2.20648650e+01] [ 3.17848013e-02 8.59402538e-04 9.99494366e-01 -1.10857846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41687499999999 meters 0.012856340289638496 Centerline is valid? [True, True] Translation: X:110.68, Y:22.06, Z:-1.10 [[ 9.57334360e-01 -2.87439690e-01 -2.98219480e-02 1.10678049e+02] [ 2.87292251e-01 9.57798707e-01 -9.20865136e-03 2.20617895e+01] [ 3.12103551e-02 2.48143789e-04 9.99512807e-01 -1.10468300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47687499999999 meters 0.012542736112979251 Centerline is valid? [True, True] Translation: X:110.74, Y:22.07, Z:-1.11 [[ 9.56070031e-01 -2.91486203e-01 -3.10787673e-02 1.10735080e+02] [ 2.91328156e-01 9.56575025e-01 -9.59830423e-03 2.20739058e+01] [ 3.25269458e-02 1.22531069e-04 9.99470851e-01 -1.10712585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.536875 meters 0.012511571403693016 Centerline is valid? [True, True] Translation: X:110.79, Y:22.09, Z:-1.11 [[ 9.56146482e-01 -2.91202351e-01 -3.13862346e-02 1.10792053e+02] [ 2.91040877e-01 9.56661472e-01 -9.69720749e-03 2.20864703e+01] [ 3.28498510e-02 1.37273590e-04 9.99460289e-01 -1.10623699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.596875 meters 0.012624168387228461 Centerline is valid? [True, True] Translation: X:110.85, Y:22.10, Z:-1.10 [[ 9.56657075e-01 -2.89778158e-01 -2.89112459e-02 1.10848193e+02] [ 2.89640258e-01 9.57093823e-01 -8.94056367e-03 2.21007807e+01] [ 3.02615550e-02 1.79192755e-04 9.99541998e-01 -1.10024913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.656875 meters 0.013164714912565954 Centerline is valid? [True, True] Translation: X:110.90, Y:22.12, Z:-1.10 [[ 9.57168893e-01 -2.88124633e-01 -2.84939720e-02 1.10902838e+02] [ 2.87989709e-01 9.57592888e-01 -8.81973121e-03 2.21192331e+01] [ 2.98268067e-02 2.36001667e-04 9.99555054e-01 -1.09740160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71687499999999 meters 0.013705186150608636 Centerline is valid? [True, True] Translation: X:110.96, Y:22.14, Z:-1.10 [[ 9.57869848e-01 -2.85610317e-01 -3.02010142e-02 1.10957682e+02] [ 2.85457372e-01 9.58345780e-01 -9.35175330e-03 2.21406968e+01] [ 3.16139717e-02 3.36660377e-04 9.99500097e-01 -1.10034454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77687499999999 meters 0.014605365826164585 Centerline is valid? [True, True] Translation: X:111.01, Y:22.16, Z:-1.10 [[ 9.59081840e-01 -2.81471420e-01 -3.05919038e-02 1.11012294e+02] [ 2.81312122e-01 9.59569488e-01 -9.48092212e-03 2.21637522e+01] [ 3.20236661e-02 4.87106854e-04 9.99486992e-01 -1.10102107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83687499999999 meters 0.01569254633970805 Centerline is valid? [True, True] Translation: X:111.07, Y:22.19, Z:-1.10 [[ 9.60044388e-01 -2.78134280e-01 -3.09207776e-02 1.11067428e+02] [ 2.77969538e-01 9.60542007e-01 -9.59109141e-03 2.21850755e+01] [ 3.23683171e-02 6.12839219e-04 9.99475821e-01 -1.09925187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.896875 meters 0.0182422714046075 Centerline is valid? [True, True] Translation: X:111.12, Y:22.21, Z:-1.10 [[ 9.61898016e-01 -2.71658939e-01 -3.08808570e-02 1.11121922e+02] [ 2.71491044e-01 9.62393225e-01 -9.58606425e-03 2.22094327e+01] [ 3.23236677e-02 8.36940054e-04 9.99477103e-01 -1.09727896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.956875 meters 0.018858655720506125 Centerline is valid? [True, True] Translation: X:111.18, Y:22.23, Z:-1.09 [[ 9.62357297e-01 -2.70486870e-01 -2.65572242e-02 1.11176869e+02] [ 2.70362208e-01 9.62723367e-01 -8.24584919e-03 2.22313992e+01] [ 2.77976543e-02 7.55383350e-04 9.99613285e-01 -1.09066677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.016875 meters 0.017328866451613172 Centerline is valid? [True, True] Translation: X:111.23, Y:22.25, Z:-1.08 [[ 9.61558901e-01 -2.73582515e-01 -2.36026746e-02 1.11233571e+02] [ 2.73484848e-01 9.61848351e-01 -7.33397604e-03 2.22479578e+01] [ 2.47086412e-02 5.97076084e-04 9.99694517e-01 -1.08308111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.076875 meters 0.015563517866978209 Centerline is valid? [True, True] Translation: X:111.29, Y:22.27, Z:-1.09 [[ 9.59700839e-01 -2.79616989e-01 -2.80827336e-02 1.11287991e+02] [ 2.79481042e-01 9.60111480e-01 -8.73456820e-03 2.22702226e+01] [ 2.94048886e-02 5.33980762e-04 9.99567440e-01 -1.08845090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13687499999999 meters 0.01478599969382643 Centerline is valid? [True, True] Translation: X:111.34, Y:22.29, Z:-1.10 [[ 9.58373284e-01 -2.83566152e-01 -3.33299518e-02 1.11343428e+02] [ 2.83376888e-01 9.58952550e-01 -1.03704293e-02 2.22923404e+01] [ 3.49025450e-02 4.93804329e-04 9.99390599e-01 -1.09840655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19687499999999 meters 0.01330598055684463 Centerline is valid? [True, True] Translation: X:111.40, Y:22.31, Z:-1.10 [[ 9.56072897e-01 -2.91079166e-01 -3.46054167e-02 1.11401317e+02] [ 2.90879707e-01 9.56698941e-01 -1.07764931e-02 2.23057008e+01] [ 3.62437782e-02 2.37099508e-04 9.99342950e-01 -1.09616211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.256875 meters 0.012998554203243839 Centerline is valid? [True, True] Translation: X:111.46, Y:22.32, Z:-1.09 [[ 9.54644054e-01 -2.96087439e-01 -3.14159068e-02 1.11458542e+02] [ 2.95925523e-01 9.55160838e-01 -9.79074530e-03 2.23211962e+01] [ 3.29061606e-02 4.99081152e-05 9.99458444e-01 -1.08713835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.316875 meters 0.01305170472181353 Centerline is valid? [True, True] Translation: X:111.51, Y:22.34, Z:-1.09 [[ 9.55330245e-01 -2.93954003e-01 -3.05804889e-02 1.11512423e+02] [ 2.93799250e-01 9.55819558e-01 -9.53798380e-03 2.23435382e+01] [ 3.20331579e-02 1.27399723e-04 9.99486799e-01 -1.08647615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.376875 meters 0.014140871474569149 Centerline is valid? [True, True] Translation: X:111.57, Y:22.37, Z:-1.09 [[ 9.57349602e-01 -2.87322963e-01 -3.04508377e-02 1.11566834e+02] [ 2.87165876e-01 9.57833695e-01 -9.50641268e-03 2.23678388e+01] [ 3.18982491e-02 3.56518899e-04 9.99491058e-01 -1.08533889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.436875 meters 0.014828915108053654 Centerline is valid? [True, True] Translation: X:111.62, Y:22.39, Z:-1.08 [[ 9.58194146e-01 -2.84512373e-01 -3.02768736e-02 1.11622623e+02] [ 2.84355422e-01 9.58672260e-01 -9.45997053e-03 2.23872864e+01] [ 3.17170775e-02 4.55095197e-04 9.99496783e-01 -1.08137385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49687499999999 meters 0.01550750743538862 Centerline is valid? [True, True] Translation: X:111.68, Y:22.41, Z:-1.08 [[ 9.58598657e-01 -2.83183551e-01 -2.99280860e-02 1.11676534e+02] [ 2.83029324e-01 9.59065601e-01 -9.35818823e-03 2.24079481e+01] [ 3.13530827e-02 5.00220736e-04 9.99508246e-01 -1.08176892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55687499999999 meters 0.015156423659236294 Centerline is valid? [True, True] Translation: X:111.73, Y:22.42, Z:-1.08 [[ 9.58086746e-01 -2.84935082e-01 -2.96948710e-02 1.11733406e+02] [ 2.84783987e-01 9.58546714e-01 -9.28855796e-03 2.24238137e+01] [ 3.11105570e-02 4.42620518e-04 9.99515851e-01 -1.07999567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.616875 meters 0.014172760722666156 Centerline is valid? [True, True] Translation: X:111.79, Y:22.44, Z:-1.08 [[ 9.56402118e-01 -2.90533023e-01 -2.97582199e-02 1.11791328e+02] [ 2.90383745e-01 9.56864928e-01 -9.31612502e-03 2.24358178e+01] [ 3.11812389e-02 2.68658364e-04 9.99513711e-01 -1.07855032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.676875 meters 0.013833291092294264 Centerline is valid? [True, True] Translation: X:111.85, Y:22.45, Z:-1.08 [[ 9.55215610e-01 -2.94432155e-01 -2.95439240e-02 1.11848325e+02] [ 2.94286645e-01 9.55672373e-01 -9.25672073e-03 2.24490323e+01] [ 3.09597882e-02 1.47781870e-04 9.99520620e-01 -1.07551271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.736875 meters 0.013828564241876815 Centerline is valid? [True, True] Translation: X:111.91, Y:22.46, Z:-1.07 [[ 9.53790107e-01 -2.99015314e-01 -2.95681111e-02 1.11906078e+02] [ 2.98871526e-01 9.54248313e-01 -9.27193316e-03 2.24614246e+01] [ 3.09877701e-02 6.41161834e-06 9.99519764e-01 -1.07254000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.796875 meters 0.014042431288781297 Centerline is valid? [True, True] Translation: X:111.96, Y:22.47, Z:-1.07 [[ 9.51564226e-01 -3.06066963e-01 -2.91296664e-02 1.11964827e+02] [ 3.05930478e-01 9.52009963e-01 -9.14188948e-03 2.24721582e+01] [ 3.05297630e-02 -2.12557773e-04 9.99533836e-01 -1.07025793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85687499999999 meters 0.01456224126190601 Centerline is valid? [True, True] Translation: X:112.02, Y:22.49, Z:-1.07 [[ 9.50395395e-01 -3.09737781e-01 -2.84798288e-02 1.12022161e+02] [ 3.09608747e-01 9.50821964e-01 -8.94519887e-03 2.24864652e+01] [ 2.98499128e-02 -3.16128301e-04 9.99554342e-01 -1.06870229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91687499999999 meters 0.014545268485726258 Centerline is valid? [True, True] Translation: X:112.08, Y:22.50, Z:-1.06 [[ 9.50028691e-01 -3.10977238e-01 -2.71780098e-02 1.12078525e+02] [ 3.10860048e-01 9.50417302e-01 -8.54302661e-03 2.25024608e+01] [ 2.84871375e-02 -3.32437039e-04 9.99594104e-01 -1.06441794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97687499999999 meters 0.014314972778528097 Centerline is valid? [True, True] Translation: X:112.13, Y:22.52, Z:-1.06 [[ 9.50866157e-01 -3.08284589e-01 -2.85335577e-02 1.12133359e+02] [ 3.08153980e-01 9.51294143e-01 -8.97654085e-03 2.25204942e+01] [ 2.99111355e-02 -2.57240480e-04 9.99552529e-01 -1.06150169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.036875 meters 0.013588976931392573 Centerline is valid? [True, True] Translation: X:112.19, Y:22.54, Z:-1.06 [[ 9.52966045e-01 -3.01422185e-01 -3.16288305e-02 1.12188024e+02] [ 3.01257773e-01 9.53490779e-01 -9.95435003e-03 2.25439171e+01] [ 3.31582601e-02 -4.22734600e-05 9.99450113e-01 -1.06233596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.096875 meters 0.013930248421653718 Centerline is valid? [True, True] Translation: X:112.24, Y:22.57, Z:-1.06 [[ 9.54841495e-01 -2.95095673e-01 -3.45870476e-02 1.12242532e+02] [ 2.94894554e-01 9.55467688e-01 -1.08949163e-02 2.25659562e+01] [ 3.62618490e-02 2.03386219e-04 9.99342302e-01 -1.06386633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.156875 meters 0.014087981198003354 Centerline is valid? [True, True] Translation: X:112.30, Y:22.58, Z:-1.06 [[ 9.55111680e-01 -2.94033962e-01 -3.61345663e-02 1.12299226e+02] [ 2.93813311e-01 9.55794936e-01 -1.13920630e-02 2.25830742e+01] [ 3.78868889e-02 2.63875847e-04 9.99281999e-01 -1.06283121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21687499999999 meters 0.014293460706091778 Centerline is valid? [True, True] Translation: X:112.36, Y:22.60, Z:-1.06 [[ 9.54778611e-01 -2.95035909e-01 -3.67643358e-02 1.12356208e+02] [ 2.94807849e-01 9.55486136e-01 -1.16007029e-02 2.25966336e+01] [ 3.85504371e-02 2.37688282e-04 9.99256627e-01 -1.06062567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27687499999999 meters 0.014174584046925927 Centerline is valid? [True, True] Translation: X:112.41, Y:22.61, Z:-1.06 [[ 9.54383628e-01 -2.96195700e-01 -3.76828653e-02 1.12412331e+02] [ 2.95956550e-01 9.55127251e-01 -1.19019125e-02 2.26109028e+01] [ 3.95172268e-02 2.06499564e-04 9.99218868e-01 -1.05870294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33687499999999 meters 0.014072954985405412 Centerline is valid? [True, True] Translation: X:112.47, Y:22.63, Z:-1.06 [[ 9.54484527e-01 -2.96018954e-01 -3.64974807e-02 1.12469564e+02] [ 2.95794099e-01 9.55182041e-01 -1.15377378e-02 2.26263938e+01] [ 3.82771272e-02 2.16852765e-04 9.99267139e-01 -1.05580043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.396875 meters 0.014209194375910566 Centerline is valid? [True, True] Translation: X:112.53, Y:22.64, Z:-1.05 [[ 9.55230087e-01 -2.93720282e-01 -3.55510452e-02 1.12525820e+02] [ 2.93505010e-01 9.55891364e-01 -1.12476271e-02 2.26445551e+01] [ 3.72865933e-02 3.09661913e-04 9.99304565e-01 -1.05376939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.456875 meters 0.015341054635977477 Centerline is valid? [True, True] Translation: X:112.58, Y:22.66, Z:-1.05 [[ 9.56704472e-01 -2.88901574e-01 -3.53897354e-02 1.12580390e+02] [ 2.88684668e-01 9.57358673e-01 -1.12042291e-02 2.26644678e+01] [ 3.71175895e-02 5.02662046e-04 9.99310778e-01 -1.05357829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.516875 meters 0.01674594320176481 Centerline is valid? [True, True] Translation: X:112.64, Y:22.68, Z:-1.05 [[ 9.58348295e-01 -2.83146023e-01 -3.73747783e-02 1.12637195e+02] [ 2.82899578e-01 9.59076502e-01 -1.18360293e-02 2.26833230e+01] [ 3.91965963e-02 7.69729445e-04 9.99231222e-01 -1.05379621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.576875 meters 0.017922672797031445 Centerline is valid? [True, True] Translation: X:112.69, Y:22.70, Z:-1.05 [[ 9.59016811e-01 -2.80667214e-01 -3.88930804e-02 1.12692168e+02] [ 2.80398152e-01 9.59804713e-01 -1.23202543e-02 2.27003859e+01] [ 4.07876534e-02 9.09783106e-04 9.99167423e-01 -1.05357130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63687499999999 meters 0.018519107752199226 Centerline is valid? [True, True] Translation: X:112.75, Y:22.72, Z:-1.05 [[ 9.59720581e-01 -2.78308716e-01 -3.84794107e-02 1.12746771e+02] [ 2.78043291e-01 9.60491152e-01 -1.21932829e-02 2.27212248e+01] [ 4.03526304e-02 1.00320262e-03 9.99184997e-01 -1.05048986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69687499999999 meters 0.023826434811276546 Centerline is valid? [True, True] Translation: X:112.79, Y:22.77, Z:-1.05 [[ 9.64309155e-01 -2.62507468e-01 -3.46075520e-02 1.12793936e+02] [ 2.62282491e-01 9.64928794e-01 -1.09689232e-02 2.27682677e+01] [ 3.62732477e-02 1.50047814e-03 9.99340783e-01 -1.04895294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.756875 meters 0.04218810282984164 Centerline is valid? [True, True] Translation: X:112.83, Y:22.85, Z:-1.05 [[ 9.72922242e-01 -2.28221344e-01 -3.65695099e-02 1.12831591e+02] [ 2.27945731e-01 9.73604827e-01 -1.15924552e-02 2.28469703e+01] [ 3.82498970e-02 2.94269378e-03 9.99263872e-01 -1.05153946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.816875 meters 0.06644154251704881 Centerline is valid? [True, True] Translation: X:112.86, Y:22.94, Z:-1.05 [[ 9.82080709e-01 -1.84280211e-01 -3.94751068e-02 1.12864304e+02] [ 1.83923534e-01 9.82860872e-01 -1.25156062e-02 2.29428013e+01] [ 4.11049164e-02 5.03093427e-03 9.99142170e-01 -1.05142942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.876875 meters 0.07753488272651209 Centerline is valid? [True, True] Translation: X:112.91, Y:23.00, Z:-1.05 [[ 9.84717445e-01 -1.69067617e-01 -4.18054427e-02 1.12908673e+02] [ 1.68653993e-01 9.85586174e-01 -1.32560989e-02 2.30001665e+01] [ 4.34440434e-02 6.00285702e-03 9.99037828e-01 -1.04991347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.936875 meters 0.0800532098521376 Centerline is valid? [True, True] Translation: X:112.96, Y:23.03, Z:-1.05 [[ 9.85014218e-01 -1.67198194e-01 -4.23291096e-02 1.12960773e+02] [ 1.66772389e-01 9.85904043e-01 -1.34233954e-02 2.30322667e+01] [ 4.39768077e-02 6.16290863e-03 9.99013543e-01 -1.04830704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99687499999999 meters 0.07175133751287882 Centerline is valid? [True, True] Translation: X:113.01, Y:23.07, Z:-1.05 [[ 9.83283085e-01 -1.77035701e-01 -4.25762357e-02 1.13011748e+02] [ 1.76613878e-01 9.84187589e-01 -1.35028681e-02 2.30701135e+01] [ 4.42934925e-02 5.75758772e-03 9.99001970e-01 -1.04843458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05687499999999 meters 0.05924905290787934 Centerline is valid? [True, True] Translation: X:113.07, Y:23.09, Z:-1.05 [[ 9.80233717e-01 -1.92946079e-01 -4.37455199e-02 1.13069615e+02] [ 1.92516229e-01 9.81195694e-01 -1.38748701e-02 2.30870113e+01] [ 4.56000176e-02 5.17889293e-03 9.98946354e-01 -1.04676551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.116875 meters 0.0402087482822602 Centerline is valid? [True, True] Translation: X:113.13, Y:23.09, Z:-1.04 [[ 9.73494647e-01 -2.24760407e-01 -4.23193973e-02 1.13130400e+02] [ 2.24387618e-01 9.74407512e-01 -1.34237346e-02 2.30925732e+01] [ 4.42534627e-02 3.57198502e-03 9.99013950e-01 -1.03834415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.176875 meters 0.0255312378334206 Centerline is valid? [True, True] Translation: X:113.19, Y:23.10, Z:-1.03 [[ 9.65647074e-01 -2.56780342e-01 -3.98695877e-02 1.13190864e+02] [ 2.56476366e-01 9.66467746e-01 -1.26478999e-02 2.31006989e+01] [ 4.17804027e-02 1.98780056e-03 9.99124840e-01 -1.03334436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.236875 meters 0.020419402795655853 Centerline is valid? [True, True] Translation: X:113.25, Y:23.12, Z:-1.03 [[ 9.60862290e-01 -2.74648507e-01 -3.62195614e-02 1.13249016e+02] [ 2.74410228e-01 9.61544062e-01 -1.14910616e-02 2.31156653e+01] [ 3.79827070e-02 1.10230968e-03 9.99277789e-01 -1.02902291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.296875 meters 0.01730488040144294 Centerline is valid? [True, True] Translation: X:113.31, Y:23.13, Z:-1.02 [[ 9.55074532e-01 -2.94463850e-01 -3.35213279e-02 1.13307014e+02] [ 2.94271852e-01 9.55662574e-01 -1.06359100e-02 2.31271202e+01] [ 3.51669695e-02 2.93703517e-04 9.99381408e-01 -1.02416298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35687499999999 meters 0.017220114752043235 Centerline is valid? [True, True] Translation: X:113.36, Y:23.14, Z:-1.02 [[ 9.52762072e-01 -3.01715677e-01 -3.48149947e-02 1.13363989e+02] [ 3.01513295e-01 9.53397949e-01 -1.10491285e-02 2.31438034e+01] [ 3.65262398e-02 3.00067588e-05 9.99332694e-01 -1.02290210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41687499999999 meters 0.017752708971321484 Centerline is valid? [True, True] Translation: X:113.42, Y:23.16, Z:-1.02 [[ 9.51798749e-01 -3.04565866e-01 -3.63149483e-02 1.13419328e+02] [ 3.04347478e-01 9.52491274e-01 -1.15319262e-02 2.31628150e+01] [ 3.81019025e-02 -7.62900030e-05 9.99273856e-01 -1.02446122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47687499999999 meters 0.017926735908650078 Centerline is valid? [True, True] Translation: X:113.47, Y:23.18, Z:-1.02 [[ 9.52152083e-01 -3.03412192e-01 -3.67076689e-02 1.13474443e+02] [ 3.03187795e-01 9.52859403e-01 -1.16670158e-02 2.31804174e+01] [ 3.85171623e-02 -2.05437773e-05 9.99257939e-01 -1.02291620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.536875 meters 0.01804492501754386 Centerline is valid? [True, True] Translation: X:113.53, Y:23.20, Z:-1.02 [[ 9.52788763e-01 -3.01514634e-01 -3.58119840e-02 1.13530178e+02] [ 3.01299310e-01 9.53461547e-01 -1.13931927e-02 2.31970764e+01] [ 3.75805640e-02 6.51798855e-05 9.99293599e-01 -1.02094229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.596875 meters 0.01803973552962433 Centerline is valid? [True, True] Translation: X:113.59, Y:23.22, Z:-1.02 [[ 9.53772730e-01 -2.98380919e-01 -3.58665063e-02 1.13586513e+02] [ 2.98162318e-01 9.54446849e-01 -1.14212507e-02 2.32155769e+01] [ 3.76405572e-02 1.99236786e-04 9.99291323e-01 -1.02141528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.656875 meters 0.018167022344304437 Centerline is valid? [True, True] Translation: X:113.64, Y:23.23, Z:-1.02 [[ 9.54792189e-01 -2.95152608e-01 -3.54515773e-02 1.13642532e+02] [ 2.94936458e-01 9.55450066e-01 -1.12985725e-02 2.32349718e+01] [ 3.72070150e-02 3.31826090e-04 9.99307524e-01 -1.01918819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71687499999999 meters 0.019108281628186282 Centerline is valid? [True, True] Translation: X:113.70, Y:23.26, Z:-1.02 [[ 9.57457688e-01 -2.86421052e-01 -3.51817692e-02 1.13695897e+02] [ 2.86201984e-01 9.58103610e-01 -1.12204097e-02 2.32585763e+01] [ 3.69215416e-02 6.73975423e-04 9.99317940e-01 -1.01643669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77687499999999 meters 0.02165709886982964 Centerline is valid? [True, True] Translation: X:113.75, Y:23.28, Z:-1.01 [[ 9.60572009e-01 -2.76011624e-01 -3.34514449e-02 1.13750554e+02] [ 2.75807171e-01 9.61153752e-01 -1.06709891e-02 2.32835669e+01] [ 3.50972988e-02 1.02410510e-03 9.99383375e-01 -1.01401782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83687499999999 meters 0.023870870492120312 Centerline is valid? [True, True] Translation: X:113.81, Y:23.30, Z:-1.01 [[ 9.62070069e-01 -2.70689226e-01 -3.38899100e-02 1.13806958e+02] [ 2.70476034e-01 9.62665994e-01 -1.08119577e-02 2.33046344e+01] [ 3.55513443e-02 1.23545244e-03 9.99367087e-01 -1.01442886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.896875 meters 0.02448227679901899 Centerline is valid? [True, True] Translation: X:113.87, Y:23.32, Z:-1.02 [[ 9.63020484e-01 -2.66917462e-01 -3.66962574e-02 1.13866192e+02] [ 2.66664693e-01 9.63718241e-01 -1.17086696e-02 2.33168860e+01] [ 3.84901010e-02 1.49009245e-03 9.99257870e-01 -1.01634586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.956875 meters 0.024682746679852752 Centerline is valid? [True, True] Translation: X:113.92, Y:23.33, Z:-1.02 [[ 9.63185150e-01 -2.66292131e-01 -3.69170273e-02 1.13923679e+02] [ 2.66035721e-01 9.63891160e-01 -1.17825044e-02 2.33292839e+01] [ 3.87215845e-02 1.52748531e-03 9.99248871e-01 -1.01617595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.016875 meters 0.024823326495257512 Centerline is valid? [True, True] Translation: X:113.98, Y:23.34, Z:-1.01 [[ 9.63434147e-01 -2.65693574e-01 -3.46636533e-02 1.13982672e+02] [ 2.65466811e-01 9.64056418e-01 -1.10722401e-02 2.33368719e+01] [ 3.63595405e-02 1.46532464e-03 9.99337699e-01 -1.01037767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.076875 meters 0.025564273905686972 Centerline is valid? [True, True] Translation: X:114.04, Y:23.35, Z:-1.00 [[ 9.63689342e-01 -2.65220596e-01 -3.09981904e-02 1.14039627e+02] [ 2.65038772e-01 9.64186837e-01 -9.90921379e-03 2.33493619e+01] [ 3.25161747e-02 1.33368141e-03 9.99470320e-01 -1.00464639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13687499999999 meters 0.025295525849393714 Centerline is valid? [True, True] Translation: X:114.10, Y:23.36, Z:-1.00 [[ 9.64454524e-01 -2.62774567e-01 -2.78746832e-02 1.14099174e+02] [ 2.62626316e-01 9.64856408e-01 -8.91799194e-03 2.33578342e+01] [ 2.92384881e-02 1.28037232e-03 9.99571644e-01 -1.00027791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19687499999999 meters 0.025255417455376846 Centerline is valid? [True, True] Translation: X:114.16, Y:23.37, Z:-1.00 [[ 9.65110022e-01 -2.60247483e-01 -2.88772169e-02 1.14159369e+02] [ 2.60087208e-01 9.65540920e-01 -9.23990090e-03 2.33665527e+01] [ 3.02867956e-02 1.40692621e-03 9.99540260e-01 -1.00072692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.256875 meters 0.028157407525149482 Centerline is valid? [True, True] Translation: X:114.22, Y:23.38, Z:-1.00 [[ 9.65435868e-01 -2.58785413e-01 -3.10434213e-02 1.14215924e+02] [ 2.58599383e-01 9.65933572e-01 -9.93442987e-03 2.33817997e+01] [ 3.25567684e-02 1.56324532e-03 9.99468665e-01 -1.00137412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.316875 meters 0.027786123000932656 Centerline is valid? [True, True] Translation: X:114.27, Y:23.39, Z:-1.00 [[ 9.65627516e-01 -2.57883258e-01 -3.25534106e-02 1.14274860e+02] [ 2.57678059e-01 9.66174633e-01 -1.04209781e-02 2.33915230e+01] [ 3.41396753e-02 1.67448354e-03 9.99415669e-01 -1.00109050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.376875 meters 0.028711540416048766 Centerline is valid? [True, True] Translation: X:114.33, Y:23.40, Z:-1.00 [[ 9.65787930e-01 -2.57256914e-01 -3.27498790e-02 1.14334613e+02] [ 2.57048565e-01 9.66341522e-01 -1.04927622e-02 2.33984023e+01] [ 3.43469035e-02 1.71547366e-03 9.99408499e-01 -9.98677982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.436875 meters 0.030039940429630384 Centerline is valid? [True, True] Translation: X:114.39, Y:23.40, Z:-1.00 [[ 9.65945497e-01 -2.56618258e-01 -3.31114402e-02 1.14393884e+02] [ 2.56404637e-01 9.66511229e-01 -1.06163477e-02 2.34034937e+01] [ 3.47269274e-02 1.76488643e-03 9.99395280e-01 -9.97348011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49687499999999 meters 0.03101178206809135 Centerline is valid? [True, True] Translation: X:114.45, Y:23.41, Z:-1.00 [[ 9.66069571e-01 -2.56171797e-01 -3.29483670e-02 1.14452543e+02] [ 2.55959872e-01 9.66629637e-01 -1.05682595e-02 2.34138245e+01] [ 3.45561581e-02 1.77621413e-03 9.99401179e-01 -9.95435692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55687499999999 meters 0.0324541655129532 Centerline is valid? [True, True] Translation: X:114.51, Y:23.42, Z:-0.99 [[ 9.66246188e-01 -2.55823983e-01 -3.03709550e-02 1.14510873e+02] [ 2.55643544e-01 9.66721961e-01 -9.74820303e-03 2.34197762e+01] [ 3.18540933e-02 1.65502544e-03 9.99491159e-01 -9.90001577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.616875 meters 0.033666466225692006 Centerline is valid? [True, True] Translation: X:114.57, Y:23.43, Z:-0.99 [[ 9.66458113e-01 -2.55146806e-01 -2.93056858e-02 1.14569371e+02] [ 2.54978402e-01 9.66900966e-01 -9.40936677e-03 2.34310575e+01] [ 3.07364658e-02 1.62144191e-03 9.99526208e-01 -9.86490795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.676875 meters 0.03640410619428252 Centerline is valid? [True, True] Translation: X:114.63, Y:23.44, Z:-0.99 [[ 9.66997143e-01 -2.52931322e-01 -3.06964597e-02 1.14626593e+02] [ 2.52745202e-01 9.67482600e-01 -9.86317674e-03 2.34427713e+01] [ 3.21929970e-02 1.77928082e-03 9.99480087e-01 -9.87543840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.736875 meters 0.03915679949037011 Centerline is valid? [True, True] Translation: X:114.69, Y:23.46, Z:-0.99 [[ 9.67631734e-01 -2.50090008e-01 -3.38203222e-02 1.14685447e+02] [ 2.49862251e-01 9.68220386e-01 -1.08692410e-02 2.34550250e+01] [ 3.54638140e-02 2.06700064e-03 9.99368824e-01 -9.90775828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.796875 meters 0.04007622015461115 Centerline is valid? [True, True] Translation: X:114.74, Y:23.47, Z:-0.99 [[ 9.67622016e-01 -2.49831839e-01 -3.59400483e-02 1.14743433e+02] [ 2.49574319e-01 9.68286718e-01 -1.15538408e-02 2.34682502e+01] [ 3.76867887e-02 2.21003769e-03 9.99287157e-01 -9.91241658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85687499999999 meters 0.04078103132635351 Centerline is valid? [True, True] Translation: X:114.80, Y:23.48, Z:-0.99 [[ 9.67370366e-01 -2.50732548e-01 -3.64385058e-02 1.14800484e+02] [ 2.50468127e-01 9.68053866e-01 -1.17230187e-02 2.34843787e+01] [ 3.82137788e-02 2.21381656e-03 9.99267135e-01 -9.90576004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91687499999999 meters 0.038838882198000524 Centerline is valid? [True, True] Translation: X:114.86, Y:23.49, Z:-0.99 [[ 9.66236941e-01 -2.55029946e-01 -3.66865127e-02 1.14861374e+02] [ 2.54764736e-01 9.66930952e-01 -1.18095073e-02 2.34899358e+01] [ 3.84851027e-02 2.06435250e-03 9.99257042e-01 -9.88959642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97687499999999 meters 0.03667061188348842 Centerline is valid? [True, True] Translation: X:114.92, Y:23.50, Z:-0.99 [[ 9.65124397e-01 -2.59302704e-01 -3.60139805e-02 1.14921532e+02] [ 2.59050052e-01 9.65794309e-01 -1.15941330e-02 2.34986390e+01] [ 3.77884875e-02 1.86035711e-03 9.99284028e-01 -9.86083494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.036875 meters 0.024477048729566395 Centerline is valid? [True, True] Translation: X:114.99, Y:23.49, Z:-0.98 [[ 9.62667938e-01 -2.68559704e-01 -3.38544820e-02 1.14986754e+02] [ 2.68342108e-01 9.63262011e-01 -1.09000838e-02 2.34892027e+01] [ 3.55380596e-02 1.40857812e-03 9.99367331e-01 -9.78269502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.096875 meters 0.019734415038035906 Centerline is valid? [True, True] Translation: X:115.05, Y:23.49, Z:-0.98 [[ 9.58911964e-01 -2.81795648e-01 -3.28490176e-02 1.15048007e+02] [ 2.81598453e-01 9.59474030e-01 -1.05781126e-02 2.34892247e+01] [ 3.44986454e-02 8.93246198e-04 9.99404345e-01 -9.75361367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.156875 meters 0.018487466779593304 Centerline is valid? [True, True] Translation: X:115.11, Y:23.50, Z:-0.98 [[ 9.55887693e-01 -2.91811234e-01 -3.35398666e-02 1.15106582e+02] [ 2.91611718e-01 9.56475774e-01 -1.08027683e-02 2.34981934e+01] [ 3.52324390e-02 5.45615189e-04 9.99378996e-01 -9.76043640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21687499999999 meters 0.01434350311102122 Centerline is valid? [True, True] Translation: X:115.17, Y:23.49, Z:-0.97 [[ 9.51579016e-01 -3.05431404e-01 -3.47711704e-02 1.15169560e+02] [ 3.05225936e-01 9.52214081e-01 -1.12014571e-02 2.34949372e+01] [ 3.65308748e-02 4.60085021e-05 9.99332524e-01 -9.74438640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27687499999999 meters 0.014814408124023704 Centerline is valid? [True, True] Translation: X:115.23, Y:23.50, Z:-0.97 [[ 9.48887254e-01 -3.13583488e-01 -3.57543696e-02 1.15228344e+02] [ 3.13371895e-01 9.49560594e-01 -1.15209885e-02 2.35026866e+01] [ 3.75637322e-02 -2.72295382e-04 9.99294197e-01 -9.74970318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33687499999999 meters 0.01715855002079969 Centerline is valid? [True, True] Translation: X:115.29, Y:23.51, Z:-0.97 [[ 9.45712134e-01 -3.23031583e-01 -3.57652772e-02 1.15289175e+02] [ 3.22826437e-01 9.46387966e-01 -1.15286087e-02 2.35081829e+01] [ 3.75719326e-02 -6.43231897e-04 9.99293719e-01 -9.73262373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.396875 meters 0.016958390405242968 Centerline is valid? [True, True] Translation: X:115.35, Y:23.52, Z:-0.97 [[ 9.44131414e-01 -3.27595746e-01 -3.60125090e-02 1.15346776e+02] [ 3.27390798e-01 9.44817627e-01 -1.16153661e-02 2.35240111e+01] [ 3.78303978e-02 -8.23732047e-04 9.99283835e-01 -9.69155453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.456875 meters 0.01911617239001336 Centerline is valid? [True, True] Translation: X:115.40, Y:23.54, Z:-0.97 [[ 9.42713812e-01 -3.31754011e-01 -3.50705794e-02 1.15404823e+02] [ 3.31562287e-01 9.43365442e-01 -1.13177971e-02 2.35362268e+01] [ 3.68390972e-02 -9.58637863e-04 9.99320750e-01 -9.67901155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.516875 meters 0.01880393422317627 Centerline is valid? [True, True] Translation: X:115.46, Y:23.56, Z:-0.97 [[ 9.42471541e-01 -3.32435762e-01 -3.51263353e-02 1.15460110e+02] [ 3.32243763e-01 9.43125388e-01 -1.13395097e-02 2.35560717e+01] [ 3.68981971e-02 -9.83340643e-04 9.99318546e-01 -9.66267398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.576875 meters 0.019169942121961006 Centerline is valid? [True, True] Translation: X:115.51, Y:23.58, Z:-0.96 [[ 9.42619720e-01 -3.31991856e-01 -3.53478465e-02 1.15514389e+02] [ 3.31796836e-01 9.43281759e-01 -1.14185525e-02 2.35753254e+01] [ 3.71338453e-02 -9.64950863e-04 9.99309835e-01 -9.64419646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63687499999999 meters 0.01880844088971605 Centerline is valid? [True, True] Translation: X:115.57, Y:23.60, Z:-0.96 [[ 9.43030282e-01 -3.30757808e-01 -3.59605300e-02 1.15568620e+02] [ 3.30554889e-01 9.43715217e-01 -1.16212551e-02 2.35992723e+01] [ 3.77803203e-02 -9.27733514e-04 9.99285638e-01 -9.63231612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69687499999999 meters 0.018741037329822418 Centerline is valid? [True, True] Translation: X:115.62, Y:23.62, Z:-0.96 [[ 9.43246896e-01 -3.30141145e-01 -3.59460409e-02 1.15623101e+02] [ 3.29937608e-01 9.43931154e-01 -1.16254147e-02 2.36212919e+01] [ 3.77686156e-02 -8.94314407e-04 9.99286111e-01 -9.62355286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.756875 meters 0.01705227435226056 Centerline is valid? [True, True] Translation: X:115.68, Y:23.65, Z:-0.96 [[ 9.43152655e-01 -3.30399222e-01 -3.60475190e-02 1.15675386e+02] [ 3.30194369e-01 9.43840848e-01 -1.16675514e-02 2.36479115e+01] [ 3.78780708e-02 -8.98405703e-04 9.99281965e-01 -9.60081738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.816875 meters 0.01961229453192892 Centerline is valid? [True, True] Translation: X:115.73, Y:23.67, Z:-0.96 [[ 9.42855494e-01 -3.31272831e-01 -3.58026389e-02 1.15730920e+02] [ 3.31071059e-01 9.43534560e-01 -1.15968680e-02 2.36655238e+01] [ 3.76227544e-02 -9.19046845e-04 9.99291591e-01 -9.59511903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.876875 meters 0.017429914661283623 Centerline is valid? [True, True] Translation: X:115.78, Y:23.69, Z:-0.95 [[ 9.42227351e-01 -3.33256648e-01 -3.38766269e-02 1.15784378e+02] [ 3.33077135e-01 9.42835681e-01 -1.09772713e-02 2.36926255e+01] [ 3.55983412e-02 -9.40444523e-04 9.99365736e-01 -9.53195110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.936875 meters 0.01748013096905387 Centerline is valid? [True, True] Translation: X:115.84, Y:23.71, Z:-0.95 [[ 9.42003922e-01 -3.33979540e-01 -3.29587380e-02 1.15838289e+02] [ 3.33809766e-01 9.42579862e-01 -1.06885261e-02 2.37146200e+01] [ 3.46359918e-02 -9.33315075e-04 9.99399558e-01 -9.50826541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99687499999999 meters 0.016808208117203006 Centerline is valid? [True, True] Translation: X:115.89, Y:23.74, Z:-0.95 [[ 9.43085088e-01 -3.30968940e-01 -3.24049102e-02 1.15891672e+02] [ 3.30802769e-01 9.43641309e-01 -1.05170625e-02 2.37407437e+01] [ 3.40594329e-02 -8.01149232e-04 9.99419488e-01 -9.50745979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05687499999999 meters 0.015365904184046363 Centerline is valid? [True, True] Translation: X:115.95, Y:23.77, Z:-0.95 [[ 9.44755082e-01 -3.25983699e-01 -3.42412356e-02 1.15945733e+02] [ 3.25794785e-01 9.45375164e-01 -1.11156640e-02 2.37654646e+01] [ 3.59943390e-02 -6.54035910e-04 9.99351780e-01 -9.50560962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.116875 meters 0.012995562622892642 Centerline is valid? [True, True] Translation: X:116.00, Y:23.80, Z:-0.95 [[ 9.48413665e-01 -3.15166844e-01 -3.43712113e-02 1.15997180e+02] [ 3.14969275e-01 9.49036249e-01 -1.11603669e-02 2.37955034e+01] [ 3.61369031e-02 -2.41231042e-04 9.99346820e-01 -9.48734976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.176875 meters 0.01241975220696482 Centerline is valid? [True, True] Translation: X:116.05, Y:23.82, Z:-0.95 [[ 9.51051509e-01 -3.07253028e-01 -3.31150217e-02 1.16049256e+02] [ 3.07064747e-01 9.51627854e-01 -1.07548972e-02 2.38221315e+01] [ 3.48176518e-02 6.00054614e-05 9.99393680e-01 -9.46773380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.236875 meters 0.01347020371804427 Centerline is valid? [True, True] Translation: X:116.10, Y:23.85, Z:-0.94 [[ 9.53278014e-01 -3.00486893e-01 -3.11232289e-02 1.16102119e+02] [ 3.00316888e-01 9.53785899e-01 -1.01106396e-02 2.38470519e+01] [ 3.27230115e-02 2.91419214e-04 9.99464416e-01 -9.43415613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.296875 meters 0.01404439333900929 Centerline is valid? [True, True] Translation: X:116.16, Y:23.87, Z:-0.94 [[ 9.53918258e-01 -2.98399185e-01 -3.15892861e-02 1.16157372e+02] [ 2.98222782e-01 9.54441087e-01 -1.02656739e-02 2.38663130e+01] [ 3.32133813e-02 3.71969023e-04 9.99448214e-01 -9.42214917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35687499999999 meters 0.013912716417889458 Centerline is valid? [True, True] Translation: X:116.21, Y:23.88, Z:-0.94 [[ 9.53843417e-01 -2.98615486e-01 -3.18045103e-02 1.16213244e+02] [ 2.98436522e-01 9.54373434e-01 -1.03436411e-02 2.38821293e+01] [ 3.34421512e-02 3.74586562e-04 9.99440585e-01 -9.41768008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41687499999999 meters 0.013461749392254821 Centerline is valid? [True, True] Translation: X:116.27, Y:23.90, Z:-0.94 [[ 9.53020564e-01 -3.01040718e-01 -3.35602578e-02 1.16270852e+02] [ 3.00842599e-01 9.53611235e-01 -1.09244434e-02 2.38966548e+01] [ 3.52921412e-02 3.14863988e-04 9.99376989e-01 -9.41650515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47687499999999 meters 0.012926592768204149 Centerline is valid? [True, True] Translation: X:116.33, Y:23.90, Z:-0.94 [[ 9.50179027e-01 -3.09813575e-01 -3.42836067e-02 1.16329629e+02] [ 3.09612247e-01 9.50797323e-01 -1.11672685e-02 2.39027086e+01] [ 3.60565329e-02 -3.72013380e-06 9.99349752e-01 -9.40585927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.536875 meters 0.013974732824033958 Centerline is valid? [True, True] Translation: X:116.39, Y:23.91, Z:-0.94 [[ 9.47792394e-01 -3.17023760e-01 -3.44312762e-02 1.16387224e+02] [ 3.16825328e-01 9.48417555e-01 -1.12183767e-02 2.39121381e+01] [ 3.62117187e-02 -2.76008301e-04 9.99344103e-01 -9.40314424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.596875 meters 0.015185025888795738 Centerline is valid? [True, True] Translation: X:116.45, Y:23.92, Z:-0.94 [[ 9.44335875e-01 -3.27171772e-01 -3.44729889e-02 1.16446477e+02] [ 3.26979484e-01 9.44964652e-01 -1.12349617e-02 2.39221298e+01] [ 3.62515183e-02 -6.62382730e-04 9.99342478e-01 -9.36572332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.656875 meters 0.016795991169074095 Centerline is valid? [True, True] Translation: X:116.50, Y:23.94, Z:-0.93 [[ 9.42455356e-01 -3.32569969e-01 -3.42800022e-02 1.16504823e+02] [ 3.32383286e-01 9.43078190e-01 -1.11749218e-02 2.39350781e+01] [ 3.60451658e-02 -8.62234835e-04 9.99349790e-01 -9.34176201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71687499999999 meters 0.01907856819160029 Centerline is valid? [True, True] Translation: X:116.56, Y:23.95, Z:-0.93 [[ 9.40440956e-01 -3.38130637e-01 -3.51920623e-02 1.16562890e+02] [ 3.37937685e-01 9.41098538e-01 -1.14744360e-02 2.39487095e+01] [ 3.69990567e-02 -1.10169454e-03 9.99314693e-01 -9.33622705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77687499999999 meters 0.018666657610471395 Centerline is valid? [True, True] Translation: X:116.62, Y:23.97, Z:-0.93 [[ 9.40118352e-01 -3.39044731e-01 -3.50164923e-02 1.16618241e+02] [ 3.38854195e-01 9.40769577e-01 -1.14209092e-02 2.39679965e+01] [ 3.68146497e-02 -1.12847893e-03 9.99321474e-01 -9.32109754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83687499999999 meters 0.01846866710952696 Centerline is valid? [True, True] Translation: X:116.67, Y:23.99, Z:-0.93 [[ 9.40461441e-01 -3.38236402e-01 -3.35918779e-02 1.16673045e+02] [ 3.38060240e-01 9.41060597e-01 -1.09648347e-02 2.39902914e+01] [ 3.53206989e-02 -1.04407405e-03 9.99375484e-01 -9.30286068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.896875 meters 0.017495799028548913 Centerline is valid? [True, True] Translation: X:116.73, Y:24.01, Z:-0.93 [[ 9.41726873e-01 -3.34759543e-01 -3.29627952e-02 1.16727215e+02] [ 3.34587537e-01 9.42303166e-01 -1.07667524e-02 2.40138469e+01] [ 3.46652194e-02 -8.89600354e-04 9.99398585e-01 -9.27532333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.956875 meters 0.014913493040215544 Centerline is valid? [True, True] Translation: X:116.78, Y:24.05, Z:-0.93 [[ 9.45274028e-01 -3.24642606e-01 -3.26219391e-02 1.16779909e+02] [ 3.24468016e-01 9.45836623e-01 -1.06578103e-02 2.40454682e+01] [ 3.43150041e-02 -5.10224628e-04 9.99410937e-01 -9.25340206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.016875 meters 0.013546782123443209 Centerline is valid? [True, True] Translation: X:116.83, Y:24.07, Z:-0.93 [[ 9.47731736e-01 -3.17348930e-01 -3.30788798e-02 1.16832242e+02] [ 3.17164875e-01 9.48308808e-01 -1.08095517e-02 2.40742331e+01] [ 3.47993927e-02 -2.46903548e-04 9.99394287e-01 -9.25147611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.076875 meters 0.013221417767837088 Centerline is valid? [True, True] Translation: X:116.88, Y:24.10, Z:-0.92 [[ 9.49792380e-01 -3.11202517e-01 -3.23640074e-02 1.16883976e+02] [ 3.11022671e-01 9.50343618e-01 -1.05785154e-02 2.41014489e+01] [ 3.40489885e-02 -1.85467405e-05 9.99420165e-01 -9.24552002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13687499999999 meters 0.013274558510520323 Centerline is valid? [True, True] Translation: X:116.94, Y:24.12, Z:-0.92 [[ 9.49931686e-01 -3.10736464e-01 -3.27512030e-02 1.16937217e+02] [ 3.10551895e-01 9.50496107e-01 -1.07084480e-02 2.41220288e+01] [ 3.44573963e-02 1.34586628e-06 9.99406168e-01 -9.23395239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19687499999999 meters 0.01333528040741948 Centerline is valid? [True, True] Translation: X:116.99, Y:24.14, Z:-0.92 [[ 9.49469976e-01 -3.12295041e-01 -3.12821531e-02 1.16992614e+02] [ 3.12127376e-01 9.49985161e-01 -1.02320933e-02 2.41434855e+01] [ 3.29130132e-02 -4.89510035e-05 9.99458219e-01 -9.20025807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.256875 meters 0.013481810162629894 Centerline is valid? [True, True] Translation: X:117.05, Y:24.16, Z:-0.92 [[ 9.49122876e-01 -3.13346752e-01 -3.12982268e-02 1.17046624e+02] [ 3.13179337e-01 9.49638777e-01 -1.02418908e-02 2.41631800e+01] [ 3.29312730e-02 -8.11450107e-05 9.99457615e-01 -9.19759000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.316875 meters 0.013528219002517277 Centerline is valid? [True, True] Translation: X:117.10, Y:24.18, Z:-0.92 [[ 9.49064653e-01 -3.13483877e-01 -3.16882019e-02 1.17101257e+02] [ 3.13312168e-01 9.49593519e-01 -1.03746485e-02 2.41842165e+01] [ 3.33431962e-02 -8.20870552e-05 9.99443958e-01 -9.18895248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.376875 meters 0.01358413326679783 Centerline is valid? [True, True] Translation: X:117.16, Y:24.21, Z:-0.92 [[ 9.49629472e-01 -3.11854252e-01 -3.08348963e-02 1.17155192e+02] [ 3.11690515e-01 9.50129952e-01 -1.01043296e-02 2.42070237e+01] [ 3.24482367e-02 -1.55755036e-05 9.99473417e-01 -9.17882423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.436875 meters 0.013677337620334948 Centerline is valid? [True, True] Translation: X:117.21, Y:24.23, Z:-0.92 [[ 9.50529005e-01 -3.09174567e-01 -3.00948093e-02 1.17209658e+02] [ 3.09016973e-01 9.51005300e-01 -9.87066272e-03 2.42285950e+01] [ 3.16720810e-02 8.25443640e-05 9.99498310e-01 -9.15981447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49687499999999 meters 0.01412365762548167 Centerline is valid? [True, True] Translation: X:117.26, Y:24.25, Z:-0.91 [[ 9.52132530e-01 -3.04257850e-01 -2.95094264e-02 1.17264499e+02] [ 3.04103695e-01 9.52589680e-01 -9.68731482e-03 2.42511241e+01] [ 3.10578166e-02 2.49681963e-04 9.99517558e-01 -9.13405557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55687499999999 meters 0.014844055747177003 Centerline is valid? [True, True] Translation: X:117.32, Y:24.27, Z:-0.91 [[ 9.53337203e-01 -3.00474410e-01 -2.93820889e-02 1.17319695e+02] [ 3.00319542e-01 9.53789802e-01 -9.65336191e-03 2.42725506e+01] [ 3.09249249e-02 3.78893582e-04 9.99521638e-01 -9.12230698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.616875 meters 0.016586470547693456 Centerline is valid? [True, True] Translation: X:117.37, Y:24.30, Z:-0.91 [[ 9.55503227e-01 -2.93478379e-01 -2.97325527e-02 1.17374253e+02] [ 2.93316173e-01 9.55965510e-01 -9.77578909e-03 2.42955934e+01] [ 3.12922776e-02 6.19759465e-04 9.99510085e-01 -9.12314483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.676875 meters 0.017472881675780736 Centerline is valid? [True, True] Translation: X:117.43, Y:24.31, Z:-0.91 [[ 9.56340129e-01 -2.90575993e-01 -3.12913639e-02 1.17430116e+02] [ 2.90394676e-01 9.56851620e-01 -1.02912588e-02 2.43143739e+01] [ 3.29315850e-02 7.55098262e-04 9.99457323e-01 -9.11952277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.736875 meters 0.017588089459100897 Centerline is valid? [True, True] Translation: X:117.49, Y:24.33, Z:-0.91 [[ 9.56958263e-01 -2.88575200e-01 -3.09068925e-02 1.17487213e+02] [ 2.88397000e-01 9.57456881e-01 -1.01730790e-02 2.43306321e+01] [ 3.25277152e-02 8.21756883e-04 9.99470496e-01 -9.10439373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.796875 meters 0.018105032782569714 Centerline is valid? [True, True] Translation: X:117.54, Y:24.35, Z:-0.91 [[ 9.56807777e-01 -2.89078990e-01 -3.08579980e-02 1.17543028e+02] [ 2.88901366e-01 9.57304905e-01 -1.01646680e-02 2.43466477e+01] [ 3.24789048e-02 8.10715624e-04 9.99472092e-01 -9.08621705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85687499999999 meters 0.017105436550863547 Centerline is valid? [True, True] Translation: X:117.60, Y:24.36, Z:-0.91 [[ 9.55324451e-01 -2.94091936e-01 -2.94130378e-02 1.17601115e+02] [ 2.93932851e-01 9.55776939e-01 -9.69132257e-03 2.43569495e+01] [ 3.09624431e-02 6.12899343e-04 9.99520361e-01 -9.05504837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91687499999999 meters 0.01549070267974518 Centerline is valid? [True, True] Translation: X:117.66, Y:24.36, Z:-0.90 [[ 9.52617218e-01 -3.03009940e-01 -2.65595931e-02 1.17661981e+02] [ 3.02883642e-01 9.52987350e-01 -8.75268600e-03 2.43630192e+01] [ 2.79631071e-02 2.93493107e-04 9.99608913e-01 -8.99279247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97687499999999 meters 0.01485660632049631 Centerline is valid? [True, True] Translation: X:117.72, Y:24.37, Z:-0.90 [[ 9.50510970e-01 -3.09699805e-01 -2.47977349e-02 1.17720964e+02] [ 3.09591853e-01 9.50834382e-01 -8.17695233e-03 2.43735862e+01] [ 2.61109395e-02 9.51061808e-05 9.99659047e-01 -8.95766676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.036875 meters 0.015098927901449132 Centerline is valid? [True, True] Translation: X:117.78, Y:24.38, Z:-0.90 [[ 9.47221217e-01 -3.19627328e-01 -2.47050055e-02 1.17780443e+02] [ 3.19523388e-01 9.47543319e-01 -8.15246619e-03 2.43815704e+01] [ 2.60148139e-02 -1.71638110e-04 9.99661543e-01 -8.95916546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.096875 meters 0.015949658057114135 Centerline is valid? [True, True] Translation: X:117.84, Y:24.39, Z:-0.90 [[ 9.45577005e-01 -3.24321167e-01 -2.64557761e-02 1.17837778e+02] [ 3.24203589e-01 9.45946976e-01 -8.73792614e-03 2.43931984e+01] [ 2.78596558e-02 -3.14675530e-04 9.99611795e-01 -8.95609557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.156875 meters 0.016625060464217443 Centerline is valid? [True, True] Translation: X:117.90, Y:24.41, Z:-0.89 [[ 9.43995529e-01 -3.28740237e-01 -2.83248740e-02 1.17895107e+02] [ 3.28607342e-01 9.44420263e-01 -9.35852352e-03 2.44086834e+01] [ 2.98271082e-02 -4.73357203e-04 9.99554961e-01 -8.94912230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21687499999999 meters 0.016774138109652722 Centerline is valid? [True, True] Translation: X:117.95, Y:24.43, Z:-0.89 [[ 9.43593832e-01 -3.29910507e-01 -2.81022566e-02 1.17951319e+02] [ 3.29779992e-01 9.44012080e-01 -9.29238648e-03 2.44267615e+01] [ 2.95945256e-02 -4.99323399e-04 9.99561861e-01 -8.93535576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27687499999999 meters 0.016875554765068225 Centerline is valid? [True, True] Translation: X:118.01, Y:24.45, Z:-0.89 [[ 9.43359369e-01 -3.30345743e-01 -3.07374492e-02 1.18006847e+02] [ 3.30189543e-01 9.43859833e-01 -1.01725535e-02 2.44458801e+01] [ 3.23723034e-02 -5.52810716e-04 9.99475727e-01 -8.93983123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33687499999999 meters 0.01707095098016979 Centerline is valid? [True, True] Translation: X:118.06, Y:24.47, Z:-0.89 [[ 9.43182934e-01 -3.30699866e-01 -3.23040555e-02 1.18062160e+02] [ 3.30527238e-01 9.43735798e-01 -1.06999439e-02 2.44657512e+01] [ 3.40249636e-02 -5.85365736e-04 9.99420812e-01 -8.94913312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.396875 meters 0.016585645047675356 Centerline is valid? [True, True] Translation: X:118.12, Y:24.49, Z:-0.89 [[ 9.43791273e-01 -3.28896034e-01 -3.29458967e-02 1.18117253e+02] [ 3.28715071e-01 9.44365992e-01 -1.09213458e-02 2.44876486e+01] [ 3.47049717e-02 -5.22341968e-04 9.99397465e-01 -8.93200900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.456875 meters 0.015737092686986226 Centerline is valid? [True, True] Translation: X:118.17, Y:24.51, Z:-0.89 [[ 9.45092502e-01 -3.24985004e-01 -3.44225136e-02 1.18171124e+02] [ 3.24784511e-01 9.45719090e-01 -1.14203146e-02 2.45131147e+01] [ 3.62654593e-02 -3.86645544e-04 9.99342117e-01 -8.92936233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.516875 meters 0.015446616068358308 Centerline is valid? [True, True] Translation: X:118.23, Y:24.54, Z:-0.89 [[ 9.46408445e-01 -3.21060783e-01 -3.50860262e-02 1.18225558e+02] [ 3.20849426e-01 9.47058562e-01 -1.16501336e-02 2.45357242e+01] [ 3.69689225e-02 -2.31546528e-04 9.99316389e-01 -8.92844266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.576875 meters 0.015215027538237917 Centerline is valid? [True, True] Translation: X:118.28, Y:24.56, Z:-0.89 [[ 9.49052048e-01 -3.13296165e-01 -3.38485289e-02 1.18278244e+02] [ 3.13094241e-01 9.49655468e-01 -1.12467430e-02 2.45598643e+01] [ 3.56680020e-02 7.59650512e-05 9.99363691e-01 -8.91046199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63687499999999 meters 0.015350665289506746 Centerline is valid? [True, True] Translation: X:118.33, Y:24.58, Z:-0.89 [[ 9.49813663e-01 -3.10972041e-01 -3.39174838e-02 1.18333195e+02] [ 3.10767649e-01 9.50419045e-01 -1.12741773e-02 2.45800160e+01] [ 3.57417765e-02 1.67910936e-04 9.99361044e-01 -8.88848466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69687499999999 meters 0.016589024068089757 Centerline is valid? [True, True] Translation: X:118.39, Y:24.60, Z:-0.89 [[ 9.52455275e-01 -3.02837302e-01 -3.34442462e-02 1.18387231e+02] [ 3.02633285e-01 9.53042152e-01 -1.11243419e-02 2.46027730e+01] [ 3.52426420e-02 4.74096020e-04 9.99378673e-01 -8.87044795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.756875 meters 0.01750570960940455 Centerline is valid? [True, True] Translation: X:118.44, Y:24.62, Z:-0.89 [[ 9.53900566e-01 -2.98254356e-01 -3.34372381e-02 1.18442151e+02] [ 2.98047496e-01 9.54486208e-01 -1.11251479e-02 2.46225188e+01] [ 3.52335064e-02 6.46399791e-04 9.99378898e-01 -8.86130676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.816875 meters 0.018828442918313947 Centerline is valid? [True, True] Translation: X:118.50, Y:24.64, Z:-0.88 [[ 9.55387621e-01 -2.93511222e-01 -3.29493013e-02 1.18498721e+02] [ 2.93307436e-01 9.55955283e-01 -1.09656315e-02 2.46394068e+01] [ 3.47165946e-02 8.12153497e-04 9.99396867e-01 -8.83893139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.876875 meters 0.01835705088107189 Centerline is valid? [True, True] Translation: X:118.56, Y:24.65, Z:-0.88 [[ 9.55734796e-01 -2.92494486e-01 -3.19057232e-02 1.18555586e+02] [ 2.92302738e-01 9.56266853e-01 -1.06214046e-02 2.46537153e+01] [ 3.36170878e-02 8.25115710e-04 9.99434445e-01 -8.80263866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.936875 meters 0.019699602170330257 Centerline is valid? [True, True] Translation: X:118.61, Y:24.67, Z:-0.88 [[ 9.56491960e-01 -2.90153787e-01 -3.05599443e-02 1.18611120e+02] [ 2.89976443e-01 9.56979630e-01 -1.01808827e-02 2.46693237e+01] [ 3.21992658e-02 8.76268462e-04 9.99481085e-01 -8.78316127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99687499999999 meters 0.021179320548872605 Centerline is valid? [True, True] Translation: X:118.67, Y:24.69, Z:-0.88 [[ 9.57591853e-01 -2.86274082e-01 -3.26342318e-02 1.18667991e+02] [ 2.86069476e-01 9.58147164e-01 -1.08750630e-02 2.46858581e+01] [ 3.43816453e-02 1.07821416e-03 9.99408195e-01 -8.80735747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05687499999999 meters 0.02196756237126582 Centerline is valid? [True, True] Translation: X:118.73, Y:24.70, Z:-0.88 [[ 9.57976207e-01 -2.84840245e-01 -3.38765717e-02 1.18725019e+02] [ 2.84618732e-01 9.58574280e-01 -1.12927438e-02 2.47022283e+01] [ 3.56898383e-02 1.17627298e-03 9.99362223e-01 -8.80975094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.116875 meters 0.023368798416235115 Centerline is valid? [True, True] Translation: X:118.78, Y:24.72, Z:-0.88 [[ 9.58822805e-01 -2.81995288e-01 -3.37266262e-02 1.18783068e+02] [ 2.81773711e-01 9.59414931e-01 -1.12501524e-02 2.47175340e+01] [ 3.55303188e-02 1.28362606e-03 9.99367775e-01 -8.79079545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.176875 meters 0.026158265464177984 Centerline is valid? [True, True] Translation: X:118.84, Y:24.74, Z:-0.88 [[ 9.59057103e-01 -2.81220036e-01 -3.35375199e-02 1.18837644e+02] [ 2.81000404e-01 9.59642425e-01 -1.11888002e-02 2.47362516e+01] [ 3.53305417e-02 1.30664170e-03 9.99374827e-01 -8.79047029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.236875 meters 0.023958123632592677 Centerline is valid? [True, True] Translation: X:118.90, Y:24.75, Z:-0.88 [[ 9.58655199e-01 -2.82672860e-01 -3.28064737e-02 1.18895236e+02] [ 2.82463402e-01 9.59215587e-01 -1.09491754e-02 2.47489274e+01] [ 3.45635156e-02 1.22985572e-03 9.99401746e-01 -8.75356244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.296875 meters 0.02148740478344368 Centerline is valid? [True, True] Translation: X:118.95, Y:24.76, Z:-0.87 [[ 9.56739263e-01 -2.89249273e-01 -3.13821634e-02 1.18954254e+02] [ 2.89060875e-01 9.57253332e-01 -1.04818013e-02 2.47595497e+01] [ 3.30725339e-02 9.56995224e-04 9.99452496e-01 -8.71056614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35687499999999 meters 0.02023588978626296 Centerline is valid? [True, True] Translation: X:119.01, Y:24.77, Z:-0.87 [[ 9.55507241e-01 -2.93354512e-01 -3.08065286e-02 1.19011727e+02] [ 2.93174863e-01 9.56003389e-01 -1.02966219e-02 2.47744088e+01] [ 3.24717062e-02 8.06796999e-04 9.99472329e-01 -8.68363515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41687499999999 meters 0.018077583783772798 Centerline is valid? [True, True] Translation: X:119.07, Y:24.79, Z:-0.87 [[ 9.53972099e-01 -2.98250641e-01 -3.13654067e-02 1.19069768e+02] [ 2.98066822e-01 9.54487360e-01 -1.04903903e-02 2.47858634e+01] [ 3.30666499e-02 6.58552532e-04 9.99452932e-01 -8.66236479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47687499999999 meters 0.01746664591598741 Centerline is valid? [True, True] Translation: X:119.13, Y:24.80, Z:-0.86 [[ 9.52792723e-01 -3.02164583e-01 -2.97084425e-02 1.19125946e+02] [ 3.02001507e-01 9.53255641e-01 -9.93841107e-03 2.48012007e+01] [ 3.13227762e-02 4.97251340e-04 9.99509198e-01 -8.63376121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.536875 meters 0.016842184328635854 Centerline is valid? [True, True] Translation: X:119.18, Y:24.82, Z:-0.86 [[ 9.52181201e-01 -3.04041597e-01 -3.01607087e-02 1.19182878e+02] [ 3.03874359e-01 9.52658653e-01 -1.00928220e-02 2.48171676e+01] [ 3.18014978e-02 4.45129349e-04 9.99494105e-01 -8.61067097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.596875 meters 0.01612271769862921 Centerline is valid? [True, True] Translation: X:119.24, Y:24.83, Z:-0.86 [[ 9.51011825e-01 -3.07812769e-01 -2.87716546e-02 1.19240257e+02] [ 3.07662083e-01 9.51446899e-01 -9.63537582e-03 2.48320754e+01] [ 3.03405932e-02 3.11409171e-04 9.99539570e-01 -8.57802565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.656875 meters 0.01568960589333154 Centerline is valid? [True, True] Translation: X:119.30, Y:24.85, Z:-0.85 [[ 9.49919817e-01 -3.11289142e-01 -2.74118973e-02 1.19297265e+02] [ 3.11153608e-01 9.50315227e-01 -9.18699033e-03 2.48469983e+01] [ 2.89097537e-02 1.97593432e-04 9.99582006e-01 -8.54091752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71687499999999 meters 0.015169752381938371 Centerline is valid? [True, True] Translation: X:119.36, Y:24.86, Z:-0.85 [[ 9.47991635e-01 -3.17185352e-01 -2.65577116e-02 1.19355265e+02] [ 3.17060253e-01 9.48363565e-01 -8.90753981e-03 2.48606865e+01] [ 2.80117072e-02 2.38784802e-05 9.99607595e-01 -8.51824480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77687499999999 meters 0.015060283167765708 Centerline is valid? [True, True] Translation: X:119.41, Y:24.88, Z:-0.85 [[ 9.46926993e-01 -3.20330615e-01 -2.67874370e-02 1.19411688e+02] [ 3.20204396e-01 9.47305808e-01 -8.99175588e-03 2.48767106e+01] [ 2.82562294e-02 -6.29187330e-05 9.99600711e-01 -8.51269861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83687499999999 meters 0.015004710756928132 Centerline is valid? [True, True] Translation: X:119.47, Y:24.90, Z:-0.85 [[ 9.46613313e-01 -3.21080752e-01 -2.88164361e-02 1.19467163e+02] [ 3.20934747e-01 9.47051817e-01 -9.68216570e-03 2.48950883e+01] [ 3.03994152e-02 -8.29286701e-05 9.99537828e-01 -8.51538689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.896875 meters 0.014994362865630828 Centerline is valid? [True, True] Translation: X:119.52, Y:24.92, Z:-0.85 [[ 9.47409402e-01 -3.18511162e-01 -3.10815915e-02 1.19521767e+02] [ 3.18339577e-01 9.47919110e-01 -1.04534156e-02 2.49159928e+01] [ 3.27923641e-02 9.16352929e-06 9.99462186e-01 -8.51988305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.956875 meters 0.015488179939426978 Centerline is valid? [True, True] Translation: X:119.57, Y:24.94, Z:-0.86 [[ 9.49635746e-01 -3.11356909e-01 -3.53387113e-02 1.19574983e+02] [ 3.11129754e-01 9.50292999e-01 -1.18950232e-02 2.49416863e+01] [ 3.72857276e-02 3.01014656e-04 9.99304600e-01 -8.55317235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.016875 meters 0.01695975262115414 Centerline is valid? [True, True] Translation: X:119.63, Y:24.97, Z:-0.85 [[ 9.52256857e-01 -3.03078127e-01 -3.67495184e-02 1.19628939e+02] [ 3.02826163e-01 9.52965488e-01 -1.23730759e-02 2.49672394e+01] [ 3.87710314e-02 6.53630743e-04 9.99247907e-01 -8.54731210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.076875 meters 0.018383948606242925 Centerline is valid? [True, True] Translation: X:119.68, Y:24.99, Z:-0.85 [[ 9.53718772e-01 -2.98370456e-01 -3.73574040e-02 1.19684585e+02] [ 2.98106372e-01 9.54449752e-01 -1.25802476e-02 2.49898648e+01] [ 3.94093392e-02 8.61538154e-04 9.99222779e-01 -8.53296877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13687499999999 meters 0.018188818123132486 Centerline is valid? [True, True] Translation: X:119.74, Y:25.01, Z:-0.85 [[ 9.53707769e-01 -2.98542215e-01 -3.62496487e-02 1.19739821e+02] [ 2.98293501e-01 9.54396066e-01 -1.22121571e-02 2.50089745e+01] [ 3.82423665e-02 8.33794530e-04 9.99268145e-01 -8.50511936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19687499999999 meters 0.018197964610983736 Centerline is valid? [True, True] Translation: X:119.80, Y:25.03, Z:-0.85 [[ 9.53684895e-01 -2.98746493e-01 -3.51518629e-02 1.19795635e+02] [ 2.98512411e-01 9.54332163e-01 -1.18516978e-02 2.50269586e+01] [ 3.70872065e-02 8.09517790e-04 9.99311705e-01 -8.45950789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.256875 meters 0.018839188175234813 Centerline is valid? [True, True] Translation: X:119.85, Y:25.05, Z:-0.85 [[ 9.53980011e-01 -2.97760669e-01 -3.55066502e-02 1.19850855e+02] [ 2.97520792e-01 9.54640160e-01 -1.19809763e-02 2.50471975e+01] [ 3.74635377e-02 8.65645236e-04 9.99297620e-01 -8.45486535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.316875 meters 0.019394616067863347 Centerline is valid? [True, True] Translation: X:119.91, Y:25.07, Z:-0.84 [[ 9.54469821e-01 -2.96296850e-01 -3.45765557e-02 1.19907177e+02] [ 2.96068089e-01 9.55095468e-01 -1.16761979e-02 2.50657824e+01] [ 3.64835323e-02 9.07563784e-04 9.99333842e-01 -8.42849269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.376875 meters 0.019959768443151685 Centerline is valid? [True, True] Translation: X:119.96, Y:25.08, Z:-0.84 [[ 9.54843916e-01 -2.95127193e-01 -3.42496125e-02 1.19963129e+02] [ 2.94901656e-01 9.55457500e-01 -1.15749585e-02 2.50837161e+01] [ 3.61401342e-02 9.52011231e-04 9.99346279e-01 -8.40052060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.436875 meters 0.02001165209228338 Centerline is valid? [True, True] Translation: X:120.02, Y:25.10, Z:-0.84 [[ 9.55079405e-01 -2.94238085e-01 -3.53168363e-02 1.20019295e+02] [ 2.93997295e-01 9.55731603e-01 -1.19454440e-02 2.51012883e+01] [ 3.72682211e-02 1.02579323e-03 9.99304772e-01 -8.39488490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49687499999999 meters 0.018432173887659182 Centerline is valid? [True, True] Translation: X:120.08, Y:25.12, Z:-0.84 [[ 9.54061764e-01 -2.97316509e-01 -3.70005930e-02 1.20076809e+02] [ 2.97054102e-01 9.54778495e-01 -1.25254471e-02 2.51161296e+01] [ 3.90513927e-02 9.58872236e-04 9.99236743e-01 -8.38893805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55687499999999 meters 0.018842371812382675 Centerline is valid? [True, True] Translation: X:120.13, Y:25.13, Z:-0.84 [[ 9.53662136e-01 -2.98637938e-01 -3.66593963e-02 1.20131587e+02] [ 2.98381006e-01 9.54366054e-01 -1.24181760e-02 2.51340874e+01] [ 3.86950219e-02 9.04276668e-04 9.99250658e-01 -8.38084554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.616875 meters 0.01842200499923475 Centerline is valid? [True, True] Translation: X:120.19, Y:25.15, Z:-0.84 [[ 9.53064499e-01 -3.00349231e-01 -3.81890058e-02 1.20187335e+02] [ 3.00071618e-01 9.53828903e-01 -1.29401369e-02 2.51494479e+01] [ 4.03123377e-02 8.73348297e-04 9.99186746e-01 -8.37886260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.676875 meters 0.01760360998850866 Centerline is valid? [True, True] Translation: X:120.24, Y:25.16, Z:-0.83 [[ 9.52392016e-01 -3.02524914e-01 -3.77905375e-02 1.20244860e+02] [ 3.02254563e-01 9.53141160e-01 -1.28104765e-02 2.51643987e+01] [ 3.98952051e-02 7.78233156e-04 9.99203566e-01 -8.34948698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.736875 meters 0.016883365838000416 Centerline is valid? [True, True] Translation: X:120.30, Y:25.18, Z:-0.83 [[ 9.51688754e-01 -3.04863172e-01 -3.67009909e-02 1.20301756e+02] [ 3.04609573e-01 9.52395925e-01 -1.24502810e-02 2.51802512e+01] [ 3.87495063e-02 6.69319232e-04 9.99248732e-01 -8.31365934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.796875 meters 0.015894541986542447 Centerline is valid? [True, True] Translation: X:120.36, Y:25.19, Z:-0.83 [[ 9.50729024e-01 -3.07832363e-01 -3.67907520e-02 1.20359415e+02] [ 3.07579357e-01 9.51440447e-01 -1.24906295e-02 2.51944053e+01] [ 3.88492295e-02 5.59128132e-04 9.99244927e-01 -8.29248389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85687499999999 meters 0.014941206209319529 Centerline is valid? [True, True] Translation: X:120.42, Y:25.21, Z:-0.83 [[ 9.49161421e-01 -3.12437359e-01 -3.84121427e-02 1.20417100e+02] [ 3.12164879e-01 9.49938281e-01 -1.30518155e-02 2.52087648e+01] [ 4.05670396e-02 3.97357916e-04 9.99176740e-01 -8.28574851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91687499999999 meters 0.01465346892051776 Centerline is valid? [True, True] Translation: X:120.47, Y:25.22, Z:-0.83 [[ 9.48130423e-01 -3.15576726e-01 -3.82103521e-02 1.20473558e+02] [ 3.15309291e-01 9.48900025e-01 -1.29920661e-02 2.52238958e+01] [ 4.03577978e-02 2.70094121e-04 9.99185256e-01 -8.27599206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97687499999999 meters 0.01482822249084828 Centerline is valid? [True, True] Translation: X:120.53, Y:25.24, Z:-0.82 [[ 9.48594423e-01 -3.14369919e-01 -3.66083982e-02 1.20528254e+02] [ 3.14123372e-01 9.49300509e-01 -1.24519313e-02 2.52439609e+01] [ 3.86668836e-02 3.12279103e-04 9.99252108e-01 -8.24319774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.036875 meters 0.014795935384453797 Centerline is valid? [True, True] Translation: X:120.58, Y:25.26, Z:-0.82 [[ 9.48919840e-01 -3.13494117e-01 -3.56731911e-02 1.20583208e+02] [ 3.13259192e-01 9.49590080e-01 -1.21391184e-02 2.52640407e+01] [ 3.76804506e-02 3.44095257e-04 9.99289780e-01 -8.20822749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.096875 meters 0.014923235805001532 Centerline is valid? [True, True] Translation: X:120.64, Y:25.28, Z:-0.82 [[ 9.49224706e-01 -3.12713913e-01 -3.43870068e-02 1.20637447e+02] [ 3.12494748e-01 9.49847288e-01 -1.17115826e-02 2.52847218e+01] [ 3.63247800e-02 3.71164507e-04 9.99339968e-01 -8.17452618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.156875 meters 0.014577631012941374 Centerline is valid? [True, True] Translation: X:120.69, Y:25.30, Z:-0.82 [[ 9.48898319e-01 -3.13702910e-01 -3.43869923e-02 1.20692266e+02] [ 3.13484015e-01 9.49521125e-01 -1.17220237e-02 2.53032006e+01] [ 3.63284085e-02 3.43236156e-04 9.99339847e-01 -8.15918747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21687499999999 meters 0.014084642577950508 Centerline is valid? [True, True] Translation: X:120.75, Y:25.32, Z:-0.81 [[ 9.47451508e-01 -3.18035153e-01 -3.44859454e-02 1.20748524e+02] [ 3.17817481e-01 9.48078903e-01 -1.17661809e-02 2.53207595e+01] [ 3.64374564e-02 1.87649553e-04 9.99335918e-01 -8.13865751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27687499999999 meters 0.014025371151851283 Centerline is valid? [True, True] Translation: X:120.80, Y:25.34, Z:-0.82 [[ 9.47077819e-01 -3.18887203e-01 -3.68043049e-02 1.20802444e+02] [ 3.18639574e-01 9.47792657e-01 -1.25658400e-02 2.53411003e+01] [ 3.88899355e-02 1.73520301e-04 9.99243485e-01 -8.15551886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33687499999999 meters 0.013872798429975283 Centerline is valid? [True, True] Translation: X:120.86, Y:25.36, Z:-0.82 [[ 9.46412838e-01 -3.20711068e-01 -3.80414339e-02 1.20857963e+02] [ 3.20447742e-01 9.47177069e-01 -1.29940547e-02 2.53619981e+01] [ 4.01993110e-02 1.07448627e-04 9.99191675e-01 -8.16408506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.396875 meters 0.0139838614381569 Centerline is valid? [True, True] Translation: X:120.91, Y:25.38, Z:-0.81 [[ 9.46286477e-01 -3.21019238e-01 -3.85817490e-02 1.20912482e+02] [ 3.20748290e-01 9.47072668e-01 -1.31869988e-02 2.53817991e+01] [ 4.07730003e-02 1.03648650e-04 9.99168430e-01 -8.14356711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.456875 meters 0.013817106873367709 Centerline is valid? [True, True] Translation: X:120.97, Y:25.40, Z:-0.81 [[ 9.46423145e-01 -3.20633743e-01 -3.84347995e-02 1.20967279e+02] [ 3.20364281e-01 9.47203245e-01 -1.31430827e-02 2.54024262e+01] [ 4.06196826e-02 1.25780732e-04 9.99174672e-01 -8.10922645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.516875 meters 0.014101424058637027 Centerline is valid? [True, True] Translation: X:121.02, Y:25.43, Z:-0.81 [[ 9.47297815e-01 -3.18109271e-01 -3.78594945e-02 1.21020441e+02] [ 3.17845437e-01 9.48054025e-01 -1.29554526e-02 2.54257259e+01] [ 4.00140958e-02 2.39204384e-04 9.99199087e-01 -8.10328107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.576875 meters 0.014291974113342695 Centerline is valid? [True, True] Translation: X:121.08, Y:25.45, Z:-0.81 [[ 9.48059969e-01 -3.15905231e-01 -3.72314382e-02 1.21075406e+02] [ 3.15648167e-01 9.48790691e-01 -1.27459744e-02 2.54474454e+01] [ 3.93513619e-02 3.31912851e-04 9.99225380e-01 -8.07766065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63687499999999 meters 0.015018567090873156 Centerline is valid? [True, True] Translation: X:121.13, Y:25.47, Z:-0.81 [[ 9.49375869e-01 -3.11961642e-01 -3.69512383e-02 1.21128934e+02] [ 3.11705133e-01 9.50094566e-01 -1.26580294e-02 2.54711601e+01] [ 3.90559904e-02 4.99337050e-04 9.99236899e-01 -8.06551384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69687499999999 meters 0.015324754398635811 Centerline is valid? [True, True] Translation: X:121.18, Y:25.49, Z:-0.81 [[ 9.50116620e-01 -3.09694650e-01 -3.69814999e-02 1.21184168e+02] [ 3.09435789e-01 9.50835877e-01 -1.26738442e-02 2.54927056e+01] [ 3.90883587e-02 5.98230453e-04 9.99235579e-01 -8.05393214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.756875 meters 0.017199514809235657 Centerline is valid? [True, True] Translation: X:121.24, Y:25.52, Z:-0.81 [[ 9.51577578e-01 -3.05058663e-01 -3.79384297e-02 1.21237966e+02] [ 3.04782220e-01 9.52333211e-01 -1.30097488e-02 2.55171502e+01] [ 4.00987632e-02 8.16826457e-04 9.99195387e-01 -8.05379494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.816875 meters 0.017512322250011654 Centerline is valid? [True, True] Translation: X:121.29, Y:25.54, Z:-0.80 [[ 9.52241947e-01 -3.02945723e-01 -3.81990092e-02 1.21293048e+02] [ 3.02663574e-01 9.53007371e-01 -1.31038982e-02 2.55377857e+01] [ 4.03737073e-02 9.16632890e-04 9.99184229e-01 -8.04434782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.876875 meters 0.017184090842938933 Centerline is valid? [True, True] Translation: X:121.35, Y:25.56, Z:-0.80 [[ 9.51717162e-01 -3.04759682e-01 -3.68236255e-02 1.21349346e+02] [ 3.04498472e-01 9.52428930e-01 -1.26417723e-02 2.55556466e+01] [ 3.89245888e-02 8.18653987e-04 9.99241816e-01 -8.01983507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.936875 meters 0.015315653735710194 Centerline is valid? [True, True] Translation: X:121.41, Y:25.57, Z:-0.80 [[ 9.50081958e-01 -3.09954214e-01 -3.56743238e-02 1.21407090e+02] [ 3.09712431e-01 9.50751299e-01 -1.22547264e-02 2.55687422e+01] [ 3.77158138e-02 5.94212913e-04 9.99288329e-01 -7.97757071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99687499999999 meters 0.014255255129949174 Centerline is valid? [True, True] Translation: X:121.46, Y:25.58, Z:-0.80 [[ 9.48335034e-01 -3.15420029e-01 -3.42179524e-02 1.21463949e+02] [ 3.15201048e-01 9.48952092e-01 -1.17570005e-02 2.55831107e+01] [ 3.61795909e-02 3.64040999e-04 9.99345238e-01 -7.95409654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.056875 meters 0.013393542910022168 Centerline is valid? [True, True] Translation: X:121.52, Y:25.59, Z:-0.79 [[ 9.44248953e-01 -3.27628934e-01 -3.24529765e-02 1.21523291e+02] [ 3.27439019e-01 9.44806474e-01 -1.11541849e-02 2.55909022e+01] [ 3.43162160e-02 -9.40433829e-05 9.99411021e-01 -7.89995416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.116875 meters 0.014347189216095443 Centerline is valid? [True, True] Translation: X:121.58, Y:25.60, Z:-0.79 [[ 9.41065234e-01 -3.36770839e-01 -3.13309263e-02 1.21581134e+02] [ 3.36598611e-01 9.41586554e-01 -1.07766953e-02 2.56034039e+01] [ 3.31300556e-02 -4.04372935e-04 9.99450967e-01 -7.86236988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.176875 meters 0.017934798390913116 Centerline is valid? [True, True] Translation: X:121.64, Y:25.62, Z:-0.78 [[ 9.36180177e-01 -3.50211204e-01 -3.03115404e-02 1.21639963e+02] [ 3.50056757e-01 9.36670381e-01 -1.04338062e-02 2.56150805e+01] [ 3.20459580e-02 -8.42836992e-04 9.99486041e-01 -7.84858337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.236875 meters 0.020985546645339873 Centerline is valid? [True, True] Translation: X:121.70, Y:25.63, Z:-0.78 [[ 9.33057778e-01 -3.58458137e-01 -3.01819041e-02 1.21698332e+02] [ 3.58309078e-01 9.33545137e-01 -1.03962647e-02 2.56296180e+01] [ 3.19027955e-02 -1.11413460e-03 9.99490355e-01 -7.82868555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.296875 meters 0.024728378918727218 Centerline is valid? [True, True] Translation: X:121.76, Y:25.65, Z:-0.78 [[ 9.29378868e-01 -3.67817985e-01 -3.10620357e-02 1.21755137e+02] [ 3.67665079e-01 9.29896644e-01 -1.07061471e-02 2.56462572e+01] [ 3.28223962e-02 -1.47035892e-03 9.99460118e-01 -7.80510554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.356875 meters 0.02534482667033813 Centerline is valid? [True, True] Translation: X:121.81, Y:25.67, Z:-0.78 [[ 9.27318374e-01 -3.72900362e-01 -3.20305130e-02 1.21809094e+02] [ 3.72740662e-01 9.27869838e-01 -1.10436792e-02 2.56722930e+01] [ 3.38383389e-02 -1.69806801e-03 9.99425877e-01 -7.78688989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.416875 meters 0.026102757281309626 Centerline is valid? [True, True] Translation: X:121.86, Y:25.70, Z:-0.78 [[ 9.27193604e-01 -3.73271160e-01 -3.13155122e-02 1.21861966e+02] [ 3.73118467e-01 9.27720790e-01 -1.08048377e-02 2.56975411e+01] [ 3.30851860e-02 -1.66621949e-03 9.99451146e-01 -7.77499426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.476875 meters 0.024720605428527283 Centerline is valid? [True, True] Translation: X:121.92, Y:25.72, Z:-0.78 [[ 9.27559899e-01 -3.72357410e-01 -3.13463310e-02 1.21915839e+02] [ 3.72203592e-01 9.28087988e-01 -1.08246491e-02 2.57227556e+01] [ 3.31227915e-02 -1.62670654e-03 9.99449966e-01 -7.76041789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53687499999998 meters 0.023791884915142048 Centerline is valid? [True, True] Translation: X:121.97, Y:25.76, Z:-0.78 [[ 9.29939243e-01 -3.66343467e-01 -3.17091435e-02 1.21965961e+02] [ 3.66182292e-01 9.30478611e-01 -1.09582594e-02 2.57581329e+01] [ 3.35191665e-02 -1.42081139e-03 9.99437065e-01 -7.75843653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59687499999998 meters 0.020765884166375707 Centerline is valid? [True, True] Translation: X:122.02, Y:25.79, Z:-0.77 [[ 9.31858091e-01 -3.61421785e-01 -3.18557990e-02 1.22016510e+02] [ 3.61256017e-01 9.32401602e-01 -1.10155536e-02 2.57921663e+01] [ 3.36836591e-02 -1.24316628e-03 9.99431771e-01 -7.74088995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65687499999999 meters 0.018563533181763032 Centerline is valid? [True, True] Translation: X:122.07, Y:25.83, Z:-0.77 [[ 9.34178590e-01 -3.55370684e-01 -3.19693489e-02 1.22066889e+02] [ 3.55200078e-01 9.34724893e-01 -1.10579961e-02 2.58294494e+01] [ 3.38122338e-02 -1.02537198e-03 9.99427677e-01 -7.72358522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.716875 meters 0.017686205313765756 Centerline is valid? [True, True] Translation: X:122.12, Y:25.86, Z:-0.77 [[ 9.35641294e-01 -3.51435455e-01 -3.26877746e-02 1.22117694e+02] [ 3.51254414e-01 9.36211685e-01 -1.13144815e-02 2.58637187e+01] [ 3.45789865e-02 -8.95429023e-04 9.99401567e-01 -7.72457784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.776875 meters 0.01710563632525624 Centerline is valid? [True, True] Translation: X:122.17, Y:25.89, Z:-0.77 [[ 9.35781801e-01 -3.51071682e-01 -3.25744587e-02 1.22170716e+02] [ 3.50891396e-01 9.36348180e-01 -1.12833242e-02 2.58918856e+01] [ 3.44622907e-02 -8.71367795e-04 9.99405619e-01 -7.71312806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.836875 meters 0.018393956610568887 Centerline is valid? [True, True] Translation: X:122.22, Y:25.92, Z:-0.77 [[ 9.34360291e-01 -3.54898122e-01 -3.19087760e-02 1.22224234e+02] [ 3.54727110e-01 9.34904462e-01 -1.10600468e-02 2.59187366e+01] [ 3.37568469e-02 -9.84839329e-04 9.99429590e-01 -7.69561554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.896875 meters 0.019893559867441214 Centerline is valid? [True, True] Translation: X:122.28, Y:25.94, Z:-0.77 [[ 9.32424297e-01 -3.60020662e-01 -3.11456691e-02 1.22279366e+02] [ 3.59860494e-01 9.32943634e-01 -1.07981709e-02 2.59425000e+01] [ 3.29447184e-02 -1.13961900e-03 9.99456526e-01 -7.67047658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.956875 meters 0.02062200357729223 Centerline is valid? [True, True] Translation: X:122.33, Y:25.97, Z:-0.76 [[ 9.30231672e-01 -3.65895795e-01 -2.80945450e-02 1.22332928e+02] [ 3.65768063e-01 9.30655036e-01 -9.74307355e-03 2.59699248e+01] [ 2.97112794e-02 -1.21277170e-03 9.99557787e-01 -7.63567828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.016875 meters 0.022145690442845246 Centerline is valid? [True, True] Translation: X:122.39, Y:25.99, Z:-0.76 [[ 9.29615554e-01 -3.67449313e-01 -2.82121287e-02 1.22386172e+02] [ 3.67321180e-01 9.30042686e-01 -9.78530583e-03 2.59924685e+01] [ 2.98340878e-02 -1.26633990e-03 9.99554062e-01 -7.62124672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.076875 meters 0.020845940908788087 Centerline is valid? [True, True] Translation: X:122.44, Y:26.02, Z:-0.76 [[ 9.29679627e-01 -3.67092960e-01 -3.06357519e-02 1.22437382e+02] [ 3.66941540e-01 9.30183268e-01 -1.06299043e-02 2.60240424e+01] [ 3.23990268e-02 -1.35912447e-03 9.99474090e-01 -7.64016214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.136875 meters 0.02037463501627387 Centerline is valid? [True, True] Translation: X:122.49, Y:26.05, Z:-0.76 [[ 9.30584835e-01 -3.64646978e-01 -3.23179088e-02 1.22489672e+02] [ 3.64476722e-01 9.31144884e-01 -1.12215904e-02 2.60534426e+01] [ 3.41845745e-02 -1.33648364e-03 9.99414643e-01 -7.64820333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.196875 meters 0.018361093127853487 Centerline is valid? [True, True] Translation: X:122.54, Y:26.08, Z:-0.76 [[ 9.32028905e-01 -3.60946670e-01 -3.22431736e-02 1.22542408e+02] [ 3.60774905e-01 9.32585691e-01 -1.11980608e-02 2.60821051e+01] [ 3.41114251e-02 -1.19561150e-03 9.99417321e-01 -7.62827467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.256875 meters 0.017207874292213397 Centerline is valid? [True, True] Translation: X:122.59, Y:26.11, Z:-0.76 [[ 9.35026842e-01 -3.53290907e-01 -3.01718337e-02 1.22593756e+02] [ 3.53136454e-01 9.35513123e-01 -1.04805057e-02 2.61131114e+01] [ 3.19288138e-02 -8.55220190e-04 9.99489780e-01 -7.59918516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31687499999998 meters 0.01662198230351317 Centerline is valid? [True, True] Translation: X:122.65, Y:26.14, Z:-0.76 [[ 9.36362477e-01 -3.49789574e-01 -2.95392143e-02 1.22645732e+02] [ 3.49639726e-01 9.36828019e-01 -1.02627690e-02 2.61389303e+01] [ 3.12629732e-02 -7.18410999e-04 9.99510936e-01 -7.58111667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37687499999998 meters 0.015491670818103005 Centerline is valid? [True, True] Translation: X:122.70, Y:26.17, Z:-0.76 [[ 9.37538590e-01 -3.46543160e-01 -3.04832634e-02 1.22697463e+02] [ 3.46381706e-01 9.38033820e-01 -1.05955759e-02 2.61684974e+01] [ 3.22661563e-02 -6.25083504e-04 9.99479117e-01 -7.57357573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.436875 meters 0.015013666669306147 Centerline is valid? [True, True] Translation: X:122.75, Y:26.19, Z:-0.76 [[ 9.38073823e-01 -3.44970929e-01 -3.18207428e-02 1.22750911e+02] [ 3.44793787e-01 9.38613186e-01 -1.10694206e-02 2.61938196e+01] [ 3.36859971e-02 -5.87660728e-04 9.99432293e-01 -7.57298790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.496875 meters 0.014882969915323598 Centerline is valid? [True, True] Translation: X:122.80, Y:26.22, Z:-0.76 [[ 9.38729410e-01 -3.43054833e-01 -3.31734395e-02 1.22803741e+02] [ 3.42860825e-01 9.39315228e-01 -1.15480634e-02 2.62194890e+01] [ 3.51219359e-02 -5.33366120e-04 9.99382892e-01 -7.57747273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.556875 meters 0.014785285454550925 Centerline is valid? [True, True] Translation: X:122.86, Y:26.24, Z:-0.76 [[ 9.38959729e-01 -3.42395680e-01 -3.34638008e-02 1.22858448e+02] [ 3.42197681e-01 9.39555714e-01 -1.16536511e-02 2.62426283e+01] [ 3.54312650e-02 -5.08926008e-04 9.99371986e-01 -7.56561613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.616875 meters 0.014133611790239909 Centerline is valid? [True, True] Translation: X:122.91, Y:26.27, Z:-0.75 [[ 9.39727996e-01 -3.40294175e-01 -3.33341931e-02 1.22912057e+02] [ 3.40096068e-01 9.40318934e-01 -1.16174782e-02 2.62676583e+01] [ 3.52981331e-02 -4.19558480e-04 9.99376739e-01 -7.53865761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.676875 meters 0.01355401641631221 Centerline is valid? [True, True] Translation: X:122.97, Y:26.29, Z:-0.75 [[ 9.41006518e-01 -3.36781015e-01 -3.29435944e-02 1.22965720e+02] [ 3.36585056e-01 9.41582961e-01 -1.14903697e-02 2.62918216e+01] [ 3.48888655e-02 -2.75808719e-04 9.99391160e-01 -7.51097994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.736875 meters 0.013384683008529815 Centerline is valid? [True, True] Translation: X:123.02, Y:26.32, Z:-0.75 [[ 9.43973523e-01 -3.28493375e-01 -3.17189370e-02 1.23017496e+02] [ 3.28306762e-01 9.44506274e-01 -1.10710861e-02 2.63182595e+01] [ 3.35955134e-02 3.72706146e-05 9.99435511e-01 -7.48587728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.796875 meters 0.014369482609387467 Centerline is valid? [True, True] Translation: X:123.07, Y:26.35, Z:-0.75 [[ 9.47442564e-01 -3.18321166e-01 -3.20034830e-02 1.23070697e+02] [ 3.18125180e-01 9.47982842e-01 -1.11758796e-02 2.63454582e+01] [ 3.38962718e-02 4.07390224e-04 9.99425273e-01 -7.47783177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.856875 meters 0.015971650397693986 Centerline is valid? [True, True] Translation: X:123.13, Y:26.37, Z:-0.75 [[ 9.49694933e-01 -3.11518439e-01 -3.21837909e-02 1.23125570e+02] [ 3.11316071e-01 9.50239878e-01 -1.12462850e-02 2.63696754e+01] [ 3.40857467e-02 6.61208499e-04 9.99418693e-01 -7.46764727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.916875 meters 0.018322596345803042 Centerline is valid? [True, True] Translation: X:123.18, Y:26.39, Z:-0.75 [[ 9.52609956e-01 -3.02424992e-01 -3.27627194e-02 1.23180909e+02] [ 3.02209842e-01 9.53172656e-01 -1.14498677e-02 2.63931346e+01] [ 3.46912544e-02 1.00604174e-03 9.99397571e-01 -7.46688834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.976875 meters 0.019738030799363215 Centerline is valid? [True, True] Translation: X:123.24, Y:26.41, Z:-0.75 [[ 9.53989184e-01 -2.97960547e-01 -3.35283321e-02 1.23236368e+02] [ 2.97732412e-01 9.54577435e-01 -1.17188668e-02 2.64134146e+01] [ 3.54971492e-02 1.19720100e-03 9.99369061e-01 -7.46094287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03687499999998 meters 0.02113836374493532 Centerline is valid? [True, True] Translation: X:123.29, Y:26.43, Z:-0.74 [[ 9.54611350e-01 -2.96051817e-01 -3.27183812e-02 1.23291655e+02] [ 2.95833380e-01 9.55171076e-01 -1.14379484e-02 2.64303180e+01] [ 3.46378768e-02 1.23960607e-03 9.99399160e-01 -7.44239440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09687499999998 meters 0.01970430034857214 Centerline is valid? [True, True] Translation: X:123.35, Y:26.44, Z:-0.74 [[ 9.53677338e-01 -2.99380839e-01 -2.95067443e-02 1.23350827e+02] [ 2.99204705e-01 9.54133162e-01 -1.03176383e-02 2.64407787e+01] [ 3.12422664e-02 1.01114109e-03 9.99511330e-01 -7.39191867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15687499999999 meters 0.018599144211587714 Centerline is valid? [True, True] Translation: X:123.41, Y:26.45, Z:-0.74 [[ 9.52300404e-01 -3.03806629e-01 -2.87310444e-02 1.23409614e+02] [ 3.03641611e-01 9.52733341e-01 -1.00475067e-02 2.64535471e+01] [ 3.04255231e-02 8.44304043e-04 9.99536680e-01 -7.36942883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.216875 meters 0.01539279616114848 Centerline is valid? [True, True] Translation: X:123.47, Y:26.46, Z:-0.73 [[ 9.49268697e-01 -3.13172049e-01 -2.84992750e-02 1.23471178e+02] [ 3.13013853e-01 9.49696254e-01 -9.96757950e-03 2.64574103e+01] [ 3.01872220e-02 5.41243327e-04 9.99544115e-01 -7.33582138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.276875 meters 0.013972331779901299 Centerline is valid? [True, True] Translation: X:123.53, Y:26.47, Z:-0.73 [[ 9.46627255e-01 -3.21046625e-01 -2.87385614e-02 1.23530676e+02] [ 3.20889334e-01 9.47063344e-01 -1.00527420e-02 2.64660486e+01] [ 3.04446370e-02 2.94301693e-04 9.99536411e-01 -7.31449905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.336875 meters 0.013446986509939543 Centerline is valid? [True, True] Translation: X:123.59, Y:26.47, Z:-0.73 [[ 9.42548623e-01 -3.32708449e-01 -3.01194605e-02 1.23590651e+02] [ 3.32541519e-01 9.43029735e-01 -1.05383429e-02 2.64694132e+01] [ 3.19097426e-02 -8.30705978e-05 9.99490751e-01 -7.30631383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.396875 meters 0.013616609641237783 Centerline is valid? [True, True] Translation: X:123.65, Y:26.48, Z:-0.73 [[ 9.41182892e-01 -3.36516884e-01 -3.05147563e-02 1.23648215e+02] [ 3.36347419e-01 9.41677409e-01 -1.06804461e-02 2.64838521e+01] [ 3.23292071e-02 -2.11306390e-04 9.99477252e-01 -7.28757782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.456875 meters 0.014323687491991827 Centerline is valid? [True, True] Translation: X:123.71, Y:26.49, Z:-0.73 [[ 9.38742754e-01 -3.43172386e-01 -3.15397407e-02 1.23707121e+02] [ 3.42994793e-01 9.39272332e-01 -1.10480132e-02 2.64929145e+01] [ 3.34157789e-02 -4.46724470e-04 9.99441437e-01 -7.27152879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.516875 meters 0.015043781620274234 Centerline is valid? [True, True] Translation: X:123.76, Y:26.51, Z:-0.73 [[ 9.37783657e-01 -3.45858309e-01 -3.07220171e-02 1.23763685e+02] [ 3.45691000e-01 9.38286608e-01 -1.07691202e-02 2.65072688e+01] [ 3.25506469e-02 -5.21219914e-04 9.99469951e-01 -7.26193889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.576875 meters 0.015180607540027372 Centerline is valid? [True, True] Translation: X:123.82, Y:26.52, Z:-0.72 [[ 9.37099145e-01 -3.47802668e-01 -2.96394530e-02 1.23820508e+02] [ 3.47647808e-01 9.37567590e-01 -1.03931143e-02 2.65240509e+01] [ 3.14037434e-02 -5.64712347e-04 9.99506621e-01 -7.23718326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.636875 meters 0.015228811705013449 Centerline is valid? [True, True] Translation: X:123.88, Y:26.54, Z:-0.72 [[ 9.36882602e-01 -3.48332015e-01 -3.02621317e-02 1.23875350e+02] [ 3.48170574e-01 9.37371038e-01 -1.06201836e-02 2.65427238e+01] [ 3.20661958e-02 -5.86518495e-04 9.99485575e-01 -7.22685177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.696875 meters 0.014976040331861087 Centerline is valid? [True, True] Translation: X:123.93, Y:26.57, Z:-0.73 [[ 9.37659493e-01 -3.46014920e-01 -3.26856217e-02 1.23930541e+02] [ 3.45824802e-01 9.38228856e-01 -1.14813206e-02 2.65652237e+01] [ 3.46393016e-02 -5.37929393e-04 9.99399735e-01 -7.25002912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.756875 meters 0.014740417205677144 Centerline is valid? [True, True] Translation: X:123.98, Y:26.59, Z:-0.73 [[ 9.39066211e-01 -3.41781761e-01 -3.66043651e-02 1.23983841e+02] [ 3.41539757e-01 9.39779257e-01 -1.28663415e-02 2.65876641e+01] [ 3.87975039e-02 -4.19499367e-04 9.99247005e-01 -7.28881815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81687499999998 meters 0.014599974877309218 Centerline is valid? [True, True] Translation: X:124.04, Y:26.61, Z:-0.73 [[ 9.39885623e-01 -3.39332182e-01 -3.83234450e-02 1.24036851e+02] [ 3.39064693e-01 9.40666552e-01 -1.34748707e-02 2.66084867e+01] [ 4.06220402e-02 -3.29289917e-04 9.99174530e-01 -7.29518110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87687499999998 meters 0.014161822509771112 Centerline is valid? [True, True] Translation: X:124.09, Y:26.63, Z:-0.73 [[ 9.40646542e-01 -3.37229499e-01 -3.82145031e-02 1.24091945e+02] [ 3.36961522e-01 9.41422440e-01 -1.34432710e-02 2.66295721e+01] [ 4.05094583e-02 -2.31450758e-04 9.99179128e-01 -7.26851127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.936875 meters 0.01384295177497547 Centerline is valid? [True, True] Translation: X:124.15, Y:26.65, Z:-0.72 [[ 9.40985827e-01 -3.36514767e-01 -3.61038059e-02 1.24147497e+02] [ 3.36274699e-01 9.41678172e-01 -1.27101391e-02 2.66486431e+01] [ 3.82753154e-02 -1.80735741e-04 9.99267215e-01 -7.22013746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.996875 meters 0.013725665843606773 Centerline is valid? [True, True] Translation: X:124.20, Y:26.67, Z:-0.72 [[ 9.41349399e-01 -3.35755223e-01 -3.36115975e-02 1.24202155e+02] [ 3.35546415e-01 9.41949262e-01 -1.18402281e-02 2.66680381e+01] [ 3.56358379e-02 -1.32459399e-04 9.99364833e-01 -7.18539947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.056875 meters 0.013550375213389204 Centerline is valid? [True, True] Translation: X:124.26, Y:26.69, Z:-0.72 [[ 9.41988184e-01 -3.34080152e-01 -3.23838519e-02 1.24256745e+02] [ 3.33885191e-01 9.42544666e-01 -1.14119045e-02 2.66889050e+01] [ 3.43357176e-02 -6.26093878e-05 9.99410353e-01 -7.16546517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.116875 meters 0.013550472127449675 Centerline is valid? [True, True] Translation: X:124.31, Y:26.71, Z:-0.71 [[ 9.43797243e-01 -3.29130629e-01 -3.03280761e-02 1.24310172e+02] [ 3.28956826e-01 9.44284393e-01 -1.06953895e-02 2.67110165e+01] [ 3.21585092e-02 1.17651478e-04 9.99482774e-01 -7.13022042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.176875 meters 0.013848141156059467 Centerline is valid? [True, True] Translation: X:124.37, Y:26.73, Z:-0.71 [[ 9.45160413e-01 -3.25181569e-01 -3.04752526e-02 1.24365006e+02] [ 3.25003717e-01 9.45651563e-01 -1.07566407e-02 2.67326625e+01] [ 3.23168316e-02 2.62180610e-04 9.99477640e-01 -7.11678337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.236875 meters 0.014816901713728698 Centerline is valid? [True, True] Translation: X:124.42, Y:26.75, Z:-0.71 [[ 9.47100797e-01 -3.19420201e-01 -3.11579248e-02 1.24419063e+02] [ 3.19230905e-01 9.47613058e-01 -1.10055096e-02 2.67546060e+01] [ 3.30410385e-02 4.76754393e-04 9.99453882e-01 -7.12199055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.296875 meters 0.016137841986593376 Centerline is valid? [True, True] Translation: X:124.48, Y:26.78, Z:-0.71 [[ 9.49231159e-01 -3.12737927e-01 -3.39881616e-02 1.24475334e+02] [ 3.12508265e-01 9.49839137e-01 -1.20082890e-02 2.67754479e+01] [ 3.60387335e-02 7.77060674e-04 9.99350092e-01 -7.13893731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.356875 meters 0.017302880528187663 Centerline is valid? [True, True] Translation: X:124.53, Y:26.80, Z:-0.71 [[ 9.50592301e-01 -3.08511185e-01 -3.45705812e-02 1.24531095e+02] [ 3.08270720e-01 9.51220235e-01 -1.22158451e-02 2.67953728e+01] [ 3.66529612e-02 9.55190368e-04 9.99327598e-01 -7.13900651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.416875 meters 0.018829356079550826 Centerline is valid? [True, True] Translation: X:124.59, Y:26.81, Z:-0.71 [[ 9.52124828e-01 -3.03867731e-01 -3.35069194e-02 1.24588375e+02] [ 3.03638878e-01 9.52713592e-01 -1.18424321e-02 2.68128850e+01] [ 3.55210305e-02 1.10147019e-03 9.99368322e-01 -7.11145728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.476875 meters 0.019319506948901097 Centerline is valid? [True, True] Translation: X:124.65, Y:26.83, Z:-0.71 [[ 9.52363567e-01 -3.03089096e-01 -3.37733117e-02 1.24645053e+02] [ 3.02855983e-01 9.52961539e-01 -1.19397949e-02 2.68296602e+01] [ 3.58034887e-02 1.14257611e-03 9.99358196e-01 -7.09547501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53687499999998 meters 0.019849513798366403 Centerline is valid? [True, True] Translation: X:124.70, Y:26.84, Z:-0.71 [[ 9.52108142e-01 -3.04027548e-01 -3.25167011e-02 1.24701439e+02] [ 3.03811750e-01 9.52662636e-01 -1.15031494e-02 2.68437930e+01] [ 3.44747205e-02 1.07328629e-03 9.99404994e-01 -7.07855414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59687499999998 meters 0.01930112401818011 Centerline is valid? [True, True] Translation: X:124.76, Y:26.86, Z:-0.70 [[ 9.51825600e-01 -3.05086129e-01 -3.08298659e-02 1.24758928e+02] [ 3.04892579e-01 9.52324254e-01 -1.09101494e-02 2.68580641e+01] [ 3.26885643e-02 9.84762167e-04 9.99465101e-01 -7.04696961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65687499999999 meters 0.01789396011131849 Centerline is valid? [True, True] Translation: X:124.82, Y:26.87, Z:-0.70 [[ 9.51049562e-01 -3.07496518e-01 -3.08321672e-02 1.24818132e+02] [ 3.07303929e-01 9.51548771e-01 -1.09193369e-02 2.68686428e+01] [ 3.26959689e-02 9.09984452e-04 9.99464930e-01 -7.02114822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.716875 meters 0.0171906308432464 Centerline is valid? [True, True] Translation: X:124.88, Y:26.88, Z:-0.70 [[ 9.49573504e-01 -3.12067658e-01 -3.03963452e-02 1.24876335e+02] [ 3.11882586e-01 9.50059586e-01 -1.07720042e-02 2.68795249e+01] [ 3.22399332e-02 7.48719056e-04 9.99479878e-01 -7.00655116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.776875 meters 0.016184962274695566 Centerline is valid? [True, True] Translation: X:124.94, Y:26.89, Z:-0.70 [[ 9.48145405e-01 -3.16362545e-01 -3.05782914e-02 1.24935393e+02] [ 3.16177376e-01 9.48638165e-01 -1.08396514e-02 2.68908601e+01] [ 3.24369940e-02 6.09401714e-04 9.99473596e-01 -6.98742570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.836875 meters 0.014300497950984438 Centerline is valid? [True, True] Translation: X:125.00, Y:26.90, Z:-0.70 [[ 9.45333812e-01 -3.24561183e-01 -3.16862971e-02 1.24996902e+02] [ 3.24366663e-01 9.45864640e-01 -1.12405793e-02 2.68952444e+01] [ 3.36192037e-02 3.48121178e-04 9.99434654e-01 -6.98027236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.896875 meters 0.013752753558691997 Centerline is valid? [True, True] Translation: X:125.06, Y:26.90, Z:-0.70 [[ 9.43447642e-01 -3.29922690e-01 -3.25202291e-02 1.25055556e+02] [ 3.29720680e-01 9.44007940e-01 -1.15448501e-02 2.69049425e+01] [ 3.45082625e-02 1.69369592e-04 9.99404398e-01 -6.96982557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.956875 meters 0.013656285932684559 Centerline is valid? [True, True] Translation: X:125.11, Y:26.91, Z:-0.70 [[ 9.42158611e-01 -3.33456190e-01 -3.38248433e-02 1.25114456e+02] [ 3.33239570e-01 9.42765595e-01 -1.20175775e-02 2.69137844e+01] [ 3.58962341e-02 5.06878478e-05 9.99355521e-01 -6.96187217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.016875 meters 0.013758049461819024 Centerline is valid? [True, True] Translation: X:125.17, Y:26.93, Z:-0.70 [[ 9.42230244e-01 -3.33150121e-01 -3.48305190e-02 1.25171668e+02] [ 3.32919829e-01 9.42873794e-01 -1.23853122e-02 2.69273624e+01] [ 3.69669518e-02 7.40452912e-05 9.99316486e-01 -6.95005754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.076875 meters 0.013763582183588618 Centerline is valid? [True, True] Translation: X:125.23, Y:26.94, Z:-0.69 [[ 9.42721228e-01 -3.31742317e-01 -3.49817386e-02 1.25227472e+02] [ 3.31508691e-01 9.43370031e-01 -1.24487711e-02 2.69448506e+01] [ 3.71305080e-02 1.38970405e-04 9.99310415e-01 -6.93780794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.136875 meters 0.014013847034019523 Centerline is valid? [True, True] Translation: X:125.28, Y:26.96, Z:-0.69 [[ 9.43218351e-01 -3.30427590e-01 -3.40110317e-02 1.25281916e+02] [ 3.30205582e-01 9.43831325e-01 -1.21121057e-02 2.69620316e+01] [ 3.61028510e-02 1.93727811e-04 9.99348061e-01 -6.91920055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.196875 meters 0.014074907115491067 Centerline is valid? [True, True] Translation: X:125.34, Y:26.98, Z:-0.69 [[ 9.43964663e-01 -3.28289766e-01 -3.40079999e-02 1.25338363e+02] [ 3.28066209e-01 9.44577022e-01 -1.21165845e-02 2.69794927e+01] [ 3.61009260e-02 2.80752000e-04 9.99348110e-01 -6.90547359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.256875 meters 0.014384549373883905 Centerline is valid? [True, True] Translation: X:125.39, Y:27.00, Z:-0.69 [[ 9.44510597e-01 -3.26565943e-01 -3.54177377e-02 1.25394891e+02] [ 3.26321882e-01 9.45174348e-01 -1.26286092e-02 2.69963277e+01] [ 3.76000108e-02 3.70272378e-04 9.99292801e-01 -6.89788958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31687499999998 meters 0.01465732751510034 Centerline is valid? [True, True] Translation: X:125.45, Y:27.02, Z:-0.69 [[ 9.44762576e-01 -3.25820156e-01 -3.55654464e-02 1.25449057e+02] [ 3.25573197e-01 9.45431678e-01 -1.26899873e-02 2.70152678e+01] [ 3.77593533e-02 4.09868971e-04 9.99286777e-01 -6.88323641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37687499999998 meters 0.015466208173176614 Centerline is valid? [True, True] Translation: X:125.50, Y:27.04, Z:-0.69 [[ 9.45804182e-01 -3.22772511e-01 -3.56701024e-02 1.25504627e+02] [ 3.22521662e-01 9.46476421e-01 -1.27343169e-02 2.70352055e+01] [ 3.78711983e-02 5.39789438e-04 9.99282483e-01 -6.88153880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.436875 meters 0.015546774763343572 Centerline is valid? [True, True] Translation: X:125.56, Y:27.05, Z:-0.69 [[ 9.46334249e-01 -3.21252683e-01 -3.53299096e-02 1.25560622e+02] [ 3.21005187e-01 9.46993321e-01 -1.26222293e-02 2.70528622e+01] [ 3.75121135e-02 6.03763609e-04 9.99295991e-01 -6.85300630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.496875 meters 0.01635502034542116 Centerline is valid? [True, True] Translation: X:125.62, Y:27.07, Z:-0.68 [[ 9.46966041e-01 -3.19433684e-01 -3.48918221e-02 1.25616793e+02] [ 3.19190710e-01 9.47608392e-01 -1.24750420e-02 2.70718768e+01] [ 3.70487320e-02 6.76295609e-04 9.99313231e-01 -6.83332388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.556875 meters 0.01670653721271757 Centerline is valid? [True, True] Translation: X:125.67, Y:27.09, Z:-0.68 [[ 9.47454719e-01 -3.18077046e-01 -3.40080689e-02 1.25672780e+02] [ 3.17845033e-01 9.48064594e-01 -1.21679650e-02 2.70904255e+01] [ 3.61121964e-02 7.19300047e-04 9.99347483e-01 -6.80992263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.616875 meters 0.017747524735791415 Centerline is valid? [True, True] Translation: X:125.73, Y:27.11, Z:-0.68 [[ 9.48267344e-01 -3.15734589e-01 -3.31770140e-02 1.25728393e+02] [ 3.15512039e-01 9.48847213e-01 -1.18793446e-02 2.71087416e+01] [ 3.52306372e-02 7.97047239e-04 9.99378891e-01 -6.78622460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.676875 meters 0.019544577800412164 Centerline is valid? [True, True] Translation: X:125.78, Y:27.13, Z:-0.68 [[ 9.49135650e-01 -3.13073859e-01 -3.35600621e-02 1.25783375e+02] [ 3.12844200e-01 9.49728342e-01 -1.20242465e-02 2.71275654e+01] [ 3.56374194e-02 9.13570224e-04 9.99364368e-01 -6.79186518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.736875 meters 0.019673993248227942 Centerline is valid? [True, True] Translation: X:125.84, Y:27.14, Z:-0.68 [[ 9.49904171e-01 -3.10695060e-01 -3.39211827e-02 1.25839451e+02] [ 3.10458796e-01 9.50509098e-01 -1.21568974e-02 2.71440965e+01] [ 3.60194808e-02 1.01675802e-03 9.99350571e-01 -6.77371282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.796875 meters 0.018724105365138244 Centerline is valid? [True, True] Translation: X:125.90, Y:27.16, Z:-0.68 [[ 9.48814863e-01 -3.13819301e-01 -3.56062125e-02 1.25896949e+02] [ 3.13560966e-01 9.49482252e-01 -1.27660960e-02 2.71583747e+01] [ 3.78137141e-02 9.47943221e-04 9.99284356e-01 -6.77553772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.856875 meters 0.018458007688411396 Centerline is valid? [True, True] Translation: X:125.95, Y:27.17, Z:-0.68 [[ 9.47730876e-01 -3.16955674e-01 -3.66781560e-02 1.25952928e+02] [ 3.16683543e-01 9.48439965e-01 -1.31592472e-02 2.71744850e+01] [ 3.89579271e-02 8.56056508e-04 9.99240485e-01 -6.78496176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.916875 meters 0.01692069734735569 Centerline is valid? [True, True] Translation: X:126.01, Y:27.19, Z:-0.68 [[ 9.46924223e-01 -3.19395612e-01 -3.63449919e-02 1.26009893e+02] [ 3.19129949e-01 9.47621165e-01 -1.30461798e-02 2.71894187e+01] [ 3.86081762e-02 7.54968299e-04 9.99254141e-01 -6.75458507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.976875 meters 0.015179074874467421 Centerline is valid? [True, True] Translation: X:126.07, Y:27.20, Z:-0.67 [[ 9.44610762e-01 -3.26183767e-01 -3.62582184e-02 1.26068250e+02] [ 3.25924039e-01 9.45306255e-01 -1.30232632e-02 2.72030697e+01] [ 3.85230977e-02 4.84489620e-04 9.99257593e-01 -6.73820459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03687499999998 meters 0.01409733469217007 Centerline is valid? [True, True] Translation: X:126.13, Y:27.22, Z:-0.67 [[ 9.42494520e-01 -3.32235505e-01 -3.63819827e-02 1.26125728e+02] [ 3.31978275e-01 9.43196432e-01 -1.30734427e-02 2.72179987e+01] [ 3.86588181e-02 2.43620251e-04 9.99252439e-01 -6.72126364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09687499999998 meters 0.014045681401760015 Centerline is valid? [True, True] Translation: X:126.18, Y:27.23, Z:-0.67 [[ 9.38279861e-01 -3.44068926e-01 -3.53196448e-02 1.26183717e+02] [ 3.43834489e-01 9.38944366e-01 -1.27012166e-02 2.72295205e+01] [ 3.75332755e-02 -2.26816258e-04 9.99295353e-01 -6.69299941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15687499999999 meters 0.014574779461017373 Centerline is valid? [True, True] Translation: X:126.24, Y:27.25, Z:-0.66 [[ 9.36663335e-01 -3.48689999e-01 -3.28189113e-02 1.26240695e+02] [ 3.48490132e-01 9.37238040e-01 -1.18103345e-02 2.72462759e+01] [ 3.48772776e-02 -3.74759407e-04 9.99391532e-01 -6.63514504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.216875 meters 0.015068658331673543 Centerline is valid? [True, True] Translation: X:126.30, Y:27.27, Z:-0.66 [[ 9.35560404e-01 -3.51675740e-01 -3.24176579e-02 1.26295962e+02] [ 3.51482220e-01 9.36121761e-01 -1.16746363e-02 2.72666994e+01] [ 3.44525614e-02 -4.71902909e-04 9.99406223e-01 -6.62015758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.276875 meters 0.014635625540913553 Centerline is valid? [True, True] Translation: X:126.35, Y:27.29, Z:-0.66 [[ 9.36467449e-01 -3.49268399e-01 -3.22537235e-02 1.26349978e+02] [ 3.49075108e-01 9.37022650e-01 -1.16242290e-02 2.72913604e+01] [ 3.42824453e-02 -3.73259986e-04 9.99412115e-01 -6.62826884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.336875 meters 0.014359270000037384 Centerline is valid? [True, True] Translation: X:126.40, Y:27.31, Z:-0.66 [[ 9.37176310e-01 -3.47321812e-01 -3.26821605e-02 1.26404364e+02] [ 3.47121859e-01 9.37745952e-01 -1.17874790e-02 2.73129005e+01] [ 3.47416123e-02 -2.97746244e-04 9.99396284e-01 -6.61161852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.396875 meters 0.014405390598127473 Centerline is valid? [True, True] Translation: X:126.46, Y:27.33, Z:-0.66 [[ 9.36914144e-01 -3.48094386e-01 -3.19716203e-02 1.26457859e+02] [ 3.47903191e-01 9.37459440e-01 -1.15398460e-02 2.73347934e+01] [ 3.39890529e-02 -3.11183765e-04 9.99422157e-01 -6.58739800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.456875 meters 0.01480996693068727 Centerline is valid? [True, True] Translation: X:126.51, Y:27.35, Z:-0.66 [[ 9.36063683e-01 -3.50577847e-01 -2.96640449e-02 1.26513512e+02] [ 3.50414240e-01 9.36533524e-01 -1.07153964e-02 2.73539667e+01] [ 3.15379531e-02 -3.64410308e-04 9.99502489e-01 -6.55139370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.516875 meters 0.015703663712247136 Centerline is valid? [True, True] Translation: X:126.57, Y:27.37, Z:-0.65 [[ 9.34792390e-01 -3.54175884e-01 -2.68818079e-02 1.26567438e+02] [ 3.54042837e-01 9.35178729e-01 -9.71671700e-03 2.73735955e+01] [ 2.85807218e-02 -4.34198450e-04 9.99591393e-01 -6.51117039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.576875 meters 0.015741509303497096 Centerline is valid? [True, True] Translation: X:126.62, Y:27.40, Z:-0.65 [[ 9.34082973e-01 -3.56115576e-01 -2.58977825e-02 1.26622010e+02] [ 3.55992774e-01 9.34441797e-01 -9.36335953e-03 2.73972294e+01] [ 2.75344086e-02 -4.73268703e-04 9.99620744e-01 -6.49838642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.636875 meters 0.016096826418317705 Centerline is valid? [True, True] Translation: X:126.68, Y:27.42, Z:-0.65 [[ 9.33142921e-01 -3.58336572e-01 -2.89687754e-02 1.26676520e+02] [ 3.58183716e-01 9.33592281e-01 -1.04822803e-02 2.74211889e+01] [ 3.08012095e-02 -5.94677966e-04 9.99525353e-01 -6.52125386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.696875 meters 0.016973042471425222 Centerline is valid? [True, True] Translation: X:126.73, Y:27.44, Z:-0.65 [[ 9.31975680e-01 -3.61067885e-01 -3.24239722e-02 1.26730344e+02] [ 3.60877742e-01 9.32539225e-01 -1.17409148e-02 2.74442677e+01] [ 3.44758932e-02 -7.58842822e-04 9.99405242e-01 -6.54011589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.756875 meters 0.017130278098009488 Centerline is valid? [True, True] Translation: X:126.78, Y:27.47, Z:-0.65 [[ 9.31681315e-01 -3.61859769e-01 -3.20536073e-02 1.26784522e+02] [ 3.61674275e-01 9.32232217e-01 -1.16108767e-02 2.74677153e+01] [ 3.40829146e-02 -7.75328304e-04 9.99418708e-01 -6.52969928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81687499999998 meters 0.016039855257317864 Centerline is valid? [True, True] Translation: X:126.84, Y:27.50, Z:-0.65 [[ 9.33168252e-01 -3.58084569e-01 -3.11842147e-02 1.26836889e+02] [ 3.57906657e-01 9.33688955e-01 -1.13030939e-02 2.74964210e+01] [ 3.31638204e-02 -6.13349662e-04 9.99449741e-01 -6.51126672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87687499999998 meters 0.014518801127727306 Centerline is valid? [True, True] Translation: X:126.89, Y:27.53, Z:-0.65 [[ 9.36201087e-01 -3.50084311e-01 -3.11207221e-02 1.26887664e+02] [ 3.49902613e-01 9.36718137e-01 -1.12824019e-02 2.75282479e+01] [ 3.31011367e-02 -3.26625089e-04 9.99451954e-01 -6.50289037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.936875 meters 0.013700814018097232 Centerline is valid? [True, True] Translation: X:126.94, Y:27.56, Z:-0.65 [[ 9.38492633e-01 -3.43930235e-01 -3.07176080e-02 1.26939699e+02] [ 3.43749815e-01 9.38995198e-01 -1.11392296e-02 2.75581489e+01] [ 3.26748042e-02 -1.05087149e-04 9.99466031e-01 -6.48315869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.996875 meters 0.014202800799224164 Centerline is valid? [True, True] Translation: X:126.99, Y:27.59, Z:-0.65 [[ 9.42197108e-01 -3.33711650e-01 -3.00190813e-02 1.26990124e+02] [ 3.33533885e-01 9.42675168e-01 -1.08938634e-02 2.75928031e+01] [ 3.19336516e-02 2.51785835e-04 9.99489959e-01 -6.46179696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.056875 meters 0.015415110436971474 Centerline is valid? [True, True] Translation: X:127.04, Y:27.62, Z:-0.64 [[ 9.44413473e-01 -3.27388929e-01 -2.99946804e-02 1.27041718e+02] [ 3.27208024e-01 9.44889552e-01 -1.08923442e-02 2.76221560e+01] [ 3.19076930e-02 4.72376506e-04 9.99490708e-01 -6.44992355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.116875 meters 0.015811092044546577 Centerline is valid? [True, True] Translation: X:127.10, Y:27.65, Z:-0.64 [[ 9.45156293e-01 -3.25244114e-01 -2.99307085e-02 1.27095541e+02] [ 3.25062790e-01 9.45629931e-01 -1.08726984e-02 2.76460684e+01] [ 3.18396550e-02 5.47039753e-04 9.99492840e-01 -6.44359584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.176875 meters 0.016115351325520087 Centerline is valid? [True, True] Translation: X:127.15, Y:27.67, Z:-0.64 [[ 9.45304215e-01 -3.24802083e-01 -3.00590869e-02 1.27150281e+02] [ 3.24618714e-01 9.45781835e-01 -1.09275422e-02 2.76671468e+01] [ 3.19786269e-02 5.72109564e-04 9.99488389e-01 -6.43560338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.236875 meters 0.016604231384828774 Centerline is valid? [True, True] Translation: X:127.20, Y:27.69, Z:-0.64 [[ 9.46009235e-01 -3.22565710e-01 -3.19043711e-02 1.27204919e+02] [ 3.22357584e-01 9.46546818e-01 -1.16064147e-02 2.76877157e+01] [ 3.39428123e-02 6.95159469e-04 9.99423535e-01 -6.44724753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.296875 meters 0.016613302753487946 Centerline is valid? [True, True] Translation: X:127.26, Y:27.71, Z:-0.65 [[ 9.46420473e-01 -3.21145800e-01 -3.39656064e-02 1.27260815e+02] [ 3.20908811e-01 9.47029427e-01 -1.23611825e-02 2.77064532e+01] [ 3.61361707e-02 7.99013849e-04 9.99346556e-01 -6.45744628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.356875 meters 0.01822469378218528 Centerline is valid? [True, True] Translation: X:127.32, Y:27.73, Z:-0.65 [[ 9.47375915e-01 -3.18229948e-01 -3.47645859e-02 1.27316167e+02] [ 3.17979418e-01 9.48013090e-01 -1.26598418e-02 2.77259596e+01] [ 3.69860233e-02 9.39206407e-04 9.99315342e-01 -6.45865337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.416875 meters 0.019261132664398405 Centerline is valid? [True, True] Translation: X:127.37, Y:27.74, Z:-0.64 [[ 9.48782989e-01 -3.14230783e-01 -3.27086350e-02 1.27373722e+02] [ 3.14006561e-01 9.49346064e-01 -1.19134678e-02 2.77427016e+01] [ 3.47953922e-02 1.03256955e-03 9.99393924e-01 -6.41747266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.476875 meters 0.02088861648701968 Centerline is valid? [True, True] Translation: X:127.43, Y:27.76, Z:-0.64 [[ 9.50054615e-01 -3.10486494e-01 -3.15335696e-02 1.27430032e+02] [ 3.10275914e-01 9.50577118e-01 -1.14891063e-02 2.77625887e+01] [ 3.35423021e-02 1.13117138e-03 9.99436659e-01 -6.39293277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53687499999998 meters 0.02260279729915524 Centerline is valid? [True, True] Translation: X:127.49, Y:27.78, Z:-0.64 [[ 9.51817880e-01 -3.05165133e-01 -3.02814455e-02 1.27486457e+02] [ 3.04968197e-01 9.52298605e-01 -1.10347244e-02 2.77808406e+01] [ 3.22043915e-02 1.26817018e-03 9.99480500e-01 -6.37432700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59687499999998 meters 0.024855677645535788 Centerline is valid? [True, True] Translation: X:127.54, Y:27.80, Z:-0.63 [[ 9.52657935e-01 -3.02631160e-01 -2.92786620e-02 1.27541011e+02] [ 3.02445813e-01 9.53106848e-01 -1.06708183e-02 2.78007277e+01] [ 3.11350154e-02 1.31043099e-03 9.99514329e-01 -6.34995207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65687499999999 meters 0.025405815864916904 Centerline is valid? [True, True] Translation: X:127.60, Y:27.82, Z:-0.63 [[ 9.53261700e-01 -3.00711047e-01 -2.94108528e-02 1.27598554e+02] [ 3.00523021e-01 9.53714295e-01 -1.07218202e-02 2.78171697e+01] [ 3.12737205e-02 1.38206224e-03 9.99509902e-01 -6.34709258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.716875 meters 0.025769222676169344 Centerline is valid? [True, True] Translation: X:127.66, Y:27.83, Z:-0.64 [[ 9.52892203e-01 -3.01514612e-01 -3.29452385e-02 1.27655367e+02] [ 3.01278851e-01 9.53460334e-01 -1.20185814e-02 2.78322518e+01] [ 3.50357559e-02 1.52670889e-03 9.99384893e-01 -6.37524383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.776875 meters 0.024639955218641558 Centerline is valid? [True, True] Translation: X:127.71, Y:27.85, Z:-0.64 [[ 9.51954808e-01 -3.04393430e-01 -3.35661028e-02 1.27713477e+02] [ 3.04150106e-01 9.52545282e-01 -1.22555434e-02 2.78460040e+01] [ 3.57037398e-02 1.45758971e-03 9.99361355e-01 -6.36124031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.836875 meters 0.020539900987570647 Centerline is valid? [True, True] Translation: X:127.77, Y:27.85, Z:-0.63 [[ 9.48478283e-01 -3.15316092e-01 -3.10597602e-02 1.27773811e+02] [ 3.15113369e-01 9.48986202e-01 -1.13469625e-02 2.78525377e+01] [ 3.30531638e-02 9.75001809e-04 9.99453119e-01 -6.31756588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.896875 meters 0.016359645060694605 Centerline is valid? [True, True] Translation: X:127.84, Y:27.86, Z:-0.62 [[ 9.44752028e-01 -3.26698754e-01 -2.66745251e-02 1.27835462e+02] [ 3.26553723e-01 9.45128392e-01 -9.74621603e-03 2.78570138e+01] [ 2.83949277e-02 4.97091859e-04 9.99596659e-01 -6.24416509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.956875 meters 0.014526007990562216 Centerline is valid? [True, True] Translation: X:127.89, Y:27.87, Z:-0.62 [[ 9.42322066e-01 -3.33751740e-01 -2.52764504e-02 1.27894483e+02] [ 3.33624002e-01 9.42660969e-01 -9.23705250e-03 2.78679725e+01] [ 2.69100056e-02 2.71447841e-04 9.99637823e-01 -6.21356325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.016875 meters 0.013638381412068015 Centerline is valid? [True, True] Translation: X:127.95, Y:27.88, Z:-0.62 [[ 9.40024874e-01 -3.40134145e-01 -2.57293539e-02 1.27953190e+02] [ 3.40004079e-01 9.40376922e-01 -9.40592691e-03 2.78795400e+01] [ 2.73945675e-02 9.37199856e-05 9.99624694e-01 -6.20422872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.076875 meters 0.013446947414560964 Centerline is valid? [True, True] Translation: X:128.01, Y:27.90, Z:-0.62 [[ 9.39295108e-01 -3.42029650e-01 -2.72106311e-02 1.28008966e+02] [ 3.41884741e-01 9.39689159e-01 -9.95527445e-03 2.78959389e+01] [ 2.89745341e-02 4.80410309e-05 9.99580149e-01 -6.19785574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.136875 meters 0.013591013242869595 Centerline is valid? [True, True] Translation: X:128.06, Y:27.91, Z:-0.62 [[ 9.39103200e-01 -3.42320387e-01 -3.00322060e-02 1.28064064e+02] [ 3.42143711e-01 9.39583285e-01 -1.09968674e-02 2.79141007e+01] [ 3.19822107e-02 5.18629397e-05 9.99488437e-01 -6.19130628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.196875 meters 0.013343585685106102 Centerline is valid? [True, True] Translation: X:128.12, Y:27.94, Z:-0.62 [[ 9.39421021e-01 -3.41411943e-01 -3.04307435e-02 1.28117824e+02] [ 3.41229940e-01 9.39913761e-01 -1.11467529e-02 2.79352386e+01] [ 3.24079092e-02 8.76132022e-05 9.99474722e-01 -6.17650313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.256875 meters 0.013412631056224028 Centerline is valid? [True, True] Translation: X:128.17, Y:27.96, Z:-0.62 [[ 9.39827508e-01 -3.40127390e-01 -3.22120075e-02 1.28172645e+02] [ 3.39922339e-01 9.40379358e-01 -1.18096305e-02 2.79582176e+01] [ 3.43082857e-02 1.49434706e-04 9.99411286e-01 -6.17050881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31687499999998 meters 0.013398669344978164 Centerline is valid? [True, True] Translation: X:128.23, Y:27.98, Z:-0.61 [[ 9.39361638e-01 -3.41345242e-01 -3.29110672e-02 1.28225792e+02] [ 3.41131647e-01 9.39937983e-01 -1.20742071e-02 2.79796626e+01] [ 3.50558353e-02 1.15040347e-04 9.99385349e-01 -6.14693230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37687499999998 meters 0.013713478858070073 Centerline is valid? [True, True] Translation: X:128.28, Y:28.00, Z:-0.61 [[ 9.35819058e-01 -3.50940276e-01 -3.29182934e-02 1.28281635e+02] [ 3.50732352e-01 9.36397813e-01 -1.20810793e-02 2.79967213e+01] [ 3.50643552e-02 -2.39806155e-04 9.99385028e-01 -6.12138465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.436875 meters 0.01598699178877344 Centerline is valid? [True, True] Translation: X:128.34, Y:28.01, Z:-0.61 [[ 9.31080462e-01 -3.63473974e-01 -3.12385009e-02 1.28338793e+02] [ 3.63293633e-01 9.31604111e-01 -1.14680497e-02 2.80143043e+01] [ 3.32702535e-02 -6.71071432e-04 9.99446167e-01 -6.07252520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.496875 meters 0.018609370471104936 Centerline is valid? [True, True] Translation: X:128.40, Y:28.03, Z:-0.61 [[ 9.27891534e-01 -3.71601092e-01 -3.04947544e-02 1.28395282e+02] [ 3.71433428e-01 9.28392027e-01 -1.12005742e-02 2.80338560e+01] [ 3.24732325e-02 -9.33853162e-04 9.99472169e-01 -6.05477115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.556875 meters 0.021625366255980598 Centerline is valid? [True, True] Translation: X:128.45, Y:28.06, Z:-0.60 [[ 9.24283482e-01 -3.80348745e-01 -3.21694998e-02 1.28450695e+02] [ 3.80167296e-01 9.24842218e-01 -1.18194102e-02 2.80562807e+01] [ 3.42472094e-02 -1.30530609e-03 9.99412540e-01 -6.03817473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.616875 meters 0.022054282842271188 Centerline is valid? [True, True] Translation: X:128.50, Y:28.08, Z:-0.60 [[ 9.24015317e-01 -3.81052034e-01 -3.15442924e-02 1.28503693e+02] [ 3.80877727e-01 9.24552682e-01 -1.15972238e-02 2.80815385e+01] [ 3.35835059e-02 -1.29850601e-03 9.99435071e-01 -6.00748361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.676875 meters 0.019014514376481027 Centerline is valid? [True, True] Translation: X:128.55, Y:28.12, Z:-0.60 [[ 9.25917494e-01 -3.76397910e-01 -3.16450228e-02 1.28552745e+02] [ 3.76219524e-01 9.26457417e-01 -1.16415085e-02 2.81190726e+01] [ 3.36996055e-02 -1.12639907e-03 9.99431372e-01 -6.00018202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.736875 meters 0.016821442590449785 Centerline is valid? [True, True] Translation: X:128.60, Y:28.16, Z:-0.60 [[ 9.29294485e-01 -3.67924190e-01 -3.23040463e-02 1.28602621e+02] [ 3.67733081e-01 9.29855417e-01 -1.18863524e-02 2.81552809e+01] [ 3.44113690e-02 -8.33344742e-04 9.99407406e-01 -5.98496302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.796875 meters 0.015170149260097859 Centerline is valid? [True, True] Translation: X:128.65, Y:28.19, Z:-0.60 [[ 9.31114197e-01 -3.63259095e-01 -3.26983622e-02 1.28653920e+02] [ 3.63060315e-01 9.31687923e-01 -1.20341673e-02 2.81866658e+01] [ 3.48361899e-02 -6.66293645e-04 9.99392814e-01 -5.97379199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.856875 meters 0.013586785676021722 Centerline is valid? [True, True] Translation: X:128.70, Y:28.22, Z:-0.60 [[ 9.33861829e-01 -3.56111293e-01 -3.29671289e-02 1.28703738e+02] [ 3.55904678e-01 9.34443464e-01 -1.21356328e-02 2.82224833e+01] [ 3.51275540e-02 -4.00151181e-04 9.99382757e-01 -5.97545034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.916875 meters 0.012629116263546864 Centerline is valid? [True, True] Translation: X:128.75, Y:28.26, Z:-0.60 [[ 9.36648150e-01 -3.48734959e-01 -3.27745662e-02 1.28753442e+02] [ 3.48526092e-01 9.37221380e-01 -1.20685203e-02 2.82573072e+01] [ 3.49257390e-02 -1.18834274e-04 9.99389903e-01 -5.97076447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.976875 meters 0.012688516420332686 Centerline is valid? [True, True] Translation: X:128.81, Y:28.29, Z:-0.60 [[ 9.38641280e-01 -3.43229140e-01 -3.38571265e-02 1.28805569e+02] [ 3.43002313e-01 9.39251696e-01 -1.24766028e-02 2.82860443e+01] [ 3.60826971e-02 9.79817084e-05 9.99348803e-01 -5.96724216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03687499999998 meters 0.013670460097977247 Centerline is valid? [True, True] Translation: X:128.86, Y:28.32, Z:-0.60 [[ 9.41585815e-01 -3.35033946e-01 -3.41819797e-02 1.28856746e+02] [ 3.34796988e-01 9.42205962e-01 -1.26056532e-02 2.83175446e+01] [ 3.64297868e-02 4.25280436e-04 9.99336125e-01 -5.95536163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09687499999998 meters 0.01419062533323372 Centerline is valid? [True, True] Translation: X:128.91, Y:28.34, Z:-0.59 [[ 9.42473584e-01 -3.32500436e-01 -3.44529336e-02 1.28910780e+02] [ 3.32257662e-01 9.43102949e-01 -1.27150864e-02 2.83410298e+01] [ 3.67204350e-02 5.36381870e-04 9.99325433e-01 -5.93597981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15687499999999 meters 0.015587042590084501 Centerline is valid? [True, True] Translation: X:128.96, Y:28.37, Z:-0.59 [[ 9.44503943e-01 -3.26884745e-01 -3.25371411e-02 1.28963735e+02] [ 3.26664639e-01 9.45063937e-01 -1.20153196e-02 2.83680643e+01] [ 3.46773034e-02 7.19783232e-04 9.99398302e-01 -5.89230764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.216875 meters 0.01615776928043114 Centerline is valid? [True, True] Translation: X:129.02, Y:28.39, Z:-0.59 [[ 9.45382886e-01 -3.24528043e-01 -3.05409268e-02 1.29016990e+02] [ 3.24332817e-01 9.45875770e-01 -1.12805535e-02 2.83922413e+01] [ 3.25487787e-02 7.59017396e-04 9.99469860e-01 -5.86680667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.276875 meters 0.016239826720782564 Centerline is valid? [True, True] Translation: X:129.07, Y:28.41, Z:-0.59 [[ 9.45497551e-01 -3.24177208e-01 -3.07167576e-02 1.29071592e+02] [ 3.23979413e-01 9.45996052e-01 -1.13494177e-02 2.84137619e+01] [ 3.27371539e-02 7.79249579e-04 9.99463692e-01 -5.85672175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.336875 meters 0.017142710531616284 Centerline is valid? [True, True] Translation: X:129.13, Y:28.44, Z:-0.59 [[ 9.46180642e-01 -3.21970067e-01 -3.28248060e-02 1.29126531e+02] [ 3.21742518e-01 9.46749398e-01 -1.21379266e-02 2.84358317e+01] [ 3.49849143e-02 9.23535421e-04 9.99387414e-01 -5.86398227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.396875 meters 0.01771543710374735 Centerline is valid? [True, True] Translation: X:129.18, Y:28.46, Z:-0.59 [[ 9.46862294e-01 -3.19832243e-01 -3.40460282e-02 1.29181118e+02] [ 3.19585760e-01 9.47473609e-01 -1.25977403e-02 2.84565129e+01] [ 3.62868767e-02 1.04769948e-03 9.99340865e-01 -5.86027833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.456875 meters 0.017929422885722617 Centerline is valid? [True, True] Translation: X:129.24, Y:28.47, Z:-0.59 [[ 9.47103114e-01 -3.19078391e-01 -3.44190736e-02 1.29237474e+02] [ 3.18825794e-01 9.47727696e-01 -1.27407832e-02 2.84745523e+01] [ 3.66852179e-02 1.09314699e-03 9.99326273e-01 -5.85179364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.516875 meters 0.016834803699665318 Centerline is valid? [True, True] Translation: X:129.30, Y:28.49, Z:-0.58 [[ 9.46341929e-01 -3.21421234e-01 -3.35461361e-02 1.29295416e+02] [ 3.21182430e-01 9.46935805e-01 -1.24269074e-02 2.84882898e+01] [ 3.57603093e-02 9.85673956e-04 9.99359910e-01 -5.81453460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.576875 meters 0.016722922088931374 Centerline is valid? [True, True] Translation: X:129.35, Y:28.50, Z:-0.58 [[ 9.45094074e-01 -3.25138345e-01 -3.28975271e-02 1.29352340e+02] [ 3.24910663e-01 9.45666092e-01 -1.21943794e-02 2.85025969e+01] [ 3.50749362e-02 8.36078364e-04 9.99384335e-01 -5.80859238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.636875 meters 0.015291115149292205 Centerline is valid? [True, True] Translation: X:129.41, Y:28.52, Z:-0.58 [[ 9.44716106e-01 -3.26197837e-01 -3.32633390e-02 1.29409826e+02] [ 3.25965569e-01 9.45301177e-01 -1.23341824e-02 2.85177438e+01] [ 3.54672571e-02 8.09597521e-04 9.99370511e-01 -5.79114169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.696875 meters 0.016405309681294875 Centerline is valid? [True, True] Translation: X:129.46, Y:28.54, Z:-0.58 [[ 9.45254915e-01 -3.24640961e-01 -3.31872331e-02 1.29464640e+02] [ 3.24408504e-01 9.45836922e-01 -1.23142231e-02 2.85350457e+01] [ 3.53874116e-02 8.73859223e-04 9.99373287e-01 -5.77714306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.756875 meters 0.017045638470743852 Centerline is valid? [True, True] Translation: X:129.52, Y:28.55, Z:-0.58 [[ 9.45806556e-01 -3.23010890e-01 -3.33754947e-02 1.29520783e+02] [ 3.22774586e-01 9.46394776e-01 -1.23892990e-02 2.85522029e+01] [ 3.55882723e-02 9.45118743e-04 9.99366090e-01 -5.77280335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81687499999998 meters 0.017656135191010135 Centerline is valid? [True, True] Translation: X:129.58, Y:28.57, Z:-0.58 [[ 9.45985323e-01 -3.22512198e-01 -3.31308148e-02 1.29576686e+02] [ 3.22278720e-01 9.46564816e-01 -1.23075756e-02 2.85703166e+01] [ 3.53298068e-02 9.65429335e-04 9.99375241e-01 -5.75742365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87687499999998 meters 0.01721922618362376 Centerline is valid? [True, True] Translation: X:129.64, Y:28.58, Z:-0.57 [[ 9.45539177e-01 -3.23804974e-01 -3.32566352e-02 1.29635032e+02] [ 3.23570199e-01 9.46123393e-01 -1.23633094e-02 2.85839207e+01] [ 3.54681816e-02 9.29137352e-04 9.99370374e-01 -5.74148346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.936875 meters 0.01530746155528348 Centerline is valid? [True, True] Translation: X:129.69, Y:28.59, Z:-0.57 [[ 9.44664929e-01 -3.26318719e-01 -3.35300594e-02 1.29694847e+02] [ 3.26081335e-01 9.45259420e-01 -1.24736342e-02 2.85932182e+01] [ 3.57649848e-02 8.49878246e-04 9.99359867e-01 -5.71592666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.996875 meters 0.015506046012167906 Centerline is valid? [True, True] Translation: X:129.75, Y:28.61, Z:-0.57 [[ 9.43944028e-01 -3.28401313e-01 -3.34999958e-02 1.29750688e+02] [ 3.28165392e-01 9.44537968e-01 -1.24700739e-02 2.86088538e+01] [ 3.57372067e-02 7.77512569e-04 9.99360920e-01 -5.71778157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.056875 meters 0.01564892617112705 Centerline is valid? [True, True] Translation: X:129.81, Y:28.62, Z:-0.57 [[ 9.43604676e-01 -3.29527242e-01 -3.19689374e-02 1.29807373e+02] [ 3.29312930e-01 9.44145805e-01 -1.19035029e-02 2.86219982e+01] [ 3.41058666e-02 7.04416505e-04 9.99417977e-01 -5.68769845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.116875 meters 0.015938106301965894 Centerline is valid? [True, True] Translation: X:129.86, Y:28.64, Z:-0.57 [[ 9.43703123e-01 -3.29336695e-01 -3.10122087e-02 1.29864349e+02] [ 3.29134749e-01 9.44212295e-01 -1.15524446e-02 2.86367648e+01] [ 3.30867527e-02 6.94882494e-04 9.99452242e-01 -5.66429965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.176875 meters 0.016089012941431276 Centerline is valid? [True, True] Translation: X:129.92, Y:28.65, Z:-0.56 [[ 9.43935305e-01 -3.28646450e-01 -3.12674098e-02 1.29920898e+02] [ 3.28440469e-01 9.44452737e-01 -1.16570232e-02 2.86538520e+01] [ 3.33616300e-02 7.33993014e-04 9.99443076e-01 -5.64976818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.236875 meters 0.0164672667144088 Centerline is valid? [True, True] Translation: X:129.98, Y:28.67, Z:-0.57 [[ 9.44232983e-01 -3.27653573e-01 -3.26681781e-02 1.29978044e+02] [ 3.27427800e-01 9.44797585e-01 -1.21885076e-02 2.86700903e+01] [ 3.48584238e-02 8.12321231e-04 9.99391930e-01 -5.65252109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.296875 meters 0.01736014829745466 Centerline is valid? [True, True] Translation: X:130.03, Y:28.69, Z:-0.57 [[ 9.44594211e-01 -3.26490347e-01 -3.38501083e-02 1.30034435e+02] [ 3.26246842e-01 9.45200112e-01 -1.26390755e-02 2.86871190e+01] [ 3.61216623e-02 8.95306617e-04 9.99346999e-01 -5.65257402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.356875 meters 0.017737434745302906 Centerline is valid? [True, True] Translation: X:130.09, Y:28.71, Z:-0.56 [[ 9.44910248e-01 -3.25503037e-01 -3.45310730e-02 1.30090440e+02] [ 3.25248619e-01 9.45540506e-01 -1.29029786e-02 2.87055879e+01] [ 3.68504870e-02 9.60972949e-04 9.99320328e-01 -5.64087299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.416875 meters 0.016388436039258856 Centerline is valid? [True, True] Translation: X:130.15, Y:28.72, Z:-0.56 [[ 9.43396097e-01 -3.29661546e-01 -3.64289611e-02 1.30148791e+02] [ 3.29381146e-01 9.44098799e-01 -1.36205349e-02 2.87184297e+01] [ 3.88827050e-02 8.50546481e-04 9.99243420e-01 -5.63874990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.476875 meters 0.014995270178724292 Centerline is valid? [True, True] Translation: X:130.21, Y:28.73, Z:-0.56 [[ 9.42060087e-01 -3.33559432e-01 -3.55091088e-02 1.30205803e+02] [ 3.33295678e-01 9.42728832e-01 -1.32793523e-02 2.87330432e+01] [ 3.79049139e-02 6.74915275e-04 9.99281123e-01 -5.61470399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53687499999998 meters 0.013603078142254702 Centerline is valid? [True, True] Translation: X:130.26, Y:28.75, Z:-0.56 [[ 9.40285453e-01 -3.38808447e-01 -3.27429955e-02 1.30264184e+02] [ 3.38587245e-01 9.40855276e-01 -1.22485316e-02 2.87462918e+01] [ 3.49563261e-02 4.30755412e-04 9.99388748e-01 -5.56734777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59687499999998 meters 0.01268724232330146 Centerline is valid? [True, True] Translation: X:130.32, Y:28.76, Z:-0.55 [[ 9.38784176e-01 -3.43102024e-01 -3.10688160e-02 1.30321532e+02] [ 3.42904964e-01 9.39298106e-01 -1.16298970e-02 2.87605572e+01] [ 3.31731212e-02 2.64312017e-04 9.99449586e-01 -5.52328917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65687499999999 meters 0.012330424994701451 Centerline is valid? [True, True] Translation: X:130.38, Y:28.78, Z:-0.55 [[ 9.37796984e-01 -3.45778992e-01 -3.12042526e-02 1.30377937e+02] [ 3.45581401e-01 9.38315969e-01 -1.16892410e-02 2.87780305e+01] [ 3.33213425e-02 1.78525583e-04 9.99444674e-01 -5.51308613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.716875 meters 0.012366363422450616 Centerline is valid? [True, True] Translation: X:130.43, Y:28.80, Z:-0.55 [[ 9.37366448e-01 -3.46857698e-01 -3.21539977e-02 1.30433076e+02] [ 3.46648206e-01 9.37917754e-01 -1.20543401e-02 2.87968065e+01] [ 3.43389459e-02 1.53208364e-04 9.99410233e-01 -5.50337364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.776875 meters 0.01248582201653154 Centerline is valid? [True, True] Translation: X:130.49, Y:28.82, Z:-0.55 [[ 9.37283604e-01 -3.47012132e-01 -3.28941734e-02 1.30487044e+02] [ 3.46792602e-01 9.37860626e-01 -1.23424895e-02 2.88173007e+01] [ 3.51331437e-02 1.60957097e-04 9.99382628e-01 -5.49569278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.836875 meters 0.012758545307068844 Centerline is valid? [True, True] Translation: X:130.54, Y:28.84, Z:-0.55 [[ 9.37922101e-01 -3.45228863e-01 -3.34539176e-02 1.30540802e+02] [ 3.45000291e-01 9.38518499e-01 -1.25628633e-02 2.88413591e+01] [ 3.57341835e-02 2.41375840e-04 9.99361301e-01 -5.49021773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.896875 meters 0.013073201790885296 Centerline is valid? [True, True] Translation: X:130.60, Y:28.86, Z:-0.55 [[ 9.38606769e-01 -3.43271815e-01 -3.43772324e-02 1.30595090e+02] [ 3.43028778e-01 9.39236046e-01 -1.29192832e-02 2.88645831e+01] [ 3.67231616e-02 3.33746648e-04 9.99325421e-01 -5.47416735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.956875 meters 0.013159034643859622 Centerline is valid? [True, True] Translation: X:130.65, Y:28.89, Z:-0.55 [[ 9.38818158e-01 -3.42783250e-01 -3.34680261e-02 1.30648833e+02] [ 3.42552254e-01 9.39414455e-01 -1.25870540e-02 2.88868676e+01] [ 3.57549788e-02 3.52407060e-04 9.99360524e-01 -5.45570751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.016875 meters 0.013306382085871926 Centerline is valid? [True, True] Translation: X:130.70, Y:28.91, Z:-0.54 [[ 9.38846203e-01 -3.42744131e-01 -3.30797160e-02 1.30702748e+02] [ 3.42518073e-01 9.39428726e-01 -1.24514320e-02 2.89090025e+01] [ 3.53436907e-02 3.59579047e-04 9.99375152e-01 -5.43728761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.076875 meters 0.013701438089898842 Centerline is valid? [True, True] Translation: X:130.76, Y:28.93, Z:-0.54 [[ 9.39258406e-01 -3.41686504e-01 -3.23106789e-02 1.30755756e+02] [ 3.41469903e-01 9.39813904e-01 -1.21709220e-02 2.89321219e+01] [ 3.45246650e-02 3.98516423e-04 9.99403767e-01 -5.41928623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.136875 meters 0.014036180176916206 Centerline is valid? [True, True] Translation: X:130.81, Y:28.96, Z:-0.54 [[ 9.39794060e-01 -3.40313562e-01 -3.12058227e-02 1.30809663e+02] [ 3.40110596e-01 9.40311910e-01 -1.17598984e-02 2.89563357e+01] [ 3.33452597e-02 4.38451689e-04 9.99443796e-01 -5.39574548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.196875 meters 0.01414148541300325 Centerline is valid? [True, True] Translation: X:130.86, Y:28.98, Z:-0.54 [[ 9.39726618e-01 -3.40450652e-01 -3.17369919e-02 1.30862872e+02] [ 3.40240489e-01 9.40262278e-01 -1.19690502e-02 2.89793646e+01] [ 3.39159672e-02 4.49425409e-04 9.99424587e-01 -5.38901168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.256875 meters 0.01436850068280593 Centerline is valid? [True, True] Translation: X:130.92, Y:29.00, Z:-0.54 [[ 9.39710333e-01 -3.40394791e-01 -3.28005574e-02 1.30917818e+02] [ 3.40169913e-01 9.40282489e-01 -1.23802489e-02 2.90019901e+01] [ 3.50559620e-02 4.76085002e-04 9.99385237e-01 -5.38205959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31687499999998 meters 0.015261033515528368 Centerline is valid? [True, True] Translation: X:130.97, Y:29.03, Z:-0.54 [[ 9.39973952e-01 -3.39414322e-01 -3.53112791e-02 1.30970265e+02] [ 3.39152664e-01 9.40636808e-01 -1.33366649e-02 2.90266929e+01] [ 3.77417439e-02 5.60203223e-04 9.99287370e-01 -5.40353580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37687499999998 meters 0.013974754649784604 Centerline is valid? [True, True] Translation: X:131.03, Y:29.05, Z:-0.54 [[ 9.39506956e-01 -3.40776978e-01 -3.46082564e-02 1.31025431e+02] [ 3.40526339e-01 9.40144031e-01 -1.30771821e-02 2.90461465e+01] [ 3.69931483e-02 5.01080727e-04 9.99315394e-01 -5.35669692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.436875 meters 0.013806996340257123 Centerline is valid? [True, True] Translation: X:131.08, Y:29.07, Z:-0.53 [[ 9.38985614e-01 -3.42406986e-01 -3.26109263e-02 1.31080759e+02] [ 3.42185131e-01 9.39551638e-01 -1.23311005e-02 2.90676194e+01] [ 3.48619041e-02 4.19751870e-04 9.99392051e-01 -5.32336557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.496875 meters 0.013506012186561812 Centerline is valid? [True, True] Translation: X:131.14, Y:29.09, Z:-0.53 [[ 9.38001460e-01 -3.45141309e-01 -3.21051053e-02 1.31135991e+02] [ 3.44927595e-01 9.38550677e-01 -1.21482632e-02 2.90874268e+01] [ 3.43251358e-02 3.21151897e-04 9.99410667e-01 -5.30648569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.556875 meters 0.013677129911749953 Centerline is valid? [True, True] Translation: X:131.19, Y:29.11, Z:-0.53 [[ 9.37695548e-01 -3.45976897e-01 -3.20475517e-02 1.31190060e+02] [ 3.45764170e-01 9.38242985e-01 -1.21342883e-02 2.91078033e+01] [ 3.42665740e-02 2.97372999e-04 9.99412684e-01 -5.29484638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.616875 meters 0.01392832360856285 Centerline is valid? [True, True] Translation: X:131.25, Y:29.13, Z:-0.53 [[ 9.37914399e-01 -3.45270994e-01 -3.32343229e-02 1.31245227e+02] [ 3.45041606e-01 9.38502971e-01 -1.25882543e-02 2.91293062e+01] [ 3.55368699e-02 3.39480752e-04 9.99368308e-01 -5.27543833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.676875 meters 0.014621160088750172 Centerline is valid? [True, True] Translation: X:131.30, Y:29.15, Z:-0.53 [[ 9.38592471e-01 -3.43127873e-01 -3.61584716e-02 1.31299393e+02] [ 3.42854336e-01 9.39288584e-01 -1.37062204e-02 2.91521059e+01] [ 3.86662258e-02 4.67466570e-04 9.99252073e-01 -5.29793650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.736875 meters 0.015293640642654868 Centerline is valid? [True, True] Translation: X:131.35, Y:29.17, Z:-0.53 [[ 9.38831610e-01 -3.42389431e-01 -3.69416391e-02 1.31353547e+02] [ 3.42103017e-01 9.39557987e-01 -1.40112349e-02 2.91732716e+01] [ 3.95061108e-02 5.16344075e-04 9.99219195e-01 -5.29413902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.796875 meters 0.014874694416938039 Centerline is valid? [True, True] Translation: X:131.41, Y:29.19, Z:-0.53 [[ 9.38239811e-01 -3.44040099e-01 -3.66396896e-02 1.31409662e+02] [ 3.43759397e-01 9.38954849e-01 -1.39020764e-02 2.91916431e+01] [ 3.91858860e-02 4.48243888e-04 9.99231838e-01 -5.26174861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.856875 meters 0.014227235129719882 Centerline is valid? [True, True] Translation: X:131.47, Y:29.21, Z:-0.52 [[ 9.36416642e-01 -3.49205439e-01 -3.43428800e-02 1.31466689e+02] [ 3.48961977e-01 9.37046162e-01 -1.30394873e-02 2.92071865e+01] [ 3.67343238e-02 2.26033646e-04 9.99325041e-01 -5.19938617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.916875 meters 0.013919620289098355 Centerline is valid? [True, True] Translation: X:131.52, Y:29.22, Z:-0.52 [[ 9.34314643e-01 -3.54891295e-01 -3.32913818e-02 1.31523396e+02] [ 3.54665802e-01 9.34907572e-01 -1.26491171e-02 2.92230266e+01] [ 3.56134265e-02 1.09406624e-05 9.99365641e-01 -5.16184224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.976875 meters 0.014612385545455126 Centerline is valid? [True, True] Translation: X:131.58, Y:29.24, Z:-0.51 [[ 9.30648789e-01 -3.64493136e-01 -3.22115716e-02 1.31581764e+02] [ 3.64287470e-01 9.31206014e-01 -1.22473877e-02 2.92363129e+01] [ 3.44596980e-02 -3.36255369e-04 9.99406032e-01 -5.13046243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03687499999998 meters 0.01589370862950749 Centerline is valid? [True, True] Translation: X:131.64, Y:29.25, Z:-0.51 [[ 9.27922054e-01 -3.71296822e-01 -3.31561767e-02 1.31639258e+02] [ 3.71082928e-01 9.28514035e-01 -1.26153682e-02 2.92536762e+01] [ 3.54700215e-02 -5.97612821e-04 9.99370562e-01 -5.12390738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09687499999998 meters 0.016221479962605007 Centerline is valid? [True, True] Translation: X:131.69, Y:29.27, Z:-0.51 [[ 9.27207204e-01 -3.73031072e-01 -3.36841230e-02 1.31694502e+02] [ 3.72811170e-01 9.27818610e-01 -1.28241136e-02 2.92744009e+01] [ 3.60365490e-02 -6.67206832e-04 9.99350250e-01 -5.11019892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15687499999999 meters 0.01573548279397178 Centerline is valid? [True, True] Translation: X:131.75, Y:29.30, Z:-0.51 [[ 9.27920809e-01 -3.71185125e-01 -3.44176517e-02 1.31748654e+02] [ 3.70953919e-01 9.28558691e-01 -1.31128494e-02 2.92986179e+01] [ 3.68261042e-02 -5.99676977e-04 9.99321509e-01 -5.10923333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.216875 meters 0.015375324615533422 Centerline is valid? [True, True] Translation: X:131.80, Y:29.32, Z:-0.51 [[ 9.28952242e-01 -3.68434694e-01 -3.61055166e-02 1.31802541e+02] [ 3.68177780e-01 9.29653495e-01 -1.37659665e-02 2.93237256e+01] [ 3.86374794e-02 -5.05323453e-04 9.99253166e-01 -5.11782464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.276875 meters 0.015158809947155547 Centerline is valid? [True, True] Translation: X:131.86, Y:29.35, Z:-0.51 [[ 9.29380746e-01 -3.67456303e-01 -3.50327660e-02 1.31856261e+02] [ 3.67213392e-01 9.30040682e-01 -1.33661983e-02 2.93480202e+01] [ 3.74933914e-02 -4.42213462e-04 9.99296778e-01 -5.08694529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.336875 meters 0.014654180858894271 Centerline is valid? [True, True] Translation: X:131.91, Y:29.37, Z:-0.51 [[ 9.30659661e-01 -3.64289659e-01 -3.41414654e-02 1.31909635e+02] [ 3.64056485e-01 9.31285647e-01 -1.30353390e-02 2.93739802e+01] [ 3.65440958e-02 -2.97957690e-04 9.99331997e-01 -5.06551741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.396875 meters 0.014157481360549952 Centerline is valid? [True, True] Translation: X:131.96, Y:29.40, Z:-0.51 [[ 9.32867086e-01 -3.58494223e-01 -3.52262955e-02 1.31962355e+02] [ 3.58241477e-01 9.33531943e-01 -1.34594097e-02 2.94018371e+01] [ 3.77099927e-02 -6.36797982e-05 9.99288723e-01 -5.06679350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.456875 meters 0.014213126386473124 Centerline is valid? [True, True] Translation: X:132.02, Y:29.43, Z:-0.51 [[ 9.34346655e-01 -3.54475271e-01 -3.66552811e-02 1.32016168e+02] [ 3.54198093e-01 9.35065382e-01 -1.40157604e-02 2.94266607e+01] [ 3.92433249e-02 1.12348199e-04 9.99229678e-01 -5.05226750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.516875 meters 0.014893365391809462 Centerline is valid? [True, True] Translation: X:132.07, Y:29.45, Z:-0.50 [[ 9.36764655e-01 -3.48142302e-01 -3.56218929e-02 1.32069024e+02] [ 3.47875582e-01 9.37441623e-01 -1.36302584e-02 2.94533946e+01] [ 3.81387146e-02 3.76357618e-04 9.99272384e-01 -5.02271178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.576875 meters 0.0158859694357303 Centerline is valid? [True, True] Translation: X:132.12, Y:29.48, Z:-0.50 [[ 9.38269635e-01 -3.44227905e-01 -3.40182378e-02 1.32121521e+02] [ 3.43981813e-01 9.38885978e-01 -1.30242950e-02 2.94774348e+01] [ 3.64225722e-02 5.18645449e-04 9.99336343e-01 -4.99003078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.636875 meters 0.0162520480817203 Centerline is valid? [True, True] Translation: X:132.17, Y:29.50, Z:-0.50 [[ 9.38519151e-01 -3.43736605e-01 -3.20460673e-02 1.32174658e+02] [ 3.43517793e-01 9.39065965e-01 -1.22735592e-02 2.95004820e+01] [ 3.43122426e-02 5.10576050e-04 9.99411031e-01 -4.96014240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.696875 meters 0.016285664228665245 Centerline is valid? [True, True] Translation: X:132.23, Y:29.52, Z:-0.49 [[ 9.38938406e-01 -3.42834738e-01 -2.93089037e-02 1.32228295e+02] [ 3.42651014e-01 9.39395597e-01 -1.12336563e-02 2.95227395e+01] [ 3.13839427e-02 5.04985734e-04 9.99507275e-01 -4.90171220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75687499999998 meters 0.017175044080484238 Centerline is valid? [True, True] Translation: X:132.28, Y:29.55, Z:-0.49 [[ 9.40002175e-01 -3.39798532e-01 -3.05429083e-02 1.32281646e+02] [ 3.39597083e-01 9.40498031e-01 -1.17164120e-02 2.95476566e+01] [ 3.27067647e-02 6.41170174e-04 9.99464785e-01 -4.89698224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81687499999998 meters 0.018404977034495593 Centerline is valid? [True, True] Translation: X:132.33, Y:29.57, Z:-0.49 [[ 9.40964647e-01 -3.36994431e-01 -3.19419153e-02 1.32334800e+02] [ 3.36772209e-01 9.41506317e-01 -1.22610701e-02 2.95723891e+01] [ 3.42054274e-02 7.80084062e-04 9.99414519e-01 -4.91423985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87687499999998 meters 0.018452130851762664 Centerline is valid? [True, True] Translation: X:132.39, Y:29.59, Z:-0.49 [[ 9.41207025e-01 -3.36211452e-01 -3.30332645e-02 1.32389793e+02] [ 3.35973135e-01 9.41786150e-01 -1.26846093e-02 2.95944296e+01] [ 3.53749819e-02 8.40553923e-04 9.99373756e-01 -4.91110806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.936875 meters 0.019992215441249184 Centerline is valid? [True, True] Translation: X:132.44, Y:29.62, Z:-0.49 [[ 9.42470240e-01 -3.32216850e-01 -3.71727253e-02 1.32444014e+02] [ 3.31911580e-01 9.43202366e-01 -1.42828443e-02 2.96191525e+01] [ 3.98064040e-02 1.12309770e-03 9.99206780e-01 -4.94378104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.996875 meters 0.020623363361597452 Centerline is valid? [True, True] Translation: X:132.50, Y:29.64, Z:-0.49 [[ 9.42839449e-01 -3.30897086e-01 -3.95081145e-02 1.32498656e+02] [ 3.30550847e-01 9.43666008e-01 -1.51855976e-02 2.96411197e+01] [ 4.23073347e-02 1.25813976e-03 9.99103852e-01 -4.94386927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.056875 meters 0.02120737617341104 Centerline is valid? [True, True] Translation: X:132.55, Y:29.66, Z:-0.49 [[ 9.43065355e-01 -3.30277762e-01 -3.92980335e-02 1.32553539e+02] [ 3.29934202e-01 9.43882905e-01 -1.51157112e-02 2.96621089e+01] [ 4.20851252e-02 1.28933827e-03 9.99113197e-01 -4.91951361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.116875 meters 0.020812276784424454 Centerline is valid? [True, True] Translation: X:132.61, Y:29.68, Z:-0.49 [[ 9.43219574e-01 -3.30182404e-01 -3.62824313e-02 1.32609132e+02] [ 3.29889129e-01 9.43916380e-01 -1.39653136e-02 2.96809096e+01] [ 3.88586820e-02 1.20317746e-03 9.99243992e-01 -4.85845516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.176875 meters 0.021509495768206082 Centerline is valid? [True, True] Translation: X:132.66, Y:29.70, Z:-0.48 [[ 9.43882417e-01 -3.28632123e-01 -3.29683307e-02 1.32663905e+02] [ 3.28388747e-01 9.44457296e-01 -1.26983011e-02 2.97025876e+01] [ 3.53102501e-02 1.15927427e-03 9.99375726e-01 -4.78912228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.236875 meters 0.021539668672390554 Centerline is valid? [True, True] Translation: X:132.72, Y:29.72, Z:-0.48 [[ 9.43983553e-01 -3.28414014e-01 -3.22379674e-02 1.32718992e+02] [ 3.28180869e-01 9.44533172e-01 -1.24259299e-02 2.97238174e+01] [ 3.45306791e-02 1.14998929e-03 9.99402977e-01 -4.76057867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.296875 meters 0.022117039796079995 Centerline is valid? [True, True] Translation: X:132.77, Y:29.75, Z:-0.48 [[ 9.44003206e-01 -3.28152151e-01 -3.42653147e-02 1.32773852e+02] [ 3.27888206e-01 9.44624064e-01 -1.32174882e-02 2.97459450e+01] [ 3.67051880e-02 1.24215871e-03 9.99325366e-01 -4.77027996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.356875 meters 0.021560606898324806 Centerline is valid? [True, True] Translation: X:132.83, Y:29.76, Z:-0.48 [[ 9.43221364e-01 -3.29841800e-01 -3.92153724e-02 1.32829364e+02] [ 3.29497099e-01 9.44035248e-01 -1.51364870e-02 2.97645137e+01] [ 4.20133399e-02 1.35570648e-03 9.99116130e-01 -4.80207316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.416875 meters 0.020332341022688306 Centerline is valid? [True, True] Translation: X:132.89, Y:29.78, Z:-0.48 [[ 9.42083354e-01 -3.32999348e-01 -3.98796832e-02 1.32885654e+02] [ 3.32645524e-01 9.42926243e-01 -1.53966355e-02 2.97824252e+01] [ 4.27306694e-02 1.23911587e-03 9.99085859e-01 -4.79447277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.476875 meters 0.017789329160059035 Centerline is valid? [True, True] Translation: X:132.94, Y:29.80, Z:-0.48 [[ 9.39167488e-01 -3.41357272e-01 -3.79426049e-02 1.32942932e+02] [ 3.41043681e-01 9.39933264e-01 -1.46515398e-02 2.97958397e+01] [ 4.06649261e-02 8.20164184e-04 9.99172503e-01 -4.75337026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53687499999998 meters 0.015714373404704118 Centerline is valid? [True, True] Translation: X:133.00, Y:29.81, Z:-0.47 [[ 9.36859222e-01 -3.47866750e-01 -3.58262759e-02 1.33000224e+02] [ 3.47591834e-01 9.37543846e-01 -1.38366587e-02 2.98104631e+01] [ 3.84020180e-02 5.10080354e-04 9.99262240e-01 -4.69728807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59687499999998 meters 0.014375000013727062 Centerline is valid? [True, True] Translation: X:133.06, Y:29.82, Z:-0.47 [[ 9.33288710e-01 -3.57355050e-01 -3.56307858e-02 1.33057804e+02] [ 3.57089912e-01 9.33968604e-01 -1.37637699e-02 2.98237064e+01] [ 3.81965880e-02 1.22176890e-04 9.99270237e-01 -4.65908476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65687499999999 meters 0.014205738947197816 Centerline is valid? [True, True] Translation: X:133.11, Y:29.84, Z:-0.46 [[ 9.31320372e-01 -3.62427654e-01 -3.58965063e-02 1.33113210e+02] [ 3.62162100e-01 9.32011904e-01 -1.38717205e-02 2.98427829e+01] [ 3.84834663e-02 -8.13382233e-05 9.99259234e-01 -4.64366067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.716875 meters 0.014346972676562708 Centerline is valid? [True, True] Translation: X:133.17, Y:29.86, Z:-0.46 [[ 9.30674053e-01 -3.63920306e-01 -3.75209144e-02 1.33168484e+02] [ 3.63630900e-01 9.31430079e-01 -1.45112712e-02 2.98639719e+01] [ 4.02290545e-02 -1.38500258e-04 9.99190474e-01 -4.64019548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.776875 meters 0.014428046964012875 Centerline is valid? [True, True] Translation: X:133.22, Y:29.89, Z:-0.47 [[ 9.30245286e-01 -3.64674368e-01 -4.06978241e-02 1.33223285e+02] [ 3.64334063e-01 9.31135100e-01 -1.57517055e-02 2.98857940e+01] [ 4.36394157e-02 -1.74653786e-04 9.99047332e-01 -4.65408008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.836875 meters 0.014284875150055172 Centerline is valid? [True, True] Translation: X:133.28, Y:29.91, Z:-0.46 [[ 9.30951769e-01 -3.62900473e-01 -4.03986491e-02 1.33277828e+02] [ 3.62563005e-01 9.31827903e-01 -1.56469554e-02 2.99082728e+01] [ 4.33228759e-02 -8.04948426e-05 9.99061120e-01 -4.63025581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.896875 meters 0.01452692474890048 Centerline is valid? [True, True] Translation: X:133.33, Y:29.94, Z:-0.46 [[ 9.33558945e-01 -3.56165101e-01 -4.01760736e-02 1.33330522e+02] [ 3.55824617e-01 9.34423011e-01 -1.55717550e-02 2.99354701e+01] [ 4.30875633e-02 2.41515185e-04 9.99071271e-01 -4.61516634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.956875 meters 0.015536165094072357 Centerline is valid? [True, True] Translation: X:133.38, Y:29.96, Z:-0.46 [[ 9.36383020e-01 -3.48900220e-01 -3.81507118e-02 1.33383576e+02] [ 3.48586752e-01 9.37159712e-01 -1.47969643e-02 2.99621226e+01] [ 4.09159742e-02 5.56793417e-04 9.99162436e-01 -4.57359525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.016875 meters 0.01707249560135077 Centerline is valid? [True, True] Translation: X:133.44, Y:29.99, Z:-0.46 [[ 9.38269468e-01 -3.43920060e-01 -3.70053915e-02 1.33435893e+02] [ 3.43620916e-01 9.38998624e-01 -1.43613997e-02 2.99877227e+01] [ 3.96871852e-02 7.59036320e-04 9.99211865e-01 -4.55622325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.076875 meters 0.01901292713898845 Centerline is valid? [True, True] Translation: X:133.49, Y:30.01, Z:-0.45 [[ 9.40307442e-01 -3.38321902e-01 -3.68809666e-02 1.33489828e+02] [ 3.38020213e-01 9.41029912e-01 -1.43192352e-02 3.00141747e+01] [ 3.95506036e-02 9.97971243e-04 9.99217070e-01 -4.53269714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.136875 meters 0.019075113248489355 Centerline is valid? [True, True] Translation: X:133.54, Y:30.04, Z:-0.45 [[ 9.41398880e-01 -3.35104727e-01 -3.83793041e-02 1.33544874e+02] [ 3.34775080e-01 9.42180140e-01 -1.49073353e-02 3.00365393e+01] [ 4.11557366e-02 1.18531417e-03 9.99152041e-01 -4.52552713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.196875 meters 0.020900420288135952 Centerline is valid? [True, True] Translation: X:133.60, Y:30.06, Z:-0.45 [[ 9.42336753e-01 -3.32338147e-01 -3.94055936e-02 1.33597610e+02] [ 3.31988092e-01 9.43159345e-01 -1.53087152e-02 3.00610604e+01] [ 4.22534239e-02 1.34377717e-03 9.99106022e-01 -4.51743015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25687499999998 meters 0.02176629731860415 Centerline is valid? [True, True] Translation: X:133.65, Y:30.08, Z:-0.45 [[ 9.43061862e-01 -3.30082032e-01 -4.09899466e-02 1.33651930e+02] [ 3.29700980e-01 9.43951050e-01 -1.59273286e-02 3.00848073e+01] [ 4.39498281e-02 1.50603063e-03 9.99032604e-01 -4.52727751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31687499999998 meters 0.022149765450494192 Centerline is valid? [True, True] Translation: X:133.71, Y:30.11, Z:-0.45 [[ 9.43298668e-01 -3.29471379e-01 -4.04503806e-02 1.33706421e+02] [ 3.29099491e-01 9.44164340e-01 -1.57233636e-02 3.01061749e+01] [ 4.33722052e-02 1.51962829e-03 9.99057827e-01 -4.50594580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37687499999998 meters 0.022361032981670845 Centerline is valid? [True, True] Translation: X:133.76, Y:30.13, Z:-0.45 [[ 9.42933585e-01 -3.30568430e-01 -4.00095950e-02 1.33761429e+02] [ 3.30205113e-01 9.43780891e-01 -1.55631813e-02 3.01261423e+01] [ 4.29049877e-02 1.46367343e-03 9.99078085e-01 -4.48113877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.436875 meters 0.02042286336048907 Centerline is valid? [True, True] Translation: X:133.82, Y:30.14, Z:-0.45 [[ 9.41925664e-01 -3.33506956e-01 -3.93592806e-02 1.33818512e+02] [ 3.33157469e-01 9.42746717e-01 -1.53208541e-02 3.01429806e+01] [ 4.22154439e-02 1.31826735e-03 9.99107661e-01 -4.45116032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.496875 meters 0.020112925941179666 Centerline is valid? [True, True] Translation: X:133.87, Y:30.16, Z:-0.44 [[ 9.41347150e-01 -3.35274976e-01 -3.81606242e-02 1.33873823e+02] [ 3.34947500e-01 9.42119538e-01 -1.48643077e-02 3.01622399e+01] [ 4.09355001e-02 1.21066804e-03 9.99161058e-01 -4.41104006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.556875 meters 0.019067350353921514 Centerline is valid? [True, True] Translation: X:133.93, Y:30.18, Z:-0.44 [[ 9.40111375e-01 -3.38891364e-01 -3.66503165e-02 1.33930313e+02] [ 3.38591666e-01 9.40824958e-01 -1.42857210e-02 3.01802738e+01] [ 3.93228400e-02 1.02067707e-03 9.99226037e-01 -4.37372971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.616875 meters 0.018155344240208093 Centerline is valid? [True, True] Translation: X:133.99, Y:30.20, Z:-0.44 [[ 9.39109498e-01 -3.41727549e-01 -3.59948877e-02 1.33986180e+02] [ 3.41440277e-01 9.39798641e-01 -1.40375266e-02 3.01984981e+01] [ 3.86249561e-02 8.92670158e-04 9.99253379e-01 -4.37037024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.676875 meters 0.017504581550698766 Centerline is valid? [True, True] Translation: X:134.04, Y:30.22, Z:-0.44 [[ 9.38511330e-01 -3.43237374e-01 -3.72100666e-02 1.34042574e+02] [ 3.42931342e-01 9.39248295e-01 -1.45167151e-02 3.02169570e+01] [ 3.99321708e-02 8.63603505e-04 9.99202020e-01 -4.35584811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.736875 meters 0.016667723659893538 Centerline is valid? [True, True] Translation: X:134.10, Y:30.23, Z:-0.43 [[ 9.37790537e-01 -3.45112038e-01 -3.80340685e-02 1.34099096e+02] [ 3.44793398e-01 9.38561145e-01 -1.48488936e-02 3.02339295e+01] [ 4.08218308e-02 8.11256215e-04 9.99166112e-01 -4.33373955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.796875 meters 0.01681092104488416 Centerline is valid? [True, True] Translation: X:134.15, Y:30.25, Z:-0.43 [[ 9.37490568e-01 -3.45952344e-01 -3.77943135e-02 1.34153540e+02] [ 3.45638056e-01 9.38251763e-01 -1.47635676e-02 3.02544197e+01] [ 4.05680721e-02 7.77552306e-04 9.99176474e-01 -4.32188728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.856875 meters 0.016312194911775824 Centerline is valid? [True, True] Translation: X:134.21, Y:30.27, Z:-0.43 [[ 9.37126712e-01 -3.46969467e-01 -3.74928753e-02 1.34209739e+02] [ 3.46660756e-01 9.37876139e-01 -1.46515575e-02 3.02720267e+01] [ 4.02473162e-02 7.33057412e-04 9.99189480e-01 -4.31620299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.916875 meters 0.016739482142964217 Centerline is valid? [True, True] Translation: X:134.27, Y:30.29, Z:-0.43 [[ 9.37421521e-01 -3.46126642e-01 -3.79109498e-02 1.34265529e+02] [ 3.45809886e-01 9.38187469e-01 -1.48255149e-02 3.02920615e+01] [ 4.06990837e-02 7.87775486e-04 9.99171138e-01 -4.30606138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.976875 meters 0.01776072353855799 Centerline is valid? [True, True] Translation: X:134.32, Y:30.32, Z:-0.43 [[ 9.38047841e-01 -3.44269967e-01 -3.92993458e-02 1.34319836e+02] [ 3.43927473e-01 9.38870258e-01 -1.53796217e-02 3.03154687e+01] [ 4.21917288e-02 9.10696268e-04 9.99109117e-01 -4.31431231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03687499999998 meters 0.016673867860395857 Centerline is valid? [True, True] Translation: X:134.38, Y:30.33, Z:-0.43 [[ 9.36589214e-01 -3.48138965e-01 -3.99988078e-02 1.34376229e+02] [ 3.47787221e-01 9.37442629e-01 -1.56641483e-02 3.03345195e+01] [ 4.29498880e-02 7.59798124e-04 9.99076939e-01 -4.29943537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09687499999998 meters 0.016369554868091267 Centerline is valid? [True, True] Translation: X:134.43, Y:30.36, Z:-0.43 [[ 9.36135469e-01 -3.49514251e-01 -3.86027478e-02 1.34431534e+02] [ 3.49187408e-01 9.36930800e-01 -1.51271353e-02 3.03555156e+01] [ 4.14552528e-02 6.81454480e-04 9.99140129e-01 -4.26333884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15687499999999 meters 0.015543375034271986 Centerline is valid? [True, True] Translation: X:134.49, Y:30.38, Z:-0.42 [[ 9.36002109e-01 -3.49991739e-01 -3.74944563e-02 1.34486083e+02] [ 3.49683383e-01 9.36752560e-01 -1.47028027e-02 3.03776125e+01] [ 4.02688875e-02 6.50666002e-04 9.99188668e-01 -4.23536885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.216875 meters 0.015919059772015055 Centerline is valid? [True, True] Translation: X:134.54, Y:30.40, Z:-0.42 [[ 9.36275757e-01 -3.49400733e-01 -3.61501758e-02 1.34539850e+02] [ 3.49113264e-01 9.36973153e-01 -1.41858725e-02 3.04007466e+01] [ 3.88282985e-02 6.61382663e-04 9.99245678e-01 -4.21334247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.276875 meters 0.014157532715576132 Centerline is valid? [True, True] Translation: X:134.60, Y:30.42, Z:-0.42 [[ 9.33834312e-01 -3.55968999e-01 -3.52072407e-02 1.34596526e+02] [ 3.55700645e-01 9.34497684e-01 -1.38249391e-02 3.04184113e+01] [ 3.78223346e-02 3.86964205e-04 9.99284405e-01 -4.16666575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.336875 meters 0.013608606432373454 Centerline is valid? [True, True] Translation: X:134.65, Y:30.44, Z:-0.42 [[ 9.32635138e-01 -3.58893207e-01 -3.72473596e-02 1.34649616e+02] [ 3.58594875e-01 9.33378584e-01 -1.46333257e-02 3.04414763e+01] [ 4.00176889e-02 2.90841438e-04 9.99198929e-01 -4.19022937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.396875 meters 0.013512663203603881 Centerline is valid? [True, True] Translation: X:134.70, Y:30.46, Z:-0.42 [[ 9.32015244e-01 -3.60302597e-01 -3.91103961e-02 1.34703040e+02] [ 3.59974476e-01 9.32835449e-01 -1.53753453e-02 3.04644448e+01] [ 4.20233408e-02 2.51311898e-04 9.99116598e-01 -4.21293257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.456875 meters 0.013263610373183075 Centerline is valid? [True, True] Translation: X:134.76, Y:30.49, Z:-0.42 [[ 9.31220532e-01 -3.62383501e-01 -3.88138924e-02 1.34758677e+02] [ 3.62061897e-01 9.32029062e-01 -1.52646951e-02 3.04850966e+01] [ 4.17073494e-02 1.61765997e-04 9.99129857e-01 -4.17720594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.516875 meters 0.01321841790507039 Centerline is valid? [True, True] Translation: X:134.81, Y:30.51, Z:-0.41 [[ 9.31003798e-01 -3.63211768e-01 -3.61820421e-02 1.34811961e+02] [ 3.62932662e-01 9.31706604e-01 -1.42367913e-02 3.05065958e+01] [ 3.88820177e-02 1.22861938e-04 9.99243801e-01 -4.13706089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.576875 meters 0.013272432679363705 Centerline is valid? [True, True] Translation: X:134.87, Y:30.53, Z:-0.41 [[ 9.31666084e-01 -3.61785736e-01 -3.33074946e-02 1.34866024e+02] [ 3.61548163e-01 9.32261257e-01 -1.31101027e-02 3.05301398e+01] [ 3.57943349e-02 1.71974627e-04 9.99359163e-01 -4.09238343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.636875 meters 0.013797099548842675 Centerline is valid? [True, True] Translation: X:134.92, Y:30.56, Z:-0.41 [[ 9.33128362e-01 -3.58049059e-01 -3.27464778e-02 1.34919546e+02] [ 3.57816810e-01 9.33702720e-01 -1.28980790e-02 3.05551277e+01] [ 3.51936205e-02 3.18323101e-04 9.99380462e-01 -4.07236016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.696875 meters 0.015454969356166992 Centerline is valid? [True, True] Translation: X:134.97, Y:30.58, Z:-0.41 [[ 9.35919124e-01 -3.50559450e-01 -3.41096148e-02 1.34973005e+02] [ 3.50302140e-01 9.36540266e-01 -1.34439904e-02 3.05833190e+01] [ 3.66579456e-02 6.33816665e-04 9.99327671e-01 -4.07914885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75687499999998 meters 0.017251469679224432 Centerline is valid? [True, True] Translation: X:135.03, Y:30.61, Z:-0.41 [[ 9.37680086e-01 -3.45741826e-01 -3.49091189e-02 1.35026158e+02] [ 3.45468687e-01 9.38329297e-01 -1.37665083e-02 3.06108643e+01] [ 3.75159067e-02 8.48573172e-04 9.99295670e-01 -4.08237547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81687499999998 meters 0.018987411556436014 Centerline is valid? [True, True] Translation: X:135.08, Y:30.64, Z:-0.41 [[ 9.39222614e-01 -3.41399442e-01 -3.61566268e-02 1.35079906e+02] [ 3.41102955e-01 9.39917702e-01 -1.42648667e-02 3.06365983e+01] [ 3.88542712e-02 1.06475316e-03 9.99244320e-01 -4.07324100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87687499999998 meters 0.01736072593537929 Centerline is valid? [True, True] Translation: X:135.14, Y:30.65, Z:-0.41 [[ 9.37748315e-01 -3.45328757e-01 -3.70964700e-02 1.35136284e+02] [ 3.45019589e-01 9.38481320e-01 -1.46388479e-02 3.06542751e+01] [ 3.98695593e-02 9.28546131e-04 9.99204462e-01 -4.05797713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.936875 meters 0.016537757259353542 Centerline is valid? [True, True] Translation: X:135.19, Y:30.67, Z:-0.40 [[ 9.36439594e-01 -3.48965523e-01 -3.61102618e-02 1.35190937e+02] [ 3.48675145e-01 9.37135258e-01 -1.42531358e-02 3.06726090e+01] [ 3.88140525e-02 7.56449889e-04 9.99246164e-01 -4.02173282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.996875 meters 0.015458140144743737 Centerline is valid? [True, True] Translation: X:135.25, Y:30.69, Z:-0.40 [[ 9.35414767e-01 -3.51841972e-01 -3.47338602e-02 1.35247304e+02] [ 3.51575080e-01 9.36059210e-01 -1.37156576e-02 3.06918858e+01] [ 3.73386937e-02 6.18268964e-04 9.99302477e-01 -4.00305952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.056875 meters 0.015819958263858847 Centerline is valid? [True, True] Translation: X:135.30, Y:30.71, Z:-0.40 [[ 9.35495168e-01 -3.51715875e-01 -3.38339252e-02 1.35300831e+02] [ 3.51462288e-01 9.36106600e-01 -1.33676461e-02 3.07135845e+01] [ 3.63737740e-02 6.14019567e-04 9.99338067e-01 -3.98397188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.116875 meters 0.0169490493485951 Centerline is valid? [True, True] Translation: X:135.36, Y:30.74, Z:-0.39 [[ 9.36437402e-01 -3.49274032e-01 -3.30551281e-02 1.35355346e+02] [ 3.49030307e-01 9.37020365e-01 -1.30644608e-02 3.07362735e+01] [ 3.55364051e-02 6.96808245e-04 9.99368140e-01 -3.94664638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.176875 meters 0.019349350399987572 Centerline is valid? [True, True] Translation: X:135.41, Y:30.76, Z:-0.39 [[ 9.38131615e-01 -3.44711818e-01 -3.29064584e-02 1.35407708e+02] [ 3.44467209e-01 9.38708155e-01 -1.30131143e-02 3.07628994e+01] [ 3.53753351e-02 8.72818026e-04 9.99373716e-01 -3.92958798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.236875 meters 0.020970609718092375 Centerline is valid? [True, True] Translation: X:135.46, Y:30.79, Z:-0.39 [[ 9.39419602e-01 -3.41098998e-01 -3.37977193e-02 1.35461234e+02] [ 3.40838543e-01 9.40026806e-01 -1.33675528e-02 3.07885605e+01] [ 3.63304210e-02 1.03817571e-03 9.99339293e-01 -3.92780823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.296875 meters 0.02264269213955849 Centerline is valid? [True, True] Translation: X:135.51, Y:30.81, Z:-0.39 [[ 9.39976579e-01 -3.39546851e-01 -3.39406281e-02 1.35513523e+02] [ 3.39283094e-01 9.40588494e-01 -1.34263615e-02 3.08146361e+01] [ 3.64830430e-02 1.10498402e-03 9.99333661e-01 -3.92305828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.356875 meters 0.02107947775575201 Centerline is valid? [True, True] Translation: X:135.57, Y:30.83, Z:-0.39 [[ 9.38644974e-01 -3.43143643e-01 -3.46129137e-02 1.35568868e+02] [ 3.42871650e-01 9.39282420e-01 -1.36954812e-02 3.08341866e+01] [ 3.72108187e-02 9.87407767e-04 9.99306950e-01 -3.90538367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.416875 meters 0.019744086904335156 Centerline is valid? [True, True] Translation: X:135.62, Y:30.85, Z:-0.39 [[ 9.37698921e-01 -3.45828804e-01 -3.35137526e-02 1.35624075e+02] [ 3.45575441e-01 9.38297238e-01 -1.32630089e-02 3.08539971e+01] [ 3.60325920e-02 8.55179267e-04 9.99350249e-01 -3.87146759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.476875 meters 0.01704151387597697 Centerline is valid? [True, True] Translation: X:135.68, Y:30.87, Z:-0.38 [[ 9.36666181e-01 -3.48685457e-01 -3.27859406e-02 1.35680726e+02] [ 3.48444593e-01 9.37239519e-01 -1.29788258e-02 3.08715308e+01] [ 3.52538070e-02 7.32743436e-04 9.99378123e-01 -3.83673978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53687499999998 meters 0.016145179976957764 Centerline is valid? [True, True] Translation: X:135.74, Y:30.89, Z:-0.38 [[ 9.35767160e-01 -3.51299926e-01 -3.04661197e-02 1.35735629e+02] [ 3.51093075e-01 9.36262787e-01 -1.20684320e-02 3.08924383e+01] [ 3.27639334e-02 5.96798651e-04 9.99462940e-01 -3.80164841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59687499999998 meters 0.016049086871463947 Centerline is valid? [True, True] Translation: X:135.79, Y:30.92, Z:-0.38 [[ 9.35558290e-01 -3.51911208e-01 -2.98192369e-02 1.35790391e+02] [ 3.51713102e-01 9.36033213e-01 -1.18202451e-02 3.09154514e+01] [ 3.20714729e-02 5.70711934e-04 9.99485415e-01 -3.77877751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65687499999999 meters 0.016104388547026408 Centerline is valid? [True, True] Translation: X:135.84, Y:30.94, Z:-0.38 [[ 9.35795704e-01 -3.51208060e-01 -3.06479696e-02 1.35844545e+02] [ 3.50998140e-01 9.36297237e-01 -1.21568984e-02 3.09386132e+01] [ 3.29652100e-02 6.18993008e-04 9.99456308e-01 -3.76082551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.716875 meters 0.01621068765492626 Centerline is valid? [True, True] Translation: X:135.90, Y:30.96, Z:-0.38 [[ 9.35846016e-01 -3.51020212e-01 -3.12577112e-02 1.35899154e+02] [ 3.50801451e-01 9.36367659e-01 -1.24076019e-02 3.09610337e+01] [ 3.36240289e-02 6.46354317e-04 9.99434343e-01 -3.75342615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.776875 meters 0.016445730096437006 Centerline is valid? [True, True] Translation: X:135.95, Y:30.98, Z:-0.38 [[ 9.35980678e-01 -3.50621793e-01 -3.16943003e-02 1.35952778e+02] [ 3.50396345e-01 9.36516897e-01 -1.25898303e-02 3.09847015e+01] [ 3.40965166e-02 6.78270879e-04 9.99418315e-01 -3.75292967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.836875 meters 0.017598874841905164 Centerline is valid? [True, True] Translation: X:136.01, Y:31.01, Z:-0.37 [[ 9.36594122e-01 -3.48964612e-01 -3.18614209e-02 1.36005427e+02] [ 3.48735554e-01 9.37135602e-01 -1.26639825e-02 3.10091061e+01] [ 3.42777536e-02 7.49801337e-04 9.99412064e-01 -3.72881896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.896875 meters 0.018016768655596812 Centerline is valid? [True, True] Translation: X:136.06, Y:31.03, Z:-0.37 [[ 9.37208737e-01 -3.47290120e-01 -3.20835891e-02 1.36059649e+02] [ 3.47056725e-01 9.37757377e-01 -1.27565983e-02 3.10317102e+01] [ 3.45168629e-02 8.20770059e-04 9.99403779e-01 -3.70676092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.956875 meters 0.01974664188522123 Centerline is valid? [True, True] Translation: X:136.11, Y:31.06, Z:-0.37 [[ 9.38685648e-01 -3.43182355e-01 -3.30926722e-02 1.36113329e+02] [ 3.42931206e-01 9.39268253e-01 -1.31657244e-02 3.10567683e+01] [ 3.56011407e-02 1.00996659e-03 9.99365568e-01 -3.69535855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.016875 meters 0.021209989115384544 Centerline is valid? [True, True] Translation: X:136.17, Y:31.08, Z:-0.37 [[ 9.40794986e-01 -3.37331492e-01 -3.33505366e-02 1.36167255e+02] [ 3.37072632e-01 9.41385106e-01 -1.32711618e-02 3.10825483e+01] [ 3.58724793e-02 1.24388931e-03 9.99355601e-01 -3.67027686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.076875 meters 0.021287073241348094 Centerline is valid? [True, True] Translation: X:136.22, Y:31.11, Z:-0.37 [[ 9.41445206e-01 -3.35443545e-01 -3.40375039e-02 1.36221074e+02] [ 3.35172501e-01 9.42059347e-01 -1.35492564e-02 3.11059367e+01] [ 3.66103593e-02 1.34744720e-03 9.99328708e-01 -3.66165369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.136875 meters 0.022579253044822233 Centerline is valid? [True, True] Translation: X:136.27, Y:31.13, Z:-0.36 [[ 9.42197861e-01 -3.33350623e-01 -3.37720797e-02 1.36274922e+02] [ 3.33082103e-01 9.42801849e-01 -1.34530899e-02 3.11316445e+01] [ 3.63249751e-02 1.42659718e-03 9.99339012e-01 -3.64216862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.196875 meters 0.024028332927786274 Centerline is valid? [True, True] Translation: X:136.33, Y:31.16, Z:-0.36 [[ 9.42228176e-01 -3.33227623e-01 -3.41381857e-02 1.36327913e+02] [ 3.32952898e-01 9.42845288e-01 -1.36062516e-02 3.11559933e+01] [ 3.67210064e-02 1.45378579e-03 9.99324499e-01 -3.63533161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25687499999998 meters 0.023631933401382137 Centerline is valid? [True, True] Translation: X:136.38, Y:31.18, Z:-0.36 [[ 9.42008987e-01 -3.33813000e-01 -3.44666569e-02 1.36382346e+02] [ 3.33533145e-01 9.42638201e-01 -1.37427383e-02 3.11775576e+01] [ 3.70770921e-02 1.45001054e-03 9.99311356e-01 -3.61245962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31687499999998 meters 0.024145206833541256 Centerline is valid? [True, True] Translation: X:136.44, Y:31.20, Z:-0.36 [[ 9.41940616e-01 -3.33997015e-01 -3.45524265e-02 1.36435857e+02] [ 3.33715469e-01 9.42573006e-01 -1.37882108e-02 3.12007367e+01] [ 3.71734058e-02 1.45699659e-03 9.99307768e-01 -3.59956011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37687499999998 meters 0.02374412581476429 Centerline is valid? [True, True] Translation: X:136.49, Y:31.22, Z:-0.36 [[ 9.41429586e-01 -3.35388052e-01 -3.50027095e-02 1.36490751e+02] [ 3.35099661e-01 9.42078982e-01 -1.39789018e-02 3.12227890e+01] [ 3.76636735e-02 1.43075563e-03 9.99289448e-01 -3.59660928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.436875 meters 0.02225067516643853 Centerline is valid? [True, True] Translation: X:136.55, Y:31.24, Z:-0.36 [[ 9.40582418e-01 -3.37589859e-01 -3.65759689e-02 1.36546768e+02] [ 3.37276199e-01 9.41292245e-01 -1.46176123e-02 3.12426886e+01] [ 3.93634335e-02 1.41286534e-03 9.99223961e-01 -3.59419281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.496875 meters 0.021157331900655593 Centerline is valid? [True, True] Translation: X:136.60, Y:31.26, Z:-0.36 [[ 9.39993379e-01 -3.39128901e-01 -3.74704634e-02 1.36602446e+02] [ 3.38800507e-01 9.40738887e-01 -1.49854177e-02 3.12621313e+01] [ 4.03319102e-02 1.39118139e-03 9.99185369e-01 -3.56536284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.556875 meters 0.021575680919781303 Centerline is valid? [True, True] Translation: X:136.66, Y:31.29, Z:-0.36 [[ 9.39729171e-01 -3.39913857e-01 -3.69818337e-02 1.36656161e+02] [ 3.39594166e-01 9.40455607e-01 -1.48004833e-02 3.12850625e+01] [ 3.98106623e-02 1.34963096e-03 9.99206330e-01 -3.55484907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.616875 meters 0.02036967372507501 Centerline is valid? [True, True] Translation: X:136.71, Y:31.30, Z:-0.35 [[ 9.38972333e-01 -3.42161592e-01 -3.54457893e-02 1.36711396e+02] [ 3.41869219e-01 9.39640347e-01 -1.41934713e-02 3.13044375e+01] [ 3.81627545e-02 1.20945259e-03 9.99270805e-01 -3.52339306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.676875 meters 0.019022514666360138 Centerline is valid? [True, True] Translation: X:136.77, Y:31.32, Z:-0.35 [[ 9.38056190e-01 -3.44681317e-01 -3.52898594e-02 1.36767745e+02] [ 3.44393115e-01 9.38719109e-01 -1.41356611e-02 3.13235176e+01] [ 3.79995637e-02 1.10645983e-03 9.99277143e-01 -3.50847153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.736875 meters 0.01822566763392005 Centerline is valid? [True, True] Translation: X:136.82, Y:31.34, Z:-0.35 [[ 9.36333822e-01 -3.49388532e-01 -3.47365494e-02 1.36823408e+02] [ 3.49112248e-01 9.36977497e-01 -1.39215280e-02 3.13407909e+01] [ 3.74113874e-02 9.08242658e-04 9.99299536e-01 -3.49978771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.796875 meters 0.017097775169954896 Centerline is valid? [True, True] Translation: X:136.88, Y:31.36, Z:-0.35 [[ 9.35749946e-01 -3.51002381e-01 -3.41960249e-02 1.36879003e+02] [ 3.50735535e-01 9.36374194e-01 -1.37095912e-02 3.13594478e+01] [ 3.68323744e-02 8.34988190e-04 9.99321109e-01 -3.49239930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.856875 meters 0.017121115543393142 Centerline is valid? [True, True] Translation: X:136.93, Y:31.38, Z:-0.35 [[ 9.35631253e-01 -3.51252075e-01 -3.48731822e-02 1.36934005e+02] [ 3.50974341e-01 9.36280543e-01 -1.39913061e-02 3.13790822e+01] [ 3.75655573e-02 8.51111152e-04 9.99293803e-01 -3.49499740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.916875 meters 0.017879883140163377 Centerline is valid? [True, True] Translation: X:136.99, Y:31.40, Z:-0.35 [[ 9.36095867e-01 -3.50074396e-01 -3.42409733e-02 1.36988700e+02] [ 3.49805475e-01 9.36721475e-01 -1.37480155e-02 3.14016078e+01] [ 3.68870833e-02 8.91780580e-04 9.99319042e-01 -3.48521259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.976875 meters 0.018115769411287005 Centerline is valid? [True, True] Translation: X:137.04, Y:31.42, Z:-0.35 [[ 9.36919714e-01 -3.47833501e-01 -3.45442630e-02 1.37043488e+02] [ 3.47557910e-01 9.37555790e-01 -1.38794400e-02 3.14235160e+01] [ 3.72149080e-02 9.97789062e-04 9.99306787e-01 -3.47139241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03687499999998 meters 0.01757639640566725 Centerline is valid? [True, True] Translation: X:137.10, Y:31.44, Z:-0.35 [[ 9.36848837e-01 -3.48121718e-01 -3.35488585e-02 1.37097508e+02] [ 3.47861620e-01 9.37448844e-01 -1.34892135e-02 3.14443478e+01] [ 3.61462268e-02 9.66993697e-04 9.99346044e-01 -3.46037292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09687499999998 meters 0.01791754315221792 Centerline is valid? [True, True] Translation: X:137.15, Y:31.47, Z:-0.34 [[ 9.36328185e-01 -3.49654029e-01 -3.21183864e-02 1.37151351e+02] [ 3.49416229e-01 9.36878482e-01 -1.29231968e-02 3.14651384e+01] [ 3.46096729e-02 8.77667931e-04 9.99400520e-01 -3.43421827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15687499999999 meters 0.017675504199305386 Centerline is valid? [True, True] Translation: X:137.21, Y:31.49, Z:-0.34 [[ 9.35713634e-01 -3.51454268e-01 -3.03297485e-02 1.37205771e+02] [ 3.51243033e-01 9.36204735e-01 -1.22076379e-02 3.14851915e+01] [ 3.26852805e-02 7.69740329e-04 9.99465397e-01 -3.40149070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.216875 meters 0.01678767020586266 Centerline is valid? [True, True] Translation: X:137.26, Y:31.50, Z:-0.34 [[ 9.35202465e-01 -3.52770243e-01 -3.08140420e-02 1.37261883e+02] [ 3.52552786e-01 9.35709682e-01 -1.24066106e-02 3.15045265e+01] [ 3.32096805e-02 7.39116487e-04 9.99448133e-01 -3.40302347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.276875 meters 0.016927313178792168 Centerline is valid? [True, True] Translation: X:137.32, Y:31.53, Z:-0.34 [[ 9.35114148e-01 -3.52935482e-01 -3.15923501e-02 1.37315855e+02] [ 3.52706673e-01 9.35647352e-01 -1.27293049e-02 3.15250390e+01] [ 3.40519220e-02 7.60520418e-04 9.99419776e-01 -3.41111778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.336875 meters 0.016519591214229752 Centerline is valid? [True, True] Translation: X:137.37, Y:31.54, Z:-0.34 [[ 9.34436566e-01 -3.54612594e-01 -3.28361461e-02 1.37371616e+02] [ 3.54366067e-01 9.35013030e-01 -1.32410316e-02 3.15444536e+01] [ 3.53976610e-02 7.36888187e-04 9.99373035e-01 -3.40165319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.396875 meters 0.016390948770709776 Centerline is valid? [True, True] Translation: X:137.43, Y:31.56, Z:-0.34 [[ 9.34218153e-01 -3.55156941e-01 -3.31660924e-02 1.37426462e+02] [ 3.54905432e-01 9.34806403e-01 -1.33836985e-02 3.15646113e+01] [ 3.57571890e-02 7.32467688e-04 9.99360239e-01 -3.39539815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.456875 meters 0.016446440067912835 Centerline is valid? [True, True] Translation: X:137.48, Y:31.59, Z:-0.34 [[ 9.34344964e-01 -3.54885741e-01 -3.24899889e-02 1.37480993e+02] [ 3.54643864e-01 9.34909390e-01 -1.31210566e-02 3.15854663e+01] [ 3.50316716e-02 7.37217941e-04 9.99385931e-01 -3.37259826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.516875 meters 0.016295811063921407 Centerline is valid? [True, True] Translation: X:137.54, Y:31.60, Z:-0.34 [[ 9.33914260e-01 -3.56034359e-01 -3.23062071e-02 1.37536578e+02] [ 3.55795549e-01 9.34472603e-01 -1.30568636e-02 3.16047614e+01] [ 3.48379575e-02 6.99586450e-04 9.99392729e-01 -3.35762958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.576875 meters 0.01641908303616134 Centerline is valid? [True, True] Translation: X:137.59, Y:31.63, Z:-0.33 [[ 9.33929201e-01 -3.56058366e-01 -3.16020124e-02 1.37590634e+02] [ 3.55829566e-01 9.34463462e-01 -1.27811796e-02 3.16260353e+01] [ 3.40817718e-02 6.91786434e-04 9.99418808e-01 -3.33787395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.636875 meters 0.016324791636596808 Centerline is valid? [True, True] Translation: X:137.64, Y:31.65, Z:-0.33 [[ 9.33821691e-01 -3.56367986e-01 -3.12875149e-02 1.37643954e+02] [ 3.56143556e-01 9.34345435e-01 -1.26639196e-02 3.16481894e+01] [ 3.37463623e-02 6.82995954e-04 9.99430196e-01 -3.32405263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.696875 meters 0.013039819046146107 Centerline is valid? [True, True] Translation: X:137.70, Y:31.66, Z:-0.33 [[ 9.28757130e-01 -3.69567132e-01 -2.88154030e-02 1.37701299e+02] [ 3.69382849e-01 9.29204012e-01 -1.16710928e-02 3.16631571e+01] [ 3.10886404e-02 1.95694995e-04 9.99516612e-01 -3.27163507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75687499999998 meters 0.012759113330961695 Centerline is valid? [True, True] Translation: X:137.76, Y:31.69, Z:-0.33 [[ 9.27187626e-01 -3.73234713e-01 -3.19210917e-02 1.37755328e+02] [ 3.73010584e-01 9.27736946e-01 -1.29330037e-02 3.16853368e+01] [ 3.44414221e-02 8.44159449e-05 9.99406715e-01 -3.30595755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81687499999998 meters 0.012821225195035622 Centerline is valid? [True, True] Translation: X:137.81, Y:31.71, Z:-0.34 [[ 9.26400338e-01 -3.74826341e-01 -3.58835435e-02 1.37808920e+02] [ 3.74543824e-01 9.27095040e-01 -1.45502998e-02 3.17114694e+01] [ 3.87212908e-02 3.94430439e-05 9.99250049e-01 -3.35669900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87687499999998 meters 0.013244365619380775 Centerline is valid? [True, True] Translation: X:137.86, Y:31.74, Z:-0.33 [[ 9.28033639e-01 -3.70885088e-01 -3.46094765e-02 1.37861794e+02] [ 3.70619172e-01 9.28678744e-01 -1.40435167e-02 3.17362074e+01] [ 3.73496160e-02 2.05920356e-04 9.99302238e-01 -3.29273421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.936875 meters 0.013810116158183389 Centerline is valid? [True, True] Translation: X:137.91, Y:31.76, Z:-0.33 [[ 9.29591798e-01 -3.67054725e-01 -3.36142407e-02 1.37914751e+02] [ 3.66801013e-01 9.30199280e-01 -1.36497934e-02 3.17635099e+01] [ 3.62781637e-02 3.58998490e-04 9.99341666e-01 -3.26767437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.996875 meters 0.014769299623262093 Centerline is valid? [True, True] Translation: X:137.97, Y:31.79, Z:-0.33 [[ 9.31135633e-01 -3.63170765e-01 -3.30670271e-02 1.37966669e+02] [ 3.62922522e-01 9.31722457e-01 -1.34352788e-02 3.17907225e+01] [ 3.56885922e-02 5.09297925e-04 9.99362830e-01 -3.26762915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.056875 meters 0.015761820529449678 Centerline is valid? [True, True] Translation: X:138.02, Y:31.82, Z:-0.33 [[ 9.32608659e-01 -3.59376671e-01 -3.30075263e-02 1.38020731e+02] [ 3.59126778e-01 9.33192357e-01 -1.34157151e-02 3.18151011e+01] [ 3.56236663e-02 6.57725516e-04 9.99365059e-01 -3.25508419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.116875 meters 0.0162236437857587 Centerline is valid? [True, True] Translation: X:138.08, Y:31.84, Z:-0.32 [[ 9.32661969e-01 -3.59292287e-01 -3.24145705e-02 1.38075374e+02] [ 3.59050921e-01 9.33224850e-01 -1.31839142e-02 3.18359841e+01] [ 3.49869614e-02 6.57653920e-04 9.99387552e-01 -3.22866839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.176875 meters 0.01736301405214645 Centerline is valid? [True, True] Translation: X:138.13, Y:31.86, Z:-0.32 [[ 9.32846779e-01 -3.58861440e-01 -3.18646329e-02 1.38128373e+02] [ 3.58627640e-01 9.33390603e-01 -1.29691328e-02 3.18587858e+01] [ 3.43962705e-02 6.70675622e-04 9.99408048e-01 -3.22862309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.236875 meters 0.01780664925955158 Centerline is valid? [True, True] Translation: X:138.18, Y:31.88, Z:-0.32 [[ 9.33662387e-01 -3.56886527e-01 -3.01090265e-02 1.38183010e+02] [ 3.56676623e-01 9.34147476e-01 -1.22588185e-02 3.18791227e+01] [ 3.25012783e-02 7.06411816e-04 9.99471444e-01 -3.18880263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.296875 meters 0.019126756018585368 Centerline is valid? [True, True] Translation: X:138.24, Y:31.90, Z:-0.32 [[ 9.34536381e-01 -3.54624158e-01 -2.97230373e-02 1.38237159e+02] [ 3.54418305e-01 9.35008609e-01 -1.21064379e-02 3.19019631e+01] [ 3.20845311e-02 7.79518197e-04 9.99484855e-01 -3.15834203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.356875 meters 0.018404707421988457 Centerline is valid? [True, True] Translation: X:138.29, Y:31.92, Z:-0.32 [[ 9.34425452e-01 -3.54828092e-01 -3.07587425e-02 1.38291746e+02] [ 3.54607458e-01 9.34931213e-01 -1.25370644e-02 3.19230750e+01] [ 3.32058110e-02 8.07672589e-04 9.99448209e-01 -3.15148704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.416875 meters 0.01839759626418327 Centerline is valid? [True, True] Translation: X:138.35, Y:31.94, Z:-0.31 [[ 9.34203037e-01 -3.55408721e-01 -3.08111606e-02 1.38345949e+02] [ 3.55187323e-01 9.34710653e-01 -1.25682222e-02 3.19446260e+01] [ 3.32663758e-02 7.97537647e-04 9.99446203e-01 -3.14845646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.476875 meters 0.018209098838535737 Centerline is valid? [True, True] Translation: X:138.40, Y:31.97, Z:-0.31 [[ 9.33637282e-01 -3.56893120e-01 -3.08014152e-02 1.38399415e+02] [ 3.56672375e-01 9.34144921e-01 -1.25731052e-02 3.19658416e+01] [ 3.32602403e-02 7.52705874e-04 9.99446442e-01 -3.14343893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53687499999998 meters 0.018244939644405 Centerline is valid? [True, True] Translation: X:138.45, Y:31.99, Z:-0.31 [[ 9.33256214e-01 -3.57868192e-01 -3.10353842e-02 1.38454080e+02] [ 3.57644444e-01 9.33771828e-01 -1.26738021e-02 3.19866600e+01] [ 3.35155180e-02 7.28271842e-04 9.99437932e-01 -3.11488274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59687499999998 meters 0.018849847467378462 Centerline is valid? [True, True] Translation: X:138.51, Y:32.01, Z:-0.31 [[ 9.33352965e-01 -3.57593911e-01 -3.12863702e-02 1.38506939e+02] [ 3.57366122e-01 9.33876882e-01 -1.27837591e-02 3.20096502e+01] [ 3.37890123e-02 7.51070674e-04 9.99428706e-01 -3.10207104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65687499999999 meters 0.017227789567987425 Centerline is valid? [True, True] Translation: X:138.56, Y:32.03, Z:-0.31 [[ 9.32810655e-01 -3.58918871e-01 -3.22726899e-02 1.38562438e+02] [ 3.58677126e-01 9.33368476e-01 -1.31911789e-02 3.20296977e+01] [ 3.48568744e-02 7.29396538e-04 9.99392048e-01 -3.08377409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.716875 meters 0.016661618407681888 Centerline is valid? [True, True] Translation: X:138.62, Y:32.05, Z:-0.31 [[ 9.32166847e-01 -3.60656332e-01 -3.14957012e-02 1.38616692e+02] [ 3.60426785e-01 9.32698547e-01 -1.28822769e-02 3.20517782e+01] [ 3.40220695e-02 6.56537145e-04 9.99420866e-01 -3.06372012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.776875 meters 0.015536777417890876 Centerline is valid? [True, True] Translation: X:138.67, Y:32.07, Z:-0.30 [[ 9.30827396e-01 -3.64196082e-01 -3.03574295e-02 1.38671717e+02] [ 3.63984438e-01 9.31322151e-01 -1.24250170e-02 3.20719120e+01] [ 3.27976890e-02 5.15914307e-04 9.99461878e-01 -3.02593079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.836875 meters 0.014680753812344094 Centerline is valid? [True, True] Translation: X:138.73, Y:32.09, Z:-0.30 [[ 9.28826312e-01 -3.69200250e-01 -3.11906714e-02 1.38727874e+02] [ 3.68979339e-01 9.29349799e-01 -1.27749592e-02 3.20917870e+01] [ 3.37035623e-02 3.57004987e-04 9.99431810e-01 -3.02869036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.896875 meters 0.01413077605955362 Centerline is valid? [True, True] Translation: X:138.78, Y:32.11, Z:-0.30 [[ 9.27859562e-01 -3.71616738e-01 -3.12671267e-02 1.38783543e+02] [ 3.71395835e-01 9.28386193e-01 -1.28144852e-02 3.21123784e+01] [ 3.37900459e-02 2.77562008e-04 9.99428915e-01 -3.01331881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.956875 meters 0.01397477847161153 Centerline is valid? [True, True] Translation: X:138.84, Y:32.13, Z:-0.30 [[ 9.27392290e-01 -3.72800245e-01 -3.10405930e-02 1.38837620e+02] [ 3.72582897e-01 9.27911590e-01 -1.27304922e-02 3.21324472e+01] [ 3.35488566e-02 2.40966216e-04 9.99437050e-01 -2.98539461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.016875 meters 0.014455560512879995 Centerline is valid? [True, True] Translation: X:138.89, Y:32.16, Z:-0.30 [[ 9.28135269e-01 -3.70936569e-01 -3.11606127e-02 1.38889900e+02] [ 3.70716180e-01 9.28658151e-01 -1.27887777e-02 3.21561811e+01] [ 3.36813822e-02 3.17972344e-04 9.99432571e-01 -2.97226562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.076875 meters 0.015447062195881343 Centerline is valid? [True, True] Translation: X:138.94, Y:32.18, Z:-0.30 [[ 9.30003987e-01 -3.66225421e-01 -3.11692870e-02 1.38942441e+02] [ 3.66002137e-01 9.30526033e-01 -1.27959890e-02 3.21820384e+01] [ 3.36900495e-02 4.92295164e-04 9.99432208e-01 -2.96461410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.136875 meters 0.016973803031357242 Centerline is valid? [True, True] Translation: X:139.00, Y:32.21, Z:-0.30 [[ 9.32070859e-01 -3.60872299e-01 -3.18606017e-02 1.38996453e+02] [ 3.60635729e-01 9.32614972e-01 -1.30837419e-02 3.22083245e+01] [ 3.44352342e-02 7.04903217e-04 9.99406683e-01 -2.96163433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.196875 meters 0.017609926480861352 Centerline is valid? [True, True] Translation: X:139.05, Y:32.23, Z:-0.30 [[ 9.32808794e-01 -3.58907308e-01 -3.24545501e-02 1.39050956e+02] [ 3.58660382e-01 9.33372865e-01 -1.33350719e-02 3.22311131e+01] [ 3.50782512e-02 7.98910957e-04 9.99384249e-01 -2.95299481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25687499999998 meters 0.018194341490141874 Centerline is valid? [True, True] Translation: X:139.11, Y:32.25, Z:-0.30 [[ 9.33088716e-01 -3.58137362e-01 -3.29101598e-02 1.39105425e+02] [ 3.57882639e-01 9.33668523e-01 -1.35316761e-02 3.22542509e+01] [ 3.55733791e-02 8.48279443e-04 9.99366707e-01 -2.95417379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31687499999998 meters 0.018552455452567142 Centerline is valid? [True, True] Translation: X:139.16, Y:32.28, Z:-0.30 [[ 9.33256846e-01 -3.57651419e-01 -3.34233548e-02 1.39159470e+02] [ 3.57388033e-01 9.33854738e-01 -1.37521834e-02 3.22773964e+01] [ 3.61310461e-02 8.89212307e-04 9.99346665e-01 -2.95201376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37687499999998 meters 0.019247553540913554 Centerline is valid? [True, True] Translation: X:139.21, Y:32.30, Z:-0.29 [[ 9.33471631e-01 -3.57017069e-01 -3.41983418e-02 1.39214052e+02] [ 3.56740536e-01 9.34097383e-01 -1.40808044e-02 3.22998328e+01] [ 3.69716691e-02 9.44096702e-04 9.99315868e-01 -2.94313138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.436875 meters 0.01723859456007836 Centerline is valid? [True, True] Translation: X:139.27, Y:32.32, Z:-0.29 [[ 9.32291261e-01 -3.60153150e-01 -3.35069203e-02 1.39269987e+02] [ 3.59889435e-01 9.32892841e-01 -1.38037086e-02 3.23184690e+01] [ 3.62298152e-02 8.10290266e-04 9.99343156e-01 -2.91322804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.496875 meters 0.016456307374019565 Centerline is valid? [True, True] Translation: X:139.33, Y:32.34, Z:-0.29 [[ 9.31713459e-01 -3.61723377e-01 -3.26531718e-02 1.39325075e+02] [ 3.61473752e-01 9.32285182e-01 -1.34561047e-02 3.23392104e+01] [ 3.53094558e-02 7.33969383e-04 9.99376157e-01 -2.88272208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.556875 meters 0.01647114610136924 Centerline is valid? [True, True] Translation: X:139.38, Y:32.36, Z:-0.29 [[ 9.30955179e-01 -3.63735513e-01 -3.19207086e-02 1.39378308e+02] [ 3.63497873e-01 9.31502042e-01 -1.31621405e-02 3.23614402e+01] [ 3.45217431e-02 6.50253139e-04 9.99403735e-01 -2.86140144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.616875 meters 0.015451076980269731 Centerline is valid? [True, True] Translation: X:139.43, Y:32.38, Z:-0.29 [[ 9.30001966e-01 -3.66093133e-01 -3.27438560e-02 1.39433441e+02] [ 3.65844366e-01 9.30578035e-01 -1.35063121e-02 3.23821734e+01] [ 3.54152813e-02 5.81741573e-04 9.99372513e-01 -2.85490870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.676875 meters 0.015649395968581097 Centerline is valid? [True, True] Translation: X:139.49, Y:32.41, Z:-0.28 [[ 9.29893094e-01 -3.66450208e-01 -3.18289003e-02 1.39486546e+02] [ 3.66215095e-01 9.30437495e-01 -1.31366699e-02 3.24058453e+01] [ 3.44287377e-02 5.59474893e-04 9.99406999e-01 -2.83835166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.736875 meters 0.015804859667965035 Centerline is valid? [True, True] Translation: X:139.54, Y:32.43, Z:-0.28 [[ 9.30042817e-01 -3.66157642e-01 -3.08048742e-02 1.39539190e+02] [ 3.65937119e-01 9.30552670e-01 -1.27182107e-02 3.24293401e+01] [ 3.33224279e-02 5.55833611e-04 9.99444499e-01 -2.81273805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.796875 meters 0.0166335757441287 Centerline is valid? [True, True] Translation: X:139.59, Y:32.46, Z:-0.28 [[ 9.30749658e-01 -3.64278320e-01 -3.17234924e-02 1.39592067e+02] [ 3.64043003e-01 9.31289902e-01 -1.31076438e-02 3.24567590e+01] [ 3.43185986e-02 6.51219543e-04 9.99410731e-01 -2.82162954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.856875 meters 0.0172648346023725 Centerline is valid? [True, True] Translation: X:139.65, Y:32.48, Z:-0.28 [[ 9.31071236e-01 -3.63389782e-01 -3.24687614e-02 1.39645926e+02] [ 3.63142410e-01 9.31636927e-01 -1.34248092e-02 3.24817831e+01] [ 3.51275356e-02 7.08669427e-04 9.99382586e-01 -2.82140730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.916875 meters 0.017023595535426313 Centerline is valid? [True, True] Translation: X:139.70, Y:32.51, Z:-0.28 [[ 9.31165948e-01 -3.63256719e-01 -3.12175163e-02 1.39698447e+02] [ 3.63027686e-01 9.31688829e-01 -1.29160971e-02 3.25059390e+01] [ 3.37768703e-02 6.94207140e-04 9.99429158e-01 -2.79737201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.976875 meters 0.01666514683194017 Centerline is valid? [True, True] Translation: X:139.75, Y:32.53, Z:-0.28 [[ 9.31046328e-01 -3.63751575e-01 -2.89400453e-02 1.39752514e+02] [ 3.63554721e-01 9.31495780e-01 -1.19823297e-02 3.25290855e+01] [ 3.13161213e-02 6.34813959e-04 9.99509328e-01 -2.75317709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03687499999998 meters 0.016644245597700946 Centerline is valid? [True, True] Translation: X:139.81, Y:32.55, Z:-0.27 [[ 9.30855913e-01 -3.64266622e-01 -2.85849101e-02 1.39806060e+02] [ 3.64074563e-01 9.31294501e-01 -1.18433815e-02 3.25524078e+01] [ 3.09351182e-02 6.17443037e-04 9.99521204e-01 -2.74347536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09687499999998 meters 0.01634720895888296 Centerline is valid? [True, True] Translation: X:139.86, Y:32.58, Z:-0.27 [[ 9.30363958e-01 -3.65448303e-01 -2.95032767e-02 1.39860645e+02] [ 3.65244005e-01 9.30831441e-01 -1.22329374e-02 3.25758197e+01] [ 3.19330838e-02 6.05189085e-04 9.99489826e-01 -2.74087917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15687499999999 meters 0.01608734855705435 Centerline is valid? [True, True] Translation: X:139.92, Y:32.60, Z:-0.27 [[ 9.29882371e-01 -3.66579379e-01 -3.06322605e-02 1.39915017e+02] [ 3.66359575e-01 9.30386590e-01 -1.27064860e-02 3.25981569e+01] [ 3.31577801e-02 5.93115376e-04 9.99449954e-01 -2.72972671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.216875 meters 0.015472863733463692 Centerline is valid? [True, True] Translation: X:139.97, Y:32.62, Z:-0.27 [[ 9.29042694e-01 -3.68733466e-01 -3.02540054e-02 1.39969314e+02] [ 3.68519928e-01 9.29535025e-01 -1.25578413e-02 3.26199913e+01] [ 3.27526540e-02 5.17566798e-04 9.99463354e-01 -2.71352512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.276875 meters 0.014993518388764893 Centerline is valid? [True, True] Translation: X:140.02, Y:32.64, Z:-0.27 [[ 9.28555005e-01 -3.69978252e-01 -3.00282380e-02 1.40024008e+02] [ 3.69768272e-01 9.29040292e-01 -1.24723809e-02 3.26424978e+01] [ 3.25119527e-02 4.77802011e-04 9.99471233e-01 -2.69853805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.336875 meters 0.015968730441504788 Centerline is valid? [True, True] Translation: X:140.08, Y:32.67, Z:-0.27 [[ 9.29091662e-01 -3.68595747e-01 -3.04279370e-02 1.40076420e+02] [ 3.68379142e-01 9.29589632e-01 -1.26461270e-02 3.26683760e+01] [ 3.29468034e-02 5.40393846e-04 9.99456961e-01 -2.70637247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.396875 meters 0.01627402271548751 Centerline is valid? [True, True] Translation: X:140.13, Y:32.69, Z:-0.27 [[ 9.29749339e-01 -3.66890208e-01 -3.09474049e-02 1.40130665e+02] [ 3.66665060e-01 9.30264047e-01 -1.28661064e-02 3.26916012e+01] [ 3.35097066e-02 6.14921872e-04 9.99438203e-01 -2.68827002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.456875 meters 0.017967551584449667 Centerline is valid? [True, True] Translation: X:140.18, Y:32.72, Z:-0.27 [[ 9.31409500e-01 -3.62514817e-01 -3.25476699e-02 1.40184559e+02] [ 3.62262786e-01 9.31977647e-01 -1.35403157e-02 3.27182555e+01] [ 3.52422659e-02 8.20769152e-04 9.99378461e-01 -2.68551598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.516875 meters 0.017318769267990863 Centerline is valid? [True, True] Translation: X:140.24, Y:32.74, Z:-0.27 [[ 9.32335743e-01 -3.59902170e-01 -3.49355033e-02 1.40240521e+02] [ 3.59609647e-01 9.32989517e-01 -1.45417754e-02 3.27396000e+01] [ 3.78280749e-02 9.94672942e-04 9.99283767e-01 -2.68433474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.576875 meters 0.017817332068639315 Centerline is valid? [True, True] Translation: X:140.29, Y:32.76, Z:-0.27 [[ 9.31709092e-01 -3.61360977e-01 -3.65569695e-02 1.40293307e+02] [ 3.61041464e-01 9.32425478e-01 -1.52246444e-02 3.27626888e+01] [ 3.95882422e-02 9.86357839e-04 9.99215591e-01 -2.70257045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.636875 meters 0.017255146943025466 Centerline is valid? [True, True] Translation: X:140.35, Y:32.78, Z:-0.26 [[ 9.31140855e-01 -3.62986175e-01 -3.48962069e-02 1.40349436e+02] [ 3.62695986e-01 9.31794109e-01 -1.45382360e-02 3.27813380e+01] [ 3.77932587e-02 8.80431298e-04 9.99285192e-01 -2.64707497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.696875 meters 0.01703973989323873 Centerline is valid? [True, True] Translation: X:140.40, Y:32.80, Z:-0.26 [[ 9.30581990e-01 -3.64480009e-01 -3.42269189e-02 1.40404110e+02] [ 3.64201503e-01 9.31210858e-01 -1.42689556e-02 3.28027607e+01] [ 3.70732275e-02 8.12937762e-04 9.99312221e-01 -2.62147137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75687499999998 meters 0.016770504151941534 Centerline is valid? [True, True] Translation: X:140.46, Y:32.82, Z:-0.26 [[ 9.30168763e-01 -3.65681735e-01 -3.26027648e-02 1.40459301e+02] [ 3.65429469e-01 9.30739666e-01 -1.36006431e-02 3.28242067e+01] [ 3.53181932e-02 7.36882332e-04 9.99375846e-01 -2.59791193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81687499999998 meters 0.016537972154155225 Centerline is valid? [True, True] Translation: X:140.51, Y:32.85, Z:-0.26 [[ 9.29523907e-01 -3.67484907e-01 -3.06618566e-02 1.40514561e+02] [ 3.67262503e-01 9.30029268e-01 -1.27990184e-02 3.28456731e+01] [ 3.32198701e-02 6.36043418e-04 9.99447865e-01 -2.55054255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87687499999998 meters 0.015452512613537696 Centerline is valid? [True, True] Translation: X:140.57, Y:32.87, Z:-0.25 [[ 9.28737593e-01 -3.69539647e-01 -2.97814290e-02 1.40569387e+02] [ 3.69330645e-01 9.29214799e-01 -1.24391049e-02 3.28663142e+01] [ 3.22700870e-02 5.53469914e-04 9.99479032e-01 -2.52360568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.936875 meters 0.015147856631801277 Centerline is valid? [True, True] Translation: X:140.62, Y:32.89, Z:-0.25 [[ 9.28112498e-01 -3.71129469e-01 -2.94975904e-02 1.40622150e+02] [ 3.70924993e-01 9.28580996e-01 -1.23281460e-02 3.28892529e+01] [ 3.19662402e-02 5.00512905e-04 9.99488824e-01 -2.51641842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.996875 meters 0.014441639044442534 Centerline is valid? [True, True] Translation: X:140.68, Y:32.91, Z:-0.25 [[ 9.26840978e-01 -3.74261430e-01 -2.99028960e-02 1.40677195e+02] [ 3.74052798e-01 9.27323148e-01 -1.25013568e-02 3.29105671e+01] [ 3.24084233e-02 4.01507841e-04 9.99474628e-01 -2.50037069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.056875 meters 0.013986118693503281 Centerline is valid? [True, True] Translation: X:140.73, Y:32.93, Z:-0.25 [[ 9.25872452e-01 -3.76642674e-01 -3.00083271e-02 1.40731591e+02] [ 3.76433543e-01 9.26358564e-01 -1.25538255e-02 3.29327433e+01] [ 3.25267772e-02 3.27100265e-04 9.99470811e-01 -2.48864330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.116875 meters 0.014046300604333605 Centerline is valid? [True, True] Translation: X:140.78, Y:32.96, Z:-0.25 [[ 9.25150260e-01 -3.78362089e-01 -3.06451600e-02 1.40783735e+02] [ 3.78144664e-01 9.25657632e-01 -1.28281586e-02 3.29575709e+01] [ 3.32206151e-02 2.79670508e-04 9.99448004e-01 -2.50374647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.176875 meters 0.013747485558129708 Centerline is valid? [True, True] Translation: X:140.84, Y:32.98, Z:-0.25 [[ 9.24893190e-01 -3.78952721e-01 -3.11034192e-02 1.40837020e+02] [ 3.78728927e-01 9.25415995e-01 -1.30244039e-02 3.29810942e+01] [ 3.37192349e-02 2.66417868e-04 9.99431309e-01 -2.48897060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.236875 meters 0.014244648572515247 Centerline is valid? [True, True] Translation: X:140.89, Y:33.01, Z:-0.25 [[ 9.25239626e-01 -3.78146457e-01 -3.06086968e-02 1.40888934e+02] [ 3.77929003e-01 9.25745736e-01 -1.28258030e-02 3.30065980e+01] [ 3.31859025e-02 2.99026887e-04 9.99449152e-01 -2.46808944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.296875 meters 0.0150263418373281 Centerline is valid? [True, True] Translation: X:140.94, Y:33.04, Z:-0.24 [[ 9.26519356e-01 -3.75112473e-01 -2.91978576e-02 1.40940960e+02] [ 3.74912991e-01 9.26979222e-01 -1.22380728e-02 3.30350508e+01] [ 3.16564611e-02 3.92155180e-04 9.99498732e-01 -2.44510613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.356875 meters 0.01569902079874899 Centerline is valid? [True, True] Translation: X:140.99, Y:33.06, Z:-0.24 [[ 9.27901218e-01 -3.71708821e-01 -2.88423693e-02 1.40993471e+02] [ 3.71512273e-01 9.28349230e-01 -1.20970235e-02 3.30623775e+01] [ 3.12723617e-02 5.09548648e-04 9.99510770e-01 -2.43540400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.416875 meters 0.018529185610802183 Centerline is valid? [True, True] Translation: X:141.04, Y:33.09, Z:-0.24 [[ 9.30718125e-01 -3.64537368e-01 -2.96020014e-02 1.41042861e+02] [ 3.64326443e-01 9.31188435e-01 -1.24233968e-02 3.30948993e+01] [ 3.20938338e-02 7.77888653e-04 9.99484558e-01 -2.42543252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.476875 meters 0.01893903176038977 Centerline is valid? [True, True] Translation: X:141.10, Y:33.12, Z:-0.24 [[ 9.31513709e-01 -3.62467013e-01 -2.99979268e-02 1.41096402e+02] [ 3.62249224e-01 9.31996201e-01 -1.25928865e-02 3.31196969e+01] [ 3.25224598e-02 8.63720734e-04 9.99470632e-01 -2.40870017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53687499999998 meters 0.019849887770684468 Centerline is valid? [True, True] Translation: X:141.15, Y:33.15, Z:-0.24 [[ 9.32949645e-01 -3.58625778e-01 -3.15041560e-02 1.41149645e+02] [ 3.58383069e-01 9.33480817e-01 -1.32340292e-02 3.31474278e+01] [ 3.41545893e-02 1.05612670e-03 9.99416004e-01 -2.41188396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59687499999998 meters 0.02292600794033415 Centerline is valid? [True, True] Translation: X:141.20, Y:33.18, Z:-0.24 [[ 9.34581397e-01 -3.54177781e-01 -3.34022589e-02 1.41199676e+02] [ 3.53901859e-01 9.35177210e-01 -1.40378272e-02 3.31787332e+01] [ 3.62089178e-02 1.29837066e-03 9.99343399e-01 -2.41927276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65687499999999 meters 0.02272948920350974 Centerline is valid? [True, True] Translation: X:141.25, Y:33.20, Z:-0.24 [[ 9.35376445e-01 -3.51957362e-01 -3.45965591e-02 1.41253462e+02] [ 3.51659733e-01 9.36014932e-01 -1.45423494e-02 3.32037484e+01] [ 3.75011828e-02 1.43635439e-03 9.99295551e-01 -2.39212450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.716875 meters 0.022335261039113 Centerline is valid? [True, True] Translation: X:141.31, Y:33.23, Z:-0.24 [[ 9.34639472e-01 -3.53844507e-01 -3.52579239e-02 1.41307885e+02] [ 3.53536556e-01 9.35303229e-01 -1.48247479e-02 3.32270880e+01] [ 3.82225057e-02 1.39082961e-03 9.99268285e-01 -2.38618798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.776875 meters 0.019892411280482896 Centerline is valid? [True, True] Translation: X:141.36, Y:33.25, Z:-0.24 [[ 9.32507830e-01 -3.59293416e-01 -3.65703211e-02 1.41364953e+02] [ 3.58965866e-01 9.33223848e-01 -1.53869007e-02 3.32460283e+01] [ 3.96567079e-02 1.22090841e-03 9.99212617e-01 -2.37256046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.836875 meters 0.018766871097105384 Centerline is valid? [True, True] Translation: X:141.42, Y:33.27, Z:-0.23 [[ 9.30931304e-01 -3.63330052e-01 -3.68535061e-02 1.41420799e+02] [ 3.63000268e-01 9.31659885e-01 -1.55133523e-02 3.32658075e+01] [ 3.99714004e-02 1.06403272e-03 9.99200258e-01 -2.34979756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.896875 meters 0.016378660079439958 Centerline is valid? [True, True] Translation: X:141.48, Y:33.28, Z:-0.23 [[ 9.28795443e-01 -3.68865710e-01 -3.57367254e-02 1.41478330e+02] [ 3.68559590e-01 9.29482352e-01 -1.50461485e-02 3.32826755e+01] [ 3.87666638e-02 8.03681290e-04 9.99247967e-01 -2.31721556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.956875 meters 0.01513239672768572 Centerline is valid? [True, True] Translation: X:141.53, Y:33.30, Z:-0.23 [[ 9.27555849e-01 -3.71980877e-01 -3.56423193e-02 1.41533906e+02] [ 3.71678447e-01 9.28240146e-01 -1.50120875e-02 3.33017935e+01] [ 3.86688411e-02 6.77067695e-04 9.99251851e-01 -2.28253582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.016875 meters 0.01563004163109253 Centerline is valid? [True, True] Translation: X:141.59, Y:33.33, Z:-0.23 [[ 9.27137679e-01 -3.72941952e-01 -3.64695083e-02 1.41586028e+02] [ 3.72625689e-01 9.27854441e-01 -1.53698421e-02 3.33250510e+01] [ 3.95704542e-02 6.60484100e-04 9.99216565e-01 -2.28761219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.076875 meters 0.015921685068942024 Centerline is valid? [True, True] Translation: X:141.64, Y:33.35, Z:-0.23 [[ 9.27374071e-01 -3.72250820e-01 -3.75054643e-02 1.41639967e+02] [ 3.71915468e-01 9.28131895e-01 -1.58136310e-02 3.33488991e+01] [ 4.06966548e-02 7.16289040e-04 9.99171291e-01 -2.28375530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.136875 meters 0.016272395524922587 Centerline is valid? [True, True] Translation: X:141.69, Y:33.37, Z:-0.23 [[ 9.27814881e-01 -3.71115666e-01 -3.78511288e-02 1.41693226e+02] [ 3.70772813e-01 9.28586319e-01 -1.59677558e-02 3.33727635e+01] [ 4.10739247e-02 7.80951930e-04 9.99155805e-01 -2.26942499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.196875 meters 0.01657137788567285 Centerline is valid? [True, True] Translation: X:141.75, Y:33.40, Z:-0.22 [[ 9.28589193e-01 -3.69206138e-01 -3.75358171e-02 1.41746852e+02] [ 3.68867173e-01 9.29347126e-01 -1.58406765e-02 3.33973593e+01] [ 4.07322787e-02 8.63750253e-04 9.99169723e-01 -2.23878129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25687499999998 meters 0.01703224920042679 Centerline is valid? [True, True] Translation: X:141.80, Y:33.42, Z:-0.22 [[ 9.29002658e-01 -3.68044058e-01 -3.86992595e-02 1.41800484e+02] [ 3.67682266e-01 9.29807863e-01 -1.63428551e-02 3.34210604e+01] [ 4.19977665e-02 9.53524390e-04 9.99117250e-01 -2.22588281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31687499999998 meters 0.017037665848632807 Centerline is valid? [True, True] Translation: X:141.85, Y:33.44, Z:-0.22 [[ 9.28804794e-01 -3.68372438e-01 -4.02914540e-02 1.41854914e+02] [ 3.67980041e-01 9.29677777e-01 -1.70270163e-02 3.34429849e+01] [ 4.37303529e-02 9.88323425e-04 9.99042882e-01 -2.21236076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37687499999998 meters 0.01731117346496524 Centerline is valid? [True, True] Translation: X:141.91, Y:33.46, Z:-0.22 [[ 9.28452497e-01 -3.69146783e-01 -4.13111686e-02 1.41908292e+02] [ 3.68734591e-01 9.29370584e-01 -1.74676596e-02 3.34641887e+01] [ 4.48415153e-02 9.85035320e-04 9.98993628e-01 -2.20445359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.436875 meters 0.01700775270486253 Centerline is valid? [True, True] Translation: X:141.96, Y:33.48, Z:-0.22 [[ 9.28491340e-01 -3.69043079e-01 -4.13646880e-02 1.41964066e+02] [ 3.68629348e-01 9.29411754e-01 -1.74984582e-02 3.34832834e+01] [ 4.49025121e-02 9.98928946e-04 9.98990874e-01 -2.15972396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.496875 meters 0.0176030105230449 Centerline is valid? [True, True] Translation: X:142.02, Y:33.51, Z:-0.21 [[ 9.28953809e-01 -3.67889376e-01 -4.12580672e-02 1.42018573e+02] [ 3.67476113e-01 9.29868957e-01 -1.74650921e-02 3.35051506e+01] [ 4.47898178e-02 1.06290970e-03 9.98995867e-01 -2.13661375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.556875 meters 0.01861208854306049 Centerline is valid? [True, True] Translation: X:142.07, Y:33.53, Z:-0.21 [[ 9.30059650e-01 -3.64921630e-01 -4.26761177e-02 1.42073407e+02] [ 3.64475915e-01 9.31037393e-01 -1.80743102e-02 3.35276188e+01] [ 4.63287681e-02 1.25576959e-03 9.98925457e-01 -2.12593249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.616875 meters 0.01970202439647526 Centerline is valid? [True, True] Translation: X:142.13, Y:33.55, Z:-0.21 [[ 9.30789572e-01 -3.63019951e-01 -4.29800943e-02 1.42127761e+02] [ 3.62565496e-01 9.31780364e-01 -1.82102762e-02 3.35507071e+01] [ 4.66587015e-02 1.36683599e-03 9.98909955e-01 -2.10889373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.676875 meters 0.020140665865472276 Centerline is valid? [True, True] Translation: X:142.18, Y:33.57, Z:-0.21 [[ 9.31443187e-01 -3.61249068e-01 -4.37344252e-02 1.42182157e+02] [ 3.60776122e-01 9.32468172e-01 -1.85391088e-02 3.35717382e+01] [ 4.74781953e-02 1.48979030e-03 9.98871164e-01 -2.09212963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.736875 meters 0.020524321770165076 Centerline is valid? [True, True] Translation: X:142.24, Y:33.59, Z:-0.21 [[ 9.31286499e-01 -3.61604364e-01 -4.41332258e-02 1.42235911e+02] [ 3.61122726e-01 9.32330443e-01 -1.87169071e-02 3.35928006e+01] [ 4.79148652e-02 1.49329213e-03 9.98850307e-01 -2.07453207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.796875 meters 0.018523198818406448 Centerline is valid? [True, True] Translation: X:142.29, Y:33.61, Z:-0.20 [[ 9.30808422e-01 -3.62824756e-01 -4.42026836e-02 1.42292565e+02] [ 3.62342305e-01 9.31856269e-01 -1.87602699e-02 3.36095308e+01] [ 4.79972382e-02 1.44571500e-03 9.98846422e-01 -2.02618932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.856875 meters 0.019942075464891976 Centerline is valid? [True, True] Translation: X:142.35, Y:33.63, Z:-0.20 [[ 9.30408198e-01 -3.63935824e-01 -4.34890851e-02 1.42345403e+02] [ 3.63469604e-01 9.31423012e-01 -1.84667440e-02 3.36324986e+01] [ 4.72274443e-02 1.37464949e-03 9.98883216e-01 -2.02517287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.916875 meters 0.01905594363118201 Centerline is valid? [True, True] Translation: X:142.40, Y:33.65, Z:-0.20 [[ 9.29659938e-01 -3.65757349e-01 -4.42036443e-02 1.42401915e+02] [ 3.65277340e-01 9.30709323e-01 -1.87782124e-02 3.36511256e+01] [ 4.80090130e-02 1.31076212e-03 9.98846042e-01 -1.99912767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.976875 meters 0.018784857486678037 Centerline is valid? [True, True] Translation: X:142.46, Y:33.67, Z:-0.20 [[ 9.29080547e-01 -3.67332357e-01 -4.33160021e-02 1.42457429e+02] [ 3.66872598e-01 9.30088954e-01 -1.84129149e-02 3.36719759e+01] [ 4.70513945e-02 1.21562686e-03 9.98891730e-01 -1.97029996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03687499999998 meters 0.018321055717853453 Centerline is valid? [True, True] Translation: X:142.51, Y:33.69, Z:-0.19 [[ 9.28114666e-01 -3.69795177e-01 -4.30661501e-02 1.42512906e+02] [ 3.69342813e-01 9.29112656e-01 -1.83182759e-02 3.36913798e+01] [ 4.67873152e-02 1.09528746e-03 9.98904273e-01 -1.94475980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09687499999998 meters 0.018067147616144773 Centerline is valid? [True, True] Translation: X:142.57, Y:33.71, Z:-0.19 [[ 9.27281976e-01 -3.71778288e-01 -4.39208553e-02 1.42568868e+02] [ 3.71309424e-01 9.28320985e-01 -1.86938464e-02 3.37116128e+01] [ 4.77226179e-02 1.02623932e-03 9.98860100e-01 -1.92823190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15687499999999 meters 0.017480970078307 Centerline is valid? [True, True] Translation: X:142.62, Y:33.73, Z:-0.19 [[ 9.26304615e-01 -3.74239970e-01 -4.36372117e-02 1.42622926e+02] [ 3.73779479e-01 9.27331458e-01 -1.85814004e-02 3.37318279e+01] [ 4.74200618e-02 9.01342649e-04 9.98874629e-01 -1.92090809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.216875 meters 0.01603371947825665 Centerline is valid? [True, True] Translation: X:142.68, Y:33.75, Z:-0.19 [[ 9.25432488e-01 -3.76503793e-01 -4.26568151e-02 1.42678610e+02] [ 3.76065835e-01 9.26414753e-01 -1.81712291e-02 3.37505868e+01] [ 4.63594395e-02 7.74474937e-04 9.98924523e-01 -1.87798750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.276875 meters 0.015613920597025283 Centerline is valid? [True, True] Translation: X:142.73, Y:33.77, Z:-0.18 [[ 9.24862184e-01 -3.77930049e-01 -4.24124866e-02 1.42733789e+02] [ 3.77498042e-01 9.25833880e-01 -1.80791161e-02 3.37717970e+01] [ 4.60995583e-02 7.10060112e-04 9.98936598e-01 -1.84107912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.336875 meters 0.015649757940296993 Centerline is valid? [True, True] Translation: X:142.79, Y:33.80, Z:-0.18 [[ 9.24605257e-01 -3.78611131e-01 -4.19372202e-02 1.42787841e+02] [ 3.78188917e-01 9.25555590e-01 -1.78883475e-02 3.37950341e+01] [ 4.55879560e-02 6.79468235e-04 9.98960098e-01 -1.82552997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.396875 meters 0.015214120852575537 Centerline is valid? [True, True] Translation: X:142.84, Y:33.82, Z:-0.18 [[ 9.24140928e-01 -3.79877318e-01 -4.07034107e-02 1.42842576e+02] [ 3.79480317e-01 9.25036676e-01 -1.73734598e-02 3.38172126e+01] [ 4.42519311e-02 6.09382029e-04 9.99020218e-01 -1.79271631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.456875 meters 0.01440151269062483 Centerline is valid? [True, True] Translation: X:142.90, Y:33.84, Z:-0.18 [[ 9.22010200e-01 -3.85010999e-01 -4.07887473e-02 1.42896535e+02] [ 3.84616815e-01 9.22911908e-01 -1.74217083e-02 3.38399417e+01] [ 4.43519699e-02 3.74954706e-04 9.99015897e-01 -1.79082937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.516875 meters 0.014250415865101021 Centerline is valid? [True, True] Translation: X:142.95, Y:33.86, Z:-0.18 [[ 9.21040360e-01 -3.87382757e-01 -4.02399610e-02 1.42950413e+02] [ 3.87000962e-01 9.21918938e-01 -1.71967119e-02 3.38611699e+01] [ 4.37596918e-02 2.65962128e-04 9.99042050e-01 -1.75864920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.576875 meters 0.014334310048713762 Centerline is valid? [True, True] Translation: X:143.00, Y:33.89, Z:-0.17 [[ 9.20310846e-01 -3.88955235e-01 -4.17345321e-02 1.43003710e+02] [ 3.88545760e-01 9.21256632e-01 -1.78440327e-02 3.38860102e+01] [ 4.53887444e-02 2.06281294e-04 9.98969379e-01 -1.73807040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.636875 meters 0.014517024282016771 Centerline is valid? [True, True] Translation: X:143.06, Y:33.91, Z:-0.17 [[ 9.20381826e-01 -3.88764707e-01 -4.19439762e-02 1.43056592e+02] [ 3.88350330e-01 9.21337045e-01 -1.79463182e-02 3.39108682e+01] [ 4.56214342e-02 2.28508122e-04 9.98958774e-01 -1.73620717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.696875 meters 0.014843757208583863 Centerline is valid? [True, True] Translation: X:143.11, Y:33.94, Z:-0.17 [[ 9.21235917e-01 -3.86842592e-01 -4.09535646e-02 1.43107557e+02] [ 3.86445207e-01 9.22145706e-01 -1.75327911e-02 3.39361069e+01] [ 4.45475841e-02 3.25528127e-04 9.99007211e-01 -1.70451892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75687499999998 meters 0.015136608186386765 Centerline is valid? [True, True] Translation: X:143.16, Y:33.96, Z:-0.17 [[ 9.22103808e-01 -3.84805504e-01 -4.06114774e-02 1.43160504e+02] [ 3.84412411e-01 9.22997585e-01 -1.73941631e-02 3.39622416e+01] [ 4.41776652e-02 4.27668096e-04 9.99023599e-01 -1.68039391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81687499999998 meters 0.01626253347952865 Centerline is valid? [True, True] Translation: X:143.21, Y:33.99, Z:-0.17 [[ 9.24445541e-01 -3.79244766e-01 -3.96717750e-02 1.43211793e+02] [ 3.78864059e-01 9.25296134e-01 -1.70026595e-02 3.39930613e+01] [ 4.31563096e-02 6.87823075e-04 9.99068096e-01 -1.65760177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87687499999998 meters 0.017122257531474776 Centerline is valid? [True, True] Translation: X:143.26, Y:34.02, Z:-0.16 [[ 9.25963812e-01 -3.75609500e-01 -3.88397099e-02 1.43263785e+02] [ 3.75240949e-01 9.26777634e-01 -1.66567558e-02 3.40208832e+01] [ 4.22522102e-02 8.49303514e-04 9.99106616e-01 -1.63056824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.936875 meters 0.017588487851103476 Centerline is valid? [True, True] Translation: X:143.32, Y:34.05, Z:-0.16 [[ 9.27274163e-01 -3.72442266e-01 -3.80707925e-02 1.43316064e+02] [ 3.72085059e-01 9.28054842e-01 -1.63376390e-02 3.40493646e+01] [ 4.14166106e-02 9.83897456e-04 9.99141480e-01 -1.63069404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.996875 meters 0.01804985899480932 Centerline is valid? [True, True] Translation: X:143.37, Y:34.07, Z:-0.16 [[ 9.27514318e-01 -3.71988599e-01 -3.66288497e-02 1.43369205e+02] [ 3.71657171e-01 9.28236785e-01 -1.57295206e-02 3.40740138e+01] [ 3.98514480e-02 9.75980896e-04 9.99205139e-01 -1.61582139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.056875 meters 0.017977873707758094 Centerline is valid? [True, True] Translation: X:143.42, Y:34.10, Z:-0.16 [[ 9.27372936e-01 -3.72543412e-01 -3.45086140e-02 1.43422693e+02] [ 3.72249250e-01 9.28014323e-01 -1.48294062e-02 3.40977243e+01] [ 3.75490857e-02 9.06584294e-04 9.99294373e-01 -1.60147427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.116875 meters 0.017119163126933245 Centerline is valid? [True, True] Translation: X:143.48, Y:34.12, Z:-0.16 [[ 9.26770032e-01 -3.74062881e-01 -3.42676139e-02 1.43478238e+02] [ 3.73773490e-01 9.27402955e-01 -1.47355596e-02 3.41176508e+01] [ 3.72919123e-02 8.48149431e-04 9.99304055e-01 -1.58822612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.176875 meters 0.01768502730600439 Centerline is valid? [True, True] Translation: X:143.53, Y:34.14, Z:-0.16 [[ 9.26539596e-01 -3.74711921e-01 -3.33969227e-02 1.43532077e+02] [ 3.74437185e-01 9.27140940e-01 -1.43691193e-02 3.41399093e+01] [ 3.63479346e-02 8.08508235e-04 9.99338868e-01 -1.57577484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.236875 meters 0.01712442912696364 Centerline is valid? [True, True] Translation: X:143.59, Y:34.16, Z:-0.16 [[ 9.25970871e-01 -3.76221763e-01 -3.21734642e-02 1.43587924e+02] [ 3.75967549e-01 9.26529362e-01 -1.38471411e-02 3.41592312e+01] [ 3.50192550e-02 7.25870834e-04 9.99386374e-01 -1.56302512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.296875 meters 0.01732041633031451 Centerline is valid? [True, True] Translation: X:143.64, Y:34.18, Z:-0.16 [[ 9.25798115e-01 -3.76695780e-01 -3.15933538e-02 1.43641957e+02] [ 3.76450656e-01 9.26336761e-01 -1.36054345e-02 3.41795044e+01] [ 3.43911948e-02 7.02546818e-04 9.99408201e-01 -1.55151468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.356875 meters 0.01698611091509097 Centerline is valid? [True, True] Translation: X:143.70, Y:34.20, Z:-0.15 [[ 9.25655476e-01 -3.77061649e-01 -3.14078298e-02 1.43696464e+02] [ 3.76819412e-01 9.26187905e-01 -1.35312582e-02 3.42000888e+01] [ 3.41916706e-02 6.90203285e-04 9.99415056e-01 -1.53886888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.416875 meters 0.01692048315588051 Centerline is valid? [True, True] Translation: X:143.75, Y:34.22, Z:-0.15 [[ 9.25238899e-01 -3.78147912e-01 -3.06126996e-02 1.43750067e+02] [ 3.77918088e-01 9.25744968e-01 -1.31974842e-02 3.42217666e+01] [ 3.33301537e-02 6.41732833e-04 9.99444190e-01 -1.53298842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.476875 meters 0.01670325580591255 Centerline is valid? [True, True] Translation: X:143.80, Y:34.24, Z:-0.15 [[ 9.25294544e-01 -3.78058552e-01 -3.00289599e-02 1.43803819e+02] [ 3.77837194e-01 9.25781467e-01 -1.29510443e-02 3.42443960e+01] [ 3.26965076e-02 6.37472678e-04 9.99465123e-01 -1.52409060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53687499999998 meters 0.016264956706168402 Centerline is valid? [True, True] Translation: X:143.86, Y:34.27, Z:-0.15 [[ 9.25193783e-01 -3.78376136e-01 -2.91198267e-02 1.43857662e+02] [ 3.78167847e-01 9.25651728e-01 -1.25681804e-02 3.42658495e+01] [ 3.17103174e-02 6.15820172e-04 9.99496912e-01 -1.50833517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59687499999998 meters 0.016361690802507604 Centerline is valid? [True, True] Translation: X:143.91, Y:34.29, Z:-0.15 [[ 9.25057921e-01 -3.78689668e-01 -2.93594604e-02 1.43910150e+02] [ 3.78477803e-01 9.25523502e-01 -1.26806935e-02 3.42879722e+01] [ 3.19749183e-02 6.18471913e-04 9.99488480e-01 -1.50511442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65687499999999 meters 0.016525040064568477 Centerline is valid? [True, True] Translation: X:143.96, Y:34.31, Z:-0.15 [[ 9.24843808e-01 -3.79185466e-01 -2.97037763e-02 1.43963422e+02] [ 3.78968690e-01 9.25320489e-01 -1.28345201e-02 3.43101555e+01] [ 3.23521763e-02 6.13125248e-04 9.99476343e-01 -1.50189886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.716875 meters 0.015997936779402627 Centerline is valid? [True, True] Translation: X:144.02, Y:34.33, Z:-0.15 [[ 9.24298081e-01 -3.80616131e-01 -2.83622700e-02 1.44017903e+02] [ 3.80418904e-01 9.24732969e-01 -1.22635544e-02 3.43321944e+01] [ 3.08952328e-02 5.45636130e-04 9.99522479e-01 -1.48627052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.776875 meters 0.015572036109800156 Centerline is valid? [True, True] Translation: X:144.07, Y:34.35, Z:-0.15 [[ 9.23500241e-01 -3.82584497e-01 -2.78640799e-02 1.44073135e+02] [ 3.82394799e-01 9.23920383e-01 -1.20558891e-02 3.43532094e+01] [ 3.03565876e-02 4.78537278e-04 9.99539018e-01 -1.47385086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.836875 meters 0.015656356017348366 Centerline is valid? [True, True] Translation: X:144.13, Y:34.38, Z:-0.15 [[ 9.23509365e-01 -3.82571822e-01 -2.77354275e-02 1.44127063e+02] [ 3.82383627e-01 9.23925629e-01 -1.20081047e-02 3.43760332e+01] [ 3.02194348e-02 4.84023764e-04 9.99543171e-01 -1.45390662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.896875 meters 0.016670876988401855 Centerline is valid? [True, True] Translation: X:144.18, Y:34.40, Z:-0.15 [[ 9.24739277e-01 -3.79594501e-01 -2.76637777e-02 1.44179285e+02] [ 3.79405693e-01 9.25152782e-01 -1.19854491e-02 3.44021548e+01] [ 3.01428315e-02 5.87620814e-04 9.99545429e-01 -1.45317821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.956875 meters 0.018334699637982052 Centerline is valid? [True, True] Translation: X:144.23, Y:34.43, Z:-0.15 [[ 9.26641615e-01 -3.74960340e-01 -2.72040678e-02 1.44232340e+02] [ 3.74775670e-01 9.27040567e-01 -1.17891986e-02 3.44295158e+01] [ 2.96397564e-02 7.28939311e-04 9.99560380e-01 -1.45533619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.016875 meters 0.01880231888061985 Centerline is valid? [True, True] Translation: X:144.29, Y:34.45, Z:-0.15 [[ 9.27645550e-01 -3.72374712e-01 -2.84746674e-02 1.44285672e+02] [ 3.72170975e-01 9.28082077e-01 -1.23459960e-02 3.44531706e+01] [ 3.10241652e-02 8.55263581e-04 9.99518269e-01 -1.45940735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.076875 meters 0.019661754783576846 Centerline is valid? [True, True] Translation: X:144.34, Y:34.48, Z:-0.14 [[ 9.26294985e-01 -3.75677060e-01 -2.90576685e-02 1.44338855e+02] [ 3.75466370e-01 9.26750324e-01 -1.26032522e-02 3.44760396e+01] [ 3.16639564e-02 7.64152021e-04 9.99498279e-01 -1.44952661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.136875 meters 0.01803917757676798 Centerline is valid? [True, True] Translation: X:144.39, Y:34.50, Z:-0.14 [[ 9.26223399e-01 -3.75862368e-01 -2.89429766e-02 1.44393350e+02] [ 3.75653309e-01 9.26675189e-01 -1.25573102e-02 3.44957957e+01] [ 3.15405587e-02 7.58349575e-04 9.99502185e-01 -1.43327466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.196875 meters 0.017485446385498156 Centerline is valid? [True, True] Translation: X:144.45, Y:34.52, Z:-0.14 [[ 9.25926553e-01 -3.76531880e-01 -2.97281380e-02 1.44446986e+02] [ 3.76311341e-01 9.26403345e-01 -1.29079772e-02 3.45171539e+01] [ 3.24005114e-02 7.64803346e-04 9.99474673e-01 -1.43204001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25687499999998 meters 0.017801126336573735 Centerline is valid? [True, True] Translation: X:144.50, Y:34.54, Z:-0.14 [[ 9.25739163e-01 -3.76972505e-01 -2.99788815e-02 1.44499391e+02] [ 3.76748149e-01 9.26224134e-01 -1.30263708e-02 3.45401565e+01] [ 3.26777472e-02 7.64533470e-04 9.99465647e-01 -1.41806218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31687499999998 meters 0.017522317902706808 Centerline is valid? [True, True] Translation: X:144.55, Y:34.56, Z:-0.14 [[ 9.25214835e-01 -3.78267785e-01 -2.98494847e-02 1.44554184e+02] [ 3.78045809e-01 9.25695933e-01 -1.29771030e-02 3.45617664e+01] [ 3.25403666e-02 7.22135602e-04 9.99470161e-01 -1.40002198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37687499999998 meters 0.0168275773156749 Centerline is valid? [True, True] Translation: X:144.61, Y:34.58, Z:-0.14 [[ 9.24486084e-01 -3.79967291e-01 -3.08275714e-02 1.44608851e+02] [ 3.79731166e-01 9.24999664e-01 -1.34112856e-02 3.45831508e+01] [ 3.36113430e-02 6.92357310e-04 9.99434739e-01 -1.38616577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.436875 meters 0.01548783832580648 Centerline is valid? [True, True] Translation: X:144.66, Y:34.60, Z:-0.14 [[ 9.23200002e-01 -3.83135633e-01 -3.01470384e-02 1.44664175e+02] [ 3.82911231e-01 9.23691918e-01 -1.31236288e-02 3.46045203e+01] [ 3.28747056e-02 5.72094538e-04 9.99459317e-01 -1.38028020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.496875 meters 0.014756310603377872 Centerline is valid? [True, True] Translation: X:144.72, Y:34.63, Z:-0.13 [[ 9.21711793e-01 -3.86755783e-01 -2.94505603e-02 1.44719435e+02] [ 3.86543210e-01 9.22182070e-01 -1.28287601e-02 3.46254671e+01] [ 3.21203758e-02 4.40505328e-04 9.99483911e-01 -1.34812525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.556875 meters 0.014337529417178535 Centerline is valid? [True, True] Translation: X:144.77, Y:34.65, Z:-0.13 [[ 9.20933539e-01 -3.88632599e-01 -2.90881317e-02 1.44774623e+02] [ 3.88425917e-01 9.21392729e-01 -1.26785757e-02 3.46473934e+01] [ 3.17289009e-02 3.77541379e-04 9.99496440e-01 -1.32597602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.616875 meters 0.01407376859403501 Centerline is valid? [True, True] Translation: X:144.83, Y:34.67, Z:-0.13 [[ 9.20452793e-01 -3.89661888e-01 -3.05002928e-02 1.44828237e+02] [ 3.89435019e-01 9.20957914e-01 -1.32998311e-02 3.46705373e+01] [ 3.32719233e-02 3.63984561e-04 9.99446270e-01 -1.31570878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.676875 meters 0.014305794888110776 Centerline is valid? [True, True] Translation: X:144.88, Y:34.70, Z:-0.13 [[ 9.21123550e-01 -3.88076392e-01 -3.04650575e-02 1.44881324e+02] [ 3.87848861e-01 9.21627110e-01 -1.32940644e-02 3.46959964e+01] [ 3.32365354e-02 4.29637911e-04 9.99447421e-01 -1.29245927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.736875 meters 0.01585164279571797 Centerline is valid? [True, True] Translation: X:144.93, Y:34.72, Z:-0.13 [[ 9.22566807e-01 -3.84606543e-01 -3.07943798e-02 1.44932105e+02] [ 3.84371855e-01 9.23080432e-01 -1.34459171e-02 3.47243208e+01] [ 3.35970771e-02 5.68263919e-04 9.99435297e-01 -1.29178727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.796875 meters 0.01738031223785604 Centerline is valid? [True, True] Translation: X:144.98, Y:34.75, Z:-0.13 [[ 9.23798527e-01 -3.81588772e-01 -3.14052559e-02 1.44983362e+02] [ 3.81342779e-01 9.24331934e-01 -1.37171376e-02 3.47517278e+01] [ 3.42631867e-02 6.95703958e-04 9.99412603e-01 -1.28955062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.856875 meters 0.019059992011321535 Centerline is valid? [True, True] Translation: X:145.04, Y:34.78, Z:-0.13 [[ 9.25876298e-01 -3.76465617e-01 -3.20424628e-02 1.45036453e+02] [ 3.76206325e-01 9.26430146e-01 -1.39994684e-02 3.47795318e+01] [ 3.49554220e-02 9.07198764e-04 9.99388461e-01 -1.26561095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.916875 meters 0.01967480467328024 Centerline is valid? [True, True] Translation: X:145.09, Y:34.81, Z:-0.13 [[ 9.26882721e-01 -3.73927095e-01 -3.26641959e-02 1.45090185e+02] [ 3.73655798e-01 9.27457529e-01 -1.42785587e-02 3.48057126e+01] [ 3.56337944e-02 1.02938312e-03 9.99364385e-01 -1.25872835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.976875 meters 0.02114142564077333 Centerline is valid? [True, True] Translation: X:145.14, Y:34.83, Z:-0.13 [[ 9.27883396e-01 -3.71367226e-01 -3.34482792e-02 1.45143378e+02] [ 3.71080762e-01 9.28485342e-01 -1.46300250e-02 3.48338621e+01] [ 3.64893488e-02 1.16294439e-03 9.99333365e-01 -1.25209673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03687499999998 meters 0.0208193903435226 Centerline is valid? [True, True] Translation: X:145.20, Y:34.86, Z:-0.12 [[ 9.27465817e-01 -3.72372043e-01 -3.38558684e-02 1.45196984e+02] [ 3.72078893e-01 9.28082836e-01 -1.48171276e-02 3.48580833e+01] [ 3.69385344e-02 1.14532533e-03 9.99316883e-01 -1.23466844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09687499999998 meters 0.020569520188384427 Centerline is valid? [True, True] Translation: X:145.25, Y:34.88, Z:-0.12 [[ 9.26673501e-01 -3.74337849e-01 -3.38732574e-02 1.45250027e+02] [ 3.74045405e-01 9.27291766e-01 -1.48329386e-02 3.48810864e+01] [ 3.69629230e-02 1.07515488e-03 9.99316059e-01 -1.21213114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15687499999999 meters 0.018948253819636635 Centerline is valid? [True, True] Translation: X:145.31, Y:34.90, Z:-0.12 [[ 9.25391511e-01 -3.77404510e-01 -3.48767410e-02 1.45305035e+02] [ 3.77096494e-01 9.26047983e-01 -1.52763961e-02 3.49032084e+01] [ 3.80629165e-02 9.84750548e-04 9.99274859e-01 -1.20266579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.216875 meters 0.018384838872654213 Centerline is valid? [True, True] Translation: X:145.36, Y:34.93, Z:-0.12 [[ 9.24354294e-01 -3.79791668e-01 -3.64338737e-02 1.45359002e+02] [ 3.79457094e-01 9.25071575e-01 -1.59654110e-02 3.49265772e+01] [ 3.97674710e-02 9.32604339e-04 9.99208526e-01 -1.20595781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.276875 meters 0.017252826218938096 Centerline is valid? [True, True] Translation: X:145.41, Y:34.95, Z:-0.12 [[ 9.22855555e-01 -3.83360120e-01 -3.70492145e-02 1.45414413e+02] [ 3.83016593e-01 9.23598601e-01 -1.62454147e-02 3.49479685e+01] [ 4.04464468e-02 8.01707335e-04 9.99181386e-01 -1.17597103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.336875 meters 0.015611315226002625 Centerline is valid? [True, True] Translation: X:145.47, Y:34.97, Z:-0.11 [[ 9.20888315e-01 -3.88249104e-01 -3.50334818e-02 1.45470352e+02] [ 3.87945214e-01 9.21554294e-01 -1.53685974e-02 3.49668475e+01] [ 3.82520998e-02 5.61690175e-04 9.99267963e-01 -1.09901602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.396875 meters 0.01536390399979743 Centerline is valid? [True, True] Translation: X:145.52, Y:34.99, Z:-0.11 [[ 9.19808982e-01 -3.90948335e-01 -3.33292096e-02 1.45523885e+02] [ 3.90674914e-01 9.20412524e-01 -1.46252702e-02 3.49901198e+01] [ 3.63943469e-02 4.31568769e-04 9.99337413e-01 -1.07126093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.456875 meters 0.01504585845340027 Centerline is valid? [True, True] Translation: X:145.58, Y:35.01, Z:-0.10 [[ 9.18959802e-01 -3.93046575e-01 -3.20510833e-02 1.45578130e+02] [ 3.92794691e-01 9.19518500e-01 -1.40733501e-02 3.50137942e+01] [ 3.50030461e-02 3.43347707e-04 9.99387147e-01 -1.03342771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.516875 meters 0.014972976309452485 Centerline is valid? [True, True] Translation: X:145.63, Y:35.04, Z:-0.10 [[ 9.18858036e-01 -3.93316369e-01 -3.16566505e-02 1.45631247e+02] [ 3.93070491e-01 9.19403133e-01 -1.39093138e-02 3.50373406e+01] [ 3.45759844e-02 3.37389638e-04 9.99402015e-01 -1.00347959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.576875 meters 0.014947340044723053 Centerline is valid? [True, True] Translation: X:145.68, Y:35.06, Z:-0.10 [[ 9.18882702e-01 -3.93351879e-01 -3.04775322e-02 1.45684256e+02] [ 3.93123683e-01 9.19387943e-01 -1.34007763e-02 3.50612090e+01] [ 3.32918961e-02 3.32301830e-04 9.99445616e-01 -9.66121970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.636875 meters 0.01527594942153411 Centerline is valid? [True, True] Translation: X:145.74, Y:35.09, Z:-0.10 [[ 9.19168613e-01 -3.92637192e-01 -3.10659928e-02 1.45736592e+02] [ 3.92399386e-01 9.19693371e-01 -1.36684260e-02 3.50853466e+01] [ 3.39379200e-02 3.73311732e-04 9.99423873e-01 -9.57957350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.696875 meters 0.015834147283836655 Centerline is valid? [True, True] Translation: X:145.79, Y:35.11, Z:-0.09 [[ 9.19854389e-01 -3.90964375e-01 -3.18553046e-02 1.45789233e+02] [ 3.90713212e-01 9.20405702e-01 -1.40189225e-02 3.51102581e+01] [ 3.48007033e-02 4.49079051e-04 9.99394171e-01 -9.45695747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75687499999998 meters 0.015764117704739167 Centerline is valid? [True, True] Translation: X:145.84, Y:35.13, Z:-0.09 [[ 9.20051661e-01 -3.90527398e-01 -3.15165396e-02 1.45842051e+02] [ 3.90281140e-01 9.20591188e-01 -1.38743019e-02 3.51337145e+01] [ 3.44321437e-02 4.64763477e-04 9.99406930e-01 -9.20721013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81687499999998 meters 0.01585462562089345 Centerline is valid? [True, True] Translation: X:145.90, Y:35.16, Z:-0.09 [[ 9.20488632e-01 -3.89576491e-01 -3.05095973e-02 1.45895435e+02] [ 3.89344888e-01 9.20993982e-01 -1.34403570e-02 3.51574467e+01] [ 3.33352027e-02 4.92940114e-04 9.99444106e-01 -8.93542499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87687499999998 meters 0.016034810293871177 Centerline is valid? [True, True] Translation: X:145.95, Y:35.18, Z:-0.09 [[ 9.20798633e-01 -3.88833368e-01 -3.06347748e-02 1.45949204e+02] [ 3.88599156e-01 9.21307946e-01 -1.35042525e-02 3.51822184e+01] [ 3.34749655e-02 5.30049614e-04 9.99439416e-01 -8.74921212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.936875 meters 0.01639061559754965 Centerline is valid? [True, True] Translation: X:146.00, Y:35.21, Z:-0.09 [[ 9.21242150e-01 -3.87785653e-01 -3.05808586e-02 1.46002421e+02] [ 3.87551398e-01 9.21749400e-01 -1.34891691e-02 3.52084425e+01] [ 3.34187944e-02 5.75136678e-04 9.99441271e-01 -8.64759838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.996875 meters 0.017243879375204323 Centerline is valid? [True, True] Translation: X:146.05, Y:35.24, Z:-0.08 [[ 9.22567194e-01 -3.84528535e-01 -3.17423713e-02 1.46054730e+02] [ 3.84273888e-01 9.23112818e-01 -1.40108461e-02 3.52357451e+01] [ 3.46893600e-02 7.28182521e-04 9.99397878e-01 -8.45036086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.056875 meters 0.017605188711672153 Centerline is valid? [True, True] Translation: X:146.11, Y:35.26, Z:-0.09 [[ 9.23372354e-01 -3.82501828e-01 -3.28001094e-02 1.46107272e+02] [ 3.82228294e-01 9.23954352e-01 -1.44874299e-02 3.52626061e+01] [ 3.58472723e-02 8.40162399e-04 9.99356927e-01 -8.50418785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.116875 meters 0.018150681963883333 Centerline is valid? [True, True] Translation: X:146.16, Y:35.29, Z:-0.08 [[ 9.23697799e-01 -3.81694107e-01 -3.30451849e-02 1.46160244e+02] [ 3.81415602e-01 9.24288279e-01 -1.46053634e-02 3.52879554e+01] [ 3.61180582e-02 8.86992924e-04 9.99347136e-01 -8.41332560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.176875 meters 0.01874484632329751 Centerline is valid? [True, True] Translation: X:146.21, Y:35.31, Z:-0.08 [[ 9.24245748e-01 -3.80352785e-01 -3.31897200e-02 1.46213760e+02] [ 3.80070623e-01 9.24840987e-01 -1.46788795e-02 3.53132984e+01] [ 3.62783661e-02 9.52454361e-04 9.99341270e-01 -8.18495072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.236875 meters 0.018454828617114272 Centerline is valid? [True, True] Translation: X:146.27, Y:35.34, Z:-0.08 [[ 9.23540351e-01 -3.82115984e-01 -3.25667922e-02 1.46268176e+02] [ 3.81845084e-01 9.24113959e-01 -1.44125763e-02 3.53356905e+01] [ 3.56027031e-02 8.75126274e-04 9.99365640e-01 -7.85645748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.296875 meters 0.017977279666271762 Centerline is valid? [True, True] Translation: X:146.32, Y:35.36, Z:-0.08 [[ 9.22977576e-01 -3.83416682e-01 -3.32271195e-02 1.46322401e+02] [ 3.83135174e-01 9.23575078e-01 -1.47144207e-02 3.53591120e+01] [ 3.63294938e-02 8.50602151e-04 9.99339504e-01 -7.80140249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.356875 meters 0.01748330696276169 Centerline is valid? [True, True] Translation: X:146.38, Y:35.38, Z:-0.08 [[ 9.22377847e-01 -3.84760657e-01 -3.43270078e-02 1.46377080e+02] [ 3.84460746e-01 9.23016003e-01 -1.52115965e-02 3.53803992e+01] [ 3.75372014e-02 8.33452663e-04 9.99294883e-01 -7.62196178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.416875 meters 0.01683341636974534 Centerline is valid? [True, True] Translation: X:146.43, Y:35.40, Z:-0.07 [[ 9.21260889e-01 -3.87344812e-01 -3.52472915e-02 1.46432470e+02] [ 3.87030094e-01 9.21934609e-01 -1.56295462e-02 3.54020059e+01] [ 3.85497216e-02 7.57127102e-04 9.99256396e-01 -7.43261871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.476875 meters 0.015709157062649925 Centerline is valid? [True, True] Translation: X:146.49, Y:35.42, Z:-0.07 [[ 9.19149453e-01 -3.92246752e-01 -3.61492501e-02 1.46488498e+02] [ 3.91919109e-01 9.19859856e-01 -1.60392399e-02 3.54219279e+01] [ 3.95435837e-02 5.74876665e-04 9.99217681e-01 -7.37832789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53687499999998 meters 0.015110244890492463 Centerline is valid? [True, True] Translation: X:146.54, Y:35.44, Z:-0.07 [[ 9.17763085e-01 -3.95420925e-01 -3.67860247e-02 1.46543401e+02] [ 3.95083773e-01 9.18499910e-01 -1.63317831e-02 3.54425696e+01] [ 4.02458891e-02 4.55146204e-04 9.99189702e-01 -7.20398579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59687499999998 meters 0.014403639560943331 Centerline is valid? [True, True] Translation: X:146.60, Y:35.46, Z:-0.07 [[ 9.16005999e-01 -3.99483657e-01 -3.66853781e-02 1.46599458e+02] [ 3.99151245e-01 9.16740272e-01 -1.62959237e-02 3.54626660e+01] [ 4.01409187e-02 2.84149548e-04 9.99193988e-01 -6.96490984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65687499999999 meters 0.014064627114029796 Centerline is valid? [True, True] Translation: X:146.65, Y:35.48, Z:-0.07 [[ 9.15010845e-01 -4.01866009e-01 -3.54804629e-02 1.46653818e+02] [ 4.01556612e-01 9.15698465e-01 -1.57673495e-02 3.54848726e+01] [ 3.88257672e-02 1.79881338e-04 9.99245979e-01 -6.59246599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.716875 meters 0.013869557175006203 Centerline is valid? [True, True] Translation: X:146.71, Y:35.51, Z:-0.06 [[ 9.14123854e-01 -4.03924004e-01 -3.49711270e-02 1.46707547e+02] [ 4.03624550e-01 9.14792539e-01 -1.55509941e-02 3.55084775e+01] [ 3.82727458e-02 1.00329224e-04 9.99267325e-01 -6.28705621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.776875 meters 0.01400060298599446 Centerline is valid? [True, True] Translation: X:146.76, Y:35.53, Z:-0.06 [[ 9.14095666e-01 -4.03816918e-01 -3.68918713e-02 1.46760178e+02] [ 4.03483206e-01 9.14839813e-01 -1.64140103e-02 3.55335556e+01] [ 4.03784076e-02 1.18725151e-04 9.99184452e-01 -6.25867287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.836875 meters 0.014068662736554941 Centerline is valid? [True, True] Translation: X:146.81, Y:35.56, Z:-0.06 [[ 9.14261283e-01 -4.03468194e-01 -3.66022110e-02 1.46812516e+02] [ 4.03139175e-01 9.14993660e-01 -1.62913732e-02 3.55592379e+01] [ 4.00638419e-02 1.38786642e-04 9.99197112e-01 -6.05065703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.896875 meters 0.01410560424079839 Centerline is valid? [True, True] Translation: X:146.86, Y:35.59, Z:-0.06 [[ 9.14750480e-01 -4.02537325e-01 -3.45725627e-02 1.46864701e+02] [ 4.02242740e-01 9.15403556e-01 -1.53983199e-02 3.55868476e+01] [ 3.78462454e-02 1.79058185e-04 9.99283558e-01 -5.70587035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.956875 meters 0.014255734448433588 Centerline is valid? [True, True] Translation: X:146.92, Y:35.61, Z:-0.05 [[ 9.15243393e-01 -4.01471606e-01 -3.39128582e-02 1.46916725e+02] [ 4.01187066e-01 9.15871442e-01 -1.51142347e-02 3.56123676e+01] [ 3.71277544e-02 2.27803353e-04 9.99310501e-01 -5.37347108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.016875 meters 0.01487115440697489 Centerline is valid? [True, True] Translation: X:146.97, Y:35.64, Z:-0.05 [[ 9.16219020e-01 -3.99222895e-01 -3.41143235e-02 1.46967684e+02] [ 3.98933065e-01 9.16853844e-01 -1.52130720e-02 3.56404384e+01] [ 3.73512553e-02 3.29174304e-04 9.99302144e-01 -5.27537243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.076875 meters 0.01622040097661453 Centerline is valid? [True, True] Translation: X:147.02, Y:35.67, Z:-0.05 [[ 9.18127336e-01 -3.94808403e-01 -3.41836192e-02 1.47017798e+02] [ 3.94514197e-01 9.18763333e-01 -1.52475098e-02 3.56692013e+01] [ 3.74265009e-02 5.13232447e-04 9.99299251e-01 -5.14536747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.136875 meters 0.016094447061045986 Centerline is valid? [True, True] Translation: X:147.07, Y:35.69, Z:-0.05 [[ 9.19502089e-01 -3.91617242e-01 -3.39388246e-02 1.47070881e+02] [ 3.91324860e-01 9.20127992e-01 -1.51437299e-02 3.56941775e+01] [ 3.71586083e-02 6.43585480e-04 9.99309173e-01 -4.76825591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.196875 meters 0.017301415511789493 Centerline is valid? [True, True] Translation: X:147.12, Y:35.72, Z:-0.05 [[ 9.20853481e-01 -3.88426777e-01 -3.39632974e-02 1.47122958e+02] [ 3.88131435e-01 9.21479261e-01 -1.51644858e-02 3.57218419e+01] [ 3.71867666e-02 7.82046212e-04 9.99308027e-01 -4.69134188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25687499999998 meters 0.017533587808630947 Centerline is valid? [True, True] Translation: X:147.18, Y:35.75, Z:-0.04 [[ 9.21154321e-01 -3.87721875e-01 -3.38594907e-02 1.47176689e+02] [ 3.87427500e-01 9.21776047e-01 -1.51278545e-02 3.57458911e+01] [ 3.70762676e-02 8.16990723e-04 9.99312105e-01 -4.47385522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31687499999998 meters 0.016842389418407502 Centerline is valid? [True, True] Translation: X:147.23, Y:35.77, Z:-0.04 [[ 9.20941919e-01 -3.88121105e-01 -3.50426852e-02 1.47231905e+02] [ 3.87805675e-01 9.21608000e-01 -1.56669717e-02 3.57673491e+01] [ 3.83763014e-02 8.38618797e-04 9.99263007e-01 -4.23901419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37687499999998 meters 0.017430572835796247 Centerline is valid? [True, True] Translation: X:147.28, Y:35.79, Z:-0.04 [[ 9.20572412e-01 -3.88936972e-01 -3.56996591e-02 1.47284469e+02] [ 3.88609869e-01 9.21263994e-01 -1.59694528e-02 3.57909439e+01] [ 3.90999211e-02 8.27797894e-04 9.99234963e-01 -4.25785617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.436875 meters 0.017176559429092478 Centerline is valid? [True, True] Translation: X:147.34, Y:35.81, Z:-0.04 [[ 9.19933408e-01 -3.90416529e-01 -3.60202483e-02 1.47339854e+02] [ 3.90084427e-01 9.20638002e-01 -1.61186064e-02 3.58122933e+01] [ 3.94545798e-02 7.77106552e-04 9.99221063e-01 -4.05944766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.496875 meters 0.016823930468741467 Centerline is valid? [True, True] Translation: X:147.39, Y:35.83, Z:-0.04 [[ 9.20090130e-01 -3.90059704e-01 -3.58828555e-02 1.47394477e+02] [ 3.89729457e-01 9.20789221e-01 -1.60674052e-02 3.58349910e+01] [ 3.93077939e-02 7.98855124e-04 9.99226831e-01 -3.75353414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.556875 meters 0.01820494646192466 Centerline is valid? [True, True] Translation: X:147.45, Y:35.86, Z:-0.04 [[ 9.21027988e-01 -3.87856988e-01 -3.56987624e-02 1.47446308e+02] [ 3.87528117e-01 9.21719129e-01 -1.59939287e-02 3.58610171e+01] [ 3.91075892e-02 8.96581866e-04 9.99234603e-01 -3.56586471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.616875 meters 0.019032203774385196 Centerline is valid? [True, True] Translation: X:147.50, Y:35.89, Z:-0.04 [[ 9.22106819e-01 -3.85078238e-01 -3.78650892e-02 1.47500047e+02] [ 3.84705594e-01 9.22883297e-01 -1.69713488e-02 3.58867056e+01] [ 4.14803554e-02 1.08248479e-03 9.99138733e-01 -3.63868586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.676875 meters 0.01915561274386483 Centerline is valid? [True, True] Translation: X:147.55, Y:35.91, Z:-0.04 [[ 9.22105625e-01 -3.84992554e-01 -3.87550031e-02 1.47554037e+02] [ 3.84601702e-01 9.22918998e-01 -1.73796829e-02 3.59108379e+01] [ 4.24587772e-02 1.12066322e-03 9.99097591e-01 -3.51933432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.736875 meters 0.019324091931434896 Centerline is valid? [True, True] Translation: X:147.61, Y:35.93, Z:-0.03 [[ 9.21954827e-01 -3.85325566e-01 -3.90321088e-02 1.47607241e+02] [ 3.84928893e-01 9.22780009e-01 -1.75158063e-02 3.59343444e+01] [ 4.27673376e-02 1.12419577e-03 9.99084426e-01 -3.41729768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.796875 meters 0.019272786762220783 Centerline is valid? [True, True] Translation: X:147.66, Y:35.96, Z:-0.03 [[ 9.21561282e-01 -3.86214989e-01 -3.95320913e-02 1.47660920e+02] [ 3.85808362e-01 9.22408128e-01 -1.77525768e-02 3.59575353e+01] [ 4.33210336e-02 1.10827606e-03 9.99060589e-01 -3.14651872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.856875 meters 0.01944970008741032 Centerline is valid? [True, True] Translation: X:147.71, Y:35.98, Z:-0.03 [[ 9.21160969e-01 -3.87227965e-01 -3.89483244e-02 1.47714047e+02] [ 3.86833706e-01 9.21983400e-01 -1.75012553e-02 3.59819632e+01] [ 4.26866840e-02 1.05494861e-03 9.99087951e-01 -3.05513010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.916875 meters 0.020315497688868596 Centerline is valid? [True, True] Translation: X:147.77, Y:36.01, Z:-0.03 [[ 9.21389643e-01 -3.86745852e-01 -3.83245620e-02 1.47766427e+02] [ 3.86363367e-01 9.22185722e-01 -1.72291075e-02 3.60054091e+01] [ 4.20056497e-02 1.06751437e-03 9.99116803e-01 -2.71430347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.976875 meters 0.018791988458816678 Centerline is valid? [True, True] Translation: X:147.82, Y:36.03, Z:-0.02 [[ 9.21755874e-01 -3.85933179e-01 -3.77053035e-02 1.47820981e+02] [ 3.85562030e-01 9.22526091e-01 -1.69567948e-02 3.60269616e+01] [ 4.13283159e-02 1.09229186e-03 9.99145023e-01 -2.22606376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03687499999998 meters 0.021374642868389523 Centerline is valid? [True, True] Translation: X:147.87, Y:36.05, Z:-0.02 [[ 9.21795664e-01 -3.85898978e-01 -3.70773898e-02 1.47871125e+02] [ 3.85539702e-01 9.22540408e-01 -1.66833525e-02 3.60548146e+01] [ 4.06434790e-02 1.08383614e-03 9.99173125e-01 -2.27676958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09687499999998 meters 0.018999139254444724 Centerline is valid? [True, True] Translation: X:147.93, Y:36.07, Z:-0.02 [[ 9.21773028e-01 -3.86029680e-01 -3.62707969e-02 1.47925894e+02] [ 3.85685684e-01 9.22485750e-01 -1.63276879e-02 3.60738431e+01] [ 3.97622654e-02 1.06129523e-03 9.99208605e-01 -1.80726859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15687499999999 meters 0.01863630685516033 Centerline is valid? [True, True] Translation: X:147.98, Y:36.10, Z:-0.01 [[ 9.21196670e-01 -3.87475681e-01 -3.54865139e-02 1.47980914e+02] [ 3.87147095e-01 9.21879398e-01 -1.59844620e-02 3.60963265e+01] [ 3.89078763e-02 9.86332355e-04 9.99242315e-01 -1.49454914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.216875 meters 0.01754802550223927 Centerline is valid? [True, True] Translation: X:148.04, Y:36.12, Z:-0.01 [[ 9.19970055e-01 -3.90483212e-01 -3.43214184e-02 1.48036278e+02] [ 3.90177776e-01 9.20609670e-01 -1.54641276e-02 3.61167524e+01] [ 3.76351119e-02 8.35079606e-04 9.99291199e-01 -1.20279644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.276875 meters 0.016515474423128694 Centerline is valid? [True, True] Translation: X:148.09, Y:36.14, Z:-0.01 [[ 9.18633629e-01 -3.93549358e-01 -3.50878819e-02 1.48092590e+02] [ 3.93232165e-01 9.19303198e-01 -1.58143550e-02 3.61364233e+01] [ 3.84801313e-02 7.29914508e-04 9.99259099e-01 -1.03890059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.336875 meters 0.01608516143951073 Centerline is valid? [True, True] Translation: X:148.15, Y:36.16, Z:-0.01 [[ 9.17949869e-01 -3.95151900e-01 -3.49716236e-02 1.48147161e+02] [ 3.94837591e-01 9.18615549e-01 -1.57717716e-02 3.61586075e+01] [ 3.83577227e-02 6.69584084e-04 9.99263847e-01 -9.24770188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.396875 meters 0.01613052741819914 Centerline is valid? [True, True] Translation: X:148.20, Y:36.18, Z:-0.01 [[ 9.17460045e-01 -3.96360790e-01 -3.41348668e-02 1.48201495e+02] [ 3.96061876e-01 9.18094630e-01 -1.54026125e-02 3.61797285e+01] [ 3.74440295e-02 6.11762145e-04 9.99298539e-01 -6.46900352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.456875 meters 0.015926751217952662 Centerline is valid? [True, True] Translation: X:148.26, Y:36.20, Z:-0.00 [[ 9.17325160e-01 -3.96664913e-01 -3.42271564e-02 1.48255460e+02] [ 3.96364378e-01 9.17963278e-01 -1.54499406e-02 3.62021434e+01] [ 3.75477220e-02 6.06193666e-04 9.99294652e-01 -4.36540328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.516875 meters 0.016138978732101416 Centerline is valid? [True, True] Translation: X:148.31, Y:36.22, Z:-0.00 [[ 9.16963728e-01 -3.97482194e-01 -3.44300217e-02 1.48308738e+02] [ 3.97178302e-01 9.17609701e-01 -1.55509821e-02 3.62236693e+01] [ 3.77745604e-02 5.84829001e-04 9.99286115e-01 -3.96967902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.576875 meters 0.015875469348748214 Centerline is valid? [True, True] Translation: X:148.36, Y:36.25, Z:-0.00 [[ 9.16401628e-01 -3.98851890e-01 -3.35443831e-02 1.48363803e+02] [ 3.98564172e-01 9.17015212e-01 -1.51559001e-02 3.62455029e+01] [ 3.68056690e-02 5.19302286e-04 9.99322307e-01 -2.19877964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.636875 meters 0.015329870876630744 Centerline is valid? [True, True] Translation: X:148.42, Y:36.27, Z:0.00 [[ 9.15818653e-01 -4.00205792e-01 -3.33394455e-02 1.48419623e+02] [ 3.99922127e-01 9.16425175e-01 -1.50728368e-02 3.62656903e+01] [ 3.65853438e-02 4.70803120e-04 9.99330421e-01 9.48263587e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.696875 meters 0.015266694450135261 Centerline is valid? [True, True] Translation: X:148.47, Y:36.29, Z:0.00 [[ 9.15842129e-01 -4.00114764e-01 -3.37841684e-02 1.48473185e+02] [ 3.99823045e-01 9.16464912e-01 -1.52838796e-02 3.62892258e+01] [ 3.70773109e-02 4.89931756e-04 9.99312280e-01 2.14698234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75687499999998 meters 0.015385802431708905 Centerline is valid? [True, True] Translation: X:148.53, Y:36.31, Z:0.00 [[ 9.15790781e-01 -4.00144528e-01 -3.48080914e-02 1.48527105e+02] [ 3.99834474e-01 9.16451905e-01 -1.57575177e-02 3.63140407e+01] [ 3.82052262e-02 5.13114518e-04 9.99269782e-01 3.21053005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81687499999998 meters 0.015392044212722184 Centerline is valid? [True, True] Translation: X:148.58, Y:36.34, Z:0.00 [[ 9.15159171e-01 -4.01556642e-01 -3.51561485e-02 1.48580255e+02] [ 4.01241072e-01 9.15834071e-01 -1.59234551e-02 3.63377600e+01] [ 3.85913677e-02 4.66405256e-04 9.99254967e-01 4.06952211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87687499999998 meters 0.015064775469985732 Centerline is valid? [True, True] Translation: X:148.63, Y:36.36, Z:0.01 [[ 9.14753039e-01 -4.02484362e-01 -3.51171873e-02 1.48633924e+02] [ 4.02169948e-01 9.15426759e-01 -1.59116623e-02 3.63611778e+01] [ 3.85514082e-02 4.32164067e-04 9.99256525e-01 6.77972962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.936875 meters 0.014956525602759962 Centerline is valid? [True, True] Translation: X:148.69, Y:36.39, Z:0.01 [[ 9.14732242e-01 -4.02521209e-01 -3.52363673e-02 1.48686562e+02] [ 4.02204234e-01 9.15410553e-01 -1.59772943e-02 3.63861651e+01] [ 3.86869422e-02 4.42730133e-04 9.99251282e-01 8.17115658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.996875 meters 0.015285947084547127 Centerline is valid? [True, True] Translation: X:148.74, Y:36.41, Z:0.01 [[ 9.15400599e-01 -4.01031444e-01 -3.48643792e-02 1.48739583e+02] [ 4.00719623e-01 9.16064146e-01 -1.58197203e-02 3.64121334e+01] [ 3.82822130e-02 5.10540512e-04 9.99266837e-01 1.03819911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.056875 meters 0.016601470029334355 Centerline is valid? [True, True] Translation: X:148.79, Y:36.44, Z:0.01 [[ 9.17282224e-01 -3.96811040e-01 -3.36796730e-02 1.48790904e+02] [ 3.96516855e-01 9.17900074e-01 -1.52917495e-02 3.64417109e+01] [ 3.69825094e-02 6.72291983e-04 9.99315687e-01 1.34174663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.116875 meters 0.017855136205411022 Centerline is valid? [True, True] Translation: X:148.84, Y:36.47, Z:0.02 [[ 9.18541662e-01 -3.93938075e-01 -3.30758024e-02 1.48842532e+02] [ 3.93652141e-01 9.19136650e-01 -1.50269942e-02 3.64702816e+01] [ 3.63208874e-02 7.82559741e-04 9.99339872e-01 1.52393573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.176875 meters 0.01884712253484667 Centerline is valid? [True, True] Translation: X:148.89, Y:36.50, Z:0.02 [[ 9.20440341e-01 -3.89511455e-01 -3.27170453e-02 1.48894611e+02] [ 3.89228621e-01 9.21021127e-01 -1.48716012e-02 3.64988164e+01] [ 3.59257489e-02 9.54011302e-04 9.99354007e-01 1.80472947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.236875 meters 0.020023533928121527 Centerline is valid? [True, True] Translation: X:148.95, Y:36.53, Z:0.02 [[ 9.21272101e-01 -3.87472587e-01 -3.35068630e-02 1.48947096e+02] [ 3.87174427e-01 9.21880614e-01 -1.52347278e-02 3.65263720e+01] [ 3.67923668e-02 1.06232918e-03 9.99322367e-01 1.92987352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.296875 meters 0.020909056369573943 Centerline is valid? [True, True] Translation: X:149.00, Y:36.55, Z:0.02 [[ 9.21988447e-01 -3.85713032e-01 -3.40992647e-02 1.48999799e+02] [ 3.85402647e-01 9.22618072e-01 -1.55142951e-02 3.65537316e+01] [ 3.74446637e-02 1.16205395e-03 9.99298027e-01 2.01376442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.356875 meters 0.020110666703349087 Centerline is valid? [True, True] Translation: X:149.05, Y:36.58, Z:0.02 [[ 9.21578799e-01 -3.86696846e-01 -3.40303878e-02 1.49053574e+02] [ 3.86388005e-01 9.22206200e-01 -1.54930715e-02 3.65778736e+01] [ 3.73741565e-02 1.12915262e-03 9.99300704e-01 2.20177783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.416875 meters 0.016784020071094367 Centerline is valid? [True, True] Translation: X:149.11, Y:36.60, Z:0.03 [[ 9.17764786e-01 -3.95784132e-01 -3.25993633e-02 1.49109105e+02] [ 3.95506151e-01 9.18343281e-01 -1.48493632e-02 3.65979495e+01] [ 3.58145486e-02 7.34973932e-04 9.99358183e-01 2.51563775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.476875 meters 0.01616086099425221 Centerline is valid? [True, True] Translation: X:149.16, Y:36.62, Z:0.03 [[ 9.16210598e-01 -3.99306024e-01 -3.33592633e-02 1.49162101e+02] [ 3.99017151e-01 9.16817497e-01 -1.51983769e-02 3.66219374e+01] [ 3.66531598e-02 6.13995782e-04 9.99327859e-01 2.61683336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53687499999998 meters 0.01571843679296848 Centerline is valid? [True, True] Translation: X:149.21, Y:36.65, Z:0.02 [[ 9.15342355e-01 -4.01199367e-01 -3.44592624e-02 1.49214960e+02] [ 4.00892264e-01 9.15990586e-01 -1.57047540e-02 3.66493951e+01] [ 3.78650973e-02 5.60774808e-04 9.99282703e-01 2.41828440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59687499999998 meters 0.016026081775523515 Centerline is valid? [True, True] Translation: X:149.27, Y:36.68, Z:0.03 [[ 9.15896389e-01 -3.99916791e-01 -3.46462832e-02 1.49267983e+02] [ 3.99605065e-01 9.16551236e-01 -1.57994741e-02 3.66759949e+01] [ 3.80735687e-02 6.25851029e-04 9.99274743e-01 2.78733242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65687499999999 meters 0.01635545432298322 Centerline is valid? [True, True] Translation: X:149.32, Y:36.70, Z:0.03 [[ 9.16410440e-01 -3.98681088e-01 -3.52887334e-02 1.49320796e+02] [ 3.98356373e-01 9.17089364e-01 -1.61027749e-02 3.67031386e+01] [ 3.87827938e-02 6.99259221e-04 9.99247420e-01 2.98100521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.716875 meters 0.01678102115913224 Centerline is valid? [True, True] Translation: X:149.37, Y:36.73, Z:0.03 [[ 9.16761865e-01 -3.97927066e-01 -3.46660051e-02 1.49372081e+02] [ 3.97612861e-01 9.17416766e-01 -1.58268748e-02 3.67293804e+01] [ 3.81011162e-02 7.25825767e-04 9.99273625e-01 3.02867743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.776875 meters 0.016647893754763745 Centerline is valid? [True, True] Translation: X:149.42, Y:36.75, Z:0.03 [[ 9.16677422e-01 -3.98113764e-01 -3.47553616e-02 1.49424888e+02] [ 3.97797846e-01 9.17335765e-01 -1.58735348e-02 3.67529317e+01] [ 3.82018089e-02 7.25303005e-04 9.99269781e-01 3.27022857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.836875 meters 0.017023885804782066 Centerline is valid? [True, True] Translation: X:149.48, Y:36.78, Z:0.03 [[ 9.16447367e-01 -3.98674462e-01 -3.43932594e-02 1.49477078e+02] [ 3.98365140e-01 9.17092241e-01 -1.57173867e-02 3.67784983e+01] [ 3.78079120e-02 7.03082078e-04 9.99284778e-01 3.42112657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.896875 meters 0.016222884910710746 Centerline is valid? [True, True] Translation: X:149.53, Y:36.80, Z:0.04 [[ 9.16068833e-01 -3.99744647e-01 -3.19704671e-02 1.49531220e+02] [ 3.99477884e-01 9.16626334e-01 -1.46144761e-02 3.68027751e+01] [ 3.51470306e-02 6.16371500e-04 9.99381962e-01 3.86681765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.956875 meters 0.01624405847035488 Centerline is valid? [True, True] Translation: X:149.58, Y:36.83, Z:0.04 [[ 9.15834041e-01 -4.00324996e-01 -3.14309793e-02 1.49584875e+02] [ 4.00067208e-01 9.16373039e-01 -1.43764411e-02 3.68274222e+01] [ 3.45577507e-02 5.91930015e-04 9.99402527e-01 4.04207214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.016875 meters 0.015891967574267002 Centerline is valid? [True, True] Translation: X:149.64, Y:36.85, Z:0.04 [[ 9.15243370e-01 -4.01646208e-01 -3.17788800e-02 1.49638719e+02] [ 4.01383147e-01 9.15794744e-01 -1.45449459e-02 3.68515714e+01] [ 3.49448536e-02 5.56658472e-04 9.99389087e-01 4.13434352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.076875 meters 0.016067551494452246 Centerline is valid? [True, True] Translation: X:149.69, Y:36.88, Z:0.04 [[ 9.14951839e-01 -4.02284983e-01 -3.20924448e-02 1.49690958e+02] [ 4.02016807e-01 9.15514334e-01 -1.46966721e-02 3.68760285e+01] [ 3.52933437e-02 5.45045017e-04 9.99376847e-01 4.20688593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.136875 meters 0.01619784471904945 Centerline is valid? [True, True] Translation: X:149.74, Y:36.90, Z:0.04 [[ 9.14928073e-01 -4.02338827e-01 -3.20950169e-02 1.49744433e+02] [ 4.02070466e-01 9.15490671e-01 -1.47027911e-02 3.68998389e+01] [ 3.52981923e-02 5.47537964e-04 9.99376675e-01 4.25643858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.196875 meters 0.01581367638329757 Centerline is valid? [True, True] Translation: X:149.80, Y:36.92, Z:0.04 [[ 9.15041541e-01 -4.02098674e-01 -3.18690236e-02 1.49798158e+02] [ 4.01833564e-01 9.15596167e-01 -1.46098045e-02 3.69222134e+01] [ 3.50537389e-02 5.62534634e-04 9.99385271e-01 4.42743597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25687499999998 meters 0.016949521353036828 Centerline is valid? [True, True] Translation: X:149.85, Y:36.95, Z:0.05 [[ 9.16158471e-01 -3.99693838e-01 -2.99748455e-02 1.49850708e+02] [ 3.99457745e-01 9.16648486e-01 -1.37500098e-02 3.69471664e+01] [ 3.29721909e-02 6.23503794e-04 9.99456075e-01 4.52975958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31687499999998 meters 0.01738797473176942 Centerline is valid? [True, True] Translation: X:149.90, Y:36.97, Z:0.05 [[ 9.17079915e-01 -3.97731315e-01 -2.78250133e-02 1.49904085e+02] [ 3.97526878e-01 9.17501707e-01 -1.27670919e-02 3.69713516e+01] [ 3.06073694e-02 6.47252900e-04 9.99531275e-01 4.92998233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37687499999998 meters 0.017961640160647614 Centerline is valid? [True, True] Translation: X:149.96, Y:36.99, Z:0.05 [[ 9.18478402e-01 -3.94634269e-01 -2.57141789e-02 1.49957669e+02] [ 3.94458270e-01 9.18838018e-01 -1.18054567e-02 3.69947677e+01] [ 2.82860029e-02 6.99886445e-04 9.99599626e-01 5.18894578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.436875 meters 0.01919665805797163 Centerline is valid? [True, True] Translation: X:150.01, Y:37.02, Z:0.05 [[ 9.19639831e-01 -3.91876742e-01 -2.63666465e-02 1.50010636e+02] [ 3.91690439e-01 9.20017372e-01 -1.21093020e-02 3.70197016e+01] [ 2.90031267e-02 8.08633129e-04 9.99578994e-01 5.15331517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.496875 meters 0.017637620856144655 Centerline is valid? [True, True] Translation: X:150.07, Y:37.04, Z:0.05 [[ 9.17333138e-01 -3.97217476e-01 -2.67990729e-02 1.50065279e+02] [ 3.97027204e-01 9.17724278e-01 -1.23105267e-02 3.70393611e+01] [ 2.94841162e-02 6.52893086e-04 9.99565036e-01 5.26196020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.556875 meters 0.016863948221027176 Centerline is valid? [True, True] Translation: X:150.12, Y:37.06, Z:0.05 [[ 9.15948361e-01 -4.00366274e-01 -2.73028804e-02 1.50119875e+02] [ 4.00170082e-01 9.16355023e-01 -1.25450413e-02 3.70612518e+01] [ 3.00417430e-02 5.64814124e-04 9.99548485e-01 5.26767833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.616875 meters 0.016700574708157893 Centerline is valid? [True, True] Translation: X:150.17, Y:37.09, Z:0.05 [[ 9.16023954e-01 -4.00099515e-01 -2.86442544e-02 1.50173065e+02] [ 3.99883161e-01 9.16471498e-01 -1.31700748e-02 3.70863119e+01] [ 3.15209833e-02 6.09749002e-04 9.99502904e-01 5.07449270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.676875 meters 0.01748156221473239 Centerline is valid? [True, True] Translation: X:150.23, Y:37.11, Z:0.05 [[ 9.17187822e-01 -3.97292772e-01 -3.04130457e-02 1.50226365e+02] [ 3.97047005e-01 9.17691603e-01 -1.39927957e-02 3.71122817e+01] [ 3.34690332e-02 7.58613136e-04 9.99439467e-01 5.17421648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.736875 meters 0.01901738195507043 Centerline is valid? [True, True] Translation: X:150.28, Y:37.14, Z:0.05 [[ 9.18514109e-01 -3.94264142e-01 -2.97929144e-02 1.50277348e+02] [ 3.94026448e-01 9.18996763e-01 -1.37152689e-02 3.71391872e+01] [ 3.27870306e-02 8.58471730e-04 9.99461992e-01 5.46035110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.796875 meters 0.02065535663768828 Centerline is valid? [True, True] Translation: X:150.33, Y:37.17, Z:0.06 [[ 9.20255358e-01 -3.90261785e-01 -2.87370099e-02 1.50328776e+02] [ 3.90038606e-01 9.20703428e-01 -1.32319149e-02 3.71693337e+01] [ 3.16221743e-02 9.68197256e-04 9.99499425e-01 5.65753733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.856875 meters 0.021047380942639148 Centerline is valid? [True, True] Translation: X:150.38, Y:37.20, Z:0.06 [[ 9.20838329e-01 -3.88880541e-01 -2.87870841e-02 1.50381373e+02] [ 3.88655824e-01 9.21287623e-01 -1.32576574e-02 3.71956522e+01] [ 3.16768293e-02 1.01989122e-03 9.99497643e-01 5.76820725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.916875 meters 0.02116977150589566 Centerline is valid? [True, True] Translation: X:150.43, Y:37.22, Z:0.06 [[ 9.20886690e-01 -3.88736549e-01 -2.91821868e-02 1.50434311e+02] [ 3.88505266e-01 9.21348359e-01 -1.34483876e-02 3.72219960e+01] [ 3.21148397e-02 1.04700788e-03 9.99483637e-01 5.89718679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.976875 meters 0.020612985201387456 Centerline is valid? [True, True] Translation: X:150.49, Y:37.25, Z:0.06 [[ 9.20159859e-01 -3.90414087e-01 -2.97098254e-02 1.50487864e+02] [ 3.90174942e-01 9.20638806e-01 -1.37005079e-02 3.72458506e+01] [ 3.27008895e-02 1.01462806e-03 9.99464668e-01 6.05126389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03687499999998 meters 0.019352269510289233 Centerline is valid? [True, True] Translation: X:150.54, Y:37.27, Z:0.06 [[ 9.18367199e-01 -3.94677505e-01 -2.88332290e-02 1.50541791e+02] [ 3.94454123e-01 9.18819326e-01 -1.33037678e-02 3.72682185e+01] [ 3.17432259e-02 8.44357900e-04 9.99495700e-01 6.26171559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09687499999998 meters 0.017275195645335407 Centerline is valid? [True, True] Translation: X:150.60, Y:37.29, Z:0.06 [[ 9.16554706e-01 -3.98863907e-01 -2.88973084e-02 1.50596957e+02] [ 3.98641536e-01 9.17009863e-01 -1.33355425e-02 3.72894895e+01] [ 3.18181834e-02 7.03086880e-04 9.99493426e-01 6.40016631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15687499999999 meters 0.016145940972070633 Centerline is valid? [True, True] Translation: X:150.65, Y:37.31, Z:0.07 [[ 9.15591768e-01 -4.01039700e-01 -2.93065485e-02 1.50651658e+02] [ 4.00811985e-01 9.16060451e-01 -1.35278290e-02 3.73112869e+01] [ 3.22717665e-02 6.39552947e-04 9.99478926e-01 6.61825776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.216875 meters 0.016136485401066186 Centerline is valid? [True, True] Translation: X:150.70, Y:37.34, Z:0.07 [[ 9.14865173e-01 -4.02651553e-01 -2.98905006e-02 1.50704093e+02] [ 4.02415258e-01 9.15353137e-01 -1.38056087e-02 3.73356631e+01] [ 3.29192133e-02 6.01877057e-04 9.99457835e-01 6.59282282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.276875 meters 0.015837205730378105 Centerline is valid? [True, True] Translation: X:150.76, Y:37.36, Z:0.07 [[ 9.13949365e-01 -4.04669096e-01 -3.06509433e-02 1.50758418e+02] [ 4.04421608e-01 9.14463025e-01 -1.41611877e-02 3.73594179e+01] [ 3.37597494e-02 5.46704761e-04 9.99429828e-01 6.62434037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.336875 meters 0.015231557816722195 Centerline is valid? [True, True] Translation: X:150.81, Y:37.38, Z:0.07 [[ 9.13475993e-01 -4.05793918e-01 -2.98815543e-02 1.50812457e+02] [ 4.05559023e-01 9.13964467e-01 -1.38142268e-02 3.73833937e+01] [ 3.29164081e-02 5.00230542e-04 9.99457983e-01 6.72900990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.396875 meters 0.015373130581246704 Centerline is valid? [True, True] Translation: X:150.86, Y:37.41, Z:0.07 [[ 9.13426715e-01 -4.05885286e-01 -3.01458447e-02 1.50864482e+02] [ 4.05645957e-01 9.13923889e-01 -1.39457082e-02 3.74085513e+01] [ 3.32113654e-02 5.09842436e-04 9.99448220e-01 7.04706204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.456875 meters 0.01567433696630793 Centerline is valid? [True, True] Translation: X:150.91, Y:37.44, Z:0.07 [[ 9.13557681e-01 -4.05639831e-01 -2.94735469e-02 1.50914555e+02] [ 4.05410631e-01 9.14032856e-01 -1.36440188e-02 3.74355526e+01] [ 3.24743477e-02 5.15708979e-04 9.99472436e-01 7.19429061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.516875 meters 0.0159359244729031 Centerline is valid? [True, True] Translation: X:150.97, Y:37.46, Z:0.07 [[ 9.13466474e-01 -4.05801174e-01 -3.00733603e-02 1.50966018e+02] [ 4.05562386e-01 9.13961229e-01 -1.39291738e-02 3.74627444e+01] [ 3.31383604e-02 5.27209504e-04 9.99450635e-01 7.30867415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.576875 meters 0.015280200863607532 Centerline is valid? [True, True] Translation: X:151.02, Y:37.49, Z:0.08 [[ 9.12544935e-01 -4.07829565e-01 -3.06069780e-02 1.51019724e+02] [ 4.07583029e-01 9.13057952e-01 -1.41862721e-02 3.74877416e+01] [ 3.37315258e-02 4.70725954e-04 9.99430819e-01 7.60911224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.636875 meters 0.01466443106901526 Centerline is valid? [True, True] Translation: X:151.07, Y:37.51, Z:0.08 [[ 9.11447008e-01 -4.10196553e-01 -3.16723825e-02 1.51073899e+02] [ 4.09933650e-01 9.11997053e-01 -1.46894006e-02 3.75122947e+01] [ 3.49106610e-02 4.05034890e-04 9.99390355e-01 7.63844525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.696875 meters 0.01420565231222371 Centerline is valid? [True, True] Translation: X:151.13, Y:37.54, Z:0.08 [[ 9.09949446e-01 -4.13413631e-01 -3.28812301e-02 1.51127668e+02] [ 4.13132022e-01 9.10543288e-01 -1.52595514e-02 3.75370247e+01] [ 3.62482899e-02 3.01131276e-04 9.99342769e-01 7.74825175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75687499999998 meters 0.01425974459267216 Centerline is valid? [True, True] Translation: X:151.18, Y:37.56, Z:0.08 [[ 9.09036439e-01 -4.15331487e-01 -3.39486140e-02 1.51180060e+02] [ 4.15032223e-01 9.09670104e-01 -1.57656607e-02 3.75620081e+01] [ 3.74300145e-02 2.41791333e-04 9.99299222e-01 7.87012798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81687499999998 meters 0.014164119389564238 Centerline is valid? [True, True] Translation: X:151.23, Y:37.59, Z:0.08 [[ 9.08955201e-01 -4.15485498e-01 -3.42380352e-02 1.51230800e+02] [ 4.15180776e-01 9.09599769e-01 -1.59117433e-02 3.75895300e+01] [ 3.77540074e-02 2.48087805e-04 9.99287033e-01 8.13011515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87687499999998 meters 0.01428221191012987 Centerline is valid? [True, True] Translation: X:151.28, Y:37.62, Z:0.08 [[ 9.09059510e-01 -4.15313745e-01 -3.35454860e-02 1.51282185e+02] [ 4.15020703e-01 9.09678199e-01 -1.56009822e-02 3.76159653e+01] [ 3.69948996e-02 2.60150039e-04 9.99315421e-01 8.27188105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.936875 meters 0.014811455716671286 Centerline is valid? [True, True] Translation: X:151.33, Y:37.65, Z:0.09 [[ 9.10566370e-01 -4.12138133e-01 -3.17969456e-02 1.51332445e+02] [ 4.11872566e-01 9.11121296e-01 -1.47977172e-02 3.76474203e+01] [ 3.50695779e-02 3.78014065e-04 9.99384802e-01 8.71286776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.996875 meters 0.015170810569249193 Centerline is valid? [True, True] Translation: X:151.38, Y:37.68, Z:0.09 [[ 9.11432905e-01 -4.10209482e-01 -3.19098941e-02 1.51383473e+02] [ 4.09940516e-01 9.11991210e-01 -1.48595479e-02 3.76765246e+01] [ 3.51970704e-02 4.62322457e-04 9.99380284e-01 8.91393575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.056875 meters 0.01609957737749222 Centerline is valid? [True, True] Translation: X:151.43, Y:37.71, Z:0.09 [[ 9.13013265e-01 -4.06711205e-01 -3.15083091e-02 1.51433697e+02] [ 4.06446566e-01 9.13556587e-01 -1.46816538e-02 3.77085784e+01] [ 3.47558165e-02 5.98100599e-04 9.99395655e-01 9.07832942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.116875 meters 0.016563665113699822 Centerline is valid? [True, True] Translation: X:151.48, Y:37.74, Z:0.09 [[ 9.13683538e-01 -4.05130061e-01 -3.24349515e-02 1.51484740e+02] [ 4.04848277e-01 9.14258805e-01 -1.51231752e-02 3.77381178e+01] [ 3.57807929e-02 6.86561951e-04 9.99359427e-01 9.16790765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.176875 meters 0.01622265839010551 Centerline is valid? [True, True] Translation: X:151.54, Y:37.77, Z:0.09 [[ 9.14077042e-01 -4.04120378e-01 -3.39099123e-02 1.51535797e+02] [ 4.03811289e-01 9.14705488e-01 -1.58213192e-02 3.77672331e+01] [ 3.74113004e-02 7.68699255e-04 9.99299657e-01 9.25006530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.236875 meters 0.016861285124652046 Centerline is valid? [True, True] Translation: X:151.59, Y:37.80, Z:0.09 [[ 9.13771699e-01 -4.04777818e-01 -3.42957854e-02 1.51586335e+02] [ 4.04461784e-01 9.14414755e-01 -1.60100593e-02 3.77961433e+01] [ 3.78410891e-02 7.58204564e-04 9.99283482e-01 9.24722447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.296875 meters 0.01609824077138405 Centerline is valid? [True, True] Translation: X:151.64, Y:37.82, Z:0.09 [[ 9.12581075e-01 -4.07443883e-01 -3.44276508e-02 1.51638656e+02] [ 4.07127098e-01 9.13230011e-01 -1.60770929e-02 3.78241991e+01] [ 3.79908771e-02 6.55221170e-04 9.99277871e-01 9.38123894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.356875 meters 0.015847352449891647 Centerline is valid? [True, True] Translation: X:151.69, Y:37.85, Z:0.10 [[ 9.11888438e-01 -4.08976714e-01 -3.46052446e-02 1.51691030e+02] [ 4.08657363e-01 9.12544620e-01 -1.61702441e-02 3.78514776e+01] [ 3.81920831e-02 6.03770619e-04 9.99270234e-01 9.59384783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.416875 meters 0.015432123498777043 Centerline is valid? [True, True] Translation: X:151.74, Y:37.88, Z:0.10 [[ 9.11489196e-01 -4.09909469e-01 -3.40833311e-02 1.51742036e+02] [ 4.09599962e-01 9.12126037e-01 -1.59362286e-02 3.78810731e+01] [ 3.76207047e-02 5.65169090e-04 9.99291931e-01 9.83532042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.476875 meters 0.015700269089356404 Centerline is valid? [True, True] Translation: X:151.79, Y:37.91, Z:0.10 [[ 9.11450722e-01 -4.09992628e-01 -3.41119670e-02 1.51792770e+02] [ 4.09682266e-01 9.12088657e-01 -1.59600223e-02 3.79102726e+01] [ 3.76566297e-02 5.71705912e-04 9.99290574e-01 9.96179173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53687499999998 meters 0.015305424368943488 Centerline is valid? [True, True] Translation: X:151.84, Y:37.94, Z:0.10 [[ 9.11036146e-01 -4.10888872e-01 -3.44016804e-02 1.51843646e+02] [ 4.10573421e-01 9.11685271e-01 -1.61069301e-02 3.79397256e+01] [ 3.79816636e-02 5.49579880e-04 9.99278285e-01 1.01552737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59687499999998 meters 0.015276184226019304 Centerline is valid? [True, True] Translation: X:151.89, Y:37.97, Z:0.10 [[ 9.10778455e-01 -4.11449622e-01 -3.45226736e-02 1.51893960e+02] [ 4.11132007e-01 9.11432346e-01 -1.61725646e-02 3.79681056e+01] [ 3.81192770e-02 5.36247239e-04 9.99273052e-01 1.02679126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65687499999999 meters 0.015029031413809011 Centerline is valid? [True, True] Translation: X:151.94, Y:38.00, Z:0.10 [[ 9.10749800e-01 -4.11516150e-01 -3.44856608e-02 1.51944309e+02] [ 4.11199040e-01 9.11402309e-01 -1.61610841e-02 3.79978341e+01] [ 3.80808580e-02 5.38233477e-04 9.99274516e-01 1.04758342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.716875 meters 0.015212615943087147 Centerline is valid? [True, True] Translation: X:152.00, Y:38.03, Z:0.11 [[ 9.10763738e-01 -4.11434807e-01 -3.50829451e-02 1.51995847e+02] [ 4.11106101e-01 9.11439018e-01 -1.64526412e-02 3.80265945e+01] [ 3.87451543e-02 5.61656252e-04 9.99248967e-01 1.05658534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.776875 meters 0.015363983469219342 Centerline is valid? [True, True] Translation: X:152.05, Y:38.06, Z:0.11 [[ 9.11327680e-01 -4.10159448e-01 -3.53707165e-02 1.52046462e+02] [ 4.09823954e-01 9.12013613e-01 -1.65981024e-02 3.80567037e+01] [ 3.90664435e-02 6.30543284e-04 9.99236416e-01 1.07009870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.836875 meters 0.015544963925752327 Centerline is valid? [True, True] Translation: X:152.10, Y:38.09, Z:0.11 [[ 9.11759468e-01 -4.09264227e-01 -3.46044126e-02 1.52097517e+02] [ 4.08942085e-01 9.12415669e-01 -1.62486508e-02 3.80865602e+01] [ 3.82235998e-02 6.63660543e-04 9.99268991e-01 1.09478047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.896875 meters 0.015947800830890122 Centerline is valid? [True, True] Translation: X:152.15, Y:38.11, Z:0.11 [[ 9.11825600e-01 -4.09177492e-01 -3.38800255e-02 1.52147630e+02] [ 4.08868318e-01 9.12454571e-01 -1.59171321e-02 3.81134505e+01] [ 3.74269163e-02 6.61179462e-04 9.99299149e-01 1.11585096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.956875 meters 0.015660985125418393 Centerline is valid? [True, True] Translation: X:152.20, Y:38.14, Z:0.11 [[ 9.12114013e-01 -4.08588642e-01 -3.32167075e-02 1.52199462e+02] [ 4.08290846e-01 9.12718392e-01 -1.56115930e-02 3.81406199e+01] [ 3.66962194e-02 6.77475167e-04 9.99326237e-01 1.14251834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.016875 meters 0.015521016477747724 Centerline is valid? [True, True] Translation: X:152.25, Y:38.17, Z:0.12 [[ 9.12386449e-01 -4.07968285e-01 -3.33593539e-02 1.52252169e+02] [ 4.07667137e-01 9.12995820e-01 -1.56887930e-02 3.81674870e+01] [ 3.68574806e-02 7.14729837e-04 9.99320277e-01 1.15937863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.076875 meters 0.01634483551290686 Centerline is valid? [True, True] Translation: X:152.30, Y:38.20, Z:0.12 [[ 9.13020399e-01 -4.06539141e-01 -3.34615899e-02 1.52302125e+02] [ 4.06234838e-01 9.13633030e-01 -1.57462120e-02 3.81960934e+01] [ 3.69730653e-02 7.83349193e-04 9.99315955e-01 1.16763555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.136875 meters 0.016605318334542846 Centerline is valid? [True, True] Translation: X:152.35, Y:38.22, Z:0.12 [[ 9.13601144e-01 -4.05185176e-01 -3.40282804e-02 1.52354930e+02] [ 4.04869250e-01 9.14234234e-01 -1.60204605e-02 3.82231704e+01] [ 3.76010720e-02 8.59306609e-04 9.99292460e-01 1.17838673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.196875 meters 0.017539045789927144 Centerline is valid? [True, True] Translation: X:152.41, Y:38.25, Z:0.12 [[ 9.14705829e-01 -4.02673909e-01 -3.41609308e-02 1.52406530e+02] [ 4.02353371e-01 9.15342980e-01 -1.60932922e-02 3.82515774e+01] [ 3.77493170e-02 9.75862531e-04 9.99286764e-01 1.18245563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25687499999998 meters 0.018247637220332458 Centerline is valid? [True, True] Translation: X:152.46, Y:38.28, Z:0.12 [[ 9.15185141e-01 -4.01534947e-01 -3.47252792e-02 1.52459596e+02] [ 4.01202501e-01 9.15843101e-01 -1.63697299e-02 3.82780936e+01] [ 3.83759260e-02 1.04946466e-03 9.99262822e-01 1.19017727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31687499999998 meters 0.018502066766871085 Centerline is valid? [True, True] Translation: X:152.51, Y:38.30, Z:0.12 [[ 9.15095034e-01 -4.01783556e-01 -3.42206498e-02 1.52512154e+02] [ 4.01460482e-01 9.15734080e-01 -1.61423365e-02 3.83031188e+01] [ 3.78227406e-02 1.03353344e-03 9.99283930e-01 1.20054014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37687499999998 meters 0.017359844166689786 Centerline is valid? [True, True] Translation: X:152.57, Y:38.32, Z:0.12 [[ 9.14156881e-01 -4.03937281e-01 -3.39392118e-02 1.52567175e+02] [ 4.03620567e-01 9.14786192e-01 -1.60206591e-02 3.83244873e+01] [ 3.75184638e-02 9.46831791e-04 9.99295486e-01 1.22581363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.436875 meters 0.016806399173439728 Centerline is valid? [True, True] Translation: X:152.62, Y:38.35, Z:0.12 [[ 9.13475990e-01 -4.05419659e-01 -3.45906929e-02 1.52621559e+02] [ 4.05091320e-01 9.14130224e-01 -1.63387827e-02 3.83469573e+01] [ 3.82444615e-02 9.12696258e-04 9.99267996e-01 1.24103956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.496875 meters 0.016822382463244395 Centerline is valid? [True, True] Translation: X:152.67, Y:38.37, Z:0.12 [[ 9.12858541e-01 -4.06893772e-01 -3.35669872e-02 1.52674266e+02] [ 4.06585276e-01 9.13475103e-01 -1.58634648e-02 3.83701670e+01] [ 3.71173521e-02 8.33256506e-04 9.99310566e-01 1.24913021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.556875 meters 0.017104968727295777 Centerline is valid? [True, True] Translation: X:152.73, Y:38.39, Z:0.13 [[ 9.12999424e-01 -4.06594211e-01 -3.33646580e-02 1.52727910e+02] [ 4.06289035e-01 9.13608469e-01 -1.57729644e-02 3.83946729e+01] [ 3.68954302e-02 8.45012704e-04 9.99318775e-01 1.26137742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.616875 meters 0.017129384596173632 Centerline is valid? [True, True] Translation: X:152.78, Y:38.42, Z:0.13 [[ 9.13811710e-01 -4.04750594e-01 -3.35427277e-02 1.52782551e+02] [ 4.04440538e-01 9.14426643e-01 -1.58671469e-02 3.84167804e+01] [ 3.70946010e-02 9.33545808e-04 9.99311322e-01 1.28972127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.676875 meters 0.018974088341273856 Centerline is valid? [True, True] Translation: X:152.84, Y:38.44, Z:0.13 [[ 9.15806768e-01 -4.00202324e-01 -3.37055236e-02 1.52835768e+02] [ 3.99885809e-01 9.16426111e-01 -1.59537537e-02 3.84435836e+01] [ 3.72733512e-02 1.13219506e-03 9.99304466e-01 1.30764181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.736875 meters 0.018719813292547256 Centerline is valid? [True, True] Translation: X:152.89, Y:38.47, Z:0.13 [[ 9.16578315e-01 -3.98469002e-01 -3.32663096e-02 1.52889397e+02] [ 3.98159242e-01 9.17181022e-01 -1.57540630e-02 3.84684943e+01] [ 3.67887337e-02 1.19454393e-03 9.99322351e-01 1.32812217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.796875 meters 0.020662111004062653 Centerline is valid? [True, True] Translation: X:152.94, Y:38.50, Z:0.13 [[ 9.18087127e-01 -3.94966008e-01 -3.34346987e-02 1.52940711e+02] [ 3.94650461e-01 9.18694743e-01 -1.58424443e-02 3.84959789e+01] [ 3.69735089e-02 1.34972491e-03 9.99315335e-01 1.32953098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.856875 meters 0.021950945028950324 Centerline is valid? [True, True] Translation: X:152.99, Y:38.52, Z:0.14 [[ 9.19460022e-01 -3.91808463e-01 -3.28541653e-02 1.52994717e+02] [ 3.91501610e-01 9.20045657e-01 -1.55717124e-02 3.85210250e+01] [ 3.63284608e-02 1.45510840e-03 9.99338844e-01 1.36028988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.916875 meters 0.02228147355648109 Centerline is valid? [True, True] Translation: X:153.05, Y:38.55, Z:0.14 [[ 9.19997422e-01 -3.90524948e-01 -3.30909028e-02 1.53047644e+02] [ 3.90212582e-01 9.20591085e-01 -1.56905886e-02 3.85455737e+01] [ 3.65907564e-02 1.52281440e-03 9.99329174e-01 1.37673932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.976875 meters 0.023365164507419836 Centerline is valid? [True, True] Translation: X:153.10, Y:38.57, Z:0.14 [[ 9.20396252e-01 -3.89604758e-01 -3.28461887e-02 1.53100400e+02] [ 3.89296227e-01 9.20980848e-01 -1.55796624e-02 3.85709509e+01] [ 3.63206213e-02 1.55256558e-03 9.99338983e-01 1.38313761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03687499999998 meters 0.025522009191711787 Centerline is valid? [True, True] Translation: X:153.15, Y:38.60, Z:0.14 [[ 9.20165294e-01 -3.90109663e-01 -3.33209009e-02 1.53151727e+02] [ 3.89792144e-01 9.20767075e-01 -1.58138336e-02 3.85974919e+01] [ 3.68499177e-02 1.56311543e-03 9.99319589e-01 1.38988994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09687499999998 meters 0.023979849215764005 Centerline is valid? [True, True] Translation: X:153.21, Y:38.62, Z:0.14 [[ 9.19883974e-01 -3.90764760e-01 -3.34122083e-02 1.53206809e+02] [ 3.90445687e-01 9.20489277e-01 -1.58637084e-02 3.86187643e+01] [ 3.69545576e-02 1.54711854e-03 9.99315749e-01 1.41179199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15687499999999 meters 0.024722361877636902 Centerline is valid? [True, True] Translation: X:153.26, Y:38.64, Z:0.14 [[ 9.19738558e-01 -3.91044943e-01 -3.41297017e-02 1.53259266e+02] [ 3.90711803e-01 9.20370230e-01 -1.62150371e-02 3.86430825e+01] [ 3.77527696e-02 1.57871756e-03 9.99285863e-01 1.42191185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.216875 meters 0.025569346634721383 Centerline is valid? [True, True] Translation: X:153.31, Y:38.67, Z:0.14 [[ 9.19479882e-01 -3.91552135e-01 -3.52657336e-02 1.53312320e+02] [ 3.91196432e-01 9.20154501e-01 -1.67644408e-02 3.86663444e+01] [ 3.90140761e-02 1.61873684e-03 9.99237350e-01 1.42476895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.276875 meters 0.02605449858804758 Centerline is valid? [True, True] Translation: X:153.37, Y:38.69, Z:0.15 [[ 9.19096807e-01 -3.92511363e-01 -3.45816361e-02 1.53366373e+02] [ 3.92169808e-01 9.19745846e-01 -1.64444957e-02 3.86904785e+01] [ 3.82609675e-02 1.55220990e-03 9.99266576e-01 1.45034336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.336875 meters 0.02196508236428949 Centerline is valid? [True, True] Translation: X:153.42, Y:38.71, Z:0.15 [[ 9.18641666e-01 -3.93626354e-01 -3.39968171e-02 1.53423275e+02] [ 3.93296654e-01 9.19269316e-01 -1.61761156e-02 3.87071941e+01] [ 3.76195763e-02 1.48921937e-03 9.99291024e-01 1.49025666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.396875 meters 0.02185001337678288 Centerline is valid? [True, True] Translation: X:153.48, Y:38.73, Z:0.15 [[ 9.18355177e-01 -3.94269806e-01 -3.42795606e-02 1.53477163e+02] [ 3.93934644e-01 9.18993534e-01 -1.63211635e-02 3.87301003e+01] [ 3.79376365e-02 1.48471845e-03 9.99279006e-01 1.50353275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.456875 meters 0.02265623358667526 Centerline is valid? [True, True] Translation: X:153.53, Y:38.75, Z:0.15 [[ 9.18136575e-01 -3.94767516e-01 -3.44069477e-02 1.53529651e+02] [ 3.94429879e-01 9.18779857e-01 -1.63904134e-02 3.87540586e+01] [ 3.80828132e-02 1.47750979e-03 9.99273494e-01 1.51262194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.516875 meters 0.022777092448749182 Centerline is valid? [True, True] Translation: X:153.58, Y:38.78, Z:0.15 [[ 9.18205566e-01 -3.94647556e-01 -3.39388408e-02 1.53583751e+02] [ 3.94318765e-01 9.18831407e-01 -1.61727418e-02 3.87778463e+01] [ 3.75666058e-02 1.46717972e-03 9.99293049e-01 1.53050792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.576875 meters 0.02231111557294496 Centerline is valid? [True, True] Translation: X:153.64, Y:38.80, Z:0.16 [[ 9.18458571e-01 -3.94131502e-01 -3.30788797e-02 1.53638192e+02] [ 3.93818478e-01 9.19052898e-01 -1.57726764e-02 3.88013500e+01] [ 3.66177489e-02 1.45947576e-03 9.99328280e-01 1.55167132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.636875 meters 0.026705501517144573 Centerline is valid? [True, True] Translation: X:153.69, Y:38.83, Z:0.15 [[ 9.19420898e-01 -3.91862371e-01 -3.33030792e-02 1.53688495e+02] [ 3.91543290e-01 9.20022512e-01 -1.58880114e-02 3.88315313e+01] [ 3.68654965e-02 1.56817253e-03 9.99319006e-01 1.54325493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.696875 meters 0.023620889005838766 Centerline is valid? [True, True] Translation: X:153.74, Y:38.85, Z:0.16 [[ 9.19944818e-01 -3.90620681e-01 -3.34217775e-02 1.53744278e+02] [ 3.90298315e-01 9.20550287e-01 -1.59497117e-02 3.88517488e+01] [ 3.69967141e-02 1.62839115e-03 9.99314060e-01 1.56127483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75687499999998 meters 0.02415774904914904 Centerline is valid? [True, True] Translation: X:153.80, Y:38.88, Z:0.16 [[ 9.20668822e-01 -3.88865355e-01 -3.39507873e-02 1.53798572e+02] [ 3.88531130e-01 9.21292964e-01 -1.62122347e-02 3.88768635e+01] [ 3.75829979e-02 1.73516130e-03 9.99292003e-01 1.56604582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81687499999998 meters 0.026344059327126947 Centerline is valid? [True, True] Translation: X:153.85, Y:38.90, Z:0.16 [[ 9.21197308e-01 -3.87644578e-01 -3.35738068e-02 1.53849487e+02] [ 3.87316655e-01 9.21807215e-01 -1.60395457e-02 3.89042001e+01] [ 3.71662202e-02 1.77189173e-03 9.99307526e-01 1.57571227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87687499999998 meters 0.024718217182611964 Centerline is valid? [True, True] Translation: X:153.90, Y:38.93, Z:0.16 [[ 9.21251514e-01 -3.87610213e-01 -3.24649175e-02 1.53903475e+02] [ 3.87303391e-01 9.21821765e-01 -1.55150709e-02 3.89252425e+01] [ 3.59406675e-02 1.71950990e-03 9.99352446e-01 1.60539072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.936875 meters 0.026601549492651443 Centerline is valid? [True, True] Translation: X:153.96, Y:38.95, Z:0.16 [[ 9.20600148e-01 -3.89202598e-01 -3.18858183e-02 1.53955487e+02] [ 3.88907200e-01 9.21150724e-01 -1.52490541e-02 3.89520666e+01] [ 3.53066161e-02 1.63765712e-03 9.99375185e-01 1.61366583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.996875 meters 0.02512487112280182 Centerline is valid? [True, True] Translation: X:154.01, Y:38.97, Z:0.16 [[ 9.19328943e-01 -3.92243570e-01 -3.12933974e-02 1.54010570e+02] [ 3.91960538e-01 9.19860170e-01 -1.49734530e-02 3.89735399e+01] [ 3.46587905e-02 1.49975189e-03 9.99398078e-01 1.61993004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.056875 meters 0.023817675456276895 Centerline is valid? [True, True] Translation: X:154.07, Y:38.99, Z:0.16 [[ 9.18139448e-01 -3.95038106e-01 -3.10620033e-02 1.54065994e+02] [ 3.94760716e-01 9.18663687e-01 -1.48663161e-02 3.89947678e+01] [ 3.44082958e-02 1.38729259e-03 9.99406896e-01 1.64080734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.116875 meters 0.020759793655576453 Centerline is valid? [True, True] Translation: X:154.12, Y:39.01, Z:0.17 [[ 9.16103429e-01 -3.99738497e-01 -3.10425776e-02 1.54123418e+02] [ 3.99463880e-01 9.16628416e-01 -1.48645900e-02 3.90121329e+01] [ 3.43964576e-02 1.21711338e-03 9.99407526e-01 1.66818277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.176875 meters 0.020698955259823848 Centerline is valid? [True, True] Translation: X:154.18, Y:39.04, Z:0.17 [[ 9.14751653e-01 -4.02819836e-01 -3.10740043e-02 1.54176635e+02] [ 4.02546318e-01 9.15278623e-01 -1.48830175e-02 3.90353150e+01] [ 3.44365465e-02 1.10553886e-03 9.99406275e-01 1.66396049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.236875 meters 0.019505275410061574 Centerline is valid? [True, True] Translation: X:154.23, Y:39.05, Z:0.17 [[ 9.13639929e-01 -4.05222395e-01 -3.25098710e-02 1.54232345e+02] [ 4.04924340e-01 9.14217520e-01 -1.55758111e-02 3.90545176e+01] [ 3.60327611e-02 1.06664484e-03 9.99350040e-01 1.68571801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.296875 meters 0.018893782147865225 Centerline is valid? [True, True] Translation: X:154.29, Y:39.08, Z:0.17 [[ 9.12865447e-01 -4.06998857e-01 -3.20719000e-02 1.54287145e+02] [ 4.06709539e-01 9.13428129e-01 -1.53754425e-02 3.90755123e+01] [ 3.55531631e-02 9.91762555e-04 9.99367294e-01 1.71285371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.356875 meters 0.018602624210977702 Centerline is valid? [True, True] Translation: X:154.34, Y:39.10, Z:0.17 [[ 9.12271915e-01 -4.08339395e-01 -3.19200870e-02 1.54340961e+02] [ 4.08053293e-01 9.12829693e-01 -1.53121799e-02 3.90988299e+01] [ 3.53901695e-02 9.43775026e-04 9.99373126e-01 1.72784136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.416875 meters 0.01725939547133697 Centerline is valid? [True, True] Translation: X:154.40, Y:39.12, Z:0.17 [[ 9.11027531e-01 -4.11135026e-01 -3.15725854e-02 1.54396714e+02] [ 4.10856468e-01 9.11574075e-01 -1.51548365e-02 3.91191960e+01] [ 3.50114345e-02 8.34672378e-04 9.99386563e-01 1.74472242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.476875 meters 0.016368404346068288 Centerline is valid? [True, True] Translation: X:154.45, Y:39.14, Z:0.18 [[ 9.10114826e-01 -4.13228726e-01 -3.05454437e-02 1.54451577e+02] [ 4.12968880e-01 9.10626969e-01 -1.46706546e-02 3.91419333e+01] [ 3.38778407e-02 7.37662616e-04 9.99425709e-01 1.78082747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53687499999998 meters 0.016828477035658172 Centerline is valid? [True, True] Translation: X:154.50, Y:39.17, Z:0.18 [[ 9.09510809e-01 -4.14622884e-01 -2.96302556e-02 1.54504356e+02] [ 4.14378868e-01 9.09993084e-01 -1.42387450e-02 3.91657586e+01] [ 3.28670372e-02 6.72140774e-04 9.99459507e-01 1.81312714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59687499999998 meters 0.016485909996453895 Centerline is valid? [True, True] Translation: X:154.56, Y:39.19, Z:0.18 [[ 9.08965271e-01 -4.15767708e-01 -3.03207796e-02 1.54558210e+02] [ 4.15512626e-01 9.09470610e-01 -1.45762617e-02 3.91890947e+01] [ 3.36361968e-02 6.50648902e-04 9.99433931e-01 1.82465841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65687499999999 meters 0.016415367808217018 Centerline is valid? [True, True] Translation: X:154.61, Y:39.21, Z:0.18 [[ 9.08702410e-01 -4.16261997e-01 -3.13987172e-02 1.54610601e+02] [ 4.15988403e-01 9.09244472e-01 -1.51042860e-02 3.92132058e+01] [ 3.48364502e-02 6.63798865e-04 9.99392806e-01 1.82582515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.716875 meters 0.016333798731884338 Centerline is valid? [True, True] Translation: X:154.66, Y:39.24, Z:0.18 [[ 9.08542023e-01 -4.16531334e-01 -3.24505668e-02 1.54664439e+02] [ 4.16238875e-01 9.09121102e-01 -1.56211724e-02 3.92378808e+01] [ 3.60082028e-02 6.85304131e-04 9.99351259e-01 1.82364053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.776875 meters 0.015809452251415747 Centerline is valid? [True, True] Translation: X:154.72, Y:39.26, Z:0.18 [[ 9.07586295e-01 -4.18527106e-01 -3.34989293e-02 1.54719046e+02] [ 4.18216418e-01 9.08204084e-01 -1.61359693e-02 3.92593162e+01] [ 3.71772050e-02 6.34982425e-04 9.99308487e-01 1.84425950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.836875 meters 0.015577080726984384 Centerline is valid? [True, True] Translation: X:154.77, Y:39.28, Z:0.19 [[ 9.07073386e-01 -4.19603635e-01 -3.39214066e-02 1.54773345e+02] [ 4.19285431e-01 9.07707233e-01 -1.63495374e-02 3.92823370e+01] [ 3.76510315e-02 6.07478625e-04 9.99290764e-01 1.86814417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.896875 meters 0.015697010858777397 Centerline is valid? [True, True] Translation: X:154.83, Y:39.31, Z:0.19 [[ 9.07330474e-01 -4.19078446e-01 -3.35360504e-02 1.54827501e+02] [ 4.18766711e-01 9.07949810e-01 -1.61735630e-02 3.93064409e+01] [ 3.72270422e-02 6.30985081e-04 9.99306634e-01 1.89773359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.956875 meters 0.015963708968997917 Centerline is valid? [True, True] Translation: X:154.88, Y:39.33, Z:0.19 [[ 9.08046308e-01 -4.17576226e-01 -3.28937267e-02 1.54880204e+02] [ 4.17274985e-01 9.08641635e-01 -1.58734108e-02 3.93322109e+01] [ 3.65169686e-02 6.88062765e-04 9.99332796e-01 1.91679366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.016875 meters 0.016355451300385525 Centerline is valid? [True, True] Translation: X:154.93, Y:39.36, Z:0.19 [[ 9.09764225e-01 -4.13714588e-01 -3.41949609e-02 1.54933350e+02] [ 4.13385969e-01 9.10406204e-01 -1.65101128e-02 3.93582750e+01] [ 3.79617791e-02 8.84592973e-04 9.99278800e-01 1.93133084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.076875 meters 0.018069881507965617 Centerline is valid? [True, True] Translation: X:154.98, Y:39.39, Z:0.19 [[ 9.10611220e-01 -4.11848956e-01 -3.41708040e-02 1.54984134e+02] [ 4.11519348e-01 9.11251615e-01 -1.65021169e-02 3.93860743e+01] [ 3.79345800e-02 9.65065831e-04 9.99279759e-01 1.94220837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.136875 meters 0.018968214819604545 Centerline is valid? [True, True] Translation: X:155.04, Y:39.41, Z:0.20 [[ 9.11548938e-01 -4.09730008e-01 -3.46389143e-02 1.55036944e+02] [ 4.09389556e-01 9.12206210e-01 -1.67338522e-02 3.94120194e+01] [ 3.84541941e-02 1.07291549e-03 9.99259788e-01 1.95823822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.196875 meters 0.019303067900521824 Centerline is valid? [True, True] Translation: X:155.09, Y:39.44, Z:0.20 [[ 9.12094881e-01 -4.08377293e-01 -3.62065683e-02 1.55090554e+02] [ 4.08003799e-01 9.12812449e-01 -1.75023769e-02 3.94371998e+01] [ 4.01973796e-02 1.19141098e-03 9.99191048e-01 1.96683901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25687499999998 meters 0.021116628111305005 Centerline is valid? [True, True] Translation: X:155.14, Y:39.47, Z:0.20 [[ 9.13356731e-01 -4.05502562e-01 -3.67035928e-02 1.55143504e+02] [ 4.05115983e-01 9.14092917e-01 -1.77532842e-02 3.94652893e+01] [ 4.07494965e-02 1.34586954e-03 9.99168488e-01 1.96980624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31687499999998 meters 0.02170986443354124 Centerline is valid? [True, True] Translation: X:155.20, Y:39.49, Z:0.20 [[ 9.14268996e-01 -4.03492910e-01 -3.61341109e-02 1.55196671e+02] [ 4.03116285e-01 9.14981666e-01 -1.74874728e-02 3.94903330e+01] [ 4.01181203e-02 1.42200567e-03 9.99193932e-01 2.00718937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37687499999998 meters 0.023017601531132977 Centerline is valid? [True, True] Translation: X:155.25, Y:39.52, Z:0.20 [[ 9.14685035e-01 -4.02633842e-01 -3.51749459e-02 1.55248620e+02] [ 4.02275992e-01 9.15360011e-01 -1.70316555e-02 3.95153911e+01] [ 3.90552597e-02 1.42856414e-03 9.99236031e-01 2.03527888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.436875 meters 0.02297391542570904 Centerline is valid? [True, True] Translation: X:155.30, Y:39.54, Z:0.21 [[ 9.14170962e-01 -4.03834405e-01 -3.47739238e-02 1.55302667e+02] [ 4.03485332e-01 9.14831081e-01 -1.68428267e-02 3.95398604e+01] [ 3.86139792e-02 1.36645491e-03 9.99253268e-01 2.05674321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.496875 meters 0.021527782644997155 Centerline is valid? [True, True] Translation: X:155.36, Y:39.56, Z:0.21 [[ 9.12323946e-01 -4.08009070e-01 -3.45487565e-02 1.55358355e+02] [ 4.07667126e-01 9.12977097e-01 -1.67431781e-02 3.95613536e+01] [ 3.83735919e-02 1.19081000e-03 9.99262753e-01 2.07810028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.556875 meters 0.019633918176652245 Centerline is valid? [True, True] Translation: X:155.41, Y:39.58, Z:0.21 [[ 9.09718089e-01 -4.13654577e-01 -3.60955553e-02 1.55413086e+02] [ 4.13285414e-01 9.10433350e-01 -1.75008988e-02 3.95809159e+01] [ 4.01019242e-02 1.00311772e-03 9.99195091e-01 2.07710576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.616875 meters 0.01794190303864228 Centerline is valid? [True, True] Translation: X:155.47, Y:39.60, Z:0.21 [[ 9.07731920e-01 -4.17956624e-01 -3.65379473e-02 1.55468382e+02] [ 4.17581688e-01 9.08466608e-01 -1.77188063e-02 3.96017429e+01] [ 4.05991976e-02 8.26348390e-04 9.99175171e-01 2.08519074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.676875 meters 0.015241020588658411 Centerline is valid? [True, True] Translation: X:155.53, Y:39.62, Z:0.21 [[ 9.04938703e-01 -4.23929530e-01 -3.70094278e-02 1.55525387e+02] [ 4.23549703e-01 9.05694998e-01 -1.79504704e-02 3.96190107e+01] [ 4.11289881e-02 5.68743277e-04 9.99153683e-01 2.10975533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.736875 meters 0.015209021942188011 Centerline is valid? [True, True] Translation: X:155.58, Y:39.64, Z:0.21 [[ 9.03591460e-01 -4.26835965e-01 -3.65175707e-02 1.55578084e+02] [ 4.26468407e-01 9.04328962e-01 -1.77151536e-02 3.96421197e+01] [ 4.05853614e-02 4.33671306e-04 9.99175981e-01 2.11166261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.796875 meters 0.013757670774094318 Centerline is valid? [True, True] Translation: X:155.63, Y:39.66, Z:0.22 [[ 9.01282868e-01 -4.31709004e-01 -3.62839868e-02 1.55634667e+02] [ 4.31349844e-01 9.02012909e-01 -1.76075008e-02 3.96611616e+01] [ 4.03299411e-02 2.18246749e-04 9.99186393e-01 2.16364454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.856875 meters 0.013872239532811253 Centerline is valid? [True, True] Translation: X:155.69, Y:39.68, Z:0.22 [[ 9.00100323e-01 -4.34227533e-01 -3.55789028e-02 1.55687953e+02] [ 4.33883859e-01 9.00803218e-01 -1.72730864e-02 3.96830525e+01] [ 3.95500398e-02 1.10398993e-04 9.99217585e-01 2.16526062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.916875 meters 0.01359313507163171 Centerline is valid? [True, True] Translation: X:155.74, Y:39.71, Z:0.22 [[ 8.99889628e-01 -4.34612757e-01 -3.61995769e-02 1.55741976e+02] [ 4.34257054e-01 9.00617422e-01 -1.75803844e-02 3.97064521e+01] [ 4.02426290e-02 1.00483999e-04 9.99189932e-01 2.21462925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.976875 meters 0.01367516873169217 Centerline is valid? [True, True] Translation: X:155.79, Y:39.73, Z:0.22 [[ 9.00764253e-01 -4.32858954e-01 -3.54525924e-02 1.55794628e+02] [ 4.32516001e-01 9.01461642e-01 -1.72283878e-02 3.97319236e+01] [ 3.94166141e-02 1.84902390e-04 9.99222846e-01 2.22736218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03687499999998 meters 0.013865992037768017 Centerline is valid? [True, True] Translation: X:155.85, Y:39.76, Z:0.22 [[ 9.01563041e-01 -4.31192638e-01 -3.54540901e-02 1.55847179e+02] [ 4.30847911e-01 9.02259850e-01 -1.72406645e-02 3.97578272e+01] [ 3.94228496e-02 2.68225248e-04 9.99222581e-01 2.24519609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09687499999998 meters 0.014271004089124687 Centerline is valid? [True, True] Translation: X:155.90, Y:39.78, Z:0.23 [[ 9.02760679e-01 -4.28699445e-01 -3.52128157e-02 1.55898516e+02] [ 4.28357163e-01 9.03447088e-01 -1.71318633e-02 3.97835354e+01] [ 3.91573361e-02 3.82310665e-04 9.99232984e-01 2.26679249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15687499999999 meters 0.014738957973384103 Centerline is valid? [True, True] Translation: X:155.95, Y:39.81, Z:0.23 [[ 9.03525543e-01 -4.27100024e-01 -3.50308916e-02 1.55950125e+02] [ 4.26759925e-01 9.04204272e-01 -1.70470413e-02 3.98090863e+01] [ 3.89558736e-02 4.52656572e-04 9.99240829e-01 2.29499828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.216875 meters 0.014818121676011164 Centerline is valid? [True, True] Translation: X:156.00, Y:39.83, Z:0.23 [[ 9.03633410e-01 -4.26860322e-01 -3.51699474e-02 1.56003481e+02] [ 4.26517115e-01 9.04317447e-01 -1.71203360e-02 3.98341914e+01] [ 3.91127892e-02 4.69923139e-04 9.99234692e-01 2.30282813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.276875 meters 0.014964775364141347 Centerline is valid? [True, True] Translation: X:156.05, Y:39.86, Z:0.23 [[ 9.03655362e-01 -4.26835382e-01 -3.49076277e-02 1.56054580e+02] [ 4.26496890e-01 9.04329215e-01 -1.70021439e-02 3.98587362e+01] [ 3.88251041e-02 4.76083796e-04 9.99245908e-01 2.31875181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.336875 meters 0.014915257912544938 Centerline is valid? [True, True] Translation: X:156.11, Y:39.88, Z:0.23 [[ 9.03510806e-01 -4.27049566e-01 -3.60123694e-02 1.56107828e+02] [ 4.26689192e-01 9.04228085e-01 -1.75471747e-02 3.98827146e+01] [ 4.00569092e-02 4.87973142e-04 9.99197281e-01 2.32738632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.396875 meters 0.014239402659928345 Centerline is valid? [True, True] Translation: X:156.16, Y:39.91, Z:0.23 [[ 9.02351081e-01 -4.29480103e-01 -3.61852023e-02 1.56162055e+02] [ 4.29117967e-01 9.03076238e-01 -1.76374294e-02 3.99055511e+01] [ 4.02529213e-02 3.87433081e-04 9.99189448e-01 2.34623034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.456875 meters 0.013825795768008898 Centerline is valid? [True, True] Translation: X:156.22, Y:39.92, Z:0.24 [[ 8.95976347e-01 -4.42679889e-01 -3.55091712e-02 1.56219218e+02] [ 4.42341115e-01 8.96679697e-01 -1.73164354e-02 3.99197458e+01] [ 3.95059906e-02 -1.92049887e-04 9.99219315e-01 2.38704242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.516875 meters 0.014832248197502416 Centerline is valid? [True, True] Translation: X:156.27, Y:39.94, Z:0.24 [[ 8.92622133e-01 -4.49281668e-01 -3.70366045e-02 1.56274480e+02] [ 4.48918507e-01 8.93390024e-01 -1.80676345e-02 3.99408261e+01] [ 4.12055899e-02 -4.98846776e-04 9.99150564e-01 2.37339317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.576875 meters 0.014978696805898082 Centerline is valid? [True, True] Translation: X:156.33, Y:39.97, Z:0.24 [[ 8.91966883e-01 -4.50527468e-01 -3.76839491e-02 1.56328074e+02] [ 4.50152139e-01 8.92762393e-01 -1.83945727e-02 3.99664628e+01] [ 4.19300729e-02 -5.56160573e-04 9.99120393e-01 2.37819817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.636875 meters 0.014634700948105433 Centerline is valid? [True, True] Translation: X:156.38, Y:39.99, Z:0.24 [[ 8.92743089e-01 -4.49052628e-01 -3.68987070e-02 1.56381776e+02] [ 4.48691098e-01 8.93505187e-01 -1.80216405e-02 3.99918667e+01] [ 4.10618511e-02 -4.67426321e-04 9.99156497e-01 2.41409693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.696875 meters 0.01387281319459587 Centerline is valid? [True, True] Translation: X:156.43, Y:40.02, Z:0.25 [[ 8.94785619e-01 -4.45054135e-01 -3.58540524e-02 1.56433184e+02] [ 4.44709190e-01 8.95503627e-01 -1.75211524e-02 4.00199720e+01] [ 3.99052953e-02 -2.66951403e-04 9.99203431e-01 2.45137158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75687499999998 meters 0.01356894202812494 Centerline is valid? [True, True] Translation: X:156.48, Y:40.05, Z:0.25 [[ 8.97556127e-01 -4.39416363e-01 -3.61422006e-02 1.56483726e+02] [ 4.39060838e-01 8.98283507e-01 -1.76726104e-02 4.00513041e+01] [ 4.02315769e-02 -6.46513349e-06 9.99190382e-01 2.45557505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81687499999998 meters 0.014468396425726868 Centerline is valid? [True, True] Translation: X:156.53, Y:40.09, Z:0.24 [[ 9.01709751e-01 -4.30875478e-01 -3.55787496e-02 1.56531214e+02] [ 4.30523951e-01 9.02411314e-01 -1.74054001e-02 4.00865814e+01] [ 3.96062262e-02 3.77115122e-04 9.99215294e-01 2.43916833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87687499999998 meters 0.015120629482318218 Centerline is valid? [True, True] Translation: X:156.58, Y:40.12, Z:0.25 [[ 9.02841835e-01 -4.28546698e-01 -3.49906908e-02 1.56581981e+02] [ 4.28204809e-01 9.03519509e-01 -1.71212965e-02 4.01155518e+01] [ 3.89520468e-02 4.74640735e-04 9.99240968e-01 2.46378729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.936875 meters 0.015445243182986887 Centerline is valid? [True, True] Translation: X:156.63, Y:40.15, Z:0.25 [[ 9.04537939e-01 -4.25005739e-01 -3.43691604e-02 1.56632996e+02] [ 4.24673126e-01 9.05190442e-01 -1.68226115e-02 4.01453182e+01] [ 3.82603419e-02 6.21031584e-04 9.99267612e-01 2.51073390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.996875 meters 0.017330136193839253 Centerline is valid? [True, True] Translation: X:156.68, Y:40.18, Z:0.25 [[ 9.06724438e-01 -4.20392463e-01 -3.34809097e-02 1.56681532e+02] [ 4.20073361e-01 9.07342016e-01 -1.63962705e-02 4.01791747e+01] [ 3.72715046e-02 8.02460917e-04 9.99304854e-01 2.51755045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.056875 meters 0.018364798121847027 Centerline is valid? [True, True] Translation: X:156.73, Y:40.21, Z:0.25 [[ 9.07579672e-01 -4.18542186e-01 -3.34899520e-02 1.56732492e+02] [ 4.18221443e-01 9.08196926e-01 -1.64063158e-02 4.02090776e+01] [ 3.72822067e-02 8.83822676e-04 9.99304386e-01 2.51760557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.116875 meters 0.017824721719035864 Centerline is valid? [True, True] Translation: X:156.79, Y:40.23, Z:0.25 [[ 9.08027340e-01 -4.17533805e-01 -3.39392429e-02 1.56785278e+02] [ 4.17203303e-01 9.08660896e-01 -1.66366708e-02 4.02348132e+01] [ 3.77856353e-02 9.46987639e-04 9.99285419e-01 2.54483165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.176875 meters 0.017313859504823483 Centerline is valid? [True, True] Translation: X:156.84, Y:40.26, Z:0.26 [[ 9.06571226e-01 -4.20730731e-01 -3.33806024e-02 1.56837622e+02] [ 4.20412871e-01 9.07185207e-01 -1.63712721e-02 4.02598423e+01] [ 3.71702859e-02 8.08089301e-04 9.99308619e-01 2.56592913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.236875 meters 0.015487540588626666 Centerline is valid? [True, True] Translation: X:156.89, Y:40.28, Z:0.26 [[ 9.04287021e-01 -4.25541001e-01 -3.43488176e-02 1.56892270e+02] [ 4.25207748e-01 9.04938925e-01 -1.68497259e-02 4.02826955e+01] [ 3.82538313e-02 6.31605050e-04 9.99267855e-01 2.57706615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.296875 meters 0.01494475890253263 Centerline is valid? [True, True] Translation: X:156.95, Y:40.31, Z:0.26 [[ 9.03268972e-01 -4.27608028e-01 -3.54476788e-02 1.56945120e+02] [ 4.27254476e-01 9.03964078e-01 -1.73942186e-02 4.03085845e+01] [ 3.94813358e-02 5.66478507e-04 9.99220148e-01 2.56853901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.356875 meters 0.014532462788908736 Centerline is valid? [True, True] Translation: X:157.00, Y:40.33, Z:0.26 [[ 9.02008282e-01 -4.30298172e-01 -3.49934503e-02 1.56997067e+02] [ 4.29955317e-01 9.02686701e-01 -1.71797969e-02 4.03335013e+01] [ 3.89805574e-02 4.50699096e-04 9.99239868e-01 2.58751427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.416875 meters 0.01414494932276469 Centerline is valid? [True, True] Translation: X:157.05, Y:40.36, Z:0.26 [[ 9.01321942e-01 -4.31749985e-01 -3.47952320e-02 1.57050409e+02] [ 4.31411866e-01 9.01993236e-01 -1.70881199e-02 4.03588184e+01] [ 3.87628594e-02 3.90821402e-04 9.99248362e-01 2.63463129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.476875 meters 0.013912167832815975 Centerline is valid? [True, True] Translation: X:157.10, Y:40.39, Z:0.27 [[ 9.00448468e-01 -4.33649277e-01 -3.37766348e-02 1.57102485e+02] [ 4.33331635e-01 9.01081688e-01 -1.65977459e-02 4.03853855e+01] [ 3.76331076e-02 3.08930441e-04 9.99291576e-01 2.65986821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53687499999998 meters 0.014025914662975899 Centerline is valid? [True, True] Translation: X:157.15, Y:40.41, Z:0.27 [[ 9.00447343e-01 -4.33648093e-01 -3.38218028e-02 1.57153577e+02] [ 4.33329208e-01 9.01082255e-01 -1.66303180e-02 4.04135688e+01] [ 3.76879321e-02 3.18750621e-04 9.99289507e-01 2.66510970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59687499999998 meters 0.014116883763106262 Centerline is valid? [True, True] Translation: X:157.21, Y:40.44, Z:0.27 [[ 9.00921832e-01 -4.32635223e-01 -3.41557715e-02 1.57205925e+02] [ 4.32308847e-01 9.01568979e-01 -1.68058631e-02 4.04415594e+01] [ 3.80645924e-02 3.74926794e-04 9.99275210e-01 2.68181528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65687499999999 meters 0.014675307837311446 Centerline is valid? [True, True] Translation: X:157.26, Y:40.47, Z:0.27 [[ 9.02007864e-01 -4.30342838e-01 -3.44507742e-02 1.57256418e+02] [ 4.30008793e-01 9.02665391e-01 -1.69596485e-02 4.04711680e+01] [ 3.83959848e-02 4.83600488e-04 9.99262485e-01 2.68802489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.716875 meters 0.01519981007909546 Centerline is valid? [True, True] Translation: X:157.31, Y:40.50, Z:0.27 [[ 9.03337709e-01 -4.27566116e-01 -3.41789356e-02 1.57307564e+02] [ 4.27235123e-01 9.03983879e-01 -1.68313956e-02 4.05016093e+01] [ 3.80937413e-02 6.01992589e-04 9.99273989e-01 2.70676380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.776875 meters 0.015957877305429302 Centerline is valid? [True, True] Translation: X:157.36, Y:40.53, Z:0.27 [[ 9.04157166e-01 -4.25779954e-01 -3.48030179e-02 1.57358515e+02] [ 4.25435095e-01 9.04826472e-01 -1.71474634e-02 4.05298487e+01] [ 3.87917381e-02 6.97576671e-04 9.99247074e-01 2.72832407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.836875 meters 0.016682157595544648 Centerline is valid? [True, True] Translation: X:157.41, Y:40.56, Z:0.27 [[ 9.05090941e-01 -4.23727276e-01 -3.55750504e-02 1.57409960e+02] [ 4.23365121e-01 9.05789458e-01 -1.75337445e-02 4.05580135e+01] [ 3.96530314e-02 8.08397788e-04 9.99213182e-01 2.73695598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.896875 meters 0.01747102335333861 Centerline is valid? [True, True] Translation: X:157.46, Y:40.59, Z:0.27 [[ 9.05800856e-01 -4.22174762e-01 -3.59621851e-02 1.57462007e+02] [ 4.21803026e-01 9.06514020e-01 -1.77352651e-02 4.05854552e+01] [ 4.00876063e-02 8.95659809e-04 9.99195767e-01 2.74685613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.956875 meters 0.018139677849283047 Centerline is valid? [True, True] Translation: X:157.51, Y:40.61, Z:0.28 [[ 9.06807335e-01 -4.19918586e-01 -3.69978120e-02 1.57514240e+02] [ 4.19522854e-01 9.07561190e-01 -1.82554202e-02 4.06118647e+01] [ 4.12435685e-02 1.03272127e-03 9.99148588e-01 2.76242956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.016875 meters 0.01854357876859672 Centerline is valid? [True, True] Translation: X:157.57, Y:40.64, Z:0.28 [[ 9.07409104e-01 -4.18657556e-01 -3.65317394e-02 1.57566782e+02] [ 4.18270505e-01 9.08143536e-01 -1.80306014e-02 4.06372973e+01] [ 4.07247105e-02 1.08098275e-03 9.99169820e-01 2.78766489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.076875 meters 0.01850871689865013 Centerline is valid? [True, True] Translation: X:157.62, Y:40.66, Z:0.28 [[ 9.07587165e-01 -4.18285328e-01 -3.63720065e-02 1.57620818e+02] [ 4.17901108e-01 9.08315021e-01 -1.79578977e-02 4.06616745e+01] [ 4.05487650e-02 1.09845560e-03 9.99176957e-01 2.82678725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.136875 meters 0.018732907605631396 Centerline is valid? [True, True] Translation: X:157.67, Y:40.69, Z:0.28 [[ 9.07425191e-01 -4.18599392e-01 -3.67977174e-02 1.57673691e+02] [ 4.18205899e-01 9.08170316e-01 -1.81797819e-02 4.06862899e+01] [ 4.10286403e-02 1.10776963e-03 9.99157357e-01 2.83588761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.196875 meters 0.018948921888965485 Centerline is valid? [True, True] Translation: X:157.73, Y:40.71, Z:0.29 [[ 9.07721903e-01 -4.18046011e-01 -3.57558314e-02 1.57727075e+02] [ 4.17673602e-01 9.08425175e-01 -1.76766531e-02 4.07107137e+01] [ 3.98711517e-02 1.11121828e-03 9.99204212e-01 2.86178662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25687499999998 meters 0.018809698359891117 Centerline is valid? [True, True] Translation: X:157.78, Y:40.74, Z:0.29 [[ 9.08065213e-01 -4.17303421e-01 -3.57130705e-02 1.57780884e+02] [ 4.16930895e-01 9.08766487e-01 -1.76664093e-02 4.07354383e+01] [ 3.98270946e-02 1.15236932e-03 9.99205922e-01 2.88856348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31687499999998 meters 0.019645476659632278 Centerline is valid? [True, True] Translation: X:157.83, Y:40.76, Z:0.29 [[ 9.08129741e-01 -4.17087785e-01 -3.65807720e-02 1.57833587e+02] [ 4.16696381e-01 9.08865415e-01 -1.81047628e-02 4.07590303e+01] [ 4.07982739e-02 1.19839821e-03 9.99166685e-01 2.89677495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37687499999998 meters 0.01882755167444311 Centerline is valid? [True, True] Translation: X:157.89, Y:40.78, Z:0.29 [[ 9.07210571e-01 -4.19059344e-01 -3.68543833e-02 1.57887698e+02] [ 4.18663421e-01 9.07958151e-01 -1.82465593e-02 4.07819203e+01] [ 4.11086289e-02 1.12388932e-03 9.99154051e-01 2.90994886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.436875 meters 0.018398998340260757 Centerline is valid? [True, True] Translation: X:157.94, Y:40.80, Z:0.30 [[ 9.05857680e-01 -4.22100847e-01 -3.53940514e-02 1.57941518e+02] [ 4.21737679e-01 9.06548379e-01 -1.75318537e-02 4.08029285e+01] [ 3.94866303e-02 9.54359186e-04 9.99219643e-01 2.95082240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.496875 meters 0.018113235908181497 Centerline is valid? [True, True] Translation: X:158.00, Y:40.83, Z:0.30 [[ 9.05411377e-01 -4.23093176e-01 -3.49628819e-02 1.57995527e+02] [ 4.22739327e-01 9.06085727e-01 -1.73238652e-02 4.08275023e+01] [ 3.90089774e-02 9.05039439e-04 9.99238450e-01 2.97587145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.556875 meters 0.016399006872401135 Centerline is valid? [True, True] Translation: X:158.05, Y:40.85, Z:0.30 [[ 9.03849807e-01 -4.26491040e-01 -3.40722640e-02 1.58051132e+02] [ 4.26157105e-01 9.04491479e-01 -1.68904272e-02 4.08481753e+01] [ 3.80216883e-02 7.46272025e-04 9.99276636e-01 2.99353070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.616875 meters 0.01538222060158482 Centerline is valid? [True, True] Translation: X:158.11, Y:40.87, Z:0.30 [[ 9.02598583e-01 -4.29100106e-01 -3.44803779e-02 1.58106354e+02] [ 4.28759821e-01 9.03256707e-01 -1.70978771e-02 4.08701432e+01] [ 3.84813335e-02 6.48719038e-04 9.99259109e-01 3.00683464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.676875 meters 0.01470020995402194 Centerline is valid? [True, True] Translation: X:158.16, Y:40.89, Z:0.30 [[ 9.00462104e-01 -4.33554118e-01 -3.46240755e-02 1.58161846e+02] [ 4.33213938e-01 9.01127409e-01 -1.71777904e-02 4.08891808e+01] [ 3.86482052e-02 4.68317200e-04 9.99252769e-01 3.02932469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.736875 meters 0.013981263563962015 Centerline is valid? [True, True] Translation: X:158.22, Y:40.91, Z:0.30 [[ 8.98851891e-01 -4.36788781e-01 -3.57888156e-02 1.58217349e+02] [ 4.36427645e-01 8.99564029e-01 -1.77614539e-02 4.09109693e+01] [ 3.99523349e-02 3.45687911e-04 9.99201527e-01 3.04375834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.796875 meters 0.013861288783006393 Centerline is valid? [True, True] Translation: X:158.27, Y:40.93, Z:0.30 [[ 8.97989724e-01 -4.38530413e-01 -3.61321554e-02 1.58271433e+02] [ 4.38163286e-01 8.98716306e-01 -1.79425951e-02 4.09338568e+01] [ 4.03409308e-02 2.80482130e-04 9.99185934e-01 3.04959531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.856875 meters 0.013880144383623297 Centerline is valid? [True, True] Translation: X:158.32, Y:40.96, Z:0.31 [[ 8.98387850e-01 -4.37746512e-01 -3.57388087e-02 1.58323557e+02] [ 4.37386238e-01 8.99098374e-01 -1.77592708e-02 4.09596794e+01] [ 3.99067637e-02 3.23049984e-04 9.99203356e-01 3.06597106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.916875 meters 0.014583198337023413 Centerline is valid? [True, True] Translation: X:158.37, Y:40.99, Z:0.31 [[ 9.00283475e-01 -4.33909435e-01 -3.48176119e-02 1.58374449e+02] [ 4.33564189e-01 9.00956359e-01 -1.73127991e-02 4.09895321e+01] [ 3.88813358e-02 4.90757228e-04 9.99243714e-01 3.08585586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97687499999998 meters 0.014696606504560328 Centerline is valid? [True, True] Translation: X:158.43, Y:41.02, Z:0.31 [[ 9.00490719e-01 -4.33495893e-01 -3.46088888e-02 1.58425920e+02] [ 4.33154049e-01 9.01155394e-01 -1.72198892e-02 4.10164409e+01] [ 3.86527381e-02 5.15370091e-04 9.99252571e-01 3.11139009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03687499999998 meters 0.015584465000588302 Centerline is valid? [True, True] Translation: X:158.48, Y:41.05, Z:0.31 [[ 9.01230829e-01 -4.31829216e-01 -3.61458354e-02 1.58475888e+02] [ 4.31454566e-01 9.01955177e-01 -1.79948863e-02 4.10464726e+01] [ 4.03726410e-02 6.22260590e-04 9.99184499e-01 3.07647343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09687499999998 meters 0.016300896128599397 Centerline is valid? [True, True] Translation: X:158.53, Y:41.08, Z:0.31 [[ 9.02062918e-01 -4.30003960e-01 -3.71360411e-02 1.58525591e+02] [ 4.29606767e-01 9.02826708e-01 -1.84921643e-02 4.10757417e+01] [ 4.14791136e-02 7.27201087e-04 9.99139107e-01 3.06225849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15687499999999 meters 0.017116655065792092 Centerline is valid? [True, True] Translation: X:158.58, Y:41.11, Z:0.31 [[ 9.03011423e-01 -4.28035004e-01 -3.68294178e-02 1.58576564e+02] [ 4.27642432e-01 9.03761787e-01 -1.83461913e-02 4.11054830e+01] [ 4.11378325e-02 8.16998483e-04 9.99153147e-01 3.08585068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.216875 meters 0.017382009647743567 Centerline is valid? [True, True] Translation: X:158.63, Y:41.13, Z:0.31 [[ 9.03359399e-01 -4.27367839e-01 -3.60350655e-02 1.58628733e+02] [ 4.26991070e-01 9.04077445e-01 -1.79610551e-02 4.11333016e+01] [ 4.02544673e-02 8.38636793e-04 9.99189109e-01 3.11029324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.276875 meters 0.018525780076003136 Centerline is valid? [True, True] Translation: X:158.68, Y:41.16, Z:0.31 [[ 9.04319393e-01 -4.25412015e-01 -3.50863546e-02 1.58679015e+02] [ 4.25052957e-01 9.04999330e-01 -1.74984564e-02 4.11646731e+01] [ 3.91971810e-02 9.10634745e-04 9.99231080e-01 3.11278330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.336875 meters 0.018523947502338354 Centerline is valid? [True, True] Translation: X:158.73, Y:41.19, Z:0.31 [[ 9.04691341e-01 -4.24657882e-01 -3.46303377e-02 1.58730801e+02] [ 4.24307155e-01 9.05353411e-01 -1.72811915e-02 4.11926863e+01] [ 3.86912885e-02 9.40244315e-04 9.99250769e-01 3.13032883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.396875 meters 0.018169661291778348 Centerline is valid? [True, True] Translation: X:158.78, Y:41.22, Z:0.32 [[ 9.04461782e-01 -4.25154710e-01 -3.45305365e-02 1.58782521e+02] [ 4.24805946e-01 9.05120221e-01 -1.72422090e-02 4.12193704e+01] [ 3.85848932e-02 9.26141821e-04 9.99254897e-01 3.15331232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.456875 meters 0.017504733381505783 Centerline is valid? [True, True] Translation: X:158.83, Y:41.25, Z:0.32 [[ 9.04037141e-01 -4.26082095e-01 -3.42183662e-02 1.58834886e+02] [ 4.25739834e-01 9.04684066e-01 -1.70978027e-02 4.12453489e+01] [ 3.82418783e-02 8.88927120e-04 9.99268116e-01 3.18347432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.516875 meters 0.017064170832027454 Centerline is valid? [True, True] Translation: X:158.89, Y:41.27, Z:0.32 [[ 9.02783866e-01 -4.28787617e-01 -3.35032961e-02 1.58886721e+02] [ 4.28460995e-01 9.03404998e-01 -1.67506836e-02 4.12723111e+01] [ 3.74495309e-02 7.67391310e-04 9.99298226e-01 3.19244812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.576875 meters 0.015740175686624457 Centerline is valid? [True, True] Translation: X:158.94, Y:41.30, Z:0.32 [[ 9.01257826e-01 -4.31977581e-01 -3.36110237e-02 1.58941279e+02] [ 4.31650732e-01 9.01884113e-01 -1.68134574e-02 4.12956908e+01] [ 3.75762849e-02 6.45037060e-04 9.99293554e-01 3.21933060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.636875 meters 0.014657861476912521 Centerline is valid? [True, True] Translation: X:159.00, Y:41.32, Z:0.32 [[ 8.98336123e-01 -4.38100704e-01 -3.25573901e-02 1.58995489e+02] [ 4.37797878e-01 8.98925819e-01 -1.62907940e-02 4.13192858e+01] [ 3.64036869e-02 3.81052462e-04 9.99337093e-01 3.24189024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.696875 meters 0.01389919831620854 Centerline is valid? [True, True] Translation: X:159.05, Y:41.34, Z:0.33 [[ 8.95566260e-01 -4.43779723e-01 -3.19473268e-02 1.59048529e+02] [ 4.43491642e-01 8.96135891e-01 -1.59883804e-02 4.13418568e+01] [ 3.57244652e-02 1.50281611e-04 9.99361666e-01 3.27184147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75687499999998 meters 0.013795479278577107 Centerline is valid? [True, True] Translation: X:159.10, Y:41.37, Z:0.33 [[ 8.94109094e-01 -4.46731297e-01 -3.16239778e-02 1.59102026e+02] [ 4.46450700e-01 8.94668177e-01 -1.58311366e-02 4.13663607e+01] [ 3.53652307e-02 3.62161635e-05 9.99374454e-01 3.28950088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81687499999998 meters 0.013886541153712172 Centerline is valid? [True, True] Translation: X:159.15, Y:41.39, Z:0.33 [[ 8.92662300e-01 -4.49652768e-01 -3.10870692e-02 1.59153967e+02] [ 4.49383076e-01 8.93203439e-01 -1.55713836e-02 4.13913518e+01] [ 3.47687929e-02 -7.00156924e-05 9.99395380e-01 3.30786827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87687499999998 meters 0.014009546172237385 Centerline is valid? [True, True] Translation: X:159.20, Y:41.42, Z:0.33 [[ 8.92693466e-01 -4.49587292e-01 -3.11390725e-02 1.59204835e+02] [ 4.49316302e-01 8.93236398e-01 -1.56076224e-02 4.14185683e+01] [ 3.48315416e-02 -5.84703813e-05 9.99393196e-01 3.32960242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.936875 meters 0.013830389309356336 Centerline is valid? [True, True] Translation: X:159.26, Y:41.45, Z:0.33 [[ 8.93104890e-01 -4.48732539e-01 -3.16664457e-02 1.59256233e+02] [ 4.48451362e-01 8.93666106e-01 -1.58829253e-02 4.14457574e+01] [ 3.54264146e-02 -1.57424722e-05 9.99372287e-01 3.33974238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.996875 meters 0.01405814625320956 Centerline is valid? [True, True] Translation: X:159.31, Y:41.47, Z:0.33 [[ 8.93526760e-01 -4.47885455e-01 -3.17576548e-02 1.59307529e+02] [ 4.47601729e-01 8.94090945e-01 -1.59396942e-02 4.14737525e+01] [ 3.55333888e-02 2.77621561e-05 9.99368489e-01 3.34556182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.056875 meters 0.014087686672450599 Centerline is valid? [True, True] Translation: X:159.36, Y:41.50, Z:0.34 [[ 8.93822479e-01 -4.47247295e-01 -3.24227383e-02 1.59359147e+02] [ 4.46950787e-01 8.94410338e-01 -1.62831491e-02 4.14998868e+01] [ 3.62818267e-02 6.28762948e-05 9.99341596e-01 3.35574992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.116875 meters 0.01418571963072912 Centerline is valid? [True, True] Translation: X:159.41, Y:41.53, Z:0.34 [[ 8.94068580e-01 -4.46694393e-01 -3.32489523e-02 1.59412247e+02] [ 4.46381996e-01 8.94686599e-01 -1.67033990e-02 4.15261678e+01] [ 3.72087067e-02 9.22505292e-05 9.99307512e-01 3.37779538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.176875 meters 0.014139277717885215 Centerline is valid? [True, True] Translation: X:159.46, Y:41.55, Z:0.34 [[ 8.94307083e-01 -4.46239942e-01 -3.29356313e-02 1.59464636e+02] [ 4.45932723e-01 8.94913348e-01 -1.65561638e-02 4.15522703e+01] [ 3.68625576e-02 1.19218773e-04 9.99320338e-01 3.38327858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.236875 meters 0.014084363758003383 Centerline is valid? [True, True] Translation: X:159.52, Y:41.58, Z:0.34 [[ 8.94342092e-01 -4.46199754e-01 -3.25269378e-02 1.59516949e+02] [ 4.45899690e-01 8.94933384e-01 -1.63616690e-02 4.15771715e+01] [ 3.64100152e-02 1.29177831e-04 9.99336927e-01 3.40777489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.296875 meters 0.014281046659601039 Centerline is valid? [True, True] Translation: X:159.57, Y:41.60, Z:0.34 [[ 8.94511066e-01 -4.45892919e-01 -3.20851689e-02 1.59569592e+02] [ 4.45600369e-01 8.95086299e-01 -1.61501895e-02 4.16026530e+01] [ 3.59202502e-02 1.49360158e-04 9.99354648e-01 3.42780235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.356875 meters 0.014229421941795514 Centerline is valid? [True, True] Translation: X:159.62, Y:41.63, Z:0.35 [[ 8.94961090e-01 -4.44939204e-01 -3.27681571e-02 1.59622053e+02] [ 4.44633023e-01 8.95560754e-01 -1.65048562e-02 4.16289017e+01] [ 3.66895331e-02 2.01399313e-04 9.99326692e-01 3.45248892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.416875 meters 0.014652855943610047 Centerline is valid? [True, True] Translation: X:159.67, Y:41.66, Z:0.35 [[ 8.96293596e-01 -4.42200706e-01 -3.34114558e-02 1.59673567e+02] [ 4.41880094e-01 8.96916065e-01 -1.68391149e-02 4.16568522e+01] [ 3.74135399e-02 3.28933590e-04 9.99299814e-01 3.45693928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47687499999998 meters 0.01555848638620832 Centerline is valid? [True, True] Translation: X:159.72, Y:41.68, Z:0.35 [[ 8.97904632e-01 -4.38812871e-01 -3.47927699e-02 1.59724609e+02] [ 4.38462278e-01 8.98578331e-01 -1.75446391e-02 4.16848403e+01] [ 3.89628425e-02 4.98095567e-04 9.99240536e-01 3.45105036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53687499999998 meters 0.015729791778816168 Centerline is valid? [True, True] Translation: X:159.78, Y:41.71, Z:0.35 [[ 8.98475175e-01 -4.37664807e-01 -3.45235623e-02 1.59776962e+02] [ 4.37318507e-01 8.99138040e-01 -1.74157566e-02 4.17115169e+01] [ 3.86637119e-02 5.49832252e-04 9.99252128e-01 3.47542664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59687499999998 meters 0.016302147717233584 Centerline is valid? [True, True] Translation: X:159.83, Y:41.74, Z:0.35 [[ 8.99038319e-01 -4.36549709e-01 -3.39772483e-02 1.59830370e+02] [ 4.36213108e-01 8.99679940e-01 -1.71502219e-02 4.17373041e+01] [ 3.80555731e-02 5.97385543e-04 9.99275446e-01 3.51163795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65687499999999 meters 0.0159677265068695 Centerline is valid? [True, True] Translation: X:159.88, Y:41.76, Z:0.35 [[ 8.98632248e-01 -4.37425801e-01 -3.34477501e-02 1.59884061e+02] [ 4.37099847e-01 8.99254333e-01 -1.68928684e-02 4.17623647e+01] [ 3.74674107e-02 5.60469880e-04 9.99297693e-01 3.52907121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.716875 meters 0.015388384663761669 Centerline is valid? [True, True] Translation: X:159.94, Y:41.78, Z:0.35 [[ 8.97435103e-01 -4.39835903e-01 -3.39796202e-02 1.59939086e+02] [ 4.39500825e-01 8.98078032e-01 -1.71718891e-02 4.17848751e+01] [ 3.80691638e-02 4.76585001e-04 9.99274993e-01 3.54143326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.776875 meters 0.015068035785519773 Centerline is valid? [True, True] Translation: X:159.99, Y:41.81, Z:0.36 [[ 8.96211706e-01 -4.42315134e-01 -3.40866474e-02 1.59992311e+02] [ 4.41979387e-01 8.96859620e-01 -1.72349705e-02 4.18077804e+01] [ 3.81942259e-02 3.80586789e-04 9.99270262e-01 3.55900410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.836875 meters 0.014567761598345825 Centerline is valid? [True, True] Translation: X:160.05, Y:41.83, Z:0.36 [[ 8.94611974e-01 -4.45505967e-01 -3.45521174e-02 1.60047676e+02] [ 4.45163089e-01 8.95278933e-01 -1.74772854e-02 4.18292980e+01] [ 3.87200178e-02 2.54061459e-04 9.99250067e-01 3.58882945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.896875 meters 0.01445484959718361 Centerline is valid? [True, True] Translation: X:160.10, Y:41.85, Z:0.36 [[ 8.94010351e-01 -4.46706315e-01 -3.46260085e-02 1.60100298e+02] [ 4.46362441e-01 8.94680626e-01 -1.75256557e-02 4.18547797e+01] [ 3.88080400e-02 2.12367902e-04 9.99246662e-01 3.60164190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.956875 meters 0.01438627525972484 Centerline is valid? [True, True] Translation: X:160.15, Y:41.88, Z:0.36 [[ 8.92992993e-01 -4.48673632e-01 -3.54328429e-02 1.60152825e+02] [ 4.48314584e-01 8.93695671e-01 -1.79466263e-02 4.18791946e+01] [ 3.97183563e-02 1.41151314e-04 9.99210905e-01 3.61454930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.016875 meters 0.014278913077785553 Centerline is valid? [True, True] Translation: X:160.21, Y:41.90, Z:0.36 [[ 8.91901287e-01 -4.50867133e-01 -3.50845105e-02 1.60205194e+02] [ 4.50516332e-01 8.92591074e-01 -1.77822775e-02 4.19034850e+01] [ 3.93335654e-02 5.38911693e-05 9.99226134e-01 3.63575558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.076875 meters 0.014265999875687035 Centerline is valid? [True, True] Translation: X:160.26, Y:41.93, Z:0.37 [[ 8.90027282e-01 -4.54639743e-01 -3.39726528e-02 1.60259076e+02] [ 4.54313148e-01 8.90675415e-01 -1.72298807e-02 4.19274113e+01] [ 3.80919951e-02 -9.91589553e-05 9.99274232e-01 3.67570496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.136875 meters 0.014505175731344105 Centerline is valid? [True, True] Translation: X:160.31, Y:41.95, Z:0.37 [[ 8.88006914e-01 -4.58605889e-01 -3.35314627e-02 1.60312205e+02] [ 4.58290165e-01 8.88639732e-01 -1.70162206e-02 4.19518949e+01] [ 3.76011290e-02 -2.56618024e-04 9.99292795e-01 3.69715068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.196875 meters 0.015080566886779334 Centerline is valid? [True, True] Translation: X:160.37, Y:41.98, Z:0.37 [[ 8.85995551e-01 -4.62490983e-01 -3.33762465e-02 1.60365638e+02] [ 4.62180549e-01 8.86623890e-01 -1.69474951e-02 4.19760509e+01] [ 3.74302412e-02 -4.10446644e-04 9.99299159e-01 3.71233073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25687499999998 meters 0.015708481697670505 Centerline is valid? [True, True] Translation: X:160.42, Y:42.00, Z:0.37 [[ 8.84055599e-01 -4.66184731e-01 -3.34289538e-02 1.60418866e+02] [ 4.65875570e-01 8.84687224e-01 -1.69843675e-02 4.20010451e+01] [ 3.74920211e-02 -5.58607694e-04 9.99296771e-01 3.73206280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31687499999998 meters 0.01600604083418812 Centerline is valid? [True, True] Translation: X:160.47, Y:42.03, Z:0.38 [[ 8.83103141e-01 -4.67930385e-01 -3.42052125e-02 1.60470532e+02] [ 4.67607651e-01 8.83765097e-01 -1.73878961e-02 4.20283327e+01] [ 3.83656979e-02 -6.39313389e-04 9.99263561e-01 3.75461936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37687499999998 meters 0.01633841124524056 Centerline is valid? [True, True] Translation: X:160.52, Y:42.06, Z:0.38 [[ 8.82530752e-01 -4.68930494e-01 -3.52656293e-02 1.60522880e+02] [ 4.68587940e-01 8.83234796e-01 -1.79342448e-02 4.20556295e+01] [ 3.95577451e-02 -6.97526045e-04 9.99217043e-01 3.76132634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.436875 meters 0.016606359265126762 Centerline is valid? [True, True] Translation: X:160.57, Y:42.08, Z:0.38 [[ 8.82257277e-01 -4.69301567e-01 -3.71232756e-02 1.60574922e+02] [ 4.68921809e-01 8.83037649e-01 -1.88904101e-02 4.20838426e+01] [ 4.16465491e-02 -7.41711757e-04 9.99132131e-01 3.75108805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.496875 meters 0.017140232953862522 Centerline is valid? [True, True] Translation: X:160.63, Y:42.11, Z:0.38 [[ 8.82441724e-01 -4.68994165e-01 -3.66207183e-02 1.60626027e+02] [ 4.68624013e-01 8.83200979e-01 -1.86431053e-02 4.21100451e+01] [ 4.10869618e-02 -7.09893965e-04 9.99155322e-01 3.76083474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.556875 meters 0.01586415642785423 Centerline is valid? [True, True] Translation: X:160.68, Y:42.14, Z:0.38 [[ 8.83604807e-01 -4.66940780e-01 -3.47685783e-02 1.60675901e+02] [ 4.66605333e-01 8.84288400e-01 -1.77056447e-02 4.21410237e+01] [ 3.90129380e-02 -5.78411315e-04 9.99238538e-01 3.81200346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.616875 meters 0.015000167026892212 Centerline is valid? [True, True] Translation: X:160.73, Y:42.17, Z:0.38 [[ 8.85861472e-01 -4.62768574e-01 -3.30862214e-02 1.60725687e+02] [ 4.62461558e-01 8.86479053e-01 -1.68580975e-02 4.21725379e+01] [ 3.71316400e-02 -3.67166390e-04 9.99310315e-01 3.83609822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.676875 meters 0.014552812584520123 Centerline is valid? [True, True] Translation: X:160.78, Y:42.20, Z:0.39 [[ 8.87856699e-01 -4.58898723e-01 -3.35029126e-02 1.60776864e+02] [ 4.58580819e-01 8.88488561e-01 -1.70795159e-02 4.22030472e+01] [ 3.76047226e-02 -1.99630525e-04 9.99292672e-01 3.85187305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.736875 meters 0.014545019238490524 Centerline is valid? [True, True] Translation: X:160.83, Y:42.24, Z:0.38 [[ 8.91553147e-01 -4.51565307e-01 -3.49536713e-02 1.60825975e+02] [ 4.51213209e-01 8.92238061e-01 -1.78292590e-02 4.22366770e+01] [ 3.92380708e-02 1.24173766e-04 9.99229883e-01 3.83586729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.796875 meters 0.01503270265470671 Centerline is valid? [True, True] Translation: X:160.88, Y:42.27, Z:0.38 [[ 8.93964858e-01 -4.46712314e-01 -3.57063211e-02 1.60875948e+02] [ 4.46340632e-01 8.94677587e-01 -1.82223936e-02 4.22672679e+01] [ 4.00858127e-02 3.52997548e-04 9.99196178e-01 3.83825333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.856875 meters 0.01656072046594719 Centerline is valid? [True, True] Translation: X:160.93, Y:42.30, Z:0.38 [[ 8.96672947e-01 -4.41214278e-01 -3.61605730e-02 1.60926079e+02] [ 4.40828294e-01 8.97401574e-01 -1.84615956e-02 4.22985241e+01] [ 4.05960747e-02 6.13409598e-04 9.99175451e-01 3.84217173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.916875 meters 0.01692949971687067 Centerline is valid? [True, True] Translation: X:160.98, Y:42.33, Z:0.39 [[ 8.97854452e-01 -4.38857072e-01 -3.55225849e-02 1.60978036e+02] [ 4.38482333e-01 8.98556596e-01 -1.81462604e-02 4.23256342e+01] [ 3.98826677e-02 7.16674786e-04 9.99204113e-01 3.87939060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97687499999998 meters 0.01771204767984493 Centerline is valid? [True, True] Translation: X:161.03, Y:42.35, Z:0.39 [[ 8.98501928e-01 -4.37597696e-01 -3.46776993e-02 1.61029807e+02] [ 4.37239237e-01 8.99170548e-01 -1.77249972e-02 4.23545474e+01] [ 3.89375838e-02 7.63493395e-04 9.99241353e-01 3.87678140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03687499999998 meters 0.017855058496558697 Centerline is valid? [True, True] Translation: X:161.08, Y:42.38, Z:0.39 [[ 8.98311877e-01 -4.38015249e-01 -3.43280165e-02 1.61081714e+02] [ 4.37663879e-01 8.98967231e-01 -1.75569361e-02 4.23805237e+01] [ 3.85499677e-02 7.47471354e-04 9.99256394e-01 3.88716981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09687499999998 meters 0.01695525453797905 Centerline is valid? [True, True] Translation: X:161.14, Y:42.40, Z:0.39 [[ 8.97450904e-01 -4.39774030e-01 -3.43609922e-02 1.61135896e+02] [ 4.39422830e-01 8.98108198e-01 -1.75852340e-02 4.24046403e+01] [ 3.85934180e-02 6.82879730e-04 9.99254763e-01 3.90624340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15687499999999 meters 0.015760829035561905 Centerline is valid? [True, True] Translation: X:161.19, Y:42.43, Z:0.39 [[ 8.95911294e-01 -4.42834591e-01 -3.52204288e-02 1.61190824e+02] [ 4.42467517e-01 8.96603142e-01 -1.80361265e-02 4.24267192e+01] [ 3.95657678e-02 5.74873785e-04 9.99216803e-01 3.92089028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.216875 meters 0.014895118010654596 Centerline is valid? [True, True] Translation: X:161.24, Y:42.45, Z:0.39 [[ 8.93191884e-01 -4.48279240e-01 -3.54116012e-02 1.61244703e+02] [ 4.47912075e-01 8.93893509e-01 -1.81429950e-02 4.24489733e+01] [ 3.97873285e-02 3.43892115e-04 9.99208112e-01 3.92821536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.276875 meters 0.014518615905043766 Centerline is valid? [True, True] Translation: X:161.30, Y:42.47, Z:0.39 [[ 8.92057482e-01 -4.50538588e-01 -3.53331223e-02 1.61298614e+02] [ 4.50174590e-01 8.92756921e-01 -1.81085232e-02 4.24739985e+01] [ 3.97024779e-02 2.47769753e-04 9.99211515e-01 3.94673017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.336875 meters 0.014187547380239385 Centerline is valid? [True, True] Translation: X:161.35, Y:42.50, Z:0.40 [[ 8.89667215e-01 -4.55252565e-01 -3.51759769e-02 1.61353208e+02] [ 4.54895074e-01 8.90362342e-01 -1.80380706e-02 4.24969776e+01] [ 3.95312431e-02 4.65014361e-05 9.99218334e-01 3.96612057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.396875 meters 0.014161557547021952 Centerline is valid? [True, True] Translation: X:161.41, Y:42.52, Z:0.40 [[ 8.88472051e-01 -4.57644656e-01 -3.43334157e-02 1.61406473e+02] [ 4.57305476e-01 8.89135179e-01 -1.76163241e-02 4.25216510e+01] [ 3.85890643e-02 -4.92474154e-05 9.99255163e-01 3.98328643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.456875 meters 0.014133913306400223 Centerline is valid? [True, True] Translation: X:161.46, Y:42.55, Z:0.40 [[ 8.87268658e-01 -4.60028883e-01 -3.35820689e-02 1.61459679e+02] [ 4.59705698e-01 8.87903940e-01 -1.72413326e-02 4.25458141e+01] [ 3.77491623e-02 -1.40174346e-04 9.99287237e-01 4.01188830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.516875 meters 0.014088583984208475 Centerline is valid? [True, True] Translation: X:161.51, Y:42.57, Z:0.40 [[ 8.86459006e-01 -4.61672078e-01 -3.23932500e-02 1.61512234e+02] [ 4.61372072e-01 8.87050650e-01 -1.66419852e-02 4.25698526e+01] [ 3.64175934e-02 -1.92903264e-04 9.99336641e-01 4.04430879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.576875 meters 0.01406957141426383 Centerline is valid? [True, True] Translation: X:161.56, Y:42.60, Z:0.40 [[ 8.86651364e-01 -4.61337700e-01 -3.18886379e-02 1.61564813e+02] [ 4.61046361e-01 8.87224604e-01 -1.63937383e-02 4.25956426e+01] [ 3.58554337e-02 -1.66610011e-04 9.99356973e-01 4.04691507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.636875 meters 0.014075406927723536 Centerline is valid? [True, True] Translation: X:161.62, Y:42.62, Z:0.40 [[ 8.86673102e-01 -4.61243223e-01 -3.26419739e-02 1.61616953e+02] [ 4.60937466e-01 8.87273726e-01 -1.67924862e-02 4.26214184e+01] [ 3.67077863e-02 -1.56462913e-04 9.99326030e-01 4.04878972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.696875 meters 0.014066249249926775 Centerline is valid? [True, True] Translation: X:161.67, Y:42.65, Z:0.41 [[ 8.86662667e-01 -4.61377145e-01 -3.09910600e-02 1.61668615e+02] [ 4.61101321e-01 8.87204097e-01 -1.59518790e-02 4.26475376e+01] [ 3.48552278e-02 -1.46083130e-04 9.99392361e-01 4.06514001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75687499999998 meters 0.014061188584112067 Centerline is valid? [True, True] Translation: X:161.72, Y:42.68, Z:0.41 [[ 8.86759536e-01 -4.61191580e-01 -3.09814806e-02 1.61719699e+02] [ 4.60915644e-01 8.87300574e-01 -1.59518202e-02 4.26754589e+01] [ 3.48467307e-02 -1.34420384e-04 9.99392659e-01 4.08067649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81687499999998 meters 0.014590036251045014 Centerline is valid? [True, True] Translation: X:161.77, Y:42.70, Z:0.41 [[ 8.84176781e-01 -4.66125881e-01 -3.09529236e-02 1.61773501e+02] [ 4.65853099e-01 8.84718351e-01 -1.59476866e-02 4.26997370e+01] [ 3.48182490e-02 -3.18941188e-04 9.99393610e-01 4.08830411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87687499999998 meters 0.01457988527544088 Centerline is valid? [True, True] Translation: X:161.82, Y:42.73, Z:0.41 [[ 8.84033696e-01 -4.66374527e-01 -3.12925656e-02 1.61824621e+02] [ 4.66095534e-01 8.84587303e-01 -1.61324957e-02 4.27269097e+01] [ 3.52047913e-02 -3.23655260e-04 9.99380067e-01 4.09490824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.936875 meters 0.014311508168184366 Centerline is valid? [True, True] Translation: X:161.88, Y:42.76, Z:0.41 [[ 8.85140136e-01 -4.64242324e-01 -3.17175496e-02 1.61875538e+02] [ 4.63953946e-01 8.85708197e-01 -1.63623305e-02 4.27575689e+01] [ 3.56885800e-02 -2.32526870e-04 9.99362933e-01 4.09550771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.996875 meters 0.014026370754679924 Centerline is valid? [True, True] Translation: X:161.93, Y:42.79, Z:0.41 [[ 8.86805809e-01 -4.61005434e-01 -3.23951640e-02 1.61925706e+02] [ 4.60702061e-01 8.87397307e-01 -1.67221437e-02 4.27875459e+01] [ 3.64563804e-02 -9.52246118e-05 9.99335241e-01 4.10508335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.056875 meters 0.014046076228310344 Centerline is valid? [True, True] Translation: X:161.97, Y:42.82, Z:0.41 [[ 8.89757577e-01 -4.55230199e-01 -3.31197813e-02 1.61974851e+02] [ 4.54908664e-01 8.90373765e-01 -1.71074808e-02 4.28201982e+01] [ 3.72768263e-02 1.55035163e-04 9.99304966e-01 4.12128250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.116875 meters 0.014250184463233954 Centerline is valid? [True, True] Translation: X:162.03, Y:42.85, Z:0.41 [[ 8.90841229e-01 -4.53122174e-01 -3.28968224e-02 1.62025172e+02] [ 4.52803143e-01 8.91448390e-01 -1.70023675e-02 4.28503168e+01] [ 3.70299691e-02 2.50625416e-04 9.99314124e-01 4.13542997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.176875 meters 0.014200810306180657 Centerline is valid? [True, True] Translation: X:162.08, Y:42.88, Z:0.41 [[ 8.90711146e-01 -4.53295967e-01 -3.40061833e-02 1.62076774e+02] [ 4.52954764e-01 8.91360027e-01 -1.75864628e-02 4.28792567e+01] [ 3.82836251e-02 2.61195686e-04 9.99266879e-01 4.13913367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.236875 meters 0.013889232886460962 Centerline is valid? [True, True] Translation: X:162.13, Y:42.91, Z:0.42 [[ 8.89934160e-01 -4.54949490e-01 -3.22203797e-02 1.62128628e+02] [ 4.54643928e-01 8.90517224e-01 -1.66724916e-02 4.29067026e+01] [ 3.62779446e-02 1.88619797e-04 9.99341721e-01 4.16477409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.296875 meters 0.013830537977385482 Centerline is valid? [True, True] Translation: X:162.18, Y:42.93, Z:0.42 [[ 8.89233043e-01 -4.56468276e-01 -3.00217996e-02 1.62179441e+02] [ 4.56203610e-01 8.89739680e-01 -1.55424984e-02 4.29335234e+01] [ 3.38062438e-02 1.24849829e-04 9.99428398e-01 4.19934995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.356875 meters 0.01372257136963753 Centerline is valid? [True, True] Translation: X:162.23, Y:42.96, Z:0.42 [[ 8.88879742e-01 -4.57206996e-01 -2.92329795e-02 1.62230774e+02] [ 4.56956317e-01 8.89360306e-01 -1.51383932e-02 4.29600751e+01] [ 3.29200309e-02 9.80164047e-05 9.99457984e-01 4.22669390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.416875 meters 0.013941453318555409 Centerline is valid? [True, True] Translation: X:162.28, Y:42.99, Z:0.42 [[ 8.89746339e-01 -4.55546157e-01 -2.87950028e-02 1.62280557e+02] [ 4.55301740e-01 8.90212150e-01 -1.49216001e-02 4.29898503e+01] [ 3.24311389e-02 1.66024152e-04 9.99473958e-01 4.23658018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47687499999998 meters 0.014059514909054438 Centerline is valid? [True, True] Translation: X:162.33, Y:43.02, Z:0.42 [[ 8.90545915e-01 -4.53928477e-01 -2.96126841e-02 1.62331645e+02] [ 4.53668734e-01 8.91038091e-01 -1.53557849e-02 4.30192989e+01] [ 3.33564576e-02 2.40682628e-04 9.99443490e-01 4.24287498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53687499999998 meters 0.01408527827562133 Centerline is valid? [True, True] Translation: X:162.38, Y:43.05, Z:0.42 [[ 8.91043226e-01 -4.52824936e-01 -3.14888489e-02 1.62383204e+02] [ 4.52530179e-01 8.91599395e-01 -1.63387555e-02 4.30482102e+01] [ 3.54740345e-02 3.08882971e-04 9.99370551e-01 4.24452587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59687499999998 meters 0.014510042856700888 Centerline is valid? [True, True] Translation: X:162.43, Y:43.08, Z:0.43 [[ 8.91311120e-01 -4.52410340e-01 -2.98223299e-02 1.62433477e+02] [ 4.52145472e-01 8.91809837e-01 -1.54818270e-02 4.30763934e+01] [ 3.35999858e-02 3.15093086e-04 9.99435311e-01 4.26908062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65687499999999 meters 0.014020618529941988 Centerline is valid? [True, True] Translation: X:162.49, Y:43.10, Z:0.43 [[ 8.90542320e-01 -4.54025728e-01 -2.81960004e-02 1.62485926e+02] [ 4.53789660e-01 8.90988540e-01 -1.46412162e-02 4.31021819e+01] [ 3.17698021e-02 2.43569253e-04 9.99495183e-01 4.29982563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.716875 meters 0.0138086000518602 Centerline is valid? [True, True] Translation: X:162.54, Y:43.13, Z:0.43 [[ 8.89932805e-01 -4.55256166e-01 -2.75939479e-02 1.62539446e+02] [ 4.55030407e-01 8.90360479e-01 -1.43368989e-02 4.31277513e+01] [ 3.10955223e-02 2.02791299e-04 9.99516397e-01 4.32630512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.776875 meters 0.013851708829209051 Centerline is valid? [True, True] Translation: X:162.59, Y:43.15, Z:0.43 [[ 8.89572002e-01 -4.55980557e-01 -2.72650781e-02 1.62590759e+02] [ 4.55760230e-01 8.89989718e-01 -1.41744240e-02 4.31543738e+01] [ 3.07289009e-02 1.82832449e-04 9.99527739e-01 4.32990135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.836875 meters 0.013791972144281158 Centerline is valid? [True, True] Translation: X:162.64, Y:43.18, Z:0.43 [[ 8.89539149e-01 -4.56056824e-01 -2.70605931e-02 1.62642429e+02] [ 4.55839539e-01 8.89950638e-01 -1.40775050e-02 4.31811771e+01] [ 3.05027344e-02 1.87203516e-04 9.99534666e-01 4.32921314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.896875 meters 0.013738578288167387 Centerline is valid? [True, True] Translation: X:162.69, Y:43.21, Z:0.44 [[ 8.89751573e-01 -4.55604681e-01 -2.76859662e-02 1.62694949e+02] [ 4.55376708e-01 8.90182188e-01 -1.44126938e-02 4.32055083e+01] [ 3.12120448e-02 2.16172848e-04 9.99512762e-01 4.35164661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.956875 meters 0.013862029777348399 Centerline is valid? [True, True] Translation: X:162.75, Y:43.23, Z:0.44 [[ 8.89830369e-01 -4.55411812e-01 -2.83195240e-02 1.62746736e+02] [ 4.55172856e-01 8.90280869e-01 -1.47528367e-02 4.32319966e+01] [ 3.19309466e-02 2.37243512e-04 9.99490049e-01 4.35271670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.016875 meters 0.014189328353801005 Centerline is valid? [True, True] Translation: X:162.80, Y:43.26, Z:0.44 [[ 8.90422504e-01 -4.54241077e-01 -2.85097955e-02 1.62798187e+02] [ 4.53998002e-01 8.90878757e-01 -1.48611552e-02 4.32584221e+01] [ 3.21493183e-02 2.89316800e-04 9.99483035e-01 4.35647581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.076875 meters 0.014193754111654364 Centerline is valid? [True, True] Translation: X:162.85, Y:43.28, Z:0.44 [[ 8.90267885e-01 -4.54564726e-01 -2.81780672e-02 1.62850984e+02] [ 4.54327313e-01 8.90713665e-01 -1.46921804e-02 4.32838299e+01] [ 3.17771364e-02 2.77910818e-04 9.99494941e-01 4.38724681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.136875 meters 0.014525178425892857 Centerline is valid? [True, True] Translation: X:162.90, Y:43.31, Z:0.44 [[ 8.90421328e-01 -4.54339733e-01 -2.69307664e-02 1.62901053e+02] [ 4.54122516e-01 8.90828451e-01 -1.40503438e-02 4.33104013e+01] [ 3.03743223e-02 2.80858357e-04 9.99538554e-01 4.41426498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.196875 meters 0.014561998641102905 Centerline is valid? [True, True] Translation: X:162.95, Y:43.34, Z:0.44 [[ 8.90330694e-01 -4.54518491e-01 -2.69108954e-02 1.62951336e+02] [ 4.54301554e-01 8.90737259e-01 -1.40440014e-02 4.33377847e+01] [ 3.03537955e-02 2.78143898e-04 9.99539179e-01 4.41357536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25687499999998 meters 0.014288580870681227 Centerline is valid? [True, True] Translation: X:163.00, Y:43.36, Z:0.44 [[ 8.89802575e-01 -4.55541445e-01 -2.70807926e-02 1.63003583e+02] [ 4.55322094e-01 8.90214541e-01 -1.41372129e-02 4.33641021e+01] [ 3.05478018e-02 2.48845285e-04 9.99533276e-01 4.41411177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31687499999998 meters 0.013809034492598942 Centerline is valid? [True, True] Translation: X:163.06, Y:43.39, Z:0.44 [[ 8.87337965e-01 -4.60177683e-01 -2.94590582e-02 1.63055910e+02] [ 4.59920322e-01 8.87826835e-01 -1.53885834e-02 4.33881530e+01] [ 3.32360250e-02 1.06054748e-04 9.99447525e-01 4.40494707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37687499999998 meters 0.013805858145109765 Centerline is valid? [True, True] Translation: X:163.11, Y:43.41, Z:0.44 [[ 8.84714141e-01 -4.65181459e-01 -2.97842011e-02 1.63110128e+02] [ 4.64921058e-01 8.85215343e-01 -1.55629699e-02 4.34108268e+01] [ 3.36050368e-02 -7.85227501e-05 9.99435188e-01 4.44089849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.436875 meters 0.01445317964707021 Centerline is valid? [True, True] Translation: X:163.16, Y:43.43, Z:0.45 [[ 8.81325794e-01 -4.71615882e-01 -2.90396967e-02 1.63163435e+02] [ 4.71371522e-01 8.81804040e-01 -1.51829951e-02 4.34327025e+01] [ 3.27678635e-02 -3.07320801e-04 9.99462942e-01 4.45939934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.496875 meters 0.014763909593333693 Centerline is valid? [True, True] Translation: X:163.22, Y:43.46, Z:0.45 [[ 8.80004290e-01 -4.74151668e-01 -2.77964829e-02 1.63216426e+02] [ 4.73928921e-01 8.80443099e-01 -1.45370934e-02 4.34590785e+01] [ 3.13660086e-02 -3.80852625e-04 9.99507893e-01 4.49083171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.556875 meters 0.014864140645608068 Centerline is valid? [True, True] Translation: X:163.27, Y:43.48, Z:0.45 [[ 8.79948838e-01 -4.74241210e-01 -2.80235170e-02 1.63267182e+02] [ 4.74014595e-01 8.80394872e-01 -1.46640117e-02 4.34848080e+01] [ 3.16260393e-02 -3.79976026e-04 9.99499699e-01 4.50687137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.616875 meters 0.0149331116974935 Centerline is valid? [True, True] Translation: X:163.32, Y:43.51, Z:0.45 [[ 8.79829021e-01 -4.74399829e-01 -2.90808624e-02 1.63318914e+02] [ 4.74155693e-01 8.80309404e-01 -1.52227711e-02 4.35122858e+01] [ 3.28218367e-02 -3.95420644e-04 9.99461140e-01 4.50651852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.676875 meters 0.014873374437354295 Centerline is valid? [True, True] Translation: X:163.37, Y:43.54, Z:0.45 [[ 8.80117685e-01 -4.73857439e-01 -2.91888329e-02 1.63370281e+02] [ 4.73610856e-01 8.80601495e-01 -1.52893750e-02 4.35395837e+01] [ 3.29487139e-02 -3.67698773e-04 9.99456976e-01 4.51345879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.736875 meters 0.014205129565628572 Centerline is valid? [True, True] Translation: X:163.42, Y:43.57, Z:0.45 [[ 8.82265131e-01 -4.69853749e-01 -2.90807954e-02 1.63420248e+02] [ 4.69606488e-01 8.82744250e-01 -1.52425341e-02 4.35711955e+01] [ 3.28326667e-02 -2.08573810e-04 9.99460841e-01 4.52841384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.796875 meters 0.014053494779642116 Centerline is valid? [True, True] Translation: X:163.47, Y:43.60, Z:0.45 [[ 8.83607635e-01 -4.67197432e-01 -3.10500589e-02 1.63470767e+02] [ 4.66913537e-01 8.84153011e-01 -1.62850085e-02 4.36006359e+01] [ 3.50613172e-02 -1.08134974e-04 9.99385157e-01 4.52831754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.856875 meters 0.014115754117396217 Centerline is valid? [True, True] Translation: X:163.52, Y:43.63, Z:0.45 [[ 8.84215292e-01 -4.66008731e-01 -3.16097920e-02 1.63520575e+02] [ 4.65713393e-01 8.84780119e-01 -1.65884332e-02 4.36275609e+01] [ 3.56980703e-02 -5.33571508e-05 9.99362619e-01 4.53366548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.916875 meters 0.0140453719505941 Centerline is valid? [True, True] Translation: X:163.57, Y:43.66, Z:0.45 [[ 8.85365407e-01 -4.63837869e-01 -3.13452911e-02 1.63571210e+02] [ 4.63545876e-01 8.85920104e-01 -1.64557163e-02 4.36563827e+01] [ 3.54022079e-02 3.93415234e-05 9.99373145e-01 4.54401655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97687499999998 meters 0.014263813793379135 Centerline is valid? [True, True] Translation: X:163.62, Y:43.69, Z:0.46 [[ 8.86577618e-01 -4.61501521e-01 -3.15669660e-02 1.63621518e+02] [ 4.61203519e-01 8.87139406e-01 -1.65827854e-02 4.36870267e+01] [ 3.56572801e-02 1.43130601e-04 9.99364067e-01 4.55138252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03687499999998 meters 0.01434185168678607 Centerline is valid? [True, True] Translation: X:163.67, Y:43.72, Z:0.46 [[ 8.87152361e-01 -4.60370939e-01 -3.19262803e-02 1.63672870e+02] [ 4.60065027e-01 8.87726624e-01 -1.67813006e-02 4.37156610e+01] [ 3.60674321e-02 1.99405446e-04 9.99349339e-01 4.56702728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09687499999998 meters 0.014582805189543933 Centerline is valid? [True, True] Translation: X:163.72, Y:43.74, Z:0.46 [[ 8.87835657e-01 -4.59057986e-01 -3.18372642e-02 1.63724022e+02] [ 4.58752586e-01 8.88406268e-01 -1.67441718e-02 4.37447599e+01] [ 3.59709708e-02 2.60645462e-04 9.99352801e-01 4.59618180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15687499999999 meters 0.01453540753636357 Centerline is valid? [True, True] Translation: X:163.77, Y:43.77, Z:0.46 [[ 8.87988995e-01 -4.58782167e-01 -3.15351854e-02 1.63774880e+02] [ 4.58482011e-01 8.88548730e-01 -1.65951811e-02 4.37723169e+01] [ 3.56341220e-02 2.78022998e-04 9.99364864e-01 4.61008141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.216875 meters 0.014838276658076273 Centerline is valid? [True, True] Translation: X:163.83, Y:43.80, Z:0.46 [[ 8.88364048e-01 -4.57989565e-01 -3.24788587e-02 1.63826555e+02] [ 4.57670218e-01 8.88957508e-01 -1.71032511e-02 4.38002661e+01] [ 3.67054358e-02 3.29307062e-04 9.99326074e-01 4.61225843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.276875 meters 0.015042537124405326 Centerline is valid? [True, True] Translation: X:163.88, Y:43.83, Z:0.46 [[ 8.88966652e-01 -4.56760783e-01 -3.32848116e-02 1.63878850e+02] [ 4.56424128e-01 8.89589472e-01 -1.75381576e-02 4.38275765e+01] [ 3.76205605e-02 3.98846180e-04 9.99292017e-01 4.63568760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.336875 meters 0.015494279392640956 Centerline is valid? [True, True] Translation: X:163.93, Y:43.86, Z:0.46 [[ 8.89651397e-01 -4.55394376e-01 -3.37098699e-02 1.63928661e+02] [ 4.55047722e-01 8.90289695e-01 -1.77715877e-02 4.38563430e+01] [ 3.81046309e-02 4.70918251e-04 9.99273644e-01 4.63289009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.396875 meters 0.015865923269380015 Centerline is valid? [True, True] Translation: X:163.98, Y:43.88, Z:0.46 [[ 8.90078168e-01 -4.54534398e-01 -3.40490142e-02 1.63980013e+02] [ 4.54179809e-01 8.90729034e-01 -1.79580048e-02 4.38844970e+01] [ 3.84909764e-02 5.19653254e-04 9.99258813e-01 4.64465964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.456875 meters 0.015674643973270883 Centerline is valid? [True, True] Translation: X:164.03, Y:43.91, Z:0.47 [[ 8.89812761e-01 -4.55051535e-01 -3.40785870e-02 1.64031927e+02] [ 4.54696292e-01 8.90464959e-01 -1.79844121e-02 4.39102817e+01] [ 3.85296219e-02 5.07352229e-04 9.99257330e-01 4.67488663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.516875 meters 0.014725593930280327 Centerline is valid? [True, True] Translation: X:164.09, Y:43.94, Z:0.47 [[ 8.87637902e-01 -4.59334805e-01 -3.33240417e-02 1.64086013e+02] [ 4.58997719e-01 8.88263155e-01 -1.75972068e-02 4.39350002e+01] [ 3.76835279e-02 3.24288563e-04 9.99289671e-01 4.70027205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.576875 meters 0.014131797411268333 Centerline is valid? [True, True] Translation: X:164.14, Y:43.96, Z:0.47 [[ 8.84496510e-01 -4.65386461e-01 -3.28841356e-02 1.64138939e+02] [ 4.65062078e-01 8.85107585e-01 -1.73731628e-02 4.39594681e+01] [ 3.71912326e-02 7.33373994e-05 9.99308164e-01 4.71993955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.636875 meters 0.014372132510207436 Centerline is valid? [True, True] Translation: X:164.19, Y:43.98, Z:0.47 [[ 8.80903985e-01 -4.72172789e-01 -3.25733897e-02 1.64193125e+02] [ 4.71858896e-01 8.81505993e-01 -1.72153238e-02 4.39825945e+01] [ 3.68422457e-02 -2.04996327e-04 9.99321073e-01 4.73217485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.696875 meters 0.01575625276523833 Centerline is valid? [True, True] Translation: X:164.25, Y:44.00, Z:0.48 [[ 8.76187873e-01 -4.80877089e-01 -3.24351037e-02 1.64248191e+02] [ 4.80571431e-01 8.76787838e-01 -1.71518816e-02 4.40044815e+01] [ 3.66866513e-02 -5.59113539e-04 9.99326662e-01 4.76571555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75687499999998 meters 0.01673338815897613 Centerline is valid? [True, True] Translation: X:164.30, Y:44.03, Z:0.48 [[ 8.73348712e-01 -4.86029089e-01 -3.22141476e-02 1.64302284e+02] [ 4.85730732e-01 8.73942300e-01 -1.70444167e-02 4.40290284e+01] [ 3.64373886e-02 -7.61682066e-04 9.99335648e-01 4.80130403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81687499999998 meters 0.017545134843348898 Centerline is valid? [True, True] Translation: X:164.35, Y:44.05, Z:0.48 [[ 8.72673662e-01 -4.87279610e-01 -3.16110918e-02 1.64354067e+02] [ 4.86992847e-01 8.73245644e-01 -1.67335560e-02 4.40543518e+01] [ 3.57581688e-02 -7.91441957e-04 9.99360159e-01 4.81338676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87687499999998 meters 0.017059566262687186 Centerline is valid? [True, True] Translation: X:164.41, Y:44.08, Z:0.48 [[ 8.73440789e-01 -4.85855747e-01 -3.23323623e-02 1.64405126e+02] [ 4.85554534e-01 8.74038694e-01 -1.71217709e-02 4.40838327e+01] [ 3.65784465e-02 -7.44272010e-04 9.99330508e-01 4.82189230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.936875 meters 0.016099187676506126 Centerline is valid? [True, True] Translation: X:164.46, Y:44.11, Z:0.48 [[ 8.74432687e-01 -4.84069244e-01 -3.23178503e-02 1.64455767e+02] [ 4.83766723e-01 8.75029446e-01 -1.71238622e-02 4.41136249e+01] [ 3.65682057e-02 -6.60635693e-04 9.99330941e-01 4.83964197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.996875 meters 0.015638337077457244 Centerline is valid? [True, True] Translation: X:164.51, Y:44.14, Z:0.48 [[ 8.77081833e-01 -4.79229382e-01 -3.26597212e-02 1.64506031e+02] [ 4.78916697e-01 8.77689577e-01 -1.73148594e-02 4.41433133e+01] [ 3.69628862e-02 -4.54737173e-04 9.99316536e-01 4.84459812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.056875 meters 0.014175291769755792 Centerline is valid? [True, True] Translation: X:164.56, Y:44.18, Z:0.49 [[ 8.79509646e-01 -4.74763444e-01 -3.25953075e-02 1.64555508e+02] [ 4.74448579e-01 8.80113405e-01 -1.72898791e-02 4.41763586e+01] [ 3.68961696e-02 -2.58181894e-04 9.99319071e-01 4.86314421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.116875 meters 0.01395660695698349 Centerline is valid? [True, True] Translation: X:164.61, Y:44.21, Z:0.49 [[ 8.82050722e-01 -4.69995620e-01 -3.30248445e-02 1.64605338e+02] [ 4.69668666e-01 8.82668746e-01 -1.75279593e-02 4.42083903e+01] [ 3.73880622e-02 -5.01854974e-05 9.99300821e-01 4.86461419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.176875 meters 0.014145334161594119 Centerline is valid? [True, True] Translation: X:164.65, Y:44.24, Z:0.49 [[ 8.84619616e-01 -4.65107282e-01 -3.35164398e-02 1.64654673e+02] [ 4.64766605e-01 8.85254307e-01 -1.77993086e-02 4.42403829e+01] [ 3.79491607e-02 1.68295631e-04 9.99279657e-01 4.87118507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.236875 meters 0.01491082227373267 Centerline is valid? [True, True] Translation: X:164.70, Y:44.27, Z:0.49 [[ 8.87262594e-01 -4.60019946e-01 -3.38635276e-02 1.64704657e+02] [ 4.59668054e-01 8.87908491e-01 -1.79941803e-02 4.42725954e+01] [ 3.83453956e-02 3.99581246e-04 9.99264465e-01 4.88758290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.296875 meters 0.015070110885136068 Centerline is valid? [True, True] Translation: X:164.76, Y:44.30, Z:0.49 [[ 8.88037324e-01 -4.58531700e-01 -3.37400436e-02 1.64755883e+02] [ 4.58180898e-01 8.88677927e-01 -1.79389677e-02 4.43019407e+01] [ 3.82096174e-02 4.71429409e-04 9.99269635e-01 4.89780775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.356875 meters 0.0154047838211606 Centerline is valid? [True, True] Translation: X:164.81, Y:44.33, Z:0.49 [[ 8.88468284e-01 -4.57692501e-01 -3.37887919e-02 1.64806942e+02] [ 4.57339670e-01 8.89110402e-01 -1.79755353e-02 4.43304690e+01] [ 3.82692340e-02 5.17738089e-04 9.99267330e-01 4.91244230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.416875 meters 0.01574181870259338 Centerline is valid? [True, True] Translation: X:164.86, Y:44.36, Z:0.49 [[ 8.88705254e-01 -4.57342226e-01 -3.22654649e-02 1.64856859e+02] [ 4.57019974e-01 8.89290628e-01 -1.71732765e-02 4.43589941e+01] [ 3.65474400e-02 5.16019082e-04 9.99331786e-01 4.93726984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47687499999998 meters 0.015490339404359005 Centerline is valid? [True, True] Translation: X:164.91, Y:44.39, Z:0.50 [[ 8.88350320e-01 -4.58079497e-01 -3.15734586e-02 1.64909678e+02] [ 4.57771216e-01 8.88911100e-01 -1.68098208e-02 4.43860717e+01] [ 3.57662321e-02 4.79589130e-04 9.99360069e-01 4.96445079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53687499999998 meters 0.01525139492822014 Centerline is valid? [True, True] Translation: X:164.96, Y:44.41, Z:0.50 [[ 8.88138655e-01 -4.58566860e-01 -3.04329427e-02 1.64961326e+02] [ 4.58280423e-01 8.88659795e-01 -1.62118171e-02 4.44136060e+01] [ 3.44787346e-02 4.51519603e-04 9.99405330e-01 4.98587903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59687499999998 meters 0.015274668528416453 Centerline is valid? [True, True] Translation: X:165.01, Y:44.44, Z:0.50 [[ 8.87734856e-01 -4.59325546e-01 -3.07712327e-02 1.65013180e+02] [ 4.59032810e-01 8.88267895e-01 -1.64020268e-02 4.44403151e+01] [ 3.48669680e-02 4.35645489e-04 9.99391867e-01 5.00049482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65687499999999 meters 0.01501262490809539 Centerline is valid? [True, True] Translation: X:165.07, Y:44.47, Z:0.50 [[ 8.86933408e-01 -4.60794676e-01 -3.18966468e-02 1.65065110e+02] [ 4.60480654e-01 8.87506679e-01 -1.70136123e-02 4.44663240e+01] [ 3.61482690e-02 4.02152356e-04 9.99346357e-01 4.99569713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.716875 meters 0.014536268239868285 Centerline is valid? [True, True] Translation: X:165.12, Y:44.49, Z:0.50 [[ 8.85633149e-01 -4.63156274e-01 -3.37667327e-02 1.65118220e+02] [ 4.62805567e-01 8.86276567e-01 -1.80236774e-02 4.44906092e+01] [ 3.82744432e-02 3.34934295e-04 9.99267209e-01 4.98524010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.776875 meters 0.014396902109210711 Centerline is valid? [True, True] Translation: X:165.17, Y:44.51, Z:0.50 [[ 8.84911903e-01 -4.64596984e-01 -3.28719672e-02 1.65171624e+02] [ 4.64265202e-01 8.85522200e-01 -1.75572016e-02 4.45145534e+01] [ 3.72658797e-02 2.75266150e-04 9.99305348e-01 5.01232631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.836875 meters 0.01446172322646777 Centerline is valid? [True, True] Translation: X:165.22, Y:44.54, Z:0.50 [[ 8.85260154e-01 -4.63972437e-01 -3.23115537e-02 1.65222736e+02] [ 4.63651086e-01 8.85849583e-01 -1.72680671e-02 4.45412104e+01] [ 3.66350835e-02 3.05444792e-04 9.99328663e-01 5.03475473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.896875 meters 0.014288751198164504 Centerline is valid? [True, True] Translation: X:165.28, Y:44.57, Z:0.51 [[ 8.85078773e-01 -4.64473647e-01 -2.99966214e-02 1.65275461e+02] [ 4.64196664e-01 8.85586900e-01 -1.60405786e-02 4.45680831e+01] [ 3.40150410e-02 2.72844012e-04 9.99421284e-01 5.07153746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.956875 meters 0.014280596616968077 Centerline is valid? [True, True] Translation: X:165.33, Y:44.60, Z:0.51 [[ 8.85181661e-01 -4.64349925e-01 -2.88543692e-02 1.65326303e+02] [ 4.64093283e-01 8.85651778e-01 -1.54387056e-02 4.45956923e+01] [ 3.27238851e-02 2.74940156e-04 9.99464392e-01 5.09005843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.016875 meters 0.014106734345357185 Centerline is valid? [True, True] Translation: X:165.38, Y:44.62, Z:0.51 [[ 8.84734926e-01 -4.65152855e-01 -2.96130457e-02 1.65377233e+02] [ 4.64882619e-01 8.85230339e-01 -1.58555229e-02 4.46229200e+01] [ 3.35896083e-02 2.61344617e-04 9.99435676e-01 5.07978907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.076875 meters 0.01402616985263382 Centerline is valid? [True, True] Translation: X:165.43, Y:44.65, Z:0.51 [[ 8.84426366e-01 -4.65673536e-01 -3.06294064e-02 1.65428303e+02] [ 4.65384346e-01 8.84956547e-01 -1.64109671e-02 4.46497807e+01] [ 3.47478468e-02 2.59845711e-04 9.99396077e-01 5.07650051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.136875 meters 0.014070134685900576 Centerline is valid? [True, True] Translation: X:165.48, Y:44.68, Z:0.51 [[ 8.83978854e-01 -4.66415895e-01 -3.22117844e-02 1.65481147e+02] [ 4.66096108e-01 8.84565514e-01 -1.72704902e-02 4.46759516e+01] [ 3.65486648e-02 2.52960769e-04 9.99331842e-01 5.08654818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.196875 meters 0.014038871593244538 Centerline is valid? [True, True] Translation: X:165.53, Y:44.70, Z:0.51 [[ 8.83997237e-01 -4.66473833e-01 -3.08390534e-02 1.65532984e+02] [ 4.66180437e-01 8.84534963e-01 -1.65438319e-02 4.47039063e+01] [ 3.49954857e-02 2.48138319e-04 9.99387440e-01 5.11801768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25687499999998 meters 0.013741120795933044 Centerline is valid? [True, True] Translation: X:165.58, Y:44.73, Z:0.51 [[ 8.83251136e-01 -4.67983692e-01 -2.93034836e-02 1.65584011e+02] [ 4.67719356e-01 8.83737082e-01 -1.57281423e-02 4.47304197e+01] [ 3.32570891e-02 1.86093099e-04 9.99446813e-01 5.14422462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31687499999998 meters 0.013679101883360837 Centerline is valid? [True, True] Translation: X:165.64, Y:44.76, Z:0.52 [[ 8.82359209e-01 -4.69727785e-01 -2.82495161e-02 1.65637244e+02] [ 4.69482856e-01 8.82811301e-01 -1.51675359e-02 4.47567469e+01] [ 3.20636052e-02 1.20551465e-04 9.99485823e-01 5.17251314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37687499999998 meters 0.013611628858051016 Centerline is valid? [True, True] Translation: X:165.69, Y:44.78, Z:0.52 [[ 8.81543298e-01 -4.71251797e-01 -2.83400351e-02 1.65689395e+02] [ 4.71005794e-01 8.81998718e-01 -1.52250835e-02 4.47827798e+01] [ 3.21707226e-02 7.32496009e-05 9.99482386e-01 5.18544169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.436875 meters 0.013550981948691325 Centerline is valid? [True, True] Translation: X:165.74, Y:44.81, Z:0.52 [[ 8.81139076e-01 -4.71980907e-01 -2.87741624e-02 1.65741083e+02] [ 4.71727362e-01 8.81608768e-01 -1.54685247e-02 4.48102430e+01] [ 3.26684022e-02 5.63618146e-05 9.99466244e-01 5.19005449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.496875 meters 0.013735121113505114 Centerline is valid? [True, True] Translation: X:165.79, Y:44.84, Z:0.52 [[ 8.80634817e-01 -4.72875666e-01 -2.95114062e-02 1.65792829e+02] [ 4.72609104e-01 8.81129164e-01 -1.58755078e-02 4.48373305e+01] [ 3.35105020e-02 3.31656590e-05 9.99438365e-01 5.19891226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.556875 meters 0.013712016632374997 Centerline is valid? [True, True] Translation: X:165.84, Y:44.87, Z:0.52 [[ 8.80703044e-01 -4.72684453e-01 -3.05214215e-02 1.65844588e+02] [ 4.72398835e-01 8.81231755e-01 -1.64296995e-02 4.48657365e+01] [ 3.46625093e-02 5.14024246e-05 9.99399073e-01 5.20798290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.616875 meters 0.013734780649925298 Centerline is valid? [True, True] Translation: X:165.90, Y:44.89, Z:0.52 [[ 8.80955123e-01 -4.72197562e-01 -3.07820333e-02 1.65895362e+02] [ 4.71906402e-01 8.81492743e-01 -1.65798657e-02 4.48938484e+01] [ 3.49631112e-02 7.98790663e-05 9.99388600e-01 5.22179476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.676875 meters 0.013670683282531522 Centerline is valid? [True, True] Translation: X:165.95, Y:44.92, Z:0.52 [[ 8.81482235e-01 -4.71224501e-01 -3.06029295e-02 1.65946090e+02] [ 4.70935760e-01 8.82013295e-01 -1.64941418e-02 4.49228814e+01] [ 3.47646344e-02 1.27279112e-04 9.99395519e-01 5.24209804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.736875 meters 0.013729198774174476 Centerline is valid? [True, True] Translation: X:166.00, Y:44.95, Z:0.53 [[ 8.80728756e-01 -4.72752987e-01 -2.86613211e-02 1.65998621e+02] [ 4.72500232e-01 8.81194989e-01 -1.54571097e-02 4.49485770e+01] [ 3.25636073e-02 7.10401065e-05 9.99469663e-01 5.29103006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.796875 meters 0.013641423876497074 Centerline is valid? [True, True] Translation: X:166.05, Y:44.97, Z:0.53 [[ 8.80047276e-01 -4.74031288e-01 -2.84803385e-02 1.66050789e+02] [ 4.73782095e-01 8.80507999e-01 -1.53684588e-02 4.49744628e+01] [ 3.23622962e-02 3.14958488e-05 9.99476203e-01 5.31347127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.856875 meters 0.013708886777207963 Centerline is valid? [True, True] Translation: X:166.10, Y:45.00, Z:0.53 [[ 8.79038248e-01 -4.75833195e-01 -2.95724303e-02 1.66103239e+02] [ 4.75565178e-01 8.79535542e-01 -1.59684458e-02 4.50000674e+01] [ 3.36083201e-02 -2.67434397e-05 9.99435080e-01 5.31200367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.916875 meters 0.013680808310859046 Centerline is valid? [True, True] Translation: X:166.16, Y:45.03, Z:0.53 [[ 8.78018436e-01 -4.77620789e-01 -3.10162676e-02 1.66155842e+02] [ 4.77326677e-01 8.78566090e-01 -1.67591606e-02 4.50260543e+01] [ 3.52543644e-02 -9.00399634e-05 9.99378368e-01 5.31203792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97687499999998 meters 0.013729854333379006 Centerline is valid? [True, True] Translation: X:166.21, Y:45.05, Z:0.53 [[ 8.77746806e-01 -4.78089245e-01 -3.14836341e-02 1.66206752e+02] [ 4.77786138e-01 8.78311257e-01 -1.70218334e-02 4.50539427e+01] [ 3.57903857e-02 -1.01584006e-04 9.99359314e-01 5.32545023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03687499999998 meters 0.014103135966606064 Centerline is valid? [True, True] Translation: X:166.26, Y:45.08, Z:0.53 [[ 8.75823001e-01 -4.81524327e-01 -3.26862789e-02 1.66259434e+02] [ 4.81199570e-01 8.76432692e-01 -1.76835929e-02 4.50803114e+01] [ 3.71624037e-02 -2.40925918e-04 9.99309210e-01 5.33048233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09687499999998 meters 0.01403452585342788 Centerline is valid? [True, True] Translation: X:166.31, Y:45.11, Z:0.54 [[ 8.75941014e-01 -4.81365828e-01 -3.18477502e-02 1.66309850e+02] [ 4.81057075e-01 8.76519761e-01 -1.72394677e-02 4.51111979e+01] [ 3.62136730e-02 -2.19828703e-04 9.99344046e-01 5.35913065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15687499999999 meters 0.013896321002680087 Centerline is valid? [True, True] Translation: X:166.36, Y:45.14, Z:0.54 [[ 8.75820604e-01 -4.81665997e-01 -3.05963615e-02 1.66359123e+02] [ 4.81380907e-01 8.76354849e-01 -1.65711063e-02 4.51434156e+01] [ 3.47950082e-02 -2.15187900e-04 9.99394447e-01 5.37525950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.216875 meters 0.013839856594752736 Centerline is valid? [True, True] Translation: X:166.41, Y:45.17, Z:0.54 [[ 8.75510947e-01 -4.82271353e-01 -2.99152734e-02 1.66409451e+02] [ 4.81998853e-01 8.76021856e-01 -1.62115581e-02 4.51727625e+01] [ 3.40248034e-02 -2.25730842e-04 9.99420963e-01 5.39839525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.276875 meters 0.013764926726478811 Centerline is valid? [True, True] Translation: X:166.46, Y:45.20, Z:0.54 [[ 8.75917124e-01 -4.81579863e-01 -2.91552293e-02 1.66459098e+02] [ 4.81320354e-01 8.76402191e-01 -1.58087434e-02 4.52015967e+01] [ 3.31648793e-02 -1.85856270e-04 9.99449877e-01 5.41244045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.336875 meters 0.01356538433319102 Centerline is valid? [True, True] Translation: X:166.51, Y:45.23, Z:0.54 [[ 8.76590223e-01 -4.80331551e-01 -2.95157823e-02 1.66508688e+02] [ 4.80064720e-01 8.77086987e-01 -1.60088178e-02 4.52324879e+01] [ 3.35774488e-02 -1.36312569e-04 9.99436109e-01 5.41756520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.396875 meters 0.013299151913106152 Centerline is valid? [True, True] Translation: X:166.56, Y:45.26, Z:0.54 [[ 8.77500172e-01 -4.78623986e-01 -3.02080858e-02 1.66557946e+02] [ 4.78343101e-01 8.78019975e-01 -1.63951713e-02 4.52628351e+01] [ 3.43704250e-02 -6.30638655e-05 9.99409160e-01 5.41200480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.456875 meters 0.013322657051330667 Centerline is valid? [True, True] Translation: X:166.61, Y:45.29, Z:0.54 [[ 8.78838382e-01 -4.76134239e-01 -3.06477669e-02 1.66607931e+02] [ 4.75843214e-01 8.79372609e-01 -1.66448539e-02 4.52932897e+01] [ 3.48759916e-02 4.46045547e-05 9.99391647e-01 5.42463197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.516875 meters 0.013607972256197443 Centerline is valid? [True, True] Translation: X:166.66, Y:45.32, Z:0.55 [[ 8.80318030e-01 -4.73501490e-01 -2.89224046e-02 1.66657216e+02] [ 4.73240602e-01 8.80793004e-01 -1.57167486e-02 4.53225277e+01] [ 3.29165555e-02 1.48481042e-04 9.99458092e-01 5.45734623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.576875 meters 0.013846337229096011 Centerline is valid? [True, True] Translation: X:166.71, Y:45.35, Z:0.55 [[ 8.81131182e-01 -4.72015464e-01 -2.84471767e-02 1.66708574e+02] [ 4.71762145e-01 8.81590245e-01 -1.54634799e-02 4.53519738e+01] [ 3.23777551e-02 2.05053265e-04 9.99475682e-01 5.48643956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.636875 meters 0.014136802001883296 Centerline is valid? [True, True] Translation: X:166.76, Y:45.38, Z:0.55 [[ 8.82021623e-01 -4.70343181e-01 -2.85508010e-02 1.66759958e+02] [ 4.70086851e-01 8.82483550e-01 -1.55285363e-02 4.53819241e+01] [ 3.24993533e-02 2.75148644e-04 9.99471719e-01 5.48069524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.696875 meters 0.01437311680606796 Centerline is valid? [True, True] Translation: X:166.81, Y:45.41, Z:0.55 [[ 8.82370811e-01 -4.69721698e-01 -2.79871036e-02 1.66811165e+02] [ 4.69474805e-01 8.82814497e-01 -1.52305796e-02 4.54096276e+01] [ 3.18615545e-02 2.99778916e-04 9.99492247e-01 5.50264364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75687499999998 meters 0.014352175670606229 Centerline is valid? [True, True] Translation: X:166.86, Y:45.44, Z:0.55 [[ 8.82145893e-01 -4.70059037e-01 -2.93790093e-02 1.66863086e+02] [ 4.69786795e-01 8.82634922e-01 -1.59988216e-02 4.54366210e+01] [ 3.34513302e-02 3.11424161e-04 9.99440299e-01 5.50300250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81687499999998 meters 0.014416613352884099 Centerline is valid? [True, True] Translation: X:166.91, Y:45.46, Z:0.55 [[ 8.82216154e-01 -4.69845740e-01 -3.06535147e-02 1.66914444e+02] [ 4.69548845e-01 8.82748471e-01 -1.67038577e-02 4.54648114e+01] [ 3.49075796e-02 3.43090653e-04 9.99390486e-01 5.50454035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87687499999998 meters 0.014271106089178174 Centerline is valid? [True, True] Translation: X:166.97, Y:45.49, Z:0.55 [[ 8.81830976e-01 -4.70464840e-01 -3.22019163e-02 1.66966980e+02] [ 4.70137217e-01 8.82418674e-01 -1.75579555e-02 4.54917204e+01] [ 3.66759730e-02 3.43829690e-04 9.99327151e-01 5.50992541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.936875 meters 0.014018386779141205 Centerline is valid? [True, True] Translation: X:167.02, Y:45.52, Z:0.55 [[ 8.80947603e-01 -4.72109271e-01 -3.23134268e-02 1.67019544e+02] [ 4.71780107e-01 8.81539990e-01 -1.76288429e-02 4.55179763e+01] [ 3.68083182e-02 2.85254941e-04 9.99322304e-01 5.52519536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.996875 meters 0.013571087213656829 Centerline is valid? [True, True] Translation: X:167.07, Y:45.54, Z:0.56 [[ 8.79429530e-01 -4.74972532e-01 -3.16984966e-02 1.67072127e+02] [ 4.74657340e-01 8.80000605e-01 -1.73015875e-02 4.55424719e+01] [ 3.61124750e-02 1.69602922e-04 9.99347717e-01 5.55377292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.056875 meters 0.01335626963725859 Centerline is valid? [True, True] Translation: X:167.12, Y:45.57, Z:0.56 [[ 8.78465666e-01 -4.76793585e-01 -3.10797404e-02 1.67124189e+02] [ 4.76491551e-01 8.79015283e-01 -1.69686194e-02 4.55690963e+01] [ 3.54100957e-02 9.71157932e-05 9.99372861e-01 5.58447844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.116875 meters 0.013184296298947478 Centerline is valid? [True, True] Translation: X:167.18, Y:45.60, Z:0.56 [[ 8.77849145e-01 -4.78034839e-01 -2.93865846e-02 1.67175974e+02] [ 4.77765227e-01 8.78340874e-01 -1.60529782e-02 4.55965306e+01] [ 3.34853213e-02 5.22049163e-05 9.99439208e-01 5.60980408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.176875 meters 0.013113283693473678 Centerline is valid? [True, True] Translation: X:167.23, Y:45.62, Z:0.56 [[ 8.77784306e-01 -4.78124694e-01 -2.98578087e-02 1.67226155e+02] [ 4.77846124e-01 8.78291964e-01 -1.63189334e-02 4.56233953e+01] [ 3.40263585e-02 5.70654543e-05 9.99420934e-01 5.62857241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.236875 meters 0.013158549940615065 Centerline is valid? [True, True] Translation: X:167.28, Y:45.65, Z:0.56 [[ 8.78088228e-01 -4.77518551e-01 -3.06120297e-02 1.67277584e+02] [ 4.77225157e-01 8.78621662e-01 -1.67369011e-02 4.56522190e+01] [ 3.48885732e-02 8.76451255e-05 9.99391205e-01 5.62832022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.296875 meters 0.01309870535658404 Centerline is valid? [True, True] Translation: X:167.33, Y:45.68, Z:0.56 [[ 8.78075422e-01 -4.77490368e-01 -3.14086220e-02 1.67329590e+02] [ 4.77181134e-01 8.78636978e-01 -1.71821618e-02 4.56808747e+01] [ 3.58010935e-02 9.96321072e-05 9.99358930e-01 5.64442260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.356875 meters 0.013196757544892137 Centerline is valid? [True, True] Translation: X:167.38, Y:45.71, Z:0.57 [[ 8.78247663e-01 -4.77098309e-01 -3.25306997e-02 1.67381488e+02] [ 4.76765921e-01 8.78849923e-01 -1.78064343e-02 4.57095647e+01] [ 3.70850226e-02 1.28930259e-04 9.99312106e-01 5.65769263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.416875 meters 0.01318856652575369 Centerline is valid? [True, True] Translation: X:167.43, Y:45.74, Z:0.57 [[ 8.78443547e-01 -4.76736602e-01 -3.25445290e-02 1.67432428e+02] [ 4.76403290e-01 8.79046181e-01 -1.78245977e-02 4.57381298e+01] [ 3.71057821e-02 1.53582106e-04 9.99311332e-01 5.67771813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47687499999998 meters 0.01347923104042096 Centerline is valid? [True, True] Translation: X:167.48, Y:45.77, Z:0.57 [[ 8.78890815e-01 -4.75925341e-01 -3.23420093e-02 1.67482347e+02] [ 4.75595189e-01 8.79485663e-01 -1.77252509e-02 4.57674761e+01] [ 3.68802296e-02 1.96856194e-04 9.99319674e-01 5.70512885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53687499999998 meters 0.013717870205922076 Centerline is valid? [True, True] Translation: X:167.53, Y:45.80, Z:0.57 [[ 8.79461501e-01 -4.74860527e-01 -3.24799723e-02 1.67533041e+02] [ 4.74526403e-01 8.80061030e-01 -1.78122778e-02 4.57968334e+01] [ 3.70427055e-02 2.52608157e-04 9.99313652e-01 5.73260016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59687499999998 meters 0.013741786944700386 Centerline is valid? [True, True] Translation: X:167.58, Y:45.83, Z:0.58 [[ 8.79793891e-01 -4.74250573e-01 -3.23898685e-02 1.67583223e+02] [ 4.73917498e-01 8.80389864e-01 -1.77733816e-02 4.58256452e+01] [ 3.69447483e-02 2.86787161e-04 9.99317269e-01 5.75896681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65687499999999 meters 0.013639489710360166 Centerline is valid? [True, True] Translation: X:167.63, Y:45.85, Z:0.58 [[ 8.79232038e-01 -4.75305418e-01 -3.21835812e-02 1.67634615e+02] [ 4.74976857e-01 8.79820832e-01 -1.76716939e-02 4.58528824e+01] [ 3.67152370e-02 2.51063171e-04 9.99325737e-01 5.78574829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.716875 meters 0.01342471102881953 Centerline is valid? [True, True] Translation: X:167.69, Y:45.88, Z:0.58 [[ 8.78005175e-01 -4.77526741e-01 -3.27890922e-02 1.67686385e+02] [ 4.77186795e-01 8.78617199e-01 -1.80161109e-02 4.58793009e+01] [ 3.74122351e-02 1.71716728e-04 9.99299903e-01 5.79874505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.776875 meters 0.013389076681698312 Centerline is valid? [True, True] Translation: X:167.74, Y:45.91, Z:0.58 [[ 8.76531563e-01 -4.80159786e-01 -3.37490730e-02 1.67738469e+02] [ 4.79801108e-01 8.77181039e-01 -1.85559085e-02 4.59050641e+01] [ 3.85138480e-02 7.19968594e-05 9.99258064e-01 5.81441094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.836875 meters 0.013635505872217065 Centerline is valid? [True, True] Translation: X:167.79, Y:45.93, Z:0.58 [[ 8.75979023e-01 -4.81098983e-01 -3.47061956e-02 1.67789021e+02] [ 4.80720000e-01 8.76666280e-01 -1.90922664e-02 4.59327754e+01] [ 3.96110213e-02 4.04624906e-05 9.99215175e-01 5.81572347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.896875 meters 0.013591620755899538 Centerline is valid? [True, True] Translation: X:167.84, Y:45.96, Z:0.58 [[ 8.76033939e-01 -4.80970754e-01 -3.50951890e-02 1.67839779e+02] [ 4.80582863e-01 8.76736637e-01 -1.93127117e-02 4.59610183e+01] [ 4.00580875e-02 5.24444854e-05 9.99197351e-01 5.83163441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.956875 meters 0.013667029842035666 Centerline is valid? [True, True] Translation: X:167.89, Y:45.99, Z:0.59 [[ 8.76513401e-01 -4.80024832e-01 -3.60613184e-02 1.67890768e+02] [ 4.79613975e-01 8.77254894e-01 -1.98566331e-02 4.59898805e+01] [ 4.11666450e-02 1.09092809e-04 9.99152288e-01 5.85004528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.016875 meters 0.014002492336561508 Centerline is valid? [True, True] Translation: X:167.94, Y:46.02, Z:0.59 [[ 8.78155587e-01 -4.77025434e-01 -3.59096142e-02 1.67941384e+02] [ 4.76615056e-01 8.78889452e-01 -1.97843481e-02 4.60210648e+01] [ 4.09982184e-02 2.58673027e-04 9.99159186e-01 5.86941521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.076875 meters 0.014650708928187282 Centerline is valid? [True, True] Translation: X:167.99, Y:46.05, Z:0.59 [[ 8.79986325e-01 -4.73672401e-01 -3.54756817e-02 1.67990032e+02] [ 4.73268762e-01 8.80701017e-01 -1.95549793e-02 4.60517110e+01] [ 4.05061230e-02 4.18582391e-04 9.99179203e-01 5.88351457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.136875 meters 0.014961405777045498 Centerline is valid? [True, True] Translation: X:168.04, Y:46.08, Z:0.59 [[ 8.80340328e-01 -4.72970776e-01 -3.60493035e-02 1.68041640e+02] [ 4.72553035e-01 8.81077992e-01 -1.98796478e-02 4.60802022e+01] [ 4.11647404e-02 4.65647885e-04 9.99152264e-01 5.89386023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.196875 meters 0.015153889476885648 Centerline is valid? [True, True] Translation: X:168.09, Y:46.11, Z:0.59 [[ 8.80281956e-01 -4.73041355e-01 -3.65452311e-02 1.68093294e+02] [ 4.72611614e-01 8.81040094e-01 -2.01647048e-02 4.61083528e+01] [ 4.17365531e-02 4.78925177e-04 9.99128536e-01 5.90425545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25687499999998 meters 0.015454944295036615 Centerline is valid? [True, True] Translation: X:168.14, Y:46.14, Z:0.59 [[ 8.80410888e-01 -4.72784919e-01 -3.67571529e-02 1.68143632e+02] [ 4.72349572e-01 8.81177717e-01 -2.02907307e-02 4.61367627e+01] [ 4.19827355e-02 5.01954788e-04 9.99118210e-01 5.91178195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31687499999998 meters 0.015124871443819162 Centerline is valid? [True, True] Translation: X:168.20, Y:46.16, Z:0.59 [[ 8.79944659e-01 -4.73644663e-01 -3.68528260e-02 1.68195239e+02] [ 4.73207488e-01 8.80715910e-01 -2.03509215e-02 4.61629858e+01] [ 4.20959755e-02 4.68651532e-04 9.99113462e-01 5.94364663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37687499999998 meters 0.014595514456193111 Centerline is valid? [True, True] Translation: X:168.25, Y:46.19, Z:0.60 [[ 8.76982815e-01 -4.79193014e-01 -3.57099071e-02 1.68248410e+02] [ 4.78786725e-01 8.77709527e-01 -1.97296437e-02 4.61861681e+01] [ 4.07972331e-02 2.05128993e-04 9.99167425e-01 5.96366701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.436875 meters 0.014271849681780061 Centerline is valid? [True, True] Translation: X:168.30, Y:46.21, Z:0.60 [[ 8.74359931e-01 -4.84011070e-01 -3.50427667e-02 1.68302079e+02] [ 4.83623442e-01 8.75061875e-01 -1.93670482e-02 4.62102255e+01] [ 4.00384549e-02 -1.37325179e-05 9.99198139e-01 6.00674746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.496875 meters 0.014543399304885499 Centerline is valid? [True, True] Translation: X:168.35, Y:46.24, Z:0.60 [[ 8.71594460e-01 -4.88945507e-01 -3.54314549e-02 1.68354001e+02] [ 4.88552844e-01 8.72314300e-01 -1.95928939e-02 4.62381069e+01] [ 4.04872222e-02 -2.33080305e-04 9.99180029e-01 6.02234521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.556875 meters 0.014890175175580653 Centerline is valid? [True, True] Translation: X:168.41, Y:46.27, Z:0.60 [[ 8.69755438e-01 -4.92205148e-01 -3.54904184e-02 1.68406031e+02] [ 4.91813433e-01 8.70479150e-01 -1.96366117e-02 4.62664762e+01] [ 4.05589106e-02 -3.75614714e-04 9.99177078e-01 6.04036297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.616875 meters 0.015255812994489016 Centerline is valid? [True, True] Translation: X:168.46, Y:46.29, Z:0.61 [[ 8.68311731e-01 -4.94808570e-01 -3.46297210e-02 1.68457635e+02] [ 4.94437277e-01 8.69001872e-01 -1.91709849e-02 4.62943034e+01] [ 3.95792600e-02 -4.75833806e-04 9.99216321e-01 6.06413466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.676875 meters 0.015692206335460635 Centerline is valid? [True, True] Translation: X:168.51, Y:46.32, Z:0.61 [[ 8.67129838e-01 -4.96945320e-01 -3.36331961e-02 1.68508385e+02] [ 4.96596309e-01 8.67781682e-01 -1.86294940e-02 4.63234217e+01] [ 3.84441114e-02 -5.47930966e-04 9.99260602e-01 6.08974948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.736875 meters 0.015713056430821486 Centerline is valid? [True, True] Translation: X:168.56, Y:46.35, Z:0.61 [[ 8.67651890e-01 -4.96039767e-01 -3.35372643e-02 1.68558898e+02] [ 4.95691673e-01 8.68299662e-01 -1.85866469e-02 4.63538592e+01] [ 3.83401113e-02 -4.97403311e-04 9.99264624e-01 6.11218528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.796875 meters 0.01475058083531411 Centerline is valid? [True, True] Translation: X:168.61, Y:46.39, Z:0.61 [[ 8.70099973e-01 -4.91707408e-01 -3.39096029e-02 1.68606891e+02] [ 4.91347837e-01 8.70760435e-01 -1.88034333e-02 4.63896766e+01] [ 3.87729280e-02 -3.00543205e-04 9.99248002e-01 6.11610771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.856875 meters 0.014275449687957752 Centerline is valid? [True, True] Translation: X:168.65, Y:46.42, Z:0.61 [[ 8.73325806e-01 -4.85961859e-01 -3.38098799e-02 1.68654795e+02] [ 4.85599674e-01 8.73980017e-01 -1.87586304e-02 4.64246436e+01] [ 3.86651383e-02 -3.56706133e-05 9.99252223e-01 6.12912863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.916875 meters 0.014714608984466401 Centerline is valid? [True, True] Translation: X:168.70, Y:46.46, Z:0.61 [[ 8.76467156e-01 -4.80296868e-01 -3.34700420e-02 1.68703356e+02] [ 4.79937386e-01 8.77105963e-01 -1.85805312e-02 4.64592870e+01] [ 3.82809444e-02 2.21700884e-04 9.99266991e-01 6.14888198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97687499999998 meters 0.015047883747524653 Centerline is valid? [True, True] Translation: X:168.75, Y:46.49, Z:0.62 [[ 8.78177863e-01 -4.77167089e-01 -3.33947673e-02 1.68752842e+02] [ 4.76806554e-01 8.78812514e-01 -1.85492667e-02 4.64909376e+01] [ 3.81988390e-02 3.66711471e-04 9.99270091e-01 6.16372830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03687499999998 meters 0.015580942676383432 Centerline is valid? [True, True] Translation: X:168.80, Y:46.52, Z:0.62 [[ 8.79335069e-01 -4.75074683e-01 -3.27701361e-02 1.68803451e+02] [ 4.74725676e-01 8.79945359e-01 -1.82125379e-02 4.65219325e+01] [ 3.74882449e-02 4.58098236e-04 9.99296964e-01 6.17983445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09687499999998 meters 0.015841956654455532 Centerline is valid? [True, True] Translation: X:168.85, Y:46.55, Z:0.62 [[ 8.79695496e-01 -4.74412702e-01 -3.26867317e-02 1.68854999e+02] [ 4.74064632e-01 8.80302416e-01 -1.81763742e-02 4.65512063e+01] [ 3.73973116e-02 4.94051080e-04 9.99300354e-01 6.20000634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15687499999999 meters 0.015852953083060804 Centerline is valid? [True, True] Translation: X:168.91, Y:46.58, Z:0.62 [[ 8.79727671e-01 -4.74322984e-01 -3.31199645e-02 1.68906839e+02] [ 4.73965162e-01 8.80350750e-01 -1.84277414e-02 4.65791844e+01] [ 3.78978869e-02 5.13684690e-04 9.99281485e-01 6.21086889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.216875 meters 0.01578729860312447 Centerline is valid? [True, True] Translation: X:168.96, Y:46.61, Z:0.62 [[ 8.79271087e-01 -4.75096946e-01 -3.41357380e-02 1.68956654e+02] [ 4.74717010e-01 8.79933315e-01 -1.90032107e-02 4.66064611e+01] [ 3.90655404e-02 5.04158219e-04 9.99236523e-01 6.20246999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.276875 meters 0.01578728314113353 Centerline is valid? [True, True] Translation: X:169.01, Y:46.63, Z:0.62 [[ 8.78867921e-01 -4.75797653e-01 -3.47530036e-02 1.69007490e+02] [ 4.75404006e-01 8.79554633e-01 -1.93566087e-02 4.66336656e+01] [ 3.97769944e-02 4.90185329e-04 9.99208462e-01 6.21418683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.336875 meters 0.015669300242351136 Centerline is valid? [True, True] Translation: X:169.06, Y:46.66, Z:0.62 [[ 8.78572098e-01 -4.76291981e-01 -3.54544457e-02 1.69058866e+02] [ 4.75882159e-01 8.79287046e-01 -1.97600719e-02 4.66617335e+01] [ 4.05861987e-02 4.88509647e-04 9.99175921e-01 6.22942838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.396875 meters 0.015535478387202274 Centerline is valid? [True, True] Translation: X:169.11, Y:46.69, Z:0.62 [[ 8.78034646e-01 -4.77326418e-01 -3.48518469e-02 1.69110643e+02] [ 4.76930757e-01 8.78725949e-01 -1.94360142e-02 4.66898603e+01] [ 3.99025453e-02 4.43576132e-04 9.99203478e-01 6.24728102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.456875 meters 0.015063659141200496 Centerline is valid? [True, True] Translation: X:169.16, Y:46.72, Z:0.63 [[ 8.76800752e-01 -4.79683576e-01 -3.35277305e-02 1.69162776e+02] [ 4.79318752e-01 8.77441483e-01 -1.87077040e-02 4.67170246e+01] [ 3.83924000e-02 3.32459030e-04 9.99262685e-01 6.28333914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.516875 meters 0.014462329319161393 Centerline is valid? [True, True] Translation: X:169.21, Y:46.74, Z:0.63 [[ 8.75332735e-01 -4.82441957e-01 -3.22856167e-02 1.69214810e+02] [ 4.82105186e-01 8.75927916e-01 -1.80243130e-02 4.67437410e+01] [ 3.69755578e-02 2.12207934e-04 9.99316148e-01 6.31911197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.576875 meters 0.014251024969971089 Centerline is valid? [True, True] Translation: X:169.27, Y:46.77, Z:0.63 [[ 8.74088028e-01 -4.84727731e-01 -3.17670603e-02 1.69266364e+02] [ 4.84402843e-01 8.74665086e-01 -1.77446850e-02 4.67717278e+01] [ 3.63868794e-02 1.22362400e-04 9.99337771e-01 6.33243612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.636875 meters 0.014037537731448977 Centerline is valid? [True, True] Translation: X:169.32, Y:46.80, Z:0.64 [[ 8.71776028e-01 -4.88884655e-01 -3.15966828e-02 1.69318814e+02] [ 4.88565595e-01 8.72348435e-01 -1.76597565e-02 4.67969754e+01] [ 3.61969008e-02 -4.16997061e-05 9.99344677e-01 6.35380068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.696875 meters 0.014165688484421 Centerline is valid? [True, True] Translation: X:169.37, Y:46.82, Z:0.64 [[ 8.69579788e-01 -4.92728293e-01 -3.24009596e-02 1.69371626e+02] [ 4.92395010e-01 8.70183194e-01 -1.81207851e-02 4.68230445e+01] [ 3.71233940e-02 -1.96602346e-04 9.99310670e-01 6.36039601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75687499999998 meters 0.01447051500528681 Centerline is valid? [True, True] Translation: X:169.42, Y:46.85, Z:0.64 [[ 8.67913095e-01 -4.95650696e-01 -3.25153474e-02 1.69424336e+02] [ 4.95316720e-01 8.68521899e-01 -1.81949722e-02 4.68502777e+01] [ 3.72586419e-02 -3.13740577e-04 9.99305606e-01 6.36552863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81687499999998 meters 0.014522115774686676 Centerline is valid? [True, True] Translation: X:169.48, Y:46.88, Z:0.64 [[ 8.67438101e-01 -4.96482875e-01 -3.24945396e-02 1.69475019e+02] [ 4.96149517e-01 8.68046450e-01 -1.81938816e-02 4.68777470e+01] [ 3.72397204e-02 -3.40084052e-04 9.99306303e-01 6.38459509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87687499999998 meters 0.015223643406815862 Centerline is valid? [True, True] Translation: X:169.53, Y:46.90, Z:0.64 [[ 8.65692450e-01 -4.99513768e-01 -3.25971971e-02 1.69527210e+02] [ 4.99180085e-01 8.66305824e-01 -1.82609586e-02 4.69028986e+01] [ 3.73607419e-02 -4.63497604e-04 9.99301736e-01 6.39985157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.936875 meters 0.015267056445311872 Centerline is valid? [True, True] Translation: X:169.58, Y:46.93, Z:0.64 [[ 8.64534688e-01 -5.01547774e-01 -3.20874467e-02 1.69579305e+02] [ 5.01225656e-01 8.65129783e-01 -1.79805656e-02 4.69310261e+01] [ 3.67779184e-02 -5.38228820e-04 9.99323319e-01 6.42347397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.996875 meters 0.01593837189103182 Centerline is valid? [True, True] Translation: X:169.63, Y:46.96, Z:0.64 [[ 8.63397465e-01 -5.03543239e-01 -3.14487347e-02 1.69632036e+02] [ 5.03234791e-01 8.63969816e-01 -1.76324075e-02 4.69581100e+01] [ 3.60494372e-02 -6.02321498e-04 9.99349826e-01 6.44427991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.056875 meters 0.015728319292720082 Centerline is valid? [True, True] Translation: X:169.68, Y:46.99, Z:0.65 [[ 8.62899285e-01 -5.04369784e-01 -3.18738845e-02 1.69682638e+02] [ 5.04053130e-01 8.63487531e-01 -1.78809023e-02 4.69882961e+01] [ 3.65412886e-02 -6.36713434e-04 9.99331941e-01 6.46417681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.116875 meters 0.01649633025201947 Centerline is valid? [True, True] Translation: X:169.73, Y:47.02, Z:0.65 [[ 8.62277812e-01 -5.05398477e-01 -3.23937320e-02 1.69734028e+02] [ 5.05071804e-01 8.62885804e-01 -1.81813412e-02 4.70154132e+01] [ 3.71409136e-02 -6.83793585e-04 9.99309804e-01 6.47727978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.176875 meters 0.016388695060108094 Centerline is valid? [True, True] Translation: X:169.79, Y:47.04, Z:0.65 [[ 8.61864757e-01 -5.06059356e-01 -3.30615784e-02 1.69785137e+02] [ 5.05719345e-01 8.62498351e-01 -1.85617198e-02 4.70448444e+01] [ 3.79088889e-02 -7.22187624e-04 9.99280939e-01 6.49782006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.236875 meters 0.0157855265047423 Centerline is valid? [True, True] Translation: X:169.83, Y:47.08, Z:0.65 [[ 8.62593796e-01 -5.04867860e-01 -3.22550269e-02 1.69834420e+02] [ 5.04543044e-01 8.63196402e-01 -1.81187622e-02 4.70778612e+01] [ 3.69900039e-02 -6.44917591e-04 9.99315428e-01 6.51518700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.296875 meters 0.014892346116104533 Centerline is valid? [True, True] Translation: X:169.88, Y:47.11, Z:0.65 [[ 8.64943005e-01 -5.00939147e-01 -3.05543617e-02 1.69882984e+02] [ 5.00644920e-01 8.65482394e-01 -1.71723529e-02 4.71114188e+01] [ 3.50465659e-02 -4.43779499e-04 9.99385582e-01 6.54718840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.356875 meters 0.01434036434929085 Centerline is valid? [True, True] Translation: X:169.93, Y:47.14, Z:0.66 [[ 8.67107534e-01 -4.97196318e-01 -3.03371961e-02 1.69932279e+02] [ 4.96903672e-01 8.67638024e-01 -1.70587106e-02 4.71443150e+01] [ 3.48032330e-02 -2.82927672e-04 9.99394144e-01 6.57023051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.416875 meters 0.013696214617238764 Centerline is valid? [True, True] Translation: X:169.98, Y:47.18, Z:0.66 [[ 8.71141163e-01 -4.90148583e-01 -2.94523402e-02 1.69979001e+02] [ 4.89868416e-01 8.71638897e-01 -1.65701151e-02 4.71819377e+01] [ 3.37936238e-02 7.13815442e-06 9.99428832e-01 6.58471885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47687499999998 meters 0.013976705592537147 Centerline is valid? [True, True] Translation: X:170.03, Y:47.22, Z:0.66 [[ 8.73224420e-01 -4.86426547e-01 -2.94673657e-02 1.70027170e+02] [ 4.86143695e-01 8.73721460e-01 -1.65867173e-02 4.72153962e+01] [ 3.38144894e-02 1.58552611e-04 9.99428114e-01 6.58765314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53687499999998 meters 0.014356887888026247 Centerline is valid? [True, True] Translation: X:170.08, Y:47.25, Z:0.66 [[ 8.75087620e-01 -4.82971504e-01 -3.09868407e-02 1.70076381e+02] [ 4.82656373e-01 8.75636014e-01 -1.74469512e-02 4.72483978e+01] [ 3.55595739e-02 3.11614861e-04 9.99367510e-01 6.59060253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59687499999998 meters 0.014467954323790892 Centerline is valid? [True, True] Translation: X:170.13, Y:47.28, Z:0.66 [[ 8.75895920e-01 -4.81479607e-01 -3.13644125e-02 1.70126205e+02] [ 4.81155491e-01 8.76457210e-01 -1.76678554e-02 4.72789002e+01] [ 3.59962775e-02 3.84043132e-04 9.99351850e-01 6.60232761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65687499999999 meters 0.014818532708191418 Centerline is valid? [True, True] Translation: X:170.18, Y:47.31, Z:0.66 [[ 8.76209726e-01 -4.81033022e-01 -2.93895684e-02 1.70176083e+02] [ 4.80748091e-01 8.76702394e-01 -1.65585641e-02 4.73087474e+01] [ 3.37311211e-02 3.79796010e-04 9.99430872e-01 6.63919119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.716875 meters 0.014844655846215733 Centerline is valid? [True, True] Translation: X:170.23, Y:47.34, Z:0.67 [[ 8.76652139e-01 -4.80232568e-01 -2.92866495e-02 1.70226833e+02] [ 4.79949035e-01 8.77141100e-01 -1.65049559e-02 4.73380151e+01] [ 3.36147414e-02 4.13005762e-04 9.99434780e-01 6.66052629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.776875 meters 0.01573025342261441 Centerline is valid? [True, True] Translation: X:170.28, Y:47.37, Z:0.67 [[ 8.77806735e-01 -4.78160832e-01 -2.85928995e-02 1.70275890e+02] [ 4.77889212e-01 8.78272156e-01 -1.61220554e-02 4.73689876e+01] [ 3.28212829e-02 4.87810589e-04 9.99461118e-01 6.67860939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.836875 meters 0.015886581451445937 Centerline is valid? [True, True] Translation: X:170.33, Y:47.40, Z:0.67 [[ 8.78283663e-01 -4.77272299e-01 -2.87916665e-02 1.70326502e+02] [ 4.76996270e-01 8.78755298e-01 -1.62383865e-02 4.73984453e+01] [ 3.30509615e-02 5.28392107e-04 9.99453528e-01 6.68080019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.896875 meters 0.015608170333586496 Centerline is valid? [True, True] Translation: X:170.38, Y:47.43, Z:0.67 [[ 8.78133954e-01 -4.77474955e-01 -2.99737502e-02 1.70378950e+02] [ 4.77175568e-01 8.78645187e-01 -1.69148651e-02 4.74253879e+01] [ 3.44127158e-02 5.50776044e-04 9.99407555e-01 6.68757898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.956875 meters 0.015495490444933998 Centerline is valid? [True, True] Translation: X:170.43, Y:47.45, Z:0.67 [[ 8.77397834e-01 -4.78831177e-01 -2.98955727e-02 1.70430803e+02] [ 4.78533850e-01 8.77906858e-01 -1.68790871e-02 4.74520660e+01] [ 3.43277614e-02 5.03630937e-04 9.99410502e-01 6.70395544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.016875 meters 0.01448342768087254 Centerline is valid? [True, True] Translation: X:170.48, Y:47.48, Z:0.67 [[ 8.75396204e-01 -4.82632052e-01 -2.73457187e-02 1.70484443e+02] [ 4.82385032e-01 8.75823153e-01 -1.54429810e-02 4.74769313e+01] [ 3.14032911e-02 3.27561540e-04 9.99506741e-01 6.72833838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.076875 meters 0.014410046102093265 Centerline is valid? [True, True] Translation: X:170.54, Y:47.50, Z:0.68 [[ 8.74543624e-01 -4.84248991e-01 -2.60069909e-02 1.70536489e+02] [ 4.84026048e-01 8.74930194e-01 -1.46948898e-02 4.75035042e+01] [ 2.98702871e-02 2.63261150e-04 9.99553749e-01 6.75013503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.136875 meters 0.014356662747944478 Centerline is valid? [True, True] Translation: X:170.59, Y:47.53, Z:0.68 [[ 8.73579539e-01 -4.85978735e-01 -2.61430259e-02 1.70590210e+02] [ 4.85753978e-01 8.73970608e-01 -1.47800176e-02 4.75287837e+01] [ 3.00310105e-02 2.12442190e-04 9.99548945e-01 6.76536392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.196875 meters 0.014075182767839447 Centerline is valid? [True, True] Translation: X:170.64, Y:47.55, Z:0.68 [[ 8.72848670e-01 -4.87185410e-01 -2.80281195e-02 1.70642799e+02] [ 4.86927380e-01 8.73298540e-01 -1.58551932e-02 4.75543090e+01] [ 3.22013347e-02 1.91525468e-04 9.99481384e-01 6.75091516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25687499999998 meters 0.014193846979034887 Centerline is valid? [True, True] Translation: X:170.69, Y:47.58, Z:0.67 [[ 8.72143848e-01 -4.88447913e-01 -2.79954288e-02 1.70694664e+02] [ 4.88190806e-01 8.72593039e-01 -1.58469177e-02 4.75813200e+01] [ 3.21690102e-02 1.53680845e-04 9.99482432e-01 6.74914988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31687499999998 meters 0.014423696663718148 Centerline is valid? [True, True] Translation: X:170.75, Y:47.61, Z:0.68 [[ 8.72456273e-01 -4.87863431e-01 -2.84486264e-02 1.70747168e+02] [ 4.87597282e-01 8.72919949e-01 -1.61137428e-02 4.76080330e+01] [ 3.26946794e-02 1.87063024e-04 9.99465369e-01 6.77079612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37687499999998 meters 0.01483397389902234 Centerline is valid? [True, True] Translation: X:170.80, Y:47.64, Z:0.68 [[ 8.74136203e-01 -4.84928548e-01 -2.70222445e-02 1.70796280e+02] [ 4.84686782e-01 8.74553726e-01 -1.53135015e-02 4.76396616e+01] [ 3.10583587e-02 2.88761309e-04 9.99517531e-01 6.79888295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.436875 meters 0.01583235221728507 Centerline is valid? [True, True] Translation: X:170.85, Y:47.67, Z:0.68 [[ 8.75797464e-01 -4.81896082e-01 -2.74766798e-02 1.70845132e+02] [ 4.81644468e-01 8.76228281e-01 -1.55758352e-02 4.76713417e+01] [ 3.15817779e-02 4.07286098e-04 9.99501088e-01 6.81583175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.496875 meters 0.01686366291611835 Centerline is valid? [True, True] Translation: X:170.89, Y:47.70, Z:0.68 [[ 8.77532306e-01 -4.78762940e-01 -2.68905077e-02 1.70894622e+02] [ 4.78520325e-01 8.77944066e-01 -1.52484491e-02 4.77039771e+01] [ 3.09087540e-02 5.13352210e-04 9.99522078e-01 6.81737097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.556875 meters 0.017347272074190206 Centerline is valid? [True, True] Translation: X:170.94, Y:47.73, Z:0.68 [[ 8.78387457e-01 -4.77184770e-01 -2.70216627e-02 1.70944290e+02] [ 4.76938789e-01 8.78802800e-01 -1.53307108e-02 4.77348431e+01] [ 3.10622946e-02 5.78624933e-04 9.99517283e-01 6.82899025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.616875 meters 0.017426092859503823 Centerline is valid? [True, True] Translation: X:171.00, Y:47.76, Z:0.69 [[ 8.79320353e-01 -4.75429520e-01 -2.76131808e-02 1.70995752e+02] [ 4.75171658e-01 8.79753567e-01 -1.56702523e-02 4.77633020e+01] [ 3.17428948e-02 6.58170908e-04 9.99495851e-01 6.85126594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.676875 meters 0.01734515764699629 Centerline is valid? [True, True] Translation: X:171.05, Y:47.79, Z:0.69 [[ 8.79764508e-01 -4.74587999e-01 -2.79399555e-02 1.71047141e+02] [ 4.74323276e-01 8.80207779e-01 -1.58649273e-02 4.77930264e+01] [ 3.21222703e-02 7.04828750e-04 9.99483698e-01 6.86090624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.736875 meters 0.01680398147504235 Centerline is valid? [True, True] Translation: X:171.10, Y:47.82, Z:0.69 [[ 8.77714185e-01 -4.78278644e-01 -2.94507566e-02 1.71097915e+02] [ 4.77986277e-01 8.78207930e-01 -1.67317466e-02 4.78204367e+01] [ 3.38663251e-02 6.08633812e-04 9.99426186e-01 6.85218910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.796875 meters 0.015717899908703193 Centerline is valid? [True, True] Translation: X:171.15, Y:47.85, Z:0.69 [[ 8.75006038e-01 -4.83217484e-01 -2.94159372e-02 1.71151079e+02] [ 4.82928442e-01 8.75500249e-01 -1.67162729e-02 4.78458397e+01] [ 3.38312557e-02 4.21046969e-04 9.99427471e-01 6.87324227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.856875 meters 0.01504303906236931 Centerline is valid? [True, True] Translation: X:171.20, Y:47.87, Z:0.69 [[ 8.72491619e-01 -4.87596647e-01 -3.17472118e-02 1.71204430e+02] [ 4.87262487e-01 8.73068973e-01 -1.80509406e-02 4.78718376e+01] [ 3.65190837e-02 2.80069022e-04 9.99332917e-01 6.86418625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.916875 meters 0.01475002931082857 Centerline is valid? [True, True] Translation: X:171.26, Y:47.90, Z:0.69 [[ 8.71283256e-01 -4.89751080e-01 -3.17705433e-02 1.71256589e+02] [ 4.89417488e-01 8.71862283e-01 -1.80743787e-02 4.78999068e+01] [ 3.65514849e-02 1.98844009e-04 9.99331751e-01 6.87943879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97687499999998 meters 0.014733209616526603 Centerline is valid? [True, True] Translation: X:171.31, Y:47.92, Z:0.69 [[ 8.70104058e-01 -4.91961722e-01 -2.98762842e-02 1.71309617e+02] [ 4.91667722e-01 8.70616823e-01 -1.70058357e-02 4.79248766e+01] [ 3.43770159e-02 1.07642065e-04 9.99408930e-01 6.92489986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03687499999998 meters 0.014821782056150883 Centerline is valid? [True, True] Translation: X:171.36, Y:47.95, Z:0.69 [[ 8.69322577e-01 -4.93342794e-01 -2.98520295e-02 1.71360958e+02] [ 4.93049749e-01 8.69834975e-01 -1.70017991e-02 4.79512311e+01] [ 3.43540544e-02 6.15121548e-05 9.99409723e-01 6.94136025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09687499999998 meters 0.01496039628260108 Centerline is valid? [True, True] Translation: X:171.41, Y:47.98, Z:0.69 [[ 8.69476361e-01 -4.93042160e-01 -3.03362053e-02 1.71411184e+02] [ 4.92738958e-01 8.70005415e-01 -1.72886778e-02 4.79797846e+01] [ 3.49167099e-02 8.42665162e-05 9.99390222e-01 6.93867373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15687499999999 meters 0.014991976176970232 Centerline is valid? [True, True] Translation: X:171.46, Y:48.01, Z:0.69 [[ 8.70575684e-01 -4.91047893e-01 -3.11439361e-02 1.71461206e+02] [ 4.90726682e-01 8.71132559e-01 -1.77591860e-02 4.80095579e+01] [ 3.58511076e-02 1.77555093e-04 9.99357127e-01 6.93999345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.216875 meters 0.015107961269747268 Centerline is valid? [True, True] Translation: X:171.51, Y:48.04, Z:0.69 [[ 8.70747302e-01 -4.90705184e-01 -3.17420500e-02 1.71512046e+02] [ 4.90371043e-01 8.71325646e-01 -1.81068725e-02 4.80387497e+01] [ 3.65427984e-02 2.01128203e-04 9.99332069e-01 6.94396237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.276875 meters 0.01509965632621157 Centerline is valid? [True, True] Translation: X:171.56, Y:48.07, Z:0.70 [[ 8.70973296e-01 -4.90384325e-01 -3.04751117e-02 1.71562212e+02] [ 4.90075793e-01 8.71506264e-01 -1.73939344e-02 4.80683221e+01] [ 3.50889635e-02 2.14537877e-04 9.99384170e-01 6.96721121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.336875 meters 0.015232990805256004 Centerline is valid? [True, True] Translation: X:171.61, Y:48.10, Z:0.70 [[ 8.71289577e-01 -4.89836453e-01 -3.02443640e-02 1.71612440e+02] [ 4.89531866e-01 8.71814309e-01 -1.72731822e-02 4.80975903e+01] [ 3.48285036e-02 2.44363649e-04 9.99393274e-01 6.98860507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.396875 meters 0.015380143727420716 Centerline is valid? [True, True] Translation: X:171.66, Y:48.13, Z:0.70 [[ 8.71704040e-01 -4.89012474e-01 -3.16048372e-02 1.71663511e+02] [ 4.88678895e-01 8.72276739e-01 -1.80617829e-02 4.81277864e+01] [ 3.64006015e-02 2.99912237e-04 9.99337234e-01 6.99385286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.456875 meters 0.016058520665218116 Centerline is valid? [True, True] Translation: X:171.71, Y:48.16, Z:0.70 [[ 8.72745172e-01 -4.87059419e-01 -3.29998045e-02 1.71712727e+02] [ 4.86693991e-01 8.73368741e-01 -1.88680127e-02 4.81592248e+01] [ 3.80108410e-02 4.06160419e-04 9.99277244e-01 6.97591341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.516875 meters 0.016261172009759777 Centerline is valid? [True, True] Translation: X:171.76, Y:48.19, Z:0.70 [[ 8.73865353e-01 -4.84958125e-01 -3.42777100e-02 1.71763529e+02] [ 4.84561975e-01 8.74537217e-01 -1.96048089e-02 4.81894783e+01] [ 3.94846444e-02 5.22288403e-04 9.99220041e-01 6.98242102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.576875 meters 0.016812707507464317 Centerline is valid? [True, True] Translation: X:171.81, Y:48.22, Z:0.70 [[ 8.74898731e-01 -4.83171312e-01 -3.31314667e-02 1.71812472e+02] [ 4.82799618e-01 8.75525634e-01 -1.89576952e-02 4.82207983e+01] [ 3.81672629e-02 5.90204023e-04 9.99271190e-01 7.00771305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.636875 meters 0.01765518579935956 Centerline is valid? [True, True] Translation: X:171.86, Y:48.25, Z:0.71 [[ 8.76636847e-01 -4.80117446e-01 -3.15448354e-02 1.71861937e+02] [ 4.79778349e-01 8.77203943e-01 -1.80548477e-02 4.82528358e+01] [ 3.63397014e-02 6.93015738e-04 9.99339255e-01 7.05595689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.696875 meters 0.017923064039280453 Centerline is valid? [True, True] Translation: X:171.91, Y:48.29, Z:0.70 [[ 8.76686340e-01 -4.79989492e-01 -3.21115149e-02 1.71910969e+02] [ 4.79637629e-01 8.77273942e-01 -1.83895439e-02 4.82857573e+01] [ 3.69973831e-02 7.19971054e-04 9.99315103e-01 7.04405792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75687499999998 meters 0.015896129015731272 Centerline is valid? [True, True] Translation: X:171.96, Y:48.31, Z:0.71 [[ 8.72857589e-01 -4.86957341e-01 -3.14988328e-02 1.71963844e+02] [ 4.86622946e-01 8.73425650e-01 -1.80483071e-02 4.83124743e+01] [ 3.63006442e-02 4.25547005e-04 9.99340824e-01 7.08104927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81687499999998 meters 0.015319976858544661 Centerline is valid? [True, True] Translation: X:172.01, Y:48.34, Z:0.71 [[ 8.71432933e-01 -4.89335141e-01 -3.39965038e-02 1.72013506e+02] [ 4.88946958e-01 8.72095745e-01 -1.94906263e-02 4.83418613e+01] [ 3.91856546e-02 3.62286538e-04 9.99231882e-01 7.07656109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87687499999998 meters 0.014944094948706705 Centerline is valid? [True, True] Translation: X:172.06, Y:48.37, Z:0.70 [[ 8.69088251e-01 -4.93317644e-01 -3.63773919e-02 1.72063169e+02] [ 4.92876052e-01 8.69849216e-01 -2.08695403e-02 4.83718075e+01] [ 4.19381583e-02 2.07926914e-04 9.99120187e-01 7.04589745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.936875 meters 0.014802985096381402 Centerline is valid? [True, True] Translation: X:172.11, Y:48.40, Z:0.71 [[ 8.68880828e-01 -4.93800881e-01 -3.47389680e-02 1.72114197e+02] [ 4.93398164e-01 8.69574985e-01 -1.99398154e-02 4.83996084e+01] [ 4.00544360e-02 1.85180288e-04 9.99197482e-01 7.08436936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.996875 meters 0.014708126469734758 Centerline is valid? [True, True] Translation: X:172.16, Y:48.43, Z:0.71 [[ 8.68333542e-01 -4.94784782e-01 -3.44220913e-02 1.72164867e+02] [ 4.94389845e-01 8.69015534e-01 -1.97656978e-02 4.84280019e+01] [ 3.96930986e-02 1.45285990e-04 9.99211908e-01 7.12723281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.056875 meters 0.014680291901524964 Centerline is valid? [True, True] Translation: X:172.21, Y:48.46, Z:0.71 [[ 8.68612293e-01 -4.94391773e-01 -3.30069565e-02 1.72214872e+02] [ 4.94027942e-01 8.69239177e-01 -1.89643233e-02 4.84587895e+01] [ 3.80667451e-02 1.66285540e-04 9.99275185e-01 7.14613305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.116875 meters 0.014642218222894706 Centerline is valid? [True, True] Translation: X:172.27, Y:48.49, Z:0.72 [[ 8.68848955e-01 -4.94059692e-01 -3.17256131e-02 1.72266229e+02] [ 4.93722990e-01 8.69427966e-01 -1.82379154e-02 4.84875213e+01] [ 3.65937541e-02 1.82329141e-04 9.99330208e-01 7.17636466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.176875 meters 0.014608985467375194 Centerline is valid? [True, True] Translation: X:172.32, Y:48.52, Z:0.72 [[ 8.68658648e-01 -4.94393866e-01 -3.17310377e-02 1.72316378e+02] [ 4.94056886e-01 8.69237985e-01 -1.82515476e-02 4.85172281e+01] [ 3.66052764e-02 1.77427001e-04 9.99329787e-01 7.18913436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.236875 meters 0.01469801998133715 Centerline is valid? [True, True] Translation: X:172.37, Y:48.55, Z:0.72 [[ 8.68521853e-01 -4.94654569e-01 -3.14109693e-02 1.72366667e+02] [ 4.94324106e-01 8.69089654e-01 -1.80790127e-02 4.85465351e+01] [ 3.62418147e-02 1.74818292e-04 9.99343034e-01 7.20455829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.296875 meters 0.014658967042824836 Centerline is valid? [True, True] Translation: X:172.42, Y:48.57, Z:0.72 [[ 8.67558302e-01 -4.96307507e-01 -3.19601466e-02 1.72416502e+02] [ 4.95966119e-01 8.68146788e-01 -1.84055309e-02 4.85743627e+01] [ 3.68809017e-02 1.16721288e-04 9.99319661e-01 7.22816012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.356875 meters 0.014607873064038056 Centerline is valid? [True, True] Translation: X:172.47, Y:48.60, Z:0.72 [[ 8.65816524e-01 -4.99292767e-01 -3.26875952e-02 1.72466532e+02] [ 4.98937507e-01 8.66433340e-01 -1.88316739e-02 4.86041345e+01] [ 3.77241409e-02 -4.29282350e-06 9.99288191e-01 7.22716723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.416875 meters 0.014774247752666527 Centerline is valid? [True, True] Translation: X:172.52, Y:48.63, Z:0.72 [[ 8.64859449e-01 -5.00946444e-01 -3.27229821e-02 1.72516454e+02] [ 5.00591206e-01 8.65478282e-01 -1.88623563e-02 4.86324842e+01] [ 3.77700606e-02 -6.75499824e-05 9.99286454e-01 7.24239866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47687499999998 meters 0.014811807370080933 Centerline is valid? [True, True] Translation: X:172.57, Y:48.66, Z:0.73 [[ 8.63300590e-01 -5.03626005e-01 -3.27557252e-02 1.72567365e+02] [ 5.03271729e-01 8.63921764e-01 -1.88878732e-02 4.86627018e+01] [ 3.78108080e-02 -1.79118358e-04 9.99284900e-01 7.26692529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53687499999998 meters 0.015003057971292269 Centerline is valid? [True, True] Translation: X:172.62, Y:48.69, Z:0.73 [[ 8.62734127e-01 -5.04652730e-01 -3.18660921e-02 1.72617476e+02] [ 5.04317804e-01 8.63322407e-01 -1.83840849e-02 4.86930170e+01] [ 3.67882899e-02 -2.10060175e-04 9.99323060e-01 7.28507011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59687499999998 meters 0.015059675795432803 Centerline is valid? [True, True] Translation: X:172.67, Y:48.72, Z:0.73 [[ 8.62587627e-01 -5.04946805e-01 -3.11658521e-02 1.72666954e+02] [ 5.04626402e-01 8.63150438e-01 -1.79865121e-02 4.87222675e+01] [ 3.59830507e-02 -2.12169042e-04 9.99352378e-01 7.30695650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65687499999999 meters 0.014833231079277441 Centerline is valid? [True, True] Translation: X:172.72, Y:48.76, Z:0.73 [[ 8.63417304e-01 -5.03552064e-01 -3.07551267e-02 1.72716073e+02] [ 5.03238962e-01 8.63964870e-01 -1.77552942e-02 4.87552779e+01] [ 3.55120641e-02 -1.46949742e-04 9.99369237e-01 7.33537349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.716875 meters 0.01454671907841528 Centerline is valid? [True, True] Translation: X:172.76, Y:48.79, Z:0.73 [[ 8.66204976e-01 -4.98726261e-01 -3.10008960e-02 1.72763072e+02] [ 4.98404661e-01 8.66759547e-01 -1.79075502e-02 4.87910289e+01] [ 3.58012881e-02 6.06180240e-05 9.99358927e-01 7.34129234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.776875 meters 0.015314560704296532 Centerline is valid? [True, True] Translation: X:172.81, Y:48.83, Z:0.73 [[ 8.70580796e-01 -4.90988212e-01 -3.19320171e-02 1.72810235e+02] [ 4.90641331e-01 8.71166124e-01 -1.84572263e-02 4.88277594e+01] [ 3.68803721e-02 4.01339368e-04 9.99319607e-01 7.34903257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.836875 meters 0.016442039967216174 Centerline is valid? [True, True] Translation: X:172.86, Y:48.86, Z:0.74 [[ 8.73086194e-01 -4.86520963e-01 -3.19037805e-02 1.72858041e+02] [ 4.86171388e-01 8.73668699e-01 -1.84495304e-02 4.88610730e+01] [ 3.68494177e-02 5.97325011e-04 9.99320651e-01 7.35229444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.896875 meters 0.017361483242009337 Centerline is valid? [True, True] Translation: X:172.91, Y:48.89, Z:0.74 [[ 8.75004252e-01 -4.83080926e-01 -3.16287520e-02 1.72908387e+02] [ 4.82734914e-01 8.75575394e-01 -1.82956943e-02 4.88919443e+01] [ 3.65316580e-02 7.40507446e-04 9.99332222e-01 7.36296078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.956875 meters 0.017692228686980796 Centerline is valid? [True, True] Translation: X:172.96, Y:48.92, Z:0.74 [[ 8.75403176e-01 -4.82348279e-01 -3.17713242e-02 1.72959435e+02] [ 4.81998280e-01 8.75979180e-01 -1.83884238e-02 4.89207746e+01] [ 3.67006431e-02 7.83560950e-04 9.99325997e-01 7.38037192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.016875 meters 0.016473551286604885 Centerline is valid? [True, True] Translation: X:173.01, Y:48.94, Z:0.74 [[ 8.74517103e-01 -4.83894527e-01 -3.26484768e-02 1.73014142e+02] [ 4.83525596e-01 8.75126006e-01 -1.89068905e-02 4.89446005e+01] [ 3.77204719e-02 7.48024848e-04 9.99288050e-01 7.39626771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.076875 meters 0.01673169161367465 Centerline is valid? [True, True] Translation: X:173.07, Y:48.97, Z:0.74 [[ 8.73769786e-01 -4.85166027e-01 -3.37681331e-02 1.73065417e+02] [ 4.84771904e-01 8.74421751e-01 -1.95653305e-02 4.89710015e+01] [ 3.90200237e-02 7.25752499e-04 9.99238165e-01 7.39397269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.136875 meters 0.016400734157340415 Centerline is valid? [True, True] Translation: X:173.12, Y:49.00, Z:0.74 [[ 8.73127565e-01 -4.86364618e-01 -3.31317487e-02 1.73118602e+02] [ 4.85985801e-01 8.73755695e-01 -1.92038023e-02 4.89963091e+01] [ 3.82891040e-02 6.65809727e-04 9.99266482e-01 7.41884741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.196875 meters 0.017179316790047906 Centerline is valid? [True, True] Translation: X:173.17, Y:49.02, Z:0.74 [[ 8.72856846e-01 -4.86914264e-01 -3.21780421e-02 1.73169852e+02] [ 4.86557004e-01 8.73449542e-01 -1.86595788e-02 4.90237137e+01] [ 3.71915112e-02 6.30689322e-04 9.99307957e-01 7.43890554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25687499999998 meters 0.0164146566648937 Centerline is valid? [True, True] Translation: X:173.22, Y:49.05, Z:0.75 [[ 8.72586690e-01 -4.87451703e-01 -3.13577065e-02 1.73222716e+02] [ 4.87112593e-01 8.73149748e-01 -1.81890112e-02 4.90505334e+01] [ 3.62462380e-02 5.96755302e-04 9.99342711e-01 7.47552204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31687499999998 meters 0.016453646739731778 Centerline is valid? [True, True] Translation: X:173.27, Y:49.08, Z:0.75 [[ 8.72240636e-01 -4.88081595e-01 -3.11870055e-02 1.73274134e+02] [ 4.87746192e-01 8.72797814e-01 -1.81004918e-02 4.90777585e+01] [ 3.60544672e-02 5.76641323e-04 9.99349660e-01 7.50377327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37687499999998 meters 0.016266499633139978 Centerline is valid? [True, True] Translation: X:173.33, Y:49.11, Z:0.75 [[ 8.71443673e-01 -4.89491165e-01 -3.13739374e-02 1.73325764e+02] [ 4.89152227e-01 8.72008094e-01 -1.82203869e-02 4.91070189e+01] [ 3.62770458e-02 5.31409575e-04 9.99341630e-01 7.50127075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.436875 meters 0.01590626315653128 Centerline is valid? [True, True] Translation: X:173.38, Y:49.13, Z:0.75 [[ 8.70380679e-01 -4.91287131e-01 -3.27784582e-02 1.73376869e+02] [ 4.90917996e-01 8.70997542e-01 -1.90474193e-02 4.91349341e+01] [ 3.79077085e-02 4.86970712e-04 9.99281126e-01 7.50123362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.496875 meters 0.01545807901603338 Centerline is valid? [True, True] Translation: X:173.43, Y:49.16, Z:0.75 [[ 8.68132732e-01 -4.95189227e-01 -3.36628899e-02 1.73429769e+02] [ 4.94802344e-01 8.68785081e-01 -1.95735505e-02 4.91612706e+01] [ 3.89384278e-02 3.35963038e-04 9.99241555e-01 7.51610554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.556875 meters 0.014887138107954306 Centerline is valid? [True, True] Translation: X:173.48, Y:49.19, Z:0.75 [[ 8.66138738e-01 -4.98721860e-01 -3.28662830e-02 1.73482239e+02] [ 4.98355222e-01 8.66762063e-01 -1.91206734e-02 4.91886817e+01] [ 3.80231451e-02 1.82072213e-04 9.99276842e-01 7.54812988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.616875 meters 0.014845254180185863 Centerline is valid? [True, True] Translation: X:173.54, Y:49.22, Z:0.76 [[ 8.63441459e-01 -5.03457109e-01 -3.16194015e-02 1.73535266e+02] [ 5.03120575e-01 8.64020219e-01 -1.84051231e-02 4.92152967e+01] [ 3.65859922e-02 -1.66251301e-05 9.99330508e-01 7.57030452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.676875 meters 0.014826617285790267 Centerline is valid? [True, True] Translation: X:173.59, Y:49.24, Z:0.76 [[ 8.61227560e-01 -5.07269162e-01 -3.10658644e-02 1.73587011e+02] [ 5.06946420e-01 8.61787659e-01 -1.80930273e-02 4.92418245e+01] [ 3.59502134e-02 -1.66514980e-04 9.99353568e-01 7.59695708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.736875 meters 0.014876396654201209 Centerline is valid? [True, True] Translation: X:173.64, Y:49.27, Z:0.76 [[ 8.61049116e-01 -5.07566406e-01 -3.11570784e-02 1.73637650e+02] [ 5.07241551e-01 8.61612624e-01 -1.81574850e-02 4.92711212e+01] [ 3.60614615e-02 -1.69678404e-04 9.99349560e-01 7.62572511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.796875 meters 0.014684560529620104 Centerline is valid? [True, True] Translation: X:173.69, Y:49.30, Z:0.76 [[ 8.62137291e-01 -5.05677646e-01 -3.17712025e-02 1.73686629e+02] [ 5.05338134e-01 8.62722500e-01 -1.85272425e-02 4.93019149e+01] [ 3.67785436e-02 -8.21735293e-05 9.99323437e-01 7.63124493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.856875 meters 0.014742344863408054 Centerline is valid? [True, True] Translation: X:173.74, Y:49.33, Z:0.76 [[ 8.64102905e-01 -5.02225261e-01 -3.31052325e-02 1.73736106e+02] [ 5.01853618e-01 8.64736828e-01 -1.93174762e-02 4.93336732e+01] [ 3.83290382e-02 7.83066182e-05 9.99265169e-01 7.61971304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.916875 meters 0.014902323958426568 Centerline is valid? [True, True] Translation: X:173.79, Y:49.36, Z:0.76 [[ 8.65765870e-01 -4.99329374e-01 -3.34609318e-02 1.73785812e+02] [ 4.98947111e-01 8.66412216e-01 -1.95359072e-02 4.93644965e+01] [ 3.87458124e-02 2.18286418e-04 9.99249075e-01 7.63613605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97687499999998 meters 0.01576685495273639 Centerline is valid? [True, True] Translation: X:173.83, Y:49.40, Z:0.77 [[ 8.69073534e-01 -4.93624499e-01 -3.23426289e-02 1.73834900e+02] [ 4.93263023e-01 8.69675018e-01 -1.88932132e-02 4.93973513e+01] [ 3.74537293e-02 4.66168681e-04 9.99298254e-01 7.67032133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03687499999998 meters 0.016845526997641604 Centerline is valid? [True, True] Translation: X:173.88, Y:49.43, Z:0.77 [[ 8.71118453e-01 -4.90023645e-01 -3.20853196e-02 1.73882501e+02] [ 4.89665132e-01 8.71708918e-01 -1.87515570e-02 4.94303620e+01] [ 3.71577655e-02 6.23765059e-04 9.99309217e-01 7.67393861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09687499999998 meters 0.018987536901484685 Centerline is valid? [True, True] Translation: X:173.93, Y:49.46, Z:0.77 [[ 8.72171560e-01 -4.88194622e-01 -3.13493234e-02 1.73929800e+02] [ 4.87851063e-01 8.72734517e-01 -1.83249372e-02 4.94636152e+01] [ 3.63057724e-02 6.88688338e-04 9.99340491e-01 7.67840189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15687499999999 meters 0.01680489132547441 Centerline is valid? [True, True] Translation: X:173.98, Y:49.49, Z:0.77 [[ 8.70536994e-01 -4.91079253e-01 -3.17255373e-02 1.73983963e+02] [ 4.90729120e-01 8.71114706e-01 -1.85499210e-02 4.94886066e+01] [ 3.67460634e-02 5.79747434e-04 9.99324467e-01 7.71064422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.216875 meters 0.01609007988972219 Centerline is valid? [True, True] Translation: X:174.04, Y:49.52, Z:0.77 [[ 8.68435028e-01 -4.94738126e-01 -3.24775275e-02 1.74035490e+02] [ 4.94373431e-01 8.69041996e-01 -1.89978683e-02 4.95158550e+01] [ 3.76233050e-02 4.42387571e-04 9.99291895e-01 7.71412215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.276875 meters 0.01496086593988658 Centerline is valid? [True, True] Translation: X:174.09, Y:49.54, Z:0.77 [[ 8.65589593e-01 -4.99693902e-01 -3.25677823e-02 1.74088653e+02] [ 4.99330462e-01 8.66202026e-01 -1.90562184e-02 4.95413734e+01] [ 3.77325552e-02 2.32778551e-04 9.99287846e-01 7.73116253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.336875 meters 0.014896686007518641 Centerline is valid? [True, True] Translation: X:174.14, Y:49.56, Z:0.77 [[ 8.60568272e-01 -5.08224888e-01 -3.36112130e-02 1.74141302e+02] [ 5.07843869e-01 8.61224387e-01 -1.96763661e-02 4.95644365e+01] [ 3.89468153e-02 -1.36392070e-04 9.99241276e-01 7.73349106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.396875 meters 0.01597547706190323 Centerline is valid? [True, True] Translation: X:174.20, Y:49.59, Z:0.78 [[ 8.55605546e-01 -5.16595447e-01 -3.26847752e-02 1.74195355e+02] [ 5.16240972e-01 8.56229466e-01 -1.91405716e-02 4.95893112e+01] [ 3.78735998e-02 -4.96440957e-04 9.99282415e-01 7.75601763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.456875 meters 0.016965303867075388 Centerline is valid? [True, True] Translation: X:174.25, Y:49.62, Z:0.78 [[ 8.53405671e-01 -5.20264550e-01 -3.19931057e-02 1.74247830e+02] [ 5.19927120e-01 8.54004914e-01 -1.87455759e-02 4.96170075e+01] [ 3.70749281e-02 -6.36502566e-04 9.99312286e-01 7.78863456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.516875 meters 0.017105760215064374 Centerline is valid? [True, True] Translation: X:174.30, Y:49.65, Z:0.78 [[ 8.52793580e-01 -5.21356589e-01 -3.05027377e-02 1.74297816e+02] [ 5.21050233e-01 8.53338674e-01 -1.78819112e-02 4.96466986e+01] [ 3.53520179e-02 -6.43879489e-04 9.99374715e-01 7.82959004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.576875 meters 0.016708996019155948 Centerline is valid? [True, True] Translation: X:174.35, Y:49.68, Z:0.79 [[ 8.53543628e-01 -5.20146481e-01 -3.01813417e-02 1.74346619e+02] [ 5.19845423e-01 8.54076872e-01 -1.77040417e-02 4.96798718e+01] [ 3.49858810e-02 -5.78460354e-04 9.99387639e-01 7.85429431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.636875 meters 0.015173232447489067 Centerline is valid? [True, True] Translation: X:174.39, Y:49.72, Z:0.79 [[ 8.57483564e-01 -5.13634616e-01 -3.00236479e-02 1.74392028e+02] [ 5.13332369e-01 8.58008968e-01 -1.76207073e-02 4.97194036e+01] [ 3.48111643e-02 -3.02643436e-04 9.99393862e-01 7.85466687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.696875 meters 0.014561365496558547 Centerline is valid? [True, True] Translation: X:174.44, Y:49.76, Z:0.79 [[ 8.62419117e-01 -5.05287343e-01 -3.02979980e-02 1.74436772e+02] [ 5.04974072e-01 8.62951157e-01 -1.77900824e-02 4.97604520e+01] [ 3.51347959e-02 4.28037336e-05 9.99382582e-01 7.85856557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75687499999998 meters 0.014943750667436015 Centerline is valid? [True, True] Translation: X:174.48, Y:49.80, Z:0.79 [[ 8.65490088e-01 -4.99996947e-01 -3.04952625e-02 1.74483633e+02] [ 4.99675935e-01 8.66027125e-01 -1.79158808e-02 4.97970222e+01] [ 3.53676102e-02 2.68268465e-04 9.99374334e-01 7.87506895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81687499999998 meters 0.01602720568654623 Centerline is valid? [True, True] Translation: X:174.53, Y:49.84, Z:0.79 [[ 8.68889842e-01 -4.94102971e-01 -2.98780231e-02 1.74528004e+02] [ 4.93791038e-01 8.69403242e-01 -1.75617002e-02 4.98359094e+01] [ 3.46533384e-02 5.05682869e-04 9.99399265e-01 7.87741884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87687499999998 meters 0.016515725168201923 Centerline is valid? [True, True] Translation: X:174.58, Y:49.87, Z:0.79 [[ 8.70483488e-01 -4.91320762e-01 -2.93667496e-02 1.74576220e+02] [ 4.91017674e-01 8.70978494e-01 -1.72657751e-02 4.98702407e+01] [ 3.40608411e-02 6.09979010e-04 9.99419575e-01 7.88883907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.936875 meters 0.016916358736214856 Centerline is valid? [True, True] Translation: X:174.62, Y:49.90, Z:0.79 [[ 8.70438571e-01 -4.91328308e-01 -3.05481276e-02 1.74624461e+02] [ 4.91000023e-01 8.70974214e-01 -1.79692869e-02 4.99020636e+01] [ 3.54354507e-02 6.42029110e-04 9.99371761e-01 7.89261691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.996875 meters 0.016489469704912156 Centerline is valid? [True, True] Translation: X:174.67, Y:49.93, Z:0.79 [[ 8.69877434e-01 -4.92325480e-01 -3.04773878e-02 1.74674785e+02] [ 4.91999153e-01 8.70410970e-01 -1.79325814e-02 4.99330791e+01] [ 3.53565195e-02 6.04298887e-04 9.99374580e-01 7.90173368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.056875 meters 0.016223218244366722 Centerline is valid? [True, True] Translation: X:174.72, Y:49.96, Z:0.79 [[ 8.69542113e-01 -4.92927331e-01 -3.03176645e-02 1.74724190e+02] [ 4.92604428e-01 8.70070287e-01 -1.78486287e-02 4.99628421e+01] [ 3.51765759e-02 5.85518526e-04 9.99380941e-01 7.91871292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.116875 meters 0.016044278959769127 Centerline is valid? [True, True] Translation: X:174.77, Y:49.99, Z:0.79 [[ 8.69115818e-01 -4.93653168e-01 -3.07285545e-02 1.74773646e+02] [ 4.93321491e-01 8.69658681e-01 -1.81020832e-02 4.99933560e+01] [ 3.56595049e-02 5.73750565e-04 9.99363833e-01 7.92830513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.176875 meters 0.016105973659559115 Centerline is valid? [True, True] Translation: X:174.82, Y:50.02, Z:0.79 [[ 8.68613151e-01 -4.94542797e-01 -3.06368267e-02 1.74823529e+02] [ 4.94213296e-01 8.69153108e-01 -1.80580362e-02 5.00235557e+01] [ 3.55585649e-02 5.44320675e-04 9.99367446e-01 7.93007007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.236875 meters 0.015669008438894415 Centerline is valid? [True, True] Translation: X:174.88, Y:50.05, Z:0.80 [[ 8.67398669e-01 -4.96765713e-01 -2.90409302e-02 1.74875433e+02] [ 4.96470716e-01 8.67884576e-01 -1.71227907e-02 5.00523061e+01] [ 3.37101908e-02 4.34314443e-04 9.99431556e-01 7.96620319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.296875 meters 0.015313164887579585 Centerline is valid? [True, True] Translation: X:174.93, Y:50.08, Z:0.80 [[ 8.66549811e-01 -4.98292647e-01 -2.82110384e-02 1.74927076e+02] [ 4.98014812e-01 8.67008824e-01 -1.66417298e-02 5.00811601e+01] [ 3.27516708e-02 3.71372883e-04 9.99463451e-01 7.99233617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.356875 meters 0.01532830959771281 Centerline is valid? [True, True] Translation: X:174.98, Y:50.11, Z:0.80 [[ 8.66221393e-01 -4.98924310e-01 -2.71114439e-02 1.74977074e+02] [ 4.98667760e-01 8.66645496e-01 -1.60015422e-02 5.01123839e+01] [ 3.14795691e-02 3.41275204e-04 9.99504337e-01 8.00686436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.416875 meters 0.015471056078211184 Centerline is valid? [True, True] Translation: X:175.03, Y:50.14, Z:0.80 [[ 8.66148530e-01 -4.99089918e-01 -2.63813863e-02 1.75026874e+02] [ 4.98846823e-01 8.66550138e-01 -1.55789940e-02 5.01428609e+01] [ 3.06361128e-02 3.33452006e-04 9.99530549e-01 8.02458898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47687499999998 meters 0.015339422196052634 Centerline is valid? [True, True] Translation: X:175.08, Y:50.17, Z:0.80 [[ 8.65819007e-01 -4.99661593e-01 -2.63768897e-02 1.75077114e+02] [ 4.99418553e-01 8.66220635e-01 -1.55858968e-02 5.01727839e+01] [ 3.06358802e-02 3.21457631e-04 9.99530560e-01 8.03617208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53687499999998 meters 0.01484216463119471 Centerline is valid? [True, True] Translation: X:175.13, Y:50.20, Z:0.80 [[ 8.64573977e-01 -5.01767846e-01 -2.72188927e-02 1.75128836e+02] [ 5.01509759e-01 8.65002289e-01 -1.60935424e-02 5.02010657e+01] [ 3.16196266e-02 2.63517670e-04 9.99499940e-01 8.03786252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59687499999998 meters 0.014706149895174391 Centerline is valid? [True, True] Translation: X:175.18, Y:50.23, Z:0.80 [[ 8.63237570e-01 -5.04016356e-01 -2.80786621e-02 1.75180446e+02] [ 5.03742580e-01 8.63694086e-01 -1.66113742e-02 5.02299739e+01] [ 3.26237787e-02 1.95144586e-04 9.99467684e-01 8.03932129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65687499999999 meters 0.014398765394200022 Centerline is valid? [True, True] Translation: X:175.23, Y:50.26, Z:0.81 [[ 8.61907053e-01 -5.06299146e-01 -2.78820166e-02 1.75231922e+02] [ 5.06030087e-01 8.62357908e-01 -1.65042148e-02 5.02588952e+01] [ 3.24003474e-02 1.15959825e-04 9.99474964e-01 8.05483548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.716875 meters 0.014554407558104625 Centerline is valid? [True, True] Translation: X:175.28, Y:50.29, Z:0.81 [[ 8.61974069e-01 -5.06256208e-01 -2.65585227e-02 1.75281226e+02] [ 5.06011806e-01 8.62383115e-01 -1.57294356e-02 5.02888359e+01] [ 3.08667460e-02 1.19439544e-04 9.99523501e-01 8.08453682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.776875 meters 0.014519136063313884 Centerline is valid? [True, True] Translation: X:175.33, Y:50.32, Z:0.81 [[ 8.62678367e-01 -5.05066855e-01 -2.63345045e-02 1.75330319e+02] [ 5.04825701e-01 8.63080207e-01 -1.56066842e-02 5.03190065e+01] [ 3.06112085e-02 1.69214149e-04 9.99531353e-01 8.10402695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.836875 meters 0.014730748141863918 Centerline is valid? [True, True] Translation: X:175.38, Y:50.35, Z:0.81 [[ 8.64015676e-01 -5.02792007e-01 -2.60213162e-02 1.75378602e+02] [ 5.02555243e-01 8.64407388e-01 -1.54303225e-02 5.03513105e+01] [ 3.02512608e-02 2.54891626e-04 9.99542293e-01 8.09821997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.896875 meters 0.014882348412075122 Centerline is valid? [True, True] Translation: X:175.43, Y:50.38, Z:0.81 [[ 8.65101939e-01 -5.00806167e-01 -2.81392619e-02 1.75429424e+02] [ 5.00528083e-01 8.65559390e-01 -1.66907257e-02 5.03814315e+01] [ 3.27150207e-02 3.54688358e-04 9.99464658e-01 8.10048681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.956875 meters 0.015261941200811861 Centerline is valid? [True, True] Translation: X:175.48, Y:50.41, Z:0.81 [[ 8.65838105e-01 -4.99454914e-01 -2.94815972e-02 1.75479946e+02] [ 4.99148530e-01 8.66339772e-01 -1.74970014e-02 5.04121493e+01] [ 3.42800435e-02 4.33874582e-04 9.99412172e-01 8.09916615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.016875 meters 0.015719585359746074 Centerline is valid? [True, True] Translation: X:175.53, Y:50.44, Z:0.81 [[ 8.67351239e-01 -4.96734572e-01 -3.09288455e-02 1.75529972e+02] [ 4.96395246e-01 8.67902317e-01 -1.83664869e-02 5.04427369e+01] [ 3.59664857e-02 5.77263268e-04 9.99352830e-01 8.09313654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.076875 meters 0.016157782158365743 Centerline is valid? [True, True] Translation: X:175.58, Y:50.47, Z:0.81 [[ 8.68466089e-01 -4.94773100e-01 -3.10842551e-02 1.75581058e+02] [ 4.94428721e-01 8.69021938e-01 -1.84691895e-02 5.04723765e+01] [ 3.61509578e-02 6.70916314e-04 9.99346115e-01 8.10847345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.136875 meters 0.01756394580597528 Centerline is valid? [True, True] Translation: X:175.63, Y:50.50, Z:0.81 [[ 8.69721665e-01 -4.92591187e-01 -3.06292043e-02 1.75630399e+02] [ 4.92255156e-01 8.70260506e-01 -1.82075147e-02 5.05032169e+01] [ 3.56242482e-02 7.58086264e-04 9.99364967e-01 8.12732432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.196875 meters 0.017652189255712603 Centerline is valid? [True, True] Translation: X:175.68, Y:50.53, Z:0.81 [[ 8.70645874e-01 -4.90977048e-01 -3.02869540e-02 1.75682139e+02] [ 4.90647336e-01 8.71172122e-01 -1.80090148e-02 5.05313464e+01] [ 3.52271629e-02 8.19261126e-04 9.99378995e-01 8.14159418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25687499999998 meters 0.018235818374265484 Centerline is valid? [True, True] Translation: X:175.73, Y:50.56, Z:0.82 [[ 8.70782537e-01 -4.90713964e-01 -3.06199292e-02 1.75732805e+02] [ 4.90376485e-01 8.71320314e-01 -1.82157590e-02 5.05594611e+01] [ 3.56184936e-02 8.46671594e-04 9.99365101e-01 8.15769060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31687499999998 meters 0.01754943392109971 Centerline is valid? [True, True] Translation: X:175.79, Y:50.58, Z:0.82 [[ 8.69805698e-01 -4.92449450e-01 -3.05219060e-02 1.75786042e+02] [ 4.92115019e-01 8.70340700e-01 -1.81624200e-02 5.05849045e+01] [ 3.55085308e-02 7.77488024e-04 9.99369071e-01 8.16799576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37687499999998 meters 0.017056263423714427 Centerline is valid? [True, True] Translation: X:175.84, Y:50.61, Z:0.82 [[ 8.68509598e-01 -4.94712501e-01 -3.08321135e-02 1.75840408e+02] [ 4.94372296e-01 8.69056414e-01 -1.83570898e-02 5.06085234e+01] [ 3.58763278e-02 7.00765953e-04 9.99355992e-01 8.18918169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.436875 meters 0.01664381500267327 Centerline is valid? [True, True] Translation: X:175.89, Y:50.64, Z:0.82 [[ 8.67951184e-01 -4.95682502e-01 -3.09774070e-02 1.75892801e+02] [ 4.95339338e-01 8.68503543e-01 -1.84536110e-02 5.06361509e+01] [ 3.60511198e-02 6.72505208e-04 9.99349721e-01 8.20900548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.496875 meters 0.01634373199326861 Centerline is valid? [True, True] Translation: X:175.95, Y:50.66, Z:0.82 [[ 8.67465248e-01 -4.96518345e-01 -3.12021847e-02 1.75945017e+02] [ 4.96170334e-01 8.68025984e-01 -1.85981652e-02 5.06620506e+01] [ 3.63186373e-02 6.51663541e-04 9.99340048e-01 8.21853165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.556875 meters 0.016724222606165167 Centerline is valid? [True, True] Translation: X:176.00, Y:50.69, Z:0.82 [[ 8.67239437e-01 -4.96838033e-01 -3.23686340e-02 1.75997703e+02] [ 4.96463340e-01 8.67843026e-01 -1.93037057e-02 5.06876510e+01] [ 3.76817085e-02 6.71094698e-04 9.99289567e-01 8.22040186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.616875 meters 0.016628395654281 Centerline is valid? [True, True] Translation: X:176.05, Y:50.71, Z:0.82 [[ 8.67238735e-01 -4.96766661e-01 -3.34643175e-02 1.76051008e+02] [ 4.96365872e-01 8.67883858e-01 -1.99632136e-02 5.07140058e+01] [ 3.89602000e-02 7.02326993e-04 9.99240516e-01 8.24240528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.676875 meters 0.01751221186642679 Centerline is valid? [True, True] Translation: X:176.10, Y:50.74, Z:0.83 [[ 8.67328874e-01 -4.96680713e-01 -3.23866229e-02 1.76102672e+02] [ 4.96304948e-01 8.67933057e-01 -1.93289048e-02 5.07401375e+01] [ 3.77097149e-02 6.90875990e-04 9.99288497e-01 8.26392432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.736875 meters 0.01698526061142365 Centerline is valid? [True, True] Translation: X:176.16, Y:50.77, Z:0.83 [[ 8.66912274e-01 -4.97483639e-01 -3.11951622e-02 1.76156344e+02] [ 4.97135362e-01 8.67473126e-01 -1.86227741e-02 5.07661210e+01] [ 3.63254902e-02 6.36093189e-04 9.99339809e-01 8.29908727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.796875 meters 0.017090294083678778 Centerline is valid? [True, True] Translation: X:176.21, Y:50.79, Z:0.83 [[ 8.66990617e-01 -4.97327665e-01 -3.15033959e-02 1.76207451e+02] [ 4.96972045e-01 8.67562541e-01 -1.88155032e-02 5.07944028e+01] [ 3.66886365e-02 6.56557626e-04 9.99326530e-01 8.31833515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.856875 meters 0.017418507763606914 Centerline is valid? [True, True] Translation: X:176.26, Y:50.82, Z:0.83 [[ 8.67303639e-01 -4.96790272e-01 -3.13659606e-02 1.76258087e+02] [ 4.96437155e-01 8.67870359e-01 -1.87400732e-02 5.08241704e+01] [ 3.65314735e-02 6.82105409e-04 9.99332270e-01 8.32881065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.916875 meters 0.017199713225899423 Centerline is valid? [True, True] Translation: X:176.31, Y:50.85, Z:0.83 [[ 8.67478733e-01 -4.96471264e-01 -3.15742384e-02 1.76309646e+02] [ 4.96112849e-01 8.68052868e-01 -1.88748433e-02 5.08527393e+01] [ 3.67789255e-02 7.09139727e-04 9.99323175e-01 8.33913826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97687499999998 meters 0.01751095451921307 Centerline is valid? [True, True] Translation: X:176.36, Y:50.88, Z:0.84 [[ 8.67298344e-01 -4.96796093e-01 -3.14201282e-02 1.76359388e+02] [ 4.96441024e-01 8.67867012e-01 -1.87925132e-02 5.08816734e+01] [ 3.66045399e-02 7.00474920e-04 9.99329584e-01 8.35367351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03687499999998 meters 0.016747265742499507 Centerline is valid? [True, True] Translation: X:176.41, Y:50.91, Z:0.84 [[ 8.66384692e-01 -4.98345021e-01 -3.20905840e-02 1.76411294e+02] [ 4.97975355e-01 8.66978552e-01 -1.92025127e-02 5.09089339e+01] [ 3.73913246e-02 6.56443142e-04 9.99300484e-01 8.37052982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09687499999998 meters 0.01566991044353067 Centerline is valid? [True, True] Translation: X:176.46, Y:50.94, Z:0.84 [[ 8.63554543e-01 -5.03157990e-01 -3.32503969e-02 1.76463899e+02] [ 5.02764226e-01 8.64194314e-01 -1.99077931e-02 5.09359475e+01] [ 3.87515691e-02 4.74355052e-04 9.99248763e-01 8.36930654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15687499999999 meters 0.015064201719305554 Centerline is valid? [True, True] Translation: X:176.52, Y:50.96, Z:0.84 [[ 8.61196398e-01 -5.07244946e-01 -3.23005958e-02 1.76516475e+02] [ 5.06875843e-01 8.61801880e-01 -1.93494254e-02 5.09624826e+01] [ 3.76516124e-02 2.91263776e-04 9.99290884e-01 8.39934406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.216875 meters 0.01482386907087795 Centerline is valid? [True, True] Translation: X:176.57, Y:50.99, Z:0.84 [[ 8.60245163e-01 -5.08836932e-01 -3.26073096e-02 1.76567146e+02] [ 5.08461500e-01 8.60862894e-01 -1.95443164e-02 5.09913728e+01] [ 3.80152929e-02 2.33342080e-04 9.99277130e-01 8.41518226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.276875 meters 0.014929472027686224 Centerline is valid? [True, True] Translation: X:176.62, Y:51.02, Z:0.84 [[ 8.60512716e-01 -5.08400666e-01 -3.23516304e-02 1.76617258e+02] [ 5.08030337e-01 8.61120604e-01 -1.94031503e-02 5.10213926e+01] [ 3.77232300e-02 2.61047895e-04 9.99288192e-01 8.44283998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.336875 meters 0.015226169192837343 Centerline is valid? [True, True] Translation: X:176.67, Y:51.05, Z:0.85 [[ 8.61373564e-01 -5.06895118e-01 -3.30593984e-02 1.76667009e+02] [ 5.06506822e-01 8.62007669e-01 -1.98398158e-02 5.10528492e+01] [ 3.85541607e-02 3.44682029e-04 9.99256453e-01 8.45229102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.396875 meters 0.015467348053319209 Centerline is valid? [True, True] Translation: X:176.72, Y:51.09, Z:0.84 [[ 8.61611756e-01 -5.06392009e-01 -3.45299055e-02 1.76716268e+02] [ 5.05967507e-01 8.62303298e-01 -2.07341306e-02 5.10850413e+01] [ 4.02748495e-02 3.93760521e-04 9.99188562e-01 8.43543973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.456875 meters 0.015703302483876556 Centerline is valid? [True, True] Translation: X:176.77, Y:51.11, Z:0.85 [[ 8.61578091e-01 -5.06504323e-01 -3.37129677e-02 1.76765506e+02] [ 5.06099417e-01 8.62237335e-01 -2.02523650e-02 5.11149491e+01] [ 3.93264898e-02 3.86880682e-04 9.99226339e-01 8.45658046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.516875 meters 0.015203305245323043 Centerline is valid? [True, True] Translation: X:176.82, Y:51.14, Z:0.85 [[ 8.60890481e-01 -5.07712517e-01 -3.30995543e-02 1.76816485e+02] [ 5.07322884e-01 8.61526489e-01 -1.98896919e-02 5.11445230e+01] [ 3.86143884e-02 3.30685061e-04 9.99254132e-01 8.49530980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.576875 meters 0.014952274911140907 Centerline is valid? [True, True] Translation: X:176.87, Y:51.18, Z:0.85 [[ 8.60221481e-01 -5.08853518e-01 -3.29712086e-02 1.76865542e+02] [ 5.08467306e-01 8.60853073e-01 -1.98238408e-02 5.11752577e+01] [ 3.84707974e-02 2.88112101e-04 9.99259683e-01 8.50562712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.636875 meters 0.014984427119690273 Centerline is valid? [True, True] Translation: X:176.91, Y:51.21, Z:0.85 [[ 8.60074442e-01 -5.09128621e-01 -3.25576821e-02 1.76914475e+02] [ 5.08751775e-01 8.60690402e-01 -1.95873434e-02 5.12065584e+01] [ 3.79945616e-02 2.82794833e-04 9.99277906e-01 8.52431903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.696875 meters 0.014955584250855709 Centerline is valid? [True, True] Translation: X:176.96, Y:51.24, Z:0.85 [[ 8.59834799e-01 -5.09490362e-01 -3.32218347e-02 1.76963379e+02] [ 5.09097755e-01 8.60476316e-01 -1.99996234e-02 5.12384767e+01] [ 3.87762173e-02 2.83210702e-04 9.99247880e-01 8.52251393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75687499999998 meters 0.014839861912690823 Centerline is valid? [True, True] Translation: X:177.01, Y:51.27, Z:0.85 [[ 8.59749360e-01 -5.09712079e-01 -3.20099193e-02 1.77012626e+02] [ 5.09347329e-01 8.60345002e-01 -1.92814988e-02 5.12705707e+01] [ 3.73675869e-02 2.73089358e-04 9.99301551e-01 8.54567752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81687499999998 meters 0.01515975854644512 Centerline is valid? [True, True] Translation: X:177.06, Y:51.30, Z:0.86 [[ 8.60320293e-01 -5.08839163e-01 -3.05237508e-02 1.77061200e+02] [ 5.08506601e-01 8.60861553e-01 -1.83962895e-02 5.13023427e+01] [ 3.56374760e-02 3.05172385e-04 9.99364737e-01 8.57965512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87687499999998 meters 0.016029979501390953 Centerline is valid? [True, True] Translation: X:177.11, Y:51.34, Z:0.86 [[ 8.62621111e-01 -5.04887022e-01 -3.12075914e-02 1.77108678e+02] [ 5.04536375e-01 8.63185296e-01 -1.88199549e-02 5.13380785e+01] [ 3.64398850e-02 4.89125352e-04 9.99335727e-01 8.57766779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.936875 meters 0.017021842407102573 Centerline is valid? [True, True] Translation: X:177.16, Y:51.37, Z:0.86 [[ 8.64935098e-01 -5.00867513e-01 -3.19219372e-02 1.77156790e+02] [ 5.00497483e-01 8.65523696e-01 -1.92614095e-02 5.13733267e+01] [ 3.72766073e-02 6.83019981e-04 9.99304752e-01 8.57608273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.996875 meters 0.01868182476765395 Centerline is valid? [True, True] Translation: X:177.20, Y:51.41, Z:0.86 [[ 8.67893704e-01 -4.95705879e-01 -3.21900673e-02 1.77204682e+02] [ 4.95325655e-01 8.68489972e-01 -1.94335797e-02 5.14090790e+01] [ 3.75900903e-02 9.21715307e-04 9.99292818e-01 8.59401140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.056875 meters 0.018976943489244856 Centerline is valid? [True, True] Translation: X:177.25, Y:51.44, Z:0.86 [[ 8.67625703e-01 -4.96201527e-01 -3.17755120e-02 1.77252978e+02] [ 4.95831069e-01 8.68206912e-01 -1.91913659e-02 5.14402454e+01] [ 3.71105042e-02 8.95636208e-04 9.99310767e-01 8.60849838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.116875 meters 0.019051166644997855 Centerline is valid? [True, True] Translation: X:177.30, Y:51.47, Z:0.87 [[ 8.67021516e-01 -4.97460886e-01 -2.83964283e-02 1.77302233e+02] [ 4.97165592e-01 8.67486078e-01 -1.71545367e-02 5.14712605e+01] [ 3.31672173e-02 7.55625308e-04 9.99449531e-01 8.66697103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.176875 meters 0.017393363101284157 Centerline is valid? [True, True] Translation: X:177.35, Y:51.50, Z:0.87 [[ 8.66347297e-01 -4.98644999e-01 -2.82050739e-02 1.77353503e+02] [ 4.98354022e-01 8.66806009e-01 -1.70473370e-02 5.15012738e+01] [ 3.29488969e-02 7.12802367e-04 9.99456784e-01 8.68191099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.236875 meters 0.018007806145851814 Centerline is valid? [True, True] Translation: X:177.40, Y:51.53, Z:0.87 [[ 8.66165817e-01 -4.98854210e-01 -3.00209112e-02 1.77401458e+02] [ 4.98524473e-01 8.66685587e-01 -1.81505674e-02 5.15332954e+01] [ 3.50731780e-02 7.55242138e-04 9.99384461e-01 8.66276933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.296875 meters 0.018114418727998596 Centerline is valid? [True, True] Translation: X:177.45, Y:51.56, Z:0.86 [[ 8.66212790e-01 -4.98601110e-01 -3.27465221e-02 1.77451342e+02] [ 4.98208286e-01 8.66831139e-01 -1.98060574e-02 5.15649883e+01] [ 3.82610273e-02 8.41671609e-04 9.99267424e-01 8.64498193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.356875 meters 0.018038446706007565 Centerline is valid? [True, True] Translation: X:177.50, Y:51.60, Z:0.87 [[ 8.65795727e-01 -4.99291899e-01 -3.32469543e-02 1.77500672e+02] [ 4.98887033e-01 8.66433440e-01 -2.01202215e-02 5.15951177e+01] [ 3.88521366e-02 8.33527405e-04 9.99244623e-01 8.66034945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.416875 meters 0.01688773491965491 Centerline is valid? [True, True] Translation: X:177.55, Y:51.62, Z:0.87 [[ 8.64529880e-01 -5.01478410e-01 -3.32789775e-02 1.77552214e+02] [ 5.01073910e-01 8.65169837e-01 -2.01516668e-02 5.16229960e+01] [ 3.88975934e-02 7.46490667e-04 9.99242923e-01 8.68720768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47687499999998 meters 0.015812690442707923 Centerline is valid? [True, True] Translation: X:177.61, Y:51.65, Z:0.87 [[ 8.61849887e-01 -5.06216029e-01 -3.09855571e-02 1.77605090e+02] [ 5.05868122e-01 8.62406562e-01 -1.87713886e-02 5.16501472e+01] [ 3.62245255e-02 5.03513631e-04 9.99343550e-01 8.73563106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53687499999998 meters 0.014462756204600434 Centerline is valid? [True, True] Translation: X:177.66, Y:51.68, Z:0.88 [[ 8.57615424e-01 -5.13406312e-01 -3.01619460e-02 1.77657861e+02] [ 5.13080893e-01 8.58145628e-01 -1.82778246e-02 5.16765096e+01] [ 3.52672926e-02 1.99826135e-04 9.99377896e-01 8.75507982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59687499999998 meters 0.014214884768544496 Centerline is valid? [True, True] Translation: X:177.71, Y:51.70, Z:0.88 [[ 8.54062332e-01 -5.19322245e-01 -2.96974466e-02 1.77709944e+02] [ 5.19010070e-01 8.54578495e-01 -1.80039583e-02 5.17029892e+01] [ 3.47286553e-02 -3.67712443e-05 9.99396778e-01 8.76699413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65687499999999 meters 0.01511134957815787 Centerline is valid? [True, True] Translation: X:177.76, Y:51.73, Z:0.88 [[ 8.48788815e-01 -5.27943798e-01 -2.88599044e-02 1.77763097e+02] [ 5.27653789e-01 8.49279228e-01 -1.75006306e-02 5.17283130e+01] [ 3.37494667e-02 -3.73698429e-04 9.99430255e-01 8.80234683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.716875 meters 0.015855046603265078 Centerline is valid? [True, True] Translation: X:177.81, Y:51.76, Z:0.88 [[ 8.46289526e-01 -5.31945827e-01 -2.87693430e-02 1.77813767e+02] [ 5.31659624e-01 8.46778226e-01 -1.74551189e-02 5.17582525e+01] [ 3.36464309e-02 -5.23413726e-04 9.99433661e-01 8.80990800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.776875 meters 0.016450824995547505 Centerline is valid? [True, True] Translation: X:177.86, Y:51.79, Z:0.88 [[ 8.44824177e-01 -5.34223625e-01 -2.96180458e-02 1.77862987e+02] [ 5.33921338e-01 8.45342965e-01 -1.79798765e-02 5.17906251e+01] [ 3.46426814e-02 -6.23872278e-04 9.99399567e-01 8.80893159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.836875 meters 0.015691297462429907 Centerline is valid? [True, True] Translation: X:177.91, Y:51.83, Z:0.88 [[ 8.46419962e-01 -5.31694675e-01 -2.95638195e-02 1.77910807e+02] [ 5.31391621e-01 8.46935954e-01 -1.79564558e-02 5.18260042e+01] [ 3.45860136e-02 -5.11263283e-04 9.99401594e-01 8.84796718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.896875 meters 0.014819276701053138 Centerline is valid? [True, True] Translation: X:177.96, Y:51.86, Z:0.89 [[ 8.48630904e-01 -5.28133172e-01 -3.00156864e-02 1.77957754e+02] [ 5.27818201e-01 8.49161481e-01 -1.82407560e-02 5.18619420e+01] [ 3.51217131e-02 -3.63156339e-04 9.99382976e-01 8.85964580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.956875 meters 0.014066176410718008 Centerline is valid? [True, True] Translation: X:178.00, Y:51.90, Z:0.89 [[ 8.53035972e-01 -5.20990647e-01 -2.99729399e-02 1.78003683e+02] [ 5.20671806e-01 8.53562383e-01 -1.82243903e-02 5.19006997e+01] [ 3.50785109e-02 -6.00042539e-05 9.99384558e-01 8.86471445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.016875 meters 0.014072355589120308 Centerline is valid? [True, True] Translation: X:178.05, Y:51.94, Z:0.89 [[ 8.56113486e-01 -5.15971342e-01 -2.90391705e-02 1.78050603e+02] [ 5.15668861e-01 8.56605832e-01 -1.76656097e-02 5.19361197e+01] [ 3.39900711e-02 1.49170710e-04 9.99422159e-01 8.89366791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.076875 meters 0.01590963624869228 Centerline is valid? [True, True] Translation: X:178.09, Y:51.98, Z:0.89 [[ 8.61360526e-01 -5.07135411e-01 -2.95248933e-02 1.78094974e+02] [ 5.06817170e-01 8.61866236e-01 -1.79707540e-02 5.19753170e+01] [ 3.45601144e-02 5.15575222e-04 9.99402488e-01 8.90127797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.136875 meters 0.017279218379560157 Centerline is valid? [True, True] Translation: X:178.14, Y:52.01, Z:0.89 [[ 8.64362752e-01 -5.02017669e-01 -2.92453981e-02 1.78143107e+02] [ 5.01702350e-01 8.64857067e-01 -1.78046815e-02 5.20107855e+01] [ 3.42313539e-02 7.17218550e-04 9.99413678e-01 8.91978369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.196875 meters 0.01795141030381473 Centerline is valid? [True, True] Translation: X:178.19, Y:52.04, Z:0.89 [[ 8.67317236e-01 -4.96822893e-01 -3.04602033e-02 1.78192321e+02] [ 4.96477266e-01 8.67851412e-01 -1.85540087e-02 5.20441533e+01] [ 3.56529867e-02 9.69413123e-04 9.99363760e-01 8.91905020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25687499999998 meters 0.019808350593793485 Centerline is valid? [True, True] Translation: X:178.24, Y:52.08, Z:0.89 [[ 8.68072089e-01 -4.95433162e-01 -3.15726165e-02 1.78239733e+02] [ 4.95060582e-01 8.68645402e-01 -1.92402355e-02 5.20780247e+01] [ 3.69576588e-02 1.07155352e-03 9.99316258e-01 8.90776598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31687499999998 meters 0.01958770089879775 Centerline is valid? [True, True] Translation: X:178.29, Y:52.11, Z:0.89 [[ 8.67731449e-01 -4.95984543e-01 -3.22717456e-02 1.78290090e+02] [ 4.95595419e-01 8.68330682e-01 -1.96724952e-02 5.21067469e+01] [ 3.77798004e-02 1.07671341e-03 9.99285508e-01 8.91736956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37687499999998 meters 0.01875115394672887 Centerline is valid? [True, True] Translation: X:178.34, Y:52.13, Z:0.89 [[ 8.66183600e-01 -4.98742691e-01 -3.13320936e-02 1.78341968e+02] [ 4.98377308e-01 8.66749588e-01 -1.91104777e-02 5.21342313e+01] [ 3.66882903e-02 9.37977915e-04 9.99326318e-01 8.93816903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.436875 meters 0.016442193484991215 Centerline is valid? [True, True] Translation: X:178.40, Y:52.16, Z:0.90 [[ 8.62791297e-01 -5.04625727e-01 -3.07254572e-02 1.78397097e+02] [ 5.04277761e-01 8.63337947e-01 -1.87491227e-02 5.21572601e+01] [ 3.59877428e-02 6.82415154e-04 9.99351998e-01 8.98078786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.496875 meters 0.015496712729248872 Centerline is valid? [True, True] Translation: X:178.45, Y:52.18, Z:0.90 [[ 8.60043140e-01 -5.09368223e-01 -2.94925521e-02 1.78449550e+02] [ 5.09050110e-01 8.60548540e-01 -1.80054432e-02 5.21831634e+01] [ 3.45511733e-02 4.72271024e-04 9.99402818e-01 9.00485457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.556875 meters 0.014685315027884276 Centerline is valid? [True, True] Translation: X:178.50, Y:52.21, Z:0.90 [[ 8.57870341e-01 -5.13020119e-01 -2.94760232e-02 1.78502316e+02] [ 5.12704225e-01 8.58376518e-01 -1.80036294e-02 5.22102335e+01] [ 3.45377502e-02 3.32298070e-04 9.99403339e-01 9.02671236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.616875 meters 0.013952029023869366 Centerline is valid? [True, True] Translation: X:178.56, Y:52.24, Z:0.90 [[ 8.54787370e-01 -5.18058917e-01 -3.08789656e-02 1.78555380e+02] [ 5.17715113e-01 8.55344923e-01 -1.88712467e-02 5.22355982e+01] [ 3.61885840e-02 1.44396188e-04 9.99344968e-01 9.04031034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.676875 meters 0.013949150158883424 Centerline is valid? [True, True] Translation: X:178.61, Y:52.26, Z:0.91 [[ 8.52875031e-01 -5.21198347e-01 -3.09267617e-02 1.78606656e+02] [ 5.20855141e-01 8.53435576e-01 -1.89113532e-02 5.22636072e+01] [ 3.62505647e-02 2.06580767e-05 9.99342732e-01 9.05371771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.736875 meters 0.014036073566071483 Centerline is valid? [True, True] Translation: X:178.66, Y:52.29, Z:0.91 [[ 8.50901207e-01 -5.24522010e-01 -2.90481918e-02 1.78656763e+02] [ 5.24220853e-01 8.51396882e-01 -1.77721019e-02 5.22924211e+01] [ 3.40533985e-02 -1.05364965e-04 9.99420009e-01 9.07871305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.796875 meters 0.014037000756135376 Centerline is valid? [True, True] Translation: X:178.71, Y:52.32, Z:0.91 [[ 8.50976702e-01 -5.24485371e-01 -2.74544753e-02 1.78706814e+02] [ 5.24216173e-01 8.51419454e-01 -1.68022830e-02 5.23242085e+01] [ 3.21878260e-02 -9.37285879e-05 9.99481833e-01 9.11551638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.856875 meters 0.014109787369344264 Centerline is valid? [True, True] Translation: X:178.75, Y:52.36, Z:0.91 [[ 8.53331867e-01 -5.20699490e-01 -2.63963270e-02 1.78753757e+02] [ 5.20448570e-01 8.53740029e-01 -1.61631624e-02 5.23593855e+01] [ 3.09517514e-02 5.46108497e-05 9.99520878e-01 9.14239157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.916875 meters 0.0144731863184545 Centerline is valid? [True, True] Translation: X:178.80, Y:52.40, Z:0.91 [[ 8.56008895e-01 -5.16293014e-01 -2.62734867e-02 1.78800638e+02] [ 5.16042043e-01 8.56411977e-01 -1.60976571e-02 5.23960763e+01] [ 3.08120366e-02 2.21513882e-04 9.99525172e-01 9.14561333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97687499999998 meters 0.0164087853205338 Centerline is valid? [True, True] Translation: X:178.84, Y:52.44, Z:0.91 [[ 8.60560761e-01 -5.08612356e-01 -2.73614437e-02 1.78844449e+02] [ 5.08335993e-01 8.60995468e-01 -1.67726885e-02 5.24359945e+01] [ 3.20888756e-02 5.25110928e-04 9.99484881e-01 9.12313488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03687499999998 meters 0.017787468429640057 Centerline is valid? [True, True] Translation: X:178.89, Y:52.47, Z:0.91 [[ 8.63786453e-01 -5.03034578e-01 -2.87954147e-02 1.78891304e+02] [ 5.02725262e-01 8.64265939e-01 -1.76549236e-02 5.24720183e+01] [ 3.37679331e-02 7.73901424e-04 9.99429401e-01 9.11455848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09687499999998 meters 0.018638812505689994 Centerline is valid? [True, True] Translation: X:178.94, Y:52.51, Z:0.91 [[ 8.65214574e-01 -5.00605323e-01 -2.82497906e-02 1.78940067e+02] [ 5.00306147e-01 8.65675214e-01 -1.73257978e-02 5.25058411e+01] [ 3.31285301e-02 8.56988888e-04 9.99450732e-01 9.13039060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15687499999999 meters 0.01935999949541835 Centerline is valid? [True, True] Translation: X:178.99, Y:52.54, Z:0.91 [[ 8.66069660e-01 -4.99129579e-01 -2.81603930e-02 1.78989551e+02] [ 4.98831205e-01 8.66526872e-01 -1.72803099e-02 5.25380870e+01] [ 3.30268511e-02 9.18669284e-04 9.99454043e-01 9.14145908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.216875 meters 0.018583613480999107 Centerline is valid? [True, True] Translation: X:179.04, Y:52.57, Z:0.92 [[ 8.65870708e-01 -4.99492245e-01 -2.78462435e-02 1.79039433e+02] [ 4.99200374e-01 8.66317887e-01 -1.70969182e-02 5.25672769e+01] [ 3.26634770e-02 9.02865504e-04 9.99465998e-01 9.15964183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.276875 meters 0.018753761766935554 Centerline is valid? [True, True] Translation: X:179.09, Y:52.60, Z:0.92 [[ 8.65633193e-01 -4.99939725e-01 -2.71927566e-02 1.79089166e+02] [ 4.99661292e-01 8.66059760e-01 -1.67058682e-02 5.25982192e+01] [ 3.19024794e-02 8.73986128e-04 9.99490604e-01 9.17263267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.336875 meters 0.01882448092875218 Centerline is valid? [True, True] Translation: X:179.14, Y:52.63, Z:0.92 [[ 8.64583539e-01 -5.01771329e-01 -2.68484254e-02 1.79138885e+02] [ 5.01500525e-01 8.64999935e-01 -1.65025962e-02 5.26278171e+01] [ 3.15044158e-02 8.03373546e-04 9.99503290e-01 9.18007878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.396875 meters 0.017119632040423254 Centerline is valid? [True, True] Translation: X:179.19, Y:52.66, Z:0.92 [[ 8.63307912e-01 -5.03967454e-01 -2.67629308e-02 1.79191708e+02] [ 5.03699304e-01 8.63722340e-01 -1.64538973e-02 5.26554660e+01] [ 3.14079700e-02 7.24310053e-04 9.99506386e-01 9.19902393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.456875 meters 0.01661727353734602 Centerline is valid? [True, True] Translation: X:179.24, Y:52.68, Z:0.92 [[ 8.60496135e-01 -5.08752422e-01 -2.67838737e-02 1.79242996e+02] [ 5.08485896e-01 8.60912692e-01 -1.64751560e-02 5.26833764e+01] [ 3.14403523e-02 5.57586064e-04 9.99505474e-01 9.21589675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.516875 meters 0.01508533768104132 Centerline is valid? [True, True] Translation: X:179.30, Y:52.71, Z:0.92 [[ 8.57612199e-01 -5.13571627e-01 -2.73038601e-02 1.79296428e+02] [ 5.13296841e-01 8.58046635e-01 -1.68025096e-02 5.27098659e+01] [ 3.20572775e-02 3.95052031e-04 9.99485955e-01 9.23931284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.576875 meters 0.01463430939177608 Centerline is valid? [True, True] Translation: X:179.35, Y:52.74, Z:0.93 [[ 8.56118758e-01 -5.16033038e-01 -2.77592278e-02 1.79347852e+02] [ 5.15750011e-01 8.56568622e-01 -1.70915784e-02 5.27393845e+01] [ 3.25975026e-02 3.15598797e-04 9.99468510e-01 9.25450723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.636875 meters 0.01430450742049248 Centerline is valid? [True, True] Translation: X:179.40, Y:52.77, Z:0.93 [[ 8.54695533e-01 -5.18336394e-01 -2.86867482e-02 1.79398950e+02] [ 5.18035117e-01 8.55176779e-01 -1.76718246e-02 5.27696939e+01] [ 3.36921908e-02 2.43286586e-04 9.99432227e-01 9.26224312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.696875 meters 0.014041597322355827 Centerline is valid? [True, True] Translation: X:179.45, Y:52.80, Z:0.93 [[ 8.52993172e-01 -5.21167560e-01 -2.80539125e-02 1.79450186e+02] [ 5.20880794e-01 8.53454367e-01 -1.72870573e-02 5.27997527e+01] [ 3.29521876e-02 1.32997628e-04 9.99456920e-01 9.28306648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75687499999998 meters 0.014013819345311353 Centerline is valid? [True, True] Translation: X:179.50, Y:52.83, Z:0.93 [[ 8.53104939e-01 -5.21068401e-01 -2.64515259e-02 1.79497406e+02] [ 5.20813279e-01 8.53514911e-01 -1.63041309e-02 5.28314414e+01] [ 3.10723392e-02 1.32828653e-04 9.99517129e-01 9.32350424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81687499999998 meters 0.014338953378778713 Centerline is valid? [True, True] Translation: X:179.55, Y:52.86, Z:0.94 [[ 8.54766265e-01 -5.18357989e-01 -2.60696516e-02 1.79545591e+02] [ 5.18108781e-01 8.55163693e-01 -1.60732638e-02 5.28647904e+01] [ 3.06255242e-02 2.31968288e-04 9.99530902e-01 9.35227369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87687499999998 meters 0.01584874259699496 Centerline is valid? [True, True] Translation: X:179.59, Y:52.90, Z:0.94 [[ 8.58939388e-01 -5.11379129e-01 -2.67304057e-02 1.79591305e+02] [ 5.11113446e-01 8.59355069e-01 -1.64897197e-02 5.29030996e+01] [ 3.14034081e-02 5.01399972e-04 9.99506666e-01 9.36229674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.936875 meters 0.01719368017508453 Centerline is valid? [True, True] Translation: X:179.64, Y:52.94, Z:0.94 [[ 8.61461750e-01 -5.07023312e-01 -2.84783130e-02 1.79638967e+02] [ 5.06719033e-01 8.61932048e-01 -1.75774563e-02 5.29392247e+01] [ 3.34585507e-02 7.11803028e-04 9.99439852e-01 9.35189590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.996875 meters 0.019138574558391117 Centerline is valid? [True, True] Translation: X:179.69, Y:52.97, Z:0.93 [[ 8.64140915e-01 -5.02301715e-01 -3.08782457e-02 1.79686503e+02] [ 5.01940625e-01 8.64691870e-01 -1.90677345e-02 5.29747469e+01] [ 3.62779238e-02 9.78163601e-04 9.99341261e-01 9.34957004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.056875 meters 0.019919853066350416 Centerline is valid? [True, True] Translation: X:179.73, Y:53.01, Z:0.94 [[ 8.64605143e-01 -5.01452025e-01 -3.16830210e-02 1.79734595e+02] [ 5.01071131e-01 8.65184822e-01 -1.95689835e-02 5.30079633e+01] [ 3.72245753e-02 1.04399659e-03 9.99306380e-01 9.35114286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.116875 meters 0.018678378465176886 Centerline is valid? [True, True] Translation: X:179.79, Y:53.04, Z:0.94 [[ 8.63465723e-01 -5.03483854e-01 -3.05115267e-02 1.79785609e+02] [ 5.03131703e-01 8.64004139e-01 -1.88503828e-02 5.30367888e+01] [ 3.58529488e-02 9.25343014e-04 9.99356648e-01 9.39022041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.176875 meters 0.017847446052390754 Centerline is valid? [True, True] Translation: X:179.84, Y:53.07, Z:0.94 [[ 8.61934536e-01 -5.06183582e-01 -2.91038853e-02 1.79836671e+02] [ 5.05864409e-01 8.62425398e-01 -1.79897775e-02 5.30659705e+01] [ 3.42060599e-02 7.83390837e-04 9.99414494e-01 9.42198163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.236875 meters 0.016571783526409294 Centerline is valid? [True, True] Translation: X:179.89, Y:53.09, Z:0.94 [[ 8.60022217e-01 -5.09428884e-01 -2.90516692e-02 1.79888505e+02] [ 5.09112407e-01 8.60512508e-01 -1.79660963e-02 5.30944969e+01] [ 3.41517731e-02 6.60676710e-04 9.99416440e-01 9.44618978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.296875 meters 0.01578677190718087 Centerline is valid? [True, True] Translation: X:179.94, Y:53.12, Z:0.95 [[ 8.59212245e-01 -5.10784790e-01 -2.92098573e-02 1.79939659e+02] [ 5.10465312e-01 8.59708390e-01 -1.80734375e-02 5.31231026e+01] [ 3.43435963e-02 6.18299903e-04 9.99409893e-01 9.46086467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.356875 meters 0.016401095101706526 Centerline is valid? [True, True] Translation: X:179.99, Y:53.15, Z:0.95 [[ 8.58785163e-01 -5.11420710e-01 -3.06088318e-02 1.79987866e+02] [ 5.11069941e-01 8.59330240e-01 -1.89487380e-02 5.31534877e+01] [ 3.59938718e-02 6.29641185e-04 9.99351812e-01 9.46153529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.416875 meters 0.016571608347141362 Centerline is valid? [True, True] Translation: X:180.04, Y:53.18, Z:0.95 [[ 8.59816429e-01 -5.09598399e-01 -3.20184318e-02 1.80037571e+02] [ 5.09213038e-01 8.60412063e-01 -1.98283807e-02 5.31849124e+01] [ 3.76535560e-02 7.44564526e-04 9.99290576e-01 9.46179539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47687499999998 meters 0.017225152382076055 Centerline is valid? [True, True] Translation: X:180.09, Y:53.22, Z:0.95 [[ 8.60967923e-01 -5.07592443e-01 -3.29263952e-02 1.80087236e+02] [ 5.07183005e-01 8.61596868e-01 -2.04018638e-02 5.32173890e+01] [ 3.87251109e-02 8.65642172e-04 9.99249527e-01 9.46255126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53687499999998 meters 0.018250751979016763 Centerline is valid? [True, True] Translation: X:180.14, Y:53.25, Z:0.95 [[ 8.62528568e-01 -5.04906707e-01 -3.33719353e-02 1.80136276e+02] [ 5.04483660e-01 8.63173331e-01 -2.06890918e-02 5.32505885e+01] [ 3.92518257e-02 1.00933671e-03 9.99228840e-01 9.47506895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59687499999998 meters 0.018551423795698456 Centerline is valid? [True, True] Translation: X:180.19, Y:53.28, Z:0.95 [[ 8.63134097e-01 -5.03930705e-01 -3.24557426e-02 1.80185964e+02] [ 5.03529562e-01 8.63743468e-01 -2.01295978e-02 5.32810770e+01] [ 3.81773581e-02 1.03211638e-03 9.99270446e-01 9.50316148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65687499999999 meters 0.019207534402883215 Centerline is valid? [True, True] Translation: X:180.23, Y:53.31, Z:0.95 [[ 8.62856223e-01 -5.04514118e-01 -3.07350402e-02 1.80234863e+02] [ 5.04154639e-01 8.63402913e-01 -1.90659146e-02 5.33125158e+01] [ 3.61557464e-02 9.55929930e-04 9.99345710e-01 9.53622487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.716875 meters 0.016968376925273063 Centerline is valid? [True, True] Translation: X:180.29, Y:53.34, Z:0.96 [[ 8.60889112e-01 -5.07938590e-01 -2.94673685e-02 1.80287585e+02] [ 5.07610037e-01 8.61392929e-01 -1.82831418e-02 5.33397949e+01] [ 3.46696961e-02 7.81825726e-04 9.99398520e-01 9.57743918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.776875 meters 0.014861942417249141 Centerline is valid? [True, True] Translation: X:180.34, Y:53.37, Z:0.96 [[ 8.57425436e-01 -5.13780554e-01 -2.91747026e-02 1.80340612e+02] [ 5.13461705e-01 8.57921468e-01 -1.81061193e-02 5.33662281e+01] [ 3.43321757e-02 5.44554705e-04 9.99410329e-01 9.60406406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.836875 meters 0.014277222217303504 Centerline is valid? [True, True] Translation: X:180.39, Y:53.40, Z:0.96 [[ 8.55194190e-01 -5.17489912e-01 -2.91047952e-02 1.80390676e+02] [ 5.17174532e-01 8.55689214e-01 -1.80685571e-02 5.33965281e+01] [ 3.42549554e-02 3.99866219e-04 9.99413047e-01 9.61082713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.896875 meters 0.013521251043172134 Centerline is valid? [True, True] Translation: X:180.44, Y:53.43, Z:0.96 [[ 8.52467488e-01 -5.21916939e-01 -3.00315151e-02 1.80441718e+02] [ 5.21583524e-01 8.52996279e-01 -1.86540811e-02 5.34270359e+01] [ 3.53526515e-02 2.38054148e-04 9.99374871e-01 9.61805561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.956875 meters 0.01338452061147325 Centerline is valid? [True, True] Translation: X:180.49, Y:53.46, Z:0.96 [[ 8.51281029e-01 -5.23776366e-01 -3.12878301e-02 1.80490619e+02] [ 5.23415323e-01 8.51855790e-01 -1.94451162e-02 5.34581803e+01] [ 3.68376115e-02 1.76728799e-04 9.99321249e-01 9.62588576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.016875 meters 0.013343407849647927 Centerline is valid? [True, True] Translation: X:180.54, Y:53.49, Z:0.96 [[ 8.50634931e-01 -5.24789236e-01 -3.18821448e-02 1.80538621e+02] [ 5.24414589e-01 8.51232187e-01 -1.98268091e-02 5.34904255e+01] [ 3.75440039e-02 1.45914569e-04 9.99294965e-01 9.62828393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.076875 meters 0.013569800077754626 Centerline is valid? [True, True] Translation: X:180.58, Y:53.52, Z:0.96 [[ 8.51291232e-01 -5.23745792e-01 -3.15211670e-02 1.80584907e+02] [ 5.23378493e-01 8.51874584e-01 -1.96124107e-02 5.35239717e+01] [ 3.71239986e-02 1.98372379e-04 9.99310647e-01 9.64455826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.136875 meters 0.01367835399482529 Centerline is valid? [True, True] Translation: X:180.63, Y:53.56, Z:0.97 [[ 8.51815335e-01 -5.22895474e-01 -3.14795048e-02 1.80633562e+02] [ 5.22528308e-01 8.52396777e-01 -1.95934154e-02 5.35563224e+01] [ 3.70783367e-02 2.41039347e-04 9.99312333e-01 9.66720881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.196875 meters 0.014394938956115499 Centerline is valid? [True, True] Translation: X:180.68, Y:53.59, Z:0.97 [[ 8.54916310e-01 -5.17809704e-01 -3.14835404e-02 1.80679412e+02] [ 5.17438548e-01 8.55495697e-01 -1.96076993e-02 5.35937384e+01] [ 3.70870903e-02 4.72144510e-04 9.99311926e-01 9.69117948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25687499999998 meters 0.015538236797604826 Centerline is valid? [True, True] Translation: X:180.72, Y:53.63, Z:0.97 [[ 8.57215243e-01 -5.13998916e-01 -3.14187950e-02 1.80724707e+02] [ 5.13626381e-01 8.57790592e-01 -1.95765487e-02 5.36293984e+01] [ 3.70130716e-02 6.43793999e-04 9.99314574e-01 9.70047118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31687499999998 meters 0.017317038470498963 Centerline is valid? [True, True] Translation: X:180.77, Y:53.67, Z:0.97 [[ 8.59942302e-01 -5.09414651e-01 -3.15586868e-02 1.80770959e+02] [ 5.09035525e-01 8.60520768e-01 -1.96683153e-02 5.36667351e+01] [ 3.71762334e-02 8.49123646e-04 9.99308364e-01 9.70008567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37687499999998 meters 0.01686719811817757 Centerline is valid? [True, True] Translation: X:180.82, Y:53.70, Z:0.97 [[ 8.60714441e-01 -5.08103926e-01 -3.16393904e-02 1.80820679e+02] [ 5.07721736e-01 8.61295284e-01 -1.97249352e-02 5.36982347e+01] [ 3.72731747e-02 9.13530333e-04 9.99304696e-01 9.72571595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.436875 meters 0.01711942634403443 Centerline is valid? [True, True] Translation: X:180.87, Y:53.73, Z:0.97 [[ 8.60778308e-01 -5.07966941e-01 -3.20981535e-02 1.80869443e+02] [ 5.07573060e-01 8.61376049e-01 -2.00222551e-02 5.37307455e+01] [ 3.78192243e-02 9.42564908e-04 9.99284153e-01 9.74379997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.496875 meters 0.01774176576490119 Centerline is valid? [True, True] Translation: X:180.92, Y:53.76, Z:0.97 [[ 8.60563543e-01 -5.08335163e-01 -3.20273569e-02 1.80916970e+02] [ 5.07942925e-01 8.61158808e-01 -1.99872749e-02 5.37644322e+01] [ 3.77408751e-02 9.32250723e-04 9.99287125e-01 9.74208698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.556875 meters 0.017589001903334282 Centerline is valid? [True, True] Translation: X:180.97, Y:53.80, Z:0.98 [[ 8.59989024e-01 -5.09290123e-01 -3.22869819e-02 1.80966909e+02] [ 5.08891948e-01 8.60594420e-01 -2.01551542e-02 5.37961126e+01] [ 3.80508174e-02 9.02626241e-04 9.99275398e-01 9.75302729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.616875 meters 0.016916510785101563 Centerline is valid? [True, True] Translation: X:181.02, Y:53.83, Z:0.98 [[ 8.58708338e-01 -5.11456018e-01 -3.21361374e-02 1.81017326e+02] [ 5.11062665e-01 8.59309072e-01 -2.00716443e-02 5.38266148e+01] [ 3.78806377e-02 8.12108275e-04 9.99281941e-01 9.77108763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.676875 meters 0.016363244155006333 Centerline is valid? [True, True] Translation: X:181.07, Y:53.86, Z:0.98 [[ 8.57601135e-01 -5.13280208e-01 -3.26147326e-02 1.81067666e+02] [ 5.12875942e-01 8.58220754e-01 -2.03815133e-02 5.38563685e+01] [ 3.84520678e-02 7.51897256e-04 9.99260163e-01 9.79501089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.736875 meters 0.015616054296849691 Centerline is valid? [True, True] Translation: X:181.12, Y:53.89, Z:0.98 [[ 8.56026264e-01 -5.15892698e-01 -3.27682566e-02 1.81118063e+02] [ 5.15486102e-01 8.56652967e-01 -2.04883741e-02 5.38861917e+01] [ 3.86408269e-02 6.47005501e-04 9.99252955e-01 9.80639621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.796875 meters 0.015164849327664978 Centerline is valid? [True, True] Translation: X:181.17, Y:53.92, Z:0.98 [[ 8.55079157e-01 -5.17441450e-01 -3.30753789e-02 1.81168064e+02] [ 5.17027916e-01 8.55718409e-01 -2.06915145e-02 5.39167707e+01] [ 3.90098579e-02 5.91988578e-04 9.99238650e-01 9.82432670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.856875 meters 0.014648064823749566 Centerline is valid? [True, True] Translation: X:181.22, Y:53.95, Z:0.99 [[ 8.54890886e-01 -5.17811723e-01 -3.21339866e-02 1.81217547e+02] [ 5.17421261e-01 8.55494417e-01 -2.01132230e-02 5.39478612e+01] [ 3.79053088e-02 5.67803201e-04 9.99281174e-01 9.86871688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.916875 meters 0.01494574038030554 Centerline is valid? [True, True] Translation: X:181.27, Y:53.98, Z:0.99 [[ 8.55692519e-01 -5.16595906e-01 -3.03147157e-02 1.81265334e+02] [ 5.16247284e-01 8.56229125e-01 -1.89849122e-02 5.39810878e+01] [ 3.57638704e-02 5.95357755e-04 9.99360091e-01 9.89934292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97687499999998 meters 0.015300909151041509 Centerline is valid? [True, True] Translation: X:181.31, Y:54.01, Z:0.99 [[ 8.56554261e-01 -5.15193413e-01 -2.98420007e-02 1.81313711e+02] [ 5.14854328e-01 8.57073696e-01 -1.87002775e-02 5.40149886e+01] [ 3.52110536e-02 6.53519151e-04 9.99379685e-01 9.91140357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03687499999998 meters 0.0154662933478073 Centerline is valid? [True, True] Translation: X:181.36, Y:54.05, Z:0.99 [[ 8.57060578e-01 -5.14351383e-01 -2.98298472e-02 1.81363226e+02] [ 5.14011700e-01 8.57579250e-01 -1.87030219e-02 5.40470138e+01] [ 3.52013832e-02 6.96732318e-04 9.99379996e-01 9.92847228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09687499999998 meters 0.015844819943310266 Centerline is valid? [True, True] Translation: X:181.41, Y:54.08, Z:0.99 [[ 8.56928573e-01 -5.14585267e-01 -2.95875801e-02 1.81411396e+02] [ 5.14250910e-01 8.57438936e-01 -1.85599948e-02 5.40791234e+01] [ 3.49202431e-02 6.89149869e-04 9.99389865e-01 9.94361441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15687499999999 meters 0.015485110368831587 Centerline is valid? [True, True] Translation: X:181.46, Y:54.11, Z:1.00 [[ 8.57064839e-01 -5.14346815e-01 -2.97861565e-02 1.81460839e+02] [ 5.14007628e-01 8.57581980e-01 -1.86897061e-02 5.41119632e+01] [ 3.51570619e-02 7.07978287e-04 9.99381549e-01 9.95258937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.216875 meters 0.017205650610846453 Centerline is valid? [True, True] Translation: X:181.51, Y:54.15, Z:0.99 [[ 8.58134765e-01 -5.12458089e-01 -3.14870125e-02 1.81506962e+02] [ 5.12077414e-01 8.58711828e-01 -1.97665824e-02 5.41472497e+01] [ 3.71678151e-02 8.38603641e-04 9.99308686e-01 9.94014483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.276875 meters 0.017711033773868606 Centerline is valid? [True, True] Translation: X:181.56, Y:54.18, Z:0.99 [[ 8.59520050e-01 -5.10066274e-01 -3.25220032e-02 1.81555372e+02] [ 5.09658206e-01 8.60134547e-01 -2.04223687e-02 5.41805710e+01] [ 3.83900600e-02 9.78329524e-04 9.99262351e-01 9.94657453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.336875 meters 0.018822676351357558 Centerline is valid? [True, True] Translation: X:181.60, Y:54.22, Z:1.00 [[ 8.61626853e-01 -5.06506810e-01 -3.24039773e-02 1.81603150e+02] [ 5.06098780e-01 8.62235204e-01 -2.03587117e-02 5.42170269e+01] [ 3.82516761e-02 1.14199932e-03 9.99267484e-01 9.95548962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.396875 meters 0.020516859224689595 Centerline is valid? [True, True] Translation: X:181.65, Y:54.25, Z:1.00 [[ 8.63277345e-01 -5.03749580e-01 -3.14418122e-02 1.81650527e+02] [ 5.03363323e-01 8.63848853e-01 -1.97617026e-02 5.42508387e+01] [ 3.71159228e-02 1.23317508e-03 9.99310206e-01 9.98820918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.456875 meters 0.021578063345400373 Centerline is valid? [True, True] Translation: X:181.70, Y:54.28, Z:1.00 [[ 8.63853389e-01 -5.02782815e-01 -3.10928217e-02 1.81699421e+02] [ 5.02404276e-01 8.64411847e-01 -1.95474438e-02 5.42839564e+01] [ 3.67051222e-02 1.26495897e-03 9.99325339e-01 1.00123837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.516875 meters 0.019571182312431847 Centerline is valid? [True, True] Translation: X:181.75, Y:54.31, Z:1.00 [[ 8.64044766e-01 -5.02496472e-01 -3.03963418e-02 1.81751101e+02] [ 5.02134169e-01 8.64578345e-01 -1.91196580e-02 5.43126733e+01] [ 3.58875796e-02 1.25719863e-03 9.99355043e-01 1.00387584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.576875 meters 0.021380780501700385 Centerline is valid? [True, True] Translation: X:181.80, Y:54.34, Z:1.00 [[ 8.63933426e-01 -5.02638678e-01 -3.11992678e-02 1.81799466e+02] [ 5.02256720e-01 8.64495627e-01 -1.96341127e-02 5.43449488e+01] [ 3.68404950e-02 1.29252429e-03 9.99320323e-01 1.00402668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.636875 meters 0.02171699205704178 Centerline is valid? [True, True] Translation: X:181.85, Y:54.38, Z:1.00 [[ 8.64166115e-01 -5.02227146e-01 -3.13818362e-02 1.81849896e+02] [ 5.01840224e-01 8.64734725e-01 -1.97546242e-02 5.43761678e+01] [ 3.70582720e-02 1.32260913e-03 9.99312231e-01 1.00479743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.696875 meters 0.022406698589527277 Centerline is valid? [True, True] Translation: X:181.90, Y:54.41, Z:1.01 [[ 8.64422608e-01 -5.01751565e-01 -3.19205649e-02 1.81900680e+02] [ 5.01350505e-01 8.65010679e-01 -2.01046199e-02 5.44062137e+01] [ 3.76991540e-02 1.37549666e-03 9.99288188e-01 1.00654682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75687499999998 meters 0.02180913906656162 Centerline is valid? [True, True] Translation: X:181.95, Y:54.44, Z:1.01 [[ 8.63878652e-01 -5.02693640e-01 -3.18241788e-02 1.81952276e+02] [ 5.02295238e-01 8.64463597e-01 -2.00545238e-02 5.44350516e+01] [ 3.75921256e-02 1.33954159e-03 9.99292268e-01 1.00895958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81687499999998 meters 0.019908605173214588 Centerline is valid? [True, True] Translation: X:182.01, Y:54.46, Z:1.01 [[ 8.63146396e-01 -5.04033820e-01 -3.04664792e-02 1.82006013e+02] [ 5.03669171e-01 8.63683034e-01 -1.92089607e-02 5.44597749e+01] [ 3.59953470e-02 1.23511895e-03 9.99351194e-01 1.01362362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87687499999998 meters 0.02039596013478383 Centerline is valid? [True, True] Translation: X:182.06, Y:54.49, Z:1.01 [[ 8.62616671e-01 -5.04962026e-01 -3.00970332e-02 1.82056385e+02] [ 5.04606363e-01 8.63140739e-01 -1.89864122e-02 5.44901086e+01] [ 3.55653926e-02 1.19084118e-03 9.99366642e-01 1.01460499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.936875 meters 0.020119363371714636 Centerline is valid? [True, True] Translation: X:182.11, Y:54.52, Z:1.01 [[ 8.61697860e-01 -5.06500552e-01 -3.05612359e-02 1.82107872e+02] [ 5.06134411e-01 8.62238864e-01 -1.92898692e-02 5.45190066e+01] [ 3.61214147e-02 1.15394590e-03 9.99346743e-01 1.01384509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.996875 meters 0.020585829258363577 Centerline is valid? [True, True] Translation: X:182.16, Y:54.55, Z:1.02 [[ 8.61350353e-01 -5.07094069e-01 -3.05151537e-02 1.82157280e+02] [ 5.06729084e-01 8.61889968e-01 -1.92696034e-02 5.45487350e+01] [ 3.60722064e-02 1.13496386e-03 9.99348542e-01 1.01507259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.056875 meters 0.018589482777416656 Centerline is valid? [True, True] Translation: X:182.21, Y:54.58, Z:1.02 [[ 8.60760236e-01 -5.08080669e-01 -3.07546760e-02 1.82210116e+02] [ 5.07710367e-01 8.61308777e-01 -1.94261023e-02 5.45761842e+01] [ 3.63592995e-02 1.10674852e-03 9.99338169e-01 1.01773671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.116875 meters 0.01856970170229206 Centerline is valid? [True, True] Translation: X:182.26, Y:54.61, Z:1.02 [[ 8.60050058e-01 -5.09266392e-01 -3.10103122e-02 1.82260957e+02] [ 5.08890297e-01 8.60608266e-01 -1.95979209e-02 5.46064374e+01] [ 3.66682935e-02 1.07434605e-03 9.99326914e-01 1.01869998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.176875 meters 0.017597867012670645 Centerline is valid? [True, True] Translation: X:182.31, Y:54.63, Z:1.02 [[ 8.58615264e-01 -5.11606238e-01 -3.22317582e-02 1.82313157e+02] [ 5.11201122e-01 8.59219420e-01 -2.03814123e-02 5.46334399e+01] [ 3.81214102e-02 1.02288076e-03 9.99272591e-01 1.01973387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.236875 meters 0.01820120667933909 Centerline is valid? [True, True] Translation: X:182.36, Y:54.66, Z:1.02 [[ 8.57854411e-01 -5.12799584e-01 -3.35021829e-02 1.82362998e+02] [ 5.12362411e-01 8.58507748e-01 -2.11945105e-02 5.46634785e+01] [ 3.96304198e-02 1.01654514e-03 9.99213889e-01 1.01945588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.296875 meters 0.01793323120227254 Centerline is valid? [True, True] Translation: X:182.41, Y:54.69, Z:1.02 [[ 8.57100733e-01 -5.14075984e-01 -3.32297585e-02 1.82414203e+02] [ 5.13646608e-01 8.57744117e-01 -2.10283439e-02 5.46931083e+01] [ 3.93127964e-02 9.55056180e-04 9.99226497e-01 1.02029095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.356875 meters 0.017303957942659248 Centerline is valid? [True, True] Translation: X:182.47, Y:54.72, Z:1.02 [[ 8.56571917e-01 -5.15091690e-01 -3.10660780e-02 1.82466494e+02] [ 5.14716732e-01 8.57134654e-01 -1.96690455e-02 5.47201206e+01] [ 3.67591739e-02 8.57721919e-04 9.99323785e-01 1.02478205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.416875 meters 0.016776289880056017 Centerline is valid? [True, True] Translation: X:182.52, Y:54.75, Z:1.03 [[ 8.56112658e-01 -5.15873835e-01 -3.07457812e-02 1.82518785e+02] [ 5.15506698e-01 8.56664174e-01 -1.94765989e-02 5.47474276e+01] [ 3.63862770e-02 8.24506771e-04 9.99337460e-01 1.02685273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47687499999998 meters 0.017578649460788433 Centerline is valid? [True, True] Translation: X:182.57, Y:54.78, Z:1.03 [[ 8.56184230e-01 -5.15723379e-01 -3.12723484e-02 1.82568230e+02] [ 5.15343118e-01 8.56754731e-01 -1.98192274e-02 5.47775861e+01] [ 3.70139714e-02 8.52920446e-04 9.99314384e-01 1.02706033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53687499999998 meters 0.01753977844094748 Centerline is valid? [True, True] Translation: X:182.62, Y:54.81, Z:1.03 [[ 8.56562942e-01 -5.15045924e-01 -3.20565718e-02 1.82619956e+02] [ 5.14645647e-01 8.57162102e-01 -2.03221080e-02 5.48060774e+01] [ 3.79444974e-02 9.09389439e-04 9.99279434e-01 1.02693788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59687499999998 meters 0.01908582489017206 Centerline is valid? [True, True] Translation: X:182.67, Y:54.84, Z:1.03 [[ 8.56722584e-01 -5.14743366e-01 -3.26447789e-02 1.82668988e+02] [ 5.14327662e-01 8.57343786e-01 -2.07047981e-02 5.48372745e+01] [ 3.86454558e-02 9.48155293e-04 9.99252536e-01 1.02623657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65687499999999 meters 0.01825972228656596 Centerline is valid? [True, True] Translation: X:182.72, Y:54.86, Z:1.03 [[ 8.56498846e-01 -5.15110137e-01 -3.27302998e-02 1.82721624e+02] [ 5.14692215e-01 8.57123481e-01 -2.07668576e-02 5.48625252e+01] [ 3.87511273e-02 9.40759124e-04 9.99248450e-01 1.02739514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.716875 meters 0.017587912803836477 Centerline is valid? [True, True] Translation: X:182.77, Y:54.89, Z:1.03 [[ 8.55712976e-01 -5.16436828e-01 -3.23775481e-02 1.82774014e+02] [ 5.16028362e-01 8.56324837e-01 -2.05548914e-02 5.48898041e+01] [ 3.83410015e-02 8.81354176e-04 9.99264325e-01 1.02997923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.776875 meters 0.01696038689183765 Centerline is valid? [True, True] Translation: X:182.83, Y:54.92, Z:1.03 [[ 8.54511936e-01 -5.18597424e-01 -2.94289448e-02 1.82827175e+02] [ 5.18260953e-01 8.55018241e-01 -1.86920387e-02 5.49162059e+01] [ 3.48559277e-02 7.20697252e-04 9.99392088e-01 1.03404485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.836875 meters 0.017699619029282042 Centerline is valid? [True, True] Translation: X:182.88, Y:54.95, Z:1.04 [[ 8.54026939e-01 -5.19448344e-01 -2.84851876e-02 1.82876369e+02] [ 5.19133331e-01 8.54501591e-01 -1.81001689e-02 5.49463747e+01] [ 3.37427408e-02 6.70421463e-04 9.99430327e-01 1.03612277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.896875 meters 0.016610100345579006 Centerline is valid? [True, True] Translation: X:182.93, Y:54.97, Z:1.04 [[ 8.53797140e-01 -5.19775455e-01 -2.93925342e-02 1.82927637e+02] [ 5.19440058e-01 8.54302646e-01 -1.86819774e-02 5.49733164e+01] [ 3.48205531e-02 6.82959213e-04 9.99393347e-01 1.03755749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.956875 meters 0.017702253466479034 Centerline is valid? [True, True] Translation: X:182.98, Y:55.01, Z:1.04 [[ 8.53933134e-01 -5.19531146e-01 -2.97588685e-02 1.82975436e+02] [ 5.19186834e-01 8.54451218e-01 -1.89247780e-02 5.50058272e+01] [ 3.52595130e-02 7.10082327e-04 9.99377938e-01 1.03762416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.016875 meters 0.01633495417977365 Centerline is valid? [True, True] Translation: X:183.03, Y:55.03, Z:1.04 [[ 8.53420321e-01 -5.20354136e-01 -3.00886861e-02 1.83026656e+02] [ 5.20002461e-01 8.53950291e-01 -1.91400434e-02 5.50331017e+01] [ 3.56538430e-02 6.88311147e-04 9.99363963e-01 1.03953394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.076875 meters 0.015294090146041318 Centerline is valid? [True, True] Translation: X:183.08, Y:55.06, Z:1.04 [[ 8.50821068e-01 -5.24561396e-01 -3.06406900e-02 1.83078452e+02] [ 5.24198983e-01 8.51372456e-01 -1.95030216e-02 5.50620900e+01] [ 3.63171718e-02 5.31763160e-04 9.99340172e-01 1.03967162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.136875 meters 0.014397066162942583 Centerline is valid? [True, True] Translation: X:183.13, Y:55.09, Z:1.04 [[ 8.47602509e-01 -5.29771857e-01 -3.01954725e-02 1.83131695e+02] [ 5.29422837e-01 8.48140131e-01 -1.92296170e-02 5.50885991e+01] [ 3.57973019e-02 3.12898887e-04 9.99359022e-01 1.04343124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.196875 meters 0.014342921264408202 Centerline is valid? [True, True] Translation: X:183.18, Y:55.12, Z:1.04 [[ 8.46241610e-01 -5.31915473e-01 -3.06768244e-02 1.83181029e+02] [ 5.31556324e-01 8.46797423e-01 -1.95447856e-02 5.51182672e+01] [ 3.63732297e-02 2.33150767e-04 9.99338248e-01 1.04398023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25687499999998 meters 0.01400823016804435 Centerline is valid? [True, True] Translation: X:183.23, Y:55.15, Z:1.04 [[ 8.42550361e-01 -5.37563974e-01 -3.36728869e-02 1.83231538e+02] [ 5.37135448e-01 8.43222968e-01 -2.14601195e-02 5.51494527e+01] [ 3.99299388e-02 -5.66974134e-06 9.99202482e-01 1.04005431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31687499999998 meters 0.014033307021452838 Centerline is valid? [True, True] Translation: X:183.28, Y:55.18, Z:1.05 [[ 8.40433624e-01 -5.41047160e-01 -3.06479122e-02 1.83282441e+02] [ 5.40694155e-01 8.40992241e-01 -1.95417863e-02 5.51785866e+01] [ 3.63476843e-02 -1.47572695e-04 9.99339194e-01 1.04877034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37687499999998 meters 0.013957387134532618 Centerline is valid? [True, True] Translation: X:183.33, Y:55.21, Z:1.05 [[ 8.40309499e-01 -5.41235350e-01 -3.07285147e-02 1.83329807e+02] [ 5.40880220e-01 8.40871140e-01 -1.96039079e-02 5.52123944e+01] [ 3.64490492e-02 -1.47095758e-04 9.99335502e-01 1.05048947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.436875 meters 0.013967322130644538 Centerline is valid? [True, True] Translation: X:183.37, Y:55.25, Z:1.05 [[ 8.42965240e-01 -5.37039695e-01 -3.15906681e-02 1.83373380e+02] [ 5.36661000e-01 8.43556971e-01 -2.01645122e-02 5.52510403e+01] [ 3.74776718e-02 4.45033525e-05 9.99297464e-01 1.04981770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.496875 meters 0.014884194848827923 Centerline is valid? [True, True] Translation: X:183.42, Y:55.29, Z:1.05 [[ 8.48134405e-01 -5.28872446e-01 -3.10155838e-02 1.83417734e+02] [ 5.28501690e-01 8.48701226e-01 -1.98038313e-02 5.52915102e+01] [ 3.67966647e-02 4.04522243e-04 9.99322692e-01 1.05316218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.556875 meters 0.01576519465010349 Centerline is valid? [True, True] Translation: X:183.46, Y:55.33, Z:1.05 [[ 8.50023872e-01 -5.25720483e-01 -3.28236317e-02 1.83463367e+02] [ 5.25302501e-01 8.50657179e-01 -2.09677183e-02 5.53286908e+01] [ 3.89448170e-02 5.80725245e-04 9.99241194e-01 1.05250001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.616875 meters 0.016102341194885614 Centerline is valid? [True, True] Translation: X:183.51, Y:55.36, Z:1.05 [[ 8.51113021e-01 -5.23927887e-01 -3.32595038e-02 1.83511113e+02] [ 5.23497113e-01 8.51762356e-01 -2.12523297e-02 5.53631441e+01] [ 3.94638815e-02 6.76880320e-04 9.99220768e-01 1.05282478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.676875 meters 0.016402039095877386 Centerline is valid? [True, True] Translation: X:183.56, Y:55.40, Z:1.06 [[ 8.51194940e-01 -5.23879002e-01 -3.19055793e-02 1.83560545e+02] [ 5.23482170e-01 8.51792437e-01 -2.03976039e-02 5.53956147e+01] [ 3.78628075e-02 6.60335343e-04 9.99282729e-01 1.05819207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.736875 meters 0.016137181221299028 Centerline is valid? [True, True] Translation: X:183.61, Y:55.43, Z:1.06 [[ 8.50886974e-01 -5.24445714e-01 -3.07904198e-02 1.83609428e+02] [ 5.24076152e-01 8.51443660e-01 -1.96946866e-02 5.54288150e+01] [ 3.65451017e-02 6.21427515e-04 9.99331811e-01 1.06002600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.796875 meters 0.015818322173638433 Centerline is valid? [True, True] Translation: X:183.66, Y:55.46, Z:1.06 [[ 8.50518448e-01 -5.25073697e-01 -3.02652143e-02 1.83659165e+02] [ 5.24716674e-01 8.51056556e-01 -1.93687913e-02 5.54606067e+01] [ 3.59274519e-02 5.92851729e-04 9.99354225e-01 1.06258597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.856875 meters 0.015904897419715295 Centerline is valid? [True, True] Translation: X:183.71, Y:55.49, Z:1.06 [[ 8.50334761e-01 -5.25333768e-01 -3.09067318e-02 1.83707019e+02] [ 5.24961273e-01 8.50896039e-01 -1.97886815e-02 5.54917824e+01] [ 3.66940783e-02 6.02166509e-04 9.99326364e-01 1.06303379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.916875 meters 0.015152403969774545 Centerline is valid? [True, True] Translation: X:183.76, Y:55.52, Z:1.06 [[ 8.49882750e-01 -5.25967293e-01 -3.25225776e-02 1.83757893e+02] [ 5.25554994e-01 8.50504575e-01 -2.08306461e-02 5.55222693e+01] [ 3.86168396e-02 6.11203677e-04 9.99253905e-01 1.06434684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97687499999998 meters 0.015613146713595306 Centerline is valid? [True, True] Translation: X:183.81, Y:55.55, Z:1.06 [[ 8.49735449e-01 -5.26189977e-01 -3.27685024e-02 1.83805117e+02] [ 5.25771156e-01 8.50366821e-01 -2.09990857e-02 5.55539458e+01] [ 3.89147556e-02 6.14934109e-04 9.99242345e-01 1.06465682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03687499999998 meters 0.015845035678281463 Centerline is valid? [True, True] Translation: X:183.85, Y:55.59, Z:1.07 [[ 8.49715623e-01 -5.26178695e-01 -3.34565408e-02 1.83853745e+02] [ 5.25741778e-01 8.50373787e-01 -2.14477305e-02 5.55850081e+01] [ 3.97359041e-02 6.34970412e-04 9.99210015e-01 1.06594846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09687499999998 meters 0.016032077396414025 Centerline is valid? [True, True] Translation: X:183.90, Y:55.62, Z:1.07 [[ 8.50094955e-01 -5.25598085e-01 -3.29426843e-02 1.83902795e+02] [ 5.25173822e-01 8.50732756e-01 -2.11242845e-02 5.56168005e+01] [ 3.91283041e-02 6.57012260e-04 9.99233979e-01 1.06807406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15687499999999 meters 0.015827728652531983 Centerline is valid? [True, True] Translation: X:183.95, Y:55.65, Z:1.07 [[ 8.50814246e-01 -5.24494548e-01 -3.19466322e-02 1.83952495e+02] [ 5.24094387e-01 8.51413522e-01 -2.04960521e-02 5.56479257e+01] [ 3.79498622e-02 6.95282544e-04 9.99279403e-01 1.07100667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.216875 meters 0.017075422757057538 Centerline is valid? [True, True] Translation: X:184.00, Y:55.68, Z:1.07 [[ 8.51633885e-01 -5.23188606e-01 -3.15183934e-02 1.83999711e+02] [ 5.22797879e-01 8.52216591e-01 -2.02301578e-02 5.56812635e+01] [ 3.74446858e-02 7.50938638e-04 9.99298420e-01 1.07243476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.276875 meters 0.016762752015123658 Centerline is valid? [True, True] Translation: X:184.05, Y:55.71, Z:1.07 [[ 8.51791582e-01 -5.22854947e-01 -3.27689537e-02 1.84049806e+02] [ 5.22432100e-01 8.52421294e-01 -2.10389749e-02 5.57117588e+01] [ 3.89332860e-02 8.01268400e-04 9.99241491e-01 1.07398235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.336875 meters 0.017289992083152333 Centerline is valid? [True, True] Translation: X:184.10, Y:55.74, Z:1.07 [[ 8.52092550e-01 -5.22267217e-01 -3.42817679e-02 1.84098609e+02] [ 5.21803447e-01 8.52781440e-01 -2.20222001e-02 5.57444816e+01] [ 4.07363285e-02 8.76607973e-04 9.99169547e-01 1.07198029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.396875 meters 0.017160907909153682 Centerline is valid? [True, True] Translation: X:184.15, Y:55.78, Z:1.07 [[ 8.51975733e-01 -5.22411082e-01 -3.49858728e-02 1.84148013e+02] [ 5.21927681e-01 8.52693295e-01 -2.24864672e-02 5.57758508e+01] [ 4.15793989e-02 8.97828929e-04 9.99134799e-01 1.07343712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.456875 meters 0.017442358156529485 Centerline is valid? [True, True] Translation: X:184.20, Y:55.81, Z:1.08 [[ 8.52123219e-01 -5.22068472e-01 -3.64764381e-02 1.84198029e+02] [ 5.21542116e-01 8.52903031e-01 -2.34572158e-02 5.58064735e+01] [ 4.33571374e-02 9.64439483e-04 9.99059172e-01 1.07551972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.516875 meters 0.017635360571636297 Centerline is valid? [True, True] Translation: X:184.25, Y:55.84, Z:1.08 [[ 8.52012488e-01 -5.22233609e-01 -3.66984777e-02 1.84246476e+02] [ 5.21700400e-01 8.52801917e-01 -2.36131726e-02 5.58377803e+01] [ 4.36281245e-02 9.73107424e-04 9.99047366e-01 1.07696358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.576875 meters 0.016785635217391938 Centerline is valid? [True, True] Translation: X:184.30, Y:55.87, Z:1.08 [[ 8.50718893e-01 -5.24424317e-01 -3.54471445e-02 1.84298080e+02] [ 5.23928237e-01 8.51456650e-01 -2.28205299e-02 5.58673079e+01] [ 4.21493477e-02 8.42095991e-04 9.99110966e-01 1.07972173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.636875 meters 0.01567938519645919 Centerline is valid? [True, True] Translation: X:184.35, Y:55.90, Z:1.08 [[ 8.48534457e-01 -5.28003377e-01 -3.46656702e-02 1.84349983e+02] [ 5.27531480e-01 8.49242015e-01 -2.23279670e-02 5.58950504e+01] [ 4.12287856e-02 6.58817042e-04 9.99149515e-01 1.08269139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.696875 meters 0.01574612383132135 Centerline is valid? [True, True] Translation: X:184.40, Y:55.93, Z:1.08 [[ 8.48199846e-01 -5.28615593e-01 -3.35048623e-02 1.84399519e+02] [ 5.28174856e-01 8.48861104e-01 -2.15904300e-02 5.59275108e+01] [ 3.98540124e-02 6.16573516e-04 9.99205323e-01 1.08487779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75687499999998 meters 0.015876111587475487 Centerline is valid? [True, True] Translation: X:184.45, Y:55.96, Z:1.09 [[ 8.48141985e-01 -5.28739975e-01 -3.30032029e-02 1.84448150e+02] [ 5.28311989e-01 8.48783638e-01 -2.12785637e-02 5.59593917e+01] [ 3.92634059e-02 6.11255459e-04 9.99228708e-01 1.08726957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81687499999998 meters 0.015747238886218748 Centerline is valid? [True, True] Translation: X:184.50, Y:55.99, Z:1.09 [[ 8.48391401e-01 -5.28296305e-01 -3.36904242e-02 1.84497485e+02] [ 5.27849443e-01 8.49059823e-01 -2.17343372e-02 5.59913101e+01] [ 4.00873557e-02 6.55753139e-04 9.99195964e-01 1.08956222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87687499999998 meters 0.015987208037968954 Centerline is valid? [True, True] Translation: X:184.55, Y:56.02, Z:1.09 [[ 8.48735140e-01 -5.27719928e-01 -3.40637632e-02 1.84545956e+02] [ 5.27262162e-01 8.49418146e-01 -2.19869352e-02 5.60247549e+01] [ 4.05373224e-02 7.00551052e-04 9.99177779e-01 1.09059785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.936875 meters 0.01630292734865592 Centerline is valid? [True, True] Translation: X:184.59, Y:56.06, Z:1.09 [[ 8.49426416e-01 -5.26549717e-01 -3.49307729e-02 1.84594282e+02] [ 5.26066957e-01 8.50143977e-01 -2.25560359e-02 5.60574479e+01] [ 4.15730605e-02 7.83767303e-04 9.99135159e-01 1.09252819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.996875 meters 0.016665717637022428 Centerline is valid? [True, True] Translation: X:184.64, Y:56.09, Z:1.09 [[ 8.49497940e-01 -5.26467208e-01 -3.44315084e-02 1.84642516e+02] [ 5.25997810e-01 8.50195075e-01 -2.22404576e-02 5.60907348e+01] [ 4.09823705e-02 7.82324918e-04 9.99159563e-01 1.09459748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.056875 meters 0.016122415204067847 Centerline is valid? [True, True] Translation: X:184.69, Y:56.12, Z:1.10 [[ 8.48543521e-01 -5.28132367e-01 -3.24051739e-02 1.84691630e+02] [ 5.27717403e-01 8.49161795e-01 -2.09425021e-02 5.61226679e+01] [ 3.85776489e-02 6.69850277e-04 9.99255381e-01 1.09732843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.116875 meters 0.01518165547713574 Centerline is valid? [True, True] Translation: X:184.74, Y:56.15, Z:1.10 [[ 8.47177437e-01 -5.30364633e-01 -3.16819591e-02 1.84742147e+02] [ 5.29969151e-01 8.47769448e-01 -2.04856426e-02 5.61524291e+01] [ 3.77238573e-02 5.64513194e-04 9.99288043e-01 1.10034350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.176875 meters 0.015066397880238258 Centerline is valid? [True, True] Translation: X:184.79, Y:56.18, Z:1.10 [[ 8.46930998e-01 -5.30776701e-01 -3.13684202e-02 1.84790245e+02] [ 5.30388879e-01 8.47511529e-01 -2.02939815e-02 5.61846097e+01] [ 3.73566703e-02 5.50140760e-04 9.99301845e-01 1.10153240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.236875 meters 0.015547733197848702 Centerline is valid? [True, True] Translation: X:184.84, Y:56.22, Z:1.10 [[ 8.47905784e-01 -5.29216725e-01 -3.13917155e-02 1.84838506e+02] [ 5.28826816e-01 8.48486453e-01 -2.03208527e-02 5.62179984e+01] [ 3.73895804e-02 6.29387589e-04 9.99300567e-01 1.10249756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.296875 meters 0.016123915291434667 Centerline is valid? [True, True] Translation: X:184.89, Y:56.25, Z:1.10 [[ 8.48653122e-01 -5.27930785e-01 -3.28171444e-02 1.84886777e+02] [ 5.27503317e-01 8.49287089e-01 -2.12530089e-02 5.62510099e+01] [ 3.90912947e-02 7.25279824e-04 9.99235380e-01 1.10183110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.356875 meters 0.01608074844322678 Centerline is valid? [True, True] Translation: X:184.94, Y:56.28, Z:1.10 [[ 8.49828099e-01 -5.25919804e-01 -3.46491191e-02 1.84937504e+02] [ 5.25441294e-01 8.50533717e-01 -2.24464472e-02 5.62813899e+01] [ 4.12752752e-02 8.69543606e-04 9.99147434e-01 1.10309923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.416875 meters 0.017431362108124772 Centerline is valid? [True, True] Translation: X:184.98, Y:56.31, Z:1.10 [[ 8.50863474e-01 -5.24234508e-01 -3.47782972e-02 1.84984813e+02] [ 5.23750569e-01 8.51573398e-01 -2.25408629e-02 5.63139739e+01] [ 4.14329708e-02 9.64043967e-04 9.99140821e-01 1.10301550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47687499999998 meters 0.01838218345359827 Centerline is valid? [True, True] Translation: X:185.03, Y:56.34, Z:1.11 [[ 8.52772723e-01 -5.21178404e-01 -3.39375118e-02 1.85034212e+02] [ 5.20714917e-01 8.53447058e-01 -2.20021420e-02 5.63449203e+01] [ 4.04309109e-02 1.09105793e-03 9.99181741e-01 1.10596469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53687499999998 meters 0.0202687488036157 Centerline is valid? [True, True] Translation: X:185.08, Y:56.38, Z:1.11 [[ 8.54307649e-01 -5.18796117e-01 -3.17652343e-02 1.85081390e+02] [ 5.18388271e-01 8.54897251e-01 -2.05983088e-02 5.63775569e+01] [ 3.78423341e-02 1.13056787e-03 9.99283083e-01 1.10992874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59687499999998 meters 0.01982927450788947 Centerline is valid? [True, True] Translation: X:185.13, Y:56.41, Z:1.11 [[ 8.55126515e-01 -5.17539992e-01 -3.01827829e-02 1.85132063e+02] [ 5.17170744e-01 8.55658269e-01 -1.95793146e-02 5.64076385e+01] [ 3.59592261e-02 1.13313877e-03 9.99352615e-01 1.11407834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65687499999999 meters 0.01951386849404988 Centerline is valid? [True, True] Translation: X:185.18, Y:56.44, Z:1.11 [[ 8.53719652e-01 -5.19855835e-01 -3.02103654e-02 1.85181891e+02] [ 5.19487032e-01 8.54253370e-01 -1.96062080e-02 5.64365888e+01] [ 3.59997081e-02 1.04431206e-03 9.99351255e-01 1.11422011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.716875 meters 0.018555668544219514 Centerline is valid? [True, True] Translation: X:185.23, Y:56.47, Z:1.11 [[ 8.52108825e-01 -5.22484608e-01 -3.03378483e-02 1.85233178e+02] [ 5.22114158e-01 8.52648197e-01 -1.96941248e-02 5.64654380e+01] [ 3.61573888e-02 9.41717404e-04 9.99345664e-01 1.11487991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.776875 meters 0.0160338096811347 Centerline is valid? [True, True] Translation: X:185.29, Y:56.49, Z:1.12 [[ 8.47971336e-01 -5.29140647e-01 -3.08996755e-02 1.85287132e+02] [ 5.28760406e-01 8.48533862e-01 -2.00678326e-02 5.64902534e+01] [ 3.68381269e-02 6.78421838e-04 9.99321016e-01 1.11619405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.836875 meters 0.014919707948494185 Centerline is valid? [True, True] Translation: X:185.34, Y:56.52, Z:1.12 [[ 8.46332693e-01 -5.31774147e-01 -3.06141910e-02 1.85338856e+02] [ 5.31402371e-01 8.46886024e-01 -1.98892407e-02 5.65191838e+01] [ 3.65033145e-02 5.64460993e-04 9.99333373e-01 1.11861858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.896875 meters 0.012917397748084165 Centerline is valid? [True, True] Translation: X:185.39, Y:56.54, Z:1.12 [[ 8.41680925e-01 -5.39227145e-01 -2.84131506e-02 1.85392939e+02] [ 5.38910835e-01 8.42160337e-01 -1.84683435e-02 5.65439208e+01] [ 3.38870606e-02 2.32297740e-04 9.99425642e-01 1.12215739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.956875 meters 0.012440850671879338 Centerline is valid? [True, True] Translation: X:185.44, Y:56.57, Z:1.12 [[ 8.39008988e-01 -5.43390989e-01 -2.81096380e-02 1.85444857e+02] [ 5.43083413e-01 8.39479736e-01 -1.82805532e-02 5.65722315e+01] [ 3.35309593e-02 7.16702982e-05 9.99437677e-01 1.12407623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.016875 meters 0.012437639662455442 Centerline is valid? [True, True] Translation: X:185.50, Y:56.60, Z:1.12 [[ 8.36432439e-01 -5.47327004e-01 -2.85293831e-02 1.85496315e+02] [ 5.47012108e-01 8.36918840e-01 -1.85636530e-02 5.66002550e+01] [ 3.40371668e-02 -7.86764205e-05 9.99420565e-01 1.12448642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.076875 meters 0.012375355940296357 Centerline is valid? [True, True] Translation: X:185.55, Y:56.63, Z:1.13 [[ 8.35099965e-01 -5.49380229e-01 -2.80964773e-02 1.85545609e+02] [ 5.49075617e-01 8.35572463e-01 -1.82927988e-02 5.66304489e+01] [ 3.35263447e-02 -1.50774912e-04 9.99437823e-01 1.12652019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.136875 meters 0.012397886457992028 Centerline is valid? [True, True] Translation: X:185.59, Y:56.66, Z:1.13 [[ 8.34968194e-01 -5.49583872e-01 -2.80300454e-02 1.85593371e+02] [ 5.49280477e-01 8.35438535e-01 -1.82595641e-02 5.66625810e+01] [ 3.34525420e-02 -1.50201446e-04 9.99440296e-01 1.12721231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19687499999998 meters 0.012181899140587175 Centerline is valid? [True, True] Translation: X:185.64, Y:56.70, Z:1.13 [[ 8.36410314e-01 -5.47377792e-01 -2.82017758e-02 1.85640338e+02] [ 5.47069211e-01 8.36885625e-01 -1.83773960e-02 5.66977598e+01] [ 3.36610392e-02 -5.72797275e-05 9.99433305e-01 1.12784109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25687499999998 meters 0.012200568075398679 Centerline is valid? [True, True] Translation: X:185.69, Y:56.73, Z:1.13 [[ 8.38152022e-01 -5.44666323e-01 -2.89790335e-02 1.85687029e+02] [ 5.44338522e-01 8.38652844e-01 -1.88939297e-02 5.67325727e+01] [ 3.45942361e-02 6.15811665e-05 9.99401438e-01 1.12827417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31687499999998 meters 0.012567671876358905 Centerline is valid? [True, True] Translation: X:185.73, Y:56.77, Z:1.13 [[ 8.41145521e-01 -5.39994585e-01 -2.96658144e-02 1.85732692e+02] [ 5.39647949e-01 8.41668449e-01 -1.93471833e-02 5.67700966e+01] [ 3.54161542e-02 2.64700713e-04 9.99372616e-01 1.12913559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37687499999998 meters 0.013267660698591135 Centerline is valid? [True, True] Translation: X:185.78, Y:56.81, Z:1.13 [[ 8.42897051e-01 -5.37220569e-01 -3.03087647e-02 1.85780487e+02] [ 5.36856561e-01 8.43441700e-01 -1.97770664e-02 5.68052485e+01] [ 3.61883229e-02 3.98571753e-04 9.99344909e-01 1.13111666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.436875 meters 0.014185733702499637 Centerline is valid? [True, True] Translation: X:185.83, Y:56.84, Z:1.13 [[ 8.45047207e-01 -5.33905373e-01 -2.89874237e-02 1.85826335e+02] [ 5.33570180e-01 8.45544072e-01 -1.89231249e-02 5.68416559e+01] [ 3.46133024e-02 5.24108949e-04 9.99400643e-01 1.13403727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.496875 meters 0.014946542151454394 Centerline is valid? [True, True] Translation: X:185.87, Y:56.88, Z:1.14 [[ 8.46831404e-01 -5.31150780e-01 -2.74849418e-02 1.85872959e+02] [ 5.30847852e-01 8.47277098e-01 -1.79465126e-02 5.68774282e+01] [ 3.28196659e-02 6.07348131e-04 9.99461105e-01 1.13645374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.556875 meters 0.015848496102778598 Centerline is valid? [True, True] Translation: X:185.92, Y:56.91, Z:1.14 [[ 8.47973487e-01 -5.29331507e-01 -2.73700750e-02 1.85920978e+02] [ 5.29029849e-01 8.48414809e-01 -1.78809941e-02 5.69117572e+01] [ 3.26861505e-02 6.83022270e-04 9.99465432e-01 1.13792381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.616875 meters 0.016462075701030435 Centerline is valid? [True, True] Translation: X:185.97, Y:56.94, Z:1.14 [[ 8.48953090e-01 -5.27711058e-01 -2.82787860e-02 1.85969531e+02] [ 5.27387793e-01 8.49423589e-01 -1.84846784e-02 5.69448865e+01] [ 3.37752371e-02 7.78738290e-04 9.99429151e-01 1.13890817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.676875 meters 0.01705140979394106 Centerline is valid? [True, True] Translation: X:186.02, Y:56.98, Z:1.14 [[ 8.49284698e-01 -5.27127450e-01 -2.91916598e-02 1.86018020e+02] [ 5.26782296e-01 8.49785827e-01 -1.90908409e-02 5.69770821e+01] [ 3.48699650e-02 8.35909525e-04 9.99391508e-01 1.13918460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.736875 meters 0.017172793459588866 Centerline is valid? [True, True] Translation: X:186.07, Y:57.01, Z:1.14 [[ 8.48951777e-01 -5.27621105e-01 -2.99474647e-02 1.86066812e+02] [ 5.27257893e-01 8.49479405e-01 -1.95921963e-02 5.70094329e+01] [ 3.57770107e-02 8.42792705e-04 9.99359442e-01 1.13865040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.796875 meters 0.017740125929785383 Centerline is valid? [True, True] Translation: X:186.12, Y:57.04, Z:1.14 [[ 8.49364511e-01 -5.26849045e-01 -3.17806647e-02 1.86115622e+02] [ 5.26439046e-01 8.49958354e-01 -2.08021059e-02 5.70415073e+01] [ 3.79718111e-02 9.37987707e-04 9.99278370e-01 1.13791213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.856875 meters 0.01823340778719481 Centerline is valid? [True, True] Translation: X:186.16, Y:57.07, Z:1.14 [[ 8.49988298e-01 -5.25870995e-01 -3.12983893e-02 1.86164585e+02] [ 5.25472478e-01 8.50563785e-01 -2.04920155e-02 5.70747855e+01] [ 3.73974330e-02 9.71531197e-04 9.99299999e-01 1.13910992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.916875 meters 0.017341786347277517 Centerline is valid? [True, True] Translation: X:186.21, Y:57.11, Z:1.14 [[ 8.49177725e-01 -5.27238866e-01 -3.02716037e-02 1.86214776e+02] [ 5.26866577e-01 8.49716651e-01 -1.98298525e-02 5.71058641e+01] [ 3.61773547e-02 8.89972825e-04 9.99344989e-01 1.14193884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97687499999998 meters 0.016441502403279486 Centerline is valid? [True, True] Translation: X:186.27, Y:57.14, Z:1.15 [[ 8.48016725e-01 -5.29224821e-01 -2.80842203e-02 1.86265728e+02] [ 5.28905217e-01 8.48481303e-01 -1.84051694e-02 5.71364443e+01] [ 3.35694083e-02 7.54000841e-04 9.99436104e-01 1.14583254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03687499999998 meters 0.014572023605168892 Centerline is valid? [True, True] Translation: X:186.32, Y:57.17, Z:1.15 [[ 8.45017536e-01 -5.34041370e-01 -2.72979713e-02 1.86317817e+02] [ 5.33741749e-01 8.45458166e-01 -1.78951038e-02 5.71653749e+01] [ 3.26360185e-02 5.51609588e-04 9.99467151e-01 1.14909119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09687499999998 meters 0.013535920224472461 Centerline is valid? [True, True] Translation: X:186.37, Y:57.20, Z:1.15 [[ 8.42434961e-01 -5.37998807e-01 -2.93363244e-02 1.86369061e+02] [ 5.37654794e-01 8.42945486e-01 -1.92413649e-02 5.71952415e+01] [ 3.50807536e-02 4.36783077e-04 9.99384385e-01 1.14876278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15687499999999 meters 0.012831529463961905 Centerline is valid? [True, True] Translation: X:186.42, Y:57.23, Z:1.15 [[ 8.40402965e-01 -5.41114649e-01 -3.02951135e-02 1.86419684e+02] [ 5.40749411e-01 8.40948768e-01 -1.98807240e-02 5.72252483e+01] [ 3.62343893e-02 3.25754634e-04 9.99343266e-01 1.15034930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.216875 meters 0.01200607193553644 Centerline is valid? [True, True] Translation: X:186.47, Y:57.26, Z:1.15 [[ 8.37265580e-01 -5.45948654e-01 -3.04370659e-02 1.86470991e+02] [ 5.45582794e-01 8.37818626e-01 -1.99841058e-02 5.72554279e+01] [ 3.64110364e-02 1.26064500e-04 9.99336890e-01 1.15179504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.276875 meters 0.011886360243804458 Centerline is valid? [True, True] Translation: X:186.52, Y:57.29, Z:1.15 [[ 8.35963191e-01 -5.47968314e-01 -2.99377853e-02 1.86520808e+02] [ 5.47615312e-01 8.36499089e-01 -1.96658299e-02 5.72865754e+01] [ 3.58191818e-02 4.55202818e-05 9.99358286e-01 1.15468581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.336875 meters 0.011780085356958722 Centerline is valid? [True, True] Translation: X:186.57, Y:57.32, Z:1.16 [[ 8.36296357e-01 -5.47504870e-01 -2.91001925e-02 1.86567770e+02] [ 5.47170723e-01 8.36802493e-01 -1.91255853e-02 5.73207132e+01] [ 3.48224648e-02 7.18839138e-05 9.99393511e-01 1.15638956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.396875 meters 0.012029680387138815 Centerline is valid? [True, True] Translation: X:186.61, Y:57.36, Z:1.16 [[ 8.38125303e-01 -5.44694168e-01 -2.92273731e-02 1.86614967e+02] [ 5.44354988e-01 8.38634738e-01 -1.92203847e-02 5.73566041e+01] [ 3.49803218e-02 1.99024449e-04 9.99387981e-01 1.15759313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.456875 meters 0.013692744456410586 Centerline is valid? [True, True] Translation: X:186.66, Y:57.40, Z:1.16 [[ 8.42933016e-01 -5.37176198e-01 -3.00942349e-02 1.86659601e+02] [ 5.36811400e-01 8.43469884e-01 -1.98008912e-02 5.73963609e+01] [ 3.60201482e-02 5.35896539e-04 9.99350920e-01 1.15822905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.516875 meters 0.016434268893148692 Centerline is valid? [True, True] Translation: X:186.70, Y:57.44, Z:1.16 [[ 8.48005819e-01 -5.29042010e-01 -3.16335742e-02 1.86704463e+02] [ 5.28632833e-01 8.48595118e-01 -2.08243487e-02 5.74364620e+01] [ 3.78610519e-02 9.36622875e-04 9.99282574e-01 1.15736727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.576875 meters 0.018610442865186438 Centerline is valid? [True, True] Translation: X:186.75, Y:57.47, Z:1.16 [[ 8.50832161e-01 -5.24513220e-01 -3.11530882e-02 1.86751221e+02] [ 5.24113002e-01 8.51401555e-01 -2.05171685e-02 5.74728460e+01] [ 3.72853138e-02 1.12892827e-03 9.99304023e-01 1.15965377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.636875 meters 0.01891154747644232 Centerline is valid? [True, True] Translation: X:186.80, Y:57.51, Z:1.16 [[ 8.53323149e-01 -5.20493766e-01 -3.04276691e-02 1.86800249e+02] [ 5.20109165e-01 8.53864509e-01 -2.00463593e-02 5.75053728e+01] [ 3.64151118e-02 1.28031289e-03 9.99335930e-01 1.16395438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69687499999998 meters 0.020765351400922682 Centerline is valid? [True, True] Translation: X:186.85, Y:57.54, Z:1.17 [[ 8.53796432e-01 -5.19714791e-01 -3.04661882e-02 1.86846897e+02] [ 5.19328465e-01 8.54338803e-01 -2.00787124e-02 5.75392490e+01] [ 3.64636506e-02 1.32117426e-03 9.99334107e-01 1.16542726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75687499999998 meters 0.021786390745562694 Centerline is valid? [True, True] Translation: X:186.89, Y:57.57, Z:1.17 [[ 8.53715336e-01 -5.19826923e-01 -3.08236128e-02 1.86893328e+02] [ 5.19431333e-01 8.54270556e-01 -2.03201225e-02 5.75716532e+01] [ 3.68946516e-02 1.33684990e-03 9.99318266e-01 1.16606085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81687499999998 meters 0.020654105126308324 Centerline is valid? [True, True] Translation: X:186.94, Y:57.60, Z:1.17 [[ 8.52647647e-01 -5.21558438e-01 -3.11253172e-02 1.86944531e+02] [ 5.21155962e-01 8.53214602e-01 -2.05257582e-02 5.76020692e+01] [ 3.72619575e-02 1.28009486e-03 9.99304712e-01 1.16732525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87687499999998 meters 0.01881767305990435 Centerline is valid? [True, True] Translation: X:187.00, Y:57.63, Z:1.17 [[ 8.50539359e-01 -5.24947741e-01 -3.18224599e-02 1.86995493e+02] [ 5.24529007e-01 8.51133662e-01 -2.09954713e-02 5.76317212e+01] [ 3.81066920e-02 1.16567140e-03 9.99272996e-01 1.16964818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.936875 meters 0.017079917046271553 Centerline is valid? [True, True] Translation: X:187.05, Y:57.66, Z:1.17 [[ 8.47509240e-01 -5.29815880e-01 -3.19878253e-02 1.87046942e+02] [ 5.29395944e-01 8.48112147e-01 -2.11120964e-02 5.76613574e+01] [ 3.83147872e-02 9.58471824e-04 9.99265259e-01 1.17280522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.996875 meters 0.016070009223809023 Centerline is valid? [True, True] Translation: X:187.10, Y:57.69, Z:1.18 [[ 8.46188700e-01 -5.31903941e-01 -3.22936642e-02 1.87097003e+02] [ 5.31477179e-01 8.46804243e-01 -2.13209174e-02 5.76929069e+01] [ 3.86870919e-02 8.78173847e-04 9.99250988e-01 1.17510961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.056875 meters 0.016115964815744305 Centerline is valid? [True, True] Translation: X:187.15, Y:57.73, Z:1.17 [[ 8.44376216e-01 -5.34619119e-01 -3.48023366e-02 1.87145066e+02] [ 5.34125217e-01 8.45092728e-01 -2.29898411e-02 5.77263814e+01] [ 4.17020102e-02 8.23269420e-04 9.99129754e-01 1.17215656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.116875 meters 0.01572525234799956 Centerline is valid? [True, True] Translation: X:187.19, Y:57.76, Z:1.17 [[ 8.43356099e-01 -5.36159606e-01 -3.58241002e-02 1.87194743e+02] [ 5.35637119e-01 8.44116265e-01 -2.36771601e-02 5.77583648e+01] [ 4.29344425e-02 7.79559622e-04 9.99077588e-01 1.17311069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.176875 meters 0.014511307277144433 Centerline is valid? [True, True] Translation: X:187.25, Y:57.79, Z:1.18 [[ 8.41054719e-01 -5.39783107e-01 -3.55127901e-02 1.87245244e+02] [ 5.39272386e-01 8.41803919e-01 -2.34830797e-02 5.77886833e+01] [ 4.25705756e-02 5.99487940e-04 9.99093282e-01 1.17760900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.236875 meters 0.01344720525454522 Centerline is valid? [True, True] Translation: X:187.30, Y:57.82, Z:1.18 [[ 8.38435654e-01 -5.43931655e-01 -3.41175793e-02 1.87295598e+02] [ 5.43463270e-01 8.39129435e-01 -2.25713552e-02 5.78188464e+01] [ 4.09063396e-02 3.82977716e-04 9.99162912e-01 1.18250623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.296875 meters 0.012934396909498224 Centerline is valid? [True, True] Translation: X:187.35, Y:57.85, Z:1.19 [[ 8.33366196e-01 -5.51875013e-01 -3.05737262e-02 1.87346026e+02] [ 5.51503927e-01 8.33926837e-01 -2.02348394e-02 5.78469905e+01] [ 3.66633530e-02 1.50112592e-06 9.99327673e-01 1.18904131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.356875 meters 0.013278741146990724 Centerline is valid? [True, True] Translation: X:187.40, Y:57.88, Z:1.19 [[ 8.29325543e-01 -5.58010860e-01 -2.90348838e-02 1.87396058e+02] [ 5.57679736e-01 8.29833609e-01 -1.92222281e-02 5.78772557e+01] [ 3.48203344e-02 -2.50681609e-04 9.99393557e-01 1.19318143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.416875 meters 0.015331117797683348 Centerline is valid? [True, True] Translation: X:187.45, Y:57.91, Z:1.20 [[ 8.23405350e-01 -5.66751533e-01 -2.82193095e-02 1.87445407e+02] [ 5.66443535e-01 8.23888553e-01 -1.86915431e-02 5.79091992e+01] [ 3.38430268e-02 -5.93928811e-04 9.99426984e-01 1.19525406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47687499999998 meters 0.017636452248545036 Centerline is valid? [True, True] Translation: X:187.49, Y:57.94, Z:1.20 [[ 8.18663838e-01 -5.73475164e-01 -3.02614689e-02 1.87493305e+02] [ 5.73125156e-01 8.19222424e-01 -2.00543300e-02 5.79438256e+01] [ 3.62915340e-02 -9.25854325e-04 9.99340816e-01 1.19565781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53687499999998 meters 0.018451140747479857 Centerline is valid? [True, True] Translation: X:187.54, Y:57.98, Z:1.20 [[ 8.16935616e-01 -5.75911035e-01 -3.07030833e-02 1.87539813e+02] [ 5.75552053e-01 8.17511711e-01 -2.03577118e-02 5.79805739e+01] [ 3.68243610e-02 -1.04028277e-03 9.99321212e-01 1.19717850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59687499999998 meters 0.01821634094376987 Centerline is valid? [True, True] Translation: X:187.58, Y:58.02, Z:1.20 [[ 8.16796956e-01 -5.76120527e-01 -3.04609635e-02 1.87583503e+02] [ 5.75766943e-01 8.17364100e-01 -2.02078175e-02 5.80197544e+01] [ 3.65398365e-02 -1.03273198e-03 9.99331664e-01 1.19949854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65687499999999 meters 0.016053666256375228 Centerline is valid? [True, True] Translation: X:187.62, Y:58.07, Z:1.20 [[ 8.19544420e-01 -5.72238406e-01 -2.98353822e-02 1.87623041e+02] [ 5.71896228e-01 8.20086894e-01 -1.98038068e-02 5.80672221e+01] [ 3.58001047e-02 -8.32643180e-04 9.99358624e-01 1.20249904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.716875 meters 0.01538697840361663 Centerline is valid? [True, True] Translation: X:187.67, Y:58.11, Z:1.20 [[ 8.21796247e-01 -5.68963390e-01 -3.05219403e-02 1.87666120e+02] [ 5.68602647e-01 8.22362557e-01 -2.02695555e-02 5.81087068e+01] [ 3.66327359e-02 -6.97411377e-04 9.99328553e-01 1.20371817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.776875 meters 0.013987132154027268 Centerline is valid? [True, True] Translation: X:187.71, Y:58.16, Z:1.21 [[ 8.25508872e-01 -5.63584085e-01 -3.01343744e-02 1.87705344e+02] [ 5.63228517e-01 8.26058582e-01 -2.00214016e-02 5.81559825e+01] [ 3.61765019e-02 -4.44694356e-04 9.99345317e-01 1.20659667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.836875 meters 0.013563626861011766 Centerline is valid? [True, True] Translation: X:187.75, Y:58.20, Z:1.21 [[ 8.27676482e-01 -5.60357350e-01 -3.08428526e-02 1.87748135e+02] [ 5.59982269e-01 8.28250897e-01 -2.05014598e-02 5.81977501e+01] [ 3.70337641e-02 -3.02874491e-04 9.99313969e-01 1.20822688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.896875 meters 0.013447771234284249 Centerline is valid? [True, True] Translation: X:187.79, Y:58.24, Z:1.21 [[ 8.30302838e-01 -5.56333383e-01 -3.30206631e-02 1.87788493e+02] [ 5.55899789e-01 8.30959176e-01 -2.19607139e-02 5.82407472e+01] [ 3.96563013e-02 -1.22136625e-04 9.99213372e-01 1.20784732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.956875 meters 0.013306444154739895 Centerline is valid? [True, True] Translation: X:187.83, Y:58.28, Z:1.21 [[ 8.32203480e-01 -5.53431588e-01 -3.39241083e-02 1.87832647e+02] [ 5.52971093e-01 8.32894637e-01 -2.25719516e-02 5.82799253e+01] [ 4.07472389e-02 2.54054108e-05 9.99169486e-01 1.20856283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.016875 meters 0.013786908581375832 Centerline is valid? [True, True] Translation: X:187.87, Y:58.32, Z:1.21 [[ 8.35667362e-01 -5.48014533e-01 -3.66078224e-02 1.87874967e+02] [ 5.47472451e-01 8.36468748e-01 -2.43710618e-02 5.83225864e+01] [ 4.39769954e-02 3.24326645e-04 9.99032491e-01 1.20779161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.076875 meters 0.01467457175132508 Centerline is valid? [True, True] Translation: X:187.92, Y:58.36, Z:1.21 [[ 8.38464834e-01 -5.43724513e-01 -3.66111491e-02 1.87919882e+02] [ 5.43177667e-01 8.39263570e-01 -2.43861235e-02 5.83610998e+01] [ 4.39857368e-02 5.60548507e-04 9.99032002e-01 1.20845659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.136875 meters 0.016226770734356227 Centerline is valid? [True, True] Translation: X:187.96, Y:58.40, Z:1.21 [[ 8.42391171e-01 -5.37673467e-01 -3.58379486e-02 1.87964070e+02] [ 5.37143467e-01 8.43152707e-01 -2.38832118e-02 5.84015065e+01] [ 4.30582326e-02 8.68886786e-04 9.99072186e-01 1.21039417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19687499999998 meters 0.016849237111724365 Centerline is valid? [True, True] Translation: X:188.01, Y:58.44, Z:1.21 [[ 8.44419358e-01 -5.34520474e-01 -3.52676993e-02 1.88011483e+02] [ 5.34003960e-01 8.45154906e-01 -2.35150131e-02 5.84369861e+01] [ 4.23759251e-02 1.02344120e-03 9.99101213e-01 1.21230544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25687499999998 meters 0.017943052466065958 Centerline is valid? [True, True] Translation: X:188.06, Y:58.47, Z:1.22 [[ 8.46149080e-01 -5.31941847e-01 -3.27048252e-02 1.88059816e+02] [ 5.31495341e-01 8.46780201e-01 -2.18172895e-02 5.84704177e+01] [ 3.92993277e-02 1.07821722e-03 9.99226901e-01 1.21686644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31687499999998 meters 0.018342778691137627 Centerline is valid? [True, True] Translation: X:188.11, Y:58.50, Z:1.22 [[ 8.46497697e-01 -5.31447846e-01 -3.16991405e-02 1.88108826e+02] [ 5.31027621e-01 8.47090330e-01 -2.11574540e-02 5.85028973e+01] [ 3.80961187e-02 1.07661688e-03 9.99273499e-01 1.21998979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37687499999998 meters 0.019377115933413035 Centerline is valid? [True, True] Translation: X:188.16, Y:58.54, Z:1.22 [[ 8.46804265e-01 -5.30889692e-01 -3.28431259e-02 1.88156565e+02] [ 5.30437773e-01 8.47440153e-01 -2.19307020e-02 5.85355683e+01] [ 3.94753673e-02 1.14977738e-03 9.99219882e-01 1.21852547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.436875 meters 0.018069246628509866 Centerline is valid? [True, True] Translation: X:188.21, Y:58.56, Z:1.22 [[ 8.46690323e-01 -5.31042855e-01 -3.33013968e-02 1.88208640e+02] [ 5.30578083e-01 8.47344163e-01 -2.22433837e-02 5.85640891e+01] [ 4.00299341e-02 1.16426644e-03 9.99197803e-01 1.21976946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.496875 meters 0.017725074731505638 Centerline is valid? [True, True] Translation: X:188.26, Y:58.59, Z:1.22 [[ 8.45593355e-01 -5.32701178e-01 -3.46602637e-02 1.88261235e+02] [ 5.32198535e-01 8.46302637e-01 -2.31639007e-02 5.85922213e+01] [ 4.16725098e-02 1.14109892e-03 9.99130672e-01 1.21970320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.556875 meters 0.017296342260349738 Centerline is valid? [True, True] Translation: X:188.31, Y:58.62, Z:1.22 [[ 8.43912957e-01 -5.35380974e-01 -3.43239397e-02 1.88311724e+02] [ 5.34889856e-01 8.44610086e-01 -2.29487259e-02 5.86205434e+01] [ 4.12766569e-02 1.00719998e-03 9.99147248e-01 1.22172832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.616875 meters 0.014862824907397851 Centerline is valid? [True, True] Translation: X:188.37, Y:58.64, Z:1.23 [[ 8.39213427e-01 -5.42780119e-01 -3.33251558e-02 1.88368645e+02] [ 5.42322721e-01 8.39874600e-01 -2.22872683e-02 5.86422779e+01] [ 4.00860381e-02 6.30785617e-04 9.99196033e-01 1.22715189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.676875 meters 0.014477883610102407 Centerline is valid? [True, True] Translation: X:188.42, Y:58.67, Z:1.23 [[ 8.37119692e-01 -5.46063974e-01 -3.23227139e-02 1.88419283e+02] [ 5.45635707e-01 8.37743348e-01 -2.16277212e-02 5.86714993e+01] [ 3.88882579e-02 4.68564453e-04 9.99243456e-01 1.22956350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.736875 meters 0.01355492918460256 Centerline is valid? [True, True] Translation: X:188.47, Y:58.69, Z:1.23 [[ 8.31425371e-01 -5.54846137e-01 -2.96245769e-02 1.88473350e+02] [ 5.54491632e-01 8.31952979e-01 -1.98310335e-02 5.86948683e+01] [ 3.56494274e-02 6.14443842e-05 9.99364355e-01 1.23332399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.796875 meters 0.013798340355408898 Centerline is valid? [True, True] Translation: X:188.53, Y:58.72, Z:1.24 [[ 8.27282399e-01 -5.61063061e-01 -2.84969207e-02 1.88525566e+02] [ 5.60738496e-01 8.27773039e-01 -1.90823190e-02 5.87208894e+01] [ 3.42953670e-02 -1.92853806e-04 9.99411722e-01 1.23682452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.856875 meters 0.01470011536213518 Centerline is valid? [True, True] Translation: X:188.58, Y:58.75, Z:1.24 [[ 8.23220654e-01 -5.67022263e-01 -2.81692659e-02 1.88578235e+02] [ 5.66708216e-01 8.23702356e-01 -1.88739539e-02 5.87481706e+01] [ 3.39050427e-02 -4.26325772e-04 9.99424968e-01 1.23924602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.916875 meters 0.014992353984364066 Centerline is valid? [True, True] Translation: X:188.63, Y:58.78, Z:1.24 [[ 8.22612127e-01 -5.67901759e-01 -2.82290723e-02 1.88627052e+02] [ 5.67586597e-01 8.23096218e-01 -1.89227730e-02 5.87792991e+01] [ 3.39815188e-02 -4.56340551e-04 9.99422357e-01 1.24051610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97687499999998 meters 0.01416196322730785 Centerline is valid? [True, True] Translation: X:188.67, Y:58.82, Z:1.24 [[ 8.25191749e-01 -5.64034960e-01 -3.03832532e-02 1.88673586e+02] [ 5.63667016e-01 8.25750849e-01 -2.03722921e-02 5.88167765e+01] [ 3.65796821e-02 -3.14990284e-04 9.99330690e-01 1.23918313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03687499999998 meters 0.014000921296672854 Centerline is valid? [True, True] Translation: X:188.72, Y:58.85, Z:1.24 [[ 8.27866497e-01 -5.60016843e-01 -3.19092311e-02 1.88719265e+02] [ 5.59607658e-01 8.28481211e-01 -2.14044884e-02 5.88518275e+01] [ 3.84230725e-02 -1.36591275e-04 9.99261552e-01 1.23821239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09687499999998 meters 0.014094065762213892 Centerline is valid? [True, True] Translation: X:188.76, Y:58.89, Z:1.24 [[ 8.31833491e-01 -5.54026018e-01 -3.32898436e-02 1.88764522e+02] [ 5.53575565e-01 8.32499338e-01 -2.23371156e-02 5.88904640e+01] [ 4.00891160e-02 1.52316838e-04 9.99196097e-01 1.23822562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15687499999999 meters 0.014232402547698137 Centerline is valid? [True, True] Translation: X:188.81, Y:58.93, Z:1.24 [[ 8.33822845e-01 -5.51077996e-01 -3.24423499e-02 1.88811411e+02] [ 5.50647530e-01 8.34453687e-01 -2.17794246e-02 5.89257998e+01] [ 3.90738001e-02 2.95882001e-04 9.99236284e-01 1.24042371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.216875 meters 0.014687470805876774 Centerline is valid? [True, True] Translation: X:188.86, Y:58.96, Z:1.24 [[ 8.35500911e-01 -5.48543874e-01 -3.22156191e-02 1.88859849e+02] [ 5.48117082e-01 8.36121667e-01 -2.16384691e-02 5.89600058e+01] [ 3.88058268e-02 4.21029499e-04 9.99246682e-01 1.24279583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.276875 meters 0.014708014680509402 Centerline is valid? [True, True] Translation: X:188.91, Y:58.99, Z:1.25 [[ 8.35987133e-01 -5.47788291e-01 -3.24576712e-02 1.88908796e+02] [ 5.47354037e-01 8.36616858e-01 -2.18126355e-02 5.89926804e+01] [ 3.91033412e-02 4.69245308e-04 9.99235062e-01 1.24521217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.336875 meters 0.015123778421497305 Centerline is valid? [True, True] Translation: X:188.96, Y:59.03, Z:1.25 [[ 8.37070261e-01 -5.46170884e-01 -3.17921880e-02 1.88956626e+02] [ 5.45752658e-01 8.37673606e-01 -2.13767670e-02 5.90270811e+01] [ 3.83068445e-02 5.43184835e-04 9.99265876e-01 1.24677113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.396875 meters 0.01580458405786904 Centerline is valid? [True, True] Translation: X:189.00, Y:59.06, Z:1.25 [[ 8.38317965e-01 -5.44229807e-01 -3.22010213e-02 1.89003793e+02] [ 5.43798926e-01 8.38935931e-01 -2.16617656e-02 5.90609940e+01] [ 3.88035723e-02 6.48566500e-04 9.99246647e-01 1.24747939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.456875 meters 0.01816492282420489 Centerline is valid? [True, True] Translation: X:189.05, Y:59.10, Z:1.25 [[ 8.40762112e-01 -5.40379690e-01 -3.32995645e-02 1.89049834e+02] [ 5.39915646e-01 8.41420853e-01 -2.24063141e-02 5.90972536e+01] [ 4.01268650e-02 8.59424078e-04 9.99194223e-01 1.24596561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.516875 meters 0.017311273136331774 Centerline is valid? [True, True] Translation: X:189.10, Y:59.13, Z:1.25 [[ 8.42650440e-01 -5.37434146e-01 -3.32381509e-02 1.89099839e+02] [ 5.36969372e-01 8.43305127e-01 -2.23686564e-02 5.91272097e+01] [ 4.00515828e-02 1.00108913e-03 9.99197112e-01 1.24915836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.576875 meters 0.019324544385520778 Centerline is valid? [True, True] Translation: X:189.15, Y:59.16, Z:1.25 [[ 8.45740354e-01 -5.32632271e-01 -3.20330709e-02 1.89148733e+02] [ 5.32196987e-01 8.46345942e-01 -2.15618649e-02 5.91599499e+01] [ 3.85956047e-02 1.18783544e-03 9.99254206e-01 1.25302107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.636875 meters 0.0201503249002618 Centerline is valid? [True, True] Translation: X:189.20, Y:59.19, Z:1.25 [[ 8.47189233e-01 -5.30308660e-01 -3.22975014e-02 1.89198314e+02] [ 5.29864208e-01 8.47803638e-01 -2.17465640e-02 5.91917612e+01] [ 3.89143304e-02 1.31016493e-03 9.99241692e-01 1.25430064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69687499999998 meters 0.021835198554369318 Centerline is valid? [True, True] Translation: X:189.25, Y:59.22, Z:1.25 [[ 8.48082767e-01 -5.28826173e-01 -3.31436223e-02 1.89246519e+02] [ 5.28356614e-01 8.48728965e-01 -2.23256097e-02 5.92238219e+01] [ 3.99363189e-02 1.42231277e-03 9.99201215e-01 1.25397234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75687499999998 meters 0.02137966977524353 Centerline is valid? [True, True] Translation: X:189.30, Y:59.25, Z:1.26 [[ 8.48183077e-01 -5.28700783e-01 -3.25722175e-02 1.89298286e+02] [ 5.28246924e-01 8.48807101e-01 -2.19474886e-02 5.92506703e+01] [ 3.92511839e-02 1.40931472e-03 9.99228381e-01 1.25640945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81687499999998 meters 0.02056591669323544 Centerline is valid? [True, True] Translation: X:189.35, Y:59.28, Z:1.26 [[ 8.47185132e-01 -5.30300911e-01 -3.25314457e-02 1.89350935e+02] [ 5.29848864e-01 8.47808431e-01 -2.19327326e-02 5.92774228e+01] [ 3.92113821e-02 1.34433542e-03 9.99230034e-01 1.25768926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87687499999998 meters 0.02064472254459091 Centerline is valid? [True, True] Translation: X:189.40, Y:59.31, Z:1.26 [[ 8.46620481e-01 -5.31263037e-01 -3.15174085e-02 1.89402156e+02] [ 5.30838991e-01 8.47205982e-01 -2.12600230e-02 5.93067014e+01] [ 3.79964014e-02 1.26850156e-03 9.99277071e-01 1.26006516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.936875 meters 0.020174688357953646 Centerline is valid? [True, True] Translation: X:189.45, Y:59.33, Z:1.26 [[ 8.46361480e-01 -5.31752899e-01 -3.01844449e-02 1.89454967e+02] [ 5.31363911e-01 8.46898700e-01 -2.03711974e-02 5.93338231e+01] [ 3.63956104e-02 1.20247213e-03 9.99336737e-01 1.26324984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.996875 meters 0.019582796083525266 Centerline is valid? [True, True] Translation: X:189.51, Y:59.36, Z:1.26 [[ 8.46471276e-01 -5.31545593e-01 -3.07516087e-02 1.89506479e+02] [ 5.31141294e-01 8.47028769e-01 -2.07651247e-02 5.93633300e+01] [ 3.70851078e-02 1.24363238e-03 9.99311337e-01 1.26378732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.056875 meters 0.020480932756114442 Centerline is valid? [True, True] Translation: X:189.56, Y:59.39, Z:1.26 [[ 8.46748246e-01 -5.30999861e-01 -3.25047030e-02 1.89556559e+02] [ 5.30547300e-01 8.47370832e-01 -2.19598634e-02 5.93919931e+01] [ 3.92042217e-02 1.34919344e-03 9.99230308e-01 1.26220477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.116875 meters 0.021719463731587355 Centerline is valid? [True, True] Translation: X:189.61, Y:59.42, Z:1.26 [[ 8.45848733e-01 -5.32369511e-01 -3.35056008e-02 1.89606630e+02] [ 5.31889440e-01 8.46511035e-01 -2.26426821e-02 5.94207743e+01] [ 4.04171344e-02 1.33100868e-03 9.99182007e-01 1.26164811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.176875 meters 0.018441854032435933 Centerline is valid? [True, True] Translation: X:189.66, Y:59.45, Z:1.27 [[ 8.43851699e-01 -5.35543768e-01 -3.32743479e-02 1.89661230e+02] [ 5.35072534e-01 8.44506655e-01 -2.24920706e-02 5.94450270e+01] [ 4.01458965e-02 1.17578233e-03 9.99193137e-01 1.26542351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.236875 meters 0.01819131669776156 Centerline is valid? [True, True] Translation: X:189.71, Y:59.47, Z:1.27 [[ 8.41929911e-01 -5.38684321e-01 -3.11966011e-02 1.89713294e+02] [ 5.38271995e-01 8.42507130e-01 -2.10948923e-02 5.94720879e+01] [ 3.76468467e-02 9.68164066e-04 9.99290637e-01 1.26749994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.296875 meters 0.017960711590825938 Centerline is valid? [True, True] Translation: X:189.76, Y:59.50, Z:1.27 [[ 8.41254957e-01 -5.39726485e-01 -3.13913981e-02 1.89764779e+02] [ 5.39309446e-01 8.41839920e-01 -2.12337079e-02 5.95014309e+01] [ 3.78869265e-02 9.33284471e-04 9.99281597e-01 1.26934791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.356875 meters 0.018712259347966186 Centerline is valid? [True, True] Translation: X:189.82, Y:59.53, Z:1.27 [[ 8.41395430e-01 -5.39487134e-01 -3.17389724e-02 1.89815007e+02] [ 5.39060291e-01 8.41993294e-01 -2.14778102e-02 5.95304974e+01] [ 3.83110041e-02 9.62111629e-04 9.99265401e-01 1.27023714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.416875 meters 0.018088731885701134 Centerline is valid? [True, True] Translation: X:189.87, Y:59.56, Z:1.27 [[ 8.41799573e-01 -5.38879728e-01 -3.13387496e-02 1.89866119e+02] [ 5.38462950e-01 8.42382143e-01 -2.12126678e-02 5.95596177e+01] [ 3.78302797e-02 9.82059151e-04 9.99283696e-01 1.27348694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47687499999998 meters 0.017713991245642713 Centerline is valid? [True, True] Translation: X:189.92, Y:59.59, Z:1.28 [[ 8.42191408e-01 -5.38258180e-01 -3.14922978e-02 1.89917136e+02] [ 5.37836449e-01 8.42779380e-01 -2.13277124e-02 5.95885795e+01] [ 3.80208748e-02 1.02431048e-03 9.99276420e-01 1.27551260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53687499999998 meters 0.018377669696987647 Centerline is valid? [True, True] Translation: X:189.97, Y:59.62, Z:1.28 [[ 8.42434497e-01 -5.37879451e-01 -3.14613113e-02 1.89966487e+02] [ 5.37457859e-01 8.43021111e-01 -2.13179746e-02 5.96201838e+01] [ 3.79890501e-02 1.04986822e-03 9.99277604e-01 1.27640791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59687499999998 meters 0.018775921818175688 Centerline is valid? [True, True] Translation: X:190.02, Y:59.65, Z:1.28 [[ 8.42343948e-01 -5.38049764e-01 -3.09697267e-02 1.90016381e+02] [ 5.37640941e-01 8.42912439e-01 -2.09961819e-02 5.96505730e+01] [ 3.74017586e-02 1.03541380e-03 9.99299773e-01 1.27922476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65687499999999 meters 0.018888842478303615 Centerline is valid? [True, True] Translation: X:190.07, Y:59.68, Z:1.28 [[ 8.42435670e-01 -5.37913041e-01 -3.08496801e-02 1.90066803e+02] [ 5.37506842e-01 8.42999681e-01 -2.09268390e-02 5.96813267e+01] [ 3.72630900e-02 1.04760149e-03 9.99304941e-01 1.28127352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.716875 meters 0.019002104980737504 Centerline is valid? [True, True] Translation: X:190.12, Y:59.71, Z:1.28 [[ 8.43008114e-01 -5.36939803e-01 -3.21398070e-02 1.90117236e+02] [ 5.36497738e-01 8.43619781e-01 -2.18138232e-02 5.97120576e+01] [ 3.88264868e-02 1.14629620e-03 9.99245310e-01 1.28150094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.776875 meters 0.019922499592301413 Centerline is valid? [True, True] Translation: X:190.17, Y:59.74, Z:1.28 [[ 8.43035276e-01 -5.36829590e-01 -3.32492618e-02 1.90165236e+02] [ 5.36355984e-01 8.43689843e-01 -2.25766871e-02 5.97444328e+01] [ 4.01718981e-02 1.19950310e-03 9.99192064e-01 1.28110387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.836875 meters 0.01923840987516076 Centerline is valid? [True, True] Translation: X:190.22, Y:59.77, Z:1.28 [[ 8.41729804e-01 -5.38857951e-01 -3.35118686e-02 1.90216108e+02] [ 5.38378161e-01 8.42395905e-01 -2.27617018e-02 5.97738399e+01] [ 4.04955848e-02 1.11714458e-03 9.99179093e-01 1.28221512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.896875 meters 0.01869492918967253 Centerline is valid? [True, True] Translation: X:190.27, Y:59.81, Z:1.28 [[ 8.40681699e-01 -5.40569070e-01 -3.22391272e-02 1.90266445e+02] [ 5.40125880e-01 8.41299038e-01 -2.19080484e-02 5.98053709e+01] [ 3.89655600e-02 1.00450846e-03 9.99240049e-01 1.28434039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.956875 meters 0.017623979197123635 Centerline is valid? [True, True] Translation: X:190.32, Y:59.84, Z:1.29 [[ 8.39913767e-01 -5.41744351e-01 -3.25257199e-02 1.90317415e+02] [ 5.41293690e-01 8.40542754e-01 -2.21137887e-02 5.98350330e+01] [ 3.93192783e-02 9.67708661e-04 9.99226230e-01 1.28623928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.016875 meters 0.015097005533322706 Centerline is valid? [True, True] Translation: X:190.37, Y:59.86, Z:1.29 [[ 8.35415449e-01 -5.48607006e-01 -3.33373690e-02 1.90371527e+02] [ 5.48138510e-01 8.36080081e-01 -2.26775612e-02 5.98612997e+01] [ 4.03137791e-02 6.71689191e-04 9.99186843e-01 1.28923080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.076875 meters 0.014009363004084058 Centerline is valid? [True, True] Translation: X:190.42, Y:59.89, Z:1.29 [[ 8.32926296e-01 -5.52439284e-01 -3.23206187e-02 1.90422260e+02] [ 5.52001391e-01 8.33553001e-01 -2.19967784e-02 5.98909672e+01] [ 3.90928333e-02 4.80668701e-04 9.99235467e-01 1.29211764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.136875 meters 0.013736672136903803 Centerline is valid? [True, True] Translation: X:190.47, Y:59.92, Z:1.29 [[ 8.31912904e-01 -5.53905753e-01 -3.33067108e-02 1.90471439e+02] [ 5.53441382e-01 8.32579262e-01 -2.26805836e-02 5.99219118e+01] [ 4.02933825e-02 4.34958142e-04 9.99187797e-01 1.29345729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19687499999998 meters 0.013631256661252507 Centerline is valid? [True, True] Translation: X:190.52, Y:59.95, Z:1.29 [[ 8.30978518e-01 -5.55205330e-01 -3.49534703e-02 1.90520263e+02] [ 5.54694551e-01 8.31713221e-01 -2.38132905e-02 5.99530479e+01] [ 4.22925292e-02 3.99833279e-04 9.99105191e-01 1.29203072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25687499999998 meters 0.013460551412836466 Centerline is valid? [True, True] Translation: X:190.57, Y:59.98, Z:1.30 [[ 8.30253645e-01 -5.56382185e-01 -3.34327544e-02 1.90569797e+02] [ 5.55915595e-01 8.30926443e-01 -2.27836967e-02 5.99849177e+01] [ 4.04566026e-02 3.30457706e-04 9.99181242e-01 1.29613152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31687499999998 meters 0.013288604911379473 Centerline is valid? [True, True] Translation: X:190.62, Y:60.02, Z:1.30 [[ 8.29966558e-01 -5.56881944e-01 -3.22182107e-02 1.90619247e+02] [ 5.56448602e-01 8.30591601e-01 -2.19669199e-02 6.00176034e+01] [ 3.89931563e-02 3.04030566e-04 9.99239431e-01 1.30042762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37687499999998 meters 0.013367284484092279 Centerline is valid? [True, True] Translation: X:190.67, Y:60.05, Z:1.30 [[ 8.29962004e-01 -5.56904214e-01 -3.19494722e-02 1.90665254e+02] [ 5.56477708e-01 8.30576668e-01 -2.17935531e-02 6.00513694e+01] [ 3.86734077e-02 3.08651912e-04 9.99251856e-01 1.30044398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.436875 meters 0.013339056742233337 Centerline is valid? [True, True] Translation: X:190.71, Y:60.09, Z:1.30 [[ 8.30305028e-01 -5.56437954e-01 -3.11506800e-02 1.90712641e+02] [ 5.56031880e-01 8.30889100e-01 -2.12568391e-02 6.00853752e+01] [ 3.77108725e-02 3.28889262e-04 9.99288638e-01 1.30276677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.496875 meters 0.013457142430277859 Centerline is valid? [True, True] Translation: X:190.76, Y:60.12, Z:1.31 [[ 8.31125459e-01 -5.55233102e-01 -3.07680738e-02 1.90760492e+02] [ 5.54835677e-01 8.31694686e-01 -2.10076154e-02 6.01198336e+01] [ 3.72537670e-02 3.88738915e-04 9.99305762e-01 1.30587731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.556875 meters 0.014123139981534343 Centerline is valid? [True, True] Translation: X:190.81, Y:60.15, Z:1.31 [[ 8.31644301e-01 -5.54456686e-01 -3.07496417e-02 1.90806693e+02] [ 5.54058852e-01 8.32212471e-01 -2.10045479e-02 6.01544132e+01] [ 3.72363473e-02 4.31201362e-04 9.99306394e-01 1.30587384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.616875 meters 0.014229612425010002 Centerline is valid? [True, True] Translation: X:190.85, Y:60.19, Z:1.31 [[ 8.32087492e-01 -5.53777395e-01 -3.10000375e-02 1.90854539e+02] [ 5.53372320e-01 8.32664623e-01 -2.11825589e-02 6.01882685e+01] [ 3.75430568e-02 4.71179600e-04 9.99294900e-01 1.30681687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.676875 meters 0.014296408097521543 Centerline is valid? [True, True] Translation: X:190.90, Y:60.22, Z:1.31 [[ 8.32493929e-01 -5.53113287e-01 -3.19303872e-02 1.90902477e+02] [ 5.52682673e-01 8.33105886e-01 -2.18276333e-02 6.02215245e+01] [ 3.86745475e-02 5.24000390e-04 9.99251722e-01 1.30792977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.736875 meters 0.015023166519638816 Centerline is valid? [True, True] Translation: X:190.95, Y:60.26, Z:1.31 [[ 8.33099315e-01 -5.52099052e-01 -3.36477130e-02 1.90950139e+02] [ 5.51619743e-01 8.33778308e-01 -2.30085079e-02 6.02570032e+01] [ 4.07577086e-02 6.07629414e-04 9.99168875e-01 1.30738563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.796875 meters 0.015020728864369394 Centerline is valid? [True, True] Translation: X:191.00, Y:60.29, Z:1.31 [[ 8.32878123e-01 -5.52428257e-01 -3.37202332e-02 1.90997123e+02] [ 5.51946638e-01 8.33560230e-01 -2.30705794e-02 6.02906427e+01] [ 4.08526853e-02 6.03211525e-04 9.99164999e-01 1.30852668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.856875 meters 0.014675512545144554 Centerline is valid? [True, True] Translation: X:191.05, Y:60.32, Z:1.31 [[ 8.32104028e-01 -5.53680420e-01 -3.22626615e-02 1.91046042e+02] [ 5.53240020e-01 8.32729075e-01 -2.20854541e-02 6.03233277e+01] [ 3.90943398e-02 5.28399778e-04 9.99235384e-01 1.31261695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.916875 meters 0.013622393288029609 Centerline is valid? [True, True] Translation: X:191.10, Y:60.35, Z:1.32 [[ 8.29408370e-01 -5.57899922e-01 -2.87998911e-02 1.91096320e+02] [ 5.57551222e-01 8.29908179e-01 -1.97243061e-02 6.03544389e+01] [ 3.49054540e-02 3.02090061e-04 9.99390573e-01 1.31786009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97687499999998 meters 0.014775541082351537 Centerline is valid? [True, True] Translation: X:191.15, Y:60.38, Z:1.33 [[ 8.15925952e-01 -5.77699681e-01 -2.29764985e-02 1.91152146e+02] [ 5.77485304e-01 8.16249287e-01 -1.57424556e-02 6.03763317e+01] [ 2.78489621e-02 -4.23912123e-04 9.99612053e-01 1.33347719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03687499999998 meters 0.016432996173619978 Centerline is valid? [True, True] Translation: X:191.20, Y:60.41, Z:1.32 [[ 8.12619085e-01 -5.82133429e-01 -2.77649619e-02 1.91198980e+02] [ 5.81822555e-01 8.13092983e-01 -1.90345556e-02 6.04131416e+01] [ 3.36561469e-02 -6.86437902e-04 9.99433236e-01 1.32272936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09687499999998 meters 0.015924849843039816 Centerline is valid? [True, True] Translation: X:191.24, Y:60.45, Z:1.31 [[ 8.12949052e-01 -5.81285055e-01 -3.49503055e-02 1.91242100e+02] [ 5.80791011e-01 8.13699595e-01 -2.39743900e-02 6.04548188e+01] [ 4.23750040e-02 -8.08865665e-04 9.99101449e-01 1.31127365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15687499999999 meters 0.015446295625853187 Centerline is valid? [True, True] Translation: X:191.29, Y:60.49, Z:1.32 [[ 8.14783335e-01 -5.78667818e-01 -3.56605236e-02 1.91290201e+02] [ 5.78150439e-01 8.15563057e-01 -2.44738802e-02 6.04892833e+01] [ 4.32456525e-02 -6.76237562e-04 9.99064240e-01 1.31835724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.216875 meters 0.013919397315249661 Centerline is valid? [True, True] Translation: X:191.33, Y:60.53, Z:1.33 [[ 8.19510738e-01 -5.72075552e-01 -3.36409419e-02 1.91333441e+02] [ 5.71609128e-01 8.20200873e-01 -2.30983016e-02 6.05305393e+01] [ 4.08063036e-02 -3.00163336e-04 9.99167031e-01 1.32788332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.276875 meters 0.013397125542419851 Centerline is valid? [True, True] Translation: X:191.38, Y:60.57, Z:1.33 [[ 8.23715061e-01 -5.66125388e-01 -3.15522204e-02 1.91376254e+02] [ 5.65710335e-01 8.24319140e-01 -2.16742219e-02 6.05728902e+01] [ 3.82794265e-02 3.96585217e-06 9.99267074e-01 1.32725710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.336875 meters 0.014038855641134811 Centerline is valid? [True, True] Translation: X:191.42, Y:60.61, Z:1.33 [[ 8.29035834e-01 -5.58408961e-01 -2.96482295e-02 1.91419945e+02] [ 5.58037180e-01 8.29565736e-01 -2.03763475e-02 6.06131556e+01] [ 3.59734903e-02 3.47907887e-04 9.99352684e-01 1.33000686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.396875 meters 0.01504872923252713 Centerline is valid? [True, True] Translation: X:191.46, Y:60.65, Z:1.33 [[ 8.31531277e-01 -5.54745003e-01 -2.85257263e-02 1.91464748e+02] [ 5.54398379e-01 8.32020275e-01 -1.96137810e-02 6.06495548e+01] [ 3.46146296e-02 4.94855932e-04 9.99400612e-01 1.33459725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.456875 meters 0.01573138288657594 Centerline is valid? [True, True] Translation: X:191.51, Y:60.69, Z:1.34 [[ 8.33863354e-01 -5.51244629e-01 -2.83066369e-02 1.91510728e+02] [ 5.50901119e-01 8.34343425e-01 -1.94680911e-02 6.06857115e+01] [ 3.43491370e-02 6.39569850e-04 9.99409690e-01 1.33635558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.516875 meters 0.01662264811668487 Centerline is valid? [True, True] Translation: X:191.56, Y:60.72, Z:1.34 [[ 8.34925443e-01 -5.49595029e-01 -2.90655858e-02 1.91557653e+02] [ 5.49231660e-01 8.35430889e-01 -1.99953563e-02 6.07219769e+01] [ 3.52716366e-02 7.30891750e-04 9.99377495e-01 1.33565198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.576875 meters 0.017657714081390066 Centerline is valid? [True, True] Translation: X:191.60, Y:60.76, Z:1.33 [[ 8.36083255e-01 -5.47659278e-01 -3.21575155e-02 1.91604823e+02] [ 5.47212627e-01 8.36700957e-01 -2.21325415e-02 6.07558856e+01] [ 3.90273157e-02 9.07648776e-04 9.99237732e-01 1.33203342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.636875 meters 0.018712577828026104 Centerline is valid? [True, True] Translation: X:191.65, Y:60.79, Z:1.33 [[ 8.37047005e-01 -5.46054787e-01 -3.42998705e-02 1.91653404e+02] [ 5.45544983e-01 8.37748804e-01 -2.36138102e-02 6.07899255e+01] [ 4.16291096e-02 1.05374682e-03 9.99132577e-01 1.33137837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69687499999998 meters 0.01917015271302528 Centerline is valid? [True, True] Translation: X:191.70, Y:60.82, Z:1.34 [[ 8.39015968e-01 -5.43026429e-01 -3.42710292e-02 1.91703483e+02] [ 5.42514470e-01 8.39714729e-01 -2.36055808e-02 6.08215151e+01] [ 4.15963423e-02 1.21292999e-03 9.99133761e-01 1.33544103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75687499999998 meters 0.020542054868234492 Centerline is valid? [True, True] Translation: X:191.75, Y:60.85, Z:1.34 [[ 8.40234818e-01 -5.41216065e-01 -3.30245528e-02 1.91750834e+02] [ 5.40738936e-01 8.40882618e-01 -2.27557901e-02 6.08545617e+01] [ 4.00855716e-02 1.26254559e-03 9.99195453e-01 1.33830076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81687499999998 meters 0.020912270743903807 Centerline is valid? [True, True] Translation: X:191.80, Y:60.89, Z:1.34 [[ 8.41503884e-01 -5.39390342e-01 -3.04839683e-02 1.91800033e+02] [ 5.38982425e-01 8.42054925e-01 -2.10106941e-02 6.08862509e+01] [ 3.70021411e-02 1.25025746e-03 9.99314404e-01 1.34168106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87687499999998 meters 0.02174918128651947 Centerline is valid? [True, True] Translation: X:191.85, Y:60.92, Z:1.34 [[ 8.41964168e-01 -5.38723684e-01 -2.95488117e-02 1.91848696e+02] [ 5.38339675e-01 8.42481593e-01 -2.03754635e-02 6.09184429e+01] [ 3.58710747e-02 1.24811251e-03 9.99355647e-01 1.34381736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.936875 meters 0.020262260096793067 Centerline is valid? [True, True] Translation: X:191.90, Y:60.95, Z:1.34 [[ 8.39626998e-01 -5.42325844e-01 -3.01526589e-02 1.91900755e+02] [ 5.41928031e-01 8.40167494e-01 -2.07988174e-02 6.09472807e+01] [ 3.66130201e-02 1.12267752e-03 9.99328888e-01 1.34478256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.996875 meters 0.019045137363812976 Centerline is valid? [True, True] Translation: X:191.95, Y:60.98, Z:1.35 [[ 8.37463197e-01 -5.45624456e-01 -3.08114610e-02 1.91951967e+02] [ 5.45210894e-01 8.38029197e-01 -2.12637210e-02 6.09773483e+01] [ 3.74229101e-02 1.00883960e-03 9.99299008e-01 1.34555411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.056875 meters 0.01807231918629711 Centerline is valid? [True, True] Translation: X:192.00, Y:61.01, Z:1.34 [[ 8.35946614e-01 -5.47729863e-01 -3.44275499e-02 1.92001829e+02] [ 5.47214707e-01 8.36654606e-01 -2.37725654e-02 6.10082367e+01] [ 4.18249122e-02 1.03333390e-03 9.99124421e-01 1.34113428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.116875 meters 0.017925600793938234 Centerline is valid? [True, True] Translation: X:192.05, Y:61.04, Z:1.34 [[ 8.34812443e-01 -5.49417229e-01 -3.50555785e-02 1.92051770e+02] [ 5.48883989e-01 8.35547577e-01 -2.42201134e-02 6.10397506e+01] [ 4.25975513e-02 9.77806249e-04 9.99091834e-01 1.34119383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.176875 meters 0.01688433283513016 Centerline is valid? [True, True] Translation: X:192.10, Y:61.07, Z:1.35 [[ 8.33059552e-01 -5.52211071e-01 -3.27828625e-02 1.92104010e+02] [ 5.51746484e-01 8.33703970e-01 -2.26607209e-02 6.10683370e+01] [ 3.98447035e-02 7.89900875e-04 9.99205572e-01 1.34752441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.236875 meters 0.015953707622201514 Centerline is valid? [True, True] Translation: X:192.16, Y:61.10, Z:1.35 [[ 8.31491620e-01 -5.54651092e-01 -3.13664122e-02 1.92155699e+02] [ 5.54227197e-01 8.32082773e-01 -2.16903613e-02 6.10978277e+01] [ 3.81300338e-02 6.51234994e-04 9.99272574e-01 1.35186661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.296875 meters 0.01495864449375161 Centerline is valid? [True, True] Translation: X:192.21, Y:61.13, Z:1.35 [[ 8.28038678e-01 -5.59842244e-01 -3.04730805e-02 1.92205781e+02] [ 5.59445473e-01 8.28599117e-01 -2.10775968e-02 6.11266354e+01] [ 3.70500967e-02 4.05038437e-04 9.99313327e-01 1.35287466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.356875 meters 0.014055431167822222 Centerline is valid? [True, True] Translation: X:192.26, Y:61.16, Z:1.36 [[ 8.25814245e-01 -5.63136437e-01 -3.01361285e-02 1.92257089e+02] [ 5.62750378e-01 8.26363894e-01 -2.08500930e-02 6.11564208e+01] [ 3.66448555e-02 2.59186088e-04 9.99328318e-01 1.35593272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.416875 meters 0.014160754547580194 Centerline is valid? [True, True] Translation: X:192.30, Y:61.19, Z:1.35 [[ 8.24948470e-01 -5.64338489e-01 -3.13383481e-02 1.92304157e+02] [ 5.63921483e-01 8.25543470e-01 -2.16919393e-02 6.11892641e+01] [ 3.81127649e-02 2.22364357e-04 9.99273420e-01 1.35326795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47687499999998 meters 0.014283390248016907 Centerline is valid? [True, True] Translation: X:192.35, Y:61.22, Z:1.35 [[ 8.25395223e-01 -5.63643742e-01 -3.20695875e-02 1.92351998e+02] [ 5.63206234e-01 8.26017954e-01 -2.22053461e-02 6.12231074e+01] [ 3.90059595e-02 2.66394992e-04 9.99238942e-01 1.35418666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53687499999998 meters 0.014414512814575163 Centerline is valid? [True, True] Translation: X:192.40, Y:61.26, Z:1.36 [[ 8.25752920e-01 -5.63131636e-01 -3.18571321e-02 1.92398265e+02] [ 5.62699140e-01 8.26367154e-01 -2.20681781e-02 6.12571784e+01] [ 3.87529768e-02 2.96881613e-04 9.99248777e-01 1.35640561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59687499999998 meters 0.014920341973174142 Centerline is valid? [True, True] Translation: X:192.44, Y:61.29, Z:1.36 [[ 8.27109989e-01 -5.61154595e-01 -3.15370742e-02 1.92444272e+02] [ 5.60729001e-01 8.27710920e-01 -2.18545329e-02 6.12940118e+01] [ 3.83673522e-02 3.92350392e-04 9.99263625e-01 1.35828293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65687499999999 meters 0.01482487030090478 Centerline is valid? [True, True] Translation: X:192.49, Y:61.33, Z:1.36 [[ 8.27510298e-01 -5.60563539e-01 -3.15472024e-02 1.92492510e+02] [ 5.60136824e-01 8.28111306e-01 -2.18724415e-02 6.13284630e+01] [ 3.83854881e-02 4.28920839e-04 9.99262914e-01 1.36139077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.716875 meters 0.01510562249526649 Centerline is valid? [True, True] Translation: X:192.54, Y:61.36, Z:1.37 [[ 8.28320384e-01 -5.59466889e-01 -2.97008536e-02 1.92539025e+02] [ 5.59087594e-01 8.28852573e-01 -2.06027741e-02 6.13635721e+01] [ 3.61441989e-02 4.60318917e-04 9.99346479e-01 1.36526773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.776875 meters 0.01565794231838122 Centerline is valid? [True, True] Translation: X:192.58, Y:61.40, Z:1.37 [[ 8.29591056e-01 -5.57656742e-01 -2.82424744e-02 1.92584936e+02] [ 5.57312371e-01 8.30071494e-01 -1.96019154e-02 6.14009879e+01] [ 3.43744132e-02 5.21693365e-04 9.99408889e-01 1.36698661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.836875 meters 0.016058161411708183 Centerline is valid? [True, True] Translation: X:192.63, Y:61.44, Z:1.37 [[ 8.30486038e-01 -5.56300233e-01 -2.86878455e-02 1.92632132e+02] [ 5.55943740e-01 8.30981165e-01 -1.99213673e-02 6.14365578e+01] [ 3.49213205e-02 5.95589255e-04 9.99389887e-01 1.36769016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.896875 meters 0.016806046191987552 Centerline is valid? [True, True] Translation: X:192.68, Y:61.47, Z:1.37 [[ 8.31410694e-01 -5.54901567e-01 -2.89915374e-02 1.92678379e+02] [ 5.54536266e-01 8.31915742e-01 -2.01426889e-02 6.14726092e+01] [ 3.52957260e-02 6.69988059e-04 9.99376687e-01 1.36830040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.956875 meters 0.018167670295516167 Centerline is valid? [True, True] Translation: X:192.72, Y:61.51, Z:1.37 [[ 8.33212252e-01 -5.52221692e-01 -2.84349397e-02 1.92723605e+02] [ 5.51868383e-01 8.33696947e-01 -1.97658473e-02 6.15102005e+01] [ 3.46212521e-02 7.76801984e-04 9.99400203e-01 1.36966778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.016875 meters 0.019065830394631816 Centerline is valid? [True, True] Translation: X:192.77, Y:61.55, Z:1.37 [[ 8.33948467e-01 -5.51108301e-01 -2.84533721e-02 1.92770720e+02] [ 5.50753541e-01 8.34433310e-01 -1.97885883e-02 6.15453381e+01] [ 3.46480968e-02 8.31867441e-04 9.99399228e-01 1.37105737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.076875 meters 0.017565125888425254 Centerline is valid? [True, True] Translation: X:192.82, Y:61.58, Z:1.37 [[ 8.34660289e-01 -5.50052734e-01 -2.80034371e-02 1.92820681e+02] [ 5.49708183e-01 8.35129471e-01 -1.94853790e-02 6.15761101e+01] [ 3.41044816e-02 8.69953464e-04 9.99417894e-01 1.37353246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.136875 meters 0.018544204469604742 Centerline is valid? [True, True] Translation: X:192.87, Y:61.61, Z:1.37 [[ 8.34993868e-01 -5.49558008e-01 -2.77711249e-02 1.92867890e+02] [ 5.49218572e-01 8.35455087e-01 -1.93327976e-02 6.16100038e+01] [ 3.38260213e-02 8.90349839e-04 9.99427340e-01 1.37417030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19687499999998 meters 0.018467063961699892 Centerline is valid? [True, True] Translation: X:192.92, Y:61.64, Z:1.37 [[ 8.33451506e-01 -5.51859356e-01 -2.84576792e-02 1.92916494e+02] [ 5.51504130e-01 8.33936796e-01 -1.98145324e-02 6.16408383e+01] [ 3.46667409e-02 8.19924277e-04 9.99398592e-01 1.37476792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25687499999998 meters 0.017727482642906415 Centerline is valid? [True, True] Translation: X:192.97, Y:61.67, Z:1.38 [[ 8.33084775e-01 -5.52397105e-01 -2.87610257e-02 1.92965499e+02] [ 5.52034391e-01 8.33580699e-01 -2.00312297e-02 6.16722397e+01] [ 3.50398292e-02 8.10637177e-04 9.99385588e-01 1.37614775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31687499999998 meters 0.017683091815598545 Centerline is valid? [True, True] Translation: X:193.01, Y:61.70, Z:1.38 [[ 8.32501052e-01 -5.53255470e-01 -2.91613232e-02 1.93014474e+02] [ 5.52882689e-01 8.33011256e-01 -2.03219064e-02 6.17043311e+01] [ 3.55349164e-02 7.95217684e-04 9.99368119e-01 1.37693716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37687499999998 meters 0.016955619174664847 Centerline is valid? [True, True] Translation: X:193.06, Y:61.74, Z:1.38 [[ 8.32030663e-01 -5.53952300e-01 -2.93568689e-02 1.93063728e+02] [ 5.53574540e-01 8.32548042e-01 -2.04691732e-02 6.17360698e+01] [ 3.57799493e-02 7.79764494e-04 9.99359388e-01 1.37921664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.436875 meters 0.016676585772952744 Centerline is valid? [True, True] Translation: X:193.11, Y:61.77, Z:1.38 [[ 8.30529102e-01 -5.56246348e-01 -2.84852728e-02 1.93114017e+02] [ 5.55891644e-01 8.31017179e-01 -1.98728130e-02 6.17661581e+01] [ 3.47259306e-02 6.70224402e-04 9.99396648e-01 1.38201586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.496875 meters 0.015849226679627737 Centerline is valid? [True, True] Translation: X:193.16, Y:61.80, Z:1.38 [[ 8.29299693e-01 -5.58145712e-01 -2.71179411e-02 1.93164292e+02] [ 5.57824954e-01 8.29742755e-01 -1.89283284e-02 6.17963774e+01] [ 3.30656805e-02 5.70192722e-04 9.99453018e-01 1.38451571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.556875 meters 0.014905511180778756 Centerline is valid? [True, True] Translation: X:193.22, Y:61.83, Z:1.39 [[ 8.26295796e-01 -5.62607637e-01 -2.66064684e-02 1.93215830e+02] [ 5.62300861e-01 8.26723952e-01 -1.85808562e-02 6.18252543e+01] [ 3.24499363e-02 3.92443317e-04 9.99473285e-01 1.38591907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.616875 meters 0.014748375436691835 Centerline is valid? [True, True] Translation: X:193.26, Y:61.86, Z:1.39 [[ 8.25697599e-01 -5.63495800e-01 -2.63810101e-02 1.93264751e+02] [ 5.63194349e-01 8.26118848e-01 -1.84329594e-02 6.18571660e+01] [ 3.21807449e-02 3.62414527e-04 9.99482000e-01 1.38727690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.676875 meters 0.014729789350703586 Centerline is valid? [True, True] Translation: X:193.31, Y:61.89, Z:1.39 [[ 8.25040854e-01 -5.64396770e-01 -2.76382892e-02 1.93313832e+02] [ 5.64066025e-01 8.25503581e-01 -1.93224552e-02 6.18889613e+01] [ 3.37210380e-02 3.51995025e-04 9.99431222e-01 1.38668591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.736875 meters 0.014741969669047318 Centerline is valid? [True, True] Translation: X:193.36, Y:61.92, Z:1.39 [[ 8.25117675e-01 -5.64272145e-01 -2.78885139e-02 1.93361500e+02] [ 5.63934922e-01 8.25588765e-01 -1.95088422e-02 6.19225236e+01] [ 3.40327400e-02 3.69783646e-04 9.99420650e-01 1.38704524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.796875 meters 0.014377205029239651 Centerline is valid? [True, True] Translation: X:193.41, Y:61.95, Z:1.39 [[ 8.23703793e-01 -5.66330104e-01 -2.79691674e-02 1.93410731e+02] [ 5.65991725e-01 8.24178456e-01 -1.95765218e-02 6.19545544e+01] [ 3.41383588e-02 2.94937943e-04 9.99417073e-01 1.38955408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.856875 meters 0.014154686308427405 Centerline is valid? [True, True] Translation: X:193.46, Y:61.99, Z:1.39 [[ 8.21803336e-01 -5.69127780e-01 -2.70711518e-02 1.93459827e+02] [ 5.68811986e-01 8.22249073e-01 -1.89575022e-02 6.19878102e+01] [ 3.30484706e-02 1.80942948e-04 9.99453734e-01 1.39234213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.916875 meters 0.0140362412729333 Centerline is valid? [True, True] Translation: X:193.51, Y:62.02, Z:1.39 [[ 8.20385911e-01 -5.71162866e-01 -2.72017905e-02 1.93506392e+02] [ 5.70844802e-01 8.20836749e-01 -1.90589557e-02 6.20224707e+01] [ 3.32139970e-02 1.07698050e-04 9.99448257e-01 1.39261597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97687499999998 meters 0.013938523170313391 Centerline is valid? [True, True] Translation: X:193.55, Y:62.06, Z:1.39 [[ 8.19119186e-01 -5.72944676e-01 -2.78954891e-02 1.93553710e+02] [ 5.72610817e-01 8.19594044e-01 -1.95564648e-02 6.20563597e+01] [ 3.40677491e-02 4.58167295e-05 9.99419525e-01 1.39154586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03687499999998 meters 0.013980639140646333 Centerline is valid? [True, True] Translation: X:193.60, Y:62.09, Z:1.39 [[ 8.18704551e-01 -5.73529123e-01 -2.80571447e-02 1.93600833e+02] [ 5.73191333e-01 8.19185171e-01 -1.96812449e-02 6.20910817e+01] [ 3.42717640e-02 3.10125284e-05 9.99412550e-01 1.39325191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09687499999998 meters 0.014005886876578305 Centerline is valid? [True, True] Translation: X:193.65, Y:62.13, Z:1.39 [[ 8.19195805e-01 -5.72845231e-01 -2.76870885e-02 1.93646154e+02] [ 5.72515526e-01 8.19663551e-01 -1.94328419e-02 6.21271089e+01] [ 3.38261081e-02 6.80145666e-05 9.99427731e-01 1.39492571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15687499999999 meters 0.014188944635929214 Centerline is valid? [True, True] Translation: X:193.69, Y:62.17, Z:1.40 [[ 8.21090141e-01 -5.70143783e-01 -2.73321664e-02 1.93691449e+02] [ 5.69820618e-01 8.21544906e-01 -1.91945601e-02 6.21659626e+01] [ 3.33982611e-02 1.86032104e-04 9.99442105e-01 1.39539807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.216875 meters 0.014349879994767 Centerline is valid? [True, True] Translation: X:193.74, Y:62.20, Z:1.40 [[ 8.21917465e-01 -5.68960762e-01 -2.71170143e-02 1.93738012e+02] [ 5.68641701e-01 8.22364635e-01 -1.90531511e-02 6.22017099e+01] [ 3.31405690e-02 2.40252489e-04 9.99450672e-01 1.39721946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.276875 meters 0.014708225938956713 Centerline is valid? [True, True] Translation: X:193.78, Y:62.24, Z:1.40 [[ 8.23193924e-01 -5.67114502e-01 -2.70722142e-02 1.93784574e+02] [ 5.66795171e-01 8.23638900e-01 -1.90314622e-02 6.22386862e+01] [ 3.30907469e-02 3.22183732e-04 9.99452299e-01 1.39802440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.336875 meters 0.015040420708778542 Centerline is valid? [True, True] Translation: X:193.83, Y:62.27, Z:1.40 [[ 8.24652606e-01 -5.64963815e-01 -2.76399594e-02 1.93831375e+02] [ 5.64629396e-01 8.25115572e-01 -1.94406502e-02 6.22744930e+01] [ 3.37894248e-02 4.25449264e-04 9.99428884e-01 1.39883402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.396875 meters 0.016725480049299007 Centerline is valid? [True, True] Translation: X:193.88, Y:62.31, Z:1.40 [[ 8.27735148e-01 -5.60377835e-01 -2.88306662e-02 1.93875853e+02] [ 5.60010825e-01 8.28236840e-01 -2.02882454e-02 6.23125726e+01] [ 3.52477029e-02 6.47808594e-04 9.99378397e-01 1.39852968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.456875 meters 0.017912169638546468 Centerline is valid? [True, True] Translation: X:193.92, Y:62.35, Z:1.40 [[ 8.29786605e-01 -5.57274246e-01 -2.99934194e-02 1.93921947e+02] [ 5.56874681e-01 8.30328095e-01 -2.11150487e-02 6.23499950e+01] [ 3.66712516e-02 8.18408719e-04 9.99327048e-01 1.39806214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.516875 meters 0.02027866328838386 Centerline is valid? [True, True] Translation: X:193.97, Y:62.39, Z:1.40 [[ 8.32807291e-01 -5.52733208e-01 -3.02987786e-02 1.93966226e+02] [ 5.52322042e-01 8.33357620e-01 -2.13410234e-02 6.23887632e+01] [ 3.70456104e-02 1.03827667e-03 9.99313036e-01 1.39762091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.576875 meters 0.021425994821011266 Centerline is valid? [True, True] Translation: X:194.01, Y:62.42, Z:1.40 [[ 8.33961937e-01 -5.51024351e-01 -2.96589151e-02 1.94013611e+02] [ 5.50628908e-01 8.34488439e-01 -2.09009575e-02 6.24237963e+01] [ 3.62669583e-02 1.09954694e-03 9.99341533e-01 1.39946015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.636875 meters 0.020240921419577486 Centerline is valid? [True, True] Translation: X:194.06, Y:62.46, Z:1.40 [[ 8.32416847e-01 -5.53348624e-01 -2.97908120e-02 1.94063814e+02] [ 5.52950754e-01 8.32949144e-01 -2.10044363e-02 6.24558556e+01] [ 3.64370073e-02 1.01159465e-03 9.99335440e-01 1.40138100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69687499999998 meters 0.018406264869289247 Centerline is valid? [True, True] Translation: X:194.12, Y:62.48, Z:1.41 [[ 8.29362332e-01 -5.57989076e-01 -2.83956561e-02 1.94115529e+02] [ 5.57629994e-01 8.29847929e-01 -2.00300823e-02 6.24844017e+01] [ 3.47406435e-02 7.77926234e-04 9.99396059e-01 1.40630606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75687499999998 meters 0.01678191650883448 Centerline is valid? [True, True] Translation: X:194.17, Y:62.51, Z:1.41 [[ 8.27147222e-01 -5.61254948e-01 -2.86418730e-02 1.94166464e+02] [ 5.60891192e-01 8.27642709e-01 -2.02142695e-02 6.25141462e+01] [ 3.50505962e-02 6.55202586e-04 9.99385324e-01 1.40760673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81687499999998 meters 0.016073400625377432 Centerline is valid? [True, True] Translation: X:194.22, Y:62.54, Z:1.41 [[ 8.25119077e-01 -5.64235759e-01 -2.85747589e-02 1.94217547e+02] [ 5.63875131e-01 8.25613542e-01 -2.01771244e-02 6.25446729e+01] [ 3.49763630e-02 5.35934367e-04 9.99387996e-01 1.40935455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87687499999998 meters 0.015279806387741663 Centerline is valid? [True, True] Translation: X:194.27, Y:62.57, Z:1.41 [[ 8.22998813e-01 -5.67346961e-01 -2.81137022e-02 1.94269430e+02] [ 5.66999362e-01 8.23478756e-01 -1.98610520e-02 6.25738725e+01] [ 3.44191440e-02 4.05170968e-04 9.99407404e-01 1.41156978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.936875 meters 0.0146695053215468 Centerline is valid? [True, True] Translation: X:194.32, Y:62.60, Z:1.41 [[ 8.20624576e-01 -5.70733165e-01 -2.89647866e-02 1.94319764e+02] [ 5.70365916e-01 8.21135540e-01 -2.04730532e-02 6.26039686e+01] [ 3.54686662e-02 2.80163527e-04 9.99370750e-01 1.41384623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.996875 meters 0.014417751980246663 Centerline is valid? [True, True] Translation: X:194.37, Y:62.64, Z:1.42 [[ 8.19683810e-01 -5.72084836e-01 -2.89377458e-02 1.94368096e+02] [ 5.71718730e-01 8.20194421e-01 -2.04647537e-02 6.26360273e+01] [ 3.54421529e-02 2.30376043e-04 9.99371703e-01 1.41534950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.056875 meters 0.014323658872836872 Centerline is valid? [True, True] Translation: X:194.42, Y:62.67, Z:1.42 [[ 8.19088914e-01 -5.72881498e-01 -3.00023327e-02 1.94416482e+02] [ 5.72488018e-01 8.19638178e-01 -2.12302970e-02 6.26685101e+01] [ 3.67535017e-02 2.13524933e-04 9.99324339e-01 1.41581213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.116875 meters 0.014259003690503372 Centerline is valid? [True, True] Translation: X:194.46, Y:62.70, Z:1.42 [[ 8.19164359e-01 -5.72729472e-01 -3.08334897e-02 1.94464090e+02] [ 5.72313357e-01 8.19744409e-01 -2.18294640e-02 6.27023186e+01] [ 3.77779582e-02 2.35500852e-04 9.99286130e-01 1.41694436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.176875 meters 0.014396709117225936 Centerline is valid? [True, True] Translation: X:194.51, Y:62.74, Z:1.42 [[ 8.19263575e-01 -5.72561198e-01 -3.13188338e-02 1.94512608e+02] [ 5.72131466e-01 8.19861946e-01 -2.21804926e-02 6.27358292e+01] [ 3.83768094e-02 2.53179355e-04 9.99263307e-01 1.41925955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.236875 meters 0.014337650349059716 Centerline is valid? [True, True] Translation: X:194.56, Y:62.77, Z:1.42 [[ 8.19034486e-01 -5.72903232e-01 -3.10547602e-02 1.94559936e+02] [ 5.72480526e-01 8.19622979e-01 -2.20050011e-02 6.27686414e+01] [ 3.80599313e-02 2.44609282e-04 9.99275428e-01 1.42233616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.296875 meters 0.01424986778669351 Centerline is valid? [True, True] Translation: X:194.61, Y:62.80, Z:1.42 [[ 8.18960062e-01 -5.73030155e-01 -3.06733970e-02 1.94607371e+02] [ 5.72617394e-01 8.19534246e-01 -2.17471830e-02 6.28026692e+01] [ 3.75996909e-02 2.45953704e-04 9.99292851e-01 1.42382781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.356875 meters 0.014229883201521838 Centerline is valid? [True, True] Translation: X:194.66, Y:62.84, Z:1.43 [[ 8.18929130e-01 -5.73159882e-01 -2.90315331e-02 1.94655204e+02] [ 5.72789828e-01 8.19443527e-01 -2.05941443e-02 6.28373524e+01] [ 3.55934392e-02 2.36177820e-04 9.99366325e-01 1.42653682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.416875 meters 0.014103165439486054 Centerline is valid? [True, True] Translation: X:194.70, Y:62.87, Z:1.43 [[ 8.18545616e-01 -5.73725277e-01 -2.86771976e-02 1.94703097e+02] [ 5.73364179e-01 8.19047776e-01 -2.03533666e-02 6.28700459e+01] [ 3.51652358e-02 2.17681182e-04 9.99381488e-01 1.42966792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47687499999998 meters 0.014140933836953582 Centerline is valid? [True, True] Translation: X:194.75, Y:62.90, Z:1.43 [[ 8.18665827e-01 -5.73541186e-01 -2.89270261e-02 1.94750468e+02] [ 5.73173222e-01 8.19176692e-01 -2.05427820e-02 6.29035518e+01] [ 3.54784771e-02 2.37476819e-04 9.99370412e-01 1.43217385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53687499999998 meters 0.014187904768933253 Centerline is valid? [True, True] Translation: X:194.80, Y:62.94, Z:1.43 [[ 8.19450301e-01 -5.72418427e-01 -2.89542367e-02 1.94797286e+02] [ 5.72048652e-01 8.19961619e-01 -2.05738419e-02 6.29395159e+01] [ 3.55182090e-02 2.96008907e-04 9.99368986e-01 1.43376849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59687499999998 meters 0.01414182086576044 Centerline is valid? [True, True] Translation: X:194.84, Y:62.98, Z:1.43 [[ 8.19630519e-01 -5.72177284e-01 -2.86176059e-02 1.94842757e+02] [ 5.71815538e-01 8.20129903e-01 -2.03453333e-02 6.29750552e+01] [ 3.51112919e-02 3.11664381e-04 9.99383360e-01 1.43490826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65687499999999 meters 0.013538921179178312 Centerline is valid? [True, True] Translation: X:194.89, Y:63.01, Z:1.44 [[ 8.17436677e-01 -5.75317852e-01 -2.84015474e-02 1.94892132e+02] [ 5.74963039e-01 8.17929909e-01 -2.02031893e-02 6.30076118e+01] [ 3.48537305e-02 1.84987956e-04 9.99392407e-01 1.43880418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.716875 meters 0.013154962084496279 Centerline is valid? [True, True] Translation: X:194.94, Y:63.04, Z:1.44 [[ 8.15753069e-01 -5.77837119e-01 -2.55185110e-02 1.94939485e+02] [ 5.77551665e-01 8.16152105e-01 -1.81608376e-02 6.30417795e+01] [ 3.13209926e-02 7.65004383e-05 9.99509374e-01 1.44442135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.776875 meters 0.012986743980786915 Centerline is valid? [True, True] Translation: X:194.98, Y:63.08, Z:1.44 [[ 8.15292549e-01 -5.78520762e-01 -2.47343480e-02 1.94984472e+02] [ 5.78252640e-01 8.15667656e-01 -1.76113501e-02 6.30773142e+01] [ 3.03635393e-02 5.57004905e-05 9.99538920e-01 1.44459997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.836875 meters 0.012867429080254317 Centerline is valid? [True, True] Translation: X:195.03, Y:63.11, Z:1.45 [[ 8.15467760e-01 -5.78321308e-01 -2.35965503e-02 1.95030059e+02] [ 5.78077054e-01 8.15809084e-01 -1.68065284e-02 6.31141950e+01] [ 2.89698536e-02 6.45577440e-05 9.99580284e-01 1.44612797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.896875 meters 0.01291104151546023 Centerline is valid? [True, True] Translation: X:195.08, Y:63.15, Z:1.45 [[ 8.16005230e-01 -5.77608897e-01 -2.24371665e-02 1.95076192e+02] [ 5.77387548e-01 8.16313637e-01 -1.59895391e-02 6.31503475e+01] [ 2.75514650e-02 9.26069882e-05 9.99620382e-01 1.44907609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.956875 meters 0.012961462012261601 Centerline is valid? [True, True] Translation: X:195.12, Y:63.19, Z:1.45 [[ 8.16796946e-01 -5.76542156e-01 -2.10212289e-02 1.95121393e+02] [ 5.76347305e-01 8.17067394e-01 -1.49885996e-02 6.31892379e+01] [ 2.58173202e-02 1.27113791e-04 9.99666669e-01 1.45069742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.016875 meters 0.012927767433791799 Centerline is valid? [True, True] Translation: X:195.17, Y:63.23, Z:1.45 [[ 8.16883179e-01 -5.76417468e-01 -2.10896919e-02 1.95167251e+02] [ 5.76221104e-01 8.17155361e-01 -1.50451353e-02 6.32253048e+01] [ 2.59058336e-02 1.37792432e-04 9.99664378e-01 1.45064179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.076875 meters 0.012935190584645182 Centerline is valid? [True, True] Translation: X:195.21, Y:63.26, Z:1.45 [[ 8.16939973e-01 -5.76341348e-01 -2.09697674e-02 1.95211418e+02] [ 5.76146950e-01 8.17209049e-01 -1.49687095e-02 6.32619953e+01] [ 2.57637699e-02 1.46869645e-04 9.99668048e-01 1.45130457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.136875 meters 0.012875712905113364 Centerline is valid? [True, True] Translation: X:195.26, Y:63.30, Z:1.45 [[ 8.16944895e-01 -5.76338062e-01 -2.08680612e-02 1.95257203e+02] [ 5.76145458e-01 8.17211366e-01 -1.48995127e-02 6.32976710e+01] [ 2.56407730e-02 1.49042205e-04 9.99671210e-01 1.45241255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19687499999998 meters 0.012814530188892672 Centerline is valid? [True, True] Translation: X:195.30, Y:63.33, Z:1.45 [[ 8.17108772e-01 -5.76059961e-01 -2.20946888e-02 1.95302860e+02] [ 5.75843679e-01 8.17407420e-01 -1.57850218e-02 6.33337787e+01] [ 2.71534816e-02 1.74992914e-04 9.99631261e-01 1.45125145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25687499999998 meters 0.01272809027889264 Centerline is valid? [True, True] Translation: X:195.35, Y:63.37, Z:1.45 [[ 8.17401464e-01 -5.75616373e-01 -2.28174732e-02 1.95349309e+02] [ 5.75385253e-01 8.17719848e-01 -1.63113705e-02 6.33696155e+01] [ 2.80473926e-02 2.04100485e-04 9.99606574e-01 1.45137317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31687499999998 meters 0.012753557382111879 Centerline is valid? [True, True] Translation: X:195.40, Y:63.41, Z:1.45 [[ 8.17860832e-01 -5.74916039e-01 -2.39834882e-02 1.95396160e+02] [ 5.74660078e-01 8.18212373e-01 -1.71554006e-02 6.34057585e+01] [ 2.94865018e-02 2.48377029e-04 9.99565148e-01 1.45111128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37687499999998 meters 0.01280495921141048 Centerline is valid? [True, True] Translation: X:195.44, Y:63.44, Z:1.45 [[ 8.17885661e-01 -5.74872064e-01 -2.41899966e-02 1.95442976e+02] [ 5.74611385e-01 8.18243266e-01 -1.73122520e-02 6.34405438e+01] [ 2.97456318e-02 2.59595210e-04 9.99557467e-01 1.45266618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.436875 meters 0.012917917920561106 Centerline is valid? [True, True] Translation: X:195.49, Y:63.48, Z:1.45 [[ 8.18154473e-01 -5.74445042e-01 -2.52220552e-02 1.95488794e+02] [ 5.74161121e-01 8.18543100e-01 -1.80610367e-02 6.34752753e+01] [ 3.10204122e-02 2.95194535e-04 9.99518708e-01 1.45386828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.496875 meters 0.013340810903632741 Centerline is valid? [True, True] Translation: X:195.53, Y:63.51, Z:1.45 [[ 8.19218000e-01 -5.72836003e-01 -2.72173335e-02 1.95533703e+02] [ 5.72504345e-01 8.19669911e-01 -1.94938643e-02 6.35129124e+01] [ 3.34760166e-02 3.87682829e-04 9.99439446e-01 1.45269565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.556875 meters 0.01357213352821365 Centerline is valid? [True, True] Translation: X:195.58, Y:63.55, Z:1.45 [[ 8.19795327e-01 -5.71958195e-01 -2.82744495e-02 1.95580017e+02] [ 5.71599515e-01 8.20282649e-01 -2.02575925e-02 6.35493560e+01] [ 3.47795364e-02 4.45418059e-04 9.99394910e-01 1.45392115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.616875 meters 0.013711861522729457 Centerline is valid? [True, True] Translation: X:195.63, Y:63.58, Z:1.46 [[ 8.19544112e-01 -5.72300651e-01 -2.86253998e-02 1.95625753e+02] [ 5.71932890e-01 8.20043759e-01 -2.05183349e-02 6.35837631e+01] [ 3.52167369e-02 4.43872952e-04 9.99379600e-01 1.45534842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.676875 meters 0.013784230217633874 Centerline is valid? [True, True] Translation: X:195.67, Y:63.62, Z:1.46 [[ 8.19272633e-01 -5.72671303e-01 -2.89815692e-02 1.95672112e+02] [ 5.72294323e-01 8.19784963e-01 -2.07803221e-02 6.36183238e+01] [ 3.56589488e-02 4.38761669e-04 9.99363921e-01 1.45948618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.736875 meters 0.013761289456245527 Centerline is valid? [True, True] Translation: X:195.72, Y:63.65, Z:1.46 [[ 8.19992781e-01 -5.71622538e-01 -2.93174563e-02 1.95718993e+02] [ 5.71235674e-01 8.20516559e-01 -2.10328456e-02 6.36534165e+01] [ 3.60783069e-02 4.99604658e-04 9.99348841e-01 1.46226480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.796875 meters 0.014947388650102913 Centerline is valid? [True, True] Translation: X:195.76, Y:63.69, Z:1.46 [[ 8.20762620e-01 -5.70455045e-01 -3.04920149e-02 1.95763892e+02] [ 5.70035383e-01 8.21328621e-01 -2.18851109e-02 6.36902739e+01] [ 3.75284365e-02 5.80953586e-04 9.99295391e-01 1.46224890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.856875 meters 0.014419311963365688 Centerline is valid? [True, True] Translation: X:195.81, Y:63.72, Z:1.47 [[ 8.21802350e-01 -5.68929368e-01 -3.09882582e-02 1.95811759e+02] [ 5.68494611e-01 8.22386120e-01 -2.22474055e-02 6.37246811e+01] [ 3.81415157e-02 6.66312346e-04 9.99272126e-01 1.46618119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.916875 meters 0.014467423008550204 Centerline is valid? [True, True] Translation: X:195.86, Y:63.76, Z:1.47 [[ 8.21858626e-01 -5.68910000e-01 -2.98296792e-02 1.95858710e+02] [ 5.68506735e-01 8.22399530e-01 -2.14267284e-02 6.37587394e+01] [ 3.67217942e-02 6.51368021e-04 9.99325315e-01 1.46945099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97687499999998 meters 0.014882509360883962 Centerline is valid? [True, True] Translation: X:195.91, Y:63.79, Z:1.47 [[ 8.21675192e-01 -5.69253530e-01 -2.82895274e-02 1.95905785e+02] [ 5.68890710e-01 8.22161812e-01 -2.03301729e-02 6.37921748e+01] [ 3.48315918e-02 6.11149427e-04 9.99393009e-01 1.47461944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03687499999998 meters 0.01487707966035964 Centerline is valid? [True, True] Translation: X:195.95, Y:63.83, Z:1.48 [[ 8.21478878e-01 -5.69662463e-01 -2.56345897e-02 1.95953500e+02] [ 5.69364642e-01 8.21878571e-01 -1.84260234e-02 6.38269931e+01] [ 3.15651339e-02 5.41160053e-04 9.99501551e-01 1.47945691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09687499999998 meters 0.014459994619047335 Centerline is valid? [True, True] Translation: X:196.00, Y:63.86, Z:1.48 [[ 8.21550549e-01 -5.69586416e-01 -2.50201981e-02 1.96001054e+02] [ 5.69302391e-01 8.21931277e-01 -1.79934277e-02 6.38609541e+01] [ 3.08136954e-02 5.38451845e-04 9.99525000e-01 1.48131205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15687499999999 meters 0.015153030372059345 Centerline is valid? [True, True] Translation: X:196.05, Y:63.90, Z:1.48 [[ 8.21984717e-01 -5.68911418e-01 -2.60944980e-02 1.96046808e+02] [ 5.68601794e-01 8.22398591e-01 -1.87765206e-02 6.38964352e+01] [ 3.21422554e-02 5.96634606e-04 9.99483126e-01 1.48076767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.216875 meters 0.01535144793213162 Centerline is valid? [True, True] Translation: X:196.09, Y:63.93, Z:1.48 [[ 8.22247925e-01 -5.68468374e-01 -2.74236715e-02 1.96093971e+02] [ 5.68125981e-01 8.22704859e-01 -1.97378765e-02 6.39314172e+01] [ 3.37819464e-02 6.49327663e-04 9.99429016e-01 1.47992535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.276875 meters 0.015309839023696347 Centerline is valid? [True, True] Translation: X:196.14, Y:63.96, Z:1.48 [[ 8.21857881e-01 -5.68999231e-01 -2.80980119e-02 1.96141983e+02] [ 5.68639728e-01 8.22337796e-01 -2.02338721e-02 6.39647050e+01] [ 3.46191148e-02 6.51721424e-04 9.99400366e-01 1.48133395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.336875 meters 0.014408375404174542 Centerline is valid? [True, True] Translation: X:196.19, Y:64.00, Z:1.48 [[ 8.20868480e-01 -5.70425600e-01 -2.80993553e-02 1.96191404e+02] [ 5.70066504e-01 8.21349057e-01 -2.02461719e-02 6.39970318e+01] [ 3.46283137e-02 6.00943111e-04 9.99400079e-01 1.48314040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.396875 meters 0.014106376074116881 Centerline is valid? [True, True] Translation: X:196.24, Y:64.03, Z:1.48 [[ 8.19840241e-01 -5.71877630e-01 -2.85999253e-02 1.96240342e+02] [ 5.71506125e-01 8.20338750e-01 -2.06175657e-02 6.40301484e+01] [ 3.52523516e-02 5.58077559e-04 9.99378287e-01 1.48313552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.456875 meters 0.013632692123079085 Centerline is valid? [True, True] Translation: X:196.29, Y:64.06, Z:1.49 [[ 8.18166518e-01 -5.74252900e-01 -2.89336374e-02 1.96290275e+02] [ 5.73873768e-01 8.18677828e-01 -2.08689344e-02 6.40619628e+01] [ 3.56713735e-02 4.70007831e-04 9.99363464e-01 1.48500972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.516875 meters 0.012769117458925469 Centerline is valid? [True, True] Translation: X:196.34, Y:64.09, Z:1.49 [[ 8.15399653e-01 -5.78143359e-01 -2.95577778e-02 1.96341933e+02] [ 5.77749832e-01 8.15935142e-01 -2.13301347e-02 6.40915895e+01] [ 3.64491053e-02 3.15583266e-04 9.99335461e-01 1.48770397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.576875 meters 0.012450234705005073 Centerline is valid? [True, True] Translation: X:196.39, Y:64.12, Z:1.49 [[ 8.12493676e-01 -5.82190687e-01 -3.01335407e-02 1.96392445e+02] [ 5.81784028e-01 8.13052263e-01 -2.17568941e-02 6.41218200e+01] [ 3.71668046e-02 1.46126258e-04 9.99309065e-01 1.48842053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.636875 meters 0.012318663838605873 Centerline is valid? [True, True] Translation: X:196.44, Y:64.15, Z:1.49 [[ 8.10856068e-01 -5.84427029e-01 -3.09432618e-02 1.96441019e+02] [ 5.83999377e-01 8.11446267e-01 -2.23535852e-02 6.41536209e+01] [ 3.81728337e-02 5.46945376e-05 9.99271150e-01 1.48913793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69687499999998 meters 0.012434181793916232 Centerline is valid? [True, True] Translation: X:196.49, Y:64.19, Z:1.49 [[ 8.08996133e-01 -5.86933541e-01 -3.21601588e-02 1.96491064e+02] [ 5.86473024e-01 8.09635112e-01 -2.32460045e-02 6.41850375e+01] [ 3.96818535e-02 -5.51378237e-05 9.99212364e-01 1.49117573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75687499999998 meters 0.012570182142457751 Centerline is valid? [True, True] Translation: X:196.54, Y:64.22, Z:1.49 [[ 8.08704163e-01 -5.87366944e-01 -3.15856084e-02 1.96538875e+02] [ 5.86922674e-01 8.09320745e-01 -2.28408779e-02 6.42171361e+01] [ 3.89788648e-02 -6.67967369e-05 9.99240033e-01 1.49379338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81687499999998 meters 0.012583599050053412 Centerline is valid? [True, True] Translation: X:196.59, Y:64.25, Z:1.50 [[ 8.09171896e-01 -5.86673650e-01 -3.24787856e-02 1.96586305e+02] [ 5.86202962e-01 8.09823455e-01 -2.34959489e-02 6.42512436e+01] [ 4.00865364e-02 -2.68988076e-05 9.99196211e-01 1.49652333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87687499999998 meters 0.01272268184059691 Centerline is valid? [True, True] Translation: X:196.63, Y:64.29, Z:1.50 [[ 8.10880698e-01 -5.84296025e-01 -3.27207659e-02 1.96632341e+02] [ 5.83815847e-01 8.11540599e-01 -2.36835857e-02 6.42863847e+01] [ 4.03924550e-02 1.01660804e-04 9.99183887e-01 1.49824994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.936875 meters 0.013036343609603276 Centerline is valid? [True, True] Translation: X:196.68, Y:64.32, Z:1.50 [[ 8.12169663e-01 -5.82490683e-01 -3.29399846e-02 1.96678979e+02] [ 5.82002098e-01 8.12837353e-01 -2.38536084e-02 6.43209027e+01] [ 4.06693546e-02 2.02036922e-04 9.99172639e-01 1.49922401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.996875 meters 0.013105100640104842 Centerline is valid? [True, True] Translation: X:196.73, Y:64.35, Z:1.50 [[ 8.13341313e-01 -5.80893929e-01 -3.22203723e-02 1.96726777e+02] [ 5.80424888e-01 8.13979216e-01 -2.33406447e-02 6.43545310e+01] [ 3.97851522e-02 2.82404582e-04 9.99208217e-01 1.50282816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.056875 meters 0.013425694304823488 Centerline is valid? [True, True] Translation: X:196.77, Y:64.39, Z:1.50 [[ 8.14064787e-01 -5.79882476e-01 -3.21688620e-02 1.96774146e+02] [ 5.79413699e-01 8.14700066e-01 -2.33145302e-02 6.43886831e+01] [ 3.97276615e-02 3.40458739e-04 9.99210487e-01 1.50399015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.116875 meters 0.013332990954903945 Centerline is valid? [True, True] Translation: X:196.82, Y:64.42, Z:1.51 [[ 8.14079687e-01 -5.79872870e-01 -3.19643088e-02 1.96822563e+02] [ 5.79409707e-01 8.14706901e-01 -2.31744865e-02 6.44201309e+01] [ 3.94797990e-02 3.45447911e-04 9.99220309e-01 1.50656405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.176875 meters 0.013331892890493495 Centerline is valid? [True, True] Translation: X:196.87, Y:64.45, Z:1.51 [[ 8.13086418e-01 -5.81266370e-01 -3.19356277e-02 1.96871875e+02] [ 5.80804600e-01 8.13713293e-01 -2.31666244e-02 6.44524418e+01] [ 3.94524245e-02 2.88108183e-04 9.99221408e-01 1.50689470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.236875 meters 0.01290574451956059 Centerline is valid? [True, True] Translation: X:196.92, Y:64.48, Z:1.51 [[ 8.11280109e-01 -5.83785417e-01 -3.19244535e-02 1.96923167e+02] [ 5.83325452e-01 8.11907973e-01 -2.31702591e-02 6.44819888e+01] [ 3.94461777e-02 1.75224028e-04 9.99221681e-01 1.50802137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.296875 meters 0.012945573013300975 Centerline is valid? [True, True] Translation: X:196.97, Y:64.51, Z:1.51 [[ 8.10008632e-01 -5.85514016e-01 -3.25476966e-02 1.96971833e+02] [ 5.85036865e-01 8.10662277e-01 -2.36334370e-02 6.45119642e+01] [ 4.02228984e-02 1.01685613e-04 9.99190727e-01 1.50872579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.356875 meters 0.012961749996167931 Centerline is valid? [True, True] Translation: X:197.02, Y:64.54, Z:1.51 [[ 8.08451433e-01 -5.87645848e-01 -3.28426167e-02 1.97021992e+02] [ 5.87161427e-01 8.09118259e-01 -2.38558406e-02 6.45400850e+01] [ 4.05923466e-02 2.37080432e-06 9.99175791e-01 1.51053097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.416875 meters 0.012918172074792449 Centerline is valid? [True, True] Translation: X:197.07, Y:64.57, Z:1.51 [[ 8.08497443e-01 -5.87599696e-01 -3.25343335e-02 1.97070313e+02] [ 5.87123870e-01 8.09151777e-01 -2.36424072e-02 6.45729919e+01] [ 4.02174850e-02 1.31419394e-05 9.99190950e-01 1.51347452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47687499999998 meters 0.013073687162145872 Centerline is valid? [True, True] Translation: X:197.12, Y:64.61, Z:1.51 [[ 8.09438502e-01 -5.86253765e-01 -3.34041277e-02 1.97118032e+02] [ 5.85750541e-01 8.10127468e-01 -2.42855720e-02 6.46060927e+01] [ 4.12991094e-02 9.11911448e-05 9.99146824e-01 1.51239635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53687499999998 meters 0.013165049837425025 Centerline is valid? [True, True] Translation: X:197.17, Y:64.64, Z:1.51 [[ 8.10105532e-01 -5.85273135e-01 -3.44148981e-02 1.97166317e+02] [ 5.84737781e-01 8.10836195e-01 -2.50278379e-02 6.46400752e+01] [ 4.25529661e-02 1.51498793e-04 9.99094201e-01 1.51385817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59687499999998 meters 0.013661124325055986 Centerline is valid? [True, True] Translation: X:197.21, Y:64.68, Z:1.52 [[ 8.11657697e-01 -5.83133214e-01 -3.41677885e-02 1.97212843e+02] [ 5.82603175e-01 8.12376502e-01 -2.48587861e-02 6.46753019e+01] [ 4.22530923e-02 2.70562991e-04 9.99106903e-01 1.51500041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65687499999999 meters 0.013523496433629533 Centerline is valid? [True, True] Translation: X:197.26, Y:64.71, Z:1.52 [[ 8.11712810e-01 -5.83067455e-01 -3.39802536e-02 1.97260822e+02] [ 5.82542756e-01 8.12423698e-01 -2.47320098e-02 6.47087390e+01] [ 4.20267933e-02 2.80338530e-04 9.99116445e-01 1.51888074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.716875 meters 0.013397117145122822 Centerline is valid? [True, True] Translation: X:197.31, Y:64.74, Z:1.52 [[ 8.11381992e-01 -5.83534809e-01 -3.38583903e-02 1.97308469e+02] [ 5.83013680e-01 8.12088084e-01 -2.46575148e-02 6.47417342e+01] [ 4.18845135e-02 2.66758788e-04 9.99122423e-01 1.52190192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.776875 meters 0.01352893964682208 Centerline is valid? [True, True] Translation: X:197.36, Y:64.78, Z:1.52 [[ 8.10946852e-01 -5.84165449e-01 -3.34055566e-02 1.97356232e+02] [ 5.83658151e-01 8.11634567e-01 -2.43411724e-02 6.47758455e+01] [ 4.13323763e-02 2.41971701e-04 9.99145423e-01 1.52334763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.836875 meters 0.013259169408114353 Centerline is valid? [True, True] Translation: X:197.40, Y:64.81, Z:1.53 [[ 8.10241264e-01 -5.85167718e-01 -3.29823525e-02 1.97404479e+02] [ 5.84673527e-01 8.10912266e-01 -2.40450358e-02 6.48096305e+01] [ 4.08161729e-02 1.98371844e-04 9.99166653e-01 1.52627007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.896875 meters 0.013212339384774688 Centerline is valid? [True, True] Translation: X:197.45, Y:64.84, Z:1.53 [[ 8.10525192e-01 -5.84798742e-01 -3.25475849e-02 1.97450635e+02] [ 5.84316700e-01 8.11178391e-01 -2.37405238e-02 6.48447667e+01] [ 4.02853260e-02 2.24195152e-04 9.99188192e-01 1.52767241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.956875 meters 0.013063320168704307 Centerline is valid? [True, True] Translation: X:197.50, Y:64.88, Z:1.53 [[ 8.07551459e-01 -5.88856898e-01 -3.32895574e-02 1.97498413e+02] [ 5.88355466e-01 8.08237312e-01 -2.42959399e-02 6.48781918e+01] [ 4.12126942e-02 3.41286022e-05 9.99150395e-01 1.52864347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.016875 meters 0.013005020365762546 Centerline is valid? [True, True] Translation: X:197.55, Y:64.91, Z:1.53 [[ 8.04607089e-01 -5.92959937e-01 -3.17166418e-02 1.97548066e+02] [ 5.92507477e-01 8.05231947e-01 -2.31603574e-02 6.49106777e+01] [ 3.92724173e-02 -1.57359687e-04 9.99228529e-01 1.53316152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.076875 meters 0.013122660150315468 Centerline is valid? [True, True] Translation: X:197.59, Y:64.94, Z:1.53 [[ 8.03374800e-01 -5.94636360e-01 -3.15678667e-02 1.97594772e+02] [ 5.94188956e-01 8.03994743e-01 -2.30637566e-02 6.49444791e+01] [ 3.90949472e-02 -2.28436891e-04 9.99235474e-01 1.53465623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.136875 meters 0.013762037320365668 Centerline is valid? [True, True] Translation: X:197.64, Y:64.98, Z:1.53 [[ 7.99570506e-01 -5.99719464e-01 -3.19932938e-02 1.97643329e+02] [ 5.99263445e-01 8.00210186e-01 -2.33876584e-02 6.49786613e+01] [ 3.96273936e-02 -4.72329559e-04 9.99214415e-01 1.53435457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19687499999998 meters 0.014197452788985987 Centerline is valid? [True, True] Translation: X:197.69, Y:65.01, Z:1.54 [[ 7.98211425e-01 -6.01548254e-01 -3.15946090e-02 1.97690941e+02] [ 6.01104511e-01 7.98836278e-01 -2.31077362e-02 6.50132700e+01] [ 3.91393382e-02 -5.46802958e-04 9.99233613e-01 1.53749232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25687499999998 meters 0.014117740441372945 Centerline is valid? [True, True] Translation: X:197.74, Y:65.05, Z:1.54 [[ 7.98562728e-01 -6.01152452e-01 -3.02208236e-02 1.97737609e+02] [ 6.00745789e-01 7.99134208e-01 -2.21136726e-02 6.50489114e+01] [ 3.74441824e-02 -4.95877810e-04 9.99298598e-01 1.54116082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31687499999998 meters 0.013908753837606716 Centerline is valid? [True, True] Translation: X:197.78, Y:65.09, Z:1.54 [[ 7.99387015e-01 -6.00031209e-01 -3.07074632e-02 1.97782301e+02] [ 5.99610082e-01 7.99976470e-01 -2.24810356e-02 6.50877205e+01] [ 3.80545710e-02 -4.41456557e-04 9.99275565e-01 1.54088460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37687499999998 meters 0.013131047679774424 Centerline is valid? [True, True] Translation: X:197.83, Y:65.13, Z:1.54 [[ 8.02599590e-01 -5.95712744e-01 -3.09874854e-02 1.97825783e+02] [ 5.95280231e-01 8.03197531e-01 -2.26974230e-02 6.51280813e+01] [ 3.84102159e-02 -2.29295062e-04 9.99262029e-01 1.54216429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.436875 meters 0.013101173345600948 Centerline is valid? [True, True] Translation: X:197.87, Y:65.17, Z:1.54 [[ 8.04680512e-01 -5.92882259e-01 -3.13033597e-02 1.97869455e+02] [ 5.92438268e-01 8.05289153e-01 -2.29407775e-02 6.51664903e+01] [ 3.88094360e-02 -8.53116062e-05 9.99246626e-01 1.54404104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.496875 meters 0.013190494927860633 Centerline is valid? [True, True] Translation: X:197.91, Y:65.21, Z:1.54 [[ 8.06883022e-01 -5.89771728e-01 -3.33031141e-02 1.97912361e+02] [ 5.89266016e-01 8.07569999e-01 -2.44184126e-02 6.52069508e+01] [ 4.12958852e-02 7.84091751e-05 9.99146958e-01 1.54241131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.556875 meters 0.0132210311504904 Centerline is valid? [True, True] Translation: X:197.96, Y:65.24, Z:1.54 [[ 8.07593908e-01 -5.88773772e-01 -3.37272196e-02 1.97958802e+02] [ 5.88253860e-01 8.08297857e-01 -2.47380305e-02 6.52438949e+01] [ 4.18267429e-02 1.38115632e-04 9.99124869e-01 1.54383593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.616875 meters 0.013447272925264072 Centerline is valid? [True, True] Translation: X:198.00, Y:65.28, Z:1.54 [[ 8.07895942e-01 -5.88284543e-01 -3.50063313e-02 1.98004862e+02] [ 5.87723402e-01 8.08653983e-01 -2.56892793e-02 6.52807033e+01] [ 4.34206151e-02 1.80224410e-04 9.99056864e-01 1.54487752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.676875 meters 0.013404303300604306 Centerline is valid? [True, True] Translation: X:198.05, Y:65.32, Z:1.55 [[ 8.07617250e-01 -5.88664861e-01 -3.50436624e-02 1.98050931e+02] [ 5.88102297e-01 8.08377172e-01 -2.57300660e-02 6.53166485e+01] [ 4.34748825e-02 1.70786817e-04 9.99054506e-01 1.54777546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.736875 meters 0.013188506998697471 Centerline is valid? [True, True] Translation: X:198.10, Y:65.35, Z:1.55 [[ 8.07142944e-01 -5.89406250e-01 -3.34744693e-02 1.98097564e+02] [ 5.88893056e-01 8.07836774e-01 -2.45909667e-02 6.53526381e+01] [ 4.15359768e-02 1.35542690e-04 9.99137000e-01 1.55106507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.796875 meters 0.013091089587663463 Centerline is valid? [True, True] Translation: X:198.15, Y:65.39, Z:1.55 [[ 8.05971107e-01 -5.91019117e-01 -3.32712804e-02 1.98145026e+02] [ 5.90512979e-01 8.06657548e-01 -2.44544923e-02 6.53860696e+01] [ 4.12916019e-02 6.24913291e-05 9.99147136e-01 1.55351222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.856875 meters 0.01309323114282773 Centerline is valid? [True, True] Translation: X:198.19, Y:65.42, Z:1.56 [[ 8.04619674e-01 -5.92926524e-01 -3.20205803e-02 1.98193302e+02] [ 5.92458747e-01 8.05256565e-01 -2.35477573e-02 6.54202831e+01] [ 3.97468724e-02 -2.38840686e-05 9.99209781e-01 1.55687011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.916875 meters 0.013215245527260909 Centerline is valid? [True, True] Translation: X:198.24, Y:65.45, Z:1.56 [[ 8.02613785e-01 -5.95670656e-01 -3.14258323e-02 1.98240828e+02] [ 5.95221736e-01 8.03228765e-01 -2.31222166e-02 6.54543284e+01] [ 3.90153583e-02 -1.47128694e-04 9.99238600e-01 1.55946917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97687499999998 meters 0.013325007695311418 Centerline is valid? [True, True] Translation: X:198.29, Y:65.49, Z:1.56 [[ 8.01125617e-01 -5.97675124e-01 -3.13399480e-02 1.98288956e+02] [ 5.97229696e-01 8.01738356e-01 -2.30715920e-02 6.54891182e+01] [ 3.89157550e-02 -2.33904247e-04 9.99242468e-01 1.56180030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03687499999998 meters 0.013385152918469671 Centerline is valid? [True, True] Translation: X:198.34, Y:65.52, Z:1.56 [[ 8.00274615e-01 -5.98774741e-01 -3.20834990e-02 1.98336211e+02] [ 5.98308325e-01 8.00917429e-01 -2.36308975e-02 6.55243863e+01] [ 3.98458181e-02 -2.84617137e-04 9.99205800e-01 1.56268546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09687499999998 meters 0.013529631047705928 Centerline is valid? [True, True] Translation: X:198.38, Y:65.56, Z:1.56 [[ 7.99519747e-01 -5.99845419e-01 -3.08811763e-02 1.98382557e+02] [ 5.99413677e-01 8.00115850e-01 -2.27567815e-02 6.55596766e+01] [ 3.83590698e-02 -3.16103240e-04 9.99263970e-01 1.56465036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15687499999999 meters 0.013662950296400946 Centerline is valid? [True, True] Translation: X:198.43, Y:65.59, Z:1.57 [[ 7.99291373e-01 -6.00216666e-01 -2.95508934e-02 1.98429015e+02] [ 5.99821225e-01 7.99837394e-01 -2.17862662e-02 6.55939587e+01] [ 3.67123896e-02 -3.11678413e-04 9.99325824e-01 1.56776252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.216875 meters 0.013474235160628326 Centerline is valid? [True, True] Translation: X:198.47, Y:65.63, Z:1.57 [[ 7.99293688e-01 -6.00238329e-01 -2.90439280e-02 1.98474642e+02] [ 5.99856151e-01 7.99821141e-01 -2.14182467e-02 6.56299985e+01] [ 3.60860002e-02 -3.02709505e-04 9.99348642e-01 1.57072504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.276875 meters 0.013524312416136636 Centerline is valid? [True, True] Translation: X:198.52, Y:65.67, Z:1.57 [[ 8.01007273e-01 -5.97930730e-01 -2.94311157e-02 1.98519177e+02] [ 5.97536342e-01 8.01547756e-01 -2.17143872e-02 6.56669732e+01] [ 3.65741441e-02 -1.92779093e-04 9.99330924e-01 1.56988566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.336875 meters 0.01344479512892367 Centerline is valid? [True, True] Translation: X:198.56, Y:65.70, Z:1.57 [[ 8.02283553e-01 -5.96179536e-01 -3.01838035e-02 1.98564323e+02] [ 5.95763231e-01 8.02851137e-01 -2.22760888e-02 6.57033350e+01] [ 3.75136493e-02 -1.10660575e-04 9.99296109e-01 1.57073512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.396875 meters 0.013787369740230265 Centerline is valid? [True, True] Translation: X:198.61, Y:65.74, Z:1.57 [[ 8.05208252e-01 -5.92207379e-01 -3.04973933e-02 1.98607221e+02] [ 5.91779086e-01 8.05785587e-01 -2.25188962e-02 6.57419961e+01] [ 3.79102164e-02 8.46814942e-05 9.99281146e-01 1.57000572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.456875 meters 0.014267247630086266 Centerline is valid? [True, True] Translation: X:198.65, Y:65.78, Z:1.57 [[ 8.07990376e-01 -5.88414892e-01 -3.03227151e-02 1.98652196e+02] [ 5.87988504e-01 8.08559116e-01 -2.23981164e-02 6.57807813e+01] [ 3.76970930e-02 2.68054631e-04 9.99289176e-01 1.57285540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.516875 meters 0.014727870809324221 Centerline is valid? [True, True] Translation: X:198.70, Y:65.82, Z:1.58 [[ 8.09740483e-01 -5.86069465e-01 -2.90332971e-02 1.98698752e+02] [ 5.85676695e-01 8.10260727e-01 -2.14560742e-02 6.58173707e+01] [ 3.60992903e-02 3.69726388e-04 9.99348140e-01 1.57672917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.576875 meters 0.016023153694853444 Centerline is valid? [True, True] Translation: X:198.74, Y:65.86, Z:1.58 [[ 8.12610127e-01 -5.82140656e-01 -2.78753994e-02 1.98743110e+02] [ 5.81775980e-01 8.13087926e-01 -2.06090603e-02 6.58555109e+01] [ 3.46625226e-02 5.29893266e-04 9.99398934e-01 1.57960701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.636875 meters 0.01693003585992233 Centerline is valid? [True, True] Translation: X:198.79, Y:65.89, Z:1.58 [[ 8.14689457e-01 -5.79252980e-01 -2.73326407e-02 1.98788564e+02] [ 5.78900581e-01 8.15147576e-01 -2.02125418e-02 6.58934177e+01] [ 3.39883109e-02 6.44063140e-04 9.99422023e-01 1.58070361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69687499999998 meters 0.018321673955675896 Centerline is valid? [True, True] Translation: X:198.83, Y:65.93, Z:1.58 [[ 8.17364101e-01 -5.75471205e-01 -2.73645393e-02 1.98834031e+02] [ 5.75115515e-01 8.17821640e-01 -2.02462217e-02 6.59316176e+01] [ 3.40304300e-02 8.10763748e-04 9.99420468e-01 1.58256303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75687499999998 meters 0.018795011298064476 Centerline is valid? [True, True] Translation: X:198.88, Y:65.97, Z:1.58 [[ 8.18016792e-01 -5.74570804e-01 -2.67753470e-02 1.98880327e+02] [ 5.74229468e-01 8.18454451e-01 -1.98199035e-02 6.59684457e+01] [ 3.33023398e-02 8.37820654e-04 9.99444972e-01 1.58388522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81687499999998 meters 0.018908047671695336 Centerline is valid? [True, True] Translation: X:198.93, Y:66.00, Z:1.59 [[ 8.18544352e-01 -5.73915264e-01 -2.46254761e-02 1.98927123e+02] [ 5.73625998e-01 8.18914298e-01 -1.82369722e-02 6.60042169e+01] [ 3.06326312e-02 8.01957280e-04 9.99530389e-01 1.58681852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87687499999998 meters 0.01958371141577375 Centerline is valid? [True, True] Translation: X:198.97, Y:66.04, Z:1.59 [[ 8.19174438e-01 -5.73091283e-01 -2.27951854e-02 1.98973053e+02] [ 5.72842886e-01 8.19491170e-01 -1.68893798e-02 6.60409470e+01] [ 2.83596095e-02 7.77288368e-04 9.99597483e-01 1.58952840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.936875 meters 0.019150607038780076 Centerline is valid? [True, True] Translation: X:199.02, Y:66.08, Z:1.59 [[ 8.20591563e-01 -5.71093002e-01 -2.19606362e-02 1.99020277e+02] [ 5.70861534e-01 8.20884954e-01 -1.62788662e-02 6.60763137e+01] [ 2.73239024e-02 8.21817796e-04 9.99626295e-01 1.59146598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.996875 meters 0.019575755491194134 Centerline is valid? [True, True] Translation: X:199.07, Y:66.11, Z:1.59 [[ 8.21052358e-01 -5.70425986e-01 -2.20730767e-02 1.99067200e+02] [ 5.70191666e-01 8.21348564e-01 -1.63707420e-02 6.61124642e+01] [ 2.74679865e-02 8.55351958e-04 9.99622318e-01 1.59295194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.056875 meters 0.02054927359877147 Centerline is valid? [True, True] Translation: X:199.11, Y:66.15, Z:1.59 [[ 8.21446590e-01 -5.69825584e-01 -2.28976717e-02 1.99111450e+02] [ 5.69572937e-01 8.21765152e-01 -1.69912971e-02 6.61505218e+01] [ 2.84985845e-02 9.15548999e-04 9.99593414e-01 1.59141704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.116875 meters 0.02023757845449915 Centerline is valid? [True, True] Translation: X:199.16, Y:66.19, Z:1.59 [[ 8.20515294e-01 -5.71130019e-01 -2.37729658e-02 1.99159349e+02] [ 5.70858073e-01 8.20859110e-01 -1.76460433e-02 6.61856900e+01] [ 2.95924406e-02 9.07858987e-04 9.99561636e-01 1.59179711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.176875 meters 0.018041234776603545 Centerline is valid? [True, True] Translation: X:199.21, Y:66.22, Z:1.59 [[ 8.16998629e-01 -5.76140113e-01 -2.39960713e-02 1.99210063e+02] [ 5.75864946e-01 8.17350612e-01 -1.78197035e-02 6.62164747e+01] [ 2.98798496e-02 7.40177031e-04 9.99553224e-01 1.59354829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.236875 meters 0.016566935123738188 Centerline is valid? [True, True] Translation: X:199.26, Y:66.25, Z:1.60 [[ 8.13779689e-01 -5.80696948e-01 -2.35302546e-02 1.99259808e+02] [ 5.80434132e-01 8.14119607e-01 -1.74780899e-02 6.62483187e+01] [ 2.93059151e-02 5.65551680e-04 9.99570329e-01 1.59522490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.296875 meters 0.016276407977797336 Centerline is valid? [True, True] Translation: X:199.31, Y:66.28, Z:1.60 [[ 8.11008063e-01 -5.84585663e-01 -2.29243082e-02 1.99307180e+02] [ 5.84337530e-01 8.11331884e-01 -1.70360242e-02 6.62814431e+01] [ 2.85582376e-02 4.20819373e-04 9.99592042e-01 1.59759161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.356875 meters 0.014970448269263912 Centerline is valid? [True, True] Translation: X:199.36, Y:66.31, Z:1.60 [[ 8.07574253e-01 -5.89302875e-01 -2.33655238e-02 1.99360927e+02] [ 5.89046962e-01 8.07912157e-01 -1.73673168e-02 6.63078065e+01] [ 2.91119004e-02 2.62007083e-04 9.99576124e-01 1.59984421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.416875 meters 0.016585251581228203 Centerline is valid? [True, True] Translation: X:199.41, Y:66.34, Z:1.60 [[ 8.05371541e-01 -5.92218968e-01 -2.55612042e-02 1.99411960e+02] [ 5.91913816e-01 8.05777055e-01 -1.90098002e-02 6.63382628e+01] [ 3.18545961e-02 1.79922126e-04 9.99492497e-01 1.59786436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47687499999998 meters 0.016229238528061345 Centerline is valid? [True, True] Translation: X:199.46, Y:66.37, Z:1.60 [[ 8.04855369e-01 -5.92869042e-01 -2.67232780e-02 1.99457598e+02] [ 5.92535535e-01 8.05298870e-01 -1.98838817e-02 6.63717947e+01] [ 3.33087635e-02 1.69157110e-04 9.99445095e-01 1.59978800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53687499999998 meters 0.01735541434675793 Centerline is valid? [True, True] Translation: X:199.51, Y:66.41, Z:1.60 [[ 8.05447078e-01 -5.92039798e-01 -2.72742116e-02 1.99505741e+02] [ 5.91691666e-01 8.05908700e-01 -2.03012467e-02 6.64056237e+01] [ 3.39996704e-02 2.13656159e-04 9.99421821e-01 1.60119458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59687499999998 meters 0.01758375129685053 Centerline is valid? [True, True] Translation: X:199.55, Y:66.44, Z:1.60 [[ 8.06045450e-01 -5.91252732e-01 -2.66634382e-02 1.99553072e+02] [ 5.90919251e-01 8.06486295e-01 -1.98568259e-02 6.64397288e+01] [ 3.32441000e-02 2.49565202e-04 9.99447231e-01 1.60301422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65687499999999 meters 0.018199911915522407 Centerline is valid? [True, True] Translation: X:199.60, Y:66.47, Z:1.61 [[ 8.07334342e-01 -5.89525193e-01 -2.59096080e-02 1.99598921e+02] [ 5.89209090e-01 8.07749927e-01 -1.93055389e-02 6.64748984e+01] [ 3.23095855e-02 3.19847982e-04 9.99477858e-01 1.60558497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.716875 meters 0.018209497225604172 Centerline is valid? [True, True] Translation: X:199.65, Y:66.51, Z:1.61 [[ 8.08764838e-01 -5.87574311e-01 -2.56098930e-02 1.99645170e+02] [ 5.87264326e-01 8.09170113e-01 -1.90877005e-02 6.65108750e+01] [ 3.19382025e-02 3.97684398e-04 9.99489766e-01 1.60873608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.776875 meters 0.018715183902245885 Centerline is valid? [True, True] Translation: X:199.69, Y:66.55, Z:1.61 [[ 8.10902063e-01 -5.84645376e-01 -2.50525182e-02 1.99689504e+02] [ 5.84347054e-01 8.11288805e-01 -1.86814242e-02 6.65494704e+01] [ 3.12468358e-02 5.09440235e-04 9.99511569e-01 1.60969563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.836875 meters 0.019625845456216137 Centerline is valid? [True, True] Translation: X:199.73, Y:66.59, Z:1.61 [[ 8.11770631e-01 -5.83418899e-01 -2.55113860e-02 1.99734725e+02] [ 5.83108663e-01 8.12171200e-01 -1.90323221e-02 6.65861505e+01] [ 3.18234295e-02 5.73969960e-04 9.99493342e-01 1.61045909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.896875 meters 0.019321124993308566 Centerline is valid? [True, True] Translation: X:199.78, Y:66.62, Z:1.61 [[ 8.12548506e-01 -5.82254441e-01 -2.72890356e-02 1.99780965e+02] [ 5.81898623e-01 8.13006347e-01 -2.03634939e-02 6.66224204e+01] [ 3.40428939e-02 6.66874328e-04 9.99420150e-01 1.61106453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.956875 meters 0.019764068130564288 Centerline is valid? [True, True] Translation: X:199.83, Y:66.66, Z:1.61 [[ 8.12956414e-01 -5.81621308e-01 -2.86098255e-02 1.99826778e+02] [ 5.81229471e-01 8.13459350e-01 -2.13585552e-02 6.66586255e+01] [ 3.56955208e-02 7.34700692e-04 9.99362442e-01 1.61116874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.016875 meters 0.020159005336435516 Centerline is valid? [True, True] Translation: X:199.87, Y:66.70, Z:1.61 [[ 8.13540771e-01 -5.80713003e-01 -3.03944483e-02 1.99873081e+02] [ 5.80269869e-01 8.14107930e-01 -2.26970568e-02 6.66950827e+01] [ 3.79248374e-02 8.27998561e-04 9.99280252e-01 1.61199035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.076875 meters 0.02261014073448618 Centerline is valid? [True, True] Translation: X:199.92, Y:66.73, Z:1.61 [[ 8.13325858e-01 -5.80955892e-01 -3.14849301e-02 1.99919451e+02] [ 5.80480089e-01 8.13934592e-01 -2.35233279e-02 6.67311960e+01] [ 3.92926896e-02 8.55755869e-04 9.99227378e-01 1.61079825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.136875 meters 0.019881500922563182 Centerline is valid? [True, True] Translation: X:199.97, Y:66.77, Z:1.61 [[ 8.12710101e-01 -5.81804306e-01 -3.17181406e-02 1.99967414e+02] [ 5.81321602e-01 8.13328384e-01 -2.37093985e-02 6.67654722e+01] [ 3.95914942e-02 8.30427366e-04 9.99215604e-01 1.61492431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19687499999998 meters 0.01965207264340356 Centerline is valid? [True, True] Translation: X:200.01, Y:66.80, Z:1.62 [[ 8.12414474e-01 -5.82213884e-01 -3.17760147e-02 2.00014646e+02] [ 5.81729231e-01 8.13035250e-01 -2.37651936e-02 6.67993044e+01] [ 3.96714457e-02 8.22150680e-04 9.99212440e-01 1.61783311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25687499999998 meters 0.01994316904504188 Centerline is valid? [True, True] Translation: X:200.06, Y:66.83, Z:1.62 [[ 8.11575525e-01 -5.83366820e-01 -3.20674333e-02 2.00061320e+02] [ 5.82873662e-01 8.12208434e-01 -2.39948755e-02 6.68342569e+01] [ 4.00432540e-02 7.82391438e-04 9.99197641e-01 1.61960962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31687499999998 meters 0.02182748573400277 Centerline is valid? [True, True] Translation: X:200.11, Y:66.87, Z:1.62 [[ 8.11222486e-01 -5.83846097e-01 -3.22771323e-02 2.00107928e+02] [ 5.83346488e-01 8.11863992e-01 -2.41605905e-02 6.68695313e+01] [ 4.03107080e-02 7.70862539e-04 9.99186896e-01 1.61922636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37687499999998 meters 0.021378632667099766 Centerline is valid? [True, True] Translation: X:200.15, Y:66.91, Z:1.62 [[ 8.11861720e-01 -5.82991755e-01 -3.16411252e-02 2.00151645e+02] [ 5.82510576e-01 8.12477670e-01 -2.36952694e-02 6.69067643e+01] [ 3.95218544e-02 8.05992131e-04 9.99218381e-01 1.62176492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.436875 meters 0.019971556138374463 Centerline is valid? [True, True] Translation: X:200.20, Y:66.94, Z:1.63 [[ 8.11735464e-01 -5.83177066e-01 -3.14649888e-02 2.00198976e+02] [ 5.82701077e-01 8.12344675e-01 -2.35708164e-02 6.69398295e+01] [ 3.93063757e-02 7.98584713e-04 9.99226887e-01 1.62541269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.496875 meters 0.01984193922512046 Centerline is valid? [True, True] Translation: X:200.25, Y:66.97, Z:1.63 [[ 8.11399531e-01 -5.83607091e-01 -3.21490882e-02 2.00246650e+02] [ 5.83109948e-01 8.12035783e-01 -2.40972053e-02 6.69734117e+01] [ 4.01695099e-02 8.06007915e-04 9.99192554e-01 1.62646013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.556875 meters 0.019704580851424215 Centerline is valid? [True, True] Translation: X:200.29, Y:67.01, Z:1.62 [[ 8.10808810e-01 -5.84321485e-01 -3.40216958e-02 2.00293668e+02] [ 5.83764839e-01 8.11521855e-01 -2.55125799e-02 6.70081771e+01] [ 4.25168983e-02 8.25154764e-04 9.99095407e-01 1.62488315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.616875 meters 0.020054392867692564 Centerline is valid? [True, True] Translation: X:200.34, Y:67.04, Z:1.62 [[ 8.10403426e-01 -5.84833355e-01 -3.48745631e-02 2.00341303e+02] [ 5.84248568e-01 8.11153048e-01 -2.61599541e-02 6.70429883e+01] [ 4.35878218e-02 8.24702835e-04 9.99049259e-01 1.62483098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.676875 meters 0.0200333821197901 Centerline is valid? [True, True] Translation: X:200.39, Y:67.08, Z:1.63 [[ 8.09793215e-01 -5.85661293e-01 -3.51539223e-02 2.00388085e+02] [ 5.85067417e-01 8.10555500e-01 -2.63799054e-02 6.70762794e+01] [ 4.39438946e-02 7.94853872e-04 9.99033684e-01 1.62580193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.736875 meters 0.019296293689605764 Centerline is valid? [True, True] Translation: X:200.44, Y:67.11, Z:1.63 [[ 8.09253463e-01 -5.86428614e-01 -3.47895637e-02 2.00436843e+02] [ 5.85847334e-01 8.10000565e-01 -2.61148568e-02 6.71097730e+01] [ 4.34940655e-02 7.52165166e-04 9.99053402e-01 1.62927091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.796875 meters 0.01913307603214323 Centerline is valid? [True, True] Translation: X:200.48, Y:67.14, Z:1.63 [[ 8.09040256e-01 -5.86724546e-01 -3.47587727e-02 2.00484412e+02] [ 5.86143964e-01 8.09786237e-01 -2.61056253e-02 6.71433906e+01] [ 4.34639869e-02 7.46856962e-04 9.99054715e-01 1.63173237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.856875 meters 0.01957722010875981 Centerline is valid? [True, True] Translation: X:200.53, Y:67.18, Z:1.63 [[ 8.09400277e-01 -5.86203232e-01 -3.51704670e-02 2.00531382e+02] [ 5.85607671e-01 8.10163648e-01 -2.64294989e-02 6.71789669e+01] [ 4.39868915e-02 7.95948441e-04 9.99031791e-01 1.63338471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.916875 meters 0.019981184424872945 Centerline is valid? [True, True] Translation: X:200.58, Y:67.22, Z:1.63 [[ 8.10053790e-01 -5.85215485e-01 -3.65471239e-02 2.00576285e+02] [ 5.84570873e-01 8.10877328e-01 -2.74746044e-02 6.72151532e+01] [ 4.57137981e-02 8.91523301e-04 9.98954180e-01 1.63400338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97687499999998 meters 0.02039255631373452 Centerline is valid? [True, True] Translation: X:200.62, Y:67.25, Z:1.63 [[ 8.10789456e-01 -5.84152726e-01 -3.72297077e-02 2.00622768e+02] [ 5.83482273e-01 8.11643173e-01 -2.79963667e-02 6.72520435e+01] [ 4.65713919e-02 9.76284438e-04 9.98914487e-01 1.63398345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03687499999998 meters 0.02088500740661056 Centerline is valid? [True, True] Translation: X:200.67, Y:67.29, Z:1.64 [[ 8.11448586e-01 -5.83225714e-01 -3.74026579e-02 2.00669278e+02] [ 5.82547551e-01 8.12309472e-01 -2.81366639e-02 6.72872180e+01] [ 4.67925592e-02 1.04262939e-03 9.98904084e-01 1.63646681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09687499999998 meters 0.02095497243318091 Centerline is valid? [True, True] Translation: X:200.72, Y:67.32, Z:1.64 [[ 8.11647458e-01 -5.83012560e-01 -3.63972412e-02 2.00716501e+02] [ 5.82369799e-01 8.12462484e-01 -2.73884910e-02 6.73225514e+01] [ 4.55392273e-02 1.03314507e-03 9.98962017e-01 1.64012546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15687499999999 meters 0.020726604373081114 Centerline is valid? [True, True] Translation: X:200.76, Y:67.36, Z:1.64 [[ 8.11220203e-01 -5.83641073e-01 -3.58452323e-02 2.00762925e+02] [ 5.83017692e-01 8.12011152e-01 -2.69862947e-02 6.73582039e+01] [ 4.48570384e-02 9.93422905e-04 9.98992923e-01 1.64292428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.216875 meters 0.019578403831520087 Centerline is valid? [True, True] Translation: X:200.81, Y:67.39, Z:1.65 [[ 8.09559426e-01 -5.85973290e-01 -3.53389227e-02 2.00813021e+02] [ 5.85369052e-01 8.10329908e-01 -2.66179151e-02 6.73902221e+01] [ 4.42335733e-02 8.62472388e-04 9.99020844e-01 1.64813776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.276875 meters 0.01905656234633785 Centerline is valid? [True, True] Translation: X:200.86, Y:67.42, Z:1.65 [[ 8.06920334e-01 -5.89602101e-01 -3.53402999e-02 2.00860661e+02] [ 5.89000855e-01 8.07693575e-01 -2.66285784e-02 6.74233482e+01] [ 4.42443990e-02 6.71674512e-04 9.99020511e-01 1.64878946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.336875 meters 0.01877331272382446 Centerline is valid? [True, True] Translation: X:200.91, Y:67.46, Z:1.65 [[ 8.05133980e-01 -5.92041140e-01 -3.53066968e-02 2.00909166e+02] [ 5.91443030e-01 8.05907558e-01 -2.66110873e-02 6.74573266e+01] [ 4.42087923e-02 5.43590853e-04 9.99022166e-01 1.65104617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.396875 meters 0.01825872229728264 Centerline is valid? [True, True] Translation: X:200.96, Y:67.49, Z:1.65 [[ 8.03620254e-01 -5.94110816e-01 -3.50260798e-02 2.00957672e+02] [ 5.93523593e-01 8.04383085e-01 -2.64120607e-02 6.74916743e+01] [ 4.38660771e-02 4.36462218e-04 9.99037325e-01 1.65389882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.456875 meters 0.018295896034245886 Centerline is valid? [True, True] Translation: X:201.01, Y:67.53, Z:1.66 [[ 8.02805802e-01 -5.95145028e-01 -3.61281056e-02 2.01005558e+02] [ 5.94520706e-01 8.03618214e-01 -2.72561272e-02 6.75262151e+01] [ 4.52545523e-02 4.02470267e-04 9.98975407e-01 1.65584114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.516875 meters 0.018908564278653228 Centerline is valid? [True, True] Translation: X:201.05, Y:67.56, Z:1.65 [[ 8.04074160e-01 -5.93383803e-01 -3.68836943e-02 2.01049106e+02] [ 5.92730675e-01 8.04919493e-01 -2.78380406e-02 6.75640161e+01] [ 4.62070470e-02 5.21752094e-04 9.98931748e-01 1.65396138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.576875 meters 0.019157809448914518 Centerline is valid? [True, True] Translation: X:201.10, Y:67.60, Z:1.66 [[ 8.05233375e-01 -5.91760193e-01 -3.76707578e-02 2.01095728e+02] [ 5.91076584e-01 8.06113806e-01 -2.84429745e-02 6.76003125e+01] [ 4.71983381e-02 6.36929477e-04 9.98885334e-01 1.65607660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.636875 meters 0.019674163284177457 Centerline is valid? [True, True] Translation: X:201.14, Y:67.64, Z:1.66 [[ 8.06683043e-01 -5.89740719e-01 -3.83190930e-02 2.01141950e+02] [ 5.89030407e-01 8.07592271e-01 -2.89465483e-02 6.76373450e+01] [ 4.80171615e-02 7.79578685e-04 9.98846207e-01 1.65827303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69687499999998 meters 0.019935608159131018 Centerline is valid? [True, True] Translation: X:201.19, Y:67.67, Z:1.66 [[ 8.07683620e-01 -5.88381475e-01 -3.81367135e-02 2.01188601e+02] [ 5.87675731e-01 8.08583012e-01 -2.88227060e-02 6.76725930e+01] [ 4.77954449e-02 8.67606527e-04 9.98856768e-01 1.66188191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75687499999998 meters 0.02077179613306466 Centerline is valid? [True, True] Translation: X:201.24, Y:67.71, Z:1.67 [[ 8.08744169e-01 -5.86959190e-01 -3.75736462e-02 2.01235256e+02] [ 5.86271959e-01 8.09615964e-01 -2.84109224e-02 6.77091490e+01] [ 4.70962758e-02 9.48792650e-04 9.98889904e-01 1.66572480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81687499999998 meters 0.020974954632313535 Centerline is valid? [True, True] Translation: X:201.28, Y:67.75, Z:1.67 [[ 8.09803664e-01 -5.85456613e-01 -3.81913469e-02 2.01281226e+02] [ 5.84744230e-01 8.10703040e-01 -2.88923106e-02 6.77461081e+01] [ 4.78770354e-02 1.06492929e-03 9.98852670e-01 1.66748973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87687499999998 meters 0.02163583041996855 Centerline is valid? [True, True] Translation: X:201.33, Y:67.78, Z:1.67 [[ 8.10224710e-01 -5.84907861e-01 -3.76658112e-02 2.01326814e+02] [ 5.84213815e-01 8.11099009e-01 -2.85064295e-02 6.77826244e+01] [ 4.72243369e-02 1.09172634e-03 9.98883712e-01 1.66885499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.936875 meters 0.020165531696539035 Centerline is valid? [True, True] Translation: X:201.37, Y:67.82, Z:1.67 [[ 8.09106259e-01 -5.86496471e-01 -3.69993428e-02 2.01374771e+02] [ 5.85827948e-01 8.09951177e-01 -2.80125891e-02 6.78161599e+01] [ 4.63969460e-02 9.89912106e-04 9.98922591e-01 1.67299674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.996875 meters 0.019798119092529827 Centerline is valid? [True, True] Translation: X:201.42, Y:67.85, Z:1.67 [[ 8.07853693e-01 -5.88226539e-01 -3.69045993e-02 2.01422014e+02] [ 5.87562591e-01 8.08695697e-01 -2.79548157e-02 6.78507270e+01] [ 4.62883551e-02 8.99639137e-04 9.98927715e-01 1.67497527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.056875 meters 0.019516358088324703 Centerline is valid? [True, True] Translation: X:201.47, Y:67.89, Z:1.68 [[ 8.07015100e-01 -5.89379916e-01 -3.68502929e-02 2.01468250e+02] [ 5.88718479e-01 8.07855559e-01 -2.79275631e-02 6.78868179e+01] [ 4.62296587e-02 8.43516687e-04 9.98930482e-01 1.67554921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.116875 meters 0.019313934485666893 Centerline is valid? [True, True] Translation: X:201.52, Y:67.92, Z:1.68 [[ 8.06781515e-01 -5.89657268e-01 -3.75218992e-02 2.01515246e+02] [ 5.88971112e-01 8.07653129e-01 -2.84508811e-02 6.79223222e+01] [ 4.70809481e-02 8.54330283e-04 9.98890712e-01 1.67734503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.176875 meters 0.019919459261149436 Centerline is valid? [True, True] Translation: X:201.56, Y:67.96, Z:1.68 [[ 8.06802859e-01 -5.89609421e-01 -3.78137227e-02 2.01560223e+02] [ 5.88911945e-01 8.07688039e-01 -2.86836682e-02 6.79591938e+01] [ 4.74538526e-02 8.73112555e-04 9.98873050e-01 1.67820419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.236875 meters 0.020142075369374582 Centerline is valid? [True, True] Translation: X:201.60, Y:68.00, Z:1.68 [[ 8.07193186e-01 -5.89123299e-01 -3.70526563e-02 2.01604264e+02] [ 5.88452631e-01 8.08042661e-01 -2.81168609e-02 6.79966706e+01] [ 4.65044248e-02 8.92005376e-04 9.98917686e-01 1.67930397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.296875 meters 0.020022860006507902 Centerline is valid? [True, True] Translation: X:201.65, Y:68.03, Z:1.68 [[ 8.07787374e-01 -5.88338348e-01 -3.65724743e-02 2.01649811e+02] [ 5.87683481e-01 8.08614315e-01 -2.77671731e-02 6.80341266e+01] [ 4.59095190e-02 9.36932838e-04 9.98945163e-01 1.68261624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.356875 meters 0.020157306614944078 Centerline is valid? [True, True] Translation: X:201.69, Y:68.07, Z:1.68 [[ 8.08449981e-01 -5.87422672e-01 -3.66501313e-02 2.01694545e+02] [ 5.86763439e-01 8.09279680e-01 -2.78400177e-02 6.80728891e+01] [ 4.60140642e-02 1.00230471e-03 9.98940289e-01 1.68426036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.416875 meters 0.019959098384221146 Centerline is valid? [True, True] Translation: X:201.74, Y:68.11, Z:1.69 [[ 8.08622453e-01 -5.87173882e-01 -3.68315184e-02 2.01740820e+02] [ 5.86507197e-01 8.09460169e-01 -2.79918251e-02 6.81097822e+01] [ 4.62497157e-02 1.03286761e-03 9.98929375e-01 1.68644684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47687499999998 meters 0.020497145207651554 Centerline is valid? [True, True] Translation: X:201.78, Y:68.15, Z:1.69 [[ 8.08414185e-01 -5.87381336e-01 -3.80745567e-02 2.01784789e+02] [ 5.86668519e-01 8.09309601e-01 -2.89485417e-02 6.81468824e+01] [ 4.78179375e-02 1.06526794e-03 9.98855500e-01 1.68701298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53687499999998 meters 0.02130640561502946 Centerline is valid? [True, True] Translation: X:201.83, Y:68.18, Z:1.69 [[ 8.08659500e-01 -5.86986149e-01 -3.89496248e-02 2.01830135e+02] [ 5.86239177e-01 8.09596196e-01 -2.96247718e-02 6.81843996e+01] [ 4.89227987e-02 1.12255718e-03 9.98801932e-01 1.68805749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59687499999998 meters 0.020343031398149868 Centerline is valid? [True, True] Translation: X:201.88, Y:68.22, Z:1.69 [[ 8.08261560e-01 -5.87625815e-01 -3.75386703e-02 2.01877065e+02] [ 5.86932045e-01 8.09132119e-01 -2.85655055e-02 6.82203453e+01] [ 4.71595723e-02 1.05575152e-03 9.98886810e-01 1.69307902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65687499999999 meters 0.019367319442824417 Centerline is valid? [True, True] Translation: X:201.93, Y:68.26, Z:1.70 [[ 8.07039569e-01 -5.89348585e-01 -3.68154806e-02 2.01925069e+02] [ 5.88682570e-01 8.07878302e-01 -2.80264172e-02 6.82551162e+01] [ 4.62597573e-02 9.45795941e-04 9.98928997e-01 1.69858925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.716875 meters 0.019883103951169726 Centerline is valid? [True, True] Translation: X:201.97, Y:68.29, Z:1.70 [[ 8.06225138e-01 -5.90447179e-01 -3.70561106e-02 2.01969999e+02] [ 5.89773281e-01 8.07075789e-01 -2.82160908e-02 6.82909817e+01] [ 4.65672009e-02 8.93817770e-04 9.98914760e-01 1.69916421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.776875 meters 0.020131461504717514 Centerline is valid? [True, True] Translation: X:202.01, Y:68.33, Z:1.70 [[ 8.05262472e-01 -5.91781102e-01 -3.67080224e-02 2.02014852e+02] [ 5.91120801e-01 8.06098295e-01 -2.79595655e-02 6.83285531e+01] [ 4.61362168e-02 8.15913205e-04 9.98934825e-01 1.69878802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.836875 meters 0.019630632329509956 Centerline is valid? [True, True] Translation: X:202.06, Y:68.36, Z:1.70 [[ 8.05052153e-01 -5.92048595e-01 -3.70066526e-02 2.02060821e+02] [ 5.91377093e-01 8.05901849e-01 -2.82018263e-02 6.83635942e+01] [ 4.65205814e-02 8.19054364e-04 9.98916996e-01 1.70126947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.896875 meters 0.020033833542068873 Centerline is valid? [True, True] Translation: X:202.11, Y:68.40, Z:1.70 [[ 8.04385263e-01 -5.92950712e-01 -3.70648237e-02 2.02106087e+02] [ 5.92277517e-01 8.05238380e-01 -2.82576316e-02 6.83990319e+01] [ 4.66014014e-02 7.77360670e-04 9.98913262e-01 1.70313903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.956875 meters 0.020519436279556585 Centerline is valid? [True, True] Translation: X:202.15, Y:68.44, Z:1.70 [[ 8.04391776e-01 -5.92960109e-01 -3.67720017e-02 2.02149847e+02] [ 5.92297239e-01 8.05231462e-01 -2.80405727e-02 6.84352823e+01] [ 4.62369137e-02 7.75651040e-04 9.98930201e-01 1.70406654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.016875 meters 0.020247151702528804 Centerline is valid? [True, True] Translation: X:202.20, Y:68.47, Z:1.71 [[ 8.04671732e-01 -5.92528822e-01 -3.75898766e-02 2.02196849e+02] [ 5.91835138e-01 8.05548826e-01 -2.86750361e-02 6.84712765e+01] [ 4.72712663e-02 8.26981202e-04 9.98881746e-01 1.70658420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.076875 meters 0.02051148066056091 Centerline is valid? [True, True] Translation: X:202.24, Y:68.51, Z:1.71 [[ 8.06220062e-01 -5.90353490e-01 -3.86260157e-02 2.02242479e+02] [ 5.89617942e-01 8.07144210e-01 -2.94772363e-02 6.85079202e+01] [ 4.85787543e-02 9.90547376e-04 9.98818864e-01 1.70733345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.136875 meters 0.021428320735314605 Centerline is valid? [True, True] Translation: X:202.29, Y:68.55, Z:1.71 [[ 8.07514908e-01 -5.88569740e-01 -3.87986419e-02 2.02286724e+02] [ 5.87825206e-01 8.08445690e-01 -2.96157789e-02 6.85455536e+01] [ 4.87975460e-02 1.10836331e-03 9.98808075e-01 1.70772945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19687499999998 meters 0.022492760957359324 Centerline is valid? [True, True] Translation: X:202.33, Y:68.58, Z:1.71 [[ 8.09992407e-01 -5.85224008e-01 -3.77512979e-02 2.02331247e+02] [ 5.84515094e-01 8.10870653e-01 -2.88251297e-02 6.85843193e+01] [ 4.74805775e-02 1.28193276e-03 9.98871339e-01 1.71034046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25687499999998 meters 0.023593970415761605 Centerline is valid? [True, True] Translation: X:202.38, Y:68.62, Z:1.71 [[ 8.11621522e-01 -5.82985975e-01 -3.73879304e-02 2.02376104e+02] [ 5.82287792e-01 8.12480998e-01 -2.85579443e-02 6.86217314e+01] [ 4.70258640e-02 1.40770678e-03 9.98892680e-01 1.71258950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31687499999998 meters 0.024325364984542287 Centerline is valid? [True, True] Translation: X:202.42, Y:68.66, Z:1.71 [[ 8.13653416e-01 -5.80151445e-01 -3.73151344e-02 2.02421601e+02] [ 5.79452611e-01 8.14507102e-01 -2.85105695e-02 6.86588577e+01] [ 4.69338901e-02 1.57537023e-03 9.98896756e-01 1.71370355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37687499999998 meters 0.025259230689915906 Centerline is valid? [True, True] Translation: X:202.47, Y:68.70, Z:1.71 [[ 8.14140161e-01 -5.79455527e-01 -3.75112070e-02 2.02467683e+02] [ 5.78747959e-01 8.15002221e-01 -2.86736912e-02 6.86958936e+01] [ 4.71868459e-02 1.63486911e-03 9.98884742e-01 1.71436916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.436875 meters 0.025266788510476902 Centerline is valid? [True, True] Translation: X:202.51, Y:68.73, Z:1.72 [[ 8.14479181e-01 -5.79040629e-01 -3.65460544e-02 2.02514624e+02] [ 5.78367945e-01 8.15297063e-01 -2.79503080e-02 6.87304535e+01] [ 4.59802547e-02 1.62787759e-03 9.98941022e-01 1.71613978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.496875 meters 0.024798142908646962 Centerline is valid? [True, True] Translation: X:202.56, Y:68.76, Z:1.72 [[ 8.13860015e-01 -5.79937136e-01 -3.61219471e-02 2.02562623e+02] [ 5.79280192e-01 8.14659715e-01 -2.76407085e-02 6.87641426e+01] [ 4.54569684e-02 1.57093903e-03 9.98965063e-01 1.71845437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.556875 meters 0.02302126620222954 Centerline is valid? [True, True] Translation: X:202.61, Y:68.79, Z:1.72 [[ 8.13050492e-01 -5.81120629e-01 -3.53229689e-02 2.02613789e+02] [ 5.80492958e-01 8.13816083e-01 -2.70427098e-02 6.87946598e+01] [ 4.44614767e-02 1.48235378e-03 9.99010000e-01 1.72140774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.616875 meters 0.02358802482959472 Centerline is valid? [True, True] Translation: X:202.66, Y:68.83, Z:1.72 [[ 8.12213747e-01 -5.82322202e-01 -3.47804785e-02 2.02661066e+02] [ 5.81714323e-01 8.12956877e-01 -2.66376219e-02 6.88275308e+01] [ 4.37867078e-02 1.40314019e-03 9.99039917e-01 1.72201395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.676875 meters 0.023728779587303562 Centerline is valid? [True, True] Translation: X:202.71, Y:68.86, Z:1.72 [[ 8.11949449e-01 -5.82725219e-01 -3.41966572e-02 2.02709161e+02] [ 5.82137615e-01 8.12668110e-01 -2.61981021e-02 6.88617255e+01] [ 4.30568276e-02 1.36437415e-03 9.99071693e-01 1.72391328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.736875 meters 0.023595153191328246 Centerline is valid? [True, True] Translation: X:202.76, Y:68.89, Z:1.73 [[ 8.11611835e-01 -5.83152607e-01 -3.49179990e-02 2.02757087e+02] [ 5.82539712e-01 8.12361452e-01 -2.67648129e-02 6.88940932e+01] [ 4.39740068e-02 1.38151783e-03 9.99031720e-01 1.72521451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.796875 meters 0.022804345903386584 Centerline is valid? [True, True] Translation: X:202.81, Y:68.93, Z:1.73 [[ 8.11468633e-01 -5.83342166e-01 -3.50795510e-02 2.02805310e+02] [ 5.82723083e-01 8.12225329e-01 -2.69039807e-02 6.89274574e+01] [ 4.41867262e-02 1.39007230e-03 9.99022323e-01 1.72643653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.856875 meters 0.023360185989966697 Centerline is valid? [True, True] Translation: X:202.85, Y:68.96, Z:1.73 [[ 8.11114124e-01 -5.83836734e-01 -3.50506197e-02 2.02852063e+02] [ 5.83218627e-01 8.11869933e-01 -2.68932231e-02 6.89614598e+01] [ 4.41577958e-02 1.37129879e-03 9.99023628e-01 1.72764333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.916875 meters 0.022737415762192396 Centerline is valid? [True, True] Translation: X:202.90, Y:68.99, Z:1.73 [[ 8.11038732e-01 -5.83982025e-01 -3.43681392e-02 2.02900349e+02] [ 5.83387563e-01 8.11765477e-01 -2.63772888e-02 6.89946862e+01] [ 4.33027315e-02 1.34305790e-03 9.99061094e-01 1.73083944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97687499999998 meters 0.02345909433241302 Centerline is valid? [True, True] Translation: X:202.95, Y:69.03, Z:1.73 [[ 8.11132042e-01 -5.83856351e-01 -3.43011772e-02 2.02946773e+02] [ 5.83263608e-01 8.11855850e-01 -2.63370831e-02 6.90286821e+01] [ 4.32246846e-02 1.35622367e-03 9.99064456e-01 1.73169590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03687499999998 meters 0.022768225171269134 Centerline is valid? [True, True] Translation: X:203.00, Y:69.06, Z:1.73 [[ 8.10575211e-01 -5.84630486e-01 -3.42785818e-02 2.02995930e+02] [ 5.84038798e-01 8.11298618e-01 -2.63293674e-02 6.90618577e+01] [ 4.32031169e-02 1.32191085e-03 9.99065435e-01 1.73233985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09687499999998 meters 0.02285876909300529 Centerline is valid? [True, True] Translation: X:203.04, Y:69.09, Z:1.73 [[ 8.10023227e-01 -5.85352545e-01 -3.49967149e-02 2.03043626e+02] [ 5.84735838e-01 8.10777806e-01 -2.68951473e-02 6.90944754e+01] [ 4.41177026e-02 1.32186057e-03 9.99025466e-01 1.73397838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15687499999999 meters 0.022555015437668337 Centerline is valid? [True, True] Translation: X:203.09, Y:69.13, Z:1.74 [[ 8.09427760e-01 -5.86163464e-01 -3.52007744e-02 2.03092213e+02] [ 5.85539654e-01 8.10191775e-01 -2.70666160e-02 6.91284435e+01] [ 4.43848393e-02 1.29702106e-03 9.99013665e-01 1.73590406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.216875 meters 0.02105282256803367 Centerline is valid? [True, True] Translation: X:203.14, Y:69.16, Z:1.74 [[ 8.07662136e-01 -5.88635700e-01 -3.44947432e-02 2.03142349e+02] [ 5.88038354e-01 8.08397609e-01 -2.65367812e-02 6.91599525e+01] [ 4.35059647e-02 1.14852142e-03 9.99052507e-01 1.73770788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.276875 meters 0.01964983433793889 Centerline is valid? [True, True] Translation: X:203.19, Y:69.19, Z:1.74 [[ 8.05615002e-01 -5.91486180e-01 -3.35941696e-02 2.03193166e+02] [ 5.90921568e-01 8.06314542e-01 -2.58565066e-02 6.91909868e+01] [ 4.23812338e-02 9.78870240e-04 9.99101032e-01 1.74074581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.336875 meters 0.019179221267991535 Centerline is valid? [True, True] Translation: X:203.24, Y:69.22, Z:1.74 [[ 8.04261649e-01 -5.93352024e-01 -3.31145773e-02 2.03241540e+02] [ 5.92804490e-01 8.04942610e-01 -2.54996386e-02 6.92245046e+01] [ 4.17855965e-02 8.77911325e-04 9.99126215e-01 1.74310210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.396875 meters 0.018722343220555653 Centerline is valid? [True, True] Translation: X:203.29, Y:69.26, Z:1.75 [[ 8.02490055e-01 -5.95800775e-01 -3.21114990e-02 2.03289471e+02] [ 5.95287487e-01 8.03131929e-01 -2.47368522e-02 6.92572384e+01] [ 4.05280058e-02 7.35504372e-04 9.99178132e-01 1.74567511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.456875 meters 0.01808617818264742 Centerline is valid? [True, True] Translation: X:203.34, Y:69.29, Z:1.75 [[ 8.01178532e-01 -5.97507446e-01 -3.31332501e-02 2.03337794e+02] [ 5.96962107e-01 8.01863077e-01 -2.55313019e-02 6.92903990e+01] [ 4.18234729e-02 6.75836187e-04 9.99124787e-01 1.74673132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.516875 meters 0.017990797197016444 Centerline is valid? [True, True] Translation: X:203.39, Y:69.32, Z:1.75 [[ 8.00267919e-01 -5.98653046e-01 -3.44352685e-02 2.03385354e+02] [ 5.98064423e-01 8.01008181e-01 -2.65488191e-02 6.93237346e+01] [ 4.34764632e-02 6.51659189e-04 9.99054239e-01 1.74695911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.576875 meters 0.016894923809468994 Centerline is valid? [True, True] Translation: X:203.43, Y:69.36, Z:1.75 [[ 7.97830723e-01 -6.01859561e-01 -3.50885428e-02 2.03434946e+02] [ 6.01250802e-01 7.98601791e-01 -2.70675440e-02 6.93553803e+01] [ 4.43126333e-02 4.98303685e-04 9.99017589e-01 1.74824457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.636875 meters 0.01667357046856878 Centerline is valid? [True, True] Translation: X:203.48, Y:69.39, Z:1.75 [[ 7.95868207e-01 -6.04415082e-01 -3.57240229e-02 2.03483432e+02] [ 6.03786092e-01 7.96669486e-01 -2.75696305e-02 6.93873778e+01] [ 4.51237394e-02 3.72124265e-04 9.98981336e-01 1.74953013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69687499999998 meters 0.016085015259307195 Centerline is valid? [True, True] Translation: X:203.53, Y:69.42, Z:1.75 [[ 7.93564478e-01 -6.07468687e-01 -3.51740468e-02 2.03532757e+02] [ 6.06861463e-01 7.94343599e-01 -2.71553221e-02 6.94193692e+01] [ 4.44362868e-02 2.03725466e-04 9.99012200e-01 1.75340744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75687499999998 meters 0.01618325389271605 Centerline is valid? [True, True] Translation: X:203.58, Y:69.45, Z:1.76 [[ 7.90832147e-01 -6.11097385e-01 -3.38304691e-02 2.03581372e+02] [ 6.10538574e-01 7.91555422e-01 -2.61278516e-02 6.94504436e+01] [ 4.27453530e-02 7.93860942e-06 9.99086000e-01 1.75587718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81687499999998 meters 0.0160492460378968 Centerline is valid? [True, True] Translation: X:203.63, Y:69.48, Z:1.76 [[ 7.89700580e-01 -6.12586738e-01 -3.33239053e-02 2.03628755e+02] [ 6.12045533e-01 7.90403368e-01 -2.57445501e-02 6.94845210e+01] [ 4.21100970e-02 -6.52612963e-05 9.99112974e-01 1.75750334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87687499999998 meters 0.01616220430794032 Centerline is valid? [True, True] Translation: X:203.68, Y:69.52, Z:1.76 [[ 7.89466895e-01 -6.12862311e-01 -3.37906570e-02 2.03675494e+02] [ 6.12305479e-01 7.90189713e-01 -2.61193052e-02 6.95203169e+01] [ 4.27085673e-02 -6.98776668e-05 9.99087570e-01 1.75818710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.936875 meters 0.01627802267544875 Centerline is valid? [True, True] Translation: X:203.72, Y:69.56, Z:1.76 [[ 7.90509887e-01 -6.11473811e-01 -3.45528081e-02 2.03721382e+02] [ 6.10889649e-01 7.91264670e-01 -2.67218717e-02 6.95576540e+01] [ 4.36801410e-02 1.59509837e-05 9.99045567e-01 1.75965351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.996875 meters 0.016532323835654294 Centerline is valid? [True, True] Translation: X:203.77, Y:69.60, Z:1.76 [[ 7.92238021e-01 -6.09134602e-01 -3.62485197e-02 2.03765659e+02] [ 6.08488667e-01 7.93066839e-01 -2.80451677e-02 6.95953890e+01] [ 4.58307809e-02 1.61634751e-04 9.98949205e-01 1.75838735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.056875 meters 0.0168637114443214 Centerline is valid? [True, True] Translation: X:203.81, Y:69.63, Z:1.76 [[ 7.94219372e-01 -6.06564756e-01 -3.59831338e-02 2.03810383e+02] [ 6.05925161e-01 7.95034023e-01 -2.78496266e-02 6.96337845e+01] [ 4.55004175e-02 3.15626836e-04 9.98964270e-01 1.75987051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.116875 meters 0.01752587640462086 Centerline is valid? [True, True] Translation: X:203.85, Y:69.67, Z:1.76 [[ 7.97825234e-01 -6.01872788e-01 -3.49863288e-02 2.03853125e+02] [ 6.01263052e-01 7.98591769e-01 -2.70911259e-02 6.96744028e+01] [ 4.42452057e-02 5.77997028e-04 9.99020534e-01 1.76291483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.176875 meters 0.01830700270955063 Centerline is valid? [True, True] Translation: X:203.90, Y:69.71, Z:1.76 [[ 7.99439557e-01 -5.99764212e-01 -3.43407181e-02 2.03896554e+02] [ 5.99174408e-01 8.00176489e-01 -2.66010290e-02 6.97133391e+01] [ 4.34329805e-02 6.89835402e-04 9.99056105e-01 1.76392925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.236875 meters 0.01816623661128611 Centerline is valid? [True, True] Translation: X:203.94, Y:69.75, Z:1.77 [[ 8.00915106e-01 -5.97822571e-01 -3.38107555e-02 2.03941966e+02] [ 5.97248782e-01 8.01628063e-01 -2.61981164e-02 6.97507890e+01] [ 4.27654758e-02 7.89034631e-04 9.99084827e-01 1.76786442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.296875 meters 0.018417166265619907 Centerline is valid? [True, True] Translation: X:203.99, Y:69.79, Z:1.77 [[ 8.00752818e-01 -5.98015385e-01 -3.42421302e-02 2.03987113e+02] [ 5.97426445e-01 8.01484223e-01 -2.65458666e-02 6.97882325e+01] [ 4.33193638e-02 7.99523397e-04 9.99060956e-01 1.76925383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.356875 meters 0.018991725088345467 Centerline is valid? [True, True] Translation: X:204.03, Y:69.83, Z:1.77 [[ 8.00969203e-01 -5.97745234e-01 -3.38964730e-02 2.04030624e+02] [ 5.97167401e-01 8.01685706e-01 -2.62892447e-02 6.98257952e+01] [ 4.28885886e-02 8.15006695e-04 9.99079529e-01 1.76992448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.416875 meters 0.019005220758356995 Centerline is valid? [True, True] Translation: X:204.08, Y:69.86, Z:1.77 [[ 8.01322184e-01 -5.97230362e-01 -3.46215590e-02 2.04075893e+02] [ 5.96626592e-01 8.02069286e-01 -2.68620585e-02 6.98632928e+01] [ 4.38117260e-02 8.69020650e-04 9.99039427e-01 1.77104017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47687499999998 meters 0.019423985192150786 Centerline is valid? [True, True] Translation: X:204.12, Y:69.90, Z:1.77 [[ 8.01751962e-01 -5.96601027e-01 -3.55106505e-02 2.04120095e+02] [ 5.95964592e-01 8.02537436e-01 -2.75657423e-02 6.99020544e+01] [ 4.49443765e-02 9.37797659e-04 9.98989051e-01 1.77187403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53687499999998 meters 0.018761565092417932 Centerline is valid? [True, True] Translation: X:204.17, Y:69.94, Z:1.78 [[ 8.00593379e-01 -5.98178092e-01 -3.51171222e-02 2.04166559e+02] [ 5.97556605e-01 8.01362744e-01 -2.72737322e-02 6.99375503e+01] [ 4.44561025e-02 8.50701117e-04 9.99010977e-01 1.77500846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59687499999998 meters 0.017808838293078638 Centerline is valid? [True, True] Translation: X:204.21, Y:69.97, Z:1.78 [[ 7.98826782e-01 -6.00606809e-01 -3.38708308e-02 2.04213842e+02] [ 6.00030297e-01 7.99544227e-01 -2.63186633e-02 6.99722044e+01] [ 4.28883956e-02 7.00528451e-04 9.99079624e-01 1.77910399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65687499999999 meters 0.016956741005800725 Centerline is valid? [True, True] Translation: X:204.26, Y:70.01, Z:1.78 [[ 7.96246400e-01 -6.04115099e-01 -3.21965451e-02 2.04261673e+02] [ 6.03596642e-01 7.96896921e-01 -2.50278082e-02 7.00070893e+01] [ 4.07770045e-02 4.94575696e-04 9.99168150e-01 1.78409442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.716875 meters 0.016527378301297104 Centerline is valid? [True, True] Translation: X:204.31, Y:70.04, Z:1.79 [[ 7.94438854e-01 -6.06497534e-01 -3.20569537e-02 2.04308518e+02] [ 6.05985156e-01 7.95085278e-01 -2.49277295e-02 7.00432086e+01] [ 4.06066184e-02 3.77518799e-04 9.99175140e-01 1.78558445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.776875 meters 0.016376970210704556 Centerline is valid? [True, True] Translation: X:204.36, Y:70.08, Z:1.79 [[ 7.92033752e-01 -6.09616222e-01 -3.24129075e-02 2.04355114e+02] [ 6.09094583e-01 7.92696669e-01 -2.52146729e-02 7.00777192e+01] [ 4.10648774e-02 2.28345664e-04 9.99156456e-01 1.78651750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.836875 meters 0.016336940798265552 Centerline is valid? [True, True] Translation: X:204.40, Y:70.11, Z:1.79 [[ 7.90705080e-01 -6.11326787e-01 -3.26348807e-02 2.04401571e+02] [ 6.10799105e-01 7.91378252e-01 -2.53951785e-02 7.01129689e+01] [ 4.13512877e-02 1.46740700e-04 9.99144659e-01 1.78784851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.896875 meters 0.01632036464224141 Centerline is valid? [True, True] Translation: X:204.45, Y:70.15, Z:1.79 [[ 7.90028257e-01 -6.12203057e-01 -3.26001493e-02 2.04447743e+02] [ 6.11676649e-01 7.90700578e-01 -2.53825139e-02 7.01486982e+01] [ 4.13162095e-02 1.12153112e-04 9.99146115e-01 1.78961441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.956875 meters 0.01644661120812685 Centerline is valid? [True, True] Translation: X:204.49, Y:70.19, Z:1.79 [[ 7.90836508e-01 -6.11145733e-01 -3.28406828e-02 2.04493551e+02] [ 6.10610033e-01 7.91518074e-01 -2.55837212e-02 7.01860783e+01] [ 4.16293760e-02 1.79690309e-04 9.99133106e-01 1.79122834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.016875 meters 0.016940677765858853 Centerline is valid? [True, True] Translation: X:204.54, Y:70.23, Z:1.79 [[ 7.93770013e-01 -6.07277414e-01 -3.38128372e-02 2.04537985e+02] [ 6.06705420e-01 7.94489760e-01 -2.63544244e-02 7.02252081e+01] [ 4.28683996e-02 4.04920265e-04 9.99080646e-01 1.79205907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.076875 meters 0.01735910021936003 Centerline is valid? [True, True] Translation: X:204.58, Y:70.26, Z:1.79 [[ 7.96047180e-01 -6.04292522e-01 -3.37555154e-02 2.04582243e+02] [ 6.03719341e-01 7.96762336e-01 -2.63199215e-02 7.02633240e+01] [ 4.28000551e-02 5.73041783e-04 9.99083493e-01 1.79356875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.136875 meters 0.018976988884001227 Centerline is valid? [True, True] Translation: X:204.62, Y:70.30, Z:1.79 [[ 7.99067907e-01 -6.00316671e-01 -3.33222910e-02 2.04624910e+02] [ 5.99754450e-01 7.99762018e-01 -2.59867985e-02 7.03023597e+01] [ 4.22502111e-02 7.80024365e-04 9.99106757e-01 1.79431606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19687499999998 meters 0.01918313183035018 Centerline is valid? [True, True] Translation: X:204.67, Y:70.34, Z:1.80 [[ 8.00101499e-01 -5.99011474e-01 -3.19819500e-02 2.04671066e+02] [ 5.98492267e-01 8.00740021e-01 -2.49484387e-02 7.03394464e+01] [ 4.05536283e-02 8.20333422e-04 9.99177026e-01 1.79758158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25687499999998 meters 0.018909047268089247 Centerline is valid? [True, True] Translation: X:204.72, Y:70.38, Z:1.80 [[ 8.00596520e-01 -5.98391499e-01 -3.11901664e-02 2.04717990e+02] [ 5.97896752e-01 8.01203413e-01 -2.43426724e-02 7.03752248e+01] [ 3.95561159e-02 8.40159633e-04 9.99216997e-01 1.79923665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31687499999998 meters 0.019773984515052342 Centerline is valid? [True, True] Translation: X:204.76, Y:70.41, Z:1.80 [[ 8.00413240e-01 -5.98563831e-01 -3.25574136e-02 2.04763026e+02] [ 5.98024401e-01 8.01074635e-01 -2.54213637e-02 7.04108097e+01] [ 4.12972271e-02 8.77468391e-04 9.99146520e-01 1.79925253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37687499999998 meters 0.019167787302027693 Centerline is valid? [True, True] Translation: X:204.81, Y:70.45, Z:1.80 [[ 7.99921248e-01 -5.99218170e-01 -3.26126097e-02 2.04809894e+02] [ 5.98677030e-01 8.00585321e-01 -2.54746389e-02 7.04454494e+01] [ 4.13740431e-02 8.53284631e-04 9.99143363e-01 1.80181321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.436875 meters 0.019382700539240526 Centerline is valid? [True, True] Translation: X:204.86, Y:70.48, Z:1.80 [[ 7.99945678e-01 -5.99236901e-01 -3.16551489e-02 2.04855776e+02] [ 5.98726559e-01 8.00571318e-01 -2.47400985e-02 7.04824485e+01] [ 4.01673842e-02 8.37956510e-04 9.99192614e-01 1.80360673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.496875 meters 0.019317351491296715 Centerline is valid? [True, True] Translation: X:204.90, Y:70.52, Z:1.81 [[ 7.99905144e-01 -5.99356177e-01 -3.03962819e-02 2.04902773e+02] [ 5.98885283e-01 8.00482055e-01 -2.37675602e-02 7.05187620e+01] [ 3.85769122e-02 8.07907748e-04 9.99255307e-01 1.80645586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.556875 meters 0.018943897478999005 Centerline is valid? [True, True] Translation: X:204.95, Y:70.55, Z:1.81 [[ 7.99988332e-01 -5.99278188e-01 -2.97375487e-02 2.04949336e+02] [ 5.98827014e-01 8.00540448e-01 -2.32636763e-02 7.05529492e+01] [ 3.77475243e-02 8.03022109e-04 9.99286986e-01 1.80992967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.616875 meters 0.018945281441659027 Centerline is valid? [True, True] Translation: X:204.99, Y:70.59, Z:1.81 [[ 7.99897238e-01 -5.99390983e-01 -2.99141806e-02 2.04994902e+02] [ 5.98933993e-01 8.00455987e-01 -2.34154569e-02 7.05885429e+01] [ 3.79799987e-02 8.13339667e-04 9.99278169e-01 1.81089260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.676875 meters 0.019163223280456325 Centerline is valid? [True, True] Translation: X:205.04, Y:70.62, Z:1.81 [[ 8.00522145e-01 -5.98520210e-01 -3.06243915e-02 2.05041347e+02] [ 5.98040086e-01 8.01107217e-01 -2.39850601e-02 7.06242325e+01] [ 3.88889643e-02 8.85957978e-04 9.99243145e-01 1.81132568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.736875 meters 0.01945956798638823 Centerline is valid? [True, True] Translation: X:205.09, Y:70.66, Z:1.81 [[ 8.00399352e-01 -5.98660301e-01 -3.10921237e-02 2.05086699e+02] [ 5.98165051e-01 8.01002516e-01 -2.43627064e-02 7.06596602e+01] [ 3.94898545e-02 9.01672644e-04 9.99219565e-01 1.81103330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.796875 meters 0.019992607100496048 Centerline is valid? [True, True] Translation: X:205.13, Y:70.70, Z:1.81 [[ 8.00899392e-01 -5.98022186e-01 -3.04898138e-02 2.05133020e+02] [ 5.97545131e-01 8.01479017e-01 -2.38998232e-02 7.06965839e+01] [ 3.87295705e-02 9.22314083e-04 9.99249303e-01 1.81297625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.856875 meters 0.020446125870190446 Centerline is valid? [True, True] Translation: X:205.18, Y:70.73, Z:1.81 [[ 8.01795412e-01 -5.96809653e-01 -3.06978180e-02 2.05178958e+02] [ 5.96324705e-01 8.02382231e-01 -2.40749274e-02 7.07334432e+01] [ 3.89995327e-02 9.97299038e-04 9.99238731e-01 1.81393722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.916875 meters 0.021665061395115332 Centerline is valid? [True, True] Translation: X:205.22, Y:70.77, Z:1.81 [[ 8.03012011e-01 -5.95076476e-01 -3.24915200e-02 2.05223965e+02] [ 5.94531293e-01 8.03668251e-01 -2.54928417e-02 7.07705982e+01] [ 4.12825934e-02 1.15383271e-03 9.99146844e-01 1.81334026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97687499999998 meters 0.02156796965101158 Centerline is valid? [True, True] Translation: X:205.27, Y:70.81, Z:1.82 [[ 8.03645577e-01 -5.94192011e-01 -3.30097212e-02 2.05270517e+02] [ 5.93628259e-01 8.04322296e-01 -2.59062401e-02 7.08057600e+01] [ 4.19437356e-02 1.22393191e-03 9.99119225e-01 1.81514238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03687499999998 meters 0.022251213308659246 Centerline is valid? [True, True] Translation: X:205.31, Y:70.84, Z:1.82 [[ 8.03999705e-01 -5.93761542e-01 -3.21201772e-02 2.05314959e+02] [ 5.93227142e-01 8.04640135e-01 -2.52153103e-02 7.08412426e+01] [ 4.08170652e-02 1.21854119e-03 9.99165893e-01 1.81694654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09687499999998 meters 0.020823086298338813 Centerline is valid? [True, True] Translation: X:205.36, Y:70.87, Z:1.82 [[ 8.03250547e-01 -5.94797744e-01 -3.16891514e-02 2.05363192e+02] [ 5.94278013e-01 8.03874557e-01 -2.48865461e-02 7.08746758e+01] [ 4.02765640e-02 1.15796581e-03 9.99187899e-01 1.82050749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15687499999999 meters 0.021516791059050012 Centerline is valid? [True, True] Translation: X:205.41, Y:70.91, Z:1.82 [[ 8.03507424e-01 -5.94463848e-01 -3.14412627e-02 2.05407933e+02] [ 5.93951537e-01 8.04121480e-01 -2.47025721e-02 7.09112156e+01] [ 3.99673807e-02 1.17411379e-03 9.99200295e-01 1.82141518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.216875 meters 0.02145315262819904 Centerline is valid? [True, True] Translation: X:205.45, Y:70.95, Z:1.82 [[ 8.02940179e-01 -5.95223209e-01 -3.15657955e-02 2.05454051e+02] [ 5.94707081e-01 8.03559590e-01 -2.48087356e-02 7.09480456e+01] [ 4.01317329e-02 1.14752854e-03 9.99193739e-01 1.82223259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.276875 meters 0.021359987672448445 Centerline is valid? [True, True] Translation: X:205.50, Y:70.98, Z:1.82 [[ 8.01900874e-01 -5.96640805e-01 -3.12207992e-02 2.05500958e+02] [ 5.96136560e-01 8.02507694e-01 -2.45479873e-02 7.09844071e+01] [ 3.97012624e-02 1.07319267e-03 9.99211018e-01 1.82341242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.336875 meters 0.021278643344884433 Centerline is valid? [True, True] Translation: X:205.55, Y:71.02, Z:1.82 [[ 8.01722093e-01 -5.96878259e-01 -3.12734677e-02 2.05545411e+02] [ 5.96372147e-01 8.02331103e-01 -2.45980429e-02 7.10216497e+01] [ 3.97737128e-02 1.07016936e-03 9.99208140e-01 1.82409556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.396875 meters 0.021663573192760407 Centerline is valid? [True, True] Translation: X:205.59, Y:71.06, Z:1.82 [[ 8.02147305e-01 -5.96300795e-01 -3.13857191e-02 2.05590962e+02] [ 5.95790066e-01 8.02760314e-01 -2.46997105e-02 7.10594597e+01] [ 3.99236667e-02 1.11350658e-03 9.99202112e-01 1.82462101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.456875 meters 0.02100013172063488 Centerline is valid? [True, True] Translation: X:205.64, Y:71.09, Z:1.83 [[ 8.02219256e-01 -5.96175593e-01 -3.19206628e-02 2.05638237e+02] [ 5.95646684e-01 8.02853251e-01 -2.51333536e-02 7.10949021e+01] [ 4.06114999e-02 1.14902331e-03 9.99174352e-01 1.82653743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.516875 meters 0.020876679002043593 Centerline is valid? [True, True] Translation: X:205.68, Y:71.13, Z:1.83 [[ 8.01338279e-01 -5.97368364e-01 -3.17490139e-02 2.05684116e+02] [ 5.96845550e-01 8.01966236e-01 -2.50109184e-02 7.11310769e+01] [ 4.04023686e-02 1.09294861e-03 9.99182893e-01 1.82764610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.576875 meters 0.020071606266388556 Centerline is valid? [True, True] Translation: X:205.73, Y:71.17, Z:1.83 [[ 8.00045599e-01 -5.99126823e-01 -3.12104179e-02 2.05731632e+02] [ 5.98622451e-01 8.00653518e-01 -2.45988848e-02 7.11657003e+01] [ 3.97265826e-02 9.96972701e-04 9.99210090e-01 1.82972172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.636875 meters 0.01924383205669306 Centerline is valid? [True, True] Translation: X:205.78, Y:71.20, Z:1.83 [[ 7.97465229e-01 -6.02602568e-01 -3.03208317e-02 2.05779390e+02] [ 6.02128681e-01 7.98041034e-01 -2.39073064e-02 7.11984242e+01] [ 3.86038721e-02 8.08203199e-04 9.99254266e-01 1.83228741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69687499999998 meters 0.01802151581870522 Centerline is valid? [True, True] Translation: X:205.83, Y:71.23, Z:1.83 [[ 7.94851402e-01 -6.06053805e-01 -3.01667750e-02 2.05827945e+02] [ 6.05586956e-01 7.95423392e-01 -2.37921518e-02 7.12313933e+01] [ 3.84146826e-02 6.42619768e-04 9.99261677e-01 1.83461554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75687499999998 meters 0.016611501820136106 Centerline is valid? [True, True] Translation: X:205.88, Y:71.26, Z:1.84 [[ 7.91036565e-01 -6.11060957e-01 -2.94220968e-02 2.05877481e+02] [ 6.10619905e-01 7.91583443e-01 -2.32160502e-02 7.12636951e+01] [ 3.74764666e-02 3.99026645e-04 9.99297431e-01 1.83685404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81687499999998 meters 0.016331674286646395 Centerline is valid? [True, True] Translation: X:205.93, Y:71.30, Z:1.84 [[ 7.89042147e-01 -6.13664056e-01 -2.87909135e-02 2.05926161e+02] [ 6.13243060e-01 7.89567191e-01 -2.27288499e-02 7.12978088e+01] [ 3.66802389e-02 2.78192612e-04 9.99327015e-01 1.83901107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87687499999998 meters 0.01623787239376809 Centerline is valid? [True, True] Translation: X:205.97, Y:71.33, Z:1.84 [[ 7.88343885e-01 -6.14600167e-01 -2.79384049e-02 2.05972449e+02] [ 6.14203968e-01 7.88838754e-01 -2.20659485e-02 7.13334503e+01] [ 3.56006321e-02 2.35676462e-04 9.99366069e-01 1.84000963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.936875 meters 0.016503178628337164 Centerline is valid? [True, True] Translation: X:206.02, Y:71.37, Z:1.84 [[ 7.89696022e-01 -6.12863675e-01 -2.78981881e-02 2.06018113e+02] [ 6.12467146e-01 7.90188593e-01 -2.20450017e-02 7.13714013e+01] [ 3.55554107e-02 3.22126537e-04 9.99367655e-01 1.84223670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.996875 meters 0.01664908127879759 Centerline is valid? [True, True] Translation: X:206.06, Y:71.41, Z:1.84 [[ 7.91110920e-01 -6.11035235e-01 -2.79187116e-02 2.06062950e+02] [ 6.10636596e-01 7.91603292e-01 -2.20720631e-02 7.14090742e+01] [ 3.55873523e-02 4.13263148e-04 9.99366484e-01 1.84397657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.056875 meters 0.017427775949987054 Centerline is valid? [True, True] Translation: X:206.11, Y:71.45, Z:1.84 [[ 7.92790775e-01 -6.08830572e-01 -2.84274858e-02 2.06106165e+02] [ 6.08415498e-01 7.93300104e-01 -2.24839352e-02 7.14481924e+01] [ 3.62404345e-02 5.29333443e-04 9.99342960e-01 1.84462797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.116875 meters 0.017762275737851274 Centerline is valid? [True, True] Translation: X:206.15, Y:71.49, Z:1.85 [[ 7.94044273e-01 -6.07165147e-01 -2.90547240e-02 2.06151421e+02] [ 6.06730209e-01 7.94575419e-01 -2.29860272e-02 7.14855116e+01] [ 3.70424841e-02 6.23544564e-04 9.99313497e-01 1.84617621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.176875 meters 0.0187210480356246 Centerline is valid? [True, True] Translation: X:206.19, Y:71.53, Z:1.85 [[ 7.96009883e-01 -6.04583455e-01 -2.91051914e-02 2.06194669e+02] [ 6.04144847e-01 7.96541447e-01 -2.30374977e-02 7.15262052e+01] [ 3.71115812e-02 7.54324432e-04 9.99310843e-01 1.84588440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.236875 meters 0.01950114416526427 Centerline is valid? [True, True] Translation: X:206.24, Y:71.56, Z:1.85 [[ 7.97662439e-01 -6.02366213e-01 -2.98258101e-02 2.06238981e+02] [ 6.01903599e-01 7.98219366e-01 -2.36199476e-02 7.15649887e+01] [ 3.80353976e-02 8.88482602e-04 9.99275997e-01 1.84726154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.296875 meters 0.01785528891719597 Centerline is valid? [True, True] Translation: X:206.29, Y:71.60, Z:1.85 [[ 7.93492364e-01 -6.07903768e-01 -2.86858448e-02 2.06287259e+02] [ 6.07479039e-01 7.94010478e-01 -2.27283628e-02 7.15988944e+01] [ 3.65935187e-02 6.08732907e-04 9.99330047e-01 1.85263205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.356875 meters 0.016851962121440293 Centerline is valid? [True, True] Translation: X:206.33, Y:71.64, Z:1.85 [[ 7.89703200e-01 -6.12805241e-01 -2.89584755e-02 2.06333258e+02] [ 6.12375242e-01 7.90233877e-01 -2.29560809e-02 7.16358846e+01] [ 3.69515751e-02 3.95037039e-04 9.99316979e-01 1.85359440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.416875 meters 0.016767302537924807 Centerline is valid? [True, True] Translation: X:206.38, Y:71.67, Z:1.85 [[ 7.88227474e-01 -6.14615282e-01 -3.07490628e-02 2.06376977e+02] [ 6.14131302e-01 7.88826939e-01 -2.43886164e-02 7.16745292e+01] [ 3.92453055e-02 3.39815525e-04 9.99229548e-01 1.85001410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47687499999998 meters 0.016696928142274126 Centerline is valid? [True, True] Translation: X:206.42, Y:71.71, Z:1.85 [[ 7.87631808e-01 -6.15303897e-01 -3.22063724e-02 2.06422355e+02] [ 6.14772922e-01 7.88289924e-01 -2.55587543e-02 7.17117341e+01] [ 4.11143600e-02 3.31282213e-04 9.99154392e-01 1.85031315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53687499999998 meters 0.01696725167527969 Centerline is valid? [True, True] Translation: X:206.47, Y:71.75, Z:1.85 [[ 7.87694713e-01 -6.15240898e-01 -3.18696835e-02 2.06466477e+02] [ 6.14720477e-01 7.88339090e-01 -2.53024404e-02 7.17476484e+01] [ 4.06912135e-02 3.39651492e-04 9.99171712e-01 1.85261210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59687499999998 meters 0.017021994393454507 Centerline is valid? [True, True] Translation: X:206.51, Y:71.79, Z:1.86 [[ 7.89057254e-01 -6.13535019e-01 -3.10391583e-02 2.06510400e+02] [ 6.13039712e-01 7.89667399e-01 -2.46518063e-02 7.17864699e+01] [ 3.96353579e-02 4.23449902e-04 9.99214121e-01 1.85704119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65687499999999 meters 0.017781111799858387 Centerline is valid? [True, True] Translation: X:206.55, Y:71.83, Z:1.86 [[ 7.90523114e-01 -6.11662278e-01 -3.06995763e-02 2.06554056e+02] [ 6.11175871e-01 7.91118819e-01 -2.43940356e-02 7.18264112e+01] [ 3.92079239e-02 5.21208763e-04 9.99230938e-01 1.85709724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.716875 meters 0.017943136460657517 Centerline is valid? [True, True] Translation: X:206.60, Y:71.86, Z:1.86 [[ 7.92383134e-01 -6.09310446e-01 -2.94915155e-02 2.06598236e+02] [ 6.08859528e-01 7.92931519e-01 -2.34452804e-02 7.18649545e+01] [ 3.76702065e-02 6.21454560e-04 9.99290033e-01 1.86030619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.776875 meters 0.01861003707873937 Centerline is valid? [True, True] Translation: X:206.64, Y:71.90, Z:1.86 [[ 7.93295585e-01 -6.08132596e-01 -2.92721799e-02 2.06641993e+02] [ 6.07687201e-01 7.93835174e-01 -2.32805233e-02 7.19033921e+01] [ 3.73949311e-02 6.80007246e-04 9.99300334e-01 1.86160865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.836875 meters 0.018765492998634985 Centerline is valid? [True, True] Translation: X:206.69, Y:71.94, Z:1.86 [[ 7.94217860e-01 -6.06975682e-01 -2.82579719e-02 2.06687026e+02] [ 6.06559692e-01 7.94720085e-01 -2.24794879e-02 7.19413982e+01] [ 3.61016803e-02 7.13464031e-04 9.99347867e-01 1.86457292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.896875 meters 0.019128577359216338 Centerline is valid? [True, True] Translation: X:206.73, Y:71.98, Z:1.87 [[ 7.95197159e-01 -6.05719543e-01 -2.76643104e-02 2.06732126e+02] [ 6.05319712e-01 7.95677858e-01 -2.20180195e-02 7.19795001e+01] [ 3.53486239e-02 7.62914129e-04 9.99374751e-01 1.86645026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.956875 meters 0.019389438618497044 Centerline is valid? [True, True] Translation: X:206.78, Y:72.02, Z:1.87 [[ 7.95193185e-01 -6.05697951e-01 -2.82451967e-02 2.06777864e+02] [ 6.05280721e-01 7.95694269e-01 -2.24917626e-02 7.20163923e+01] [ 3.60977557e-02 7.89023276e-04 9.99347952e-01 1.86626085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.016875 meters 0.019785036434998335 Centerline is valid? [True, True] Translation: X:206.82, Y:72.05, Z:1.87 [[ 7.95044488e-01 -6.05854058e-01 -2.90710050e-02 2.06824685e+02] [ 6.05411731e-01 7.95575388e-01 -2.31611259e-02 7.20527946e+01] [ 3.71604382e-02 8.14198029e-04 9.99308981e-01 1.86688609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.076875 meters 0.019591459072405566 Centerline is valid? [True, True] Translation: X:206.87, Y:72.09, Z:1.87 [[ 7.94593794e-01 -6.06431778e-01 -2.93462342e-02 2.06870717e+02] [ 6.05980974e-01 7.95135116e-01 -2.33924569e-02 7.20875937e+01] [ 3.75201506e-02 8.04241496e-04 9.99295548e-01 1.86831116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.136875 meters 0.018523483682748903 Centerline is valid? [True, True] Translation: X:206.92, Y:72.12, Z:1.87 [[ 7.93444288e-01 -6.07933992e-01 -2.93670341e-02 2.06919459e+02] [ 6.07483091e-01 7.93987222e-01 -2.34219038e-02 7.21208360e+01] [ 3.75560213e-02 7.43999094e-04 9.99294247e-01 1.86972596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19687499999998 meters 0.018288185473433766 Centerline is valid? [True, True] Translation: X:206.97, Y:72.15, Z:1.87 [[ 7.91574064e-01 -6.10355406e-01 -2.96104633e-02 2.06967542e+02] [ 6.09898288e-01 7.92127430e-01 -2.36265429e-02 7.21530990e+01] [ 3.78758484e-02 6.42787728e-04 9.99282246e-01 1.87161764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25687499999998 meters 0.017526202286682294 Centerline is valid? [True, True] Translation: X:207.02, Y:72.19, Z:1.87 [[ 7.89694628e-01 -6.12806203e-01 -2.91710644e-02 2.07017326e+02] [ 6.12363953e-01 7.90233056e-01 -2.32831515e-02 7.21858227e+01] [ 3.73199990e-02 5.23271320e-04 9.99303229e-01 1.87450163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31687499999998 meters 0.01662233720590537 Centerline is valid? [True, True] Translation: X:207.07, Y:72.22, Z:1.88 [[ 7.86491638e-01 -6.16894859e-01 -2.95234755e-02 2.07068982e+02] [ 6.16444304e-01 7.87045498e-01 -2.35755068e-02 7.22156300e+01] [ 3.77799274e-02 3.42360641e-04 9.99286025e-01 1.87667513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37687499999998 meters 0.016500042525780027 Centerline is valid? [True, True] Translation: X:207.12, Y:72.25, Z:1.88 [[ 7.85541107e-01 -6.18074588e-01 -3.01491777e-02 2.07116600e+02] [ 6.17605110e-01 7.86119401e-01 -2.40876657e-02 7.22483852e+01] [ 3.85888275e-02 3.01565323e-04 9.99255128e-01 1.87841003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.436875 meters 0.016540074038229303 Centerline is valid? [True, True] Translation: X:207.16, Y:72.28, Z:1.88 [[ 7.85291715e-01 -6.18364714e-01 -3.06920843e-02 2.07163631e+02] [ 6.17877916e-01 7.85891207e-01 -2.45334718e-02 7.22827157e+01] [ 3.92912725e-02 3.01971110e-04 9.99227754e-01 1.87782844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.496875 meters 0.016538714599794654 Centerline is valid? [True, True] Translation: X:207.21, Y:72.32, Z:1.88 [[ 7.83739921e-01 -6.20337490e-01 -3.05472514e-02 2.07211296e+02] [ 6.19856427e-01 7.84334976e-01 -2.44265388e-02 7.23165287e+01] [ 3.91119755e-02 2.09143469e-04 9.99234812e-01 1.88033272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.556875 meters 0.016205618832390592 Centerline is valid? [True, True] Translation: X:207.26, Y:72.35, Z:1.89 [[ 7.79715144e-01 -6.25431353e-01 -2.96633845e-02 2.07261440e+02] [ 6.24980944e-01 7.80279194e-01 -2.37318119e-02 7.23486192e+01] [ 3.79883410e-02 -3.49969087e-05 9.99278182e-01 1.88591364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.616875 meters 0.01615676851969931 Centerline is valid? [True, True] Translation: X:207.31, Y:72.39, Z:1.89 [[ 7.79142893e-01 -6.26115415e-01 -3.02628230e-02 2.07306174e+02] [ 6.25646722e-01 7.79730391e-01 -2.42218297e-02 7.23851931e+01] [ 3.87625038e-02 -6.15694826e-05 9.99248450e-01 1.88740984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.676875 meters 0.01623414422868949 Centerline is valid? [True, True] Translation: X:207.35, Y:72.42, Z:1.89 [[ 7.79797152e-01 -6.25327129e-01 -2.97049494e-02 2.07348801e+02] [ 6.24874684e-01 7.80362724e-01 -2.37833510e-02 7.24247685e+01] [ 3.80530098e-02 -1.56815017e-05 9.99275722e-01 1.88850801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.736875 meters 0.01609695136152176 Centerline is valid? [True, True] Translation: X:207.39, Y:72.46, Z:1.89 [[ 7.81060728e-01 -6.23757817e-01 -2.95012518e-02 2.07391463e+02] [ 6.23309990e-01 7.81617669e-01 -2.36320853e-02 7.24632684e+01] [ 3.77993976e-02 6.96688438e-05 9.99285345e-01 1.88964196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.796875 meters 0.016549799579542952 Centerline is valid? [True, True] Translation: X:207.43, Y:72.50, Z:1.89 [[ 7.83057061e-01 -6.21241974e-01 -2.96656282e-02 2.07434318e+02] [ 6.20787005e-01 7.83618766e-01 -2.37723364e-02 7.25034093e+01] [ 3.80149161e-02 1.99059364e-04 9.99277152e-01 1.89211879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.856875 meters 0.016670294850278978 Centerline is valid? [True, True] Translation: X:207.48, Y:72.54, Z:1.89 [[ 7.84363125e-01 -6.19570167e-01 -3.01213516e-02 2.07478028e+02] [ 6.19099412e-01 7.84941222e-01 -2.41494594e-02 7.25424259e+01] [ 3.86057751e-02 2.93834379e-04 9.99254476e-01 1.89465434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.916875 meters 0.01710683020352197 Centerline is valid? [True, True] Translation: X:207.52, Y:72.58, Z:1.90 [[ 7.86641545e-01 -6.16661780e-01 -3.03863338e-02 2.07519947e+02] [ 6.16180054e-01 7.87228078e-01 -2.43740565e-02 7.25841811e+01] [ 3.89515242e-02 4.50192650e-04 9.99241000e-01 1.89505283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97687499999998 meters 0.017118057709348173 Centerline is valid? [True, True] Translation: X:207.56, Y:72.62, Z:1.90 [[ 7.87745922e-01 -6.15256437e-01 -3.02634921e-02 2.07564168e+02] [ 6.14777095e-01 7.88326860e-01 -2.42875385e-02 7.26232500e+01] [ 3.88005881e-02 5.27107673e-04 9.99246835e-01 1.89709597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03687499999998 meters 0.017784594763412723 Centerline is valid? [True, True] Translation: X:207.61, Y:72.66, Z:1.90 [[ 7.89098422e-01 -6.13564557e-01 -2.93634952e-02 2.07606349e+02] [ 6.13111769e-01 7.89644334e-01 -2.35750829e-02 7.26623837e+01] [ 3.76515529e-02 5.99956252e-04 9.99290749e-01 1.89840197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09687499999998 meters 0.017737705721618813 Centerline is valid? [True, True] Translation: X:207.65, Y:72.70, Z:1.90 [[ 7.89673908e-01 -6.12844231e-01 -2.89321339e-02 2.07651662e+02] [ 6.12403922e-01 7.90203488e-01 -2.32354221e-02 7.27000331e+01] [ 3.71019674e-02 6.30254285e-04 9.99311286e-01 1.90128181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15687499999999 meters 0.018720958682873084 Centerline is valid? [True, True] Translation: X:207.69, Y:72.74, Z:1.90 [[ 7.90952429e-01 -6.11195517e-01 -2.88841759e-02 2.07693689e+02] [ 6.10755204e-01 7.91479330e-01 -2.32066994e-02 7.27404427e+01] [ 3.70450589e-02 7.14234495e-04 9.99313341e-01 1.90146494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.216875 meters 0.01841366727561977 Centerline is valid? [True, True] Translation: X:207.74, Y:72.78, Z:1.90 [[ 7.91303339e-01 -6.10676826e-01 -3.02132402e-02 2.07739542e+02] [ 6.10194403e-01 7.91879542e-01 -2.42812811e-02 7.27780679e+01] [ 3.87532624e-02 7.77908764e-04 9.99248507e-01 1.90266898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.276875 meters 0.018556973672846876 Centerline is valid? [True, True] Translation: X:207.78, Y:72.81, Z:1.90 [[ 7.90744508e-01 -6.11401984e-01 -3.01784160e-02 2.07784037e+02] [ 6.10920813e-01 7.91319817e-01 -2.42633036e-02 7.28149746e+01] [ 3.87154106e-02 7.49451677e-04 9.99249996e-01 1.90428695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.336875 meters 0.018061686529606217 Centerline is valid? [True, True] Translation: X:207.83, Y:72.85, Z:1.91 [[ 7.88916997e-01 -6.13822126e-01 -2.88508267e-02 2.07829465e+02] [ 6.13383769e-01 7.89444126e-01 -2.32017902e-02 7.28516663e+01] [ 3.70178878e-02 6.07657812e-04 9.99314418e-01 1.90752269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.396875 meters 0.017261778865497807 Centerline is valid? [True, True] Translation: X:207.88, Y:72.89, Z:1.91 [[ 7.86652323e-01 -6.16742665e-01 -2.84008433e-02 2.07876191e+02] [ 6.16319370e-01 7.87164699e-01 -2.28510638e-02 7.28881655e+01] [ 3.64493672e-02 4.71852598e-04 9.99335390e-01 1.90898653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.456875 meters 0.016906776153296436 Centerline is valid? [True, True] Translation: X:207.92, Y:72.92, Z:1.91 [[ 7.84182189e-01 -6.19901209e-01 -2.79425505e-02 2.07921311e+02] [ 6.19493127e-01 7.84679797e-01 -2.24917967e-02 7.29245710e+01] [ 3.58686469e-02 3.27448388e-04 9.99356459e-01 1.90992596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.516875 meters 0.01670690003568705 Centerline is valid? [True, True] Translation: X:207.97, Y:72.96, Z:1.91 [[ 7.81633517e-01 -6.23095234e-01 -2.83085531e-02 2.07968006e+02] [ 6.22678264e-01 7.82145954e-01 -2.27922208e-02 7.29609552e+01] [ 3.63431444e-02 1.88043000e-04 9.99339352e-01 1.91038724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.576875 meters 0.016316372511242516 Centerline is valid? [True, True] Translation: X:208.01, Y:73.00, Z:1.91 [[ 7.78748281e-01 -6.26634880e-01 -2.96621392e-02 2.08013400e+02] [ 6.26179139e-01 7.79312984e-01 -2.38947424e-02 7.29974635e+01] [ 3.80893692e-02 3.41767707e-05 9.99274336e-01 1.91173891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.636875 meters 0.016518184678542117 Centerline is valid? [True, True] Translation: X:208.06, Y:73.03, Z:1.91 [[ 7.77962460e-01 -6.27595079e-01 -2.99804539e-02 2.08058080e+02] [ 6.27129673e-01 7.78539926e-01 -2.41651980e-02 7.30345118e+01] [ 3.85069397e-02 -2.01537985e-06 9.99258333e-01 1.91355843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69687499999998 meters 0.016179009786098913 Centerline is valid? [True, True] Translation: X:208.10, Y:73.07, Z:1.91 [[ 7.78140149e-01 -6.27372975e-01 -3.00176501e-02 2.08101362e+02] [ 6.26905707e-01 7.78718916e-01 -2.42091652e-02 7.30739872e+01] [ 3.85634879e-02 1.98872223e-05 9.99256152e-01 1.91421558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75687499999998 meters 0.016644429449902073 Centerline is valid? [True, True] Translation: X:208.15, Y:73.11, Z:1.91 [[ 7.78157809e-01 -6.27348018e-01 -3.00813748e-02 2.08146034e+02] [ 6.26878209e-01 7.78739021e-01 -2.42744324e-02 7.31110077e+01] [ 3.86540575e-02 3.19807561e-05 9.99252652e-01 1.91479248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81687499999998 meters 0.016428192533571067 Centerline is valid? [True, True] Translation: X:208.19, Y:73.15, Z:1.92 [[ 7.77942281e-01 -6.27674368e-01 -2.88217668e-02 2.08191104e+02] [ 6.27242862e-01 7.78476003e-01 -2.32702650e-02 7.31485539e+01] [ 3.70432027e-02 2.46755350e-05 9.99313665e-01 1.91733993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87687499999998 meters 0.01635061153015397 Centerline is valid? [True, True] Translation: X:208.24, Y:73.19, Z:1.92 [[ 7.78430666e-01 -6.27082302e-01 -2.85216472e-02 2.08235306e+02] [ 6.26658914e-01 7.78953004e-01 -2.30395943e-02 7.31857034e+01] [ 3.66647446e-02 6.13822567e-05 9.99327620e-01 1.92025404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.936875 meters 0.01644030348933278 Centerline is valid? [True, True] Translation: X:208.28, Y:73.22, Z:1.92 [[ 7.79709304e-01 -6.25480421e-01 -2.87688180e-02 2.08279737e+02] [ 6.25048096e-01 7.80239849e-01 -2.32520196e-02 7.32248566e+01] [ 3.69902612e-02 1.47921040e-04 9.99315615e-01 1.92155808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.996875 meters 0.016882576621072957 Centerline is valid? [True, True] Translation: X:208.32, Y:73.27, Z:1.92 [[ 7.82484348e-01 -6.22025051e-01 -2.83386821e-02 2.08321158e+02] [ 6.21602946e-01 7.82997278e-01 -2.29137473e-02 7.32652333e+01] [ 3.64420357e-02 3.14240327e-04 9.99335719e-01 1.92223135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.056875 meters 0.017817043904030844 Centerline is valid? [True, True] Translation: X:208.36, Y:73.31, Z:1.92 [[ 7.84726975e-01 -6.19185403e-01 -2.85133725e-02 2.08364489e+02] [ 6.18755987e-01 7.85244695e-01 -2.30607362e-02 7.33057448e+01] [ 3.66688457e-02 4.53561853e-04 9.99327369e-01 1.92202026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.116875 meters 0.01830574448740575 Centerline is valid? [True, True] Translation: X:208.41, Y:73.34, Z:1.92 [[ 7.85979275e-01 -6.17590232e-01 -2.86161672e-02 2.08409243e+02] [ 6.17156247e-01 7.86499851e-01 -2.31549421e-02 7.33440083e+01] [ 3.68068773e-02 5.38658249e-04 9.99322252e-01 1.92384483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.176875 meters 0.018204952285032223 Centerline is valid? [True, True] Translation: X:208.45, Y:73.38, Z:1.93 [[ 7.87073587e-01 -6.16170444e-01 -2.91402251e-02 2.08454041e+02] [ 6.15719003e-01 7.87612591e-01 -2.35905856e-02 7.33827961e+01] [ 3.74870297e-02 6.25336484e-04 9.99296919e-01 1.92555627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.236875 meters 0.018080875142635972 Centerline is valid? [True, True] Translation: X:208.50, Y:73.42, Z:1.93 [[ 7.86800599e-01 -6.16544215e-01 -2.86015420e-02 2.08499743e+02] [ 6.16109132e-01 7.87320052e-01 -2.31662173e-02 7.34189067e+01] [ 3.68015648e-02 6.05522413e-04 9.99322410e-01 1.92732581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.296875 meters 0.017939177561537654 Centerline is valid? [True, True] Translation: X:208.54, Y:73.46, Z:1.93 [[ 7.86106350e-01 -6.17463166e-01 -2.78575942e-02 2.08544811e+02] [ 6.17050562e-01 7.86599598e-01 -2.25760300e-02 7.34560721e+01] [ 3.58526393e-02 5.57616405e-04 9.99356932e-01 1.92970740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.356875 meters 0.01774869118854581 Centerline is valid? [True, True] Translation: X:208.59, Y:73.49, Z:1.93 [[ 7.85848312e-01 -6.17782375e-01 -2.80600782e-02 2.08589542e+02] [ 6.17363524e-01 7.86348922e-01 -2.27519700e-02 7.34926737e+01] [ 3.61207783e-02 5.56328413e-04 9.99347277e-01 1.93252637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41687499999998 meters 0.018202082832629165 Centerline is valid? [True, True] Translation: X:208.63, Y:73.53, Z:1.93 [[ 7.85829274e-01 -6.17791331e-01 -2.83940817e-02 2.08631479e+02] [ 6.17362011e-01 7.86341875e-01 -2.30348369e-02 7.35323640e+01] [ 3.65581779e-02 5.72021798e-04 9.99331363e-01 1.93206930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47687499999998 meters 0.017928564417401517 Centerline is valid? [True, True] Translation: X:208.68, Y:73.57, Z:1.93 [[ 7.85360935e-01 -6.18322764e-01 -2.97516547e-02 2.08677183e+02] [ 6.17851411e-01 7.85924056e-01 -2.41456310e-02 7.35697234e+01] [ 3.83123344e-02 5.80933512e-04 9.99265644e-01 1.93276462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53687499999998 meters 0.01775579781018277 Centerline is valid? [True, True] Translation: X:208.72, Y:73.61, Z:1.93 [[ 7.84084191e-01 -6.19858862e-01 -3.14161183e-02 2.08722312e+02] [ 6.19333938e-01 7.84713128e-01 -2.55103849e-02 7.36067908e+01] [ 4.04654786e-02 5.45221258e-04 9.99180788e-01 1.93211503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59687499999998 meters 0.017372701300153153 Centerline is valid? [True, True] Translation: X:208.77, Y:73.64, Z:1.93 [[ 7.82987089e-01 -6.21270325e-01 -3.08933996e-02 2.08769391e+02] [ 6.20763282e-01 7.83596170e-01 -2.50995958e-02 7.36426522e+01] [ 3.98015836e-02 4.75171328e-04 9.99207490e-01 1.93451528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65687499999999 meters 0.01678236721866802 Centerline is valid? [True, True] Translation: X:208.82, Y:73.67, Z:1.94 [[ 7.80840703e-01 -6.24012248e-01 -2.99418005e-02 2.08818650e+02] [ 6.23537520e-01 7.81414488e-01 -2.43384175e-02 7.36749797e+01] [ 3.85844273e-02 3.34590990e-04 9.99255288e-01 1.93837650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.716875 meters 0.01622509305351559 Centerline is valid? [True, True] Translation: X:208.87, Y:73.71, Z:1.94 [[ 7.79003777e-01 -6.26346643e-01 -2.90344165e-02 2.08867842e+02] [ 6.25901448e-01 7.79544632e-01 -2.36123819e-02 7.37073735e+01] [ 3.74231597e-02 2.21451300e-04 9.99299484e-01 1.94062345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.776875 meters 0.016269351086950264 Centerline is valid? [True, True] Translation: X:208.91, Y:73.74, Z:1.94 [[ 7.78640555e-01 -6.26802147e-01 -2.89474525e-02 2.08914846e+02] [ 6.26359472e-01 7.79178430e-01 -2.35539166e-02 7.37411164e+01] [ 3.73188761e-02 2.08523669e-04 9.99303386e-01 1.94245942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.836875 meters 0.016069805418330002 Centerline is valid? [True, True] Translation: X:208.96, Y:73.78, Z:1.94 [[ 7.78767029e-01 -6.26639623e-01 -2.90636763e-02 2.08960139e+02] [ 6.26192813e-01 7.79309137e-01 -2.36607075e-02 7.37757151e+01] [ 3.74763253e-02 2.26713666e-04 9.99297490e-01 1.94236446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.896875 meters 0.016276223467883936 Centerline is valid? [True, True] Translation: X:209.01, Y:73.81, Z:1.94 [[ 7.80060746e-01 -6.24995829e-01 -2.97564414e-02 2.09007349e+02] [ 6.24525904e-01 7.80628023e-01 -2.42339651e-02 7.38112879e+01] [ 3.83748392e-02 3.20296483e-04 9.99263363e-01 1.94373624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.956875 meters 0.01700122594720481 Centerline is valid? [True, True] Translation: X:209.05, Y:73.85, Z:1.94 [[ 7.82090589e-01 -6.22461733e-01 -2.95922475e-02 2.09051105e+02] [ 6.21994750e-01 7.82650105e-01 -2.41110639e-02 7.38485006e+01] [ 3.81685903e-02 4.50813599e-04 9.99271212e-01 1.94498110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.016875 meters 0.017407043184903794 Centerline is valid? [True, True] Translation: X:209.10, Y:73.89, Z:1.95 [[ 7.83749235e-01 -6.20346984e-01 -3.01123817e-02 2.09095119e+02] [ 6.19861608e-01 7.84327289e-01 -2.45416220e-02 7.38868203e+01] [ 3.88422839e-02 5.68968100e-04 9.99245192e-01 1.94558149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.076875 meters 0.01769979100728069 Centerline is valid? [True, True] Translation: X:209.14, Y:73.92, Z:1.95 [[ 7.84256748e-01 -6.19708242e-01 -3.00507577e-02 2.09139941e+02] [ 6.19224187e-01 7.84832040e-01 -2.44964333e-02 7.39242599e+01] [ 3.87654391e-02 6.03337093e-04 9.99248156e-01 1.94626849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.136875 meters 0.01752079772864508 Centerline is valid? [True, True] Translation: X:209.19, Y:73.96, Z:1.95 [[ 7.84058289e-01 -6.19965750e-01 -2.99176779e-02 2.09185168e+02] [ 6.19485821e-01 7.84628648e-01 -2.43967921e-02 7.39599049e+01] [ 3.85994427e-02 5.94929854e-04 9.99254587e-01 1.94911784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19687499999998 meters 0.017618283616842412 Centerline is valid? [True, True] Translation: X:209.23, Y:74.00, Z:1.95 [[ 7.83555170e-01 -6.20585561e-01 -3.02466090e-02 2.09230083e+02] [ 6.20094934e-01 7.84138523e-01 -2.46789478e-02 7.39961311e+01] [ 3.90329300e-02 5.81548183e-04 9.99237756e-01 1.95108192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25687499999998 meters 0.017531347962398275 Centerline is valid? [True, True] Translation: X:209.27, Y:74.03, Z:1.95 [[ 7.83561883e-01 -6.20570991e-01 -3.03713735e-02 2.09274579e+02] [ 6.20075796e-01 7.84150044e-01 -2.47934660e-02 7.40326352e+01] [ 3.92018196e-02 5.94661286e-04 9.99231136e-01 1.95305558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31687499999998 meters 0.018029729015435734 Centerline is valid? [True, True] Translation: X:209.32, Y:74.07, Z:1.95 [[ 7.83610062e-01 -6.20514716e-01 -3.02780192e-02 2.09317831e+02] [ 6.20022163e-01 7.84194570e-01 -2.47263737e-02 7.40706427e+01] [ 3.90869370e-02 6.02792275e-04 9.99235632e-01 1.95379824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37687499999998 meters 0.017948511521576112 Centerline is valid? [True, True] Translation: X:209.36, Y:74.11, Z:1.96 [[ 7.83648845e-01 -6.20475759e-01 -3.00719232e-02 2.09362264e+02] [ 6.19989493e-01 7.84225391e-01 -2.45675691e-02 7.41076500e+01] [ 3.88267468e-02 6.08070776e-04 9.99245773e-01 1.95612952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.436875 meters 0.018376748080907643 Centerline is valid? [True, True] Translation: X:209.41, Y:74.15, Z:1.96 [[ 7.84145800e-01 -6.19881591e-01 -2.93628550e-02 2.09406158e+02] [ 6.19417080e-01 7.84695108e-01 -2.40014430e-02 7.41460618e+01] [ 3.79189414e-02 6.32776843e-04 9.99280618e-01 1.95812815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.496875 meters 0.019440784315015242 Centerline is valid? [True, True] Translation: X:209.45, Y:74.19, Z:1.96 [[ 7.85943996e-01 -6.17634186e-01 -2.86364800e-02 2.09447207e+02] [ 6.17190472e-01 7.86465178e-01 -2.34189022e-02 7.41866496e+01] [ 3.69859090e-02 7.31783004e-04 9.99315519e-01 1.96005353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.556875 meters 0.0203359964960066 Centerline is valid? [True, True] Translation: X:209.49, Y:74.23, Z:1.96 [[ 7.88930075e-01 -6.13819468e-01 -2.85481659e-02 2.09489123e+02] [ 6.13375699e-01 7.89445898e-01 -2.33543786e-02 7.42279805e+01] [ 3.68726047e-02 9.14220482e-04 9.99319556e-01 1.96157333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.616875 meters 0.02132357091853594 Centerline is valid? [True, True] Translation: X:209.53, Y:74.27, Z:1.96 [[ 7.90705084e-01 -6.11504231e-01 -2.91212076e-02 2.09532023e+02] [ 6.11040489e-01 7.91240463e-01 -2.38338181e-02 7.42685955e+01] [ 3.76163584e-02 1.05128419e-03 9.99291701e-01 1.96173933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.676875 meters 0.022121845658781454 Centerline is valid? [True, True] Translation: X:209.57, Y:74.31, Z:1.96 [[ 7.92768203e-01 -6.08816518e-01 -2.93432165e-02 2.09574722e+02] [ 6.08343404e-01 7.93310163e-01 -2.40268034e-02 7.43092283e+01] [ 3.79061866e-02 1.19693349e-03 9.99280585e-01 1.96255154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.736875 meters 0.02415483291664402 Centerline is valid? [True, True] Translation: X:209.62, Y:74.35, Z:1.96 [[ 7.93271533e-01 -6.08187412e-01 -2.87810148e-02 2.09616695e+02] [ 6.07731534e-01 7.93792547e-01 -2.35748782e-02 7.43500273e+01] [ 3.71840992e-02 1.21014952e-03 9.99307700e-01 1.96375768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.796875 meters 0.022359242574382043 Centerline is valid? [True, True] Translation: X:209.66, Y:74.39, Z:1.97 [[ 7.93756009e-01 -6.07606403e-01 -2.76741317e-02 2.09662411e+02] [ 6.07184377e-01 7.94237391e-01 -2.26737445e-02 7.43874638e+01] [ 3.57565424e-02 1.19412054e-03 9.99359817e-01 1.96549189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.856875 meters 0.02187223825902299 Centerline is valid? [True, True] Translation: X:209.71, Y:74.43, Z:1.97 [[ 7.93270127e-01 -6.08262103e-01 -2.71977839e-02 2.09707356e+02] [ 6.07854482e-01 7.93735399e-01 -2.22944929e-02 7.44251736e+01] [ 3.51487390e-02 1.15326040e-03 9.99381427e-01 1.96705552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91687499999998 meters 0.021180085690369808 Centerline is valid? [True, True] Translation: X:209.75, Y:74.46, Z:1.97 [[ 7.91126687e-01 -6.11069684e-01 -2.66909558e-02 2.09753135e+02] [ 6.10678332e-01 7.91576153e-01 -2.18899268e-02 7.44619918e+01] [ 3.45041948e-02 1.01811690e-03 9.99404034e-01 1.96802692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97687499999998 meters 0.019357089831343016 Centerline is valid? [True, True] Translation: X:209.80, Y:74.50, Z:1.97 [[ 7.88696534e-01 -6.14227957e-01 -2.61111910e-02 2.09800276e+02] [ 6.13854791e-01 7.89128165e-01 -2.14250786e-02 7.44970756e+01] [ 3.37649585e-02 8.69405519e-04 9.99429423e-01 1.96948151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03687499999998 meters 0.018656851008957167 Centerline is valid? [True, True] Translation: X:209.85, Y:74.53, Z:1.97 [[ 7.85670457e-01 -6.18132702e-01 -2.51772778e-02 2.09846987e+02] [ 6.17787425e-01 7.86073466e-01 -2.06689117e-02 7.45335953e+01] [ 3.25673202e-02 6.84747725e-04 9.99469310e-01 1.96953809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09687499999998 meters 0.018298585502447253 Centerline is valid? [True, True] Translation: X:209.89, Y:74.57, Z:1.97 [[ 7.83651346e-01 -6.20663325e-01 -2.58380468e-02 2.09892379e+02] [ 6.20300710e-01 7.84076957e-01 -2.12215849e-02 7.45704101e+01] [ 3.34304766e-02 6.02964823e-04 9.99440864e-01 1.96850497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15687499999999 meters 0.017748686388685462 Centerline is valid? [True, True] Translation: X:209.94, Y:74.61, Z:1.97 [[ 7.82725414e-01 -6.21813096e-01 -2.62564265e-02 2.09937793e+02] [ 6.21438919e-01 7.83165466e-01 -2.15759853e-02 7.46073735e+01] [ 3.39793567e-02 5.71306711e-04 9.99422372e-01 1.96899432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.216875 meters 0.01796671825407017 Centerline is valid? [True, True] Translation: X:209.98, Y:74.64, Z:1.97 [[ 7.81730029e-01 -6.23101255e-01 -2.53571862e-02 2.09983148e+02] [ 6.22752626e-01 7.82141017e-01 -2.08469684e-02 7.46447947e+01] [ 3.28226676e-02 5.05446947e-04 9.99461063e-01 1.97043581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.276875 meters 0.017354507730455895 Centerline is valid? [True, True] Translation: X:210.03, Y:74.68, Z:1.97 [[ 7.79751408e-01 -6.25626686e-01 -2.40622414e-02 2.10030016e+02] [ 6.25313677e-01 7.80122491e-01 -1.97915168e-02 7.46802484e+01] [ 3.11535967e-02 3.86014415e-04 9.99514534e-01 1.97241755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.336875 meters 0.016913919091493004 Centerline is valid? [True, True] Translation: X:210.08, Y:74.72, Z:1.98 [[ 7.78963232e-01 -6.26672822e-01 -2.23037630e-02 2.10075907e+02] [ 6.26404086e-01 7.79282406e-01 -1.83535372e-02 7.47171508e+01] [ 2.88825931e-02 3.25562407e-04 9.99582758e-01 1.97541317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.396875 meters 0.017002516547980642 Centerline is valid? [True, True] Translation: X:210.12, Y:74.76, Z:1.98 [[ 7.78564413e-01 -6.27202613e-01 -2.13151938e-02 2.10120188e+02] [ 6.26957145e-01 7.78856080e-01 -1.75483587e-02 7.47551719e+01] [ 2.76078447e-02 2.98814521e-04 9.99618786e-01 1.97659231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.456875 meters 0.017133289530891903 Centerline is valid? [True, True] Translation: X:210.16, Y:74.79, Z:1.98 [[ 7.78688306e-01 -6.27040296e-01 -2.15636278e-02 2.10164639e+02] [ 6.26788725e-01 7.78986757e-01 -1.77630652e-02 7.47921938e+01] [ 2.79359381e-02 3.16052361e-04 9.99609666e-01 1.97834342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.516875 meters 0.01703735278430802 Centerline is valid? [True, True] Translation: X:210.21, Y:74.83, Z:1.98 [[ 7.80152539e-01 -6.25182855e-01 -2.25480220e-02 2.10208537e+02] [ 6.24906686e-01 7.80478206e-01 -1.85850406e-02 7.48321570e+01] [ 2.92172885e-02 4.08756896e-04 9.99573000e-01 1.97768030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.576875 meters 0.01789395781280523 Centerline is valid? [True, True] Translation: X:210.25, Y:74.87, Z:1.98 [[ 7.81873332e-01 -6.23010867e-01 -2.30554121e-02 2.10251198e+02] [ 6.22720901e-01 7.82213015e-01 -1.90125890e-02 7.48718140e+01] [ 2.98792930e-02 5.08349287e-04 9.99553385e-01 1.97699678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.636875 meters 0.017780522142432875 Centerline is valid? [True, True] Translation: X:210.30, Y:74.91, Z:1.98 [[ 7.82071917e-01 -6.22750915e-01 -2.33412877e-02 2.10296926e+02] [ 6.22453474e-01 7.82419977e-01 -1.92523426e-02 7.49096153e+01] [ 3.02521038e-02 5.27850869e-04 9.99542161e-01 1.97830247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69687499999998 meters 0.018208531047494158 Centerline is valid? [True, True] Translation: X:210.34, Y:74.95, Z:1.98 [[ 7.81978316e-01 -6.22883021e-01 -2.29489776e-02 2.10340128e+02] [ 6.22595287e-01 7.82314815e-01 -1.89377414e-02 7.49464177e+01] [ 2.97493228e-02 5.20977890e-04 9.99557255e-01 1.97942090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75687499999998 meters 0.018395710565950962 Centerline is valid? [True, True] Translation: X:210.39, Y:74.98, Z:1.98 [[ 7.81831500e-01 -6.23049261e-01 -2.34333939e-02 2.10385510e+02] [ 6.22749127e-01 7.82182419e-01 -1.93439574e-02 7.49833759e+01] [ 3.03814271e-02 5.30589635e-04 9.99538237e-01 1.98000309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81687499999998 meters 0.01728299549007615 Centerline is valid? [True, True] Translation: X:210.43, Y:75.02, Z:1.98 [[ 7.81148893e-01 -6.23936411e-01 -2.25779369e-02 2.10432346e+02] [ 6.23657875e-01 7.81474964e-01 -1.86476685e-02 7.50199811e+01] [ 2.92790517e-02 4.85697446e-04 9.99571159e-01 1.98199598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87687499999998 meters 0.01713223431220353 Centerline is valid? [True, True] Translation: X:210.48, Y:75.06, Z:1.98 [[ 7.80387290e-01 -6.24892016e-01 -2.24865698e-02 2.10476955e+02] [ 6.24615878e-01 7.80711061e-01 -1.85807215e-02 7.50573785e+01] [ 2.91664583e-02 4.54690383e-04 9.99574465e-01 1.98274866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.936875 meters 0.017063337075324772 Centerline is valid? [True, True] Translation: X:210.52, Y:75.09, Z:1.98 [[ 7.79219745e-01 -6.26290440e-01 -2.40182126e-02 2.10523563e+02] [ 6.25975848e-01 7.79589697e-01 -1.98530132e-02 7.50934435e+01] [ 3.11581034e-02 4.35038896e-04 9.99514374e-01 1.98248166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.996875 meters 0.01766098577800387 Centerline is valid? [True, True] Translation: X:210.57, Y:75.13, Z:1.98 [[ 7.80428168e-01 -6.24745081e-01 -2.50091816e-02 2.10567031e+02] [ 6.24402885e-01 7.80828604e-01 -2.06816120e-02 7.51323270e+01] [ 3.24486197e-02 5.24707381e-04 9.99473267e-01 1.98231633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.056875 meters 0.017666594428871574 Centerline is valid? [True, True] Translation: X:210.61, Y:75.17, Z:1.98 [[ 7.82062798e-01 -6.22655316e-01 -2.60410813e-02 2.10611957e+02] [ 6.22282956e-01 7.82495972e-01 -2.15400973e-02 7.51701741e+01] [ 3.37890973e-02 6.40787664e-04 9.99428780e-01 1.98315871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.116875 meters 0.017960237936114242 Centerline is valid? [True, True] Translation: X:210.66, Y:75.21, Z:1.98 [[ 7.83712662e-01 -6.20518012e-01 -2.74200527e-02 2.10656859e+02] [ 6.20103426e-01 7.84191804e-01 -2.26926221e-02 7.52078388e+01] [ 3.55837614e-02 7.81226645e-04 9.99366392e-01 1.98387174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.176875 meters 0.018221805400175328 Centerline is valid? [True, True] Translation: X:210.70, Y:75.24, Z:1.99 [[ 7.83213390e-01 -6.21158324e-01 -2.71867940e-02 2.10703292e+02] [ 6.20750746e-01 7.83684737e-01 -2.25109794e-02 7.52438961e+01] [ 3.52887578e-02 7.54677860e-04 9.99376873e-01 1.98635499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.236875 meters 0.01797477073565141 Centerline is valid? [True, True] Translation: X:210.75, Y:75.28, Z:1.99 [[ 7.82595388e-01 -6.21961889e-01 -2.66057687e-02 2.10749493e+02] [ 6.21571638e-01 7.83047190e-01 -2.20408187e-02 7.52805518e+01] [ 3.45421216e-02 7.11651864e-04 9.99402989e-01 1.98860025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.296875 meters 0.017655629602472682 Centerline is valid? [True, True] Translation: X:210.80, Y:75.32, Z:1.99 [[ 7.81036111e-01 -6.23920041e-01 -2.65777323e-02 2.10797382e+02] [ 6.23531363e-01 7.81487928e-01 -2.20285857e-02 7.53155891e+01] [ 3.45142530e-02 6.33071330e-04 9.99404005e-01 1.99036560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.356875 meters 0.01755088638800082 Centerline is valid? [True, True] Translation: X:210.85, Y:75.35, Z:1.99 [[ 7.79281220e-01 -6.26067048e-01 -2.75831836e-02 2.10845292e+02] [ 6.25649377e-01 7.79769024e-01 -2.28719312e-02 7.53481891e+01] [ 3.58278747e-02 5.66264814e-04 9.99357815e-01 1.98958851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41687499999998 meters 0.01724914677352919 Centerline is valid? [True, True] Translation: X:210.89, Y:75.38, Z:1.99 [[ 7.78110246e-01 -6.27429258e-01 -2.96137072e-02 2.10894182e+02] [ 6.26948515e-01 7.78673377e-01 -2.45627997e-02 7.53802680e+01] [ 3.84708246e-02 5.46296353e-04 9.99259574e-01 1.98938819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47687499999998 meters 0.017623171038296418 Centerline is valid? [True, True] Translation: X:210.94, Y:75.42, Z:1.99 [[ 7.78145534e-01 -6.27363167e-01 -3.00829810e-02 2.10940462e+02] [ 6.26866553e-01 7.78726611e-01 -2.49637545e-02 7.54152860e+01] [ 3.90877580e-02 5.67419465e-04 9.99235620e-01 1.98965610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53687499999998 meters 0.017948831563901875 Centerline is valid? [True, True] Translation: X:210.99, Y:75.45, Z:1.99 [[ 7.80181593e-01 -6.24823340e-01 -3.02072134e-02 2.10987335e+02] [ 6.24320487e-01 7.80765842e-01 -2.50724797e-02 7.54502232e+01] [ 3.92506309e-02 7.02104936e-04 9.99229150e-01 1.99236278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59687499999998 meters 0.0188489001086579 Centerline is valid? [True, True] Translation: X:211.03, Y:75.49, Z:2.00 [[ 7.82306745e-01 -6.22189726e-01 -2.95989972e-02 2.11032437e+02] [ 6.21704793e-01 7.82866060e-01 -2.45740253e-02 7.54882739e+01] [ 3.84617563e-02 8.22587337e-04 9.99259734e-01 1.99507073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65687499999999 meters 0.021885282907535063 Centerline is valid? [True, True] Translation: X:211.07, Y:75.53, Z:2.00 [[ 7.86073031e-01 -6.17433133e-01 -2.94196604e-02 2.11074551e+02] [ 6.16950344e-01 7.86622660e-01 -2.44348849e-02 7.55280363e+01] [ 3.82290791e-02 1.05713445e-03 9.99268442e-01 1.99645969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.716875 meters 0.020221758365978983 Centerline is valid? [True, True] Translation: X:211.12, Y:75.56, Z:2.00 [[ 7.85553301e-01 -6.18081162e-01 -2.96932529e-02 2.11122856e+02] [ 6.17589547e-01 7.86113602e-01 -2.46689580e-02 7.55619503e+01] [ 3.85896882e-02 1.04053874e-03 9.99254599e-01 2.00063608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.776875 meters 0.02084397865835113 Centerline is valid? [True, True] Translation: X:211.17, Y:75.60, Z:2.00 [[ 7.84938300e-01 -6.18793386e-01 -3.10903682e-02 2.11166519e+02] [ 6.18254475e-01 7.85553064e-01 -2.58415923e-02 7.55984755e+01] [ 4.04137405e-02 1.06229625e-03 9.99182466e-01 1.99924472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.836875 meters 0.020590322512265506 Centerline is valid? [True, True] Translation: X:211.21, Y:75.64, Z:2.00 [[ 7.83937039e-01 -6.20036245e-01 -3.15875519e-02 2.11212452e+02] [ 6.19480550e-01 7.84572501e-01 -2.62647700e-02 7.56355083e+01] [ 4.10678340e-02 1.02205198e-03 9.99155838e-01 1.99994357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.896875 meters 0.020095085625733443 Centerline is valid? [True, True] Translation: X:211.26, Y:75.67, Z:2.00 [[ 7.82532296e-01 -6.21791664e-01 -3.19113207e-02 2.11258988e+02] [ 6.21225430e-01 7.83182115e-01 -2.65469368e-02 7.56715595e+01] [ 4.14990396e-02 9.49711454e-04 9.99138092e-01 2.00133490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.956875 meters 0.019166091713295433 Centerline is valid? [True, True] Translation: X:211.31, Y:75.71, Z:2.00 [[ 7.80528407e-01 -6.24288102e-01 -3.22454836e-02 2.11307136e+02] [ 6.23711516e-01 7.81193745e-01 -2.68380062e-02 7.57058296e+01] [ 4.19446181e-02 8.35946773e-04 9.99119588e-01 2.00465089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.016875 meters 0.018408562210964537 Centerline is valid? [True, True] Translation: X:211.35, Y:75.74, Z:2.01 [[ 7.78669631e-01 -6.26628269e-01 -3.17902235e-02 2.11353090e+02] [ 6.26069276e-01 7.79317976e-01 -2.64717550e-02 7.57423182e+01] [ 4.13626427e-02 7.09869507e-04 9.99143948e-01 2.00679694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.076875 meters 0.018238899773070055 Centerline is valid? [True, True] Translation: X:211.40, Y:75.78, Z:2.01 [[ 7.77671722e-01 -6.27941623e-01 -3.02656555e-02 2.11398454e+02] [ 6.27435516e-01 7.78260198e-01 -2.52138446e-02 7.57796596e+01] [ 3.93873775e-02 6.18346777e-04 9.99223825e-01 2.00953679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.136875 meters 0.017392929500041114 Centerline is valid? [True, True] Translation: X:211.45, Y:75.81, Z:2.01 [[ 7.76092951e-01 -6.29883249e-01 -3.04437942e-02 2.11445719e+02] [ 6.29372171e-01 7.76689648e-01 -2.53744055e-02 7.58148287e+01] [ 3.96282928e-02 5.32420342e-04 9.99214349e-01 2.01201463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19687499999998 meters 0.016989672476290355 Centerline is valid? [True, True] Translation: X:211.49, Y:75.85, Z:2.01 [[ 7.74879892e-01 -6.31328583e-01 -3.13906628e-02 2.11490970e+02] [ 6.30785830e-01 7.75515304e-01 -2.61772751e-02 7.58513973e+01] [ 4.08704014e-02 4.83458763e-04 9.99164339e-01 2.01226588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25687499999998 meters 0.016381573279304347 Centerline is valid? [True, True] Translation: X:211.54, Y:75.89, Z:2.01 [[ 7.73185199e-01 -6.33375518e-01 -3.19390123e-02 2.11537326e+02] [ 6.32814767e-01 7.73844492e-01 -2.66490512e-02 7.58878461e+01] [ 4.15946854e-02 3.93173317e-04 9.99134489e-01 2.01318167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31687499999998 meters 0.01625821121591627 Centerline is valid? [True, True] Translation: X:211.58, Y:75.92, Z:2.02 [[ 7.71982734e-01 -6.34836817e-01 -3.20136582e-02 2.11583701e+02] [ 6.34274144e-01 7.72646173e-01 -2.67245393e-02 7.59244248e+01] [ 4.17009520e-02 3.25447263e-04 9.99130084e-01 2.01552072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37687499999998 meters 0.016080634750497588 Centerline is valid? [True, True] Translation: X:211.63, Y:75.96, Z:2.02 [[ 7.70976730e-01 -6.36111949e-01 -3.09268389e-02 2.11628888e+02] [ 6.35587376e-01 7.71596735e-01 -2.58295524e-02 7.59613188e+01] [ 4.02935348e-02 2.57275477e-04 9.99187853e-01 2.01866956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.436875 meters 0.01589568095397093 Centerline is valid? [True, True] Translation: X:211.67, Y:76.00, Z:2.02 [[ 7.71128924e-01 -6.35981109e-01 -2.98028726e-02 2.11673710e+02] [ 6.35493432e-01 7.71704580e-01 -2.49025810e-02 7.59989810e+01] [ 3.88365844e-02 2.63570696e-04 9.99245541e-01 2.02207840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.496875 meters 0.01642567623085683 Centerline is valid? [True, True] Translation: X:211.72, Y:76.04, Z:2.02 [[ 7.72643971e-01 -6.34135233e-01 -2.98964930e-02 2.11716369e+02] [ 6.33642711e-01 7.73222072e-01 -2.49908391e-02 7.60377099e+01] [ 3.89641999e-02 3.65326278e-04 9.99240540e-01 2.02296815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.556875 meters 0.016274284341095395 Centerline is valid? [True, True] Translation: X:211.76, Y:76.08, Z:2.03 [[ 7.74059880e-01 -6.32439043e-01 -2.91917613e-02 2.11761033e+02] [ 6.31968025e-01 7.74610004e-01 -2.44081169e-02 7.60766804e+01] [ 3.80488764e-02 4.45084273e-04 9.99275780e-01 2.02534002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.616875 meters 0.016985526364804517 Centerline is valid? [True, True] Translation: X:211.80, Y:76.12, Z:2.03 [[ 7.75992636e-01 -6.30054241e-01 -2.94462769e-02 2.11802981e+02] [ 6.29572835e-01 7.76550915e-01 -2.46317283e-02 7.61162298e+01] [ 3.83858581e-02 5.75463681e-04 9.99262826e-01 2.02564300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.676875 meters 0.017347139086129833 Centerline is valid? [True, True] Translation: X:211.85, Y:76.15, Z:2.03 [[ 7.77272352e-01 -6.28437249e-01 -3.02376245e-02 2.11847025e+02] [ 6.27928145e-01 7.77859990e-01 -2.52998104e-02 7.61545144e+01] [ 3.94199816e-02 6.77787680e-04 9.99222501e-01 2.02682566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.736875 meters 0.017860948796183752 Centerline is valid? [True, True] Translation: X:211.89, Y:76.19, Z:2.03 [[ 7.78098408e-01 -6.27363765e-01 -3.12661774e-02 2.11890818e+02] [ 6.26818255e-01 7.78725963e-01 -2.61677295e-02 7.61936943e+01] [ 4.07644694e-02 7.62857924e-04 9.99168492e-01 2.02666832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.796875 meters 0.01783164924306579 Centerline is valid? [True, True] Translation: X:211.94, Y:76.23, Z:2.03 [[ 7.78458945e-01 -6.26909047e-01 -3.14120453e-02 2.11935946e+02] [ 6.26357535e-01 7.79092039e-01 -2.63027011e-02 7.62322966e+01] [ 4.09622757e-02 8.00401685e-04 9.99160373e-01 2.02799067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.856875 meters 0.017076120302682525 Centerline is valid? [True, True] Translation: X:211.98, Y:76.27, Z:2.03 [[ 7.78110960e-01 -6.27377287e-01 -3.06769369e-02 2.11982156e+02] [ 6.26851156e-01 7.78715064e-01 -2.56997499e-02 7.62695191e+01] [ 4.00120322e-02 7.67383714e-04 9.99198903e-01 2.03149493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91687499999998 meters 0.017406451319013937 Centerline is valid? [True, True] Translation: X:212.03, Y:76.31, Z:2.03 [[ 7.77036553e-01 -6.28773656e-01 -2.92896804e-02 2.12025942e+02] [ 6.28294666e-01 7.77588091e-01 -2.45473854e-02 7.63075690e+01] [ 3.82100559e-02 6.71665798e-04 9.99269503e-01 2.03344398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97687499999998 meters 0.016131952271773286 Centerline is valid? [True, True] Translation: X:212.07, Y:76.34, Z:2.04 [[ 7.74026062e-01 -6.32551628e-01 -2.76060315e-02 2.12072866e+02] [ 6.32128330e-01 7.74518060e-01 -2.31419445e-02 7.63426860e+01] [ 3.60198446e-02 4.61913575e-04 9.99350968e-01 2.03709103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03687499999998 meters 0.015498052638786328 Centerline is valid? [True, True] Translation: X:212.12, Y:76.38, Z:2.04 [[ 7.71719049e-01 -6.35372373e-01 -2.74163598e-02 2.12119092e+02] [ 6.34956251e-01 7.72205824e-01 -2.29940143e-02 7.63791638e+01] [ 3.57808341e-02 3.36729852e-04 9.99359604e-01 2.03917490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09687499999998 meters 0.014915788198810478 Centerline is valid? [True, True] Translation: X:212.17, Y:76.42, Z:2.04 [[ 7.69198338e-01 -6.38374392e-01 -2.84965283e-02 2.12165573e+02] [ 6.37926434e-01 7.69725983e-01 -2.39118337e-02 7.64157944e+01] [ 3.71992206e-02 2.14254019e-04 9.99307847e-01 2.03923911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15687499999999 meters 0.014971903016228348 Centerline is valid? [True, True] Translation: X:212.21, Y:76.45, Z:2.04 [[ 7.68172447e-01 -6.39579719e-01 -2.91354655e-02 2.12210799e+02] [ 6.39111823e-01 7.68724759e-01 -2.44606622e-02 7.64528288e+01] [ 3.80416971e-02 1.69186279e-04 9.99276138e-01 2.04020390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.216875 meters 0.014766987686131331 Centerline is valid? [True, True] Translation: X:212.26, Y:76.49, Z:2.04 [[ 7.65352102e-01 -6.42949000e-01 -2.92017717e-02 2.12256940e+02] [ 6.42480879e-01 7.65908991e-01 -2.45303356e-02 7.64885583e+01] [ 3.81376543e-02 1.27639134e-05 9.99272495e-01 2.04232028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.276875 meters 0.014967786312747724 Centerline is valid? [True, True] Translation: X:212.30, Y:76.52, Z:2.04 [[ 7.63543608e-01 -6.45109491e-01 -2.88946834e-02 2.12302454e+02] [ 6.44652193e-01 7.64090137e-01 -2.42860548e-02 7.65249413e+01] [ 3.77453071e-02 -8.35591553e-05 9.99287389e-01 2.04428366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.336875 meters 0.0146817530370995 Centerline is valid? [True, True] Translation: X:212.35, Y:76.56, Z:2.05 [[ 7.62696243e-01 -6.46215896e-01 -2.64472406e-02 2.12346862e+02] [ 6.45833113e-01 7.63154638e-01 -2.22393577e-02 7.65626631e+01] [ 3.45547608e-02 -1.18629154e-04 9.99402799e-01 2.04777007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.396875 meters 0.014506827634327858 Centerline is valid? [True, True] Translation: X:212.39, Y:76.60, Z:2.05 [[ 7.63105767e-01 -6.45733693e-01 -2.64118686e-02 2.12390106e+02] [ 6.45351385e-01 7.63562695e-01 -2.22171208e-02 7.66014328e+01] [ 3.45134610e-02 -9.09229617e-05 9.99404229e-01 2.05016698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.456875 meters 0.014607841499065447 Centerline is valid? [True, True] Translation: X:212.43, Y:76.64, Z:2.05 [[ 7.65260364e-01 -6.43137732e-01 -2.73940349e-02 2.12431336e+02] [ 6.42724319e-01 7.65750518e-01 -2.30563100e-02 7.66423361e+01] [ 3.58053794e-02 3.72677209e-05 9.99358781e-01 2.05184771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.516875 meters 0.01459931066894118 Centerline is valid? [True, True] Translation: X:212.47, Y:76.68, Z:2.05 [[ 7.66756881e-01 -6.41347522e-01 -2.75180378e-02 2.12473697e+02] [ 6.40928729e-01 7.67250506e-01 -2.31738016e-02 7.66824213e+01] [ 3.59756887e-02 1.31570811e-04 9.99352657e-01 2.05316692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.576875 meters 0.014901144923615993 Centerline is valid? [True, True] Translation: X:212.51, Y:76.72, Z:2.05 [[ 7.68855784e-01 -6.38811565e-01 -2.79386408e-02 2.12514695e+02] [ 6.38377792e-01 7.69363188e-01 -2.35388993e-02 7.67230025e+01] [ 3.65318829e-02 2.62611066e-04 9.99332453e-01 2.05324934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.636875 meters 0.01518608953208233 Centerline is valid? [True, True] Translation: X:212.56, Y:76.76, Z:2.05 [[ 7.70161854e-01 -6.37212171e-01 -2.84845204e-02 2.12557234e+02] [ 6.36760020e-01 7.70688347e-01 -2.40031129e-02 7.67620919e+01] [ 3.72477636e-02 3.48478197e-04 9.99306001e-01 2.05430251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69687499999998 meters 0.015764296892188376 Centerline is valid? [True, True] Translation: X:212.60, Y:76.80, Z:2.06 [[ 7.72577075e-01 -6.34286526e-01 -2.83771906e-02 2.12599251e+02] [ 6.33835575e-01 7.73097898e-01 -2.39187091e-02 7.68031550e+01] [ 3.71096613e-02 4.92573388e-04 9.99311078e-01 2.05586817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75687499999998 meters 0.01643440404685203 Centerline is valid? [True, True] Translation: X:212.64, Y:76.84, Z:2.06 [[ 7.74136113e-01 -6.32384958e-01 -2.83292175e-02 2.12641481e+02] [ 6.31933897e-01 7.74654063e-01 -2.38879339e-02 7.68427599e+01] [ 3.70517135e-02 5.90319472e-04 9.99313175e-01 2.05774636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81687499999998 meters 0.017457353644884186 Centerline is valid? [True, True] Translation: X:212.68, Y:76.88, Z:2.06 [[ 7.76975707e-01 -6.28903514e-01 -2.80913131e-02 2.12684460e+02] [ 6.28457561e-01 7.77482992e-01 -2.36915957e-02 7.68822998e+01] [ 3.67402459e-02 7.53596190e-04 9.99324565e-01 2.06066870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87687499999998 meters 0.018261054261376548 Centerline is valid? [True, True] Translation: X:212.73, Y:76.92, Z:2.06 [[ 7.78341086e-01 -6.27188946e-01 -2.86213190e-02 2.12727538e+02] [ 6.26724654e-01 7.78866675e-01 -2.41435441e-02 7.69217477e+01] [ 3.74347555e-02 8.54226049e-04 9.99298709e-01 2.06116191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.936875 meters 0.018767227600223823 Centerline is valid? [True, True] Translation: X:212.77, Y:76.96, Z:2.06 [[ 7.79333009e-01 -6.25930665e-01 -2.91695656e-02 2.12772192e+02] [ 6.25447280e-01 7.79878147e-01 -2.46125083e-02 7.69606348e+01] [ 3.81544304e-02 9.37314677e-04 9.99271415e-01 2.06271897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.996875 meters 0.018300990786591174 Centerline is valid? [True, True] Translation: X:212.82, Y:77.00, Z:2.07 [[ 7.79115052e-01 -6.26214232e-01 -2.89045315e-02 2.12817041e+02] [ 6.25739322e-01 7.79650486e-01 -2.44012291e-02 7.69972661e+01] [ 3.78158290e-02 9.24662919e-04 9.99284298e-01 2.06537887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.056875 meters 0.018087619371258006 Centerline is valid? [True, True] Translation: X:212.86, Y:77.04, Z:2.06 [[ 7.77093799e-01 -6.28672112e-01 -2.99433196e-02 2.12860969e+02] [ 6.28163798e-01 7.77670023e-01 -2.52899060e-02 7.70350016e+01] [ 3.91850806e-02 8.43319769e-04 9.99231614e-01 2.06446621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.116875 meters 0.016336308755869396 Centerline is valid? [True, True] Translation: X:212.91, Y:77.07, Z:2.07 [[ 7.74392310e-01 -6.31988653e-01 -3.01146593e-02 2.12909437e+02] [ 6.31476727e-01 7.74977337e-01 -2.54414971e-02 7.70694163e+01] [ 3.94169160e-02 6.84993238e-04 9.99222617e-01 2.06661038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.176875 meters 0.014792001109617287 Centerline is valid? [True, True] Translation: X:212.96, Y:77.10, Z:2.07 [[ 7.67924320e-01 -6.39883650e-01 -2.90026591e-02 2.12959025e+02] [ 6.39413978e-01 7.68471754e-01 -2.45138332e-02 7.71018308e+01] [ 3.79737254e-02 2.80063052e-04 9.99278699e-01 2.06978752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.236875 meters 0.014451893581781504 Centerline is valid? [True, True] Translation: X:213.01, Y:77.14, Z:2.07 [[ 7.62612414e-01 -6.46227765e-01 -2.84952969e-02 2.13007433e+02] [ 6.45778343e-01 7.63144597e-01 -2.40968209e-02 7.71361995e+01] [ 3.73180666e-02 -2.51108822e-05 9.99303438e-01 2.07284525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.296875 meters 0.015658566482583562 Centerline is valid? [True, True] Translation: X:213.06, Y:77.17, Z:2.08 [[ 7.55798690e-01 -6.54193296e-01 -2.82749397e-02 2.13056127e+02] [ 6.53755961e-01 7.56327288e-01 -2.39202069e-02 7.71688422e+01] [ 3.70335474e-02 -4.06049336e-04 9.99313940e-01 2.07555752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.356875 meters 0.016252325551215235 Centerline is valid? [True, True] Translation: X:213.10, Y:77.21, Z:2.08 [[ 7.52233123e-01 -6.58293169e-01 -2.82034252e-02 2.13102010e+02] [ 6.57860687e-01 7.52761411e-01 -2.38657610e-02 7.72060055e+01] [ 3.69411176e-02 -6.01308776e-04 9.99317263e-01 2.07796697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41687499999998 meters 0.01680022484557692 Centerline is valid? [True, True] Translation: X:213.15, Y:77.25, Z:2.08 [[ 7.49883929e-01 -6.60956245e-01 -2.84769358e-02 2.13145735e+02] [ 6.60516797e-01 7.50424086e-01 -2.41091638e-02 7.72450958e+01] [ 3.73048809e-02 -7.30419954e-04 9.99303664e-01 2.07830048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47687499999998 meters 0.016520295611150086 Centerline is valid? [True, True] Translation: X:213.19, Y:77.29, Z:2.08 [[ 7.50730409e-01 -6.59966866e-01 -2.91133707e-02 2.13188199e+02] [ 6.59506337e-01 7.51294392e-01 -2.46602675e-02 7.72865833e+01] [ 3.81476716e-02 -6.87239758e-04 9.99271876e-01 2.07929156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53687499999998 meters 0.014938087681463486 Centerline is valid? [True, True] Translation: X:213.23, Y:77.33, Z:2.08 [[ 7.57172081e-01 -6.52601826e-01 -2.83071900e-02 2.13225121e+02] [ 6.52160839e-01 7.57700976e-01 -2.39889844e-02 7.73344707e+01] [ 3.71036405e-02 -2.97051585e-04 9.99311379e-01 2.08094895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59687499999998 meters 0.014587330307689897 Centerline is valid? [True, True] Translation: X:213.26, Y:77.38, Z:2.08 [[ 7.65391360e-01 -6.42943515e-01 -2.82790080e-02 2.13260734e+02] [ 6.42496303e-01 7.65913574e-01 -2.39770224e-02 7.73842168e+01] [ 3.70751472e-02 1.82647699e-04 9.99312464e-01 2.08055247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65687499999999 meters 0.01503888047141501 Centerline is valid? [True, True] Translation: X:213.30, Y:77.43, Z:2.08 [[ 7.69926426e-01 -6.37511842e-01 -2.81416137e-02 2.13300902e+02] [ 6.37064885e-01 7.70440424e-01 -2.38722513e-02 7.74284171e+01] [ 3.69002797e-02 4.51843210e-04 9.99318851e-01 2.08259319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.716875 meters 0.01650354648283184 Centerline is valid? [True, True] Translation: X:213.34, Y:77.47, Z:2.08 [[ 7.75016894e-01 -6.31355136e-01 -2.71938560e-02 2.13339300e+02] [ 6.30933583e-01 7.75493495e-01 -2.30792915e-02 7.74734435e+01] [ 3.56598877e-02 7.29323873e-04 9.99363718e-01 2.08411984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.776875 meters 0.018100157160400653 Centerline is valid? [True, True] Translation: X:213.38, Y:77.52, Z:2.09 [[ 7.77995128e-01 -6.27702705e-01 -2.67000866e-02 2.13380585e+02] [ 6.27293810e-01 7.78452648e-01 -2.26705124e-02 7.75161308e+01] [ 3.50150951e-02 8.88749166e-04 9.99386388e-01 2.08529725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.836875 meters 0.01996865617820165 Centerline is valid? [True, True] Translation: X:213.42, Y:77.56, Z:2.08 [[ 7.80490535e-01 -6.24584322e-01 -2.69990717e-02 2.13420660e+02] [ 6.24163955e-01 7.80956672e-01 -2.29354196e-02 7.75588647e+01] [ 3.54102087e-02 1.04903050e-03 9.99372311e-01 2.08447486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.896875 meters 0.019161371910863874 Centerline is valid? [True, True] Translation: X:213.47, Y:77.60, Z:2.09 [[ 7.80826449e-01 -6.24136355e-01 -2.76381412e-02 2.13466409e+02] [ 6.23695170e-01 7.81314657e-01 -2.34891987e-02 7.75966331e+01] [ 3.62545477e-02 1.10321248e-03 9.99341979e-01 2.08546829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.956875 meters 0.018653646944898655 Centerline is valid? [True, True] Translation: X:213.51, Y:77.63, Z:2.09 [[ 7.80234020e-01 -6.24847552e-01 -2.82915497e-02 2.13511980e+02] [ 6.24385258e-01 7.80746000e-01 -2.40568905e-02 7.76342823e+01] [ 3.71204034e-02 1.10517780e-03 9.99310189e-01 2.08712457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.016875 meters 0.018108601061116985 Centerline is valid? [True, True] Translation: X:213.56, Y:77.67, Z:2.09 [[ 7.79101550e-01 -6.26242804e-01 -2.86483061e-02 2.13558719e+02] [ 6.25769242e-01 7.79627362e-01 -2.43727650e-02 7.76704792e+01] [ 3.75982719e-02 1.06163018e-03 9.99292371e-01 2.08812377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.076875 meters 0.018898533263100155 Centerline is valid? [True, True] Translation: X:213.60, Y:77.71, Z:2.09 [[ 7.78907059e-01 -6.26485451e-01 -2.86316914e-02 2.13601925e+02] [ 6.26012184e-01 7.79432396e-01 -2.43697650e-02 7.77082475e+01] [ 3.75837710e-02 1.05799436e-03 9.99292920e-01 2.08946890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.136875 meters 0.018498673480096726 Centerline is valid? [True, True] Translation: X:213.65, Y:77.74, Z:2.09 [[ 7.77887314e-01 -6.27744312e-01 -2.87820557e-02 2.13649194e+02] [ 6.27266581e-01 7.78418949e-01 -2.45066400e-02 7.77440757e+01] [ 3.77884014e-02 1.00938269e-03 9.99285254e-01 2.09084169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19687499999998 meters 0.018526457650255585 Centerline is valid? [True, True] Translation: X:213.70, Y:77.78, Z:2.09 [[ 7.77371448e-01 -6.28390760e-01 -2.86126819e-02 2.13695461e+02] [ 6.27918623e-01 7.77897223e-01 -2.43744451e-02 7.77800791e+01] [ 3.75744019e-02 9.81561830e-04 9.99293351e-01 2.09283430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25687499999998 meters 0.01870622659229187 Centerline is valid? [True, True] Translation: X:213.74, Y:77.82, Z:2.09 [[ 7.77348156e-01 -6.28422347e-01 -2.85516626e-02 2.13741684e+02] [ 6.27951778e-01 7.77871698e-01 -2.43348791e-02 7.78159166e+01] [ 3.75021121e-02 9.87606140e-04 9.99296060e-01 2.09478805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31687499999998 meters 0.01855153787357825 Centerline is valid? [True, True] Translation: X:213.79, Y:77.85, Z:2.10 [[ 7.78773042e-01 -6.26642041e-01 -2.88496269e-02 2.13788845e+02] [ 6.26159862e-01 7.79306457e-01 -2.46023068e-02 7.78516226e+01] [ 3.78995403e-02 1.09513491e-03 9.99280954e-01 2.09710384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37687499999998 meters 0.020138868575330884 Centerline is valid? [True, True] Translation: X:213.83, Y:77.89, Z:2.10 [[ 7.79927576e-01 -6.25201904e-01 -2.89059770e-02 2.13832130e+02] [ 6.24716462e-01 7.80462169e-01 -2.46605803e-02 7.78900867e+01] [ 3.79778633e-02 1.17542688e-03 9.99277889e-01 2.09807217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.436875 meters 0.020799355063681007 Centerline is valid? [True, True] Translation: X:213.88, Y:77.93, Z:2.10 [[ 7.80896537e-01 -6.23998244e-01 -2.87539605e-02 2.13878112e+02] [ 6.23516839e-01 7.81424771e-01 -2.45372857e-02 7.79265313e+01] [ 3.77802802e-02 1.23250282e-03 9.99285310e-01 2.10006110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.496875 meters 0.01985198948078555 Centerline is valid? [True, True] Translation: X:213.92, Y:77.96, Z:2.10 [[ 7.81704836e-01 -6.23011222e-01 -2.81880802e-02 2.13924890e+02] [ 6.22547511e-01 7.82211876e-01 -2.40661081e-02 7.79623527e+01] [ 3.70425065e-02 1.26417391e-03 9.99312891e-01 2.10276706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.556875 meters 0.021324431503989997 Centerline is valid? [True, True] Translation: X:213.97, Y:78.00, Z:2.10 [[ 7.83144798e-01 -6.21173885e-01 -2.87616129e-02 2.13969097e+02] [ 6.20689447e-01 7.83671538e-01 -2.45668572e-02 7.80006052e+01] [ 3.77999476e-02 1.38737678e-03 9.99284364e-01 2.10330621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.616875 meters 0.023022200226354164 Centerline is valid? [True, True] Translation: X:214.01, Y:78.04, Z:2.10 [[ 7.83755495e-01 -6.20406891e-01 -2.86812479e-02 2.14012640e+02] [ 6.19924400e-01 7.84278813e-01 -2.45047137e-02 7.80393451e+01] [ 3.76969883e-02 1.42549865e-03 9.99288199e-01 2.10345994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.676875 meters 0.02210083586640315 Centerline is valid? [True, True] Translation: X:214.06, Y:78.07, Z:2.11 [[ 7.83290323e-01 -6.20973804e-01 -2.91170729e-02 2.14059781e+02] [ 6.20476595e-01 7.83830020e-01 -2.48856306e-02 7.80744549e+01] [ 3.82761606e-02 1.42621138e-03 9.99266181e-01 2.10619290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.736875 meters 0.02184051345448393 Centerline is valid? [True, True] Translation: X:214.11, Y:78.11, Z:2.11 [[ 7.81904332e-01 -6.22704696e-01 -2.94019869e-02 2.14106156e+02] [ 6.22198411e-01 7.82455748e-01 -2.51423888e-02 7.81105457e+01] [ 3.86620372e-02 1.36507321e-03 9.99251412e-01 2.10741044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.796875 meters 0.0189780915043169 Centerline is valid? [True, True] Translation: X:214.16, Y:78.14, Z:2.11 [[ 7.78592904e-01 -6.26855885e-01 -2.90652524e-02 2.14156578e+02] [ 6.26363534e-01 7.79134368e-01 -2.48668348e-02 7.81414096e+01] [ 3.82336588e-02 1.15572689e-03 9.99268158e-01 2.11089497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.856875 meters 0.01899833598058848 Centerline is valid? [True, True] Translation: X:214.20, Y:78.18, Z:2.11 [[ 7.75520831e-01 -6.30644946e-01 -2.92300081e-02 2.14202504e+02] [ 6.30149258e-01 7.76070864e-01 -2.50185353e-02 7.81770697e+01] [ 3.84623704e-02 9.83127380e-04 9.99259566e-01 2.11115619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91687499999998 meters 0.01619616332079999 Centerline is valid? [True, True] Translation: X:214.25, Y:78.21, Z:2.11 [[ 7.70428512e-01 -6.36830474e-01 -2.97801183e-02 2.14254371e+02] [ 6.36320253e-01 7.71003545e-01 -2.54964782e-02 7.82072888e+01] [ 3.91975111e-02 6.93521308e-04 9.99231242e-01 2.11323517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97687499999998 meters 0.015205162513254888 Centerline is valid? [True, True] Translation: X:214.30, Y:78.24, Z:2.11 [[ 7.66590774e-01 -6.41410763e-01 -3.05093205e-02 2.14304410e+02] [ 6.40878390e-01 7.67197499e-01 -2.61321046e-02 7.82400862e+01] [ 4.01680875e-02 4.79866126e-04 9.99192821e-01 2.11474717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03687499999998 meters 0.014730461909273733 Centerline is valid? [True, True] Translation: X:214.35, Y:78.27, Z:2.12 [[ 7.63485506e-01 -6.45138119e-01 -2.97773350e-02 2.14352747e+02] [ 6.44633507e-01 7.64065918e-01 -2.55130172e-02 7.82747838e+01] [ 3.92112668e-02 2.83350921e-04 9.99230902e-01 2.11851420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09687499999998 meters 0.014489883385233935 Centerline is valid? [True, True] Translation: X:214.40, Y:78.31, Z:2.12 [[ 7.62511361e-01 -6.46322270e-01 -2.90507563e-02 2.14397100e+02] [ 6.45842466e-01 7.63064527e-01 -2.49005333e-02 7.83117681e+01] [ 3.82613708e-02 2.24727400e-04 9.99267740e-01 2.12077320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15687499999999 meters 0.01458433104747811 Centerline is valid? [True, True] Translation: X:214.44, Y:78.35, Z:2.12 [[ 7.62856747e-01 -6.45876762e-01 -2.98796166e-02 2.14440745e+02] [ 6.45368572e-01 7.63441642e-01 -2.56176719e-02 7.83505831e+01] [ 3.93572025e-02 2.59248347e-04 9.99225172e-01 2.12079628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.216875 meters 0.01491333409898282 Centerline is valid? [True, True] Translation: X:214.48, Y:78.39, Z:2.12 [[ 7.64211134e-01 -6.44243856e-01 -3.05155209e-02 2.14483350e+02] [ 6.43712306e-01 7.64820063e-01 -2.61675177e-02 7.83904094e+01] [ 4.01971451e-02 3.54292002e-04 9.99191705e-01 2.12087095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.276875 meters 0.015040787243172222 Centerline is valid? [True, True] Translation: X:214.53, Y:78.43, Z:2.12 [[ 7.65188007e-01 -6.43055283e-01 -3.11000992e-02 2.14528279e+02] [ 6.42501876e-01 7.65819638e-01 -2.66762438e-02 7.84288699e+01] [ 4.09713662e-02 4.30469771e-04 9.99160228e-01 2.12243795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.336875 meters 0.015523783196537607 Centerline is valid? [True, True] Translation: X:214.57, Y:78.47, Z:2.12 [[ 7.65911514e-01 -6.42181982e-01 -3.13345437e-02 2.14573902e+02] [ 6.41618922e-01 7.66552060e-01 -2.68904823e-02 7.84668036e+01] [ 4.12881422e-02 4.90893862e-04 9.99147161e-01 2.12307847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.396875 meters 0.015323912688116888 Centerline is valid? [True, True] Translation: X:214.62, Y:78.50, Z:2.13 [[ 7.65300678e-01 -6.42959697e-01 -3.02935481e-02 2.14619805e+02] [ 6.42433563e-01 7.65899883e-01 -2.60093604e-02 7.85035877e+01] [ 3.99247954e-02 4.43389146e-04 9.99202589e-01 2.12583164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.456875 meters 0.014929122161079675 Centerline is valid? [True, True] Translation: X:214.67, Y:78.54, Z:2.13 [[ 7.64117236e-01 -6.44433469e-01 -2.88158455e-02 2.14666763e+02] [ 6.43958091e-01 7.64660302e-01 -2.47507678e-02 7.85398465e+01] [ 3.79845563e-02 3.56291451e-04 9.99278263e-01 2.12995748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.516875 meters 0.014663035411380044 Centerline is valid? [True, True] Translation: X:214.71, Y:78.58, Z:2.13 [[ 7.63678633e-01 -6.44942522e-01 -2.90532085e-02 2.14711180e+02] [ 6.44459306e-01 7.64231004e-01 -2.49634858e-02 7.85776364e+01] [ 3.83033762e-02 3.40470104e-04 9.99266098e-01 2.13075684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.576875 meters 0.01446983996461488 Centerline is valid? [True, True] Translation: X:214.76, Y:78.62, Z:2.13 [[ 7.62784542e-01 -6.45997219e-01 -2.91090216e-02 2.14755147e+02] [ 6.45512366e-01 7.63339704e-01 -2.50256070e-02 7.86162550e+01] [ 3.83865445e-02 2.98912816e-04 9.99262920e-01 2.13076311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.636875 meters 0.014845544530991116 Centerline is valid? [True, True] Translation: X:214.80, Y:78.65, Z:2.13 [[ 7.62206731e-01 -6.46631717e-01 -3.01383852e-02 2.14798690e+02] [ 6.46111936e-01 7.62802295e-01 -2.59234570e-02 7.86539975e+01] [ 3.97525589e-02 2.86263024e-04 9.99209514e-01 2.13030819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69687499999998 meters 0.01462138038657663 Centerline is valid? [True, True] Translation: X:214.84, Y:78.69, Z:2.13 [[ 7.61438177e-01 -6.47497727e-01 -3.09611915e-02 2.14844259e+02] [ 6.46949482e-01 7.62067338e-01 -2.66409351e-02 7.86916797e+01] [ 4.08444577e-02 2.55098295e-04 9.99165484e-01 2.13320138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75687499999998 meters 0.01451614145206383 Centerline is valid? [True, True] Translation: X:214.89, Y:78.73, Z:2.14 [[ 7.60354585e-01 -6.48785351e-01 -3.06345008e-02 2.14889337e+02] [ 6.48249135e-01 7.60971438e-01 -2.63728879e-02 7.87293440e+01] [ 4.04223235e-02 1.93957558e-04 9.99182665e-01 2.13604053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81687499999998 meters 0.014460152065347854 Centerline is valid? [True, True] Translation: X:214.94, Y:78.77, Z:2.14 [[ 7.58481643e-01 -6.50995153e-01 -3.01812350e-02 2.14935215e+02] [ 6.50475937e-01 7.59081882e-01 -2.59952444e-02 7.87669366e+01] [ 3.98328068e-02 8.47485950e-05 9.99206355e-01 2.13999370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87687499999998 meters 0.014690768748041177 Centerline is valid? [True, True] Translation: X:214.98, Y:78.80, Z:2.14 [[ 7.56951798e-01 -6.52843367e-01 -2.86271391e-02 2.14979506e+02] [ 6.52377222e-01 7.57492929e-01 -2.46662305e-02 7.88040170e+01] [ 3.77880404e-02 -4.54597138e-06 9.99285777e-01 2.14300993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.936875 meters 0.014462789271221814 Centerline is valid? [True, True] Translation: X:215.02, Y:78.84, Z:2.15 [[ 7.56154365e-01 -6.53809123e-01 -2.76442932e-02 2.15023897e+02] [ 6.53374876e-01 7.56659519e-01 -2.38252691e-02 7.88422686e+01] [ 3.64944960e-02 -4.65054098e-05 9.99333853e-01 2.14660355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.996875 meters 0.014544477232574208 Centerline is valid? [True, True] Translation: X:215.07, Y:78.88, Z:2.15 [[ 7.55317780e-01 -6.54820081e-01 -2.65652502e-02 2.15067978e+02] [ 6.54419308e-01 7.55784794e-01 -2.29066529e-02 7.88797956e+01] [ 3.50773484e-02 -8.30104714e-05 9.99384597e-01 2.14950343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.056875 meters 0.014547703745594633 Centerline is valid? [True, True] Translation: X:215.11, Y:78.92, Z:2.15 [[ 7.54573431e-01 -6.55652318e-01 -2.71840984e-02 2.15111732e+02] [ 6.55232722e-01 7.55062927e-01 -2.34532637e-02 7.89191405e+01] [ 3.59028916e-02 -1.14701090e-04 9.99355277e-01 2.15108256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.116875 meters 0.014789779826361434 Centerline is valid? [True, True] Translation: X:215.15, Y:78.96, Z:2.15 [[ 7.54774151e-01 -6.55388381e-01 -2.79651894e-02 2.15153894e+02] [ 6.54943675e-01 7.55292037e-01 -2.41396170e-02 7.89593150e+01] [ 3.69427094e-02 -9.56650042e-05 9.99317381e-01 2.15048811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.176875 meters 0.014717311296269863 Centerline is valid? [True, True] Translation: X:215.20, Y:79.00, Z:2.15 [[ 7.56295203e-01 -6.53561166e-01 -2.95866400e-02 2.15195708e+02] [ 6.53061424e-01 7.56873703e-01 -2.55533448e-02 7.90011071e+01] [ 3.90940235e-02 3.97881941e-06 9.99235536e-01 2.15043530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.236875 meters 0.014799431023950753 Centerline is valid? [True, True] Translation: X:215.24, Y:79.04, Z:2.15 [[ 7.58055573e-01 -6.51535895e-01 -2.92014744e-02 2.15236344e+02] [ 6.51047090e-01 7.58617799e-01 -2.52333620e-02 7.90429681e+01] [ 3.85931994e-02 1.16755774e-04 9.99254998e-01 2.15179374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.296875 meters 0.015076909922169647 Centerline is valid? [True, True] Translation: X:215.28, Y:79.08, Z:2.15 [[ 7.59031560e-01 -6.50427361e-01 -2.85541553e-02 2.15278068e+02] [ 6.49958753e-01 7.59568441e-01 -2.46860750e-02 7.90820614e+01] [ 3.77453338e-02 1.78486867e-04 9.99287375e-01 2.15379872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.356875 meters 0.01505385172331476 Centerline is valid? [True, True] Translation: X:215.32, Y:79.12, Z:2.16 [[ 7.59852350e-01 -6.49478428e-01 -2.83227333e-02 2.15319263e+02] [ 6.49016449e-01 7.60379983e-01 -2.44934757e-02 7.91218585e+01] [ 3.74440236e-02 2.29505282e-04 9.99298700e-01 2.15532973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41687499999998 meters 0.015164778933939535 Centerline is valid? [True, True] Translation: X:215.36, Y:79.16, Z:2.16 [[ 7.60041768e-01 -6.49220448e-01 -2.91431287e-02 2.15363183e+02] [ 6.48730763e-01 7.60600253e-01 -2.52121553e-02 7.91611328e+01] [ 3.85345178e-02 2.56246967e-04 9.99257237e-01 2.15692325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47687499999998 meters 0.015132123272708648 Centerline is valid? [True, True] Translation: X:215.41, Y:79.20, Z:2.16 [[ 7.60082031e-01 -6.49152192e-01 -2.96097410e-02 2.15406696e+02] [ 6.48646151e-01 7.60658502e-01 -2.56283810e-02 7.92008982e+01] [ 3.91596209e-02 2.73427340e-04 9.99232930e-01 2.15783314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53687499999998 meters 0.015267242910961655 Centerline is valid? [True, True] Translation: X:215.45, Y:79.24, Z:2.16 [[ 7.60409484e-01 -6.48773310e-01 -2.95060972e-02 2.15449758e+02] [ 6.48270007e-01 7.60981670e-01 -2.55518381e-02 7.92400392e+01] [ 3.90309497e-02 3.01942185e-04 9.99237957e-01 2.15921039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59687499999998 meters 0.015519666382740894 Centerline is valid? [True, True] Translation: X:215.49, Y:79.28, Z:2.16 [[ 7.61626465e-01 -6.47359018e-01 -2.91792692e-02 2.15492674e+02] [ 6.46865241e-01 7.62185120e-01 -2.52824687e-02 7.92809166e+01] [ 3.86068389e-02 3.80742223e-04 9.99254406e-01 2.16047191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65687499999999 meters 0.015606616933942805 Centerline is valid? [True, True] Translation: X:215.54, Y:79.32, Z:2.16 [[ 7.61860101e-01 -6.47046138e-01 -3.00080093e-02 2.15537299e+02] [ 6.46523139e-01 7.62450733e-01 -2.60136600e-02 7.93192399e+01] [ 3.97116669e-02 4.17897208e-04 9.99211093e-01 2.16187687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.716875 meters 0.015662344737889862 Centerline is valid? [True, True] Translation: X:215.58, Y:79.36, Z:2.16 [[ 7.61178973e-01 -6.47820876e-01 -3.05726035e-02 2.15581871e+02] [ 6.47278119e-01 7.61792595e-01 -2.65156409e-02 7.93551652e+01] [ 4.04673687e-02 3.94171006e-04 9.99180783e-01 2.16222821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.776875 meters 0.015523655445811795 Centerline is valid? [True, True] Translation: X:215.63, Y:79.39, Z:2.16 [[ 7.59591824e-01 -6.49680429e-01 -3.05876034e-02 2.15628610e+02] [ 6.49138192e-01 7.60207372e-01 -2.65397824e-02 7.93909425e+01] [ 4.04952988e-02 3.03820170e-04 9.99179683e-01 2.16388332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.836875 meters 0.015415370570225533 Centerline is valid? [True, True] Translation: X:215.68, Y:79.43, Z:2.17 [[ 7.57773788e-01 -6.51834773e-01 -2.98381288e-02 2.15677062e+02] [ 6.51320031e-01 7.58360990e-01 -2.59003098e-02 7.94256633e+01] [ 3.95107954e-02 1.92404891e-04 9.99219125e-01 2.16625448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.896875 meters 0.015056068364014455 Centerline is valid? [True, True] Translation: X:215.72, Y:79.46, Z:2.17 [[ 7.57652330e-01 -6.52025067e-01 -2.87447231e-02 2.15722504e+02] [ 6.51547192e-01 7.58197388e-01 -2.49595163e-02 7.94626192e+01] [ 3.80684042e-02 1.82092000e-04 9.99275119e-01 2.16936385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.956875 meters 0.015265156203728559 Centerline is valid? [True, True] Translation: X:215.77, Y:79.50, Z:2.17 [[ 7.58354392e-01 -6.51218015e-01 -2.85256596e-02 2.15765701e+02] [ 6.50746349e-01 7.58890667e-01 -2.47819663e-02 7.95011898e+01] [ 3.77863198e-02 2.30544129e-04 9.99285815e-01 2.17104463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.016875 meters 0.015042886343907718 Centerline is valid? [True, True] Translation: X:215.81, Y:79.54, Z:2.17 [[ 7.58640195e-01 -6.50921187e-01 -2.76886899e-02 2.15808541e+02] [ 6.50476121e-01 7.59145274e-01 -2.40680142e-02 7.95404244e+01] [ 3.66861185e-02 2.48131355e-04 9.99326807e-01 2.17359769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.076875 meters 0.014943047740117546 Centerline is valid? [True, True] Translation: X:215.85, Y:79.58, Z:2.18 [[ 7.58520667e-01 -6.51069920e-01 -2.74655488e-02 2.15851102e+02] [ 6.50631612e-01 7.59017718e-01 -2.38874279e-02 7.95798357e+01] [ 3.63992240e-02 2.49153489e-04 9.99337298e-01 2.17526604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.136875 meters 0.015143861270300658 Centerline is valid? [True, True] Translation: X:215.89, Y:79.62, Z:2.18 [[ 7.57321926e-01 -6.52457899e-01 -2.76077938e-02 2.15893804e+02] [ 6.52015459e-01 7.57824948e-01 -2.40247728e-02 7.96185552e+01] [ 3.65970277e-02 1.93778823e-04 9.99330086e-01 2.17613772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19687499999998 meters 0.014942403171730338 Centerline is valid? [True, True] Translation: X:215.94, Y:79.66, Z:2.18 [[ 7.55207572e-01 -6.54900575e-01 -2.76904245e-02 2.15938574e+02] [ 6.54456626e-01 7.55715045e-01 -2.41100631e-02 7.96567692e+01] [ 3.67157646e-02 8.59204575e-05 9.99325745e-01 2.17831470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25687499999998 meters 0.014955623375937609 Centerline is valid? [True, True] Translation: X:215.98, Y:79.69, Z:2.18 [[ 7.52747113e-01 -6.57745419e-01 -2.72533832e-02 2.15981217e+02] [ 6.57316833e-01 7.53240308e-01 -2.37406737e-02 7.96946053e+01] [ 3.61436661e-02 -4.33839539e-05 9.99346603e-01 2.17962516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31687499999998 meters 0.01491035371793843 Centerline is valid? [True, True] Translation: X:216.02, Y:79.73, Z:2.18 [[ 7.51484244e-01 -6.59187080e-01 -2.72731589e-02 2.16024700e+02] [ 6.58758520e-01 7.51978977e-01 -2.37661541e-02 7.97337750e+01] [ 3.61751839e-02 -1.06535454e-04 9.99345458e-01 2.18206226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37687499999998 meters 0.01495397865927941 Centerline is valid? [True, True] Translation: X:216.07, Y:79.77, Z:2.18 [[ 7.51493610e-01 -6.59187904e-01 -2.69937451e-02 2.16065293e+02] [ 6.58767666e-01 7.51978256e-01 -2.35343236e-02 7.97741904e+01] [ 3.58122508e-02 -9.67126525e-05 9.99358531e-01 2.18211793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.436875 meters 0.01462469946497248 Centerline is valid? [True, True] Translation: X:216.11, Y:79.82, Z:2.18 [[ 7.52839360e-01 -6.57650558e-01 -2.69933672e-02 2.16105841e+02] [ 6.57229039e-01 7.53323133e-01 -2.35424499e-02 7.98153630e+01] [ 3.58174333e-02 -1.71418762e-05 9.99358350e-01 2.18420173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.496875 meters 0.014928062221232516 Centerline is valid? [True, True] Translation: X:216.15, Y:79.86, Z:2.19 [[ 7.54340192e-01 -6.55933751e-01 -2.68661173e-02 2.16147277e+02] [ 6.55514643e-01 7.54818461e-01 -2.34444904e-02 7.98558700e+01] [ 3.56570738e-02 7.39881404e-05 9.99364082e-01 2.18601492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.556875 meters 0.015176034955524038 Centerline is valid? [True, True] Translation: X:216.19, Y:79.90, Z:2.19 [[ 7.56448752e-01 -6.53513959e-01 -2.65478896e-02 2.16189349e+02] [ 6.53102786e-01 7.56914438e-01 -2.31793981e-02 7.98970427e+01] [ 3.52425412e-02 1.95526061e-04 9.99378770e-01 2.18773139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.616875 meters 0.01573283715844964 Centerline is valid? [True, True] Translation: X:216.23, Y:79.94, Z:2.19 [[ 7.59912048e-01 -6.49498291e-01 -2.61849040e-02 2.16229693e+02] [ 6.49095557e-01 7.60362954e-01 -2.28721685e-02 7.99389559e+01] [ 3.47654653e-02 3.84331544e-04 9.99395425e-01 2.18864405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.676875 meters 0.01628659500140324 Centerline is valid? [True, True] Translation: X:216.27, Y:79.98, Z:2.19 [[ 7.61666637e-01 -6.47440461e-01 -2.61683600e-02 2.16272106e+02] [ 6.47036828e-01 7.62115881e-01 -2.28631984e-02 7.99796337e+01] [ 3.47458825e-02 4.82242814e-04 9.99396063e-01 2.18953833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.736875 meters 0.016950849084690713 Centerline is valid? [True, True] Translation: X:216.31, Y:80.02, Z:2.19 [[ 7.63274820e-01 -6.45476472e-01 -2.77790226e-02 2.16314227e+02] [ 6.45019915e-01 7.63779907e-01 -2.42809081e-02 8.00192485e+01] [ 3.68898142e-02 6.14982983e-04 9.99319150e-01 2.18817478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.796875 meters 0.016288135648902663 Centerline is valid? [True, True] Translation: X:216.36, Y:80.06, Z:2.19 [[ 7.62155830e-01 -6.46751906e-01 -2.88177488e-02 2.16359849e+02] [ 6.46261188e-01 7.62700227e-01 -2.51960636e-02 8.00551900e+01] [ 3.82749057e-02 5.79534197e-04 9.99267079e-01 2.18792499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.856875 meters 0.016584128151387007 Centerline is valid? [True, True] Translation: X:216.40, Y:80.09, Z:2.19 [[ 7.61613853e-01 -6.47384533e-01 -2.89414248e-02 2.16402815e+02] [ 6.46889575e-01 7.62163338e-01 -2.53164803e-02 8.00923690e+01] [ 3.84475907e-02 5.59476106e-04 9.99260461e-01 2.18886784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91687499999998 meters 0.015599463321048808 Centerline is valid? [True, True] Translation: X:216.45, Y:80.13, Z:2.19 [[ 7.58560041e-01 -6.50987716e-01 -2.83135563e-02 2.16449836e+02] [ 6.50516206e-01 7.59088172e-01 -2.47752673e-02 8.01274919e+01] [ 3.76208804e-02 3.75100604e-04 9.99292014e-01 2.19198178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97687499999998 meters 0.01486560772342993 Centerline is valid? [True, True] Translation: X:216.50, Y:80.16, Z:2.20 [[ 7.53366031e-01 -6.57058893e-01 -2.67064599e-02 2.16500145e+02] [ 6.56642817e-01 7.53839244e-01 -2.33795901e-02 8.01598510e+01] [ 3.54941451e-02 7.67839468e-05 9.99369881e-01 2.19581186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03687499999998 meters 0.014869609920147487 Centerline is valid? [True, True] Translation: X:216.55, Y:80.19, Z:2.20 [[ 7.49079773e-01 -6.61943008e-01 -2.66635898e-02 2.16547961e+02] [ 6.61530928e-01 7.49554156e-01 -2.33537784e-02 8.01935306e+01] [ 3.54446749e-02 -1.44946313e-04 9.99371630e-01 2.19718985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09687499999998 meters 0.014958006165498958 Centerline is valid? [True, True] Translation: X:216.59, Y:80.23, Z:2.20 [[ 7.47794728e-01 -6.63378297e-01 -2.70606698e-02 2.16593603e+02] [ 6.62954314e-01 7.48284165e-01 -2.37146620e-02 8.02306999e+01] [ 3.59808628e-02 -2.06288546e-04 9.99352458e-01 2.19827767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15687499999999 meters 0.014823045490686247 Centerline is valid? [True, True] Translation: X:216.64, Y:80.27, Z:2.20 [[ 7.47941032e-01 -6.63246416e-01 -2.62374558e-02 2.16638153e+02] [ 6.62847372e-01 7.48401067e-01 -2.30044308e-02 8.02692440e+01] [ 3.48937462e-02 -1.85470896e-04 9.99391011e-01 2.20019880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.216875 meters 0.014630872581679994 Centerline is valid? [True, True] Translation: X:216.68, Y:80.31, Z:2.20 [[ 7.49012715e-01 -6.62054053e-01 -2.57756364e-02 2.16681744e+02] [ 6.61667840e-01 7.49456081e-01 -2.26109009e-02 8.03081600e+01] [ 3.42873461e-02 -1.19057396e-04 9.99412009e-01 2.20221577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.276875 meters 0.014408031876755056 Centerline is valid? [True, True] Translation: X:216.72, Y:80.35, Z:2.20 [[ 7.52676580e-01 -6.57889526e-01 -2.56775715e-02 2.16723354e+02] [ 6.57503431e-01 7.53114444e-01 -2.25360391e-02 8.03489419e+01] [ 3.41643741e-02 7.92574496e-05 9.99416224e-01 2.20312106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.336875 meters 0.015180811957192631 Centerline is valid? [True, True] Translation: X:216.76, Y:80.39, Z:2.20 [[ 7.57300764e-01 -6.52584156e-01 -2.50892877e-02 2.16764791e+02] [ 6.52212230e-01 7.57716185e-01 -2.20315759e-02 8.03913033e+01] [ 3.33880167e-02 3.20988992e-04 9.99442413e-01 2.20355344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.396875 meters 0.016198154581213434 Centerline is valid? [True, True] Translation: X:216.81, Y:80.43, Z:2.20 [[ 7.61649567e-01 -6.47507176e-01 -2.49878781e-02 2.16806070e+02] [ 6.47135148e-01 7.62059154e-01 -2.19532661e-02 8.04332693e+01] [ 3.32571386e-02 5.50161410e-04 9.99446677e-01 2.20395914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.456875 meters 0.017178233552569155 Centerline is valid? [True, True] Translation: X:216.85, Y:80.47, Z:2.20 [[ 7.63568157e-01 -6.45240497e-01 -2.50673099e-02 2.16848824e+02] [ 6.44864517e-01 7.63979232e-01 -2.20338103e-02 8.04744300e+01] [ 3.33680108e-02 6.59297207e-04 9.99442915e-01 2.20406101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.516875 meters 0.017629577215117535 Centerline is valid? [True, True] Translation: X:216.89, Y:80.51, Z:2.20 [[ 7.63881110e-01 -6.44853284e-01 -2.54929894e-02 2.16893859e+02] [ 6.44463831e-01 7.64306063e-01 -2.24190295e-02 8.05119296e+01] [ 3.39414311e-02 6.96163536e-04 9.99423581e-01 2.20470074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.576875 meters 0.017062369599730568 Centerline is valid? [True, True] Translation: X:216.94, Y:80.55, Z:2.21 [[ 7.62679200e-01 -6.46300353e-01 -2.48252241e-02 2.16939696e+02] [ 6.45931465e-01 7.63082870e-01 -2.18420973e-02 8.05493832e+01] [ 3.30602584e-02 6.23119955e-04 9.99453166e-01 2.20660305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.636875 meters 0.01558263332290172 Centerline is valid? [True, True] Translation: X:216.99, Y:80.58, Z:2.21 [[ 7.59861602e-01 -6.49626671e-01 -2.44035631e-02 2.16988321e+02] [ 6.49271584e-01 7.60253221e-01 -2.14813783e-02 8.05836494e+01] [ 3.25077637e-02 4.78334441e-04 9.99471369e-01 2.20824931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69687499999998 meters 0.014978632231618652 Centerline is valid? [True, True] Translation: X:217.04, Y:80.62, Z:2.21 [[ 7.57180890e-01 -6.52745414e-01 -2.45055978e-02 2.17035800e+02] [ 6.52388624e-01 7.57577256e-01 -2.15820512e-02 8.06194657e+01] [ 3.26524685e-02 3.54343526e-04 9.99466703e-01 2.20989381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75687499999998 meters 0.014170753615027894 Centerline is valid? [True, True] Translation: X:217.08, Y:80.65, Z:2.21 [[ 7.53519968e-01 -6.56955154e-01 -2.48512156e-02 2.17084055e+02] [ 6.56590141e-01 7.53929634e-01 -2.18973474e-02 8.06546741e+01] [ 3.31216431e-02 1.83025312e-04 9.99451311e-01 2.21039727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81687499999998 meters 0.014161377260365503 Centerline is valid? [True, True] Translation: X:217.13, Y:80.69, Z:2.21 [[ 7.51318306e-01 -6.59457784e-01 -2.52236748e-02 2.17129780e+02] [ 6.59082827e-01 7.51741594e-01 -2.22351654e-02 8.06898862e+01] [ 3.36248384e-02 8.11959098e-05 9.99434522e-01 2.21074104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87687499999998 meters 0.014034184851535488 Centerline is valid? [True, True] Translation: X:217.18, Y:80.73, Z:2.21 [[ 7.48835181e-01 -6.62270458e-01 -2.53715015e-02 2.17176092e+02] [ 6.61892458e-01 7.49264866e-01 -2.23726397e-02 8.07250401e+01] [ 3.38267130e-02 -3.97858014e-05 9.99427712e-01 2.21247761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.936875 meters 0.013942598056356293 Centerline is valid? [True, True] Translation: X:217.22, Y:80.76, Z:2.21 [[ 7.47818391e-01 -6.63441237e-01 -2.47664787e-02 2.17220445e+02] [ 6.63081307e-01 7.48228386e-01 -2.18509170e-02 8.07621653e+01] [ 3.30277818e-02 -8.16714742e-05 9.99454431e-01 2.21453265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.996875 meters 0.014207673633333537 Centerline is valid? [True, True] Translation: X:217.26, Y:80.80, Z:2.22 [[ 7.46930007e-01 -6.64488044e-01 -2.34777107e-02 2.17264790e+02] [ 6.64164786e-01 7.47298887e-01 -2.07246599e-02 8.08000218e+01] [ 3.13161558e-02 -1.13198342e-04 9.99509523e-01 2.21771546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.056875 meters 0.014028084650911 Centerline is valid? [True, True] Translation: X:217.31, Y:80.84, Z:2.22 [[ 7.46886196e-01 -6.64554058e-01 -2.29981322e-02 2.17307583e+02] [ 6.64243561e-01 7.47240185e-01 -2.03125097e-02 8.08391529e+01] [ 3.06838893e-02 -1.05228120e-04 9.99529133e-01 2.21923500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.116875 meters 0.013768801285045979 Centerline is valid? [True, True] Translation: X:217.35, Y:80.88, Z:2.22 [[ 7.48664527e-01 -6.62558548e-01 -2.27507469e-02 2.17349295e+02] [ 6.62253434e-01 7.49010127e-01 -2.01051895e-02 8.08796303e+01] [ 3.03614050e-02 -1.47181245e-05 9.99538986e-01 2.21992036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.176875 meters 0.013681896420406198 Centerline is valid? [True, True] Translation: X:217.39, Y:80.92, Z:2.22 [[ 7.51309592e-01 -6.59541373e-01 -2.32179565e-02 2.17391181e+02] [ 6.59221792e-01 7.51668253e-01 -2.05296266e-02 8.09212542e+01] [ 3.09923389e-02 1.18322563e-04 9.99519615e-01 2.22053734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.236875 meters 0.0139818871172131 Centerline is valid? [True, True] Translation: X:217.43, Y:80.96, Z:2.22 [[ 7.53573594e-01 -6.56933713e-01 -2.37683688e-02 2.17433730e+02] [ 6.56597161e-01 7.53948300e-01 -2.10268606e-02 8.09624491e+01] [ 3.17333748e-02 2.39043402e-04 9.99496341e-01 2.22060706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.296875 meters 0.014462526273872582 Centerline is valid? [True, True] Translation: X:217.48, Y:81.00, Z:2.22 [[ 7.56173057e-01 -6.53949060e-01 -2.35145746e-02 2.17475917e+02] [ 6.53617893e-01 7.56538493e-01 -2.08124655e-02 8.10041450e+01] [ 3.13999731e-02 3.68278911e-04 9.99506831e-01 2.22154112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.356875 meters 0.01491998857454912 Centerline is valid? [True, True] Translation: X:217.52, Y:81.04, Z:2.22 [[ 7.57757555e-01 -6.52089705e-01 -2.41351398e-02 2.17519333e+02] [ 6.51739529e-01 7.58141676e-01 -2.13725337e-02 8.10440399e+01] [ 3.22346645e-02 4.65374208e-04 9.99480220e-01 2.22281606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41687499999998 meters 0.014861233883920412 Centerline is valid? [True, True] Translation: X:217.56, Y:81.08, Z:2.22 [[ 7.57418685e-01 -6.52480093e-01 -2.42211610e-02 2.17562733e+02] [ 6.52127264e-01 7.57805726e-01 -2.14595774e-02 8.10820465e+01] [ 3.23568815e-02 4.58605444e-04 9.99476274e-01 2.22432057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47687499999998 meters 0.015070165412332191 Centerline is valid? [True, True] Translation: X:217.61, Y:81.12, Z:2.22 [[ 7.56061202e-01 -6.54050080e-01 -2.42889091e-02 2.17606598e+02] [ 6.53695716e-01 7.56451143e-01 -2.15309009e-02 8.11200068e+01] [ 3.24556605e-02 4.01123001e-04 9.99473096e-01 2.22475755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53687499999998 meters 0.014560505093231037 Centerline is valid? [True, True] Translation: X:217.65, Y:81.16, Z:2.23 [[ 7.55210072e-01 -6.55012115e-01 -2.48370025e-02 2.17652257e+02] [ 6.54641842e-01 7.55618283e-01 -2.20242823e-02 8.11558083e+01] [ 3.31934649e-02 3.73618747e-04 9.99448875e-01 2.22637789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59687499999998 meters 0.01472372667497385 Centerline is valid? [True, True] Translation: X:217.70, Y:81.19, Z:2.23 [[ 7.55557231e-01 -6.54596157e-01 -2.52416692e-02 2.17696341e+02] [ 6.54213061e-01 7.55978641e-01 -2.23956532e-02 8.11947003e+01] [ 3.37422713e-02 4.07768030e-04 9.99430484e-01 2.22754237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65687499999999 meters 0.014836755168421725 Centerline is valid? [True, True] Translation: X:217.74, Y:81.23, Z:2.23 [[ 7.55687894e-01 -6.54429570e-01 -2.56465355e-02 2.17740831e+02] [ 6.54033600e-01 7.56122842e-01 -2.27661627e-02 8.12332213e+01] [ 3.42907814e-02 4.30417627e-04 9.99411806e-01 2.22907245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.716875 meters 0.01417437580366299 Centerline is valid? [True, True] Translation: X:217.79, Y:81.27, Z:2.23 [[ 7.53173408e-01 -6.57289301e-01 -2.64686985e-02 2.17787980e+02] [ 6.56868871e-01 7.53638290e-01 -2.35077448e-02 8.12683438e+01] [ 3.53992139e-02 3.18944201e-04 9.99373201e-01 2.23161990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.776875 meters 0.014168770322980735 Centerline is valid? [True, True] Translation: X:217.83, Y:81.31, Z:2.23 [[ 7.52845320e-01 -6.57659739e-01 -2.66006099e-02 2.17831375e+02] [ 6.57234908e-01 7.53315054e-01 -2.36369399e-02 8.13063478e+01] [ 3.55837036e-02 3.12110172e-04 9.99366651e-01 2.23277870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.836875 meters 0.014216394363594311 Centerline is valid? [True, True] Translation: X:217.88, Y:81.34, Z:2.23 [[ 7.52355534e-01 -6.58208480e-01 -2.68839506e-02 2.17876118e+02] [ 6.57774414e-01 7.52835644e-01 -2.39021502e-02 8.13439764e+01] [ 3.59717942e-02 2.99340108e-04 9.99352761e-01 2.23393110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.896875 meters 0.014224611478215736 Centerline is valid? [True, True] Translation: X:217.92, Y:81.38, Z:2.24 [[ 7.52548986e-01 -6.57966345e-01 -2.73918412e-02 2.17920311e+02] [ 6.57515071e-01 7.53047265e-01 -2.43669590e-02 8.13823162e+01] [ 3.66599901e-02 3.26781882e-04 9.99327743e-01 2.23575046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.956875 meters 0.0143764536612031 Centerline is valid? [True, True] Translation: X:217.96, Y:81.42, Z:2.24 [[ 7.52640911e-01 -6.57864638e-01 -2.73089113e-02 2.17963937e+02] [ 6.57415585e-01 7.53136112e-01 -2.43052668e-02 8.14205514e+01] [ 3.65569028e-02 3.39834242e-04 9.99331515e-01 2.23889556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.016875 meters 0.01444932117603065 Centerline is valid? [True, True] Translation: X:218.01, Y:81.46, Z:2.24 [[ 7.53240079e-01 -6.57193712e-01 -2.69408325e-02 2.18006542e+02] [ 6.56755784e-01 7.53721622e-01 -2.39907735e-02 8.14598276e+01] [ 3.60724735e-02 3.77264536e-04 9.99349105e-01 2.24071779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.076875 meters 0.014441622374476104 Centerline is valid? [True, True] Translation: X:218.05, Y:81.50, Z:2.24 [[ 7.53067081e-01 -6.57374411e-01 -2.73652170e-02 2.18050125e+02] [ 6.56922189e-01 7.53564022e-01 -2.43824179e-02 8.14982315e+01] [ 3.66498206e-02 3.84778068e-04 9.99328096e-01 2.24159150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.136875 meters 0.01386669303614275 Centerline is valid? [True, True] Translation: X:218.10, Y:81.53, Z:2.24 [[ 7.48291888e-01 -6.62730160e-01 -2.91201873e-02 2.18096517e+02] [ 6.62221504e-01 7.48858274e-01 -2.59608444e-02 8.15343954e+01] [ 3.90119278e-02 1.42275057e-04 9.99238735e-01 2.24105664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19687499999998 meters 0.013825333876146165 Centerline is valid? [True, True] Translation: X:218.14, Y:81.57, Z:2.25 [[ 7.45823106e-01 -6.65537851e-01 -2.84123730e-02 2.18141625e+02] [ 6.65055207e-01 7.46364099e-01 -2.53417162e-02 8.15699585e+01] [ 3.80718465e-02 4.64088358e-06 9.99275004e-01 2.24536405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25687499999998 meters 0.013898504873698416 Centerline is valid? [True, True] Translation: X:218.19, Y:81.61, Z:2.25 [[ 7.42263397e-01 -6.69476544e-01 -2.90896336e-02 2.18186689e+02] [ 6.68973148e-01 7.42833171e-01 -2.59578076e-02 8.16079816e+01] [ 3.89868882e-02 -1.92653316e-04 9.99239704e-01 2.24680063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31687499999998 meters 0.013962700002597214 Centerline is valid? [True, True] Translation: X:218.23, Y:81.65, Z:2.25 [[ 7.41030449e-01 -6.70868581e-01 -2.84468038e-02 2.18229654e+02] [ 6.70387753e-01 7.41576216e-01 -2.53963928e-02 8.16454618e+01] [ 3.81331151e-02 -2.50888509e-04 9.99272637e-01 2.24903754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37687499999998 meters 0.013985519654844897 Centerline is valid? [True, True] Translation: X:218.27, Y:81.68, Z:2.25 [[ 7.40341676e-01 -6.71648051e-01 -2.79839014e-02 2.18272025e+02] [ 6.71182833e-01 7.40870312e-01 -2.49957044e-02 8.16847691e+01] [ 3.75207579e-02 -2.76952563e-04 9.99295810e-01 2.25058984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.436875 meters 0.01368427591789457 Centerline is valid? [True, True] Translation: X:218.31, Y:81.73, Z:2.25 [[ 7.41054699e-01 -6.70829904e-01 -2.87258171e-02 2.18313851e+02] [ 6.70338510e-01 7.41611210e-01 -2.56728701e-02 8.17251263e+01] [ 3.85255170e-02 -2.31020411e-04 9.99257590e-01 2.25391291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.496875 meters 0.01347100038384961 Centerline is valid? [True, True] Translation: X:218.36, Y:81.77, Z:2.26 [[ 7.42778027e-01 -6.68930687e-01 -2.85050620e-02 2.18355806e+02] [ 6.68444882e-01 7.43324775e-01 -2.54895676e-02 8.17669794e+01] [ 3.82392728e-02 -1.20972078e-04 9.99268604e-01 2.25568908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.556875 meters 0.013302480451913262 Centerline is valid? [True, True] Translation: X:218.39, Y:81.81, Z:2.25 [[ 7.46615523e-01 -6.64609768e-01 -2.93107001e-02 2.18394789e+02] [ 6.64092310e-01 7.47190634e-01 -2.62213539e-02 8.18101923e+01] [ 3.93276486e-02 1.12259337e-04 9.99226362e-01 2.25483249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.616875 meters 0.01372060921422371 Centerline is valid? [True, True] Translation: X:218.44, Y:81.85, Z:2.26 [[ 7.48981667e-01 -6.61920825e-01 -2.97873086e-02 2.18436337e+02] [ 6.61383914e-01 7.49573713e-01 -2.66564724e-02 8.18516012e+01] [ 3.99722578e-02 2.64362413e-04 9.99200755e-01 2.25585808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.676875 meters 0.014659247315991285 Centerline is valid? [True, True] Translation: X:218.48, Y:81.89, Z:2.26 [[ 7.53263360e-01 -6.57046634e-01 -2.97326682e-02 2.18477124e+02] [ 6.56507378e-01 7.53849745e-01 -2.66200127e-02 8.18934888e+01] [ 3.99045541e-02 5.32164143e-04 9.99203354e-01 2.25845807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.736875 meters 0.016511793891241543 Centerline is valid? [True, True] Translation: X:218.52, Y:81.94, Z:2.26 [[ 7.56053844e-01 -6.53832653e-01 -2.97564561e-02 2.18517008e+02] [ 6.53289584e-01 7.56638855e-01 -2.66526278e-02 8.19357784e+01] [ 3.99412492e-02 7.11238825e-04 9.99201777e-01 2.25890713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.796875 meters 0.01628669213110857 Centerline is valid? [True, True] Translation: X:218.56, Y:81.97, Z:2.26 [[ 7.56119948e-01 -6.53746143e-01 -2.99767416e-02 2.18561482e+02] [ 6.53194438e-01 7.56713583e-01 -2.68622310e-02 8.19744524e+01] [ 4.02448875e-02 7.30427836e-04 9.99189579e-01 2.26071334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.856875 meters 0.01621030501802156 Centerline is valid? [True, True] Translation: X:218.61, Y:82.01, Z:2.26 [[ 7.55614701e-01 -6.54297606e-01 -3.06768196e-02 2.18605021e+02] [ 6.53719691e-01 7.56236810e-01 -2.75036875e-02 8.20135603e+01] [ 4.11945371e-02 7.28149620e-04 9.99150879e-01 2.26135073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91687499999998 meters 0.015425921619087414 Centerline is valid? [True, True] Translation: X:218.65, Y:82.05, Z:2.26 [[ 7.54163957e-01 -6.55932071e-01 -3.14617863e-02 2.18650737e+02] [ 6.55324964e-01 7.54819630e-01 -2.82226660e-02 8.20512115e+01] [ 4.22601256e-02 6.66823443e-04 9.99106419e-01 2.26191759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97687499999998 meters 0.015657584131148088 Centerline is valid? [True, True] Translation: X:218.69, Y:82.09, Z:2.26 [[ 7.52640785e-01 -6.57662728e-01 -3.18054206e-02 2.18694162e+02] [ 6.57043347e-01 7.53312283e-01 -2.85419815e-02 8.20900637e+01] [ 4.27304114e-02 5.84319315e-04 9.99086468e-01 2.26162708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03687499999998 meters 0.014676310988119837 Centerline is valid? [True, True] Translation: X:218.74, Y:82.13, Z:2.27 [[ 7.50339049e-01 -6.60296120e-01 -3.16282288e-02 2.18741384e+02] [ 6.59685627e-01 7.51005221e-01 -2.83907010e-02 8.21262263e+01] [ 4.24992347e-02 4.37963640e-04 9.99096403e-01 2.26531316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09687499999998 meters 0.014316528260241634 Centerline is valid? [True, True] Translation: X:218.79, Y:82.16, Z:2.27 [[ 7.47733343e-01 -6.63229248e-01 -3.19658094e-02 2.18786612e+02] [ 6.62607741e-01 7.48416251e-01 -2.87071040e-02 8.21639587e+01] [ 4.29631222e-02 2.84466073e-04 9.99076618e-01 2.26568816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15687499999999 meters 0.014431462446137576 Centerline is valid? [True, True] Translation: X:218.83, Y:82.20, Z:2.27 [[ 7.46867031e-01 -6.64185983e-01 -3.23514787e-02 2.18830810e+02] [ 6.63549633e-01 7.47567335e-01 -2.90682512e-02 8.22023312e+01] [ 4.34916337e-02 2.43306575e-04 9.99053762e-01 2.26675912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.216875 meters 0.0142608323286476 Centerline is valid? [True, True] Translation: X:218.88, Y:82.24, Z:2.27 [[ 7.46336326e-01 -6.64754288e-01 -3.29214974e-02 2.18875555e+02] [ 6.64095162e-01 7.47062036e-01 -2.95961198e-02 8.22411522e+01] [ 4.42685484e-02 2.25652202e-04 9.99019642e-01 2.26889380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.276875 meters 0.014381024938029285 Centerline is valid? [True, True] Translation: X:218.92, Y:82.28, Z:2.27 [[ 7.46758075e-01 -6.64275450e-01 -3.30227739e-02 2.18918215e+02] [ 6.63611115e-01 7.47487830e-01 -2.97023846e-02 8.22809987e+01] [ 4.44146865e-02 2.66215681e-04 9.99013145e-01 2.26991835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.336875 meters 0.014664528745712516 Centerline is valid? [True, True] Translation: X:218.96, Y:82.32, Z:2.27 [[ 7.47964804e-01 -6.62961414e-01 -3.21063093e-02 2.18960471e+02] [ 6.62331571e-01 7.48653487e-01 -2.88937132e-02 8.23201662e+01] [ 4.31919174e-02 3.46458279e-04 9.99066734e-01 2.27202502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.396875 meters 0.014451959044647356 Centerline is valid? [True, True] Translation: X:219.00, Y:82.36, Z:2.27 [[ 7.48038886e-01 -6.62965577e-01 -3.02401834e-02 2.19004529e+02] [ 6.62406296e-01 7.48649805e-01 -2.72280961e-02 8.23598289e+01] [ 4.06905978e-02 3.36386748e-04 9.99171738e-01 2.27485155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.456875 meters 0.014579268492875677 Centerline is valid? [True, True] Translation: X:219.05, Y:82.40, Z:2.28 [[ 7.48033805e-01 -6.63023786e-01 -2.90669187e-02 2.19047470e+02] [ 6.62506655e-01 7.48598257e-01 -2.61836150e-02 8.23971023e+01] [ 3.91198042e-02 3.29202081e-04 9.99234473e-01 2.27723010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.516875 meters 0.01438171684588622 Centerline is valid? [True, True] Translation: X:219.09, Y:82.44, Z:2.28 [[ 7.48304236e-01 -6.62712364e-01 -2.92077411e-02 2.19091436e+02] [ 6.62189500e-01 7.48873951e-01 -2.63224536e-02 8.24356508e+01] [ 3.93171319e-02 3.56144114e-04 9.99226719e-01 2.27902318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.576875 meters 0.014829012454128624 Centerline is valid? [True, True] Translation: X:219.13, Y:82.47, Z:2.28 [[ 7.48396556e-01 -6.62519703e-01 -3.11486532e-02 2.19134994e+02] [ 6.61924314e-01 7.49044380e-01 -2.80841626e-02 8.24744938e+01] [ 4.19380346e-02 4.00039668e-04 9.99120134e-01 2.27756407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.636875 meters 0.014563563622602102 Centerline is valid? [True, True] Translation: X:219.18, Y:82.51, Z:2.28 [[ 7.47769745e-01 -6.63199349e-01 -3.17337688e-02 2.19178481e+02] [ 6.62581504e-01 7.48442704e-01 -2.86228731e-02 8.25131351e+01] [ 4.27335785e-02 3.77110305e-04 9.99086432e-01 2.27749102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69687499999998 meters 0.014741781720374861 Centerline is valid? [True, True] Translation: X:219.22, Y:82.55, Z:2.28 [[ 7.47266260e-01 -6.63742471e-01 -3.22345998e-02 2.19221513e+02] [ 6.63104868e-01 7.47961096e-01 -2.90883481e-02 8.25508952e+01] [ 4.34173986e-02 3.61821057e-04 9.99056955e-01 2.27803887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75687499999998 meters 0.014509714633375869 Centerline is valid? [True, True] Translation: X:219.27, Y:82.59, Z:2.28 [[ 7.46578672e-01 -6.64532734e-01 -3.18831124e-02 2.19266739e+02] [ 6.63909221e-01 7.47259087e-01 -2.87819985e-02 8.25886954e+01] [ 4.29515256e-02 3.20533884e-04 9.99077106e-01 2.28217628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81687499999998 meters 0.014424778153070044 Centerline is valid? [True, True] Translation: X:219.31, Y:82.63, Z:2.28 [[ 7.45978004e-01 -6.65262767e-01 -3.06963909e-02 2.19308750e+02] [ 6.64684926e-01 7.46609251e-01 -2.77231927e-02 8.26271953e+01] [ 4.13614173e-02 2.77463674e-04 9.99144212e-01 2.28347212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87687499999998 meters 0.014247261920500697 Centerline is valid? [True, True] Translation: X:219.35, Y:82.67, Z:2.29 [[ 7.46335989e-01 -6.64893023e-01 -2.99976541e-02 2.19351635e+02] [ 6.64340405e-01 7.46938537e-01 -2.71043890e-02 8.26662795e+01] [ 4.04279230e-02 3.00327284e-04 9.99182412e-01 2.28701437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.936875 meters 0.014609427332154057 Centerline is valid? [True, True] Translation: X:219.39, Y:82.71, Z:2.29 [[ 7.48222411e-01 -6.62782044e-01 -2.97184313e-02 2.19391939e+02] [ 6.62237490e-01 7.48812250e-01 -2.68648678e-02 8.27074089e+01] [ 4.00590774e-02 4.20236850e-04 9.99197225e-01 2.28878601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.996875 meters 0.015529999392821818 Centerline is valid? [True, True] Translation: X:219.43, Y:82.75, Z:2.29 [[ 7.50711965e-01 -6.59930676e-01 -3.03817224e-02 2.19432018e+02] [ 6.59358791e-01 7.51326262e-01 -2.74742369e-02 8.27507618e+01] [ 4.09576777e-02 5.92782579e-04 9.99160706e-01 2.28773230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.056875 meters 0.01602610544808671 Centerline is valid? [True, True] Translation: X:219.47, Y:82.79, Z:2.29 [[ 7.52081918e-01 -6.58378780e-01 -3.01690319e-02 2.19474319e+02] [ 6.57813088e-01 7.52686466e-01 -2.72951552e-02 8.27923128e+01] [ 4.06783729e-02 6.82608631e-04 9.99172059e-01 2.28987245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.116875 meters 0.016636113569296705 Centerline is valid? [True, True] Translation: X:219.52, Y:82.83, Z:2.29 [[ 7.54373537e-01 -6.55784116e-01 -2.94577621e-02 2.19516032e+02] [ 6.55242299e-01 7.54948033e-01 -2.66645388e-02 8.28338603e+01] [ 3.97252605e-02 8.13050682e-04 9.99210310e-01 2.29266898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.176875 meters 0.017442093117421714 Centerline is valid? [True, True] Translation: X:219.56, Y:82.87, Z:2.29 [[ 7.55055183e-01 -6.55025506e-01 -2.88661972e-02 2.19557436e+02] [ 6.54504251e-01 7.55606296e-01 -2.61402269e-02 8.28749732e+01] [ 3.89339957e-02 8.44265051e-04 9.99241428e-01 2.29478874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.236875 meters 0.017693292886369665 Centerline is valid? [True, True] Translation: X:219.60, Y:82.92, Z:2.30 [[ 7.55335917e-01 -6.54717773e-01 -2.85006999e-02 2.19600243e+02] [ 6.54209084e-01 7.55872943e-01 -2.58179943e-02 8.29157628e+01] [ 3.84464076e-02 8.55841615e-04 9.99260297e-01 2.29729910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.296875 meters 0.017088651946715376 Centerline is valid? [True, True] Translation: X:219.64, Y:82.95, Z:2.30 [[ 7.54689996e-01 -6.55425779e-01 -2.93267466e-02 2.19644218e+02] [ 6.54887152e-01 7.55259107e-01 -2.65800616e-02 8.29544383e+01] [ 3.95705500e-02 8.53997024e-04 9.99216414e-01 2.29907802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.356875 meters 0.017607075779327287 Centerline is valid? [True, True] Translation: X:219.69, Y:82.99, Z:2.30 [[ 7.53561220e-01 -6.56749851e-01 -2.87249186e-02 2.19685408e+02] [ 6.56233587e-01 7.54108101e-01 -2.60471140e-02 8.29949173e+01] [ 3.87681321e-02 7.77838606e-04 9.99247931e-01 2.30064067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41687499999998 meters 0.015768047218266416 Centerline is valid? [True, True] Translation: X:219.73, Y:83.03, Z:2.30 [[ 7.50347461e-01 -6.60394212e-01 -2.92946000e-02 2.19731953e+02] [ 6.59859650e-01 7.50918847e-01 -2.65730476e-02 8.30313404e+01] [ 3.95465540e-02 6.08694276e-04 9.99217544e-01 2.30369045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47687499999998 meters 0.01523229448070205 Centerline is valid? [True, True] Translation: X:219.78, Y:83.07, Z:2.31 [[ 7.47661576e-01 -6.63403492e-01 -2.99662129e-02 2.19777624e+02] [ 6.62845995e-01 7.48261709e-01 -2.71956085e-02 8.30691248e+01] [ 4.04642313e-02 4.70127355e-04 9.99180877e-01 2.30502460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53687499999998 meters 0.014704656599677521 Centerline is valid? [True, True] Translation: X:219.82, Y:83.11, Z:2.31 [[ 7.44004693e-01 -6.67521403e-01 -2.95329249e-02 2.19823886e+02] [ 6.66982630e-01 7.44590567e-01 -2.68152843e-02 8.31061498e+01] [ 3.98897135e-02 2.52749415e-04 9.99204057e-01 2.30761369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59687499999998 meters 0.014764836555291674 Centerline is valid? [True, True] Translation: X:219.87, Y:83.14, Z:2.31 [[ 7.37938472e-01 -6.74206497e-01 -2.98732567e-02 2.19872290e+02] [ 6.73660123e-01 7.38542883e-01 -2.71375892e-02 8.31407382e+01] [ 4.03590201e-02 -9.85506425e-05 9.99185238e-01 2.31063569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65687499999999 meters 0.015703544806224205 Centerline is valid? [True, True] Translation: X:219.92, Y:83.17, Z:2.31 [[ 7.32849603e-01 -6.79770341e-01 -2.90472559e-02 2.19920911e+02] [ 6.79257621e-01 7.33424936e-01 -2.63997692e-02 8.31746258e+01] [ 3.92497620e-02 -3.83509570e-04 9.99229358e-01 2.31426734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.716875 meters 0.016152839308037764 Centerline is valid? [True, True] Translation: X:219.97, Y:83.21, Z:2.32 [[ 7.30662932e-01 -6.82131327e-01 -2.87842412e-02 2.19966096e+02] [ 6.81629187e-01 7.31229517e-01 -2.61733615e-02 8.32121869e+01] [ 3.89015566e-02 -4.96273905e-04 9.99242925e-01 2.31522122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.776875 meters 0.01670214183529074 Centerline is valid? [True, True] Translation: X:220.01, Y:83.25, Z:2.32 [[ 7.29603561e-01 -6.83238639e-01 -2.93871596e-02 2.20011534e+02] [ 6.82715607e-01 7.30194940e-01 -2.67347983e-02 8.32503968e+01] [ 3.97246025e-02 -5.57268501e-04 9.99210511e-01 2.31762110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.836875 meters 0.01680590145775682 Centerline is valid? [True, True] Translation: X:220.05, Y:83.29, Z:2.32 [[ 7.30524662e-01 -6.82202022e-01 -3.05633586e-02 2.20053900e+02] [ 6.81634827e-01 7.31163552e-01 -2.78176834e-02 8.32889888e+01] [ 4.13240937e-02 -5.11545902e-04 9.99145664e-01 2.31699503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.896875 meters 0.018783261717250383 Centerline is valid? [True, True] Translation: X:220.10, Y:83.33, Z:2.31 [[ 7.35898996e-01 -6.76238637e-01 -3.39701912e-02 2.20095462e+02] [ 6.75530816e-01 7.36682613e-01 -3.09329123e-02 8.33298352e+01] [ 4.59432796e-02 -1.84411842e-04 9.98944033e-01 2.31229289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.956875 meters 0.01999081373766272 Centerline is valid? [True, True] Translation: X:220.14, Y:83.37, Z:2.31 [[ 7.40827705e-01 -6.70813226e-01 -3.44082471e-02 2.20135249e+02] [ 6.70080337e-01 7.41626312e-01 -3.13489236e-02 8.33731851e+01] [ 4.65473340e-02 1.67861327e-04 9.98916071e-01 2.31036055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.016875 meters 0.02301844320736282 Centerline is valid? [True, True] Translation: X:220.18, Y:83.41, Z:2.30 [[ 7.45448969e-01 -6.65582291e-01 -3.61392937e-02 2.20176559e+02] [ 6.64766712e-01 7.46324278e-01 -3.29437344e-02 8.34139250e+01] [ 4.88983985e-02 5.33673336e-04 9.98803615e-01 2.30380796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.076875 meters 0.024864616003968804 Centerline is valid? [True, True] Translation: X:220.22, Y:83.46, Z:2.31 [[ 7.49981486e-01 -6.60487989e-01 -3.58243980e-02 2.20215677e+02] [ 6.59679955e-01 7.50836106e-01 -3.26725990e-02 8.34575009e+01] [ 4.84781107e-02 8.71207051e-04 9.98823865e-01 2.30677582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.136875 meters 0.025422251964225404 Centerline is valid? [True, True] Translation: X:220.25, Y:83.50, Z:2.31 [[ 7.51465059e-01 -6.58890630e-01 -3.41087009e-02 2.20254454e+02] [ 6.58155862e-01 7.52238165e-01 -3.11224099e-02 8.35001110e+01] [ 4.61641308e-02 9.38562116e-04 9.98933427e-01 2.30965238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19687499999998 meters 0.027760438813292446 Centerline is valid? [True, True] Translation: X:220.30, Y:83.54, Z:2.31 [[ 7.54436572e-01 -6.55563242e-01 -3.25928687e-02 2.20296372e+02] [ 6.54888631e-01 7.55139471e-01 -2.97533193e-02 8.35414180e+01] [ 4.41173441e-02 1.10229304e-03 9.99025748e-01 2.31299217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25687499999998 meters 0.028884956762907178 Centerline is valid? [True, True] Translation: X:220.34, Y:83.58, Z:2.31 [[ 7.56510491e-01 -6.53162713e-01 -3.27161781e-02 2.20336676e+02] [ 6.52480101e-01 7.57216540e-01 -2.98802652e-02 8.35846236e+01] [ 4.42899063e-02 1.25807891e-03 9.99017928e-01 2.31335240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31687499999998 meters 0.030372634581886958 Centerline is valid? [True, True] Translation: X:220.38, Y:83.63, Z:2.31 [[ 7.58458377e-01 -6.50877341e-01 -3.31598672e-02 2.20377359e+02] [ 6.50173216e-01 7.59181575e-01 -3.03005768e-02 8.36265993e+01] [ 4.48963191e-02 1.42206884e-03 9.98990640e-01 2.31347557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37687499999998 meters 0.030795479529151355 Centerline is valid? [True, True] Translation: X:220.42, Y:83.67, Z:2.31 [[ 7.60934105e-01 -6.47939829e-01 -3.39597661e-02 2.20419277e+02] [ 6.47197643e-01 7.61689745e-01 -3.10474468e-02 8.36682807e+01] [ 4.59836830e-02 1.64638056e-03 9.98940834e-01 2.31453563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.436875 meters 0.03251075885676259 Centerline is valid? [True, True] Translation: X:220.46, Y:83.71, Z:2.31 [[ 7.62072994e-01 -6.46567679e-01 -3.45685925e-02 2.20460436e+02] [ 6.45796491e-01 7.62854570e-01 -3.16195701e-02 8.37105117e+01] [ 4.68150008e-02 1.77214472e-03 9.98902005e-01 2.31369339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.496875 meters 0.033437335098194666 Centerline is valid? [True, True] Translation: X:220.50, Y:83.75, Z:2.31 [[ 7.61494185e-01 -6.47243932e-01 -3.46683976e-02 2.20502118e+02] [ 6.46468302e-01 7.62280947e-01 -3.17252750e-02 8.37494405e+01] [ 4.69610507e-02 1.74659233e-03 9.98895194e-01 2.31455382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.556875 meters 0.032320303440418245 Centerline is valid? [True, True] Translation: X:220.55, Y:83.79, Z:2.32 [[ 7.60156869e-01 -6.48870881e-01 -3.35874102e-02 2.20547264e+02] [ 6.48143859e-01 7.60896841e-01 -3.07495564e-02 8.37868310e+01] [ 4.55090461e-02 1.60501287e-03 9.98962637e-01 2.31749670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.616875 meters 0.030748819974858753 Centerline is valid? [True, True] Translation: X:220.59, Y:83.82, Z:2.32 [[ 7.57495531e-01 -6.52059658e-01 -3.19174391e-02 2.20593454e+02] [ 6.51405359e-01 7.58166452e-01 -2.92350851e-02 8.38217925e+01] [ 4.32617511e-02 1.35425545e-03 9.99062854e-01 2.32136493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.676875 meters 0.028526384705016578 Centerline is valid? [True, True] Translation: X:220.64, Y:83.86, Z:2.32 [[ 7.52834542e-01 -6.57478635e-01 -3.10160616e-02 2.20641662e+02] [ 6.56864726e-01 7.53472490e-01 -2.84242581e-02 8.38559235e+01] [ 4.20580916e-02 1.02540651e-03 9.99114641e-01 2.32483070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.736875 meters 0.027630680431972216 Centerline is valid? [True, True] Translation: X:220.69, Y:83.89, Z:2.32 [[ 7.49443613e-01 -6.61319110e-01 -3.14850246e-02 2.20686437e+02] [ 6.60689230e-01 7.50104220e-01 -2.88686923e-02 8.38934382e+01] [ 4.27084677e-02 8.33640371e-04 9.99087229e-01 2.32482459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.796875 meters 0.026729507729525592 Centerline is valid? [True, True] Translation: X:220.73, Y:83.93, Z:2.33 [[ 7.45810422e-01 -6.65402575e-01 -3.17210791e-02 2.20731275e+02] [ 6.64766250e-01 7.46484450e-01 -2.90998217e-02 8.39301239e+01] [ 4.30423886e-02 6.15847486e-04 9.99073057e-01 2.32551446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.856875 meters 0.02593412715973592 Centerline is valid? [True, True] Translation: X:220.78, Y:83.97, Z:2.33 [[ 7.44252303e-01 -6.67150660e-01 -3.15991464e-02 2.20775753e+02] [ 6.66520176e-01 7.44922628e-01 -2.90022826e-02 8.39685483e+01] [ 4.28878112e-02 5.23546967e-04 9.99079757e-01 2.32794510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91687499999998 meters 0.025960242007227984 Centerline is valid? [True, True] Translation: X:220.82, Y:84.01, Z:2.33 [[ 7.43883829e-01 -6.67639261e-01 -2.99109788e-02 2.20817348e+02] [ 6.67074353e-01 7.44484782e-01 -2.74630305e-02 8.40090195e+01] [ 4.06036659e-02 4.76457431e-04 9.99175218e-01 2.33017245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97687499999998 meters 0.026600251145362384 Centerline is valid? [True, True] Translation: X:220.86, Y:84.05, Z:2.33 [[ 7.46578716e-01 -6.64652168e-01 -2.92868088e-02 2.20856988e+02] [ 6.64108017e-01 7.47152660e-01 -2.68969163e-02 8.40528965e+01] [ 3.97588108e-02 6.31060757e-04 9.99209107e-01 2.33197583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03687499999998 meters 0.027687502220578405 Centerline is valid? [True, True] Translation: X:220.90, Y:84.10, Z:2.33 [[ 7.49362304e-01 -6.61499998e-01 -2.95616458e-02 2.20896907e+02] [ 6.60942610e-01 7.49944723e-01 -2.71620761e-02 8.40958148e+01] [ 4.01373135e-02 8.15684628e-04 9.99193840e-01 2.33340114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09687499999998 meters 0.029160640702867734 Centerline is valid? [True, True] Translation: X:220.93, Y:84.14, Z:2.34 [[ 7.52811291e-01 -6.57597846e-01 -2.89867840e-02 2.20934664e+02] [ 6.57058542e-01 7.53368466e-01 -2.66463374e-02 8.41407853e+01] [ 3.93603031e-02 1.01364967e-03 9.99224569e-01 2.33600313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15687499999999 meters 0.029419036717924323 Centerline is valid? [True, True] Translation: X:220.98, Y:84.18, Z:2.34 [[ 7.54838574e-01 -6.55241372e-01 -2.96221406e-02 2.20975644e+02] [ 6.54675779e-01 7.55418672e-01 -2.72443378e-02 8.41829771e+01] [ 4.02287354e-02 1.17217913e-03 9.99189809e-01 2.33745418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.216875 meters 0.0303571615536841 Centerline is valid? [True, True] Translation: X:221.01, Y:84.23, Z:2.34 [[ 7.57320627e-01 -6.52380163e-01 -2.94209167e-02 2.21014343e+02] [ 6.51819543e-01 7.57890735e-01 -2.70724380e-02 8.42277762e+01] [ 3.99593617e-02 1.32538724e-03 9.99200427e-01 2.33758524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.276875 meters 0.0306890528013987 Centerline is valid? [True, True] Translation: X:221.06, Y:84.27, Z:2.34 [[ 7.58070144e-01 -6.51514924e-01 -2.92909460e-02 2.21056431e+02] [ 6.50958088e-01 7.58634572e-01 -2.69658098e-02 8.42689171e+01] [ 3.97897518e-02 1.37479712e-03 9.99207128e-01 2.33886996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.336875 meters 0.03171844226206321 Centerline is valid? [True, True] Translation: X:221.10, Y:84.31, Z:2.34 [[ 7.57601085e-01 -6.52048016e-01 -2.95631696e-02 2.21097256e+02] [ 6.51480721e-01 7.58176439e-01 -2.72278742e-02 8.43097934e+01] [ 4.01679800e-02 1.36803200e-03 9.99192005e-01 2.33959388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.396875 meters 0.0314419915615386 Centerline is valid? [True, True] Translation: X:221.14, Y:84.35, Z:2.34 [[ 7.56746841e-01 -6.53033787e-01 -2.96831863e-02 2.21141258e+02] [ 6.52462263e-01 7.57327610e-01 -2.73475094e-02 8.43492843e+01] [ 4.03387442e-02 1.32798241e-03 9.99185179e-01 2.34011899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.456875 meters 0.035591208984313685 Centerline is valid? [True, True] Translation: X:221.18, Y:84.39, Z:2.34 [[ 7.53094980e-01 -6.57282264e-01 -2.87745977e-02 2.21177174e+02] [ 6.56747808e-01 7.53643727e-01 -2.65226139e-02 8.43949583e+01] [ 3.91186388e-02 1.07639340e-03 9.99233993e-01 2.33731682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.516875 meters 0.02905386933996714 Centerline is valid? [True, True] Translation: X:221.23, Y:84.42, Z:2.34 [[ 7.51687223e-01 -6.58804013e-01 -3.07179394e-02 2.21231517e+02] [ 6.58195521e-01 7.52313840e-01 -2.83291635e-02 8.44225304e+01] [ 4.17728975e-02 1.07626010e-03 9.99126552e-01 2.34253829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.576875 meters 0.028517151181237887 Centerline is valid? [True, True] Translation: X:221.28, Y:84.46, Z:2.34 [[ 7.49447158e-01 -6.61332615e-01 -3.11147850e-02 2.21277557e+02] [ 6.60709880e-01 7.50092164e-01 -2.87088753e-02 8.44600214e+01] [ 4.23250720e-02 9.57939132e-04 9.99103433e-01 2.34355785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.636875 meters 0.02843656174576546 Centerline is valid? [True, True] Translation: X:221.32, Y:84.50, Z:2.34 [[ 7.48438346e-01 -6.62468605e-01 -3.12312176e-02 2.21319725e+02] [ 6.61841631e-01 7.49089130e-01 -2.88293375e-02 8.44989464e+01] [ 4.24934966e-02 9.06861657e-04 9.99096332e-01 2.34356075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69687499999998 meters 0.027704763564663913 Centerline is valid? [True, True] Translation: X:221.37, Y:84.53, Z:2.34 [[ 7.47238526e-01 -6.63776280e-01 -3.21812938e-02 2.21366198e+02] [ 6.63111157e-01 7.47930676e-01 -2.97203185e-02 8.45348461e+01] [ 4.37970193e-02 8.68392038e-04 9.99040073e-01 2.34476037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75687499999998 meters 0.027319476382739436 Centerline is valid? [True, True] Translation: X:221.41, Y:84.57, Z:2.35 [[ 7.45868057e-01 -6.65343671e-01 -3.16012857e-02 2.21410120e+02] [ 6.64703204e-01 7.46536807e-01 -2.91966723e-02 8.45720150e+01] [ 4.30173441e-02 7.71389421e-04 9.99074028e-01 2.34662483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81687499999998 meters 0.026940346946023156 Centerline is valid? [True, True] Translation: X:221.46, Y:84.61, Z:2.35 [[ 7.44339418e-01 -6.67085541e-01 -3.09145904e-02 2.21456974e+02] [ 6.66473793e-01 7.44980834e-01 -2.85699210e-02 8.46085183e+01] [ 4.20893585e-02 6.61954016e-04 9.99113631e-01 2.34988093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87687499999998 meters 0.026379996289864847 Centerline is valid? [True, True] Translation: X:221.50, Y:84.65, Z:2.35 [[ 7.42998194e-01 -6.68598905e-01 -3.04825726e-02 2.21502376e+02] [ 6.68004864e-01 7.43623003e-01 -2.81839015e-02 8.46458181e+01] [ 4.15112678e-02 5.78081149e-04 9.99137869e-01 2.35138226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.936875 meters 0.026412235803168902 Centerline is valid? [True, True] Translation: X:221.55, Y:84.68, Z:2.35 [[ 7.42325122e-01 -6.69306593e-01 -3.13384271e-02 2.21546387e+02] [ 6.68678688e-01 7.42986114e-01 -2.89904567e-02 8.46835035e+01] [ 4.26875199e-02 5.65005984e-04 9.99088313e-01 2.35197792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.996875 meters 0.026245373544835884 Centerline is valid? [True, True] Translation: X:221.59, Y:84.72, Z:2.35 [[ 7.42204348e-01 -6.69455156e-01 -3.10241940e-02 2.21588837e+02] [ 6.68839276e-01 7.42852259e-01 -2.87148800e-02 8.47209975e+01] [ 4.22697170e-02 5.62109355e-04 9.99106078e-01 2.35276248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.056875 meters 0.0261589221699247 Centerline is valid? [True, True] Translation: X:221.63, Y:84.76, Z:2.36 [[ 7.42762804e-01 -6.68868877e-01 -3.02959219e-02 2.21632529e+02] [ 6.68280524e-01 7.43380169e-01 -2.80546964e-02 8.47599968e+01] [ 4.12863008e-02 5.91810369e-04 9.99147182e-01 2.35556871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.116875 meters 0.02712301453195265 Centerline is valid? [True, True] Translation: X:221.67, Y:84.80, Z:2.35 [[ 7.44268923e-01 -6.67137040e-01 -3.14950731e-02 2.21673053e+02] [ 6.66499011e-01 7.44934657e-01 -2.91791995e-02 8.48008376e+01] [ 4.29282962e-02 7.25736315e-04 9.99077892e-01 2.35432455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.176875 meters 0.02723982416530036 Centerline is valid? [True, True] Translation: X:221.72, Y:84.84, Z:2.36 [[ 7.46560896e-01 -6.64571300e-01 -3.14930894e-02 2.21715288e+02] [ 6.63930585e-01 7.47224337e-01 -2.91885072e-02 8.48415917e+01] [ 4.29302470e-02 8.81772819e-04 9.99077683e-01 2.35665734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.236875 meters 0.02763446923897894 Centerline is valid? [True, True] Translation: X:221.76, Y:84.88, Z:2.36 [[ 7.48143184e-01 -6.62793110e-01 -3.14176625e-02 2.21757342e+02] [ 6.62153297e-01 7.48801916e-01 -2.91324839e-02 8.48833481e+01] [ 4.28344155e-02 9.91960483e-04 9.99081693e-01 2.35918488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.296875 meters 0.03003938166116633 Centerline is valid? [True, True] Translation: X:221.80, Y:84.93, Z:2.36 [[ 7.51145703e-01 -6.59386525e-01 -3.14570194e-02 2.21795135e+02] [ 6.58741640e-01 7.51803152e-01 -2.91799942e-02 8.49268834e+01] [ 4.28903813e-02 1.19637869e-03 9.99079068e-01 2.35907793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.356875 meters 0.029175979985549737 Centerline is valid? [True, True] Translation: X:221.84, Y:84.97, Z:2.36 [[ 7.51489057e-01 -6.58969034e-01 -3.20001554e-02 2.21839520e+02] [ 6.58300902e-01 7.52169033e-01 -2.96928980e-02 8.49661504e+01] [ 4.36362262e-02 1.24815679e-03 9.99046707e-01 2.36166005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41687499999998 meters 0.029291833990556015 Centerline is valid? [True, True] Translation: X:221.88, Y:85.01, Z:2.36 [[ 7.52293059e-01 -6.58010921e-01 -3.28143312e-02 2.21881999e+02] [ 6.57306810e-01 7.53007179e-01 -3.04621956e-02 8.50064496e+01] [ 4.47538844e-02 1.34741497e-03 9.98997134e-01 2.36239474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47687499999998 meters 0.029085819348254473 Centerline is valid? [True, True] Translation: X:221.92, Y:85.05, Z:2.36 [[ 7.52015450e-01 -6.58300265e-01 -3.33695136e-02 2.21924930e+02] [ 6.57571752e-01 7.52754211e-01 -3.09917529e-02 8.50456648e+01] [ 4.55209211e-02 1.36342749e-03 9.98962455e-01 2.36395478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53687499999998 meters 0.028865695263723623 Centerline is valid? [True, True] Translation: X:221.97, Y:85.09, Z:2.37 [[ 7.51247527e-01 -6.59203549e-01 -3.28303784e-02 2.21968490e+02] [ 6.58498549e-01 7.51963425e-01 -3.05068681e-02 8.50853377e+01] [ 4.47974795e-02 1.29945268e-03 9.98995244e-01 2.36596496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59687499999998 meters 0.028910110395157087 Centerline is valid? [True, True] Translation: X:222.01, Y:85.12, Z:2.37 [[ 7.50567437e-01 -6.59992917e-01 -3.25249508e-02 2.22011687e+02] [ 6.59301047e-01 7.51270778e-01 -3.02381911e-02 8.51242721e+01] [ 4.43920371e-02 1.25206743e-03 9.99013403e-01 2.36889521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65687499999999 meters 0.028479367143543342 Centerline is valid? [True, True] Translation: X:222.06, Y:85.16, Z:2.37 [[ 7.49058317e-01 -6.61722789e-01 -3.21650306e-02 2.22056548e+02] [ 6.61047078e-01 7.49747713e-01 -2.99186974e-02 8.51618200e+01] [ 4.39135420e-02 1.14824965e-03 9.99034675e-01 2.37156109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.716875 meters 0.0274273330062319 Centerline is valid? [True, True] Translation: X:222.10, Y:85.20, Z:2.37 [[ 7.47523882e-01 -6.63433740e-01 -3.26146988e-02 2.22102364e+02] [ 6.62739969e-01 7.48234268e-01 -3.03514980e-02 8.51986948e+01] [ 4.45396431e-02 1.07340512e-03 9.99007041e-01 2.37368731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.776875 meters 0.02701434298224452 Centerline is valid? [True, True] Translation: X:222.15, Y:85.24, Z:2.37 [[ 7.45190837e-01 -6.66001101e-01 -3.36622936e-02 2.22147939e+02] [ 6.65263922e-01 7.45950139e-01 -3.13417389e-02 8.52364963e+01] [ 4.59840252e-02 9.61267241e-04 9.98941713e-01 2.37300409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.836875 meters 0.02692627002352158 Centerline is valid? [True, True] Translation: X:222.19, Y:85.27, Z:2.38 [[ 7.43609852e-01 -6.67748586e-01 -3.40031498e-02 2.22192479e+02] [ 6.66997691e-01 7.44386370e-01 -3.16703526e-02 8.52737105e+01] [ 4.64593144e-02 8.70363821e-04 9.98919804e-01 2.37515806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.896875 meters 0.026141536847304442 Centerline is valid? [True, True] Translation: X:222.24, Y:85.31, Z:2.38 [[ 7.42121970e-01 -6.69420606e-01 -3.36308505e-02 2.22238995e+02] [ 6.68687360e-01 7.42883213e-01 -3.13328269e-02 8.53099420e+01] [ 4.59586342e-02 7.64254579e-04 9.98943051e-01 2.37967956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.956875 meters 0.026356273623008016 Centerline is valid? [True, True] Translation: X:222.28, Y:85.35, Z:2.38 [[ 7.42314248e-01 -6.69236911e-01 -3.30380649e-02 2.22281231e+02] [ 6.68528449e-01 7.43048693e-01 -3.07953460e-02 8.53487766e+01] [ 4.51582732e-02 7.72937843e-04 9.98979546e-01 2.38035319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.016875 meters 0.026768549624642993 Centerline is valid? [True, True] Translation: X:222.32, Y:85.39, Z:2.38 [[ 7.42551853e-01 -6.68941503e-01 -3.36750870e-02 2.22323768e+02] [ 6.68204436e-01 7.43314602e-01 -3.14043707e-02 8.53893021e+01] [ 4.60388709e-02 8.17531145e-04 9.98939314e-01 2.37910015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.076875 meters 0.02644001850584122 Centerline is valid? [True, True] Translation: X:222.37, Y:85.43, Z:2.38 [[ 7.42806358e-01 -6.68639921e-01 -3.40495279e-02 2.22366842e+02] [ 6.67885336e-01 7.43585854e-01 -3.17687826e-02 8.54293130e+01] [ 4.65606236e-02 8.56873299e-04 9.98915099e-01 2.38199758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.136875 meters 0.026626526046953702 Centerline is valid? [True, True] Translation: X:222.41, Y:85.47, Z:2.39 [[ 7.43146632e-01 -6.68327122e-01 -3.27405154e-02 2.22408337e+02] [ 6.67628492e-01 7.43867010e-01 -3.05625272e-02 8.54706336e+01] [ 4.47803551e-02 8.53938211e-04 9.98996492e-01 2.38577151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19687499999998 meters 0.02688302209223846 Centerline is valid? [True, True] Translation: X:222.45, Y:85.51, Z:2.39 [[ 7.43652206e-01 -6.67807441e-01 -3.18530773e-02 2.22447664e+02] [ 6.67145048e-01 7.44333568e-01 -2.97493511e-02 8.55127775e+01] [ 4.35761527e-02 8.72547740e-04 9.99049727e-01 2.38755043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25687499999998 meters 0.027610627961363363 Centerline is valid? [True, True] Translation: X:222.49, Y:85.56, Z:2.39 [[ 7.45363837e-01 -6.65808454e-01 -3.36430306e-02 2.22487903e+02] [ 6.65066716e-01 7.46121964e-01 -3.14368908e-02 8.55557787e+01] [ 4.60327517e-02 1.05706167e-03 9.98939372e-01 2.38629262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31687499999998 meters 0.028000299304792416 Centerline is valid? [True, True] Translation: X:222.53, Y:85.60, Z:2.39 [[ 7.45756264e-01 -6.65323591e-01 -3.45270113e-02 2.22529058e+02] [ 6.64541080e-01 7.46554251e-01 -3.22785263e-02 8.55978315e+01] [ 4.72519521e-02 1.12729581e-03 9.98882367e-01 2.38549545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37687499999998 meters 0.02749171787306695 Centerline is valid? [True, True] Translation: X:222.57, Y:85.64, Z:2.39 [[ 7.45699533e-01 -6.65436126e-01 -3.35703589e-02 2.22571489e+02] [ 6.64695805e-01 7.46453984e-01 -3.13996137e-02 8.56372124e+01] [ 4.59531655e-02 1.10060050e-03 9.98942989e-01 2.39005301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.436875 meters 0.027294043180497378 Centerline is valid? [True, True] Translation: X:222.61, Y:85.68, Z:2.39 [[ 7.43786918e-01 -6.67561659e-01 -3.38001771e-02 2.22614945e+02] [ 6.66812588e-01 7.44553863e-01 -3.16309636e-02 8.56769933e+01] [ 4.62816709e-02 9.88313416e-04 9.98927940e-01 2.39145056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.496875 meters 0.026385465253531828 Centerline is valid? [True, True] Translation: X:222.66, Y:85.71, Z:2.39 [[ 7.39723079e-01 -6.72129649e-01 -3.24268678e-02 2.22659541e+02] [ 6.71444091e-01 7.40433163e-01 -3.03572797e-02 8.57128752e+01] [ 4.44139561e-02 6.83151614e-04 9.99012980e-01 2.39426782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.556875 meters 0.025188143088237705 Centerline is valid? [True, True] Translation: X:222.70, Y:85.75, Z:2.40 [[ 7.35377896e-01 -6.76904546e-01 -3.19309441e-02 2.22704898e+02] [ 6.76243835e-01 7.36070701e-01 -2.99031398e-02 8.57498302e+01] [ 4.37450037e-02 3.97003916e-04 9.99042650e-01 2.39664661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.616875 meters 0.02522509748548528 Centerline is valid? [True, True] Translation: X:222.75, Y:85.79, Z:2.40 [[ 7.33317867e-01 -6.79076921e-01 -3.31578302e-02 2.22748935e+02] [ 6.78365881e-01 7.34067062e-01 -3.10689532e-02 8.57876974e+01] [ 4.54382800e-02 2.90277803e-04 9.98967106e-01 2.39840911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.676875 meters 0.025005034361385542 Centerline is valid? [True, True] Translation: X:222.79, Y:85.83, Z:2.40 [[ 7.31237374e-01 -6.81250577e-01 -3.44899215e-02 2.22791272e+02] [ 6.80482821e-01 7.32050286e-01 -3.23343315e-02 8.58287635e+01] [ 4.72761389e-02 1.74272562e-04 9.98881843e-01 2.39799390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.736875 meters 0.025250655712981056 Centerline is valid? [True, True] Translation: X:222.83, Y:85.87, Z:2.40 [[ 7.31637661e-01 -6.80814720e-01 -3.46070766e-02 2.22831816e+02] [ 6.80040473e-01 7.32455644e-01 -3.24605008e-02 8.58700583e+01] [ 4.74477354e-02 2.15112133e-04 9.98873699e-01 2.39832554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.796875 meters 0.02538663433516537 Centerline is valid? [True, True] Translation: X:222.87, Y:85.91, Z:2.40 [[ 7.32267823e-01 -6.80206018e-01 -3.32206179e-02 2.22872368e+02] [ 6.79491250e-01 7.33020946e-01 -3.11758426e-02 8.59122866e+01] [ 4.55574045e-02 2.55947153e-04 9.98961690e-01 2.40117704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.856875 meters 0.025752734509044445 Centerline is valid? [True, True] Translation: X:222.91, Y:85.95, Z:2.41 [[ 7.33520746e-01 -6.78893884e-01 -3.24100186e-02 2.22913232e+02] [ 6.78211635e-01 7.34236323e-01 -3.04302590e-02 8.59540979e+01] [ 4.44555296e-02 3.40374527e-04 9.99011306e-01 2.40533316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91687499999998 meters 0.026062489023859024 Centerline is valid? [True, True] Translation: X:222.95, Y:86.00, Z:2.41 [[ 7.35163661e-01 -6.77128443e-01 -3.21164145e-02 2.22952852e+02] [ 6.76456111e-01 7.35864706e-01 -3.01705944e-02 8.59969742e+01] [ 4.40627035e-02 4.54979770e-04 9.99028664e-01 2.40685735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97687499999998 meters 0.026618266806967352 Centerline is valid? [True, True] Translation: X:222.99, Y:86.04, Z:2.41 [[ 7.38157757e-01 -6.73859011e-01 -3.22049669e-02 2.22991341e+02] [ 6.73179210e-01 7.38859658e-01 -3.02680952e-02 8.60413192e+01] [ 4.41913795e-02 6.62915090e-04 9.99022864e-01 2.40770275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03687499999998 meters 0.02780756102097155 Centerline is valid? [True, True] Translation: X:223.03, Y:86.09, Z:2.41 [[ 7.41398611e-01 -6.70303831e-01 -3.19511308e-02 2.23027432e+02] [ 6.69630979e-01 7.42086254e-01 -3.00390347e-02 8.60867566e+01] [ 4.38457750e-02 8.75431611e-04 9.99037928e-01 2.40723302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09687499999998 meters 0.028318867121270765 Centerline is valid? [True, True] Translation: X:223.07, Y:86.13, Z:2.41 [[ 7.42719150e-01 -6.68876181e-01 -3.11916416e-02 2.23067969e+02] [ 6.68233329e-01 7.43373234e-01 -2.93334911e-02 8.61293820e+01] [ 4.28075050e-02 9.43251091e-04 9.99082893e-01 2.40944438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15687499999999 meters 0.027378480311404926 Centerline is valid? [True, True] Translation: X:223.11, Y:86.17, Z:2.41 [[ 7.43154060e-01 -6.68383735e-01 -3.13883086e-02 2.23111726e+02] [ 6.67731710e-01 7.43815976e-01 -2.95322940e-02 8.61683646e+01] [ 4.30860303e-02 9.88075194e-04 9.99070877e-01 2.41394532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.216875 meters 0.02759075780093984 Centerline is valid? [True, True] Translation: X:223.15, Y:86.21, Z:2.41 [[ 7.43442895e-01 -6.68044968e-01 -3.17581771e-02 2.23153012e+02] [ 6.67376531e-01 7.44120191e-01 -2.98949348e-02 8.62105633e+01] [ 4.36030615e-02 1.03051483e-03 9.99048403e-01 2.41379390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.276875 meters 0.027958090139194952 Centerline is valid? [True, True] Translation: X:223.19, Y:86.25, Z:2.41 [[ 7.43223394e-01 -6.68281168e-01 -3.19259673e-02 2.23193471e+02] [ 6.67605310e-01 7.43908070e-01 -3.00654927e-02 8.62509137e+01] [ 4.38421874e-02 1.03143223e-03 9.99037937e-01 2.41378259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.336875 meters 0.028258051130374995 Centerline is valid? [True, True] Translation: X:223.24, Y:86.29, Z:2.41 [[ 7.43491279e-01 -6.68006469e-01 -3.14336621e-02 2.23235623e+02] [ 6.67350562e-01 7.44154739e-01 -2.96133619e-02 8.62908722e+01] [ 4.31734259e-02 1.04000420e-03 9.99067052e-01 2.41455744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.396875 meters 0.02820950698664167 Centerline is valid? [True, True] Translation: X:223.28, Y:86.33, Z:2.42 [[ 7.43166990e-01 -6.68374958e-01 -3.12688407e-02 2.23278627e+02] [ 6.67725557e-01 7.43823813e-01 -2.94739957e-02 8.63302356e+01] [ 4.29581889e-02 1.02509662e-03 9.99076345e-01 2.41614656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.456875 meters 0.02840074466139807 Centerline is valid? [True, True] Translation: X:223.32, Y:86.37, Z:2.42 [[ 7.42973024e-01 -6.68573161e-01 -3.16388053e-02 2.23321203e+02] [ 6.67907771e-01 7.43645649e-01 -2.98388685e-02 8.63698026e+01] [ 4.34775265e-02 1.03767044e-03 9.99053866e-01 2.41712380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.516875 meters 0.029996402295339425 Centerline is valid? [True, True] Translation: X:223.36, Y:86.41, Z:2.42 [[ 7.44456674e-01 -6.66891462e-01 -3.22496217e-02 2.23362347e+02] [ 6.66197872e-01 7.45153951e-01 -3.04300047e-02 8.64124754e+01] [ 4.43244433e-02 1.16919077e-03 9.99016505e-01 2.41579212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.576875 meters 0.030202962407941566 Centerline is valid? [True, True] Translation: X:223.40, Y:86.45, Z:2.42 [[ 7.45581060e-01 -6.65614720e-01 -3.26485505e-02 2.23404227e+02] [ 6.64902019e-01 7.46294466e-01 -3.08200562e-02 8.64536710e+01] [ 4.48797156e-02 1.27076301e-03 9.98991590e-01 2.41708514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.636875 meters 0.03161139042697741 Centerline is valid? [True, True] Translation: X:223.45, Y:86.49, Z:2.42 [[ 7.46318828e-01 -6.64816213e-01 -3.20563553e-02 2.23446605e+02] [ 6.64127916e-01 7.47005827e-01 -3.02722106e-02 8.64936652e+01] [ 4.40717406e-02 1.30320034e-03 9.99027519e-01 2.41865824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69687499999998 meters 0.03037644104626182 Centerline is valid? [True, True] Translation: X:223.49, Y:86.53, Z:2.42 [[ 7.44336537e-01 -6.67082478e-01 -3.10497556e-02 2.23491599e+02] [ 6.66438328e-01 7.44983000e-01 -2.93305992e-02 8.65314124e+01] [ 4.26974689e-02 1.13908944e-03 9.99087398e-01 2.42319221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75687499999998 meters 0.02786156557570229 Centerline is valid? [True, True] Translation: X:223.54, Y:86.57, Z:2.43 [[ 7.41665850e-01 -6.70125318e-01 -2.93908840e-02 2.23539591e+02] [ 6.69550053e-01 7.42247403e-01 -2.77762351e-02 8.65658009e+01] [ 4.04288657e-02 9.22017143e-04 9.99181994e-01 2.42830882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81687499999998 meters 0.027742898992928196 Centerline is valid? [True, True] Translation: X:223.58, Y:86.61, Z:2.43 [[ 7.40551028e-01 -6.71372317e-01 -2.90411328e-02 2.23583523e+02] [ 6.70811067e-01 7.41119749e-01 -2.74595969e-02 8.66051938e+01] [ 3.99585702e-02 8.54119438e-04 9.99200972e-01 2.42964353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87687499999998 meters 0.028234773325730315 Centerline is valid? [True, True] Translation: X:223.62, Y:86.65, Z:2.43 [[ 7.40514328e-01 -6.71375556e-01 -2.98896923e-02 2.23624049e+02] [ 6.70780527e-01 7.41116776e-01 -2.82738361e-02 8.66471926e+01] [ 4.11341148e-02 8.87757192e-04 9.99153240e-01 2.42877977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.936875 meters 0.02844851468362474 Centerline is valid? [True, True] Translation: X:223.67, Y:86.69, Z:2.43 [[ 7.40658163e-01 -6.71226611e-01 -2.96702306e-02 2.23665568e+02] [ 6.70639787e-01 7.41251667e-01 -2.80756510e-02 8.66873195e+01] [ 4.08382319e-02 8.96422924e-04 9.99165369e-01 2.43018839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.996875 meters 0.027124747663476913 Centerline is valid? [True, True] Translation: X:223.71, Y:86.73, Z:2.43 [[ 7.39703043e-01 -6.72300182e-01 -2.91868548e-02 2.23708618e+02] [ 6.71732615e-01 7.40278170e-01 -2.76319449e-02 8.67271026e+01] [ 4.01833531e-02 8.33671427e-04 9.99191975e-01 2.43309751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.056875 meters 0.02703371081809237 Centerline is valid? [True, True] Translation: X:223.75, Y:86.77, Z:2.43 [[ 7.38386677e-01 -6.73726475e-01 -2.96268824e-02 2.23751436e+02] [ 6.73142240e-01 7.38980400e-01 -2.80623189e-02 8.67664935e+01] [ 4.08000126e-02 7.77736454e-04 9.99167030e-01 2.43469983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.116875 meters 0.026792338566287856 Centerline is valid? [True, True] Translation: X:223.79, Y:86.81, Z:2.44 [[ 7.37082015e-01 -6.75208264e-01 -2.83531999e-02 2.23792542e+02] [ 6.74673872e-01 7.37626834e-01 -2.68666910e-02 8.68071852e+01] [ 3.90546928e-02 6.73791613e-04 9.99236847e-01 2.43641589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.176875 meters 0.026938230742686066 Centerline is valid? [True, True] Translation: X:223.83, Y:86.85, Z:2.44 [[ 7.36747455e-01 -6.75639320e-01 -2.67338160e-02 2.23833617e+02] [ 6.75164303e-01 7.37232072e-01 -2.53384465e-02 8.68487994e+01] [ 3.68286773e-02 6.18317729e-04 9.99321403e-01 2.43939438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.236875 meters 0.02685729258387001 Centerline is valid? [True, True] Translation: X:223.87, Y:86.89, Z:2.44 [[ 7.36847247e-01 -6.75550414e-01 -2.62254204e-02 2.23874687e+02] [ 6.75092782e-01 7.37313538e-01 -2.48693098e-02 8.68893730e+01] [ 3.61368300e-02 6.20290515e-04 9.99346659e-01 2.44144712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.296875 meters 0.027251834899210205 Centerline is valid? [True, True] Translation: X:223.91, Y:86.93, Z:2.44 [[ 7.38073913e-01 -6.74213523e-01 -2.61347261e-02 2.23913607e+02] [ 6.73757786e-01 7.38536151e-01 -2.47951626e-02 8.69332062e+01] [ 3.60186739e-02 6.92187509e-04 9.99350877e-01 2.44063018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.356875 meters 0.02803864322298962 Centerline is valid? [True, True] Translation: X:223.95, Y:86.98, Z:2.44 [[ 7.39508530e-01 -6.72609540e-01 -2.68987112e-02 2.23953289e+02] [ 6.72125384e-01 7.39997141e-01 -2.55284226e-02 8.69773253e+01] [ 3.70756300e-02 7.99179660e-04 9.99312143e-01 2.43918984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41687499999998 meters 0.028819733461665158 Centerline is valid? [True, True] Translation: X:223.99, Y:87.02, Z:2.44 [[ 7.41972657e-01 -6.69870594e-01 -2.73854728e-02 2.23993033e+02] [ 6.69366412e-01 7.42477246e-01 -2.60027990e-02 8.70205109e+01] [ 3.77516008e-02 9.62450252e-04 9.99286691e-01 2.44005062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47687499999998 meters 0.028546689943113848 Centerline is valid? [True, True] Translation: X:224.03, Y:87.06, Z:2.44 [[ 7.42651135e-01 -6.69096450e-01 -2.79147261e-02 2.24034235e+02] [ 6.68571531e-01 7.43174864e-01 -2.65184952e-02 8.70622853e+01] [ 3.84889538e-02 1.03099945e-03 9.99258494e-01 2.43983261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53687499999998 meters 0.028891236233105452 Centerline is valid? [True, True] Translation: X:224.08, Y:87.10, Z:2.44 [[ 7.42001932e-01 -6.69837802e-01 -2.73943652e-02 2.24075836e+02] [ 6.69332327e-01 7.42506803e-01 -2.60362014e-02 8.71042033e+01] [ 3.77805344e-02 9.82977555e-04 9.99285577e-01 2.44052813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59687499999998 meters 0.028392638030923536 Centerline is valid? [True, True] Translation: X:224.12, Y:87.14, Z:2.44 [[ 7.40944890e-01 -6.71043186e-01 -2.64898694e-02 2.24120383e+02] [ 6.70570912e-01 7.41417719e-01 -2.51876652e-02 8.71424250e+01] [ 3.65420696e-02 8.99335878e-04 9.99331711e-01 2.44311780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65687499999999 meters 0.027918289521085746 Centerline is valid? [True, True] Translation: X:224.16, Y:87.18, Z:2.45 [[ 7.39952499e-01 -6.72153365e-01 -2.60797423e-02 2.24163264e+02] [ 6.71695929e-01 7.40411474e-01 -2.48078347e-02 8.71817116e+01] [ 3.59844100e-02 8.38962554e-04 9.99351999e-01 2.44558039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.716875 meters 0.02801589216493678 Centerline is valid? [True, True] Translation: X:224.21, Y:87.22, Z:2.44 [[ 7.39801596e-01 -6.72313971e-01 -2.62206653e-02 2.24205323e+02] [ 6.71851442e-01 7.40265640e-01 -2.49483774e-02 8.72217784e+01] [ 3.61834003e-02 8.40457550e-04 9.99344813e-01 2.44497474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.776875 meters 0.027942373937171413 Centerline is valid? [True, True] Translation: X:224.25, Y:87.26, Z:2.44 [[ 7.38601823e-01 -6.73593956e-01 -2.71759072e-02 2.24247480e+02] [ 6.73097461e-01 7.39101155e-01 -2.58706722e-02 8.72600094e+01] [ 3.75120729e-02 8.16091509e-04 9.99295841e-01 2.44400643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.836875 meters 0.027285382280976878 Centerline is valid? [True, True] Translation: X:224.29, Y:87.30, Z:2.45 [[ 7.37450617e-01 -6.74837655e-01 -2.75812690e-02 2.24292054e+02] [ 6.74326653e-01 7.37965813e-01 -2.62682921e-02 8.72982092e+01] [ 3.80808662e-02 7.72783384e-04 9.99274362e-01 2.44539779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.896875 meters 0.027143117521160432 Centerline is valid? [True, True] Translation: X:224.34, Y:87.34, Z:2.44 [[ 7.36545803e-01 -6.75749681e-01 -2.93708618e-02 2.24335700e+02] [ 6.75170294e-01 7.37130757e-01 -2.79878760e-02 8.73371846e+01] [ 4.05629640e-02 7.84019224e-04 9.99176677e-01 2.44419201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.956875 meters 0.027575543942489476 Centerline is valid? [True, True] Translation: X:224.38, Y:87.38, Z:2.44 [[ 7.36143345e-01 -6.76130293e-01 -3.06724950e-02 2.24378715e+02] [ 6.75498083e-01 7.36781632e-01 -2.92432199e-02 8.73773363e+01] [ 4.23711578e-02 8.07990109e-04 9.99101613e-01 2.44284674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.016875 meters 0.026946553956387904 Centerline is valid? [True, True] Translation: X:224.42, Y:87.42, Z:2.45 [[ 7.34741261e-01 -6.77655129e-01 -3.06399305e-02 2.24424076e+02] [ 6.77025007e-01 7.35379490e-01 -2.92257663e-02 8.74152969e+01] [ 4.23369669e-02 7.29377236e-04 9.99103122e-01 2.44571889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.076875 meters 0.02621766902914956 Centerline is valid? [True, True] Translation: X:224.47, Y:87.45, Z:2.45 [[ 7.32658244e-01 -6.79966947e-01 -2.92719861e-02 2.24469907e+02] [ 6.79393207e-01 7.33242536e-01 -2.79330193e-02 8.74531833e+01] [ 4.04569951e-02 5.78168383e-04 9.99181113e-01 2.44971607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.136875 meters 0.025826253860092945 Centerline is valid? [True, True] Translation: X:224.51, Y:87.49, Z:2.45 [[ 7.31546418e-01 -6.81194242e-01 -2.85349310e-02 2.24513755e+02] [ 6.80649523e-01 7.32102553e-01 -2.72411097e-02 8.74920275e+01] [ 3.94469829e-02 5.05849067e-04 9.99221537e-01 2.45273785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19687499999998 meters 0.025749824714348446 Centerline is valid? [True, True] Translation: X:224.55, Y:87.53, Z:2.45 [[ 7.31053503e-01 -6.81713493e-01 -2.87661018e-02 2.24554795e+02] [ 6.81159788e-01 7.31619076e-01 -2.74749367e-02 8.75316813e+01] [ 3.97758639e-02 4.91336878e-04 9.99208506e-01 2.45368763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25687499999998 meters 0.02553041816845339 Centerline is valid? [True, True] Translation: X:224.60, Y:87.57, Z:2.45 [[ 7.30932355e-01 -6.81814446e-01 -2.94440781e-02 2.24596350e+02] [ 6.81233836e-01 7.31524985e-01 -2.81364148e-02 8.75721514e+01] [ 4.07228929e-02 5.07513636e-04 9.99170350e-01 2.45387616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31687499999998 meters 0.025882605418279074 Centerline is valid? [True, True] Translation: X:224.64, Y:87.61, Z:2.45 [[ 7.31590321e-01 -6.81099123e-01 -2.96578252e-02 2.24637557e+02] [ 6.80508895e-01 7.32191006e-01 -2.83544614e-02 8.76139375e+01] [ 4.10273917e-02 5.61435630e-04 9.99157864e-01 2.45383503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37687499999998 meters 0.02632889939416705 Centerline is valid? [True, True] Translation: X:224.68, Y:87.66, Z:2.46 [[ 7.34240344e-01 -6.78209718e-01 -3.03759221e-02 2.24679162e+02] [ 6.77587519e-01 7.34868026e-01 -2.90540567e-02 8.76557767e+01] [ 4.20270375e-02 7.50314865e-04 9.99116192e-01 2.45609753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.436875 meters 0.027284764308962338 Centerline is valid? [True, True] Translation: X:224.72, Y:87.70, Z:2.46 [[ 7.36885533e-01 -6.75310289e-01 -3.09147996e-02 2.24719248e+02] [ 6.74662658e-01 7.37533135e-01 -2.95833169e-02 8.76991608e+01] [ 4.27786073e-02 9.42457352e-04 9.99084132e-01 2.45690490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.496875 meters 0.02777542483769429 Centerline is valid? [True, True] Translation: X:224.76, Y:87.74, Z:2.46 [[ 7.39866961e-01 -6.72050082e-01 -3.07500723e-02 2.24760153e+02] [ 6.71405949e-01 7.40504827e-01 -2.94389595e-02 8.77415895e+01] [ 4.25550322e-02 1.13513204e-03 9.99093479e-01 2.45835222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.556875 meters 0.028546147168408247 Centerline is valid? [True, True] Translation: X:224.80, Y:87.78, Z:2.46 [[ 7.40914943e-01 -6.70907131e-01 -3.04740863e-02 2.24801867e+02] [ 6.70272964e-01 7.41540411e-01 -2.91885689e-02 8.77828071e+01] [ 4.21805855e-02 1.20029075e-03 9.99109282e-01 2.45955967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.616875 meters 0.028853951532829557 Centerline is valid? [True, True] Translation: X:224.84, Y:87.82, Z:2.46 [[ 7.40634437e-01 -6.71271511e-01 -2.92436170e-02 2.24844820e+02] [ 6.70687420e-01 7.41210672e-01 -2.80200643e-02 8.78219591e+01] [ 4.04847519e-02 1.13929847e-03 9.99179507e-01 2.46241486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.676875 meters 0.026712901146288527 Centerline is valid? [True, True] Translation: X:224.89, Y:87.86, Z:2.47 [[ 7.39386936e-01 -6.72701033e-01 -2.79334731e-02 2.24891736e+02] [ 6.72168881e-01 7.39913700e-01 -2.67714893e-02 8.78576474e+01] [ 3.86775680e-02 1.01847811e-03 9.99251224e-01 2.46676653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.736875 meters 0.026580435370016402 Centerline is valid? [True, True] Translation: X:224.94, Y:87.90, Z:2.47 [[ 7.38096525e-01 -6.74096056e-01 -2.84258081e-02 2.24935780e+02] [ 6.73545480e-01 7.38643055e-01 -2.72566272e-02 8.78963206e+01] [ 3.93701106e-02 9.71947222e-04 9.99224224e-01 2.46830091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.796875 meters 0.025466174046126742 Centerline is valid? [True, True] Translation: X:224.98, Y:87.93, Z:2.47 [[ 7.36025652e-01 -6.76287931e-01 -3.00145756e-02 2.24981707e+02] [ 6.75675284e-01 7.36636817e-01 -2.87942573e-02 8.79335833e+01] [ 4.15830501e-02 9.13205092e-04 9.99134634e-01 2.46857528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.856875 meters 0.02461341706820418 Centerline is valid? [True, True] Translation: X:225.03, Y:87.97, Z:2.47 [[ 7.33511940e-01 -6.78986103e-01 -3.06285200e-02 2.25026416e+02] [ 6.78349859e-01 7.34150702e-01 -2.93975423e-02 8.79726791e+01] [ 4.24464721e-02 7.86596090e-04 9.99098433e-01 2.46872378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91687499999998 meters 0.02412112183708061 Centerline is valid? [True, True] Translation: X:225.07, Y:88.01, Z:2.47 [[ 7.31309259e-01 -6.81325087e-01 -3.13511356e-02 2.25072003e+02] [ 6.80659959e-01 7.31980647e-01 -3.01056905e-02 8.80105086e+01] [ 4.34601867e-02 6.77107555e-04 9.99054930e-01 2.46988776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97687499999998 meters 0.023411279675300444 Centerline is valid? [True, True] Translation: X:225.12, Y:88.05, Z:2.47 [[ 7.27694442e-01 -6.85235544e-01 -3.02166977e-02 2.25117862e+02] [ 6.84620469e-01 7.28321397e-01 -2.90302696e-02 8.80460719e+01] [ 4.19000400e-02 4.38196074e-04 9.99121712e-01 2.47333979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03687499999998 meters 0.02322449464948054 Centerline is valid? [True, True] Translation: X:225.16, Y:88.09, Z:2.48 [[ 7.26726462e-01 -6.86304449e-01 -2.92378421e-02 2.25159580e+02] [ 6.85728932e-01 7.27314281e-01 -2.81028242e-02 8.80850485e+01] [ 4.05521934e-02 3.73831766e-04 9.99177352e-01 2.47545381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09687499999998 meters 0.02336400782057257 Centerline is valid? [True, True] Translation: X:225.20, Y:88.13, Z:2.48 [[ 7.27280847e-01 -6.85725356e-01 -2.90397233e-02 2.25200830e+02] [ 6.85156677e-01 7.27860266e-01 -2.79242178e-02 8.81262513e+01] [ 4.02852049e-02 4.11988487e-04 9.99188137e-01 2.47659535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15687499999999 meters 0.0238957619928728 Centerline is valid? [True, True] Translation: X:225.24, Y:88.17, Z:2.48 [[ 7.29700529e-01 -6.83085782e-01 -3.05115037e-02 2.25242263e+02] [ 6.82455004e-01 7.30337906e-01 -2.93549043e-02 8.81684164e+01] [ 4.23356255e-02 5.97560794e-04 9.99103267e-01 2.47878504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.216875 meters 0.024409321922580007 Centerline is valid? [True, True] Translation: X:225.28, Y:88.21, Z:2.48 [[ 7.32579171e-01 -6.79959374e-01 -3.13529616e-02 2.25281355e+02] [ 6.79289799e-01 7.33249338e-01 -3.01790843e-02 8.82128456e+01] [ 4.35100896e-02 8.10821594e-04 9.99052659e-01 2.48034560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.276875 meters 0.031205163326305206 Centerline is valid? [True, True] Translation: X:225.30, Y:88.28, Z:2.46 [[ 7.43388616e-01 -6.67864006e-01 -3.64833509e-02 2.25297717e+02] [ 6.66941625e-01 7.44281184e-01 -3.51338591e-02 8.82788506e+01] [ 5.06185115e-02 1.78584557e-03 9.98716465e-01 2.46182112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.336875 meters 0.044985659143211905 Centerline is valid? [True, True] Translation: X:225.30, Y:88.36, Z:2.46 [[ 7.64664302e-01 -6.43295594e-01 -3.82005676e-02 2.25302641e+02] [ 6.42252275e-01 7.65609418e-01 -3.67999198e-02 8.83587531e+01] [ 5.29199407e-02 3.60518355e-03 9.98592250e-01 2.45545100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.396875 meters 0.07134212526530673 Centerline is valid? [True, True] Translation: X:225.29, Y:88.46, Z:2.46 [[ 7.93528467e-01 -6.07256476e-01 -3.93972600e-02 2.25291740e+02] [ 6.06100857e-01 7.94481315e-01 -3.79630230e-02 8.84551592e+01] [ 5.43536785e-02 6.24602640e-03 9.98502211e-01 2.45518936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.456875 meters 0.09896752281059963 Centerline is valid? [True, True] Translation: X:225.28, Y:88.55, Z:2.45 [[ 8.14320931e-01 -5.79110279e-01 -3.88935096e-02 2.25284527e+02] [ 5.77951766e-01 8.15209497e-01 -3.74864303e-02 8.85465969e+01] [ 5.34151355e-02 8.04741232e-03 9.98539965e-01 2.45480860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.516875 meters 0.12395821713588422 Centerline is valid? [True, False] Translation: X:225.18, Y:88.50, Z:2.47 [[ 8.59427354e-01 -5.06438079e-01 -7.00363775e-02 2.25182659e+02] [ 5.06183586e-01 8.62128194e-01 -2.26528959e-02 8.85013049e+01] [ 7.18526248e-02 -1.59827463e-02 9.97287196e-01 2.47100218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.576875 meters 0.15761335580327152 Centerline is valid? [False, False] Translation: X:225.12, Y:88.49, Z:2.48 [[ 8.90893293e-01 -4.46624900e-01 -8.26761088e-02 2.25115598e+02] [ 4.45662987e-01 8.94671629e-01 -3.07762555e-02 8.84851536e+01] [ 8.77134110e-02 -9.42732202e-03 9.96101141e-01 2.47820038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.636875 meters 0.17045195955668963 Centerline is valid? [False, False] Translation: X:225.04, Y:88.51, Z:2.48 [[ 9.27870046e-01 -3.62621618e-01 -8.69640114e-02 2.25035370e+02] [ 3.59987753e-01 9.31879727e-01 -4.48217851e-02 8.85056377e+01] [ 9.72933474e-02 1.02828128e-02 9.95202627e-01 2.48339889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69687499999998 meters 0.17785249841844825 Centerline is valid? [False, False] Translation: X:224.99, Y:88.51, Z:2.49 [[ 9.41038634e-01 -3.23333146e-01 -9.95086260e-02 2.24991902e+02] [ 3.19532144e-01 9.46122007e-01 -5.24629124e-02 8.85112646e+01] [ 1.11110299e-01 1.75734227e-02 9.93652694e-01 2.49495776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75687499999998 meters 0.1587849017766623 Centerline is valid? [False, False] Translation: X:224.97, Y:88.53, Z:2.51 [[ 9.35591701e-01 -3.31016422e-01 -1.22866992e-01 2.24967410e+02] [ 3.26432654e-01 9.43541067e-01 -5.63203063e-02 8.85280946e+01] [ 1.34572999e-01 1.25850129e-02 9.90823761e-01 2.51306121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81687499999998 meters 0.1368960294144957 Centerline is valid? [False, False] Translation: X:224.96, Y:88.53, Z:2.53 [[ 9.23688895e-01 -3.54714212e-01 -1.44833189e-01 2.24958132e+02] [ 3.50695175e-01 9.34973425e-01 -5.32690250e-02 8.85334960e+01] [ 1.54310463e-01 -1.58829367e-03 9.88021133e-01 2.52674570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87687499999998 meters 0.09493577726905418 Centerline is valid? [False, True] Translation: X:224.95, Y:88.52, Z:2.54 [[ 8.95008926e-01 -4.12287317e-01 -1.70229818e-01 2.24948933e+02] [ 4.10874034e-01 9.10574468e-01 -4.51294447e-02 8.85227274e+01] [ 1.73613223e-01 -2.95517561e-02 9.84370429e-01 2.53908418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.936875 meters 0.05597974862109354 Centerline is valid? [True, True] Translation: X:225.02, Y:88.53, Z:2.55 [[ 8.67624441e-01 -4.78718859e-01 -1.34372925e-01 2.25018479e+02] [ 4.69637599e-01 8.77760506e-01 -9.47471321e-02 8.85266571e+01] [ 1.63304486e-01 1.90983498e-02 9.86390844e-01 2.54857926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.996875 meters 0.02473436173542644 Centerline is valid? [True, True] Translation: X:225.10, Y:88.51, Z:2.56 [[ 8.22636557e-01 -5.53233490e-01 -1.31155633e-01 2.25097828e+02] [ 5.45466520e-01 8.33013841e-01 -9.24890053e-02 8.85134732e+01] [ 1.60422473e-01 4.54382993e-03 9.87037985e-01 2.56039678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.056875 meters 0.022231197812322828 Centerline is valid? [True, True] Translation: X:225.16, Y:88.52, Z:2.57 [[ 7.93616122e-01 -5.95010127e-01 -1.27029128e-01 2.25162150e+02] [ 5.88237843e-01 8.03710036e-01 -8.95902786e-02 8.85233571e+01] [ 1.55401708e-01 -3.62305090e-03 9.87844716e-01 2.57235656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.116875 meters 0.02723418473400717 Centerline is valid? [True, True] Translation: X:225.22, Y:88.55, Z:2.58 [[ 7.81476351e-01 -6.11158845e-01 -1.25616799e-01 2.25215926e+02] [ 6.04733755e-01 7.91479657e-01 -8.86399337e-02 8.85476342e+01] [ 1.53596221e-01 -6.69470676e-03 9.88111017e-01 2.58182621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.176875 meters 0.027327479488623338 Centerline is valid? [True, True] Translation: X:225.26, Y:88.58, Z:2.59 [[ 7.80665660e-01 -6.12232270e-01 -1.25430363e-01 2.25263402e+02] [ 6.05838629e-01 7.90647965e-01 -8.85175212e-02 8.85814158e+01] [ 1.53364544e-01 -6.88796993e-03 9.88145674e-01 2.59045861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.236875 meters 0.0252595447335943 Centerline is valid? [True, True] Translation: X:225.31, Y:88.62, Z:2.60 [[ 7.84606350e-01 -6.07064504e-01 -1.25958581e-01 2.25306072e+02] [ 6.00542846e-01 7.94630935e-01 -8.89379952e-02 8.86238096e+01] [ 1.54081685e-01 -5.86220871e-03 9.88040722e-01 2.59661927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.296875 meters 0.023022542973869745 Centerline is valid? [True, True] Translation: X:225.35, Y:88.66, Z:2.60 [[ 7.90342195e-01 -5.99161071e-01 -1.27926639e-01 2.25350269e+02] [ 5.92326961e-01 8.00616570e-01 -9.03431172e-02 8.86634245e+01] [ 1.56550266e-01 -4.37241977e-03 9.87660314e-01 2.60300983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.356875 meters 0.02035072167840362 Centerline is valid? [True, True] Translation: X:225.39, Y:88.71, Z:2.61 [[ 8.01148261e-01 -5.83920225e-01 -1.31143564e-01 2.25393103e+02] [ 5.76524127e-01 8.11809874e-01 -9.26534411e-02 8.87057263e+01] [ 1.60565858e-01 -1.37828523e-03 9.87024167e-01 2.60846438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41687499999998 meters 0.02037218707494832 Centerline is valid? [True, True] Translation: X:225.44, Y:88.74, Z:2.62 [[ 8.07773704e-01 -5.74417037e-01 -1.32464001e-01 2.25437603e+02] [ 5.66738883e-01 8.18562628e-01 -9.36069586e-02 8.87439333e+01] [ 1.62199512e-01 5.40739757e-04 9.86757835e-01 2.61627220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47687499999998 meters 0.021995762567247296 Centerline is valid? [True, True] Translation: X:225.48, Y:88.78, Z:2.62 [[ 8.14812911e-01 -5.64207593e-01 -1.33228046e-01 2.25483950e+02] [ 5.56295014e-01 8.25628748e-01 -9.41967518e-02 8.87805149e+01] [ 1.63143427e-01 2.63863189e-03 9.86598834e-01 2.62400154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53687499999998 meters 0.023381934292994688 Centerline is valid? [True, True] Translation: X:225.53, Y:88.81, Z:2.63 [[ 8.17744634e-01 -5.59990459e-01 -1.33057880e-01 2.25534171e+02] [ 5.52040702e-01 8.28491720e-01 -9.40879024e-02 8.88109006e+01] [ 1.62925679e-01 3.48651206e-03 9.86632184e-01 2.63402947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59687499999998 meters 0.024766449478064657 Centerline is valid? [True, True] Translation: X:225.59, Y:88.84, Z:2.64 [[ 8.19610434e-01 -5.57291827e-01 -1.32908072e-01 2.25585740e+02] [ 5.49317626e-01 8.30306794e-01 -9.40253854e-02 8.88383922e+01] [ 1.62754054e-01 4.05544054e-03 9.86658336e-01 2.64312583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65687499999999 meters 0.025784438339635944 Centerline is valid? [True, True] Translation: X:225.64, Y:88.86, Z:2.65 [[ 8.19314778e-01 -5.57212424e-01 -1.35046692e-01 2.25642125e+02] [ 5.48967757e-01 8.30359453e-01 -9.55906929e-02 8.88604022e+01] [ 1.65401619e-01 4.18258795e-03 9.86217426e-01 2.64942650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.716875 meters 0.027005880338782304 Centerline is valid? [True, True] Translation: X:225.70, Y:88.88, Z:2.66 [[ 8.16591219e-01 -5.60724793e-01 -1.36990831e-01 2.25699307e+02] [ 5.52279353e-01 8.27994555e-01 -9.70182078e-02 8.88797432e+01] [ 1.67828177e-01 3.56700902e-03 9.85809809e-01 2.65621197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.776875 meters 0.027788247006682743 Centerline is valid? [True, True] Translation: X:225.75, Y:88.90, Z:2.66 [[ 8.14922089e-01 -5.63109244e-01 -1.37149437e-01 2.25754216e+02] [ 5.54673344e-01 8.26376649e-01 -9.71551169e-02 8.89026155e+01] [ 1.68046036e-01 3.10071425e-03 9.85774272e-01 2.66473993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.836875 meters 0.028417431403982334 Centerline is valid? [True, True] Translation: X:225.81, Y:88.93, Z:2.67 [[ 8.13944591e-01 -5.64700749e-01 -1.36408456e-01 2.25808812e+02] [ 5.56370083e-01 8.25290997e-01 -9.66804034e-02 8.89260358e+01] [ 1.67172167e-01 2.79890772e-03 9.85923746e-01 2.67475259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.896875 meters 0.029646306502044886 Centerline is valid? [True, True] Translation: X:225.86, Y:88.95, Z:2.68 [[ 8.14474169e-01 -5.63861517e-01 -1.36718755e-01 2.25863209e+02] [ 5.55472266e-01 8.25863830e-01 -9.69509969e-02 8.89501320e+01] [ 1.67578011e-01 3.02060591e-03 9.85854191e-01 2.68450474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.956875 meters 0.030725814189744106 Centerline is valid? [True, True] Translation: X:225.92, Y:88.98, Z:2.69 [[ 8.16637609e-01 -5.60358404e-01 -1.38208084e-01 2.25916528e+02] [ 5.51725678e-01 8.28241416e-01 -9.80557657e-02 8.89762211e+01] [ 1.69416031e-01 3.82307728e-03 9.85537210e-01 2.69358271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.016875 meters 0.031780152130053696 Centerline is valid? [True, True] Translation: X:225.97, Y:89.00, Z:2.70 [[ 8.18145947e-01 -5.58146878e-01 -1.38236292e-01 2.25967813e+02] [ 5.49477209e-01 8.29731065e-01 -9.80874993e-02 8.90038564e+01] [ 1.69446177e-01 4.29219792e-03 9.85530096e-01 2.70240713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.076875 meters 0.03250722429440285 Centerline is valid? [True, True] Translation: X:226.02, Y:89.03, Z:2.71 [[ 8.18873715e-01 -5.56651357e-01 -1.39946796e-01 2.26021789e+02] [ 5.47738653e-01 8.30733037e-01 -9.93226465e-02 8.90287903e+01] [ 1.71546513e-01 4.67843494e-03 9.85164913e-01 2.71072596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.136875 meters 0.03260583648571711 Centerline is valid? [True, True] Translation: X:226.07, Y:89.06, Z:2.72 [[ 8.18635750e-01 -5.56927661e-01 -1.40239395e-01 2.26073386e+02] [ 5.47972042e-01 8.30547843e-01 -9.95837413e-02 8.90558452e+01] [ 1.71936467e-01 4.67554296e-03 9.85096945e-01 2.71996365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19687499999998 meters 0.03284575833960127 Centerline is valid? [True, True] Translation: X:226.13, Y:89.08, Z:2.73 [[ 8.17543489e-01 -5.58237167e-01 -1.41399817e-01 2.26128318e+02] [ 5.49140197e-01 8.29669279e-01 -1.00468555e-01 8.90786741e+01] [ 1.73400366e-01 4.48908954e-03 9.84841186e-01 2.72791891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25687499999998 meters 0.03286441343044673 Centerline is valid? [True, True] Translation: X:226.18, Y:89.10, Z:2.74 [[ 8.17552524e-01 -5.58504767e-01 -1.40286476e-01 2.26182436e+02] [ 5.49546306e-01 8.29489423e-01 -9.97304048e-02 8.91025166e+01] [ 1.72066055e-01 4.44092943e-03 9.85075404e-01 2.73832560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31687499999998 meters 0.03320152529337967 Centerline is valid? [True, True] Translation: X:226.23, Y:89.13, Z:2.75 [[ 8.18225130e-01 -5.57704640e-01 -1.39546302e-01 2.26232985e+02] [ 5.48820524e-01 8.30026572e-01 -9.92568486e-02 8.91310031e+01] [ 1.71183143e-01 4.62857347e-03 9.85228353e-01 2.74808308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37687499999998 meters 0.033947138986464086 Centerline is valid? [True, True] Translation: X:226.29, Y:89.16, Z:2.76 [[ 8.19713270e-01 -5.55774270e-01 -1.38510344e-01 2.26285086e+02] [ 5.46986591e-01 8.31317990e-01 -9.85701187e-02 8.91561694e+01] [ 1.69928877e-01 5.03593319e-03 9.85443462e-01 2.75899342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.436875 meters 0.03404169745591487 Centerline is valid? [True, True] Translation: X:226.34, Y:89.18, Z:2.77 [[ 8.21464985e-01 -5.53114345e-01 -1.38779677e-01 2.26336823e+02] [ 5.44249882e-01 8.33086390e-01 -9.87883250e-02 8.91841025e+01] [ 1.70256700e-01 5.62032686e-03 9.85383716e-01 2.76863487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.496875 meters 0.03679134203232246 Centerline is valid? [True, True] Translation: X:226.39, Y:89.22, Z:2.77 [[ 8.24591812e-01 -5.47868779e-01 -1.41025335e-01 2.26385517e+02] [ 5.38634264e-01 8.36536427e-01 -1.00398889e-01 8.92152956e+01] [ 1.72978246e-01 6.82702422e-03 9.84901984e-01 2.77343527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.556875 meters 0.03737732543177093 Centerline is valid? [True, True] Translation: X:226.44, Y:89.24, Z:2.78 [[ 8.27110460e-01 -5.43440822e-01 -1.43388844e-01 2.26438056e+02] [ 5.33821787e-01 8.39410258e-01 -1.02101507e-01 8.92429073e+01] [ 1.75848193e-01 7.90513538e-03 9.84385555e-01 2.78265869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.616875 meters 0.03828442430417741 Centerline is valid? [True, True] Translation: X:226.49, Y:89.27, Z:2.79 [[ 8.29220633e-01 -5.39905698e-01 -1.44550957e-01 2.26492278e+02] [ 5.30066119e-01 8.41679801e-01 -1.02980689e-01 8.92672384e+01] [ 1.77265481e-01 8.77214743e-03 9.84123975e-01 2.79222193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.676875 meters 0.03806448562957854 Centerline is valid? [True, True] Translation: X:226.55, Y:89.29, Z:2.80 [[ 8.29106292e-01 -5.40265799e-01 -1.43859736e-01 2.26545010e+02] [ 5.30516962e-01 8.41449482e-01 -1.02540341e-01 8.92933568e+01] [ 1.76449739e-01 8.69681207e-03 9.84271230e-01 2.80332683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.736875 meters 0.03762972107848981 Centerline is valid? [True, True] Translation: X:226.60, Y:89.31, Z:2.81 [[ 8.28233430e-01 -5.41805288e-01 -1.43095827e-01 2.26601571e+02] [ 5.32173920e-01 8.40462375e-01 -1.02048595e-01 8.93135809e+01] [ 1.75557127e-01 8.36819117e-03 9.84433679e-01 2.81481415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.796875 meters 0.03739920020663119 Centerline is valid? [True, True] Translation: X:226.66, Y:89.33, Z:2.83 [[ 8.27322907e-01 -5.43384142e-01 -1.42374442e-01 2.26657543e+02] [ 5.33865649e-01 8.39445768e-01 -1.01578888e-01 8.93348670e+01] [ 1.74711980e-01 8.02971653e-03 9.84586841e-01 2.82637015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.856875 meters 0.03778038685958317 Centerline is valid? [True, True] Translation: X:226.71, Y:89.36, Z:2.84 [[ 8.28117063e-01 -5.42413231e-01 -1.41456762e-01 2.26711033e+02] [ 5.32996090e-01 8.40071628e-01 -1.00969438e-01 8.93589957e+01] [ 1.73600972e-01 8.21861347e-03 9.84781781e-01 2.83777134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91687499999998 meters 0.04040557596206879 Centerline is valid? [True, True] Translation: X:226.76, Y:89.39, Z:2.85 [[ 8.30216790e-01 -5.38989356e-01 -1.42234155e-01 2.26762009e+02] [ 5.29408739e-01 8.42264180e-01 -1.01574786e-01 8.93864157e+01] [ 1.74546463e-01 9.02908850e-03 9.84607540e-01 2.84662449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97687499999998 meters 0.04097404765126656 Centerline is valid? [True, True] Translation: X:226.81, Y:89.42, Z:2.85 [[ 8.30614370e-01 -5.38312465e-01 -1.42476167e-01 2.26813491e+02] [ 5.28685384e-01 8.42695053e-01 -1.01768424e-01 8.94151095e+01] [ 1.74847172e-01 9.20524834e-03 9.84552553e-01 2.85416274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.036875 meters 0.0394273108052956 Centerline is valid? [True, True] Translation: X:226.87, Y:89.44, Z:2.86 [[ 8.29629049e-01 -5.39684820e-01 -1.43024253e-01 2.26868101e+02] [ 5.29993685e-01 8.41819080e-01 -1.02212186e-01 8.94395347e+01] [ 1.75562910e-01 8.99624786e-03 9.84427109e-01 2.86339963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.096875 meters 0.038680709271864934 Centerline is valid? [True, True] Translation: X:226.92, Y:89.46, Z:2.87 [[ 8.26739723e-01 -5.43724716e-01 -1.44446750e-01 2.26923135e+02] [ 5.33890366e-01 8.39222941e-01 -1.03276000e-01 8.94609023e+01] [ 1.77376740e-01 8.26364337e-03 9.84108330e-01 2.87352790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.156875 meters 0.038751096012238945 Centerline is valid? [True, True] Translation: X:226.97, Y:89.49, Z:2.88 [[ 8.25883994e-01 -5.45127720e-01 -1.44053455e-01 2.26972657e+02] [ 5.35364848e-01 8.38315248e-01 -1.03014681e-01 8.94920937e+01] [ 1.76918366e-01 7.95702061e-03 9.84193364e-01 2.88315443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.216875 meters 0.037109490712801854 Centerline is valid? [True, True] Translation: X:227.03, Y:89.52, Z:2.89 [[ 8.25315558e-01 -5.46028763e-01 -1.43898641e-01 2.27027270e+02] [ 5.36291327e-01 8.37730124e-01 -1.02955576e-01 8.95151808e+01] [ 1.76764932e-01 7.79924592e-03 9.84222196e-01 2.89327720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.276875 meters 0.03692735955483488 Centerline is valid? [True, True] Translation: X:227.08, Y:89.54, Z:2.90 [[ 8.24922151e-01 -5.46368737e-01 -1.44860788e-01 2.27081057e+02] [ 5.36494965e-01 8.37508190e-01 -1.03697562e-01 8.95405908e+01] [ 1.77979202e-01 7.82533241e-03 9.84003134e-01 2.90150435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.336875 meters 0.03649275111054741 Centerline is valid? [True, True] Translation: X:227.13, Y:89.57, Z:2.91 [[ 8.24561826e-01 -5.47524367e-01 -1.42530216e-01 2.27131971e+02] [ 5.37976395e-01 8.36756181e-01 -1.02080810e-01 8.95674788e+01] [ 1.75154770e-01 7.49404717e-03 9.84512390e-01 2.91383656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.396875 meters 0.03517850231164397 Centerline is valid? [True, True] Translation: X:227.18, Y:89.59, Z:2.93 [[ 8.24507741e-01 -5.47896499e-01 -1.41408667e-01 2.27183961e+02] [ 5.38495939e-01 8.36513417e-01 -1.01328311e-01 8.95942566e+01] [ 1.73807674e-01 7.39798341e-03 9.84751828e-01 2.92581532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.456875 meters 0.0353046172906806 Centerline is valid? [True, True] Translation: X:227.23, Y:89.62, Z:2.94 [[ 8.25430745e-01 -5.46759069e-01 -1.40422951e-01 2.27232567e+02] [ 5.37465252e-01 8.37255268e-01 -1.00671344e-01 8.96249927e+01] [ 1.72612826e-01 7.62476605e-03 9.84960240e-01 2.93686678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.516875 meters 0.036865431659838854 Centerline is valid? [True, True] Translation: X:227.28, Y:89.66, Z:2.94 [[ 8.26601327e-01 -5.44592519e-01 -1.41948000e-01 2.27279111e+02] [ 5.35058940e-01 8.38660843e-01 -1.01783695e-01 8.96586511e+01] [ 1.74476869e-01 8.18399107e-03 9.84627262e-01 2.94290068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57687500000003 meters 0.03661279656728468 Centerline is valid? [True, True] Translation: X:227.33, Y:89.69, Z:2.95 [[ 8.28911295e-01 -5.39957270e-01 -1.46123960e-01 2.27329995e+02] [ 5.29773253e-01 8.41639269e-01 -1.04802868e-01 8.96893474e+01] [ 1.79572733e-01 9.45971526e-03 9.83699216e-01 2.94828879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63687500000003 meters 0.043273563673503844 Centerline is valid? [True, True] Translation: X:227.37, Y:89.73, Z:2.95 [[ 8.30553245e-01 -5.37367647e-01 -1.46346573e-01 2.27372014e+02] [ 5.27103470e-01 8.43287877e-01 -1.05011851e-01 8.97298736e+01] [ 1.79842262e-01 1.00781469e-02 9.83643834e-01 2.95370544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69687500000003 meters 0.043513027763924635 Centerline is valid? [True, True] Translation: X:227.42, Y:89.76, Z:2.96 [[ 8.32542429e-01 -5.34145473e-01 -1.46839088e-01 2.27422328e+02] [ 5.23757710e-01 8.45323186e-01 -1.05387723e-01 8.97597785e+01] [ 1.80418861e-01 1.08316461e-02 9.83530228e-01 2.96435916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75687500000004 meters 0.03984382584172643 Centerline is valid? [True, True] Translation: X:227.47, Y:89.79, Z:2.98 [[ 8.32982978e-01 -5.33590279e-01 -1.46358367e-01 2.27474898e+02] [ 5.23252915e-01 8.45672089e-01 -1.05095697e-01 8.97862853e+01] [ 1.79849228e-01 1.09604842e-02 9.83633124e-01 2.97644433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81687500000004 meters 0.041605042693737236 Centerline is valid? [True, True] Translation: X:227.52, Y:89.82, Z:2.99 [[ 8.33111658e-01 -5.33948134e-01 -1.44306462e-01 2.27523222e+02] [ 5.23897576e-01 8.45448654e-01 -1.03672098e-01 8.98167925e+01] [ 1.77359227e-01 1.07686280e-02 9.84087263e-01 2.98766343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87687500000004 meters 0.041338668032233294 Centerline is valid? [True, True] Translation: X:227.57, Y:89.84, Z:3.00 [[ 8.33115445e-01 -5.34155747e-01 -1.43514088e-01 2.27574432e+02] [ 5.24215333e-01 8.45318589e-01 -1.03125009e-01 8.98443550e+01] [ 1.76399943e-01 1.06827521e-02 9.84260605e-01 2.99969420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93687500000004 meters 0.0376643504553272 Centerline is valid? [True, True] Translation: X:227.63, Y:89.87, Z:3.01 [[ 8.27308014e-01 -5.42463655e-01 -1.45926808e-01 2.27627026e+02] [ 5.32299918e-01 8.40029781e-01 -1.04913123e-01 8.98715568e+01] [ 1.79494421e-01 9.11863942e-03 9.83716729e-01 3.00519001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99687500000005 meters 0.033771543467990835 Centerline is valid? [True, True] Translation: X:227.68, Y:89.89, Z:3.02 [[ 8.22080567e-01 -5.50812425e-01 -1.44184649e-01 2.27680398e+02] [ 5.41009475e-01 8.34597553e-01 -1.03709556e-01 8.98942893e+01] [ 1.77460667e-01 7.25234917e-03 9.84101171e-01 3.01867133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.056875 meters 0.029849588614760725 Centerline is valid? [True, True] Translation: X:227.73, Y:89.92, Z:3.03 [[ 8.17056971e-01 -5.57731581e-01 -1.46127988e-01 2.27733518e+02] [ 5.47764705e-01 8.30000727e-01 -1.05131448e-01 8.99213132e+01] [ 1.79921465e-01 5.85462760e-03 9.83663555e-01 3.02562735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.116875 meters 0.02870064162187603 Centerline is valid? [True, True] Translation: X:227.78, Y:89.95, Z:3.03 [[ 8.14566945e-01 -5.61057978e-01 -1.47290997e-01 2.27784597e+02] [ 5.50974019e-01 8.27760116e-01 -1.06022737e-01 8.99504428e+01] [ 1.81406515e-01 5.20910471e-03 9.83394398e-01 3.03455010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.176875 meters 0.02912425785744737 Centerline is valid? [True, True] Translation: X:227.83, Y:89.98, Z:3.04 [[ 8.15345069e-01 -5.59790409e-01 -1.47807701e-01 2.27832610e+02] [ 5.49604849e-01 8.28615623e-01 -1.06445569e-01 8.99839092e+01] [ 1.82062979e-01 5.55404050e-03 9.83271186e-01 3.04397434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.236875 meters 0.029317109443506094 Centerline is valid? [True, True] Translation: X:227.88, Y:90.02, Z:3.05 [[ 8.16604958e-01 -5.57731515e-01 -1.48633441e-01 2.27880177e+02] [ 5.47386660e-01 8.29999043e-01 -1.07095442e-01 9.00178874e+01] [ 1.83096117e-01 6.09470619e-03 9.83076124e-01 3.05298071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.296875 meters 0.030357359575082375 Centerline is valid? [True, True] Translation: X:227.93, Y:90.05, Z:3.06 [[ 8.17881041e-01 -5.55785141e-01 -1.48907621e-01 2.27926613e+02] [ 5.45359648e-01 8.31299864e-01 -1.07347055e-01 9.00533389e+01] [ 1.83448783e-01 6.58891359e-03 9.83007187e-01 3.06277237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.356875 meters 0.030832285079705972 Centerline is valid? [True, True] Translation: X:227.97, Y:90.09, Z:3.07 [[ 8.17963248e-01 -5.55995136e-01 -1.47666968e-01 2.27972982e+02] [ 5.45738572e-01 8.31159917e-01 -1.06501656e-01 9.00865422e+01] [ 1.81949267e-01 6.52688069e-03 9.83286257e-01 3.07482457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.416875 meters 0.02938632934816632 Centerline is valid? [True, True] Translation: X:228.02, Y:90.12, Z:3.08 [[ 8.17179903e-01 -5.57132543e-01 -1.47717076e-01 2.28021511e+02] [ 5.46882942e-01 8.30399717e-01 -1.06561521e-01 9.01182899e+01] [ 1.82033109e-01 6.29598422e-03 9.83272245e-01 3.08483920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.476875 meters 0.029298472804401524 Centerline is valid? [True, True] Translation: X:228.07, Y:90.15, Z:3.09 [[ 8.15968738e-01 -5.59095737e-01 -1.46993113e-01 2.28070372e+02] [ 5.48968911e-01 8.29082297e-01 -1.06092787e-01 9.01509241e+01] [ 1.81185413e-01 5.87374892e-03 9.83431414e-01 3.09431436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.536875 meters 0.02881876932372616 Centerline is valid? [True, True] Translation: X:228.12, Y:90.18, Z:3.10 [[ 8.14147262e-01 -5.61872813e-01 -1.46503168e-01 2.28117940e+02] [ 5.51849818e-01 8.27206799e-01 -1.05786060e-01 9.01821462e+01] [ 1.80626728e-01 5.27768477e-03 9.83537560e-01 3.10370097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.596875 meters 0.026311268620055006 Centerline is valid? [True, True] Translation: X:228.17, Y:90.21, Z:3.12 [[ 8.11214590e-01 -5.66092262e-01 -1.46527952e-01 2.28169597e+02] [ 5.56128352e-01 8.24330331e-01 -1.05833652e-01 9.02098537e+01] [ 1.80699046e-01 4.36545427e-03 9.83528748e-01 3.11597428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.656875 meters 0.026101801802389732 Centerline is valid? [True, True] Translation: X:228.22, Y:90.24, Z:3.12 [[ 8.10652338e-01 -5.66930594e-01 -1.46398391e-01 2.28217900e+02] [ 5.56992632e-01 8.23754859e-01 -1.05769276e-01 9.02427621e+01] [ 1.80560225e-01 4.19928595e-03 9.83554966e-01 3.12448741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.716875 meters 0.025949834081565468 Centerline is valid? [True, True] Translation: X:228.27, Y:90.28, Z:3.13 [[ 8.10343968e-01 -5.67059801e-01 -1.47600259e-01 2.28265627e+02] [ 5.56948561e-01 8.23665653e-01 -1.06692050e-01 9.02759336e+01] [ 1.82074036e-01 4.25150680e-03 9.83275633e-01 3.13365198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.776875 meters 0.027289674035116028 Centerline is valid? [True, True] Translation: X:228.31, Y:90.31, Z:3.14 [[ 8.10477221e-01 -5.66857996e-01 -1.47643783e-01 2.28310551e+02] [ 5.56727917e-01 8.23804083e-01 -1.06774806e-01 9.03115000e+01] [ 1.82155704e-01 4.34113210e-03 9.83260115e-01 3.14035624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.836875 meters 0.027332437533407878 Centerline is valid? [True, True] Translation: X:228.36, Y:90.35, Z:3.15 [[ 8.10704734e-01 -5.66359883e-01 -1.48304812e-01 2.28357905e+02] [ 5.56124039e-01 8.24145761e-01 -1.07283818e-01 9.03455007e+01] [ 1.82986033e-01 4.49962830e-03 9.83105216e-01 3.15015612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.896875 meters 0.028174212310511884 Centerline is valid? [True, True] Translation: X:228.40, Y:90.38, Z:3.16 [[ 8.11467198e-01 -5.65119793e-01 -1.48864387e-01 2.28403708e+02] [ 5.54775172e-01 8.24994647e-01 -1.07742015e-01 9.03818791e+01] [ 1.83699468e-01 4.84284468e-03 9.82970525e-01 3.15809026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.956875 meters 0.028919170657372064 Centerline is valid? [True, True] Translation: X:228.45, Y:90.42, Z:3.17 [[ 8.12692941e-01 -5.63712576e-01 -1.47506999e-01 2.28449147e+02] [ 5.53524936e-01 8.25954932e-01 -1.06811029e-01 9.04172188e+01] [ 1.82044853e-01 5.15576713e-03 9.83276711e-01 3.17069097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.016875 meters 0.027691747274482884 Centerline is valid? [True, True] Translation: X:228.50, Y:90.45, Z:3.18 [[ 8.12994230e-01 -5.63490616e-01 -1.46692563e-01 2.28495793e+02] [ 5.53402873e-01 8.26105971e-01 -1.06274099e-01 9.04488637e+01] [ 1.81068060e-01 5.22014378e-03 9.83456714e-01 3.18354897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07687500000003 meters 0.027889329025842766 Centerline is valid? [True, True] Translation: X:228.54, Y:90.49, Z:3.19 [[ 8.13673143e-01 -5.62842824e-01 -1.45409669e-01 2.28539381e+02] [ 5.52910841e-01 8.26546517e-01 -1.05406150e-01 9.04855609e+01] [ 1.79514951e-01 5.36757045e-03 9.83740602e-01 3.19355733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13687500000003 meters 0.028493285295286643 Centerline is valid? [True, True] Translation: X:228.58, Y:90.52, Z:3.20 [[ 8.14077402e-01 -5.62260260e-01 -1.45400769e-01 2.28584809e+02] [ 5.52309194e-01 8.26941735e-01 -1.05460520e-01 9.05228251e+01] [ 1.79534223e-01 5.54684498e-03 9.83736090e-01 3.20206350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19687500000003 meters 0.028711418075652112 Centerline is valid? [True, True] Translation: X:228.63, Y:90.56, Z:3.21 [[ 8.14820032e-01 -5.61045559e-01 -1.45932165e-01 2.28630600e+02] [ 5.50991821e-01 8.27764028e-01 -1.05899607e-01 9.05584140e+01] [ 1.80211901e-01 5.88169212e-03 9.83610226e-01 3.21105396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25687500000004 meters 0.03008107328753277 Centerline is valid? [True, True] Translation: X:228.68, Y:90.60, Z:3.22 [[ 8.15098820e-01 -5.60544992e-01 -1.46298411e-01 2.28676352e+02] [ 5.50422392e-01 8.28101848e-01 -1.06219210e-01 9.05955970e+01] [ 1.80690631e-01 6.05323151e-03 9.83521354e-01 3.21800273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31687500000004 meters 0.030161138428722957 Centerline is valid? [True, True] Translation: X:228.72, Y:90.63, Z:3.23 [[ 8.16028072e-01 -5.59103607e-01 -1.46633359e-01 2.28723248e+02] [ 5.48901643e-01 8.29072855e-01 -1.06513784e-01 9.06307093e+01] [ 1.81121979e-01 6.43094576e-03 9.83439613e-01 3.22703712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37687500000004 meters 0.03168732800158854 Centerline is valid? [True, True] Translation: X:228.77, Y:90.67, Z:3.23 [[ 8.17265291e-01 -5.56930085e-01 -1.48007854e-01 2.28768960e+02] [ 5.46488371e-01 8.30529648e-01 -1.07568416e-01 9.06664711e+01] [ 1.82832998e-01 7.02736169e-03 9.83118869e-01 3.23458133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43687500000004 meters 0.031686137735884544 Centerline is valid? [True, True] Translation: X:228.82, Y:90.70, Z:3.25 [[ 8.18347682e-01 -5.55459300e-01 -1.47553505e-01 2.28816833e+02] [ 5.45048139e-01 8.31510974e-01 -1.07294113e-01 9.06996653e+01] [ 1.82289872e-01 7.38012543e-03 9.83217136e-01 3.24577099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49687500000005 meters 0.03337205145760039 Centerline is valid? [True, True] Translation: X:228.86, Y:90.73, Z:3.26 [[ 8.20280532e-01 -5.53066087e-01 -1.45800383e-01 2.28862586e+02] [ 5.42856272e-01 8.33100319e-01 -1.06070382e-01 9.07342790e+01] [ 1.80130277e-01 7.85881690e-03 9.83611368e-01 3.25738417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.556875 meters 0.03521763662358501 Centerline is valid? [True, True] Translation: X:228.91, Y:90.77, Z:3.27 [[ 8.21531298e-01 -5.51497818e-01 -1.44694444e-01 2.28907335e+02] [ 5.41415352e-01 8.34136436e-01 -1.05289235e-01 9.07690520e+01] [ 1.78761692e-01 8.15860848e-03 9.83858575e-01 3.26743927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.616875 meters 0.03438375200039241 Centerline is valid? [True, True] Translation: X:228.96, Y:90.80, Z:3.28 [[ 8.19861731e-01 -5.53954480e-01 -1.44779753e-01 2.28956804e+02] [ 5.43891354e-01 8.32511732e-01 -1.05386957e-01 9.07992334e+01] [ 1.78910420e-01 7.65827715e-03 9.83835562e-01 3.27781778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.676875 meters 0.031223635391962098 Centerline is valid? [True, True] Translation: X:229.01, Y:90.83, Z:3.29 [[ 8.15352040e-01 -5.61033374e-01 -1.42977635e-01 2.29008157e+02] [ 5.51319324e-01 8.27770902e-01 -1.04126544e-01 9.08252542e+01] [ 1.76771192e-01 6.07345693e-03 9.84233234e-01 3.29046724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.736875 meters 0.028033027109709976 Centerline is valid? [True, True] Translation: X:229.06, Y:90.85, Z:3.30 [[ 8.12377369e-01 -5.65274633e-01 -1.43204745e-01 2.29058993e+02] [ 5.55584460e-01 8.24886339e-01 -1.04347663e-01 9.08537328e+01] [ 1.77112725e-01 5.20734960e-03 9.84176796e-01 3.29985776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.796875 meters 0.026960124718383847 Centerline is valid? [True, True] Translation: X:229.11, Y:90.88, Z:3.31 [[ 8.08497034e-01 -5.70469693e-01 -1.44557513e-01 2.29108499e+02] [ 5.60665779e-01 8.21308126e-01 -1.05389025e-01 9.08835535e+01] [ 1.78847505e-01 4.15826375e-03 9.83868019e-01 3.30545768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.856875 meters 0.025684612065763727 Centerline is valid? [True, True] Translation: X:229.16, Y:90.91, Z:3.32 [[ 8.06051608e-01 -5.74032219e-01 -1.44110433e-01 2.29158254e+02] [ 5.64335242e-01 8.18825629e-01 -1.05120520e-01 9.09132859e+01] [ 1.78343882e-01 3.40596771e-03 9.83962326e-01 3.31593978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.916875 meters 0.024517219975947267 Centerline is valid? [True, True] Translation: X:229.21, Y:90.94, Z:3.33 [[ 8.03808270e-01 -5.77306133e-01 -1.43561459e-01 2.29208230e+02] [ 5.67725187e-01 8.16523271e-01 -1.04775278e-01 9.09433634e+01] [ 1.77708683e-01 2.71577833e-03 9.84079391e-01 3.32696041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.976875 meters 0.023863055593285155 Centerline is valid? [True, True] Translation: X:229.26, Y:90.97, Z:3.34 [[ 8.02665127e-01 -5.79179378e-01 -1.42407663e-01 2.29257011e+02] [ 5.69772996e-01 8.15196812e-01 -1.03985050e-01 9.09748746e+01] [ 1.76316270e-01 2.32513286e-03 9.84330822e-01 3.33917851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.036875 meters 0.023954504152593096 Centerline is valid? [True, True] Translation: X:229.30, Y:91.01, Z:3.35 [[ 8.03299897e-01 -5.78422422e-01 -1.41904114e-01 2.29302666e+02] [ 5.69061788e-01 8.15733486e-01 -1.03670445e-01 9.10097475e+01] [ 1.75721247e-01 2.52624864e-03 9.84436723e-01 3.34908197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.096875 meters 0.024552744393601382 Centerline is valid? [True, True] Translation: X:229.35, Y:91.05, Z:3.36 [[ 8.06100765e-01 -5.74694565e-01 -1.41165554e-01 2.29346592e+02] [ 5.65364468e-01 8.18361037e-01 -1.03190267e-01 9.10483150e+01] [ 1.74827275e-01 3.37176467e-03 9.84593345e-01 3.35650232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.156875 meters 0.026501904513039343 Centerline is valid? [True, True] Translation: X:229.39, Y:91.09, Z:3.36 [[ 8.08166009e-01 -5.71685671e-01 -1.41573996e-01 2.29389302e+02] [ 5.62246143e-01 8.20462593e-01 -1.03539403e-01 9.10866896e+01] [ 1.75348161e-01 4.07759351e-03 9.84498043e-01 3.36338011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.216875 meters 0.0296062709339499 Centerline is valid? [True, True] Translation: X:229.43, Y:91.13, Z:3.37 [[ 8.12214280e-01 -5.65482823e-01 -1.43307849e-01 2.29431163e+02] [ 5.55707850e-01 8.24741669e-01 -1.04833030e-01 9.11274426e+01] [ 1.77473233e-01 5.50958746e-03 9.84110205e-01 3.37050033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.276875 meters 0.0327132860256978 Centerline is valid? [True, True] Translation: X:229.47, Y:91.17, Z:3.38 [[ 8.15843664e-01 -5.60027964e-01 -1.44110356e-01 2.29473745e+02] [ 5.50047585e-01 8.28445932e-01 -1.05475082e-01 9.11678319e+01] [ 1.78456634e-01 6.78362453e-03 9.83924394e-01 3.37795448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.336875 meters 0.03344195074061187 Centerline is valid? [True, True] Translation: X:229.52, Y:91.20, Z:3.39 [[ 8.16834848e-01 -5.58610837e-01 -1.43995711e-01 2.29519910e+02] [ 5.48614819e-01 8.29399210e-01 -1.05445392e-01 9.12027595e+01] [ 1.78332867e-01 7.13328966e-03 9.83944361e-01 3.38751103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.396875 meters 0.032240460857136666 Centerline is valid? [True, True] Translation: X:229.57, Y:91.24, Z:3.40 [[ 8.17097860e-01 -5.58487225e-01 -1.42979395e-01 2.29566489e+02] [ 5.48621786e-01 8.29482288e-01 -1.04753372e-01 9.12352373e+01] [ 1.77102295e-01 7.15214496e-03 9.84166461e-01 3.39884097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.456875 meters 0.03102351023980463 Centerline is valid? [True, True] Translation: X:229.61, Y:91.27, Z:3.41 [[ 8.16926825e-01 -5.59000022e-01 -1.41949068e-01 2.29614472e+02] [ 5.49274591e-01 8.29137767e-01 -1.04057616e-01 9.12674278e+01] [ 1.75863543e-01 7.03844174e-03 9.84389392e-01 3.41014525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.516875 meters 0.03096116201621165 Centerline is valid? [True, True] Translation: X:229.66, Y:91.30, Z:3.42 [[ 8.15751795e-01 -5.60820585e-01 -1.41524840e-01 2.29661035e+02] [ 5.51171840e-01 8.27910508e-01 -1.03796887e-01 9.13007148e+01] [ 1.75381333e-01 6.66799061e-03 9.84477997e-01 3.41998722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57687500000003 meters 0.030244510234127414 Centerline is valid? [True, True] Translation: X:229.71, Y:91.33, Z:3.43 [[ 8.13791373e-01 -5.63632990e-01 -1.41638460e-01 2.29708580e+02] [ 5.54006739e-01 8.26002911e-01 -1.03902473e-01 9.13329502e+01] [ 1.75556642e-01 6.08627459e-03 9.84450518e-01 3.42908494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63687500000003 meters 0.02812751630133246 Centerline is valid? [True, True] Translation: X:229.76, Y:91.36, Z:3.44 [[ 8.11805280e-01 -5.66443551e-01 -1.41823452e-01 2.29757459e+02] [ 5.56824306e-01 8.24081964e-01 -1.04094229e-01 9.13645012e+01] [ 1.75837654e-01 5.53349933e-03 9.84403626e-01 3.43909529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69687500000003 meters 0.027702322952322708 Centerline is valid? [True, True] Translation: X:229.80, Y:91.40, Z:3.45 [[ 8.11360940e-01 -5.67103763e-01 -1.41727721e-01 2.29804933e+02] [ 5.57498135e-01 8.23628452e-01 -1.04076908e-01 9.13978093e+01] [ 1.75753389e-01 5.43099783e-03 9.84419245e-01 3.44866966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75687500000004 meters 0.027367395127223967 Centerline is valid? [True, True] Translation: X:229.85, Y:91.43, Z:3.46 [[ 8.10549701e-01 -5.68201712e-01 -1.41971820e-01 2.29851698e+02] [ 5.58569817e-01 8.22872581e-01 -1.04309515e-01 9.14315974e+01] [ 1.76093563e-01 5.24687255e-03 9.84359450e-01 3.45897833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81687500000004 meters 0.02796018811263163 Centerline is valid? [True, True] Translation: X:229.90, Y:91.47, Z:3.47 [[ 8.10517529e-01 -5.68367471e-01 -1.41491176e-01 2.29896426e+02] [ 5.58794884e-01 8.22758179e-01 -1.04006038e-01 9.14671194e+01] [ 1.75526671e-01 5.23417111e-03 9.84460762e-01 3.46831424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87687500000004 meters 0.027625960595626654 Centerline is valid? [True, True] Translation: X:229.94, Y:91.50, Z:3.48 [[ 8.10902062e-01 -5.68283699e-01 -1.39611905e-01 2.29942841e+02] [ 5.58960935e-01 8.22816275e-01 -1.02645267e-01 9.15011420e+01] [ 1.73206579e-01 5.19765825e-03 9.84871801e-01 3.47970867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93687500000004 meters 0.02781465884755149 Centerline is valid? [True, True] Translation: X:229.99, Y:91.54, Z:3.49 [[ 8.11043909e-01 -5.68331855e-01 -1.38588171e-01 2.29988638e+02] [ 5.59138167e-01 8.22783055e-01 -1.01943876e-01 9.15351583e+01] [ 1.71965951e-01 5.19102377e-03 9.85089217e-01 3.49069380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99687500000005 meters 0.026959552609721445 Centerline is valid? [True, True] Translation: X:230.04, Y:91.57, Z:3.50 [[ 8.10815063e-01 -5.68820853e-01 -1.37919434e-01 2.30035578e+02] [ 5.59713444e-01 8.22445576e-01 -1.01509281e-01 9.15692415e+01] [ 1.71171824e-01 5.10989261e-03 9.85227941e-01 3.50128868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.056875 meters 0.028383016235422054 Centerline is valid? [True, True] Translation: X:230.08, Y:91.61, Z:3.51 [[ 8.11244423e-01 -5.67989168e-01 -1.38819278e-01 2.30079972e+02] [ 5.58740764e-01 8.23018559e-01 -1.02221378e-01 9.16059969e+01] [ 1.72311478e-01 5.36253322e-03 9.85027917e-01 3.50793903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.116875 meters 0.028113596810183675 Centerline is valid? [True, True] Translation: X:230.13, Y:91.64, Z:3.52 [[ 8.10311450e-01 -5.69114910e-01 -1.39655192e-01 2.30127328e+02] [ 5.59766715e-01 8.22241730e-01 -1.02857971e-01 9.16405521e+01] [ 1.73368331e-01 5.17266374e-03 9.84843472e-01 3.51680129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.176875 meters 0.02703342700864097 Centerline is valid? [True, True] Translation: X:230.18, Y:91.67, Z:3.52 [[ 8.07500248e-01 -5.72726644e-01 -1.41164942e-01 2.30175797e+02] [ 5.63218685e-01 8.19734114e-01 -1.04022570e-01 9.16727174e+01] [ 1.75294216e-01 4.49151839e-03 9.84505848e-01 3.52334521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.236875 meters 0.023964099992810486 Centerline is valid? [True, True] Translation: X:230.23, Y:91.70, Z:3.53 [[ 8.01687754e-01 -5.80703371e-01 -1.41705117e-01 2.30228045e+02] [ 5.71234971e-01 8.14110376e-01 -1.04474413e-01 9.16990774e+01] [ 1.76032250e-01 2.80893912e-03 9.84380392e-01 3.53436313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.296875 meters 0.022956290902366176 Centerline is valid? [True, True] Translation: X:230.28, Y:91.73, Z:3.54 [[ 7.96993443e-01 -5.87307915e-01 -1.40964057e-01 2.30277508e+02] [ 5.78035422e-01 8.09362421e-01 -1.03959233e-01 9.17280219e+01] [ 1.75147091e-01 1.37260902e-03 9.84541321e-01 3.54488057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.356875 meters 0.02245231743053419 Centerline is valid? [True, True] Translation: X:230.33, Y:91.76, Z:3.56 [[ 7.90572082e-01 -5.96480947e-01 -1.38586662e-01 2.30329178e+02] [ 5.87650330e-01 8.02627014e-01 -1.02259308e-01 9.17551553e+01] [ 1.72229127e-01 -5.97143371e-04 9.85056735e-01 3.55915551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.416875 meters 0.022803021486374135 Centerline is valid? [True, True] Translation: X:230.38, Y:91.79, Z:3.57 [[ 7.87760679e-01 -6.00513878e-01 -1.37172137e-01 2.30376680e+02] [ 5.91915821e-01 7.99613070e-01 -1.01264997e-01 9.17877872e+01] [ 1.70495670e-01 -1.42177508e-03 9.85357400e-01 3.56964715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.476875 meters 0.023472879350248905 Centerline is valid? [True, True] Translation: X:230.42, Y:91.82, Z:3.58 [[ 7.85929463e-01 -6.02720711e-01 -1.37995014e-01 2.30422286e+02] [ 5.94042239e-01 7.97950038e-01 -1.01929166e-01 9.18245380e+01] [ 1.71547946e-01 -1.86573281e-03 9.85174006e-01 3.57648029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.536875 meters 0.023292673415171227 Centerline is valid? [True, True] Translation: X:230.47, Y:91.86, Z:3.59 [[ 7.85713947e-01 -6.02544940e-01 -1.39975673e-01 2.30465960e+02] [ 5.93601918e-01 7.98082895e-01 -1.03443004e-01 9.18628295e+01] [ 1.74041249e-01 -1.81321699e-03 9.84736694e-01 3.58560121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.596875 meters 0.0234009346110173 Centerline is valid? [True, True] Translation: X:230.51, Y:91.90, Z:3.59 [[ 7.87100347e-01 -6.00252410e-01 -1.42021432e-01 2.30508649e+02] [ 5.90997310e-01 7.99809603e-01 -1.05008473e-01 9.19039345e+01] [ 1.76621694e-01 -1.28207919e-03 9.84277976e-01 3.59363829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.656875 meters 0.02376488722852375 Centerline is valid? [True, True] Translation: X:230.55, Y:91.95, Z:3.60 [[ 7.89403806e-01 -5.97075053e-01 -1.42628933e-01 2.30549092e+02] [ 5.87678695e-01 8.02185204e-01 -1.05511374e-01 9.19456832e+01] [ 1.77413028e-01 -5.28905067e-04 9.84136341e-01 3.60181022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.716875 meters 0.023847403946335707 Centerline is valid? [True, True] Translation: X:230.59, Y:91.99, Z:3.61 [[ 7.91227450e-01 -5.94777058e-01 -1.42124501e-01 2.30592221e+02] [ 5.85400156e-01 8.03890695e-01 -1.05196994e-01 9.19855884e+01] [ 1.76821323e-01 3.50441587e-05 9.84242967e-01 3.61150494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.776875 meters 0.024313284191929678 Centerline is valid? [True, True] Translation: X:230.63, Y:92.03, Z:3.62 [[ 7.95503467e-01 -5.89044274e-01 -1.42130491e-01 2.30632224e+02] [ 5.79565793e-01 8.08099625e-01 -1.05254397e-01 9.20288302e+01] [ 1.76855097e-01 1.35626681e-03 9.84235965e-01 3.62088634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.836875 meters 0.02558469658842199 Centerline is valid? [True, True] Translation: X:230.67, Y:92.07, Z:3.63 [[ 7.99912735e-01 -5.83385322e-01 -1.40716672e-01 2.30671483e+02] [ 5.73999913e-01 8.12191281e-01 -1.04256529e-01 9.20722251e+01] [ 1.75110583e-01 2.62476798e-03 9.84545273e-01 3.63035089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.896875 meters 0.026464513996961297 Centerline is valid? [True, True] Translation: X:230.71, Y:92.11, Z:3.64 [[ 8.02118672e-01 -5.80396678e-01 -1.40518084e-01 2.30714129e+02] [ 5.70988558e-01 8.14327247e-01 -1.04130695e-01 9.21128396e+01] [ 1.74864814e-01 3.29095655e-03 9.84586952e-01 3.63952439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.956875 meters 0.027463628780139027 Centerline is valid? [True, True] Translation: X:230.76, Y:92.15, Z:3.65 [[ 8.04566320e-01 -5.76989543e-01 -1.40556406e-01 2.30756263e+02] [ 5.67515736e-01 8.16741369e-01 -1.04208569e-01 9.21531032e+01] [ 1.74925486e-01 4.07473297e-03 9.84573243e-01 3.64930741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.016875 meters 0.027985943946988643 Centerline is valid? [True, True] Translation: X:230.80, Y:92.19, Z:3.66 [[ 8.04415126e-01 -5.77401943e-01 -1.39725809e-01 2.30799658e+02] [ 5.68041068e-01 8.16450300e-01 -1.03625544e-01 9.21916998e+01] [ 1.73912769e-01 3.98795740e-03 9.84752987e-01 3.65846108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07687500000003 meters 0.027822469826182014 Centerline is valid? [True, True] Translation: X:230.85, Y:92.23, Z:3.67 [[ 8.03581845e-01 -5.78577564e-01 -1.39657509e-01 2.30845270e+02] [ 5.69234282e-01 8.15618631e-01 -1.03627124e-01 9.22285696e+01] [ 1.73863595e-01 3.77503341e-03 9.84762509e-01 3.66585254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13687500000003 meters 0.02911743105924969 Centerline is valid? [True, True] Translation: X:230.89, Y:92.27, Z:3.67 [[ 8.02830983e-01 -5.79294111e-01 -1.40999099e-01 2.30888591e+02] [ 5.69770772e-01 8.15110211e-01 -1.04673838e-01 9.22664838e+01] [ 1.75566743e-01 3.69823526e-03 9.84460584e-01 3.67293592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19687500000003 meters 0.028604923906301562 Centerline is valid? [True, True] Translation: X:230.94, Y:92.30, Z:3.68 [[ 8.02160423e-01 -5.79976575e-01 -1.42006435e-01 2.30935104e+02] [ 5.70320731e-01 8.14625198e-01 -1.05451651e-01 9.23020313e+01] [ 1.76841508e-01 3.59992674e-03 9.84232758e-01 3.68205350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25687500000004 meters 0.028407547207594894 Centerline is valid? [True, True] Translation: X:230.98, Y:92.34, Z:3.69 [[ 8.01420393e-01 -5.81269242e-01 -1.40895074e-01 2.30980829e+02] [ 5.71775646e-01 8.13704474e-01 -1.04678748e-01 9.23381341e+01] [ 1.75493489e-01 3.33131122e-03 9.84474955e-01 3.69287096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31687500000004 meters 0.028659413196345872 Centerline is valid? [True, True] Translation: X:231.03, Y:92.37, Z:3.70 [[ 8.00943496e-01 -5.81887170e-01 -1.41056147e-01 2.31026190e+02] [ 5.72371509e-01 8.13263054e-01 -1.04852571e-01 9.23735132e+01] [ 1.75728119e-01 3.24446529e-03 9.84433391e-01 3.70245944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37687500000004 meters 0.02883114742267277 Centerline is valid? [True, True] Translation: X:231.07, Y:92.41, Z:3.71 [[ 8.00922582e-01 -5.81597752e-01 -1.42362469e-01 2.31072145e+02] [ 5.71887968e-01 8.13469460e-01 -1.05884798e-01 9.24100635e+01] [ 1.77389881e-01 3.39014282e-03 9.84134817e-01 3.71024393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43687500000004 meters 0.029950304154594858 Centerline is valid? [True, True] Translation: X:231.11, Y:92.45, Z:3.72 [[ 8.02451553e-01 -5.79348179e-01 -1.42923731e-01 2.31114591e+02] [ 5.69516392e-01 8.15070622e-01 -1.06352996e-01 9.24491536e+01] [ 1.78108348e-01 3.94571925e-03 9.84002971e-01 3.71709282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49687500000005 meters 0.03041711592603453 Centerline is valid? [True, True] Translation: X:231.16, Y:92.49, Z:3.73 [[ 8.03776473e-01 -5.77601170e-01 -1.42549185e-01 2.31159743e+02] [ 5.67789713e-01 8.16307566e-01 -1.06098062e-01 9.24851651e+01] [ 1.77646343e-01 4.34116530e-03 9.84084819e-01 3.72772821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.556875 meters 0.030529933802163657 Centerline is valid? [True, True] Translation: X:231.21, Y:92.52, Z:3.74 [[ 8.03778678e-01 -5.77682682e-01 -1.42206034e-01 2.31206009e+02] [ 5.67910466e-01 8.16249802e-01 -1.05896004e-01 9.25179546e+01] [ 1.77249935e-01 4.35665546e-03 9.84156228e-01 3.73867853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.616875 meters 0.029646811816292543 Centerline is valid? [True, True] Translation: X:231.25, Y:92.55, Z:3.75 [[ 8.02490774e-01 -5.79647155e-01 -1.41484038e-01 2.31253717e+02] [ 5.69994144e-01 8.14857996e-01 -1.05418796e-01 9.25506282e+01] [ 1.76395105e-01 3.95253796e-03 9.84311508e-01 3.74862097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.676875 meters 0.029881011205864765 Centerline is valid? [True, True] Translation: X:231.30, Y:92.58, Z:3.76 [[ 8.01372175e-01 -5.81435627e-01 -1.40482200e-01 2.31300461e+02] [ 5.71938043e-01 8.13584555e-01 -1.04723672e-01 9.25835921e+01] [ 1.75184221e-01 3.57552221e-03 9.84529179e-01 3.75843676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.736875 meters 0.029782155538770425 Centerline is valid? [True, True] Translation: X:231.35, Y:92.62, Z:3.77 [[ 8.01133717e-01 -5.81903547e-01 -1.39903648e-01 2.31347730e+02] [ 5.72487860e-01 8.13250377e-01 -1.04314304e-01 9.26179518e+01] [ 1.74477558e-01 3.47656641e-03 9.84655013e-01 3.76781314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.796875 meters 0.029295825427370994 Centerline is valid? [True, True] Translation: X:231.39, Y:92.65, Z:3.78 [[ 8.01049070e-01 -5.82032425e-01 -1.39852220e-01 2.31393986e+02] [ 5.72616387e-01 8.13158086e-01 -1.04328328e-01 9.26509873e+01] [ 1.74444433e-01 3.49043653e-03 9.84660833e-01 3.77755781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.856875 meters 0.02987017755284012 Centerline is valid? [True, True] Translation: X:231.44, Y:92.69, Z:3.78 [[ 8.00822715e-01 -5.82204700e-01 -1.40430292e-01 2.31439779e+02] [ 5.72702274e-01 8.13034641e-01 -1.04817834e-01 9.26860471e+01] [ 1.75200127e-01 3.51575480e-03 9.84526564e-01 3.78446390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.916875 meters 0.028525954914425618 Centerline is valid? [True, True] Translation: X:231.49, Y:92.72, Z:3.79 [[ 7.98878746e-01 -5.84534384e-01 -1.41817851e-01 2.31489312e+02] [ 5.74872576e-01 8.11363164e-01 -1.05883601e-01 9.27164348e+01] [ 1.76958386e-01 3.06096467e-03 9.84213574e-01 3.79458260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.976875 meters 0.028302543079350564 Centerline is valid? [True, True] Translation: X:231.54, Y:92.75, Z:3.80 [[ 7.96988138e-01 -5.87114364e-01 -1.41797857e-01 2.31537134e+02] [ 5.77486638e-01 8.09500045e-01 -1.05919119e-01 9.27479820e+01] [ 1.76972008e-01 2.52991325e-03 9.84212633e-01 3.80299164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.036875 meters 0.02813723828439813 Centerline is valid? [True, True] Translation: X:231.58, Y:92.78, Z:3.81 [[ 7.95778445e-01 -5.88913952e-01 -1.41127682e-01 2.31584316e+02] [ 5.79402450e-01 8.08192922e-01 -1.05437197e-01 9.27804262e+01] [ 1.76151830e-01 2.13492436e-03 9.84360693e-01 3.81320838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.096875 meters 0.027907560414540847 Centerline is valid? [True, True] Translation: X:231.63, Y:92.81, Z:3.82 [[ 7.94972790e-01 -5.89858785e-01 -1.41721124e-01 2.31631929e+02] [ 5.80277316e-01 8.07504057e-01 -1.05902947e-01 9.28131463e+01] [ 1.76908166e-01 1.95240778e-03 9.84225426e-01 3.82263252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.156875 meters 0.027733900564734484 Centerline is valid? [True, True] Translation: X:231.68, Y:92.85, Z:3.83 [[ 7.95084060e-01 -5.89641383e-01 -1.42001325e-01 2.31678264e+02] [ 5.80007582e-01 8.07662567e-01 -1.06171473e-01 9.28474239e+01] [ 1.77292249e-01 2.05340059e-03 9.84156107e-01 3.83257933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.216875 meters 0.028056918761594888 Centerline is valid? [True, True] Translation: X:231.72, Y:92.88, Z:3.84 [[ 7.96988293e-01 -5.87004524e-01 -1.42251009e-01 2.31723039e+02] [ 5.77285461e-01 8.09579190e-01 -1.06409739e-01 9.28823661e+01] [ 1.77626455e-01 2.68787732e-03 9.84094314e-01 3.84045967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.276875 meters 0.029189369102256467 Centerline is valid? [True, True] Translation: X:231.77, Y:92.92, Z:3.85 [[ 7.99616557e-01 -5.83096200e-01 -1.43569438e-01 2.31767417e+02] [ 5.73127532e-01 8.12395089e-01 -1.07419976e-01 9.29190750e+01] [ 1.79271286e-01 3.61119423e-03 9.83793050e-01 3.84892029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.336875 meters 0.029837120166145734 Centerline is valid? [True, True] Translation: X:231.81, Y:92.96, Z:3.86 [[ 8.02169364e-01 -5.79519441e-01 -1.43810743e-01 2.31812699e+02] [ 5.69454246e-01 8.14946295e-01 -1.07630838e-01 9.29558783e+01] [ 1.79572195e-01 4.44452300e-03 9.83734757e-01 3.85813184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.396875 meters 0.030506643940385377 Centerline is valid? [True, True] Translation: X:231.86, Y:92.99, Z:3.87 [[ 8.06289295e-01 -5.73695348e-01 -1.44122242e-01 2.31857798e+02] [ 5.63483776e-01 8.19048221e-01 -1.07916847e-01 9.29912846e+01] [ 1.79954459e-01 5.80165323e-03 9.83657833e-01 3.86899958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.456875 meters 0.03166359228889117 Centerline is valid? [True, True] Translation: X:231.90, Y:93.03, Z:3.88 [[ 8.08214021e-01 -5.71138221e-01 -1.43496443e-01 2.31903395e+02] [ 5.60965973e-01 8.20829043e-01 -1.07502838e-01 9.30254496e+01] [ 1.79185028e-01 6.38867884e-03 9.83794649e-01 3.87804590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.516875 meters 0.03186838955680702 Centerline is valid? [True, True] Translation: X:231.95, Y:93.06, Z:3.89 [[ 8.08297376e-01 -5.71173036e-01 -1.42887072e-01 2.31950027e+02] [ 5.61082561e-01 8.20804889e-01 -1.07077978e-01 9.30589519e+01] [ 1.78442461e-01 6.37940468e-03 9.83929668e-01 3.88708978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57687500000003 meters 0.030327373876328858 Centerline is valid? [True, True] Translation: X:232.00, Y:93.09, Z:3.90 [[ 8.07669798e-01 -5.72228275e-01 -1.42212164e-01 2.32000352e+02] [ 5.62245872e-01 8.20071437e-01 -1.06594637e-01 9.30875046e+01] [ 1.77620599e-01 6.13506684e-03 9.84079917e-01 3.89896313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63687500000003 meters 0.03127360781330394 Centerline is valid? [True, True] Translation: X:232.05, Y:93.12, Z:3.91 [[ 8.07357403e-01 -5.72534202e-01 -1.42753673e-01 2.32046375e+02] [ 5.62470177e-01 8.19857880e-01 -1.07053051e-01 9.31203712e+01] [ 1.78329257e-01 6.13538931e-03 9.83951743e-01 3.90636174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69687500000003 meters 0.030671416774622737 Centerline is valid? [True, True] Translation: X:232.10, Y:93.15, Z:3.91 [[ 8.06639100e-01 -5.73014359e-01 -1.44872037e-01 2.32095443e+02] [ 5.62648001e-01 8.19522248e-01 -1.08676174e-01 9.31520753e+01] [ 1.80998866e-01 6.15048930e-03 9.83464073e-01 3.91203510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75687500000004 meters 0.030870299006141723 Centerline is valid? [True, True] Translation: X:232.14, Y:93.18, Z:3.92 [[ 8.05270468e-01 -5.75109096e-01 -1.44183916e-01 2.32143713e+02] [ 5.64870805e-01 8.18057065e-01 -1.08183234e-01 9.31836748e+01] [ 1.80167833e-01 5.67147825e-03 9.83619533e-01 3.92196372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81687500000004 meters 0.028262480733756465 Centerline is valid? [True, True] Translation: X:232.19, Y:93.21, Z:3.94 [[ 8.03864026e-01 -5.77308698e-01 -1.43238597e-01 2.32194470e+02] [ 5.67230310e-01 8.16509495e-01 -1.07526834e-01 9.32116134e+01] [ 1.79031851e-01 5.18768031e-03 9.83829601e-01 3.93531565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87687500000004 meters 0.02754173386426045 Centerline is valid? [True, True] Translation: X:232.24, Y:93.24, Z:3.94 [[ 8.00782477e-01 -5.81698582e-01 -1.42738166e-01 2.32243600e+02] [ 5.71750750e-01 8.13393402e-01 -1.07201925e-01 9.32403493e+01] [ 1.78461491e-01 4.23476973e-03 9.83937784e-01 3.94373601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93687500000004 meters 0.026014943227304545 Centerline is valid? [True, True] Translation: X:232.29, Y:93.27, Z:3.95 [[ 7.98081051e-01 -5.85434217e-01 -1.42595276e-01 2.32293495e+02] [ 5.75560533e-01 8.10712702e-01 -1.07121368e-01 9.32690921e+01] [ 1.78316315e-01 3.41932082e-03 9.83967276e-01 3.95469769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99687500000005 meters 0.023983983535427113 Centerline is valid? [True, True] Translation: X:232.35, Y:93.29, Z:3.97 [[ 7.93825164e-01 -5.91377692e-01 -1.41823957e-01 2.32345829e+02] [ 5.81695380e-01 8.06391922e-01 -1.06595274e-01 9.32949680e+01] [ 1.77403760e-01 2.11967028e-03 9.84135871e-01 3.96732057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.056875 meters 0.022807771554202876 Centerline is valid? [True, True] Translation: X:232.40, Y:93.32, Z:3.98 [[ 7.89040698e-01 -5.98232238e-01 -1.39760386e-01 2.32397161e+02] [ 5.88932071e-01 8.01322550e-01 -1.05077052e-01 9.33219235e+01] [ 1.74853629e-01 6.00696701e-04 9.84594255e-01 3.98069994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.116875 meters 0.022598621623293624 Centerline is valid? [True, True] Translation: X:232.45, Y:93.35, Z:3.99 [[ 7.86072962e-01 -6.02355726e-01 -1.38769151e-01 2.32445829e+02] [ 5.93241836e-01 7.98227729e-01 -1.04386863e-01 9.33519506e+01] [ 1.73647409e-01 -2.67975287e-04 9.84807852e-01 3.99005345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.176875 meters 0.02243249473700081 Centerline is valid? [True, True] Translation: X:232.49, Y:93.38, Z:4.00 [[ 7.83308715e-01 -6.06546490e-01 -1.36120582e-01 2.32494327e+02] [ 5.97838791e-01 7.95047181e-01 -1.02414650e-01 9.33820174e+01] [ 1.70341532e-01 -1.15587582e-03 9.85384405e-01 4.00264116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.236875 meters 0.022852133693391896 Centerline is valid? [True, True] Translation: X:232.54, Y:93.41, Z:4.01 [[ 7.81084495e-01 -6.09378391e-01 -1.36253398e-01 2.32542628e+02] [ 6.00686749e-01 7.92877659e-01 -1.02569235e-01 9.34142140e+01] [ 1.70535750e-01 -1.73037177e-03 9.85349970e-01 4.01167716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.296875 meters 0.023055902337814183 Centerline is valid? [True, True] Translation: X:232.59, Y:93.45, Z:4.02 [[ 7.80309607e-01 -6.10115821e-01 -1.37388510e-01 2.32589895e+02] [ 6.01280214e-01 7.92310040e-01 -1.03474174e-01 9.34485761e+01] [ 1.71985526e-01 -1.86710029e-03 9.85097707e-01 4.01984163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.356875 meters 0.023100534561802683 Centerline is valid? [True, True] Translation: X:232.64, Y:93.49, Z:4.03 [[ 7.79734491e-01 -6.10597385e-01 -1.38509771e-01 2.32635631e+02] [ 6.01614523e-01 7.91938782e-01 -1.04369207e-01 9.34850116e+01] [ 1.73418824e-01 -1.94921960e-03 9.84846238e-01 4.02901760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.416875 meters 0.023013935226606615 Centerline is valid? [True, True] Translation: X:232.68, Y:93.52, Z:4.04 [[ 7.80037510e-01 -6.10060457e-01 -1.39167961e-01 2.32680009e+02] [ 6.00973481e-01 7.92352834e-01 -1.04918360e-01 9.35210357e+01] [ 1.74276671e-01 -1.79599816e-03 9.84695088e-01 4.03714189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.476875 meters 0.02302065399641271 Centerline is valid? [True, True] Translation: X:232.72, Y:93.56, Z:4.04 [[ 7.80792979e-01 -6.08693694e-01 -1.40905323e-01 2.32724021e+02] [ 5.99343574e-01 7.93403966e-01 -1.06289360e-01 9.35594360e+01] [ 1.76492505e-01 -1.46071394e-03 9.84300900e-01 4.04459731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.536875 meters 0.023754065718351886 Centerline is valid? [True, True] Translation: X:232.77, Y:93.60, Z:4.05 [[ 7.81845298e-01 -6.07601447e-01 -1.39779871e-01 2.32769197e+02] [ 5.98375136e-01 7.94241227e-01 -1.05489668e-01 9.35955322e+01] [ 1.75114611e-01 -1.16419858e-03 9.84547367e-01 4.04813939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.596875 meters 0.022983513706092744 Centerline is valid? [True, True] Translation: X:232.81, Y:93.64, Z:4.06 [[ 7.85029272e-01 -6.03170616e-01 -1.41117860e-01 2.32810330e+02] [ 5.93690113e-01 7.97612176e-01 -1.06521672e-01 9.36353425e+01] [ 1.76808065e-01 -1.57647637e-04 9.84245337e-01 4.06367912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.656875 meters 0.023139016358358785 Centerline is valid? [True, True] Translation: X:232.85, Y:93.68, Z:4.08 [[ 7.89076601e-01 -5.98109585e-01 -1.40082269e-01 2.32851207e+02] [ 5.88679682e-01 8.01413684e-01 -1.05793858e-01 9.36759610e+01] [ 1.75540168e-01 1.01587230e-03 9.84471745e-01 4.07553406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.716875 meters 0.02438680349287462 Centerline is valid? [True, True] Translation: X:232.89, Y:93.72, Z:4.08 [[ 7.92339452e-01 -5.93718099e-01 -1.40346044e-01 2.32893197e+02] [ 5.84173398e-01 8.04670523e-01 -1.06050889e-01 9.37161386e+01] [ 1.75896657e-01 2.04187738e-03 9.84406520e-01 4.08222570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.776875 meters 0.025259283355841527 Centerline is valid? [True, True] Translation: X:232.94, Y:93.76, Z:4.09 [[ 7.94792624e-01 -5.90271577e-01 -1.41011174e-01 2.32937017e+02] [ 5.80577497e-01 8.07199736e-01 -1.06575586e-01 9.37553342e+01] [ 1.76732722e-01 2.83757542e-03 9.84254791e-01 4.09015555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.836875 meters 0.026470863260200574 Centerline is valid? [True, True] Translation: X:232.98, Y:93.79, Z:4.10 [[ 7.96659748e-01 -5.87704399e-01 -1.41197681e-01 2.32979859e+02] [ 5.77934915e-01 8.09068353e-01 -1.06769075e-01 9.37940005e+01] [ 1.76987230e-01 3.45555451e-03 9.84207082e-01 4.09784860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.896875 meters 0.02754785858883087 Centerline is valid? [True, True] Translation: X:233.02, Y:93.83, Z:4.11 [[ 7.99271129e-01 -5.84054404e-01 -1.41584304e-01 2.33023714e+02] [ 5.74164861e-01 8.11703027e-01 -1.07111666e-01 9.38316211e+01] [ 1.77483448e-01 4.31853002e-03 9.84114310e-01 4.10662878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.956875 meters 0.028805538921455143 Centerline is valid? [True, True] Translation: X:233.07, Y:93.87, Z:4.11 [[ 7.99875001e-01 -5.83143014e-01 -1.41930291e-01 2.33067797e+02] [ 5.73184746e-01 8.12356724e-01 -1.07404839e-01 9.38683704e+01] [ 1.77930408e-01 4.55816836e-03 9.84032516e-01 4.11349413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.016875 meters 0.0268486450369865 Centerline is valid? [True, True] Translation: X:233.12, Y:93.90, Z:4.13 [[ 7.99275187e-01 -5.84285871e-01 -1.40602979e-01 2.33117427e+02] [ 5.74526835e-01 8.11536597e-01 -1.06429636e-01 9.38984412e+01] [ 1.76289796e-01 4.28638255e-03 9.84328977e-01 4.12806182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07687500000003 meters 0.026029527767793114 Centerline is valid? [True, True] Translation: X:233.17, Y:93.93, Z:4.14 [[ 7.98092706e-01 -5.86148986e-01 -1.39561451e-01 2.33165710e+02] [ 5.76558226e-01 8.10194047e-01 -1.05670331e-01 9.39316541e+01] [ 1.75010414e-01 3.86941728e-03 9.84558979e-01 4.13890191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13687500000003 meters 0.025999084878494623 Centerline is valid? [True, True] Translation: X:233.21, Y:93.96, Z:4.15 [[ 7.95746519e-01 -5.89422275e-01 -1.39172050e-01 2.33213152e+02] [ 5.79926634e-01 8.07818836e-01 -1.05422143e-01 9.39635488e+01] [ 1.74563962e-01 3.17972450e-03 9.84640702e-01 4.14624889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19687500000003 meters 0.024008451705731158 Centerline is valid? [True, True] Translation: X:233.26, Y:93.99, Z:4.16 [[ 7.91513119e-01 -5.95293518e-01 -1.38320675e-01 2.33264076e+02] [ 5.85999371e-01 8.03506093e-01 -1.04798358e-01 9.39918668e+01] [ 1.73527288e-01 1.89344643e-03 9.84827241e-01 4.15804626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25687500000004 meters 0.023493440258430625 Centerline is valid? [True, True] Translation: X:233.31, Y:94.02, Z:4.17 [[ 7.88324305e-01 -5.99502051e-01 -1.38354907e-01 2.33313400e+02] [ 5.90258220e-01 8.00372581e-01 -1.04875956e-01 9.40223035e+01] [ 1.73608824e-01 1.01114388e-03 9.84814172e-01 4.16848308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31687500000004 meters 0.023271348871714316 Centerline is valid? [True, True] Translation: X:233.36, Y:94.05, Z:4.18 [[ 7.84000476e-01 -6.05713787e-01 -1.35845727e-01 2.33362771e+02] [ 5.96888338e-01 7.95682543e-01 -1.03022344e-01 9.40516610e+01] [ 1.70492128e-01 -3.15163733e-04 9.85358988e-01 4.17594409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37687500000004 meters 0.02294834430085105 Centerline is valid? [True, True] Translation: X:233.41, Y:94.09, Z:4.19 [[ 7.83662372e-01 -6.05943692e-01 -1.36768154e-01 2.33408807e+02] [ 5.96996992e-01 7.95507460e-01 -1.03742339e-01 9.40866053e+01] [ 1.71662103e-01 -3.51209280e-04 9.85155825e-01 4.18847392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43687500000004 meters 0.022865055773043434 Centerline is valid? [True, True] Translation: X:233.45, Y:94.12, Z:4.20 [[ 7.82207130e-01 -6.08046615e-01 -1.35761997e-01 2.33453935e+02] [ 5.99254738e-01 7.93900956e-01 -1.03029271e-01 9.41212587e+01] [ 1.70428179e-01 -7.65789956e-04 9.85369803e-01 4.19927457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49687500000005 meters 0.02316200456242322 Centerline is valid? [True, True] Translation: X:233.50, Y:94.16, Z:4.21 [[ 7.81160193e-01 -6.09500365e-01 -1.35270317e-01 2.33499856e+02] [ 6.00784025e-01 7.92785117e-01 -1.02714724e-01 9.41558565e+01] [ 1.69844956e-01 -1.03159233e-03 9.85470257e-01 4.20936884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.556875 meters 0.02314726300770105 Centerline is valid? [True, True] Translation: X:233.54, Y:94.19, Z:4.22 [[ 7.79315826e-01 -6.11721734e-01 -1.35879960e-01 2.33544912e+02] [ 6.02949250e-01 7.91071644e-01 -1.03236895e-01 9.41924606e+01] [ 1.70643036e-01 -1.47457395e-03 9.85331812e-01 4.21746071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.616875 meters 0.02315176931512512 Centerline is valid? [True, True] Translation: X:233.59, Y:94.23, Z:4.23 [[ 7.79173458e-01 -6.11534887e-01 -1.37527465e-01 2.33589603e+02] [ 6.02534581e-01 7.91216214e-01 -1.04541770e-01 9.42295325e+01] [ 1.72744900e-01 -1.40888063e-03 9.84965591e-01 4.22535857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.676875 meters 0.023088222824870244 Centerline is valid? [True, True] Translation: X:233.63, Y:94.27, Z:4.23 [[ 7.81176952e-01 -6.08743666e-01 -1.38541395e-01 2.33630341e+02] [ 5.99556436e-01 7.93366610e-01 -1.05363666e-01 9.42691543e+01] [ 1.74053581e-01 -7.55717436e-04 9.84735893e-01 4.23250067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.736875 meters 0.0235283006010276 Centerline is valid? [True, True] Translation: X:233.67, Y:94.31, Z:4.24 [[ 7.83468038e-01 -6.05775471e-01 -1.38614255e-01 2.33671932e+02] [ 5.96526241e-01 7.95635641e-01 -1.05453165e-01 9.43092496e+01] [ 1.74167382e-01 -6.78564348e-05 9.84716060e-01 4.24296324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.796875 meters 0.023840809994427576 Centerline is valid? [True, True] Translation: X:233.72, Y:94.35, Z:4.25 [[ 7.84820962e-01 -6.04136009e-01 -1.38114951e-01 2.33715101e+02] [ 5.94918167e-01 7.96881149e-01 -1.05132344e-01 9.43473076e+01] [ 1.73575435e-01 3.42973598e-04 9.84820517e-01 4.25232174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.856875 meters 0.024326118426407962 Centerline is valid? [True, True] Translation: X:233.76, Y:94.39, Z:4.26 [[ 7.86107508e-01 -6.02559680e-01 -1.37683761e-01 2.33757468e+02] [ 5.93365282e-01 7.98073485e-01 -1.04863501e-01 9.43858238e+01] [ 1.73068277e-01 7.37221764e-04 9.84909553e-01 4.26267622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.916875 meters 0.02508379190512196 Centerline is valid? [True, True] Translation: X:233.80, Y:94.43, Z:4.27 [[ 7.87168700e-01 -6.00914047e-01 -1.38808304e-01 2.33800968e+02] [ 5.91531413e-01 7.99312809e-01 -1.05781004e-01 9.44256853e+01] [ 1.74516546e-01 1.15802332e-03 9.84653560e-01 4.27016989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.976875 meters 0.025449393002322372 Centerline is valid? [True, True] Translation: X:233.85, Y:94.46, Z:4.28 [[ 7.87426817e-01 -6.00498367e-01 -1.39142800e-01 2.33845531e+02] [ 5.91054138e-01 7.99624930e-01 -1.06089474e-01 9.44628411e+01] [ 1.74968607e-01 1.29676872e-03 9.84573159e-01 4.27998687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.036875 meters 0.02574253532001438 Centerline is valid? [True, True] Translation: X:233.89, Y:94.50, Z:4.29 [[ 7.87611009e-01 -5.99986241e-01 -1.40304699e-01 2.33890693e+02] [ 5.90364616e-01 8.00008975e-01 -1.07029249e-01 9.45002117e+01] [ 1.76461095e-01 1.46648463e-03 9.84306523e-01 4.28923994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.096875 meters 0.026394420301920855 Centerline is valid? [True, True] Translation: X:233.93, Y:94.54, Z:4.30 [[ 7.88933708e-01 -5.98311753e-01 -1.40023749e-01 2.33934530e+02] [ 5.88693280e-01 8.01261200e-01 -1.06867730e-01 9.45393029e+01] [ 1.76135816e-01 1.88051430e-03 9.84364078e-01 4.29799089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.156875 meters 0.026979312770378138 Centerline is valid? [True, True] Translation: X:233.98, Y:94.58, Z:4.31 [[ 7.90277073e-01 -5.96378262e-01 -1.40695119e-01 2.33979295e+02] [ 5.86626587e-01 8.02700049e-01 -1.07433136e-01 9.45767789e+01] [ 1.77006765e-01 2.36644671e-03 9.84206790e-01 4.30632953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.216875 meters 0.027692284232550973 Centerline is valid? [True, True] Translation: X:234.02, Y:94.61, Z:4.31 [[ 7.92505598e-01 -5.93045695e-01 -1.42238112e-01 2.34023211e+02] [ 5.83014276e-01 8.05162487e-01 -1.08663347e-01 9.46146950e+01] [ 1.78967122e-01 3.18946095e-03 9.83849885e-01 4.31463829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.276875 meters 0.028664041510103606 Centerline is valid? [True, True] Translation: X:234.07, Y:94.65, Z:4.32 [[ 7.94454802e-01 -5.90239099e-01 -1.43036269e-01 2.34065795e+02] [ 5.80043427e-01 8.07219206e-01 -1.09301307e-01 9.46529112e+01] [ 1.79975528e-01 3.86770085e-03 9.83663484e-01 4.32175878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.336875 meters 0.029703511079077004 Centerline is valid? [True, True] Translation: X:234.11, Y:94.69, Z:4.33 [[ 7.98008430e-01 -5.85271633e-01 -1.43665100e-01 2.34109714e+02] [ 5.74900282e-01 8.10821660e-01 -1.09808478e-01 9.46916245e+01] [ 1.80754562e-01 5.03498479e-03 9.83515347e-01 4.32980305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.396875 meters 0.030790043861340575 Centerline is valid? [True, True] Translation: X:234.15, Y:94.73, Z:4.34 [[ 8.00344343e-01 -5.81982982e-01 -1.44030345e-01 2.34154584e+02] [ 5.71494901e-01 8.13179985e-01 -1.10144858e-01 9.47293228e+01] [ 1.81225026e-01 5.84120621e-03 9.83424308e-01 4.33891212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.456875 meters 0.047604691521922794 Centerline is valid? [True, True] Translation: X:234.18, Y:94.79, Z:4.33 [[ 8.01465835e-01 -5.81228072e-01 -1.40806403e-01 2.34182744e+02] [ 5.71188032e-01 8.13719216e-01 -1.07727757e-01 9.47904697e+01] [ 1.77191273e-01 5.91318449e-03 9.84158670e-01 4.33491476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.516875 meters 0.0338981046559204 Centerline is valid? [True, True] Translation: X:234.24, Y:94.80, Z:4.36 [[ 8.05109297e-01 -5.75258571e-01 -1.44487355e-01 2.34243020e+02] [ 5.64581661e-01 8.17937743e-01 -1.10568518e-01 9.48048137e+01] [ 1.81787149e-01 7.44483093e-03 9.83309721e-01 4.35628216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57687500000003 meters 0.033920793646616 Centerline is valid? [True, True] Translation: X:234.29, Y:94.84, Z:4.37 [[ 8.05965450e-01 -5.74196481e-01 -1.43937819e-01 2.34289750e+02] [ 5.63574659e-01 8.18681331e-01 -1.10202002e-01 9.48392116e+01] [ 1.81116807e-01 7.69929901e-03 9.83431453e-01 4.36655719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63687500000003 meters 0.03307749390372123 Centerline is valid? [True, True] Translation: X:234.34, Y:94.87, Z:4.38 [[ 8.05253729e-01 -5.75231493e-01 -1.43788602e-01 2.34337632e+02] [ 5.64637988e-01 8.17956239e-01 -1.10143243e-01 9.48719359e+01] [ 1.80970646e-01 7.50475008e-03 9.83459864e-01 4.37611958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69687500000003 meters 0.0331298686555005 Centerline is valid? [True, True] Translation: X:234.39, Y:94.91, Z:4.39 [[ 8.04271646e-01 -5.76764771e-01 -1.43141602e-01 2.34385257e+02] [ 5.66281143e-01 8.16878788e-01 -1.09702838e-01 9.49065571e+01] [ 1.80202070e-01 7.17249220e-03 9.83603461e-01 4.38510489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75687500000004 meters 0.03104031247135055 Centerline is valid? [True, True] Translation: X:234.43, Y:94.94, Z:4.40 [[ 8.02591683e-01 -5.79444072e-01 -1.41743282e-01 2.34434209e+02] [ 5.69198073e-01 8.14985703e-01 -1.08682366e-01 9.49362970e+01] [ 1.78494101e-01 6.54756034e-03 9.83919197e-01 4.39766262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81687500000004 meters 0.030642383678796858 Centerline is valid? [True, True] Translation: X:234.48, Y:94.97, Z:4.41 [[ 8.02307217e-01 -5.79888473e-01 -1.41536172e-01 2.34482369e+02] [ 5.69668771e-01 8.14670034e-01 -1.08582813e-01 9.49694380e+01] [ 1.78271200e-01 6.48803721e-03 9.83960002e-01 4.40820865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87687500000004 meters 0.029259228691885852 Centerline is valid? [True, True] Translation: X:234.53, Y:95.00, Z:4.42 [[ 8.00710048e-01 -5.82480893e-01 -1.39926512e-01 2.34531042e+02] [ 5.72523747e-01 8.12823078e-01 -1.07402059e-01 9.50008679e+01] [ 1.76295146e-01 5.88665685e-03 9.84319749e-01 4.41826131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93687500000004 meters 0.027774692139510573 Centerline is valid? [True, True] Translation: X:234.58, Y:95.03, Z:4.43 [[ 7.98207938e-01 -5.86142637e-01 -1.38927665e-01 2.34580480e+02] [ 5.76372689e-01 8.10191892e-01 -1.06694058e-01 9.50307323e+01] [ 1.75096005e-01 5.08993239e-03 9.84538207e-01 4.42835274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99687500000005 meters 0.027424917433556642 Centerline is valid? [True, True] Translation: X:234.63, Y:95.06, Z:4.44 [[ 7.96748860e-01 -5.88065047e-01 -1.39178857e-01 2.34626998e+02] [ 5.78278614e-01 8.08799854e-01 -1.06942233e-01 9.50634765e+01] [ 1.75456829e-01 4.72194541e-03 9.84475802e-01 4.43724069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.056875 meters 0.02710415606611964 Centerline is valid? [True, True] Translation: X:234.68, Y:95.10, Z:4.44 [[ 7.95635251e-01 -5.89364631e-01 -1.40049561e-01 2.34675493e+02] [ 5.79470159e-01 8.07854711e-01 -1.07634102e-01 9.50958659e+01] [ 1.76575431e-01 4.48294469e-03 9.84276902e-01 4.44459159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.116875 meters 0.02713853763198756 Centerline is valid? [True, True] Translation: X:234.72, Y:95.13, Z:4.45 [[ 7.95727664e-01 -5.89250715e-01 -1.40003856e-01 2.34722445e+02] [ 5.79351383e-01 8.07937427e-01 -1.07652628e-01 9.51303332e+01] [ 1.76548744e-01 4.55074658e-03 9.84281378e-01 4.45354034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.176875 meters 0.02712866794810741 Centerline is valid? [True, True] Translation: X:234.77, Y:95.16, Z:4.46 [[ 7.97009987e-01 -5.87569814e-01 -1.39774083e-01 2.34769318e+02] [ 5.77667963e-01 8.09158279e-01 -1.07529550e-01 9.51642165e+01] [ 1.76280474e-01 4.95911527e-03 9.84327487e-01 4.46385476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.236875 meters 0.02878949664155326 Centerline is valid? [True, True] Translation: X:234.81, Y:95.20, Z:4.47 [[ 7.98869063e-01 -5.85015022e-01 -1.39877249e-01 2.34813624e+02] [ 5.75050105e-01 8.11003322e-01 -1.07661452e-01 9.52001631e+01] [ 1.76424480e-01 5.57097724e-03 9.84298414e-01 4.47173981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.296875 meters 0.02951903131433247 Centerline is valid? [True, True] Translation: X:234.86, Y:95.24, Z:4.48 [[ 7.99959941e-01 -5.83652163e-01 -1.39335014e-01 2.34859584e+02] [ 5.73738321e-01 8.11982522e-01 -1.07278721e-01 9.52354942e+01] [ 1.75751053e-01 5.87684187e-03 9.84417102e-01 4.48085721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.356875 meters 0.02994233488929364 Centerline is valid? [True, True] Translation: X:234.91, Y:95.27, Z:4.49 [[ 8.01038678e-01 -5.82163528e-01 -1.39365219e-01 2.34906763e+02] [ 5.72213495e-01 8.13047709e-01 -1.07355200e-01 9.52682502e+01] [ 1.75808854e-01 6.24900887e-03 9.84404488e-01 4.49178833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.416875 meters 0.028010364380738707 Centerline is valid? [True, True] Translation: X:234.96, Y:95.30, Z:4.50 [[ 7.99095218e-01 -5.84695596e-01 -1.39921022e-01 2.34956342e+02] [ 5.74694612e-01 8.11232338e-01 -1.07834113e-01 9.52986942e+01] [ 1.76558589e-01 5.75786692e-03 9.84273291e-01 4.50098846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.476875 meters 0.025064174836581143 Centerline is valid? [True, True] Translation: X:235.01, Y:95.33, Z:4.51 [[ 7.93531624e-01 -5.92690133e-01 -1.37934652e-01 2.35007666e+02] [ 5.83082958e-01 8.05420790e-01 -1.06356080e-01 9.53255857e+01] [ 1.74131636e-01 3.96956813e-03 9.84714383e-01 4.51321301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.536875 meters 0.02417746267740005 Centerline is valid? [True, True] Translation: X:235.06, Y:95.36, Z:4.52 [[ 7.90475012e-01 -5.96800630e-01 -1.37761621e-01 2.35055378e+02] [ 5.87269602e-01 8.02383546e-01 -1.06278219e-01 9.53574683e+01] [ 1.73964565e-01 3.10706392e-03 9.84747011e-01 4.52153985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.596875 meters 0.023589434110857174 Centerline is valid? [True, True] Translation: X:235.10, Y:95.39, Z:4.53 [[ 7.90287808e-01 -5.97143341e-01 -1.37349959e-01 2.35102036e+02] [ 5.87664968e-01 8.02128680e-01 -1.06016348e-01 9.53904775e+01] [ 1.73479297e-01 3.06766855e-03 9.84832738e-01 4.53149931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.656875 meters 0.02408831406912047 Centerline is valid? [True, True] Translation: X:235.15, Y:95.42, Z:4.54 [[ 7.91154627e-01 -5.95993165e-01 -1.37355394e-01 2.35148611e+02] [ 5.86486352e-01 8.02982441e-01 -1.06079967e-01 9.54242725e+01] [ 1.73516905e-01 3.36859314e-03 9.84825130e-01 4.54278320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.716875 meters 0.023783419808249034 Centerline is valid? [True, True] Translation: X:235.20, Y:95.46, Z:4.55 [[ 7.90509043e-01 -5.96556520e-01 -1.38620965e-01 2.35195468e+02] [ 5.86871345e-01 8.02564203e-01 -1.07110805e-01 9.54586631e+01] [ 1.75149873e-01 3.31938788e-03 9.84536187e-01 4.55180516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.776875 meters 0.024079534007817156 Centerline is valid? [True, True] Translation: X:235.24, Y:95.50, Z:4.56 [[ 7.89995510e-01 -5.96930742e-01 -1.39931350e-01 2.35241009e+02] [ 5.87056120e-01 8.02285933e-01 -1.08177602e-01 9.54952794e+01] [ 1.76839490e-01 3.31226439e-03 9.84234131e-01 4.55739835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.836875 meters 0.023570277529368952 Centerline is valid? [True, True] Translation: X:235.29, Y:95.53, Z:4.57 [[ 7.89539130e-01 -5.97522673e-01 -1.39980773e-01 2.35286590e+02] [ 5.87640468e-01 8.01845530e-01 -1.08270159e-01 9.55303556e+01] [ 1.76936831e-01 3.22516027e-03 9.84216925e-01 4.56738337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.896875 meters 0.024374641913704666 Centerline is valid? [True, True] Translation: X:235.33, Y:95.57, Z:4.58 [[ 7.90039304e-01 -5.97087230e-01 -1.39013444e-01 2.35329289e+02] [ 5.87325134e-01 8.02169334e-01 -1.07580422e-01 9.55663606e+01] [ 1.75747218e-01 3.34667178e-03 9.84429640e-01 4.57680602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.956875 meters 0.024297089056532113 Centerline is valid? [True, True] Translation: X:235.37, Y:95.60, Z:4.59 [[ 7.90987817e-01 -5.95894076e-01 -1.38739045e-01 2.35373856e+02] [ 5.86146737e-01 8.03054832e-01 -1.07400834e-01 9.56027640e+01] [ 1.75414581e-01 3.63131284e-03 9.84487957e-01 4.58812851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.016875 meters 0.024757437620801133 Centerline is valid? [True, True] Translation: X:235.42, Y:95.64, Z:4.60 [[ 7.92492157e-01 -5.93769202e-01 -1.39263475e-01 2.35417898e+02] [ 5.83905192e-01 8.04624640e-01 -1.07860628e-01 9.56418836e+01] [ 1.76099143e-01 4.16203523e-03 9.84363637e-01 4.59560861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07687500000003 meters 0.025885617095038827 Centerline is valid? [True, True] Translation: X:235.46, Y:95.68, Z:4.60 [[ 7.94005162e-01 -5.91800920e-01 -1.39023283e-01 2.35460904e+02] [ 5.81931735e-01 8.06070837e-01 -1.07727716e-01 9.56800835e+01] [ 1.75815975e-01 4.63430253e-03 9.84412142e-01 4.60374341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13687500000003 meters 0.026416127034299217 Centerline is valid? [True, True] Translation: X:235.51, Y:95.72, Z:4.61 [[ 7.95958572e-01 -5.89015192e-01 -1.39681981e-01 2.35505080e+02] [ 5.79000721e-01 8.08104495e-01 -1.08283378e-01 9.57169269e+01] [ 1.76658191e-01 5.31311522e-03 9.84257921e-01 4.61433083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19687500000003 meters 0.027590382822233132 Centerline is valid? [True, True] Translation: X:235.55, Y:95.75, Z:4.62 [[ 7.96651519e-01 -5.88002031e-01 -1.39999889e-01 2.35548661e+02] [ 5.77917627e-01 8.08840140e-01 -1.08576443e-01 9.57540116e+01] [ 1.77080699e-01 5.58918440e-03 9.84180465e-01 4.62257610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25687500000004 meters 0.025408319205023202 Centerline is valid? [True, True] Translation: X:235.60, Y:95.79, Z:4.63 [[ 7.93474510e-01 -5.92284337e-01 -1.39990948e-01 2.35596608e+02] [ 5.82262829e-01 8.05715585e-01 -1.08592791e-01 9.57861144e+01] [ 1.77110697e-01 4.65408636e-03 9.84179933e-01 4.63151706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31687500000004 meters 0.024529256029886766 Centerline is valid? [True, True] Translation: X:235.64, Y:95.82, Z:4.64 [[ 7.90301853e-01 -5.96633937e-01 -1.39466576e-01 2.35644891e+02] [ 5.86744327e-01 8.02504919e-01 -1.08244865e-01 9.58180238e+01] [ 1.76505173e-01 3.71489544e-03 9.84292702e-01 4.64149980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37687500000004 meters 0.023248966176044737 Centerline is valid? [True, True] Translation: X:235.69, Y:95.85, Z:4.65 [[ 7.87517991e-01 -6.00388070e-01 -1.39102764e-01 2.35692689e+02] [ 5.90597993e-01 7.99703491e-01 -1.08020077e-01 9.58507106e+01] [ 1.76094932e-01 2.91394056e-03 9.84368876e-01 4.65214557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43687500000004 meters 0.02210833509917477 Centerline is valid? [True, True] Translation: X:235.74, Y:95.88, Z:4.66 [[ 7.83561427e-01 -6.05844065e-01 -1.37784101e-01 2.35741630e+02] [ 5.96313848e-01 7.95581559e-01 -1.07050347e-01 9.58818878e+01] [ 1.74474307e-01 1.71795537e-03 9.84660228e-01 4.66285866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49687500000005 meters 0.02230921092437941 Centerline is valid? [True, True] Translation: X:235.79, Y:95.92, Z:4.67 [[ 7.83035801e-01 -6.06584039e-01 -1.37516318e-01 2.35787074e+02] [ 5.97092816e-01 7.95017775e-01 -1.06896708e-01 9.59157303e+01] [ 1.74169754e-01 1.59394393e-03 9.84714353e-01 4.67268090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.556875 meters 0.022493667452072336 Centerline is valid? [True, True] Translation: X:235.83, Y:95.95, Z:4.68 [[ 7.83221476e-01 -6.06093933e-01 -1.38615523e-01 2.35831236e+02] [ 5.96432184e-01 7.95391130e-01 -1.07803529e-01 9.59541407e+01] [ 1.75592622e-01 1.75927979e-03 9.84461343e-01 4.68044633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.616875 meters 0.022849624429954654 Centerline is valid? [True, True] Translation: X:235.87, Y:95.99, Z:4.69 [[ 7.85210616e-01 -6.03301219e-01 -1.39541852e-01 2.35874249e+02] [ 5.93456219e-01 7.97509676e-01 -1.08572709e-01 9.59928990e+01] [ 1.76788025e-01 2.44046369e-03 9.84245924e-01 4.68942514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.676875 meters 0.024388921969808557 Centerline is valid? [True, True] Translation: X:235.92, Y:96.03, Z:4.70 [[ 7.87032837e-01 -6.00679508e-01 -1.40582513e-01 2.35916456e+02] [ 5.90635631e-01 7.99483938e-01 -1.09430269e-01 9.60330303e+01] [ 1.78125981e-01 3.09217378e-03 9.84002832e-01 4.69516074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.736875 meters 0.024223696811053123 Centerline is valid? [True, True] Translation: X:235.96, Y:96.07, Z:4.71 [[ 7.87972117e-01 -5.99413909e-01 -1.40722806e-01 2.35960858e+02] [ 5.89320337e-01 8.00431908e-01 -1.09591515e-01 9.60704893e+01] [ 1.78329702e-01 3.42424628e-03 9.83964833e-01 4.70543966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.796875 meters 0.02487375259839654 Centerline is valid? [True, True] Translation: X:236.00, Y:96.11, Z:4.72 [[ 7.90310256e-01 -5.96443563e-01 -1.40231152e-01 2.36003921e+02] [ 5.86365243e-01 8.02644430e-01 -1.09259875e-01 9.61089047e+01] [ 1.77723102e-01 4.12252600e-03 9.84071900e-01 4.71500351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.856875 meters 0.02626439399757154 Centerline is valid? [True, True] Translation: X:236.05, Y:96.15, Z:4.72 [[ 7.91742470e-01 -5.94732167e-01 -1.39418472e-01 2.36046162e+02] [ 5.84741181e-01 8.03911328e-01 -1.08647722e-01 9.61469208e+01] [ 1.76696384e-01 4.49729398e-03 9.84255131e-01 4.72397170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.916875 meters 0.026512442811056927 Centerline is valid? [True, True] Translation: X:236.09, Y:96.18, Z:4.73 [[ 7.92071215e-01 -5.94359335e-01 -1.39140832e-01 2.36091282e+02] [ 5.84396386e-01 8.04186434e-01 -1.08466784e-01 9.61832203e+01] [ 1.76363415e-01 4.60001847e-03 9.84314373e-01 4.73416848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.976875 meters 0.02637419431724725 Centerline is valid? [True, True] Translation: X:236.14, Y:96.22, Z:4.74 [[ 7.92966562e-01 -5.93392097e-01 -1.38166025e-01 2.36136689e+02] [ 5.83545515e-01 8.04899095e-01 -1.07759354e-01 9.62199896e+01] [ 1.75153257e-01 4.82340030e-03 9.84529365e-01 4.74475686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.036875 meters 0.02625753556052783 Centerline is valid? [True, True] Translation: X:236.18, Y:96.25, Z:4.75 [[ 7.92960746e-01 -5.93477992e-01 -1.37830069e-01 2.36182444e+02] [ 5.83671356e-01 8.04835686e-01 -1.07551230e-01 9.62543346e+01] [ 1.74759846e-01 4.83644054e-03 9.84599210e-01 4.75464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.096875 meters 0.0256401620487615 Centerline is valid? [True, True] Translation: X:236.23, Y:96.29, Z:4.76 [[ 7.92375011e-01 -5.94429646e-01 -1.37095725e-01 2.36229838e+02] [ 5.84731945e-01 8.04134184e-01 -1.07036287e-01 9.62888041e+01] [ 1.73868901e-01 4.64862877e-03 9.84757836e-01 4.76457536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.156875 meters 0.025889700848898495 Centerline is valid? [True, True] Translation: X:236.28, Y:96.32, Z:4.78 [[ 7.91358186e-01 -5.95981815e-01 -1.36227372e-01 2.36275467e+02] [ 5.86425527e-01 8.02986406e-01 -1.06385776e-01 9.63230123e+01] [ 1.72792716e-01 4.30204656e-03 9.84948816e-01 4.77520216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.216875 meters 0.025228190786605258 Centerline is valid? [True, True] Translation: X:236.32, Y:96.36, Z:4.79 [[ 7.90973847e-01 -5.96550019e-01 -1.35972234e-01 2.36323109e+02] [ 5.87034339e-01 8.02564976e-01 -1.06208022e-01 9.63569154e+01] [ 1.72484950e-01 4.18739661e-03 9.85003253e-01 4.78581177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.276875 meters 0.02643015092934978 Centerline is valid? [True, True] Translation: X:236.37, Y:96.39, Z:4.79 [[ 7.91818127e-01 -5.95184784e-01 -1.37036956e-01 2.36366897e+02] [ 5.85488738e-01 8.03575911e-01 -1.07091984e-01 9.63945634e+01] [ 1.73859116e-01 4.56378007e-03 9.84759960e-01 4.79207694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.336875 meters 0.02681807591823054 Centerline is valid? [True, True] Translation: X:236.41, Y:96.43, Z:4.80 [[ 7.93214494e-01 -5.93349257e-01 -1.36921237e-01 2.36412188e+02] [ 5.83637145e-01 8.04929678e-01 -1.07032222e-01 9.64316786e+01] [ 1.73719456e-01 4.98719018e-03 9.84782554e-01 4.80165543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.396875 meters 0.02785223328563187 Centerline is valid? [True, True] Translation: X:236.46, Y:96.47, Z:4.81 [[ 7.95696853e-01 -5.89931448e-01 -1.37285849e-01 2.36457054e+02] [ 5.80107161e-01 8.07432548e-01 -1.07370210e-01 9.64693767e+01] [ 1.74190127e-01 5.79363443e-03 9.84694995e-01 4.81052909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.456875 meters 0.028263995623361234 Centerline is valid? [True, True] Translation: X:236.50, Y:96.51, Z:4.82 [[ 7.97100992e-01 -5.88089323e-01 -1.37043627e-01 2.36501947e+02] [ 5.78263715e-01 8.08772006e-01 -1.07233011e-01 9.65067919e+01] [ 1.73899638e-01 6.22818236e-03 9.84743685e-01 4.81937168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.516875 meters 0.028818926288329976 Centerline is valid? [True, True] Translation: X:236.55, Y:96.54, Z:4.83 [[ 7.97560195e-01 -5.87216311e-01 -1.38111329e-01 2.36548297e+02] [ 5.77212789e-01 8.09403822e-01 -1.08124231e-01 9.65427300e+01] [ 1.75280150e-01 6.51595750e-03 9.84497035e-01 4.82774734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57687500000003 meters 0.027820462470514555 Centerline is valid? [True, True] Translation: X:236.60, Y:96.57, Z:4.84 [[ 7.94051926e-01 -5.91755423e-01 -1.38949838e-01 2.36596238e+02] [ 5.81687530e-01 8.06098131e-01 -1.08836663e-01 9.65749108e+01] [ 1.76411891e-01 5.59657382e-03 9.84300525e-01 4.83515246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63687500000003 meters 0.025585106114113042 Centerline is valid? [True, True] Translation: X:236.65, Y:96.60, Z:4.85 [[ 7.89536939e-01 -5.98284365e-01 -1.36701284e-01 2.36645730e+02] [ 5.88629665e-01 8.01273293e-01 -1.07127156e-01 9.66024977e+01] [ 1.73627591e-01 4.11441533e-03 9.84802788e-01 4.84711479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69687500000003 meters 0.023005412048367636 Centerline is valid? [True, True] Translation: X:236.70, Y:96.63, Z:4.86 [[ 7.84968625e-01 -6.04550914e-01 -1.35434304e-01 2.36698080e+02] [ 5.95162435e-01 7.96561822e-01 -1.06164680e-01 9.66287118e+01] [ 1.72063751e-01 2.73053224e-03 9.85082032e-01 4.85838168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75687500000004 meters 0.02193002634780434 Centerline is valid? [True, True] Translation: X:236.75, Y:96.66, Z:4.87 [[ 7.83089004e-01 -6.07162260e-01 -1.34631354e-01 2.36747011e+02] [ 5.97917711e-01 7.94574899e-01 -1.05570549e-01 9.66597685e+01] [ 1.71073148e-01 2.17266493e-03 9.85255935e-01 4.86926055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81687500000004 meters 0.021604106947405888 Centerline is valid? [True, True] Translation: X:236.80, Y:96.69, Z:4.88 [[ 7.81620780e-01 -6.09118957e-01 -1.34324431e-01 2.36795097e+02] [ 5.99936161e-01 7.93076865e-01 -1.05383529e-01 9.66930509e+01] [ 1.70720704e-01 1.78387231e-03 9.85317847e-01 4.87900838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87687500000004 meters 0.02161045566313226 Centerline is valid? [True, True] Translation: X:236.84, Y:96.73, Z:4.89 [[ 7.80651854e-01 -6.10263291e-01 -1.34764235e-01 2.36841356e+02] [ 6.01027409e-01 7.92197080e-01 -1.05782041e-01 9.67269272e+01] [ 1.71314729e-01 1.58194744e-03 9.85215084e-01 4.88847683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93687500000004 meters 0.021631547103896174 Centerline is valid? [True, True] Translation: X:236.89, Y:96.76, Z:4.90 [[ 7.81071794e-01 -6.09657350e-01 -1.35073198e-01 2.36885993e+02] [ 6.00359233e-01 7.92663101e-01 -1.06084871e-01 9.67644426e+01] [ 1.71742962e-01 1.76745900e-03 9.85140209e-01 4.89601370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99687500000005 meters 0.022362065954798893 Centerline is valid? [True, True] Translation: X:236.93, Y:96.81, Z:4.90 [[ 7.82885215e-01 -6.07368748e-01 -1.34884930e-01 2.36928680e+02] [ 5.98053677e-01 7.94416685e-01 -1.05990237e-01 9.68050166e+01] [ 1.71529996e-01 2.30976076e-03 9.85176190e-01 4.90343407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.056875 meters 0.02277874573875728 Centerline is valid? [True, True] Translation: X:236.97, Y:96.84, Z:4.91 [[ 7.84009386e-01 -6.05954637e-01 -1.34715481e-01 2.36973205e+02] [ 5.96633257e-01 7.95494759e-01 -1.05909609e-01 9.68425355e+01] [ 1.71341878e-01 2.65839182e-03 9.85208046e-01 4.91317415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.116875 meters 0.023099413986391093 Centerline is valid? [True, True] Translation: X:237.02, Y:96.88, Z:4.92 [[ 7.85168474e-01 -6.04500011e-01 -1.34499829e-01 2.37016957e+02] [ 5.95178181e-01 7.96599429e-01 -1.05793585e-01 9.68811251e+01] [ 1.71094710e-01 3.01442394e-03 9.85249975e-01 4.92356635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.176875 meters 0.02379698491165428 Centerline is valid? [True, True] Translation: X:237.06, Y:96.92, Z:4.93 [[ 7.86031773e-01 -6.03457224e-01 -1.34139595e-01 2.37061197e+02] [ 5.94161500e-01 7.97388647e-01 -1.05562576e-01 9.69199044e+01] [ 1.70663889e-01 3.27495601e-03 9.85323861e-01 4.93165965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.236875 meters 0.023087061309974052 Centerline is valid? [True, True] Translation: X:237.11, Y:96.95, Z:4.94 [[ 7.84074659e-01 -6.05701426e-01 -1.35472182e-01 2.37107880e+02] [ 5.96242416e-01 7.95686879e-01 -1.06664763e-01 9.69547204e+01] [ 1.72400437e-01 2.85887619e-03 9.85022800e-01 4.93819850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.296875 meters 0.02291637875841609 Centerline is valid? [True, True] Translation: X:237.15, Y:96.99, Z:4.95 [[ 7.83340085e-01 -6.06662585e-01 -1.35420897e-01 2.37154834e+02] [ 5.97216004e-01 7.94954893e-01 -1.06675970e-01 9.69897202e+01] [ 1.72369824e-01 2.68803708e-03 9.85028638e-01 4.94836447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.356875 meters 0.02241672244743811 Centerline is valid? [True, True] Translation: X:237.20, Y:97.02, Z:4.96 [[ 7.82773456e-01 -6.07644837e-01 -1.34288754e-01 2.37201215e+02] [ 5.98365602e-01 7.94205025e-01 -1.05815806e-01 9.70239474e+01] [ 1.70951231e-01 2.47603324e-03 9.85276380e-01 4.96019548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.416875 meters 0.0226723219903835 Centerline is valid? [True, True] Translation: X:237.25, Y:97.06, Z:4.97 [[ 7.82439734e-01 -6.08243601e-01 -1.33520725e-01 2.37245388e+02] [ 5.99070797e-01 7.93746868e-01 -1.05262001e-01 9.70598625e+01] [ 1.70006596e-01 2.37280457e-03 9.85440068e-01 4.96939977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.476875 meters 0.022408408019744433 Centerline is valid? [True, True] Translation: X:237.29, Y:97.09, Z:4.98 [[ 7.82203078e-01 -6.08939544e-01 -1.31723107e-01 2.37292129e+02] [ 6.00018385e-01 7.93213541e-01 -1.03875959e-01 9.70944464e+01] [ 1.67738732e-01 2.21580897e-03 9.85828995e-01 4.98009365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.536875 meters 0.02235416046024682 Centerline is valid? [True, True] Translation: X:237.34, Y:97.13, Z:4.99 [[ 7.81778938e-01 -6.09574920e-01 -1.31301595e-01 2.37336548e+02] [ 6.00711531e-01 7.92725647e-01 -1.03593941e-01 9.71298434e+01] [ 1.67234410e-01 2.11317881e-03 9.85914898e-01 4.98890237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.596875 meters 0.022353757045708005 Centerline is valid? [True, True] Translation: X:237.38, Y:97.17, Z:5.00 [[ 7.81840708e-01 -6.09346901e-01 -1.31990387e-01 2.37382249e+02] [ 6.00382906e-01 7.92900724e-01 -1.04157609e-01 9.71658556e+01] [ 1.68123390e-01 2.18988647e-03 9.85763526e-01 4.99746916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.656875 meters 0.0225504543571446 Centerline is valid? [True, True] Translation: X:237.43, Y:97.20, Z:5.01 [[ 7.82517425e-01 -6.08336830e-01 -1.32637780e-01 2.37427075e+02] [ 5.99260605e-01 7.93675149e-01 -1.04720985e-01 9.72028675e+01] [ 1.68976942e-01 2.46139884e-03 9.85616931e-01 5.00652777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.716875 meters 0.023150940657945956 Centerline is valid? [True, True] Translation: X:237.47, Y:97.24, Z:5.01 [[ 7.83899184e-01 -6.06517302e-01 -1.32811264e-01 2.37471053e+02] [ 5.97382205e-01 7.95064999e-01 -1.04910191e-01 9.72421417e+01] [ 1.69223433e-01 2.89992688e-03 9.85573447e-01 5.01413581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.776875 meters 0.023301747038848835 Centerline is valid? [True, True] Translation: X:237.52, Y:97.28, Z:5.02 [[ 7.84493071e-01 -6.05519785e-01 -1.33852198e-01 2.37516226e+02] [ 5.96216711e-01 7.95823896e-01 -1.05782610e-01 9.72793418e+01] [ 1.70576241e-01 3.18080738e-03 9.85339347e-01 5.02121432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.836875 meters 0.02306319929870271 Centerline is valid? [True, True] Translation: X:237.56, Y:97.32, Z:5.03 [[ 7.83293565e-01 -6.07114464e-01 -1.33653353e-01 2.37562933e+02] [ 5.97852974e-01 7.94609197e-01 -1.05678974e-01 9.73152611e+01] [ 1.70361417e-01 2.87260555e-03 9.85377459e-01 5.02910882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.896875 meters 0.02259879526155709 Centerline is valid? [True, True] Translation: X:237.61, Y:97.35, Z:5.04 [[ 7.81435605e-01 -6.09396954e-01 -1.34140777e-01 2.37610097e+02] [ 6.00091965e-01 7.92861574e-01 -1.06113891e-01 9.73489160e+01] [ 1.71020550e-01 2.42437002e-03 9.85264479e-01 5.03941801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.956875 meters 0.022413636988466164 Centerline is valid? [True, True] Translation: X:237.66, Y:97.38, Z:5.05 [[ 7.80329219e-01 -6.10849795e-01 -1.33973276e-01 2.37656016e+02] [ 6.01580179e-01 7.91743596e-01 -1.06034743e-01 9.73839818e+01] [ 1.70843784e-01 2.14634038e-03 9.85295790e-01 5.04813564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.016875 meters 0.021780027648773282 Centerline is valid? [True, True] Translation: X:237.70, Y:97.42, Z:5.06 [[ 7.77800028e-01 -6.14575516e-01 -1.31620865e-01 2.37703591e+02] [ 6.05674167e-01 7.88856839e-01 -1.04229030e-01 9.74167976e+01] [ 1.67886630e-01 1.34998516e-03 9.85805385e-01 5.06015793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07687500000003 meters 0.021784052289144956 Centerline is valid? [True, True] Translation: X:237.75, Y:97.45, Z:5.07 [[ 7.75330924e-01 -6.17902732e-01 -1.30606936e-01 2.37750522e+02] [ 6.09176759e-01 7.86254264e-01 -1.03479024e-01 9.74501137e+01] [ 1.66630232e-01 6.67777625e-04 9.86019229e-01 5.07039664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13687500000003 meters 0.021628001910854667 Centerline is valid? [True, True] Translation: X:237.80, Y:97.48, Z:5.08 [[ 7.71383606e-01 -6.22538602e-01 -1.31958409e-01 2.37797817e+02] [ 6.13687828e-01 7.82589039e-01 -1.04602323e-01 9.74827509e+01] [ 1.68388188e-01 -2.92752914e-04 9.85720717e-01 5.07884509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19687500000003 meters 0.022026494521798314 Centerline is valid? [True, True] Translation: X:237.84, Y:97.52, Z:5.09 [[ 7.69306358e-01 -6.24945353e-01 -1.32706569e-01 2.37843289e+02] [ 6.16018576e-01 7.80668112e-01 -1.05254038e-01 9.75177676e+01] [ 1.69377809e-01 -7.77110660e-04 9.85550889e-01 5.08548574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25687500000004 meters 0.022222440906871192 Centerline is valid? [True, True] Translation: X:237.89, Y:97.55, Z:5.10 [[ 7.66734847e-01 -6.27890074e-01 -1.33685186e-01 2.37888771e+02] [ 6.18869702e-01 7.78300746e-01 -1.06057726e-01 9.75530501e+01] [ 1.70639874e-01 -1.41555687e-03 9.85332446e-01 5.09504638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31687500000004 meters 0.02290583487253131 Centerline is valid? [True, True] Translation: X:237.93, Y:97.59, Z:5.10 [[ 7.66037321e-01 -6.28942046e-01 -1.32735546e-01 2.37932287e+02] [ 6.20060432e-01 7.77450515e-01 -1.05336403e-01 9.75888603e+01] [ 1.69445811e-01 -1.61244382e-03 9.85538186e-01 5.10228719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37687500000004 meters 0.02260626123313438 Centerline is valid? [True, True] Translation: X:237.97, Y:97.63, Z:5.11 [[ 7.65684605e-01 -6.29495643e-01 -1.32145079e-01 2.37974857e+02] [ 6.20694567e-01 7.77002165e-01 -1.04908963e-01 9.76267665e+01] [ 1.68716748e-01 -1.69455521e-03 9.85663121e-01 5.11313718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43687500000004 meters 0.023030431641434892 Centerline is valid? [True, True] Translation: X:238.02, Y:97.67, Z:5.12 [[ 7.66798892e-01 -6.28024424e-01 -1.32683012e-01 2.38016821e+02] [ 6.19118911e-01 7.78192493e-01 -1.05395532e-01 9.76650229e+01] [ 1.69443892e-01 -1.32938506e-03 9.85538939e-01 5.11908060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49687500000005 meters 0.022986699269152953 Centerline is valid? [True, True] Translation: X:238.06, Y:97.70, Z:5.12 [[ 7.68525528e-01 -6.25758247e-01 -1.33398385e-01 2.38058659e+02] [ 6.16712963e-01 7.80016658e-01 -1.06014782e-01 9.77032353e+01] [ 1.70392586e-01 -7.93447061e-04 9.85375937e-01 5.12453026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.556875 meters 0.023171628983063845 Centerline is valid? [True, True] Translation: X:238.10, Y:97.74, Z:5.13 [[ 7.69707331e-01 -6.24620644e-01 -1.31907829e-01 2.38102040e+02] [ 6.15752856e-01 7.80928169e-01 -1.04879051e-01 9.77411290e+01] [ 1.68520160e-01 -4.96448017e-04 9.85698082e-01 5.13118046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.616875 meters 0.023328149498501125 Centerline is valid? [True, True] Translation: X:238.14, Y:97.78, Z:5.14 [[ 7.75854277e-01 -6.16878683e-01 -1.32328498e-01 2.38142317e+02] [ 6.07831948e-01 7.87057277e-01 -1.05267116e-01 9.77835352e+01] [ 1.69087147e-01 1.23845359e-03 9.85600326e-01 5.14274002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.676875 meters 0.023734500874408544 Centerline is valid? [True, True] Translation: X:238.19, Y:97.82, Z:5.15 [[ 7.78823827e-01 -6.13203239e-01 -1.31966796e-01 2.38185075e+02] [ 6.04145351e-01 7.89922463e-01 -1.05028075e-01 9.78223424e+01] [ 1.68647092e-01 2.07124143e-03 9.85674322e-01 5.15247269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.736875 meters 0.024647258060028418 Centerline is valid? [True, True] Translation: X:238.23, Y:97.86, Z:5.16 [[ 7.82696631e-01 -6.08322508e-01 -1.31642357e-01 2.38227378e+02] [ 5.99234730e-01 7.93683712e-01 -1.04804122e-01 9.78624996e+01] [ 1.68237101e-01 3.14516061e-03 9.85741541e-01 5.16067122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.796875 meters 0.02619226849963137 Centerline is valid? [True, True] Translation: X:238.27, Y:97.90, Z:5.17 [[ 7.86308325e-01 -6.03610575e-01 -1.31808537e-01 2.38269196e+02] [ 5.94428192e-01 7.97268301e-01 -1.04968475e-01 9.79018202e+01] [ 1.68446850e-01 4.18687561e-03 9.85701846e-01 5.16714715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.856875 meters 0.025971504782947245 Centerline is valid? [True, True] Translation: X:238.31, Y:97.94, Z:5.18 [[ 7.87289477e-01 -6.02440669e-01 -1.31303163e-01 2.38314227e+02] [ 5.93309187e-01 7.98151331e-01 -1.04588058e-01 9.79377477e+01] [ 1.67807894e-01 4.43770437e-03 9.85809727e-01 5.17628983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.916875 meters 0.02582059277184714 Centerline is valid? [True, True] Translation: X:238.36, Y:97.97, Z:5.18 [[ 7.86439241e-01 -6.03302975e-01 -1.32434286e-01 2.38360477e+02] [ 5.94020707e-01 7.97500441e-01 -1.05510407e-01 9.79721629e+01] [ 1.69271144e-01 4.30881619e-03 9.85560102e-01 5.18229443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.976875 meters 0.0251210959355654 Centerline is valid? [True, True] Translation: X:238.41, Y:98.01, Z:5.19 [[ 7.84519425e-01 -6.05714187e-01 -1.32814136e-01 2.38408127e+02] [ 5.96401933e-01 7.95672989e-01 -1.05873644e-01 9.80052803e+01] [ 1.69805789e-01 3.84932253e-03 9.85470028e-01 5.19107607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.036875 meters 0.02414569767097889 Centerline is valid? [True, True] Translation: X:238.46, Y:98.04, Z:5.20 [[ 7.81630408e-01 -6.09546013e-01 -1.32316149e-01 2.38456082e+02] [ 6.00349115e-01 7.92744826e-01 -1.05530003e-01 9.80375007e+01] [ 1.69218335e-01 3.04957665e-03 9.85573871e-01 5.20033107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.096875 meters 0.022805960068190786 Centerline is valid? [True, True] Translation: X:238.50, Y:98.07, Z:5.21 [[ 7.77504527e-01 -6.14847689e-01 -1.32094774e-01 2.38504806e+02] [ 6.05747505e-01 7.88643488e-01 -1.05410667e-01 9.80688433e+01] [ 1.68987189e-01 1.94119105e-03 9.85616336e-01 5.20919697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.156875 meters 0.022048312371367035 Centerline is valid? [True, True] Translation: X:238.55, Y:98.10, Z:5.22 [[ 7.74772278e-01 -6.18455911e-01 -1.31301958e-01 2.38552656e+02] [ 6.09506925e-01 7.85818593e-01 -1.04835333e-01 9.81019554e+01] [ 1.68015551e-01 1.19405736e-03 9.85783622e-01 5.21946080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.216875 meters 0.02170701886120524 Centerline is valid? [True, True] Translation: X:238.60, Y:98.14, Z:5.23 [[ 7.72248263e-01 -6.21790932e-01 -1.30417242e-01 2.38600951e+02] [ 6.13001073e-01 7.83183107e-01 -1.04182079e-01 9.81351402e+01] [ 1.66920053e-01 5.08520058e-04 9.85970302e-01 5.23053368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.276875 meters 0.021741283620174995 Centerline is valid? [True, True] Translation: X:238.65, Y:98.17, Z:5.24 [[ 7.71171105e-01 -6.23085183e-01 -1.30613865e-01 2.38646943e+02] [ 6.14278532e-01 7.82153938e-01 -1.04389187e-01 9.81697510e+01] [ 1.67203504e-01 2.68631388e-04 9.85922368e-01 5.24009609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.336875 meters 0.021390938927532716 Centerline is valid? [True, True] Translation: X:238.69, Y:98.21, Z:5.25 [[ 7.70827786e-01 -6.23422214e-01 -1.31031552e-01 2.38691243e+02] [ 6.14553288e-01 7.81885339e-01 -1.04783455e-01 9.82074387e+01] [ 1.67775983e-01 2.44127986e-04 9.85825116e-01 5.24665606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.396875 meters 0.02162595927110339 Centerline is valid? [True, True] Translation: X:238.74, Y:98.24, Z:5.26 [[ 7.70724608e-01 -6.23577753e-01 -1.30898297e-01 2.38735482e+02] [ 6.14719693e-01 7.81761294e-01 -1.04732886e-01 9.82441216e+01] [ 1.67640320e-01 2.54451701e-04 9.85848192e-01 5.25542372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.456875 meters 0.021286774861807377 Centerline is valid? [True, True] Translation: X:238.78, Y:98.28, Z:5.26 [[ 7.70386738e-01 -6.23902386e-01 -1.31339586e-01 2.38779507e+02] [ 6.14978449e-01 7.81502245e-01 -1.05146318e-01 9.82812581e+01] [ 1.68243220e-01 2.32313989e-04 9.85745487e-01 5.26448489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.516875 meters 0.021533799567468925 Centerline is valid? [True, True] Translation: X:238.82, Y:98.32, Z:5.27 [[ 7.71249522e-01 -6.22932532e-01 -1.30878709e-01 2.38822158e+02] [ 6.14047586e-01 7.82275413e-01 -1.04836735e-01 9.83184819e+01] [ 1.67689409e-01 4.89526764e-04 9.85839755e-01 5.27457850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57687500000003 meters 0.021569686286867285 Centerline is valid? [True, True] Translation: X:238.86, Y:98.36, Z:5.28 [[ 7.73054088e-01 -6.20529263e-01 -1.31646537e-01 2.38864189e+02] [ 6.11495153e-01 7.84182574e-01 -1.05505302e-01 9.83594744e+01] [ 1.68704048e-01 1.06008601e-03 9.85666181e-01 5.28362412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63687500000003 meters 0.02210691298263307 Centerline is valid? [True, True] Translation: X:238.91, Y:98.40, Z:5.29 [[ 7.74669460e-01 -6.18655145e-01 -1.30969609e-01 2.38906023e+02] [ 6.09679003e-01 7.85661222e-01 -1.05014082e-01 9.83984513e+01] [ 1.67865246e-01 1.50178179e-03 9.85808807e-01 5.29308375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69687500000003 meters 0.022773135777690218 Centerline is valid? [True, True] Translation: X:238.95, Y:98.44, Z:5.30 [[ 7.76908949e-01 -6.16183301e-01 -1.29346920e-01 2.38947254e+02] [ 6.07387242e-01 7.87600110e-01 -1.03763212e-01 9.84383626e+01] [ 1.65810807e-01 2.05089919e-03 9.86155449e-01 5.30414583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75687500000004 meters 0.022865814810470904 Centerline is valid? [True, True] Translation: X:238.99, Y:98.48, Z:5.31 [[ 7.77876621e-01 -6.14901591e-01 -1.29630229e-01 2.38991307e+02] [ 6.06043896e-01 7.88600339e-01 -1.04020681e-01 9.84761855e+01] [ 1.66188924e-01 2.35364696e-03 9.86091122e-01 5.31361694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81687500000004 meters 0.023475206958301197 Centerline is valid? [True, True] Translation: X:239.04, Y:98.51, Z:5.32 [[ 7.79790592e-01 -6.12130641e-01 -1.31235323e-01 2.39035036e+02] [ 6.03002606e-01 7.90750866e-01 -1.05360925e-01 9.85148553e+01] [ 1.68269096e-01 3.02421645e-03 9.85736458e-01 5.32190059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87687500000004 meters 0.023991468728660276 Centerline is valid? [True, True] Translation: X:239.08, Y:98.55, Z:5.33 [[ 7.80437320e-01 -6.10956226e-01 -1.32853600e-01 2.39079647e+02] [ 6.01573748e-01 7.91657240e-01 -1.06713828e-01 9.85531293e+01] [ 1.70371992e-01 3.36221611e-03 9.85374081e-01 5.32987273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93687500000004 meters 0.023832465796402972 Centerline is valid? [True, True] Translation: X:239.13, Y:98.59, Z:5.34 [[ 7.79967593e-01 -6.11347275e-01 -1.33809804e-01 2.39125652e+02] [ 6.01824489e-01 7.91355372e-01 -1.07535858e-01 9.85893153e+01] [ 1.71632861e-01 3.34446691e-03 9.85155305e-01 5.33893127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99687500000005 meters 0.024159214670796087 Centerline is valid? [True, True] Translation: X:239.17, Y:98.62, Z:5.35 [[ 7.79202238e-01 -6.12340015e-01 -1.33729496e-01 2.39170548e+02] [ 6.02834034e-01 7.90588186e-01 -1.07524174e-01 9.86242825e+01] [ 1.71566314e-01 3.16638588e-03 9.85167485e-01 5.34797098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.056875 meters 0.023362026079987254 Centerline is valid? [True, True] Translation: X:239.22, Y:98.66, Z:5.36 [[ 7.77873983e-01 -6.14298968e-01 -1.32472053e-01 2.39217743e+02] [ 6.04994759e-01 7.89068629e-01 -1.06545952e-01 9.86570053e+01] [ 1.69980610e-01 2.73442649e-03 9.85443613e-01 5.36095907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.116875 meters 0.023162915999554976 Centerline is valid? [True, True] Translation: X:239.26, Y:98.69, Z:5.37 [[ 7.77246472e-01 -6.15091824e-01 -1.32476299e-01 2.39262471e+02] [ 6.05789325e-01 7.88451184e-01 -1.06602174e-01 9.86932129e+01] [ 1.70021220e-01 2.60343598e-03 9.85436962e-01 5.36941571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.176875 meters 0.023574753032392003 Centerline is valid? [True, True] Translation: X:239.31, Y:98.73, Z:5.38 [[ 7.78481032e-01 -6.13511429e-01 -1.32555682e-01 2.39306489e+02] [ 6.04169170e-01 7.89680227e-01 -1.06699358e-01 9.87306553e+01] [ 1.70137877e-01 2.97736985e-03 9.85415769e-01 5.37926136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.236875 meters 0.024245797615835563 Centerline is valid? [True, True] Translation: X:239.35, Y:98.77, Z:5.39 [[ 7.80294865e-01 -6.11188963e-01 -1.32619661e-01 2.39349541e+02] [ 6.01795175e-01 7.91476849e-01 -1.06803393e-01 9.87701287e+01] [ 1.70242447e-01 3.52826674e-03 9.85395890e-01 5.38832200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.296875 meters 0.025569097146834096 Centerline is valid? [True, True] Translation: X:239.39, Y:98.81, Z:5.39 [[ 7.81329871e-01 -6.09269408e-01 -1.35330787e-01 2.39393610e+02] [ 5.99446241e-01 7.92952832e-01 -1.09041325e-01 9.88084239e+01] [ 1.73746474e-01 4.07371239e-03 9.84781990e-01 5.39494146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.356875 meters 0.025065291258502185 Centerline is valid? [True, True] Translation: X:239.44, Y:98.84, Z:5.40 [[ 7.81439882e-01 -6.08905595e-01 -1.36329336e-01 2.39439508e+02] [ 5.98920040e-01 7.93231406e-01 -1.09903237e-01 9.88443492e+01] [ 1.75061407e-01 4.23240161e-03 9.84548420e-01 5.40374768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.416875 meters 0.025713551220170255 Centerline is valid? [True, True] Translation: X:239.48, Y:98.88, Z:5.41 [[ 7.81694686e-01 -6.08305891e-01 -1.37540398e-01 2.39484637e+02] [ 5.98121386e-01 7.93690194e-01 -1.10935488e-01 9.88810682e+01] [ 1.76647176e-01 4.45182809e-03 9.84264170e-01 5.41188456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.476875 meters 0.025315155837852668 Centerline is valid? [True, True] Translation: X:239.53, Y:98.91, Z:5.42 [[ 7.81573272e-01 -6.08512117e-01 -1.37317967e-01 2.39530411e+02] [ 5.98353945e-01 7.93532144e-01 -1.10811966e-01 9.89149979e+01] [ 1.76396645e-01 4.44292331e-03 9.84309141e-01 5.42326076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.536875 meters 0.026745077037460326 Centerline is valid? [True, True] Translation: X:239.57, Y:98.95, Z:5.43 [[ 7.82084946e-01 -6.08111915e-01 -1.36172816e-01 2.39572818e+02] [ 5.98107290e-01 7.93838313e-01 -1.09947269e-01 9.89523042e+01] [ 1.74959442e-01 4.54214998e-03 9.84565164e-01 5.43309206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.596875 meters 0.02652807902106859 Centerline is valid? [True, True] Translation: X:239.62, Y:98.99, Z:5.45 [[ 7.84927373e-01 -6.04727820e-01 -1.34882480e-01 2.39618353e+02] [ 5.94858004e-01 7.96414756e-01 -1.08938011e-01 9.89869810e+01] [ 1.73300243e-01 5.27250369e-03 9.84854927e-01 5.44712600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.656875 meters 0.02865009387946865 Centerline is valid? [True, True] Translation: X:239.66, Y:99.02, Z:5.46 [[ 7.87892058e-01 -6.00889943e-01 -1.34749327e-01 2.39661704e+02] [ 5.90974334e-01 7.99308061e-01 -1.08885079e-01 9.90249646e+01] [ 1.73134172e-01 6.15629547e-03 9.84879007e-01 5.45707695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.716875 meters 0.02871813040338687 Centerline is valid? [True, True] Translation: X:239.71, Y:99.06, Z:5.46 [[ 7.86721488e-01 -6.02108919e-01 -1.36140186e-01 2.39707601e+02] [ 5.91993385e-01 7.98391423e-01 -1.10068014e-01 9.90616024e+01] [ 1.74966090e-01 5.99878170e-03 9.84556185e-01 5.46368474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.776875 meters 0.027093223187217148 Centerline is valid? [True, True] Translation: X:239.76, Y:99.09, Z:5.47 [[ 7.85538229e-01 -6.03725812e-01 -1.35811764e-01 2.39755120e+02] [ 5.93673756e-01 7.97171883e-01 -1.09856549e-01 9.90948254e+01] [ 1.74588554e-01 5.66863904e-03 9.84625159e-01 5.47495047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.836875 meters 0.02720216509262551 Centerline is valid? [True, True] Translation: X:239.80, Y:99.13, Z:5.48 [[ 7.84655672e-01 -6.04318236e-01 -1.38256816e-01 2.39802203e+02] [ 5.93896541e-01 7.96722748e-01 -1.11891741e-01 9.91301910e+01] [ 1.77770570e-01 5.68624430e-03 9.84055533e-01 5.48274895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.896875 meters 0.027495419672193308 Centerline is valid? [True, True] Translation: X:239.85, Y:99.17, Z:5.49 [[ 7.83794572e-01 -6.05189034e-01 -1.39328036e-01 2.39847916e+02] [ 5.94606889e-01 7.96062248e-01 -1.12816424e-01 9.91657561e+01] [ 1.79189052e-01 5.57949091e-03 9.83798838e-01 5.48992227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.956875 meters 0.027153411171610253 Centerline is valid? [True, True] Translation: X:239.89, Y:99.20, Z:5.50 [[ 7.83129543e-01 -6.05940473e-01 -1.39800797e-01 2.39894146e+02] [ 5.95285795e-01 7.95491123e-01 -1.13263835e-01 9.92000727e+01] [ 1.79841435e-01 5.47882682e-03 9.83680355e-01 5.50001632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.016875 meters 0.026204014351043785 Centerline is valid? [True, True] Translation: X:239.94, Y:99.23, Z:5.51 [[ 7.80998439e-01 -6.09148738e-01 -1.37765215e-01 2.39940765e+02] [ 5.98843390e-01 7.93041968e-01 -1.11673774e-01 9.92308827e+01] [ 1.77279535e-01 4.71725488e-03 9.84149234e-01 5.51343894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07687500000003 meters 0.024169511032196028 Centerline is valid? [True, True] Translation: X:239.99, Y:99.26, Z:5.53 [[ 7.79039514e-01 -6.12000737e-01 -1.36207685e-01 2.39988583e+02] [ 6.01966820e-01 7.90846845e-01 -1.10441006e-01 9.92624431e+01] [ 1.75309395e-01 4.04540037e-03 9.84505079e-01 5.52571230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13687500000003 meters 0.023163244404243388 Centerline is valid? [True, True] Translation: X:240.04, Y:99.29, Z:5.54 [[ 7.76120814e-01 -6.15941258e-01 -1.35103103e-01 2.40036479e+02] [ 6.06119289e-01 7.87785674e-01 -1.09604465e-01 9.92938097e+01] [ 1.73942201e-01 3.17770951e-03 9.84750736e-01 5.53668072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19687500000003 meters 0.022344311402514572 Centerline is valid? [True, True] Translation: X:240.08, Y:99.33, Z:5.55 [[ 7.74679373e-01 -6.17431577e-01 -1.36565428e-01 2.40083316e+02] [ 6.07406205e-01 7.86619159e-01 -1.10851259e-01 9.93274453e+01] [ 1.75868050e-01 2.92349571e-03 9.84409408e-01 5.54610205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25687500000004 meters 0.023128562823280307 Centerline is valid? [True, True] Translation: X:240.13, Y:99.36, Z:5.55 [[ 7.73827003e-01 -6.18279988e-01 -1.37555900e-01 2.40126358e+02] [ 6.08109157e-01 7.85952926e-01 -1.11719524e-01 9.93640200e+01] [ 1.77186408e-01 2.80258249e-03 9.84173319e-01 5.55197086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31687500000004 meters 0.022248535530179758 Centerline is valid? [True, True] Translation: X:240.17, Y:99.40, Z:5.56 [[ 7.73020332e-01 -6.19091919e-01 -1.38436854e-01 2.40171984e+02] [ 6.08791489e-01 7.85313955e-01 -1.12494071e-01 9.93982124e+01] [ 1.78360563e-01 2.68102577e-03 9.83961545e-01 5.56258003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37687500000004 meters 0.02249881698716696 Centerline is valid? [True, True] Translation: X:240.22, Y:99.44, Z:5.57 [[ 7.72979358e-01 -6.18980706e-01 -1.39161050e-01 2.40215772e+02] [ 6.08557888e-01 7.85401299e-01 -1.13146347e-01 9.94361126e+01] [ 1.79332676e-01 2.77223613e-03 9.83784583e-01 5.57198438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43687500000004 meters 0.022491959705039956 Centerline is valid? [True, True] Translation: X:240.26, Y:99.47, Z:5.58 [[ 7.73553478e-01 -6.18233445e-01 -1.39292581e-01 2.40260168e+02] [ 6.07768479e-01 7.85988834e-01 -1.13309436e-01 9.94731449e+01] [ 1.79534096e-01 2.99326827e-03 9.83747198e-01 5.58296390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49687500000005 meters 0.023226325515055296 Centerline is valid? [True, True] Translation: X:240.30, Y:99.51, Z:5.59 [[ 7.73929089e-01 -6.17978266e-01 -1.38335205e-01 2.40302516e+02] [ 6.07643871e-01 7.86189169e-01 -1.12585599e-01 9.95111063e+01] [ 1.78333093e-01 3.07473023e-03 9.83965372e-01 5.59190745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.556875 meters 0.023048444479642494 Centerline is valid? [True, True] Translation: X:240.35, Y:99.55, Z:5.60 [[ 7.74367665e-01 -6.17494838e-01 -1.38039282e-01 2.40347353e+02] [ 6.07187984e-01 7.86568340e-01 -1.12396615e-01 9.95471061e+01] [ 1.77981659e-01 3.22051145e-03 9.84028535e-01 5.60274760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.616875 meters 0.023903830786483258 Centerline is valid? [True, True] Translation: X:240.39, Y:99.59, Z:5.61 [[ 7.75318497e-01 -6.16210558e-01 -1.38440514e-01 2.40390954e+02] [ 6.05812769e-01 7.87573361e-01 -1.12778943e-01 9.95861533e+01] [ 1.78527636e-01 3.57056922e-03 9.83928419e-01 5.61065640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.676875 meters 0.02464879645943621 Centerline is valid? [True, True] Translation: X:240.43, Y:99.62, Z:5.62 [[ 7.75373326e-01 -6.15975735e-01 -1.39176501e-01 2.40434198e+02] [ 6.05452762e-01 7.87756498e-01 -1.13431268e-01 9.96241721e+01] [ 1.79508102e-01 3.68678227e-03 9.83749587e-01 5.61839341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.736875 meters 0.025452265786039915 Centerline is valid? [True, True] Translation: X:240.48, Y:99.66, Z:5.62 [[ 7.75916626e-01 -6.14861126e-01 -1.41064473e-01 2.40478326e+02] [ 6.04023573e-01 7.88625118e-01 -1.15004115e-01 9.96631084e+01] [ 1.81958547e-01 4.02733804e-03 9.83297955e-01 5.62432167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.796875 meters 0.02583978261338922 Centerline is valid? [True, True] Translation: X:240.52, Y:99.70, Z:5.63 [[ 7.76086515e-01 -6.14633002e-01 -1.41124037e-01 2.40521947e+02] [ 6.03772207e-01 7.88802409e-01 -1.15108130e-01 9.97002545e+01] [ 1.82068235e-01 4.12709636e-03 9.83277237e-01 5.63336980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.856875 meters 0.0259873723159332 Centerline is valid? [True, True] Translation: X:240.57, Y:99.74, Z:5.64 [[ 7.76190797e-01 -6.14880382e-01 -1.39463121e-01 2.40566769e+02] [ 6.04269365e-01 7.88609907e-01 -1.13811028e-01 9.97370394e+01] [ 1.79962167e-01 4.06578059e-03 9.83665130e-01 5.64497100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.916875 meters 0.0246901458418157 Centerline is valid? [True, True] Translation: X:240.61, Y:99.77, Z:5.66 [[ 7.75817730e-01 -6.15407490e-01 -1.39213762e-01 2.40612831e+02] [ 6.04833279e-01 7.88199077e-01 -1.13661427e-01 9.97700855e+01] [ 1.79676252e-01 3.97943450e-03 9.83717748e-01 5.65738553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.976875 meters 0.025326909380276767 Centerline is valid? [True, True] Translation: X:240.66, Y:99.81, Z:5.66 [[ 7.75470337e-01 -6.15708068e-01 -1.39818926e-01 2.40656705e+02] [ 6.05034235e-01 7.87964310e-01 -1.14218306e-01 9.98067763e+01] [ 1.80497456e-01 3.97767151e-03 9.83567408e-01 5.66369436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.036875 meters 0.029254827407902622 Centerline is valid? [True, True] Translation: X:240.70, Y:99.85, Z:5.66 [[ 7.73197825e-01 -6.19099398e-01 -1.37408367e-01 2.40697721e+02] [ 6.08836458e-01 7.85306220e-01 -1.12304536e-01 9.98489248e+01] [ 1.77435316e-01 3.17439891e-03 9.84127345e-01 5.66477063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.096875 meters 0.0237842555018709 Centerline is valid? [True, True] Translation: X:240.75, Y:99.87, Z:5.69 [[ 7.73440805e-01 -6.18504996e-01 -1.38711541e-01 2.40748932e+02] [ 6.08024505e-01 7.85773551e-01 -1.13428951e-01 9.98743578e+01] [ 1.79152233e-01 3.39056344e-03 9.83815522e-01 5.68658808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.156875 meters 0.023974566223181167 Centerline is valid? [True, True] Translation: X:240.79, Y:99.91, Z:5.70 [[ 7.73065883e-01 -6.19162338e-01 -1.37866386e-01 2.40792646e+02] [ 6.08813997e-01 7.85256300e-01 -1.12774379e-01 9.99104335e+01] [ 1.78086096e-01 3.24703923e-03 9.84009552e-01 5.69621120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.216875 meters 0.02459686963939383 Centerline is valid? [True, True] Translation: X:240.84, Y:99.95, Z:5.70 [[ 7.73051113e-01 -6.18796140e-01 -1.39582639e-01 2.40837153e+02] [ 6.08176074e-01 7.85544285e-01 -1.14201745e-01 9.99492715e+01] [ 1.80315943e-01 3.39296434e-03 9.83602892e-01 5.70060063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.276875 meters 0.02369094133475961 Centerline is valid? [True, True] Translation: X:240.88, Y:99.98, Z:5.71 [[ 7.73227558e-01 -6.18684803e-01 -1.39098017e-01 2.40882002e+02] [ 6.08127216e-01 7.85631726e-01 -1.13859912e-01 9.99841810e+01] [ 1.79723212e-01 3.45033175e-03 9.83711168e-01 5.71208264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.336875 meters 0.023351317276108223 Centerline is valid? [True, True] Translation: X:240.93, Y:100.02, Z:5.73 [[ 7.72414307e-01 -6.20103276e-01 -1.37288262e-01 2.40926989e+02] [ 6.09831780e-01 7.84513951e-01 -1.12441364e-01 1.00019704e+02] [ 1.77429815e-01 3.12857342e-03 9.84128484e-01 5.72517176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.396875 meters 0.022599605952295265 Centerline is valid? [True, True] Translation: X:240.97, Y:100.06, Z:5.73 [[ 7.70598931e-01 -6.22388405e-01 -1.37149410e-01 2.40972950e+02] [ 6.12163449e-01 7.82704079e-01 -1.12384327e-01 1.00055916e+02] [ 1.77294104e-01 2.64538620e-03 9.84154359e-01 5.73446159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.456875 meters 0.022290437644772277 Centerline is valid? [True, True] Translation: X:241.02, Y:100.09, Z:5.74 [[ 7.69392158e-01 -6.24056084e-01 -1.36344094e-01 2.41017998e+02] [ 6.13967823e-01 7.81376191e-01 -1.11779961e-01 1.00092536e+02] [ 1.76292994e-01 2.29173903e-03 9.84335069e-01 5.74407438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.516875 meters 0.022174579093160347 Centerline is valid? [True, True] Translation: X:241.06, Y:100.13, Z:5.75 [[ 7.68198932e-01 -6.25540718e-01 -1.36268891e-01 2.41061436e+02] [ 6.15477053e-01 7.80188975e-01 -1.11772808e-01 1.00128571e+02] [ 1.76233929e-01 1.99337555e-03 9.84346295e-01 5.75316347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57687500000003 meters 0.021439787961177847 Centerline is valid? [True, True] Translation: X:241.11, Y:100.17, Z:5.76 [[ 7.67283296e-01 -6.26766516e-01 -1.35794252e-01 2.41105135e+02] [ 6.16783618e-01 7.79205165e-01 -1.11432843e-01 1.00165273e+02] [ 1.75653957e-01 1.74488891e-03 9.84450427e-01 5.76467054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63687500000003 meters 0.021272823341058976 Centerline is valid? [True, True] Translation: X:241.15, Y:100.20, Z:5.77 [[ 7.67086004e-01 -6.27104438e-01 -1.35348016e-01 2.41147853e+02] [ 6.17181821e-01 7.78933307e-01 -1.11128314e-01 1.00203424e+02] [ 1.75116136e-01 1.71063956e-03 9.84546298e-01 5.77332113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69687500000003 meters 0.021773903316690112 Centerline is valid? [True, True] Translation: X:241.19, Y:100.24, Z:5.78 [[ 7.67225387e-01 -6.26874777e-01 -1.35621608e-01 2.41189734e+02] [ 6.16897190e-01 7.79117911e-01 -1.11414262e-01 1.00241867e+02] [ 1.75508015e-01 1.81526144e-03 9.84476329e-01 5.78171038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75687500000004 meters 0.021432794012028182 Centerline is valid? [True, True] Translation: X:241.23, Y:100.28, Z:5.79 [[ 7.66674274e-01 -6.27606048e-01 -1.35355846e-01 2.41233853e+02] [ 6.17671682e-01 7.78529276e-01 -1.11237851e-01 1.00277843e+02] [ 1.75192037e-01 1.67772523e-03 9.84532851e-01 5.79284555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81687500000004 meters 0.022101863462416108 Centerline is valid? [True, True] Translation: X:241.28, Y:100.31, Z:5.80 [[ 7.66376874e-01 -6.27880082e-01 -1.35768511e-01 2.41278562e+02] [ 6.17877619e-01 7.78308303e-01 -1.11639748e-01 1.00314542e+02] [ 1.75766134e-01 1.66979703e-03 9.84430535e-01 5.80103758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87687500000004 meters 0.022376424458492652 Centerline is valid? [True, True] Translation: X:241.32, Y:100.35, Z:5.81 [[ 7.66063753e-01 -6.28071710e-01 -1.36646455e-01 2.41323769e+02] [ 6.17930240e-01 7.78153639e-01 -1.12423897e-01 1.00351530e+02] [ 1.76942205e-01 1.68589609e-03 9.84219800e-01 5.80783717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93687500000004 meters 0.0233364592674279 Centerline is valid? [True, True] Translation: X:241.37, Y:100.39, Z:5.82 [[ 7.67094369e-01 -6.26780752e-01 -1.36792242e-01 2.41367059e+02] [ 6.16587646e-01 7.79193030e-01 -1.12596165e-01 1.00389103e+02] [ 1.77160671e-01 2.02747797e-03 9.84179855e-01 5.81660745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99687500000005 meters 0.02504248914302261 Centerline is valid? [True, True] Translation: X:241.41, Y:100.43, Z:5.82 [[ 7.67092911e-01 -6.26926511e-01 -1.36130875e-01 2.41408221e+02] [ 6.16828997e-01 7.79075806e-01 -1.12084241e-01 1.00429814e+02] [ 1.76324853e-01 2.00955546e-03 9.84329979e-01 5.82043575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.056875 meters 0.023588503722201868 Centerline is valid? [True, True] Translation: X:241.45, Y:100.46, Z:5.84 [[ 7.69089374e-01 -6.24424282e-01 -1.36366603e-01 2.41454114e+02] [ 6.14244910e-01 7.81080946e-01 -1.12319837e-01 1.00463714e+02] [ 1.76648589e-01 2.62150144e-03 9.84270493e-01 5.83917845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.116875 meters 0.023801071621525744 Centerline is valid? [True, True] Translation: X:241.50, Y:100.50, Z:5.85 [[ 7.69573443e-01 -6.23795292e-01 -1.36514279e-01 2.41498576e+02] [ 6.13574026e-01 7.81582704e-01 -1.12496184e-01 1.00501932e+02] [ 1.76871789e-01 2.81245940e-03 9.84229882e-01 5.84853554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.176875 meters 0.023487016362317918 Centerline is valid? [True, True] Translation: X:241.54, Y:100.54, Z:5.86 [[ 7.69197435e-01 -6.24230407e-01 -1.36644449e-01 2.41543107e+02] [ 6.13986151e-01 7.81235421e-01 -1.12659774e-01 1.00538626e+02] [ 1.77077140e-01 2.75980989e-03 9.84193106e-01 5.85824127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.236875 meters 0.023813425532268256 Centerline is valid? [True, True] Translation: X:241.59, Y:100.57, Z:5.87 [[ 7.68399236e-01 -6.25132365e-01 -1.37011460e-01 2.41587550e+02] [ 6.14835163e-01 7.80514391e-01 -1.13026580e-01 1.00574535e+02] [ 1.77595989e-01 2.61007493e-03 9.84100021e-01 5.86803493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.296875 meters 0.023432785381817794 Centerline is valid? [True, True] Translation: X:241.63, Y:100.61, Z:5.88 [[ 7.67944110e-01 -6.25531466e-01 -1.37739715e-01 2.41631572e+02] [ 6.15118446e-01 7.80194667e-01 -1.13690716e-01 1.00612288e+02] [ 1.78580911e-01 2.58187620e-03 9.83921842e-01 5.87711235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.356875 meters 0.02365752428748222 Centerline is valid? [True, True] Translation: X:241.68, Y:100.65, Z:5.89 [[ 7.67754837e-01 -6.25530202e-01 -1.38796526e-01 2.41676014e+02] [ 6.14944945e-01 7.80195459e-01 -1.14620071e-01 1.00650135e+02] [ 1.79986736e-01 2.64789152e-03 9.83665473e-01 5.88640271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.416875 meters 0.02382273141629089 Centerline is valid? [True, True] Translation: X:241.72, Y:100.69, Z:5.90 [[ 7.68427524e-01 -6.24505991e-01 -1.39683240e-01 2.41719240e+02] [ 6.13756500e-01 7.81014436e-01 -1.15409745e-01 1.00688230e+02] [ 1.81168704e-01 2.95252857e-03 9.83447601e-01 5.89720689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.476875 meters 0.02383038145762355 Centerline is valid? [True, True] Translation: X:241.76, Y:100.73, Z:5.91 [[ 7.68606671e-01 -6.24375462e-01 -1.39280537e-01 2.41762017e+02] [ 6.13675535e-01 7.81118530e-01 -1.15135486e-01 1.00726051e+02] [ 1.80682381e-01 3.02084423e-03 9.83536858e-01 5.90908606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.536875 meters 0.0243122731287738 Centerline is valid? [True, True] Translation: X:241.80, Y:100.76, Z:5.92 [[ 7.69337749e-01 -6.23659226e-01 -1.38450707e-01 2.41803930e+02] [ 6.13064207e-01 7.81689706e-01 -1.14514114e-01 1.00763396e+02] [ 1.79643276e-01 3.22085768e-03 9.83726547e-01 5.91975539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.596875 meters 0.024698454748439118 Centerline is valid? [True, True] Translation: X:241.85, Y:100.80, Z:5.93 [[ 7.69926410e-01 -6.23130244e-01 -1.37557343e-01 2.41845193e+02] [ 6.12653794e-01 7.82110833e-01 -1.13833097e-01 1.00802637e+02] [ 1.78517934e-01 3.36807952e-03 9.83930894e-01 5.93039503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.656875 meters 0.02518388943248074 Centerline is valid? [True, True] Translation: X:241.89, Y:100.84, Z:5.94 [[ 7.70610173e-01 -6.22152544e-01 -1.38152718e-01 2.41888462e+02] [ 6.11557822e-01 7.82887492e-01 -1.14386208e-01 1.00841759e+02] [ 1.79323705e-01 3.65880014e-03 9.83783321e-01 5.94042002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.716875 meters 0.026618212160318407 Centerline is valid? [True, True] Translation: X:241.93, Y:100.88, Z:5.95 [[ 7.72546475e-01 -6.19432654e-01 -1.39553329e-01 2.41928794e+02] [ 6.08565736e-01 7.85037579e-01 -1.15601663e-01 1.00883068e+02] [ 1.81162052e-01 4.38028240e-03 9.83443503e-01 5.94960789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.776875 meters 0.027374348336716925 Centerline is valid? [True, True] Translation: X:241.97, Y:100.92, Z:5.96 [[ 7.75572844e-01 -6.15618033e-01 -1.39646703e-01 2.41969317e+02] [ 6.04668060e-01 7.88026826e-01 -1.15716285e-01 1.00924409e+02] [ 1.81282380e-01 5.30650704e-03 9.83416768e-01 5.96046228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.836875 meters 0.030379264951722405 Centerline is valid? [True, True] Translation: X:242.01, Y:100.97, Z:5.97 [[ 7.77236619e-01 -6.13612488e-01 -1.39222671e-01 2.42007728e+02] [ 6.02686510e-01 7.89585978e-01 -1.15425099e-01 1.00967348e+02] [ 1.80754551e-01 5.80498786e-03 9.83511105e-01 5.96809746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.896875 meters 0.029969500347434126 Centerline is valid? [True, True] Translation: X:242.05, Y:101.01, Z:5.98 [[ 7.78851581e-01 -6.11988189e-01 -1.37334161e-01 2.42050640e+02] [ 6.01324711e-01 7.90843085e-01 -1.13911393e-01 1.01006205e+02] [ 1.78322199e-01 6.13764367e-03 9.83953008e-01 5.98152736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.956875 meters 0.03048007096091737 Centerline is valid? [True, True] Translation: X:242.09, Y:101.05, Z:5.99 [[ 7.79730501e-01 -6.11407410e-01 -1.34912285e-01 2.42093018e+02] [ 6.01101630e-01 7.91291690e-01 -1.11956647e-01 1.01045796e+02] [ 1.75206094e-01 6.20001759e-03 9.84512257e-01 5.99340183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.016875 meters 0.0300946463597132 Centerline is valid? [True, True] Translation: X:242.14, Y:101.08, Z:6.01 [[ 7.80889015e-01 -6.10322693e-01 -1.33111071e-01 2.42136124e+02] [ 6.00267560e-01 7.92127060e-01 -1.10515051e-01 1.01083519e+02] [ 1.72890725e-01 6.39773161e-03 9.84920233e-01 6.00618557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07687500000003 meters 0.03132064501082268 Centerline is valid? [True, True] Translation: X:242.18, Y:101.12, Z:6.01 [[ 7.81046574e-01 -6.10181703e-01 -1.32832749e-01 2.42177657e+02] [ 6.00157569e-01 7.92235183e-01 -1.10337245e-01 1.01123705e+02] [ 1.72560545e-01 6.45794760e-03 9.84977742e-01 6.01377696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13687500000003 meters 0.031208255149708243 Centerline is valid? [True, True] Translation: X:242.22, Y:101.16, Z:6.02 [[ 7.80595845e-01 -6.10799033e-01 -1.32644892e-01 2.42220849e+02] [ 6.00806406e-01 7.91760288e-01 -1.10214827e-01 1.01163518e+02] [ 1.72342068e-01 6.33933577e-03 9.85016764e-01 6.02083239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19687500000003 meters 0.030424138832748863 Centerline is valid? [True, True] Translation: X:242.27, Y:101.20, Z:6.03 [[ 7.79736720e-01 -6.12063787e-01 -1.31865718e-01 2.42265838e+02] [ 6.02197783e-01 7.90785131e-01 -1.09620743e-01 1.01200024e+02] [ 1.71372336e-01 6.06607548e-03 9.85187660e-01 6.03113541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25687500000004 meters 0.032883248232062644 Centerline is valid? [True, True] Translation: X:242.30, Y:101.24, Z:6.04 [[ 7.78503528e-01 -6.14036671e-01 -1.29966240e-01 2.42304590e+02] [ 6.04473209e-01 7.89257695e-01 -1.08094544e-01 1.01242367e+02] [ 1.68950868e-01 5.59087384e-03 9.85608617e-01 6.03869701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31687500000004 meters 0.027959142506162424 Centerline is valid? [True, True] Translation: X:242.35, Y:101.27, Z:6.05 [[ 7.76853967e-01 -6.16138577e-01 -1.29889061e-01 2.42354517e+02] [ 6.06609070e-01 7.87620855e-01 -1.08068612e-01 1.01273840e+02] [ 1.68888574e-01 5.16164794e-03 9.85621635e-01 6.04904199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37687500000004 meters 0.028518732361633572 Centerline is valid? [True, True] Translation: X:242.40, Y:101.31, Z:6.06 [[ 7.76084135e-01 -6.16935534e-01 -1.30705630e-01 2.42397414e+02] [ 6.07287515e-01 7.86997421e-01 -1.08797671e-01 1.01312756e+02] [ 1.69986143e-01 5.06024877e-03 9.85433461e-01 6.05593823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43687500000004 meters 0.028265435949400397 Centerline is valid? [True, True] Translation: X:242.44, Y:101.35, Z:6.06 [[ 7.74735015e-01 -6.18363615e-01 -1.31954900e-01 2.42441674e+02] [ 6.08545480e-01 7.85877401e-01 -1.09859495e-01 1.01352102e+02] [ 1.71633489e-01 4.81143961e-03 9.85149123e-01 6.06144512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49687500000005 meters 0.027279758541381198 Centerline is valid? [True, True] Translation: X:242.49, Y:101.39, Z:6.07 [[ 7.73410915e-01 -6.19784324e-01 -1.33052431e-01 2.42486861e+02] [ 6.09812007e-01 7.84758834e-01 -1.10828198e-01 1.01388207e+02] [ 1.73103650e-01 4.57876855e-03 9.84892969e-01 6.07105669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.556875 meters 0.02683042835766525 Centerline is valid? [True, True] Translation: X:242.53, Y:101.43, Z:6.08 [[ 7.72599191e-01 -6.20724261e-01 -1.33386215e-01 2.42531023e+02] [ 6.10705439e-01 7.84016466e-01 -1.11162261e-01 1.01425839e+02] [ 1.73578101e-01 4.42418549e-03 9.84810169e-01 6.08029706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.616875 meters 0.026802349190553496 Centerline is valid? [True, True] Translation: X:242.58, Y:101.46, Z:6.09 [[ 7.71868879e-01 -6.21338458e-01 -1.34747743e-01 2.42575015e+02] [ 6.11111386e-01 7.83530065e-01 -1.12354399e-01 1.01463826e+02] [ 1.75389017e-01 4.37698360e-03 9.84489479e-01 6.08870476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.676875 meters 0.026777026849833685 Centerline is valid? [True, True] Translation: X:242.62, Y:101.50, Z:6.10 [[ 7.70703267e-01 -6.22629598e-01 -1.35457960e-01 2.42618149e+02] [ 6.12303365e-01 7.82505697e-01 -1.13001874e-01 1.01501525e+02] [ 1.76354937e-01 4.14954843e-03 9.84317895e-01 6.09685330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.736875 meters 0.026034753797087612 Centerline is valid? [True, True] Translation: X:242.66, Y:101.54, Z:6.11 [[ 7.69489184e-01 -6.24017511e-01 -1.35972573e-01 2.42663883e+02] [ 6.13626993e-01 7.81400747e-01 -1.13467113e-01 1.01537530e+02] [ 1.77054536e-01 3.87527555e-03 9.84193413e-01 6.10678354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.796875 meters 0.02599689486094706 Centerline is valid? [True, True] Translation: X:242.71, Y:101.58, Z:6.12 [[ 7.68542314e-01 -6.25218411e-01 -1.35811084e-01 2.42708107e+02] [ 6.14861123e-01 7.80441345e-01 -1.13389182e-01 1.01575063e+02] [ 1.76885590e-01 3.63942827e-03 9.84224691e-01 6.11723285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.856875 meters 0.02561261715037564 Centerline is valid? [True, True] Translation: X:242.75, Y:101.61, Z:6.13 [[ 7.67910429e-01 -6.25977858e-01 -1.35887063e-01 2.42752692e+02] [ 6.15610444e-01 7.79832925e-01 -1.13509429e-01 1.01611845e+02] [ 1.77023595e-01 3.51157892e-03 9.84200343e-01 6.12763996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.916875 meters 0.026968792165727354 Centerline is valid? [True, True] Translation: X:242.80, Y:101.65, Z:6.13 [[ 7.67432528e-01 -6.26349834e-01 -1.36869282e-01 2.42795024e+02] [ 6.15826932e-01 7.79534271e-01 -1.14383171e-01 1.01650765e+02] [ 1.78338176e-01 3.49357601e-03 9.83963053e-01 6.13476327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.976875 meters 0.02582954093687204 Centerline is valid? [True, True] Translation: X:242.84, Y:101.69, Z:6.15 [[ 7.66912679e-01 -6.27111240e-01 -1.36295396e-01 2.42840890e+02] [ 6.16684829e-01 7.78922631e-01 -1.13926978e-01 1.01685833e+02] [ 1.77608457e-01 3.32074051e-03 9.84095630e-01 6.14816262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.036875 meters 0.025750731267651723 Centerline is valid? [True, True] Translation: X:242.89, Y:101.72, Z:6.16 [[ 7.67386801e-01 -6.26896602e-01 -1.34603671e-01 2.42885083e+02] [ 6.16716540e-01 7.79095174e-01 -1.12567399e-01 1.01723288e+02] [ 1.75437191e-01 3.37042568e-03 9.84484856e-01 6.16006964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.096875 meters 0.02617681586245691 Centerline is valid? [True, True] Translation: X:242.93, Y:101.76, Z:6.17 [[ 7.67927727e-01 -6.26438178e-01 -1.33649600e-01 2.42927251e+02] [ 6.16386440e-01 7.79463280e-01 -1.11824643e-01 1.01761492e+02] [ 1.74226181e-01 3.49344313e-03 9.84699464e-01 6.16950663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.156875 meters 0.025973192765362276 Centerline is valid? [True, True] Translation: X:242.97, Y:101.80, Z:6.18 [[ 7.67951969e-01 -6.26493021e-01 -1.33252646e-01 2.42971029e+02] [ 6.16491319e-01 7.79419085e-01 -1.11554220e-01 1.01797660e+02] [ 1.73747595e-01 3.51918342e-03 9.84783930e-01 6.17963925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.216875 meters 0.026362327132597466 Centerline is valid? [True, True] Translation: X:243.02, Y:101.84, Z:6.19 [[ 7.68935389e-01 -6.25259473e-01 -1.33375257e-01 2.43015084e+02] [ 6.15209716e-01 7.80407431e-01 -1.11719503e-01 1.01835911e+02] [ 1.73940720e-01 3.85132560e-03 9.84748594e-01 6.18929827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.276875 meters 0.027048452299382793 Centerline is valid? [True, True] Translation: X:243.06, Y:101.88, Z:6.20 [[ 7.70987813e-01 -6.22681084e-01 -1.33589146e-01 2.43057692e+02] [ 6.12550570e-01 7.82462877e-01 -1.11953763e-01 1.01876495e+02] [ 1.74240038e-01 4.48487985e-03 9.84692995e-01 6.19634092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.336875 meters 0.027698652982700446 Centerline is valid? [True, True] Translation: X:243.10, Y:101.92, Z:6.20 [[ 7.72946419e-01 -6.20147116e-01 -1.34057408e-01 2.43100791e+02] [ 6.09897188e-01 7.84468833e-01 -1.12401374e-01 1.01916436e+02] [ 1.74869247e-01 5.11900322e-03 9.84578358e-01 6.20490913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.396875 meters 0.02857134774673094 Centerline is valid? [True, True] Translation: X:243.14, Y:101.95, Z:6.21 [[ 7.73890481e-01 -6.18733114e-01 -1.35140140e-01 2.43144274e+02] [ 6.08284241e-01 7.85581806e-01 -1.13364492e-01 1.01954975e+02] [ 1.76306001e-01 5.52808403e-03 9.84319884e-01 6.21333017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.456875 meters 0.028491736501028035 Centerline is valid? [True, True] Translation: X:243.19, Y:101.99, Z:6.22 [[ 7.75286924e-01 -6.16686040e-01 -1.36486311e-01 2.43189276e+02] [ 6.05984469e-01 7.87185563e-01 -1.14550045e-01 1.01991634e+02] [ 1.78081467e-01 6.10056666e-03 9.83996836e-01 6.22180392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.516875 meters 0.028902585357615522 Centerline is valid? [True, True] Translation: X:243.23, Y:102.03, Z:6.23 [[ 7.75778865e-01 -6.15860599e-01 -1.37414975e-01 2.43233554e+02] [ 6.04988778e-01 7.87829322e-01 -1.15384303e-01 1.02029993e+02] [ 1.79320192e-01 6.37818578e-03 9.83770089e-01 6.22989663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57687500000003 meters 0.02878994667311387 Centerline is valid? [True, True] Translation: X:243.28, Y:102.07, Z:6.24 [[ 7.75496740e-01 -6.16103135e-01 -1.37919302e-01 2.43278778e+02] [ 6.05143684e-01 7.87639546e-01 -1.15866592e-01 1.02067388e+02] [ 1.80016467e-01 6.39316997e-03 9.83642821e-01 6.23914534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63687500000003 meters 0.028814362457855732 Centerline is valid? [True, True] Translation: X:243.32, Y:102.10, Z:6.25 [[ 7.74615630e-01 -6.17106900e-01 -1.38382437e-01 2.43324102e+02] [ 6.06078075e-01 7.86854674e-01 -1.16314612e-01 1.02103557e+02] [ 1.80665417e-01 6.22855619e-03 9.83524891e-01 6.24847828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69687500000003 meters 0.028189325943195228 Centerline is valid? [True, True] Translation: X:243.37, Y:102.14, Z:6.26 [[ 7.73617234e-01 -6.18387340e-01 -1.38251483e-01 2.43370716e+02] [ 6.07389106e-01 7.85850782e-01 -1.16262731e-01 1.02138279e+02] [ 1.80540437e-01 5.97040767e-03 9.83549442e-01 6.26000175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75687500000004 meters 0.028965126721153995 Centerline is valid? [True, True] Translation: X:243.41, Y:102.17, Z:6.27 [[ 7.73072952e-01 -6.18979156e-01 -1.38647089e-01 2.43414141e+02] [ 6.07916450e-01 7.85385297e-01 -1.16651299e-01 1.02174449e+02] [ 1.81096107e-01 5.89411809e-03 9.83447741e-01 6.26862103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81687500000004 meters 0.027291881639182898 Centerline is valid? [True, True] Translation: X:243.46, Y:102.21, Z:6.28 [[ 7.71219993e-01 -6.21482096e-01 -1.37766932e-01 2.43461876e+02] [ 6.10593563e-01 7.83410433e-01 -1.15946514e-01 1.02207507e+02] [ 1.79986734e-01 5.30066789e-03 9.83654756e-01 6.28052149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87687500000004 meters 0.02670609412446546 Centerline is valid? [True, True] Translation: X:243.51, Y:102.24, Z:6.29 [[ 7.70019160e-01 -6.23040985e-01 -1.37442436e-01 2.43508883e+02] [ 6.12218202e-01 7.82173400e-01 -1.15730920e-01 1.02242145e+02] [ 1.79608924e-01 4.97026429e-03 9.83725536e-01 6.29183287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93687500000004 meters 0.026063036065856023 Centerline is valid? [True, True] Translation: X:243.56, Y:102.28, Z:6.30 [[ 7.68641261e-01 -6.25068927e-01 -1.35939136e-01 2.43555479e+02] [ 6.14505430e-01 7.80556657e-01 -1.14518037e-01 1.02275942e+02] [ 1.77689865e-01 4.48795108e-03 9.84076303e-01 6.30369250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.996875 meters 0.02574967232321416 Centerline is valid? [True, True] Translation: X:243.60, Y:102.31, Z:6.31 [[ 7.67924389e-01 -6.26175545e-01 -1.34893736e-01 2.43601168e+02] [ 6.15781346e-01 7.79670544e-01 -1.13697746e-01 1.02311259e+02] [ 1.76367421e-01 4.24622532e-03 9.84315245e-01 6.31438258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.056875 meters 0.025444287155823947 Centerline is valid? [True, True] Translation: X:243.65, Y:102.35, Z:6.33 [[ 7.67657268e-01 -6.26782845e-01 -1.33587365e-01 2.43648057e+02] [ 6.16590051e-01 7.79183150e-01 -1.12651353e-01 1.02345679e+02] [ 1.74696960e-01 4.10898974e-03 9.84613675e-01 6.32550079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.116875 meters 0.02561681065517789 Centerline is valid? [True, True] Translation: X:243.69, Y:102.38, Z:6.33 [[ 7.67698274e-01 -6.26753319e-01 -1.33490210e-01 2.43692066e+02] [ 6.16565158e-01 7.79206647e-01 -1.12625074e-01 1.02382127e+02] [ 1.74604598e-01 4.15666251e-03 9.84629858e-01 6.33481855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.176875 meters 0.025327927303447472 Centerline is valid? [True, True] Translation: X:243.74, Y:102.42, Z:6.34 [[ 7.68888151e-01 -6.25234696e-01 -1.33763176e-01 2.43737128e+02] [ 6.14970608e-01 7.80423460e-01 -1.12917554e-01 1.02418721e+02] [ 1.74991893e-01 4.56054769e-03 9.84559312e-01 6.34313656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.236875 meters 0.026668841198100906 Centerline is valid? [True, True] Translation: X:243.78, Y:102.46, Z:6.35 [[ 7.69509195e-01 -6.24380991e-01 -1.34178900e-01 2.43780099e+02] [ 6.14029499e-01 7.81105112e-01 -1.13325105e-01 1.02457293e+02] [ 1.75565866e-01 4.81490794e-03 9.84455912e-01 6.35046213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.296875 meters 0.026705985815437767 Centerline is valid? [True, True] Translation: X:243.83, Y:102.49, Z:6.36 [[ 7.70097034e-01 -6.23579057e-01 -1.34535192e-01 2.43825119e+02] [ 6.13150236e-01 7.81743956e-01 -1.13680145e-01 1.02493499e+02] [ 1.76060631e-01 5.05445785e-03 9.84366348e-01 6.35949342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.356875 meters 0.02632974986313418 Centerline is valid? [True, True] Translation: X:243.87, Y:102.53, Z:6.37 [[ 7.69895202e-01 -6.23709039e-01 -1.35086686e-01 2.43870668e+02] [ 6.13188816e-01 7.81640109e-01 -1.14185006e-01 1.02529047e+02] [ 1.76807392e-01 5.07684374e-03 9.84232377e-01 6.36852411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.416875 meters 0.02693116469152396 Centerline is valid? [True, True] Translation: X:243.91, Y:102.57, Z:6.38 [[ 7.69890626e-01 -6.23536187e-01 -1.35908229e-01 2.43914804e+02] [ 6.12872912e-01 7.81777217e-01 -1.14939882e-01 1.02566017e+02] [ 1.77919133e-01 5.19666536e-03 9.84031390e-01 6.37649203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.476875 meters 0.02733369365727492 Centerline is valid? [True, True] Translation: X:243.96, Y:102.60, Z:6.39 [[ 7.69236363e-01 -6.24344602e-01 -1.35901564e-01 2.43958752e+02] [ 6.13688988e-01 7.81132808e-01 -1.14966788e-01 1.02601879e+02] [ 1.77936064e-01 5.03534097e-03 9.84029168e-01 6.38581772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.536875 meters 0.027366851264058252 Centerline is valid? [True, True] Translation: X:244.00, Y:102.64, Z:6.39 [[ 7.68880596e-01 -6.24740767e-01 -1.36094096e-01 2.44003539e+02] [ 6.14053116e-01 7.80816321e-01 -1.15172231e-01 1.02638528e+02] [ 1.78217280e-01 4.98468978e-03 9.83978533e-01 6.39491645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.596875 meters 0.025549417981954325 Centerline is valid? [True, True] Translation: X:244.05, Y:102.67, Z:6.41 [[ 7.67906323e-01 -6.25884124e-01 -1.36341271e-01 2.44051579e+02] [ 6.15164003e-01 7.79901432e-01 -1.15442650e-01 1.02671869e+02] [ 1.78586474e-01 4.77689847e-03 9.83912624e-01 6.40678557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.656875 meters 0.0251174797701933 Centerline is valid? [True, True] Translation: X:244.10, Y:102.71, Z:6.42 [[ 7.66651299e-01 -6.27569926e-01 -1.35653137e-01 2.44097625e+02] [ 6.16974745e-01 7.78547737e-01 -1.14915557e-01 1.02707466e+02] [ 1.77729991e-01 4.40560148e-03 9.84069429e-01 6.41696361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.716875 meters 0.023696986014366324 Centerline is valid? [True, True] Translation: X:244.15, Y:102.74, Z:6.43 [[ 7.64027486e-01 -6.30932266e-01 -1.34857245e-01 2.44145805e+02] [ 6.20504322e-01 7.75829359e-01 -1.14294324e-01 1.02739571e+02] [ 1.76738187e-01 3.64450126e-03 9.84251152e-01 6.42958196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.776875 meters 0.02318517433848641 Centerline is valid? [True, True] Translation: X:244.19, Y:102.77, Z:6.44 [[ 7.61752992e-01 -6.33980333e-01 -1.33421572e-01 2.44191366e+02] [ 6.23814892e-01 7.73343603e-01 -1.13113452e-01 1.02773930e+02] [ 1.74892423e-01 2.93414701e-03 9.84583176e-01 6.44019526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.836875 meters 0.021370693398341398 Centerline is valid? [True, True] Translation: X:244.24, Y:102.80, Z:6.45 [[ 7.58134659e-01 -6.38625158e-01 -1.31870189e-01 2.44240620e+02] [ 6.28756205e-01 7.69515660e-01 -1.11853850e-01 1.02803872e+02] [ 1.72908859e-01 1.88608063e-03 9.84936023e-01 6.45314784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.896875 meters 0.020928668473751376 Centerline is valid? [True, True] Translation: X:244.29, Y:102.84, Z:6.46 [[ 7.55196564e-01 -6.42299809e-01 -1.30878208e-01 2.44288182e+02] [ 6.32628545e-01 7.66452753e-01 -1.11046397e-01 1.02836255e+02] [ 1.71637042e-01 1.06456771e-03 9.85159679e-01 6.46399303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.956875 meters 0.02078324788395129 Centerline is valid? [True, True] Translation: X:244.33, Y:102.87, Z:6.47 [[ 7.54376122e-01 -6.43307119e-01 -1.30662224e-01 2.44333031e+02] [ 6.33676935e-01 7.65607738e-01 -1.10897850e-01 1.02871508e+02] [ 1.71377386e-01 8.61052741e-04 9.85205080e-01 6.47353320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.016875 meters 0.020723169748143984 Centerline is valid? [True, True] Translation: X:244.38, Y:102.91, Z:6.48 [[ 7.54246722e-01 -6.43427231e-01 -1.30817743e-01 2.44376912e+02] [ 6.33764775e-01 7.65506772e-01 -1.11092718e-01 1.02908566e+02] [ 1.71621948e-01 8.83641361e-04 9.85162487e-01 6.48147269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07687500000003 meters 0.021099510381667717 Centerline is valid? [True, True] Translation: X:244.42, Y:102.95, Z:6.48 [[ 7.53632147e-01 -6.44245576e-01 -1.30331211e-01 2.44419587e+02] [ 6.34656754e-01 7.64818335e-01 -1.10741675e-01 1.02946775e+02] [ 1.71024534e-01 7.42902600e-04 9.85266490e-01 6.48437866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13687500000003 meters 0.02099232378714436 Centerline is valid? [True, True] Translation: X:244.46, Y:102.98, Z:6.50 [[ 7.54835346e-01 -6.42537196e-01 -1.31793598e-01 2.44464935e+02] [ 6.32694954e-01 7.66253579e-01 -1.12038154e-01 1.02982685e+02] [ 1.72975998e-01 1.18521398e-03 9.84925327e-01 6.49622604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19687500000003 meters 0.020779844877533947 Centerline is valid? [True, True] Translation: X:244.51, Y:103.02, Z:6.51 [[ 7.55232106e-01 -6.42021066e-01 -1.32035665e-01 2.44509171e+02] [ 6.32125323e-01 7.66685814e-01 -1.12296207e-01 1.03019679e+02] [ 1.73326402e-01 1.34661356e-03 9.84863516e-01 6.50550207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25687500000004 meters 0.02088476845284328 Centerline is valid? [True, True] Translation: X:244.55, Y:103.06, Z:6.51 [[ 7.55541966e-01 -6.41724266e-01 -1.31705367e-01 2.44552648e+02] [ 6.31862955e-01 7.66934049e-01 -1.12077517e-01 1.03056284e+02] [ 1.72932193e-01 1.45952539e-03 9.84932651e-01 6.51402717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31687500000004 meters 0.020740291951659547 Centerline is valid? [True, True] Translation: X:244.60, Y:103.09, Z:6.52 [[ 7.55405480e-01 -6.41621902e-01 -1.32980812e-01 2.44596912e+02] [ 6.31555668e-01 7.67019530e-01 -1.13218718e-01 1.03093681e+02] [ 1.74642489e-01 1.54125417e-03 9.84630705e-01 6.52133279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37687500000004 meters 0.020951958039977004 Centerline is valid? [True, True] Translation: X:244.64, Y:103.13, Z:6.53 [[ 7.55169988e-01 -6.41652556e-01 -1.34165149e-01 2.44642695e+02] [ 6.31399354e-01 7.66993820e-01 -1.14259945e-01 1.03130553e+02] [ 1.76219026e-01 1.57389266e-03 9.84349723e-01 6.52977466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43687500000004 meters 0.020335205530456972 Centerline is valid? [True, True] Translation: X:244.69, Y:103.17, Z:6.54 [[ 7.54654606e-01 -6.42294010e-01 -1.33995631e-01 2.44687836e+02] [ 6.32067061e-01 7.66456951e-01 -1.14170807e-01 1.03165723e+02] [ 1.76033109e-01 1.46530068e-03 9.84383156e-01 6.54196075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.496875 meters 0.02033607226969329 Centerline is valid? [True, True] Translation: X:244.73, Y:103.20, Z:6.55 [[ 7.54226155e-01 -6.43102340e-01 -1.32522778e-01 2.44732448e+02] [ 6.33102008e-01 7.65779120e-01 -1.12978701e-01 1.03201768e+02] [ 1.74140043e-01 1.31105448e-03 9.84720024e-01 6.55241063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.556875 meters 0.020224516161898416 Centerline is valid? [True, True] Translation: X:244.78, Y:103.24, Z:6.56 [[ 7.54420896e-01 -6.43023741e-01 -1.31793703e-01 2.44777313e+02] [ 6.33122821e-01 7.65845025e-01 -1.12413924e-01 1.03237550e+02] [ 1.73218373e-01 1.36581249e-03 9.84882495e-01 6.56477577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.616875 meters 0.020131958180951252 Centerline is valid? [True, True] Translation: X:244.82, Y:103.27, Z:6.57 [[ 7.55210285e-01 -6.42318490e-01 -1.30707240e-01 2.44820233e+02] [ 6.32559832e-01 7.66436241e-01 -1.11550650e-01 1.03274099e+02] [ 1.71829810e-01 1.56404820e-03 9.85125408e-01 6.57477709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.676875 meters 0.02053635201695029 Centerline is valid? [True, True] Translation: X:244.86, Y:103.31, Z:6.58 [[ 7.56570384e-01 -6.40719083e-01 -1.30691663e-01 2.44863699e+02] [ 6.30929468e-01 7.67772867e-01 -1.11592252e-01 1.03313081e+02] [ 1.71840798e-01 1.97017126e-03 9.85122763e-01 6.58353833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.736875 meters 0.021238339948119737 Centerline is valid? [True, True] Translation: X:244.91, Y:103.35, Z:6.59 [[ 7.59427029e-01 -6.37375449e-01 -1.30472697e-01 2.44905814e+02] [ 6.27560294e-01 7.70548433e-01 -1.11459362e-01 1.03353135e+02] [ 1.71576993e-01 2.76576837e-03 9.85166832e-01 6.59252451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.796875 meters 0.021521790372674585 Centerline is valid? [True, True] Translation: X:244.95, Y:103.39, Z:6.60 [[ 7.59206348e-01 -6.37694751e-01 -1.30196487e-01 2.44948950e+02] [ 6.27916375e-01 7.70284326e-01 -1.11279298e-01 1.03390951e+02] [ 1.71250538e-01 2.73144293e-03 9.85223727e-01 6.60143296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.856875 meters 0.021771506824061024 Centerline is valid? [True, True] Translation: X:244.99, Y:103.43, Z:6.61 [[ 7.58842543e-01 -6.38171470e-01 -1.29981424e-01 2.44991596e+02] [ 6.28421770e-01 7.69889639e-01 -1.11157645e-01 1.03428372e+02] [ 1.71008989e-01 2.66799356e-03 9.85265856e-01 6.61025760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.916875 meters 0.021162565801462543 Centerline is valid? [True, True] Translation: X:245.04, Y:103.46, Z:6.62 [[ 7.57917119e-01 -6.39034739e-01 -1.31134443e-01 2.45036572e+02] [ 6.29112928e-01 7.69173681e-01 -1.12199696e-01 1.03463545e+02] [ 1.72564666e-01 2.53969695e-03 9.84994917e-01 6.61880170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.976875 meters 0.020947151155932747 Centerline is valid? [True, True] Translation: X:245.08, Y:103.50, Z:6.63 [[ 7.57093462e-01 -6.39852275e-01 -1.31903589e-01 2.45080908e+02] [ 6.29813709e-01 7.68494124e-01 -1.12922421e-01 1.03500564e+02] [ 1.73620801e-01 2.41813760e-03 9.84809611e-01 6.62811952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.036875 meters 0.021367144664976235 Centerline is valid? [True, True] Translation: X:245.12, Y:103.54, Z:6.63 [[ 7.56810964e-01 -6.39826834e-01 -1.33636776e-01 2.45124519e+02] [ 6.29508537e-01 7.68515019e-01 -1.14471250e-01 1.03539606e+02] [ 1.75943647e-01 2.50760535e-03 9.84397046e-01 6.63449170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.096875 meters 0.021677520721981678 Centerline is valid? [True, True] Translation: X:245.17, Y:103.58, Z:6.64 [[ 7.56813776e-01 -6.39711997e-01 -1.34169554e-01 2.45165892e+02] [ 6.29298999e-01 7.68610348e-01 -1.14982187e-01 1.03578272e+02] [ 1.76679592e-01 2.58733660e-03 9.84265019e-01 6.64112719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.156875 meters 0.021354450554891498 Centerline is valid? [True, True] Translation: X:245.21, Y:103.62, Z:6.65 [[ 7.57242328e-01 -6.39196492e-01 -1.34208425e-01 2.45209584e+02] [ 6.28763578e-01 7.69038603e-01 -1.15047774e-01 1.03615103e+02] [ 1.76749594e-01 2.73367478e-03 9.84252055e-01 6.65243145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.216875 meters 0.02161669685201625 Centerline is valid? [True, True] Translation: X:245.25, Y:103.65, Z:6.66 [[ 7.56533436e-01 -6.39823627e-01 -1.35214226e-01 2.45251353e+02] [ 6.29230895e-01 7.68517188e-01 -1.15973327e-01 1.03654881e+02] [ 1.78116931e-01 2.65673105e-03 9.84005742e-01 6.66105896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.276875 meters 0.02224799429662036 Centerline is valid? [True, True] Translation: X:245.29, Y:103.70, Z:6.66 [[ 7.55821225e-01 -6.40159049e-01 -1.37588763e-01 2.45290596e+02] [ 6.29181498e-01 7.68237750e-01 -1.18073720e-01 1.03700520e+02] [ 1.81286842e-01 2.67431975e-03 9.83426626e-01 6.66134441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.336875 meters 0.02049503175048773 Centerline is valid? [True, True] Translation: X:245.34, Y:103.73, Z:6.69 [[ 7.52093772e-01 -6.45752712e-01 -1.31751254e-01 2.45335767e+02] [ 6.35769742e-01 7.63545493e-01 -1.13115499e-01 1.03732558e+02] [ 1.73642717e-01 1.31000173e-03 9.84807845e-01 6.68643938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.396875 meters 0.02037546196850776 Centerline is valid? [True, True] Translation: X:245.38, Y:103.77, Z:6.70 [[ 7.48202792e-01 -6.50581508e-01 -1.30139476e-01 2.45378282e+02] [ 6.40909155e-01 7.59436406e-01 -1.11766723e-01 1.03769978e+02] [ 1.71546020e-01 2.16592571e-04 9.85176084e-01 6.69981494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.456875 meters 0.02091807387277107 Centerline is valid? [True, True] Translation: X:245.42, Y:103.81, Z:6.71 [[ 7.46152021e-01 -6.52925975e-01 -1.30172323e-01 2.45418002e+02] [ 6.43277852e-01 7.57421669e-01 -1.11830316e-01 1.03812520e+02] [ 1.71612256e-01 -2.94555807e-04 9.85164528e-01 6.70565646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.516875 meters 0.02112623311585801 Centerline is valid? [True, True] Translation: X:245.46, Y:103.85, Z:6.71 [[ 7.45510918e-01 -6.53575063e-01 -1.30587552e-01 2.45459759e+02] [ 6.43863790e-01 7.56861598e-01 -1.12249455e-01 1.03852347e+02] [ 1.72200148e-01 -3.97402245e-04 9.85061902e-01 6.71289196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57687500000003 meters 0.022109205831894834 Centerline is valid? [True, True] Translation: X:245.50, Y:103.89, Z:6.72 [[ 7.43487246e-01 -6.55438976e-01 -1.32764692e-01 2.45500992e+02] [ 6.45417092e-01 7.55247719e-01 -1.14182575e-01 1.03892060e+02] [ 1.75109941e-01 -7.95313780e-04 9.84548565e-01 6.71856008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63687500000003 meters 0.022143132387687198 Centerline is valid? [True, True] Translation: X:245.54, Y:103.93, Z:6.73 [[ 7.43285258e-01 -6.56080685e-01 -1.30710213e-01 2.45544206e+02] [ 6.46372116e-01 7.54690215e-01 -1.12453399e-01 1.03930960e+02] [ 1.72424221e-01 -9.02483299e-04 9.85022372e-01 6.73066300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69687500000003 meters 0.022094226276056225 Centerline is valid? [True, True] Translation: X:245.59, Y:103.97, Z:6.75 [[ 7.44570432e-01 -6.54901929e-01 -1.29299401e-01 2.45586571e+02] [ 6.45376729e-01 7.55713652e-01 -1.11291302e-01 1.03969807e+02] [ 1.70598211e-01 -5.82612194e-04 9.85340505e-01 6.74515023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75687500000004 meters 0.022489236012010885 Centerline is valid? [True, True] Translation: X:245.63, Y:104.01, Z:6.75 [[ 7.46881773e-01 -6.52087433e-01 -1.30190619e-01 2.45626140e+02] [ 6.42377026e-01 7.58143765e-01 -1.12115067e-01 1.04014393e+02] [ 1.71812032e-01 1.05237309e-04 9.85129745e-01 6.75130262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81687500000004 meters 0.022944413246809004 Centerline is valid? [True, True] Translation: X:245.67, Y:104.06, Z:6.76 [[ 7.50125013e-01 -6.47902860e-01 -1.32417326e-01 2.45665928e+02] [ 6.37779586e-01 7.61722134e-01 -1.14090273e-01 1.04056338e+02] [ 1.74784623e-01 1.12890052e-03 9.84606044e-01 6.75795957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87687500000004 meters 0.023241721697564933 Centerline is valid? [True, True] Translation: X:245.71, Y:104.10, Z:6.77 [[ 7.51084996e-01 -6.46879048e-01 -1.31980404e-01 2.45708864e+02] [ 6.36798875e-01 7.62591332e-01 -1.13761387e-01 1.04095082e+02] [ 1.74236970e-01 1.39949815e-03 9.84702757e-01 6.76753948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93687500000004 meters 0.023843236631493302 Centerline is valid? [True, True] Translation: X:245.75, Y:104.14, Z:6.78 [[ 7.53418683e-01 -6.44086182e-01 -1.32337743e-01 2.45750649e+02] [ 6.33896811e-01 7.64950048e-01 -1.14132632e-01 1.04135561e+02] [ 1.74743014e-01 2.10118407e-03 9.84611834e-01 6.77742294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.996875 meters 0.02491666359736802 Centerline is valid? [True, True] Translation: X:245.79, Y:104.18, Z:6.78 [[ 7.55887762e-01 -6.41104074e-01 -1.32737551e-01 2.45789992e+02] [ 6.30796919e-01 7.67448683e-01 -1.14532818e-01 1.04178823e+02] [ 1.75296715e-01 2.84351769e-03 9.84511542e-01 6.78406733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.056875 meters 0.024984356464095095 Centerline is valid? [True, True] Translation: X:245.83, Y:104.22, Z:6.80 [[ 7.57489372e-01 -6.39227247e-01 -1.32658878e-01 2.45833181e+02] [ 6.28894841e-01 7.69010750e-01 -1.14515266e-01 1.04216317e+02] [ 1.75217381e-01 3.31561348e-03 9.84524188e-01 6.79722039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.116875 meters 0.024981683475254382 Centerline is valid? [True, True] Translation: X:245.88, Y:104.25, Z:6.81 [[ 7.58285612e-01 -6.38209808e-01 -1.33008164e-01 2.45877048e+02] [ 6.27796794e-01 7.69854042e-01 -1.14873584e-01 1.04254505e+02] [ 1.75710320e-01 3.60488691e-03 9.84435314e-01 6.80787751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.176875 meters 0.025171636768445735 Centerline is valid? [True, True] Translation: X:245.92, Y:104.29, Z:6.82 [[ 7.57874006e-01 -6.38673205e-01 -1.33129741e-01 2.45920229e+02] [ 6.28237619e-01 7.69469921e-01 -1.15037102e-01 1.04292900e+02] [ 1.75910446e-01 3.54651745e-03 9.84399785e-01 6.81673431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.236875 meters 0.024784611992929303 Centerline is valid? [True, True] Translation: X:245.96, Y:104.33, Z:6.83 [[ 7.56622181e-01 -6.40329282e-01 -1.32292422e-01 2.45964556e+02] [ 6.30039309e-01 7.68093892e-01 -1.14377634e-01 1.04329646e+02] [ 1.74852350e-01 3.19122937e-03 9.84589494e-01 6.82676440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.296875 meters 0.024248736788537024 Centerline is valid? [True, True] Translation: X:246.01, Y:104.36, Z:6.84 [[ 7.54737336e-01 -6.42540292e-01 -1.32338682e-01 2.46011181e+02] [ 6.32266694e-01 7.66247056e-01 -1.14473908e-01 1.04364802e+02] [ 1.74958224e-01 2.72439147e-03 9.84572089e-01 6.83539321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.356875 meters 0.023548041292574293 Centerline is valid? [True, True] Translation: X:246.06, Y:104.40, Z:6.85 [[ 7.53460943e-01 -6.43872251e-01 -1.33135767e-01 2.46056445e+02] [ 6.33483989e-01 7.65129010e-01 -1.15219933e-01 1.04399741e+02] [ 1.76052955e-01 2.47434235e-03 9.84377587e-01 6.84526094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.416875 meters 0.023129700234379436 Centerline is valid? [True, True] Translation: X:246.10, Y:104.44, Z:6.86 [[ 7.52696928e-01 -6.44794247e-01 -1.32995165e-01 2.46102681e+02] [ 6.34430715e-01 7.64352705e-01 -1.15163408e-01 1.04435629e+02] [ 1.75911917e-01 2.30692524e-03 9.84403208e-01 6.85593171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.476875 meters 0.023141962611942967 Centerline is valid? [True, True] Translation: X:246.15, Y:104.47, Z:6.86 [[ 7.52866957e-01 -6.44667169e-01 -1.32648355e-01 2.46146591e+02] [ 6.34345868e-01 7.64459679e-01 -1.14920488e-01 1.04473010e+02] [ 1.75489784e-01 2.37490194e-03 9.84478388e-01 6.86454132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.536875 meters 0.023429175554602145 Centerline is valid? [True, True] Translation: X:246.19, Y:104.51, Z:6.87 [[ 7.53960956e-01 -6.43107637e-01 -1.33997928e-01 2.46190811e+02] [ 6.32537485e-01 7.65770614e-01 -1.16153764e-01 1.04510692e+02] [ 1.77311048e-01 2.81669097e-03 9.84150831e-01 6.87141271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.596875 meters 0.023689129921087414 Centerline is valid? [True, True] Translation: X:246.24, Y:104.55, Z:6.88 [[ 7.54923517e-01 -6.41756386e-01 -1.35052672e-01 2.46235072e+02] [ 6.30987403e-01 7.66901894e-01 -1.17116957e-01 1.04547690e+02] [ 1.78732705e-01 3.19780990e-03 9.83892471e-01 6.88145361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.656875 meters 0.024296873143902654 Centerline is valid? [True, True] Translation: X:246.28, Y:104.59, Z:6.89 [[ 7.56766606e-01 -6.39631515e-01 -1.34817761e-01 2.46277327e+02] [ 6.28858479e-01 7.68672633e-01 -1.16958954e-01 1.04586357e+02] [ 1.78441356e-01 3.72933890e-03 9.83943481e-01 6.89207580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.716875 meters 0.025170646002625686 Centerline is valid? [True, True] Translation: X:246.32, Y:104.63, Z:6.90 [[ 7.58113439e-01 -6.38078089e-01 -1.34611904e-01 2.46320681e+02] [ 6.27306145e-01 7.69960621e-01 -1.16823123e-01 1.04625504e+02] [ 1.78188141e-01 4.12230481e-03 9.83987801e-01 6.90123862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.776875 meters 0.024853412509881292 Centerline is valid? [True, True] Translation: X:246.36, Y:104.66, Z:6.91 [[ 7.58656172e-01 -6.37562115e-01 -1.33997620e-01 2.46364931e+02] [ 6.26870891e-01 7.70387133e-01 -1.16346688e-01 1.04661215e+02] [ 1.77408283e-01 4.26792524e-03 9.84128084e-01 6.91225692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.836875 meters 0.02495831983891274 Centerline is valid? [True, True] Translation: X:246.41, Y:104.70, Z:6.92 [[ 7.58671769e-01 -6.37649902e-01 -1.33490634e-01 2.46408788e+02] [ 6.27029867e-01 7.70314399e-01 -1.15971001e-01 1.04698801e+02] [ 1.76778655e-01 4.28130985e-03 9.84241321e-01 6.92181229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.896875 meters 0.024197800659447207 Centerline is valid? [True, True] Translation: X:246.45, Y:104.73, Z:6.93 [[ 7.57790333e-01 -6.38743163e-01 -1.33270339e-01 2.46454186e+02] [ 6.28163811e-01 7.69409263e-01 -1.15843048e-01 1.04734590e+02] [ 1.76533388e-01 4.06913785e-03 9.84286241e-01 6.93381155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.956875 meters 0.02394479125741436 Centerline is valid? [True, True] Translation: X:246.50, Y:104.77, Z:6.94 [[ 7.57041931e-01 -6.39639315e-01 -1.33225606e-01 2.46499309e+02] [ 6.29070748e-01 7.68665281e-01 -1.15860607e-01 1.04770504e+02] [ 1.76514897e-01 3.90300624e-03 9.84290230e-01 6.94441266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.016875 meters 0.02330126056934212 Centerline is valid? [True, True] Translation: X:246.54, Y:104.81, Z:6.95 [[ 7.55351698e-01 -6.41645893e-01 -1.33170421e-01 2.46544399e+02] [ 6.31106817e-01 7.66993126e-01 -1.15869452e-01 1.04807216e+02] [ 1.76487956e-01 3.47742666e-03 9.84296657e-01 6.95243075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07687500000003 meters 0.023344217796866535 Centerline is valid? [True, True] Translation: X:246.59, Y:104.84, Z:6.96 [[ 7.53955195e-01 -6.43111945e-01 -1.34009663e-01 2.46588041e+02] [ 6.32451092e-01 7.65765492e-01 -1.16656882e-01 1.04842792e+02] [ 1.77643410e-01 3.19950417e-03 9.84089723e-01 6.96027834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13687500000003 meters 0.02291253186187251 Centerline is valid? [True, True] Translation: X:246.63, Y:104.88, Z:6.97 [[ 7.53284553e-01 -6.43638114e-01 -1.35249254e-01 2.46634805e+02] [ 6.32775579e-01 7.65323503e-01 -1.17792197e-01 1.04877814e+02] [ 1.79324980e-01 3.14861710e-03 9.83784853e-01 6.97132391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19687500000003 meters 0.02226920098609607 Centerline is valid? [True, True] Translation: X:246.68, Y:104.91, Z:6.98 [[ 7.52295088e-01 -6.44731229e-01 -1.35549777e-01 2.46679760e+02] [ 6.33826810e-01 7.64403686e-01 -1.18112572e-01 1.04913654e+02] [ 1.79765613e-01 2.94042546e-03 9.83705077e-01 6.98067861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25687500000004 meters 0.022506666980279675 Centerline is valid? [True, True] Translation: X:246.72, Y:104.95, Z:6.99 [[ 7.52327238e-01 -6.44774185e-01 -1.35166481e-01 2.46723867e+02] [ 6.33920743e-01 7.64367332e-01 -1.17843427e-01 1.04950221e+02] [ 1.79299242e-01 2.97198373e-03 9.83790094e-01 6.99080913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31687500000004 meters 0.022426934377759992 Centerline is valid? [True, True] Translation: X:246.77, Y:104.99, Z:7.00 [[ 7.52762232e-01 -6.44260288e-01 -1.35195061e-01 2.46768120e+02] [ 6.33382225e-01 7.64799836e-01 -1.17932899e-01 1.04987398e+02] [ 1.79376644e-01 3.14528361e-03 9.83775445e-01 7.00190860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37687500000004 meters 0.022225380346287703 Centerline is valid? [True, True] Translation: X:246.81, Y:105.02, Z:7.01 [[ 7.53255103e-01 -6.43700471e-01 -1.35116444e-01 2.46812381e+02] [ 6.32814738e-01 7.65270308e-01 -1.17927364e-01 1.05024827e+02] [ 1.79310502e-01 3.32571186e-03 9.83786910e-01 7.01303124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43687500000004 meters 0.02262562699752743 Centerline is valid? [True, True] Translation: X:246.86, Y:105.06, Z:7.02 [[ 7.53663611e-01 -6.43212126e-01 -1.35164057e-01 2.46855034e+02] [ 6.32300574e-01 7.65680090e-01 -1.18025351e-01 1.05062808e+02] [ 1.79407765e-01 3.48710124e-03 9.83768618e-01 7.02252036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.496875 meters 0.022640070020132515 Centerline is valid? [True, True] Translation: X:246.90, Y:105.10, Z:7.03 [[ 7.53193845e-01 -6.43909181e-01 -1.34461886e-01 2.46899182e+02] [ 6.33116780e-01 7.65094692e-01 -1.17444691e-01 1.05101170e+02] [ 1.78499790e-01 3.32854164e-03 9.83934320e-01 7.03120956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.556875 meters 0.022089602170506577 Centerline is valid? [True, True] Translation: X:246.95, Y:105.14, Z:7.04 [[ 7.51656246e-01 -6.45795798e-01 -1.34017445e-01 2.46945160e+02] [ 6.35094573e-01 7.63504609e-01 -1.17113603e-01 1.05136855e+02] [ 1.77954410e-01 2.91541967e-03 9.84034414e-01 7.04175635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.616875 meters 0.021793399911728753 Centerline is valid? [True, True] Translation: X:246.99, Y:105.17, Z:7.05 [[ 7.50544097e-01 -6.47171355e-01 -1.33614355e-01 2.46990230e+02] [ 6.36546173e-01 7.62340043e-01 -1.16818783e-01 1.05174163e+02] [ 1.77461343e-01 2.62594143e-03 9.84124269e-01 7.05197855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.676875 meters 0.021359172491000878 Centerline is valid? [True, True] Translation: X:247.04, Y:105.21, Z:7.06 [[ 7.48762970e-01 -6.49427910e-01 -1.32655206e-01 2.47036378e+02] [ 6.38980840e-01 7.60420209e-01 -1.16037028e-01 1.05209710e+02] [ 1.76231384e-01 2.12009464e-03 9.84346486e-01 7.06228799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.736875 meters 0.02090012511585076 Centerline is valid? [True, True] Translation: X:247.08, Y:105.25, Z:7.07 [[ 7.47126636e-01 -6.51383596e-01 -1.32292105e-01 2.47081764e+02] [ 6.41014167e-01 7.58746680e-01 -1.15776997e-01 1.05246080e+02] [ 1.75791432e-01 1.69896503e-03 9.84425968e-01 7.07138800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.796875 meters 0.020652812243612803 Centerline is valid? [True, True] Translation: X:247.13, Y:105.28, Z:7.08 [[ 7.45512215e-01 -6.53269406e-01 -1.32100794e-01 2.47125374e+02] [ 6.42949357e-01 7.57124429e-01 -1.15666428e-01 1.05282095e+02] [ 1.75578077e-01 1.29661424e-03 9.84464655e-01 7.07852034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.856875 meters 0.020220259030880972 Centerline is valid? [True, True] Translation: X:247.17, Y:105.32, Z:7.09 [[ 7.44113431e-01 -6.54905205e-01 -1.31887733e-01 2.47170280e+02] [ 6.44636100e-01 7.55710448e-01 -1.15524966e-01 1.05317873e+02] [ 1.75326839e-01 9.44085404e-04 9.84509831e-01 7.08813756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.916875 meters 0.02009614803629918 Centerline is valid? [True, True] Translation: X:247.22, Y:105.35, Z:7.10 [[ 7.42393299e-01 -6.56754585e-01 -1.32384308e-01 2.47215906e+02] [ 6.46424795e-01 7.54104171e-01 -1.16025356e-01 1.05352898e+02] [ 1.76031743e-01 5.59947840e-04 9.84384331e-01 7.09667768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.976875 meters 0.019971249455974144 Centerline is valid? [True, True] Translation: X:247.26, Y:105.39, Z:7.11 [[ 7.41938413e-01 -6.57221915e-01 -1.32615029e-01 2.47259915e+02] [ 6.46851585e-01 7.53696958e-01 -1.16292398e-01 1.05389378e+02] [ 1.76381456e-01 4.99555636e-04 9.84321763e-01 7.10624821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.036875 meters 0.020148347947728105 Centerline is valid? [True, True] Translation: X:247.30, Y:105.43, Z:7.11 [[ 7.42717677e-01 -6.56414485e-01 -1.32251568e-01 2.47302691e+02] [ 6.46077030e-01 7.54400078e-01 -1.16038760e-01 1.05427222e+02] [ 1.75940116e-01 7.39338180e-04 9.84400594e-01 7.11457564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.096875 meters 0.01992223656133504 Centerline is valid? [True, True] Translation: X:247.35, Y:105.47, Z:7.12 [[ 7.43511761e-01 -6.55652572e-01 -1.31567347e-01 2.47345130e+02] [ 6.45399406e-01 7.55062101e-01 -1.15502515e-01 1.05465009e+02] [ 1.75071039e-01 9.63991004e-04 9.84555332e-01 7.12442673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.156875 meters 0.020034440431792363 Centerline is valid? [True, True] Translation: X:247.39, Y:105.50, Z:7.14 [[ 7.44015728e-01 -6.55338419e-01 -1.30277215e-01 2.47388767e+02] [ 6.45270958e-01 7.55334627e-01 -1.14433356e-01 1.05502335e+02] [ 1.73395466e-01 1.07611321e-03 9.84851691e-01 7.13580247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.216875 meters 0.020125192822472816 Centerline is valid? [True, True] Translation: X:247.43, Y:105.54, Z:7.15 [[ 7.43909571e-01 -6.55620568e-01 -1.29461271e-01 2.47432293e+02] [ 6.45673098e-01 7.55089772e-01 -1.13779110e-01 1.05539391e+02] [ 1.72350806e-01 1.05170894e-03 9.85035072e-01 7.14564065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.276875 meters 0.01986309176156345 Centerline is valid? [True, True] Translation: X:247.48, Y:105.58, Z:7.16 [[ 7.43514448e-01 -6.56239362e-01 -1.28593025e-01 2.47476906e+02] [ 6.46424004e-01 7.54552182e-01 -1.13079671e-01 1.05576012e+02] [ 1.71237478e-01 9.50751266e-04 9.85229325e-01 7.15502378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.336875 meters 0.01947261113547721 Centerline is valid? [True, True] Translation: X:247.52, Y:105.61, Z:7.16 [[ 7.43065238e-01 -6.56975556e-01 -1.27425156e-01 2.47520707e+02] [ 6.47338928e-01 7.53911429e-01 -1.12115427e-01 1.05613739e+02] [ 1.69724377e-01 8.21812996e-04 9.85491228e-01 7.16365086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.396875 meters 0.019347216187112524 Centerline is valid? [True, True] Translation: X:247.56, Y:105.65, Z:7.17 [[ 7.43437884e-01 -6.56801590e-01 -1.26141917e-01 2.47564531e+02] [ 6.47346792e-01 7.54062905e-01 -1.11046236e-01 1.05651405e+02] [ 1.68054285e-01 8.98413895e-04 9.85777333e-01 7.17296505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.456875 meters 0.01973559525470307 Centerline is valid? [True, True] Translation: X:247.61, Y:105.69, Z:7.18 [[ 7.45315816e-01 -6.54812986e-01 -1.25396523e-01 2.47607516e+02] [ 6.45432027e-01 7.55789674e-01 -1.10451195e-01 1.05690074e+02] [ 1.67098274e-01 1.38609050e-03 9.85939271e-01 7.18172353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.516875 meters 0.020119745289624125 Centerline is valid? [True, True] Translation: X:247.65, Y:105.73, Z:7.19 [[ 7.46545222e-01 -6.53411018e-01 -1.25396465e-01 2.47649090e+02] [ 6.44000411e-01 7.57001318e-01 -1.10510069e-01 1.05730557e+02] [ 1.67133786e-01 1.74538922e-03 9.85932681e-01 7.18822896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57687500000003 meters 0.02039860688633877 Centerline is valid? [True, True] Translation: X:247.69, Y:105.77, Z:7.20 [[ 7.48431210e-01 -6.51009156e-01 -1.26640445e-01 2.47691888e+02] [ 6.41370229e-01 7.59066306e-01 -1.11635888e-01 1.05770088e+02] [ 1.68804480e-01 2.32837159e-03 9.85646806e-01 7.19513705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63687500000003 meters 0.02011544703379427 Centerline is valid? [True, True] Translation: X:247.73, Y:105.81, Z:7.20 [[ 7.48011294e-01 -6.51534893e-01 -1.26417511e-01 2.47734563e+02] [ 6.41928062e-01 7.58615335e-01 -1.11495010e-01 1.05807889e+02] [ 1.68545151e-01 2.24857889e-03 9.85691369e-01 7.20373304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69687500000003 meters 0.020652587954950903 Centerline is valid? [True, True] Translation: X:247.78, Y:105.85, Z:7.21 [[ 7.48250982e-01 -6.51481484e-01 -1.25269086e-01 2.47776707e+02] [ 6.42038484e-01 7.58661087e-01 -1.10543839e-01 1.05846724e+02] [ 1.67054045e-01 2.28696180e-03 9.85945088e-01 7.21268805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75687500000004 meters 0.020756437809551498 Centerline is valid? [True, True] Translation: X:247.82, Y:105.88, Z:7.22 [[ 7.47757434e-01 -6.52051636e-01 -1.25249690e-01 2.47819384e+02] [ 6.42609046e-01 7.58171349e-01 -1.10588513e-01 1.05884799e+02] [ 1.67070147e-01 2.20679884e-03 9.85942542e-01 7.22128486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81687500000004 meters 0.020663017549250408 Centerline is valid? [True, True] Translation: X:247.86, Y:105.92, Z:7.23 [[ 7.46873964e-01 -6.53116699e-01 -1.24971438e-01 2.47862597e+02] [ 6.43720774e-01 7.57254603e-01 -1.10403947e-01 1.05922618e+02] [ 1.66741858e-01 2.01112265e-03 9.85998534e-01 7.23088054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87687500000004 meters 0.020435507209529274 Centerline is valid? [True, True] Translation: X:247.91, Y:105.96, Z:7.24 [[ 7.45746565e-01 -6.54399897e-01 -1.24991341e-01 2.47906940e+02] [ 6.45008823e-01 7.56146574e-01 -1.10480663e-01 1.05959916e+02] [ 1.66810309e-01 1.77005693e-03 9.85987418e-01 7.24027713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93687500000004 meters 0.01998146632320103 Centerline is valid? [True, True] Translation: X:247.95, Y:106.00, Z:7.25 [[ 7.44611829e-01 -6.55794256e-01 -1.24447245e-01 2.47950374e+02] [ 6.46494630e-01 7.54938178e-01 -1.10059262e-01 1.05997982e+02] [ 1.66126208e-01 1.49695320e-03 9.86103363e-01 7.24948839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.996875 meters 0.019990264127102066 Centerline is valid? [True, True] Translation: X:247.99, Y:106.04, Z:7.26 [[ 7.44150952e-01 -6.56331913e-01 -1.24369533e-01 2.47992968e+02] [ 6.47041279e-01 7.54470939e-01 -1.10050832e-01 1.06035848e+02] [ 1.66063071e-01 1.42220953e-03 9.86114108e-01 7.25911952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.056875 meters 0.01971545328120278 Centerline is valid? [True, True] Translation: X:248.04, Y:106.07, Z:7.27 [[ 7.42680456e-01 -6.58077278e-01 -1.23935614e-01 2.48036930e+02] [ 6.48865620e-01 7.52949627e-01 -1.09728150e-01 1.06072613e+02] [ 1.65526876e-01 1.07539314e-03 9.86204693e-01 7.26942790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.116875 meters 0.019802975479369975 Centerline is valid? [True, True] Translation: X:248.08, Y:106.11, Z:7.28 [[ 7.41369702e-01 -6.59514121e-01 -1.24145438e-01 2.48079925e+02] [ 6.50280606e-01 7.51691745e-01 -1.09975699e-01 1.06109419e+02] [ 1.65849627e-01 8.03280653e-04 9.86150727e-01 7.27873712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.176875 meters 0.01946643650594265 Centerline is valid? [True, True] Translation: X:248.12, Y:106.15, Z:7.29 [[ 7.39337741e-01 -6.61713151e-01 -1.24560873e-01 2.48122916e+02] [ 6.52438836e-01 7.49757014e-01 -1.10399208e-01 1.06146037e+02] [ 1.66442996e-01 3.53950339e-04 9.86051015e-01 7.28706813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.236875 meters 0.019771043556892413 Centerline is valid? [True, True] Translation: X:248.17, Y:106.18, Z:7.30 [[ 7.38056391e-01 -6.63031956e-01 -1.25145473e-01 2.48166327e+02] [ 6.53679173e-01 7.48591087e-01 -1.10972623e-01 1.06183455e+02] [ 1.67261181e-01 9.90640759e-05 9.85912617e-01 7.29650910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.296875 meters 0.01963532063704234 Centerline is valid? [True, True] Translation: X:248.21, Y:106.22, Z:7.31 [[ 7.37137287e-01 -6.63982681e-01 -1.25521387e-01 2.48208405e+02] [ 6.54576308e-01 7.47747948e-01 -1.11368140e-01 1.06222219e+02] [ 1.67804875e-01 -6.97172706e-05 9.85820226e-01 7.30534055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.356875 meters 0.01965838464081675 Centerline is valid? [True, True] Translation: X:248.25, Y:106.26, Z:7.31 [[ 7.37117519e-01 -6.63931811e-01 -1.25905971e-01 2.48250047e+02] [ 6.54455972e-01 7.47793120e-01 -1.11771332e-01 1.06261422e+02] [ 1.68360162e-01 -1.13078395e-05 9.85725548e-01 7.31440092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.416875 meters 0.01973796521435598 Centerline is valid? [True, True] Translation: X:248.29, Y:106.30, Z:7.32 [[ 7.37875966e-01 -6.62930038e-01 -1.26739198e-01 2.48290435e+02] [ 6.53301908e-01 7.48681304e-01 -1.12574078e-01 1.06301470e+02] [ 1.69516006e-01 2.66746675e-04 9.85527398e-01 7.32392780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.476875 meters 0.019511141845610105 Centerline is valid? [True, True] Translation: X:248.33, Y:106.34, Z:7.33 [[ 7.38622803e-01 -6.62211996e-01 -1.26141295e-01 2.48331749e+02] [ 6.52655186e-01 7.49316388e-01 -1.12098882e-01 1.06340429e+02] [ 1.68752964e-01 4.72020071e-04 9.85658264e-01 7.33477651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.536875 meters 0.019724595005874458 Centerline is valid? [True, True] Translation: X:248.37, Y:106.38, Z:7.35 [[ 7.39502148e-01 -6.61272813e-01 -1.25916005e-01 2.48372129e+02] [ 6.51725990e-01 7.50145139e-01 -1.11962067e-01 1.06380467e+02] [ 1.68492750e-01 7.33456116e-04 9.85702620e-01 7.34540537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.596875 meters 0.019794586592557412 Centerline is valid? [True, True] Translation: X:248.41, Y:106.42, Z:7.35 [[ 7.39988038e-01 -6.60748062e-01 -1.25816145e-01 2.48413367e+02] [ 6.51198096e-01 7.50607213e-01 -1.11936821e-01 1.06419679e+02] [ 1.68400543e-01 9.00674499e-04 9.85718239e-01 7.35420996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.656875 meters 0.01984704172018598 Centerline is valid? [True, True] Translation: X:248.46, Y:106.46, Z:7.36 [[ 7.39924095e-01 -6.60696762e-01 -1.26459963e-01 2.48455790e+02] [ 6.51036348e-01 7.50652287e-01 -1.12573609e-01 1.06459307e+02] [ 1.69304480e-01 9.65893180e-04 9.85563321e-01 7.36256007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.716875 meters 0.01989198598624415 Centerline is valid? [True, True] Translation: X:248.50, Y:106.50, Z:7.37 [[ 7.39737216e-01 -6.60974928e-01 -1.26099151e-01 2.48497979e+02] [ 6.51363202e-01 7.50407387e-01 -1.12315325e-01 1.06498183e+02] [ 1.68863348e-01 9.47479490e-04 9.85639017e-01 7.37164096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.776875 meters 0.020104345716152845 Centerline is valid? [True, True] Translation: X:248.54, Y:106.54, Z:7.38 [[ 7.39951027e-01 -6.60666315e-01 -1.26461448e-01 2.48540234e+02] [ 6.50983496e-01 7.50678944e-01 -1.12701419e-01 1.06537465e+02] [ 1.69389977e-01 1.06921469e-03 9.85548524e-01 7.38066998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.836875 meters 0.020318869571256584 Centerline is valid? [True, True] Translation: X:248.58, Y:106.58, Z:7.39 [[ 7.40697518e-01 -6.59814649e-01 -1.26537804e-01 2.48581766e+02] [ 6.50096838e-01 7.51427245e-01 -1.12832607e-01 1.06577894e+02] [ 1.69532560e-01 1.31300549e-03 9.85523712e-01 7.38833738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.896875 meters 0.020337989080101766 Centerline is valid? [True, True] Translation: X:248.62, Y:106.62, Z:7.40 [[ 7.41506174e-01 -6.58833002e-01 -1.26915995e-01 2.48623863e+02] [ 6.49031889e-01 7.52287547e-01 -1.13230094e-01 1.06618276e+02] [ 1.70077045e-01 1.58828521e-03 9.85429488e-01 7.39729737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.956875 meters 0.020461697384992393 Centerline is valid? [True, True] Translation: X:248.67, Y:106.66, Z:7.41 [[ 7.41953374e-01 -6.58319217e-01 -1.26968494e-01 2.48666584e+02] [ 6.48492702e-01 7.52736837e-01 -1.13333448e-01 1.06657669e+02] [ 1.70183450e-01 1.74999224e-03 9.85410844e-01 7.40592549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.016875 meters 0.02035862125756823 Centerline is valid? [True, True] Translation: X:248.71, Y:106.70, Z:7.41 [[ 7.41763008e-01 -6.58485390e-01 -1.27218833e-01 2.48709125e+02] [ 6.48611374e-01 7.52591445e-01 -1.13619555e-01 1.06696970e+02] [ 1.70560623e-01 1.76320120e-03 9.85345607e-01 7.41361006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07687500000003 meters 0.02040288423877575 Centerline is valid? [True, True] Translation: X:248.75, Y:106.74, Z:7.42 [[ 7.41279035e-01 -6.58980082e-01 -1.27478014e-01 2.48752340e+02] [ 6.49061644e-01 7.52158465e-01 -1.13914994e-01 1.06735247e+02] [ 1.70951380e-01 1.70170754e-03 9.85277996e-01 7.42211599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13687500000003 meters 0.020229809176395983 Centerline is valid? [True, True] Translation: X:248.80, Y:106.77, Z:7.43 [[ 7.40108328e-01 -6.60440125e-01 -1.26722157e-01 2.48795865e+02] [ 6.50649930e-01 7.50877397e-01 -1.13304029e-01 1.06772645e+02] [ 1.69983330e-01 1.40549308e-03 9.85445936e-01 7.43157745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19687500000003 meters 0.019943035041779338 Centerline is valid? [True, True] Translation: X:248.84, Y:106.81, Z:7.44 [[ 7.39296526e-01 -6.61466256e-01 -1.26107249e-01 2.48838541e+02] [ 6.51775794e-01 7.49973950e-01 -1.12815726e-01 1.06809920e+02] [ 1.69200947e-01 1.21062190e-03 9.85580831e-01 7.44103482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25687500000004 meters 0.01982540583095245 Centerline is valid? [True, True] Translation: X:248.88, Y:106.85, Z:7.45 [[ 7.38907709e-01 -6.62046686e-01 -1.25337875e-01 2.48880616e+02] [ 6.52474432e-01 7.49461775e-01 -1.12179155e-01 1.06848119e+02] [ 1.68203784e-01 1.11028313e-03 9.85751619e-01 7.45069306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31687500000004 meters 0.019873449982357565 Centerline is valid? [True, True] Translation: X:248.92, Y:106.89, Z:7.46 [[ 7.38756538e-01 -6.62351780e-01 -1.24614996e-01 2.48923989e+02] [ 6.52884476e-01 7.49192200e-01 -1.11592600e-01 1.06885221e+02] [ 1.67274140e-01 1.08056634e-03 9.85909831e-01 7.46080982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37687500000004 meters 0.019562955494337685 Centerline is valid? [True, True] Translation: X:248.97, Y:106.92, Z:7.47 [[ 7.38705027e-01 -6.62479784e-01 -1.24239365e-01 2.48966622e+02] [ 6.53060914e-01 7.49078990e-01 -1.11319851e-01 1.06924295e+02] [ 1.66812248e-01 1.09666030e-03 9.85988068e-01 7.46996663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43687500000004 meters 0.01988856893095292 Centerline is valid? [True, True] Translation: X:249.01, Y:106.96, Z:7.48 [[ 7.39356656e-01 -6.61859789e-01 -1.23666302e-01 2.49009076e+02] [ 6.52509317e-01 7.49626566e-01 -1.10867505e-01 1.06963402e+02] [ 1.66082289e-01 1.27721338e-03 9.86111070e-01 7.47899198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.496875 meters 0.02028825340420615 Centerline is valid? [True, True] Translation: X:249.05, Y:107.00, Z:7.49 [[ 7.40201232e-01 -6.60910636e-01 -1.23690206e-01 2.49050954e+02] [ 6.51532996e-01 7.50463036e-01 -1.10950379e-01 1.07003571e+02] [ 1.66153214e-01 1.53735691e-03 9.86098751e-01 7.48751414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.556875 meters 0.020572839247098375 Centerline is valid? [True, True] Translation: X:249.09, Y:107.04, Z:7.50 [[ 7.41218527e-01 -6.59639923e-01 -1.24379527e-01 2.49092679e+02] [ 6.50128662e-01 7.51579431e-01 -1.11629214e-01 1.07044371e+02] [ 1.67116180e-01 1.87894618e-03 9.85935420e-01 7.49542980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.616875 meters 0.020451057054679634 Centerline is valid? [True, True] Translation: X:249.13, Y:107.08, Z:7.50 [[ 7.41860716e-01 -6.58807959e-01 -1.24959000e-01 2.49134563e+02] [ 6.49186103e-01 7.52308172e-01 -1.12204359e-01 1.07084675e+02] [ 1.67928802e-01 2.11836019e-03 9.85796850e-01 7.50370211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.676875 meters 0.02094178576782884 Centerline is valid? [True, True] Translation: X:249.18, Y:107.12, Z:7.51 [[ 7.41958606e-01 -6.58547122e-01 -1.25750208e-01 2.49176695e+02] [ 6.48789007e-01 7.52536179e-01 -1.12969571e-01 1.07124356e+02] [ 1.69027367e-01 2.23339277e-03 9.85608828e-01 7.51091605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.736875 meters 0.02042728217788132 Centerline is valid? [True, True] Translation: X:249.22, Y:107.16, Z:7.52 [[ 7.41508850e-01 -6.59145254e-01 -1.25268345e-01 2.49219351e+02] [ 6.49460789e-01 7.52012621e-01 -1.12595299e-01 1.07162597e+02] [ 1.68420033e-01 2.13353251e-03 9.85713011e-01 7.52085949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.796875 meters 0.01997024138438114 Centerline is valid? [True, True] Translation: X:249.26, Y:107.20, Z:7.53 [[ 7.40029050e-01 -6.60858947e-01 -1.24989829e-01 2.49262462e+02] [ 6.51231983e-01 7.50508006e-01 -1.12403904e-01 1.07200357e+02] [ 1.68088993e-01 1.78477993e-03 9.85770209e-01 7.53010924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.856875 meters 0.019421063236256936 Centerline is valid? [True, True] Translation: X:249.31, Y:107.24, Z:7.54 [[ 7.37535656e-01 -6.63647816e-01 -1.24950924e-01 2.49307066e+02] [ 6.54055897e-01 7.48044213e-01 -1.12431043e-01 1.07236588e+02] [ 1.68083432e-01 1.19701391e-03 9.85772046e-01 7.54036241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.916875 meters 0.019465214013044508 Centerline is valid? [True, True] Translation: X:249.35, Y:107.27, Z:7.55 [[ 7.36061816e-01 -6.65311343e-01 -1.24795112e-01 2.49350198e+02] [ 6.55756715e-01 7.46565518e-01 -1.12352384e-01 1.07274424e+02] [ 1.67917043e-01 8.63067617e-04 9.85800752e-01 7.54953260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.976875 meters 0.01938255775975327 Centerline is valid? [True, True] Translation: X:249.39, Y:107.31, Z:7.56 [[ 7.34722036e-01 -6.66877934e-01 -1.24327597e-01 2.49393238e+02] [ 6.57407776e-01 7.45166775e-01 -1.11988813e-01 1.07312014e+02] [ 1.67327663e-01 5.46719780e-04 9.85901189e-01 7.55952158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.036875 meters 0.019218132637348576 Centerline is valid? [True, True] Translation: X:249.44, Y:107.35, Z:7.57 [[ 7.33658771e-01 -6.68033732e-01 -1.24401531e-01 2.49437055e+02] [ 6.58557935e-01 7.44130918e-01 -1.12118789e-01 1.07349414e+02] [ 1.67470159e-01 3.31317664e-04 9.85877090e-01 7.56968003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.096875 meters 0.01920960090555203 Centerline is valid? [True, True] Translation: X:249.48, Y:107.39, Z:7.58 [[ 7.33309119e-01 -6.68423803e-01 -1.24367825e-01 2.49479539e+02] [ 6.58948068e-01 7.43780570e-01 -1.12151270e-01 1.07388032e+02] [ 1.67466950e-01 2.89610725e-04 9.85877648e-01 7.57905011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.156875 meters 0.018864157099951175 Centerline is valid? [True, True] Translation: X:249.52, Y:107.43, Z:7.59 [[ 7.32797947e-01 -6.69006887e-01 -1.24245538e-01 2.49522523e+02] [ 6.59547686e-01 7.43256177e-01 -1.12103101e-01 1.07425962e+02] [ 1.67344011e-01 2.03065100e-04 9.85898545e-01 7.58805437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.216875 meters 0.018896707631256837 Centerline is valid? [True, True] Translation: X:249.57, Y:107.46, Z:7.60 [[ 7.32718018e-01 -6.69136725e-01 -1.24017539e-01 2.49565175e+02] [ 6.59703970e-01 7.43139284e-01 -1.11958370e-01 1.07463985e+02] [ 1.67077762e-01 2.19052188e-04 9.85943697e-01 7.59822410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.276875 meters 0.018945384966367086 Centerline is valid? [True, True] Translation: X:249.61, Y:107.50, Z:7.61 [[ 7.33156192e-01 -6.68637097e-01 -1.24122648e-01 2.49606785e+02] [ 6.59170180e-01 7.43588789e-01 -1.12117735e-01 1.07502672e+02] [ 1.67262287e-01 3.81863496e-04 9.85912360e-01 7.60688302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.336875 meters 0.01930663672902096 Centerline is valid? [True, True] Translation: X:249.65, Y:107.54, Z:7.61 [[ 7.34654086e-01 -6.66930334e-01 -1.24447993e-01 2.49648631e+02] [ 6.57379178e-01 7.45119630e-01 -1.12469348e-01 1.07542871e+02] [ 1.67737862e-01 8.16547156e-04 9.85831295e-01 7.61336932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.396875 meters 0.019597885831773236 Centerline is valid? [True, True] Translation: X:249.69, Y:107.58, Z:7.62 [[ 7.35011233e-01 -6.66299436e-01 -1.25712165e-01 2.49691746e+02] [ 6.56532138e-01 7.45683597e-01 -1.13672884e-01 1.07581822e+02] [ 1.69481678e-01 1.01677062e-03 9.85532814e-01 7.62100932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.456875 meters 0.0193365311049629 Centerline is valid? [True, True] Translation: X:249.73, Y:107.62, Z:7.63 [[ 7.35861567e-01 -6.65297105e-01 -1.26045694e-01 2.49734871e+02] [ 6.55453329e-01 7.46577585e-01 -1.14030010e-01 1.07620046e+02] [ 1.69966725e-01 1.29323210e-03 9.85448953e-01 7.63060061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.516875 meters 0.019399757916502707 Centerline is valid? [True, True] Translation: X:249.78, Y:107.66, Z:7.64 [[ 7.36612535e-01 -6.64470541e-01 -1.26019335e-01 2.49777098e+02] [ 6.54608028e-01 7.47312889e-01 -1.14069168e-01 1.07658745e+02] [ 1.69971475e-01 1.53151079e-03 9.85447793e-01 7.63941060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57687500000003 meters 0.019584669882760267 Centerline is valid? [True, True] Translation: X:249.82, Y:107.70, Z:7.65 [[ 7.38040639e-01 -6.63003885e-01 -1.25386854e-01 2.49819834e+02] [ 6.53209179e-01 7.48613526e-01 -1.13558605e-01 1.07696735e+02] [ 1.69156092e-01 1.90702183e-03 9.85587429e-01 7.64887894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63687500000003 meters 0.019647495158107625 Centerline is valid? [True, True] Translation: X:249.86, Y:107.73, Z:7.66 [[ 7.38176055e-01 -6.62844858e-01 -1.25430481e-01 2.49862329e+02] [ 6.53030394e-01 7.48754118e-01 -1.13659906e-01 1.07734976e+02] [ 1.69255473e-01 1.99110451e-03 9.85570201e-01 7.65825824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69687500000003 meters 0.019646457253245497 Centerline is valid? [True, True] Translation: X:249.91, Y:107.77, Z:7.67 [[ 7.38432673e-01 -6.62632973e-01 -1.25038919e-01 2.49905937e+02] [ 6.52866239e-01 7.48941394e-01 -1.13368706e-01 1.07771718e+02] [ 1.68768665e-01 2.08146792e-03 9.85653491e-01 7.66798252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75687500000004 meters 0.01887395497391949 Centerline is valid? [True, True] Translation: X:249.95, Y:107.81, Z:7.68 [[ 7.37174938e-01 -6.64144384e-01 -1.24440139e-01 2.49950667e+02] [ 6.54482272e-01 7.47602225e-01 -1.12888746e-01 1.07808044e+02] [ 1.68006151e-01 1.77488946e-03 9.85784349e-01 7.67885396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81687500000004 meters 0.019070690496230346 Centerline is valid? [True, True] Translation: X:249.99, Y:107.85, Z:7.69 [[ 7.36819385e-01 -6.64446291e-01 -1.24933263e-01 2.49991883e+02] [ 6.54700646e-01 7.47333948e-01 -1.13397683e-01 1.07846971e+02] [ 1.68713539e-01 1.75972308e-03 9.85663556e-01 7.68558043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87687500000004 meters 0.018626946448664396 Centerline is valid? [True, True] Translation: X:250.04, Y:107.88, Z:7.69 [[ 7.35465431e-01 -6.65840561e-01 -1.25486840e-01 2.50035019e+02] [ 6.56020118e-01 7.46092591e-01 -1.13944944e-01 1.07884612e+02] [ 1.69493967e-01 1.48067596e-03 9.85530113e-01 7.69306654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93687500000004 meters 0.018172246961734716 Centerline is valid? [True, True] Translation: X:250.08, Y:107.92, Z:7.70 [[ 7.33434621e-01 -6.67966230e-01 -1.26074470e-01 2.50079513e+02] [ 6.58072937e-01 7.44190854e-01 -1.14542490e-01 1.07920383e+02] [ 1.70333983e-01 1.04323038e-03 9.85385836e-01 7.70311535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.996875 meters 0.017931234018722708 Centerline is valid? [True, True] Translation: X:250.12, Y:107.96, Z:7.71 [[ 7.33040831e-01 -6.68488620e-01 -1.25595003e-01 2.50121453e+02] [ 6.58667653e-01 7.43721743e-01 -1.14170447e-01 1.07959513e+02] [ 1.69729379e-01 9.66233700e-04 9.85490236e-01 7.71223467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.056875 meters 0.018136504670663838 Centerline is valid? [True, True] Translation: X:250.16, Y:108.00, Z:7.72 [[ 7.33368876e-01 -6.68102786e-01 -1.25732888e-01 2.50162450e+02] [ 6.58243547e-01 7.44068174e-01 -1.14359019e-01 1.07999265e+02] [ 1.69957420e-01 1.10448332e-03 9.85450788e-01 7.72051214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.116875 meters 0.01793268759991546 Centerline is valid? [True, True] Translation: X:250.20, Y:108.04, Z:7.73 [[ 7.33462691e-01 -6.68007092e-01 -1.25694095e-01 2.50204421e+02] [ 6.58141793e-01 7.44153981e-01 -1.14386329e-01 1.08038461e+02] [ 1.69946640e-01 1.17356757e-03 9.85452567e-01 7.72989000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.176875 meters 0.018266816421058214 Centerline is valid? [True, True] Translation: X:250.25, Y:108.08, Z:7.74 [[ 7.33680936e-01 -6.67915819e-01 -1.24902935e-01 2.50245439e+02] [ 6.58163210e-01 7.44235807e-01 -1.13728859e-01 1.08077932e+02] [ 1.68918541e-01 1.23417961e-03 9.85629242e-01 7.73865998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.236875 meters 0.01838313827310305 Centerline is valid? [True, True] Translation: X:250.29, Y:108.12, Z:7.75 [[ 7.34222726e-01 -6.67262500e-01 -1.25210800e-01 2.50287237e+02] [ 6.57442371e-01 7.44821261e-01 -1.14064974e-01 1.08118162e+02] [ 1.69370946e-01 1.43021122e-03 9.85551337e-01 7.74763798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.296875 meters 0.018881008695848207 Centerline is valid? [True, True] Translation: X:250.33, Y:108.16, Z:7.76 [[ 7.35240728e-01 -6.66104253e-01 -1.25404129e-01 2.50328221e+02] [ 6.56226242e-01 7.45856604e-01 -1.14302429e-01 1.08159569e+02] [ 1.69670832e-01 1.74632069e-03 9.85499244e-01 7.75648670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.356875 meters 0.018707139208190064 Centerline is valid? [True, True] Translation: X:250.37, Y:108.20, Z:7.77 [[ 7.35087344e-01 -6.66206959e-01 -1.25757243e-01 2.50369873e+02] [ 6.56264533e-01 7.45764811e-01 -1.14680902e-01 1.08199878e+02] [ 1.70186542e-01 1.77046121e-03 9.85410273e-01 7.76519264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.416875 meters 0.018420461971541683 Centerline is valid? [True, True] Translation: X:250.41, Y:108.24, Z:7.77 [[ 7.34147755e-01 -6.67285369e-01 -1.25528126e-01 2.50412624e+02] [ 6.57384136e-01 7.44800500e-01 -1.14535201e-01 1.08238063e+02] [ 1.69921075e-01 1.56556248e-03 9.85456431e-01 7.77392314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.476875 meters 0.018086261389640423 Centerline is valid? [True, True] Translation: X:250.46, Y:108.28, Z:7.78 [[ 7.31961152e-01 -6.69928952e-01 -1.24209791e-01 2.50456932e+02] [ 6.60263303e-01 7.42424557e-01 -1.13393778e-01 1.08275659e+02] [ 1.68182174e-01 9.88673738e-04 9.85755436e-01 7.78419652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.536875 meters 0.01805599832736191 Centerline is valid? [True, True] Translation: X:250.50, Y:108.31, Z:7.79 [[ 7.30124421e-01 -6.71928650e-01 -1.24218437e-01 2.50500561e+02] [ 6.62280666e-01 7.40615665e-01 -1.13458170e-01 1.08313801e+02] [ 1.68233916e-01 5.71111758e-04 9.85746937e-01 7.79337193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.596875 meters 0.017978722257771577 Centerline is valid? [True, True] Translation: X:250.54, Y:108.35, Z:7.80 [[ 7.28579871e-01 -6.73648018e-01 -1.23974669e-01 2.50543584e+02] [ 6.64052674e-01 7.39052298e-01 -1.13294952e-01 1.08351749e+02] [ 1.67944684e-01 2.18711198e-04 9.85796396e-01 7.80231788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.656875 meters 0.018347291536527303 Centerline is valid? [True, True] Translation: X:250.59, Y:108.39, Z:7.81 [[ 7.26892909e-01 -6.75426129e-01 -1.24202429e-01 2.50585711e+02] [ 6.65809997e-01 7.37427640e-01 -1.13567262e-01 1.08389880e+02] [ 1.68296601e-01 -1.43981438e-04 9.85736391e-01 7.80903383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.716875 meters 0.018492961602668362 Centerline is valid? [True, True] Translation: X:250.63, Y:108.43, Z:7.82 [[ 7.25500377e-01 -6.76903686e-01 -1.24300456e-01 2.50629045e+02] [ 6.67283873e-01 7.36071466e-01 -1.13714684e-01 1.08428040e+02] [ 1.68467908e-01 -4.43644191e-04 9.85707039e-01 7.81719840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.776875 meters 0.018531107130315687 Centerline is valid? [True, True] Translation: X:250.67, Y:108.46, Z:7.83 [[ 7.23784693e-01 -6.78765725e-01 -1.24148335e-01 2.50672991e+02] [ 6.69185823e-01 7.34354414e-01 -1.13639469e-01 1.08463702e+02] [ 1.68303454e-01 -8.27797122e-04 9.85734884e-01 7.82610689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.836875 meters 0.018493366575051354 Centerline is valid? [True, True] Translation: X:250.71, Y:108.50, Z:7.84 [[ 7.23439792e-01 -6.79285043e-01 -1.23315443e-01 2.50714984e+02] [ 6.69831876e-01 7.33873982e-01 -1.12934654e-01 1.08502767e+02] [ 1.67212816e-01 -8.99192190e-04 9.85920415e-01 7.83647326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.896875 meters 0.01859547179206543 Centerline is valid? [True, True] Translation: X:250.76, Y:108.54, Z:7.85 [[ 7.23881450e-01 -6.78924417e-01 -1.22708118e-01 2.50756910e+02] [ 6.69549657e-01 7.34207768e-01 -1.12437579e-01 1.08541938e+02] [ 1.66429871e-01 -7.67700643e-04 9.86052995e-01 7.84579291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.956875 meters 0.018614208404205905 Centerline is valid? [True, True] Translation: X:250.80, Y:108.58, Z:7.85 [[ 7.24191217e-01 -6.78697071e-01 -1.22136678e-01 2.50799083e+02] [ 6.69396130e-01 7.34418031e-01 -1.11977571e-01 1.08581538e+02] [ 1.65698228e-01 -6.64646300e-04 9.86176280e-01 7.85470396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.016875 meters 0.018429755884489144 Centerline is valid? [True, True] Translation: X:250.84, Y:108.62, Z:7.86 [[ 7.25263278e-01 -6.77685555e-01 -1.21389725e-01 2.50840802e+02] [ 6.68474364e-01 7.35351712e-01 -1.11354771e-01 1.08621518e+02] [ 1.64727662e-01 -3.84393394e-04 9.86339014e-01 7.86372526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07687500000003 meters 0.018629429677426045 Centerline is valid? [True, True] Translation: X:250.88, Y:108.66, Z:7.87 [[ 7.26512742e-01 -6.76301992e-01 -1.21634088e-01 2.50882634e+02] [ 6.67023903e-01 7.36624473e-01 -1.11640041e-01 1.08661622e+02] [ 1.65101028e-01 -2.49319241e-05 9.86276660e-01 7.87164026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13687500000003 meters 0.019064169668162916 Centerline is valid? [True, True] Translation: X:250.92, Y:108.70, Z:7.88 [[ 7.29108145e-01 -6.73471214e-01 -1.21810657e-01 2.50923460e+02] [ 6.64119951e-01 7.39213165e-01 -1.11841794e-01 1.08702054e+02] [ 1.65366270e-01 6.47875671e-04 9.86232010e-01 7.88060098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19687500000003 meters 0.01934972689808114 Centerline is valid? [True, True] Translation: X:250.96, Y:108.74, Z:7.89 [[ 7.31257867e-01 -6.71149199e-01 -1.21740237e-01 2.50963611e+02] [ 6.61766538e-01 7.41321298e-01 -1.11838194e-01 1.08742784e+02] [ 1.65308745e-01 1.21894422e-03 9.86241113e-01 7.88818887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25687500000004 meters 0.01998239148126456 Centerline is valid? [True, True] Translation: X:251.00, Y:108.78, Z:7.90 [[ 7.34039583e-01 -6.68009670e-01 -1.22265988e-01 2.51004592e+02] [ 6.58496908e-01 7.44150017e-01 -1.12350234e-01 1.08784724e+02] [ 1.66035279e-01 1.95774398e-03 9.86117870e-01 7.89537400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31687500000004 meters 0.020276604890600222 Centerline is valid? [True, True] Translation: X:251.05, Y:108.82, Z:7.90 [[ 7.34901520e-01 -6.67111037e-01 -1.21994345e-01 2.51045921e+02] [ 6.57619384e-01 7.44955058e-01 -1.12154838e-01 1.08824664e+02] [ 1.65700035e-01 2.19691446e-03 9.86173753e-01 7.90349324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37687500000004 meters 0.019864892481051766 Centerline is valid? [True, True] Translation: X:251.09, Y:108.86, Z:7.91 [[ 7.34349644e-01 -6.67768191e-01 -1.21721995e-01 2.51089327e+02] [ 6.58318268e-01 7.44366363e-01 -1.11963278e-01 1.08862439e+02] [ 1.65371274e-01 2.08838093e-03 9.86229172e-01 7.91276961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43687500000004 meters 0.01992390974373981 Centerline is valid? [True, True] Translation: X:251.13, Y:108.90, Z:7.92 [[ 7.34008062e-01 -6.68162383e-01 -1.21619059e-01 2.51131547e+02] [ 6.58723395e-01 7.44012666e-01 -1.11931418e-01 1.08901475e+02] [ 1.65274484e-01 2.04524371e-03 9.86245488e-01 7.92192947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.496875 meters 0.01974200171564878 Centerline is valid? [True, True] Translation: X:251.17, Y:108.94, Z:7.93 [[ 7.33484698e-01 -6.68757312e-01 -1.21506608e-01 2.51174470e+02] [ 6.59333649e-01 7.43478199e-01 -1.11889707e-01 1.08940207e+02] [ 1.65164574e-01 1.95599278e-03 9.86264081e-01 7.93139549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.556875 meters 0.01975868365410456 Centerline is valid? [True, True] Translation: X:251.22, Y:108.98, Z:7.94 [[ 7.32462749e-01 -6.69846937e-01 -1.21669236e-01 2.51216709e+02] [ 6.60402118e-01 7.42497126e-01 -1.12102901e-01 1.08978620e+02] [ 1.65430843e-01 1.76057764e-03 9.86219822e-01 7.93994618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.616875 meters 0.019751834242413186 Centerline is valid? [True, True] Translation: X:251.26, Y:109.02, Z:7.95 [[ 7.31974003e-01 -6.70367874e-01 -1.21741416e-01 2.51258515e+02] [ 6.60908457e-01 7.42026990e-01 -1.12231713e-01 1.09017526e+02] [ 1.65571951e-01 1.69076430e-03 9.86196264e-01 7.94888155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.676875 meters 0.019676747987741456 Centerline is valid? [True, True] Translation: X:251.30, Y:109.06, Z:7.96 [[ 7.31420118e-01 -6.71003681e-01 -1.21567556e-01 2.51300623e+02] [ 6.61569624e-01 7.41452308e-01 -1.12134326e-01 1.09057235e+02] [ 1.65379091e-01 1.59189977e-03 9.86228788e-01 7.95828898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.736875 meters 0.019550636989791308 Centerline is valid? [True, True] Translation: X:251.34, Y:109.10, Z:7.97 [[ 7.31276962e-01 -6.71113029e-01 -1.21824904e-01 2.51342504e+02] [ 6.61630244e-01 7.41353285e-01 -1.12430984e-01 1.09096484e+02] [ 1.65769191e-01 1.61514751e-03 9.86163256e-01 7.96766219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.796875 meters 0.019733706406192104 Centerline is valid? [True, True] Translation: X:251.38, Y:109.14, Z:7.98 [[ 7.31195343e-01 -6.71225301e-01 -1.21696204e-01 2.51384232e+02] [ 6.61753700e-01 7.41251592e-01 -1.12374901e-01 1.09135111e+02] [ 1.65636381e-01 1.63509108e-03 9.86185538e-01 7.97734868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.856875 meters 0.019912338161072397 Centerline is valid? [True, True] Translation: X:251.42, Y:109.17, Z:7.99 [[ 7.31134075e-01 -6.71327937e-01 -1.21498003e-01 2.51424714e+02] [ 6.61878213e-01 7.41158591e-01 -1.12254954e-01 1.09174191e+02] [ 1.65409175e-01 1.65654034e-03 9.86223636e-01 7.98563646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.916875 meters 0.019899810859888147 Centerline is valid? [True, True] Translation: X:251.47, Y:109.21, Z:8.00 [[ 7.30845716e-01 -6.71613892e-01 -1.21652456e-01 2.51466914e+02] [ 6.62134306e-01 7.40899522e-01 -1.12454702e-01 1.09213466e+02] [ 1.65658386e-01 1.63677266e-03 9.86181839e-01 7.99511212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.976875 meters 0.019642050349480775 Centerline is valid? [True, True] Translation: X:251.51, Y:109.25, Z:8.00 [[ 7.30223964e-01 -6.72162921e-01 -1.22351824e-01 2.51509343e+02] [ 6.62569991e-01 7.40401610e-01 -1.13165647e-01 1.09251851e+02] [ 1.66655240e-01 1.56962039e-03 9.86013979e-01 8.00372024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.036875 meters 0.019647430906592902 Centerline is valid? [True, True] Translation: X:251.55, Y:109.29, Z:8.01 [[ 7.29726542e-01 -6.72541522e-01 -1.23235847e-01 2.51550100e+02] [ 6.62802587e-01 7.40057780e-01 -1.14049170e-01 1.09290982e+02] [ 1.67904450e-01 1.54366887e-03 9.85802066e-01 8.01072228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.096875 meters 0.01997984354361674 Centerline is valid? [True, True] Translation: X:251.59, Y:109.33, Z:8.02 [[ 7.29672690e-01 -6.72502582e-01 -1.23766079e-01 2.51592487e+02] [ 6.62668415e-01 7.40093038e-01 -1.14598721e-01 1.09330481e+02] [ 1.68666349e-01 1.60368564e-03 9.85671898e-01 8.01907600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.156875 meters 0.019390242333113764 Centerline is valid? [True, True] Translation: X:251.64, Y:109.37, Z:8.03 [[ 7.28463674e-01 -6.73816164e-01 -1.23743498e-01 2.51635004e+02] [ 6.63994379e-01 7.38897809e-01 -1.14636347e-01 1.09368400e+02] [ 1.68677623e-01 1.34342694e-03 9.85670358e-01 8.02909091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.216875 meters 0.019397568988568772 Centerline is valid? [True, True] Translation: X:251.68, Y:109.41, Z:8.04 [[ 7.27883922e-01 -6.74430431e-01 -1.23808683e-01 2.51677164e+02] [ 6.64595999e-01 7.38337342e-01 -1.14761173e-01 1.09406717e+02] [ 1.68811001e-01 1.25005764e-03 9.85647647e-01 8.03870936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.276875 meters 0.019278764478371554 Centerline is valid? [True, True] Translation: X:251.72, Y:109.45, Z:8.05 [[ 7.27566563e-01 -6.74649045e-01 -1.24481173e-01 2.51719495e+02] [ 6.64698704e-01 7.38137583e-01 -1.15449303e-01 1.09445022e+02] [ 1.69771995e-01 1.25457814e-03 9.85482570e-01 8.04784932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.336875 meters 0.01970894968801949 Centerline is valid? [True, True] Translation: X:251.76, Y:109.48, Z:8.06 [[ 7.27530771e-01 -6.74702271e-01 -1.24401860e-01 2.51759927e+02] [ 6.64754640e-01 7.38088874e-01 -1.15438654e-01 1.09484468e+02] [ 1.69706351e-01 1.28845917e-03 9.85493833e-01 8.05541942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.396875 meters 0.01954565702937412 Centerline is valid? [True, True] Translation: X:251.80, Y:109.52, Z:8.07 [[ 7.27599187e-01 -6.74658314e-01 -1.24240022e-01 2.51801855e+02] [ 6.64726252e-01 7.38128962e-01 -1.15345765e-01 1.09523742e+02] [ 1.69524138e-01 1.33988042e-03 9.85525125e-01 8.06524709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.456875 meters 0.019771567447173687 Centerline is valid? [True, True] Translation: X:251.84, Y:109.57, Z:8.07 [[ 7.27095009e-01 -6.74857787e-01 -1.26094471e-01 2.51842143e+02] [ 6.64616451e-01 7.37946552e-01 -1.17131806e-01 1.09566453e+02] [ 1.72098292e-01 1.36149186e-03 9.85078842e-01 8.07003222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.516875 meters 0.019705159610490852 Centerline is valid? [True, True] Translation: X:251.88, Y:109.61, Z:8.08 [[ 7.25930533e-01 -6.76060592e-01 -1.26360351e-01 2.51883035e+02] [ 6.65783696e-01 7.36845179e-01 -1.17436165e-01 1.09606935e+02] [ 1.72501978e-01 1.12183642e-03 9.85008532e-01 8.07571136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57687500000003 meters 0.019408990343910092 Centerline is valid? [True, True] Translation: X:251.93, Y:109.64, Z:8.09 [[ 7.22510332e-01 -6.79997992e-01 -1.24826080e-01 2.51927447e+02] [ 6.70018028e-01 7.33213937e-01 -1.16073961e-01 1.09642965e+02] [ 1.70454282e-01 2.28912325e-04 9.85365559e-01 8.09234669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63687500000003 meters 0.019715663092665283 Centerline is valid? [True, True] Translation: X:251.97, Y:109.68, Z:8.10 [[ 7.20404154e-01 -6.82122906e-01 -1.25404130e-01 2.51967832e+02] [ 6.72071343e-01 7.31237504e-01 -1.16669717e-01 1.09683678e+02] [ 1.71283289e-01 -2.31173585e-04 9.85221793e-01 8.10168550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69687500000003 meters 0.019918797011924602 Centerline is valid? [True, True] Translation: X:252.01, Y:109.73, Z:8.11 [[ 7.21809594e-01 -6.80433188e-01 -1.26497378e-01 2.52007421e+02] [ 6.70166793e-01 7.32810090e-01 -1.17753309e-01 1.09726936e+02] [ 1.72821814e-01 2.21126348e-04 9.84953081e-01 8.10736933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75687500000004 meters 0.020500642881863942 Centerline is valid? [True, True] Translation: X:252.05, Y:109.77, Z:8.12 [[ 7.25039013e-01 -6.76924650e-01 -1.26852073e-01 2.52046424e+02] [ 6.66536014e-01 7.36051487e-01 -1.18143772e-01 1.09770756e+02] [ 1.73344088e-01 1.10736906e-03 9.84860701e-01 8.11693696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81687500000004 meters 0.020926973860965987 Centerline is valid? [True, True] Translation: X:252.09, Y:109.81, Z:8.12 [[ 7.26374158e-01 -6.75303674e-01 -1.27849637e-01 2.52086206e+02] [ 6.64714005e-01 7.37538161e-01 -1.19133339e-01 1.09814067e+02] [ 1.74745168e-01 1.55193473e-03 9.84612471e-01 8.12457921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87687500000004 meters 0.02165326250301206 Centerline is valid? [True, True] Translation: X:252.12, Y:109.86, Z:8.14 [[ 7.29916282e-01 -6.71799000e-01 -1.26128210e-01 2.52124844e+02] [ 6.61432570e-01 7.40729592e-01 -1.17586679e-01 1.09856624e+02] [ 1.72421511e-01 2.40312517e-03 9.85020329e-01 8.13706584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93687500000004 meters 0.0224877267722598 Centerline is valid? [True, True] Translation: X:252.16, Y:109.90, Z:8.15 [[ 7.32759945e-01 -6.68713806e-01 -1.26034553e-01 2.52162715e+02] [ 6.58307653e-01 7.43513143e-01 -1.17555260e-01 1.09899784e+02] [ 1.72319172e-01 3.17027504e-03 9.85036067e-01 8.14549181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.996875 meters 0.023689206505165226 Centerline is valid? [True, True] Translation: X:252.20, Y:109.95, Z:8.15 [[ 7.35987267e-01 -6.65307320e-01 -1.25255389e-01 2.52199136e+02] [ 6.54975264e-01 7.46559042e-01 -1.16863167e-01 1.09946084e+02] [ 1.71260464e-01 3.97062134e-03 9.85217787e-01 8.15262058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.056875 meters 0.023562430256166167 Centerline is valid? [True, True] Translation: X:252.24, Y:109.99, Z:8.16 [[ 7.36816713e-01 -6.64426666e-01 -1.25053335e-01 2.52241656e+02] [ 6.54105786e-01 7.47341602e-01 -1.16731099e-01 1.09985167e+02] [ 1.71016815e-01 4.21131494e-03 9.85259110e-01 8.16417630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.116875 meters 0.023538614456723176 Centerline is valid? [True, True] Translation: X:252.28, Y:110.02, Z:8.17 [[ 7.36012972e-01 -6.65395665e-01 -1.24633519e-01 2.52284134e+02] [ 6.55148199e-01 7.46480057e-01 -1.16397428e-01 1.10024964e+02] [ 1.70486780e-01 4.01659152e-03 9.85351777e-01 8.17466238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.176875 meters 0.022644704125048768 Centerline is valid? [True, True] Translation: X:252.33, Y:110.06, Z:8.18 [[ 7.33500563e-01 -6.68177396e-01 -1.24562802e-01 2.52325457e+02] [ 6.57971638e-01 7.43994174e-01 -1.16387253e-01 1.10064398e+02] [ 1.70441330e-01 3.41132470e-03 9.85361921e-01 8.18106717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.236875 meters 0.02209306870163157 Centerline is valid? [True, True] Translation: X:252.37, Y:110.10, Z:8.19 [[ 7.31051036e-01 -6.70868419e-01 -1.24498789e-01 2.52369825e+02] [ 6.60707466e-01 7.41571110e-01 -1.16352625e-01 1.10103031e+02] [ 1.70382006e-01 2.80242788e-03 9.85374101e-01 8.19001720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.296875 meters 0.021045081662448794 Centerline is valid? [True, True] Translation: X:252.42, Y:110.14, Z:8.20 [[ 7.26505641e-01 -6.75707870e-01 -1.24933694e-01 2.52415897e+02] [ 6.65537251e-01 7.37167509e-01 -1.16808525e-01 1.10138966e+02] [ 1.71025500e-01 1.71402514e-03 9.85265112e-01 8.20075430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.356875 meters 0.02065852763939381 Centerline is valid? [True, True] Translation: X:252.46, Y:110.18, Z:8.21 [[ 7.23561521e-01 -6.78949868e-01 -1.24441963e-01 2.52458943e+02] [ 6.68897528e-01 7.34183971e-01 -1.16404440e-01 1.10177511e+02] [ 1.70396074e-01 9.86851629e-04 9.85375159e-01 8.21021951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.416875 meters 0.020844242867161543 Centerline is valid? [True, True] Translation: X:252.50, Y:110.22, Z:8.22 [[ 7.20716718e-01 -6.82060865e-01 -1.23937035e-01 2.52502331e+02] [ 6.72126189e-01 7.31295351e-01 -1.15989204e-01 1.10215562e+02] [ 1.69746274e-01 2.94031455e-04 9.85487755e-01 8.22026859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.476875 meters 0.020555568027605116 Centerline is valid? [True, True] Translation: X:252.54, Y:110.25, Z:8.23 [[ 7.18117831e-01 -6.84830705e-01 -1.23748477e-01 2.52544968e+02] [ 6.74956162e-01 7.28702139e-01 -1.15876535e-01 1.10253619e+02] [ 1.69531590e-01 -3.11791086e-04 9.85524704e-01 8.22958781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.536875 meters 0.020710772663131243 Centerline is valid? [True, True] Translation: X:252.59, Y:110.29, Z:8.24 [[ 7.15879804e-01 -6.87242021e-01 -1.23347116e-01 2.52586991e+02] [ 6.77456277e-01 7.26428051e-01 -1.15565044e-01 1.10293516e+02] [ 1.69023960e-01 -8.31596704e-04 9.85611592e-01 8.23811471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.596875 meters 0.02070967858033189 Centerline is valid? [True, True] Translation: X:252.63, Y:110.33, Z:8.25 [[ 7.15383693e-01 -6.87721654e-01 -1.23552007e-01 2.52627687e+02] [ 6.77899703e-01 7.25973907e-01 -1.15818302e-01 1.10334487e+02] [ 1.69346287e-01 -9.01344772e-04 9.85556200e-01 8.24762500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.656875 meters 0.020722604691830317 Centerline is valid? [True, True] Translation: X:252.67, Y:110.37, Z:8.26 [[ 7.15551630e-01 -6.87483041e-01 -1.23906955e-01 2.52667835e+02] [ 6.77589208e-01 7.26199994e-01 -1.16217186e-01 1.10374383e+02] [ 1.69878574e-01 -7.98618458e-04 9.85464678e-01 8.25526258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.716875 meters 0.02051527149932818 Centerline is valid? [True, True] Translation: X:252.71, Y:110.42, Z:8.26 [[ 7.15590441e-01 -6.87392011e-01 -1.24187534e-01 2.52707477e+02] [ 6.77441440e-01 7.26286226e-01 -1.16539317e-01 1.10415586e+02] [ 1.70303891e-01 -7.35360325e-04 9.85391315e-01 8.26357756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.776875 meters 0.020617464590289087 Centerline is valid? [True, True] Translation: X:252.75, Y:110.46, Z:8.27 [[ 7.16174156e-01 -6.86886723e-01 -1.23617182e-01 2.52747019e+02] [ 6.77009357e-01 7.26764275e-01 -1.16069029e-01 1.10456303e+02] [ 1.69566827e-01 -5.64350239e-04 9.85518530e-01 8.27172825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.836875 meters 0.020326982066947583 Centerline is valid? [True, True] Translation: X:252.79, Y:110.50, Z:8.28 [[ 7.16365492e-01 -6.86824399e-01 -1.22852462e-01 2.52787459e+02] [ 6.77059330e-01 7.26823218e-01 -1.15406557e-01 1.10496583e+02] [ 1.68556061e-01 -5.05130863e-04 9.85691939e-01 8.28131935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.896875 meters 0.020919314936345336 Centerline is valid? [True, True] Translation: X:252.83, Y:110.54, Z:8.29 [[ 7.17505650e-01 -6.85490380e-01 -1.23647000e-01 2.52827551e+02] [ 6.75566719e-01 7.28081670e-01 -1.16218284e-01 1.10538066e+02] [ 1.69691630e-01 -1.44523205e-04 9.85497199e-01 8.29033747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.956875 meters 0.020969505955739147 Centerline is valid? [True, True] Translation: X:252.87, Y:110.58, Z:8.30 [[ 7.18462563e-01 -6.84329239e-01 -1.24519228e-01 2.52868038e+02] [ 6.74235216e-01 7.29173135e-01 -1.17104283e-01 1.10578964e+02] [ 1.70933961e-01 1.79795179e-04 9.85282472e-01 8.29854507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.016875 meters 0.020918144891046063 Centerline is valid? [True, True] Translation: X:252.91, Y:110.62, Z:8.31 [[ 7.19315125e-01 -6.83339822e-01 -1.25029751e-01 2.52907894e+02] [ 6.73136319e-01 7.30100317e-01 -1.17647877e-01 1.10620670e+02] [ 1.71677740e-01 4.63831528e-04 9.85153053e-01 8.30588729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07687500000003 meters 0.02126957270351118 Centerline is valid? [True, True] Translation: X:252.95, Y:110.66, Z:8.31 [[ 7.19222458e-01 -6.83295928e-01 -1.25800360e-01 2.52949064e+02] [ 6.72953412e-01 7.30141356e-01 -1.18436930e-01 1.10661016e+02] [ 1.72779518e-01 5.24718455e-04 9.84960387e-01 8.31479985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13687500000003 meters 0.02125291793383137 Centerline is valid? [True, True] Translation: X:252.99, Y:110.70, Z:8.32 [[ 7.19461393e-01 -6.83036779e-01 -1.25841418e-01 2.52989975e+02] [ 6.72672209e-01 7.30383704e-01 -1.18540055e-01 1.10701230e+02] [ 1.72879738e-01 6.34968310e-04 9.84942736e-01 8.32420183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19687500000003 meters 0.021289646482040823 Centerline is valid? [True, True] Translation: X:253.03, Y:110.74, Z:8.34 [[ 7.20197161e-01 -6.82380307e-01 -1.25192518e-01 2.53030193e+02] [ 6.72101914e-01 7.30996865e-01 -1.17994070e-01 1.10741427e+02] [ 1.72032168e-01 8.36863260e-04 9.85090977e-01 8.33618730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25687500000004 meters 0.021541617224266847 Centerline is valid? [True, True] Translation: X:253.07, Y:110.78, Z:8.35 [[ 7.21216293e-01 -6.81283738e-01 -1.25297751e-01 2.53070089e+02] [ 6.70959987e-01 7.32018544e-01 -1.18158990e-01 1.10783645e+02] [ 1.72220075e-01 1.14841163e-03 9.85057829e-01 8.34560366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31687500000004 meters 0.02169309593757567 Centerline is valid? [True, True] Translation: X:253.11, Y:110.82, Z:8.36 [[ 7.21586370e-01 -6.80871509e-01 -1.25407735e-01 2.53110766e+02] [ 6.70512260e-01 7.32401742e-01 -1.18325808e-01 1.10823678e+02] [ 1.72413515e-01 1.29486674e-03 9.85023808e-01 8.35540871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37687500000004 meters 0.02204308193268418 Centerline is valid? [True, True] Translation: X:253.15, Y:110.87, Z:8.37 [[ 7.23166288e-01 -6.79175929e-01 -1.25501302e-01 2.53150633e+02] [ 6.68764492e-01 7.33973432e-01 -1.18478077e-01 1.10865998e+02] [ 1.72582079e-01 1.74853694e-03 9.84993588e-01 8.36637921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43687500000004 meters 0.022191023069723363 Centerline is valid? [True, True] Translation: X:253.19, Y:110.91, Z:8.38 [[ 7.25086300e-01 -6.77027317e-01 -1.26031222e-01 2.53190902e+02] [ 6.66484559e-01 7.35954250e-01 -1.19036442e-01 1.10908349e+02] [ 1.73344137e-01 2.31382988e-03 9.84858597e-01 8.37687784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.496875 meters 0.023622585104089946 Centerline is valid? [True, True] Translation: X:253.23, Y:110.95, Z:8.38 [[ 7.27479713e-01 -6.74553702e-01 -1.25501275e-01 2.53227651e+02] [ 6.64053624e-01 7.38219951e-01 -1.18592112e-01 1.10953058e+02] [ 1.72644293e-01 2.93377973e-03 9.84979868e-01 8.38473907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.556875 meters 0.022876308672536413 Centerline is valid? [True, True] Translation: X:253.27, Y:110.99, Z:8.40 [[ 7.28590569e-01 -6.73266051e-01 -1.25970660e-01 2.53270534e+02] [ 6.62661178e-01 7.39393045e-01 -1.19071777e-01 1.10991743e+02] [ 1.73308815e-01 3.27870719e-03 9.84862074e-01 8.39696703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.616875 meters 0.02381096245002003 Centerline is valid? [True, True] Translation: X:253.31, Y:111.03, Z:8.41 [[ 7.29440434e-01 -6.72191318e-01 -1.26789136e-01 2.53311201e+02] [ 6.61420288e-01 7.40368726e-01 -1.19905597e-01 1.11033674e+02] [ 1.74470213e-01 3.60308396e-03 9.84655860e-01 8.40596835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.676875 meters 0.02429949635317286 Centerline is valid? [True, True] Translation: X:253.35, Y:111.07, Z:8.41 [[ 7.29182718e-01 -6.72141944e-01 -1.28521481e-01 2.53353126e+02] [ 6.61060436e-01 7.40413014e-01 -1.21604556e-01 1.11074402e+02] [ 1.76894500e-01 3.71147440e-03 9.84222821e-01 8.41364444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.736875 meters 0.024265339446813215 Centerline is valid? [True, True] Translation: X:253.40, Y:111.11, Z:8.42 [[ 7.28870881e-01 -6.72263272e-01 -1.29650804e-01 2.53395868e+02] [ 6.60975320e-01 7.40302603e-01 -1.22734191e-01 1.11114037e+02] [ 1.78490517e-01 3.76139629e-03 9.83934443e-01 8.42195555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.796875 meters 0.024469332669234775 Centerline is valid? [True, True] Translation: X:253.44, Y:111.15, Z:8.43 [[ 7.27706179e-01 -6.73356581e-01 -1.30516787e-01 2.53438615e+02] [ 6.61922058e-01 7.39309279e-01 -1.23616259e-01 1.11152700e+02] [ 1.79730093e-01 3.56437528e-03 9.83709504e-01 8.43090928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.856875 meters 0.024119488143352564 Centerline is valid? [True, True] Translation: X:253.48, Y:111.19, Z:8.44 [[ 7.26614295e-01 -6.74497775e-01 -1.30707375e-01 2.53481554e+02] [ 6.63035214e-01 7.38269329e-01 -1.23865660e-01 1.11191226e+02] [ 1.80044358e-01 3.33896682e-03 9.83652825e-01 8.44097956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.916875 meters 0.024216267751650093 Centerline is valid? [True, True] Translation: X:253.53, Y:111.23, Z:8.45 [[ 7.26171551e-01 -6.74829608e-01 -1.31452954e-01 2.53525345e+02] [ 6.63227618e-01 7.37966078e-01 -1.24640264e-01 1.11229840e+02] [ 1.81118761e-01 3.32698374e-03 9.83455604e-01 8.45146502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.976875 meters 0.024320160311865693 Centerline is valid? [True, True] Translation: X:253.57, Y:111.27, Z:8.46 [[ 7.26130174e-01 -6.74790226e-01 -1.31882982e-01 2.53568534e+02] [ 6.63099576e-01 7.38001783e-01 -1.25109237e-01 1.11269105e+02] [ 1.81752366e-01 3.39404254e-03 9.83338476e-01 8.46139336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.036875 meters 0.024445617444694135 Centerline is valid? [True, True] Translation: X:253.61, Y:111.31, Z:8.47 [[ 7.26608454e-01 -6.74270054e-01 -1.31909245e-01 2.53611427e+02] [ 6.62554902e-01 7.38476231e-01 -1.25195282e-01 1.11308112e+02] [ 1.81827272e-01 3.57083400e-03 9.83324002e-01 8.47177372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.096875 meters 0.024663548461931712 Centerline is valid? [True, True] Translation: X:253.65, Y:111.35, Z:8.48 [[ 7.28094499e-01 -6.72739813e-01 -1.31527733e-01 2.53653060e+02] [ 6.61057515e-01 7.39868410e-01 -1.24890743e-01 1.11347598e+02] [ 1.81332190e-01 3.98486667e-03 9.83413828e-01 8.48257885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.156875 meters 0.02536595569773852 Centerline is valid? [True, True] Translation: X:253.70, Y:111.39, Z:8.49 [[ 7.29398937e-01 -6.71093635e-01 -1.32704645e-01 2.53695420e+02] [ 6.59165656e-01 7.41359170e-01 -1.26044510e-01 1.11386771e+02] [ 1.82969474e-01 4.46238739e-03 9.83108467e-01 8.49179191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.216875 meters 0.026542416440335014 Centerline is valid? [True, True] Translation: X:253.74, Y:111.43, Z:8.50 [[ 7.31766296e-01 -6.68317028e-01 -1.33680355e-01 2.53736902e+02] [ 6.56158434e-01 7.43858220e-01 -1.27008100e-01 1.11427251e+02] [ 1.84320907e-01 5.22475434e-03 9.82852230e-01 8.50078868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.276875 meters 0.027818580915692243 Centerline is valid? [True, True] Translation: X:253.78, Y:111.47, Z:8.51 [[ 7.33089378e-01 -6.66957819e-01 -1.33218739e-01 2.53778144e+02] [ 6.54854124e-01 7.45074603e-01 -1.26609286e-01 1.11468835e+02] [ 1.83700952e-01 5.57708217e-03 9.82966356e-01 8.50956126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.336875 meters 0.027871935382836648 Centerline is valid? [True, True] Translation: X:253.82, Y:111.51, Z:8.52 [[ 7.33404652e-01 -6.66669257e-01 -1.32927494e-01 2.53819127e+02] [ 6.54602736e-01 7.45332008e-01 -1.26394051e-01 1.11508626e+02] [ 1.83338144e-01 5.68328370e-03 9.83033481e-01 8.51870445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.396875 meters 0.026527019175250487 Centerline is valid? [True, True] Translation: X:253.86, Y:111.54, Z:8.53 [[ 7.33007331e-01 -6.67254670e-01 -1.32179642e-01 2.53864025e+02] [ 6.55321815e-01 7.44808932e-01 -1.25749650e-01 1.11544591e+02] [ 1.82355620e-01 5.55521227e-03 9.83216948e-01 8.53086265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.456875 meters 0.025660605512341467 Centerline is valid? [True, True] Translation: X:253.91, Y:111.58, Z:8.54 [[ 7.30854584e-01 -6.69515925e-01 -1.32665005e-01 2.53908667e+02] [ 6.57519704e-01 7.42780483e-01 -1.26273485e-01 1.11582205e+02] [ 1.83083086e-01 5.05770087e-03 9.83084433e-01 8.54213275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.516875 meters 0.024919236844236674 Centerline is valid? [True, True] Translation: X:253.95, Y:111.62, Z:8.55 [[ 7.26393700e-01 -6.74155656e-01 -1.33665042e-01 2.53953236e+02] [ 6.62043172e-01 7.38578661e-01 -1.27280790e-01 1.11618479e+02] [ 1.84529212e-01 3.96393535e-03 9.82819036e-01 8.54995490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57687500000003 meters 0.02308407461044999 Centerline is valid? [True, True] Translation: X:254.00, Y:111.65, Z:8.56 [[ 7.22735580e-01 -6.78053061e-01 -1.33780897e-01 2.53998687e+02] [ 6.65977302e-01 7.35006812e-01 -1.27433196e-01 1.11653506e+02] [ 1.84736339e-01 3.00546361e-03 9.82783523e-01 8.56239296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63687500000003 meters 0.021810860725852973 Centerline is valid? [True, True] Translation: X:254.04, Y:111.69, Z:8.57 [[ 7.16814339e-01 -6.84440432e-01 -1.33110849e-01 2.54043599e+02] [ 6.72581582e-01 7.29067421e-01 -1.26864931e-01 1.11689253e+02] [ 1.83878271e-01 1.41069624e-03 9.82948011e-01 8.57355350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69687500000003 meters 0.021529562943546073 Centerline is valid? [True, True] Translation: X:254.09, Y:111.73, Z:8.58 [[ 7.13129613e-01 -6.88444194e-01 -1.32252587e-01 2.54087211e+02] [ 6.76794374e-01 7.25289190e-01 -1.26114894e-01 1.11727047e+02] [ 1.82744438e-01 4.28458836e-04 9.83160357e-01 8.58444310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75687500000004 meters 0.021825407672792927 Centerline is valid? [True, True] Translation: X:254.13, Y:111.77, Z:8.59 [[ 7.09458303e-01 -6.92464732e-01 -1.31001952e-01 2.54129715e+02] [ 6.81093303e-01 7.21451512e-01 -1.24978512e-01 1.11765665e+02] [ 1.81054768e-01 -5.57508799e-04 9.83472857e-01 8.59420643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81687500000004 meters 0.021365770395952888 Centerline is valid? [True, True] Translation: X:254.17, Y:111.81, Z:8.61 [[ 7.07960382e-01 -6.94150142e-01 -1.30183251e-01 2.54170290e+02] [ 6.82944884e-01 7.19829601e-01 -1.24224115e-01 1.11806006e+02] [ 1.79939945e-01 -9.62233215e-04 9.83677127e-01 8.60546270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87687500000004 meters 0.021459281236082654 Centerline is valid? [True, True] Translation: X:254.21, Y:111.85, Z:8.61 [[ 7.08793596e-01 -6.93376470e-01 -1.29771760e-01 2.54208025e+02] [ 6.82217502e-01 7.20575160e-01 -1.23898019e-01 1.11849374e+02] [ 1.79418278e-01 -7.14443347e-04 9.83772622e-01 8.61199909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93687500000004 meters 0.021557777590649013 Centerline is valid? [True, True] Translation: X:254.25, Y:111.89, Z:8.62 [[ 7.10080788e-01 -6.92106943e-01 -1.29511598e-01 2.54246450e+02] [ 6.80963346e-01 7.21794882e-01 -1.23697495e-01 1.11892064e+02] [ 1.79092703e-01 -3.57436391e-04 9.83832138e-01 8.62025525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.996875 meters 0.021422601852214333 Centerline is valid? [True, True] Translation: X:254.28, Y:111.94, Z:8.63 [[ 7.13102362e-01 -6.89096716e-01 -1.28960216e-01 2.54282874e+02] [ 6.77987383e-01 7.24669246e-01 -1.23237951e-01 1.11937455e+02] [ 1.78376370e-01 4.47874467e-04 9.83962230e-01 8.63044678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.056875 meters 0.021581065126579365 Centerline is valid? [True, True] Translation: X:254.32, Y:111.98, Z:8.64 [[ 7.16019905e-01 -6.86203386e-01 -1.28220158e-01 2.54318404e+02] [ 6.75163732e-01 7.27408716e-01 -1.22598914e-01 1.11981624e+02] [ 1.77396251e-01 1.21366232e-03 9.84138759e-01 8.63836168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.116875 meters 0.022326250705794946 Centerline is valid? [True, True] Translation: X:254.35, Y:112.03, Z:8.65 [[ 7.20756419e-01 -6.81401234e-01 -1.27289207e-01 2.54353670e+02] [ 6.70436820e-01 7.31906050e-01 -1.21770291e-01 1.12028996e+02] [ 1.76138167e-01 2.42734820e-03 9.84362461e-01 8.64685907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.176875 meters 0.02307965521220177 Centerline is valid? [True, True] Translation: X:254.39, Y:112.07, Z:8.66 [[ 7.23689124e-01 -6.78281813e-01 -1.27309995e-01 2.54391665e+02] [ 6.67255265e-01 7.34794757e-01 -1.21848578e-01 1.12073326e+02] [ 1.76194391e-01 3.23222663e-03 9.84350085e-01 8.65516832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.236875 meters 0.025168916680118683 Centerline is valid? [True, True] Translation: X:254.43, Y:112.12, Z:8.66 [[ 7.28029213e-01 -6.73646075e-01 -1.27178734e-01 2.54426827e+02] [ 6.62561396e-01 7.39041023e-01 -1.21781621e-01 1.12119540e+02] [ 1.76028012e-01 4.39685782e-03 9.84375338e-01 8.66277406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.296875 meters 0.025356862560883445 Centerline is valid? [True, True] Translation: X:254.47, Y:112.16, Z:8.67 [[ 7.30149056e-01 -6.71473026e-01 -1.26516132e-01 2.54467217e+02] [ 6.60461327e-01 7.41012528e-01 -1.21207550e-01 1.12160307e+02] [ 1.75137639e-01 4.94056608e-03 9.84531563e-01 8.67350409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.356875 meters 0.025787555406891143 Centerline is valid? [True, True] Translation: X:254.51, Y:112.20, Z:8.68 [[ 7.31767017e-01 -6.69744256e-01 -1.26331569e-01 2.54508493e+02] [ 6.58729670e-01 7.42572289e-01 -1.21085167e-01 1.12201468e+02] [ 1.74906417e-01 5.38777889e-03 9.84570321e-01 8.68369443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.416875 meters 0.025866882424909796 Centerline is valid? [True, True] Translation: X:254.55, Y:112.24, Z:8.69 [[ 7.31794612e-01 -6.69715747e-01 -1.26322859e-01 2.54550051e+02] [ 6.58691729e-01 7.42597627e-01 -1.21136163e-01 1.12242605e+02] [ 1.74933851e-01 5.43896869e-03 9.84565166e-01 8.69219445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.476875 meters 0.024636230103914174 Centerline is valid? [True, True] Translation: X:254.59, Y:112.28, Z:8.70 [[ 7.30931739e-01 -6.70654101e-01 -1.26340295e-01 2.54594107e+02] [ 6.59630264e-01 7.41751580e-01 -1.21212659e-01 1.12281028e+02] [ 1.75004880e-01 5.26029711e-03 9.84553514e-01 8.70206167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.536875 meters 0.02369852917846125 Centerline is valid? [True, True] Translation: X:254.64, Y:112.32, Z:8.71 [[ 7.28338052e-01 -6.73503479e-01 -1.26161586e-01 2.54638546e+02] [ 6.62542376e-01 7.39169638e-01 -1.21102623e-01 1.12318365e+02] [ 1.74817851e-01 4.61625127e-03 9.84589970e-01 8.71212264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.596875 meters 0.02406380778151748 Centerline is valid? [True, True] Translation: X:254.68, Y:112.36, Z:8.72 [[ 7.25664028e-01 -6.76360955e-01 -1.26283717e-01 2.54680224e+02] [ 6.65410629e-01 7.36559596e-01 -1.21279251e-01 1.12357087e+02] [ 1.75044034e-01 3.97746259e-03 9.84552571e-01 8.71855447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.656875 meters 0.022341723757597024 Centerline is valid? [True, True] Translation: X:254.73, Y:112.39, Z:8.73 [[ 7.20968002e-01 -6.81465530e-01 -1.25737313e-01 2.54728583e+02] [ 6.70681805e-01 7.31845039e-01 -1.20783922e-01 1.12390093e+02] [ 1.74330308e-01 2.75161460e-03 9.84683387e-01 8.72989735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.716875 meters 0.02134422468981793 Centerline is valid? [True, True] Translation: X:254.78, Y:112.42, Z:8.74 [[ 7.16050208e-01 -6.86664718e-01 -1.25553433e-01 2.54776409e+02] [ 6.75980530e-01 7.26972635e-01 -1.20669428e-01 1.12423836e+02] [ 1.74133349e-01 1.53369268e-03 9.84720887e-01 8.74065024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.776875 meters 0.020935076738938 Centerline is valid? [True, True] Translation: X:254.82, Y:112.46, Z:8.75 [[ 7.13800268e-01 -6.89147779e-01 -1.24757825e-01 2.54819964e+02] [ 6.78627096e-01 7.24620181e-01 -1.19961898e-01 1.12461059e+02] [ 1.73073514e-01 9.64794432e-04 9.84908436e-01 8.74986478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.836875 meters 0.020983475295496972 Centerline is valid? [True, True] Translation: X:254.86, Y:112.50, Z:8.76 [[ 7.11756080e-01 -6.91254648e-01 -1.24780988e-01 2.54863653e+02] [ 6.80757741e-01 7.22611092e-01 -1.20008782e-01 1.12498214e+02] [ 1.73124754e-01 4.71356783e-04 9.84899790e-01 8.75958637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.896875 meters 0.02060565338001586 Centerline is valid? [True, True] Translation: X:254.91, Y:112.54, Z:8.77 [[ 7.11402714e-01 -6.91636500e-01 -1.24680116e-01 2.54905573e+02] [ 6.81150917e-01 7.22245644e-01 -1.19977738e-01 1.12538050e+02] [ 1.73030653e-01 4.26513133e-04 9.84916347e-01 8.76846330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.956875 meters 0.02089050992681866 Centerline is valid? [True, True] Translation: X:254.95, Y:112.58, Z:8.78 [[ 7.11944397e-01 -6.91071670e-01 -1.24720177e-01 2.54945809e+02] [ 6.80558812e-01 7.22785978e-01 -1.20083859e-01 1.12578750e+02] [ 1.73132548e-01 6.13615004e-04 9.84898342e-01 8.77716395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.016875 meters 0.020730806651238713 Centerline is valid? [True, True] Translation: X:254.98, Y:112.62, Z:8.79 [[ 7.14097836e-01 -6.88862329e-01 -1.24631347e-01 2.54984741e+02] [ 6.78319349e-01 7.24891203e-01 -1.20064999e-01 1.12621631e+02] [ 1.73052422e-01 1.19830174e-03 9.84911886e-01 8.78685882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07687500000003 meters 0.02104680905062228 Centerline is valid? [True, True] Translation: X:255.02, Y:112.66, Z:8.80 [[ 7.15601020e-01 -6.87304571e-01 -1.24609820e-01 2.55024185e+02] [ 6.76730804e-01 7.26367537e-01 -1.20106703e-01 1.12664911e+02] [ 1.73062414e-01 1.62117599e-03 9.84909525e-01 8.79604640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13687500000003 meters 0.021217370102226924 Centerline is valid? [True, True] Translation: X:255.06, Y:112.71, Z:8.81 [[ 7.16916747e-01 -6.85921954e-01 -1.24665357e-01 2.55063353e+02] [ 6.75307878e-01 7.27672372e-01 -1.20217257e-01 1.12708083e+02] [ 1.73175192e-01 1.99826722e-03 9.84889009e-01 8.80568548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19687500000003 meters 0.020897829662656683 Centerline is valid? [True, True] Translation: X:255.10, Y:112.75, Z:8.82 [[ 7.15515559e-01 -6.87400018e-01 -1.24574074e-01 2.55103897e+02] [ 6.76813337e-01 7.26277069e-01 -1.20188713e-01 1.12748997e+02] [ 1.73093017e-01 1.68349959e-03 9.84904043e-01 8.81604787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25687500000004 meters 0.020802112377770226 Centerline is valid? [True, True] Translation: X:255.14, Y:112.79, Z:8.82 [[ 7.14475035e-01 -6.88469475e-01 -1.24640309e-01 2.55144593e+02] [ 6.77876114e-01 7.25263822e-01 -1.20317757e-01 1.12788656e+02] [ 1.73232210e-01 1.47334495e-03 9.84879907e-01 8.82466130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31687500000004 meters 0.020666580409412362 Centerline is valid? [True, True] Translation: X:255.19, Y:112.83, Z:8.84 [[ 7.11933728e-01 -6.91013457e-01 -1.25103033e-01 2.55187054e+02] [ 6.80369193e-01 7.22841330e-01 -1.20822897e-01 1.12827278e+02] [ 1.73919891e-01 9.01646086e-04 9.84759391e-01 8.83621923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37687500000004 meters 0.02052489059030914 Centerline is valid? [True, True] Translation: X:255.23, Y:112.87, Z:8.85 [[ 7.08621624e-01 -6.94500054e-01 -1.24599635e-01 2.55227814e+02] [ 6.83985054e-01 7.19492645e-01 -1.20394265e-01 1.12866692e+02] [ 1.73262345e-01 8.96920439e-05 9.84875704e-01 8.84613237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43687500000004 meters 0.020612291595438464 Centerline is valid? [True, True] Translation: X:255.27, Y:112.91, Z:8.86 [[ 7.07017800e-01 -6.96217296e-01 -1.24126174e-01 2.55267439e+02] [ 6.85804518e-01 7.17831024e-01 -1.19961592e-01 1.12907291e+02] [ 1.72620954e-01 -3.11309774e-04 9.84988279e-01 8.85749328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.496875 meters 0.020799997806042247 Centerline is valid? [True, True] Translation: X:255.31, Y:112.95, Z:8.87 [[ 7.07201625e-01 -6.95908411e-01 -1.24809237e-01 2.55306918e+02] [ 6.85362800e-01 7.18130524e-01 -1.20691270e-01 1.12949653e+02] [ 1.73619393e-01 -1.86546492e-04 9.84812811e-01 8.86518974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.556875 meters 0.02095147161325552 Centerline is valid? [True, True] Translation: X:255.34, Y:112.99, Z:8.87 [[ 7.08752238e-01 -6.94170427e-01 -1.25688837e-01 2.55343890e+02] [ 6.83435972e-01 7.19810625e-01 -1.21605659e-01 1.12993179e+02] [ 1.74887212e-01 2.88010892e-04 9.84588432e-01 8.87296065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.616875 meters 0.020723096418260156 Centerline is valid? [True, True] Translation: X:255.38, Y:113.04, Z:8.88 [[ 7.10400840e-01 -6.92445538e-01 -1.25896082e-01 2.55382211e+02] [ 6.81643251e-01 7.21469774e-01 -1.21835313e-01 1.13036023e+02] [ 1.75194537e-01 7.35693789e-04 9.84533561e-01 8.88321470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.676875 meters 0.021016401873505047 Centerline is valid? [True, True] Translation: X:255.42, Y:113.08, Z:8.89 [[ 7.12525195e-01 -6.90355474e-01 -1.25368120e-01 2.55420947e+02] [ 6.79600579e-01 7.23469175e-01 -1.21389476e-01 1.13079584e+02] [ 1.74501860e-01 1.29281306e-03 9.84655996e-01 8.89387468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.736875 meters 0.021502979190046654 Centerline is valid? [True, True] Translation: X:255.46, Y:113.12, Z:8.90 [[ 7.15384726e-01 -6.87501840e-01 -1.24763432e-01 2.55456776e+02] [ 6.76797840e-01 7.26179818e-01 -1.20861723e-01 1.13124262e+02] [ 1.73693344e-01 2.02300895e-03 9.84797710e-01 8.90249382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.796875 meters 0.02177826970547257 Centerline is valid? [True, True] Translation: X:255.50, Y:113.17, Z:8.91 [[ 7.17053236e-01 -6.85792153e-01 -1.24594465e-01 2.55496453e+02] [ 6.75085249e-01 7.27793285e-01 -1.20734591e-01 1.13167311e+02] [ 1.73477850e-01 2.46124407e-03 9.84834696e-01 8.91204731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.856875 meters 0.02207793293581622 Centerline is valid? [True, True] Translation: X:255.53, Y:113.21, Z:8.92 [[ 7.19028880e-01 -6.83768508e-01 -1.24330595e-01 2.55534727e+02] [ 6.73066706e-01 7.29692881e-01 -1.20538413e-01 1.13211643e+02] [ 1.73143520e-01 2.98781603e-03 9.84892072e-01 8.92128550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.916875 meters 0.022324660803884157 Centerline is valid? [True, True] Translation: X:255.57, Y:113.25, Z:8.93 [[ 7.20308721e-01 -6.82489024e-01 -1.23951920e-01 2.55574280e+02] [ 6.71823609e-01 7.30888259e-01 -1.20230573e-01 1.13254575e+02] [ 1.72651049e-01 3.32930390e-03 9.84977427e-01 8.93108874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.976875 meters 0.023134899926863517 Centerline is valid? [True, True] Translation: X:255.61, Y:113.30, Z:8.94 [[ 7.22180019e-01 -6.80457358e-01 -1.24232862e-01 2.55611812e+02] [ 6.69703036e-01 7.32777473e-01 -1.20561266e-01 1.13298718e+02] [ 1.73071844e-01 3.86781220e-03 9.84901608e-01 8.93987896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.036875 meters 0.023467723118800018 Centerline is valid? [True, True] Translation: X:255.65, Y:113.34, Z:8.95 [[ 7.23170136e-01 -6.79404132e-01 -1.24237593e-01 2.55651479e+02] [ 6.68627092e-01 7.33752562e-01 -1.20602610e-01 1.13341134e+02] [ 1.73097564e-01 4.14758486e-03 9.84895949e-01 8.94895141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.096875 meters 0.02362246948154204 Centerline is valid? [True, True] Translation: X:255.69, Y:113.38, Z:8.96 [[ 7.23588351e-01 -6.78815971e-01 -1.25015100e-01 2.55691817e+02] [ 6.67883139e-01 7.34295485e-01 -1.21417681e-01 1.13383102e+02] [ 1.74218285e-01 4.36094220e-03 9.84697401e-01 8.95784610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.156875 meters 0.0238325772228898 Centerline is valid? [True, True] Translation: X:255.73, Y:113.43, Z:8.97 [[ 7.23321658e-01 -6.79027899e-01 -1.25406904e-01 2.55731884e+02] [ 6.68018027e-01 7.34099459e-01 -1.21860170e-01 1.13425640e+02] [ 1.74807596e-01 4.37002774e-03 9.84592915e-01 8.96617402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.216875 meters 0.024203468514954137 Centerline is valid? [True, True] Translation: X:255.77, Y:113.47, Z:8.98 [[ 7.23801051e-01 -6.78353885e-01 -1.26285568e-01 2.55772132e+02] [ 6.67166634e-01 7.34720856e-01 -1.22775996e-01 1.13467649e+02] [ 1.76070214e-01 4.61187770e-03 9.84366807e-01 8.97564063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.276875 meters 0.024756372610511848 Centerline is valid? [True, True] Translation: X:255.81, Y:113.51, Z:8.98 [[ 7.24326061e-01 -6.77719274e-01 -1.26682057e-01 2.55812284e+02] [ 6.66440353e-01 7.35304888e-01 -1.23223288e-01 1.13510452e+02] [ 1.76660733e-01 4.82780373e-03 9.84259965e-01 8.98482414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.336875 meters 0.025530692194657423 Centerline is valid? [True, True] Translation: X:255.85, Y:113.55, Z:8.99 [[ 7.25714130e-01 -6.76138845e-01 -1.27182009e-01 2.55852349e+02] [ 6.64734747e-01 7.36755306e-01 -1.23771305e-01 1.13552522e+02] [ 1.77388607e-01 5.28028452e-03 9.84126720e-01 8.99423692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.396875 meters 0.025925498956157363 Centerline is valid? [True, True] Translation: X:255.89, Y:113.59, Z:9.00 [[ 7.26405666e-01 -6.75352910e-01 -1.27409789e-01 2.55893098e+02] [ 6.63884499e-01 7.37473988e-01 -1.24054378e-01 1.13593626e+02] [ 1.77741890e-01 5.52841916e-03 9.84061612e-01 9.00428634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.456875 meters 0.02737390076052876 Centerline is valid? [True, True] Translation: X:255.93, Y:113.64, Z:9.01 [[ 7.28563690e-01 -6.73096605e-01 -1.27027204e-01 2.55932318e+02] [ 6.61652546e-01 7.39529358e-01 -1.23742625e-01 1.13636619e+02] [ 1.77231088e-01 6.10651035e-03 9.84150320e-01 9.01380217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.516875 meters 0.028085869175191156 Centerline is valid? [True, True] Translation: X:255.97, Y:113.68, Z:9.02 [[ 7.29310432e-01 -6.72196108e-01 -1.27509554e-01 2.55973541e+02] [ 6.60639613e-01 7.40345518e-01 -1.24273152e-01 1.13677759e+02] [ 1.77937056e-01 6.39584377e-03 9.84021086e-01 9.02285348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57687500000003 meters 0.029180374613444204 Centerline is valid? [True, True] Translation: X:256.02, Y:113.72, Z:9.03 [[ 7.29504865e-01 -6.71641939e-01 -1.29304903e-01 2.56015996e+02] [ 6.59734871e-01 7.40845859e-01 -1.26084549e-01 1.13717287e+02] [ 1.80478673e-01 6.67233853e-03 9.83556266e-01 9.03231600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63687500000003 meters 0.02792554383106174 Centerline is valid? [True, True] Translation: X:256.06, Y:113.75, Z:9.04 [[ 7.28613009e-01 -6.72449312e-01 -1.30134570e-01 2.56060694e+02] [ 6.60388831e-01 7.40114087e-01 -1.26955623e-01 1.13753667e+02] [ 1.81685650e-01 6.56210134e-03 9.83334767e-01 9.04263012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69687500000003 meters 0.02812326566698865 Centerline is valid? [True, True] Translation: X:256.10, Y:113.79, Z:9.05 [[ 7.27039975e-01 -6.74001945e-01 -1.30897871e-01 2.56103481e+02] [ 6.61810950e-01 7.38703036e-01 -1.27765768e-01 1.13791402e+02] [ 1.82809031e-01 6.26117639e-03 9.83128504e-01 9.05147981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75687500000004 meters 0.02642112773251569 Centerline is valid? [True, True] Translation: X:256.15, Y:113.83, Z:9.06 [[ 7.25041547e-01 -6.76120788e-01 -1.31055084e-01 2.56150777e+02] [ 6.63929338e-01 7.36768321e-01 -1.27946377e-01 1.13825853e+02] [ 1.83064439e-01 5.75512392e-03 9.83084070e-01 9.06342559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81687500000004 meters 0.02609529233791262 Centerline is valid? [True, True] Translation: X:256.20, Y:113.86, Z:9.07 [[ 7.23414032e-01 -6.77836730e-01 -1.31185005e-01 2.56195607e+02] [ 6.65637117e-01 7.35192827e-01 -1.28135614e-01 1.13863635e+02] [ 1.83301300e-01 5.37349223e-03 9.83042094e-01 9.07326386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87687500000004 meters 0.02568363262996464 Centerline is valid? [True, True] Translation: X:256.24, Y:113.90, Z:9.08 [[ 7.21452284e-01 -6.79975879e-01 -1.30917557e-01 2.56239860e+02] [ 6.67849388e-01 7.33218323e-01 -1.27937823e-01 1.13900788e+02] [ 1.82985785e-01 4.86782430e-03 9.83103508e-01 9.08278930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93687500000004 meters 0.025309706811231125 Centerline is valid? [True, True] Translation: X:256.28, Y:113.94, Z:9.09 [[ 7.19195570e-01 -6.82463587e-01 -1.30388592e-01 2.56283561e+02] [ 6.70464326e-01 7.30907147e-01 -1.27484624e-01 1.13937382e+02] [ 1.82305567e-01 4.26547724e-03 9.83232671e-01 9.09160713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.996875 meters 0.023747820484319816 Centerline is valid? [True, True] Translation: X:256.33, Y:113.97, Z:9.10 [[ 7.18201339e-01 -6.83476803e-01 -1.30561466e-01 2.56329160e+02] [ 6.71453486e-01 7.29961008e-01 -1.27699422e-01 1.13973634e+02] [ 1.82584372e-01 4.04794398e-03 9.83181856e-01 9.10296629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.056875 meters 0.023383685755071843 Centerline is valid? [True, True] Translation: X:256.37, Y:114.01, Z:9.11 [[ 7.16190730e-01 -6.85512896e-01 -1.30930930e-01 2.56373151e+02] [ 6.73443467e-01 7.28051666e-01 -1.28119742e-01 1.14011198e+02] [ 1.83152217e-01 3.58359209e-03 9.83078035e-01 9.10985500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.116875 meters 0.02306891308375662 Centerline is valid? [True, True] Translation: X:256.42, Y:114.05, Z:9.12 [[ 7.15453077e-01 -6.86339560e-01 -1.30632704e-01 2.56415901e+02] [ 6.74333909e-01 7.27273367e-01 -1.27856284e-01 1.14050441e+02] [ 1.82758512e-01 3.38511001e-03 9.83152006e-01 9.11920312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.176875 meters 0.02280076394937978 Centerline is valid? [True, True] Translation: X:256.46, Y:114.09, Z:9.13 [[ 7.13117975e-01 -6.88740955e-01 -1.30761809e-01 2.56460417e+02] [ 6.76739099e-01 7.25002024e-01 -1.28047867e-01 1.14086910e+02] [ 1.82994386e-01 2.82160652e-03 9.83109909e-01 9.12809389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.236875 meters 0.02243250153534558 Centerline is valid? [True, True] Translation: X:256.50, Y:114.12, Z:9.14 [[ 7.11836917e-01 -6.90073768e-01 -1.30714950e-01 2.56504431e+02] [ 6.78095329e-01 7.23734692e-01 -1.28042259e-01 1.14124334e+02] [ 1.82961548e-01 2.50800994e-03 9.83116871e-01 9.13924432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.296875 meters 0.02264351587097716 Centerline is valid? [True, True] Translation: X:256.55, Y:114.16, Z:9.15 [[ 7.11219115e-01 -6.90767169e-01 -1.30415066e-01 2.56548032e+02] [ 6.78842937e-01 7.23073357e-01 -1.27817005e-01 1.14161830e+02] [ 1.82591450e-01 2.37455039e-03 9.83186007e-01 9.15065578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.356875 meters 0.02217034230250514 Centerline is valid? [True, True] Translation: X:256.59, Y:114.20, Z:9.16 [[ 7.11174702e-01 -6.90879271e-01 -1.30062968e-01 2.56590027e+02] [ 6.79008936e-01 7.22966196e-01 -1.27541149e-01 1.14200267e+02] [ 1.82146665e-01 2.39012169e-03 9.83268468e-01 9.16201135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.416875 meters 0.02262162945104313 Centerline is valid? [True, True] Translation: X:256.63, Y:114.24, Z:9.17 [[ 7.11166338e-01 -6.90796943e-01 -1.30545100e-01 2.56631012e+02] [ 6.78823121e-01 7.23044584e-01 -1.28084737e-01 1.14240062e+02] [ 1.82870472e-01 2.47252122e-03 9.83133906e-01 9.16842456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.476875 meters 0.022265733639792187 Centerline is valid? [True, True] Translation: X:256.67, Y:114.28, Z:9.18 [[ 7.10528646e-01 -6.91411166e-01 -1.30765600e-01 2.56673591e+02] [ 6.79397740e-01 7.22457650e-01 -1.28349734e-01 1.14278537e+02] [ 1.83215047e-01 2.35430953e-03 9.83070040e-01 9.17861410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.536875 meters 0.02173721591738489 Centerline is valid? [True, True] Translation: X:256.72, Y:114.32, Z:9.19 [[ 7.09125117e-01 -6.92925374e-01 -1.30368687e-01 2.56716628e+02] [ 6.80997684e-01 7.21006513e-01 -1.28030323e-01 1.14317939e+02] [ 1.82712132e-01 2.00874403e-03 9.83164402e-01 9.18739714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.596875 meters 0.02148188762075873 Centerline is valid? [True, True] Translation: X:256.76, Y:114.36, Z:9.20 [[ 7.08916554e-01 -6.93236886e-01 -1.29845827e-01 2.56758529e+02] [ 6.81398927e-01 7.20707118e-01 -1.27580378e-01 1.14356617e+02] [ 1.82024236e-01 1.96703535e-03 9.83292077e-01 9.19706036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.656875 meters 0.02119541599962891 Centerline is valid? [True, True] Translation: X:256.80, Y:114.40, Z:9.21 [[ 7.08619852e-01 -6.93643444e-01 -1.29292992e-01 2.56799964e+02] [ 6.81900775e-01 7.20316001e-01 -1.27107009e-01 1.14395725e+02] [ 1.81298755e-01 1.90555808e-03 9.83426220e-01 9.20772990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.716875 meters 0.020976747780942582 Centerline is valid? [True, True] Translation: X:256.84, Y:114.44, Z:9.22 [[ 7.08150676e-01 -6.94274001e-01 -1.28476581e-01 2.56841147e+02] [ 6.82677900e-01 7.19708572e-01 -1.26374272e-01 1.14436557e+02] [ 1.80204068e-01 1.78390418e-03 9.83627628e-01 9.21596320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.776875 meters 0.020809496822311407 Centerline is valid? [True, True] Translation: X:256.88, Y:114.48, Z:9.22 [[ 7.07549219e-01 -6.95050793e-01 -1.27587216e-01 2.56882777e+02] [ 6.83617186e-01 7.18958809e-01 -1.25561834e-01 1.14475397e+02] [ 1.79001805e-01 1.62036379e-03 9.83847411e-01 9.22447509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.836875 meters 0.020065009319356734 Centerline is valid? [True, True] Translation: X:256.93, Y:114.52, Z:9.24 [[ 7.06858424e-01 -6.95928621e-01 -1.26627497e-01 2.56925020e+02] [ 6.84677145e-01 7.18109586e-01 -1.24642806e-01 1.14515010e+02] [ 1.77674916e-01 1.40586386e-03 9.84088232e-01 9.23508490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.896875 meters 0.019773103493196997 Centerline is valid? [True, True] Translation: X:256.97, Y:114.56, Z:9.24 [[ 7.05951679e-01 -6.96920292e-01 -1.26231272e-01 2.56966560e+02] [ 6.85743974e-01 7.17147593e-01 -1.24316261e-01 1.14555242e+02] [ 1.77164978e-01 1.19893910e-03 9.84180437e-01 9.24414345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.956875 meters 0.019540464488109553 Centerline is valid? [True, True] Translation: X:257.01, Y:114.60, Z:9.25 [[ 7.05515089e-01 -6.97440655e-01 -1.25797421e-01 2.57008103e+02] [ 6.86337545e-01 7.16641675e-01 -1.23957589e-01 1.14595288e+02] [ 1.76604737e-01 1.11445603e-03 9.84281222e-01 9.25381132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.016875 meters 0.019534967829198 Centerline is valid? [True, True] Translation: X:257.05, Y:114.63, Z:9.26 [[ 7.05315930e-01 -6.97632391e-01 -1.25851045e-01 2.57049093e+02] [ 6.86510350e-01 7.16455022e-01 -1.24079575e-01 1.14634721e+02] [ 1.76728543e-01 1.11725591e-03 9.84258997e-01 9.26324501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07687500000003 meters 0.019751414039966983 Centerline is valid? [True, True] Translation: X:257.09, Y:114.68, Z:9.27 [[ 7.05469193e-01 -6.97534096e-01 -1.25536463e-01 2.57088976e+02] [ 6.86453924e-01 7.16550605e-01 -1.23839576e-01 1.14675201e+02] [ 1.76335555e-01 1.19000811e-03 9.84329394e-01 9.27144360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13687500000003 meters 0.019625891476499017 Centerline is valid? [True, True] Translation: X:257.13, Y:114.71, Z:9.28 [[ 7.04172632e-01 -6.98934439e-01 -1.25026214e-01 2.57131265e+02] [ 6.87955510e-01 7.15185201e-01 -1.23399126e-01 1.14714660e+02] [ 1.75664797e-01 8.81814124e-04 9.84449644e-01 9.28063066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19687500000003 meters 0.01980267129543348 Centerline is valid? [True, True] Translation: X:257.17, Y:114.75, Z:9.29 [[ 7.02414774e-01 -7.00710606e-01 -1.24972524e-01 2.57173943e+02] [ 6.89756856e-01 7.13445449e-01 -1.23414223e-01 1.14753490e+02] [ 1.75638734e-01 4.87318566e-04 9.84454569e-01 9.29117105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25687500000004 meters 0.019959904846727623 Centerline is valid? [True, True] Translation: X:257.22, Y:114.79, Z:9.30 [[ 7.00422704e-01 -7.02797888e-01 -1.24431362e-01 2.57215997e+02] [ 6.91959865e-01 7.11389576e-01 -1.22948841e-01 1.14791695e+02] [ 1.74927360e-01 1.46516740e-05 9.84581342e-01 9.29975604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31687500000004 meters 0.019995523613394697 Centerline is valid? [True, True] Translation: X:257.26, Y:114.83, Z:9.31 [[ 6.99471901e-01 -7.03707165e-01 -1.24640627e-01 2.57257939e+02] [ 6.92836264e-01 7.10490111e-01 -1.23214099e-01 1.14831181e+02] [ 1.75262577e-01 -1.70746759e-04 9.84521711e-01 9.31072328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37687500000004 meters 0.020051332340734696 Centerline is valid? [True, True] Translation: X:257.30, Y:114.87, Z:9.32 [[ 6.99182659e-01 -7.03829802e-01 -1.25567589e-01 2.57300173e+02] [ 6.92784548e-01 7.10368628e-01 -1.24201379e-01 1.14872077e+02] [ 1.76615908e-01 -1.51835182e-04 9.84279837e-01 9.31812379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43687500000004 meters 0.02032184756491792 Centerline is valid? [True, True] Translation: X:257.34, Y:114.91, Z:9.33 [[ 6.99015944e-01 -7.04017574e-01 -1.25443076e-01 2.57340212e+02] [ 6.92986452e-01 7.10182534e-01 -1.24139221e-01 1.14912082e+02] [ 1.76483675e-01 -1.55057123e-04 9.84303555e-01 9.32633682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.496875 meters 0.020302291547580502 Centerline is valid? [True, True] Translation: X:257.38, Y:114.95, Z:9.34 [[ 6.98038382e-01 -7.05066000e-01 -1.24997409e-01 2.57382362e+02] [ 6.94119184e-01 7.09141591e-01 -1.23760908e-01 1.14951281e+02] [ 1.75900470e-01 -3.73235407e-04 9.84407886e-01 9.33757600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.556875 meters 0.02019086041314146 Centerline is valid? [True, True] Translation: X:257.42, Y:114.99, Z:9.35 [[ 6.97349625e-01 -7.05893009e-01 -1.24171495e-01 2.57424402e+02] [ 6.95092360e-01 7.08318276e-01 -1.23011506e-01 1.14990336e+02] [ 1.74785902e-01 -5.28629600e-04 9.84606322e-01 9.34812870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.616875 meters 0.020155276139113103 Centerline is valid? [True, True] Translation: X:257.47, Y:115.03, Z:9.36 [[ 6.96439648e-01 -7.06747608e-01 -1.24417182e-01 2.57465680e+02] [ 6.95905330e-01 7.07465430e-01 -1.23322494e-01 1.15029831e+02] [ 1.75178732e-01 -6.95905895e-04 9.84536402e-01 9.35698226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.676875 meters 0.020155652993090703 Centerline is valid? [True, True] Translation: X:257.51, Y:115.07, Z:9.37 [[ 6.96091803e-01 -7.07080718e-01 -1.24471122e-01 2.57506499e+02] [ 6.96222084e-01 7.07132466e-01 -1.23444261e-01 1.15069979e+02] [ 1.75302628e-01 -7.31005963e-04 9.84514324e-01 9.36574652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.736875 meters 0.020631037253769694 Centerline is valid? [True, True] Translation: X:257.55, Y:115.11, Z:9.37 [[ 6.95620683e-01 -7.07621382e-01 -1.24031633e-01 2.57547458e+02] [ 6.96836414e-01 7.06591335e-01 -1.23075979e-01 1.15109418e+02] [ 1.74730872e-01 -8.15562064e-04 9.84615893e-01 9.37320694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.796875 meters 0.02061842394276862 Centerline is valid? [True, True] Translation: X:257.59, Y:115.15, Z:9.38 [[ 6.94820930e-01 -7.08446024e-01 -1.23806726e-01 2.57587488e+02] [ 6.97702701e-01 7.05764320e-01 -1.22913247e-01 1.15149891e+02] [ 1.74455771e-01 -9.77590035e-04 9.84664526e-01 9.38447635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.856875 meters 0.020608123139644333 Centerline is valid? [True, True] Translation: X:257.63, Y:115.19, Z:9.39 [[ 6.93692217e-01 -7.09471215e-01 -1.24264652e-01 2.57628018e+02] [ 6.98651709e-01 7.04733409e-01 -1.23436673e-01 1.15190611e+02] [ 1.75148218e-01 -1.19065178e-03 9.84541357e-01 9.39343180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.916875 meters 0.02033055319108792 Centerline is valid? [True, True] Translation: X:257.67, Y:115.23, Z:9.40 [[ 6.93195160e-01 -7.10026403e-01 -1.23866769e-01 2.57667615e+02] [ 6.99273714e-01 7.04173892e-01 -1.23107284e-01 1.15232364e+02] [ 1.74633166e-01 -1.27940232e-03 9.84632734e-01 9.40372283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.976875 meters 0.020461825785612082 Centerline is valid? [True, True] Translation: X:257.71, Y:115.27, Z:9.41 [[ 6.92685195e-01 -7.10640454e-01 -1.23196455e-01 2.57707343e+02] [ 7.00002015e-01 7.03554015e-01 -1.22510925e-01 1.15273352e+02] [ 1.73736580e-01 -1.37626226e-03 9.84791200e-01 9.41311824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.036875 meters 0.020503666357078888 Centerline is valid? [True, True] Translation: X:257.75, Y:115.31, Z:9.42 [[ 6.92246274e-01 -7.11079334e-01 -1.23131138e-01 2.57747438e+02] [ 7.00447014e-01 7.03110317e-01 -1.22514747e-01 1.15313071e+02] [ 1.73692478e-01 -1.43646076e-03 9.84798893e-01 9.42151634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.096875 meters 0.020508140757811873 Centerline is valid? [True, True] Translation: X:257.79, Y:115.35, Z:9.43 [[ 6.91117923e-01 -7.12130511e-01 -1.23394291e-01 2.57788148e+02] [ 7.01457862e-01 7.02045142e-01 -1.22839273e-01 1.15354093e+02] [ 1.74105957e-01 -1.65947283e-03 9.84725526e-01 9.43111221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.156875 meters 0.020802684705141083 Centerline is valid? [True, True] Translation: X:257.83, Y:115.39, Z:9.44 [[ 6.89501981e-01 -7.13803323e-01 -1.22767403e-01 2.57828998e+02] [ 7.03254319e-01 7.00343288e-01 -1.22280997e-01 1.15393653e+02] [ 1.73263909e-01 -2.02371660e-03 9.84873354e-01 9.44008192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.216875 meters 0.020758685315992332 Centerline is valid? [True, True] Translation: X:257.87, Y:115.43, Z:9.45 [[ 6.88359368e-01 -7.15002534e-01 -1.22199662e-01 2.57869015e+02] [ 7.04559471e-01 6.99118174e-01 -1.21777379e-01 1.15434958e+02] [ 1.72503139e-01 -2.27032947e-03 9.85006352e-01 9.45141517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.276875 meters 0.02084127298867221 Centerline is valid? [True, True] Translation: X:257.91, Y:115.48, Z:9.46 [[ 6.88883200e-01 -7.14473003e-01 -1.22344863e-01 2.57908044e+02] [ 7.03984540e-01 6.99659885e-01 -1.21991037e-01 1.15475527e+02] [ 1.72759096e-01 -2.09131602e-03 9.84961888e-01 9.46044800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.336875 meters 0.02067136886939114 Centerline is valid? [True, True] Translation: X:257.95, Y:115.52, Z:9.47 [[ 6.90980958e-01 -7.12664084e-01 -1.21058742e-01 2.57945993e+02] [ 7.02358816e-01 7.01503678e-01 -1.20767058e-01 1.15520506e+02] [ 1.70989498e-01 -1.57893792e-03 9.85271586e-01 9.46993431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.396875 meters 0.02045312881854689 Centerline is valid? [True, True] Translation: X:257.98, Y:115.56, Z:9.48 [[ 6.92124909e-01 -7.11632938e-01 -1.20588854e-01 2.57984601e+02] [ 7.01383160e-01 7.02550300e-01 -1.20352562e-01 1.15563557e+02] [ 1.70366583e-01 -1.27998534e-03 9.85379921e-01 9.47881751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.456875 meters 0.02050342225330486 Centerline is valid? [True, True] Translation: X:258.02, Y:115.61, Z:9.49 [[ 6.92600308e-01 -7.11220284e-01 -1.20293478e-01 2.58023427e+02] [ 7.01003892e-01 7.02968299e-01 -1.20121245e-01 1.15605618e+02] [ 1.69995168e-01 -1.13018510e-03 9.85444248e-01 9.48747096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.516875 meters 0.020673572384524743 Centerline is valid? [True, True] Translation: X:258.06, Y:115.65, Z:9.50 [[ 6.92728261e-01 -7.10994847e-01 -1.20887901e-01 2.58061757e+02] [ 7.00661806e-01 7.03196458e-01 -1.20779859e-01 1.15647733e+02] [ 1.70881801e-01 -1.03391310e-03 9.85290993e-01 9.49572977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57687500000003 meters 0.02021046896796431 Centerline is valid? [True, True] Translation: X:258.10, Y:115.69, Z:9.50 [[ 6.93761067e-01 -7.09872016e-01 -1.21561928e-01 2.58099054e+02] [ 6.99394932e-01 7.04330323e-01 -1.21513475e-01 1.15691342e+02] [ 1.71878768e-01 -7.18478242e-04 9.85117847e-01 9.50481489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63687500000003 meters 0.02019493707527313 Centerline is valid? [True, True] Translation: X:258.14, Y:115.73, Z:9.51 [[ 6.94188088e-01 -7.09437526e-01 -1.21660570e-01 2.58137832e+02] [ 6.98924650e-01 7.04768104e-01 -1.21680951e-01 1.15733462e+02] [ 1.72067522e-01 -5.62104849e-04 9.85084997e-01 9.51333001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69687500000003 meters 0.020100472581616104 Centerline is valid? [True, True] Translation: X:258.18, Y:115.78, Z:9.52 [[ 6.94795214e-01 -7.09010978e-01 -1.20677435e-01 2.58175984e+02] [ 6.98650796e-01 7.05197326e-01 -1.20763392e-01 1.15775903e+02] [ 1.70723975e-01 -4.05559069e-04 9.85318811e-01 9.52222900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75687500000004 meters 0.019930526859978762 Centerline is valid? [True, True] Translation: X:258.21, Y:115.82, Z:9.53 [[ 6.95970387e-01 -7.07911910e-01 -1.20357583e-01 2.58214043e+02] [ 6.97582863e-01 7.06300727e-01 -1.20488308e-01 1.15818252e+02] [ 1.70303756e-01 -1.03093153e-04 9.85391607e-01 9.53210659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81687500000004 meters 0.020022974497296297 Centerline is valid? [True, True] Translation: X:258.25, Y:115.86, Z:9.54 [[ 6.99796305e-01 -7.04028378e-01 -1.20951124e-01 2.58250013e+02] [ 6.93527101e-01 7.10171274e-01 -1.21148342e-01 1.15863942e+02] [ 1.71187884e-01 8.96279308e-04 9.85237994e-01 9.54056656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87687500000004 meters 0.020766387085703636 Centerline is valid? [True, True] Translation: X:258.29, Y:115.91, Z:9.55 [[ 7.03844287e-01 -6.99879642e-01 -1.21538910e-01 2.58285765e+02] [ 6.89207801e-01 7.14258159e-01 -1.21769823e-01 1.15909084e+02] [ 1.72034378e-01 1.94142989e-03 9.85089033e-01 9.54832511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93687500000004 meters 0.022252229131845592 Centerline is valid? [True, True] Translation: X:258.32, Y:115.96, Z:9.56 [[ 7.09179933e-01 -6.94269126e-01 -1.22695569e-01 2.58320444e+02] [ 6.83299206e-01 7.19707574e-01 -1.22976433e-01 1.15955040e+02] [ 1.73683671e-01 3.37463380e-03 9.84795712e-01 9.55557956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.996875 meters 0.023747653397433552 Centerline is valid? [True, True] Translation: X:258.36, Y:116.00, Z:9.56 [[ 7.11508980e-01 -6.91872041e-01 -1.22751985e-01 2.58358221e+02] [ 6.80849257e-01 7.22009099e-01 -1.23073764e-01 1.15997749e+02] [ 1.73779346e-01 3.99249002e-03 9.84776522e-01 9.56373154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.056875 meters 0.023358409786350422 Centerline is valid? [True, True] Translation: X:258.40, Y:116.04, Z:9.58 [[ 7.13825223e-01 -6.89459679e-01 -1.22877587e-01 2.58401088e+02] [ 6.78371351e-01 7.24309358e-01 -1.23240671e-01 1.16036593e+02] [ 1.73970860e-01 4.61566470e-03 9.84739984e-01 9.57525562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.116875 meters 0.024303064366730145 Centerline is valid? [True, True] Translation: X:258.44, Y:116.08, Z:9.58 [[ 7.14632392e-01 -6.88728499e-01 -1.22284909e-01 2.58440829e+02] [ 6.77726889e-01 7.25003374e-01 -1.22704408e-01 1.16077164e+02] [ 1.73166994e-01 4.81277377e-03 9.84880718e-01 9.58464650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.176875 meters 0.02280093452558263 Centerline is valid? [True, True] Translation: X:258.49, Y:116.11, Z:9.60 [[ 7.13055672e-01 -6.90633938e-01 -1.20732651e-01 2.58486705e+02] [ 6.79933426e-01 7.23191624e-01 -1.21179258e-01 1.16112218e+02] [ 1.71003350e-01 4.31739210e-03 9.85260988e-01 9.59765434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.236875 meters 0.02259920076464564 Centerline is valid? [True, True] Translation: X:258.53, Y:116.15, Z:9.61 [[ 7.10705635e-01 -6.93079942e-01 -1.20572363e-01 2.58530503e+02] [ 6.82431526e-01 7.20850860e-01 -1.21083646e-01 1.16149591e+02] [ 1.70835338e-01 3.77244785e-03 9.85292371e-01 9.60711879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.296875 meters 0.021819362938778803 Centerline is valid? [True, True] Translation: X:258.58, Y:116.19, Z:9.61 [[ 7.07075219e-01 -6.96512277e-01 -1.22128139e-01 2.58576774e+02] [ 6.85624579e-01 7.17538476e-01 -1.22708893e-01 1.16185404e+02] [ 1.73099890e-01 3.03036365e-03 9.84899612e-01 9.61358540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.356875 meters 0.021294502449170933 Centerline is valid? [True, True] Translation: X:258.62, Y:116.22, Z:9.62 [[ 7.04508689e-01 -6.98882033e-01 -1.23415601e-01 2.58621520e+02] [ 6.87786912e-01 7.15232518e-01 -1.24062927e-01 1.16222819e+02] [ 1.74976202e-01 2.51977481e-03 9.84569439e-01 9.62113737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.416875 meters 0.020956645094972227 Centerline is valid? [True, True] Translation: X:258.67, Y:116.26, Z:9.63 [[ 7.01243598e-01 -7.02003361e-01 -1.24292791e-01 2.58669370e+02] [ 6.90785196e-01 7.12171348e-01 -1.25011135e-01 1.16257654e+02] [ 1.76276002e-01 1.80363794e-03 9.84339128e-01 9.63138910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.476875 meters 0.020651711298197067 Centerline is valid? [True, True] Translation: X:258.71, Y:116.29, Z:9.64 [[ 6.99510252e-01 -7.03711995e-01 -1.24397891e-01 2.58712394e+02] [ 6.92490584e-01 7.10483931e-01 -1.25177374e-01 1.16294418e+02] [ 1.76471522e-01 1.41848879e-03 9.84304724e-01 9.64013499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.536875 meters 0.020334532046854096 Centerline is valid? [True, True] Translation: X:258.76, Y:116.33, Z:9.65 [[ 6.98364121e-01 -7.04923068e-01 -1.23979926e-01 2.58756873e+02] [ 6.93786409e-01 7.09282840e-01 -1.24812948e-01 1.16331346e+02] [ 1.75920360e-01 1.14929731e-03 9.84403731e-01 9.65063406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.596875 meters 0.020415099930214165 Centerline is valid? [True, True] Translation: X:258.80, Y:116.37, Z:9.66 [[ 6.98432608e-01 -7.04955527e-01 -1.23408252e-01 2.58798696e+02] [ 6.93910942e-01 7.09250523e-01 -1.24303259e-01 1.16370278e+02] [ 1.75155636e-01 1.18311299e-03 9.84540047e-01 9.66140137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.656875 meters 0.020719838761914078 Centerline is valid? [True, True] Translation: X:258.84, Y:116.41, Z:9.67 [[ 6.99107071e-01 -7.04352565e-01 -1.23031575e-01 2.58838895e+02] [ 6.93354238e-01 7.09848970e-01 -1.23993309e-01 1.16410534e+02] [ 1.74668842e-01 1.38013508e-03 9.84626270e-01 9.66774078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.716875 meters 0.020275185350989884 Centerline is valid? [True, True] Translation: X:258.88, Y:116.45, Z:9.68 [[ 6.98330842e-01 -7.05183856e-01 -1.22677480e-01 2.58880749e+02] [ 6.94250850e-01 7.09023452e-01 -1.23699241e-01 1.16449636e+02] [ 1.74211918e-01 1.21405010e-03 9.84707436e-01 9.67772599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.776875 meters 0.019771520643978895 Centerline is valid? [True, True] Translation: X:258.92, Y:116.49, Z:9.69 [[ 6.94298458e-01 -7.09118269e-01 -1.22885849e-01 2.58923868e+02] [ 6.98197024e-01 7.05089500e-01 -1.23974640e-01 1.16486980e+02] [ 1.74558204e-01 2.76867277e-04 9.84646818e-01 9.68546010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.836875 meters 0.01989072056113909 Centerline is valid? [True, True] Translation: X:258.97, Y:116.53, Z:9.70 [[ 6.91405730e-01 -7.11905630e-01 -1.23079200e-01 2.58966076e+02] [ 7.00983741e-01 7.02275034e-01 -1.24223875e-01 1.16525171e+02] [ 1.74871125e-01 -3.87419357e-04 9.84591255e-01 9.69649237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.896875 meters 0.019942306890411543 Centerline is valid? [True, True] Translation: X:259.01, Y:116.56, Z:9.71 [[ 6.89232650e-01 -7.14436626e-01 -1.20576371e-01 2.59006941e+02] [ 7.03984925e-01 6.99699494e-01 -1.21761422e-01 1.16564143e+02] [ 1.71358045e-01 -9.61999744e-04 9.85208351e-01 9.70883383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.956875 meters 0.01985188573034485 Centerline is valid? [True, True] Translation: X:259.05, Y:116.61, Z:9.72 [[ 6.88805852e-01 -7.14952463e-01 -1.19956131e-01 2.59046448e+02] [ 7.04609009e-01 6.99172272e-01 -1.21178706e-01 1.16605716e+02] [ 1.70507015e-01 -1.05356858e-03 9.85355899e-01 9.72014509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.016875 meters 0.01997926386347026 Centerline is valid? [True, True] Translation: X:259.09, Y:116.65, Z:9.73 [[ 6.88725002e-01 -7.15292826e-01 -1.18380932e-01 2.59085579e+02] [ 7.05214659e-01 6.98824026e-01 -1.19654780e-01 1.16646462e+02] [ 1.68315645e-01 -1.07472963e-03 9.85732564e-01 9.72989323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07687500000003 meters 0.02012366746533238 Centerline is valid? [True, True] Translation: X:259.12, Y:116.69, Z:9.74 [[ 6.89405593e-01 -7.14721067e-01 -1.17871643e-01 2.59123800e+02] [ 7.04712570e-01 6.99409036e-01 -1.19193938e-01 1.16689943e+02] [ 1.67630910e-01 -8.92660775e-04 9.85849421e-01 9.73910088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13687500000003 meters 0.019837407097160774 Centerline is valid? [True, True] Translation: X:259.16, Y:116.73, Z:9.75 [[ 6.90466441e-01 -7.13639452e-01 -1.18215174e-01 2.59161647e+02] [ 7.03545099e-01 7.00512948e-01 -1.19607287e-01 1.16733782e+02] [ 1.68167738e-01 -5.84888397e-04 9.85758221e-01 9.74817596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19687500000003 meters 0.019783377376832827 Centerline is valid? [True, True] Translation: X:259.20, Y:116.78, Z:9.76 [[ 6.93766919e-01 -7.10312018e-01 -1.18929804e-01 2.59195832e+02] [ 7.00033752e-01 7.03886896e-01 -1.20399268e-01 1.16779030e+02] [ 1.69234178e-01 2.74152247e-04 9.85575831e-01 9.75562998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25687500000004 meters 0.02031529258157022 Centerline is valid? [True, True] Translation: X:259.23, Y:116.83, Z:9.76 [[ 6.98293597e-01 -7.05841967e-01 -1.19051125e-01 2.59229224e+02] [ 6.95467240e-01 7.08367942e-01 -1.20582655e-01 1.16826350e+02] [ 1.69444299e-01 1.40593854e-03 9.85538763e-01 9.76370979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31687500000004 meters 0.020692640983305297 Centerline is valid? [True, True] Translation: X:259.27, Y:116.87, Z:9.77 [[ 7.01363751e-01 -7.02949968e-01 -1.18111098e-01 2.59265877e+02] [ 6.92692802e-01 7.11236158e-01 -1.19665410e-01 1.16871804e+02] [ 1.68123679e-01 2.11427368e-03 9.85763642e-01 9.77438639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37687500000004 meters 0.021429831052597412 Centerline is valid? [True, True] Translation: X:259.30, Y:116.92, Z:9.79 [[ 7.04578030e-01 -6.99885479e-01 -1.17175578e-01 2.59302536e+02] [ 6.89739199e-01 7.14249327e-01 -1.18775991e-01 1.16917054e+02] [ 1.66822168e-01 2.86636446e-03 9.85982834e-01 9.78548024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43687500000004 meters 0.022764881034091668 Centerline is valid? [True, True] Translation: X:259.34, Y:116.96, Z:9.79 [[ 7.09696547e-01 -6.94886689e-01 -1.16031463e-01 2.59336343e+02] [ 6.84862490e-01 7.19107855e-01 -1.17674391e-01 1.16964948e+02] [ 1.65209505e-01 4.04751231e-03 9.86250190e-01 9.79464770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.496875 meters 0.023259124879125948 Centerline is valid? [True, True] Translation: X:259.37, Y:117.01, Z:9.80 [[ 7.12861801e-01 -6.91535708e-01 -1.16646546e-01 2.59373394e+02] [ 6.81348691e-01 7.22325664e-01 -1.18362142e-01 1.17010156e+02] [ 1.66108442e-01 4.89887792e-03 9.86095323e-01 9.80306440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.556875 meters 0.025048798235934453 Centerline is valid? [True, True] Translation: X:259.41, Y:117.06, Z:9.81 [[ 7.16741202e-01 -6.87300017e-01 -1.17901381e-01 2.59408391e+02] [ 6.76824044e-01 7.26348953e-01 -1.19692989e-01 1.17057765e+02] [ 1.67902538e-01 5.99040728e-03 9.85785399e-01 9.80954103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.616875 meters 0.025844360437531386 Centerline is valid? [True, True] Translation: X:259.45, Y:117.10, Z:9.82 [[ 7.18525380e-01 -6.85267724e-01 -1.18867257e-01 2.59446996e+02] [ 6.74584585e-01 7.28261836e-01 -1.20707642e-01 1.17102034e+02] [ 1.69283538e-01 6.54548514e-03 9.85545656e-01 9.81766025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.676875 meters 0.02796458788593628 Centerline is valid? [True, True] Translation: X:259.48, Y:117.15, Z:9.83 [[ 7.19531619e-01 -6.84175235e-01 -1.19073493e-01 2.59484219e+02] [ 6.73429603e-01 7.29285405e-01 -1.20976723e-01 1.17145677e+02] [ 1.69607839e-01 6.85896191e-03 9.85487765e-01 9.82519059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.736875 meters 0.026769029601451277 Centerline is valid? [True, True] Translation: X:259.53, Y:117.18, Z:9.84 [[ 7.18651789e-01 -6.85163319e-01 -1.18704810e-01 2.59527544e+02] [ 6.74488477e-01 7.28359156e-01 -1.20657507e-01 1.17184834e+02] [ 1.69129833e-01 6.64570639e-03 9.85571374e-01 9.83603997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.796875 meters 0.02537531928361799 Centerline is valid? [True, True] Translation: X:259.57, Y:117.22, Z:9.85 [[ 7.15999017e-01 -6.88053332e-01 -1.18017032e-01 2.59572383e+02] [ 6.77531437e-01 7.25635545e-01 -1.20017531e-01 1.17221872e+02] [ 1.68215816e-01 5.97218548e-03 9.85732100e-01 9.84615648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.856875 meters 0.02341044439679559 Centerline is valid? [True, True] Translation: X:259.62, Y:117.26, Z:9.86 [[ 7.13587001e-01 -6.90479532e-01 -1.18455088e-01 2.59617874e+02] [ 6.79900769e-01 7.23331255e-01 -1.20527336e-01 1.17257741e+02] [ 1.68903926e-01 5.46903454e-03 9.85617346e-01 9.85540770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.916875 meters 0.023643661501717945 Centerline is valid? [True, True] Translation: X:259.66, Y:117.30, Z:9.86 [[ 7.10798535e-01 -6.93227913e-01 -1.19165861e-01 2.59660698e+02] [ 6.82547556e-01 7.20701808e-01 -1.21316685e-01 1.17295592e+02] [ 1.69983164e-01 4.89535433e-03 9.85434807e-01 9.86299621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.976875 meters 0.021654143378180314 Centerline is valid? [True, True] Translation: X:259.71, Y:117.33, Z:9.87 [[ 7.05410171e-01 -6.98362433e-01 -1.21187472e-01 2.59710587e+02] [ 6.87382819e-01 7.15734485e-01 -1.23405862e-01 1.17328507e+02] [ 1.72920071e-01 3.74956391e-03 9.84928723e-01 9.87059299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.036875 meters 0.020486520242684703 Centerline is valid? [True, True] Translation: X:259.76, Y:117.36, Z:9.88 [[ 6.99663070e-01 -7.03759791e-01 -1.23262911e-01 2.59758365e+02] [ 6.92468386e-01 7.10433563e-01 -1.25585376e-01 1.17362260e+02] [ 1.75952047e-01 2.51178117e-03 9.84395534e-01 9.87724719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.096875 meters 0.019774970285045185 Centerline is valid? [True, True] Translation: X:259.81, Y:117.40, Z:9.89 [[ 6.95825438e-01 -7.07537726e-01 -1.23358527e-01 2.59805320e+02] [ 6.96275304e-01 7.06673744e-01 -1.25749435e-01 1.17397381e+02] [ 1.76146702e-01 1.60815966e-03 9.84362613e-01 9.88690068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.156875 meters 0.01929899145192483 Centerline is valid? [True, True] Translation: X:259.85, Y:117.43, Z:9.90 [[ 6.90525246e-01 -7.12811293e-01 -1.22780068e-01 2.59854940e+02] [ 7.01726312e-01 7.01355804e-01 -1.25220681e-01 1.17429782e+02] [ 1.75371229e-01 3.10037297e-04 9.84502329e-01 9.89726135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.216875 meters 0.01922061180722505 Centerline is valid? [True, True] Translation: X:259.90, Y:117.46, Z:9.91 [[ 6.87939098e-01 -7.15305413e-01 -1.22792361e-01 2.59900194e+02] [ 7.04246611e-01 6.98811911e-01 -1.25294150e-01 1.17464359e+02] [ 1.75432348e-01 -2.81359559e-04 9.84491448e-01 9.90616453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.276875 meters 0.018820264994943246 Centerline is valid? [True, True] Translation: X:259.95, Y:117.50, Z:9.92 [[ 6.86954018e-01 -7.16408020e-01 -1.21875866e-01 2.59947360e+02] [ 7.05521277e-01 6.97681363e-01 -1.24420433e-01 1.17498792e+02] [ 1.74166316e-01 -5.14899882e-04 9.84716116e-01 9.91778316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.336875 meters 0.018669354934029707 Centerline is valid? [True, True] Translation: X:259.99, Y:117.54, Z:9.93 [[ 6.88331517e-01 -7.15189025e-01 -1.21261627e-01 2.59988427e+02] [ 7.04382422e-01 6.98931065e-01 -1.23857860e-01 1.17537092e+02] [ 1.73335300e-01 -1.59289487e-04 9.84862858e-01 9.92726699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.396875 meters 0.01864360167856597 Centerline is valid? [True, True] Translation: X:260.03, Y:117.58, Z:9.94 [[ 6.91253255e-01 -7.12387663e-01 -1.21131144e-01 2.60027331e+02] [ 7.01551890e-01 7.01785919e-01 -1.23779921e-01 1.17578004e+02] [ 1.73187420e-01 5.83490312e-04 9.84888713e-01 9.93509801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.456875 meters 0.01923077765830722 Centerline is valid? [True, True] Translation: X:260.07, Y:117.62, Z:9.95 [[ 6.97437582e-01 -7.06486722e-01 -1.20238645e-01 2.60066355e+02] [ 6.95711633e-01 7.07723216e-01 -1.22935650e-01 1.17620150e+02] [ 1.71948084e-01 2.08851819e-03 9.85103799e-01 9.94722760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.516875 meters 0.021172209485651853 Centerline is valid? [True, True] Translation: X:260.10, Y:117.66, Z:9.96 [[ 7.03981034e-01 -7.00164470e-01 -1.19081561e-01 2.60103556e+02] [ 6.89496469e-01 7.13972277e-01 -1.21812178e-01 1.17663969e+02] [ 1.70309493e-01 3.64714751e-03 9.85383872e-01 9.95789306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57687500000003 meters 0.022261514615277724 Centerline is valid? [True, True] Translation: X:260.14, Y:117.71, Z:9.97 [[ 7.08039682e-01 -6.96028787e-01 -1.19263307e-01 2.60142499e+02] [ 6.85258573e-01 7.17998509e-01 -1.22060761e-01 1.17706756e+02] [ 1.70588680e-01 4.69765894e-03 9.85331129e-01 9.96740682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63687500000003 meters 0.023550075057302614 Centerline is valid? [True, True] Translation: X:260.18, Y:117.75, Z:9.98 [[ 7.10593471e-01 -6.93414788e-01 -1.19301516e-01 2.60182509e+02] [ 6.82594331e-01 7.20518733e-01 -1.22138181e-01 1.17749122e+02] [ 1.70651397e-01 5.35605535e-03 9.85316910e-01 9.97609015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69687500000003 meters 0.022903419453356454 Centerline is valid? [True, True] Translation: X:260.23, Y:117.79, Z:9.99 [[ 7.07730430e-01 -6.96348246e-01 -1.19234050e-01 2.60225753e+02] [ 6.85571037e-01 7.17688736e-01 -1.22127931e-01 1.17787888e+02] [ 1.70616505e-01 4.69024193e-03 9.85326347e-01 9.98598396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75687500000004 meters 0.021185166281011747 Centerline is valid? [True, True] Translation: X:260.27, Y:117.83, Z:10.00 [[ 7.05203971e-01 -6.99061036e-01 -1.18325939e-01 2.60270061e+02] [ 6.88480131e-01 7.15050648e-01 -1.21233985e-01 1.17825485e+02] [ 1.69358994e-01 4.02962983e-03 9.85546190e-01 9.99731656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81687500000004 meters 0.02052907570331046 Centerline is valid? [True, True] Translation: X:260.31, Y:117.87, Z:10.01 [[ 7.03578686e-01 -7.00685921e-01 -1.18390345e-01 2.60311571e+02] [ 6.90109449e-01 7.13460424e-01 -1.21339074e-01 1.17866013e+02] [ 1.69487407e-01 3.66929071e-03 9.85525522e-01 1.00055414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87687500000004 meters 0.020584346537785216 Centerline is valid? [True, True] Translation: X:260.35, Y:117.91, Z:10.01 [[ 7.02869525e-01 -7.01381726e-01 -1.18482509e-01 2.60351180e+02] [ 6.90787818e-01 7.12777018e-01 -1.21495320e-01 1.17907134e+02] [ 1.69666207e-01 3.54908347e-03 9.85495196e-01 1.00138408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93687500000004 meters 0.020583705043239964 Centerline is valid? [True, True] Translation: X:260.39, Y:117.95, Z:10.02 [[ 7.02961071e-01 -7.01311603e-01 -1.18354416e-01 2.60391464e+02] [ 6.90728083e-01 7.12845701e-01 -1.21431965e-01 1.17947680e+02] [ 1.69530083e-01 3.61122514e-03 9.85518397e-01 1.00228625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.996875 meters 0.02058484046798685 Centerline is valid? [True, True] Translation: X:260.43, Y:117.99, Z:10.03 [[ 7.03673476e-01 -7.00486716e-01 -1.19004198e-01 2.60432891e+02] [ 6.89762130e-01 7.13654885e-01 -1.22167547e-01 1.17988849e+02] [ 1.70504671e-01 3.88147335e-03 9.85349223e-01 1.00335381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.056875 meters 0.02112899409363062 Centerline is valid? [True, True] Translation: X:260.47, Y:118.03, Z:10.04 [[ 7.04259737e-01 -6.99979997e-01 -1.18516778e-01 2.60471879e+02] [ 6.89326151e-01 7.14151071e-01 -1.21727998e-01 1.18030939e+02] [ 1.69846047e-01 4.03141310e-03 9.85462363e-01 1.00422213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.116875 meters 0.02138715923786727 Centerline is valid? [True, True] Translation: X:260.51, Y:118.07, Z:10.05 [[ 7.04140310e-01 -7.00173474e-01 -1.18082726e-01 2.60511587e+02] [ 6.89589569e-01 7.13961462e-01 -1.21347670e-01 1.18072165e+02] [ 1.69270936e-01 4.01716985e-03 9.85561369e-01 1.00516476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.176875 meters 0.020618766360466702 Centerline is valid? [True, True] Translation: X:260.55, Y:118.11, Z:10.06 [[ 7.02565456e-01 -7.01721488e-01 -1.18273974e-01 2.60554114e+02] [ 6.91112993e-01 7.12441761e-01 -1.21612366e-01 1.18111468e+02] [ 1.69601329e-01 3.69996718e-03 9.85505809e-01 1.00609154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.236875 meters 0.019986778336145313 Centerline is valid? [True, True] Translation: X:260.60, Y:118.15, Z:10.07 [[ 7.00656813e-01 -7.03617328e-01 -1.18332946e-01 2.60597015e+02] [ 6.93014518e-01 7.10571497e-01 -1.21733417e-01 1.18151265e+02] [ 1.69737760e-01 3.28689802e-03 9.85483784e-01 1.00709509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.296875 meters 0.019564520323680577 Centerline is valid? [True, True] Translation: X:260.64, Y:118.19, Z:10.08 [[ 6.98905369e-01 -7.05394187e-01 -1.18111499e-01 2.60639219e+02] [ 6.94846178e-01 7.08809333e-01 -1.21565286e-01 1.18192027e+02] [ 1.69469979e-01 2.89330743e-03 9.85531103e-01 1.00803682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.356875 meters 0.019173603585143906 Centerline is valid? [True, True] Translation: X:260.68, Y:118.23, Z:10.09 [[ 6.97082610e-01 -7.07100185e-01 -1.18680929e-01 2.60680806e+02] [ 6.96464191e-01 7.07108845e-01 -1.22207658e-01 1.18232013e+02] [ 1.70333392e-01 2.53181538e-03 9.85383238e-01 1.00890883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.416875 meters 0.018681196124142894 Centerline is valid? [True, True] Translation: X:260.72, Y:118.27, Z:10.10 [[ 6.95394942e-01 -7.08661682e-01 -1.19266484e-01 2.60722099e+02] [ 6.97930866e-01 7.05544998e-01 -1.22877022e-01 1.18272879e+02] [ 1.71226108e-01 2.20829895e-03 9.85229285e-01 1.00979127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.476875 meters 0.01830402881270206 Centerline is valid? [True, True] Translation: X:260.76, Y:118.31, Z:10.11 [[ 6.93232470e-01 -7.10780493e-01 -1.19246938e-01 2.60763918e+02] [ 7.00073203e-01 7.03411753e-01 -1.22920362e-01 1.18313108e+02] [ 1.71249093e-01 1.73080020e-03 9.85226244e-01 1.01077489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.536875 meters 0.018099346844206075 Centerline is valid? [True, True] Translation: X:260.81, Y:118.35, Z:10.12 [[ 6.91066948e-01 -7.12910336e-01 -1.19102169e-01 2.60805066e+02] [ 7.02249725e-01 7.01254090e-01 -1.22833324e-01 1.18352836e+02] [ 1.71090029e-01 1.24658489e-03 9.85254611e-01 1.01180999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.596875 meters 0.017975052970128535 Centerline is valid? [True, True] Translation: X:260.85, Y:118.39, Z:10.13 [[ 6.87827843e-01 -7.16080966e-01 -1.18831429e-01 2.60846945e+02] [ 7.05504472e-01 6.98017045e-01 -1.22619923e-01 1.18393210e+02] [ 1.70752156e-01 5.05292482e-04 9.85313882e-01 1.01273615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.656875 meters 0.018251872009202055 Centerline is valid? [True, True] Translation: X:260.89, Y:118.43, Z:10.14 [[ 6.85805346e-01 -7.17887239e-01 -1.19619977e-01 2.60888340e+02] [ 7.07184933e-01 6.96159394e-01 -1.23497242e-01 1.18434015e+02] [ 1.71931665e-01 1.01623454e-04 9.85108873e-01 1.01357577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.716875 meters 0.01841891355833681 Centerline is valid? [True, True] Translation: X:260.93, Y:118.47, Z:10.14 [[ 6.82934677e-01 -7.20512464e-01 -1.20258128e-01 2.60929106e+02] [ 7.09723048e-01 6.93441798e-01 -1.24224268e-01 1.18473892e+02] [ 1.72897145e-01 -5.12904797e-04 9.84939752e-01 1.01429181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.776875 meters 0.019006177016217162 Centerline is valid? [True, True] Translation: X:260.97, Y:118.51, Z:10.15 [[ 6.77998013e-01 -7.25090260e-01 -1.20676462e-01 2.60971819e+02] [ 7.14288419e-01 6.88651866e-01 -1.24702297e-01 1.18513449e+02] [ 1.73524491e-01 -1.64988958e-03 9.84828172e-01 1.01524955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.836875 meters 0.02015247578860424 Centerline is valid? [True, True] Translation: X:261.01, Y:118.55, Z:10.16 [[ 6.73001707e-01 -7.29830848e-01 -1.20065129e-01 2.61012795e+02] [ 7.19202421e-01 6.83621999e-01 -1.24132349e-01 1.18552826e+02] [ 1.72674781e-01 -2.80984915e-03 9.84974885e-01 1.01623883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.896875 meters 0.020829136972215227 Centerline is valid? [True, True] Translation: X:261.05, Y:118.59, Z:10.17 [[ 6.70744359e-01 -7.31884245e-01 -1.20197574e-01 2.61052773e+02] [ 7.21252706e-01 6.81421017e-01 -1.24337976e-01 1.18594677e+02] [ 1.72906159e-01 -3.29382964e-03 9.84932795e-01 1.01710018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.956875 meters 0.02052310414800729 Centerline is valid? [True, True] Translation: X:261.09, Y:118.64, Z:10.18 [[ 6.69724967e-01 -7.32800623e-01 -1.20298440e-01 2.61090630e+02] [ 7.22154627e-01 6.80434471e-01 -1.24505526e-01 1.18639110e+02] [ 1.73092933e-01 -3.48961587e-03 9.84899314e-01 1.01802833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.016875 meters 0.020050646779608088 Centerline is valid? [True, True] Translation: X:261.13, Y:118.69, Z:10.19 [[ 6.71199683e-01 -7.31448844e-01 -1.20306171e-01 2.61126708e+02] [ 7.20769224e-01 6.81889277e-01 -1.24574234e-01 1.18685817e+02] [ 1.73155167e-01 -3.09879921e-03 9.84889682e-01 1.01897629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07687500000003 meters 0.019716125100622636 Centerline is valid? [True, True] Translation: X:261.16, Y:118.73, Z:10.20 [[ 6.74062971e-01 -7.28844707e-01 -1.20102056e-01 2.61163300e+02] [ 7.18150518e-01 6.84674890e-01 -1.24419166e-01 1.18732243e+02] [ 1.72913112e-01 -2.38500070e-03 9.84934194e-01 1.01989477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13687500000003 meters 0.01882731423446488 Centerline is valid? [True, True] Translation: X:261.19, Y:118.78, Z:10.21 [[ 6.80527362e-01 -7.22881499e-01 -1.19686456e-01 2.61194500e+02] [ 7.12159503e-01 6.90971538e-01 -1.24045058e-01 1.18782031e+02] [ 1.72369812e-01 -8.19791328e-04 9.85031967e-01 1.02083302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19687500000003 meters 0.01857623044008375 Centerline is valid? [True, True] Translation: X:261.23, Y:118.83, Z:10.22 [[ 6.84669606e-01 -7.19089856e-01 -1.18900423e-01 2.61228191e+02] [ 7.08440616e-01 6.94917078e-01 -1.23296989e-01 1.18827717e+02] [ 1.71287548e-01 1.83812175e-04 9.85221063e-01 1.02176466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25687500000004 meters 0.01923590463650113 Centerline is valid? [True, True] Translation: X:261.26, Y:118.88, Z:10.23 [[ 6.89989939e-01 -7.14029712e-01 -1.18640020e-01 2.61261344e+02] [ 7.03343844e-01 7.00113839e-01 -1.23077415e-01 1.18875696e+02] [ 1.70942451e-01 1.47744999e-03 9.85279907e-01 1.02272549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31687500000004 meters 0.01986911505513557 Centerline is valid? [True, True] Translation: X:261.30, Y:118.92, Z:10.24 [[ 6.92688284e-01 -7.11404137e-01 -1.18689068e-01 2.61298094e+02] [ 7.00664691e-01 7.02779849e-01 -1.23164417e-01 1.18921491e+02] [ 1.71031961e-01 2.15330997e-03 9.85263128e-01 1.02360566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37687500000004 meters 0.020066397384429648 Centerline is valid? [True, True] Translation: X:261.34, Y:118.97, Z:10.25 [[ 6.94896137e-01 -7.09241661e-01 -1.18725000e-01 2.61336123e+02] [ 6.98453823e-01 7.04960150e-01 -1.23261693e-01 1.18966233e+02] [ 1.71118721e-01 2.73014366e-03 9.85246634e-01 1.02454556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43687500000004 meters 0.020180586514696213 Centerline is valid? [True, True] Translation: X:261.37, Y:119.01, Z:10.25 [[ 6.94549183e-01 -7.09632280e-01 -1.18420691e-01 2.61374178e+02] [ 6.98895156e-01 7.04567169e-01 -1.23006770e-01 1.19007360e+02] [ 1.70724906e-01 2.67060459e-03 9.85315114e-01 1.02543418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.496875 meters 0.019957616493013697 Centerline is valid? [True, True] Translation: X:261.41, Y:119.05, Z:10.27 [[ 6.93406483e-01 -7.10868929e-01 -1.17697981e-01 2.61414713e+02] [ 7.00272954e-01 7.03320465e-01 -1.22303369e-01 1.19048871e+02] [ 1.69721063e-01 2.38523636e-03 9.85489255e-01 1.02652911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.556875 meters 0.019831871436929063 Centerline is valid? [True, True] Translation: X:261.45, Y:119.09, Z:10.27 [[ 6.92820059e-01 -7.11402650e-01 -1.17926395e-01 2.61454569e+02] [ 7.00762453e-01 7.02780883e-01 -1.22601042e-01 1.19089864e+02] [ 1.70095122e-01 2.30207107e-03 9.85424959e-01 1.02747469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.616875 meters 0.01976349146965879 Centerline is valid? [True, True] Translation: X:261.49, Y:119.13, Z:10.28 [[ 6.91888215e-01 -7.12275480e-01 -1.18128484e-01 2.61493326e+02] [ 7.01599026e-01 7.01896756e-01 -1.22881042e-01 1.19131740e+02] [ 1.70439153e-01 2.14111530e-03 9.85365877e-01 1.02830047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.676875 meters 0.01941564079678133 Centerline is valid? [True, True] Translation: X:261.53, Y:119.17, Z:10.29 [[ 6.91831218e-01 -7.12292246e-01 -1.18360982e-01 2.61533479e+02] [ 7.01561614e-01 7.01879589e-01 -1.23192311e-01 1.19172592e+02] [ 1.70824085e-01 2.19076511e-03 9.85299108e-01 1.02928557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.736875 meters 0.019524584251069343 Centerline is valid? [True, True] Translation: X:261.57, Y:119.21, Z:10.30 [[ 6.91483042e-01 -7.12609839e-01 -1.18483840e-01 2.61573132e+02] [ 7.01849208e-01 7.01557219e-01 -1.23390263e-01 1.19214559e+02] [ 1.71052309e-01 2.16448517e-03 9.85259571e-01 1.03020906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.796875 meters 0.01942058506874017 Centerline is valid? [True, True] Translation: X:261.61, Y:119.26, Z:10.31 [[ 6.90618037e-01 -7.13430656e-01 -1.18589318e-01 2.61613080e+02] [ 7.02650729e-01 7.00722948e-01 -1.23569021e-01 1.19255614e+02] [ 1.71256184e-01 2.01212425e-03 9.85224477e-01 1.03113930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.856875 meters 0.019392461924395633 Centerline is valid? [True, True] Translation: X:261.65, Y:119.30, Z:10.32 [[ 6.90278393e-01 -7.13817180e-01 -1.18240325e-01 2.61652966e+02] [ 7.03094579e-01 7.00329345e-01 -1.23275386e-01 1.19297426e+02] [ 1.70803258e-01 1.96020412e-03 9.85303204e-01 1.03209476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.916875 meters 0.019467300773542993 Centerline is valid? [True, True] Translation: X:261.69, Y:119.34, Z:10.33 [[ 6.89934173e-01 -7.14208246e-01 -1.17887312e-01 2.61691919e+02] [ 7.03543692e-01 6.99930672e-01 -1.22976943e-01 1.19338947e+02] [ 1.70344092e-01 1.90712024e-03 9.85382795e-01 1.03313313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.976875 meters 0.01961639023058079 Centerline is valid? [True, True] Translation: X:261.73, Y:119.38, Z:10.34 [[ 6.90448689e-01 -7.13796404e-01 -1.17368229e-01 2.61730725e+02] [ 7.03208508e-01 7.00350268e-01 -1.22504274e-01 1.19381247e+02] [ 1.69641981e-01 2.04857807e-03 9.85503628e-01 1.03403509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.036875 meters 0.02011405792724765 Centerline is valid? [True, True] Translation: X:261.77, Y:119.42, Z:10.35 [[ 6.90987389e-01 -7.13291967e-01 -1.17264648e-01 2.61769742e+02] [ 7.02703897e-01 7.00863500e-01 -1.22464640e-01 1.19424163e+02] [ 1.69539555e-01 2.21919672e-03 9.85520885e-01 1.03480682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.096875 meters 0.020490601097482276 Centerline is valid? [True, True] Translation: X:261.81, Y:119.47, Z:10.36 [[ 6.91272458e-01 -7.12957743e-01 -1.17616522e-01 2.61807705e+02] [ 7.02289705e-01 7.01203050e-01 -1.22896108e-01 1.19465868e+02] [ 1.70092796e-01 2.35382198e-03 9.85425238e-01 1.03558834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.156875 meters 0.020062487875087128 Centerline is valid? [True, True] Translation: X:261.85, Y:119.51, Z:10.37 [[ 6.91862910e-01 -7.12374111e-01 -1.17681090e-01 2.61848682e+02] [ 7.01680242e-01 7.01795387e-01 -1.22996233e-01 1.19506651e+02] [ 1.70207378e-01 2.52203594e-03 9.85405037e-01 1.03665555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.216875 meters 0.020715555719991223 Centerline is valid? [True, True] Translation: X:261.89, Y:119.55, Z:10.37 [[ 6.93601521e-01 -7.10562241e-01 -1.18398617e-01 2.61887451e+02] [ 6.99698732e-01 7.03627814e-01 -1.23812694e-01 1.19549132e+02] [ 1.71285186e-01 3.03331060e-03 9.85216821e-01 1.03733834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.276875 meters 0.020974080639454475 Centerline is valid? [True, True] Translation: X:261.93, Y:119.59, Z:10.38 [[ 6.94544335e-01 -7.09540266e-01 -1.18999067e-01 2.61927903e+02] [ 6.98542116e-01 7.04656991e-01 -1.24488704e-01 1.19591448e+02] [ 1.72183273e-01 3.33706449e-03 9.85059280e-01 1.03821251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.336875 meters 0.021034734217329643 Centerline is valid? [True, True] Translation: X:261.97, Y:119.63, Z:10.39 [[ 6.95648548e-01 -7.08567625e-01 -1.18342800e-01 2.61968871e+02] [ 6.97666946e-01 7.05633726e-01 -1.23862330e-01 1.19632311e+02] [ 1.71271508e-01 3.60078970e-03 9.85217288e-01 1.03915762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.396875 meters 0.021568972087285497 Centerline is valid? [True, True] Translation: X:262.01, Y:119.67, Z:10.40 [[ 6.95370144e-01 -7.08900773e-01 -1.17983289e-01 2.62007713e+02] [ 6.98060861e-01 7.05299284e-01 -1.23547378e-01 1.19672737e+02] [ 1.70796361e-01 3.55164160e-03 9.85299949e-01 1.04002370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.456875 meters 0.020657497122835034 Centerline is valid? [True, True] Translation: X:262.05, Y:119.71, Z:10.41 [[ 6.94165414e-01 -7.10255974e-01 -1.16922322e-01 2.62051510e+02] [ 6.99619012e-01 7.03936057e-01 -1.22504144e-01 1.19710427e+02] [ 1.69315138e-01 3.23706004e-03 9.85556647e-01 1.04113228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.516875 meters 0.0199429022264898 Centerline is valid? [True, True] Translation: X:262.10, Y:119.75, Z:10.42 [[ 6.92035988e-01 -7.12365358e-01 -1.16712415e-01 2.62095541e+02] [ 7.01786137e-01 7.01803377e-01 -1.22344751e-01 1.19748690e+02] [ 1.69063329e-01 2.75981574e-03 9.85601326e-01 1.04212351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57687500000003 meters 0.018772924182494325 Centerline is valid? [True, True] Translation: X:262.14, Y:119.78, Z:10.43 [[ 6.87320244e-01 -7.16844843e-01 -1.17150987e-01 2.62142988e+02] [ 7.06239052e-01 6.97230624e-01 -1.22865205e-01 1.19784698e+02] [ 1.69756544e-01 1.71114039e-03 9.85484545e-01 1.04297768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63687500000003 meters 0.01849104469804592 Centerline is valid? [True, True] Translation: X:262.19, Y:119.82, Z:10.44 [[ 6.83276588e-01 -7.20678788e-01 -1.17282516e-01 2.62187627e+02] [ 7.10094693e-01 6.93268663e-01 -1.23061319e-01 1.19821747e+02] [ 1.69995975e-01 8.03226032e-04 9.85444429e-01 1.04377615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69687500000003 meters 0.01817399361287684 Centerline is valid? [True, True] Translation: X:262.23, Y:119.86, Z:10.45 [[ 6.78383776e-01 -7.25441489e-01 -1.16318952e-01 2.62234474e+02] [ 7.15090640e-01 6.88283757e-01 -1.22109979e-01 1.19856769e+02] [ 1.68644091e-01 -3.41165125e-04 9.85676952e-01 1.04486523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75687500000004 meters 0.018125093681854658 Centerline is valid? [True, True] Translation: X:262.28, Y:119.89, Z:10.46 [[ 6.76652199e-01 -7.27069905e-01 -1.16237493e-01 2.62277037e+02] [ 7.16745700e-01 6.86563082e-01 -1.22093142e-01 1.19894697e+02] [ 1.68574621e-01 -6.98129961e-04 9.85688647e-01 1.04585119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81687500000004 meters 0.018316029208717544 Centerline is valid? [True, True] Translation: X:262.32, Y:119.93, Z:10.47 [[ 6.75958700e-01 -7.27864027e-01 -1.15298718e-01 2.62319096e+02] [ 7.17706760e-01 6.85720973e-01 -1.21176540e-01 1.19932884e+02] [ 1.67262793e-01 -8.40332700e-04 9.85911990e-01 1.04669391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87687500000004 meters 0.018064104311874867 Centerline is valid? [True, True] Translation: X:262.36, Y:119.97, Z:10.48 [[ 6.77351057e-01 -7.26708217e-01 -1.14414655e-01 2.62358541e+02] [ 7.16680482e-01 6.86946075e-01 -1.20308674e-01 1.19974484e+02] [ 1.66026000e-01 -5.07542353e-04 9.86121245e-01 1.04768548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93687500000004 meters 0.017985126522569242 Centerline is valid? [True, True] Translation: X:262.40, Y:120.02, Z:10.49 [[ 6.79950249e-01 -7.24381261e-01 -1.13751693e-01 2.62396199e+02] [ 7.14426896e-01 6.89399577e-01 -1.19676370e-01 1.20016747e+02] [ 1.65111689e-01 1.06708601e-04 9.86274870e-01 1.04859246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.996875 meters 0.018434002596995975 Centerline is valid? [True, True] Translation: X:262.43, Y:120.06, Z:10.49 [[ 6.84593866e-01 -7.20040719e-01 -1.13457491e-01 2.62432585e+02] [ 7.10068911e-01 6.93930786e-01 -1.19424478e-01 1.20062307e+02] [ 1.64722133e-01 1.19462822e-03 9.86339288e-01 1.04940405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.056875 meters 0.018766028436364362 Centerline is valid? [True, True] Translation: X:262.47, Y:120.11, Z:10.50 [[ 6.87456991e-01 -7.17315854e-01 -1.13405693e-01 2.62470120e+02] [ 7.07306416e-01 6.96745574e-01 -1.19428801e-01 1.20106855e+02] [ 1.64683087e-01 1.88958975e-03 9.86344722e-01 1.05017792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.116875 meters 0.019398874549208557 Centerline is valid? [True, True] Translation: X:262.51, Y:120.15, Z:10.51 [[ 6.89667759e-01 -7.15189256e-01 -1.13413886e-01 2.62508563e+02] [ 7.05139922e-01 6.98926587e-01 -1.19496093e-01 1.20151183e+02] [ 1.64730302e-01 2.43994455e-03 9.86335630e-01 1.05099684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.176875 meters 0.01973808501076051 Centerline is valid? [True, True] Translation: X:262.55, Y:120.19, Z:10.52 [[ 6.90258792e-01 -7.14591792e-01 -1.13584203e-01 2.62547121e+02] [ 7.04494083e-01 6.99536747e-01 -1.19734816e-01 1.20193847e+02] [ 1.65017841e-01 2.62861079e-03 9.86287079e-01 1.05183987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.236875 meters 0.019906558139265274 Centerline is valid? [True, True] Translation: X:262.59, Y:120.24, Z:10.53 [[ 6.89947579e-01 -7.14953188e-01 -1.13200167e-01 2.62586148e+02] [ 7.04923776e-01 6.99167655e-01 -1.19361050e-01 1.20235472e+02] [ 1.64483458e-01 2.55537779e-03 9.86376532e-01 1.05267187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.296875 meters 0.01940506177316443 Centerline is valid? [True, True] Translation: X:262.63, Y:120.28, Z:10.54 [[ 6.88683709e-01 -7.16304016e-01 -1.12353485e-01 2.62626285e+02] [ 7.06432096e-01 6.97784665e-01 -1.18533771e-01 1.20277541e+02] [ 1.63304755e-01 2.26216885e-03 9.86573079e-01 1.05356465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.356875 meters 0.019212764223338234 Centerline is valid? [True, True] Translation: X:262.67, Y:120.32, Z:10.54 [[ 6.87308345e-01 -7.17578452e-01 -1.12642817e-01 2.62666279e+02] [ 7.07662161e-01 6.96474791e-01 -1.18899668e-01 1.20318889e+02] [ 1.63772722e-01 2.00767479e-03 9.86496054e-01 1.05442895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.416875 meters 0.018954062159733682 Centerline is valid? [True, True] Translation: X:262.71, Y:120.36, Z:10.55 [[ 6.85827585e-01 -7.18897505e-01 -1.13255908e-01 2.62706502e+02] [ 7.08879042e-01 6.95113889e-01 -1.19612645e-01 1.20360930e+02] [ 1.64714987e-01 1.74891195e-03 9.86339655e-01 1.05529199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.476875 meters 0.01861034813751672 Centerline is valid? [True, True] Translation: X:262.75, Y:120.40, Z:10.56 [[ 6.82940939e-01 -7.21534111e-01 -1.13930683e-01 2.62745184e+02] [ 7.11424322e-01 6.92377933e-01 -1.20367072e-01 1.20403345e+02] [ 1.65732039e-01 1.15054237e-03 9.86170151e-01 1.05599243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.536875 meters 0.01862701721662897 Centerline is valid? [True, True] Translation: X:262.79, Y:120.44, Z:10.57 [[ 6.80211117e-01 -7.23993537e-01 -1.14656858e-01 2.62785674e+02] [ 7.13776865e-01 6.89806491e-01 -1.21200625e-01 1.20443524e+02] [ 1.66839514e-01 6.02599493e-04 9.85983881e-01 1.05686960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.596875 meters 0.018467426387407494 Centerline is valid? [True, True] Translation: X:262.83, Y:120.48, Z:10.58 [[ 6.76633597e-01 -7.27279534e-01 -1.15028062e-01 2.62826691e+02] [ 7.17031178e-01 6.86341355e-01 -1.21662789e-01 1.20483400e+02] [ 1.67431372e-01 -1.57575818e-04 9.85883721e-01 1.05780598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.656875 meters 0.01871206139636423 Centerline is valid? [True, True] Translation: X:262.87, Y:120.52, Z:10.59 [[ 6.73231128e-01 -7.30455420e-01 -1.14868302e-01 2.62867759e+02] [ 7.20269826e-01 6.82959790e-01 -1.21561933e-01 1.20523164e+02] [ 1.67246005e-01 -8.96894619e-04 9.85914788e-01 1.05870120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.716875 meters 0.018908036885796474 Centerline is valid? [True, True] Translation: X:262.91, Y:120.56, Z:10.60 [[ 6.70176726e-01 -7.33305964e-01 -1.14566657e-01 2.62909500e+02] [ 7.23207810e-01 6.79896972e-01 -1.21287140e-01 1.20564232e+02] [ 1.66834106e-01 -1.57168241e-03 9.85983727e-01 1.05968121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.776875 meters 0.01942044153762837 Centerline is valid? [True, True] Translation: X:262.95, Y:120.61, Z:10.61 [[ 6.66914735e-01 -7.36282164e-01 -1.14513365e-01 2.62950800e+02] [ 7.26226757e-01 6.76670829e-01 -1.21290091e-01 1.20605890e+02] [ 1.66791585e-01 -2.27252072e-03 9.85989555e-01 1.06056807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.836875 meters 0.019654610517184035 Centerline is valid? [True, True] Translation: X:262.99, Y:120.65, Z:10.61 [[ 6.66706332e-01 -7.36484709e-01 -1.14424387e-01 2.62989691e+02] [ 7.26437710e-01 6.76450351e-01 -1.21256653e-01 1.20648336e+02] [ 1.66706087e-01 -2.27961109e-03 9.86003998e-01 1.06139899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.896875 meters 0.01919226853234184 Centerline is valid? [True, True] Translation: X:263.03, Y:120.69, Z:10.62 [[ 6.68774343e-01 -7.34692365e-01 -1.13877156e-01 2.63025950e+02] [ 7.24704786e-01 6.78398091e-01 -1.20743544e-01 1.20691763e+02] [ 1.65963405e-01 -1.77713588e-03 9.86130311e-01 1.06227209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.956875 meters 0.018754947556065618 Centerline is valid? [True, True] Translation: X:263.06, Y:120.74, Z:10.63 [[ 6.71385347e-01 -7.32226785e-01 -1.14392534e-01 2.63062124e+02] [ 7.22104324e-01 6.81059937e-01 -1.21337164e-01 1.20737674e+02] [ 1.66754494e-01 -1.13934970e-03 9.85997789e-01 1.06315877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.016875 meters 0.018337598854448616 Centerline is valid? [True, True] Translation: X:263.10, Y:120.78, Z:10.64 [[ 6.74768164e-01 -7.29046489e-01 -1.14800448e-01 2.63097806e+02] [ 7.18794649e-01 6.84464113e-01 -1.21832385e-01 1.20782714e+02] [ 1.67398259e-01 -3.09333260e-04 9.85889308e-01 1.06403944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07687500000003 meters 0.018321628191966484 Centerline is valid? [True, True] Translation: X:263.13, Y:120.83, Z:10.65 [[ 6.80098125e-01 -7.24024639e-01 -1.15129763e-01 2.63132496e+02] [ 7.13629836e-01 6.89773410e-01 -1.22250156e-01 1.20830327e+02] [ 1.67925575e-01 9.82067700e-04 9.85799187e-01 1.06481290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13687500000003 meters 0.01917188598301856 Centerline is valid? [True, True] Translation: X:263.17, Y:120.88, Z:10.66 [[ 6.83444443e-01 -7.20785651e-01 -1.15636236e-01 2.63167811e+02] [ 7.10241953e-01 6.93155608e-01 -1.22848166e-01 1.20875672e+02] [ 1.68701100e-01 1.83019056e-03 9.85665556e-01 1.06556892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19687500000003 meters 0.02014035830040058 Centerline is valid? [True, True] Translation: X:263.20, Y:120.92, Z:10.67 [[ 6.87742516e-01 -7.16660422e-01 -1.15793231e-01 2.63204046e+02] [ 7.06022221e-01 6.97416340e-01 -1.23057193e-01 1.20920955e+02] [ 1.68946311e-01 2.87906925e-03 9.85621050e-01 1.06650145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25687500000004 meters 0.02086425301798154 Centerline is valid? [True, True] Translation: X:263.24, Y:120.96, Z:10.68 [[ 6.89507020e-01 -7.14986638e-01 -1.15646780e-01 2.63241505e+02] [ 7.04342115e-01 6.99130202e-01 -1.22959932e-01 1.20964128e+02] [ 1.68766865e-01 3.32683842e-03 9.85650383e-01 1.06755822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31687500000004 meters 0.021676819427172086 Centerline is valid? [True, True] Translation: X:263.28, Y:121.01, Z:10.69 [[ 6.90983760e-01 -7.13680558e-01 -1.14897801e-01 2.63279032e+02] [ 7.03145960e-01 7.00461720e-01 -1.22225768e-01 1.21008420e+02] [ 1.67711666e-01 3.66609658e-03 9.85829274e-01 1.06854840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37687500000004 meters 0.020866891848053622 Centerline is valid? [True, True] Translation: X:263.32, Y:121.05, Z:10.70 [[ 6.92285792e-01 -7.12443805e-01 -1.14735383e-01 2.63319523e+02] [ 7.01911828e-01 7.01717744e-01 -1.22114674e-01 1.21050701e+02] [ 1.67511697e-01 4.00413151e-03 9.85861957e-01 1.06951209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43687500000004 meters 0.02155835853940915 Centerline is valid? [True, True] Translation: X:263.36, Y:121.09, Z:10.70 [[ 6.93096389e-01 -7.11489449e-01 -1.15759059e-01 2.63357658e+02] [ 7.00743458e-01 7.02683514e-01 -1.23265911e-01 1.21093874e+02] [ 1.69044378e-01 4.31775468e-03 9.85598983e-01 1.07032353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.496875 meters 0.022090946837365885 Centerline is valid? [True, True] Translation: X:263.40, Y:121.14, Z:10.71 [[ 6.93471004e-01 -7.11123287e-01 -1.15765440e-01 2.63397090e+02] [ 7.00363432e-01 7.03053317e-01 -1.23317060e-01 1.21136303e+02] [ 1.69082910e-01 4.43892468e-03 9.85591835e-01 1.07118805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.556875 meters 0.02096949792975353 Centerline is valid? [True, True] Translation: X:263.44, Y:121.18, Z:10.72 [[ 6.93163795e-01 -7.11323248e-01 -1.16375209e-01 2.63439567e+02] [ 7.00440959e-01 7.02850881e-01 -1.24028632e-01 1.21175620e+02] [ 1.70018868e-01 4.45819422e-03 9.85430723e-01 1.07211771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.616875 meters 0.021759707015328766 Centerline is valid? [True, True] Translation: X:263.48, Y:121.22, Z:10.73 [[ 6.92846629e-01 -7.11554197e-01 -1.16851074e-01 2.63477923e+02] [ 7.00573197e-01 7.02616998e-01 -1.24605576e-01 1.21216285e+02] [ 1.70765171e-01 4.46982294e-03 9.85301617e-01 1.07298535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.676875 meters 0.022083166677208266 Centerline is valid? [True, True] Translation: X:263.52, Y:121.26, Z:10.74 [[ 6.92286633e-01 -7.12054488e-01 -1.17122259e-01 2.63517441e+02] [ 7.01022541e-01 7.02110523e-01 -1.24932820e-01 1.21258446e+02] [ 1.71191746e-01 4.38397799e-03 9.85227977e-01 1.07388596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.736875 meters 0.021372474935802393 Centerline is valid? [True, True] Translation: X:263.56, Y:121.30, Z:10.75 [[ 6.91120793e-01 -7.13224811e-01 -1.16886349e-01 2.63559026e+02] [ 7.02242079e-01 7.00923153e-01 -1.24750934e-01 1.21298991e+02] [ 1.70903810e-01 4.13545195e-03 9.85279040e-01 1.07484826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.796875 meters 0.020713066261976214 Centerline is valid? [True, True] Translation: X:263.60, Y:121.34, Z:10.76 [[ 6.88756776e-01 -7.15637210e-01 -1.16092582e-01 2.63600429e+02] [ 7.04827478e-01 6.98463121e-01 -1.23965698e-01 1.21338592e+02] [ 1.69800853e-01 3.55697202e-03 9.85471977e-01 1.07598171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.856875 meters 0.019754316229171846 Centerline is valid? [True, True] Translation: X:263.64, Y:121.38, Z:10.77 [[ 6.86134336e-01 -7.18204184e-01 -1.15768834e-01 2.63642334e+02] [ 7.07480020e-01 6.95826117e-01 -1.23685231e-01 1.21378944e+02] [ 1.69386229e-01 2.96054652e-03 9.85545301e-01 1.07696319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.916875 meters 0.01860672737544556 Centerline is valid? [True, True] Translation: X:263.69, Y:121.42, Z:10.78 [[ 6.80406395e-01 -7.23598315e-01 -1.15985414e-01 2.63685157e+02] [ 7.12900140e-01 6.90219306e-01 -1.23978624e-01 1.21417478e+02] [ 1.69766096e-01 1.66983068e-03 9.85482970e-01 1.07783847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.976875 meters 0.018223638521237963 Centerline is valid? [True, True] Translation: X:263.73, Y:121.46, Z:10.79 [[ 6.76849746e-01 -7.26896992e-01 -1.16168774e-01 2.63726049e+02] [ 7.16200749e-01 6.86745923e-01 -1.24243812e-01 1.21457815e+02] [ 1.70090885e-01 8.94229723e-04 9.85427974e-01 1.07874041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.036875 meters 0.01807518455846738 Centerline is valid? [True, True] Translation: X:263.77, Y:121.50, Z:10.80 [[ 6.71867796e-01 -7.31398836e-01 -1.16830680e-01 2.63768282e+02] [ 7.20634894e-01 6.81949928e-01 -1.25018579e-01 1.21496418e+02] [ 1.71111117e-01 -1.96308032e-04 9.85251718e-01 1.07968454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.096875 meters 0.018610926706169383 Centerline is valid? [True, True] Translation: X:263.81, Y:121.53, Z:10.81 [[ 6.64391698e-01 -7.38363814e-01 -1.15769381e-01 2.63811432e+02] [ 7.27888017e-01 6.74399889e-01 -1.23950898e-01 1.21534947e+02] [ 1.69595716e-01 -1.91519718e-03 9.85511860e-01 1.08053349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.156875 meters 0.019634855826253125 Centerline is valid? [True, True] Translation: X:263.85, Y:121.58, Z:10.81 [[ 6.60276635e-01 -7.42107237e-01 -1.15375973e-01 2.63851795e+02] [ 7.31752916e-01 6.70275163e-01 -1.23567288e-01 1.21575645e+02] [ 1.69033828e-01 -2.83811120e-03 9.85606164e-01 1.08143389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.216875 meters 0.020039472194780337 Centerline is valid? [True, True] Translation: X:263.89, Y:121.62, Z:10.82 [[ 6.57111274e-01 -7.44947354e-01 -1.15144317e-01 2.63889909e+02] [ 7.34666562e-01 6.67113998e-01 -1.23385398e-01 1.21620044e+02] [ 1.68730011e-01 -3.51474326e-03 9.85656040e-01 1.08232370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.276875 meters 0.019875559413857442 Centerline is valid? [True, True] Translation: X:263.93, Y:121.66, Z:10.83 [[ 6.56914467e-01 -7.45182054e-01 -1.14747939e-01 2.63926545e+02] [ 7.34965646e-01 6.66851787e-01 -1.23021105e-01 1.21663782e+02] [ 1.68192988e-01 -3.52144956e-03 9.85747796e-01 1.08324882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.336875 meters 0.01950982855658111 Centerline is valid? [True, True] Translation: X:263.96, Y:121.71, Z:10.84 [[ 6.60551109e-01 -7.41968612e-01 -1.14694421e-01 2.63959802e+02] [ 7.31701715e-01 6.70429371e-01 -1.23032756e-01 1.21711131e+02] [ 1.68180952e-01 -2.65268108e-03 9.85752571e-01 1.08398819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.396875 meters 0.018427198167532074 Centerline is valid? [True, True] Translation: X:263.99, Y:121.76, Z:10.85 [[ 6.64574649e-01 -7.38433070e-01 -1.14267825e-01 2.63993598e+02] [ 7.28179286e-01 6.74324627e-01 -1.22642669e-01 1.21759209e+02] [ 1.67617011e-01 -1.70225460e-03 9.85850719e-01 1.08498906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.456875 meters 0.017944820887889405 Centerline is valid? [True, True] Translation: X:264.02, Y:121.81, Z:10.86 [[ 6.71480223e-01 -7.32180849e-01 -1.14129377e-01 2.64024784e+02] [ 7.21851108e-01 6.81110268e-01 -1.22555218e-01 1.21810741e+02] [ 1.67467274e-01 -9.10119994e-05 9.85877631e-01 1.08575735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.516875 meters 0.01808266359462545 Centerline is valid? [True, True] Translation: X:264.06, Y:121.86, Z:10.87 [[ 6.73998359e-01 -7.29849738e-01 -1.14217212e-01 2.64060499e+02] [ 7.19461148e-01 6.83607402e-01 -1.22705242e-01 1.21856628e+02] [ 1.67636120e-01 5.28285346e-04 9.85848798e-01 1.08661273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57687500000003 meters 0.0180202583202416 Centerline is valid? [True, True] Translation: X:264.10, Y:121.90, Z:10.88 [[ 6.74988059e-01 -7.28928583e-01 -1.14255156e-01 2.64098017e+02] [ 7.18508469e-01 6.84589274e-01 -1.22813294e-01 1.21899731e+02] [ 1.67739975e-01 8.04209275e-04 9.85830946e-01 1.08757397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63687500000003 meters 0.018580833152245842 Centerline is valid? [True, True] Translation: X:264.13, Y:121.95, Z:10.88 [[ 6.77906879e-01 -7.26090843e-01 -1.15040651e-01 2.64133519e+02] [ 7.15473393e-01 6.87597000e-01 -1.23726271e-01 1.21945479e+02] [ 1.68938119e-01 1.56636483e-03 9.85625415e-01 1.08841128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69687500000003 meters 0.018717641361860313 Centerline is valid? [True, True] Translation: X:264.17, Y:121.99, Z:10.89 [[ 6.79750094e-01 -7.24378108e-01 -1.14961588e-01 2.64171178e+02] [ 7.13744235e-01 6.89399943e-01 -1.23680577e-01 1.21989807e+02] [ 1.68846014e-01 2.01871312e-03 9.85640375e-01 1.08939215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75687500000004 meters 0.019088366091740794 Centerline is valid? [True, True] Translation: X:264.21, Y:122.03, Z:10.90 [[ 6.81072418e-01 -7.23161499e-01 -1.14794635e-01 2.64209592e+02] [ 7.12531145e-01 6.90674944e-01 -1.23561678e-01 1.22033681e+02] [ 1.68640826e-01 2.35969847e-03 9.85674745e-01 1.09033481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81687500000004 meters 0.01938542015919323 Centerline is valid? [True, True] Translation: X:264.25, Y:122.08, Z:10.91 [[ 6.82660796e-01 -7.21695573e-01 -1.14585067e-01 2.64248414e+02] [ 7.11073135e-01 6.92205084e-01 -1.23398210e-01 1.22077160e+02] [ 1.68372307e-01 2.76075750e-03 9.85719607e-01 1.09133342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87687500000004 meters 0.02022741297249165 Centerline is valid? [True, True] Translation: X:264.29, Y:122.12, Z:10.92 [[ 6.82420642e-01 -7.21891968e-01 -1.14778278e-01 2.64285134e+02] [ 7.11225339e-01 6.92000261e-01 -1.23669547e-01 1.22120915e+02] [ 1.68702651e-01 2.76143245e-03 9.85663122e-01 1.09207928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93687500000004 meters 0.018999784893986335 Centerline is valid? [True, True] Translation: X:264.33, Y:122.16, Z:10.93 [[ 6.80760894e-01 -7.23376251e-01 -1.15288354e-01 2.64327427e+02] [ 7.12623729e-01 6.90449704e-01 -1.24284463e-01 1.22160547e+02] [ 1.69505239e-01 2.45078582e-03 9.85526239e-01 1.09313774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.996875 meters 0.018500735689738698 Centerline is valid? [True, True] Translation: X:264.37, Y:122.20, Z:10.94 [[ 6.78268561e-01 -7.25862182e-01 -1.14349693e-01 2.64367979e+02] [ 7.15309193e-01 6.87837649e-01 -1.23337453e-01 1.22201619e+02] [ 1.68180017e-01 1.86053015e-03 9.85754544e-01 1.09410746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.056875 meters 0.018226394397418754 Centerline is valid? [True, True] Translation: X:264.41, Y:122.24, Z:10.95 [[ 6.76988851e-01 -7.27110301e-01 -1.14003095e-01 2.64408126e+02] [ 7.16628811e-01 6.86518818e-01 -1.23024632e-01 1.22243509e+02] [ 1.67717747e-01 1.58840138e-03 9.85833776e-01 1.09503345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.116875 meters 0.0181396644696376 Centerline is valid? [True, True] Translation: X:264.45, Y:122.29, Z:10.96 [[ 6.75580001e-01 -7.28402204e-01 -1.14113504e-01 2.64448197e+02] [ 7.17907788e-01 6.85148528e-01 -1.23206749e-01 1.22285126e+02] [ 1.67928767e-01 1.31304215e-03 9.85798258e-01 1.09592013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.176875 meters 0.018070051934884694 Centerline is valid? [True, True] Translation: X:264.49, Y:122.33, Z:10.97 [[ 6.73078213e-01 -7.30710058e-01 -1.14142583e-01 2.64489888e+02] [ 7.20231620e-01 6.82687479e-01 -1.23305390e-01 1.22325652e+02] [ 1.68024202e-01 7.85074094e-04 9.85782558e-01 1.09674264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.236875 meters 0.017658079127329467 Centerline is valid? [True, True] Translation: X:264.53, Y:122.37, Z:10.98 [[ 6.71547194e-01 -7.32116983e-01 -1.14145035e-01 2.64530726e+02] [ 7.21647631e-01 6.81178755e-01 -1.23370173e-01 1.22365949e+02] [ 1.68074572e-01 4.76399350e-04 9.85774169e-01 1.09774000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.296875 meters 0.018006509542994754 Centerline is valid? [True, True] Translation: X:264.57, Y:122.41, Z:10.99 [[ 6.70970382e-01 -7.32636905e-01 -1.14201190e-01 2.64570720e+02] [ 7.22152797e-01 6.80619578e-01 -1.23500314e-01 1.22407228e+02] [ 1.68208454e-01 3.94343969e-04 9.85751368e-01 1.09870548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.356875 meters 0.018012742111012656 Centerline is valid? [True, True] Translation: X:264.61, Y:122.45, Z:11.00 [[ 6.70989347e-01 -7.32712086e-01 -1.13605876e-01 2.64609760e+02] [ 7.22327291e-01 6.80538627e-01 -1.22924620e-01 1.22449840e+02] [ 1.67381541e-01 4.20485714e-04 9.85892105e-01 1.09968254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.416875 meters 0.018082508662036936 Centerline is valid? [True, True] Translation: X:264.65, Y:122.49, Z:11.01 [[ 6.70898409e-01 -7.32864469e-01 -1.13159159e-01 2.64647893e+02] [ 7.22553232e-01 6.80374522e-01 -1.22504437e-01 1.22492597e+02] [ 1.66769758e-01 4.24515446e-04 9.85995775e-01 1.10053181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.476875 meters 0.018430940453471063 Centerline is valid? [True, True] Translation: X:264.69, Y:122.53, Z:11.01 [[ 6.70274486e-01 -7.33385074e-01 -1.13483248e-01 2.64687028e+02] [ 7.23010032e-01 6.79813368e-01 -1.22923870e-01 1.22534615e+02] [ 1.67297961e-01 3.43206712e-04 9.85906321e-01 1.10139037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.536875 meters 0.018351657862101724 Centerline is valid? [True, True] Translation: X:264.73, Y:122.58, Z:11.02 [[ 6.69449724e-01 -7.34022631e-01 -1.14227158e-01 2.64726959e+02] [ 7.23507093e-01 6.79124968e-01 -1.23801309e-01 1.22576870e+02] [ 1.68447478e-01 2.34593381e-04 9.85710603e-01 1.10217038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.596875 meters 0.01881942938207777 Centerline is valid? [True, True] Translation: X:264.77, Y:122.62, Z:11.03 [[ 6.69703355e-01 -7.33701021e-01 -1.14805175e-01 2.64765796e+02] [ 7.23061274e-01 6.79472353e-01 -1.24497858e-01 1.22619123e+02] [ 1.69351148e-01 3.65457063e-04 9.85555709e-01 1.10294001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.656875 meters 0.018556418327397264 Centerline is valid? [True, True] Translation: X:264.80, Y:122.66, Z:11.04 [[ 6.70801891e-01 -7.32680282e-01 -1.14910516e-01 2.64804520e+02] [ 7.21994212e-01 6.80572666e-01 -1.24680408e-01 1.22660887e+02] [ 1.69555833e-01 6.71126252e-04 9.85520355e-01 1.10385687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.716875 meters 0.018739873492375013 Centerline is valid? [True, True] Translation: X:264.84, Y:122.70, Z:11.05 [[ 6.71929805e-01 -7.31669609e-01 -1.14760272e-01 2.64843436e+02] [ 7.20985151e-01 6.81658739e-01 -1.24586416e-01 1.22703474e+02] [ 1.69383437e-01 9.72874572e-04 9.85549748e-01 1.10475861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.776875 meters 0.018872426849609183 Centerline is valid? [True, True] Translation: X:264.88, Y:122.75, Z:11.06 [[ 6.74048613e-01 -7.29708129e-01 -1.14823838e-01 2.64882108e+02] [ 7.18971429e-01 6.83757084e-01 -1.24725038e-01 1.22746860e+02] [ 1.69524487e-01 1.51567972e-03 9.85524810e-01 1.10555237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.836875 meters 0.01896627250550106 Centerline is valid? [True, True] Translation: X:264.92, Y:122.79, Z:11.06 [[ 6.75149388e-01 -7.28811947e-01 -1.14045820e-01 2.64919708e+02] [ 7.18198467e-01 6.84711627e-01 -1.23939298e-01 1.22788535e+02] [ 1.68416940e-01 1.77000819e-03 9.85714259e-01 1.10645166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.896875 meters 0.019352749615837456 Centerline is valid? [True, True] Translation: X:264.96, Y:122.83, Z:11.07 [[ 6.75937216e-01 -7.28202412e-01 -1.13270153e-01 2.64958739e+02] [ 7.17717358e-01 6.85359379e-01 -1.23143473e-01 1.22830126e+02] [ 1.67304136e-01 1.94130128e-03 9.85903422e-01 1.10738090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.956875 meters 0.01955059825177828 Centerline is valid? [True, True] Translation: X:265.00, Y:122.87, Z:11.08 [[ 6.76282497e-01 -7.27929782e-01 -1.12961131e-01 2.64997976e+02] [ 7.17487878e-01 6.85648629e-01 -1.22870262e-01 1.22871615e+02] [ 1.66892568e-01 2.04676559e-03 9.85972962e-01 1.10826473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.016875 meters 0.01918204637651222 Centerline is valid? [True, True] Translation: X:265.04, Y:122.91, Z:11.09 [[ 6.76037578e-01 -7.28187944e-01 -1.12763079e-01 2.65037859e+02] [ 7.17775089e-01 6.85374506e-01 -1.22722079e-01 1.22912827e+02] [ 1.66649678e-01 2.02620857e-03 9.86014087e-01 1.10918512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07687500000003 meters 0.02011946220847743 Centerline is valid? [True, True] Translation: X:265.08, Y:122.95, Z:11.10 [[ 6.76181418e-01 -7.28008622e-01 -1.13058110e-01 2.65078781e+02] [ 7.17526831e-01 6.85564686e-01 -1.23110961e-01 1.22953811e+02] [ 1.67134489e-01 2.12311642e-03 9.85931821e-01 1.10994295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13687500000003 meters 0.020144369831765197 Centerline is valid? [True, True] Translation: X:265.12, Y:122.99, Z:11.11 [[ 6.75512761e-01 -7.28673897e-01 -1.12769064e-01 2.65119074e+02] [ 7.18243857e-01 6.84857906e-01 -1.22863379e-01 1.22994405e+02] [ 1.66758122e-01 2.00009236e-03 9.85995805e-01 1.11085211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19687500000003 meters 0.020436383129430462 Centerline is valid? [True, True] Translation: X:265.16, Y:123.03, Z:11.12 [[ 6.73638268e-01 -7.30336589e-01 -1.13225225e-01 2.65161073e+02] [ 7.19832991e-01 6.83085476e-01 -1.23428922e-01 1.23034373e+02] [ 1.67487165e-01 1.64319243e-03 9.85872887e-01 1.11169133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25687500000004 meters 0.02045044057897728 Centerline is valid? [True, True] Translation: X:265.20, Y:123.07, Z:11.13 [[ 6.69636626e-01 -7.34357576e-01 -1.10931237e-01 2.65199909e+02] [ 7.24322086e-01 6.78762477e-01 -1.20991797e-01 1.23074772e+02] [ 1.64147204e-01 6.70593906e-04 9.86435627e-01 1.11278344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31687500000004 meters 0.02039560320519586 Centerline is valid? [True, True] Translation: X:265.24, Y:123.11, Z:11.13 [[ 6.69117051e-01 -7.34687280e-01 -1.11879277e-01 2.65243985e+02] [ 7.24475920e-01 6.78405640e-01 -1.22067317e-01 1.23113121e+02] [ 1.65580838e-01 6.23480658e-04 9.86196024e-01 1.11346009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37687500000004 meters 0.021877974650705113 Centerline is valid? [True, True] Translation: X:265.28, Y:123.15, Z:11.14 [[ 6.68294866e-01 -7.35387362e-01 -1.12193584e-01 2.65283510e+02] [ 7.25116587e-01 6.77646796e-01 -1.22477572e-01 1.23153315e+02] [ 1.66096082e-01 4.97703561e-04 9.86109448e-01 1.11411250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43687500000004 meters 0.021772845646795456 Centerline is valid? [True, True] Translation: X:265.32, Y:123.20, Z:11.15 [[ 6.67591368e-01 -7.36017078e-01 -1.12252508e-01 2.65321574e+02] [ 7.25735809e-01 6.76962864e-01 -1.22592074e-01 1.23196419e+02] [ 1.66220639e-01 3.75745953e-04 9.86088514e-01 1.11489972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.496875 meters 0.021937896075863 Centerline is valid? [True, True] Translation: X:265.36, Y:123.24, Z:11.16 [[ 6.67441414e-01 -7.36062228e-01 -1.12846599e-01 2.65359519e+02] [ 7.25660490e-01 6.76913751e-01 -1.23307041e-01 1.23239298e+02] [ 1.67149070e-01 4.11907773e-04 9.85931549e-01 1.11568478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.556875 meters 0.022044243131240034 Centerline is valid? [True, True] Translation: X:265.40, Y:123.28, Z:11.16 [[ 6.68589194e-01 -7.34935804e-01 -1.13392476e-01 2.65395463e+02] [ 7.24404971e-01 6.78136278e-01 -1.23970263e-01 1.23283972e+02] [ 1.68005736e-01 7.43105044e-04 9.85785738e-01 1.11643002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.616875 meters 0.022735211824805576 Centerline is valid? [True, True] Translation: X:265.43, Y:123.33, Z:11.17 [[ 6.71671327e-01 -7.32010920e-01 -1.14094880e-01 2.65428479e+02] [ 7.21294671e-01 6.81291175e-01 -1.24805175e-01 1.23331646e+02] [ 1.69090586e-01 1.53202808e-03 9.85599324e-01 1.11707665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.676875 meters 0.022885416505648164 Centerline is valid? [True, True] Translation: X:265.47, Y:123.38, Z:11.18 [[ 6.72870667e-01 -7.31007156e-01 -1.13461903e-01 2.65465979e+02] [ 7.20385737e-01 6.82367377e-01 -1.24173882e-01 1.23375395e+02] [ 1.68194697e-01 1.81662651e-03 9.85752121e-01 1.11812648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.736875 meters 0.023290271137151212 Centerline is valid? [True, True] Translation: X:265.50, Y:123.42, Z:11.19 [[ 6.74982889e-01 -7.29158231e-01 -1.12811232e-01 2.65502877e+02] [ 7.18622686e-01 6.84341248e-01 -1.23525264e-01 1.23419077e+02] [ 1.67270842e-01 2.30872900e-03 9.85908279e-01 1.11911528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.796875 meters 0.023898002818928864 Centerline is valid? [True, True] Translation: X:265.54, Y:123.46, Z:11.20 [[ 6.77711259e-01 -7.26503265e-01 -1.13580173e-01 2.65539229e+02] [ 7.15775032e-01 6.87156340e-01 -1.24427760e-01 1.23463694e+02] [ 1.68444510e-01 3.02824171e-03 9.85706486e-01 1.11991625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.856875 meters 0.025256540403070012 Centerline is valid? [True, True] Translation: X:265.58, Y:123.51, Z:11.21 [[ 6.79603781e-01 -7.24568667e-01 -1.14625248e-01 2.65575017e+02] [ 7.13601540e-01 6.89193272e-01 -1.25640263e-01 1.23508236e+02] [ 1.70033948e-01 3.58884479e-03 9.85431670e-01 1.12056985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.916875 meters 0.026597374993779024 Centerline is valid? [True, True] Translation: X:265.61, Y:123.55, Z:11.21 [[ 6.80805025e-01 -7.23338722e-01 -1.15263226e-01 2.65612400e+02] [ 7.12219200e-01 6.90481985e-01 -1.26405851e-01 1.23553016e+02] [ 1.71021428e-01 3.96505593e-03 9.85259331e-01 1.12140815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.976875 meters 0.025942507360359197 Centerline is valid? [True, True] Translation: X:265.65, Y:123.59, Z:11.22 [[ 6.81770743e-01 -7.22410696e-01 -1.15375211e-01 2.65651813e+02] [ 7.11245609e-01 6.91451203e-01 -1.26589561e-01 1.23594428e+02] [ 1.71225981e-01 4.24494695e-03 9.85222637e-01 1.12247123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.036875 meters 0.025787310219009946 Centerline is valid? [True, True] Translation: X:265.69, Y:123.64, Z:11.23 [[ 6.80858457e-01 -7.23153464e-01 -1.16106970e-01 2.65692258e+02] [ 7.11844532e-01 6.90675038e-01 -1.27457261e-01 1.23635801e+02] [ 1.72363346e-01 4.13024285e-03 9.85024780e-01 1.12340369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.096875 meters 0.02433151127600544 Centerline is valid? [True, True] Translation: X:265.74, Y:123.67, Z:11.24 [[ 6.78807134e-01 -7.24971953e-01 -1.16775605e-01 2.65735452e+02] [ 7.13545953e-01 6.88768241e-01 -1.28259438e-01 1.23674883e+02] [ 1.73415823e-01 3.73866084e-03 9.84841599e-01 1.12429598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.156875 meters 0.023621646278171853 Centerline is valid? [True, True] Translation: X:265.78, Y:123.72, Z:11.25 [[ 6.75851787e-01 -7.27615110e-01 -1.17476013e-01 2.65776798e+02] [ 7.16078743e-01 6.85978488e-01 -1.29092014e-01 1.23715650e+02] [ 1.74515318e-01 3.12499219e-03 9.84649500e-01 1.12523451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.216875 meters 0.02295861637912816 Centerline is valid? [True, True] Translation: X:265.82, Y:123.75, Z:11.26 [[ 6.72502994e-01 -7.30656348e-01 -1.17817758e-01 2.65819466e+02] [ 7.19086083e-01 6.82741223e-01 -1.29536202e-01 1.23754374e+02] [ 1.75085488e-01 2.39237376e-03 9.84550328e-01 1.12641396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.276875 meters 0.02277646807839334 Centerline is valid? [True, True] Translation: X:265.86, Y:123.80, Z:11.27 [[ 6.70888191e-01 -7.32109987e-01 -1.18000006e-01 2.65858519e+02] [ 7.20513434e-01 6.81183310e-01 -1.29806351e-01 1.23796267e+02] [ 1.75412161e-01 2.06495788e-03 9.84492920e-01 1.12726829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.336875 meters 0.022549082601743604 Centerline is valid? [True, True] Translation: X:265.90, Y:123.84, Z:11.28 [[ 6.69144969e-01 -7.33709559e-01 -1.17963101e-01 2.65897395e+02] [ 7.22132219e-01 6.79461118e-01 -1.29837004e-01 1.23839034e+02] [ 1.75413991e-01 1.69482192e-03 9.84493301e-01 1.12828061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.396875 meters 0.022630758577673857 Centerline is valid? [True, True] Translation: X:265.93, Y:123.88, Z:11.29 [[ 6.69299816e-01 -7.33653201e-01 -1.17433967e-01 2.65934564e+02] [ 7.22166994e-01 6.79521830e-01 -1.29324841e-01 1.23881497e+02] [ 1.74678527e-01 1.75015742e-03 9.84623963e-01 1.12933738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.456875 meters 0.022687736587179888 Centerline is valid? [True, True] Translation: X:265.97, Y:123.93, Z:11.30 [[ 6.69717597e-01 -7.33300217e-01 -1.17256691e-01 2.65971573e+02] [ 7.21832236e-01 6.79902378e-01 -1.29193572e-01 1.23925099e+02] [ 1.74460777e-01 1.88354892e-03 9.84662323e-01 1.13049021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.516875 meters 0.023406052339896614 Centerline is valid? [True, True] Translation: X:266.00, Y:123.97, Z:11.31 [[ 6.72121357e-01 -7.30997826e-01 -1.17877303e-01 2.66003497e+02] [ 7.19358901e-01 6.82375039e-01 -1.29950287e-01 1.23972921e+02] [ 1.75429907e-01 2.54627567e-03 9.84488631e-01 1.13116352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57687500000003 meters 0.024242117762631885 Centerline is valid? [True, True] Translation: X:266.04, Y:124.02, Z:11.32 [[ 6.75840055e-01 -7.27649255e-01 -1.17331926e-01 2.66036833e+02] [ 7.16056111e-01 6.85940713e-01 -1.29417868e-01 1.24020738e+02] [ 1.74653561e-01 3.44953648e-03 9.84623905e-01 1.13213429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63687500000003 meters 0.025485700260341183 Centerline is valid? [True, True] Translation: X:266.07, Y:124.07, Z:11.33 [[ 6.77860349e-01 -7.25783732e-01 -1.17231916e-01 2.66071941e+02] [ 7.14171722e-01 6.87911481e-01 -1.29369799e-01 1.24067174e+02] [ 1.74539677e-01 3.97093784e-03 9.84642134e-01 1.13303564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69687500000003 meters 0.025060297465514754 Centerline is valid? [True, True] Translation: X:266.11, Y:124.11, Z:11.34 [[ 6.79016654e-01 -7.24686408e-01 -1.17328572e-01 2.66109158e+02] [ 7.13026898e-01 6.89065372e-01 -1.29543646e-01 1.24110584e+02] [ 1.74725575e-01 4.30386550e-03 9.84607765e-01 1.13412510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75687500000004 meters 0.02464874568430878 Centerline is valid? [True, True] Translation: X:266.15, Y:124.15, Z:11.35 [[ 6.79694639e-01 -7.24180359e-01 -1.16524699e-01 2.66146286e+02] [ 7.12662023e-01 6.89596261e-01 -1.28723885e-01 1.24154143e+02] [ 1.73574306e-01 4.45020660e-03 9.84810721e-01 1.13516152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81687500000004 meters 0.02576218519184417 Centerline is valid? [True, True] Translation: X:266.18, Y:124.20, Z:11.36 [[ 6.78562891e-01 -7.25206091e-01 -1.16741286e-01 2.66181394e+02] [ 7.13647027e-01 6.88518772e-01 -1.29034187e-01 1.24198659e+02] [ 1.73954945e-01 4.24573900e-03 9.84744460e-01 1.13583813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87687500000004 meters 0.023423694175922476 Centerline is valid? [True, True] Translation: X:266.22, Y:124.24, Z:11.37 [[ 6.75309283e-01 -7.28187091e-01 -1.17050982e-01 2.66223568e+02] [ 7.16598081e-01 6.85369279e-01 -1.29445521e-01 1.24238626e+02] [ 1.74483705e-01 3.53725340e-03 9.84653708e-01 1.13693462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93687500000004 meters 0.023212792693296916 Centerline is valid? [True, True] Translation: X:266.26, Y:124.28, Z:11.38 [[ 6.72288101e-01 -7.31002210e-01 -1.16895157e-01 2.66262735e+02] [ 7.19474874e-01 6.82369146e-01 -1.29337753e-01 1.24280743e+02] [ 1.74311832e-01 2.84910366e-03 9.84686380e-01 1.13786153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.996875 meters 0.02225609069767217 Centerline is valid? [True, True] Translation: X:266.30, Y:124.32, Z:11.39 [[ 6.67946671e-01 -7.34936819e-01 -1.17111561e-01 2.66302041e+02] [ 7.23414778e-01 6.78133000e-01 -1.29640632e-01 1.24321720e+02] [ 1.74694888e-01 1.87279404e-03 9.84620835e-01 1.13868644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.056875 meters 0.021336794751262413 Centerline is valid? [True, True] Translation: X:266.34, Y:124.36, Z:11.40 [[ 6.65456630e-01 -7.37192526e-01 -1.17109576e-01 2.66341340e+02] [ 7.25696992e-01 6.75681472e-01 -1.29685867e-01 1.24364362e+02] [ 1.74732223e-01 1.31425259e-03 9.84615114e-01 1.13967813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.116875 meters 0.020649373748259467 Centerline is valid? [True, True] Translation: X:266.38, Y:124.41, Z:11.41 [[ 6.63223304e-01 -7.39287457e-01 -1.16571457e-01 2.66379138e+02] [ 7.27919108e-01 6.73389495e-01 -1.29152467e-01 1.24407931e+02] [ 1.73978794e-01 8.02334902e-04 9.84749072e-01 1.14070188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.176875 meters 0.020731490141693388 Centerline is valid? [True, True] Translation: X:266.42, Y:124.45, Z:11.42 [[ 6.62223886e-01 -7.40149241e-01 -1.16784530e-01 2.66416910e+02] [ 7.28740643e-01 6.72442350e-01 -1.29454087e-01 1.24450776e+02] [ 1.74346208e-01 6.21954875e-04 9.84684220e-01 1.14179395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.236875 meters 0.020511955152989175 Centerline is valid? [True, True] Translation: X:266.45, Y:124.49, Z:11.43 [[ 6.60622360e-01 -7.41677443e-01 -1.16157948e-01 2.66454868e+02] [ 7.30402757e-01 6.70756662e-01 -1.28830560e-01 1.24494330e+02] [ 1.73464438e-01 2.66262981e-04 9.84840098e-01 1.14282074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.296875 meters 0.020531363951513473 Centerline is valid? [True, True] Translation: X:266.49, Y:124.54, Z:11.44 [[ 6.60506997e-01 -7.41832132e-01 -1.15825710e-01 2.66492559e+02] [ 7.30612377e-01 6.70585576e-01 -1.28532255e-01 1.24538131e+02] [ 1.73020407e-01 2.72756168e-04 9.84918202e-01 1.14372630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.356875 meters 0.020619168428937174 Centerline is valid? [True, True] Translation: X:266.53, Y:124.58, Z:11.45 [[ 6.60553635e-01 -7.41796963e-01 -1.15784978e-01 2.66530088e+02] [ 7.30572088e-01 6.70624453e-01 -1.28558422e-01 1.24581578e+02] [ 1.73012485e-01 3.30460149e-04 9.84919576e-01 1.14460695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.416875 meters 0.020699095762454583 Centerline is valid? [True, True] Translation: X:266.57, Y:124.63, Z:11.46 [[ 6.62798952e-01 -7.39761341e-01 -1.15977189e-01 2.66566330e+02] [ 7.28455406e-01 6.72868729e-01 -1.28842521e-01 1.24626437e+02] [ 1.73350140e-01 9.12477705e-04 9.84859836e-01 1.14556712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.476875 meters 0.02100436390081063 Centerline is valid? [True, True] Translation: X:266.60, Y:124.67, Z:11.47 [[ 6.65017486e-01 -7.37773257e-01 -1.15941216e-01 2.66603379e+02] [ 7.26432304e-01 6.75046989e-01 -1.28870752e-01 1.24670805e+02] [ 1.73343163e-01 1.47785891e-03 9.84860378e-01 1.14659699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.536875 meters 0.021590348401623986 Centerline is valid? [True, True] Translation: X:266.64, Y:124.72, Z:11.48 [[ 6.69620785e-01 -7.33730748e-01 -1.15096452e-01 2.66638945e+02] [ 7.22485004e-01 6.79435555e-01 -1.27995102e-01 1.24717169e+02] [ 1.72114564e-01 2.55272052e-03 9.85073632e-01 1.14752726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.596875 meters 0.023426070102251655 Centerline is valid? [True, True] Translation: X:266.67, Y:124.76, Z:11.48 [[ 6.73972170e-01 -7.29789575e-01 -1.14754909e-01 2.66672146e+02] [ 7.18543471e-01 6.83662390e-01 -1.27675434e-01 1.24763572e+02] [ 1.71629816e-01 3.59329841e-03 9.85154960e-01 1.14831331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.656875 meters 0.025156588005327274 Centerline is valid? [True, True] Translation: X:266.71, Y:124.81, Z:11.49 [[ 6.78310050e-01 -7.25766062e-01 -1.14713118e-01 2.66706771e+02] [ 7.14466018e-01 6.87925990e-01 -1.27656338e-01 1.24809970e+02] [ 1.71562773e-01 4.63195242e-03 9.85162301e-01 1.14927591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.716875 meters 0.02541778202449287 Centerline is valid? [True, True] Translation: X:266.74, Y:124.85, Z:11.50 [[ 6.83368502e-01 -7.21053024e-01 -1.14411657e-01 2.66744118e+02] [ 7.09740052e-01 6.92855349e-01 -1.27359821e-01 1.24853586e+02] [ 1.71103913e-01 5.83115410e-03 9.85235733e-01 1.15041561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.776875 meters 0.02742618660638578 Centerline is valid? [True, True] Translation: X:266.78, Y:124.90, Z:11.51 [[ 6.85222968e-01 -7.19282263e-01 -1.14466198e-01 2.66779030e+02] [ 7.07922119e-01 6.94689156e-01 -1.27488231e-01 1.24898687e+02] [ 1.71218450e-01 6.32471032e-03 9.85212789e-01 1.15130522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.836875 meters 0.02738861752587402 Centerline is valid? [True, True] Translation: X:266.82, Y:124.94, Z:11.52 [[ 6.85266068e-01 -7.19221737e-01 -1.14588438e-01 2.66818480e+02] [ 7.07830999e-01 6.94751423e-01 -1.27654757e-01 1.24941187e+02] [ 1.71422556e-01 6.36822419e-03 9.85177016e-01 1.15225282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.896875 meters 0.025532374888878773 Centerline is valid? [True, True] Translation: X:266.86, Y:124.98, Z:11.53 [[ 6.82458334e-01 -7.21860619e-01 -1.14751338e-01 2.66861499e+02] [ 7.10462232e-01 6.92014480e-01 -1.27903780e-01 1.24980767e+02] [ 1.71738289e-01 5.76250883e-03 9.85125755e-01 1.15314336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.956875 meters 0.025419686259401664 Centerline is valid? [True, True] Translation: X:266.90, Y:125.02, Z:11.54 [[ 6.79378563e-01 -7.24633805e-01 -1.15544870e-01 2.66901092e+02] [ 7.13108460e-01 6.89115056e-01 -1.28828430e-01 1.25021220e+02] [ 1.72977145e-01 5.12724962e-03 9.84912493e-01 1.15393459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.016875 meters 0.023636150323211858 Centerline is valid? [True, True] Translation: X:266.94, Y:125.06, Z:11.55 [[ 6.75650290e-01 -7.27993599e-01 -1.16284158e-01 2.66944892e+02] [ 7.16359939e-01 6.85570253e-01 -1.29699141e-01 1.25059353e+02] [ 1.74141104e-01 4.32995022e-03 9.84711190e-01 1.15494438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07687500000003 meters 0.023707873472810753 Centerline is valid? [True, True] Translation: X:266.99, Y:125.10, Z:11.56 [[ 6.74253690e-01 -7.29276723e-01 -1.16350430e-01 2.66985008e+02] [ 7.17636303e-01 6.84206886e-01 -1.29842498e-01 1.25100845e+02] [ 1.74298877e-01 4.04949109e-03 9.84684469e-01 1.15586091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13687500000003 meters 0.02380821974558934 Centerline is valid? [True, True] Translation: X:267.02, Y:125.14, Z:11.57 [[ 6.73300308e-01 -7.30190087e-01 -1.16142722e-01 2.67023248e+02] [ 7.18594007e-01 6.83233210e-01 -1.29672795e-01 1.25142823e+02] [ 1.74038354e-01 3.84926848e-03 9.84731351e-01 1.15671471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19687500000003 meters 0.02414126556917965 Centerline is valid? [True, True] Translation: X:267.06, Y:125.18, Z:11.58 [[ 6.73760099e-01 -7.29783611e-01 -1.16031079e-01 2.67063094e+02] [ 7.18194695e-01 6.83666575e-01 -1.29600903e-01 1.25183744e+02] [ 1.73907185e-01 3.98701175e-03 9.84753977e-01 1.15774491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25687500000004 meters 0.024067920139207524 Centerline is valid? [True, True] Translation: X:267.10, Y:125.23, Z:11.59 [[ 6.73889967e-01 -7.29770959e-01 -1.15354498e-01 2.67101656e+02] [ 7.18305727e-01 6.83679924e-01 -1.28913318e-01 1.25225452e+02] [ 1.72942750e-01 4.01359449e-03 9.84923701e-01 1.15876703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31687500000004 meters 0.02392854469932423 Centerline is valid? [True, True] Translation: X:267.14, Y:125.27, Z:11.60 [[ 6.73805795e-01 -7.29822844e-01 -1.15517824e-01 2.67142300e+02] [ 7.18313155e-01 6.83624291e-01 -1.29166714e-01 1.25265539e+02] [ 1.73239609e-01 4.05530824e-03 9.84871358e-01 1.15969269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37687500000004 meters 0.024107219130929995 Centerline is valid? [True, True] Translation: X:267.18, Y:125.31, Z:11.60 [[ 6.72496384e-01 -7.30832095e-01 -1.16760705e-01 2.67182038e+02] [ 7.19073804e-01 6.82546219e-01 -1.30627426e-01 1.25306087e+02] [ 1.75161293e-01 3.88690677e-03 9.84532078e-01 1.16033186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43687500000004 meters 0.023429771195511876 Centerline is valid? [True, True] Translation: X:267.22, Y:125.35, Z:11.61 [[ 6.70823028e-01 -7.32399911e-01 -1.16562579e-01 2.67223546e+02] [ 7.20696251e-01 6.80865678e-01 -1.30456284e-01 1.25346916e+02] [ 1.74909630e-01 3.50686572e-03 9.84578246e-01 1.16128208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.496875 meters 0.023091861591390223 Centerline is valid? [True, True] Translation: X:267.26, Y:125.39, Z:11.62 [[ 6.67775311e-01 -7.35292468e-01 -1.15849563e-01 2.67264379e+02] [ 7.23764398e-01 6.77744253e-01 -1.29722103e-01 1.25386384e+02] [ 1.73900061e-01 2.77742826e-03 9.84759389e-01 1.16222993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.556875 meters 0.02238855594464872 Centerline is valid? [True, True] Translation: X:267.31, Y:125.43, Z:11.63 [[ 6.66559361e-01 -7.36396547e-01 -1.15839302e-01 2.67305395e+02] [ 7.24874406e-01 6.76545402e-01 -1.29782182e-01 1.25426257e+02] [ 1.73941697e-01 2.53858304e-03 9.84752680e-01 1.16333220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.616875 meters 0.022208669934934935 Centerline is valid? [True, True] Translation: X:267.34, Y:125.47, Z:11.64 [[ 6.65511917e-01 -7.37392017e-01 -1.15528794e-01 2.67343948e+02] [ 7.25934439e-01 6.75461048e-01 -1.29505069e-01 1.25468618e+02] [ 1.73531205e-01 2.32083637e-03 9.84825637e-01 1.16415093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.676875 meters 0.02190162699949161 Centerline is valid? [True, True] Translation: X:267.38, Y:125.51, Z:11.65 [[ 6.64758891e-01 -7.37982060e-01 -1.16095204e-01 2.67384500e+02] [ 7.26407356e-01 6.74816659e-01 -1.30210713e-01 1.25509978e+02] [ 1.74436148e-01 2.22631912e-03 9.84665971e-01 1.16503006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.736875 meters 0.021935371084935554 Centerline is valid? [True, True] Translation: X:267.42, Y:125.55, Z:11.66 [[ 6.64497575e-01 -7.38079817e-01 -1.16966478e-01 2.67423293e+02] [ 7.26317941e-01 6.74709600e-01 -1.31260065e-01 1.25552450e+02] [ 1.75798810e-01 2.26714350e-03 9.84423506e-01 1.16580489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.796875 meters 0.022229278052842968 Centerline is valid? [True, True] Translation: X:267.46, Y:125.59, Z:11.67 [[ 6.64628334e-01 -7.37986334e-01 -1.16813304e-01 2.67461985e+02] [ 7.26246761e-01 6.74811679e-01 -1.31129093e-01 1.25594768e+02] [ 1.75598461e-01 2.31682713e-03 9.84459147e-01 1.16677679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.856875 meters 0.022633576720783324 Centerline is valid? [True, True] Translation: X:267.50, Y:125.64, Z:11.68 [[ 6.67207569e-01 -7.35846248e-01 -1.15604319e-01 2.67498237e+02] [ 7.24305939e-01 6.77142449e-01 -1.29842255e-01 1.25640344e+02] [ 1.73824528e-01 2.89884054e-03 9.84772375e-01 1.16780971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.916875 meters 0.023721936924849932 Centerline is valid? [True, True] Translation: X:267.53, Y:125.69, Z:11.69 [[ 6.70100724e-01 -7.33268913e-01 -1.15246347e-01 2.67533047e+02] [ 7.21751411e-01 6.79929212e-01 -1.29503542e-01 1.25685982e+02] [ 1.73320279e-01 3.60120404e-03 9.84858930e-01 1.16868882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.976875 meters 0.024698974911669117 Centerline is valid? [True, True] Translation: X:267.57, Y:125.73, Z:11.70 [[ 6.73091125e-01 -7.30540023e-01 -1.15150385e-01 2.67568565e+02] [ 7.18989643e-01 6.82856021e-01 -1.29466395e-01 1.25731973e+02] [ 1.73211517e-01 4.35074698e-03 9.84875039e-01 1.16958907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.036875 meters 0.02459687068057395 Centerline is valid? [True, True] Translation: X:267.61, Y:125.78, Z:11.71 [[ 6.76786990e-01 -7.27096891e-01 -1.15280015e-01 2.67606739e+02] [ 7.15458771e-01 6.86514502e-01 -1.29678780e-01 1.25775805e+02] [ 1.73430440e-01 5.28681330e-03 9.84831931e-01 1.17073087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.096875 meters 0.02646605091553794 Centerline is valid? [True, True] Translation: X:267.64, Y:125.82, Z:11.72 [[ 6.78796830e-01 -7.25290766e-01 -1.14839750e-01 2.67641553e+02] [ 7.13704857e-01 6.88418467e-01 -1.29249342e-01 1.25821426e+02] [ 1.72801159e-01 5.77235602e-03 9.84939815e-01 1.17157616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.156875 meters 0.027513484082460734 Centerline is valid? [True, True] Translation: X:267.68, Y:125.87, Z:11.72 [[ 6.81029113e-01 -7.23283867e-01 -1.14279460e-01 2.67677962e+02] [ 7.11772759e-01 6.90522143e-01 -1.28680649e-01 1.25867376e+02] [ 1.71985135e-01 6.29426166e-03 9.85079436e-01 1.17245838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.216875 meters 0.028392643021873172 Centerline is valid? [True, True] Translation: X:267.71, Y:125.91, Z:11.73 [[ 6.82218903e-01 -7.22105863e-01 -1.14631980e-01 2.67714276e+02] [ 7.10495376e-01 6.91750535e-01 -1.29141464e-01 1.25912243e+02] [ 1.72550543e-01 6.65725613e-03 9.84978168e-01 1.17333110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.276875 meters 0.029289279708813617 Centerline is valid? [True, True] Translation: X:267.75, Y:125.96, Z:11.74 [[ 6.82974705e-01 -7.21346440e-01 -1.14912424e-01 2.67751777e+02] [ 7.09657243e-01 6.92539944e-01 -1.29518429e-01 1.25956973e+02] [ 1.73009102e-01 6.90937678e-03 9.84895990e-01 1.17417340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.336875 meters 0.029340321563927706 Centerline is valid? [True, True] Translation: X:267.79, Y:126.00, Z:11.75 [[ 6.84583571e-01 -7.19731229e-01 -1.15465549e-01 2.67789877e+02] [ 7.07894189e-01 6.94213371e-01 -1.30206039e-01 1.26001029e+02] [ 1.73871080e-01 7.39952402e-03 9.84740623e-01 1.17515044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.396875 meters 0.028924532402851446 Centerline is valid? [True, True] Translation: X:267.83, Y:126.04, Z:11.76 [[ 6.85328551e-01 -7.19123351e-01 -1.14831975e-01 2.67827860e+02] [ 7.07397130e-01 6.94841350e-01 -1.29556163e-01 1.26044478e+02] [ 1.72956867e-01 7.55672765e-03 9.84900410e-01 1.17619084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.456875 meters 0.029891643296145926 Centerline is valid? [True, True] Translation: X:267.86, Y:126.09, Z:11.77 [[ 6.84585435e-01 -7.19876498e-01 -1.14545233e-01 2.67864901e+02] [ 7.08208837e-01 6.94062821e-01 -1.29294406e-01 1.26087630e+02] [ 1.72577592e-01 7.39112069e-03 9.84968195e-01 1.17706692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.516875 meters 0.02779845140681657 Centerline is valid? [True, True] Translation: X:267.91, Y:126.13, Z:11.78 [[ 6.82194006e-01 -7.22183514e-01 -1.14290470e-01 2.67905701e+02] [ 7.10595487e-01 6.91667970e-01 -1.29032836e-01 1.26128803e+02] [ 1.72236444e-01 6.81113501e-03 9.85032089e-01 1.17809857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57687500000003 meters 0.028831864647184416 Centerline is valid? [True, True] Translation: X:267.94, Y:126.17, Z:11.79 [[ 6.80676917e-01 -7.23573601e-01 -1.14543347e-01 2.67942770e+02] [ 7.11942017e-01 6.90216444e-01 -1.29382472e-01 1.26172478e+02] [ 1.72677443e-01 6.51944033e-03 9.84956851e-01 1.17897879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63687500000003 meters 0.029316601395703534 Centerline is valid? [True, True] Translation: X:267.98, Y:126.22, Z:11.80 [[ 6.78943938e-01 -7.25117557e-01 -1.15063713e-01 2.67980643e+02] [ 7.13394067e-01 6.88597335e-01 -1.30010057e-01 1.26215689e+02] [ 1.73505140e-01 6.18376996e-03 9.84813549e-01 1.17979990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69687500000003 meters 0.027161498590239395 Centerline is valid? [True, True] Translation: X:268.02, Y:126.26, Z:11.81 [[ 6.75521965e-01 -7.28280973e-01 -1.15225427e-01 2.68022792e+02] [ 7.16558293e-01 6.85257169e-01 -1.30256765e-01 1.26255259e+02] [ 1.73822574e-01 5.42557050e-03 9.84762040e-01 1.18081634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75687500000004 meters 0.026697403681257732 Centerline is valid? [True, True] Translation: X:268.06, Y:126.30, Z:11.82 [[ 6.72184947e-01 -7.31406407e-01 -1.14943745e-01 2.68061844e+02] [ 7.19774258e-01 6.81925943e-01 -1.30007792e-01 1.26296921e+02] [ 1.73471654e-01 4.65573242e-03 9.84827858e-01 1.18167851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81687500000004 meters 0.023294976800600515 Centerline is valid? [True, True] Translation: X:268.11, Y:126.33, Z:11.83 [[ 6.66417018e-01 -7.36732867e-01 -1.14512182e-01 2.68108433e+02] [ 7.25253558e-01 6.76175807e-01 -1.29589949e-01 1.26332143e+02] [ 1.72903542e-01 3.31058004e-03 9.84933198e-01 1.18303289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87687500000004 meters 0.022152637543560602 Centerline is valid? [True, True] Translation: X:268.15, Y:126.37, Z:11.84 [[ 6.62186049e-01 -7.40504617e-01 -1.14728155e-01 2.68149600e+02] [ 7.29025280e-01 6.72047056e-01 -1.29903408e-01 1.26371707e+02] [ 1.73296793e-01 2.38049938e-03 9.84866770e-01 1.18405497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93687500000004 meters 0.021368045032915277 Centerline is valid? [True, True] Translation: X:268.19, Y:126.41, Z:11.85 [[ 6.56377701e-01 -7.45804854e-01 -1.13769209e-01 2.68191132e+02] [ 7.34584020e-01 6.66163693e-01 -1.28888524e-01 1.26410636e+02] [ 1.71914604e-01 1.02651039e-03 9.85111321e-01 1.18500583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.996875 meters 0.021186113656843128 Centerline is valid? [True, True] Translation: X:268.23, Y:126.45, Z:11.86 [[ 6.50620742e-01 -7.50657330e-01 -1.14918330e-01 2.68233566e+02] [ 7.39268581e-01 6.60691707e-01 -1.30262940e-01 1.26450356e+02] [ 1.73708418e-01 -2.03739958e-04 9.84797108e-01 1.18589764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.056875 meters 0.021368221882729386 Centerline is valid? [True, True] Translation: X:268.27, Y:126.49, Z:11.87 [[ 6.47319915e-01 -7.53476638e-01 -1.15108138e-01 2.68273577e+02] [ 7.42081101e-01 6.57474049e-01 -1.30550811e-01 1.26491294e+02] [ 1.74047600e-01 -9.11433695e-04 9.84736819e-01 1.18684511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.116875 meters 0.021345141668459786 Centerline is valid? [True, True] Translation: X:268.31, Y:126.53, Z:11.88 [[ 6.45339221e-01 -7.55223982e-01 -1.14778168e-01 2.68312388e+02] [ 7.43909205e-01 6.55465457e-01 -1.30246420e-01 1.26533600e+02] [ 1.73598344e-01 -1.33141223e-03 9.84815639e-01 1.18795493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.176875 meters 0.021483308993418687 Centerline is valid? [True, True] Translation: X:268.35, Y:126.58, Z:11.89 [[ 6.44314585e-01 -7.56173342e-01 -1.14282948e-01 2.68350397e+02] [ 7.44958685e-01 6.54369568e-01 -1.29757567e-01 1.26576428e+02] [ 1.72902496e-01 -1.53138200e-03 9.84937755e-01 1.18884425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.236875 meters 0.02127542475056507 Centerline is valid? [True, True] Translation: X:268.39, Y:126.62, Z:11.90 [[ 6.44992304e-01 -7.55663409e-01 -1.13832072e-01 2.68387291e+02] [ 7.44517222e-01 6.54958788e-01 -1.29317791e-01 1.26620788e+02] [ 1.72276039e-01 -1.34095818e-03 9.85047800e-01 1.18975198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.296875 meters 0.020708625026519902 Centerline is valid? [True, True] Translation: X:268.42, Y:126.67, Z:11.91 [[ 6.49540214e-01 -7.51882364e-01 -1.13006287e-01 2.68420998e+02] [ 7.40829378e-01 6.59297223e-01 -1.28448450e-01 1.26668780e+02] [ 1.71082855e-01 -2.85943844e-04 9.85256604e-01 1.19065562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.356875 meters 0.02124941398055804 Centerline is valid? [True, True] Translation: X:268.45, Y:126.72, Z:11.91 [[ 6.53261122e-01 -7.48715409e-01 -1.12583939e-01 2.68454286e+02] [ 7.37687859e-01 6.62891314e-01 -1.28030183e-01 1.26715082e+02] [ 1.70489086e-01 5.85336324e-04 9.85359391e-01 1.19145466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.416875 meters 0.021376099250940698 Centerline is valid? [True, True] Translation: X:268.49, Y:126.76, Z:11.92 [[ 6.58797196e-01 -7.43916052e-01 -1.12139028e-01 2.68485848e+02] [ 7.32898049e-01 6.68270494e-01 -1.27573492e-01 1.26763648e+02] [ 1.69843173e-01 1.85858403e-03 9.85469351e-01 1.19247635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.476875 meters 0.02197825145098712 Centerline is valid? [True, True] Translation: X:268.52, Y:126.81, Z:11.93 [[ 6.62239034e-01 -7.40940002e-01 -1.11567804e-01 2.68518380e+02] [ 7.29981440e-01 6.71565980e-01 -1.26989099e-01 1.26810582e+02] [ 1.69016445e-01 2.65471230e-03 9.85609656e-01 1.19343443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.536875 meters 0.022482568453616097 Centerline is valid? [True, True] Translation: X:268.55, Y:126.86, Z:11.94 [[ 6.65332888e-01 -7.38137829e-01 -1.11734923e-01 2.68552365e+02] [ 7.27095358e-01 6.74641280e-01 -1.27245764e-01 1.26858293e+02] [ 1.69305903e-01 3.41884785e-03 9.85557620e-01 1.19437159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.596875 meters 0.023340190728857884 Centerline is valid? [True, True] Translation: X:268.59, Y:126.91, Z:11.95 [[ 6.66298013e-01 -7.37197927e-01 -1.12188122e-01 2.68587963e+02] [ 7.26040639e-01 6.75666632e-01 -1.27826414e-01 1.26905076e+02] [ 1.70035138e-01 3.71734969e-03 9.85430988e-01 1.19524804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.656875 meters 0.023375002878742182 Centerline is valid? [True, True] Translation: X:268.62, Y:126.95, Z:11.96 [[ 6.65948531e-01 -7.37517953e-01 -1.12159812e-01 2.68621658e+02] [ 7.26359819e-01 6.75317509e-01 -1.27858031e-01 1.26950419e+02] [ 1.70041078e-01 3.67848715e-03 9.85430109e-01 1.19613519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.716875 meters 0.02237134143965435 Centerline is valid? [True, True] Translation: X:268.66, Y:126.99, Z:11.97 [[ 6.64652172e-01 -7.38644146e-01 -1.12438056e-01 2.68659112e+02] [ 7.27434775e-01 6.74086763e-01 -1.28240725e-01 1.26994347e+02] [ 1.70517266e-01 3.44412442e-03 9.85348669e-01 1.19711361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.776875 meters 0.02253213148634306 Centerline is valid? [True, True] Translation: X:268.69, Y:127.04, Z:11.98 [[ 6.63348608e-01 -7.39727496e-01 -1.13012636e-01 2.68694148e+02] [ 7.28405637e-01 6.72898798e-01 -1.28966800e-01 1.27039083e+02] [ 1.71446355e-01 3.23090591e-03 9.85188159e-01 1.19802183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.836875 meters 0.02209744589255397 Centerline is valid? [True, True] Translation: X:268.73, Y:127.08, Z:11.99 [[ 6.62510439e-01 -7.40509058e-01 -1.12810696e-01 2.68730970e+02] [ 7.29228916e-01 6.72039397e-01 -1.28795333e-01 1.27083294e+02] [ 1.71187343e-01 3.06343136e-03 9.85233733e-01 1.19896388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.896875 meters 0.022085787213384764 Centerline is valid? [True, True] Translation: X:268.77, Y:127.13, Z:12.00 [[ 6.61271313e-01 -7.41606342e-01 -1.12872866e-01 2.68767078e+02] [ 7.30317438e-01 6.70829362e-01 -1.28935665e-01 1.27127116e+02] [ 1.71337939e-01 2.82843425e-03 9.85208257e-01 1.19997133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.956875 meters 0.02130830525073155 Centerline is valid? [True, True] Translation: X:268.81, Y:127.17, Z:12.01 [[ 6.59933735e-01 -7.42907305e-01 -1.12143669e-01 2.68805668e+02] [ 7.31774109e-01 6.69389595e-01 -1.28157028e-01 1.27170403e+02] [ 1.70276597e-01 2.51131247e-03 9.85393106e-01 1.20113724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.016875 meters 0.02070115373339455 Centerline is valid? [True, True] Translation: X:268.84, Y:127.21, Z:12.02 [[ 6.58669182e-01 -7.44073435e-01 -1.11846467e-01 2.68843064e+02] [ 7.33005329e-01 6.68094061e-01 -1.27880857e-01 1.27213709e+02] [ 1.69876709e-01 2.24712275e-03 9.85462761e-01 1.20216086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07687500000003 meters 0.02080173174789904 Centerline is valid? [True, True] Translation: X:268.88, Y:127.26, Z:12.03 [[ 6.58511398e-01 -7.44148483e-01 -1.12275438e-01 2.68878978e+02] [ 7.32983399e-01 6.68010340e-01 -1.28442684e-01 1.27257924e+02] [ 1.70581582e-01 2.28493952e-03 9.85340907e-01 1.20291113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13687500000003 meters 0.02083083026506613 Centerline is valid? [True, True] Translation: X:268.92, Y:127.30, Z:12.04 [[ 6.58585592e-01 -7.43970423e-01 -1.13017821e-01 2.68916362e+02] [ 7.32644719e-01 6.68208306e-01 -1.29342087e-01 1.27303096e+02] [ 1.71746134e-01 2.38092513e-03 9.85138364e-01 1.20383121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19687500000003 meters 0.020857382555898613 Centerline is valid? [True, True] Translation: X:268.95, Y:127.35, Z:12.05 [[ 6.58240933e-01 -7.44233920e-01 -1.13290542e-01 2.68953832e+02] [ 7.32845694e-01 6.67914887e-01 -1.29718515e-01 1.27346628e+02] [ 1.72209358e-01 2.36155008e-03 9.85057541e-01 1.20478083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25687500000004 meters 0.020769790665059053 Centerline is valid? [True, True] Translation: X:268.99, Y:127.39, Z:12.06 [[ 6.59120490e-01 -7.43427511e-01 -1.13471212e-01 2.68991373e+02] [ 7.31978464e-01 6.68811370e-01 -1.29995691e-01 1.27390160e+02] [ 1.72533210e-01 2.62434017e-03 9.85000205e-01 1.20580157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31687500000004 meters 0.02086481954564604 Centerline is valid? [True, True] Translation: X:269.03, Y:127.43, Z:12.07 [[ 6.60046079e-01 -7.42549175e-01 -1.13841542e-01 2.69027418e+02] [ 7.31005510e-01 6.69785327e-01 -1.30455206e-01 1.27434713e+02] [ 1.73118800e-01 2.88765251e-03 9.84896717e-01 1.20660798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37687500000004 meters 0.02159133705816143 Centerline is valid? [True, True] Translation: X:269.06, Y:127.48, Z:12.07 [[ 6.61094559e-01 -7.41486000e-01 -1.14684335e-01 2.69063623e+02] [ 7.29746789e-01 6.70960630e-01 -1.31458951e-01 1.27478966e+02] [ 1.74423645e-01 3.21627242e-03 9.84665450e-01 1.20741215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43687500000004 meters 0.02131952852605848 Centerline is valid? [True, True] Translation: X:269.10, Y:127.52, Z:12.09 [[ 6.61294367e-01 -7.41415335e-01 -1.13987107e-01 2.69102181e+02] [ 7.29810306e-01 6.71038569e-01 -1.30706372e-01 1.27521659e+02] [ 1.73397454e-01 3.24642211e-03 9.84846579e-01 1.20855805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.496875 meters 0.022272434274532314 Centerline is valid? [True, True] Translation: X:269.14, Y:127.57, Z:12.09 [[ 6.61238434e-01 -7.41503655e-01 -1.13736814e-01 2.69137870e+02] [ 7.29939204e-01 6.70940895e-01 -1.30487829e-01 1.27565176e+02] [ 1.73067882e-01 3.26260805e-03 9.84904495e-01 1.20941724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.556875 meters 0.021615409127750285 Centerline is valid? [True, True] Translation: X:269.18, Y:127.61, Z:12.10 [[ 6.61271573e-01 -7.41458173e-01 -1.13840608e-01 2.69175951e+02] [ 7.29862507e-01 6.70990908e-01 -1.30659567e-01 1.27607303e+02] [ 1.73264617e-01 3.31346599e-03 9.84869734e-01 1.21048699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.616875 meters 0.02194373165387881 Centerline is valid? [True, True] Translation: X:269.21, Y:127.65, Z:12.11 [[ 6.61257981e-01 -7.41395475e-01 -1.14326861e-01 2.69212817e+02] [ 7.29686173e-01 6.71059785e-01 -1.31289199e-01 1.27650814e+02] [ 1.74057376e-01 3.39330104e-03 9.84729666e-01 1.21134991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.676875 meters 0.0214578489550877 Centerline is valid? [True, True] Translation: X:269.25, Y:127.69, Z:12.12 [[ 6.59955270e-01 -7.42495084e-01 -1.14717442e-01 2.69251844e+02] [ 7.30712732e-01 6.69844117e-01 -1.31786808e-01 1.27692662e+02] [ 1.74693861e-01 3.14790295e-03 9.84617766e-01 1.21228928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.736875 meters 0.020585926173933084 Centerline is valid? [True, True] Translation: X:269.29, Y:127.73, Z:12.13 [[ 6.57107096e-01 -7.44919193e-01 -1.15350159e-01 2.69293723e+02] [ 7.33029376e-01 6.67149757e-01 -1.32586330e-01 1.27733321e+02] [ 1.75721932e-01 2.56836263e-03 9.84436492e-01 1.21343029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.796875 meters 0.020866251036269733 Centerline is valid? [True, True] Translation: X:269.33, Y:127.78, Z:12.14 [[ 6.55126961e-01 -7.46623910e-01 -1.15591533e-01 2.69332345e+02] [ 7.34698120e-01 6.65242861e-01 -1.32930836e-01 1.27775216e+02] [ 1.76145783e-01 2.16169237e-03 9.84361717e-01 1.21431967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.856875 meters 0.0204302606877564 Centerline is valid? [True, True] Translation: X:269.37, Y:127.82, Z:12.15 [[ 6.52883015e-01 -7.48662005e-01 -1.15104173e-01 2.69371746e+02] [ 7.36858231e-01 6.62949843e-01 -1.32429048e-01 1.27817711e+02] [ 1.75452891e-01 1.64521891e-03 9.84486453e-01 1.21526903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.916875 meters 0.019890070465794513 Centerline is valid? [True, True] Translation: X:269.41, Y:127.86, Z:12.16 [[ 6.50978268e-01 -7.50343589e-01 -1.14942564e-01 2.69411064e+02] [ 7.38587427e-01 6.61046876e-01 -1.32308878e-01 1.27859168e+02] [ 1.75259541e-01 1.23507169e-03 9.84521492e-01 1.21629674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.976875 meters 0.019882769647445717 Centerline is valid? [True, True] Translation: X:269.45, Y:127.90, Z:12.17 [[ 6.50641320e-01 -7.50635828e-01 -1.14942270e-01 2.69449643e+02] [ 7.38871376e-01 6.60715068e-01 -1.32380848e-01 1.27901939e+02] [ 1.75313898e-01 1.20489644e-03 9.84511851e-01 1.21728490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.036875 meters 0.019803279653786976 Centerline is valid? [True, True] Translation: X:269.49, Y:127.95, Z:12.18 [[ 6.51799086e-01 -7.49628686e-01 -1.14955573e-01 2.69487065e+02] [ 7.37832404e-01 6.61856858e-01 -1.32472048e-01 1.27945483e+02] [ 1.75388982e-01 1.52721265e-03 9.84498031e-01 1.21832365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.096875 meters 0.02005959706656927 Centerline is valid? [True, True] Translation: X:269.52, Y:127.99, Z:12.19 [[ 6.53988723e-01 -7.47779347e-01 -1.14563514e-01 2.69524015e+02] [ 7.36022797e-01 6.63944108e-01 -1.32093392e-01 1.27990663e+02] [ 1.74840480e-01 2.06623082e-03 9.84594606e-01 1.21927542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.156875 meters 0.020412433802400178 Centerline is valid? [True, True] Translation: X:269.56, Y:128.04, Z:12.20 [[ 6.55848388e-01 -7.46119037e-01 -1.14757462e-01 2.69560819e+02] [ 7.34285693e-01 6.65807663e-01 -1.32380801e-01 1.28035124e+02] [ 1.75178234e-01 2.55697258e-03 9.84533417e-01 1.22017985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.216875 meters 0.02059391693183238 Centerline is valid? [True, True] Translation: X:269.60, Y:128.08, Z:12.21 [[ 6.57050172e-01 -7.45053362e-01 -1.14806617e-01 2.69598191e+02] [ 7.33185846e-01 6.66998679e-01 -1.32481236e-01 1.28079955e+02] [ 1.75281452e-01 2.87223244e-03 9.84514176e-01 1.22105920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.276875 meters 0.0205666337013779 Centerline is valid? [True, True] Translation: X:269.64, Y:128.12, Z:12.22 [[ 6.58365571e-01 -7.43943240e-01 -1.14469342e-01 2.69636481e+02] [ 7.32117598e-01 6.68235136e-01 -1.32157582e-01 1.28122878e+02] [ 1.74810176e-01 3.20298256e-03 9.84596945e-01 1.22213977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.336875 meters 0.021166304234306803 Centerline is valid? [True, True] Translation: X:269.67, Y:128.17, Z:12.23 [[ 6.58631292e-01 -7.43746430e-01 -1.14219385e-01 2.69672094e+02] [ 7.31957855e-01 6.68453736e-01 -1.31936729e-01 1.28166131e+02] [ 1.74477846e-01 3.29388216e-03 9.84655590e-01 1.22297810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.396875 meters 0.020657265400711812 Centerline is valid? [True, True] Translation: X:269.71, Y:128.21, Z:12.24 [[ 6.58169620e-01 -7.44176965e-01 -1.14076270e-01 2.69711438e+02] [ 7.32412147e-01 6.67974741e-01 -1.31841540e-01 1.28207117e+02] [ 1.74313504e-01 3.22324987e-03 9.84684931e-01 1.22407563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.456875 meters 0.020698163259363064 Centerline is valid? [True, True] Translation: X:269.75, Y:128.25, Z:12.25 [[ 6.57850432e-01 -7.44457006e-01 -1.14090206e-01 2.69748793e+02] [ 7.32679932e-01 6.67662728e-01 -1.31934071e-01 1.28249881e+02] [ 1.74393022e-01 3.20128078e-03 9.84670923e-01 1.22494028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.516875 meters 0.02050893844089386 Centerline is valid? [True, True] Translation: X:269.79, Y:128.29, Z:12.26 [[ 6.56533486e-01 -7.45584881e-01 -1.14310839e-01 2.69787389e+02] [ 7.33766474e-01 6.66404124e-01 -1.32258479e-01 1.28292668e+02] [ 1.74787137e-01 2.95465927e-03 9.84601811e-01 1.22587286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57687500000003 meters 0.02081348098764533 Centerline is valid? [True, True] Translation: X:269.82, Y:128.33, Z:12.27 [[ 6.56338232e-01 -7.45763926e-01 -1.14264130e-01 2.69824922e+02] [ 7.33945034e-01 6.66203748e-01 -1.32277182e-01 1.28334993e+02] [ 1.74770742e-01 2.95498088e-03 9.84604721e-01 1.22680378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63687500000003 meters 0.02100027126398484 Centerline is valid? [True, True] Translation: X:269.86, Y:128.38, Z:12.28 [[ 6.56521195e-01 -7.45579833e-01 -1.14414305e-01 2.69862595e+02] [ 7.33714807e-01 6.66409323e-01 -1.32518660e-01 1.28378159e+02] [ 1.75050000e-01 3.05383885e-03 9.84554809e-01 1.22773690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69687500000003 meters 0.02177991954908877 Centerline is valid? [True, True] Translation: X:269.90, Y:128.42, Z:12.29 [[ 6.57418801e-01 -7.44896361e-01 -1.13709859e-01 2.69899218e+02] [ 7.33155788e-01 6.67172219e-01 -1.31771853e-01 1.28422886e+02] [ 1.74020432e-01 3.26225224e-03 9.84736638e-01 1.22863771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75687500000004 meters 0.021492853186424087 Centerline is valid? [True, True] Translation: X:269.94, Y:128.47, Z:12.30 [[ 6.57947202e-01 -7.44497811e-01 -1.13262919e-01 2.69937203e+02] [ 7.32832435e-01 6.67616247e-01 -1.31320865e-01 1.28465144e+02] [ 1.73384262e-01 3.39945472e-03 9.84848385e-01 1.22971012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81687500000004 meters 0.021594000559777133 Centerline is valid? [True, True] Translation: X:269.98, Y:128.51, Z:12.31 [[ 6.58358188e-01 -7.44237037e-01 -1.12586541e-01 2.69975198e+02] [ 7.32695163e-01 6.67906438e-01 -1.30609293e-01 1.28507173e+02] [ 1.72401549e-01 3.49608289e-03 9.85020550e-01 1.23082199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87687500000004 meters 0.0209840268377712 Centerline is valid? [True, True] Translation: X:270.01, Y:128.55, Z:12.32 [[ 6.58738217e-01 -7.43972562e-01 -1.12110607e-01 2.70013732e+02] [ 7.32512601e-01 6.68200479e-01 -1.30128433e-01 1.28549877e+02] [ 1.71724345e-01 3.59814008e-03 9.85138469e-01 1.23186520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93687500000004 meters 0.020950693621691042 Centerline is valid? [True, True] Translation: X:270.05, Y:128.59, Z:12.33 [[ 6.59133438e-01 -7.43600498e-01 -1.12256001e-01 2.70052882e+02] [ 7.32092516e-01 6.68613671e-01 -1.30369884e-01 1.28593253e+02] [ 1.71999007e-01 3.74937201e-03 9.85089988e-01 1.23284076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.996875 meters 0.023396434684067872 Centerline is valid? [True, True] Translation: X:270.09, Y:128.64, Z:12.33 [[ 6.59578515e-01 -7.43046829e-01 -1.13303101e-01 2.70087946e+02] [ 7.31302038e-01 6.69227623e-01 -1.31649982e-01 1.28638681e+02] [ 1.73647666e-01 3.97471082e-03 9.84799822e-01 1.23335509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.056875 meters 0.021230011355917164 Centerline is valid? [True, True] Translation: X:270.13, Y:128.68, Z:12.35 [[ 6.59291085e-01 -7.43278909e-01 -1.13453641e-01 2.70129194e+02] [ 7.31500346e-01 6.68970054e-01 -1.31857161e-01 1.28678298e+02] [ 1.73903735e-01 3.94087302e-03 9.84754772e-01 1.23461648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.116875 meters 0.021352344143827248 Centerline is valid? [True, True] Translation: X:270.17, Y:128.72, Z:12.36 [[ 6.59227610e-01 -7.43293925e-01 -1.13723787e-01 2.70168823e+02] [ 7.31445484e-01 6.68953029e-01 -1.32247302e-01 1.28720466e+02] [ 1.74374488e-01 3.99832245e-03 9.84671291e-01 1.23557848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.176875 meters 0.021805018001975287 Centerline is valid? [True, True] Translation: X:270.21, Y:128.76, Z:12.36 [[ 6.58979258e-01 -7.43530609e-01 -1.13615891e-01 2.70206041e+02] [ 7.31695381e-01 6.68690049e-01 -1.32194888e-01 1.28762552e+02] [ 1.74264761e-01 3.98146692e-03 9.84690784e-01 1.23638693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.236875 meters 0.02125723172133094 Centerline is valid? [True, True] Translation: X:270.25, Y:128.80, Z:12.37 [[ 6.58472637e-01 -7.44115187e-01 -1.12722557e-01 2.70245956e+02] [ 7.32463617e-01 6.68040295e-01 -1.31222002e-01 1.28804472e+02] [ 1.72947495e-01 3.84092591e-03 9.84923556e-01 1.23744752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.296875 meters 0.021833711800658413 Centerline is valid? [True, True] Translation: X:270.28, Y:128.85, Z:12.38 [[ 6.58739040e-01 -7.43854146e-01 -1.12888821e-01 2.70284508e+02] [ 7.32152565e-01 6.68330254e-01 -1.31481153e-01 1.28847936e+02] [ 1.73249815e-01 3.95992886e-03 9.84869951e-01 1.23833432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.356875 meters 0.022545172575522795 Centerline is valid? [True, True] Translation: X:270.32, Y:128.89, Z:12.39 [[ 6.59692175e-01 -7.42937613e-01 -1.13357563e-01 2.70322227e+02] [ 7.31112767e-01 6.69347088e-01 -1.32093140e-01 1.28892054e+02] [ 1.74012517e-01 4.26364898e-03 9.84734210e-01 1.23907725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.416875 meters 0.021760680760527947 Centerline is valid? [True, True] Translation: X:270.36, Y:128.93, Z:12.40 [[ 6.60317111e-01 -7.42319010e-01 -1.13770821e-01 2.70362262e+02] [ 7.30385487e-01 6.70031578e-01 -1.32645111e-01 1.28933782e+02] [ 1.74695030e-01 4.49128007e-03 9.84612348e-01 1.24012400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.476875 meters 0.02348703914342162 Centerline is valid? [True, True] Translation: X:270.40, Y:128.98, Z:12.41 [[ 6.60422064e-01 -7.42237229e-01 -1.13695174e-01 2.70398112e+02] [ 7.30306109e-01 6.70121725e-01 -1.32626772e-01 1.28977059e+02] [ 1.74630134e-01 4.55736665e-03 9.84623556e-01 1.24089901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.536875 meters 0.02207262888395888 Centerline is valid? [True, True] Translation: X:270.44, Y:129.02, Z:12.42 [[ 6.60234828e-01 -7.42420202e-01 -1.13587922e-01 2.70438168e+02] [ 7.30501689e-01 6.69919031e-01 -1.32573656e-01 1.29017441e+02] [ 1.74520071e-01 4.55357635e-03 9.84643087e-01 1.24201441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.596875 meters 0.022298148509925533 Centerline is valid? [True, True] Translation: X:270.48, Y:129.06, Z:12.43 [[ 6.61149621e-01 -7.41762950e-01 -1.12556227e-01 2.70475989e+02] [ 7.30039197e-01 6.70645450e-01 -1.31443719e-01 1.29060420e+02] [ 1.72985403e-01 4.73350752e-03 9.84913014e-01 1.24307921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.656875 meters 0.023111554429055062 Centerline is valid? [True, True] Translation: X:270.51, Y:129.10, Z:12.44 [[ 6.60968674e-01 -7.41946396e-01 -1.12409772e-01 2.70513029e+02] [ 7.30243301e-01 6.70442530e-01 -1.31345101e-01 1.29102869e+02] [ 1.72815316e-01 4.72851476e-03 9.84942896e-01 1.24402039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.716875 meters 0.022330568231052058 Centerline is valid? [True, True] Translation: X:270.55, Y:129.14, Z:12.45 [[ 6.60209753e-01 -7.42596157e-01 -1.12578993e-01 2.70553059e+02] [ 7.30855070e-01 6.69723588e-01 -1.31609962e-01 1.29143843e+02] [ 1.73129860e-01 4.61125272e-03 9.84888211e-01 1.24502567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.776875 meters 0.022439316915581885 Centerline is valid? [True, True] Translation: X:270.59, Y:129.19, Z:12.46 [[ 6.58547226e-01 -7.43975136e-01 -1.13210192e-01 2.70590978e+02] [ 7.32108252e-01 6.68193316e-01 -1.32420544e-01 1.29185880e+02] [ 1.74163886e-01 4.32306638e-03 9.84707191e-01 1.24569152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.836875 meters 0.02081486913719719 Centerline is valid? [True, True] Translation: X:270.63, Y:129.22, Z:12.47 [[ 6.55883732e-01 -7.46197129e-01 -1.14045495e-01 2.70634113e+02] [ 7.34176383e-01 6.65714207e-01 -1.33452736e-01 1.29224939e+02] [ 1.75503755e-01 3.79996949e-03 9.84471428e-01 1.24672152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.896875 meters 0.020232799707753175 Centerline is valid? [True, True] Translation: X:270.68, Y:129.27, Z:12.48 [[ 6.53519474e-01 -7.48329591e-01 -1.13644710e-01 2.70675210e+02] [ 7.36414284e-01 6.63319075e-01 -1.33048133e-01 1.29266826e+02] [ 1.74946559e-01 3.25995803e-03 9.84572534e-01 1.24776976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.956875 meters 0.01901188403825784 Centerline is valid? [True, True] Translation: X:270.72, Y:129.31, Z:12.49 [[ 6.49578542e-01 -7.51842280e-01 -1.13052659e-01 2.70717668e+02] [ 7.40097326e-01 6.59338878e-01 -1.32394079e-01 1.29305551e+02] [ 1.74079479e-01 2.33038206e-03 9.84728848e-01 1.24896072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.016875 meters 0.01875868822367247 Centerline is valid? [True, True] Translation: X:270.76, Y:129.35, Z:12.50 [[ 6.47440858e-01 -7.53819239e-01 -1.12146736e-01 2.70756250e+02] [ 7.42279646e-01 6.57079289e-01 -1.31406751e-01 1.29346582e+02] [ 1.72746234e-01 1.83386046e-03 9.84964657e-01 1.24986282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07687500000003 meters 0.018296977635629076 Centerline is valid? [True, True] Translation: X:270.80, Y:129.39, Z:12.51 [[ 6.45631776e-01 -7.55379568e-01 -1.12077282e-01 2.70796390e+02] [ 7.43868987e-01 6.55285898e-01 -1.31374737e-01 1.29388274e+02] [ 1.72680455e-01 1.44889048e-03 9.84976833e-01 1.25099397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13687500000003 meters 0.018018928791122747 Centerline is valid? [True, True] Translation: X:270.84, Y:129.43, Z:12.52 [[ 6.43703979e-01 -7.57030613e-01 -1.12026058e-01 2.70836039e+02] [ 7.45543249e-01 6.53378561e-01 -1.31383865e-01 1.29430657e+02] [ 1.72657032e-01 1.05204511e-03 9.84981443e-01 1.25191210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19687500000003 meters 0.018093706320617995 Centerline is valid? [True, True] Translation: X:270.87, Y:129.47, Z:12.53 [[ 6.42255194e-01 -7.58237452e-01 -1.12179460e-01 2.70874474e+02] [ 7.46723877e-01 6.51978038e-01 -1.31636201e-01 1.29473538e+02] [ 1.72950042e-01 7.76952226e-04 9.84930292e-01 1.25271554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25687500000004 meters 0.017975601811505273 Centerline is valid? [True, True] Translation: X:270.91, Y:129.52, Z:12.54 [[ 6.41166544e-01 -7.59162583e-01 -1.12150059e-01 2.70911564e+02] [ 7.47656192e-01 6.50900792e-01 -1.31675271e-01 1.29516084e+02] [ 1.72961501e-01 5.76092037e-04 9.84928417e-01 1.25352636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31687500000004 meters 0.01800250898336631 Centerline is valid? [True, True] Translation: X:270.95, Y:129.56, Z:12.55 [[ 6.41724166e-01 -7.58806545e-01 -1.11367511e-01 2.70948137e+02] [ 7.47442751e-01 6.51315678e-01 -1.30832798e-01 1.29560720e+02] [ 1.71812190e-01 7.17729330e-04 9.85129462e-01 1.25454321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37687500000004 meters 0.01799979504072977 Centerline is valid? [True, True] Translation: X:270.98, Y:129.60, Z:12.55 [[ 6.42243947e-01 -7.58341099e-01 -1.11541427e-01 2.70984589e+02] [ 7.46921738e-01 6.51857332e-01 -1.31110395e-01 1.29604390e+02] [ 1.72135498e-01 8.92141180e-04 9.85072878e-01 1.25549533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43687500000004 meters 0.018580572797504896 Centerline is valid? [True, True] Translation: X:271.02, Y:129.65, Z:12.56 [[ 6.43163987e-01 -7.57534216e-01 -1.11722855e-01 2.71019573e+02] [ 7.46053184e-01 6.52794435e-01 -1.31392816e-01 1.29649603e+02] [ 1.72466612e-01 1.15593629e-03 9.85014686e-01 1.25618140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.496875 meters 0.01864407371028962 Centerline is valid? [True, True] Translation: X:271.06, Y:129.69, Z:12.57 [[ 6.44456986e-01 -7.56430469e-01 -1.11750344e-01 2.71055373e+02] [ 7.44915420e-01 6.54072401e-01 -1.31492628e-01 1.29694774e+02] [ 1.72557846e-01 1.49678831e-03 9.84998248e-01 1.25713374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.556875 meters 0.018499839132321682 Centerline is valid? [True, True] Translation: X:271.09, Y:129.74, Z:12.58 [[ 6.45134206e-01 -7.55934574e-01 -1.11197015e-01 2.71091811e+02] [ 7.44514536e-01 6.54645047e-01 -1.30912060e-01 1.29738833e+02] [ 1.71755527e-01 1.66805409e-03 9.85138192e-01 1.25813553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.616875 meters 0.018842859129340868 Centerline is valid? [True, True] Translation: X:271.13, Y:129.78, Z:12.59 [[ 6.46996685e-01 -7.54320600e-01 -1.11336079e-01 2.71127338e+02] [ 7.42835277e-01 6.56502717e-01 -1.31148520e-01 1.29784028e+02] [ 1.72020469e-01 2.14829069e-03 9.85091033e-01 1.25915674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.676875 meters 0.01975528269255159 Centerline is valid? [True, True] Translation: X:271.16, Y:129.83, Z:12.60 [[ 6.48641528e-01 -7.52888297e-01 -1.11460217e-01 2.71160990e+02] [ 7.41343806e-01 6.58143269e-01 -1.31365132e-01 1.29830716e+02] [ 1.72260062e-01 2.57853808e-03 9.85048132e-01 1.25981412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.736875 meters 0.020492814360764052 Centerline is valid? [True, True] Translation: X:271.20, Y:129.88, Z:12.61 [[ 6.51175678e-01 -7.50673143e-01 -1.11624680e-01 2.71196079e+02] [ 7.39049953e-01 6.60665944e-01 -1.31627041e-01 1.29876151e+02] [ 1.72555509e-01 3.21611332e-03 9.84994545e-01 1.26072043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.796875 meters 0.02214823048659094 Centerline is valid? [True, True] Translation: X:271.23, Y:129.92, Z:12.61 [[ 6.52152414e-01 -7.49799241e-01 -1.11795919e-01 2.71229567e+02] [ 7.38114798e-01 6.61656136e-01 -1.31900352e-01 1.29922632e+02] [ 1.72869239e-01 3.50091032e-03 9.84938561e-01 1.26140611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.856875 meters 0.021108227263425348 Centerline is valid? [True, True] Translation: X:271.27, Y:129.97, Z:12.62 [[ 6.52045726e-01 -7.49811463e-01 -1.12334951e-01 2.71268007e+02] [ 7.38001470e-01 6.61641968e-01 -1.32603679e-01 1.29965436e+02] [ 1.73753276e-01 3.56030333e-03 9.84782780e-01 1.26243541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.916875 meters 0.02066502709702876 Centerline is valid? [True, True] Translation: X:271.31, Y:130.01, Z:12.63 [[ 6.51223544e-01 -7.50547699e-01 -1.12187559e-01 2.71305445e+02] [ 7.38766688e-01 6.60807483e-01 -1.32503777e-01 1.30009655e+02] [ 1.73584784e-01 3.40914818e-03 9.84813028e-01 1.26332866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.976875 meters 0.021033842352466466 Centerline is valid? [True, True] Translation: X:271.34, Y:130.05, Z:12.64 [[ 6.50697860e-01 -7.51036822e-01 -1.11964218e-01 2.71340828e+02] [ 7.39297764e-01 6.60251977e-01 -1.32310784e-01 1.30053836e+02] [ 1.73294867e-01 3.31944811e-03 9.84864392e-01 1.26419812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.036875 meters 0.020251983567353447 Centerline is valid? [True, True] Translation: X:271.38, Y:130.10, Z:12.65 [[ 6.50220230e-01 -7.51536614e-01 -1.11383893e-01 2.71377622e+02] [ 7.39913794e-01 6.59683521e-01 -1.31701288e-01 1.30097088e+02] [ 1.72456458e-01 3.22036308e-03 9.85011878e-01 1.26534024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.096875 meters 0.020874755844458696 Centerline is valid? [True, True] Translation: X:271.41, Y:130.14, Z:12.66 [[ 6.49431576e-01 -7.52212329e-01 -1.11423697e-01 2.71411197e+02] [ 7.40578085e-01 6.58913542e-01 -1.31822020e-01 1.30142802e+02] [ 1.72576732e-01 3.09143377e-03 9.84991226e-01 1.26611244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.156875 meters 0.019511935546861925 Centerline is valid? [True, True] Translation: X:271.45, Y:130.19, Z:12.67 [[ 6.47934479e-01 -7.53625393e-01 -1.10587869e-01 2.71449327e+02] [ 7.42175780e-01 6.57298469e-01 -1.30896272e-01 1.30185921e+02] [ 1.71335992e-01 2.73656968e-03 9.85208856e-01 1.26729286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.216875 meters 0.018919401676024475 Centerline is valid? [True, True] Translation: X:271.49, Y:130.23, Z:12.68 [[ 6.45138518e-01 -7.56122803e-01 -1.09884478e-01 2.71486526e+02] [ 7.44842934e-01 6.54426360e-01 -1.30135096e-01 1.30230057e+02] [ 1.70309412e-01 2.10848606e-03 9.85388380e-01 1.26826419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.276875 meters 0.01820797163885094 Centerline is valid? [True, True] Translation: X:271.52, Y:130.27, Z:12.69 [[ 6.40248645e-01 -7.60313485e-01 -1.09567682e-01 2.71524360e+02] [ 7.49147448e-01 6.49555479e-01 -1.29829814e-01 1.30273105e+02] [ 1.69881647e-01 1.04101276e-03 9.85463922e-01 1.26923095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.336875 meters 0.01762024406603258 Centerline is valid? [True, True] Translation: X:271.56, Y:130.32, Z:12.70 [[ 6.37526312e-01 -7.62650370e-01 -1.09199886e-01 2.71561844e+02] [ 7.51581775e-01 6.46810790e-01 -1.29462880e-01 1.30316907e+02] [ 1.69366578e-01 4.63348436e-04 9.85553016e-01 1.27030692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.396875 meters 0.017738168481432663 Centerline is valid? [True, True] Translation: X:271.60, Y:130.36, Z:12.71 [[ 6.35158703e-01 -7.64634049e-01 -1.09124666e-01 2.71597104e+02] [ 7.53597492e-01 6.44464716e-01 -1.29445160e-01 1.30362815e+02] [ 1.69305174e-01 -1.78543889e-05 9.85563675e-01 1.27120072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.456875 meters 0.01795634878292966 Centerline is valid? [True, True] Translation: X:271.63, Y:130.41, Z:12.72 [[ 6.34247308e-01 -7.65439798e-01 -1.08776232e-01 2.71631983e+02] [ 7.54473341e-01 6.43507484e-01 -1.29104976e-01 1.30408115e+02] [ 1.68820406e-01 -1.84283908e-04 9.85646811e-01 1.27210175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.516875 meters 0.01780827523513116 Centerline is valid? [True, True] Translation: X:271.66, Y:130.46, Z:12.73 [[ 6.35188456e-01 -7.64649474e-01 -1.08843037e-01 2.71664141e+02] [ 7.53645547e-01 6.44446410e-01 -1.29256385e-01 1.30455324e+02] [ 1.68979332e-01 7.30937097e-05 9.85619592e-01 1.27305138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57687500000003 meters 0.017740451695307045 Centerline is valid? [True, True] Translation: X:271.70, Y:130.50, Z:12.74 [[ 6.36185652e-01 -7.63872243e-01 -1.08475862e-01 2.71697095e+02] [ 7.52920429e-01 6.45367409e-01 -1.28886515e-01 1.30503084e+02] [ 1.68459618e-01 3.22058975e-04 9.85708503e-01 1.27394493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63687500000003 meters 0.01793077147621049 Centerline is valid? [True, True] Translation: X:271.73, Y:130.55, Z:12.75 [[ 6.39079961e-01 -7.61455780e-01 -1.08452292e-01 2.71727607e+02] [ 7.50461704e-01 6.48216075e-01 -1.28930796e-01 1.30552329e+02] [ 1.68475619e-01 1.00779579e-03 9.85705306e-01 1.27480485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69687500000003 meters 0.018202706662347124 Centerline is valid? [True, True] Translation: X:271.76, Y:130.60, Z:12.76 [[ 6.41299696e-01 -7.59574753e-01 -1.08539832e-01 2.71759491e+02] [ 7.48523793e-01 6.50418165e-01 -1.29105929e-01 1.30601196e+02] [ 1.68661882e-01 1.55094632e-03 9.85672747e-01 1.27560638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75687500000004 meters 0.018821298985523593 Centerline is valid? [True, True] Translation: X:271.79, Y:130.65, Z:12.77 [[ 6.44072778e-01 -7.57198400e-01 -1.08723686e-01 2.71792139e+02] [ 7.46064519e-01 6.53181172e-01 -1.29391229e-01 1.30649006e+02] [ 1.68991096e-01 2.22248358e-03 9.85615072e-01 1.27651472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81687500000004 meters 0.01940458045603113 Centerline is valid? [True, True] Translation: X:271.82, Y:130.70, Z:12.77 [[ 6.48041985e-01 -7.53840614e-01 -1.08470802e-01 2.71822939e+02] [ 7.42700363e-01 6.57049831e-01 -1.29157618e-01 1.30698499e+02] [ 1.68634980e-01 3.13825494e-03 9.85673574e-01 1.27735768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87687500000004 meters 0.020940778586426397 Centerline is valid? [True, True] Translation: X:271.85, Y:130.75, Z:12.78 [[ 6.49389900e-01 -7.52749419e-01 -1.07986436e-01 2.71854329e+02] [ 7.41683749e-01 6.58298132e-01 -1.28642083e-01 1.30747219e+02] [ 1.67922522e-01 3.44708516e-03 9.85794169e-01 1.27819995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93687500000004 meters 0.020674366827095517 Centerline is valid? [True, True] Translation: X:271.89, Y:130.79, Z:12.79 [[ 6.50783247e-01 -7.51664784e-01 -1.07150446e-01 2.71889446e+02] [ 7.40750232e-01 6.59534835e-01 -1.27682795e-01 1.30793395e+02] [ 1.66644112e-01 3.72210611e-03 9.86010084e-01 1.27917903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.996875 meters 0.021651104531299932 Centerline is valid? [True, True] Translation: X:271.92, Y:130.84, Z:12.80 [[ 6.51011177e-01 -7.51409799e-01 -1.07553525e-01 2.71923103e+02] [ 7.40398068e-01 6.59824621e-01 -1.28227025e-01 1.30839500e+02] [ 1.67317507e-01 3.84480478e-03 9.85895567e-01 1.27994735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.056875 meters 0.021491317638874873 Centerline is valid? [True, True] Translation: X:271.96, Y:130.88, Z:12.81 [[ 6.50985136e-01 -7.51349040e-01 -1.08134047e-01 2.71958669e+02] [ 7.40210482e-01 6.59893454e-01 -1.28953762e-01 1.30884902e+02] [ 1.68246236e-01 3.90502739e-03 9.85737265e-01 1.28068115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.116875 meters 0.021506543464489734 Centerline is valid? [True, True] Translation: X:272.00, Y:130.93, Z:12.82 [[ 6.51054390e-01 -7.51200822e-01 -1.08745143e-01 2.71996340e+02] [ 7.39921033e-01 6.60061529e-01 -1.29752239e-01 1.30929004e+02] [ 1.69248474e-01 4.01294604e-03 9.85565244e-01 1.28155838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.176875 meters 0.022142385147721447 Centerline is valid? [True, True] Translation: X:272.03, Y:130.97, Z:12.83 [[ 6.51501293e-01 -7.50825702e-01 -1.08659243e-01 2.72033403e+02] [ 7.39547558e-01 6.60487350e-01 -1.29714575e-01 1.30974251e+02] [ 1.69161092e-01 4.15053514e-03 9.85579676e-01 1.28251749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.236875 meters 0.02199176308255793 Centerline is valid? [True, True] Translation: X:272.07, Y:131.02, Z:12.83 [[ 6.52062604e-01 -7.50319149e-01 -1.08791248e-01 2.72070992e+02] [ 7.38995319e-01 6.61061587e-01 -1.29936512e-01 1.31018651e+02] [ 1.69411568e-01 4.33051737e-03 9.85535878e-01 1.28341448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.296875 meters 0.02310806239473651 Centerline is valid? [True, True] Translation: X:272.11, Y:131.06, Z:12.84 [[ 6.52395908e-01 -7.50208567e-01 -1.07548524e-01 2.72105268e+02] [ 7.39131584e-01 6.61186946e-01 -1.28515854e-01 1.31063281e+02] [ 1.67523375e-01 4.35070688e-03 9.85858504e-01 1.28443045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.356875 meters 0.02242923049897073 Centerline is valid? [True, True] Translation: X:272.14, Y:131.11, Z:12.85 [[ 6.52293738e-01 -7.50417350e-01 -1.06708389e-01 2.72143340e+02] [ 7.39508277e-01 6.60950332e-01 -1.27562403e-01 1.31105895e+02] [ 1.66253986e-01 4.29641947e-03 9.86073604e-01 1.28547282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.416875 meters 0.02195805945368302 Centerline is valid? [True, True] Translation: X:272.18, Y:131.15, Z:12.86 [[ 6.52377347e-01 -7.50293155e-01 -1.07069973e-01 2.72181676e+02] [ 7.39295493e-01 6.61090684e-01 -1.28067487e-01 1.31148887e+02] [ 1.66871121e-01 4.39197927e-03 9.85968934e-01 1.28637114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.476875 meters 0.023055217599641388 Centerline is valid? [True, True] Translation: X:272.22, Y:131.19, Z:12.87 [[ 6.52855587e-01 -7.49703838e-01 -1.08276211e-01 2.72217157e+02] [ 7.38434603e-01 6.61757197e-01 -1.29582986e-01 1.31194136e+02] [ 1.68801424e-01 4.64407597e-03 9.85639139e-01 1.28707253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.536875 meters 0.023590586892933755 Centerline is valid? [True, True] Translation: X:272.25, Y:131.24, Z:12.88 [[ 6.53455948e-01 -7.49013275e-01 -1.09427775e-01 2.72253340e+02] [ 7.37483744e-01 6.62536827e-01 -1.31006411e-01 1.31239961e+02] [ 1.70625472e-01 4.90571375e-03 9.85323745e-01 1.28779767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.596875 meters 0.024041322148606544 Centerline is valid? [True, True] Translation: X:272.29, Y:131.28, Z:12.89 [[ 6.53664018e-01 -7.48782277e-01 -1.09765446e-01 2.72290465e+02] [ 7.37166376e-01 6.62796986e-01 -1.31475815e-01 1.31284309e+02] [ 1.71198967e-01 5.02561359e-03 9.85223658e-01 1.28865053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.656875 meters 0.02203812468914349 Centerline is valid? [True, True] Translation: X:272.33, Y:131.32, Z:12.90 [[ 6.51684024e-01 -7.50521071e-01 -1.09663370e-01 2.72332106e+02] [ 7.38939197e-01 6.60830427e-01 -1.31423016e-01 1.31324783e+02] [ 1.71104634e-01 4.61171749e-03 9.85242070e-01 1.28980486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.716875 meters 0.021470817783357944 Centerline is valid? [True, True] Translation: X:272.37, Y:131.37, Z:12.91 [[ 6.47149384e-01 -7.54534845e-01 -1.08971748e-01 2.72371306e+02] [ 7.43144024e-01 6.56250241e-01 -1.30662091e-01 1.31365440e+02] [ 1.70101836e-01 3.57618853e-03 9.85420000e-01 1.29086605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.776875 meters 0.019580080076677844 Centerline is valid? [True, True] Translation: X:272.41, Y:131.41, Z:12.92 [[ 6.44129717e-01 -7.57205264e-01 -1.08337881e-01 2.72413357e+02] [ 7.45972228e-01 6.53170540e-01 -1.29975690e-01 1.31405820e+02] [ 1.69181389e-01 2.90415374e-03 9.85580653e-01 1.29200460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.836875 meters 0.01885199097599163 Centerline is valid? [True, True] Translation: X:272.45, Y:131.45, Z:12.93 [[ 6.38885107e-01 -7.61509783e-01 -1.09218455e-01 2.72454066e+02] [ 7.50147081e-01 6.48150889e-01 -1.31071667e-01 1.31446557e+02] [ 1.70602395e-01 1.80983045e-03 9.85338291e-01 1.29288103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.896875 meters 0.019061532068744492 Centerline is valid? [True, True] Translation: X:272.49, Y:131.49, Z:12.94 [[ 6.37143766e-01 -7.62895609e-01 -1.09718323e-01 2.72490169e+02] [ 7.51440959e-01 6.46520006e-01 -1.31713201e-01 1.31490344e+02] [ 1.71418514e-01 1.47340311e-03 9.85197200e-01 1.29352633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.956875 meters 0.01839730841328294 Centerline is valid? [True, True] Translation: X:272.53, Y:131.53, Z:12.95 [[ 6.35094033e-01 -7.64511461e-01 -1.10353051e-01 2.72529238e+02] [ 7.52935370e-01 6.44609218e-01 -1.32541636e-01 1.31531551e+02] [ 1.72464193e-01 1.08768721e-03 9.85015187e-01 1.29466481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.016875 meters 0.01832149052915465 Centerline is valid? [True, True] Translation: X:272.57, Y:131.57, Z:12.96 [[ 6.33233547e-01 -7.66009776e-01 -1.10653960e-01 2.72567373e+02] [ 7.54379213e-01 6.42828506e-01 -1.32979380e-01 1.31574223e+02] [ 1.72995025e-01 7.31957148e-04 9.84922426e-01 1.29569812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07687500000003 meters 0.018343230121674544 Centerline is valid? [True, True] Translation: X:272.60, Y:131.62, Z:12.97 [[ 6.33292133e-01 -7.66087530e-01 -1.09776913e-01 2.72604412e+02] [ 7.54630160e-01 6.42735815e-01 -1.31999976e-01 1.31617577e+02] [ 1.71681089e-01 7.53576832e-04 9.85152291e-01 1.29675377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13687500000003 meters 0.018449639565631507 Centerline is valid? [True, True] Translation: X:272.64, Y:131.66, Z:12.98 [[ 6.34229045e-01 -7.65299108e-01 -1.09867165e-01 2.72639289e+02] [ 7.53798204e-01 6.43674019e-01 -1.32181785e-01 1.31662327e+02] [ 1.71877242e-01 1.01585565e-03 9.85117852e-01 1.29759046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19687500000003 meters 0.018335913245078734 Centerline is valid? [True, True] Translation: X:272.68, Y:131.71, Z:12.99 [[ 6.35717074e-01 -7.64099712e-01 -1.09614926e-01 2.72675412e+02] [ 7.52622516e-01 6.45096677e-01 -1.31945542e-01 1.31706921e+02] [ 1.71531775e-01 1.38137237e-03 9.85177619e-01 1.29870519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25687500000004 meters 0.018502716072520915 Centerline is valid? [True, True] Translation: X:272.71, Y:131.75, Z:13.00 [[ 6.37904588e-01 -7.62236588e-01 -1.09877754e-01 2.72710540e+02] [ 7.50663430e-01 6.47295631e-01 -1.32335863e-01 1.31751935e+02] [ 1.71994627e-01 1.93644244e-03 9.85095984e-01 1.29958436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31687500000004 meters 0.018644503731669006 Centerline is valid? [True, True] Translation: X:272.75, Y:131.80, Z:13.01 [[ 6.38771185e-01 -7.61501600e-01 -1.09939463e-01 2.72747569e+02] [ 7.49892969e-01 6.48159366e-01 -1.32476306e-01 1.31796156e+02] [ 1.72139211e-01 2.17921663e-03 9.85070222e-01 1.30051557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37687500000004 meters 0.019151743169871352 Centerline is valid? [True, True] Translation: X:272.78, Y:131.84, Z:13.01 [[ 6.39701365e-01 -7.60691076e-01 -1.10141959e-01 2.72783362e+02] [ 7.49021320e-01 6.49109550e-01 -1.32754866e-01 1.31841018e+02] [ 1.72479639e-01 2.42479351e-03 9.85010099e-01 1.30128896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43687500000004 meters 0.019391281151476338 Centerline is valid? [True, True] Translation: X:272.82, Y:131.89, Z:13.02 [[ 6.40240406e-01 -7.60222251e-01 -1.10246774e-01 2.72820660e+02] [ 7.48516523e-01 6.49657971e-01 -1.32919285e-01 1.31885267e+02] [ 1.72670893e-01 2.57876516e-03 9.84976199e-01 1.30231357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.496875 meters 0.019614205973911295 Centerline is valid? [True, True] Translation: X:272.86, Y:131.93, Z:13.03 [[ 6.40784098e-01 -7.59776671e-01 -1.10159656e-01 2.72857775e+02] [ 7.48070461e-01 6.50178345e-01 -1.32886062e-01 1.31929701e+02] [ 1.72587153e-01 2.74409124e-03 9.84990429e-01 1.30333245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.556875 meters 0.019310002669611588 Centerline is valid? [True, True] Translation: X:272.90, Y:131.97, Z:13.04 [[ 6.41439703e-01 -7.59284512e-01 -1.09736670e-01 2.72895187e+02] [ 7.47649078e-01 6.50752293e-01 -1.32447383e-01 1.31973250e+02] [ 1.71976637e-01 2.91249001e-03 9.85096723e-01 1.30440777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.616875 meters 0.01942376138174184 Centerline is valid? [True, True] Translation: X:272.93, Y:132.02, Z:13.05 [[ 6.42079470e-01 -7.58760744e-01 -1.09617915e-01 2.72932331e+02] [ 7.47129890e-01 6.51362055e-01 -1.32379762e-01 1.32017247e+02] [ 1.71845518e-01 3.09950676e-03 9.85119034e-01 1.30538598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.676875 meters 0.01980254779127121 Centerline is valid? [True, True] Translation: X:272.97, Y:132.06, Z:13.06 [[ 6.42605722e-01 -7.58349044e-01 -1.09382874e-01 2.72968281e+02] [ 7.46749774e-01 6.51840593e-01 -1.32168890e-01 1.32060676e+02] [ 1.71530349e-01 3.25084859e-03 9.85173473e-01 1.30613049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.736875 meters 0.019608321514954646 Centerline is valid? [True, True] Translation: X:273.01, Y:132.10, Z:13.07 [[ 6.41813932e-01 -7.58942308e-01 -1.09915653e-01 2.73006096e+02] [ 7.47227184e-01 6.51150267e-01 -1.32871610e-01 1.32103741e+02] [ 1.72413493e-01 3.14688621e-03 9.85019637e-01 1.30704544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.796875 meters 0.019286686320098858 Centerline is valid? [True, True] Translation: X:273.05, Y:132.15, Z:13.08 [[ 6.39945544e-01 -7.60599996e-01 -1.09349660e-01 2.73045229e+02] [ 7.49016805e-01 6.49215031e-01 -1.32263632e-01 1.32146189e+02] [ 1.71591161e-01 2.73678935e-03 9.85164445e-01 1.30804201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.856875 meters 0.019097112950448355 Centerline is valid? [True, True] Translation: X:273.08, Y:132.19, Z:13.09 [[ 6.37336583e-01 -7.62775688e-01 -1.09431849e-01 2.73083914e+02] [ 7.51193906e-01 6.46659417e-01 -1.32436077e-01 1.32188483e+02] [ 1.71784156e-01 2.20181902e-03 9.85132151e-01 1.30887056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.916875 meters 0.01817876308142753 Centerline is valid? [True, True] Translation: X:273.12, Y:132.23, Z:13.10 [[ 6.35124495e-01 -7.64707580e-01 -1.08808059e-01 2.73123280e+02] [ 7.53274129e-01 6.44375178e-01 -1.31752481e-01 1.32230497e+02] [ 1.70865333e-01 1.71693178e-03 9.85292896e-01 1.30989317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.976875 meters 0.018123436915202462 Centerline is valid? [True, True] Translation: X:273.16, Y:132.27, Z:13.11 [[ 6.33221404e-01 -7.66381194e-01 -1.08122707e-01 2.73162197e+02] [ 7.55104379e-01 6.42384749e-01 -1.30993169e-01 1.32272563e+02] [ 1.69847079e-01 1.30374883e-03 9.85469568e-01 1.31095495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.036875 meters 0.017617051146453813 Centerline is valid? [True, True] Translation: X:273.20, Y:132.31, Z:13.12 [[ 6.30917737e-01 -7.68276846e-01 -1.08136476e-01 2.73200260e+02] [ 7.57012372e-01 6.40117162e-01 -1.31081223e-01 1.32314352e+02] [ 1.69926682e-01 8.40818435e-04 9.85456349e-01 1.31186264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.096875 meters 0.017644514757947188 Centerline is valid? [True, True] Translation: X:273.24, Y:132.36, Z:13.13 [[ 6.30376799e-01 -7.68636292e-01 -1.08735194e-01 2.73238143e+02] [ 7.57237737e-01 6.39685558e-01 -1.31884023e-01 1.32357465e+02] [ 1.70927180e-01 7.98235541e-04 9.85283341e-01 1.31282193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.156875 meters 0.017765007697561345 Centerline is valid? [True, True] Translation: X:273.28, Y:132.40, Z:13.14 [[ 6.29661808e-01 -7.69198274e-01 -1.08903727e-01 2.73275023e+02] [ 7.57759514e-01 6.39009806e-01 -1.32162731e-01 1.32400557e+02] [ 1.71249894e-01 6.94988748e-04 9.85227380e-01 1.31359226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.216875 meters 0.01780168934551155 Centerline is valid? [True, True] Translation: X:273.31, Y:132.44, Z:13.15 [[ 6.30053627e-01 -7.68914719e-01 -1.08639688e-01 2.73311797e+02] [ 7.57515812e-01 6.39350836e-01 -1.31910209e-01 1.32444718e+02] [ 1.70886577e-01 8.14223952e-04 9.85290371e-01 1.31457135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.276875 meters 0.018015265365392122 Centerline is valid? [True, True] Translation: X:273.35, Y:132.49, Z:13.16 [[ 6.32416970e-01 -7.67045599e-01 -1.08119492e-01 2.73347054e+02] [ 7.55716735e-01 6.41591145e-01 -1.31350746e-01 1.32490725e+02] [ 1.70120520e-01 1.36073149e-03 9.85422324e-01 1.31551875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.336875 meters 0.0186435877635042 Centerline is valid? [True, True] Translation: X:273.38, Y:132.54, Z:13.16 [[ 6.34887417e-01 -7.65032032e-01 -1.07907172e-01 2.73381040e+02] [ 7.53706720e-01 6.43989294e-01 -1.31163906e-01 1.32536250e+02] [ 1.69835654e-01 1.94395288e-03 9.85470482e-01 1.31634671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.396875 meters 0.018682429785579827 Centerline is valid? [True, True] Translation: X:273.42, Y:132.58, Z:13.17 [[ 6.37606113e-01 -7.62834869e-01 -1.07430943e-01 2.73417270e+02] [ 7.51567642e-01 6.46588275e-01 -1.30650993e-01 1.32581739e+02] [ 1.69128722e-01 2.56225107e-03 9.85590640e-01 1.31742174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.456875 meters 0.02031601735776343 Centerline is valid? [True, True] Translation: X:273.45, Y:132.63, Z:13.18 [[ 6.41300917e-01 -7.59880535e-01 -1.06370609e-01 2.73449384e+02] [ 7.48784519e-01 6.50054097e-01 -1.29427257e-01 1.32629649e+02] [ 1.67495903e-01 3.35315324e-03 9.85867070e-01 1.31829442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.516875 meters 0.020324917158625385 Centerline is valid? [True, True] Translation: X:273.49, Y:132.67, Z:13.19 [[ 6.43377689e-01 -7.58176565e-01 -1.05987951e-01 2.73486218e+02] [ 7.47127827e-01 6.52038101e-01 -1.29020640e-01 1.32674116e+02] [ 1.66928608e-01 3.82245402e-03 9.85961576e-01 1.31934689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57687500000003 meters 0.020403299138667497 Centerline is valid? [True, True] Translation: X:273.52, Y:132.72, Z:13.20 [[ 6.44782981e-01 -7.56956176e-01 -1.06170878e-01 2.73523342e+02] [ 7.45841388e-01 6.53452213e-01 -1.29309044e-01 1.32719190e+02] [ 1.67258875e-01 4.18963539e-03 9.85904111e-01 1.32019827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63687500000003 meters 0.02062671100009322 Centerline is valid? [True, True] Translation: X:273.56, Y:132.76, Z:13.21 [[ 6.45142415e-01 -7.56520185e-01 -1.07090963e-01 2.73559861e+02] [ 7.45192975e-01 6.53955637e-01 -1.30496950e-01 1.32763512e+02] [ 1.68756316e-01 4.38568442e-03 9.85648047e-01 1.32092086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69687500000003 meters 0.02106928939637482 Centerline is valid? [True, True] Translation: X:273.60, Y:132.81, Z:13.22 [[ 6.44407587e-01 -7.57072187e-01 -1.07613036e-01 2.73595602e+02] [ 7.45633965e-01 6.53317152e-01 -1.31174271e-01 1.32806887e+02] [ 1.69613834e-01 4.28976092e-03 9.85501266e-01 1.32167032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75687500000004 meters 0.021344249171537804 Centerline is valid? [True, True] Translation: X:273.63, Y:132.85, Z:13.23 [[ 6.43249946e-01 -7.58080808e-01 -1.07438332e-01 2.73632287e+02] [ 7.46682489e-01 6.52147985e-01 -1.31027728e-01 1.32850029e+02] [ 1.69395297e-01 4.06125792e-03 9.85539821e-01 1.32258929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81687500000004 meters 0.021174597030316725 Centerline is valid? [True, True] Translation: X:273.67, Y:132.89, Z:13.24 [[ 6.41793375e-01 -7.59411313e-01 -1.06750749e-01 2.73669603e+02] [ 7.48169444e-01 6.50600211e-01 -1.30237663e-01 1.32893148e+02] [ 1.68356014e-01 3.71802036e-03 9.85719244e-01 1.32358300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87687500000004 meters 0.019764378837613287 Centerline is valid? [True, True] Translation: X:273.71, Y:132.93, Z:13.25 [[ 6.40074923e-01 -7.60997860e-01 -1.05765541e-01 2.73709923e+02] [ 7.49974116e-01 6.48745924e-01 -1.29102873e-01 1.32934740e+02] [ 1.66861973e-01 3.31409385e-03 9.85974695e-01 1.32471134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93687500000004 meters 0.019158267518576813 Centerline is valid? [True, True] Translation: X:273.75, Y:132.98, Z:13.26 [[ 6.38372265e-01 -7.62478583e-01 -1.05390992e-01 2.73748886e+02] [ 7.51543014e-01 6.47006698e-01 -1.28706764e-01 1.32977246e+02] [ 1.66324829e-01 2.95696497e-03 9.86066584e-01 1.32570987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.996875 meters 0.018664335987520025 Centerline is valid? [True, True] Translation: X:273.79, Y:133.02, Z:13.27 [[ 6.36202505e-01 -7.64251808e-01 -1.05667148e-01 2.73788271e+02] [ 7.53270320e-01 6.44912923e-01 -1.29116793e-01 1.33019666e+02] [ 1.66823852e-01 2.54850070e-03 9.85983421e-01 1.32663633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.056875 meters 0.018297714500848786 Centerline is valid? [True, True] Translation: X:273.82, Y:133.06, Z:13.28 [[ 6.34734892e-01 -7.65443590e-01 -1.05866560e-01 2.73824796e+02] [ 7.54424685e-01 6.43498939e-01 -1.29431491e-01 1.33062651e+02] [ 1.67197524e-01 2.28633728e-03 9.85920768e-01 1.32753922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.116875 meters 0.01880105249867161 Centerline is valid? [True, True] Translation: X:273.86, Y:133.11, Z:13.28 [[ 6.34373044e-01 -7.65745658e-01 -1.05850975e-01 2.73859985e+02] [ 7.54721544e-01 6.43139567e-01 -1.29487024e-01 1.33107416e+02] [ 1.67231076e-01 2.25506642e-03 9.85915149e-01 1.32836485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.176875 meters 0.01760421474883709 Centerline is valid? [True, True] Translation: X:273.90, Y:133.15, Z:13.29 [[ 6.33431128e-01 -7.66487882e-01 -1.06119426e-01 2.73897084e+02] [ 7.55405396e-01 6.42255297e-01 -1.29887725e-01 1.33150691e+02] [ 1.67713131e-01 2.11174096e-03 9.85833579e-01 1.32935506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.236875 meters 0.01760134092019302 Centerline is valid? [True, True] Translation: X:273.93, Y:133.20, Z:13.30 [[ 6.33460270e-01 -7.66483491e-01 -1.05977094e-01 2.73932458e+02] [ 7.55417833e-01 6.42260378e-01 -1.29790235e-01 1.33196006e+02] [ 1.67546961e-01 2.15997044e-03 9.85861730e-01 1.33027023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.296875 meters 0.01757137083572688 Centerline is valid? [True, True] Translation: X:273.97, Y:133.24, Z:13.31 [[ 6.32826475e-01 -7.67003976e-01 -1.05997893e-01 2.73967904e+02] [ 7.55928358e-01 6.41639002e-01 -1.29891144e-01 1.33240017e+02] [ 1.67639406e-01 2.07174141e-03 9.85846204e-01 1.33124260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.356875 meters 0.017702437799560454 Centerline is valid? [True, True] Translation: X:274.00, Y:133.29, Z:13.32 [[ 6.31891308e-01 -7.67790552e-01 -1.05882216e-01 2.74002062e+02] [ 7.56738698e-01 6.40698087e-01 -1.29817195e-01 1.33285154e+02] [ 1.67510949e-01 1.90518712e-03 9.85868375e-01 1.33208810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.416875 meters 0.017250980007930912 Centerline is valid? [True, True] Translation: X:274.04, Y:133.33, Z:13.33 [[ 6.31217785e-01 -7.68341872e-01 -1.05900307e-01 2.74038385e+02] [ 7.57281022e-01 6.40037106e-01 -1.29915193e-01 1.33329032e+02] [ 1.67599409e-01 1.80848810e-03 9.85853522e-01 1.33308811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.476875 meters 0.017079356501871118 Centerline is valid? [True, True] Translation: X:274.07, Y:133.37, Z:13.34 [[ 6.31364028e-01 -7.68194836e-01 -1.06095043e-01 2.74073455e+02] [ 7.57078272e-01 6.40213314e-01 -1.30228270e-01 1.33374555e+02] [ 1.67964143e-01 1.89919339e-03 9.85791276e-01 1.33399988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.536875 meters 0.01770179072997964 Centerline is valid? [True, True] Translation: X:274.11, Y:133.42, Z:13.35 [[ 6.32870975e-01 -7.66913730e-01 -1.06384491e-01 2.74106987e+02] [ 7.55705217e-01 6.41746108e-01 -1.30658172e-01 1.33422409e+02] [ 1.68475379e-01 2.29444992e-03 9.85703192e-01 1.33487108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.596875 meters 0.017854338463148444 Centerline is valid? [True, True] Translation: X:274.14, Y:133.47, Z:13.36 [[ 6.33998744e-01 -7.65949817e-01 -1.06613651e-01 2.74140886e+02] [ 7.54668265e-01 6.42895116e-01 -1.31002593e-01 1.33469537e+02] [ 1.68882808e-01 2.59753999e-03 9.85632716e-01 1.33577745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.656875 meters 0.01846774329280921 Centerline is valid? [True, True] Translation: X:274.17, Y:133.52, Z:13.37 [[ 6.35122049e-01 -7.64891236e-01 -1.07523864e-01 2.74173799e+02] [ 7.53387543e-01 6.44152694e-01 -1.32191216e-01 1.33516814e+02] [ 1.70373689e-01 2.95041632e-03 9.85375107e-01 1.33655000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.716875 meters 0.018422463127952555 Centerline is valid? [True, True] Translation: X:274.21, Y:133.56, Z:13.37 [[ 6.35251705e-01 -7.64751977e-01 -1.07748251e-01 2.74208741e+02] [ 7.53185185e-01 6.44317592e-01 -1.32540248e-01 1.33562344e+02] [ 1.70784510e-01 3.04203201e-03 9.85303708e-01 1.33742362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.776875 meters 0.01829604858067834 Centerline is valid? [True, True] Translation: X:274.24, Y:133.61, Z:13.38 [[ 6.33867530e-01 -7.65988363e-01 -1.07115740e-01 2.74244413e+02] [ 7.54562882e-01 6.42848596e-01 -1.31835276e-01 1.33607040e+02] [ 1.69843490e-01 2.74053901e-03 9.85467239e-01 1.33847440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.836875 meters 0.018045584838639054 Centerline is valid? [True, True] Translation: X:274.28, Y:133.65, Z:13.40 [[ 6.32185205e-01 -7.67504480e-01 -1.06201410e-01 2.74282080e+02] [ 7.56283629e-01 6.41039238e-01 -1.30781375e-01 1.33650792e+02] [ 1.68454563e-01 2.35966246e-03 9.85706595e-01 1.33959183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.896875 meters 0.017610080779477066 Centerline is valid? [True, True] Translation: X:274.32, Y:133.69, Z:13.41 [[ 6.30360613e-01 -7.69085127e-01 -1.05610439e-01 2.74319539e+02] [ 7.57999545e-01 6.39143313e-01 -1.30125002e-01 1.33693779e+02] [ 1.67577409e-01 1.97301105e-03 9.85856947e-01 1.34064634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.956875 meters 0.017615750446969797 Centerline is valid? [True, True] Translation: X:274.36, Y:133.74, Z:13.41 [[ 6.29993613e-01 -7.69368788e-01 -1.05734173e-01 2.74355272e+02] [ 7.58248562e-01 6.38801907e-01 -1.30350460e-01 1.33739104e+02] [ 1.67830767e-01 1.94717219e-03 9.85813898e-01 1.34149995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.016875 meters 0.017979356762426613 Centerline is valid? [True, True] Translation: X:274.39, Y:133.78, Z:13.42 [[ 6.30639427e-01 -7.68759898e-01 -1.06311485e-01 2.74389668e+02] [ 7.57496270e-01 6.39533832e-01 -1.31133055e-01 1.33784673e+02] [ 1.68799626e-01 2.16712117e-03 9.85648005e-01 1.34234469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07687500000003 meters 0.018505189840977265 Centerline is valid? [True, True] Translation: X:274.42, Y:133.83, Z:13.43 [[ 6.32506138e-01 -7.67216387e-01 -1.06371991e-01 2.74424378e+02] [ 7.55906461e-01 6.41382976e-01 -1.31275667e-01 1.33831556e+02] [ 1.68942027e-01 2.62539028e-03 9.85622493e-01 1.34317495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13687500000003 meters 0.018446140190138436 Centerline is valid? [True, True] Translation: X:274.46, Y:133.88, Z:13.44 [[ 6.33453775e-01 -7.66505125e-01 -1.05859380e-01 2.74460243e+02] [ 7.55282884e-01 6.42231880e-01 -1.30713341e-01 1.33876904e+02] [ 1.68178715e-01 2.84708116e-03 9.85752410e-01 1.34422826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19687500000003 meters 0.01880491793627137 Centerline is valid? [True, True] Translation: X:274.50, Y:133.92, Z:13.45 [[ 6.34463015e-01 -7.65719148e-01 -1.05502933e-01 2.74495998e+02] [ 7.54549803e-01 6.43167648e-01 -1.30345582e-01 1.33922182e+02] [ 1.67664181e-01 3.09223361e-03 9.85839318e-01 1.34522747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25687500000004 meters 0.018926594899736783 Centerline is valid? [True, True] Translation: X:274.53, Y:133.97, Z:13.46 [[ 6.34872497e-01 -7.65436790e-01 -1.05087738e-01 2.74532242e+02] [ 7.54339995e-01 6.43503131e-01 -1.29903395e-01 1.33965941e+02] [ 1.67057126e-01 3.20020951e-03 9.85942024e-01 1.34620869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31687500000004 meters 0.01867337312380881 Centerline is valid? [True, True] Translation: X:274.57, Y:134.01, Z:13.47 [[ 6.34203795e-01 -7.66006328e-01 -1.04975479e-01 2.74569163e+02] [ 7.54929542e-01 6.42825596e-01 -1.29833121e-01 1.34009579e+02] [ 1.66933917e-01 3.09156733e-03 9.85963239e-01 1.34715271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37687500000004 meters 0.018142201597375993 Centerline is valid? [True, True] Translation: X:274.61, Y:134.05, Z:13.48 [[ 6.32823121e-01 -7.67165016e-01 -1.04846252e-01 2.74607860e+02] [ 7.56118963e-01 6.41443549e-01 -1.29747012e-01 1.34052378e+02] [ 1.66790320e-01 2.83066978e-03 9.85988325e-01 1.34810215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43687500000004 meters 0.018069885705039306 Centerline is valid? [True, True] Translation: X:274.64, Y:134.10, Z:13.49 [[ 6.31073530e-01 -7.68611255e-01 -1.04799518e-01 2.74644788e+02] [ 7.57582577e-01 6.39711274e-01 -1.29761797e-01 1.34095835e+02] [ 1.66777811e-01 2.49494569e-03 9.85991347e-01 1.34907875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.496875 meters 0.01759496105757663 Centerline is valid? [True, True] Translation: X:274.68, Y:134.14, Z:13.50 [[ 6.29708807e-01 -7.69779365e-01 -1.04434418e-01 2.74682172e+02] [ 7.58839589e-01 6.38306285e-01 -1.29335085e-01 1.34139547e+02] [ 1.66220625e-01 2.19447141e-03 9.86086146e-01 1.35016827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.556875 meters 0.017691231867786057 Centerline is valid? [True, True] Translation: X:274.72, Y:134.18, Z:13.51 [[ 6.28539885e-01 -7.70720098e-01 -1.04537762e-01 2.74718639e+02] [ 7.59759060e-01 6.37170739e-01 -1.29536172e-01 1.34183771e+02] [ 1.66444534e-01 1.99513883e-03 9.86048800e-01 1.35108360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.616875 meters 0.017409374114896216 Centerline is valid? [True, True] Translation: X:274.76, Y:134.23, Z:13.52 [[ 6.27916174e-01 -7.71182154e-01 -1.04877852e-01 2.74755383e+02] [ 7.60142995e-01 6.36611634e-01 -1.30031742e-01 1.34228164e+02] [ 1.67044620e-01 1.92686911e-03 9.85947454e-01 1.35207410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.676875 meters 0.01747779468168219 Centerline is valid? [True, True] Translation: X:274.79, Y:134.27, Z:13.53 [[ 6.27405886e-01 -7.71546454e-01 -1.05251717e-01 2.74791723e+02] [ 7.60420039e-01 6.36170193e-01 -1.30571243e-01 1.34273255e+02] [ 1.67699785e-01 1.88565116e-03 9.85836308e-01 1.35297653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.736875 meters 0.01722072761884121 Centerline is valid? [True, True] Translation: X:274.83, Y:134.32, Z:13.54 [[ 6.25333873e-01 -7.73109021e-01 -1.06113096e-01 2.74829123e+02] [ 7.61807668e-01 6.34271319e-01 -1.31715493e-01 1.34317144e+02] [ 1.69134929e-01 1.52838927e-03 9.85591721e-01 1.35370871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.796875 meters 0.017063429195473455 Centerline is valid? [True, True] Translation: X:274.87, Y:134.36, Z:13.55 [[ 6.22974343e-01 -7.74958437e-01 -1.06500653e-01 2.74866273e+02] [ 7.63587457e-01 6.32011278e-01 -1.32272218e-01 1.34359845e+02] [ 1.69815085e-01 1.07963515e-03 9.85475353e-01 1.35468097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.856875 meters 0.016549063611313197 Centerline is valid? [True, True] Translation: X:274.90, Y:134.40, Z:13.56 [[ 6.20066124e-01 -7.77354670e-01 -1.06008104e-01 2.74903811e+02] [ 7.66113238e-01 6.29062399e-01 -1.31723214e-01 1.34402950e+02] [ 1.69081368e-01 4.62890723e-04 9.85601987e-01 1.35583739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.916875 meters 0.016429667734748563 Centerline is valid? [True, True] Translation: X:274.94, Y:134.45, Z:13.57 [[ 6.18749528e-01 -7.78395378e-01 -1.06064401e-01 2.74939378e+02] [ 7.67144442e-01 6.27774311e-01 -1.31866673e-01 1.34447672e+02] [ 1.69228915e-01 2.25725476e-04 9.85576747e-01 1.35677708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.976875 meters 0.016490133504082797 Centerline is valid? [True, True] Translation: X:274.97, Y:134.49, Z:13.58 [[ 6.17686008e-01 -7.79203198e-01 -1.06331425e-01 2.74974975e+02] [ 7.67893791e-01 6.26771388e-01 -1.32275291e-01 1.34493516e+02] [ 1.69714824e-01 5.33551027e-05 9.85493214e-01 1.35759292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.036875 meters 0.016642417624008723 Centerline is valid? [True, True] Translation: X:275.01, Y:134.54, Z:13.59 [[ 6.16209556e-01 -7.80316724e-01 -1.06731408e-01 2.75009921e+02] [ 7.68924742e-01 6.25384497e-01 -1.32849438e-01 1.34538569e+02] [ 1.70412806e-01 -2.05327048e-04 9.85372738e-01 1.35850366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.096875 meters 0.016557229030019993 Centerline is valid? [True, True] Translation: X:275.04, Y:134.58, Z:13.59 [[ 6.16134368e-01 -7.80406244e-01 -1.06510728e-01 2.75044144e+02] [ 7.69049890e-01 6.25272790e-01 -1.32650689e-01 1.34583630e+02] [ 1.70119686e-01 -1.81414916e-04 9.85423391e-01 1.35944230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.156875 meters 0.016425174865928916 Centerline is valid? [True, True] Translation: X:275.08, Y:134.63, Z:13.60 [[ 6.17614728e-01 -7.79203540e-01 -1.06742171e-01 2.75076930e+02] [ 7.67767642e-01 6.26770935e-01 -1.33007675e-01 1.34630766e+02] [ 1.70542942e-01 1.94313740e-04 9.85350226e-01 1.36032899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.216875 meters 0.016625277780222887 Centerline is valid? [True, True] Translation: X:275.11, Y:134.68, Z:13.61 [[ 6.18897343e-01 -7.78098673e-01 -1.07371015e-01 2.75109863e+02] [ 7.66496791e-01 6.28141825e-01 -1.33867538e-01 1.34677992e+02] [ 1.71606379e-01 5.50725296e-04 9.85165442e-01 1.36110697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.276875 meters 0.017031251157037 Centerline is valid? [True, True] Translation: X:275.14, Y:134.72, Z:13.62 [[ 6.19650430e-01 -7.77523455e-01 -1.07194315e-01 2.75143385e+02] [ 7.65938305e-01 6.28853483e-01 -1.33722885e-01 1.34722910e+02] [ 1.71382198e-01 7.57210824e-04 9.85204328e-01 1.36197983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.336875 meters 0.01705773953901719 Centerline is valid? [True, True] Translation: X:275.18, Y:134.77, Z:13.63 [[ 6.20482751e-01 -7.76853727e-01 -1.07235452e-01 2.75177274e+02] [ 7.65236048e-01 6.29680317e-01 -1.33852489e-01 1.34769193e+02] [ 1.71507858e-01 9.92727680e-04 9.85182252e-01 1.36285570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.396875 meters 0.017126903287595516 Centerline is valid? [True, True] Translation: X:275.21, Y:134.82, Z:13.64 [[ 6.22424682e-01 -7.75266415e-01 -1.07468606e-01 2.75211719e+02] [ 7.63561424e-01 6.31632640e-01 -1.34216837e-01 1.34815399e+02] [ 1.71934485e-01 1.48098998e-03 9.85107273e-01 1.36385529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.456875 meters 0.017326907577366477 Centerline is valid? [True, True] Translation: X:275.25, Y:134.86, Z:13.65 [[ 6.23711909e-01 -7.74232574e-01 -1.07458715e-01 2.75246530e+02] [ 7.62501697e-01 6.32898597e-01 -1.34277804e-01 1.34862046e+02] [ 1.71972720e-01 1.81321350e-03 9.85100044e-01 1.36476466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.516875 meters 0.018153213224104996 Centerline is valid? [True, True] Translation: X:275.28, Y:134.91, Z:13.66 [[ 6.25514575e-01 -7.72866295e-01 -1.06813887e-01 2.75279761e+02] [ 7.61244599e-01 6.34565010e-01 -1.33543654e-01 1.34907966e+02] [ 1.70991744e-01 2.22200771e-03 9.85269956e-01 1.36576026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57687500000003 meters 0.01827975575743375 Centerline is valid? [True, True] Translation: X:275.31, Y:134.95, Z:13.67 [[ 6.26771710e-01 -7.71966631e-01 -1.05946894e-01 2.75314758e+02] [ 7.60510062e-01 6.35658180e-01 -1.32525935e-01 1.34953446e+02] [ 1.69651609e-01 2.48982800e-03 9.85500955e-01 1.36675535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63687500000003 meters 0.01847355872188266 Centerline is valid? [True, True] Translation: X:275.35, Y:135.00, Z:13.68 [[ 6.27485544e-01 -7.71333172e-01 -1.06334518e-01 2.75349695e+02] [ 7.59770249e-01 6.36425759e-01 -1.33084267e-01 1.34999362e+02] [ 1.70326336e-01 2.71865077e-03 9.85383960e-01 1.36757612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69687500000003 meters 0.01889022836300576 Centerline is valid? [True, True] Translation: X:275.39, Y:135.04, Z:13.68 [[ 6.27961268e-01 -7.70827776e-01 -1.07187617e-01 2.75385086e+02] [ 7.59057254e-01 6.37036873e-01 -1.34224093e-01 1.35043891e+02] [ 1.71746124e-01 2.92599360e-03 9.85136898e-01 1.36817590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75687500000004 meters 0.019337866415415825 Centerline is valid? [True, True] Translation: X:275.42, Y:135.09, Z:13.69 [[ 6.28670185e-01 -7.70192684e-01 -1.07596600e-01 2.75420800e+02] [ 7.58310087e-01 6.37803469e-01 -1.34805589e-01 1.35089064e+02] [ 1.72451763e-01 3.15666755e-03 9.85012906e-01 1.36901106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81687500000004 meters 0.01946566497422432 Centerline is valid? [True, True] Translation: X:275.46, Y:135.13, Z:13.70 [[ 6.30488203e-01 -7.68730230e-01 -1.07417219e-01 2.75457459e+02] [ 7.56854174e-01 6.39563052e-01 -1.34650889e-01 1.35132927e+02] [ 1.72210294e-01 3.59662621e-03 9.85053643e-01 1.37007069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87687500000004 meters 0.020984213541901494 Centerline is valid? [True, True] Translation: X:275.49, Y:135.18, Z:13.71 [[ 6.32056932e-01 -7.67468378e-01 -1.07220908e-01 2.75490724e+02] [ 7.55605692e-01 6.41074453e-01 -1.34475219e-01 1.35179407e+02] [ 1.71942064e-01 3.97926622e-03 9.85099027e-01 1.37091612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93687500000004 meters 0.021035353244123242 Centerline is valid? [True, True] Translation: X:275.53, Y:135.22, Z:13.72 [[ 6.33959319e-01 -7.65948256e-01 -1.06859025e-01 2.75527061e+02] [ 7.54136180e-01 6.42887107e-01 -1.34070090e-01 1.35224187e+02] [ 1.71389041e-01 4.40872641e-03 9.85193565e-01 1.37190696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.996875 meters 0.02262476844743729 Centerline is valid? [True, True] Translation: X:275.56, Y:135.27, Z:13.73 [[ 6.35724294e-01 -7.64524142e-01 -1.06571382e-01 2.75562481e+02] [ 7.52743908e-01 6.44577028e-01 -1.33779909e-01 1.35270082e+02] [ 1.70971435e-01 4.82617991e-03 9.85264166e-01 1.37276426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.056875 meters 0.021512187891730514 Centerline is valid? [True, True] Translation: X:275.60, Y:135.31, Z:13.74 [[ 6.36246309e-01 -7.64180552e-01 -1.05918454e-01 2.75600937e+02] [ 7.52528449e-01 6.44983522e-01 -1.33030786e-01 1.35313083e+02] [ 1.69975197e-01 4.93369695e-03 9.85435990e-01 1.37393880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.116875 meters 0.02415202551261795 Centerline is valid? [True, True] Translation: X:275.63, Y:135.36, Z:13.75 [[ 6.36665492e-01 -7.63962810e-01 -1.04966074e-01 2.75633659e+02] [ 7.52505051e-01 6.45240943e-01 -1.31910098e-01 1.35359702e+02] [ 1.68502818e-01 4.99510615e-03 9.85688515e-01 1.37481167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.176875 meters 0.021497362296806516 Centerline is valid? [True, True] Translation: X:275.67, Y:135.40, Z:13.76 [[ 6.36023859e-01 -7.64469827e-01 -1.05164317e-01 2.75673681e+02] [ 7.52963153e-01 6.44640761e-01 -1.32230028e-01 1.35400344e+02] [ 1.68879072e-01 4.91659646e-03 9.85624516e-01 1.37588343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.236875 meters 0.020787499292898266 Centerline is valid? [True, True] Translation: X:275.71, Y:135.44, Z:13.77 [[ 6.35340573e-01 -7.65065792e-01 -1.04960427e-01 2.75711233e+02] [ 7.53598810e-01 6.43934236e-01 -1.32051257e-01 1.35444231e+02] [ 1.68615512e-01 4.79946837e-03 9.85670216e-01 1.37675857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.296875 meters 0.019759935604397084 Centerline is valid? [True, True] Translation: X:275.75, Y:135.49, Z:13.78 [[ 6.32745713e-01 -7.67078002e-01 -1.05944333e-01 2.75751034e+02] [ 7.55407946e-01 6.41539062e-01 -1.33365915e-01 1.35487246e+02] [ 1.70269488e-01 4.35551993e-03 9.85387909e-01 1.37760709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.356875 meters 0.018820282809884917 Centerline is valid? [True, True] Translation: X:275.79, Y:135.53, Z:13.79 [[ 6.29081646e-01 -7.70062681e-01 -1.06111968e-01 2.75791255e+02] [ 7.58385302e-01 6.37958074e-01 -1.33645913e-01 1.35529201e+02] [ 1.70610716e-01 3.60043443e-03 9.85331934e-01 1.37850573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.416875 meters 0.017840165117859304 Centerline is valid? [True, True] Translation: X:275.83, Y:135.57, Z:13.79 [[ 6.25461084e-01 -7.73110874e-01 -1.05347088e-01 2.75830344e+02] [ 7.61632876e-01 6.34264736e-01 -1.32753935e-01 1.35571250e+02] [ 1.69451454e-01 2.79661448e-03 9.85534567e-01 1.37948115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.476875 meters 0.016783587548863815 Centerline is valid? [True, True] Translation: X:275.87, Y:135.61, Z:13.81 [[ 6.20944540e-01 -7.76913971e-01 -1.04079585e-01 2.75870694e+02] [ 7.65752598e-01 6.29604229e-01 -1.31230611e-01 1.35612988e+02] [ 1.67483842e-01 1.78771905e-03 9.85873200e-01 1.38056694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.536875 meters 0.015989323273276082 Centerline is valid? [True, True] Translation: X:275.91, Y:135.65, Z:13.82 [[ 6.15582850e-01 -7.81300243e-01 -1.03090663e-01 2.75912089e+02] [ 7.70400398e-01 6.24155048e-01 -1.30052692e-01 1.35653781e+02] [ 1.65954758e-01 6.37119570e-04 9.86133162e-01 1.38164450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.596875 meters 0.01599420500845679 Centerline is valid? [True, True] Translation: X:275.95, Y:135.70, Z:13.83 [[ 6.14138354e-01 -7.82455514e-01 -1.02943923e-01 2.75948690e+02] [ 7.71591569e-01 6.22706378e-01 -1.29935436e-01 1.35697608e+02] [ 1.65772536e-01 3.67671660e-04 9.86163947e-01 1.38255735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.656875 meters 0.015949017148691753 Centerline is valid? [True, True] Translation: X:275.99, Y:135.74, Z:13.83 [[ 6.12189095e-01 -7.83909843e-01 -1.03488504e-01 2.75985108e+02] [ 7.72937355e-01 6.20874672e-01 -1.30699991e-01 1.35740303e+02] [ 1.66710400e-01 2.29783859e-05 9.86005904e-01 1.38338312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.716875 meters 0.015965026170798462 Centerline is valid? [True, True] Translation: X:276.02, Y:135.78, Z:13.84 [[ 6.11265565e-01 -7.84567221e-01 -1.03964823e-01 2.76021974e+02] [ 7.73492406e-01 6.20043758e-01 -1.31359191e-01 1.35784925e+02] [ 1.67522855e-01 -1.20650811e-04 9.85868185e-01 1.38417465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.776875 meters 0.016044545435961344 Centerline is valid? [True, True] Translation: X:276.06, Y:135.83, Z:13.85 [[ 6.10944211e-01 -7.84789798e-01 -1.04173629e-01 2.76057625e+02] [ 7.73661201e-01 6.19762015e-01 -1.31694308e-01 1.35829301e+02] [ 1.67915208e-01 -1.37220153e-04 9.85801432e-01 1.38497454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.836875 meters 0.01588053829796628 Centerline is valid? [True, True] Translation: X:276.09, Y:135.87, Z:13.86 [[ 6.11266830e-01 -7.84601063e-01 -1.03701665e-01 2.76094465e+02] [ 7.73557641e-01 6.20000944e-01 -1.31177001e-01 1.35873080e+02] [ 1.67216744e-01 -3.50655177e-05 9.85920159e-01 1.38591447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.896875 meters 0.01572869068987166 Centerline is valid? [True, True] Translation: X:276.13, Y:135.92, Z:13.87 [[ 6.11185062e-01 -7.84709749e-01 -1.03360678e-01 2.76130420e+02] [ 7.73728247e-01 6.19863380e-01 -1.30820449e-01 1.35917647e+02] [ 1.66725581e-01 -1.75721079e-05 9.86003337e-01 1.38690852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.956875 meters 0.015425107492018449 Centerline is valid? [True, True] Translation: X:276.17, Y:135.96, Z:13.88 [[ 6.10453831e-01 -7.85340304e-01 -1.02891824e-01 2.76166235e+02] [ 7.74455430e-01 6.19064283e-01 -1.30300421e-01 1.35961945e+02] [ 1.66026825e-01 -1.42740318e-04 9.86121226e-01 1.38783836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.016875 meters 0.015798534688732383 Centerline is valid? [True, True] Translation: X:276.20, Y:136.01, Z:13.89 [[ 6.09719397e-01 -7.85883714e-01 -1.03097256e-01 2.76202226e+02] [ 7.74950310e-01 6.18374262e-01 -1.30634180e-01 1.36006781e+02] [ 1.66415964e-01 -2.45056971e-04 9.86055610e-01 1.38877190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07687500000003 meters 0.015644810990656913 Centerline is valid? [True, True] Translation: X:276.24, Y:136.05, Z:13.90 [[ 6.10031494e-01 -7.85602734e-01 -1.03392074e-01 2.76236989e+02] [ 7.74589531e-01 6.18731225e-01 -1.31082908e-01 1.36052611e+02] [ 1.66950995e-01 -1.21715807e-04 9.85965187e-01 1.38965300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13687500000003 meters 0.01554942949910481 Centerline is valid? [True, True] Translation: X:276.27, Y:136.10, Z:13.90 [[ 6.11363383e-01 -7.84570300e-01 -1.03364691e-01 2.76268886e+02] [ 7.73535734e-01 6.20039839e-01 -1.31122331e-01 1.36099450e+02] [ 1.66964912e-01 2.07109749e-04 9.85962816e-01 1.39038622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19687500000003 meters 0.01578727555281185 Centerline is valid? [True, True] Translation: X:276.30, Y:136.15, Z:13.91 [[ 6.12941011e-01 -7.83366477e-01 -1.03151735e-01 2.76301105e+02] [ 7.72347667e-01 6.21559831e-01 -1.30929210e-01 1.36145250e+02] [ 1.66680529e-01 5.82880450e-04 9.86010782e-01 1.39130840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25687500000004 meters 0.016521712821495803 Centerline is valid? [True, True] Translation: X:276.33, Y:136.19, Z:13.92 [[ 6.15980179e-01 -7.80966093e-01 -1.03249122e-01 2.76331637e+02] [ 7.69880397e-01 6.24572110e-01 -1.31125335e-01 1.36192619e+02] [ 1.66890963e-01 1.28113222e-03 9.85974526e-01 1.39225314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31687500000004 meters 0.016851280025140553 Centerline is valid? [True, True] Translation: X:276.36, Y:136.24, Z:13.93 [[ 6.18262711e-01 -7.79196106e-01 -1.02978878e-01 2.76364958e+02] [ 7.68132191e-01 6.26777621e-01 -1.30853933e-01 1.36240101e+02] [ 1.66505731e-01 1.80071633e-03 9.86038843e-01 1.39332557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37687500000004 meters 0.016965118031893524 Centerline is valid? [True, True] Translation: X:276.40, Y:136.29, Z:13.94 [[ 6.20447819e-01 -7.77477206e-01 -1.02828484e-01 2.76399062e+02] [ 7.66410968e-01 6.28906903e-01 -1.30730005e-01 1.36285955e+02] [ 1.66309143e-01 2.30226868e-03 9.86070975e-01 1.39436395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43687500000004 meters 0.017840425507396677 Centerline is valid? [True, True] Translation: X:276.43, Y:136.33, Z:13.95 [[ 6.23984756e-01 -7.74663697e-01 -1.02660509e-01 2.76432326e+02] [ 7.63584001e-01 6.32365861e-01 -1.30586716e-01 1.36332969e+02] [ 1.66079790e-01 3.09419796e-03 9.86107463e-01 1.39537208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.496875 meters 0.01839940057608974 Centerline is valid? [True, True] Translation: X:276.47, Y:136.38, Z:13.96 [[ 6.25431430e-01 -7.73505123e-01 -1.02593136e-01 2.76466045e+02] [ 7.62412278e-01 6.33780675e-01 -1.30574019e-01 1.36379785e+02] [ 1.66021220e-01 3.44682894e-03 9.86116156e-01 1.39628799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.556875 meters 0.01777164921919245 Centerline is valid? [True, True] Translation: X:276.50, Y:136.42, Z:13.97 [[ 6.25651161e-01 -7.73298560e-01 -1.02810319e-01 2.76501585e+02] [ 7.62143309e-01 6.34032090e-01 -1.30923203e-01 1.36424836e+02] [ 1.66427766e-01 3.55605684e-03 9.86047237e-01 1.39724490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.616875 meters 0.017890354742266076 Centerline is valid? [True, True] Translation: X:276.54, Y:136.47, Z:13.98 [[ 6.25118474e-01 -7.73774991e-01 -1.02465389e-01 2.76537168e+02] [ 7.62688445e-01 6.33451059e-01 -1.30560683e-01 1.36470327e+02] [ 1.65931401e-01 3.46672652e-03 9.86131204e-01 1.39812345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.676875 meters 0.016922433223984637 Centerline is valid? [True, True] Translation: X:276.58, Y:136.51, Z:13.99 [[ 6.21535733e-01 -7.76672160e-01 -1.02341036e-01 2.76575873e+02] [ 7.65638518e-01 6.29899072e-01 -1.30479190e-01 1.36514282e+02] [ 1.65804078e-01 2.74123958e-03 9.86154903e-01 1.39909809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.736875 meters 0.016393665543148028 Centerline is valid? [True, True] Translation: X:276.61, Y:136.56, Z:14.00 [[ 6.18150421e-01 -7.79325661e-01 -1.02672156e-01 2.76613306e+02] [ 7.68249359e-01 6.26615716e-01 -1.30941465e-01 1.36557388e+02] [ 1.66382031e-01 2.06370386e-03 9.86059208e-01 1.39999353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.796875 meters 0.015841492051894952 Centerline is valid? [True, True] Translation: X:276.65, Y:136.60, Z:14.01 [[ 6.14952666e-01 -7.81839583e-01 -1.02762273e-01 2.76651776e+02] [ 7.70770014e-01 6.23478032e-01 -1.31105794e-01 1.36600959e+02] [ 1.66573719e-01 1.41777877e-03 9.86027984e-01 1.40094999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.856875 meters 0.015366098214208207 Centerline is valid? [True, True] Translation: X:276.69, Y:136.64, Z:14.02 [[ 6.10909725e-01 -7.84944663e-01 -1.03204572e-01 2.76689896e+02] [ 7.73810631e-01 6.19565566e-01 -1.31740716e-01 1.36644381e+02] [ 1.67351171e-01 6.20889458e-04 9.85897155e-01 1.40170895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.916875 meters 0.015302639385526099 Centerline is valid? [True, True] Translation: X:276.73, Y:136.69, Z:14.03 [[ 6.08111645e-01 -7.87094185e-01 -1.03358458e-01 2.76727761e+02] [ 7.75944146e-01 6.16832828e-01 -1.32014942e-01 1.36688379e+02] [ 1.67663083e-01 7.94330074e-05 9.85844351e-01 1.40253805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.976875 meters 0.015263796450202352 Centerline is valid? [True, True] Translation: X:276.76, Y:136.73, Z:14.04 [[ 6.06143771e-01 -7.88697849e-01 -1.02690956e-01 2.76764175e+02] [ 7.77702272e-01 6.14780941e-01 -1.31238605e-01 1.36732588e+02] [ 1.66640048e-01 -3.13526518e-04 9.86017746e-01 1.40362249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.036875 meters 0.015124625682379166 Centerline is valid? [True, True] Translation: X:276.80, Y:136.78, Z:14.04 [[ 6.06792519e-01 -7.88218617e-01 -1.02539027e-01 2.76797294e+02] [ 7.77235969e-01 6.15395316e-01 -1.31121525e-01 1.36777843e+02] [ 1.66454463e-01 -1.33459691e-04 9.86049134e-01 1.40448235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.096875 meters 0.015293659128540358 Centerline is valid? [True, True] Translation: X:276.83, Y:136.83, Z:14.05 [[ 6.08771109e-01 -7.86669440e-01 -1.02707975e-01 2.76829778e+02] [ 7.75615496e-01 6.17374341e-01 -1.31413565e-01 1.36825100e+02] [ 1.66788304e-01 3.38884953e-04 9.85992671e-01 1.40532638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.156875 meters 0.015805282228418087 Centerline is valid? [True, True] Translation: X:276.86, Y:136.87, Z:14.06 [[ 6.12673349e-01 -7.83508112e-01 -1.03664873e-01 2.76861442e+02] [ 7.72187002e-01 6.21380272e-01 -1.32716956e-01 1.36873775e+02] [ 1.68400119e-01 1.26347441e-03 9.85717913e-01 1.40595775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.216875 meters 0.016237252909687097 Centerline is valid? [True, True] Translation: X:276.89, Y:136.92, Z:14.07 [[ 6.14827981e-01 -7.81783754e-01 -1.03926492e-01 2.76894526e+02] [ 7.70367777e-01 6.23547083e-01 -1.33125970e-01 1.36921117e+02] [ 1.68878781e-01 1.78795069e-03 9.85635207e-01 1.40679822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.276875 meters 0.01656382869691645 Centerline is valid? [True, True] Translation: X:276.93, Y:136.97, Z:14.08 [[ 6.16770034e-01 -7.80215476e-01 -1.04204299e-01 2.76928931e+02] [ 7.68703377e-01 6.25506723e-01 -1.33553201e-01 1.36967216e+02] [ 1.69380764e-01 2.26941583e-03 9.85548074e-01 1.40761214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.336875 meters 0.016722634786014556 Centerline is valid? [True, True] Translation: X:276.96, Y:137.01, Z:14.08 [[ 6.16915832e-01 -7.80110603e-01 -1.04126386e-01 2.76964851e+02] [ 7.68605805e-01 6.25637297e-01 -1.33503139e-01 1.37012553e+02] [ 1.69292565e-01 2.32805494e-03 9.85563092e-01 1.40849149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.396875 meters 0.01643422436792113 Centerline is valid? [True, True] Translation: X:277.00, Y:137.06, Z:14.09 [[ 6.15512581e-01 -7.81203973e-01 -1.04233467e-01 2.77002619e+02] [ 7.69677656e-01 6.24272403e-01 -1.33717136e-01 1.37056279e+02] [ 1.69530435e-01 2.07840875e-03 9.85522761e-01 1.40930532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.456875 meters 0.016051492723296458 Centerline is valid? [True, True] Translation: X:277.04, Y:137.10, Z:14.10 [[ 6.14082504e-01 -7.82315077e-01 -1.04335032e-01 2.77040023e+02] [ 7.70768740e-01 6.22880244e-01 -1.33924424e-01 1.37099143e+02] [ 1.69759326e-01 1.82246449e-03 9.85483866e-01 1.41037798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.516875 meters 0.015979891618215274 Centerline is valid? [True, True] Translation: X:277.07, Y:137.14, Z:14.11 [[ 6.13350023e-01 -7.82895254e-01 -1.04291759e-01 2.77074697e+02] [ 7.71353538e-01 6.22151185e-01 -1.33946341e-01 1.37143013e+02] [ 1.69751196e-01 1.71017380e-03 9.85485468e-01 1.41131178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57687500000003 meters 0.015722908386009964 Centerline is valid? [True, True] Translation: X:277.11, Y:137.19, Z:14.12 [[ 6.12434638e-01 -7.83655017e-01 -1.03964556e-01 2.77110107e+02] [ 7.72185092e-01 6.21194372e-01 -1.33595420e-01 1.37188377e+02] [ 1.69274918e-01 1.53858224e-03 9.85567671e-01 1.41223958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63687500000003 meters 0.01563592195460797 Centerline is valid? [True, True] Translation: X:277.14, Y:137.23, Z:14.13 [[ 6.11820085e-01 -7.84145752e-01 -1.03882738e-01 2.77144043e+02] [ 7.72687769e-01 6.20575004e-01 -1.33567497e-01 1.37233458e+02] [ 1.69203416e-01 1.45035631e-03 9.85580083e-01 1.41303068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69687500000003 meters 0.01567686178633665 Centerline is valid? [True, True] Translation: X:277.18, Y:137.28, Z:14.14 [[ 6.12051338e-01 -7.83972227e-01 -1.03830179e-01 2.77177842e+02] [ 7.72509416e-01 6.20793965e-01 -1.33581640e-01 1.37279719e+02] [ 1.69181444e-01 1.54903031e-03 9.85583705e-01 1.41397184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75687500000004 meters 0.015615339964091325 Centerline is valid? [True, True] Translation: X:277.21, Y:137.33, Z:14.15 [[ 6.12344095e-01 -7.83749485e-01 -1.03785618e-01 2.77212954e+02] [ 7.72280405e-01 6.21074873e-01 -1.33600065e-01 1.37325348e+02] [ 1.69167622e-01 1.65761240e-03 9.85585901e-01 1.41496002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81687500000004 meters 0.01574350975098037 Centerline is valid? [True, True] Translation: X:277.25, Y:137.37, Z:14.16 [[ 6.12989763e-01 -7.83222666e-01 -1.03950981e-01 2.77247106e+02] [ 7.71695879e-01 6.21738542e-01 -1.33890459e-01 1.37371910e+02] [ 1.69496374e-01 1.85493724e-03 9.85529065e-01 1.41590386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87687500000004 meters 0.016347252214869944 Centerline is valid? [True, True] Translation: X:277.28, Y:137.42, Z:14.17 [[ 6.14484932e-01 -7.82068480e-01 -1.03813108e-01 2.77279167e+02] [ 7.70543042e-01 6.23188551e-01 -1.33788831e-01 1.37419799e+02] [ 1.69327168e-01 2.21875309e-03 9.85557399e-01 1.41662734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93687500000004 meters 0.016322125749443517 Centerline is valid? [True, True] Translation: X:277.31, Y:137.47, Z:14.18 [[ 6.14545788e-01 -7.82047113e-01 -1.03613644e-01 2.77313913e+02] [ 7.70553230e-01 6.23215190e-01 -1.33605937e-01 1.37465638e+02] [ 1.69059734e-01 2.26713806e-03 9.85603199e-01 1.41750481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.996875 meters 0.016140384186237377 Centerline is valid? [True, True] Translation: X:277.35, Y:137.51, Z:14.19 [[ 6.13623674e-01 -7.82886105e-01 -1.02739152e-01 2.77350381e+02] [ 7.71585435e-01 6.22161615e-01 -1.32555055e-01 1.37510643e+02] [ 1.67695867e-01 2.06688669e-03 9.85836611e-01 1.41857153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.056875 meters 0.01602643581726795 Centerline is valid? [True, True] Translation: X:277.39, Y:137.55, Z:14.20 [[ 6.11585231e-01 -7.84518090e-01 -1.02444479e-01 2.77386515e+02] [ 7.73293478e-01 6.20103712e-01 -1.32244408e-01 1.37554735e+02] [ 1.67274332e-01 1.65907942e-03 9.85908995e-01 1.41952298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.116875 meters 0.015725193702104456 Centerline is valid? [True, True] Translation: X:277.42, Y:137.60, Z:14.21 [[ 6.08236952e-01 -7.87148915e-01 -1.02197829e-01 2.77424390e+02] [ 7.76002454e-01 6.16762207e-01 -1.32002163e-01 1.37598102e+02] [ 1.66937118e-01 9.82827358e-04 9.85967055e-01 1.42051573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.176875 meters 0.015706868632263143 Centerline is valid? [True, True] Translation: X:277.46, Y:137.64, Z:14.21 [[ 6.02776460e-01 -7.91339971e-01 -1.02184092e-01 2.77463643e+02] [ 7.80243055e-01 6.11376344e-01 -1.32059610e-01 1.37639280e+02] [ 1.66976985e-01 -1.26003854e-04 9.85960786e-01 1.42144559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.236875 meters 0.016247514645250163 Centerline is valid? [True, True] Translation: X:277.50, Y:137.68, Z:14.22 [[ 5.98527350e-01 -7.94555390e-01 -1.02209314e-01 2.77502215e+02] [ 7.83485937e-01 6.07190899e-01 -1.32170342e-01 1.37681286e+02] [ 1.67077223e-01 -9.71995949e-04 9.85943334e-01 1.42235282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.296875 meters 0.016534963443770236 Centerline is valid? [True, True] Translation: X:277.54, Y:137.73, Z:14.23 [[ 5.96854998e-01 -7.95825485e-01 -1.02107339e-01 2.77538062e+02] [ 7.84785416e-01 6.05524687e-01 -1.32104901e-01 1.37725829e+02] [ 1.66960961e-01 -1.28488015e-03 9.85962670e-01 1.42329253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.356875 meters 0.01664326928912326 Centerline is valid? [True, True] Translation: X:277.57, Y:137.77, Z:14.24 [[ 5.95800032e-01 -7.96644757e-01 -1.01879598e-01 2.77573560e+02] [ 7.85653225e-01 6.04446017e-01 -1.31886401e-01 1.37770381e+02] [ 1.66647327e-01 -1.46411255e-03 9.86015479e-01 1.42428147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.416875 meters 0.016489611363488726 Centerline is valid? [True, True] Translation: X:277.61, Y:137.82, Z:14.25 [[ 5.97181155e-01 -7.95682349e-01 -1.01312716e-01 2.77606564e+02] [ 7.84787056e-01 6.05713047e-01 -1.31228736e-01 1.37815481e+02] [ 1.65782823e-01 -1.14158003e-03 9.86161626e-01 1.42529433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.476875 meters 0.01620723087481238 Centerline is valid? [True, True] Translation: X:277.64, Y:137.86, Z:14.26 [[ 6.00272586e-01 -7.93340301e-01 -1.01410009e-01 2.77638502e+02] [ 7.82377467e-01 6.08778259e-01 -1.31432607e-01 1.37863215e+02] [ 1.66006993e-01 -4.45515094e-04 9.86124475e-01 1.42624435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.536875 meters 0.016190643939145596 Centerline is valid? [True, True] Translation: X:277.67, Y:137.91, Z:14.27 [[ 6.04086632e-01 -7.90416568e-01 -1.01592272e-01 2.77668996e+02] [ 7.79359837e-01 6.12569573e-01 -1.31745068e-01 1.37911140e+02] [ 1.66365819e-01 4.08497757e-04 9.86064018e-01 1.42693151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.596875 meters 0.016719621543895172 Centerline is valid? [True, True] Translation: X:277.70, Y:137.96, Z:14.28 [[ 6.08905031e-01 -7.86641798e-01 -1.02124163e-01 2.77699837e+02] [ 7.75401078e-01 6.17407825e-01 -1.32516964e-01 1.37960332e+02] [ 1.67295640e-01 1.50306026e-03 9.85905629e-01 1.42762278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.656875 meters 0.01689489323559064 Centerline is valid? [True, True] Translation: X:277.73, Y:138.01, Z:14.29 [[ 6.11045139e-01 -7.85011323e-01 -1.01887493e-01 2.77733178e+02] [ 7.73788326e-01 6.19478217e-01 -1.32281388e-01 1.38007831e+02] [ 1.66959470e-01 1.99054688e-03 9.85961750e-01 1.42851394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.716875 meters 0.01715444431365296 Centerline is valid? [True, True] Translation: X:277.77, Y:138.06, Z:14.29 [[ 6.12839149e-01 -7.83680139e-01 -1.01358855e-01 2.77765113e+02] [ 7.72543724e-01 6.21159997e-01 -1.31667963e-01 1.38055535e+02] [ 1.66145633e-01 2.38713516e-03 9.86098337e-01 1.42948252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.776875 meters 0.017050048527161035 Centerline is valid? [True, True] Translation: X:277.80, Y:138.10, Z:14.30 [[ 6.12652022e-01 -7.83825198e-01 -1.01368432e-01 2.77797823e+02] [ 7.72676219e-01 6.20976913e-01 -1.31754068e-01 1.38101317e+02] [ 1.66219614e-01 2.39441974e-03 9.86085852e-01 1.43025729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.836875 meters 0.016735197618310813 Centerline is valid? [True, True] Translation: X:277.83, Y:138.15, Z:14.31 [[ 6.10364666e-01 -7.85598211e-01 -1.01441731e-01 2.77833304e+02] [ 7.74443522e-01 6.18733861e-01 -1.31930439e-01 1.38147385e+02] [ 1.66409751e-01 1.96478703e-03 9.86054732e-01 1.43097872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.896875 meters 0.01623521123460975 Centerline is valid? [True, True] Translation: X:277.87, Y:138.19, Z:14.32 [[ 6.07255189e-01 -7.87960819e-01 -1.01778596e-01 2.77869471e+02] [ 7.76752170e-01 6.15723864e-01 -1.32439378e-01 1.38191754e+02] [ 1.67024552e-01 1.36775411e-03 9.85951788e-01 1.43189036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.956875 meters 0.015594877780983136 Centerline is valid? [True, True] Translation: X:277.91, Y:138.24, Z:14.33 [[ 6.02736403e-01 -7.91393837e-01 -1.02003052e-01 2.77907657e+02] [ 7.80171604e-01 6.11306451e-01 -1.32803202e-01 1.38235274e+02] [ 1.67454759e-01 4.65439874e-04 9.85879651e-01 1.43278756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.016875 meters 0.01614460177754472 Centerline is valid? [True, True] Translation: X:277.95, Y:138.28, Z:14.34 [[ 5.94430302e-01 -7.97698703e-01 -1.01633634e-01 2.77948785e+02] [ 7.86636162e-01 6.03054905e-01 -1.32394601e-01 1.38275286e+02] [ 1.66901663e-01 -1.24932951e-03 9.85972755e-01 1.43375628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07687500000003 meters 0.016978828377617917 Centerline is valid? [True, True] Translation: X:277.99, Y:138.32, Z:14.35 [[ 5.87096755e-01 -8.03324359e-01 -9.99368492e-02 2.77986260e+02] [ 7.92700002e-01 5.95535388e-01 -1.30247106e-01 1.38318098e+02] [ 1.64146604e-01 -2.75228706e-03 9.86432115e-01 1.43497052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13687500000003 meters 0.01782981763675122 Centerline is valid? [True, True] Translation: X:278.02, Y:138.36, Z:14.36 [[ 5.83818557e-01 -8.05722530e-01 -9.98353497e-02 2.78023374e+02] [ 7.95141939e-01 5.92283554e-01 -1.30190198e-01 1.38362100e+02] [ 1.64028011e-01 -3.37582005e-03 9.86449905e-01 1.43601278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19687500000003 meters 0.017779302028527635 Centerline is valid? [True, True] Translation: X:278.06, Y:138.41, Z:14.37 [[ 5.81694720e-01 -8.07223137e-01 -1.00110237e-01 2.78057512e+02] [ 7.96594026e-01 5.90234376e-01 -1.30619065e-01 1.38408031e+02] [ 1.64527234e-01 -3.76679629e-03 9.86365348e-01 1.43693501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25687500000004 meters 0.018485574242448455 Centerline is valid? [True, True] Translation: X:278.09, Y:138.45, Z:14.38 [[ 5.82345222e-01 -8.06784076e-01 -9.98673991e-02 2.78091025e+02] [ 7.96188304e-01 5.90835481e-01 -1.30374913e-01 1.38453424e+02] [ 1.64189606e-01 -3.59004766e-03 9.86422265e-01 1.43781780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31687500000004 meters 0.017407731627341706 Centerline is valid? [True, True] Translation: X:278.12, Y:138.50, Z:14.39 [[ 5.84460864e-01 -8.05280609e-01 -9.96425608e-02 2.78121757e+02] [ 7.94698249e-01 5.92885697e-01 -1.30158535e-01 1.38502066e+02] [ 1.63890793e-01 -3.11319873e-03 9.86473576e-01 1.43872281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37687500000004 meters 0.016157195581132523 Centerline is valid? [True, True] Translation: X:278.15, Y:138.55, Z:14.40 [[ 5.88721817e-01 -8.02244460e-01 -9.90477063e-02 2.78151249e+02] [ 7.91734320e-01 5.96991583e-01 -1.29451985e-01 1.38552198e+02] [ 1.62982785e-01 -2.20826045e-03 9.86626442e-01 1.43969484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43687500000004 meters 0.015777535022144153 Centerline is valid? [True, True] Translation: X:278.18, Y:138.60, Z:14.41 [[ 5.90397560e-01 -8.01020670e-01 -9.89778170e-02 2.78183766e+02] [ 7.90496829e-01 5.98633904e-01 -1.29430337e-01 1.38599389e+02] [ 1.62927852e-01 -1.82629517e-03 9.86636295e-01 1.44063582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.496875 meters 0.015275805662201382 Centerline is valid? [True, True] Translation: X:278.21, Y:138.65, Z:14.41 [[ 5.95844872e-01 -7.96884777e-01 -9.97173041e-02 2.78212634e+02] [ 7.86131623e-01 6.04130971e-01 -1.30471610e-01 1.38650585e+02] [ 1.64213152e-01 -6.50086265e-04 9.86424664e-01 1.44143079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.556875 meters 0.015300703192942572 Centerline is valid? [True, True] Translation: X:278.24, Y:138.70, Z:14.42 [[ 6.00133177e-01 -7.93578641e-01 -1.00364886e-01 2.78242638e+02] [ 7.82625792e-01 6.08467622e-01 -1.31392625e-01 1.38700524e+02] [ 1.65339164e-01 3.04924716e-04 9.86236720e-01 1.44215582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.616875 meters 0.015425448691782296 Centerline is valid? [True, True] Translation: X:278.27, Y:138.75, Z:14.43 [[ 6.03559410e-01 -7.90958278e-01 -1.00503935e-01 2.78273188e+02] [ 7.79925821e-01 6.11869145e-01 -1.31650535e-01 1.38750232e+02] [ 1.65625337e-01 1.07330556e-03 9.86188164e-01 1.44299231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.676875 meters 0.015865312366527766 Centerline is valid? [True, True] Translation: X:278.30, Y:138.80, Z:14.44 [[ 6.06919007e-01 -7.88389474e-01 -1.00455741e-01 2.78304473e+02] [ 7.77320588e-01 6.15173736e-01 -1.31658568e-01 1.38799146e+02] [ 1.65595962e-01 1.81977144e-03 9.86192002e-01 1.44398706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.736875 meters 0.016766152209267315 Centerline is valid? [True, True] Translation: X:278.34, Y:138.85, Z:14.45 [[ 6.08573417e-01 -7.87122662e-01 -1.00380835e-01 2.78336084e+02] [ 7.76041789e-01 6.16792550e-01 -1.31628618e-01 1.38847026e+02] [ 1.65522019e-01 2.20595510e-03 9.86203628e-01 1.44487412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.796875 meters 0.016985284384911627 Centerline is valid? [True, True] Translation: X:278.37, Y:138.89, Z:14.46 [[ 6.11106269e-01 -7.85230232e-01 -9.98128837e-02 2.78369165e+02] [ 7.74243828e-01 6.19197904e-01 -1.30921544e-01 1.38894543e+02] [ 1.64607483e-01 2.72746695e-03 9.86355381e-01 1.44591948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.856875 meters 0.017082420405024546 Centerline is valid? [True, True] Translation: X:278.40, Y:138.94, Z:14.47 [[ 6.12955316e-01 -7.83770944e-01 -9.99444265e-02 2.78403466e+02] [ 7.72724003e-01 6.21041916e-01 -1.31166126e-01 1.38941449e+02] [ 1.64873877e-01 3.16951705e-03 9.86309565e-01 1.44686003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.916875 meters 0.0177627145276639 Centerline is valid? [True, True] Translation: X:278.44, Y:138.99, Z:14.48 [[ 6.14401397e-01 -7.82603499e-01 -1.00213205e-01 2.78436914e+02] [ 7.71469491e-01 6.22510445e-01 -1.31588645e-01 1.38989331e+02] [ 1.65365501e-01 3.53681688e-03 9.86226010e-01 1.44773612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.976875 meters 0.019376864665650025 Centerline is valid? [True, True] Translation: X:278.47, Y:139.04, Z:14.49 [[ 6.16823383e-01 -7.80637051e-01 -1.00671290e-01 2.78469937e+02] [ 7.69362674e-01 6.24971006e-01 -1.32258522e-01 1.39036218e+02] [ 1.66162540e-01 4.12741571e-03 9.86089740e-01 1.44850407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.036875 meters 0.020187018640566982 Centerline is valid? [True, True] Translation: X:278.51, Y:139.08, Z:14.49 [[ 6.18172049e-01 -7.79518165e-01 -1.01068044e-01 2.78505309e+02] [ 7.68132117e-01 6.26363650e-01 -1.32821795e-01 1.39081699e+02] [ 1.66842351e-01 4.47311025e-03 9.85973438e-01 1.44942010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.096875 meters 0.020035026934325916 Centerline is valid? [True, True] Translation: X:278.54, Y:139.13, Z:14.50 [[ 6.18858277e-01 -7.78960332e-01 -1.01169331e-01 2.78541073e+02] [ 7.67531554e-01 6.27055778e-01 -1.33027688e-01 1.39126799e+02] [ 1.67062105e-01 4.67463240e-03 9.85935292e-01 1.45035289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.156875 meters 0.020476984519950992 Centerline is valid? [True, True] Translation: X:278.58, Y:139.17, Z:14.51 [[ 6.20111585e-01 -7.77908674e-01 -1.01586011e-01 2.78577731e+02] [ 7.66358119e-01 6.28357244e-01 -1.33650314e-01 1.39172357e+02] [ 1.67800045e-01 5.02684336e-03 9.85808235e-01 1.45126837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.216875 meters 0.0207906627548673 Centerline is valid? [True, True] Translation: X:278.61, Y:139.22, Z:14.52 [[ 6.20097293e-01 -7.77957003e-01 -1.01302757e-01 2.78613438e+02] [ 7.66460116e-01 6.28297273e-01 -1.33347021e-01 1.39217725e+02] [ 1.67386494e-01 5.04360383e-03 9.85878453e-01 1.45218550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.276875 meters 0.019848040025241518 Centerline is valid? [True, True] Translation: X:278.65, Y:139.26, Z:14.53 [[ 6.19118936e-01 -7.78797492e-01 -1.00827622e-01 2.78651899e+02] [ 7.67406916e-01 6.27256738e-01 -1.32799132e-01 1.39261740e+02] [ 1.66668436e-01 4.84264243e-03 9.86001106e-01 1.45312298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.336875 meters 0.018745420768811222 Centerline is valid? [True, True] Translation: X:278.69, Y:139.31, Z:14.54 [[ 6.17545622e-01 -7.80044154e-01 -1.00839096e-01 2.78690558e+02] [ 7.68655717e-01 6.25707925e-01 -1.32883337e-01 1.39305929e+02] [ 1.66750691e-01 4.55097528e-03 9.85988588e-01 1.45410637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.396875 meters 0.01829668982524832 Centerline is valid? [True, True] Translation: X:278.73, Y:139.35, Z:14.55 [[ 6.13711695e-01 -7.83012427e-01 -1.01239781e-01 2.78729028e+02] [ 7.71565356e-01 6.21994522e-01 -1.33453050e-01 1.39348794e+02] [ 1.67465986e-01 3.78858987e-03 9.85870575e-01 1.45493347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.456875 meters 0.017044606444082042 Centerline is valid? [True, True] Translation: X:278.77, Y:139.39, Z:14.56 [[ 6.10209076e-01 -7.85689994e-01 -1.01666693e-01 2.78767988e+02] [ 7.74169103e-01 6.18612575e-01 -1.34092065e-01 1.39392166e+02] [ 1.68247089e-01 3.11698288e-03 9.85739926e-01 1.45576796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.516875 meters 0.01581847997602935 Centerline is valid? [True, True] Translation: X:278.81, Y:139.43, Z:14.57 [[ 6.04407706e-01 -7.90102866e-01 -1.02121422e-01 2.78808953e+02] [ 7.78527565e-01 6.12971180e-01 -1.34763363e-01 1.39431591e+02] [ 1.69074408e-01 1.94767282e-03 9.85601365e-01 1.45662634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57687500000003 meters 0.01494061746973458 Centerline is valid? [True, True] Translation: X:278.85, Y:139.47, Z:14.58 [[ 5.98135644e-01 -7.94847438e-01 -1.02231604e-01 2.78851278e+02] [ 7.83307671e-01 6.06808981e-01 -1.34951670e-01 1.39472468e+02] [ 1.69301044e-01 6.40604493e-04 9.85564176e-01 1.45757075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63687500000003 meters 0.01485461924820316 Centerline is valid? [True, True] Translation: X:278.89, Y:139.52, Z:14.59 [[ 5.94376244e-01 -7.97732816e-01 -1.01682028e-01 2.78889708e+02] [ 7.86351461e-01 6.03011055e-01 -1.34272290e-01 1.39515288e+02] [ 1.68428799e-01 -1.49551690e-04 9.85713811e-01 1.45865261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69687500000003 meters 0.015247634986615142 Centerline is valid? [True, True] Translation: X:278.93, Y:139.56, Z:14.60 [[ 5.88936958e-01 -8.01851873e-01 -1.00929846e-01 2.78929625e+02] [ 7.90685859e-01 5.97521525e-01 -1.33356285e-01 1.39555769e+02] [ 1.67239743e-01 -1.26535728e-03 9.85915446e-01 1.45960600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75687500000004 meters 0.015601741001702479 Centerline is valid? [True, True] Translation: X:278.97, Y:139.60, Z:14.61 [[ 5.85694586e-01 -8.04274290e-01 -1.00522231e-01 2.78967383e+02] [ 7.93222522e-01 5.94255194e-01 -1.32886399e-01 1.39599937e+02] [ 1.66612972e-01 -1.90565318e-03 9.86020530e-01 1.46057727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81687500000004 meters 0.01626326741806022 Centerline is valid? [True, True] Translation: X:279.00, Y:139.64, Z:14.61 [[ 5.82847861e-01 -8.06337974e-01 -1.00535774e-01 2.79004411e+02] [ 7.95301305e-01 5.91449967e-01 -1.32976579e-01 1.39644037e+02] [ 1.66685945e-01 -2.45111749e-03 9.86006992e-01 1.46141180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87687500000004 meters 0.01611818965114265 Centerline is valid? [True, True] Translation: X:279.04, Y:139.69, Z:14.62 [[ 5.83664715e-01 -8.05671419e-01 -1.01138846e-01 2.79038296e+02] [ 7.94482681e-01 5.92358443e-01 -1.33823558e-01 1.39690998e+02] [ 1.67728266e-01 -2.24497246e-03 9.85830710e-01 1.46222320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93687500000004 meters 0.015513952799346354 Centerline is valid? [True, True] Translation: X:279.07, Y:139.74, Z:14.63 [[ 5.87205860e-01 -8.02982531e-01 -1.02021236e-01 2.79069499e+02] [ 7.91542434e-01 5.96000820e-01 -1.35068864e-01 1.39740370e+02] [ 1.69262678e-01 -1.44090914e-03 9.85569921e-01 1.46297158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.996875 meters 0.015350255863809439 Centerline is valid? [True, True] Translation: X:279.10, Y:139.79, Z:14.64 [[ 5.89515866e-01 -8.01253854e-01 -1.02290299e-01 2.79101368e+02] [ 7.89714088e-01 5.98323867e-01 -1.35499851e-01 1.39788231e+02] [ 1.69772505e-01 -9.00778022e-04 9.85482869e-01 1.46381806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.056875 meters 0.015203401089592315 Centerline is valid? [True, True] Translation: X:279.13, Y:139.84, Z:14.65 [[ 5.92159586e-01 -7.99346845e-01 -1.01939427e-01 2.79132563e+02] [ 7.87845253e-01 6.00869810e-01 -1.35112283e-01 1.39837201e+02] [ 1.69253901e-01 -3.04460414e-04 9.85572435e-01 1.46479191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.116875 meters 0.015189169666177433 Centerline is valid? [True, True] Translation: X:279.17, Y:139.88, Z:14.66 [[ 5.92719429e-01 -7.98936860e-01 -1.01899816e-01 2.79165328e+02] [ 7.87424491e-01 6.01414894e-01 -1.35139915e-01 1.39883475e+02] [ 1.69252327e-01 -1.38357724e-04 9.85572743e-01 1.46567879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.176875 meters 0.015187242926333463 Centerline is valid? [True, True] Translation: X:279.20, Y:139.93, Z:14.67 [[ 5.93135196e-01 -7.98797268e-01 -1.00566214e-01 2.79197685e+02] [ 7.87570216e-01 6.01600301e-01 -1.33454980e-01 1.39931025e+02] [ 1.67104138e-01 -4.61091015e-05 9.85939250e-01 1.46685311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.236875 meters 0.015053456914690826 Centerline is valid? [True, True] Translation: X:279.23, Y:139.98, Z:14.68 [[ 5.92494129e-01 -7.99340197e-01 -1.00029782e-01 2.79230488e+02] [ 7.88227833e-01 6.00878713e-01 -1.32821897e-01 1.39977620e+02] [ 1.66275648e-01 -1.50064568e-04 9.86079300e-01 1.46783340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.296875 meters 0.01511600847790963 Centerline is valid? [True, True] Translation: X:279.26, Y:140.02, Z:14.69 [[ 5.91079323e-01 -8.00390169e-01 -1.00004061e-01 2.79264086e+02] [ 7.89284978e-01 5.99479291e-01 -1.32867611e-01 1.40022773e+02] [ 1.66296294e-01 -3.96405707e-04 9.86075750e-01 1.46871449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.356875 meters 0.015277819355464423 Centerline is valid? [True, True] Translation: X:279.30, Y:140.07, Z:14.70 [[ 5.88994339e-01 -8.01837196e-01 -1.00711367e-01 2.79297796e+02] [ 7.90580763e-01 5.97542073e-01 -1.33886249e-01 1.40069846e+02] [ 1.67534254e-01 -7.62226632e-04 9.85865961e-01 1.46958792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.416875 meters 0.015564030239217354 Centerline is valid? [True, True] Translation: X:279.33, Y:140.12, Z:14.70 [[ 5.86910875e-01 -8.03254194e-01 -1.01579158e-01 2.79330868e+02] [ 7.91808526e-01 5.95635316e-01 -1.35121530e-01 1.40117783e+02] [ 1.69041069e-01 -1.12694809e-03 9.85608364e-01 1.47034228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.476875 meters 0.015722642960309913 Centerline is valid? [True, True] Translation: X:279.36, Y:140.16, Z:14.71 [[ 5.85837300e-01 -8.04084586e-01 -1.01205916e-01 2.79364290e+02] [ 7.92722900e-01 5.94513455e-01 -1.34700246e-01 1.40164203e+02] [ 1.68478670e-01 -1.31581852e-03 9.85704421e-01 1.47126666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.536875 meters 0.015608697105907421 Centerline is valid? [True, True] Translation: X:279.40, Y:140.21, Z:14.72 [[ 5.84789544e-01 -8.04926575e-01 -1.00570364e-01 2.79396380e+02] [ 7.93707203e-01 5.93372526e-01 -1.33932525e-01 1.40211221e+02] [ 1.67481540e-01 -1.50108267e-03 9.85874069e-01 1.47232128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.596875 meters 0.01581259605268868 Centerline is valid? [True, True] Translation: X:279.43, Y:140.26, Z:14.73 [[ 5.84017644e-01 -8.05594817e-01 -9.97014697e-02 2.79427612e+02] [ 7.94566011e-01 5.92464628e-01 -1.32855254e-01 1.40257965e+02] [ 1.66097098e-01 -1.62958699e-03 9.86108056e-01 1.47330136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.656875 meters 0.015795091364833508 Centerline is valid? [True, True] Translation: X:279.46, Y:140.31, Z:14.74 [[ 5.84168580e-01 -8.05525332e-01 -9.93781149e-02 2.79459175e+02] [ 7.94555425e-01 5.92559281e-01 -1.32495944e-01 1.40306287e+02] [ 1.65616264e-01 -1.56145261e-03 9.86189036e-01 1.47422868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.716875 meters 0.015666726150796177 Centerline is valid? [True, True] Translation: X:279.49, Y:140.36, Z:14.75 [[ 5.85241511e-01 -8.04811371e-01 -9.88485256e-02 2.79488816e+02] [ 7.93935711e-01 5.93529237e-01 -1.31867854e-01 1.40355396e+02] [ 1.64798238e-01 -1.30483218e-03 9.86326436e-01 1.47511904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.776875 meters 0.01554188184393194 Centerline is valid? [True, True] Translation: X:279.52, Y:140.41, Z:14.76 [[ 5.85881881e-01 -8.04409004e-01 -9.83289207e-02 2.79517747e+02] [ 7.93630054e-01 5.94074789e-01 -1.31249696e-01 1.40405091e+02] [ 1.63993170e-01 -1.13996791e-03 9.86460816e-01 1.47595014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.836875 meters 0.015596913537250907 Centerline is valid? [True, True] Translation: X:279.55, Y:140.45, Z:14.77 [[ 5.85335411e-01 -8.04802599e-01 -9.83627581e-02 2.79549414e+02] [ 7.94008999e-01 5.93541342e-01 -1.31371173e-01 1.40452261e+02] [ 1.64110225e-01 -1.20471526e-03 9.86441272e-01 1.47681049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.896875 meters 0.015511793584167596 Centerline is valid? [True, True] Translation: X:279.58, Y:140.50, Z:14.78 [[ 5.84403433e-01 -8.05485105e-01 -9.83177102e-02 2.79580594e+02] [ 7.94701638e-01 5.92614454e-01 -1.31367483e-01 1.40500736e+02] [ 1.64079047e-01 -1.36163714e-03 9.86446254e-01 1.47778009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.956875 meters 0.015367766412580228 Centerline is valid? [True, True] Translation: X:279.61, Y:140.55, Z:14.79 [[ 5.84604038e-01 -8.05338030e-01 -9.83299375e-02 2.79610768e+02] [ 7.94537080e-01 5.92814502e-01 -1.31460242e-01 1.40549678e+02] [ 1.64161345e-01 -1.27459311e-03 9.86432678e-01 1.47858699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.016875 meters 0.015459494500552635 Centerline is valid? [True, True] Translation: X:279.64, Y:140.60, Z:14.79 [[ 5.85355667e-01 -8.04795106e-01 -9.83035067e-02 2.79641724e+02] [ 7.93979877e-01 5.93551748e-01 -1.31500106e-01 1.40597715e+02] [ 1.64178860e-01 -1.07667371e-03 9.86429999e-01 1.47938930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07687500000003 meters 0.015244368348740774 Centerline is valid? [True, True] Translation: X:279.67, Y:140.65, Z:14.80 [[ 5.87692564e-01 -8.03172735e-01 -9.76268795e-02 2.79671527e+02] [ 7.92475522e-01 5.95745932e-01 -1.30649651e-01 1.40646498e+02] [ 1.63095054e-01 -5.85083784e-04 9.86610187e-01 1.48049101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13687500000003 meters 0.015152091398282283 Centerline is valid? [True, True] Translation: X:279.70, Y:140.70, Z:14.81 [[ 5.89668537e-01 -8.01845898e-01 -9.66135155e-02 2.79702326e+02] [ 7.91341318e-01 5.97530858e-01 -1.29366890e-01 1.40695206e+02] [ 1.61461867e-01 -1.70681799e-04 9.86878937e-01 1.48146203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19687500000003 meters 0.015205296873162358 Centerline is valid? [True, True] Translation: X:279.73, Y:140.75, Z:14.82 [[ 5.94242646e-01 -7.98508396e-01 -9.62289896e-02 2.79730567e+02] [ 7.88032008e-01 6.01983165e-01 -1.28925652e-01 1.40745889e+02] [ 1.60876448e-01 7.81596999e-04 9.86974244e-01 1.48230093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25687500000004 meters 0.016365685479190793 Centerline is valid? [True, True] Translation: X:279.76, Y:140.80, Z:14.83 [[ 5.99890196e-01 -7.94246801e-01 -9.64560569e-02 2.79758764e+02] [ 7.83653054e-01 6.07592047e-01 -1.29305048e-01 1.40795825e+02] [ 1.61306054e-01 1.98074681e-03 9.86902444e-01 1.48309386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31687500000004 meters 0.017189224681036296 Centerline is valid? [True, True] Translation: X:279.79, Y:140.84, Z:14.84 [[ 6.02994658e-01 -7.91802417e-01 -9.71924605e-02 2.79790175e+02] [ 7.81001047e-01 6.10771334e-01 -1.30367718e-01 1.40844678e+02] [ 1.62587843e-01 2.70362391e-03 9.86690369e-01 1.48384121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37687500000004 meters 0.018093919317738284 Centerline is valid? [True, True] Translation: X:279.82, Y:140.89, Z:14.85 [[ 6.07791159e-01 -7.87985310e-01 -9.83313726e-02 2.79822549e+02] [ 7.76865360e-01 6.15682197e-01 -1.31968346e-01 1.40893062e+02] [ 1.64529994e-01 3.81895688e-03 9.86364688e-01 1.48453923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43687500000004 meters 0.020421932836545403 Centerline is valid? [True, True] Translation: X:279.85, Y:140.94, Z:14.85 [[ 6.12429240e-01 -7.84349309e-01 -9.86234599e-02 2.79854472e+02] [ 7.73103179e-01 6.20300358e-01 -1.32434666e-01 1.40940209e+02] [ 1.65051207e-01 4.86075176e-03 9.86273021e-01 1.48536952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.496875 meters 0.022422337719089462 Centerline is valid? [True, True] Translation: X:279.89, Y:140.99, Z:14.86 [[ 6.14219322e-01 -7.82912027e-01 -9.89109800e-02 2.79887353e+02] [ 7.71576042e-01 6.22109998e-01 -1.32851649e-01 1.40985967e+02] [ 1.65544663e-01 5.28270702e-03 9.86188145e-01 1.48620836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.556875 meters 0.02295891935268972 Centerline is valid? [True, True] Translation: X:279.93, Y:141.03, Z:14.87 [[ 6.15659067e-01 -7.81807422e-01 -9.86968518e-02 2.79925830e+02] [ 7.70497404e-01 6.23494798e-01 -1.32619711e-01 1.41028675e+02] [ 1.65220048e-01 5.60285957e-03 9.86240814e-01 1.48722897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.616875 meters 0.021454663168542366 Centerline is valid? [True, True] Translation: X:279.97, Y:141.07, Z:14.88 [[ 6.16588824e-01 -7.81104532e-01 -9.84577673e-02 2.79965928e+02] [ 7.69828125e-01 6.24373111e-01 -1.32374002e-01 1.41071733e+02] [ 1.64872315e-01 5.82477152e-03 9.86297720e-01 1.48823163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.676875 meters 0.022926199809645092 Centerline is valid? [True, True] Translation: X:280.00, Y:141.12, Z:14.89 [[ 6.18553212e-01 -7.79601455e-01 -9.80484321e-02 2.80002617e+02] [ 7.68388842e-01 6.26244826e-01 -1.31893917e-01 1.41116253e+02] [ 1.64227013e-01 6.24408513e-03 9.86402808e-01 1.48911921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.736875 meters 0.024365170119406872 Centerline is valid? [True, True] Translation: X:280.04, Y:141.16, Z:14.90 [[ 6.19300787e-01 -7.78960221e-01 -9.84251428e-02 2.80040361e+02] [ 7.67641135e-01 6.27039825e-01 -1.32469417e-01 1.41159855e+02] [ 1.64904891e-01 6.48322610e-03 9.86288165e-01 1.48997272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.796875 meters 0.02438703432030677 Centerline is valid? [True, True] Translation: X:280.08, Y:141.20, Z:14.91 [[ 6.18211944e-01 -7.79765837e-01 -9.88899958e-02 2.80079109e+02] [ 7.68340665e-01 6.26039269e-01 -1.33144495e-01 1.41203580e+02] [ 1.65730549e-01 6.33031224e-03 9.86150755e-01 1.49085005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.856875 meters 0.02196636218344036 Centerline is valid? [True, True] Translation: X:280.12, Y:141.24, Z:14.92 [[ 6.15790898e-01 -7.81774015e-01 -9.81374539e-02 2.80122125e+02] [ 7.70537036e-01 6.23534986e-01 -1.32199837e-01 1.41243442e+02] [ 1.64542533e-01 5.78891345e-03 9.86353001e-01 1.49195739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.916875 meters 0.0198759070649206 Centerline is valid? [True, True] Translation: X:280.16, Y:141.28, Z:14.93 [[ 6.09412434e-01 -7.86764183e-01 -9.80744922e-02 2.80163616e+02] [ 7.75596912e-01 6.17237462e-01 -1.32164083e-01 1.41282518e+02] [ 1.64517218e-01 4.47616245e-03 9.86364055e-01 1.49290451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.976875 meters 0.018337550968974103 Centerline is valid? [True, True] Translation: X:280.20, Y:141.33, Z:14.94 [[ 6.05455763e-01 -7.89914055e-01 -9.72579271e-02 2.80203138e+02] [ 7.78960728e-01 6.13206768e-01 -1.31139785e-01 1.41325016e+02] [ 1.63228379e-01 3.63923306e-03 9.86581599e-01 1.49401224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.036875 meters 0.016456680785951302 Centerline is valid? [True, True] Translation: X:280.24, Y:141.37, Z:14.95 [[ 6.00083126e-01 -7.94149543e-01 -9.60559454e-02 2.80242911e+02] [ 7.83509078e-01 6.07717234e-01 -1.29588923e-01 1.41367378e+02] [ 1.61287838e-01 2.50342118e-03 9.86904234e-01 1.49508571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.096875 meters 0.01537218517722415 Centerline is valid? [True, True] Translation: X:280.28, Y:141.41, Z:14.96 [[ 5.96565285e-01 -7.96758194e-01 -9.63651453e-02 2.80281603e+02] [ 7.86074610e-01 6.04295470e-01 -1.30052654e-01 1.41411294e+02] [ 1.61853538e-01 1.83470441e-03 9.86813086e-01 1.49596667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.156875 meters 0.015609422206454105 Centerline is valid? [True, True] Translation: X:280.32, Y:141.46, Z:14.97 [[ 5.95209616e-01 -7.97774837e-01 -9.63370266e-02 2.80316945e+02] [ 7.87099563e-01 6.02953357e-01 -1.30082773e-01 1.41455529e+02] [ 1.61863497e-01 1.59968599e-03 9.86811861e-01 1.49693673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.216875 meters 0.015348577454362087 Centerline is valid? [True, True] Translation: X:280.35, Y:141.50, Z:14.98 [[ 5.95193102e-01 -7.97795290e-01 -9.62696559e-02 2.80351977e+02] [ 7.87122453e-01 6.02926183e-01 -1.30070216e-01 1.41501139e+02] [ 1.61812902e-01 1.64088738e-03 9.86820091e-01 1.49787541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.276875 meters 0.01584279854442623 Centerline is valid? [True, True] Translation: X:280.38, Y:141.55, Z:14.99 [[ 5.96475284e-01 -7.96804718e-01 -9.65374361e-02 2.80383434e+02] [ 7.86046391e-01 6.04233720e-01 -1.30509319e-01 1.41549048e+02] [ 1.62321616e-01 1.96268014e-03 9.86735953e-01 1.49863112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.336875 meters 0.016040275649383883 Centerline is valid? [True, True] Translation: X:280.42, Y:141.60, Z:15.00 [[ 5.97568328e-01 -7.96022887e-01 -9.62271074e-02 2.80417314e+02] [ 7.85312914e-01 6.05262489e-01 -1.30157390e-01 1.41595838e+02] [ 1.61850920e-01 2.20954399e-03 9.86812747e-01 1.49965110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.396875 meters 0.0163597786662137 Centerline is valid? [True, True] Translation: X:280.45, Y:141.64, Z:15.01 [[ 5.97474403e-01 -7.96130163e-01 -9.59223728e-02 2.80450690e+02] [ 7.85478132e-01 6.05121350e-01 -1.29816241e-01 1.41642608e+02] [ 1.61395301e-01 2.21695463e-03 9.86887350e-01 1.50056668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.456875 meters 0.016083023120040417 Centerline is valid? [True, True] Translation: X:280.48, Y:141.69, Z:15.01 [[ 5.96567612e-01 -7.96832097e-01 -9.57376311e-02 2.80483967e+02] [ 7.86218267e-01 6.04197263e-01 -1.29639902e-01 1.41688009e+02] [ 1.61145650e-01 2.06829243e-03 9.86928468e-01 1.50140179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.516875 meters 0.01629871656944146 Centerline is valid? [True, True] Translation: X:280.52, Y:141.73, Z:15.02 [[ 5.96499142e-01 -7.96843166e-01 -9.60715493e-02 2.80515936e+02] [ 7.86145772e-01 6.04182532e-01 -1.30147196e-01 1.41734613e+02] [ 1.61751656e-01 2.10644857e-03 9.86829248e-01 1.50216466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57687500000003 meters 0.015823056322131813 Centerline is valid? [True, True] Translation: X:280.55, Y:141.78, Z:15.03 [[ 5.97333080e-01 -7.96180003e-01 -9.63877322e-02 2.80550084e+02] [ 7.85390355e-01 6.05055305e-01 -1.30652468e-01 1.41781148e+02] [ 1.62342791e-01 2.34104616e-03 9.86731644e-01 1.50303377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63687500000003 meters 0.018297149814078376 Centerline is valid? [True, True] Translation: X:280.58, Y:141.83, Z:15.04 [[ 6.00204247e-01 -7.93928753e-01 -9.71184640e-02 2.80577202e+02] [ 7.82931878e-01 6.08003298e-01 -1.31718121e-01 1.41832477e+02] [ 1.63623150e-01 3.02063452e-03 9.86518292e-01 1.50370245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69687500000003 meters 0.017388283474821593 Centerline is valid? [True, True] Translation: X:280.61, Y:141.88, Z:15.05 [[ 6.01796036e-01 -7.92703856e-01 -9.72734673e-02 2.80611683e+02] [ 7.81642959e-01 6.09597399e-01 -1.32004908e-01 1.41879020e+02] [ 1.63938452e-01 3.40690932e-03 9.86464686e-01 1.50466420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75687500000004 meters 0.018070043071833845 Centerline is valid? [True, True] Translation: X:280.64, Y:141.93, Z:15.06 [[ 6.02269388e-01 -7.92356253e-01 -9.71758870e-02 2.80643427e+02] [ 7.81301860e-01 6.10048388e-01 -1.31940773e-01 1.41925705e+02] [ 1.63826090e-01 3.54018760e-03 9.86482883e-01 1.50557121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81687500000004 meters 0.017082937023074694 Centerline is valid? [True, True] Translation: X:280.68, Y:141.97, Z:15.07 [[ 6.01502385e-01 -7.92961738e-01 -9.69874366e-02 2.80679123e+02] [ 7.81946700e-01 6.09261883e-01 -1.31754760e-01 1.41970152e+02] [ 1.63567232e-01 3.41179626e-03 9.86526290e-01 1.50661442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87687500000004 meters 0.01678909791744122 Centerline is valid? [True, True] Translation: X:280.71, Y:142.02, Z:15.08 [[ 6.01212972e-01 -7.93156864e-01 -9.71861680e-02 2.80713104e+02] [ 7.82085709e-01 6.09007823e-01 -1.32103802e-01 1.42016523e+02] [ 1.63966174e-01 3.41460591e-03 9.86460052e-01 1.50752421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93687500000004 meters 0.01733706616488737 Centerline is valid? [True, True] Translation: X:280.75, Y:142.06, Z:15.08 [[ 6.02045648e-01 -7.92390595e-01 -9.82760520e-02 2.80746888e+02] [ 7.81044164e-01 6.10002739e-01 -1.33666272e-01 1.42063735e+02] [ 1.65864558e-01 3.71526040e-03 9.86141544e-01 1.50826162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.996875 meters 0.01722956391043877 Centerline is valid? [True, True] Translation: X:280.78, Y:142.11, Z:15.09 [[ 6.02056591e-01 -7.92293499e-01 -9.89892540e-02 2.80781698e+02] [ 7.80766383e-01 6.10128217e-01 -1.34712338e-01 1.42109346e+02] [ 1.67127847e-01 3.81696916e-03 9.85927844e-01 1.50910725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.056875 meters 0.017409564040524517 Centerline is valid? [True, True] Translation: X:280.82, Y:142.16, Z:15.10 [[ 6.01578857e-01 -7.92612679e-01 -9.93379060e-02 2.80816079e+02] [ 7.80994588e-01 6.09713682e-01 -1.35265216e-01 1.42155008e+02] [ 1.67780605e-01 3.79032678e-03 9.85817073e-01 1.50995401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.116875 meters 0.017197496924149094 Centerline is valid? [True, True] Translation: X:280.85, Y:142.20, Z:15.11 [[ 6.00293919e-01 -7.93656756e-01 -9.87732964e-02 2.80852560e+02] [ 7.82171883e-01 6.08355580e-01 -1.34575753e-01 1.42199862e+02] [ 1.66896241e-01 3.52731076e-03 9.85968155e-01 1.51098124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.176875 meters 0.016456336410794244 Centerline is valid? [True, True] Translation: X:280.89, Y:142.24, Z:15.12 [[ 5.97179136e-01 -7.96049872e-01 -9.83955314e-02 2.80890928e+02] [ 7.84672874e-01 6.05224110e-01 -1.34135218e-01 1.42242925e+02] [ 1.66329671e-01 2.89444942e-03 9.86065952e-01 1.51201149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.236875 meters 0.01570226386663192 Centerline is valid? [True, True] Translation: X:280.93, Y:142.29, Z:15.13 [[ 5.94901640e-01 -7.97760841e-01 -9.83345258e-02 2.80928561e+02] [ 7.86408257e-01 6.02968969e-01 -1.34128581e-01 1.42287397e+02] [ 1.66295197e-01 2.46222953e-03 9.86072941e-01 1.51297663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.296875 meters 0.015239032102986556 Centerline is valid? [True, True] Translation: X:280.97, Y:142.33, Z:15.14 [[ 5.91755615e-01 -8.00041479e-01 -9.87872667e-02 2.80965455e+02] [ 7.88602874e-01 5.99941763e-01 -1.34816127e-01 1.42330951e+02] [ 1.67125101e-01 1.87427770e-03 9.85933917e-01 1.51380086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.356875 meters 0.014518517556733406 Centerline is valid? [True, True] Translation: X:281.00, Y:142.38, Z:15.15 [[ 5.88714111e-01 -8.02273149e-01 -9.88609633e-02 2.81002751e+02] [ 7.90839755e-01 5.96955753e-01 -1.34967815e-01 1.42375341e+02] [ 1.67296675e-01 1.27427703e-03 9.85905776e-01 1.51470610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.416875 meters 0.01401490351122688 Centerline is valid? [True, True] Translation: X:281.04, Y:142.42, Z:15.16 [[ 5.84325685e-01 -8.05461433e-01 -9.89715815e-02 2.81041435e+02] [ 7.94034902e-01 5.92648051e-01 -1.35191944e-01 1.42417671e+02] [ 1.67547212e-01 4.09235287e-04 9.85863968e-01 1.51565416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.476875 meters 0.01394309339375273 Centerline is valid? [True, True] Translation: X:281.08, Y:142.46, Z:15.17 [[ 5.80980008e-01 -8.07854705e-01 -9.91615158e-02 2.81077189e+02] [ 7.96404840e-01 5.89381644e-01 -1.35530841e-01 1.42460883e+02] [ 1.67933205e-01 -2.32002090e-04 9.85798349e-01 1.51655222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.536875 meters 0.014091363098714763 Centerline is valid? [True, True] Translation: X:281.11, Y:142.51, Z:15.18 [[ 5.79405637e-01 -8.08932766e-01 -9.95835693e-02 2.81112744e+02] [ 7.97390084e-01 5.87900943e-01 -1.36167306e-01 1.42506273e+02] [ 1.68695470e-01 -5.10846121e-04 9.85668087e-01 1.51750563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.596875 meters 0.014175533815446246 Centerline is valid? [True, True] Translation: X:281.15, Y:142.55, Z:15.18 [[ 5.80255323e-01 -8.08333789e-01 -9.94999765e-02 2.81146010e+02] [ 7.96788725e-01 5.88724385e-01 -1.36129815e-01 1.42553075e+02] [ 1.68616391e-01 -2.90409615e-04 9.85681707e-01 1.51849675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.656875 meters 0.01417941158890516 Centerline is valid? [True, True] Translation: X:281.18, Y:142.60, Z:15.20 [[ 5.82932660e-01 -8.06504819e-01 -9.86888601e-02 2.81176698e+02] [ 7.95113971e-01 5.91227456e-01 -1.35069864e-01 1.42601654e+02] [ 1.67282060e-01 2.67743809e-04 9.85909043e-01 1.51956791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.716875 meters 0.01455618425760001 Centerline is valid? [True, True] Translation: X:281.21, Y:142.65, Z:15.20 [[ 5.85645292e-01 -8.04558433e-01 -9.85155875e-02 2.81208345e+02] [ 7.93166890e-01 5.93872856e-01 -1.34912248e-01 1.42649988e+02] [ 1.67050521e-01 8.71420872e-04 9.85947952e-01 1.52043163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.776875 meters 0.01514270229217437 Centerline is valid? [True, True] Translation: X:281.24, Y:142.70, Z:15.21 [[ 5.89103435e-01 -8.02048517e-01 -9.83631977e-02 2.81240001e+02] [ 7.90644880e-01 5.97256667e-01 -1.34778146e-01 1.42698246e+02] [ 1.66846688e-01 1.62791038e-03 9.85981507e-01 1.52135661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.836875 meters 0.015538722543549445 Centerline is valid? [True, True] Translation: X:281.27, Y:142.75, Z:15.22 [[ 5.90686147e-01 -8.00860672e-01 -9.85497825e-02 2.81272873e+02] [ 7.89383901e-01 5.98847331e-01 -1.35110812e-01 1.42746081e+02] [ 1.67221210e-01 2.01447322e-03 9.85917344e-01 1.52222479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.896875 meters 0.01592305569470905 Centerline is valid? [True, True] Translation: X:281.31, Y:142.79, Z:15.23 [[ 5.90940358e-01 -8.00607178e-01 -9.90840020e-02 2.81305688e+02] [ 7.88988331e-01 5.99185740e-01 -1.35918589e-01 1.42792077e+02] [ 1.68187119e-01 2.14365835e-03 9.85752757e-01 1.52307108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.956875 meters 0.01542779200034206 Centerline is valid? [True, True] Translation: X:281.34, Y:142.84, Z:15.24 [[ 5.90437769e-01 -8.00955284e-01 -9.92666819e-02 2.81340473e+02] [ 7.89285862e-01 5.98720517e-01 -1.36240856e-01 1.42837763e+02] [ 1.68555833e-01 2.09195849e-03 9.85689888e-01 1.52401410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.016875 meters 0.015297748599153579 Centerline is valid? [True, True] Translation: X:281.37, Y:142.88, Z:15.25 [[ 5.89056458e-01 -8.01976344e-01 -9.92291987e-02 2.81374488e+02] [ 7.90316147e-01 5.97352932e-01 -1.36271283e-01 1.42884697e+02] [ 1.68561198e-01 1.84904123e-03 9.85689456e-01 1.52480875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07687500000003 meters 0.015216483041840879 Centerline is valid? [True, True] Translation: X:281.41, Y:142.93, Z:15.26 [[ 5.86714065e-01 -8.03626657e-01 -9.97537117e-02 2.81410500e+02] [ 7.91851578e-01 5.95132040e-01 -1.37072732e-01 1.42929433e+02] [ 1.69521932e-01 1.43236587e-03 9.85525374e-01 1.52573124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13687500000003 meters 0.014904791788288933 Centerline is valid? [True, True] Translation: X:281.45, Y:142.97, Z:15.27 [[ 5.82921873e-01 -8.06337053e-01 -1.00113171e-01 2.81447478e+02] [ 7.94501787e-01 5.91455890e-01 -1.37647526e-01 1.42972994e+02] [ 1.70202825e-01 6.97660752e-04 9.85408804e-01 1.52667209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19687500000003 meters 0.014684356567318963 Centerline is valid? [True, True] Translation: X:281.48, Y:143.02, Z:15.28 [[ 5.79120380e-01 -8.09064435e-01 -1.00171486e-01 2.81484339e+02] [ 7.97241555e-01 5.87719948e-01 -1.37808438e-01 1.43016894e+02] [ 1.70368686e-01 -5.31959149e-05 9.85380387e-01 1.52768197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25687500000004 meters 0.015001519467232653 Centerline is valid? [True, True] Translation: X:281.52, Y:143.06, Z:15.29 [[ 5.73697737e-01 -8.12894583e-01 -1.00365849e-01 2.81522022e+02] [ 8.01069040e-01 5.82409734e-01 -1.38156775e-01 1.43061168e+02] [ 1.70760942e-01 -1.13974506e-03 9.85311830e-01 1.52861156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31687500000004 meters 0.015451331621044942 Centerline is valid? [True, True] Translation: X:281.56, Y:143.11, Z:15.30 [[ 5.70702563e-01 -8.15067763e-01 -9.98154636e-02 2.81557401e+02] [ 8.03392329e-01 5.79363043e-01 -1.37474471e-01 1.43106279e+02] [ 1.69880400e-01 -1.73394491e-03 9.85463162e-01 1.52955206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37687500000004 meters 0.015604205461224797 Centerline is valid? [True, True] Translation: X:281.59, Y:143.15, Z:15.31 [[ 5.68953548e-01 -8.16356203e-01 -9.92693852e-02 2.81591398e+02] [ 8.04815670e-01 5.77545060e-01 -1.36797077e-01 1.43151542e+02] [ 1.69007686e-01 -2.06237431e-03 9.85612575e-01 1.53069348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43687500000004 meters 0.015554807414310099 Centerline is valid? [True, True] Translation: X:281.62, Y:143.20, Z:15.32 [[ 5.69604166e-01 -8.15971455e-01 -9.86999379e-02 2.81623182e+02] [ 8.04544563e-01 5.78089104e-01 -1.36092008e-01 1.43198459e+02] [ 1.68104552e-01 -1.88992376e-03 9.85767360e-01 1.53162852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.496875 meters 0.014859687586860834 Centerline is valid? [True, True] Translation: X:281.65, Y:143.25, Z:15.33 [[ 5.72703987e-01 -8.13882384e-01 -9.80082092e-02 2.81651797e+02] [ 8.02571977e-01 5.81028383e-01 -1.35219231e-01 1.43248366e+02] [ 1.66998101e-01 -1.21804958e-03 9.85956465e-01 1.53265882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.556875 meters 0.01451779125699847 Centerline is valid? [True, True] Translation: X:281.68, Y:143.30, Z:15.33 [[ 5.76304966e-01 -8.11321782e-01 -9.81302784e-02 2.81680709e+02] [ 7.99933300e-01 5.84599675e-01 -1.35461931e-01 1.43297161e+02] [ 1.67270144e-01 -4.30293875e-04 9.85911007e-01 1.53340120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.616875 meters 0.014348841210691732 Centerline is valid? [True, True] Translation: X:281.71, Y:143.35, Z:15.34 [[ 5.78357620e-01 -8.09862312e-01 -9.81096249e-02 2.81711487e+02] [ 7.98447916e-01 5.86620009e-01 -1.35491296e-01 1.43346021e+02] [ 1.67282363e-01 2.69977485e-05 9.85909027e-01 1.53439056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.676875 meters 0.014342081868379807 Centerline is valid? [True, True] Translation: X:281.74, Y:143.39, Z:15.35 [[ 5.79720713e-01 -8.08907988e-01 -9.79375387e-02 2.81743015e+02] [ 7.97506978e-01 5.87935154e-01 -1.35332462e-01 1.43394018e+02] [ 1.67052432e-01 3.49161254e-04 9.85947952e-01 1.53526474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.736875 meters 0.014566275690837283 Centerline is valid? [True, True] Translation: X:281.77, Y:143.44, Z:15.36 [[ 5.81752898e-01 -8.07424508e-01 -9.81286407e-02 2.81772990e+02] [ 7.95944093e-01 5.89970324e-01 -1.35676148e-01 1.43442381e+02] [ 1.67441233e-01 8.25080052e-04 9.85881713e-01 1.53599101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.796875 meters 0.014698825312544388 Centerline is valid? [True, True] Translation: X:281.81, Y:143.49, Z:15.37 [[ 5.82465868e-01 -8.06835033e-01 -9.87458450e-02 2.81805990e+02] [ 7.95185820e-01 5.90775865e-01 -1.36614016e-01 1.43489651e+02] [ 1.68561636e-01 1.05170576e-03 9.85690554e-01 1.53685965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.856875 meters 0.01463712698506537 Centerline is valid? [True, True] Translation: X:281.84, Y:143.54, Z:15.38 [[ 5.82134005e-01 -8.07085707e-01 -9.86542556e-02 2.81838696e+02] [ 7.95447975e-01 5.90433407e-01 -1.36568338e-01 1.43536219e+02] [ 1.68471122e-01 1.02674558e-03 9.85706055e-01 1.53780104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.916875 meters 0.014751878916773289 Centerline is valid? [True, True] Translation: X:281.87, Y:143.58, Z:15.39 [[ 5.82532452e-01 -8.06861663e-01 -9.81335742e-02 2.81870838e+02] [ 7.95330470e-01 5.90739342e-01 -1.35928190e-01 1.43583039e+02] [ 1.67646608e-01 1.13395984e-03 9.85846504e-01 1.53890018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.976875 meters 0.01495275063780539 Centerline is valid? [True, True] Translation: X:281.90, Y:143.63, Z:15.40 [[ 5.82724060e-01 -8.06752872e-01 -9.78901043e-02 2.81901871e+02] [ 7.95263835e-01 5.90887752e-01 -1.35672758e-01 1.43630164e+02] [ 1.67296451e-01 1.21132038e-03 9.85905893e-01 1.53981084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.036875 meters 0.015004645751267332 Centerline is valid? [True, True] Translation: X:281.93, Y:143.68, Z:15.41 [[ 5.82999676e-01 -8.06579672e-01 -9.76760477e-02 2.81934300e+02] [ 7.95124252e-01 5.91123944e-01 -1.35461827e-01 1.43677417e+02] [ 1.66999407e-01 1.30960702e-03 9.85956126e-01 1.54078119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.096875 meters 0.015378251352658882 Centerline is valid? [True, True] Translation: X:281.96, Y:143.73, Z:15.42 [[ 5.83654169e-01 -8.06112604e-01 -9.76231561e-02 2.81963830e+02] [ 7.94650191e-01 5.91760301e-01 -1.35465199e-01 1.43725310e+02] [ 1.66969713e-01 1.48856870e-03 9.85960901e-01 1.54160947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.156875 meters 0.015095330971481802 Centerline is valid? [True, True] Translation: X:282.00, Y:143.77, Z:15.43 [[ 5.84362676e-01 -8.05559236e-01 -9.79519274e-02 2.81996587e+02] [ 7.93997395e-01 5.92512804e-01 -1.36002621e-01 1.43772856e+02] [ 1.67595938e-01 1.70128028e-03 9.85854303e-01 1.54254375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.216875 meters 0.01573298267439243 Centerline is valid? [True, True] Translation: X:282.03, Y:143.82, Z:15.43 [[ 5.86250244e-01 -8.04172152e-01 -9.80703916e-02 2.82026786e+02] [ 7.92549211e-01 5.94392573e-01 -1.36246899e-01 1.43823013e+02] [ 1.67858275e-01 2.14916642e-03 9.85808795e-01 1.54334232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.276875 meters 0.015851216144365042 Centerline is valid? [True, True] Translation: X:282.06, Y:143.87, Z:15.44 [[ 5.87741210e-01 -8.03156794e-01 -9.74650409e-02 2.82057494e+02] [ 7.91652070e-01 5.95762603e-01 -1.35476646e-01 1.43872247e+02] [ 1.66875015e-01 2.46680648e-03 9.85974971e-01 1.54438379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.336875 meters 0.01601397501114639 Centerline is valid? [True, True] Translation: X:282.09, Y:143.92, Z:15.45 [[ 5.87982726e-01 -8.03130537e-01 -9.62167039e-02 2.82087412e+02] [ 7.91907494e-01 5.95797909e-01 -1.33818427e-01 1.43919758e+02] [ 1.64799376e-01 2.48819470e-03 9.86323970e-01 1.54540336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.396875 meters 0.015555299814569988 Centerline is valid? [True, True] Translation: X:282.12, Y:143.97, Z:15.46 [[ 5.87103345e-01 -8.03853279e-01 -9.55487775e-02 2.82120915e+02] [ 7.92782474e-01 5.94823109e-01 -1.32971492e-01 1.43966232e+02] [ 1.63724191e-01 2.31861152e-03 9.86503428e-01 1.54648196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.456875 meters 0.015195341664866597 Centerline is valid? [True, True] Translation: X:282.15, Y:144.01, Z:15.47 [[ 5.85418093e-01 -8.05150758e-01 -9.49626920e-02 2.82154181e+02] [ 7.94220478e-01 5.93066856e-01 -1.32232886e-01 1.44012902e+02] [ 1.62786634e-01 1.99020929e-03 9.86659288e-01 1.54738822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.516875 meters 0.01497979273002907 Centerline is valid? [True, True] Translation: X:282.19, Y:144.06, Z:15.48 [[ 5.84683847e-01 -8.05586222e-01 -9.57895506e-02 2.82187641e+02] [ 7.94456172e-01 5.92475403e-01 -1.33462680e-01 1.44059730e+02] [ 1.64268649e-01 1.93287347e-03 9.86413744e-01 1.54814005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57687500000003 meters 0.015187670707395684 Centerline is valid? [True, True] Translation: X:282.22, Y:144.11, Z:15.49 [[ 5.84706225e-01 -8.05478133e-01 -9.65588327e-02 2.82219756e+02] [ 7.94152056e-01 5.92622023e-01 -1.34616681e-01 1.44106736e+02] [ 1.65653683e-01 2.02881581e-03 9.86181901e-01 1.54886385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63687500000003 meters 0.015207322525492239 Centerline is valid? [True, True] Translation: X:282.25, Y:144.15, Z:15.50 [[ 5.84735473e-01 -8.05428510e-01 -9.67953666e-02 2.82252424e+02] [ 7.94031320e-01 5.92689216e-01 -1.35032425e-01 1.44153501e+02] [ 1.66128535e-01 2.09969601e-03 9.86101872e-01 1.54975616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69687500000003 meters 0.015644898060119927 Centerline is valid? [True, True] Translation: X:282.28, Y:144.20, Z:15.51 [[ 5.85446796e-01 -8.04911697e-01 -9.67946777e-02 2.82283647e+02] [ 7.93493950e-01 5.93390168e-01 -1.35112765e-01 1.44200197e+02] [ 1.66190855e-01 2.29534417e-03 9.86090935e-01 1.55067281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75687500000004 meters 0.016287370323182566 Centerline is valid? [True, True] Translation: X:282.32, Y:144.25, Z:15.52 [[ 5.87412755e-01 -8.03546003e-01 -9.62292881e-02 2.82315419e+02] [ 7.92229866e-01 5.95236456e-01 -1.34407592e-01 1.44247820e+02] [ 1.65281864e-01 2.71701796e-03 9.86242629e-01 1.55174515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81687500000004 meters 0.016705482283165485 Centerline is valid? [True, True] Translation: X:282.35, Y:144.30, Z:15.53 [[ 5.88464002e-01 -8.02855644e-01 -9.55663810e-02 2.82348267e+02] [ 7.91674507e-01 5.96166250e-01 -1.33556269e-01 1.44295620e+02] [ 1.64199855e-01 2.93558908e-03 9.86422724e-01 1.55275624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87687500000004 meters 0.016988409917116535 Centerline is valid? [True, True] Translation: X:282.38, Y:144.34, Z:15.54 [[ 5.89086582e-01 -8.02387595e-01 -9.56616235e-02 2.82381297e+02] [ 7.91165253e-01 5.96795144e-01 -1.33765086e-01 1.44343108e+02] [ 1.64421838e-01 3.11506491e-03 9.86385196e-01 1.55368474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.936875 meters 0.018033779184183887 Centerline is valid? [True, True] Translation: X:282.41, Y:144.39, Z:15.54 [[ 5.90167202e-01 -8.01522600e-01 -9.62506886e-02 2.82412588e+02] [ 7.90136438e-01 5.97954681e-01 -1.34664801e-01 1.44390491e+02] [ 1.65490431e-01 3.42357243e-03 9.86205453e-01 1.55449853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.996875 meters 0.018243887042321695 Centerline is valid? [True, True] Translation: X:282.45, Y:144.44, Z:15.55 [[ 5.90290524e-01 -8.01404164e-01 -9.64803833e-02 2.82446171e+02] [ 7.89949411e-01 5.98112909e-01 -1.35058788e-01 1.44437549e+02] [ 1.65942838e-01 3.50930078e-03 9.86129129e-01 1.55544871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.056875 meters 0.017309970753252316 Centerline is valid? [True, True] Translation: X:282.48, Y:144.48, Z:15.56 [[ 5.89379870e-01 -8.02017302e-01 -9.69516163e-02 2.82481311e+02] [ 7.90444187e-01 5.97291112e-01 -1.35798803e-01 1.44483115e+02] [ 1.66821329e-01 3.40223955e-03 9.85981272e-01 1.55631265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.116875 meters 0.016249667816217346 Centerline is valid? [True, True] Translation: X:282.52, Y:144.53, Z:15.57 [[ 5.85623697e-01 -8.04730404e-01 -9.72309756e-02 2.82518565e+02] [ 7.93112844e-01 5.93634352e-01 -1.36272789e-01 1.44527674e+02] [ 1.67382504e-01 2.68943899e-03 9.85888363e-01 1.55720305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.176875 meters 0.014838638223943126 Centerline is valid? [True, True] Translation: X:282.56, Y:144.57, Z:15.58 [[ 5.79495933e-01 -8.09218151e-01 -9.66977145e-02 2.82557733e+02] [ 7.97776710e-01 5.87506523e-01 -1.35603858e-01 1.44570387e+02] [ 1.66543641e-01 1.43869974e-03 9.86033035e-01 1.55832210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.236875 meters 0.014500479430115504 Centerline is valid? [True, True] Translation: X:282.59, Y:144.61, Z:15.59 [[ 5.75439807e-01 -8.12174330e-01 -9.61347289e-02 2.82594301e+02] [ 8.00894785e-01 5.83414487e-01 -1.34889139e-01 1.44614305e+02] [ 1.65639889e-01 6.26776817e-04 9.86186105e-01 1.55938242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.296875 meters 0.014324877879544787 Centerline is valid? [True, True] Translation: X:282.63, Y:144.66, Z:15.60 [[ 5.70727930e-01 -8.15535459e-01 -9.57681887e-02 2.82631927e+02] [ 8.04376119e-01 5.78707030e-01 -1.34451597e-01 1.44657905e+02] [ 1.65071769e-01 -2.98362571e-04 9.86281513e-01 1.56039780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.356875 meters 0.014261187628466102 Centerline is valid? [True, True] Translation: X:282.67, Y:144.70, Z:15.61 [[ 5.68644887e-01 -8.16962214e-01 -9.59986114e-02 2.82666624e+02] [ 8.05755461e-01 5.76690815e-01 -1.34854887e-01 1.44703471e+02] [ 1.65532864e-01 -6.66863641e-04 9.86204049e-01 1.56126608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.416875 meters 0.014187392384865164 Centerline is valid? [True, True] Translation: X:282.70, Y:144.75, Z:15.62 [[ 5.67727266e-01 -8.17563569e-01 -9.63097164e-02 2.82700755e+02] [ 8.06278383e-01 5.75837802e-01 -1.35373535e-01 1.44749633e+02] [ 1.66135246e-01 -7.97195383e-04 9.86102654e-01 1.56211073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.476875 meters 0.01416556845765232 Centerline is valid? [True, True] Translation: X:282.73, Y:144.80, Z:15.63 [[ 5.69203559e-01 -8.16526831e-01 -9.63910936e-02 2.82732410e+02] [ 8.05193591e-01 5.77307315e-01 -1.35571178e-01 1.44796603e+02] [ 1.66344788e-01 -4.45893469e-04 9.86067550e-01 1.56290075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.536875 meters 0.014176163791345444 Centerline is valid? [True, True] Translation: X:282.76, Y:144.84, Z:15.64 [[ 5.70460813e-01 -8.15643806e-01 -9.64346564e-02 2.82764767e+02] [ 8.04273161e-01 5.78554374e-01 -1.35718531e-01 1.44844109e+02] [ 1.66490672e-01 -1.37702148e-04 9.86043020e-01 1.56383002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.596875 meters 0.01414105984115888 Centerline is valid? [True, True] Translation: X:282.80, Y:144.89, Z:15.65 [[ 5.71389019e-01 -8.15080693e-01 -9.56977164e-02 2.82796472e+02] [ 8.03863039e-01 5.79347442e-01 -1.34761848e-01 1.44890713e+02] [ 1.65284007e-01 7.35828648e-05 9.86246010e-01 1.56476903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.656875 meters 0.0143556275519759 Centerline is valid? [True, True] Translation: X:282.83, Y:144.94, Z:15.66 [[ 5.72578497e-01 -8.14341830e-01 -9.48749087e-02 2.82827822e+02] [ 8.03293579e-01 5.80385452e-01 -1.33686771e-01 1.44938556e+02] [ 1.63930747e-01 3.33765576e-04 9.86471793e-01 1.56573916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.716875 meters 0.014349037805853853 Centerline is valid? [True, True] Translation: X:282.86, Y:144.99, Z:15.67 [[ 5.72822257e-01 -8.14196827e-01 -9.46477096e-02 2.82860401e+02] [ 8.03187004e-01 5.80588796e-01 -1.33443947e-01 1.44985999e+02] [ 1.63601038e-01 4.19852355e-04 9.86526494e-01 1.56665483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.776875 meters 0.014527791451540359 Centerline is valid? [True, True] Translation: X:282.89, Y:145.03, Z:15.67 [[ 5.72186291e-01 -8.14639880e-01 -9.46821757e-02 2.82892591e+02] [ 8.03614834e-01 5.79967025e-01 -1.33571882e-01 1.45031907e+02] [ 1.63725522e-01 3.39998977e-04 9.86505873e-01 1.56743802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.836875 meters 0.014272383688457242 Centerline is valid? [True, True] Translation: X:282.93, Y:145.08, Z:15.68 [[ 5.69412714e-01 -8.16544945e-01 -9.49921743e-02 2.82926794e+02] [ 8.05463439e-01 5.77281840e-01 -1.34068365e-01 1.45078337e+02] [ 1.64310103e-01 -1.72491692e-04 9.86408719e-01 1.56820178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.896875 meters 0.014546475025297703 Centerline is valid? [True, True] Translation: X:282.96, Y:145.12, Z:15.69 [[ 5.65261373e-01 -8.19265238e-01 -9.63537784e-02 2.82963524e+02] [ 8.07886146e-01 5.73413999e-01 -1.36074837e-01 1.45123224e+02] [ 1.66731989e-01 -9.25033769e-04 9.86001820e-01 1.56904535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.956875 meters 0.014741129411063179 Centerline is valid? [True, True] Translation: X:283.00, Y:145.17, Z:15.70 [[ 5.62683027e-01 -8.21070195e-01 -9.60809315e-02 2.82998026e+02] [ 8.09768814e-01 5.70825497e-01 -1.35767153e-01 1.45168999e+02] [ 1.66319808e-01 -1.40946939e-03 9.86070857e-01 1.56994151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.016875 meters 0.015117549728178198 Centerline is valid? [True, True] Translation: X:283.03, Y:145.21, Z:15.71 [[ 5.60916720e-01 -8.22393274e-01 -9.50880392e-02 2.83031902e+02] [ 8.11331651e-01 5.68916764e-01 -1.34442061e-01 1.45213889e+02] [ 1.64661426e-01 -1.73713591e-03 9.86348618e-01 1.57101459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07687500000003 meters 0.015113265912766537 Centerline is valid? [True, True] Translation: X:283.06, Y:145.26, Z:15.72 [[ 5.62255202e-01 -8.21572244e-01 -9.42769068e-02 2.83064749e+02] [ 8.10674415e-01 5.70102612e-01 -1.33379175e-01 1.45261385e+02] [ 1.63328139e-01 -1.43474156e-03 9.86570758e-01 1.57199989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13687500000003 meters 0.014929160876383338 Centerline is valid? [True, True] Translation: X:283.10, Y:145.31, Z:15.73 [[ 5.63178526e-01 -8.20944215e-01 -9.42366331e-02 2.83096363e+02] [ 8.10034863e-01 5.71007122e-01 -1.33395607e-01 1.45308528e+02] [ 1.63320141e-01 -1.20941651e-03 9.86572384e-01 1.57289085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19687500000003 meters 0.014738384737362048 Centerline is valid? [True, True] Translation: X:283.13, Y:145.36, Z:15.74 [[ 5.64762026e-01 -8.19781003e-01 -9.48839349e-02 2.83128728e+02] [ 8.08690379e-01 5.72676536e-01 -1.34392915e-01 1.45356537e+02] [ 1.64510562e-01 -8.31710291e-04 9.86374971e-01 1.57379549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25687500000004 meters 0.014556969143125674 Centerline is valid? [True, True] Translation: X:283.16, Y:145.40, Z:15.75 [[ 5.64887668e-01 -8.19673220e-01 -9.50670009e-02 2.83161541e+02] [ 8.08529707e-01 5.72830877e-01 -1.34701520e-01 1.45403797e+02] [ 1.64868542e-01 -7.73266981e-04 9.86315247e-01 1.57486057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31687500000004 meters 0.014511379451846964 Centerline is valid? [True, True] Translation: X:283.19, Y:145.45, Z:15.76 [[ 5.65196694e-01 -8.19452787e-01 -9.51305785e-02 2.83193792e+02] [ 8.08277644e-01 5.73146308e-01 -1.34872385e-01 1.45450706e+02] [ 1.65045292e-01 -6.62493813e-04 9.86285766e-01 1.57584615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37687500000004 meters 0.014562799251016816 Centerline is valid? [True, True] Translation: X:283.22, Y:145.50, Z:15.77 [[ 5.68762720e-01 -8.16979393e-01 -9.51506175e-02 2.83223253e+02] [ 8.05751489e-01 5.76666854e-01 -1.34981026e-01 1.45500501e+02] [ 1.65146924e-01 1.04423774e-04 9.86268971e-01 1.57672255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.436875 meters 0.014813587207198973 Centerline is valid? [True, True] Translation: X:283.25, Y:145.55, Z:15.78 [[ 5.74047000e-01 -8.13237340e-01 -9.54728817e-02 2.83250499e+02] [ 8.01867425e-01 5.81930837e-01 -1.35518022e-01 1.45550209e+02] [ 1.65766930e-01 1.23712043e-03 9.86164182e-01 1.57772134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.496875 meters 0.015535901889570287 Centerline is valid? [True, True] Translation: X:283.28, Y:145.60, Z:15.79 [[ 5.77627211e-01 -8.10645478e-01 -9.59203518e-02 2.83280850e+02] [ 7.99120004e-01 5.85533743e-01 -1.36225749e-01 1.45599280e+02] [ 1.66595390e-01 2.03582747e-03 9.86023241e-01 1.57870126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.556875 meters 0.016835671628674678 Centerline is valid? [True, True] Translation: X:283.31, Y:145.65, Z:15.79 [[ 5.81834575e-01 -8.07563206e-01 -9.64893527e-02 2.83309323e+02] [ 7.95844057e-01 5.89773477e-01 -1.37111204e-01 1.45649851e+02] [ 1.67632825e-01 2.98556120e-03 9.85844979e-01 1.57949974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.616875 meters 0.01786598592821127 Centerline is valid? [True, True] Translation: X:283.34, Y:145.70, Z:15.80 [[ 5.84558886e-01 -8.05560776e-01 -9.67612824e-02 2.83340164e+02] [ 7.93734660e-01 5.92502112e-01 -1.37573749e-01 1.45698848e+02] [ 1.68155280e-01 3.61717385e-03 9.85753883e-01 1.58033780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.676875 meters 0.01865801429625659 Centerline is valid? [True, True] Translation: X:283.37, Y:145.75, Z:15.81 [[ 5.85962917e-01 -8.04546851e-01 -9.67048297e-02 2.83372092e+02] [ 7.92707887e-01 5.93876035e-01 -1.37569839e-01 1.45746997e+02] [ 1.68112062e-01 3.95214306e-03 9.85759968e-01 1.58127504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.736875 meters 0.01857224835074124 Centerline is valid? [True, True] Translation: X:283.41, Y:145.79, Z:15.82 [[ 5.87644394e-01 -8.03270256e-01 -9.71131450e-02 2.83405916e+02] [ 7.91299885e-01 5.95598595e-01 -1.38227368e-01 1.45793916e+02] [ 1.68874386e-01 4.38291719e-03 9.85627836e-01 1.58225892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.796875 meters 0.01945658160253372 Centerline is valid? [True, True] Translation: X:283.44, Y:145.84, Z:15.83 [[ 5.87992910e-01 -8.02939572e-01 -9.77362869e-02 2.83437388e+02] [ 7.90795531e-01 5.96043024e-01 -1.39194619e-01 1.45841740e+02] [ 1.70019900e-01 4.55603017e-03 9.85430097e-01 1.58286858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.856875 meters 0.018542485839897642 Centerline is valid? [True, True] Translation: X:283.47, Y:145.89, Z:15.84 [[ 5.87342617e-01 -8.03424654e-01 -9.76600033e-02 2.83472712e+02] [ 7.91293019e-01 5.95389742e-01 -1.39163259e-01 1.45887486e+02] [ 1.69952957e-01 4.45883394e-03 9.85442089e-01 1.58389722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.916875 meters 0.019750159886391238 Centerline is valid? [True, True] Translation: X:283.50, Y:145.93, Z:15.85 [[ 5.86496346e-01 -8.04073854e-01 -9.74026315e-02 2.83504798e+02] [ 7.92001482e-01 5.94513816e-01 -1.38877558e-01 1.45934259e+02] [ 1.69575024e-01 4.30815218e-03 9.85507865e-01 1.58484826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.976875 meters 0.017808006703932358 Centerline is valid? [True, True] Translation: X:283.54, Y:145.98, Z:15.86 [[ 5.84285745e-01 -8.05747479e-01 -9.68564290e-02 2.83542888e+02] [ 7.93823405e-01 5.92246799e-01 -1.38159801e-01 1.45978039e+02] [ 1.68684821e-01 3.83790173e-03 9.85662570e-01 1.58605418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.036875 meters 0.015926440015730823 Centerline is valid? [True, True] Translation: X:283.58, Y:146.02, Z:15.87 [[ 5.79066739e-01 -8.09543553e-01 -9.65450576e-02 2.83582085e+02] [ 7.97735673e-01 5.87053276e-01 -1.37790593e-01 1.46020550e+02] [ 1.68224579e-01 2.77251299e-03 9.85744797e-01 1.58709169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.096875 meters 0.015216976157960077 Centerline is valid? [True, True] Translation: X:283.62, Y:146.07, Z:15.88 [[ 5.75063236e-01 -8.12222107e-01 -9.79669476e-02 2.83615692e+02] [ 8.00084602e-01 5.83344625e-01 -1.39905965e-01 1.46068250e+02] [ 1.70783210e-01 2.07293078e-03 9.85306449e-01 1.58769761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.156875 meters 0.014804781721976055 Centerline is valid? [True, True] Translation: X:283.65, Y:146.12, Z:15.88 [[ 5.71831438e-01 -8.14337944e-01 -9.93102124e-02 2.83648219e+02] [ 8.01879761e-01 5.80389031e-01 -1.41906384e-01 1.46115761e+02] [ 1.73198311e-01 1.51168202e-03 9.84885811e-01 1.58812946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.216875 meters 0.014143226813152962 Centerline is valid? [True, True] Translation: X:283.68, Y:146.16, Z:15.89 [[ 5.67210093e-01 -8.17657275e-01 -9.85357309e-02 2.83684163e+02] [ 8.05427926e-01 5.75705027e-01 -1.40888529e-01 1.46160407e+02] [ 1.71926046e-01 5.49966245e-04 9.85109706e-01 1.58947355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.276875 meters 0.014087042279992884 Centerline is valid? [True, True] Translation: X:283.72, Y:146.21, Z:15.91 [[ 5.63311301e-01 -8.20566144e-01 -9.67035740e-02 2.83717282e+02] [ 8.08819743e-01 5.71551505e-01 -1.38345585e-01 1.46207061e+02] [ 1.68792777e-01 -2.84128106e-04 9.85651519e-01 1.59088024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.336875 meters 0.014026081534725305 Centerline is valid? [True, True] Translation: X:283.74, Y:146.26, Z:15.92 [[ 5.65736155e-01 -8.18972075e-01 -9.60590611e-02 2.83744444e+02] [ 8.07346798e-01 5.73833324e-01 -1.37500779e-01 1.46257726e+02] [ 1.67731189e-01 2.36186715e-04 9.85832741e-01 1.59177218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.396875 meters 0.014339614695747231 Centerline is valid? [True, True] Translation: X:283.77, Y:146.31, Z:15.93 [[ 5.69368725e-01 -8.16441711e-01 -9.61362962e-02 2.83773275e+02] [ 8.04747904e-01 5.77426937e-01 -1.37691476e-01 1.46308248e+02] [ 1.67928752e-01 1.03173742e-03 9.85798595e-01 1.59270478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.456875 meters 0.015719120148169147 Centerline is valid? [True, True] Translation: X:283.80, Y:146.36, Z:15.93 [[ 5.75123184e-01 -8.12350070e-01 -9.65437082e-02 2.83797217e+02] [ 8.00485446e-01 5.83165615e-01 -1.38350698e-01 1.46362053e+02] [ 1.68690170e-01 2.28686066e-03 9.85666473e-01 1.59338768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.516875 meters 0.016244241055461617 Centerline is valid? [True, True] Translation: X:283.83, Y:146.41, Z:15.95 [[ 5.78866543e-01 -8.09714684e-01 -9.63102060e-02 2.83826500e+02] [ 7.97862726e-01 5.86815682e-01 -1.38066743e-01 1.46411279e+02] [ 1.68311008e-01 3.07989457e-03 9.85729131e-01 1.59455334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57687500000003 meters 0.017150409060535214 Centerline is valid? [True, True] Translation: X:283.85, Y:146.46, Z:15.95 [[ 5.80193441e-01 -8.08833612e-01 -9.57275260e-02 2.83853163e+02] [ 7.97100508e-01 5.88027965e-01 -1.37309479e-01 1.46462395e+02] [ 1.67350984e-01 3.36159935e-03 9.85891651e-01 1.59532157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63687500000003 meters 0.016741888798277132 Centerline is valid? [True, True] Translation: X:283.88, Y:146.51, Z:15.96 [[ 5.79849457e-01 -8.09064356e-01 -9.58617508e-02 2.83884522e+02] [ 7.97288371e-01 5.87710541e-01 -1.37577517e-01 1.46510611e+02] [ 1.67648026e-01 3.34478907e-03 9.85841241e-01 1.59625416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69687500000003 meters 0.016436636208570502 Centerline is valid? [True, True] Translation: X:283.92, Y:146.56, Z:15.97 [[ 5.79024326e-01 -8.09721384e-01 -9.53001068e-02 2.83916316e+02] [ 7.98078800e-01 5.86805876e-01 -1.36854280e-01 1.46558284e+02] [ 1.66736499e-01 3.18496210e-03 9.85996347e-01 1.59734634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75687500000004 meters 0.016601895631967803 Centerline is valid? [True, True] Translation: X:283.95, Y:146.61, Z:15.98 [[ 5.78472521e-01 -8.10105346e-01 -9.53880080e-02 2.83946611e+02] [ 7.98432519e-01 5.86276010e-01 -1.37061858e-01 1.46606091e+02] [ 1.66958244e-01 3.12563074e-03 9.85959013e-01 1.59816179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81687500000004 meters 0.01643325289251496 Centerline is valid? [True, True] Translation: X:283.98, Y:146.65, Z:15.99 [[ 5.77907807e-01 -8.10471932e-01 -9.56964613e-02 2.83977357e+02] [ 7.98717939e-01 5.85769455e-01 -1.37563802e-01 1.46654176e+02] [ 1.67547664e-01 3.06471488e-03 9.85859213e-01 1.59900763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87687500000004 meters 0.016230803965826414 Centerline is valid? [True, True] Translation: X:284.01, Y:146.70, Z:16.00 [[ 5.75806789e-01 -8.11979192e-01 -9.55841705e-02 2.84010349e+02] [ 8.00259473e-01 5.83680263e-01 -1.37485003e-01 1.46701818e+02] [ 1.67425555e-01 2.67266022e-03 9.85881098e-01 1.59998942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.936875 meters 0.016003523892295566 Centerline is valid? [True, True] Translation: X:284.04, Y:146.75, Z:16.01 [[ 5.73391125e-01 -8.13679478e-01 -9.56468715e-02 2.84043052e+02] [ 8.01955195e-01 5.81309530e-01 -1.37648449e-01 1.46748202e+02] [ 1.67602156e-01 2.22189378e-03 9.85852210e-01 1.60097457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.996875 meters 0.015394299440971659 Centerline is valid? [True, True] Translation: X:284.08, Y:146.80, Z:16.02 [[ 5.72231582e-01 -8.14534020e-01 -9.53170837e-02 2.84075947e+02] [ 8.02893142e-01 5.80112348e-01 -1.37230705e-01 1.46795360e+02] [ 1.67073695e-01 1.99831044e-03 9.85942385e-01 1.60192746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.056875 meters 0.015620107083818597 Centerline is valid? [True, True] Translation: X:284.11, Y:146.84, Z:16.03 [[ 5.72677078e-01 -8.14240271e-01 -9.51511708e-02 2.84106601e+02] [ 8.02622222e-01 5.80524116e-01 -1.37074136e-01 1.46843955e+02] [ 1.66848831e-01 2.12877162e-03 9.85980190e-01 1.60281559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.116875 meters 0.016290177107136428 Centerline is valid? [True, True] Translation: X:284.14, Y:146.89, Z:16.04 [[ 5.74128465e-01 -8.13231601e-01 -9.50308846e-02 2.84136204e+02] [ 8.01615697e-01 5.81934944e-01 -1.36981734e-01 1.46892827e+02] [ 1.66699667e-01 2.46686386e-03 9.86004633e-01 1.60377853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.176875 meters 0.01700022118605171 Centerline is valid? [True, True] Translation: X:284.16, Y:146.94, Z:16.05 [[ 5.77625055e-01 -8.10715724e-01 -9.53378728e-02 2.84164918e+02] [ 7.98980911e-01 5.85431068e-01 -1.37477155e-01 1.46942601e+02] [ 1.67268644e-01 3.23710878e-03 9.85906041e-01 1.60474616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.236875 meters 0.017753839247692943 Centerline is valid? [True, True] Translation: X:284.19, Y:146.99, Z:16.06 [[ 5.80845601e-01 -8.08279381e-01 -9.64511838e-02 2.84194556e+02] [ 7.96218865e-01 5.88785306e-01 -1.39166742e-01 1.46992963e+02] [ 1.69274648e-01 4.03813767e-03 9.85560646e-01 1.60558880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.296875 meters 0.018484267447322702 Centerline is valid? [True, True] Translation: X:284.22, Y:147.04, Z:16.06 [[ 5.81914456e-01 -8.07242684e-01 -9.86651620e-02 2.84224859e+02] [ 7.94589134e-01 5.90202588e-01 -1.42439509e-01 1.47043282e+02] [ 1.73215686e-01 4.48934395e-03 9.84873683e-01 1.60633097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.356875 meters 0.019069783665730616 Centerline is valid? [True, True] Translation: X:284.26, Y:147.09, Z:16.07 [[ 5.82389337e-01 -8.06748693e-01 -9.98959814e-02 2.84255743e+02] [ 7.93753728e-01 5.90875665e-01 -1.44294728e-01 1.47092447e+02] [ 1.75435688e-01 4.74290329e-03 9.84479469e-01 1.60710589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.416875 meters 0.018156673909914073 Centerline is valid? [True, True] Translation: X:284.29, Y:147.14, Z:16.08 [[ 5.80033237e-01 -8.08329438e-01 -1.00821442e-01 2.84290693e+02] [ 7.95099258e-01 5.88714315e-01 -1.45714189e-01 1.47138610e+02] [ 1.77140095e-01 4.35601867e-03 9.84176007e-01 1.60815132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.476875 meters 0.01694525572809226 Centerline is valid? [True, True] Translation: X:284.33, Y:147.18, Z:16.09 [[ 5.73826165e-01 -8.12734515e-01 -1.00926411e-01 2.84326950e+02] [ 7.99529916e-01 5.82626211e-01 -1.45940443e-01 1.47181424e+02] [ 1.77413208e-01 3.05075959e-03 9.84131722e-01 1.60933365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.536875 meters 0.015772783164788338 Centerline is valid? [True, True] Translation: X:284.36, Y:147.22, Z:16.11 [[ 5.69080574e-01 -8.16108496e-01 -1.00569496e-01 2.84363661e+02] [ 8.03041957e-01 5.77895179e-01 -1.45467441e-01 1.47224984e+02] [ 1.76835841e-01 2.02116997e-03 9.84238284e-01 1.61063312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.596875 meters 0.01493671757176837 Centerline is valid? [True, True] Translation: X:284.40, Y:147.27, Z:16.12 [[ 5.62341192e-01 -8.20946287e-01 -9.90937791e-02 2.84401575e+02] [ 8.08321984e-01 5.71005158e-01 -1.43417849e-01 1.47267646e+02] [ 1.74321410e-01 5.50084055e-04 9.84688653e-01 1.61214114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.656875 meters 0.014981591105573233 Centerline is valid? [True, True] Translation: X:284.44, Y:147.31, Z:16.14 [[ 5.57854749e-01 -8.24097436e-01 -9.82929043e-02 2.84437757e+02] [ 8.11711198e-01 5.66447943e-01 -1.42343451e-01 1.47311587e+02] [ 1.72982686e-01 -3.78481365e-04 9.84924793e-01 1.61359780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.716875 meters 0.014799343408376919 Centerline is valid? [True, True] Translation: X:284.47, Y:147.36, Z:16.15 [[ 5.57090585e-01 -8.24779063e-01 -9.68998254e-02 2.84470569e+02] [ 8.12739912e-01 5.65454871e-01 -1.40408773e-01 1.47357657e+02] [ 1.70598695e-01 -5.33949756e-04 9.85340449e-01 1.61504707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.776875 meters 0.014774320649557963 Centerline is valid? [True, True] Translation: X:284.50, Y:147.40, Z:16.16 [[ 5.58581922e-01 -8.23921278e-01 -9.56031571e-02 2.84501242e+02] [ 8.12178270e-01 5.66704224e-01 -1.38610174e-01 1.47404732e+02] [ 1.68382585e-01 -2.21669163e-04 9.85721693e-01 1.61627745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.836875 meters 0.01473556231629299 Centerline is valid? [True, True] Translation: X:284.53, Y:147.45, Z:16.18 [[ 5.61191058e-01 -8.22369263e-01 -9.36663907e-02 2.84530874e+02] [ 8.11068646e-01 5.68954058e-01 -1.35863648e-01 1.47452871e+02] [ 1.65021961e-01 2.75591919e-04 9.86289854e-01 1.61760615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.896875 meters 0.01537058091011638 Centerline is valid? [True, True] Translation: X:284.56, Y:147.50, Z:16.19 [[ 5.66051224e-01 -8.19421702e-01 -9.01891692e-02 2.84557212e+02] [ 8.08900312e-01 5.73190000e-01 -1.30895033e-01 1.47501726e+02] [ 1.58953761e-01 1.13924655e-03 9.87285371e-01 1.61908240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.956875 meters 0.015798142182076834 Centerline is valid? [True, True] Translation: X:284.59, Y:147.55, Z:16.20 [[ 5.68755920e-01 -8.17716822e-01 -8.86335264e-02 2.84585803e+02] [ 8.07531420e-01 5.75618460e-01 -1.28671649e-01 1.47551555e+02] [ 1.56236066e-01 1.60840479e-03 9.87718434e-01 1.62002994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.016875 meters 0.017347772883108084 Centerline is valid? [True, True] Translation: X:284.61, Y:147.60, Z:16.21 [[ 5.72861332e-01 -8.14942486e-01 -8.77418860e-02 2.84610764e+02] [ 8.04918914e-01 5.79536938e-01 -1.27445990e-01 1.47603659e+02] [ 1.54710816e-01 2.38377624e-03 9.87956923e-01 1.62065185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07687500000003 meters 0.01764647634188478 Centerline is valid? [True, True] Translation: X:284.64, Y:147.66, Z:16.21 [[ 5.76756903e-01 -8.12097113e-01 -8.85988323e-02 2.84639261e+02] [ 8.01834670e-01 5.83513484e-01 -1.28736845e-01 1.47655707e+02] [ 1.56245434e-01 3.20824881e-03 9.87713051e-01 1.62118393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13687500000003 meters 0.01851554396061077 Centerline is valid? [True, True] Translation: X:284.67, Y:147.71, Z:16.22 [[ 5.78573214e-01 -8.10696495e-01 -8.95780626e-02 2.84668039e+02] [ 8.00176435e-01 5.85455146e-01 -1.30230350e-01 1.47706838e+02] [ 1.58021226e-01 3.66953742e-03 9.87428897e-01 1.62182333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19687500000003 meters 0.019352629805494313 Centerline is valid? [True, True] Translation: X:284.70, Y:147.76, Z:16.22 [[ 5.79533867e-01 -8.09802207e-01 -9.14378635e-02 2.84695926e+02] [ 7.98814935e-01 5.86689072e-01 -1.33006139e-01 1.47757004e+02] [ 1.61354260e-01 4.03963111e-03 9.86888284e-01 1.62223308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25687500000004 meters 0.018227860731862663 Centerline is valid? [True, True] Translation: X:284.73, Y:147.80, Z:16.23 [[ 5.78008808e-01 -8.10640018e-01 -9.36406918e-02 2.84728225e+02] [ 7.99113809e-01 5.85531609e-01 -1.36271251e-01 1.47804892e+02] [ 1.65296514e-01 3.93641332e-03 9.86236060e-01 1.62284478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31687500000004 meters 0.017720085689201834 Centerline is valid? [True, True] Translation: X:284.76, Y:147.85, Z:16.24 [[ 5.76115464e-01 -8.11849900e-01 -9.48193633e-02 2.84760202e+02] [ 8.00031319e-01 5.83854561e-01 -1.38071505e-01 1.47852627e+02] [ 1.67454056e-01 3.68666924e-03 9.85872988e-01 1.62361186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37687500000004 meters 0.018081310383430426 Centerline is valid? [True, True] Translation: X:284.79, Y:147.90, Z:16.24 [[ 5.74664771e-01 -8.12747388e-01 -9.59274941e-02 2.84790285e+02] [ 8.00647058e-01 5.82605635e-01 -1.39767535e-01 1.47900101e+02] [ 1.69483598e-01 3.51541269e-03 9.85526738e-01 1.62441231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.436875 meters 0.017343686723242865 Centerline is valid? [True, True] Translation: X:284.82, Y:147.95, Z:16.26 [[ 5.73825211e-01 -8.13279088e-01 -9.64455918e-02 2.84824114e+02] [ 8.01043934e-01 5.81863801e-01 -1.40581408e-01 1.47946058e+02] [ 1.70450118e-01 3.41199976e-03 9.85360399e-01 1.62568484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.496875 meters 0.016965795933674865 Centerline is valid? [True, True] Translation: X:284.86, Y:147.99, Z:16.27 [[ 5.72832836e-01 -8.13973660e-01 -9.64853523e-02 2.84856888e+02] [ 8.01723011e-01 5.80892645e-01 -1.40726503e-01 1.47993152e+02] [ 1.70595298e-01 3.25823439e-03 9.85335795e-01 1.62680939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.556875 meters 0.017122012804983718 Centerline is valid? [True, True] Translation: X:284.89, Y:148.04, Z:16.28 [[ 5.71482746e-01 -8.15172448e-01 -9.43469732e-02 2.84889889e+02] [ 8.03465038e-01 5.79211163e-01 -1.37689367e-01 1.48039578e+02] [ 1.66887399e-01 2.88260341e-03 9.85971747e-01 1.62817988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.616875 meters 0.016568684178973305 Centerline is valid? [True, True] Translation: X:284.92, Y:148.08, Z:16.29 [[ 5.71201050e-01 -8.15559707e-01 -9.26915570e-02 2.84924208e+02] [ 8.04255597e-01 5.78666345e-01 -1.35344730e-01 1.48084883e+02] [ 1.64019193e-01 2.76134858e-03 9.86453283e-01 1.62945841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.676875 meters 0.01681190849633517 Centerline is valid? [True, True] Translation: X:284.96, Y:148.13, Z:16.31 [[ 5.70716674e-01 -8.16097463e-01 -9.09252910e-02 2.84956398e+02] [ 8.05217000e-01 5.77908438e-01 -1.32843590e-01 1.48130487e+02] [ 1.60959810e-01 2.60146178e-03 9.86957533e-01 1.63064033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.736875 meters 0.01649356832641917 Centerline is valid? [True, True] Translation: X:284.99, Y:148.18, Z:16.32 [[ 5.69321566e-01 -8.17230005e-01 -8.94878428e-02 2.84991158e+02] [ 8.06697076e-01 5.76307139e-01 -1.30804852e-01 1.48175693e+02] [ 1.58470133e-01 2.28044207e-03 9.87361138e-01 1.63176376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.796875 meters 0.01602172671548923 Centerline is valid? [True, True] Translation: X:285.03, Y:148.22, Z:16.33 [[ 5.68042778e-01 -8.18150992e-01 -8.91984118e-02 2.85026364e+02] [ 8.07685502e-01 5.74999743e-01 -1.30458523e-01 1.48221156e+02] [ 1.58023834e-01 2.06175815e-03 9.87433146e-01 1.63258936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.856875 meters 0.015600353586243176 Centerline is valid? [True, True] Translation: X:285.06, Y:148.27, Z:16.33 [[ 5.66423162e-01 -8.19256992e-01 -8.93464253e-02 2.85059305e+02] [ 8.08757565e-01 5.73423695e-01 -1.30753458e-01 1.48267837e+02] [ 1.58354042e-01 1.80218946e-03 9.87380752e-01 1.63313147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.916875 meters 0.015565636868880918 Centerline is valid? [True, True] Translation: X:285.09, Y:148.31, Z:16.34 [[ 5.64952076e-01 -8.20251017e-01 -8.95400519e-02 2.85093507e+02] [ 8.09708219e-01 5.72001596e-01 -1.31098336e-01 1.48314745e+02] [ 1.58750596e-01 1.56296118e-03 9.87317480e-01 1.63385831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.976875 meters 0.015152486047957324 Centerline is valid? [True, True] Translation: X:285.13, Y:148.36, Z:16.34 [[ 5.63787774e-01 -8.20872128e-01 -9.11717909e-02 2.85127955e+02] [ 8.09933820e-01 5.71110160e-01 -1.33567930e-01 1.48361722e+02] [ 1.61711327e-01 1.46084885e-03 9.86837024e-01 1.63446626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.036875 meters 0.015782176155748204 Centerline is valid? [True, True] Translation: X:285.16, Y:148.41, Z:16.35 [[ 5.64089034e-01 -8.20297222e-01 -9.44247213e-02 2.85159151e+02] [ 8.08535832e-01 5.71934833e-01 -1.38420932e-01 1.48410631e+02] [ 1.67551093e-01 1.73595923e-03 9.85861865e-01 1.63482899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.096875 meters 0.015606334625246632 Centerline is valid? [True, True] Translation: X:285.19, Y:148.46, Z:16.36 [[ 5.65053309e-01 -8.19388966e-01 -9.65219190e-02 2.85191861e+02] [ 8.07068089e-01 5.73234088e-01 -1.41576058e-01 1.48458916e+02] [ 1.71335514e-01 2.09825955e-03 9.85210505e-01 1.63560691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.156875 meters 0.015517881247045702 Centerline is valid? [True, True] Translation: X:285.22, Y:148.51, Z:16.37 [[ 5.65129505e-01 -8.19278696e-01 -9.70106220e-02 2.85224978e+02] [ 8.06816109e-01 5.73391336e-01 -1.42373252e-01 1.48506238e+02] [ 1.72268423e-01 2.18959310e-03 9.85047611e-01 1.63668384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.216875 meters 0.01542043344423937 Centerline is valid? [True, True] Translation: X:285.26, Y:148.55, Z:16.38 [[ 5.63199834e-01 -8.20658953e-01 -9.65651638e-02 2.85257312e+02] [ 8.08317158e-01 5.71415450e-01 -1.41801818e-01 1.48552214e+02] [ 1.71549758e-01 1.80748124e-03 9.85173799e-01 1.63783674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.276875 meters 0.014584349839697027 Centerline is valid? [True, True] Translation: X:285.29, Y:148.60, Z:16.39 [[ 5.59881647e-01 -8.23132757e-01 -9.47892692e-02 2.85292632e+02] [ 8.11269536e-01 5.67847984e-01 -1.39249442e-01 1.48596287e+02] [ 1.68446672e-01 1.06356026e-03 9.85710194e-01 1.63937629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.336875 meters 0.01436882368748384 Centerline is valid? [True, True] Translation: X:285.33, Y:148.64, Z:16.41 [[ 5.57241582e-01 -8.25113360e-01 -9.31115583e-02 2.85327168e+02] [ 8.13683424e-01 5.64966981e-01 -1.36863419e-01 1.48642761e+02] [ 1.65532791e-01 5.02656238e-04 9.86204159e-01 1.64073285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.396875 meters 0.014390597353796507 Centerline is valid? [True, True] Translation: X:285.36, Y:148.69, Z:16.42 [[ 5.55807455e-01 -8.26212264e-01 -9.19313147e-02 2.85360315e+02] [ 8.15075165e-01 5.63358898e-01 -1.35200692e-01 1.48689866e+02] [ 1.63494794e-01 2.14621174e-04 9.86544173e-01 1.64179030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.456875 meters 0.01421164442969772 Centerline is valid? [True, True] Translation: X:285.39, Y:148.74, Z:16.43 [[ 5.53944348e-01 -8.27679616e-01 -8.99561676e-02 2.85393906e+02] [ 8.17025260e-01 5.61200877e-01 -1.32375601e-01 1.48736050e+02] [ 1.60048067e-01 -1.67745011e-04 9.87109208e-01 1.64283093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.516875 meters 0.0142853113345667 Centerline is valid? [True, True] Translation: X:285.43, Y:148.78, Z:16.44 [[ 5.53317105e-01 -8.28129196e-01 -8.96783970e-02 2.85426237e+02] [ 8.17533520e-01 5.60537217e-01 -1.32049128e-01 1.48782561e+02] [ 1.59621817e-01 -2.50054387e-04 9.87178207e-01 1.64353579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57687500000003 meters 0.014120628147023946 Centerline is valid? [True, True] Translation: X:285.46, Y:148.83, Z:16.44 [[ 5.54600787e-01 -8.27237506e-01 -8.99781923e-02 2.85457485e+02] [ 8.16549614e-01 5.61852389e-01 -1.32546676e-01 1.48830597e+02] [ 1.60202044e-01 3.88324742e-05 9.87084243e-01 1.64416808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63687500000003 meters 0.0142760732486162 Centerline is valid? [True, True] Translation: X:285.49, Y:148.88, Z:16.45 [[ 5.56552649e-01 -8.25921279e-01 -9.00177146e-02 2.85488811e+02] [ 8.15195003e-01 5.63785269e-01 -1.32677347e-01 1.48878501e+02] [ 1.60331706e-01 4.59937934e-04 9.87063084e-01 1.64499002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69687500000003 meters 0.014261969194539908 Centerline is valid? [True, True] Translation: X:285.52, Y:148.93, Z:16.46 [[ 5.59917376e-01 -8.23650553e-01 -8.99572077e-02 2.85518789e+02] [ 8.12896135e-01 5.67096486e-01 -1.32670451e-01 1.48929371e+02] [ 1.60288507e-01 1.15862454e-03 9.87069527e-01 1.64570929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75687500000004 meters 0.014872450913792037 Centerline is valid? [True, True] Translation: X:285.55, Y:148.98, Z:16.46 [[ 5.62926972e-01 -8.21520812e-01 -9.06464524e-02 2.85549271e+02] [ 8.10560384e-01 5.70175617e-01 -1.33759596e-01 1.48979882e+02] [ 1.61570688e-01 1.82246088e-03 9.86859459e-01 1.64638859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81687500000004 meters 0.01570054921479844 Centerline is valid? [True, True] Translation: X:285.58, Y:149.03, Z:16.47 [[ 5.66549040e-01 -8.18897233e-01 -9.18123430e-02 2.85578859e+02] [ 8.07604291e-01 5.73934053e-01 -1.35554461e-01 1.49030005e+02] [ 1.63699403e-01 2.65020762e-03 9.86506706e-01 1.64708902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87687500000004 meters 0.017046062098906713 Centerline is valid? [True, True] Translation: X:285.61, Y:149.08, Z:16.48 [[ 5.72266696e-01 -8.14625594e-01 -9.43184451e-02 2.85608210e+02] [ 8.02631006e-01 5.79973157e-01 -1.39336303e-01 1.49080882e+02] [ 1.68209085e-01 4.03461729e-03 9.85743083e-01 1.64778964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.936875 meters 0.019565936398123318 Centerline is valid? [True, True] Translation: X:285.64, Y:149.13, Z:16.49 [[ 5.76035675e-01 -8.11888154e-01 -9.49764536e-02 2.85635364e+02] [ 7.99673781e-01 5.83792295e-01 -1.40386609e-01 1.49131830e+02] [ 1.69424747e-01 4.91751541e-03 9.85530859e-01 1.64857230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.996875 meters 0.021466424962962867 Centerline is valid? [True, True] Translation: X:285.66, Y:149.18, Z:16.50 [[ 5.80640435e-01 -8.08736950e-01 -9.38148708e-02 2.85663774e+02] [ 7.96767163e-01 5.88141763e-01 -1.38749253e-01 1.49180853e+02] [ 1.67388092e-01 5.81481851e-03 9.85873934e-01 1.64977839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.056875 meters 0.0220518157463098 Centerline is valid? [True, True] Translation: X:285.70, Y:149.23, Z:16.51 [[ 5.82309123e-01 -8.07796683e-01 -9.15456382e-02 2.85695346e+02] [ 7.96377926e-01 5.89430842e-01 -1.35475023e-01 1.49228459e+02] [ 1.63396096e-01 5.98341602e-03 9.86542404e-01 1.65119360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.116875 meters 0.02114322678577157 Centerline is valid? [True, True] Translation: X:285.73, Y:149.27, Z:16.52 [[ 5.81974865e-01 -8.08181448e-01 -9.02662912e-02 2.85729145e+02] [ 7.97074885e-01 5.88904678e-01 -1.33652192e-01 1.49274619e+02] [ 1.61173463e-01 5.83322282e-03 9.86908855e-01 1.65242105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.176875 meters 0.02139103967432249 Centerline is valid? [True, True] Translation: X:285.76, Y:149.32, Z:16.53 [[ 5.80466972e-01 -8.09336951e-01 -8.96202832e-02 2.85761794e+02] [ 7.98390529e-01 5.87318680e-01 -1.32775494e-01 1.49321053e+02] [ 1.60095780e-01 5.51980357e-03 9.87086052e-01 1.65345290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.236875 meters 0.01965013673499937 Centerline is valid? [True, True] Translation: X:285.80, Y:149.37, Z:16.54 [[ 5.76727281e-01 -8.11969481e-01 -8.99511307e-02 2.85797827e+02] [ 8.00968869e-01 5.83679950e-01 -1.33291361e-01 1.49366722e+02] [ 1.60731189e-01 4.82470898e-03 9.86986427e-01 1.65426492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.296875 meters 0.017319222839009527 Centerline is valid? [True, True] Translation: X:285.84, Y:149.41, Z:16.55 [[ 5.71347476e-01 -8.15710997e-01 -9.04302524e-02 2.85835671e+02] [ 8.04629974e-01 5.78446994e-01 -1.34051037e-01 1.49411165e+02] [ 1.61656012e-01 3.82682983e-03 9.86839748e-01 1.65503328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.356875 meters 0.01554953966988481 Centerline is valid? [True, True] Translation: X:285.87, Y:149.46, Z:16.56 [[ 5.64970688e-01 -8.20028441e-01 -9.14411118e-02 2.85873344e+02] [ 8.08738736e-01 5.72316521e-01 -1.35629851e-01 1.49455904e+02] [ 1.63553594e-01 2.67492089e-03 9.86530824e-01 1.65583178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.416875 meters 0.015318859786552208 Centerline is valid? [True, True] Translation: X:285.91, Y:149.50, Z:16.56 [[ 5.60973091e-01 -8.22594729e-01 -9.29898039e-02 2.85907690e+02] [ 8.10937774e-01 5.68624546e-01 -1.38007438e-01 1.49502837e+02] [ 1.66400476e-01 2.00951470e-03 9.86056207e-01 1.65640031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.476875 meters 0.014637299314575553 Centerline is valid? [True, True] Translation: X:285.95, Y:149.55, Z:16.57 [[ 5.55125389e-01 -8.26315549e-01 -9.50705859e-02 2.85945601e+02] [ 8.14172405e-01 5.63206635e-01 -1.41143833e-01 1.49547143e+02] [ 1.70173729e-01 9.48677631e-04 9.85413620e-01 1.65708503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.536875 meters 0.014459500458986451 Centerline is valid? [True, True] Translation: X:285.98, Y:149.59, Z:16.58 [[ 5.50675069e-01 -8.29212638e-01 -9.57254846e-02 2.85981354e+02] [ 8.16928403e-01 5.58933260e-01 -1.42202654e-01 1.49590861e+02] [ 1.71420395e-01 1.06588927e-04 9.85197968e-01 1.65805605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.596875 meters 0.01447131834000183 Centerline is valid? [True, True] Translation: X:286.01, Y:149.64, Z:16.59 [[ 5.49620456e-01 -8.29862898e-01 -9.61505332e-02 2.86014903e+02] [ 8.17462610e-01 5.57967354e-01 -1.42924153e-01 1.49637159e+02] [ 1.72256310e-01 -4.54278003e-05 9.85052162e-01 1.65921228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.656875 meters 0.014563512697119977 Centerline is valid? [True, True] Translation: X:286.05, Y:149.68, Z:16.60 [[ 5.49843832e-01 -8.29734299e-01 -9.59830865e-02 2.86047355e+02] [ 8.17360360e-01 5.58158571e-01 -1.42762217e-01 1.49682675e+02] [ 1.72028491e-01 4.41544224e-05 9.85091974e-01 1.66025330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.716875 meters 0.014651602996937607 Centerline is valid? [True, True] Translation: X:286.08, Y:149.73, Z:16.61 [[ 5.51090815e-01 -8.29007804e-01 -9.51050655e-02 2.86079302e+02] [ 8.16836584e-01 5.59236946e-01 -1.41534562e-01 1.49729263e+02] [ 1.70519523e-01 3.13100153e-04 9.85354248e-01 1.66130103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.776875 meters 0.0142427174187297 Centerline is valid? [True, True] Translation: X:286.11, Y:149.77, Z:16.63 [[ 5.52154057e-01 -8.28466260e-01 -9.36458945e-02 2.86112624e+02] [ 8.16646126e-01 5.60038735e-01 -1.39447910e-01 1.49774775e+02] [ 1.67973217e-01 5.21172203e-04 9.85791422e-01 1.66272271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.836875 meters 0.014451089499449935 Centerline is valid? [True, True] Translation: X:286.14, Y:149.82, Z:16.64 [[ 5.53976026e-01 -8.27424990e-01 -9.20784850e-02 2.86144557e+02] [ 8.15971964e-01 5.61575577e-01 -1.37195571e-01 1.49821641e+02] [ 1.65228072e-01 8.69594809e-04 9.86255002e-01 1.66382995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.896875 meters 0.014662126560619009 Centerline is valid? [True, True] Translation: X:286.18, Y:149.87, Z:16.65 [[ 5.57042540e-01 -8.25478914e-01 -9.10393942e-02 2.86176358e+02] [ 8.14244975e-01 5.64431018e-01 -1.35730417e-01 1.49869948e+02] [ 1.63428055e-01 1.47924704e-03 9.86554146e-01 1.66475745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.956875 meters 0.015378343116733128 Centerline is valid? [True, True] Translation: X:286.21, Y:149.92, Z:16.65 [[ 5.59704588e-01 -8.23575479e-01 -9.19467494e-02 2.86207674e+02] [ 8.12075621e-01 5.67202788e-01 -1.37164801e-01 1.49917937e+02] [ 1.65118019e-01 2.10405482e-03 9.86271571e-01 1.66531976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.016875 meters 0.015680157755125674 Centerline is valid? [True, True] Translation: X:286.24, Y:149.97, Z:16.66 [[ 5.61189479e-01 -8.22329319e-01 -9.40258402e-02 2.86240342e+02] [ 8.10268198e-01 5.69006025e-01 -1.40348105e-01 1.49966071e+02] [ 1.68913631e-01 2.57573159e-03 9.85627491e-01 1.66579614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07687500000003 meters 0.016220318046456534 Centerline is valid? [True, True] Translation: X:286.27, Y:150.01, Z:16.67 [[ 5.62261268e-01 -8.21467103e-01 -9.51528508e-02 2.86273512e+02] [ 8.09086595e-01 5.70248447e-01 -1.42111190e-01 1.50013856e+02] [ 1.71000433e-01 2.91672201e-03 9.85266636e-01 1.66655031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13687500000003 meters 0.016598834134526595 Centerline is valid? [True, True] Translation: X:286.31, Y:150.06, Z:16.67 [[ 5.62619285e-01 -8.21136399e-01 -9.58882411e-02 2.86306187e+02] [ 8.08543523e-01 5.70723647e-01 -1.43289535e-01 1.50061057e+02] [ 1.72385939e-01 3.08763923e-03 9.85024647e-01 1.66743367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19687500000003 meters 0.016182670413260575 Centerline is valid? [True, True] Translation: X:286.34, Y:150.11, Z:16.69 [[ 5.63252677e-01 -8.20645918e-01 -9.63675213e-02 2.86341199e+02] [ 8.07904642e-01 5.71427494e-01 -1.44085765e-01 1.50106922e+02] [ 1.73310446e-01 3.30092520e-03 9.84861713e-01 1.66850330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25687500000004 meters 0.01610795020480893 Centerline is valid? [True, True] Translation: X:286.38, Y:150.15, Z:16.70 [[ 5.62986849e-01 -8.20802224e-01 -9.65894212e-02 2.86375428e+02] [ 8.07989240e-01 5.71202905e-01 -1.44501316e-01 1.50153411e+02] [ 1.73779160e-01 3.30912781e-03 9.84779089e-01 1.66954710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31687500000004 meters 0.015100905641869158 Centerline is valid? [True, True] Translation: X:286.41, Y:150.20, Z:16.71 [[ 5.61807006e-01 -8.21723144e-01 -9.56240736e-02 2.86412701e+02] [ 8.09165217e-01 5.69878773e-01 -1.43142713e-01 1.50198324e+02] [ 1.72117810e-01 3.04290493e-03 9.85071673e-01 1.67088075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37687500000004 meters 0.015053191818025072 Centerline is valid? [True, True] Translation: X:286.45, Y:150.24, Z:16.72 [[ 5.60028958e-01 -8.23064383e-01 -9.45123674e-02 2.86446187e+02] [ 8.10805595e-01 5.67941941e-01 -1.41549421e-01 1.50243669e+02] [ 1.70181824e-01 2.64061814e-03 9.85409140e-01 1.67194563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.436875 meters 0.013640955602453304 Centerline is valid? [True, True] Translation: X:286.48, Y:150.29, Z:16.73 [[ 5.56341511e-01 -8.25688862e-01 -9.33917897e-02 2.86483673e+02] [ 8.13748215e-01 5.64122755e-01 -1.39926264e-01 1.50286951e+02] [ 1.68219991e-01 1.84938692e-03 9.85747744e-01 1.67316189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.496875 meters 0.013137566371830002 Centerline is valid? [True, True] Translation: X:286.52, Y:150.33, Z:16.74 [[ 5.53253045e-01 -8.27850968e-01 -9.25950521e-02 2.86518797e+02] [ 8.16130263e-01 5.60946753e-01 -1.38816909e-01 1.50331497e+02] [ 1.66860606e-01 1.23125332e-03 9.85979727e-01 1.67412640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.556875 meters 0.01297534458350712 Centerline is valid? [True, True] Translation: X:286.55, Y:150.38, Z:16.75 [[ 5.51363101e-01 -8.29203984e-01 -9.17577427e-02 2.86552997e+02] [ 8.17704674e-01 5.58945467e-01 -1.37619152e-01 1.50377940e+02] [ 1.65401923e-01 8.47387315e-04 9.86225880e-01 1.67509451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.616875 meters 0.01279324327122633 Centerline is valid? [True, True] Translation: X:286.59, Y:150.42, Z:16.76 [[ 5.49848988e-01 -8.30223969e-01 -9.16201481e-02 2.86586170e+02] [ 8.18759197e-01 5.57429651e-01 -1.37497496e-01 1.50424502e+02] [ 1.65225504e-01 5.88020220e-04 9.86255640e-01 1.67598632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.676875 meters 0.012890359872920096 Centerline is valid? [True, True] Translation: X:286.62, Y:150.47, Z:16.77 [[ 5.49129636e-01 -8.30573786e-01 -9.27568290e-02 2.86618229e+02] [ 8.18810778e-01 5.56908337e-01 -1.39291110e-01 1.50471397e+02] [ 1.67348596e-01 5.38584963e-04 9.85897640e-01 1.67670848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.736875 meters 0.012825413405549707 Centerline is valid? [True, True] Translation: X:286.65, Y:150.52, Z:16.77 [[ 5.49375215e-01 -8.30263192e-01 -9.40739289e-02 2.86649708e+02] [ 8.18140779e-01 5.57371105e-01 -1.41361652e-01 1.50520560e+02] [ 1.69801466e-01 6.94870592e-04 9.85478046e-01 1.67744847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.796875 meters 0.013224958578965558 Centerline is valid? [True, True] Translation: X:286.68, Y:150.57, Z:16.78 [[ 5.50124111e-01 -8.29584786e-01 -9.56689375e-02 2.86679981e+02] [ 8.17019608e-01 5.58379929e-01 -1.43843022e-01 1.50570180e+02] [ 1.72749598e-01 9.68116988e-04 9.84965299e-01 1.67815810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.856875 meters 0.013324826867287844 Centerline is valid? [True, True] Translation: X:286.71, Y:150.62, Z:16.79 [[ 5.50692889e-01 -8.29156742e-01 -9.61063973e-02 2.86708859e+02] [ 8.16455081e-01 5.59014999e-01 -1.44579845e-01 1.50618419e+02] [ 1.73604271e-01 1.15253601e-03 9.84814820e-01 1.67905888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.916875 meters 0.01320692411834061 Centerline is valid? [True, True] Translation: X:286.74, Y:150.67, Z:16.80 [[ 5.50425332e-01 -8.29340248e-01 -9.60557478e-02 2.86739120e+02] [ 8.16647353e-01 5.58742788e-01 -1.44546179e-01 1.50667273e+02] [ 1.73548421e-01 1.11820663e-03 9.84824703e-01 1.68012929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.976875 meters 0.013282198441597469 Centerline is valid? [True, True] Translation: X:286.77, Y:150.71, Z:16.81 [[ 5.49547625e-01 -8.30085975e-01 -9.46291804e-02 2.86768495e+02] [ 8.17766509e-01 5.57634677e-01 -1.42483343e-01 1.50714617e+02] [ 1.71041937e-01 9.16808307e-04 9.85263323e-01 1.68140021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.036875 meters 0.012940364505336309 Centerline is valid? [True, True] Translation: X:286.80, Y:150.76, Z:16.83 [[ 5.48555397e-01 -8.30939639e-01 -9.28778364e-02 2.86798207e+02] [ 8.19077480e-01 5.56362171e-01 -1.39904311e-01 1.50762813e+02] [ 1.67925753e-01 6.71120875e-04 9.85799417e-01 1.68286082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.096875 meters 0.012739905296957085 Centerline is valid? [True, True] Translation: X:286.83, Y:150.81, Z:16.84 [[ 5.46853490e-01 -8.32220011e-01 -9.14391233e-02 2.86827787e+02] [ 8.20729253e-01 5.54445444e-01 -1.37817789e-01 1.50811714e+02] [ 1.65392727e-01 3.19375580e-04 9.86227734e-01 1.68392686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.156875 meters 0.012794296516819363 Centerline is valid? [True, True] Translation: X:286.86, Y:150.86, Z:16.85 [[ 5.45169687e-01 -8.33361039e-01 -9.11009957e-02 2.86858170e+02] [ 8.21957420e-01 5.52729028e-01 -1.37392219e-01 1.50858860e+02] [ 1.64851487e-01 2.09336488e-05 9.86318400e-01 1.68480896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.216875 meters 0.013077797651739493 Centerline is valid? [True, True] Translation: X:286.89, Y:150.91, Z:16.86 [[ 5.42733495e-01 -8.34850527e-01 -9.20051657e-02 2.86889133e+02] [ 8.23225677e-01 5.50476561e-01 -1.38834579e-01 1.50907884e+02] [ 1.66552809e-01 -3.90838413e-04 9.86032458e-01 1.68562158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.276875 meters 0.013114237245005789 Centerline is valid? [True, True] Translation: X:286.92, Y:150.96, Z:16.86 [[ 5.41808141e-01 -8.35336407e-01 -9.30431345e-02 2.86918905e+02] [ 8.23438074e-01 5.49738883e-01 -1.40488077e-01 1.50957316e+02] [ 1.68504234e-01 -4.97675589e-04 9.85700804e-01 1.68633705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.336875 meters 0.01318181807016666 Centerline is valid? [True, True] Translation: X:286.95, Y:151.01, Z:16.87 [[ 5.41539637e-01 -8.35441027e-01 -9.36648978e-02 2.86948110e+02] [ 8.23368777e-01 5.49579889e-01 -1.41512550e-01 1.51006419e+02] [ 1.69701734e-01 -4.86097585e-04 9.85495350e-01 1.68704086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.396875 meters 0.01324338423085735 Centerline is valid? [True, True] Translation: X:286.98, Y:151.06, Z:16.88 [[ 5.41842488e-01 -8.35101871e-01 -9.49293545e-02 2.86977189e+02] [ 8.22677406e-01 5.50095223e-01 -1.43517009e-01 1.51057219e+02] [ 1.72071507e-01 -3.32621939e-04 9.85084405e-01 1.68777803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.456875 meters 0.01326928178598888 Centerline is valid? [True, True] Translation: X:287.01, Y:151.11, Z:16.89 [[ 5.41999753e-01 -8.35009711e-01 -9.48422349e-02 2.87006782e+02] [ 8.22592403e-01 5.50235146e-01 -1.43467848e-01 1.51105630e+02] [ 1.71982577e-01 -2.56963627e-04 9.85099958e-01 1.68885865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.516875 meters 0.013397234118311608 Centerline is valid? [True, True] Translation: X:287.04, Y:151.16, Z:16.90 [[ 5.43469048e-01 -8.34053555e-01 -9.48475627e-02 2.87035019e+02] [ 8.21604964e-01 5.51683476e-01 -1.43564010e-01 1.51155644e+02] [ 1.72065906e-01 9.53676809e-05 9.85085435e-01 1.68994543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57687500000003 meters 0.013321889110768292 Centerline is valid? [True, True] Translation: X:287.06, Y:151.21, Z:16.91 [[ 5.46106093e-01 -8.32467230e-01 -9.36292984e-02 2.87062261e+02] [ 8.20300497e-01 5.54073916e-01 -1.41806876e-01 1.51205624e+02] [ 1.69927129e-01 6.37438906e-04 9.85456424e-01 1.69109643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63687500000003 meters 0.013463279224298115 Centerline is valid? [True, True] Translation: X:287.09, Y:151.26, Z:16.92 [[ 5.48748651e-01 -8.30909837e-01 -9.19986970e-02 2.87090070e+02] [ 8.19130126e-01 5.56405898e-01 -1.39421350e-01 1.51255256e+02] [ 1.67035189e-01 1.14837370e-03 9.85950266e-01 1.69220470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69687500000003 meters 0.013694583593316573 Centerline is valid? [True, True] Translation: X:287.12, Y:151.30, Z:16.93 [[ 5.50407384e-01 -8.29924384e-01 -9.09792707e-02 2.87119468e+02] [ 8.18378344e-01 5.57873934e-01 -1.37962167e-01 1.51304358e+02] [ 1.65253130e-01 1.47993076e-03 9.86250076e-01 1.69324105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75687500000004 meters 0.014244165729280032 Centerline is valid? [True, True] Translation: X:287.15, Y:151.35, Z:16.94 [[ 5.51947375e-01 -8.29072047e-01 -8.94071367e-02 2.87147674e+02] [ 8.17899453e-01 5.59139045e-01 -1.35661390e-01 1.51353228e+02] [ 1.62464088e-01 1.75190017e-03 9.86712902e-01 1.69423717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81687500000004 meters 0.014319677030207248 Centerline is valid? [True, True] Translation: X:287.18, Y:151.40, Z:16.95 [[ 5.51780025e-01 -8.29138330e-01 -8.98244620e-02 2.87179032e+02] [ 8.17848560e-01 5.59040648e-01 -1.36371871e-01 1.51401983e+02] [ 1.63286670e-01 1.78446735e-03 9.86577052e-01 1.69495773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87687500000004 meters 0.014184385035208634 Centerline is valid? [True, True] Translation: X:287.21, Y:151.45, Z:16.95 [[ 5.50430291e-01 -8.29862795e-01 -9.14015086e-02 2.87210922e+02] [ 8.18165734e-01 5.57965079e-01 -1.38851728e-01 1.51449523e+02] [ 1.66226733e-01 1.64661442e-03 9.86086184e-01 1.69549126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.936875 meters 0.013878820219367061 Centerline is valid? [True, True] Translation: X:287.24, Y:151.50, Z:16.96 [[ 5.48590870e-01 -8.30969895e-01 -9.23963830e-02 2.87244512e+02] [ 8.19015200e-01 5.56315682e-01 -1.40452714e-01 1.51497040e+02] [ 1.68113534e-01 1.37703464e-03 9.85766678e-01 1.69621409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.996875 meters 0.01374059039059335 Centerline is valid? [True, True] Translation: X:287.28, Y:151.54, Z:16.97 [[ 5.47217847e-01 -8.31857890e-01 -9.25477051e-02 2.87277958e+02] [ 8.19861625e-01 5.54987492e-01 -1.40768601e-01 1.51543897e+02] [ 1.68462290e-01 1.15477879e-03 9.85707423e-01 1.69723180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.056875 meters 0.013472218128345358 Centerline is valid? [True, True] Translation: X:287.31, Y:151.59, Z:16.98 [[ 5.44535489e-01 -8.33604653e-01 -9.26519546e-02 2.87313075e+02] [ 8.21591232e-01 5.52361151e-01 -1.41014206e-01 1.51589989e+02] [ 1.68727438e-01 6.65205760e-04 9.85662523e-01 1.69829145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.116875 meters 0.013647750939289379 Centerline is valid? [True, True] Translation: X:287.35, Y:151.64, Z:16.99 [[ 5.41829074e-01 -8.35393396e-01 -9.24074060e-02 2.87346964e+02] [ 8.23460084e-01 5.49652485e-01 -1.40696960e-01 1.51635086e+02] [ 1.68329271e-01 1.39893107e-04 9.85730814e-01 1.69921984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.176875 meters 0.013536412263890345 Centerline is valid? [True, True] Translation: X:287.38, Y:151.68, Z:17.00 [[ 5.40130493e-01 -8.36580404e-01 -9.16093819e-02 2.87380608e+02] [ 8.24857884e-01 5.47844133e-01 -1.39557431e-01 1.51681785e+02] [ 1.66938675e-01 -1.85496841e-04 9.85967263e-01 1.70033984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.236875 meters 0.013612320011935042 Centerline is valid? [True, True] Translation: X:287.41, Y:151.73, Z:17.02 [[ 5.38172063e-01 -8.38126185e-01 -8.89681305e-02 2.87414747e+02] [ 8.27081835e-01 5.45476066e-01 -1.35615263e-01 1.51727698e+02] [ 1.62192688e-01 -5.99578917e-04 9.86758923e-01 1.70164086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.296875 meters 0.013637458877789912 Centerline is valid? [True, True] Translation: X:287.45, Y:151.77, Z:17.03 [[ 5.37238773e-01 -8.38825643e-01 -8.80115987e-02 2.87447210e+02] [ 8.28015047e-01 5.44399640e-01 -1.34239015e-01 1.51773864e+02] [ 1.60516611e-01 -7.56524328e-04 9.87032849e-01 1.70271693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.356875 meters 0.013662889580182669 Centerline is valid? [True, True] Translation: X:287.48, Y:151.82, Z:17.03 [[ 5.37463728e-01 -8.38602876e-01 -8.87578606e-02 2.87478251e+02] [ 8.27593871e-01 5.44742855e-01 -1.35438568e-01 1.51822454e+02] [ 1.61929383e-01 -6.62143766e-04 9.86802126e-01 1.70338905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.416875 meters 0.013786846361990273 Centerline is valid? [True, True] Translation: X:287.51, Y:151.87, Z:17.04 [[ 5.37699320e-01 -8.38336772e-01 -8.98381814e-02 2.87509745e+02] [ 8.27038504e-01 5.45152422e-01 -1.37171971e-01 1.51870950e+02] [ 1.63971809e-01 -5.42359929e-04 9.86464876e-01 1.70410302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.476875 meters 0.013532207580568459 Centerline is valid? [True, True] Translation: X:287.54, Y:151.92, Z:17.05 [[ 5.37042827e-01 -8.38689146e-01 -9.04738574e-02 2.87541667e+02] [ 8.27220002e-01 5.44610088e-01 -1.38227784e-01 1.51919496e+02] [ 1.65203118e-01 -6.07544429e-04 9.86259378e-01 1.70488538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.536875 meters 0.013536004268289725 Centerline is valid? [True, True] Translation: X:287.57, Y:151.97, Z:17.06 [[ 5.36556474e-01 -8.38952029e-01 -9.09210813e-02 2.87572776e+02] [ 8.27357661e-01 5.44204996e-01 -1.38997204e-01 1.51967853e+02] [ 1.66091693e-01 -6.44403647e-04 9.86110103e-01 1.70575232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.596875 meters 0.013648911417338004 Centerline is valid? [True, True] Translation: X:287.60, Y:152.02, Z:17.07 [[ 5.36993070e-01 -8.38562795e-01 -9.19286800e-02 2.87603665e+02] [ 8.26687232e-01 5.44804743e-01 -1.40627211e-01 1.52016450e+02] [ 1.68007928e-01 -4.80428520e-04 9.85785527e-01 1.70669528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.656875 meters 0.01364394951144156 Centerline is valid? [True, True] Translation: X:287.63, Y:152.07, Z:17.08 [[ 5.38566694e-01 -8.37530960e-01 -9.21292930e-02 2.87634027e+02] [ 8.25573151e-01 5.46389860e-01 -1.41021605e-01 1.52065195e+02] [ 1.68448471e-01 -1.09931344e-04 9.85710455e-01 1.70761477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.716875 meters 0.013749858147845751 Centerline is valid? [True, True] Translation: X:287.66, Y:152.11, Z:17.09 [[ 5.40034657e-01 -8.36581536e-01 -9.21623767e-02 2.87663519e+02] [ 8.24586192e-01 5.47842385e-01 -1.41160664e-01 1.52113590e+02] [ 1.68582861e-01 2.35827263e-04 9.85687457e-01 1.70862780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.776875 meters 0.013890779390863533 Centerline is valid? [True, True] Translation: X:287.69, Y:152.16, Z:17.10 [[ 5.40700980e-01 -8.36293582e-01 -9.08597540e-02 2.87694803e+02] [ 8.24618122e-01 5.48281777e-01 -1.39255329e-01 1.52161532e+02] [ 1.66275085e-01 3.70892910e-04 9.86079337e-01 1.70985480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.836875 meters 0.013868006827451899 Centerline is valid? [True, True] Translation: X:287.73, Y:152.21, Z:17.11 [[ 5.40914830e-01 -8.36246719e-01 -9.00142896e-02 2.87725836e+02] [ 8.24774703e-01 5.48353210e-01 -1.38041466e-01 1.52209390e+02] [ 1.64796348e-01 4.27167046e-04 9.86327522e-01 1.71100889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.896875 meters 0.013805732842751281 Centerline is valid? [True, True] Translation: X:287.76, Y:152.26, Z:17.12 [[ 5.41540271e-01 -8.35955165e-01 -8.89555925e-02 2.87756754e+02] [ 8.24735911e-01 5.48797462e-01 -1.36499168e-01 1.52257730e+02] [ 1.62925788e-01 5.54924848e-04 9.86638171e-01 1.71211489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.956875 meters 0.014207299826501889 Centerline is valid? [True, True] Translation: X:287.79, Y:152.31, Z:17.13 [[ 5.42624710e-01 -8.35216259e-01 -8.92873173e-02 2.87786649e+02] [ 8.23888927e-01 5.49921011e-01 -1.37090907e-01 1.52306096e+02] [ 1.63601526e-01 8.26081651e-04 9.86526157e-01 1.71283623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.016875 meters 0.014152481980549431 Centerline is valid? [True, True] Translation: X:287.82, Y:152.36, Z:17.13 [[ 5.43448959e-01 -8.34507159e-01 -9.08902149e-02 2.87816801e+02] [ 8.22741661e-01 5.50995983e-01 -1.39640920e-01 1.52355728e+02] [ 1.66611491e-01 1.10854617e-03 9.86021999e-01 1.71344310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07687500000003 meters 0.014707899216756545 Centerline is valid? [True, True] Translation: X:287.85, Y:152.40, Z:17.14 [[ 5.43906481e-01 -8.34029347e-01 -9.25245209e-02 2.87848139e+02] [ 8.21812811e-01 5.51718492e-01 -1.42233642e-01 1.52404505e+02] [ 1.69674521e-01 1.32396333e-03 9.85499266e-01 1.71416303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13687500000003 meters 0.01500757370488495 Centerline is valid? [True, True] Translation: X:287.88, Y:152.45, Z:17.15 [[ 5.43522083e-01 -8.34227517e-01 -9.29956709e-02 2.87878079e+02] [ 8.21873690e-01 5.51418824e-01 -1.43041666e-01 1.52452146e+02] [ 1.70608858e-01 1.31560934e-03 9.85337956e-01 1.71491594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19687500000003 meters 0.014754463254569458 Centerline is valid? [True, True] Translation: X:287.91, Y:152.50, Z:17.16 [[ 5.43146811e-01 -8.34505337e-01 -9.26951143e-02 2.87909754e+02] [ 8.22220110e-01 5.50998381e-01 -1.42670509e-01 1.52499198e+02] [ 1.70134159e-01 1.27524493e-03 9.85420084e-01 1.71609584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25687500000004 meters 0.014686052693466877 Centerline is valid? [True, True] Translation: X:287.94, Y:152.55, Z:17.17 [[ 5.41891150e-01 -8.35364706e-01 -9.23027088e-02 2.87941950e+02] [ 8.23181580e-01 5.49695104e-01 -1.42152658e-01 1.52546132e+02] [ 1.69487660e-01 1.04937752e-03 9.85531751e-01 1.71720464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31687500000004 meters 0.014386568075728964 Centerline is valid? [True, True] Translation: X:287.97, Y:152.59, Z:17.18 [[ 5.40424547e-01 -8.36347043e-01 -9.20050656e-02 2.87974146e+02] [ 8.24242025e-01 5.48199783e-01 -1.41781813e-01 1.52593298e+02] [ 1.69015957e-01 7.87930291e-04 9.85613000e-01 1.71823158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37687500000004 meters 0.014499541168295615 Centerline is valid? [True, True] Translation: X:288.01, Y:152.64, Z:17.19 [[ 5.37797940e-01 -8.38011596e-01 -9.22493403e-02 2.88007441e+02] [ 8.25850732e-01 5.45652330e-01 -1.42246631e-01 1.52640651e+02] [ 1.69540394e-01 3.15759922e-04 9.85523189e-01 1.71912140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.436875 meters 0.014536340924310397 Centerline is valid? [True, True] Translation: X:288.04, Y:152.69, Z:17.20 [[ 5.36519445e-01 -8.38842474e-01 -9.21422215e-02 2.88039674e+02] [ 8.26707104e-01 5.44374222e-01 -1.42169160e-01 1.52687958e+02] [ 1.69417380e-01 1.01889546e-04 9.85544388e-01 1.72006504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.496875 meters 0.014587689084865138 Centerline is valid? [True, True] Translation: X:288.07, Y:152.73, Z:17.21 [[ 5.34152317e-01 -8.40345486e-01 -9.21996037e-02 2.88072874e+02] [ 8.28201483e-01 5.42051067e-01 -1.42347971e-01 1.52734818e+02] [ 1.69598368e-01 -3.24349974e-04 9.85513211e-01 1.72095758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.556875 meters 0.014612318447054826 Centerline is valid? [True, True] Translation: X:288.11, Y:152.78, Z:17.22 [[ 5.31902460e-01 -8.41805249e-01 -9.18895873e-02 2.88105752e+02] [ 8.29749769e-01 5.39780862e-01 -1.41957536e-01 1.52780936e+02] [ 1.69100839e-01 -7.37801278e-04 9.85598479e-01 1.72180956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.616875 meters 0.014599868072193841 Centerline is valid? [True, True] Translation: X:288.14, Y:152.83, Z:17.23 [[ 5.31092634e-01 -8.42309073e-01 -9.19567268e-02 2.88137149e+02] [ 8.30231923e-01 5.38994139e-01 -1.42127662e-01 1.52829451e+02] [ 1.69279556e-01 -8.62456019e-04 9.85567698e-01 1.72269343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.676875 meters 0.014710410906228757 Centerline is valid? [True, True] Translation: X:288.17, Y:152.88, Z:17.23 [[ 5.31597699e-01 -8.41920600e-01 -9.25936782e-02 2.88166825e+02] [ 8.29653047e-01 5.39600982e-01 -1.43201263e-01 1.52877619e+02] [ 1.70527733e-01 -6.95165456e-04 9.85352632e-01 1.72335667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.736875 meters 0.014740395961889495 Centerline is valid? [True, True] Translation: X:288.20, Y:152.93, Z:17.24 [[ 5.32601316e-01 -8.41219936e-01 -9.31925846e-02 2.88196576e+02] [ 8.28765097e-01 5.40692926e-01 -1.44220572e-01 1.52926497e+02] [ 1.71709792e-01 -4.22694764e-04 9.85147486e-01 1.72423776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.796875 meters 0.014494748276350384 Centerline is valid? [True, True] Translation: X:288.23, Y:152.98, Z:17.25 [[ 5.33137515e-01 -8.40902166e-01 -9.29942873e-02 2.88226462e+02] [ 8.28480812e-01 5.41187097e-01 -1.44000243e-01 1.52975099e+02] [ 1.71417424e-01 -2.72051122e-04 9.85198453e-01 1.72538002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.856875 meters 0.01441243263373888 Centerline is valid? [True, True] Translation: X:288.26, Y:153.02, Z:17.26 [[ 5.34038578e-01 -8.40493810e-01 -9.15038408e-02 2.88255594e+02] [ 8.28449383e-01 5.41821140e-01 -1.41779664e-01 1.53022944e+02] [ 1.68743645e-01 -9.04902763e-05 9.85659969e-01 1.72640152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.916875 meters 0.014500534087758043 Centerline is valid? [True, True] Translation: X:288.29, Y:153.07, Z:17.28 [[ 5.34228128e-01 -8.40530915e-01 -9.00449248e-02 2.88286630e+02] [ 8.28859916e-01 5.41763581e-01 -1.39583175e-01 1.53070363e+02] [ 1.66107035e-01 -6.53701572e-05 9.86107727e-01 1.72763170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.976875 meters 0.014411668568094197 Centerline is valid? [True, True] Translation: X:288.32, Y:153.12, Z:17.29 [[ 5.33312935e-01 -8.41165498e-01 -8.95428284e-02 2.88318035e+02] [ 8.29619786e-01 5.40777735e-01 -1.38890070e-01 1.53118761e+02] [ 1.65252303e-01 -2.14631193e-04 9.86251302e-01 1.72866562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.036875 meters 0.014699502912798822 Centerline is valid? [True, True] Translation: X:288.35, Y:153.17, Z:17.29 [[ 5.32033129e-01 -8.42014985e-01 -8.91712653e-02 2.88349186e+02] [ 8.30563167e-01 5.39453965e-01 -1.38398862e-01 1.53167004e+02] [ 1.64637708e-01 -4.29589147e-04 9.86354014e-01 1.72944662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.096875 meters 0.014620339105778198 Centerline is valid? [True, True] Translation: X:288.38, Y:153.22, Z:17.30 [[ 5.30067829e-01 -8.43249937e-01 -8.92056077e-02 2.88380915e+02] [ 8.31792256e-01 5.37521122e-01 -1.38537669e-01 1.53215319e+02] [ 1.64771779e-01 -7.66172271e-04 9.86331422e-01 1.73033366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.156875 meters 0.014789479785746022 Centerline is valid? [True, True] Translation: X:288.41, Y:153.26, Z:17.31 [[ 5.29066599e-01 -8.43918809e-01 -8.88232911e-02 2.88411502e+02] [ 8.32555074e-01 5.36470120e-01 -1.38028472e-01 1.53263425e+02] [ 1.64135866e-01 -9.24027216e-04 9.86437309e-01 1.73127719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.216875 meters 0.014982098648975546 Centerline is valid? [True, True] Translation: X:288.44, Y:153.31, Z:17.32 [[ 5.26726551e-01 -8.45345837e-01 -8.91602827e-02 2.88442311e+02] [ 8.33900568e-01 5.34217801e-01 -1.38640486e-01 1.53311162e+02] [ 1.64830168e-01 -1.32518545e-03 9.86321073e-01 1.73208904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.276875 meters 0.015343445597837986 Centerline is valid? [True, True] Translation: X:288.47, Y:153.36, Z:17.33 [[ 5.23418887e-01 -8.47330594e-01 -8.97971772e-02 2.88473873e+02] [ 8.35735585e-01 5.31062311e-01 -1.39709890e-01 1.53359412e+02] [ 1.66068361e-01 -1.91990132e-03 9.86112374e-01 1.73284743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.336875 meters 0.01602567312657576 Centerline is valid? [True, True] Translation: X:288.50, Y:153.41, Z:17.34 [[ 5.21578729e-01 -8.48476945e-01 -8.96800051e-02 2.88504392e+02] [ 8.36915567e-01 5.29227612e-01 -1.39608269e-01 1.53407252e+02] [ 1.65915532e-01 -2.23788899e-03 9.86137429e-01 1.73373411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.396875 meters 0.016298521298603253 Centerline is valid? [True, True] Translation: X:288.53, Y:153.46, Z:17.35 [[ 5.20853767e-01 -8.49016942e-01 -8.87782985e-02 2.88534569e+02] [ 8.37683767e-01 5.28360421e-01 -1.38279324e-01 1.53455332e+02] [ 1.64308428e-01 -2.34483286e-03 9.86406226e-01 1.73483141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.456875 meters 0.0164763544064649 Centerline is valid? [True, True] Translation: X:288.57, Y:153.50, Z:17.36 [[ 5.20478781e-01 -8.49337804e-01 -8.79041153e-02 2.88565061e+02] [ 8.38219340e-01 5.27844334e-01 -1.36998894e-01 1.53503195e+02] [ 1.62758029e-01 -2.37791207e-03 9.86663149e-01 1.73585947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.516875 meters 0.016498818953324345 Centerline is valid? [True, True] Translation: X:288.59, Y:153.55, Z:17.37 [[ 5.20310338e-01 -8.49483776e-01 -8.74898022e-02 2.88594114e+02] [ 8.38459450e-01 5.27609421e-01 -1.36433316e-01 1.53552088e+02] [ 1.62058333e-01 -2.36898643e-03 9.86778336e-01 1.73688818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57687500000003 meters 0.016450150586806947 Centerline is valid? [True, True] Translation: X:288.62, Y:153.60, Z:17.38 [[ 5.20664555e-01 -8.49219646e-01 -8.79455183e-02 2.88622159e+02] [ 8.38062316e-01 5.28034946e-01 -1.37224816e-01 1.53601604e+02] [ 1.62972316e-01 -2.25572715e-03 9.86628064e-01 1.73758458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63687500000003 meters 0.016288083634519574 Centerline is valid? [True, True] Translation: X:288.65, Y:153.65, Z:17.38 [[ 5.21428638e-01 -8.48709134e-01 -8.83458106e-02 2.88650717e+02] [ 8.37428069e-01 5.28855897e-01 -1.37933570e-01 1.53651056e+02] [ 1.63787683e-01 -2.06074815e-03 9.86493461e-01 1.73839300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69687500000003 meters 0.016299714328780097 Centerline is valid? [True, True] Translation: X:288.68, Y:153.70, Z:17.39 [[ 5.21660588e-01 -8.48540732e-01 -8.85937794e-02 2.88680096e+02] [ 8.37180267e-01 5.29126394e-01 -1.38399641e-01 1.53699876e+02] [ 1.64315040e-01 -1.97132575e-03 9.86405942e-01 1.73923059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75687500000004 meters 0.015551252816482413 Centerline is valid? [True, True] Translation: X:288.71, Y:153.75, Z:17.40 [[ 5.22270549e-01 -8.48151635e-01 -8.87258512e-02 2.88706200e+02] [ 8.36736790e-01 5.29750457e-01 -1.38693900e-01 1.53750776e+02] [ 1.64636018e-01 -1.80444477e-03 9.86352739e-01 1.74020377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81687500000004 meters 0.015355612533442121 Centerline is valid? [True, True] Translation: X:288.74, Y:153.80, Z:17.41 [[ 5.22848230e-01 -8.47723027e-01 -8.94169903e-02 2.88735269e+02] [ 8.36107481e-01 5.30436607e-01 -1.39861667e-01 1.53800381e+02] [ 1.65994001e-01 -1.63578953e-03 9.86125406e-01 1.74113061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87687500000004 meters 0.015414642443655537 Centerline is valid? [True, True] Translation: X:288.76, Y:153.85, Z:17.42 [[ 5.22632097e-01 -8.47714039e-01 -9.07557125e-02 2.88764982e+02] [ 8.35730264e-01 5.30451049e-01 -1.42044399e-01 1.53849843e+02] [ 1.68554494e-01 -1.61033357e-03 9.85691021e-01 1.74191060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.936875 meters 0.015443609088322924 Centerline is valid? [True, True] Translation: X:288.80, Y:153.90, Z:17.43 [[ 5.21836398e-01 -8.48197057e-01 -9.08213961e-02 2.88795381e+02] [ 8.36188186e-01 5.29678007e-01 -1.42234052e-01 1.53897964e+02] [ 1.68748601e-01 -1.72087296e-03 9.85657622e-01 1.74288419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.996875 meters 0.015564634359438126 Centerline is valid? [True, True] Translation: X:288.83, Y:153.95, Z:17.44 [[ 5.21293735e-01 -8.48603595e-01 -9.01375685e-02 2.88826773e+02] [ 8.36767015e-01 5.29026213e-01 -1.41252359e-01 1.53945994e+02] [ 1.67552396e-01 -1.79017458e-03 9.85861547e-01 1.74400464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.056875 meters 0.015377854320688292 Centerline is valid? [True, True] Translation: X:288.86, Y:153.99, Z:17.45 [[ 5.22397539e-01 -8.48034334e-01 -8.90987018e-02 2.88856151e+02] [ 8.36448168e-01 5.29939044e-01 -1.39710675e-01 1.53993999e+02] [ 1.65696330e-01 -1.54193317e-03 9.86175618e-01 1.74513853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.116875 meters 0.015081001879043375 Centerline is valid? [True, True] Translation: X:288.88, Y:154.04, Z:17.46 [[ 5.24988335e-01 -8.46459231e-01 -8.88482880e-02 2.88883152e+02] [ 8.34905271e-01 5.32452588e-01 -1.39382316e-01 1.54044560e+02] [ 1.65288949e-01 -1.00581397e-03 9.86244671e-01 1.74604788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.176875 meters 0.015042465991695222 Centerline is valid? [True, True] Translation: X:288.91, Y:154.10, Z:17.47 [[ 5.26615908e-01 -8.45396614e-01 -8.93322509e-02 2.88911704e+02] [ 8.33685637e-01 5.34138719e-01 -1.40228698e-01 1.54095253e+02] [ 1.66264680e-01 -6.28351542e-04 9.86080961e-01 1.74683503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.236875 meters 0.014792420092059926 Centerline is valid? [True, True] Translation: X:288.94, Y:154.14, Z:17.48 [[ 5.26681558e-01 -8.45304318e-01 -8.98172943e-02 2.88941593e+02] [ 8.33449344e-01 5.34284849e-01 -1.41074063e-01 1.54144506e+02] [ 1.67238534e-01 -5.57058000e-04 9.85916306e-01 1.74768276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.296875 meters 0.014737174692924224 Centerline is valid? [True, True] Translation: X:288.97, Y:154.19, Z:17.48 [[ 5.26495777e-01 -8.45326391e-01 -9.06944900e-02 2.88971425e+02] [ 8.33221886e-01 5.34249962e-01 -1.42542160e-01 1.54194152e+02] [ 1.68948178e-01 -5.20788574e-04 9.85624798e-01 1.74848830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.356875 meters 0.014636110172000427 Centerline is valid? [True, True] Translation: X:289.00, Y:154.24, Z:17.49 [[ 5.25562267e-01 -8.45878120e-01 -9.09643314e-02 2.89002157e+02] [ 8.33693995e-01 5.33375834e-01 -1.43054332e-01 1.54242860e+02] [ 1.69524705e-01 -6.52457811e-04 9.85525722e-01 1.74935190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.416875 meters 0.01488906716246051 Centerline is valid? [True, True] Translation: X:289.03, Y:154.29, Z:17.50 [[ 5.23218091e-01 -8.47376233e-01 -9.05336872e-02 2.89033267e+02] [ 8.35314809e-01 5.30991852e-01 -1.42466918e-01 1.54290693e+02] [ 1.68795731e-01 -1.08286066e-03 9.85650460e-01 1.75034795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.476875 meters 0.015252113718186005 Centerline is valid? [True, True] Translation: X:289.06, Y:154.34, Z:17.51 [[ 5.20748438e-01 -8.48930195e-01 -9.02141275e-02 2.89064857e+02] [ 8.36962046e-01 5.28502771e-01 -1.42054054e-01 1.54337110e+02] [ 1.68272392e-01 -1.53137381e-03 9.85739345e-01 1.75132774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.536875 meters 0.015534933096998205 Centerline is valid? [True, True] Translation: X:289.10, Y:154.39, Z:17.52 [[ 5.17834171e-01 -8.50747916e-01 -8.98651980e-02 2.89096129e+02] [ 8.38883978e-01 5.25569909e-01 -1.41597819e-01 1.54385058e+02] [ 1.67694493e-01 -2.06228556e-03 9.85836855e-01 1.75247314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.596875 meters 0.015836866249576934 Centerline is valid? [True, True] Translation: X:289.13, Y:154.43, Z:17.53 [[ 5.16781087e-01 -8.51461502e-01 -8.91662405e-02 2.89126866e+02] [ 8.39779060e-01 5.24412370e-01 -1.40580213e-01 1.54432685e+02] [ 1.66458518e-01 -2.23074665e-03 9.86045935e-01 1.75346501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.656875 meters 0.015316293509534895 Centerline is valid? [True, True] Translation: X:289.16, Y:154.48, Z:17.55 [[ 5.17479938e-01 -8.51093859e-01 -8.86214300e-02 2.89155766e+02] [ 8.39533988e-01 5.25009562e-01 -1.39812888e-01 1.54482337e+02] [ 1.65520989e-01 -2.05033791e-03 9.86204136e-01 1.75450436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.716875 meters 0.014950989574138165 Centerline is valid? [True, True] Translation: X:289.18, Y:154.53, Z:17.55 [[ 5.19859229e-01 -8.49685387e-01 -8.82106858e-02 2.89184640e+02] [ 8.38198571e-01 5.27287729e-01 -1.39250873e-01 1.54532624e+02] [ 1.64831844e-01 -1.54721922e-03 9.86320470e-01 1.75532214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.776875 meters 0.01436252665381384 Centerline is valid? [True, True] Translation: X:289.21, Y:154.58, Z:17.56 [[ 5.23657593e-01 -8.47362029e-01 -8.80926573e-02 2.89212436e+02] [ 8.35859110e-01 5.31015069e-01 -1.39149360e-01 1.54583707e+02] [ 1.64688413e-01 -7.66431219e-04 9.86345345e-01 1.75624924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.836875 meters 0.014477733869298286 Centerline is valid? [True, True] Translation: X:289.24, Y:154.63, Z:17.57 [[ 5.28269132e-01 -8.44477292e-01 -8.82600015e-02 2.89239214e+02] [ 8.32875876e-01 5.35591327e-01 -1.39498047e-01 1.54634085e+02] [ 1.65074224e-01 1.82886053e-04 9.86281130e-01 1.75718060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.896875 meters 0.01486622524727915 Centerline is valid? [True, True] Translation: X:289.27, Y:154.69, Z:17.58 [[ 5.32882116e-01 -8.41509549e-01 -8.88725495e-02 2.89266631e+02] [ 8.29688888e-01 5.40240989e-01 -1.40556120e-01 1.54685867e+02] [ 1.66291911e-01 1.16327571e-03 9.86075883e-01 1.75797493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.956875 meters 0.015450171348979719 Centerline is valid? [True, True] Translation: X:289.29, Y:154.74, Z:17.59 [[ 5.36495364e-01 -8.39205496e-01 -8.89205270e-02 2.89293344e+02] [ 8.27327059e-01 5.43811027e-01 -1.40710711e-01 1.54736519e+02] [ 1.66441165e-01 1.92428587e-03 9.86049510e-01 1.75876418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.016875 meters 0.015727638223195485 Centerline is valid? [True, True] Translation: X:289.32, Y:154.79, Z:17.60 [[ 5.38488756e-01 -8.37981824e-01 -8.84099689e-02 2.89322231e+02] [ 8.26210295e-01 5.45693149e-01 -1.39984055e-01 1.54786403e+02] [ 1.65548808e-01 2.33461288e-03 9.86198835e-01 1.75978678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07687500000003 meters 0.01631699414818097 Centerline is valid? [True, True] Translation: X:289.35, Y:154.84, Z:17.61 [[ 5.41242194e-01 -8.36275974e-01 -8.77461259e-02 2.89350890e+02] [ 8.24645799e-01 5.48301189e-01 -1.39014795e-01 1.54836488e+02] [ 1.64366039e-01 2.88119869e-03 9.86395207e-01 1.76090590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13687500000003 meters 0.017018202379743837 Centerline is valid? [True, True] Translation: X:289.38, Y:154.89, Z:17.62 [[ 5.42613392e-01 -8.35468500e-01 -8.69660431e-02 2.89379545e+02] [ 8.24022744e-01 5.49529368e-01 -1.37854962e-01 1.54886677e+02] [ 1.62963873e-01 3.13995081e-03 9.86627040e-01 1.76185894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19687500000003 meters 0.017303157655344244 Centerline is valid? [True, True] Translation: X:289.41, Y:154.94, Z:17.63 [[ 5.44292182e-01 -8.34422311e-01 -8.65183638e-02 2.89408120e+02] [ 8.23068457e-01 5.51114590e-01 -1.37226175e-01 1.54936889e+02] [ 1.62186115e-01 3.48059782e-03 9.86754047e-01 1.76279743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25687500000004 meters 0.01742266063813231 Centerline is valid? [True, True] Translation: X:289.44, Y:154.99, Z:17.64 [[ 5.44387865e-01 -8.34328407e-01 -8.68214352e-02 2.89438081e+02] [ 8.22885205e-01 5.51256311e-01 -1.37754925e-01 1.54986545e+02] [ 1.62793711e-01 3.54803490e-03 9.86653748e-01 1.76361741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31687500000004 meters 0.017515356698284756 Centerline is valid? [True, True] Translation: X:289.47, Y:155.04, Z:17.64 [[ 5.43504228e-01 -8.34828814e-01 -8.75442999e-02 2.89467075e+02] [ 8.23184792e-01 5.50498653e-01 -1.38989318e-01 1.55036864e+02] [ 1.64225307e-01 3.47614582e-03 9.86416730e-01 1.76431221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37687500000004 meters 0.017756633998904845 Centerline is valid? [True, True] Translation: X:289.50, Y:155.09, Z:17.65 [[ 5.43172668e-01 -8.35014315e-01 -8.78324901e-02 2.89496884e+02] [ 8.23280599e-01 5.50217209e-01 -1.39535221e-01 1.55085306e+02] [ 1.64840855e-01 3.48093347e-03 9.86314035e-01 1.76523066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.436875 meters 0.018118447260810668 Centerline is valid? [True, True] Translation: X:289.53, Y:155.13, Z:17.66 [[ 5.43152912e-01 -8.35012237e-01 -8.79743025e-02 2.89526213e+02] [ 8.23225597e-01 5.50220008e-01 -1.39848344e-01 1.55134703e+02] [ 1.65180300e-01 3.53633757e-03 9.86257047e-01 1.76614366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.496875 meters 0.017360923278194437 Centerline is valid? [True, True] Translation: X:289.56, Y:155.18, Z:17.67 [[ 5.43498291e-01 -8.34802419e-01 -8.78323942e-02 2.89556847e+02] [ 8.23036852e-01 5.50537605e-01 -1.39709289e-01 1.55183448e+02] [ 1.64984688e-01 3.64246260e-03 9.86289402e-01 1.76716505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.556875 meters 0.017762582998558055 Centerline is valid? [True, True] Translation: X:289.59, Y:155.23, Z:17.68 [[ 5.44669774e-01 -8.34066562e-01 -8.75660194e-02 2.89585658e+02] [ 8.22348789e-01 5.51650018e-01 -1.39372617e-01 1.55234149e+02] [ 1.64551836e-01 3.90224164e-03 9.86360718e-01 1.76815071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.616875 meters 0.01911377192778817 Centerline is valid? [True, True] Translation: X:289.61, Y:155.28, Z:17.69 [[ 5.46940354e-01 -8.32623779e-01 -8.71429403e-02 2.89611737e+02] [ 8.20988609e-01 5.53821847e-01 -1.38777038e-01 1.55284872e+02] [ 1.63810726e-01 4.35940122e-03 9.86482155e-01 1.76913170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.676875 meters 0.0200991835482373 Centerline is valid? [True, True] Translation: X:289.64, Y:155.34, Z:17.70 [[ 5.49238654e-01 -8.31141103e-01 -8.68410457e-02 2.89639857e+02] [ 8.19557493e-01 5.56040650e-01 -1.38362971e-01 1.55335534e+02] [ 1.63286304e-01 4.82306218e-03 9.86566937e-01 1.77011048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.736875 meters 0.020755614769861475 Centerline is valid? [True, True] Translation: X:289.67, Y:155.39, Z:17.71 [[ 5.51571055e-01 -8.29575260e-01 -8.70302235e-02 2.89668866e+02] [ 8.17907816e-01 5.58369333e-01 -1.38746142e-01 1.55385632e+02] [ 1.63695375e-01 5.34565615e-03 9.86496451e-01 1.77097467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.796875 meters 0.02300403344415375 Centerline is valid? [True, True] Translation: X:289.70, Y:155.44, Z:17.72 [[ 5.52582133e-01 -8.28956527e-01 -8.65104763e-02 2.89695876e+02] [ 8.17408774e-01 5.59285613e-01 -1.37994565e-01 1.55435691e+02] [ 1.62775560e-01 5.53890867e-03 9.86647575e-01 1.77183977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.856875 meters 0.023331357430661507 Centerline is valid? [True, True] Translation: X:289.73, Y:155.48, Z:17.73 [[ 5.52220972e-01 -8.29160478e-01 -8.68613841e-02 2.89727367e+02] [ 8.17507273e-01 5.58983119e-01 -1.38635246e-01 1.55484277e+02] [ 1.63504915e-01 5.54747721e-03 9.86526922e-01 1.77269006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.916875 meters 0.020328312963040444 Centerline is valid? [True, True] Translation: X:289.77, Y:155.53, Z:17.74 [[ 5.50973958e-01 -8.29920651e-01 -8.75180545e-02 2.89765100e+02] [ 8.18084439e-01 5.57855199e-01 -1.39769196e-01 1.55528320e+02] [ 1.64819744e-01 5.41202888e-03 9.86308857e-01 1.77353851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.976875 meters 0.020591549505802956 Centerline is valid? [True, True] Translation: X:289.80, Y:155.58, Z:17.74 [[ 5.50420251e-01 -8.30250003e-01 -8.78776412e-02 2.89797491e+02] [ 8.18304758e-01 5.57365158e-01 -1.40432917e-01 1.55575806e+02] [ 1.65574365e-01 5.38642936e-03 9.86182598e-01 1.77434346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.036875 meters 0.01989033703348593 Centerline is valid? [True, True] Translation: X:289.83, Y:155.62, Z:17.75 [[ 5.49238546e-01 -8.30977515e-01 -8.83933784e-02 2.89834403e+02] [ 8.18884560e-01 5.56281232e-01 -1.41348039e-01 1.55620728e+02] [ 1.66628620e-01 5.24981865e-03 9.86005752e-01 1.77527202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.096875 meters 0.020000236430048626 Centerline is valid? [True, True] Translation: X:289.87, Y:155.67, Z:17.76 [[ 5.47105867e-01 -8.32384912e-01 -8.83771954e-02 2.89870670e+02] [ 8.20299769e-01 5.54176542e-01 -1.41409510e-01 1.55665095e+02] [ 1.66683711e-01 4.87017972e-03 9.85998388e-01 1.77613837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.156875 meters 0.018509971121447373 Centerline is valid? [True, True] Translation: X:289.91, Y:155.71, Z:17.77 [[ 5.44474974e-01 -8.34145714e-01 -8.80223330e-02 2.89910451e+02] [ 8.22171598e-01 5.51527015e-01 -1.40896472e-01 1.55707791e+02] [ 1.66074883e-01 4.34514077e-03 9.86103571e-01 1.77716916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.216875 meters 0.018965468770841747 Centerline is valid? [True, True] Translation: X:289.94, Y:155.75, Z:17.78 [[ 5.43310522e-01 -8.34947822e-01 -8.76117043e-02 2.89944671e+02] [ 8.23081425e-01 5.50313618e-01 -1.40327794e-01 1.55753799e+02] [ 1.65380300e-01 4.13000047e-03 9.86221222e-01 1.77807415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.276875 meters 0.0188534522409465 Centerline is valid? [True, True] Translation: X:289.98, Y:155.80, Z:17.79 [[ 5.43228311e-01 -8.35034191e-01 -8.72977770e-02 2.89981646e+02] [ 8.23240263e-01 5.50182511e-01 -1.39909518e-01 1.55797785e+02] [ 1.64858941e-01 4.13576609e-03 9.86308484e-01 1.77902912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.336875 meters 0.02021623972258512 Centerline is valid? [True, True] Translation: X:290.02, Y:155.85, Z:17.80 [[ 5.45658561e-01 -8.33473234e-01 -8.70580452e-02 2.90015536e+02] [ 8.21710351e-01 5.52540321e-01 -1.39611218e-01 1.55845004e+02] [ 1.64465294e-01 4.64355972e-03 9.86371940e-01 1.77995699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.396875 meters 0.020933299116561766 Centerline is valid? [True, True] Translation: X:290.05, Y:155.89, Z:17.81 [[ 5.46968573e-01 -8.32591254e-01 -8.72764814e-02 2.90048739e+02] [ 8.20744236e-01 5.53865628e-01 -1.40042013e-01 1.55892873e+02] [ 1.64937199e-01 4.96691111e-03 9.86291565e-01 1.78080320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.456875 meters 0.02206043314904736 Centerline is valid? [True, True] Translation: X:290.08, Y:155.94, Z:17.82 [[ 5.48343245e-01 -8.31624512e-01 -8.78655596e-02 2.90083450e+02] [ 8.19589801e-01 5.55312661e-01 -1.41068805e-01 1.55939814e+02] [ 1.66109134e-01 5.34040981e-03 9.86092914e-01 1.78160369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.516875 meters 0.021644726340330656 Centerline is valid? [True, True] Translation: X:290.12, Y:155.99, Z:17.82 [[ 5.47909929e-01 -8.31851023e-01 -8.84227672e-02 2.90119006e+02] [ 8.19651109e-01 5.54973180e-01 -1.42045167e-01 1.55985440e+02] [ 1.67232682e-01 5.35213841e-03 9.85902929e-01 1.78243306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57687500000003 meters 0.02199977816404758 Centerline is valid? [True, True] Translation: X:290.15, Y:156.03, Z:17.83 [[ 5.45324593e-01 -8.33441622e-01 -8.94212003e-02 2.90153229e+02] [ 8.20968613e-01 5.52585153e-01 -1.43736513e-01 1.56030650e+02] [ 1.69208820e-01 4.97105665e-03 9.85567686e-01 1.78319337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63687500000003 meters 0.018611791316197727 Centerline is valid? [True, True] Translation: X:290.19, Y:156.07, Z:17.84 [[ 5.40709659e-01 -8.36364589e-01 -9.01517507e-02 2.90192710e+02] [ 8.23715812e-01 5.48158061e-01 -1.44965521e-01 1.56073996e+02] [ 1.70661437e-01 4.12483510e-03 9.85321095e-01 1.78414926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69687500000003 meters 0.016996537566863354 Centerline is valid? [True, True] Translation: X:290.23, Y:156.12, Z:17.85 [[ 5.36801727e-01 -8.38953568e-01 -8.94472834e-02 2.90227918e+02] [ 8.26524279e-01 5.44192854e-01 -1.43915785e-01 1.56119106e+02] [ 1.69415234e-01 3.32389058e-03 9.85539157e-01 1.78526880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75687500000004 meters 0.014932240584713426 Centerline is valid? [True, True] Translation: X:290.27, Y:156.16, Z:17.87 [[ 5.30013788e-01 -8.43357867e-01 -8.85036286e-02 2.90265756e+02] [ 8.31236537e-01 5.37348768e-01 -1.42485512e-01 1.56162456e+02] [ 1.67723593e-01 1.95183615e-03 9.85832129e-01 1.78655965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81687500000004 meters 0.014020289830565809 Centerline is valid? [True, True] Translation: X:290.30, Y:156.21, Z:17.88 [[ 5.24669902e-01 -8.46735817e-01 -8.80905865e-02 2.90300916e+02] [ 8.34759713e-01 5.32012789e-01 -1.41910583e-01 1.56208665e+02] [ 1.67026092e-01 9.21738991e-04 9.85952045e-01 1.78768847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87687500000004 meters 0.014178816778626072 Centerline is valid? [True, True] Translation: X:290.33, Y:156.26, Z:17.88 [[ 5.21981474e-01 -8.48382327e-01 -8.82199977e-02 2.90331870e+02] [ 8.36379788e-01 5.29383823e-01 -1.42202736e-01 1.56255866e+02] [ 1.67344527e-01 4.41770487e-04 9.85898379e-01 1.78848458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.936875 meters 0.014074897877938317 Centerline is valid? [True, True] Translation: X:290.36, Y:156.30, Z:17.90 [[ 5.18845092e-01 -8.50297830e-01 -8.82800671e-02 2.90362932e+02] [ 8.38289886e-01 5.26301800e-01 -1.42395511e-01 1.56303819e+02] [ 1.67540553e-01 -1.23075228e-04 9.85865177e-01 1.78950099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.996875 meters 0.014284377813087022 Centerline is valid? [True, True] Translation: X:290.39, Y:156.35, Z:17.90 [[ 5.17235868e-01 -8.51302284e-01 -8.80424808e-02 2.90394000e+02] [ 8.39358481e-01 5.24675388e-01 -1.42102349e-01 1.56352359e+02] [ 1.67165777e-01 -3.98771277e-04 9.85928722e-01 1.79046234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.056875 meters 0.014296432710985043 Centerline is valid? [True, True] Translation: X:290.42, Y:156.40, Z:17.92 [[ 5.16003640e-01 -8.52173336e-01 -8.68380678e-02 2.90422352e+02] [ 8.40553998e-01 5.23259224e-01 -1.40245359e-01 1.56401369e+02] [ 1.64952175e-01 -6.24969685e-04 9.86301368e-01 1.79158230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.116875 meters 0.014291543143425458 Centerline is valid? [True, True] Translation: X:290.45, Y:156.45, Z:17.92 [[ 5.17982982e-01 -8.50966470e-01 -8.68889912e-02 2.90448692e+02] [ 8.39301701e-01 5.25219981e-01 -1.40415902e-01 1.56452496e+02] [ 1.65125059e-01 -1.93030614e-04 9.86272618e-01 1.79247432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.176875 meters 0.014555492803823797 Centerline is valid? [True, True] Translation: X:290.47, Y:156.51, Z:17.93 [[ 5.22400374e-01 -8.48187105e-01 -8.76155523e-02 2.90473095e+02] [ 8.36270790e-01 5.29696218e-01 -1.41679505e-01 1.56505927e+02] [ 1.66580356e-01 7.43099451e-04 9.86027602e-01 1.79320779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.236875 meters 0.014769888408642337 Centerline is valid? [True, True] Translation: X:290.50, Y:156.56, Z:17.94 [[ 5.24145220e-01 -8.47100045e-01 -8.77114730e-02 2.90500760e+02] [ 8.35127925e-01 5.31432238e-01 -1.41919433e-01 1.56556467e+02] [ 1.66832662e-01 1.13609174e-03 9.85984570e-01 1.79411318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.296875 meters 0.01597165825740012 Centerline is valid? [True, True] Translation: X:290.52, Y:156.61, Z:17.95 [[ 5.30673602e-01 -8.43064289e-01 -8.73391830e-02 2.90523118e+02] [ 8.31123994e-01 5.37807208e-01 -1.41408325e-01 1.56610543e+02] [ 1.66187951e-01 2.45197443e-03 9.86091047e-01 1.79507752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.356875 meters 0.01743473275379583 Centerline is valid? [True, True] Translation: X:290.55, Y:156.66, Z:17.96 [[ 5.36175837e-01 -8.39637727e-01 -8.67407593e-02 2.90546903e+02] [ 8.27802720e-01 5.43135296e-01 -1.40522976e-01 1.56663711e+02] [ 1.65100361e-01 3.54078797e-03 9.86270416e-01 1.79603486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.416875 meters 0.01875409030687306 Centerline is valid? [True, True] Translation: X:290.57, Y:156.72, Z:17.97 [[ 5.40574871e-01 -8.36886086e-01 -8.60260875e-02 2.90571159e+02] [ 8.25197692e-01 5.47359447e-01 -1.39450370e-01 1.56716269e+02] [ 1.63791266e-01 4.39483693e-03 9.86485229e-01 1.79700355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.476875 meters 0.019922912849257766 Centerline is valid? [True, True] Translation: X:290.60, Y:156.77, Z:17.98 [[ 5.42512303e-01 -8.35654502e-01 -8.58018344e-02 2.90597867e+02] [ 8.23997780e-01 5.49234457e-01 -1.39173164e-01 1.56768023e+02] [ 1.63426005e-01 4.80263275e-03 9.86543905e-01 1.79783515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.536875 meters 0.020795098373087482 Centerline is valid? [True, True] Translation: X:290.63, Y:156.82, Z:17.99 [[ 5.43494699e-01 -8.35024483e-01 -8.57182829e-02 2.90625893e+02] [ 8.23369078e-01 5.50189763e-01 -1.39120761e-01 1.56818889e+02] [ 1.63330564e-01 5.03361277e-03 9.86558559e-01 1.79874853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.596875 meters 0.021066191166549 Centerline is valid? [True, True] Translation: X:290.65, Y:156.87, Z:18.00 [[ 5.42671154e-01 -8.35543196e-01 -8.58812367e-02 2.90654301e+02] [ 8.23835748e-01 5.49402611e-01 -1.39468389e-01 1.56869237e+02] [ 1.63715239e-01 4.93343874e-03 9.86495302e-01 1.79955031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.656875 meters 0.021114696937653048 Centerline is valid? [True, True] Translation: X:290.68, Y:156.92, Z:18.00 [[ 5.41984792e-01 -8.36015673e-01 -8.56170516e-02 2.90684059e+02] [ 8.24372242e-01 5.48684361e-01 -1.39125405e-01 1.56919091e+02] [ 1.63287756e-01 4.82353296e-03 9.86566694e-01 1.80037624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.716875 meters 0.020008224189443036 Centerline is valid? [True, True] Translation: X:290.71, Y:156.97, Z:18.01 [[ 5.40309045e-01 -8.37080864e-01 -8.58007173e-02 2.90714929e+02] [ 8.25386778e-01 5.47060195e-01 -1.39505591e-01 1.56967575e+02] [ 1.63715618e-01 4.55735523e-03 9.86497049e-01 1.80138289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.776875 meters 0.019828551524361995 Centerline is valid? [True, True] Translation: X:290.74, Y:157.02, Z:18.02 [[ 5.39027047e-01 -8.37884149e-01 -8.60232216e-02 2.90744729e+02] [ 8.26124884e-01 5.45830594e-01 -1.39952275e-01 1.57016989e+02] [ 1.64217899e-01 4.37213745e-03 9.86414399e-01 1.80224933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.836875 meters 0.01814232277858152 Centerline is valid? [True, True] Translation: X:290.78, Y:157.07, Z:18.03 [[ 5.36676466e-01 -8.39456447e-01 -8.53887878e-02 2.90776314e+02] [ 8.27877124e-01 5.43412918e-01 -1.39003125e-01 1.57065390e+02] [ 1.63088440e-01 3.90828183e-03 9.86603713e-01 1.80324147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.896875 meters 0.017853395725672162 Centerline is valid? [True, True] Translation: X:290.81, Y:157.11, Z:18.04 [[ 5.34416099e-01 -8.40906631e-01 -8.52963716e-02 2.90807012e+02] [ 8.29356612e-01 5.41168845e-01 -1.38938443e-01 1.57113418e+02] [ 1.62993997e-01 3.50983123e-03 9.86620818e-01 1.80411438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.956875 meters 0.01633897318321427 Centerline is valid? [True, True] Translation: X:290.84, Y:157.16, Z:18.05 [[ 5.30892080e-01 -8.43151048e-01 -8.51464013e-02 2.90840785e+02] [ 8.31661224e-01 5.37669229e-01 -1.38749446e-01 1.57160461e+02] [ 1.62767340e-01 2.84802151e-03 9.86660368e-01 1.80514594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.016875 meters 0.015688539046290344 Centerline is valid? [True, True] Translation: X:290.87, Y:157.21, Z:18.06 [[ 5.27625407e-01 -8.45210751e-01 -8.50306833e-02 2.90871248e+02] [ 8.33765256e-01 5.34428385e-01 -1.38642704e-01 1.57208485e+02] [ 1.62625115e-01 2.25578382e-03 9.86685352e-01 1.80609066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07687500000003 meters 0.015015488236580308 Centerline is valid? [True, True] Translation: X:290.90, Y:157.26, Z:18.07 [[ 5.23737496e-01 -8.47626333e-01 -8.50213729e-02 2.90902116e+02] [ 8.36205669e-01 5.30591400e-01 -1.38682537e-01 1.57255858e+02] [ 1.62662580e-01 1.53789077e-03 9.86680556e-01 1.80693505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13687500000003 meters 0.014281524672745611 Centerline is valid? [True, True] Translation: X:290.94, Y:157.30, Z:18.08 [[ 5.18981348e-01 -8.50524879e-01 -8.52396091e-02 2.90935279e+02] [ 8.39074394e-01 5.25934396e-01 -1.39094114e-01 1.57302842e+02] [ 1.63133447e-01 6.64877783e-04 9.86603789e-01 1.80788513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19687500000003 meters 0.014243338525931373 Centerline is valid? [True, True] Translation: X:290.97, Y:157.35, Z:18.09 [[ 5.15750322e-01 -8.52476500e-01 -8.53546833e-02 2.90966357e+02] [ 8.41006965e-01 5.22765538e-01 -1.39368136e-01 1.57350750e+02] [ 1.63428548e-01 9.52780397e-05 9.86555169e-01 1.80877129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25687500000004 meters 0.0142963917214302 Centerline is valid? [True, True] Translation: X:291.00, Y:157.40, Z:18.10 [[ 5.11448906e-01 -8.55012804e-01 -8.58668832e-02 2.90996918e+02] [ 8.43424573e-01 5.18606457e-01 -1.40293737e-01 1.57398345e+02] [ 1.64484062e-01 -6.69160769e-04 9.86379514e-01 1.80963777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31687500000004 meters 0.014246967712975738 Centerline is valid? [True, True] Translation: X:291.03, Y:157.45, Z:18.11 [[ 5.09113894e-01 -8.56401112e-01 -8.59079650e-02 2.91026713e+02] [ 8.44805754e-01 5.16309978e-01 -1.40453707e-01 1.57447722e+02] [ 1.64639850e-01 -1.06860959e-03 9.86353171e-01 1.81059422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37687500000004 meters 0.014946385072008043 Centerline is valid? [True, True] Translation: X:291.06, Y:157.50, Z:18.12 [[ 5.06074316e-01 -8.58209940e-01 -8.58165828e-02 2.91056683e+02] [ 8.46650093e-01 5.13296325e-01 -1.40394099e-01 1.57496830e+02] [ 1.64536948e-01 -1.60677035e-03 9.86369612e-01 1.81158340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.436875 meters 0.015236306074433497 Centerline is valid? [True, True] Translation: X:291.08, Y:157.55, Z:18.13 [[ 5.04390837e-01 -8.59232404e-01 -8.54959570e-02 2.91084859e+02] [ 8.47759978e-01 5.11581965e-01 -1.39953249e-01 1.57545973e+02] [ 1.63990557e-01 -1.88891404e-03 9.86460100e-01 1.81252948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.496875 meters 0.014952107210325532 Centerline is valid? [True, True] Translation: X:291.11, Y:157.60, Z:18.14 [[ 5.04552293e-01 -8.59158198e-01 -8.52887684e-02 2.91111757e+02] [ 8.47729894e-01 5.11706805e-01 -1.39678823e-01 1.57597107e+02] [ 1.63649049e-01 -1.82656822e-03 9.86516930e-01 1.81351523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.556875 meters 0.014946066382402211 Centerline is valid? [True, True] Translation: X:291.14, Y:157.65, Z:18.14 [[ 5.05143103e-01 -8.58828566e-01 -8.51113385e-02 2.91138343e+02] [ 8.47429040e-01 5.12260385e-01 -1.39475158e-01 1.57647313e+02] [ 1.63384417e-01 -1.67090557e-03 9.86561068e-01 1.81437097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.616875 meters 0.014978271631182585 Centerline is valid? [True, True] Translation: X:291.17, Y:157.70, Z:18.15 [[ 5.05560046e-01 -8.58571859e-01 -8.52255980e-02 2.91165708e+02] [ 8.47122894e-01 5.12690922e-01 -1.39752717e-01 1.57696670e+02] [ 1.63682141e-01 -1.54316506e-03 9.86511924e-01 1.81527599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.676875 meters 0.014315533996887767 Centerline is valid? [True, True] Translation: X:291.19, Y:157.75, Z:18.16 [[ 5.07473933e-01 -8.57437245e-01 -8.52735458e-02 2.91189844e+02] [ 8.45944424e-01 5.14587303e-01 -1.39921190e-01 1.57748911e+02] [ 1.63854323e-01 -1.13032411e-03 9.86483899e-01 1.81626698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.736875 meters 0.014333997665952928 Centerline is valid? [True, True] Translation: X:291.21, Y:157.80, Z:18.17 [[ 5.11800550e-01 -8.54931433e-01 -8.45721117e-02 2.91213097e+02] [ 8.43579546e-01 5.18740946e-01 -1.38857412e-01 1.57801782e+02] [ 1.62584583e-01 -2.76003823e-04 9.86694571e-01 1.81718310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.796875 meters 0.014313083941980258 Centerline is valid? [True, True] Translation: X:291.24, Y:157.86, Z:18.18 [[ 5.16394075e-01 -8.52125864e-01 -8.49627591e-02 2.91235963e+02] [ 8.40615414e-01 5.23336483e-01 -1.39587432e-01 1.57855565e+02] [ 1.63410173e-01 6.61117852e-04 9.86557995e-01 1.81807817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.856875 meters 0.014684357222603084 Centerline is valid? [True, True] Translation: X:291.26, Y:157.91, Z:18.19 [[ 5.20965951e-01 -8.49288849e-01 -8.54571737e-02 2.91259822e+02] [ 8.37589989e-01 5.27925991e-01 -1.40488999e-01 1.57908926e+02] [ 1.64430803e-01 1.61191172e-03 9.86387304e-01 1.81896571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.916875 meters 0.015293307886097817 Centerline is valid? [True, True] Translation: X:291.29, Y:157.96, Z:18.20 [[ 5.24028661e-01 -8.47408628e-01 -8.53966011e-02 2.91286103e+02] [ 8.35687270e-01 5.30936497e-01 -1.40474989e-01 1.57960804e+02] [ 1.64379890e-01 2.24806816e-03 9.86394545e-01 1.81997358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.976875 meters 0.016028306079681566 Centerline is valid? [True, True] Translation: X:291.31, Y:158.01, Z:18.21 [[ 5.27934157e-01 -8.45039368e-01 -8.48174086e-02 2.91311833e+02] [ 8.33433088e-01 5.34695603e-01 -1.39606236e-01 1.58012760e+02] [ 1.63324261e-01 3.01326590e-03 9.86567842e-01 1.82101024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.036875 meters 0.017247226742505645 Centerline is valid? [True, True] Translation: X:291.34, Y:158.07, Z:18.22 [[ 5.31762652e-01 -8.42706599e-01 -8.41074867e-02 2.91336942e+02] [ 8.31252896e-01 5.38360077e-01 -1.38517327e-01 1.58065269e+02] [ 1.62009579e-01 3.74374948e-03 9.86782084e-01 1.82204814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.096875 meters 0.018809298424101964 Centerline is valid? [True, True] Translation: X:291.36, Y:158.12, Z:18.23 [[ 5.35478123e-01 -8.40383542e-01 -8.37775793e-02 2.91361183e+02] [ 8.28978904e-01 5.41973693e-01 -1.38052502e-01 1.58116249e+02] [ 1.61422295e-01 4.47424895e-03 9.86875283e-01 1.82301396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.156875 meters 0.01901129404090936 Centerline is valid? [True, True] Translation: X:291.39, Y:158.17, Z:18.24 [[ 5.38342425e-01 -8.38541779e-01 -8.38756150e-02 2.91388700e+02] [ 8.27079761e-01 5.44813789e-01 -1.38264252e-01 1.58167112e+02] [ 1.61636943e-01 5.06168900e-03 9.86837311e-01 1.82389406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.216875 meters 0.020111137147551143 Centerline is valid? [True, True] Translation: X:291.42, Y:158.22, Z:18.25 [[ 5.39042775e-01 -8.38072804e-01 -8.40646219e-02 2.91416443e+02] [ 8.26539106e-01 5.45533035e-01 -1.38660789e-01 1.58217280e+02] [ 1.62067865e-01 5.26139929e-03 9.86765588e-01 1.82476868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.276875 meters 0.020739748527458014 Centerline is valid? [True, True] Translation: X:291.44, Y:158.27, Z:18.26 [[ 5.39467129e-01 -8.37761047e-01 -8.44490711e-02 2.91444856e+02] [ 8.26109191e-01 5.46010253e-01 -1.39342773e-01 1.58267735e+02] [ 1.62846006e-01 5.40669191e-03 9.86636684e-01 1.82565438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.336875 meters 0.020930975539070105 Centerline is valid? [True, True] Translation: X:291.47, Y:158.32, Z:18.26 [[ 5.39431573e-01 -8.37717199e-01 -8.51085914e-02 2.91474077e+02] [ 8.25866441e-01 5.46076480e-01 -1.40517258e-01 1.58317601e+02] [ 1.64189524e-01 5.51111585e-03 9.86413416e-01 1.82639668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.396875 meters 0.02038636155214227 Centerline is valid? [True, True] Translation: X:291.51, Y:158.37, Z:18.27 [[ 5.39148322e-01 -8.37930971e-01 -8.47984420e-02 2.91505835e+02] [ 8.26155504e-01 5.45748785e-01 -1.40090498e-01 1.58365972e+02] [ 1.63664814e-01 5.47285747e-03 9.86500824e-01 1.82740683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.456875 meters 0.01953126126483011 Centerline is valid? [True, True] Translation: X:291.54, Y:158.41, Z:18.28 [[ 5.38319438e-01 -8.38480346e-01 -8.46338732e-02 2.91537807e+02] [ 8.26748311e-01 5.44905809e-01 -1.39874550e-01 1.58413259e+02] [ 1.63399550e-01 5.32627721e-03 9.86545598e-01 1.82845352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.516875 meters 0.020353780543499206 Centerline is valid? [True, True] Translation: X:291.57, Y:158.46, Z:18.29 [[ 5.38061384e-01 -8.38663746e-01 -8.44574978e-02 2.91566841e+02] [ 8.26968333e-01 5.44623667e-01 -1.39672608e-01 1.58461669e+02] [ 1.63135905e-01 5.30876086e-03 9.86589324e-01 1.82930735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57687500000003 meters 0.019778090804759944 Centerline is valid? [True, True] Translation: X:291.60, Y:158.51, Z:18.30 [[ 5.37674518e-01 -8.38901808e-01 -8.45568971e-02 2.91600031e+02] [ 8.27167897e-01 5.44257098e-01 -1.39919553e-01 1.58508844e+02] [ 1.63399458e-01 5.28842779e-03 9.86545817e-01 1.83023287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63687500000003 meters 0.020259196018086678 Centerline is valid? [True, True] Translation: X:291.63, Y:158.56, Z:18.31 [[ 5.37547203e-01 -8.38959677e-01 -8.47918918e-02 2.91631911e+02] [ 8.27145391e-01 5.44167419e-01 -1.40400578e-01 1.58556839e+02] [ 1.63931408e-01 5.33671555e-03 9.86457304e-01 1.83106268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69687500000003 meters 0.01962003576046381 Centerline is valid? [True, True] Translation: X:291.67, Y:158.60, Z:18.32 [[ 5.36820171e-01 -8.39409454e-01 -8.49462977e-02 2.91665740e+02] [ 8.27542203e-01 5.43474110e-01 -1.40747266e-01 1.58603089e+02] [ 1.64310699e-01 5.25932491e-03 9.86394614e-01 1.83195290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75687500000004 meters 0.020225791336101265 Centerline is valid? [True, True] Translation: X:291.70, Y:158.65, Z:18.33 [[ 5.36573367e-01 -8.39583253e-01 -8.47878743e-02 2.91697787e+02] [ 8.27747660e-01 5.43205709e-01 -1.40575136e-01 1.58651081e+02] [ 1.64081788e-01 5.24590959e-03 9.86432789e-01 1.83279292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81687500000004 meters 0.019099471273998487 Centerline is valid? [True, True] Translation: X:291.74, Y:158.70, Z:18.34 [[ 5.35119169e-01 -8.40477418e-01 -8.51186565e-02 2.91735007e+02] [ 8.28544601e-01 5.41823115e-01 -1.41214573e-01 1.58696699e+02] [ 1.64806915e-01 5.04202136e-03 9.86312962e-01 1.83368061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87687500000004 meters 0.019612287079465534 Centerline is valid? [True, True] Translation: X:291.77, Y:158.74, Z:18.35 [[ 5.33958156e-01 -8.41226890e-01 -8.50059250e-02 2.91767471e+02] [ 8.29321865e-01 5.40660534e-01 -1.41107870e-01 1.58743360e+02] [ 1.64663083e-01 4.84842579e-03 9.86337955e-01 1.83460872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.936875 meters 0.018368277303243887 Centerline is valid? [True, True] Translation: X:291.80, Y:158.79, Z:18.36 [[ 5.32246917e-01 -8.42338404e-01 -8.47303581e-02 2.91804428e+02] [ 8.30515028e-01 5.38930015e-01 -1.40709726e-01 1.58788382e+02] [ 1.64188939e-01 4.52248208e-03 9.86418542e-01 1.83556718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.996875 meters 0.018080317515988938 Centerline is valid? [True, True] Translation: X:291.84, Y:158.83, Z:18.36 [[ 5.30880579e-01 -8.43194129e-01 -8.47907564e-02 2.91839969e+02] [ 8.31349698e-01 5.37591933e-01 -1.40899231e-01 1.58834649e+02] [ 1.64388231e-01 4.30989553e-03 9.86386301e-01 1.83643137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.056875 meters 0.01830954867862887 Centerline is valid? [True, True] Translation: X:291.87, Y:158.88, Z:18.37 [[ 5.29841359e-01 -8.43836635e-01 -8.48991608e-02 2.91873400e+02] [ 8.31954685e-01 5.36583993e-01 -1.41170181e-01 1.58880672e+02] [ 1.64680102e-01 4.16554619e-03 9.86338234e-01 1.83732688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.116875 meters 0.018279775233606355 Centerline is valid? [True, True] Translation: X:291.91, Y:158.93, Z:18.38 [[ 5.29051066e-01 -8.44378333e-01 -8.44405169e-02 2.91905760e+02] [ 8.32616461e-01 5.35732229e-01 -1.40501986e-01 1.58927619e+02] [ 1.63874339e-01 4.02616130e-03 9.86473006e-01 1.83831284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.176875 meters 0.01804609026274789 Centerline is valid? [True, True] Translation: X:291.94, Y:158.97, Z:18.39 [[ 5.29034604e-01 -8.44453524e-01 -8.37892145e-02 2.91939569e+02] [ 8.32859901e-01 5.35613749e-01 -1.39507335e-01 1.58973810e+02] [ 1.62686116e-01 4.01953081e-03 9.86669687e-01 1.83937859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.236875 meters 0.019320083543221796 Centerline is valid? [True, True] Translation: X:291.97, Y:159.02, Z:18.40 [[ 5.30141880e-01 -8.43781849e-01 -8.35570340e-02 2.91970208e+02] [ 8.32229738e-01 5.36669376e-01 -1.39210790e-01 1.59021791e+02] [ 1.62306039e-01 4.26282143e-03 9.86731259e-01 1.84022903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.296875 meters 0.019184309653703012 Centerline is valid? [True, True] Translation: X:292.00, Y:159.07, Z:18.41 [[ 5.30080138e-01 -8.43789065e-01 -8.38752727e-02 2.92003577e+02] [ 8.32134712e-01 5.36657558e-01 -1.39823056e-01 1.59069215e+02] [ 1.62993464e-01 4.32189871e-03 9.86617683e-01 1.84110469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.356875 meters 0.019221571723882357 Centerline is valid? [True, True] Translation: X:292.03, Y:159.12, Z:18.42 [[ 5.28856684e-01 -8.44571921e-01 -8.37190483e-02 2.92034979e+02] [ 8.32956504e-01 5.35426271e-01 -1.39650175e-01 1.59117158e+02] [ 1.62769995e-01 4.12060275e-03 9.86655436e-01 1.84208662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.416875 meters 0.018744257849096297 Centerline is valid? [True, True] Translation: X:292.07, Y:159.16, Z:18.43 [[ 5.26643574e-01 -8.46007236e-01 -8.31763370e-02 2.92067426e+02] [ 8.34547228e-01 5.33158593e-01 -1.38826651e-01 1.59163260e+02] [ 1.61794530e-01 3.69758203e-03 9.86817540e-01 1.84305783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.476875 meters 0.01784658764266268 Centerline is valid? [True, True] Translation: X:292.10, Y:159.21, Z:18.44 [[ 5.24058630e-01 -8.47611552e-01 -8.31697611e-02 2.92100532e+02] [ 8.36164330e-01 5.30607395e-01 -1.38870462e-01 1.59210054e+02] [ 1.61838698e-01 3.23267672e-03 9.86811930e-01 1.84398537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.536875 meters 0.0165043735423969 Centerline is valid? [True, True] Translation: X:292.13, Y:159.26, Z:18.45 [[ 5.23051878e-01 -8.48252990e-01 -8.29674501e-02 2.92133403e+02] [ 8.36856102e-01 5.29582317e-01 -1.38616139e-01 1.59257392e+02] [ 1.61519649e-01 3.07161504e-03 9.86864716e-01 1.84496520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.596875 meters 0.016630361871842872 Centerline is valid? [True, True] Translation: X:292.16, Y:159.31, Z:18.46 [[ 5.22934744e-01 -8.48348389e-01 -8.27300720e-02 2.92162428e+02] [ 8.37003695e-01 5.29429427e-01 -1.38308699e-01 1.59306334e+02] [ 1.61133697e-01 3.08104840e-03 9.86927778e-01 1.84590654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.656875 meters 0.017304202446547054 Centerline is valid? [True, True] Translation: X:292.19, Y:159.36, Z:18.47 [[ 5.22884040e-01 -8.48385802e-01 -8.26668741e-02 2.92189061e+02] [ 8.37044439e-01 5.29369274e-01 -1.38292367e-01 1.59355656e+02] [ 1.61086584e-01 3.11502429e-03 9.86935362e-01 1.84683154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.716875 meters 0.01720855801885574 Centerline is valid? [True, True] Translation: X:292.22, Y:159.41, Z:18.48 [[ 5.22782894e-01 -8.48463873e-01 -8.25051567e-02 2.92217214e+02] [ 8.37153833e-01 5.29244034e-01 -1.38109419e-01 1.59405221e+02] [ 1.60846214e-01 3.13173342e-03 9.86974512e-01 1.84766316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.776875 meters 0.016787547007259547 Centerline is valid? [True, True] Translation: X:292.25, Y:159.45, Z:18.49 [[ 5.22630350e-01 -8.48549461e-01 -8.25913380e-02 2.92247135e+02] [ 8.37201502e-01 5.29106639e-01 -1.38346702e-01 1.59454720e+02] [ 1.61093645e-01 3.15859313e-03 9.86934071e-01 1.84851832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.836875 meters 0.01753811756019369 Centerline is valid? [True, True] Translation: X:292.27, Y:159.50, Z:18.49 [[ 5.21410166e-01 -8.49338641e-01 -8.21907008e-02 2.92274063e+02] [ 8.38096782e-01 5.27840114e-01 -1.37762832e-01 1.59504121e+02] [ 1.60390846e-01 2.94717943e-03 9.87049184e-01 1.84945574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.896875 meters 0.01590496454596193 Centerline is valid? [True, True] Translation: X:292.31, Y:159.55, Z:18.50 [[ 5.19657049e-01 -8.50434047e-01 -8.19663567e-02 2.92305878e+02] [ 8.39253079e-01 5.26075007e-01 -1.37474929e-01 1.59552115e+02] [ 1.60033812e-01 2.64929844e-03 9.87107978e-01 1.85032013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.956875 meters 0.015880505580115372 Centerline is valid? [True, True] Translation: X:292.33, Y:159.60, Z:18.51 [[ 5.18057118e-01 -8.51431885e-01 -8.17347411e-02 2.92334011e+02] [ 8.40312870e-01 5.24459798e-01 -1.37172153e-01 1.59601082e+02] [ 1.59659330e-01 2.38025527e-03 9.87169303e-01 1.85116474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.016875 meters 0.015310896257661907 Centerline is valid? [True, True] Translation: X:292.36, Y:159.65, Z:18.52 [[ 5.15920019e-01 -8.52723645e-01 -8.17858172e-02 2.92364552e+02] [ 8.41592266e-01 5.22358369e-01 -1.37346975e-01 1.59650215e+02] [ 1.59840519e-01 2.02974284e-03 9.87140764e-01 1.85209643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07687500000003 meters 0.015085400849201213 Centerline is valid? [True, True] Translation: X:292.39, Y:159.70, Z:18.53 [[ 5.14749006e-01 -8.53367036e-01 -8.24509691e-02 2.92393460e+02] [ 8.42046675e-01 5.21307131e-01 -1.38550612e-01 1.59699725e+02] [ 1.61216803e-01 1.89122529e-03 9.86917203e-01 1.85286831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13687500000003 meters 0.014858930163457832 Centerline is valid? [True, True] Translation: X:292.42, Y:159.75, Z:18.54 [[ 5.13689659e-01 -8.53961471e-01 -8.29019903e-02 2.92422516e+02] [ 8.42508970e-01 5.20333260e-01 -1.39398473e-01 1.59749635e+02] [ 1.62177588e-01 1.76188341e-03 9.86760014e-01 1.85365779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19687500000003 meters 0.014845544840396501 Centerline is valid? [True, True] Translation: X:292.45, Y:159.80, Z:18.54 [[ 5.13027877e-01 -8.54321642e-01 -8.32882326e-02 2.92451176e+02] [ 8.42751142e-01 5.19741887e-01 -1.40138800e-01 1.59799806e+02] [ 1.63011993e-01 1.70385775e-03 9.86622616e-01 1.85442455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25687500000004 meters 0.014647741046126836 Centerline is valid? [True, True] Translation: X:292.48, Y:159.85, Z:18.55 [[ 5.12058078e-01 -8.54869401e-01 -8.36351143e-02 2.92478987e+02] [ 8.43193775e-01 5.18840822e-01 -1.40813560e-01 1.59848981e+02] [ 1.63770515e-01 1.58411305e-03 9.86497192e-01 1.85528513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31687500000004 meters 0.014374871275121732 Centerline is valid? [True, True] Translation: X:292.51, Y:159.90, Z:18.56 [[ 5.10676498e-01 -8.55747096e-01 -8.31048885e-02 2.92508272e+02] [ 8.44216141e-01 5.17392600e-01 -1.40014301e-01 1.59897930e+02] [ 1.62814685e-01 1.34352433e-03 9.86655752e-01 1.85628235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37687500000004 meters 0.014086732562395067 Centerline is valid? [True, True] Translation: X:292.54, Y:159.95, Z:18.57 [[ 5.09112282e-01 -8.56696126e-01 -8.29242504e-02 2.92536948e+02] [ 8.45212866e-01 5.15820286e-01 -1.39802159e-01 1.59947448e+02] [ 1.62541979e-01 1.08635296e-03 9.86701031e-01 1.85718292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.436875 meters 0.01391711064441232 Centerline is valid? [True, True] Translation: X:292.57, Y:160.00, Z:18.58 [[ 5.06682234e-01 -8.58200965e-01 -8.22448588e-02 2.92565205e+02] [ 8.46911172e-01 5.13313437e-01 -1.38747187e-01 1.59996422e+02] [ 1.61290361e-01 6.46644845e-04 9.86906785e-01 1.85813998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.496875 meters 0.013917383210510068 Centerline is valid? [True, True] Translation: X:292.59, Y:160.05, Z:18.59 [[ 5.05937892e-01 -8.58615279e-01 -8.25024404e-02 2.92593244e+02] [ 8.47244295e-01 5.12620214e-01 -1.39275343e-01 1.60046766e+02] [ 1.61876356e-01 5.64951346e-04 9.86810887e-01 1.85898954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.556875 meters 0.014001112648514273 Centerline is valid? [True, True] Translation: X:292.62, Y:160.10, Z:18.60 [[ 5.05819995e-01 -8.58610950e-01 -8.32668532e-02 2.92619124e+02] [ 8.47011738e-01 5.12627402e-01 -1.40656541e-01 1.60098390e+02] [ 1.63454117e-01 6.18888748e-04 9.86550743e-01 1.85962271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.616875 meters 0.013983711004000992 Centerline is valid? [True, True] Translation: X:292.65, Y:160.15, Z:18.61 [[ 5.06446085e-01 -8.58245951e-01 -8.32240962e-02 2.92645547e+02] [ 8.46639000e-01 5.13238029e-01 -1.40673837e-01 1.60149672e+02] [ 1.63446523e-01 7.82948615e-04 9.86551885e-01 1.86052195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.676875 meters 0.014006131866447957 Centerline is valid? [True, True] Translation: X:292.67, Y:160.20, Z:18.61 [[ 5.06686544e-01 -8.58104419e-01 -8.32199052e-02 2.92671442e+02] [ 8.46481883e-01 5.13474479e-01 -1.40756464e-01 1.60200377e+02] [ 1.63515041e-01 8.75264424e-04 9.86540453e-01 1.86148150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.736875 meters 0.014146471179859486 Centerline is valid? [True, True] Translation: X:292.70, Y:160.25, Z:18.62 [[ 5.07286139e-01 -8.57789311e-01 -8.28146757e-02 2.92698679e+02] [ 8.46260734e-01 5.14000442e-01 -1.40165313e-01 1.60250620e+02] [ 1.62799087e-01 1.02111215e-03 9.86658712e-01 1.86238366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.796875 meters 0.014157200620925995 Centerline is valid? [True, True] Translation: X:292.73, Y:160.30, Z:18.63 [[ 5.07563362e-01 -8.57680425e-01 -8.22418514e-02 2.92725346e+02] [ 8.46295423e-01 5.14181959e-01 -1.39287363e-01 1.60301732e+02] [ 1.61751321e-01 1.09626002e-03 9.86830942e-01 1.86339321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.856875 meters 0.01405095402324955 Centerline is valid? [True, True] Translation: X:292.75, Y:160.35, Z:18.64 [[ 5.07147996e-01 -8.57973251e-01 -8.17484594e-02 2.92752512e+02] [ 8.46714443e-01 5.13693305e-01 -1.38541837e-01 1.60351872e+02] [ 1.60858827e-01 1.04361382e-03 9.86976873e-01 1.86440757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.916875 meters 0.014237167692368062 Centerline is valid? [True, True] Translation: X:292.78, Y:160.40, Z:18.65 [[ 5.07740167e-01 -8.57623768e-01 -8.17398055e-02 2.92778303e+02] [ 8.46348184e-01 5.14276219e-01 -1.38617176e-01 1.60403161e+02] [ 1.60918223e-01 1.20117220e-03 9.86967012e-01 1.86529559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.976875 meters 0.014618344877399042 Centerline is valid? [True, True] Translation: X:292.80, Y:160.45, Z:18.66 [[ 5.09324705e-01 -8.56659393e-01 -8.19940765e-02 2.92802541e+02] [ 8.45285798e-01 5.15880078e-01 -1.39139013e-01 1.60454953e+02] [ 1.61493853e-01 1.55850820e-03 9.86872487e-01 1.86601224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.036875 meters 0.015195258064418241 Centerline is valid? [True, True] Translation: X:292.83, Y:160.51, Z:18.67 [[ 5.11821517e-01 -8.55142690e-01 -8.22782769e-02 2.92827436e+02] [ 8.43656808e-01 5.18388485e-01 -1.39701713e-01 1.60508027e+02] [ 1.62117010e-01 2.08771407e-03 9.86769333e-01 1.86665746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.096875 meters 0.01529951107747789 Centerline is valid? [True, True] Translation: X:292.86, Y:160.56, Z:18.68 [[ 5.12582360e-01 -8.54648982e-01 -8.26706761e-02 2.92855425e+02] [ 8.43032266e-01 5.19201147e-01 -1.40452011e-01 1.60558583e+02] [ 1.62959878e-01 2.29917594e-03 9.86630018e-01 1.86753618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.156875 meters 0.015268966021658061 Centerline is valid? [True, True] Translation: X:292.88, Y:160.61, Z:18.68 [[ 5.13365239e-01 -8.54224581e-01 -8.21979147e-02 2.92883379e+02] [ 8.42721781e-01 5.19898346e-01 -1.39734422e-01 1.60608553e+02] [ 1.62099138e-01 2.46482217e-03 9.86771399e-01 1.86842499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.216875 meters 0.015447236521439771 Centerline is valid? [True, True] Translation: X:292.91, Y:160.66, Z:18.69 [[ 5.12616052e-01 -8.54702544e-01 -8.19044802e-02 2.92911163e+02] [ 8.43273649e-01 5.19112731e-01 -1.39325255e-01 1.60657610e+02] [ 1.61599308e-01 2.35247226e-03 9.86853652e-01 1.86928282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.276875 meters 0.015347189660201046 Centerline is valid? [True, True] Translation: X:292.94, Y:160.71, Z:18.70 [[ 5.11866081e-01 -8.55164792e-01 -8.17697531e-02 2.92940928e+02] [ 8.43763887e-01 5.18351329e-01 -1.39191963e-01 1.60707295e+02] [ 1.61417526e-01 2.25327991e-03 9.86883633e-01 1.87017017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.336875 meters 0.01507807133499189 Centerline is valid? [True, True] Translation: X:292.97, Y:160.76, Z:18.71 [[ 5.10298907e-01 -8.56101059e-01 -8.17679730e-02 2.92970293e+02] [ 8.44697561e-01 5.16804561e-01 -1.39280570e-01 1.60756503e+02] [ 1.61496305e-01 2.00551508e-03 9.86871279e-01 1.87095505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.396875 meters 0.014905089506971956 Centerline is valid? [True, True] Translation: X:293.00, Y:160.81, Z:18.72 [[ 5.09685025e-01 -8.56447897e-01 -8.19644770e-02 2.92999652e+02] [ 8.44978523e-01 5.16229797e-01 -1.39707163e-01 1.60806054e+02] [ 1.61964412e-01 1.94842635e-03 9.86794676e-01 1.87182126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.456875 meters 0.015117190093800813 Centerline is valid? [True, True] Translation: X:293.03, Y:160.86, Z:18.73 [[ 5.10468377e-01 -8.55944272e-01 -8.23494972e-02 2.93028557e+02] [ 8.44344246e-01 5.17063541e-01 -1.40456713e-01 1.60856270e+02] [ 1.62803042e-01 2.16738619e-03 9.86656208e-01 1.87267258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.516875 meters 0.015832791548202618 Centerline is valid? [True, True] Translation: X:293.06, Y:160.91, Z:18.73 [[ 5.11746481e-01 -8.55140128e-01 -8.27701656e-02 2.93055711e+02] [ 8.43394960e-01 5.18390964e-01 -1.41264820e-01 1.60906685e+02] [ 1.63708523e-01 2.48383414e-03 9.86505626e-01 1.87338121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57687500000003 meters 0.016110315934544827 Centerline is valid? [True, True] Translation: X:293.09, Y:160.96, Z:18.74 [[ 5.12770405e-01 -8.54520434e-01 -8.28332058e-02 2.93085293e+02] [ 8.42735205e-01 5.19410613e-01 -1.41456671e-01 1.60956408e+02] [ 1.63902062e-01 2.72833602e-03 9.86472843e-01 1.87436548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63687500000003 meters 0.017300375391424046 Centerline is valid? [True, True] Translation: X:293.11, Y:161.01, Z:18.75 [[ 5.14411218e-01 -8.53528561e-01 -8.28860325e-02 2.93112335e+02] [ 8.41700798e-01 5.21036878e-01 -1.41634526e-01 1.61006309e+02] [ 1.64075793e-01 3.09314948e-03 9.86442886e-01 1.87526653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69687500000003 meters 0.01672061928517636 Centerline is valid? [True, True] Translation: X:293.14, Y:161.06, Z:18.76 [[ 5.15189745e-01 -8.53067070e-01 -8.28015724e-02 2.93142681e+02] [ 8.41243740e-01 5.21790962e-01 -1.41573873e-01 1.61055540e+02] [ 1.63977121e-01 3.28110296e-03 9.86458685e-01 1.87623992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75687500000004 meters 0.016669388311076623 Centerline is valid? [True, True] Translation: X:293.17, Y:161.10, Z:18.77 [[ 5.15415435e-01 -8.52952115e-01 -8.25809810e-02 2.93172965e+02] [ 8.41176079e-01 5.21978382e-01 -1.41284719e-01 1.61104609e+02] [ 1.63614587e-01 3.35517924e-03 9.86518631e-01 1.87722519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81687500000004 meters 0.017194508569521646 Centerline is valid? [True, True] Translation: X:293.20, Y:161.15, Z:18.78 [[ 5.13819599e-01 -8.53926171e-01 -8.24591645e-02 2.93201406e+02] [ 8.42182017e-01 5.20384997e-01 -1.41169776e-01 1.61154054e+02] [ 1.63459078e-01 3.09017209e-03 9.86545276e-01 1.87818565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87687500000004 meters 0.015833546622972844 Centerline is valid? [True, True] Translation: X:293.23, Y:161.20, Z:18.79 [[ 5.12386623e-01 -8.54766858e-01 -8.26653910e-02 2.93234610e+02] [ 8.42959310e-01 5.19004182e-01 -1.41613070e-01 1.61201786e+02] [ 1.63949842e-01 2.87708177e-03 9.86464481e-01 1.87917531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.936875 meters 0.015809457432424744 Centerline is valid? [True, True] Translation: X:293.26, Y:161.25, Z:18.80 [[ 5.10505298e-01 -8.55860429e-01 -8.29895583e-02 2.93264360e+02] [ 8.43959140e-01 5.17200402e-01 -1.42255807e-01 1.61249801e+02] [ 1.64673349e-01 2.58254674e-03 9.86344777e-01 1.87996200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.996875 meters 0.015691817664052383 Centerline is valid? [True, True] Translation: X:293.29, Y:161.30, Z:18.81 [[ 5.09402238e-01 -8.56503421e-01 -8.31339256e-02 2.93293671e+02] [ 8.44556791e-01 5.16135688e-01 -1.42575518e-01 1.61297658e+02] [ 1.65024805e-01 2.41696635e-03 9.86286455e-01 1.88091522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.056875 meters 0.015773249040059847 Centerline is valid? [True, True] Translation: X:293.32, Y:161.35, Z:18.82 [[ 5.08867039e-01 -8.56787934e-01 -8.34791736e-02 2.93323648e+02] [ 8.44728379e-01 5.15663399e-01 -1.43266270e-01 1.61346480e+02] [ 1.65795966e-01 2.38625546e-03 9.86157190e-01 1.88175002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.116875 meters 0.01541147023678183 Centerline is valid? [True, True] Translation: X:293.36, Y:161.39, Z:18.83 [[ 5.08012075e-01 -8.57260928e-01 -8.38297823e-02 2.93355341e+02] [ 8.45089888e-01 5.14877128e-01 -1.43960494e-01 1.61394321e+02] [ 1.66573745e-01 2.28996802e-03 9.86026340e-01 1.88263435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.176875 meters 0.015427039530986867 Centerline is valid? [True, True] Translation: X:293.38, Y:161.44, Z:18.84 [[ 5.07443311e-01 -8.57580952e-01 -8.40011731e-02 2.93384575e+02] [ 8.45347752e-01 5.14344140e-01 -1.44351252e-01 1.61442022e+02] [ 1.66998395e-01 2.23987454e-03 9.85954623e-01 1.88353750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.236875 meters 0.015389014751120072 Centerline is valid? [True, True] Translation: X:293.41, Y:161.49, Z:18.84 [[ 5.07166274e-01 -8.57767881e-01 -8.37653438e-02 2.93414613e+02] [ 8.45589294e-01 5.14032405e-01 -1.44046630e-01 1.61490681e+02] [ 1.66616674e-01 2.22451462e-03 9.86019237e-01 1.88447232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.296875 meters 0.015369919274197733 Centerline is valid? [True, True] Translation: X:293.44, Y:161.54, Z:18.85 [[ 5.07080406e-01 -8.57832914e-01 -8.36190964e-02 2.93443926e+02] [ 8.45682135e-01 5.13923766e-01 -1.43889158e-01 1.61539979e+02] [ 1.66406696e-01 2.24819655e-03 9.86054642e-01 1.88546384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.356875 meters 0.01582665852546607 Centerline is valid? [True, True] Translation: X:293.47, Y:161.59, Z:18.86 [[ 5.08051040e-01 -8.57228701e-01 -8.39231478e-02 2.93472431e+02] [ 8.44964637e-01 5.14929783e-01 -1.44506335e-01 1.61590717e+02] [ 1.67089506e-01 2.50450153e-03 9.85938550e-01 1.88634047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.416875 meters 0.01566999551117907 Centerline is valid? [True, True] Translation: X:293.50, Y:161.64, Z:18.87 [[ 5.09051965e-01 -8.56599630e-01 -8.42803089e-02 2.93501804e+02] [ 8.44206468e-01 5.15974227e-01 -1.45210317e-01 1.61640834e+02] [ 1.67873571e-01 2.76961517e-03 9.85804643e-01 1.88730388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.476875 meters 0.016203919457294828 Centerline is valid? [True, True] Translation: X:293.53, Y:161.69, Z:18.88 [[ 5.09399553e-01 -8.56378931e-01 -8.44228741e-02 2.93528989e+02] [ 8.43924728e-01 5.16339753e-01 -1.45548319e-01 1.61690136e+02] [ 1.68235400e-01 2.89569773e-03 9.85742596e-01 1.88819017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.536875 meters 0.015624678674621128 Centerline is valid? [True, True] Translation: X:293.56, Y:161.74, Z:18.89 [[ 5.08594243e-01 -8.56867827e-01 -8.43173881e-02 2.93559521e+02] [ 8.44434333e-01 5.15528639e-01 -1.45467796e-01 1.61738146e+02] [ 1.68114703e-01 2.78358643e-03 9.85763510e-01 1.88926994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.596875 meters 0.015536617412052277 Centerline is valid? [True, True] Translation: X:293.59, Y:161.79, Z:18.90 [[ 5.07913570e-01 -8.57319189e-01 -8.38308576e-02 2.93589199e+02] [ 8.45019382e-01 5.14778284e-01 -1.44725816e-01 1.61787494e+02] [ 1.67230524e-01 2.66950644e-03 9.85914208e-01 1.89034992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.656875 meters 0.016143171455899875 Centerline is valid? [True, True] Translation: X:293.62, Y:161.84, Z:18.91 [[ 5.07991579e-01 -8.57284420e-01 -8.37136780e-02 2.93615622e+02] [ 8.45002163e-01 5.14835877e-01 -1.44621453e-01 1.61836987e+02] [ 1.67080523e-01 2.72824110e-03 9.85939479e-01 1.89117448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.716875 meters 0.016478182050216752 Centerline is valid? [True, True] Translation: X:293.64, Y:161.89, Z:18.92 [[ 5.08568871e-01 -8.56917173e-01 -8.39682224e-02 2.93643110e+02] [ 8.44537320e-01 5.15445909e-01 -1.45162774e-01 1.61887539e+02] [ 1.67673551e-01 2.91097071e-03 9.85838276e-01 1.89195433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.776875 meters 0.016103810034172234 Centerline is valid? [True, True] Translation: X:293.67, Y:161.94, Z:18.93 [[ 5.08550962e-01 -8.56919738e-01 -8.40504746e-02 2.93671589e+02] [ 8.44500379e-01 5.15441369e-01 -1.45393619e-01 1.61936569e+02] [ 1.67913754e-01 2.95940712e-03 9.85797248e-01 1.89299444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.836875 meters 0.016808226523118402 Centerline is valid? [True, True] Translation: X:293.70, Y:161.99, Z:18.94 [[ 5.09545829e-01 -8.56334486e-01 -8.39898611e-02 2.93697977e+02] [ 8.43909367e-01 5.16411672e-01 -1.45382139e-01 1.61987161e+02] [ 1.67869084e-01 3.19903194e-03 9.85804107e-01 1.89388635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.896875 meters 0.017051979305397938 Centerline is valid? [True, True] Translation: X:293.73, Y:162.04, Z:18.95 [[ 5.10269469e-01 -8.55897664e-01 -8.40491430e-02 2.93725110e+02] [ 8.43438710e-01 5.17134205e-01 -1.45545032e-01 1.62037792e+02] [ 1.68036340e-01 3.37688558e-03 9.85775017e-01 1.89475679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.956875 meters 0.0179178976495586 Centerline is valid? [True, True] Translation: X:293.75, Y:162.09, Z:18.96 [[ 5.11810628e-01 -8.54959740e-01 -8.42242427e-02 2.93752085e+02] [ 8.42420718e-01 5.18680882e-01 -1.45936548e-01 1.62089432e+02] [ 1.68455378e-01 3.73962935e-03 9.85702187e-01 1.89560157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.016875 meters 0.01748325814540334 Centerline is valid? [True, True] Translation: X:293.78, Y:162.14, Z:18.97 [[ 5.12486434e-01 -8.54588031e-01 -8.38865437e-02 2.93780684e+02] [ 8.42130411e-01 5.19291972e-01 -1.45438021e-01 1.62138585e+02] [ 1.67851201e-01 3.89160342e-03 9.85804661e-01 1.89668206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07687500000003 meters 0.017767137488990198 Centerline is valid? [True, True] Translation: X:293.81, Y:162.19, Z:18.98 [[ 5.12176145e-01 -8.54803762e-01 -8.35830452e-02 2.93808705e+02] [ 8.42423480e-01 5.18937042e-01 -1.45006987e-01 1.62189117e+02] [ 1.67326856e-01 3.85679970e-03 9.85893934e-01 1.89759526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13687500000003 meters 0.017510889447484964 Centerline is valid? [True, True] Translation: X:293.84, Y:162.24, Z:18.98 [[ 5.11411172e-01 -8.55227503e-01 -8.39317053e-02 2.93837355e+02] [ 8.42732321e-01 5.18238938e-01 -1.45707375e-01 1.62239642e+02] [ 1.68109633e-01 3.78441884e-03 9.85761041e-01 1.89838543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19687500000003 meters 0.018370503871152754 Centerline is valid? [True, True] Translation: X:293.86, Y:162.29, Z:18.99 [[ 5.09576156e-01 -8.56282561e-01 -8.43345560e-02 2.93864258e+02] [ 8.43664057e-01 5.16495785e-01 -1.46502771e-01 1.62290219e+02] [ 1.69006211e-01 3.50428535e-03 9.85608756e-01 1.89909033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25687500000004 meters 0.016091831319630285 Centerline is valid? [True, True] Translation: X:293.90, Y:162.34, Z:19.00 [[ 5.07302420e-01 -8.57625468e-01 -8.43967528e-02 2.93896644e+02] [ 8.44990542e-01 5.14265390e-01 -1.46704095e-01 1.62338134e+02] [ 1.69219497e-01 3.10888452e-03 9.85573486e-01 1.90031969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31687500000004 meters 0.015309778992457238 Centerline is valid? [True, True] Translation: X:293.93, Y:162.39, Z:19.01 [[ 5.05091867e-01 -8.58937945e-01 -8.43078484e-02 2.93925362e+02] [ 8.46332860e-01 5.12072503e-01 -1.46637107e-01 1.62387571e+02] [ 1.69123906e-01 2.71270769e-03 9.85591064e-01 1.90128239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37687500000004 meters 0.015095397101665213 Centerline is valid? [True, True] Translation: X:293.95, Y:162.44, Z:19.02 [[ 5.02117888e-01 -8.60716993e-01 -8.39278468e-02 2.93953373e+02] [ 8.48234964e-01 5.09079191e-01 -1.46067872e-01 1.62437099e+02] [ 1.68449020e-01 2.15275725e-03 9.85708016e-01 1.90217776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.436875 meters 0.014207094282287912 Centerline is valid? [True, True] Translation: X:293.98, Y:162.49, Z:19.03 [[ 4.99045223e-01 -8.62474530e-01 -8.42113425e-02 2.93983627e+02] [ 8.49921338e-01 5.06097943e-01 -1.46623978e-01 1.62486230e+02] [ 1.69078634e-01 1.59897892e-03 9.85601268e-01 1.90318610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.496875 meters 0.014280283893732221 Centerline is valid? [True, True] Translation: X:294.01, Y:162.54, Z:19.04 [[ 4.98382922e-01 -8.62862067e-01 -8.41636237e-02 2.94011512e+02] [ 8.50313301e-01 5.05437201e-01 -1.46630579e-01 1.62536503e+02] [ 1.69061391e-01 1.51272787e-03 9.85604362e-01 1.90407324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.556875 meters 0.014172463684339897 Centerline is valid? [True, True] Translation: X:294.04, Y:162.59, Z:19.05 [[ 4.98310951e-01 -8.62923550e-01 -8.39591733e-02 2.94038890e+02] [ 8.50420814e-01 5.05332154e-01 -1.46368896e-01 1.62586344e+02] [ 1.68732437e-01 1.53659537e-03 9.85660694e-01 1.90504158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.616875 meters 0.014193638156040928 Centerline is valid? [True, True] Translation: X:294.07, Y:162.64, Z:19.06 [[ 4.98559452e-01 -8.62759391e-01 -8.41706928e-02 2.94065686e+02] [ 8.50173763e-01 5.05612025e-01 -1.46836826e-01 1.62635891e+02] [ 1.69242565e-01 1.64717269e-03 9.85573052e-01 1.90593862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.676875 meters 0.01397976344632162 Centerline is valid? [True, True] Translation: X:294.09, Y:162.69, Z:19.07 [[ 4.98477619e-01 -8.62815870e-01 -8.40763774e-02 2.94094777e+02] [ 8.50241819e-01 5.05515534e-01 -1.46774975e-01 1.62685371e+02] [ 1.69141693e-01 1.67878817e-03 9.85590315e-01 1.90697728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.736875 meters 0.014161089332084249 Centerline is valid? [True, True] Translation: X:294.12, Y:162.74, Z:19.08 [[ 4.98987925e-01 -8.62613264e-01 -8.31228437e-02 2.94123220e+02] [ 8.50305589e-01 5.05860850e-01 -1.45207461e-01 1.62735486e+02] [ 1.67306474e-01 1.77695122e-03 9.85903335e-01 1.90798465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.796875 meters 0.014448603474350083 Centerline is valid? [True, True] Translation: X:294.15, Y:162.78, Z:19.09 [[ 4.99504925e-01 -8.62325051e-01 -8.30080479e-02 2.94150332e+02] [ 8.50031383e-01 5.06351478e-01 -1.45102823e-01 1.62784952e+02] [ 1.67157047e-01 1.92012879e-03 9.85928413e-01 1.90880925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.856875 meters 0.014596982708121438 Centerline is valid? [True, True] Translation: X:294.18, Y:162.83, Z:19.10 [[ 5.00350719e-01 -8.61820875e-01 -8.31500919e-02 2.94178848e+02] [ 8.49465657e-01 5.07208286e-01 -1.45423011e-01 1.62834882e+02] [ 1.67503002e-01 2.12936064e-03 9.85869266e-01 1.90969465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.916875 meters 0.01495868284366968 Centerline is valid? [True, True] Translation: X:294.21, Y:162.88, Z:19.10 [[ 5.01220376e-01 -8.61260339e-01 -8.37183548e-02 2.94205814e+02] [ 8.48710205e-01 5.08158392e-01 -1.46512925e-01 1.62884456e+02] [ 1.68727956e-01 2.38264123e-03 9.85659779e-01 1.91046311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.976875 meters 0.015719165648606728 Centerline is valid? [True, True] Translation: X:294.23, Y:162.93, Z:19.11 [[ 5.03175672e-01 -8.60103337e-01 -8.38838106e-02 2.94233372e+02] [ 8.47475137e-01 5.10112082e-01 -1.46872582e-01 1.62934921e+02] [ 1.69115743e-01 2.81326628e-03 9.85592183e-01 1.91136206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.036875 meters 0.015531223975391152 Centerline is valid? [True, True] Translation: X:294.26, Y:162.98, Z:19.12 [[ 5.03612234e-01 -8.59898032e-01 -8.33672093e-02 2.94263614e+02] [ 8.47408126e-01 5.10457547e-01 -1.46056705e-01 1.62983927e+02] [ 1.68149294e-01 2.90989287e-03 9.85757246e-01 1.91244560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.096875 meters 0.015438851667334162 Centerline is valid? [True, True] Translation: X:294.29, Y:163.03, Z:19.13 [[ 5.03195604e-01 -8.60133942e-01 -8.34492988e-02 2.94292767e+02] [ 8.47605671e-01 5.10060074e-01 -1.46298828e-01 1.63033139e+02] [ 1.68400743e-01 2.88482817e-03 9.85714394e-01 1.91338248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.156875 meters 0.016241189506455388 Centerline is valid? [True, True] Translation: X:294.32, Y:163.08, Z:19.14 [[ 5.03671820e-01 -8.59863130e-01 -8.33672402e-02 2.94319823e+02] [ 8.47339174e-01 5.10515678e-01 -1.46253432e-01 1.63082698e+02] [ 1.68318217e-01 3.02340375e-03 9.85728075e-01 1.91421163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.216875 meters 0.016645418074722605 Centerline is valid? [True, True] Translation: X:294.35, Y:163.13, Z:19.15 [[ 5.06339317e-01 -8.58240042e-01 -8.39316800e-02 2.94348401e+02] [ 8.45504520e-01 5.13235576e-01 -1.47347717e-01 1.63132287e+02] [ 1.69536435e-01 3.64332752e-03 9.85517186e-01 1.91512125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.276875 meters 0.018573152939293718 Centerline is valid? [True, True] Translation: X:294.37, Y:163.18, Z:19.16 [[ 5.08459348e-01 -8.56960996e-01 -8.41839769e-02 2.94374096e+02] [ 8.44113629e-01 5.15364678e-01 -1.47889926e-01 1.63183741e+02] [ 1.70121346e-01 4.13517284e-03 9.85414445e-01 1.91588756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.336875 meters 0.018577768299585885 Centerline is valid? [True, True] Translation: X:294.40, Y:163.23, Z:19.17 [[ 5.11327243e-01 -8.55252394e-01 -8.41890381e-02 2.94403726e+02] [ 8.42363576e-01 5.18189846e-01 -1.47996245e-01 1.63232635e+02] [ 1.70200048e-01 4.75673264e-03 9.85398050e-01 1.91689310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.396875 meters 0.01882610131844266 Centerline is valid? [True, True] Translation: X:294.43, Y:163.28, Z:19.18 [[ 5.11131840e-01 -8.55415948e-01 -8.37125970e-02 2.94433221e+02] [ 8.42659177e-01 5.17920092e-01 -1.47255865e-01 1.63282105e+02] [ 1.69321451e-01 4.72597290e-03 9.85549548e-01 1.91791207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.456875 meters 0.01832671866220724 Centerline is valid? [True, True] Translation: X:294.47, Y:163.33, Z:19.19 [[ 5.09861824e-01 -8.56230418e-01 -8.31287656e-02 2.94465164e+02] [ 8.43646724e-01 5.16574735e-01 -1.46324122e-01 1.63330071e+02] [ 1.68229384e-01 4.47377278e-03 9.85737724e-01 1.91903672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.516875 meters 0.018703087842703327 Centerline is valid? [True, True] Translation: X:294.49, Y:163.38, Z:19.20 [[ 5.09317851e-01 -8.56544895e-01 -8.32236127e-02 2.94493996e+02] [ 8.43920454e-01 5.16053555e-01 -1.46584432e-01 1.63378672e+02] [ 1.68503988e-01 4.42395904e-03 9.85691044e-01 1.91986825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57687500000003 meters 0.019370526384756812 Centerline is valid? [True, True] Translation: X:294.52, Y:163.43, Z:19.21 [[ 5.09707489e-01 -8.56259288e-01 -8.37753447e-02 2.94523496e+02] [ 8.43444154e-01 5.16525745e-01 -1.47658774e-01 1.63428925e+02] [ 1.69706319e-01 4.60295821e-03 9.85483931e-01 1.92067442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63687500000003 meters 0.019794908349208166 Centerline is valid? [True, True] Translation: X:294.55, Y:163.48, Z:19.22 [[ 5.09621612e-01 -8.56303731e-01 -8.38435007e-02 2.94552574e+02] [ 8.43452631e-01 5.16451738e-01 -1.47869071e-01 1.63478066e+02] [ 1.69921959e-01 4.63925303e-03 9.85446602e-01 1.92156159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69687500000003 meters 0.019873659933855377 Centerline is valid? [True, True] Translation: X:294.58, Y:163.53, Z:19.22 [[ 5.09907415e-01 -8.56069924e-01 -8.44909094e-02 2.94583449e+02] [ 8.42998276e-01 5.16837692e-01 -1.49106361e-01 1.63526833e+02] [ 1.71313557e-01 4.80474792e-03 9.85204841e-01 1.92242276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75687500000004 meters 0.019925595605210907 Centerline is valid? [True, True] Translation: X:294.61, Y:163.58, Z:19.23 [[ 5.10743001e-01 -8.55547528e-01 -8.47349638e-02 2.94614398e+02] [ 8.42376792e-01 5.17699722e-01 -1.49627334e-01 1.63575754e+02] [ 1.71880563e-01 5.04234648e-03 9.85104891e-01 1.92328677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81687500000004 meters 0.01828072780758079 Centerline is valid? [True, True] Translation: X:294.65, Y:163.62, Z:19.24 [[ 5.09801212e-01 -8.56112807e-01 -8.46970200e-02 2.94648053e+02] [ 8.42945605e-01 5.16765780e-01 -1.49652382e-01 1.63622219e+02] [ 1.71887842e-01 4.89798506e-03 9.85104349e-01 1.92442926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87687500000004 meters 0.017414025995782796 Centerline is valid? [True, True] Translation: X:294.68, Y:163.67, Z:19.25 [[ 5.06357952e-01 -8.58141896e-01 -8.48181065e-02 2.94680048e+02] [ 8.44946911e-01 5.13394826e-01 -1.49968232e-01 1.63670177e+02] [ 1.72239200e-01 4.27080975e-03 9.85045897e-01 1.92537336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.936875 meters 0.016028931686180716 Centerline is valid? [True, True] Translation: X:294.71, Y:163.72, Z:19.26 [[ 5.00527079e-01 -8.61554535e-01 -8.48317508e-02 2.94712931e+02] [ 8.48385611e-01 5.07655222e-01 -1.50093409e-01 1.63717421e+02] [ 1.72378939e-01 3.15577897e-03 9.85025656e-01 1.92626791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.996875 meters 0.015269497109355126 Centerline is valid? [True, True] Translation: X:294.74, Y:163.77, Z:19.27 [[ 4.98224495e-01 -8.62861877e-01 -8.50983793e-02 2.94744026e+02] [ 8.49610558e-01 5.05432228e-01 -1.50665731e-01 1.63765928e+02] [ 1.73015179e-01 2.76487617e-03 9.84915277e-01 1.92714122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.056875 meters 0.015342456881940601 Centerline is valid? [True, True] Translation: X:294.77, Y:163.81, Z:19.28 [[ 4.96110791e-01 -8.64106345e-01 -8.48192682e-02 2.94773244e+02] [ 8.50943850e-01 5.03303683e-01 -1.50266319e-01 1.63814272e+02] [ 1.72535930e-01 2.37230792e-03 9.85000368e-01 1.92802847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.116875 meters 0.015560513787190963 Centerline is valid? [True, True] Translation: X:294.80, Y:163.86, Z:19.29 [[ 4.96496204e-01 -8.63935737e-01 -8.43004328e-02 2.94801392e+02] [ 8.50921168e-01 5.03596110e-01 -1.49412599e-01 1.63864213e+02] [ 1.71536253e-01 2.44976533e-03 9.85174762e-01 1.92908529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.176875 meters 0.01589283448945085 Centerline is valid? [True, True] Translation: X:294.83, Y:163.91, Z:19.30 [[ 4.98756957e-01 -8.62649092e-01 -8.41310965e-02 2.94828208e+02] [ 8.49652458e-01 5.05794350e-01 -1.49207158e-01 1.63914998e+02] [ 1.71266453e-01 2.93591511e-03 9.85220373e-01 1.93020105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.236875 meters 0.01685104264658614 Centerline is valid? [True, True] Translation: X:294.85, Y:163.97, Z:19.31 [[ 5.01461898e-01 -8.61077653e-01 -8.41501061e-02 2.94852475e+02] [ 8.48036946e-01 5.08461273e-01 -1.49333422e-01 1.63967192e+02] [ 1.71374743e-01 3.52262211e-03 9.85199619e-01 1.93115808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.296875 meters 0.017850488109598977 Centerline is valid? [True, True] Translation: X:294.88, Y:164.02, Z:19.32 [[ 5.02733222e-01 -8.60353443e-01 -8.39717818e-02 2.94877700e+02] [ 8.47341921e-01 5.09683660e-01 -1.49111491e-01 1.64019095e+02] [ 1.71087630e-01 3.81048943e-03 9.85248447e-01 1.93200270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.356875 meters 0.017921933169973616 Centerline is valid? [True, True] Translation: X:294.90, Y:164.07, Z:19.33 [[ 5.02341910e-01 -8.60581519e-01 -8.39765130e-02 2.94904635e+02] [ 8.47555881e-01 5.09298695e-01 -1.49210817e-01 1.64069687e+02] [ 1.71177200e-01 3.78005946e-03 9.85233007e-01 1.93296170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.416875 meters 0.01749953613884809 Centerline is valid? [True, True] Translation: X:294.93, Y:164.12, Z:19.34 [[ 5.01895602e-01 -8.60866773e-01 -8.37209947e-02 2.94932178e+02] [ 8.47908309e-01 5.08816822e-01 -1.48852080e-01 1.64120235e+02] [ 1.70740460e-01 3.72047739e-03 9.85309014e-01 1.93397657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.476875 meters 0.01771943392343678 Centerline is valid? [True, True] Translation: X:294.96, Y:164.17, Z:19.35 [[ 5.00377719e-01 -8.61733479e-01 -8.38900984e-02 2.94957819e+02] [ 8.48717356e-01 5.07349272e-01 -1.49250010e-01 1.64171229e+02] [ 1.71175311e-01 3.48239713e-03 9.85234432e-01 1.93481213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.536875 meters 0.016108986660108193 Centerline is valid? [True, True] Translation: X:294.99, Y:164.22, Z:19.36 [[ 4.97108714e-01 -8.63629198e-01 -8.38303979e-02 2.94988035e+02] [ 8.50642534e-01 5.04119368e-01 -1.49234522e-01 1.64219900e+02] [ 1.71143818e-01 2.87607902e-03 9.85241860e-01 1.93583284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.596875 meters 0.015328189718998995 Centerline is valid? [True, True] Translation: X:295.02, Y:164.27, Z:19.37 [[ 4.94594685e-01 -8.65089931e-01 -8.36391624e-02 2.95017597e+02] [ 8.52167148e-01 5.01610988e-01 -1.48988486e-01 1.64269756e+02] [ 1.70842762e-01 2.41436688e-03 9.85295347e-01 1.93682197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.656875 meters 0.014823891283321705 Centerline is valid? [True, True] Translation: X:295.05, Y:164.32, Z:19.38 [[ 4.91604939e-01 -8.66800167e-01 -8.35586866e-02 2.95046102e+02] [ 8.53910239e-01 4.98652163e-01 -1.48940673e-01 1.64319953e+02] [ 1.70768520e-01 1.86835219e-03 9.85309404e-01 1.93787184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.716875 meters 0.014522788022207528 Centerline is valid? [True, True] Translation: X:295.07, Y:164.37, Z:19.39 [[ 4.89326414e-01 -8.68120037e-01 -8.32301682e-02 2.95072501e+02] [ 8.55334237e-01 4.96352187e-01 -1.48451505e-01 1.64369768e+02] [ 1.70185202e-01 1.45163002e-03 9.85411026e-01 1.93875995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.776875 meters 0.01420574100445745 Centerline is valid? [True, True] Translation: X:295.10, Y:164.42, Z:19.40 [[ 4.88137667e-01 -8.68792824e-01 -8.31904321e-02 2.95099014e+02] [ 8.56011765e-01 4.95174136e-01 -1.48480414e-01 1.64420279e+02] [ 1.70192468e-01 1.26689401e-03 9.85410026e-01 1.93964897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.836875 meters 0.014117417873214907 Centerline is valid? [True, True] Translation: X:295.13, Y:164.47, Z:19.41 [[ 4.87684236e-01 -8.69056774e-01 -8.30927815e-02 2.95127235e+02] [ 8.56292859e-01 4.94710855e-01 -1.48403876e-01 1.64470725e+02] [ 1.70078294e-01 1.22247541e-03 9.85429794e-01 1.94061344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.896875 meters 0.014018038297097624 Centerline is valid? [True, True] Translation: X:295.15, Y:164.52, Z:19.42 [[ 4.86363914e-01 -8.69852463e-01 -8.25035459e-02 2.95154723e+02] [ 8.57264763e-01 4.93310975e-01 -1.47449681e-01 1.64521237e+02] [ 1.68959373e-01 9.86821227e-04 9.85622522e-01 1.94152862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.956875 meters 0.014137063827946262 Centerline is valid? [True, True] Translation: X:295.18, Y:164.57, Z:19.42 [[ 4.86434114e-01 -8.69833847e-01 -8.22856736e-02 2.95181476e+02] [ 8.57295809e-01 4.93343691e-01 -1.47159435e-01 1.64570946e+02] [ 1.68599376e-01 1.04020647e-03 9.85684112e-01 1.94242790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.016875 meters 0.013980178613194524 Centerline is valid? [True, True] Translation: X:295.21, Y:164.62, Z:19.43 [[ 4.86680196e-01 -8.69749072e-01 -8.17247759e-02 2.95209248e+02] [ 8.57364093e-01 4.93492972e-01 -1.46258331e-01 1.64620628e+02] [ 1.67538651e-01 1.11314500e-03 9.85864880e-01 1.94339678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07687500000003 meters 0.013968369307136628 Centerline is valid? [True, True] Translation: X:295.24, Y:164.67, Z:19.44 [[ 4.86421001e-01 -8.69942353e-01 -8.12090674e-02 2.95237115e+02] [ 8.57700430e-01 4.93152225e-01 -1.45433333e-01 1.64670263e+02] [ 1.66567048e-01 1.08877512e-03 9.86029530e-01 1.94426550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13687500000003 meters 0.014059662106301022 Centerline is valid? [True, True] Translation: X:295.27, Y:164.72, Z:19.45 [[ 4.86596898e-01 -8.69858924e-01 -8.10488191e-02 2.95265999e+02] [ 8.57647304e-01 4.93299192e-01 -1.45248099e-01 1.64719772e+02] [ 1.66326672e-01 1.16597310e-03 9.86070017e-01 1.94501638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19687500000003 meters 0.014075780728165805 Centerline is valid? [True, True] Translation: X:295.30, Y:164.77, Z:19.46 [[ 4.87730172e-01 -8.69246412e-01 -8.08081354e-02 2.95295359e+02] [ 8.57083646e-01 4.94377048e-01 -1.44910171e-01 1.64768992e+02] [ 1.65912334e-01 1.41773133e-03 9.86139487e-01 1.94593546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25687500000004 meters 0.014734702114176233 Centerline is valid? [True, True] Translation: X:295.32, Y:164.82, Z:19.47 [[ 4.89058415e-01 -8.68550579e-01 -8.02605688e-02 2.95322539e+02] [ 8.56527974e-01 4.95597654e-01 -1.44023592e-01 1.64818418e+02] [ 1.64868724e-01 1.69052708e-03 9.86314071e-01 1.94675094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31687500000004 meters 0.014921448413211183 Centerline is valid? [True, True] Translation: X:295.35, Y:164.87, Z:19.48 [[ 4.91564518e-01 -8.67198901e-01 -7.95637472e-02 2.95352130e+02] [ 8.55352483e-01 4.97957171e-01 -1.42866324e-01 1.64867891e+02] [ 1.63512858e-01 2.17296696e-03 9.86538810e-01 1.94774505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37687500000004 meters 0.015695381090137645 Centerline is valid? [True, True] Translation: X:295.38, Y:164.92, Z:19.49 [[ 4.93571237e-01 -8.66087267e-01 -7.92482140e-02 2.95378879e+02] [ 8.54306034e-01 4.99886189e-01 -1.42390307e-01 1.64918276e+02] [ 1.62937520e-01 2.57753251e-03 9.86633022e-01 1.94863058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.436875 meters 0.016406219039521185 Centerline is valid? [True, True] Translation: X:295.41, Y:164.97, Z:19.50 [[ 4.96400774e-01 -8.64493045e-01 -7.89813037e-02 2.95406503e+02] [ 8.52757547e-01 5.02635006e-01 -1.41995129e-01 1.64968376e+02] [ 1.62452570e-01 3.13458933e-03 9.86711375e-01 1.94957811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.496875 meters 0.017471330318304886 Centerline is valid? [True, True] Translation: X:295.43, Y:165.02, Z:19.50 [[ 4.98533517e-01 -8.63272375e-01 -7.88995544e-02 2.95433089e+02] [ 8.51531308e-01 5.04725691e-01 -1.41938046e-01 1.65019919e+02] [ 1.62353827e-01 3.57543274e-03 9.86726128e-01 1.95033800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.556875 meters 0.017907398943332157 Centerline is valid? [True, True] Translation: X:295.46, Y:165.07, Z:19.51 [[ 4.99349912e-01 -8.62811139e-01 -7.87820012e-02 2.95460406e+02] [ 8.51085427e-01 5.05512385e-01 -1.41812639e-01 1.65070853e+02] [ 1.62182802e-01 3.76391588e-03 9.86753552e-01 1.95122038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.616875 meters 0.017372563342933273 Centerline is valid? [True, True] Translation: X:295.49, Y:165.12, Z:19.52 [[ 4.98551712e-01 -8.63338229e-01 -7.80595464e-02 2.95488660e+02] [ 8.51820528e-01 5.04612846e-01 -1.40597522e-01 1.65120271e+02] [ 1.60773066e-01 3.60241138e-03 9.86984825e-01 1.95214244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.676875 meters 0.016440417259700708 Centerline is valid? [True, True] Translation: X:295.52, Y:165.17, Z:19.53 [[ 4.95732707e-01 -8.64995546e-01 -7.76645920e-02 2.95518350e+02] [ 8.53600129e-01 5.01769981e-01 -1.39977520e-01 1.65170142e+02] [ 1.60049692e-01 3.09692920e-03 9.87104100e-01 1.95313378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.736875 meters 0.015508941811767835 Centerline is valid? [True, True] Translation: X:295.55, Y:165.22, Z:19.54 [[ 4.93046432e-01 -8.66544514e-01 -7.74972285e-02 2.95547178e+02] [ 8.55208858e-01 4.99092937e-01 -1.39728483e-01 1.65219636e+02] [ 1.59759270e-01 2.61631382e-03 9.87152537e-01 1.95408900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.796875 meters 0.01453200152169436 Centerline is valid? [True, True] Translation: X:295.58, Y:165.27, Z:19.55 [[ 4.89765507e-01 -8.68434729e-01 -7.71418769e-02 2.95575738e+02] [ 8.57212472e-01 4.95799329e-01 -1.39175441e-01 1.65269551e+02] [ 1.59111677e-01 2.03635154e-03 9.87258491e-01 1.95507481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.856875 meters 0.013976880671696649 Centerline is valid? [True, True] Translation: X:295.60, Y:165.32, Z:19.56 [[ 4.86291708e-01 -8.70402829e-01 -7.69369258e-02 2.95602200e+02] [ 8.59250606e-01 4.92338153e-01 -1.38893988e-01 1.65319054e+02] [ 1.58772704e-01 1.43489466e-03 9.87314119e-01 1.95609453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.916875 meters 0.013571139895094163 Centerline is valid? [True, True] Translation: X:295.63, Y:165.37, Z:19.57 [[ 4.84919091e-01 -8.71191126e-01 -7.66778807e-02 2.95630126e+02] [ 8.60114725e-01 4.90942539e-01 -1.38484957e-01 1.65369621e+02] [ 1.58291299e-01 1.20222524e-03 9.87391725e-01 1.95705782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.976875 meters 0.013628104862265553 Centerline is valid? [True, True] Translation: X:295.65, Y:165.42, Z:19.58 [[ 4.85125731e-01 -8.71053174e-01 -7.69375923e-02 2.95653309e+02] [ 8.59890090e-01 4.91187061e-01 -1.39011886e-01 1.65421582e+02] [ 1.58877494e-01 1.28036946e-03 9.87297474e-01 1.95781756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.036875 meters 0.013764798322076282 Centerline is valid? [True, True] Translation: X:295.68, Y:165.47, Z:19.59 [[ 4.86181424e-01 -8.70443035e-01 -7.71786665e-02 2.95678434e+02] [ 8.59190782e-01 4.92266815e-01 -1.39515533e-01 1.65473982e+02] [ 1.59432821e-01 1.51866188e-03 9.87207612e-01 1.95861066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.096875 meters 0.01440739009229847 Centerline is valid? [True, True] Translation: X:295.70, Y:165.53, Z:19.59 [[ 4.88557285e-01 -8.69105542e-01 -7.72485386e-02 2.95701314e+02] [ 8.57800837e-01 4.94622620e-01 -1.39736139e-01 1.65526600e+02] [ 1.59654328e-01 2.00524783e-03 9.87170945e-01 1.95946075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.156875 meters 0.015450540012701033 Centerline is valid? [True, True] Translation: X:295.72, Y:165.58, Z:19.61 [[ 4.91683738e-01 -8.67397774e-01 -7.66041923e-02 2.95723239e+02] [ 8.56248070e-01 4.97608719e-01 -1.38653545e-01 1.65579236e+02] [ 1.58386690e-01 2.58150152e-03 9.87373785e-01 1.96053201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.216875 meters 0.016458376307940382 Centerline is valid? [True, True] Translation: X:295.75, Y:165.63, Z:19.61 [[ 4.93617837e-01 -8.66292814e-01 -7.66693685e-02 2.95747605e+02] [ 8.55096770e-01 4.99527638e-01 -1.38858394e-01 1.65631891e+02] [ 1.58590498e-01 2.98325085e-03 9.87339939e-01 1.96134698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.276875 meters 0.015634223526557092 Centerline is valid? [True, True] Translation: X:295.78, Y:165.68, Z:19.62 [[ 4.94076528e-01 -8.66002408e-01 -7.69948941e-02 2.95776075e+02] [ 8.54693238e-01 5.00030013e-01 -1.39532989e-01 1.65681636e+02] [ 1.59335663e-01 3.13295955e-03 9.87219495e-01 1.96206983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.336875 meters 0.014774247269873853 Centerline is valid? [True, True] Translation: X:295.81, Y:165.73, Z:19.63 [[ 4.90434244e-01 -8.68043919e-01 -7.72916971e-02 2.95806029e+02] [ 8.56656137e-01 4.96480967e-01 -1.40167444e-01 1.65730572e+02] [ 1.60045354e-01 2.53050764e-03 9.87106418e-01 1.96293675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.396875 meters 0.014948090409828672 Centerline is valid? [True, True] Translation: X:295.83, Y:165.78, Z:19.64 [[ 4.87627885e-01 -8.69623822e-01 -7.72881295e-02 2.95833918e+02] [ 8.58241930e-01 4.93710613e-01 -1.40251988e-01 1.65780168e+02] [ 1.60124439e-01 2.05886664e-03 9.87094689e-01 1.96387013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.456875 meters 0.013359040779349572 Centerline is valid? [True, True] Translation: X:295.87, Y:165.83, Z:19.65 [[ 4.83607823e-01 -8.71869500e-01 -7.72466722e-02 2.95866852e+02] [ 8.60518103e-01 4.89736416e-01 -1.40238500e-01 1.65827506e+02] [ 1.60100180e-01 1.34827603e-03 9.87099850e-01 1.96472386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.516875 meters 0.013144673895335008 Centerline is valid? [True, True] Translation: X:295.90, Y:165.88, Z:19.66 [[ 4.80949484e-01 -8.73296331e-01 -7.77245853e-02 2.95896364e+02] [ 8.61806642e-01 4.87188528e-01 -1.41197205e-01 1.65876929e+02] [ 1.61173528e-01 9.25159247e-04 9.86925650e-01 1.96553945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57687500000003 meters 0.012905438521493366 Centerline is valid? [True, True] Translation: X:295.93, Y:165.92, Z:19.66 [[ 4.77222282e-01 -8.75364019e-01 -7.74385506e-02 2.95926491e+02] [ 8.63971111e-01 4.83464332e-01 -1.40769881e-01 1.65924744e+02] [ 1.60663666e-01 2.73853273e-04 9.87009175e-01 1.96644081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63687500000003 meters 0.012853091631015447 Centerline is valid? [True, True] Translation: X:295.96, Y:165.97, Z:19.67 [[ 4.74992910e-01 -8.76568351e-01 -7.75220055e-02 2.95955870e+02] [ 8.65151058e-01 4.81277382e-01 -1.41016768e-01 1.65974181e+02] [ 1.60920423e-01 -8.62801313e-05 9.86967380e-01 1.96740099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69687500000003 meters 0.013030000929203058 Centerline is valid? [True, True] Translation: X:295.98, Y:166.02, Z:19.68 [[ 4.73194426e-01 -8.77527837e-01 -7.76655016e-02 2.95984899e+02] [ 8.66065407e-01 4.79525557e-01 -1.41371678e-01 1.66024279e+02] [ 1.61300175e-01 -3.67114384e-04 9.86905324e-01 1.96830108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75687500000004 meters 0.013208086500713792 Centerline is valid? [True, True] Translation: X:296.01, Y:166.07, Z:19.69 [[ 4.72463097e-01 -8.77927352e-01 -7.76027487e-02 2.96012151e+02] [ 8.66473094e-01 4.78793647e-01 -1.41354237e-01 1.66073474e+02] [ 1.61254454e-01 -4.56033072e-04 9.86912759e-01 1.96911472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81687500000004 meters 0.013210545976423418 Centerline is valid? [True, True] Translation: X:296.04, Y:166.12, Z:19.70 [[ 4.73020690e-01 -8.77628135e-01 -7.75904809e-02 2.96038141e+02] [ 8.66161983e-01 4.79342001e-01 -1.41402493e-01 1.66124224e+02] [ 1.61291183e-01 -3.19619913e-04 9.86906810e-01 1.96997262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87687500000004 meters 0.013254305120577911 Centerline is valid? [True, True] Translation: X:296.06, Y:166.18, Z:19.71 [[ 4.75554073e-01 -8.76241570e-01 -7.77755442e-02 2.96063111e+02] [ 8.64686486e-01 4.81872050e-01 -1.41833028e-01 1.66175631e+02] [ 1.61757856e-01 1.97812293e-04 9.86830460e-01 1.97092467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.936875 meters 0.013451877287715719 Centerline is valid? [True, True] Translation: X:296.09, Y:166.23, Z:19.72 [[ 4.78093964e-01 -8.74867963e-01 -7.76672954e-02 2.96086565e+02] [ 8.63311245e-01 4.84360963e-01 -1.41732673e-01 1.66226826e+02] [ 1.61616381e-01 7.10486220e-04 9.86853404e-01 1.97178545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.996875 meters 0.013969765800098576 Centerline is valid? [True, True] Translation: X:296.11, Y:166.28, Z:19.73 [[ 4.82183946e-01 -8.72625062e-01 -7.76153501e-02 2.96110967e+02] [ 8.61043202e-01 4.88388423e-01 -1.41708686e-01 1.66279560e+02] [ 1.61564989e-01 1.49948383e-03 9.86860935e-01 1.97264519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.056875 meters 0.014776077782590071 Centerline is valid? [True, True] Translation: X:296.13, Y:166.33, Z:19.74 [[ 4.85649129e-01 -8.70737996e-01 -7.72027507e-02 2.96134844e+02] [ 8.59241250e-01 4.91742477e-01 -1.41045423e-01 1.66331543e+02] [ 1.60777481e-01 2.16279888e-03 9.86988310e-01 1.97355812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.116875 meters 0.015589824737285244 Centerline is valid? [True, True] Translation: X:296.16, Y:166.38, Z:19.75 [[ 4.88211104e-01 -8.69308887e-01 -7.71490582e-02 2.96160704e+02] [ 8.57800829e-01 4.94262047e-01 -1.41006264e-01 1.66382999e+02] [ 1.60709850e-01 2.66229767e-03 9.86998104e-01 1.97453205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.176875 meters 0.016337110856897284 Centerline is valid? [True, True] Translation: X:296.19, Y:166.44, Z:19.75 [[ 4.92216750e-01 -8.66999528e-01 -7.76819742e-02 2.96185783e+02] [ 8.55287345e-01 4.98296745e-01 -1.42070094e-01 1.66435117e+02] [ 1.61883379e-01 3.48887032e-03 9.86803729e-01 1.97533115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.236875 meters 0.01736343073053576 Centerline is valid? [True, True] Translation: X:296.21, Y:166.49, Z:19.76 [[ 4.94311499e-01 -8.65771857e-01 -7.80719755e-02 2.96211512e+02] [ 8.53910416e-01 5.00423240e-01 -1.42876111e-01 1.66487624e+02] [ 1.62767146e-01 3.95883131e-03 9.86656568e-01 1.97611855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.296875 meters 0.017521088745051865 Centerline is valid? [True, True] Translation: X:296.24, Y:166.54, Z:19.77 [[ 4.94060452e-01 -8.65912618e-01 -7.80999805e-02 2.96239292e+02] [ 8.54029102e-01 5.00179617e-01 -1.43019728e-01 1.66537660e+02] [ 1.62906606e-01 3.96073525e-03 9.86633544e-01 1.97704459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.356875 meters 0.016900967246469258 Centerline is valid? [True, True] Translation: X:296.27, Y:166.59, Z:19.78 [[ 4.92072355e-01 -8.67045415e-01 -7.80835857e-02 2.96269395e+02] [ 8.55164558e-01 4.98215846e-01 -1.43089310e-01 1.66586299e+02] [ 1.62967410e-01 3.63597892e-03 9.86624753e-01 1.97803477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.416875 meters 0.015974929769351824 Centerline is valid? [True, True] Translation: X:296.30, Y:166.64, Z:19.79 [[ 4.90219164e-01 -8.68093922e-01 -7.80904249e-02 2.96299604e+02] [ 8.56208191e-01 4.96388768e-01 -1.43198203e-01 1.66635703e+02] [ 1.63072700e-01 3.33684223e-03 9.86608413e-01 1.97899842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.476875 meters 0.015341916185713816 Centerline is valid? [True, True] Translation: X:296.33, Y:166.68, Z:19.80 [[ 4.87283500e-01 -8.69756480e-01 -7.79644502e-02 2.96329504e+02] [ 8.57914619e-01 4.93473083e-01 -1.43062307e-01 1.66684181e+02] [ 1.62902726e-01 2.82506000e-03 9.86638090e-01 1.97983908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.536875 meters 0.01468724488171604 Centerline is valid? [True, True] Translation: X:296.36, Y:166.73, Z:19.81 [[ 4.84368375e-01 -8.71358714e-01 -7.82385400e-02 2.96360015e+02] [ 8.59443462e-01 4.90640990e-01 -1.43625747e-01 1.66733133e+02] [ 1.63536581e-01 2.32616817e-03 9.86534528e-01 1.98068471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.596875 meters 0.013746566311551729 Centerline is valid? [True, True] Translation: X:296.39, Y:166.78, Z:19.82 [[ 4.79015291e-01 -8.74288890e-01 -7.85066083e-02 2.96393510e+02] [ 8.62314410e-01 4.85403983e-01 -1.44211063e-01 1.66779509e+02] [ 1.64189550e-01 1.38192461e-03 9.86427839e-01 1.98152443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.656875 meters 0.013424573315863192 Centerline is valid? [True, True] Translation: X:296.43, Y:166.83, Z:19.82 [[ 4.74577080e-01 -8.76725609e-01 -7.82866627e-02 2.96426749e+02] [ 8.64841402e-01 4.80990521e-01 -1.43866149e-01 1.66826786e+02] [ 1.63786280e-01 5.70029609e-04 9.86495682e-01 1.98247936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.716875 meters 0.01307568809521598 Centerline is valid? [True, True] Translation: X:296.46, Y:166.88, Z:19.84 [[ 4.72354409e-01 -8.77972262e-01 -7.77561528e-02 2.96457323e+02] [ 8.66250979e-01 4.78711472e-01 -1.42984504e-01 1.66875711e+02] [ 1.62759191e-01 1.83017483e-04 9.86665806e-01 1.98357972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.776875 meters 0.013033128956672973 Centerline is valid? [True, True] Translation: X:296.49, Y:166.92, Z:19.84 [[ 4.72797560e-01 -8.77734751e-01 -7.77442817e-02 2.96486034e+02] [ 8.65998649e-01 4.79146752e-01 -1.43054988e-01 1.66924501e+02] [ 1.62815254e-01 3.09606320e-04 9.86656524e-01 1.98447922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.836875 meters 0.013295842818686725 Centerline is valid? [True, True] Translation: X:296.51, Y:166.98, Z:19.85 [[ 4.75938311e-01 -8.76011564e-01 -7.80157982e-02 2.96511870e+02] [ 8.64152508e-01 4.82289155e-01 -1.43657979e-01 1.66976357e+02] [ 1.63472224e-01 9.54788101e-04 9.86547475e-01 1.98537480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.896875 meters 0.01378340453482734 Centerline is valid? [True, True] Translation: X:296.54, Y:167.03, Z:19.86 [[ 4.79070234e-01 -8.74302627e-01 -7.80168401e-02 2.96536901e+02] [ 8.62405657e-01 4.85378622e-01 -1.43750047e-01 1.67027458e+02] [ 1.63548750e-01 1.58420450e-03 9.86533981e-01 1.98625069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.956875 meters 0.01460707373974037 Centerline is valid? [True, True] Translation: X:296.56, Y:167.08, Z:19.87 [[ 4.82796393e-01 -8.72231206e-01 -7.82327707e-02 2.96563240e+02] [ 8.60230628e-01 4.89088252e-01 -1.44208005e-01 1.67078862e+02] [ 1.64045451e-01 2.32487926e-03 9.86450042e-01 1.98716983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.016875 meters 0.01481007069705227 Centerline is valid? [True, True] Translation: X:296.59, Y:167.13, Z:19.88 [[ 4.83896033e-01 -8.71617071e-01 -7.82835331e-02 2.96590067e+02] [ 8.59577641e-01 4.90180604e-01 -1.44392712e-01 1.67129689e+02] [ 1.64228222e-01 2.58028591e-03 9.86418995e-01 1.98820709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07687500000003 meters 0.01496513171875544 Centerline is valid? [True, True] Translation: X:296.62, Y:167.18, Z:19.89 [[ 4.84252518e-01 -8.71444626e-01 -7.79984766e-02 2.96617277e+02] [ 8.59475568e-01 4.90486600e-01 -1.43960562e-01 1.67180053e+02] [ 1.63710866e-01 2.67547950e-03 9.86504736e-01 1.98916027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13687500000003 meters 0.015080282600584366 Centerline is valid? [True, True] Translation: X:296.64, Y:167.23, Z:19.90 [[ 4.83168721e-01 -8.72079257e-01 -7.76257395e-02 2.96644860e+02] [ 8.60217058e-01 4.89358287e-01 -1.43370430e-01 1.67229026e+02] [ 1.63017177e-01 2.49712228e-03 9.86620071e-01 1.99008169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19687500000003 meters 0.01456705842933972 Centerline is valid? [True, True] Translation: X:296.67, Y:167.28, Z:19.91 [[ 4.81944415e-01 -8.72771128e-01 -7.74605675e-02 2.96673588e+02] [ 8.60952204e-01 4.88124200e-01 -1.43164476e-01 1.67278655e+02] [ 1.62760199e-01 2.30747351e-03 9.86662958e-01 1.99099944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25687500000004 meters 0.014591063678412864 Centerline is valid? [True, True] Translation: X:296.70, Y:167.33, Z:19.92 [[ 4.80930443e-01 -8.73316643e-01 -7.76141139e-02 2.96700608e+02] [ 8.61441073e-01 4.87148134e-01 -1.43547809e-01 1.67328579e+02] [ 1.63172261e-01 2.17652584e-03 9.86595194e-01 1.99183110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31687500000004 meters 0.014640916912850584 Centerline is valid? [True, True] Translation: X:296.73, Y:167.38, Z:19.93 [[ 4.80623106e-01 -8.73421123e-01 -7.83388260e-02 2.96727498e+02] [ 8.61304980e-01 4.86960616e-01 -1.44993410e-01 1.67379241e+02] [ 1.64788230e-01 2.21356196e-03 9.86326487e-01 1.99255412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37687500000004 meters 0.014741832737470404 Centerline is valid? [True, True] Translation: X:296.75, Y:167.43, Z:19.93 [[ 4.80619331e-01 -8.73382866e-01 -7.87872311e-02 2.96754702e+02] [ 8.61109951e-01 4.87028888e-01 -1.45919549e-01 1.67430446e+02] [ 1.65815292e-01 2.28728744e-03 9.86154175e-01 1.99335820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.436875 meters 0.014845444625802801 Centerline is valid? [True, True] Translation: X:296.78, Y:167.48, Z:19.94 [[ 4.80250556e-01 -8.73607198e-01 -7.85485002e-02 2.96782074e+02] [ 8.61396238e-01 4.86626554e-01 -1.45571692e-01 1.67481415e+02] [ 1.65396264e-01 2.24950347e-03 9.86224627e-01 1.99418763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.496875 meters 0.014389666829485753 Centerline is valid? [True, True] Translation: X:296.81, Y:167.53, Z:19.95 [[ 4.79624302e-01 -8.73974344e-01 -7.82903223e-02 2.96811468e+02] [ 8.61834137e-01 4.85967265e-01 -1.45181739e-01 1.67530886e+02] [ 1.64931649e-01 2.15941806e-03 9.86302635e-01 1.99516269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.556875 meters 0.014086651876420974 Centerline is valid? [True, True] Translation: X:296.84, Y:167.58, Z:19.96 [[ 4.78598056e-01 -8.74576002e-01 -7.78506032e-02 2.96841564e+02] [ 8.62564369e-01 4.84884378e-01 -1.44464009e-01 1.67579314e+02] [ 1.64093297e-01 1.98903742e-03 9.86442818e-01 1.99615774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.616875 meters 0.01400883453605829 Centerline is valid? [True, True] Translation: X:296.87, Y:167.63, Z:19.97 [[ 4.78012954e-01 -8.74910309e-01 -7.76889073e-02 2.96869406e+02] [ 8.62936710e-01 4.84281186e-01 -1.44263534e-01 1.67629239e+02] [ 1.63840929e-01 1.91922788e-03 9.86484904e-01 1.99710737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.676875 meters 0.014332107838680176 Centerline is valid? [True, True] Translation: X:296.90, Y:167.68, Z:19.98 [[ 4.78187371e-01 -8.74809116e-01 -7.77550576e-02 2.96896523e+02] [ 8.62796977e-01 4.84463612e-01 -1.44486626e-01 1.67678388e+02] [ 1.64067714e-01 2.00485130e-03 9.86447042e-01 1.99794899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.736875 meters 0.01418774595133034 Centerline is valid? [True, True] Translation: X:296.92, Y:167.73, Z:19.99 [[ 4.77362627e-01 -8.75233342e-01 -7.80481829e-02 2.96924798e+02] [ 8.63117917e-01 4.83697135e-01 -1.45136289e-01 1.67728870e+02] [ 1.64779802e-01 1.91785536e-03 9.86328515e-01 1.99876550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.796875 meters 0.013940343150138574 Centerline is valid? [True, True] Translation: X:296.95, Y:167.78, Z:20.00 [[ 4.74931494e-01 -8.76521315e-01 -7.84248759e-02 2.96954262e+02] [ 8.64288718e-01 4.81360626e-01 -1.45934779e-01 1.67777539e+02] [ 1.65665592e-01 1.52728716e-03 9.86180804e-01 1.99956546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.856875 meters 0.013843088915517918 Centerline is valid? [True, True] Translation: X:296.98, Y:167.83, Z:20.01 [[ 4.72749975e-01 -8.77708828e-01 -7.83241562e-02 2.96981961e+02] [ 8.65507330e-01 4.79192936e-01 -1.45846465e-01 1.67826170e+02] [ 1.65543112e-01 1.15878141e-03 9.86201873e-01 2.00050418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.916875 meters 0.013435046330789895 Centerline is valid? [True, True] Translation: X:297.01, Y:167.87, Z:20.02 [[ 4.69614536e-01 -8.79433666e-01 -7.78371061e-02 2.97010685e+02] [ 8.67391923e-01 4.76021084e-01 -1.45035094e-01 1.67874786e+02] [ 1.64600848e-01 5.95310930e-04 9.86360080e-01 2.00159345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.976875 meters 0.013326858507988452 Centerline is valid? [True, True] Translation: X:297.04, Y:167.92, Z:20.03 [[ 4.66546973e-01 -8.81127932e-01 -7.71199716e-02 2.97038138e+02] [ 8.69314522e-01 4.72877961e-01 -1.43800888e-01 1.67923579e+02] [ 1.63175314e-01 4.83578752e-05 9.86597088e-01 2.00260729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.036875 meters 0.01322638360236018 Centerline is valid? [True, True] Translation: X:297.06, Y:167.98, Z:20.04 [[ 4.64919702e-01 -8.81950567e-01 -7.75426835e-02 2.97064010e+02] [ 8.70000570e-01 4.71341872e-01 -1.44692250e-01 1.67975237e+02] [ 1.64160525e-01 -1.91901216e-04 9.86433619e-01 2.00356178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.096875 meters 0.013245588805967136 Centerline is valid? [True, True] Translation: X:297.09, Y:168.03, Z:20.04 [[ 4.64415263e-01 -8.82193679e-01 -7.77995917e-02 2.97089365e+02] [ 8.70150744e-01 4.70886674e-01 -1.45270170e-01 1.68026352e+02] [ 1.64791217e-01 -2.31688215e-04 9.86328445e-01 2.00442290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.156875 meters 0.013335335402757793 Centerline is valid? [True, True] Translation: X:297.11, Y:168.08, Z:20.05 [[ 4.63997242e-01 -8.82407376e-01 -7.78702930e-02 2.97114395e+02] [ 8.70328936e-01 4.70486084e-01 -1.45500477e-01 1.68078052e+02] [ 1.65027583e-01 -2.60949172e-04 9.86288917e-01 2.00534120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.216875 meters 0.013348595325125175 Centerline is valid? [True, True] Translation: X:297.14, Y:168.13, Z:20.06 [[ 4.64215251e-01 -8.82300162e-01 -7.77857612e-02 2.97139823e+02] [ 8.70230357e-01 4.70687149e-01 -1.45439792e-01 1.68129582e+02] [ 1.64934310e-01 -1.76161334e-04 9.86304538e-01 2.00629486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.276875 meters 0.013452731893898867 Centerline is valid? [True, True] Translation: X:297.16, Y:168.18, Z:20.07 [[ 4.66019960e-01 -8.81370049e-01 -7.75385962e-02 2.97162999e+02] [ 8.69348457e-01 4.72426500e-01 -1.45073994e-01 1.68182275e+02] [ 1.64495161e-01 1.99317894e-04 9.86377870e-01 2.00724699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.336875 meters 0.01357528492448395 Centerline is valid? [True, True] Translation: X:297.19, Y:168.23, Z:20.08 [[ 4.68625100e-01 -8.80020794e-01 -7.71616377e-02 2.97185375e+02] [ 8.68082293e-01 4.74934614e-01 -1.44465377e-01 1.68234916e+02] [ 1.63779268e-01 7.17450409e-04 9.86496749e-01 2.00816227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.396875 meters 0.013567876196150281 Centerline is valid? [True, True] Translation: X:297.21, Y:168.29, Z:20.09 [[ 4.70384361e-01 -8.79101462e-01 -7.69361652e-02 2.97209330e+02] [ 8.67204971e-01 4.76633456e-01 -1.44139125e-01 1.68286770e+02] [ 1.63383266e-01 1.08136523e-03 9.86562081e-01 2.00911669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.456875 meters 0.014340240195433767 Centerline is valid? [True, True] Translation: X:297.23, Y:168.34, Z:20.10 [[ 4.73826200e-01 -8.77238133e-01 -7.70842987e-02 2.97231466e+02] [ 8.65254615e-01 4.80052184e-01 -1.44514190e-01 1.68340266e+02] [ 1.63777844e-01 1.77706442e-03 9.86495646e-01 2.00997479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.516875 meters 0.014996029145598657 Centerline is valid? [True, True] Translation: X:297.25, Y:168.39, Z:20.11 [[ 4.76107416e-01 -8.75980341e-01 -7.73315662e-02 2.97254779e+02] [ 8.63887107e-01 4.82341495e-01 -1.45071533e-01 1.68393533e+02] [ 1.64380034e-01 2.26388956e-03 9.86394485e-01 2.01078947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57687500000003 meters 0.015777950696938433 Centerline is valid? [True, True] Translation: X:297.28, Y:168.45, Z:20.12 [[ 4.79132912e-01 -8.74320623e-01 -7.74280436e-02 2.97278177e+02] [ 8.62159741e-01 4.85340218e-01 -1.45345978e-01 1.68446437e+02] [ 1.64657930e-01 2.88469967e-03 9.86346514e-01 2.01167211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63687500000003 meters 0.01610247290692023 Centerline is valid? [True, True] Translation: X:297.30, Y:168.50, Z:20.13 [[ 4.80272398e-01 -8.73716266e-01 -7.71900869e-02 2.97303188e+02] [ 8.61607335e-01 4.86425843e-01 -1.44992066e-01 1.68497897e+02] [ 1.64229179e-01 3.12814202e-03 9.86417250e-01 2.01261178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69687500000003 meters 0.016561076393355 Centerline is valid? [True, True] Translation: X:297.33, Y:168.55, Z:20.14 [[ 4.81177586e-01 -8.73253935e-01 -7.67834362e-02 2.97328107e+02] [ 8.61252436e-01 4.87254135e-01 -1.44317875e-01 1.68549882e+02] [ 1.63439199e-01 3.31260549e-03 9.86547847e-01 2.01354728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75687500000004 meters 0.016497104049100167 Centerline is valid? [True, True] Translation: X:297.35, Y:168.60, Z:20.14 [[ 4.80175909e-01 -8.73859441e-01 -7.61628082e-02 2.97354119e+02] [ 8.62044586e-01 4.86168589e-01 -1.43245365e-01 1.68601192e+02] [ 1.62204279e-01 3.12723678e-03 9.86752245e-01 2.01448288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81687500000004 meters 0.015305560594727015 Centerline is valid? [True, True] Translation: X:297.38, Y:168.65, Z:20.15 [[ 4.78002153e-01 -8.75045944e-01 -7.62137663e-02 2.97382766e+02] [ 8.63213940e-01 4.84031913e-01 -1.43439187e-01 1.68651335e+02] [ 1.62405774e-01 2.77545454e-03 9.86720154e-01 2.01533400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87687500000004 meters 0.014971213664719077 Centerline is valid? [True, True] Translation: X:297.41, Y:168.70, Z:20.16 [[ 4.74772183e-01 -8.76827896e-01 -7.59224310e-02 2.97409202e+02] [ 8.65093471e-01 4.80799306e-01 -1.42987110e-01 1.68701559e+02] [ 1.61878539e-01 2.20630300e-03 9.86808224e-01 2.01616686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.936875 meters 0.014706855963230181 Centerline is valid? [True, True] Translation: X:297.44, Y:168.75, Z:20.17 [[ 4.72475333e-01 -8.78109622e-01 -7.54357405e-02 2.97436307e+02] [ 8.66532307e-01 4.78456164e-01 -1.42131841e-01 1.68752636e+02] [ 1.60900032e-01 1.78628257e-03 9.86969092e-01 2.01708715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.996875 meters 0.01419788866672313 Centerline is valid? [True, True] Translation: X:297.46, Y:168.80, Z:20.18 [[ 4.69825495e-01 -8.79565932e-01 -7.50185000e-02 2.97463254e+02] [ 8.68121128e-01 4.75775175e-01 -1.41434401e-01 1.68803842e+02] [ 1.60092821e-01 1.32434274e-03 9.87101076e-01 2.01790977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.056875 meters 0.013718658448811172 Centerline is valid? [True, True] Translation: X:297.49, Y:168.85, Z:20.19 [[ 4.66370972e-01 -8.81434776e-01 -7.46381473e-02 2.97490639e+02] [ 8.70114920e-01 4.72305207e-01 -1.40811283e-01 1.68854579e+02] [ 1.59367947e-01 7.26529262e-04 9.87218988e-01 2.01870133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.116875 meters 0.013622914000116773 Centerline is valid? [True, True] Translation: X:297.52, Y:168.90, Z:20.20 [[ 4.62977041e-01 -8.83268782e-01 -7.40845297e-02 2.97517878e+02] [ 8.72125290e-01 4.68866973e-01 -1.39861503e-01 1.68904508e+02] [ 1.58271088e-01 1.41672639e-04 9.87395687e-01 2.01964278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.176875 meters 0.013583788305708748 Centerline is valid? [True, True] Translation: X:297.54, Y:168.96, Z:20.20 [[ 4.60112686e-01 -8.84763152e-01 -7.40977784e-02 2.97544842e+02] [ 8.73619616e-01 4.66040833e-01 -1.39981100e-01 1.68955042e+02] [ 1.58382709e-01 -3.26193011e-04 9.87377745e-01 2.02048738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.236875 meters 0.013659315015263847 Centerline is valid? [True, True] Translation: X:297.57, Y:169.01, Z:20.21 [[ 4.56432296e-01 -8.86672808e-01 -7.40330387e-02 2.97571667e+02] [ 8.75558086e-01 4.62396419e-01 -1.39955668e-01 1.69005912e+02] [ 1.58327497e-01 -9.39938708e-04 9.87386206e-01 2.02129974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.296875 meters 0.013754914260109495 Centerline is valid? [True, True] Translation: X:297.60, Y:169.06, Z:20.22 [[ 4.54989948e-01 -8.87378664e-01 -7.44530342e-02 2.97597667e+02] [ 8.76130033e-01 4.61039905e-01 -1.40848751e-01 1.69056184e+02] [ 1.59311996e-01 -1.14577354e-03 9.87227621e-01 2.02204889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.356875 meters 0.013716891303810637 Centerline is valid? [True, True] Translation: X:297.62, Y:169.11, Z:20.23 [[ 4.55827221e-01 -8.86954428e-01 -7.43867392e-02 2.97621909e+02] [ 8.75703685e-01 4.61855976e-01 -1.40826533e-01 1.69108426e+02] [ 1.59262678e-01 -9.48174294e-04 9.87235788e-01 2.02271161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.416875 meters 0.013450463119947327 Centerline is valid? [True, True] Translation: X:297.64, Y:169.16, Z:20.24 [[ 4.60254563e-01 -8.84671719e-01 -7.43080578e-02 2.97644409e+02] [ 8.73399858e-01 4.66214476e-01 -1.40771977e-01 1.69161191e+02] [ 1.59180479e-01 -1.09702409e-04 9.87249494e-01 2.02360166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.476875 meters 0.013409944485473784 Centerline is valid? [True, True] Translation: X:297.67, Y:169.21, Z:20.25 [[ 4.61896254e-01 -8.83826657e-01 -7.41774358e-02 2.97669192e+02] [ 8.72568562e-01 4.67814482e-01 -1.40619043e-01 1.69212709e+02] [ 1.58984137e-01 2.26510712e-04 9.87281111e-01 2.02451530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.536875 meters 0.01389648074853574 Centerline is valid? [True, True] Translation: X:297.69, Y:169.27, Z:20.25 [[ 4.68675575e-01 -8.80278609e-01 -7.38429105e-02 2.97691588e+02] [ 8.69063261e-01 4.74454834e-01 -1.40077331e-01 1.69265777e+02] [ 1.58342204e-01 1.47666296e-03 9.87383191e-01 2.02543242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.596875 meters 0.014627967931464958 Centerline is valid? [True, True] Translation: X:297.72, Y:169.32, Z:20.26 [[ 4.72671108e-01 -8.78159369e-01 -7.36080629e-02 2.97715570e+02] [ 8.66975218e-01 4.78363004e-01 -1.39724042e-01 1.69318846e+02] [ 1.57911350e-01 2.22715111e-03 9.87450781e-01 2.02625630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.656875 meters 0.01571437994236153 Centerline is valid? [True, True] Translation: X:297.74, Y:169.37, Z:20.27 [[ 4.77333981e-01 -8.75574324e-01 -7.43093113e-02 2.97740164e+02] [ 8.64128054e-01 4.83073081e-01 -1.41149230e-01 1.69371831e+02] [ 1.59483469e-01 3.16256313e-03 9.87195533e-01 2.02704646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.716875 meters 0.01672760792744109 Centerline is valid? [True, True] Translation: X:297.77, Y:169.42, Z:20.28 [[ 4.79954107e-01 -8.74106011e-01 -7.47177144e-02 2.97766888e+02] [ 8.62499869e-01 4.85720967e-01 -1.42018023e-01 1.69423188e+02] [ 1.60430768e-01 3.71811467e-03 9.87040093e-01 2.02786090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.776875 meters 0.016898035857626986 Centerline is valid? [True, True] Translation: X:297.79, Y:169.47, Z:20.29 [[ 4.81062359e-01 -8.73477135e-01 -7.49446571e-02 2.97794540e+02] [ 8.61777115e-01 4.86848851e-01 -1.42542625e-01 1.69473399e+02] [ 1.60994444e-01 3.98630082e-03 9.86947262e-01 2.02877187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.836875 meters 0.017229467732951757 Centerline is valid? [True, True] Translation: X:297.82, Y:169.52, Z:20.30 [[ 4.81881396e-01 -8.73001499e-01 -7.52243527e-02 2.97822676e+02] [ 8.61192298e-01 4.87699374e-01 -1.43168245e-01 1.69523889e+02] [ 1.61672962e-01 4.20748057e-03 9.86835422e-01 2.02959994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.896875 meters 0.017819116157681995 Centerline is valid? [True, True] Translation: X:297.85, Y:169.57, Z:20.31 [[ 4.82102633e-01 -8.72872658e-01 -7.53018892e-02 2.97850048e+02] [ 8.61021631e-01 4.87929104e-01 -1.43411788e-01 1.69573909e+02] [ 1.61922212e-01 4.30264500e-03 9.86794145e-01 2.03055130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.956875 meters 0.017885754643453232 Centerline is valid? [True, True] Translation: X:297.88, Y:169.62, Z:20.32 [[ 4.81340736e-01 -8.73321227e-01 -7.49741945e-02 2.97878703e+02] [ 8.61563037e-01 4.87126825e-01 -1.42886635e-01 1.69621991e+02] [ 1.61307873e-01 4.18216325e-03 9.86895273e-01 2.03151057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.016875 meters 0.016116845516524453 Centerline is valid? [True, True] Translation: X:297.91, Y:169.67, Z:20.32 [[ 4.79071246e-01 -8.74522318e-01 -7.55079924e-02 2.97911904e+02] [ 8.62597449e-01 4.84970050e-01 -1.43978093e-01 1.69669751e+02] [ 1.62531170e-01 3.84276279e-03 9.86695927e-01 2.03240025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07687500000003 meters 0.01539541315779895 Centerline is valid? [True, True] Translation: X:297.94, Y:169.72, Z:20.33 [[ 4.73963353e-01 -8.77244815e-01 -7.61595349e-02 2.97943698e+02] [ 8.65129702e-01 4.80033961e-01 -1.45320318e-01 1.69717350e+02] [ 1.64040658e-01 2.98862933e-03 9.86449051e-01 2.03314929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13687500000003 meters 0.01420971696221762 Centerline is valid? [True, True] Translation: X:297.98, Y:169.77, Z:20.34 [[ 4.69798187e-01 -8.79461718e-01 -7.63986262e-02 2.97976740e+02] [ 8.67281809e-01 4.75964195e-01 -1.45877856e-01 1.69765220e+02] [ 1.64657001e-01 2.27401356e-03 9.86348266e-01 2.03421021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19687500000003 meters 0.013381856186593752 Centerline is valid? [True, True] Translation: X:298.01, Y:169.81, Z:20.35 [[ 4.63632166e-01 -8.82731712e-01 -7.63540429e-02 2.98010524e+02] [ 8.70593346e-01 4.69875905e-01 -1.45889893e-01 1.69810763e+02] [ 1.64658560e-01 1.16592560e-03 9.86349937e-01 2.03527749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25687500000004 meters 0.012953839515265022 Centerline is valid? [True, True] Translation: X:298.04, Y:169.86, Z:20.36 [[ 4.58233686e-01 -8.85527844e-01 -7.65658301e-02 2.98043643e+02] [ 8.73349434e-01 4.64586266e-01 -1.46356985e-01 1.69857499e+02] [ 1.65174618e-01 1.96976309e-04 9.86264319e-01 2.03631436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31687500000004 meters 0.01303564515496038 Centerline is valid? [True, True] Translation: X:298.07, Y:169.91, Z:20.37 [[ 4.55311272e-01 -8.87031758e-01 -7.65918088e-02 2.98073416e+02] [ 8.74849252e-01 4.61708316e-01 -1.46506715e-01 1.69906666e+02] [ 1.65319184e-01 -3.00127964e-04 9.86240071e-01 2.03728429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37687500000004 meters 0.013226847430389148 Centerline is valid? [True, True] Translation: X:298.10, Y:169.96, Z:20.38 [[ 4.51204319e-01 -8.89084241e-01 -7.70965260e-02 2.98104540e+02] [ 8.76751520e-01 4.57742500e-01 -1.47575662e-01 1.69955424e+02] [ 1.66497552e-01 -1.00772021e-03 9.86041353e-01 2.03824482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.436875 meters 0.013704105441638232 Centerline is valid? [True, True] Translation: X:298.13, Y:170.00, Z:20.39 [[ 4.48423557e-01 -8.90447700e-01 -7.75835456e-02 2.98133820e+02] [ 8.77960810e-01 4.55083194e-01 -1.48607209e-01 1.70004793e+02] [ 1.67633915e-01 -1.47633948e-03 9.85848209e-01 2.03918213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.496875 meters 0.013951896690434824 Centerline is valid? [True, True] Translation: X:298.16, Y:170.06, Z:20.40 [[ 4.46739939e-01 -8.91228858e-01 -7.83233615e-02 2.98162308e+02] [ 8.78495655e-01 4.53550542e-01 -1.50124248e-01 1.70055169e+02] [ 1.69318665e-01 -1.74023549e-03 9.85559821e-01 2.04003574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.556875 meters 0.013706302244729575 Centerline is valid? [True, True] Translation: X:298.19, Y:170.11, Z:20.41 [[ 4.49780261e-01 -8.89657735e-01 -7.87834431e-02 2.98185346e+02] [ 8.76732528e-01 4.56626637e-01 -1.51103241e-01 1.70106812e+02] [ 1.70404786e-01 -1.10875209e-03 9.85373523e-01 2.04086852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.616875 meters 0.013535050425050718 Centerline is valid? [True, True] Translation: X:298.21, Y:170.16, Z:20.42 [[ 4.51939783e-01 -8.88499589e-01 -7.94915877e-02 2.98209564e+02] [ 8.75307676e-01 4.58876965e-01 -1.52539841e-01 1.70159330e+02] [ 1.72008444e-01 -6.40774461e-04 9.85095267e-01 2.04168101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.676875 meters 0.013487811715461491 Centerline is valid? [True, True] Translation: X:298.23, Y:170.21, Z:20.43 [[ 4.55597885e-01 -8.86625348e-01 -7.95365270e-02 2.98230988e+02] [ 8.73371955e-01 4.62488354e-01 -1.52728353e-01 1.70211551e+02] [ 1.72197546e-01 1.17742289e-04 9.85062430e-01 2.04252067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.736875 meters 0.01345717246367979 Centerline is valid? [True, True] Translation: X:298.25, Y:170.26, Z:20.44 [[ 4.58933750e-01 -8.84969249e-01 -7.87987397e-02 2.98253186e+02] [ 8.71919924e-01 4.65648810e-01 -1.51416088e-01 1.70264483e+02] [ 1.70691121e-01 7.83762050e-04 9.85324275e-01 2.04376729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.796875 meters 0.013840330468811085 Centerline is valid? [True, True] Translation: X:298.28, Y:170.32, Z:20.45 [[ 4.60124227e-01 -8.84371144e-01 -7.85708260e-02 2.98276454e+02] [ 8.71371047e-01 4.66783217e-01 -1.51082517e-01 1.70316401e+02] [ 1.70288562e-01 1.05238359e-03 9.85393677e-01 2.04458526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.856875 meters 0.014042584641768528 Centerline is valid? [True, True] Translation: X:298.30, Y:170.37, Z:20.46 [[ 4.62261666e-01 -8.83270235e-01 -7.84081956e-02 2.98299591e+02] [ 8.70289719e-01 4.68861834e-01 -1.50878709e-01 1.70368499e+02] [ 1.70029283e-01 1.50759683e-03 9.85437857e-01 2.04564285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.916875 meters 0.014363201520016557 Centerline is valid? [True, True] Translation: X:298.32, Y:170.42, Z:20.47 [[ 4.64406096e-01 -8.82130370e-01 -7.85683637e-02 2.98322824e+02] [ 8.69062335e-01 4.71001160e-01 -1.51289675e-01 1.70421199e+02] [ 1.70463007e-01 1.97904168e-03 9.85362089e-01 2.04669099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.976875 meters 0.01463158235959769 Centerline is valid? [True, True] Translation: X:298.35, Y:170.47, Z:20.48 [[ 4.65132225e-01 -8.81756017e-01 -7.84750924e-02 2.98346452e+02] [ 8.68696987e-01 4.71700814e-01 -1.51208090e-01 1.70473503e+02] [ 1.70345408e-01 2.16067898e-03 9.85382044e-01 2.04759217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.036875 meters 0.014560696881134955 Centerline is valid? [True, True] Translation: X:298.37, Y:170.53, Z:20.49 [[ 4.64406034e-01 -8.82132948e-01 -7.85397807e-02 2.98371047e+02] [ 8.69039574e-01 4.70995924e-01 -1.51436648e-01 1.70525754e+02] [ 1.70579173e-01 2.07391555e-03 9.85341791e-01 2.04854463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.096875 meters 0.014012816427160653 Centerline is valid? [True, True] Translation: X:298.40, Y:170.58, Z:20.49 [[ 4.62134290e-01 -8.83298828e-01 -7.88357675e-02 2.98397325e+02] [ 8.70104195e-01 4.68807301e-01 -1.52113130e-01 1.70576575e+02] [ 1.71320133e-01 1.70136151e-03 9.85213945e-01 2.04949101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.156875 meters 0.01382278114692974 Centerline is valid? [True, True] Translation: X:298.42, Y:170.63, Z:20.50 [[ 4.60663541e-01 -8.84069976e-01 -7.87996114e-02 2.98423148e+02] [ 8.70880053e-01 4.67352255e-01 -1.52150592e-01 1.70627347e+02] [ 1.71338946e-01 1.46522056e-03 9.85211053e-01 2.05045748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.216875 meters 0.013785327375011022 Centerline is valid? [True, True] Translation: X:298.45, Y:170.68, Z:20.51 [[ 4.58211572e-01 -8.85363894e-01 -7.85680053e-02 2.98448426e+02] [ 8.72252177e-01 4.64897531e-01 -1.51810489e-01 1.70677804e+02] [ 1.70933597e-01 1.03020910e-03 9.85282012e-01 2.05140481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.276875 meters 0.01374930848331576 Centerline is valid? [True, True] Translation: X:298.47, Y:170.73, Z:20.52 [[ 4.56655886e-01 -8.86193390e-01 -7.82730977e-02 2.98474205e+02] [ 8.73174149e-01 4.63314889e-01 -1.51348007e-01 1.70729407e+02] [ 1.70388695e-01 7.67912464e-04 9.85376630e-01 2.05225570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.336875 meters 0.013541292500408033 Centerline is valid? [True, True] Translation: X:298.50, Y:170.78, Z:20.53 [[ 4.54009250e-01 -8.87550728e-01 -7.82898850e-02 2.98500358e+02] [ 8.74528048e-01 4.60709898e-01 -1.51482944e-01 1.70780001e+02] [ 1.70517723e-01 3.07957661e-04 9.85354561e-01 2.05321048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.396875 meters 0.013444313399698036 Centerline is valid? [True, True] Translation: X:298.53, Y:170.83, Z:20.54 [[ 4.52507451e-01 -8.88371492e-01 -7.76730288e-02 2.98526446e+02] [ 8.75549265e-01 4.59125353e-01 -1.50390803e-01 1.70831082e+02] [ 1.69264559e-01 4.63956059e-05 9.85570650e-01 2.05438860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.456875 meters 0.013466194920233127 Centerline is valid? [True, True] Translation: X:298.55, Y:170.88, Z:20.55 [[ 4.52417912e-01 -8.88420643e-01 -7.76324312e-02 2.98552670e+02] [ 8.75594727e-01 4.59030234e-01 -1.50416480e-01 1.70882284e+02] [ 1.69268739e-01 7.65623619e-05 9.85569931e-01 2.05544286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.516875 meters 0.013497531365223454 Centerline is valid? [True, True] Translation: X:298.58, Y:170.93, Z:20.56 [[ 4.53931624e-01 -8.87682296e-01 -7.72413189e-02 2.98575964e+02] [ 8.74957560e-01 4.60456274e-01 -1.49764109e-01 1.70934600e+02] [ 1.68509198e-01 3.99789215e-04 9.85700000e-01 2.05637236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57687500000003 meters 0.013533147932044921 Centerline is valid? [True, True] Translation: X:298.60, Y:170.99, Z:20.57 [[ 4.55291989e-01 -8.86992676e-01 -7.71569592e-02 2.98599470e+02] [ 8.74267972e-01 4.61782953e-01 -1.49706437e-01 1.70986242e+02] [ 1.68418282e-01 7.04283491e-04 9.85715368e-01 2.05720688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63687500000003 meters 0.013934656933485074 Centerline is valid? [True, True] Translation: X:298.62, Y:171.04, Z:20.58 [[ 4.57738040e-01 -8.85693109e-01 -7.76118731e-02 2.98623344e+02] [ 8.72779045e-01 4.64269502e-01 -1.50700261e-01 1.71039303e+02] [ 1.69507009e-01 1.24322574e-03 9.85528198e-01 2.05810055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69687500000003 meters 0.014505514521893928 Centerline is valid? [True, True] Translation: X:298.65, Y:171.09, Z:20.59 [[ 4.60216017e-01 -8.84441042e-01 -7.72351015e-02 2.98645991e+02] [ 8.71619029e-01 4.66648698e-01 -1.50064188e-01 1.71091008e+02] [ 1.68764586e-01 1.74235854e-03 9.85654848e-01 2.05904883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75687500000004 meters 0.01499335791643135 Centerline is valid? [True, True] Translation: X:298.67, Y:171.14, Z:20.60 [[ 4.63975765e-01 -8.82517740e-01 -7.67393572e-02 2.98669194e+02] [ 8.69819505e-01 4.70272615e-01 -1.49190137e-01 1.71144091e+02] [ 1.67751360e-01 2.47121800e-03 9.85826239e-01 2.06011136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81687500000004 meters 0.015647314304751886 Centerline is valid? [True, True] Translation: X:298.69, Y:171.20, Z:20.61 [[ 4.66079901e-01 -8.81427778e-01 -7.65153536e-02 2.98692697e+02] [ 8.68773051e-01 4.72309909e-01 -1.48851387e-01 1.71196538e+02] [ 1.67340707e-01 2.90216262e-03 9.85894855e-01 2.06107750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87687500000004 meters 0.016249675220876756 Centerline is valid? [True, True] Translation: X:298.72, Y:171.25, Z:20.62 [[ 4.66484744e-01 -8.81233290e-01 -7.62880881e-02 2.98716792e+02] [ 8.68635181e-01 4.72672014e-01 -1.48506197e-01 1.71247313e+02] [ 1.66927849e-01 3.00935803e-03 9.85964521e-01 2.06199648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.936875 meters 0.015568190792559286 Centerline is valid? [True, True] Translation: X:298.74, Y:171.30, Z:20.63 [[ 4.66893055e-01 -8.81018106e-01 -7.62756312e-02 2.98744030e+02] [ 8.68402919e-01 4.73072141e-01 -1.48590445e-01 1.71297784e+02] [ 1.66994748e-01 3.13786576e-03 9.85952792e-01 2.06292909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.996875 meters 0.015990937495316784 Centerline is valid? [True, True] Translation: X:298.77, Y:171.35, Z:20.64 [[ 4.66730635e-01 -8.81117332e-01 -7.61233285e-02 2.98769413e+02] [ 8.68536353e-01 4.72887245e-01 -1.48398977e-01 1.71348665e+02] [ 1.66754662e-01 3.14647072e-03 9.85993399e-01 2.06372605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.056875 meters 0.015138490221953864 Centerline is valid? [True, True] Translation: X:298.80, Y:171.40, Z:20.65 [[ 4.65261413e-01 -8.81925066e-01 -7.57627578e-02 2.98798668e+02] [ 8.69456103e-01 4.71380731e-01 -1.47804907e-01 1.71398375e+02] [ 1.66065957e-01 2.89552786e-03 9.86110396e-01 2.06478572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.116875 meters 0.014909111241889714 Centerline is valid? [True, True] Translation: X:298.83, Y:171.45, Z:20.66 [[ 4.63439337e-01 -8.82889329e-01 -7.56994948e-02 2.98825742e+02] [ 8.70436193e-01 4.69573933e-01 -1.47787534e-01 1.71447557e+02] [ 1.66026547e-01 2.59897696e-03 9.86117859e-01 2.06563549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.176875 meters 0.014193920708477198 Centerline is valid? [True, True] Translation: X:298.86, Y:171.50, Z:20.67 [[ 4.60208379e-01 -8.84580079e-01 -7.56725359e-02 2.98856118e+02] [ 8.72140499e-01 4.66383877e-01 -1.47841231e-01 1.71496841e+02] [ 1.66069859e-01 2.04069012e-03 9.86111879e-01 2.06653768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.236875 meters 0.01385254634575677 Centerline is valid? [True, True] Translation: X:298.89, Y:171.55, Z:20.67 [[ 4.57611043e-01 -8.85936652e-01 -7.55538355e-02 2.98885075e+02] [ 8.73537555e-01 4.63803520e-01 -1.47710647e-01 1.71546705e+02] [ 1.65904411e-01 1.59491055e-03 9.86140549e-01 2.06748742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.296875 meters 0.013450288742295227 Centerline is valid? [True, True] Translation: X:298.92, Y:171.59, Z:20.68 [[ 4.53458074e-01 -8.88076634e-01 -7.54696497e-02 2.98916000e+02] [ 8.75717671e-01 4.59694628e-01 -1.47646230e-01 1.71594832e+02] [ 1.65814159e-01 8.61269071e-04 9.86156642e-01 2.06843852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.356875 meters 0.013255400103130468 Centerline is valid? [True, True] Translation: X:298.95, Y:171.64, Z:20.69 [[ 4.50376137e-01 -8.89637493e-01 -7.55411545e-02 2.98947210e+02] [ 8.77263988e-01 4.56667303e-01 -1.47860978e-01 1.71643534e+02] [ 1.66039845e-01 3.23521402e-04 9.86118991e-01 2.06942774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.416875 meters 0.013432829486403723 Centerline is valid? [True, True] Translation: X:298.98, Y:171.69, Z:20.70 [[ 4.50086371e-01 -8.89740870e-01 -7.60489496e-02 2.98976443e+02] [ 8.77183084e-01 4.56465849e-01 -1.48958938e-01 1.71691518e+02] [ 1.67248603e-01 3.35535627e-04 9.85914698e-01 2.07028094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.476875 meters 0.013422250028704868 Centerline is valid? [True, True] Translation: X:299.00, Y:171.74, Z:20.71 [[ 4.50389790e-01 -8.89572807e-01 -7.62184862e-02 2.99004165e+02] [ 8.76942991e-01 4.56793204e-01 -1.49368536e-01 1.71741867e+02] [ 1.67690274e-01 4.34796090e-04 9.85839633e-01 2.07115822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.536875 meters 0.013443383850470328 Centerline is valid? [True, True] Translation: X:299.03, Y:171.79, Z:20.72 [[ 4.52439329e-01 -8.88510958e-01 -7.64652264e-02 2.99031081e+02] [ 8.75765542e-01 4.58854553e-01 -1.49957373e-01 1.71791741e+02] [ 1.68325187e-01 8.81002796e-04 9.85731127e-01 2.07201296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.596875 meters 0.01401731746847192 Centerline is valid? [True, True] Translation: X:299.06, Y:171.84, Z:20.73 [[ 4.56761813e-01 -8.86360893e-01 -7.57166664e-02 2.99056441e+02] [ 8.73820398e-01 4.62991864e-01 -1.48581446e-01 1.71842583e+02] [ 1.66752984e-01 1.70356318e-03 9.85997231e-01 2.07325223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.656875 meters 0.014815448566990175 Centerline is valid? [True, True] Translation: X:299.08, Y:171.89, Z:20.74 [[ 4.59951636e-01 -8.84740416e-01 -7.53584057e-02 2.99080473e+02] [ 8.72281313e-01 4.66078299e-01 -1.47974086e-01 1.71893463e+02] [ 1.66041572e-01 2.32719383e-03 9.86116008e-01 2.07421279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.716875 meters 0.01579481627093647 Centerline is valid? [True, True] Translation: X:299.11, Y:171.95, Z:20.75 [[ 4.63677100e-01 -8.82780878e-01 -7.55080754e-02 2.99105242e+02] [ 8.70237924e-01 4.69775006e-01 -1.48315204e-01 1.71945306e+02] [ 1.66401632e-01 3.06037274e-03 9.86053310e-01 2.07505629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.776875 meters 0.01615127388201912 Centerline is valid? [True, True] Translation: X:299.13, Y:172.00, Z:20.76 [[ 4.64682549e-01 -8.82182971e-01 -7.63107740e-02 2.99132615e+02] [ 8.69344056e-01 4.70894800e-01 -1.49996666e-01 1.71996590e+02] [ 1.68258851e-01 3.36051528e-03 9.85737118e-01 2.07581484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.836875 meters 0.015559330684981224 Centerline is valid? [True, True] Translation: X:299.16, Y:172.05, Z:20.77 [[ 4.64123687e-01 -8.82450051e-01 -7.66231688e-02 2.99160096e+02] [ 8.69491269e-01 4.70394352e-01 -1.50711932e-01 1.72046529e+02] [ 1.69038858e-01 3.32580139e-03 9.85603776e-01 2.07676703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.896875 meters 0.015878798240893787 Centerline is valid? [True, True] Translation: X:299.19, Y:172.10, Z:20.78 [[ 4.63639677e-01 -8.82746115e-01 -7.61416176e-02 2.99185482e+02] [ 8.69936487e-01 4.69839061e-01 -1.49872495e-01 1.72097518e+02] [ 1.68073669e-01 3.24846356e-03 9.85769085e-01 2.07780093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.956875 meters 0.015923501832545036 Centerline is valid? [True, True] Translation: X:299.21, Y:172.15, Z:20.79 [[ 4.63223001e-01 -8.82992033e-01 -7.58255993e-02 2.99210249e+02] [ 8.70275657e-01 4.69377113e-01 -1.49349946e-01 1.72148092e+02] [ 1.67465613e-01 3.19315678e-03 9.85872746e-01 2.07872340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.016875 meters 0.016217142503334215 Centerline is valid? [True, True] Translation: X:299.24, Y:172.20, Z:20.80 [[ 4.63398034e-01 -8.82884784e-01 -7.60047383e-02 2.99235096e+02] [ 8.70087280e-01 4.69578122e-01 -1.49814924e-01 1.72199981e+02] [ 1.67959480e-01 3.29318541e-03 9.85788399e-01 2.07963632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07687500000003 meters 0.016034429503853236 Centerline is valid? [True, True] Translation: X:299.26, Y:172.25, Z:20.80 [[ 4.62517916e-01 -8.83332836e-01 -7.61595570e-02 2.99259952e+02] [ 8.70471061e-01 4.68735477e-01 -1.50223784e-01 1.72251515e+02] [ 1.68396287e-01 3.18650114e-03 9.85714227e-01 2.08048381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13687500000003 meters 0.014989515050318609 Centerline is valid? [True, True] Translation: X:299.29, Y:172.30, Z:20.82 [[ 4.60273998e-01 -8.84510232e-01 -7.60887438e-02 2.99287138e+02] [ 8.71670784e-01 4.66512372e-01 -1.50187386e-01 1.72302248e+02] [ 1.68338620e-01 2.80301373e-03 9.85725242e-01 2.08151206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19687500000003 meters 0.014563359652268473 Centerline is valid? [True, True] Translation: X:299.31, Y:172.35, Z:20.82 [[ 4.58591959e-01 -8.85383925e-01 -7.60836406e-02 2.99313005e+02] [ 8.72540627e-01 4.64853632e-01 -1.50279589e-01 1.72353644e+02] [ 1.68422889e-01 2.53094376e-03 9.85711583e-01 2.08241900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25687500000004 meters 0.014012081170427026 Centerline is valid? [True, True] Translation: X:299.34, Y:172.40, Z:20.83 [[ 4.56457564e-01 -8.86513261e-01 -7.57676072e-02 2.99338288e+02] [ 8.73774609e-01 4.62698164e-01 -1.49760950e-01 1.72404956e+02] [ 1.67822601e-01 2.15570740e-03 9.85814855e-01 2.08337563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31687500000004 meters 0.01405016965093444 Centerline is valid? [True, True] Translation: X:299.36, Y:172.46, Z:20.84 [[ 4.55746302e-01 -8.86890789e-01 -7.56309215e-02 2.99363655e+02] [ 8.74186348e-01 4.61974548e-01 -1.49591936e-01 1.72456056e+02] [ 1.67611270e-01 2.06045244e-03 9.85851011e-01 2.08433363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37687500000004 meters 0.01382202166475289 Centerline is valid? [True, True] Translation: X:299.39, Y:172.51, Z:20.85 [[ 4.54083562e-01 -8.87772008e-01 -7.52926315e-02 2.99388242e+02] [ 8.75176367e-01 4.60280033e-01 -1.49025559e-01 1.72507902e+02] [ 1.66956415e-01 1.77572507e-03 9.85962678e-01 2.08523941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.436875 meters 0.013501426726015283 Centerline is valid? [True, True] Translation: X:299.41, Y:172.56, Z:20.86 [[ 4.52653404e-01 -8.88497900e-01 -7.53417357e-02 2.99413666e+02] [ 8.75878386e-01 4.58878042e-01 -1.49224647e-01 1.72558853e+02] [ 1.67158454e-01 1.55684652e-03 9.85928815e-01 2.08615683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.496875 meters 0.012862438840933967 Centerline is valid? [True, True] Translation: X:299.44, Y:172.61, Z:20.87 [[ 4.49172745e-01 -8.90273910e-01 -7.52077839e-02 2.99440382e+02] [ 8.77706722e-01 4.55424499e-01 -1.49061854e-01 1.72609631e+02] [ 1.66957347e-01 9.44144936e-04 9.85963667e-01 2.08710177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.556875 meters 0.012589898671046103 Centerline is valid? [True, True] Translation: X:299.47, Y:172.66, Z:20.88 [[ 4.45997433e-01 -8.91885533e-01 -7.50099097e-02 2.99466837e+02] [ 8.79389426e-01 4.52261035e-01 -1.48775648e-01 1.72660117e+02] [ 1.66614908e-01 3.90635736e-04 9.86021967e-01 2.08814665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.616875 meters 0.012518689228129175 Centerline is valid? [True, True] Translation: X:299.49, Y:172.71, Z:20.89 [[ 4.44277339e-01 -8.92783563e-01 -7.45329213e-02 2.99490825e+02] [ 8.80441622e-01 4.50485849e-01 -1.47935970e-01 1.72710649e+02] [ 1.65650829e-01 1.02712992e-04 9.86184462e-01 2.08908487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.676875 meters 0.012662943731910539 Centerline is valid? [True, True] Translation: X:299.51, Y:172.76, Z:20.90 [[ 4.44011051e-01 -8.92919088e-01 -7.44962292e-02 2.99514928e+02] [ 8.80572606e-01 4.50217160e-01 -1.47974304e-01 1.72762622e+02] [ 1.65668562e-01 1.02887743e-04 9.86181483e-01 2.08989992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.736875 meters 0.012516841030754903 Centerline is valid? [True, True] Translation: X:299.54, Y:172.81, Z:20.91 [[ 4.43642058e-01 -8.93128995e-01 -7.41776443e-02 2.99538643e+02] [ 8.80874162e-01 4.49800615e-01 -1.47445302e-01 1.72814131e+02] [ 1.65052824e-01 7.17667023e-05 9.86284726e-01 2.09073985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.796875 meters 0.012568295435950791 Centerline is valid? [True, True] Translation: X:299.56, Y:172.87, Z:20.92 [[ 4.43991549e-01 -8.92988799e-01 -7.37733697e-02 2.99563189e+02] [ 8.80848286e-01 4.50078855e-01 -1.46749181e-01 1.72866081e+02] [ 1.64249208e-01 1.72249865e-04 9.86418860e-01 2.09177359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.856875 meters 0.01252258815442057 Centerline is valid? [True, True] Translation: X:299.59, Y:172.92, Z:20.93 [[ 4.45960513e-01 -8.92043518e-01 -7.33320056e-02 2.99585736e+02] [ 8.80019529e-01 4.51949162e-01 -1.45971172e-01 1.72918245e+02] [ 1.63354976e-01 5.63781876e-04 9.86567197e-01 2.09281699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.916875 meters 0.013116640135600021 Centerline is valid? [True, True] Translation: X:299.61, Y:172.97, Z:20.94 [[ 4.50284142e-01 -8.89889166e-01 -7.30853238e-02 2.99606471e+02] [ 8.77901551e-01 4.56174680e-01 -1.45579972e-01 1.72972819e+02] [ 1.62889714e-01 1.39063376e-03 9.86643303e-01 2.09363259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.976875 meters 0.01405867062775272 Centerline is valid? [True, True] Translation: X:299.63, Y:173.03, Z:20.94 [[ 4.53647771e-01 -8.88174976e-01 -7.31362615e-02 2.99626686e+02] [ 8.76132180e-01 4.59500804e-01 -1.45778645e-01 1.73026151e+02] [ 1.63083116e-01 2.05512516e-03 9.86610193e-01 2.09447487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.036875 meters 0.014300064634724411 Centerline is valid? [True, True] Translation: X:299.65, Y:173.08, Z:20.95 [[ 4.55319981e-01 -8.87302265e-01 -7.33376116e-02 2.99651114e+02] [ 8.75165610e-01 4.61182000e-01 -1.46274804e-01 1.73078385e+02] [ 1.63611951e-01 2.41928520e-03 9.86521807e-01 2.09547863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.096875 meters 0.014720722125376133 Centerline is valid? [True, True] Translation: X:299.67, Y:173.13, Z:20.96 [[ 4.56775399e-01 -8.86525668e-01 -7.36781907e-02 2.99674254e+02] [ 8.74249014e-01 4.62671205e-01 -1.47051073e-01 1.73131592e+02] [ 1.64453328e-01 2.75622692e-03 9.86381015e-01 2.09630796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.156875 meters 0.01426403770284469 Centerline is valid? [True, True] Translation: X:299.70, Y:173.18, Z:20.97 [[ 4.56547328e-01 -8.86614042e-01 -7.40275453e-02 2.99699974e+02] [ 8.74204678e-01 4.62501668e-01 -1.47845822e-01 1.73182574e+02] [ 1.65320045e-01 2.78338857e-03 9.86236045e-01 2.09719847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.216875 meters 0.014138278962349001 Centerline is valid? [True, True] Translation: X:299.73, Y:173.23, Z:20.98 [[ 4.56360339e-01 -8.86709582e-01 -7.40361918e-02 2.99725548e+02] [ 8.74280670e-01 4.62318377e-01 -1.47969686e-01 1.73233532e+02] [ 1.65434430e-01 2.79908470e-03 9.86216819e-01 2.09813792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.276875 meters 0.01443488723779504 Centerline is valid? [True, True] Translation: X:299.75, Y:173.28, Z:20.99 [[ 4.56537557e-01 -8.86594410e-01 -7.43223416e-02 2.99750465e+02] [ 8.74048713e-01 4.62538564e-01 -1.48650342e-01 1.73284738e+02] [ 1.66169511e-01 2.90311684e-03 9.86092929e-01 2.09910466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.336875 meters 0.015151946484511309 Centerline is valid? [True, True] Translation: X:299.77, Y:173.34, Z:21.00 [[ 4.56732005e-01 -8.86497512e-01 -7.42834895e-02 2.99773702e+02] [ 8.73945552e-01 4.62723715e-01 -1.48680653e-01 1.73335866e+02] [ 1.66177761e-01 2.98748761e-03 9.86091287e-01 2.09992915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.396875 meters 0.014752839749549943 Centerline is valid? [True, True] Translation: X:299.80, Y:173.39, Z:21.01 [[ 4.56616941e-01 -8.86546955e-01 -7.44007136e-02 2.99800787e+02] [ 8.73936609e-01 4.62628719e-01 -1.49028429e-01 1.73386687e+02] [ 1.66540607e-01 3.02739809e-03 9.86029949e-01 2.10096919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.456875 meters 0.01495343742203105 Centerline is valid? [True, True] Translation: X:299.83, Y:173.44, Z:21.02 [[ 4.55769308e-01 -8.86958674e-01 -7.46903477e-02 2.99825590e+02] [ 8.74236139e-01 4.61839439e-01 -1.49718088e-01 1.73437258e+02] [ 1.67288705e-01 2.93990835e-03 9.85903568e-01 2.10181329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.516875 meters 0.015008473912206912 Centerline is valid? [True, True] Translation: X:299.85, Y:173.49, Z:21.03 [[ 4.53442879e-01 -8.88100625e-01 -7.52783794e-02 2.99851138e+02] [ 8.75171272e-01 4.59641763e-01 -1.51012230e-01 1.73487659e+02] [ 1.68715143e-01 2.59394544e-03 9.85661439e-01 2.10252870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57687500000003 meters 0.013791688758570377 Centerline is valid? [True, True] Translation: X:299.88, Y:173.54, Z:21.04 [[ 4.49563135e-01 -8.90063549e-01 -7.53648910e-02 2.99881098e+02] [ 8.77112653e-01 4.55832446e-01 -1.51294992e-01 1.73536991e+02] [ 1.69015920e-01 1.91315143e-03 9.85611464e-01 2.10362305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63687500000003 meters 0.013538491570216067 Centerline is valid? [True, True] Translation: X:299.91, Y:173.59, Z:21.05 [[ 4.46374076e-01 -8.91685388e-01 -7.51488786e-02 2.99909025e+02] [ 8.78814021e-01 4.52653686e-01 -1.50965417e-01 1.73587138e+02] [ 1.68630073e-01 1.34516014e-03 9.85678492e-01 2.10454154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69687500000003 meters 0.01320291631008731 Centerline is valid? [True, True] Translation: X:299.94, Y:173.64, Z:21.06 [[ 4.39657233e-01 -8.95009281e-01 -7.52323329e-02 2.99940266e+02] [ 8.82138839e-01 4.46047498e-01 -1.51237229e-01 1.73635567e+02] [ 1.68915917e-01 1.27178620e-04 9.85630457e-01 2.10554844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75687500000004 meters 0.013459814622870927 Centerline is valid? [True, True] Translation: X:299.97, Y:173.68, Z:21.06 [[ 4.33997578e-01 -8.97753610e-01 -7.53960031e-02 2.99970887e+02] [ 8.84848604e-01 4.40497069e-01 -1.51674919e-01 1.73682925e+02] [ 1.69378424e-01 -8.87500705e-04 9.85550690e-01 2.10647242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81687500000004 meters 0.013596975419600772 Centerline is valid? [True, True] Translation: X:300.00, Y:173.73, Z:21.07 [[ 4.31809070e-01 -8.98822015e-01 -7.52323858e-02 2.99998969e+02] [ 8.85975788e-01 4.38311965e-01 -1.51424981e-01 1.73732349e+02] [ 1.69079361e-01 -1.26739201e-03 9.85601625e-01 2.10741142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87687500000004 meters 0.013573736879371495 Centerline is valid? [True, True] Translation: X:300.02, Y:173.78, Z:21.08 [[ 4.31750218e-01 -8.98840055e-01 -7.53545298e-02 3.00024668e+02] [ 8.85938333e-01 4.38275045e-01 -1.51750631e-01 1.73783396e+02] [ 1.69425555e-01 -1.24109863e-03 9.85542207e-01 2.10832296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.936875 meters 0.013376648960723863 Centerline is valid? [True, True] Translation: X:300.05, Y:173.83, Z:21.09 [[ 4.33883090e-01 -8.97805859e-01 -7.54327790e-02 3.00049163e+02] [ 8.84842812e-01 4.40390756e-01 -1.52017039e-01 1.73834097e+02] [ 1.69701687e-01 -7.88529518e-04 9.85495163e-01 2.10908646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.996875 meters 0.013019327780913246 Centerline is valid? [True, True] Translation: X:300.07, Y:173.89, Z:21.10 [[ 4.36683127e-01 -8.96471314e-01 -7.51467217e-02 3.00072854e+02] [ 8.83568633e-01 4.43101721e-01 -1.51549777e-01 1.73885391e+02] [ 1.69157669e-01 -2.18055840e-04 9.85588979e-01 2.11010312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.056875 meters 0.012995755798537225 Centerline is valid? [True, True] Translation: X:300.10, Y:173.94, Z:21.11 [[ 4.38853664e-01 -8.95428794e-01 -7.49315509e-02 3.00097889e+02] [ 8.82571870e-01 4.45204703e-01 -1.51194137e-01 1.73937330e+02] [ 1.68743463e-01 2.19621979e-04 9.85659980e-01 2.11115831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.116875 meters 0.013305565414214963 Centerline is valid? [True, True] Translation: X:300.12, Y:173.99, Z:21.12 [[ 4.42948090e-01 -8.93436062e-01 -7.46256779e-02 3.00119699e+02] [ 8.80638279e-01 4.49189213e-01 -1.50682690e-01 1.73989792e+02] [ 1.68146399e-01 1.02638124e-03 9.85761500e-01 2.11209908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.176875 meters 0.014032643852431942 Centerline is valid? [True, True] Translation: X:300.14, Y:174.04, Z:21.13 [[ 4.46412404e-01 -8.91713349e-01 -7.45873221e-02 3.00141739e+02] [ 8.78885805e-01 4.52597302e-01 -1.50716373e-01 1.74043102e+02] [ 1.68153822e-01 1.72791978e-03 9.85759254e-01 2.11296679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.236875 meters 0.01441656451140012 Centerline is valid? [True, True] Translation: X:300.16, Y:174.10, Z:21.14 [[ 4.49395895e-01 -8.90190914e-01 -7.48562978e-02 3.00164942e+02] [ 8.77231110e-01 4.55581590e-01 -1.51363784e-01 1.74096492e+02] [ 1.68845816e-01 2.35598996e-03 9.85639660e-01 2.11381368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.296875 meters 0.014953987255418636 Centerline is valid? [True, True] Translation: X:300.19, Y:174.15, Z:21.15 [[ 4.51936026e-01 -8.88902534e-01 -7.48739792e-02 3.00188306e+02] [ 8.75901587e-01 4.58087277e-01 -1.51500685e-01 1.74149756e+02] [ 1.68968160e-01 2.88638036e-03 9.85617284e-01 2.11477113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.356875 meters 0.01642117367051466 Centerline is valid? [True, True] Translation: X:300.21, Y:174.20, Z:21.16 [[ 4.52287353e-01 -8.88717523e-01 -7.49487414e-02 3.00210133e+02] [ 8.75670283e-01 4.58445336e-01 -1.51754502e-01 1.74202033e+02] [ 1.69226786e-01 3.00625635e-03 9.85572553e-01 2.11553815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.416875 meters 0.015281787056771084 Centerline is valid? [True, True] Translation: X:300.24, Y:174.25, Z:21.17 [[ 4.51712120e-01 -8.89030403e-01 -7.47067868e-02 3.00238353e+02] [ 8.76052769e-01 4.57838777e-01 -1.51377675e-01 1.74251953e+02] [ 1.68783019e-01 2.93204300e-03 9.85648870e-01 2.11668870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.476875 meters 0.015620943103708429 Centerline is valid? [True, True] Translation: X:300.26, Y:174.30, Z:21.18 [[ 4.50924531e-01 -8.89462468e-01 -7.43208281e-02 3.00262695e+02] [ 8.76607228e-01 4.56999616e-01 -1.50702086e-01 1.74303124e+02] [ 1.68008439e-01 2.80509240e-03 9.85781566e-01 2.11760771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.536875 meters 0.015023938942887591 Centerline is valid? [True, True] Translation: X:300.29, Y:174.35, Z:21.19 [[ 4.50747143e-01 -8.89556424e-01 -7.42723450e-02 3.00289721e+02] [ 8.76700762e-01 4.56816618e-01 -1.50712809e-01 1.74354019e+02] [ 1.67996389e-01 2.81874682e-03 9.85783581e-01 2.11865501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.596875 meters 0.01600880472143543 Centerline is valid? [True, True] Translation: X:300.31, Y:174.41, Z:21.19 [[ 4.50904573e-01 -8.89493763e-01 -7.40669437e-02 3.00313279e+02] [ 8.76690201e-01 4.56938206e-01 -1.50405346e-01 1.74405297e+02] [ 1.67628633e-01 2.88469441e-03 9.85845992e-01 2.11945976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.656875 meters 0.015620091294340334 Centerline is valid? [True, True] Translation: X:300.34, Y:174.46, Z:21.21 [[ 4.51766900e-01 -8.89069027e-01 -7.39116562e-02 3.00338765e+02] [ 8.76294644e-01 4.57762740e-01 -1.50203096e-01 1.74456629e+02] [ 1.67374923e-01 3.08839856e-03 9.85888481e-01 2.12052428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.716875 meters 0.015771254405456785 Centerline is valid? [True, True] Translation: X:300.36, Y:174.51, Z:21.21 [[ 4.52232113e-01 -8.88848458e-01 -7.37192966e-02 3.00363865e+02] [ 8.76120836e-01 4.58190050e-01 -1.49913838e-01 1.74508204e+02] [ 1.67028132e-01 3.20883977e-03 9.85946909e-01 2.12143274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.776875 meters 0.015951947292476603 Centerline is valid? [True, True] Translation: X:300.39, Y:174.56, Z:21.22 [[ 4.52007796e-01 -8.88944784e-01 -7.39332437e-02 3.00388566e+02] [ 8.76125524e-01 4.58002969e-01 -1.50457125e-01 1.74560623e+02] [ 1.67609721e-01 3.23299148e-03 9.85848127e-01 2.12227084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.836875 meters 0.015850806060009076 Centerline is valid? [True, True] Translation: X:300.41, Y:174.61, Z:21.23 [[ 4.51391764e-01 -8.89264388e-01 -7.38533952e-02 3.00413724e+02] [ 8.76459139e-01 4.57382619e-01 -1.50401190e-01 1.74611564e+02] [ 1.67525682e-01 3.16037535e-03 9.85862647e-01 2.12324913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.896875 meters 0.014836747297325942 Centerline is valid? [True, True] Translation: X:300.44, Y:174.66, Z:21.24 [[ 4.49984870e-01 -8.89990047e-01 -7.36975813e-02 3.00441556e+02] [ 8.77230784e-01 4.55970516e-01 -1.50190012e-01 1.74661670e+02] [ 1.67271540e-01 2.93344592e-03 9.85906500e-01 2.12433802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.956875 meters 0.014733732693392117 Centerline is valid? [True, True] Translation: X:300.47, Y:174.71, Z:21.25 [[ 4.47279298e-01 -8.91373993e-01 -7.34413654e-02 3.00467343e+02] [ 8.78703885e-01 4.53261909e-01 -1.49776917e-01 1.74712175e+02] [ 1.66795422e-01 2.45890094e-03 9.85988459e-01 2.12520461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.016875 meters 0.014371300536379514 Centerline is valid? [True, True] Translation: X:300.49, Y:174.76, Z:21.26 [[ 4.44758569e-01 -8.92649391e-01 -7.32589968e-02 3.00493777e+02] [ 8.80047869e-01 4.50747191e-01 -1.49474808e-01 1.74762269e+02] [ 1.66449883e-01 2.00877777e-03 9.86047870e-01 2.12620350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07687500000003 meters 0.013552950845977269 Centerline is valid? [True, True] Translation: X:300.52, Y:174.81, Z:21.27 [[ 4.41359824e-01 -8.94344932e-01 -7.31344520e-02 3.00522025e+02] [ 8.81797969e-01 4.47375884e-01 -1.49288848e-01 1.74812333e+02] [ 1.66234315e-01 1.40028850e-03 9.86085286e-01 2.12734196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13687500000003 meters 0.013257187529592892 Centerline is valid? [True, True] Translation: X:300.55, Y:174.86, Z:21.28 [[ 4.38249679e-01 -8.95887659e-01 -7.29556175e-02 3.00547539e+02] [ 8.83406082e-01 4.44279822e-01 -1.49027294e-01 1.74863652e+02] [ 1.65924422e-01 8.61727646e-04 9.86138096e-01 2.12816739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19687500000003 meters 0.013079052538761978 Centerline is valid? [True, True] Translation: X:300.57, Y:174.91, Z:21.29 [[ 4.36113525e-01 -8.96915391e-01 -7.31284784e-02 3.00573399e+02] [ 8.84370467e-01 4.42201888e-01 -1.49487015e-01 1.74914648e+02] [ 1.66414756e-01 5.20642420e-04 9.86055707e-01 2.12898697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25687500000004 meters 0.013076080145804681 Centerline is valid? [True, True] Translation: X:300.60, Y:174.96, Z:21.30 [[ 4.32344145e-01 -8.98734287e-01 -7.31793843e-02 3.00601025e+02] [ 8.86179256e-01 4.38493632e-01 -1.49698569e-01 1.74964956e+02] [ 1.66627931e-01 -1.28752400e-04 9.86019836e-01 2.12984925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31687500000004 meters 0.012980084317027369 Centerline is valid? [True, True] Translation: X:300.63, Y:175.02, Z:21.31 [[ 4.30837157e-01 -8.99471439e-01 -7.30100996e-02 3.00626841e+02] [ 8.86967038e-01 4.36979402e-01 -1.49460613e-01 1.75015723e+02] [ 1.66339463e-01 -3.64365999e-04 9.86068482e-01 2.13085279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37687500000004 meters 0.013043146101085711 Centerline is valid? [True, True] Translation: X:300.65, Y:175.07, Z:21.32 [[ 4.30366336e-01 -8.99696365e-01 -7.30155331e-02 3.00651650e+02] [ 8.87175022e-01 4.36516081e-01 -1.49580053e-01 1.75067074e+02] [ 1.66449085e-01 -4.03337585e-04 9.86049968e-01 2.13172210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.436875 meters 0.013089777615784849 Centerline is valid? [True, True] Translation: X:300.68, Y:175.12, Z:21.33 [[ 4.29634818e-01 -9.00059869e-01 -7.28433632e-02 3.00677946e+02] [ 8.87584766e-01 4.35765978e-01 -1.49336180e-01 1.75118493e+02] [ 1.66154162e-01 -4.94636964e-04 9.86099665e-01 2.13254020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.496875 meters 0.013105551172197279 Centerline is valid? [True, True] Translation: X:300.70, Y:175.17, Z:21.33 [[ 4.29498485e-01 -9.00097528e-01 -7.31812284e-02 3.00703633e+02] [ 8.87487629e-01 4.35688221e-01 -1.50138212e-01 1.75169450e+02] [ 1.67023233e-01 -4.63300117e-04 9.85952851e-01 2.13337734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.556875 meters 0.013249654137120585 Centerline is valid? [True, True] Translation: X:300.73, Y:175.22, Z:21.34 [[ 4.30653712e-01 -8.99577857e-01 -7.27808921e-02 3.00728862e+02] [ 8.87081016e-01 4.36760384e-01 -1.49424355e-01 1.75220389e+02] [ 1.66206652e-01 -2.12394277e-04 9.86090921e-01 2.13424463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.616875 meters 0.01354039502900384 Centerline is valid? [True, True] Translation: X:300.75, Y:175.27, Z:21.35 [[ 4.35188862e-01 -8.97444372e-01 -7.21405119e-02 3.00751375e+02] [ 8.85120165e-01 4.41127165e-01 -1.48219832e-01 1.75272768e+02] [ 1.64842194e-01 6.50598332e-04 9.86319739e-01 2.13527408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.676875 meters 0.013918873405160542 Centerline is valid? [True, True] Translation: X:300.77, Y:175.33, Z:21.36 [[ 4.38390954e-01 -8.95922757e-01 -7.16643921e-02 3.00773320e+02] [ 8.83724204e-01 4.44208079e-01 -1.47345562e-01 1.75325634e+02] [ 1.63844144e-01 1.26340350e-03 9.86485428e-01 2.13626444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.736875 meters 0.014654723969600011 Centerline is valid? [True, True] Translation: X:300.80, Y:175.38, Z:21.37 [[ 4.43363267e-01 -8.93499259e-01 -7.13308330e-02 3.00795653e+02] [ 8.81366414e-01 4.49059276e-01 -1.46761749e-01 1.75378425e+02] [ 1.63163287e-01 2.20016826e-03 9.86596625e-01 2.13718777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.796875 meters 0.015250234158021124 Centerline is valid? [True, True] Translation: X:300.82, Y:175.43, Z:21.38 [[ 4.44880325e-01 -8.92742091e-01 -7.13656431e-02 3.00820070e+02] [ 8.80576456e-01 4.50561046e-01 -1.46900814e-01 1.75431067e+02] [ 1.63299118e-01 2.51037661e-03 9.86573411e-01 2.13806215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.856875 meters 0.015513235796484974 Centerline is valid? [True, True] Translation: X:300.84, Y:175.48, Z:21.39 [[ 4.44106209e-01 -8.93137198e-01 -7.12433891e-02 3.00843930e+02] [ 8.81001788e-01 4.49777890e-01 -1.46750465e-01 1.75482746e+02] [ 1.63112000e-01 2.40723950e-03 9.86604622e-01 2.13891980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.916875 meters 0.01479303202570453 Centerline is valid? [True, True] Translation: X:300.87, Y:175.53, Z:21.40 [[ 4.41368998e-01 -8.94516451e-01 -7.09487550e-02 3.00871483e+02] [ 8.82486642e-01 4.47030880e-01 -1.46221470e-01 1.75533832e+02] [ 1.62513795e-01 1.92629500e-03 9.86704391e-01 2.13987880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.976875 meters 0.014250938825053407 Centerline is valid? [True, True] Translation: X:300.90, Y:175.58, Z:21.41 [[ 4.39435687e-01 -8.95494793e-01 -7.06070300e-02 3.00897962e+02] [ 8.83577626e-01 4.45069106e-01 -1.45616172e-01 1.75584679e+02] [ 1.61823531e-01 1.60215052e-03 9.86818412e-01 2.14089833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.036875 meters 0.01375006385605776 Centerline is valid? [True, True] Translation: X:300.92, Y:175.64, Z:21.42 [[ 4.36190004e-01 -8.97107240e-01 -7.02629342e-02 3.00922972e+02] [ 8.85310428e-01 4.41811614e-01 -1.45010152e-01 1.75635439e+02] [ 1.61132637e-01 1.04747027e-03 9.86932204e-01 2.14185910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.096875 meters 0.013451511094200666 Centerline is valid? [True, True] Translation: X:300.95, Y:175.69, Z:21.43 [[ 4.32678602e-01 -8.98838456e-01 -6.98473795e-02 3.00947926e+02] [ 8.87191764e-01 4.38279864e-01 -1.44227370e-01 1.75685804e+02] [ 1.60249806e-01 4.36076795e-04 9.87076395e-01 2.14274502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.156875 meters 0.013446253067064479 Centerline is valid? [True, True] Translation: X:300.97, Y:175.74, Z:21.44 [[ 4.31043775e-01 -8.99647445e-01 -6.95394746e-02 3.00972886e+02] [ 8.88097708e-01 4.36617043e-01 -1.43694187e-01 1.75736892e+02] [ 1.59636228e-01 1.80637048e-04 9.87175892e-01 2.14370159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.216875 meters 0.013343795468732952 Centerline is valid? [True, True] Translation: X:301.00, Y:175.79, Z:21.45 [[ 4.28471960e-01 -9.00883130e-01 -6.94360558e-02 3.00998258e+02] [ 8.89367843e-01 4.34061668e-01 -1.43580319e-01 1.75788663e+02] [ 1.59488617e-01 -2.34054566e-04 9.87199740e-01 2.14468423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.276875 meters 0.013351219636334904 Centerline is valid? [True, True] Translation: X:301.02, Y:175.84, Z:21.45 [[ 4.25832688e-01 -9.02103807e-01 -6.98229430e-02 3.01021259e+02] [ 8.90458648e-01 4.31518598e-01 -1.44482163e-01 1.75841858e+02] [ 1.60467808e-01 -6.49215411e-04 9.87040861e-01 2.14542309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.336875 meters 0.013458005718679734 Centerline is valid? [True, True] Translation: X:301.04, Y:175.89, Z:21.46 [[ 4.23074896e-01 -9.03385611e-01 -7.00147909e-02 3.01044310e+02] [ 8.91676076e-01 4.28827760e-01 -1.44984581e-01 1.75893481e+02] [ 1.61001270e-01 -1.09117749e-03 9.86953596e-01 2.14610658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.396875 meters 0.01368825523004533 Centerline is valid? [True, True] Translation: X:301.07, Y:175.95, Z:21.47 [[ 4.21006700e-01 -9.04364218e-01 -6.98478275e-02 3.01068535e+02] [ 8.92706310e-01 4.26759138e-01 -1.44748341e-01 1.75945605e+02] [ 1.60713419e-01 -1.41357490e-03 9.87000101e-01 2.14707305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.456875 meters 0.01389117989574733 Centerline is valid? [True, True] Translation: X:301.09, Y:176.00, Z:21.48 [[ 4.18042856e-01 -9.05744830e-01 -6.97601114e-02 3.01091570e+02] [ 8.94118669e-01 4.23819192e-01 -1.44668924e-01 1.75998903e+02] [ 1.60598804e-01 -1.89600801e-03 9.87017948e-01 2.14791747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.516875 meters 0.014108920571811803 Centerline is valid? [True, True] Translation: X:301.11, Y:176.05, Z:21.49 [[ 4.17199209e-01 -9.06142440e-01 -6.96469539e-02 3.01112511e+02] [ 8.94543507e-01 4.22967926e-01 -1.44533897e-01 1.76051078e+02] [ 1.60426726e-01 -2.00280272e-03 9.87045720e-01 2.14873695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57687500000003 meters 0.013899229863664717 Centerline is valid? [True, True] Translation: X:301.13, Y:176.10, Z:21.50 [[ 4.17335465e-01 -9.06097599e-01 -6.94136187e-02 3.01133688e+02] [ 8.94558362e-01 4.23064308e-01 -1.44159386e-01 1.76104655e+02] [ 1.59988898e-01 -1.93170876e-03 9.87116924e-01 2.14962636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63687500000003 meters 0.013494239699696818 Centerline is valid? [True, True] Translation: X:301.15, Y:176.16, Z:21.50 [[ 4.19724097e-01 -9.05000804e-01 -6.93197441e-02 3.01152743e+02] [ 8.93461008e-01 4.25407332e-01 -1.44069528e-01 1.76159511e+02] [ 1.59872166e-01 -1.46503595e-03 9.87136639e-01 2.15044162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69687500000003 meters 0.013280388979433263 Centerline is valid? [True, True] Translation: X:301.17, Y:176.21, Z:21.51 [[ 4.22161424e-01 -9.03851684e-01 -6.95116159e-02 3.01173197e+02] [ 8.92214637e-01 4.27844787e-01 -1.44574827e-01 1.76213251e+02] [ 1.60414383e-01 -9.85366409e-04 9.87049267e-01 2.15129708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75687500000004 meters 0.01295813354527165 Centerline is valid? [True, True] Translation: X:301.19, Y:176.27, Z:21.52 [[ 4.26425995e-01 -9.01818730e-01 -6.98845468e-02 3.01191953e+02] [ 8.90010674e-01 4.32114510e-01 -1.45458068e-01 1.76268543e+02] [ 1.61374937e-01 -1.70891081e-04 9.86893156e-01 2.15215551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81687500000004 meters 0.013360526466358585 Centerline is valid? [True, True] Translation: X:301.21, Y:176.32, Z:21.53 [[ 4.32364988e-01 -8.98985244e-01 -6.99002782e-02 3.01209874e+02] [ 8.87118162e-01 4.37977911e-01 -1.45590923e-01 1.76322243e+02] [ 1.61498870e-01 9.38611466e-04 9.86872451e-01 2.15303008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87687500000004 meters 0.014052087332671062 Centerline is valid? [True, True] Translation: X:301.23, Y:176.38, Z:21.54 [[ 4.36407965e-01 -8.97017457e-01 -7.00554774e-02 3.01230155e+02] [ 8.85059015e-01 4.41991811e-01 -1.45992396e-01 1.76376342e+02] [ 1.61921675e-01 1.70901244e-03 9.86802133e-01 2.15388493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.936875 meters 0.015276139275969514 Centerline is valid? [True, True] Translation: X:301.25, Y:176.43, Z:21.55 [[ 4.41028851e-01 -8.94755292e-01 -7.00465594e-02 3.01249914e+02] [ 8.82755257e-01 4.46549293e-01 -1.46071506e-01 1.76430475e+02] [ 1.61977495e-01 2.58778006e-03 9.86791059e-01 2.15480564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.996875 meters 0.01700355352833801 Centerline is valid? [True, True] Translation: X:301.27, Y:176.48, Z:21.56 [[ 4.44557765e-01 -8.93024090e-01 -6.98309932e-02 3.01269526e+02] [ 8.81060236e-01 4.49997070e-01 -1.45724045e-01 1.76483281e+02] [ 1.61558825e-01 3.25744451e-03 9.86857708e-01 2.15574456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.056875 meters 0.016899010744293154 Centerline is valid? [True, True] Translation: X:301.29, Y:176.54, Z:21.56 [[ 4.47150358e-01 -8.91710528e-01 -7.00634784e-02 3.01293230e+02] [ 8.79632555e-01 4.52590243e-01 -1.46316920e-01 1.76535830e+02] [ 1.62182385e-01 3.79554681e-03 9.86753499e-01 2.15649116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.116875 meters 0.016710736415394455 Centerline is valid? [True, True] Translation: X:301.32, Y:176.59, Z:21.57 [[ 4.48087120e-01 -8.91221367e-01 -7.03022580e-02 3.01317604e+02] [ 8.79043305e-01 4.53550806e-01 -1.46882724e-01 1.76588110e+02] [ 1.62790668e-01 4.01752755e-03 9.86652450e-01 2.15735972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.176875 meters 0.01704865589277905 Centerline is valid? [True, True] Translation: X:301.34, Y:176.64, Z:21.58 [[ 4.48008591e-01 -8.91241715e-01 -7.05443652e-02 3.01342883e+02] [ 8.78962026e-01 4.53510333e-01 -1.47492830e-01 1.76639944e+02] [ 1.63444362e-01 4.07223701e-03 9.86544149e-01 2.15827261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.236875 meters 0.01666172308308307 Centerline is valid? [True, True] Translation: X:301.37, Y:176.69, Z:21.59 [[ 4.46840411e-01 -8.91821569e-01 -7.06253244e-02 3.01369277e+02] [ 8.79502507e-01 4.52370380e-01 -1.47771372e-01 1.76691228e+02] [ 1.63734502e-01 3.91507070e-03 9.86496673e-01 2.15921154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.296875 meters 0.016051281428366804 Centerline is valid? [True, True] Translation: X:301.40, Y:176.74, Z:21.60 [[ 4.45071996e-01 -8.92693338e-01 -7.07779777e-02 3.01397420e+02] [ 8.80313315e-01 4.50649821e-01 -1.48199885e-01 1.76742133e+02] [ 1.64193133e-01 3.65282266e-03 9.86421447e-01 2.16015870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.356875 meters 0.016290809427160755 Centerline is valid? [True, True] Translation: X:301.42, Y:176.79, Z:21.61 [[ 4.43267273e-01 -8.93594244e-01 -7.07350862e-02 3.01422810e+02] [ 8.81229839e-01 4.48863146e-01 -1.48175057e-01 1.76792730e+02] [ 1.64158752e-01 3.34728505e-03 9.86428254e-01 2.16105427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.416875 meters 0.015420220815616332 Centerline is valid? [True, True] Translation: X:301.45, Y:176.84, Z:21.62 [[ 4.39638990e-01 -8.95400905e-01 -7.05321130e-02 3.01451480e+02] [ 8.83117981e-01 4.45252646e-01 -1.47826635e-01 1.76842630e+02] [ 1.63768712e-01 2.70217514e-03 9.86495062e-01 2.16198489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.476875 meters 0.014531094413324253 Centerline is valid? [True, True] Translation: X:301.48, Y:176.89, Z:21.63 [[ 4.35490975e-01 -8.97442784e-01 -7.03140095e-02 3.01481851e+02] [ 8.85245385e-01 4.41126442e-01 -1.47472271e-01 1.76892070e+02] [ 1.63365295e-01 1.97769070e-03 9.86563667e-01 2.16294550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.536875 meters 0.013942009000210134 Centerline is valid? [True, True] Translation: X:301.51, Y:176.94, Z:21.64 [[ 4.31926072e-01 -8.99148686e-01 -7.05089329e-02 3.01511430e+02] [ 8.86888530e-01 4.37641092e-01 -1.47983139e-01 1.76941469e+02] [ 1.63916451e-01 1.38421202e-03 9.86473254e-01 2.16385388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.596875 meters 0.013782458959928277 Centerline is valid? [True, True] Translation: X:301.54, Y:176.99, Z:21.65 [[ 4.30082606e-01 -9.00011903e-01 -7.07638706e-02 3.01538652e+02] [ 8.87656699e-01 4.35863915e-01 -1.48621102e-01 1.76992328e+02] [ 1.64604178e-01 1.10532703e-03 9.86359084e-01 2.16463709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.656875 meters 0.01369223873762845 Centerline is valid? [True, True] Translation: X:301.57, Y:177.04, Z:21.66 [[ 4.27912510e-01 -9.01036000e-01 -7.08873113e-02 3.01568049e+02] [ 8.88633640e-01 4.33743645e-01 -1.48985587e-01 1.77041870e+02] [ 1.64988298e-01 7.59947073e-04 9.86295232e-01 2.16557605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.716875 meters 0.013497938463888876 Centerline is valid? [True, True] Translation: X:301.59, Y:177.09, Z:21.66 [[ 4.25831489e-01 -9.02033213e-01 -7.07363096e-02 3.01594513e+02] [ 8.89679526e-01 4.31666428e-01 -1.48776466e-01 1.77091339e+02] [ 1.64735804e-01 4.21057580e-04 9.86337639e-01 2.16647557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.776875 meters 0.013477747405149045 Centerline is valid? [True, True] Translation: X:301.62, Y:177.14, Z:21.67 [[ 4.22871717e-01 -9.03459253e-01 -7.02914615e-02 3.01622801e+02] [ 8.91262447e-01 4.28673969e-01 -1.47952285e-01 1.77140869e+02] [ 1.63800981e-01 -8.33032679e-05 9.86493402e-01 2.16744864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.836875 meters 0.013553436785869505 Centerline is valid? [True, True] Translation: X:301.65, Y:177.19, Z:21.68 [[ 4.20892267e-01 -9.04378366e-01 -7.03524673e-02 3.01648900e+02] [ 8.92154660e-01 4.26731316e-01 -1.48190579e-01 1.77191553e+02] [ 1.64041954e-01 -3.93012921e-04 9.86453285e-01 2.16832759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.896875 meters 0.01354540135664508 Centerline is valid? [True, True] Translation: X:301.67, Y:177.24, Z:21.69 [[ 4.19725526e-01 -9.04927766e-01 -7.02582415e-02 3.01673381e+02] [ 8.92726178e-01 4.25564831e-01 -1.48103161e-01 1.77242283e+02] [ 1.63922099e-01 -5.58694423e-04 9.86473129e-01 2.16922639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.956875 meters 0.01356453275077344 Centerline is valid? [True, True] Translation: X:301.70, Y:177.29, Z:21.70 [[ 4.17955221e-01 -9.05729178e-01 -7.04846729e-02 3.01698424e+02] [ 8.93440054e-01 4.23856079e-01 -1.48697325e-01 1.77294272e+02] [ 1.64554863e-01 -8.25006547e-04 9.86367587e-01 2.17014081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.016875 meters 0.013831573014722993 Centerline is valid? [True, True] Translation: X:301.72, Y:177.34, Z:21.71 [[ 4.15952199e-01 -9.06663249e-01 -7.03244006e-02 3.01723174e+02] [ 8.94425266e-01 4.21853582e-01 -1.48468850e-01 1.77344833e+02] [ 1.64277850e-01 -1.14397595e-03 9.86413442e-01 2.17094889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07687500000003 meters 0.013802983228929588 Centerline is valid? [True, True] Translation: X:301.75, Y:177.40, Z:21.72 [[ 4.15343111e-01 -9.06954056e-01 -7.01743627e-02 3.01747177e+02] [ 8.94753737e-01 4.21227828e-01 -1.48266201e-01 1.77397103e+02] [ 1.64030026e-01 -1.20742819e-03 9.86454607e-01 2.17186933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13687500000003 meters 0.014002036901564069 Centerline is valid? [True, True] Translation: X:301.77, Y:177.45, Z:21.73 [[ 4.13619205e-01 -9.07731454e-01 -7.03047727e-02 3.01771153e+02] [ 8.95478812e-01 4.19549090e-01 -1.48648105e-01 1.77449245e+02] [ 1.64428864e-01 -1.47272345e-03 9.86387845e-01 2.17262218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19687500000003 meters 0.013860332139789424 Centerline is valid? [True, True] Translation: X:301.80, Y:177.50, Z:21.74 [[ 4.12108985e-01 -9.08416174e-01 -7.03295051e-02 3.01795499e+02] [ 8.96147170e-01 4.18063583e-01 -1.48805544e-01 1.77501508e+02] [ 1.64579568e-01 -1.70148526e-03 9.86362343e-01 2.17362766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25687500000004 meters 0.014429021330578565 Centerline is valid? [True, True] Translation: X:301.82, Y:177.55, Z:21.75 [[ 4.10420551e-01 -9.09209149e-01 -6.99549505e-02 3.01821242e+02] [ 8.97064524e-01 4.16335053e-01 -1.48122797e-01 1.77551838e+02] [ 1.63799300e-01 -1.96146434e-03 9.86491734e-01 2.17466148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31687500000004 meters 0.013964415266634255 Centerline is valid? [True, True] Translation: X:301.84, Y:177.60, Z:21.76 [[ 4.11263290e-01 -9.08863996e-01 -6.94891573e-02 3.01843602e+02] [ 8.96857987e-01 4.17088873e-01 -1.47250208e-01 1.77604274e+02] [ 1.62813567e-01 -1.76330069e-03 9.86655276e-01 2.17567019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37687500000004 meters 0.013848903300365775 Centerline is valid? [True, True] Translation: X:301.87, Y:177.66, Z:21.77 [[ 4.13016036e-01 -9.08105359e-01 -6.90102213e-02 3.01867051e+02] [ 8.96237324e-01 4.18739387e-01 -1.46342013e-01 1.77657006e+02] [ 1.61791264e-01 -1.40793779e-03 9.86823999e-01 2.17661583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.436875 meters 0.0135261268911051 Centerline is valid? [True, True] Translation: X:301.89, Y:177.71, Z:21.78 [[ 4.17128590e-01 -9.06219604e-01 -6.90635150e-02 3.01888984e+02] [ 8.94289567e-01 4.22806855e-01 -1.46562387e-01 1.77710155e+02] [ 1.62018236e-01 -6.27418920e-04 9.86787565e-01 2.17753141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.496875 meters 0.013606362039039949 Centerline is valid? [True, True] Translation: X:301.91, Y:177.76, Z:21.78 [[ 4.21960930e-01 -9.03956686e-01 -6.93634190e-02 3.01910626e+02] [ 8.91873299e-01 4.27623928e-01 -1.47308503e-01 1.77762332e+02] [ 1.62821964e-01 2.95051798e-04 9.86655422e-01 2.17841791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.556875 meters 0.01383971866396762 Centerline is valid? [True, True] Translation: X:301.93, Y:177.81, Z:21.79 [[ 4.25557181e-01 -9.02250932e-01 -6.96013097e-02 3.01933568e+02] [ 8.90042032e-01 4.31210213e-01 -1.47928812e-01 1.77814959e+02] [ 1.63481704e-01 1.00407691e-03 9.86545855e-01 2.17931984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.616875 meters 0.01472703000226761 Centerline is valid? [True, True] Translation: X:301.96, Y:177.87, Z:21.80 [[ 4.29800010e-01 -9.00188857e-01 -7.02280164e-02 3.01955730e+02] [ 8.87711989e-01 4.35495783e-01 -1.49368162e-01 1.77867401e+02] [ 1.65043560e-01 1.85618547e-03 9.86284532e-01 2.18011360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.676875 meters 0.015519026008140315 Centerline is valid? [True, True] Translation: X:301.98, Y:177.92, Z:21.81 [[ 4.32289945e-01 -8.98991816e-01 -7.02788600e-02 3.01978711e+02] [ 8.86463471e-01 4.37959054e-01 -1.49580687e-01 1.77919272e+02] [ 1.65251076e-01 2.36258460e-03 9.86248701e-01 2.18091046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.736875 meters 0.01584965349978696 Centerline is valid? [True, True] Translation: X:302.01, Y:177.97, Z:21.82 [[ 4.33955019e-01 -8.98149056e-01 -7.07906463e-02 3.02005621e+02] [ 8.85408131e-01 4.39682519e-01 -1.50770438e-01 1.77970717e+02] [ 1.66539736e-01 2.74897461e-03 9.86030912e-01 2.18186385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.796875 meters 0.01594137753069594 Centerline is valid? [True, True] Translation: X:302.03, Y:178.02, Z:21.83 [[ 4.34223195e-01 -8.98004409e-01 -7.09809664e-02 3.02032446e+02] [ 8.85174800e-01 4.39977168e-01 -1.51280087e-01 1.78021730e+02] [ 1.67080190e-01 2.85875987e-03 9.85939165e-01 2.18277180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.856875 meters 0.015684795418706377 Centerline is valid? [True, True] Translation: X:302.06, Y:178.07, Z:21.84 [[ 4.33441346e-01 -8.98357592e-01 -7.12898030e-02 3.02059799e+02] [ 8.85400988e-01 4.39256055e-01 -1.52050020e-01 1.78072614e+02] [ 1.67909767e-01 2.78470308e-03 9.85798436e-01 2.18367174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.916875 meters 0.015372361565366498 Centerline is valid? [True, True] Translation: X:302.09, Y:178.12, Z:21.85 [[ 4.31754112e-01 -8.99126745e-01 -7.18295493e-02 3.02089321e+02] [ 8.85962849e-01 4.37680895e-01 -1.53314269e-01 1.78121809e+02] [ 1.69287381e-01 2.55575381e-03 9.85563418e-01 2.18465917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.976875 meters 0.014793556018807972 Centerline is valid? [True, True] Translation: X:302.12, Y:178.17, Z:21.86 [[ 4.29864391e-01 -9.00050850e-01 -7.15896160e-02 3.02118794e+02] [ 8.86968859e-01 4.35779158e-01 -1.52914252e-01 1.78171077e+02] [ 1.68827865e-01 2.23463201e-03 9.85643018e-01 2.18570103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.036875 meters 0.014628455074186591 Centerline is valid? [True, True] Translation: X:302.15, Y:178.22, Z:21.87 [[ 4.28323811e-01 -9.00770812e-01 -7.17680836e-02 3.02146489e+02] [ 8.87613180e-01 4.34290129e-01 -1.53410975e-01 1.78221697e+02] [ 1.69356299e-01 2.00727678e-03 9.85552847e-01 2.18656281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.096875 meters 0.01436931313852506 Centerline is valid? [True, True] Translation: X:302.18, Y:178.27, Z:21.87 [[ 4.25292405e-01 -9.02212292e-01 -7.16892564e-02 3.02177851e+02] [ 8.89084685e-01 4.31289672e-01 -1.53354630e-01 1.78269553e+02] [ 1.69277268e-01 1.48273937e-03 9.85567353e-01 2.18748119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.156875 meters 0.013769911641562556 Centerline is valid? [True, True] Translation: X:302.21, Y:178.32, Z:21.88 [[ 4.21046054e-01 -9.04197373e-01 -7.17448985e-02 3.02210480e+02] [ 8.91063320e-01 4.27114252e-01 -1.53556424e-01 1.78317181e+02] [ 1.69488584e-01 7.25078995e-04 9.85531884e-01 2.18841152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.216875 meters 0.01364658358672545 Centerline is valid? [True, True] Translation: X:302.24, Y:178.37, Z:21.89 [[ 4.16021880e-01 -9.06522491e-01 -7.17130963e-02 3.02240648e+02] [ 8.93415006e-01 4.22157488e-01 -1.53599097e-01 1.78365783e+02] [ 1.69515257e-01 -1.68971136e-04 9.85527549e-01 2.18926866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.276875 meters 0.014057251203842432 Centerline is valid? [True, True] Translation: X:302.27, Y:178.41, Z:21.90 [[ 4.09357083e-01 -9.09559320e-01 -7.16144010e-02 3.02271725e+02] [ 8.96512560e-01 4.15571879e-01 -1.53509752e-01 1.78413956e+02] [ 1.69387156e-01 -1.36290578e-03 9.85548646e-01 2.19028422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.336875 meters 0.014773856275800624 Centerline is valid? [True, True] Translation: X:302.30, Y:178.46, Z:21.91 [[ 4.05365165e-01 -9.11331024e-01 -7.17972716e-02 3.02298199e+02] [ 8.98224102e-01 4.11669210e-01 -1.54019235e-01 1.78463592e+02] [ 1.69919233e-01 -2.05600731e-03 9.85455847e-01 2.19104564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.396875 meters 0.014920519286228007 Centerline is valid? [True, True] Translation: X:302.32, Y:178.52, Z:21.92 [[ 4.04184355e-01 -9.11893104e-01 -7.13160107e-02 3.02321031e+02] [ 8.98955840e-01 4.10421679e-01 -1.53076593e-01 1.78515703e+02] [ 1.68859127e-01 -2.23878020e-03 9.85637653e-01 2.19188827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.456875 meters 0.014356071861626189 Centerline is valid? [True, True] Translation: X:302.34, Y:178.57, Z:21.93 [[ 4.04640804e-01 -9.11774632e-01 -7.02341830e-02 3.02341821e+02] [ 8.99207929e-01 4.10685507e-01 -1.50872511e-01 1.78568570e+02] [ 1.66405889e-01 -2.10596004e-03 9.86055092e-01 2.19311398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.516875 meters 0.013839743023310704 Centerline is valid? [True, True] Translation: X:302.36, Y:178.62, Z:21.94 [[ 4.06815563e-01 -9.10804696e-01 -7.02559865e-02 3.02362258e+02] [ 8.98196762e-01 4.12834161e-01 -1.51031562e-01 1.78621682e+02] [ 1.66564327e-01 -1.66170980e-03 9.86029190e-01 2.19413626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57687500000003 meters 0.013783167403635804 Centerline is valid? [True, True] Translation: X:302.38, Y:178.68, Z:21.95 [[ 4.08245878e-01 -9.10149987e-01 -7.04436184e-02 3.02382555e+02] [ 8.97445528e-01 4.14276689e-01 -1.51546525e-01 1.78676334e+02] [ 1.67113217e-01 -1.35106616e-03 9.85936787e-01 2.19481376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63687500000003 meters 0.013779806773292767 Centerline is valid? [True, True] Translation: X:302.40, Y:178.73, Z:21.96 [[ 4.08598179e-01 -9.10015024e-01 -7.01440238e-02 3.02402652e+02] [ 8.97398738e-01 4.14573404e-01 -1.51011248e-01 1.78730747e+02] [ 1.66502351e-01 -1.24423762e-03 9.86040272e-01 2.19567115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69687500000003 meters 0.014065184977776948 Centerline is valid? [True, True] Translation: X:302.43, Y:178.78, Z:21.97 [[ 4.06511562e-01 -9.10988289e-01 -6.96325205e-02 3.02425752e+02] [ 8.98552499e-01 4.12429179e-01 -1.50018596e-01 1.78783175e+02] [ 1.65383668e-01 -1.58418141e-03 9.86228033e-01 2.19669850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75687500000004 meters 0.013989204835654384 Centerline is valid? [True, True] Translation: X:302.45, Y:178.84, Z:21.98 [[ 4.05087986e-01 -9.11642892e-01 -6.93610987e-02 3.02448041e+02] [ 8.99295977e-01 4.10979322e-01 -1.49541778e-01 1.78835544e+02] [ 1.64834676e-01 -1.79857928e-03 9.86319570e-01 2.19768471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81687500000004 meters 0.014092246378573297 Centerline is valid? [True, True] Translation: X:302.47, Y:178.89, Z:21.99 [[ 4.04854294e-01 -9.11766528e-01 -6.90999247e-02 3.02469358e+02] [ 8.99496444e-01 4.10704972e-01 -1.49089146e-01 1.78888327e+02] [ 1.64314175e-01 -1.79575583e-03 9.86406421e-01 2.19859303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87687500000004 meters 0.01382693545862751 Centerline is valid? [True, True] Translation: X:302.49, Y:178.94, Z:21.99 [[ 4.06387605e-01 -9.11069906e-01 -6.92873822e-02 3.02490411e+02] [ 8.98703106e-01 4.12249280e-01 -1.49610354e-01 1.78942371e+02] [ 1.64869165e-01 -1.46899207e-03 9.86314352e-01 2.19941248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.936875 meters 0.013674854296189132 Centerline is valid? [True, True] Translation: X:302.51, Y:178.99, Z:22.00 [[ 4.07030280e-01 -9.10777743e-01 -6.93560021e-02 3.02513076e+02] [ 8.98363890e-01 4.12894898e-01 -1.49867022e-01 1.78994827e+02] [ 1.65132287e-01 -1.30651214e-03 9.86270562e-01 2.20033091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.996875 meters 0.01334756228649076 Centerline is valid? [True, True] Translation: X:302.53, Y:179.05, Z:22.01 [[ 4.10092851e-01 -9.09401321e-01 -6.93764483e-02 3.02533852e+02] [ 8.96942240e-01 4.15919152e-01 -1.50019591e-01 1.79048540e+02] [ 1.65283007e-01 -7.04705418e-04 9.86245928e-01 2.20123717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.056875 meters 0.01324984947667705 Centerline is valid? [True, True] Translation: X:302.56, Y:179.10, Z:22.02 [[ 4.11980480e-01 -9.08567540e-01 -6.91166369e-02 3.02556547e+02] [ 8.96172674e-01 4.17737862e-01 -1.49564757e-01 1.79101507e+02] [ 1.64762320e-01 -3.22680849e-04 9.86333247e-01 2.20218666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.116875 meters 0.013259437407906917 Centerline is valid? [True, True] Translation: X:302.58, Y:179.16, Z:22.03 [[ 4.15559996e-01 -9.06947751e-01 -6.89613445e-02 3.02577706e+02] [ 8.94568627e-01 4.21242972e-01 -1.49336295e-01 1.79155156e+02] [ 1.64489699e-01 3.67534802e-04 9.86378733e-01 2.20309508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.176875 meters 0.013789773519575515 Centerline is valid? [True, True] Translation: X:302.60, Y:179.21, Z:22.04 [[ 4.18972352e-01 -9.05370329e-01 -6.90415474e-02 3.02598978e+02] [ 8.92922362e-01 4.24621584e-01 -1.49620074e-01 1.79208087e+02] [ 1.64778106e-01 1.03793249e-03 9.86330116e-01 2.20398416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.236875 meters 0.013932988447744162 Centerline is valid? [True, True] Translation: X:302.62, Y:179.26, Z:22.05 [[ 4.20104567e-01 -9.04849620e-01 -6.89878097e-02 3.02623799e+02] [ 8.92397848e-01 4.25729394e-01 -1.49601352e-01 1.79260108e+02] [ 1.64736865e-01 1.28363828e-03 9.86336716e-01 2.20492869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.296875 meters 0.014175194447362765 Centerline is valid? [True, True] Translation: X:302.65, Y:179.31, Z:22.06 [[ 4.20225163e-01 -9.04755916e-01 -6.94805356e-02 3.02648316e+02] [ 8.92103795e-01 4.25928198e-01 -1.50784579e-01 1.79311397e+02] [ 1.66016959e-01 1.37962474e-03 9.86121933e-01 2.20571245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.356875 meters 0.014116103330471837 Centerline is valid? [True, True] Translation: X:302.67, Y:179.36, Z:22.07 [[ 4.19650286e-01 -9.04997138e-01 -6.98127376e-02 3.02674767e+02] [ 8.92205845e-01 4.25415537e-01 -1.51625692e-01 1.79362392e+02] [ 1.66920241e-01 1.34243258e-03 9.85969488e-01 2.20654343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.416875 meters 0.014347824478724635 Centerline is valid? [True, True] Translation: X:302.70, Y:179.41, Z:22.07 [[ 4.20058618e-01 -9.04810490e-01 -6.97763234e-02 3.02698612e+02] [ 8.92010806e-01 4.25811967e-01 -1.51660444e-01 1.79413859e+02] [ 1.66935554e-01 1.46504220e-03 9.85966721e-01 2.20749333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.476875 meters 0.01492557040722095 Centerline is valid? [True, True] Translation: X:302.72, Y:179.47, Z:22.09 [[ 4.22857521e-01 -9.03531036e-01 -6.94491436e-02 3.02721962e+02] [ 8.90814967e-01 4.28517927e-01 -1.51066481e-01 1.79466038e+02] [ 1.66253457e-01 2.01326136e-03 9.86080998e-01 2.20857329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.536875 meters 0.01585894706739665 Centerline is valid? [True, True] Translation: X:302.74, Y:179.52, Z:22.10 [[ 4.25870112e-01 -9.02152237e-01 -6.89636739e-02 3.02744772e+02] [ 8.89578393e-01 4.31410097e-01 -1.50118658e-01 1.79518823e+02] [ 1.65181508e-01 2.58245541e-03 9.86259804e-01 2.20956938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.596875 meters 0.016967389821162006 Centerline is valid? [True, True] Translation: X:302.77, Y:179.57, Z:22.11 [[ 4.28288095e-01 -9.01027185e-01 -6.86972985e-02 3.02766604e+02] [ 8.88518714e-01 4.33751879e-01 -1.49645588e-01 1.79571868e+02] [ 1.64632325e-01 3.05258842e-03 9.86350282e-01 2.21052885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.656875 meters 0.01708878562691059 Centerline is valid? [True, True] Translation: X:302.79, Y:179.62, Z:22.12 [[ 4.31928833e-01 -8.99267971e-01 -6.89536047e-02 3.02790877e+02] [ 8.86624897e-01 4.37381719e-01 -1.50311425e-01 1.79624196e+02] [ 1.65329297e-01 3.78785573e-03 9.86231147e-01 2.21152682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.716875 meters 0.01856355235577447 Centerline is valid? [True, True] Translation: X:302.81, Y:179.68, Z:22.12 [[ 4.33495338e-01 -8.98497782e-01 -6.91630533e-02 3.02813105e+02] [ 8.85749633e-01 4.38958516e-01 -1.50874148e-01 1.79677110e+02] [ 1.65919799e-01 4.14209069e-03 9.86130551e-01 2.21231080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.776875 meters 0.016359993605234675 Centerline is valid? [True, True] Translation: X:302.84, Y:179.73, Z:22.13 [[ 4.28114820e-01 -9.01055854e-01 -6.93977538e-02 3.02841029e+02] [ 8.88241071e-01 4.33691260e-01 -1.51458544e-01 1.79727699e+02] [ 1.66569807e-01 3.19971199e-03 9.86024473e-01 2.21311051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.836875 meters 0.014825748005608026 Centerline is valid? [True, True] Translation: X:302.87, Y:179.78, Z:22.14 [[ 4.22274714e-01 -9.03872064e-01 -6.85518561e-02 3.02870985e+02] [ 8.91387953e-01 4.27797624e-01 -1.49722111e-01 1.79776761e+02] [ 1.64655955e-01 2.11756308e-03 9.86348788e-01 2.21427616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.896875 meters 0.014136699770015674 Centerline is valid? [True, True] Translation: X:302.90, Y:179.83, Z:22.15 [[ 4.18083557e-01 -9.05799248e-01 -6.88030638e-02 3.02897957e+02] [ 8.93229765e-01 4.23704754e-01 -1.50382410e-01 1.79827919e+02] [ 1.65368459e-01 1.41546815e-03 9.86230840e-01 2.21511539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.956875 meters 0.013478213799886977 Centerline is valid? [True, True] Translation: X:302.93, Y:179.88, Z:22.16 [[ 4.11242399e-01 -9.08929666e-01 -6.87499251e-02 3.02927239e+02] [ 8.96404514e-01 4.16949419e-01 -1.50373298e-01 1.79877207e+02] [ 1.65343993e-01 2.12132540e-04 9.86235935e-01 2.21608361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.016875 meters 0.013501708912402528 Centerline is valid? [True, True] Translation: X:302.96, Y:179.93, Z:22.17 [[ 4.05162479e-01 -9.11719483e-01 -6.79039772e-02 3.02956399e+02] [ 8.99523340e-01 4.10812417e-01 -1.48630145e-01 1.79926231e+02] [ 1.63404796e-01 -8.61854503e-04 9.86558731e-01 2.21728574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07687500000003 meters 0.013855392876578738 Centerline is valid? [True, True] Translation: X:302.98, Y:179.98, Z:22.18 [[ 4.01673408e-01 -9.13283904e-01 -6.76090556e-02 3.02981880e+02] [ 9.01198052e-01 4.07321036e-01 -1.48093364e-01 1.79976567e+02] [ 1.62789876e-01 -1.44398309e-03 9.86659704e-01 2.21823015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13687500000003 meters 0.014150641891886183 Centerline is valid? [True, True] Translation: X:303.01, Y:180.03, Z:22.19 [[ 3.99402312e-01 -9.14265934e-01 -6.77908162e-02 3.03006028e+02] [ 9.02115332e-01 4.05110486e-01 -1.48571269e-01 1.80028223e+02] [ 1.63296420e-01 -1.81542638e-03 9.86575381e-01 2.21904095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19687500000003 meters 0.013899862663572937 Centerline is valid? [True, True] Translation: X:303.03, Y:180.08, Z:22.20 [[ 4.00040163e-01 -9.13942837e-01 -6.83839141e-02 3.03028155e+02] [ 9.01558920e-01 4.05839524e-01 -1.49952640e-01 1.80081774e+02] [ 1.64801036e-01 -1.66504930e-03 9.86325426e-01 2.21986028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25687500000004 meters 0.013585748314895564 Centerline is valid? [True, True] Translation: X:303.05, Y:180.13, Z:22.21 [[ 4.01136299e-01 -9.13469412e-01 -6.82883765e-02 3.03049382e+02] [ 9.01095256e-01 4.06904912e-01 -1.49852368e-01 1.80134965e+02] [ 1.64672431e-01 -1.42310767e-03 9.86347284e-01 2.22078936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31687500000004 meters 0.01343592968725739 Centerline is valid? [True, True] Translation: X:303.07, Y:180.19, Z:22.22 [[ 4.03855775e-01 -9.12358058e-01 -6.71065383e-02 3.03070354e+02] [ 9.00378043e-01 4.09392176e-01 -1.47368336e-01 1.80187441e+02] [ 1.61925581e-01 -9.05699951e-04 9.86802557e-01 2.22189285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37687500000004 meters 0.013150385179057363 Centerline is valid? [True, True] Translation: X:303.09, Y:180.24, Z:22.23 [[ 4.06037332e-01 -9.11437627e-01 -6.64464991e-02 3.03090978e+02] [ 8.99663587e-01 4.11437985e-01 -1.46028128e-01 1.80240519e+02] [ 1.60434144e-01 -4.86624159e-04 9.87046427e-01 2.22295076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.436875 meters 0.01334140728754307 Centerline is valid? [True, True] Translation: X:303.11, Y:180.30, Z:22.24 [[ 4.10885438e-01 -9.09270759e-01 -6.63313146e-02 3.03109387e+02] [ 8.97492078e-01 4.16204901e-01 -1.45881629e-01 1.80295334e+02] [ 1.60253318e-01 4.08807643e-04 9.87075837e-01 2.22379573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.496875 meters 0.013735001290271205 Centerline is valid? [True, True] Translation: X:303.13, Y:180.35, Z:22.25 [[ 4.15336718e-01 -9.07196774e-01 -6.70031596e-02 3.03128426e+02] [ 8.95131357e-01 4.20704637e-01 -1.47470208e-01 1.80350755e+02] [ 1.61973037e-01 1.27316290e-03 9.86794363e-01 2.22456276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.556875 meters 0.014258498502770469 Centerline is valid? [True, True] Translation: X:303.15, Y:180.40, Z:22.25 [[ 4.17217621e-01 -9.06292788e-01 -6.75487943e-02 3.03149678e+02] [ 8.93999367e-01 4.22647073e-01 -1.48776957e-01 1.80404189e+02] [ 1.63384784e-01 1.68378891e-03 9.86560985e-01 2.22527173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.616875 meters 0.01445453398315032 Centerline is valid? [True, True] Translation: X:303.17, Y:180.46, Z:22.26 [[ 4.18802997e-01 -9.05506975e-01 -6.82727509e-02 3.03172505e+02] [ 8.92919401e-01 4.24326396e-01 -1.50472766e-01 1.80457190e+02] [ 1.65224069e-01 2.05638141e-03 9.86253912e-01 2.22608180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.676875 meters 0.014999084465814265 Centerline is valid? [True, True] Translation: X:303.20, Y:180.51, Z:22.27 [[ 4.20194412e-01 -9.04851939e-01 -6.84077796e-02 3.03195245e+02] [ 8.92187560e-01 4.25719830e-01 -1.50877379e-01 1.80510619e+02] [ 1.65644237e-01 2.36526169e-03 9.86182738e-01 2.22693450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.736875 meters 0.015427022484599914 Centerline is valid? [True, True] Translation: X:303.22, Y:180.56, Z:22.28 [[ 4.20858058e-01 -9.04534605e-01 -6.85247719e-02 3.03218424e+02] [ 8.91804498e-01 4.26392653e-01 -1.51241672e-01 1.80562901e+02] [ 1.66021785e-01 2.54057658e-03 9.86118812e-01 2.22786260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.796875 meters 0.015396827175110938 Centerline is valid? [True, True] Translation: X:303.24, Y:180.61, Z:22.29 [[ 4.20783561e-01 -9.04568106e-01 -6.85400386e-02 3.03243697e+02] [ 8.91813976e-01 4.26321365e-01 -1.51386679e-01 1.80614901e+02] [ 1.66159644e-01 2.57606168e-03 9.86095501e-01 2.22873686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.856875 meters 0.014971076258640198 Centerline is valid? [True, True] Translation: X:303.27, Y:180.67, Z:22.30 [[ 4.20104416e-01 -9.04883077e-01 -6.85485018e-02 3.03268817e+02] [ 8.92110756e-01 4.25652866e-01 -1.51519097e-01 1.80666975e+02] [ 1.66284933e-01 2.50098602e-03 9.86074574e-01 2.22970199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.916875 meters 0.014766739999616533 Centerline is valid? [True, True] Translation: X:303.30, Y:180.72, Z:22.31 [[ 4.17719284e-01 -9.05997667e-01 -6.84019519e-02 3.03295598e+02] [ 8.93275821e-01 4.23277456e-01 -1.51309296e-01 1.80717237e+02] [ 1.66038874e-01 2.10300120e-03 9.86116966e-01 2.23070849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.976875 meters 0.01428030433464799 Centerline is valid? [True, True] Translation: X:303.32, Y:180.77, Z:22.32 [[ 4.15570682e-01 -9.06974024e-01 -6.85501925e-02 3.03322636e+02] [ 8.94195886e-01 4.21182916e-01 -1.51719047e-01 1.80768328e+02] [ 1.66477405e-01 1.75268786e-03 9.86043712e-01 2.23174469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.036875 meters 0.013937015983485387 Centerline is valid? [True, True] Translation: X:303.35, Y:180.82, Z:22.33 [[ 4.12098877e-01 -9.08543684e-01 -6.87232891e-02 3.03349827e+02] [ 8.95703184e-01 4.17788228e-01 -1.52213018e-01 1.80818410e+02] [ 1.67003958e-01 1.17114511e-03 9.85955530e-01 2.23262536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.096875 meters 0.013654751968747741 Centerline is valid? [True, True] Translation: X:303.38, Y:180.87, Z:22.34 [[ 4.09760711e-01 -9.09610652e-01 -6.85902392e-02 3.03376448e+02] [ 8.96814913e-01 4.15461001e-01 -1.52036734e-01 1.80869668e+02] [ 1.66790802e-01 7.85930843e-04 9.85991993e-01 2.23360563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.156875 meters 0.013570097640080495 Centerline is valid? [True, True] Translation: X:303.40, Y:180.92, Z:22.35 [[ 4.07335792e-01 -9.10717162e-01 -6.83505962e-02 3.03402913e+02] [ 8.98007409e-01 4.13030394e-01 -1.51619876e-01 1.80920862e+02] [ 1.66313697e-01 3.80860501e-04 9.86072821e-01 2.23473702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.216875 meters 0.013607784625527796 Centerline is valid? [True, True] Translation: X:303.43, Y:180.97, Z:22.36 [[ 4.06527291e-01 -9.11091930e-01 -6.81693197e-02 3.03426633e+02] [ 8.98436921e-01 4.12203130e-01 -1.51326398e-01 1.80972620e+02] [ 1.65971867e-01 2.72476936e-04 9.86130450e-01 2.23562211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.276875 meters 0.01364117483233485 Centerline is valid? [True, True] Translation: X:303.45, Y:181.02, Z:22.36 [[ 4.06195137e-01 -9.11234575e-01 -6.82426529e-02 3.03450131e+02] [ 8.98534901e-01 4.11887704e-01 -1.51603268e-01 1.81024584e+02] [ 1.66254450e-01 2.62105050e-04 9.86082851e-01 2.23648476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.336875 meters 0.013589670088061815 Centerline is valid? [True, True] Translation: X:303.47, Y:181.08, Z:22.38 [[ 4.06590153e-01 -9.11058811e-01 -6.82370111e-02 3.03472899e+02] [ 8.98339936e-01 4.12276239e-01 -1.51702545e-01 1.81077259e+02] [ 1.66342439e-01 3.80728723e-04 9.86067973e-01 2.23750290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.396875 meters 0.013742083209822661 Centerline is valid? [True, True] Translation: X:303.49, Y:181.13, Z:22.38 [[ 4.08889085e-01 -9.10066525e-01 -6.77394742e-02 3.03492177e+02] [ 8.97500952e-01 4.14461380e-01 -1.50711003e-01 1.81130397e+02] [ 1.65232435e-01 8.27841627e-04 9.86254307e-01 2.23835006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.456875 meters 0.014050278362082908 Centerline is valid? [True, True] Translation: X:303.51, Y:181.18, Z:22.39 [[ 4.11233391e-01 -9.09018741e-01 -6.76167610e-02 3.03513210e+02] [ 8.96464764e-01 4.16753215e-01 -1.50557909e-01 1.81183811e+02] [ 1.65039463e-01 1.29839568e-03 9.86286109e-01 2.23915077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.516875 meters 0.014753335920343703 Centerline is valid? [True, True] Translation: X:303.53, Y:181.24, Z:22.40 [[ 4.14255840e-01 -9.07659238e-01 -6.74300084e-02 3.03533541e+02] [ 8.95140226e-01 4.19703674e-01 -1.50242475e-01 1.81238058e+02] [ 1.64669593e-01 1.87950969e-03 9.86346994e-01 2.23995897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57687500000003 meters 0.015329175284630833 Centerline is valid? [True, True] Translation: X:303.55, Y:181.29, Z:22.41 [[ 4.16326303e-01 -9.06756920e-01 -6.68154002e-02 3.03554913e+02] [ 8.94436875e-01 4.21647680e-01 -1.48982923e-01 1.81291703e+02] [ 1.63263854e-01 2.26335167e-03 9.86579845e-01 2.24095340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63687500000003 meters 0.015970564475072266 Centerline is valid? [True, True] Translation: X:303.58, Y:181.34, Z:22.42 [[ 4.19410149e-01 -9.05414803e-01 -6.57203306e-02 3.03575898e+02] [ 8.93464080e-01 4.24518866e-01 -1.46648117e-01 1.81344714e+02] [ 1.60676896e-01 2.78695390e-03 9.87003125e-01 2.24208701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69687500000003 meters 0.017318337845381955 Centerline is valid? [True, True] Translation: X:303.60, Y:181.40, Z:22.43 [[ 4.23122719e-01 -9.03721070e-01 -6.52333685e-02 3.03596152e+02] [ 8.91910263e-01 4.28107810e-01 -1.45670128e-01 1.81399349e+02] [ 1.59572078e-01 3.45402973e-03 9.87180238e-01 2.24299736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75687500000004 meters 0.01764295800388364 Centerline is valid? [True, True] Translation: X:303.62, Y:181.45, Z:22.44 [[ 4.25681779e-01 -9.02504616e-01 -6.54250809e-02 3.03617938e+02] [ 8.90592841e-01 4.30661902e-01 -1.46200951e-01 1.81452851e+02] [ 1.60123123e-01 3.96797214e-03 9.87089074e-01 2.24371956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81687500000004 meters 0.019548415877324452 Centerline is valid? [True, True] Translation: X:303.64, Y:181.51, Z:22.44 [[ 4.28593614e-01 -9.01062546e-01 -6.62857585e-02 3.03637830e+02] [ 8.88797021e-01 4.33664553e-01 -1.48239374e-01 1.81506277e+02] [ 1.62318732e-01 4.61986442e-03 9.86727564e-01 2.24431028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87687500000004 meters 0.019390690022871807 Centerline is valid? [True, True] Translation: X:303.66, Y:181.56, Z:22.45 [[ 4.28514945e-01 -9.01084270e-01 -6.64987263e-02 3.03661905e+02] [ 8.88730209e-01 4.33619074e-01 -1.48772022e-01 1.81558244e+02] [ 1.62891245e-01 4.65160780e-03 9.86633065e-01 2.24515078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.936875 meters 0.018499512099023157 Centerline is valid? [True, True] Translation: X:303.69, Y:181.61, Z:22.46 [[ 4.25643978e-01 -9.02471681e-01 -6.61216252e-02 3.03689332e+02] [ 8.90256513e-01 4.30729229e-01 -1.48039426e-01 1.81608851e+02] [ 1.62081906e-01 4.14688271e-03 9.86768594e-01 2.24618574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.996875 meters 0.01639090671512198 Centerline is valid? [True, True] Translation: X:303.72, Y:181.66, Z:22.47 [[ 4.20810503e-01 -9.04813271e-01 -6.50497106e-02 3.03718519e+02] [ 8.93003267e-01 4.25796227e-01 -1.45748890e-01 1.81658768e+02] [ 1.59573451e-01 3.24305950e-03 9.87180731e-01 2.24736247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.056875 meters 0.016064997914287633 Centerline is valid? [True, True] Translation: X:303.74, Y:181.71, Z:22.48 [[ 4.17988859e-01 -9.06127705e-01 -6.49453270e-02 3.03743388e+02] [ 8.94354616e-01 4.22995078e-01 -1.45619315e-01 1.81709710e+02] [ 1.59421250e-01 2.78309855e-03 9.87206726e-01 2.24832597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.116875 meters 0.014849716896343108 Centerline is valid? [True, True] Translation: X:303.77, Y:181.76, Z:22.49 [[ 4.13757449e-01 -9.08040938e-01 -6.53179085e-02 3.03770375e+02] [ 8.96143609e-01 4.18876213e-01 -1.46524231e-01 1.81760787e+02] [ 1.60410118e-01 2.09126559e-03 9.87048236e-01 2.24909929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.176875 meters 0.014507395178403416 Centerline is valid? [True, True] Translation: X:303.80, Y:181.81, Z:22.50 [[ 4.11121041e-01 -9.09211965e-01 -6.56741306e-02 3.03795963e+02] [ 8.97180124e-01 4.16330084e-01 -1.47435027e-01 1.81812181e+02] [ 1.61391807e-01 1.69211718e-03 9.86888961e-01 2.24990681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.236875 meters 0.013860216814408658 Centerline is valid? [True, True] Translation: X:303.82, Y:181.86, Z:22.51 [[ 4.08016058e-01 -9.10589411e-01 -6.59531784e-02 3.03821732e+02] [ 8.98453916e-01 4.13310395e-01 -1.48172458e-01 1.81863340e+02] [ 1.62183406e-01 1.20085074e-03 9.86759900e-01 2.25076584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.296875 meters 0.01362557567614932 Centerline is valid? [True, True] Translation: X:303.85, Y:181.91, Z:22.52 [[ 4.05227096e-01 -9.11794477e-01 -6.64968642e-02 3.03846752e+02] [ 8.99453692e-01 4.10646117e-01 -1.49508605e-01 1.81913491e+02] [ 1.63627799e-01 7.74087768e-04 9.86521842e-01 2.25150821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.356875 meters 0.013621999379907908 Centerline is valid? [True, True] Translation: X:303.87, Y:181.96, Z:22.52 [[ 4.04250445e-01 -9.12170611e-01 -6.72781886e-02 3.03870946e+02] [ 8.99518235e-01 4.09810085e-01 -1.51402242e-01 1.81964522e+02] [ 1.65675956e-01 6.86466343e-04 9.86180007e-01 2.25223750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.416875 meters 0.013498856510304275 Centerline is valid? [True, True] Translation: X:303.89, Y:182.02, Z:22.53 [[ 4.04569345e-01 -9.12040110e-01 -6.71303390e-02 3.03893005e+02] [ 8.99421008e-01 4.10100248e-01 -1.51194038e-01 1.82016100e+02] [ 1.65425196e-01 7.90035804e-04 9.86222024e-01 2.25317423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.476875 meters 0.013699946300262947 Centerline is valid? [True, True] Translation: X:303.92, Y:182.07, Z:22.54 [[ 4.05983284e-01 -9.11437898e-01 -6.67722257e-02 3.03915201e+02] [ 8.98925468e-01 4.11436251e-01 -1.50509847e-01 1.82069220e+02] [ 1.64652893e-01 1.08122779e-03 9.86350980e-01 2.25418183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.536875 meters 0.013688523415268036 Centerline is valid? [True, True] Translation: X:303.94, Y:182.12, Z:22.55 [[ 4.06512513e-01 -9.11215800e-01 -6.65833516e-02 3.03936970e+02] [ 8.98752609e-01 4.11927529e-01 -1.50198069e-01 1.82122028e+02] [ 1.64290369e-01 1.21543346e-03 9.86411272e-01 2.25515507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.596875 meters 0.014025281102285894 Centerline is valid? [True, True] Translation: X:303.96, Y:182.17, Z:22.56 [[ 4.07512691e-01 -9.10765302e-01 -6.66331078e-02 3.03957010e+02] [ 8.98257769e-01 4.12921868e-01 -1.50427758e-01 1.82174825e+02] [ 1.64518650e-01 1.44751385e-03 9.86372910e-01 2.25597331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.656875 meters 0.014254768564102908 Centerline is valid? [True, True] Translation: X:303.98, Y:182.23, Z:22.57 [[ 4.08627239e-01 -9.10226144e-01 -6.71725106e-02 3.03977707e+02] [ 8.97485528e-01 4.14107920e-01 -1.51770742e-01 1.82228821e+02] [ 1.65962366e-01 1.73130329e-03 9.86130567e-01 2.25680648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.716875 meters 0.014553159684827137 Centerline is valid? [True, True] Translation: X:304.00, Y:182.28, Z:22.58 [[ 4.09797446e-01 -9.09657166e-01 -6.77487575e-02 3.03997580e+02] [ 8.96668689e-01 4.15354950e-01 -1.53184619e-01 1.82282613e+02] [ 1.67485269e-01 2.02647621e-03 9.85872496e-01 2.25750920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.776875 meters 0.014384581725462376 Centerline is valid? [True, True] Translation: X:304.02, Y:182.34, Z:22.58 [[ 4.09619073e-01 -9.09713063e-01 -6.80761205e-02 3.04020356e+02] [ 8.96584030e-01 4.15232396e-01 -1.54010177e-01 1.82335224e+02] [ 1.68372481e-01 2.04954352e-03 9.85721313e-01 2.25842691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.836875 meters 0.013872691253292374 Centerline is valid? [True, True] Translation: X:304.04, Y:182.39, Z:22.59 [[ 4.07590776e-01 -9.10646624e-01 -6.77678817e-02 3.04043366e+02] [ 8.97630234e-01 4.13182548e-01 -1.53427981e-01 1.82387947e+02] [ 1.67719179e-01 1.70533048e-03 9.85833337e-01 2.25940630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.896875 meters 0.0133984723019835 Centerline is valid? [True, True] Translation: X:304.07, Y:182.44, Z:22.60 [[ 4.05373515e-01 -9.11636553e-01 -6.77577241e-02 3.04066927e+02] [ 8.98617885e-01 4.10995117e-01 -1.53521692e-01 1.82440074e+02] [ 1.67804080e-01 1.34532524e-03 9.85819446e-01 2.26046855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.956875 meters 0.013353803977744818 Centerline is valid? [True, True] Translation: X:304.09, Y:182.49, Z:22.61 [[ 4.04886254e-01 -9.11873148e-01 -6.74869088e-02 3.04088658e+02] [ 8.98942372e-01 4.10470089e-01 -1.53025871e-01 1.82492526e+02] [ 1.67241540e-01 1.29122973e-03 9.85915108e-01 2.26147602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.016875 meters 0.013212444632601386 Centerline is valid? [True, True] Translation: X:304.11, Y:182.55, Z:22.62 [[ 4.04612593e-01 -9.11992143e-01 -6.75202284e-02 3.04108590e+02] [ 8.99030121e-01 4.10205635e-01 -1.53219378e-01 1.82546143e+02] [ 1.67432047e-01 1.29177059e-03 9.85882773e-01 2.26240823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07687500000003 meters 0.013124370732152158 Centerline is valid? [True, True] Translation: X:304.13, Y:182.60, Z:22.63 [[ 4.03452276e-01 -9.12515327e-01 -6.73946464e-02 3.04130304e+02] [ 8.99588652e-01 4.09040972e-01 -1.53054696e-01 1.82599317e+02] [ 1.67231928e-01 1.12280634e-03 9.85916945e-01 2.26333110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13687500000003 meters 0.012773418542148435 Centerline is valid? [True, True] Translation: X:304.15, Y:182.65, Z:22.64 [[ 3.99547297e-01 -9.14246701e-01 -6.71932041e-02 3.04152055e+02] [ 9.01401644e-01 4.05157707e-01 -1.52716435e-01 1.82651065e+02] [ 1.66844341e-01 4.49374319e-04 9.85983146e-01 2.26419779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19687500000003 meters 0.012757154356411369 Centerline is valid? [True, True] Translation: X:304.18, Y:182.70, Z:22.65 [[ 3.93582686e-01 -9.16840681e-01 -6.70509851e-02 3.04176800e+02] [ 9.04066794e-01 3.99252821e-01 -1.52513663e-01 1.82703049e+02] [ 1.66601025e-01 -5.91832026e-04 9.86024213e-01 2.26513804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25687500000004 meters 0.013143637931475194 Centerline is valid? [True, True] Translation: X:304.20, Y:182.75, Z:22.66 [[ 3.89375175e-01 -9.18626911e-01 -6.71682394e-02 3.04200337e+02] [ 9.05814480e-01 3.95123890e-01 -1.52896175e-01 1.82754159e+02] [ 1.66994317e-01 -1.30798904e-03 9.85956991e-01 2.26605104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31687500000004 meters 0.013779351382103611 Centerline is valid? [True, True] Translation: X:304.22, Y:182.81, Z:22.67 [[ 3.84729201e-01 -9.20566810e-01 -6.73809352e-02 3.04223176e+02] [ 9.07681092e-01 3.90579470e-01 -1.53501511e-01 1.82807143e+02] [ 1.67626006e-01 -2.10388716e-03 9.85848414e-01 2.26701905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37687500000004 meters 0.01395846128055074 Centerline is valid? [True, True] Translation: X:304.24, Y:182.86, Z:22.68 [[ 3.81699116e-01 -9.21809706e-01 -6.76213759e-02 3.04242822e+02] [ 9.08831746e-01 3.87633888e-01 -1.54158443e-01 1.82861650e+02] [ 1.68317086e-01 -2.61431174e-03 9.85729438e-01 2.26798088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.436875 meters 0.0142906395023316 Centerline is valid? [True, True] Translation: X:304.26, Y:182.92, Z:22.69 [[ 3.80537058e-01 -9.22301812e-01 -6.74604663e-02 3.04264080e+02] [ 9.09374520e-01 3.86460392e-01 -1.53903697e-01 1.82915260e+02] [ 1.68016457e-01 -2.78076891e-03 9.85780268e-01 2.26898806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.496875 meters 0.014784846614960056 Centerline is valid? [True, True] Translation: X:304.28, Y:182.97, Z:22.70 [[ 3.79028046e-01 -9.22995548e-01 -6.64601983e-02 3.04283977e+02] [ 9.10442531e-01 3.84798966e-01 -1.51737119e-01 1.82968800e+02] [ 1.65626501e-01 -2.99556734e-03 9.86184004e-01 2.27025225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.556875 meters 0.015648769406977216 Centerline is valid? [True, True] Translation: X:304.30, Y:183.02, Z:22.71 [[ 3.77592450e-01 -9.23610235e-01 -6.60914235e-02 3.04303143e+02] [ 9.11187407e-01 3.83319556e-01 -1.51008701e-01 1.83022229e+02] [ 1.64807317e-01 -3.20192734e-03 9.86320585e-01 2.27122845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.616875 meters 0.014734630687125742 Centerline is valid? [True, True] Translation: X:304.32, Y:183.08, Z:22.72 [[ 3.77692138e-01 -9.23572085e-01 -6.60549208e-02 3.04320881e+02] [ 9.11148414e-01 3.83411889e-01 -1.51009573e-01 1.83076844e+02] [ 1.64794468e-01 -3.15070802e-03 9.86322897e-01 2.27213534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.676875 meters 0.014900479760818465 Centerline is valid? [True, True] Translation: X:304.34, Y:183.13, Z:22.73 [[ 3.78883456e-01 -9.23066369e-01 -6.63008693e-02 3.04339516e+02] [ 9.10521972e-01 3.84629813e-01 -1.51689304e-01 1.83130049e+02] [ 1.65520586e-01 -2.89583047e-03 9.86202084e-01 2.27290914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.736875 meters 0.013917859353599972 Centerline is valid? [True, True] Translation: X:304.36, Y:183.18, Z:22.74 [[ 3.80211953e-01 -9.22492218e-01 -6.66856668e-02 3.04358417e+02] [ 9.09771773e-01 3.86006829e-01 -1.52689385e-01 1.83184354e+02] [ 1.66595893e-01 -2.61440800e-03 9.86021792e-01 2.27383624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.796875 meters 0.01320705530596851 Centerline is valid? [True, True] Translation: X:304.38, Y:183.24, Z:22.75 [[ 3.83475677e-01 -9.21147235e-01 -6.65896161e-02 3.04378265e+02] [ 9.08423636e-01 3.89209273e-01 -1.52586501e-01 1.83239104e+02] [ 1.66471930e-01 -1.97836923e-03 9.86044209e-01 2.27468655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.856875 meters 0.01257389849482058 Centerline is valid? [True, True] Translation: X:304.40, Y:183.29, Z:22.76 [[ 3.88115502e-01 -9.19188788e-01 -6.67707175e-02 3.04397099e+02] [ 9.06347207e-01 3.93815668e-01 -1.53114203e-01 1.83293886e+02] [ 1.67036213e-01 -1.09145773e-03 9.85950157e-01 2.27560597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.916875 meters 0.012461407309675002 Centerline is valid? [True, True] Translation: X:304.42, Y:183.35, Z:22.77 [[ 3.90614861e-01 -9.18119330e-01 -6.69098355e-02 3.04417972e+02] [ 9.05188847e-01 3.96303607e-01 -1.53546745e-01 1.83347019e+02] [ 1.67490844e-01 -5.88396278e-04 9.85873456e-01 2.27654058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.976875 meters 0.012202603520520413 Centerline is valid? [True, True] Translation: X:304.44, Y:183.40, Z:22.78 [[ 3.93007457e-01 -9.17136018e-01 -6.63826997e-02 3.04437661e+02] [ 9.04376468e-01 3.98574347e-01 -1.52452269e-01 1.83400448e+02] [ 1.66277908e-01 -1.20072895e-04 9.86078923e-01 2.27759898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.036875 meters 0.012299760026083658 Centerline is valid? [True, True] Translation: X:304.46, Y:183.45, Z:22.79 [[ 3.94416989e-01 -9.16553745e-01 -6.60641513e-02 3.04458842e+02] [ 9.03889314e-01 3.99911494e-01 -1.51838419e-01 1.83452765e+02] [ 1.65587885e-01 1.72971685e-04 9.86195023e-01 2.27852088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.096875 meters 0.012391315955745717 Centerline is valid? [True, True] Translation: X:304.48, Y:183.51, Z:22.79 [[ 3.95417150e-01 -9.16106756e-01 -6.62849158e-02 3.04480608e+02] [ 9.03329717e-01 4.00934212e-01 -1.52470261e-01 1.83505857e+02] [ 1.66254927e-01 4.12221912e-04 9.86082719e-01 2.27942751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.156875 meters 0.012556464076206775 Centerline is valid? [True, True] Translation: X:304.50, Y:183.56, Z:22.80 [[ 3.97279176e-01 -9.15277068e-01 -6.66119033e-02 3.04501376e+02] [ 9.02340812e-01 4.02824066e-01 -1.53342199e-01 1.83558869e+02] [ 1.67183476e-01 8.13023612e-04 9.85925466e-01 2.28022371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.216875 meters 0.01289474426576374 Centerline is valid? [True, True] Translation: X:304.52, Y:183.61, Z:22.81 [[ 4.00641623e-01 -9.13772476e-01 -6.71278722e-02 3.04521810e+02] [ 9.00597033e-01 4.06223627e-01 -1.54620017e-01 1.83612452e+02] [ 1.68556444e-01 1.49205220e-03 9.85690874e-01 2.28119357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.276875 meters 0.013054036655298454 Centerline is valid? [True, True] Translation: X:304.54, Y:183.67, Z:22.82 [[ 4.02362451e-01 -9.13001607e-01 -6.73240205e-02 3.04544320e+02] [ 8.99718124e-01 4.07951682e-01 -1.55186089e-01 1.83665571e+02] [ 1.69150096e-01 1.86841386e-03 9.85588532e-01 2.28206125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.336875 meters 0.013168529987042397 Centerline is valid? [True, True] Translation: X:304.57, Y:183.72, Z:22.83 [[ 4.04294522e-01 -9.12156270e-01 -6.72077226e-02 3.04567671e+02] [ 8.98887550e-01 4.09836308e-01 -1.55033456e-01 1.83718656e+02] [ 1.68958904e-01 2.26699185e-03 9.85620490e-01 2.28308286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.396875 meters 0.014129986068504501 Centerline is valid? [True, True] Translation: X:304.59, Y:183.77, Z:22.84 [[ 4.05536526e-01 -9.11644483e-01 -6.66668043e-02 3.04588781e+02] [ 8.98563208e-01 4.10972069e-01 -1.53902956e-01 1.83770964e+02] [ 1.67702975e-01 2.50893240e-03 9.85834376e-01 2.28398403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.456875 meters 0.01513242969442861 Centerline is valid? [True, True] Translation: X:304.61, Y:183.82, Z:22.85 [[ 4.07905825e-01 -9.10634716e-01 -6.60094766e-02 3.04609253e+02] [ 8.97777322e-01 4.13201786e-01 -1.52512834e-01 1.83823315e+02] [ 1.66158715e-01 2.94906228e-03 9.86094612e-01 2.28510943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.516875 meters 0.014893260407387502 Centerline is valid? [True, True] Translation: X:304.63, Y:183.88, Z:22.86 [[ 4.10461549e-01 -9.09500992e-01 -6.57971259e-02 3.04632676e+02] [ 8.96691821e-01 4.15687439e-01 -1.52143785e-01 1.83875782e+02] [ 1.65725962e-01 3.44942922e-03 9.86165811e-01 2.28624085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57687500000003 meters 0.01508239737092822 Centerline is valid? [True, True] Translation: X:304.66, Y:183.93, Z:22.87 [[ 4.11389834e-01 -9.09053101e-01 -6.61880951e-02 3.04655334e+02] [ 8.96065123e-01 4.16663854e-01 -1.53161774e-01 1.83929269e+02] [ 1.66810373e-01 3.70035343e-03 9.85982052e-01 2.28703135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63687500000003 meters 0.016105047682971965 Centerline is valid? [True, True] Translation: X:304.68, Y:183.98, Z:22.88 [[ 4.10632280e-01 -9.09365661e-01 -6.65974844e-02 3.04677200e+02] [ 8.96199784e-01 4.15981742e-01 -1.54224306e-01 1.83981818e+02] [ 1.67949625e-01 3.64482727e-03 9.85788841e-01 2.28772819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69687500000003 meters 0.014670608518332368 Centerline is valid? [True, True] Translation: X:304.70, Y:184.03, Z:22.89 [[ 4.09021753e-01 -9.10055401e-01 -6.70848114e-02 3.04703161e+02] [ 8.96687978e-01 4.14472468e-01 -1.55445306e-01 1.84032705e+02] [ 1.69268647e-01 3.42636755e-03 9.85563993e-01 2.28869651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75687500000004 meters 0.014428626697858198 Centerline is valid? [True, True] Translation: X:304.73, Y:184.09, Z:22.90 [[ 4.07095503e-01 -9.10914868e-01 -6.71368414e-02 3.04727310e+02] [ 8.97516856e-01 4.12582531e-01 -1.55689269e-01 1.84085255e+02] [ 1.69519158e-01 3.12395459e-03 9.85521941e-01 2.28964476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81687500000004 meters 0.013863051232030852 Centerline is valid? [True, True] Translation: X:304.75, Y:184.14, Z:22.91 [[ 4.04506264e-01 -9.12072173e-01 -6.70748363e-02 3.04752751e+02] [ 8.98694565e-01 4.10020892e-01 -1.55662925e-01 1.84136739e+02] [ 1.69477906e-01 2.68683739e-03 9.85530324e-01 2.29059958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87687500000004 meters 0.013184358711879413 Centerline is valid? [True, True] Translation: X:304.78, Y:184.19, Z:22.92 [[ 4.00732892e-01 -9.13732748e-01 -6.71238746e-02 3.04779875e+02] [ 9.00338241e-01 4.06310613e-01 -1.55893356e-01 1.84188057e+02] [ 1.69718007e-01 2.03740429e-03 9.85490562e-01 2.29159858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.936875 meters 0.012565993713169495 Centerline is valid? [True, True] Translation: X:304.81, Y:184.24, Z:22.93 [[ 3.97365688e-01 -9.15210557e-01 -6.70085530e-02 3.04806419e+02] [ 9.01862942e-01 4.02973351e-01 -1.55742456e-01 1.84239468e+02] [ 1.69539801e-01 1.45417754e-03 9.85522268e-01 2.29257522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.996875 meters 0.012376945494561297 Centerline is valid? [True, True] Translation: X:304.84, Y:184.29, Z:22.93 [[ 3.91602641e-01 -9.17695608e-01 -6.69488047e-02 3.04835137e+02] [ 9.04386879e-01 3.97284007e-01 -1.55723445e-01 1.84289925e+02] [ 1.69504411e-01 4.34091924e-04 9.85529333e-01 2.29346381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.056875 meters 0.012444128303293904 Centerline is valid? [True, True] Translation: X:304.86, Y:184.34, Z:22.94 [[ 3.86643336e-01 -9.19766423e-01 -6.73547171e-02 3.04863769e+02] [ 9.06304499e-01 3.92465984e-01 -1.56788415e-01 1.84339578e+02] [ 1.70643155e-01 -4.22687103e-04 9.85332804e-01 2.29437060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.116875 meters 0.012675039935284972 Centerline is valid? [True, True] Translation: X:304.89, Y:184.39, Z:22.95 [[ 3.84830294e-01 -9.20496184e-01 -6.77674031e-02 3.04889317e+02] [ 9.06856447e-01 3.90750926e-01 -1.57876846e-01 1.84390351e+02] [ 1.71805210e-01 -6.99513356e-04 9.85130692e-01 2.29516845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.176875 meters 0.012709938011621366 Centerline is valid? [True, True] Translation: X:304.91, Y:184.44, Z:22.96 [[ 3.85753028e-01 -9.20101146e-01 -6.78858094e-02 3.04913627e+02] [ 9.06393247e-01 3.91680532e-01 -1.58232876e-01 1.84441750e+02] [ 1.72179801e-01 -4.92428179e-04 9.85065416e-01 2.29616439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.236875 meters 0.012866267115514118 Centerline is valid? [True, True] Translation: X:304.93, Y:184.49, Z:22.97 [[ 3.91178651e-01 -9.17853080e-01 -6.72680259e-02 3.04934923e+02] [ 9.04341094e-01 3.96919922e-01 -1.56913228e-01 1.84494654e+02] [ 1.70723309e-01 5.47864505e-04 9.85318858e-01 2.29717420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.296875 meters 0.01310324132412172 Centerline is valid? [True, True] Translation: X:304.96, Y:184.55, Z:22.98 [[ 3.95776735e-01 -9.15908531e-01 -6.68755479e-02 3.04955753e+02] [ 9.02506585e-01 4.01384495e-01 -1.56116467e-01 1.84548444e+02] [ 1.69831212e-01 1.43164317e-03 9.85472125e-01 2.29818815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.356875 meters 0.01494565304969447 Centerline is valid? [True, True] Translation: X:304.97, Y:184.60, Z:22.99 [[ 4.02915294e-01 -9.12802318e-01 -6.67172661e-02 3.04973674e+02] [ 8.99401641e-01 4.08392123e-01 -1.55860711e-01 1.84602311e+02] [ 1.69516824e-01 2.79304557e-03 9.85523336e-01 2.29888849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.416875 meters 0.016465225885030205 Centerline is valid? [True, True] Translation: X:304.99, Y:184.66, Z:23.00 [[ 4.09083709e-01 -9.10041321e-01 -6.68977783e-02 3.04994793e+02] [ 8.96519473e-01 4.14498405e-01 -1.56345469e-01 1.84655557e+02] [ 1.70009860e-01 3.98322347e-03 9.85434311e-01 2.29966918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.476875 meters 0.0172490168768491 Centerline is valid? [True, True] Translation: X:305.02, Y:184.71, Z:23.01 [[ 4.11022356e-01 -9.09170440e-01 -6.68560625e-02 3.05017196e+02] [ 8.95632381e-01 4.16401004e-01 -1.56374046e-01 1.84708793e+02] [ 1.70009592e-01 4.39477426e-03 9.85432608e-01 2.30051243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.536875 meters 0.017679115868064824 Centerline is valid? [True, True] Translation: X:305.04, Y:184.76, Z:23.01 [[ 4.11046747e-01 -9.09186837e-01 -6.64820822e-02 3.05042269e+02] [ 8.95781355e-01 4.16365025e-01 -1.55614681e-01 1.84760879e+02] [ 1.69163634e-01 4.41149888e-03 9.85578106e-01 2.30136690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.596875 meters 0.01750336646861128 Centerline is valid? [True, True] Translation: X:305.07, Y:184.81, Z:23.02 [[ 4.09817118e-01 -9.09766950e-01 -6.61364240e-02 3.05068111e+02] [ 8.96488414e-01 4.15098121e-01 -1.54926026e-01 1.84812904e+02] [ 1.68399684e-01 4.20079960e-03 9.85709846e-01 2.30230532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.656875 meters 0.01583460178049972 Centerline is valid? [True, True] Translation: X:305.10, Y:184.86, Z:23.03 [[ 4.06152286e-01 -9.11457245e-01 -6.54676306e-02 3.05097743e+02] [ 8.98450357e-01 4.11379806e-01 -1.53471857e-01 1.84863165e+02] [ 1.66815097e-01 3.51352934e-03 9.85981936e-01 2.30330849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.716875 meters 0.01455434229899891 Centerline is valid? [True, True] Translation: X:305.13, Y:184.91, Z:23.04 [[ 4.01126059e-01 -9.13737457e-01 -6.46664034e-02 3.05126697e+02] [ 9.01065829e-01 4.06297007e-01 -1.51667774e-01 1.84913448e+02] [ 1.64858293e-01 2.56921034e-03 9.86313917e-01 2.30432128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.776875 meters 0.01361364958694776 Centerline is valid? [True, True] Translation: X:305.16, Y:184.96, Z:23.05 [[ 3.94347046e-01 -9.16676943e-01 -6.47594810e-02 3.05155719e+02] [ 9.03988177e-01 3.99626608e-01 -1.51999836e-01 1.84962822e+02] [ 1.65214357e-01 1.39888123e-03 9.86256690e-01 2.30513155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.836875 meters 0.012896558667464298 Centerline is valid? [True, True] Translation: X:305.18, Y:185.01, Z:23.06 [[ 3.89013279e-01 -9.18963246e-01 -6.46159575e-02 3.05184042e+02] [ 9.06341894e-01 3.94342898e-01 -1.51782902e-01 1.85013742e+02] [ 1.64963752e-01 4.81415056e-04 9.86299513e-01 2.30609322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.896875 meters 0.013212315757774033 Centerline is valid? [True, True] Translation: X:305.22, Y:185.06, Z:23.07 [[ 3.79775468e-01 -9.22813196e-01 -6.47023838e-02 3.05215047e+02] [ 9.10192469e-01 3.85246070e-01 -1.52102381e-01 1.85062606e+02] [ 1.65288423e-01 -1.12686966e-03 9.86244629e-01 2.30690814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.956875 meters 0.013854391414208673 Centerline is valid? [True, True] Translation: X:305.24, Y:185.11, Z:23.08 [[ 3.74382659e-01 -9.25043902e-01 -6.42760074e-02 3.05242374e+02] [ 9.12604740e-01 3.79854680e-01 -1.51205194e-01 1.85112982e+02] [ 1.64286984e-01 -2.04998665e-03 9.86410454e-01 2.30801908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.016875 meters 0.014620301408591182 Centerline is valid? [True, True] Translation: X:305.27, Y:185.16, Z:23.09 [[ 3.70852051e-01 -9.26529706e-01 -6.33360851e-02 3.05267684e+02] [ 9.14457667e-01 3.76212468e-01 -1.49101827e-01 1.85163570e+02] [ 1.61975097e-01 -2.62345019e-03 9.86791359e-01 2.30905425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07687500000003 meters 0.014086481615685473 Centerline is valid? [True, True] Translation: X:305.29, Y:185.22, Z:23.10 [[ 3.72954580e-01 -9.25702800e-01 -6.30809626e-02 3.05288141e+02] [ 9.13702736e-01 3.78245148e-01 -1.48586401e-01 1.85217622e+02] [ 1.61406915e-01 -2.22126943e-03 9.86885441e-01 2.30986162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13687500000003 meters 0.013470490769575589 Centerline is valid? [True, True] Translation: X:305.31, Y:185.27, Z:23.11 [[ 3.76656814e-01 -9.24195979e-01 -6.31778162e-02 3.05307304e+02] [ 9.12118562e-01 3.81915503e-01 -1.48930448e-01 1.85271736e+02] [ 1.61769509e-01 -1.52999075e-03 9.86827384e-01 2.31065027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19687500000003 meters 0.012945778137707717 Centerline is valid? [True, True] Translation: X:305.32, Y:185.33, Z:23.11 [[ 3.82838267e-01 -9.21643077e-01 -6.33158704e-02 3.05324508e+02] [ 9.09458170e-01 3.88038503e-01 -1.49371878e-01 1.85326261e+02] [ 1.62236553e-01 -3.97864588e-04 9.86751814e-01 2.31133907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25687500000004 meters 0.01312999464355386 Centerline is valid? [True, True] Translation: X:305.34, Y:185.38, Z:23.12 [[ 3.88414763e-01 -9.19311548e-01 -6.32475339e-02 3.05340888e+02] [ 9.07103189e-01 3.93530030e-01 -1.49324879e-01 1.85380164e+02] [ 1.62165889e-01 6.27947727e-04 9.86763310e-01 2.31202742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31687500000004 meters 0.013793643469626422 Centerline is valid? [True, True] Translation: X:305.36, Y:185.43, Z:23.13 [[ 3.91704882e-01 -9.17912887e-01 -6.32709796e-02 3.05360444e+02] [ 9.05655230e-01 3.96779959e-01 -1.49513441e-01 1.85434301e+02] [ 1.62344971e-01 1.26345127e-03 9.86733254e-01 2.31290528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37687500000004 meters 0.015034459144837678 Centerline is valid? [True, True] Translation: X:305.38, Y:185.49, Z:23.14 [[ 3.95659903e-01 -9.16224701e-01 -6.31311160e-02 3.05378210e+02] [ 9.03981906e-01 4.00659827e-01 -1.49293058e-01 1.85489563e+02] [ 1.62080090e-01 1.99989029e-03 9.86775580e-01 2.31372946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.436875 meters 0.015146310960571825 Centerline is valid? [True, True] Translation: X:305.40, Y:185.54, Z:23.15 [[ 3.94691654e-01 -9.16655452e-01 -6.29387065e-02 3.05398340e+02] [ 9.04475274e-01 3.99674014e-01 -1.48946842e-01 1.85541610e+02] [ 1.61687900e-01 1.86157148e-03 9.86840188e-01 2.31451316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.496875 meters 0.014360233351371631 Centerline is valid? [True, True] Translation: X:305.42, Y:185.59, Z:23.16 [[ 3.92873663e-01 -9.17448467e-01 -6.27582243e-02 3.05422181e+02] [ 9.05327596e-01 3.97851485e-01 -1.48647706e-01 1.85592420e+02] [ 1.61345063e-01 1.58301631e-03 9.86896785e-01 2.31551192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.556875 meters 0.013955076109702333 Centerline is valid? [True, True] Translation: X:305.45, Y:185.64, Z:23.16 [[ 3.90753217e-01 -9.18367663e-01 -6.25520477e-02 3.05445456e+02] [ 9.06317714e-01 3.95726255e-01 -1.48286656e-01 1.85644453e+02] [ 1.60935157e-01 1.25145893e-03 9.86964188e-01 2.31641462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.616875 meters 0.013562152403850107 Centerline is valid? [True, True] Translation: X:305.47, Y:185.70, Z:23.17 [[ 3.86667817e-01 -9.20049568e-01 -6.32201915e-02 3.05468876e+02] [ 9.07741497e-01 3.91801509e-01 -1.49989842e-01 1.85696429e+02] [ 1.62767855e-01 6.08653297e-04 9.86664206e-01 2.31718807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.676875 meters 0.013401698675326403 Centerline is valid? [True, True] Translation: X:305.49, Y:185.75, Z:23.18 [[ 3.83136115e-01 -9.21494533e-01 -6.36752971e-02 3.05493179e+02] [ 9.09006916e-01 3.88391328e-01 -1.51190616e-01 1.85748891e+02] [ 1.64052259e-01 4.52998275e-05 9.86451648e-01 2.31800154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.736875 meters 0.013655894538300028 Centerline is valid? [True, True] Translation: X:305.52, Y:185.80, Z:23.19 [[ 3.77714380e-01 -9.23708696e-01 -6.39850939e-02 3.05517086e+02] [ 9.11109129e-01 3.83094628e-01 -1.52048218e-01 1.85801180e+02] [ 1.64960607e-01 -8.66604766e-04 9.86299776e-01 2.31880043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.796875 meters 0.014004342057058496 Centerline is valid? [True, True] Translation: X:305.54, Y:185.85, Z:23.20 [[ 3.74253338e-01 -9.25143396e-01 -6.35935251e-02 3.05539740e+02] [ 9.12699545e-01 3.79615094e-01 -1.51234658e-01 1.85853645e+02] [ 1.64054807e-01 -1.44170589e-03 9.86450172e-01 2.31974779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.856875 meters 0.014619538756245212 Centerline is valid? [True, True] Translation: X:305.56, Y:185.91, Z:23.21 [[ 3.70009607e-01 -9.26892397e-01 -6.29553337e-02 3.05563183e+02] [ 9.14711338e-01 3.75320943e-01 -1.49791050e-01 1.85906043e+02] [ 1.62468641e-01 -2.16182992e-03 9.86711339e-01 2.32089441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.916875 meters 0.014592246590468146 Centerline is valid? [True, True] Translation: X:305.58, Y:185.96, Z:23.22 [[ 3.67931888e-01 -9.27755858e-01 -6.24114824e-02 3.05582942e+02] [ 9.15779209e-01 3.73179496e-01 -1.48611924e-01 1.85960249e+02] [ 1.61166269e-01 -2.47607218e-03 9.86924163e-01 2.32187250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.976875 meters 0.014445597777470086 Centerline is valid? [True, True] Translation: X:305.60, Y:186.01, Z:23.23 [[ 3.68742312e-01 -9.27447602e-01 -6.22097531e-02 3.05602606e+02] [ 9.15525844e-01 3.73946120e-01 -1.48245503e-01 1.86013689e+02] [ 1.60753032e-01 -2.29024724e-03 9.86992005e-01 2.32271459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.036875 meters 0.01416407695228717 Centerline is valid? [True, True] Translation: X:305.62, Y:186.07, Z:23.24 [[ 3.71251959e-01 -9.26448861e-01 -6.21650279e-02 3.05621843e+02] [ 9.14510277e-01 3.76416311e-01 -1.48262317e-01 1.86066599e+02] [ 1.60757385e-01 -1.80788125e-03 9.86992297e-01 2.32352803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.096875 meters 0.013366414356789728 Centerline is valid? [True, True] Translation: X:305.64, Y:186.12, Z:23.24 [[ 3.77059532e-01 -9.24089247e-01 -6.23311555e-02 3.05637673e+02] [ 9.12034862e-01 3.82176006e-01 -1.48774697e-01 1.86122530e+02] [ 1.61302569e-01 -7.51269282e-04 9.86904715e-01 2.32440804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.156875 meters 0.013226449537823053 Centerline is valid? [True, True] Translation: X:305.66, Y:186.18, Z:23.25 [[ 3.81605848e-01 -9.22237974e-01 -6.20813747e-02 3.05655049e+02] [ 9.10237797e-01 3.86622702e-01 -1.48290390e-01 1.86177050e+02] [ 1.60761098e-01 7.96663167e-05 9.86993345e-01 2.32532220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.216875 meters 0.013683278498350498 Centerline is valid? [True, True] Translation: X:305.67, Y:186.23, Z:23.26 [[ 3.87656555e-01 -9.19697633e-01 -6.22788889e-02 3.05672721e+02] [ 9.07568401e-01 3.92625579e-01 -1.48878312e-01 1.86232372e+02] [ 1.61375316e-01 1.19130203e-03 9.86892389e-01 2.32618377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.276875 meters 0.014207235388366088 Centerline is valid? [True, True] Translation: X:305.69, Y:186.29, Z:23.27 [[ 3.89618113e-01 -9.18843641e-01 -6.26425450e-02 3.05693541e+02] [ 9.06541922e-01 3.94618553e-01 -1.49859737e-01 1.86285678e+02] [ 1.62417577e-01 1.59997466e-03 9.86720817e-01 2.32711869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.336875 meters 0.014615764188722798 Centerline is valid? [True, True] Translation: X:305.71, Y:186.34, Z:23.28 [[ 3.90964479e-01 -9.18279923e-01 -6.25200679e-02 3.05714774e+02] [ 9.06000316e-01 3.95927339e-01 -1.49682899e-01 1.86339233e+02] [ 1.62204205e-01 1.87749552e-03 9.86755426e-01 2.32793064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.396875 meters 0.01500968940465841 Centerline is valid? [True, True] Translation: X:305.74, Y:186.39, Z:23.29 [[ 3.93644469e-01 -9.17146738e-01 -6.23369306e-02 3.05736306e+02] [ 9.04906323e-01 3.98542557e-01 -1.49359894e-01 1.86393195e+02] [ 1.61828859e-01 2.38561345e-03 9.86815955e-01 2.32890403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.456875 meters 0.01574677010462478 Centerline is valid? [True, True] Translation: X:305.76, Y:186.45, Z:23.30 [[ 3.95246432e-01 -9.16420101e-01 -6.28844690e-02 3.05756406e+02] [ 9.03933946e-01 4.00208209e-01 -1.50787302e-01 1.86446996e+02] [ 1.63351395e-01 2.75473700e-03 9.86564105e-01 2.32981201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.516875 meters 0.016161696678225514 Centerline is valid? [True, True] Translation: X:305.78, Y:186.50, Z:23.31 [[ 3.95764421e-01 -9.16162773e-01 -6.33742643e-02 3.05776641e+02] [ 9.03457408e-01 4.00795689e-01 -1.52077372e-01 1.86499469e+02] [ 1.64727759e-01 2.93086440e-03 9.86334718e-01 2.33057957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57687500000003 meters 0.01553731903535207 Centerline is valid? [True, True] Translation: X:305.80, Y:186.55, Z:23.31 [[ 3.95074162e-01 -9.16392136e-01 -6.43572853e-02 3.05800962e+02] [ 9.03267321e-01 4.00270965e-01 -1.54568115e-01 1.86551255e+02] [ 1.67405358e-01 2.93403590e-03 9.85883785e-01 2.33138811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63687500000003 meters 0.0150172699739609 Centerline is valid? [True, True] Translation: X:305.83, Y:186.60, Z:23.32 [[ 3.92437074e-01 -9.17513854e-01 -6.45094585e-02 3.05825470e+02] [ 9.04320021e-01 3.97695875e-01 -1.55058993e-01 1.86603722e+02] [ 1.67923920e-01 2.51370257e-03 9.85796753e-01 2.33229209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69687500000003 meters 0.014069338058399506 Centerline is valid? [True, True] Translation: X:305.85, Y:186.65, Z:23.33 [[ 3.86154581e-01 -9.20188567e-01 -6.43244913e-02 3.05854202e+02] [ 9.07086921e-01 3.91472901e-01 -1.54732951e-01 1.86653922e+02] [ 1.67564788e-01 1.40293328e-03 9.85860068e-01 2.33345829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75687500000004 meters 0.013640110903986147 Centerline is valid? [True, True] Translation: X:305.88, Y:186.71, Z:23.35 [[ 3.82084865e-01 -9.21906427e-01 -6.40288685e-02 3.05879662e+02] [ 9.08929828e-01 3.87411997e-01 -1.54137964e-01 1.86705406e+02] [ 1.66906332e-01 6.96034798e-04 9.85972511e-01 2.33458115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81687500000004 meters 0.013299967056138999 Centerline is valid? [True, True] Translation: X:305.90, Y:186.76, Z:23.35 [[ 3.80094801e-01 -9.22716419e-01 -6.42055519e-02 3.05901050e+02] [ 9.09657978e-01 3.85479257e-01 -1.54687118e-01 1.86756361e+02] [ 1.67482252e-01 3.90676685e-04 9.85875014e-01 2.33541269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87687500000004 meters 0.013239970663203007 Centerline is valid? [True, True] Translation: X:305.92, Y:186.81, Z:23.36 [[ 3.79500112e-01 -9.22966910e-01 -6.41229159e-02 3.05922751e+02] [ 9.09921677e-01 3.84879164e-01 -1.54630432e-01 1.86809794e+02] [ 1.67398347e-01 3.35435308e-04 9.85889284e-01 2.33634903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.936875 meters 0.013225179872240237 Centerline is valid? [True, True] Translation: X:305.94, Y:186.86, Z:23.37 [[ 3.79907221e-01 -9.22789620e-01 -6.42636840e-02 3.05942278e+02] [ 9.09663153e-01 3.85303910e-01 -1.55093022e-01 1.86863292e+02] [ 1.67879280e-01 4.62653562e-04 9.85807452e-01 2.33741156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.996875 meters 0.013240229751010846 Centerline is valid? [True, True] Translation: X:305.96, Y:186.92, Z:23.38 [[ 3.80284266e-01 -9.22649196e-01 -6.40494936e-02 3.05961860e+02] [ 9.09587998e-01 3.85639903e-01 -1.54698219e-01 1.86917218e+02] [ 1.67432228e-01 5.70647937e-04 9.85883423e-01 2.33846011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.056875 meters 0.013335340924971342 Centerline is valid? [True, True] Translation: X:305.98, Y:186.97, Z:23.39 [[ 3.79992838e-01 -9.22747120e-01 -6.43676557e-02 3.05980710e+02] [ 9.09534969e-01 3.85405522e-01 -1.55591529e-01 1.86970195e+02] [ 1.68379285e-01 5.79032932e-04 9.85722111e-01 2.33927308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.116875 meters 0.013426389595781492 Centerline is valid? [True, True] Translation: X:306.00, Y:187.02, Z:23.40 [[ 3.79464336e-01 -9.22940090e-01 -6.47179169e-02 3.06001304e+02] [ 9.09563028e-01 3.84943231e-01 -1.56568855e-01 1.87023769e+02] [ 1.69416397e-01 5.47271997e-04 9.85544410e-01 2.34008151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.176875 meters 0.013499536671087388 Centerline is valid? [True, True] Translation: X:306.02, Y:187.08, Z:23.41 [[ 3.78964190e-01 -9.23114517e-01 -6.51592748e-02 3.06023106e+02] [ 9.09534035e-01 3.84524794e-01 -1.57760964e-01 1.87076985e+02] [ 1.70686793e-01 5.21177791e-04 9.85325199e-01 2.34095776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.236875 meters 0.013607343374045901 Centerline is valid? [True, True] Translation: X:306.05, Y:187.13, Z:23.42 [[ 3.77319048e-01 -9.23800879e-01 -6.49790160e-02 3.06046796e+02] [ 9.10284547e-01 3.82873176e-01 -1.57448957e-01 1.87128653e+02] [ 1.70330207e-01 2.59096332e-04 9.85387007e-01 2.34193470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.296875 meters 0.01362237531998842 Centerline is valid? [True, True] Translation: X:306.07, Y:187.18, Z:23.43 [[ 3.75574058e-01 -9.24539260e-01 -6.45854705e-02 3.06071311e+02] [ 9.11174866e-01 3.81086809e-01 -1.56630801e-01 1.87180477e+02] [ 1.69423996e-01 -2.21918924e-05 9.85543256e-01 2.34311704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.356875 meters 0.01362327876838668 Centerline is valid? [True, True] Translation: X:306.09, Y:187.23, Z:23.44 [[ 3.76205526e-01 -9.24335916e-01 -6.38162683e-02 3.06092782e+02] [ 9.11266399e-01 3.81579744e-01 -1.54888504e-01 1.87233206e+02] [ 1.67520002e-01 1.16290050e-04 9.85868670e-01 2.34418675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.416875 meters 0.013613450774031347 Centerline is valid? [True, True] Translation: X:306.11, Y:187.29, Z:23.45 [[ 3.78499638e-01 -9.23414416e-01 -6.35911964e-02 3.06114790e+02] [ 9.10403469e-01 3.83803972e-01 -1.54466935e-01 1.87285190e+02] [ 1.67043548e-01 5.72033071e-04 9.85949353e-01 2.34539249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.476875 meters 0.013719535717924102 Centerline is valid? [True, True] Translation: X:306.14, Y:187.34, Z:23.46 [[ 3.79346379e-01 -9.23077302e-01 -6.34398901e-02 3.06135531e+02] [ 9.10102488e-01 3.84613709e-01 -1.54226319e-01 1.87337393e+02] [ 1.66762665e-01 7.68393787e-04 9.85996766e-01 2.34626814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.536875 meters 0.014025315635798438 Centerline is valid? [True, True] Translation: X:306.16, Y:187.39, Z:23.47 [[ 3.82017066e-01 -9.21925711e-01 -6.41556251e-02 3.06155727e+02] [ 9.08614945e-01 3.87364409e-01 -1.56101556e-01 1.87391766e+02] [ 1.68765644e-01 1.34069851e-03 9.85655295e-01 2.34701430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.596875 meters 0.014164582782747761 Centerline is valid? [True, True] Translation: X:306.18, Y:187.44, Z:23.48 [[ 3.81816202e-01 -9.21974265e-01 -6.46517061e-02 3.06178242e+02] [ 9.08434285e-01 3.87248697e-01 -1.57434421e-01 1.87444355e+02] [ 1.70186773e-01 1.37918620e-03 9.85410859e-01 2.34784146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.656875 meters 0.013800231866880395 Centerline is valid? [True, True] Translation: X:306.21, Y:187.50, Z:23.49 [[ 3.77098523e-01 -9.23915927e-01 -6.46224795e-02 3.06205186e+02] [ 9.10394390e-01 3.82595152e-01 -1.57489694e-01 1.87495224e+02] [ 1.70231484e-01 5.57188300e-04 9.85403943e-01 2.34891041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.716875 meters 0.013713370787451615 Centerline is valid? [True, True] Translation: X:306.23, Y:187.55, Z:23.50 [[ 3.73267843e-01 -9.25482225e-01 -6.44497338e-02 3.06229631e+02] [ 9.12034560e-01 3.78791024e-01 -1.57195172e-01 1.87545552e+02] [ 1.69894318e-01 -1.04481748e-04 9.85462282e-01 2.34993709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.776875 meters 0.013943489266276927 Centerline is valid? [True, True] Translation: X:306.25, Y:187.60, Z:23.51 [[ 3.69049058e-01 -9.27187107e-01 -6.42406457e-02 3.06253516e+02] [ 9.13830140e-01 3.74597617e-01 -1.56815500e-01 1.87596561e+02] [ 1.69461703e-01 -8.32425732e-04 9.85536422e-01 2.35086927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.836875 meters 0.014295149151762852 Centerline is valid? [True, True] Translation: X:306.28, Y:187.65, Z:23.52 [[ 3.66832642e-01 -9.28053481e-01 -6.44247598e-02 3.06276219e+02] [ 9.14608850e-01 3.72445079e-01 -1.57401762e-01 1.87649867e+02] [ 1.70071938e-01 -1.18335122e-03 9.85430939e-01 2.35169031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.896875 meters 0.014857749943456247 Centerline is valid? [True, True] Translation: X:306.30, Y:187.70, Z:23.53 [[ 3.63720925e-01 -9.29265013e-01 -6.46035961e-02 3.06300800e+02] [ 9.15742989e-01 3.69409829e-01 -1.57959354e-01 1.87700601e+02] [ 1.70651304e-01 -1.70716786e-03 9.85330005e-01 2.35265515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.956875 meters 0.014321882393203195 Centerline is valid? [True, True] Translation: X:306.32, Y:187.75, Z:23.54 [[ 3.62855590e-01 -9.29642149e-01 -6.40413617e-02 3.06321020e+02] [ 9.16346680e-01 3.68459103e-01 -1.56673708e-01 1.87753075e+02] [ 1.69247105e-01 -1.83415853e-03 9.85571942e-01 2.35402247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.016875 meters 0.014025590046341695 Centerline is valid? [True, True] Translation: X:306.34, Y:187.81, Z:23.55 [[ 3.66012431e-01 -9.28393574e-01 -6.41893412e-02 3.06340783e+02] [ 9.14994849e-01 3.71596434e-01 -1.57163980e-01 1.87806885e+02] [ 1.69762559e-01 -1.20894612e-03 9.85484252e-01 2.35495506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07687500000003 meters 0.013800778486806562 Centerline is valid? [True, True] Translation: X:306.36, Y:187.86, Z:23.56 [[ 3.69750340e-01 -9.26891355e-01 -6.44755931e-02 3.06358984e+02] [ 9.13326815e-01 3.75329450e-01 -1.57993461e-01 1.87861234e+02] [ 1.70642362e-01 -4.69152170e-04 9.85332920e-01 2.35566760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13687500000003 meters 0.013886063548615664 Centerline is valid? [True, True] Translation: X:306.37, Y:187.92, Z:23.57 [[ 3.77196593e-01 -9.23882442e-01 -6.45287839e-02 3.06374805e+02] [ 9.10227605e-01 3.82675209e-01 -1.58257359e-01 1.87916148e+02] [ 1.70904761e-01 9.58256246e-04 9.85287087e-01 2.35659389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19687500000003 meters 0.014576682291209259 Centerline is valid? [True, True] Translation: X:306.39, Y:187.97, Z:23.58 [[ 3.82207139e-01 -9.21848638e-01 -6.41310516e-02 3.06392203e+02] [ 9.08311534e-01 3.87545388e-01 -1.57412606e-01 1.87970430e+02] [ 1.69964289e-01 1.91324767e-03 9.85448365e-01 2.35763846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25687500000004 meters 0.01619111010090203 Centerline is valid? [True, True] Translation: X:306.41, Y:188.03, Z:23.59 [[ 3.88255189e-01 -9.19356124e-01 -6.35784943e-02 3.06409304e+02] [ 9.05998592e-01 3.93414675e-01 -1.56177607e-01 1.88025465e+02] [ 1.68595552e-01 3.03473990e-03 9.85680643e-01 2.35860107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31687500000004 meters 0.01643222117585704 Centerline is valid? [True, True] Translation: X:306.43, Y:188.08, Z:23.59 [[ 3.92741421e-01 -9.17416424e-01 -6.40412493e-02 3.06430364e+02] [ 9.03814720e-01 3.97908894e-01 -1.57440352e-01 1.88079211e+02] [ 1.69920947e-01 3.95192360e-03 9.85449772e-01 2.35947038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37687500000004 meters 0.018123949867470998 Centerline is valid? [True, True] Translation: X:306.45, Y:188.13, Z:23.60 [[ 3.94480956e-01 -9.16605879e-01 -6.49495004e-02 3.06449941e+02] [ 9.02578754e-01 3.99767614e-01 -1.59804405e-01 1.88133523e+02] [ 1.72442364e-01 4.41775541e-03 9.85009703e-01 2.36001129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.436875 meters 0.01883993760205521 Centerline is valid? [True, True] Translation: X:306.47, Y:188.19, Z:23.61 [[ 3.94304491e-01 -9.16666529e-01 -6.51647392e-02 3.06471479e+02] [ 9.02523117e-01 3.99628057e-01 -1.60466321e-01 1.88187491e+02] [ 1.73135763e-01 4.45990733e-03 9.84887870e-01 2.36075721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.496875 meters 0.018504720493604236 Centerline is valid? [True, True] Translation: X:306.50, Y:188.24, Z:23.62 [[ 3.92249873e-01 -9.17557864e-01 -6.50200196e-02 3.06496094e+02] [ 9.03467540e-01 3.97581036e-01 -1.60236460e-01 1.88238863e+02] [ 1.72876951e-01 4.10925407e-03 9.84934858e-01 2.36174119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.556875 meters 0.018249259768971987 Centerline is valid? [True, True] Translation: X:306.52, Y:188.29, Z:23.63 [[ 3.90989332e-01 -9.18105898e-01 -6.48760487e-02 3.06520093e+02] [ 9.04063815e-01 3.96315882e-01 -1.60007309e-01 1.88291052e+02] [ 1.72615062e-01 3.90906264e-03 9.84981604e-01 2.36272155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.616875 meters 0.017424563089517092 Centerline is valid? [True, True] Translation: X:306.54, Y:188.34, Z:23.64 [[ 3.90333035e-01 -9.18378867e-01 -6.49644364e-02 3.06544584e+02] [ 9.04279713e-01 3.95683554e-01 -1.60351878e-01 1.88342159e+02] [ 1.72969136e-01 3.84461339e-03 9.84919741e-01 2.36369654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.676875 meters 0.01788553253999639 Centerline is valid? [True, True] Translation: X:306.57, Y:188.39, Z:23.65 [[ 3.90289902e-01 -9.18373502e-01 -6.52985737e-02 3.06566384e+02] [ 9.04102003e-01 3.95695209e-01 -1.61322255e-01 1.88394049e+02] [ 1.73992417e-01 3.92587574e-03 9.84739167e-01 2.36455736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.736875 meters 0.01863114036043413 Centerline is valid? [True, True] Translation: X:306.59, Y:188.45, Z:23.66 [[ 3.89500671e-01 -9.18748650e-01 -6.47313265e-02 3.06588035e+02] [ 9.04707911e-01 3.94824829e-01 -1.60052963e-01 1.88446258e+02] [ 1.72605979e-01 3.77779336e-03 9.84983708e-01 2.36559347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.796875 meters 0.017478589741034965 Centerline is valid? [True, True] Translation: X:306.61, Y:188.50, Z:23.67 [[ 3.89801509e-01 -9.18655522e-01 -6.42402974e-02 3.06610800e+02] [ 9.04805904e-01 3.95040880e-01 -1.58962197e-01 1.88497984e+02] [ 1.71409043e-01 3.83870384e-03 9.85192471e-01 2.36669391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.856875 meters 0.016532682338501286 Centerline is valid? [True, True] Translation: X:306.63, Y:188.55, Z:23.68 [[ 3.88326000e-01 -9.19249296e-01 -6.46811308e-02 3.06634516e+02] [ 9.05190181e-01 3.93658904e-01 -1.60198013e-01 1.88550116e+02] [ 1.72724214e-01 3.66032913e-03 9.84963425e-01 2.36754205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.916875 meters 0.015967977755430487 Centerline is valid? [True, True] Translation: X:306.66, Y:188.60, Z:23.68 [[ 3.85510187e-01 -9.20417140e-01 -6.49167522e-02 3.06658289e+02] [ 9.06247599e-01 3.90924581e-01 -1.60913833e-01 1.88602865e+02] [ 1.73485404e-01 3.20327123e-03 9.84831231e-01 2.36838789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.976875 meters 0.01548908875631308 Centerline is valid? [True, True] Translation: X:306.68, Y:188.66, Z:23.69 [[ 3.83551316e-01 -9.21272359e-01 -6.43865577e-02 3.06680683e+02] [ 9.07325086e-01 3.88907646e-01 -1.59724862e-01 1.88655191e+02] [ 1.72190525e-01 2.84314218e-03 9.85059561e-01 2.36944588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.036875 meters 0.014502012029503138 Centerline is valid? [True, True] Translation: X:306.70, Y:188.71, Z:23.70 [[ 3.78206390e-01 -9.23520465e-01 -6.37955915e-02 3.06704638e+02] [ 9.09839075e-01 3.83544644e-01 -1.58386754e-01 1.88706323e+02] [ 1.70741866e-01 1.85916043e-03 9.85314041e-01 2.37040656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.096875 meters 0.013531791671793665 Centerline is valid? [True, True] Translation: X:306.73, Y:188.76, Z:23.71 [[ 3.70570702e-01 -9.26585787e-01 -6.41571109e-02 3.06731937e+02] [ 9.12771872e-01 3.76083131e-01 -1.59401973e-01 1.88757804e+02] [ 1.71828009e-01 5.08894670e-04 9.85126833e-01 2.37124571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.156875 meters 0.013521613180561593 Centerline is valid? [True, True] Translation: X:306.76, Y:188.81, Z:23.72 [[ 3.65744509e-01 -9.28470511e-01 -6.46023537e-02 3.06755937e+02] [ 9.14468718e-01 3.71405984e-01 -1.60637975e-01 1.88809524e+02] [ 1.73141323e-01 -3.24374430e-04 9.84896937e-01 2.37202880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.216875 meters 0.014057162574034767 Centerline is valid? [True, True] Translation: X:306.78, Y:188.86, Z:23.73 [[ 3.59838927e-01 -9.30776185e-01 -6.45882354e-02 3.06779324e+02] [ 9.16792440e-01 3.65586937e-01 -1.60741447e-01 1.88861479e+02] [ 1.73226926e-01 -1.37297621e-03 9.84880981e-01 2.37290769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.276875 meters 0.014516864627096228 Centerline is valid? [True, True] Translation: X:306.80, Y:188.91, Z:23.74 [[ 3.56316446e-01 -9.32189145e-01 -6.37337253e-02 3.06801101e+02] [ 9.18574857e-01 3.61966127e-01 -1.58747454e-01 1.88913677e+02] [ 1.71052103e-01 -1.97986912e-03 9.85259995e-01 2.37403741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.336875 meters 0.014721754456367255 Centerline is valid? [True, True] Translation: X:306.82, Y:188.97, Z:23.75 [[ 3.55147678e-01 -9.32670935e-01 -6.32064395e-02 3.06819112e+02] [ 9.19267263e-01 3.60721957e-01 -1.57567028e-01 1.88966962e+02] [ 1.69758138e-01 -2.14404636e-03 9.85483423e-01 2.37495605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.396875 meters 0.01460652881964443 Centerline is valid? [True, True] Translation: X:306.84, Y:189.02, Z:23.76 [[ 3.55465500e-01 -9.32549789e-01 -6.32073579e-02 3.06838539e+02] [ 9.19119614e-01 3.61035665e-01 -1.57709808e-01 1.89019997e+02] [ 1.69892359e-01 -2.03472655e-03 9.85460525e-01 2.37587365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.456875 meters 0.013879662658023371 Centerline is valid? [True, True] Translation: X:306.85, Y:189.08, Z:23.77 [[ 3.58895949e-01 -9.31258019e-01 -6.28665185e-02 3.06853550e+02] [ 9.17929858e-01 3.64357857e-01 -1.56997221e-01 1.89075326e+02] [ 1.69110831e-01 -1.36138786e-03 9.85596101e-01 2.37692622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.516875 meters 0.013475286155116955 Centerline is valid? [True, True] Translation: X:306.87, Y:189.13, Z:23.78 [[ 3.63545589e-01 -9.29422734e-01 -6.33086615e-02 3.06866052e+02] [ 9.15855281e-01 3.69016492e-01 -1.58227471e-01 1.89131588e+02] [ 1.70422149e-01 -4.58672998e-04 9.85371037e-01 2.37770431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57687500000003 meters 0.013271696299162444 Centerline is valid? [True, True] Translation: X:306.88, Y:189.19, Z:23.79 [[ 3.66591774e-01 -9.28216029e-01 -6.34466339e-02 3.06881294e+02] [ 9.14546879e-01 3.72041637e-01 -1.58710510e-01 1.89186828e+02] [ 1.70922429e-01 1.57046538e-04 9.85284476e-01 2.37856351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63687500000003 meters 0.01342698718750914 Centerline is valid? [True, True] Translation: X:306.90, Y:189.24, Z:23.80 [[ 3.69896428e-01 -9.26899952e-01 -6.35067800e-02 3.06896777e+02] [ 9.13168019e-01 3.75307645e-01 -1.58960188e-01 1.89242464e+02] [ 1.71174770e-01 8.06445172e-04 9.85240350e-01 2.37950621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69687500000003 meters 0.013607344201376997 Centerline is valid? [True, True] Translation: X:306.91, Y:189.30, Z:23.80 [[ 3.70664280e-01 -9.26586207e-01 -6.36081177e-02 3.06914136e+02] [ 9.12782556e-01 3.76081101e-01 -1.59345570e-01 1.89296510e+02] [ 1.71569218e-01 1.00333051e-03 9.85171557e-01 2.38037994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75687500000004 meters 0.01350272172481166 Centerline is valid? [True, True] Translation: X:306.93, Y:189.35, Z:23.81 [[ 3.70604069e-01 -9.26653240e-01 -6.29793311e-02 3.06930847e+02] [ 9.13100951e-01 3.75915874e-01 -1.57904745e-01 1.89351162e+02] [ 1.69997874e-01 1.01365390e-03 9.85443908e-01 2.38149099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81687500000004 meters 0.01324479125847228 Centerline is valid? [True, True] Translation: X:306.95, Y:189.41, Z:23.83 [[ 3.69177605e-01 -9.27277940e-01 -6.21571963e-02 3.06949593e+02] [ 9.14067394e-01 3.74372860e-01 -1.55967180e-01 1.89405403e+02] [ 1.67894893e-01 7.63723505e-04 9.85804606e-01 2.38274569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87687500000004 meters 0.013097313805497755 Centerline is valid? [True, True] Translation: X:306.97, Y:189.46, Z:23.84 [[ 3.66875684e-01 -9.28207738e-01 -6.19082163e-02 3.06968534e+02] [ 9.15096035e-01 3.72062155e-01 -1.55463819e-01 1.89459950e+02] [ 1.67336424e-01 3.83931537e-04 9.85899779e-01 2.38374286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.936875 meters 0.013056997111805194 Centerline is valid? [True, True] Translation: X:306.99, Y:189.51, Z:23.85 [[ 3.64558840e-01 -9.29109414e-01 -6.20689092e-02 3.06988076e+02] [ 9.15919413e-01 3.69804944e-01 -1.55999782e-01 1.89512708e+02] [ 1.67894256e-01 2.09807898e-05 9.85805010e-01 2.38458928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.996875 meters 0.013084851203136544 Centerline is valid? [True, True] Translation: X:307.01, Y:189.57, Z:23.85 [[ 3.60546496e-01 -9.30638540e-01 -6.25949799e-02 3.07009252e+02] [ 9.17221111e-01 3.65939197e-01 -1.57460910e-01 1.89566666e+02] [ 1.69445148e-01 -6.41457694e-04 9.85539411e-01 2.38542226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.056875 meters 0.013588880788842204 Centerline is valid? [True, True] Translation: X:307.03, Y:189.62, Z:23.86 [[ 3.57941774e-01 -9.31611723e-01 -6.30657126e-02 3.07030948e+02] [ 9.17983299e-01 3.63453530e-01 -1.58770883e-01 1.89619630e+02] [ 1.70834272e-01 -1.06253927e-03 9.85299205e-01 2.38627079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.116875 meters 0.013758394578975765 Centerline is valid? [True, True] Translation: X:307.05, Y:189.67, Z:23.87 [[ 3.54608210e-01 -9.32910342e-01 -6.27001664e-02 3.07050880e+02] [ 9.19440508e-01 3.60105023e-01 -1.57966846e-01 1.89672551e+02] [ 1.69947549e-01 -1.63273229e-03 9.85451757e-01 2.38741999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.176875 meters 0.013844934619507055 Centerline is valid? [True, True] Translation: X:307.07, Y:189.73, Z:23.89 [[ 3.52843277e-01 -9.33644281e-01 -6.17250226e-02 3.07069941e+02] [ 9.20582594e-01 3.58196480e-01 -1.55637300e-01 1.89725784e+02] [ 1.67419561e-01 -1.90740645e-03 9.85883894e-01 2.38869243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.236875 meters 0.01390211111048184 Centerline is valid? [True, True] Translation: X:307.09, Y:189.78, Z:23.90 [[ 3.52374940e-01 -9.33872733e-01 -6.09394812e-02 3.07088392e+02] [ 9.21125389e-01 3.57600258e-01 -1.53785805e-01 1.89778956e+02] [ 1.65408344e-01 -1.94263960e-03 9.86223254e-01 2.38978831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.296875 meters 0.013800821238962518 Centerline is valid? [True, True] Translation: X:307.11, Y:189.83, Z:23.91 [[ 3.52674018e-01 -9.33784162e-01 -6.05654698e-02 3.07107235e+02] [ 9.21170233e-01 3.57832016e-01 -1.52975980e-01 1.89833076e+02] [ 1.64518811e-01 -1.84045452e-03 9.86372229e-01 2.39074328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.356875 meters 0.013479967461487991 Centerline is valid? [True, True] Translation: X:307.12, Y:189.89, Z:23.92 [[ 3.54980810e-01 -9.32911358e-01 -6.05394327e-02 3.07124243e+02] [ 9.20274610e-01 3.60103419e-01 -1.53036495e-01 1.89888610e+02] [ 1.64569941e-01 -1.38788383e-03 9.86364440e-01 2.39161703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.416875 meters 0.013032807066589625 Centerline is valid? [True, True] Translation: X:307.14, Y:189.94, Z:23.92 [[ 3.60281652e-01 -9.30836774e-01 -6.11558000e-02 3.07138050e+02] [ 9.17895705e-01 3.65434994e-01 -1.54676242e-01 1.89943885e+02] [ 1.66326803e-01 -4.07634114e-04 9.86070600e-01 2.39232544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.476875 meters 0.013135790253759367 Centerline is valid? [True, True] Translation: X:307.15, Y:190.00, Z:23.93 [[ 3.63835579e-01 -9.29433378e-01 -6.14594731e-02 3.07154879e+02] [ 9.16326181e-01 3.68989865e-01 -1.55540377e-01 1.89999272e+02] [ 1.67242341e-01 2.74199056e-04 9.85915779e-01 2.39321310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.536875 meters 0.013393621218888797 Centerline is valid? [True, True] Translation: X:307.17, Y:190.05, Z:23.94 [[ 3.66819994e-01 -9.28279315e-01 -6.11604924e-02 3.07170926e+02] [ 9.15262473e-01 3.71882773e-01 -1.54912260e-01 1.90054031e+02] [ 1.66546380e-01 8.47010892e-04 9.86033258e-01 2.39406028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.596875 meters 0.013624172177822191 Centerline is valid? [True, True] Translation: X:307.19, Y:190.11, Z:23.95 [[ 3.69659165e-01 -9.27185132e-01 -6.06616243e-02 3.07188505e+02] [ 9.14344283e-01 3.74600886e-01 -1.53781369e-01 1.90108471e+02] [ 1.65307697e-01 1.38108321e-03 9.86241075e-01 2.39511595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.656875 meters 0.014098629394613585 Centerline is valid? [True, True] Translation: X:307.21, Y:190.16, Z:23.96 [[ 3.71958059e-01 -9.26300130e-01 -6.01271313e-02 3.07206578e+02] [ 9.13654032e-01 3.76782172e-01 -1.52550007e-01 1.90162809e+02] [ 1.63961923e-01 1.80680874e-03 9.86465014e-01 2.39613205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.716875 meters 0.01470699949537257 Centerline is valid? [True, True] Translation: X:307.22, Y:190.22, Z:23.97 [[ 3.75929892e-01 -9.24710913e-01 -5.98869259e-02 3.07224151e+02] [ 9.12126565e-01 3.80661636e-01 -1.52058700e-01 1.90217735e+02] [ 1.63406995e-01 2.53895475e-03 9.86555476e-01 2.39711124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.776875 meters 0.014980488349096077 Centerline is valid? [True, True] Translation: X:307.24, Y:190.27, Z:23.98 [[ 3.78173203e-01 -9.23793920e-01 -5.99151287e-02 3.07243023e+02] [ 9.11166165e-01 3.82878422e-01 -1.52250893e-01 1.90272680e+02] [ 1.63588659e-01 2.98456980e-03 9.86524122e-01 2.39802920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.836875 meters 0.016510866946631546 Centerline is valid? [True, True] Translation: X:307.26, Y:190.33, Z:23.99 [[ 3.80541127e-01 -9.22785404e-01 -6.04611279e-02 3.07259278e+02] [ 9.09891010e-01 3.85298382e-01 -1.53764451e-01 1.90327847e+02] [ 1.65187166e-01 3.50066063e-03 9.86256024e-01 2.39870918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.896875 meters 0.016224455589321476 Centerline is valid? [True, True] Translation: X:307.28, Y:190.38, Z:24.00 [[ 3.80543248e-01 -9.22769091e-01 -6.06963031e-02 3.07280894e+02] [ 9.09751594e-01 3.85336794e-01 -1.54491396e-01 1.90381256e+02] [ 1.65948404e-01 3.57209916e-03 9.86127967e-01 2.39955815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.956875 meters 0.015116327045162777 Centerline is valid? [True, True] Translation: X:307.30, Y:190.43, Z:24.01 [[ 3.77899101e-01 -9.23843957e-01 -6.08655278e-02 3.07304869e+02] [ 9.10745059e-01 3.82756256e-01 -1.55051880e-01 1.90433711e+02] [ 1.66540404e-01 3.16098746e-03 9.86029564e-01 2.40051086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.016875 meters 0.014632421202126735 Centerline is valid? [True, True] Translation: X:307.33, Y:190.49, Z:24.02 [[ 3.75324489e-01 -9.24939535e-01 -6.01530156e-02 3.07328318e+02] [ 9.12140670e-01 3.80104733e-01 -1.53361633e-01 1.90486303e+02] [ 1.64714684e-01 2.69236477e-03 9.86337581e-01 2.40164931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07687500000003 meters 0.013929557238808333 Centerline is valid? [True, True] Translation: X:307.35, Y:190.54, Z:24.03 [[ 3.72287451e-01 -9.26194333e-01 -5.97169255e-02 3.07353101e+02] [ 9.13577111e-01 3.77040244e-01 -1.52372949e-01 1.90538022e+02] [ 1.63642646e-01 2.17052054e-03 9.86517295e-01 2.40277566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13687500000003 meters 0.013685624403412887 Centerline is valid? [True, True] Translation: X:307.38, Y:190.59, Z:24.04 [[ 3.70746849e-01 -9.26832148e-01 -5.94049124e-02 3.07375170e+02] [ 9.14335061e-01 3.75470983e-01 -1.51700153e-01 1.90591364e+02] [ 1.62905400e-01 1.92635960e-03 9.86639813e-01 2.40366140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19687500000003 meters 0.013357337056858338 Centerline is valid? [True, True] Translation: X:307.40, Y:190.64, Z:24.04 [[ 3.68508414e-01 -9.27721367e-01 -5.94526241e-02 3.07398263e+02] [ 9.15194170e-01 3.73270084e-01 -1.51950900e-01 1.90642669e+02] [ 1.63159983e-01 1.58449022e-03 9.86598353e-01 2.40449029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25687500000004 meters 0.013016650366387853 Centerline is valid? [True, True] Translation: X:307.42, Y:190.69, Z:24.05 [[ 3.66383955e-01 -9.28522461e-01 -6.00735921e-02 3.07422720e+02] [ 9.15718729e-01 3.71273981e-01 -1.53671210e-01 1.90694670e+02] [ 1.64990932e-01 1.29215229e-03 9.86294237e-01 2.40526939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31687500000004 meters 0.012824541058267814 Centerline is valid? [True, True] Translation: X:307.44, Y:190.75, Z:24.06 [[ 3.65585187e-01 -9.28832732e-01 -6.01433853e-02 3.07444400e+02] [ 9.15981764e-01 3.70497384e-01 -1.53977583e-01 1.90747442e+02] [ 1.65302386e-01 1.20167934e-03 9.86242200e-01 2.40616933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37687500000004 meters 0.012667838004428252 Centerline is valid? [True, True] Translation: X:307.47, Y:190.80, Z:24.07 [[ 3.64683680e-01 -9.29180841e-01 -6.02393461e-02 3.07466899e+02] [ 9.16271452e-01 3.69623819e-01 -1.54353031e-01 1.90800136e+02] [ 1.65687776e-01 1.09443828e-03 9.86177653e-01 2.40694923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.436875 meters 0.012517642870952224 Centerline is valid? [True, True] Translation: X:307.49, Y:190.85, Z:24.08 [[ 3.64892529e-01 -9.29103646e-01 -6.01652497e-02 3.07489294e+02] [ 9.16203339e-01 3.69817563e-01 -1.54293264e-01 1.90852865e+02] [ 1.65604600e-01 1.17685666e-03 9.86191529e-01 2.40777520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.496875 meters 0.01270042920002633 Centerline is valid? [True, True] Translation: X:307.51, Y:190.91, Z:24.09 [[ 3.66074317e-01 -9.28644125e-01 -6.00806435e-02 3.07510774e+02] [ 9.15752331e-01 3.70969054e-01 -1.54206452e-01 1.90905772e+02] [ 1.65490975e-01 1.43203233e-03 9.86210265e-01 2.40859754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.556875 meters 0.013478854460307395 Centerline is valid? [True, True] Translation: X:307.53, Y:190.96, Z:24.10 [[ 3.69800305e-01 -9.27198899e-01 -5.95813333e-02 3.07531243e+02] [ 9.14481940e-01 3.74563396e-01 -1.53052425e-01 1.90958477e+02] [ 1.64227026e-01 2.11278011e-03 9.86420306e-01 2.40956170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.616875 meters 0.013922365499113775 Centerline is valid? [True, True] Translation: X:307.55, Y:191.01, Z:24.11 [[ 3.72505013e-01 -9.26132655e-01 -5.93154421e-02 3.07552003e+02] [ 9.13502962e-01 3.77188983e-01 -1.52449366e-01 1.91012432e+02] [ 1.63561468e-01 2.60332100e-03 9.86529710e-01 2.41050890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.676875 meters 0.015308192510545054 Centerline is valid? [True, True] Translation: X:307.57, Y:191.07, Z:24.11 [[ 3.75964000e-01 -9.24702470e-01 -5.98031162e-02 3.07571868e+02] [ 9.11824049e-01 3.80676281e-01 -1.53826113e-01 1.91066075e+02] [ 1.65009014e-01 3.30316110e-03 9.86286527e-01 2.41114453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.736875 meters 0.015119733276304913 Centerline is valid? [True, True] Translation: X:307.60, Y:191.12, Z:24.12 [[ 3.77202841e-01 -9.24204041e-01 -5.97068556e-02 3.07595921e+02] [ 9.11339790e-01 3.81882418e-01 -1.53706234e-01 1.91119004e+02] [ 1.64856921e-01 3.56519493e-03 9.86311049e-01 2.41203049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.796875 meters 0.015105042416146243 Centerline is valid? [True, True] Translation: X:307.62, Y:191.17, Z:24.13 [[ 3.75610567e-01 -9.24853646e-01 -5.96861365e-02 3.07618781e+02] [ 9.11985481e-01 3.80308635e-01 -1.53778490e-01 1.91170958e+02] [ 1.64921750e-01 3.32793579e-03 9.86301040e-01 2.41294968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.856875 meters 0.014893085465190728 Centerline is valid? [True, True] Translation: X:307.64, Y:191.22, Z:24.14 [[ 3.73181529e-01 -9.25850476e-01 -5.94680029e-02 3.07641676e+02] [ 9.13067227e-01 3.77878710e-01 -1.53349014e-01 1.91222127e+02] [ 1.64449950e-01 2.92873485e-03 9.86381081e-01 2.41384505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.916875 meters 0.013187015926579566 Centerline is valid? [True, True] Translation: X:307.67, Y:191.27, Z:24.15 [[ 3.68106147e-01 -9.27897239e-01 -5.91994808e-02 3.07669542e+02] [ 9.15235566e-01 3.72830365e-01 -1.52778851e-01 1.91273395e+02] [ 1.63834438e-01 2.05736391e-03 9.86485704e-01 2.41484290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.976875 meters 0.0126368075958095 Centerline is valid? [True, True] Translation: X:307.69, Y:191.33, Z:24.16 [[ 3.64123187e-01 -9.29461883e-01 -5.92867050e-02 3.07693841e+02] [ 9.16769941e-01 3.68915546e-01 -1.53082316e-01 1.91325124e+02] [ 1.64155965e-01 1.38855176e-03 9.86433420e-01 2.41568035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.036875 meters 0.01227399811441827 Centerline is valid? [True, True] Translation: X:307.72, Y:191.38, Z:24.17 [[ 3.58622578e-01 -9.31580111e-01 -5.95679719e-02 3.07720503e+02] [ 9.18780426e-01 3.63535809e-01 -1.53896861e-01 1.91375063e+02] [ 1.65022346e-01 4.61002560e-04 9.86289721e-01 2.41653514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.096875 meters 0.012244252602586877 Centerline is valid? [True, True] Translation: X:307.75, Y:191.43, Z:24.18 [[ 3.54800123e-01 -9.33067339e-01 -5.91794966e-02 3.07745319e+02] [ 9.20440189e-01 3.59701687e-01 -1.52985476e-01 1.91426544e+02] [ 1.64032716e-01 -1.91921270e-04 9.86454881e-01 2.41756651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.156875 meters 0.012265332249470075 Centerline is valid? [True, True] Translation: X:307.77, Y:191.48, Z:24.18 [[ 3.53561718e-01 -9.33521411e-01 -5.94296789e-02 3.07767528e+02] [ 9.20771490e-01 3.58521474e-01 -1.53760254e-01 1.91479964e+02] [ 1.64845305e-01 -3.57414517e-04 9.86319369e-01 2.41837121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.216875 meters 0.012412413767196966 Centerline is valid? [True, True] Translation: X:307.79, Y:191.53, Z:24.19 [[ 3.53829463e-01 -9.33406167e-01 -5.96459453e-02 3.07790057e+02] [ 9.20539100e-01 3.58821490e-01 -1.54450330e-01 1.91533396e+02] [ 1.65567137e-01 -2.57347465e-04 9.86198488e-01 2.41919355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.276875 meters 0.012430028636560621 Centerline is valid? [True, True] Translation: X:307.81, Y:191.59, Z:24.20 [[ 3.57161001e-01 -9.32128182e-01 -5.97751713e-02 3.07808442e+02] [ 9.19165202e-01 3.62128296e-01 -1.54914260e-01 1.91586966e+02] [ 1.66046228e-01 3.86074782e-04 9.86117894e-01 2.41997580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.336875 meters 0.012789715331048512 Centerline is valid? [True, True] Translation: X:307.83, Y:191.64, Z:24.21 [[ 3.61122785e-01 -9.30612384e-01 -5.95896407e-02 3.07826179e+02] [ 9.17693569e-01 3.66004561e-01 -1.54528881e-01 1.91641286e+02] [ 1.65616571e-01 1.11886976e-03 9.86189586e-01 2.42092703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.396875 meters 0.013552432889665407 Centerline is valid? [True, True] Translation: X:307.84, Y:191.70, Z:24.22 [[ 3.65858749e-01 -9.28799771e-01 -5.89776347e-02 3.07843148e+02] [ 9.16101757e-01 3.70576706e-01 -1.53070164e-01 1.91696471e+02] [ 1.64027271e-01 1.97254412e-03 9.86453832e-01 2.42191659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.456875 meters 0.013843881011257069 Centerline is valid? [True, True] Translation: X:307.86, Y:191.75, Z:24.23 [[ 3.67897183e-01 -9.27999735e-01 -5.88910302e-02 3.07863409e+02] [ 9.15308651e-01 3.72573294e-01 -1.52968013e-01 1.91750688e+02] [ 1.63895501e-01 2.37303191e-03 9.86474852e-01 2.42290274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.516875 meters 0.014293472003586482 Centerline is valid? [True, True] Translation: X:307.88, Y:191.80, Z:24.24 [[ 3.67556584e-01 -9.28138756e-01 -5.88269252e-02 3.07881592e+02] [ 9.15456500e-01 3.72226948e-01 -1.52926442e-01 1.91803845e+02] [ 1.63833924e-01 2.35562955e-03 9.86485122e-01 2.42371536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57687500000003 meters 0.014217007494155215 Centerline is valid? [True, True] Translation: X:307.90, Y:191.86, Z:24.25 [[ 3.66820848e-01 -9.28423846e-01 -5.89205200e-02 3.07902238e+02] [ 9.15681491e-01 3.71515738e-01 -1.53308390e-01 1.91857495e+02] [ 1.64225065e-01 2.28428385e-03 9.86420250e-01 2.42463891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63687500000003 meters 0.01353252830282161 Centerline is valid? [True, True] Translation: X:307.92, Y:191.91, Z:24.25 [[ 3.65292262e-01 -9.29009949e-01 -5.91783550e-02 3.07923143e+02] [ 9.16141218e-01 3.70048908e-01 -1.54107350e-01 1.91911087e+02] [ 1.65066147e-01 2.07849232e-03 9.86280309e-01 2.42548379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69687500000003 meters 0.013156023083959476 Centerline is valid? [True, True] Translation: X:307.94, Y:191.96, Z:24.26 [[ 3.62355377e-01 -9.30140361e-01 -5.94767989e-02 3.07944224e+02] [ 9.17133231e-01 3.67200591e-01 -1.55017300e-01 1.91964072e+02] [ 1.66027763e-01 1.62320359e-03 9.86119743e-01 2.42635026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75687500000004 meters 0.01286380824909601 Centerline is valid? [True, True] Translation: X:307.97, Y:192.02, Z:24.27 [[ 3.59485398e-01 -9.31236781e-01 -5.97353067e-02 3.07965526e+02] [ 9.18107646e-01 3.64412789e-01 -1.55825767e-01 1.92018026e+02] [ 1.66878995e-01 1.17364594e-03 9.85976685e-01 2.42714219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81687500000004 meters 0.012609780019490717 Centerline is valid? [True, True] Translation: X:307.99, Y:192.07, Z:24.28 [[ 3.54638554e-01 -9.33110938e-01 -5.94598469e-02 3.07987145e+02] [ 9.20107071e-01 3.59588458e-01 -1.55238910e-01 1.92071203e+02] [ 1.66236200e-01 3.44277119e-04 9.86085903e-01 2.42804461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87687500000004 meters 0.012635994689778772 Centerline is valid? [True, True] Translation: X:308.01, Y:192.12, Z:24.29 [[ 3.50976737e-01 -9.34527733e-01 -5.89342462e-02 3.08008044e+02] [ 9.21752618e-01 3.55890208e-01 -1.53994384e-01 1.92123110e+02] [ 1.64886144e-01 -2.74349277e-04 9.86312569e-01 2.42904372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.936875 meters 0.012999383466496869 Centerline is valid? [True, True] Translation: X:308.03, Y:192.18, Z:24.30 [[ 3.46593240e-01 -9.36195055e-01 -5.84118579e-02 3.08029262e+02] [ 9.23654675e-01 3.51479415e-01 -1.52722830e-01 1.92176342e+02] [ 1.63508924e-01 -1.01968519e-03 9.86541328e-01 2.43009179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.996875 meters 0.013331589675741384 Centerline is valid? [True, True] Translation: X:308.05, Y:192.23, Z:24.31 [[ 3.43498700e-01 -9.37324213e-01 -5.85829645e-02 3.08048383e+02] [ 9.24704127e-01 3.48455206e-01 -1.53301163e-01 1.92230632e+02] [ 1.64106431e-01 -1.51315898e-03 9.86441478e-01 2.43089137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.056875 meters 0.013488849149472829 Centerline is valid? [True, True] Translation: X:308.07, Y:192.29, Z:24.32 [[ 3.42061393e-01 -9.37827427e-01 -5.89382737e-02 3.08066838e+02] [ 9.25038991e-01 3.47097617e-01 -1.54357081e-01 1.92285746e+02] [ 1.65217638e-01 -1.72060330e-03 9.86255632e-01 2.43166699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.116875 meters 0.013632636483762959 Centerline is valid? [True, True] Translation: X:308.09, Y:192.34, Z:24.33 [[ 3.41724666e-01 -9.37945203e-01 -5.90173640e-02 3.08085498e+02] [ 9.25101591e-01 3.46779170e-01 -1.54697300e-01 1.92339698e+02] [ 1.65563583e-01 -1.73317417e-03 9.86197595e-01 2.43258292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.176875 meters 0.01386964404469543 Centerline is valid? [True, True] Translation: X:308.11, Y:192.39, Z:24.33 [[ 3.41340303e-01 -9.38074315e-01 -5.91893313e-02 3.08105539e+02] [ 9.25134490e-01 3.46429651e-01 -1.55282559e-01 1.92392243e+02] [ 1.66171520e-01 -1.75389614e-03 9.86095305e-01 2.43337746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.236875 meters 0.013542317646662591 Centerline is valid? [True, True] Translation: X:308.12, Y:192.45, Z:24.34 [[ 3.42110442e-01 -9.37796080e-01 -5.91519933e-02 3.08121775e+02] [ 9.24845335e-01 3.47183023e-01 -1.55322424e-01 1.92447990e+02] [ 1.66197328e-01 -1.56902199e-03 9.86091267e-01 2.43428070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.296875 meters 0.013428806004134644 Centerline is valid? [True, True] Translation: X:308.14, Y:192.50, Z:24.35 [[ 3.43735918e-01 -9.37221809e-01 -5.88294076e-02 3.08140013e+02] [ 9.24390068e-01 3.48731573e-01 -1.54561613e-01 1.92501467e+02] [ 1.65374186e-01 -1.25294235e-03 9.86230099e-01 2.43527463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.356875 meters 0.01323324018555026 Centerline is valid? [True, True] Translation: X:308.16, Y:192.56, Z:24.36 [[ 3.46757759e-01 -9.36136383e-01 -5.83757535e-02 3.08156446e+02] [ 9.23465042e-01 3.51636477e-01 -1.53506038e-01 1.92556511e+02] [ 1.64229631e-01 -6.78558032e-04 9.86421902e-01 2.43628681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.416875 meters 0.013079669670022385 Centerline is valid? [True, True] Translation: X:308.17, Y:192.61, Z:24.37 [[ 3.49625432e-01 -9.35071413e-01 -5.83395991e-02 3.08173304e+02] [ 9.22379191e-01 3.54459356e-01 -1.53542155e-01 1.92611174e+02] [ 1.64251897e-01 -1.28989776e-04 9.86418419e-01 2.43715548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.476875 meters 0.013159036981417427 Centerline is valid? [True, True] Translation: X:308.19, Y:192.67, Z:24.38 [[ 3.50032730e-01 -9.34940824e-01 -5.79891679e-02 3.08192095e+02] [ 9.22377957e-01 3.54803685e-01 -1.52752251e-01 1.92665616e+02] [ 1.63389085e-01 -1.96429242e-05 9.86561709e-01 2.43810034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.536875 meters 0.013128736590089847 Centerline is valid? [True, True] Translation: X:308.21, Y:192.72, Z:24.39 [[ 3.49408308e-01 -9.35164146e-01 -5.81537189e-02 3.08212118e+02] [ 9.22510276e-01 3.54214645e-01 -1.53319196e-01 1.92719420e+02] [ 1.63977513e-01 -7.64026544e-05 9.86464074e-01 2.43887763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.596875 meters 0.01315310732401165 Centerline is valid? [True, True] Translation: X:308.23, Y:192.77, Z:24.40 [[ 3.48306666e-01 -9.35530827e-01 -5.88603268e-02 3.08233992e+02] [ 9.22547783e-01 3.53245000e-01 -1.55317605e-01 1.92772661e+02] [ 1.66096524e-01 -2.03306771e-04 9.86109478e-01 2.43968038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.656875 meters 0.01312775463993964 Centerline is valid? [True, True] Translation: X:308.25, Y:192.83, Z:24.41 [[ 3.47752491e-01 -9.35733123e-01 -5.89213620e-02 3.08254694e+02] [ 9.22703183e-01 3.52708745e-01 -1.55612908e-01 1.92826140e+02] [ 1.66394233e-01 -2.52151652e-04 9.86059276e-01 2.44051423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.716875 meters 0.013095212751100666 Centerline is valid? [True, True] Translation: X:308.28, Y:192.88, Z:24.41 [[ 3.47640011e-01 -9.35783866e-01 -5.87790681e-02 3.08275760e+02] [ 9.22795295e-01 3.52574112e-01 -1.55371613e-01 1.92879382e+02] [ 1.66118227e-01 -2.27658072e-04 9.86105817e-01 2.44143471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.776875 meters 0.01322586448173824 Centerline is valid? [True, True] Translation: X:308.29, Y:192.93, Z:24.42 [[ 3.50346811e-01 -9.34805045e-01 -5.82807048e-02 3.08294263e+02] [ 9.22001584e-01 3.55161157e-01 -1.54186998e-01 1.92932411e+02] [ 1.64833826e-01 2.84020912e-04 9.86321311e-01 2.44245940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.836875 meters 0.013392337356415287 Centerline is valid? [True, True] Translation: X:308.31, Y:192.99, Z:24.43 [[ 3.54351418e-01 -9.33330576e-01 -5.76984271e-02 3.08310514e+02] [ 9.20741129e-01 3.59016724e-01 -1.52783393e-01 1.92986969e+02] [ 1.63312113e-01 1.01369723e-03 9.86573933e-01 2.44348089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.896875 meters 0.01393505897458305 Centerline is valid? [True, True] Translation: X:308.33, Y:193.04, Z:24.44 [[ 3.57150417e-01 -9.32276874e-01 -5.74752950e-02 3.08327526e+02] [ 9.19750215e-01 3.61742258e-01 -1.52322295e-01 1.93040877e+02] [ 1.62797796e-01 1.53905618e-03 9.86658253e-01 2.44440652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.956875 meters 0.014231853262241809 Centerline is valid? [True, True] Translation: X:308.35, Y:193.10, Z:24.45 [[ 3.59616597e-01 -9.31320521e-01 -5.76020027e-02 3.08345462e+02] [ 9.18703293e-01 3.64194966e-01 -1.52794913e-01 1.93095621e+02] [ 1.63279398e-01 2.02843717e-03 9.86577784e-01 2.44527884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.016875 meters 0.014567062751193065 Centerline is valid? [True, True] Translation: X:308.36, Y:193.15, Z:24.46 [[ 3.60233252e-01 -9.31099642e-01 -5.73189337e-02 3.08364221e+02] [ 9.18583148e-01 3.64758507e-01 -1.52171718e-01 1.93150364e+02] [ 1.62594601e-01 2.16510619e-03 9.86690584e-01 2.44616285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07687500000003 meters 0.014739921784511225 Centerline is valid? [True, True] Translation: X:308.38, Y:193.20, Z:24.47 [[ 3.60022198e-01 -9.31181612e-01 -5.73133774e-02 3.08384131e+02] [ 9.18647600e-01 3.64549141e-01 -1.52284309e-01 1.93203610e+02] [ 1.62697891e-01 2.17493512e-03 9.86673536e-01 2.44701762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13687500000003 meters 0.014084289612844131 Centerline is valid? [True, True] Translation: X:308.41, Y:193.26, Z:24.48 [[ 3.59195306e-01 -9.31478664e-01 -5.76734853e-02 3.08406946e+02] [ 9.18765591e-01 3.63789859e-01 -1.53384250e-01 1.93256461e+02] [ 1.63855185e-01 2.10648871e-03 9.86482154e-01 2.44789028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19687500000003 meters 0.014265553108111765 Centerline is valid? [True, True] Translation: X:308.43, Y:193.31, Z:24.49 [[ 3.59250718e-01 -9.31479467e-01 -5.73142503e-02 3.08426473e+02] [ 9.18903411e-01 3.63787596e-01 -1.52561811e-01 1.93310919e+02] [ 1.62958408e-01 2.14168016e-03 9.86630615e-01 2.44878137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25687500000004 meters 0.014307229271418847 Centerline is valid? [True, True] Translation: X:308.45, Y:193.36, Z:24.50 [[ 3.59520664e-01 -9.31373953e-01 -5.73363044e-02 3.08446952e+02] [ 9.18764972e-01 3.64057064e-01 -1.52752680e-01 1.93364584e+02] [ 1.63143554e-01 2.23915706e-03 9.86599801e-01 2.44961712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31687500000004 meters 0.014517395327847897 Centerline is valid? [True, True] Translation: X:308.47, Y:193.42, Z:24.51 [[ 3.60530744e-01 -9.30995206e-01 -5.71446288e-02 3.08467978e+02] [ 9.18444149e-01 3.65023169e-01 -1.52375954e-01 1.93418012e+02] [ 1.62720396e-01 2.45206616e-03 9.86669175e-01 2.45060702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37687500000004 meters 0.015305190202663558 Centerline is valid? [True, True] Translation: X:308.49, Y:193.47, Z:24.52 [[ 3.61997251e-01 -9.30456042e-01 -5.66528350e-02 3.08486130e+02] [ 9.18093495e-01 3.66393444e-01 -1.51195827e-01 1.93472095e+02] [ 1.61438298e-01 2.71987447e-03 9.86879060e-01 2.45154451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.436875 meters 0.015886202061532642 Centerline is valid? [True, True] Translation: X:308.51, Y:193.53, Z:24.52 [[ 3.62261954e-01 -9.30352396e-01 -5.66630061e-02 3.08505296e+02] [ 9.17970576e-01 3.66655962e-01 -1.51305738e-01 1.93525585e+02] [ 1.61543485e-01 2.79734003e-03 9.86861630e-01 2.45238622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.496875 meters 0.015355025268130273 Centerline is valid? [True, True] Translation: X:308.53, Y:193.58, Z:24.53 [[ 3.61813118e-01 -9.30495275e-01 -5.71822490e-02 3.08528912e+02] [ 9.17862773e-01 3.66293109e-01 -1.52830915e-01 1.93578292e+02] [ 1.63153908e-01 2.81077246e-03 9.86596626e-01 2.45315631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.556875 meters 0.015225082903586632 Centerline is valid? [True, True] Translation: X:308.55, Y:193.63, Z:24.54 [[ 3.61218147e-01 -9.30717373e-01 -5.73290628e-02 3.08550605e+02] [ 9.18000205e-01 3.65728745e-01 -1.53356147e-01 1.93631817e+02] [ 1.63698117e-01 2.76693182e-03 9.86506599e-01 2.45397593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.616875 meters 0.015401956474400994 Centerline is valid? [True, True] Translation: X:308.57, Y:193.68, Z:24.55 [[ 3.60158608e-01 -9.31136501e-01 -5.71891038e-02 3.08571454e+02] [ 9.18465181e-01 3.64661429e-01 -1.53113532e-01 1.93683937e+02] [ 1.63424259e-01 2.61895606e-03 9.86552407e-01 2.45481970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.676875 meters 0.014490603402759757 Centerline is valid? [True, True] Translation: X:308.60, Y:193.74, Z:24.56 [[ 3.58497104e-01 -9.31766495e-01 -5.73674563e-02 3.08596382e+02] [ 9.19000737e-01 3.63050252e-01 -1.53727549e-01 1.93735925e+02] [ 1.64065449e-01 2.39014654e-03 9.86446560e-01 2.45569631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.736875 meters 0.014153982953296415 Centerline is valid? [True, True] Translation: X:308.62, Y:193.79, Z:24.57 [[ 3.56399819e-01 -9.32580804e-01 -5.72032686e-02 3.08619634e+02] [ 9.19876472e-01 3.60955402e-01 -1.53422537e-01 1.93788715e+02] [ 1.63726741e-01 2.05982343e-03 9.86503579e-01 2.45658936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.796875 meters 0.013978742696515587 Centerline is valid? [True, True] Translation: X:308.64, Y:193.84, Z:24.58 [[ 3.55421700e-01 -9.32966199e-01 -5.70042751e-02 3.08642724e+02] [ 9.20333544e-01 3.59958843e-01 -1.53022219e-01 1.93841561e+02] [ 1.63283751e-01 1.92447058e-03 9.86577272e-01 2.45762653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.856875 meters 0.013922753161408346 Centerline is valid? [True, True] Translation: X:308.67, Y:193.89, Z:24.59 [[ 3.54343495e-01 -9.33407838e-01 -5.64844681e-02 3.08665848e+02] [ 9.20989892e-01 3.58812950e-01 -1.51759300e-01 1.93893214e+02] [ 1.61920679e-01 1.75329656e-03 9.86802219e-01 2.45864136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.916875 meters 0.013946103137532171 Centerline is valid? [True, True] Translation: X:308.69, Y:193.95, Z:24.60 [[ 3.54011085e-01 -9.33556022e-01 -5.61186649e-02 3.08687906e+02] [ 9.21279213e-01 3.58427374e-01 -1.50911990e-01 1.93946526e+02] [ 1.60999262e-01 1.72355779e-03 9.86953022e-01 2.45957806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.976875 meters 0.014138049621422238 Centerline is valid? [True, True] Translation: X:308.71, Y:194.00, Z:24.60 [[ 3.53718703e-01 -9.33661414e-01 -5.62089223e-02 3.08710880e+02] [ 9.21324740e-01 3.58152739e-01 -1.51285619e-01 1.93998705e+02] [ 1.61380925e-01 1.72588234e-03 9.86890682e-01 2.46028427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.036875 meters 0.014322675727623977 Centerline is valid? [True, True] Translation: X:308.73, Y:194.05, Z:24.61 [[ 3.53764241e-01 -9.33653866e-01 -5.60474739e-02 3.08733985e+02] [ 9.21366163e-01 3.58172182e-01 -1.50987023e-01 1.94050681e+02] [ 1.61044264e-01 1.77356379e-03 9.86945591e-01 2.46112104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.096875 meters 0.014165799891840187 Centerline is valid? [True, True] Translation: X:308.76, Y:194.10, Z:24.62 [[ 3.53978449e-01 -9.33585646e-01 -5.58309852e-02 3.08755092e+02] [ 9.21369472e-01 3.58349582e-01 -1.50545250e-01 1.94103992e+02] [ 1.60553895e-01 1.84880876e-03 9.87025344e-01 2.46199926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.156875 meters 0.014627187365840379 Centerline is valid? [True, True] Translation: X:308.78, Y:194.16, Z:24.63 [[ 3.54367626e-01 -9.33435851e-01 -5.58667837e-02 3.08777609e+02] [ 9.21180844e-01 3.58738971e-01 -1.50772027e-01 1.94155825e+02] [ 1.60777608e-01 1.96531423e-03 9.86988702e-01 2.46293386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.216875 meters 0.01451704939201268 Centerline is valid? [True, True] Translation: X:308.80, Y:194.21, Z:24.64 [[ 3.54197864e-01 -9.33518644e-01 -5.55591098e-02 3.08799981e+02] [ 9.21378267e-01 3.58523468e-01 -1.50076685e-01 1.94208343e+02] [ 1.60018628e-01 1.96588500e-03 9.87112037e-01 2.46380501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.276875 meters 0.014125711614097492 Centerline is valid? [True, True] Translation: X:308.82, Y:194.26, Z:24.65 [[ 3.52219186e-01 -9.34270601e-01 -5.54985454e-02 3.08824673e+02] [ 9.22145285e-01 3.56560872e-01 -1.50041390e-01 1.94260005e+02] [ 1.59967870e-01 1.66973435e-03 9.87120810e-01 2.46458589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.336875 meters 0.014016819386071732 Centerline is valid? [True, True] Translation: X:308.85, Y:194.31, Z:24.66 [[ 3.51135827e-01 -9.34690502e-01 -5.52928222e-02 3.08849051e+02] [ 9.22637568e-01 3.55459338e-01 -1.49628131e-01 1.94311691e+02] [ 1.59510343e-01 1.52456261e-03 9.87195080e-01 2.46550516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.396875 meters 0.014101183714251678 Centerline is valid? [True, True] Translation: X:308.87, Y:194.36, Z:24.66 [[ 3.51048910e-01 -9.34714392e-01 -5.54406664e-02 3.08871206e+02] [ 9.22573579e-01 3.55396317e-01 -1.50171398e-01 1.94364280e+02] [ 1.60070776e-01 1.56941171e-03 9.87104292e-01 2.46635578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.456875 meters 0.01377805505722886 Centerline is valid? [True, True] Translation: X:308.90, Y:194.42, Z:24.67 [[ 3.50313414e-01 -9.34959302e-01 -5.59608470e-02 3.08895933e+02] [ 9.22567314e-01 3.54751718e-01 -1.51725970e-01 1.94416741e+02] [ 1.61709813e-01 1.52399402e-03 9.86837177e-01 2.46704276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.516875 meters 0.013578751102964106 Centerline is valid? [True, True] Translation: X:308.92, Y:194.47, Z:24.68 [[ 3.48323400e-01 -9.35677601e-01 -5.63758446e-02 3.08919030e+02] [ 9.23086974e-01 3.52853890e-01 -1.52985527e-01 1.94468933e+02] [ 1.63037567e-01 1.24863120e-03 9.86619072e-01 2.46779446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57687500000003 meters 0.013516734414477077 Centerline is valid? [True, True] Translation: X:308.94, Y:194.52, Z:24.69 [[ 3.48447981e-01 -9.35671787e-01 -5.56984024e-02 3.08938970e+02] [ 9.23360331e-01 3.52869168e-01 -1.51291274e-01 1.94521924e+02] [ 1.61213225e-01 1.28744350e-03 9.86918760e-01 2.46890341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63687500000003 meters 0.013091678335909497 Centerline is valid? [True, True] Translation: X:308.96, Y:194.57, Z:24.70 [[ 3.45099425e-01 -9.36939082e-01 -5.52407768e-02 3.08961546e+02] [ 9.24825533e-01 3.49491934e-01 -1.50176966e-01 1.94574287e+02] [ 1.60012874e-01 7.37903694e-04 9.87114652e-01 2.46995791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69687500000003 meters 0.01343185504142119 Centerline is valid? [True, True] Translation: X:308.99, Y:194.63, Z:24.70 [[ 3.32272466e-01 -9.41546125e-01 -5.55509030e-02 3.08986791e+02] [ 9.29335185e-01 3.36881182e-01 -1.51152847e-01 1.94625937e+02] [ 1.61031431e-01 -1.40147949e-03 9.86948283e-01 2.47048135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75687500000004 meters 0.01440485564578432 Centerline is valid? [True, True] Translation: X:309.01, Y:194.68, Z:24.72 [[ 3.26814751e-01 -9.43500962e-01 -5.47544859e-02 3.09009823e+02] [ 9.31645119e-01 3.31361961e-01 -1.49119494e-01 1.94677736e+02] [ 1.58837940e-01 -2.27729925e-03 9.87302042e-01 2.47177987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81687500000004 meters 0.015347331226554751 Centerline is valid? [True, True] Translation: X:309.03, Y:194.73, Z:24.72 [[ 3.21554843e-01 -9.45250177e-01 -5.57188067e-02 3.09028051e+02] [ 9.32974030e-01 3.26331427e-01 -1.51879092e-01 1.94732326e+02] [ 1.61746536e-01 -3.14674219e-03 9.86827318e-01 2.47243263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87687500000004 meters 0.015504493596729674 Centerline is valid? [True, True] Translation: X:309.04, Y:194.79, Z:24.73 [[ 3.21138392e-01 -9.45340619e-01 -5.65795564e-02 3.09044009e+02] [ 9.32658446e-01 3.26068835e-01 -1.54361064e-01 1.94788024e+02] [ 1.64372614e-01 -3.19813730e-03 9.86393135e-01 2.47303251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.936875 meters 0.015000163349506815 Centerline is valid? [True, True] Translation: X:309.06, Y:194.84, Z:24.74 [[ 3.23721785e-01 -9.44493924e-01 -5.59949459e-02 3.09057800e+02] [ 9.32040141e-01 3.28517841e-01 -1.52896057e-01 1.94842783e+02] [ 1.62804735e-01 -2.69375288e-03 9.86654632e-01 2.47424227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.996875 meters 0.014040702183589987 Centerline is valid? [True, True] Translation: X:309.07, Y:194.90, Z:24.75 [[ 3.26449193e-01 -9.43561511e-01 -5.58802165e-02 3.09068959e+02] [ 9.31124861e-01 3.31190158e-01 -1.52707470e-01 1.94900434e+02] [ 1.62595869e-01 -2.18022849e-03 9.86690342e-01 2.47514305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.056875 meters 0.01322927230760481 Centerline is valid? [True, True] Translation: X:309.08, Y:194.96, Z:24.76 [[ 3.30202654e-01 -9.42271865e-01 -5.55872261e-02 3.09082751e+02] [ 9.29927642e-01 3.34845499e-01 -1.52029839e-01 1.94955086e+02] [ 1.61866573e-01 -1.49144153e-03 9.86811526e-01 2.47622652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.116875 meters 0.012773256292154771 Centerline is valid? [True, True] Translation: X:309.10, Y:195.01, Z:24.77 [[ 3.33488528e-01 -9.41123625e-01 -5.54231410e-02 3.09097266e+02] [ 9.28815914e-01 3.38061444e-01 -1.51708463e-01 1.95009384e+02] [ 1.61512846e-01 -8.84863217e-04 9.86870213e-01 2.47728049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.176875 meters 0.012416950684626823 Centerline is valid? [True, True] Translation: X:309.11, Y:195.07, Z:24.78 [[ 3.37914103e-01 -9.39532004e-01 -5.56207942e-02 3.09108333e+02] [ 9.27090204e-01 3.42461106e-01 -1.52394702e-01 1.95065533e+02] [ 1.62227659e-01 -6.91742248e-05 9.86753354e-01 2.47803052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.236875 meters 0.012559426314540127 Centerline is valid? [True, True] Translation: X:309.12, Y:195.12, Z:24.79 [[ 3.40544569e-01 -9.38562052e-01 -5.59523923e-02 3.09123041e+02] [ 9.25933356e-01 3.45110233e-01 -1.53448191e-01 1.95120173e+02] [ 1.63330392e-01 4.47761583e-04 9.86571327e-01 2.47876283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.296875 meters 0.012664187658675533 Centerline is valid? [True, True] Translation: X:309.14, Y:195.18, Z:24.80 [[ 3.43598900e-01 -9.37434901e-01 -5.61747489e-02 3.09140539e+02] [ 9.24665880e-01 3.48159049e-01 -1.54202099e-01 1.95175064e+02] [ 1.64112177e-01 1.04079798e-03 9.86441134e-01 2.47978236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.356875 meters 0.012800712650496095 Centerline is valid? [True, True] Translation: X:309.16, Y:195.23, Z:24.80 [[ 3.43910528e-01 -9.37280711e-01 -5.68367639e-02 3.09157145e+02] [ 9.24181348e-01 3.48573498e-01 -1.56158103e-01 1.95229464e+02] [ 1.66175768e-01 1.17693857e-03 9.86095446e-01 2.48048792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.416875 meters 0.012900946402326346 Centerline is valid? [True, True] Translation: X:309.18, Y:195.28, Z:24.81 [[ 3.43287643e-01 -9.37499173e-01 -5.69990808e-02 3.09176185e+02] [ 9.24302902e-01 3.47985681e-01 -1.56748562e-01 1.95283286e+02] [ 1.66786511e-01 1.12542864e-03 9.85992390e-01 2.48134685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.476875 meters 0.012513594518555948 Centerline is valid? [True, True] Translation: X:309.20, Y:195.34, Z:24.82 [[ 3.40201492e-01 -9.38636198e-01 -5.67893675e-02 3.09197652e+02] [ 9.25528158e-01 3.44908253e-01 -1.56319947e-01 1.95335932e+02] [ 1.66314682e-01 6.20120452e-04 9.86072534e-01 2.48247007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.536875 meters 0.012416816733185895 Centerline is valid? [True, True] Translation: X:309.22, Y:195.39, Z:24.84 [[ 3.36789850e-01 -9.39897642e-01 -5.62585031e-02 3.09218596e+02] [ 9.27030088e-01 3.41456322e-01 -1.54992893e-01 1.95389089e+02] [ 1.64887276e-01 4.67079886e-05 9.86312417e-01 2.48356417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.596875 meters 0.012441669485327921 Centerline is valid? [True, True] Translation: X:309.24, Y:195.44, Z:24.85 [[ 3.35040002e-01 -9.40541542e-01 -5.59446545e-02 3.09238864e+02] [ 9.27804825e-01 3.39678610e-01 -1.54261624e-01 1.95442836e+02] [ 1.64092668e-01 -2.21905620e-04 9.86444903e-01 2.48464552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.656875 meters 0.012491921583735598 Centerline is valid? [True, True] Translation: X:309.26, Y:195.50, Z:24.85 [[ 3.32397002e-01 -9.41448676e-01 -5.64501828e-02 3.09258854e+02] [ 9.28468529e-01 3.37155747e-01 -1.55795357e-01 1.95495485e+02] [ 1.65705837e-01 -6.26308451e-04 9.86175027e-01 2.48549022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.716875 meters 0.012523973181286448 Centerline is valid? [True, True] Translation: X:309.28, Y:195.55, Z:24.86 [[ 3.31425782e-01 -9.41768257e-01 -5.68287017e-02 3.09277504e+02] [ 9.28592062e-01 3.36261804e-01 -1.56986565e-01 1.95549550e+02] [ 1.66954285e-01 -7.41286281e-04 9.85964359e-01 2.48627691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.776875 meters 0.012589923996553145 Centerline is valid? [True, True] Translation: X:309.30, Y:195.60, Z:24.87 [[ 3.31566407e-01 -9.41698981e-01 -5.71554604e-02 3.09297155e+02] [ 9.28344699e-01 3.36455925e-01 -1.58030157e-01 1.95602780e+02] [ 1.68047131e-01 -6.62477297e-04 9.85778739e-01 2.48703834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.836875 meters 0.012481758079797855 Centerline is valid? [True, True] Translation: X:309.32, Y:195.66, Z:24.88 [[ 3.33536632e-01 -9.41013982e-01 -5.69736929e-02 3.09315777e+02] [ 9.27710430e-01 3.38367575e-01 -1.57672893e-01 1.95657208e+02] [ 1.67650448e-01 -2.65403366e-04 9.85846467e-01 2.48813915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.896875 meters 0.012423132329831381 Centerline is valid? [True, True] Translation: X:309.33, Y:195.71, Z:24.89 [[ 3.36337133e-01 -9.40067590e-01 -5.61271707e-02 3.09334519e+02] [ 9.27123092e-01 3.40988069e-01 -1.55466747e-01 1.95710442e+02] [ 1.65287946e-01 2.52443977e-04 9.86245320e-01 2.48926875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.956875 meters 0.012608367126357718 Centerline is valid? [True, True] Translation: X:309.35, Y:195.76, Z:24.90 [[ 3.38699409e-01 -9.39233639e-01 -5.58827478e-02 3.09353030e+02] [ 9.26367412e-01 3.43277834e-01 -1.54931426e-01 1.95763398e+02] [ 1.64700115e-01 7.07225860e-04 9.86343435e-01 2.49020732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.016875 meters 0.012893717633700747 Centerline is valid? [True, True] Translation: X:309.37, Y:195.82, Z:24.91 [[ 3.41739634e-01 -9.38128276e-01 -5.59406844e-02 3.09372823e+02] [ 9.25195077e-01 3.46285512e-01 -1.55243081e-01 1.95817430e+02] [ 1.65009373e-01 1.29666784e-03 9.86291146e-01 2.49116876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07687500000003 meters 0.013291225143244836 Centerline is valid? [True, True] Translation: X:309.39, Y:195.87, Z:24.92 [[ 3.44815266e-01 -9.36995347e-01 -5.60548989e-02 3.09392413e+02] [ 9.23971706e-01 3.49336713e-01 -1.55692474e-01 1.95871658e+02] [ 1.65465158e-01 1.89200127e-03 9.86213822e-01 2.49204341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13687500000003 meters 0.014147358073852659 Centerline is valid? [True, True] Translation: X:309.41, Y:195.93, Z:24.93 [[ 3.47915197e-01 -9.35855489e-01 -5.59421120e-02 3.09411375e+02] [ 9.22847457e-01 3.52375308e-01 -1.55512746e-01 1.95925595e+02] [ 1.65250076e-01 2.47921194e-03 9.86248582e-01 2.49296216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19687500000003 meters 0.014376190082836379 Centerline is valid? [True, True] Translation: X:309.43, Y:195.98, Z:24.94 [[ 3.49273619e-01 -9.35356136e-01 -5.58286513e-02 3.09432471e+02] [ 9.22373145e-01 3.53696620e-01 -1.55327017e-01 1.95979581e+02] [ 1.65032483e-01 2.75678052e-03 9.86284279e-01 2.49391181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25687500000004 meters 0.014708802501747107 Centerline is valid? [True, True] Translation: X:309.45, Y:196.03, Z:24.95 [[ 3.48814955e-01 -9.35516829e-01 -5.60034873e-02 3.09452231e+02] [ 9.22431312e-01 3.53271524e-01 -1.55947765e-01 1.96032393e+02] [ 1.65676196e-01 2.73754233e-03 9.86176406e-01 2.49473986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31687500000004 meters 0.014118908175126342 Centerline is valid? [True, True] Translation: X:309.48, Y:196.08, Z:24.96 [[ 3.46454483e-01 -9.36360590e-01 -5.65520706e-02 3.09475595e+02] [ 9.23001231e-01 3.51031374e-01 -1.57625196e-01 1.96084802e+02] [ 1.67445573e-01 2.41232511e-03 9.85878370e-01 2.49551105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37687500000004 meters 0.01361139474318801 Centerline is valid? [True, True] Translation: X:309.50, Y:196.14, Z:24.97 [[ 3.43483463e-01 -9.37468993e-01 -5.63116202e-02 3.09498919e+02] [ 9.24214796e-01 3.48063527e-01 -1.57094851e-01 1.96137406e+02] [ 1.66871573e-01 1.91545094e-03 9.85976779e-01 2.49658537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.436875 meters 0.013268550176788478 Centerline is valid? [True, True] Translation: X:309.52, Y:196.19, Z:24.98 [[ 3.41573329e-01 -9.38174990e-01 -5.61724949e-02 3.09520063e+02] [ 9.24973381e-01 3.46157596e-01 -1.56841205e-01 1.96190917e+02] [ 1.66589032e-01 1.61471011e-03 9.86025095e-01 2.49754016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.496875 meters 0.012901435896293702 Centerline is valid? [True, True] Translation: X:309.54, Y:196.24, Z:24.98 [[ 3.38289020e-01 -9.39373167e-01 -5.60231440e-02 3.09542008e+02] [ 9.26234856e-01 3.42894885e-01 -1.56563371e-01 1.96243894e+02] [ 1.66281479e-01 1.07308070e-03 9.86077744e-01 2.49842145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.556875 meters 0.012718859176116804 Centerline is valid? [True, True] Translation: X:309.56, Y:196.30, Z:24.99 [[ 3.35292484e-01 -9.40453068e-01 -5.59193746e-02 3.09564501e+02] [ 9.27355139e-01 3.39923053e-01 -1.56412161e-01 1.96296594e+02] [ 1.66106581e-01 5.86702417e-04 9.86107631e-01 2.49945691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.616875 meters 0.012606969392543183 Centerline is valid? [True, True] Translation: X:309.59, Y:196.35, Z:25.00 [[ 3.31923035e-01 -9.41671926e-01 -5.55075063e-02 3.09585536e+02] [ 9.28761647e-01 3.36532292e-01 -1.55395688e-01 1.96349474e+02] [ 1.65011825e-01 2.61651896e-05 9.86291588e-01 2.50046917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.676875 meters 0.012671249218888755 Centerline is valid? [True, True] Translation: X:309.61, Y:196.40, Z:25.01 [[ 3.29577695e-01 -9.42524177e-01 -5.50156172e-02 3.09605038e+02] [ 9.29832456e-01 3.34137776e-01 -1.54154309e-01 1.96401719e+02] [ 1.63676959e-01 -3.49484681e-04 9.86513928e-01 2.50146802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.736875 meters 0.012663579701858945 Centerline is valid? [True, True] Translation: X:309.62, Y:196.46, Z:25.02 [[ 3.27316037e-01 -9.43323344e-01 -5.48204480e-02 3.09624318e+02] [ 9.30707031e-01 3.31874360e-01 -1.53765512e-01 1.96455438e+02] [ 1.63244098e-01 -6.91858453e-04 9.86585468e-01 2.50245949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.796875 meters 0.012812832971424614 Centerline is valid? [True, True] Translation: X:309.64, Y:196.51, Z:25.03 [[ 3.26472880e-01 -9.43585216e-01 -5.53389482e-02 3.09642295e+02] [ 9.30707850e-01 3.31128867e-01 -1.55359491e-01 1.96510303e+02] [ 1.64919242e-01 -7.83732951e-04 9.86306762e-01 2.50320068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.856875 meters 0.012860667525914199 Centerline is valid? [True, True] Translation: X:309.66, Y:196.56, Z:25.04 [[ 3.26320720e-01 -9.43614464e-01 -5.57362694e-02 3.09661216e+02] [ 9.30526594e-01 3.31045573e-01 -1.56617645e-01 1.96563886e+02] [ 1.66237920e-01 -7.56498374e-04 9.86085383e-01 2.50391932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.916875 meters 0.012656167453636888 Centerline is valid? [True, True] Translation: X:309.68, Y:196.62, Z:25.05 [[ 3.27287938e-01 -9.43275688e-01 -5.57994818e-02 3.09678621e+02] [ 9.30127995e-01 3.32010075e-01 -1.56943374e-01 1.96618427e+02] [ 1.66566859e-01 -5.34986999e-04 9.86030017e-01 2.50486697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.976875 meters 0.012477952288023179 Centerline is valid? [True, True] Translation: X:309.70, Y:196.67, Z:25.06 [[ 3.28196450e-01 -9.42972706e-01 -5.55838593e-02 3.09696099e+02] [ 9.29899468e-01 3.32869891e-01 -1.56475605e-01 1.96673646e+02] [ 1.66054418e-01 -3.32662940e-04 9.86116534e-01 2.50575877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.036875 meters 0.012292543901397187 Centerline is valid? [True, True] Translation: X:309.71, Y:196.73, Z:25.07 [[ 3.31107190e-01 -9.41987558e-01 -5.50224474e-02 3.09711504e+02] [ 9.29142204e-01 3.35647728e-01 -1.55033439e-01 1.96729107e+02] [ 1.64507730e-01 2.09008372e-04 9.86375772e-01 2.50672508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.096875 meters 0.012584962938709279 Centerline is valid? [True, True] Translation: X:309.73, Y:196.78, Z:25.08 [[ 3.35449472e-01 -9.40470286e-01 -5.46744366e-02 3.09726214e+02] [ 9.27744889e-01 3.39874453e-01 -1.54190720e-01 1.96784729e+02] [ 1.63594235e-01 9.99266409e-04 9.86527206e-01 2.50766302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.156875 meters 0.01322393500135198 Centerline is valid? [True, True] Translation: X:309.74, Y:196.84, Z:25.08 [[ 3.38584935e-01 -9.39324638e-01 -5.50405911e-02 3.09739742e+02] [ 9.26387989e-01 3.43025676e-01 -1.55366277e-01 1.96840574e+02] [ 1.64819708e-01 1.61573835e-03 9.86322388e-01 2.50828851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.216875 meters 0.01333629806735029 Centerline is valid? [True, True] Translation: X:309.76, Y:196.89, Z:25.09 [[ 3.39850705e-01 -9.38856449e-01 -5.52274089e-02 3.09758085e+02] [ 9.25799917e-01 3.44303574e-01 -1.56043465e-01 1.96894972e+02] [ 1.65517407e-01 1.90195092e-03 9.86205035e-01 2.50920371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.276875 meters 0.013292101924455017 Centerline is valid? [True, True] Translation: X:309.78, Y:196.95, Z:25.10 [[ 3.40705712e-01 -9.38506798e-01 -5.58981832e-02 3.09776478e+02] [ 9.25100144e-01 3.45254077e-01 -1.58080188e-01 1.96950111e+02] [ 1.67658406e-01 2.14740562e-03 9.85842811e-01 2.50990800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.336875 meters 0.01305272301141725 Centerline is valid? [True, True] Translation: X:309.80, Y:197.00, Z:25.11 [[ 3.39563305e-01 -9.38929042e-01 -5.57585539e-02 3.09797470e+02] [ 9.25572563e-01 3.44105113e-01 -1.57819839e-01 1.97003425e+02] [ 1.67368434e-01 1.98123845e-03 9.85892429e-01 2.51082449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.396875 meters 0.012885088672524322 Centerline is valid? [True, True] Translation: X:309.82, Y:197.06, Z:25.12 [[ 3.38219782e-01 -9.39452763e-01 -5.50988677e-02 3.09817571e+02] [ 9.26395912e-01 3.42673958e-01 -1.56093472e-01 1.97057094e+02] [ 1.65523391e-01 1.75053438e-03 9.86204311e-01 2.51192014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.456875 meters 0.012450327891360514 Centerline is valid? [True, True] Translation: X:309.84, Y:197.11, Z:25.13 [[ 3.36002026e-01 -9.40320242e-01 -5.38561235e-02 3.09839149e+02] [ 9.27838537e-01 3.40288182e-01 -1.52707570e-01 1.97110181e+02] [ 1.61920621e-01 1.34026592e-03 9.86802876e-01 2.51313568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.516875 meters 0.012336666606238245 Centerline is valid? [True, True] Translation: X:309.86, Y:197.16, Z:25.14 [[ 3.33375484e-01 -9.41263081e-01 -5.37084642e-02 3.09860145e+02] [ 9.28840315e-01 3.37672848e-01 -1.52422824e-01 1.97163061e+02] [ 1.61605867e-01 9.27446006e-04 9.86854946e-01 2.51406813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57687500000003 meters 0.012246767798529904 Centerline is valid? [True, True] Translation: X:309.88, Y:197.22, Z:25.15 [[ 3.31384929e-01 -9.41955526e-01 -5.38870693e-02 3.09879749e+02] [ 9.29435686e-01 3.35737066e-01 -1.53068378e-01 1.97215138e+02] [ 1.62275491e-01 6.39988266e-04 9.86745284e-01 2.51479705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63687500000003 meters 0.012188043429010795 Centerline is valid? [True, True] Translation: X:309.90, Y:197.27, Z:25.15 [[ 3.27919100e-01 -9.43106947e-01 -5.49395235e-02 3.09902904e+02] [ 9.30077944e-01 3.32489504e-01 -1.56223393e-01 1.97268469e+02] [ 1.65602182e-01 1.30595325e-04 9.86192628e-01 2.51548328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69687500000003 meters 0.012273043963979205 Centerline is valid? [True, True] Translation: X:309.92, Y:197.32, Z:25.16 [[ 3.24527105e-01 -9.44269861e-01 -5.51052360e-02 3.09924341e+02] [ 9.31154156e-01 3.29172079e-01 -1.56836479e-01 1.97322140e+02] [ 1.66235065e-01 -4.13781148e-04 9.86086067e-01 2.51635487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75687500000004 meters 0.01239098956833119 Centerline is valid? [True, True] Translation: X:309.94, Y:197.37, Z:25.17 [[ 3.22515944e-01 -9.44969219e-01 -5.49239650e-02 3.09943674e+02] [ 9.31925730e-01 3.27158455e-01 -1.56466542e-01 1.97374885e+02] [ 1.65824905e-01 -7.22101824e-04 9.86154947e-01 2.51725821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81687500000004 meters 0.012494939499439653 Centerline is valid? [True, True] Translation: X:309.96, Y:197.43, Z:25.18 [[ 3.21490894e-01 -9.45332158e-01 -5.46874427e-02 3.09962337e+02] [ 9.32381292e-01 3.26107928e-01 -1.55944690e-01 1.97428341e+02] [ 1.65253539e-01 -8.54750826e-04 9.86250748e-01 2.51818747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.876875 meters 0.012424734981799319 Centerline is valid? [True, True] Translation: X:309.98, Y:197.48, Z:25.19 [[ 3.21910338e-01 -9.45203782e-01 -5.44384442e-02 3.09980179e+02] [ 9.32343776e-01 3.26480124e-01 -1.55389227e-01 1.97482779e+02] [ 1.64647555e-01 -7.33946194e-04 9.86352191e-01 2.51922660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.936875 meters 0.012408641326485424 Centerline is valid? [True, True] Translation: X:310.00, Y:197.54, Z:25.20 [[ 3.23222874e-01 -9.44773263e-01 -5.41336783e-02 3.09997532e+02] [ 9.32028624e-01 3.27724374e-01 -1.54658913e-01 1.97537069e+02] [ 1.63858532e-01 -4.64839224e-04 9.86483738e-01 2.52020498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.996875 meters 0.01240368260388157 Centerline is valid? [True, True] Translation: X:310.01, Y:197.59, Z:25.21 [[ 3.25602791e-01 -9.43973441e-01 -5.38234632e-02 3.10012716e+02] [ 9.31341898e-01 3.30021428e-01 -1.53909475e-01 1.97591006e+02] [ 1.63049353e-01 -1.46917300e-05 9.86617914e-01 2.52108949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.056875 meters 0.012402678887071587 Centerline is valid? [True, True] Translation: X:310.03, Y:197.65, Z:25.22 [[ 3.26023699e-01 -9.43845274e-01 -5.35224015e-02 3.10029541e+02] [ 9.31334344e-01 3.30387790e-01 -1.53167385e-01 1.97646258e+02] [ 1.62249460e-01 8.89466208e-05 9.86749768e-01 2.52208197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.116875 meters 0.0124515975179173 Centerline is valid? [True, True] Translation: X:310.05, Y:197.70, Z:25.23 [[ 3.25346967e-01 -9.44057903e-01 -5.38890220e-02 3.10047001e+02] [ 9.31353332e-01 3.29779737e-01 -1.54357689e-01 1.97701162e+02] [ 1.63494104e-01 3.00858003e-05 9.86544311e-01 2.52285396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.176875 meters 0.012504454255067292 Centerline is valid? [True, True] Translation: X:310.07, Y:197.75, Z:25.24 [[ 3.24023309e-01 -9.44480441e-01 -5.44572404e-02 3.10065714e+02] [ 9.31486846e-01 3.28567614e-01 -1.56126803e-01 1.97754490e+02] [ 1.65351597e-01 -1.37479732e-04 9.86234673e-01 2.52358503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.236875 meters 0.01258770115305799 Centerline is valid? [True, True] Translation: X:310.08, Y:197.81, Z:25.25 [[ 3.22337585e-01 -9.45078189e-01 -5.40897204e-02 3.10083990e+02] [ 9.32243274e-01 3.26844099e-01 -1.55226971e-01 1.97809148e+02] [ 1.64380531e-01 -3.89290960e-04 9.86396923e-01 2.52453723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.296875 meters 0.012593890138989127 Centerline is valid? [True, True] Translation: X:310.10, Y:197.86, Z:25.26 [[ 3.21688502e-01 -9.45329188e-01 -5.35652391e-02 3.10101307e+02] [ 9.32724389e-01 3.26117324e-01 -1.53859367e-01 1.97862039e+02] [ 1.62916303e-01 -4.66815586e-04 9.86639782e-01 2.52554831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.356875 meters 0.012462316238863493 Centerline is valid? [True, True] Translation: X:310.12, Y:197.92, Z:25.26 [[ 3.22417637e-01 -9.45094848e-01 -5.33159957e-02 3.10116201e+02] [ 9.32578385e-01 3.26796025e-01 -1.53303341e-01 1.97917154e+02] [ 1.62309653e-01 -2.93644124e-04 9.86739829e-01 2.52648181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.416875 meters 0.012346976805070086 Centerline is valid? [True, True] Translation: X:310.13, Y:197.97, Z:25.27 [[ 3.21687443e-01 -9.45353630e-01 -5.31385238e-02 3.10132578e+02] [ 9.32901621e-01 3.26046579e-01 -1.52931988e-01 1.97972439e+02] [ 1.61900444e-01 -3.76714721e-04 9.86807025e-01 2.52737832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.476875 meters 0.012559032719112273 Centerline is valid? [True, True] Translation: X:310.15, Y:198.03, Z:25.28 [[ 3.18119200e-01 -9.46554636e-01 -5.32399823e-02 3.10150155e+02] [ 9.34047776e-01 3.22542149e-01 -1.53366604e-01 1.98025896e+02] [ 1.62342009e-01 -9.39825671e-04 9.86734102e-01 2.52826508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.536875 meters 0.012775051357624748 Centerline is valid? [True, True] Translation: X:310.17, Y:198.08, Z:25.29 [[ 3.14350416e-01 -9.47803253e-01 -5.34116972e-02 3.10167335e+02] [ 9.35208006e-01 3.18852049e-01 -1.54010896e-01 1.98081355e+02] [ 1.63002457e-01 -1.53765764e-03 9.86624465e-01 2.52919832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.596875 meters 0.013097971221004182 Centerline is valid? [True, True] Translation: X:310.18, Y:198.14, Z:25.30 [[ 3.11752592e-01 -9.48632663e-01 -5.39109679e-02 3.10184141e+02] [ 9.35788389e-01 3.16373658e-01 -1.55588561e-01 1.98136550e+02] [ 1.64652401e-01 -1.94412063e-03 9.86349739e-01 2.52991166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.656875 meters 0.013562297259541709 Centerline is valid? [True, True] Translation: X:310.20, Y:198.19, Z:25.31 [[ 3.08140978e-01 -9.49811575e-01 -5.39176149e-02 3.10200506e+02] [ 9.36958968e-01 3.12812378e-01 -1.55744371e-01 1.98192404e+02] [ 1.64793904e-01 -2.52737001e-03 9.86324785e-01 2.53071321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.716875 meters 0.013894336971388055 Centerline is valid? [True, True] Translation: X:310.22, Y:198.25, Z:25.32 [[ 3.06284960e-01 -9.50431669e-01 -5.35646018e-02 3.10216555e+02] [ 9.37734838e-01 3.10920912e-01 -1.54859809e-01 1.98247198e+02] [ 1.63838022e-01 -2.79816270e-03 9.86483286e-01 2.53188502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.776875 meters 0.013789044846930986 Centerline is valid? [True, True] Translation: X:310.23, Y:198.30, Z:25.33 [[ 3.06319337e-01 -9.50444183e-01 -5.31443253e-02 3.10232239e+02] [ 9.37924999e-01 3.10883178e-01 -1.53780184e-01 1.98301779e+02] [ 1.62681158e-01 -2.73954726e-03 9.86674889e-01 2.53297323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.836875 meters 0.012908034547786159 Centerline is valid? [True, True] Translation: X:310.24, Y:198.36, Z:25.34 [[ 3.11407240e-01 -9.48800295e-01 -5.29483898e-02 3.10243098e+02] [ 9.36326647e-01 3.15871310e-01 -1.53354899e-01 1.98357523e+02] [ 1.62228051e-01 -1.82116241e-03 9.86751612e-01 2.53386443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.896875 meters 0.012059880028738415 Centerline is valid? [True, True] Translation: X:310.25, Y:198.42, Z:25.35 [[ 3.17410524e-01 -9.46779784e-01 -5.34658802e-02 3.10253305e+02] [ 9.34014459e-01 3.21881144e-01 -1.54950053e-01 1.98415196e+02] [ 1.63913237e-01 -7.55127645e-04 9.86474470e-01 2.53456025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.956875 meters 0.012011804080617106 Centerline is valid? [True, True] Translation: X:310.27, Y:198.47, Z:25.35 [[ 3.22114065e-01 -9.45183213e-01 -5.35837891e-02 3.10265395e+02] [ 9.32315480e-01 3.26540474e-01 -1.55432185e-01 1.98470779e+02] [ 1.64409168e-01 1.09896943e-04 9.86392221e-01 2.53535033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.016875 meters 0.012056492969073136 Centerline is valid? [True, True] Translation: X:310.28, Y:198.53, Z:25.36 [[ 3.23047296e-01 -9.44835779e-01 -5.40906127e-02 3.10281801e+02] [ 9.31690890e-01 3.27544247e-01 -1.57056841e-01 1.98525683e+02] [ 1.66109992e-01 3.41056663e-04 9.86107172e-01 2.53616521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07687500000003 meters 0.01194515556146824 Centerline is valid? [True, True] Translation: X:310.30, Y:198.58, Z:25.37 [[ 3.20487320e-01 -9.45685240e-01 -5.44729698e-02 3.10301489e+02] [ 9.32340281e-01 3.25083719e-01 -1.58310382e-01 1.98579695e+02] [ 1.67420067e-01 -5.08738984e-05 9.85885652e-01 2.53692611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13687500000003 meters 0.012536866960593227 Centerline is valid? [True, True] Translation: X:310.33, Y:198.63, Z:25.38 [[ 3.13858009e-01 -9.47892991e-01 -5.46994298e-02 3.10326130e+02] [ 9.34444155e-01 3.18586718e-01 -1.59111988e-01 1.98632434e+02] [ 1.68247650e-01 -1.17499049e-03 9.85744058e-01 2.53803644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19687500000003 meters 0.013547927411608932 Centerline is valid? [True, True] Translation: X:310.35, Y:198.69, Z:25.39 [[ 3.06865238e-01 -9.50167606e-01 -5.49112685e-02 3.10349382e+02] [ 9.36624706e-01 3.11730478e-01 -1.59869539e-01 1.98685328e+02] [ 1.69020373e-01 -2.37284660e-03 9.85609701e-01 2.53894835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25687500000004 meters 0.01453297110028967 Centerline is valid? [True, True] Translation: X:310.37, Y:198.74, Z:25.40 [[ 3.03795954e-01 -9.51168829e-01 -5.46431850e-02 3.10371894e+02] [ 9.37750967e-01 3.08657785e-01 -1.59227810e-01 1.98738321e+02] [ 1.68318574e-01 -2.86893500e-03 9.85728475e-01 2.54006404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31687500000004 meters 0.014786923675714976 Centerline is valid? [True, True] Translation: X:310.39, Y:198.79, Z:25.41 [[ 3.04593966e-01 -9.50914517e-01 -5.46268975e-02 3.10391268e+02] [ 9.37476795e-01 3.09442047e-01 -1.59320051e-01 1.98791364e+02] [ 1.68403608e-01 -2.68352259e-03 9.85714474e-01 2.54105035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.376875 meters 0.01373402369224137 Centerline is valid? [True, True] Translation: X:310.41, Y:198.85, Z:25.42 [[ 3.10259750e-01 -9.49038661e-01 -5.53579914e-02 3.10405850e+02] [ 9.35179189e-01 3.15155461e-01 -1.61607300e-01 1.98847065e+02] [ 1.70817949e-01 -1.62940094e-03 9.85301260e-01 2.54190582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.436875 meters 0.013298846321349712 Centerline is valid? [True, True] Translation: X:310.42, Y:198.90, Z:25.43 [[ 3.17013212e-01 -9.46796458e-01 -5.54895595e-02 3.10420072e+02] [ 9.32809805e-01 3.21832779e-01 -1.62140465e-01 1.98902249e+02] [ 1.71372377e-01 -3.60535725e-04 9.85206262e-01 2.54270658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.496875 meters 0.013286575751338162 Centerline is valid? [True, True] Translation: X:310.44, Y:198.96, Z:25.44 [[ 3.19547474e-01 -9.45956621e-01 -5.52764164e-02 3.10437417e+02] [ 9.32039905e-01 3.24293156e-01 -1.61664978e-01 1.98956080e+02] [ 1.70853820e-01 1.39809353e-04 9.85296378e-01 2.54388117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.556875 meters 0.013312995844849271 Centerline is valid? [True, True] Translation: X:310.46, Y:199.01, Z:25.45 [[ 3.21754395e-01 -9.45243878e-01 -5.46637028e-02 3.10455868e+02] [ 9.31600412e-01 3.26364358e-01 -1.60021803e-01 1.99010398e+02] [ 1.69099913e-01 5.62990185e-04 9.85598753e-01 2.54505533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.616875 meters 0.013364961303061517 Centerline is valid? [True, True] Translation: X:310.47, Y:199.06, Z:25.46 [[ 3.22925743e-01 -9.44859419e-01 -5.44025922e-02 3.10474532e+02] [ 9.31316236e-01 3.27475222e-01 -1.59405295e-01 1.99064220e+02] [ 1.68431096e-01 8.10056092e-04 9.85713097e-01 2.54610271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.676875 meters 0.013673213821518204 Centerline is valid? [True, True] Translation: X:310.49, Y:199.12, Z:25.47 [[ 3.25029681e-01 -9.44125219e-01 -5.46193854e-02 3.10491507e+02] [ 9.30436933e-01 3.29584611e-01 -1.60190814e-01 1.99118160e+02] [ 1.69241896e-01 1.24687578e-03 9.85573755e-01 2.54693683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.736875 meters 0.013830624285492152 Centerline is valid? [True, True] Translation: X:310.51, Y:199.17, Z:25.48 [[ 3.27797499e-01 -9.43157347e-01 -5.47998074e-02 3.10510232e+02] [ 9.29341035e-01 3.32341660e-01 -1.60854785e-01 1.99172986e+02] [ 1.69923631e-01 1.80008650e-03 9.85455590e-01 2.54796672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.796875 meters 0.014160455286265018 Centerline is valid? [True, True] Translation: X:310.53, Y:199.23, Z:25.49 [[ 3.28539253e-01 -9.42896681e-01 -5.48434957e-02 3.10527466e+02] [ 9.29029361e-01 3.33079428e-01 -1.61128958e-01 1.99226429e+02] [ 1.70195200e-01 1.98596976e-03 9.85408367e-01 2.54882395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.856875 meters 0.014310185263465607 Centerline is valid? [True, True] Translation: X:310.55, Y:199.28, Z:25.50 [[ 3.29468103e-01 -9.42559286e-01 -5.50705108e-02 3.10548182e+02] [ 9.28543299e-01 3.34031501e-01 -1.61957703e-01 1.99280595e+02] [ 1.71050022e-01 2.22454326e-03 9.85259834e-01 2.54970588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.916875 meters 0.014498497872147232 Centerline is valid? [True, True] Translation: X:310.57, Y:199.33, Z:25.50 [[ 3.28435640e-01 -9.42886988e-01 -5.56251578e-02 3.10569219e+02] [ 9.28563659e-01 3.33106003e-01 -1.63737354e-01 1.99332933e+02] [ 1.72914894e-01 2.12568264e-03 9.84934475e-01 2.55044434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.976875 meters 0.014400620278520347 Centerline is valid? [True, True] Translation: X:310.59, Y:199.39, Z:25.51 [[ 3.27846695e-01 -9.43092059e-01 -5.56229579e-02 3.10590621e+02] [ 9.28744586e-01 3.32525303e-01 -1.63891477e-01 1.99385798e+02] [ 1.73060791e-01 2.07175803e-03 9.84908966e-01 2.55144534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.036875 meters 0.013907467512740856 Centerline is valid? [True, True] Translation: X:310.61, Y:199.44, Z:25.52 [[ 3.25983430e-01 -9.43767084e-01 -5.51225409e-02 3.10613154e+02] [ 9.29662326e-01 3.30606466e-01 -1.62564832e-01 1.99438359e+02] [ 1.71647206e-01 1.74809207e-03 9.85156932e-01 2.55245776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.096875 meters 0.013476074022638933 Centerline is valid? [True, True] Translation: X:310.64, Y:199.49, Z:25.53 [[ 3.22903517e-01 -9.44830004e-01 -5.50416450e-02 3.10636807e+02] [ 9.30756282e-01 3.27558763e-01 -1.62474614e-01 1.99490660e+02] [ 1.71540263e-01 1.23326731e-03 9.85176338e-01 2.55342682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.156875 meters 0.013221691710461362 Centerline is valid? [True, True] Translation: X:310.66, Y:199.54, Z:25.54 [[ 3.20803762e-01 -9.45572665e-01 -5.45644770e-02 3.10658462e+02] [ 9.31728744e-01 3.25409839e-01 -1.61214097e-01 1.99542056e+02] [ 1.70195461e-01 8.78797081e-04 9.85409931e-01 2.55434942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.216875 meters 0.013040001279098499 Centerline is valid? [True, True] Translation: X:310.68, Y:199.60, Z:25.55 [[ 3.20179852e-01 -9.45793613e-01 -5.43994912e-02 3.10678574e+02] [ 9.32007609e-01 3.24767266e-01 -1.60897608e-01 1.99596163e+02] [ 1.69843104e-01 8.15432687e-04 9.85470778e-01 2.55535760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.276875 meters 0.013136934236697652 Centerline is valid? [True, True] Translation: X:310.70, Y:199.65, Z:25.56 [[ 3.19204285e-01 -9.46128809e-01 -5.43037933e-02 3.10697154e+02] [ 9.32370252e-01 3.23789757e-01 -1.60766622e-01 1.99649768e+02] [ 1.69688944e-01 6.86153074e-04 9.85497433e-01 2.55608108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.336875 meters 0.012856070020721437 Centerline is valid? [True, True] Translation: X:310.72, Y:199.70, Z:25.57 [[ 3.16875173e-01 -9.46898701e-01 -5.45249956e-02 3.10716901e+02] [ 9.33010436e-01 3.21531868e-01 -1.61582127e-01 1.99702621e+02] [ 1.70533430e-01 3.28974572e-04 9.85351836e-01 2.55695122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.396875 meters 0.012828626640897895 Centerline is valid? [True, True] Translation: X:310.74, Y:199.75, Z:25.58 [[ 3.13293291e-01 -9.48097271e-01 -5.43955690e-02 3.10737207e+02] [ 9.34264450e-01 3.17980335e-01 -1.61364323e-01 1.99754190e+02] [ 1.70285795e-01 -2.65486627e-04 9.85394681e-01 2.55782631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.456875 meters 0.013475856069749178 Centerline is valid? [True, True] Translation: X:310.76, Y:199.81, Z:25.59 [[ 3.07097059e-01 -9.50133591e-01 -5.41992276e-02 3.10759949e+02] [ 9.36402812e-01 3.11840352e-01 -1.60951449e-01 1.99806925e+02] [ 1.69826884e-01 -1.32459258e-03 9.85473021e-01 2.55883684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.516875 meters 0.014446476580807216 Centerline is valid? [True, True] Translation: X:310.78, Y:199.86, Z:25.60 [[ 3.01906595e-01 -9.51809197e-01 -5.39598136e-02 3.10782240e+02] [ 9.38201871e-01 3.06682889e-01 -1.60383463e-01 1.99859110e+02] [ 1.69203007e-01 -2.20437291e-03 9.85578755e-01 2.55995584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57687500000003 meters 0.014766269962044467 Centerline is valid? [True, True] Translation: X:310.80, Y:199.91, Z:25.61 [[ 2.99544385e-01 -9.52539035e-01 -5.42452595e-02 3.10800472e+02] [ 9.38779107e-01 3.04405406e-01 -1.61341678e-01 1.99914008e+02] [ 1.70196797e-01 -2.59532239e-03 9.85406675e-01 2.56074177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63687500000003 meters 0.0152553377393836 Centerline is valid? [True, True] Translation: X:310.82, Y:199.97, Z:25.62 [[ 2.98102872e-01 -9.52985458e-01 -5.43451446e-02 3.10819511e+02] [ 9.39155997e-01 3.03003012e-01 -1.61787478e-01 1.99968512e+02] [ 1.70647856e-01 -2.80925661e-03 9.85328076e-01 2.56151194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69687500000003 meters 0.01472537101028956 Centerline is valid? [True, True] Translation: X:310.84, Y:200.02, Z:25.63 [[ 2.99018662e-01 -9.52720028e-01 -5.39665402e-02 3.10836662e+02] [ 9.39054618e-01 3.03838479e-01 -1.60806105e-01 2.00022363e+02] [ 1.69600309e-01 -2.59350235e-03 9.85509518e-01 2.56269532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75687500000004 meters 0.014912676900887734 Centerline is valid? [True, True] Translation: X:310.86, Y:200.08, Z:25.63 [[ 3.02173396e-01 -9.51729963e-01 -5.38638667e-02 3.10855206e+02] [ 9.38075387e-01 3.06930188e-01 -1.60650018e-01 2.00076142e+02] [ 1.69427883e-01 -1.98420613e-03 9.85540591e-01 2.56346457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81687500000004 meters 0.013316772068293719 Centerline is valid? [True, True] Translation: X:310.87, Y:200.13, Z:25.64 [[ 3.08220775e-01 -9.49802119e-01 -5.36273092e-02 3.10867447e+02] [ 9.36213822e-01 3.12850105e-01 -1.60089011e-01 2.00132323e+02] [ 1.68830191e-01 -8.63869119e-04 9.85644774e-01 2.56446567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.876875 meters 0.01330174766466573 Centerline is valid? [True, True] Translation: X:310.88, Y:200.19, Z:25.65 [[ 3.12247664e-01 -9.48483278e-01 -5.36737164e-02 3.10882688e+02] [ 9.34826561e-01 3.16827180e-01 -1.60374057e-01 2.00187971e+02] [ 1.69117404e-01 -9.91909703e-05 9.85595908e-01 2.56530615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.936875 meters 0.013395051836546051 Centerline is valid? [True, True] Translation: X:310.90, Y:200.24, Z:25.66 [[ 3.15355002e-01 -9.47431948e-01 -5.40733382e-02 3.10899793e+02] [ 9.33527568e-01 3.19956922e-01 -1.61721512e-01 2.00243234e+02] [ 1.70521266e-01 5.20735714e-04 9.85353859e-01 2.56613854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.996875 meters 0.013399887478083183 Centerline is valid? [True, True] Translation: X:310.92, Y:200.30, Z:25.67 [[ 3.14673434e-01 -9.47668517e-01 -5.38981624e-02 3.10918918e+02] [ 9.33832917e-01 3.19255680e-01 -1.61344026e-01 2.00296643e+02] [ 1.70107948e-01 4.38800454e-04 9.85425336e-01 2.56724926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.056875 meters 0.013609881453126485 Centerline is valid? [True, True] Translation: X:310.94, Y:200.35, Z:25.68 [[ 3.12920512e-01 -9.48249088e-01 -5.38926755e-02 3.10937151e+02] [ 9.34398376e-01 3.17527380e-01 -1.61480767e-01 2.00349946e+02] [ 1.70236390e-01 1.73415806e-04 9.85403238e-01 2.56811395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.116875 meters 0.013756104877762852 Centerline is valid? [True, True] Translation: X:310.95, Y:200.40, Z:25.69 [[ 3.10727180e-01 -9.48973161e-01 -5.38382749e-02 3.10954955e+02] [ 9.35133836e-01 3.15356800e-01 -1.61476925e-01 2.00404100e+02] [ 1.70215534e-01 -1.70723118e-04 9.85406841e-01 2.56906457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.176875 meters 0.013595463600887028 Centerline is valid? [True, True] Translation: X:310.97, Y:200.46, Z:25.70 [[ 3.08987495e-01 -9.49569968e-01 -5.33254544e-02 3.10972632e+02] [ 9.35978446e-01 3.13554902e-01 -1.60086453e-01 2.00457947e+02] [ 1.68733746e-01 -4.46763781e-04 9.85661566e-01 2.57021888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.236875 meters 0.013653252799197416 Centerline is valid? [True, True] Translation: X:310.99, Y:200.51, Z:25.71 [[ 3.08030803e-01 -9.49886222e-01 -5.32277169e-02 3.10988747e+02] [ 9.36323748e-01 3.12595329e-01 -1.59943736e-01 2.00511448e+02] [ 1.68567087e-01 -5.70778127e-04 9.85690018e-01 2.57103161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.296875 meters 0.013598953598148805 Centerline is valid? [True, True] Translation: X:311.00, Y:200.57, Z:25.72 [[ 3.09451831e-01 -9.49412284e-01 -5.34404336e-02 3.11004052e+02] [ 9.35703118e-01 3.14032243e-01 -1.60758902e-01 2.00566616e+02] [ 1.69408496e-01 -2.57243671e-04 9.85545887e-01 2.57184471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.356875 meters 0.013510293086314462 Centerline is valid? [True, True] Translation: X:311.02, Y:200.62, Z:25.73 [[ 3.11573630e-01 -9.48712953e-01 -5.35313544e-02 3.11019114e+02] [ 9.34918261e-01 3.16138738e-01 -1.61195981e-01 2.00622361e+02] [ 1.69852050e-01 1.76976138e-04 9.85469558e-01 2.57282591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.416875 meters 0.013845180145844946 Centerline is valid? [True, True] Translation: X:311.03, Y:200.68, Z:25.74 [[ 3.15462555e-01 -9.47411933e-01 -5.37959526e-02 3.11032319e+02] [ 9.33433509e-01 3.20015235e-01 -1.62148490e-01 2.00678409e+02] [ 1.70836939e-01 9.36832160e-04 9.85298870e-01 2.57354451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.476875 meters 0.01409211130390384 Centerline is valid? [True, True] Translation: X:311.05, Y:200.73, Z:25.75 [[ 3.18331946e-01 -9.46481019e-01 -5.32771320e-02 3.11046303e+02] [ 9.32736188e-01 3.22756133e-01 -1.60722374e-01 2.00733056e+02] [ 1.69316198e-01 1.46955716e-03 9.85560686e-01 2.57451779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.536875 meters 0.013948994299946518 Centerline is valid? [True, True] Translation: X:311.06, Y:200.79, Z:25.76 [[ 3.17758389e-01 -9.46719207e-01 -5.24628368e-02 3.11062170e+02] [ 9.33369829e-01 3.22057219e-01 -1.58429514e-01 2.00786754e+02] [ 1.66884299e-01 1.37507812e-03 9.85975527e-01 2.57558044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.596875 meters 0.013704657207881723 Centerline is valid? [True, True] Translation: X:311.08, Y:200.84, Z:25.77 [[ 3.16284143e-01 -9.47244175e-01 -5.18923317e-02 3.11080866e+02] [ 9.34165720e-01 3.20510806e-01 -1.56866918e-01 2.00840877e+02] [ 1.65223327e-01 1.13848129e-03 9.86255523e-01 2.57665230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.656875 meters 0.013341469255264197 Centerline is valid? [True, True] Translation: X:311.10, Y:200.89, Z:25.78 [[ 3.13753772e-01 -9.48108794e-01 -5.14614894e-02 3.11099831e+02] [ 9.35235594e-01 3.17945260e-01 -1.55708690e-01 2.00894834e+02] [ 1.63990715e-01 7.25572342e-04 9.86461616e-01 2.57765603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.716875 meters 0.01330956702780075 Centerline is valid? [True, True] Translation: X:311.12, Y:200.95, Z:25.78 [[ 3.12464009e-01 -9.48526956e-01 -5.16028765e-02 3.11117706e+02] [ 9.35563526e-01 3.16695920e-01 -1.56283665e-01 2.00949057e+02] [ 1.64581690e-01 5.55251417e-04 9.86363300e-01 2.57847163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.776875 meters 0.013276604175395557 Centerline is valid? [True, True] Translation: X:311.14, Y:201.00, Z:25.79 [[ 3.11935486e-01 -9.48642501e-01 -5.26655219e-02 3.11135063e+02] [ 9.35108732e-01 3.16349637e-01 -1.59670184e-01 2.01004192e+02] [ 1.68130641e-01 5.58807032e-04 9.85764564e-01 2.57900034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.836875 meters 0.013595750694061826 Centerline is valid? [True, True] Translation: X:311.15, Y:201.06, Z:25.80 [[ 3.14052757e-01 -9.47912640e-01 -5.32211711e-02 3.11151032e+02] [ 9.34053283e-01 3.18528818e-01 -1.61504972e-01 2.01059436e+02] [ 1.70045081e-01 1.00967228e-03 9.85435767e-01 2.57974959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.896875 meters 0.013943804225709849 Centerline is valid? [True, True] Translation: X:311.17, Y:201.12, Z:25.81 [[ 3.16822645e-01 -9.46990090e-01 -5.32276316e-02 3.11166494e+02] [ 9.33088756e-01 3.21259007e-01 -1.61672584e-01 2.01115164e+02] [ 1.70202191e-01 1.55543118e-03 9.85407933e-01 2.58068671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.956875 meters 0.014658045810390288 Centerline is valid? [True, True] Translation: X:311.18, Y:201.17, Z:25.82 [[ 3.19415481e-01 -9.46126485e-01 -5.30888339e-02 3.11181078e+02] [ 9.32260131e-01 3.23790709e-01 -1.61402063e-01 2.01169904e+02] [ 1.69896438e-01 2.06171434e-03 9.85459766e-01 2.58162453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.016875 meters 0.014742927028358412 Centerline is valid? [True, True] Translation: X:311.20, Y:201.22, Z:25.83 [[ 3.20585250e-01 -9.45766250e-01 -5.24528161e-02 3.11197671e+02] [ 9.32201216e-01 3.24839988e-01 -1.59624168e-01 2.01223239e+02] [ 1.68005923e-01 2.27657483e-03 9.85783357e-01 2.58282736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07687500000003 meters 0.014359764526679194 Centerline is valid? [True, True] Translation: X:311.21, Y:201.28, Z:25.84 [[ 3.20393065e-01 -9.45865111e-01 -5.18408773e-02 3.11214414e+02] [ 9.32590702e-01 3.24552186e-01 -1.57925492e-01 2.01277594e+02] [ 1.66201283e-01 2.25191218e-03 9.86089277e-01 2.58394728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13687500000003 meters 0.014312062186442437 Centerline is valid? [True, True] Translation: X:311.23, Y:201.33, Z:25.85 [[ 3.20158833e-01 -9.45959863e-01 -5.15583042e-02 3.11230076e+02] [ 9.32806511e-01 3.24275990e-01 -1.57216713e-01 2.01332336e+02] [ 1.65439820e-01 2.24039737e-03 9.86217342e-01 2.58482431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19687500000003 meters 0.014118486131049815 Centerline is valid? [True, True] Translation: X:311.25, Y:201.39, Z:25.86 [[ 3.18315234e-01 -9.46566117e-01 -5.18459005e-02 3.11247323e+02] [ 9.33245316e-01 3.22503683e-01 -1.58254713e-01 2.01386863e+02] [ 1.66519043e-01 1.98994224e-03 9.86036231e-01 2.58561808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25687500000004 meters 0.014089339601968046 Centerline is valid? [True, True] Translation: X:311.26, Y:201.44, Z:25.86 [[ 3.16816757e-01 -9.47031101e-01 -5.25284276e-02 3.11263622e+02] [ 9.33334515e-01 3.21136700e-01 -1.60492686e-01 2.01440942e+02] [ 1.68860371e-01 1.82017789e-03 9.85638302e-01 2.58620635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31687500000004 meters 0.013826695471568617 Centerline is valid? [True, True] Translation: X:311.28, Y:201.50, Z:25.87 [[ 3.15576012e-01 -9.47437170e-01 -5.26743754e-02 3.11280035e+02] [ 9.33638786e-01 3.19937548e-01 -1.61116672e-01 2.01495068e+02] [ 1.69500434e-01 1.66571688e-03 9.85528705e-01 2.58698950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.376875 meters 0.013834174566975554 Centerline is valid? [True, True] Translation: X:311.30, Y:201.55, Z:25.88 [[ 3.15059899e-01 -9.47612814e-01 -5.26043165e-02 3.11296999e+02] [ 9.33825160e-01 3.19417156e-01 -1.61069090e-01 2.01549262e+02] [ 1.69433854e-01 1.62317695e-03 9.85540225e-01 2.58784627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.436875 meters 0.013781518025651196 Centerline is valid? [True, True] Translation: X:311.31, Y:201.60, Z:25.89 [[ 3.14980689e-01 -9.47641928e-01 -5.25541835e-02 3.11313845e+02] [ 9.33852455e-01 3.19330582e-01 -1.61082497e-01 2.01603536e+02] [ 1.69430686e-01 1.66002262e-03 9.85540708e-01 2.58880098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.496875 meters 0.013455593243171787 Centerline is valid? [True, True] Translation: X:311.33, Y:201.66, Z:25.90 [[ 3.13314200e-01 -9.48204814e-01 -5.23626172e-02 3.11331531e+02] [ 9.34495193e-01 3.17656505e-01 -1.60664495e-01 2.01656947e+02] [ 1.68976173e-01 1.40585356e-03 9.85619134e-01 2.58968307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.556875 meters 0.01304513880950957 Centerline is valid? [True, True] Translation: X:311.35, Y:201.71, Z:25.91 [[ 3.10203452e-01 -9.49243492e-01 -5.20635264e-02 3.11351695e+02] [ 9.35677122e-01 3.14540933e-01 -1.59913493e-01 2.01709596e+02] [ 1.68172953e-01 8.91067230e-04 9.85757102e-01 2.59068786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.616875 meters 0.012747033762286145 Centerline is valid? [True, True] Translation: X:311.37, Y:201.76, Z:25.91 [[ 3.07032097e-01 -9.50277071e-01 -5.20074995e-02 3.11371624e+02] [ 9.36725782e-01 3.11405433e-01 -1.59910808e-01 2.01761983e+02] [ 1.68154993e-01 3.80985270e-04 9.85760495e-01 2.59148947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.676875 meters 0.012519853930302688 Centerline is valid? [True, True] Translation: X:311.39, Y:201.82, Z:25.92 [[ 3.05211919e-01 -9.50849789e-01 -5.22528726e-02 3.11392646e+02] [ 9.37147438e-01 3.09652488e-01 -1.60841588e-01 2.01815393e+02] [ 1.69116422e-01 1.22124200e-04 9.85596074e-01 2.59233872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.736875 meters 0.012601863939453024 Centerline is valid? [True, True] Translation: X:311.41, Y:201.87, Z:25.93 [[ 3.07443664e-01 -9.50130391e-01 -5.22554602e-02 3.11409947e+02] [ 9.36390193e-01 3.11852397e-01 -1.61001519e-01 2.01869833e+02] [ 1.69268427e-01 5.67396359e-04 9.85569824e-01 2.59319124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.796875 meters 0.012754497149111806 Centerline is valid? [True, True] Translation: X:311.43, Y:201.92, Z:25.94 [[ 3.10051751e-01 -9.49301590e-01 -5.19076416e-02 3.11426267e+02] [ 9.35707625e-01 3.14365013e-01 -1.60080853e-01 2.01924658e+02] [ 1.68282955e-01 1.06297274e-03 9.85738159e-01 2.59407521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.856875 meters 0.013459998619633954 Centerline is valid? [True, True] Translation: X:311.44, Y:201.98, Z:25.95 [[ 3.13921183e-01 -9.48033121e-01 -5.18333147e-02 3.11441404e+02] [ 9.34435018e-01 3.18166598e-01 -1.60003793e-01 2.01980019e+02] [ 1.68180524e-01 1.79371543e-03 9.85754581e-01 2.59503160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.916875 meters 0.013529173660833166 Centerline is valid? [True, True] Translation: X:311.46, Y:202.03, Z:25.96 [[ 3.15730727e-01 -9.47427016e-01 -5.19245343e-02 3.11459176e+02] [ 9.33746395e-01 3.19964586e-01 -1.60437942e-01 2.02034345e+02] [ 1.68617253e-01 2.17084131e-03 9.85679212e-01 2.59602954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.976875 meters 0.013773780669868266 Centerline is valid? [True, True] Translation: X:311.48, Y:202.09, Z:25.97 [[ 3.15188283e-01 -9.47592958e-01 -5.21913010e-02 3.11475401e+02] [ 9.33747916e-01 3.19473016e-01 -1.61405769e-01 2.02088379e+02] [ 1.69620682e-01 2.13968862e-03 9.85507101e-01 2.59672424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.036875 meters 0.012827798865723867 Centerline is valid? [True, True] Translation: X:311.50, Y:202.14, Z:25.98 [[ 3.11184332e-01 -9.48915259e-01 -5.21933293e-02 3.11496364e+02] [ 9.35059171e-01 3.15527580e-01 -1.61575661e-01 2.02141840e+02] [ 1.69790045e-01 1.47596279e-03 9.85479154e-01 2.59768718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.096875 meters 0.012355125385392402 Centerline is valid? [True, True] Translation: X:311.52, Y:202.20, Z:25.99 [[ 3.05228453e-01 -9.50862800e-01 -5.19184742e-02 3.11516646e+02] [ 9.37154625e-01 3.09612233e-01 -1.60877202e-01 2.02196023e+02] [ 1.69046742e-01 4.48661288e-04 9.85607933e-01 2.59863864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.156875 meters 0.012350317373974708 Centerline is valid? [True, True] Translation: X:311.54, Y:202.25, Z:26.00 [[ 3.00666285e-01 -9.52321986e-01 -5.17940243e-02 3.11537108e+02] [ 9.38675337e-01 3.05094632e-01 -1.60642080e-01 2.02249239e+02] [ 1.68785063e-01 -3.18115917e-04 9.85652830e-01 2.59970245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.216875 meters 0.012784803858210608 Centerline is valid? [True, True] Translation: X:311.56, Y:202.30, Z:26.01 [[ 2.94758625e-01 -9.54157541e-01 -5.19686461e-02 3.11557075e+02] [ 9.40418268e-01 2.99301952e-01 -1.61343804e-01 2.02304032e+02] [ 1.69501724e-01 -1.31478657e-03 9.85529014e-01 2.60053427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.276875 meters 0.013068581769190004 Centerline is valid? [True, True] Translation: X:311.58, Y:202.36, Z:26.02 [[ 2.92622576e-01 -9.54814787e-01 -5.19687488e-02 3.11575154e+02] [ 9.41059582e-01 2.97196914e-01 -1.61495690e-01 2.02358436e+02] [ 1.69643425e-01 -1.64840411e-03 9.85504131e-01 2.60150160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.336875 meters 0.01318512862568433 Centerline is valid? [True, True] Translation: X:311.59, Y:202.41, Z:26.02 [[ 2.93203079e-01 -9.54639685e-01 -5.19136473e-02 3.11589662e+02] [ 9.40883530e-01 2.97759688e-01 -1.61484832e-01 2.02412771e+02] [ 1.69617620e-01 -1.49684589e-03 9.85508814e-01 2.60225888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.396875 meters 0.012656932173811279 Centerline is valid? [True, True] Translation: X:311.60, Y:202.47, Z:26.03 [[ 2.96503013e-01 -9.53625140e-01 -5.18175170e-02 3.11602150e+02] [ 9.39876225e-01 3.00995599e-01 -1.61351573e-01 2.02469156e+02] [ 1.69465761e-01 -8.60824821e-04 9.85535699e-01 2.60323563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.456875 meters 0.01254548640739391 Centerline is valid? [True, True] Translation: X:311.61, Y:202.53, Z:26.04 [[ 3.00051800e-01 -9.52512050e-01 -5.18624266e-02 3.11614325e+02] [ 9.38695160e-01 3.04500840e-01 -1.61649729e-01 2.02525803e+02] [ 1.69765467e-01 -1.79716715e-04 9.85484477e-01 2.60409628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.516875 meters 0.012720306122134043 Centerline is valid? [True, True] Translation: X:311.63, Y:202.58, Z:26.05 [[ 3.02852788e-01 -9.51635888e-01 -5.16655112e-02 3.11628072e+02] [ 9.37884994e-01 3.07227938e-01 -1.61191601e-01 2.02581396e+02] [ 1.69268801e-01 3.61018237e-04 9.85569857e-01 2.60502048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57687500000003 meters 0.013139924304149531 Centerline is valid? [True, True] Translation: X:311.64, Y:202.64, Z:26.06 [[ 3.07740500e-01 -9.50080538e-01 -5.14077481e-02 3.11638311e+02] [ 9.36419304e-01 3.12002195e-01 -1.60541327e-01 2.02636920e+02] [ 1.68566521e-01 1.26586064e-03 9.85689467e-01 2.60594243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63687500000003 meters 0.013639185173347128 Centerline is valid? [True, True] Translation: X:311.65, Y:202.69, Z:26.07 [[ 3.10071344e-01 -9.49331613e-01 -5.12371964e-02 3.11651489e+02] [ 9.35723994e-01 3.14271429e-01 -1.60168901e-01 2.02692672e+02] [ 1.68155788e-01 1.71991250e-03 9.85758932e-01 2.60684372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69687500000003 meters 0.01387475665288063 Centerline is valid? [True, True] Translation: X:311.67, Y:202.75, Z:26.08 [[ 3.11112017e-01 -9.48990867e-01 -5.12410781e-02 3.11666658e+02] [ 9.35350807e-01 3.15297513e-01 -1.60331990e-01 2.02747255e+02] [ 1.68309778e-01 1.95282504e-03 9.85732218e-01 2.60773843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75687500000004 meters 0.01395036605022273 Centerline is valid? [True, True] Translation: X:311.68, Y:202.80, Z:26.09 [[ 3.10835190e-01 -9.49077902e-01 -5.13090612e-02 3.11681573e+02] [ 9.35373200e-01 3.15035365e-01 -1.60716197e-01 2.02802165e+02] [ 1.68696360e-01 1.96312902e-03 9.85666112e-01 2.60866108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81687500000004 meters 0.013690610267934524 Centerline is valid? [True, True] Translation: X:311.70, Y:202.86, Z:26.09 [[ 3.09155607e-01 -9.49624349e-01 -5.13459532e-02 3.11696921e+02] [ 9.35877982e-01 3.13385759e-01 -1.61002388e-01 2.02856914e+02] [ 1.68982878e-01 1.72124400e-03 9.85617484e-01 2.60946469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.876875 meters 0.013031275578517175 Centerline is valid? [True, True] Translation: X:311.71, Y:202.91, Z:26.10 [[ 3.05782723e-01 -9.50734464e-01 -5.09990643e-02 3.11714671e+02] [ 9.37161490e-01 3.10004264e-01 -1.60080290e-01 2.02911078e+02] [ 1.68003776e-01 1.15542794e-03 9.85785675e-01 2.61048278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.936875 meters 0.012690261808107407 Centerline is valid? [True, True] Translation: X:311.73, Y:202.96, Z:26.11 [[ 3.01497065e-01 -9.52108133e-01 -5.08883340e-02 3.11733140e+02] [ 9.38587991e-01 3.05761195e-01 -1.59883315e-01 2.02964573e+02] [ 1.67785882e-01 4.41171076e-04 9.85823363e-01 2.61140150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.996875 meters 0.012781232439954786 Centerline is valid? [True, True] Translation: X:311.75, Y:203.02, Z:26.12 [[ 2.94083903e-01 -9.54424696e-01 -5.08739288e-02 3.11752750e+02] [ 9.40917329e-01 2.98450729e-01 -1.60005442e-01 2.03018467e+02] [ 1.67896506e-01 -8.13136326e-04 9.85804292e-01 2.61233164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.056875 meters 0.013523008485471945 Centerline is valid? [True, True] Translation: X:311.77, Y:203.07, Z:26.13 [[ 2.86289767e-01 -9.56810715e-01 -5.05116257e-02 3.11772668e+02] [ 9.43505959e-01 2.90703819e-01 -1.59021366e-01 2.03072836e+02] [ 1.66837270e-01 -2.13183000e-03 9.85982140e-01 2.61334345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.116875 meters 0.014441841207555716 Centerline is valid? [True, True] Translation: X:311.79, Y:203.13, Z:26.14 [[ 2.82075942e-01 -9.58074825e-01 -5.02572674e-02 3.11791351e+02] [ 9.44899679e-01 2.86504269e-01 -1.58366349e-01 2.03126955e+02] [ 1.66125734e-01 -2.81673872e-03 9.86100556e-01 2.61440083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.176875 meters 0.015675208556288293 Centerline is valid? [True, True] Translation: X:311.81, Y:203.18, Z:26.15 [[ 2.78542147e-01 -9.59123809e-01 -4.99579045e-02 3.11805499e+02] [ 9.46098669e-01 2.82966643e-01 -1.57566453e-01 2.03181170e+02] [ 1.65262157e-01 -3.37620868e-03 9.86243895e-01 2.61534857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.236875 meters 0.01436694858147648 Centerline is valid? [True, True] Translation: X:311.82, Y:203.24, Z:26.16 [[ 2.79161168e-01 -9.58962745e-01 -4.95933051e-02 3.11816502e+02] [ 9.46099415e-01 2.83513926e-01 -1.56575066e-01 2.03237481e+02] [ 1.64210047e-01 -3.21051859e-03 9.86420171e-01 2.61638371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.296875 meters 0.013874898353224762 Centerline is valid? [True, True] Translation: X:311.83, Y:203.29, Z:26.17 [[ 2.82163007e-01 -9.58086628e-01 -4.95383798e-02 3.11826578e+02] [ 9.45212293e-01 2.86466395e-01 -1.56559016e-01 2.03294563e+02] [ 1.64188181e-01 -2.64912298e-03 9.86425478e-01 2.61732226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.356875 meters 0.013431883487664891 Centerline is valid? [True, True] Translation: X:311.84, Y:203.35, Z:26.18 [[ 2.84855378e-01 -9.57275266e-01 -4.98144323e-02 3.11836558e+02] [ 9.44218323e-01 2.89170283e-01 -1.57582697e-01 2.03352401e+02] [ 1.65254872e-01 -2.14742093e-03 9.86248557e-01 2.61797523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.416875 meters 0.013331075089966896 Centerline is valid? [True, True] Translation: X:311.85, Y:203.41, Z:26.19 [[ 2.85027024e-01 -9.57205516e-01 -5.01716696e-02 3.11850152e+02] [ 9.43932558e-01 2.89401595e-01 -1.58864858e-01 2.03408396e+02] [ 1.66586080e-01 -2.07789460e-03 9.86024726e-01 2.61875336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.476875 meters 0.013319369764094322 Centerline is valid? [True, True] Translation: X:311.86, Y:203.46, Z:26.20 [[ 2.85496615e-01 -9.57048851e-01 -5.04894028e-02 3.11862979e+02] [ 9.43576382e-01 2.89920136e-01 -1.60031016e-01 2.03464589e+02] [ 1.67795394e-01 -1.95229480e-03 9.85819910e-01 2.61962799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.536875 meters 0.01311016533198069 Centerline is valid? [True, True] Translation: X:311.87, Y:203.52, Z:26.21 [[ 2.87396253e-01 -9.56491024e-01 -5.02823413e-02 3.11874749e+02] [ 9.43094066e-01 2.91757520e-01 -1.59534111e-01 2.03520183e+02] [ 1.67263196e-01 -1.57147206e-03 9.85911027e-01 2.62054666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.596875 meters 0.012677883751038682 Centerline is valid? [True, True] Translation: X:311.89, Y:203.58, Z:26.21 [[ 2.90061657e-01 -9.55686477e-01 -5.02751619e-02 3.11886025e+02] [ 9.42253958e-01 2.94384509e-01 -1.59672285e-01 2.03577240e+02] [ 1.67396872e-01 -1.05716267e-03 9.85889025e-01 2.62142190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.656875 meters 0.012485128997792989 Centerline is valid? [True, True] Translation: X:311.90, Y:203.63, Z:26.22 [[ 2.93409780e-01 -9.54651717e-01 -5.05054487e-02 3.11898568e+02] [ 9.41052388e-01 2.97724580e-01 -1.60563002e-01 2.03632953e+02] [ 1.68318459e-01 -4.17518030e-04 9.85732581e-01 2.62231526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.716875 meters 0.012503158335762437 Centerline is valid? [True, True] Translation: X:311.91, Y:203.69, Z:26.23 [[ 2.95839464e-01 -9.53900164e-01 -5.05320599e-02 3.11912638e+02] [ 9.40248305e-01 3.00124098e-01 -1.60806254e-01 2.03688850e+02] [ 1.68559001e-01 6.01523906e-05 9.85691564e-01 2.62327780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.776875 meters 0.012710270688077787 Centerline is valid? [True, True] Translation: X:311.93, Y:203.75, Z:26.24 [[ 2.99961517e-01 -9.52596543e-01 -5.08223796e-02 3.11926537e+02] [ 9.38739212e-01 3.04235268e-01 -1.61893771e-01 2.03745312e+02] [ 1.69681407e-01 8.52940554e-04 9.85498601e-01 2.62412313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.836875 meters 0.01313370356404563 Centerline is valid? [True, True] Translation: X:311.94, Y:203.80, Z:26.25 [[ 3.03622357e-01 -9.51410150e-01 -5.13048818e-02 3.11942261e+02] [ 9.37242281e-01 3.07922424e-01 -1.63586943e-01 2.03801355e+02] [ 1.71436202e-01 1.58354879e-03 9.85193951e-01 2.62503849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.896875 meters 0.013494880549318557 Centerline is valid? [True, True] Translation: X:311.96, Y:203.86, Z:26.26 [[ 3.05780886e-01 -9.50718029e-01 -5.13154819e-02 3.11958641e+02] [ 9.36507658e-01 3.10050223e-01 -1.63775043e-01 2.03856556e+02] [ 1.71614263e-01 2.02193608e-03 9.85162147e-01 2.62603892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.956875 meters 0.015008592208783776 Centerline is valid? [True, True] Translation: X:311.97, Y:203.91, Z:26.27 [[ 3.10360909e-01 -9.49234155e-01 -5.12896263e-02 3.11971591e+02] [ 9.34991127e-01 3.14557042e-01 -1.63845841e-01 2.03911534e+02] [ 1.71661581e-01 2.89599843e-03 9.85151722e-01 2.62686809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.016875 meters 0.015081252026726957 Centerline is valid? [True, True] Translation: X:311.99, Y:203.97, Z:26.28 [[ 3.11669226e-01 -9.48811338e-01 -5.11794669e-02 3.11990162e+02] [ 9.34603621e-01 3.15827573e-01 -1.63612396e-01 2.03965960e+02] [ 1.71401183e-01 3.16043369e-03 9.85196247e-01 2.62793472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07687500000003 meters 0.015038005023517789 Centerline is valid? [True, True] Translation: X:312.01, Y:204.02, Z:26.29 [[ 3.11843104e-01 -9.48767712e-01 -5.09284417e-02 3.12008693e+02] [ 9.34672776e-01 3.15958025e-01 -1.62964191e-01 2.04020176e+02] [ 1.70706413e-01 3.21783124e-03 9.85316683e-01 2.62898062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13687500000003 meters 0.01515332295751941 Centerline is valid? [True, True] Translation: X:312.03, Y:204.07, Z:26.30 [[ 3.11239073e-01 -9.48969511e-01 -5.08636153e-02 3.12028523e+02] [ 9.34884979e-01 3.15352041e-01 -1.62920735e-01 2.04074131e+02] [ 1.70646755e-01 3.15566856e-03 9.85327218e-01 2.62990619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19687500000003 meters 0.014970366366444629 Centerline is valid? [True, True] Translation: X:312.05, Y:204.13, Z:26.31 [[ 3.11149550e-01 -9.48967903e-01 -5.14380884e-02 3.12049999e+02] [ 9.34531871e-01 3.15355959e-01 -1.64926653e-01 2.04127882e+02] [ 1.72731408e-01 3.24632095e-03 9.84963615e-01 2.63089335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25687500000004 meters 0.01618973071924318 Centerline is valid? [True, True] Translation: X:312.07, Y:204.18, Z:26.31 [[ 3.11838377e-01 -9.48709372e-01 -5.20322454e-02 3.12067616e+02] [ 9.33904335e-01 3.16130387e-01 -1.66985843e-01 2.04181930e+02] [ 1.74870008e-01 3.47945485e-03 9.84585382e-01 2.63142642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31687500000004 meters 0.015259414422159834 Centerline is valid? [True, True] Translation: X:312.09, Y:204.23, Z:26.32 [[ 3.11119733e-01 -9.48925228e-01 -5.23967786e-02 3.12090046e+02] [ 9.33898577e-01 3.15482629e-01 -1.68238398e-01 2.04234416e+02] [ 1.76175934e-01 3.40900862e-03 9.84352792e-01 2.63241345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.376875 meters 0.014601222440131342 Centerline is valid? [True, True] Translation: X:312.11, Y:204.29, Z:26.33 [[ 3.08367014e-01 -9.49820343e-01 -5.24509434e-02 3.12114561e+02] [ 9.34744509e-01 3.12781988e-01 -1.68582711e-01 2.04287010e+02] [ 1.76528999e-01 2.95711580e-03 9.84290998e-01 2.63348906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.436875 meters 0.014140718615756926 Centerline is valid? [True, True] Translation: X:312.14, Y:204.34, Z:26.34 [[ 3.04733164e-01 -9.50989478e-01 -5.25043886e-02 3.12139461e+02] [ 9.35869852e-01 3.09214399e-01 -1.68920326e-01 2.04339725e+02] [ 1.76876566e-01 2.33835114e-03 9.84230264e-01 2.63446476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.496875 meters 0.014138899741667708 Centerline is valid? [True, True] Translation: X:312.16, Y:204.39, Z:26.35 [[ 3.03549088e-01 -9.51368896e-01 -5.24897560e-02 3.12159326e+02] [ 9.36233715e-01 3.08046295e-01 -1.69038192e-01 2.04393299e+02] [ 1.76986953e-01 2.16870963e-03 9.84210808e-01 2.63541068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.556875 meters 0.014208224514538964 Centerline is valid? [True, True] Translation: X:312.18, Y:204.45, Z:26.37 [[ 3.03124205e-01 -9.51508203e-01 -5.24199956e-02 3.12181685e+02] [ 9.36385080e-01 3.07615945e-01 -1.68983468e-01 2.04445609e+02] [ 1.76914382e-01 2.13767751e-03 9.84223924e-01 2.63650938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.616875 meters 0.01461930858985972 Centerline is valid? [True, True] Translation: X:312.20, Y:204.50, Z:26.37 [[ 3.03717982e-01 -9.51300169e-01 -5.27577169e-02 3.12199984e+02] [ 9.35945761e-01 3.08257312e-01 -1.70243828e-01 2.04498867e+02] [ 1.78215934e-01 2.32775032e-03 9.83988650e-01 2.63727782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.676875 meters 0.014753966457048932 Centerline is valid? [True, True] Translation: X:312.22, Y:204.55, Z:26.38 [[ 3.05411859e-01 -9.50730539e-01 -5.32450773e-02 3.12220923e+02] [ 9.35047385e-01 3.10006321e-01 -1.71995551e-01 2.04552782e+02] [ 1.80027733e-01 2.74281063e-03 9.83657711e-01 2.63823253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.736875 meters 0.015814235198907067 Centerline is valid? [True, True] Translation: X:312.24, Y:204.61, Z:26.39 [[ 3.05087852e-01 -9.50793936e-01 -5.39656713e-02 3.12241659e+02] [ 9.34650301e-01 3.09811362e-01 -1.74487065e-01 2.04605067e+02] [ 1.82620421e-01 2.79485279e-03 9.83179521e-01 2.63898634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.796875 meters 0.015170851893644366 Centerline is valid? [True, True] Translation: X:312.27, Y:204.66, Z:26.40 [[ 3.03652881e-01 -9.51217812e-01 -5.45857321e-02 3.12265626e+02] [ 9.34676464e-01 3.08509031e-01 -1.76641119e-01 2.04657613e+02] [ 1.84864370e-01 2.61758561e-03 9.82760557e-01 2.64012853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.856875 meters 0.01580296567803847 Centerline is valid? [True, True] Translation: X:312.29, Y:204.71, Z:26.41 [[ 3.03325811e-01 -9.51281486e-01 -5.52900230e-02 3.12287588e+02] [ 9.34274361e-01 3.08312205e-01 -1.79094956e-01 2.04708984e+02] [ 1.87416305e-01 2.66807197e-03 9.82276952e-01 2.64118218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.916875 meters 0.01554589384197689 Centerline is valid? [True, True] Translation: X:312.31, Y:204.76, Z:26.42 [[ 3.03325641e-01 -9.51252553e-01 -5.57865256e-02 3.12307386e+02] [ 9.33906519e-01 3.08400673e-01 -1.80852533e-01 2.04762634e+02] [ 1.89241035e-01 2.75781042e-03 9.81926792e-01 2.64237941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.976875 meters 0.015792539210556504 Centerline is valid? [True, True] Translation: X:312.33, Y:204.82, Z:26.44 [[ 3.02909313e-01 -9.51370304e-01 -5.60401037e-02 3.12327576e+02] [ 9.33833136e-01 3.08037295e-01 -1.81848012e-01 2.04815817e+02] [ 1.90267241e-01 2.75135072e-03 9.81728479e-01 2.64371259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.036875 meters 0.015563160217347213 Centerline is valid? [True, True] Translation: X:312.35, Y:204.87, Z:26.46 [[ 3.02356994e-01 -9.51598869e-01 -5.51347422e-02 3.12346189e+02] [ 9.34599134e-01 3.07331633e-01 -1.79085806e-01 2.04868614e+02] [ 1.87362501e-01 2.61896361e-03 9.82287348e-01 2.64550976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.096875 meters 0.014881884936360142 Centerline is valid? [True, True] Translation: X:312.36, Y:204.92, Z:26.48 [[ 3.03136324e-01 -9.51443064e-01 -5.35207023e-02 3.12362844e+02] [ 9.35398496e-01 3.07813057e-01 -1.74013721e-01 2.04921631e+02] [ 1.82038519e-01 2.68669543e-03 9.83287730e-01 2.64762134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.156875 meters 0.014877374368198646 Centerline is valid? [True, True] Translation: X:312.38, Y:204.98, Z:26.49 [[ 3.04903144e-01 -9.50965044e-01 -5.19572655e-02 3.12377043e+02] [ 9.35814496e-01 3.09284436e-01 -1.69098688e-01 2.04976156e+02] [ 1.76876515e-01 2.93635936e-03 9.84228671e-01 2.64945943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.216875 meters 0.015388428910960846 Centerline is valid? [True, True] Translation: X:312.39, Y:205.03, Z:26.51 [[ 3.06682642e-01 -9.50469567e-01 -5.05307686e-02 3.12389149e+02] [ 9.36110990e-01 3.10801338e-01 -1.64616955e-01 2.05031630e+02] [ 1.72168437e-01 3.18275498e-03 9.85062384e-01 2.65086054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.276875 meters 0.015379138941979112 Centerline is valid? [True, True] Translation: X:312.40, Y:205.09, Z:26.52 [[ 3.05944092e-01 -9.50760899e-01 -4.95169257e-02 3.12404705e+02] [ 9.36953911e-01 3.09910759e-01 -1.61470400e-01 2.05085824e+02] [ 1.68865571e-01 3.00583780e-03 9.85634508e-01 2.65208557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.336875 meters 0.014420521632859415 Centerline is valid? [True, True] Translation: X:312.42, Y:205.14, Z:26.53 [[ 3.02856466e-01 -9.51816222e-01 -4.82062369e-02 3.12423047e+02] [ 9.38722802e-01 3.06659596e-01 -1.57351178e-01 2.05139375e+02] [ 1.64552309e-01 2.40252789e-03 9.86365432e-01 2.65337801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.396875 meters 0.014183581310692561 Centerline is valid? [True, True] Translation: X:312.44, Y:205.19, Z:26.54 [[ 2.99607445e-01 -9.52890887e-01 -4.72687700e-02 3.12438609e+02] [ 9.40292757e-01 3.03307796e-01 -1.54447117e-01 2.05194382e+02] [ 1.61508237e-01 1.82702395e-03 9.86869673e-01 2.65427785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.456875 meters 0.014032977916404146 Centerline is valid? [True, True] Translation: X:312.45, Y:205.25, Z:26.55 [[ 2.98389401e-01 -9.53286930e-01 -4.69871684e-02 3.12454200e+02] [ 9.40819879e-01 3.02061763e-01 -1.53677083e-01 2.05249746e+02] [ 1.60691382e-01 1.64915075e-03 9.87003323e-01 2.65513934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.516875 meters 0.014359754420901922 Centerline is valid? [True, True] Translation: X:312.47, Y:205.31, Z:26.55 [[ 2.98046742e-01 -9.53332437e-01 -4.82224411e-02 3.12467477e+02] [ 9.40169893e-01 3.01917722e-01 -1.57880526e-01 2.05305418e+02] [ 1.65071836e-01 1.71848905e-03 9.86280049e-01 2.65543789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57687500000003 meters 0.014242188366925231 Centerline is valid? [True, True] Translation: X:312.48, Y:205.36, Z:26.56 [[ 2.98252598e-01 -9.53154928e-01 -5.04090334e-02 3.12481287e+02] [ 9.38737088e-01 3.02476304e-01 -1.65168896e-01 2.05362689e+02] [ 1.72679086e-01 1.94122323e-03 9.84976226e-01 2.65570120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63687500000003 meters 0.014865762468944116 Centerline is valid? [True, True] Translation: X:312.49, Y:205.42, Z:26.56 [[ 2.98403720e-01 -9.53047138e-01 -5.15400052e-02 3.12494855e+02] [ 9.37938373e-01 3.02814692e-01 -1.69041031e-01 2.05418359e+02] [ 1.76711141e-01 2.10112374e-03 9.84260513e-01 2.65611899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69687500000003 meters 0.014633745373493165 Centerline is valid? [True, True] Translation: X:312.51, Y:205.47, Z:26.57 [[ 2.97910026e-01 -9.53144646e-01 -5.25823223e-02 3.12509958e+02] [ 9.37380891e-01 3.02507341e-01 -1.72645224e-01 2.05474391e+02] [ 1.80462409e-01 2.14307902e-03 9.83579547e-01 2.65705201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75687500000004 meters 0.01470448513637272 Centerline is valid? [True, True] Translation: X:312.53, Y:205.53, Z:26.58 [[ 2.97247315e-01 -9.53323359e-01 -5.30905620e-02 3.12526100e+02] [ 9.37222460e-01 3.01943929e-01 -1.74481873e-01 2.05528987e+02] [ 1.82368018e-01 2.10660121e-03 9.83228086e-01 2.65814968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81687500000004 meters 0.014556608872463472 Centerline is valid? [True, True] Translation: X:312.54, Y:205.58, Z:26.60 [[ 2.94755770e-01 -9.54106402e-01 -5.29151156e-02 3.12541429e+02] [ 9.38094523e-01 2.99463167e-01 -1.74070322e-01 2.05582233e+02] [ 1.81927736e-01 1.66885152e-03 9.83310487e-01 2.65953125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.876875 meters 0.014071826249887577 Centerline is valid? [True, True] Translation: X:312.56, Y:205.64, Z:26.61 [[ 2.92868255e-01 -9.54778545e-01 -5.12456438e-02 3.12555798e+02] [ 9.39749229e-01 2.97315216e-01 -1.68745518e-01 2.05636405e+02] [ 1.76350710e-01 1.26215105e-03 9.84326589e-01 2.66133629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.936875 meters 0.014037461231948309 Centerline is valid? [True, True] Translation: X:312.57, Y:205.69, Z:26.63 [[ 2.92045627e-01 -9.55146781e-01 -4.90303932e-02 3.12568290e+02] [ 9.41375695e-01 2.96130954e-01 -1.61611443e-01 2.05690467e+02] [ 1.68882067e-01 1.04189476e-03 9.85635715e-01 2.66303258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.996875 meters 0.01398288777180495 Centerline is valid? [True, True] Translation: X:312.58, Y:205.75, Z:26.64 [[ 2.91643464e-01 -9.55326110e-01 -4.79177901e-02 3.12580755e+02] [ 9.42152598e-01 2.95552185e-01 -1.58105622e-01 2.05745638e+02] [ 1.65204636e-01 9.64600683e-04 9.86258839e-01 2.66428693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.056875 meters 0.013989754513569215 Centerline is valid? [True, True] Translation: X:312.59, Y:205.80, Z:26.65 [[ 2.90967834e-01 -9.55551703e-01 -4.75253966e-02 3.12594489e+02] [ 9.42571581e-01 2.94822278e-01 -1.56966998e-01 2.05801259e+02] [ 1.64001628e-01 8.76259279e-04 9.86459679e-01 2.66518453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.116875 meters 0.013539123105084743 Centerline is valid? [True, True] Translation: X:312.61, Y:205.86, Z:26.66 [[ 2.86896798e-01 -9.56784039e-01 -4.74819018e-02 3.12609818e+02] [ 9.43817897e-01 2.90799335e-01 -1.56982560e-01 2.05857275e+02] [ 1.64006113e-01 2.23524989e-04 9.86459297e-01 2.66589003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.176875 meters 0.013652969997425478 Centerline is valid? [True, True] Translation: X:312.63, Y:205.91, Z:26.67 [[ 2.82141964e-01 -9.58180354e-01 -4.78154875e-02 3.12627991e+02] [ 9.45022075e-01 2.86164497e-01 -1.58250300e-01 2.05912118e+02] [ 1.65315423e-01 -5.37640862e-04 9.86240600e-01 2.66670101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.236875 meters 0.01410076561102338 Centerline is valid? [True, True] Translation: X:312.65, Y:205.97, Z:26.67 [[ 2.75848408e-01 -9.59965341e-01 -4.87257669e-02 3.12645380e+02] [ 9.46295140e-01 2.80114364e-01 -1.61435591e-01 2.05967261e+02] [ 1.68621360e-01 -1.57720546e-03 9.85679638e-01 2.66716564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.296875 meters 0.01460665058296148 Centerline is valid? [True, True] Translation: X:312.66, Y:206.02, Z:26.68 [[ 2.71551713e-01 -9.61136624e-01 -4.97600028e-02 3.12660991e+02] [ 9.46865347e-01 2.76063566e-01 -1.65030066e-01 2.06023728e+02] [ 1.72353365e-01 -2.30182501e-03 9.85032497e-01 2.66776789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.356875 meters 0.014788121042791352 Centerline is valid? [True, True] Translation: X:312.68, Y:206.08, Z:26.69 [[ 2.70218720e-01 -9.61454027e-01 -5.08723589e-02 3.12675009e+02] [ 9.46508944e-01 2.74954219e-01 -1.68881607e-01 2.06079556e+02] [ 1.76359471e-01 -2.51617109e-03 9.84322613e-01 2.66859189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.416875 meters 0.014807196458374326 Centerline is valid? [True, True] Translation: X:312.69, Y:206.13, Z:26.69 [[ 2.70376570e-01 -9.61395976e-01 -5.11300982e-02 3.12690314e+02] [ 9.46275604e-01 2.75157652e-01 -1.69855077e-01 2.06134444e+02] [ 1.77366825e-01 -2.45833151e-03 9.84141741e-01 2.66945934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.476875 meters 0.01463868036931029 Centerline is valid? [True, True] Translation: X:312.70, Y:206.19, Z:26.70 [[ 2.72984072e-01 -9.60621884e-01 -5.18198067e-02 3.12701796e+02] [ 9.45040009e-01 2.77852257e-01 -1.72329637e-01 2.06190635e+02] [ 1.79941871e-01 -1.92854453e-03 9.83675355e-01 2.67033826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.536875 meters 0.01394090566552942 Centerline is valid? [True, True] Translation: X:312.71, Y:206.25, Z:26.72 [[ 2.76635184e-01 -9.59612198e-01 -5.11605849e-02 3.12713782e+02] [ 9.44378573e-01 2.81323637e-01 -1.70311839e-01 2.06246255e+02] [ 1.77826000e-01 -1.20071326e-03 9.84061214e-01 2.67177019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.596875 meters 0.013391601566335187 Centerline is valid? [True, True] Translation: X:312.73, Y:206.30, Z:26.73 [[ 2.79968937e-01 -9.58755712e-01 -4.90395614e-02 3.12725795e+02] [ 9.44727188e-01 2.84230803e-01 -1.63411723e-01 2.06300984e+02] [ 1.70610477e-01 -5.78800440e-04 9.85338384e-01 2.67336944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.656875 meters 0.013002905593501984 Centerline is valid? [True, True] Translation: X:312.74, Y:206.36, Z:26.75 [[ 2.82758510e-01 -9.58020113e-01 -4.73823569e-02 3.12738142e+02] [ 9.44893421e-01 2.86700988e-01 -1.58047358e-01 2.06356714e+02] [ 1.64997116e-01 -8.20416940e-05 9.86294046e-01 2.67475815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.716875 meters 0.01304818897689547 Centerline is valid? [True, True] Translation: X:312.75, Y:206.41, Z:26.76 [[ 2.85795003e-01 -9.57170693e-01 -4.63193306e-02 3.12749563e+02] [ 9.44593740e-01 2.89523858e-01 -1.54656399e-01 2.06412119e+02] [ 1.61443124e-01 4.47076351e-04 9.86881917e-01 2.67581015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.776875 meters 0.013096150082611979 Centerline is valid? [True, True] Translation: X:312.76, Y:206.47, Z:26.76 [[ 2.87917535e-01 -9.56508714e-01 -4.68462629e-02 3.12762657e+02] [ 9.43612740e-01 2.91702468e-01 -1.56539667e-01 2.06468212e+02] [ 1.63396726e-01 8.65784394e-04 9.86560064e-01 2.67639959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.836875 meters 0.01336272456833155 Centerline is valid? [True, True] Translation: X:312.78, Y:206.53, Z:26.77 [[ 2.90193607e-01 -9.55792419e-01 -4.74185817e-02 3.12776279e+02] [ 9.42539357e-01 2.94039223e-01 -1.58620606e-01 2.06525270e+02] [ 1.65551295e-01 1.33680633e-03 9.86200275e-01 2.67705169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.896875 meters 0.013867144002096076 Centerline is valid? [True, True] Translation: X:312.79, Y:206.58, Z:26.78 [[ 2.92712280e-01 -9.54967054e-01 -4.85535384e-02 3.12788885e+02] [ 9.41027476e-01 2.96705774e-01 -1.62582205e-01 2.06582614e+02] [ 1.69666765e-01 1.89959424e-03 9.85499660e-01 2.67751494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.956875 meters 0.014372356289151886 Centerline is valid? [True, True] Translation: X:312.80, Y:206.64, Z:26.78 [[ 2.93185478e-01 -9.54770615e-01 -4.95514726e-02 3.12804315e+02] [ 9.40216013e-01 2.97335905e-01 -1.66087956e-01 2.06637499e+02] [ 1.73309332e-01 2.10548884e-03 9.84865190e-01 2.67818999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.016875 meters 0.014148452104547241 Centerline is valid? [True, True] Translation: X:312.82, Y:206.69, Z:26.79 [[ 2.93149049e-01 -9.54765064e-01 -4.98729153e-02 3.12821789e+02] [ 9.39990329e-01 2.97353246e-01 -1.67329703e-01 2.06692494e+02] [ 1.74590428e-01 2.17248521e-03 9.84638747e-01 2.67928381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07687500000003 meters 0.014992263702809486 Centerline is valid? [True, True] Translation: X:312.83, Y:206.75, Z:26.80 [[ 2.94281402e-01 -9.54411489e-01 -4.99716558e-02 3.12834756e+02] [ 9.39542948e-01 2.98484112e-01 -1.67828136e-01 2.06747680e+02] [ 1.75092846e-01 2.43818228e-03 9.84548907e-01 2.68026707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13687500000003 meters 0.015543524775973667 Centerline is valid? [True, True] Translation: X:312.85, Y:206.80, Z:26.81 [[ 2.95451648e-01 -9.54067681e-01 -4.96304716e-02 3.12848239e+02] [ 9.39371110e-01 2.99579253e-01 -1.66835817e-01 2.06800965e+02] [ 1.74040921e-01 2.67048599e-03 9.84734800e-01 2.68148235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19687500000003 meters 0.014558660581460216 Centerline is valid? [True, True] Translation: X:312.87, Y:206.85, Z:26.83 [[ 2.95126649e-01 -9.54203136e-01 -4.89554524e-02 3.12866678e+02] [ 9.39884096e-01 2.99148177e-01 -1.64706574e-01 2.06854858e+02] [ 1.71808463e-01 2.59684798e-03 9.85126950e-01 2.68295197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25687500000004 meters 0.013969269687815429 Centerline is valid? [True, True] Translation: X:312.88, Y:206.91, Z:26.85 [[ 2.93533152e-01 -9.54770240e-01 -4.74560599e-02 3.12884657e+02] [ 9.41302821e-01 2.97336126e-01 -1.59813101e-01 2.06908893e+02] [ 1.66695194e-01 2.23992031e-03 9.86005931e-01 2.68450874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31687500000004 meters 0.01364376145500345 Centerline is valid? [True, True] Translation: X:312.90, Y:206.96, Z:26.86 [[ 2.90731018e-01 -9.55686747e-01 -4.62419505e-02 3.12903026e+02] [ 9.42891348e-01 2.94380535e-01 -1.55871764e-01 2.06963471e+02] [ 1.62577309e-01 1.71562149e-03 9.86694317e-01 2.68577765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.376875 meters 0.013457294462467503 Centerline is valid? [True, True] Translation: X:312.92, Y:207.02, Z:26.87 [[ 2.88438918e-01 -9.56383168e-01 -4.61976918e-02 3.12921420e+02] [ 9.43605098e-01 2.92111978e-01 -1.55820443e-01 2.07018067e+02] [ 1.62518948e-01 1.35230266e-03 9.86704496e-01 2.68670536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.436875 meters 0.013219044612231985 Centerline is valid? [True, True] Translation: X:312.94, Y:207.07, Z:26.87 [[ 2.86315681e-01 -9.56992044e-01 -4.67927134e-02 3.12939879e+02] [ 9.43860086e-01 2.90112184e-01 -1.57997020e-01 2.07072569e+02] [ 1.64777027e-01 1.07124984e-03 9.86330261e-01 2.68734797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.496875 meters 0.013263229438064461 Centerline is valid? [True, True] Translation: X:312.96, Y:207.13, Z:26.88 [[ 2.86762141e-01 -9.56779152e-01 -4.83852027e-02 3.12956566e+02] [ 9.42697525e-01 2.90812645e-01 -1.63552383e-01 2.07128794e+02] [ 1.70554539e-01 1.28802057e-03 9.85347396e-01 2.68758962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.556875 meters 0.013622300536159655 Centerline is valid? [True, True] Translation: X:312.97, Y:207.18, Z:26.88 [[ 2.87397178e-01 -9.56522664e-01 -4.96714674e-02 3.12974289e+02] [ 9.41642057e-01 2.91653990e-01 -1.68071970e-01 2.07183314e+02] [ 1.75251531e-01 1.53066727e-03 9.84522503e-01 2.68820215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.616875 meters 0.01363738438830651 Centerline is valid? [True, True] Translation: X:312.99, Y:207.24, Z:26.89 [[ 2.87523958e-01 -9.56469008e-01 -4.99700950e-02 3.12992011e+02] [ 9.41375029e-01 2.91829394e-01 -1.69259150e-01 2.07237889e+02] [ 1.76473874e-01 1.62546123e-03 9.84303982e-01 2.68921892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.676875 meters 0.013582421727012203 Centerline is valid? [True, True] Translation: X:313.01, Y:207.29, Z:26.90 [[ 2.88070937e-01 -9.56315012e-01 -4.97667829e-02 3.13008980e+02] [ 9.41312132e-01 2.92332841e-01 -1.68739384e-01 2.07292341e+02] [ 1.75916471e-01 1.76283584e-03 9.84403519e-01 2.69038935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.736875 meters 0.013975538244674863 Centerline is valid? [True, True] Translation: X:313.03, Y:207.35, Z:26.92 [[ 2.89843509e-01 -9.55820345e-01 -4.89715087e-02 3.13025966e+02] [ 9.41258740e-01 2.93944095e-01 -1.66219293e-01 2.07345988e+02] [ 1.73270668e-01 2.08272272e-03 9.84872041e-01 2.69164131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.796875 meters 0.01441789007376261 Centerline is valid? [True, True] Translation: X:313.04, Y:207.40, Z:26.93 [[ 2.91917520e-01 -9.55236296e-01 -4.80393647e-02 3.13042172e+02] [ 9.41189639e-01 2.95833881e-01 -1.63231055e-01 2.07400720e+02] [ 1.70135901e-01 2.43585247e-03 9.85417598e-01 2.69287634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.856875 meters 0.014910166551012396 Centerline is valid? [True, True] Translation: X:313.06, Y:207.45, Z:26.94 [[ 2.92702847e-01 -9.55038412e-01 -4.71876535e-02 3.13059005e+02] [ 9.41458469e-01 2.96471090e-01 -1.60501852e-01 2.07454218e+02] [ 1.67275209e-01 2.55413292e-03 9.85906933e-01 2.69406528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.916875 meters 0.014222917225903915 Centerline is valid? [True, True] Translation: X:313.08, Y:207.51, Z:26.95 [[ 2.91561209e-01 -9.55419899e-01 -4.65282513e-02 3.13079314e+02] [ 9.42196060e-01 2.95241057e-01 -1.58427594e-01 2.07507467e+02] [ 1.65101926e-01 2.35260587e-03 9.86273704e-01 2.69522407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.976875 meters 0.013458980910566432 Centerline is valid? [True, True] Translation: X:313.10, Y:207.56, Z:26.96 [[ 2.87315958e-01 -9.56728731e-01 -4.60399379e-02 3.13100902e+02] [ 9.43771774e-01 2.90976723e-01 -1.56931145e-01 2.07561432e+02] [ 1.63537085e-01 1.63762824e-03 9.86535828e-01 2.69608218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.036875 meters 0.013082385270454761 Centerline is valid? [True, True] Translation: X:313.12, Y:207.61, Z:26.97 [[ 2.82712028e-01 -9.58091757e-01 -4.61962641e-02 3.13121893e+02] [ 9.45036552e-01 2.86460058e-01 -1.57627890e-01 2.07614769e+02] [ 1.64255366e-01 9.06142288e-04 9.86417434e-01 2.69671918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.096875 meters 0.012922397297453501 Centerline is valid? [True, True] Translation: X:313.14, Y:207.67, Z:26.97 [[ 2.79808113e-01 -9.58925167e-01 -4.65826495e-02 3.13141426e+02] [ 9.45631462e-01 2.83658773e-01 -1.59118946e-01 2.07668749e+02] [ 1.65796739e-01 4.72753053e-04 9.86159834e-01 2.69742528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.156875 meters 0.012886792598078657 Centerline is valid? [True, True] Translation: X:313.16, Y:207.72, Z:26.98 [[ 2.76408695e-01 -9.59859586e-01 -4.76215108e-02 3.13161018e+02] [ 9.45945455e-01 2.80480969e-01 -1.62842326e-01 2.07723435e+02] [ 1.69662695e-01 -3.63169189e-05 9.85502191e-01 2.69805432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.216875 meters 0.013081294267381178 Centerline is valid? [True, True] Translation: X:313.18, Y:207.78, Z:26.99 [[ 2.74836487e-01 -9.60274950e-01 -4.83417655e-02 3.13179657e+02] [ 9.45910174e-01 2.79055477e-01 -1.65475025e-01 2.07778527e+02] [ 1.72391556e-01 -2.48393137e-04 9.85028472e-01 2.69882545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.276875 meters 0.013127244223660055 Centerline is valid? [True, True] Translation: X:313.20, Y:207.83, Z:27.00 [[ 2.75131677e-01 -9.60178416e-01 -4.85795233e-02 3.13195985e+02] [ 9.45639803e-01 2.79387526e-01 -1.66457120e-01 2.07832830e+02] [ 1.73401047e-01 -1.41104243e-04 9.84851287e-01 2.69983609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.336875 meters 0.01309956649206072 Centerline is valid? [True, True] Translation: X:313.21, Y:207.89, Z:27.01 [[ 2.77069296e-01 -9.59636526e-01 -4.82736246e-02 3.13210961e+02] [ 9.45241322e-01 2.81243088e-01 -1.65593385e-01 2.07887515e+02] [ 1.72486084e-01 2.50617784e-04 9.85011923e-01 2.70107151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.396875 meters 0.013305716586075225 Centerline is valid? [True, True] Translation: X:313.22, Y:207.94, Z:27.02 [[ 2.80743074e-01 -9.58619383e-01 -4.72462210e-02 3.13224796e+02] [ 9.44790677e-01 2.84689392e-01 -1.62242186e-01 2.07942853e+02] [ 1.68979003e-01 9.10581084e-04 9.85619231e-01 2.70247503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.456875 meters 0.013458751807619105 Centerline is valid? [True, True] Translation: X:313.24, Y:208.00, Z:27.04 [[ 2.83655133e-01 -9.57827412e-01 -4.58956959e-02 3.13239549e+02] [ 9.44745383e-01 2.87340756e-01 -1.57770250e-01 2.07997469e+02] [ 1.64304374e-01 1.39259447e-03 9.86408705e-01 2.70390407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.516875 meters 0.013676158866131301 Centerline is valid? [True, True] Translation: X:313.25, Y:208.05, Z:27.05 [[ 2.84959731e-01 -9.57469142e-01 -4.52856875e-02 3.13254199e+02] [ 9.44702703e-01 2.88531098e-01 -1.55841616e-01 2.08052381e+02] [ 1.62279867e-01 1.62707366e-03 9.86743430e-01 2.70499240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57687500000003 meters 0.014202450427756383 Centerline is valid? [True, True] Translation: X:313.27, Y:208.11, Z:27.06 [[ 2.87288180e-01 -9.56773728e-01 -4.52717824e-02 3.13268719e+02] [ 9.43978718e-01 2.90825970e-01 -1.55962930e-01 2.08108894e+02] [ 1.62387444e-01 2.07070724e-03 9.86724901e-01 2.70580272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63687500000003 meters 0.014486852460117198 Centerline is valid? [True, True] Translation: X:313.28, Y:208.16, Z:27.07 [[ 2.88220362e-01 -9.56477622e-01 -4.56024333e-02 3.13283785e+02] [ 9.43463528e-01 2.91796608e-01 -1.57261918e-01 2.08164417e+02] [ 1.63724141e-01 2.30185433e-03 9.86503476e-01 2.70650888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69687500000003 meters 0.014729246671951388 Centerline is valid? [True, True] Translation: X:313.30, Y:208.22, Z:27.07 [[ 2.88683013e-01 -9.56289371e-01 -4.66128476e-02 3.13299561e+02] [ 9.42658710e-01 2.92411248e-01 -1.60904377e-01 2.08219184e+02] [ 1.67501266e-01 2.51035363e-03 9.85868665e-01 2.70696463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75687500000004 meters 0.014870711853522135 Centerline is valid? [True, True] Translation: X:313.32, Y:208.27, Z:27.08 [[ 2.87550452e-01 -9.56588676e-01 -4.74641283e-02 3.13316594e+02] [ 9.42424367e-01 2.91431263e-01 -1.64024786e-01 2.08272682e+02] [ 1.70736784e-01 2.43405028e-03 9.85313669e-01 2.70767266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81687500000004 meters 0.014723224822075246 Centerline is valid? [True, True] Translation: X:313.33, Y:208.33, Z:27.09 [[ 2.86456431e-01 -9.56911651e-01 -4.75689474e-02 3.13334060e+02] [ 9.42667411e-01 2.90370246e-01 -1.64509188e-01 2.08326025e+02] [ 1.71233365e-01 2.28301828e-03 9.85227853e-01 2.70861588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.876875 meters 0.01409038520560476 Centerline is valid? [True, True] Translation: X:313.36, Y:208.38, Z:27.10 [[ 2.83168868e-01 -9.57889920e-01 -4.75635685e-02 3.13355014e+02] [ 9.43630193e-01 2.87130359e-01 -1.64676095e-01 2.08379005e+02] [ 1.71398516e-01 1.74872417e-03 9.85200229e-01 2.70973375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.936875 meters 0.013209555874609391 Centerline is valid? [True, True] Translation: X:313.38, Y:208.43, Z:27.11 [[ 2.78361891e-01 -9.59326038e-01 -4.69915996e-02 3.13376800e+02] [ 9.45402401e-01 2.82299010e-01 -1.62854444e-01 2.08431118e+02] [ 1.69496190e-01 9.06499754e-04 9.85530426e-01 2.71093050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.996875 meters 0.01283318004380039 Centerline is valid? [True, True] Translation: X:313.40, Y:208.48, Z:27.12 [[ 2.73176278e-01 -9.60853961e-01 -4.61994178e-02 3.13399728e+02] [ 9.47400656e-01 2.77055347e-01 -1.60225880e-01 2.08483165e+02] [ 1.66753467e-01 5.50783992e-07 9.85998621e-01 2.71225055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.056875 meters 0.013115475990882126 Centerline is valid? [True, True] Translation: X:313.42, Y:208.54, Z:27.14 [[ 2.67854351e-01 -9.62381880e-01 -4.55539576e-02 3.13422690e+02] [ 9.49299482e-01 2.71698978e-01 -1.58146007e-01 2.08535730e+02] [ 1.64573815e-01 -8.84252300e-04 9.86364374e-01 2.71350120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.116875 meters 0.013341622237603925 Centerline is valid? [True, True] Translation: X:313.44, Y:208.59, Z:27.15 [[ 2.64442533e-01 -9.63348705e-01 -4.50490810e-02 3.13441691e+02] [ 9.50543505e-01 2.68248492e-01 -1.56556037e-01 2.08589535e+02] [ 1.62902403e-01 -1.42103647e-03 9.86641165e-01 2.71456115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.176875 meters 0.01361551153541296 Centerline is valid? [True, True] Translation: X:313.46, Y:208.64, Z:27.15 [[ 2.62343260e-01 -9.63929667e-01 -4.48955541e-02 3.13460152e+02] [ 9.51192941e-01 2.66151475e-01 -1.56190208e-01 2.08644360e+02] [ 1.62505393e-01 -1.72888578e-03 9.86706141e-01 2.71546772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.236875 meters 0.01359506869813952 Centerline is valid? [True, True] Translation: X:313.48, Y:208.70, Z:27.16 [[ 2.62113529e-01 -9.63971889e-01 -4.53287455e-02 3.13477589e+02] [ 9.50958412e-01 2.65998530e-01 -1.57869822e-01 2.08698406e+02] [ 1.64239451e-01 -1.72593562e-03 9.86418990e-01 2.71612391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.296875 meters 0.013326027406548601 Centerline is valid? [True, True] Translation: X:313.49, Y:208.75, Z:27.17 [[ 2.64618836e-01 -9.63245439e-01 -4.62071083e-02 3.13491433e+02] [ 9.49676332e-01 2.68619933e-01 -1.61115471e-01 2.08752593e+02] [ 1.67605893e-01 -1.24760873e-03 9.85853289e-01 2.71664907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.356875 meters 0.012849266465104928 Centerline is valid? [True, True] Translation: X:313.50, Y:208.81, Z:27.17 [[ 2.69916507e-01 -9.61751075e-01 -4.66899287e-02 3.13503075e+02] [ 9.47837214e-01 2.73924815e-01 -1.63002492e-01 2.08808711e+02] [ 1.69557352e-01 -2.57388635e-04 9.85520288e-01 2.71745529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.416875 meters 0.013032093215996838 Centerline is valid? [True, True] Translation: X:313.52, Y:208.86, Z:27.18 [[ 2.73858088e-01 -9.60636401e-01 -4.66846130e-02 3.13515472e+02] [ 9.46676921e-01 2.77808323e-01 -1.63172742e-01 2.08863547e+02] [ 1.69719050e-01 4.90929483e-04 9.85492366e-01 2.71847790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.476875 meters 0.013846391096471218 Centerline is valid? [True, True] Translation: X:313.53, Y:208.92, Z:27.20 [[ 2.79063377e-01 -9.59183524e-01 -4.57230553e-02 3.13525572e+02] [ 9.45747180e-01 2.82780819e-01 -1.59991499e-01 2.08918653e+02] [ 1.66390813e-01 1.40531745e-03 9.86058884e-01 2.71969858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.536875 meters 0.01396567720046265 Centerline is valid? [True, True] Translation: X:313.54, Y:208.97, Z:27.21 [[ 2.82972074e-01 -9.58087638e-01 -4.46641085e-02 3.13538885e+02] [ 9.45228428e-01 2.86467888e-01 -1.56458836e-01 2.08973896e+02] [ 1.62696110e-01 2.05569621e-03 9.86674085e-01 2.72108333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.596875 meters 0.01470797002837623 Centerline is valid? [True, True] Translation: X:313.55, Y:209.03, Z:27.22 [[ 2.85778132e-01 -9.57251527e-01 -4.47255241e-02 3.13551478e+02] [ 9.44319428e-01 2.89245274e-01 -1.56837460e-01 2.09029095e+02] [ 1.63069545e-01 2.58553508e-03 9.86611189e-01 2.72193331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.656875 meters 0.015168946924973906 Centerline is valid? [True, True] Translation: X:313.57, Y:209.08, Z:27.23 [[ 2.87694126e-01 -9.56674609e-01 -4.47859640e-02 3.13565718e+02] [ 9.43674016e-01 2.91144130e-01 -1.57208292e-01 2.09084823e+02] [ 1.63436352e-01 2.96455173e-03 9.86549426e-01 2.72273114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.716875 meters 0.015713943904047366 Centerline is valid? [True, True] Translation: X:313.58, Y:209.14, Z:27.23 [[ 2.90507236e-01 -9.55804018e-01 -4.52131074e-02 3.13580675e+02] [ 9.42515141e-01 2.93983265e-01 -1.58868027e-01 2.09141271e+02] [ 1.65138596e-01 3.53827316e-03 9.86264024e-01 2.72347126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.776875 meters 0.01640722687377148 Centerline is valid? [True, True] Translation: X:313.60, Y:209.20, Z:27.24 [[ 2.91880240e-01 -9.55367446e-01 -4.55957103e-02 3.13595981e+02] [ 9.41818166e-01 2.95394794e-01 -1.60375990e-01 2.09195726e+02] [ 1.66686735e-01 3.86771414e-03 9.86002319e-01 2.72416282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.836875 meters 0.016529074378592024 Centerline is valid? [True, True] Translation: X:313.61, Y:209.25, Z:27.25 [[ 2.90215794e-01 -9.55872085e-01 -4.56437331e-02 3.13612856e+02] [ 9.42286500e-01 2.93761042e-01 -1.60625660e-01 2.09249228e+02] [ 1.66945935e-01 3.60662998e-03 9.85959455e-01 2.72508829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.896875 meters 0.0150299034272448 Centerline is valid? [True, True] Translation: X:313.63, Y:209.30, Z:27.26 [[ 2.87865212e-01 -9.56586296e-01 -4.55661875e-02 3.13633055e+02] [ 9.43026338e-01 2.91431224e-01 -1.60527778e-01 2.09303155e+02] [ 1.66838083e-01 3.24024798e-03 9.85978983e-01 2.72617820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.956875 meters 0.014641684414212324 Centerline is valid? [True, True] Translation: X:313.65, Y:209.36, Z:27.27 [[ 2.84910617e-01 -9.57497755e-01 -4.49887706e-02 3.13652493e+02] [ 9.44264827e-01 2.88427868e-01 -1.58660965e-01 2.09356766e+02] [ 1.64893533e-01 2.72287989e-03 9.86307614e-01 2.72737775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.016875 meters 0.014149294932686693 Centerline is valid? [True, True] Translation: X:313.67, Y:209.41, Z:27.28 [[ 2.82485994e-01 -9.58236760e-01 -4.45418332e-02 3.13671638e+02] [ 9.45249222e-01 2.85966680e-01 -1.57248107e-01 2.09411157e+02] [ 1.63418397e-01 2.31725450e-03 9.86554133e-01 2.72841214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07687500000003 meters 0.013559156685085349 Centerline is valid? [True, True] Translation: X:313.69, Y:209.46, Z:27.30 [[ 2.79780507e-01 -9.59055311e-01 -4.39974798e-02 3.13691813e+02] [ 9.46368558e-01 2.83212697e-01 -1.55489941e-01 2.09464708e+02] [ 1.61584099e-01 1.86522318e-03 9.86857183e-01 2.72950757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13687500000003 meters 0.013510821219286154 Centerline is valid? [True, True] Translation: X:313.71, Y:209.52, Z:27.31 [[ 2.77755976e-01 -9.59660822e-01 -4.36202329e-02 3.13709526e+02] [ 9.47172523e-01 2.81156025e-01 -1.54322718e-01 2.09518242e+02] [ 1.60361558e-01 1.54817118e-03 9.87057128e-01 2.73050157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19687500000003 meters 0.013076077889044264 Centerline is valid? [True, True] Translation: X:313.73, Y:209.57, Z:27.31 [[ 2.74703434e-01 -9.60543551e-01 -4.35213732e-02 3.13730337e+02] [ 9.48102613e-01 2.78127569e-01 -1.54098966e-01 2.09572232e+02] [ 1.60123261e-01 1.06878741e-03 9.87096449e-01 2.73135413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25687500000004 meters 0.013046904974891617 Centerline is valid? [True, True] Translation: X:313.75, Y:209.63, Z:27.32 [[ 2.73913162e-01 -9.60763517e-01 -4.36468143e-02 3.13747074e+02] [ 9.48225112e-01 2.77367053e-01 -1.54714755e-01 2.09626820e+02] [ 1.60750480e-01 9.91402506e-04 9.86994580e-01 2.73218478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31687500000004 meters 0.012873963634144827 Centerline is valid? [True, True] Translation: X:313.77, Y:209.68, Z:27.33 [[ 2.72647702e-01 -9.61099285e-01 -4.41745868e-02 3.13766559e+02] [ 9.48228996e-01 2.76201802e-01 -1.56762037e-01 2.09681833e+02] [ 1.62864982e-01 8.53184943e-04 9.86647997e-01 2.73288433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.376875 meters 0.01286093069081136 Centerline is valid? [True, True] Translation: X:313.78, Y:209.74, Z:27.34 [[ 2.73052355e-01 -9.60963125e-01 -4.46350087e-02 3.13784780e+02] [ 9.47791776e-01 2.76674702e-01 -1.58561842e-01 2.09736384e+02] [ 1.64721461e-01 9.90990285e-04 9.86339626e-01 2.73365001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.436875 meters 0.012932632099742748 Centerline is valid? [True, True] Translation: X:313.80, Y:209.79, Z:27.35 [[ 2.73860708e-01 -9.60741188e-01 -4.44599034e-02 3.13801590e+02] [ 9.47641919e-01 2.77443695e-01 -1.58113218e-01 2.09791423e+02] [ 1.64241001e-01 1.16892983e-03 9.86419549e-01 2.73463170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.496875 meters 0.013189581694700046 Centerline is valid? [True, True] Translation: X:313.82, Y:209.84, Z:27.36 [[ 2.75596360e-01 -9.60254739e-01 -4.42434466e-02 3.13818273e+02] [ 9.47248529e-01 2.79121087e-01 -1.57517122e-01 2.09844656e+02] [ 1.63605842e-01 1.50160568e-03 9.86524644e-01 2.73571086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.556875 meters 0.013633152102321088 Centerline is valid? [True, True] Translation: X:313.83, Y:209.90, Z:27.37 [[ 2.77679097e-01 -9.59667449e-01 -4.39625578e-02 3.13834609e+02] [ 9.46790047e-01 2.81131326e-01 -1.56696475e-01 2.09898568e+02] [ 1.62735759e-01 1.88802351e-03 9.86667881e-01 2.73668583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.616875 meters 0.013611779313390178 Centerline is valid? [True, True] Translation: X:313.85, Y:209.95, Z:27.38 [[ 2.78833438e-01 -9.59363034e-01 -4.32952904e-02 3.13853410e+02] [ 9.46852994e-01 2.82167133e-01 -1.54438067e-01 2.09952839e+02] [ 1.60378680e-01 2.06822183e-03 9.87053393e-01 2.73774814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.676875 meters 0.014066370997278883 Centerline is valid? [True, True] Translation: X:313.87, Y:210.01, Z:27.39 [[ 2.78965631e-01 -9.59329857e-01 -4.31787184e-02 3.13870468e+02] [ 9.46859600e-01 2.82279449e-01 -1.54192122e-01 2.10006199e+02] [ 1.60109571e-01 2.13011843e-03 9.87096950e-01 2.73865414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.736875 meters 0.013737244002570037 Centerline is valid? [True, True] Translation: X:313.89, Y:210.06, Z:27.39 [[ 2.78042665e-01 -9.59577095e-01 -4.36357069e-02 3.13891310e+02] [ 9.46812755e-01 2.81438356e-01 -1.56006597e-01 2.10058977e+02] [ 1.61981119e-01 2.06164612e-03 9.86791704e-01 2.73939862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.796875 meters 0.013359141636549833 Centerline is valid? [True, True] Translation: X:313.91, Y:210.11, Z:27.40 [[ 2.76841986e-01 -9.59913662e-01 -4.38665872e-02 3.13911327e+02] [ 9.46985885e-01 2.80289210e-01 -1.57021315e-01 2.10113003e+02] [ 1.63022237e-01 1.92905373e-03 9.86620509e-01 2.74013975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.856875 meters 0.013461820205435817 Centerline is valid? [True, True] Translation: X:313.93, Y:210.17, Z:27.41 [[ 2.76164621e-01 -9.60104422e-01 -4.39613589e-02 3.13930835e+02] [ 9.47094198e-01 2.79635485e-01 -1.57532777e-01 2.10165761e+02] [ 1.63541072e-01 1.86943185e-03 9.86534755e-01 2.74106439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.916875 meters 0.013688351139588214 Centerline is valid? [True, True] Translation: X:313.95, Y:210.22, Z:27.42 [[ 2.76294124e-01 -9.60058827e-01 -4.41430166e-02 3.13947146e+02] [ 9.46907351e-01 2.79791369e-01 -1.58376953e-01 2.10219131e+02] [ 1.64402026e-01 1.95927441e-03 9.86391471e-01 2.74193032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.976875 meters 0.013558000597500773 Centerline is valid? [True, True] Translation: X:313.97, Y:210.27, Z:27.43 [[ 2.77538575e-01 -9.59689561e-01 -4.43653692e-02 3.13965230e+02] [ 9.46365934e-01 2.81053194e-01 -1.59375724e-01 2.10273905e+02] [ 1.65420247e-01 2.24703723e-03 9.86220611e-01 2.74285189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.036875 meters 0.013744036107868311 Centerline is valid? [True, True] Translation: X:313.98, Y:210.33, Z:27.44 [[ 2.78079837e-01 -9.59535145e-01 -4.43160181e-02 3.13981695e+02] [ 9.46210913e-01 2.81578795e-01 -1.59368410e-01 2.10328788e+02] [ 1.65398042e-01 2.38484154e-03 9.86224011e-01 2.74385389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.096875 meters 0.014558128357594988 Centerline is valid? [True, True] Translation: X:314.00, Y:210.38, Z:27.45 [[ 2.78790214e-01 -9.59344516e-01 -4.39785775e-02 3.13995978e+02] [ 9.46192172e-01 2.82226334e-01 -1.58330887e-01 2.10382921e+02] [ 1.64305781e-01 2.52891611e-03 9.86406212e-01 2.74483053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.156875 meters 0.01453843867146887 Centerline is valid? [True, True] Translation: X:314.01, Y:210.44, Z:27.46 [[ 2.80288372e-01 -9.58925762e-01 -4.35868199e-02 3.14011713e+02] [ 9.45973177e-01 2.83643316e-01 -1.57102570e-01 2.10437468e+02] [ 1.63012811e-01 2.80206082e-03 9.86619973e-01 2.74589978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.216875 meters 0.014648763831363206 Centerline is valid? [True, True] Translation: X:314.03, Y:210.49, Z:27.47 [[ 2.81269549e-01 -9.58649739e-01 -4.33372701e-02 3.14025164e+02] [ 9.45814157e-01 2.84572850e-01 -1.56377342e-01 2.10493432e+02] [ 1.62243708e-01 2.99518073e-03 9.86746172e-01 2.74679003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.276875 meters 0.014969503406079759 Centerline is valid? [True, True] Translation: X:314.04, Y:210.55, Z:27.48 [[ 2.80942876e-01 -9.58741245e-01 -4.34318429e-02 3.14038321e+02] [ 9.45822344e-01 2.84264380e-01 -1.56888036e-01 2.10548695e+02] [ 1.62761157e-01 2.99776864e-03 9.86660944e-01 2.74767203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.336875 meters 0.014679079848164106 Centerline is valid? [True, True] Translation: X:314.05, Y:210.60, Z:27.48 [[ 2.79342781e-01 -9.59188010e-01 -4.38858975e-02 3.14052252e+02] [ 9.45969577e-01 2.82755016e-01 -1.58717236e-01 2.10604167e+02] [ 1.64648627e-01 2.82179020e-03 9.86348248e-01 2.74833836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.396875 meters 0.014276631519404889 Centerline is valid? [True, True] Translation: X:314.07, Y:210.66, Z:27.49 [[ 2.76803140e-01 -9.59913487e-01 -4.41148306e-02 3.14066499e+02] [ 9.46531780e-01 2.80285640e-01 -1.59742136e-01 2.10659761e+02] [ 1.65703385e-01 2.46103587e-03 9.86172567e-01 2.74907442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.456875 meters 0.013509938827320774 Centerline is valid? [True, True] Translation: X:314.08, Y:210.71, Z:27.50 [[ 2.74709156e-01 -9.60524183e-01 -4.39109641e-02 3.14082159e+02] [ 9.47245621e-01 2.78188327e-01 -1.59175965e-01 2.10714444e+02] [ 1.65107881e-01 2.13262644e-03 9.86273207e-01 2.75004376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.516875 meters 0.01316450967042317 Centerline is valid? [True, True] Translation: X:314.10, Y:210.77, Z:27.51 [[ 2.71915538e-01 -9.61340306e-01 -4.34368178e-02 3.14096088e+02] [ 9.48330498e-01 2.75358002e-01 -1.57630062e-01 2.10769169e+02] [ 1.63496807e-01 1.66960396e-03 9.86542450e-01 2.75103195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57687500000003 meters 0.01275570779589536 Centerline is valid? [True, True] Translation: X:314.11, Y:210.82, Z:27.52 [[ 2.69466542e-01 -9.62049011e-01 -4.30056120e-02 3.14110318e+02] [ 9.49279225e-01 2.72873732e-01 -1.56233415e-01 2.10823902e+02] [ 1.62039305e-01 1.27534425e-03 9.86783480e-01 2.75200057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63687500000003 meters 0.012468668016577816 Centerline is valid? [True, True] Translation: X:314.12, Y:210.88, Z:27.53 [[ 2.67695982e-01 -9.62551926e-01 -4.28094784e-02 3.14124668e+02] [ 9.49874430e-01 2.71095465e-01 -1.55710679e-01 2.10879693e+02] [ 1.61485070e-01 1.01949437e-03 9.86874629e-01 2.75287643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69687500000003 meters 0.012581032469224209 Centerline is valid? [True, True] Translation: X:314.14, Y:210.94, Z:27.54 [[ 2.68094829e-01 -9.62426852e-01 -4.31244316e-02 3.14137096e+02] [ 9.49529884e-01 2.71538628e-01 -1.57034308e-01 2.10936323e+02] [ 1.62843984e-01 1.15214938e-03 9.86651159e-01 2.75354214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75687500000004 meters 0.012901527646530141 Centerline is valid? [True, True] Translation: X:314.15, Y:210.99, Z:27.54 [[ 2.69274775e-01 -9.62075478e-01 -4.36104399e-02 3.14149307e+02] [ 9.48849769e-01 2.72779635e-01 -1.58982350e-01 2.10993122e+02] [ 1.64849060e-01 1.43018056e-03 9.86317769e-01 2.75422419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81687500000004 meters 0.013455082356658614 Centerline is valid? [True, True] Translation: X:314.16, Y:211.05, Z:27.55 [[ 2.71645049e-01 -9.61394585e-01 -4.39251602e-02 3.14159763e+02] [ 9.47937271e-01 2.75166879e-01 -1.60306331e-01 2.11049704e+02] [ 1.66204387e-01 1.90812454e-03 9.86089479e-01 2.75491135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.876875 meters 0.013641682040186927 Centerline is valid? [True, True] Translation: X:314.17, Y:211.11, Z:27.56 [[ 2.73863637e-01 -9.60756822e-01 -4.41025804e-02 3.14172125e+02] [ 9.47151607e-01 2.77382008e-01 -1.61130555e-01 2.11105137e+02] [ 1.67040542e-01 2.35596991e-03 9.85947213e-01 2.75597153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.936875 meters 0.014166392844474329 Centerline is valid? [True, True] Translation: X:314.18, Y:211.16, Z:27.57 [[ 2.75466551e-01 -9.60308579e-01 -4.38817997e-02 3.14184698e+02] [ 9.46802717e-01 2.78927074e-01 -1.60512625e-01 2.11160717e+02] [ 1.66381473e-01 2.66845222e-03 9.86057851e-01 2.75701519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.996875 meters 0.015257432623326893 Centerline is valid? [True, True] Translation: X:314.20, Y:211.22, Z:27.58 [[ 2.78715182e-01 -9.59399529e-01 -4.32480219e-02 3.14195366e+02] [ 9.46243924e-01 2.82032267e-01 -1.58367411e-01 2.11217236e+02] [ 1.64134957e-01 3.21622380e-03 9.86432649e-01 2.75805626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.056875 meters 0.01608751929675968 Centerline is valid? [True, True] Translation: X:314.21, Y:211.27, Z:27.59 [[ 2.80921725e-01 -9.58788541e-01 -4.25149083e-02 3.14207573e+02] [ 9.46043494e-01 2.84098311e-01 -1.55852038e-01 2.11273081e+02] [ 1.61507562e-01 3.56127089e-03 9.86865049e-01 2.75915129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.116875 meters 0.016201323617213863 Centerline is valid? [True, True] Translation: X:314.22, Y:211.33, Z:27.60 [[ 2.80892117e-01 -9.58805434e-01 -4.23291590e-02 3.14221934e+02] [ 9.46144588e-01 2.84040997e-01 -1.55341982e-01 2.11328017e+02] [ 1.60965953e-01 3.58483347e-03 9.86953449e-01 2.76013628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.176875 meters 0.016921090189733985 Centerline is valid? [True, True] Translation: X:314.23, Y:211.38, Z:27.61 [[ 2.80890093e-01 -9.58817302e-01 -4.20729939e-02 3.14234197e+02] [ 9.46279469e-01 2.84000606e-01 -1.54592438e-01 2.11381937e+02] [ 1.60174660e-01 3.61067412e-03 9.87082084e-01 2.76101700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.236875 meters 0.015405584160221659 Centerline is valid? [True, True] Translation: X:314.25, Y:211.44, Z:27.62 [[ 2.80135089e-01 -9.59031245e-01 -4.22303493e-02 3.14250723e+02] [ 9.46368499e-01 2.83277956e-01 -1.55371377e-01 2.11437772e+02] [ 1.60968932e-01 3.55950214e-03 9.86953055e-01 2.76169772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.296875 meters 0.017026373400551877 Centerline is valid? [True, True] Translation: X:314.26, Y:211.49, Z:27.62 [[ 2.79312889e-01 -9.59259399e-01 -4.24937117e-02 3.14261358e+02] [ 9.46410144e-01 2.82505120e-01 -1.56520594e-01 2.11494174e+02] [ 1.62148542e-01 3.50173938e-03 9.86760147e-01 2.76239516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.356875 meters 0.016858898476714155 Centerline is valid? [True, True] Translation: X:314.28, Y:211.55, Z:27.63 [[ 2.77519823e-01 -9.59766215e-01 -4.27967306e-02 3.14275472e+02] [ 9.46707943e-01 2.80781136e-01 -1.57816427e-01 2.11547832e+02] [ 1.63483389e-01 3.28118204e-03 9.86540630e-01 2.76315575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.416875 meters 0.014481534725668618 Centerline is valid? [True, True] Translation: X:314.29, Y:211.60, Z:27.64 [[ 2.75462702e-01 -9.60365782e-01 -4.26364163e-02 3.14294187e+02] [ 9.47380972e-01 2.78727006e-01 -1.57418395e-01 2.11601840e+02] [ 1.63063160e-01 2.96996686e-03 9.86611162e-01 2.76418262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.476875 meters 0.014260466419244442 Centerline is valid? [True, True] Translation: X:314.31, Y:211.66, Z:27.65 [[ 2.74230314e-01 -9.60733291e-01 -4.22998594e-02 3.14308809e+02] [ 9.47930293e-01 2.77459597e-01 -1.56346830e-01 2.11656997e+02] [ 1.61944106e-01 2.77772213e-03 9.86796023e-01 2.76513988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.536875 meters 0.014537079141337467 Centerline is valid? [True, True] Translation: X:314.32, Y:211.71, Z:27.66 [[ 2.73795622e-01 -9.60867888e-01 -4.20577973e-02 3.14321488e+02] [ 9.48184687e-01 2.76993569e-01 -1.55628921e-01 2.11711580e+02] [ 1.61188572e-01 2.73195800e-03 9.86919845e-01 2.76603170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.596875 meters 0.014785812302322357 Centerline is valid? [True, True] Translation: X:314.33, Y:211.77, Z:27.67 [[ 2.73985360e-01 -9.60820679e-01 -4.19004122e-02 3.14333987e+02] [ 9.48211377e-01 2.77156751e-01 -1.55175127e-01 2.11767955e+02] [ 1.60708453e-01 2.78526554e-03 9.86997992e-01 2.76687181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.656875 meters 0.014914989546956704 Centerline is valid? [True, True] Translation: X:314.35, Y:211.82, Z:27.68 [[ 2.74012226e-01 -9.60810822e-01 -4.19507278e-02 3.14346353e+02] [ 9.48142369e-01 2.77190327e-01 -1.55536395e-01 2.11823865e+02] [ 1.61069387e-01 2.84361125e-03 9.86938988e-01 2.76770513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.716875 meters 0.01492655280589827 Centerline is valid? [True, True] Translation: X:314.36, Y:211.88, Z:27.69 [[ 2.72999940e-01 -9.61098397e-01 -4.19631256e-02 3.14359884e+02] [ 9.48397144e-01 2.76192778e-01 -1.55757524e-01 2.11878811e+02] [ 1.61288219e-01 2.72408631e-03 9.86903587e-01 2.76853368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.776875 meters 0.015153596231305837 Centerline is valid? [True, True] Translation: X:314.37, Y:211.93, Z:27.69 [[ 2.72481446e-01 -9.61238748e-01 -4.21180561e-02 3.14372117e+02] [ 9.48412267e-01 2.75704092e-01 -1.56529310e-01 2.11933594e+02] [ 1.62074159e-01 2.70605159e-03 9.86774870e-01 2.76936418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.836875 meters 0.014810347180169492 Centerline is valid? [True, True] Translation: X:314.39, Y:211.99, Z:27.70 [[ 2.72947409e-01 -9.61100435e-01 -4.22571273e-02 3.14386602e+02] [ 9.48153093e-01 2.76184362e-01 -1.57251105e-01 2.11989364e+02] [ 1.62804863e-01 2.85505575e-03 9.86654157e-01 2.77023110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.896875 meters 0.015084124747811322 Centerline is valid? [True, True] Translation: X:314.40, Y:212.05, Z:27.71 [[ 2.73029128e-01 -9.61077892e-01 -4.22419326e-02 3.14399186e+02] [ 9.48110050e-01 2.76262145e-01 -1.57373948e-01 2.12045735e+02] [ 1.62918469e-01 2.91767109e-03 9.86635221e-01 2.77113886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.956875 meters 0.015384225911049425 Centerline is valid? [True, True] Translation: X:314.41, Y:212.10, Z:27.72 [[ 2.71924165e-01 -9.61400471e-01 -4.20283462e-02 3.14411394e+02] [ 9.48539158e-01 2.75139087e-01 -1.56754424e-01 2.12099796e+02] [ 1.62267418e-01 2.75978368e-03 9.86742960e-01 2.77203845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.016875 meters 0.014477524679353771 Centerline is valid? [True, True] Translation: X:314.43, Y:212.15, Z:27.73 [[ 2.70499073e-01 -9.61808792e-01 -4.18819666e-02 3.14427353e+02] [ 9.49008694e-01 2.73710206e-01 -1.56413623e-01 2.12154428e+02] [ 1.61903520e-01 2.56338965e-03 9.86803263e-01 2.77302154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07687500000003 meters 0.014217990589710265 Centerline is valid? [True, True] Translation: X:314.44, Y:212.21, Z:27.74 [[ 2.69226648e-01 -9.62173513e-01 -4.17030405e-02 3.14440782e+02] [ 9.49458536e-01 2.72426965e-01 -1.55923176e-01 2.12209766e+02] [ 1.61386183e-01 2.38336629e-03 9.86888454e-01 2.77392992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13687500000003 meters 0.014212528605940678 Centerline is valid? [True, True] Translation: X:314.45, Y:212.27, Z:27.75 [[ 2.68593035e-01 -9.62353778e-01 -4.16291746e-02 3.14454181e+02] [ 9.49657086e-01 2.71790035e-01 -1.55825531e-01 2.12266099e+02] [ 1.61273683e-01 2.32021156e-03 9.86906994e-01 2.77479403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19687500000003 meters 0.014667654229984908 Centerline is valid? [True, True] Translation: X:314.47, Y:212.32, Z:27.76 [[ 2.67927646e-01 -9.62533153e-01 -4.17696825e-02 3.14466368e+02] [ 9.49722383e-01 2.71154527e-01 -1.56533118e-01 2.12321129e+02] [ 1.61994354e-01 2.26994730e-03 9.86789074e-01 2.77562602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25687500000004 meters 0.014343643366808292 Centerline is valid? [True, True] Translation: X:314.48, Y:212.38, Z:27.76 [[ 2.66670230e-01 -9.62874827e-01 -4.19410992e-02 3.14480900e+02] [ 9.49930633e-01 2.69939913e-01 -1.57366567e-01 2.12377082e+02] [ 1.62845883e-01 2.12384375e-03 9.86649232e-01 2.77641994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31687500000004 meters 0.014102809647364942 Centerline is valid? [True, True] Translation: X:314.50, Y:212.43, Z:27.77 [[ 2.65257291e-01 -9.63264586e-01 -4.19512503e-02 3.14495726e+02] [ 9.50289386e-01 2.68547196e-01 -1.57583271e-01 2.12432144e+02] [ 1.63060275e-01 1.93428366e-03 9.86614213e-01 2.77742600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.376875 meters 0.013949290326543939 Centerline is valid? [True, True] Translation: X:314.51, Y:212.49, Z:27.78 [[ 2.64028187e-01 -9.63608507e-01 -4.18062287e-02 3.14510418e+02] [ 9.50698274e-01 2.67311673e-01 -1.57217242e-01 2.12486591e+02] [ 1.62671165e-01 1.76467394e-03 9.86678761e-01 2.77839498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.436875 meters 0.013783697222167011 Centerline is valid? [True, True] Translation: X:314.53, Y:212.54, Z:27.79 [[ 2.62185212e-01 -9.64120963e-01 -4.15894671e-02 3.14525411e+02] [ 9.51321389e-01 2.65459131e-01 -1.56585645e-01 2.12541386e+02] [ 1.62007806e-01 1.48949078e-03 9.86788352e-01 2.77933293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.496875 meters 0.013525435757560204 Centerline is valid? [True, True] Translation: X:314.54, Y:212.60, Z:27.80 [[ 2.61049822e-01 -9.64433618e-01 -4.14823730e-02 3.14540139e+02] [ 9.51672256e-01 2.64321752e-01 -1.56377516e-01 2.12596353e+02] [ 1.61780427e-01 1.34469936e-03 9.86825864e-01 2.78028068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.556875 meters 0.013889792425860702 Centerline is valid? [True, True] Translation: X:314.55, Y:212.65, Z:27.81 [[ 2.61377735e-01 -9.64333662e-01 -4.17404885e-02 3.14552529e+02] [ 9.51380646e-01 2.64685557e-01 -1.57532289e-01 2.12651121e+02] [ 1.62961794e-01 1.46433996e-03 9.86631294e-01 2.78109509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.616875 meters 0.013769286126757103 Centerline is valid? [True, True] Translation: X:314.57, Y:212.71, Z:27.82 [[ 2.62534688e-01 -9.63998113e-01 -4.22276579e-02 3.14566268e+02] [ 9.50698678e-01 2.65903313e-01 -1.59585247e-01 2.12706875e+02] [ 1.65068351e-01 1.75088452e-03 9.86280576e-01 2.78201664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.676875 meters 0.014099182475754745 Centerline is valid? [True, True] Translation: X:314.58, Y:212.76, Z:27.83 [[ 2.64315778e-01 -9.63506750e-01 -4.23309781e-02 3.14578056e+02] [ 9.50105396e-01 2.67675699e-01 -1.60154477e-01 2.12763743e+02] [ 1.65640894e-01 2.11246459e-03 9.86183873e-01 2.78293856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.736875 meters 0.014535320053564962 Centerline is valid? [True, True] Translation: X:314.59, Y:212.82, Z:27.84 [[ 2.65703954e-01 -9.63137519e-01 -4.20419787e-02 3.14590447e+02] [ 9.49885448e-01 2.68999026e-01 -1.59239314e-01 2.12819813e+02] [ 1.64678609e-01 2.37545160e-03 9.86344419e-01 2.78398717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.796875 meters 0.014691134327261973 Centerline is valid? [True, True] Translation: X:314.60, Y:212.88, Z:27.85 [[ 2.67536404e-01 -9.62652634e-01 -4.15232227e-02 3.14602617e+02] [ 9.49691850e-01 2.70726177e-01 -1.57457066e-01 2.12875665e+02] [ 1.62817883e-01 2.69123119e-03 9.86652469e-01 2.78513348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.856875 meters 0.01554903169864967 Centerline is valid? [True, True] Translation: X:314.61, Y:212.93, Z:27.86 [[ 2.68949443e-01 -9.62269531e-01 -4.12740459e-02 3.14612132e+02] [ 9.49431258e-01 2.72082008e-01 -1.56689714e-01 2.12931349e+02] [ 1.62007663e-01 2.95474204e-03 9.86785076e-01 2.78611586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.916875 meters 0.01584781606141069 Centerline is valid? [True, True] Translation: X:314.62, Y:212.99, Z:27.87 [[ 2.70517171e-01 -9.61828977e-01 -4.12974505e-02 3.14623605e+02] [ 9.48943437e-01 2.73631764e-01 -1.56945886e-01 2.12987934e+02] [ 1.62255395e-01 3.26761246e-03 9.86743386e-01 2.78701451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.976875 meters 0.016292822912587598 Centerline is valid? [True, True] Translation: X:314.63, Y:213.04, Z:27.88 [[ 2.71335710e-01 -9.61588370e-01 -4.15299772e-02 3.14634710e+02] [ 9.48524383e-01 2.74473484e-01 -1.58005701e-01 2.13044805e+02] [ 1.63335322e-01 3.48039303e-03 9.86564473e-01 2.78781387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.036875 meters 0.017159721616320695 Centerline is valid? [True, True] Translation: X:314.65, Y:213.10, Z:27.89 [[ 2.71938789e-01 -9.61413092e-01 -4.16432696e-02 3.14646320e+02] [ 9.48246164e-01 2.75084685e-01 -1.58611565e-01 2.13100228e+02] [ 1.63946661e-01 3.64456626e-03 9.86462472e-01 2.78863397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.096875 meters 0.016811333639707143 Centerline is valid? [True, True] Translation: X:314.66, Y:213.16, Z:27.90 [[ 2.72987017e-01 -9.61095543e-01 -4.21122983e-02 3.14659111e+02] [ 9.47601200e-01 2.76188343e-01 -1.60536494e-01 2.13156154e+02] [ 1.65921834e-01 3.91871410e-03 9.86131121e-01 2.78950357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.156875 meters 0.017326600579032948 Centerline is valid? [True, True] Translation: X:314.67, Y:213.21, Z:27.90 [[ 2.73463910e-01 -9.60947831e-01 -4.23881628e-02 3.14669975e+02] [ 9.47243127e-01 2.76699439e-01 -1.61764887e-01 2.13212885e+02] [ 1.67176398e-01 4.08496252e-03 9.85918539e-01 2.79043508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.216875 meters 0.017613411223450077 Centerline is valid? [True, True] Translation: X:314.68, Y:213.27, Z:27.91 [[ 2.74043339e-01 -9.60779011e-01 -4.24728188e-02 3.14682118e+02] [ 9.46986758e-01 2.77282629e-01 -1.62266520e-01 2.13268483e+02] [ 1.67679242e-01 4.24686213e-03 9.85832458e-01 2.79143110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.276875 meters 0.017541198334160322 Centerline is valid? [True, True] Translation: X:314.69, Y:213.32, Z:27.93 [[ 2.74794679e-01 -9.60579803e-01 -4.21227522e-02 3.14694936e+02] [ 9.46982034e-01 2.77969825e-01 -1.61114259e-01 2.13324249e+02] [ 1.66471957e-01 4.38385145e-03 9.86036444e-01 2.79258550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.336875 meters 0.01802658057658055 Centerline is valid? [True, True] Translation: X:314.71, Y:213.38, Z:27.94 [[ 2.74347750e-01 -9.60715980e-01 -4.19299151e-02 3.14706942e+02] [ 9.47213145e-01 2.77499587e-01 -1.60565368e-01 2.13379225e+02] [ 1.65893249e-01 4.33418083e-03 9.86134192e-01 2.79353442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.396875 meters 0.018098743444796846 Centerline is valid? [True, True] Translation: X:314.72, Y:213.43, Z:27.94 [[ 2.73171708e-01 -9.61046681e-01 -4.20296882e-02 3.14719358e+02] [ 9.47449296e-01 2.76354193e-01 -1.61146492e-01 2.13433821e+02] [ 1.66484382e-01 4.19966410e-03 9.86035148e-01 2.79436628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.456875 meters 0.016323730238562713 Centerline is valid? [True, True] Translation: X:314.74, Y:213.49, Z:27.95 [[ 2.70810682e-01 -9.61706878e-01 -4.22072883e-02 3.14737023e+02] [ 9.47964318e-01 2.74052701e-01 -1.62045577e-01 2.13488636e+02] [ 1.67407368e-01 3.87267005e-03 9.85880204e-01 2.79525833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.516875 meters 0.015688381580801762 Centerline is valid? [True, True] Translation: X:314.75, Y:213.54, Z:27.96 [[ 2.68455621e-01 -9.62360762e-01 -4.23478792e-02 3.14752883e+02] [ 9.48501833e-01 2.71752278e-01 -1.62772760e-01 2.13544581e+02] [ 1.68154250e-01 3.53022136e-03 9.85754374e-01 2.79607954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57687500000003 meters 0.015296663576296618 Centerline is valid? [True, True] Translation: X:314.77, Y:213.60, Z:27.97 [[ 2.64347549e-01 -9.63482740e-01 -4.26776623e-02 3.14768843e+02] [ 9.49387533e-01 2.67754787e-01 -1.64227545e-01 2.13599209e+02] [ 1.69657554e-01 2.89550869e-03 9.85498823e-01 2.79675435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63687500000003 meters 0.014338702814878049 Centerline is valid? [True, True] Translation: X:314.79, Y:213.65, Z:27.98 [[ 2.60743357e-01 -9.64464195e-01 -4.26816013e-02 3.14787470e+02] [ 9.50358112e-01 2.64203621e-01 -1.64365162e-01 2.13653534e+02] [ 1.69800947e-01 2.29431817e-03 9.85475710e-01 2.79784289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69687500000003 meters 0.014134060625803305 Centerline is valid? [True, True] Translation: X:314.80, Y:213.71, Z:27.99 [[ 2.57994350e-01 -9.65216969e-01 -4.23688321e-02 3.14803941e+02] [ 9.51296359e-01 2.61443735e-01 -1.63347517e-01 2.13708215e+02] [ 1.68742861e-01 1.83742077e-03 9.85658395e-01 2.79881972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75687500000004 meters 0.014061002254593629 Centerline is valid? [True, True] Translation: X:314.82, Y:213.76, Z:28.00 [[ 2.57117817e-01 -9.65456128e-01 -4.22479997e-02 3.14819318e+02] [ 9.51586960e-01 2.60559956e-01 -1.63066757e-01 2.13763864e+02] [ 1.68441937e-01 1.72472305e-03 9.85710069e-01 2.79980422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81687500000004 meters 0.014205512975579091 Centerline is valid? [True, True] Translation: X:314.83, Y:213.82, Z:28.01 [[ 2.58755829e-01 -9.65026153e-01 -4.20707268e-02 3.14833342e+02] [ 9.51235638e-01 2.62145629e-01 -1.62574380e-01 2.13819045e+02] [ 1.67917186e-01 2.04789377e-03 9.85798978e-01 2.80082855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.876875 meters 0.015323261372367263 Centerline is valid? [True, True] Translation: X:314.84, Y:213.88, Z:28.02 [[ 2.63260175e-01 -9.63812483e-01 -4.19473180e-02 3.14843153e+02] [ 9.50054476e-01 2.66565642e-01 -1.62293718e-01 2.13875470e+02] [ 1.67602425e-01 2.87323540e-03 9.85850481e-01 2.80173755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.936875 meters 0.016620501065671905 Centerline is valid? [True, True] Translation: X:314.85, Y:213.93, Z:28.03 [[ 2.68736170e-01 -9.62295219e-01 -4.20568936e-02 3.14853002e+02] [ 9.48413193e-01 2.71979337e-01 -1.62909959e-01 2.13932605e+02] [ 1.68206080e-01 3.89248558e-03 9.85744167e-01 2.80260218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.996875 meters 0.018056660026662934 Centerline is valid? [True, True] Translation: X:314.86, Y:213.99, Z:28.03 [[ 2.71852250e-01 -9.61422624e-01 -4.19868177e-02 3.14863579e+02] [ 9.47545184e-01 2.75039036e-01 -1.62823993e-01 2.13988474e+02] [ 1.68090684e-01 4.47966192e-03 9.85761358e-01 2.80345828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.056875 meters 0.019519064624931304 Centerline is valid? [True, True] Translation: X:314.87, Y:214.05, Z:28.04 [[ 2.74816578e-01 -9.60583712e-01 -4.18900939e-02 3.14874158e+02] [ 9.46728507e-01 2.77945239e-01 -1.62639410e-01 2.14045147e+02] [ 1.67871920e-01 5.03746006e-03 9.85795944e-01 2.80431303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.116875 meters 0.02056343255534099 Centerline is valid? [True, True] Translation: X:314.89, Y:214.10, Z:28.05 [[ 2.75690694e-01 -9.60336342e-01 -4.18180717e-02 3.14886125e+02] [ 9.46494537e-01 2.78795151e-01 -1.62546472e-01 2.14100507e+02] [ 1.67757960e-01 5.23197317e-03 9.85814330e-01 2.80520723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.176875 meters 0.019154831328316153 Centerline is valid? [True, True] Translation: X:314.90, Y:214.16, Z:28.06 [[ 2.76923545e-01 -9.59988433e-01 -4.16600457e-02 3.14902446e+02] [ 9.46224437e-01 2.79986395e-01 -1.62070768e-01 2.14156028e+02] [ 1.67250309e-01 5.46145847e-03 9.85899339e-01 2.80633997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.236875 meters 0.019346812605542413 Centerline is valid? [True, True] Translation: X:314.92, Y:214.21, Z:28.07 [[ 2.77622816e-01 -9.59787846e-01 -4.16276609e-02 3.14915675e+02] [ 9.46011777e-01 2.80669886e-01 -1.62129985e-01 2.14211991e+02] [ 1.67294020e-01 5.63072561e-03 9.85890970e-01 2.80717991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.296875 meters 0.01930920342039986 Centerline is valid? [True, True] Translation: X:314.93, Y:214.27, Z:28.08 [[ 2.77206381e-01 -9.59899672e-01 -4.18239341e-02 3.14929579e+02] [ 9.45961288e-01 2.80286929e-01 -1.63084272e-01 2.14267417e+02] [ 1.68267242e-01 5.64417842e-03 9.85725255e-01 2.80807369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.356875 meters 0.019794317449958895 Centerline is valid? [True, True] Translation: X:314.94, Y:214.32, Z:28.09 [[ 2.77310146e-01 -9.59861895e-01 -4.20026941e-02 3.14942207e+02] [ 9.45768314e-01 2.80414141e-01 -1.63982335e-01 2.14323499e+02] [ 1.69178544e-01 5.74914796e-03 9.85568652e-01 2.80896730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.416875 meters 0.02075714836244473 Centerline is valid? [True, True] Translation: X:314.95, Y:214.38, Z:28.10 [[ 2.78219405e-01 -9.59596914e-01 -4.20443166e-02 3.14953315e+02] [ 9.45440205e-01 2.81314992e-01 -1.64331052e-01 2.14379656e+02] [ 1.69519267e-01 5.96970025e-03 9.85508793e-01 2.80988597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.476875 meters 0.019952268197610597 Centerline is valid? [True, True] Translation: X:314.97, Y:214.43, Z:28.11 [[ 2.78836896e-01 -9.59418024e-01 -4.20361755e-02 3.14968280e+02] [ 9.45243166e-01 2.81921408e-01 -1.64425290e-01 2.14434724e+02] [ 1.69603485e-01 6.11342989e-03 9.85493422e-01 2.81088464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.536875 meters 0.020699436872943316 Centerline is valid? [True, True] Translation: X:314.98, Y:214.49, Z:28.12 [[ 2.80311875e-01 -9.58999247e-01 -4.17815400e-02 3.14979894e+02] [ 9.44961182e-01 2.83336791e-01 -1.63611209e-01 2.14491380e+02] [ 1.68741274e-01 6.38023156e-03 9.85639729e-01 2.81189563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.596875 meters 0.021310304577034977 Centerline is valid? [True, True] Translation: X:314.99, Y:214.55, Z:28.13 [[ 2.80279582e-01 -9.59022285e-01 -4.14682072e-02 3.14991980e+02] [ 9.45164093e-01 2.83259012e-01 -1.62570504e-01 2.14547187e+02] [ 1.67654980e-01 6.37093263e-03 9.85825146e-01 2.81290504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.656875 meters 0.02039447921810611 Centerline is valid? [True, True] Translation: X:315.01, Y:214.60, Z:28.14 [[ 2.78250674e-01 -9.59628161e-01 -4.11139211e-02 3.15007751e+02] [ 9.45981040e-01 2.81207525e-01 -1.61375957e-01 2.14602646e+02] [ 1.66422457e-01 6.00997882e-03 9.86036230e-01 2.81398583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.716875 meters 0.019442545318114728 Centerline is valid? [True, True] Translation: X:315.02, Y:214.66, Z:28.15 [[ 2.76184373e-01 -9.60226641e-01 -4.10729893e-02 3.15022957e+02] [ 9.46582769e-01 2.79163666e-01 -1.61396124e-01 2.14658896e+02] [ 1.66442944e-01 5.69610313e-03 9.86034635e-01 2.81489042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.776875 meters 0.018828008798070187 Centerline is valid? [True, True] Translation: X:315.04, Y:214.71, Z:28.16 [[ 2.72889307e-01 -9.61159101e-01 -4.12868965e-02 3.15036656e+02] [ 9.47351291e-01 2.75945737e-01 -1.62417616e-01 2.14714778e+02] [ 1.67502113e-01 5.20883618e-03 9.85857956e-01 2.81559941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.836875 meters 0.01852640158876816 Centerline is valid? [True, True] Translation: X:315.05, Y:214.77, Z:28.16 [[ 2.70183363e-01 -9.61914056e-01 -4.15006001e-02 3.15051163e+02] [ 9.47936265e-01 2.73309494e-01 -1.63458736e-01 2.14770545e+02] [ 1.68575763e-01 4.82390716e-03 9.85676895e-01 2.81649689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.896875 meters 0.017352092488720057 Centerline is valid? [True, True] Translation: X:315.07, Y:214.83, Z:28.17 [[ 2.65872298e-01 -9.63112726e-01 -4.15427230e-02 3.15066600e+02] [ 9.49088082e-01 2.69066635e-01 -1.63813790e-01 2.14826081e+02] [ 1.68948907e-01 4.12584552e-03 9.85616175e-01 2.81741456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.956875 meters 0.016509361627194578 Centerline is valid? [True, True] Translation: X:315.08, Y:214.88, Z:28.18 [[ 2.63341044e-01 -9.63809348e-01 -4.15094518e-02 3.15081909e+02] [ 9.49784036e-01 2.66566392e-01 -1.63867765e-01 2.14881284e+02] [ 1.69002309e-01 3.72809358e-03 9.85608604e-01 2.81840215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.016875 meters 0.01603607739648412 Centerline is valid? [True, True] Translation: X:315.10, Y:214.94, Z:28.19 [[ 2.60603997e-01 -9.64561613e-01 -4.13092076e-02 3.15096912e+02] [ 9.50649128e-01 2.63837359e-01 -1.63266905e-01 2.14936973e+02] [ 1.68379902e-01 3.27744584e-03 9.85716728e-01 2.81944698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07687500000003 meters 0.015292453128627493 Centerline is valid? [True, True] Translation: X:315.11, Y:214.99, Z:28.21 [[ 2.57239820e-01 -9.65478069e-01 -4.09850515e-02 3.15112773e+02] [ 9.51764475e-01 2.60470269e-01 -1.62171587e-01 2.14992347e+02] [ 1.67248498e-01 2.70887367e-03 9.85911052e-01 2.82054747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13687500000003 meters 0.014651423964301497 Centerline is valid? [True, True] Translation: X:315.13, Y:215.05, Z:28.22 [[ 2.53745744e-01 -9.66411521e-01 -4.07660320e-02 3.15128072e+02] [ 9.52825614e-01 2.56990691e-01 -1.61490352e-01 2.15047865e+02] [ 1.66542627e-01 2.13456988e-03 9.86031945e-01 2.82152323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19687500000003 meters 0.014248035910804497 Centerline is valid? [True, True] Translation: X:315.14, Y:215.10, Z:28.22 [[ 2.50369110e-01 -9.67295008e-01 -4.06900041e-02 3.15143680e+02] [ 9.53740298e-01 2.53649014e-01 -1.61374166e-01 2.15102332e+02] [ 1.66417405e-01 1.59540978e-03 9.86054107e-01 2.82243289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25687500000004 meters 0.01408228065526264 Centerline is valid? [True, True] Translation: X:315.16, Y:215.16, Z:28.23 [[ 2.48917320e-01 -9.67675128e-01 -4.05587766e-02 3.15158437e+02] [ 9.54189253e-01 2.52196270e-01 -1.60996618e-01 2.15157716e+02] [ 1.66021195e-01 1.37409799e-03 9.86121227e-01 2.82339965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31687500000004 meters 0.014050657594678167 Centerline is valid? [True, True] Translation: X:315.17, Y:215.21, Z:28.24 [[ 2.47854100e-01 -9.67936362e-01 -4.08355712e-02 3.15171875e+02] [ 9.54235116e-01 2.51192393e-01 -1.62289020e-01 2.15212219e+02] [ 1.67343029e-01 1.25726314e-03 9.85897931e-01 2.82407811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.376875 meters 0.01393271008672684 Centerline is valid? [True, True] Translation: X:315.19, Y:215.27, Z:28.25 [[ 2.46973890e-01 -9.68156837e-01 -4.09418804e-02 3.15185865e+02] [ 9.54348432e-01 2.50341717e-01 -1.62935864e-01 2.15266618e+02] [ 1.67996932e-01 1.16808479e-03 9.85786826e-01 2.82493438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.436875 meters 0.014007619644076317 Centerline is valid? [True, True] Translation: X:315.20, Y:215.32, Z:28.26 [[ 2.46858612e-01 -9.68195824e-01 -4.07145129e-02 3.15199933e+02] [ 9.54506651e-01 2.50190797e-01 -1.62239389e-01 2.15320686e+02] [ 1.67265895e-01 1.18791695e-03 9.85911106e-01 2.82594186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.496875 meters 0.013978874075584683 Centerline is valid? [True, True] Translation: X:315.21, Y:215.38, Z:28.27 [[ 2.48148528e-01 -9.67874836e-01 -4.05044491e-02 3.15213965e+02] [ 9.54287037e-01 2.51428307e-01 -1.61617007e-01 2.15375843e+02] [ 1.66608999e-01 1.45215171e-03 9.86021974e-01 2.82701498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.556875 meters 0.014318960466459113 Centerline is valid? [True, True] Translation: X:315.23, Y:215.43, Z:28.28 [[ 2.50275561e-01 -9.67335941e-01 -4.02904445e-02 3.15226761e+02] [ 9.53852935e-01 2.53491116e-01 -1.60955993e-01 2.15431604e+02] [ 1.65911787e-01 1.85219276e-03 9.86138859e-01 2.82805810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.616875 meters 0.01463606003193725 Centerline is valid? [True, True] Translation: X:315.24, Y:215.49, Z:28.29 [[ 2.52315093e-01 -9.66810700e-01 -4.01766623e-02 3.15239657e+02] [ 9.53366678e-01 2.55483955e-01 -1.60685800e-01 2.15488198e+02] [ 1.65617243e-01 2.24036152e-03 9.86187563e-01 2.82901831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.676875 meters 0.015257144334888902 Centerline is valid? [True, True] Translation: X:315.25, Y:215.54, Z:28.30 [[ 2.54945337e-01 -9.66117395e-01 -4.02498999e-02 3.15250738e+02] [ 9.52583748e-01 2.58088419e-01 -1.61166282e-01 2.15544587e+02] [ 1.66093582e-01 2.74719165e-03 9.86106168e-01 2.82982461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.736875 meters 0.015772437130401513 Centerline is valid? [True, True] Translation: X:315.26, Y:215.60, Z:28.31 [[ 2.56259970e-01 -9.65766183e-01 -4.03299845e-02 3.15263670e+02] [ 9.52142757e-01 2.59396413e-01 -1.61671493e-01 2.15601344e+02] [ 1.66598314e-01 3.03002939e-03 9.86020193e-01 2.83070738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.796875 meters 0.015914126156176784 Centerline is valid? [True, True] Translation: X:315.28, Y:215.66, Z:28.32 [[ 2.56884679e-01 -9.65601184e-01 -4.03065039e-02 3.15277417e+02] [ 9.51960551e-01 2.60008106e-01 -1.61761844e-01 2.15657254e+02] [ 1.66677446e-01 3.18393780e-03 9.86006334e-01 2.83167189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.856875 meters 0.017226896780123586 Centerline is valid? [True, True] Translation: X:315.29, Y:215.71, Z:28.32 [[ 2.58562697e-01 -9.65154021e-01 -4.02870767e-02 3.15288208e+02] [ 9.51488079e-01 2.61658751e-01 -1.61879995e-01 2.15713192e+02] [ 1.66780594e-01 3.52345478e-03 9.85987738e-01 2.83248328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.916875 meters 0.01775007621672685 Centerline is valid? [True, True] Translation: X:315.30, Y:215.77, Z:28.33 [[ 2.59650685e-01 -9.64863499e-01 -4.02486124e-02 3.15301320e+02] [ 9.51185837e-01 2.62724727e-01 -1.61929681e-01 2.15769009e+02] [ 1.66814345e-01 3.76124269e-03 9.85981150e-01 2.83340664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.976875 meters 0.015912670544907852 Centerline is valid? [True, True] Translation: X:315.32, Y:215.82, Z:28.34 [[ 2.59453736e-01 -9.64916185e-01 -4.02556190e-02 3.15319326e+02] [ 9.51202107e-01 2.62530907e-01 -1.62148307e-01 2.15823154e+02] [ 1.67027870e-01 3.77875462e-03 9.85944933e-01 2.83447085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.036875 meters 0.016221786971199144 Centerline is valid? [True, True] Translation: X:315.33, Y:215.88, Z:28.35 [[ 2.58546102e-01 -9.65159077e-01 -4.02724505e-02 3.15333019e+02] [ 9.51400901e-01 2.61637958e-01 -1.62425076e-01 2.15878330e+02] [ 1.67302838e-01 3.67912445e-03 9.85898689e-01 2.83533557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.096875 meters 0.016108144702052848 Centerline is valid? [True, True] Translation: X:315.35, Y:215.93, Z:28.36 [[ 2.57577412e-01 -9.65414417e-01 -4.03593952e-02 3.15348017e+02] [ 9.51562550e-01 2.60695602e-01 -1.62992383e-01 2.15933886e+02] [ 1.67876714e-01 3.57866722e-03 9.85801502e-01 2.83628600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.156875 meters 0.016455871848443646 Centerline is valid? [True, True] Translation: X:315.36, Y:215.99, Z:28.37 [[ 2.56790235e-01 -9.65626336e-01 -4.03057646e-02 3.15361293e+02] [ 9.51779338e-01 2.59910759e-01 -1.62980025e-01 2.15988198e+02] [ 1.67853707e-01 3.48948499e-03 9.85805740e-01 2.83719271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.216875 meters 0.015865109243155557 Centerline is valid? [True, True] Translation: X:315.38, Y:216.04, Z:28.38 [[ 2.55153943e-01 -9.66057697e-01 -4.03607777e-02 3.15376977e+02] [ 9.52141703e-01 2.58305740e-01 -1.63414570e-01 2.16042982e+02] [ 1.68293323e-01 3.26669215e-03 9.85731549e-01 2.83813770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.276875 meters 0.01528637213758656 Centerline is valid? [True, True] Translation: X:315.39, Y:216.10, Z:28.39 [[ 2.52594463e-01 -9.66731739e-01 -4.03209893e-02 3.15393394e+02] [ 9.52817128e-01 2.55776289e-01 -1.63456451e-01 2.16098387e+02] [ 1.68331693e-01 2.86966541e-03 9.85726233e-01 2.83917736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.336875 meters 0.014683008119042011 Centerline is valid? [True, True] Translation: X:315.41, Y:216.15, Z:28.40 [[ 2.50619704e-01 -9.67249708e-01 -4.02214564e-02 3.15409566e+02] [ 9.53377549e-01 2.53813736e-01 -1.63247775e-01 2.16153748e+02] [ 1.68110121e-01 2.56687544e-03 9.85764880e-01 2.84021015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.396875 meters 0.014387653531908247 Centerline is valid? [True, True] Translation: X:315.43, Y:216.21, Z:28.41 [[ 2.48542834e-01 -9.67805434e-01 -3.97379109e-02 3.15425227e+02] [ 9.54240180e-01 2.51689745e-01 -1.61486692e-01 2.16209272e+02] [ 1.66289323e-01 2.21684886e-03 9.86074514e-01 2.84130753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.456875 meters 0.014202512813236704 Centerline is valid? [True, True] Translation: X:315.44, Y:216.26, Z:28.42 [[ 2.47221566e-01 -9.68154857e-01 -3.94673167e-02 3.15440610e+02] [ 9.54747061e-01 2.50343966e-01 -1.60580038e-01 2.16264582e+02] [ 1.65346749e-01 2.01754393e-03 9.86233432e-01 2.84221759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.516875 meters 0.01412539255697437 Centerline is valid? [True, True] Translation: X:315.45, Y:216.32, Z:28.43 [[ 2.46548004e-01 -9.68332569e-01 -3.93207120e-02 3.15454639e+02] [ 9.54993910e-01 2.49656298e-01 -1.60182287e-01 2.16320425e+02] [ 1.64926389e-01 1.94158273e-03 9.86303968e-01 2.84310665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57687500000003 meters 0.014283656099248913 Centerline is valid? [True, True] Translation: X:315.47, Y:216.38, Z:28.44 [[ 2.46771595e-01 -9.68277698e-01 -3.92693221e-02 3.15468524e+02] [ 9.54940622e-01 2.49868361e-01 -1.60169318e-01 2.16376502e+02] [ 1.64900539e-01 2.02536716e-03 9.86308121e-01 2.84397608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63687500000003 meters 0.013982802611670396 Centerline is valid? [True, True] Translation: X:315.48, Y:216.43, Z:28.45 [[ 2.46997690e-01 -9.68219679e-01 -3.92784065e-02 3.15483667e+02] [ 9.54842948e-01 2.50092348e-01 -1.60401879e-01 2.16432163e+02] [ 1.65127485e-01 2.11418421e-03 9.86269965e-01 2.84494821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69687500000003 meters 0.013885833059003544 Centerline is valid? [True, True] Translation: X:315.50, Y:216.49, Z:28.46 [[ 2.46661468e-01 -9.68306539e-01 -3.92500518e-02 3.15497709e+02] [ 9.54916161e-01 2.49755901e-01 -1.60490232e-01 2.16487408e+02] [ 1.65206673e-01 2.10624752e-03 9.86256721e-01 2.84585043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75687500000004 meters 0.013870287392267156 Centerline is valid? [True, True] Translation: X:315.51, Y:216.54, Z:28.47 [[ 2.45768030e-01 -9.68536643e-01 -3.91771077e-02 3.15511867e+02] [ 9.55164977e-01 2.48862957e-01 -1.60396683e-01 2.16542575e+02] [ 1.65099796e-01 1.99977574e-03 9.86274839e-01 2.84675114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81687500000004 meters 0.013691485860605538 Centerline is valid? [True, True] Translation: X:315.53, Y:216.60, Z:28.48 [[ 2.44289502e-01 -9.68916303e-01 -3.90363503e-02 3.15527680e+02] [ 9.55612372e-01 2.47382296e-01 -1.60021854e-01 2.16597605e+02] [ 1.64704685e-01 1.78803964e-03 9.86341305e-01 2.84765023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.876875 meters 0.013483201488378671 Centerline is valid? [True, True] Translation: X:315.54, Y:216.65, Z:28.49 [[ 2.43346126e-01 -9.69154831e-01 -3.90073861e-02 3.15542152e+02] [ 9.55840047e-01 2.46446959e-01 -1.60105279e-01 2.16653274e+02] [ 1.64780056e-01 1.67617762e-03 9.86328912e-01 2.84862488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.936875 meters 0.013409045886728189 Centerline is valid? [True, True] Translation: X:315.56, Y:216.71, Z:28.50 [[ 2.42638599e-01 -9.69330233e-01 -3.90564854e-02 3.15557994e+02] [ 9.55949719e-01 2.45756599e-01 -1.60511146e-01 2.16708133e+02] [ 1.65186696e-01 1.61016330e-03 9.86261001e-01 2.84955833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.996875 meters 0.013525254812224915 Centerline is valid? [True, True] Translation: X:315.57, Y:216.76, Z:28.50 [[ 2.42766511e-01 -9.69300876e-01 -3.89901733e-02 3.15573210e+02] [ 9.55931767e-01 2.45871912e-01 -1.60441455e-01 2.16763324e+02] [ 1.65102632e-01 1.67786704e-03 9.86274965e-01 2.85043729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.056875 meters 0.013326220760775333 Centerline is valid? [True, True] Translation: X:315.59, Y:216.82, Z:28.51 [[ 2.42475453e-01 -9.69382235e-01 -3.87780385e-02 3.15588815e+02] [ 9.56126597e-01 2.45551041e-01 -1.59770514e-01 2.16818584e+02] [ 1.64400685e-01 1.66371375e-03 9.86392238e-01 2.85135626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.116875 meters 0.013377442494968273 Centerline is valid? [True, True] Translation: X:315.60, Y:216.87, Z:28.52 [[ 2.42687429e-01 -9.69322235e-01 -3.89514719e-02 3.15604673e+02] [ 9.55911122e-01 2.45787087e-01 -1.60694227e-01 2.16873660e+02] [ 1.65338256e-01 1.76432359e-03 9.86235341e-01 2.85225219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.176875 meters 0.013532719499460654 Centerline is valid? [True, True] Translation: X:315.62, Y:216.93, Z:28.53 [[ 2.43199092e-01 -9.69190547e-01 -3.90369651e-02 3.15620540e+02] [ 9.55683743e-01 2.46304763e-01 -1.61253051e-01 2.16928320e+02] [ 1.65899924e-01 1.90960280e-03 9.86140745e-01 2.85310533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.236875 meters 0.013569477696984474 Centerline is valid? [True, True] Translation: X:315.64, Y:216.98, Z:28.54 [[ 2.43566586e-01 -9.69106944e-01 -3.88207396e-02 3.15636928e+02] [ 9.55724109e-01 2.46632842e-01 -1.60510648e-01 2.16983642e+02] [ 1.65126453e-01 1.99311365e-03 9.86270390e-01 2.85409750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.296875 meters 0.01344588263371019 Centerline is valid? [True, True] Translation: X:315.65, Y:217.04, Z:28.55 [[ 2.43483906e-01 -9.69141247e-01 -3.84815639e-02 3.15652698e+02] [ 9.55960193e-01 2.46497942e-01 -1.59307482e-01 2.17038421e+02] [ 1.63877078e-01 2.00196474e-03 9.86478735e-01 2.85511694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.356875 meters 0.013458571150500115 Centerline is valid? [True, True] Translation: X:315.67, Y:217.09, Z:28.56 [[ 2.43312237e-01 -9.69192238e-01 -3.82826570e-02 3.15669204e+02] [ 9.56115422e-01 2.46297335e-01 -1.58684980e-01 2.17093303e+02] [ 1.63225168e-01 2.00735878e-03 9.86586801e-01 2.85613770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.416875 meters 0.013491772098544108 Centerline is valid? [True, True] Translation: X:315.68, Y:217.15, Z:28.57 [[ 2.43317932e-01 -9.69200181e-01 -3.80446199e-02 3.15684873e+02] [ 9.56253802e-01 2.46265814e-01 -1.57898113e-01 2.17148650e+02] [ 1.62403969e-01 2.03912987e-03 9.86722247e-01 2.85706825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.476875 meters 0.01386869618083079 Centerline is valid? [True, True] Translation: X:315.70, Y:217.20, Z:28.58 [[ 2.44155411e-01 -9.68986202e-01 -3.81297219e-02 3.15699498e+02] [ 9.55945823e-01 2.47104709e-01 -1.58451399e-01 2.17203477e+02] [ 1.62959253e-01 2.23681798e-03 9.86630264e-01 2.85781392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.536875 meters 0.013561686319781276 Centerline is valid? [True, True] Translation: X:315.72, Y:217.26, Z:28.59 [[ 2.44641011e-01 -9.68855344e-01 -3.83418721e-02 3.15715242e+02] [ 9.55631802e-01 2.47615851e-01 -1.59543876e-01 2.17258843e+02] [ 1.64068992e-01 2.39026261e-03 9.86445970e-01 2.85861437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.596875 meters 0.01387696801323239 Centerline is valid? [True, True] Translation: X:315.73, Y:217.31, Z:28.59 [[ 2.45404431e-01 -9.68658722e-01 -3.84310350e-02 3.15729313e+02] [ 9.55336577e-01 2.48382015e-01 -1.60119956e-01 2.17314570e+02] [ 1.64647170e-01 2.57957322e-03 9.86349155e-01 2.85942245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.656875 meters 0.01404631750656363 Centerline is valid? [True, True] Translation: X:315.74, Y:217.37, Z:28.60 [[ 2.47359821e-01 -9.68169482e-01 -3.82226857e-02 3.15744501e+02] [ 9.54954687e-01 2.50278279e-01 -1.59443809e-01 2.17370160e+02] [ 1.63934938e-01 2.93905923e-03 9.86466775e-01 2.86041019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.716875 meters 0.01464046108817896 Centerline is valid? [True, True] Translation: X:315.76, Y:217.43, Z:28.61 [[ 2.49218913e-01 -9.67693864e-01 -3.81905732e-02 3.15758772e+02] [ 9.54463609e-01 2.52106519e-01 -1.59503990e-01 2.17426598e+02] [ 1.63979125e-01 3.29989857e-03 9.86458290e-01 2.86131974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.776875 meters 0.015169304048496746 Centerline is valid? [True, True] Translation: X:315.77, Y:217.48, Z:28.62 [[ 2.51304305e-01 -9.67157273e-01 -3.81176507e-02 3.15772738e+02] [ 9.53939905e-01 2.54151855e-01 -1.59391004e-01 2.17482452e+02] [ 1.63843841e-01 3.69369751e-03 9.86479373e-01 2.86217996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.836875 meters 0.015518901471831673 Centerline is valid? [True, True] Translation: X:315.79, Y:217.54, Z:28.63 [[ 2.52571800e-01 -9.66824844e-01 -3.81733709e-02 3.15786836e+02] [ 9.53532819e-01 2.55409466e-01 -1.59816045e-01 2.17538817e+02] [ 1.64263963e-01 3.96546414e-03 9.86408448e-01 2.86302671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.896875 meters 0.016456125033163783 Centerline is valid? [True, True] Translation: X:315.80, Y:217.59, Z:28.64 [[ 2.55015077e-01 -9.66178355e-01 -3.82974750e-02 3.15801150e+02] [ 9.52759250e-01 2.57836357e-01 -1.60531068e-01 2.17594525e+02] [ 1.64976125e-01 4.44956897e-03 9.86287524e-01 2.86383466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.956875 meters 0.01687943412975014 Centerline is valid? [True, True] Translation: X:315.82, Y:217.65, Z:28.65 [[ 2.57391808e-01 -9.65555682e-01 -3.81009369e-02 3.15815851e+02] [ 9.52234409e-01 2.60150773e-01 -1.59909991e-01 2.17650469e+02] [ 1.64313989e-01 4.87849870e-03 9.86396023e-01 2.86470623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.016875 meters 0.017749105232861002 Centerline is valid? [True, True] Translation: X:315.83, Y:217.71, Z:28.66 [[ 2.58755143e-01 -9.65201290e-01 -3.78450219e-02 3.15829213e+02] [ 9.52024088e-01 2.61457943e-01 -1.59027921e-01 2.17706364e+02] [ 1.63388836e-01 5.11991995e-03 9.86548465e-01 2.86565729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07687500000003 meters 0.01830219316799308 Centerline is valid? [True, True] Translation: X:315.84, Y:217.76, Z:28.67 [[ 2.60105134e-01 -9.64848835e-01 -3.75771808e-02 3.15844396e+02] [ 9.51823823e-01 2.62750949e-01 -1.58092851e-01 2.17761460e+02] [ 1.62409143e-01 5.35390627e-03 9.86708977e-01 2.86663817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13687500000003 meters 0.018999376238532713 Centerline is valid? [True, True] Translation: X:315.86, Y:217.82, Z:28.68 [[ 2.60264980e-01 -9.64806264e-01 -3.75634473e-02 3.15857822e+02] [ 9.51758765e-01 2.62905669e-01 -1.58227252e-01 2.17817601e+02] [ 1.62534287e-01 5.42967231e-03 9.86687957e-01 2.86754087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19687500000003 meters 0.020152545464479487 Centerline is valid? [True, True] Translation: X:315.87, Y:217.87, Z:28.68 [[ 2.60249262e-01 -9.64809002e-01 -3.76020066e-02 3.15871280e+02] [ 9.51701179e-01 2.62894420e-01 -1.58591897e-01 2.17872603e+02] [ 1.62896248e-01 5.48755019e-03 9.86627944e-01 2.86826719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25687500000004 meters 0.01820969982837166 Centerline is valid? [True, True] Translation: X:315.89, Y:217.93, Z:28.69 [[ 2.59349905e-01 -9.65046613e-01 -3.77181796e-02 3.15890142e+02] [ 9.51834767e-01 2.62022759e-01 -1.59231436e-01 2.17927192e+02] [ 1.63548780e-01 5.39518311e-03 9.86520496e-01 2.86910184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31687500000004 meters 0.01968512952019248 Centerline is valid? [True, True] Translation: X:315.90, Y:217.98, Z:28.70 [[ 2.58534342e-01 -9.65266514e-01 -3.76901911e-02 3.15902604e+02] [ 9.52042304e-01 2.61213304e-01 -1.59320626e-01 2.17982736e+02] [ 1.63632044e-01 5.30719668e-03 9.86507166e-01 2.86994885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.376875 meters 0.019119458689232597 Centerline is valid? [True, True] Translation: X:315.92, Y:218.04, Z:28.71 [[ 2.58102041e-01 -9.65383131e-01 -3.76662630e-02 3.15919540e+02] [ 9.52141831e-01 2.60782417e-01 -1.59431696e-01 2.18037352e+02] [ 1.63735369e-01 5.28602139e-03 9.86490135e-01 2.87086484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.436875 meters 0.01908699201029016 Centerline is valid? [True, True] Translation: X:315.94, Y:218.09, Z:28.72 [[ 2.57719745e-01 -9.65493006e-01 -3.74671778e-02 3.15935160e+02] [ 9.52360159e-01 2.60376241e-01 -1.58790241e-01 2.18093063e+02] [ 1.63066430e-01 5.24113287e-03 9.86601171e-01 2.87168747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.496875 meters 0.019404687372739784 Centerline is valid? [True, True] Translation: X:315.95, Y:218.15, Z:28.72 [[ 2.56922097e-01 -9.65702378e-01 -3.75493532e-02 3.15949169e+02] [ 9.52479782e-01 2.59599983e-01 -1.59342754e-01 2.18148512e+02] [ 1.63625488e-01 5.17367468e-03 9.86508962e-01 2.87247961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.556875 meters 0.01758268295514394 Centerline is valid? [True, True] Translation: X:315.97, Y:218.20, Z:28.73 [[ 2.55188816e-01 -9.66159572e-01 -3.76078319e-02 3.15968495e+02] [ 9.52862670e-01 2.57897642e-01 -1.59817204e-01 2.18202869e+02] [ 1.64107892e-01 4.94846388e-03 9.86429984e-01 2.87340756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.616875 meters 0.017111702923952848 Centerline is valid? [True, True] Translation: X:315.99, Y:218.26, Z:28.75 [[ 2.52767133e-01 -9.66814370e-01 -3.71315354e-02 3.15985394e+02] [ 9.53829034e-01 2.55439950e-01 -1.57989261e-01 2.18257367e+02] [ 1.62231166e-01 4.51735619e-03 9.86742440e-01 2.87452467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.676875 meters 0.01657332372879793 Centerline is valid? [True, True] Translation: X:316.00, Y:218.31, Z:28.76 [[ 2.49552987e-01 -9.67664504e-01 -3.67248405e-02 3.16001929e+02] [ 9.54941071e-01 2.52209472e-01 -1.56454253e-01 2.18312172e+02] [ 1.60657580e-01 3.97356745e-03 9.87002205e-01 2.87553253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.736875 meters 0.015886848856556068 Centerline is valid? [True, True] Translation: X:316.02, Y:218.37, Z:28.76 [[ 2.48395187e-01 -9.67966187e-01 -3.66236566e-02 3.16017147e+02] [ 9.55283571e-01 2.51051531e-01 -1.56225569e-01 2.18367403e+02] [ 1.60415493e-01 3.81970206e-03 9.87042187e-01 2.87647923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.796875 meters 0.01590464338791943 Centerline is valid? [True, True] Translation: X:316.03, Y:218.42, Z:28.77 [[ 2.46700034e-01 -9.68403063e-01 -3.65321753e-02 3.16031759e+02] [ 9.55755802e-01 2.49364588e-01 -1.56038936e-01 2.18423392e+02] [ 1.60218414e-01 3.57897225e-03 9.87075099e-01 2.87742315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.856875 meters 0.015512782007902924 Centerline is valid? [True, True] Translation: X:316.05, Y:218.48, Z:28.78 [[ 2.44315661e-01 -9.69006930e-01 -3.65435122e-02 3.16047089e+02] [ 9.56327585e-01 2.47012381e-01 -1.56276784e-01 2.18479215e+02] [ 1.60459986e-01 3.23329698e-03 9.87037050e-01 2.87824497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.916875 meters 0.015050369377242492 Centerline is valid? [True, True] Translation: X:316.06, Y:218.53, Z:28.79 [[ 2.41918342e-01 -9.69605154e-01 -3.66245994e-02 3.16062724e+02] [ 9.56842926e-01 2.44657853e-01 -1.56825223e-01 2.18533424e+02] [ 1.61019041e-01 2.89490916e-03 9.86947054e-01 2.87901032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.976875 meters 0.014715180337026186 Centerline is valid? [True, True] Translation: X:316.08, Y:218.59, Z:28.80 [[ 2.38896405e-01 -9.70341309e-01 -3.69628322e-02 3.16078379e+02] [ 9.57324538e-01 2.41726467e-01 -1.58423625e-01 2.18588189e+02] [ 1.62659882e-01 2.46140820e-03 9.86679129e-01 2.87969349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.036875 meters 0.014076856990236065 Centerline is valid? [True, True] Translation: X:316.09, Y:218.64, Z:28.81 [[ 2.36202001e-01 -9.70995812e-01 -3.70910826e-02 3.16094370e+02] [ 9.57863439e-01 2.39087553e-01 -1.59169015e-01 2.18643451e+02] [ 1.63420463e-01 2.06784792e-03 9.86554345e-01 2.88055835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.096875 meters 0.01310347692981201 Centerline is valid? [True, True] Translation: X:316.11, Y:218.70, Z:28.82 [[ 2.31204745e-01 -9.72205558e-01 -3.68879271e-02 3.16112645e+02] [ 9.59199704e-01 2.34125521e-01 -1.58496586e-01 2.18697909e+02] [ 1.62727667e-01 1.26227406e-03 9.86670215e-01 2.88151427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.156875 meters 0.012729068866403652 Centerline is valid? [True, True] Translation: X:316.13, Y:218.75, Z:28.82 [[ 2.25932603e-01 -9.73453625e-01 -3.66401366e-02 3.16130738e+02] [ 9.60605703e-01 2.28883957e-01 -1.57635079e-01 2.18751891e+02] [ 1.61836778e-01 4.18179487e-04 9.86817451e-01 2.88248571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.216875 meters 0.012649303862395215 Centerline is valid? [True, True] Translation: X:316.15, Y:218.81, Z:28.83 [[ 2.22812043e-01 -9.74178327e-01 -3.64880809e-02 3.16146681e+02] [ 9.61412130e-01 2.25779945e-01 -1.57194568e-01 2.18805965e+02] [ 1.61373818e-01 -5.52407246e-05 9.86893352e-01 2.88343409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.276875 meters 0.012745952444800993 Centerline is valid? [True, True] Translation: X:316.16, Y:218.86, Z:28.84 [[ 2.19892184e-01 -9.74836558e-01 -3.66212170e-02 3.16163151e+02] [ 9.61947867e-01 2.22920278e-01 -1.57996362e-01 2.18860871e+02] [ 1.62184242e-01 -4.85536493e-04 9.86760374e-01 2.88424963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.336875 meters 0.012800803709895926 Centerline is valid? [True, True] Translation: X:316.18, Y:218.92, Z:28.85 [[ 2.17878558e-01 -9.75272466e-01 -3.70479532e-02 3.16178785e+02] [ 9.62046817e-01 2.21004594e-01 -1.60071520e-01 2.18916113e+02] [ 1.64301114e-01 -7.65713609e-04 9.86409934e-01 2.88498124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.396875 meters 0.013042286787554782 Centerline is valid? [True, True] Translation: X:316.19, Y:218.97, Z:28.86 [[ 2.16849883e-01 -9.75498169e-01 -3.71409574e-02 3.16193938e+02] [ 9.62173196e-01 2.20005746e-01 -1.60686694e-01 2.18970420e+02] [ 1.64920800e-01 -8.91142939e-04 9.86306411e-01 2.88575681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.456875 meters 0.013072803359139573 Centerline is valid? [True, True] Translation: X:316.21, Y:219.03, Z:28.87 [[ 2.15904990e-01 -9.75712303e-01 -3.70207622e-02 3.16208970e+02] [ 9.62440205e-01 2.19053642e-01 -1.60388135e-01 2.19025834e+02] [ 1.64602209e-01 -1.00167131e-03 9.86359523e-01 2.88676368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.516875 meters 0.012962829924261796 Centerline is valid? [True, True] Translation: X:316.22, Y:219.08, Z:28.88 [[ 2.16537389e-01 -9.75577269e-01 -3.68856566e-02 3.16222497e+02] [ 9.62365730e-01 2.19654893e-01 -1.60012278e-01 2.19080780e+02] [ 1.64206456e-01 -8.48851124e-04 9.86425628e-01 2.88772275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57687500000003 meters 0.012798292123960619 Centerline is valid? [True, True] Translation: X:316.23, Y:219.14, Z:28.89 [[ 2.19264768e-01 -9.74975349e-01 -3.66882914e-02 3.16233894e+02] [ 9.61858798e-01 2.22312737e-01 -1.59388521e-01 2.19135337e+02] [ 1.63556153e-01 -3.40668797e-04 9.86533967e-01 2.88862683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63687500000003 meters 0.012962849026415353 Centerline is valid? [True, True] Translation: X:316.24, Y:219.19, Z:28.90 [[ 2.23869821e-01 -9.73937112e-01 -3.64527859e-02 3.16243952e+02] [ 9.60936043e-01 2.26817710e-01 -1.58605323e-01 2.19190746e+02] [ 1.62739747e-01 4.78149299e-04 9.86668914e-01 2.88954533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69687500000003 meters 0.013290710271848971 Centerline is valid? [True, True] Translation: X:316.25, Y:219.25, Z:28.90 [[ 2.26822811e-01 -9.73254588e-01 -3.64269052e-02 3.16254709e+02] [ 9.60225481e-01 2.29726923e-01 -1.58721666e-01 2.19246556e+02] [ 1.62844830e-01 1.02365177e-03 9.86651161e-01 2.89045833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75687500000004 meters 0.01371225971963143 Centerline is valid? [True, True] Translation: X:316.27, Y:219.30, Z:28.91 [[ 2.30465292e-01 -9.72399578e-01 -3.63979269e-02 3.16265457e+02] [ 9.59342542e-01 2.33315705e-01 -1.58825910e-01 2.19303470e+02] [ 1.62934456e-01 1.68578012e-03 9.86635455e-01 2.89126848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81687500000004 meters 0.014041843420332404 Centerline is valid? [True, True] Translation: X:316.28, Y:219.36, Z:28.92 [[ 2.32558655e-01 -9.71897697e-01 -3.64875243e-02 3.16277061e+02] [ 9.58735080e-01 2.35394314e-01 -1.59425729e-01 2.19359722e+02] [ 1.63534455e-01 2.09396363e-03 9.86535401e-01 2.89205883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.876875 meters 0.014301822555713894 Centerline is valid? [True, True] Translation: X:316.29, Y:219.42, Z:28.93 [[ 2.33241320e-01 -9.71737187e-01 -3.64050272e-02 3.16288555e+02] [ 9.58597827e-01 2.36054590e-01 -1.59274719e-01 2.19415289e+02] [ 1.63366741e-01 2.25166564e-03 9.86562840e-01 2.89291137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.936875 meters 0.014295090782189922 Centerline is valid? [True, True] Translation: X:316.30, Y:219.47, Z:28.94 [[ 2.32437451e-01 -9.71936036e-01 -3.62377180e-02 3.16300607e+02] [ 9.58881835e-01 2.35235381e-01 -1.58776391e-01 2.19469789e+02] [ 1.62844890e-01 2.15789028e-03 9.86649322e-01 2.89373358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.996875 meters 0.014022591637702525 Centerline is valid? [True, True] Translation: X:316.31, Y:219.52, Z:28.95 [[ 2.30418639e-01 -9.72418359e-01 -3.61909623e-02 3.16314574e+02] [ 9.59363501e-01 2.33235982e-01 -1.58816401e-01 2.19524737e+02] [ 1.62877018e-01 1.87397062e-03 9.86644599e-01 2.89466319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.056875 meters 0.013255702514782322 Centerline is valid? [True, True] Translation: X:316.33, Y:219.58, Z:28.96 [[ 2.26491555e-01 -9.73345173e-01 -3.60659170e-02 3.16329676e+02] [ 9.60355000e-01 2.29341629e-01 -1.58495086e-01 2.19580075e+02] [ 1.62541843e-01 1.26171461e-03 9.86700845e-01 2.89559760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.116875 meters 0.012712297582093385 Centerline is valid? [True, True] Translation: X:316.34, Y:219.63, Z:28.96 [[ 2.20888242e-01 -9.74633934e-01 -3.60149768e-02 3.16344505e+02] [ 9.61663720e-01 2.23804728e-01 -1.58475025e-01 2.19634545e+02] [ 1.62515459e-01 3.70973058e-04 9.86705928e-01 2.89641999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.176875 meters 0.012673364694508327 Centerline is valid? [True, True] Translation: X:316.36, Y:219.69, Z:28.97 [[ 2.17336164e-01 -9.75430105e-01 -3.60708028e-02 3.16358791e+02] [ 9.62392630e-01 2.20309061e-01 -1.58947610e-01 2.19689369e+02] [ 1.62989008e-01 -1.69211007e-04 9.86627870e-01 2.89723818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.236875 meters 0.01298426072300775 Centerline is valid? [True, True] Translation: X:316.37, Y:219.74, Z:28.98 [[ 2.11462397e-01 -9.76714928e-01 -3.62160817e-02 3.16374979e+02] [ 9.63552299e-01 2.14538426e-01 -1.59813114e-01 2.19744117e+02] [ 1.63861595e-01 -1.10162460e-03 9.86482724e-01 2.89814801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.296875 meters 0.013603566175707913 Centerline is valid? [True, True] Translation: X:316.39, Y:219.80, Z:28.99 [[ 2.07031017e-01 -9.77663000e-01 -3.62383268e-02 3.16389817e+02] [ 9.64464054e-01 2.10170914e-01 -1.60116444e-01 2.19798992e+02] [ 1.64156166e-01 -1.80149320e-03 9.86432718e-01 2.89906909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.356875 meters 0.014183391943793049 Centerline is valid? [True, True] Translation: X:316.40, Y:219.85, Z:29.00 [[ 2.04928809e-01 -9.78105375e-01 -3.62499522e-02 3.16402579e+02] [ 9.64878965e-01 2.08099429e-01 -1.60322206e-01 2.19854295e+02] [ 1.64355606e-01 -2.12217759e-03 9.86398870e-01 2.89990157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.416875 meters 0.013935896752680829 Centerline is valid? [True, True] Translation: X:316.41, Y:219.91, Z:29.01 [[ 2.04229956e-01 -9.78254999e-01 -3.61563482e-02 3.16413609e+02] [ 9.65063580e-01 2.07394206e-01 -1.60124731e-01 2.19910073e+02] [ 1.64141435e-01 -2.19090814e-03 9.86434382e-01 2.90088073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.476875 meters 0.013913392328079092 Centerline is valid? [True, True] Translation: X:316.42, Y:219.96, Z:29.02 [[ 2.05104335e-01 -9.78072347e-01 -3.61482438e-02 3.16424336e+02] [ 9.64848144e-01 2.08255829e-01 -1.60304610e-01 2.19964799e+02] [ 1.64317589e-01 -1.99839541e-03 9.86405462e-01 2.90175700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.536875 meters 0.013623406670126363 Centerline is valid? [True, True] Translation: X:316.43, Y:220.02, Z:29.03 [[ 2.07072729e-01 -9.77662020e-01 -3.60258256e-02 3.16433796e+02] [ 9.64479706e-01 2.10177015e-01 -1.60014124e-01 2.20020975e+02] [ 1.64011532e-01 -1.61161649e-03 9.86457105e-01 2.90266440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.596875 meters 0.013088350085663798 Centerline is valid? [True, True] Translation: X:316.44, Y:220.08, Z:29.04 [[ 2.12173500e-01 -9.76574712e-01 -3.58362571e-02 3.16441623e+02] [ 9.63476964e-01 2.15177448e-01 -1.59407671e-01 2.20076832e+02] [ 1.63384655e-01 -7.05324611e-04 9.86562191e-01 2.90357671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.656875 meters 0.012972242114588648 Centerline is valid? [True, True] Translation: X:316.45, Y:220.13, Z:29.05 [[ 2.13735148e-01 -9.76236856e-01 -3.57615411e-02 3.16452116e+02] [ 9.63155022e-01 2.16705887e-01 -1.59282649e-01 2.20132890e+02] [ 1.63247329e-01 -3.99607462e-04 9.86585095e-01 2.90452789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.716875 meters 0.013030842332801065 Centerline is valid? [True, True] Translation: X:316.46, Y:220.19, Z:29.05 [[ 2.19723631e-01 -9.74910737e-01 -3.56452005e-02 3.16458433e+02] [ 9.61858710e-01 2.22595222e-01 -1.58994306e-01 2.20189712e+02] [ 1.62939707e-01 6.49159597e-04 9.86635814e-01 2.90543733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.776875 meters 0.013583609358698465 Centerline is valid? [True, True] Translation: X:316.47, Y:220.25, Z:29.06 [[ 2.24979208e-01 -9.73707902e-01 -3.57390318e-02 3.16465378e+02] [ 9.60531960e-01 2.27794636e-01 -1.59649481e-01 2.20247253e+02] [ 1.63593121e-01 1.58933151e-03 9.86526616e-01 2.90613336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.836875 meters 0.01396254633692431 Centerline is valid? [True, True] Translation: X:316.48, Y:220.30, Z:29.07 [[ 2.26643270e-01 -9.73321569e-01 -3.57484405e-02 3.16475708e+02] [ 9.60098637e-01 2.29437225e-01 -1.59903620e-01 2.20303470e+02] [ 1.63839666e-01 1.91905042e-03 9.86485115e-01 2.90697897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.896875 meters 0.01408194772710191 Centerline is valid? [True, True] Translation: X:316.49, Y:220.36, Z:29.08 [[ 2.27213635e-01 -9.73193747e-01 -3.56075072e-02 3.16486889e+02] [ 9.60039011e-01 2.29977646e-01 -1.59484733e-01 2.20358908e+02] [ 1.63398476e-01 2.05250997e-03 9.86558019e-01 2.90793673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.956875 meters 0.01378363956832144 Centerline is valid? [True, True] Translation: X:316.50, Y:220.41, Z:29.09 [[ 2.25291787e-01 -9.73645785e-01 -3.54612008e-02 3.16499192e+02] [ 9.60566338e-01 2.28058637e-01 -1.59064666e-01 2.20414176e+02] [ 1.62959875e-01 1.77312697e-03 9.86631104e-01 2.90880825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.016875 meters 0.013424094806959603 Centerline is valid? [True, True] Translation: X:316.51, Y:220.47, Z:29.10 [[ 2.22694521e-01 -9.74243511e-01 -3.54504044e-02 3.16513360e+02] [ 9.61140712e-01 2.25494223e-01 -1.59251019e-01 2.20469509e+02] [ 1.63143133e-01 1.39150237e-03 9.86601430e-01 2.90966971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07687500000003 meters 0.012871324305520699 Centerline is valid? [True, True] Translation: X:316.53, Y:220.52, Z:29.11 [[ 2.18311039e-01 -9.75242657e-01 -3.52427190e-02 3.16527749e+02] [ 9.62267817e-01 2.21136310e-01 -1.58554032e-01 2.20524659e+02] [ 1.62422101e-01 7.01161260e-04 9.86721120e-01 2.91059298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13687500000003 meters 0.012654063149028793 Centerline is valid? [True, True] Translation: X:316.54, Y:220.58, Z:29.12 [[ 2.15492859e-01 -9.75877457e-01 -3.50145211e-02 3.16541601e+02] [ 9.63045118e-01 2.18318839e-01 -1.57737079e-01 2.20580717e+02] [ 1.61576389e-01 2.70650386e-04 9.86860171e-01 2.91154918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19687500000003 meters 0.012591516860264433 Centerline is valid? [True, True] Translation: X:316.56, Y:220.64, Z:29.12 [[ 2.11485173e-01 -9.76761651e-01 -3.47951029e-02 3.16555948e+02] [ 9.64067370e-01 2.14328149e-01 -1.56963535e-01 2.20635310e+02] [ 1.60773531e-01 -3.49363051e-04 9.86991261e-01 2.91243668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25687500000004 meters 0.012654339914388588 Centerline is valid? [True, True] Translation: X:316.57, Y:220.69, Z:29.13 [[ 2.09010201e-01 -9.77304097e-01 -3.45172263e-02 3.16568656e+02] [ 9.64784428e-01 2.11840030e-01 -1.55932063e-01 2.20691372e+02] [ 1.59705174e-01 -7.10290710e-04 9.87164501e-01 2.91327948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31687500000004 meters 0.012601092168032318 Centerline is valid? [True, True] Translation: X:316.58, Y:220.75, Z:29.14 [[ 2.09116003e-01 -9.77284579e-01 -3.44289127e-02 3.16579990e+02] [ 9.64794892e-01 2.11930254e-01 -1.55744610e-01 2.20748251e+02] [ 1.59503334e-01 -6.48148817e-04 9.87197177e-01 2.91414254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.376875 meters 0.012422744803101892 Centerline is valid? [True, True] Translation: X:316.59, Y:220.80, Z:29.15 [[ 2.11368495e-01 -9.76804361e-01 -3.43016016e-02 3.16589131e+02] [ 9.64366764e-01 2.14133567e-01 -1.55381980e-01 2.20803518e+02] [ 1.59122920e-01 -2.36469200e-04 9.87258750e-01 2.91499677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.436875 meters 0.012397451699254814 Centerline is valid? [True, True] Translation: X:316.60, Y:220.86, Z:29.16 [[ 2.14076761e-01 -9.76224931e-01 -3.40003584e-02 3.16597458e+02] [ 9.63959466e-01 2.16759825e-01 -1.54263820e-01 2.20858613e+02] [ 1.57966099e-01 2.49331605e-04 9.87444504e-01 2.91585418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.496875 meters 0.012445881387492325 Centerline is valid? [True, True] Translation: X:316.61, Y:220.91, Z:29.17 [[ 2.15397306e-01 -9.75939526e-01 -3.38532337e-02 3.16607171e+02] [ 9.63738873e-01 2.18040777e-01 -1.53836288e-01 2.20914220e+02] [ 1.57516300e-01 5.10244869e-04 9.87516256e-01 2.91675215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.556875 meters 0.0125458851269563 Centerline is valid? [True, True] Translation: X:316.62, Y:220.97, Z:29.18 [[ 2.17390961e-01 -9.75499870e-01 -3.37812518e-02 3.16617003e+02] [ 9.63309339e-01 2.19998247e-01 -1.53739679e-01 2.20970958e+02] [ 1.57404854e-01 8.79821211e-04 9.87533766e-01 2.91762213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.616875 meters 0.012778768663131006 Centerline is valid? [True, True] Translation: X:316.63, Y:221.03, Z:29.18 [[ 2.19397135e-01 -9.75047251e-01 -3.38785282e-02 3.16626035e+02] [ 9.62746197e-01 2.21993864e-01 -1.54397163e-01 2.21028001e+02] [ 1.58065355e-01 1.25787114e-03 9.87427851e-01 2.91849267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.676875 meters 0.013054009352621061 Centerline is valid? [True, True] Translation: X:316.64, Y:221.08, Z:29.19 [[ 2.20479561e-01 -9.74802748e-01 -3.38875568e-02 3.16635342e+02] [ 9.62458049e-01 2.23063683e-01 -1.54651536e-01 2.21083026e+02] [ 1.58313825e-01 1.48215083e-03 9.87387733e-01 2.91929157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.736875 meters 0.013052916303549201 Centerline is valid? [True, True] Translation: X:316.65, Y:221.14, Z:29.20 [[ 2.21379004e-01 -9.74598767e-01 -3.38907128e-02 3.16646861e+02] [ 9.62209212e-01 2.23951789e-01 -1.54916199e-01 2.21138817e+02] [ 1.58571022e-01 1.68523774e-03 9.87346135e-01 2.92014485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.796875 meters 0.013215951075729523 Centerline is valid? [True, True] Translation: X:316.66, Y:221.19, Z:29.21 [[ 2.20836559e-01 -9.74732835e-01 -3.35725215e-02 3.16657836e+02] [ 9.62553093e-01 2.23368107e-01 -1.53617160e-01 2.21193634e+02] [ 1.57234720e-01 1.60895055e-03 9.87559950e-01 2.92112480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.856875 meters 0.013324902395330473 Centerline is valid? [True, True] Translation: X:316.67, Y:221.25, Z:29.22 [[ 2.19941257e-01 -9.74939804e-01 -3.34398285e-02 3.16672575e+02] [ 9.62834979e-01 2.22463839e-01 -1.53162151e-01 2.21249083e+02] [ 1.56763030e-01 1.48963939e-03 9.87635122e-01 2.92191470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.916875 meters 0.012624917221857667 Centerline is valid? [True, True] Translation: X:316.69, Y:221.30, Z:29.23 [[ 2.17467272e-01 -9.75502167e-01 -3.32190941e-02 3.16685350e+02] [ 9.63530536e-01 2.19986939e-01 -1.52363556e-01 2.21303899e+02] [ 1.55938745e-01 1.12647522e-03 9.87766085e-01 2.92287652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.976875 meters 0.012405882221759094 Centerline is valid? [True, True] Translation: X:316.70, Y:221.36, Z:29.24 [[ 2.15930346e-01 -9.75838681e-01 -3.33609536e-02 3.16698282e+02] [ 9.63732919e-01 2.18490251e-01 -1.53234696e-01 2.21359420e+02] [ 1.56821386e-01 9.36971741e-04 9.87626536e-01 2.92369706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.036875 meters 0.012014607412271304 Centerline is valid? [True, True] Translation: X:316.71, Y:221.42, Z:29.24 [[ 2.13132575e-01 -9.76442720e-01 -3.36767062e-02 3.16711488e+02] [ 9.64074001e-01 2.15776063e-01 -1.54925825e-01 2.21415072e+02] [ 1.58542821e-01 5.52902969e-04 9.87351948e-01 2.92434937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.096875 meters 0.011853496818948211 Centerline is valid? [True, True] Translation: X:316.73, Y:221.47, Z:29.25 [[ 2.06740584e-01 -9.77807673e-01 -3.39188111e-02 3.16727611e+02] [ 9.65238069e-01 2.09504104e-01 -1.56280197e-01 2.21469433e+02] [ 1.59918106e-01 -4.30268642e-04 9.87130191e-01 2.92514217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.156875 meters 0.011872859272823638 Centerline is valid? [True, True] Translation: X:316.74, Y:221.53, Z:29.26 [[ 2.04337773e-01 -9.78307287e-01 -3.40723827e-02 3.16740151e+02] [ 9.65590711e-01 2.07157563e-01 -1.57226981e-01 2.21525174e+02] [ 1.60874653e-01 -7.72565056e-04 9.86974543e-01 2.92602611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.216875 meters 0.011861550100779134 Centerline is valid? [True, True] Translation: X:316.75, Y:221.58, Z:29.27 [[ 2.03740454e-01 -9.78424844e-01 -3.42731855e-02 3.16750604e+02] [ 9.65521665e-01 2.06601418e-01 -1.58378563e-01 2.21581251e+02] [ 1.62042410e-01 -8.23382695e-04 9.86783451e-01 2.92676740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.276875 meters 0.011689304798632425 Centerline is valid? [True, True] Translation: X:316.76, Y:221.64, Z:29.28 [[ 2.05337896e-01 -9.78095826e-01 -3.41306747e-02 3.16761594e+02] [ 9.65257857e-01 2.08154493e-01 -1.57952447e-01 2.21636133e+02] [ 1.61597083e-01 -5.11278729e-04 9.86856687e-01 2.92777766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.336875 meters 0.011638165677000404 Centerline is valid? [True, True] Translation: X:316.77, Y:221.69, Z:29.29 [[ 2.05521040e-01 -9.78060045e-01 -3.40536477e-02 3.16773419e+02] [ 9.65240291e-01 2.08322738e-01 -1.57837947e-01 2.21689872e+02] [ 1.61469139e-01 -4.30933711e-04 9.86877668e-01 2.92869317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.396875 meters 0.011656038828435734 Centerline is valid? [True, True] Translation: X:316.79, Y:221.75, Z:29.30 [[ 2.05489141e-01 -9.78066855e-01 -3.40505657e-02 3.16785697e+02] [ 9.65218841e-01 2.08290832e-01 -1.58011132e-01 2.21745019e+02] [ 1.61637872e-01 -3.96675736e-04 9.86850060e-01 2.92960406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.456875 meters 0.011623208129659238 Centerline is valid? [True, True] Translation: X:316.80, Y:221.80, Z:29.31 [[ 2.05701705e-01 -9.78027508e-01 -3.38969444e-02 3.16798803e+02] [ 9.65256543e-01 2.08475648e-01 -1.57536378e-01 2.21800005e+02] [ 1.61141599e-01 -3.13745897e-04 9.86931247e-01 2.93059381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.516875 meters 0.01158292216771987 Centerline is valid? [True, True] Translation: X:316.81, Y:221.85, Z:29.31 [[ 2.05258212e-01 -9.78120056e-01 -3.39149242e-02 3.16810876e+02] [ 9.65296885e-01 2.08040965e-01 -1.57863487e-01 2.21854332e+02] [ 1.61465137e-01 -3.35193583e-04 9.86878360e-01 2.93137089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57687500000003 meters 0.011554849897046101 Centerline is valid? [True, True] Translation: X:316.82, Y:221.91, Z:29.32 [[ 2.05312721e-01 -9.78103410e-01 -3.40647241e-02 3.16822643e+02] [ 9.65134622e-01 2.08119289e-01 -1.58749876e-01 2.21909549e+02] [ 1.62363321e-01 -2.83675541e-04 9.86731003e-01 2.93219100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63687500000003 meters 0.011583967591391346 Centerline is valid? [True, True] Translation: X:316.84, Y:221.97, Z:29.33 [[ 2.05164940e-01 -9.78131931e-01 -3.41360861e-02 3.16835436e+02] [ 9.65069255e-01 2.07985238e-01 -1.59321920e-01 2.21965920e+02] [ 1.62937659e-01 -2.56415206e-04 9.86636333e-01 2.93314188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69687500000003 meters 0.011571875345317185 Centerline is valid? [True, True] Translation: X:316.85, Y:222.02, Z:29.34 [[ 2.04582149e-01 -9.78248906e-01 -3.42815058e-02 3.16847105e+02] [ 9.65037829e-01 2.07434291e-01 -1.60227975e-01 2.22021815e+02] [ 1.63854002e-01 -3.03166404e-04 9.86484553e-01 2.93403456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75687500000004 meters 0.01146464116156385 Centerline is valid? [True, True] Translation: X:316.86, Y:222.08, Z:29.35 [[ 2.06685007e-01 -9.77807898e-01 -3.42494196e-02 3.16855424e+02] [ 9.64574004e-01 2.09503472e-01 -1.60328683e-01 2.22076702e+02] [ 1.63946024e-01 1.01435111e-04 9.86469306e-01 2.93485817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81687500000004 meters 0.011551579352288966 Centerline is valid? [True, True] Translation: X:316.86, Y:222.13, Z:29.36 [[ 2.08386086e-01 -9.77447618e-01 -3.42256146e-02 3.16864570e+02] [ 9.64184011e-01 2.11177552e-01 -1.60478145e-01 2.22133046e+02] [ 1.64086662e-01 4.41622167e-04 9.86445828e-01 2.93574616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.876875 meters 0.011916575930148606 Centerline is valid? [True, True] Translation: X:316.87, Y:222.19, Z:29.37 [[ 2.11591759e-01 -9.76757640e-01 -3.42555075e-02 3.16871325e+02] [ 9.63420495e-01 2.14344210e-01 -1.60864877e-01 2.22189258e+02] [ 1.64468467e-01 1.03522414e-03 9.86381798e-01 2.93658520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.936875 meters 0.012388793066851604 Centerline is valid? [True, True] Translation: X:316.88, Y:222.25, Z:29.38 [[ 2.14837064e-01 -9.76055176e-01 -3.40782795e-02 3.16878272e+02] [ 9.62810188e-01 2.17517065e-01 -1.60258753e-01 2.22246338e+02] [ 1.63833993e-01 1.61860536e-03 9.86486595e-01 2.93756077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.996875 meters 0.013002675502644383 Centerline is valid? [True, True] Translation: X:316.89, Y:222.30, Z:29.39 [[ 2.16810728e-01 -9.75624157e-01 -3.39206721e-02 3.16886663e+02] [ 9.62461188e-01 2.19439205e-01 -1.59733833e-01 2.22303196e+02] [ 1.63283711e-01 1.98467817e-03 9.86577159e-01 2.93850848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.056875 meters 0.013971173189090687 Centerline is valid? [True, True] Translation: X:316.89, Y:222.36, Z:29.39 [[ 2.19764087e-01 -9.74961289e-01 -3.39739869e-02 3.16893883e+02] [ 9.61712440e-01 2.22360216e-01 -1.60203361e-01 2.22360478e+02] [ 1.63746538e-01 2.53373940e-03 9.86499190e-01 2.93940129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.116875 meters 0.014783521290358929 Centerline is valid? [True, True] Translation: X:316.90, Y:222.42, Z:29.40 [[ 2.23818097e-01 -9.74028367e-01 -3.42665911e-02 3.16901457e+02] [ 9.60500177e-01 2.26401931e-01 -1.61807220e-01 2.22417915e+02] [ 1.65362844e-01 3.30231715e-03 9.86227268e-01 2.94021206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.176875 meters 0.0157954097244873 Centerline is valid? [True, True] Translation: X:316.91, Y:222.47, Z:29.41 [[ 2.25991327e-01 -9.73522375e-01 -3.43817504e-02 3.16909747e+02] [ 9.59857672e-01 2.28561134e-01 -1.62582465e-01 2.22474609e+02] [ 1.66135999e-01 3.74064005e-03 9.86095755e-01 2.94098144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.236875 meters 0.01595493183102048 Centerline is valid? [True, True] Translation: X:316.92, Y:222.53, Z:29.42 [[ 2.27489379e-01 -9.73167948e-01 -3.45358962e-02 3.16920315e+02] [ 9.59334784e-01 2.30059865e-01 -1.63551920e-01 2.22531115e+02] [ 1.67108810e-01 4.07483828e-03 9.85930039e-01 2.94178480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.296875 meters 0.015446476031412202 Centerline is valid? [True, True] Translation: X:316.93, Y:222.59, Z:29.43 [[ 2.25964079e-01 -9.73527290e-01 -3.44216587e-02 3.16933364e+02] [ 9.59751294e-01 2.28538378e-01 -1.63241122e-01 2.22586830e+02] [ 1.66786357e-01 3.85039834e-03 9.85985540e-01 2.94279455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.356875 meters 0.015238499723667342 Centerline is valid? [True, True] Translation: X:316.95, Y:222.64, Z:29.44 [[ 2.23613985e-01 -9.74069276e-01 -3.44358901e-02 3.16946551e+02] [ 9.60248418e-01 2.26222835e-01 -1.63542667e-01 2.22642880e+02] [ 1.67092072e-01 3.50341858e-03 9.85935072e-01 2.94371500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.416875 meters 0.013965251751874649 Centerline is valid? [True, True] Translation: X:316.96, Y:222.70, Z:29.45 [[ 2.18556739e-01 -9.75219912e-01 -3.43376615e-02 3.16962576e+02] [ 9.61453573e-01 2.21221510e-01 -1.63303617e-01 2.22698311e+02] [ 1.66853169e-01 2.67703869e-03 9.85978120e-01 2.94464722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.476875 meters 0.012964230035282541 Centerline is valid? [True, True] Translation: X:316.98, Y:222.75, Z:29.46 [[ 2.13426164e-01 -9.76362240e-01 -3.41474669e-02 3.16978633e+02] [ 9.62737975e-01 2.16133004e-01 -1.62548812e-01 2.22753982e+02] [ 1.66086917e-01 1.81710643e-03 9.86109443e-01 2.94563040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.536875 meters 0.012602636913127288 Centerline is valid? [True, True] Translation: X:316.99, Y:222.81, Z:29.47 [[ 2.10694447e-01 -9.76957758e-01 -3.40791709e-02 3.16992555e+02] [ 9.63359402e-01 2.13428195e-01 -1.62440971e-01 2.22809630e+02] [ 1.65971422e-01 1.39492086e-03 9.86129576e-01 2.94659177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.596875 meters 0.012615256104411988 Centerline is valid? [True, True] Translation: X:317.01, Y:222.86, Z:29.47 [[ 2.07557460e-01 -9.77623813e-01 -3.42283561e-02 3.17006060e+02] [ 9.63874077e-01 2.10358817e-01 -1.63388895e-01 2.22864294e+02] [ 1.66933111e-01 9.20758870e-04 9.85967793e-01 2.94744223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.656875 meters 0.012555030731086632 Centerline is valid? [True, True] Translation: X:317.02, Y:222.92, Z:29.48 [[ 2.05704969e-01 -9.78014578e-01 -3.42483602e-02 3.17017612e+02] [ 9.64213222e-01 2.08535498e-01 -1.63724797e-01 2.22919062e+02] [ 1.67267237e-01 6.56282688e-04 9.85911376e-01 2.94827209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.716875 meters 0.012451832645055458 Centerline is valid? [True, True] Translation: X:317.03, Y:222.98, Z:29.49 [[ 2.04376605e-01 -9.78295393e-01 -3.41808031e-02 3.17029865e+02] [ 9.64519148e-01 2.07214636e-01 -1.63599842e-01 2.22975464e+02] [ 1.67131735e-01 4.67941340e-04 9.85934462e-01 2.94927557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.776875 meters 0.01246048699165142 Centerline is valid? [True, True] Translation: X:317.04, Y:223.03, Z:29.50 [[ 2.02022286e-01 -9.78790685e-01 -3.39969279e-02 3.17041208e+02] [ 9.65145135e-01 2.04862849e-01 -1.62868296e-01 2.23031821e+02] [ 1.66378678e-01 9.10558820e-05 9.86061929e-01 2.95023893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.836875 meters 0.01255517391159669 Centerline is valid? [True, True] Translation: X:317.05, Y:223.09, Z:29.51 [[ 2.00088671e-01 -9.79191761e-01 -3.38824384e-02 3.17051077e+02] [ 9.65604979e-01 2.02937082e-01 -1.62553271e-01 2.23086657e+02] [ 1.66046827e-01 -1.91983155e-04 9.86117850e-01 2.95116813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.896875 meters 0.012653374221390583 Centerline is valid? [True, True] Translation: X:317.06, Y:223.14, Z:29.52 [[ 1.98996617e-01 -9.79417205e-01 -3.37977108e-02 3.17059806e+02] [ 9.65856558e-01 2.01846066e-01 -1.62416978e-01 2.23142548e+02] [ 1.65895917e-01 -3.23311511e-04 9.86143215e-01 2.95210756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.956875 meters 0.01284934367091178 Centerline is valid? [True, True] Translation: X:317.07, Y:223.20, Z:29.53 [[ 1.99484358e-01 -9.79316112e-01 -3.38517985e-02 3.17067881e+02] [ 9.65667311e-01 2.02336152e-01 -1.62931661e-01 2.23198507e+02] [ 1.66411043e-01 -1.87257407e-04 9.86056454e-01 2.95300735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.016875 meters 0.012754570548696392 Centerline is valid? [True, True] Translation: X:317.07, Y:223.26, Z:29.54 [[ 2.01911721e-01 -9.78822117e-01 -3.37478875e-02 3.17073837e+02] [ 9.65208327e-01 2.04712452e-01 -1.62682810e-01 2.23255736e+02] [ 1.66146145e-01 2.73824079e-04 9.86101102e-01 2.95396739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07687500000003 meters 0.012806404154716476 Centerline is valid? [True, True] Translation: X:317.08, Y:223.31, Z:29.55 [[ 2.03495120e-01 -9.78495061e-01 -3.37216846e-02 3.17081352e+02] [ 9.64858265e-01 2.06269403e-01 -1.62792694e-01 2.23311643e+02] [ 1.66247599e-01 5.90872612e-04 9.86083864e-01 2.95481906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13687500000003 meters 0.013140083266457166 Centerline is valid? [True, True] Translation: X:317.09, Y:223.37, Z:29.56 [[ 2.06760267e-01 -9.77817962e-01 -3.34996199e-02 3.17086692e+02] [ 9.64323297e-01 2.09453255e-01 -1.61894761e-01 2.23368510e+02] [ 1.65320210e-01 1.16894017e-03 9.86239252e-01 2.95577472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19687500000003 meters 0.013454687445066633 Centerline is valid? [True, True] Translation: X:317.09, Y:223.43, Z:29.57 [[ 2.09017222e-01 -9.77339721e-01 -3.34495354e-02 3.17094966e+02] [ 9.63836226e-01 2.11670741e-01 -1.61911169e-01 2.23425822e+02] [ 1.65322505e-01 1.60234882e-03 9.86238258e-01 2.95672327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25687500000004 meters 0.013999646848588104 Centerline is valid? [True, True] Translation: X:317.10, Y:223.48, Z:29.58 [[ 2.12762873e-01 -9.76533633e-01 -3.33769964e-02 3.17100765e+02] [ 9.63042077e-01 2.15352912e-01 -1.61780968e-01 2.23483304e+02] [ 1.65172390e-01 2.27753153e-03 9.86262082e-01 2.95752534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31687500000004 meters 0.015269017355515968 Centerline is valid? [True, True] Translation: X:317.11, Y:223.54, Z:29.58 [[ 2.16022728e-01 -9.75818098e-01 -3.33649608e-02 3.17105710e+02] [ 9.62303079e-01 2.18565454e-01 -1.61870090e-01 2.23539719e+02] [ 1.65248191e-01 2.86041395e-03 9.86247866e-01 2.95829023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.376875 meters 0.015977294252903194 Centerline is valid? [True, True] Translation: X:317.11, Y:223.60, Z:29.59 [[ 2.18398866e-01 -9.75284139e-01 -3.35079656e-02 3.17113960e+02] [ 9.61616417e-01 2.20929456e-01 -1.62739183e-01 2.23596954e+02] [ 1.66119841e-01 3.32024320e-03 9.86099982e-01 2.95912106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.436875 meters 0.01602482071841249 Centerline is valid? [True, True] Translation: X:317.12, Y:223.65, Z:29.60 [[ 2.18294190e-01 -9.75309031e-01 -3.34655246e-02 3.17124603e+02] [ 9.61637499e-01 2.20819112e-01 -1.62764372e-01 2.23652271e+02] [ 1.66135389e-01 3.34881328e-03 9.86097266e-01 2.95999083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.496875 meters 0.015695856883837876 Centerline is valid? [True, True] Translation: X:317.14, Y:223.71, Z:29.61 [[ 2.18401407e-01 -9.75283951e-01 -3.34968722e-02 3.17136506e+02] [ 9.61542513e-01 2.20928619e-01 -1.63176410e-01 2.23707905e+02] [ 1.66543751e-01 3.42929085e-03 9.86028102e-01 2.96092030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.556875 meters 0.015310991678789307 Centerline is valid? [True, True] Translation: X:317.15, Y:223.76, Z:29.62 [[ 2.17999589e-01 -9.75377609e-01 -3.33871183e-02 3.17149196e+02] [ 9.61687957e-01 2.20515225e-01 -1.62878204e-01 2.23763829e+02] [ 1.66230121e-01 3.39939192e-03 9.86081128e-01 2.96184710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.616875 meters 0.014964333661694312 Centerline is valid? [True, True] Translation: X:317.16, Y:223.82, Z:29.63 [[ 2.15952543e-01 -9.75836394e-01 -3.32840849e-02 3.17162500e+02] [ 9.62196544e-01 2.18480602e-01 -1.62616224e-01 2.23819528e+02] [ 1.65958756e-01 3.09155565e-03 9.86127848e-01 2.96275020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.676875 meters 0.014134728121347827 Centerline is valid? [True, True] Translation: X:317.18, Y:223.88, Z:29.64 [[ 2.12640853e-01 -9.76566195e-01 -3.32014322e-02 3.17177671e+02] [ 9.62964575e-01 2.15201911e-01 -1.62441879e-01 2.23875505e+02] [ 1.65780259e-01 2.56997652e-03 9.86159369e-01 2.96366063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.736875 meters 0.013641925343731175 Centerline is valid? [True, True] Translation: X:317.19, Y:223.93, Z:29.65 [[ 2.09336199e-01 -9.77285479e-01 -3.30370609e-02 3.17192245e+02] [ 9.63789815e-01 2.11917239e-01 -1.61864993e-01 2.23931353e+02] [ 1.65189430e-01 2.04341955e-03 9.86259741e-01 2.96464086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.796875 meters 0.012913901119321588 Centerline is valid? [True, True] Translation: X:317.21, Y:223.99, Z:29.66 [[ 2.04284746e-01 -9.78356511e-01 -3.29587774e-02 3.17207659e+02] [ 9.64899244e-01 2.06922726e-01 -1.61717141e-01 2.23985386e+02] [ 1.65036938e-01 1.23444567e-03 9.86286614e-01 2.96555226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.856875 meters 0.012495520292808465 Centerline is valid? [True, True] Translation: X:317.22, Y:224.04, Z:29.66 [[ 1.99544737e-01 -9.79337853e-01 -3.28521976e-02 3.17224047e+02] [ 9.65942922e-01 2.02230415e-01 -1.61422209e-01 2.24040164e+02] [ 1.64730593e-01 4.77604589e-04 9.86338483e-01 2.96648327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.916875 meters 0.012405904308643863 Centerline is valid? [True, True] Translation: X:317.24, Y:224.10, Z:29.67 [[ 1.96801365e-01 -9.79889625e-01 -3.29476210e-02 3.17237805e+02] [ 9.66383587e-01 1.99540268e-01 -1.62130949e-01 2.24095373e+02] [ 1.65444812e-01 6.75520334e-05 9.86219047e-01 2.96728535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.976875 meters 0.012490530178492915 Centerline is valid? [True, True] Translation: X:317.25, Y:224.15, Z:29.68 [[ 1.93538571e-01 -9.80533589e-01 -3.31164870e-02 3.17251970e+02] [ 9.66854355e-01 1.96350949e-01 -1.63214462e-01 2.24151326e+02] [ 1.66539716e-01 -4.30525871e-04 9.86034653e-01 2.96810423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.036875 meters 0.012616165023084302 Centerline is valid? [True, True] Translation: X:317.27, Y:224.21, Z:29.69 [[ 1.90897580e-01 -9.81052128e-01 -3.30883137e-02 3.17266133e+02] [ 9.67362510e-01 1.93742180e-01 -1.63320978e-01 2.24206185e+02] [ 1.66636995e-01 -8.30814678e-04 9.86017962e-01 2.96899282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.096875 meters 0.012712542759753653 Centerline is valid? [True, True] Translation: X:317.28, Y:224.26, Z:29.70 [[ 1.89910779e-01 -9.81245520e-01 -3.30321756e-02 3.17278774e+02] [ 9.67562474e-01 1.92759770e-01 -1.63298896e-01 2.24262130e+02] [ 1.66603584e-01 -9.48473089e-04 9.86023502e-01 2.96994766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.156875 meters 0.012913434968582209 Centerline is valid? [True, True] Translation: X:317.29, Y:224.32, Z:29.71 [[ 1.88688073e-01 -9.81487748e-01 -3.28422222e-02 3.17290823e+02] [ 9.67926437e-01 1.91521725e-01 -1.62597172e-01 2.24316174e+02] [ 1.65877132e-01 -1.10870804e-03 9.86145805e-01 2.97091888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.216875 meters 0.012697406591653023 Centerline is valid? [True, True] Translation: X:317.30, Y:224.37, Z:29.72 [[ 1.89781426e-01 -9.81287732e-01 -3.25176454e-02 3.17298579e+02] [ 9.67946683e-01 1.92545135e-01 -1.61262489e-01 2.24372065e+02] [ 1.64506016e-01 -8.70721851e-04 9.86375695e-01 2.97195630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.276875 meters 0.012511657240889795 Centerline is valid? [True, True] Translation: X:317.30, Y:224.43, Z:29.73 [[ 1.92839227e-01 -9.80691041e-01 -3.25286615e-02 3.17304657e+02] [ 9.67288703e-01 1.95563258e-01 -1.61578391e-01 2.24428609e+02] [ 1.64819891e-01 -3.05954768e-04 9.86323633e-01 2.97280460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.336875 meters 0.012587601171631843 Centerline is valid? [True, True] Translation: X:317.31, Y:224.49, Z:29.74 [[ 1.95360962e-01 -9.80189244e-01 -3.26058465e-02 3.17311624e+02] [ 9.66671670e-01 1.98063164e-01 -1.62224741e-01 2.24485478e+02] [ 1.65468963e-01 1.73233388e-04 9.86214983e-01 2.97362428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.396875 meters 0.01280722716166449 Centerline is valid? [True, True] Translation: X:317.32, Y:224.54, Z:29.74 [[ 1.99102933e-01 -9.79427088e-01 -3.28725049e-02 3.17317018e+02] [ 9.65630384e-01 2.01796471e-01 -1.63817418e-01 2.24543156e+02] [ 1.67080772e-01 8.73838829e-04 9.85942824e-01 2.97437860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.456875 meters 0.01300488466594842 Centerline is valid? [True, True] Translation: X:317.32, Y:224.60, Z:29.75 [[ 2.01687581e-01 -9.78900128e-01 -3.28124709e-02 3.17323925e+02] [ 9.65107384e-01 2.04334751e-01 -1.63753006e-01 2.24600128e+02] [ 1.67002567e-01 1.35938978e-03 9.85955524e-01 2.97530607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.516875 meters 0.01312053868675033 Centerline is valid? [True, True] Translation: X:317.33, Y:224.66, Z:29.76 [[ 2.02808470e-01 -9.78676578e-01 -3.25711587e-02 3.17333181e+02] [ 9.65044184e-01 2.05401198e-01 -1.62788422e-01 2.24656583e+02] [ 1.66007371e-01 1.58226347e-03 9.86123242e-01 2.97627864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57687500000003 meters 0.013252160217049442 Centerline is valid? [True, True] Translation: X:317.34, Y:224.71, Z:29.77 [[ 2.03562862e-01 -9.78524704e-01 -3.24278525e-02 3.17341550e+02] [ 9.64970287e-01 2.06122159e-01 -1.62314509e-01 2.24713132e+02] [ 1.65512856e-01 1.74929194e-03 9.86206081e-01 2.97716582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63687500000003 meters 0.01334297959422314 Centerline is valid? [True, True] Translation: X:317.35, Y:224.77, Z:29.78 [[ 2.04817277e-01 -9.78266352e-01 -3.23237864e-02 3.17351134e+02] [ 9.64755590e-01 2.07342546e-01 -1.62036169e-01 2.24769868e+02] [ 1.65216628e-01 2.00325322e-03 9.86255268e-01 2.97810109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69687500000003 meters 0.01359042907352122 Centerline is valid? [True, True] Translation: X:317.36, Y:224.83, Z:29.79 [[ 2.05301163e-01 -9.78162561e-01 -3.23950235e-02 3.17360361e+02] [ 9.64548794e-01 2.07830240e-01 -1.62641369e-01 2.24825297e+02] [ 1.65822363e-01 2.14388124e-03 9.86153308e-01 2.97895506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75687500000004 meters 0.013561301182224803 Centerline is valid? [True, True] Translation: X:317.37, Y:224.88, Z:29.80 [[ 2.05417270e-01 -9.78135721e-01 -3.24693159e-02 3.17370397e+02] [ 9.64414862e-01 2.07955665e-01 -1.63274048e-01 2.24882441e+02] [ 1.66456357e-01 2.22541836e-03 9.86046312e-01 2.97975004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81687500000004 meters 0.013651763845417053 Centerline is valid? [True, True] Translation: X:317.38, Y:224.94, Z:29.81 [[ 2.05424888e-01 -9.78134212e-01 -3.24665914e-02 3.17381203e+02] [ 9.64374183e-01 2.07962193e-01 -1.63505845e-01 2.24938680e+02] [ 1.66682484e-01 2.27822721e-03 9.86007991e-01 2.98063742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.876875 meters 0.013720610964976676 Centerline is valid? [True, True] Translation: X:317.39, Y:224.99, Z:29.81 [[ 2.05342379e-01 -9.78149259e-01 -3.25351229e-02 3.17392163e+02] [ 9.64288776e-01 2.07890907e-01 -1.64099137e-01 2.24994168e+02] [ 1.67277206e-01 2.32325335e-03 9.85907165e-01 2.98149302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.936875 meters 0.013464581221047319 Centerline is valid? [True, True] Translation: X:317.40, Y:225.05, Z:29.82 [[ 2.03934250e-01 -9.78441757e-01 -3.25967780e-02 3.17404942e+02] [ 9.64485394e-01 2.06511803e-01 -1.64683941e-01 2.25050459e+02] [ 1.67865264e-01 2.14557973e-03 9.85807613e-01 2.98243104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.996875 meters 0.013158516961759948 Centerline is valid? [True, True] Translation: X:317.42, Y:225.11, Z:29.83 [[ 2.00823998e-01 -9.79087992e-01 -3.25027021e-02 3.17419175e+02] [ 9.65179184e-01 2.03430488e-01 -1.64454189e-01 2.25105639e+02] [ 1.67627162e-01 1.65541618e-03 9.85849073e-01 2.98331198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.056875 meters 0.01291081893472715 Centerline is valid? [True, True] Translation: X:317.43, Y:225.16, Z:29.84 [[ 1.98107887e-01 -9.79642661e-01 -3.24579921e-02 3.17433169e+02] [ 9.65738257e-01 2.00745424e-01 -1.64471559e-01 2.25160272e+02] [ 1.67639149e-01 1.23718819e-03 9.85847648e-01 2.98420223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.116875 meters 0.012401206129569676 Centerline is valid? [True, True] Translation: X:317.45, Y:225.22, Z:29.85 [[ 1.93668968e-01 -9.80533679e-01 -3.23424636e-02 3.17448347e+02] [ 9.66695036e-01 1.96350265e-01 -1.64156268e-01 2.25215477e+02] [ 1.67311201e-01 5.26676065e-04 9.85903994e-01 2.98505000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.176875 meters 0.012289736532275223 Centerline is valid? [True, True] Translation: X:317.46, Y:225.27, Z:29.86 [[ 1.89632218e-01 -9.81330141e-01 -3.21057136e-02 3.17463905e+02] [ 9.67660906e-01 1.92330813e-01 -1.63221413e-01 2.25271152e+02] [ 1.66349011e-01 -1.15405244e-04 9.86066931e-01 2.98604947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.236875 meters 0.012295007603546829 Centerline is valid? [True, True] Translation: X:317.48, Y:225.33, Z:29.87 [[ 1.87187648e-01 -9.81808494e-01 -3.18255558e-02 3.17477347e+02] [ 9.68344746e-01 1.89873234e-01 -1.62038908e-01 2.25326130e+02] [ 1.65133997e-01 -4.86427799e-04 9.86271021e-01 2.98698884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.296875 meters 0.012248715451937035 Centerline is valid? [True, True] Translation: X:317.49, Y:225.38, Z:29.88 [[ 1.86360222e-01 -9.81978124e-01 -3.14457090e-02 3.17490333e+02] [ 9.68794723e-01 1.88993732e-01 -1.60368807e-01 2.25380297e+02] [ 1.63421702e-01 -5.78070524e-04 9.86556138e-01 2.98795245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.356875 meters 0.01211197292948327 Centerline is valid? [True, True] Translation: X:317.50, Y:225.44, Z:29.89 [[ 1.86808857e-01 -9.81896580e-01 -3.13297975e-02 3.17501059e+02] [ 9.68764152e-01 1.89417268e-01 -1.60053480e-01 2.25435535e+02] [ 1.63090370e-01 -4.51776923e-04 9.86611031e-01 2.98885760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.416875 meters 0.012251490489762288 Centerline is valid? [True, True] Translation: X:317.51, Y:225.49, Z:29.90 [[ 1.91880978e-01 -9.80925721e-01 -3.10873044e-02 3.17509076e+02] [ 9.67942001e-01 1.94382467e-01 -1.59071492e-01 2.25492491e+02] [ 1.62080145e-01 4.32085842e-04 9.86777503e-01 2.98975286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.476875 meters 0.013205420451388263 Centerline is valid? [True, True] Translation: X:317.51, Y:225.55, Z:29.90 [[ 1.98390568e-01 -9.79630581e-01 -3.10661868e-02 3.17514107e+02] [ 9.66608558e-01 2.00802152e-01 -1.59205503e-01 2.25549062e+02] [ 1.62200736e-01 1.55602816e-03 9.86756556e-01 2.99041401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.536875 meters 0.01373718775455019 Centerline is valid? [True, True] Translation: X:317.52, Y:225.61, Z:29.91 [[ 2.02896471e-01 -9.78708398e-01 -3.10305183e-02 3.17523468e+02] [ 9.65663908e-01 2.05242153e-01 -1.59276099e-01 2.25605834e+02] [ 1.62253626e-01 2.35150692e-03 9.86746285e-01 2.99131497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.596875 meters 0.017233358236562094 Centerline is valid? [True, True] Translation: X:317.53, Y:225.66, Z:29.92 [[ 2.08358392e-01 -9.77562611e-01 -3.09535565e-02 3.17526601e+02] [ 9.64531253e-01 2.10619240e-01 -1.59119446e-01 2.25662525e+02] [ 1.62068636e-01 3.29819941e-03 9.86773976e-01 2.99198950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.656875 meters 0.017104938032331433 Centerline is valid? [True, True] Translation: X:317.54, Y:225.72, Z:29.93 [[ 2.12026016e-01 -9.76773145e-01 -3.09708263e-02 3.17537395e+02] [ 9.63683067e-01 2.14239520e-01 -1.59425137e-01 2.25718424e+02] [ 1.62357367e-01 3.95621577e-03 9.86724092e-01 2.99280950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.716875 meters 0.01842475568931865 Centerline is valid? [True, True] Translation: X:317.55, Y:225.77, Z:29.94 [[ 2.13951897e-01 -9.76351048e-01 -3.10357488e-02 3.17546273e+02] [ 9.63160062e-01 2.16147589e-01 -1.60009109e-01 2.25774681e+02] [ 1.62933363e-01 4.34185847e-03 9.86627522e-01 2.99366576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.776875 meters 0.019708757241622358 Centerline is valid? [True, True] Translation: X:317.56, Y:225.83, Z:29.94 [[ 2.15506262e-01 -9.76007054e-01 -3.11011645e-02 3.17555282e+02] [ 9.62727690e-01 2.17689223e-01 -1.60520396e-01 2.25831176e+02] [ 1.63439427e-01 4.65119827e-03 9.86542407e-01 2.99445247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.836875 meters 0.017255818760876406 Centerline is valid? [True, True] Translation: X:317.57, Y:225.89, Z:29.95 [[ 2.14829316e-01 -9.76153274e-01 -3.11953760e-02 3.17572012e+02] [ 9.62752977e-01 2.17033511e-01 -1.61254952e-01 2.25886348e+02] [ 1.64179991e-01 4.60884990e-03 9.86419631e-01 2.99535474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.896875 meters 0.01651283146221876 Centerline is valid? [True, True] Translation: X:317.59, Y:225.94, Z:29.96 [[ 2.13800061e-01 -9.76375313e-01 -3.13174530e-02 3.17586140e+02] [ 9.62829251e-01 2.16034469e-01 -1.62138652e-01 2.25942429e+02] [ 1.65073826e-01 4.51189390e-03 9.86270893e-01 2.99626393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.956875 meters 0.01858531148805484 Centerline is valid? [True, True] Translation: X:317.60, Y:226.00, Z:29.97 [[ 2.10391011e-01 -9.77109751e-01 -3.14985161e-02 3.17596274e+02] [ 9.63369707e-01 2.12697854e-01 -1.63335331e-01 2.25998091e+02] [ 1.66296211e-01 4.01956924e-03 9.86067651e-01 2.99701431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.016875 meters 0.015267605642909588 Centerline is valid? [True, True] Translation: X:317.62, Y:226.05, Z:29.98 [[ 2.07252473e-01 -9.77783010e-01 -3.14133336e-02 3.17615488e+02] [ 9.64084424e-01 2.09589976e-01 -1.63135729e-01 2.26052331e+02] [ 1.66095264e-01 3.52517750e-03 9.86103411e-01 2.99817946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07687500000003 meters 0.013803641572139735 Centerline is valid? [True, True] Translation: X:317.63, Y:226.11, Z:29.99 [[ 2.01849418e-01 -9.78922051e-01 -3.11196084e-02 3.17632436e+02] [ 9.65451493e-01 2.04217328e-01 -1.61860116e-01 2.26107121e+02] [ 1.64803600e-01 2.62689791e-03 9.86322905e-01 2.99925824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13687500000003 meters 0.013040109190979667 Centerline is valid? [True, True] Translation: X:317.65, Y:226.16, Z:30.00 [[ 1.95190298e-01 -9.80278546e-01 -3.08985437e-02 3.17647984e+02] [ 9.66973638e-01 1.97614770e-01 -1.60967032e-01 2.26161883e+02] [ 1.63898537e-01 1.54112579e-03 9.86475998e-01 3.00028449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19687500000003 meters 0.012294986039354736 Centerline is valid? [True, True] Translation: X:317.66, Y:226.22, Z:30.01 [[ 1.89877761e-01 -9.81320941e-01 -3.09135358e-02 3.17663870e+02] [ 9.67974206e-01 1.92376495e-01 -1.61298543e-01 2.26217023e+02] [ 1.64232675e-01 7.03500818e-04 9.86421377e-01 3.00124736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25687500000004 meters 0.012101536894121433 Centerline is valid? [True, True] Translation: X:317.68, Y:226.27, Z:30.02 [[ 1.82820330e-01 -9.82656009e-01 -3.10466599e-02 3.17680061e+02] [ 9.69169010e-01 1.85437282e-01 -1.62248095e-01 2.26272740e+02] [ 1.65191274e-01 -4.27210296e-04 9.86261456e-01 3.00213900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31687500000004 meters 0.012336034566481073 Centerline is valid? [True, True] Translation: X:317.69, Y:226.33, Z:30.03 [[ 1.78503733e-01 -9.83443904e-01 -3.12170617e-02 3.17692780e+02] [ 9.69775421e-01 1.81209446e-01 -1.63397583e-01 2.26328350e+02] [ 1.66349183e-01 -1.10646066e-03 9.86066288e-01 3.00296980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.376875 meters 0.012787722732676933 Centerline is valid? [True, True] Translation: X:317.70, Y:226.38, Z:30.04 [[ 1.76634374e-01 -9.83775051e-01 -3.14157132e-02 3.17704568e+02] [ 9.69889042e-01 1.79401105e-01 -1.64713358e-01 2.26383523e+02] [ 1.67676906e-01 -1.37571515e-03 9.85841043e-01 3.00372526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.436875 meters 0.012947542540839959 Centerline is valid? [True, True] Translation: X:317.72, Y:226.44, Z:30.05 [[ 1.73964780e-01 -9.84247286e-01 -3.15203919e-02 3.17716123e+02] [ 9.70229212e-01 1.76788273e-01 -1.65533028e-01 2.26439645e+02] [ 1.68497869e-01 -1.78508824e-03 9.85700402e-01 3.00467262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.496875 meters 0.0134960010360311 Centerline is valid? [True, True] Translation: X:317.73, Y:226.50, Z:30.06 [[ 1.71634101e-01 -9.84660992e-01 -3.13762001e-02 3.17728122e+02] [ 9.70735684e-01 1.74465407e-01 -1.65027432e-01 2.26495837e+02] [ 1.67970136e-01 -2.13366207e-03 9.85789775e-01 3.00564710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.556875 meters 0.013809693700066678 Centerline is valid? [True, True] Translation: X:317.74, Y:226.55, Z:30.07 [[ 1.69273450e-01 -9.85080909e-01 -3.10177629e-02 3.17739600e+02] [ 9.71439614e-01 1.72074050e-01 -1.63387877e-01 2.26550688e+02] [ 1.66287631e-01 -2.47465388e-03 9.86074186e-01 3.00676260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.616875 meters 0.014007707646058666 Centerline is valid? [True, True] Translation: X:317.75, Y:226.61, Z:30.08 [[ 1.69656186e-01 -9.85017509e-01 -3.09400253e-02 3.17748462e+02] [ 9.71397106e-01 1.72438246e-01 -1.63256587e-01 2.26605669e+02] [ 1.66145840e-01 -2.35756110e-03 9.86098373e-01 3.00766922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.676875 meters 0.013391813575372972 Centerline is valid? [True, True] Translation: X:317.75, Y:226.66, Z:30.08 [[ 1.72709825e-01 -9.84487574e-01 -3.09116918e-02 3.17754607e+02] [ 9.70835252e-01 1.75445181e-01 -1.63394925e-01 2.26662253e+02] [ 1.66283581e-01 -1.79025105e-03 9.86076349e-01 3.00847812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.736875 meters 0.012449158240930767 Centerline is valid? [True, True] Translation: X:317.76, Y:226.72, Z:30.09 [[ 1.77298168e-01 -9.83667476e-01 -3.10428142e-02 3.17758847e+02] [ 9.69844836e-01 1.79992645e-01 -1.64327845e-01 2.26719663e+02] [ 1.67231435e-01 -9.71687179e-04 9.85917189e-01 3.00937084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.796875 meters 0.012291916326563155 Centerline is valid? [True, True] Translation: X:317.77, Y:226.78, Z:30.10 [[ 1.79956633e-01 -9.83182847e-01 -3.10982312e-02 3.17766064e+02] [ 9.69260171e-01 1.82623292e-01 -1.64874053e-01 2.26775800e+02] [ 1.67780602e-01 -4.72097508e-04 9.85824247e-01 3.01025265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.856875 meters 0.012336164970726425 Centerline is valid? [True, True] Translation: X:317.77, Y:226.83, Z:30.11 [[ 1.84643465e-01 -9.82312074e-01 -3.11413094e-02 3.17771893e+02] [ 9.68288980e-01 1.87250748e-01 -1.65389262e-01 2.26832246e+02] [ 1.68295102e-01 3.84259545e-04 9.85736583e-01 3.01119362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.916875 meters 0.012702429149774309 Centerline is valid? [True, True] Translation: X:317.78, Y:226.89, Z:30.12 [[ 1.86825504e-01 -9.81900414e-01 -3.11096061e-02 3.17778885e+02] [ 9.67851120e-01 1.89396192e-01 -1.65509191e-01 2.26887429e+02] [ 1.68405584e-01 8.11870893e-04 9.85717455e-01 3.01202187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.976875 meters 0.012942875992530613 Centerline is valid? [True, True] Translation: X:317.79, Y:226.94, Z:30.13 [[ 1.88074419e-01 -9.81664585e-01 -3.10266776e-02 3.17785978e+02] [ 9.67636514e-01 1.90613426e-01 -1.65366559e-01 2.26942638e+02] [ 1.68248596e-01 1.07867333e-03 9.85744007e-01 3.01282672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.036875 meters 0.012816948180526049 Centerline is valid? [True, True] Translation: X:317.80, Y:227.00, Z:30.14 [[ 1.87337287e-01 -9.81804671e-01 -3.10536507e-02 3.17796805e+02] [ 9.67704263e-01 1.89890938e-01 -1.65800757e-01 2.26998920e+02] [ 1.68680764e-01 1.00991369e-03 9.85670219e-01 3.01383803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.096875 meters 0.012649085003096902 Centerline is valid? [True, True] Translation: X:317.81, Y:227.05, Z:30.15 [[ 1.85448224e-01 -9.82163371e-01 -3.10494636e-02 3.17807957e+02] [ 9.68026925e-01 1.88028117e-01 -1.66040055e-01 2.27054711e+02] [ 1.68916632e-01 7.35116615e-04 9.85630068e-01 3.01477952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.156875 meters 0.012594412839551795 Centerline is valid? [True, True] Translation: X:317.82, Y:227.11, Z:30.16 [[ 1.81378519e-01 -9.82923197e-01 -3.10454752e-02 3.17819482e+02] [ 9.68755732e-01 1.84016253e-01 -1.66283947e-01 2.27110321e+02] [ 1.69157221e-01 8.48539428e-05 9.85589076e-01 3.01563419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.216875 meters 0.01273091419275992 Centerline is valid? [True, True] Translation: X:317.83, Y:227.17, Z:30.17 [[ 1.76841955e-01 -9.83753136e-01 -3.09304273e-02 3.17831853e+02] [ 9.69653793e-01 1.79525358e-01 -1.65958329e-01 2.27165781e+02] [ 1.68814822e-01 -6.43410887e-04 9.85647575e-01 3.01669757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.276875 meters 0.012861304189540087 Centerline is valid? [True, True] Translation: X:317.84, Y:227.22, Z:30.18 [[ 1.74977975e-01 -9.84089246e-01 -3.08393204e-02 3.17843184e+02] [ 9.70033367e-01 1.77672500e-01 -1.65733973e-01 2.27222207e+02] [ 1.68576319e-01 -9.15374971e-04 9.85688179e-01 3.01766837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.336875 meters 0.01325103575257101 Centerline is valid? [True, True] Translation: X:317.86, Y:227.28, Z:30.19 [[ 1.71911499e-01 -9.84632190e-01 -3.07552627e-02 3.17855192e+02] [ 9.70616083e-01 1.74635372e-01 -1.65550312e-01 2.27276897e+02] [ 1.68377124e-01 -1.39155028e-03 9.85721669e-01 3.01855628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.396875 meters 0.013716647322332305 Centerline is valid? [True, True] Translation: X:317.87, Y:227.33, Z:30.20 [[ 1.68594405e-01 -9.85208418e-01 -3.06643071e-02 3.17866765e+02] [ 9.71237467e-01 1.71349748e-01 -1.65339185e-01 2.27333426e+02] [ 1.68147878e-01 -1.90706244e-03 9.85759937e-01 3.01956525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.456875 meters 0.014129856818647254 Centerline is valid? [True, True] Translation: X:317.88, Y:227.39, Z:30.21 [[ 1.66243395e-01 -9.85611083e-01 -3.05602011e-02 3.17877836e+02] [ 9.71697888e-01 1.69013876e-01 -1.65037946e-01 2.27389483e+02] [ 1.67828327e-01 -2.25881431e-03 9.85813649e-01 3.02054551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.516875 meters 0.014278043704972765 Centerline is valid? [True, True] Translation: X:317.89, Y:227.44, Z:30.22 [[ 1.64977823e-01 -9.85827294e-01 -3.04444542e-02 3.17888217e+02] [ 9.71979017e-01 1.67745860e-01 -1.64675791e-01 2.27444919e+02] [ 1.67448820e-01 -2.42351718e-03 9.85877791e-01 3.02150789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57687500000003 meters 0.014941388480364224 Centerline is valid? [True, True] Translation: X:317.90, Y:227.50, Z:30.22 [[ 1.63166647e-01 -9.86131077e-01 -3.03668200e-02 3.17898700e+02] [ 9.72309415e-01 1.65946772e-01 -1.64548080e-01 2.27500880e+02] [ 1.67305252e-01 -2.67718640e-03 9.85901509e-01 3.02233886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63687500000003 meters 0.01471510724911647 Centerline is valid? [True, True] Translation: X:317.91, Y:227.56, Z:30.23 [[ 1.61938823e-01 -9.86342402e-01 -3.00746504e-02 3.17908135e+02] [ 9.72745543e-01 1.64683662e-01 -1.63234186e-01 2.27555993e+02] [ 1.65957602e-01 -2.82103022e-03 9.86128854e-01 3.02335125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69687500000003 meters 0.014611123312262804 Centerline is valid? [True, True] Translation: X:317.92, Y:227.61, Z:30.24 [[ 1.62092529e-01 -9.86322506e-01 -2.98985914e-02 3.17917065e+02] [ 9.72837305e-01 1.64804211e-01 -1.62564295e-01 2.27611754e+02] [ 1.65268237e-01 -2.73600744e-03 9.86244860e-01 3.02430546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75687500000004 meters 0.014100402463264723 Centerline is valid? [True, True] Translation: X:317.92, Y:227.67, Z:30.25 [[ 1.64995443e-01 -9.85840434e-01 -2.99189256e-02 3.17923523e+02] [ 9.72280835e-01 1.67671674e-01 -1.62960693e-01 2.27669099e+02] [ 1.65669797e-01 -2.20182632e-03 9.86178823e-01 3.02512625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81687500000004 meters 0.013149957769416071 Centerline is valid? [True, True] Translation: X:317.93, Y:227.73, Z:30.26 [[ 1.69579645e-01 -9.85061831e-01 -2.99321281e-02 3.17927643e+02] [ 9.71435400e-01 1.72195423e-01 -1.63285030e-01 2.27726680e+02] [ 1.66000026e-01 -1.38731145e-03 9.86124772e-01 3.02602751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.876875 meters 0.012813764488375711 Centerline is valid? [True, True] Translation: X:317.93, Y:227.78, Z:30.27 [[ 1.72519917e-01 -9.84556277e-01 -2.97626597e-02 3.17934900e+02] [ 9.71033543e-01 1.75066340e-01 -1.62621141e-01 2.27783864e+02] [ 1.65320105e-01 -8.45155082e-04 9.86239600e-01 3.02698231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.936875 meters 0.012746127844534987 Centerline is valid? [True, True] Translation: X:317.94, Y:227.84, Z:30.28 [[ 1.76228027e-01 -9.83904549e-01 -2.95891948e-02 3.17941627e+02] [ 9.70486905e-01 1.78694729e-01 -1.61936286e-01 2.27839507e+02] [ 1.64617282e-01 -1.78213971e-04 9.86357500e-01 3.02792916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.996875 meters 0.012697170991125677 Centerline is valid? [True, True] Translation: X:317.95, Y:227.89, Z:30.29 [[ 1.78820843e-01 -9.83443776e-01 -2.93503859e-02 3.17949387e+02] [ 9.70192514e-01 1.81213275e-01 -1.60898213e-01 2.27894632e+02] [ 1.63553026e-01 2.96429352e-04 9.86534500e-01 3.02881948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.056875 meters 0.012762579138977275 Centerline is valid? [True, True] Translation: X:317.96, Y:227.95, Z:30.30 [[ 1.80705906e-01 -9.83102010e-01 -2.92542904e-02 3.17958131e+02] [ 9.69883629e-01 1.83057370e-01 -1.60672789e-01 2.27950908e+02] [ 1.63312955e-01 6.61264527e-04 9.86574093e-01 3.02968627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.116875 meters 0.012916064589870924 Centerline is valid? [True, True] Translation: X:317.97, Y:228.01, Z:30.31 [[ 1.82401098e-01 -9.82787834e-01 -2.92901637e-02 3.17968437e+02] [ 9.69485876e-01 1.84735157e-01 -1.61152282e-01 2.28007160e+02] [ 1.63789426e-01 9.97953150e-04 9.86494819e-01 3.03054246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.176875 meters 0.013159678365123984 Centerline is valid? [True, True] Translation: X:317.98, Y:228.06, Z:30.31 [[ 1.82783767e-01 -9.82713763e-01 -2.93896888e-02 3.17979069e+02] [ 9.69275541e-01 1.85128090e-01 -1.61964548e-01 2.28061441e+02] [ 1.64605648e-01 1.11778369e-03 9.86358825e-01 3.03133775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.236875 meters 0.01316272413924514 Centerline is valid? [True, True] Translation: X:317.99, Y:228.12, Z:30.32 [[ 1.82941462e-01 -9.82674947e-01 -2.97046988e-02 3.17991708e+02] [ 9.68891581e-01 1.85333345e-01 -1.64014192e-01 2.28116763e+02] [ 1.66677908e-01 1.22436340e-03 9.86010637e-01 3.03199804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.296875 meters 0.013277491187030496 Centerline is valid? [True, True] Translation: X:318.01, Y:228.17, Z:30.33 [[ 1.82349934e-01 -9.82778776e-01 -2.99061530e-02 3.18005179e+02] [ 9.68756686e-01 1.84782173e-01 -1.65426816e-01 2.28171417e+02] [ 1.68104087e-01 1.19378323e-03 9.85768528e-01 3.03259294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.356875 meters 0.013148716930236674 Centerline is valid? [True, True] Translation: X:318.02, Y:228.23, Z:30.34 [[ 1.81268584e-01 -9.82978217e-01 -2.99253114e-02 3.18021962e+02] [ 9.68887707e-01 1.83719034e-01 -1.65843079e-01 2.28226192e+02] [ 1.68517983e-01 1.06787382e-03 9.85698001e-01 3.03353541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.416875 meters 0.013026754532886316 Centerline is valid? [True, True] Translation: X:318.04, Y:228.28, Z:30.35 [[ 1.79906745e-01 -9.83230474e-01 -2.98563042e-02 3.18038809e+02] [ 9.69157657e-01 1.82365158e-01 -1.65760020e-01 2.28280011e+02] [ 1.68425053e-01 8.85879780e-04 9.85714064e-01 3.03459784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.476875 meters 0.013007940915450975 Centerline is valid? [True, True] Translation: X:318.05, Y:228.34, Z:30.36 [[ 1.79852228e-01 -9.83245285e-01 -2.96965730e-02 3.18052515e+02] [ 9.69273128e-01 1.82285105e-01 -1.65171859e-01 2.28335756e+02] [ 1.67817694e-01 9.22436650e-04 9.85817615e-01 3.03560295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.536875 meters 0.013014602790639802 Centerline is valid? [True, True] Translation: X:318.07, Y:228.39, Z:30.37 [[ 1.79846567e-01 -9.83252963e-01 -2.94758098e-02 3.18066091e+02] [ 9.69443989e-01 1.82243501e-01 -1.64212235e-01 2.28391096e+02] [ 1.66833941e-01 9.57859992e-04 9.85984543e-01 3.03662641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.596875 meters 0.012996886204566365 Centerline is valid? [True, True] Translation: X:318.08, Y:228.45, Z:30.38 [[ 1.79432904e-01 -9.83331484e-01 -2.93772913e-02 3.18079670e+02] [ 9.69565879e-01 1.81819455e-01 -1.63962470e-01 2.28446357e+02] [ 1.66570822e-01 9.37042886e-04 9.86029048e-01 3.03763452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.656875 meters 0.012916210408553628 Centerline is valid? [True, True] Translation: X:318.09, Y:228.50, Z:30.39 [[ 1.76790585e-01 -9.83814133e-01 -2.92376464e-02 3.18093960e+02] [ 9.70140442e-01 1.79191146e-01 -1.63456590e-01 2.28500926e+02] [ 1.66050031e-01 5.32962992e-04 9.86117185e-01 3.03854889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.716875 meters 0.012757102962543182 Centerline is valid? [True, True] Translation: X:318.11, Y:228.56, Z:30.39 [[ 1.73413951e-01 -9.84417734e-01 -2.91431973e-02 3.18108439e+02] [ 9.70794012e-01 1.75845740e-01 -1.63209259e-01 2.28556380e+02] [ 1.65790796e-01 1.07209737e-05 9.86160946e-01 3.03946251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.776875 meters 0.012835206657989253 Centerline is valid? [True, True] Translation: X:318.12, Y:228.61, Z:30.40 [[ 1.70975594e-01 -9.84844899e-01 -2.91182423e-02 3.18120951e+02] [ 9.71205533e-01 1.73437024e-01 -1.63338333e-01 2.28610519e+02] [ 1.65913105e-01 -3.52929594e-04 9.86140313e-01 3.04037424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.836875 meters 0.01294478390949601 Centerline is valid? [True, True] Translation: X:318.13, Y:228.67, Z:30.41 [[ 1.68321946e-01 -9.85307622e-01 -2.89242596e-02 3.18133765e+02] [ 9.71818362e-01 1.70787334e-01 -1.62483099e-01 2.28665353e+02] [ 1.65035733e-01 -7.59655140e-04 9.86287296e-01 3.04121084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.896875 meters 0.01298093580527002 Centerline is valid? [True, True] Translation: X:318.14, Y:228.72, Z:30.42 [[ 1.67905577e-01 -9.85380131e-01 -2.88741103e-02 3.18143738e+02] [ 9.71889549e-01 1.70368399e-01 -1.62497120e-01 2.28721265e+02] [ 1.65040669e-01 -7.78273276e-04 9.86286455e-01 3.04208856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.956875 meters 0.012903036960162996 Centerline is valid? [True, True] Translation: X:318.15, Y:228.78, Z:30.43 [[ 1.67887747e-01 -9.85387673e-01 -2.87199906e-02 3.18153579e+02] [ 9.71992709e-01 1.70324983e-01 -1.61924590e-01 2.28777286e+02] [ 1.64450227e-01 -7.30466878e-04 9.86385112e-01 3.04299684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.016875 meters 0.01271423062032847 Centerline is valid? [True, True] Translation: X:318.16, Y:228.83, Z:30.44 [[ 1.68244842e-01 -9.85331586e-01 -2.85541480e-02 3.18162291e+02] [ 9.72042850e-01 1.70649583e-01 -1.61280554e-01 2.28832768e+02] [ 1.63787577e-01 -6.21234133e-04 9.86495435e-01 3.04393548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07687500000003 meters 0.012682765904149965 Centerline is valid? [True, True] Translation: X:318.17, Y:228.89, Z:30.45 [[ 1.67932949e-01 -9.85387317e-01 -2.84668295e-02 3.18171005e+02] [ 9.72132501e-01 1.70327473e-01 -1.61080578e-01 2.28889125e+02] [ 1.63575442e-01 -6.22793650e-04 9.86530632e-01 3.04479768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13687500000003 meters 0.012723127446104652 Centerline is valid? [True, True] Translation: X:318.18, Y:228.94, Z:30.46 [[ 1.66996098e-01 -9.85545145e-01 -2.85143709e-02 3.18181417e+02] [ 9.72198472e-01 1.69411444e-01 -1.61647434e-01 2.28944379e+02] [ 1.64141504e-01 -7.27137036e-04 9.86436535e-01 3.04566476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19687500000003 meters 0.012773263392009493 Centerline is valid? [True, True] Translation: X:318.19, Y:229.00, Z:30.47 [[ 1.65609680e-01 -9.85780945e-01 -2.84492848e-02 3.18190916e+02] [ 9.72450290e-01 1.68033044e-01 -1.61571439e-01 2.28999923e+02] [ 1.64054465e-01 -9.07720975e-04 9.86450865e-01 3.04653602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25687500000004 meters 0.012947989898963206 Centerline is valid? [True, True] Translation: X:318.20, Y:229.06, Z:30.47 [[ 1.63710528e-01 -9.86098701e-01 -2.84291082e-02 3.18200333e+02] [ 9.72743441e-01 1.66156468e-01 -1.61747415e-01 2.29055968e+02] [ 1.64222596e-01 -1.17447396e-03 9.86422607e-01 3.04734427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31687500000004 meters 0.013238501375352 Centerline is valid? [True, True] Translation: X:318.21, Y:229.11, Z:30.48 [[ 1.60477078e-01 -9.86628153e-01 -2.84955431e-02 3.18209992e+02] [ 9.73169653e-01 1.62978862e-01 -1.62415262e-01 2.29112403e+02] [ 1.64887641e-01 -1.66707103e-03 9.86310948e-01 3.04815126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.376875 meters 0.013821983430231475 Centerline is valid? [True, True] Translation: X:318.22, Y:229.17, Z:30.49 [[ 1.58490315e-01 -9.86948267e-01 -2.85295979e-02 3.18221089e+02] [ 9.73417261e-01 1.61025744e-01 -1.62878933e-01 2.29167414e+02] [ 1.65347080e-01 -1.95646972e-03 9.86233499e-01 3.04900168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.436875 meters 0.013607853477325911 Centerline is valid? [True, True] Translation: X:318.23, Y:229.22, Z:30.50 [[ 1.57820932e-01 -9.87059871e-01 -2.83789564e-02 3.18227855e+02] [ 9.73627434e-01 1.60339471e-01 -1.62298720e-01 2.29223099e+02] [ 1.64748820e-01 -2.01639536e-03 9.86333494e-01 3.04994555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.496875 meters 0.013261746942496688 Centerline is valid? [True, True] Translation: X:318.24, Y:229.28, Z:30.51 [[ 1.59239188e-01 -9.86827325e-01 -2.85431548e-02 3.18235024e+02] [ 9.73183199e-01 1.61767791e-01 -1.63540951e-01 2.29278910e+02] [ 1.66004042e-01 -1.73559055e-03 9.86123545e-01 3.05078368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.556875 meters 0.013206167892879293 Centerline is valid? [True, True] Translation: X:318.24, Y:229.34, Z:30.52 [[ 1.60899283e-01 -9.86551104e-01 -2.87808846e-02 3.18241559e+02] [ 9.72620140e-01 1.63447024e-01 -1.65212387e-01 2.29335766e+02] [ 1.67694613e-01 -1.41031340e-03 9.85837983e-01 3.05153892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.616875 meters 0.012932715358764524 Centerline is valid? [True, True] Translation: X:318.25, Y:229.39, Z:30.52 [[ 1.62033139e-01 -9.86368085e-01 -2.86925696e-02 3.18248613e+02] [ 9.72469039e-01 1.64549816e-01 -1.65007049e-01 2.29392150e+02] [ 1.67479044e-01 -1.16602553e-03 9.85874947e-01 3.05242274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.676875 meters 0.012855320758497052 Centerline is valid? [True, True] Translation: X:318.26, Y:229.45, Z:30.53 [[ 1.62587133e-01 -9.86281082e-01 -2.85491028e-02 3.18256189e+02] [ 9.72469716e-01 1.65071456e-01 -1.64481204e-01 2.29448505e+02] [ 1.66937342e-01 -1.02061038e-03 9.85966978e-01 3.05347202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.736875 meters 0.012768696985122997 Centerline is valid? [True, True] Translation: X:318.26, Y:229.50, Z:30.55 [[ 1.62370611e-01 -9.86320839e-01 -2.84075167e-02 3.18264330e+02] [ 9.72597246e-01 1.64833826e-01 -1.63964653e-01 2.29504620e+02] [ 1.66404274e-01 -1.00603158e-03 9.86057101e-01 3.05453155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.796875 meters 0.012828285088250114 Centerline is valid? [True, True] Translation: X:318.27, Y:229.56, Z:30.56 [[ 1.62700532e-01 -9.86270187e-01 -2.82781820e-02 3.18271397e+02] [ 9.72619887e-01 1.65137250e-01 -1.63524445e-01 2.29560199e+02] [ 1.65949066e-01 -8.98408099e-04 9.86133916e-01 3.05559365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.856875 meters 0.01274389256999928 Centerline is valid? [True, True] Translation: X:318.28, Y:229.62, Z:30.57 [[ 1.64080080e-01 -9.86044288e-01 -2.81849073e-02 3.18277889e+02] [ 9.72429345e-01 1.66482083e-01 -1.63293861e-01 2.29616630e+02] [ 1.65707261e-01 -6.14561151e-04 9.86174795e-01 3.05658131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.916875 meters 0.012658318403078874 Centerline is valid? [True, True] Translation: X:318.29, Y:229.67, Z:30.57 [[ 1.64425359e-01 -9.85989226e-01 -2.80988896e-02 3.18285088e+02] [ 9.72404918e-01 1.66808248e-01 -1.63106355e-01 2.29672333e+02] [ 1.65508235e-01 -5.04677435e-04 9.86208279e-01 3.05745783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.976875 meters 0.01264068751653588 Centerline is valid? [True, True] Translation: X:318.29, Y:229.73, Z:30.58 [[ 1.64169013e-01 -9.86036408e-01 -2.79416747e-02 3.18292660e+02] [ 9.72551813e-01 1.66529148e-01 -1.62514656e-01 2.29727721e+02] [ 1.64898471e-01 -4.94855730e-04 9.86310422e-01 3.05838259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.036875 meters 0.012767372692084113 Centerline is valid? [True, True] Translation: X:318.30, Y:229.78, Z:30.59 [[ 1.62986324e-01 -9.86236730e-01 -2.77951433e-02 3.18300638e+02] [ 9.72844974e-01 1.65338143e-01 -1.61975169e-01 2.29783345e+02] [ 1.64341458e-01 -6.40628073e-04 9.86403302e-01 3.05941345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.096875 meters 0.01272988670903225 Centerline is valid? [True, True] Translation: X:318.31, Y:229.84, Z:30.60 [[ 1.61778721e-01 -9.86435660e-01 -2.77909098e-02 3.18307642e+02] [ 9.73000647e-01 1.64146467e-01 -1.62251900e-01 2.29840271e+02] [ 1.64612840e-01 -7.91668235e-04 9.86357940e-01 3.06033822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.156875 meters 0.013121392285583764 Centerline is valid? [True, True] Translation: X:318.32, Y:229.90, Z:30.61 [[ 1.60386596e-01 -9.86663610e-01 -2.77679856e-02 3.18316524e+02] [ 9.73206488e-01 1.62769677e-01 -1.62404325e-01 2.29896014e+02] [ 1.64758224e-01 -9.76506882e-04 9.86333500e-01 3.06113326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.216875 meters 0.013430862137104566 Centerline is valid? [True, True] Translation: X:318.32, Y:229.95, Z:30.62 [[ 1.57831926e-01 -9.87073604e-01 -2.78349309e-02 3.18324393e+02] [ 9.73506964e-01 1.60261856e-01 -1.63096074e-01 2.29952985e+02] [ 1.65448707e-01 -1.35573154e-03 9.86217465e-01 3.06196955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.276875 meters 0.013686697192576296 Centerline is valid? [True, True] Translation: X:318.33, Y:230.01, Z:30.63 [[ 1.56445394e-01 -9.87289631e-01 -2.80004217e-02 3.18332212e+02] [ 9.73515453e-01 1.58923854e-01 -1.64349845e-01 2.30009031e+02] [ 1.66710833e-01 -1.54706700e-03 9.86004617e-01 3.06268705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.336875 meters 0.013429408810192648 Centerline is valid? [True, True] Translation: X:318.34, Y:230.07, Z:30.64 [[ 1.56714602e-01 -9.87245127e-01 -2.80640889e-02 3.18339182e+02] [ 9.73356805e-01 1.59200947e-01 -1.65019963e-01 2.30066362e+02] [ 1.67382984e-01 -1.45533406e-03 9.85890876e-01 3.06355396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.396875 meters 0.013483023646745654 Centerline is valid? [True, True] Translation: X:318.35, Y:230.12, Z:30.64 [[ 1.58046559e-01 -9.87031413e-01 -2.81118286e-02 3.18345446e+02] [ 9.73042808e-01 1.60522865e-01 -1.65590169e-01 2.30121775e+02] [ 1.67955290e-01 -1.18305625e-03 9.85793904e-01 3.06429945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.456875 meters 0.013104108793488865 Centerline is valid? [True, True] Translation: X:318.35, Y:230.18, Z:30.65 [[ 1.61444800e-01 -9.86483078e-01 -2.80484173e-02 3.18350044e+02] [ 9.72492799e-01 1.63862244e-01 -1.65550358e-01 2.30178077e+02] [ 1.67908703e-01 -5.49639429e-04 9.85802397e-01 3.06514630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.516875 meters 0.013139251317600834 Centerline is valid? [True, True] Translation: X:318.36, Y:230.23, Z:30.66 [[ 1.64043322e-01 -9.86058194e-01 -2.79110409e-02 3.18355768e+02] [ 9.72146481e-01 1.66400824e-01 -1.65051463e-01 2.30233899e+02] [ 1.67394768e-01 -5.80298685e-05 9.85889947e-01 3.06599352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57687500000003 meters 0.013224191119554715 Centerline is valid? [True, True] Translation: X:318.36, Y:230.29, Z:30.67 [[ 1.68627344e-01 -9.85292486e-01 -2.76321634e-02 3.18360683e+02] [ 9.71595228e-01 1.70874630e-01 -1.63721023e-01 2.30290751e+02] [ 1.66034730e-01 7.60563178e-04 9.86119612e-01 3.06715519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63687500000003 meters 0.01393405761035918 Centerline is valid? [True, True] Translation: X:318.36, Y:230.35, Z:30.68 [[ 1.72999658e-01 -9.84533604e-01 -2.76532110e-02 3.18364521e+02] [ 9.70757009e-01 1.75188978e-01 -1.64133030e-01 2.30347174e+02] [ 1.66439021e-01 1.55040964e-03 9.86050530e-01 3.06798469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69687500000003 meters 0.01430314349355692 Centerline is valid? [True, True] Translation: X:318.37, Y:230.40, Z:30.69 [[ 1.75943649e-01 -9.84011371e-01 -2.76668481e-02 3.18371095e+02] [ 9.70163799e-01 1.78093222e-01 -1.64514462e-01 2.30404066e+02] [ 1.66811379e-01 2.10390019e-03 9.85986581e-01 3.06883941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75687500000004 meters 0.01511578550841363 Centerline is valid? [True, True] Translation: X:318.38, Y:230.46, Z:30.70 [[ 1.80068614e-01 -9.83263266e-01 -2.77244310e-02 3.18376510e+02] [ 9.69299646e-01 1.82167906e-01 -1.65145543e-01 2.30461696e+02] [ 1.67432047e-01 2.86424776e-03 9.85879458e-01 3.06965818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81687500000004 meters 0.015266488597321574 Centerline is valid? [True, True] Translation: X:318.39, Y:230.52, Z:30.71 [[ 1.80421760e-01 -9.83200360e-01 -2.76593521e-02 3.18385541e+02] [ 9.69252631e-01 1.82505434e-01 -1.65048793e-01 2.30518714e+02] [ 1.67324015e-01 2.96949398e-03 9.85897488e-01 3.07061300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.876875 meters 0.015174439459346054 Centerline is valid? [True, True] Translation: X:318.39, Y:230.58, Z:30.71 [[ 1.79243306e-01 -9.83416273e-01 -2.76454622e-02 3.18394708e+02] [ 9.69435604e-01 1.81340776e-01 -1.65257775e-01 2.30575527e+02] [ 1.67530435e-01 2.82085456e-03 9.85862869e-01 3.07147598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.936875 meters 0.01496687096849762 Centerline is valid? [True, True] Translation: X:318.40, Y:230.63, Z:30.72 [[ 1.76398526e-01 -9.83929251e-01 -2.76909697e-02 3.18404107e+02] [ 9.69858849e-01 1.78542707e-01 -1.65820127e-01 2.30631346e+02] [ 1.68099294e-01 2.39409396e-03 9.85767161e-01 3.07214344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.996875 meters 0.013813189472393813 Centerline is valid? [True, True] Translation: X:318.42, Y:230.69, Z:30.73 [[ 1.71366416e-01 -9.84814621e-01 -2.78157179e-02 3.18418122e+02] [ 9.70577635e-01 1.73601884e-01 -1.66857544e-01 2.30687565e+02] [ 1.69152610e-01 1.59646555e-03 9.85588578e-01 3.07301498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.056875 meters 0.013673633189308932 Centerline is valid? [True, True] Translation: X:318.43, Y:230.74, Z:30.74 [[ 1.69346430e-01 -9.85163770e-01 -2.78232502e-02 3.18428707e+02] [ 9.70872567e-01 1.71611922e-01 -1.67199901e-01 2.30743288e+02] [ 1.69494086e-01 1.30187602e-03 9.85530344e-01 3.07389168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.116875 meters 0.01350731762865685 Centerline is valid? [True, True] Translation: X:318.44, Y:230.80, Z:30.75 [[ 1.63579276e-01 -9.86139488e-01 -2.77620234e-02 3.18441439e+02] [ 9.71868440e-01 1.65917985e-01 -1.67161470e-01 2.30798233e+02] [ 1.69450745e-01 3.63117853e-04 9.85538590e-01 3.07480033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.176875 meters 0.013436837119975268 Centerline is valid? [True, True] Translation: X:318.45, Y:230.85, Z:30.76 [[ 1.59624206e-01 -9.86789602e-01 -2.76838184e-02 3.18453339e+02] [ 9.72553211e-01 1.62006824e-01 -1.67015092e-01 2.30853904e+02] [ 1.69293723e-01 -2.64335036e-04 9.85565607e-01 3.07582650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.236875 meters 0.013625535987468504 Centerline is valid? [True, True] Translation: X:318.47, Y:230.91, Z:30.77 [[ 1.55644448e-01 -9.87427353e-01 -2.76048617e-02 3.18465632e+02] [ 9.73232047e-01 1.58070913e-01 -1.66832162e-01 2.30909928e+02] [ 1.69098165e-01 -8.99436444e-04 9.85598804e-01 3.07685231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.296875 meters 0.013705496962912208 Centerline is valid? [True, True] Translation: X:318.48, Y:230.96, Z:30.78 [[ 1.53825964e-01 -9.87712658e-01 -2.75912526e-02 3.18476858e+02] [ 9.73484343e-01 1.56276524e-01 -1.67050538e-01 2.30964166e+02] [ 1.69309796e-01 -1.16294236e-03 9.85562195e-01 3.07777704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.356875 meters 0.01352023325361431 Centerline is valid? [True, True] Translation: X:318.49, Y:231.02, Z:30.79 [[ 1.54824890e-01 -9.87559260e-01 -2.74947546e-02 3.18485525e+02] [ 9.73369304e-01 1.57244498e-01 -1.66812368e-01 2.31019515e+02] [ 1.69060497e-01 -9.35843736e-04 9.85605232e-01 3.07876428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.416875 meters 0.013268313209512213 Centerline is valid? [True, True] Translation: X:318.49, Y:231.08, Z:30.80 [[ 1.57664795e-01 -9.87110698e-01 -2.74642028e-02 3.18493020e+02] [ 9.72889062e-01 1.60038473e-01 -1.66956762e-01 2.31075316e+02] [ 1.69200135e-01 -3.96418731e-04 9.85581634e-01 3.07962636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.476875 meters 0.013348985406862848 Centerline is valid? [True, True] Translation: X:318.50, Y:231.13, Z:30.80 [[ 1.63237972e-01 -9.86197326e-01 -2.77164105e-02 3.18498947e+02] [ 9.71639848e-01 1.65573067e-01 -1.68824067e-01 2.31132819e+02] [ 1.71082935e-01 6.28129589e-04 9.85256431e-01 3.08047794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.536875 meters 0.013860101867394682 Centerline is valid? [True, True] Translation: X:318.51, Y:231.19, Z:30.81 [[ 1.68608672e-01 -9.85297005e-01 -2.75849247e-02 3.18505912e+02] [ 9.70814608e-01 1.70842767e-01 -1.68320365e-01 2.31189916e+02] [ 1.70558236e-01 1.60042535e-03 9.85346298e-01 3.08145741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.596875 meters 0.014545156241257457 Centerline is valid? [True, True] Translation: X:318.51, Y:231.25, Z:30.82 [[ 1.71583733e-01 -9.84784928e-01 -2.75257615e-02 3.18513001e+02] [ 9.70307519e-01 1.73764134e-01 -1.68253808e-01 2.31245462e+02] [ 1.70476804e-01 2.16116302e-03 9.85359320e-01 3.08231337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.656875 meters 0.015226267977392984 Centerline is valid? [True, True] Translation: X:318.52, Y:231.30, Z:30.83 [[ 1.74958658e-01 -9.84188122e-01 -2.76262328e-02 3.18523135e+02] [ 9.69557463e-01 1.77104224e-01 -1.69092930e-01 2.31301777e+02] [ 1.71311975e-01 2.79905195e-03 9.85212856e-01 3.08331920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.716875 meters 0.016354486881230014 Centerline is valid? [True, True] Translation: X:318.53, Y:231.36, Z:30.84 [[ 1.77737377e-01 -9.83682881e-01 -2.78821607e-02 3.18531430e+02] [ 9.68717810e-01 1.79879364e-01 -1.70965552e-01 2.31357687e+02] [ 1.73191312e-01 3.37702300e-03 9.84882412e-01 3.08405948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.776875 meters 0.016443374976197904 Centerline is valid? [True, True] Translation: X:318.54, Y:231.41, Z:30.85 [[ 1.78903498e-01 -9.83470328e-01 -2.79222742e-02 3.18541911e+02] [ 9.68403376e-01 1.81032632e-01 -1.71528680e-01 2.31413595e+02] [ 1.73748210e-01 3.64705614e-03 9.84783356e-01 3.08503611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.836875 meters 0.01638718393824868 Centerline is valid? [True, True] Translation: X:318.55, Y:231.47, Z:30.86 [[ 1.79367150e-01 -9.83388182e-01 -2.78407882e-02 3.18553920e+02] [ 9.68354564e-01 1.81475767e-01 -1.71335882e-01 2.31469184e+02] [ 1.73542110e-01 3.77227443e-03 9.84819225e-01 3.08607509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.896875 meters 0.017786946215963308 Centerline is valid? [True, True] Translation: X:318.56, Y:231.52, Z:30.87 [[ 1.80073282e-01 -9.83265476e-01 -2.76155175e-02 3.18561858e+02] [ 9.68414256e-01 1.82136267e-01 -1.70294478e-01 2.31523685e+02] [ 1.72474468e-01 3.92222466e-03 9.85006180e-01 3.08701690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.956875 meters 0.017361332062049147 Centerline is valid? [True, True] Translation: X:318.57, Y:231.58, Z:30.88 [[ 1.80436530e-01 -9.83200429e-01 -2.75603838e-02 3.18573996e+02] [ 9.68345515e-01 1.82484447e-01 -1.70312626e-01 2.31578523e+02] [ 1.72480789e-01 4.04264537e-03 9.85004586e-01 3.08802683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.016875 meters 0.01704737870318283 Centerline is valid? [True, True] Translation: X:318.59, Y:231.63, Z:30.89 [[ 1.78962892e-01 -9.83472024e-01 -2.74783981e-02 3.18585526e+02] [ 9.68649550e-01 1.81019576e-01 -1.70146883e-01 2.31634152e+02] [ 1.72308827e-01 3.83304028e-03 9.85035520e-01 3.08904298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07687500000003 meters 0.016456418225890876 Centerline is valid? [True, True] Translation: X:318.60, Y:231.69, Z:30.90 [[ 1.75658324e-01 -9.84069087e-01 -2.74260018e-02 3.18598368e+02] [ 9.69251097e-01 1.77755706e-01 -1.70162333e-01 2.31690233e+02] [ 1.72326620e-01 3.30774781e-03 9.85034312e-01 3.09001186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13687500000003 meters 0.015300396393648266 Centerline is valid? [True, True] Translation: X:318.61, Y:231.75, Z:30.91 [[ 1.71106406e-01 -9.84880218e-01 -2.70842101e-02 3.18612682e+02] [ 9.70391022e-01 1.73218364e-01 -1.68334969e-01 2.31745442e+02] [ 1.70481264e-01 2.52091725e-03 9.85357693e-01 3.09108886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19687500000003 meters 0.01458748217800289 Centerline is valid? [True, True] Translation: X:318.63, Y:231.80, Z:30.92 [[ 1.68360943e-01 -9.85356229e-01 -2.69758321e-02 3.18625171e+02] [ 9.70938008e-01 1.70495604e-01 -1.67960212e-01 2.31801320e+02] [ 1.70099902e-01 2.08607901e-03 9.85424615e-01 3.09211933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25687500000004 meters 0.0144113866891501 Centerline is valid? [True, True] Translation: X:318.64, Y:231.86, Z:30.93 [[ 1.66171233e-01 -9.85732537e-01 -2.68046064e-02 3.18636863e+02] [ 9.71452317e-01 1.68310216e-01 -1.67188718e-01 2.31857211e+02] [ 1.69314848e-01 1.74255837e-03 9.85560473e-01 3.09309099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31687500000004 meters 0.014421738421607001 Centerline is valid? [True, True] Translation: X:318.65, Y:231.91, Z:30.94 [[ 1.66738748e-01 -9.85636540e-01 -2.68104498e-02 3.18646863e+02] [ 9.71297827e-01 1.68869870e-01 -1.67521635e-01 2.31913069e+02] [ 1.69642922e-01 1.89141607e-03 9.85503781e-01 3.09405215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.376875 meters 0.014779914092419386 Centerline is valid? [True, True] Translation: X:318.66, Y:231.97, Z:30.95 [[ 1.67704987e-01 -9.85466109e-01 -2.70478483e-02 3.18655835e+02] [ 9.70808676e-01 1.69858647e-01 -1.69347437e-01 2.31969702e+02] [ 1.71480471e-01 2.14212396e-03 9.85185190e-01 3.09483574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.436875 meters 0.014754400861369268 Centerline is valid? [True, True] Translation: X:318.67, Y:232.03, Z:30.96 [[ 1.69067751e-01 -9.85226118e-01 -2.73055194e-02 3.18667014e+02] [ 9.70228459e-01 1.71240844e-01 -1.71269702e-01 2.32026272e+02] [ 1.73415204e-01 2.46359130e-03 9.84845723e-01 3.09575910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.496875 meters 0.014808981339405704 Centerline is valid? [True, True] Translation: X:318.68, Y:232.08, Z:30.97 [[ 1.69336328e-01 -9.85183192e-01 -2.71898137e-02 3.18678252e+02] [ 9.70257152e-01 1.71486343e-01 -1.70861035e-01 2.32082932e+02] [ 1.72992102e-01 2.55186897e-03 9.84919906e-01 3.09677532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.556875 meters 0.015074625433708235 Centerline is valid? [True, True] Translation: X:318.69, Y:232.14, Z:30.98 [[ 1.68987250e-01 -9.85245946e-01 -2.70875350e-02 3.18687558e+02] [ 9.70378446e-01 1.71125714e-01 -1.70533463e-01 2.32137899e+02] [ 1.72652777e-01 2.53282080e-03 9.84979494e-01 3.09774331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.616875 meters 0.015268104400928389 Centerline is valid? [True, True] Translation: X:318.70, Y:232.19, Z:30.99 [[ 1.69152123e-01 -9.85225430e-01 -2.68032035e-02 3.18697441e+02] [ 9.70622948e-01 1.71243183e-01 -1.69017349e-01 2.32193067e+02] [ 1.71110057e-01 2.57383908e-03 9.85248559e-01 3.09880616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.676875 meters 0.015323298589818539 Centerline is valid? [True, True] Translation: X:318.71, Y:232.25, Z:31.00 [[ 1.68970016e-01 -9.85261090e-01 -2.66405438e-02 3.18706789e+02] [ 9.70778902e-01 1.71037793e-01 -1.68328243e-01 2.32249172e+02] [ 1.70403808e-01 2.58034807e-03 9.85370937e-01 3.09977440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.736875 meters 0.015097872641051972 Centerline is valid? [True, True] Translation: X:318.72, Y:232.30, Z:31.01 [[ 1.68134507e-01 -9.85404790e-01 -2.66117875e-02 3.18716911e+02] [ 9.70897427e-01 1.70209271e-01 -1.68484391e-01 2.32304299e+02] [ 1.70554899e-01 2.49072417e-03 9.85345027e-01 3.10070966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.796875 meters 0.014510988471732305 Centerline is valid? [True, True] Translation: X:318.73, Y:232.36, Z:31.02 [[ 1.65508567e-01 -9.85848680e-01 -2.66325826e-02 3.18729385e+02] [ 9.71264398e-01 1.67624529e-01 -1.68960016e-01 2.32359822e+02] [ 1.71033283e-01 2.09705086e-03 9.85263020e-01 3.10165599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.856875 meters 0.01404485973465615 Centerline is valid? [True, True] Translation: X:318.74, Y:232.42, Z:31.03 [[ 1.60969806e-01 -9.86599602e-01 -2.66448123e-02 3.18741537e+02] [ 9.71951795e-01 1.63154384e-01 -1.69382276e-01 2.32415654e+02] [ 1.71459704e-01 1.36795893e-03 9.85190184e-01 3.10250569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.916875 meters 0.013640045133080972 Centerline is valid? [True, True] Translation: X:318.75, Y:232.47, Z:31.03 [[ 1.57280311e-01 -9.87196504e-01 -2.65700315e-02 3.18754464e+02] [ 9.72586658e-01 1.59506949e-01 -1.69212077e-01 2.32470638e+02] [ 1.71283675e-01 7.72069913e-04 9.85221451e-01 3.10348731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.976875 meters 0.013256514892354137 Centerline is valid? [True, True] Translation: X:318.77, Y:232.53, Z:31.04 [[ 1.52700016e-01 -9.87918671e-01 -2.64462553e-02 3.18766767e+02] [ 9.73396207e-01 1.54973218e-01 -1.68769444e-01 2.32525601e+02] [ 1.70828946e-01 2.84121059e-05 9.85300701e-01 3.10446769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.036875 meters 0.01349945527363616 Centerline is valid? [True, True] Translation: X:318.78, Y:232.58, Z:31.05 [[ 1.48668886e-01 -9.88537681e-01 -2.62833777e-02 3.18779058e+02] [ 9.74144744e-01 1.50973089e-01 -1.68074819e-01 2.32579480e+02] [ 1.70116375e-01 -6.16318154e-04 9.85423787e-01 3.10538850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.096875 meters 0.013685932723177833 Centerline is valid? [True, True] Translation: X:318.79, Y:232.63, Z:31.06 [[ 1.44328135e-01 -9.89184405e-01 -2.61457904e-02 3.18791342e+02] [ 9.74891977e-01 1.46671417e-01 -1.67550375e-01 2.32634914e+02] [ 1.69573058e-01 -1.30708808e-03 9.85516752e-01 3.10643333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.156875 meters 0.01390394169140446 Centerline is valid? [True, True] Translation: X:318.80, Y:232.69, Z:31.07 [[ 1.41921354e-01 -9.89531331e-01 -2.61930128e-02 3.18802721e+02] [ 9.75132304e-01 1.44308542e-01 -1.68202359e-01 2.32690969e+02] [ 1.70221380e-01 -1.67014628e-03 9.85404431e-01 3.10728637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.216875 meters 0.013924841182721647 Centerline is valid? [True, True] Translation: X:318.81, Y:232.75, Z:31.08 [[ 1.41589050e-01 -9.89578986e-01 -2.61910533e-02 3.18812427e+02] [ 9.75128670e-01 1.43981260e-01 -1.68503633e-01 2.32747184e+02] [ 1.70518675e-01 -1.68137770e-03 9.85353010e-01 3.10818820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.276875 meters 0.013759541969699909 Centerline is valid? [True, True] Translation: X:318.82, Y:232.80, Z:31.09 [[ 1.42862781e-01 -9.89397243e-01 -2.61404185e-02 3.18820972e+02] [ 9.74939629e-01 1.45227788e-01 -1.68527769e-01 2.32802939e+02] [ 1.70537225e-01 -1.40898412e-03 9.85350227e-01 3.10904191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.336875 meters 0.013340239075295504 Centerline is valid? [True, True] Translation: X:318.83, Y:232.86, Z:31.10 [[ 1.46591203e-01 -9.88857333e-01 -2.59267092e-02 3.18827865e+02] [ 9.74570098e-01 1.48864582e-01 -1.67488685e-01 2.32858606e+02] [ 1.69481983e-01 -7.15027660e-04 9.85533026e-01 3.11006305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.396875 meters 0.013072637065287822 Centerline is valid? [True, True] Translation: X:318.83, Y:232.91, Z:31.11 [[ 1.49621169e-01 -9.88409760e-01 -2.56837024e-02 3.18833969e+02] [ 9.74333128e-01 1.51809495e-01 -1.66219234e-01 2.32914751e+02] [ 1.68191743e-01 -1.54566049e-04 9.85754287e-01 3.11112732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.456875 meters 0.01309934588251984 Centerline is valid? [True, True] Translation: X:318.84, Y:232.97, Z:31.12 [[ 1.53935254e-01 -9.87752602e-01 -2.54702649e-02 3.18838418e+02] [ 9.73841654e-01 1.56026942e-01 -1.65190878e-01 2.32970408e+02] [ 1.67141767e-01 6.24694827e-04 9.85932675e-01 3.11195516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.516875 meters 0.013330842946821032 Centerline is valid? [True, True] Translation: X:318.84, Y:233.03, Z:31.13 [[ 1.56123972e-01 -9.87410138e-01 -2.54268529e-02 3.18845000e+02] [ 9.73480152e-01 1.58177479e-01 -1.65276372e-01 2.33026275e+02] [ 1.67217521e-01 1.05106704e-03 9.85919467e-01 3.11281356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57687500000003 meters 0.013505603206561311 Centerline is valid? [True, True] Translation: X:318.85, Y:233.08, Z:31.14 [[ 1.57341779e-01 -9.87214992e-01 -2.54975265e-02 3.18852124e+02] [ 9.73145356e-01 1.59388895e-01 -1.66082198e-01 2.33082580e+02] [ 1.68022858e-01 1.31886898e-03 9.85782217e-01 3.11358535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63687500000003 meters 0.013299056339682591 Centerline is valid? [True, True] Translation: X:318.86, Y:233.14, Z:31.15 [[ 1.56832831e-01 -9.87298760e-01 -2.53894073e-02 3.18861898e+02] [ 9.73295361e-01 1.58869541e-01 -1.65700359e-01 2.33137911e+02] [ 1.67629362e-01 1.27586405e-03 9.85849263e-01 3.11450416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69687500000003 meters 0.01317819473113065 Centerline is valid? [True, True] Translation: X:318.87, Y:233.19, Z:31.15 [[ 1.54579420e-01 -9.87658170e-01 -2.52297981e-02 3.18872404e+02] [ 9.73776119e-01 1.56622020e-01 -1.65013978e-01 2.33192535e+02] [ 1.66928946e-01 9.39590263e-04 9.85968480e-01 3.11539407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75687500000004 meters 0.0129869163593849 Centerline is valid? [True, True] Translation: X:318.89, Y:233.25, Z:31.16 [[ 1.51773145e-01 -9.88093354e-01 -2.52276706e-02 3.18885158e+02] [ 9.74156551e-01 1.53854636e-01 -1.65371594e-01 2.33248098e+02] [ 1.67283967e-01 5.23266383e-04 9.85908617e-01 3.11636219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81687500000004 meters 0.013016917498084542 Centerline is valid? [True, True] Translation: X:318.89, Y:233.30, Z:31.17 [[ 1.51080833e-01 -9.88202157e-01 -2.51212845e-02 3.18894700e+02] [ 9.74324701e-01 1.53154460e-01 -1.65030567e-01 2.33302571e+02] [ 1.66930999e-01 4.56667675e-04 9.85968475e-01 3.11717123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.876875 meters 0.01294987739815977 Centerline is valid? [True, True] Translation: X:318.90, Y:233.36, Z:31.18 [[ 1.51791513e-01 -9.88094747e-01 -2.50620616e-02 3.18903558e+02] [ 9.74219557e-01 1.53845287e-01 -1.65008738e-01 2.33358601e+02] [ 1.66899947e-01 6.30975393e-04 9.85973635e-01 3.11804795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.936875 meters 0.013011917392139138 Centerline is valid? [True, True] Translation: X:318.91, Y:233.41, Z:31.19 [[ 1.52587879e-01 -9.87972624e-01 -2.50406232e-02 3.18911864e+02] [ 9.74061284e-01 1.54626724e-01 -1.65212565e-01 2.33414694e+02] [ 1.67097441e-01 8.18333311e-04 9.85940047e-01 3.11895214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.996875 meters 0.01336512092620298 Centerline is valid? [True, True] Translation: X:318.92, Y:233.47, Z:31.20 [[ 1.54729534e-01 -9.87640146e-01 -2.50142759e-02 3.18919958e+02] [ 9.73694741e-01 1.56733594e-01 -1.65387825e-01 2.33470575e+02] [ 1.67264233e-01 1.23411222e-03 9.85911331e-01 3.11982848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.056875 meters 0.013700306691317018 Centerline is valid? [True, True] Translation: X:318.93, Y:233.53, Z:31.21 [[ 1.55780191e-01 -9.87476087e-01 -2.49701936e-02 3.18927463e+02] [ 9.73518964e-01 1.57761956e-01 -1.65444828e-01 2.33525040e+02] [ 1.67312158e-01 1.46406987e-03 9.85902885e-01 3.12077388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.116875 meters 0.013503658356819673 Centerline is valid? [True, True] Translation: X:318.94, Y:233.58, Z:31.22 [[ 1.55184368e-01 -9.87573567e-01 -2.48246262e-02 3.18936160e+02] [ 9.73726926e-01 1.57151151e-01 -1.64801059e-01 2.33580691e+02] [ 1.66654389e-01 1.40214128e-03 9.86014376e-01 3.12178565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.176875 meters 0.013434527603424095 Centerline is valid? [True, True] Translation: X:318.94, Y:233.64, Z:31.23 [[ 1.53635002e-01 -9.87820040e-01 -2.46547078e-02 3.18944640e+02] [ 9.74108425e-01 1.55596173e-01 -1.64020142e-01 2.33635357e+02] [ 1.65858562e-01 1.18287627e-03 9.86148842e-01 3.12263328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.236875 meters 0.01314175981381435 Centerline is valid? [True, True] Translation: X:318.95, Y:233.69, Z:31.24 [[ 1.52568254e-01 -9.87986682e-01 -2.46017002e-02 3.18954664e+02] [ 9.74276004e-01 1.54535432e-01 -1.64027643e-01 2.33691052e+02] [ 1.65858961e-01 1.05656503e-03 9.86148918e-01 3.12366523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.296875 meters 0.013159004312223662 Centerline is valid? [True, True] Translation: X:318.96, Y:233.75, Z:31.25 [[ 1.51850983e-01 -9.88097069e-01 -2.46061227e-02 3.18962856e+02] [ 9.74323588e-01 1.53828474e-01 -1.64409080e-01 2.33747485e+02] [ 1.66237252e-01 9.91354690e-04 9.86085287e-01 3.12456669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.356875 meters 0.013038416603407177 Centerline is valid? [True, True] Translation: X:318.97, Y:233.80, Z:31.26 [[ 1.50414976e-01 -9.88317682e-01 -2.45661240e-02 3.18970670e+02] [ 9.74533222e-01 1.52405764e-01 -1.64491589e-01 2.33803133e+02] [ 1.66313965e-01 8.01494426e-04 9.86072524e-01 3.12550961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.416875 meters 0.012790929636580036 Centerline is valid? [True, True] Translation: X:318.98, Y:233.86, Z:31.26 [[ 1.44984867e-01 -9.89127598e-01 -2.46167257e-02 3.18980423e+02] [ 9.75237578e-01 1.47059823e-01 -1.65181947e-01 2.33858521e+02] [ 1.67006154e-01 -5.82733527e-05 9.85955852e-01 3.12634795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.476875 meters 0.013782971669121041 Centerline is valid? [True, True] Translation: X:318.99, Y:233.91, Z:31.27 [[ 1.33730949e-01 -9.90713942e-01 -2.45340407e-02 3.18992240e+02] [ 9.76881607e-01 1.35949489e-01 -1.64985040e-01 2.33914578e+02] [ 1.66788369e-01 -1.90324723e-03 9.85990881e-01 3.12723518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.536875 meters 0.015314437659752798 Centerline is valid? [True, True] Translation: X:319.00, Y:233.97, Z:31.28 [[ 1.24647076e-01 -9.91898121e-01 -2.45198611e-02 3.19001700e+02] [ 9.78048845e-01 1.26990680e-01 -1.65208423e-01 2.33970366e+02] [ 1.66983718e-01 -3.38887489e-03 9.85953829e-01 3.12827768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.596875 meters 0.01621279854217571 Centerline is valid? [True, True] Translation: X:319.01, Y:234.03, Z:31.29 [[ 1.18292182e-01 -9.92670528e-01 -2.47423193e-02 3.19005731e+02] [ 9.78521610e-01 1.20770163e-01 -1.67062940e-01 2.34028800e+02] [ 1.68826591e-01 -4.44865445e-03 9.85635730e-01 3.12888311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.656875 meters 0.018216960006765363 Centerline is valid? [True, True] Translation: X:319.02, Y:234.08, Z:31.30 [[ 1.17282420e-01 -9.92795588e-01 -2.45306773e-02 3.19015269e+02] [ 9.78838621e-01 1.19733991e-01 -1.65947962e-01 2.34084482e+02] [ 1.67689560e-01 -4.54879576e-03 9.85829356e-01 3.12974889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.716875 meters 0.017524083245289552 Centerline is valid? [True, True] Translation: X:319.02, Y:234.14, Z:31.31 [[ 1.19370917e-01 -9.92550306e-01 -2.43818459e-02 3.19017699e+02] [ 9.78717436e-01 1.21764980e-01 -1.65183141e-01 2.34142013e+02] [ 1.66921433e-01 -4.14487459e-03 9.85961488e-01 3.13088272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.776875 meters 0.016753241885892525 Centerline is valid? [True, True] Translation: X:319.02, Y:234.20, Z:31.32 [[ 1.22396087e-01 -9.92180612e-01 -2.44301168e-02 3.19018206e+02] [ 9.78232203e-01 1.24758391e-01 -1.65822500e-01 2.34199971e+02] [ 1.67573732e-01 -3.60230188e-03 9.85852965e-01 3.13155151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.836875 meters 0.014287573353037078 Centerline is valid? [True, True] Translation: X:319.02, Y:234.26, Z:31.33 [[ 1.28899700e-01 -9.91360239e-01 -2.42846529e-02 3.19015224e+02] [ 9.77511274e-01 1.31144453e-01 -1.65144911e-01 2.34257782e+02] [ 1.66902896e-01 -2.45139256e-03 9.85970291e-01 3.13265531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.896875 meters 0.013916659665153638 Centerline is valid? [True, True] Translation: X:319.02, Y:234.31, Z:31.34 [[ 1.31084734e-01 -9.91075736e-01 -2.42008064e-02 3.19020759e+02] [ 9.77259648e-01 1.33284500e-01 -1.64920655e-01 2.34314283e+02] [ 1.66674452e-01 -2.03189133e-03 9.86009888e-01 3.13361798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.956875 meters 0.012871569675906814 Centerline is valid? [True, True] Translation: X:319.02, Y:234.37, Z:31.34 [[ 1.38462438e-01 -9.90070618e-01 -2.42553906e-02 3.19016828e+02] [ 9.76120818e-01 1.40568902e-01 -1.65615619e-01 2.34373281e+02] [ 1.67380712e-01 -7.44649378e-04 9.85892054e-01 3.13433146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.016875 meters 0.012749458073278139 Centerline is valid? [True, True] Translation: X:319.01, Y:234.43, Z:31.35 [[ 1.45853651e-01 -9.89008299e-01 -2.42754261e-02 3.19013868e+02] [ 9.74964065e-01 1.47858970e-01 -1.66080694e-01 2.34430346e+02] [ 1.67844524e-01 5.55807478e-04 9.85813323e-01 3.13508356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07687500000003 meters 0.012958090822841797 Centerline is valid? [True, True] Translation: X:319.02, Y:234.49, Z:31.36 [[ 1.48885403e-01 -9.88558935e-01 -2.41737403e-02 3.19016446e+02] [ 9.74562729e-01 1.50830953e-01 -1.65763421e-01 2.34486656e+02] [ 1.67513059e-01 1.12092746e-03 9.85869220e-01 3.13607542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13687500000003 meters 0.013049703065244417 Centerline is valid? [True, True] Translation: X:319.02, Y:234.54, Z:31.37 [[ 1.50436959e-01 -9.88326750e-01 -2.40615197e-02 3.19017430e+02] [ 9.74397437e-01 1.52342349e-01 -1.65352485e-01 2.34543325e+02] [ 1.67087873e-01 1.42964190e-03 9.85940971e-01 3.13690134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19687500000003 meters 0.012927587954704252 Centerline is valid? [True, True] Translation: X:319.02, Y:234.60, Z:31.38 [[ 1.49196555e-01 -9.88519390e-01 -2.38705433e-02 3.19023450e+02] [ 9.74752858e-01 1.51088800e-01 -1.64405111e-01 2.34598580e+02] [ 1.66124212e-01 1.26079598e-03 9.86104029e-01 3.13784490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25687500000004 meters 0.012717955164967964 Centerline is valid? [True, True] Translation: X:319.03, Y:234.65, Z:31.39 [[ 1.47314505e-01 -9.88805279e-01 -2.37182647e-02 3.19031260e+02] [ 9.75155291e-01 1.49208366e-01 -1.63734610e-01 2.34653957e+02] [ 1.65440610e-01 9.91491719e-04 9.86219256e-01 3.13887302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31687500000004 meters 0.012683476997070274 Centerline is valid? [True, True] Translation: X:319.04, Y:234.71, Z:31.40 [[ 1.45351658e-01 -9.89092951e-01 -2.38333597e-02 3.19038358e+02] [ 9.75250165e-01 1.47290894e-01 -1.64901514e-01 2.34710942e+02] [ 1.66613362e-01 7.25220389e-04 9.86022039e-01 3.13971582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.376875 meters 0.012726976812866159 Centerline is valid? [True, True] Translation: X:319.04, Y:234.77, Z:31.41 [[ 1.44978221e-01 -9.89147162e-01 -2.38580849e-02 3.19044939e+02] [ 9.75218606e-01 1.46926453e-01 -1.65412477e-01 2.34766328e+02] [ 1.67122666e-01 7.14358368e-04 9.85935852e-01 3.14053147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.436875 meters 0.012804045419141739 Centerline is valid? [True, True] Translation: X:319.05, Y:234.82, Z:31.42 [[ 1.44869429e-01 -9.89164481e-01 -2.38007976e-02 3.19052816e+02] [ 9.75236974e-01 1.46809622e-01 -1.65407921e-01 2.34821995e+02] [ 1.67109826e-01 7.51133250e-04 9.85938001e-01 3.14159027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.496875 meters 0.012751102290376681 Centerline is valid? [True, True] Translation: X:319.06, Y:234.88, Z:31.42 [[ 1.43471888e-01 -9.89368318e-01 -2.37938952e-02 3.19060334e+02] [ 9.75388009e-01 1.45430420e-01 -1.65735404e-01 2.34877114e+02] [ 1.67433714e-01 5.70091245e-04 9.85883171e-01 3.14243809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.556875 meters 0.01258369809116986 Centerline is valid? [True, True] Translation: X:319.07, Y:234.93, Z:31.43 [[ 1.40823343e-01 -9.89747298e-01 -2.38552307e-02 3.19070831e+02] [ 9.75632621e-01 1.42829455e-01 -1.66555505e-01 2.34932727e+02] [ 1.68255090e-01 1.80961759e-04 9.85743472e-01 3.14343090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.616875 meters 0.012688026911599518 Centerline is valid? [True, True] Translation: X:319.08, Y:234.99, Z:31.44 [[ 1.39371227e-01 -9.89952531e-01 -2.38672779e-02 3.19079840e+02] [ 9.75761591e-01 1.41400091e-01 -1.67018955e-01 2.34989454e+02] [ 1.68715673e-01 -1.11363648e-05 9.85664761e-01 3.14438786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.676875 meters 0.012834867170393957 Centerline is valid? [True, True] Translation: X:319.09, Y:235.05, Z:31.45 [[ 1.38728487e-01 -9.90039755e-01 -2.39935407e-02 3.19087854e+02] [ 9.75638293e-01 1.40788062e-01 -1.68251722e-01 2.35045235e+02] [ 1.69953898e-01 -6.77103353e-05 9.85452012e-01 3.14516647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.736875 meters 0.012898413442989684 Centerline is valid? [True, True] Translation: X:319.10, Y:235.10, Z:31.46 [[ 1.38379921e-01 -9.90086554e-01 -2.40751454e-02 3.19096115e+02] [ 9.75519792e-01 1.40458571e-01 -1.69211481e-01 2.35100914e+02] [ 1.70915573e-01 -7.03094371e-05 9.85285675e-01 3.14600522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.796875 meters 0.013061930212514101 Centerline is valid? [True, True] Translation: X:319.11, Y:235.16, Z:31.47 [[ 1.37393230e-01 -9.90221033e-01 -2.41951496e-02 3.19106869e+02] [ 9.75442626e-01 1.39507244e-01 -1.70438882e-01 2.35157512e+02] [ 1.72147564e-01 -1.83831733e-04 9.85071156e-01 3.14702877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.856875 meters 0.013253147377520225 Centerline is valid? [True, True] Translation: X:319.12, Y:235.21, Z:31.48 [[ 1.37652956e-01 -9.90188615e-01 -2.40451639e-02 3.19115565e+02] [ 9.75532794e-01 1.39737245e-01 -1.69732938e-01 2.35212429e+02] [ 1.71427628e-01 -9.26052464e-05 9.85196711e-01 3.14807012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.916875 meters 0.013301332139080557 Centerline is valid? [True, True] Translation: X:319.12, Y:235.27, Z:31.49 [[ 1.39463131e-01 -9.89936153e-01 -2.40093501e-02 3.19123292e+02] [ 9.75249838e-01 1.41514439e-01 -1.69886485e-01 2.35268480e+02] [ 1.71574443e-01 2.77786308e-04 9.85171119e-01 3.14920442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.976875 meters 0.01351934782422208 Centerline is valid? [True, True] Translation: X:319.13, Y:235.33, Z:31.50 [[ 1.42686500e-01 -9.89476935e-01 -2.39991259e-02 3.19128834e+02] [ 9.74729335e-01 1.44687935e-01 -1.70200248e-01 2.35325723e+02] [ 1.71881604e-01 8.92625691e-04 9.85117210e-01 3.15021783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.036875 meters 0.013842076189558699 Centerline is valid? [True, True] Translation: X:319.14, Y:235.38, Z:31.51 [[ 1.43759182e-01 -9.89321266e-01 -2.40152241e-02 3.19135449e+02] [ 9.74489067e-01 1.45746868e-01 -1.70671934e-01 2.35381226e+02] [ 1.72349517e-01 1.13308423e-03 9.85035208e-01 3.15116231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.096875 meters 0.013785872724009976 Centerline is valid? [True, True] Translation: X:319.14, Y:235.44, Z:31.52 [[ 1.43767745e-01 -9.89318436e-01 -2.40804245e-02 3.19144065e+02] [ 9.74332545e-01 1.45765530e-01 -1.71547377e-01 2.35437892e+02] [ 1.73225078e-01 1.20063823e-03 9.84881531e-01 3.15219255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.156875 meters 0.013988846730527383 Centerline is valid? [True, True] Translation: X:319.15, Y:235.49, Z:31.53 [[ 1.43475298e-01 -9.89356916e-01 -2.42431663e-02 3.19153387e+02] [ 9.74102063e-01 1.45503997e-01 -1.73071536e-01 2.35494020e+02] [ 1.74756999e-01 1.21617199e-03 9.84610843e-01 3.15308349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.216875 meters 0.013988813845926672 Centerline is valid? [True, True] Translation: X:319.16, Y:235.55, Z:31.54 [[ 1.42858546e-01 -9.89444836e-01 -2.42971893e-02 3.19162183e+02] [ 9.74054573e-01 1.44905328e-01 -1.73839394e-01 2.35549729e+02] [ 1.75525282e-01 1.16765457e-03 9.84474231e-01 3.15401465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.276875 meters 0.014200153093557785 Centerline is valid? [True, True] Translation: X:319.17, Y:235.61, Z:31.55 [[ 1.42383144e-01 -9.89514570e-01 -2.42478035e-02 3.19172469e+02] [ 9.74117279e-01 1.44428600e-01 -1.73884753e-01 2.35605519e+02] [ 1.75563573e-01 1.13805339e-03 9.84467438e-01 3.15502305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.336875 meters 0.014074617021186227 Centerline is valid? [True, True] Translation: X:319.18, Y:235.66, Z:31.56 [[ 1.41813539e-01 -9.89600233e-01 -2.40894058e-02 3.19183568e+02] [ 9.74336609e-01 1.43840909e-01 -1.73141462e-01 2.35660180e+02] [ 1.74805873e-01 1.08261343e-03 9.84602323e-01 3.15620640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.396875 meters 0.01407761474528644 Centerline is valid? [True, True] Translation: X:319.19, Y:235.72, Z:31.57 [[ 1.41948978e-01 -9.89584468e-01 -2.39388592e-02 3.19193487e+02] [ 9.74443268e-01 1.43948790e-01 -1.72450177e-01 2.35716530e+02] [ 1.74099986e-01 1.15206625e-03 9.84727306e-01 3.15732049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.456875 meters 0.014379729119155029 Centerline is valid? [True, True] Translation: X:319.20, Y:235.77, Z:31.58 [[ 1.42599499e-01 -9.89491110e-01 -2.39317081e-02 3.19202698e+02] [ 9.74292337e-01 1.44587693e-01 -1.72768171e-01 2.35771964e+02] [ 1.74412800e-01 1.32017489e-03 9.84671738e-01 3.15808540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.516875 meters 0.01466313928087388 Centerline is valid? [True, True] Translation: X:319.21, Y:235.83, Z:31.59 [[ 1.43891587e-01 -9.89300657e-01 -2.40711569e-02 3.19213305e+02] [ 9.73844139e-01 1.45882043e-01 -1.74201098e-01 2.35828297e+02] [ 1.75848810e-01 1.62451742e-03 9.84415846e-01 3.15901126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57687500000003 meters 0.015086233615153424 Centerline is valid? [True, True] Translation: X:319.22, Y:235.89, Z:31.60 [[ 1.45928563e-01 -9.89003613e-01 -2.40147559e-02 3.19221458e+02] [ 9.73552002e-01 1.47877370e-01 -1.74151611e-01 2.35885729e+02] [ 1.75787811e-01 2.03408063e-03 9.84425979e-01 3.15982706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63687500000003 meters 0.015332031297288613 Centerline is valid? [True, True] Translation: X:319.23, Y:235.94, Z:31.61 [[ 1.47099992e-01 -9.88834250e-01 -2.38415086e-02 3.19230327e+02] [ 9.73541063e-01 1.49002185e-01 -1.73251687e-01 2.35941441e+02] [ 1.74869639e-01 2.27463417e-03 9.84588968e-01 3.16082454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69687500000003 meters 0.015765275248179795 Centerline is valid? [True, True] Translation: X:319.24, Y:236.00, Z:31.62 [[ 1.47488779e-01 -9.88779425e-01 -2.37130388e-02 3.19238815e+02] [ 9.73580594e-01 1.49363814e-01 -1.72717335e-01 2.35996354e+02] [ 1.74321217e-01 2.38731444e-03 9.84685947e-01 3.16171010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75687500000004 meters 0.015608425239902983 Centerline is valid? [True, True] Translation: X:319.25, Y:236.05, Z:31.63 [[ 1.47711417e-01 -9.88747966e-01 -2.36388811e-02 3.19250451e+02] [ 9.73571332e-01 1.49570424e-01 -1.72590703e-01 2.36051745e+02] [ 1.74184384e-01 2.47948033e-03 9.84709933e-01 3.16268910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81687500000004 meters 0.0155113747792898 Centerline is valid? [True, True] Translation: X:319.26, Y:236.11, Z:31.64 [[ 1.47122361e-01 -9.88838141e-01 -2.35402353e-02 3.19260088e+02] [ 9.73720074e-01 1.48974032e-01 -1.72267103e-01 2.36107167e+02] [ 1.73851165e-01 2.42274319e-03 9.84768959e-01 3.16360849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.876875 meters 0.015341792233846437 Centerline is valid? [True, True] Translation: X:319.27, Y:236.16, Z:31.65 [[ 1.46012805e-01 -9.89002872e-01 -2.35282691e-02 3.19271208e+02] [ 9.73831708e-01 1.47878638e-01 -1.72579585e-01 2.36163052e+02] [ 1.74161033e-01 2.28625474e-03 9.84714531e-01 3.16455879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.936875 meters 0.014865744088960452 Centerline is valid? [True, True] Translation: X:319.28, Y:236.22, Z:31.66 [[ 1.43445074e-01 -9.89380900e-01 -2.34295892e-02 3.19284464e+02] [ 9.74272312e-01 1.45333726e-01 -1.72254374e-01 2.36218601e+02] [ 1.73830297e-01 1.88224125e-03 9.84773824e-01 3.16557422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.996875 meters 0.014732918723016413 Centerline is valid? [True, True] Translation: X:319.30, Y:236.27, Z:31.66 [[ 1.41954736e-01 -9.89597623e-01 -2.33537408e-02 3.19295315e+02] [ 9.74525951e-01 1.43853287e-01 -1.72062208e-01 2.36274217e+02] [ 1.73631864e-01 1.66621889e-03 9.84809220e-01 3.16647330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.056875 meters 0.014700580840455163 Centerline is valid? [True, True] Translation: X:319.31, Y:236.33, Z:31.67 [[ 1.41399694e-01 -9.89679352e-01 -2.32574225e-02 3.19307073e+02] [ 9.74663351e-01 1.43290489e-01 -1.71753279e-01 2.36329891e+02] [ 1.73313241e-01 1.61770374e-03 9.84865424e-01 3.16742561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.116875 meters 0.01452387205504743 Centerline is valid? [True, True] Translation: X:319.32, Y:236.39, Z:31.68 [[ 1.41178546e-01 -9.89715441e-01 -2.30643582e-02 3.19318361e+02] [ 9.74880747e-01 1.43041007e-01 -1.70724337e-01 2.36385528e+02] [ 1.72267662e-01 1.61761493e-03 9.85048850e-01 3.16846883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.176875 meters 0.014395051039102295 Centerline is valid? [True, True] Translation: X:319.33, Y:236.44, Z:31.69 [[ 1.40211328e-01 -9.89857973e-01 -2.28468306e-02 3.19328367e+02] [ 9.75236815e-01 1.42052753e-01 -1.69511565e-01 2.36440922e+02] [ 1.71037829e-01 1.48637129e-03 9.85263341e-01 3.16941377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.236875 meters 0.01415034350716018 Centerline is valid? [True, True] Translation: X:319.34, Y:236.50, Z:31.70 [[ 1.37628904e-01 -9.90221819e-01 -2.27823026e-02 3.19340983e+02] [ 9.75619886e-01 1.39497517e-01 -1.69429281e-01 2.36495458e+02] [ 1.70950646e-01 1.09149880e-03 9.85278989e-01 3.17028144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.296875 meters 0.013910536225664847 Centerline is valid? [True, True] Translation: X:319.35, Y:236.55, Z:31.71 [[ 1.34435001e-01 -9.90661352e-01 -2.27445667e-02 3.19352005e+02] [ 9.76060940e-01 1.36344224e-01 -1.69455877e-01 2.36551461e+02] [ 1.70974479e-01 5.80717845e-04 9.85275287e-01 3.17121529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.356875 meters 0.01379020300950696 Centerline is valid? [True, True] Translation: X:319.36, Y:236.61, Z:31.72 [[ 1.32633787e-01 -9.90903427e-01 -2.27744659e-02 3.19359804e+02] [ 9.76217304e-01 1.34574519e-01 -1.69969038e-01 2.36607441e+02] [ 1.71487765e-01 3.10809513e-04 9.85186201e-01 3.17204972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.416875 meters 0.0137161283263027 Centerline is valid? [True, True] Translation: X:319.37, Y:236.66, Z:31.73 [[ 1.29415718e-01 -9.91329802e-01 -2.27331442e-02 3.19367194e+02] [ 9.76632987e-01 1.31397057e-01 -1.70067108e-01 2.36663320e+02] [ 1.71579661e-01 -1.92581639e-04 9.85170230e-01 3.17290912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.476875 meters 0.01414657035968615 Centerline is valid? [True, True] Translation: X:319.38, Y:236.72, Z:31.74 [[ 1.23292403e-01 -9.92111633e-01 -2.26603259e-02 3.19375969e+02] [ 9.77452977e-01 1.25351777e-01 -1.69919421e-01 2.36719847e+02] [ 1.71419546e-01 -1.19962928e-03 9.85197391e-01 3.17382169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.536875 meters 0.015380729758114373 Centerline is valid? [True, True] Translation: X:319.39, Y:236.78, Z:31.75 [[ 1.14193109e-01 -9.93204595e-01 -2.24625670e-02 3.19386425e+02] [ 9.78760269e-01 1.16349845e-01 -1.68792918e-01 2.36776203e+02] [ 1.70259418e-01 -2.71047999e-03 9.85395547e-01 3.17490724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.596875 meters 0.01695052853858366 Centerline is valid? [True, True] Translation: X:319.40, Y:236.83, Z:31.76 [[ 1.08231673e-01 -9.93876622e-01 -2.22522949e-02 3.19395518e+02] [ 9.79655436e-01 1.10434776e-01 -1.67569050e-01 2.36831988e+02] [ 1.69000389e-01 -3.66330298e-03 9.85609176e-01 3.17592145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.656875 meters 0.021001080800059677 Centerline is valid? [True, True] Translation: X:319.41, Y:236.89, Z:31.77 [[ 1.01798206e-01 -9.94560893e-01 -2.20398762e-02 3.19405001e+02] [ 9.80563581e-01 1.04051630e-01 -1.66337973e-01 2.36887442e+02] [ 1.67726528e-01 -4.67859275e-03 9.85822460e-01 3.17672461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.716875 meters 0.019097862156601742 Centerline is valid? [True, True] Translation: X:319.41, Y:236.94, Z:31.78 [[ 9.93929751e-02 -9.94808851e-01 -2.18262622e-02 3.19406215e+02] [ 9.81029581e-01 1.01638097e-01 -1.65077737e-01 2.36944543e+02] [ 1.66439174e-01 -5.00464143e-03 9.86039023e-01 3.17770798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.776875 meters 0.0193930016280696 Centerline is valid? [True, True] Translation: X:319.41, Y:237.00, Z:31.78 [[ 9.73067663e-02 -9.95013857e-01 -2.18819187e-02 3.19409213e+02] [ 9.81105406e-01 9.95943591e-02 -1.65870871e-01 2.37002660e+02] [ 1.67223130e-01 -5.32811071e-03 9.85904679e-01 3.17848304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.836875 meters 0.0202492919918984 Centerline is valid? [True, True] Translation: X:319.42, Y:237.06, Z:31.79 [[ 9.71798105e-02 -9.95026092e-01 -2.18897277e-02 3.19415238e+02] [ 9.81047259e-01 9.94727376e-02 -1.66287252e-01 2.37058101e+02] [ 1.67637586e-01 -5.31509372e-03 9.85834362e-01 3.17933240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.896875 meters 0.019133435985750593 Centerline is valid? [True, True] Translation: X:319.42, Y:237.11, Z:31.80 [[ 9.96035928e-02 -9.94793988e-01 -2.15417369e-02 3.19416664e+02] [ 9.81186534e-01 1.01793477e-01 -1.64045948e-01 2.37114631e+02] [ 1.65384731e-01 -4.79689643e-03 9.86217461e-01 3.18032793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.956875 meters 0.016018936310154903 Centerline is valid? [True, True] Translation: X:319.41, Y:237.17, Z:31.81 [[ 1.03892045e-01 -9.94361985e-01 -2.12293500e-02 3.19414148e+02] [ 9.81078090e-01 1.05963671e-01 -1.62041606e-01 2.37171753e+02] [ 1.63377553e-01 -3.99281639e-03 9.86555540e-01 3.18137319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.016875 meters 0.015171089193416263 Centerline is valid? [True, True] Translation: X:319.42, Y:237.23, Z:31.82 [[ 1.07357801e-01 -9.93997697e-01 -2.10447453e-02 3.19416938e+02] [ 9.80875354e-01 1.09349515e-01 -1.61016218e-01 2.37229101e+02] [ 1.62350983e-01 -3.35592489e-03 9.86727367e-01 3.18233235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07687500000003 meters 0.014063504891756772 Centerline is valid? [True, True] Translation: X:319.42, Y:237.29, Z:31.83 [[ 1.12878027e-01 -9.93390881e-01 -2.08112588e-02 3.19417674e+02] [ 9.80492326e-01 1.14755545e-01 -1.59580588e-01 2.37285855e+02] [ 1.60914109e-01 -2.39213758e-03 9.86965515e-01 3.18328886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13687500000003 meters 0.012682715850434137 Centerline is valid? [True, True] Translation: X:319.42, Y:237.34, Z:31.84 [[ 1.17249094e-01 -9.92883313e-01 -2.08656998e-02 3.19417305e+02] [ 9.79865138e-01 1.19079759e-01 -1.60263290e-01 2.37344496e+02] [ 1.61607429e-01 -1.65484620e-03 9.86853738e-01 3.18406205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19687500000003 meters 0.012515969605344282 Centerline is valid? [True, True] Translation: X:319.42, Y:237.40, Z:31.85 [[ 1.18975500e-01 -9.92675877e-01 -2.09626633e-02 3.19421504e+02] [ 9.79495025e-01 1.20800583e-01 -1.61234971e-01 2.37401669e+02] [ 1.62586369e-01 -1.34981304e-03 9.86693392e-01 3.18474419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25687500000004 meters 0.012150287377367433 Centerline is valid? [True, True] Translation: X:319.42, Y:237.46, Z:31.85 [[ 1.21160858e-01 -9.92409534e-01 -2.10561727e-02 3.19424775e+02] [ 9.79039198e-01 1.22973273e-01 -1.62357083e-01 2.37457433e+02] [ 1.63714063e-01 -9.43494898e-04 9.86507382e-01 3.18546551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31687500000004 meters 0.011983036181412885 Centerline is valid? [True, True] Translation: X:319.43, Y:237.51, Z:31.86 [[ 1.22344126e-01 -9.92265136e-01 -2.10193960e-02 3.19429046e+02] [ 9.78870654e-01 1.24134670e-01 -1.62489464e-01 2.37514414e+02] [ 1.63841866e-01 -6.95638406e-04 9.86486370e-01 3.18640168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.376875 meters 0.011769141195882828 Centerline is valid? [True, True] Translation: X:319.43, Y:237.57, Z:31.87 [[ 1.23458417e-01 -9.92130066e-01 -2.08794487e-02 3.19434317e+02] [ 9.78852957e-01 1.25210682e-01 -1.61768892e-01 2.37569403e+02] [ 1.63110111e-01 -4.66178810e-04 9.86607761e-01 3.18733088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.436875 meters 0.011683071813769246 Centerline is valid? [True, True] Translation: X:319.44, Y:237.63, Z:31.88 [[ 1.25057486e-01 -9.91933901e-01 -2.06824081e-02 3.19438590e+02] [ 9.78854197e-01 1.26756100e-01 -1.60553267e-01 2.37625991e+02] [ 1.61879850e-01 -1.66674125e-04 9.86810461e-01 3.18821845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.496875 meters 0.011655442422124436 Centerline is valid? [True, True] Translation: X:319.44, Y:237.68, Z:31.89 [[ 1.25267993e-01 -9.91910155e-01 -2.05468790e-02 3.19444589e+02] [ 9.78936398e-01 1.26941866e-01 -1.59904009e-01 2.37681822e+02] [ 1.61218669e-01 -8.32334475e-05 9.86918707e-01 3.18912032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.556875 meters 0.011578112868236325 Centerline is valid? [True, True] Translation: X:319.45, Y:237.74, Z:31.90 [[ 1.25299002e-01 -9.91909987e-01 -2.03650911e-02 3.19452038e+02] [ 9.79102431e-01 1.26943199e-01 -1.58883148e-01 2.37737671e+02] [ 1.60182991e-01 -3.16102993e-05 9.87087336e-01 3.19019376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.616875 meters 0.011546916575320568 Centerline is valid? [True, True] Translation: X:319.46, Y:237.79, Z:31.91 [[ 1.24607069e-01 -9.91998810e-01 -2.02839642e-02 3.19459347e+02] [ 9.79231138e-01 1.26247185e-01 -1.58644341e-01 2.37792400e+02] [ 1.59935791e-01 -9.44830519e-05 9.87127415e-01 3.19112059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.676875 meters 0.011455571378693588 Centerline is valid? [True, True] Translation: X:319.47, Y:237.85, Z:31.92 [[ 1.23985243e-01 -9.92075872e-01 -2.03254457e-02 3.19466685e+02] [ 9.79189061e-01 1.25640138e-01 -1.59384249e-01 2.37848336e+02] [ 1.60674959e-01 -1.41159247e-04 9.87007364e-01 3.19193577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.736875 meters 0.011403888877437153 Centerline is valid? [True, True] Translation: X:319.47, Y:237.90, Z:31.93 [[ 1.23408532e-01 -9.92146899e-01 -2.03682211e-02 3.19474342e+02] [ 9.79141726e-01 1.25077961e-01 -1.60115533e-01 2.37904449e+02] [ 1.61405746e-01 -1.83752290e-04 9.86888115e-01 3.19268864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.796875 meters 0.0114295849526282 Centerline is valid? [True, True] Translation: X:319.48, Y:237.96, Z:31.94 [[ 1.23068840e-01 -9.92188135e-01 -2.04148598e-02 3.19482467e+02] [ 9.79058498e-01 1.24750432e-01 -1.60878176e-01 2.37960442e+02] [ 1.62168180e-01 -1.88251494e-04 9.86763115e-01 3.19361210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.856875 meters 0.011312611120998016 Centerline is valid? [True, True] Translation: X:319.49, Y:238.02, Z:31.94 [[ 1.22853384e-01 -9.92213800e-01 -2.04651275e-02 3.19490499e+02] [ 9.78952498e-01 1.24546160e-01 -1.61679503e-01 2.38016983e+02] [ 1.62969487e-01 -1.71513688e-04 9.86631095e-01 3.19448833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.916875 meters 0.011382348384246717 Centerline is valid? [True, True] Translation: X:319.50, Y:238.07, Z:31.95 [[ 1.23714421e-01 -9.92106917e-01 -2.04598940e-02 3.19497789e+02] [ 9.78784447e-01 1.25394836e-01 -1.62040557e-01 2.38072752e+02] [ 1.63327122e-01 2.09276767e-05 9.86571969e-01 3.19545311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.976875 meters 0.01147422660525386 Centerline is valid? [True, True] Translation: X:319.50, Y:238.13, Z:31.96 [[ 1.25914963e-01 -9.91830627e-01 -2.04310868e-02 3.19502852e+02] [ 9.78473832e-01 1.27561035e-01 -1.62225588e-01 2.38128618e+02] [ 1.63506518e-01 4.35345143e-04 9.86542158e-01 3.19619247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.036875 meters 0.01162852427274431 Centerline is valid? [True, True] Translation: X:319.51, Y:238.19, Z:31.97 [[ 1.27291147e-01 -9.91654320e-01 -2.04615220e-02 3.19509575e+02] [ 9.78183340e-01 1.28923197e-01 -1.62899242e-01 2.38186111e+02] [ 1.64177701e-01 7.20511388e-04 9.86430516e-01 3.19706815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.096875 meters 0.011855980241522249 Centerline is valid? [True, True] Translation: X:319.52, Y:238.24, Z:31.98 [[ 1.27543162e-01 -9.91620939e-01 -2.05098885e-02 3.19516018e+02] [ 9.78021076e-01 1.29179132e-01 -1.63668955e-01 2.38241347e+02] [ 1.64947012e-01 8.15752748e-04 9.86302093e-01 3.19785690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.156875 meters 0.011975403249227022 Centerline is valid? [True, True] Translation: X:319.53, Y:238.30, Z:31.99 [[ 1.26796558e-01 -9.91715218e-01 -2.05805768e-02 3.19525505e+02] [ 9.77946206e-01 1.28453718e-01 -1.64684124e-01 2.38297106e+02] [ 1.65963404e-01 7.54683064e-04 9.86131624e-01 3.19868577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.216875 meters 0.01200256795717684 Centerline is valid? [True, True] Translation: X:319.53, Y:238.35, Z:32.00 [[ 1.25994596e-01 -9.91817310e-01 -2.05860735e-02 3.19534336e+02] [ 9.77972516e-01 1.27663502e-01 -1.65141722e-01 2.38354062e+02] [ 1.66418508e-01 6.74350399e-04 9.86054981e-01 3.19955303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.276875 meters 0.012233297424229322 Centerline is valid? [True, True] Translation: X:319.54, Y:238.41, Z:32.00 [[ 1.25774251e-01 -9.91846404e-01 -2.05316614e-02 3.19543188e+02] [ 9.78010221e-01 1.27437212e-01 -1.65093201e-01 2.38410497e+02] [ 1.66363595e-01 6.84298934e-04 9.86064240e-01 3.20033131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.336875 meters 0.012661727413588899 Centerline is valid? [True, True] Translation: X:319.55, Y:238.47, Z:32.01 [[ 1.27663772e-01 -9.91605699e-01 -2.04963149e-02 3.19550733e+02] [ 9.77742344e-01 1.29294337e-01 -1.65235842e-01 2.38465350e+02] [ 1.66498860e-01 1.05451585e-03 9.86041083e-01 3.20111485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.396875 meters 0.013055678755799525 Centerline is valid? [True, True] Translation: X:319.56, Y:238.52, Z:32.02 [[ 1.29626267e-01 -9.91351463e-01 -2.04770128e-02 3.19557115e+02] [ 9.77454883e-01 1.31225920e-01 -1.65413752e-01 2.38522186e+02] [ 1.66670280e-01 1.42661105e-03 9.86011654e-01 3.20200413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.456875 meters 0.013645277499177794 Centerline is valid? [True, True] Translation: X:319.56, Y:238.58, Z:32.03 [[ 1.31574397e-01 -9.91097674e-01 -2.03366121e-02 3.19562916e+02] [ 9.77326838e-01 1.33124759e-01 -1.64651296e-01 2.38578567e+02] [ 1.65892823e-01 1.78837825e-03 9.86142167e-01 3.20280396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.516875 meters 0.013385030068981157 Centerline is valid? [True, True] Translation: X:319.57, Y:238.63, Z:32.04 [[ 1.30520913e-01 -9.91238352e-01 -2.02686920e-02 3.19572198e+02] [ 9.77492261e-01 1.32074875e-01 -1.64514764e-01 2.38634792e+02] [ 1.65750329e-01 1.66012768e-03 9.86166351e-01 3.20366467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57687500000003 meters 0.013107307274641976 Centerline is valid? [True, True] Translation: X:319.58, Y:238.69, Z:32.04 [[ 1.26835960e-01 -9.91714498e-01 -2.03714050e-02 3.19584195e+02] [ 9.77760521e-01 1.28456708e-01 -1.65780694e-01 2.38690469e+02] [ 1.67023962e-01 1.10859794e-03 9.85952213e-01 3.20441197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63687500000003 meters 0.012854202618171742 Centerline is valid? [True, True] Translation: X:319.59, Y:238.75, Z:32.05 [[ 1.23844056e-01 -9.92092405e-01 -2.03791646e-02 3.19594075e+02] [ 9.78058621e-01 1.25507864e-01 -1.66280217e-01 2.38746611e+02] [ 1.67523086e-01 6.60798889e-04 9.85867932e-01 3.20514367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69687500000003 meters 0.012752629356006871 Centerline is valid? [True, True] Translation: X:319.60, Y:238.80, Z:32.06 [[ 1.20511643e-01 -9.92502956e-01 -2.03672815e-02 3.19604938e+02] [ 9.78417471e-01 1.22220536e-01 -1.66617506e-01 2.38802121e+02] [ 1.67857668e-01 1.51645474e-04 9.85811230e-01 3.20584951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75687500000004 meters 0.012933068473848548 Centerline is valid? [True, True] Translation: X:319.62, Y:238.86, Z:32.07 [[ 1.17524597e-01 -9.92860177e-01 -2.04116997e-02 3.19616267e+02] [ 9.78643666e-01 1.19283604e-01 -1.67415639e-01 2.38858467e+02] [ 1.68655102e-01 -3.00325120e-04 9.85675082e-01 3.20661083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81687500000004 meters 0.01302747302397938 Centerline is valid? [True, True] Translation: X:319.63, Y:238.91, Z:32.08 [[ 1.14532145e-01 -9.93212227e-01 -2.02943515e-02 3.19626882e+02] [ 9.79091746e-01 1.16313804e-01 -1.66884550e-01 2.38914269e+02] [ 1.68112289e-01 -7.56386529e-04 9.85767562e-01 3.20751618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.876875 meters 0.01345165596534933 Centerline is valid? [True, True] Translation: X:319.64, Y:238.97, Z:32.08 [[ 1.09126330e-01 -9.93824901e-01 -2.00875653e-02 3.19640895e+02] [ 9.79930085e-01 1.10948045e-01 -1.65612683e-01 2.38970501e+02] [ 1.66818685e-01 -1.61170522e-03 9.85986272e-01 3.20846961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.936875 meters 0.014550483583894765 Centerline is valid? [True, True] Translation: X:319.66, Y:239.03, Z:32.09 [[ 1.03456803e-01 -9.94434679e-01 -1.99087834e-02 3.19655480e+02] [ 9.80735098e-01 1.05325185e-01 -1.64515264e-01 2.39025024e+02] [ 1.65696580e-01 -2.50501942e-03 9.86173599e-01 3.20931555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.996875 meters 0.015141399053674414 Centerline is valid? [True, True] Translation: X:319.67, Y:239.08, Z:32.10 [[ 1.01398759e-01 -9.94647820e-01 -1.98495982e-02 3.19665905e+02] [ 9.80982489e-01 1.03285164e-01 -1.64333599e-01 2.39081718e+02] [ 1.65504224e-01 -2.80888528e-03 9.86205081e-01 3.21022014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.056875 meters 0.015715736006354217 Centerline is valid? [True, True] Translation: X:319.68, Y:239.14, Z:32.11 [[ 1.00757156e-01 -9.94715573e-01 -1.97211584e-02 3.19675405e+02] [ 9.81167168e-01 1.02629131e-01 -1.63640611e-01 2.39136934e+02] [ 1.64799829e-01 -2.86179072e-03 9.86322881e-01 3.21114999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.116875 meters 0.014746852602806159 Centerline is valid? [True, True] Translation: X:319.68, Y:239.19, Z:32.12 [[ 1.00727209e-01 -9.94720709e-01 -1.96148247e-02 3.19680027e+02] [ 9.81247349e-01 1.02580794e-01 -1.63189525e-01 2.39193000e+02] [ 1.64340105e-01 -2.80936937e-03 9.86399735e-01 3.21209586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.176875 meters 0.014797594378888397 Centerline is valid? [True, True] Translation: X:319.69, Y:239.25, Z:32.13 [[ 1.02128094e-01 -9.94581091e-01 -1.94500638e-02 3.19686604e+02] [ 9.81261528e-01 1.03933265e-01 -1.62245772e-01 2.39248678e+02] [ 1.63388086e-01 -2.51574780e-03 9.86558667e-01 3.21301928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.236875 meters 0.013940844060547285 Centerline is valid? [True, True] Translation: X:319.69, Y:239.31, Z:32.14 [[ 1.04211281e-01 -9.94367464e-01 -1.93224030e-02 3.19689891e+02] [ 9.81150605e-01 1.05966325e-01 -1.61600214e-01 2.39305824e+02] [ 1.62737519e-01 -2.11762211e-03 9.86667125e-01 3.21398773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.296875 meters 0.013751192538156482 Centerline is valid? [True, True] Translation: X:319.70, Y:239.36, Z:32.15 [[ 1.05284766e-01 -9.94256784e-01 -1.91980563e-02 3.19695086e+02] [ 9.81146072e-01 1.07004067e-01 -1.60942585e-01 2.39362630e+02] [ 1.62072527e-01 -1.89129510e-03 9.86777036e-01 3.21488907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.356875 meters 0.013363710285900289 Centerline is valid? [True, True] Translation: X:319.70, Y:239.42, Z:32.16 [[ 1.06061415e-01 -9.94177002e-01 -1.90542573e-02 3.19699503e+02] [ 9.81213233e-01 1.07745630e-01 -1.60035844e-01 2.39418711e+02] [ 1.61156969e-01 -1.72266141e-03 9.86927284e-01 3.21582178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.416875 meters 0.013626394468076059 Centerline is valid? [True, True] Translation: X:319.70, Y:239.47, Z:32.17 [[ 1.05716251e-01 -9.94214974e-01 -1.89910242e-02 3.19704954e+02] [ 9.81266865e-01 1.07394615e-01 -1.59942914e-01 2.39473902e+02] [ 1.61057174e-01 -1.72669751e-03 9.86943567e-01 3.21672011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.476875 meters 0.013470094796934463 Centerline is valid? [True, True] Translation: X:319.71, Y:239.53, Z:32.18 [[ 1.05996082e-01 -9.94185334e-01 -1.89829617e-02 3.19707922e+02] [ 9.81172912e-01 1.07670156e-01 -1.60333569e-01 2.39530506e+02] [ 1.61445181e-01 -1.63083767e-03 9.86880334e-01 3.21760494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.536875 meters 0.013308736300316006 Centerline is valid? [True, True] Translation: X:319.71, Y:239.59, Z:32.19 [[ 1.06896242e-01 -9.94091161e-01 -1.88668508e-02 3.19709888e+02] [ 9.81168241e-01 1.08538995e-01 -1.59775370e-01 2.39587481e+02] [ 1.60879072e-01 -1.43216830e-03 9.86973086e-01 3.21854947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.596875 meters 0.0131075407753168 Centerline is valid? [True, True] Translation: X:319.71, Y:239.64, Z:32.19 [[ 1.07537381e-01 -9.94022517e-01 -1.88400264e-02 3.19713439e+02] [ 9.81066159e-01 1.09167743e-01 -1.59973733e-01 2.39644678e+02] [ 1.61074216e-01 -1.28015609e-03 9.86941466e-01 3.21935791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.656875 meters 0.013068558600989499 Centerline is valid? [True, True] Translation: X:319.72, Y:239.70, Z:32.20 [[ 1.07752641e-01 -9.93999837e-01 -1.88067253e-02 3.19718701e+02] [ 9.81024103e-01 1.09374975e-01 -1.60090049e-01 2.39701476e+02] [ 1.61186468e-01 -1.19972527e-03 9.86923241e-01 3.22028335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.716875 meters 0.01297649680548899 Centerline is valid? [True, True] Translation: X:319.72, Y:239.76, Z:32.21 [[ 1.08460579e-01 -9.93924113e-01 -1.87392524e-02 3.19722508e+02] [ 9.80970933e-01 1.10062644e-01 -1.59944498e-01 2.39758411e+02] [ 1.61035185e-01 -1.03498908e-03 9.86948123e-01 3.22121335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.776875 meters 0.012876876068678983 Centerline is valid? [True, True] Translation: X:319.73, Y:239.82, Z:32.22 [[ 1.09081776e-01 -9.93851501e-01 -1.89831447e-02 3.19725515e+02] [ 9.80482339e-01 1.10717664e-01 -1.62468403e-01 2.39815072e+02] [ 1.63571236e-01 -8.90296059e-04 9.86531124e-01 3.22188736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.836875 meters 0.012929495596003768 Centerline is valid? [True, True] Translation: X:319.73, Y:239.87, Z:32.23 [[ 1.08872416e-01 -9.93874533e-01 -1.89791709e-02 3.19731775e+02] [ 9.80436345e-01 1.10510850e-01 -1.62886236e-01 2.39871738e+02] [ 1.63985886e-01 -8.74050882e-04 9.86462298e-01 3.22280212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.896875 meters 0.013012400475916962 Centerline is valid? [True, True] Translation: X:319.74, Y:239.93, Z:32.24 [[ 1.09285055e-01 -9.93827967e-01 -1.90459486e-02 3.19737183e+02] [ 9.80218416e-01 1.10929705e-01 -1.63909904e-01 2.39927515e+02] [ 1.65011008e-01 -7.56286596e-04 9.86291435e-01 3.22364554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.956875 meters 0.012909703041117737 Centerline is valid? [True, True] Translation: X:319.74, Y:239.98, Z:32.25 [[ 1.10257580e-01 -9.93720278e-01 -1.90597854e-02 3.19742035e+02] [ 9.80030088e-01 1.11891472e-01 -1.64381642e-01 2.39983526e+02] [ 1.65481999e-01 -5.54841123e-04 9.86212655e-01 3.22451820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.016875 meters 0.012922354882723511 Centerline is valid? [True, True] Translation: X:319.75, Y:240.04, Z:32.25 [[ 1.10810512e-01 -9.93659216e-01 -1.90366450e-02 3.19748012e+02] [ 9.79924717e-01 1.12433068e-01 -1.64640078e-01 2.40038514e+02] [ 1.65736479e-01 -4.10627682e-04 9.86169991e-01 3.22534718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07687500000003 meters 0.012863295783656832 Centerline is valid? [True, True] Translation: X:319.75, Y:240.09, Z:32.26 [[ 1.11111034e-01 -9.93626118e-01 -1.90125361e-02 3.19754036e+02] [ 9.79865964e-01 1.12725490e-01 -1.64789736e-01 2.40094626e+02] [ 1.65882583e-01 -3.19779206e-04 9.86145459e-01 3.22640203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13687500000003 meters 0.01283346173358099 Centerline is valid? [True, True] Translation: X:319.76, Y:240.15, Z:32.27 [[ 1.10951282e-01 -9.93646592e-01 -1.88749427e-02 3.19759968e+02] [ 9.80012658e-01 1.12544934e-01 -1.64039107e-01 2.40151155e+02] [ 1.65121179e-01 -2.97333473e-04 9.86273242e-01 3.22738400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19687500000003 meters 0.01279867191018091 Centerline is valid? [True, True] Translation: X:319.77, Y:240.21, Z:32.29 [[ 1.12065865e-01 -9.93524440e-01 -1.87197704e-02 3.19765061e+02] [ 9.80040190e-01 1.13618589e-01 -1.63131979e-01 2.40208160e+02] [ 1.64202522e-01 -6.46009241e-05 9.86426646e-01 3.22850750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25687500000004 meters 0.012693388604627839 Centerline is valid? [True, True] Translation: X:319.77, Y:240.26, Z:32.29 [[ 1.12401452e-01 -9.93488930e-01 -1.85918969e-02 3.19770569e+02] [ 9.80120813e-01 1.13928679e-01 -1.62429826e-01 2.40263593e+02] [ 1.63490384e-01 3.50431154e-05 9.86544927e-01 3.22944548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31687500000004 meters 0.012751406476419673 Centerline is valid? [True, True] Translation: X:319.78, Y:240.32, Z:32.30 [[ 1.09649332e-01 -9.93794738e-01 -1.86826885e-02 3.19779261e+02] [ 9.80217684e-01 1.11228987e-01 -1.63711347e-01 2.40319618e+02] [ 1.64773532e-01 -3.62261800e-04 9.86331360e-01 3.23028148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.376875 meters 0.013082362288935515 Centerline is valid? [True, True] Translation: X:319.79, Y:240.38, Z:32.31 [[ 1.05079272e-01 -9.94286828e-01 -1.87629836e-02 3.19790461e+02] [ 9.80522254e-01 1.06735900e-01 -1.64874370e-01 2.40375322e+02] [ 1.65935098e-01 -1.07264420e-03 9.86136092e-01 3.23108487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.436875 meters 0.01337395764686046 Centerline is valid? [True, True] Translation: X:319.80, Y:240.43, Z:32.32 [[ 1.02062988e-01 -9.94599694e-01 -1.88306973e-02 3.19800072e+02] [ 9.80667085e-01 1.03774247e-01 -1.65900495e-01 2.40432057e+02] [ 1.66958723e-01 -1.53434492e-03 9.85962692e-01 3.23202700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.496875 meters 0.013401454971629766 Centerline is valid? [True, True] Translation: X:319.81, Y:240.49, Z:32.33 [[ 1.00483296e-01 -9.94764077e-01 -1.86423942e-02 3.19807326e+02] [ 9.81046686e-01 1.02183093e-01 -1.64639045e-01 2.40487526e+02] [ 1.65681945e-01 -1.74558523e-03 9.86177695e-01 3.23304485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.556875 meters 0.013887323280362698 Centerline is valid? [True, True] Translation: X:319.82, Y:240.54, Z:32.34 [[ 9.82520561e-02 -9.94989785e-01 -1.84894892e-02 3.19817170e+02] [ 9.81425639e-01 9.99554578e-02 -1.63745598e-01 2.40543238e+02] [ 1.64773323e-01 -2.05771701e-03 9.86329315e-01 3.23412196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.616875 meters 0.013609068015413535 Centerline is valid? [True, True] Translation: X:319.82, Y:240.60, Z:32.35 [[ 9.76200717e-02 -9.95052404e-01 -1.84671338e-02 3.19823682e+02] [ 9.81450243e-01 9.93289088e-02 -1.63979233e-01 2.40599117e+02] [ 1.65002251e-01 -2.11690841e-03 9.86290919e-01 3.23500044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.676875 meters 0.013899388067133658 Centerline is valid? [True, True] Translation: X:319.83, Y:240.65, Z:32.36 [[ 9.75095912e-02 -9.95062787e-01 -1.84913531e-02 3.19830309e+02] [ 9.81346768e-01 9.92254011e-02 -1.64659775e-01 2.40654295e+02] [ 1.65681627e-01 -2.09052227e-03 9.86177078e-01 3.23571988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.736875 meters 0.0137494516410984 Centerline is valid? [True, True] Translation: X:319.84, Y:240.71, Z:32.36 [[ 9.82261173e-02 -9.94988863e-01 -1.86759892e-02 3.19836229e+02] [ 9.80930946e-01 9.99668372e-02 -1.66676667e-01 2.40710973e+02] [ 1.67708407e-01 -1.94785391e-03 9.85834721e-01 3.23644365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.796875 meters 0.013706632018461477 Centerline is valid? [True, True] Translation: X:319.84, Y:240.77, Z:32.37 [[ 9.80883954e-02 -9.95000439e-01 -1.87827833e-02 3.19842688e+02] [ 9.80700254e-01 9.98518602e-02 -1.68097050e-01 2.40766771e+02] [ 1.69132134e-01 -1.93191051e-03 9.85591492e-01 3.23729590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.856875 meters 0.01409001190474372 Centerline is valid? [True, True] Translation: X:319.85, Y:240.82, Z:32.38 [[ 9.54915064e-02 -9.95254355e-01 -1.87120692e-02 3.19851005e+02] [ 9.80983519e-01 9.72799834e-02 -1.67952196e-01 2.40823857e+02] [ 1.68975464e-01 -2.31822334e-03 9.85617532e-01 3.23827659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.916875 meters 0.014510852338872346 Centerline is valid? [True, True] Translation: X:319.86, Y:240.88, Z:32.39 [[ 9.29583582e-02 -9.95498333e-01 -1.84881740e-02 3.19858640e+02] [ 9.81504150e-01 9.47410931e-02 -1.66354224e-01 2.40879883e+02] [ 1.67356943e-01 -2.68220399e-03 9.85892722e-01 3.23940431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.976875 meters 0.015203187398369693 Centerline is valid? [True, True] Translation: X:319.87, Y:240.94, Z:32.41 [[ 8.79433091e-02 -9.95958718e-01 -1.82265511e-02 3.19867540e+02] [ 9.82296937e-01 8.97461870e-02 -1.64433420e-01 2.40935815e+02] [ 1.65404661e-01 -3.44306630e-03 9.86219774e-01 3.24067232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.036875 meters 0.017103482081315634 Centerline is valid? [True, True] Translation: X:319.88, Y:240.99, Z:32.42 [[ 8.25528319e-02 -9.96420147e-01 -1.82187127e-02 3.19875529e+02] [ 9.82709381e-01 8.44298470e-02 -1.64784326e-01 2.40992533e+02] [ 1.65732625e-01 -4.30028717e-03 9.86161348e-01 3.24158368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.096875 meters 0.01830985190501832 Centerline is valid? [True, True] Translation: X:319.88, Y:241.05, Z:32.42 [[ 7.74188413e-02 -9.96830798e-01 -1.82943270e-02 3.19881220e+02] [ 9.82942960e-01 7.93848309e-02 -1.65895105e-01 2.41049885e+02] [ 1.66821642e-01 -5.13887307e-03 9.85973697e-01 3.24242172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.156875 meters 0.019483966281462425 Centerline is valid? [True, True] Translation: X:319.89, Y:241.11, Z:32.43 [[ 7.38198224e-02 -9.97103022e-01 -1.83356804e-02 3.19887963e+02] [ 9.83085016e-01 7.58475639e-02 -1.66706322e-01 2.41107005e+02] [ 1.67614094e-01 -5.71930158e-03 9.85836094e-01 3.24324675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.216875 meters 0.02234980718276797 Centerline is valid? [True, True] Translation: X:319.90, Y:241.16, Z:32.44 [[ 6.79166635e-02 -9.97519684e-01 -1.84879949e-02 3.19896296e+02] [ 9.83203978e-01 7.00654129e-02 -1.68525294e-01 2.41162016e+02] [ 1.69402667e-01 -6.73179440e-03 9.85523931e-01 3.24403001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.276875 meters 0.02389477251941375 Centerline is valid? [True, True] Translation: X:319.90, Y:241.22, Z:32.45 [[ 6.46920321e-02 -9.97733674e-01 -1.85055787e-02 3.19903338e+02] [ 9.83334206e-01 6.68939220e-02 -1.69053374e-01 2.41218404e+02] [ 1.69908154e-01 -7.26076227e-03 9.85433154e-01 3.24492919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.336875 meters 0.022527220449824085 Centerline is valid? [True, True] Translation: X:319.90, Y:241.28, Z:32.46 [[ 6.38482068e-02 -9.97789972e-01 -1.84005095e-02 3.19904124e+02] [ 9.83479366e-01 6.60406352e-02 -1.68543675e-01 2.41276211e+02] [ 1.69386370e-01 -7.33531002e-03 9.85522425e-01 3.24593309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.396875 meters 0.021105984925918284 Centerline is valid? [True, True] Translation: X:319.90, Y:241.33, Z:32.47 [[ 6.62972994e-02 -9.97631983e-01 -1.83056100e-02 3.19903444e+02] [ 9.83390326e-01 6.84354852e-02 -1.68107259e-01 2.41333708e+02] [ 1.68961932e-01 -6.85650245e-03 9.85598729e-01 3.24689999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.456875 meters 0.021646008566449153 Centerline is valid? [True, True] Translation: X:319.91, Y:241.39, Z:32.48 [[ 6.90907887e-02 -9.97444097e-01 -1.82136039e-02 3.19906933e+02] [ 9.83261772e-01 7.11710758e-02 -1.67722881e-01 2.41390175e+02] [ 1.68590479e-01 -6.32063435e-03 9.85665917e-01 3.24779629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.516875 meters 0.02031661790650872 Centerline is valid? [True, True] Translation: X:319.91, Y:241.45, Z:32.49 [[ 7.26742489e-02 -9.97191486e-01 -1.80995623e-02 3.19907171e+02] [ 9.83101570e-01 7.46809782e-02 -1.67134838e-01 2.41446856e+02] [ 1.68017130e-01 -5.64730929e-03 9.85767900e-01 3.24870476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57687500000003 meters 0.01864049673075615 Centerline is valid? [True, True] Translation: X:319.91, Y:241.50, Z:32.50 [[ 7.59705936e-02 -9.96946543e-01 -1.80571149e-02 3.19907240e+02] [ 9.82835678e-01 7.79240231e-02 -1.67218052e-01 2.41504673e+02] [ 1.68114542e-01 -5.04352212e-03 9.85754566e-01 3.24961034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63687500000003 meters 0.016211185771978907 Centerline is valid? [True, True] Translation: X:319.90, Y:241.56, Z:32.50 [[ 8.13174281e-02 -9.96522986e-01 -1.81497600e-02 3.19903836e+02] [ 9.82182139e-01 8.32161612e-02 -1.68503163e-01 2.41562697e+02] [ 1.69427629e-01 -4.12412628e-03 9.85534003e-01 3.25040221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69687500000003 meters 0.015267171211003646 Centerline is valid? [True, True] Translation: X:319.90, Y:241.62, Z:32.51 [[ 8.66313469e-02 -9.96073183e-01 -1.82543943e-02 3.19903497e+02] [ 9.81497371e-01 8.84756207e-02 -1.69808645e-01 2.41621185e+02] [ 1.70756907e-01 -3.20588838e-03 9.85307973e-01 3.25109454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75687500000004 meters 0.01481464180086986 Centerline is valid? [True, True] Translation: X:319.91, Y:241.68, Z:32.52 [[ 8.90401643e-02 -9.95861259e-01 -1.82263874e-02 3.19906740e+02] [ 9.81251669e-01 9.08448701e-02 -1.69977565e-01 2.41678568e+02] [ 1.70929846e-01 -2.74984273e-03 9.85279365e-01 3.25197377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81687500000004 meters 0.014968420589040486 Centerline is valid? [True, True] Translation: X:319.91, Y:241.73, Z:32.53 [[ 9.06049365e-02 -9.95723631e-01 -1.80332103e-02 3.19911195e+02] [ 9.81347111e-01 9.23503924e-02 -1.68609767e-01 2.41734800e+02] [ 1.69554103e-01 -2.41996158e-03 9.85517909e-01 3.25292167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.876875 meters 0.01368491162384258 Centerline is valid? [True, True] Translation: X:319.91, Y:241.79, Z:32.54 [[ 9.15018516e-02 -9.95645604e-01 -1.78113236e-02 3.19912775e+02] [ 9.81550010e-01 9.31931670e-02 -1.66956918e-01 2.41791754e+02] [ 1.67889815e-01 -2.20583776e-03 9.85803299e-01 3.25419476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.936875 meters 0.01354943339497871 Centerline is valid? [True, True] Translation: X:319.92, Y:241.85, Z:32.55 [[ 9.20217540e-02 -9.95599160e-01 -1.77287843e-02 3.19916952e+02] [ 9.81558047e-01 9.36911714e-02 -1.66630623e-01 2.41848086e+02] [ 1.67558339e-01 -2.06818876e-03 9.85859993e-01 3.25513924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.996875 meters 0.013156605387443366 Centerline is valid? [True, True] Translation: X:319.92, Y:241.90, Z:32.56 [[ 9.42816347e-02 -9.95388419e-01 -1.76880914e-02 3.19919201e+02] [ 9.81323607e-01 9.59125490e-02 -1.66747596e-01 2.41904677e+02] [ 1.67675136e-01 -1.63650568e-03 9.85840946e-01 3.25596417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.056875 meters 0.012955386118853208 Centerline is valid? [True, True] Translation: X:319.92, Y:241.96, Z:32.57 [[ 9.54317958e-02 -9.95279431e-01 -1.76529276e-02 3.19922479e+02] [ 9.81184571e-01 9.70407950e-02 -1.66912919e-01 2.41961165e+02] [ 1.67838050e-01 -1.39198058e-03 9.85813599e-01 3.25684532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.116875 meters 0.012775421489629886 Centerline is valid? [True, True] Translation: X:319.93, Y:242.02, Z:32.58 [[ 9.58783536e-02 -9.95236440e-01 -1.76570120e-02 3.19926752e+02] [ 9.81047977e-01 9.74824288e-02 -1.67457585e-01 2.42018316e+02] [ 1.68381139e-01 -1.26681840e-03 9.85721151e-01 3.25773146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.176875 meters 0.013035695516645109 Centerline is valid? [True, True] Translation: X:319.93, Y:242.07, Z:32.59 [[ 9.46665712e-02 -9.95352242e-01 -1.76678972e-02 3.19933513e+02] [ 9.81069421e-01 9.62905839e-02 -1.68020579e-01 2.42073573e+02] [ 1.68940912e-01 -1.42750159e-03 9.85625147e-01 3.25853684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.236875 meters 0.013134152102246168 Centerline is valid? [True, True] Translation: X:319.94, Y:242.13, Z:32.60 [[ 9.37600044e-02 -9.95438863e-01 -1.76218955e-02 3.19941023e+02] [ 9.81163069e-01 9.53892019e-02 -1.67987893e-01 2.42129672e+02] [ 1.68902616e-01 -1.53940751e-03 9.85631542e-01 3.25957449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.296875 meters 0.01311724745901299 Centerline is valid? [True, True] Translation: X:319.95, Y:242.19, Z:32.61 [[ 9.37632111e-02 -9.95441385e-01 -1.74616670e-02 3.19947619e+02] [ 9.81340930e-01 9.53638079e-02 -1.66960246e-01 2.42185296e+02] [ 1.67864350e-01 -1.48111971e-03 9.85808991e-01 3.26052714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.356875 meters 0.012964145044903327 Centerline is valid? [True, True] Translation: X:319.95, Y:242.24, Z:32.61 [[ 9.47020405e-02 -9.95355864e-01 -1.72692602e-02 3.19954625e+02] [ 9.81482225e-01 9.62554000e-02 -1.65612621e-01 2.42240665e+02] [ 1.66505753e-01 -1.26561881e-03 9.86039671e-01 3.26146923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.416875 meters 0.012639385640806848 Centerline is valid? [True, True] Translation: X:319.96, Y:242.30, Z:32.62 [[ 9.60647350e-02 -9.95227142e-01 -1.71610919e-02 3.19962512e+02] [ 9.81439743e-01 9.75805782e-02 -1.65088044e-01 2.42296696e+02] [ 1.65974692e-01 -9.83438395e-04 9.86129522e-01 3.26247920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.476875 meters 0.012507119033563253 Centerline is valid? [True, True] Translation: X:319.97, Y:242.35, Z:32.63 [[ 9.72501544e-02 -9.95111667e-01 -1.71807486e-02 3.19969762e+02] [ 9.81206206e-01 9.87533746e-02 -1.65777418e-01 2.42353039e+02] [ 1.66663700e-01 -7.35977568e-04 9.86013524e-01 3.26335478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.536875 meters 0.012311826617385167 Centerline is valid? [True, True] Translation: X:319.98, Y:242.41, Z:32.64 [[ 1.00058600e-01 -9.94832162e-01 -1.72407973e-02 3.19977753e+02] [ 9.80737724e-01 1.01532869e-01 -1.66866996e-01 2.42409332e+02] [ 1.67755162e-01 -2.12222385e-04 9.85828667e-01 3.26422728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.596875 meters 0.012529879071360417 Centerline is valid? [True, True] Translation: X:319.99, Y:242.46, Z:32.65 [[ 1.02962715e-01 -9.94535520e-01 -1.72562501e-02 3.19986842e+02] [ 9.80321455e-01 1.04398215e-01 -1.67543600e-01 2.42463990e+02] [ 1.68429583e-01 3.34071776e-04 9.85713632e-01 3.26504921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.656875 meters 0.012578317837975611 Centerline is valid? [True, True] Translation: X:320.00, Y:242.52, Z:32.66 [[ 1.03599764e-01 -9.94470434e-01 -1.71943505e-02 3.19995308e+02] [ 9.80266293e-01 1.05015765e-01 -1.67480399e-01 2.42519136e+02] [ 1.68359983e-01 4.95887604e-04 9.85725454e-01 3.26586370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.716875 meters 0.012547263193104303 Centerline is valid? [True, True] Translation: X:320.01, Y:242.57, Z:32.67 [[ 1.03868049e-01 -9.94443601e-01 -1.71275745e-02 3.20006500e+02] [ 9.80281718e-01 1.05269126e-01 -1.67230869e-01 2.42574685e+02] [ 1.68104673e-01 5.80095945e-04 9.85768980e-01 3.26686812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.776875 meters 0.012572927765768507 Centerline is valid? [True, True] Translation: X:320.02, Y:242.63, Z:32.68 [[ 1.04000848e-01 -9.94432117e-01 -1.69879037e-02 3.20017262e+02] [ 9.80415606e-01 1.05377157e-01 -1.66375759e-01 2.42629284e+02] [ 1.67239536e-01 6.48014123e-04 9.85916081e-01 3.26789960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.836875 meters 0.012476553583423802 Centerline is valid? [True, True] Translation: X:320.03, Y:242.69, Z:32.69 [[ 1.03065130e-01 -9.94531230e-01 -1.68882153e-02 3.20026232e+02] [ 9.80591999e-01 1.04438213e-01 -1.65927666e-01 2.42685194e+02] [ 1.66784021e-01 5.40907674e-04 9.85993305e-01 3.26890083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.896875 meters 0.012309855258189865 Centerline is valid? [True, True] Translation: X:320.04, Y:242.74, Z:32.70 [[ 1.00105961e-01 -9.94833447e-01 -1.68881309e-02 3.20038019e+02] [ 9.80812806e-01 1.01520456e-01 -1.66432676e-01 2.42742179e+02] [ 1.67287283e-01 9.68078565e-05 9.85908188e-01 3.26980663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.956875 meters 0.012468451845352604 Centerline is valid? [True, True] Translation: X:320.05, Y:242.80, Z:32.70 [[ 9.57438076e-02 -9.95262028e-01 -1.69298473e-02 3.20051601e+02] [ 9.81094929e-01 9.72273090e-02 -1.67330783e-01 2.42796748e+02] [ 1.68184017e-01 -5.88901091e-04 9.85755441e-01 3.27047111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.016875 meters 0.01268248165294752 Centerline is valid? [True, True] Translation: X:320.06, Y:242.85, Z:32.71 [[ 9.32547479e-02 -9.95498640e-01 -1.69118480e-02 3.20061568e+02] [ 9.81269487e-01 9.47710242e-02 -1.67715973e-01 2.42852291e+02] [ 1.68563776e-01 -9.54769568e-04 9.85690287e-01 3.27135124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07687500000003 meters 0.012599162209054805 Centerline is valid? [True, True] Translation: X:320.07, Y:242.91, Z:32.72 [[ 9.22647414e-02 -9.95593465e-01 -1.67591623e-02 3.20071816e+02] [ 9.81536069e-01 9.37683963e-02 -1.66716626e-01 2.42908045e+02] [ 1.67553464e-01 -1.06765586e-03 9.85862413e-01 3.27245013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13687500000003 meters 0.012437337332516236 Centerline is valid? [True, True] Translation: X:320.08, Y:242.96, Z:32.74 [[ 9.26047694e-02 -9.95565181e-01 -1.65628438e-02 3.20079315e+02] [ 9.81751865e-01 9.40694294e-02 -1.65270139e-01 2.42963513e+02] [ 1.66095253e-01 -9.55799681e-04 9.86109250e-01 3.27350526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19687500000003 meters 0.01217073849425043 Centerline is valid? [True, True] Translation: X:320.09, Y:243.02, Z:32.75 [[ 9.40558816e-02 -9.95432502e-01 -1.63592368e-02 3.20086851e+02] [ 9.81873651e-01 9.54656751e-02 -1.63738937e-01 2.43019262e+02] [ 1.64552805e-01 -6.62093476e-04 9.86368053e-01 3.27451368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25687500000004 meters 0.011971132584081284 Centerline is valid? [True, True] Translation: X:320.09, Y:243.08, Z:32.75 [[ 9.59698814e-02 -9.95250840e-01 -1.62956296e-02 3.20094259e+02] [ 9.81711091e-01 9.73430942e-02 -1.63608237e-01 2.43075720e+02] [ 1.64417503e-01 -2.96137156e-04 9.86390793e-01 3.27546448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31687500000004 meters 0.011913711705927959 Centerline is valid? [True, True] Translation: X:320.10, Y:243.13, Z:32.76 [[ 9.73492257e-02 -9.95116992e-01 -1.62880256e-02 3.20100733e+02] [ 9.81502328e-01 9.87024378e-02 -1.64045752e-01 2.43132183e+02] [ 1.64852383e-01 -1.70081612e-05 9.86318251e-01 3.27635710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.376875 meters 0.011931024191022254 Centerline is valid? [True, True] Translation: X:320.11, Y:243.19, Z:32.77 [[ 9.98013781e-02 -9.94873900e-01 -1.62974801e-02 3.20106258e+02] [ 9.81152076e-01 1.01122333e-01 -1.64665956e-01 2.43188289e+02] [ 1.65469901e-01 4.43582932e-04 9.86214741e-01 3.27716059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.436875 meters 0.01201325195629883 Centerline is valid? [True, True] Translation: X:320.11, Y:243.24, Z:32.78 [[ 1.00767201e-01 -9.94776807e-01 -1.62811264e-02 3.20111609e+02] [ 9.80993779e-01 1.02071896e-01 -1.65022830e-01 2.43244893e+02] [ 1.65822729e-01 6.57204947e-04 9.86155358e-01 3.27800729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.496875 meters 0.012098548015614266 Centerline is valid? [True, True] Translation: X:320.12, Y:243.30, Z:32.79 [[ 1.01638128e-01 -9.94688015e-01 -1.62924393e-02 3.20117675e+02] [ 9.80796173e-01 1.02932096e-01 -1.65661856e-01 2.43301599e+02] [ 1.66458878e-01 8.57998871e-04 9.86048024e-01 3.27888411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.556875 meters 0.012060551964680345 Centerline is valid? [True, True] Translation: X:320.13, Y:243.36, Z:32.80 [[ 1.01258160e-01 -9.94727611e-01 -1.62408701e-02 3.20125363e+02] [ 9.80835464e-01 1.02548846e-01 -1.65666917e-01 2.43357832e+02] [ 1.66458939e-01 8.45505737e-04 9.86048025e-01 3.27981817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.616875 meters 0.011820789686247642 Centerline is valid? [True, True] Translation: X:320.14, Y:243.41, Z:32.81 [[ 9.82881930e-02 -9.95027357e-01 -1.61241983e-02 3.20135262e+02] [ 9.81251365e-01 9.96012149e-02 -1.65001083e-01 2.43413163e+02] [ 1.65786582e-01 3.95766737e-04 9.86161575e-01 3.28086842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.676875 meters 0.011829237584379823 Centerline is valid? [True, True] Translation: X:320.15, Y:243.47, Z:32.82 [[ 9.31560827e-02 -9.95521272e-01 -1.61040628e-02 3.20145264e+02] [ 9.81692249e-01 9.45369368e-02 -1.65357481e-01 2.43468429e+02] [ 1.66139319e-01 -4.05178436e-04 9.86102207e-01 3.28176303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.736875 meters 0.011934270900287225 Centerline is valid? [True, True] Translation: X:320.15, Y:243.52, Z:32.83 [[ 9.07458173e-02 -9.95744965e-01 -1.60362416e-02 3.20151756e+02] [ 9.81939138e-01 9.21487883e-02 -1.65239616e-01 2.43524977e+02] [ 1.66014236e-01 -7.51809273e-04 9.86123070e-01 3.28261109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.796875 meters 0.012299465600915535 Centerline is valid? [True, True] Translation: X:320.16, Y:243.58, Z:32.84 [[ 8.77112505e-02 -9.96016102e-01 -1.60829657e-02 3.20159318e+02] [ 9.82041359e-01 8.91653482e-02 -1.66265779e-01 2.43581600e+02] [ 1.67037437e-01 -1.21075806e-03 9.85949811e-01 3.28351811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.856875 meters 0.012662818927462885 Centerline is valid? [True, True] Translation: X:320.16, Y:243.64, Z:32.84 [[ 8.56651724e-02 -9.96194883e-01 -1.60385065e-02 3.20163561e+02] [ 9.82219333e-01 8.71405799e-02 -1.66288006e-01 2.43637736e+02] [ 1.67052865e-01 -1.50824046e-03 9.85946786e-01 3.28435190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.916875 meters 0.012649169080425062 Centerline is valid? [True, True] Translation: X:320.17, Y:243.69, Z:32.85 [[ 8.40166519e-02 -9.96335775e-01 -1.60070627e-02 3.20166977e+02] [ 9.82327262e-01 8.55102992e-02 -1.66496665e-01 2.43694704e+02] [ 1.67255353e-01 -1.73568169e-03 9.85912083e-01 3.28523109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.976875 meters 0.013450437994568045 Centerline is valid? [True, True] Translation: X:320.17, Y:243.75, Z:32.86 [[ 8.16585179e-02 -9.96533283e-01 -1.59154885e-02 3.20171287e+02] [ 9.82596475e-01 8.31691554e-02 -1.66093525e-01 2.43750590e+02] [ 1.66841403e-01 -2.07555189e-03 9.85981561e-01 3.28616265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.036875 meters 0.013539903456002532 Centerline is valid? [True, True] Translation: X:320.18, Y:243.81, Z:32.87 [[ 8.04907355e-02 -9.96631442e-01 -1.57165851e-02 3.20175657e+02] [ 9.82960551e-01 8.19811077e-02 -1.64522502e-01 2.43806639e+02] [ 1.65256761e-01 -2.20624600e-03 9.86248110e-01 3.28732991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.096875 meters 0.012916721760400344 Centerline is valid? [True, True] Translation: X:320.18, Y:243.86, Z:32.88 [[ 8.05457504e-02 -9.96630311e-01 -1.55049820e-02 3.20176313e+02] [ 9.83241601e-01 8.19968585e-02 -1.62826503e-01 2.43863477e+02] [ 1.63549188e-01 -2.13016051e-03 9.86532881e-01 3.28846637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.156875 meters 0.012695763305421867 Centerline is valid? [True, True] Translation: X:320.18, Y:243.92, Z:32.89 [[ 8.26152174e-02 -9.96462643e-01 -1.53924547e-02 3.20176903e+02] [ 9.83175414e-01 8.40190204e-02 -1.62194048e-01 2.43920020e+02] [ 1.62913569e-01 -1.73378650e-03 9.86638821e-01 3.28923455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.216875 meters 0.012370400980204397 Centerline is valid? [True, True] Translation: X:320.18, Y:243.98, Z:32.90 [[ 8.69174887e-02 -9.96096236e-01 -1.54155116e-02 3.20176076e+02] [ 9.82672313e-01 8.82684715e-02 -1.62984056e-01 2.43978036e+02] [ 1.63708509e-01 -9.82231544e-04 9.86508266e-01 3.29002223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.276875 meters 0.011973575361443778 Centerline is valid? [True, True] Translation: X:320.18, Y:244.03, Z:32.91 [[ 9.00103039e-02 -9.95821353e-01 -1.54265422e-02 3.20176356e+02] [ 9.82292868e-01 9.13216797e-02 -1.63588118e-01 2.44034604e+02] [ 1.64313319e-01 -4.28766206e-04 9.86408105e-01 3.29083404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.336875 meters 0.012139530265490377 Centerline is valid? [True, True] Translation: X:320.17, Y:244.09, Z:32.92 [[ 9.48301225e-02 -9.95374305e-01 -1.54026301e-02 3.20174648e+02] [ 9.81787274e-01 9.60719320e-02 -1.63902201e-01 2.44090905e+02] [ 1.64623800e-01 4.20759663e-04 9.86356339e-01 3.29173334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.396875 meters 0.012557687017332049 Centerline is valid? [True, True] Translation: X:320.17, Y:244.15, Z:32.93 [[ 9.80210811e-02 -9.95065996e-01 -1.53470153e-02 3.20173388e+02] [ 9.81475708e-01 9.92101689e-02 -1.63898677e-01 2.44147795e+02] [ 1.64612580e-01 1.00280283e-03 9.86357792e-01 3.29257078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.456875 meters 0.012631887046646648 Centerline is valid? [True, True] Translation: X:320.18, Y:244.20, Z:32.94 [[ 9.87676947e-02 -9.94992567e-01 -1.53210481e-02 3.20176673e+02] [ 9.81360271e-01 9.99420195e-02 -1.64145094e-01 2.44204547e+02] [ 1.64854365e-01 1.17676462e-03 9.86317218e-01 3.29351347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.516875 meters 0.012599301890995935 Centerline is valid? [True, True] Translation: X:320.18, Y:244.26, Z:32.94 [[ 9.83947034e-02 -9.95030508e-01 -1.52568134e-02 3.20180041e+02] [ 9.81419297e-01 9.95636955e-02 -1.64022051e-01 2.44260822e+02] [ 1.64725970e-01 1.16556998e-03 9.86338682e-01 3.29436721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57687500000003 meters 0.012619368377358282 Centerline is valid? [True, True] Translation: X:320.18, Y:244.32, Z:32.95 [[ 9.57585334e-02 -9.95287450e-01 -1.52707464e-02 3.20184950e+02] [ 9.81557370e-01 9.69653173e-02 -1.64750891e-01 2.44317740e+02] [ 1.65455227e-01 7.87190100e-04 9.86216988e-01 3.29521664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63687500000003 meters 0.012413059568088525 Centerline is valid? [True, True] Translation: X:320.19, Y:244.37, Z:32.96 [[ 9.17919083e-02 -9.95661021e-01 -1.52767044e-02 3.20191728e+02] [ 9.81829373e-01 9.30542802e-02 -1.65384350e-01 2.44372863e+02] [ 1.66088313e-01 1.81827915e-04 9.86110866e-01 3.29598992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69687500000003 meters 0.012328832294462331 Centerline is valid? [True, True] Translation: X:320.20, Y:244.43, Z:32.97 [[ 8.90993519e-02 -9.95905242e-01 -1.52988367e-02 3.20198135e+02] [ 9.81960976e-01 9.04029748e-02 -1.66072105e-01 2.44429063e+02] [ 1.66775140e-01 -2.25943645e-04 9.85994930e-01 3.29689451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75687500000004 meters 0.01259060178985533 Centerline is valid? [True, True] Translation: X:320.21, Y:244.49, Z:32.98 [[ 8.46323599e-02 -9.96296423e-01 -1.51921499e-02 3.20205646e+02] [ 9.82460098e-01 8.59801612e-02 -1.65467721e-01 2.44485169e+02] [ 1.66161122e-01 -9.21757394e-04 9.86098186e-01 3.29788994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81687500000004 meters 0.013017896402264757 Centerline is valid? [True, True] Translation: X:320.22, Y:244.54, Z:32.99 [[ 8.03030455e-02 -9.96657787e-01 -1.49892332e-02 3.20215329e+02] [ 9.83104394e-01 8.16746959e-02 -1.63813903e-01 2.44541934e+02] [ 1.64490643e-01 -1.58122571e-03 9.86377376e-01 3.29904487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.876875 meters 0.013022538583879643 Centerline is valid? [True, True] Translation: X:320.22, Y:244.60, Z:33.00 [[ 7.79326440e-02 -9.96848691e-01 -1.48050757e-02 3.20221733e+02] [ 9.83551095e-01 7.93033705e-02 -1.62290540e-01 2.44598751e+02] [ 1.62953204e-01 -1.91381758e-03 9.86631943e-01 3.30007302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.936875 meters 0.01329741377671971 Centerline is valid? [True, True] Translation: X:320.23, Y:244.65, Z:33.01 [[ 7.77092852e-02 -9.96866484e-01 -1.47810642e-02 3.20227629e+02] [ 9.83526633e-01 7.90795780e-02 -1.62547786e-01 2.44653739e+02] [ 1.63207321e-01 -1.90609799e-03 9.86589954e-01 3.30090308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.996875 meters 0.012935424601659938 Centerline is valid? [True, True] Translation: X:320.23, Y:244.71, Z:33.02 [[ 7.92526241e-02 -9.96745230e-01 -1.47637337e-02 3.20232532e+02] [ 9.83334114e-01 8.06001178e-02 -1.62965155e-01 2.44709884e+02] [ 1.63624699e-01 -1.60226683e-03 9.86521358e-01 3.30179835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.056875 meters 0.012624619193462673 Centerline is valid? [True, True] Translation: X:320.24, Y:244.77, Z:33.03 [[ 8.10895179e-02 -9.96597436e-01 -1.47662329e-02 3.20236066e+02] [ 9.83083666e-01 8.24134824e-02 -1.63568098e-01 2.44766680e+02] [ 1.64228484e-01 -1.25278412e-03 9.86421530e-01 3.30263913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.116875 meters 0.01241178368863379 Centerline is valid? [True, True] Translation: X:320.24, Y:244.82, Z:33.03 [[ 8.49629011e-02 -9.96274315e-01 -1.47917181e-02 3.20237876e+02] [ 9.82612517e-01 8.62390329e-02 -1.64424665e-01 2.44822300e+02] [ 1.65087694e-01 -5.64530869e-04 9.86278731e-01 3.30335256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.176875 meters 0.01239094729025096 Centerline is valid? [True, True] Translation: X:320.24, Y:244.88, Z:33.04 [[ 8.72816589e-02 -9.96074423e-01 -1.47531614e-02 3.20240792e+02] [ 9.82406639e-01 8.85196247e-02 -1.64442915e-01 2.44878559e+02] [ 1.65103326e-01 -1.40753278e-04 9.86276266e-01 3.30425598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.236875 meters 0.012492110556225932 Centerline is valid? [True, True] Translation: X:320.24, Y:244.94, Z:33.05 [[ 9.04857077e-02 -9.95791063e-01 -1.45772398e-02 3.20242944e+02] [ 9.82354026e-01 9.16513626e-02 -1.63035566e-01 2.44935249e+02] [ 1.63685384e-01 4.32378373e-04 9.86512498e-01 3.30530518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.296875 meters 0.012708741908232289 Centerline is valid? [True, True] Translation: X:320.25, Y:244.99, Z:33.06 [[ 9.18535930e-02 -9.95667077e-01 -1.44910328e-02 3.20246424e+02] [ 9.82293850e-01 9.29869663e-02 -1.62641371e-01 2.44992005e+02] [ 1.63284135e-01 7.04741873e-04 9.86578833e-01 3.30627310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.356875 meters 0.01349786622032335 Centerline is valid? [True, True] Translation: X:320.25, Y:245.05, Z:33.07 [[ 9.65898524e-02 -9.95220071e-01 -1.44017397e-02 3.20245741e+02] [ 9.81913546e-01 9.76456868e-02 -1.62206990e-01 2.45049093e+02] [ 1.62837920e-01 1.52628590e-03 9.86651652e-01 3.30720965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.416875 meters 0.01404798578463646 Centerline is valid? [True, True] Translation: X:320.25, Y:245.11, Z:33.08 [[ 9.97876123e-02 -9.94904423e-01 -1.44090709e-02 3.20247107e+02] [ 9.81491692e-01 1.00800565e-01 -1.62829063e-01 2.45106444e+02] [ 1.63451797e-01 2.10593998e-03 9.86549074e-01 3.30800919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.476875 meters 0.014171971098507201 Centerline is valid? [True, True] Translation: X:320.25, Y:245.16, Z:33.09 [[ 1.00407546e-01 -9.94841345e-01 -1.44575954e-02 3.20250470e+02] [ 9.81248683e-01 1.01417651e-01 -1.63906930e-01 2.45163607e+02] [ 1.64527647e-01 2.27099624e-03 9.86369858e-01 3.30875786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.536875 meters 0.014319807589910112 Centerline is valid? [True, True] Translation: X:320.26, Y:245.22, Z:33.10 [[ 9.87875310e-02 -9.95003856e-01 -1.44343192e-02 3.20255330e+02] [ 9.81356111e-01 9.98152333e-02 -1.64247080e-01 2.45219271e+02] [ 1.64867243e-01 2.06035617e-03 9.86313615e-01 3.30960842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.596875 meters 0.01370133373577599 Centerline is valid? [True, True] Translation: X:320.26, Y:245.28, Z:33.11 [[ 9.49434419e-02 -9.95379948e-01 -1.43004010e-02 3.20263793e+02] [ 9.81887316e-01 9.60031607e-02 -1.63342254e-01 2.45276003e+02] [ 1.63960488e-01 1.46689350e-03 9.86465816e-01 3.31063046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.656875 meters 0.013381130280877779 Centerline is valid? [True, True] Translation: X:320.27, Y:245.33, Z:33.12 [[ 9.18532329e-02 -9.95671350e-01 -1.41967157e-02 3.20271691e+02] [ 9.82291916e-01 9.29385187e-02 -1.62680744e-01 2.45331580e+02] [ 1.63295977e-01 9.97433152e-04 9.86576621e-01 3.31158863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.716875 meters 0.013089907750279654 Centerline is valid? [True, True] Translation: X:320.28, Y:245.39, Z:33.13 [[ 8.76962520e-02 -9.96046961e-01 -1.41357483e-02 3.20280706e+02] [ 9.82689016e-01 8.88274599e-02 -1.62579151e-01 2.45387023e+02] [ 1.63192112e-01 3.66537617e-04 9.86594243e-01 3.31250373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.776875 meters 0.013222014044275553 Centerline is valid? [True, True] Translation: X:320.29, Y:245.44, Z:33.13 [[ 8.61498943e-02 -9.96182016e-01 -1.41275126e-02 3.20286744e+02] [ 9.82742942e-01 8.73004209e-02 -1.63079571e-01 2.45442397e+02] [ 1.63690273e-01 1.65574512e-04 9.86511767e-01 3.31328134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.836875 meters 0.013234006007401116 Centerline is valid? [True, True] Translation: X:320.29, Y:245.50, Z:33.14 [[ 8.60873746e-02 -9.96187451e-01 -1.41253772e-02 3.20291837e+02] [ 9.82649909e-01 8.72382847e-02 -1.63672351e-01 2.45499175e+02] [ 1.64280616e-01 2.09822335e-04 9.86413623e-01 3.31417909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.896875 meters 0.013386019821476264 Centerline is valid? [True, True] Translation: X:320.30, Y:245.56, Z:33.15 [[ 8.66913032e-02 -9.96133382e-01 -1.42443860e-02 3.20296276e+02] [ 9.82260506e-01 8.78529876e-02 -1.65668798e-01 2.45555508e+02] [ 1.66279632e-01 3.70346173e-04 9.86078570e-01 3.31485922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.956875 meters 0.01349483159441211 Centerline is valid? [True, True] Translation: X:320.30, Y:245.61, Z:33.16 [[ 8.70024766e-02 -9.96105628e-01 -1.42879842e-02 3.20301227e+02] [ 9.82042505e-01 8.81665879e-02 -1.66790803e-01 2.45612183e+02] [ 1.67400980e-01 4.79805105e-04 9.85888778e-01 3.31570415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.016875 meters 0.013478146201839233 Centerline is valid? [True, True] Translation: X:320.31, Y:245.67, Z:33.17 [[ 8.61213912e-02 -9.96182754e-01 -1.42487492e-02 3.20306919e+02] [ 9.82090076e-01 8.72913037e-02 -1.66970991e-01 2.45667543e+02] [ 1.67577414e-01 3.86218917e-04 9.85858844e-01 3.31653417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07687500000003 meters 0.013391070178088616 Centerline is valid? [True, True] Translation: X:320.31, Y:245.72, Z:33.17 [[ 8.39028396e-02 -9.96373338e-01 -1.41592680e-02 3.20314770e+02] [ 9.82349734e-01 8.50891700e-02 -1.66579811e-01 2.45723355e+02] [ 1.67180483e-01 6.71660595e-05 9.85926306e-01 3.31747728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13687500000003 meters 0.013515779449207472 Centerline is valid? [True, True] Translation: X:320.32, Y:245.78, Z:33.18 [[ 8.12446014e-02 -9.96593922e-01 -1.41375190e-02 3.20322801e+02] [ 9.82512162e-01 8.24648267e-02 -1.66941320e-01 2.45779608e+02] [ 1.67538553e-01 -3.27203290e-04 9.85865471e-01 3.31842190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19687500000003 meters 0.013715068054145782 Centerline is valid? [True, True] Translation: X:320.33, Y:245.84, Z:33.19 [[ 7.71723438e-02 -9.96917823e-01 -1.41167618e-02 3.20331570e+02] [ 9.82775423e-01 7.84469947e-02 -1.67327636e-01 2.45835566e+02] [ 1.67919320e-01 -9.60540769e-04 9.85800274e-01 3.31928428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25687500000004 meters 0.013926120054962663 Centerline is valid? [True, True] Translation: X:320.34, Y:245.89, Z:33.20 [[ 7.45915450e-02 -9.97115773e-01 -1.40084670e-02 3.20337734e+02] [ 9.83086109e-01 7.58837567e-02 -1.66683404e-01 2.45891241e+02] [ 1.67265666e-01 -1.33835667e-03 9.85910952e-01 3.32021498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31687500000004 meters 0.01403799085271889 Centerline is valid? [True, True] Translation: X:320.34, Y:245.95, Z:33.21 [[ 7.34255535e-02 -9.97203967e-01 -1.38901367e-02 3.20340866e+02] [ 9.83302052e-01 7.47132821e-02 -1.65936735e-01 2.45947927e+02] [ 1.66510548e-01 -1.47420332e-03 9.86038571e-01 3.32125556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.376875 meters 0.014385865808448743 Centerline is valid? [True, True] Translation: X:320.35, Y:246.00, Z:33.22 [[ 7.21274931e-02 -9.97299758e-01 -1.38136332e-02 3.20345144e+02] [ 9.83445837e-01 7.34201237e-02 -1.65661619e-01 2.46003398e+02] [ 1.66228491e-01 -1.63620276e-03 9.86085905e-01 3.32214005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.436875 meters 0.014451218800512986 Centerline is valid? [True, True] Translation: X:320.35, Y:246.06, Z:33.23 [[ 7.05373704e-02 -9.97414285e-01 -1.37558304e-02 3.20347055e+02] [ 9.83567216e-01 7.18424247e-02 -1.65632720e-01 2.46059808e+02] [ 1.66192693e-01 -1.84648724e-03 9.86091567e-01 3.32311738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.496875 meters 0.014273999331139993 Centerline is valid? [True, True] Translation: X:320.35, Y:246.12, Z:33.24 [[ 6.96331403e-02 -9.97478549e-01 -1.37029540e-02 3.20348825e+02] [ 9.83633936e-01 7.09419433e-02 -1.65624636e-01 2.46117301e+02] [ 1.66179136e-01 -1.94572703e-03 9.86093661e-01 3.32406640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.556875 meters 0.014680263743333161 Centerline is valid? [True, True] Translation: X:320.35, Y:246.17, Z:33.25 [[ 6.88768650e-02 -9.97532506e-01 -1.35969363e-02 3.20351246e+02] [ 9.83806002e-01 7.01771370e-02 -1.64927014e-01 2.46172798e+02] [ 1.65474252e-01 -2.01709182e-03 9.86212048e-01 3.32507611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.616875 meters 0.014554228442177474 Centerline is valid? [True, True] Translation: X:320.35, Y:246.23, Z:33.26 [[ 6.96705809e-02 -9.97478529e-01 -1.35127444e-02 3.20352708e+02] [ 9.83808468e-01 7.09453658e-02 -1.64583271e-01 2.46229357e+02] [ 1.65126946e-01 -1.82734022e-03 9.86270628e-01 3.32601703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.676875 meters 0.014051216468231674 Centerline is valid? [True, True] Translation: X:320.35, Y:246.29, Z:33.27 [[ 7.17567566e-02 -9.97331440e-01 -1.34523696e-02 3.20350401e+02] [ 9.83677521e-01 7.29928137e-02 -1.64470615e-01 2.46286185e+02] [ 1.65013641e-01 -1.43091576e-03 9.86290247e-01 3.32683494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.736875 meters 0.01396163830701772 Centerline is valid? [True, True] Translation: X:320.35, Y:246.34, Z:33.28 [[ 7.39294405e-02 -9.97173321e-01 -1.34091696e-02 3.20349070e+02] [ 9.83500080e-01 7.51287218e-02 -1.64569949e-01 2.46342069e+02] [ 1.65112176e-01 -1.02135513e-03 9.86274265e-01 3.32762984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.796875 meters 0.013665083131254379 Centerline is valid? [True, True] Translation: X:320.35, Y:246.40, Z:33.29 [[ 7.67246669e-02 -9.96961962e-01 -1.34228149e-02 3.20347556e+02] [ 9.83174012e-01 7.78882318e-02 -1.65234034e-01 2.46398727e+02] [ 1.65777526e-01 -5.19436506e-04 9.86163040e-01 3.32856030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.856875 meters 0.01353642839737066 Centerline is valid? [True, True] Translation: X:320.35, Y:246.46, Z:33.30 [[ 8.00718117e-02 -9.96699297e-01 -1.33796808e-02 3.20347257e+02] [ 9.82889745e-01 8.11819136e-02 -1.65339788e-01 2.46455470e+02] [ 1.65880239e-01 8.83052934e-05 9.86145901e-01 3.32950571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.916875 meters 0.01377057253469113 Centerline is valid? [True, True] Translation: X:320.34, Y:246.51, Z:33.30 [[ 8.52333172e-02 -9.96272519e-01 -1.32796663e-02 3.20344330e+02] [ 9.82558060e-01 8.62559047e-02 -1.64740941e-01 2.46512082e+02] [ 1.65272322e-01 9.93373746e-04 9.86247470e-01 3.33041211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.976875 meters 0.014278372660458368 Centerline is valid? [True, True] Translation: X:320.34, Y:246.57, Z:33.31 [[ 9.07191573e-02 -9.95787903e-01 -1.32848293e-02 3.20341646e+02] [ 9.81945969e-01 9.16656241e-02 -1.65467605e-01 2.46570451e+02] [ 1.65988401e-01 1.96609714e-03 9.86125745e-01 3.33118510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.036875 meters 0.014765620029635142 Centerline is valid? [True, True] Translation: X:320.34, Y:246.63, Z:33.32 [[ 9.28144312e-02 -9.95594768e-01 -1.32868440e-02 3.20342761e+02] [ 9.81645585e-01 9.37306188e-02 -1.66091893e-01 2.46628112e+02] [ 1.66605603e-01 2.37275276e-03 9.86020762e-01 3.33199920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.096875 meters 0.015344072011548408 Centerline is valid? [True, True] Translation: X:320.34, Y:246.69, Z:33.33 [[ 9.46015187e-02 -9.95426956e-01 -1.32562583e-02 3.20344599e+02] [ 9.81440363e-01 9.54869850e-02 -1.66304089e-01 2.46685543e+02] [ 1.66809373e-01 2.72239246e-03 9.85985406e-01 3.33296320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.156875 meters 0.01541998597921501 Centerline is valid? [True, True] Translation: X:320.35, Y:246.74, Z:33.34 [[ 9.46551391e-02 -9.95422343e-01 -1.32198591e-02 3.20348779e+02] [ 9.81412194e-01 9.55333880e-02 -1.66443615e-01 2.46741397e+02] [ 1.66944631e-01 2.78061257e-03 9.85962351e-01 3.33390487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.216875 meters 0.014895637551775412 Centerline is valid? [True, True] Translation: X:320.36, Y:246.80, Z:33.35 [[ 9.29395974e-02 -9.95585203e-01 -1.31276650e-02 3.20355260e+02] [ 9.81655421e-01 9.38278051e-02 -1.65978847e-01 2.46798726e+02] [ 1.66477824e-01 2.53916377e-03 9.86041929e-01 3.33489228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.276875 meters 0.015107735065314177 Centerline is valid? [True, True] Translation: X:320.36, Y:246.85, Z:33.36 [[ 9.13938231e-02 -9.95729065e-01 -1.30689503e-02 3.20359512e+02] [ 9.81822727e-01 9.22941884e-02 -1.65849073e-01 2.46854089e+02] [ 1.66346931e-01 2.32618842e-03 9.86064545e-01 3.33569957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.336875 meters 0.014081433430744665 Centerline is valid? [True, True] Translation: X:320.37, Y:246.91, Z:33.37 [[ 8.60088244e-02 -9.96208851e-01 -1.30540204e-02 3.20370085e+02] [ 9.82219069e-01 8.69811028e-02 -1.66373039e-01 2.46910551e+02] [ 1.66877747e-01 1.48764180e-03 9.85976473e-01 3.33663280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.396875 meters 0.013549584455303264 Centerline is valid? [True, True] Translation: X:320.38, Y:246.97, Z:33.37 [[ 8.02536993e-02 -9.96687451e-01 -1.31707442e-02 3.20380488e+02] [ 9.82344210e-01 8.13251793e-02 -1.68481658e-01 2.46967626e+02] [ 1.68994668e-01 5.83072015e-04 9.85616793e-01 3.33738289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.456875 meters 0.013680645579615701 Centerline is valid? [True, True] Translation: X:320.39, Y:247.02, Z:33.38 [[ 7.49791182e-02 -9.97097216e-01 -1.32391226e-02 3.20390862e+02] [ 9.82498630e-01 7.61385209e-02 -1.69998142e-01 2.47022837e+02] [ 1.70512682e-01 -2.61108968e-04 9.85355447e-01 3.33810391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.516875 meters 0.013860860820308022 Centerline is valid? [True, True] Translation: X:320.40, Y:247.08, Z:33.39 [[ 7.09544629e-02 -9.97393019e-01 -1.31388863e-02 3.20399952e+02] [ 9.82896810e-01 7.21551814e-02 -1.69432852e-01 2.47078046e+02] [ 1.69939183e-01 -8.92152374e-04 9.85454148e-01 3.33893825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57687500000003 meters 0.014524697260286075 Centerline is valid? [True, True] Translation: X:320.41, Y:247.13, Z:33.40 [[ 6.46801098e-02 -9.97821220e-01 -1.30113840e-02 3.20411309e+02] [ 9.83523879e-01 6.59481950e-02 -1.68319978e-01 2.47134680e+02] [ 1.68811323e-01 -1.91005226e-03 9.85646534e-01 3.34003527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63687500000003 meters 0.014870988785985337 Centerline is valid? [True, True] Translation: X:320.42, Y:247.19, Z:33.41 [[ 6.26046187e-02 -9.97954967e-01 -1.29052205e-02 3.20418442e+02] [ 9.83792600e-01 6.38827997e-02 -1.67544346e-01 2.47190888e+02] [ 1.68026134e-01 -2.20701049e-03 9.85780071e-01 3.34100821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69687500000003 meters 0.014521996905604113 Centerline is valid? [True, True] Translation: X:320.42, Y:247.25, Z:33.42 [[ 6.40403512e-02 -9.97864941e-01 -1.28216105e-02 3.20421941e+02] [ 9.83773574e-01 6.52832809e-02 -1.67115676e-01 2.47246431e+02] [ 1.67595911e-01 -1.91141496e-03 9.85853923e-01 3.34177749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75687500000004 meters 0.013988994350204575 Centerline is valid? [True, True] Translation: X:320.42, Y:247.30, Z:33.43 [[ 6.67258658e-02 -9.97689762e-01 -1.27592454e-02 3.20423603e+02] [ 9.83644412e-01 6.79199961e-02 -1.66824890e-01 2.47301701e+02] [ 1.67306093e-01 -1.41902524e-03 9.85903980e-01 3.34259750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81687500000004 meters 0.013088198066046074 Centerline is valid? [True, True] Translation: X:320.42, Y:247.36, Z:33.44 [[ 7.22682552e-02 -9.97304221e-01 -1.27118309e-02 3.20422528e+02] [ 9.83229673e-01 7.33764542e-02 -1.66958994e-01 2.47358015e+02] [ 1.67441658e-01 -4.32814221e-04 9.85881891e-01 3.34353811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.876875 meters 0.012967922342173088 Centerline is valid? [True, True] Translation: X:320.42, Y:247.41, Z:33.44 [[ 7.56488447e-02 -9.97054250e-01 -1.26520987e-02 3.20422347e+02] [ 9.82996623e-01 7.66993443e-02 -1.66837796e-01 2.47413461e+02] [ 1.67316741e-01 1.84116265e-04 9.85903177e-01 3.34433096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.936875 meters 0.012898044307417065 Centerline is valid? [True, True] Translation: X:320.42, Y:247.47, Z:33.45 [[ 7.61301731e-02 -9.97019200e-01 -1.25264492e-02 3.20424911e+02] [ 9.83125302e-01 7.71532083e-02 -1.65867489e-01 2.47467668e+02] [ 1.66339527e-01 3.12451564e-04 9.86068489e-01 3.34526404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.996875 meters 0.012755950457484044 Centerline is valid? [True, True] Translation: X:320.43, Y:247.52, Z:33.46 [[ 7.43756953e-02 -9.97152079e-01 -1.24894909e-02 3.20430063e+02] [ 9.83215797e-01 7.54170116e-02 -1.66129383e-01 2.47522858e+02] [ 1.66598179e-01 7.61235950e-05 9.86024868e-01 3.34615632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.056875 meters 0.012742952296309666 Centerline is valid? [True, True] Translation: X:320.44, Y:247.58, Z:33.47 [[ 7.14851856e-02 -9.97363922e-01 -1.24529138e-02 3.20435763e+02] [ 9.83392822e-01 7.25608799e-02 -1.66353466e-01 2.47578695e+02] [ 1.66818539e-01 -3.54297730e-04 9.85987550e-01 3.34713040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.116875 meters 0.012684993809886266 Centerline is valid? [True, True] Translation: X:320.44, Y:247.64, Z:33.48 [[ 6.99518594e-02 -9.97473311e-01 -1.23988497e-02 3.20439794e+02] [ 9.83509050e-01 7.10399939e-02 -1.66322784e-01 2.47635348e+02] [ 1.66783352e-01 -5.59792883e-04 9.85993408e-01 3.34803722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.176875 meters 0.01269840454034381 Centerline is valid? [True, True] Translation: X:320.44, Y:247.69, Z:33.49 [[ 6.88826349e-02 -9.97548381e-01 -1.23454421e-02 3.20443715e+02] [ 9.83585105e-01 6.99768302e-02 -1.66323734e-01 2.47691347e+02] [ 1.66779866e-01 -6.85975955e-04 9.85993918e-01 3.34891651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.236875 meters 0.012603038145438776 Centerline is valid? [True, True] Translation: X:320.45, Y:247.75, Z:33.50 [[ 6.89277127e-02 -9.97546805e-01 -1.22205730e-02 3.20447494e+02] [ 9.83746458e-01 6.99998734e-02 -1.65356961e-01 2.47747158e+02] [ 1.65806747e-01 -6.24268337e-04 9.86158067e-01 3.34980773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.296875 meters 0.012380374306590839 Centerline is valid? [True, True] Translation: X:320.45, Y:247.80, Z:33.51 [[ 7.00846695e-02 -9.97467703e-01 -1.20962989e-02 3.20449941e+02] [ 9.83823792e-01 7.11198903e-02 -1.64416261e-01 2.47803425e+02] [ 1.64860198e-01 -3.77567357e-04 9.86316872e-01 3.35083114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.356875 meters 0.012267128798053027 Centerline is valid? [True, True] Translation: X:320.45, Y:247.86, Z:33.52 [[ 7.28478487e-02 -9.97271478e-01 -1.19495112e-02 3.20451397e+02] [ 9.83840046e-01 7.38212964e-02 -1.63123204e-01 2.47859836e+02] [ 1.63560247e-01 1.26766792e-04 9.86533339e-01 3.35185270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.416875 meters 0.012354440998447286 Centerline is valid? [True, True] Translation: X:320.45, Y:247.92, Z:33.53 [[ 7.63271622e-02 -9.97012055e-01 -1.18796921e-02 3.20452616e+02] [ 9.83619286e-01 7.72425128e-02 -1.62870174e-01 2.47916426e+02] [ 1.63301144e-01 7.46323962e-04 9.86575988e-01 3.35278149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.476875 meters 0.012645036203291422 Centerline is valid? [True, True] Translation: X:320.45, Y:247.97, Z:33.54 [[ 7.83739068e-02 -9.96854015e-01 -1.18153549e-02 3.20454674e+02] [ 9.83486194e-01 7.92514400e-02 -1.62708681e-01 2.47972050e+02] [ 1.63133186e-01 1.13187664e-03 9.86603407e-01 3.35359422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.536875 meters 0.01284387042118355 Centerline is valid? [True, True] Translation: X:320.46, Y:248.03, Z:33.54 [[ 8.02774603e-02 -9.96703201e-01 -1.17582963e-02 3.20458366e+02] [ 9.83339512e-01 8.11202078e-02 -1.62674263e-01 2.48028599e+02] [ 1.63091794e-01 1.49667927e-03 9.86609764e-01 3.35446644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.596875 meters 0.012987951744075249 Centerline is valid? [True, True] Translation: X:320.46, Y:248.08, Z:33.55 [[ 8.11763686e-02 -9.96630582e-01 -1.17421991e-02 3.20462588e+02] [ 9.83185397e-01 8.20036069e-02 -1.63162141e-01 2.48084922e+02] [ 1.63575283e-01 1.70015148e-03 9.86529390e-01 3.35529957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.656875 meters 0.013564249191091155 Centerline is valid? [True, True] Translation: X:320.47, Y:248.14, Z:33.56 [[ 8.24857186e-02 -9.96522378e-01 -1.18007083e-02 3.20466651e+02] [ 9.82820315e-01 8.33018709e-02 -1.64696772e-01 2.48141727e+02] [ 1.65107040e-01 1.98715575e-03 9.86273652e-01 3.35594250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.716875 meters 0.013311015344734107 Centerline is valid? [True, True] Translation: X:320.47, Y:248.20, Z:33.57 [[ 8.20333829e-02 -9.96560148e-01 -1.17641827e-02 3.20474475e+02] [ 9.82864345e-01 8.28497927e-02 -1.64662053e-01 2.48197820e+02] [ 1.65070300e-01 1.94518947e-03 9.86279885e-01 3.35683869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.776875 meters 0.013303293419235081 Centerline is valid? [True, True] Translation: X:320.48, Y:248.25, Z:33.58 [[ 8.12481813e-02 -9.96624894e-01 -1.17283178e-02 3.20481720e+02] [ 9.82894732e-01 8.20690666e-02 -1.64871510e-01 2.48254069e+02] [ 1.65277583e-01 1.86780848e-03 9.86245320e-01 3.35776742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.836875 meters 0.013071803137812655 Centerline is valid? [True, True] Translation: X:320.49, Y:248.31, Z:33.59 [[ 7.99195176e-02 -9.96732963e-01 -1.16735481e-02 3.20491002e+02] [ 9.83015278e-01 8.07497695e-02 -1.64804243e-01 2.48310666e+02] [ 1.65208457e-01 1.69579948e-03 9.86257213e-01 3.35863239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.896875 meters 0.01274034380082114 Centerline is valid? [True, True] Translation: X:320.50, Y:248.37, Z:33.59 [[ 7.95984169e-02 -9.96758925e-01 -1.16506834e-02 3.20500275e+02] [ 9.82983660e-01 8.04287229e-02 -1.65149461e-01 2.48367107e+02] [ 1.65551249e-01 1.69320422e-03 9.86199735e-01 3.35949585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.956875 meters 0.01281581533526128 Centerline is valid? [True, True] Translation: X:320.51, Y:248.42, Z:33.60 [[ 8.02536134e-02 -9.96706962e-01 -1.16012924e-02 3.20508489e+02] [ 9.82926941e-01 8.10666394e-02 -1.65175145e-01 2.48423417e+02] [ 1.65571694e-01 1.85267934e-03 9.86196016e-01 3.36042620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.016875 meters 0.01293877905883578 Centerline is valid? [True, True] Translation: X:320.52, Y:248.48, Z:33.61 [[ 8.06750715e-02 -9.96673769e-01 -1.15295575e-02 3.20515235e+02] [ 9.82941114e-01 8.14709634e-02 -1.64891624e-01 2.48479455e+02] [ 1.65282481e-01 1.96976743e-03 9.86244301e-01 3.36141867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07687500000003 meters 0.01260405199973749 Centerline is valid? [True, True] Translation: X:320.52, Y:248.54, Z:33.63 [[ 7.85907403e-02 -9.96842045e-01 -1.13768968e-02 3.20524510e+02] [ 9.83353916e-01 7.93926446e-02 -1.63437707e-01 2.48535653e+02] [ 1.63824820e-01 1.65717435e-03 9.86488055e-01 3.36251473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13687500000003 meters 0.01234213985555974 Centerline is valid? [True, True] Translation: X:320.53, Y:248.59, Z:33.63 [[ 7.73553090e-02 -9.96939768e-01 -1.12807345e-02 3.20530464e+02] [ 9.83561852e-01 7.81591906e-02 -1.62779678e-01 2.48591806e+02] [ 1.63163227e-01 1.49657213e-03 9.86597953e-01 3.36347362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19687500000003 meters 0.011834900768442756 Centerline is valid? [True, True] Translation: X:320.54, Y:248.65, Z:33.64 [[ 7.47849406e-02 -9.97136657e-01 -1.12116397e-02 3.20538810e+02] [ 9.83804495e-01 7.56123370e-02 -1.62516125e-01 2.48648274e+02] [ 1.62898523e-01 1.12369718e-03 9.86642189e-01 3.36446128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25687500000004 meters 0.011669797850396303 Centerline is valid? [True, True] Translation: X:320.55, Y:248.70, Z:33.65 [[ 7.14525098e-02 -9.97381204e-01 -1.11925556e-02 3.20547336e+02] [ 9.83971015e-01 7.23210379e-02 -1.63005243e-01 2.48703779e+02] [ 1.63387823e-01 6.33983428e-04 9.86561715e-01 3.36531863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31687500000004 meters 0.011608039742817065 Centerline is valid? [True, True] Translation: X:320.56, Y:248.76, Z:33.66 [[ 6.64567329e-02 -9.97725736e-01 -1.12631843e-02 3.20556346e+02] [ 9.84047984e-01 6.74042764e-02 -1.64639693e-01 2.48759817e+02] [ 1.65024445e-01 -1.42097685e-04 9.86289467e-01 3.36615097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.376875 meters 0.01194574353313761 Centerline is valid? [True, True] Translation: X:320.56, Y:248.82, Z:33.67 [[ 6.13558861e-02 -9.98052353e-01 -1.12674938e-02 3.20563962e+02] [ 9.84242970e-01 6.23748401e-02 -1.65454391e-01 2.48817208e+02] [ 1.65834952e-01 -9.38350827e-04 9.86153075e-01 3.36698200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.436875 meters 0.012406187880214452 Centerline is valid? [True, True] Translation: X:320.57, Y:248.87, Z:33.68 [[ 5.81627899e-02 -9.98243766e-01 -1.12460568e-02 3.20569560e+02] [ 9.84375494e-01 5.92228983e-02 -1.65823810e-01 2.48873343e+02] [ 1.66198609e-01 -1.42556732e-03 9.86091269e-01 3.36785995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.496875 meters 0.012252988682803162 Centerline is valid? [True, True] Translation: X:320.57, Y:248.93, Z:33.69 [[ 5.64199854e-02 -9.98344179e-01 -1.12109654e-02 3.20571716e+02] [ 9.84443489e-01 5.74988159e-02 -1.66026814e-01 2.48929912e+02] [ 1.66396521e-01 -1.66933142e-03 9.86057509e-01 3.36887762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.556875 meters 0.012479203850316575 Centerline is valid? [True, True] Translation: X:320.57, Y:248.99, Z:33.70 [[ 5.63855884e-02 -9.98346577e-01 -1.11704172e-02 3.20574664e+02] [ 9.84414570e-01 5.74584570e-02 -1.66212153e-01 2.48985501e+02] [ 1.66579169e-01 -1.62435143e-03 9.86026745e-01 3.36974120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.616875 meters 0.012119160117841463 Centerline is valid? [True, True] Translation: X:320.57, Y:249.04, Z:33.71 [[ 5.79145041e-02 -9.98259424e-01 -1.11370179e-02 3.20573688e+02] [ 9.84305103e-01 5.89606357e-02 -1.66334324e-01 2.49042063e+02] [ 1.66701452e-01 -1.32905366e-03 9.86006521e-01 3.37057916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.676875 meters 0.011622924789655865 Centerline is valid? [True, True] Translation: X:320.57, Y:249.10, Z:33.71 [[ 6.05957372e-02 -9.98100625e-01 -1.11039829e-02 3.20572575e+02] [ 9.84094977e-01 6.15991194e-02 -1.66621203e-01 2.49099342e+02] [ 1.66988722e-01 -8.30839199e-04 9.85958456e-01 3.37142353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.736875 meters 0.011295753996726691 Centerline is valid? [True, True] Translation: X:320.57, Y:249.16, Z:33.73 [[ 6.36718389e-02 -9.97909302e-01 -1.10869819e-02 3.20571435e+02] [ 9.83810684e-01 6.46293602e-02 -1.67151377e-01 2.49155913e+02] [ 1.67518459e-01 -2.64655625e-04 9.85868904e-01 3.37250003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.796875 meters 0.011410143887842516 Centerline is valid? [True, True] Translation: X:320.57, Y:249.21, Z:33.73 [[ 6.53552165e-02 -9.97800992e-01 -1.10397096e-02 3.20571638e+02] [ 9.83683206e-01 6.62810261e-02 -1.67254823e-01 2.49211393e+02] [ 1.67618752e-01 7.13982674e-05 9.85851890e-01 3.37330610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.856875 meters 0.01155532462702965 Centerline is valid? [True, True] Translation: X:320.57, Y:249.27, Z:33.74 [[ 6.77062290e-02 -9.97644353e-01 -1.10277275e-02 3.20569977e+02] [ 9.83409400e-01 6.85964172e-02 -1.67929999e-01 2.49267117e+02] [ 1.68290878e-01 5.25136065e-04 9.85737239e-01 3.37402185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.916875 meters 0.011520282116173649 Centerline is valid? [True, True] Translation: X:320.57, Y:249.32, Z:33.75 [[ 6.89328169e-02 -9.97561083e-01 -1.09614377e-02 3.20571148e+02] [ 9.83355016e-01 6.97944870e-02 -1.67754706e-01 2.49323567e+02] [ 1.68110614e-01 7.84819700e-04 9.85767825e-01 3.37505744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.976875 meters 0.01181700749689458 Centerline is valid? [True, True] Translation: X:320.57, Y:249.38, Z:33.76 [[ 7.04334792e-02 -9.97457537e-01 -1.08437789e-02 3.20571422e+02] [ 9.83417164e-01 7.12551105e-02 -1.66773473e-01 2.49379331e+02] [ 1.67122132e-01 1.08247763e-03 9.85935607e-01 3.37604502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.036875 meters 0.011903409919850517 Centerline is valid? [True, True] Translation: X:320.57, Y:249.44, Z:33.77 [[ 7.05746842e-02 -9.97448418e-01 -1.07641597e-02 3.20572292e+02] [ 9.83470975e-01 7.13814637e-02 -1.66401706e-01 2.49435682e+02] [ 1.66745480e-01 1.15750922e-03 9.85999293e-01 3.37696547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.096875 meters 0.011849371291016477 Centerline is valid? [True, True] Translation: X:320.57, Y:249.49, Z:33.78 [[ 6.94296566e-02 -9.97530078e-01 -1.06426458e-02 3.20574558e+02] [ 9.83737345e-01 7.02333757e-02 -1.65312157e-01 2.49491772e+02] [ 1.65651318e-01 1.00799823e-03 9.86183870e-01 3.37786152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.156875 meters 0.011684395265951558 Centerline is valid? [True, True] Translation: X:320.58, Y:249.55, Z:33.79 [[ 6.76036497e-02 -9.97656033e-01 -1.05917722e-02 3.20578683e+02] [ 9.83863313e-01 6.84241797e-02 -1.65321242e-01 2.49547897e+02] [ 1.65658468e-01 7.55463232e-04 9.86182895e-01 3.37877027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.216875 meters 0.011457136559725672 Centerline is valid? [True, True] Translation: X:320.58, Y:249.60, Z:33.80 [[ 6.49309443e-02 -9.97834526e-01 -1.04991447e-02 3.20583631e+02] [ 9.84154179e-01 6.57733278e-02 -1.64664573e-01 2.49604064e+02] [ 1.64998560e-01 3.59049082e-04 9.86293742e-01 3.37969010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.276875 meters 0.011386430334306327 Centerline is valid? [True, True] Translation: X:320.59, Y:249.66, Z:33.81 [[ 6.06796512e-02 -9.98102718e-01 -1.04376758e-02 3.20589317e+02] [ 9.84454508e-01 6.15701124e-02 -1.64494507e-01 2.49660519e+02] [ 1.64825064e-01 -2.93947676e-04 9.86322773e-01 3.38065556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.336875 meters 0.011431445820509548 Centerline is valid? [True, True] Translation: X:320.59, Y:249.72, Z:33.82 [[ 5.80881787e-02 -9.98258387e-01 -1.02935348e-02 3.20593712e+02] [ 9.84856524e-01 5.89893850e-02 -1.63027234e-01 2.49716622e+02] [ 1.63350513e-01 -6.67699783e-04 9.86567871e-01 3.38158517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.396875 meters 0.011626456145343687 Centerline is valid? [True, True] Translation: X:320.60, Y:249.77, Z:33.83 [[ 5.47256649e-02 -9.98449888e-01 -1.01450694e-02 3.20598078e+02] [ 9.85308481e-01 5.56459858e-02 -1.61464302e-01 2.49773440e+02] [ 1.61778547e-01 -1.15978162e-03 9.86826407e-01 3.38261274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.456875 meters 0.012005073386246793 Centerline is valid? [True, True] Translation: X:320.60, Y:249.83, Z:33.83 [[ 5.33704515e-02 -9.98523770e-01 -1.00933039e-02 3.20602369e+02] [ 9.85396516e-01 5.43001269e-02 -1.61385261e-01 2.49828521e+02] [ 1.61695086e-01 -1.33270231e-03 9.86839867e-01 3.38343346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.516875 meters 0.011920948545620593 Centerline is valid? [True, True] Translation: X:320.60, Y:249.89, Z:33.84 [[ 5.32844160e-02 -9.98528362e-01 -1.00935861e-02 3.20603774e+02] [ 9.85255658e-01 5.42164552e-02 -1.62270960e-01 2.49885823e+02] [ 1.62579394e-01 -1.29824945e-03 9.86694611e-01 3.38420897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57687500000003 meters 0.011988391676929968 Centerline is valid? [True, True] Translation: X:320.61, Y:249.94, Z:33.85 [[ 5.40131234e-02 -9.98489286e-01 -1.00860137e-02 3.20605150e+02] [ 9.85097847e-01 5.49350797e-02 -1.62985795e-01 2.49943082e+02] [ 1.63293646e-01 -1.13233851e-03 9.86576861e-01 3.38491513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63687500000003 meters 0.011833789399624465 Centerline is valid? [True, True] Translation: X:320.61, Y:250.00, Z:33.86 [[ 5.46360698e-02 -9.98455809e-01 -1.00447369e-02 3.20607632e+02] [ 9.85036454e-01 5.55430954e-02 -1.63150695e-01 2.49999668e+02] [ 1.63456675e-01 -9.80519227e-04 9.86550026e-01 3.38588574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69687500000003 meters 0.011865972862680468 Centerline is valid? [True, True] Translation: X:320.61, Y:250.06, Z:33.87 [[ 5.50261052e-02 -9.98435344e-01 -9.94943209e-03 3.20610193e+02] [ 9.85130831e-01 5.59117150e-02 -1.62453457e-01 2.50055833e+02] [ 1.62755563e-01 -8.62311307e-04 9.86666044e-01 3.38681465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75687500000004 meters 0.012000884510207387 Centerline is valid? [True, True] Translation: X:320.61, Y:250.11, Z:33.88 [[ 5.56579634e-02 -9.98401487e-01 -9.83170504e-03 3.20613854e+02] [ 9.85273250e-01 5.65152574e-02 -1.61377348e-01 2.50111353e+02] [ 1.61675025e-01 -7.04981480e-04 9.86843802e-01 3.38772343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81687500000004 meters 0.012245689611332468 Centerline is valid? [True, True] Translation: X:320.62, Y:250.17, Z:33.89 [[ 5.60079834e-02 -9.98382675e-01 -9.75401007e-03 3.20617003e+02] [ 9.85318195e-01 5.68478821e-02 -1.60985628e-01 2.50168329e+02] [ 1.61279757e-01 -5.94323210e-04 9.86908550e-01 3.38863312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.876875 meters 0.012396523450096024 Centerline is valid? [True, True] Translation: X:320.62, Y:250.22, Z:33.89 [[ 5.71851363e-02 -9.98316755e-01 -9.67038480e-03 3.20620395e+02] [ 9.85341508e-01 5.79959536e-02 -1.60432487e-01 2.50223896e+02] [ 1.60723283e-01 -3.54277890e-04 9.86999443e-01 3.38942272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.936875 meters 0.012682590243825028 Centerline is valid? [True, True] Translation: X:320.63, Y:250.28, Z:33.90 [[ 5.80740737e-02 -9.98265540e-01 -9.65984658e-03 3.20625647e+02] [ 9.85175202e-01 5.88717708e-02 -1.61133285e-01 2.50280083e+02] [ 1.61422498e-01 -1.58975035e-04 9.86885379e-01 3.39021490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.996875 meters 0.012724611891398799 Centerline is valid? [True, True] Translation: X:320.63, Y:250.34, Z:33.91 [[ 5.78790959e-02 -9.98276646e-01 -9.68239978e-03 3.20631521e+02] [ 9.84984413e-01 5.86832100e-02 -1.62363750e-01 2.50336806e+02] [ 1.62652134e-01 -1.39545819e-04 9.86683467e-01 3.39103974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.056875 meters 0.01283389557269143 Centerline is valid? [True, True] Translation: X:320.64, Y:250.39, Z:33.92 [[ 5.89536288e-02 -9.98213835e-01 -9.67523362e-03 3.20635528e+02] [ 9.84796073e-01 5.97422187e-02 -1.63118243e-01 2.50392787e+02] [ 1.63404907e-01 8.82802698e-05 9.86559085e-01 3.39177096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.116875 meters 0.013034413530469233 Centerline is valid? [True, True] Translation: X:320.64, Y:250.45, Z:33.93 [[ 6.12036021e-02 -9.98078744e-01 -9.64054919e-03 3.20638066e+02] [ 9.84606129e-01 6.19561142e-02 -1.63438706e-01 2.50448114e+02] [ 1.63721989e-01 5.10893686e-04 9.86506386e-01 3.39251771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.176875 meters 0.013259570770568331 Centerline is valid? [True, True] Translation: X:320.64, Y:250.51, Z:33.93 [[ 6.54456968e-02 -9.97810032e-01 -9.59174221e-03 3.20640317e+02] [ 9.84361806e-01 6.61331513e-02 -1.63273518e-01 2.50505787e+02] [ 1.63550287e-01 1.24380449e-03 9.86534215e-01 3.39343871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.236875 meters 0.013507267349456877 Centerline is valid? [True, True] Translation: X:320.64, Y:250.56, Z:33.94 [[ 6.75857605e-02 -9.97668447e-01 -9.47812536e-03 3.20644066e+02] [ 9.84409759e-01 6.82277381e-02 -1.62118480e-01 2.50562038e+02] [ 1.62387163e-01 1.62654168e-03 9.86725779e-01 3.39442561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.296875 meters 0.013834073140789029 Centerline is valid? [True, True] Translation: X:320.65, Y:250.62, Z:33.95 [[ 6.94158180e-02 -9.97543610e-01 -9.39094876e-03 3.20646461e+02] [ 9.84386594e-01 7.00205757e-02 -1.61493508e-01 2.50618932e+02] [ 1.61754376e-01 1.96587986e-03 9.86829092e-01 3.39534509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.356875 meters 0.014234567126095613 Centerline is valid? [True, True] Translation: X:320.65, Y:250.68, Z:33.96 [[ 7.05625226e-02 -9.97463483e-01 -9.35576963e-03 3.20648737e+02] [ 9.84277521e-01 7.11460808e-02 -1.61666313e-01 2.50676855e+02] [ 1.61921870e-01 2.19890914e-03 9.86801131e-01 3.39619297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.416875 meters 0.014757086729515463 Centerline is valid? [True, True] Translation: X:320.65, Y:250.73, Z:33.97 [[ 7.26103130e-02 -9.97316357e-01 -9.37156879e-03 3.20650461e+02] [ 9.83955927e-01 7.31666305e-02 -1.62718707e-01 2.50733953e+02] [ 1.62967714e-01 2.59384559e-03 9.86627993e-01 3.39699003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.476875 meters 0.014629116827891251 Centerline is valid? [True, True] Translation: X:320.65, Y:250.79, Z:33.98 [[ 7.23773457e-02 -9.97334014e-01 -9.29427494e-03 3.20652915e+02] [ 9.84059192e-01 7.29255574e-02 -1.62201635e-01 2.50790898e+02] [ 1.62446998e-01 2.59360715e-03 9.86713862e-01 3.39792398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.536875 meters 0.014623940120558716 Centerline is valid? [True, True] Translation: X:320.66, Y:250.85, Z:33.99 [[ 7.15790529e-02 -9.97391921e-01 -9.26252840e-03 3.20655542e+02] [ 9.84062382e-01 7.21318809e-02 -1.62536829e-01 2.50846159e+02] [ 1.62781043e-01 2.51932650e-03 9.86659001e-01 3.39875759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.596875 meters 0.013657331374193876 Centerline is valid? [True, True] Translation: X:320.66, Y:250.90, Z:34.00 [[ 6.91690413e-02 -9.97562156e-01 -9.24061038e-03 3.20661041e+02] [ 9.84144121e-01 6.97493105e-02 -1.63080909e-01 2.50902453e+02] [ 1.63327869e-01 2.18605775e-03 9.86569424e-01 3.39962384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.656875 meters 0.012865133652766779 Centerline is valid? [True, True] Translation: X:320.67, Y:250.96, Z:34.01 [[ 6.66514848e-02 -9.97734266e-01 -9.16045403e-03 3.20666010e+02] [ 9.84402790e-01 6.72534761e-02 -1.62567269e-01 2.50958394e+02] [ 1.62815008e-01 1.81777338e-03 9.86654939e-01 3.40060278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.716875 meters 0.012259434280236015 Centerline is valid? [True, True] Translation: X:320.67, Y:251.01, Z:34.02 [[ 6.16689138e-02 -9.98055584e-01 -9.05520064e-03 3.20672452e+02] [ 9.84885019e-01 6.23213721e-02 -1.61609241e-01 2.51014628e+02] [ 1.61859338e-01 1.04793488e-03 9.86813284e-01 3.40157315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.776875 meters 0.01179637156206131 Centerline is valid? [True, True] Translation: X:320.68, Y:251.07, Z:34.03 [[ 5.51328018e-02 -9.98438767e-01 -8.96672875e-03 3.20680515e+02] [ 9.85401840e-01 5.58572030e-02 -1.60820356e-01 2.51070877e+02] [ 1.61070134e-01 3.06458107e-05 9.86942962e-01 3.40252466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.836875 meters 0.011860838130967515 Centerline is valid? [True, True] Translation: X:320.69, Y:251.13, Z:34.03 [[ 5.05231566e-02 -9.98683204e-01 -8.90327413e-03 3.20686565e+02] [ 9.85689144e-01 5.12973506e-02 -1.60578623e-01 2.51127161e+02] [ 1.60823888e-01 -6.62921754e-04 9.86982896e-01 3.40341169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.896875 meters 0.012474691494289342 Centerline is valid? [True, True] Translation: X:320.69, Y:251.18, Z:34.04 [[ 4.49029515e-02 -9.98952075e-01 -8.85870909e-03 3.20694570e+02] [ 9.85940705e-01 4.57432877e-02 -1.60712409e-01 2.51182977e+02] [ 1.60949221e-01 -1.51770037e-03 9.86961521e-01 3.40431019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.956875 meters 0.012481768207403524 Centerline is valid? [True, True] Translation: X:320.70, Y:251.24, Z:34.05 [[ 4.32449342e-02 -9.99025886e-01 -8.78375011e-03 3.20697835e+02] [ 9.86095743e-01 4.40939431e-02 -1.60221439e-01 2.51239832e+02] [ 1.60452675e-01 -1.73285302e-03 9.87042013e-01 3.40521028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.016875 meters 0.012267570079210767 Centerline is valid? [True, True] Translation: X:320.70, Y:251.30, Z:34.06 [[ 4.54969799e-02 -9.98926253e-01 -8.73878629e-03 3.20698045e+02] [ 9.85974094e-01 4.63097884e-02 -1.60344905e-01 2.51295630e+02] [ 1.60577427e-01 -1.32100797e-03 9.87022363e-01 3.40609349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07687500000003 meters 0.011828470181982641 Centerline is valid? [True, True] Translation: X:320.70, Y:251.35, Z:34.07 [[ 4.97088882e-02 -9.98725964e-01 -8.68761449e-03 3.20696232e+02] [ 9.85763204e-01 5.04588818e-02 -1.60389546e-01 2.51352041e+02] [ 1.60623571e-01 -5.91144703e-04 9.87015562e-01 3.40690958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13687500000003 meters 0.011823410434666304 Centerline is valid? [True, True] Translation: X:320.69, Y:251.41, Z:34.08 [[ 5.58223100e-02 -9.98402831e-01 -8.69814482e-03 3.20692311e+02] [ 9.85252145e-01 5.64941495e-02 -1.61513533e-01 2.51409138e+02] [ 1.61746963e-01 4.46192657e-04 9.86832165e-01 3.40763099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19687500000003 meters 0.012184267808837686 Centerline is valid? [True, True] Translation: X:320.69, Y:251.47, Z:34.08 [[ 5.87009580e-02 -9.98237502e-01 -8.72284628e-03 3.20691250e+02] [ 9.84851505e-01 5.93375328e-02 -1.62931184e-01 2.51465905e+02] [ 1.63161610e-01 9.73508280e-04 9.86598876e-01 3.40839510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25687500000004 meters 0.0119875671883739 Centerline is valid? [True, True] Translation: X:320.69, Y:251.52, Z:34.09 [[ 5.80922491e-02 -9.98273495e-01 -8.67864718e-03 3.20693363e+02] [ 9.84876606e-01 5.87297109e-02 -1.62999667e-01 2.51522691e+02] [ 1.63227942e-01 9.21620695e-04 9.86587953e-01 3.40933671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31687500000004 meters 0.011791829089460429 Centerline is valid? [True, True] Translation: X:320.70, Y:251.58, Z:34.10 [[ 5.50406293e-02 -9.98447056e-01 -8.60264652e-03 3.20696563e+02] [ 9.85130143e-01 5.57068635e-02 -1.62527989e-01 2.51579439e+02] [ 1.62754818e-01 4.70916393e-04 9.86666432e-01 3.41022983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.376875 meters 0.011790098751363345 Centerline is valid? [True, True] Translation: X:320.70, Y:251.64, Z:34.11 [[ 4.96084215e-02 -9.98732132e-01 -8.55182189e-03 3.20700942e+02] [ 9.85415858e-01 5.03388229e-02 -1.62547190e-01 2.51635716e+02] [ 1.62771590e-01 -3.63391401e-04 9.86663710e-01 3.41103512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.436875 meters 0.012209193000461128 Centerline is valid? [True, True] Translation: X:320.71, Y:251.69, Z:34.12 [[ 4.38641458e-02 -9.99000822e-01 -8.56115536e-03 3.20705245e+02] [ 9.85494807e-01 4.46741568e-02 -1.63719898e-01 2.51692757e+02] [ 1.63938775e-01 -1.25554067e-03 9.86469717e-01 3.41192055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.496875 meters 0.013155192563315408 Centerline is valid? [True, True] Translation: X:320.71, Y:251.75, Z:34.13 [[ 3.97005700e-02 -9.99174804e-01 -8.57765947e-03 3.20710028e+02] [ 9.85469687e-01 4.05719407e-02 -1.64934573e-01 2.51748854e+02] [ 1.65146482e-01 -1.90502682e-03 9.86267210e-01 3.41274809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.556875 meters 0.014479996781706958 Centerline is valid? [True, True] Translation: X:320.71, Y:251.81, Z:34.13 [[ 3.41823303e-02 -9.99378270e-01 -8.63954762e-03 3.20713943e+02] [ 9.85365625e-01 3.51449474e-02 -1.66791540e-01 2.51805754e+02] [ 1.66991477e-01 -2.81178974e-03 9.85954330e-01 3.41347699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.616875 meters 0.014914968543520238 Centerline is valid? [True, True] Translation: X:320.72, Y:251.86, Z:34.15 [[ 3.17095031e-02 -9.99460522e-01 -8.55409560e-03 3.20716670e+02] [ 9.85618853e-01 3.26893172e-02 -1.65791694e-01 2.51863017e+02] [ 1.65981881e-01 -3.17390565e-03 9.86123695e-01 3.41454719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.676875 meters 0.015142831374227212 Centerline is valid? [True, True] Translation: X:320.72, Y:251.92, Z:34.16 [[ 3.08781136e-02 -9.99487793e-01 -8.40790271e-03 3.20718098e+02] [ 9.85975227e-01 3.18388009e-02 -1.63826565e-01 2.51919166e+02] [ 1.64010350e-01 -3.23132849e-03 9.86453326e-01 3.41578897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.736875 meters 0.014268591023085673 Centerline is valid? [True, True] Translation: X:320.72, Y:251.98, Z:34.17 [[ 3.28791604e-02 -9.99424992e-01 -8.28525984e-03 3.20716639e+02] [ 9.86146088e-01 3.37886221e-02 -1.62401422e-01 2.51976928e+02] [ 1.62587988e-01 -2.83085417e-03 9.86689988e-01 3.41691936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.796875 meters 0.013154956107409738 Centerline is valid? [True, True] Translation: X:320.71, Y:252.03, Z:34.18 [[ 3.62693253e-02 -9.99308853e-01 -8.14563768e-03 3.20712979e+02] [ 9.86342471e-01 3.71067779e-02 -1.60473101e-01 2.52034387e+02] [ 1.60664449e-01 -2.21413730e-03 9.87006602e-01 3.41798923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.856875 meters 0.012622931019792841 Centerline is valid? [True, True] Translation: X:320.71, Y:252.09, Z:34.19 [[ 3.89415306e-02 -9.99208726e-01 -8.09186763e-03 3.20711652e+02] [ 9.86265361e-01 3.97353932e-02 -1.60317610e-01 2.52091688e+02] [ 1.60512289e-01 -1.73771563e-03 9.87032312e-01 3.41887290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.916875 meters 0.012429653830848895 Centerline is valid? [True, True] Translation: X:320.71, Y:252.15, Z:34.20 [[ 4.01232840e-02 -9.99162177e-01 -8.06631505e-03 3.20712851e+02] [ 9.86142570e-01 4.08984447e-02 -1.60779814e-01 2.52149554e+02] [ 1.60975009e-01 -1.50352250e-03 9.86957337e-01 3.41981999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.976875 meters 0.012032653282099534 Centerline is valid? [True, True] Translation: X:320.71, Y:252.21, Z:34.21 [[ 4.44072350e-02 -9.98981438e-01 -8.00523364e-03 3.20710288e+02] [ 9.86016667e-01 4.51164539e-02 -1.60423308e-01 2.52207335e+02] [ 1.60621074e-01 -7.69338266e-04 9.87015845e-01 3.42083332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.036875 meters 0.011769410769915417 Centerline is valid? [True, True] Translation: X:320.71, Y:252.26, Z:34.22 [[ 4.89497644e-02 -9.98770032e-01 -7.89578671e-03 3.20705738e+02] [ 9.86009581e-01 4.95824854e-02 -1.59143593e-01 2.52263804e+02] [ 1.59339345e-01 4.72005736e-06 9.87223872e-01 3.42175079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.096875 meters 0.011878763617472782 Centerline is valid? [True, True] Translation: X:320.71, Y:252.32, Z:34.23 [[ 5.13540678e-02 -9.98649417e-01 -7.88046448e-03 3.20705187e+02] [ 9.85768740e-01 5.19533117e-02 -1.59877594e-01 2.52321846e+02] [ 1.60071082e-01 4.42049255e-04 9.87105391e-01 3.42256739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.156875 meters 0.012023363767299585 Centerline is valid? [True, True] Translation: X:320.70, Y:252.38, Z:34.23 [[ 5.36147752e-02 -9.98530362e-01 -7.91023171e-03 3.20704233e+02] [ 9.85394121e-01 5.41883292e-02 -1.61437452e-01 2.52379127e+02] [ 1.61628840e-01 8.60736899e-04 9.86851244e-01 3.42329562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.216875 meters 0.012305153125453473 Centerline is valid? [True, True] Translation: X:320.70, Y:252.43, Z:34.24 [[ 5.46678972e-02 -9.98473571e-01 -7.87071295e-03 3.20704248e+02] [ 9.85294222e-01 5.52209254e-02 -1.61697077e-01 2.52434982e+02] [ 1.61884886e-01 1.08467119e-03 9.86809053e-01 3.42409017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.276875 meters 0.012805267776910711 Centerline is valid? [True, True] Translation: X:320.70, Y:252.49, Z:34.25 [[ 5.64898370e-02 -9.98372337e-01 -7.84697104e-03 3.20704090e+02] [ 9.85088197e-01 5.70140608e-02 -1.62328807e-01 2.52492209e+02] [ 1.62511978e-01 1.43996928e-03 9.86705520e-01 3.42485289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.336875 meters 0.012827448021977763 Centerline is valid? [True, True] Translation: X:320.71, Y:252.55, Z:34.26 [[ 5.60715315e-02 -9.98395948e-01 -7.84309625e-03 3.20706674e+02] [ 9.84957511e-01 5.65993616e-02 -1.63264248e-01 2.52548030e+02] [ 1.63446278e-01 1.42935985e-03 9.86551201e-01 3.42570921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.396875 meters 0.01236825266375079 Centerline is valid? [True, True] Translation: X:320.71, Y:252.60, Z:34.27 [[ 5.25998023e-02 -9.98585843e-01 -7.71845812e-03 3.20710852e+02] [ 9.85397192e-01 5.31554192e-02 -1.61761789e-01 2.52604778e+02] [ 1.61943310e-01 9.02891167e-04 9.86799650e-01 3.42674455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.456875 meters 0.012128645080198945 Centerline is valid? [True, True] Translation: X:320.72, Y:252.66, Z:34.28 [[ 4.94058428e-02 -9.98749833e-01 -7.60488652e-03 3.20715886e+02] [ 9.85790373e-01 4.99858957e-02 -1.60370667e-01 2.52661018e+02] [ 1.60550314e-01 4.26424029e-04 9.87027565e-01 3.42779773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.516875 meters 0.012101238292112432 Centerline is valid? [True, True] Translation: X:320.72, Y:252.72, Z:34.29 [[ 4.55672067e-02 -9.98933103e-01 -7.50235501e-03 3.20721079e+02] [ 9.86151609e-01 4.61804721e-02 -1.59287059e-01 2.52716287e+02] [ 1.59463579e-01 -1.40193112e-04 9.87203802e-01 3.42877880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57687500000003 meters 0.012098336035223303 Centerline is valid? [True, True] Translation: X:320.72, Y:252.77, Z:34.30 [[ 4.52064339e-02 -9.98949613e-01 -7.48665356e-03 3.20723097e+02] [ 9.86036716e-01 4.58219461e-02 -1.60099795e-01 2.52772701e+02] [ 1.60274681e-01 -1.44574490e-04 9.87072442e-01 3.42958718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63687500000003 meters 0.012200503098711665 Centerline is valid? [True, True] Translation: X:320.72, Y:252.83, Z:34.30 [[ 4.75192870e-02 -9.98842267e-01 -7.48616412e-03 3.20723702e+02] [ 9.85750738e-01 4.81045411e-02 -1.61187578e-01 2.52828387e+02] [ 1.61361084e-01 2.80026950e-04 9.86895396e-01 3.43026791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69687500000003 meters 0.012506413291089879 Centerline is valid? [True, True] Translation: X:320.73, Y:252.89, Z:34.31 [[ 5.03515556e-02 -9.98703112e-01 -7.53762091e-03 3.20725617e+02] [ 9.85284093e-01 5.09065051e-02 -1.63167959e-01 2.52885034e+02] [ 1.63340062e-01 7.89062581e-04 9.86569512e-01 3.43116965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75687500000004 meters 0.012869102144975693 Centerline is valid? [True, True] Translation: X:320.73, Y:252.94, Z:34.32 [[ 5.19148631e-02 -9.98623471e-01 -7.48402987e-03 3.20726155e+02] [ 9.85210430e-01 5.24400979e-02 -1.63127084e-01 2.52940555e+02] [ 1.63294998e-01 1.09537592e-03 9.86576679e-01 3.43208281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.816875 meters 0.013225891069749049 Centerline is valid? [True, True] Translation: X:320.73, Y:253.00, Z:34.33 [[ 5.31393702e-02 -9.98559426e-01 -7.43512235e-03 3.20728660e+02] [ 9.85177767e-01 5.36404329e-02 -1.62933950e-01 2.52997432e+02] [ 1.63098055e-01 1.33329025e-03 9.86608964e-01 3.43305727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.876875 meters 0.01345301559777299 Centerline is valid? [True, True] Translation: X:320.73, Y:253.05, Z:34.34 [[ 5.30274271e-02 -9.98565875e-01 -7.36788707e-03 3.20732782e+02] [ 9.85244942e-01 5.35195341e-02 -1.62567106e-01 2.53053570e+02] [ 1.62728290e-01 1.36134189e-03 9.86669980e-01 3.43406571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.936875 meters 0.01344262587125463 Centerline is valid? [True, True] Translation: X:320.74, Y:253.11, Z:34.35 [[ 5.23910413e-02 -9.98599942e-01 -7.30306488e-03 3.20736655e+02] [ 9.85334072e-01 5.28815306e-02 -1.62235357e-01 2.53109558e+02] [ 1.62394416e-01 1.30372066e-03 9.86725065e-01 3.43507430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.996875 meters 0.013400223642776467 Centerline is valid? [True, True] Translation: X:320.74, Y:253.17, Z:34.36 [[ 5.08195087e-02 -9.98681016e-01 -7.32164497e-03 3.20741486e+02] [ 9.85158994e-01 5.13322056e-02 -1.63788768e-01 2.53165715e+02] [ 1.63948569e-01 1.11068030e-03 9.86468263e-01 3.43590177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.056875 meters 0.013392441746955544 Centerline is valid? [True, True] Translation: X:320.75, Y:253.22, Z:34.37 [[ 4.89417516e-02 -9.98774373e-01 -7.37954630e-03 3.20746195e+02] [ 9.84840682e-01 4.94873478e-02 -1.66252321e-01 2.53222082e+02] [ 1.66413752e-01 8.69002402e-04 9.86055631e-01 3.43659950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.116875 meters 0.013300390637946106 Centerline is valid? [True, True] Translation: X:320.75, Y:253.28, Z:34.37 [[ 4.70207824e-02 -9.98866531e-01 -7.39588876e-03 3.20751407e+02] [ 9.84668468e-01 4.75949890e-02 -1.67817533e-01 2.53278112e+02] [ 1.67979324e-01 6.08413232e-04 9.85790331e-01 3.43744300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.176875 meters 0.013324804174201127 Centerline is valid? [True, True] Translation: X:320.76, Y:253.33, Z:34.38 [[ 4.38027600e-02 -9.99012937e-01 -7.38033695e-03 3.20757430e+02] [ 9.84666031e-01 4.44199976e-02 -1.68699944e-01 2.53333578e+02] [ 1.68861261e-01 1.22356069e-04 9.85639822e-01 3.43828614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.236875 meters 0.01327588225872954 Centerline is valid? [True, True] Translation: X:320.76, Y:253.39, Z:34.39 [[ 4.21608413e-02 -9.99084391e-01 -7.26938581e-03 3.20762453e+02] [ 9.84955897e-01 4.27828268e-02 -1.67426134e-01 2.53389345e+02] [ 1.67583841e-01 -1.01197785e-04 9.85857822e-01 3.43944545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.296875 meters 0.013281387851862196 Centerline is valid? [True, True] Translation: X:320.77, Y:253.45, Z:34.40 [[ 3.99004155e-02 -9.99177894e-01 -7.17581607e-03 3.20768219e+02] [ 9.85211801e-01 4.05382902e-02 -1.66476285e-01 2.53446009e+02] [ 1.66630319e-01 -4.27225728e-04 9.86019348e-01 3.44047914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.356875 meters 0.013260244534610739 Centerline is valid? [True, True] Translation: X:320.77, Y:253.50, Z:34.41 [[ 4.03052500e-02 -9.99161487e-01 -7.19794961e-03 3.20771686e+02] [ 9.84896520e-01 4.09417692e-02 -1.68233816e-01 2.53503206e+02] [ 1.68387447e-01 -3.08529503e-04 9.85720839e-01 3.44121389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.416875 meters 0.01316450646837801 Centerline is valid? [True, True] Translation: X:320.77, Y:253.56, Z:34.42 [[ 4.15534692e-02 -9.99110327e-01 -7.20165514e-03 3.20774910e+02] [ 9.84610411e-01 4.21728913e-02 -1.69598897e-01 2.53559921e+02] [ 1.69751724e-01 -4.34020919e-05 9.85486860e-01 3.44203181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.476875 meters 0.013290087665364034 Centerline is valid? [True, True] Translation: X:320.78, Y:253.62, Z:34.43 [[ 4.36811570e-02 -9.99019895e-01 -7.15579884e-03 3.20778884e+02] [ 9.84485938e-01 4.42618425e-02 -1.69789069e-01 2.53615771e+02] [ 1.69939387e-01 3.71799644e-04 9.85454447e-01 3.44293980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.536875 meters 0.013307958265992017 Centerline is valid? [True, True] Translation: X:320.78, Y:253.67, Z:34.44 [[ 4.65646790e-02 -9.98889823e-01 -7.13106205e-03 3.20781755e+02] [ 9.84226932e-01 4.70985295e-02 -1.70525880e-01 2.53673064e+02] [ 1.70672429e-01 9.21899553e-04 9.85327393e-01 3.44386679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.596875 meters 0.013471515872124452 Centerline is valid? [True, True] Translation: X:320.78, Y:253.73, Z:34.45 [[ 4.82493227e-02 -9.98810229e-01 -7.08024569e-03 3.20784545e+02] [ 9.84156028e-01 4.87498396e-02 -1.70471012e-01 2.53729445e+02] [ 1.70613351e-01 1.25704440e-03 9.85337254e-01 3.44477630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.656875 meters 0.01403813525926016 Centerline is valid? [True, True] Translation: X:320.79, Y:253.79, Z:34.46 [[ 5.14560950e-02 -9.98650971e-01 -6.96478110e-03 3.20786665e+02] [ 9.84253562e-01 5.18927136e-02 -1.68973581e-01 2.53785036e+02] [ 1.69107053e-01 1.83961005e-03 9.85595972e-01 3.44588193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.716875 meters 0.013969583774453277 Centerline is valid? [True, True] Translation: X:320.79, Y:253.84, Z:34.47 [[ 5.30306799e-02 -9.98569140e-01 -6.88619819e-03 3.20789430e+02] [ 9.84289324e-01 5.34328231e-02 -1.68283867e-01 2.53840827e+02] [ 1.68411026e-01 2.14619654e-03 9.85714523e-01 3.44691317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.776875 meters 0.014742259876551055 Centerline is valid? [True, True] Translation: X:320.79, Y:253.90, Z:34.48 [[ 5.49757843e-02 -9.98464050e-01 -6.87048268e-03 3.20791278e+02] [ 9.84009043e-01 5.53448619e-02 -1.69301948e-01 2.53897751e+02] [ 1.69422154e-01 2.54689027e-03 9.85540282e-01 3.44762302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.836875 meters 0.014769047461247586 Centerline is valid? [True, True] Translation: X:320.79, Y:253.95, Z:34.48 [[ 5.37045616e-02 -9.98532879e-01 -6.92166416e-03 3.20794914e+02] [ 9.83636434e-01 5.40946292e-02 -1.71852078e-01 2.53953781e+02] [ 1.71974375e-01 2.42083944e-03 9.85098449e-01 3.44820562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.896875 meters 0.013953543215688929 Centerline is valid? [True, True] Translation: X:320.80, Y:254.01, Z:34.49 [[ 5.29432423e-02 -9.98573873e-01 -6.87270659e-03 3.20799575e+02] [ 9.83649225e-01 5.33358582e-02 -1.72015952e-01 2.54009583e+02] [ 1.72137197e-01 2.34674972e-03 9.85070189e-01 3.44924832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.956875 meters 0.013866212348674453 Centerline is valid? [True, True] Translation: X:320.80, Y:254.07, Z:34.50 [[ 5.00393015e-02 -9.98723894e-01 -6.83028300e-03 3.20804451e+02] [ 9.83741383e-01 5.04673607e-02 -1.72354104e-01 2.54065762e+02] [ 1.72478868e-01 1.90524693e-03 9.85011376e-01 3.45000885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.016875 meters 0.013162702327252954 Centerline is valid? [True, True] Translation: X:320.81, Y:254.12, Z:34.51 [[ 4.69450582e-02 -9.98874605e-01 -6.75903145e-03 3.20810910e+02] [ 9.83968728e-01 4.74078649e-02 -1.71924509e-01 2.54123135e+02] [ 1.72051458e-01 1.42033051e-03 9.85086940e-01 3.45106891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07687500000003 meters 0.012917580325056209 Centerline is valid? [True, True] Translation: X:320.82, Y:254.18, Z:34.52 [[ 4.43089481e-02 -9.98995795e-01 -6.64221878e-03 3.20815739e+02] [ 9.84402043e-01 4.47928800e-02 -1.70135876e-01 2.54180020e+02] [ 1.70262549e-01 9.99927986e-04 9.85398226e-01 3.45217599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13687500000003 meters 0.012528810747587247 Centerline is valid? [True, True] Translation: X:320.82, Y:254.24, Z:34.53 [[ 3.99306865e-02 -9.99181145e-01 -6.52530464e-03 3.20821482e+02] [ 9.84902516e-01 4.04592733e-02 -1.68315420e-01 2.54236080e+02] [ 1.68441603e-01 2.94161307e-04 9.85711591e-01 3.45317454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19687500000003 meters 0.012517794280237209 Centerline is valid? [True, True] Translation: X:320.83, Y:254.29, Z:34.54 [[ 3.73913524e-02 -9.99279891e-01 -6.44872395e-03 3.20826049e+02] [ 9.85138078e-01 3.79432648e-02 -1.67520972e-01 2.54292113e+02] [ 1.67645024e-01 -8.90478088e-05 9.85847421e-01 3.45422033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25687500000004 meters 0.012586978478539764 Centerline is valid? [True, True] Translation: X:320.83, Y:254.35, Z:34.55 [[ 3.58901448e-02 -9.99335300e-01 -6.39192123e-03 3.20829140e+02] [ 9.85213526e-01 3.64537455e-02 -1.67407983e-01 2.54348577e+02] [ 1.67529716e-01 -2.89110515e-04 9.85866984e-01 3.45513346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.316875 meters 0.01267540784516105 Centerline is valid? [True, True] Translation: X:320.83, Y:254.41, Z:34.56 [[ 3.47849897e-02 -9.99374420e-01 -6.38535834e-03 3.20830541e+02] [ 9.85046450e-01 3.53636563e-02 -1.68620590e-01 2.54405331e+02] [ 1.68740914e-01 -4.24409062e-04 9.85660349e-01 3.45587571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.376875 meters 0.012856507042676706 Centerline is valid? [True, True] Translation: X:320.83, Y:254.46, Z:34.57 [[ 3.40969298e-02 -9.99398161e-01 -6.38079732e-03 3.20832161e+02] [ 9.84847985e-01 3.46853657e-02 -1.69915779e-01 2.54461846e+02] [ 1.70034837e-01 -4.90509000e-04 9.85437930e-01 3.45662936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.436875 meters 0.013217918917363422 Centerline is valid? [True, True] Translation: X:320.84, Y:254.52, Z:34.57 [[ 3.16234134e-02 -9.99479402e-01 -6.39406298e-03 3.20835550e+02] [ 9.84618429e-01 3.22517485e-02 -1.71715969e-01 2.54518664e+02] [ 1.71832793e-01 -8.65467186e-04 9.85125749e-01 3.45732081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.496875 meters 0.013553408838744547 Centerline is valid? [True, True] Translation: X:320.84, Y:254.57, Z:34.58 [[ 2.92197525e-02 -9.99552882e-01 -6.34359740e-03 3.20838607e+02] [ 9.84693048e-01 2.98751548e-02 -1.71718015e-01 2.54574758e+02] [ 1.71830753e-01 -1.22893835e-03 9.85125719e-01 3.45828228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.556875 meters 0.014004082654245987 Centerline is valid? [True, True] Translation: X:320.84, Y:254.63, Z:34.59 [[ 2.51556006e-02 -9.99663944e-01 -6.26063942e-03 3.20842639e+02] [ 9.84952980e-01 2.58555750e-02 -1.70877488e-01 2.54632123e+02] [ 1.70981936e-01 -1.86790962e-03 9.85272393e-01 3.45931395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.616875 meters 0.014362400084467548 Centerline is valid? [True, True] Translation: X:320.84, Y:254.69, Z:34.60 [[ 2.41618365e-02 -9.99688772e-01 -6.21013147e-03 3.20844378e+02] [ 9.84997199e-01 2.48675800e-02 -1.70769205e-01 2.54687712e+02] [ 1.70870487e-01 -1.99086450e-03 9.85291486e-01 3.46018736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.676875 meters 0.013798681875649522 Centerline is valid? [True, True] Translation: X:320.84, Y:254.74, Z:34.61 [[ 2.51365409e-02 -9.99664877e-01 -6.18766280e-03 3.20842967e+02] [ 9.84880731e-01 2.58250837e-02 -1.71298015e-01 2.54744605e+02] [ 1.71400406e-01 -1.78827032e-03 9.85199829e-01 3.46121919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.736875 meters 0.013424029637925886 Centerline is valid? [True, True] Translation: X:320.84, Y:254.80, Z:34.62 [[ 2.76586337e-02 -9.99598444e-01 -6.16042860e-03 3.20841342e+02] [ 9.84676586e-01 2.83062487e-02 -1.72077824e-01 2.54801444e+02] [ 1.72183104e-01 -1.30659232e-03 9.85064095e-01 3.46202435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.796875 meters 0.013261110072533399 Centerline is valid? [True, True] Translation: X:320.84, Y:254.86, Z:34.63 [[ 3.00283180e-02 -9.99529982e-01 -6.17374656e-03 3.20840723e+02] [ 9.84266592e-01 3.06445799e-02 -1.74012027e-01 2.54857901e+02] [ 1.74119430e-01 -8.51324003e-04 9.84724174e-01 3.46288721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.856875 meters 0.013140913162446614 Centerline is valid? [True, True] Translation: X:320.84, Y:254.91, Z:34.64 [[ 3.11995536e-02 -9.99494404e-01 -6.12564563e-03 3.20840335e+02] [ 9.84190920e-01 3.17896887e-02 -1.74234465e-01 2.54914963e+02] [ 1.74341105e-01 -5.92767288e-04 9.84685141e-01 3.46365500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.916875 meters 0.013268171496964984 Centerline is valid? [True, True] Translation: X:320.84, Y:254.97, Z:34.64 [[ 3.21660177e-02 -9.99464233e-01 -6.04928247e-03 3.20840594e+02] [ 9.84266233e-01 3.27278225e-02 -1.73634304e-01 2.54970405e+02] [ 1.73739256e-01 -3.68980367e-04 9.84791620e-01 3.46448784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.976875 meters 0.013072149065334701 Centerline is valid? [True, True] Translation: X:320.84, Y:255.03, Z:34.66 [[ 3.17947989e-02 -9.99476705e-01 -5.95030730e-03 3.20841390e+02] [ 9.84493382e-01 3.23446115e-02 -1.72414059e-01 2.55026807e+02] [ 1.72516296e-01 -3.76167825e-04 9.85006592e-01 3.46561134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.036875 meters 0.012929822325284512 Centerline is valid? [True, True] Translation: X:320.84, Y:255.08, Z:34.67 [[ 3.29246405e-02 -9.99440703e-01 -5.85228833e-03 3.20839221e+02] [ 9.84684277e-01 3.34404636e-02 -1.71109936e-01 2.55083035e+02] [ 1.71209938e-01 -1.28923159e-04 9.85234561e-01 3.46667800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.096875 meters 0.012979271198196862 Centerline is valid? [True, True] Translation: X:320.84, Y:255.14, Z:34.68 [[ 3.37303380e-02 -9.99414248e-01 -5.78148279e-03 3.20835226e+02] [ 9.84747182e-01 3.42221791e-02 -1.70592585e-01 2.55140205e+02] [ 1.70690514e-01 6.08466454e-05 9.85324690e-01 3.46756939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.156875 meters 0.013034663209362089 Centerline is valid? [True, True] Translation: X:320.83, Y:255.20, Z:34.68 [[ 3.06936335e-02 -9.99512239e-01 -5.76056907e-03 3.20833861e+02] [ 9.84678186e-01 3.12268813e-02 -1.71562676e-01 2.55196672e+02] [ 1.71658879e-01 -4.06424810e-04 9.85156365e-01 3.46827819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.216875 meters 0.013350978587247049 Centerline is valid? [True, True] Translation: X:320.83, Y:255.25, Z:34.69 [[ 2.77853478e-02 -9.99597437e-01 -5.73921153e-03 3.20834825e+02] [ 9.84585415e-01 2.83589953e-02 -1.72590059e-01 2.55254162e+02] [ 1.72683339e-01 -8.55269157e-04 9.84977022e-01 3.46909950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.276875 meters 0.013872043020227647 Centerline is valid? [True, True] Translation: X:320.83, Y:255.31, Z:34.70 [[ 2.35733105e-02 -9.99705814e-01 -5.70826219e-03 3.20833677e+02] [ 9.84608390e-01 2.42056476e-02 -1.73090740e-01 2.55311555e+02] [ 1.73177992e-01 -1.54008107e-03 9.84889340e-01 3.47002514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.336875 meters 0.014499557416797202 Centerline is valid? [True, True] Translation: X:320.83, Y:255.37, Z:34.71 [[ 2.12538007e-02 -9.99758028e-01 -5.67112999e-03 3.20834199e+02] [ 9.84607957e-01 2.19153272e-02 -1.73398065e-01 2.55367550e+02] [ 1.73480393e-01 -1.89847179e-03 9.84835493e-01 3.47082649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.396875 meters 0.014383679441330162 Centerline is valid? [True, True] Translation: X:320.83, Y:255.42, Z:34.72 [[ 2.07326941e-02 -9.99769368e-01 -5.60063480e-03 3.20830617e+02] [ 9.84811211e-01 2.13877467e-02 -1.72306248e-01 2.55424324e+02] [ 1.72386294e-01 -1.94319520e-03 9.85027507e-01 3.47196745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.456875 meters 0.01391420434693368 Centerline is valid? [True, True] Translation: X:320.83, Y:255.48, Z:34.73 [[ 2.16273009e-02 -9.99751118e-01 -5.47377850e-03 3.20827019e+02] [ 9.85193456e-01 2.22431391e-02 -1.69997342e-01 2.55481262e+02] [ 1.70076787e-01 -1.71614708e-03 9.85429318e-01 3.47310410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.516875 meters 0.013642127829951865 Centerline is valid? [True, True] Translation: X:320.82, Y:255.54, Z:34.74 [[ 2.32194501e-02 -9.99716234e-01 -5.32054814e-03 3.20822185e+02] [ 9.85729209e-01 2.37815102e-02 -1.66650434e-01 2.55537720e+02] [ 1.66729675e-01 -1.37508828e-03 9.86001686e-01 3.47425970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57687500000003 meters 0.013299980085239695 Centerline is valid? [True, True] Translation: X:320.82, Y:255.59, Z:34.76 [[ 2.42506199e-02 -9.99692461e-01 -5.18569216e-03 3.20817777e+02] [ 9.86183894e-01 2.47725615e-02 -1.63791475e-01 2.55594485e+02] [ 1.63869566e-01 -1.14200127e-03 9.86481354e-01 3.47555264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63687500000003 meters 0.013234967372869928 Centerline is valid? [True, True] Translation: X:320.82, Y:255.65, Z:34.76 [[ 2.43170837e-02 -9.99691176e-01 -5.12170877e-03 3.20815868e+02] [ 9.86269499e-01 2.48270709e-02 -1.63266935e-01 2.55650246e+02] [ 1.63343671e-01 -1.08120941e-03 9.86568637e-01 3.47641599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69687500000003 meters 0.013216302424628058 Centerline is valid? [True, True] Translation: X:320.81, Y:255.71, Z:34.77 [[ 2.34699455e-02 -9.99711449e-01 -5.11671031e-03 3.20813228e+02] [ 9.86018130e-01 2.39924696e-02 -1.64901813e-01 2.55707683e+02] [ 1.64976993e-01 -1.17493257e-03 9.86296716e-01 3.47708737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75687500000004 meters 0.013319394162946831 Centerline is valid? [True, True] Translation: X:320.81, Y:255.76, Z:34.78 [[ 2.27630528e-02 -9.99727878e-01 -5.10024901e-03 3.20814912e+02] [ 9.85831199e-01 2.32940949e-02 -1.66115115e-01 2.55763866e+02] [ 1.66188717e-01 -1.24669746e-03 9.86093178e-01 3.47787502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.816875 meters 0.013925493861179859 Centerline is valid? [True, True] Translation: X:320.82, Y:255.82, Z:34.79 [[ 2.00253254e-02 -9.99786494e-01 -5.09443700e-03 3.20816536e+02] [ 9.85616563e-01 2.05962167e-02 -1.67737255e-01 2.55819918e+02] [ 1.67806368e-01 -1.66216838e-03 9.85818574e-01 3.47863432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.876875 meters 0.013952735985690471 Centerline is valid? [True, True] Translation: X:320.82, Y:255.88, Z:34.80 [[ 1.61077718e-02 -9.99857663e-01 -5.01924921e-03 3.20819193e+02] [ 9.85921747e-01 1.67184320e-02 -1.66369477e-01 2.55876763e+02] [ 1.66429710e-01 -2.26874539e-03 9.86050711e-01 3.47981601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.936875 meters 0.014088324613349943 Centerline is valid? [True, True] Translation: X:320.82, Y:255.93, Z:34.81 [[ 1.44957257e-02 -9.99882718e-01 -4.94207449e-03 3.20820083e+02] [ 9.86116118e-01 1.51135024e-02 -1.65368028e-01 2.55933353e+02] [ 1.65423325e-01 -2.47632974e-03 9.86219545e-01 3.48075938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.996875 meters 0.014165780157418904 Centerline is valid? [True, True] Translation: X:320.82, Y:255.99, Z:34.82 [[ 1.34181767e-02 -9.99897993e-01 -4.89444812e-03 3.20820982e+02] [ 9.86100774e-01 1.40434012e-02 -1.65553758e-01 2.55990817e+02] [ 1.65605605e-01 -2.60498951e-03 9.86188622e-01 3.48163765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.056875 meters 0.014096674345262098 Centerline is valid? [True, True] Translation: X:320.82, Y:256.05, Z:34.83 [[ 1.38809229e-02 -9.99891847e-01 -4.85939335e-03 3.20821614e+02] [ 9.86019358e-01 1.44950815e-02 -1.65999152e-01 2.56047382e+02] [ 1.66051636e-01 -2.48723449e-03 9.86113922e-01 3.48252524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.116875 meters 0.013614805223566465 Centerline is valid? [True, True] Translation: X:320.82, Y:256.10, Z:34.83 [[ 1.83339427e-02 -9.99820363e-01 -4.80706774e-03 3.20819888e+02] [ 9.85940271e-01 1.88776732e-02 -1.66028358e-01 2.56103779e+02] [ 1.66089279e-01 -1.69552726e-03 9.86109262e-01 3.48345539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.176875 meters 0.012664048308483385 Centerline is valid? [True, True] Translation: X:320.81, Y:256.16, Z:34.84 [[ 2.48141746e-02 -9.99680710e-01 -4.76811337e-03 3.20813678e+02] [ 9.85758650e-01 2.52615902e-02 -1.66258039e-01 2.56161433e+02] [ 1.66325404e-01 -5.74653003e-04 9.86070753e-01 3.48424028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.236875 meters 0.01257036002231375 Centerline is valid? [True, True] Translation: X:320.81, Y:256.22, Z:34.85 [[ 2.83595289e-02 -9.99586567e-01 -4.73623139e-03 3.20812510e+02] [ 9.85569887e-01 2.87522317e-02 -1.66809191e-01 2.56217823e+02] [ 1.66876403e-01 6.27430165e-05 9.85977820e-01 3.48506926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.296875 meters 0.01268509150295356 Centerline is valid? [True, True] Translation: X:320.81, Y:256.27, Z:34.86 [[ 3.24208914e-02 -9.99463340e-01 -4.68170320e-03 3.20811698e+02] [ 9.85455839e-01 3.27475886e-02 -1.66746468e-01 2.56274534e+02] [ 1.66810297e-01 7.92457395e-04 9.85988690e-01 3.48602580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.356875 meters 0.012864172068070563 Centerline is valid? [True, True] Translation: X:320.81, Y:256.33, Z:34.87 [[ 3.45842852e-02 -9.99391145e-01 -4.61164400e-03 3.20811928e+02] [ 9.85488640e-01 3.48697425e-02 -1.66121167e-01 2.56330925e+02] [ 1.66180830e-01 1.20045904e-03 9.86094565e-01 3.48705553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.416875 meters 0.013444490996860996 Centerline is valid? [True, True] Translation: X:320.81, Y:256.39, Z:34.88 [[ 3.81337336e-02 -9.99262454e-01 -4.51288009e-03 3.20810971e+02] [ 9.85644338e-01 3.83565971e-02 -1.64420224e-01 2.56387630e+02] [ 1.64472055e-01 1.82186231e-03 9.86380061e-01 3.48808001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.476875 meters 0.013726729565985678 Centerline is valid? [True, True] Translation: X:320.81, Y:256.45, Z:34.89 [[ 4.01105221e-02 -9.99185160e-01 -4.49024230e-03 3.20811260e+02] [ 9.85492147e-01 4.03017350e-02 -1.64866606e-01 2.56445607e+02] [ 1.64913231e-01 2.18778712e-03 9.86305652e-01 3.48882999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.536875 meters 0.014289237240042387 Centerline is valid? [True, True] Translation: X:320.81, Y:256.50, Z:34.89 [[ 4.10740865e-02 -9.99145893e-01 -4.51696717e-03 3.20812862e+02] [ 9.84980947e-01 4.12497540e-02 -1.67663329e-01 2.56502788e+02] [ 1.67706451e-01 2.43749149e-03 9.85833964e-01 3.48944665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.596875 meters 0.014018235751681457 Centerline is valid? [True, True] Translation: X:320.82, Y:256.56, Z:34.90 [[ 3.92998795e-02 -9.99217227e-01 -4.52253123e-03 3.20818846e+02] [ 9.84685136e-01 3.94968919e-02 -1.69809239e-01 2.56559593e+02] [ 1.69854943e-01 2.22021336e-03 9.85466574e-01 3.49030195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.656875 meters 0.01375323935046639 Centerline is valid? [True, True] Translation: X:320.82, Y:256.62, Z:34.91 [[ 3.56466474e-02 -9.99354356e-01 -4.49311683e-03 3.20824054e+02] [ 9.84656008e-01 3.58901743e-02 -1.70776000e-01 2.56615771e+02] [ 1.70826998e-01 1.66341738e-03 9.85299634e-01 3.49107779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.716875 meters 0.013056220499705598 Centerline is valid? [True, True] Translation: X:320.84, Y:256.67, Z:34.92 [[ 2.80599489e-02 -9.99596360e-01 -4.44479926e-03 3.20835145e+02] [ 9.84864779e-01 2.84066967e-02 -1.70980781e-01 2.56673034e+02] [ 1.71038028e-01 4.20185733e-04 9.85264338e-01 3.49210411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.776875 meters 0.013109957834406811 Centerline is valid? [True, True] Translation: X:320.85, Y:256.73, Z:34.93 [[ 2.01322778e-02 -9.99787755e-01 -4.37452961e-03 3.20845826e+02] [ 9.85207965e-01 2.05830542e-02 -1.70122319e-01 2.56729545e+02] [ 1.70176253e-01 -8.84871635e-04 9.85413243e-01 3.49319554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.836875 meters 0.013419440541068722 Centerline is valid? [True, True] Translation: X:320.85, Y:256.79, Z:34.94 [[ 1.61887257e-02 -9.99859662e-01 -4.31052481e-03 3.20852374e+02] [ 9.85382265e-01 1.66852259e-02 -1.69538773e-01 2.56786709e+02] [ 1.69586902e-01 -1.50289801e-03 9.85514091e-01 3.49425166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.896875 meters 0.01390331313050514 Centerline is valid? [True, True] Translation: X:320.86, Y:256.84, Z:34.95 [[ 1.39133838e-02 -9.99894174e-01 -4.24951311e-03 3.20857531e+02] [ 9.85496642e-01 1.44316286e-02 -1.69080151e-01 2.56842142e+02] [ 1.69123585e-01 -1.83540387e-03 9.85593143e-01 3.49515108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.956875 meters 0.013757286339638703 Centerline is valid? [True, True] Translation: X:320.86, Y:256.90, Z:34.96 [[ 1.46665496e-02 -9.99883621e-01 -4.19951492e-03 3.20858600e+02] [ 9.85435898e-01 1.51659800e-02 -1.69369668e-01 2.56899191e+02] [ 1.69413647e-01 -1.65428411e-03 9.85543647e-01 3.49603340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.016875 meters 0.013517206237337258 Centerline is valid? [True, True] Translation: X:320.86, Y:256.95, Z:34.97 [[ 1.71519970e-02 -9.99844192e-01 -4.17136216e-03 3.20860939e+02] [ 9.85213579e-01 1.76120207e-02 -1.70423065e-01 2.56954641e+02] [ 1.70469978e-01 -1.18658675e-03 9.85362156e-01 3.49670212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07687500000003 meters 0.01284482049645996 Centerline is valid? [True, True] Translation: X:320.86, Y:257.01, Z:34.98 [[ 2.15237636e-02 -9.99759813e-01 -4.12838114e-03 3.20860405e+02] [ 9.85130059e-01 2.19124754e-02 -1.70407190e-01 2.57011208e+02] [ 1.70456724e-01 -3.99188282e-04 9.85365083e-01 3.49756215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13687500000003 meters 0.012825508704146912 Centerline is valid? [True, True] Translation: X:320.86, Y:257.07, Z:34.98 [[ 2.47092147e-02 -9.99686439e-01 -4.05943526e-03 3.20860673e+02] [ 9.85173819e-01 2.50396984e-02 -1.69722008e-01 2.57068181e+02] [ 1.69770436e-01 1.94448195e-04 9.85483618e-01 3.49849164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19687500000003 meters 0.012985776185065101 Centerline is valid? [True, True] Translation: X:320.86, Y:257.12, Z:34.99 [[ 2.90902044e-02 -9.99568790e-01 -3.99937761e-03 3.20861866e+02] [ 9.85114701e-01 2.93472360e-02 -1.69374632e-01 2.57123615e+02] [ 1.69418967e-01 9.87296999e-04 9.85543626e-01 3.49942442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25687500000004 meters 0.013032472124215209 Centerline is valid? [True, True] Translation: X:320.87, Y:257.18, Z:35.00 [[ 3.14416710e-02 -9.99497951e-01 -3.90746173e-03 3.20865265e+02] [ 9.85326850e-01 3.16515632e-02 -1.67717550e-01 2.57179857e+02] [ 1.67757025e-01 1.42319307e-03 9.85827346e-01 3.50044466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.316875 meters 0.013232137091923418 Centerline is valid? [True, True] Translation: X:320.87, Y:257.24, Z:35.01 [[ 3.25441289e-02 -9.99462985e-01 -3.82365818e-03 3.20867175e+02] [ 9.85515524e-01 3.27265660e-02 -1.66397488e-01 2.57236323e+02] [ 1.66433265e-01 1.64698681e-03 9.86051345e-01 3.50135766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.376875 meters 0.013500838109079939 Centerline is valid? [True, True] Translation: X:320.87, Y:257.29, Z:35.02 [[ 3.32110170e-02 -9.99441204e-01 -3.78270108e-03 3.20870825e+02] [ 9.85403044e-01 3.33763481e-02 -1.66933699e-01 2.57292774e+02] [ 1.66966670e-01 1.81655277e-03 9.85960867e-01 3.50220121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.436875 meters 0.013607749665876958 Centerline is valid? [True, True] Translation: X:320.87, Y:257.35, Z:35.03 [[ 3.31718972e-02 -9.99442708e-01 -3.72803770e-03 3.20873283e+02] [ 9.85421636e-01 3.33288403e-02 -1.66833415e-01 2.57349668e+02] [ 1.66864691e-01 1.86049188e-03 9.85978049e-01 3.50306485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.496875 meters 0.013654417553396254 Centerline is valid? [True, True] Translation: X:320.87, Y:257.41, Z:35.04 [[ 3.22315078e-02 -9.99473615e-01 -3.69100048e-03 3.20874936e+02] [ 9.85335206e-01 3.23942318e-02 -1.67526549e-01 2.57405924e+02] [ 1.67557933e-01 1.76276055e-03 9.85860655e-01 3.50369723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.556875 meters 0.012965817164928466 Centerline is valid? [True, True] Translation: X:320.88, Y:257.46, Z:35.05 [[ 2.98782547e-02 -9.99546865e-01 -3.65433066e-03 3.20879755e+02] [ 9.85270376e-01 3.00669526e-02 -1.68339729e-01 2.57462910e+02] [ 1.68373323e-01 1.42919355e-03 9.85722264e-01 3.50462388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.616875 meters 0.012816825208104576 Centerline is valid? [True, True] Translation: X:320.88, Y:257.52, Z:35.06 [[ 2.67741388e-02 -9.99635042e-01 -3.59549021e-03 3.20883826e+02] [ 9.85434973e-01 2.69976938e-02 -1.67895917e-01 2.57519085e+02] [ 1.67931712e-01 9.52146789e-04 9.85798171e-01 3.50565836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.676875 meters 0.012724066582822768 Centerline is valid? [True, True] Translation: X:320.89, Y:257.58, Z:35.07 [[ 2.32004738e-02 -9.99724667e-01 -3.51118018e-03 3.20887566e+02] [ 9.85769345e-01 2.34612407e-02 -1.66458307e-01 2.57575222e+02] [ 1.66494852e-01 4.00697800e-04 9.86042242e-01 3.50671630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.736875 meters 0.012688384111974364 Centerline is valid? [True, True] Translation: X:320.89, Y:257.63, Z:35.08 [[ 2.02147603e-02 -9.99789739e-01 -3.44108573e-03 3.20890320e+02] [ 9.85970966e-01 2.05055030e-02 -1.65652585e-01 2.57632054e+02] [ 1.65688316e-01 -4.41833203e-05 9.86178168e-01 3.50770609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.796875 meters 0.012811827194097816 Centerline is valid? [True, True] Translation: X:320.89, Y:257.69, Z:35.09 [[ 1.78509495e-02 -9.99834874e-01 -3.40128292e-03 3.20892806e+02] [ 9.85909061e-01 1.81680212e-02 -1.66292653e-01 2.57689004e+02] [ 1.66326989e-01 -3.84873897e-04 9.86070578e-01 3.50855418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.856875 meters 0.012708140165119787 Centerline is valid? [True, True] Translation: X:320.89, Y:257.75, Z:35.09 [[ 1.79149903e-02 -9.99833848e-01 -3.36591462e-03 3.20893783e+02] [ 9.85760989e-01 1.82255794e-02 -1.67161897e-01 2.57745979e+02] [ 1.67195469e-01 -3.23283565e-04 9.85923714e-01 3.50945130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.916875 meters 0.012676392356196626 Centerline is valid? [True, True] Translation: X:320.89, Y:257.80, Z:35.10 [[ 2.12472770e-02 -9.99768777e-01 -3.30857181e-03 3.20890361e+02] [ 9.85772807e-01 2.15015061e-02 -1.66702305e-01 2.57801319e+02] [ 1.66734899e-01 2.80469939e-04 9.86001722e-01 3.51033217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.976875 meters 0.012785489980110509 Centerline is valid? [True, True] Translation: X:320.89, Y:257.86, Z:35.11 [[ 2.58595944e-02 -9.99660349e-01 -3.23531379e-03 3.20885949e+02] [ 9.85934385e-01 2.60388318e-02 -1.65092000e-01 2.57856280e+02] [ 1.65120170e-01 1.07940505e-03 9.86272865e-01 3.51136003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.036875 meters 0.0130571143512185 Centerline is valid? [True, True] Translation: X:320.88, Y:257.91, Z:35.12 [[ 2.80669564e-02 -9.99600999e-01 -3.17642459e-03 3.20883360e+02] [ 9.85969058e-01 2.82070152e-02 -1.64527749e-01 2.57912831e+02] [ 1.64551700e-01 1.48593681e-03 9.86367340e-01 3.51229097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.096875 meters 0.013038100361626722 Centerline is valid? [True, True] Translation: X:320.88, Y:257.97, Z:35.13 [[ 2.97017530e-02 -9.99553891e-01 -3.13457575e-03 3.20881472e+02] [ 9.85839871e-01 2.98117337e-02 -1.65018210e-01 2.57970063e+02] [ 1.65038041e-01 1.81114034e-03 9.86285539e-01 3.51318462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.156875 meters 0.012738405973602903 Centerline is valid? [True, True] Translation: X:320.88, Y:258.03, Z:35.14 [[ 2.88417018e-02 -9.99579205e-01 -3.09354091e-03 3.20880832e+02] [ 9.85812309e-01 2.89561596e-02 -1.65334911e-01 2.58026765e+02] [ 1.65354916e-01 1.71888949e-03 9.86232628e-01 3.51406906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.216875 meters 0.012167209926677199 Centerline is valid? [True, True] Translation: X:320.88, Y:258.08, Z:35.15 [[ 2.71302524e-02 -9.99627211e-01 -3.06409812e-03 3.20882594e+02] [ 9.85650676e-01 2.72615379e-02 -1.66581975e-01 2.58084232e+02] [ 1.66603407e-01 1.49928064e-03 9.86022848e-01 3.51493232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.276875 meters 0.011907050399147492 Centerline is valid? [True, True] Translation: X:320.88, Y:258.14, Z:35.16 [[ 2.51802916e-02 -9.99678328e-01 -3.03202055e-03 3.20883372e+02] [ 9.85550693e-01 2.53323922e-02 -1.67475674e-01 2.58141630e+02] [ 1.67498611e-01 1.22887636e-03 9.85871546e-01 3.51565052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.336875 meters 0.011810525619652778 Centerline is valid? [True, True] Translation: X:320.88, Y:258.20, Z:35.16 [[ 2.29634957e-02 -9.99731738e-01 -3.02164125e-03 3.20884630e+02] [ 9.85230343e-01 2.31432022e-02 -1.69663089e-01 2.58197394e+02] [ 1.69687505e-01 9.19044980e-04 9.85497492e-01 3.51621509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.396875 meters 0.011617137495638311 Centerline is valid? [True, True] Translation: X:320.89, Y:258.25, Z:35.17 [[ 2.12821803e-02 -9.99769087e-01 -2.97349636e-03 3.20886717e+02] [ 9.85180539e-01 2.14777508e-02 -1.70170537e-01 2.58253721e+02] [ 1.70195106e-01 6.92169302e-04 9.85410141e-01 3.51711763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.456875 meters 0.011318827385076795 Centerline is valid? [True, True] Translation: X:320.89, Y:258.31, Z:35.18 [[ 1.81762014e-02 -9.99830534e-01 -2.92051055e-03 3.20890289e+02] [ 9.85251857e-01 1.84080853e-02 -1.70117371e-01 2.58310503e+02] [ 1.70142302e-01 2.14649138e-04 9.85419480e-01 3.51815016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.516875 meters 0.011158765873532135 Centerline is valid? [True, True] Translation: X:320.89, Y:258.37, Z:35.19 [[ 1.57289002e-02 -9.99872247e-01 -2.84448053e-03 3.20892177e+02] [ 9.85520619e-01 1.59833474e-02 -1.68800601e-01 2.58366808e+02] [ 1.68824500e-01 -1.48246413e-04 9.85646116e-01 3.51910701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57687500000003 meters 0.011170248945298032 Centerline is valid? [True, True] Translation: X:320.89, Y:258.42, Z:35.20 [[ 1.46599619e-02 -9.99888653e-01 -2.78709155e-03 3.20893750e+02] [ 9.85570062e-01 1.49200100e-02 -1.68609150e-01 2.58422804e+02] [ 1.68631959e-01 -2.75070279e-04 9.85679049e-01 3.52002220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63687500000003 meters 0.011273540814848172 Centerline is valid? [True, True] Translation: X:320.89, Y:258.48, Z:35.21 [[ 1.33306900e-02 -9.99907377e-01 -2.74409996e-03 3.20894382e+02] [ 9.85448863e-01 1.36028978e-02 -1.69426974e-01 2.58479648e+02] [ 1.69448609e-01 -4.45591714e-04 9.85538924e-01 3.52076807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69687500000003 meters 0.011694851595806457 Centerline is valid? [True, True] Translation: X:320.90, Y:258.54, Z:35.22 [[ 1.24822664e-02 -9.99918444e-01 -2.70140238e-03 3.20895874e+02] [ 9.85339892e-01 1.27598915e-02 -1.70124905e-01 2.58535305e+02] [ 1.70145500e-01 -5.38255153e-04 9.85418804e-01 3.52168925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75687500000004 meters 0.011614742916760934 Centerline is valid? [True, True] Translation: X:320.90, Y:258.59, Z:35.23 [[ 1.18014568e-02 -9.99926877e-01 -2.63931822e-03 3.20897227e+02] [ 9.85421561e-01 1.20781884e-02 -1.69701102e-01 2.58592094e+02] [ 1.69720571e-01 -5.98120863e-04 9.85492045e-01 3.52270327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.816875 meters 0.011666234871206856 Centerline is valid? [True, True] Translation: X:320.90, Y:258.65, Z:35.24 [[ 1.08663701e-02 -9.99937617e-01 -2.58536124e-03 3.20897932e+02] [ 9.85451581e-01 1.11474296e-02 -1.69590436e-01 2.58648838e+02] [ 1.69608677e-01 -7.04915866e-04 9.85511238e-01 3.52369619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.876875 meters 0.011600958288880928 Centerline is valid? [True, True] Translation: X:320.90, Y:258.71, Z:35.25 [[ 9.87220155e-03 -9.99948071e-01 -2.52864413e-03 3.20898204e+02] [ 9.85505936e-01 1.01578326e-02 -1.69336552e-01 2.58706282e+02] [ 1.69353444e-01 -8.20269232e-04 9.85555041e-01 3.52462965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.936875 meters 0.011625158324050663 Centerline is valid? [True, True] Translation: X:320.90, Y:258.76, Z:35.26 [[ 7.41927046e-03 -9.99969459e-01 -2.45676788e-03 3.20900237e+02] [ 9.85798703e-01 7.72627447e-03 -1.67753453e-01 2.58762852e+02] [ 1.67767312e-01 -1.17727035e-03 9.85825919e-01 3.52565719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.996875 meters 0.011833622611716667 Centerline is valid? [True, True] Translation: X:320.90, Y:258.82, Z:35.27 [[ 6.06901502e-03 -9.99978725e-01 -2.39112866e-03 3.20901323e+02] [ 9.85950331e-01 6.38300260e-03 -1.66916752e-01 2.58819353e+02] [ 1.66928464e-01 -1.34451382e-03 9.85968093e-01 3.52659708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.056875 meters 0.01153648895417022 Centerline is valid? [True, True] Translation: X:320.90, Y:258.88, Z:35.27 [[ 6.32141946e-03 -9.99977302e-01 -2.33145816e-03 3.20899235e+02] [ 9.86035714e-01 6.62125568e-03 -1.66402313e-01 2.58876537e+02] [ 1.66413973e-01 -1.24700219e-03 9.86055188e-01 3.52745385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.116875 meters 0.011431151835283452 Centerline is valid? [True, True] Translation: X:320.90, Y:258.93, Z:35.28 [[ 7.54951810e-03 -9.99968875e-01 -2.29212226e-03 3.20897133e+02] [ 9.85915616e-01 7.82635404e-03 -1.67060308e-01 2.58933637e+02] [ 1.67073047e-01 -9.98614309e-04 9.85944015e-01 3.52812551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.176875 meters 0.011275711912948952 Centerline is valid? [True, True] Translation: X:320.90, Y:258.99, Z:35.29 [[ 8.34426553e-03 -9.99962667e-01 -2.24438588e-03 3.20896203e+02] [ 9.85833921e-01 8.60232403e-03 -1.67503674e-01 2.58990720e+02] [ 1.67516727e-01 -8.14896602e-04 9.85868897e-01 3.52892780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.236875 meters 0.011233751383943436 Centerline is valid? [True, True] Translation: X:320.90, Y:259.05, Z:35.30 [[ 8.51428589e-03 -9.99961349e-01 -2.19250879e-03 3.20895542e+02] [ 9.85815480e-01 8.76132656e-03 -1.67603936e-01 2.59047076e+02] [ 1.67616668e-01 -7.34381270e-04 9.85851973e-01 3.52978508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.296875 meters 0.011074301396623886 Centerline is valid? [True, True] Translation: X:320.90, Y:259.10, Z:35.31 [[ 8.14922674e-03 -9.99964536e-01 -2.12537433e-03 3.20895228e+02] [ 9.86013433e-01 8.38932287e-03 -1.66454589e-01 2.59103668e+02] [ 1.66466516e-01 -7.39171455e-04 9.86046831e-01 3.53079203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.356875 meters 0.011116720890233077 Centerline is valid? [True, True] Translation: X:320.90, Y:259.16, Z:35.32 [[ 7.57659029e-03 -9.99969154e-01 -2.07055954e-03 3.20895513e+02] [ 9.86036869e-01 7.81546289e-03 -1.66343654e-01 2.59160123e+02] [ 1.66354705e-01 -7.81330335e-04 9.86065668e-01 3.53169364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.416875 meters 0.01120833865415539 Centerline is valid? [True, True] Translation: X:320.90, Y:259.22, Z:35.33 [[ 7.29262378e-03 -9.99971337e-01 -2.03546741e-03 3.20896763e+02] [ 9.85783547e-01 7.53082041e-03 -1.67851381e-01 2.59217037e+02] [ 1.67861899e-01 -7.82453307e-04 9.85810210e-01 3.53259211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.476875 meters 0.011344196367769987 Centerline is valid? [True, True] Translation: X:320.90, Y:259.27, Z:35.33 [[ 7.77775552e-03 -9.99967779e-01 -1.98682471e-03 3.20897155e+02] [ 9.85731596e-01 8.00109091e-03 -1.68134478e-01 2.59273198e+02] [ 1.68144958e-01 -6.50767026e-04 9.85762065e-01 3.53340484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.536875 meters 0.011228128386525899 Centerline is valid? [True, True] Translation: X:320.90, Y:259.33, Z:35.34 [[ 8.21208517e-03 -9.99964427e-01 -1.92521097e-03 3.20897350e+02] [ 9.85803838e-01 8.41864309e-03 -1.67689952e-01 2.59329618e+02] [ 1.67700194e-01 -5.20796201e-04 9.85837904e-01 3.53431133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.596875 meters 0.011247167232880155 Centerline is valid? [True, True] Translation: X:320.90, Y:259.39, Z:35.35 [[ 8.10865931e-03 -9.99965368e-01 -1.87411106e-03 3.20898342e+02] [ 9.85778075e-01 8.30818991e-03 -1.67846837e-01 2.59386149e+02] [ 1.67856594e-01 -4.86444774e-04 9.85811304e-01 3.53520520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.656875 meters 0.01145456790470464 Centerline is valid? [True, True] Translation: X:320.90, Y:259.44, Z:35.36 [[ 8.26465013e-03 -9.99964167e-01 -1.83316526e-03 3.20899971e+02] [ 9.85563118e-01 8.45562035e-03 -1.69097141e-01 2.59442152e+02] [ 1.69106582e-01 -4.09171364e-04 9.85597685e-01 3.53587282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.716875 meters 0.011529791579131116 Centerline is valid? [True, True] Translation: X:320.90, Y:259.50, Z:35.37 [[ 8.52943044e-03 -9.99962041e-01 -1.77891900e-03 3.20900773e+02] [ 9.85525250e-01 8.70747936e-03 -1.69304936e-01 2.59498039e+02] [ 1.69313999e-01 -3.09094913e-04 9.85562111e-01 3.53668124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.776875 meters 0.01138837981615222 Centerline is valid? [True, True] Translation: X:320.90, Y:259.55, Z:35.38 [[ 6.58532206e-03 -9.99976859e-01 -1.70710383e-03 3.20903548e+02] [ 9.85841272e-01 6.77825439e-03 -1.67544150e-01 2.59554498e+02] [ 1.67551844e-01 -5.79601226e-04 9.85863096e-01 3.53792243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.836875 meters 0.011460953628658229 Centerline is valid? [True, True] Translation: X:320.91, Y:259.61, Z:35.39 [[ 4.28295663e-03 -9.99989492e-01 -1.63457321e-03 3.20905957e+02] [ 9.86184707e-01 4.49449995e-03 -1.65588416e-01 2.59609757e+02] [ 1.65594022e-01 -9.02783101e-04 9.86193594e-01 3.53894247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.896875 meters 0.011374622942825902 Centerline is valid? [True, True] Translation: X:320.91, Y:259.67, Z:35.40 [[ 3.90378748e-03 -9.99991138e-01 -1.57590670e-03 3.20906192e+02] [ 9.86254161e-01 4.11047802e-03 -1.65184241e-01 2.59666011e+02] [ 1.65189255e-01 -9.09400368e-04 9.86261468e-01 3.53992496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.956875 meters 0.011475676705581504 Centerline is valid? [True, True] Translation: X:320.91, Y:259.72, Z:35.41 [[ 2.72972942e-03 -9.99995111e-01 -1.52507148e-03 3.20906480e+02] [ 9.86242106e-01 2.94425397e-03 -1.65281093e-01 2.59722437e+02] [ 1.65284775e-01 -1.05291704e-03 9.86245322e-01 3.54077539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.016875 meters 0.011786381710463138 Centerline is valid? [True, True] Translation: X:320.91, Y:259.78, Z:35.42 [[ 5.77274694e-04 -9.99998747e-01 -1.47419955e-03 3.20907933e+02] [ 9.86218913e-01 8.13217164e-04 -1.65443628e-01 2.59777806e+02] [ 1.65444619e-01 -1.35837706e-03 9.86218147e-01 3.54160773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07687500000003 meters 0.011748904390414072 Centerline is valid? [True, True] Translation: X:320.91, Y:259.84, Z:35.43 [[-9.15864874e-04 -9.99998579e-01 -1.41561031e-03 3.20906130e+02] [ 9.86313577e-01 -6.69926523e-04 -1.64878983e-01 2.59835135e+02] [ 1.64877800e-01 -1.54724254e-03 9.86312789e-01 3.54259246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13687500000003 meters 0.011765613624667673 Centerline is valid? [True, True] Translation: X:320.91, Y:259.89, Z:35.44 [[-1.28610217e-03 -9.99998250e-01 -1.35837889e-03 3.20905385e+02] [ 9.86506045e-01 -1.04635357e-03 -1.63721496e-01 2.59892069e+02] [ 1.63719788e-01 -1.55061156e-03 9.86505665e-01 3.54355994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19687500000003 meters 0.012048987069424979 Centerline is valid? [True, True] Translation: X:320.91, Y:259.95, Z:35.44 [[-1.95613386e-03 -9.99997233e-01 -1.30640047e-03 3.20906742e+02] [ 9.86486447e-01 -1.71567161e-03 -1.63833896e-01 2.59947893e+02] [ 1.63831202e-01 -1.60922739e-03 9.86487074e-01 3.54447767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25687500000004 meters 0.011969632771797594 Centerline is valid? [True, True] Translation: X:320.91, Y:260.00, Z:35.45 [[-1.69806979e-03 -9.99997783e-01 -1.24508330e-03 3.20905582e+02] [ 9.86634783e-01 -1.47250338e-03 -1.62940590e-01 2.60004386e+02] [ 1.62938396e-01 -1.50512698e-03 9.86635097e-01 3.54538970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.316875 meters 0.01166917886982889 Centerline is valid? [True, True] Translation: X:320.90, Y:260.06, Z:35.46 [[ 9.97560807e-04 -9.99998800e-01 -1.18534090e-03 3.20902913e+02] [ 9.86838542e-01 1.17610769e-03 -1.61704389e-01 2.60060503e+02] [ 1.61705589e-01 -1.00843013e-03 9.86838531e-01 3.54638131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.376875 meters 0.011508214474950545 Centerline is valid? [True, True] Translation: X:320.90, Y:260.12, Z:35.47 [[ 2.62249187e-03 -9.99995914e-01 -1.13802676e-03 3.20901545e+02] [ 9.86744782e-01 2.77239330e-03 -1.62256124e-01 2.60116535e+02] [ 1.62258616e-01 -6.97426600e-04 9.86748020e-01 3.54720343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.436875 meters 0.011491466476604584 Centerline is valid? [True, True] Translation: X:320.90, Y:260.17, Z:35.48 [[ 3.40134512e-03 -9.99993632e-01 -1.08056494e-03 3.20900120e+02] [ 9.86854656e-01 3.53124449e-03 -1.61571712e-01 2.60173658e+02] [ 1.61574499e-01 -5.16799388e-04 9.86860382e-01 3.54806304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.496875 meters 0.011468635651445194 Centerline is valid? [True, True] Translation: X:320.90, Y:260.23, Z:35.49 [[ 4.66943128e-03 -9.99988560e-01 -1.03770259e-03 3.20898373e+02] [ 9.86748599e-01 4.77591054e-03 -1.62186293e-01 2.60229508e+02] [ 1.62189393e-01 -2.66633830e-04 9.86759611e-01 3.54872968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.556875 meters 0.011452075451087887 Centerline is valid? [True, True] Translation: X:320.90, Y:260.29, Z:35.50 [[ 4.20950624e-03 -9.99990637e-01 -1.00263475e-03 3.20899307e+02] [ 9.86602441e-01 4.31666508e-03 -1.63085838e-01 2.60285571e+02] [ 1.63088639e-01 -3.02691039e-04 9.86611375e-01 3.54958617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.616875 meters 0.011595646992398663 Centerline is valid? [True, True] Translation: X:320.90, Y:260.34, Z:35.50 [[ 2.51613952e-03 -9.99996372e-01 -9.62255998e-04 3.20899944e+02] [ 9.86615790e-01 2.63935959e-03 -1.63040843e-01 2.60342247e+02] [ 1.63042791e-01 -5.39143455e-04 9.86618851e-01 3.55042473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.676875 meters 0.011814528391183203 Centerline is valid? [True, True] Translation: X:320.90, Y:260.40, Z:35.51 [[-4.28660476e-04 -9.99999496e-01 -9.08178447e-04 3.20901422e+02] [ 9.86683089e-01 -2.75233095e-04 -1.62654251e-01 2.60398275e+02] [ 1.62653919e-01 -9.65807764e-04 9.86682710e-01 3.55116285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.736875 meters 0.011979761224701294 Centerline is valid? [True, True] Translation: X:320.90, Y:260.45, Z:35.52 [[-2.20678196e-03 -9.99997202e-01 -8.52515783e-04 3.20902908e+02] [ 9.86744072e-01 -2.03919586e-03 -1.62271311e-01 2.60454914e+02] [ 1.62269118e-01 -1.19931230e-03 9.86745811e-01 3.55206186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.796875 meters 0.011996195848512817 Centerline is valid? [True, True] Translation: X:320.90, Y:260.51, Z:35.53 [[-3.53560692e-03 -9.99993432e-01 -7.97637160e-04 3.20904232e+02] [ 9.86868715e-01 -3.36039193e-03 -1.61489463e-01 2.60510397e+02] [ 1.61485722e-01 -1.35812642e-03 9.86874114e-01 3.55296110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.856875 meters 0.01191632776030881 Centerline is valid? [True, True] Translation: X:320.90, Y:260.57, Z:35.54 [[-4.19564549e-03 -9.99990924e-01 -7.41122684e-04 3.20904440e+02] [ 9.87002455e-01 -4.02208397e-03 -1.60654834e-01 2.60566633e+02] [ 1.60650395e-01 -1.40554064e-03 9.87010372e-01 3.55391289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.916875 meters 0.012229086883256298 Centerline is valid? [True, True] Translation: X:320.91, Y:260.62, Z:35.55 [[-7.04546274e-03 -9.99974940e-01 -6.93160629e-04 3.20907116e+02] [ 9.86840722e-01 -6.84094046e-03 -1.61550584e-01 2.60624443e+02] [ 1.61541794e-01 -1.82223776e-03 9.86864189e-01 3.55466185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.976875 meters 0.012824635469463913 Centerline is valid? [True, True] Translation: X:320.91, Y:260.68, Z:35.55 [[-9.44485483e-03 -9.99955181e-01 -6.57047408e-04 3.20909648e+02] [ 9.86366280e-01 -9.20854162e-03 -1.64306919e-01 2.60681817e+02] [ 1.64293504e-01 -2.19994440e-03 9.86409045e-01 3.55517022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.036875 meters 0.01264503652234237 Centerline is valid? [True, True] Translation: X:320.91, Y:260.74, Z:35.56 [[-9.63554944e-03 -9.99953391e-01 -6.09836313e-04 3.20909729e+02] [ 9.86259816e-01 -9.40301087e-03 -1.64933800e-01 2.60738225e+02] [ 1.64920379e-01 -2.19068484e-03 9.86304451e-01 3.55603186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.096875 meters 0.01224298832048099 Centerline is valid? [True, True] Translation: X:320.91, Y:260.79, Z:35.57 [[-7.63868572e-03 -9.99970672e-01 -5.52254990e-04 3.20909603e+02] [ 9.86551387e-01 -7.44600122e-03 -1.63281712e-01 2.60794661e+02] [ 1.63272811e-01 -1.79208560e-03 9.86579332e-01 3.55726066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.156875 meters 0.01178019577960138 Centerline is valid? [True, True] Translation: X:320.91, Y:260.85, Z:35.58 [[-5.20169560e-03 -9.99986345e-01 -5.02228275e-04 3.20905869e+02] [ 9.86799781e-01 -5.05180727e-03 -1.61866214e-01 2.60850867e+02] [ 1.61861467e-01 -1.33757753e-03 9.86812584e-01 3.55821506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.216875 meters 0.011484458284251393 Centerline is valid? [True, True] Translation: X:320.90, Y:260.91, Z:35.59 [[-2.19648219e-03 -9.99997488e-01 -4.47242529e-04 3.20903074e+02] [ 9.86994604e-01 -2.09603169e-03 -1.60739723e-01 2.60908450e+02] [ 1.60738381e-01 -7.94487901e-04 9.86996728e-01 3.55932241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.276875 meters 0.0114944493332438 Centerline is valid? [True, True] Translation: X:320.90, Y:260.96, Z:35.60 [[ 8.25350765e-04 -9.99999576e-01 -4.07297421e-04 3.20899497e+02] [ 9.86745926e-01 8.80504220e-04 -1.62270460e-01 2.60964069e+02] [ 1.62270750e-01 -2.67969022e-04 9.86746235e-01 3.56007468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.336875 meters 0.011473973859467563 Centerline is valid? [True, True] Translation: X:320.90, Y:261.02, Z:35.61 [[ 2.96488691e-03 -9.99995537e-01 -3.69089942e-04 3.20897127e+02] [ 9.86545695e-01 2.98534063e-03 -1.63458493e-01 2.61020502e+02] [ 1.63458865e-01 1.20511852e-04 9.86550143e-01 3.56087131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.396875 meters 0.011577620267053761 Centerline is valid? [True, True] Translation: X:320.89, Y:261.08, Z:35.62 [[ 4.41507889e-03 -9.99990202e-01 -3.19790682e-04 3.20894516e+02] [ 9.86361682e-01 4.40752404e-03 -1.64533296e-01 2.61076959e+02] [ 1.64533094e-01 4.10998209e-04 9.86371478e-01 3.56163821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.456875 meters 0.011759154953586483 Centerline is valid? [True, True] Translation: X:320.89, Y:261.13, Z:35.63 [[ 6.01152448e-03 -9.99981895e-01 -2.67526199e-04 3.20893229e+02] [ 9.86330085e-01 5.97351002e-03 -1.64673254e-01 2.61133032e+02] [ 1.64671870e-01 7.26068157e-04 9.86348137e-01 3.56262221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.516875 meters 0.011882993048289131 Centerline is valid? [True, True] Translation: X:320.89, Y:261.19, Z:35.64 [[ 6.17556491e-03 -9.99980908e-01 -2.13755494e-04 3.20892531e+02] [ 9.86399727e-01 6.12680184e-03 -1.64249932e-01 2.61188795e+02] [ 1.64248106e-01 8.03487758e-04 9.86418732e-01 3.56354857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57687500000003 meters 0.01200804732777129 Centerline is valid? [True, True] Translation: X:320.89, Y:261.25, Z:35.65 [[ 7.48745319e-03 -9.99971956e-01 -1.57301850e-04 3.20890390e+02] [ 9.86703615e-01 7.41364468e-03 -1.62360754e-01 2.61245031e+02] [ 1.62357367e-01 1.06045824e-03 9.86731453e-01 3.56471445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63687500000003 meters 0.012475313268300404 Centerline is valid? [True, True] Translation: X:320.89, Y:261.30, Z:35.66 [[ 9.36851984e-03 -9.99956109e-01 -1.04801606e-04 3.20887511e+02] [ 9.87112583e-01 9.26493346e-03 -1.59758913e-01 2.61301355e+02] [ 1.59752872e-01 1.39325356e-03 9.87156056e-01 3.56584774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69687500000003 meters 0.012306146182379256 Centerline is valid? [True, True] Translation: X:320.89, Y:261.36, Z:35.67 [[ 9.29382588e-03 -9.99956810e-01 -5.41771351e-05 3.20886456e+02] [ 9.87192607e-01 9.18382156e-03 -1.59268369e-01 2.61358937e+02] [ 1.59261988e-01 1.42672922e-03 9.87235323e-01 3.56675132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75687500000004 meters 0.012427340194971336 Centerline is valid? [True, True] Translation: X:320.88, Y:261.41, Z:35.67 [[ 8.04519749e-03 -9.99967637e-01 -7.57590749e-06 3.20883598e+02] [ 9.87072343e-01 7.94266173e-03 -1.60078431e-01 2.61414650e+02] [ 1.60073310e-01 1.28038462e-03 9.87104298e-01 3.56740759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.816875 meters 0.012085033034220437 Centerline is valid? [True, True] Translation: X:320.88, Y:261.47, Z:35.68 [[ 3.80822878e-03 -9.99992748e-01 3.33661102e-05 3.20883062e+02] [ 9.86889097e-01 3.75294286e-03 -1.61356208e-01 2.61471291e+02] [ 1.61354912e-01 6.47410005e-04 9.86896232e-01 3.56812690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.876875 meters 0.011983561845636813 Centerline is valid? [True, True] Translation: X:320.88, Y:261.53, Z:35.69 [[-1.25492345e-03 -9.99999209e-01 8.52436279e-05 3.20884318e+02] [ 9.86769084e-01 -1.25214096e-03 -1.62127130e-01 2.61528721e+02] [ 1.62127109e-01 -1.19341361e-04 9.86769875e-01 3.56895190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.936875 meters 0.012501300883337778 Centerline is valid? [True, True] Translation: X:320.89, Y:261.59, Z:35.70 [[-8.59113684e-03 -9.99963087e-01 1.31981856e-04 3.20885903e+02] [ 9.86766843e-01 -8.49913356e-03 -1.61922708e-01 2.61586303e+02] [ 1.61917852e-01 -1.26086482e-03 9.86803435e-01 3.56996372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.996875 meters 0.013044720473549487 Centerline is valid? [True, True] Translation: X:320.89, Y:261.64, Z:35.71 [[-1.31790664e-02 -9.99913137e-01 1.77140193e-04 3.20887227e+02] [ 9.86889136e-01 -1.30359067e-02 -1.60872302e-01 2.61643383e+02] [ 1.60860638e-01 -1.94532902e-03 9.86975213e-01 3.57102743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.056875 meters 0.013834194884037372 Centerline is valid? [True, True] Translation: X:320.89, Y:261.70, Z:35.72 [[-1.73043446e-02 -9.99850244e-01 2.20702806e-04 3.20885781e+02] [ 9.87043503e-01 -1.71179147e-02 -1.59537141e-01 2.61700327e+02] [ 1.59517027e-01 -2.54284239e-03 9.87191902e-01 3.57196474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.116875 meters 0.014010951521191901 Centerline is valid? [True, True] Translation: X:320.88, Y:261.76, Z:35.73 [[-1.77080827e-02 -9.99843164e-01 2.66886409e-04 3.20882593e+02] [ 9.87202006e-01 -1.75265074e-02 -1.58508739e-01 2.61755937e+02] [ 1.58488556e-01 -2.54341506e-03 9.87357538e-01 3.57299762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.176875 meters 0.013584113922320049 Centerline is valid? [True, True] Translation: X:320.88, Y:261.81, Z:35.74 [[-1.56132389e-02 -9.99878055e-01 3.18888975e-04 3.20878020e+02] [ 9.87294870e-01 -1.54671873e-02 -1.58144254e-01 2.61812918e+02] [ 1.58129901e-01 -2.15430658e-03 9.87415968e-01 3.57395568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.236875 meters 0.012594836530828032 Centerline is valid? [True, True] Translation: X:320.87, Y:261.87, Z:35.75 [[-9.08227869e-03 -9.99958687e-01 3.68970559e-04 3.20868970e+02] [ 9.87165051e-01 -9.02491262e-03 -1.59448150e-01 2.61870228e+02] [ 1.59444893e-01 -1.08391769e-03 9.87206235e-01 3.57489915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.296875 meters 0.012295210544509173 Centerline is valid? [True, True] Translation: X:320.86, Y:261.93, Z:35.76 [[-4.85893508e-03 -9.99988108e-01 4.17381137e-04 3.20862068e+02] [ 9.87012510e-01 -4.86290634e-03 -1.60569787e-01 2.61926784e+02] [ 1.60569907e-01 -3.68237767e-04 9.87024402e-01 3.57567503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.356875 meters 0.012446264569673059 Centerline is valid? [True, True] Translation: X:320.86, Y:261.98, Z:35.77 [[-7.04009062e-04 -9.99999640e-01 4.73133584e-04 3.20856045e+02] [ 9.86805166e-01 -7.71325290e-04 -1.61910372e-01 2.61983479e+02] [ 1.61910679e-01 3.52904296e-04 9.86805354e-01 3.57651964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.416875 meters 0.012554700668956675 Centerline is valid? [True, True] Translation: X:320.85, Y:262.04, Z:35.77 [[ 1.29801935e-03 -9.99999019e-01 5.26021690e-04 3.20851922e+02] [ 9.86770990e-01 1.19557251e-03 -1.62115959e-01 2.62039576e+02] [ 1.62115171e-01 7.29492596e-04 9.86771574e-01 3.57745713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.476875 meters 0.013076297613045027 Centerline is valid? [True, True] Translation: X:320.85, Y:262.10, Z:35.79 [[ 5.81951298e-03 -9.99982902e-01 5.74407541e-04 3.20845410e+02] [ 9.86906945e-01 5.65082470e-03 -1.61191654e-01 2.62096483e+02] [ 1.61185652e-01 1.50494371e-03 9.86922956e-01 3.57859627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.536875 meters 0.014032904184394747 Centerline is valid? [True, True] Translation: X:320.84, Y:262.15, Z:35.80 [[ 1.05514995e-02 -9.99944139e-01 6.20973113e-04 3.20839147e+02] [ 9.86851124e-01 1.03131708e-02 -1.61302505e-01 2.62153972e+02] [ 1.61287090e-01 2.31479132e-03 9.86904816e-01 3.57964567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.596875 meters 0.01491352230806425 Centerline is valid? [True, True] Translation: X:320.83, Y:262.21, Z:35.81 [[ 1.33892996e-02 -9.99910136e-01 6.68620782e-04 3.20834249e+02] [ 9.86760136e-01 1.31051181e-02 -1.61656086e-01 2.62211185e+02] [ 1.61632797e-01 2.82423010e-03 9.86846930e-01 3.58051722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.656875 meters 0.01552993913722285 Centerline is valid? [True, True] Translation: X:320.83, Y:262.27, Z:35.81 [[ 1.54351633e-02 -9.99880609e-01 7.22992727e-04 3.20831221e+02] [ 9.86434431e-01 1.51094009e-02 -1.63458920e-01 2.62268491e+02] [ 1.63428481e-01 3.23620005e-03 9.86549876e-01 3.58127203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.716875 meters 0.015581938196992879 Centerline is valid? [True, True] Translation: X:320.83, Y:262.32, Z:35.82 [[ 1.43758111e-02 -9.99896362e-01 7.75413604e-04 3.20831236e+02] [ 9.86248916e-01 1.40518984e-02 -1.64668212e-01 2.62324664e+02] [ 1.64640250e-01 3.13198994e-03 9.86348710e-01 3.58201743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.776875 meters 0.013928178001632029 Centerline is valid? [True, True] Translation: X:320.84, Y:262.38, Z:35.83 [[ 1.02408150e-02 -9.99947214e-01 8.33510376e-04 3.20836508e+02] [ 9.86173298e-01 9.96186686e-03 -1.65417615e-01 2.62382155e+02] [ 1.65400580e-01 2.51599687e-03 9.86223260e-01 3.58293727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.836875 meters 0.013157587388124063 Centerline is valid? [True, True] Translation: X:320.84, Y:262.44, Z:35.84 [[ 3.60133915e-03 -9.99993129e-01 8.78547434e-04 3.20842114e+02] [ 9.86291635e-01 3.40705452e-03 -1.64976372e-01 2.62438626e+02] [ 1.64972245e-01 1.46063985e-03 9.86297128e-01 3.58387719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.896875 meters 0.012513316091877853 Centerline is valid? [True, True] Translation: X:320.85, Y:262.50, Z:35.85 [[-5.50894855e-04 -9.99999423e-01 9.21793011e-04 3.20847746e+02] [ 9.86334308e-01 -6.95236732e-04 -1.64754815e-01 2.62495759e+02] [ 1.64755361e-01 8.18433492e-04 9.86334122e-01 3.58495242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.956875 meters 0.012308525595780028 Centerline is valid? [True, True] Translation: X:320.85, Y:262.55, Z:35.86 [[-4.68238128e-03 -9.99988568e-01 9.69019434e-04 3.20852456e+02] [ 9.86336626e-01 -4.77803021e-03 -1.64673101e-01 2.62553315e+02] [ 1.64675848e-01 1.84717116e-04 9.86347723e-01 3.58595817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.016875 meters 0.01236224949270781 Centerline is valid? [True, True] Translation: X:320.85, Y:262.61, Z:35.87 [[-5.21532752e-03 -9.99985879e-01 1.02042138e-03 3.20853309e+02] [ 9.86233276e-01 -5.31225432e-03 -1.65274633e-01 2.62609853e+02] [ 1.65277720e-01 1.44412183e-04 9.86247055e-01 3.58680210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07687500000003 meters 0.012377821600777937 Centerline is valid? [True, True] Translation: X:320.85, Y:262.67, Z:35.88 [[-4.43941963e-03 -9.99989568e-01 1.07446283e-03 3.20854678e+02] [ 9.86209008e-01 -4.55600437e-03 -1.65441938e-01 2.62667012e+02] [ 1.65445108e-01 3.25178729e-04 9.86218947e-01 3.58780250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13687500000003 meters 0.012519354359667414 Centerline is valid? [True, True] Translation: X:320.85, Y:262.72, Z:35.89 [[-1.53812990e-03 -9.99998183e-01 1.12656527e-03 3.20853545e+02] [ 9.86123214e-01 -1.70380567e-03 -1.66006339e-01 2.62723355e+02] [ 1.66007957e-01 8.55592848e-04 9.86124042e-01 3.58872074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19687500000003 meters 0.012665653045113015 Centerline is valid? [True, True] Translation: X:320.85, Y:262.78, Z:35.90 [[-2.08651696e-04 -9.99999273e-01 1.18801236e-03 3.20852240e+02] [ 9.85940074e-01 -4.04233797e-04 -1.67098797e-01 2.62779467e+02] [ 1.67099156e-01 1.13644354e-03 9.85939441e-01 3.58955895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25687500000004 meters 0.012598017913418396 Centerline is valid? [True, True] Translation: X:320.85, Y:262.84, Z:35.90 [[-6.87965738e-04 -9.99998992e-01 1.24217434e-03 3.20853746e+02] [ 9.85849161e-01 -8.86460094e-04 -1.67632474e-01 2.62836854e+02] [ 1.67633406e-01 1.10927113e-03 9.85848777e-01 3.59049441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.316875 meters 0.012360791667158491 Centerline is valid? [True, True] Translation: X:320.86, Y:262.89, Z:35.91 [[-3.41784281e-03 -9.99993328e-01 1.28928050e-03 3.20858171e+02] [ 9.85874306e-01 -3.58547541e-03 -1.67448492e-01 2.62894393e+02] [ 1.67451997e-01 6.98755892e-04 9.85879983e-01 3.59146292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.376875 meters 0.012339063039606238 Centerline is valid? [True, True] Translation: X:320.86, Y:262.95, Z:35.92 [[-4.83159770e-03 -9.99987437e-01 1.33488802e-03 3.20859091e+02] [ 9.85926112e-01 -4.98673045e-03 -1.67107252e-01 2.62952153e+02] [ 1.67111810e-01 5.08705942e-04 9.85937820e-01 3.59239437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.436875 meters 0.012314509858515264 Centerline is valid? [True, True] Translation: X:320.86, Y:263.01, Z:35.93 [[-6.50915617e-03 -9.99977866e-01 1.37759833e-03 3.20860016e+02] [ 9.86029455e-01 -6.64765203e-03 -1.66438342e-01 2.63008359e+02] [ 1.66443816e-01 2.74979368e-04 9.86050902e-01 3.59325634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.496875 meters 0.012468081810501162 Centerline is valid? [True, True] Translation: X:320.86, Y:263.06, Z:35.94 [[-6.62007848e-03 -9.99977055e-01 1.43647021e-03 3.20862193e+02] [ 9.85929612e-01 -6.76701163e-03 -1.67023974e-01 2.63064137e+02] [ 1.67029862e-01 3.10546699e-04 9.85951788e-01 3.59420647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.556875 meters 0.012636668481218704 Centerline is valid? [True, True] Translation: X:320.86, Y:263.12, Z:35.95 [[-5.27903197e-03 -9.99984953e-01 1.49170741e-03 3.20860343e+02] [ 9.85945956e-01 -5.45400092e-03 -1.66975524e-01 2.63120449e+02] [ 1.66981147e-01 5.89273763e-04 9.85959913e-01 3.59504181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.616875 meters 0.013095819920808374 Centerline is valid? [True, True] Translation: X:320.86, Y:263.18, Z:35.96 [[-1.82290949e-03 -9.99997129e-01 1.55509583e-03 3.20857089e+02] [ 9.85757892e-01 -2.05845526e-03 -1.68158086e-01 2.63178426e+02] [ 1.68160805e-01 1.22641102e-03 9.85758814e-01 3.59582432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.676875 meters 0.01352467086649799 Centerline is valid? [True, True] Translation: X:320.86, Y:263.24, Z:35.97 [[-1.91947454e-04 -9.99998690e-01 1.60699796e-03 3.20856102e+02] [ 9.85670681e-01 -4.60266728e-04 -1.68680456e-01 2.63235025e+02] [ 1.68680974e-01 1.55159299e-03 9.85669479e-01 3.59661350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.736875 meters 0.013558313451390669 Centerline is valid? [True, True] Translation: X:320.86, Y:263.29, Z:35.98 [[-7.54269707e-05 -9.99998625e-01 1.65651111e-03 3.20856809e+02] [ 9.85665075e-01 -3.53821951e-04 -1.68713469e-01 2.63291061e+02] [ 1.68713824e-01 1.62003960e-03 9.85663747e-01 3.59759431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.796875 meters 0.014121185167383938 Centerline is valid? [True, True] Translation: X:320.85, Y:263.35, Z:35.99 [[ 1.62478916e-03 -9.99997239e-01 1.69785602e-03 3.20854309e+02] [ 9.85821690e-01 1.31687087e-03 -1.67791125e-01 2.63346693e+02] [ 1.67788425e-01 1.94640849e-03 9.85821107e-01 3.59853039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.856875 meters 0.014116158574157779 Centerline is valid? [True, True] Translation: X:320.85, Y:263.40, Z:36.00 [[ 3.51209860e-03 -9.99992326e-01 1.73600605e-03 3.20854261e+02] [ 9.85842562e-01 3.17137028e-03 -1.67643626e-01 2.63404166e+02] [ 1.67636834e-01 2.30020960e-03 9.85846135e-01 3.59955185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.916875 meters 0.014790403721470648 Centerline is valid? [True, True] Translation: X:320.85, Y:263.46, Z:36.00 [[ 5.84589709e-03 -9.99981337e-01 1.77503243e-03 3.20851980e+02] [ 9.85964933e-01 5.46776438e-03 -1.66862981e-01 2.63461825e+02] [ 1.66850162e-01 2.72558355e-03 9.85978496e-01 3.60049147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.976875 meters 0.014888139852628669 Centerline is valid? [True, True] Translation: X:320.85, Y:263.52, Z:36.01 [[ 5.70298993e-03 -9.99982073e-01 1.82447532e-03 3.20851156e+02] [ 9.85936735e-01 5.31813257e-03 -1.67034346e-01 2.63518446e+02] [ 1.67021649e-01 2.75141243e-03 9.85949390e-01 3.60140332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.036875 meters 0.014998158622192325 Centerline is valid? [True, True] Translation: X:320.85, Y:263.57, Z:36.02 [[ 5.06317350e-03 -9.99985441e-01 1.86597007e-03 3.20850417e+02] [ 9.86106659e-01 4.68305789e-03 -1.66047358e-01 2.63574371e+02] [ 1.66036202e-01 2.68077210e-03 9.86116014e-01 3.60241930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.096875 meters 0.014895198771981354 Centerline is valid? [True, True] Translation: X:320.85, Y:263.63, Z:36.03 [[ 4.09880727e-03 -9.99989799e-01 1.89775607e-03 3.20849067e+02] [ 9.86399229e-01 3.73125001e-03 -1.64324798e-01 2.63630926e+02] [ 1.64316041e-01 2.54548080e-03 9.86404460e-01 3.60344729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.156875 meters 0.014322433111623862 Centerline is valid? [True, True] Translation: X:320.85, Y:263.69, Z:36.04 [[ 2.38494058e-03 -9.99995278e-01 1.93829017e-03 3.20849032e+02] [ 9.86552226e-01 2.03609621e-03 -1.63433657e-01 2.63687349e+02] [ 1.63428939e-01 2.30200404e-03 9.86552423e-01 3.60439261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.216875 meters 0.013591643919082096 Centerline is valid? [True, True] Translation: X:320.85, Y:263.75, Z:36.05 [[-1.66890647e-03 -9.99996624e-01 1.99147122e-03 3.20850642e+02] [ 9.86536109e-01 -1.97211182e-03 -1.63531700e-01 2.63745298e+02] [ 1.63535075e-01 1.69173916e-03 9.86536070e-01 3.60524360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.276875 meters 0.013129751948001863 Centerline is valid? [True, True] Translation: X:320.85, Y:263.80, Z:36.06 [[-5.56732198e-03 -9.99982415e-01 2.04304428e-03 3.20850579e+02] [ 9.86414390e-01 -5.82720120e-03 -1.64172760e-01 2.63800812e+02] [ 1.64181779e-01 1.10128566e-03 9.86429486e-01 3.60602008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.336875 meters 0.01259557703651907 Centerline is valid? [True, True] Translation: X:320.85, Y:263.86, Z:36.07 [[-1.12386984e-02 -9.99934623e-01 2.10743027e-03 3.20852098e+02] [ 9.86057646e-01 -1.14326082e-02 -1.66010884e-01 2.63857442e+02] [ 1.66024124e-01 2.12301481e-04 9.86121668e-01 3.60677446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.396875 meters 0.012816446632360893 Centerline is valid? [True, True] Translation: X:320.85, Y:263.92, Z:36.08 [[-1.73986463e-02 -9.99846251e-01 2.18198579e-03 3.20853322e+02] [ 9.85675455e-01 -1.75181202e-02 -1.67740912e-01 2.63915294e+02] [ 1.67753346e-01 -7.67734948e-04 9.85828700e-01 3.60754027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.456875 meters 0.013212378579501577 Centerline is valid? [True, True] Translation: X:320.85, Y:263.97, Z:36.08 [[-2.08113882e-02 -9.99780899e-01 2.24491326e-03 3.20852983e+02] [ 9.85405168e-01 -2.08914790e-02 -1.68938451e-01 2.63972685e+02] [ 1.68948336e-01 -1.30369455e-03 9.85624046e-01 3.60848934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.516875 meters 0.013431488220624874 Centerline is valid? [True, True] Translation: X:320.85, Y:264.03, Z:36.09 [[-2.40581475e-02 -9.99707874e-01 2.31779000e-03 3.20849496e+02] [ 9.85019436e-01 -2.41005481e-02 -1.70750911e-01 2.64030118e+02] [ 1.70756890e-01 -1.82488240e-03 9.85311501e-01 3.60935856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57687500000003 meters 0.013501862159081638 Centerline is valid? [True, True] Translation: X:320.85, Y:264.09, Z:36.10 [[-2.45293158e-02 -9.99696212e-01 2.40768474e-03 3.20845074e+02] [ 9.84498776e-01 -2.45746685e-02 -1.73661297e-01 2.64087804e+02] [ 1.73667709e-01 -1.88943011e-03 9.84802496e-01 3.61029951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63687500000003 meters 0.013744204990988452 Centerline is valid? [True, True] Translation: X:320.84, Y:264.14, Z:36.11 [[-2.39194724e-02 -9.99710805e-01 2.48298863e-03 3.20841799e+02] [ 9.84204983e-01 -2.39841173e-02 -1.75400437e-01 2.64144217e+02] [ 1.75409264e-01 -1.75171612e-03 9.84494043e-01 3.61103496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69687500000003 meters 0.013259500706932652 Centerline is valid? [True, True] Translation: X:320.83, Y:264.20, Z:36.12 [[-2.09559819e-02 -9.99777068e-01 2.58076582e-03 3.20834824e+02] [ 9.83719740e-01 -2.10800986e-02 -1.78468773e-01 2.64201479e+02] [ 1.78483390e-01 -1.20123810e-03 9.83942192e-01 3.61210244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75687500000004 meters 0.013120922791754187 Centerline is valid? [True, True] Translation: X:320.83, Y:264.26, Z:36.13 [[-1.78043008e-02 -9.99837921e-01 2.67188994e-03 3.20829872e+02] [ 9.83300672e-01 -1.79937678e-02 -1.81096694e-01 2.64258258e+02] [ 1.81115419e-01 -5.97028825e-04 9.83461666e-01 3.61306455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.816875 meters 0.013504660338277928 Centerline is valid? [True, True] Translation: X:320.82, Y:264.31, Z:36.14 [[-1.30205409e-02 -9.99911346e-01 2.78686406e-03 3.20823254e+02] [ 9.82626617e-01 -1.33114019e-02 -1.85115475e-01 2.64313784e+02] [ 1.85136160e-01 3.28143185e-04 9.82712824e-01 3.61407967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.876875 meters 0.014069189233875623 Centerline is valid? [True, True] Translation: X:320.82, Y:264.37, Z:36.15 [[-7.69925015e-03 -9.99966360e-01 2.82866017e-03 3.20815342e+02] [ 9.82712900e-01 -8.08961136e-03 -1.84959222e-01 2.64369014e+02] [ 1.84975883e-01 1.35571352e-03 9.82742125e-01 3.61534876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.936875 meters 0.0146976092848259 Centerline is valid? [True, True] Translation: X:320.81, Y:264.42, Z:36.17 [[-4.14344415e-03 -9.99987397e-01 2.83491372e-03 3.20809778e+02] [ 9.83286181e-01 -4.59022857e-03 -1.82008835e-01 2.64423368e+02] [ 1.82019554e-01 2.03338804e-03 9.83292808e-01 3.61681662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.996875 meters 0.014600129849990765 Centerline is valid? [True, True] Translation: X:320.80, Y:264.48, Z:36.19 [[ 1.72962414e-03 -9.99994698e-01 2.75902541e-03 3.20804778e+02] [ 9.84648557e-01 1.22150612e-03 -1.74544339e-01 2.64478164e+02] [ 1.74540044e-01 3.01856649e-03 9.84645450e-01 3.61930769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.056875 meters 0.01671658613551612 Centerline is valid? [True, True] Translation: X:320.80, Y:264.53, Z:36.21 [[ 9.21147714e-03 -9.99953904e-01 2.70910021e-03 3.20797190e+02] [ 9.85670539e-01 8.62350050e-03 -1.68461341e-01 2.64533581e+02] [ 1.68430214e-01 4.22205806e-03 9.85704539e-01 3.62119208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.116875 meters 0.018580869154162558 Centerline is valid? [True, True] Translation: X:320.79, Y:264.59, Z:36.23 [[ 1.42534474e-02 -9.99894763e-01 2.70206897e-03 3.20792121e+02] [ 9.86173097e-01 1.36115290e-02 -1.65158555e-01 2.64590329e+02] [ 1.65104395e-01 5.01878651e-03 9.86263327e-01 3.62254784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.176875 meters 0.02039433632628396 Centerline is valid? [True, True] Translation: X:320.79, Y:264.65, Z:36.24 [[ 1.85454969e-02 -9.99824339e-01 2.71219863e-03 3.20787591e+02] [ 9.86471473e-01 1.78557666e-02 -1.62957675e-01 2.64646661e+02] [ 1.62880621e-01 5.69763763e-03 9.86629333e-01 3.62373218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.236875 meters 0.02011319124938683 Centerline is valid? [True, True] Translation: X:320.79, Y:264.70, Z:36.25 [[ 1.83258556e-02 -9.99828342e-01 2.72941494e-03 3.20787835e+02] [ 9.86645383e-01 1.76421893e-02 -1.61924800e-01 2.64703065e+02] [ 1.61848852e-01 5.66037517e-03 9.86799326e-01 3.62472083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.296875 meters 0.020173545038162426 Centerline is valid? [True, True] Translation: X:320.79, Y:264.76, Z:36.26 [[ 1.69257708e-02 -9.99852901e-01 2.77391175e-03 3.20788177e+02] [ 9.86741783e-01 1.62558199e-02 -1.61481893e-01 2.64760386e+02] [ 1.61413047e-01 5.47034013e-03 9.86871777e-01 3.62570824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.356875 meters 0.01868232917158729 Centerline is valid? [True, True] Translation: X:320.79, Y:264.82, Z:36.26 [[ 1.38062555e-02 -9.99900670e-01 2.83492903e-03 3.20790054e+02] [ 9.86648352e-01 1.31630262e-02 -1.62332266e-01 2.64817777e+02] [ 1.62278826e-01 5.03827879e-03 9.86732080e-01 3.62639942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.416875 meters 0.018338692035076244 Centerline is valid? [True, True] Translation: X:320.79, Y:264.88, Z:36.27 [[ 1.15343665e-02 -9.99929225e-01 2.91602879e-03 3.20789900e+02] [ 9.86367793e-01 1.08991035e-02 -1.64194358e-01 2.64875527e+02] [ 1.64150955e-01 4.77015478e-03 9.86423697e-01 3.62708892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.476875 meters 0.016968636054981463 Centerline is valid? [True, True] Translation: X:320.79, Y:264.93, Z:36.28 [[ 8.08869822e-03 -9.99962677e-01 3.03620801e-03 3.20791997e+02] [ 9.85714735e-01 7.46256112e-03 -1.68258050e-01 2.64933869e+02] [ 1.68229112e-01 4.35382356e-03 9.85738307e-01 3.62768736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.536875 meters 0.016516361606753363 Centerline is valid? [True, True] Translation: X:320.79, Y:264.99, Z:36.28 [[ 5.53215408e-03 -9.99979820e-01 3.12342049e-03 3.20792058e+02] [ 9.85199226e-01 4.91519777e-03 -1.71342714e-01 2.64991258e+02] [ 1.71323904e-01 4.02508575e-03 9.85206536e-01 3.62838262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.596875 meters 0.0161767599508221 Centerline is valid? [True, True] Translation: X:320.79, Y:265.05, Z:36.29 [[ 1.77067804e-03 -9.99993184e-01 3.23998882e-03 3.20792382e+02] [ 9.84472072e-01 1.17445205e-03 -1.75537346e-01 2.65046964e+02] [ 1.75532344e-01 3.50049864e-03 9.84467441e-01 3.62909710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.656875 meters 0.014825388026480927 Centerline is valid? [True, True] Translation: X:320.79, Y:265.10, Z:36.30 [[-3.20356530e-04 -9.99994525e-01 3.29338729e-03 3.20794775e+02] [ 9.84380530e-01 -8.95163777e-04 -1.76051614e-01 2.65104007e+02] [ 1.76053598e-01 3.18554704e-03 9.84375428e-01 3.63038275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.716875 meters 0.014609132016493062 Centerline is valid? [True, True] Translation: X:320.79, Y:265.16, Z:36.32 [[-1.60940125e-03 -9.99993309e-01 3.28522728e-03 3.20792833e+02] [ 9.84920202e-01 -2.15347684e-03 -1.72995835e-01 2.65160866e+02] [ 1.73001752e-01 2.95726700e-03 9.84917077e-01 3.63190554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.776875 meters 0.014581938851345313 Centerline is valid? [True, True] Translation: X:320.79, Y:265.22, Z:36.33 [[-2.23117024e-03 -9.99992183e-01 3.26444832e-03 3.20789774e+02] [ 9.85521874e-01 -2.75229741e-03 -1.69525987e-01 2.65217156e+02] [ 1.69533646e-01 2.83894389e-03 9.85520311e-01 3.63323814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.836875 meters 0.014198209649571851 Centerline is valid? [True, True] Translation: X:320.79, Y:265.27, Z:36.35 [[-4.09541640e-03 -9.99986336e-01 3.24905235e-03 3.20786983e+02] [ 9.86066923e-01 -4.57868937e-03 -1.66286073e-01 2.65273777e+02] [ 1.66298677e-01 2.52277234e-03 9.86072201e-01 3.63462643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.896875 meters 0.01404182585338717 Centerline is valid? [True, True] Translation: X:320.78, Y:265.33, Z:36.36 [[-6.38173211e-03 -9.99974278e-01 3.27373943e-03 3.20782419e+02] [ 9.86247460e-01 -6.83474853e-03 -1.65133989e-01 2.65328940e+02] [ 1.65152116e-01 2.17487632e-03 9.86265709e-01 3.63573678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.956875 meters 0.013910633925392286 Centerline is valid? [True, True] Translation: X:320.78, Y:265.39, Z:36.37 [[-8.31056896e-03 -9.99959989e-01 3.30988350e-03 3.20777829e+02] [ 9.86276337e-01 -8.74257220e-03 -1.64871328e-01 2.65385067e+02] [ 1.64893668e-01 1.89428524e-03 9.86309531e-01 3.63662863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.016875 meters 0.013139183965092633 Centerline is valid? [True, True] Translation: X:320.77, Y:265.44, Z:36.37 [[-1.25088508e-02 -9.99915986e-01 3.39852392e-03 3.20773576e+02] [ 9.85930260e-01 -1.29003317e-02 -1.66658645e-01 2.65441747e+02] [ 1.66688485e-01 1.26599945e-03 9.86008796e-01 3.63735771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07687500000003 meters 0.012975974967525736 Centerline is valid? [True, True] Translation: X:320.77, Y:265.50, Z:36.38 [[-1.82601422e-02 -9.99827087e-01 3.51609553e-03 3.20770935e+02] [ 9.85321272e-01 -1.85919845e-02 -1.69694811e-01 2.65499128e+02] [ 1.69730840e-01 3.65832333e-04 9.85490390e-01 3.63798007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13687500000003 meters 0.013189371292463526 Centerline is valid? [True, True] Translation: X:320.77, Y:265.55, Z:36.39 [[-2.30507601e-02 -9.99727822e-01 3.59783090e-03 3.20769379e+02] [ 9.84996958e-01 -2.33264632e-02 -1.70987920e-01 2.65554845e+02] [ 1.71025306e-01 -3.97549042e-04 9.85266556e-01 3.63884693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19687500000003 meters 0.013838070192148668 Centerline is valid? [True, True] Translation: X:320.77, Y:265.61, Z:36.40 [[-2.99197692e-02 -9.99545689e-01 3.63632414e-03 3.20768153e+02] [ 9.84952698e-01 -3.01020714e-02 -1.70182398e-01 2.65611964e+02] [ 1.70214543e-01 -1.51021078e-03 9.85405870e-01 3.64009305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25687500000004 meters 0.014204621460373814 Centerline is valid? [True, True] Translation: X:320.77, Y:265.67, Z:36.41 [[-3.55420646e-02 -9.99361632e-01 3.61811967e-03 3.20765253e+02] [ 9.85282600e-01 -3.56465930e-02 -1.67175114e-01 2.65668899e+02] [ 1.67197368e-01 -2.37687834e-03 9.85920580e-01 3.64132522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.316875 meters 0.014511248829650946 Centerline is valid? [True, True] Translation: X:320.76, Y:265.73, Z:36.42 [[-3.78303069e-02 -9.99277518e-01 3.64819683e-03 3.20762102e+02] [ 9.85334272e-01 -3.79098402e-02 -1.66370719e-01 2.65726047e+02] [ 1.66388822e-01 -2.69916200e-03 9.86056527e-01 3.64232487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.376875 meters 0.015041079520045407 Centerline is valid? [True, True] Translation: X:320.76, Y:265.78, Z:36.43 [[-3.76877333e-02 -9.99282747e-01 3.69150395e-03 3.20758249e+02] [ 9.85376061e-01 -3.77770414e-02 -1.66153281e-01 2.65782159e+02] [ 1.66173562e-01 -2.62442093e-03 9.86093028e-01 3.64312339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.436875 meters 0.014144614371691124 Centerline is valid? [True, True] Translation: X:320.75, Y:265.84, Z:36.44 [[-3.59729053e-02 -9.99345817e-01 3.72668269e-03 3.20751716e+02] [ 9.85588523e-01 -3.60939845e-02 -1.65264904e-01 2.65838790e+02] [ 1.65291301e-01 -2.27208306e-03 9.86242173e-01 3.64413165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.496875 meters 0.01327437975862956 Centerline is valid? [True, True] Translation: X:320.74, Y:265.90, Z:36.45 [[-3.12430593e-02 -9.99504727e-01 3.76448482e-03 3.20743537e+02] [ 9.85812229e-01 -3.14360546e-02 -1.64881850e-01 2.65896063e+02] [ 1.64918529e-01 -1.44033826e-03 9.86306141e-01 3.64502478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.556875 meters 0.012704407516628399 Centerline is valid? [True, True] Translation: X:320.74, Y:265.95, Z:36.46 [[-2.71415732e-02 -9.99624102e-01 3.87159811e-03 3.20737151e+02] [ 9.85496834e-01 -2.74065976e-02 -1.67466021e-01 2.65953754e+02] [ 1.67509178e-01 -7.29843576e-04 9.85870246e-01 3.64579395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.616875 meters 0.012776640204074992 Centerline is valid? [True, True] Translation: X:320.73, Y:266.01, Z:36.46 [[-1.98879719e-02 -9.99794121e-01 4.02288504e-03 3.20726781e+02] [ 9.84925719e-01 -2.02834202e-02 -1.71784490e-01 2.66010360e+02] [ 1.71830721e-01 5.45797840e-04 9.85126340e-01 3.64635522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.676875 meters 0.013415495011011788 Centerline is valid? [True, True] Translation: X:320.72, Y:266.07, Z:36.47 [[-1.30832053e-02 -9.99906086e-01 4.08033746e-03 3.20716450e+02] [ 9.85002734e-01 -1.35900983e-02 -1.72002683e-01 2.66067161e+02] [ 1.72041982e-01 1.76879714e-03 9.85088031e-01 3.64734844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.736875 meters 0.014053024311527643 Centerline is valid? [True, True] Translation: X:320.71, Y:266.12, Z:36.49 [[-9.15915864e-03 -9.99949906e-01 4.03672191e-03 3.20709030e+02] [ 9.85710011e-01 -9.70762082e-03 -1.68171149e-01 2.66122627e+02] [ 1.68201912e-01 2.43873096e-03 9.85749547e-01 3.64873355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.796875 meters 0.014099330747500837 Centerline is valid? [True, True] Translation: X:320.71, Y:266.18, Z:36.50 [[-7.47337773e-03 -9.99963945e-01 4.03203943e-03 3.20705417e+02] [ 9.86127126e-01 -8.03849073e-03 -1.65797088e-01 2.66179344e+02] [ 1.65823521e-01 2.73703919e-03 9.86151646e-01 3.64996377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.856875 meters 0.015097775208992114 Centerline is valid? [True, True] Translation: X:320.70, Y:266.24, Z:36.51 [[-5.05554583e-03 -9.99979171e-01 4.01239983e-03 3.20697162e+02] [ 9.86603749e-01 -5.64210942e-03 -1.63037447e-01 2.66235580e+02] [ 1.63056690e-01 3.13440543e-03 9.86611723e-01 3.65107539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.916875 meters 0.016615964499095998 Centerline is valid? [True, True] Translation: X:320.69, Y:266.29, Z:36.52 [[-3.43052685e-03 -9.99986080e-01 4.00884537e-03 3.20690285e+02] [ 9.86962824e-01 -4.03087341e-03 -1.60897907e-01 2.66291858e+02] [ 1.60911827e-01 3.40461675e-03 9.86962914e-01 3.65213586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.976875 meters 0.01659485170028615 Centerline is valid? [True, True] Translation: X:320.68, Y:266.35, Z:36.53 [[-1.18843483e-03 -9.99991268e-01 4.00636442e-03 3.20684292e+02] [ 9.87291500e-01 -1.80999663e-03 -1.58909462e-01 2.66348564e+02] [ 1.58915326e-01 3.76659600e-03 9.87285031e-01 3.65307555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.036875 meters 0.016921459921815867 Centerline is valid? [True, True] Translation: X:320.68, Y:266.41, Z:36.54 [[ 3.87389424e-04 -9.99991333e-01 4.14530884e-03 3.20677251e+02] [ 9.86720691e-01 -2.91063134e-04 -1.62425961e-01 2.66406401e+02] [ 1.62425760e-01 4.15318411e-03 9.86712027e-01 3.65359076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.096875 meters 0.01627310254145987 Centerline is valid? [True, True] Translation: X:320.67, Y:266.46, Z:36.54 [[-2.55647407e-04 -9.99990964e-01 4.24342437e-03 3.20674276e+02] [ 9.86393369e-01 -9.49794636e-04 -1.64399572e-01 2.66463607e+02] [ 1.64402116e-01 4.14365734e-03 9.86384699e-01 3.65429454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.156875 meters 0.01737040337612679 Centerline is valid? [True, True] Translation: X:320.67, Y:266.52, Z:36.55 [[-9.34644222e-04 -9.99990341e-01 4.29457632e-03 3.20666602e+02] [ 9.86372768e-01 -1.62845764e-03 -1.64517814e-01 2.66518688e+02] [ 1.64523218e-01 4.08228751e-03 9.86364763e-01 3.65519058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.216875 meters 0.0163132598189175 Centerline is valid? [True, True] Translation: X:320.67, Y:266.58, Z:36.56 [[-1.48549448e-03 -9.99989554e-01 4.32254479e-03 3.20665351e+02] [ 9.86543926e-01 -2.17218649e-03 -1.63481997e-01 2.66576002e+02] [ 1.63489678e-01 4.02152870e-03 9.86536848e-01 3.65626905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.276875 meters 0.01688914687926353 Centerline is valid? [True, True] Translation: X:320.66, Y:266.63, Z:36.57 [[-3.09226397e-03 -9.99985866e-01 4.32495248e-03 3.20659260e+02] [ 9.86810916e-01 -3.75145586e-03 -1.61833687e-01 2.66632056e+02] [ 1.61847624e-01 3.76747784e-03 9.86808569e-01 3.65730296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.336875 meters 0.0159500285007354 Centerline is valid? [True, True] Translation: X:320.66, Y:266.69, Z:36.58 [[-5.09798623e-03 -9.99977477e-01 4.36539345e-03 3.20658232e+02] [ 9.86834021e-01 -5.73659357e-03 -1.61634486e-01 2.66688974e+02] [ 1.61655888e-01 3.48390839e-03 9.86841039e-01 3.65825999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.396875 meters 0.01458203043425755 Centerline is valid? [True, True] Translation: X:320.66, Y:266.75, Z:36.59 [[-8.18264006e-03 -9.99956793e-01 4.41098500e-03 3.20658039e+02] [ 9.86811379e-01 -8.78807430e-03 -1.61635615e-01 2.66745817e+02] [ 1.61667395e-01 3.03020413e-03 9.86840651e-01 3.65931866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.456875 meters 0.01497756799454507 Centerline is valid? [True, True] Translation: X:320.65, Y:266.80, Z:36.60 [[-9.99728420e-03 -9.99940340e-01 4.40112360e-03 3.20654215e+02] [ 9.87125814e-01 -1.05716095e-02 -1.59595956e-01 2.66801415e+02] [ 1.59632962e-01 2.74893658e-03 9.87172609e-01 3.66033251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.516875 meters 0.014205514603778495 Centerline is valid? [True, True] Translation: X:320.65, Y:266.86, Z:36.61 [[-1.11078904e-02 -9.99928308e-01 4.47151339e-03 3.20653851e+02] [ 9.87020068e-01 -1.16807576e-02 -1.60171611e-01 2.66859473e+02] [ 1.60212358e-01 2.63430476e-03 9.87079055e-01 3.66113186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57687500000003 meters 0.014413308839867679 Centerline is valid? [True, True] Translation: X:320.65, Y:266.92, Z:36.62 [[-1.27473426e-02 -9.99907855e-01 4.66767543e-03 3.20652671e+02] [ 9.86114691e-01 -1.33442056e-02 -1.65528694e-01 2.66915718e+02] [ 1.65575728e-01 2.49281235e-03 9.86193928e-01 3.66160642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63687500000003 meters 0.013664968159673496 Centerline is valid? [True, True] Translation: X:320.65, Y:266.97, Z:36.62 [[-1.43296040e-02 -9.99885910e-01 4.77811086e-03 3.20653087e+02] [ 9.85770124e-01 -1.49274209e-02 -1.67434865e-01 2.66972959e+02] [ 1.67487087e-01 2.31084363e-03 9.85871562e-01 3.66248130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69687500000003 meters 0.013532349463388075 Centerline is valid? [True, True] Translation: X:320.65, Y:267.03, Z:36.64 [[-1.56472486e-02 -9.99866179e-01 4.77371921e-03 3.20652268e+02] [ 9.86054705e-01 -1.62218804e-02 -1.65629010e-01 2.67029075e+02] [ 1.65684284e-01 2.11550998e-03 9.86176578e-01 3.66371974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75687500000004 meters 0.013776851076682733 Centerline is valid? [True, True] Translation: X:320.65, Y:267.09, Z:36.65 [[-1.52482915e-02 -9.99872395e-01 4.76260918e-03 3.20651903e+02] [ 9.86423296e-01 -1.58217789e-02 -1.63458721e-01 2.67085300e+02] [ 1.63513215e-01 2.20548241e-03 9.86538679e-01 3.66502914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.816875 meters 0.013877138094277179 Centerline is valid? [True, True] Translation: X:320.65, Y:267.14, Z:36.66 [[-1.40027605e-02 -9.99890581e-01 4.76955400e-03 3.20650463e+02] [ 9.86691763e-01 -1.45904148e-02 -1.61945933e-01 2.67142851e+02] [ 1.61997803e-01 2.43838952e-03 9.86788106e-01 3.66609597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.876875 meters 0.014894250409935868 Centerline is valid? [True, True] Translation: X:320.65, Y:267.20, Z:36.67 [[-1.06964810e-02 -9.99931297e-01 4.79440087e-03 3.20646192e+02] [ 9.86855183e-01 -1.13295589e-02 -1.61209454e-01 2.67200377e+02] [ 1.61252697e-01 3.00700547e-03 9.86908570e-01 3.66702030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.936875 meters 0.016072090704714596 Centerline is valid? [True, True] Translation: X:320.64, Y:267.26, Z:36.68 [[-8.61089313e-03 -9.99951116e-01 4.85982745e-03 3.20642584e+02] [ 9.86770868e-01 -9.28402000e-03 -1.61855062e-01 2.67256917e+02] [ 1.61892269e-01 3.40181951e-03 9.86802574e-01 3.66782673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.996875 meters 0.015980860334075163 Centerline is valid? [True, True] Translation: X:320.64, Y:267.31, Z:36.69 [[-6.96937683e-03 -9.99963224e-01 4.99785775e-03 3.20642550e+02] [ 9.86216990e-01 -7.69963613e-03 -1.65277839e-01 2.67314626e+02] [ 1.65310242e-01 3.77708868e-03 9.86234383e-01 3.66850839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.056875 meters 0.015765113513649464 Centerline is valid? [True, True] Translation: X:320.64, Y:267.37, Z:36.69 [[-6.98785891e-03 -9.99962582e-01 5.09942325e-03 3.20642240e+02] [ 9.85919146e-01 -7.74157868e-03 -1.67043422e-01 2.67372095e+02] [ 1.67076649e-01 3.86034315e-03 9.85936352e-01 3.66932505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.116875 meters 0.016663186449743076 Centerline is valid? [True, True] Translation: X:320.64, Y:267.43, Z:36.70 [[-8.41937118e-03 -9.99951208e-01 5.16677598e-03 3.20639846e+02] [ 9.85805543e-01 -9.16647202e-03 -1.67640709e-01 2.67427898e+02] [ 1.67679891e-01 3.68200704e-03 9.85834620e-01 3.67016426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.176875 meters 0.014995707899621782 Centerline is valid? [True, True] Translation: X:320.64, Y:267.48, Z:36.71 [[-1.17331366e-02 -9.99917886e-01 5.15310080e-03 3.20643999e+02] [ 9.86146128e-01 -1.24239972e-02 -1.65412992e-01 2.67484330e+02] [ 1.65463431e-01 3.14089718e-03 9.86210925e-01 3.67149960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.236875 meters 0.014485842826105868 Centerline is valid? [True, True] Translation: X:320.65, Y:267.54, Z:36.73 [[-1.47632288e-02 -9.99877703e-01 5.15997823e-03 3.20645739e+02] [ 9.86316287e-01 -1.54100686e-02 -1.64142351e-01 2.67541123e+02] [ 1.64201793e-01 2.66609949e-03 9.86423166e-01 3.67263769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.296875 meters 0.01396916763127596 Centerline is valid? [True, True] Translation: X:320.65, Y:267.60, Z:36.74 [[-1.76132639e-02 -9.99831434e-01 5.18423842e-03 3.20647080e+02] [ 9.86380351e-01 -1.82239050e-02 -1.63467709e-01 2.67598692e+02] [ 1.63534631e-01 2.23443100e-03 9.86535064e-01 3.67368493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.356875 meters 0.013793897327220674 Centerline is valid? [True, True] Translation: X:320.65, Y:267.66, Z:36.75 [[-1.82673824e-02 -9.99819342e-01 5.25222270e-03 3.20647280e+02] [ 9.86250316e-01 -1.88819122e-02 -1.64176089e-01 2.67655669e+02] [ 1.64245601e-01 2.18093890e-03 9.86417065e-01 3.67453034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.416875 meters 0.013399327259760941 Centerline is valid? [True, True] Translation: X:320.65, Y:267.71, Z:36.75 [[-1.85601781e-02 -9.99813124e-01 5.40715380e-03 3.20649367e+02] [ 9.85708531e-01 -1.92034647e-02 -1.67361640e-01 2.67713181e+02] [ 1.67434200e-01 2.22361579e-03 9.85880745e-01 3.67537053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.476875 meters 0.013837618704153395 Centerline is valid? [True, True] Translation: X:320.65, Y:267.77, Z:36.76 [[-1.86191888e-02 -9.99811424e-01 5.51736760e-03 3.20648343e+02] [ 9.85377778e-01 -1.92846007e-02 -1.69288923e-01 2.67769658e+02] [ 1.69363400e-01 2.28466900e-03 9.85551023e-01 3.67614360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.536875 meters 0.014395904739613798 Centerline is valid? [True, True] Translation: X:320.65, Y:267.83, Z:36.77 [[-1.75551773e-02 -9.99830443e-01 5.55882112e-03 3.20646616e+02] [ 9.85450993e-01 -1.82421784e-02 -1.68977997e-01 2.67826319e+02] [ 1.69050750e-01 2.51150710e-03 9.85604148e-01 3.67724095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.596875 meters 0.01458885163572782 Centerline is valid? [True, True] Translation: X:320.64, Y:267.88, Z:36.78 [[-1.68957019e-02 -9.99841913e-01 5.53932881e-03 3.20644795e+02] [ 9.85834550e-01 -1.75830870e-02 -1.66796507e-01 2.67882497e+02] [ 1.66867537e-01 2.64271767e-03 9.85975781e-01 3.67848662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.656875 meters 0.015103235717589298 Centerline is valid? [True, True] Translation: X:320.64, Y:267.94, Z:36.80 [[-1.60618780e-02 -9.99855824e-01 5.50874886e-03 3.20643230e+02] [ 9.86265677e-01 -1.67488650e-02 -1.64315213e-01 2.67938846e+02] [ 1.64383789e-01 2.79387901e-03 9.86392500e-01 3.67964312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.716875 meters 0.01489251828160755 Centerline is valid? [True, True] Translation: X:320.64, Y:268.00, Z:36.81 [[-1.69501494e-02 -9.99840807e-01 5.57248420e-03 3.20642490e+02] [ 9.86195545e-01 -1.76364397e-02 -1.64642957e-01 2.67996552e+02] [ 1.64715025e-01 2.70483637e-03 9.86337490e-01 3.68059045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.776875 meters 0.015316250181971728 Centerline is valid? [True, True] Translation: X:320.64, Y:268.05, Z:36.81 [[-1.82171598e-02 -9.99817650e-01 5.72730799e-03 3.20639736e+02] [ 9.85647363e-01 -1.89199228e-02 -1.67753726e-01 2.68052569e+02] [ 1.67831497e-01 2.58910957e-03 9.85812297e-01 3.68108125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.836875 meters 0.014583956830054394 Centerline is valid? [True, True] Translation: X:320.64, Y:268.11, Z:36.82 [[-1.92757079e-02 -9.99797067e-01 5.85427666e-03 3.20640085e+02] [ 9.85276623e-01 -1.99899885e-02 -1.69795102e-01 2.68109919e+02] [ 1.69877672e-01 2.49516116e-03 9.85461999e-01 3.68195536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.896875 meters 0.014892574458799318 Centerline is valid? [True, True] Translation: X:320.64, Y:268.17, Z:36.83 [[-1.94915249e-02 -9.99792368e-01 5.94148427e-03 3.20637412e+02] [ 9.85085362e-01 -2.02202602e-02 -1.70874136e-01 2.68167289e+02] [ 1.70958795e-01 2.52227171e-03 9.85274951e-01 3.68283948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.956875 meters 0.015254928961937007 Centerline is valid? [True, True] Translation: X:320.63, Y:268.22, Z:36.84 [[-1.94139916e-02 -9.99793755e-01 5.96186951e-03 3.20633176e+02] [ 9.85226249e-01 -2.01452572e-02 -1.70068828e-01 2.68222563e+02] [ 1.70153856e-01 2.57207553e-03 9.85414151e-01 3.68375014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.016875 meters 0.014803356097619735 Centerline is valid? [True, True] Translation: X:320.63, Y:268.28, Z:36.85 [[-2.16757784e-02 -9.99747459e-01 5.93112436e-03 3.20632686e+02] [ 9.85531383e-01 -2.23643025e-02 -1.68011102e-01 2.68280051e+02] [ 1.68101318e-01 2.20353777e-03 9.85767260e-01 3.68494520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07687500000003 meters 0.014262156740609249 Centerline is valid? [True, True] Translation: X:320.63, Y:268.34, Z:36.86 [[-2.43942312e-02 -9.99684956e-01 5.90844593e-03 3.20632102e+02] [ 9.85785343e-01 -2.50369553e-02 -1.66133708e-01 2.68337648e+02] [ 1.66229298e-01 1.77175532e-03 9.86085535e-01 3.68605358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13687500000003 meters 0.014172289316134134 Centerline is valid? [True, True] Translation: X:320.63, Y:268.39, Z:36.87 [[-2.57493500e-02 -9.99650953e-01 5.91124495e-03 3.20630141e+02] [ 9.85945164e-01 -2.63718581e-02 -1.64974724e-01 2.68393045e+02] [ 1.65073031e-01 1.58017145e-03 9.86280081e-01 3.68697223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19687500000003 meters 0.013743392555550746 Centerline is valid? [True, True] Translation: X:320.63, Y:268.45, Z:36.88 [[-2.97507358e-02 -9.99539841e-01 5.91602256e-03 3.20629841e+02] [ 9.85998290e-01 -3.03182124e-02 -1.63976148e-01 2.68450888e+02] [ 1.64080056e-01 9.54777068e-04 9.86446564e-01 3.68785137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25687500000004 meters 0.013443379357773138 Centerline is valid? [True, True] Translation: X:320.63, Y:268.51, Z:36.89 [[-3.46047675e-02 -9.99382759e-01 6.05071870e-03 3.20631030e+02] [ 9.85438499e-01 -3.51291737e-02 -1.66363778e-01 2.68508908e+02] [ 1.66473649e-01 2.05631280e-04 9.86045882e-01 3.68854251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.316875 meters 0.013623803310670602 Centerline is valid? [True, True] Translation: X:320.63, Y:268.57, Z:36.89 [[-3.84269936e-02 -9.99242254e-01 6.18734047e-03 3.20631958e+02] [ 9.84887327e-01 -3.89199673e-02 -1.68766671e-01 2.68565580e+02] [ 1.68879600e-01 -3.91362571e-04 9.85636610e-01 3.68914112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.376875 meters 0.01389362111036238 Centerline is valid? [True, True] Translation: X:320.63, Y:268.62, Z:36.90 [[-4.38777065e-02 -9.99017457e-01 6.23436036e-03 3.20634174e+02] [ 9.84610350e-01 -4.42999274e-02 -1.69056131e-01 2.68622477e+02] [ 1.69166208e-01 -1.27937956e-03 9.85586707e-01 3.69019865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.436875 meters 0.014045330665298028 Centerline is valid? [True, True] Translation: X:320.63, Y:268.68, Z:36.91 [[-4.76053062e-02 -9.98847245e-01 6.15761061e-03 3.20634524e+02] [ 9.85006307e-01 -4.79672346e-02 -1.65715779e-01 2.68679357e+02] [ 1.65820113e-01 -1.82366512e-03 9.86154331e-01 3.69149483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.496875 meters 0.014091359756370544 Centerline is valid? [True, True] Translation: X:320.63, Y:268.74, Z:36.93 [[-4.87893429e-02 -9.98790547e-01 6.08627583e-03 3.20633585e+02] [ 9.85477081e-01 -4.91294990e-02 -1.62546039e-01 2.68735939e+02] [ 1.62648463e-01 -1.93262911e-03 9.86682189e-01 3.69268629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.556875 meters 0.013904902816813159 Centerline is valid? [True, True] Translation: X:320.63, Y:268.79, Z:36.94 [[-4.75137813e-02 -9.98852049e-01 6.08486474e-03 3.20631091e+02] [ 9.85748895e-01 -4.78729059e-02 -1.61267795e-01 2.68793044e+02] [ 1.61373968e-01 -1.66429408e-03 9.86891925e-01 3.69361976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.616875 meters 0.013781804427617738 Centerline is valid? [True, True] Translation: X:320.63, Y:268.85, Z:36.94 [[-4.57776912e-02 -9.98932475e-01 6.18984798e-03 3.20628349e+02] [ 9.85580525e-01 -4.61745076e-02 -1.62784960e-01 2.68850634e+02] [ 1.62896996e-01 -1.35132602e-03 9.86642155e-01 3.69436266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.676875 meters 0.01356142172287665 Centerline is valid? [True, True] Translation: X:320.62, Y:268.91, Z:36.95 [[-4.13790430e-02 -9.99123098e-01 6.38827548e-03 3.20623519e+02] [ 9.85116799e-01 -4.18648912e-02 -1.66709997e-01 2.68907364e+02] [ 1.66831253e-01 -6.05102650e-04 9.85985277e-01 3.69490490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.736875 meters 0.013542235193280605 Centerline is valid? [True, True] Translation: X:320.62, Y:268.96, Z:36.96 [[-3.72276437e-02 -9.99285748e-01 6.48810971e-03 3.20619781e+02] [ 9.85079881e-01 -3.77885324e-02 -1.67897751e-01 2.68962440e+02] [ 1.68023006e-01 1.40868668e-04 9.85783064e-01 3.69575749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.796875 meters 0.013580285739223564 Centerline is valid? [True, True] Translation: X:320.62, Y:269.02, Z:36.97 [[-3.51071029e-02 -9.99362284e-01 6.52054219e-03 3.20617004e+02] [ 9.85259019e-01 -3.57032577e-02 -1.67301951e-01 2.69018530e+02] [ 1.67428064e-01 5.50936210e-04 9.85884141e-01 3.69688061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.856875 meters 0.013911400517433234 Centerline is valid? [True, True] Translation: X:320.61, Y:269.07, Z:36.98 [[-3.27646591e-02 -9.99441898e-01 6.50924405e-03 3.20614089e+02] [ 9.85610183e-01 -3.33904214e-02 -1.65703490e-01 2.69073271e+02] [ 1.65828357e-01 9.86358856e-04 9.86154138e-01 3.69793783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.916875 meters 0.014193513913544417 Centerline is valid? [True, True] Translation: X:320.61, Y:269.13, Z:36.99 [[-3.15665831e-02 -9.99480049e-01 6.57128082e-03 3.20612999e+02] [ 9.85557189e-01 -3.22198980e-02 -1.66249526e-01 2.69128579e+02] [ 1.66374810e-01 1.22844359e-03 9.86061820e-01 3.69892359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.976875 meters 0.014463323436721085 Centerline is valid? [True, True] Translation: X:320.61, Y:269.19, Z:37.00 [[-3.07322869e-02 -9.99505818e-01 6.60652822e-03 3.20611747e+02] [ 9.85658836e-01 -3.14024491e-02 -1.65802730e-01 2.69185232e+02] [ 1.65928254e-01 1.41628585e-03 9.86136810e-01 3.69998773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.036875 meters 0.014609115145917648 Centerline is valid? [True, True] Translation: X:320.61, Y:269.24, Z:37.01 [[-3.00388786e-02 -9.99526700e-01 6.63638132e-03 3.20609386e+02] [ 9.85762891e-01 -3.07228179e-02 -1.65310714e-01 2.69241005e+02] [ 1.65436360e-01 1.57614997e-03 9.86219208e-01 3.70096422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.096875 meters 0.014394685446779238 Centerline is valid? [True, True] Translation: X:320.61, Y:269.30, Z:37.02 [[-2.82382142e-02 -9.99578613e-01 6.72304532e-03 3.20608657e+02] [ 9.85681600e-01 -2.89628659e-02 -1.66111214e-01 2.69298174e+02] [ 1.66235936e-01 1.93609802e-03 9.86084107e-01 3.70201658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.156875 meters 0.014760932824927471 Centerline is valid? [True, True] Translation: X:320.60, Y:269.36, Z:37.03 [[-2.59883597e-02 -9.99639113e-01 6.80072640e-03 3.20604584e+02] [ 9.85621775e-01 -2.67589445e-02 -1.66834276e-01 2.69355168e+02] [ 1.66956048e-01 2.36719485e-03 9.85961497e-01 3.70285834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.216875 meters 0.015334289800815382 Centerline is valid? [True, True] Translation: X:320.60, Y:269.41, Z:37.04 [[-2.47095286e-02 -9.99670969e-01 6.88422311e-03 3.20600901e+02] [ 9.85507772e-01 -2.55143150e-02 -1.67700482e-01 2.69411619e+02] [ 1.67820950e-01 2.64065552e-03 9.85813956e-01 3.70372063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.276875 meters 0.01578712192072272 Centerline is valid? [True, True] Translation: X:320.60, Y:269.47, Z:37.05 [[-2.36184155e-02 -9.99696349e-01 7.02715890e-03 3.20597697e+02] [ 9.85150987e-01 -2.44693140e-02 -1.69937593e-01 2.69468882e+02] [ 1.70057941e-01 2.90915584e-03 9.85429771e-01 3.70468925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.336875 meters 0.015360208751780001 Centerline is valid? [True, True] Translation: X:320.60, Y:269.53, Z:37.06 [[-2.35668354e-02 -9.99696978e-01 7.11031115e-03 3.20595920e+02] [ 9.85003779e-01 -2.44352224e-02 -1.70793664e-01 2.69525889e+02] [ 1.70915652e-01 2.97861718e-03 9.85281162e-01 3.70573772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.396875 meters 0.01607234157469048 Centerline is valid? [True, True] Translation: X:320.59, Y:269.58, Z:37.07 [[-2.47501984e-02 -9.99668410e-01 7.10624204e-03 3.20590607e+02] [ 9.85194075e-01 -2.55968951e-02 -1.69521187e-01 2.69581388e+02] [ 1.69646873e-01 2.80534455e-03 9.85500923e-01 3.70672041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.456875 meters 0.015281931390770718 Centerline is valid? [True, True] Translation: X:320.59, Y:269.64, Z:37.08 [[-2.62560112e-02 -9.99630768e-01 6.99646300e-03 3.20588564e+02] [ 9.85819840e-01 -2.70523852e-02 -1.65612233e-01 2.69638196e+02] [ 1.65740355e-01 2.54893539e-03 9.86166131e-01 3.70818185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.516875 meters 0.014969499075498953 Centerline is valid? [True, True] Translation: X:320.59, Y:269.69, Z:37.09 [[-2.67437671e-02 -9.99618071e-01 6.96294566e-03 3.20585770e+02] [ 9.86117790e-01 -2.75232013e-02 -1.63750350e-01 2.69694390e+02] [ 1.63879452e-01 2.48698335e-03 9.86477238e-01 3.70933651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57687500000003 meters 0.01489640157413857 Centerline is valid? [True, True] Translation: X:320.58, Y:269.75, Z:37.10 [[-2.52312350e-02 -9.99657012e-01 7.01741163e-03 3.20579793e+02] [ 9.86150781e-01 -2.60401451e-02 -1.63794227e-01 2.69751897e+02] [ 1.63920782e-01 2.78749532e-03 9.86469567e-01 3.71023800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63687500000003 meters 0.015416139325789101 Centerline is valid? [True, True] Translation: X:320.57, Y:269.81, Z:37.11 [[-2.48065591e-02 -9.99666469e-01 7.18234393e-03 3.20572898e+02] [ 9.85700740e-01 -2.56565532e-02 -1.66540664e-01 2.69808385e+02] [ 1.66669391e-01 2.94834092e-03 9.86008429e-01 3.71076105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69687500000003 meters 0.014596070657207567 Centerline is valid? [True, True] Translation: X:320.57, Y:269.87, Z:37.12 [[-2.67426942e-02 -9.99615723e-01 7.29620444e-03 3.20571344e+02] [ 9.85404912e-01 -2.75885731e-02 -1.67976281e-01 2.69865702e+02] [ 1.68113023e-01 2.69757737e-03 9.85764036e-01 3.71158115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75687500000004 meters 0.014109853953871224 Centerline is valid? [True, True] Translation: X:320.57, Y:269.92, Z:37.12 [[-3.10035730e-02 -9.99491951e-01 7.39038183e-03 3.20568904e+02] [ 9.85103696e-01 -3.18068253e-02 -1.68994185e-01 2.69922046e+02] [ 1.69143393e-01 2.04086888e-03 9.85589340e-01 3.71240126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.816875 meters 0.013695864849910177 Centerline is valid? [True, True] Translation: X:320.57, Y:269.98, Z:37.13 [[-3.39423559e-02 -9.99395907e-01 7.46580842e-03 3.20566227e+02] [ 9.84901869e-01 -3.47170385e-02 -1.69596684e-01 2.69978450e+02] [ 1.69753423e-01 1.59657764e-03 9.85485275e-01 3.71336573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.876875 meters 0.01307623387841367 Centerline is valid? [True, True] Translation: X:320.57, Y:270.04, Z:37.15 [[-3.80578680e-02 -9.99247661e-01 7.46400175e-03 3.20565194e+02] [ 9.84964507e-01 -3.87713826e-02 -1.68349935e-01 2.70035520e+02] [ 1.68512668e-01 9.44737215e-04 9.85699035e-01 3.71454447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.936875 meters 0.012909129237603885 Centerline is valid? [True, True] Translation: X:320.56, Y:270.09, Z:37.16 [[-4.12569202e-02 -9.99120519e-01 7.48704328e-03 3.20562416e+02] [ 9.84931909e-01 -4.19283312e-02 -1.67783045e-01 2.70092137e+02] [ 1.67949402e-01 4.52016150e-04 9.85795513e-01 3.71560604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.996875 meters 0.01291993072852329 Centerline is valid? [True, True] Translation: X:320.56, Y:270.15, Z:37.16 [[-4.24104302e-02 -9.99071948e-01 7.52319510e-03 3.20559733e+02] [ 9.84930912e-01 -4.30714447e-02 -1.67499100e-01 2.70149358e+02] [ 1.67667687e-01 3.06118502e-04 9.85843524e-01 3.71649350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.056875 meters 0.012832509319884881 Centerline is valid? [True, True] Translation: X:320.56, Y:270.21, Z:37.17 [[-4.54425649e-02 -9.98938387e-01 7.55464123e-03 3.20558058e+02] [ 9.84858785e-01 -4.60659904e-02 -1.67125993e-01 2.70206399e+02] [ 1.67296582e-01 -1.54378992e-04 9.85906603e-01 3.71746431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.116875 meters 0.013037053419232733 Centerline is valid? [True, True] Translation: X:320.56, Y:270.26, Z:37.18 [[-5.00665509e-02 -9.98717272e-01 7.55979227e-03 3.20557558e+02] [ 9.84794475e-01 -5.06265119e-02 -1.66183025e-01 2.70262378e+02] [ 1.66352583e-01 -8.75369193e-04 9.86065947e-01 3.71844652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.176875 meters 0.013230343153862104 Centerline is valid? [True, True] Translation: X:320.55, Y:270.32, Z:37.19 [[-5.24851986e-02 -9.98592978e-01 7.57416269e-03 3.20554561e+02] [ 9.84809123e-01 -5.30148785e-02 -1.65349372e-01 2.70319503e+02] [ 1.65518265e-01 -1.21929012e-03 9.86205971e-01 3.71936831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.236875 meters 0.013115679080226927 Centerline is valid? [True, True] Translation: X:320.55, Y:270.38, Z:37.20 [[-5.09450262e-02 -9.98672098e-01 7.65799812e-03 3.20548598e+02] [ 9.84758376e-01 -5.15091307e-02 -1.66125707e-01 2.70376854e+02] [ 1.66299565e-01 -9.22000697e-04 9.86074847e-01 3.72018843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.296875 meters 0.012973006119296913 Centerline is valid? [True, True] Translation: X:320.54, Y:270.43, Z:37.21 [[-4.88555895e-02 -9.98775872e-01 7.73882311e-03 3.20543006e+02] [ 9.84745121e-01 -4.94618800e-02 -1.66824965e-01 2.70433005e+02] [ 1.67003527e-01 -5.29563705e-04 9.85956156e-01 3.72102510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.356875 meters 0.013030079063183401 Centerline is valid? [True, True] Translation: X:320.54, Y:270.49, Z:37.22 [[-4.43599275e-02 -9.98985014e-01 7.81915202e-03 3.20535954e+02] [ 9.84859614e-01 -4.50429431e-02 -1.67399745e-01 2.70490410e+02] [ 1.67582034e-01 2.74926492e-04 9.85858096e-01 3.72197841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.416875 meters 0.013248612704540686 Centerline is valid? [True, True] Translation: X:320.53, Y:270.55, Z:37.23 [[-3.97581551e-02 -9.99178849e-01 7.80490063e-03 3.20528830e+02] [ 9.85280265e-01 -4.05024170e-02 -1.66079360e-01 2.70547116e+02] [ 1.66259101e-01 1.08700563e-03 9.86081503e-01 3.72300028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.476875 meters 0.013691279585859414 Centerline is valid? [True, True] Translation: X:320.52, Y:270.60, Z:37.24 [[-3.67478398e-02 -9.99294058e-01 7.80914728e-03 3.20523196e+02] [ 9.85551444e-01 -3.75331838e-02 -1.65165404e-01 2.70603280e+02] [ 1.65341909e-01 1.62684456e-03 9.86234965e-01 3.72394917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.536875 meters 0.014564146007753105 Centerline is valid? [True, True] Translation: X:320.52, Y:270.66, Z:37.25 [[-3.21603269e-02 -9.99451856e-01 7.85500030e-03 3.20518895e+02] [ 9.85725911e-01 -3.30161389e-02 -1.65088957e-01 2.70660782e+02] [ 1.65257806e-01 2.43356251e-03 9.86247401e-01 3.72485060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.596875 meters 0.015202820610138237 Centerline is valid? [True, True] Translation: X:320.52, Y:270.72, Z:37.26 [[-2.80299987e-02 -9.99575163e-01 7.98828612e-03 3.20515588e+02] [ 9.85549499e-01 -2.89704390e-02 -1.66891876e-01 2.70717682e+02] [ 1.67052398e-01 3.19487232e-03 9.85942843e-01 3.72565965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.656875 meters 0.01586383330283646 Centerline is valid? [True, True] Translation: X:320.51, Y:270.77, Z:37.27 [[-2.55906206e-02 -9.99640056e-01 8.05469188e-03 3.20512736e+02] [ 9.85510890e-01 -2.65786979e-02 -1.67516741e-01 2.70774847e+02] [ 1.67670527e-01 3.65112921e-03 9.85836327e-01 3.72658409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.716875 meters 0.01793326460483261 Centerline is valid? [True, True] Translation: X:320.51, Y:270.83, Z:37.28 [[-2.23777153e-02 -9.99717164e-01 8.05166159e-03 3.20509319e+02] [ 9.85770506e-01 -2.34061848e-02 -1.66459187e-01 2.70830228e+02] [ 1.66600565e-01 4.21211424e-03 9.86015471e-01 3.72763736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.776875 meters 0.017284100150739872 Centerline is valid? [True, True] Translation: X:320.51, Y:270.89, Z:37.29 [[-1.94774162e-02 -9.99778230e-01 8.00762535e-03 3.20510807e+02] [ 9.86120450e-01 -2.05309456e-02 -1.64757212e-01 2.70887693e+02] [ 1.64885078e-01 4.68743832e-03 9.86301647e-01 3.72883688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.836875 meters 0.018532486259792934 Centerline is valid? [True, True] Translation: X:320.51, Y:270.94, Z:37.30 [[-1.75821586e-02 -9.99813224e-01 8.02401253e-03 3.20507368e+02] [ 9.86257472e-01 -1.86612293e-02 -1.64158333e-01 2.70943577e+02] [ 1.64277410e-01 5.02748446e-03 9.86401367e-01 3.72978331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.896875 meters 0.020277374236739452 Centerline is valid? [True, True] Translation: X:320.50, Y:271.00, Z:37.31 [[-1.40413196e-02 -9.99868850e-01 8.06997350e-03 3.20504628e+02] [ 9.86333967e-01 -1.51753641e-02 -1.64057959e-01 2.71000312e+02] [ 1.64158907e-01 5.65609873e-03 9.86417691e-01 3.73071483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.956875 meters 0.022836561825298737 Centerline is valid? [True, True] Translation: X:320.50, Y:271.06, Z:37.32 [[-1.03754417e-02 -9.99912799e-01 8.16977394e-03 3.20500413e+02] [ 9.86217346e-01 -1.15818644e-02 -1.65049105e-01 2.71055865e+02] [ 1.65129334e-01 6.34471540e-03 9.86251513e-01 3.73157051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.016875 meters 0.022739658385433542 Centerline is valid? [True, True] Translation: X:320.50, Y:271.11, Z:37.33 [[-7.82853555e-03 -9.99935693e-01 8.20507440e-03 3.20499103e+02] [ 9.86255556e-01 -9.07517405e-03 -1.64977636e-01 2.71112561e+02] [ 1.65041489e-01 6.80076693e-03 9.86263178e-01 3.73254502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07687500000003 meters 0.025147810390283368 Centerline is valid? [True, True] Translation: X:320.50, Y:271.17, Z:37.34 [[-3.43086199e-03 -9.99960294e-01 8.22434913e-03 3.20495208e+02] [ 9.86340294e-01 -4.73834340e-03 -1.64652280e-01 2.71169170e+02] [ 1.64684712e-01 7.54710769e-03 9.86317386e-01 3.73355380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13687500000003 meters 0.027957742274196232 Centerline is valid? [True, True] Translation: X:320.49, Y:271.23, Z:37.35 [[ 3.54922901e-04 -9.99966163e-01 8.21874269e-03 3.20490379e+02] [ 9.86538687e-01 -9.93858497e-04 -1.63525018e-01 2.71226071e+02] [ 1.63527653e-01 8.16614639e-03 9.86504952e-01 3.73455887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19687500000003 meters 0.02769029769577533 Centerline is valid? [True, True] Translation: X:320.49, Y:271.28, Z:37.36 [[ 1.71644370e-03 -9.99964994e-01 8.18934743e-03 3.20489668e+02] [ 9.86788459e-01 3.66994100e-04 -1.62013590e-01 2.71283316e+02] [ 1.62004913e-01 8.35924073e-03 9.86754545e-01 3.73562993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25687500000004 meters 0.025951111012227045 Centerline is valid? [True, True] Translation: X:320.49, Y:271.34, Z:37.37 [[ 2.19329661e-03 -9.99964398e-01 8.14812444e-03 3.20491810e+02] [ 9.87068631e-01 8.58853809e-04 -1.60295913e-01 2.71340728e+02] [ 1.60283208e-01 8.39433452e-03 9.87035373e-01 3.73666496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.316875 meters 0.028449278706156603 Centerline is valid? [True, True] Translation: X:320.49, Y:271.40, Z:37.37 [[ 2.58279475e-03 -9.99962757e-01 8.23491568e-03 3.20486825e+02] [ 9.86935559e-01 1.22236317e-03 -1.61110858e-01 2.71397070e+02] [ 1.61094791e-01 8.54344738e-03 9.86901960e-01 3.73743388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.376875 meters 0.02773739805093404 Centerline is valid? [True, True] Translation: X:320.49, Y:271.45, Z:37.38 [[ 3.24490118e-03 -9.99959692e-01 8.37162906e-03 3.20485110e+02] [ 9.86659336e-01 1.83888438e-03 -1.62788123e-01 2.71454309e+02] [ 1.62766167e-01 8.78817734e-03 9.86625533e-01 3.73819754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.436875 meters 0.028309978717199365 Centerline is valid? [True, True] Translation: X:320.48, Y:271.51, Z:37.39 [[ 4.67574691e-03 -9.99952806e-01 8.51610665e-03 3.20480536e+02] [ 9.86346471e-01 3.20986255e-03 -1.64652167e-01 2.71511921e+02] [ 1.64617060e-01 9.16970361e-03 9.86314929e-01 3.73881953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.496875 meters 0.02725047011947048 Centerline is valid? [True, True] Translation: X:320.48, Y:271.57, Z:37.40 [[ 4.84130546e-03 -9.99950923e-01 8.64368081e-03 3.20479245e+02] [ 9.86091365e-01 3.33780743e-03 -1.66170631e-01 2.71570173e+02] [ 1.66133625e-01 9.32794179e-03 9.86059130e-01 3.73961995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.556875 meters 0.027206783480298022 Centerline is valid? [True, True] Translation: X:320.48, Y:271.63, Z:37.41 [[ 2.06471875e-03 -9.99960208e-01 8.67872553e-03 3.20477059e+02] [ 9.86134000e-01 5.95879164e-04 -1.65949932e-01 2.71627754e+02] [ 1.65938157e-01 8.90102626e-03 9.86095989e-01 3.74063552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.616875 meters 0.026778284331102416 Centerline is valid? [True, True] Translation: X:320.47, Y:271.68, Z:37.42 [[-1.97395748e-03 -9.99960968e-01 8.61194545e-03 3.20474882e+02] [ 9.86489880e-01 -3.35795165e-03 -1.63787789e-01 2.71683118e+02] [ 1.63810315e-01 8.17228691e-03 9.86458004e-01 3.74172616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.676875 meters 0.0239529030648887 Centerline is valid? [True, True] Translation: X:320.48, Y:271.74, Z:37.43 [[-8.07954062e-03 -9.99931669e-01 8.44856813e-03 3.20476159e+02] [ 9.87118285e-01 -9.32550608e-03 -1.59720152e-01 2.71740064e+02] [ 1.59788025e-01 7.04927062e-03 9.87126180e-01 3.74293596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.736875 meters 0.022639125857260144 Centerline is valid? [True, True] Translation: X:320.48, Y:271.80, Z:37.44 [[-1.15780549e-02 -9.99897590e-01 8.41183894e-03 3.20475065e+02] [ 9.87290625e-01 -1.27647465e-02 -1.58411753e-01 2.71797123e+02] [ 1.58502905e-01 6.47082974e-03 9.87337307e-01 3.74396336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.796875 meters 0.02284101548494525 Centerline is valid? [True, True] Translation: X:320.47, Y:271.85, Z:37.45 [[-1.42486601e-02 -9.99861438e-01 8.60698475e-03 3.20470176e+02] [ 9.86807870e-01 -1.54499051e-02 -1.61156841e-01 2.71854022e+02] [ 1.61267488e-01 6.19717125e-03 9.86891277e-01 3.74462116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.856875 meters 0.021674942812031087 Centerline is valid? [True, True] Translation: X:320.47, Y:271.91, Z:37.45 [[-1.52139151e-02 -9.99845175e-01 8.84098694e-03 3.20467852e+02] [ 9.86220146e-01 -1.64621967e-02 -1.64617194e-01 2.71911096e+02] [ 1.64737249e-01 6.21468741e-03 9.86317908e-01 3.74520741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.916875 meters 0.020549667812288192 Centerline is valid? [True, True] Translation: X:320.47, Y:271.97, Z:37.46 [[-1.72527186e-02 -9.99811469e-01 8.90896267e-03 3.20466350e+02] [ 9.86138560e-01 -1.84860631e-02 -1.64890890e-01 2.71968339e+02] [ 1.65024495e-01 5.94065549e-03 9.86271578e-01 3.74611586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.976875 meters 0.020082836293179643 Centerline is valid? [True, True] Translation: X:320.46, Y:272.02, Z:37.47 [[-2.08934817e-02 -9.99742004e-01 8.90993849e-03 3.20464350e+02] [ 9.86208201e-01 -2.20725243e-02 -1.64031060e-01 2.72024613e+02] [ 1.64185405e-01 5.35987445e-03 9.86414935e-01 3.74712696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.036875 meters 0.017687303046402918 Centerline is valid? [True, True] Translation: X:320.47, Y:272.08, Z:37.48 [[-2.68924898e-02 -9.99600247e-01 8.72578931e-03 3.20465802e+02] [ 9.86756851e-01 -2.79417393e-02 -1.59781650e-01 2.72080655e+02] [ 1.59961591e-01 4.31330599e-03 9.87113816e-01 3.74849313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.096875 meters 0.01742744232802657 Centerline is valid? [True, True] Translation: X:320.46, Y:272.14, Z:37.50 [[-2.83685542e-02 -9.99560032e-01 8.65839299e-03 3.20461893e+02] [ 9.87059138e-01 -2.93792962e-02 -1.57642365e-01 2.72137316e+02] [ 1.57827385e-01 4.07425993e-03 9.87458312e-01 3.74960702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.156875 meters 0.018772154487132566 Centerline is valid? [True, True] Translation: X:320.45, Y:272.19, Z:37.50 [[-2.61731849e-02 -9.99619026e-01 8.76172805e-03 3.20451909e+02] [ 9.86953696e-01 -2.72324476e-02 -1.58684582e-01 2.72193490e+02] [ 1.58862731e-01 4.49413896e-03 9.87290451e-01 3.75035917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.216875 meters 0.021454963922676262 Centerline is valid? [True, True] Translation: X:320.44, Y:272.25, Z:37.51 [[-2.09418320e-02 -9.99739213e-01 9.10743586e-03 3.20439699e+02] [ 9.86207500e-01 -2.21526113e-02 -1.64024475e-01 2.72249821e+02] [ 1.64183453e-01 5.54684855e-03 9.86414227e-01 3.75067314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.276875 meters 0.020540204621884155 Centerline is valid? [True, True] Translation: X:320.44, Y:272.31, Z:37.51 [[-1.81659451e-02 -9.99791584e-01 9.31600271e-03 3.20435984e+02] [ 9.85753507e-01 -1.94675885e-02 -1.67065966e-01 2.72306673e+02] [ 1.67212507e-01 6.14837116e-03 9.85901707e-01 3.75142764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.336875 meters 0.02179522334005174 Centerline is valid? [True, True] Translation: X:320.43, Y:272.36, Z:37.53 [[-1.71669860e-02 -9.99810501e-01 9.17919087e-03 3.20428993e+02] [ 9.86290881e-01 -1.84403626e-02 -1.63982469e-01 2.72362262e+02] [ 1.64120663e-01 6.23826749e-03 9.86420545e-01 3.75262789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.396875 meters 0.02138882800241898 Centerline is valid? [True, True] Translation: X:320.43, Y:272.42, Z:37.54 [[-1.84209953e-02 -9.99789933e-01 8.98652237e-03 3.20425126e+02] [ 9.86971490e-01 -1.96202167e-02 -1.59694477e-01 2.72418410e+02] [ 1.59837247e-01 5.92771017e-03 9.87125583e-01 3.75397104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.456875 meters 0.021016747770453596 Centerline is valid? [True, True] Translation: X:320.42, Y:272.47, Z:37.55 [[-1.92117560e-02 -9.99775868e-01 8.89511802e-03 3.20419239e+02] [ 9.87343562e-01 -2.03722127e-02 -1.57282113e-01 2.72474059e+02] [ 1.57428074e-01 5.76087193e-03 9.87513653e-01 3.75504006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.516875 meters 0.02134293232040221 Centerline is valid? [True, True] Translation: X:320.41, Y:272.53, Z:37.55 [[-1.74323652e-02 -9.99805569e-01 9.21613227e-03 3.20410030e+02] [ 9.86613084e-01 -1.86956792e-02 -1.62003380e-01 2.72531810e+02] [ 1.62144183e-01 6.26865459e-03 9.86747165e-01 3.75540901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57687500000003 meters 0.02297995716281479 Centerline is valid? [True, True] Translation: X:320.40, Y:272.59, Z:37.56 [[-1.57773867e-02 -9.99829923e-01 9.54987633e-03 3.20400756e+02] [ 9.85806966e-01 -1.71512459e-02 -1.67004375e-01 2.72588218e+02] [ 1.67139764e-01 6.77944199e-03 9.85909904e-01 3.75588064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63687500000003 meters 0.021768784083010775 Centerline is valid? [True, True] Translation: X:320.40, Y:272.65, Z:37.57 [[-1.90125106e-02 -9.99773039e-01 9.61219912e-03 3.20398638e+02] [ 9.85666816e-01 -2.03543876e-02 -1.67471274e-01 2.72645629e+02] [ 1.67628915e-01 6.29037633e-03 9.85830096e-01 3.75688289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69687500000003 meters 0.01990284091479548 Centerline is valid? [True, True] Translation: X:320.40, Y:272.70, Z:37.58 [[-2.37109699e-02 -9.99672803e-01 9.59569258e-03 3.20398469e+02] [ 9.85744478e-01 -2.49777087e-02 -1.66384912e-01 2.72702172e+02] [ 1.66570150e-01 5.51375333e-03 9.86014190e-01 3.75794846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75687500000004 meters 0.017331000977071215 Centerline is valid? [True, True] Translation: X:320.40, Y:272.76, Z:37.59 [[-3.15904730e-02 -9.99455204e-01 9.55703623e-03 3.20399833e+02] [ 9.85773877e-01 -3.27344551e-02 -1.64858483e-01 2.72759065e+02] [ 1.65081513e-01 4.21311921e-03 9.86270928e-01 3.75906535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.816875 meters 0.016867802441826625 Centerline is valid? [True, True] Translation: X:320.40, Y:272.81, Z:37.60 [[-3.53068871e-02 -9.99330563e-01 9.58376882e-03 3.20395663e+02] [ 9.85710890e-01 -3.64029509e-02 -1.64465397e-01 2.72814883e+02] [ 1.64704175e-01 3.64006409e-03 9.86336294e-01 3.76007829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.876875 meters 0.015827939084617958 Centerline is valid? [True, True] Translation: X:320.39, Y:272.87, Z:37.61 [[-3.51531461e-02 -9.99334404e-01 9.74710873e-03 3.20392119e+02] [ 9.85372677e-01 -3.62860467e-02 -1.66505288e-01 2.72872574e+02] [ 1.66748147e-01 3.75134990e-03 9.85992385e-01 3.76098012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.936875 meters 0.016556873343482104 Centerline is valid? [True, True] Translation: X:320.38, Y:272.93, Z:37.62 [[-3.21924235e-02 -9.99431132e-01 1.00529212e-02 3.20384331e+02] [ 9.84727716e-01 -3.34374390e-02 -1.70860364e-01 2.72929928e+02] [ 1.71099311e-01 4.39898094e-03 9.85243967e-01 3.76171208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.996875 meters 0.01732221596352215 Centerline is valid? [True, True] Translation: X:320.38, Y:272.99, Z:37.63 [[-3.02603582e-02 -9.99490093e-01 1.01914345e-02 3.20377517e+02] [ 9.84530404e-01 -3.15648026e-02 -1.72347167e-01 2.72986781e+02] [ 1.72580976e-01 4.81849013e-03 9.84983547e-01 3.76258324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.056875 meters 0.01997847576979844 Centerline is valid? [True, True] Translation: X:320.37, Y:273.04, Z:37.64 [[-2.77249883e-02 -9.99564523e-01 1.01038983e-02 3.20367639e+02] [ 9.85008521e-01 -2.90401010e-02 -1.70043776e-01 2.73042042e+02] [ 1.70263144e-01 5.23796418e-03 9.85384709e-01 3.76376952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.116875 meters 0.01967521496335077 Centerline is valid? [True, True] Translation: X:320.36, Y:273.10, Z:37.65 [[-2.55207743e-02 -9.99626241e-01 9.80149948e-03 3.20362567e+02] [ 9.86072208e-01 -2.67842229e-02 -1.64146905e-01 2.73097656e+02] [ 1.64348079e-01 5.47583011e-03 9.86387208e-01 3.76533720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.176875 meters 0.021154695999073863 Centerline is valid? [True, True] Translation: X:320.35, Y:273.15, Z:37.67 [[-2.13642120e-02 -9.99724965e-01 9.67285432e-03 3.20353472e+02] [ 9.86663632e-01 -2.26446828e-02 -1.61189628e-01 2.73153809e+02] [ 1.61364334e-01 6.10016420e-03 9.86876051e-01 3.76651929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.236875 meters 0.02263409586320319 Centerline is valid? [True, True] Translation: X:320.34, Y:273.21, Z:37.67 [[-1.71174789e-02 -9.99805449e-01 9.80078016e-03 3.20344231e+02] [ 9.86539540e-01 -1.84830471e-02 -1.62474964e-01 2.73210367e+02] [ 1.62624502e-01 6.88769538e-03 9.86663991e-01 3.76724157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.296875 meters 0.025286252671122333 Centerline is valid? [True, True] Translation: X:320.33, Y:273.27, Z:37.68 [[-1.03087376e-02 -9.99895387e-01 1.01461535e-02 3.20330727e+02] [ 9.85831835e-01 -1.18615441e-02 -1.67316753e-01 2.73267104e+02] [ 1.67419599e-01 8.27757658e-03 9.85850982e-01 3.76756595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.356875 meters 0.027323550686041073 Centerline is valid? [True, True] Translation: X:320.32, Y:273.32, Z:37.68 [[-5.68954477e-03 -9.99928107e-01 1.05550511e-02 3.20320637e+02] [ 9.84826115e-01 -7.43383128e-03 -1.73384718e-01 2.73324269e+02] [ 1.73450718e-01 9.40840989e-03 9.84797609e-01 3.76809712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.416875 meters 0.02721157455882765 Centerline is valid? [True, True] Translation: X:320.32, Y:273.38, Z:37.69 [[-5.18933601e-03 -9.99929269e-01 1.07017404e-02 3.20316220e+02] [ 9.84556888e-01 -6.98169943e-03 -1.74925669e-01 2.73381559e+02] [ 1.74988013e-01 9.62872412e-03 9.84523480e-01 3.76907893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.476875 meters 0.027700564237962966 Centerline is valid? [True, True] Translation: X:320.31, Y:273.44, Z:37.70 [[-7.23661011e-03 -9.99917536e-01 1.06091092e-02 3.20310915e+02] [ 9.84949450e-01 -8.95967518e-03 -1.72610267e-01 2.73436392e+02] [ 1.72691087e-01 9.20032308e-03 9.84933065e-01 3.77042980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.536875 meters 0.027516366285076647 Centerline is valid? [True, True] Translation: X:320.31, Y:273.49, Z:37.72 [[-1.03145972e-02 -9.99892877e-01 1.03847798e-02 3.20306222e+02] [ 9.85663172e-01 -1.19157916e-02 -1.68303669e-01 2.73491589e+02] [ 1.68409382e-01 8.49991042e-03 9.85680492e-01 3.77183463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.596875 meters 0.025608544178161177 Centerline is valid? [True, True] Translation: X:320.30, Y:273.55, Z:37.73 [[-1.15577835e-02 -9.99879645e-01 1.03495623e-02 3.20302850e+02] [ 9.85890941e-01 -1.31233632e-02 -1.66873693e-01 2.73548406e+02] [ 1.66989430e-01 8.27484973e-03 9.85923961e-01 3.77298426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.656875 meters 0.028434099697027468 Centerline is valid? [True, True] Translation: X:320.29, Y:273.60, Z:37.74 [[-1.23779847e-02 -9.99870110e-01 1.03222392e-02 3.20292268e+02] [ 9.86083568e-01 -1.39175877e-02 -1.65666828e-01 2.73603767e+02] [ 1.65788970e-01 8.12796902e-03 9.86127757e-01 3.77388989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.716875 meters 0.026028433792127843 Centerline is valid? [True, True] Translation: X:320.29, Y:273.66, Z:37.75 [[-1.35082268e-02 -9.99855371e-01 1.03326988e-02 3.20291210e+02] [ 9.86183846e-01 -1.50283686e-02 -1.64971419e-01 2.73661373e+02] [ 1.65102843e-01 7.96146929e-03 9.86244222e-01 3.77484273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.776875 meters 0.024064251851517435 Centerline is valid? [True, True] Translation: X:320.29, Y:273.72, Z:37.76 [[-1.69202894e-02 -9.99802994e-01 1.03767213e-02 3.20289715e+02] [ 9.86132962e-01 -1.84007533e-02 -1.64933904e-01 2.73718968e+02] [ 1.65092350e-01 7.44209751e-03 9.86250035e-01 3.77551829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.836875 meters 0.024261656070609903 Centerline is valid? [True, True] Translation: X:320.29, Y:273.78, Z:37.76 [[-1.87274420e-02 -9.99770143e-01 1.04376484e-02 3.20285582e+02] [ 9.86029625e-01 -2.01962275e-02 -1.65341135e-01 2.73776966e+02] [ 1.65513931e-01 7.19541402e-03 9.86181203e-01 3.77627898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.896875 meters 0.02112358640858321 Centerline is valid? [True, True] Translation: X:320.29, Y:273.84, Z:37.77 [[-2.28015683e-02 -9.99683716e-01 1.06092277e-02 3.20286726e+02] [ 9.85599387e-01 -2.42563207e-02 -1.67348374e-01 2.73835058e+02] [ 1.67552786e-01 6.64064289e-03 9.85840741e-01 3.77695687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.956875 meters 0.020724316631367555 Centerline is valid? [True, True] Translation: X:320.28, Y:273.89, Z:37.78 [[-2.52739195e-02 -9.99622914e-01 1.07359005e-02 3.20283320e+02] [ 9.85324373e-01 -2.67230249e-02 -1.68587543e-01 2.73892251e+02] [ 1.68810867e-01 6.31747647e-03 9.85628216e-01 3.77772583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.016875 meters 0.02155296115919485 Centerline is valid? [True, True] Translation: X:320.28, Y:273.95, Z:37.79 [[-2.61351705e-02 -9.99599672e-01 1.08373690e-02 3.20277388e+02] [ 9.85160835e-01 -2.75942539e-02 -1.69400964e-01 2.73947808e+02] [ 1.69632198e-01 6.24922836e-03 9.85487628e-01 3.77854801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07687500000003 meters 0.02122393142372861 Centerline is valid? [True, True] Translation: X:320.27, Y:274.00, Z:37.80 [[-2.74673733e-02 -9.99564156e-01 1.08185697e-02 3.20273826e+02] [ 9.85322940e-01 -2.88969107e-02 -1.68236951e-01 2.74004563e+02] [ 1.68476249e-01 6.03875781e-03 9.85687216e-01 3.77956307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13687500000003 meters 0.019793991506466036 Centerline is valid? [True, True] Translation: X:320.27, Y:274.06, Z:37.81 [[-2.82111002e-02 -9.99542975e-01 1.08615943e-02 3.20272753e+02] [ 9.85312327e-01 -2.96368879e-02 -1.68170371e-01 2.74061658e+02] [ 1.68415417e-01 5.95779156e-03 9.85698104e-01 3.78059378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19687500000003 meters 0.022504554705116756 Centerline is valid? [True, True] Translation: X:320.27, Y:274.12, Z:37.81 [[-2.89325312e-02 -9.99521558e-01 1.09345351e-02 3.20265417e+02] [ 9.85225843e-01 -3.03625893e-02 -1.68547182e-01 2.74116661e+02] [ 1.68798542e-01 5.89649000e-03 9.85632935e-01 3.78130869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25687500000004 meters 0.019643596426075143 Centerline is valid? [True, True] Translation: X:320.27, Y:274.17, Z:37.82 [[-3.14014201e-02 -9.99446922e-01 1.09453872e-02 3.20267836e+02] [ 9.85230156e-01 -3.27953062e-02 -1.68065485e-01 2.74174432e+02] [ 1.68331489e-01 5.50623067e-03 9.85715066e-01 3.78231088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.316875 meters 0.017588962532263715 Centerline is valid? [True, True] Translation: X:320.27, Y:274.23, Z:37.83 [[-3.72933534e-02 -9.99245518e-01 1.08443786e-02 3.20270612e+02] [ 9.85399506e-01 -3.85762835e-02 -1.65830284e-01 2.74231234e+02] [ 1.66123504e-01 4.50167796e-03 9.86094679e-01 3.78338302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.376875 meters 0.01587707452553082 Centerline is valid? [True, True] Translation: X:320.27, Y:274.29, Z:37.84 [[-4.14100216e-02 -9.99083562e-01 1.08280514e-02 3.20271523e+02] [ 9.85402489e-01 -4.26292536e-02 -1.64817113e-01 2.74289146e+02] [ 1.65127660e-01 3.84490859e-03 9.86264707e-01 3.78434852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.436875 meters 0.01491028055123755 Centerline is valid? [True, True] Translation: X:320.27, Y:274.35, Z:37.85 [[-4.43855077e-02 -9.98954771e-01 1.09221289e-02 3.20271073e+02] [ 9.85147868e-01 -4.55820625e-02 -1.65547437e-01 2.74347082e+02] [ 1.65872256e-01 3.41200497e-03 9.86141345e-01 3.78513552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.496875 meters 0.015162017379824934 Centerline is valid? [True, True] Translation: X:320.27, Y:274.40, Z:37.86 [[-4.53687963e-02 -9.98909134e-01 1.10550630e-02 3.20269338e+02] [ 9.84885619e-01 -4.65781535e-02 -1.66825636e-01 2.74403952e+02] [ 1.67158576e-01 3.31929427e-03 9.85924436e-01 3.78590715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.556875 meters 0.015030777284488261 Centerline is valid? [True, True] Translation: X:320.27, Y:274.46, Z:37.87 [[-4.72649429e-02 -9.98822325e-01 1.09539257e-02 3.20269466e+02] [ 9.85181326e-01 -4.84239080e-02 -1.64538382e-01 2.74460409e+02] [ 1.64875041e-01 3.01470586e-03 9.86309856e-01 3.78683641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.616875 meters 0.014701493959011163 Centerline is valid? [True, True] Translation: X:320.27, Y:274.52, Z:37.88 [[-4.87072195e-02 -9.98753912e-01 1.08734022e-02 3.20269015e+02] [ 9.85398790e-01 -4.98283996e-02 -1.62807726e-01 2.74517297e+02] [ 1.63146657e-01 2.78472576e-03 9.86597899e-01 3.78782617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.676875 meters 0.014601743230572548 Centerline is valid? [True, True] Translation: X:320.27, Y:274.57, Z:37.89 [[-4.88820627e-02 -9.98745160e-01 1.08926183e-02 3.20268610e+02] [ 9.85459096e-01 -5.00028569e-02 -1.62388684e-01 2.74574552e+02] [ 1.62729574e-01 2.79633596e-03 9.86666745e-01 3.78866843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.736875 meters 0.0161769713639056 Centerline is valid? [True, True] Translation: X:320.26, Y:274.63, Z:37.89 [[-4.67025988e-02 -9.98847354e-01 1.10828815e-02 3.20262898e+02] [ 9.85214096e-01 -4.78903747e-02 -1.64498319e-01 2.74630760e+02] [ 1.64839474e-01 3.23651211e-03 9.86315098e-01 3.78933399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.796875 meters 0.017196561713613927 Centerline is valid? [True, True] Translation: X:320.26, Y:274.69, Z:37.90 [[-4.12650915e-02 -9.99083496e-01 1.13736605e-02 3.20258070e+02] [ 9.84860320e-01 -4.25905733e-02 -1.68036285e-01 2.74687981e+02] [ 1.68366690e-01 4.26743424e-03 9.85715196e-01 3.78995699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.856875 meters 0.019917508671645167 Centerline is valid? [True, True] Translation: X:320.25, Y:274.74, Z:37.91 [[-3.64323772e-02 -9.99270666e-01 1.14375550e-02 3.20252751e+02] [ 9.85024556e-01 -3.78383037e-02 -1.68210843e-01 2.74744046e+02] [ 1.68520939e-01 5.13795167e-03 9.85684683e-01 3.79081770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.916875 meters 0.01902712092228145 Centerline is valid? [True, True] Translation: X:320.25, Y:274.80, Z:37.92 [[-3.43772904e-02 -9.99345782e-01 1.12343340e-02 3.20254704e+02] [ 9.85728461e-01 -3.57581324e-02 -1.64501540e-01 2.74801032e+02] [ 1.64795639e-01 5.41888559e-03 9.86312847e-01 3.79214398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.976875 meters 0.018029657171746007 Centerline is valid? [True, True] Translation: X:320.26, Y:274.86, Z:37.93 [[-3.37957654e-02 -9.99366084e-01 1.11927331e-02 3.20255874e+02] [ 9.85966228e-01 -3.51704118e-02 -1.63198157e-01 2.74858531e+02] [ 1.63488356e-01 5.52025020e-03 9.86529819e-01 3.79320146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.036875 meters 0.02346676126907411 Centerline is valid? [True, True] Translation: X:320.25, Y:274.92, Z:37.94 [[-3.21498384e-02 -9.99416146e-01 1.15652168e-02 3.20249743e+02] [ 9.85230339e-01 -3.36364128e-02 -1.67898096e-01 2.74915808e+02] [ 1.68189081e-01 5.99650586e-03 9.85736514e-01 3.79356345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.096875 meters 0.0200411078624076 Centerline is valid? [True, True] Translation: X:320.25, Y:274.97, Z:37.94 [[-3.12336590e-02 -9.99442529e-01 1.17936690e-02 3.20254969e+02] [ 9.84817408e-01 -3.27881820e-02 -1.70468788e-01 2.74974133e+02] [ 1.70760449e-01 6.29024654e-03 9.85292496e-01 3.79445941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.156875 meters 0.026062773914573654 Centerline is valid? [True, True] Translation: X:320.25, Y:275.03, Z:37.95 [[-3.09810434e-02 -9.99450012e-01 1.18257451e-02 3.20247565e+02] [ 9.84861184e-01 -3.25434084e-02 -1.70262665e-01 2.75030410e+02] [ 1.70553872e-01 6.37180227e-03 9.85327751e-01 3.79521058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.216875 meters 0.021763879271858123 Centerline is valid? [True, True] Translation: X:320.26, Y:275.09, Z:37.97 [[-3.11227066e-02 -9.99448401e-01 1.15875396e-02 3.20257019e+02] [ 9.85532069e-01 -3.26176669e-02 -1.66320859e-01 2.75086859e+02] [ 1.66607075e-01 6.24353655e-03 9.86003601e-01 3.79681722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.276875 meters 0.02121467730552803 Centerline is valid? [True, True] Translation: X:320.26, Y:275.14, Z:37.98 [[-3.09268425e-02 -9.99454429e-01 1.15919742e-02 3.20258226e+02] [ 9.85655819e-01 -3.24208258e-02 -1.65624566e-01 2.75143953e+02] [ 1.65910028e-01 6.30345192e-03 9.86120748e-01 3.79793452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.336875 meters 0.021938593376972574 Centerline is valid? [True, True] Translation: X:320.26, Y:275.20, Z:37.99 [[-2.98815373e-02 -9.99484588e-01 1.17325596e-02 3.20259175e+02] [ 9.85467405e-01 -3.14220285e-02 -1.66933067e-01 2.75201690e+02] [ 1.67215689e-01 6.57383836e-03 9.85898422e-01 3.79873364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.396875 meters 0.02220431011649673 Centerline is valid? [True, True] Translation: X:320.26, Y:275.26, Z:38.00 [[-2.85464999e-02 -9.99522206e-01 1.18514398e-02 3.20261948e+02] [ 9.85338439e-01 -3.01325627e-02 -1.67929118e-01 2.75259398e+02] [ 1.68205997e-01 6.88389067e-03 9.85727830e-01 3.79961050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.456875 meters 0.022812116574281692 Centerline is valid? [True, True] Translation: X:320.26, Y:275.32, Z:38.01 [[-2.73323318e-02 -9.99556859e-01 1.17911046e-02 3.20264039e+02] [ 9.85635118e-01 -2.89145027e-02 -1.66395212e-01 2.75317216e+02] [ 1.66662410e-01 7.07375760e-03 9.85988643e-01 3.80062088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.516875 meters 0.023420552886817814 Centerline is valid? [True, True] Translation: X:320.26, Y:275.37, Z:38.02 [[-2.66830357e-02 -9.99574645e-01 1.17704652e-02 3.20263448e+02] [ 9.85816401e-01 -2.82637879e-02 -1.65430293e-01 2.75374678e+02] [ 1.65692604e-01 7.18933520e-03 9.86151243e-01 3.80157609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57687500000003 meters 0.025246580820157193 Centerline is valid? [True, True] Translation: X:320.26, Y:275.43, Z:38.02 [[-2.57375114e-02 -9.99597401e-01 1.19422507e-02 3.20263444e+02] [ 9.85550173e-01 -2.73728642e-02 -1.67157359e-01 2.75431145e+02] [ 1.67416955e-01 7.46747283e-03 9.85857901e-01 3.80229690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63687500000003 meters 0.02323789722416513 Centerline is valid? [True, True] Translation: X:320.27, Y:275.49, Z:38.03 [[-2.53544553e-02 -9.99604946e-01 1.21286439e-02 3.20266572e+02] [ 9.85237340e-01 -2.70411235e-02 -1.69044848e-01 2.75488744e+02] [ 1.69306038e-01 7.66355278e-03 9.85533731e-01 3.80320818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69687500000003 meters 0.023319829748359285 Centerline is valid? [True, True] Translation: X:320.27, Y:275.55, Z:38.04 [[-2.39226707e-02 -9.99639664e-01 1.21757541e-02 3.20267773e+02] [ 9.85281216e-01 -2.56375938e-02 -1.69007806e-01 2.75545857e+02] [ 1.69259064e-01 7.95342375e-03 9.85539503e-01 3.80409577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75687500000004 meters 0.02423565571362198 Centerline is valid? [True, True] Translation: X:320.27, Y:275.60, Z:38.05 [[-2.31801968e-02 -9.99658935e-01 1.20287754e-02 3.20266239e+02] [ 9.85769528e-01 -2.48586455e-02 -1.66254278e-01 2.75603013e+02] [ 1.66496593e-01 8.00379337e-03 9.86009545e-01 3.80513610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.816875 meters 0.02538354563453077 Centerline is valid? [True, True] Translation: X:320.26, Y:275.66, Z:38.06 [[-2.21844747e-02 -9.99683862e-01 1.18332184e-02 3.20264485e+02] [ 9.86354780e-01 -2.38169449e-02 -1.62901814e-01 2.75659618e+02] [ 1.63132145e-01 8.05786040e-03 9.86571322e-01 3.80622585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.876875 meters 0.02739736682589789 Centerline is valid? [True, True] Translation: X:320.26, Y:275.72, Z:38.07 [[-2.10799840e-02 -9.99709638e-01 1.16736205e-02 3.20262909e+02] [ 9.86850618e-01 -2.26775818e-02 -1.60036199e-01 2.75716314e+02] [ 1.60254460e-01 8.14655914e-03 9.87042118e-01 3.80710938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.936875 meters 0.027904627070042702 Centerline is valid? [True, True] Translation: X:320.26, Y:275.77, Z:38.08 [[-2.19344992e-02 -9.99688966e-01 1.18679506e-02 3.20263404e+02] [ 9.86472749e-01 -2.35703587e-02 -1.62221925e-01 2.75773637e+02] [ 1.62451201e-01 8.14915317e-03 9.86682927e-01 3.80758138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.996875 meters 0.0267746769698414 Centerline is valid? [True, True] Translation: X:320.26, Y:275.83, Z:38.08 [[-2.37833916e-02 -9.99643876e-01 1.21025654e-02 3.20264937e+02] [ 9.86014240e-01 -2.54531920e-02 -1.64705960e-01 2.75831517e+02] [ 1.64955353e-01 8.01603546e-03 9.86268460e-01 3.80813849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.056875 meters 0.024382084473423785 Centerline is valid? [True, True] Translation: X:320.27, Y:275.89, Z:38.09 [[-2.80598662e-02 -9.99531819e-01 1.21978513e-02 3.20269858e+02] [ 9.85786017e-01 -2.96919759e-02 -1.65361166e-01 2.75889056e+02] [ 1.65645926e-01 7.38445903e-03 9.86157643e-01 3.80885516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.116875 meters 0.022322878747726448 Centerline is valid? [True, True] Translation: X:320.27, Y:275.95, Z:38.10 [[-3.19819715e-02 -9.99414269e-01 1.21767492e-02 3.20271842e+02] [ 9.85822628e-01 -3.35500890e-02 -1.64402367e-01 2.75946231e+02] [ 1.64714603e-01 6.74620311e-03 9.86318198e-01 3.80977128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.176875 meters 0.019887214465382098 Centerline is valid? [True, True] Translation: X:320.28, Y:276.00, Z:38.11 [[-3.77031233e-02 -9.99215635e-01 1.21073985e-02 3.20277794e+02] [ 9.85881396e-01 -3.91726008e-02 -1.62798587e-01 2.76003365e+02] [ 1.63145172e-01 5.79844372e-03 9.86585035e-01 3.81084524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.236875 meters 0.018165837979486697 Centerline is valid? [True, True] Translation: X:320.28, Y:276.06, Z:38.12 [[-4.20499693e-02 -9.99042795e-01 1.20537746e-02 3.20282039e+02] [ 9.85930014e-01 -4.34455615e-02 -1.61414034e-01 2.76060763e+02] [ 1.61783211e-01 5.09672302e-03 9.86813162e-01 3.81193320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.296875 meters 0.01939032556343824 Centerline is valid? [True, True] Translation: X:320.28, Y:276.12, Z:38.13 [[-4.51775410e-02 -9.98907157e-01 1.19783444e-02 3.20280671e+02] [ 9.86060177e-01 -4.65122156e-02 -1.59755881e-01 2.76117334e+02] [ 1.60138432e-01 4.59399051e-03 9.87083876e-01 3.81299157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.356875 meters 0.017819254413094697 Centerline is valid? [True, True] Translation: X:320.28, Y:276.17, Z:38.14 [[-4.60691051e-02 -9.98866273e-01 1.19919482e-02 3.20281591e+02] [ 9.86090086e-01 -4.73924785e-02 -1.59311943e-01 2.76173923e+02] [ 1.59699655e-01 4.48578258e-03 9.87155458e-01 3.81397199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.416875 meters 0.017912510097862256 Centerline is valid? [True, True] Translation: X:320.28, Y:276.23, Z:38.15 [[-4.57233327e-02 -9.98880755e-01 1.21083989e-02 3.20278508e+02] [ 9.85967722e-01 -4.70737169e-02 -1.60161530e-01 2.76231235e+02] [ 1.60552257e-01 4.61537156e-03 9.87016551e-01 3.81474226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.476875 meters 0.018396414522964134 Centerline is valid? [True, True] Translation: X:320.27, Y:276.29, Z:38.16 [[-4.53593760e-02 -9.98895979e-01 1.22208629e-02 3.20273863e+02] [ 9.85843264e-01 -4.67366862e-02 -1.61024039e-01 2.76288785e+02] [ 1.61417428e-01 4.74390541e-03 9.86874820e-01 3.81564277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.536875 meters 0.018232025743389994 Centerline is valid? [True, True] Translation: X:320.27, Y:276.34, Z:38.17 [[-4.62279805e-02 -9.98854911e-01 1.23223666e-02 3.20271745e+02] [ 9.85684224e-01 -4.76137218e-02 -1.61739124e-01 2.76344922e+02] [ 1.62140632e-01 4.66908931e-03 9.86756614e-01 3.81672642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.596875 meters 0.017312816854350654 Centerline is valid? [True, True] Translation: X:320.27, Y:276.40, Z:38.18 [[-4.87871035e-02 -9.98731939e-01 1.24230719e-02 3.20269875e+02] [ 9.85455127e-01 -5.01581753e-02 -1.62364867e-01 2.76402257e+02] [ 1.62782097e-01 4.32106835e-03 9.86652582e-01 3.81769907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.656875 meters 0.01710533441154906 Centerline is valid? [True, True] Translation: X:320.27, Y:276.46, Z:38.18 [[-5.14082230e-02 -9.98598003e-01 1.26183251e-02 3.20266419e+02] [ 9.85000133e-01 -5.27840734e-02 -1.64282010e-01 2.76459539e+02] [ 1.64717734e-01 3.98360564e-03 9.86332702e-01 3.81836738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.716875 meters 0.01667815846088028 Centerline is valid? [True, True] Translation: X:320.26, Y:276.52, Z:38.19 [[-5.37215515e-02 -9.98474880e-01 1.27243527e-02 3.20263922e+02] [ 9.84747129e-01 -5.50861993e-02 -1.65041212e-01 2.76516792e+02] [ 1.65490441e-01 3.66399981e-03 9.86204588e-01 3.81926857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.776875 meters 0.01616519623180805 Centerline is valid? [True, True] Translation: X:320.26, Y:276.57, Z:38.20 [[-5.67839340e-02 -9.98304913e-01 1.27626682e-02 3.20262166e+02] [ 9.84592403e-01 -5.81124376e-02 -1.64926479e-01 2.76573913e+02] [ 1.65388584e-01 3.20085183e-03 9.86223286e-01 3.82036174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.836875 meters 0.014715304875093939 Centerline is valid? [True, True] Translation: X:320.26, Y:276.63, Z:38.22 [[-5.99521013e-02 -9.98120140e-01 1.27252449e-02 3.20261392e+02] [ 9.84583602e-01 -6.12279656e-02 -1.63848307e-01 2.76631468e+02] [ 1.64319436e-01 2.70601719e-03 9.86403467e-01 3.82150628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.896875 meters 0.014394218941252911 Centerline is valid? [True, True] Translation: X:320.26, Y:276.69, Z:38.22 [[-6.24954964e-02 -9.97961050e-01 1.29635935e-02 3.20258305e+02] [ 9.84010302e-01 -6.37821016e-02 -1.66299635e-01 2.76689455e+02] [ 1.66787404e-01 2.36333128e-03 9.85990049e-01 3.82220955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.956875 meters 0.013993463905074317 Centerline is valid? [True, True] Translation: X:320.26, Y:276.75, Z:38.23 [[-6.52307514e-02 -9.97781292e-01 1.33207429e-02 3.20255097e+02] [ 9.83156396e-01 -6.65471411e-02 -1.70220386e-01 2.76746803e+02] [ 1.70729174e-01 1.99276988e-03 9.85315979e-01 3.82279070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.016875 meters 0.013710968402583781 Centerline is valid? [True, True] Translation: X:320.25, Y:276.80, Z:38.24 [[-6.89290266e-02 -9.97528506e-01 1.36260322e-02 3.20253906e+02] [ 9.82340665e-01 -7.02483321e-02 -1.73412770e-01 2.76802102e+02] [ 1.73941388e-01 1.43223207e-03 9.84754966e-01 3.82363435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07687500000003 meters 0.01333327436589381 Centerline is valid? [True, True] Translation: X:320.25, Y:276.86, Z:38.25 [[-7.21417136e-02 -9.97305421e-01 1.33218366e-02 3.20252122e+02] [ 9.82911303e-01 -7.33557234e-02 -1.68832191e-01 2.76857222e+02] [ 1.69354492e-01 9.14340215e-04 9.85554778e-01 3.82512289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13687500000003 meters 0.013125835384314874 Centerline is valid? [True, True] Translation: X:320.25, Y:276.91, Z:38.27 [[-7.45944802e-02 -9.97129267e-01 1.29957415e-02 3.20249574e+02] [ 9.83524370e-01 -7.57161665e-02 -1.64155035e-01 2.76914125e+02] [ 1.64667777e-01 5.36569022e-04 9.86348942e-01 3.82651889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19687500000003 meters 0.012939668620121235 Centerline is valid? [True, True] Translation: X:320.25, Y:276.97, Z:38.28 [[-7.65869667e-02 -9.96980608e-01 1.28102975e-02 3.20246001e+02] [ 9.83855082e-01 -7.76505153e-02 -1.61243840e-01 2.76970653e+02] [ 1.61751708e-01 2.54299739e-04 9.86831455e-01 3.82763173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25687500000004 meters 0.01297081533092795 Centerline is valid? [True, True] Translation: X:320.24, Y:277.03, Z:38.28 [[-7.72092681e-02 -9.96928638e-01 1.31156462e-02 3.20240606e+02] [ 9.83278939e-01 -7.83150700e-02 -1.64405835e-01 2.77027132e+02] [ 1.64928038e-01 2.02684501e-04 9.86305582e-01 3.82815728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.316875 meters 0.013210953069514505 Centerline is valid? [True, True] Translation: X:320.24, Y:277.09, Z:38.28 [[-7.82746134e-02 -9.96835914e-01 1.38291875e-02 3.20235480e+02] [ 9.81774362e-01 -7.94868376e-02 -1.72629500e-01 2.77085210e+02] [ 1.73182523e-01 6.46343903e-05 9.84889745e-01 3.82846684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.376875 meters 0.013504637026992098 Centerline is valid? [True, True] Translation: X:320.23, Y:277.14, Z:38.30 [[-7.98970445e-02 -9.96704039e-01 1.40542227e-02 3.20231062e+02] [ 9.81255159e-01 -8.11235355e-02 -1.74806422e-01 2.77142266e+02] [ 1.75370395e-01 -1.75737947e-04 9.84502511e-01 3.82951092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.436875 meters 0.013777230876317683 Centerline is valid? [True, True] Translation: X:320.23, Y:277.20, Z:38.31 [[-8.24353950e-02 -9.96501025e-01 1.37881140e-02 3.20226857e+02] [ 9.81737271e-01 -8.35787168e-02 -1.70899179e-01 2.77198858e+02] [ 1.71453600e-01 -5.51835887e-04 9.85192041e-01 3.83095715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.496875 meters 0.014092757427588112 Centerline is valid? [True, True] Translation: X:320.22, Y:277.25, Z:38.32 [[-8.50087929e-02 -9.96289566e-01 1.34389371e-02 3.20223401e+02] [ 9.82362514e-01 -8.60596995e-02 -1.66004876e-01 2.77253257e+02] [ 1.66545477e-01 -9.09966026e-04 9.86033355e-01 3.83223320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.556875 meters 0.014555846147296807 Centerline is valid? [True, True] Translation: X:320.22, Y:277.31, Z:38.33 [[-8.94362761e-02 -9.95903374e-01 1.33274998e-02 3.20220174e+02] [ 9.82286145e-01 -9.04098867e-02 -1.64134039e-01 2.77310533e+02] [ 1.64666581e-01 -1.58811879e-03 9.86348009e-01 3.83338350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.616875 meters 0.014726773854093338 Centerline is valid? [True, True] Translation: X:320.22, Y:277.37, Z:38.34 [[-9.09855155e-02 -9.95761616e-01 1.34328148e-02 3.20216055e+02] [ 9.82024620e-01 -9.19540131e-02 -1.64839637e-01 2.77368263e+02] [ 1.65376184e-01 -1.80666445e-03 9.86228905e-01 3.83427895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.676875 meters 0.015301484521026658 Centerline is valid? [True, True] Translation: X:320.21, Y:277.43, Z:38.35 [[-9.52875759e-02 -9.95358369e-01 1.34905716e-02 3.20213247e+02] [ 9.81596877e-01 -9.62059516e-02 -1.64960558e-01 2.77425886e+02] [ 1.65492746e-01 -2.47638876e-03 9.86207898e-01 3.83506856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.736875 meters 0.01573386008285488 Centerline is valid? [True, True] Translation: X:320.21, Y:277.48, Z:38.36 [[-9.75309743e-02 -9.95144253e-01 1.32523211e-02 3.20208964e+02] [ 9.81957294e-01 -9.83891393e-02 -1.61491330e-01 2.77482192e+02] [ 1.62011053e-01 -2.73719331e-03 9.86785147e-01 3.83607171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.796875 meters 0.01550018907678522 Centerline is valid? [True, True] Translation: X:320.20, Y:277.54, Z:38.37 [[-9.77872083e-02 -9.95119914e-01 1.31915995e-02 3.20200485e+02] [ 9.82154609e-01 -9.86359483e-02 -1.60135174e-01 2.77538961e+02] [ 1.60654867e-01 -2.70298134e-03 9.87006944e-01 3.83684008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.856875 meters 0.015324173987967161 Centerline is valid? [True, True] Translation: X:320.19, Y:277.60, Z:38.37 [[-9.32824612e-02 -9.95544484e-01 1.37681757e-02 3.20191237e+02] [ 9.81531857e-01 -9.42715514e-02 -1.66457467e-01 2.77596301e+02] [ 1.67013760e-01 -2.01365914e-03 9.85952509e-01 3.83702827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.916875 meters 0.014604886340769532 Centerline is valid? [True, True] Translation: X:320.18, Y:277.65, Z:38.38 [[-8.59987373e-02 -9.96190416e-01 1.44523900e-02 3.20180023e+02] [ 9.80858268e-01 -8.72010257e-02 -1.74106403e-01 2.77653905e+02] [ 1.74703394e-01 -7.97184615e-04 9.84620784e-01 3.83754724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.976875 meters 0.014364044729064041 Centerline is valid? [True, True] Translation: X:320.17, Y:277.71, Z:38.39 [[-8.13148912e-02 -9.96583275e-01 1.44798118e-02 3.20171453e+02] [ 9.81305534e-01 -8.25940132e-02 -1.73832324e-01 2.77709913e+02] [ 1.74434333e-01 7.39629293e-05 9.84668806e-01 3.83874984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.036875 meters 0.014153270071951694 Centerline is valid? [True, True] Translation: X:320.17, Y:277.77, Z:38.40 [[-8.09968858e-02 -9.96617604e-01 1.38872803e-02 3.20165869e+02] [ 9.82677072e-01 -8.21785560e-02 -1.66109777e-01 2.77765029e+02] [ 1.66689165e-01 1.92337273e-04 9.86009475e-01 3.84017668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.096875 meters 0.01430365145272293 Centerline is valid? [True, True] Translation: X:320.16, Y:277.82, Z:38.42 [[-8.22943107e-02 -9.96522616e-01 1.30507931e-02 3.20161499e+02] [ 9.84292828e-01 -8.33227184e-02 -1.55643676e-01 2.77820257e+02] [ 1.56189870e-01 3.72130327e-05 9.87727049e-01 3.84200008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.156875 meters 0.014337045433305324 Centerline is valid? [True, True] Translation: X:320.16, Y:277.88, Z:38.43 [[-8.25180878e-02 -9.96505740e-01 1.29257348e-02 3.20156324e+02] [ 9.84597855e-01 -8.35242879e-02 -1.53592827e-01 2.77876742e+02] [ 1.54135747e-01 5.24643737e-05 9.88049679e-01 3.84294956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.216875 meters 0.014390247286342542 Centerline is valid? [True, True] Translation: X:320.15, Y:277.93, Z:38.43 [[-7.99496746e-02 -9.96710196e-01 1.32979267e-02 3.20149681e+02] [ 9.84204433e-01 -8.10464749e-02 -1.57394734e-01 2.77934082e+02] [ 1.57954686e-01 5.04220601e-04 9.87446233e-01 3.84334680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.276875 meters 0.014555755894116187 Centerline is valid? [True, True] Translation: X:320.14, Y:277.99, Z:38.43 [[-7.67096252e-02 -9.96956275e-01 1.39218848e-02 3.20143026e+02] [ 9.83355019e-01 -7.79549518e-02 -1.64121701e-01 2.77991594e+02] [ 1.64707440e-01 1.10044116e-03 9.86341852e-01 3.84345319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.336875 meters 0.014529955921434313 Centerline is valid? [True, True] Translation: X:320.14, Y:278.05, Z:38.44 [[-7.59411538e-02 -9.97010175e-01 1.42706505e-02 3.20139039e+02] [ 9.82819201e-01 -7.72595022e-02 -1.67622753e-01 2.78049763e+02] [ 1.68224134e-01 1.29600404e-03 9.85747920e-01 3.84394498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.396875 meters 0.014671089482279786 Centerline is valid? [True, True] Translation: X:320.14, Y:278.11, Z:38.45 [[-7.64926517e-02 -9.96965856e-01 1.44206688e-02 3.20137312e+02] [ 9.82572204e-01 -7.78299489e-02 -1.68802734e-01 2.78105603e+02] [ 1.69412922e-01 1.25717959e-03 9.85544358e-01 3.84467090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.456875 meters 0.014368069749688699 Centerline is valid? [True, True] Translation: X:320.14, Y:278.16, Z:38.46 [[-7.92784204e-02 -9.96754431e-01 1.39834587e-02 3.20138140e+02] [ 9.83300840e-01 -8.04981258e-02 -1.63216145e-01 2.78162712e+02] [ 1.63812058e-01 8.10428509e-04 9.86491233e-01 3.84620618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.516875 meters 0.014264748204110991 Centerline is valid? [True, True] Translation: X:320.14, Y:278.22, Z:38.48 [[-8.21842087e-02 -9.96528825e-01 1.32686283e-02 3.20137944e+02] [ 9.84490959e-01 -8.32475986e-02 -1.54426001e-01 2.78218693e+02] [ 1.54994543e-01 3.71465892e-04 9.87915256e-01 3.84786178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57687500000003 meters 0.01429632279666286 Centerline is valid? [True, True] Translation: X:320.14, Y:278.28, Z:38.49 [[-8.14507251e-02 -9.96591157e-01 1.31089874e-02 3.20135044e+02] [ 9.84931865e-01 -8.24971763e-02 -1.51998150e-01 2.78276407e+02] [ 1.52561467e-01 5.31099860e-04 9.88293841e-01 3.84879143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63687500000003 meters 0.014383355309325586 Centerline is valid? [True, True] Translation: X:320.13, Y:278.33, Z:38.49 [[-7.84926860e-02 -9.96824039e-01 1.34436947e-02 3.20129719e+02] [ 9.84646404e-01 -7.96287911e-02 -1.55340639e-01 2.78334046e+02] [ 1.55917788e-01 1.04418166e-03 9.87769484e-01 3.84922152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69687500000003 meters 0.014512008244642903 Centerline is valid? [True, True] Translation: X:320.13, Y:278.39, Z:38.49 [[-7.49142591e-02 -9.97087456e-01 1.42989017e-02 3.20126081e+02] [ 9.83402210e-01 -7.62470984e-02 -1.64640437e-01 2.78391365e+02] [ 1.65251165e-01 1.72765517e-03 9.86250003e-01 3.84919500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75687500000004 meters 0.01412345729081771 Centerline is valid? [True, True] Translation: X:320.13, Y:278.45, Z:38.50 [[-7.68823059e-02 -9.96935133e-01 1.44724381e-02 3.20126869e+02] [ 9.82982769e-01 -7.82192151e-02 -1.66212608e-01 2.78448041e+02] [ 1.66835211e-01 1.44734874e-03 9.85983731e-01 3.85011404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.816875 meters 0.013666440032204755 Centerline is valid? [True, True] Translation: X:320.13, Y:278.50, Z:38.52 [[-8.54665937e-02 -9.96247800e-01 1.36302363e-02 3.20134739e+02] [ 9.83959403e-01 -8.65466098e-02 -1.55992235e-01 2.78503451e+02] [ 1.56586572e-01 7.94742265e-05 9.87664234e-01 3.85208302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.876875 meters 0.01414636986270669 Centerline is valid? [True, True] Translation: X:320.14, Y:278.56, Z:38.54 [[-9.48424506e-02 -9.95409525e-01 1.28369320e-02 3.20140323e+02] [ 9.84572551e-01 -9.56990277e-02 -1.46487498e-01 2.78560614e+02] [ 1.47043532e-01 -1.25434236e-03 9.89129226e-01 3.85363727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.936875 meters 0.015159921182333586 Centerline is valid? [True, True] Translation: X:320.14, Y:278.62, Z:38.54 [[-1.00498864e-01 -9.94852162e-01 1.30059403e-02 3.20141963e+02] [ 9.83797619e-01 -1.01315808e-01 -1.47909945e-01 2.78617630e+02] [ 1.48466236e-01 -2.06956834e-03 9.88915312e-01 3.85447886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.996875 meters 0.016342147932371813 Centerline is valid? [True, True] Translation: X:320.14, Y:278.68, Z:38.55 [[-1.09962934e-01 -9.93838283e-01 1.39147383e-02 3.20141541e+02] [ 9.81260859e-01 -1.10778643e-01 -1.57655378e-01 2.78676512e+02] [ 1.58225406e-01 -3.68225991e-03 9.87396152e-01 3.85452794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.056875 meters 0.018626298572343512 Centerline is valid? [True, True] Translation: X:320.14, Y:278.73, Z:38.56 [[-1.18756048e-01 -9.92824301e-01 1.40324154e-02 3.20139329e+02] [ 9.80109450e-01 -1.19474891e-01 -1.58465191e-01 2.78732724e+02] [ 1.59004614e-01 -5.06539704e-03 9.87264845e-01 3.85578944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.116875 meters 0.022728306854096263 Centerline is valid? [True, True] Translation: X:320.13, Y:278.79, Z:38.58 [[-1.25589261e-01 -9.91992414e-01 1.33562333e-02 3.20133811e+02] [ 9.80526933e-01 -1.26164005e-01 -1.50497764e-01 2.78786653e+02] [ 1.50977716e-01 -5.80475644e-03 9.88520123e-01 3.85752332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.176875 meters 0.024868373095440245 Centerline is valid? [True, True] Translation: X:320.12, Y:278.84, Z:38.58 [[-1.28748273e-01 -9.91588009e-01 1.33080043e-02 3.20122273e+02] [ 9.80283957e-01 -1.29285997e-01 -1.49427222e-01 2.78843203e+02] [ 1.49890781e-01 -6.19287368e-03 9.88683166e-01 3.85829065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.236875 meters 0.0281339906180136 Centerline is valid? [True, True] Translation: X:320.10, Y:278.90, Z:38.58 [[-1.25956497e-01 -9.91945373e-01 1.33917068e-02 3.20098569e+02] [ 9.80575373e-01 -1.26536035e-01 -1.49868509e-01 2.78899596e+02] [ 1.50355907e-01 -5.74533450e-03 9.88615240e-01 3.85846463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.296875 meters 0.04050659725959729 Centerline is valid? [True, True] Translation: X:320.07, Y:278.95, Z:38.59 [[-1.17500969e-01 -9.92982198e-01 1.34117937e-02 3.20074966e+02] [ 9.81661260e-01 -1.18181665e-01 -1.49580299e-01 2.78953579e+02] [ 1.50115602e-01 -4.40999174e-03 9.88658616e-01 3.85919664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.356875 meters 0.05801625063064381 Centerline is valid? [True, True] Translation: X:320.06, Y:279.01, Z:38.60 [[-1.19169432e-01 -9.92787422e-01 1.31065695e-02 3.20058319e+02] [ 9.82038347e-01 -1.19803539e-01 -1.45766243e-01 2.79008463e+02] [ 1.46285106e-01 -4.49972646e-03 9.89232238e-01 3.86015445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.416875 meters 0.1680266541357744 Centerline is valid? [True, False] Translation: X:320.35, Y:277.35, Z:38.97 [[ 9.60202370e-01 2.46341509e-01 -1.31633086e-01 3.20353976e+02] [-1.44805638e-01 8.42065815e-01 5.19573373e-01 2.77350303e+02] [ 2.38836211e-01 -4.79834371e-01 8.44225231e-01 3.89726326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.476875 meters 0.20879493817269307 Centerline is valid? [False, False] Translation: X:320.37, Y:277.42, Z:38.82 [[ 9.64059589e-01 1.65427541e-01 -2.07901026e-01 3.20365707e+02] [-1.10512961e-01 9.61282221e-01 2.52434896e-01 2.77422403e+02] [ 2.41611244e-01 -2.20386524e-01 9.45015231e-01 3.88190514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.536875 meters 0.21179515482014286 Centerline is valid? [False, False] Translation: X:320.34, Y:277.48, Z:38.74 [[ 9.66961101e-01 1.21158645e-01 -2.24291803e-01 3.20339834e+02] [-9.69173377e-02 9.88493093e-01 1.16139723e-01 2.77479550e+02] [ 2.35782229e-01 -9.05648302e-02 9.67576742e-01 3.87399974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.596875 meters 0.22729193199378103 Centerline is valid? [False, False] Translation: X:320.33, Y:277.55, Z:38.69 [[ 9.73968289e-01 9.25719877e-02 -2.06920754e-01 3.20326591e+02] [-8.24764949e-02 9.94966584e-01 5.69133038e-02 2.77547409e+02] [ 2.11147814e-01 -3.83656546e-02 9.76700915e-01 3.86901909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.656875 meters 0.2350302981814105 Centerline is valid? [False, False] Translation: X:320.30, Y:277.60, Z:38.65 [[ 9.80406534e-01 8.04332013e-02 -1.79815261e-01 3.20302048e+02] [-7.74342881e-02 9.96716991e-01 2.36468048e-02 2.77600927e+02] [ 1.81126914e-01 -9.25961522e-03 9.83416138e-01 3.86532064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.716875 meters 0.22945273248036605 Centerline is valid? [False, False] Translation: X:320.28, Y:277.67, Z:38.62 [[ 9.84125857e-01 8.24923570e-02 -1.57134686e-01 3.20283799e+02] [-8.30482538e-02 9.96540902e-01 3.03608309e-03 2.77668317e+02] [ 1.56841595e-01 1.00618734e-02 9.87572515e-01 3.86243407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.776875 meters 0.2384423973753651 Centerline is valid? [False, False] Translation: X:320.26, Y:277.71, Z:38.60 [[ 9.87383575e-01 7.94985726e-02 -1.36943974e-01 3.20261939e+02] [-8.20454683e-02 9.96543195e-01 -1.30461106e-02 2.77711533e+02] [ 1.35433438e-01 2.41171478e-02 9.90492881e-01 3.86032838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.836875 meters 0.28586651257400436 Centerline is valid? [False, False] Translation: X:320.26, Y:277.76, Z:38.59 [[ 9.90259740e-01 7.54901360e-02 -1.16990970e-01 3.20259016e+02] [-7.95014228e-02 9.96383162e-01 -3.00019545e-02 2.77760930e+02] [ 1.14302981e-01 3.90106762e-02 9.92679704e-01 3.85888439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.896875 meters 0.2840993307231738 Centerline is valid? [False, False] Translation: X:320.25, Y:277.80, Z:38.58 [[ 9.92895269e-01 7.29359200e-02 -9.40177454e-02 3.20246588e+02] [-7.64585801e-02 9.96478399e-01 -3.44221568e-02 2.77795932e+02] [ 9.11760408e-02 4.13660600e-02 9.94975265e-01 3.85758576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.956875 meters 0.3165993516058556 Centerline is valid? [False, False] Translation: X:320.25, Y:277.84, Z:38.57 [[ 9.93783414e-01 7.75186969e-02 -7.99085542e-02 3.20251499e+02] [-8.06704855e-02 9.96054054e-01 -3.69945146e-02 2.77836309e+02] [ 7.67254728e-02 4.32107969e-02 9.96115470e-01 3.85663104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.016875 meters 0.3353791383910245 Centerline is valid? [False, False] Translation: X:320.25, Y:277.87, Z:38.56 [[ 9.94412665e-01 8.46576249e-02 -6.30597929e-02 3.20250480e+02] [-8.69188601e-02 9.95634413e-01 -3.40180402e-02 2.77865638e+02] [ 5.99046135e-02 3.93090554e-02 9.97429815e-01 3.85596993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.07687500000003 meters 0.29833330559929067 Centerline is valid? [False, False] Translation: X:320.25, Y:277.89, Z:38.55 [[ 9.94614753e-01 8.63872300e-02 -5.72602809e-02 3.20248243e+02] [-8.79997666e-02 9.95774285e-01 -2.62605056e-02 2.77889165e+02] [ 5.47497430e-02 3.11579776e-02 9.98013851e-01 3.85531019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13687500000003 meters 0.29785727062716316 Centerline is valid? [False, False] Translation: X:320.23, Y:277.90, Z:38.54 [[ 9.95751878e-01 7.81736122e-02 -4.86526873e-02 3.20231901e+02] [-7.91944377e-02 9.96670057e-01 -1.94174586e-02 2.77904789e+02] [ 4.69727437e-02 2.31879931e-02 9.98626997e-01 3.85433753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19687500000003 meters 0.3011456457394339 Centerline is valid? [False, False] Translation: X:320.20, Y:277.93, Z:38.53 [[ 9.97665985e-01 5.98470866e-02 -3.28771680e-02 3.20200762e+02] [-6.03548268e-02 9.98069125e-01 -1.46736613e-02 2.77929165e+02] [ 3.19355104e-02 1.66237086e-02 9.99351678e-01 3.85347236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25687500000004 meters 0.29860593760276294 Centerline is valid? [False, False] Translation: X:320.19, Y:277.94, Z:38.53 [[ 9.98277295e-01 5.20270159e-02 -2.71225477e-02 3.20190687e+02] [-5.24899702e-02 9.98482713e-01 -1.66455399e-02 2.77943760e+02] [ 2.62153772e-02 1.80405263e-02 9.99493518e-01 3.85299462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.316875 meters 0.3007846017122553 Centerline is valid? [False, False] Translation: X:320.20, Y:277.97, Z:38.53 [[ 9.98857667e-01 4.23404613e-02 -2.21505602e-02 3.20204671e+02] [-4.24446936e-02 9.99089750e-01 -4.25662660e-03 2.77968174e+02] [ 2.19501702e-02 5.19193786e-03 9.99745585e-01 3.85254226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.376875 meters 0.30550526360323554 Centerline is valid? [False, False] Translation: X:320.21, Y:277.98, Z:38.52 [[ 9.98848802e-01 4.17563196e-02 -2.36110168e-02 3.20209615e+02] [-4.19176651e-02 9.99100697e-01 -6.38013818e-03 2.77979958e+02] [ 2.33233723e-02 7.36251208e-03 9.99700862e-01 3.85237324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.436875 meters 0.3035926583567833 Centerline is valid? [False, False] Translation: X:320.21, Y:277.99, Z:38.52 [[ 9.98791778e-01 4.28494741e-02 -2.40605019e-02 3.20211694e+02] [-4.30329312e-02 9.99048002e-01 -7.15929831e-03 2.77990085e+02] [ 2.37308242e-02 8.18604221e-03 9.99684869e-01 3.85235337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.496875 meters 0.29833202614342175 Centerline is valid? [False, False] Translation: X:320.22, Y:278.02, Z:38.52 [[ 9.98702321e-01 4.94846320e-02 -1.20393532e-02 3.20219871e+02] [-4.94214783e-02 9.98762935e-01 5.48793958e-03 2.78016378e+02] [ 1.22960284e-02 -4.88581536e-03 9.99912464e-01 3.85227402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.556875 meters 0.3006527000432106 Centerline is valid? [False, False] Translation: X:320.24, Y:278.04, Z:38.52 [[ 9.98871182e-01 4.55654635e-02 -1.34219815e-02 3.20235207e+02] [-4.54477707e-02 9.98926649e-01 8.94706246e-03 2.78039745e+02] [ 1.38152520e-02 -8.32696373e-03 9.99869892e-01 3.85199872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.616875 meters 0.2963443485407368 Centerline is valid? [False, False] Translation: X:320.25, Y:278.05, Z:38.52 [[ 9.99265471e-01 3.42706467e-02 -1.71476395e-02 3.20248065e+02] [-3.41451311e-02 9.99388293e-01 7.55979673e-03 2.78052982e+02] [ 1.73962293e-02 -6.96873544e-03 9.99824389e-01 3.85211680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.676875 meters 0.2998927825442476 Centerline is valid? [False, False] Translation: X:320.25, Y:278.06, Z:38.53 [[ 9.99773803e-01 2.07333786e-02 -4.74029541e-03 3.20246484e+02] [-2.07437669e-02 9.99782507e-01 -2.15292351e-03 2.78063561e+02] [ 4.69462705e-03 2.25076810e-03 9.99986447e-01 3.85254472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.736875 meters 0.30728926631279535 Centerline is valid? [False, False] Translation: X:320.26, Y:278.07, Z:38.53 [[ 9.99924208e-01 8.37765496e-03 -9.02181740e-03 3.20259642e+02] [-8.40822110e-03 9.99959021e-01 -3.35544053e-03 2.78073934e+02] [ 8.99333697e-03 3.43104365e-03 9.99953673e-01 3.85286623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.796875 meters 0.30849654435576934 Centerline is valid? [False, False] Translation: X:320.26, Y:278.08, Z:38.53 [[ 9.99817412e-01 -1.87622239e-02 -3.62224652e-03 3.20261617e+02] [ 1.87079686e-02 9.99720243e-01 -1.44722932e-02 2.78083484e+02] [ 3.89276557e-03 1.44018859e-02 9.99888710e-01 3.85282128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.856875 meters 0.3152476668590992 Centerline is valid? [False, False] Translation: X:320.29, Y:278.09, Z:38.52 [[ 9.97042679e-01 -7.22966392e-02 2.60593899e-02 3.20291104e+02] [ 7.30532933e-02 9.96895868e-01 -2.93571873e-02 2.78088187e+02] [-2.38560721e-02 3.11740929e-02 9.99229235e-01 3.85245213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.916875 meters 0.3418265451976013 Centerline is valid? [False, False] Translation: X:320.36, Y:278.11, Z:38.54 [[ 9.96657379e-01 -8.05745024e-02 -1.34840026e-02 3.20357535e+02] [ 8.07076599e-02 9.96691197e-01 9.64013956e-03 2.78105240e+02] [ 1.26626372e-02 -1.06961785e-02 9.99862615e-01 3.85360205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.976875 meters 0.3532828602458156 Centerline is valid? [False, False] Translation: X:320.41, Y:278.16, Z:38.55 [[ 9.96668674e-01 -7.34893053e-02 -3.53677389e-02 3.20406660e+02] [ 7.37936925e-02 9.97246240e-01 7.37757828e-03 2.78156947e+02] [ 3.47281715e-02 -9.96291721e-03 9.99347134e-01 3.85452354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.036875 meters 0.3693834123605383 Centerline is valid? [False, False] Translation: X:320.43, Y:278.20, Z:38.55 [[ 9.97909017e-01 -6.41828990e-02 -7.62562802e-03 3.20432228e+02] [ 6.38940458e-02 9.97395107e-01 -3.34746330e-02 2.78197099e+02] [ 9.75426307e-03 3.29174059e-02 9.99410476e-01 3.85467377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.096875 meters 0.36811665854244413 Centerline is valid? [False, False] Translation: X:320.45, Y:278.24, Z:38.56 [[ 9.98468532e-01 -5.22842933e-02 -1.80815641e-02 3.20450389e+02] [ 5.20143008e-02 9.98532274e-01 -1.50933712e-02 2.78236473e+02] [ 1.88441716e-02 1.41297563e-02 9.99722585e-01 3.85556592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.156875 meters 0.34340691400959794 Centerline is valid? [False, False] Translation: X:320.49, Y:278.30, Z:38.56 [[ 9.99257891e-01 -1.76706983e-02 -3.42259140e-02 3.20485700e+02] [ 1.76072754e-02 9.99842661e-01 -2.15360677e-03 2.78303524e+02] [ 3.42585847e-02 1.54938346e-03 9.99411801e-01 3.85567032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.216875 meters 0.3449514576488602 Centerline is valid? [False, False] Translation: X:320.49, Y:278.33, Z:38.55 [[ 9.99722292e-01 -5.28752853e-03 -2.29647843e-02 3.20491293e+02] [ 5.20193716e-03 9.99979306e-01 -3.78521139e-03 2.78325505e+02] [ 2.29843235e-02 3.66469884e-03 9.99729109e-01 3.85473101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.276875 meters 0.36083385281051206 Centerline is valid? [False, False] Translation: X:320.50, Y:278.35, Z:38.54 [[ 9.99848343e-01 8.68404422e-03 -1.50956245e-02 3.20501000e+02] [-8.66194993e-03 9.99961317e-01 1.52839034e-03 2.78349245e+02] [ 1.51083131e-02 -1.39740100e-03 9.99884886e-01 3.85432754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.336875 meters 0.35995412252072745 Centerline is valid? [False, False] Translation: X:320.54, Y:278.41, Z:38.55 [[ 9.99252514e-01 2.26322123e-02 -3.13400022e-02 3.20542825e+02] [-2.22465825e-02 9.99673121e-01 1.25992609e-02 2.78405488e+02] [ 3.16149069e-02 -1.18926352e-02 9.99429369e-01 3.85502664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.396875 meters 0.3685050210592038 Centerline is valid? [False, False] Translation: X:320.53, Y:278.43, Z:38.54 [[ 9.98971490e-01 3.86351631e-02 -2.37336509e-02 3.20534696e+02] [-3.90989051e-02 9.99047076e-01 -1.93962877e-02 2.78427871e+02] [ 2.29616558e-02 2.03042982e-02 9.99530139e-01 3.85370490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.456875 meters 0.353919379862989 Centerline is valid? [False, False] Translation: X:320.52, Y:278.43, Z:38.52 [[ 9.99434882e-01 3.19958986e-02 -1.03043177e-02 3.20516520e+02] [-3.20232994e-02 9.99483983e-01 -2.50519088e-03 2.78431754e+02] [ 1.02188447e-02 2.83375341e-03 9.99943771e-01 3.85182723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.516875 meters 0.368158556442127 Centerline is valid? [False, False] Translation: X:320.52, Y:278.44, Z:38.51 [[ 9.99812653e-01 1.83300661e-02 6.21836612e-03 3.20520516e+02] [-1.83926149e-02 9.99779267e-01 1.01552510e-02 2.78438524e+02] [-6.03084709e-03 -1.02677204e-02 9.99929099e-01 3.85132582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57687500000003 meters 0.3691491399359749 Centerline is valid? [False, False] Translation: X:320.51, Y:278.44, Z:38.53 [[ 9.99855981e-01 1.46326740e-02 8.59665772e-03 3.20513024e+02] [-1.46416518e-02 9.99892323e-01 9.82327569e-04 2.78444511e+02] [-8.58135797e-03 -1.10805536e-03 9.99962566e-01 3.85251973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63687500000003 meters 0.35896647032499335 Centerline is valid? [False, False] Translation: X:320.51, Y:278.44, Z:38.53 [[ 9.99852222e-01 1.51171721e-02 8.18571477e-03 3.20512554e+02] [-1.51306821e-02 9.99884259e-01 1.59102343e-03 2.78441410e+02] [-8.16071557e-03 -1.71464376e-03 9.99965231e-01 3.85268389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69687500000003 meters 0.3541387380312811 Centerline is valid? [False, False] Translation: X:320.51, Y:278.44, Z:38.52 [[ 9.99867930e-01 1.15603826e-02 1.14228280e-02 3.20514755e+02] [-1.14981264e-02 9.99918763e-01 -5.50088494e-03 2.78435186e+02] [-1.14854924e-02 5.36881731e-03 9.99919626e-01 3.85169164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75687500000004 meters 0.36993814858371205 Centerline is valid? [False, False] Translation: X:320.52, Y:278.42, Z:38.50 [[ 9.99929961e-01 1.11135373e-02 4.06957232e-03 3.20517115e+02] [-1.10425091e-02 9.99793170e-01 -1.70786767e-02 2.78420954e+02] [-4.25853512e-03 1.70325422e-02 9.99845867e-01 3.85031939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.816875 meters 0.35286085499590253 Centerline is valid? [False, False] Translation: X:320.52, Y:278.41, Z:38.50 [[ 9.99910216e-01 1.27371276e-02 4.16237355e-03 3.20516996e+02] [-1.26737765e-02 9.99808553e-01 -1.49074823e-02 2.78407872e+02] [-4.35145518e-03 1.48533909e-02 9.99880214e-01 3.85029394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.876875 meters 0.3360769848741755 Centerline is valid? [False, False] Translation: X:320.51, Y:278.38, Z:38.50 [[ 9.99973638e-01 5.07777090e-04 7.24331390e-03 3.20513495e+02] [-3.93285293e-04 9.99875107e-01 -1.57992252e-02 2.78377852e+02] [-7.25043175e-03 1.57959600e-02 9.99848948e-01 3.84988340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.936875 meters 0.31778869982890473 Centerline is valid? [False, False] Translation: X:320.51, Y:278.36, Z:38.50 [[ 9.99884714e-01 -1.47145065e-02 -3.74735514e-03 3.20512906e+02] [ 1.46362615e-02 9.99690532e-01 -2.01151747e-02 2.78359237e+02] [ 4.04218032e-03 2.00580084e-02 9.99790647e-01 3.84990766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.996875 meters 0.07956050888292421 Centerline is valid? [False, True] Translation: X:320.40, Y:278.46, Z:38.69 [[ 9.99827498e-01 -1.42479497e-02 -1.19150858e-02 3.20395460e+02] [ 7.38408823e-03 8.93557279e-01 -4.48888476e-01 2.78460687e+02] [ 1.70425520e-02 4.48723060e-01 8.93508347e-01 3.86904427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.056875 meters 0.27237212060332777 Centerline is valid? [True, False] Translation: X:320.44, Y:278.45, Z:38.68 [[ 9.99560763e-01 -1.24550233e-02 -2.68915047e-02 3.20435579e+02] [ 6.64185894e-04 9.16586188e-01 -3.99836614e-01 2.78450148e+02] [ 2.96283562e-02 3.99643131e-01 9.16191862e-01 3.86770009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.116875 meters 0.23653424643578375 Centerline is valid? [False, False] Translation: X:320.36, Y:278.41, Z:38.61 [[ 9.99651350e-01 -1.49148232e-02 -2.17882323e-02 3.20356540e+02] [ 9.89757513e-03 9.76680695e-01 -2.14468779e-01 2.78405754e+02] [ 2.44789099e-02 2.14178354e-01 9.76487796e-01 3.86052500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.176875 meters 0.24369169808600574 Centerline is valid? [False, False] Translation: X:320.40, Y:278.35, Z:38.55 [[ 9.99412358e-01 -2.23208696e-02 -2.60137819e-02 3.20399274e+02] [ 2.05622678e-02 9.97606825e-01 -6.60137505e-02 2.78351569e+02] [ 2.74250107e-02 6.54400558e-02 9.97479558e-01 3.85514219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.236875 meters 0.19340421483109638 Centerline is valid? [False, False] Translation: X:320.41, Y:278.35, Z:38.54 [[ 9.99474275e-01 -1.63160037e-02 -2.80171695e-02 3.20405382e+02] [ 1.47960666e-02 9.98451463e-01 -5.36260388e-02 2.78350292e+02] [ 2.88487465e-02 5.31833024e-02 9.98167965e-01 3.85362699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.296875 meters 0.2167294994518433 Centerline is valid? [False, False] Translation: X:320.40, Y:278.33, Z:38.51 [[ 9.99194696e-01 -1.25946833e-02 -3.80963767e-02 3.20395512e+02] [ 1.29631049e-02 9.99871421e-01 9.43926331e-03 2.78330550e+02] [ 3.79725938e-02 -9.92550916e-03 9.99229486e-01 3.85128898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.356875 meters 0.1869365505514119 Centerline is valid? [False, False] Translation: X:320.40, Y:278.33, Z:38.52 [[ 9.99412661e-01 -1.81195341e-02 -2.90863580e-02 3.20395452e+02] [ 1.76534241e-02 9.99712874e-01 -1.62026474e-02 2.78329216e+02] [ 2.93715910e-02 1.56796571e-02 9.99445575e-01 3.85233699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.416875 meters 0.184065436431613 Centerline is valid? [False, False] Translation: X:320.40, Y:278.32, Z:38.51 [[ 9.99328525e-01 -2.03602776e-02 -3.04624079e-02 3.20401179e+02] [ 2.00147948e-02 9.99732347e-01 -1.16035735e-02 2.78315271e+02] [ 3.06905065e-02 1.09860831e-02 9.99468558e-01 3.85140071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.476875 meters 0.16694225412579852 Centerline is valid? [False, False] Translation: X:320.41, Y:278.31, Z:38.52 [[ 9.98984205e-01 -3.02389411e-02 -3.34090461e-02 3.20406753e+02] [ 2.99609799e-02 9.99512423e-01 -8.78958302e-03 2.78312906e+02] [ 3.36585443e-02 7.77968685e-03 9.99403111e-01 3.85196642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.536875 meters 0.15888805228750738 Centerline is valid? [False, False] Translation: X:320.40, Y:278.31, Z:38.52 [[ 9.99577537e-01 -2.32866591e-02 -1.73919317e-02 3.20398455e+02] [ 2.32844593e-02 9.99728826e-01 -3.28996830e-04 2.78313031e+02] [ 1.73948767e-02 -7.61038844e-05 9.99848695e-01 3.85198397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.596875 meters 0.1367892992715441 Centerline is valid? [False, False] Translation: X:320.40, Y:278.31, Z:38.51 [[ 9.99732592e-01 -1.81462912e-02 -1.43337548e-02 3.20396037e+02] [ 1.80554829e-02 9.99816249e-01 -6.43949250e-03 2.78308859e+02] [ 1.44479739e-02 6.17896766e-03 9.99876531e-01 3.85104234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.656875 meters 0.13125512458320998 Centerline is valid? [False, False] Translation: X:320.40, Y:278.32, Z:38.50 [[ 9.99852280e-01 -8.54553844e-03 -1.49127793e-02 3.20401747e+02] [ 8.54088537e-03 9.99963455e-01 -3.75679792e-04 2.78322927e+02] [ 1.49154447e-02 2.48255958e-04 9.99888728e-01 3.85027830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.716875 meters 0.11965051329769592 Centerline is valid? [False, False] Translation: X:320.38, Y:278.32, Z:38.51 [[ 9.99888917e-01 -7.75789374e-04 -1.48846278e-02 3.20377936e+02] [ 5.07987529e-04 9.99838088e-01 -1.79871924e-02 2.78324494e+02] [ 1.48961721e-02 1.79776332e-02 9.99727417e-01 3.85084887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.776875 meters 0.11578762604369885 Centerline is valid? [False, False] Translation: X:320.38, Y:278.32, Z:38.51 [[ 9.99887503e-01 3.56159332e-04 -1.49951687e-02 3.20380037e+02] [-5.95029147e-04 9.99872959e-01 -1.59283385e-02 2.78320724e+02] [ 1.49875906e-02 1.59354692e-02 9.99760688e-01 3.85055909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.836875 meters 0.09834066343926795 Centerline is valid? [False, True] Translation: X:320.38, Y:278.34, Z:38.51 [[ 9.99949492e-01 9.06879080e-03 -4.33252760e-03 3.20375214e+02] [-9.06572076e-03 9.99958641e-01 7.27716366e-04 2.78336131e+02] [ 4.33894792e-03 -6.88402125e-04 9.99990350e-01 3.85143717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.896875 meters 0.09782482393712559 Centerline is valid? [True, True] Translation: X:320.43, Y:278.33, Z:38.51 [[ 9.99951584e-01 7.74264764e-03 -6.07291896e-03 3.20434118e+02] [-7.74266742e-03 9.99970025e-01 2.02535361e-05 2.78328959e+02] [ 6.07289374e-03 2.67680362e-05 9.99981559e-01 3.85066437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.956875 meters 0.0903134470151913 Centerline is valid? [True, True] Translation: X:320.49, Y:278.34, Z:38.49 [[ 9.99880886e-01 9.68044172e-03 -1.20209226e-02 3.20493133e+02] [-9.68067292e-03 9.99953140e-01 3.89555199e-05 2.78336325e+02] [ 1.20207364e-02 7.74197402e-05 9.99927745e-01 3.84922531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.016875 meters 0.08509107759421294 Centerline is valid? [True, True] Translation: X:320.55, Y:278.34, Z:38.50 [[ 9.99937455e-01 7.78673679e-03 -8.02825015e-03 3.20550693e+02] [-7.78678084e-03 9.99969682e-01 2.57716476e-05 2.78337898e+02] [ 8.02820742e-03 3.67441886e-05 9.99967773e-01 3.84967560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07687500000003 meters 0.08070330552808515 Centerline is valid? [True, True] Translation: X:320.61, Y:278.34, Z:38.49 [[ 9.99911248e-01 4.87455081e-03 -1.23990084e-02 3.20609817e+02] [-4.87444579e-03 9.99988119e-01 3.86899417e-05 2.78337034e+02] [ 1.23990496e-02 2.17517863e-05 9.99923129e-01 3.84882629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13687500000003 meters 0.07445155922024813 Centerline is valid? [True, True] Translation: X:320.67, Y:278.33, Z:38.49 [[ 9.99892678e-01 1.00642524e-03 -1.46157271e-02 3.20667270e+02] [-1.00587948e-03 9.99999493e-01 4.46913239e-05 2.78333408e+02] [ 1.46157646e-02 -2.99848675e-05 9.99893184e-01 3.84922496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19687500000003 meters 0.06843374582921662 Centerline is valid? [True, True] Translation: X:320.72, Y:278.32, Z:38.49 [[ 9.99895836e-01 -2.04336618e-03 -1.42878289e-02 3.20724546e+02] [ 2.04418525e-03 9.99997910e-01 4.27218042e-05 2.78323094e+02] [ 1.42877117e-02 -7.19243231e-05 9.99897923e-01 3.84918324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25687500000004 meters 0.07319126953211964 Centerline is valid? [True, True] Translation: X:320.78, Y:278.33, Z:38.48 [[ 9.99745100e-01 -4.03415663e-03 -2.22139712e-02 3.20784348e+02] [ 4.03659465e-03 9.99991851e-01 6.49126513e-05 2.78327072e+02] [ 2.22135283e-02 -1.54564902e-04 9.99753237e-01 3.84837576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.316875 meters 0.06459526167771752 Centerline is valid? [True, True] Translation: X:320.84, Y:278.32, Z:38.49 [[ 9.99915629e-01 -4.51467482e-03 -1.21799749e-02 3.20843393e+02] [ 4.51543459e-03 9.99989805e-01 3.48795284e-05 2.78322777e+02] [ 1.21796932e-02 -8.98744655e-05 9.99925821e-01 3.84927590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.376875 meters 0.05858602376235129 Centerline is valid? [True, True] Translation: X:320.90, Y:278.32, Z:38.50 [[ 9.99957448e-01 -5.51584212e-04 -9.20855123e-03 3.20901004e+02] [ 5.51837616e-04 9.99999847e-01 2.49775186e-05 2.78320360e+02] [ 9.20853604e-03 -3.00580807e-05 9.99957600e-01 3.84952956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.436875 meters 0.051686031357082114 Centerline is valid? [True, True] Translation: X:320.96, Y:278.34, Z:38.49 [[ 9.99847093e-01 3.31987233e-04 -1.74837325e-02 3.20958701e+02] [-3.31242577e-04 9.99999944e-01 4.54872169e-05 2.78338132e+02] [ 1.74837466e-02 -3.96889050e-05 9.99847147e-01 3.84912565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.496875 meters 0.0529835590681325 Centerline is valid? [True, True] Translation: X:321.02, Y:278.32, Z:38.49 [[ 9.99854076e-01 -1.17610094e-02 -1.23897515e-02 3.21018468e+02] [ 1.17623044e-02 9.99930821e-01 3.16545122e-05 2.78322194e+02] [ 1.23885221e-02 -1.77381921e-04 9.99923244e-01 3.84938841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.556875 meters 0.06116752843611982 Centerline is valid? [True, True] Translation: X:321.08, Y:278.31, Z:38.50 [[ 9.99480595e-01 -2.94355667e-02 -1.31181809e-02 3.21078116e+02] [ 2.94385348e-02 9.99566592e-01 3.31744233e-05 2.78306682e+02] [ 1.31115189e-02 -4.19337217e-04 9.99913952e-01 3.84964219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.616875 meters 0.05138149565244364 Centerline is valid? [True, True] Translation: X:321.14, Y:278.32, Z:38.51 [[ 9.99376982e-01 -3.43644849e-02 -8.04547344e-03 3.21139385e+02] [ 3.43657598e-02 9.99409323e-01 2.02303571e-05 2.78321415e+02] [ 8.04002596e-03 -2.96706561e-04 9.99967634e-01 3.85090805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.676875 meters 0.05158898601577987 Centerline is valid? [True, True] Translation: X:321.20, Y:278.33, Z:38.51 [[ 9.99462204e-01 -3.26875069e-02 2.61323713e-03 3.21200933e+02] [ 3.26876372e-02 9.99465616e-01 -7.16974743e-06 2.78327931e+02] [-2.61160630e-03 9.25864388e-05 9.99996585e-01 3.85145231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.736875 meters 0.053225422030567966 Centerline is valid? [True, True] Translation: X:321.26, Y:278.34, Z:38.51 [[ 9.99593258e-01 -2.84683204e-02 -1.69519542e-03 3.21261968e+02] [ 2.84683686e-02 9.99594694e-01 4.28391001e-06 2.78339349e+02] [ 1.69438639e-03 -5.25416155e-05 9.99998563e-01 3.85069122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.796875 meters 0.050799448982736355 Centerline is valid? [True, True] Translation: X:321.32, Y:278.38, Z:38.52 [[ 9.99802946e-01 -1.96276755e-02 -2.97033827e-03 3.21321783e+02] [ 1.96277854e-02 9.99807356e-01 7.82484437e-06 2.78379072e+02] [ 2.96961247e-03 -6.61244645e-05 9.99995589e-01 3.85153056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.856875 meters 0.04487232241463844 Centerline is valid? [True, True] Translation: X:321.38, Y:278.39, Z:38.52 [[ 9.99844880e-01 -1.72036837e-02 -3.77482584e-03 3.21384090e+02] [ 1.72038420e-02 9.99852003e-01 9.47321463e-06 2.78393635e+02] [ 3.77410420e-03 -7.44132525e-05 9.99992875e-01 3.85187530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.916875 meters 0.0453887206131699 Centerline is valid? [True, True] Translation: X:321.44, Y:278.40, Z:38.49 [[ 9.99643025e-01 -2.04152078e-02 -1.72349198e-02 3.21444923e+02] [ 2.04190390e-02 9.99791509e-01 4.63319190e-05 2.78399821e+02] [ 1.72303806e-02 -3.98235880e-04 9.99851467e-01 3.84923678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.976875 meters 0.04705901302222311 Centerline is valid? [True, True] Translation: X:321.51, Y:278.39, Z:38.50 [[ 9.99358836e-01 -3.25830472e-02 -1.48412076e-02 3.21505793e+02] [ 3.25872414e-02 9.99468894e-01 4.07959992e-05 2.78390225e+02] [ 1.48319961e-02 -5.24403856e-04 9.99889862e-01 3.84950300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.036875 meters 0.03940171464961221 Centerline is valid? [True, True] Translation: X:321.57, Y:278.39, Z:38.50 [[ 9.99359079e-01 -2.92941961e-02 -2.05737897e-02 3.21567169e+02] [ 2.93015795e-02 9.99570615e-01 5.74466057e-05 2.78393443e+02] [ 2.05632727e-02 -6.60254321e-04 9.99788336e-01 3.84954482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.096875 meters 0.042414063264527936 Centerline is valid? [True, True] Translation: X:321.63, Y:278.40, Z:38.50 [[ 9.99541334e-01 -2.40429671e-02 -1.84135241e-02 3.21628224e+02] [ 2.40480019e-02 9.99710804e-01 5.20241179e-05 2.78401278e+02] [ 1.84069482e-02 -4.94808719e-04 9.99830455e-01 3.84976656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.156875 meters 0.04238642189735958 Centerline is valid? [True, True] Translation: X:321.69, Y:278.39, Z:38.50 [[ 9.99436322e-01 -2.91183691e-02 -1.67080317e-02 3.21689672e+02] [ 2.91232296e-02 9.99575828e-01 4.76226967e-05 2.78394776e+02] [ 1.66995579e-02 -5.34187696e-04 9.99860410e-01 3.84980822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.216875 meters 0.04320540674610314 Centerline is valid? [True, True] Translation: X:321.75, Y:278.39, Z:38.51 [[ 9.99528872e-01 -2.83657740e-02 -1.17225282e-02 3.21752102e+02] [ 2.83681191e-02 9.99597543e-01 3.37856496e-05 2.78394005e+02] [ 1.17168520e-02 -3.66315808e-04 9.99931288e-01 3.85062913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.276875 meters 0.03726979492011654 Centerline is valid? [True, True] Translation: X:321.81, Y:278.40, Z:38.51 [[ 9.99616575e-01 -2.53889434e-02 -1.10500614e-02 3.21813744e+02] [ 2.53908525e-02 9.99677600e-01 3.24899640e-05 2.78395942e+02] [ 1.10456739e-02 -3.13047985e-04 9.99938946e-01 3.85051819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.336875 meters 0.03730881591330962 Centerline is valid? [True, True] Translation: X:321.88, Y:278.39, Z:38.50 [[ 9.99599081e-01 -2.52050123e-02 -1.28990454e-02 3.21876545e+02] [ 2.52076079e-02 9.99682237e-01 3.86541669e-05 2.78394773e+02] [ 1.28939723e-02 -3.63792749e-04 9.99916803e-01 3.85029741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.396875 meters 0.038469834902573795 Centerline is valid? [True, True] Translation: X:321.94, Y:278.39, Z:38.50 [[ 9.99449371e-01 -2.69485178e-02 -1.93580118e-02 3.21937533e+02] [ 2.69547375e-02 9.99636653e-01 6.04057613e-05 2.78390457e+02] [ 1.93493503e-02 -5.82162628e-04 9.99812614e-01 3.84978443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.456875 meters 0.03798197110930165 Centerline is valid? [True, True] Translation: X:322.00, Y:278.38, Z:38.49 [[ 9.99279509e-01 -2.95632131e-02 -2.38008233e-02 3.21998811e+02] [ 2.95733951e-02 9.99562609e-01 7.58555238e-05 2.78381975e+02] [ 2.37881705e-02 -7.79672024e-04 9.99716717e-01 3.84934060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.516875 meters 0.03404973894477963 Centerline is valid? [True, True] Translation: X:322.06, Y:278.39, Z:38.50 [[ 9.99538117e-01 -2.25136600e-02 -2.04129319e-02 3.22059684e+02] [ 2.25196858e-02 9.99746398e-01 6.53436747e-05 2.78388232e+02] [ 2.04062840e-02 -5.25006306e-04 9.99791632e-01 3.84974868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57687500000003 meters 0.032764552862488 Centerline is valid? [True, True] Translation: X:322.12, Y:278.39, Z:38.49 [[ 9.99682216e-01 -1.35661265e-02 -2.12467938e-02 3.22119243e+02] [ 1.35706496e-02 9.99907912e-01 6.87077578e-05 2.78389721e+02] [ 2.12439051e-02 -3.57018717e-04 9.99774259e-01 3.84905320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63687500000003 meters 0.0321386449299801 Centerline is valid? [True, True] Translation: X:322.18, Y:278.39, Z:38.50 [[ 9.99736675e-01 -1.36206498e-02 -1.84677763e-02 3.22177648e+02] [ 1.36240480e-02 9.99907187e-01 5.81960344e-05 2.78394766e+02] [ 1.84652696e-02 -3.09786580e-04 9.99829454e-01 3.85020915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69687500000003 meters 0.030083271251238414 Centerline is valid? [True, True] Translation: X:322.24, Y:278.39, Z:38.50 [[ 9.99725715e-01 -1.59431431e-02 -1.71554771e-02 3.22236818e+02] [ 1.59463784e-02 9.99872847e-01 5.17969227e-05 2.78390187e+02] [ 1.71524699e-02 -3.25350445e-04 9.99852833e-01 3.85018846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75687500000004 meters 0.03525482547179828 Centerline is valid? [True, True] Translation: X:322.30, Y:278.38, Z:38.50 [[ 9.99603533e-01 -1.97295301e-02 -2.00878704e-02 3.22297378e+02] [ 1.97347201e-02 9.99805250e-01 6.01432524e-05 2.78384784e+02] [ 2.00827717e-02 -4.56547908e-04 9.99798217e-01 3.85016416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.816875 meters 0.02986473345061566 Centerline is valid? [True, True] Translation: X:322.36, Y:278.38, Z:38.51 [[ 9.99764113e-01 -1.88006881e-02 -1.08744229e-02 3.22357565e+02] [ 1.88021538e-02 9.99823223e-01 3.25581134e-05 2.78380071e+02] [ 1.08718884e-02 -2.37013005e-04 9.99940871e-01 3.85062975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.876875 meters 0.032064744316046896 Centerline is valid? [True, True] Translation: X:322.42, Y:278.38, Z:38.51 [[ 9.99737345e-01 -1.94464566e-02 -1.21275366e-02 3.22418296e+02] [ 1.94483285e-02 9.99810863e-01 3.64324714e-05 2.78376077e+02] [ 1.21245343e-02 -2.72283218e-04 9.99926458e-01 3.85092965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.936875 meters 0.029121028258755257 Centerline is valid? [True, True] Translation: X:322.48, Y:278.39, Z:38.51 [[ 9.99833436e-01 -1.32167775e-02 -1.25864105e-02 3.22478412e+02] [ 1.32183064e-02 9.99912634e-01 3.82930167e-05 2.78387478e+02] [ 1.25848047e-02 -2.04657669e-04 9.99920787e-01 3.85136062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.996875 meters 0.026453961650656235 Centerline is valid? [True, True] Translation: X:322.54, Y:278.41, Z:38.52 [[ 9.99967446e-01 -5.48956065e-05 -8.06873394e-03 3.22538285e+02] [ 5.50961902e-05 9.99999998e-01 2.46371061e-05 2.78405495e+02] [ 8.06873257e-03 -2.50808606e-05 9.99967447e-01 3.85201359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.056875 meters 0.024778063335087388 Centerline is valid? [True, True] Translation: X:322.60, Y:278.40, Z:38.52 [[ 9.99984907e-01 3.57397349e-03 -4.17277863e-03 3.22596736e+02] [-3.57394700e-03 9.99993613e-01 1.38058178e-05 2.78400898e+02] [ 4.17280132e-03 1.10768021e-06 9.99991294e-01 3.85189104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.116875 meters 0.025065911334303748 Centerline is valid? [True, True] Translation: X:322.65, Y:278.40, Z:38.51 [[ 9.99944318e-01 4.14710823e-03 -9.70371210e-03 3.22654780e+02] [-4.14703543e-03 9.99991401e-01 2.76236352e-05 2.78397011e+02] [ 9.70374321e-03 1.26195408e-05 9.99952917e-01 3.85110127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.176875 meters 0.025830730896921214 Centerline is valid? [True, True] Translation: X:322.71, Y:278.40, Z:38.52 [[ 9.99905379e-01 9.55807466e-03 -9.89328002e-03 3.22713226e+02] [-9.55827161e-03 9.99954318e-01 2.73763273e-05 2.78404817e+02] [ 9.89308974e-03 6.71889206e-05 9.99951060e-01 3.85153931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.236875 meters 0.02700668543374542 Centerline is valid? [True, True] Translation: X:322.77, Y:278.41, Z:38.52 [[ 9.99853315e-01 1.43887328e-02 -9.29044122e-03 3.22771170e+02] [-1.43891311e-02 9.99896471e-01 2.39705817e-05 2.78411940e+02] [ 9.28982429e-03 1.09714311e-04 9.99956843e-01 3.85193076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.296875 meters 0.03437087802125167 Centerline is valid? [True, True] Translation: X:322.83, Y:278.43, Z:38.52 [[ 9.99491598e-01 3.04571591e-02 -9.42909324e-03 3.22830986e+02] [-3.04582900e-02 9.99536038e-01 2.36647204e-05 2.78431185e+02] [ 9.42543926e-03 2.63541367e-04 9.99955545e-01 3.85194668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.356875 meters 0.0294138585385033 Centerline is valid? [True, True] Translation: X:322.89, Y:278.42, Z:38.51 [[ 9.99316419e-01 3.46751349e-02 -1.28191238e-02 3.22890356e+02] [-3.46775763e-02 9.99398551e-01 3.18403418e-05 2.78416878e+02] [ 1.28125178e-02 4.12717567e-04 9.99917831e-01 3.85094801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.416875 meters 0.0370669038483056 Centerline is valid? [True, True] Translation: X:322.95, Y:278.43, Z:38.50 [[ 9.99269019e-01 3.24936657e-02 -2.01392281e-02 3.22948155e+02] [-3.24992826e-02 9.99471758e-01 4.84088832e-05 2.78425739e+02] [ 2.01301626e-02 6.06136967e-04 9.99797184e-01 3.84975752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.476875 meters 0.03706151964194457 Centerline is valid? [True, True] Translation: X:323.01, Y:278.42, Z:38.50 [[ 9.99249680e-01 3.24650824e-02 -2.11209798e-02 3.23007179e+02] [-3.24713174e-02 9.99472667e-01 4.77704819e-05 2.78422205e+02] [ 2.11113929e-02 6.38091401e-04 9.99776926e-01 3.84996942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.536875 meters 0.02681843694766134 Centerline is valid? [True, True] Translation: X:323.07, Y:278.40, Z:38.51 [[ 9.99420173e-01 3.00841779e-02 -1.59455646e-02 3.23066213e+02] [-3.00874735e-02 9.99547269e-01 3.32347844e-05 2.78400098e+02] [ 1.59393454e-02 4.46546239e-04 9.99872861e-01 3.85128712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.596875 meters 0.028141217990999765 Centerline is valid? [True, True] Translation: X:323.12, Y:278.40, Z:38.51 [[ 9.99443608e-01 3.16907647e-02 -1.04004924e-02 3.23124080e+02] [-3.16922690e-02 9.99497674e-01 2.01852735e-05 2.78400808e+02] [ 1.03959076e-02 3.09441159e-04 9.99945913e-01 3.85135042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.656875 meters 0.028949163958572877 Centerline is valid? [True, True] Translation: X:323.18, Y:278.40, Z:38.51 [[ 9.99356036e-01 3.47422417e-02 -8.97159972e-03 3.23183469e+02] [-3.47434900e-02 9.99396263e-01 1.67241497e-05 2.78404055e+02] [ 8.96676426e-03 2.94991305e-04 9.99959754e-01 3.85126025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.716875 meters 0.02684328202432693 Centerline is valid? [True, True] Translation: X:323.24, Y:278.40, Z:38.51 [[ 9.99530149e-01 2.78509797e-02 -1.27986233e-02 3.23243935e+02] [-2.78529622e-02 9.99612031e-01 2.33553861e-05 2.78398881e+02] [ 1.27943083e-02 3.33135158e-04 9.99918094e-01 3.85052159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.776875 meters 0.02504080970235499 Centerline is valid? [True, True] Translation: X:323.30, Y:278.39, Z:38.51 [[ 9.99779277e-01 1.34816560e-02 -1.61133930e-02 3.23303831e+02] [-1.34829364e-02 9.99909101e-01 2.91737167e-05 2.78394199e+02] [ 1.61123216e-02 1.88088576e-04 9.99870170e-01 3.85080639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.836875 meters 0.024484781395805705 Centerline is valid? [True, True] Translation: X:323.36, Y:278.39, Z:38.50 [[ 9.99813099e-01 6.12788275e-03 -1.83362023e-02 3.23361514e+02] [-6.12831931e-03 9.99981221e-01 3.23817872e-05 2.78387378e+02] [ 1.83360564e-02 7.99943675e-05 9.99831877e-01 3.85015768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.896875 meters 0.02474797325682062 Centerline is valid? [True, True] Translation: X:323.42, Y:278.38, Z:38.50 [[ 9.99807712e-01 3.87701783e-03 -1.92225995e-02 3.23419931e+02] [-3.87711808e-03 9.99992483e-01 3.20526866e-05 2.78380830e+02] [ 1.92225793e-02 4.24817649e-05 9.99815228e-01 3.84966805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.956875 meters 0.02501150633007324 Centerline is valid? [True, True] Translation: X:323.48, Y:278.39, Z:38.50 [[ 9.99833044e-01 4.64344629e-03 -1.76726749e-02 3.23477877e+02] [-4.64367970e-03 9.99989218e-01 2.78292580e-05 2.78389378e+02] [ 1.76726136e-02 5.42416300e-05 9.99843826e-01 3.85020310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.016875 meters 0.025024158168326708 Centerline is valid? [True, True] Translation: X:323.54, Y:278.40, Z:38.51 [[ 9.99847127e-01 3.93294999e-03 -1.70368423e-02 3.23536348e+02] [-3.93308631e-03 9.99992265e-01 2.55050702e-05 2.78397277e+02] [ 1.70368109e-02 4.15062002e-05 9.99854862e-01 3.85091980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07687500000003 meters 0.024635436759398114 Centerline is valid? [True, True] Translation: X:323.59, Y:278.40, Z:38.52 [[ 9.99904566e-01 2.65864995e-03 -1.35569358e-02 3.23594665e+02] [-2.65863014e-03 9.99996466e-01 1.94836651e-05 2.78402790e+02] [ 1.35569397e-02 1.65610726e-05 9.99908100e-01 3.85150612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13687500000003 meters 0.024140655453889354 Centerline is valid? [True, True] Translation: X:323.65, Y:278.39, Z:38.50 [[ 9.99915748e-01 -4.03663393e-03 -1.23370692e-02 3.23652526e+02] [ 4.03714947e-03 9.99991851e-01 1.68841859e-05 2.78392639e+02] [ 1.23369005e-02 -6.66893558e-05 9.99923895e-01 3.85043454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19687500000003 meters 0.024565263626765876 Centerline is valid? [True, True] Translation: X:323.71, Y:278.38, Z:38.50 [[ 9.99854261e-01 -1.13891622e-02 -1.27178684e-02 3.23711238e+02] [ 1.13902913e-02 9.99935128e-01 1.63512490e-05 2.78383432e+02] [ 1.27168571e-02 -1.61209092e-04 9.99919125e-01 3.85008870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25687500000004 meters 0.025043694813405622 Centerline is valid? [True, True] Translation: X:323.77, Y:278.39, Z:38.51 [[ 9.99812687e-01 -1.41170819e-02 -1.32400451e-02 3.23770944e+02] [ 1.41185357e-02 9.99900328e-01 1.63366950e-05 2.78392685e+02] [ 1.32384948e-02 -2.03263685e-04 9.99912347e-01 3.85148049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.316875 meters 0.023981681341181713 Centerline is valid? [True, True] Translation: X:323.83, Y:278.41, Z:38.52 [[ 9.99856881e-01 -6.11078163e-03 -1.57757962e-02 3.23831716e+02] [ 6.11184829e-03 9.99981322e-01 1.94016130e-05 2.78407615e+02] [ 1.57753830e-02 -1.15818109e-04 9.99875554e-01 3.85157758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.376875 meters 0.023708231370338822 Centerline is valid? [True, True] Translation: X:323.89, Y:278.40, Z:38.50 [[ 9.99909381e-01 -3.68738607e-03 -1.29473397e-02 3.23889865e+02] [ 3.68789739e-03 9.99993200e-01 1.56173657e-05 2.78395914e+02] [ 1.29471941e-02 -6.33644109e-05 9.99916180e-01 3.85043542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.436875 meters 0.023589206816587428 Centerline is valid? [True, True] Translation: X:323.95, Y:278.39, Z:38.50 [[ 9.99860326e-01 -3.36290024e-03 -1.63712694e-02 3.23948619e+02] [ 3.36362999e-03 9.99994343e-01 1.70402794e-05 2.78390014e+02] [ 1.63711195e-02 -7.21047921e-05 9.99865982e-01 3.84999053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.496875 meters 0.02368727161193795 Centerline is valid? [True, True] Translation: X:324.01, Y:278.40, Z:38.52 [[ 9.99756884e-01 4.51890807e-03 -2.15813186e-02 3.24007605e+02] [-4.51960341e-03 9.99989786e-01 1.65560389e-05 2.78404698e+02] [ 2.15811730e-02 8.09869875e-05 9.99767096e-01 3.85152414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.556875 meters 0.02423711262758854 Centerline is valid? [True, True] Translation: X:324.07, Y:278.40, Z:38.52 [[ 9.99735759e-01 1.10543784e-02 -2.01547172e-02 3.24066603e+02] [-1.10564073e-02 9.99938876e-01 1.07634152e-05 2.78404543e+02] [ 2.01536042e-02 2.12078191e-04 9.99796873e-01 3.85191937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.616875 meters 0.02447107798031419 Centerline is valid? [True, True] Translation: X:324.12, Y:278.39, Z:38.52 [[ 9.99811556e-01 1.38251317e-02 -1.36278466e-02 3.24124364e+02] [-1.38263423e-02 9.99904412e-01 5.38677076e-06 2.78388817e+02] [ 1.36266184e-02 1.83037515e-04 9.99907137e-01 3.85165245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.676875 meters 0.02412034883257158 Centerline is valid? [True, True] Translation: X:324.18, Y:278.38, Z:38.52 [[ 9.99843555e-01 1.16659952e-02 -1.32954577e-02 3.24183412e+02] [-1.16669705e-02 9.99931939e-01 4.20848518e-06 2.78382748e+02] [ 1.32946019e-02 1.50909886e-04 9.99911611e-01 3.85185706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.736875 meters 0.024167628203709376 Centerline is valid? [True, True] Translation: X:324.24, Y:278.37, Z:38.51 [[ 9.99821165e-01 7.93796164e-03 -1.71647170e-02 3.24240796e+02] [-7.93906417e-03 9.99968485e-01 3.90895753e-06 2.78374523e+02] [ 1.71642071e-02 1.32363531e-04 9.99852675e-01 3.85147049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.796875 meters 0.023881371430576583 Centerline is valid? [True, True] Translation: X:324.30, Y:278.37, Z:38.52 [[ 9.99881952e-01 2.61951576e-03 -1.51399907e-02 3.24298281e+02] [-2.61978205e-03 9.99996568e-01 2.24432061e-06 2.78369513e+02] [ 1.51399446e-02 3.74194201e-05 9.99885384e-01 3.85190852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.856875 meters 0.02347124163940988 Centerline is valid? [True, True] Translation: X:324.36, Y:278.36, Z:38.52 [[ 9.99876742e-01 -6.63387845e-03 -1.42299593e-02 3.24356715e+02] [ 6.63456491e-03 9.99977991e-01 1.03346975e-06 2.78360592e+02] [ 1.42296393e-02 -9.54429313e-05 9.99898749e-01 3.85219092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.916875 meters 0.023153691700211948 Centerline is valid? [True, True] Translation: X:324.42, Y:278.35, Z:38.52 [[ 9.99821101e-01 -1.02350327e-02 -1.59062954e-02 3.24415631e+02] [ 1.02363277e-02 9.99947607e-01 7.16960875e-10 2.78353493e+02] [ 1.59054620e-02 -1.62822770e-04 9.99873487e-01 3.85153546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.976875 meters 0.023980262623164498 Centerline is valid? [True, True] Translation: X:324.47, Y:278.36, Z:38.52 [[ 9.99857775e-01 -1.11874488e-02 -1.26202595e-02 3.24474128e+02] [ 1.11883239e-02 9.99937409e-01 -1.26529340e-06 2.78356867e+02] [ 1.26194837e-02 -1.39934437e-04 9.99920361e-01 3.85248543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.036875 meters 0.02456291897406149 Centerline is valid? [True, True] Translation: X:324.53, Y:278.36, Z:38.53 [[ 9.99918051e-01 -6.43401094e-03 -1.10677769e-02 3.24534909e+02] [ 6.43437133e-03 9.99979299e-01 -3.04537913e-06 2.78364825e+02] [ 1.10675674e-02 -6.81690571e-05 9.99938750e-01 3.85264471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.096875 meters 0.025169765260510093 Centerline is valid? [True, True] Translation: X:324.59, Y:278.37, Z:38.52 [[ 9.99952984e-01 -4.86399852e-03 -8.38870621e-03 3.24593543e+02] [ 4.86415072e-03 9.99988170e-01 -2.25877306e-06 2.78368166e+02] [ 8.38861795e-03 -3.85452645e-05 9.99964814e-01 3.85187606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.156875 meters 0.020665227062250255 Centerline is valid? [True, True] Translation: X:324.65, Y:278.37, Z:38.53 [[ 9.99921470e-01 -4.77183990e-03 -1.15880708e-02 3.24653097e+02] [ 4.77211583e-03 9.99988613e-01 -3.83939092e-06 2.78367251e+02] [ 1.15879572e-02 -5.14605266e-05 9.99932856e-01 3.85260085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.216875 meters 0.021984800958829397 Centerline is valid? [True, True] Translation: X:324.71, Y:278.37, Z:38.53 [[ 9.99873316e-01 -7.24618059e-03 -1.41719984e-02 3.24710581e+02] [ 7.24683064e-03 9.99973741e-01 -5.48535217e-06 2.78374835e+02] [ 1.41716661e-02 -9.72174153e-05 9.99899572e-01 3.85295245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.276875 meters 0.02172078640225531 Centerline is valid? [True, True] Translation: X:324.77, Y:278.37, Z:38.52 [[ 9.99858763e-01 -2.92507626e-03 -1.65498762e-02 3.24768563e+02] [ 2.92534081e-03 9.99995721e-01 -8.22341114e-06 2.78374668e+02] [ 1.65498294e-02 -4.01917786e-05 9.99863041e-01 3.85186852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.336875 meters 0.0213285720747696 Centerline is valid? [True, True] Translation: X:324.83, Y:278.38, Z:38.52 [[ 9.99904005e-01 -8.35862024e-05 -1.38554542e-02 3.24827542e+02] [ 8.34707561e-05 9.99999996e-01 -8.91048006e-06 2.78378396e+02] [ 1.38554548e-02 7.75309946e-06 9.99904009e-01 3.85212347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.396875 meters 0.021775168036932913 Centerline is valid? [True, True] Translation: X:324.89, Y:278.39, Z:38.53 [[ 9.99799044e-01 1.90895568e-03 -1.99556200e-02 3.24886439e+02] [-1.90970426e-03 9.99998176e-01 -1.84558883e-05 2.78394562e+02] [ 1.99555484e-02 5.65615120e-05 9.99800867e-01 3.85259387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.456875 meters 0.02189371822825061 Centerline is valid? [True, True] Translation: X:324.94, Y:278.40, Z:38.53 [[ 9.99814238e-01 3.96994401e-03 -1.88607605e-02 3.24943834e+02] [-3.97106687e-03 9.99992115e-01 -2.20819996e-05 2.78399482e+02] [ 1.88605241e-02 9.69752387e-05 9.99822120e-01 3.85268277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.516875 meters 0.021875000505454423 Centerline is valid? [True, True] Translation: X:325.00, Y:278.40, Z:38.53 [[ 9.99849872e-01 3.53172782e-04 -1.73236569e-02 3.25002050e+02] [-3.53628800e-04 9.99999937e-01 -2.32601110e-05 2.78400138e+02] [ 1.73236476e-02 2.93827630e-05 9.99849934e-01 3.85268154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57687500000003 meters 0.02273172809223713 Centerline is valid? [True, True] Translation: X:325.06, Y:278.39, Z:38.52 [[ 9.99700799e-01 -1.40383906e-02 -2.00308811e-02 3.25060419e+02] [ 1.40406371e-02 9.99901425e-01 -2.84875679e-05 2.78390400e+02] [ 2.00293065e-02 -2.52767289e-04 9.99799361e-01 3.85220697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63687500000003 meters 0.02475283181632341 Centerline is valid? [True, True] Translation: X:325.12, Y:278.38, Z:38.53 [[ 9.99592288e-01 -2.30293138e-02 -1.68792358e-02 3.25120098e+02] [ 2.30321771e-02 9.99734724e-01 -2.47665677e-05 2.78383826e+02] [ 1.68753285e-02 -3.64009080e-04 9.99857535e-01 3.85284905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69687500000003 meters 0.026719315032685993 Centerline is valid? [True, True] Translation: X:325.18, Y:278.38, Z:38.53 [[ 9.99451642e-01 -2.79529401e-02 -1.77496228e-02 3.25180809e+02] [ 2.79568832e-02 9.99609130e-01 -2.59903120e-05 2.78384943e+02] [ 1.77434115e-02 -4.70248072e-04 9.99842463e-01 3.85323534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75687500000004 meters 0.028055665068465296 Centerline is valid? [True, True] Translation: X:325.24, Y:278.39, Z:38.54 [[ 9.99350317e-01 -3.25225599e-02 -1.55315114e-02 3.25241746e+02] [ 3.25261405e-02 9.99470885e-01 -2.20831143e-05 2.78386814e+02] [ 1.55240117e-02 -4.83111356e-04 9.99879379e-01 3.85377507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.816875 meters 0.028678657242916985 Centerline is valid? [True, True] Translation: X:325.30, Y:278.38, Z:38.53 [[ 9.99318416e-01 -3.30151658e-02 -1.65136973e-02 3.25303177e+02] [ 3.30192944e-02 9.99454714e-01 -2.26543874e-05 2.78380870e+02] [ 1.65054406e-02 -5.22631687e-04 9.99863639e-01 3.85295254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.876875 meters 0.02557743516632469 Centerline is valid? [True, True] Translation: X:325.36, Y:278.39, Z:38.53 [[ 9.99479573e-01 -2.64272422e-02 -1.84982328e-02 3.25364001e+02] [ 2.64313080e-02 9.99650632e-01 -2.46990955e-05 2.78391156e+02] [ 1.84924228e-02 -4.64246246e-04 9.99828893e-01 3.85310435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.936875 meters 0.024958814743532197 Centerline is valid? [True, True] Translation: X:325.42, Y:278.40, Z:38.54 [[ 9.99464913e-01 -2.40097667e-02 -2.22130436e-02 3.25424855e+02] [ 2.40150522e-02 9.99711597e-01 -2.88196284e-05 2.78395962e+02] [ 2.22073292e-02 -5.04643194e-04 9.99753259e-01 3.85361757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.996875 meters 0.024984727184390012 Centerline is valid? [True, True] Translation: X:325.49, Y:278.39, Z:38.53 [[ 9.99394425e-01 -2.34748341e-02 -2.56849305e-02 3.25485913e+02] [ 2.34817534e-02 9.99724265e-01 -3.22293168e-05 2.78389419e+02] [ 2.56786048e-02 -5.70917404e-04 9.99670087e-01 3.85295991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.056875 meters 0.02557573619611135 Centerline is valid? [True, True] Translation: X:325.55, Y:278.38, Z:38.53 [[ 9.99395903e-01 -2.33713837e-02 -2.57217189e-02 3.25545326e+02] [ 2.33782898e-02 9.99726690e-01 -3.22315380e-05 2.78381891e+02] [ 2.57154422e-02 -5.69117733e-04 9.99669141e-01 3.85275905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.116875 meters 0.02299601872651407 Centerline is valid? [True, True] Translation: X:325.61, Y:278.39, Z:38.54 [[ 9.99709754e-01 -1.37888917e-02 -1.97553420e-02 3.25605925e+02] [ 1.37910904e-02 9.99904898e-01 -2.49421293e-05 2.78393483e+02] [ 1.97538071e-02 -2.47512818e-04 9.99804844e-01 3.85398866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.176875 meters 0.022568327053115542 Centerline is valid? [True, True] Translation: X:325.66, Y:278.40, Z:38.53 [[ 9.99720948e-01 -2.73839673e-03 -2.34633140e-02 3.25664536e+02] [ 2.73843770e-03 9.99996250e-01 -3.03850370e-05 2.78399026e+02] [ 2.34633092e-02 -3.38762656e-05 9.99724698e-01 3.85319524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.236875 meters 0.022660866532081225 Centerline is valid? [True, True] Translation: X:325.72, Y:278.40, Z:38.53 [[ 9.99678853e-01 -4.02436193e-03 -2.50199152e-02 3.25723243e+02] [ 4.02471076e-03 9.99991900e-01 -3.64151436e-05 2.78400953e+02] [ 2.50198591e-02 -6.42944727e-05 9.99686952e-01 3.85339990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.296875 meters 0.02281370529620462 Centerline is valid? [True, True] Translation: X:325.78, Y:278.40, Z:38.54 [[ 9.99632127e-01 -6.36219476e-03 -2.63653744e-02 3.25781688e+02] [ 6.36330762e-03 9.99979753e-01 -4.16918954e-05 2.78401289e+02] [ 2.63651059e-02 -1.26094430e-04 9.99652372e-01 3.85362650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.356875 meters 0.023073513533877585 Centerline is valid? [True, True] Translation: X:325.84, Y:278.39, Z:38.53 [[ 9.99616411e-01 -7.75774938e-03 -2.65865986e-02 3.25840893e+02] [ 7.75925603e-03 9.99969895e-01 -4.64960447e-05 2.78392765e+02] [ 2.65861589e-02 -1.59814016e-04 9.99646513e-01 3.85289897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.416875 meters 0.022849912850917028 Centerline is valid? [True, True] Translation: X:325.90, Y:278.40, Z:38.54 [[ 9.99629402e-01 -8.53854190e-03 -2.58486286e-02 3.25898389e+02] [ 8.54006312e-03 9.99963532e-01 -5.15435358e-05 2.78399452e+02] [ 2.58481260e-02 -1.69224486e-04 9.99665867e-01 3.85388025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.476875 meters 0.022476824652244827 Centerline is valid? [True, True] Translation: X:325.96, Y:278.41, Z:38.55 [[ 9.99791419e-01 -7.78526424e-03 -1.88814458e-02 3.25957037e+02] [ 7.78589566e-03 9.99969689e-01 -4.00709163e-05 2.78407896e+02] [ 1.88811854e-02 -1.06946409e-04 9.99821729e-01 3.85529042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.536875 meters 0.022841132550328005 Centerline is valid? [True, True] Translation: X:326.02, Y:278.39, Z:38.54 [[ 9.99742631e-01 -1.54198045e-02 -1.66403415e-02 3.26015663e+02] [ 1.54213349e-02 9.99881083e-01 -3.63496402e-05 2.78388123e+02] [ 1.66389232e-02 -2.20275995e-04 9.99861539e-01 3.85422994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.596875 meters 0.023805680517239986 Centerline is valid? [True, True] Translation: X:326.08, Y:278.39, Z:38.55 [[ 9.99698294e-01 -1.99003982e-02 -1.43977282e-02 3.26076146e+02] [ 1.99020017e-02 9.99801935e-01 -3.19108017e-05 2.78387035e+02] [ 1.43955116e-02 -2.54642438e-04 9.99896347e-01 3.85497991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.656875 meters 0.02343027262740353 Centerline is valid? [True, True] Translation: X:326.14, Y:278.39, Z:38.55 [[ 9.99714196e-01 -1.80343018e-02 -1.56936439e-02 3.26138395e+02] [ 1.80359864e-02 9.99837338e-01 -3.41957516e-05 2.78391189e+02] [ 1.56917078e-02 -2.48864370e-04 9.99876847e-01 3.85546096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.716875 meters 0.023405761482866272 Centerline is valid? [True, True] Translation: X:326.20, Y:278.38, Z:38.54 [[ 9.99607767e-01 -1.70314404e-02 -2.22315400e-02 3.26199891e+02] [ 1.70346030e-02 9.99854900e-01 -4.71232272e-05 2.78383732e+02] [ 2.22291168e-02 -3.31600715e-04 9.99752848e-01 3.85432432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.776875 meters 0.023938996597115972 Centerline is valid? [True, True] Translation: X:326.26, Y:278.38, Z:38.54 [[ 9.99377913e-01 -1.92171095e-02 -2.95717683e-02 3.26260620e+02] [ 1.92236761e-02 9.99815206e-01 -6.22573046e-05 2.78383035e+02] [ 2.95675001e-02 -5.06259520e-04 9.99562658e-01 3.85382261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.836875 meters 0.023908483439917066 Centerline is valid? [True, True] Translation: X:326.32, Y:278.39, Z:38.54 [[ 9.99486368e-01 -1.72252697e-02 -2.70238658e-02 3.26319139e+02] [ 1.72299929e-02 9.99851551e-01 -5.80849050e-05 2.78388124e+02] [ 2.70208547e-02 -4.07565944e-04 9.99634787e-01 3.85449436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.896875 meters 0.02276390216091368 Centerline is valid? [True, True] Translation: X:326.38, Y:278.40, Z:38.55 [[ 9.99683784e-01 -5.63319655e-03 -2.45071358e-02 3.26378027e+02] [ 5.63357123e-03 9.99984130e-01 -5.37536398e-05 2.78397043e+02] [ 2.45070497e-02 -8.43260533e-05 9.99699654e-01 3.85452592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.956875 meters 0.0227970734734489 Centerline is valid? [True, True] Translation: X:326.44, Y:278.40, Z:38.55 [[ 9.99677342e-01 -4.17608554e-03 -2.50553709e-02 3.26435569e+02] [ 4.17591037e-03 9.99991279e-01 -5.93141721e-05 2.78401878e+02] [ 2.50554001e-02 -4.53339493e-05 9.99686063e-01 3.85451086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.016875 meters 0.022620044462595763 Centerline is valid? [True, True] Translation: X:326.49, Y:278.40, Z:38.55 [[ 9.99721210e-01 -9.46609770e-03 -2.16308999e-02 3.26494519e+02] [ 9.46714278e-03 9.99955184e-01 -5.40907741e-05 2.78402102e+02] [ 2.16304425e-02 -1.50707123e-04 9.99766023e-01 3.85544655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07687500000003 meters 0.022775342294308575 Centerline is valid? [True, True] Translation: X:326.55, Y:278.40, Z:38.55 [[ 9.99717349e-01 -1.38619576e-02 -1.93149598e-02 3.26553575e+02] [ 1.38635874e-02 9.99903895e-01 -4.95247277e-05 2.78395467e+02] [ 1.93137900e-02 -2.18263904e-04 9.99813448e-01 3.85546391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13687500000003 meters 0.023394984630434636 Centerline is valid? [True, True] Translation: X:326.61, Y:278.38, Z:38.55 [[ 9.99666525e-01 -1.74308121e-02 -1.90527227e-02 3.26611804e+02] [ 1.74330214e-02 9.99848032e-01 -5.01398257e-05 2.78380612e+02] [ 1.90507012e-02 -2.82023416e-04 9.99818479e-01 3.85481274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19687500000003 meters 0.024283891508312876 Centerline is valid? [True, True] Translation: X:326.67, Y:278.38, Z:38.55 [[ 9.99579325e-01 -2.12426890e-02 -1.97464435e-02 3.26671669e+02] [ 2.12457908e-02 9.99774281e-01 -5.27148371e-05 2.78380928e+02] [ 1.97431062e-02 -3.66836147e-04 9.99805019e-01 3.85534568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25687500000004 meters 0.02557540164404356 Centerline is valid? [True, True] Translation: X:326.73, Y:278.38, Z:38.56 [[ 9.99443941e-01 -2.59716319e-02 -2.09113369e-02 3.26732374e+02] [ 2.59761471e-02 9.99662561e-01 -5.57246727e-05 2.78375097e+02] [ 2.09057278e-02 -4.87502276e-04 9.99781333e-01 3.85551587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.316875 meters 0.026274574871678447 Centerline is valid? [True, True] Translation: X:326.79, Y:278.37, Z:38.55 [[ 9.99326281e-01 -3.04934029e-02 -2.04239172e-02 3.26793477e+02] [ 3.04986604e-02 9.99534806e-01 -5.40891905e-05 2.78368075e+02] [ 2.04160655e-02 -5.68849366e-04 9.99791409e-01 3.85544227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.376875 meters 0.027497514215741817 Centerline is valid? [True, True] Translation: X:326.86, Y:278.36, Z:38.55 [[ 9.99188122e-01 -3.30094082e-02 -2.30970800e-02 3.26855929e+02] [ 3.30168296e-02 9.99454794e-01 -6.00647518e-05 2.78363900e+02] [ 2.30864700e-02 -7.02576367e-04 9.99733225e-01 3.85478399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.436875 meters 0.026959249968328783 Centerline is valid? [True, True] Translation: X:326.92, Y:278.37, Z:38.55 [[ 9.99252356e-01 -2.94832754e-02 -2.50093276e-02 3.26916441e+02] [ 2.94908973e-02 9.99565047e-01 -6.40924344e-05 2.78365672e+02] [ 2.50003394e-02 -6.73502996e-04 9.99687216e-01 3.85451546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.496875 meters 0.026014409073493807 Centerline is valid? [True, True] Translation: X:326.98, Y:278.37, Z:38.55 [[ 9.99297672e-01 -2.37758798e-02 -2.89632612e-02 3.26978373e+02] [ 2.37837417e-02 9.99717124e-01 -7.30764122e-05 2.78374858e+02] [ 2.89568057e-02 -6.15829635e-04 9.99580474e-01 3.85452318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.556875 meters 0.024518803393557966 Centerline is valid? [True, True] Translation: X:327.04, Y:278.39, Z:38.56 [[ 9.99549720e-01 -1.80486428e-02 -2.39708904e-02 3.27038161e+02] [ 1.80523838e-02 9.99837041e-01 -6.03398858e-05 2.78394125e+02] [ 2.39680732e-02 -3.72418998e-04 9.99712655e-01 3.85619159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.616875 meters 0.023448192979424385 Centerline is valid? [True, True] Translation: X:327.10, Y:278.40, Z:38.56 [[ 9.99700972e-01 -1.22824565e-02 -2.11449263e-02 3.27096647e+02] [ 1.22840623e-02 9.99924547e-01 -5.39475705e-05 2.78396581e+02] [ 2.11439934e-02 -2.05814153e-04 9.99776420e-01 3.85585322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.676875 meters 0.02313987308675007 Centerline is valid? [True, True] Translation: X:327.16, Y:278.40, Z:38.55 [[ 9.99752468e-01 -6.43709666e-03 -2.12970958e-02 3.27155653e+02] [ 6.43733209e-03 9.99979279e-01 -5.75019847e-05 2.78395634e+02] [ 2.12970247e-02 -7.96087275e-05 9.99773189e-01 3.85511586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.736875 meters 0.023262754593552697 Centerline is valid? [True, True] Translation: X:327.21, Y:278.40, Z:38.57 [[ 9.99793349e-01 -5.13905662e-03 -1.96684762e-02 3.27214732e+02] [ 5.13894283e-03 9.99986794e-01 -5.63285149e-05 2.78404477e+02] [ 1.96685059e-02 -4.47583001e-05 9.99806555e-01 3.85674342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.796875 meters 0.023694129579164773 Centerline is valid? [True, True] Translation: X:327.27, Y:278.40, Z:38.57 [[ 9.99787125e-01 -5.95866878e-03 -1.97534338e-02 3.27272931e+02] [ 5.95863566e-03 9.99982245e-01 -6.05349451e-05 2.78404172e+02] [ 1.97534438e-02 -5.71814561e-05 9.99804880e-01 3.85698601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.856875 meters 0.023927008492764752 Centerline is valid? [True, True] Translation: X:327.33, Y:278.39, Z:38.56 [[ 9.99846373e-01 -8.56772897e-03 -1.52913413e-02 3.27331148e+02] [ 8.56797661e-03 9.99963293e-01 -4.93184630e-05 2.78389258e+02] [ 1.52912025e-02 -8.17049680e-05 9.99883079e-01 3.85609924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.916875 meters 0.02434734593286563 Centerline is valid? [True, True] Translation: X:327.39, Y:278.39, Z:38.56 [[ 9.99675352e-01 -1.29101831e-02 -2.19663070e-02 3.27390684e+02] [ 1.29117085e-02 9.99916638e-01 -7.23890767e-05 2.78388551e+02] [ 2.19654104e-02 -2.11256977e-04 9.99758709e-01 3.85582391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.976875 meters 0.024649901651739085 Centerline is valid? [True, True] Translation: X:327.45, Y:278.40, Z:38.56 [[ 9.99586464e-01 -9.56796919e-03 -2.71174409e-02 3.27448241e+02] [ 9.56901480e-03 9.99954212e-01 -9.12114116e-05 2.78395980e+02] [ 2.71170719e-02 -1.68313501e-04 9.99632250e-01 3.85596321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.036875 meters 0.024551346926420123 Centerline is valid? [True, True] Translation: X:327.51, Y:278.40, Z:38.56 [[ 9.99498669e-01 -8.52388357e-03 -3.04918781e-02 3.27506704e+02] [ 8.52454056e-03 9.99963660e-01 -1.08450784e-04 2.78396174e+02] [ 3.04916944e-02 -1.51532837e-04 9.99535009e-01 3.85571584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.096875 meters 0.024701093277905404 Centerline is valid? [True, True] Translation: X:327.57, Y:278.39, Z:38.56 [[ 9.99550931e-01 -1.14926807e-02 -2.76740618e-02 3.27566025e+02] [ 1.14942389e-02 9.99933934e-01 -1.02774739e-04 2.78388641e+02] [ 2.76734146e-02 -2.15363690e-04 9.99616995e-01 3.85561474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.156875 meters 0.02437109180552758 Centerline is valid? [True, True] Translation: X:327.62, Y:278.39, Z:38.56 [[ 9.99572821e-01 -1.20006539e-02 -2.66488061e-02 3.27624793e+02] [ 1.20021378e-02 9.99927966e-01 -1.04271430e-04 2.78386587e+02] [ 2.66481378e-02 -2.15615755e-04 9.99644852e-01 3.85594548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.216875 meters 0.024841154461066536 Centerline is valid? [True, True] Translation: X:327.68, Y:278.39, Z:38.57 [[ 9.99599927e-01 -1.23575809e-02 -2.54416047e-02 3.27683640e+02] [ 1.23588967e-02 9.99923620e-01 -1.05529124e-04 2.78386104e+02] [ 2.54409655e-02 -2.08943259e-04 9.99676304e-01 3.85677163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.276875 meters 0.025615334657720396 Centerline is valid? [True, True] Translation: X:327.74, Y:278.37, Z:38.57 [[ 9.99610520e-01 -1.90417226e-02 -2.04015136e-02 3.27742657e+02] [ 1.90439083e-02 9.99818645e-01 -8.71615913e-05 2.78373319e+02] [ 2.03994734e-02 -3.01396911e-04 9.99791864e-01 3.85677586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.336875 meters 0.025584463749726935 Centerline is valid? [True, True] Translation: X:327.80, Y:278.36, Z:38.56 [[ 9.99540909e-01 -2.31142656e-02 -1.95882962e-02 3.27802979e+02] [ 2.31170501e-02 9.99732762e-01 -8.42976832e-05 2.78359247e+02] [ 1.95850100e-02 -3.68564643e-04 9.99808127e-01 3.85634779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.396875 meters 0.02642139527581545 Centerline is valid? [True, True] Translation: X:327.86, Y:278.35, Z:38.56 [[ 9.99360436e-01 -2.46868765e-02 -2.58703960e-02 3.27863280e+02] [ 2.46922754e-02 9.99695093e-01 -1.10792839e-04 2.78353472e+02] [ 2.58652430e-02 -5.28076962e-04 9.99665299e-01 3.85621362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.456875 meters 0.02686257113822892 Centerline is valid? [True, True] Translation: X:327.92, Y:278.35, Z:38.57 [[ 9.99309602e-01 -2.66005395e-02 -2.59370632e-02 3.27922860e+02] [ 2.66066043e-02 9.99645975e-01 -1.11313322e-04 2.78350863e+02] [ 2.59308419e-02 -5.78860706e-04 9.99663572e-01 3.85683657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.516875 meters 0.02729549529447544 Centerline is valid? [True, True] Translation: X:327.98, Y:278.34, Z:38.57 [[ 9.99337446e-01 -2.93694617e-02 -2.14966171e-02 3.27983105e+02] [ 2.93742615e-02 9.99568479e-01 -9.25113633e-05 2.78341085e+02] [ 2.14900579e-02 -5.38997182e-04 9.99768917e-01 3.85726340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57687500000003 meters 0.02544897885104636 Centerline is valid? [True, True] Translation: X:328.04, Y:278.34, Z:38.57 [[ 9.99498897e-01 -2.44529823e-02 -2.00999287e-02 3.28043926e+02] [ 2.44561883e-02 9.99700899e-01 -8.63292579e-05 2.78337558e+02] [ 2.00960278e-02 -4.05281644e-04 9.99797972e-01 3.85718626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63687500000003 meters 0.022626829236706603 Centerline is valid? [True, True] Translation: X:328.10, Y:278.35, Z:38.57 [[ 9.99753080e-01 -9.85306667e-03 -1.99172341e-02 3.28104925e+02] [ 9.85332400e-03 9.99951451e-01 -8.52175138e-05 2.78346648e+02] [ 1.99171068e-02 -1.11054489e-04 9.99801629e-01 3.85733870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69687500000003 meters 0.023045803308032492 Centerline is valid? [True, True] Translation: X:328.16, Y:278.36, Z:38.58 [[ 9.99814804e-01 8.31861937e-03 -1.73539144e-02 3.28163925e+02] [-8.32119262e-03 9.99965375e-01 -7.60767363e-05 2.78357916e+02] [ 1.73526807e-02 2.20467912e-04 9.99849407e-01 3.85828413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.75687500000004 meters 0.0249910771187616 Centerline is valid? [True, True] Translation: X:328.22, Y:278.36, Z:38.59 [[ 9.99756103e-01 1.48725328e-02 -1.63261444e-02 3.28222083e+02] [-1.48757271e-02 9.99889347e-01 -7.42274749e-05 2.78362307e+02] [ 1.63232339e-02 3.17072640e-04 9.99866717e-01 3.85869907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.816875 meters 0.025410790388333788 Centerline is valid? [True, True] Translation: X:328.28, Y:278.35, Z:38.58 [[ 9.99613018e-01 1.96142496e-02 -1.97255014e-02 3.28281512e+02] [-1.96198614e-02 9.99807508e-01 -9.09875460e-05 2.78350593e+02] [ 1.97199197e-02 4.77963938e-04 9.99805429e-01 3.85781154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.876875 meters 0.026184805536124636 Centerline is valid? [True, True] Translation: X:328.34, Y:278.34, Z:38.57 [[ 9.99496311e-01 2.32252111e-02 -2.16266931e-02 3.28341364e+02] [-2.32328218e-02 9.99730076e-01 -1.00690715e-04 2.78343899e+02] [ 2.16185170e-02 6.03089106e-04 9.99766111e-01 3.85744537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.936875 meters 0.029411948993909417 Centerline is valid? [True, True] Translation: X:328.40, Y:278.35, Z:38.57 [[ 9.99336651e-01 2.96261676e-02 -2.11789322e-02 3.28400470e+02] [-2.96349169e-02 9.99560784e-01 -9.93122984e-05 2.78345467e+02] [ 2.11666878e-02 7.26882314e-04 9.99775696e-01 3.85744981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.996875 meters 0.03007808127138339 Centerline is valid? [True, True] Translation: X:328.46, Y:278.34, Z:38.58 [[ 9.99220890e-01 3.40166918e-02 -2.00119461e-02 3.28460006e+02] [-3.40253951e-02 9.99420964e-01 -9.44758681e-05 2.78339891e+02] [ 1.99971447e-02 7.75316635e-04 9.99799736e-01 3.85786427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.056875 meters 0.029985587930212353 Centerline is valid? [True, True] Translation: X:328.52, Y:278.32, Z:38.58 [[ 9.99209830e-01 3.66881485e-02 -1.52870706e-02 3.28519077e+02] [-3.66935633e-02 9.99326562e-01 -7.37813531e-05 2.78321884e+02] [ 1.52740688e-02 6.34660144e-04 9.99883143e-01 3.85817737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.116875 meters 0.028917462529315215 Centerline is valid? [True, True] Translation: X:328.58, Y:278.31, Z:38.59 [[ 9.99348649e-01 3.40057762e-02 -1.20783069e-02 3.28578379e+02] [-3.40089887e-02 9.99421525e-01 -6.06210158e-05 2.78307924e+02] [ 1.20692585e-02 4.71352534e-04 9.99927053e-01 3.85854377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.176875 meters 0.029551912514657316 Centerline is valid? [True, True] Translation: X:328.64, Y:278.29, Z:38.58 [[ 9.99279301e-01 3.64296077e-02 -1.06659038e-02 3.28637803e+02] [-3.64322709e-02 9.99336123e-01 -5.54385956e-05 2.78290147e+02] [ 1.06568034e-02 4.43981738e-04 9.99943116e-01 3.85806516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.236875 meters 0.03171231697888561 Centerline is valid? [True, True] Translation: X:328.70, Y:278.28, Z:38.57 [[ 9.99172279e-01 3.88351507e-02 -1.21073562e-02 3.28696860e+02] [-3.88387696e-02 9.99245488e-01 -6.38278184e-05 2.78277869e+02] [ 1.20957423e-02 5.34009804e-04 9.99926701e-01 3.85738560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.296875 meters 0.031230614714015878 Centerline is valid? [True, True] Translation: X:328.76, Y:278.27, Z:38.58 [[ 9.99172596e-01 3.84685825e-02 -1.32019230e-02 3.28755305e+02] [-3.84728634e-02 9.99259643e-01 -7.03593748e-05 2.78267862e+02] [ 1.31894422e-02 5.78216940e-04 9.99912848e-01 3.85761906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.356875 meters 0.029263718260694297 Centerline is valid? [True, True] Translation: X:328.82, Y:278.25, Z:38.58 [[ 9.99454028e-01 3.00427097e-02 -1.37507117e-02 3.28815055e+02] [-3.00465680e-02 9.99548497e-01 -7.40389443e-05 2.78253969e+02] [ 1.37422788e-02 4.87160214e-04 9.99905452e-01 3.85785494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.416875 meters 0.025443803828964263 Centerline is valid? [True, True] Translation: X:328.87, Y:278.23, Z:38.57 [[ 9.99751405e-01 1.58745973e-02 -1.56564629e-02 3.28874925e+02] [-1.58778700e-02 9.99873935e-01 -8.47427065e-05 2.78227178e+02] [ 1.56531439e-02 3.33312923e-04 9.99877426e-01 3.85726303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.476875 meters 0.023849428246252673 Centerline is valid? [True, True] Translation: X:328.93, Y:278.21, Z:38.57 [[ 9.99847405e-01 4.05077615e-03 -1.69928653e-02 3.28934443e+02] [-4.05293346e-03 9.99991783e-01 -9.25175071e-05 2.78212210e+02] [ 1.69923509e-02 1.61374342e-04 9.99855607e-01 3.85686900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.536875 meters 0.023425354520354182 Centerline is valid? [True, True] Translation: X:328.99, Y:278.20, Z:38.58 [[ 9.99917128e-01 -6.98982430e-03 -1.08110362e-02 3.28993227e+02] [ 6.98959326e-03 9.99975571e-01 -5.91541511e-05 2.78196651e+02] [ 1.08111856e-02 -1.64154968e-05 9.99941557e-01 3.85816400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.596875 meters 0.023702769720493514 Centerline is valid? [True, True] Translation: X:329.05, Y:278.19, Z:38.58 [[ 9.99877116e-01 -9.18188039e-03 -1.27061413e-02 3.29052493e+02] [ 9.18171869e-03 9.99957845e-01 -7.10617966e-05 2.78190150e+02] [ 1.27062581e-02 -4.56111504e-05 9.99919271e-01 3.85830375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.656875 meters 0.023438221536938014 Centerline is valid? [True, True] Translation: X:329.11, Y:278.18, Z:38.59 [[ 9.99901337e-01 -9.91453323e-03 -9.95081195e-03 3.29110410e+02] [ 9.91445145e-03 9.99950849e-01 -5.75491671e-05 2.78184634e+02] [ 9.95089343e-03 -4.11133528e-05 9.99950488e-01 3.85869107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.716875 meters 0.023426600988731863 Centerline is valid? [True, True] Translation: X:329.17, Y:278.18, Z:38.59 [[ 9.99985004e-01 -5.43201231e-03 -6.97139349e-04 3.29168702e+02] [ 5.43201099e-03 9.99985247e-01 -3.77926920e-06 2.78178835e+02] [ 6.97149593e-04 -7.65608933e-09 9.99999757e-01 3.85942658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.776875 meters 0.02355813028271022 Centerline is valid? [True, True] Translation: X:329.23, Y:278.18, Z:38.59 [[ 9.99997466e-01 -1.00091830e-03 -2.01644382e-03 3.29229809e+02] [ 1.00089508e-03 9.99999499e-01 -1.25250436e-05 2.78178028e+02] [ 2.01645535e-03 1.05067631e-05 9.99997967e-01 3.85926171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.836875 meters 0.02500636210661154 Centerline is valid? [True, True] Translation: X:329.29, Y:278.18, Z:38.59 [[ 9.99957430e-01 7.88616647e-03 -4.79022473e-03 3.29289383e+02] [-7.88639541e-03 9.99968901e-01 -2.89067782e-05 2.78183423e+02] [ 4.78984780e-03 6.66831540e-05 9.99988526e-01 3.85886283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.896875 meters 0.024847999760951076 Centerline is valid? [True, True] Translation: X:329.35, Y:278.18, Z:38.59 [[ 9.99902217e-01 1.23676918e-02 -6.52665073e-03 3.29347819e+02] [-1.23682121e-02 9.99923510e-01 -3.93594032e-05 2.78179348e+02] [ 6.52566473e-03 1.20078555e-04 9.99978700e-01 3.85883269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.956875 meters 0.026495309922196487 Centerline is valid? [True, True] Translation: X:329.41, Y:278.18, Z:38.59 [[ 9.99832248e-01 1.78373926e-02 -4.15979984e-03 3.29406627e+02] [-1.78376523e-02 9.99840896e-01 -2.53323475e-05 2.78180764e+02] [ 4.15868614e-03 9.95291611e-05 9.99991348e-01 3.85909789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.016875 meters 0.026275495933360357 Centerline is valid? [True, True] Translation: X:329.47, Y:278.18, Z:38.59 [[ 9.99789123e-01 2.01787704e-02 -3.81132409e-03 3.29465498e+02] [-2.01790056e-02 9.99796383e-01 -2.32642124e-05 2.78176502e+02] [ 3.81007859e-03 1.00168036e-04 9.99992737e-01 3.85919322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07687500000003 meters 0.027377076142485548 Centerline is valid? [True, True] Translation: X:329.52, Y:278.18, Z:38.59 [[ 9.99762411e-01 2.15222794e-02 -3.45163409e-03 3.29523260e+02] [-2.15224805e-02 9.99768364e-01 -2.11501252e-05 2.78176267e+02] [ 3.45037937e-03 9.54328277e-05 9.99994043e-01 3.85922851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13687500000003 meters 0.027782366653828307 Centerline is valid? [True, True] Translation: X:329.58, Y:278.16, Z:38.59 [[ 9.99773353e-01 2.10158297e-02 -3.40262565e-03 3.29581556e+02] [-2.10160233e-02 9.99779139e-01 -2.11367386e-05 2.78164229e+02] [ 3.40142993e-03 9.26416079e-05 9.99994211e-01 3.85895110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19687500000003 meters 0.025670457627896104 Centerline is valid? [True, True] Translation: X:329.64, Y:278.15, Z:38.59 [[ 9.99821374e-01 1.86163184e-02 -3.26400073e-03 3.29640451e+02] [-1.86164847e-02 9.99826698e-01 -2.05787183e-05 2.78150195e+02] [ 3.26305197e-03 8.13392619e-05 9.99994673e-01 3.85893862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.25687500000004 meters 0.025568050854497957 Centerline is valid? [True, True] Translation: X:329.70, Y:278.14, Z:38.59 [[ 9.99874172e-01 1.56473230e-02 -2.60808407e-03 3.29698836e+02] [-1.56474193e-02 9.99877572e-01 -1.65009234e-05 2.78139273e+02] [ 2.60750657e-03 5.73086321e-05 9.99996599e-01 3.85916356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.316875 meters 0.025858186181304223 Centerline is valid? [True, True] Translation: X:329.76, Y:278.12, Z:38.60 [[ 9.99878915e-01 1.53996834e-02 2.23734026e-03 3.29756465e+02] [-1.53997571e-02 9.99881417e-01 1.56878446e-05 2.78124956e+02] [-2.23683336e-03 -5.01404415e-05 9.99997497e-01 3.85974297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.376875 meters 0.025876330608227197 Centerline is valid? [True, True] Translation: X:329.82, Y:278.12, Z:38.60 [[ 9.99859228e-01 1.67252583e-02 1.33753341e-03 3.29815685e+02] [-1.67252861e-02 9.99860123e-01 9.63523067e-06 2.78118667e+02] [-1.33718516e-03 -3.20045032e-05 9.99999105e-01 3.85976982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.436875 meters 0.027381279399600084 Centerline is valid? [True, True] Translation: X:329.87, Y:278.12, Z:38.60 [[ 9.99766095e-01 2.15793240e-02 1.44519970e-03 3.29873646e+02] [-2.15793617e-02 9.99767138e-01 1.04464332e-05 2.78117112e+02] [-1.44463775e-03 -4.16304768e-05 9.99998956e-01 3.85970455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.496875 meters 0.028135766480729272 Centerline is valid? [True, True] Translation: X:329.93, Y:278.11, Z:38.59 [[ 9.99668492e-01 2.50934358e-02 -5.76422475e-03 3.29932053e+02] [-2.50940781e-02 9.99685093e-01 -3.91227157e-05 2.78107699e+02] [ 5.76142784e-03 1.83757652e-04 9.99983386e-01 3.85879277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.556875 meters 0.0282567694773128 Centerline is valid? [True, True] Translation: X:329.99, Y:278.10, Z:38.59 [[ 9.99693502e-01 2.46686237e-02 -2.08841646e-03 3.29990566e+02] [-2.46687062e-02 9.99695681e-01 -1.37367880e-05 2.78101118e+02] [ 2.08744205e-03 6.52511097e-05 9.99997819e-01 3.85941976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.616875 meters 0.029396877511196292 Centerline is valid? [True, True] Translation: X:330.05, Y:278.10, Z:38.60 [[ 9.99637578e-01 2.68453668e-02 -2.00992897e-03 3.30049170e+02] [-2.68454478e-02 9.99639596e-01 -1.33550159e-05 2.78098816e+02] [ 2.00884606e-03 6.73076190e-05 9.99997980e-01 3.85996296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.676875 meters 0.02797426442738664 Centerline is valid? [True, True] Translation: X:330.11, Y:278.08, Z:38.60 [[ 9.99479857e-01 3.19843176e-02 -4.12551287e-03 3.30109908e+02] [-3.19847077e-02 9.99488358e-01 -2.85904054e-05 2.78084165e+02] [ 4.12248764e-03 1.60528858e-04 9.99991490e-01 3.85985083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.736875 meters 0.03031731856461685 Centerline is valid? [True, True] Translation: X:330.17, Y:278.08, Z:38.60 [[ 9.99409232e-01 3.43576721e-02 8.58402246e-04 3.30168641e+02] [-3.43576903e-02 9.99409600e-01 6.46312590e-06 2.78077039e+02] [-8.57673388e-04 -3.59520262e-05 9.99999632e-01 3.86029550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.796875 meters 0.029873205125976954 Centerline is valid? [True, True] Translation: X:330.23, Y:278.07, Z:38.60 [[ 9.99319066e-01 3.68681772e-02 1.46354169e-03 3.30228378e+02] [-3.68682321e-02 9.99320136e-01 1.05763298e-05 2.78067958e+02] [-1.46215675e-03 -6.45273227e-05 9.99998929e-01 3.86020362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.856875 meters 0.028899980479238658 Centerline is valid? [True, True] Translation: X:330.29, Y:278.06, Z:38.60 [[ 9.99309754e-01 3.71289965e-02 -1.20533642e-03 3.30287125e+02] [-3.71290330e-02 9.99310480e-01 -7.89939810e-06 2.78058748e+02] [ 1.20421202e-03 5.26469212e-05 9.99999274e-01 3.85998619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.916875 meters 0.026719996360228974 Centerline is valid? [True, True] Translation: X:330.35, Y:278.04, Z:38.60 [[ 9.99429544e-01 3.27695561e-02 -8.16965141e-03 3.30346556e+02] [-3.27711217e-02 9.99462881e-01 -5.78122233e-05 2.78036995e+02] [ 8.16336885e-03 3.25507884e-04 9.99966626e-01 3.85969399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.976875 meters 0.025134202970713 Centerline is valid? [True, True] Translation: X:330.41, Y:278.02, Z:38.60 [[ 9.99577349e-01 2.87125313e-02 -4.55123017e-03 3.30406456e+02] [-2.87129756e-02 9.99587697e-01 -3.22984804e-05 2.78024563e+02] [ 4.54842632e-03 1.62964190e-04 9.99989643e-01 3.86034740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.036875 meters 0.02315230875866578 Centerline is valid? [True, True] Translation: X:330.47, Y:278.01, Z:38.62 [[ 9.99710091e-01 2.36386381e-02 4.57700530e-03 3.30465231e+02] [-2.36390393e-02 9.99720558e-01 3.35689549e-05 2.78006741e+02] [-4.57493277e-03 -1.41755231e-04 9.99989525e-01 3.86183975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.096875 meters 0.021220804320088358 Centerline is valid? [True, True] Translation: X:330.53, Y:277.99, Z:38.61 [[ 9.99832932e-01 1.80102368e-02 -3.12095042e-03 3.30526506e+02] [-1.80103947e-02 9.99837799e-01 -2.24864838e-05 2.77985953e+02] [ 3.12003921e-03 7.86922758e-05 9.99995130e-01 3.86116041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.156875 meters 0.020082260029578265 Centerline is valid? [True, True] Translation: X:330.59, Y:277.98, Z:38.61 [[ 9.99922479e-01 1.22357707e-02 -2.30682039e-03 3.30585894e+02] [-1.22358410e-02 9.99925139e-01 -1.63592936e-05 2.77975848e+02] [ 2.30644753e-03 4.45839129e-05 9.99997339e-01 3.86101896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.216875 meters 0.016719072174844148 Centerline is valid? [True, True] Translation: X:330.65, Y:277.96, Z:38.61 [[ 9.99991406e-01 -1.00065642e-03 -4.02318880e-03 3.30646248e+02] [ 1.00054753e-03 9.99999499e-01 -2.90774066e-05 2.77956517e+02] [ 4.02321588e-03 2.50517651e-05 9.99991907e-01 3.86120257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.276875 meters 0.015556290162520827 Centerline is valid? [True, True] Translation: X:330.71, Y:277.94, Z:38.62 [[ 9.99957218e-01 -8.41482077e-03 -3.84097485e-03 3.30705598e+02] [ 8.41477795e-03 9.99964595e-01 -2.73103857e-05 2.77938199e+02] [ 3.84106867e-03 -5.01173313e-06 9.99992623e-01 3.86154213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.336875 meters 0.01677451706345046 Centerline is valid? [True, True] Translation: X:330.77, Y:277.92, Z:38.62 [[ 9.99808536e-01 -1.95258691e-02 -1.27745251e-03 3.30765292e+02] [ 1.95258735e-02 9.99809352e-01 -9.05986351e-06 2.77920549e+02] [ 1.27738586e-03 -1.58852471e-05 9.99999184e-01 3.86189541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.396875 meters 0.017799222770178053 Centerline is valid? [True, True] Translation: X:330.82, Y:277.92, Z:38.62 [[ 9.99717877e-01 -2.36905905e-02 -1.70968397e-03 3.30824466e+02] [ 2.36906044e-02 9.99719338e-01 -1.21670451e-05 2.77916310e+02] [ 1.70949237e-03 -2.83398341e-05 9.99998538e-01 3.86167994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.456875 meters 0.017230447589833574 Centerline is valid? [True, True] Translation: X:330.88, Y:277.92, Z:38.62 [[ 9.99748805e-01 -2.23515679e-02 -1.65380983e-03 3.30883665e+02] [ 2.23515813e-02 9.99750172e-01 -1.03870843e-05 2.77915944e+02] [ 1.65362883e-03 -2.65807897e-05 9.99998632e-01 3.86160658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.516875 meters 0.016687567077896013 Centerline is valid? [True, True] Translation: X:330.94, Y:277.91, Z:38.62 [[ 9.99855310e-01 -1.70104641e-02 -4.74217680e-05 3.30942919e+02] [ 1.70104642e-02 9.99855312e-01 8.12401112e-07 2.77909798e+02] [ 4.74010873e-05 -1.61894985e-06 9.99999999e-01 3.86185683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57687500000003 meters 0.015751162504450904 Centerline is valid? [True, True] Translation: X:331.00, Y:277.92, Z:38.62 [[ 9.99956149e-01 -6.36133044e-03 -6.87267463e-03 3.31002005e+02] [ 6.36111486e-03 9.99979766e-01 -5.32278194e-05 2.77920229e+02] [ 6.87287417e-03 9.50761256e-06 9.99976381e-01 3.86152640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63687500000003 meters 0.016797723444385158 Centerline is valid? [True, True] Translation: X:331.06, Y:277.93, Z:38.62 [[ 9.99984496e-01 4.38856739e-03 -3.42768624e-03 3.31061101e+02] [-4.38868364e-03 9.99990369e-01 -2.63935097e-05 2.77930483e+02] [ 3.42753740e-03 4.14361311e-05 9.99994125e-01 3.86181232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69687500000003 meters 0.019162288769883306 Centerline is valid? [True, True] Translation: X:331.12, Y:277.93, Z:38.62 [[ 9.99932286e-01 1.11433415e-02 -3.35394645e-03 3.31120125e+02] [-1.11434926e-02 9.99937909e-01 -2.63606204e-05 2.77927617e+02] [ 3.35344446e-03 6.37335128e-05 9.99994375e-01 3.86173128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.75687500000004 meters 0.020749385888223264 Centerline is valid? [True, True] Translation: X:331.18, Y:277.93, Z:38.62 [[ 9.99846928e-01 1.68722590e-02 -4.63118304e-03 3.31179227e+02] [-1.68726068e-02 9.99857647e-01 -3.60366288e-05 2.77927381e+02] [ 4.62991576e-03 1.14171243e-04 9.99989275e-01 3.86155959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.816875 meters 0.020286896012966314 Centerline is valid? [True, True] Translation: X:331.24, Y:277.93, Z:38.61 [[ 9.99853717e-01 1.58058053e-02 -6.53615211e-03 3.31239082e+02] [-1.58064790e-02 9.99875068e-01 -5.14290351e-05 2.77925591e+02] [ 6.53452266e-03 1.54735063e-04 9.99978638e-01 3.86103869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.876875 meters 0.02007090348577731 Centerline is valid? [True, True] Translation: X:331.30, Y:277.92, Z:38.61 [[ 9.99883783e-01 1.37503685e-02 -6.58398256e-03 3.31298065e+02] [-1.37510087e-02 9.99905449e-01 -5.19846139e-05 2.77918601e+02] [ 6.58264523e-03 1.42514974e-04 9.99978324e-01 3.86117340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.936875 meters 0.020102724917995845 Centerline is valid? [True, True] Translation: X:331.36, Y:277.91, Z:38.62 [[ 9.99911120e-01 1.25066246e-02 -4.61916302e-03 3.31357201e+02] [-1.25069265e-02 9.99921785e-01 -3.64900160e-05 2.77907175e+02] [ 4.61834536e-03 9.42583053e-05 9.99989331e-01 3.86172051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.996875 meters 0.02075032383764489 Centerline is valid? [True, True] Translation: X:331.42, Y:277.90, Z:38.62 [[ 9.99878164e-01 1.55186521e-02 -1.68177690e-03 3.31416876e+02] [-1.55186964e-02 9.99879578e-01 -1.32497996e-05 2.77900179e+02] [ 1.68136876e-03 3.93471705e-05 9.99998586e-01 3.86218734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.056875 meters 0.02031042955641035 Centerline is valid? [True, True] Translation: X:331.48, Y:277.90, Z:38.62 [[ 9.99842193e-01 1.71564216e-02 -4.60940775e-03 3.31477679e+02] [-1.71567752e-02 9.99852811e-01 -3.71747730e-05 2.77896517e+02] [ 4.60809151e-03 1.16251479e-04 9.99989376e-01 3.86162678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.116875 meters 0.022221278961725998 Centerline is valid? [True, True] Translation: X:331.54, Y:277.88, Z:38.61 [[ 9.99841116e-01 1.64239953e-02 -6.92788042e-03 3.31537272e+02] [-1.64247761e-02 9.99865103e-01 -5.58317194e-05 2.77884083e+02] [ 6.92602888e-03 1.69611733e-04 9.99976000e-01 3.86115857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.176875 meters 0.019420017343488208 Centerline is valid? [True, True] Translation: X:331.60, Y:277.87, Z:38.61 [[ 9.99881551e-01 1.37151653e-02 -6.98410427e-03 3.31597269e+02] [-1.37158934e-02 9.99905931e-01 -5.63616266e-05 2.77867848e+02] [ 6.98267428e-03 1.52148181e-04 9.99975609e-01 3.86117839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.236875 meters 0.019643011532418975 Centerline is valid? [True, True] Translation: X:331.66, Y:277.86, Z:38.61 [[ 9.99907060e-01 1.09760187e-02 -8.08695736e-03 3.31656000e+02] [-1.09769079e-02 9.99939750e-01 -6.55716257e-05 2.77861846e+02] [ 8.08575041e-03 1.54335317e-04 9.99967298e-01 3.86133550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.296875 meters 0.01820723914851125 Centerline is valid? [True, True] Translation: X:331.72, Y:277.85, Z:38.61 [[ 9.99930428e-01 8.80653838e-03 -7.84756050e-03 3.31715034e+02] [-8.80731168e-03 9.99961213e-01 -6.39867492e-05 2.77846042e+02] [ 7.84669261e-03 1.33098209e-04 9.99969205e-01 3.86138944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.356875 meters 0.0181169901774516 Centerline is valid? [True, True] Translation: X:331.77, Y:277.84, Z:38.62 [[ 9.99955928e-01 9.19926668e-03 -1.87489724e-03 3.31772738e+02] [-9.19931058e-03 9.99957685e-01 -1.47958284e-05 2.77842085e+02] [ 1.87468179e-03 3.20429383e-05 9.99998242e-01 3.86196568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.416875 meters 0.019221051581751553 Centerline is valid? [True, True] Translation: X:331.83, Y:277.84, Z:38.62 [[ 9.99912576e-01 1.31986523e-02 -7.97900040e-04 3.31833047e+02] [-1.31986618e-02 9.99912894e-01 -6.64187738e-06 2.77843382e+02] [ 7.97742874e-04 1.71725095e-05 9.99999682e-01 3.86213908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.476875 meters 0.020587655393473653 Centerline is valid? [True, True] Translation: X:331.89, Y:277.84, Z:38.61 [[ 9.99796850e-01 1.84590457e-02 -8.09461068e-03 3.31894678e+02] [-1.84601961e-02 9.99829594e-01 -6.74252470e-05 2.77839301e+02] [ 8.09198670e-03 2.16839650e-04 9.99967236e-01 3.86120858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.536875 meters 0.023647820036297628 Centerline is valid? [True, True] Translation: X:331.95, Y:277.84, Z:38.61 [[ 9.99681023e-01 2.43180065e-02 -6.81806820e-03 3.31953996e+02] [-2.43189571e-02 9.99704249e-01 -5.65437353e-05 2.77839845e+02] [ 6.81467672e-03 2.22334007e-04 9.99976755e-01 3.86136560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.596875 meters 0.024805498039730405 Centerline is valid? [True, True] Translation: X:332.01, Y:277.83, Z:38.62 [[ 9.99601239e-01 2.81686789e-02 -1.97169049e-03 3.32014363e+02] [-2.81687658e-02 9.99603181e-01 -1.63281645e-05 2.77833989e+02] [ 1.97044814e-03 7.18617411e-05 9.99998056e-01 3.86220081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.656875 meters 0.027424184271277578 Centerline is valid? [True, True] Translation: X:332.07, Y:277.83, Z:38.62 [[ 9.99449206e-01 3.31552400e-02 1.41925177e-03 3.32074582e+02] [-3.31552899e-02 9.99450212e-01 1.16941830e-05 2.77831019e+02] [-1.41808376e-03 -5.87434458e-05 9.99998993e-01 3.86245454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.716875 meters 0.02591726750433555 Centerline is valid? [True, True] Translation: X:332.14, Y:277.82, Z:38.62 [[ 9.99369062e-01 3.54628137e-02 -1.96639666e-03 3.32136519e+02] [-3.54629178e-02 9.99370993e-01 -1.80891783e-05 2.77820393e+02] [ 1.96451829e-03 8.78119283e-05 9.99998066e-01 3.86182061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.776875 meters 0.028821045966253827 Centerline is valid? [True, True] Translation: X:332.20, Y:277.82, Z:38.62 [[ 9.99333709e-01 3.63505365e-02 -3.28263372e-03 3.32197560e+02] [-3.63508214e-02 9.99339090e-01 -2.71641479e-05 2.77820199e+02] [ 3.27947676e-03 1.46472481e-04 9.99994612e-01 3.86177771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.836875 meters 0.02554639629122241 Centerline is valid? [True, True] Translation: X:332.26, Y:277.80, Z:38.62 [[ 9.99446617e-01 3.31815425e-02 -2.33359630e-03 3.32259232e+02] [-3.31816764e-02 9.99449336e-01 -1.86802448e-05 2.77803829e+02] [ 2.33169144e-03 9.61025449e-05 9.99997277e-01 3.86159523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.896875 meters 0.025079263610406657 Centerline is valid? [True, True] Translation: X:332.32, Y:277.79, Z:38.62 [[ 9.99577728e-01 2.80955644e-02 -7.41652345e-03 3.32319407e+02] [-2.80967695e-02 9.99605206e-01 -5.83297675e-05 2.77792653e+02] [ 7.41195665e-03 2.66685486e-04 9.99972496e-01 3.86152628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.956875 meters 0.023236560643278278 Centerline is valid? [True, True] Translation: X:332.38, Y:277.78, Z:38.62 [[ 9.99659853e-01 2.46620153e-02 -8.48313308e-03 3.32380807e+02] [-2.46634688e-02 9.99695808e-01 -6.67486925e-05 2.77779611e+02] [ 8.47890643e-03 2.75949476e-04 9.99964015e-01 3.86150864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.016875 meters 0.020403462920659515 Centerline is valid? [True, True] Translation: X:332.44, Y:277.76, Z:38.63 [[ 9.99829643e-01 1.84319858e-02 -9.73369211e-04 3.32442431e+02] [-1.84320026e-02 9.99830116e-01 -8.25543742e-06 2.77761796e+02] [ 9.73051687e-04 2.61951749e-05 9.99999526e-01 3.86263992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07687500000003 meters 0.01974495809899688 Centerline is valid? [True, True] Translation: X:332.50, Y:277.75, Z:38.62 [[ 9.99840251e-01 1.68959747e-02 -5.83084384e-03 3.32504590e+02] [-1.68965304e-02 9.99857242e-01 -4.60519626e-05 2.77751082e+02] [ 5.82923335e-03 1.44565636e-04 9.99982999e-01 3.86207967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13687500000003 meters 0.018323167610676226 Centerline is valid? [True, True] Translation: X:332.57, Y:277.74, Z:38.62 [[ 9.99885151e-01 1.39006343e-02 -6.03803934e-03 3.32565787e+02] [-1.39011627e-02 9.99903373e-01 -4.55379330e-05 2.77737508e+02] [ 6.03682289e-03 1.29468470e-04 9.99981770e-01 3.86196295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19687500000003 meters 0.017382888235949613 Centerline is valid? [True, True] Translation: X:332.63, Y:277.72, Z:38.62 [[ 9.99906329e-01 1.16519040e-02 -7.18093695e-03 3.32627373e+02] [-1.16525911e-02 9.99932105e-01 -5.38533910e-05 2.77720945e+02] [ 7.17982190e-03 1.37524869e-04 9.99974215e-01 3.86237083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.25687500000004 meters 0.017660920611582136 Centerline is valid? [True, True] Translation: X:332.69, Y:277.72, Z:38.63 [[ 9.99899327e-01 1.32627540e-02 -5.04327883e-03 3.32687478e+02] [-1.32631123e-02 9.99912040e-01 -3.75962280e-05 2.77715591e+02] [ 5.04233660e-03 1.04482017e-04 9.99987282e-01 3.86288796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.316875 meters 0.01980326407015695 Centerline is valid? [True, True] Translation: X:332.75, Y:277.71, Z:38.63 [[ 9.99833128e-01 1.74557056e-02 -5.38658393e-03 3.32748971e+02] [-1.74561799e-02 9.99847628e-01 -4.10418837e-05 2.77711231e+02] [ 5.38504675e-03 1.35064213e-04 9.99985491e-01 3.86280826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.376875 meters 0.02071322431725434 Centerline is valid? [True, True] Translation: X:332.81, Y:277.71, Z:38.63 [[ 9.99784601e-01 2.06995107e-02 -1.51075982e-03 3.32811133e+02] [-2.06995517e-02 9.99785741e-01 -1.14639868e-05 2.77709718e+02] [ 1.51019882e-03 4.27335684e-05 9.99998859e-01 3.86290874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.436875 meters 0.020608858735615028 Centerline is valid? [True, True] Translation: X:332.87, Y:277.70, Z:38.63 [[ 9.99790498e-01 2.03863513e-02 -1.83190213e-03 3.32873334e+02] [-2.03864129e-02 9.99792175e-01 -1.49104100e-05 2.77698918e+02] [ 1.83121744e-03 5.22531993e-05 9.99998322e-01 3.86282109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.496875 meters 0.020061232568640782 Centerline is valid? [True, True] Translation: X:332.94, Y:277.69, Z:38.62 [[ 9.99768107e-01 1.97371771e-02 -8.61250616e-03 3.32935831e+02] [-1.97384245e-02 9.99805177e-01 -5.98520526e-05 2.77693370e+02] [ 8.60964693e-03 2.29835476e-04 9.99962910e-01 3.86229717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.556875 meters 0.023497908999257865 Centerline is valid? [True, True] Translation: X:333.00, Y:277.69, Z:38.62 [[ 9.99558953e-01 2.72608000e-02 -1.17791492e-02 3.32996404e+02] [-2.72636194e-02 9.99628275e-01 -7.88159938e-05 2.77691001e+02] [ 1.17726221e-02 3.99923474e-04 9.99930620e-01 3.86229960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.616875 meters 0.02561599243719197 Centerline is valid? [True, True] Translation: X:333.06, Y:277.69, Z:38.62 [[ 9.99386438e-01 3.27530305e-02 -1.24091630e-02 3.33057071e+02] [-3.27565811e-02 9.99463356e-01 -8.29386143e-05 2.77692072e+02] [ 1.23997872e-02 4.89369481e-04 9.99923000e-01 3.86225952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.676875 meters 0.0277275568788613 Centerline is valid? [True, True] Translation: X:333.12, Y:277.69, Z:38.63 [[ 9.99169365e-01 3.97907224e-02 -8.79080727e-03 3.33117733e+02] [-3.97927751e-02 9.99207952e-01 -5.86448429e-05 2.77687029e+02] [ 8.78151101e-03 4.08406747e-04 9.99961358e-01 3.86266435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.736875 meters 0.031097251436608513 Centerline is valid? [True, True] Translation: X:333.18, Y:277.68, Z:38.62 [[ 9.99158505e-01 3.91514951e-02 -1.22246358e-02 3.33178531e+02] [-3.91554088e-02 9.99233130e-01 -8.08859912e-05 2.77683240e+02] [ 1.22120943e-02 5.59478540e-04 9.99925273e-01 3.86228108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.796875 meters 0.026241956221559868 Centerline is valid? [True, True] Translation: X:333.24, Y:277.66, Z:38.62 [[ 9.99253438e-01 3.51476477e-02 -1.60377656e-02 3.33239220e+02] [-3.51538261e-02 9.99381908e-01 -1.03401027e-04 2.77662576e+02] [ 1.60242185e-02 6.67112656e-04 9.99871381e-01 3.86214135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.856875 meters 0.02524557638894584 Centerline is valid? [True, True] Translation: X:333.30, Y:277.65, Z:38.62 [[ 9.99348066e-01 3.26434010e-02 -1.54224620e-02 3.33301266e+02] [-3.26488118e-02 9.99466881e-01 -9.91224894e-05 2.77652198e+02] [ 1.54110043e-02 6.02582928e-04 9.99881062e-01 3.86230500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.916875 meters 0.02508926635821275 Centerline is valid? [True, True] Translation: X:333.36, Y:277.64, Z:38.63 [[ 9.99421743e-01 3.32325196e-02 -7.19578710e-03 3.33364051e+02] [-3.32337154e-02 9.99447606e-01 -4.66297186e-05 2.77640237e+02] [ 7.19026257e-03 2.85745495e-04 9.99974109e-01 3.86340092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.976875 meters 0.02513711183534474 Centerline is valid? [True, True] Translation: X:333.43, Y:277.63, Z:38.63 [[ 9.99370348e-01 3.38575293e-02 -1.06101307e-02 3.33425904e+02] [-3.38601204e-02 9.99426580e-01 -6.46172795e-05 2.77630896e+02] [ 1.06018588e-02 4.23836896e-04 9.99943709e-01 3.86316646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.036875 meters 0.02702100060374803 Centerline is valid? [True, True] Translation: X:333.49, Y:277.62, Z:38.63 [[ 9.99284760e-01 3.52942755e-02 -1.35750875e-02 3.33486778e+02] [-3.52986031e-02 9.99376807e-01 -7.92421376e-05 2.77617355e+02] [ 1.35638308e-02 5.58367085e-04 9.99907851e-01 3.86299020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.096875 meters 0.026716126825611163 Centerline is valid? [True, True] Translation: X:333.55, Y:277.61, Z:38.63 [[ 9.99263214e-01 3.56027510e-02 -1.43343353e-02 3.33549882e+02] [-3.56075710e-02 9.99365846e-01 -8.10965398e-05 2.77612906e+02] [ 1.43223578e-02 5.91447649e-04 9.99897255e-01 3.86255630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.156875 meters 0.028225544386964597 Centerline is valid? [True, True] Translation: X:333.61, Y:277.60, Z:38.63 [[ 9.99228902e-01 3.55872109e-02 -1.65876883e-02 3.33611494e+02] [-3.55935841e-02 9.99366344e-01 -8.90469874e-05 2.77600796e+02] [ 1.65740085e-02 6.79393602e-04 9.99862411e-01 3.86251891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.216875 meters 0.026736590911648518 Centerline is valid? [True, True] Translation: X:333.67, Y:277.58, Z:38.63 [[ 9.99267290e-01 3.49825001e-02 -1.55276194e-02 3.33673400e+02] [-3.49879545e-02 9.99387731e-01 -7.96728359e-05 2.77579886e+02] [ 1.55153252e-02 6.22894102e-04 9.99879436e-01 3.86328020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.276875 meters 0.02852558753215015 Centerline is valid? [True, True] Translation: X:333.73, Y:277.57, Z:38.63 [[ 9.99133008e-01 3.69324337e-02 -1.92152965e-02 3.33734868e+02] [-3.69410531e-02 9.99317442e-01 -9.36928511e-05 2.77573316e+02] [ 1.91987207e-02 8.03444910e-04 9.99815365e-01 3.86264792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.336875 meters 0.029343748763281004 Centerline is valid? [True, True] Translation: X:333.80, Y:277.57, Z:38.62 [[ 9.99081322e-01 3.87450088e-02 -1.83121881e-02 3.33796562e+02] [-3.87530694e-02 9.99248814e-01 -8.53953364e-05 2.77568800e+02] [ 1.82951236e-02 7.94970384e-04 9.99832314e-01 3.86248252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.396875 meters 0.027722383274879105 Centerline is valid? [True, True] Translation: X:333.86, Y:277.55, Z:38.63 [[ 9.99137941e-01 3.78252615e-02 -1.71062758e-02 3.33859112e+02] [-3.78321168e-02 9.99284106e-01 -7.72000402e-05 2.77550931e+02] [ 1.70911094e-02 7.24300112e-04 9.99853674e-01 3.86314460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.456875 meters 0.028131285133007868 Centerline is valid? [True, True] Translation: X:333.92, Y:277.54, Z:38.63 [[ 9.99062118e-01 3.81447214e-02 -2.04905811e-02 3.33921095e+02] [-3.81545523e-02 9.99271846e-01 -8.89021245e-05 2.77542251e+02] [ 2.04722697e-02 8.70627694e-04 9.99790042e-01 3.86269700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.516875 meters 0.02920016363653109 Centerline is valid? [True, True] Translation: X:333.98, Y:277.54, Z:38.63 [[ 9.99109086e-01 3.79794259e-02 -1.84010161e-02 3.33983692e+02] [-3.79872754e-02 9.99278220e-01 -7.71072752e-05 2.77538968e+02] [ 1.83848061e-02 7.76043044e-04 9.99830684e-01 3.86300966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57687500000003 meters 0.02438880889034718 Centerline is valid? [True, True] Translation: X:334.04, Y:277.52, Z:38.64 [[ 9.99380435e-01 2.94509623e-02 -1.92713911e-02 3.34044101e+02] [-2.94579728e-02 9.99566017e-01 -7.99420034e-05 2.77518651e+02] [ 1.92606733e-02 6.47588588e-04 9.99814286e-01 3.86357678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63687500000003 meters 0.02256181691610941 Centerline is valid? [True, True] Translation: X:334.11, Y:277.51, Z:38.63 [[ 9.99602176e-01 2.31461915e-02 -1.61165839e-02 3.34105150e+02] [-2.31502736e-02 9.99731994e-01 -6.67441704e-05 2.77514576e+02] [ 1.61107197e-02 4.39820944e-04 9.99870117e-01 3.86345612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69687500000003 meters 0.02196723961316278 Centerline is valid? [True, True] Translation: X:334.17, Y:277.51, Z:38.63 [[ 9.99604513e-01 2.16659159e-02 -1.79278171e-02 3.34167516e+02] [-2.16706897e-02 9.99765160e-01 -7.20252735e-05 2.77511780e+02] [ 1.79220465e-02 4.60504950e-04 9.99839281e-01 3.86332013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.75687500000004 meters 0.02038870562873629 Centerline is valid? [True, True] Translation: X:334.23, Y:277.50, Z:38.63 [[ 9.99653642e-01 1.60672224e-02 -2.08432191e-02 3.34228775e+02] [-1.60723967e-02 9.99870827e-01 -8.07424387e-05 2.77502626e+02] [ 2.08392294e-02 4.15714959e-04 9.99782753e-01 3.86324018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.816875 meters 0.019695537844176412 Centerline is valid? [True, True] Translation: X:334.29, Y:277.50, Z:38.64 [[ 9.99722818e-01 1.36270461e-02 -1.91987315e-02 3.34288671e+02] [-1.36309868e-02 9.99907091e-01 -7.44092963e-05 2.77497898e+02] [ 1.91959338e-02 3.36086327e-04 9.99815685e-01 3.86360249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.876875 meters 0.019643828772081724 Centerline is valid? [True, True] Translation: X:334.35, Y:277.50, Z:38.64 [[ 9.99732628e-01 1.42948033e-02 -1.81750316e-02 3.34348089e+02] [-1.42984561e-02 9.99897769e-01 -7.10358543e-05 2.77499319e+02] [ 1.81721582e-02 3.30891753e-04 9.99834818e-01 3.86369575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.936875 meters 0.020581857965772513 Centerline is valid? [True, True] Translation: X:334.41, Y:277.50, Z:38.64 [[ 9.99694698e-01 1.82402295e-02 -1.66674692e-02 3.34408121e+02] [-1.82438562e-02 9.99833565e-01 -6.55551441e-05 2.77502076e+02] [ 1.66634994e-02 3.69614042e-04 9.99861086e-01 3.86390173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.996875 meters 0.02102316570460955 Centerline is valid? [True, True] Translation: X:334.47, Y:277.50, Z:38.64 [[ 9.99633725e-01 1.93561380e-02 -1.89144452e-02 3.34469206e+02] [-1.93610056e-02 9.99812555e-01 -7.42499341e-05 2.77503776e+02] [ 1.89094626e-02 4.40425418e-04 9.99821103e-01 3.86353382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.056875 meters 0.021483495467314533 Centerline is valid? [True, True] Translation: X:334.53, Y:277.51, Z:38.64 [[ 9.99610894e-01 2.20949811e-02 -1.70256528e-02 3.34530900e+02] [-2.20993127e-02 9.99755778e-01 -6.62906355e-05 2.77505511e+02] [ 1.70200300e-02 4.42520066e-04 9.99855051e-01 3.86391721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.116875 meters 0.02269846868634812 Centerline is valid? [True, True] Translation: X:334.59, Y:277.51, Z:38.63 [[ 9.99449582e-01 2.50965164e-02 -2.16955783e-02 3.34592033e+02] [-2.51042440e-02 9.99684835e-01 -8.38576668e-05 2.77509702e+02] [ 2.16866361e-02 6.28462602e-04 9.99764620e-01 3.86344919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.176875 meters 0.023483833856036338 Centerline is valid? [True, True] Translation: X:334.65, Y:277.51, Z:38.63 [[ 9.99370976e-01 2.67154304e-02 -2.33224866e-02 3.34654228e+02] [-2.67247205e-02 9.99642827e-01 -8.66812672e-05 2.77511567e+02] [ 2.33118407e-02 7.09913678e-04 9.99727990e-01 3.86305774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.236875 meters 0.022571936203684317 Centerline is valid? [True, True] Translation: X:334.72, Y:277.50, Z:38.64 [[ 9.99481822e-01 2.37721306e-02 -2.17019244e-02 3.34715622e+02] [-2.37794271e-02 9.99717226e-01 -7.81784050e-05 2.77502589e+02] [ 2.16939292e-02 5.94197223e-04 9.99764482e-01 3.86379603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.296875 meters 0.021593737872554385 Centerline is valid? [True, True] Translation: X:334.78, Y:277.50, Z:38.64 [[ 9.99523032e-01 2.05435089e-02 -2.30580139e-02 3.34777510e+02] [-2.05508639e-02 9.99788805e-01 -8.20357062e-05 2.77501623e+02] [ 2.30514588e-02 5.55858682e-04 9.99734125e-01 3.86351444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.356875 meters 0.02051556124804914 Centerline is valid? [True, True] Translation: X:334.84, Y:277.50, Z:38.63 [[ 9.99569151e-01 1.71457767e-02 -2.38229897e-02 3.34838263e+02] [-1.71526483e-02 9.99852879e-01 -8.41133242e-05 2.77498397e+02] [ 2.38180427e-02 4.92704447e-04 9.99716189e-01 3.86327372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.416875 meters 0.020226875858785652 Centerline is valid? [True, True] Translation: X:334.90, Y:277.49, Z:38.64 [[ 9.99608781e-01 1.51684444e-02 -2.34990167e-02 3.34898303e+02] [-1.51745931e-02 9.99884856e-01 -8.33509860e-05 2.77494087e+02] [ 2.34950466e-02 4.39906394e-04 9.99723857e-01 3.86352417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.476875 meters 0.019089039047010276 Centerline is valid? [True, True] Translation: X:334.96, Y:277.49, Z:38.64 [[ 9.99694146e-01 1.19547665e-02 -2.16494484e-02 3.34958282e+02] [-1.19592427e-02 9.99928483e-01 -7.72940496e-05 2.77492260e+02] [ 2.16469760e-02 3.36181416e-04 9.99765620e-01 3.86392366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.536875 meters 0.01857217439912439 Centerline is valid? [True, True] Translation: X:335.02, Y:277.49, Z:38.64 [[ 9.99737364e-01 9.90076526e-03 -2.06682670e-02 3.35017555e+02] [-9.90443265e-03 9.99950947e-01 -7.50808658e-05 2.77490374e+02] [ 2.06665098e-02 2.79768606e-04 9.99786386e-01 3.86426824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.596875 meters 0.018671890862509137 Centerline is valid? [True, True] Translation: X:335.08, Y:277.48, Z:38.64 [[ 9.99608959e-01 8.65174123e-03 -2.65909132e-02 3.35076278e+02] [-8.65743407e-03 9.99962519e-01 -9.89700637e-05 2.77483814e+02] [ 2.65890603e-02 3.29140441e-04 9.99646394e-01 3.86391992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.656875 meters 0.019937562287232244 Centerline is valid? [True, True] Translation: X:335.13, Y:277.49, Z:38.63 [[ 9.99633211e-01 9.08931019e-03 -2.55113334e-02 3.35134086e+02] [-9.09474176e-03 9.99958637e-01 -9.68853187e-05 2.77490208e+02] [ 2.55093975e-02 3.28868771e-04 9.99674528e-01 3.86323389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.716875 meters 0.018762177771406166 Centerline is valid? [True, True] Translation: X:335.19, Y:277.49, Z:38.64 [[ 9.99697503e-01 9.41459317e-03 -2.27215359e-02 3.35192655e+02] [-9.41902122e-03 9.99955636e-01 -8.78679132e-05 2.77486920e+02] [ 2.27197006e-02 3.01855962e-04 9.99741829e-01 3.86410770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.776875 meters 0.01910656151643171 Centerline is valid? [True, True] Translation: X:335.25, Y:277.49, Z:38.65 [[ 9.99768247e-01 9.19867473e-03 -1.94637083e-02 3.35250126e+02] [-9.20190946e-03 9.99957659e-01 -7.66373351e-05 2.77485369e+02] [ 1.94621792e-02 2.55722856e-04 9.99810561e-01 3.86494822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.836875 meters 0.018924836629806513 Centerline is valid? [True, True] Translation: X:335.31, Y:277.49, Z:38.65 [[ 9.99721256e-01 9.69829089e-03 -2.15256245e-02 3.35308790e+02] [-9.70239912e-03 9.99952927e-01 -8.64218635e-05 2.77487089e+02] [ 2.15237731e-02 2.95247974e-04 9.99768293e-01 3.86460421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.896875 meters 0.019638475060590934 Centerline is valid? [True, True] Translation: X:335.37, Y:277.49, Z:38.64 [[ 9.99596358e-01 1.32172973e-02 -2.51480418e-02 3.35368304e+02] [-1.32240503e-02 9.99912553e-01 -1.02234020e-04 2.77492433e+02] [ 2.51444915e-02 4.34751724e-04 9.99683733e-01 3.86387121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.956875 meters 0.020934222923228506 Centerline is valid? [True, True] Translation: X:335.43, Y:277.49, Z:38.65 [[ 9.99541538e-01 1.58915146e-02 -2.57715671e-02 3.35425779e+02] [-1.58995392e-02 9.99873589e-01 -1.06478032e-04 2.77492384e+02] [ 2.57666172e-02 5.16185257e-04 9.99667852e-01 3.86451587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.016875 meters 0.021071056748123054 Centerline is valid? [True, True] Translation: X:335.48, Y:277.50, Z:38.65 [[ 9.99528247e-01 1.72613824e-02 -2.54032906e-02 3.35484137e+02] [-1.72696753e-02 9.99850862e-01 -1.07080084e-04 2.77495129e+02] [ 2.53976536e-02 5.45736147e-04 9.99677279e-01 3.86469363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07687500000003 meters 0.022231588113451193 Centerline is valid? [True, True] Translation: X:335.54, Y:277.50, Z:38.64 [[ 9.99417763e-01 1.88766435e-02 -2.84219488e-02 3.35543889e+02] [-1.88877211e-02 9.99821604e-01 -1.21315801e-04 2.77502563e+02] [ 2.84145884e-02 6.58071009e-04 9.99596007e-01 3.86369815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13687500000003 meters 0.023241908557504926 Centerline is valid? [True, True] Translation: X:335.60, Y:277.50, Z:38.64 [[ 9.99474244e-01 2.13289265e-02 -2.44195096e-02 3.35601496e+02] [-2.13378707e-02 9.99772316e-01 -1.05732030e-04 2.77504188e+02] [ 2.44116945e-02 6.26736778e-04 9.99701794e-01 3.86428421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19687500000003 meters 0.023756954943993217 Centerline is valid? [True, True] Translation: X:335.66, Y:277.50, Z:38.65 [[ 9.99490880e-01 2.12406280e-02 -2.38078931e-02 3.35661487e+02] [-2.12491225e-02 9.99774207e-01 -1.03833998e-04 2.77498538e+02] [ 2.38003119e-02 6.09677969e-04 9.99716547e-01 3.86507808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.25687500000004 meters 0.022804599339841226 Centerline is valid? [True, True] Translation: X:335.72, Y:277.49, Z:38.65 [[ 9.99530023e-01 1.92267198e-02 -2.38760627e-02 3.35722091e+02] [-1.92346888e-02 9.99814991e-01 -1.04131307e-04 2.77494653e+02] [ 2.38696433e-02 5.63331004e-04 9.99714921e-01 3.86539769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.316875 meters 0.023311198342097446 Centerline is valid? [True, True] Translation: X:335.78, Y:277.51, Z:38.64 [[ 9.99605892e-01 1.90895979e-02 -2.05827189e-02 3.35781370e+02] [-1.90954978e-02 9.99817660e-01 -9.01227706e-05 2.77506091e+02] [ 2.05772454e-02 4.83124515e-04 9.99788149e-01 3.86441645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.376875 meters 0.02341284423693463 Centerline is valid? [True, True] Translation: X:335.84, Y:277.50, Z:38.65 [[ 9.99572454e-01 1.88580163e-02 -2.23446764e-02 3.35841916e+02] [-1.88649193e-02 9.99822037e-01 -9.81602987e-05 2.77502533e+02] [ 2.23388487e-02 5.19648847e-04 9.99750322e-01 3.86472133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.436875 meters 0.02444935594333387 Centerline is valid? [True, True] Translation: X:335.90, Y:277.50, Z:38.65 [[ 9.99446554e-01 1.87506327e-02 -2.74772615e-02 3.35902615e+02] [-1.87610324e-02 9.99823989e-01 -1.20707776e-04 2.77500523e+02] [ 2.74701618e-02 6.36142763e-04 9.99622421e-01 3.86459232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.496875 meters 0.02266101570542767 Centerline is valid? [True, True] Translation: X:335.96, Y:277.50, Z:38.65 [[ 9.99334518e-01 2.27729889e-02 -2.84940609e-02 3.35962382e+02] [-2.27858253e-02 9.99740361e-01 -1.25835152e-04 2.77500162e+02] [ 2.84837971e-02 7.75012105e-04 9.99593954e-01 3.86483555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.556875 meters 0.023129934450013982 Centerline is valid? [True, True] Translation: X:336.02, Y:277.50, Z:38.65 [[ 9.99375053e-01 2.33227964e-02 -2.65621928e-02 3.36020762e+02] [-2.33341754e-02 9.99727714e-01 -1.18474534e-04 2.77503725e+02] [ 2.65521971e-02 7.38207360e-04 9.99647156e-01 3.86494114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.616875 meters 0.022563009869775618 Centerline is valid? [True, True] Translation: X:336.08, Y:277.50, Z:38.65 [[ 9.99436107e-01 2.25931572e-02 -2.48398347e-02 3.36080860e+02] [-2.26028937e-02 9.99744516e-01 -1.11235931e-04 2.77504693e+02] [ 2.48309754e-02 6.72625350e-04 9.99691438e-01 3.86516400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.676875 meters 0.021602962572389115 Centerline is valid? [True, True] Translation: X:336.14, Y:277.50, Z:38.65 [[ 9.99544456e-01 2.00596979e-02 -2.25497146e-02 3.36141368e+02] [-2.00670770e-02 9.99798631e-01 -1.00980483e-04 2.77504751e+02] [ 2.25431481e-02 5.53441342e-04 9.99745718e-01 3.86533054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.736875 meters 0.020146689127093862 Centerline is valid? [True, True] Translation: X:336.20, Y:277.50, Z:38.66 [[ 9.99642865e-01 1.60209570e-02 -2.13885727e-02 3.36202180e+02] [-1.60266672e-02 9.99871560e-01 -9.55747144e-05 2.77496000e+02] [ 2.13842943e-02 4.38328117e-04 9.99771234e-01 3.86598538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.796875 meters 0.0196892550804525 Centerline is valid? [True, True] Translation: X:336.26, Y:277.50, Z:38.66 [[ 9.99707233e-01 1.37355664e-02 -1.99194102e-02 3.36261751e+02] [-1.37400695e-02 9.99905597e-01 -8.92184553e-05 2.77495064e+02] [ 1.99163042e-02 3.62886415e-04 9.99801585e-01 3.86622477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.856875 meters 0.0194038610601389 Centerline is valid? [True, True] Translation: X:336.32, Y:277.50, Z:38.66 [[ 9.99686407e-01 1.30593184e-02 -2.13668265e-02 3.36321285e+02] [-1.30643617e-02 9.99914653e-01 -9.64561473e-05 2.77496798e+02] [ 2.13637432e-02 3.75569849e-04 9.99771699e-01 3.86601961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.916875 meters 0.02166190355899902 Centerline is valid? [True, True] Translation: X:336.38, Y:277.50, Z:38.65 [[ 9.99593597e-01 1.22730287e-02 -2.57296230e-02 3.36379298e+02] [-1.22801210e-02 9.99924590e-01 -1.17649256e-04 2.77500984e+02] [ 2.57262388e-02 4.33564325e-04 9.99668932e-01 3.86515621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.976875 meters 0.018881129627398588 Centerline is valid? [True, True] Translation: X:336.44, Y:277.49, Z:38.66 [[ 9.99694690e-01 8.78540944e-03 -2.30942319e-02 3.36438144e+02] [-8.79022741e-03 9.99961359e-01 -1.07112934e-04 2.77492378e+02] [ 2.30923985e-02 3.10083782e-04 9.99733287e-01 3.86620786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.036875 meters 0.01834495240297472 Centerline is valid? [True, True] Translation: X:336.50, Y:277.49, Z:38.66 [[ 9.99743901e-01 5.71784547e-03 -2.18960747e-02 3.36497471e+02] [-5.72146793e-03 9.99983627e-01 -1.02795506e-04 2.77492555e+02] [ 2.18951284e-02 2.28046869e-04 9.99760247e-01 3.86621355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.096875 meters 0.018447123798818677 Centerline is valid? [True, True] Translation: X:336.56, Y:277.49, Z:38.67 [[ 9.99789819e-01 5.74634695e-03 -1.96798741e-02 3.36556579e+02] [-5.74930064e-03 9.99983468e-01 -9.35113095e-05 2.77493870e+02] [ 1.96790114e-02 2.06637168e-04 9.99806328e-01 3.86656774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.156875 meters 0.018907234733848626 Centerline is valid? [True, True] Translation: X:336.62, Y:277.49, Z:38.67 [[ 9.99799482e-01 8.44917604e-03 -1.81550967e-02 3.36615647e+02] [-8.45218348e-03 9.99964276e-01 -8.89260939e-05 2.77494909e+02] [ 1.81536967e-02 2.42358471e-04 9.99835179e-01 3.86708870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.216875 meters 0.019129207123919953 Centerline is valid? [True, True] Translation: X:336.67, Y:277.49, Z:38.67 [[ 9.99782110e-01 9.72393831e-03 -1.84709812e-02 3.36674116e+02] [-9.72732167e-03 9.99952684e-01 -9.33340862e-05 2.77494882e+02] [ 1.84691997e-02 2.72986926e-04 9.99829393e-01 3.86733169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.276875 meters 0.019035282551670456 Centerline is valid? [True, True] Translation: X:336.73, Y:277.50, Z:38.66 [[ 9.99715748e-01 1.03797607e-02 -2.14635251e-02 3.36733397e+02] [-1.03845139e-02 9.99946073e-01 -1.10005989e-04 2.77501128e+02] [ 2.14612258e-02 3.32862994e-04 9.99769626e-01 3.86630754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.336875 meters 0.019399372011740114 Centerline is valid? [True, True] Translation: X:336.79, Y:277.50, Z:38.66 [[ 9.99744445e-01 8.08991161e-03 -2.11092148e-02 3.36791704e+02] [-8.09403304e-03 9.99967237e-01 -1.09809909e-04 2.77500844e+02] [ 2.11076349e-02 2.80640528e-04 9.99777170e-01 3.86597564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.396875 meters 0.018060755088767956 Centerline is valid? [True, True] Translation: X:336.85, Y:277.49, Z:38.67 [[ 9.99828606e-01 3.07611889e-03 -1.82564018e-02 3.36850150e+02] [-3.07838908e-03 9.99995257e-01 -9.62492956e-05 2.77486889e+02] [ 1.82560191e-02 1.52433107e-04 9.99833333e-01 3.86746135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.456875 meters 0.01797430128953876 Centerline is valid? [True, True] Translation: X:336.91, Y:277.49, Z:38.68 [[ 9.99843746e-01 2.75930704e-03 -1.74605252e-02 3.36908842e+02] [-2.76135523e-03 9.99996183e-01 -9.31962657e-05 2.77487202e+02] [ 1.74602014e-02 1.41396416e-04 9.99847549e-01 3.86764702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.516875 meters 0.018358522009453655 Centerline is valid? [True, True] Translation: X:336.97, Y:277.49, Z:38.67 [[ 9.99814998e-01 3.27297356e-03 -1.89540836e-02 3.36968073e+02] [-3.27550444e-03 9.99994630e-01 -1.02483879e-04 2.77493957e+02] [ 1.89536464e-02 1.64549104e-04 9.99820350e-01 3.86655721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57687500000003 meters 0.018036418415857937 Centerline is valid? [True, True] Translation: X:337.03, Y:277.49, Z:38.67 [[ 9.99855013e-01 2.07276789e-03 -1.69013874e-02 3.37027208e+02] [-2.07462649e-03 9.99997844e-01 -9.24346511e-05 2.77488816e+02] [ 1.69011593e-02 1.27485315e-04 9.99857157e-01 3.86705535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63687500000003 meters 0.017994983319270883 Centerline is valid? [True, True] Translation: X:337.09, Y:277.48, Z:38.68 [[ 9.99842533e-01 2.33677544e-04 -1.77441603e-02 3.37086061e+02] [-2.35458070e-04 9.99999967e-01 -9.82552274e-05 2.77480259e+02] [ 1.77441368e-02 1.02417761e-04 9.99842555e-01 3.86789198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69687500000003 meters 0.018275945000665688 Centerline is valid? [True, True] Translation: X:337.14, Y:277.48, Z:38.67 [[ 9.99782671e-01 -1.07005202e-04 -2.08470385e-02 3.37143911e+02] [ 1.04586314e-04 9.99999988e-01 -1.17120564e-04 2.77484464e+02] [ 2.08470508e-02 1.14914795e-04 9.99782670e-01 3.86689206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.75687500000004 meters 0.01786770813371787 Centerline is valid? [True, True] Translation: X:337.20, Y:277.49, Z:38.67 [[ 9.99828123e-01 -2.93312595e-03 -1.83063311e-02 3.37202843e+02] [ 2.93171097e-03 9.99995697e-01 -1.04130764e-04 2.77486156e+02] [ 1.83065578e-02 5.04439944e-05 9.99832420e-01 3.86680162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.816875 meters 0.01786802577033466 Centerline is valid? [True, True] Translation: X:337.26, Y:277.48, Z:38.67 [[ 9.99814146e-01 -4.94995921e-03 -1.86325416e-02 3.37259497e+02] [ 4.94881132e-03 9.99987749e-01 -1.07714726e-04 2.77479742e+02] [ 1.86328465e-02 1.54857739e-05 9.99826393e-01 3.86748866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.876875 meters 0.01810852295488316 Centerline is valid? [True, True] Translation: X:337.32, Y:277.48, Z:38.68 [[ 9.99790463e-01 -6.53609705e-03 -1.93987036e-02 3.37317440e+02] [ 6.53507668e-03 9.99978639e-01 -1.15991778e-04 2.77476109e+02] [ 1.93990474e-02 -1.08045424e-05 9.99811821e-01 3.86818559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.936875 meters 0.01806672265621145 Centerline is valid? [True, True] Translation: X:337.37, Y:277.48, Z:38.68 [[ 9.99780756e-01 -1.01158369e-02 -1.83333175e-02 3.37374318e+02] [ 1.01154535e-02 9.99948831e-01 -1.13648637e-04 2.77479127e+02] [ 1.83335291e-02 -7.18261011e-05 9.99831924e-01 3.86765595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.996875 meters 0.01842826133752476 Centerline is valid? [True, True] Translation: X:337.43, Y:277.48, Z:38.68 [[ 9.99760855e-01 -1.33558078e-02 -1.73163081e-02 3.37432243e+02] [ 1.33558874e-02 9.99910800e-01 -1.11052336e-04 2.77476296e+02] [ 1.73162467e-02 -1.20248882e-04 9.99850055e-01 3.86790811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.056875 meters 0.01891114457071581 Centerline is valid? [True, True] Translation: X:337.49, Y:277.48, Z:38.68 [[ 9.99690622e-01 -1.71070397e-02 -1.80557124e-02 3.37490838e+02] [ 1.71076552e-02 9.99853646e-01 -1.20379943e-04 2.77476871e+02] [ 1.80551293e-02 -1.88548203e-04 9.99836975e-01 3.86781937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.116875 meters 0.019304679856025297 Centerline is valid? [True, True] Translation: X:337.55, Y:277.48, Z:38.68 [[ 9.99660563e-01 -1.68297711e-02 -1.98876055e-02 3.37549352e+02] [ 1.68303668e-02 9.99858350e-01 -1.37433079e-04 2.77481603e+02] [ 1.98871014e-02 -1.97329266e-04 9.99802213e-01 3.86754492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.176875 meters 0.019045585976651392 Centerline is valid? [True, True] Translation: X:337.61, Y:277.48, Z:38.68 [[ 9.99680991e-01 -1.49872767e-02 -2.03297060e-02 3.37608693e+02] [ 1.49874214e-02 9.99887672e-01 -1.45253663e-04 2.77479659e+02] [ 2.03295993e-02 -1.59482545e-04 9.99793320e-01 3.86829507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.236875 meters 0.019233508692427702 Centerline is valid? [True, True] Translation: X:337.67, Y:277.49, Z:38.68 [[ 9.99680263e-01 -1.26709061e-02 -2.18819313e-02 3.37666796e+02] [ 1.26703935e-02 9.99919714e-01 -1.62074562e-04 2.77485922e+02] [ 2.18822281e-02 -1.15229938e-04 9.99760549e-01 3.86838841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.296875 meters 0.019133811806988095 Centerline is valid? [True, True] Translation: X:337.73, Y:277.49, Z:38.68 [[ 9.99749997e-01 -1.18798960e-02 -1.89423269e-02 3.37725251e+02] [ 1.18792855e-02 9.99929428e-01 -1.44754616e-04 2.77493551e+02] [ 1.89427098e-02 -8.03028822e-05 9.99820568e-01 3.86790216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.356875 meters 0.018888798646314712 Centerline is valid? [True, True] Translation: X:337.78, Y:277.49, Z:38.68 [[ 9.99742549e-01 -1.15810939e-02 -1.95118779e-02 3.37783505e+02] [ 1.15802931e-02 9.99932934e-01 -1.54035111e-04 2.77490722e+02] [ 1.95123533e-02 -7.19578110e-05 9.99809613e-01 3.86786233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.416875 meters 0.019922661252613508 Centerline is valid? [True, True] Translation: X:337.84, Y:277.49, Z:38.68 [[ 9.99734665e-01 -1.12038560e-02 -2.01264415e-02 3.37841462e+02] [ 1.12028193e-02 9.99937233e-01 -1.64261558e-04 2.77486077e+02] [ 2.01270186e-02 -6.12549134e-05 9.99797429e-01 3.86815669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.476875 meters 0.019788930345748263 Centerline is valid? [True, True] Translation: X:337.90, Y:277.49, Z:38.69 [[ 9.99816631e-01 -9.78713312e-03 -1.64595168e-02 3.37899930e+02] [ 9.78618705e-03 9.99952105e-01 -1.38022810e-04 2.77486174e+02] [ 1.64600793e-02 -2.30784089e-05 9.99864523e-01 3.86883839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.536875 meters 0.020127420198704237 Centerline is valid? [True, True] Translation: X:337.96, Y:277.49, Z:38.68 [[ 9.99823013e-01 -5.22753804e-03 -1.80724982e-02 3.37957736e+02] [ 5.22559579e-03 9.99986335e-01 -1.54692311e-04 2.77490055e+02] [ 1.80730599e-02 6.02253619e-05 9.99836667e-01 3.86836088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.596875 meters 0.020411352683912296 Centerline is valid? [True, True] Translation: X:338.02, Y:277.49, Z:38.68 [[ 9.99704518e-01 1.89509982e-03 -2.42339516e-02 3.38016751e+02] [-1.90073588e-03 9.99998172e-01 -2.09536354e-04 2.77493740e+02] [ 2.42335102e-02 2.55536781e-04 9.99706293e-01 3.86789373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.656875 meters 0.022598422631957084 Centerline is valid? [True, True] Translation: X:338.08, Y:277.50, Z:38.67 [[ 9.99533723e-01 8.93880992e-03 -2.91964807e-02 3.38077257e+02] [-8.95001892e-03 9.99959916e-01 -2.53253913e-04 2.77496544e+02] [ 2.91930466e-02 5.14444881e-04 9.99573660e-01 3.86697535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.716875 meters 0.022368596047131838 Centerline is valid? [True, True] Translation: X:338.14, Y:277.50, Z:38.68 [[ 9.99713339e-01 8.95387391e-03 -2.22051121e-02 3.38136401e+02] [-8.96039055e-03 9.99959836e-01 -1.93994636e-04 2.77498357e+02] [ 2.22024832e-02 3.92905502e-04 9.99753417e-01 3.86763314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.776875 meters 0.022104207508840408 Centerline is valid? [True, True] Translation: X:338.20, Y:277.50, Z:38.68 [[ 9.99739649e-01 8.47268319e-03 -2.11860080e-02 3.38195605e+02] [-8.47854476e-03 9.99964039e-01 -1.86861921e-04 2.77500656e+02] [ 2.11836629e-02 3.66439788e-04 9.99775534e-01 3.86778618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.836875 meters 0.02144943002484796 Centerline is valid? [True, True] Translation: X:338.25, Y:277.50, Z:38.68 [[ 9.99758632e-01 6.79231316e-03 -2.08936135e-02 3.38254623e+02] [-6.79767673e-03 9.99976878e-01 -1.85696924e-04 2.77496563e+02] [ 2.08918691e-02 3.27680133e-04 9.99781687e-01 3.86801322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.896875 meters 0.021079327050692796 Centerline is valid? [True, True] Translation: X:338.31, Y:277.49, Z:38.68 [[ 9.99756189e-01 5.31292871e-03 -2.14321156e-02 3.38313487e+02] [-5.31826419e-03 9.99985840e-01 -1.91957577e-04 2.77492927e+02] [ 2.14307922e-02 3.05892428e-04 9.99770287e-01 3.86814830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.956875 meters 0.020489473039197837 Centerline is valid? [True, True] Translation: X:338.37, Y:277.49, Z:38.68 [[ 9.99757211e-01 1.25020494e-03 -2.19990028e-02 3.38371027e+02] [-1.25488084e-03 9.99999193e-01 -1.98747061e-04 2.77491628e+02] [ 2.19987366e-02 2.26304935e-04 9.99757973e-01 3.86774661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.016875 meters 0.020939229858246634 Centerline is valid? [True, True] Translation: X:338.43, Y:277.50, Z:38.67 [[ 9.99732593e-01 -2.26772185e-04 -2.31233790e-02 3.38427939e+02] [ 2.21926401e-04 9.99999953e-01 -2.12128072e-04 2.77497311e+02] [ 2.31234260e-02 2.06939659e-04 9.99732596e-01 3.86693525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07687500000003 meters 0.020269540672548627 Centerline is valid? [True, True] Translation: X:338.49, Y:277.50, Z:38.67 [[ 9.99769139e-01 -1.94354810e-03 -2.13984100e-02 3.38486991e+02] [ 1.93974184e-03 9.99998099e-01 -1.98630411e-04 2.77496078e+02] [ 2.13987554e-02 1.57077164e-04 9.99771008e-01 3.86746021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13687500000003 meters 0.020121770981003227 Centerline is valid? [True, True] Translation: X:338.55, Y:277.49, Z:38.68 [[ 9.99781568e-01 -2.82264021e-03 -2.07086629e-02 3.38545874e+02] [ 2.81919675e-03 9.99996007e-01 -1.95473722e-04 2.77489611e+02] [ 2.07091320e-02 1.37049229e-04 9.99785534e-01 3.86837611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19687500000003 meters 0.021104548998152915 Centerline is valid? [True, True] Translation: X:338.61, Y:277.50, Z:38.68 [[ 9.99754519e-01 2.48186433e-03 -2.20168409e-02 3.38605114e+02] [-2.48715923e-03 9.99996884e-01 -2.13113429e-04 2.77503380e+02] [ 2.20162434e-02 2.67820503e-04 9.99757577e-01 3.86753043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.25687500000004 meters 0.02105503257787148 Centerline is valid? [True, True] Translation: X:338.66, Y:277.51, Z:38.67 [[ 9.99814898e-01 2.97971867e-03 -1.90076558e-02 3.38664324e+02] [-2.98380356e-03 9.99995531e-01 -1.86550955e-04 2.77507293e+02] [ 1.90070150e-02 2.43231535e-04 9.99819321e-01 3.86749156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.316875 meters 0.020496953355381695 Centerline is valid? [True, True] Translation: X:338.72, Y:277.50, Z:38.68 [[ 9.99836881e-01 -4.84579374e-04 -1.80547940e-02 3.38721815e+02] [ 4.81434380e-04 9.99999868e-01 -1.78537665e-04 2.77502038e+02] [ 1.80548781e-02 1.69816344e-04 9.99836983e-01 3.86797604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.376875 meters 0.020505092098334145 Centerline is valid? [True, True] Translation: X:338.78, Y:277.50, Z:38.68 [[ 9.99901795e-01 -3.54123370e-03 -1.35595151e-02 3.38780663e+02] [ 3.53972928e-03 9.99993726e-01 -1.34947299e-04 2.77500382e+02] [ 1.35599079e-02 8.69370340e-05 9.99908056e-01 3.86845782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.436875 meters 0.020299002064801917 Centerline is valid? [True, True] Translation: X:338.84, Y:277.50, Z:38.68 [[ 9.99877595e-01 -2.92480651e-03 -1.53701237e-02 3.38839183e+02] [ 2.92276825e-03 9.99995717e-01 -1.55073021e-04 2.77501466e+02] [ 1.53705114e-02 1.10130730e-04 9.99881861e-01 3.86821653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.496875 meters 0.020664828145801787 Centerline is valid? [True, True] Translation: X:338.90, Y:277.50, Z:38.68 [[ 9.99875069e-01 -1.18379478e-03 -1.57621687e-02 3.38897980e+02] [ 1.18137529e-03 9.99999289e-01 -1.62809831e-04 2.77501919e+02] [ 1.57623502e-02 1.44168454e-04 9.99875756e-01 3.86832684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.556875 meters 0.020811063578245265 Centerline is valid? [True, True] Translation: X:338.96, Y:277.50, Z:38.68 [[ 9.99870621e-01 -3.33888263e-04 -1.60819562e-02 3.38956559e+02] [ 3.31197782e-04 9.99999931e-01 -1.69961102e-04 2.77504190e+02] [ 1.60820118e-02 1.64612804e-04 9.99870663e-01 3.86809110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.616875 meters 0.020885795050052627 Centerline is valid? [True, True] Translation: X:339.01, Y:277.51, Z:38.68 [[ 9.99873486e-01 6.89621131e-04 -1.58914239e-02 3.39014359e+02] [-6.92421145e-04 9.99999746e-01 -1.70695088e-04 2.77510063e+02] [ 1.58913021e-02 1.81677051e-04 9.99873709e-01 3.86770916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.676875 meters 0.02108127454470686 Centerline is valid? [True, True] Translation: X:339.07, Y:277.51, Z:38.68 [[ 9.99855506e-01 1.64540292e-03 -1.69192215e-02 3.39072974e+02] [-1.64875742e-03 9.99998624e-01 -1.84318810e-04 2.77508330e+02] [ 1.69188950e-02 2.12187869e-04 9.99856843e-01 3.86807128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.736875 meters 0.020450887539622382 Centerline is valid? [True, True] Translation: X:339.13, Y:277.50, Z:38.69 [[ 9.99891420e-01 -3.12123550e-04 -1.47326147e-02 3.39131936e+02] [ 3.09759363e-04 9.99999939e-01 -1.62754706e-04 2.77504413e+02] [ 1.47326646e-02 1.58173469e-04 9.99891456e-01 3.86878009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.796875 meters 0.020454220510280334 Centerline is valid? [True, True] Translation: X:339.19, Y:277.51, Z:38.68 [[ 9.99905305e-01 -1.85301710e-03 -1.36362692e-02 3.39190480e+02] [ 1.85112334e-03 9.99998275e-01 -1.51497198e-04 2.77511875e+02] [ 1.36365264e-02 1.26240436e-04 9.99907010e-01 3.86791162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.856875 meters 0.02074605006062322 Centerline is valid? [True, True] Translation: X:339.25, Y:277.52, Z:38.68 [[ 9.99895392e-01 3.67382791e-04 -1.44592224e-02 3.39248992e+02] [-3.69770719e-04 9.99999918e-01 -1.62476061e-04 2.77515987e+02] [ 1.44591616e-02 1.67805662e-04 9.99895447e-01 3.86769908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.916875 meters 0.021084973541388295 Centerline is valid? [True, True] Translation: X:339.31, Y:277.52, Z:38.68 [[ 9.99878341e-01 2.71225857e-03 -1.53605610e-02 3.39308063e+02] [-2.71528706e-03 9.99996298e-01 -1.76307826e-04 2.77515131e+02] [ 1.53600259e-02 2.17994709e-04 9.99882004e-01 3.86820980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.976875 meters 0.021940920021673676 Centerline is valid? [True, True] Translation: X:339.37, Y:277.52, Z:38.69 [[ 9.99896085e-01 5.00981583e-03 -1.35173953e-02 3.39366091e+02] [-5.01240139e-03 9.99987425e-01 -1.57404230e-04 2.77520469e+02] [ 1.35164367e-02 2.25142484e-04 9.99908623e-01 3.86868931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.036875 meters 0.020105986926512928 Centerline is valid? [True, True] Translation: X:339.43, Y:277.52, Z:38.68 [[ 9.99876143e-01 9.12193932e-04 -1.57120161e-02 3.39425479e+02] [-9.15200613e-04 9.99999564e-01 -1.84172683e-04 2.77521403e+02] [ 1.57118413e-02 1.98529519e-04 9.99876542e-01 3.86814016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.096875 meters 0.019312801567790593 Centerline is valid? [True, True] Translation: X:339.48, Y:277.52, Z:38.68 [[ 9.99904060e-01 -2.89485516e-03 -1.35458537e-02 3.39483570e+02] [ 2.89295956e-03 9.99995803e-01 -1.59531603e-04 2.77523594e+02] [ 1.35462586e-02 1.20328690e-04 9.99908238e-01 3.86814010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.156875 meters 0.01868879257822822 Centerline is valid? [True, True] Translation: X:339.54, Y:277.52, Z:38.68 [[ 9.99819096e-01 -1.10683464e-02 -1.54682255e-02 3.39542915e+02] [ 1.10668325e-02 9.99938744e-01 -1.83461641e-04 2.77518033e+02] [ 1.54693086e-02 1.22441912e-05 9.99880343e-01 3.86822045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.216875 meters 0.019042258144024 Centerline is valid? [True, True] Translation: X:339.60, Y:277.52, Z:38.69 [[ 9.99770593e-01 -1.60722456e-02 -1.41578169e-02 3.39600930e+02] [ 1.60714526e-02 9.99870831e-01 -1.69793043e-04 2.77515029e+02] [ 1.41587171e-02 -5.77825916e-05 9.99899759e-01 3.86869428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.276875 meters 0.019396970719957878 Centerline is valid? [True, True] Translation: X:339.66, Y:277.52, Z:38.68 [[ 9.99712059e-01 -1.87973143e-02 -1.49151170e-02 3.39659029e+02] [ 1.87966907e-02 9.99823310e-01 -1.82010439e-04 2.77515298e+02] [ 1.49159030e-02 -9.83968113e-05 9.99888747e-01 3.86848864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.336875 meters 0.019343874482255056 Centerline is valid? [True, True] Translation: X:339.72, Y:277.52, Z:38.69 [[ 9.99791652e-01 -1.56014295e-02 -1.31623899e-02 3.39717548e+02] [ 1.56006462e-02 9.99878289e-01 -1.62188952e-04 2.77518937e+02] [ 1.31633183e-02 -4.31866276e-05 9.99913359e-01 3.86861946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.396875 meters 0.01934511548738519 Centerline is valid? [True, True] Translation: X:339.77, Y:277.52, Z:38.69 [[ 9.99807851e-01 -1.48440090e-02 -1.28029813e-02 3.39774991e+02] [ 1.48431734e-02 9.99889821e-01 -1.60293344e-04 2.77519378e+02] [ 1.28039501e-02 -2.97743278e-05 9.99918026e-01 3.86872763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.456875 meters 0.019629824956123525 Centerline is valid? [True, True] Translation: X:339.83, Y:277.52, Z:38.69 [[ 9.99800513e-01 -1.59928438e-02 -1.19650417e-02 3.39833268e+02] [ 1.59921758e-02 9.99872106e-01 -1.51513679e-04 2.77519431e+02] [ 1.19659345e-02 -3.98635955e-05 9.99928405e-01 3.86877554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.516875 meters 0.019734479808113183 Centerline is valid? [True, True] Translation: X:339.89, Y:277.52, Z:38.69 [[ 9.99816107e-01 -1.58092217e-02 -1.08544987e-02 3.39891351e+02] [ 1.58086319e-02 9.99875026e-01 -1.40134336e-04 2.77520661e+02] [ 1.08553576e-02 -3.14862083e-05 9.99941078e-01 3.86883246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57687500000003 meters 0.01971873981498819 Centerline is valid? [True, True] Translation: X:339.95, Y:277.52, Z:38.69 [[ 9.99824696e-01 -1.50894936e-02 -1.10853233e-02 3.39949424e+02] [ 1.50888009e-02 9.99886147e-01 -1.46123975e-04 2.77518274e+02] [ 1.10862661e-02 -2.11658770e-05 9.99938545e-01 3.86944481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63687500000003 meters 0.019806568498287155 Centerline is valid? [True, True] Translation: X:340.01, Y:277.53, Z:38.69 [[ 9.99832333e-01 -1.21971831e-02 -1.36577501e-02 3.40007524e+02] [ 1.21958040e-02 9.99925611e-01 -1.84260043e-04 2.77526211e+02] [ 1.36589816e-02 1.76619047e-05 9.99906712e-01 3.86880732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69687500000003 meters 0.019691818096531064 Centerline is valid? [True, True] Translation: X:340.07, Y:277.53, Z:38.69 [[ 9.99890114e-01 -9.17655158e-03 -1.16426357e-02 3.40065767e+02] [ 9.17531240e-03 9.99957893e-01 -1.59845179e-04 2.77532498e+02] [ 1.16436123e-02 5.30027947e-05 9.99932209e-01 3.86891778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.75687500000004 meters 0.020148332023451426 Centerline is valid? [True, True] Translation: X:340.12, Y:277.54, Z:38.69 [[ 9.99924094e-01 -4.24503965e-03 -1.15665447e-02 3.40124377e+02] [ 4.24345114e-03 9.99990983e-01 -1.61875181e-04 2.77539828e+02] [ 1.15671276e-02 1.12780826e-04 9.99933092e-01 3.86911711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.816875 meters 0.020295452989743803 Centerline is valid? [True, True] Translation: X:340.18, Y:277.54, Z:38.69 [[ 9.99895292e-01 -3.37649702e-03 -1.40713951e-02 3.40183624e+02] [ 3.37400590e-03 9.99994288e-01 -2.00770451e-04 2.77541712e+02] [ 1.40719926e-02 1.53272459e-04 9.99900973e-01 3.86902868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.876875 meters 0.020675958926609693 Centerline is valid? [True, True] Translation: X:340.24, Y:277.54, Z:38.70 [[ 9.99855290e-01 -2.51550791e-03 -1.68247238e-02 3.40241843e+02] [ 2.51176936e-03 9.99996816e-01 -2.43333144e-04 2.77535519e+02] [ 1.68252823e-02 2.01038106e-04 9.99858425e-01 3.86989141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.936875 meters 0.020606662456650063 Centerline is valid? [True, True] Translation: X:340.30, Y:277.55, Z:38.69 [[ 9.99871391e-01 -1.29066394e-03 -1.59854632e-02 3.40300271e+02] [ 1.28709569e-03 9.99999144e-01 -2.33504457e-04 2.77546376e+02] [ 1.59857509e-02 2.12899606e-04 9.99872197e-01 3.86917902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.996875 meters 0.021053416353522147 Centerline is valid? [True, True] Translation: X:340.36, Y:277.55, Z:38.69 [[ 9.99879953e-01 9.89357239e-04 -1.54628532e-02 3.40358807e+02] [-9.93024146e-04 9.99999481e-01 -2.29466840e-04 2.77552886e+02] [ 1.54626181e-02 2.44794280e-04 9.99880417e-01 3.86886456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.056875 meters 0.021805563479493577 Centerline is valid? [True, True] Translation: X:340.42, Y:277.54, Z:38.70 [[ 9.99811289e-01 3.98315960e-03 -1.90137243e-02 3.40417959e+02] [-3.98934158e-03 9.99992001e-01 -2.87213515e-04 2.77544109e+02] [ 1.90124282e-02 3.63011555e-04 9.99819182e-01 3.87005831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.116875 meters 0.022321145106994723 Centerline is valid? [True, True] Translation: X:340.48, Y:277.55, Z:38.71 [[ 9.99857010e-01 4.45207142e-03 -1.63137532e-02 3.40475417e+02] [-4.45672557e-03 9.99990038e-01 -2.48945505e-04 2.77546585e+02] [ 1.63124824e-02 3.21615829e-04 9.99866891e-01 3.87077434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.176875 meters 0.02357749404873862 Centerline is valid? [True, True] Translation: X:340.53, Y:277.56, Z:38.70 [[ 9.99849249e-01 9.13409294e-03 -1.47664083e-02 3.40534364e+02] [-9.13843088e-03 9.99958218e-01 -2.26321288e-04 2.77559038e+02] [ 1.47637241e-02 3.61228971e-04 9.99890945e-01 3.87014999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.236875 meters 0.02562902866460434 Centerline is valid? [True, True] Translation: X:340.59, Y:277.56, Z:38.70 [[ 9.99739291e-01 1.54433251e-02 -1.68182283e-02 3.40594205e+02] [-1.54498556e-02 9.99880610e-01 -2.58435523e-04 2.77561135e+02] [ 1.68122293e-02 5.18207346e-04 9.99858530e-01 3.87036207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.296875 meters 0.026561352298176827 Centerline is valid? [True, True] Translation: X:340.66, Y:277.57, Z:38.70 [[ 9.99679853e-01 1.84706670e-02 -1.72923673e-02 3.40655183e+02] [-1.84780239e-02 9.99829231e-01 -2.65749698e-04 2.77567235e+02] [ 1.72845058e-02 5.85193397e-04 9.99850441e-01 3.87009256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3568750000001 meters 0.028795412119771883 Centerline is valid? [True, True] Translation: X:340.72, Y:277.57, Z:38.70 [[ 9.99507814e-01 2.37669865e-02 -2.04758359e-02 3.40715694e+02] [-2.37784040e-02 9.99717204e-01 -3.14288535e-04 2.77573082e+02] [ 2.04625757e-02 8.01016544e-04 9.99790299e-01 3.86986063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.416875 meters 0.027906869729138757 Centerline is valid? [True, True] Translation: X:340.78, Y:277.56, Z:38.70 [[ 9.99366518e-01 2.18955658e-02 -2.80561301e-02 3.40777975e+02] [-2.19161389e-02 9.99759722e-01 -4.25954387e-04 2.77564036e+02] [ 2.80400623e-02 1.04056659e-03 9.99606259e-01 3.86966074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4768750000001 meters 0.027420098877608164 Centerline is valid? [True, True] Translation: X:340.84, Y:277.56, Z:38.70 [[ 9.99475318e-01 1.86414256e-02 -2.64874680e-02 3.40836848e+02] [-1.86585794e-02 9.99825833e-01 -4.00593648e-04 2.77563713e+02] [ 2.64753871e-02 8.94601989e-04 9.99649065e-01 3.86960372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.536875 meters 0.0260765821726993 Centerline is valid? [True, True] Translation: X:340.90, Y:277.56, Z:38.70 [[ 9.99631388e-01 1.49480336e-02 -2.26637403e-02 3.40896873e+02] [-1.49596537e-02 9.99888039e-01 -3.43251359e-04 2.77560218e+02] [ 2.26560719e-02 6.82166538e-04 9.99743086e-01 3.86987100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.596875 meters 0.025728991437625123 Centerline is valid? [True, True] Translation: X:340.96, Y:277.56, Z:38.70 [[ 9.99675326e-01 1.35153656e-02 -2.16004070e-02 3.40955971e+02] [-1.35255984e-02 9.99908471e-01 -3.27698937e-04 2.77557943e+02] [ 2.15940010e-02 6.19750973e-04 9.99766630e-01 3.87013415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.656875 meters 0.023985514768540158 Centerline is valid? [True, True] Translation: X:341.02, Y:277.55, Z:38.71 [[ 9.99740914e-01 1.14548785e-02 -1.96695488e-02 3.41015391e+02] [-1.14629772e-02 9.99934253e-01 -2.99036978e-04 2.77552973e+02] [ 1.96648302e-02 5.24431091e-04 9.99806491e-01 3.87083603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.716875 meters 0.025362129860649167 Centerline is valid? [True, True] Translation: X:341.07, Y:277.56, Z:38.71 [[ 9.99673314e-01 1.23442700e-02 -2.23804655e-02 3.41073564e+02] [-1.23549896e-02 9.99923616e-01 -3.40755979e-04 2.77557391e+02] [ 2.23745496e-02 6.17155078e-04 9.99749468e-01 3.87058421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.776875 meters 0.027194299550639782 Centerline is valid? [True, True] Translation: X:341.13, Y:277.56, Z:38.70 [[ 9.99578145e-01 1.52389675e-02 -2.47246136e-02 3.41133106e+02] [-1.52529507e-02 9.99883596e-01 -3.77056302e-04 2.77562812e+02] [ 2.47159896e-02 7.54020552e-04 9.99694229e-01 3.87015817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.836875 meters 0.024166704890436645 Centerline is valid? [True, True] Translation: X:341.19, Y:277.56, Z:38.70 [[ 9.99642354e-01 9.62253765e-03 -2.49513565e-02 3.41193188e+02] [-9.63505221e-03 9.99953509e-01 -3.81381454e-04 2.77564829e+02] [ 2.49465267e-02 6.21652678e-04 9.99688594e-01 3.86982798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.896875 meters 0.023313418811459884 Centerline is valid? [True, True] Translation: X:341.25, Y:277.56, Z:38.71 [[ 9.99751366e-01 6.24338326e-03 -2.14062444e-02 3.41251791e+02] [-6.25183813e-03 9.99980403e-01 -3.28072664e-04 2.77561048e+02] [ 2.14037766e-02 4.61819469e-04 9.99770806e-01 3.87063714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.956875 meters 0.021838155238508652 Centerline is valid? [True, True] Translation: X:341.31, Y:277.56, Z:38.70 [[ 9.99687623e-01 1.82256134e-04 -2.49924779e-02 3.41310938e+02] [-1.91927393e-04 9.99999908e-01 -3.84568609e-04 2.77559846e+02] [ 2.49924055e-02 3.89245219e-04 9.99687565e-01 3.87016844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.016875 meters 0.021342379524864126 Centerline is valid? [True, True] Translation: X:341.37, Y:277.56, Z:38.70 [[ 9.99685898e-01 -3.29290520e-03 -2.48447728e-02 3.41369101e+02] [ 3.28436195e-03 9.99994532e-01 -3.84663068e-04 2.77559379e+02] [ 2.48459036e-02 3.02943018e-04 9.99691247e-01 3.87003711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.076875 meters 0.020434075882780085 Centerline is valid? [True, True] Translation: X:341.43, Y:277.55, Z:38.71 [[ 9.99780475e-01 -3.30768920e-03 -2.06896576e-02 3.41428504e+02] [ 3.30169830e-03 9.99994497e-01 -3.23713029e-04 2.77554066e+02] [ 2.06906145e-02 2.55330959e-04 9.99785894e-01 3.87125604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.136875 meters 0.02033437550529143 Centerline is valid? [True, True] Translation: X:341.49, Y:277.56, Z:38.71 [[ 9.99828739e-01 -2.52943207e-03 -1.83328753e-02 3.41486868e+02] [ 2.52451960e-03 9.99996771e-01 -2.91097449e-04 2.77559411e+02] [ 1.83335524e-02 2.44765892e-04 9.99831896e-01 3.87116245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.196875 meters 0.021073498832073413 Centerline is valid? [True, True] Translation: X:341.55, Y:277.57, Z:38.71 [[ 9.99862156e-01 1.59954106e-03 -1.65260507e-02 3.41545955e+02] [-1.60416275e-03 9.99998678e-01 -2.66408485e-04 2.77568097e+02] [ 1.65256027e-02 2.92882237e-04 9.99863400e-01 3.87085211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.256875 meters 0.020973621101570597 Centerline is valid? [True, True] Translation: X:341.60, Y:277.57, Z:38.71 [[ 9.99835343e-01 2.62695103e-03 -1.79550857e-02 3.41604491e+02] [-2.63265429e-03 9.99996491e-01 -2.94011081e-04 2.77566339e+02] [ 1.79542504e-02 3.41232204e-04 9.99838751e-01 3.87105882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.316875 meters 0.023908580992019608 Centerline is valid? [True, True] Translation: X:341.66, Y:277.57, Z:38.72 [[ 9.99848890e-01 2.83152470e-03 -1.71516777e-02 3.41661285e+02] [-2.83681349e-03 9.99995936e-01 -2.84032462e-04 2.77570976e+02] [ 1.71508038e-02 3.32645653e-04 9.99852859e-01 3.87155496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.376875 meters 0.022655512007987617 Centerline is valid? [True, True] Translation: X:341.72, Y:277.57, Z:38.72 [[ 9.99864652e-01 3.48481409e-03 -1.60789614e-02 3.41720280e+02] [-3.48957050e-03 9.99993876e-01 -2.67768988e-04 2.77571811e+02] [ 1.60779298e-02 3.23841415e-04 9.99870689e-01 3.87160438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.436875 meters 0.023353522842660356 Centerline is valid? [True, True] Translation: X:341.78, Y:277.58, Z:38.71 [[ 9.99828690e-01 7.16627245e-03 -1.70656196e-02 3.41780171e+02] [-7.17218177e-03 9.99974239e-01 -2.85091494e-04 2.77577965e+02] [ 1.70631370e-02 4.07440381e-04 9.99854331e-01 3.87107171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.496875 meters 0.022161793946883904 Centerline is valid? [True, True] Translation: X:341.84, Y:277.57, Z:38.71 [[ 9.99831760e-01 6.46032664e-03 -1.71673176e-02 3.41839335e+02] [-6.46621704e-03 9.99979052e-01 -2.87631168e-04 2.77572772e+02] [ 1.71650998e-02 3.98590379e-04 9.99852589e-01 3.87147546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.556875 meters 0.021590784471686355 Centerline is valid? [True, True] Translation: X:341.90, Y:277.57, Z:38.72 [[ 9.99834197e-01 2.22389974e-03 -1.80730032e-02 3.41898884e+02] [-2.22975661e-03 9.99997468e-01 -3.03923406e-04 2.77566118e+02] [ 1.80722816e-02 3.44171413e-04 9.99836624e-01 3.87184464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.616875 meters 0.02103763269592775 Centerline is valid? [True, True] Translation: X:341.96, Y:277.56, Z:38.72 [[ 9.99895783e-01 2.41411960e-04 -1.44348633e-02 3.41957795e+02] [-2.44951945e-04 9.99999940e-01 -2.43471053e-04 2.77564785e+02] [ 1.44348036e-02 2.46981527e-04 9.99895782e-01 3.87237847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.676875 meters 0.020830427237225682 Centerline is valid? [True, True] Translation: X:342.02, Y:277.57, Z:38.72 [[ 9.99871442e-01 -7.36511821e-04 -1.60174193e-02 3.42016812e+02] [ 7.32259803e-04 9.99999695e-01 -2.71325363e-04 2.77565653e+02] [ 1.60176143e-02 2.59561570e-04 9.99871676e-01 3.87187274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.736875 meters 0.02139826726832825 Centerline is valid? [True, True] Translation: X:342.07, Y:277.57, Z:38.72 [[ 9.99831100e-01 -1.31163621e-03 -1.83317175e-02 3.42074609e+02] [ 1.30613607e-03 9.99999098e-01 -3.12003915e-04 2.77565921e+02] [ 1.83321102e-02 2.88007500e-04 9.99831911e-01 3.87156596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.796875 meters 0.02319181245111728 Centerline is valid? [True, True] Translation: X:342.13, Y:277.56, Z:38.72 [[ 9.99816056e-01 -1.39160437e-03 -1.91289671e-02 3.42133841e+02] [ 1.38556987e-03 9.99998986e-01 -3.28713868e-04 2.77562139e+02] [ 1.91294051e-02 3.02148883e-04 9.99816971e-01 3.87176356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8568750000001 meters 0.02194856577458847 Centerline is valid? [True, True] Translation: X:342.19, Y:277.57, Z:38.72 [[ 9.99792396e-01 1.04677770e-03 -2.03487001e-02 3.42191951e+02] [-1.05418800e-03 9.99999382e-01 -3.53442741e-04 2.77565244e+02] [ 2.03483176e-02 3.74820721e-04 9.99792881e-01 3.87190717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.916875 meters 0.02217463730431834 Centerline is valid? [True, True] Translation: X:342.25, Y:277.56, Z:38.72 [[ 9.99833512e-01 2.92043768e-03 -1.80116198e-02 3.42250933e+02] [-2.92660320e-03 9.99995668e-01 -3.15958998e-04 2.77564681e+02] [ 1.80106191e-02 3.68619259e-04 9.99837728e-01 3.87230380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9768750000001 meters 0.0215905442652098 Centerline is valid? [True, True] Translation: X:342.31, Y:277.56, Z:38.72 [[ 9.99801335e-01 -2.67303595e-03 -1.97521180e-02 3.42309420e+02] [ 2.66664981e-03 9.99996383e-01 -3.49645836e-04 2.77562155e+02] [ 1.97529812e-02 2.96904392e-04 9.99804847e-01 3.87191067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.036875 meters 0.019724108473515498 Centerline is valid? [True, True] Translation: X:342.37, Y:277.55, Z:38.73 [[ 9.99607291e-01 -2.25681910e-02 -1.66114481e-02 3.42369891e+02] [ 2.25664095e-02 9.99745303e-01 -2.94706888e-04 2.77546626e+02] [ 1.66138682e-02 -8.02695857e-05 9.99861977e-01 3.87252762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.096875 meters 0.02020993638668518 Centerline is valid? [True, True] Translation: X:342.43, Y:277.55, Z:38.72 [[ 9.99445837e-01 -2.58077835e-02 -2.10232713e-02 3.42429081e+02] [ 2.58055842e-02 9.99666910e-01 -3.75937787e-04 2.77545489e+02] [ 2.10259708e-02 -1.66788342e-04 9.99778916e-01 3.87236262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.156875 meters 0.02028640851016488 Centerline is valid? [True, True] Translation: X:342.49, Y:277.55, Z:38.72 [[ 9.99416677e-01 -2.56369378e-02 -2.25621868e-02 3.42487807e+02] [ 2.56342367e-02 9.99671305e-01 -4.08976389e-04 2.77550005e+02] [ 2.25652556e-02 -1.69626612e-04 9.99745358e-01 3.87214941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.216875 meters 0.01990111490879542 Centerline is valid? [True, True] Translation: X:342.55, Y:277.56, Z:38.72 [[ 9.99577259e-01 -2.03324269e-02 -2.07820957e-02 3.42546008e+02] [ 2.03288906e-02 9.99793274e-01 -3.81427669e-04 2.77561310e+02] [ 2.07855548e-02 -4.12105257e-05 9.99783956e-01 3.87180207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.276875 meters 0.019837123177881204 Centerline is valid? [True, True] Translation: X:342.60, Y:277.56, Z:38.72 [[ 9.99722343e-01 -1.49452961e-02 -1.82174304e-02 3.42603310e+02] [ 1.49416363e-02 9.99888311e-01 -3.36995565e-04 2.77564937e+02] [ 1.82204322e-02 6.47037768e-05 9.99833992e-01 3.87234703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.336875 meters 0.020553570927493485 Centerline is valid? [True, True] Translation: X:342.66, Y:277.57, Z:38.73 [[ 9.99804806e-01 -7.21783082e-03 -1.83916718e-02 3.42661759e+02] [ 7.21274019e-03 9.99973929e-01 -3.43108450e-04 2.77571848e+02] [ 1.83936688e-02 2.10387126e-04 9.99830800e-01 3.87288225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.396875 meters 0.02252900331634648 Centerline is valid? [True, True] Translation: X:342.72, Y:277.58, Z:38.73 [[ 9.99843019e-01 -5.35150798e-04 -1.77101873e-02 3.42720532e+02] [ 5.29337505e-04 9.99999804e-01 -3.32931799e-04 2.77584781e+02] [ 1.77103620e-02 3.23504869e-04 9.99843107e-01 3.87274923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.456875 meters 0.024765145306959176 Centerline is valid? [True, True] Translation: X:342.78, Y:277.59, Z:38.73 [[ 9.99856872e-01 3.98786933e-03 -1.64418012e-02 3.42779102e+02] [-3.99350527e-03 9.99991978e-01 -3.09962817e-04 2.77594975e+02] [ 1.64404333e-02 3.75578873e-04 9.99864776e-01 3.87273659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.516875 meters 0.023617695513214312 Centerline is valid? [True, True] Translation: X:342.84, Y:277.59, Z:38.73 [[ 9.99824147e-01 3.83320603e-03 -1.83570580e-02 3.42838330e+02] [-3.84022875e-03 9.99992566e-01 -3.47326920e-04 2.77592819e+02] [ 1.83555901e-02 4.17761143e-04 9.99831435e-01 3.87297442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.576875 meters 0.022581667991489418 Centerline is valid? [True, True] Translation: X:342.90, Y:277.59, Z:38.73 [[ 9.99809284e-01 9.36211880e-04 -1.95069110e-02 3.42897324e+02] [-9.43617065e-04 9.99999486e-01 -3.70417578e-04 2.77593141e+02] [ 1.95065542e-02 3.88753988e-04 9.99809653e-01 3.87288357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.636875 meters 0.021213963812458228 Centerline is valid? [True, True] Translation: X:342.96, Y:277.59, Z:38.73 [[ 9.99845963e-01 -4.07111802e-03 -1.70726670e-02 3.42956709e+02] [ 4.06615990e-03 9.99991680e-01 -3.25115520e-04 2.77593240e+02] [ 1.70738485e-02 2.55645246e-04 9.99854199e-01 3.87310292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.696875 meters 0.019905801096049912 Centerline is valid? [True, True] Translation: X:343.02, Y:277.59, Z:38.73 [[ 9.99743522e-01 -1.44951768e-02 -1.74005808e-02 3.43016351e+02] [ 1.44915815e-02 9.99894936e-01 -3.32701132e-04 2.77585151e+02] [ 1.74035752e-02 8.04538673e-05 9.99848543e-01 3.87344667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.756875 meters 0.020102213064651698 Centerline is valid? [True, True] Translation: X:343.07, Y:277.58, Z:38.74 [[ 9.99640665e-01 -2.02827265e-02 -1.75257584e-02 3.43074124e+02] [ 2.02799121e-02 9.99794284e-01 -3.38310692e-04 2.77583390e+02] [ 1.75290150e-02 -1.72317156e-05 9.99846355e-01 3.87353454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.816875 meters 0.02021219427433335 Centerline is valid? [True, True] Translation: X:343.13, Y:277.59, Z:38.73 [[ 9.99549846e-01 -2.35921769e-02 -1.85341578e-02 3.43132177e+02] [ 2.35895347e-02 9.99721663e-01 -3.61201393e-04 2.77585411e+02] [ 1.85375206e-02 -7.61733626e-05 9.99828162e-01 3.87323407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.876875 meters 0.020367787329482252 Centerline is valid? [True, True] Translation: X:343.19, Y:277.58, Z:38.74 [[ 9.99546607e-01 -2.34859636e-02 -1.88411898e-02 3.43189999e+02] [ 2.34831531e-02 9.99724164e-01 -3.70431071e-04 2.77584104e+02] [ 1.88446927e-02 -7.21874248e-05 9.99822420e-01 3.87358286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.936875 meters 0.020385028258467622 Centerline is valid? [True, True] Translation: X:343.25, Y:277.59, Z:38.74 [[ 9.99619922e-01 -2.05434314e-02 -1.83842045e-02 3.43249029e+02] [ 2.05401770e-02 9.99788961e-01 -3.65845744e-04 2.77588888e+02] [ 1.83878405e-02 -1.19081213e-05 9.99830929e-01 3.87357937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.996875 meters 0.020843109228439877 Centerline is valid? [True, True] Translation: X:343.31, Y:277.60, Z:38.74 [[ 9.99830530e-01 -1.09018029e-02 -1.48344842e-02 3.43306278e+02] [ 1.08985910e-02 9.99940564e-01 -2.97340146e-04 2.77603073e+02] [ 1.48368440e-02 1.35614780e-04 9.99889919e-01 3.87367694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.056875 meters 0.02174538622202853 Centerline is valid? [True, True] Translation: X:343.37, Y:277.61, Z:38.74 [[ 9.99852166e-01 -2.14830317e-03 -1.70596099e-02 3.43365750e+02] [ 2.14276249e-03 9.99997645e-01 -3.43055309e-04 2.77607874e+02] [ 1.70603067e-02 3.06449901e-04 9.99854415e-01 3.87374503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.116875 meters 0.025752421491214633 Centerline is valid? [True, True] Translation: X:343.43, Y:277.62, Z:38.73 [[ 9.99680846e-01 9.13635661e-03 -2.35527792e-02 3.43425196e+02] [-9.15006435e-03 9.99958025e-01 -4.74294970e-04 2.77618881e+02] [ 2.35474572e-02 6.89653042e-04 9.99722482e-01 3.87343142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.176875 meters 0.027304215655459287 Centerline is valid? [True, True] Translation: X:343.48, Y:277.63, Z:38.73 [[ 9.99616294e-01 1.18459223e-02 -2.50387520e-02 3.43484211e+02] [-1.18622872e-02 9.99929513e-01 -5.05148936e-04 2.77625271e+02] [ 2.50310032e-02 8.01971975e-04 9.99686354e-01 3.87304993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.236875 meters 0.0291085562968494 Centerline is valid? [True, True] Translation: X:343.54, Y:277.63, Z:38.73 [[ 9.99597204e-01 1.70557771e-02 -2.26832752e-02 3.43543174e+02] [-1.70705711e-02 9.99854182e-01 -4.58710745e-04 2.77631071e+02] [ 2.26721439e-02 8.45742441e-04 9.99742596e-01 3.87300994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.296875 meters 0.027437760195657756 Centerline is valid? [True, True] Translation: X:343.60, Y:277.62, Z:38.74 [[ 9.99678695e-01 1.51282913e-02 -2.03381617e-02 3.43603168e+02] [-1.51398016e-02 9.99885302e-01 -4.12081251e-04 2.77623420e+02] [ 2.03295949e-02 7.19864581e-04 9.99793073e-01 3.87380894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3568750000001 meters 0.02475536619392596 Centerline is valid? [True, True] Translation: X:343.66, Y:277.61, Z:38.74 [[ 9.99788098e-01 9.47001628e-03 -1.82777880e-02 3.43663497e+02] [-9.47837594e-03 9.99955010e-01 -3.70790327e-04 2.77614447e+02] [ 1.82734543e-02 5.43955502e-04 9.99832879e-01 3.87422118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.416875 meters 0.025048287821631248 Centerline is valid? [True, True] Translation: X:343.72, Y:277.62, Z:38.74 [[ 9.99807877e-01 8.37322361e-03 -1.77228071e-02 3.43721034e+02] [-8.38092667e-03 9.99964814e-01 -3.60411948e-04 2.77616639e+02] [ 1.77191657e-02 5.08876252e-04 9.99842874e-01 3.87405586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4768750000001 meters 0.024988427891046106 Centerline is valid? [True, True] Translation: X:343.78, Y:277.62, Z:38.74 [[ 9.99753100e-01 9.39297057e-03 -2.01372874e-02 3.43779946e+02] [-9.40315580e-03 9.99955705e-01 -4.11160920e-04 2.77617199e+02] [ 2.01325334e-02 6.00413455e-04 9.99797140e-01 3.87377789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.536875 meters 0.024917811207556505 Centerline is valid? [True, True] Translation: X:343.84, Y:277.62, Z:38.74 [[ 9.99724725e-01 8.53275818e-03 -2.18555966e-02 3.43839301e+02] [-8.54458490e-03 9.99963394e-01 -4.47800800e-04 2.77616926e+02] [ 2.18509756e-02 6.34424532e-04 9.99761038e-01 3.87385679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.596875 meters 0.023857907921518522 Centerline is valid? [True, True] Translation: X:343.90, Y:277.61, Z:38.74 [[ 9.99752010e-01 5.33396498e-03 -2.16210083e-02 3.43898177e+02] [-5.34482368e-03 9.99985618e-01 -4.44472574e-04 2.77611497e+02] [ 2.16183265e-02 5.59922826e-04 9.99766140e-01 3.87413843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.656875 meters 0.023577219018456438 Centerline is valid? [True, True] Translation: X:343.96, Y:277.61, Z:38.74 [[ 9.99786003e-01 3.77304193e-03 -2.03399136e-02 3.43956740e+02] [-3.78235638e-03 9.99992759e-01 -4.19488677e-04 2.77614067e+02] [ 2.03381835e-02 4.96331710e-04 9.99793035e-01 3.87392716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.716875 meters 0.02386889000236432 Centerline is valid? [True, True] Translation: X:344.02, Y:277.61, Z:38.74 [[ 9.99774956e-01 4.90897515e-03 -2.06382997e-02 3.44015624e+02] [-4.91883593e-03 9.99987811e-01 -4.27053630e-04 2.77614198e+02] [ 2.06359518e-02 5.28473934e-04 9.99786916e-01 3.87404650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.776875 meters 0.02439224124836943 Centerline is valid? [True, True] Translation: X:344.07, Y:277.61, Z:38.74 [[ 9.99733370e-01 5.51896066e-03 -2.24216540e-02 3.44073127e+02] [-5.53079299e-03 9.99984597e-01 -4.65739938e-04 2.77613745e+02] [ 2.24187382e-02 5.89625284e-04 9.99748495e-01 3.87423195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.836875 meters 0.023992415149778627 Centerline is valid? [True, True] Translation: X:344.13, Y:277.61, Z:38.75 [[ 9.99755905e-01 5.57245969e-03 -2.13794003e-02 3.44131980e+02] [-5.58326296e-03 9.99984314e-01 -4.45654632e-04 2.77612803e+02] [ 2.13765816e-02 5.64912664e-04 9.99771335e-01 3.87460393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.896875 meters 0.023800343435655603 Centerline is valid? [True, True] Translation: X:344.19, Y:277.62, Z:38.75 [[ 9.99815574e-01 4.82142426e-03 -1.85895772e-02 3.44191176e+02] [-4.82948377e-03 9.99988262e-01 -3.88681344e-04 2.77615638e+02] [ 1.85874850e-02 4.78387723e-04 9.99827123e-01 3.87460739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.956875 meters 0.020642306958401576 Centerline is valid? [True, True] Translation: X:344.25, Y:277.61, Z:38.75 [[ 9.99835758e-01 -1.14579408e-02 -1.40417911e-02 3.44251935e+02] [ 1.14549404e-02 9.99934347e-01 -2.94088770e-04 2.77607860e+02] [ 1.40442389e-02 1.33192588e-04 9.99901366e-01 3.87523880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.016875 meters 0.02007223561391636 Centerline is valid? [True, True] Translation: X:344.31, Y:277.61, Z:38.75 [[ 9.99705783e-01 -1.59148307e-02 -1.83047818e-02 3.44310236e+02] [ 1.59104613e-02 9.99873347e-01 -3.84314966e-04 2.77610074e+02] [ 1.83085797e-02 9.29643725e-05 9.99832380e-01 3.87467131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.076875 meters 0.020204234412552206 Centerline is valid? [True, True] Translation: X:344.37, Y:277.62, Z:38.74 [[ 9.99544093e-01 -2.16522034e-02 -2.10425569e-02 3.44369234e+02] [ 2.16476199e-02 9.99765564e-01 -4.45611152e-04 2.77615949e+02] [ 2.10472722e-02 -1.01132783e-05 9.99778482e-01 3.87408307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.136875 meters 0.02020814664314944 Centerline is valid? [True, True] Translation: X:344.43, Y:277.62, Z:38.74 [[ 9.99458723e-01 -2.50818451e-02 -2.12876180e-02 3.44428470e+02] [ 2.50778249e-02 9.99685398e-01 -4.55824867e-04 2.77615587e+02] [ 2.12923538e-02 -7.82690192e-05 9.99773289e-01 3.87444470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.196875 meters 0.020081280135847937 Centerline is valid? [True, True] Translation: X:344.49, Y:277.62, Z:38.75 [[ 9.99460805e-01 -2.58970182e-02 -2.01852523e-02 3.44486883e+02] [ 2.58934675e-02 9.99664612e-01 -4.37289830e-04 2.77617429e+02] [ 2.01898069e-02 -8.56121277e-05 9.99796161e-01 3.87479513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.256875 meters 0.01956405606746306 Centerline is valid? [True, True] Translation: X:344.55, Y:277.63, Z:38.74 [[ 9.99622638e-01 -2.11348709e-02 -1.75470625e-02 3.44545045e+02] [ 2.11313808e-02 9.99776634e-01 -3.84306857e-04 2.77631845e+02] [ 1.75512653e-02 1.33681744e-05 9.99845965e-01 3.87441132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.316875 meters 0.019716777774157767 Centerline is valid? [True, True] Translation: X:344.60, Y:277.64, Z:38.75 [[ 9.99754917e-01 -1.55022694e-02 -1.58046357e-02 3.44604188e+02] [ 1.54986785e-02 9.99879827e-01 -3.49670972e-04 2.77639643e+02] [ 1.58081571e-02 1.04634306e-04 9.99875038e-01 3.87492141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.376875 meters 0.02048726662676249 Centerline is valid? [True, True] Translation: X:344.66, Y:277.64, Z:38.75 [[ 9.99812244e-01 -1.07762249e-02 -1.61043220e-02 3.44662009e+02] [ 1.07718378e-02 9.99941918e-01 -3.59137839e-04 2.77643699e+02] [ 1.61072567e-02 1.85597265e-04 9.99870252e-01 3.87535799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.436875 meters 0.02176835560848412 Centerline is valid? [True, True] Translation: X:344.72, Y:277.65, Z:38.75 [[ 9.99858881e-01 -3.90265723e-03 -1.63397520e-02 3.44721338e+02] [ 3.89720646e-03 9.99992339e-01 -3.65418136e-04 2.77653293e+02] [ 1.63410529e-02 3.01687182e-04 9.99866431e-01 3.87533427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.496875 meters 0.022819749416974837 Centerline is valid? [True, True] Translation: X:344.78, Y:277.66, Z:38.75 [[ 9.99843170e-01 2.53934214e-03 -1.75267703e-02 3.44780535e+02] [-2.54661638e-03 9.99996680e-01 -3.92729889e-04 2.77663480e+02] [ 1.75257148e-02 4.37302257e-04 9.99846317e-01 3.87461789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.556875 meters 0.023954069187540016 Centerline is valid? [True, True] Translation: X:344.84, Y:277.67, Z:38.75 [[ 9.99840511e-01 4.77075179e-03 -1.72102700e-02 3.44838007e+02] [-4.77811571e-03 9.99988510e-01 -3.86784885e-04 2.77667875e+02] [ 1.72082270e-02 4.68955858e-04 9.99851818e-01 3.87466978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.616875 meters 0.023721604901260906 Centerline is valid? [True, True] Translation: X:344.90, Y:277.67, Z:38.75 [[ 9.99808268e-01 6.53897070e-03 -1.84572203e-02 3.44896912e+02] [-6.54776908e-03 9.99978476e-01 -4.16298000e-04 2.77665631e+02] [ 1.84541009e-02 5.37071799e-04 9.99829564e-01 3.87478533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.676875 meters 0.024079597838672504 Centerline is valid? [True, True] Translation: X:344.96, Y:277.67, Z:38.75 [[ 9.99835607e-01 8.04650310e-03 -1.62484584e-02 3.44955826e+02] [-8.05353735e-03 9.99967502e-01 -3.67530162e-04 2.77669310e+02] [ 1.62449731e-02 4.98327310e-04 9.99867918e-01 3.87484214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.736875 meters 0.024625508001404426 Centerline is valid? [True, True] Translation: X:345.01, Y:277.67, Z:38.75 [[ 9.99875130e-01 8.20666781e-03 -1.35046266e-02 3.45014379e+02] [-8.21155241e-03 9.99966238e-01 -3.06287589e-04 2.77668543e+02] [ 1.35016571e-02 4.17143292e-04 9.99908761e-01 3.87521023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.796875 meters 0.02353428101058665 Centerline is valid? [True, True] Translation: X:345.07, Y:277.66, Z:38.75 [[ 9.99900541e-01 4.46886337e-03 -1.33767728e-02 3.45074032e+02] [-4.47333209e-03 9.99989948e-01 -3.04163608e-04 2.77664526e+02] [ 1.33752791e-02 3.63972103e-04 9.99910481e-01 3.87534038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8568750000001 meters 0.023015132888764233 Centerline is valid? [True, True] Translation: X:345.13, Y:277.66, Z:38.75 [[ 9.99904250e-01 1.40725093e-03 -1.37662678e-02 3.45133093e+02] [-1.41170239e-03 9.99998954e-01 -3.13647541e-04 2.77664553e+02] [ 1.37658120e-02 3.33051382e-04 9.99905191e-01 3.87497804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.916875 meters 0.02242899247015592 Centerline is valid? [True, True] Translation: X:345.19, Y:277.66, Z:38.75 [[ 9.99887454e-01 -7.80551187e-04 -1.49823014e-02 3.45192284e+02] [ 7.75507878e-04 9.99999641e-01 -3.42424606e-04 2.77660917e+02] [ 1.49825633e-02 3.30767174e-04 9.99887700e-01 3.87502541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9768750000001 meters 0.02192342697994025 Centerline is valid? [True, True] Translation: X:345.25, Y:277.66, Z:38.75 [[ 9.99848471e-01 -5.71166980e-03 -1.64442109e-02 3.45250964e+02] [ 5.70624125e-03 9.99983648e-01 -3.77021417e-04 2.77658360e+02] [ 1.64460954e-02 2.83129653e-04 9.99864714e-01 3.87486283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.036875 meters 0.021996663006210913 Centerline is valid? [True, True] Translation: X:345.31, Y:277.66, Z:38.75 [[ 9.99802050e-01 -9.90219805e-03 -1.72571082e-02 3.45309333e+02] [ 9.89682278e-03 9.99950946e-01 -3.96857491e-04 2.77658679e+02] [ 1.72601915e-02 2.25988391e-04 9.99851006e-01 3.87472475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.096875 meters 0.020830830351464633 Centerline is valid? [True, True] Translation: X:345.37, Y:277.65, Z:38.75 [[ 9.99774367e-01 -1.24168994e-02 -1.72347310e-02 3.45368190e+02] [ 1.24118683e-02 9.99922890e-01 -3.98851265e-04 2.77654834e+02] [ 1.72383546e-02 1.84846059e-04 9.99851391e-01 3.87501265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.156875 meters 0.02034025196008 Centerline is valid? [True, True] Translation: X:345.43, Y:277.65, Z:38.75 [[ 9.99753232e-01 -1.38575370e-02 -1.73621583e-02 3.45427099e+02] [ 1.38525760e-02 9.99903966e-01 -4.05972346e-04 2.77654544e+02] [ 1.73661167e-02 1.65361547e-04 9.99849184e-01 3.87501851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.216875 meters 0.019840911602519325 Centerline is valid? [True, True] Translation: X:345.49, Y:277.65, Z:38.75 [[ 9.99763200e-01 -1.73596408e-02 -1.31220074e-02 3.45486095e+02] [ 1.73570749e-02 9.99849307e-01 -3.09409088e-04 2.77654101e+02] [ 1.31254013e-02 8.15761538e-05 9.99913855e-01 3.87509022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.276875 meters 0.019591067915726613 Centerline is valid? [True, True] Translation: X:345.54, Y:277.66, Z:38.75 [[ 9.99797403e-01 -1.68027936e-02 -1.10823454e-02 3.45544611e+02] [ 1.68009033e-02 9.99858820e-01 -2.63657048e-04 2.77655523e+02] [ 1.10852110e-02 7.74102188e-05 9.99938554e-01 3.87513948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.336875 meters 0.019976020054339117 Centerline is valid? [True, True] Translation: X:345.60, Y:277.66, Z:38.75 [[ 9.99838007e-01 -1.28642505e-02 -1.25885516e-02 3.45602231e+02] [ 1.28614593e-02 9.99917242e-01 -3.02662262e-04 2.77660457e+02] [ 1.25914033e-02 1.40706089e-04 9.99920715e-01 3.87485154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.396875 meters 0.02048596970860791 Centerline is valid? [True, True] Translation: X:345.66, Y:277.66, Z:38.75 [[ 9.99861669e-01 -8.02253099e-03 -1.45698894e-02 3.45661251e+02] [ 8.01824678e-03 9.99967791e-01 -3.52438272e-04 2.77663599e+02] [ 1.45722475e-02 2.35564551e-04 9.99893791e-01 3.87484398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.456875 meters 0.022093655810072176 Centerline is valid? [True, True] Translation: X:345.72, Y:277.67, Z:38.75 [[ 9.99917790e-01 4.32987145e-04 -1.28150336e-02 3.45720912e+02] [-4.37021380e-04 9.99999856e-01 -3.12006176e-04 2.77668982e+02] [ 1.28148966e-02 3.17580970e-04 9.99917835e-01 3.87537341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.516875 meters 0.02589498996890667 Centerline is valid? [True, True] Translation: X:345.78, Y:277.68, Z:38.75 [[ 9.99911073e-01 5.29110499e-03 -1.22413056e-02 3.45779006e+02] [-5.29515464e-03 9.99985936e-01 -2.98430438e-04 2.77683549e+02] [ 1.22395544e-02 3.63223506e-04 9.99925028e-01 3.87469339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.576875 meters 0.022264750587519755 Centerline is valid? [True, True] Translation: X:345.84, Y:277.68, Z:38.75 [[ 9.99911456e-01 2.89827923e-04 -1.33039980e-02 3.45839554e+02] [-2.94181121e-04 9.99999904e-01 -3.25253911e-04 2.77675294e+02] [ 1.33039025e-02 3.29138896e-04 9.99911445e-01 3.87453776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.636875 meters 0.020029814599150625 Centerline is valid? [True, True] Translation: X:345.90, Y:277.66, Z:38.76 [[ 9.99927744e-01 -7.00701020e-03 -9.76777622e-03 3.45899697e+02] [ 7.00501049e-03 9.99975436e-01 -2.38923450e-04 2.77662072e+02] [ 9.76921042e-03 1.70482811e-04 9.99952266e-01 3.87565039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.696875 meters 0.019472698013375745 Centerline is valid? [True, True] Translation: X:345.96, Y:277.66, Z:38.76 [[ 9.99927477e-01 -9.31752810e-03 -7.63052001e-03 3.45958854e+02] [ 9.31637498e-03 9.99956584e-01 -1.86651377e-04 2.77663451e+02] [ 7.63192785e-03 1.15549055e-04 9.99970870e-01 3.87571565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.756875 meters 0.02043593599874927 Centerline is valid? [True, True] Translation: X:346.02, Y:277.67, Z:38.75 [[ 9.99938918e-01 -6.41031129e-03 -9.00380346e-03 3.46017170e+02] [ 6.40858155e-03 9.99979440e-01 -2.20950917e-04 2.77668492e+02] [ 9.00503471e-03 1.63235812e-04 9.99959441e-01 3.87510836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.816875 meters 0.020561697895747383 Centerline is valid? [True, True] Translation: X:346.08, Y:277.67, Z:38.75 [[ 9.99892953e-01 -4.42970132e-03 -1.39448814e-02 3.46076548e+02] [ 4.42531764e-03 9.99990149e-01 -3.45199013e-04 2.77665408e+02] [ 1.39462732e-02 2.83451531e-04 9.99902706e-01 3.87499519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.876875 meters 0.020596138017305705 Centerline is valid? [True, True] Translation: X:346.14, Y:277.67, Z:38.75 [[ 9.99885182e-01 -4.08626363e-03 -1.45919626e-02 3.46135362e+02] [ 4.08137480e-03 9.99991605e-01 -3.64799385e-04 2.77668319e+02] [ 1.45933308e-02 3.05202231e-04 9.99893465e-01 3.87485321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.936875 meters 0.019971702841723303 Centerline is valid? [True, True] Translation: X:346.19, Y:277.67, Z:38.75 [[ 9.99838077e-01 -7.13167571e-03 -1.65214617e-02 3.46194178e+02] [ 7.12577400e-03 9.99974525e-01 -4.16056583e-04 2.77667209e+02] [ 1.65240080e-02 2.98261012e-04 9.99863425e-01 3.87470991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.996875 meters 0.018025290798421353 Centerline is valid? [True, True] Translation: X:346.25, Y:277.66, Z:38.75 [[ 9.99762904e-01 -1.56001313e-02 -1.51911964e-02 3.46254128e+02] [ 1.55961072e-02 9.99878300e-01 -3.83338197e-04 2.77655896e+02] [ 1.51953277e-02 1.46323782e-04 9.99884534e-01 3.87518176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.056875 meters 0.017431931285746126 Centerline is valid? [True, True] Translation: X:346.31, Y:277.65, Z:38.76 [[ 9.99717639e-01 -2.13387964e-02 -1.04545938e-02 3.46313436e+02] [ 2.13371994e-02 9.99772301e-01 -2.64286933e-04 2.77650985e+02] [ 1.04578529e-02 4.11405568e-05 9.99945314e-01 3.87584771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.116875 meters 0.017202700550199932 Centerline is valid? [True, True] Translation: X:346.37, Y:277.65, Z:38.76 [[ 9.99640681e-01 -2.60874170e-02 -6.16080027e-03 3.46371933e+02] [ 2.60869499e-02 9.99659665e-01 -1.56180940e-04 2.77648206e+02] [ 6.16277789e-03 -4.59166694e-06 9.99981010e-01 3.87617689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.176875 meters 0.017522967973206023 Centerline is valid? [True, True] Translation: X:346.43, Y:277.65, Z:38.76 [[ 9.99555416e-01 -2.91687621e-02 -6.17683465e-03 3.46429759e+02] [ 2.91683411e-02 9.99574501e-01 -1.58266392e-04 2.77647797e+02] [ 6.17882285e-03 -2.19719909e-05 9.99980911e-01 3.87606503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.236875 meters 0.01747084861577266 Centerline is valid? [True, True] Translation: X:346.49, Y:277.65, Z:38.76 [[ 9.99541657e-01 -2.95533093e-02 -6.56330258e-03 3.46487800e+02] [ 2.95528276e-02 9.99563205e-01 -1.70384393e-04 2.77649728e+02] [ 6.56547119e-03 -2.36578508e-05 9.99978447e-01 3.87595502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.296875 meters 0.017233553457027772 Centerline is valid? [True, True] Translation: X:346.55, Y:277.65, Z:38.76 [[ 9.99590288e-01 -2.76194370e-02 -7.51151299e-03 3.46545810e+02] [ 2.76187418e-02 9.99618511e-01 -1.96297341e-04 2.77653594e+02] [ 7.51406905e-03 -1.12416223e-05 9.99971769e-01 3.87594808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3568750000001 meters 0.01732103718682375 Centerline is valid? [True, True] Translation: X:346.60, Y:277.66, Z:38.76 [[ 9.99650434e-01 -2.55955908e-02 -6.62383015e-03 3.46604135e+02] [ 2.55949956e-02 9.99672379e-01 -1.74627199e-04 2.77658279e+02] [ 6.62612973e-03 5.02925217e-06 9.99978047e-01 3.87618151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.416875 meters 0.018225568975881942 Centerline is valid? [True, True] Translation: X:346.66, Y:277.67, Z:38.76 [[ 9.99792024e-01 -1.93318997e-02 -6.49504562e-03 3.46662470e+02] [ 1.93311830e-02 9.99813120e-01 -1.73115142e-04 2.77668199e+02] [ 6.49717847e-03 4.75222231e-05 9.99978892e-01 3.87615003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4768750000001 meters 0.019291732039501578 Centerline is valid? [True, True] Translation: X:346.72, Y:277.67, Z:38.76 [[ 9.99830658e-01 -1.55550248e-02 -9.83343175e-03 3.46719799e+02] [ 1.55531680e-02 9.99879007e-01 -2.65272723e-04 2.77673558e+02] [ 9.83636830e-03 1.12286785e-04 9.99951615e-01 3.87594287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.536875 meters 0.019847025840639878 Centerline is valid? [True, True] Translation: X:346.78, Y:277.68, Z:38.76 [[ 9.99870938e-01 -1.34132289e-02 -8.84263922e-03 3.46778503e+02] [ 1.34116372e-02 9.99910031e-01 -2.39273478e-04 2.77676615e+02] [ 8.84505309e-03 1.20648328e-04 9.99960874e-01 3.87591034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.596875 meters 0.020459247364769926 Centerline is valid? [True, True] Translation: X:346.84, Y:277.68, Z:38.76 [[ 9.99928851e-01 -1.13263173e-02 -3.74271128e-03 3.46837478e+02] [ 1.13260190e-02 9.99935854e-01 -1.00886823e-04 2.77683818e+02] [ 3.74361388e-03 5.84896255e-05 9.99992991e-01 3.87634205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.656875 meters 0.02151350327505195 Centerline is valid? [True, True] Translation: X:346.90, Y:277.69, Z:38.76 [[ 9.99937943e-01 -1.05709334e-02 -3.51635178e-03 3.46895792e+02] [ 1.05706598e-02 9.99944124e-01 -9.63844677e-05 2.77687321e+02] [ 3.51717417e-03 5.92083280e-05 9.99993813e-01 3.87633279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.716875 meters 0.022146627528767657 Centerline is valid? [True, True] Translation: X:346.95, Y:277.69, Z:38.76 [[ 9.99931949e-01 -9.04605485e-03 -7.36652124e-03 3.46954806e+02] [ 9.04480393e-03 9.99959074e-01 -2.03108848e-04 2.77686858e+02] [ 7.36805710e-03 1.36466286e-04 9.99972846e-01 3.87605729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.776875 meters 0.024553785276706576 Centerline is valid? [True, True] Translation: X:347.01, Y:277.69, Z:38.75 [[ 9.99920208e-01 -7.07434870e-03 -1.04656915e-02 3.47012974e+02] [ 7.07168022e-03 9.99974953e-01 -2.91958931e-04 2.77694622e+02] [ 1.04674948e-02 2.17925611e-04 9.99945191e-01 3.87539050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.836875 meters 0.025392672125042964 Centerline is valid? [True, True] Translation: X:347.07, Y:277.70, Z:38.75 [[ 9.99921781e-01 -4.71143273e-03 -1.15859868e-02 3.47071939e+02] [ 4.70796942e-03 9.99988864e-01 -3.26178457e-04 2.77695882e+02] [ 1.15873946e-02 2.71606472e-04 9.99932827e-01 3.87492115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.896875 meters 0.02608657187873225 Centerline is valid? [True, True] Translation: X:347.13, Y:277.70, Z:38.75 [[ 9.99921957e-01 -3.40274411e-03 -1.20209076e-02 3.47130503e+02] [ 3.39888697e-03 9.99994166e-01 -3.41284781e-04 2.77697698e+02] [ 1.20219988e-02 3.00400440e-04 9.99927688e-01 3.87462332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.956875 meters 0.025258943199277864 Centerline is valid? [True, True] Translation: X:347.19, Y:277.70, Z:38.74 [[ 9.99889972e-01 -5.95355383e-03 -1.35867393e-02 3.47188302e+02] [ 5.94882577e-03 9.99982230e-01 -3.88378877e-04 2.77695189e+02] [ 1.35888101e-02 3.07511000e-04 9.99907621e-01 3.87448326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.016875 meters 0.026584558660138233 Centerline is valid? [True, True] Translation: X:347.25, Y:277.69, Z:38.74 [[ 9.99881858e-01 -6.22583018e-03 -1.40538192e-02 3.47246566e+02] [ 6.22077081e-03 9.99980569e-01 -4.03686710e-04 2.77692765e+02] [ 1.40560594e-02 3.16213430e-04 9.99901159e-01 3.87449018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.076875 meters 0.02782175701978908 Centerline is valid? [True, True] Translation: X:347.31, Y:277.69, Z:38.74 [[ 9.99885092e-01 -9.14263525e-03 -1.20919268e-02 3.47305133e+02] [ 9.13907396e-03 9.99958177e-01 -3.49743456e-04 2.77689873e+02] [ 1.20946187e-02 2.39194254e-04 9.99926829e-01 3.87447152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.136875 meters 0.027226876386925402 Centerline is valid? [True, True] Translation: X:347.36, Y:277.69, Z:38.74 [[ 9.99853386e-01 -1.43767194e-02 -9.30139439e-03 3.47364069e+02] [ 1.43748342e-02 9.99896640e-01 -2.69506467e-04 2.77687604e+02] [ 9.30430762e-03 1.35760951e-04 9.99956705e-01 3.87354187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.196875 meters 0.026992920285537812 Centerline is valid? [True, True] Translation: X:347.42, Y:277.69, Z:38.73 [[ 9.99805506e-01 -1.80958396e-02 -7.84160023e-03 3.47423535e+02] [ 1.80946128e-02 9.99836253e-01 -2.27383712e-04 2.77686998e+02] [ 7.84443089e-03 8.54487676e-05 9.99969228e-01 3.87304562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.256875 meters 0.026973156831524372 Centerline is valid? [True, True] Translation: X:347.48, Y:277.68, Z:38.73 [[ 9.99689327e-01 -2.42067783e-02 -5.93984375e-03 3.47481772e+02] [ 2.42061748e-02 9.99706973e-01 -1.73483997e-04 2.77684336e+02] [ 5.94230271e-03 2.96492042e-05 9.99982344e-01 3.87332769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.316875 meters 0.027006372563493686 Centerline is valid? [True, True] Translation: X:347.54, Y:277.69, Z:38.73 [[ 9.99591544e-01 -2.78805494e-02 -6.27860245e-03 3.47540673e+02] [ 2.78799470e-02 9.99611262e-01 -1.83469087e-04 2.77687017e+02] [ 6.28127694e-03 8.34704472e-06 9.99980273e-01 3.87292331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.376875 meters 0.02713671709640385 Centerline is valid? [True, True] Translation: X:347.60, Y:277.69, Z:38.73 [[ 9.99502023e-01 -3.10593430e-02 -5.56981428e-03 3.47598781e+02] [ 3.10589133e-02 9.99517542e-01 -1.63661026e-04 2.77691184e+02] [ 5.57221028e-03 -9.41285220e-06 9.99984475e-01 3.87264706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.436875 meters 0.02746791640677744 Centerline is valid? [True, True] Translation: X:347.66, Y:277.69, Z:38.72 [[ 9.99165876e-01 -4.03016309e-02 -6.58258503e-03 3.47657685e+02] [ 4.03012160e-02 9.99187557e-01 -1.95711781e-04 2.77691276e+02] [ 6.58512456e-03 -6.97376483e-05 9.99978315e-01 3.87203172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.496875 meters 0.029212371650627927 Centerline is valid? [True, True] Translation: X:347.72, Y:277.69, Z:38.72 [[ 9.98843831e-01 -4.76359333e-02 -6.46674730e-03 3.47716224e+02] [ 4.76356743e-02 9.98864758e-01 -1.94155056e-04 2.77688203e+02] [ 6.46865473e-03 -1.14117288e-04 9.99979072e-01 3.87182073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.556875 meters 0.031014516061905945 Centerline is valid? [True, True] Translation: X:347.78, Y:277.68, Z:38.73 [[ 9.98418117e-01 -5.62030198e-02 -1.57585213e-03 3.47776207e+02] [ 5.62030151e-02 9.98419360e-01 -4.73016415e-05 2.77682364e+02] [ 1.57601977e-03 -4.13408250e-05 9.99998757e-01 3.87250124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.616875 meters 0.03010710133580078 Centerline is valid? [True, True] Translation: X:347.83, Y:277.69, Z:38.73 [[ 9.98416667e-01 -5.61802397e-02 2.81773209e-03 3.47834413e+02] [ 5.61802207e-02 9.98420641e-01 8.59628304e-05 2.77689438e+02] [-2.81811129e-03 7.24740878e-05 9.99996026e-01 3.87287225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.676875 meters 0.0287569614802182 Centerline is valid? [True, True] Translation: X:347.89, Y:277.70, Z:38.73 [[ 9.98722205e-01 -5.05095370e-02 1.65649583e-03 3.47894080e+02] [ 5.05095231e-02 9.98723578e-01 5.02634888e-05 2.77697263e+02] [-1.65692023e-03 3.34695521e-05 9.99998627e-01 3.87284049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.736875 meters 0.026436744452888596 Centerline is valid? [True, True] Translation: X:347.95, Y:277.71, Z:38.73 [[ 9.99182614e-01 -4.04184307e-02 -6.74784783e-04 3.47953961e+02] [ 4.04184262e-02 9.99182841e-01 -2.02742689e-05 2.77710467e+02] [ 6.75052831e-04 -7.01604199e-06 9.99999772e-01 3.87253389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.796875 meters 0.026061032551777354 Centerline is valid? [True, True] Translation: X:348.01, Y:277.72, Z:38.73 [[ 9.99414527e-01 -3.41933536e-02 1.19034017e-03 3.48012731e+02] [ 3.41933321e-02 9.99415236e-01 3.83775564e-05 2.77719992e+02] [-1.19095636e-03 2.34660948e-06 9.99999291e-01 3.87292406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8568750000001 meters 0.02572308992488761 Centerline is valid? [True, True] Translation: X:348.07, Y:277.73, Z:38.73 [[ 9.99562036e-01 -2.95789884e-02 -9.05157969e-04 3.48071776e+02] [ 2.95789773e-02 9.99562446e-01 -2.57394164e-05 2.77727747e+02] [ 9.05523260e-04 -1.04550352e-06 9.99999590e-01 3.87262216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.916875 meters 0.02683152428801036 Centerline is valid? [True, True] Translation: X:348.13, Y:277.74, Z:38.73 [[ 9.99822069e-01 -1.84529086e-02 -3.91414087e-03 3.48130794e+02] [ 1.84525841e-02 9.99829729e-01 -1.19000084e-04 2.77737094e+02] [ 3.91567031e-03 4.67528967e-05 9.99992333e-01 3.87265455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9768750000001 meters 0.028770221372868582 Centerline is valid? [True, True] Translation: X:348.19, Y:277.75, Z:38.73 [[ 9.99922790e-01 -1.10146687e-02 -5.75253104e-03 3.48190090e+02] [ 1.10138279e-02 9.99939330e-01 -1.77810858e-04 2.77745330e+02] [ 5.75414057e-03 1.14439742e-04 9.99983438e-01 3.87262492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.036875 meters 0.031045608638974456 Centerline is valid? [True, True] Translation: X:348.25, Y:277.76, Z:38.72 [[ 9.99967074e-01 -4.21555309e-03 -6.93394845e-03 3.48250371e+02] [ 4.21416574e-03 9.99991097e-01 -2.14679323e-04 2.77755106e+02] [ 6.93479171e-03 1.85451447e-04 9.99975937e-01 3.87246662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.096875 meters 0.033287826824312194 Centerline is valid? [True, True] Translation: X:348.31, Y:277.76, Z:38.73 [[ 9.99976402e-01 -1.14650341e-03 -6.77359234e-03 3.48309594e+02] [ 1.14510968e-03 9.99999322e-01 -2.09635254e-04 2.77758125e+02] [ 6.77382810e-03 2.01873801e-04 9.99977037e-01 3.87257814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.156875 meters 0.031645330493786615 Centerline is valid? [True, True] Translation: X:348.37, Y:277.75, Z:38.73 [[ 9.99968917e-01 -5.25367621e-03 -5.87917948e-03 3.48370099e+02] [ 5.25269661e-03 9.99986188e-01 -1.82050658e-04 2.77750340e+02] [ 5.88005471e-03 1.51163453e-04 9.99982701e-01 3.87286901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.216875 meters 0.028165633616983703 Centerline is valid? [True, True] Translation: X:348.43, Y:277.74, Z:38.73 [[ 9.99922298e-01 -9.85941993e-03 -7.62826097e-03 3.48430711e+02] [ 9.85790089e-03 9.99951382e-01 -2.36708582e-04 2.77741476e+02] [ 7.63022391e-03 1.61491549e-04 9.99970876e-01 3.87271410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.276875 meters 0.027344782593052386 Centerline is valid? [True, True] Translation: X:348.49, Y:277.74, Z:38.73 [[ 9.99864967e-01 -1.35791281e-02 -9.25500491e-03 3.48490300e+02] [ 1.35770498e-02 9.99907786e-01 -2.87352024e-04 2.77737735e+02] [ 9.25805346e-03 1.61657560e-04 9.99957130e-01 3.87278289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.336875 meters 0.027840301254043277 Centerline is valid? [True, True] Translation: X:348.55, Y:277.74, Z:38.73 [[ 9.99791325e-01 -1.51730133e-02 -1.36779091e-02 3.48547853e+02] [ 1.51685770e-02 9.99884859e-01 -4.28030402e-04 2.77736063e+02] [ 1.36828288e-02 2.20466665e-04 9.99906361e-01 3.87259151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.396875 meters 0.028017404543285915 Centerline is valid? [True, True] Translation: X:348.61, Y:277.74, Z:38.73 [[ 9.99811559e-01 -1.43456585e-02 -1.30785529e-02 3.48606964e+02] [ 1.43415116e-02 9.99897071e-01 -4.10806947e-04 2.77739528e+02] [ 1.30831000e-02 2.23163316e-04 9.99914388e-01 3.87268940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.456875 meters 0.027837844033070828 Centerline is valid? [True, True] Translation: X:348.67, Y:277.74, Z:38.73 [[ 9.99848269e-01 -1.39878397e-02 -1.03816899e-02 3.48665063e+02] [ 1.39851882e-02 9.99902149e-01 -3.27962468e-04 2.77743232e+02] [ 1.03852615e-02 1.82722819e-04 9.99946055e-01 3.87310126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.516875 meters 0.027694201285441967 Centerline is valid? [True, True] Translation: X:348.72, Y:277.74, Z:38.73 [[ 9.99850417e-01 -1.20586007e-02 -1.23989553e-02 3.48723547e+02] [ 1.20546306e-02 9.99927262e-01 -3.94880945e-04 2.77743009e+02] [ 1.24028151e-02 2.45357051e-04 9.99923052e-01 3.87336436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.576875 meters 0.02748981875911522 Centerline is valid? [True, True] Translation: X:348.78, Y:277.74, Z:38.73 [[ 9.99844531e-01 -1.18891467e-02 -1.30216258e-02 3.48782568e+02] [ 1.18847264e-02 9.99929287e-01 -4.16791159e-04 2.77743537e+02] [ 1.30256603e-02 2.61967900e-04 9.99915128e-01 3.87344579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.636875 meters 0.027401945392546 Centerline is valid? [True, True] Translation: X:348.84, Y:277.74, Z:38.74 [[ 9.99848498e-01 -1.24992372e-02 -1.21140325e-02 3.48841325e+02] [ 1.24954235e-02 9.99921853e-01 -3.90456916e-04 2.77744947e+02] [ 1.21179662e-02 2.39027795e-04 9.99926546e-01 3.87367967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.696875 meters 0.027572538098431663 Centerline is valid? [True, True] Translation: X:348.90, Y:277.75, Z:38.74 [[ 9.99831157e-01 -1.26106577e-02 -1.33652064e-02 3.48899216e+02] [ 1.26059783e-02 9.99920447e-01 -4.34310484e-04 2.77749594e+02] [ 1.33696201e-02 2.65755653e-04 9.99910587e-01 3.87370065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.756875 meters 0.028292127107857914 Centerline is valid? [True, True] Translation: X:348.96, Y:277.75, Z:38.74 [[ 9.99814901e-01 -1.31328511e-02 -1.40603000e-02 3.48957083e+02] [ 1.31276809e-02 9.99913722e-01 -4.59947860e-04 2.77754245e+02] [ 1.40651273e-02 2.75283592e-04 9.99901043e-01 3.87375025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.816875 meters 0.02759801349517834 Centerline is valid? [True, True] Translation: X:349.02, Y:277.75, Z:38.74 [[ 9.99756670e-01 -1.54546683e-02 -1.57402279e-02 3.49016029e+02] [ 1.54484400e-02 9.99880532e-01 -5.17207243e-04 2.77752039e+02] [ 1.57463407e-02 2.73919424e-04 9.99875981e-01 3.87391103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.876875 meters 0.027155373128493 Centerline is valid? [True, True] Translation: X:349.08, Y:277.75, Z:38.74 [[ 9.99722636e-01 -1.77092691e-02 -1.55252309e-02 3.49075127e+02] [ 1.77034279e-02 9.99843150e-01 -5.13602042e-04 2.77752362e+02] [ 1.55318913e-02 2.38609781e-04 9.99879344e-01 3.87422621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.936875 meters 0.027174943287889036 Centerline is valid? [True, True] Translation: X:349.13, Y:277.76, Z:38.74 [[ 9.99716034e-01 -1.86062358e-02 -1.48882417e-02 3.49133868e+02] [ 1.86009153e-02 9.99826865e-01 -4.95765528e-04 2.77755302e+02] [ 1.48948884e-02 2.18689823e-04 9.99889041e-01 3.87437627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.996875 meters 0.026837655954965175 Centerline is valid? [True, True] Translation: X:349.19, Y:277.76, Z:38.74 [[ 9.99727966e-01 -1.86214006e-02 -1.40441579e-02 3.49192229e+02] [ 1.86166227e-02 9.99826585e-01 -4.70878104e-04 2.77759462e+02] [ 1.40504909e-02 2.09295220e-04 9.99901265e-01 3.87428395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.056875 meters 0.027110156889903862 Centerline is valid? [True, True] Translation: X:349.25, Y:277.76, Z:38.75 [[ 9.99744481e-01 -1.70089727e-02 -1.48885047e-02 3.49250934e+02] [ 1.70033650e-02 9.99855306e-01 -5.03153886e-04 2.77760343e+02] [ 1.48949085e-02 2.49870641e-04 9.99889033e-01 3.87452377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.116875 meters 0.027210253543299468 Centerline is valid? [True, True] Translation: X:349.31, Y:277.76, Z:38.75 [[ 9.99767304e-01 -1.70792061e-02 -1.31772201e-02 3.49308562e+02] [ 1.70747806e-02 9.99854115e-01 -4.48285578e-04 2.77763213e+02] [ 1.31829541e-02 2.23183122e-04 9.99913076e-01 3.87496883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.176875 meters 0.027397853307361452 Centerline is valid? [True, True] Translation: X:349.37, Y:277.77, Z:38.75 [[ 9.99744194e-01 -1.67830185e-02 -1.51617153e-02 3.49366320e+02] [ 1.67770741e-02 9.99859120e-01 -5.19180370e-04 2.77767453e+02] [ 1.51682927e-02 2.64678339e-04 9.99884920e-01 3.87473319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.236875 meters 0.027618223458402317 Centerline is valid? [True, True] Translation: X:349.43, Y:277.77, Z:38.74 [[ 9.99659464e-01 -1.67626281e-02 -1.99992783e-02 3.49425009e+02] [ 1.67522102e-02 9.99859435e-01 -6.88343566e-04 2.77768101e+02] [ 2.00080056e-02 3.53077044e-04 9.99799757e-01 3.87446219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.296875 meters 0.027730163689896958 Centerline is valid? [True, True] Translation: X:349.48, Y:277.77, Z:38.75 [[ 9.99642831e-01 -1.72202120e-02 -2.04370758e-02 3.49483402e+02] [ 1.72093226e-02 9.99851658e-01 -7.08592351e-04 2.77768031e+02] [ 2.04462462e-02 3.56631034e-04 9.99790890e-01 3.87464715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3568750000001 meters 0.027471714614482133 Centerline is valid? [True, True] Translation: X:349.54, Y:277.77, Z:38.75 [[ 9.99681939e-01 -1.80344498e-02 -1.76289352e-02 3.49541873e+02] [ 1.80264027e-02 9.99837322e-01 -6.15284088e-04 2.77773484e+02] [ 1.76371637e-02 2.97302104e-04 9.99844409e-01 3.87472803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.416875 meters 0.027604063197466822 Centerline is valid? [True, True] Translation: X:349.60, Y:277.77, Z:38.75 [[ 9.99666083e-01 -1.85949452e-02 -1.79429519e-02 3.49599562e+02] [ 1.85866470e-02 9.99827055e-01 -6.29143706e-04 2.77773891e+02] [ 1.79515476e-02 2.95434312e-04 9.99838814e-01 3.87494328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4768750000001 meters 0.027107002906245927 Centerline is valid? [True, True] Translation: X:349.66, Y:277.77, Z:38.75 [[ 9.99585570e-01 -1.90007583e-02 -2.16254454e-02 3.49658159e+02] [ 1.89887572e-02 9.99819408e-01 -7.60180916e-04 2.77771012e+02] [ 2.16359840e-02 3.49225543e-04 9.99765854e-01 3.87478778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.536875 meters 0.027451080926245618 Centerline is valid? [True, True] Translation: X:349.72, Y:277.77, Z:38.75 [[ 9.99664718e-01 -1.66747194e-02 -1.98092091e-02 3.49716468e+02] [ 1.66641623e-02 9.99860900e-01 -6.97897679e-04 2.77772954e+02] [ 1.98180908e-02 3.67559812e-04 9.99803535e-01 3.87504974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.596875 meters 0.02912580397346506 Centerline is valid? [True, True] Translation: X:349.77, Y:277.78, Z:38.75 [[ 9.99693933e-01 -1.35002298e-02 -2.07312178e-02 3.49774236e+02] [ 1.34879486e-02 9.99908765e-01 -7.32119701e-04 2.77779362e+02] [ 2.07392102e-02 4.52274023e-04 9.99784817e-01 3.87497166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.656875 meters 0.03113766879420058 Centerline is valid? [True, True] Translation: X:349.83, Y:277.79, Z:38.75 [[ 9.99720299e-01 -5.46147737e-03 -2.30107990e-02 3.49834721e+02] [ 5.44419710e-03 9.99984849e-01 -8.13543040e-04 2.77787491e+02] [ 2.30148935e-02 6.88040166e-04 9.99734885e-01 3.87481543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.716875 meters 0.03316972238848058 Centerline is valid? [True, True] Translation: X:349.89, Y:277.79, Z:38.75 [[ 9.99724705e-01 -6.88786784e-04 -2.34529217e-02 3.49894999e+02] [ 6.69523009e-04 9.99999432e-01 -8.29222888e-04 2.77792710e+02] [ 2.34534795e-02 8.13292336e-04 9.99724599e-01 3.87493854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.776875 meters 0.03409772125489738 Centerline is valid? [True, True] Translation: X:349.95, Y:277.80, Z:38.75 [[ 9.99724433e-01 -2.96048342e-04 -2.34727713e-02 3.49954212e+02] [ 2.76570044e-04 9.99999615e-01 -8.33067282e-04 2.77795876e+02] [ 2.34730089e-02 8.26345850e-04 9.99724129e-01 3.87516935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.836875 meters 0.03349249025570207 Centerline is valid? [True, True] Translation: X:350.01, Y:277.80, Z:38.75 [[ 9.99739801e-01 -2.30320442e-03 -2.26941935e-02 3.50011767e+02] [ 2.28544378e-03 9.99997062e-01 -8.08512936e-04 2.77799814e+02] [ 2.26959890e-02 7.56436258e-04 9.99742127e-01 3.87476285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.896875 meters 0.03263837283359915 Centerline is valid? [True, True] Translation: X:350.07, Y:277.80, Z:38.75 [[ 9.99759713e-01 -5.70445904e-03 -2.11654444e-02 3.50071678e+02] [ 5.68974736e-03 9.99983528e-01 -7.55235505e-04 2.77799729e+02] [ 2.11694040e-02 6.34628000e-04 9.99775702e-01 3.87484816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.956875 meters 0.03006992238870657 Centerline is valid? [True, True] Translation: X:350.13, Y:277.79, Z:38.75 [[ 9.99738032e-01 -8.06248794e-03 -2.14211146e-02 3.50130748e+02] [ 8.04789118e-03 9.99967321e-01 -7.67540439e-04 2.77793147e+02] [ 2.14266028e-02 5.94944568e-04 9.99770247e-01 3.87542699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.016875 meters 0.02996593857021451 Centerline is valid? [True, True] Translation: X:350.19, Y:277.79, Z:38.75 [[ 9.99621595e-01 -1.09288691e-02 -2.52433506e-02 3.50188256e+02] [ 1.09094132e-02 9.99940078e-01 -9.08325415e-04 2.77792186e+02] [ 2.52517649e-02 6.32591557e-04 9.99680923e-01 3.87528882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.076875 meters 0.028833039629611645 Centerline is valid? [True, True] Translation: X:350.25, Y:277.79, Z:38.75 [[ 9.99619639e-01 -1.21741895e-02 -2.47460438e-02 3.50247620e+02] [ 1.21557755e-02 9.99925716e-01 -8.94414728e-04 2.77794659e+02] [ 2.47550943e-02 5.93267175e-04 9.99693370e-01 3.87510435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.136875 meters 0.028983279267402025 Centerline is valid? [True, True] Translation: X:350.31, Y:277.80, Z:38.75 [[ 9.99527811e-01 -1.40350338e-02 -2.73344620e-02 3.50305279e+02] [ 1.40130747e-02 9.99901317e-01 -9.94747862e-04 2.77795528e+02] [ 2.73457259e-02 6.11238295e-04 9.99625849e-01 3.87479664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.196875 meters 0.028714907738986904 Centerline is valid? [True, True] Translation: X:350.36, Y:277.80, Z:38.75 [[ 9.99485643e-01 -1.57050219e-02 -2.79607144e-02 3.50364194e+02] [ 1.56825126e-02 9.99876497e-01 -1.02415481e-03 2.77795638e+02] [ 2.79733456e-02 5.85133770e-04 9.99608498e-01 3.87496270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.256875 meters 0.027894983643028334 Centerline is valid? [True, True] Translation: X:350.42, Y:277.79, Z:38.76 [[ 9.99523731e-01 -1.76531434e-02 -2.53116004e-02 3.50423348e+02] [ 1.76352489e-02 9.99844054e-01 -9.30035366e-04 2.77793688e+02] [ 2.53240712e-02 4.83216046e-04 9.99679177e-01 3.87578002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.316875 meters 0.027361972634067627 Centerline is valid? [True, True] Translation: X:350.48, Y:277.80, Z:38.76 [[ 9.99540893e-01 -2.01076245e-02 -2.26646489e-02 3.50482610e+02] [ 2.00938340e-02 9.99797749e-01 -8.36055351e-04 2.77795685e+02] [ 2.26768760e-02 3.80251819e-04 9.99742774e-01 3.87604792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.376875 meters 0.027259647784663162 Centerline is valid? [True, True] Translation: X:350.54, Y:277.80, Z:38.76 [[ 9.99433248e-01 -2.26095770e-02 -2.49397154e-02 3.50540886e+02] [ 2.25935063e-02 9.99744305e-01 -9.26010566e-04 2.77797395e+02] [ 2.49542751e-02 3.62010129e-04 9.99688528e-01 3.87552920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.436875 meters 0.026420047559373553 Centerline is valid? [True, True] Translation: X:350.60, Y:277.80, Z:38.76 [[ 9.99443154e-01 -2.46258365e-02 -2.25155667e-02 3.50599624e+02] [ 2.46131383e-02 9.99696697e-01 -8.40970214e-04 2.77797951e+02] [ 2.25294473e-02 2.86323166e-04 9.99746139e-01 3.87595856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.496875 meters 0.02636257316843241 Centerline is valid? [True, True] Translation: X:350.66, Y:277.80, Z:38.77 [[ 9.99456204e-01 -2.63270653e-02 -1.98540110e-02 3.50657615e+02] [ 2.63174688e-02 9.99653358e-01 -7.44522510e-04 2.77799271e+02] [ 1.98667298e-02 2.21610327e-04 9.99802612e-01 3.87664451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.556875 meters 0.026973098807392765 Centerline is valid? [True, True] Translation: X:350.72, Y:277.81, Z:38.76 [[ 9.99445259e-01 -2.41997014e-02 -2.28811788e-02 3.50715918e+02] [ 2.41863459e-02 9.99707097e-01 -8.60293202e-04 2.77807481e+02] [ 2.28952957e-02 3.06403856e-04 9.99737821e-01 3.87614877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.616875 meters 0.02751089036192782 Centerline is valid? [True, True] Translation: X:350.77, Y:277.81, Z:38.76 [[ 9.99445885e-01 -2.29409165e-02 -2.41171501e-02 3.50774046e+02] [ 2.29256535e-02 9.99736759e-01 -9.09206137e-04 2.77812422e+02] [ 2.41316595e-02 3.55800906e-04 9.99708726e-01 3.87590180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.676875 meters 0.027301958608133167 Centerline is valid? [True, True] Translation: X:350.83, Y:277.81, Z:38.76 [[ 9.99401561e-01 -2.33864597e-02 -2.54871206e-02 3.50832901e+02] [ 2.33694429e-02 9.99726431e-01 -9.65356943e-04 2.77813985e+02] [ 2.55027244e-02 3.69159427e-04 9.99674684e-01 3.87611842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.736875 meters 0.02732935064959521 Centerline is valid? [True, True] Translation: X:350.89, Y:277.82, Z:38.76 [[ 9.99441898e-01 -2.13972486e-02 -2.56525076e-02 3.50891998e+02] [ 2.13792118e-02 9.99770961e-01 -9.77202603e-04 2.77816708e+02] [ 2.56675417e-02 4.28226829e-04 9.99670443e-01 3.87631644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.796875 meters 0.027356492981649147 Centerline is valid? [True, True] Translation: X:350.95, Y:277.82, Z:38.76 [[ 9.99476363e-01 -2.07901054e-02 -2.47945882e-02 3.50950034e+02] [ 2.07729218e-02 9.99783768e-01 -9.50433197e-04 2.77822069e+02] [ 2.48089865e-02 4.34879473e-04 9.99692115e-01 3.87634676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8568750000001 meters 0.027922369130626838 Centerline is valid? [True, True] Translation: X:351.01, Y:277.83, Z:38.77 [[ 9.99550244e-01 -1.85044278e-02 -2.35986602e-02 3.51009288e+02] [ 1.84880971e-02 9.99828666e-01 -9.10027921e-04 2.77825856e+02] [ 2.36114565e-02 4.73324310e-04 9.99721099e-01 3.87651705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.916875 meters 0.028648847057303604 Centerline is valid? [True, True] Translation: X:351.07, Y:277.83, Z:38.77 [[ 9.99569165e-01 -1.77913456e-02 -2.33442352e-02 3.51066588e+02] [ 1.77750772e-02 9.99841602e-01 -9.04223741e-04 2.77828223e+02] [ 2.33566248e-02 4.88888588e-04 9.99727077e-01 3.87675061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9768750000001 meters 0.02899326238903689 Centerline is valid? [True, True] Translation: X:351.13, Y:277.83, Z:38.77 [[ 9.99578808e-01 -1.58796291e-02 -2.42908262e-02 3.51125801e+02] [ 1.58613375e-02 9.99873754e-01 -9.45521797e-04 2.77828671e+02] [ 2.43027741e-02 5.59838558e-04 9.99704487e-01 3.87709442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.036875 meters 0.028417962436106853 Centerline is valid? [True, True] Translation: X:351.18, Y:277.83, Z:38.77 [[ 9.99594810e-01 -1.40634066e-02 -2.47474401e-02 3.51184726e+02] [ 1.40437238e-02 9.99900913e-01 -9.68976750e-04 2.77830459e+02] [ 2.47586151e-02 6.21037916e-04 9.99693266e-01 3.87709233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.096875 meters 0.03150931834532622 Centerline is valid? [True, True] Translation: X:351.24, Y:277.84, Z:38.76 [[ 9.99634835e-01 -1.05767280e-02 -2.48662413e-02 3.51242645e+02] [ 1.05556977e-02 9.99943810e-01 -9.76850528e-04 2.77843768e+02] [ 2.48751760e-02 7.14013290e-04 9.99690310e-01 3.87618498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.156875 meters 0.030463419484883483 Centerline is valid? [True, True] Translation: X:351.30, Y:277.84, Z:38.76 [[ 9.99573603e-01 -9.68711359e-03 -2.75458287e-02 3.51301978e+02] [ 9.66083322e-03 9.99952742e-01 -1.08698619e-03 2.77840070e+02] [ 2.75550568e-02 8.20407044e-04 9.99619951e-01 3.87638024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.216875 meters 0.0461552931232076 Centerline is valid? [True, True] Translation: X:351.36, Y:277.87, Z:38.75 [[ 9.99589500e-01 -1.13465334e-02 -2.63075483e-02 3.51358981e+02] [ 1.13230479e-02 9.99935350e-01 -1.04152664e-03 2.77866634e+02] [ 2.63176653e-02 7.43217458e-04 9.99653354e-01 3.87513934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.276875 meters 0.02917462691601401 Centerline is valid? [True, True] Translation: X:351.42, Y:277.84, Z:38.77 [[ 9.99621540e-01 -1.15291789e-02 -2.49771021e-02 3.51418685e+02] [ 1.15079575e-02 9.99933288e-01 -9.93213615e-04 2.77838704e+02] [ 2.49868867e-02 7.05402295e-04 9.99687530e-01 3.87731804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.336875 meters 0.028893408042356242 Centerline is valid? [True, True] Translation: X:351.48, Y:277.84, Z:38.77 [[ 9.99601190e-01 -1.35193939e-02 -2.47928760e-02 3.51478078e+02] [ 1.34989587e-02 9.99908393e-01 -9.91423105e-04 2.77842212e+02] [ 2.48040083e-02 6.56349705e-04 9.99692118e-01 3.87701108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.396875 meters 0.026555586826046588 Centerline is valid? [True, True] Translation: X:351.54, Y:277.84, Z:38.77 [[ 9.99635490e-01 -1.89284199e-02 -1.92510491e-02 3.51537744e+02] [ 1.89170658e-02 9.99820758e-01 -7.71737318e-04 2.77840928e+02] [ 1.92622063e-02 4.07282649e-04 9.99814384e-01 3.87737217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.456875 meters 0.02748804476259987 Centerline is valid? [True, True] Translation: X:351.60, Y:277.84, Z:38.78 [[ 9.99641746e-01 -1.91713161e-02 -1.86772932e-02 3.51595878e+02] [ 1.91606511e-02 9.99816137e-01 -7.49814667e-04 2.77844367e+02] [ 1.86882341e-02 3.91676943e-04 9.99825283e-01 3.87772419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.516875 meters 0.026296990871956416 Centerline is valid? [True, True] Translation: X:351.65, Y:277.84, Z:38.79 [[ 9.99683450e-01 -1.76978500e-02 -1.78825566e-02 3.51654348e+02] [ 1.76878114e-02 9.99843300e-01 -7.19380041e-04 2.77841121e+02] [ 1.78924859e-02 4.02849032e-04 9.99839836e-01 3.87854763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.576875 meters 0.027578369890122172 Centerline is valid? [True, True] Translation: X:351.71, Y:277.85, Z:38.78 [[ 9.99673864e-01 -1.58882284e-02 -1.99932526e-02 3.51711749e+02] [ 1.58752824e-02 9.99873655e-01 -8.06079752e-04 2.77850553e+02] [ 2.00035337e-02 4.88418330e-04 9.99799790e-01 3.87786174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.636875 meters 0.027524258704527873 Centerline is valid? [True, True] Translation: X:351.77, Y:277.86, Z:38.78 [[ 9.99691108e-01 -1.53056552e-02 -1.95812413e-02 3.51770876e+02] [ 1.52930637e-02 9.99882740e-01 -7.92625629e-04 2.77855697e+02] [ 1.95910768e-02 4.92923623e-04 9.99807955e-01 3.87764731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.696875 meters 0.026297103092985923 Centerline is valid? [True, True] Translation: X:351.83, Y:277.85, Z:38.78 [[ 9.99683532e-01 -1.95017477e-02 -1.58907817e-02 3.51831269e+02] [ 1.94939554e-02 9.99809767e-01 -6.45128543e-04 2.77852235e+02] [ 1.59003399e-02 3.35150191e-04 9.99873525e-01 3.87831317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.756875 meters 0.025037279792245865 Centerline is valid? [True, True] Translation: X:351.89, Y:277.85, Z:38.79 [[ 9.99563098e-01 -2.55964594e-02 -1.47795004e-02 3.51891481e+02] [ 2.55903787e-02 9.99672332e-01 -6.00426496e-04 2.77850170e+02] [ 1.47900265e-02 2.21951156e-04 9.99890597e-01 3.87863668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.816875 meters 0.024658007454274215 Centerline is valid? [True, True] Translation: X:351.95, Y:277.85, Z:38.79 [[ 9.99494946e-01 -2.84369516e-02 -1.41842587e-02 3.51949236e+02] [ 2.84316249e-02 9.99595573e-01 -5.77089702e-04 2.77850820e+02] [ 1.41949328e-02 1.73516719e-04 9.99899232e-01 3.87884230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.876875 meters 0.024334669853302248 Centerline is valid? [True, True] Translation: X:352.01, Y:277.85, Z:38.79 [[ 9.99318564e-01 -3.39180647e-02 -1.45592937e-02 3.52008532e+02] [ 3.39130046e-02 9.99424612e-01 -5.94369020e-04 2.77850474e+02] [ 1.45710763e-02 1.00214599e-04 9.99893831e-01 3.87879112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.936875 meters 0.02457221518040076 Centerline is valid? [True, True] Translation: X:352.07, Y:277.86, Z:38.79 [[ 9.99253236e-01 -3.52243581e-02 -1.58812735e-02 3.52066182e+02] [ 3.52184363e-02 9.99379425e-01 -6.52486628e-04 2.77855522e+02] [ 1.58944015e-02 9.26857531e-05 9.99873672e-01 3.87855714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.996875 meters 0.024746274867696937 Centerline is valid? [True, True] Translation: X:352.12, Y:277.86, Z:38.79 [[ 9.99352040e-01 -3.28942808e-02 -1.46105057e-02 3.52124744e+02] [ 3.28889679e-02 9.99458829e-01 -6.03823289e-04 2.77860382e+02] [ 1.46224612e-02 1.22907584e-04 9.99893079e-01 3.87893700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.056875 meters 0.026022524641483427 Centerline is valid? [True, True] Translation: X:352.18, Y:277.87, Z:38.79 [[ 9.99509201e-01 -2.67745781e-02 -1.62628230e-02 3.52182427e+02] [ 2.67671379e-02 9.99641468e-01 -6.75035520e-04 2.77873072e+02] [ 1.62750661e-02 2.39394986e-04 9.99867524e-01 3.87880476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.116875 meters 0.02597696583902965 Centerline is valid? [True, True] Translation: X:352.24, Y:277.88, Z:38.79 [[ 9.99593937e-01 -2.30050068e-02 -1.68145974e-02 3.52240640e+02] [ 2.29964987e-02 9.99735301e-01 -6.99203354e-04 2.77879424e+02] [ 1.68262318e-02 3.12242567e-04 9.99858380e-01 3.87870601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.176875 meters 0.028035642192550326 Centerline is valid? [True, True] Translation: X:352.30, Y:277.89, Z:38.79 [[ 9.99711040e-01 -1.53921565e-02 -1.84639712e-02 3.52300694e+02] [ 1.53805798e-02 9.99881416e-01 -7.68839919e-04 2.77887758e+02] [ 1.84736158e-02 4.84631171e-04 9.99829231e-01 3.87887390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.236875 meters 0.03181143907431685 Centerline is valid? [True, True] Translation: X:352.36, Y:277.90, Z:38.79 [[ 9.99814783e-01 -7.95840457e-03 -1.75232204e-02 3.52359321e+02] [ 7.94683103e-03 9.99968157e-01 -7.30003358e-04 2.77902278e+02] [ 1.75284720e-02 5.90614078e-04 9.99846190e-01 3.87875514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.296875 meters 0.030861926822610627 Centerline is valid? [True, True] Translation: X:352.42, Y:277.91, Z:38.79 [[ 9.99876945e-01 -4.89808760e-03 -1.49031674e-02 3.52418454e+02] [ 4.88937073e-03 9.99987854e-01 -6.21280499e-04 2.77906008e+02] [ 1.49060294e-02 5.48336937e-04 9.99888749e-01 3.87885513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3568750000001 meters 0.03162603661969736 Centerline is valid? [True, True] Translation: X:352.48, Y:277.91, Z:38.79 [[ 9.99922751e-01 -3.87042959e-03 -1.18115357e-02 3.52477600e+02] [ 3.86487160e-03 9.99992410e-01 -4.93346328e-04 2.77908696e+02] [ 1.18133556e-02 4.47658148e-04 9.99930120e-01 3.87911770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.416875 meters 0.031112609526814786 Centerline is valid? [True, True] Translation: X:352.54, Y:277.91, Z:38.79 [[ 9.99926665e-01 -2.83885590e-03 -1.17730434e-02 3.52536429e+02] [ 2.83323010e-03 9.99995864e-01 -4.94505299e-04 2.77909468e+02] [ 1.17743985e-02 4.61113294e-04 9.99930573e-01 3.87924788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4768750000001 meters 0.031960644000467595 Centerline is valid? [True, True] Translation: X:352.60, Y:277.91, Z:38.79 [[ 9.99925578e-01 -2.28712907e-03 -1.19836075e-02 3.52595414e+02] [ 2.28122574e-03 9.99997270e-01 -5.06262668e-04 2.77914158e+02] [ 1.19847327e-02 4.78887677e-04 9.99928066e-01 3.87910831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.536875 meters 0.03447649702283146 Centerline is valid? [True, True] Translation: X:352.65, Y:277.92, Z:38.79 [[ 9.99901209e-01 -9.21778000e-04 -1.40257783e-02 3.52652723e+02] [ 9.13513408e-04 9.99999405e-01 -5.95638299e-04 2.77921167e+02] [ 1.40263190e-02 5.82766719e-04 9.99901457e-01 3.87874156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.596875 meters 0.034823282808727055 Centerline is valid? [True, True] Translation: X:352.71, Y:277.92, Z:38.78 [[ 9.99856642e-01 -3.39692556e-04 -1.69286555e-02 3.52711081e+02] [ 3.27539061e-04 9.99999687e-01 -7.20691880e-04 2.77924296e+02] [ 1.69288950e-02 7.15043767e-04 9.99856440e-01 3.87822254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.656875 meters 0.03304687599900557 Centerline is valid? [True, True] Translation: X:352.77, Y:277.92, Z:38.78 [[ 9.99841272e-01 -2.55441277e-03 -1.76325485e-02 3.52769887e+02] [ 2.54154721e-03 9.99996487e-01 -7.52018535e-04 2.77920340e+02] [ 1.76344075e-02 7.07085214e-04 9.99844252e-01 3.87817195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.716875 meters 0.03226874615777083 Centerline is valid? [True, True] Translation: X:352.83, Y:277.92, Z:38.78 [[ 9.99854158e-01 -4.35839254e-03 -1.65126522e-02 3.52829270e+02] [ 4.34733936e-03 9.99990302e-01 -7.05212539e-04 2.77919770e+02] [ 1.65155657e-02 6.33323586e-04 9.99863408e-01 3.87835442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.776875 meters 0.029415813882398487 Centerline is valid? [True, True] Translation: X:352.89, Y:277.91, Z:38.79 [[ 9.99846873e-01 -1.11878733e-02 -1.34559210e-02 3.52889497e+02] [ 1.11811460e-02 9.99937324e-01 -5.75073703e-04 2.77913396e+02] [ 1.34615115e-02 4.24533026e-04 9.99909300e-01 3.87878099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.836875 meters 0.030413801287544836 Centerline is valid? [True, True] Translation: X:352.95, Y:277.92, Z:38.79 [[ 9.99851985e-01 -1.36416897e-02 -1.04839138e-02 3.52947832e+02] [ 1.36377398e-02 9.99906901e-01 -4.48156822e-04 2.77915352e+02] [ 1.04890514e-02 3.05113600e-04 9.99944942e-01 3.87917314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.896875 meters 0.027944716309634136 Centerline is valid? [True, True] Translation: X:353.01, Y:277.91, Z:38.79 [[ 9.99841660e-01 -1.64178126e-02 -6.86364184e-03 3.53006596e+02] [ 1.64161863e-02 9.99865202e-01 -2.93207243e-04 2.77911281e+02] [ 6.86753045e-03 1.80485993e-04 9.99976402e-01 3.87935772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.956875 meters 0.026920146135349682 Centerline is valid? [True, True] Translation: X:353.07, Y:277.91, Z:38.79 [[ 9.99784296e-01 -1.95816292e-02 -6.92258169e-03 3.53066312e+02] [ 1.95800388e-02 9.99808248e-01 -2.97437008e-04 2.77908219e+02] [ 6.92707857e-03 1.61828431e-04 9.99975994e-01 3.87949167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.016875 meters 0.027040056423768673 Centerline is valid? [True, True] Translation: X:353.12, Y:277.91, Z:38.79 [[ 9.99767868e-01 -2.01099314e-02 -7.73310578e-03 3.53124807e+02] [ 2.01079482e-02 9.99797759e-01 -3.34135770e-04 2.77911522e+02] [ 7.73826128e-03 1.78561316e-04 9.99970043e-01 3.87914670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.076875 meters 0.027974816094608647 Centerline is valid? [True, True] Translation: X:353.18, Y:277.92, Z:38.79 [[ 9.99773239e-01 -2.00692876e-02 -7.11996866e-03 3.53182674e+02] [ 2.00675899e-02 9.99798578e-01 -3.09816333e-04 2.77916405e+02] [ 7.12475234e-03 1.66865468e-04 9.99974605e-01 3.87922618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.136875 meters 0.027644813302384726 Centerline is valid? [True, True] Translation: X:353.24, Y:277.92, Z:38.79 [[ 9.99702647e-01 -2.26077661e-02 -9.13813838e-03 3.53240275e+02] [ 2.26050665e-02 9.99744393e-01 -3.98619255e-04 2.77915741e+02] [ 9.14481451e-03 1.91932499e-04 9.99958167e-01 3.87931131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.196875 meters 0.026282961685018886 Centerline is valid? [True, True] Translation: X:353.30, Y:277.92, Z:38.79 [[ 9.99591217e-01 -2.61143232e-02 -1.16378819e-02 3.53299720e+02] [ 2.61101649e-02 9.99658942e-01 -5.09121062e-04 2.77915604e+02] [ 1.16472081e-02 2.05045925e-04 9.99932148e-01 3.87886778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.256875 meters 0.025744839778595464 Centerline is valid? [True, True] Translation: X:353.36, Y:277.92, Z:38.79 [[ 9.99519001e-01 -3.01549366e-02 -7.24197064e-03 3.53357247e+02] [ 3.01534247e-02 9.99545232e-01 -3.17890235e-04 2.77917925e+02] [ 7.24826318e-03 9.93671136e-05 9.99973726e-01 3.87944058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.316875 meters 0.024478745578377314 Centerline is valid? [True, True] Translation: X:353.42, Y:277.91, Z:38.80 [[ 9.99359631e-01 -3.54855756e-02 -4.59371297e-03 3.53416925e+02] [ 3.54850262e-02 9.99370188e-01 -2.01066694e-04 2.77912891e+02] [ 4.59795477e-03 3.79299117e-05 9.99989429e-01 3.87996859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.376875 meters 0.024003154659743703 Centerline is valid? [True, True] Translation: X:353.48, Y:277.91, Z:38.80 [[ 9.98994283e-01 -4.45769162e-02 -4.82918896e-03 3.53476167e+02] [ 4.45764099e-02 9.99005955e-01 -2.12477641e-04 2.77911190e+02] [ 4.83386013e-03 -3.00395783e-06 9.99988317e-01 3.87991033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.436875 meters 0.024034943540516104 Centerline is valid? [True, True] Translation: X:353.53, Y:277.92, Z:38.80 [[ 9.98917878e-01 -4.61844356e-02 -5.48363525e-03 3.53534154e+02] [ 4.61837988e-02 9.98932930e-01 -2.42751485e-04 2.77915315e+02] [ 5.48899517e-03 -1.07663092e-05 9.99984935e-01 3.87978901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.496875 meters 0.024149591325773146 Centerline is valid? [True, True] Translation: X:353.59, Y:277.92, Z:38.80 [[ 9.98935871e-01 -4.56215642e-02 -6.76745778e-03 3.53591940e+02] [ 4.56205655e-02 9.98958794e-01 -3.01957351e-04 2.77920446e+02] [ 6.77418723e-03 -7.09922149e-06 9.99977055e-01 3.87996299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.556875 meters 0.024492768870263682 Centerline is valid? [True, True] Translation: X:353.65, Y:277.93, Z:38.80 [[ 9.98922259e-01 -4.56290365e-02 -8.50358201e-03 3.53650044e+02] [ 4.56274350e-02 9.98958453e-01 -3.82350762e-04 2.77926089e+02] [ 8.51217143e-03 -6.05794783e-06 9.99963771e-01 3.87987075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.616875 meters 0.024509575737262798 Centerline is valid? [True, True] Translation: X:353.71, Y:277.93, Z:38.80 [[ 9.98939364e-01 -4.49966826e-02 -9.76964607e-03 3.53706574e+02] [ 4.49945096e-02 9.98987136e-01 -4.42224815e-04 2.77933712e+02] [ 9.77964940e-03 2.17534213e-06 9.99952178e-01 3.87958120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.676875 meters 0.024779698208563863 Centerline is valid? [True, True] Translation: X:353.76, Y:277.94, Z:38.80 [[ 9.99062943e-01 -4.18526504e-02 -1.10268594e-02 3.53764783e+02] [ 4.18496727e-02 9.99123793e-01 -5.00746254e-04 2.77941683e+02] [ 1.10381552e-02 3.88065674e-05 9.99939077e-01 3.87955415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.736875 meters 0.02484330336469728 Centerline is valid? [True, True] Translation: X:353.82, Y:277.95, Z:38.80 [[ 9.99177990e-01 -3.88729348e-02 -1.14995381e-02 3.53823083e+02] [ 3.88694669e-02 9.99244159e-01 -5.24997298e-04 2.77948378e+02] [ 1.15112545e-02 7.75848294e-05 9.99933740e-01 3.87971590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.796875 meters 0.025885167186883367 Centerline is valid? [True, True] Translation: X:353.88, Y:277.96, Z:38.80 [[ 9.99378594e-01 -3.38088995e-02 -9.96920269e-03 3.53880333e+02] [ 3.38060214e-02 9.99428309e-01 -4.57110826e-04 2.77957777e+02] [ 9.97895780e-03 1.19807695e-04 9.99950202e-01 3.88019935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8568750000001 meters 0.026822754073434103 Centerline is valid? [True, True] Translation: X:353.94, Y:277.97, Z:38.80 [[ 9.99572174e-01 -2.63731111e-02 -1.26462407e-02 3.53939451e+02] [ 2.63678639e-02 9.99652138e-01 -5.81505982e-04 2.77967138e+02] [ 1.26571776e-02 2.47802846e-04 9.99919864e-01 3.87972416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.916875 meters 0.027887014412660695 Centerline is valid? [True, True] Translation: X:354.00, Y:277.98, Z:38.80 [[ 9.99661139e-01 -2.20230075e-02 -1.38778365e-02 3.53998245e+02] [ 2.20162577e-02 9.99757409e-01 -6.38981261e-04 2.77975299e+02] [ 1.38885421e-02 3.33226712e-04 9.99903494e-01 3.87963205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9768750000001 meters 0.02961367961716595 Centerline is valid? [True, True] Translation: X:354.06, Y:277.98, Z:38.80 [[ 9.99756683e-01 -1.67133342e-02 -1.43957882e-02 3.54057349e+02] [ 1.67055074e-02 9.99860233e-01 -6.63776129e-04 2.77982210e+02] [ 1.44048700e-02 4.23125676e-04 9.99896155e-01 3.87988083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.036875 meters 0.03134954382358614 Centerline is valid? [True, True] Translation: X:354.12, Y:277.99, Z:38.80 [[ 9.99798114e-01 -1.29578838e-02 -1.53565829e-02 3.54115670e+02] [ 1.29485224e-02 9.99915913e-01 -7.08877581e-04 2.77989663e+02] [ 1.53644772e-02 5.09889410e-04 9.99881829e-01 3.88002075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.096875 meters 0.03220360215915312 Centerline is valid? [True, True] Translation: X:354.17, Y:278.00, Z:38.80 [[ 9.99869435e-01 -8.90108053e-03 -1.34864527e-02 3.54174387e+02] [ 8.89348364e-03 9.99960258e-01 -6.23167403e-04 2.77996323e+02] [ 1.34914636e-02 5.03144492e-04 9.99908859e-01 3.88017448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.156875 meters 0.03171264744986856 Centerline is valid? [True, True] Translation: X:354.23, Y:278.00, Z:38.80 [[ 9.99818597e-01 -1.09893802e-02 -1.55565339e-02 3.54233259e+02] [ 1.09794932e-02 9.99939464e-01 -7.20817127e-04 2.77995084e+02] [ 1.55635135e-02 5.49883511e-04 9.99878730e-01 3.88016838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.216875 meters 0.030867793674138805 Centerline is valid? [True, True] Translation: X:354.29, Y:278.00, Z:38.80 [[ 9.99789937e-01 -1.37053840e-02 -1.52395570e-02 3.54291910e+02] [ 1.36961721e-02 9.99905952e-01 -7.08675942e-04 2.77995134e+02] [ 1.52478364e-02 4.99803479e-04 9.99883620e-01 3.88019674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.276875 meters 0.02968368883720717 Centerline is valid? [True, True] Translation: X:354.35, Y:277.99, Z:38.81 [[ 9.99732098e-01 -1.75077826e-02 -1.51396581e-02 3.54351571e+02] [ 1.74990984e-02 9.99846630e-01 -7.05896686e-04 2.77987941e+02] [ 1.51496948e-02 4.40777208e-04 9.99885140e-01 3.88079958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.336875 meters 0.028958796165043422 Centerline is valid? [True, True] Translation: X:354.41, Y:277.99, Z:38.81 [[ 9.99637737e-01 -2.19793079e-02 -1.55339611e-02 3.54410136e+02] [ 2.19706687e-02 9.99758352e-01 -7.26607538e-04 2.77988331e+02] [ 1.55461776e-02 3.85052803e-04 9.99879077e-01 3.88054362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.396875 meters 0.02866737464741391 Centerline is valid? [True, True] Translation: X:354.47, Y:277.99, Z:38.80 [[ 9.99581382e-01 -2.37532291e-02 -1.65179866e-02 3.54469474e+02] [ 2.37436693e-02 9.99717779e-01 -7.74649572e-04 2.77989344e+02] [ 1.65317253e-02 3.82127679e-04 9.99863269e-01 3.88030206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.456875 meters 0.02785685456383409 Centerline is valid? [True, True] Translation: X:354.53, Y:277.98, Z:38.81 [[ 9.99445636e-01 -2.82228932e-02 -1.76603953e-02 3.54529224e+02] [ 2.82125923e-02 9.99601599e-01 -8.32198944e-04 2.77981730e+02] [ 1.76768464e-02 3.33492072e-04 9.99843697e-01 3.88072072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.516875 meters 0.02663066048489526 Centerline is valid? [True, True] Translation: X:354.59, Y:277.98, Z:38.81 [[ 9.99333477e-01 -3.30516384e-02 -1.54980705e-02 3.54587761e+02] [ 3.30442537e-02 9.99453621e-01 -7.32395025e-04 2.77978668e+02] [ 1.55138096e-02 2.19784694e-04 9.99879629e-01 3.88103562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.576875 meters 0.026081955863359575 Centerline is valid? [True, True] Translation: X:354.65, Y:277.98, Z:38.81 [[ 9.99274962e-01 -3.47974165e-02 -1.54496131e-02 3.54647068e+02] [ 3.47902558e-02 9.99394368e-01 -7.32092531e-04 2.77977485e+02] [ 1.54657313e-02 1.94065743e-04 9.99880380e-01 3.88099029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.636875 meters 0.025854085905567696 Centerline is valid? [True, True] Translation: X:354.71, Y:277.98, Z:38.81 [[ 9.99233027e-01 -3.58899307e-02 -1.56610994e-02 3.54705080e+02] [ 3.58826458e-02 9.99355732e-01 -7.46000928e-04 2.77978497e+02] [ 1.56777834e-02 1.83467084e-04 9.99877079e-01 3.88105932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.696875 meters 0.025188540910820373 Centerline is valid? [True, True] Translation: X:354.76, Y:277.98, Z:38.81 [[ 9.99154248e-01 -3.83489590e-02 -1.48373442e-02 3.54764512e+02] [ 3.83426370e-02 9.99264398e-01 -7.10427752e-04 2.77977610e+02] [ 1.48536739e-02 1.40924006e-04 9.99889668e-01 3.88119331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.756875 meters 0.025143304270546382 Centerline is valid? [True, True] Translation: X:354.82, Y:277.98, Z:38.81 [[ 9.99003351e-01 -4.10129831e-02 -1.76136561e-02 3.54822533e+02] [ 4.10044039e-02 9.99158606e-01 -8.48094827e-04 2.77976032e+02] [ 1.76336190e-02 1.25012105e-04 9.99844508e-01 3.88112273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.816875 meters 0.025264774713847533 Centerline is valid? [True, True] Translation: X:354.88, Y:277.98, Z:38.81 [[ 9.98961172e-01 -4.13222337e-02 -1.92106468e-02 3.54880075e+02] [ 4.13120187e-02 9.99145863e-01 -9.28454749e-04 2.77978423e+02] [ 1.92326041e-02 1.33859643e-04 9.99815027e-01 3.88085680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.876875 meters 0.02530080687302332 Centerline is valid? [True, True] Translation: X:354.94, Y:277.98, Z:38.81 [[ 9.99033992e-01 -4.06837326e-02 -1.66107260e-02 3.54938660e+02] [ 4.06759685e-02 9.99172066e-01 -8.05140040e-04 2.77980547e+02] [ 1.66297295e-02 1.28704899e-04 9.99861708e-01 3.88103517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.936875 meters 0.025271263689129027 Centerline is valid? [True, True] Translation: X:355.00, Y:277.98, Z:38.81 [[ 9.99083004e-01 -4.04478659e-02 -1.40400204e-02 3.54996860e+02] [ 4.04422645e-02 9.99181644e-01 -6.82766891e-04 2.77982948e+02] [ 1.40561471e-02 1.14330577e-04 9.99901201e-01 3.88140671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.996875 meters 0.025738925498112648 Centerline is valid? [True, True] Translation: X:355.06, Y:277.99, Z:38.81 [[ 9.99141885e-01 -3.84994610e-02 -1.52736981e-02 3.55055510e+02] [ 3.84925710e-02 9.99258609e-01 -7.44934311e-04 2.77988547e+02] [ 1.52910539e-02 1.56371164e-04 9.99883073e-01 3.88110961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.056875 meters 0.02647830075691256 Centerline is valid? [True, True] Translation: X:355.11, Y:278.00, Z:38.81 [[ 9.99296598e-01 -3.42513778e-02 -1.52693512e-02 3.55113947e+02] [ 3.42439430e-02 9.99413224e-01 -7.48176856e-04 2.77995787e+02] [ 1.52860176e-02 2.24767794e-04 9.99883137e-01 3.88108454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.116875 meters 0.027426548098226054 Centerline is valid? [True, True] Translation: X:355.17, Y:278.00, Z:38.81 [[ 9.99475741e-01 -2.89405397e-02 -1.45150881e-02 3.55173346e+02] [ 2.89332297e-02 9.99581092e-01 -7.13401465e-04 2.78000488e+02] [ 1.45296539e-02 2.93059079e-04 9.99894396e-01 3.88139116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.176875 meters 0.027717198648856536 Centerline is valid? [True, True] Translation: X:355.23, Y:278.01, Z:38.81 [[ 9.99486271e-01 -2.88347755e-02 -1.39910649e-02 3.55230950e+02] [ 2.88279522e-02 9.99584151e-01 -6.89161342e-04 2.78006873e+02] [ 1.40051185e-02 2.85473549e-04 9.99901883e-01 3.88130137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.236875 meters 0.027272389822949158 Centerline is valid? [True, True] Translation: X:355.29, Y:278.01, Z:38.81 [[ 9.99433279e-01 -2.96779682e-02 -1.58852079e-02 3.55288872e+02] [ 2.96692068e-02 9.99559462e-01 -7.86979099e-04 2.78013079e+02] [ 1.59015658e-02 3.15231583e-04 9.99873512e-01 3.88071724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.296875 meters 0.02798328252132925 Centerline is valid? [True, True] Translation: X:355.35, Y:278.02, Z:38.81 [[ 9.99423969e-01 -2.86898815e-02 -1.81279309e-02 3.55346662e+02] [ 2.86782447e-02 9.99588288e-01 -9.01618133e-04 2.78015577e+02] [ 1.81463348e-02 3.81221534e-04 9.99835269e-01 3.88059073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3568750000001 meters 0.027854273245543765 Centerline is valid? [True, True] Translation: X:355.41, Y:278.01, Z:38.82 [[ 9.99465545e-01 -2.89323390e-02 -1.52165656e-02 3.55405588e+02] [ 2.89241386e-02 9.99581322e-01 -7.58764640e-04 2.78014172e+02] [ 1.52321476e-02 3.18233063e-04 9.99883933e-01 3.88150759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.416875 meters 0.027944707401418842 Centerline is valid? [True, True] Translation: X:355.46, Y:278.02, Z:38.81 [[ 9.99451203e-01 -3.03898880e-02 -1.31813260e-02 3.55464662e+02] [ 3.03838261e-02 9.99538087e-01 -6.59945261e-04 2.78019172e+02] [ 1.31952931e-02 2.59083967e-04 9.99912905e-01 3.88146649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4768750000001 meters 0.027536374317128257 Centerline is valid? [True, True] Translation: X:355.52, Y:278.02, Z:38.81 [[ 9.99358298e-01 -3.28005409e-02 -1.43915651e-02 3.55523347e+02] [ 3.27935157e-02 9.99461886e-01 -7.23923340e-04 2.78024278e+02] [ 1.44075659e-02 2.51508780e-04 9.99896174e-01 3.88073442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.536875 meters 0.02664017731929886 Centerline is valid? [True, True] Translation: X:355.58, Y:278.02, Z:38.81 [[ 9.99231802e-01 -3.46276502e-02 -1.83502435e-02 3.55582055e+02] [ 3.46164442e-02 9.99400240e-01 -9.28054694e-04 2.78019930e+02] [ 1.83713741e-02 2.92121584e-04 9.99831189e-01 3.88078104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.596875 meters 0.026324656722346053 Centerline is valid? [True, True] Translation: X:355.64, Y:278.02, Z:38.81 [[ 9.99181404e-01 -3.56962210e-02 -1.90342202e-02 3.55640037e+02] [ 3.56842608e-02 9.99362645e-01 -9.67733843e-04 2.78020703e+02] [ 1.90566331e-02 2.87719583e-04 9.99818364e-01 3.88094818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.656875 meters 0.026502154100936613 Centerline is valid? [True, True] Translation: X:355.70, Y:278.03, Z:38.81 [[ 9.99190388e-01 -3.62086140e-02 -1.75358042e-02 3.55698723e+02] [ 3.61984696e-02 9.99344219e-01 -8.95664935e-04 2.78028877e+02] [ 1.75567354e-02 2.60170518e-04 9.99845835e-01 3.88089420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.716875 meters 0.02630753460050556 Centerline is valid? [True, True] Translation: X:355.76, Y:278.03, Z:38.81 [[ 9.99186832e-01 -3.70331971e-02 -1.59441896e-02 3.55757231e+02] [ 3.70248615e-02 9.99314010e-01 -8.17762677e-04 2.78032552e+02] [ 1.59635364e-02 2.26766288e-04 9.99872549e-01 3.88105040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.776875 meters 0.025920431356023496 Centerline is valid? [True, True] Translation: X:355.82, Y:278.03, Z:38.81 [[ 9.99131650e-01 -3.89512674e-02 -1.47900223e-02 3.55815656e+02] [ 3.89442589e-02 9.99241094e-01 -7.61691234e-04 2.78033813e+02] [ 1.48084669e-02 1.85043362e-04 9.99890332e-01 3.88111102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.836875 meters 0.025328363881262132 Centerline is valid? [True, True] Translation: X:355.87, Y:278.03, Z:38.81 [[ 9.99039223e-01 -4.17229092e-02 -1.34100461e-02 3.55874712e+02] [ 4.17173597e-02 9.99129211e-01 -6.93420580e-04 2.78032981e+02] [ 1.34273003e-02 1.33322641e-04 9.99909841e-01 3.88133378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.896875 meters 0.02551088048485504 Centerline is valid? [True, True] Translation: X:355.93, Y:278.04, Z:38.82 [[ 9.99061417e-01 -4.12639827e-02 -1.31745825e-02 3.55932150e+02] [ 4.12585543e-02 9.99148269e-01 -6.83679847e-04 2.78036661e+02] [ 1.31915726e-02 1.39473930e-04 9.99912978e-01 3.88151434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.956875 meters 0.026315021556595108 Centerline is valid? [True, True] Translation: X:355.99, Y:278.05, Z:38.81 [[ 9.99237182e-01 -3.61318724e-02 -1.48169285e-02 3.55990783e+02] [ 3.61244112e-02 9.99347003e-01 -7.70983684e-04 2.78046152e+02] [ 1.48351102e-02 2.35142746e-04 9.99889926e-01 3.88128242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.016875 meters 0.027458241085879038 Centerline is valid? [True, True] Translation: X:356.05, Y:278.05, Z:38.81 [[ 9.99353403e-01 -3.25465481e-02 -1.52806535e-02 3.56049805e+02] [ 3.25381402e-02 9.99470175e-01 -7.98590626e-04 2.78052954e+02] [ 1.52985488e-02 3.00870214e-04 9.99882925e-01 3.88108981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.076875 meters 0.02782154069392893 Centerline is valid? [True, True] Translation: X:356.11, Y:278.06, Z:38.81 [[ 9.99432872e-01 -3.06930084e-02 -1.38518788e-02 3.56108809e+02] [ 3.06858815e-02 9.99528813e-01 -7.26807394e-04 2.78056796e+02] [ 1.38676599e-02 3.01338090e-04 9.99903794e-01 3.88122981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.136875 meters 0.027650900015776587 Centerline is valid? [True, True] Translation: X:356.17, Y:278.06, Z:38.81 [[ 9.99408853e-01 -3.19111046e-02 -1.27916674e-02 3.56166965e+02] [ 3.19050985e-02 9.99490676e-01 -6.73380239e-04 2.78058873e+02] [ 1.28066406e-02 2.64862763e-04 9.99917957e-01 3.88149556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.196875 meters 0.02782798876537005 Centerline is valid? [True, True] Translation: X:356.22, Y:278.06, Z:38.81 [[ 9.99386194e-01 -3.22572700e-02 -1.36639558e-02 3.56224908e+02] [ 3.22504236e-02 9.99479560e-01 -7.21160056e-04 2.78063082e+02] [ 1.36801072e-02 2.80049041e-04 9.99906384e-01 3.88130857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.256875 meters 0.028739608427556712 Centerline is valid? [True, True] Translation: X:356.28, Y:278.07, Z:38.81 [[ 9.99457924e-01 -3.04802639e-02 -1.24423035e-02 3.56282644e+02] [ 3.04744186e-02 9.99535330e-01 -6.59163600e-04 2.78073529e+02] [ 1.24566134e-02 2.79634320e-04 9.99922374e-01 3.88094113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.316875 meters 0.02920158841590736 Centerline is valid? [True, True] Translation: X:356.34, Y:278.07, Z:38.81 [[ 9.99463784e-01 -3.05653989e-02 -1.17431372e-02 3.56341194e+02] [ 3.05601793e-02 9.99532734e-01 -6.23712027e-04 2.78074939e+02] [ 1.17567141e-02 2.64505203e-04 9.99930852e-01 3.88131040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.376875 meters 0.02709548819623319 Centerline is valid? [True, True] Translation: X:356.40, Y:278.07, Z:38.81 [[ 9.99425469e-01 -3.14873238e-02 -1.25411586e-02 3.56400663e+02] [ 3.14814034e-02 9.99504114e-01 -6.69255433e-04 2.78071259e+02] [ 1.25560127e-02 2.74057650e-04 9.99921133e-01 3.88144738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.436875 meters 0.028562581714179892 Centerline is valid? [True, True] Translation: X:356.46, Y:278.08, Z:38.81 [[ 9.99432492e-01 -3.03377361e-02 -1.46395591e-02 3.56458392e+02] [ 3.03294903e-02 9.99539647e-01 -7.84999883e-04 2.78079083e+02] [ 1.46566348e-02 3.40544024e-04 9.99892528e-01 3.88089666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.496875 meters 0.027762077331674996 Centerline is valid? [True, True] Translation: X:356.52, Y:278.08, Z:38.81 [[ 9.99420443e-01 -3.08829456e-02 -1.43185620e-02 3.56516786e+02] [ 3.08750644e-02 9.99522954e-01 -7.71201454e-04 2.78080530e+02] [ 1.43355483e-02 3.28667977e-04 9.99897187e-01 3.88103095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.556875 meters 0.027991136191530937 Centerline is valid? [True, True] Translation: X:356.58, Y:278.08, Z:38.81 [[ 9.99407165e-01 -3.10288715e-02 -1.49173898e-02 3.56575149e+02] [ 3.10202729e-02 9.99518429e-01 -8.07511576e-04 2.78084551e+02] [ 1.49352622e-02 3.44291354e-04 9.99888403e-01 3.88105840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.616875 meters 0.028192704321386108 Centerline is valid? [True, True] Translation: X:356.63, Y:278.09, Z:38.81 [[ 9.99386734e-01 -3.10242606e-02 -1.62373255e-02 3.56632716e+02] [ 3.10140195e-02 9.99518560e-01 -8.82203295e-04 2.78092069e+02] [ 1.62568779e-02 3.78077542e-04 9.99867777e-01 3.88070857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.676875 meters 0.027333796440266716 Centerline is valid? [True, True] Translation: X:356.69, Y:278.09, Z:38.81 [[ 9.99325708e-01 -3.36261242e-02 -1.47449057e-02 3.56691510e+02] [ 3.36179343e-02 9.99434435e-01 -8.03015991e-04 2.78088934e+02] [ 1.47635689e-02 3.06781251e-04 9.99890966e-01 3.88134152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.736875 meters 0.026102287558059704 Centerline is valid? [True, True] Translation: X:356.75, Y:278.09, Z:38.82 [[ 9.99214679e-01 -3.69309623e-02 -1.43571755e-02 3.56750973e+02] [ 3.69234924e-02 9.99317787e-01 -7.85101787e-04 2.78086059e+02] [ 1.43763754e-02 2.54368168e-04 9.99896622e-01 3.88172275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.796875 meters 0.025500591790972662 Centerline is valid? [True, True] Translation: X:356.81, Y:278.09, Z:38.82 [[ 9.99105482e-01 -4.04891548e-02 -1.22009641e-02 3.56809258e+02] [ 4.04839950e-02 9.99179963e-01 -6.69693500e-04 2.78089167e+02] [ 1.22180741e-02 1.75150680e-04 9.99925341e-01 3.88163808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8568750000001 meters 0.025045169699466557 Centerline is valid? [True, True] Translation: X:356.87, Y:278.09, Z:38.82 [[ 9.98963817e-01 -4.43689654e-02 -1.01334225e-02 3.56866815e+02] [ 4.43655869e-02 9.99015207e-01 -5.58067791e-04 2.78091147e+02] [ 1.01482041e-02 1.07914293e-04 9.99948500e-01 3.88166437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.916875 meters 0.024868929469270554 Centerline is valid? [True, True] Translation: X:356.93, Y:278.09, Z:38.82 [[ 9.98922235e-01 -4.50420336e-02 -1.12063731e-02 3.56925322e+02] [ 4.50379295e-02 9.98985086e-01 -6.18449496e-04 2.78093649e+02] [ 1.12228558e-02 1.13071110e-04 9.99937015e-01 3.88165753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9768750000001 meters 0.02446406092062918 Centerline is valid? [True, True] Translation: X:356.98, Y:278.09, Z:38.82 [[ 9.98892399e-01 -4.51146040e-02 -1.33659534e-02 3.56984268e+02] [ 4.51087220e-02 9.98981808e-01 -7.41377367e-04 2.78093294e+02] [ 1.33857912e-02 1.37635141e-04 9.99910397e-01 3.88188297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.036875 meters 0.024783321564866526 Centerline is valid? [True, True] Translation: X:357.04, Y:278.10, Z:38.82 [[ 9.98890665e-01 -4.48605962e-02 -1.43166590e-02 3.57041487e+02] [ 4.48537822e-02 9.98993245e-01 -7.96849682e-04 2.78099204e+02] [ 1.43379928e-02 1.53809404e-04 9.99897194e-01 3.88179728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.096875 meters 0.024427127404264868 Centerline is valid? [True, True] Translation: X:357.10, Y:278.10, Z:38.81 [[ 9.98871691e-01 -4.47469678e-02 -1.59076617e-02 3.57100518e+02] [ 4.47385026e-02 9.98998337e-01 -8.87788950e-04 2.78104896e+02] [ 1.59314534e-02 1.75102288e-04 9.99873071e-01 3.88135793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.156875 meters 0.024547161070431197 Centerline is valid? [True, True] Translation: X:357.16, Y:278.11, Z:38.81 [[ 9.98874837e-01 -4.48986162e-02 -1.52700278e-02 3.57157465e+02] [ 4.48907852e-02 9.98991534e-01 -8.55388046e-04 2.78108365e+02] [ 1.52930343e-02 1.68942056e-04 9.99883040e-01 3.88146473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.216875 meters 0.024387257946089598 Centerline is valid? [True, True] Translation: X:357.22, Y:278.11, Z:38.82 [[ 9.98816806e-01 -4.63683747e-02 -1.46616038e-02 3.57216381e+02] [ 4.63612715e-02 9.98924398e-01 -8.24177743e-04 2.78110685e+02] [ 1.46840495e-02 1.43471989e-04 9.99892173e-01 3.88173306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.276875 meters 0.024109817509414717 Centerline is valid? [True, True] Translation: X:357.27, Y:278.11, Z:38.82 [[ 9.98868778e-01 -4.52443487e-02 -1.46326352e-02 3.57274944e+02] [ 4.52371030e-02 9.98975937e-01 -8.25952187e-04 2.78114443e+02] [ 1.46550202e-02 1.63079824e-04 9.99892596e-01 3.88231819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.336875 meters 0.02484407503131848 Centerline is valid? [True, True] Translation: X:357.33, Y:278.12, Z:38.82 [[ 9.98957193e-01 -4.30585910e-02 -1.51816883e-02 3.57333249e+02] [ 4.30504843e-02 9.99072528e-01 -8.60532102e-04 2.78120964e+02] [ 1.52046610e-02 2.06055699e-04 9.99884381e-01 3.88240959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.396875 meters 0.025155127166312366 Centerline is valid? [True, True] Translation: X:357.39, Y:278.13, Z:38.82 [[ 9.99037710e-01 -4.02421518e-02 -1.74419811e-02 3.57392101e+02] [ 4.02309459e-02 9.99189914e-01 -9.93013258e-04 2.78128298e+02] [ 1.74678126e-02 2.90350295e-04 9.99847384e-01 3.88228859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.456875 meters 0.02502179628883072 Centerline is valid? [True, True] Translation: X:357.45, Y:278.14, Z:38.82 [[ 9.99010325e-01 -4.13730327e-02 -1.63292280e-02 3.57450700e+02] [ 4.13633026e-02 9.99143736e-01 -9.33303962e-04 2.78136044e+02] [ 1.63538595e-02 2.56949496e-04 9.99866234e-01 3.88193074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.516875 meters 0.024446904952681862 Centerline is valid? [True, True] Translation: X:357.51, Y:278.14, Z:38.82 [[ 9.98957492e-01 -4.29737710e-02 -1.54007743e-02 3.57510156e+02] [ 4.29652543e-02 9.99076176e-01 -8.83600490e-04 2.78136843e+02] [ 1.54245183e-02 2.20981146e-04 9.99881011e-01 3.88212415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.576875 meters 0.02424893739312173 Centerline is valid? [True, True] Translation: X:357.57, Y:278.13, Z:38.83 [[ 9.98887250e-01 -4.44602302e-02 -1.57337423e-02 3.57568830e+02] [ 4.44514684e-02 9.99011134e-01 -9.06329865e-04 2.78134436e+02] [ 1.57584793e-02 2.05933399e-04 9.99875806e-01 3.88280632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.636875 meters 0.025495794870848573 Centerline is valid? [True, True] Translation: X:357.63, Y:278.14, Z:38.82 [[ 9.98893577e-01 -4.26134882e-02 -1.98925255e-02 3.57626501e+02] [ 4.25990421e-02 9.99091587e-01 -1.14958225e-03 2.78144002e+02] [ 1.99234426e-02 3.00907801e-04 9.99801463e-01 3.88211633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.696875 meters 0.025317834894921235 Centerline is valid? [True, True] Translation: X:357.69, Y:278.15, Z:38.82 [[ 9.98982464e-01 -4.03534352e-02 -2.01404309e-02 3.57685469e+02] [ 4.03381012e-02 9.99185406e-01 -1.16719562e-03 2.78148863e+02] [ 2.01711249e-02 3.53581220e-04 9.99796480e-01 3.88207344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.756875 meters 0.025770106216632425 Centerline is valid? [True, True] Translation: X:357.74, Y:278.15, Z:38.82 [[ 9.98974748e-01 -3.95020257e-02 -2.21142934e-02 3.57744679e+02] [ 3.94832110e-02 9.99219405e-01 -1.28694418e-03 2.78151300e+02] [ 2.21478680e-02 4.12481429e-04 9.99754621e-01 3.88206037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.816875 meters 0.02518156969524643 Centerline is valid? [True, True] Translation: X:357.80, Y:278.15, Z:38.82 [[ 9.98929385e-01 -4.26570511e-02 -1.79014101e-02 3.57802679e+02] [ 4.26451797e-02 9.99089735e-01 -1.04453996e-03 2.78153447e+02] [ 1.79296721e-02 2.80012809e-04 9.99839211e-01 3.88248450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.876875 meters 0.024389154587676883 Centerline is valid? [True, True] Translation: X:357.86, Y:278.15, Z:38.83 [[ 9.98823048e-01 -4.53267238e-02 -1.72628888e-02 3.57862039e+02] [ 4.53160322e-02 9.98972190e-01 -1.01021153e-03 2.78151139e+02] [ 1.72909354e-02 2.26736931e-04 9.99850475e-01 3.88281914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.936875 meters 0.024551261508878663 Centerline is valid? [True, True] Translation: X:357.92, Y:278.15, Z:38.83 [[ 9.98739146e-01 -4.65289045e-02 -1.88462275e-02 3.57920039e+02] [ 4.65162811e-02 9.98916918e-01 -1.10786127e-03 2.78152520e+02] [ 1.88773630e-02 2.29808004e-04 9.99821780e-01 3.88285065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.996875 meters 0.02470268495995086 Centerline is valid? [True, True] Translation: X:357.98, Y:278.16, Z:38.83 [[ 9.98761116e-01 -4.54914381e-02 -2.01683447e-02 3.57978967e+02] [ 4.54766635e-02 9.98964692e-01 -1.19083551e-03 2.78158416e+02] [ 2.02016371e-02 2.72171178e-04 9.99795889e-01 3.88267578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.056875 meters 0.024997050818548514 Centerline is valid? [True, True] Translation: X:358.04, Y:278.16, Z:38.83 [[ 9.98802321e-01 -4.42821117e-02 -2.08090879e-02 3.58037563e+02] [ 4.42660169e-02 9.99019018e-01 -1.23365785e-03 2.78163614e+02] [ 2.08433035e-02 3.11044891e-04 9.99782706e-01 3.88265635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.116875 meters 0.025481155835508053 Centerline is valid? [True, True] Translation: X:358.10, Y:278.17, Z:38.83 [[ 9.98804939e-01 -4.39684082e-02 -2.13417936e-02 3.58095696e+02] [ 4.39513371e-02 9.99032868e-01 -1.26851469e-03 2.78168426e+02] [ 2.13769278e-02 3.28998374e-04 9.99771433e-01 3.88259502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.176875 meters 0.025176394356376457 Centerline is valid? [True, True] Translation: X:358.15, Y:278.17, Z:38.83 [[ 9.98752896e-01 -4.58977788e-02 -1.96480453e-02 3.58154238e+02] [ 4.58836229e-02 9.98946106e-01 -1.17090944e-03 2.78169775e+02] [ 1.96810805e-02 2.67925693e-04 9.99806273e-01 3.88287484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.236875 meters 0.025212896242480482 Centerline is valid? [True, True] Translation: X:358.21, Y:278.17, Z:38.83 [[ 9.98764298e-01 -4.61928515e-02 -1.83329455e-02 3.58213337e+02] [ 4.61805024e-02 9.98932510e-01 -1.09660860e-03 2.78173705e+02] [ 1.83640307e-02 2.48628889e-04 9.99831336e-01 3.88311194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.296875 meters 0.026160487260228068 Centerline is valid? [True, True] Translation: X:358.27, Y:278.18, Z:38.83 [[ 9.98911546e-01 -4.32417114e-02 -1.74893703e-02 3.58270633e+02] [ 4.32299727e-02 9.99064597e-01 -1.04887473e-03 2.78182103e+02] [ 1.75183659e-02 2.91668074e-04 9.99846499e-01 3.88332436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3568750000001 meters 0.0275274932207283 Centerline is valid? [True, True] Translation: X:358.33, Y:278.19, Z:38.83 [[ 9.99071538e-01 -3.86373569e-02 -1.90582234e-02 3.58329945e+02] [ 3.86225580e-02 9.99253216e-01 -1.14410927e-03 2.78189599e+02] [ 1.90881963e-02 4.06969669e-04 9.99817721e-01 3.88335848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.416875 meters 0.02801617782975117 Centerline is valid? [True, True] Translation: X:358.39, Y:278.20, Z:38.83 [[ 9.99116764e-01 -3.74683108e-02 -1.90215109e-02 3.58387111e+02] [ 3.74533362e-02 9.99297724e-01 -1.14300158e-03 2.78196017e+02] [ 1.90509788e-02 4.29573000e-04 9.99818421e-01 3.88331411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4768750000001 meters 0.02849326168883358 Centerline is valid? [True, True] Translation: X:358.45, Y:278.20, Z:38.83 [[ 9.99167794e-01 -3.67945676e-02 -1.76033888e-02 3.58445822e+02] [ 3.67815932e-02 9.99322766e-01 -1.06035000e-03 2.78203466e+02] [ 1.76304823e-02 4.11986882e-04 9.99844486e-01 3.88312823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.536875 meters 0.02818571442141347 Centerline is valid? [True, True] Translation: X:358.51, Y:278.21, Z:38.83 [[ 9.99147183e-01 -3.81291568e-02 -1.58452979e-02 3.58505116e+02] [ 3.81187608e-02 9.99272757e-01 -9.57705655e-04 2.78206131e+02] [ 1.58702910e-02 3.52885787e-04 9.99873997e-01 3.88343095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.596875 meters 0.02696938653576174 Centerline is valid? [True, True] Translation: X:358.56, Y:278.20, Z:38.84 [[ 9.99062205e-01 -3.96239894e-02 -1.74542141e-02 3.58564164e+02] [ 3.96115312e-02 9.99214594e-01 -1.05904287e-03 2.78202217e+02] [ 1.74824690e-02 3.66661558e-04 9.99847103e-01 3.88383127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.656875 meters 0.026740726429317598 Centerline is valid? [True, True] Translation: X:358.62, Y:278.21, Z:38.84 [[ 9.98987243e-01 -4.00086560e-02 -2.05863227e-02 3.58622907e+02] [ 3.99912963e-02 9.99199241e-01 -1.25441899e-03 2.78205379e+02] [ 2.06200256e-02 4.29874835e-04 9.99787292e-01 3.88366002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.716875 meters 0.026281456900364424 Centerline is valid? [True, True] Translation: X:358.68, Y:278.21, Z:38.83 [[ 9.98796435e-01 -4.39507980e-02 -2.17717409e-02 3.58682439e+02] [ 4.39322056e-02 9.99033627e-01 -1.33176305e-03 2.78205109e+02] [ 2.18092333e-02 3.73679592e-04 9.99762081e-01 3.88339000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.776875 meters 0.025803176343575887 Centerline is valid? [True, True] Translation: X:358.74, Y:278.21, Z:38.84 [[ 9.98741473e-01 -4.64539522e-02 -1.89076936e-02 3.58741681e+02] [ 4.64403050e-02 9.98920393e-01 -1.16045355e-03 2.78207345e+02] [ 1.89411884e-02 2.80914023e-04 9.99820560e-01 3.88364663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.836875 meters 0.025619445032457187 Centerline is valid? [True, True] Translation: X:358.80, Y:278.21, Z:38.84 [[ 9.98788116e-01 -4.59285002e-02 -1.76881821e-02 3.58799410e+02] [ 4.59164010e-02 9.98944691e-01 -1.08975872e-03 2.78212333e+02] [ 1.77195666e-02 2.76260394e-04 9.99842958e-01 3.88386748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.896875 meters 0.02571730152224875 Centerline is valid? [True, True] Translation: X:358.86, Y:278.21, Z:38.84 [[ 9.98801278e-01 -4.62714316e-02 -1.59675056e-02 3.58858543e+02] [ 4.62615548e-02 9.98928873e-01 -9.87564728e-04 2.78213974e+02] [ 1.59960984e-02 2.47699276e-04 9.99872024e-01 3.88431782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.956875 meters 0.02549129458975861 Centerline is valid? [True, True] Translation: X:358.92, Y:278.21, Z:38.84 [[ 9.98709693e-01 -4.79990265e-02 -1.65843771e-02 3.58917633e+02] [ 4.79885442e-02 9.98847355e-01 -1.02967172e-03 2.78213971e+02] [ 1.66146845e-02 2.32483015e-04 9.99861940e-01 3.88439630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.016875 meters 0.025230862061892952 Centerline is valid? [True, True] Translation: X:358.98, Y:278.22, Z:38.84 [[ 9.98631119e-01 -4.84964891e-02 -1.95953843e-02 3.58976155e+02] [ 4.84818525e-02 9.98823317e-01 -1.22158765e-03 2.78219656e+02] [ 1.96315695e-02 2.69894906e-04 9.99807246e-01 3.88392930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.076875 meters 0.02529376714415079 Centerline is valid? [True, True] Translation: X:359.03, Y:278.23, Z:38.84 [[ 9.98673784e-01 -4.78458317e-02 -1.90118204e-02 3.59033579e+02] [ 4.78318463e-02 9.98854693e-01 -1.18992283e-03 2.78225821e+02] [ 1.90469789e-02 2.78974265e-04 9.99818551e-01 3.88390910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.136875 meters 0.026450840356403608 Centerline is valid? [True, True] Translation: X:359.09, Y:278.23, Z:38.84 [[ 9.98724981e-01 -4.59767795e-02 -2.08458376e-02 3.59091505e+02] [ 4.59594811e-02 9.98942448e-01 -1.30840197e-03 2.78233314e+02] [ 2.08839481e-02 3.48669853e-04 9.99781846e-01 3.88383528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.196875 meters 0.0260356496733733 Centerline is valid? [True, True] Translation: X:359.15, Y:278.23, Z:38.84 [[ 9.98517373e-01 -4.76967099e-02 -2.62312918e-02 3.59150822e+02] [ 4.76697861e-02 9.98861785e-01 -1.65112675e-03 2.78233347e+02] [ 2.62801882e-02 3.98238672e-04 9.99654537e-01 3.88351703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.256875 meters 0.025228390521122215 Centerline is valid? [True, True] Translation: X:359.21, Y:278.24, Z:38.84 [[ 9.98458485e-01 -4.98763575e-02 -2.43516433e-02 3.59209626e+02] [ 4.98536742e-02 9.98755348e-01 -1.53808109e-03 2.78235467e+02] [ 2.43980478e-02 3.21691222e-04 9.99702272e-01 3.88383234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.316875 meters 0.024225373151077926 Centerline is valid? [True, True] Translation: X:359.27, Y:278.24, Z:38.85 [[ 9.98431715e-01 -5.29367050e-02 -1.82157933e-02 3.59269053e+02] [ 5.29244585e-02 9.98597852e-01 -1.15405733e-03 2.78236875e+02] [ 1.82513441e-02 1.88186444e-04 9.99833413e-01 3.88472206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.376875 meters 0.023939023155079318 Centerline is valid? [True, True] Translation: X:359.33, Y:278.24, Z:38.85 [[ 9.98272263e-01 -5.64335416e-02 -1.63628885e-02 3.59327867e+02] [ 5.64240716e-02 9.98406351e-01 -1.04019973e-03 2.78239465e+02] [ 1.63955140e-02 1.15141746e-04 9.99865578e-01 3.88501636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.436875 meters 0.023674532961392318 Centerline is valid? [True, True] Translation: X:359.39, Y:278.24, Z:38.85 [[ 9.98011019e-01 -6.07194107e-02 -1.69457956e-02 3.59386563e+02] [ 6.07098020e-02 9.98154873e-01 -1.08135250e-03 2.78241160e+02] [ 1.69801876e-02 5.04258092e-05 9.99855825e-01 3.88525161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.496875 meters 0.0240429326227413 Centerline is valid? [True, True] Translation: X:359.44, Y:278.24, Z:38.85 [[ 9.97861053e-01 -6.31670073e-02 -1.68299708e-02 3.59444679e+02] [ 6.31578067e-02 9.98002970e-01 -1.07815703e-03 2.78244525e+02] [ 1.68644648e-02 1.29068620e-05 9.99857785e-01 3.88533149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.556875 meters 0.02458628663950975 Centerline is valid? [True, True] Translation: X:359.50, Y:278.25, Z:38.85 [[ 9.97575387e-01 -6.71175993e-02 -1.84003949e-02 3.59502182e+02] [ 6.71072088e-02 9.97745070e-01 -1.18225791e-03 2.78251527e+02] [ 1.84382536e-02 -5.54077480e-05 9.99829999e-01 3.88497317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.616875 meters 0.024966749875451597 Centerline is valid? [True, True] Translation: X:359.56, Y:278.26, Z:38.85 [[ 9.97430904e-01 -6.90117036e-02 -1.92087550e-02 3.59560416e+02] [ 6.90006709e-02 9.97615846e-01 -1.23732764e-03 2.78257986e+02] [ 1.92483485e-02 -9.12681542e-05 9.99814729e-01 3.88492787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.676875 meters 0.025228904575324864 Centerline is valid? [True, True] Translation: X:359.62, Y:278.26, Z:38.85 [[ 9.97447327e-01 -6.90183153e-02 -1.83112500e-02 3.59618217e+02] [ 6.90082074e-02 9.97615389e-01 -1.18405550e-03 2.78264360e+02] [ 1.83493063e-02 -8.25935403e-05 9.99831634e-01 3.88533170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.736875 meters 0.02553014785958705 Centerline is valid? [True, True] Translation: X:359.68, Y:278.27, Z:38.85 [[ 9.97482621e-01 -6.85442038e-02 -1.81689866e-02 3.59675269e+02] [ 6.85340983e-02 9.97648078e-01 -1.17899485e-03 2.78272760e+02] [ 1.82070679e-02 -6.91682393e-05 9.99834235e-01 3.88522695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.796875 meters 0.025569476944236946 Centerline is valid? [True, True] Translation: X:359.73, Y:278.28, Z:38.85 [[ 9.97548973e-01 -6.77177765e-02 -1.76167279e-02 3.59732988e+02] [ 6.77080790e-02 9.97704516e-01 -1.14701926e-03 2.78281328e+02] [ 1.76539626e-02 -4.85869195e-05 9.99844155e-01 3.88539342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8568750000001 meters 0.0258950148071914 Centerline is valid? [True, True] Translation: X:359.79, Y:278.29, Z:38.86 [[ 9.97692053e-01 -6.62635021e-02 -1.48228259e-02 3.59791059e+02] [ 6.62564263e-02 9.97802159e-01 -9.68466147e-04 2.78289007e+02] [ 1.48544217e-02 -1.58764951e-05 9.99889667e-01 3.88574782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.916875 meters 0.025892456756026264 Centerline is valid? [True, True] Translation: X:359.85, Y:278.30, Z:38.86 [[ 9.97852952e-01 -6.39939374e-02 -1.39377971e-02 3.59848880e+02] [ 6.39874148e-02 9.97950287e-01 -9.13882992e-04 2.78299396e+02] [ 1.39677116e-02 2.00772374e-05 9.99902447e-01 3.88578068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9768750000001 meters 0.0264945700546069 Centerline is valid? [True, True] Translation: X:359.91, Y:278.31, Z:38.86 [[ 9.98162271e-01 -5.83403964e-02 -1.63853494e-02 3.59907243e+02] [ 5.83305455e-02 9.98296741e-01 -1.07888275e-03 2.78309778e+02] [ 1.64203834e-02 1.21133683e-04 9.99865169e-01 3.88574561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.036875 meters 0.026768000013018312 Centerline is valid? [True, True] Translation: X:359.97, Y:278.32, Z:38.86 [[ 9.98290819e-01 -5.59398258e-02 -1.69167821e-02 3.59965531e+02] [ 5.59289144e-02 9.98434128e-01 -1.11779540e-03 2.78317420e+02] [ 1.69528219e-02 1.69747628e-04 9.99856276e-01 3.88585677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.096875 meters 0.026977532523665203 Centerline is valid? [True, True] Translation: X:360.02, Y:278.33, Z:38.86 [[ 9.98408690e-01 -5.40073750e-02 -1.62262368e-02 3.60024064e+02] [ 5.39970230e-02 9.98540517e-01 -1.07573824e-03 2.78328469e+02] [ 1.62606527e-02 1.97857924e-04 9.99867767e-01 3.88575416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.156875 meters 0.026628263489741167 Centerline is valid? [True, True] Translation: X:360.08, Y:278.33, Z:38.86 [[ 9.98440914e-01 -5.36102616e-02 -1.55460906e-02 3.60081688e+02] [ 5.36006554e-02 9.98561916e-01 -1.03422825e-03 2.78333675e+02] [ 1.55791793e-02 1.99335153e-04 9.99878617e-01 3.88590002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.216875 meters 0.026888597206698416 Centerline is valid? [True, True] Translation: X:360.14, Y:278.34, Z:38.86 [[ 9.98548699e-01 -5.16846856e-02 -1.51389771e-02 3.60140388e+02] [ 5.16752986e-02 9.98663428e-01 -1.01083928e-03 2.78336062e+02] [ 1.51709877e-02 2.27061081e-04 9.99884888e-01 3.88628088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.276875 meters 0.026282490237283927 Centerline is valid? [True, True] Translation: X:360.20, Y:278.34, Z:38.86 [[ 9.98340108e-01 -5.55072955e-02 -1.53613017e-02 3.60198884e+02] [ 5.54980258e-02 9.98458266e-01 -1.02940383e-03 2.78340389e+02] [ 1.53947581e-02 1.75173208e-04 9.99881478e-01 3.88607909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.336875 meters 0.025657197569403187 Centerline is valid? [True, True] Translation: X:360.26, Y:278.34, Z:38.86 [[ 9.98200893e-01 -5.78391252e-02 -1.57991082e-02 3.60257006e+02] [ 5.78295657e-02 9.98325906e-01 -1.06163497e-03 2.78342733e+02] [ 1.58340631e-02 1.46069410e-04 9.99874623e-01 3.88606275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.396875 meters 0.025547426283971345 Centerline is valid? [True, True] Translation: X:360.32, Y:278.34, Z:38.86 [[ 9.97848295e-01 -6.38731382e-02 -1.47987391e-02 3.60316393e+02] [ 6.38653839e-02 9.97958025e-01 -9.96466120e-04 2.78338768e+02] [ 1.48321679e-02 4.91948625e-05 9.99889996e-01 3.88649999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.456875 meters 0.025457433825040975 Centerline is valid? [True, True] Translation: X:360.37, Y:278.34, Z:38.87 [[ 9.97732388e-01 -6.61645208e-02 -1.23425016e-02 3.60374631e+02] [ 6.61592702e-02 9.97808727e-01 -8.33668207e-04 2.78343821e+02] [ 1.23706150e-02 1.52068749e-05 9.99923481e-01 3.88667956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.516875 meters 0.025447391486979373 Centerline is valid? [True, True] Translation: X:360.43, Y:278.35, Z:38.87 [[ 9.97607637e-01 -6.81122930e-02 -1.18202082e-02 3.60431344e+02] [ 6.81075850e-02 9.97677661e-01 -8.00846707e-04 2.78348338e+02] [ 1.18473052e-02 -6.11504326e-06 9.99929818e-01 3.88670722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.576875 meters 0.025255401565805875 Centerline is valid? [True, True] Translation: X:360.49, Y:278.35, Z:38.87 [[ 9.97411573e-01 -7.09925361e-02 -1.14111544e-02 3.60489507e+02] [ 7.09883184e-02 9.97476846e-01 -7.74740152e-04 2.78351129e+02] [ 1.14373631e-02 -3.73238693e-05 9.99934591e-01 3.88677006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.636875 meters 0.025489244637612114 Centerline is valid? [True, True] Translation: X:360.55, Y:278.36, Z:38.87 [[ 9.97198069e-01 -7.41126775e-02 -1.01648016e-02 3.60547518e+02] [ 7.41094698e-02 9.97249872e-01 -6.92389439e-04 2.78356947e+02] [ 1.01881619e-02 -6.28586457e-05 9.99948097e-01 3.88675779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.696875 meters 0.025952369647612418 Centerline is valid? [True, True] Translation: X:360.61, Y:278.36, Z:38.87 [[ 9.97074202e-01 -7.61282006e-02 -6.89439401e-03 3.60605895e+02] [ 7.61267735e-02 9.97098036e-01 -4.69575337e-04 2.78362373e+02] [ 6.91013466e-03 -5.66465173e-05 9.99976123e-01 3.88746604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.756875 meters 0.026299281226795857 Centerline is valid? [True, True] Translation: X:360.66, Y:278.37, Z:38.88 [[ 9.96899250e-01 -7.85498442e-02 -4.66983580e-03 3.60664303e+02] [ 7.85492143e-02 9.96910186e-01 -3.18436382e-04 2.78368650e+02] [ 4.68042001e-03 -4.93629432e-05 9.99989046e-01 3.88770991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.816875 meters 0.026082386314974323 Centerline is valid? [True, True] Translation: X:360.72, Y:278.39, Z:38.88 [[ 9.96797240e-01 -7.99636933e-02 1.03404013e-03 3.60721679e+02] [ 7.99636613e-02 9.96797777e-01 7.23151127e-05 2.78385230e+02] [-1.03651148e-03 1.06021298e-05 9.99999463e-01 3.88778138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.876875 meters 0.026360358670249072 Centerline is valid? [True, True] Translation: X:360.78, Y:278.40, Z:38.88 [[ 9.96771414e-01 -8.02496844e-02 2.59530045e-03 3.60778873e+02] [ 8.02494890e-02 9.96774793e-01 1.79504703e-04 2.78395065e+02] [-2.60133526e-03 2.93463784e-05 9.99996616e-01 3.88799067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.936875 meters 0.026764111113391588 Centerline is valid? [True, True] Translation: X:360.84, Y:278.41, Z:38.89 [[ 9.96741451e-01 -8.04602635e-02 5.71191849e-03 3.60836621e+02] [ 8.04593113e-02 9.96757815e-01 3.96666737e-04 2.78407944e+02] [-5.72531531e-03 6.42028489e-05 9.99983608e-01 3.88866561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.996875 meters 0.025633989628056388 Centerline is valid? [True, True] Translation: X:360.89, Y:278.43, Z:38.88 [[ 9.96970127e-01 -7.72545878e-02 9.07165429e-03 3.60893849e+02] [ 7.72520418e-02 9.97011396e-01 6.31254084e-04 2.78433483e+02] [-9.09330998e-03 7.14623526e-05 9.99958652e-01 3.88816311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.056875 meters 0.025193506026999636 Centerline is valid? [True, True] Translation: X:360.95, Y:278.45, Z:38.88 [[ 9.97126160e-01 -7.48377184e-02 1.17786932e-02 3.60952134e+02] [ 7.48332319e-02 9.97195724e-01 8.21794192e-04 2.78450923e+02] [-1.18071637e-02 6.20051942e-05 9.99930291e-01 3.88780845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.116875 meters 0.025012988847343813 Centerline is valid? [True, True] Translation: X:361.01, Y:278.46, Z:38.88 [[ 9.97536017e-01 -6.88607835e-02 1.34196930e-02 3.61010389e+02] [ 6.88543787e-02 9.97626279e-01 9.39257898e-04 2.78464493e+02] [-1.34525164e-02 -1.29389603e-05 9.99909511e-01 3.88819950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.176875 meters 0.02496971948723989 Centerline is valid? [True, True] Translation: X:361.07, Y:278.48, Z:38.88 [[ 9.97644665e-01 -6.70516194e-02 1.44638503e-02 3.61066693e+02] [ 6.70439803e-02 9.97749507e-01 1.01293515e-03 2.78482842e+02] [-1.44992185e-02 -4.08352506e-05 9.99894880e-01 3.88818835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.236875 meters 0.02466936082816939 Centerline is valid? [True, True] Translation: X:361.13, Y:278.50, Z:38.87 [[ 9.97669172e-01 -6.69402186e-02 1.32374531e-02 3.61125100e+02] [ 6.69337512e-02 9.97756987e-01 9.31501008e-04 2.78495655e+02] [-1.32701162e-02 -4.32974494e-05 9.99911947e-01 3.88746720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.296875 meters 0.025034451846440722 Centerline is valid? [True, True] Translation: X:361.18, Y:278.50, Z:38.88 [[ 9.97397938e-01 -7.00848320e-02 1.68958516e-02 3.61182822e+02] [ 7.00747656e-02 9.97541035e-01 1.18781509e-03 2.78503714e+02] [-1.69375531e-02 -7.51478960e-07 9.99856549e-01 3.88763296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3568750000001 meters 0.02570343260507356 Centerline is valid? [True, True] Translation: X:361.24, Y:278.51, Z:38.88 [[ 9.96700975e-01 -7.88360946e-02 1.92882539e-02 3.61240868e+02] [ 7.88245899e-02 9.96887577e-01 1.35718292e-03 2.78506687e+02] [-1.93352157e-02 1.67683162e-04 9.99813043e-01 3.88774319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.416875 meters 0.026643270207740214 Centerline is valid? [True, True] Translation: X:361.30, Y:278.51, Z:38.87 [[ 9.96136776e-01 -8.54242874e-02 2.03522548e-02 3.61299627e+02] [ 8.54128227e-02 9.96344616e-01 1.43350761e-03 2.78512869e+02] [-2.04003159e-02 3.10373884e-04 9.99791844e-01 3.88736026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4768750000001 meters 0.028385677766547105 Centerline is valid? [True, True] Translation: X:361.36, Y:278.52, Z:38.87 [[ 9.95436568e-01 -9.22434873e-02 2.44372351e-02 3.61360116e+02] [ 9.22290268e-02 9.95736334e-01 1.72057151e-03 2.78518583e+02] [-2.44917544e-02 5.41102612e-04 9.99699886e-01 3.88690028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.536875 meters 0.028414909325595636 Centerline is valid? [True, True] Translation: X:361.42, Y:278.53, Z:38.86 [[ 9.95353281e-01 -9.25937209e-02 2.64243947e-02 3.61418728e+02] [ 9.25767115e-02 9.95703801e-01 1.86896671e-03 2.78527536e+02] [-2.64839248e-02 5.86001416e-04 9.99649068e-01 3.88644810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.596875 meters 0.027572065127162995 Centerline is valid? [True, True] Translation: X:361.48, Y:278.55, Z:38.85 [[ 9.95684900e-01 -8.75120887e-02 3.08741545e-02 3.61476444e+02] [ 8.74862016e-02 9.96163322e-01 2.19092705e-03 2.78547276e+02] [-3.09474329e-02 5.19589527e-04 9.99520878e-01 3.88547979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.656875 meters 0.028833806984473388 Centerline is valid? [True, True] Translation: X:361.53, Y:278.56, Z:38.86 [[ 9.96264911e-01 -8.02594703e-02 3.18534996e-02 3.61533536e+02] [ 8.02281693e-02 9.96773959e-01 2.26160755e-03 2.78556536e+02] [-3.19322543e-02 3.02387715e-04 9.99489990e-01 3.88582494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.716875 meters 0.028722680921239183 Centerline is valid? [True, True] Translation: X:361.59, Y:278.57, Z:38.85 [[ 9.96903713e-01 -6.86620598e-02 3.83211266e-02 3.61592791e+02] [ 6.86082050e-02 9.97639972e-01 2.72019995e-03 2.78574688e+02] [-3.84174622e-02 -8.26337246e-05 9.99261773e-01 3.88499416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.776875 meters 0.030148459238283642 Centerline is valid? [True, True] Translation: X:361.65, Y:278.59, Z:38.85 [[ 9.97191831e-01 -6.24730471e-02 4.12985444e-02 3.61651274e+02] [ 6.24051186e-02 9.98046591e-01 2.93320505e-03 2.78585114e+02] [-4.14011177e-02 -3.47727548e-04 9.99142546e-01 3.88493805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.836875 meters 0.031214377397871848 Centerline is valid? [True, True] Translation: X:361.71, Y:278.60, Z:38.84 [[ 9.97468253e-01 -5.60068490e-02 4.38214176e-02 3.61710855e+02] [ 5.59240990e-02 9.98430170e-01 3.11296249e-03 2.78595218e+02] [-4.39269726e-02 -6.54407956e-04 9.99034530e-01 3.88423534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.896875 meters 0.03291047250140318 Centerline is valid? [True, True] Translation: X:361.77, Y:278.60, Z:38.84 [[ 9.97713608e-01 -5.11068538e-02 4.42226891e-02 3.61771402e+02] [ 5.10177768e-02 9.98692805e-01 3.14130623e-03 2.78598912e+02] [-4.43254237e-02 -8.77980695e-04 9.99016760e-01 3.88375362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.956875 meters 0.0328761177602173 Centerline is valid? [True, True] Translation: X:361.83, Y:278.60, Z:38.83 [[ 9.97807536e-01 -4.71177952e-02 4.64761667e-02 3.61832916e+02] [ 4.70151695e-02 9.98888726e-01 3.29941146e-03 2.78600112e+02] [-4.65799800e-02 -1.10709276e-03 9.98913950e-01 3.88331028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.016875 meters 0.03493141688203928 Centerline is valid? [True, True] Translation: X:361.89, Y:278.60, Z:38.83 [[ 9.97903348e-01 -4.15945113e-02 4.95863433e-02 3.61893605e+02] [ 4.14708579e-02 9.99133512e-01 3.52037049e-03 2.78603964e+02] [-4.96898054e-02 -1.45660130e-03 9.98763636e-01 3.88311489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.076875 meters 0.03425962895297984 Centerline is valid? [True, True] Translation: X:361.95, Y:278.60, Z:38.83 [[ 9.97941948e-01 -3.90318993e-02 5.08761151e-02 3.61954513e+02] [ 3.88985403e-02 9.99236647e-01 3.60914320e-03 2.78602368e+02] [-5.09781504e-02 -1.62270879e-03 9.98698450e-01 3.88258509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.136875 meters 0.035021971343212874 Centerline is valid? [True, True] Translation: X:362.01, Y:278.60, Z:38.82 [[ 9.98136422e-01 -3.82190179e-02 4.75708888e-02 3.62014646e+02] [ 3.81014494e-02 9.99268173e-01 3.37609386e-03 2.78596822e+02] [-4.76651061e-02 -1.55728244e-03 9.98862159e-01 3.88207424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.196875 meters 0.03423610688904922 Centerline is valid? [True, True] Translation: X:362.08, Y:278.59, Z:38.82 [[ 9.97972715e-01 -4.14619917e-02 4.82842040e-02 3.62077889e+02] [ 4.13449135e-02 9.99139075e-01 3.42141933e-03 2.78590391e+02] [-4.83844938e-02 -1.41817691e-03 9.98827778e-01 3.88176267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.256875 meters 0.03510686310626163 Centerline is valid? [True, True] Translation: X:362.14, Y:278.59, Z:38.82 [[ 9.97972832e-01 -4.20817735e-02 4.77425503e-02 3.62138862e+02] [ 4.19681218e-02 9.99113230e-01 3.38086746e-03 2.78590864e+02] [-4.78424866e-02 -1.37034871e-03 9.98853953e-01 3.88205743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.316875 meters 0.034883659715934934 Centerline is valid? [True, True] Translation: X:362.20, Y:278.58, Z:38.82 [[ 9.97972310e-01 -4.40930356e-02 4.59028596e-02 3.62199713e+02] [ 4.39900841e-02 9.99026678e-01 3.25106157e-03 2.78579657e+02] [-4.60015305e-02 -1.22519877e-03 9.98940618e-01 3.88217633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.376875 meters 0.033929888597216205 Centerline is valid? [True, True] Translation: X:362.26, Y:278.58, Z:38.82 [[ 9.97944895e-01 -4.54516099e-02 4.51678726e-02 3.62261769e+02] [ 4.53534058e-02 9.98965889e-01 3.19713935e-03 2.78576155e+02] [-4.52664791e-02 -1.14205204e-03 9.98974295e-01 3.88188245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.436875 meters 0.03298036758656918 Centerline is valid? [True, True] Translation: X:362.32, Y:278.57, Z:38.81 [[ 9.98082484e-01 -4.70105875e-02 4.02661044e-02 3.62322917e+02] [ 4.69338105e-02 9.98893934e-01 2.85045084e-03 2.78569119e+02] [-4.03555688e-02 -9.55143346e-04 9.99184926e-01 3.88096400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.496875 meters 0.03127143062932044 Centerline is valid? [True, True] Translation: X:362.39, Y:278.55, Z:38.80 [[ 9.98062252e-01 -5.17564276e-02 3.45400351e-02 3.62385182e+02] [ 5.17028046e-02 9.98659524e-01 2.44446340e-03 2.78554795e+02] [-3.46202517e-02 -6.53909961e-04 9.99400325e-01 3.88041871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.556875 meters 0.03052519582132662 Centerline is valid? [True, True] Translation: X:362.45, Y:278.55, Z:38.80 [[ 9.97846084e-01 -5.69104020e-02 3.26251281e-02 3.62445063e+02] [ 5.68652641e-02 9.98379188e-01 2.31048430e-03 2.78553953e+02] [-3.27037395e-02 -4.50271188e-04 9.99464988e-01 3.88026220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.616875 meters 0.02953375952858479 Centerline is valid? [True, True] Translation: X:362.50, Y:278.55, Z:38.80 [[ 9.97343796e-01 -6.58961581e-02 3.10330330e-02 3.62504965e+02] [ 6.58596327e-02 9.97826475e-01 2.19879072e-03 2.78551354e+02] [-3.11104738e-02 -1.49126123e-04 9.99515941e-01 3.87985895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.676875 meters 0.029217327165290415 Centerline is valid? [True, True] Translation: X:362.56, Y:278.55, Z:38.80 [[ 9.97167985e-01 -6.98145129e-02 2.79632496e-02 3.62564793e+02] [ 6.97863707e-02 9.97559990e-01 1.98225042e-03 2.78552342e+02] [-2.80334088e-02 -2.51829600e-05 9.99606986e-01 3.87957205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.736875 meters 0.029145366228014596 Centerline is valid? [True, True] Translation: X:362.62, Y:278.56, Z:38.79 [[ 9.97234241e-01 -6.94351648e-02 2.65071187e-02 3.62623548e+02] [ 6.94095267e-02 9.97586465e-01 1.88719244e-03 2.78558186e+02] [-2.65741804e-02 -4.21263543e-05 9.99646843e-01 3.87924711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.796875 meters 0.029222796912941877 Centerline is valid? [True, True] Translation: X:362.68, Y:278.57, Z:38.79 [[ 9.97476952e-01 -6.64261931e-02 2.50457739e-02 3.62682297e+02] [ 6.64022165e-02 9.97791334e-01 1.78869574e-03 2.78570853e+02] [-2.51092724e-02 -1.21087875e-04 9.99684705e-01 3.87872493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8568750000001 meters 0.029081472658077267 Centerline is valid? [True, True] Translation: X:362.74, Y:278.58, Z:38.79 [[ 9.97570298e-01 -6.52854154e-02 2.43169792e-02 3.62741156e+02] [ 6.52623304e-02 9.97866620e-01 1.74258381e-03 2.78579299e+02] [-2.43788672e-02 -1.51367122e-04 9.99702780e-01 3.87871929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.916875 meters 0.02916641151423951 Centerline is valid? [True, True] Translation: X:362.80, Y:278.58, Z:38.79 [[ 9.97859291e-01 -6.28607232e-02 1.80378840e-02 3.62800123e+02] [ 6.28476390e-02 9.98022297e-01 1.29188677e-03 2.78582668e+02] [-1.80834194e-02 -1.55482796e-04 9.99836470e-01 3.87850018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9768750000001 meters 0.029668029072557833 Centerline is valid? [True, True] Translation: X:362.86, Y:278.59, Z:38.78 [[ 9.98257723e-01 -5.74752201e-02 1.33460616e-02 3.62858910e+02] [ 5.74675436e-02 9.98346915e-01 9.58294314e-04 2.78592750e+02] [-1.33790776e-02 -1.89659324e-04 9.99910478e-01 3.87787701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.036875 meters 0.030555139585573318 Centerline is valid? [True, True] Translation: X:362.92, Y:278.61, Z:38.77 [[ 9.98626423e-01 -5.12132888e-02 1.10664083e-02 3.62917138e+02] [ 5.12075841e-02 9.98687712e-01 7.98422982e-04 2.78605499e+02] [-1.10927759e-02 -2.30642251e-04 9.99938447e-01 3.87749818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.096875 meters 0.03183676514906936 Centerline is valid? [True, True] Translation: X:362.98, Y:278.62, Z:38.77 [[ 9.98894822e-01 -4.60517438e-02 9.40058873e-03 3.62975718e+02] [ 4.60474044e-02 9.98939026e-01 6.77643471e-04 2.78616701e+02] [-9.42182161e-03 -2.44021844e-04 9.99955584e-01 3.87731246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.156875 meters 0.031985087247436705 Centerline is valid? [True, True] Translation: X:363.03, Y:278.62, Z:38.77 [[ 9.99040382e-01 -4.30337801e-02 8.14916054e-03 3.63034584e+02] [ 4.30303894e-02 9.99073589e-01 5.91032680e-04 2.78619421e+02] [-8.16704544e-03 -2.39803963e-04 9.99966620e-01 3.87733941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.216875 meters 0.03244585881946163 Centerline is valid? [True, True] Translation: X:363.09, Y:278.62, Z:38.77 [[ 9.99150217e-01 -4.10418321e-02 3.79633065e-03 3.63092423e+02] [ 4.10410723e-02 9.99157422e-01 2.77856251e-04 2.78620159e+02] [-3.80453567e-03 -1.21814653e-04 9.99992755e-01 3.87719891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.276875 meters 0.03280615006675565 Centerline is valid? [True, True] Translation: X:363.15, Y:278.63, Z:38.77 [[ 9.99239199e-01 -3.89788423e-02 -1.29317867e-03 3.63151217e+02] [ 3.89787559e-02 9.99240035e-01 -9.18826518e-05 2.78627165e+02] [ 1.29577738e-03 4.14062518e-05 9.99999160e-01 3.87665993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.336875 meters 0.033435259973389975 Centerline is valid? [True, True] Translation: X:363.21, Y:278.64, Z:38.76 [[ 9.99320202e-01 -3.63094996e-02 -6.38389173e-03 3.63209273e+02] [ 3.63072766e-02 9.99340566e-01 -4.63797796e-04 2.78640908e+02] [ 6.39652224e-03 2.31700784e-04 9.99979515e-01 3.87589830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.396875 meters 0.03391478705009838 Centerline is valid? [True, True] Translation: X:363.27, Y:278.65, Z:38.76 [[ 9.99391547e-01 -3.37169159e-02 -8.92775976e-03 3.63267655e+02] [ 3.37124375e-02 9.99431362e-01 -6.51683393e-04 2.78652542e+02] [ 8.94465584e-03 3.50310332e-04 9.99959934e-01 3.87582957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.456875 meters 0.03467965165174159 Centerline is valid? [True, True] Translation: X:363.33, Y:278.65, Z:38.76 [[ 9.99380551e-01 -3.25974373e-02 -1.32634993e-02 3.63326673e+02] [ 3.25874291e-02 9.99468418e-01 -9.70043075e-04 2.78654192e+02] [ 1.32880696e-02 5.37218839e-04 9.99911565e-01 3.87596790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.516875 meters 0.03481615261322032 Centerline is valid? [True, True] Translation: X:363.38, Y:278.66, Z:38.76 [[ 9.99288135e-01 -3.32202134e-02 -1.78785113e-02 3.63384939e+02] [ 3.32020545e-02 9.99447799e-01 -1.31163804e-03 2.78658176e+02] [ 1.79122117e-02 7.17101020e-04 9.99839306e-01 3.87555004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.576875 meters 0.03347356417648971 Centerline is valid? [True, True] Translation: X:363.44, Y:278.66, Z:38.75 [[ 9.99090907e-01 -3.44525256e-02 -2.51074439e-02 3.63444315e+02] [ 3.44169598e-02 9.99405853e-01 -1.84742592e-03 2.78658836e+02] [ 2.51561749e-02 9.81624547e-04 9.99683051e-01 3.87481323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.636875 meters 0.0359809718856466 Centerline is valid? [True, True] Translation: X:363.50, Y:278.67, Z:38.75 [[ 9.99197503e-01 -3.01786646e-02 -2.63362594e-02 3.63502985e+02] [ 3.01379802e-02 9.99543864e-01 -1.94046016e-03 2.78671596e+02] [ 2.63828070e-02 1.14518128e-03 9.99651257e-01 3.87487148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.696875 meters 0.03969741700859439 Centerline is valid? [True, True] Translation: X:363.56, Y:278.68, Z:38.75 [[ 9.99303742e-01 -2.77951314e-02 -2.48890058e-02 3.63561018e+02] [ 2.77580365e-02 9.99612988e-01 -1.83473070e-03 2.78682113e+02] [ 2.49303701e-02 1.14258333e-03 9.99688537e-01 3.87537213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.756875 meters 0.03692712001453164 Centerline is valid? [True, True] Translation: X:363.62, Y:278.68, Z:38.76 [[ 9.99374519e-01 -2.64005065e-02 -2.35283555e-02 3.63619696e+02] [ 2.63668820e-02 9.99650822e-01 -1.73823985e-03 2.78682234e+02] [ 2.35660303e-02 1.11678324e-03 9.99721659e-01 3.87599922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.816875 meters 0.03884787815537589 Centerline is valid? [True, True] Translation: X:363.68, Y:278.69, Z:38.76 [[ 9.99306505e-01 -2.62546400e-02 -2.64046063e-02 3.63677537e+02] [ 2.62121350e-02 9.99654492e-01 -1.95465273e-03 2.78689428e+02] [ 2.64468020e-02 1.26117609e-03 9.99649427e-01 3.87564225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.876875 meters 0.04152682538735225 Centerline is valid? [True, True] Translation: X:363.73, Y:278.70, Z:38.75 [[ 9.99203695e-01 -2.73984230e-02 -2.90052161e-02 3.63734226e+02] [ 2.73474840e-02 9.99623672e-01 -2.15151597e-03 2.78697780e+02] [ 2.90532488e-02 1.35658302e-03 9.99576945e-01 3.87500467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.936875 meters 0.03704616253916245 Centerline is valid? [True, True] Translation: X:363.79, Y:278.69, Z:38.76 [[ 9.99114000e-01 -3.01823080e-02 -2.93299116e-02 3.63794994e+02] [ 3.01313592e-02 9.99543575e-01 -2.17761487e-03 2.78687632e+02] [ 2.93822501e-02 1.29193541e-03 9.99567414e-01 3.87583258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.996875 meters 0.03776378767884247 Centerline is valid? [True, True] Translation: X:363.85, Y:278.69, Z:38.76 [[ 9.99009973e-01 -3.01941932e-02 -3.26708575e-02 3.63853340e+02] [ 3.01309085e-02 9.99543013e-01 -2.42775299e-03 2.78690894e+02] [ 3.27292314e-02 1.44094683e-03 9.99463216e-01 3.87577449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.056875 meters 0.039859639096859745 Centerline is valid? [True, True] Translation: X:363.91, Y:278.70, Z:38.76 [[ 9.99041339e-01 -2.71028921e-02 -3.43778519e-02 3.63912702e+02] [ 2.70309502e-02 9.99631330e-01 -2.55581536e-03 2.78703663e+02] [ 3.44344478e-02 1.62409920e-03 9.99405639e-01 3.87555927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.116875 meters 0.041780515886494535 Centerline is valid? [True, True] Translation: X:363.97, Y:278.72, Z:38.76 [[ 9.99160230e-01 -2.31579308e-02 -3.38015673e-02 3.63972577e+02] [ 2.30861252e-02 9.99730321e-01 -2.51312171e-03 2.78715654e+02] [ 3.38506504e-02 1.73066405e-03 9.99425404e-01 3.87581509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.176875 meters 0.041371644292938915 Centerline is valid? [True, True] Translation: X:364.03, Y:278.72, Z:38.76 [[ 9.99182408e-01 -2.32526175e-02 -3.30731103e-02 3.64031147e+02] [ 2.31837471e-02 9.99728183e-01 -2.46438379e-03 2.78718721e+02] [ 3.31214239e-02 1.69561031e-03 9.99449897e-01 3.87612984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.236875 meters 0.04197074530310192 Centerline is valid? [True, True] Translation: X:364.09, Y:278.73, Z:38.76 [[ 9.99113447e-01 -2.46501895e-02 -3.41275361e-02 3.64088333e+02] [ 2.45775247e-02 9.99694682e-01 -2.54714997e-03 2.78730238e+02] [ 3.41799041e-02 1.70612142e-03 9.99414240e-01 3.87627967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.296875 meters 0.043440715253830725 Centerline is valid? [True, True] Translation: X:364.15, Y:278.74, Z:38.76 [[ 9.99151957e-01 -2.29962815e-02 -3.41546061e-02 3.64147338e+02] [ 2.29224852e-02 9.99733991e-01 -2.55070758e-03 2.78744821e+02] [ 3.42041775e-02 1.76563602e-03 9.99413306e-01 3.87624095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3568750000001 meters 0.046561935667084865 Centerline is valid? [True, True] Translation: X:364.21, Y:278.76, Z:38.76 [[ 9.99167571e-01 -1.95805936e-02 -3.57877830e-02 3.64205072e+02] [ 1.94973499e-02 9.99806334e-01 -2.67358782e-03 2.78763836e+02] [ 3.58332025e-02 1.97359532e-03 9.99355836e-01 3.87607647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.416875 meters 0.04896202442630975 Centerline is valid? [True, True] Translation: X:364.26, Y:278.78, Z:38.76 [[ 9.99123046e-01 -1.69358225e-02 -3.82925211e-02 3.64264015e+02] [ 1.68385544e-02 9.99854128e-01 -2.86124422e-03 2.78784079e+02] [ 3.83353928e-02 2.21394434e-03 9.99262476e-01 3.87617526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4768750000001 meters 0.043637596045437044 Centerline is valid? [True, True] Translation: X:364.32, Y:278.79, Z:38.77 [[ 9.99107334e-01 -1.52096470e-02 -3.94106831e-02 3.64323372e+02] [ 1.51051837e-02 9.99881567e-01 -2.94706406e-03 2.78787260e+02] [ 3.94508394e-02 2.34912771e-03 9.99218751e-01 3.87698201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.536875 meters 0.04687149134683774 Centerline is valid? [True, True] Translation: X:364.38, Y:278.81, Z:38.77 [[ 9.99100187e-01 -1.18061144e-02 -4.07361177e-02 3.64380705e+02] [ 1.16916283e-02 9.99927007e-01 -3.04753149e-03 2.78812422e+02] [ 4.07691237e-02 2.56851773e-03 9.99165292e-01 3.87691449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.596875 meters 0.04794871216229892 Centerline is valid? [True, True] Translation: X:364.44, Y:278.83, Z:38.77 [[ 9.99044548e-01 -1.06699975e-02 -4.23809228e-02 3.64438699e+02] [ 1.05449774e-02 9.99939368e-01 -3.17238179e-03 2.78832499e+02] [ 4.24122025e-02 2.72244486e-03 9.99096489e-01 3.87672663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.656875 meters 0.047544120853833596 Centerline is valid? [True, True] Translation: X:364.50, Y:278.84, Z:38.77 [[ 9.98993198e-01 -1.45439450e-02 -4.24389440e-02 3.64497514e+02] [ 1.44220138e-02 9.99890947e-01 -3.17786490e-03 2.78843997e+02] [ 4.24805346e-02 2.56261039e-03 9.99094008e-01 3.87675192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.716875 meters 0.04197981126553702 Centerline is valid? [True, True] Translation: X:364.56, Y:278.84, Z:38.77 [[ 9.98727643e-01 -2.16221162e-02 -4.55585286e-02 3.64558469e+02] [ 2.14889224e-02 9.99763266e-01 -3.41136506e-03 2.78844389e+02] [ 4.56215043e-02 2.42802090e-03 9.98955846e-01 3.87736249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.776875 meters 0.04121421620467418 Centerline is valid? [True, True] Translation: X:364.62, Y:278.86, Z:38.78 [[ 9.98738006e-01 -2.36565583e-02 -4.43030846e-02 3.64617697e+02] [ 2.35325841e-02 9.99717565e-01 -3.31784538e-03 2.78857022e+02] [ 4.43690606e-02 2.27109222e-03 9.99012627e-01 3.87763376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.836875 meters 0.04222679106530975 Centerline is valid? [True, True] Translation: X:364.67, Y:278.88, Z:38.78 [[ 9.98792489e-01 -2.36279351e-02 -4.30730163e-02 3.64674509e+02] [ 2.35106067e-02 9.99718374e-01 -3.22855059e-03 2.78876692e+02] [ 4.31371698e-02 2.21197933e-03 9.99066710e-01 3.87779058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.896875 meters 0.03674576615837646 Centerline is valid? [True, True] Translation: X:364.73, Y:278.88, Z:38.79 [[ 9.98853377e-01 -2.53031278e-02 -4.06408942e-02 3.64734047e+02] [ 2.52000172e-02 9.99677784e-01 -3.04748171e-03 2.78882274e+02] [ 4.07049099e-02 2.01983617e-03 9.99169170e-01 3.87886777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.956875 meters 0.03476946749386932 Centerline is valid? [True, True] Translation: X:364.79, Y:278.90, Z:38.79 [[ 9.98748513e-01 -3.02319288e-02 -3.98426683e-02 3.64793054e+02] [ 3.01367298e-02 9.99541320e-01 -2.98795135e-03 2.78895781e+02] [ 3.99147248e-02 1.78348425e-03 9.99201498e-01 3.87918934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.016875 meters 0.03360060769764891 Centerline is valid? [True, True] Translation: X:364.85, Y:278.91, Z:38.79 [[ 9.98573935e-01 -3.56703268e-02 -3.97205672e-02 3.64852659e+02] [ 3.55799918e-02 9.99362391e-01 -2.97907729e-03 2.78905774e+02] [ 3.98015057e-02 1.56157148e-03 9.99206386e-01 3.87925699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.076875 meters 0.02930647981581302 Centerline is valid? [True, True] Translation: X:364.91, Y:278.91, Z:38.80 [[ 9.98164593e-01 -4.79376519e-02 -3.70057773e-02 3.64912558e+02] [ 4.78676380e-02 9.98849830e-01 -2.77616335e-03 2.78906598e+02] [ 3.70962971e-02 9.99688805e-04 9.99311195e-01 3.88014856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.136875 meters 0.027449665132344658 Centerline is valid? [True, True] Translation: X:364.97, Y:278.91, Z:38.80 [[ 9.97671751e-01 -5.70189849e-02 -3.74154071e-02 3.64972726e+02] [ 5.69537631e-02 9.98372869e-01 -2.80758687e-03 2.78912676e+02] [ 3.75146131e-02 6.70101873e-04 9.99295854e-01 3.88025878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.196875 meters 0.02587790610392491 Centerline is valid? [True, True] Translation: X:365.03, Y:278.93, Z:38.80 [[ 9.97019126e-01 -6.89319943e-02 -3.46589555e-02 3.65031303e+02] [ 6.88831902e-02 9.97621340e-01 -2.60165019e-03 2.78929459e+02] [ 3.47558505e-02 2.06475578e-04 9.99395812e-01 3.88029966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.256875 meters 0.025447318223098005 Centerline is valid? [True, True] Translation: X:365.09, Y:278.94, Z:38.81 [[ 9.96908059e-01 -7.10324308e-02 -3.35963776e-02 3.65089529e+02] [ 7.09875636e-02 9.97473997e-01 -2.52790622e-03 2.78939306e+02] [ 3.36910764e-02 1.35165089e-04 9.99432285e-01 3.88070556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.316875 meters 0.024599640375034818 Centerline is valid? [True, True] Translation: X:365.15, Y:278.95, Z:38.81 [[ 9.96964261e-01 -7.17551263e-02 -3.02235536e-02 3.65146544e+02] [ 7.17190365e-02 9.97422273e-01 -2.27785709e-03 2.78952854e+02] [ 3.03090935e-02 1.03337963e-04 9.99540569e-01 3.88123834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.376875 meters 0.024301944299472862 Centerline is valid? [True, True] Translation: X:365.20, Y:278.97, Z:38.82 [[ 9.96987221e-01 -7.24404741e-02 -2.77283205e-02 3.65204306e+02] [ 7.24102229e-02 9.97372734e-01 -2.09485599e-03 2.78973221e+02] [ 2.78072232e-02 8.07307859e-05 9.99613301e-01 3.88171290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.436875 meters 0.023881425314916573 Centerline is valid? [True, True] Translation: X:365.26, Y:278.99, Z:38.82 [[ 9.96876936e-01 -7.40086597e-02 -2.75516250e-02 3.65261599e+02] [ 7.39791951e-02 9.97257598e-01 -2.08862064e-03 2.78985550e+02] [ 2.76306434e-02 4.38507050e-05 9.99618200e-01 3.88186337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.496875 meters 0.023917754006373124 Centerline is valid? [True, True] Translation: X:365.32, Y:279.00, Z:38.82 [[ 9.96834314e-01 -7.50797836e-02 -2.61605848e-02 3.65320243e+02] [ 7.50534289e-02 9.97177530e-01 -1.98924467e-03 2.78997327e+02] [ 2.62360994e-02 1.95057514e-05 9.99655774e-01 3.88205575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.556875 meters 0.02368160548762327 Centerline is valid? [True, True] Translation: X:365.38, Y:279.01, Z:38.82 [[ 9.96676780e-01 -7.72009802e-02 -2.59885406e-02 3.65377565e+02] [ 7.71755233e-02 9.97015550e-01 -1.98263399e-03 2.79012378e+02] [ 2.60640404e-02 -2.96339565e-05 9.99660275e-01 3.88216372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.616875 meters 0.02396307152759621 Centerline is valid? [True, True] Translation: X:365.43, Y:279.02, Z:38.83 [[ 9.96617750e-01 -7.83161426e-02 -2.48926172e-02 3.65434523e+02] [ 7.82930439e-02 9.96928573e-01 -1.90269348e-03 2.79023503e+02] [ 2.49651729e-02 -5.26606719e-05 9.99688320e-01 3.88250869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.676875 meters 0.023295407109699944 Centerline is valid? [True, True] Translation: X:365.49, Y:279.03, Z:38.83 [[ 9.96663344e-01 -7.84949271e-02 -2.23768708e-02 3.65493170e+02] [ 7.84762199e-02 9.96914512e-01 -1.71427434e-03 2.79031928e+02] [ 2.24423891e-02 -4.74978343e-05 9.99748137e-01 3.88314999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.736875 meters 0.02325748771866294 Centerline is valid? [True, True] Translation: X:365.55, Y:279.05, Z:38.83 [[ 9.96708178e-01 -7.82697909e-02 -2.11340602e-02 3.65550304e+02] [ 7.82529758e-02 9.96932214e-01 -1.62273909e-03 2.79046438e+02] [ 2.11962368e-02 -3.64057751e-05 9.99775334e-01 3.88329873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.796875 meters 0.022961724826900266 Centerline is valid? [True, True] Translation: X:365.61, Y:279.06, Z:38.83 [[ 9.96607094e-01 -7.94653881e-02 -2.14371782e-02 3.65607649e+02] [ 7.94482662e-02 9.96837624e-01 -1.65054471e-03 2.79056461e+02] [ 2.15005470e-02 -5.82020690e-05 9.99768835e-01 3.88332261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8568750000001 meters 0.02315884212346051 Centerline is valid? [True, True] Translation: X:365.67, Y:279.06, Z:38.83 [[ 9.96478516e-01 -8.09015689e-02 -2.20341422e-02 3.65666079e+02] [ 8.08837061e-02 9.96722092e-01 -1.70215604e-03 2.79060701e+02] [ 2.20996234e-02 -8.60411577e-05 9.99755770e-01 3.88332987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.916875 meters 0.023182683549925812 Centerline is valid? [True, True] Translation: X:365.72, Y:279.07, Z:38.83 [[ 9.96650765e-01 -7.77851372e-02 -2.52333981e-02 3.65724167e+02] [ 7.77605508e-02 9.96970146e-01 -1.95562678e-03 2.79072420e+02] [ 2.53090633e-02 -1.30860129e-05 9.99679674e-01 3.88344516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9768750000001 meters 0.023390242918527537 Centerline is valid? [True, True] Translation: X:365.78, Y:279.08, Z:38.84 [[ 9.97056514e-01 -7.21888499e-02 -2.58278318e-02 3.65781736e+02] [ 7.21611182e-02 9.97390972e-01 -2.00536391e-03 2.79084759e+02] [ 2.59052112e-02 1.35695933e-04 9.99664394e-01 3.88368747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.036875 meters 0.023571313635749103 Centerline is valid? [True, True] Translation: X:365.84, Y:279.09, Z:38.84 [[ 9.97509225e-01 -6.58532105e-02 -2.52725268e-02 3.65839969e+02] [ 6.58245097e-02 9.97829277e-01 -1.96679252e-03 2.79094319e+02] [ 2.53471868e-02 2.98341997e-04 9.99678664e-01 3.88398784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.096875 meters 0.024651746076356326 Centerline is valid? [True, True] Translation: X:365.90, Y:279.10, Z:38.84 [[ 9.97887525e-01 -5.99808484e-02 -2.49556605e-02 3.65898977e+02] [ 5.99509520e-02 9.98199429e-01 -1.94511030e-03 2.79100808e+02] [ 2.50273954e-02 4.44885701e-04 9.99686667e-01 3.88408849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.156875 meters 0.02575022611081223 Centerline is valid? [True, True] Translation: X:365.96, Y:279.11, Z:38.84 [[ 9.98169857e-01 -5.40667021e-02 -2.70874344e-02 3.65959397e+02] [ 5.40292876e-02 9.98537118e-01 -2.11177933e-03 2.79105362e+02] [ 2.71619857e-02 6.44399682e-04 9.99630838e-01 3.88430469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.216875 meters 0.027012415115360348 Centerline is valid? [True, True] Translation: X:366.02, Y:279.11, Z:38.84 [[ 9.98342796e-01 -4.97931799e-02 -2.88496295e-02 3.66019128e+02] [ 4.97489350e-02 9.98759221e-01 -2.24982960e-03 2.79107456e+02] [ 2.89258596e-02 8.10862832e-04 9.99581231e-01 3.88442179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.276875 meters 0.027587019400499097 Centerline is valid? [True, True] Translation: X:366.08, Y:279.11, Z:38.85 [[ 9.98456685e-01 -4.79929764e-02 -2.79449971e-02 3.66078314e+02] [ 4.79506255e-02 9.98847319e-01 -2.18405116e-03 2.79109417e+02] [ 2.80176045e-02 8.40700392e-04 9.99607076e-01 3.88470444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.336875 meters 0.029415623329222172 Centerline is valid? [True, True] Translation: X:366.14, Y:279.11, Z:38.85 [[ 9.98672679e-01 -4.32693417e-02 -2.79400090e-02 3.66137995e+02] [ 4.32250702e-02 9.99062967e-01 -2.18683623e-03 2.79108080e+02] [ 2.80084513e-02 9.76224744e-04 9.99607210e-01 3.88507868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.396875 meters 0.031388564417781706 Centerline is valid? [True, True] Translation: X:366.20, Y:279.11, Z:38.85 [[ 9.98851648e-01 -3.87081320e-02 -2.82323368e-02 3.66199029e+02] [ 3.86610961e-02 9.99249936e-01 -2.21019029e-03 2.79105590e+02] [ 2.82967130e-02 1.11615913e-03 9.99598945e-01 3.88536472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.456875 meters 0.03224255462446742 Centerline is valid? [True, True] Translation: X:366.26, Y:279.11, Z:38.86 [[ 9.98953277e-01 -3.59530041e-02 -2.82795412e-02 3.66258345e+02] [ 3.59046814e-02 9.99352765e-01 -2.21484934e-03 2.79105914e+02] [ 2.83408682e-02 1.19716309e-03 9.99597600e-01 3.88552867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.516875 meters 0.03291764038698519 Centerline is valid? [True, True] Translation: X:366.32, Y:279.10, Z:38.86 [[ 9.99026783e-01 -3.31119555e-02 -2.91390772e-02 3.66318723e+02] [ 3.30594094e-02 9.99450780e-01 -2.28333665e-03 2.79100074e+02] [ 2.91986792e-02 1.31779378e-03 9.99572759e-01 3.88583388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.576875 meters 0.03445421166057535 Centerline is valid? [True, True] Translation: X:366.38, Y:279.10, Z:38.86 [[ 9.99055234e-01 -3.01211510e-02 -3.13266014e-02 3.66379395e+02] [ 3.00589263e-02 9.99545112e-01 -2.45547142e-03 2.79096643e+02] [ 3.13863129e-02 1.51150757e-03 9.99506185e-01 3.88599009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.636875 meters 0.0377221322835165 Centerline is valid? [True, True] Translation: X:366.44, Y:279.10, Z:38.86 [[ 9.99096331e-01 -2.85596258e-02 -3.14780651e-02 3.66437475e+02] [ 2.84959725e-02 9.99590858e-01 -2.46899670e-03 2.79099862e+02] [ 3.15356997e-02 1.56976747e-03 9.99501393e-01 3.88609772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.696875 meters 0.037906369718841725 Centerline is valid? [True, True] Translation: X:366.50, Y:279.09, Z:38.87 [[ 9.99160222e-01 -2.75882318e-02 -3.02942277e-02 3.66496769e+02] [ 2.75286679e-02 9.99618177e-01 -2.38157641e-03 2.79094560e+02] [ 3.03483641e-02 1.54561668e-03 9.99538187e-01 3.88676153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.756875 meters 0.03341204156765042 Centerline is valid? [True, True] Translation: X:366.56, Y:279.09, Z:38.87 [[ 9.99205717e-01 -2.76508493e-02 -2.86943338e-02 3.66556300e+02] [ 2.75972423e-02 9.99616563e-01 -2.26262787e-03 2.79087460e+02] [ 2.87458949e-02 1.46894622e-03 9.99585672e-01 3.88737914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.816875 meters 0.034220546933253104 Centerline is valid? [True, True] Translation: X:366.61, Y:279.08, Z:38.87 [[ 9.99054781e-01 -2.92758896e-02 -3.21320173e-02 3.66614198e+02] [ 2.92093279e-02 9.99570092e-01 -2.53905304e-03 2.79084188e+02] [ 3.21925365e-02 1.59809845e-03 9.99480408e-01 3.88739159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.876875 meters 0.03455140132832341 Centerline is valid? [True, True] Translation: X:366.67, Y:279.08, Z:38.87 [[ 9.98810056e-01 -3.00995005e-02 -3.83730591e-02 3.66673834e+02] [ 3.00050490e-02 9.99545139e-01 -3.03506568e-03 2.79081244e+02] [ 3.84469587e-02 1.88006861e-03 9.99258874e-01 3.88708752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.936875 meters 0.03431300188696736 Centerline is valid? [True, True] Translation: X:366.73, Y:279.08, Z:38.87 [[ 9.98692548e-01 -3.18499084e-02 -3.99847128e-02 3.66733331e+02] [ 3.17484353e-02 9.99490863e-01 -3.17038003e-03 2.79077097e+02] [ 4.00653314e-02 1.89678285e-03 9.99195262e-01 3.88728212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.996875 meters 0.03402383481467789 Centerline is valid? [True, True] Translation: X:366.79, Y:279.07, Z:38.88 [[ 9.98778649e-01 -3.41734460e-02 -3.56845328e-02 3.66793044e+02] [ 3.40940214e-02 9.99414617e-01 -2.83205998e-03 2.79073558e+02] [ 3.57604249e-02 1.61197182e-03 9.99359091e-01 3.88812087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.056875 meters 0.03410197420573133 Centerline is valid? [True, True] Translation: X:366.85, Y:279.07, Z:38.88 [[ 9.98805239e-01 -3.49731655e-02 -3.41317041e-02 3.66851818e+02] [ 3.49009083e-02 9.99387102e-01 -2.71069044e-03 2.79072595e+02] [ 3.42055863e-02 1.51622434e-03 9.99413668e-01 3.88840282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.116875 meters 0.03522819529594201 Centerline is valid? [True, True] Translation: X:366.91, Y:279.07, Z:38.88 [[ 9.98776969e-01 -3.50927021e-02 -3.48291359e-02 3.66909528e+02] [ 3.50174011e-02 9.99382864e-01 -2.76984607e-03 2.79071830e+02] [ 3.49048430e-02 1.54683264e-03 9.99389443e-01 3.88846725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.176875 meters 0.03633680779636862 Centerline is valid? [True, True] Translation: X:366.97, Y:279.07, Z:38.89 [[ 9.98762718e-01 -3.47137606e-02 -3.56088138e-02 3.66969179e+02] [ 3.46345532e-02 9.99396012e-01 -2.83899802e-03 2.79068699e+02] [ 3.56858588e-02 1.60219002e-03 9.99361773e-01 3.88883882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.236875 meters 0.034396780135535425 Centerline is valid? [True, True] Translation: X:367.03, Y:279.07, Z:38.89 [[ 9.98870691e-01 -3.27887920e-02 -3.43836829e-02 3.67028428e+02] [ 3.27135288e-02 9.99460988e-01 -2.74936650e-03 2.79069670e+02] [ 3.44552981e-02 1.62145002e-03 9.99404925e-01 3.88931573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.296875 meters 0.03541746245041791 Centerline is valid? [True, True] Translation: X:367.09, Y:279.07, Z:38.90 [[ 9.98861734e-01 -3.28489148e-02 -3.45859025e-02 3.67087731e+02] [ 3.27725148e-02 9.99458988e-01 -2.77373631e-03 2.79069468e+02] [ 3.46583054e-02 1.63711206e-03 9.99397880e-01 3.88966771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3568750000001 meters 0.03381015699279332 Centerline is valid? [True, True] Translation: X:367.15, Y:279.06, Z:38.90 [[ 9.98650029e-01 -3.79578184e-02 -3.54587726e-02 3.67148838e+02] [ 3.78806125e-02 9.99278217e-01 -2.84686412e-03 2.79061287e+02] [ 3.55412398e-02 1.49982091e-03 9.99367085e-01 3.88994711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.416875 meters 0.03177690155312284 Centerline is valid? [True, True] Translation: X:367.21, Y:279.06, Z:38.90 [[ 9.98501938e-01 -4.20793673e-02 -3.49743736e-02 3.67208889e+02] [ 4.20067395e-02 9.99113378e-01 -2.80914555e-03 2.79058446e+02] [ 3.50615716e-02 1.33577788e-03 9.99384261e-01 3.89029106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4768750000001 meters 0.03041398134682584 Centerline is valid? [True, True] Translation: X:367.27, Y:279.05, Z:38.91 [[ 9.98288710e-01 -4.72074346e-02 -3.45124571e-02 3.67269235e+02] [ 4.71397326e-02 9.98884455e-01 -2.77319407e-03 2.79052661e+02] [ 3.46048723e-02 1.14154033e-03 9.99400420e-01 3.89070444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.536875 meters 0.031080131718930627 Centerline is valid? [True, True] Translation: X:367.33, Y:279.05, Z:38.91 [[ 9.98292691e-01 -4.70911987e-02 -3.45560704e-02 3.67327297e+02] [ 4.70231735e-02 9.98889933e-01 -2.77907513e-03 2.79052450e+02] [ 3.46485808e-02 1.14939429e-03 9.99398897e-01 3.89108084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.596875 meters 0.03250234052312832 Centerline is valid? [True, True] Translation: X:367.39, Y:279.06, Z:38.91 [[ 9.98363886e-01 -4.49829749e-02 -3.52998907e-02 3.67385315e+02] [ 4.49105853e-02 9.98986970e-01 -2.84134684e-03 2.79056783e+02] [ 3.53919431e-02 1.25135932e-03 9.99372725e-01 3.89121228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.656875 meters 0.0307002305944526 Centerline is valid? [True, True] Translation: X:367.45, Y:279.06, Z:38.92 [[ 9.98539165e-01 -4.06034870e-02 -3.56495701e-02 3.67445634e+02] [ 4.05268306e-02 9.99174327e-01 -2.87055750e-03 2.79057511e+02] [ 3.57366899e-02 1.42160000e-03 9.99360229e-01 3.89190064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.716875 meters 0.03224354938348671 Centerline is valid? [True, True] Translation: X:367.50, Y:279.06, Z:38.92 [[ 9.98603717e-01 -3.91953049e-02 -3.54167298e-02 3.67503358e+02] [ 3.91186783e-02 9.99230495e-01 -2.85419821e-03 2.79059778e+02] [ 3.55013476e-02 1.46475728e-03 9.99368555e-01 3.89229918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.776875 meters 0.03162426843946195 Centerline is valid? [True, True] Translation: X:367.56, Y:279.06, Z:38.93 [[ 9.98495650e-01 -4.05140810e-02 -3.69465425e-02 3.67561656e+02] [ 4.04312784e-02 9.99177860e-01 -2.98585850e-03 2.79060667e+02] [ 3.70371366e-02 1.48757078e-03 9.99312783e-01 3.89251385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.836875 meters 0.03020251806806609 Centerline is valid? [True, True] Translation: X:367.62, Y:279.06, Z:38.93 [[ 9.98478271e-01 -4.20182092e-02 -3.57157306e-02 3.67620698e+02] [ 4.19416405e-02 9.99115880e-01 -2.89069869e-03 2.79060888e+02] [ 3.58056156e-02 1.38832350e-03 9.99357809e-01 3.89312017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.896875 meters 0.03207927871183463 Centerline is valid? [True, True] Translation: X:367.68, Y:279.07, Z:38.93 [[ 9.98417097e-01 -4.29645434e-02 -3.62952941e-02 3.67677835e+02] [ 4.28859421e-02 9.99075644e-01 -2.94173351e-03 2.79068132e+02] [ 3.63881346e-02 1.38051915e-03 9.99336779e-01 3.89305486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.956875 meters 0.03187255771240167 Centerline is valid? [True, True] Translation: X:367.74, Y:279.07, Z:38.93 [[ 9.98280105e-01 -4.50949478e-02 -3.74603568e-02 3.67736804e+02] [ 4.50124231e-02 9.98981790e-01 -3.04388937e-03 2.79068107e+02] [ 3.75594784e-02 1.35247277e-03 9.99293479e-01 3.89333429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.016875 meters 0.02989581985408226 Centerline is valid? [True, True] Translation: X:367.80, Y:279.07, Z:38.94 [[ 9.98200950e-01 -4.77034650e-02 -3.63213912e-02 3.67797106e+02] [ 4.76275162e-02 9.98860798e-01 -2.95388708e-03 2.79067091e+02] [ 3.64209244e-02 1.21867524e-03 9.99335795e-01 3.89392534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.076875 meters 0.028439178460246167 Centerline is valid? [True, True] Translation: X:367.86, Y:279.07, Z:38.94 [[ 9.97897959e-01 -5.15873535e-02 -3.92225490e-02 3.67855994e+02] [ 5.15014829e-02 9.98667800e-01 -3.19724536e-03 2.79067542e+02] [ 3.93352341e-02 1.17050518e-03 9.99225385e-01 3.89429635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.136875 meters 0.027833653046798804 Centerline is valid? [True, True] Translation: X:367.92, Y:279.07, Z:38.95 [[ 9.97704966e-01 -5.33756441e-02 -4.16634346e-02 3.67915087e+02] [ 5.32798689e-02 9.98573808e-01 -3.40659409e-03 2.79069816e+02] [ 4.17858437e-02 1.17895351e-03 9.99125895e-01 3.89455871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.196875 meters 0.027517614639181953 Centerline is valid? [True, True] Translation: X:367.97, Y:279.07, Z:38.95 [[ 9.97450296e-01 -5.79507134e-02 -4.16487832e-02 3.67974696e+02] [ 5.78588451e-02 9.98318954e-01 -3.40882438e-03 2.79069881e+02] [ 4.17763135e-02 9.90382392e-04 9.99126498e-01 3.89509548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.256875 meters 0.02737083602863644 Centerline is valid? [True, True] Translation: X:368.03, Y:279.07, Z:38.95 [[ 9.97262607e-01 -6.20065840e-02 -4.02799820e-02 3.68034771e+02] [ 6.19239290e-02 9.98075424e-01 -3.29763708e-03 2.79072715e+02] [ 4.04069354e-02 7.94315405e-04 9.99182991e-01 3.89547113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.316875 meters 0.028435574869728017 Centerline is valid? [True, True] Translation: X:368.10, Y:279.07, Z:38.96 [[ 9.96888410e-01 -6.81878878e-02 -3.95463070e-02 3.68095068e+02] [ 6.81130498e-02 9.97672354e-01 -3.23824441e-03 2.79074824e+02] [ 3.96750663e-02 5.34548737e-04 9.99212492e-01 3.89585421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.376875 meters 0.026972416570462607 Centerline is valid? [True, True] Translation: X:368.15, Y:279.08, Z:38.97 [[ 9.96660203e-01 -7.11010622e-02 -4.01631611e-02 3.68154315e+02] [ 7.10259231e-02 9.97469023e-01 -3.29645670e-03 2.79076344e+02] [ 4.02958907e-02 4.32821603e-04 9.99187697e-01 3.89657437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.436875 meters 0.02963006367125821 Centerline is valid? [True, True] Translation: X:368.21, Y:279.08, Z:38.97 [[ 9.96423301e-01 -7.43179412e-02 -4.02175250e-02 3.68212406e+02] [ 7.42448139e-02 9.97234549e-01 -3.31089625e-03 2.79083241e+02] [ 4.03523644e-02 3.13111506e-04 9.99185463e-01 3.89700382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.496875 meters 0.02808122567165166 Centerline is valid? [True, True] Translation: X:368.27, Y:279.09, Z:38.97 [[ 9.96494653e-01 -7.34729115e-02 -4.00017318e-02 3.68269386e+02] [ 7.33996432e-02 9.97297151e-01 -3.29919204e-03 2.79091928e+02] [ 4.01360144e-02 3.51514385e-04 9.99194164e-01 3.89698603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.556875 meters 0.029573665376273286 Centerline is valid? [True, True] Translation: X:368.33, Y:279.10, Z:38.97 [[ 9.96500336e-01 -7.38158462e-02 -3.92211857e-02 3.68326669e+02] [ 7.37455348e-02 9.97271833e-01 -3.23840507e-03 2.79100603e+02] [ 3.93532294e-02 3.34684422e-04 9.99225306e-01 3.89718740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.616875 meters 0.02881985973675116 Centerline is valid? [True, True] Translation: X:368.38, Y:279.11, Z:38.97 [[ 9.96587605e-01 -7.27638229e-02 -3.89688437e-02 3.68384070e+02] [ 7.26932757e-02 9.97349126e-01 -3.22610702e-03 2.79109404e+02] [ 3.91002861e-02 3.82325367e-04 9.99235218e-01 3.89749405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.676875 meters 0.028079194055486974 Centerline is valid? [True, True] Translation: X:368.44, Y:279.12, Z:38.98 [[ 9.96850742e-01 -7.09582957e-02 -3.54050752e-02 3.68442128e+02] [ 7.08987857e-02 9.97479197e-01 -2.93507767e-03 2.79123677e+02] [ 3.55240941e-02 4.15657513e-04 9.99368734e-01 3.89775897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.736875 meters 0.028054047172203476 Centerline is valid? [True, True] Translation: X:368.50, Y:279.13, Z:38.98 [[ 9.97142020e-01 -6.83531351e-02 -3.21813652e-02 3.68500229e+02] [ 6.83024141e-02 9.97661080e-01 -2.67407528e-03 2.79133924e+02] [ 3.22888770e-02 4.68367893e-04 9.99478469e-01 3.89807384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.796875 meters 0.02839095679859918 Centerline is valid? [True, True] Translation: X:368.56, Y:279.14, Z:38.98 [[ 9.97329320e-01 -6.61609758e-02 -3.09346454e-02 3.68557950e+02] [ 6.61129276e-02 9.97808825e-01 -2.57460359e-03 2.79143949e+02] [ 3.10372004e-02 5.22547683e-04 9.99518093e-01 3.89802030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8568750000001 meters 0.02916085270207755 Centerline is valid? [True, True] Translation: X:368.62, Y:279.16, Z:38.98 [[ 9.97727128e-01 -6.14002322e-02 -2.77595046e-02 3.68615954e+02] [ 6.13595557e-02 9.98113041e-01 -2.31557706e-03 2.79161161e+02] [ 2.78493005e-02 6.07003179e-04 9.99611949e-01 3.89774600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.916875 meters 0.029628132045233565 Centerline is valid? [True, True] Translation: X:368.67, Y:279.17, Z:38.98 [[ 9.97981840e-01 -5.94548362e-02 -2.23017633e-02 3.68674129e+02] [ 5.94279869e-02 9.98230853e-01 -1.86532826e-03 2.79173061e+02] [ 2.23732110e-02 5.36214833e-04 9.99749545e-01 3.89783011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9768750000001 meters 0.030368943810698802 Centerline is valid? [True, True] Translation: X:368.73, Y:279.18, Z:38.98 [[ 9.98137535e-01 -5.89040407e-02 -1.58674363e-02 3.68732484e+02] [ 5.88903298e-02 9.98263572e-01 -1.33036648e-03 2.79182197e+02] [ 1.59182476e-02 3.93450161e-04 9.99873219e-01 3.89804590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.036875 meters 0.03059559403653866 Centerline is valid? [True, True] Translation: X:368.79, Y:279.19, Z:38.98 [[ 9.98225865e-01 -5.78498801e-02 -1.40895053e-02 3.68791032e+02] [ 5.78389201e-02 9.98325226e-01 -1.18446907e-03 2.79191701e+02] [ 1.41344299e-02 3.67445889e-04 9.99900036e-01 3.89766808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.096875 meters 0.03129575096882966 Centerline is valid? [True, True] Translation: X:368.85, Y:279.20, Z:38.98 [[ 9.98429220e-01 -5.49639650e-02 -1.08653319e-02 3.68849330e+02] [ 5.49572533e-02 9.98488288e-01 -9.15557153e-04 2.79202122e+02] [ 1.08992293e-02 3.16990217e-04 9.99940551e-01 3.89776958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.156875 meters 0.03360490541410577 Centerline is valid? [True, True] Translation: X:368.91, Y:279.22, Z:38.98 [[ 9.98833935e-01 -4.76726871e-02 -7.62140172e-03 3.68907624e+02] [ 4.76691606e-02 9.98862972e-01 -6.43802356e-04 2.79215533e+02] [ 7.64342776e-03 2.79745818e-04 9.99970749e-01 3.89797494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.216875 meters 0.036755980492977264 Centerline is valid? [True, True] Translation: X:368.97, Y:279.23, Z:38.98 [[ 9.99217374e-01 -3.88552986e-02 -7.40985961e-03 3.68967230e+02] [ 3.88517229e-02 9.99244791e-01 -6.25955007e-04 2.79229181e+02] [ 7.42858529e-03 3.37579306e-04 9.99972351e-01 3.89753497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.276875 meters 0.03975941114763721 Centerline is valid? [True, True] Translation: X:369.03, Y:279.24, Z:38.98 [[ 9.99403475e-01 -3.40918274e-02 -5.51740734e-03 3.69025760e+02] [ 3.40897731e-02 9.99418666e-01 -4.65982809e-04 2.79238395e+02] [ 5.53008609e-03 2.77617674e-04 9.99984670e-01 3.89763230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.336875 meters 0.0380100962645883 Centerline is valid? [True, True] Translation: X:369.09, Y:279.24, Z:38.97 [[ 9.99517278e-01 -3.08383921e-02 -3.76899469e-03 3.69085579e+02] [ 3.08374102e-02 9.99524363e-01 -3.18381870e-04 2.79241816e+02] [ 3.77702041e-03 2.02002145e-04 9.99992847e-01 3.89746403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.396875 meters 0.038842675268695476 Centerline is valid? [True, True] Translation: X:369.14, Y:279.25, Z:38.98 [[ 9.99554962e-01 -2.97628619e-02 -2.01247649e-03 3.69143585e+02] [ 2.97625809e-02 9.99556982e-01 -1.69454796e-04 2.79247005e+02] [ 2.01662839e-03 1.09482887e-04 9.99997961e-01 3.89761431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.456875 meters 0.03741983043777167 Centerline is valid? [True, True] Translation: X:369.20, Y:279.24, Z:38.98 [[ 9.99559305e-01 -2.95731644e-02 -2.57362247e-03 3.69202944e+02] [ 2.95727059e-02 9.99562609e-01 -2.16055773e-04 2.79244598e+02] [ 2.57888624e-03 1.39851578e-04 9.99996665e-01 3.89763005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.516875 meters 0.03677241599595669 Centerline is valid? [True, True] Translation: X:369.26, Y:279.25, Z:38.97 [[ 9.99544229e-01 -3.01445929e-02 -1.62436471e-03 3.69261972e+02] [ 3.01444118e-02 9.99545545e-01 -1.35901558e-04 2.79249280e+02] [ 1.62772321e-03 8.68740990e-05 9.99998671e-01 3.89737421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.576875 meters 0.03997609221137836 Centerline is valid? [True, True] Translation: X:369.32, Y:279.26, Z:38.97 [[ 9.99484937e-01 -3.20725773e-02 -1.10020127e-03 3.69319068e+02] [ 3.20724944e-02 9.99485541e-01 -9.29055023e-05 2.79257430e+02] [ 1.10261498e-03 5.75714511e-05 9.99999390e-01 3.89745214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.636875 meters 0.03607387462488483 Centerline is valid? [True, True] Translation: X:369.38, Y:279.25, Z:38.97 [[ 9.99335042e-01 -3.64350094e-02 -1.40142493e-03 3.69379757e+02] [ 3.64348778e-02 9.99336022e-01 -1.19310572e-04 2.79250273e+02] [ 1.40484150e-03 6.81704894e-05 9.99999011e-01 3.89748376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.696875 meters 0.03372302149915137 Centerline is valid? [True, True] Translation: X:369.44, Y:279.25, Z:38.98 [[ 9.99231849e-01 -3.91718195e-02 -1.13178892e-03 3.69439828e+02] [ 3.91717357e-02 9.99232488e-01 -9.61373822e-05 2.79249593e+02] [ 1.13468613e-03 5.17293978e-05 9.99999355e-01 3.89755981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.756875 meters 0.03450045258454598 Centerline is valid? [True, True] Translation: X:369.50, Y:279.25, Z:38.98 [[ 9.99269510e-01 -3.82127933e-02 -4.77501250e-04 3.69498477e+02] [ 3.82127792e-02 9.99269624e-01 -3.85245200e-05 2.79253555e+02] [ 4.78624624e-04 2.02497284e-05 9.99999885e-01 3.89767291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.816875 meters 0.03736535629479739 Centerline is valid? [True, True] Translation: X:369.56, Y:279.26, Z:38.98 [[ 9.99412214e-01 -3.42786745e-02 -4.47052184e-04 3.69557227e+02] [ 3.42786609e-02 9.99412313e-01 -3.80829328e-05 2.79262589e+02] [ 4.48094890e-04 2.27361979e-05 9.99999899e-01 3.89769046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.876875 meters 0.03659786286986228 Centerline is valid? [True, True] Translation: X:369.62, Y:279.27, Z:38.98 [[ 9.99473636e-01 -3.24283006e-02 -9.24870421e-04 3.69616219e+02] [ 3.24282416e-02 9.99474063e-01 -7.86290532e-05 2.79266008e+02] [ 9.26933804e-04 4.85957443e-05 9.99999569e-01 3.89775022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.936875 meters 0.03747828872934294 Centerline is valid? [True, True] Translation: X:369.68, Y:279.27, Z:38.98 [[ 9.99591602e-01 -2.85178786e-02 -1.83290335e-03 3.69676287e+02] [ 2.85176391e-02 9.99593277e-01 -1.56664798e-04 2.79270382e+02] [ 1.83662562e-03 1.04330740e-04 9.99998308e-01 3.89790147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.996875 meters 0.03754868238946077 Centerline is valid? [True, True] Translation: X:369.74, Y:279.27, Z:38.98 [[ 9.99649557e-01 -2.63028778e-02 -2.98684955e-03 3.69735627e+02] [ 2.63022319e-02 9.99654004e-01 -2.55339328e-04 2.79274349e+02] [ 2.99253227e-03 1.76689037e-04 9.99995507e-01 3.89795553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.056875 meters 0.038470427721289197 Centerline is valid? [True, True] Translation: X:369.80, Y:279.28, Z:38.98 [[ 9.99730104e-01 -2.31240496e-02 -2.23567194e-03 3.69795180e+02] [ 2.31236796e-02 9.99732594e-01 -1.91244199e-04 2.79278853e+02] [ 2.23949645e-03 1.39495622e-04 9.99997483e-01 3.89812103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.116875 meters 0.04541411334094052 Centerline is valid? [True, True] Translation: X:369.85, Y:279.29, Z:38.98 [[ 9.99787004e-01 -2.05002534e-02 -2.38473378e-03 3.69853209e+02] [ 2.04998246e-02 9.99789836e-01 -2.04121536e-04 2.79292658e+02] [ 2.38841714e-03 1.55191435e-04 9.99997136e-01 3.89833223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.176875 meters 0.05008276165190702 Centerline is valid? [True, True] Translation: X:369.91, Y:279.30, Z:38.98 [[ 9.99865086e-01 -1.55853252e-02 -5.18726920e-03 3.69912137e+02] [ 1.55832300e-02 9.99878475e-01 -4.44090210e-04 2.79303625e+02] [ 5.19356011e-03 3.63195887e-04 9.99986447e-01 3.89807645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.236875 meters 0.04144549410266967 Centerline is valid? [True, True] Translation: X:369.97, Y:279.30, Z:38.98 [[ 9.99876720e-01 -1.41756666e-02 -6.75241931e-03 3.69972470e+02] [ 1.41720839e-02 9.99899404e-01 -5.78136518e-04 2.79295109e+02] [ 6.75993551e-03 4.82369392e-04 9.99977035e-01 3.89783614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.296875 meters 0.04182073131597972 Centerline is valid? [True, True] Translation: X:370.03, Y:279.30, Z:38.98 [[ 9.99863382e-01 -1.22631334e-02 -1.10829773e-02 3.70032077e+02] [ 1.22533542e-02 9.99924474e-01 -9.49838622e-04 2.79295144e+02] [ 1.10937882e-02 8.13905210e-04 9.99938131e-01 3.89780394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3568750000001 meters 0.045595737621073766 Centerline is valid? [True, True] Translation: X:370.09, Y:279.31, Z:38.98 [[ 9.99895641e-01 -1.06868562e-02 -9.72098519e-03 3.70089939e+02] [ 1.06792543e-02 9.99942628e-01 -8.33583527e-04 2.79307642e+02] [ 9.72933586e-03 7.29683663e-04 9.99952403e-01 3.89788122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.416875 meters 0.04283039903047383 Centerline is valid? [True, True] Translation: X:370.15, Y:279.31, Z:38.98 [[ 9.99900448e-01 -9.19761792e-03 -1.07003473e-02 3.70149378e+02] [ 9.18831549e-03 9.99957365e-01 -9.18194170e-04 2.79305435e+02] [ 1.07083363e-02 8.19784596e-04 9.99942328e-01 3.89795136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4768750000001 meters 0.0434021296083216 Centerline is valid? [True, True] Translation: X:370.21, Y:279.31, Z:38.98 [[ 9.99888583e-01 -8.36220526e-03 -1.23650376e-02 3.70208208e+02] [ 8.34970294e-03 9.99964576e-01 -1.06238170e-03 2.79309860e+02] [ 1.23734835e-02 9.59018938e-04 9.99922986e-01 3.89793189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.536875 meters 0.04609247975350192 Centerline is valid? [True, True] Translation: X:370.27, Y:279.32, Z:38.98 [[ 9.99891218e-01 -6.44263456e-03 -1.32681597e-02 3.70265717e+02] [ 6.42803409e-03 9.99978687e-01 -1.14276659e-03 2.79319461e+02] [ 1.32752394e-02 1.05735410e-03 9.99911321e-01 3.89778677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.596875 meters 0.0493401687094616 Centerline is valid? [True, True] Translation: X:370.32, Y:279.32, Z:38.98 [[ 9.99902003e-01 -5.65987244e-03 -1.28043443e-02 3.70323151e+02] [ 5.64619930e-03 9.99983451e-01 -1.10374916e-03 2.79324889e+02] [ 1.28103795e-02 1.03134512e-03 9.99917412e-01 3.89812227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.656875 meters 0.048804963677921316 Centerline is valid? [True, True] Translation: X:370.38, Y:279.33, Z:38.98 [[ 9.99912849e-01 -6.45293785e-03 -1.15175450e-02 3.70382294e+02] [ 6.44191288e-03 9.99978757e-01 -9.94075851e-04 2.79328634e+02] [ 1.15237150e-02 9.19794195e-04 9.99933177e-01 3.89832420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.716875 meters 0.05144280495529303 Centerline is valid? [True, True] Translation: X:370.44, Y:279.34, Z:38.98 [[ 9.99902744e-01 -5.32623611e-03 -1.28892517e-02 3.70440449e+02] [ 5.31230069e-03 9.99985268e-01 -1.11516166e-03 2.79338253e+02] [ 1.28950014e-02 1.04658162e-03 9.99916308e-01 3.89794471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.776875 meters 0.053018995087126625 Centerline is valid? [True, True] Translation: X:370.50, Y:279.34, Z:38.98 [[ 9.99892488e-01 -4.23524407e-03 -1.40383423e-02 3.70499441e+02] [ 4.21859558e-03 9.99990363e-01 -1.21533067e-03 2.79344126e+02] [ 1.40433542e-02 1.15597792e-03 9.99900719e-01 3.89785682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.836875 meters 0.0483188663836212 Centerline is valid? [True, True] Translation: X:370.56, Y:279.34, Z:38.98 [[ 9.99922923e-01 -5.16229563e-03 -1.12914976e-02 3.70558613e+02] [ 5.15157816e-03 9.99986252e-01 -9.78042627e-04 2.79341722e+02] [ 1.12963913e-02 9.19798211e-04 9.99935771e-01 3.89823846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.896875 meters 0.04627866683354433 Centerline is valid? [True, True] Translation: X:370.62, Y:279.34, Z:38.99 [[ 9.99928643e-01 -7.89803126e-03 -8.96268873e-03 3.70619098e+02] [ 7.89138352e-03 9.99968561e-01 -7.76835624e-04 2.79343216e+02] [ 8.96854242e-03 7.06052177e-04 9.99959533e-01 3.89853940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.956875 meters 0.049289610860800664 Centerline is valid? [True, True] Translation: X:370.68, Y:279.35, Z:38.99 [[ 9.99903072e-01 -1.08987924e-02 -8.66387383e-03 3.70677735e+02] [ 1.08926914e-02 9.99940391e-01 -7.51073745e-04 2.79349781e+02] [ 8.67154318e-03 6.56628042e-04 9.99962186e-01 3.89870516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.016875 meters 0.04409417124396126 Centerline is valid? [True, True] Translation: X:370.74, Y:279.35, Z:38.99 [[ 9.99872095e-01 -1.34393541e-02 -8.67050637e-03 3.70738039e+02] [ 1.34333370e-02 9.99909486e-01 -7.51838159e-04 2.79347482e+02] [ 8.67982579e-03 6.35268161e-04 9.99962128e-01 3.89853073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.076875 meters 0.05065357617458154 Centerline is valid? [True, True] Translation: X:370.80, Y:279.36, Z:38.98 [[ 9.99824652e-01 -1.69483068e-02 -7.96372837e-03 3.70796370e+02] [ 1.69433392e-02 9.99856213e-01 -6.90845786e-04 2.79360604e+02] [ 7.97429195e-03 5.55792497e-04 9.99968050e-01 3.89849616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.136875 meters 0.04982555198756312 Centerline is valid? [True, True] Translation: X:370.86, Y:279.36, Z:38.98 [[ 9.99766555e-01 -1.93497760e-02 -9.61364783e-03 3.70856350e+02] [ 1.93426448e-02 9.99812566e-01 -8.34214535e-04 2.79363345e+02] [ 9.62798777e-03 6.48066417e-04 9.99953440e-01 3.89834686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.196875 meters 0.05089831648027621 Centerline is valid? [True, True] Translation: X:370.91, Y:279.37, Z:38.99 [[ 9.99749345e-01 -2.10425242e-02 -7.64583006e-03 3.70914851e+02] [ 2.10380626e-02 9.99778455e-01 -6.63497015e-04 2.79369702e+02] [ 7.65809782e-03 5.02477255e-04 9.99970550e-01 3.89853494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.256875 meters 0.04345044482106513 Centerline is valid? [True, True] Translation: X:370.97, Y:279.36, Z:38.99 [[ 9.99779366e-01 -1.97003137e-02 -7.28816603e-03 3.70974701e+02] [ 1.96962223e-02 9.99805810e-01 -6.32736565e-04 2.79363341e+02] [ 7.29921585e-03 4.89047624e-04 9.99973241e-01 3.89857492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.316875 meters 0.04484655552500489 Centerline is valid? [True, True] Translation: X:371.03, Y:279.37, Z:38.98 [[ 9.99805730e-01 -1.78517332e-02 -8.35572936e-03 3.71033503e+02] [ 1.78462854e-02 9.99840479e-01 -7.26094645e-04 2.79369845e+02] [ 8.36735849e-03 5.76834856e-04 9.99964827e-01 3.89844994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.376875 meters 0.039779276646889246 Centerline is valid? [True, True] Translation: X:371.09, Y:279.37, Z:38.98 [[ 9.99805497e-01 -1.69187712e-02 -1.01352989e-02 3.71092529e+02] [ 1.69107002e-02 9.99856615e-01 -8.81503085e-04 2.79368701e+02] [ 1.01487596e-02 7.09936629e-04 9.99948248e-01 3.89795750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.436875 meters 0.04061034765437025 Centerline is valid? [True, True] Translation: X:371.15, Y:279.37, Z:38.98 [[ 9.99813041e-01 -1.73465190e-02 -8.54288364e-03 3.71150734e+02] [ 1.73407854e-02 9.99849360e-01 -7.44774601e-04 2.79374810e+02] [ 8.55451599e-03 5.96495047e-04 9.99963232e-01 3.89799366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.496875 meters 0.038154636424839614 Centerline is valid? [True, True] Translation: X:371.21, Y:279.37, Z:38.99 [[ 9.99770558e-01 -2.11320066e-02 -3.50287997e-03 3.71211427e+02] [ 2.11310626e-02 9.99776667e-01 -3.06302803e-04 2.79372660e+02] [ 3.50857045e-03 2.32212948e-04 9.99993818e-01 3.89862728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.556875 meters 0.036197565324593915 Centerline is valid? [True, True] Translation: X:371.27, Y:279.37, Z:38.99 [[ 9.99635386e-01 -2.69807184e-02 -1.06564318e-03 3.71271753e+02] [ 2.69806345e-02 9.99635952e-01 -9.29821396e-05 2.79373199e+02] [ 1.06776396e-03 6.41965078e-05 9.99999428e-01 3.89875224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.616875 meters 0.03537575217566565 Centerline is valid? [True, True] Translation: X:371.33, Y:279.38, Z:38.99 [[ 9.99557843e-01 -2.96486914e-02 -2.25246906e-03 3.71332162e+02] [ 2.96483227e-02 9.99560372e-01 -1.96927601e-04 2.79375794e+02] [ 2.25731745e-03 1.30058598e-04 9.99997444e-01 3.89861189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.676875 meters 0.036350420556919484 Centerline is valid? [True, True] Translation: X:371.39, Y:279.38, Z:38.98 [[ 9.99512873e-01 -3.10863665e-02 -2.76685495e-03 3.71389621e+02] [ 3.10858166e-02 9.99516690e-01 -2.41529178e-04 2.79383366e+02] [ 2.77302596e-03 1.55401577e-04 9.99996143e-01 3.89834629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.736875 meters 0.035559509843698496 Centerline is valid? [True, True] Translation: X:371.45, Y:279.39, Z:38.98 [[ 9.99545581e-01 -2.99710354e-02 -3.22014074e-03 3.71448419e+02] [ 2.99702867e-02 9.99550751e-01 -2.80531929e-04 2.79387752e+02] [ 3.22710192e-03 1.83895909e-04 9.99994776e-01 3.89816353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.796875 meters 0.03517280446458711 Centerline is valid? [True, True] Translation: X:371.51, Y:279.39, Z:38.98 [[ 9.99558043e-01 -2.93015718e-02 -5.01359911e-03 3.71507262e+02] [ 2.92997358e-02 9.99570574e-01 -4.39289234e-04 2.79392389e+02] [ 5.02431800e-03 2.92197959e-04 9.99987335e-01 3.89814466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8568750000001 meters 0.037663362542779445 Centerline is valid? [True, True] Translation: X:371.56, Y:279.40, Z:38.98 [[ 9.99606762e-01 -2.75643566e-02 -5.15056465e-03 3.71564809e+02] [ 2.75623851e-02 9.99619982e-01 -4.53390971e-04 2.79403052e+02] [ 5.16110477e-03 3.11250834e-04 9.99986633e-01 3.89799140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.916875 meters 0.03560538411231136 Centerline is valid? [True, True] Translation: X:371.62, Y:279.41, Z:38.98 [[ 9.99591665e-01 -2.83379364e-02 -3.66954915e-03 3.71623202e+02] [ 2.83369443e-02 9.99598376e-01 -3.22064132e-04 2.79407033e+02] [ 3.67720201e-03 2.17948812e-04 9.99993215e-01 3.89802949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9768750000001 meters 0.035671690159717405 Centerline is valid? [True, True] Translation: X:371.68, Y:279.41, Z:38.98 [[ 9.99508884e-01 -3.12327555e-02 -2.55056354e-03 3.71682733e+02] [ 3.12322821e-02 9.99512128e-01 -2.25244605e-04 2.79411366e+02] [ 2.55635420e-03 1.45474064e-04 9.99996722e-01 3.89811652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.036875 meters 0.03586224766606474 Centerline is valid? [True, True] Translation: X:371.74, Y:279.42, Z:38.98 [[ 9.99472099e-01 -3.22621313e-02 -3.83110937e-03 3.71740868e+02] [ 3.22610739e-02 9.99479419e-01 -3.37477737e-04 2.79419145e+02] [ 3.84000272e-03 2.13703880e-04 9.99992604e-01 3.89793598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.096875 meters 0.0356704496559992 Centerline is valid? [True, True] Translation: X:371.80, Y:279.43, Z:38.98 [[ 9.99393196e-01 -3.46611221e-02 -3.44189243e-03 3.71800541e+02] [ 3.46602761e-02 9.99399106e-01 -3.05143204e-04 2.79427789e+02] [ 3.45040082e-03 1.85661099e-04 9.99994030e-01 3.89784067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.156875 meters 0.033125920043512495 Centerline is valid? [True, True] Translation: X:371.86, Y:279.43, Z:38.98 [[ 9.99227008e-01 -3.92772480e-02 -1.63860040e-03 3.71860978e+02] [ 3.92770625e-02 9.99228348e-01 -1.45275213e-04 2.79426401e+02] [ 1.64304198e-03 8.08035064e-05 9.99998647e-01 3.89837446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.216875 meters 0.0317769595602094 Centerline is valid? [True, True] Translation: X:371.92, Y:279.43, Z:38.98 [[ 9.99001188e-01 -4.46825213e-02 -3.14275041e-04 3.71921367e+02] [ 4.46825148e-02 9.99001237e-01 -2.78429499e-05 2.79432286e+02] [ 3.15205248e-04 1.37725408e-05 9.99999950e-01 3.89843252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.276875 meters 0.028549661380865392 Centerline is valid? [True, True] Translation: X:371.98, Y:279.44, Z:38.98 [[ 9.98692852e-01 -5.11048269e-02 -9.40734334e-04 3.71981910e+02] [ 5.11047709e-02 9.98693294e-01 -8.34160000e-05 2.79438107e+02] [ 9.43768031e-04 3.52309503e-05 9.99999554e-01 3.89801024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.336875 meters 0.027482581015768597 Centerline is valid? [True, True] Translation: X:372.04, Y:279.44, Z:38.98 [[ 9.98265222e-01 -5.88733411e-02 6.89471378e-04 3.72040730e+02] [ 5.88733127e-02 9.98265460e-01 6.13853151e-05 2.79442781e+02] [-6.91889421e-04 -2.06873612e-05 9.99999760e-01 3.89824015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.396875 meters 0.023978791108388107 Centerline is valid? [True, True] Translation: X:372.10, Y:279.44, Z:38.98 [[ 9.97920921e-01 -6.44084790e-02 2.32035078e-03 3.72101033e+02] [ 6.44081737e-02 9.97923617e-01 2.06121736e-04 2.79444947e+02] [-2.32880883e-03 -5.62436359e-05 9.99997287e-01 3.89838175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.456875 meters 0.02327059186517899 Centerline is valid? [True, True] Translation: X:372.16, Y:279.46, Z:38.98 [[ 9.97682502e-01 -6.79203797e-02 4.05551695e-03 3.72158728e+02] [ 6.79194637e-02 9.97690741e-01 3.63319779e-04 2.79459359e+02] [-4.07082853e-03 -8.70292496e-05 9.99991710e-01 3.89836697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.516875 meters 0.024188196080390405 Centerline is valid? [True, True] Translation: X:372.22, Y:279.48, Z:38.98 [[ 9.97793374e-01 -6.61215454e-02 6.02691001e-03 3.72215096e+02] [ 6.61195025e-02 9.97811566e-01 5.37805687e-04 2.79480177e+02] [-6.04928106e-03 -1.38122659e-04 9.99981693e-01 3.89833053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.576875 meters 0.024875242305874942 Centerline is valid? [True, True] Translation: X:372.27, Y:279.50, Z:38.98 [[ 9.98027036e-01 -6.25820110e-02 5.05237161e-03 3.72272115e+02] [ 6.25805271e-02 9.98039816e-01 4.51419687e-04 2.79496863e+02] [-5.07071878e-03 -1.34348974e-04 9.99987135e-01 3.89809902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.636875 meters 0.026743395251742467 Centerline is valid? [True, True] Translation: X:372.33, Y:279.52, Z:38.98 [[ 9.98380312e-01 -5.66577113e-02 5.16297700e-03 3.72328972e+02] [ 5.66560861e-02 9.98393648e-01 4.60604454e-04 2.79521931e+02] [-5.18078023e-03 -1.67344349e-04 9.99986566e-01 3.89814077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.696875 meters 0.027543772351820345 Centerline is valid? [True, True] Translation: X:372.39, Y:279.54, Z:38.98 [[ 9.98643632e-01 -5.16102208e-02 6.87612004e-03 3.72387861e+02] [ 5.16072195e-02 9.98667271e-01 6.13318500e-04 2.79544017e+02] [-6.89860954e-03 -2.57629178e-04 9.99976171e-01 3.89812580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.756875 meters 0.02799388858298454 Centerline is valid? [True, True] Translation: X:372.45, Y:279.56, Z:38.98 [[ 9.98728579e-01 -4.95817871e-02 9.10337670e-03 3.72446022e+02] [ 4.95764334e-02 9.98770002e-01 8.12965831e-04 2.79560058e+02] [-9.13248786e-03 -3.60619261e-04 9.99958233e-01 3.89818844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.816875 meters 0.029628450633997928 Centerline is valid? [True, True] Translation: X:372.50, Y:279.58, Z:38.98 [[ 9.98765562e-01 -4.81634152e-02 1.21506602e-02 3.72502532e+02] [ 4.81537608e-02 9.98839344e-01 1.08603912e-03 2.79583303e+02] [-1.21888648e-02 -4.99598483e-04 9.99925588e-01 3.89827420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.876875 meters 0.030845500863025645 Centerline is valid? [True, True] Translation: X:372.56, Y:279.60, Z:38.98 [[ 9.98788327e-01 -4.73467025e-02 1.34226292e-02 3.72559857e+02] [ 4.73347838e-02 9.98878355e-01 1.20444517e-03 2.79600868e+02] [-1.34646002e-02 -5.67628526e-04 9.99909187e-01 3.89821562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.936875 meters 0.031248810986556193 Centerline is valid? [True, True] Translation: X:372.62, Y:279.63, Z:38.98 [[ 9.98785789e-01 -4.72675007e-02 1.38827552e-02 3.72616289e+02] [ 4.72546980e-02 9.98882092e-01 1.24896990e-03 2.79625648e+02] [-1.39262713e-02 -5.91427980e-04 9.99902850e-01 3.89814948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.996875 meters 0.03148522097165314 Centerline is valid? [True, True] Translation: X:372.67, Y:279.65, Z:38.98 [[ 9.98852724e-01 -4.56353833e-02 1.45137117e-02 3.72673431e+02] [ 4.56212345e-02 9.98957958e-01 1.30462633e-03 2.79649326e+02] [-1.45581249e-02 -6.40996118e-04 9.99893819e-01 3.89827020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.056875 meters 0.03239749022848871 Centerline is valid? [True, True] Translation: X:372.73, Y:279.67, Z:38.98 [[ 9.98924774e-01 -4.39734857e-02 1.46842722e-02 3.72732225e+02] [ 4.39588304e-02 9.99032472e-01 1.31946940e-03 2.79669588e+02] [-1.47280865e-02 -6.72547237e-04 9.99891310e-01 3.89842197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.116875 meters 0.029849704210692413 Centerline is valid? [True, True] Translation: X:372.79, Y:279.69, Z:38.98 [[ 9.98961455e-01 -4.22197507e-02 1.71319399e-02 3.72790989e+02] [ 4.21995526e-02 9.99108017e-01 1.53893367e-03 2.79693755e+02] [-1.71816319e-02 -8.14375219e-04 9.99852053e-01 3.89830388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.176875 meters 0.030700534495923852 Centerline is valid? [True, True] Translation: X:372.85, Y:279.72, Z:38.98 [[ 9.99051972e-01 -4.13694065e-02 1.35547149e-02 3.72850192e+02] [ 4.13566999e-02 9.99143705e-01 1.21651444e-03 2.79718872e+02] [-1.35934345e-02 -6.54782879e-04 9.99907391e-01 3.89810225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.236875 meters 0.03268966179636366 Centerline is valid? [True, True] Translation: X:372.91, Y:279.74, Z:38.98 [[ 9.99087814e-01 -4.06880756e-02 1.29623059e-02 3.72909984e+02] [ 4.06764237e-02 9.99171697e-01 1.16139597e-03 2.79737123e+02] [-1.29988242e-02 -6.33076316e-04 9.99915311e-01 3.89834660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.296875 meters 0.029879238598382957 Centerline is valid? [True, True] Translation: X:372.97, Y:279.76, Z:38.99 [[ 9.99089372e-01 -4.04098449e-02 1.36920005e-02 3.72970016e+02] [ 4.03968201e-02 9.99182962e-01 1.22661783e-03 2.79757576e+02] [-1.37303811e-02 -6.72387552e-04 9.99905508e-01 3.89862410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3568750000001 meters 0.029215065113442806 Centerline is valid? [True, True] Translation: X:373.03, Y:279.78, Z:38.99 [[ 9.99123230e-01 -4.02781089e-02 1.14212185e-02 3.73029995e+02] [ 4.02690500e-02 9.99188350e-01 1.02212088e-03 2.79780018e+02] [-1.14531176e-02 -5.61303096e-04 9.99934253e-01 3.89875673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.416875 meters 0.03269221658245865 Centerline is valid? [True, True] Translation: X:373.09, Y:279.80, Z:38.99 [[ 9.99187752e-01 -3.83177710e-02 1.24733241e-02 3.73088159e+02] [ 3.83068046e-02 9.99265401e-01 1.11700535e-03 2.79802945e+02] [-1.25069623e-02 -6.38284874e-04 9.99921581e-01 3.89927427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4768750000001 meters 0.03476415838911999 Centerline is valid? [True, True] Translation: X:373.15, Y:279.83, Z:39.00 [[ 9.99318254e-01 -3.36027906e-02 1.52931071e-02 3.73146040e+02] [ 3.35857489e-02 9.99434901e-01 1.36988058e-03 2.79830794e+02] [-1.53304968e-02 -8.55316220e-04 9.99882115e-01 3.89968310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.536875 meters 0.03565849924854965 Centerline is valid? [True, True] Translation: X:373.21, Y:279.86, Z:39.00 [[ 9.99399345e-01 -3.17644002e-02 1.38553913e-02 3.73205565e+02] [ 3.17502546e-02 9.99495065e-01 1.23977570e-03 2.79856547e+02] [-1.38877760e-02 -7.99118819e-04 9.99903241e-01 3.89982478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.596875 meters 0.0358613643456112 Centerline is valid? [True, True] Translation: X:373.27, Y:279.87, Z:39.00 [[ 9.99398389e-01 -3.22058414e-02 1.28702473e-02 3.73266757e+02] [ 3.21936863e-02 9.99480987e-01 1.15055149e-03 2.79870967e+02] [-1.29006220e-02 -7.35518599e-04 9.99916513e-01 3.89983462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.656875 meters 0.035098302431414236 Centerline is valid? [True, True] Translation: X:373.33, Y:279.88, Z:39.00 [[ 9.99376634e-01 -3.27385975e-02 1.32109046e-02 3.73328416e+02] [ 3.27258487e-02 9.99463669e-01 1.18010789e-03 2.79883597e+02] [-1.32424542e-02 -7.47034186e-04 9.99912036e-01 3.90000837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.716875 meters 0.0340157310599887 Centerline is valid? [True, True] Translation: X:373.39, Y:279.90, Z:39.00 [[ 9.99367020e-01 -3.29282571e-02 1.34643569e-02 3.73389835e+02] [ 3.29150443e-02 9.99457431e-01 1.20180725e-03 2.79896804e+02] [-1.34966250e-02 -7.57866622e-04 9.99908629e-01 3.90007705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.776875 meters 0.03659439490858577 Centerline is valid? [True, True] Translation: X:373.45, Y:279.92, Z:39.00 [[ 9.99475483e-01 -2.98872163e-02 1.24705071e-02 3.73447872e+02] [ 2.98756607e-02 9.99553004e-01 1.11194076e-03 2.79920918e+02] [-1.24981657e-02 -7.38792885e-04 9.99921622e-01 3.90009067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.836875 meters 0.03827149198021604 Centerline is valid? [True, True] Translation: X:373.51, Y:279.94, Z:39.00 [[ 9.99639803e-01 -2.46909528e-02 1.05176628e-02 3.73507198e+02] [ 2.46824406e-02 9.99694902e-01 9.38384052e-04 2.79943182e+02] [-1.05376235e-02 -6.78444462e-04 9.99944248e-01 3.89979091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.896875 meters 0.038483880330879225 Centerline is valid? [True, True] Translation: X:373.57, Y:279.96, Z:39.00 [[ 9.99735486e-01 -2.06007169e-02 1.02258643e-02 3.73566567e+02] [ 2.05924578e-02 9.99787537e-01 9.12311400e-04 2.79958106e+02] [-1.02424859e-02 -7.01494403e-04 9.99947298e-01 3.89971702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.956875 meters 0.044403811933730455 Centerline is valid? [True, True] Translation: X:373.62, Y:279.99, Z:39.00 [[ 9.99838233e-01 -1.51708708e-02 9.66193648e-03 3.73623751e+02] [ 1.51632598e-02 9.99884661e-01 8.60502557e-04 2.79990942e+02] [-9.67387665e-03 -7.13856903e-04 9.99952952e-01 3.89982778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.016875 meters 0.0446331486503362 Centerline is valid? [True, True] Translation: X:373.68, Y:280.01, Z:38.99 [[ 9.99926780e-01 -9.73772143e-03 7.18411789e-03 3.73683392e+02] [ 9.73337357e-03 9.99952425e-01 6.39921170e-04 2.80011081e+02] [-7.19000748e-03 -5.69948612e-04 9.99973989e-01 3.89939149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.076875 meters 0.047449306724239984 Centerline is valid? [True, True] Translation: X:373.74, Y:280.03, Z:38.99 [[ 9.99961985e-01 -7.14126006e-03 5.00317696e-03 3.73741798e+02] [ 7.13911816e-03 9.99974417e-01 4.45837398e-04 2.80030748e+02] [-5.00623281e-03 -4.10102177e-04 9.99987385e-01 3.89920242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.136875 meters 0.048908764700524535 Centerline is valid? [True, True] Translation: X:373.80, Y:280.05, Z:38.99 [[ 9.99980150e-01 -5.19653538e-03 3.56311037e-03 3.73800629e+02] [ 5.19543758e-03 9.99986453e-01 3.17287506e-04 2.80054060e+02] [-3.56471090e-03 -2.98769290e-04 9.99993602e-01 3.89914458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.196875 meters 0.05019006898911102 Centerline is valid? [True, True] Translation: X:373.86, Y:280.07, Z:38.99 [[ 9.99959081e-01 -8.90031551e-03 1.61857795e-03 3.73859264e+02] [ 8.90009378e-03 9.99960383e-01 1.44136881e-04 2.80072226e+02] [-1.61979669e-03 -1.29725488e-04 9.99998680e-01 3.89892776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.256875 meters 0.04532038732973247 Centerline is valid? [True, True] Translation: X:373.92, Y:280.09, Z:38.99 [[ 9.99953413e-01 -9.60954618e-03 -9.09864102e-04 3.73919553e+02] [ 9.60947610e-03 9.99953825e-01 -8.13552148e-05 2.80085678e+02] [ 9.10603875e-04 7.26081074e-05 9.99999583e-01 3.89861104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.316875 meters 0.039141650851423015 Centerline is valid? [True, True] Translation: X:373.98, Y:280.09, Z:38.98 [[ 9.99965561e-01 -6.79016218e-03 -4.77193774e-03 3.73980257e+02] [ 6.78821068e-03 9.99976870e-01 -4.25032669e-04 2.80094948e+02] [ 4.77471340e-03 3.92625112e-04 9.99988524e-01 3.89828004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.376875 meters 0.0407703346364997 Centerline is valid? [True, True] Translation: X:374.04, Y:280.12, Z:38.98 [[ 9.99964633e-01 -3.88423718e-03 -7.45959888e-03 3.74038599e+02] [ 3.87939010e-03 9.99992255e-01 -6.64137214e-04 2.80117086e+02] [ 7.46212077e-03 6.35175031e-04 9.99971956e-01 3.89811068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.436875 meters 0.04501181047169806 Centerline is valid? [True, True] Translation: X:374.10, Y:280.15, Z:38.98 [[ 9.99974419e-01 1.31926878e-03 -7.03002399e-03 3.74095907e+02] [-1.32370170e-03 9.99998928e-01 -6.25954632e-04 2.80145225e+02] [ 7.02919065e-03 6.35244274e-04 9.99975093e-01 3.89837932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.496875 meters 0.04700876869105235 Centerline is valid? [True, True] Translation: X:374.15, Y:280.17, Z:38.98 [[ 9.99942169e-01 6.41887618e-03 -8.62885417e-03 3.74154640e+02] [-6.42574447e-03 9.99979059e-01 -7.68478612e-04 2.80166121e+02] [ 8.62374071e-03 8.23880982e-04 9.99962475e-01 3.89841186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.556875 meters 0.04661634909933354 Centerline is valid? [True, True] Translation: X:374.21, Y:280.18, Z:38.98 [[ 9.99878691e-01 1.25941088e-02 -9.16472645e-03 3.74213980e+02] [-1.26021144e-02 9.99920257e-01 -8.16292207e-04 2.80179621e+02] [ 9.15371516e-03 9.31688114e-04 9.99957670e-01 3.89826379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.616875 meters 0.049192429716129804 Centerline is valid? [True, True] Translation: X:374.27, Y:280.20, Z:38.98 [[ 9.99855557e-01 1.50775896e-02 -7.84416281e-03 3.74273473e+02] [-1.50835297e-02 9.99885993e-01 -6.98652851e-04 2.80195259e+02] [ 7.83273452e-03 8.16869599e-04 9.99968990e-01 3.89834859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.676875 meters 0.049728423455666075 Centerline is valid? [True, True] Translation: X:374.33, Y:280.22, Z:38.98 [[ 9.99785888e-01 1.89296474e-02 -8.35745065e-03 3.74332125e+02] [-1.89365235e-02 9.99820411e-01 -7.44386685e-04 2.80215329e+02] [ 8.34185877e-03 9.02488363e-04 9.99964799e-01 3.89838249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.736875 meters 0.06047400325430163 Centerline is valid? [True, True] Translation: X:374.39, Y:280.24, Z:38.98 [[ 9.99638453e-01 2.49213563e-02 -1.00940070e-02 3.74389403e+02] [-2.49316905e-02 9.99688753e-01 -8.99241366e-04 2.80242967e+02] [ 1.00684550e-02 1.15057691e-03 9.99948650e-01 3.89825043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.796875 meters 0.0607528863036118 Centerline is valid? [True, True] Translation: X:374.45, Y:280.25, Z:38.98 [[ 9.99504296e-01 2.98831711e-02 -9.90744588e-03 3.74449195e+02] [-2.98933686e-02 9.99552704e-01 -8.82751495e-04 2.80250444e+02] [ 9.87663490e-03 1.17848084e-03 9.99950530e-01 3.89835596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8568750000001 meters 0.06117032523719542 Centerline is valid? [True, True] Translation: X:374.51, Y:280.26, Z:38.99 [[ 9.99384157e-01 3.44270007e-02 -6.78885922e-03 3.74508579e+02] [-3.44318922e-02 9.99406864e-01 -6.04917061e-04 2.80259783e+02] [ 6.76400702e-03 8.38297795e-04 9.99976772e-01 3.89874562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.916875 meters 0.05909839291538998 Centerline is valid? [True, True] Translation: X:374.57, Y:280.26, Z:38.99 [[ 9.99323514e-01 3.65340646e-02 -4.21611645e-03 3.74569089e+02] [-3.65359696e-02 9.99332268e-01 -3.75667840e-04 2.80264164e+02] [ 4.19957654e-03 5.29453608e-04 9.99991042e-01 3.89900530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9768750000001 meters 0.04985886306134934 Centerline is valid? [True, True] Translation: X:374.63, Y:280.26, Z:38.99 [[ 9.99237906e-01 3.89564227e-02 -2.45030263e-03 3.74630096e+02] [-3.89570733e-02 9.99240861e-01 -2.18354427e-04 2.80258197e+02] [ 2.43993621e-03 3.13644640e-04 9.99996974e-01 3.89910260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.036875 meters 0.049951003662152396 Centerline is valid? [True, True] Translation: X:374.69, Y:280.26, Z:38.99 [[ 9.99274668e-01 3.80548511e-02 -1.40216132e-03 3.74689262e+02] [-3.80550620e-02 9.99275636e-01 -1.24036496e-04 2.80261724e+02] [ 1.39642545e-03 1.77305865e-04 9.99999009e-01 3.89917140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.096875 meters 0.05336837454245912 Centerline is valid? [True, True] Translation: X:374.75, Y:280.27, Z:38.99 [[ 9.99328885e-01 3.65606218e-02 -2.25827773e-03 3.74747502e+02] [-3.65611685e-02 9.99331397e-01 -2.01260002e-04 2.80273273e+02] [ 2.24940964e-03 2.83690206e-04 9.99997430e-01 3.89922948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.156875 meters 0.06157369076698001 Centerline is valid? [True, True] Translation: X:374.81, Y:280.29, Z:38.99 [[ 9.99374178e-01 3.53127117e-02 -2.06507577e-03 3.74805008e+02] [-3.53131663e-02 9.99376279e-01 -1.84088039e-04 2.80290487e+02] [ 2.05728709e-03 2.56897197e-04 9.99997851e-01 3.89933504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.216875 meters 0.060312387960376274 Centerline is valid? [True, True] Translation: X:374.86, Y:280.29, Z:39.00 [[ 9.99438928e-01 3.34800407e-02 9.56620964e-04 3.74864673e+02] [-3.34801379e-02 9.99439379e-01 8.57621872e-05 2.80294204e+02] [-9.53213341e-04 -1.17741870e-04 9.99999539e-01 3.89961578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.276875 meters 0.048210378607543194 Centerline is valid? [True, True] Translation: X:374.93, Y:280.28, Z:38.99 [[ 9.99501282e-01 3.15324378e-02 1.70091223e-03 3.74926546e+02] [-3.15327414e-02 9.99502708e-01 1.52001670e-04 2.80284961e+02] [-1.69527340e-03 -2.05560289e-04 9.99998542e-01 3.89947334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.336875 meters 0.051778672524141596 Centerline is valid? [True, True] Translation: X:374.98, Y:280.29, Z:39.00 [[ 9.99509467e-01 3.10043303e-02 4.42231616e-03 3.74983856e+02] [-3.10063825e-02 9.99519108e-01 3.96237967e-04 2.80293766e+02] [-4.40790441e-03 -5.33163626e-04 9.99990143e-01 3.89970191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.396875 meters 0.06232128568041771 Centerline is valid? [True, True] Translation: X:375.04, Y:280.31, Z:39.00 [[ 9.99478123e-01 3.19147858e-02 4.99290226e-03 3.75040642e+02] [-3.19174134e-02 9.99490409e-01 4.47447809e-04 2.80312263e+02] [-4.97607773e-03 -6.06574822e-04 9.99987435e-01 3.89978485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.456875 meters 0.05892591323241915 Centerline is valid? [True, True] Translation: X:375.10, Y:280.31, Z:39.00 [[ 9.99447205e-01 3.26686064e-02 6.16821665e-03 3.75100244e+02] [-3.26726290e-02 9.99465954e-01 5.52485610e-04 2.80314621e+02] [-6.14687361e-03 -7.53712052e-04 9.99980824e-01 3.89975994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.516875 meters 0.052160665333550134 Centerline is valid? [True, True] Translation: X:375.16, Y:280.31, Z:39.00 [[ 9.99467034e-01 3.18703638e-02 7.06600561e-03 3.75160283e+02] [-3.18756264e-02 9.99491642e-01 6.33386003e-04 2.80310248e+02] [-7.04222731e-03 -8.58281785e-04 9.99974835e-01 3.89968702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.576875 meters 0.0541703300421528 Centerline is valid? [True, True] Translation: X:375.22, Y:280.32, Z:39.00 [[ 9.99500861e-01 3.08270112e-02 6.90829053e-03 3.75219904e+02] [-3.08320191e-02 9.99524388e-01 6.19569371e-04 2.80318365e+02] [-6.88590539e-03 -8.32256666e-04 9.99975946e-01 3.89974364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.636875 meters 0.06050328741810283 Centerline is valid? [True, True] Translation: X:375.28, Y:280.33, Z:39.00 [[ 9.99571856e-01 2.82515200e-02 7.61291721e-03 3.75277908e+02] [-2.82575268e-02 9.99600443e-01 6.82601933e-04 2.80333729e+02] [-7.59059088e-03 -8.97431893e-04 9.99970788e-01 3.89978462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.696875 meters 0.058436966645283236 Centerline is valid? [True, True] Translation: X:375.34, Y:280.34, Z:39.00 [[ 9.99588260e-01 2.69640664e-02 9.81070975e-03 3.75336285e+02] [-2.69739910e-02 9.99635748e-01 8.80674578e-04 2.80339076e+02] [-9.78338961e-03 -1.14494597e-03 9.99951486e-01 3.89991894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.756875 meters 0.05649981322563264 Centerline is valid? [True, True] Translation: X:375.40, Y:280.35, Z:39.00 [[ 9.99572202e-01 2.69363276e-02 1.13950825e-02 3.75395030e+02] [-2.69497225e-02 9.99636266e-01 1.02354861e-03 2.80345018e+02] [-1.13633671e-02 -1.33020505e-03 9.99934550e-01 3.90004859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.816875 meters 0.05833346265768218 Centerline is valid? [True, True] Translation: X:375.45, Y:280.36, Z:39.00 [[ 9.99627033e-01 2.44087055e-02 1.22478685e-02 3.75454708e+02] [-2.44239859e-02 9.99701085e-01 1.09955643e-03 2.80355437e+02] [-1.22173687e-02 -1.39828810e-03 9.99924387e-01 3.89988278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.876875 meters 0.044231044357491284 Centerline is valid? [True, True] Translation: X:375.52, Y:280.35, Z:39.00 [[ 9.99739880e-01 1.87857582e-02 1.29332156e-02 3.75516443e+02] [-1.88023323e-02 9.99822546e-01 1.16110609e-03 2.80349161e+02] [-1.29091083e-02 -1.40397868e-03 9.99915688e-01 3.89972239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.936875 meters 0.05444763965420332 Centerline is valid? [True, True] Translation: X:375.57, Y:280.37, Z:39.00 [[ 9.99856327e-01 1.15124524e-02 1.24413919e-02 3.75573887e+02] [-1.15272363e-02 9.99932935e-01 1.11723151e-03 2.80373076e+02] [-1.24276954e-02 -1.26048586e-03 9.99921979e-01 3.89982214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.996875 meters 0.04584490871712804 Centerline is valid? [True, True] Translation: X:375.63, Y:280.37, Z:39.00 [[ 9.99898112e-01 5.28561855e-03 1.32600139e-02 3.75634906e+02] [-5.30186862e-03 9.99985236e-01 1.19064088e-03 2.80371402e+02] [-1.32535248e-02 -1.26082242e-03 9.99911373e-01 3.89973962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.056875 meters 0.043175554189561656 Centerline is valid? [True, True] Translation: X:375.69, Y:280.39, Z:39.00 [[ 9.99912086e-01 -3.98537052e-03 1.26465967e-02 3.75694681e+02] [ 3.97132652e-03 9.99991470e-01 1.13541557e-03 2.80385161e+02] [-1.26510138e-02 -1.08509199e-03 9.99919384e-01 3.89974011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.116875 meters 0.041604671249246127 Centerline is valid? [True, True] Translation: X:375.75, Y:280.40, Z:39.00 [[ 9.99877001e-01 -9.71676934e-03 1.23112694e-02 3.75754568e+02] [ 9.70389239e-03 9.99952305e-01 1.10525427e-03 2.80395522e+02] [-1.23214217e-02 -9.85651094e-04 9.99923603e-01 3.89979569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.176875 meters 0.03831793732129838 Centerline is valid? [True, True] Translation: X:375.81, Y:280.41, Z:39.00 [[ 9.99858007e-01 -1.22462539e-02 1.15756258e-02 3.75813999e+02] [ 1.22350419e-02 9.99924609e-01 1.03890635e-03 2.80410462e+02] [-1.15874759e-02 -8.97130567e-04 9.99932460e-01 3.89966736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.236875 meters 0.043368832133140425 Centerline is valid? [True, True] Translation: X:375.87, Y:280.44, Z:39.00 [[ 9.99911194e-01 -7.07587780e-03 1.12931469e-02 3.75871376e+02] [ 7.06488640e-03 9.99974530e-01 1.01287825e-03 2.80439804e+02] [-1.13000263e-02 -9.33003501e-04 9.99935717e-01 3.89984431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.296875 meters 0.040875039937212844 Centerline is valid? [True, True] Translation: X:375.93, Y:280.46, Z:39.00 [[ 9.99902698e-01 -4.87254063e-03 1.30710671e-02 3.75930391e+02] [ 4.85762451e-03 9.99987514e-01 1.17266203e-03 2.80460761e+02] [-1.30766177e-02 -1.10905359e-03 9.99913882e-01 3.89988865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3568750000001 meters 0.04213223926297784 Centerline is valid? [True, True] Translation: X:375.99, Y:280.48, Z:39.00 [[ 9.99860610e-01 -7.70194899e-03 1.48135256e-02 3.75988879e+02] [ 7.68309807e-03 9.99969601e-01 1.32903805e-03 2.80478459e+02] [-1.48233115e-02 -1.21503903e-03 9.99889390e-01 3.89997760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.416875 meters 0.036788180600593204 Centerline is valid? [True, True] Translation: X:376.05, Y:280.49, Z:39.00 [[ 9.99722588e-01 -1.78980485e-02 1.53103628e-02 3.76048710e+02] [ 1.78791019e-02 9.99839213e-01 1.37349482e-03 2.80492856e+02] [-1.53324839e-02 -1.09937826e-03 9.99881846e-01 3.89985493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4768750000001 meters 0.03207034942035123 Centerline is valid? [True, True] Translation: X:376.11, Y:280.51, Z:39.00 [[ 9.99452635e-01 -2.96594566e-02 1.46542607e-02 3.76107944e+02] [ 2.96433588e-02 9.99559675e-01 1.31454736e-03 2.80512378e+02] [-1.46867968e-02 -8.79426317e-04 9.99891756e-01 3.89985471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.536875 meters 0.031756826465769314 Centerline is valid? [True, True] Translation: X:376.17, Y:280.53, Z:39.00 [[ 9.99306557e-01 -3.36831270e-02 1.58698362e-02 3.76167353e+02] [ 3.36647589e-02 9.99432168e-01 1.42322541e-03 2.80531385e+02] [-1.59087634e-02 -8.87984279e-04 9.99873053e-01 3.90006871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.596875 meters 0.030728729910932596 Centerline is valid? [True, True] Translation: X:376.23, Y:280.56, Z:39.00 [[ 9.99219068e-01 -3.63335966e-02 1.55281331e-02 3.76226508e+02] [ 3.63163342e-02 9.99339374e-01 1.39231713e-03 2.80556908e+02] [-1.55684627e-02 -8.27304955e-04 9.99878462e-01 3.90000878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.656875 meters 0.030150404534388105 Centerline is valid? [True, True] Translation: X:376.28, Y:280.58, Z:39.00 [[ 9.98887331e-01 -4.37598956e-02 1.75832927e-02 3.76284805e+02] [ 4.37389078e-02 9.99041752e-01 1.57660521e-03 2.80578673e+02] [-1.76354356e-02 -8.05776954e-04 9.99844159e-01 3.90037393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.716875 meters 0.024104102903180047 Centerline is valid? [True, True] Translation: X:376.35, Y:280.57, Z:39.00 [[ 9.98127273e-01 -5.79025246e-02 1.97292980e-02 3.76345701e+02] [ 5.78788598e-02 9.98322047e-01 1.76885958e-03 2.80574342e+02] [-1.97986146e-02 -6.23637712e-04 9.99803794e-01 3.90049193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.776875 meters 0.020438863407630153 Centerline is valid? [True, True] Translation: X:376.41, Y:280.57, Z:39.00 [[ 9.97335124e-01 -7.13552693e-02 1.52012077e-02 3.76407388e+02] [ 7.13427880e-02 9.97450926e-01 1.36246932e-03 2.80569272e+02] [-1.52596780e-02 -2.74341974e-04 9.99883527e-01 3.89992065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.836875 meters 0.020668278490525306 Centerline is valid? [True, True] Translation: X:376.47, Y:280.57, Z:39.00 [[ 9.97481643e-01 -6.93387349e-02 1.49168142e-02 3.76469396e+02] [ 6.93265733e-02 9.97593130e-01 1.33147410e-03 2.80574649e+02] [-1.49732341e-02 -2.93989363e-04 9.99887852e-01 3.89997619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.896875 meters 0.022673470256402053 Centerline is valid? [True, True] Translation: X:376.53, Y:280.58, Z:39.00 [[ 9.97953756e-01 -6.25413079e-02 1.32998081e-02 3.76529965e+02] [ 6.25310752e-02 9.98042315e-01 1.18425591e-03 2.80583781e+02] [-1.33478362e-02 -3.50181337e-04 9.99910852e-01 3.89996744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.956875 meters 0.024467709864233952 Centerline is valid? [True, True] Translation: X:376.59, Y:280.59, Z:39.00 [[ 9.98365299e-01 -5.53984793e-02 1.40619203e-02 3.76590570e+02] [ 5.53863103e-02 9.98464213e-01 1.25364806e-03 2.80593340e+02] [-1.41097744e-02 -4.72760836e-04 9.99900340e-01 3.90010844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.016875 meters 0.025866025709105588 Centerline is valid? [True, True] Translation: X:376.65, Y:280.60, Z:38.99 [[ 9.98664026e-01 -5.06850745e-02 1.00591473e-02 3.76652753e+02] [ 5.06786201e-02 9.98714612e-01 8.95666711e-04 2.80596661e+02] [-1.00916143e-02 -3.84686418e-04 9.99949004e-01 3.89948068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.076875 meters 0.026499711223251076 Centerline is valid? [True, True] Translation: X:376.71, Y:280.60, Z:39.00 [[ 9.98747058e-01 -4.89174887e-02 1.05543100e-02 3.76714816e+02] [ 4.89102919e-02 9.98802734e-01 9.39084598e-04 2.80603178e+02] [-1.05876113e-02 -4.21693598e-04 9.99943861e-01 3.89964994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.136875 meters 0.028092079532729977 Centerline is valid? [True, True] Translation: X:376.78, Y:280.61, Z:39.00 [[ 9.98894974e-01 -4.60131937e-02 9.57168205e-03 3.76776629e+02] [ 4.60071480e-02 9.98940748e-01 8.50969226e-04 2.80611082e+02] [-9.60069904e-03 -4.09663091e-04 9.99953828e-01 3.89982187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.196875 meters 0.028178576624812088 Centerline is valid? [True, True] Translation: X:376.84, Y:280.62, Z:39.00 [[ 9.99089851e-01 -4.17666267e-02 8.66127298e-03 3.76837607e+02] [ 4.17615149e-02 9.99127310e-01 7.70283935e-04 2.80615860e+02] [-8.68588654e-03 -4.07874982e-04 9.99962194e-01 3.89969522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.256875 meters 0.03082022632126213 Centerline is valid? [True, True] Translation: X:376.90, Y:280.63, Z:39.00 [[ 9.99211327e-01 -3.86173964e-02 9.24228561e-03 3.76897019e+02] [ 3.86114527e-02 9.99253963e-01 8.20741373e-04 2.80625360e+02] [-9.26708541e-03 -4.63236004e-04 9.99956952e-01 3.89977737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.316875 meters 0.03018439541914198 Centerline is valid? [True, True] Translation: X:376.96, Y:280.63, Z:39.00 [[ 9.99168572e-01 -3.95541163e-02 9.88108425e-03 3.76959238e+02] [ 3.95474047e-02 9.99217313e-01 8.73778171e-04 2.80629647e+02] [-9.90791198e-03 -4.82280450e-04 9.99950799e-01 3.89992594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.376875 meters 0.028100549358444315 Centerline is valid? [True, True] Translation: X:377.02, Y:280.63, Z:39.00 [[ 9.98975700e-01 -4.40796601e-02 1.02241626e-02 3.77020256e+02] [ 4.40726912e-02 9.99027916e-01 9.06021539e-04 2.80632826e+02] [-1.02541610e-02 -4.54487140e-04 9.99947321e-01 3.90014387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.436875 meters 0.026772310873656682 Centerline is valid? [True, True] Translation: X:377.08, Y:280.63, Z:39.00 [[ 9.98794329e-01 -4.80524774e-02 1.00423483e-02 3.77081072e+02] [ 4.80459568e-02 9.98844730e-01 8.89690158e-04 2.80634960e+02] [-1.00734985e-02 -4.06123251e-04 9.99949179e-01 3.90007061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.496875 meters 0.02503585828183453 Centerline is valid? [True, True] Translation: X:377.14, Y:280.64, Z:39.00 [[ 9.98531105e-01 -5.31516899e-02 1.05133611e-02 3.77142534e+02] [ 5.31448280e-02 9.98586381e-01 9.31184427e-04 2.80635511e+02] [-1.05479933e-02 -3.71085846e-04 9.99944300e-01 3.90008596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.556875 meters 0.022980294508563023 Centerline is valid? [True, True] Translation: X:377.20, Y:280.64, Z:39.01 [[ 9.98125097e-01 -5.99958298e-02 1.21157690e-02 3.77203307e+02] [ 5.99872228e-02 9.98198568e-01 1.07288324e-03 2.80639790e+02] [-1.21583118e-02 -3.44080354e-04 9.99926026e-01 3.90053393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.616875 meters 0.021473562581054054 Centerline is valid? [True, True] Translation: X:377.26, Y:280.64, Z:39.01 [[ 9.97792746e-01 -6.50598889e-02 1.32983848e-02 3.77264505e+02] [ 6.50499762e-02 9.97881313e-01 1.17706205e-03 2.80641915e+02] [-1.33467892e-02 -3.09404363e-04 9.99910880e-01 3.90071863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.676875 meters 0.02033753574470216 Centerline is valid? [True, True] Translation: X:377.33, Y:280.64, Z:39.01 [[ 9.97349638e-01 -7.13358486e-02 1.43142189e-02 3.77325910e+02] [ 7.13250157e-02 9.97452324e-01 1.26652584e-03 2.80643630e+02] [-1.43680996e-02 -2.42207197e-04 9.99896744e-01 3.90069395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.736875 meters 0.019305785149643557 Centerline is valid? [True, True] Translation: X:377.39, Y:280.64, Z:39.01 [[ 9.96862305e-01 -7.77179268e-02 1.50156192e-02 3.77388363e+02] [ 7.77068108e-02 9.96975376e-01 1.32321023e-03 2.80643319e+02] [-1.50730397e-02 -1.52242523e-04 9.99886384e-01 3.90058069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.796875 meters 0.018605726348791804 Centerline is valid? [True, True] Translation: X:377.45, Y:280.64, Z:39.01 [[ 9.96179168e-01 -8.62610284e-02 1.36418258e-02 3.77449453e+02] [ 8.62526373e-02 9.96272570e-01 1.20335677e-03 2.80644791e+02] [-1.36947796e-02 -2.21155002e-05 9.99906222e-01 3.90072450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8568750000001 meters 0.018385141431746934 Centerline is valid? [True, True] Translation: X:377.51, Y:280.65, Z:39.00 [[ 9.96454459e-01 -8.33913542e-02 1.11531952e-02 3.77511868e+02] [ 8.33855820e-02 9.96516874e-01 9.82379227e-04 2.80650877e+02] [-1.11962691e-02 -4.88804918e-05 9.99937319e-01 3.90048963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.916875 meters 0.019114760190944376 Centerline is valid? [True, True] Translation: X:377.57, Y:280.66, Z:39.01 [[ 9.96827538e-01 -7.87978963e-02 1.12139075e-02 3.77573008e+02] [ 7.87917903e-02 9.96890607e-01 9.85949881e-04 2.80660030e+02] [-1.12567299e-02 -9.92581413e-05 9.99936636e-01 3.90065376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9768750000001 meters 0.01948147181348256 Centerline is valid? [True, True] Translation: X:377.64, Y:280.67, Z:39.00 [[ 9.97183676e-01 -7.45770598e-02 7.93590295e-03 3.77635441e+02] [ 7.45738731e-02 9.97215248e-01 6.97122204e-04 2.80666535e+02] [-7.96579275e-03 -1.03347862e-04 9.99968267e-01 3.90024655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.036875 meters 0.01976402681503571 Centerline is valid? [True, True] Translation: X:377.70, Y:280.67, Z:39.00 [[ 9.97418733e-01 -7.16833365e-02 4.16782414e-03 3.77697711e+02] [ 7.16824438e-02 9.97427439e-01 3.63365903e-04 2.80672092e+02] [-4.18314943e-03 -6.36681388e-05 9.99991249e-01 3.89991222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.096875 meters 0.02025851153235054 Centerline is valid? [True, True] Translation: X:377.76, Y:280.68, Z:39.00 [[ 9.97693137e-01 -6.78103266e-02 3.18809320e-03 3.77759712e+02] [ 6.78097886e-02 9.97698229e-01 2.76683045e-04 2.80678130e+02] [-3.19951691e-03 -5.98608492e-05 9.99994880e-01 3.90000933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.156875 meters 0.0205228574529282 Centerline is valid? [True, True] Translation: X:377.82, Y:280.68, Z:39.00 [[ 9.97674879e-01 -6.81529814e-02 7.83134692e-05 3.77821383e+02] [ 6.81529812e-02 9.97674882e-01 4.82830206e-06 2.80680904e+02] [-7.84604444e-05 5.20220721e-07 9.99999997e-01 3.89974879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.216875 meters 0.019668430675514 Centerline is valid? [True, True] Translation: X:377.88, Y:280.68, Z:38.99 [[ 9.97496191e-01 -7.05935875e-02 -4.23014087e-03 3.77884465e+02] [ 7.05926516e-02 9.97505158e-01 -3.70327010e-04 2.80677859e+02] [ 4.24573005e-03 7.07829208e-05 9.99990984e-01 3.89919079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.276875 meters 0.01951399843874535 Centerline is valid? [True, True] Translation: X:377.95, Y:280.68, Z:38.99 [[ 9.97238605e-01 -7.41685560e-02 -3.76704237e-03 3.77946133e+02] [ 7.41678421e-02 9.97245718e-01 -3.29026450e-04 2.80678853e+02] [ 3.78107029e-03 4.87244747e-05 9.99992851e-01 3.89936821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.336875 meters 0.019064940207152433 Centerline is valid? [True, True] Translation: X:378.01, Y:280.68, Z:39.00 [[ 9.96980074e-01 -7.76261370e-02 -2.21717999e-03 3.78008852e+02] [ 7.76258996e-02 9.96982539e-01 -1.93057406e-04 2.80680989e+02] [ 2.22547603e-03 2.03637962e-05 9.99997523e-01 3.89961258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.396875 meters 0.018856053030864153 Centerline is valid? [True, True] Translation: X:378.07, Y:280.68, Z:39.00 [[ 9.96829409e-01 -7.95669181e-02 -4.84750122e-04 3.78071709e+02] [ 7.95669059e-02 9.96829527e-01 -4.44032301e-05 2.80682675e+02] [ 4.86746263e-04 5.69237827e-06 9.99999882e-01 3.89975009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.456875 meters 0.019740659006494396 Centerline is valid? [True, True] Translation: X:378.13, Y:280.69, Z:39.00 [[ 9.96909035e-01 -7.85264431e-02 2.44419737e-03 3.78134030e+02] [ 7.85261677e-02 9.96912031e-01 2.08599245e-04 2.80687751e+02] [-2.45303032e-03 -1.60210191e-05 9.99996991e-01 3.89980749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.516875 meters 0.0201422120239969 Centerline is valid? [True, True] Translation: X:378.20, Y:280.69, Z:39.00 [[ 9.96922358e-01 -7.83487417e-02 2.69947660e-03 3.78195580e+02] [ 7.83484066e-02 9.96926012e-01 2.29828085e-04 2.80694485e+02] [-2.70918519e-03 -1.76210658e-05 9.99996330e-01 3.89978184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.576875 meters 0.021310176262382793 Centerline is valid? [True, True] Translation: X:378.26, Y:280.71, Z:39.00 [[ 9.97415986e-01 -7.18218536e-02 1.72409703e-03 3.78257364e+02] [ 7.18217089e-02 9.97417476e-01 1.45784836e-04 2.80706523e+02] [-1.73011504e-03 -2.15805312e-05 9.99998503e-01 3.89957647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.636875 meters 0.02168904532356409 Centerline is valid? [True, True] Translation: X:378.32, Y:280.71, Z:38.99 [[ 9.97718524e-01 -6.75052783e-02 8.85482604e-04 3.78319012e+02] [ 6.75052396e-02 9.97718917e-01 7.35504264e-05 2.80713437e+02] [-8.88427787e-04 -1.36079075e-05 9.99999605e-01 3.89931632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.696875 meters 0.021952787936705822 Centerline is valid? [True, True] Translation: X:378.38, Y:280.72, Z:38.99 [[ 9.97848135e-01 -6.55521361e-02 -1.42009163e-03 3.78381780e+02] [ 6.55520265e-02 9.97849145e-01 -1.23610748e-04 2.80719993e+02] [ 1.42514017e-03 3.02548706e-05 9.99998984e-01 3.89908175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.756875 meters 0.02462478218051995 Centerline is valid? [True, True] Translation: X:378.44, Y:280.73, Z:38.99 [[ 9.98021980e-01 -6.28620533e-02 -6.99156702e-04 3.78441589e+02] [ 6.28620262e-02 9.98022225e-01 -6.06203134e-05 2.80733448e+02] [ 7.01584645e-04 1.65499983e-05 9.99999754e-01 3.89932091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.816875 meters 0.023440689587753232 Centerline is valid? [True, True] Translation: X:378.50, Y:280.73, Z:38.99 [[ 9.98263410e-01 -5.88820397e-02 -1.75209780e-03 3.78503901e+02] [ 5.88818676e-02 9.98264946e-01 -1.49693959e-04 2.80734833e+02] [ 1.75787210e-03 4.62672113e-05 9.99998454e-01 3.89872656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.876875 meters 0.024544045296648224 Centerline is valid? [True, True] Translation: X:378.56, Y:280.74, Z:38.99 [[ 9.98363500e-01 -5.71842748e-02 5.29689385e-04 3.78564751e+02] [ 5.71842601e-02 9.98363640e-01 4.28934599e-05 2.80741201e+02] [-5.31275454e-04 -1.25333692e-05 9.99999859e-01 3.89877648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.936875 meters 0.026084554225047015 Centerline is valid? [True, True] Translation: X:378.63, Y:280.75, Z:38.99 [[ 9.98584224e-01 -5.31866106e-02 8.55369939e-04 3.78625931e+02] [ 5.31865698e-02 9.98584590e-01 7.03980136e-05 2.80751310e+02] [-8.57903472e-04 -2.48041528e-05 9.99999632e-01 3.89881789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.996875 meters 0.02564758560696187 Centerline is valid? [True, True] Translation: X:378.69, Y:280.75, Z:38.99 [[ 9.98526966e-01 -5.40403800e-02 4.85131103e-03 3.78688289e+02] [ 5.40390382e-02 9.98538741e-01 4.07346453e-04 2.80753943e+02] [-4.86623516e-03 -1.44586236e-04 9.99988149e-01 3.89906773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.056875 meters 0.026310149277807008 Centerline is valid? [True, True] Translation: X:378.75, Y:280.76, Z:38.99 [[ 9.98610762e-01 -5.24011627e-02 5.53754319e-03 3.78750422e+02] [ 5.23993945e-02 9.98626100e-01 4.64010185e-04 2.80762070e+02] [-5.55424984e-03 -1.73201654e-04 9.99984560e-01 3.89899616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.116875 meters 0.027478790731200384 Centerline is valid? [True, True] Translation: X:378.81, Y:280.77, Z:38.99 [[ 9.98726955e-01 -4.98883530e-02 7.45795781e-03 3.78810827e+02] [ 4.98850683e-02 9.98754769e-01 6.25913782e-04 2.80769303e+02] [-7.47989674e-03 -2.53076231e-04 9.99971993e-01 3.89928508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.176875 meters 0.029395438239633722 Centerline is valid? [True, True] Translation: X:378.87, Y:280.78, Z:38.99 [[ 9.98933162e-01 -4.53142294e-02 8.89713038e-03 3.78870935e+02] [ 4.53093649e-02 9.98972724e-01 7.47662375e-04 2.80777969e+02] [-8.92187031e-03 -3.43741413e-04 9.99960140e-01 3.89941319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.236875 meters 0.030982849435623426 Centerline is valid? [True, True] Translation: X:378.93, Y:280.79, Z:38.99 [[ 9.99307689e-01 -3.62526350e-02 8.35995498e-03 3.78931457e+02] [ 3.62480265e-02 9.99342578e-01 7.02165143e-04 2.80787402e+02] [-8.37991429e-03 -3.98647156e-04 9.99964808e-01 3.89923847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.296875 meters 0.034014062574610905 Centerline is valid? [True, True] Translation: X:378.99, Y:280.79, Z:38.99 [[ 9.99524233e-01 -2.98185408e-02 7.88434159e-03 3.78992575e+02] [ 2.98142441e-02 9.99555237e-01 6.61972490e-04 2.80794572e+02] [-7.90057398e-03 -4.26591861e-04 9.99968699e-01 3.89901340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3568750000001 meters 0.035847114099014414 Centerline is valid? [True, True] Translation: X:379.05, Y:280.80, Z:38.99 [[ 9.99637940e-01 -2.55533641e-02 8.42698690e-03 3.79052271e+02] [ 2.55483025e-02 9.99673338e-01 7.07768980e-04 2.80802203e+02] [-8.44232000e-03 -4.92217515e-04 9.99964242e-01 3.89907970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.416875 meters 0.034617708048341404 Centerline is valid? [True, True] Translation: X:379.11, Y:280.80, Z:38.99 [[ 9.99749531e-01 -2.04291814e-02 9.13916329e-03 3.79112544e+02] [ 2.04230126e-02 9.99791134e-01 7.67805144e-04 2.80804404e+02] [-9.15294005e-03 -5.80963585e-04 9.99957942e-01 3.89881180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4768750000001 meters 0.03874432896768556 Centerline is valid? [True, True] Translation: X:379.17, Y:280.81, Z:38.99 [[ 9.99813669e-01 -1.62525911e-02 1.04154481e-02 3.79171390e+02] [ 1.62443517e-02 9.99867669e-01 8.75189445e-04 2.80813442e+02] [-1.04282939e-02 -7.05834168e-04 9.99945375e-01 3.89893112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.536875 meters 0.03977791144588825 Centerline is valid? [True, True] Translation: X:379.23, Y:280.82, Z:38.99 [[ 9.99882609e-01 -1.34428229e-02 7.35249163e-03 3.79232319e+02] [ 1.34386462e-02 9.99909507e-01 6.17180791e-04 2.80819686e+02] [-7.36012293e-03 -5.18300806e-04 9.99972780e-01 3.89866417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.596875 meters 0.038799467354693175 Centerline is valid? [True, True] Translation: X:379.29, Y:280.82, Z:38.98 [[ 9.99856193e-01 -1.64924018e-02 3.94892388e-03 3.79292617e+02] [ 1.64912201e-02 9.99863956e-01 3.31624311e-04 2.80823279e+02] [-3.95385593e-03 -2.66454048e-04 9.99992148e-01 3.89849290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.656875 meters 0.03808023909941603 Centerline is valid? [True, True] Translation: X:379.36, Y:280.83, Z:38.98 [[ 9.99870716e-01 -1.60631063e-02 7.25892354e-04 3.79355265e+02] [ 1.60630668e-02 9.99870979e-01 6.03033342e-05 2.80825856e+02] [-7.26767357e-04 -4.86354806e-05 9.99999735e-01 3.89812705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.716875 meters 0.03740785282962356 Centerline is valid? [True, True] Translation: X:379.42, Y:280.83, Z:38.98 [[ 9.99858149e-01 -1.67612736e-02 -1.65547646e-03 3.79417658e+02] [ 1.67610656e-02 9.99859514e-01 -1.39426036e-04 2.80828879e+02] [ 1.65758084e-03 1.11658709e-04 9.99998620e-01 3.89790885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.776875 meters 0.039010722601764546 Centerline is valid? [True, True] Translation: X:379.48, Y:280.84, Z:38.98 [[ 9.99866006e-01 -1.63614938e-02 -5.20822818e-04 3.79478333e+02] [ 1.63614731e-02 9.99866141e-01 -4.40999138e-05 2.80835932e+02] [ 5.21474642e-04 3.55725761e-05 9.99999863e-01 3.89809583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.836875 meters 0.03732966986894705 Centerline is valid? [True, True] Translation: X:379.54, Y:280.84, Z:38.99 [[ 9.99891406e-01 -1.41798140e-02 4.01363278e-03 3.79539342e+02] [ 1.41785793e-02 9.99899422e-01 3.35911094e-04 2.80841754e+02] [-4.01799226e-03 -2.78967005e-04 9.99991889e-01 3.89864599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.896875 meters 0.03772004067908928 Centerline is valid? [True, True] Translation: X:379.60, Y:280.85, Z:38.99 [[ 9.99843126e-01 -1.65931054e-02 6.19609983e-03 3.79599332e+02] [ 1.65902076e-02 9.99862238e-01 5.18787683e-04 2.80848353e+02] [-6.20385455e-03 -4.15911716e-04 9.99980669e-01 3.89901848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.956875 meters 0.03383601541241665 Centerline is valid? [True, True] Translation: X:379.66, Y:280.85, Z:38.99 [[ 9.99670682e-01 -2.42397384e-02 8.42389065e-03 3.79659972e+02] [ 2.42346534e-02 9.99706049e-01 7.05209424e-04 2.80849295e+02] [-8.43850853e-03 -5.00827116e-04 9.99964270e-01 3.89927551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.016875 meters 0.030521229336355926 Centerline is valid? [True, True] Translation: X:379.72, Y:280.85, Z:38.99 [[ 9.99446254e-01 -3.26371881e-02 6.48067074e-03 3.79720576e+02] [ 3.26343543e-02 9.99467210e-01 5.42570853e-04 2.80849299e+02] [-6.49492589e-03 -3.30777902e-04 9.99978853e-01 3.89915948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.076875 meters 0.0277481806843156 Centerline is valid? [True, True] Translation: X:379.78, Y:280.85, Z:38.99 [[ 9.99164365e-01 -4.07897187e-02 2.60213108e-03 3.79781897e+02] [ 4.07892899e-02 9.99167747e-01 2.17670778e-04 2.80848140e+02] [-2.60884418e-03 -1.11349805e-04 9.99996591e-01 3.89883494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.136875 meters 0.027889378662105963 Centerline is valid? [True, True] Translation: X:379.84, Y:280.85, Z:38.99 [[ 9.99175393e-01 -4.05948497e-02 -7.69253973e-04 3.79844004e+02] [ 4.05948107e-02 9.99175689e-01 -6.63328388e-05 2.80854320e+02] [ 7.71312639e-04 3.50504209e-05 9.99999702e-01 3.89864937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.196875 meters 0.02891439956349361 Centerline is valid? [True, True] Translation: X:379.90, Y:280.86, Z:38.99 [[ 9.99393555e-01 -3.48025403e-02 -1.14261023e-03 3.79904271e+02] [ 3.48024539e-02 9.99394207e-01 -9.54151638e-05 2.80862414e+02] [ 1.14523873e-03 5.55916600e-05 9.99999343e-01 3.89882548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.256875 meters 0.03143570067674481 Centerline is valid? [True, True] Translation: X:379.96, Y:280.87, Z:38.99 [[ 9.99565431e-01 -2.94777759e-02 1.01825918e-04 3.79964046e+02] [ 2.94777752e-02 9.99565436e-01 8.47335288e-06 2.80870742e+02] [-1.02031443e-04 -5.46806911e-06 9.99999995e-01 3.89936677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.316875 meters 0.03300412654949717 Centerline is valid? [True, True] Translation: X:380.02, Y:280.88, Z:38.99 [[ 9.99765316e-01 -2.16634618e-02 -7.97006262e-05 3.80023995e+02] [ 2.16634614e-02 9.99765320e-01 -6.66507697e-06 2.80876135e+02] [ 7.98263107e-05 4.93692135e-06 9.99999997e-01 3.89927775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.376875 meters 0.03422537033814632 Centerline is valid? [True, True] Translation: X:380.09, Y:280.88, Z:38.99 [[ 9.99804054e-01 -1.97794333e-02 -7.91882675e-04 3.80085270e+02] [ 1.97793868e-02 9.99804367e-01 -6.65270432e-05 2.80881495e+02] [ 7.93043624e-04 5.08510538e-05 9.99999684e-01 3.89929434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.436875 meters 0.0353732248727167 Centerline is valid? [True, True] Translation: X:380.15, Y:280.89, Z:38.99 [[ 9.99814607e-01 -1.91601118e-02 -1.90820605e-03 3.80146885e+02] [ 1.91598418e-02 9.99816421e-01 -1.59691395e-04 2.80888636e+02] [ 1.91091545e-03 1.23100863e-04 9.99998167e-01 3.89931337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.496875 meters 0.0348221790699201 Centerline is valid? [True, True] Translation: X:380.21, Y:280.89, Z:38.99 [[ 9.99778283e-01 -2.05979651e-02 -4.37129623e-03 3.80208113e+02] [ 2.05965672e-02 9.99787802e-01 -3.64577134e-04 2.80890823e+02] [ 4.37787820e-03 2.74462605e-04 9.99990379e-01 3.89919849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.556875 meters 0.035468246676957874 Centerline is valid? [True, True] Translation: X:380.27, Y:280.90, Z:38.99 [[ 9.99792076e-01 -1.96828264e-02 -5.32831591e-03 3.80269495e+02] [ 1.96807373e-02 9.99806217e-01 -4.44217247e-04 2.80897945e+02] [ 5.33602683e-03 3.39259697e-04 9.99985706e-01 3.89911309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.616875 meters 0.036072023809852194 Centerline is valid? [True, True] Translation: X:380.33, Y:280.91, Z:38.99 [[ 9.99787625e-01 -2.02512183e-02 -3.82000544e-03 3.80331157e+02] [ 2.02501486e-02 9.99794894e-01 -3.18499738e-04 2.80905975e+02] [ 3.82567194e-03 2.41076420e-04 9.99992653e-01 3.89931959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.676875 meters 0.03955198557567743 Centerline is valid? [True, True] Translation: X:380.39, Y:280.92, Z:38.99 [[ 9.99757245e-01 -2.15984022e-02 -4.35437986e-03 3.80390941e+02] [ 2.15970277e-02 9.99766691e-01 -3.62444025e-04 2.80915465e+02] [ 4.36119216e-03 2.68314377e-04 9.99990454e-01 3.89929293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.736875 meters 0.032357155259266246 Centerline is valid? [True, True] Translation: X:380.45, Y:280.91, Z:38.99 [[ 9.99623214e-01 -2.72403014e-02 -3.37573166e-03 3.80451612e+02] [ 2.72395078e-02 9.99628896e-01 -2.80863031e-04 2.80912218e+02] [ 3.38212970e-03 1.88803937e-04 9.99994263e-01 3.89935346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.796875 meters 0.02991969239383791 Centerline is valid? [True, True] Translation: X:380.51, Y:280.91, Z:39.00 [[ 9.99374291e-01 -3.53664536e-02 -4.91157768e-04 3.80512256e+02] [ 3.53664378e-02 9.99374411e-01 -4.09958082e-05 2.80914878e+02] [ 4.92300381e-04 2.35996561e-05 9.99999879e-01 3.89972913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8568750000001 meters 0.027589105330010594 Centerline is valid? [True, True] Translation: X:380.57, Y:280.92, Z:39.00 [[ 9.99136506e-01 -4.15266159e-02 -1.33504967e-03 3.80572770e+02] [ 4.15265045e-02 9.99137397e-01 -1.11060841e-04 2.80916356e+02] [ 1.33851003e-03 5.55249950e-05 9.99999103e-01 3.89959499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.916875 meters 0.025201416183042988 Centerline is valid? [True, True] Translation: X:380.63, Y:280.92, Z:39.00 [[ 9.98823235e-01 -4.84950203e-02 6.14499304e-04 3.80633939e+02] [ 4.84949981e-02 9.98823424e-01 5.10986833e-05 2.80916877e+02] [-6.16254330e-04 -2.12384096e-05 9.99999810e-01 3.89983464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9768750000001 meters 0.02192288828247614 Centerline is valid? [True, True] Translation: X:380.70, Y:280.92, Z:39.00 [[ 9.98698051e-01 -5.09424042e-02 2.65981702e-03 3.80696560e+02] [ 5.09420029e-02 9.98701589e-01 2.18440495e-04 2.80916643e+02] [-2.66749137e-03 -8.26596906e-05 9.99996439e-01 3.89997114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.036875 meters 0.0242746956391368 Centerline is valid? [True, True] Translation: X:380.76, Y:280.92, Z:39.00 [[ 9.98832479e-01 -4.80903421e-02 4.58235113e-03 3.80756429e+02] [ 4.80891048e-02 9.98842977e-01 3.79881579e-04 2.80924878e+02] [-4.59531788e-03 -1.59076895e-04 9.99989429e-01 3.90012480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.096875 meters 0.025872576384883234 Centerline is valid? [True, True] Translation: X:380.82, Y:280.93, Z:39.00 [[ 9.99092452e-01 -4.23526913e-02 4.53005647e-03 3.80816288e+02] [ 4.23514231e-02 9.99102705e-01 3.75569147e-04 2.80933231e+02] [-4.54189804e-03 -1.83373962e-04 9.99989669e-01 3.90017924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.156875 meters 0.025725149795127814 Centerline is valid? [True, True] Translation: X:380.88, Y:280.94, Z:39.00 [[ 9.99342046e-01 -3.60203783e-02 4.24351622e-03 3.80876690e+02] [ 3.60192082e-02 9.99351036e-01 3.51845748e-04 2.80935028e+02] [-4.25343594e-03 -1.98766155e-04 9.99990934e-01 3.89993658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.216875 meters 0.029082165830340838 Centerline is valid? [True, True] Translation: X:380.94, Y:280.95, Z:39.00 [[ 9.99423793e-01 -3.35151788e-02 5.36797309e-03 3.80935998e+02] [ 3.35132768e-02 9.99438174e-01 4.43904582e-04 2.80945510e+02] [-5.37983476e-03 -2.63750433e-04 9.99985494e-01 3.90013416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.276875 meters 0.027670622297407695 Centerline is valid? [True, True] Translation: X:381.00, Y:280.95, Z:39.00 [[ 9.99411154e-01 -3.39443307e-02 5.01266446e-03 3.80998546e+02] [ 3.39426788e-02 9.99423695e-01 4.14274842e-04 2.80948221e+02] [-5.02383792e-03 -2.43887639e-04 9.99987351e-01 3.90004027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.336875 meters 0.028294924118388094 Centerline is valid? [True, True] Translation: X:381.06, Y:280.95, Z:39.00 [[ 9.99362764e-01 -3.53177628e-02 5.16936104e-03 3.81059594e+02] [ 3.53160372e-02 9.99376104e-01 4.24745173e-04 2.80953875e+02] [-5.18113694e-03 -2.41913163e-04 9.99986549e-01 3.89997013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.396875 meters 0.02550437957788354 Centerline is valid? [True, True] Translation: X:381.12, Y:280.95, Z:39.00 [[ 9.99308685e-01 -3.67329466e-02 5.73093065e-03 3.81122191e+02] [ 3.67308571e-02 9.99325084e-01 4.69472803e-04 2.80953337e+02] [-5.74430787e-03 -2.58646255e-04 9.99983468e-01 3.89974025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.456875 meters 0.025747504454570025 Centerline is valid? [True, True] Translation: X:381.18, Y:280.96, Z:39.00 [[ 9.99119161e-01 -4.15478090e-02 5.88909645e-03 3.81181995e+02] [ 4.15456723e-02 9.99136488e-01 4.84754710e-04 2.80959454e+02] [-5.90415164e-03 -2.39661248e-04 9.99982542e-01 3.90004013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.516875 meters 0.025077819596383825 Centerline is valid? [True, True] Translation: X:381.24, Y:280.96, Z:39.00 [[ 9.98975467e-01 -4.49038564e-02 5.62677472e-03 3.81243150e+02] [ 4.49019617e-02 9.98991291e-01 4.62664541e-04 2.80962018e+02] [-5.64187437e-03 -2.09537302e-04 9.99984063e-01 3.90000435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.576875 meters 0.02337814833245413 Centerline is valid? [True, True] Translation: X:381.31, Y:280.96, Z:39.00 [[ 9.99052043e-01 -4.30607391e-02 6.38658334e-03 3.81305348e+02] [ 4.30582821e-02 9.99072426e-01 5.21779669e-04 2.80962458e+02] [-6.40312753e-03 -2.46289737e-04 9.99979469e-01 3.89973634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.636875 meters 0.025031369426481428 Centerline is valid? [True, True] Translation: X:381.37, Y:280.97, Z:39.00 [[ 9.99184038e-01 -3.97010827e-02 7.42171193e-03 3.81366356e+02] [ 3.96976573e-02 9.99211552e-01 6.08341377e-04 2.80968765e+02] [-7.44001211e-03 -3.13220417e-04 9.99972274e-01 3.89984572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.696875 meters 0.030672590657656557 Centerline is valid? [True, True] Translation: X:381.43, Y:280.98, Z:39.00 [[ 9.99235035e-01 -3.82948744e-02 7.92763484e-03 3.81426782e+02] [ 3.82909492e-02 9.99266424e-01 6.46381653e-04 2.80984544e+02] [-7.94657241e-03 -3.42330531e-04 9.99968367e-01 3.90039722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.756875 meters 0.024566137864441027 Centerline is valid? [True, True] Translation: X:381.49, Y:280.98, Z:39.00 [[ 9.99139075e-01 -4.10536745e-02 5.97540602e-03 3.81488903e+02] [ 4.10514876e-02 9.99156913e-01 4.88215668e-04 2.80978019e+02] [-5.99041128e-03 -2.42496044e-04 9.99982028e-01 3.89991608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.816875 meters 0.02483428707626185 Centerline is valid? [True, True] Translation: X:381.55, Y:280.98, Z:39.00 [[ 9.98999478e-01 -4.44664070e-02 4.77293448e-03 3.81549887e+02] [ 4.44650516e-02 9.99010864e-01 3.89765321e-04 2.80981009e+02] [-4.78554486e-03 -1.77146575e-04 9.99988534e-01 3.89972865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.876875 meters 0.02204013553511041 Centerline is valid? [True, True] Translation: X:381.61, Y:280.98, Z:39.00 [[ 9.98822069e-01 -4.82721909e-02 4.92648984e-03 3.81611495e+02] [ 4.82707952e-02 9.98834205e-01 4.01875244e-04 2.80982945e+02] [-4.94014597e-03 -1.63596280e-04 9.99987784e-01 3.89982013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.936875 meters 0.023225100823183145 Centerline is valid? [True, True] Translation: X:381.67, Y:280.99, Z:39.00 [[ 9.98717356e-01 -5.04939964e-02 3.74161595e-03 3.81671957e+02] [ 5.04932072e-02 9.98724358e-01 3.05140677e-04 2.80990653e+02] [-3.75225076e-03 -1.15823101e-04 9.99992954e-01 3.90000898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.996875 meters 0.02197936389074805 Centerline is valid? [True, True] Translation: X:381.73, Y:280.99, Z:39.00 [[ 9.98758954e-01 -4.96873659e-02 3.42312814e-03 3.81733735e+02] [ 4.96867094e-02 9.98764814e-01 2.76610407e-04 2.80993227e+02] [-3.43264398e-03 -1.06183147e-04 9.99994103e-01 3.89999276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.056875 meters 0.02488700564295398 Centerline is valid? [True, True] Translation: X:381.79, Y:281.00, Z:39.00 [[ 9.98929073e-01 -4.56331846e-02 7.63677813e-03 3.81793354e+02] [ 4.56297653e-02 9.98958227e-01 6.21467686e-04 2.81003471e+02] [-7.65718188e-03 -2.72337746e-04 9.99970646e-01 3.90047200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.116875 meters 0.0243929306115615 Centerline is valid? [True, True] Translation: X:381.86, Y:281.01, Z:39.01 [[ 9.98895568e-01 -4.55894085e-02 1.13688493e-02 3.81855463e+02] [ 4.55818800e-02 9.98960182e-01 9.20579326e-04 2.81008215e+02] [-1.13989965e-02 -4.01349083e-04 9.99934949e-01 3.90089178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.176875 meters 0.02138842766964725 Centerline is valid? [True, True] Translation: X:381.92, Y:281.01, Z:39.01 [[ 9.98558202e-01 -5.24088245e-02 1.16117224e-02 3.81916608e+02] [ 5.24014095e-02 9.98625658e-01 9.42115270e-04 2.81005260e+02] [-1.16451390e-02 -3.32286311e-04 9.99932138e-01 3.90076684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.236875 meters 0.019096230641249778 Centerline is valid? [True, True] Translation: X:381.98, Y:281.01, Z:39.01 [[ 9.98051017e-01 -6.18236711e-02 8.48529184e-03 3.81977836e+02] [ 6.18200533e-02 9.98087074e-01 6.88236894e-04 2.81005322e+02] [-8.51160943e-03 -1.62334339e-04 9.99963762e-01 3.90071645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.296875 meters 0.018356882795709625 Centerline is valid? [True, True] Translation: X:382.04, Y:281.01, Z:39.00 [[ 9.97668686e-01 -6.79930059e-02 5.84331425e-03 3.82038532e+02] [ 6.79913968e-02 9.97685795e-01 4.73809769e-04 2.81005700e+02] [-5.86200738e-03 -7.54100714e-05 9.99982815e-01 3.90048702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3568750000001 meters 0.017806363212159504 Centerline is valid? [True, True] Translation: X:382.10, Y:281.01, Z:39.01 [[ 9.97512412e-01 -7.02924170e-02 5.28817362e-03 3.82101177e+02] [ 7.02911488e-02 9.97526427e-01 4.25520262e-04 2.81008645e+02] [-5.30500379e-03 -5.27499439e-05 9.99985927e-01 3.90056065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.416875 meters 0.017639616784217126 Centerline is valid? [True, True] Translation: X:382.16, Y:281.01, Z:39.00 [[ 9.97548353e-01 -6.98774463e-02 3.79803761e-03 3.82163127e+02] [ 6.98767953e-02 9.97555583e-01 3.04000412e-04 2.81012522e+02] [-3.80999639e-03 -3.78604137e-05 9.99992741e-01 3.90037186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.476875 meters 0.017981125383420032 Centerline is valid? [True, True] Translation: X:382.22, Y:281.02, Z:39.01 [[ 9.97775178e-01 -6.64485878e-02 5.41095892e-03 3.82224932e+02] [ 6.64472182e-02 9.97789848e-01 4.32700396e-04 2.81019756e+02] [-5.42775221e-03 -7.21945464e-05 9.99985267e-01 3.90076952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.536875 meters 0.0188820246014068 Centerline is valid? [True, True] Translation: X:382.29, Y:281.03, Z:39.01 [[ 9.97937701e-01 -6.37693218e-02 7.33615623e-03 3.82285258e+02] [ 6.37667131e-02 9.97964658e-01 5.89188440e-04 2.81027943e+02] [-7.35879679e-03 -1.20170788e-04 9.99972916e-01 3.90113364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.596875 meters 0.018770426459891604 Centerline is valid? [True, True] Translation: X:382.35, Y:281.03, Z:39.01 [[ 9.97967771e-01 -6.33787999e-02 6.59214757e-03 3.82347740e+02] [ 6.33767088e-02 9.97989537e-01 5.25836191e-04 2.81033687e+02] [-6.61222116e-03 -1.06978955e-04 9.99978133e-01 3.90119577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.656875 meters 0.018764590625371457 Centerline is valid? [True, True] Translation: X:382.41, Y:281.04, Z:39.01 [[ 9.97689492e-01 -6.77709493e-02 4.77243302e-03 3.82408005e+02] [ 6.77698968e-02 9.97700905e-01 3.82092430e-04 2.81038043e+02] [-4.78735550e-03 -5.77823094e-05 9.99988539e-01 3.90134863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.716875 meters 0.017961115182379517 Centerline is valid? [True, True] Translation: X:382.47, Y:281.04, Z:39.01 [[ 9.97307900e-01 -7.32049547e-02 4.24120308e-03 3.82470622e+02] [ 7.32041855e-02 9.97316918e-01 3.36529779e-04 2.81038052e+02] [-4.25445923e-03 -2.51499904e-05 9.99990949e-01 3.90128876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.776875 meters 0.017827511799303756 Centerline is valid? [True, True] Translation: X:382.53, Y:281.04, Z:39.01 [[ 9.97245954e-01 -7.41644047e-02 -3.86048166e-04 3.82533440e+02] [ 7.41643975e-02 9.97246028e-01 -3.29357910e-05 2.81038828e+02] [ 3.87427663e-04 4.21405472e-06 9.99999925e-01 3.90085270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.836875 meters 0.017757755381563097 Centerline is valid? [True, True] Translation: X:382.60, Y:281.05, Z:39.01 [[ 9.97295073e-01 -7.34843075e-02 -1.61040423e-03 3.82596137e+02] [ 7.34841927e-02 9.97296373e-01 -1.30374535e-04 2.81045525e+02] [ 1.61563078e-03 1.16826265e-05 9.99998695e-01 3.90119146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.896875 meters 0.01802710555710244 Centerline is valid? [True, True] Translation: X:382.66, Y:281.05, Z:39.01 [[ 9.97290871e-01 -7.35444076e-02 -1.46234921e-03 3.82659404e+02] [ 7.35443133e-02 9.97291943e-01 -1.18258772e-04 2.81049698e+02] [ 1.46708636e-03 1.03909247e-05 9.99998924e-01 3.90132306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.956875 meters 0.018222278835140746 Centerline is valid? [True, True] Translation: X:382.72, Y:281.05, Z:39.01 [[ 9.97427875e-01 -7.16713682e-02 -9.21717339e-04 3.82721556e+02] [ 7.16713296e-02 9.97428301e-01 -7.49297310e-05 2.81052893e+02] [ 9.24717276e-04 8.67629519e-06 9.99999572e-01 3.90126535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.016875 meters 0.018833012793768693 Centerline is valid? [True, True] Translation: X:382.78, Y:281.06, Z:39.02 [[ 9.97851949e-01 -6.54937960e-02 1.43181756e-03 3.82783410e+02] [ 6.54937025e-02 9.97852976e-01 1.12118993e-04 2.81061684e+02] [-1.43608651e-03 -1.81031228e-05 9.99998969e-01 3.90155308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.076875 meters 0.01984690852070749 Centerline is valid? [True, True] Translation: X:382.84, Y:281.07, Z:39.02 [[ 9.97980665e-01 -6.34222019e-02 3.49510662e-03 3.82844177e+02] [ 6.34216323e-02 9.97986784e-01 2.73671824e-04 2.81068272e+02] [-3.50542709e-03 -5.14538222e-05 9.99993855e-01 3.90186465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.136875 meters 0.019710549980269308 Centerline is valid? [True, True] Translation: X:382.91, Y:281.07, Z:39.02 [[ 9.97914780e-01 -6.44956375e-02 2.53084830e-03 3.82907064e+02] [ 6.44953471e-02 9.97917988e-01 1.96306792e-04 2.81068145e+02] [-2.53823997e-03 -3.26695100e-05 9.99996778e-01 3.90159412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.196875 meters 0.01882084705041974 Centerline is valid? [True, True] Translation: X:382.97, Y:281.06, Z:39.01 [[ 9.97632982e-01 -6.87275778e-02 2.22576594e-03 3.82970317e+02] [ 6.87273629e-02 9.97635464e-01 1.72977216e-04 2.81064949e+02] [-2.23239135e-03 -1.95967518e-05 9.99997508e-01 3.90134938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.256875 meters 0.01870625207322823 Centerline is valid? [True, True] Translation: X:383.03, Y:281.06, Z:39.01 [[ 9.97147534e-01 -7.54105104e-02 3.17021001e-03 3.83032526e+02] [ 7.54101121e-02 9.97152574e-01 2.45135022e-04 2.81061419e+02] [-3.17966883e-03 -5.36989052e-06 9.99994945e-01 3.90137444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.316875 meters 0.019193639605365853 Centerline is valid? [True, True] Translation: X:383.09, Y:281.06, Z:39.01 [[ 9.96934825e-01 -7.81087036e-02 4.47049500e-03 3.83094960e+02] [ 7.81079398e-02 9.96944848e-01 3.45466620e-04 2.81060834e+02] [-4.48382091e-03 4.77345036e-06 9.99989948e-01 3.90120715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.376875 meters 0.019950537435187942 Centerline is valid? [True, True] Translation: X:383.16, Y:281.06, Z:39.01 [[ 9.96879002e-01 -7.85514845e-02 7.86890829e-03 3.83155983e+02] [ 7.85491303e-02 9.96910058e-01 6.08264358e-04 2.81061539e+02] [-7.89237389e-03 1.17299357e-05 9.99968855e-01 3.90147635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.436875 meters 0.020316522396647455 Centerline is valid? [True, True] Translation: X:383.22, Y:281.07, Z:39.02 [[ 9.96842186e-01 -7.88250610e-02 9.60552623e-03 3.83217706e+02] [ 7.88215832e-02 9.96888464e-01 7.40694294e-04 2.81065604e+02] [-9.63402356e-03 1.87674657e-05 9.99953592e-01 3.90164578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.496875 meters 0.020317952392016222 Centerline is valid? [True, True] Translation: X:383.28, Y:281.07, Z:39.01 [[ 9.97074404e-01 -7.58267451e-02 9.64039812e-03 3.83280192e+02] [ 7.58231321e-02 9.97121008e-01 7.40249418e-04 2.81070397e+02] [-9.66877419e-03 -7.11856789e-06 9.99953256e-01 3.90149680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.556875 meters 0.02160811152829384 Centerline is valid? [True, True] Translation: X:383.34, Y:281.08, Z:39.01 [[ 9.98094471e-01 -6.11292697e-02 8.40471335e-03 3.83341378e+02] [ 6.11259932e-02 9.98129849e-01 6.46407563e-04 2.81084300e+02] [-8.42850969e-03 -1.31429364e-04 9.99964471e-01 3.90118545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.616875 meters 0.02578735837291645 Centerline is valid? [True, True] Translation: X:383.40, Y:281.11, Z:39.01 [[ 9.99054210e-01 -4.32474112e-02 4.51078899e-03 3.83400882e+02] [ 4.32462853e-02 9.99064382e-01 3.46886623e-04 2.81109374e+02] [-4.52157056e-03 -1.51483673e-04 9.99989766e-01 3.90074504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.676875 meters 0.029130720530143924 Centerline is valid? [True, True] Translation: X:383.46, Y:281.12, Z:39.01 [[ 9.99289012e-01 -3.65490221e-02 9.25418403e-03 3.83460427e+02] [ 3.65439980e-02 9.99331792e-01 7.11475054e-04 2.81119100e+02] [-9.27400402e-03 -3.72784321e-04 9.99956926e-01 3.90062121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.736875 meters 0.027989735702381262 Centerline is valid? [True, True] Translation: X:383.52, Y:281.12, Z:39.01 [[ 9.99058816e-01 -4.21212089e-02 1.03578998e-02 3.83521315e+02] [ 4.21152129e-02 9.99112443e-01 7.96411978e-04 2.81122614e+02] [-1.03822524e-02 -3.59437252e-04 9.99946038e-01 3.90080808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.796875 meters 0.0255103579565843 Centerline is valid? [True, True] Translation: X:383.58, Y:281.13, Z:39.01 [[ 9.98885557e-01 -4.50357779e-02 1.41216780e-02 3.83583661e+02] [ 4.50250016e-02 9.98985276e-01 1.08026895e-03 2.81125563e+02] [-1.41559992e-02 -4.43236482e-04 9.99899701e-01 3.90100619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8568750000001 meters 0.026277454941748057 Centerline is valid? [True, True] Translation: X:383.64, Y:281.13, Z:39.01 [[ 9.98862772e-01 -4.45524086e-02 1.69777756e-02 3.83644282e+02] [ 4.45368157e-02 9.99006904e-01 1.29560954e-03 2.81132960e+02] [-1.70186376e-02 -5.38000068e-04 9.99855028e-01 3.90128883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.916875 meters 0.029130976303232768 Centerline is valid? [True, True] Translation: X:383.70, Y:281.14, Z:39.02 [[ 9.98974401e-01 -4.06915103e-02 1.98581991e-02 3.83703369e+02] [ 4.06693997e-02 9.99171507e-01 1.51617206e-03 2.81144286e+02] [-1.99034420e-02 -7.06996038e-04 9.99801657e-01 3.90175969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.976875 meters 0.03276541947581615 Centerline is valid? [True, True] Translation: X:383.76, Y:281.16, Z:39.02 [[ 9.99262381e-01 -2.94957405e-02 2.45905670e-02 3.83763429e+02] [ 2.94584434e-02 9.99564242e-01 1.87768029e-03 2.81156132e+02] [-2.46352350e-02 -1.15189545e-03 9.99695843e-01 3.90195783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.036875 meters 0.03653739254702621 Centerline is valid? [True, True] Translation: X:383.82, Y:281.17, Z:39.02 [[ 9.99472300e-01 -2.00284108e-02 2.55731052e-02 3.83823498e+02] [ 1.99849828e-02 9.99798373e-01 1.95266981e-03 2.81167773e+02] [-2.56070579e-02 -1.44056132e-03 9.99671048e-01 3.90203996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.096875 meters 0.03748282225818412 Centerline is valid? [True, True] Translation: X:383.88, Y:281.17, Z:39.02 [[ 9.99611933e-01 -1.51068900e-02 2.34044042e-02 3.83883645e+02] [ 1.50691790e-02 9.99884857e-01 1.78681766e-03 2.81172877e+02] [-2.34287026e-02 -1.43343910e-03 9.99724483e-01 3.90175981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.156875 meters 0.03929443246931452 Centerline is valid? [True, True] Translation: X:383.95, Y:281.18, Z:39.01 [[ 9.99770589e-01 -1.11592709e-02 1.82822217e-02 3.83945816e+02] [ 1.11356367e-02 9.99937025e-01 1.39403212e-03 2.81180442e+02] [-1.82966268e-02 -1.19012814e-03 9.99831894e-01 3.90135809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.216875 meters 0.04180268704238188 Centerline is valid? [True, True] Translation: X:384.01, Y:281.19, Z:39.01 [[ 9.99832226e-01 -6.00594207e-03 1.73046011e-02 3.84006259e+02] [ 5.98400112e-03 9.99981225e-01 1.31942638e-03 2.81189255e+02] [-1.73122006e-02 -1.21565426e-03 9.99849394e-01 3.90124762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.276875 meters 0.04268735757174795 Centerline is valid? [True, True] Translation: X:384.07, Y:281.20, Z:39.01 [[ 9.99854199e-01 -2.99482343e-03 1.68110820e-02 3.84066951e+02] [ 2.97369620e-03 9.99994757e-01 1.28160071e-03 2.81195748e+02] [-1.68148320e-02 -1.23142280e-03 9.99857862e-01 3.90125210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.336875 meters 0.038636477239477565 Centerline is valid? [True, True] Translation: X:384.13, Y:281.19, Z:39.01 [[ 9.99876863e-01 -4.77013570e-03 1.49500973e-02 3.84127950e+02] [ 4.75362911e-03 9.99988052e-01 1.13945398e-03 2.81193874e+02] [-1.49553540e-02 -1.06824645e-03 9.99887592e-01 3.90088692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.396875 meters 0.040051675329012645 Centerline is valid? [True, True] Translation: X:384.19, Y:281.20, Z:39.01 [[ 9.99876169e-01 -5.53431733e-03 1.47315049e-02 3.84189119e+02] [ 5.51844622e-03 9.99984149e-01 1.11779053e-03 2.81200788e+02] [-1.47374576e-02 -1.03635710e-03 9.99890861e-01 3.90104351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.456875 meters 0.04227573037680583 Centerline is valid? [True, True] Translation: X:384.25, Y:281.21, Z:39.01 [[ 9.99902652e-01 -3.15200487e-03 1.35923049e-02 3.84250095e+02] [ 3.13826263e-03 9.99994543e-01 1.03224146e-03 2.81205566e+02] [-1.35954844e-02 -9.89484753e-04 9.99907088e-01 3.90076385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.516875 meters 0.04491564795832577 Centerline is valid? [True, True] Translation: X:384.31, Y:281.21, Z:39.01 [[ 9.99897530e-01 3.73982284e-03 1.38182263e-02 3.84310125e+02] [-3.75468430e-03 9.99992400e-01 1.04971023e-03 2.81212118e+02] [-1.38141956e-02 -1.10148574e-03 9.99903973e-01 3.90077002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.576875 meters 0.04805574911683556 Centerline is valid? [True, True] Translation: X:384.37, Y:281.22, Z:39.01 [[ 9.99819883e-01 1.64906471e-02 9.39466242e-03 3.84370548e+02] [-1.64980741e-02 9.99863643e-01 7.13596227e-04 2.81220089e+02] [-9.38161372e-03 -8.68461533e-04 9.99955615e-01 3.90054928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.636875 meters 0.05098893672625798 Centerline is valid? [True, True] Translation: X:384.43, Y:281.23, Z:39.00 [[ 9.99560191e-01 2.93747440e-02 4.06796083e-03 3.84431085e+02] [-2.93762426e-02 9.99568377e-01 3.09095115e-04 2.81226765e+02] [-4.05712542e-03 -4.28460576e-04 9.99991678e-01 3.90019529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.696875 meters 0.059493115948882604 Centerline is valid? [True, True] Translation: X:384.49, Y:281.24, Z:39.00 [[ 9.99347858e-01 3.60738684e-02 1.59239409e-03 3.84489398e+02] [-3.60741068e-02 9.99349110e-01 1.21234538e-04 2.81241396e+02] [-1.58698422e-03 -1.78599671e-04 9.99998725e-01 3.90018272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.756875 meters 0.06442478235292994 Centerline is valid? [True, True] Translation: X:384.55, Y:281.25, Z:39.01 [[ 9.99036599e-01 4.38704739e-02 1.12007431e-03 3.84548701e+02] [-4.38705966e-02 9.99037218e-01 8.52227914e-05 2.81253511e+02] [-1.11525716e-03 -1.34279016e-04 9.99999369e-01 3.90054358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.816875 meters 0.06527909415278355 Centerline is valid? [True, True] Translation: X:384.61, Y:281.26, Z:39.01 [[ 9.98970143e-01 4.52852099e-02 2.81109116e-03 3.84608482e+02] [-4.52859883e-02 9.98974040e-01 2.13841926e-04 2.81259143e+02] [-2.79852322e-03 -3.40924741e-04 9.99996026e-01 3.90077420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.876875 meters 0.05232087487914187 Centerline is valid? [True, True] Translation: X:384.67, Y:281.25, Z:39.01 [[ 9.99089575e-01 4.25762763e-02 2.69860166e-03 3.84669596e+02] [-4.25769843e-02 9.99093168e-01 2.05433877e-04 2.81247447e+02] [-2.68740787e-03 -3.20145165e-04 9.99996338e-01 3.90071003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.936875 meters 0.05420825200050329 Centerline is valid? [True, True] Translation: X:384.73, Y:281.26, Z:39.01 [[ 9.99370972e-01 3.54481949e-02 1.04187692e-03 3.84728807e+02] [-3.54482965e-02 9.99371508e-01 7.92562165e-05 2.81255950e+02] [-1.03841262e-03 -1.16139124e-04 9.99999454e-01 3.90068500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.996875 meters 0.0493965755751373 Centerline is valid? [True, True] Translation: X:384.79, Y:281.25, Z:39.01 [[ 9.99657588e-01 2.61658213e-02 2.39038079e-04 3.84789434e+02] [-2.61658264e-02 9.99657616e-01 1.82288653e-05 2.81253736e+02] [-2.38479263e-04 -2.44772523e-05 9.99999971e-01 3.90095999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.056875 meters 0.05275722382871767 Centerline is valid? [True, True] Translation: X:384.85, Y:281.27, Z:39.01 [[ 9.99642823e-01 2.67247111e-02 -1.24037209e-04 3.84846581e+02] [-2.67247123e-02 9.99642831e-01 -8.68479009e-06 2.81265901e+02] [ 1.23760808e-04 1.19965468e-05 9.99999992e-01 3.90119017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.116875 meters 0.05228883972445697 Centerline is valid? [True, True] Translation: X:384.91, Y:281.27, Z:39.01 [[ 9.99617501e-01 2.76453114e-02 -7.67169237e-04 3.84905382e+02] [-2.76453639e-02 9.99617792e-01 -5.78128353e-05 2.81270129e+02] [ 7.65277765e-04 7.89993946e-05 9.99999704e-01 3.90136678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.176875 meters 0.07394805295373753 Centerline is valid? [True, True] Translation: X:384.96, Y:281.31, Z:39.02 [[ 9.99448085e-01 3.29843666e-02 -3.94428011e-03 3.84961959e+02] [-3.29858073e-02 9.99455775e-01 -3.00747285e-04 2.81305194e+02] [ 3.93221357e-03 4.30686561e-04 9.99992176e-01 3.90163631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.236875 meters 0.05528850268767361 Centerline is valid? [True, True] Translation: X:385.02, Y:281.29, Z:39.02 [[ 9.99222107e-01 3.92067218e-02 -4.24432502e-03 3.85023972e+02] [-3.92084437e-02 9.99231001e-01 -3.23215584e-04 2.81286258e+02] [ 4.22838891e-03 4.89377536e-04 9.99990941e-01 3.90180285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.296875 meters 0.058295522513693125 Centerline is valid? [True, True] Translation: X:385.08, Y:281.30, Z:39.02 [[ 9.98996332e-01 4.46077789e-02 -4.05887285e-03 3.85084224e+02] [-4.46093980e-02 9.99004457e-01 -3.09206298e-04 2.81295468e+02] [ 4.04103907e-03 4.89959832e-04 9.99991715e-01 3.90211514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3568750000001 meters 0.0590463457193867 Centerline is valid? [True, True] Translation: X:385.14, Y:281.30, Z:39.02 [[ 9.98888382e-01 4.70378040e-02 -3.07331748e-03 3.85144287e+02] [-4.70387436e-02 9.98893038e-01 -2.34111402e-04 2.81303011e+02] [ 3.05890335e-03 3.78416153e-04 9.99995250e-01 3.90235931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.416875 meters 0.06132415289992381 Centerline is valid? [True, True] Translation: X:385.20, Y:281.31, Z:39.02 [[ 9.99054003e-01 4.33465268e-02 -3.48959948e-03 3.85203236e+02] [-4.33477155e-02 9.99060011e-01 -2.65697554e-04 2.81310523e+02] [ 3.47480223e-03 4.16712371e-04 9.99993876e-01 3.90241859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.476875 meters 0.0549920662244759 Centerline is valid? [True, True] Translation: X:385.26, Y:281.31, Z:39.02 [[ 9.99375580e-01 3.47372460e-02 -6.46321246e-03 3.85264357e+02] [-3.47411482e-02 9.99396223e-01 -4.92443701e-04 2.81305929e+02] [ 6.44220398e-03 7.16675631e-04 9.99978992e-01 3.90209128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.536875 meters 0.05118734265519551 Centerline is valid? [True, True] Translation: X:385.32, Y:281.30, Z:39.02 [[ 9.99628975e-01 2.59043200e-02 -8.41899480e-03 3.85324849e+02] [-2.59106320e-02 9.99664057e-01 -6.41517522e-04 2.81304297e+02] [ 8.39954842e-03 8.59420979e-04 9.99964354e-01 3.90179330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.596875 meters 0.04522083875878514 Centerline is valid? [True, True] Translation: X:385.39, Y:281.30, Z:39.02 [[ 9.99857839e-01 1.22183314e-02 -1.16195580e-02 3.85385886e+02] [-1.22294406e-02 9.99924826e-01 -8.85499552e-04 2.81302129e+02] [ 1.16078652e-02 1.02747436e-03 9.99932099e-01 3.90161762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.656875 meters 0.041834174044425375 Centerline is valid? [True, True] Translation: X:385.45, Y:281.30, Z:39.01 [[ 9.99886255e-01 2.19862411e-03 -1.49212113e-02 3.85446939e+02] [-2.21583728e-03 9.99996898e-01 -1.13716974e-03 2.81301058e+02] [ 1.49186648e-02 1.17010337e-03 9.99888026e-01 3.90128329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.716875 meters 0.03447053598082803 Centerline is valid? [True, True] Translation: X:385.51, Y:281.30, Z:39.02 [[ 9.99818005e-01 -1.29547729e-02 -1.40047031e-02 3.85507443e+02] [ 1.29410877e-02 9.99915691e-01 -1.06737334e-03 2.81297716e+02] [ 1.40173499e-02 8.85942991e-04 9.99901360e-01 3.90179644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.776875 meters 0.0331493881967533 Centerline is valid? [True, True] Translation: X:385.57, Y:281.31, Z:39.02 [[ 9.99765508e-01 -1.91460619e-02 -1.01171358e-02 3.85566643e+02] [ 1.91392357e-02 9.99816531e-01 -7.71119116e-04 2.81305091e+02] [ 1.01300435e-02 5.77304050e-04 9.99948523e-01 3.90238825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.836875 meters 0.03127854790376084 Centerline is valid? [True, True] Translation: X:385.63, Y:281.31, Z:39.03 [[ 9.99736616e-01 -2.24142872e-02 -4.92941956e-03 3.85626909e+02] [ 2.24127057e-02 9.99748733e-01 -3.75843261e-04 2.81308509e+02] [ 4.93660521e-03 2.65262639e-04 9.99987780e-01 3.90293046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.896875 meters 0.031680690599868895 Centerline is valid? [True, True] Translation: X:385.69, Y:281.31, Z:39.03 [[ 9.99723169e-01 -2.32665031e-02 -3.50066258e-03 3.85688878e+02] [ 2.32657094e-02 9.99729281e-01 -2.67289460e-04 2.81314593e+02] [ 3.50593378e-03 1.85770068e-04 9.99993837e-01 3.90315283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.956875 meters 0.02695044018777975 Centerline is valid? [True, True] Translation: X:385.75, Y:281.31, Z:39.03 [[ 9.99704387e-01 -2.43125197e-02 -2.02237386e-04 3.85751521e+02] [ 2.43125169e-02 9.99704407e-01 -1.60432002e-05 2.81312968e+02] [ 2.02567656e-04 1.11215578e-05 9.99999979e-01 3.90331540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.016875 meters 0.03209699027415886 Centerline is valid? [True, True] Translation: X:385.81, Y:281.33, Z:39.03 [[ 9.99693017e-01 -2.47057389e-02 -1.87059545e-03 3.85811563e+02] [ 2.47055137e-02 9.99694762e-01 -1.43396782e-04 2.81326520e+02] [ 1.87356719e-03 9.71387398e-05 9.99998240e-01 3.90349773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.076875 meters 0.03158724858195539 Centerline is valid? [True, True] Translation: X:385.87, Y:281.33, Z:39.03 [[ 9.99686979e-01 -2.48297521e-02 -3.07038400e-03 3.85873985e+02] [ 2.48291512e-02 9.99691682e-01 -2.33674014e-04 2.81328753e+02] [ 3.07523941e-03 1.57365840e-04 9.99995259e-01 3.90330404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.136875 meters 0.028793050813526812 Centerline is valid? [True, True] Translation: X:385.94, Y:281.33, Z:39.03 [[ 9.99630462e-01 -2.62714876e-02 -6.98203285e-03 3.85936123e+02] [ 2.62684240e-02 9.99654785e-01 -5.30153122e-04 2.81329601e+02] [ 6.99355046e-03 3.46550212e-04 9.99975485e-01 3.90305288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.196875 meters 0.025933158523387165 Centerline is valid? [True, True] Translation: X:386.00, Y:281.33, Z:39.03 [[ 9.99458220e-01 -3.15501812e-02 -9.37293445e-03 3.85996863e+02] [ 3.15448994e-02 9.99502083e-01 -7.10860289e-04 2.81330605e+02] [ 9.39069527e-03 4.14806885e-04 9.99955820e-01 3.90293707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.256875 meters 0.024228008363253745 Centerline is valid? [True, True] Translation: X:386.06, Y:281.33, Z:39.03 [[ 9.99275673e-01 -3.65881084e-02 -1.04613892e-02 3.86057656e+02] [ 3.65818049e-02 9.99330347e-01 -7.93334110e-04 2.81332946e+02] [ 1.04834103e-02 4.10062976e-04 9.99944963e-01 3.90291280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.316875 meters 0.02206305395340403 Centerline is valid? [True, True] Translation: X:386.12, Y:281.33, Z:39.03 [[ 9.99031124e-01 -4.30211295e-02 -9.27337496e-03 3.86118027e+02] [ 4.30164549e-02 9.99074117e-01 -7.03049591e-04 2.81334751e+02] [ 9.29503489e-03 3.03460707e-04 9.99956754e-01 3.90313394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.376875 meters 0.021494721489607915 Centerline is valid? [True, True] Translation: X:386.18, Y:281.34, Z:39.04 [[ 9.98945550e-01 -4.53642896e-02 -7.06188742e-03 3.86179860e+02] [ 4.53616360e-02 9.98970488e-01 -5.35554725e-04 2.81341943e+02] [ 7.07891218e-03 2.14651242e-04 9.99974921e-01 3.90367549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.436875 meters 0.02279523012779327 Centerline is valid? [True, True] Translation: X:386.24, Y:281.35, Z:39.04 [[ 9.99026859e-01 -4.39771762e-02 -3.36805057e-03 3.86240045e+02] [ 4.39765614e-02 9.99032530e-01 -2.56422771e-04 2.81353619e+02] [ 3.37606883e-03 1.08057953e-04 9.99994295e-01 3.90429911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.496875 meters 0.021677320386185372 Centerline is valid? [True, True] Translation: X:386.30, Y:281.36, Z:39.04 [[ 9.99074156e-01 -4.29475934e-02 -2.51676593e-03 3.86302577e+02] [ 4.29472495e-02 9.99077323e-01 -1.90564641e-04 2.81355828e+02] [ 2.52262806e-03 8.23000332e-05 9.99996815e-01 3.90426618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.556875 meters 0.021394377236856606 Centerline is valid? [True, True] Translation: X:386.37, Y:281.36, Z:39.04 [[ 9.99026270e-01 -4.39938108e-02 -3.32512433e-03 3.86365134e+02] [ 4.39932174e-02 9.99031798e-01 -2.51438595e-04 2.81359278e+02] [ 3.33296668e-03 1.04910844e-04 9.99994440e-01 3.90431384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.616875 meters 0.022017859146624654 Centerline is valid? [True, True] Translation: X:386.43, Y:281.37, Z:39.04 [[ 9.98967601e-01 -4.50285918e-02 -6.01319360e-03 3.86426003e+02] [ 4.50266741e-02 9.98985682e-01 -4.53977134e-04 2.81367096e+02] [ 6.02753626e-03 1.82754340e-04 9.99981818e-01 3.90447431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.676875 meters 0.02251730247078552 Centerline is valid? [True, True] Translation: X:386.49, Y:281.37, Z:39.04 [[ 9.98925154e-01 -4.52524216e-02 -1.00376477e-02 3.86486987e+02] [ 4.52471256e-02 9.98975540e-01 -7.54195005e-04 2.81369328e+02] [ 1.00614937e-02 2.99209656e-04 9.99949337e-01 3.90424260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.736875 meters 0.022058636612809202 Centerline is valid? [True, True] Translation: X:386.55, Y:281.37, Z:39.04 [[ 9.98885862e-01 -4.50001433e-02 -1.42134323e-02 3.86549010e+02] [ 4.49895437e-02 9.98986890e-01 -1.06477719e-03 2.81371060e+02] [ 1.42469477e-02 4.24135053e-04 9.99898417e-01 3.90396755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.796875 meters 0.022905513295675566 Centerline is valid? [True, True] Translation: X:386.61, Y:281.38, Z:39.04 [[ 9.98979151e-01 -4.32217956e-02 -1.31351905e-02 3.86610349e+02] [ 4.32126034e-02 9.99065416e-01 -9.82962506e-04 2.81377680e+02] [ 1.31654000e-02 4.14353271e-04 9.99913247e-01 3.90434230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8568750000001 meters 0.02334863463234927 Centerline is valid? [True, True] Translation: X:386.67, Y:281.38, Z:39.05 [[ 9.99125871e-01 -4.03517602e-02 -1.09192197e-02 3.86672457e+02] [ 4.03452483e-02 9.99185466e-01 -8.16078374e-04 2.81384675e+02] [ 1.09432558e-02 3.74826389e-04 9.99940051e-01 3.90462427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.916875 meters 0.02176499702921408 Centerline is valid? [True, True] Translation: X:386.73, Y:281.39, Z:39.05 [[ 9.99125441e-01 -4.14439860e-02 -5.54510409e-03 3.86733934e+02] [ 4.14423238e-02 9.99140812e-01 -4.14372689e-04 2.81390094e+02] [ 5.55751306e-03 1.84208296e-04 9.99984540e-01 3.90532691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.976875 meters 0.024234786304011532 Centerline is valid? [True, True] Translation: X:386.79, Y:281.40, Z:39.06 [[ 9.99101890e-01 -4.20928126e-02 -4.85877069e-03 3.86794977e+02] [ 4.20915420e-02 9.99113692e-01 -3.63508902e-04 2.81400323e+02] [ 4.86976543e-03 1.58669281e-04 9.99988130e-01 3.90550305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.036875 meters 0.02016126406619848 Centerline is valid? [True, True] Translation: X:386.86, Y:281.40, Z:39.06 [[ 9.98930117e-01 -4.61940922e-02 -2.17404617e-03 3.86857079e+02] [ 4.61938487e-02 9.98932481e-01 -1.62105359e-04 2.81396556e+02] [ 2.17921365e-03 6.15043656e-05 9.99997624e-01 3.90558871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.096875 meters 0.019853943979333672 Centerline is valid? [True, True] Translation: X:386.92, Y:281.40, Z:39.06 [[ 9.98769589e-01 -4.95902929e-02 3.33345088e-04 3.86917916e+02] [ 4.95902881e-02 9.98769645e-01 2.26222783e-05 2.81401354e+02] [-3.34056800e-04 -6.06376463e-06 9.99999944e-01 3.90576744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.156875 meters 0.019031314568854495 Centerline is valid? [True, True] Translation: X:386.98, Y:281.40, Z:39.06 [[ 9.98637405e-01 -5.19874954e-02 4.54232368e-03 3.86979879e+02] [ 5.19865170e-02 9.98647731e-01 3.33275664e-04 2.81404662e+02] [-4.55350740e-03 -9.66819570e-05 9.99989628e-01 3.90598673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.216875 meters 0.018602118286732965 Centerline is valid? [True, True] Translation: X:387.04, Y:281.41, Z:39.06 [[ 9.98553296e-01 -5.37464231e-02 1.62396873e-03 3.87042355e+02] [ 5.37463033e-02 9.98554616e-01 1.17319064e-04 2.81406593e+02] [-1.62792695e-03 -2.98670218e-05 9.99998674e-01 3.90588239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.276875 meters 0.01917978306815618 Centerline is valid? [True, True] Translation: X:387.10, Y:281.41, Z:39.05 [[ 9.98617028e-01 -5.25501483e-02 -1.58515439e-03 3.87103897e+02] [ 5.25500265e-02 9.98618286e-01 -1.18437154e-04 2.81410585e+02] [ 1.58918805e-03 3.49734531e-05 9.99998737e-01 3.90543808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.336875 meters 0.019655134837354097 Centerline is valid? [True, True] Translation: X:387.17, Y:281.41, Z:39.05 [[ 9.98789616e-01 -4.91604734e-02 -1.59700151e-03 3.87166170e+02] [ 4.91603479e-02 9.98790892e-01 -1.17772617e-04 2.81414221e+02] [ 1.60086032e-03 3.91209174e-05 9.99998718e-01 3.90546412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.396875 meters 0.02135252017691761 Centerline is valid? [True, True] Translation: X:387.23, Y:281.42, Z:39.06 [[ 9.98983834e-01 -4.50186223e-02 -2.14998885e-03 3.87226623e+02] [ 4.50183853e-02 9.98986146e-01 -1.58537355e-04 2.81421518e+02] [ 2.15494621e-03 6.15872283e-05 9.99997676e-01 3.90557777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.456875 meters 0.022634063971253487 Centerline is valid? [True, True] Translation: X:387.29, Y:281.43, Z:39.06 [[ 9.99198958e-01 -3.99889944e-02 -1.52430460e-03 3.87287035e+02] [ 3.99888701e-02 9.99200119e-01 -1.11945964e-04 2.81427844e+02] [ 1.52756194e-03 5.09010721e-05 9.99998832e-01 3.90582602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.516875 meters 0.02226607909432671 Centerline is valid? [True, True] Translation: X:387.35, Y:281.43, Z:39.06 [[ 9.99304684e-01 -3.72846448e-02 6.05262199e-05 3.87348599e+02] [ 3.72846447e-02 9.99304686e-01 2.29113972e-06 2.81432071e+02] [-6.05695595e-05 -3.28480478e-08 9.99999998e-01 3.90599444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.576875 meters 0.025047048553742582 Centerline is valid? [True, True] Translation: X:387.41, Y:281.44, Z:39.06 [[ 9.99294221e-01 -3.75600460e-02 5.51194835e-04 3.87409352e+02] [ 3.75600307e-02 9.99294372e-01 3.79971837e-05 2.81440733e+02] [-5.52233072e-04 -1.72674711e-05 9.99999847e-01 3.90622413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.636875 meters 0.02214265669009325 Centerline is valid? [True, True] Translation: X:387.47, Y:281.44, Z:39.06 [[ 9.99104164e-01 -4.23046391e-02 1.08982084e-03 3.87471329e+02] [ 4.23045783e-02 9.99104757e-01 7.87389163e-05 2.81440691e+02] [-1.09217621e-03 -3.25639681e-05 9.99999403e-01 3.90627121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.696875 meters 0.019677708280343736 Centerline is valid? [True, True] Translation: X:387.53, Y:281.44, Z:39.06 [[ 9.98652095e-01 -5.19026854e-02 3.22897402e-04 3.87532565e+02] [ 5.19026806e-02 9.98652147e-01 2.34282362e-05 2.81439989e+02] [-3.23678172e-04 -6.63741640e-06 9.99999948e-01 3.90629869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.756875 meters 0.018660995535537798 Centerline is valid? [True, True] Translation: X:387.59, Y:281.44, Z:39.06 [[ 9.98206443e-01 -5.98647494e-02 3.29060300e-04 3.87593408e+02] [ 5.98647449e-02 9.98206498e-01 2.35913137e-05 2.81439826e+02] [-3.29882418e-04 -3.84989039e-06 9.99999946e-01 3.90631417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.816875 meters 0.01791182906641984 Centerline is valid? [True, True] Translation: X:387.66, Y:281.44, Z:39.06 [[ 9.98135066e-01 -6.10366601e-02 9.57424468e-04 3.87656053e+02] [ 6.10366238e-02 9.98135525e-01 6.71186400e-05 2.81443287e+02] [-9.59736071e-04 -8.55551105e-06 9.99999539e-01 3.90641035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.876875 meters 0.018890037972058606 Centerline is valid? [True, True] Translation: X:387.72, Y:281.45, Z:39.07 [[ 9.98294213e-01 -5.82803938e-02 3.47264748e-03 3.87717476e+02] [ 5.82798770e-02 9.98300252e-01 2.49921799e-04 2.81449859e+02] [-3.48131039e-03 -4.71100181e-05 9.99993939e-01 3.90677660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.936875 meters 0.019371684685304216 Centerline is valid? [True, True] Translation: X:387.78, Y:281.46, Z:39.07 [[ 9.98521909e-01 -5.42219849e-02 3.73814946e-03 3.87779082e+02] [ 5.42213640e-02 9.98528904e-01 2.67339330e-04 2.81455774e+02] [-3.74714595e-03 -6.42566161e-05 9.99992977e-01 3.90695129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.996875 meters 0.021780733413520666 Centerline is valid? [True, True] Translation: X:387.84, Y:281.46, Z:39.07 [[ 9.98949802e-01 -4.55785139e-02 4.67888817e-03 3.87839155e+02] [ 4.55774353e-02 9.98960752e-01 3.36962471e-04 2.81464596e+02] [-4.68938389e-03 -1.23356871e-04 9.99988997e-01 3.90713712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.056875 meters 0.02359015705647612 Centerline is valid? [True, True] Translation: X:387.90, Y:281.47, Z:39.07 [[ 9.99249927e-01 -3.86225638e-02 2.80732241e-03 3.87899889e+02] [ 3.86221491e-02 9.99253866e-01 2.01817185e-04 2.81468431e+02] [-2.81302247e-03 -9.32409831e-05 9.99996039e-01 3.90673652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.116875 meters 0.02310592068002268 Centerline is valid? [True, True] Translation: X:387.96, Y:281.47, Z:39.07 [[ 9.99234527e-01 -3.90773513e-02 1.82240196e-03 3.87962074e+02] [ 3.90771783e-02 9.99236187e-01 1.30478795e-04 2.81469783e+02] [-1.82610875e-03 -5.91645906e-05 9.99998331e-01 3.90656207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.176875 meters 0.022390140970648818 Centerline is valid? [True, True] Translation: X:388.02, Y:281.47, Z:39.07 [[ 9.99057431e-01 -4.34075910e-02 -1.75876366e-04 3.88021533e+02] [ 4.34075894e-02 9.99057446e-01 -1.25004547e-05 2.81472039e+02] [ 1.76253207e-04 4.85430309e-06 9.99999984e-01 3.90671050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.236875 meters 0.021485006965188333 Centerline is valid? [True, True] Translation: X:388.08, Y:281.47, Z:39.07 [[ 9.98889557e-01 -4.70421760e-02 -2.58575871e-03 3.88083130e+02] [ 4.70418512e-02 9.98892902e-01 -1.86304070e-04 2.81472240e+02] [ 2.59166017e-03 6.44583136e-05 9.99996640e-01 3.90652642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.296875 meters 0.020264206496597024 Centerline is valid? [True, True] Translation: X:388.14, Y:281.47, Z:39.06 [[ 9.98689221e-01 -5.11356921e-02 -2.23195724e-03 3.88144973e+02] [ 5.11354604e-02 9.98691714e-01 -1.60785590e-04 2.81469863e+02] [ 2.23725908e-03 4.64426749e-05 9.99997496e-01 3.90633221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3568750000001 meters 0.019530484294751623 Centerline is valid? [True, True] Translation: X:388.21, Y:281.47, Z:39.06 [[ 9.98471423e-01 -5.52387155e-02 -1.87137706e-03 3.88207664e+02] [ 5.52385585e-02 9.98473176e-01 -1.35506773e-04 2.81470535e+02] [ 1.87600502e-03 3.19274687e-05 9.99998240e-01 3.90635183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.416875 meters 0.020582451014013042 Centerline is valid? [True, True] Translation: X:388.27, Y:281.48, Z:39.07 [[ 9.98620265e-01 -5.24869409e-02 -1.63946655e-03 3.88268297e+02] [ 5.24868157e-02 9.98621610e-01 -1.19326599e-04 2.81478296e+02] [ 1.64346982e-03 3.31115816e-05 9.99998649e-01 3.90655353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.476875 meters 0.02418224960051074 Centerline is valid? [True, True] Translation: X:388.33, Y:281.50, Z:39.07 [[ 9.99085064e-01 -4.27230303e-02 1.94362495e-03 3.88326452e+02] [ 4.27228409e-02 9.99086953e-01 1.38922903e-04 2.81495755e+02] [-1.94778554e-03 -5.57586181e-05 9.99998102e-01 3.90691448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.536875 meters 0.02468261711998185 Centerline is valid? [True, True] Translation: X:388.39, Y:281.50, Z:39.07 [[ 9.99271526e-01 -3.79468909e-02 4.05599706e-03 3.88386923e+02] [ 3.79460263e-02 9.99279748e-01 2.89931517e-04 2.81503183e+02] [-4.06407772e-03 -1.35811339e-04 9.99991732e-01 3.90684555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.596875 meters 0.023941130570140228 Centerline is valid? [True, True] Translation: X:388.45, Y:281.51, Z:39.07 [[ 9.99271143e-01 -3.80646160e-02 2.87535446e-03 3.88449347e+02] [ 3.80641841e-02 9.99275275e-01 2.04803749e-04 2.81505750e+02] [-2.88106640e-03 -9.52064552e-05 9.99995845e-01 3.90650568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.656875 meters 0.02427078079964409 Centerline is valid? [True, True] Translation: X:388.51, Y:281.51, Z:39.06 [[ 9.99198250e-01 -4.00306852e-02 6.33404532e-04 3.88509219e+02] [ 4.00306647e-02 9.99198451e-01 4.50886165e-05 2.81511977e+02] [-6.34701755e-04 -1.96968623e-05 9.99999798e-01 3.90644626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.716875 meters 0.025977598434258144 Centerline is valid? [True, True] Translation: X:388.57, Y:281.52, Z:39.06 [[ 9.99222963e-01 -3.93451255e-02 -2.33051301e-03 3.88570001e+02] [ 3.93448406e-02 9.99225678e-01 -1.67985306e-04 2.81519951e+02] [ 2.33531785e-03 7.61611125e-05 9.99997270e-01 3.90633456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.776875 meters 0.026144818006006217 Centerline is valid? [True, True] Translation: X:388.63, Y:281.52, Z:39.06 [[ 9.99366129e-01 -3.53892295e-02 -3.86569224e-03 3.88630887e+02] [ 3.53884286e-02 9.99373595e-01 -2.75408652e-04 2.81522056e+02] [ 3.87301725e-03 1.38433304e-04 9.99992490e-01 3.90590111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.836875 meters 0.0301041890708686 Centerline is valid? [True, True] Translation: X:388.69, Y:281.53, Z:39.06 [[ 9.99648444e-01 -2.63744922e-02 -2.71556651e-03 3.88690022e+02] [ 2.63740642e-02 9.99652125e-01 -1.93324197e-04 2.81534004e+02] [ 2.71972066e-03 1.21635708e-04 9.99996294e-01 3.90621271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.896875 meters 0.02995315767160993 Centerline is valid? [True, True] Translation: X:388.75, Y:281.54, Z:39.06 [[ 9.99717761e-01 -2.36918300e-02 -1.75951171e-03 3.88751372e+02] [ 2.36916457e-02 9.99719306e-01 -1.25545909e-04 2.81537841e+02] [ 1.76199224e-03 8.38247472e-05 9.99998444e-01 3.90637682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.956875 meters 0.03117030522596061 Centerline is valid? [True, True] Translation: X:388.81, Y:281.55, Z:39.07 [[ 9.99835116e-01 -1.81458249e-02 -6.85814585e-04 3.88811829e+02] [ 1.81457956e-02 9.99835350e-01 -4.88304043e-05 2.81545817e+02] [ 6.86587734e-04 3.63777017e-05 9.99999764e-01 3.90664538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.016875 meters 0.032620845593165804 Centerline is valid? [True, True] Translation: X:388.87, Y:281.55, Z:39.07 [[ 9.99835767e-01 -1.81221732e-02 1.63884282e-04 3.88872680e+02] [ 1.81221716e-02 9.99835780e-01 1.11908830e-05 2.81553662e+02] [-1.64060172e-04 -8.21910605e-06 9.99999987e-01 3.90691466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.076875 meters 0.03113466233414195 Centerline is valid? [True, True] Translation: X:388.93, Y:281.56, Z:39.07 [[ 9.99671672e-01 -2.55991612e-02 -1.10994315e-03 3.88931994e+02] [ 2.55990895e-02 9.99672287e-01 -7.87975927e-05 2.81556329e+02] [ 1.11159656e-03 5.03581871e-05 9.99999381e-01 3.90684761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.136875 meters 0.02494206695262183 Centerline is valid? [True, True] Translation: X:388.99, Y:281.55, Z:39.07 [[ 9.99420346e-01 -3.40060244e-02 1.60071188e-03 3.88992511e+02] [ 3.40058855e-02 9.99421626e-01 1.13880779e-04 2.81554503e+02] [-1.60365870e-03 -5.93811425e-05 9.99998712e-01 3.90700786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.196875 meters 0.02450104532513277 Centerline is valid? [True, True] Translation: X:389.05, Y:281.56, Z:39.07 [[ 9.99241698e-01 -3.86879118e-02 4.39028141e-03 3.89052977e+02] [ 3.86869135e-02 9.99251332e-01 3.12100830e-04 2.81556965e+02] [-4.39906908e-03 -1.42017726e-04 9.99990314e-01 3.90733933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.256875 meters 0.024196178813147853 Centerline is valid? [True, True] Translation: X:389.12, Y:281.56, Z:39.07 [[ 9.99177051e-01 -4.02569653e-02 4.95952389e-03 3.89115432e+02] [ 4.02557264e-02 9.99189349e-01 3.49417126e-04 2.81560304e+02] [-4.96956992e-03 -1.49480337e-04 9.99987640e-01 3.90748834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.316875 meters 0.026334175798724335 Centerline is valid? [True, True] Translation: X:389.17, Y:281.57, Z:39.08 [[ 9.99354787e-01 -3.54678937e-02 5.66018260e-03 3.89174748e+02] [ 3.54661950e-02 9.99370796e-01 4.00246543e-04 2.81569461e+02] [-5.67081709e-03 -1.99243159e-04 9.99983901e-01 3.90775445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.376875 meters 0.027323002113078202 Centerline is valid? [True, True] Translation: X:389.24, Y:281.57, Z:39.08 [[ 9.99485780e-01 -3.18936390e-02 3.31220159e-03 3.89237092e+02] [ 3.18930392e-02 9.99491260e-01 2.33759320e-04 2.81574275e+02] [-3.31797197e-03 -1.28002941e-04 9.99994487e-01 3.90754404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.436875 meters 0.03155219893415751 Centerline is valid? [True, True] Translation: X:389.30, Y:281.58, Z:39.07 [[ 9.99759136e-01 -2.19273156e-02 -9.28624758e-04 3.89297023e+02] [ 2.19272640e-02 9.99759566e-01 -6.57317986e-05 2.81584474e+02] [ 9.29842808e-04 4.53537660e-05 9.99999567e-01 3.90727706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.496875 meters 0.036499375653488285 Centerline is valid? [True, True] Translation: X:389.36, Y:281.60, Z:39.08 [[ 9.99940363e-01 -1.07274629e-02 -2.04734936e-03 3.89356976e+02] [ 1.07271887e-02 9.99942452e-01 -1.44848086e-04 2.81596370e+02] [ 2.04878539e-03 1.22877145e-04 9.99997894e-01 3.90751454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.556875 meters 0.03766625189622479 Centerline is valid? [True, True] Translation: X:389.42, Y:281.60, Z:39.07 [[ 9.99988933e-01 -2.85776789e-03 -3.73723047e-03 3.89416988e+02] [ 2.85679940e-03 9.99995884e-01 -2.64459304e-04 2.81600514e+02] [ 3.73797085e-03 2.53779859e-04 9.99992982e-01 3.90730867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.616875 meters 0.037726345847139825 Centerline is valid? [True, True] Translation: X:389.48, Y:281.60, Z:39.08 [[ 9.99983343e-01 -5.29269225e-03 -2.30249080e-03 3.89477157e+02] [ 5.29233136e-03 9.99985982e-01 -1.62801500e-04 2.81602419e+02] [ 2.30332019e-03 1.50613244e-04 9.99997336e-01 3.90760127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.676875 meters 0.033288495071112166 Centerline is valid? [True, True] Translation: X:389.54, Y:281.61, Z:39.08 [[ 9.99945668e-01 -8.76740283e-03 -5.63864374e-03 3.89537630e+02] [ 8.76529127e-03 9.99961504e-01 -3.99084401e-04 2.81605671e+02] [ 5.64192561e-03 3.49638363e-04 9.99984023e-01 3.90768870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.736875 meters 0.03328417441818759 Centerline is valid? [True, True] Translation: X:389.60, Y:281.61, Z:39.08 [[ 9.99903475e-01 -1.28659721e-02 -5.24483926e-03 3.89597085e+02] [ 1.28642019e-02 9.99917184e-01 -3.71105522e-04 2.81607125e+02] [ 5.24917954e-03 3.03599029e-04 9.99986177e-01 3.90755880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.796875 meters 0.03127857106805097 Centerline is valid? [True, True] Translation: X:389.66, Y:281.61, Z:39.07 [[ 9.99771757e-01 -2.00498847e-02 -7.37811517e-03 3.89658314e+02] [ 2.00465752e-02 9.99798911e-01 -5.22243094e-04 2.81608170e+02] [ 7.38710243e-03 3.74217955e-04 9.99972645e-01 3.90746618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8568750000001 meters 0.029245008796233936 Centerline is valid? [True, True] Translation: X:389.72, Y:281.61, Z:39.08 [[ 9.99686717e-01 -2.41253904e-02 -6.66578236e-03 3.89718899e+02] [ 2.41227800e-02 9.99708892e-01 -4.71741267e-04 2.81612719e+02] [ 6.67522284e-03 3.10796277e-04 9.99977672e-01 3.90796919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.916875 meters 0.029279794545580672 Centerline is valid? [True, True] Translation: X:389.78, Y:281.61, Z:39.08 [[ 9.99665446e-01 -2.49129833e-02 -6.95264101e-03 3.89781577e+02] [ 2.49101618e-02 9.99689573e-01 -4.92138041e-04 2.81614828e+02] [ 6.96274335e-03 3.18781982e-04 9.99975709e-01 3.90784018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.976875 meters 0.0337279368123581 Centerline is valid? [True, True] Translation: X:389.84, Y:281.63, Z:39.08 [[ 9.99780350e-01 -2.05985767e-02 -3.86661199e-03 3.89840691e+02] [ 2.05976734e-02 9.99787808e-01 -2.73287366e-04 2.81626241e+02] [ 3.87142086e-03 1.93584128e-04 9.99992487e-01 3.90832366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.036875 meters 0.03582415528000706 Centerline is valid? [True, True] Translation: X:389.90, Y:281.64, Z:39.09 [[ 9.99847921e-01 -1.74107692e-02 9.99737113e-04 3.89901205e+02] [ 1.74107075e-02 9.99848420e-01 7.03986307e-05 2.81636319e+02] [-1.00081127e-03 -5.29817941e-05 9.99999498e-01 3.90902589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.096875 meters 0.03334245450067512 Centerline is valid? [True, True] Translation: X:389.96, Y:281.63, Z:39.08 [[ 9.99886570e-01 -1.47748721e-02 -2.92411467e-03 3.89963443e+02] [ 1.47743305e-02 9.99890832e-01 -2.06741476e-04 2.81633013e+02] [ 2.92685003e-03 1.63516189e-04 9.99995703e-01 3.90837397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.156875 meters 0.031487573488812245 Centerline is valid? [True, True] Translation: X:390.02, Y:281.64, Z:39.09 [[ 9.99857050e-01 -1.66067709e-02 -3.17708725e-03 3.90024722e+02] [ 1.66061416e-02 9.99862083e-01 -2.24341880e-04 2.81636503e+02] [ 3.18037467e-03 1.71550650e-04 9.99994928e-01 3.90866140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.216875 meters 0.0326902813056971 Centerline is valid? [True, True] Translation: X:390.09, Y:281.64, Z:39.09 [[ 9.99847530e-01 -1.63583516e-02 -6.10903327e-03 3.90085214e+02] [ 1.63560231e-02 9.99866138e-01 -4.30935705e-04 2.81643616e+02] [ 6.11526490e-03 3.30950511e-04 9.99981247e-01 3.90855513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.276875 meters 0.030317204639788133 Centerline is valid? [True, True] Translation: X:390.15, Y:281.64, Z:39.08 [[ 9.99855759e-01 -1.59718443e-02 -5.77599823e-03 3.90148041e+02] [ 1.59697574e-02 9.99872392e-01 -4.07251061e-04 2.81639463e+02] [ 5.78176572e-03 3.14951029e-04 9.99983236e-01 3.90833212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.336875 meters 0.033611112650556656 Centerline is valid? [True, True] Translation: X:390.21, Y:281.65, Z:39.09 [[ 9.99916039e-01 -1.12952572e-02 -6.35068802e-03 3.90207410e+02] [ 1.12926450e-02 9.99936136e-01 -4.47035751e-04 2.81649678e+02] [ 6.35533183e-03 3.75282152e-04 9.99979734e-01 3.90870890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.396875 meters 0.03271358196256047 Centerline is valid? [True, True] Translation: X:390.27, Y:281.65, Z:39.09 [[ 9.99952221e-01 -6.99378705e-03 -6.82956438e-03 3.90267531e+02] [ 6.99066509e-03 9.99975449e-01 -4.80889223e-04 2.81651665e+02] [ 6.83275995e-03 4.33123049e-04 9.99976563e-01 3.90870789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.456875 meters 0.03489675850211425 Centerline is valid? [True, True] Translation: X:390.33, Y:281.66, Z:39.09 [[ 9.99990013e-01 -2.13405125e-03 -3.92679018e-03 3.90327605e+02] [ 2.13298191e-03 9.99997687e-01 -2.76485631e-04 2.81658679e+02] [ 3.92737113e-03 2.68107097e-04 9.99992252e-01 3.90930545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.516875 meters 0.03814124982341696 Centerline is valid? [True, True] Translation: X:390.39, Y:281.67, Z:39.10 [[ 9.99995347e-01 -5.35339957e-04 -3.00306586e-03 3.90386433e+02] [ 5.34707706e-04 9.99999835e-01 -2.11334112e-04 2.81667390e+02] [ 3.00317850e-03 2.09727366e-04 9.99995468e-01 3.90964794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.576875 meters 0.04064857726028135 Centerline is valid? [True, True] Translation: X:390.44, Y:281.68, Z:39.10 [[ 9.99997416e-01 2.72475582e-04 -2.25698022e-03 3.90444810e+02] [-2.72834494e-04 9.99999950e-01 -1.58716835e-04 2.81676709e+02] [ 2.25693686e-03 1.59332207e-04 9.99997440e-01 3.90993316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.636875 meters 0.0369868989123796 Centerline is valid? [True, True] Translation: X:390.50, Y:281.67, Z:39.10 [[ 9.99997333e-01 2.20827644e-05 -2.30924667e-03 3.90504415e+02] [-2.24580013e-05 9.99999987e-01 -1.62467412e-04 2.81674217e+02] [ 2.30924305e-03 1.62518840e-04 9.99997320e-01 3.90984584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.696875 meters 0.036928224029145765 Centerline is valid? [True, True] Translation: X:390.56, Y:281.68, Z:39.10 [[ 9.99993253e-01 -3.56863973e-03 -8.70919253e-04 3.90563158e+02] [ 3.56858776e-03 9.99993631e-01 -6.12196099e-05 2.81680336e+02] [ 8.71132177e-04 5.81112450e-05 9.99999619e-01 3.91032991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.756875 meters 0.03381917835513667 Centerline is valid? [True, True] Translation: X:390.62, Y:281.68, Z:39.10 [[ 9.99944571e-01 -7.86216597e-03 -7.00293090e-03 3.90623954e+02] [ 7.85889993e-03 9.99968996e-01 -4.93777743e-04 2.81680434e+02] [ 7.00659594e-03 4.38715041e-04 9.99975357e-01 3.90976552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.816875 meters 0.03256333994565768 Centerline is valid? [True, True] Translation: X:390.68, Y:281.68, Z:39.09 [[ 9.99895772e-01 -1.07612111e-02 -9.62502861e-03 3.90684470e+02] [ 1.07551751e-02 9.99941931e-01 -6.78667100e-04 2.81681042e+02] [ 9.63177298e-03 5.75077496e-04 9.99953448e-01 3.90944760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.876875 meters 0.030467459198979502 Centerline is valid? [True, True] Translation: X:390.75, Y:281.68, Z:39.09 [[ 9.99763861e-01 -1.74177255e-02 -1.29940650e-02 3.90745829e+02] [ 1.74072849e-02 9.99848062e-01 -9.16168785e-04 2.81680037e+02] [ 1.30080482e-02 6.89761051e-04 9.99915154e-01 3.90901768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.936875 meters 0.031606992368524975 Centerline is valid? [True, True] Translation: X:390.81, Y:281.69, Z:39.09 [[ 9.99752354e-01 -1.89024057e-02 -1.17443541e-02 3.90806065e+02] [ 1.88939814e-02 9.99821150e-01 -8.27857457e-04 2.81689622e+02] [ 1.17579022e-02 6.05754833e-04 9.99930690e-01 3.90948988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.996875 meters 0.027796029465902473 Centerline is valid? [True, True] Translation: X:390.87, Y:281.69, Z:39.10 [[ 9.99732762e-01 -2.06362843e-02 -1.04186959e-02 3.90867240e+02] [ 2.06297517e-02 9.99786915e-01 -7.34100843e-04 2.81691336e+02] [ 1.04316249e-02 5.18969555e-04 9.99945454e-01 3.90988913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.056875 meters 0.029605998053709788 Centerline is valid? [True, True] Translation: X:390.93, Y:281.70, Z:39.10 [[ 9.99653307e-01 -2.48515986e-02 -8.69854216e-03 3.90926449e+02] [ 2.48472063e-02 9.99691073e-01 -6.12675560e-04 2.81698278e+02] [ 8.71108091e-03 3.96328678e-04 9.99961979e-01 3.90996412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.116875 meters 0.024258534883542075 Centerline is valid? [True, True] Translation: X:390.99, Y:281.70, Z:39.11 [[ 9.99540543e-01 -3.00682302e-02 -3.82157999e-03 3.90987115e+02] [ 3.00674211e-02 9.99547837e-01 -2.69019601e-04 2.81698061e+02] [ 3.82794096e-03 1.53990943e-04 9.99992662e-01 3.91082705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.176875 meters 0.02715486737108907 Centerline is valid? [True, True] Translation: X:391.05, Y:281.71, Z:39.11 [[ 9.99557473e-01 -2.97344652e-02 -8.48846331e-04 3.91047865e+02] [ 2.97344248e-02 9.99557832e-01 -6.01398801e-05 2.81707317e+02] [ 8.50259226e-04 3.48733092e-05 9.99999638e-01 3.91116719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.236875 meters 0.025880183764964034 Centerline is valid? [True, True] Translation: X:391.11, Y:281.71, Z:39.11 [[ 9.99469157e-01 -3.25788926e-02 -1.40204471e-04 3.91110004e+02] [ 3.25788915e-02 9.99469167e-01 -1.03048311e-05 2.81706475e+02] [ 1.40465766e-04 5.73165461e-06 9.99999990e-01 3.91102717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.296875 meters 0.02182498067549337 Centerline is valid? [True, True] Translation: X:391.17, Y:281.70, Z:39.11 [[ 9.99323794e-01 -3.67501409e-02 -1.17558631e-03 3.91170849e+02] [ 3.67500691e-02 9.99324485e-01 -8.25732598e-05 2.81701211e+02] [ 1.17782677e-03 3.93145449e-05 9.99999306e-01 3.91083623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3568750000001 meters 0.020778105033550445 Centerline is valid? [True, True] Translation: X:391.23, Y:281.70, Z:39.10 [[ 9.99098431e-01 -4.16846325e-02 -8.04464854e-03 3.91231149e+02] [ 4.16814328e-02 9.99130792e-01 -5.65056639e-04 2.81702439e+02] [ 8.06121024e-03 2.29234724e-04 9.99967482e-01 3.91019075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.416875 meters 0.022328181468848327 Centerline is valid? [True, True] Translation: X:391.29, Y:281.71, Z:39.10 [[ 9.99151010e-01 -4.02223593e-02 -8.91181362e-03 3.91291532e+02] [ 4.02183744e-02 9.99190718e-01 -6.25981580e-04 2.81708196e+02] [ 8.92977990e-03 2.67031472e-04 9.99960093e-01 3.91026845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.476875 meters 0.024316835411544342 Centerline is valid? [True, True] Translation: X:391.35, Y:281.72, Z:39.11 [[ 9.99407087e-01 -3.41663696e-02 -4.25834399e-03 3.91351306e+02] [ 3.41654052e-02 9.99416147e-01 -2.99043253e-04 2.81719881e+02] [ 4.26607497e-03 1.53377899e-04 9.99990888e-01 3.91106742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.536875 meters 0.023363476074277974 Centerline is valid? [True, True] Translation: X:391.41, Y:281.72, Z:39.11 [[ 9.99501244e-01 -3.14339320e-02 -3.02824138e-03 3.91412668e+02] [ 3.14334311e-02 9.99505825e-01 -2.12881991e-04 2.81724361e+02] [ 3.03343662e-03 1.17587798e-04 9.99995392e-01 3.91125923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.596875 meters 0.024228971051082463 Centerline is valid? [True, True] Translation: X:391.47, Y:281.73, Z:39.11 [[ 9.99541096e-01 -3.00710045e-02 -3.65143684e-03 3.91474471e+02] [ 3.00702678e-02 9.99547754e-01 -2.56498514e-04 2.81728885e+02] [ 3.65749866e-03 1.46581122e-04 9.99993301e-01 3.91100922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.656875 meters 0.026130908713458245 Centerline is valid? [True, True] Translation: X:391.53, Y:281.74, Z:39.11 [[ 9.99655141e-01 -2.62529080e-02 -6.18935723e-04 3.91534737e+02] [ 2.62528861e-02 9.99655333e-01 -4.35165475e-05 2.81735026e+02] [ 6.19864832e-04 2.72526914e-05 9.99999808e-01 3.91135251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.716875 meters 0.0298861601692999 Centerline is valid? [True, True] Translation: X:391.59, Y:281.74, Z:39.12 [[ 9.99890049e-01 -1.47686029e-02 1.33356229e-03 3.91594217e+02] [ 1.47684912e-02 9.99890936e-01 9.35582251e-05 2.81744994e+02] [-1.33479857e-03 -7.38532354e-05 9.99999106e-01 3.91153168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.776875 meters 0.034765236051649225 Centerline is valid? [True, True] Translation: X:391.65, Y:281.75, Z:39.12 [[ 9.99966740e-01 -7.63145683e-03 2.87762992e-03 3.91653407e+02] [ 7.63090745e-03 9.99970864e-01 2.01848812e-04 2.81754751e+02] [-2.87908648e-03 -1.79883171e-04 9.99995839e-01 3.91156493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.836875 meters 0.030102586220879763 Centerline is valid? [True, True] Translation: X:391.72, Y:281.75, Z:39.12 [[ 9.99951466e-01 -9.63045744e-03 2.07841861e-03 3.91715770e+02] [ 9.63017664e-03 9.99953618e-01 1.45067764e-04 2.81750585e+02] [-2.07971927e-03 -1.25045184e-04 9.99997830e-01 3.91160510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.896875 meters 0.03080256098401048 Centerline is valid? [True, True] Translation: X:391.78, Y:281.75, Z:39.11 [[ 9.99902629e-01 -1.26089499e-02 -5.97892610e-03 3.91775369e+02] [ 1.26066710e-02 9.99920445e-01 -4.18694717e-04 2.81751533e+02] [ 5.98372975e-03 3.43279593e-04 9.99982038e-01 3.91080579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.956875 meters 0.028007325796189808 Centerline is valid? [True, True] Translation: X:391.84, Y:281.75, Z:39.11 [[ 9.99798531e-01 -1.83221080e-02 -8.19737089e-03 3.91836093e+02] [ 1.83180149e-02 9.99832046e-01 -5.74132210e-04 2.81751568e+02] [ 8.20651343e-03 4.23856978e-04 9.99966236e-01 3.91081102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.016875 meters 0.025453494931716954 Centerline is valid? [True, True] Translation: X:391.90, Y:281.76, Z:39.11 [[ 9.99483401e-01 -3.10435981e-02 -8.32028062e-03 3.91895647e+02] [ 3.10398216e-02 9.99517979e-01 -5.82670723e-04 2.81755216e+02] [ 8.33435826e-03 3.24109690e-04 9.99965216e-01 3.91148808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.076875 meters 0.023445427062361125 Centerline is valid? [True, True] Translation: X:391.96, Y:281.75, Z:39.11 [[ 9.99194348e-01 -3.90895089e-02 -9.09208282e-03 3.91956265e+02] [ 3.90853302e-02 9.99235674e-01 -6.36902442e-04 2.81754717e+02] [ 9.11002970e-03 2.81022260e-04 9.99958463e-01 3.91114012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.136875 meters 0.024542186792184204 Centerline is valid? [True, True] Translation: X:392.02, Y:281.76, Z:39.12 [[ 9.99207702e-01 -3.95377526e-02 -4.55351022e-03 3.92016823e+02] [ 3.95367081e-02 9.99218068e-01 -3.19209443e-04 2.81763883e+02] [ 4.56257051e-03 1.38925729e-04 9.99989582e-01 3.91174811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.196875 meters 0.02326859658553609 Centerline is valid? [True, True] Translation: X:392.08, Y:281.77, Z:39.13 [[ 9.99175708e-01 -4.05943466e-02 -6.35053996e-05 3.92079939e+02] [ 4.05943464e-02 9.99175710e-01 -5.38783305e-06 2.81769812e+02] [ 6.36717683e-05 2.80543172e-06 9.99999998e-01 3.91306005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.256875 meters 0.0253578820439484 Centerline is valid? [True, True] Translation: X:392.14, Y:281.78, Z:39.13 [[ 9.99318681e-01 -3.66526105e-02 -4.33130155e-03 3.92141020e+02] [ 3.66516375e-02 9.99328057e-01 -3.03831177e-04 2.81776662e+02] [ 4.33952737e-03 1.44874876e-04 9.99990574e-01 3.91284606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.316875 meters 0.024212743714051944 Centerline is valid? [True, True] Translation: X:392.20, Y:281.78, Z:39.13 [[ 9.99368138e-01 -3.52435697e-02 -4.60599222e-03 3.92202761e+02] [ 3.52424632e-02 9.99378740e-01 -3.21201224e-04 2.81778878e+02] [ 4.61445098e-03 1.58671758e-04 9.99989341e-01 3.91308921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.376875 meters 0.025515151884552723 Centerline is valid? [True, True] Translation: X:392.26, Y:281.78, Z:39.12 [[ 9.99233596e-01 -3.52442669e-02 -1.70312189e-02 3.92264627e+02] [ 3.52291736e-02 9.99378557e-01 -1.18551607e-03 2.81777934e+02] [ 1.70624176e-02 5.84611718e-04 9.99854255e-01 3.91189256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.436875 meters 0.02490475431715669 Centerline is valid? [True, True] Translation: X:392.33, Y:281.78, Z:39.12 [[ 9.99208700e-01 -3.53275093e-02 -1.82740771e-02 3.92326795e+02] [ 3.53101667e-02 9.99375594e-01 -1.27091676e-03 2.81777993e+02] [ 1.83075650e-02 6.24650369e-04 9.99832207e-01 3.91195972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.496875 meters 0.028334570441290684 Centerline is valid? [True, True] Translation: X:392.39, Y:281.79, Z:39.13 [[ 9.99374261e-01 -2.79437214e-02 -2.16848931e-02 3.92385603e+02] [ 2.79175761e-02 9.99609092e-01 -1.50754547e-03 2.81791436e+02] [ 2.17185428e-02 9.01212484e-04 9.99763718e-01 3.91251917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.556875 meters 0.03147293107849777 Centerline is valid? [True, True] Translation: X:392.45, Y:281.80, Z:39.13 [[ 9.99634034e-01 -1.60784607e-02 -2.17550399e-02 3.92445600e+02] [ 1.60493405e-02 9.99870057e-01 -1.51249952e-03 2.81804451e+02] [ 2.17765316e-02 1.16279196e-03 9.99762187e-01 3.91336739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.616875 meters 0.03352552729740608 Centerline is valid? [True, True] Translation: X:392.51, Y:281.81, Z:39.13 [[ 9.99672580e-01 -1.14450618e-02 -2.28854470e-02 3.92506000e+02] [ 1.14116262e-02 9.99933619e-01 -1.59106574e-03 2.81808882e+02] [ 2.29021377e-02 1.32938462e-03 9.99736828e-01 3.91343084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.676875 meters 0.03508991118689908 Centerline is valid? [True, True] Translation: X:392.57, Y:281.81, Z:39.14 [[ 9.99686142e-01 -6.27771178e-03 -2.42530090e-02 3.92565953e+02] [ 6.23863874e-03 9.99979118e-01 -1.68638879e-03 2.81813117e+02] [ 2.42630892e-02 1.53455374e-03 9.99704430e-01 3.91365353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.736875 meters 0.03276677717624969 Centerline is valid? [True, True] Translation: X:392.63, Y:281.81, Z:39.14 [[ 9.99683060e-01 -1.72566847e-03 -2.51157703e-02 3.92626115e+02] [ 1.68233124e-03 9.99997060e-01 -1.74652630e-03 2.81814827e+02] [ 2.51187103e-02 1.70371971e-03 9.99683024e-01 3.91392107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.796875 meters 0.03639661196855455 Centerline is valid? [True, True] Translation: X:392.69, Y:281.82, Z:39.14 [[ 9.99668907e-01 1.41058890e-02 -2.15197733e-02 3.92686407e+02] [-1.41413499e-02 9.99898886e-01 -1.49653557e-03 2.81821921e+02] [ 2.14964874e-02 1.80035872e-03 9.99767303e-01 3.91429455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8568750000001 meters 0.04275361153249577 Centerline is valid? [True, True] Translation: X:392.75, Y:281.83, Z:39.15 [[ 9.99636559e-01 1.95151843e-02 -1.85986004e-02 3.92745450e+02] [-1.95426024e-02 9.99808188e-01 -1.29358138e-03 2.81830905e+02] [ 1.85697885e-02 1.65657629e-03 9.99826194e-01 3.91463312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.916875 meters 0.04111565910948806 Centerline is valid? [True, True] Translation: X:392.81, Y:281.82, Z:39.15 [[ 9.99705027e-01 1.86687041e-02 -1.55351023e-02 3.92805236e+02] [-1.86877542e-02 9.99824783e-01 -1.08198946e-03 2.81823094e+02] [ 1.55121810e-02 1.37198647e-03 9.99878738e-01 3.91478195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.976875 meters 0.045828666491409306 Centerline is valid? [True, True] Translation: X:392.86, Y:281.83, Z:39.15 [[ 9.99641297e-01 2.23551860e-02 -1.47486871e-02 3.92864341e+02] [-2.23727842e-02 9.99749168e-01 -1.02926488e-03 2.81827785e+02] [ 1.47219783e-02 1.35886487e-03 9.99890702e-01 3.91487063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.036875 meters 0.042488808927452264 Centerline is valid? [True, True] Translation: X:392.93, Y:281.82, Z:39.15 [[ 9.99554961e-01 2.75056340e-02 -1.15464450e-02 3.92925090e+02] [-2.75167616e-02 9.99621017e-01 -8.05942121e-04 2.81819047e+02] [ 1.15199012e-02 1.12330422e-03 9.99933013e-01 3.91479406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.096875 meters 0.044812956682858875 Centerline is valid? [True, True] Translation: X:392.99, Y:281.82, Z:39.15 [[ 9.99446927e-01 3.23917466e-02 -7.52428756e-03 3.92985798e+02] [-3.23966095e-02 9.99474954e-01 -5.25274792e-04 2.81816475e+02] [ 7.50332239e-03 7.68745682e-04 9.99971554e-01 3.91481769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.156875 meters 0.04460562592420925 Centerline is valid? [True, True] Translation: X:393.05, Y:281.81, Z:39.15 [[ 9.99434523e-01 3.32606288e-02 -4.93600952e-03 3.93045872e+02] [-3.32627314e-02 9.99446583e-01 -3.44481993e-04 2.81814252e+02] [ 4.92182016e-03 5.08472356e-04 9.99987758e-01 3.91494655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.216875 meters 0.0486604313840005 Centerline is valid? [True, True] Translation: X:393.11, Y:281.82, Z:39.15 [[ 9.99345646e-01 3.58707448e-02 -4.64421087e-03 3.93105495e+02] [-3.58726355e-02 9.99356317e-01 -3.24428746e-04 2.81817115e+02] [ 4.62958397e-03 4.90816538e-04 9.99989163e-01 3.91475412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.276875 meters 0.050980390576104914 Centerline is valid? [True, True] Translation: X:393.17, Y:281.82, Z:39.14 [[ 9.99205647e-01 3.86543925e-02 -9.69085329e-03 3.93165603e+02] [-3.86627543e-02 9.99252087e-01 -6.76935070e-04 2.81818325e+02] [ 9.65743886e-03 1.05107242e-03 9.99952813e-01 3.91377264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.336875 meters 0.05366935968813244 Centerline is valid? [True, True] Translation: X:393.23, Y:281.83, Z:39.14 [[ 9.99123351e-01 4.15763000e-02 -4.89283285e-03 3.93225986e+02] [-4.15784665e-02 9.99135183e-01 -3.41861896e-04 2.81825840e+02] [ 4.87438809e-03 5.44998690e-04 9.99987972e-01 3.91401230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.396875 meters 0.055307684824384765 Centerline is valid? [True, True] Translation: X:393.29, Y:281.83, Z:39.14 [[ 9.99022340e-01 4.37937646e-02 -6.03912563e-03 3.93286927e+02] [-4.37971050e-02 9.99040357e-01 -4.21929648e-04 2.81827888e+02] [ 6.01485234e-03 6.86013363e-04 9.99981675e-01 3.91350288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.456875 meters 0.0531584890074704 Centerline is valid? [True, True] Translation: X:393.35, Y:281.83, Z:39.13 [[ 9.99098461e-01 4.23077500e-02 -3.51000810e-03 3.93346767e+02] [-4.23088688e-02 9.99104549e-01 -2.45059106e-04 2.81826162e+02] [ 3.49649716e-03 3.93342648e-04 9.99993810e-01 3.91331962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.516875 meters 0.05278651711336835 Centerline is valid? [True, True] Translation: X:393.41, Y:281.83, Z:39.13 [[ 9.99256779e-01 3.83549418e-02 3.84563056e-03 3.93406583e+02] [-3.83562585e-02 9.99264092e-01 2.69187815e-04 2.81826089e+02] [-3.83247585e-03 -4.16491749e-04 9.99992569e-01 3.91331271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.576875 meters 0.04590241505261369 Centerline is valid? [True, True] Translation: X:393.47, Y:281.82, Z:39.13 [[ 9.99417123e-01 3.39431386e-02 3.64385727e-03 3.93467768e+02] [-3.39442909e-02 9.99423694e-01 2.54845303e-04 2.81815031e+02] [-3.63310704e-03 -3.78384911e-04 9.99993329e-01 3.91254812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.636875 meters 0.050639535279654646 Centerline is valid? [True, True] Translation: X:393.53, Y:281.82, Z:39.12 [[ 9.99697981e-01 2.32155966e-02 8.06114179e-03 3.93527859e+02] [-2.32208918e-02 9.99730200e-01 5.63901016e-04 2.81815009e+02] [-8.04587560e-03 -7.50917609e-04 9.99967349e-01 3.91214181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.696875 meters 0.045038365506114154 Centerline is valid? [True, True] Translation: X:393.59, Y:281.80, Z:39.12 [[ 9.99876427e-01 1.08407670e-02 1.13845831e-02 3.93589456e+02] [-1.08505330e-02 9.99940814e-01 7.96408920e-04 2.81799869e+02] [-1.13752756e-02 -9.19839300e-04 9.99934876e-01 3.91150360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.756875 meters 0.05217147716866446 Centerline is valid? [True, True] Translation: X:393.65, Y:281.80, Z:39.11 [[ 9.99886196e-01 2.63028322e-03 1.48551589e-02 3.93648813e+02] [-2.64601590e-03 9.99995959e-01 1.03951647e-03 2.81802210e+02] [-1.48523647e-02 -1.07870516e-03 9.99889116e-01 3.91149093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.816875 meters 0.05874764600541615 Centerline is valid? [True, True] Translation: X:393.71, Y:281.79, Z:39.11 [[ 9.99726878e-01 -6.56166260e-03 2.24302144e-02 3.93710443e+02] [ 6.52810780e-03 9.99977461e-01 1.56886075e-03 2.81790178e+02] [-2.24400032e-02 -1.42200540e-03 9.99747180e-01 3.91145136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4986.81 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%| | 0/18862 [00:00